APPLICATION Electronic Cam

APPLICATION 5 th Generation of STÖBER Inverters FUNCTIONS DETAILS PARAMETER V 5.5 /2010 EN

Table of Contents i Table of Contents 1. Introduction... 1 2. Notes on Safety... 3 2.1 Software... 8 2.2 Presentation of notes on safety... 9 3. Function Description... 10 3.1 Cam Profiles... 10 3.2 Table Coupling... 12 3.3 PLCopen Programming... 17 3.3.1 MC_MoveAbsolute... 22 3.3.2 MC_MoveRelative... 24 3.3.3 MC_MoveAdditive... 26 3.3.4 MC_MoveVelocity... 28 3.3.5 MC_Stop... 30 3.3.6 MC_Home... 30 3.3.7 MC_Reset... 36 3.3.8 MC_CamIn... 36 3.3.9 MC_CamOut... 36 3.3.10 MC_MoveSuperimposed... 37 3.3.11 End of command... 38 3.4 Interface..... 41 www.stoeber.de ID 441778.0004

Table of Contents i 4. Additional Functions... 42 4.1 Cams... 42 4.2 Jogging (Tipping)... 44 4.3 Master Slave Coupling... 45 4.3.1 External Encoder...... 47 4.3.2 Main drive........ 48 4.3.3 Virtual Master with Positioning Capability..... 49 4.4 Application-Specific Solutions..... 53 4.5 Operating indicators..... 54 5. Application Examples... 56 5.1 Flying Saw... 56 5.2 Synchronizer/Switching Cycle Coupler/Uncoupler... 59 5.3 Cross Sealing with Welding Bars... 62 5.4 Printing Mark Offset... 63 6. Used Parameters..... 65 6.1 Parameter Legend... 65 6.2 Parameter List... 65 www.stoeber.de ID 441778.0004

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Introduction 01 1 Introduction The is a drive-based drive architecture. This application enables you to implement applications such as the flying saw or the rotating knife. SPS Fieldbus POSIDYN SDS 5000 SSI-Motionbus Servo motors Figure 1-1 Drive-based drive architecture with SDS 5000 and MDS 5000 POSIDRIVE MDS 5000 You can interconnect PLCopen blocks to program the final sequence of movement. Movements are implemented such as absolute target specification, relative positioning paths, endless positioning, or synchronous movements. When the MC_Camin block is triggered the "table coupling" between a master and the axis is activated. This "table coupling" is called the electronic cam. An electronic cam establishes a unique relationship between a position of the master drive/master axis and a position of the next/slave axis. Implementation of an electronic cam in a machine differs from the construction of the mechanical cam. The electronic cam offers the following advantages over the mechanical version: No jolting Maximum accelerations www.stoeber.de ID 441778.0004 1

Introduction 01 No excitation from mechanical vibrations No mechanical changes required for format changes Diagnostic capabilities No wear Hygienic design The cam can be used in many applications, but primarily with packaging machines, printing presses, robots and the wood industry. Electronic cam The cam technology function is a standard part of the device firmware and the POSITool configuration and commissioning software starting with version 5.2. Prior to commissioning the cam, your participation in the training course Free Programming is required See the following manuals for more information: Instructions for installing the FDS 5000 (ID 441858) or instructions for installing the MDS 5000 (ID 441688) or instructions for installing the SDS 5000 (ID 442084). Programming manual (ID 441693) for a detailed description of the system and the Free Programming option. Block description (ID 441692) with the description of the blocks required for programming. If you have questions on the use of the devices of the 5th generation of STÖBER inverters and the POSITool software which are not answered in this manual, we will be glad to help. Just call us at 07231 582 0. To make it easier for you to get started with our software applications we offer courses. Please contact our Training Center at the following address: GmbH + Co. KG Trainings Center Kieselbronner Straße 12 75177 Pforzheim www.stoeber.de ID 441778.0004 2

Notes on Safety Electronc Cam 01 2 Notes on Safety When in operation, inverters from GmbH + Co. KG may have energized or rotating parts depending on their protection rating. Surfaces may heat up. For these reasons, comply with the following: The safety notes listed in the following sections and points The technical rules and regulations In addition, always read the mounting instructions and the short commissioning instructions. GmbH + Co. KG accepts no liability for damages caused by non-adherence to the instructions or applicable regulations. Subject to technical changes to improve the devices without prior notice. This documentation is purely a product description. It does not represent promised properties in the sense of warranty law. Component part of the product The technical documentation is a component part of a product. Since the technical documentation contains important information, always keep it handy in the vicinity of the device until the machine is disposed of. If the product is sold, disposed of, or rented out, always include the technical documentation with the product. Operation in accordance with its intended use In the sense of DIN EN 50178 (previously VDE 0160), the POSIDRIVE FDS 5000 and MDS 5000 and the POSIDYN SDS 5000 model series represent the electrical equipment of power electronics for the control of power flow in high-voltage current systems. They are designed exclusively to power: Servo motors (MDS 5000, SDS 5000) Asynchronous motors (FDS 5000, MDS 5000 and SDS 5000) Operation for purposes other than the intended use include the connection of other electrical loads! Before the manufacturer is allowed to put a machine on the market, he must have a danger analysis prepared as per machine guideline 98/37/EG. This analysis establishes the dangers connected with the use of the machine. The danger analysis is a multi-stage, iterative process. Since this documentation cannot begin to provide sufficient insight into the machine guidelines, please carefully study the latest standards and legal situation yourself. After the drive controller has been installed in machines, it cannot be commissioned until it has been determined that the machine complies with the regulations of EG guideline 98/37/EG. www.stoeber.de ID 441778.0004 3

Notes on Safety 01 Electronc Cam Ambient conditions Model series POSIDRIVE FDS 5000 and MDS 5000 and POSIDYN SDS 5000 are products of the restricted sales class as described in IEC 61800-3. This product may cause high-frequency interference in residential zones and the user may be asked to take suitable measures. The inverters are not designed for use in public low-voltage networks which power residential areas. High-frequency interference must be expected when the inverters are used in such a network. The inverters are only intended for use in TN networks. The inverters are only designed for use on supply current networks which can delivery at the most a maximum of symmetrical rated short circuit current at 480 Volts as per the following table: Max. symmetrical rated short circuit Device family Size current FDS 5000, MDS 5000, SDS 5000 BG 0 and BG 1 5000 A MDS 5000 BG 2 5000 A SDS 5000 BG 3 10000 A Install the inverter in a switching cabinet in which the permissible maximum surrounding air temperature is not exceeded (see mounting instructions). The following applications are prohibited: Use in potentially explosive areas Use in environments with harmful substances as per EN 60721 (e.g., oils, acids, gases, fumes, powders, irradiation) Use with mechanical vibration and impact stresses which exceed the information in the technical data of the mounting instructions Implementation of the following applications is only permitted when STÖBER ANTRIEBSTECHNIK GmbH + Co. KG has been contacted first for permission: Use in non-stationary applications Qualified personnel Since the drive controllers of the model series POSIDRIVE FDS 5000, POSIDRIVE MDS 5000 and POSIDYN SDS 5000 may harbor residual risks, all configuration, transportation, installation and commissioning tasks including operation and disposal may only be performed by trained personnel who are aware of the possible risks. www.stoeber.de ID 441778.0004 4

Notes on Safety 01 Electronc Cam Personnel must have the qualifications required for the job. The following table lists examples of occupational qualifications for the jobs: Activity Possible occupational qualifications Transportation and storage Worker skilled in storage logistics or comparable training Configuration Graduate engineer (electrotechnology or electrical power technology) Technician (m/f) (electro-technology) Installation and connection Electronics technician (m/f) Commissioning (of a standard Technician (m/f) (electro-technology) application) Master electro technician (m/f) Programming Graduate engineer (electro-technology or electrical power technology) Operation Technician (m/f) (electro-technology) Master electro technician (m/f) Disposal Electronics technician (m/f) In addition, the valid regulations, the legal requirements, the reference books, this technical documentation and, in particular, the safety information contained therein must be carefully: read understood and complied with. Transportation and storage Immediately upon receipt, examine the delivery for any transportation damages. Immediately inform the transportation company of any damages. If damages are found, do not commission the product. If the device is not to be installed immediately, store it in a dry, dust-free room. Please see the mounting instructions for how to commission an inverter after it has been in storage for a year or longer. Installation and connection Installation and connection work are only permitted after the device has been isolated from the power! The accessory installation instructions allow the following actions during the installation of accessories: The housing of the MDS 5000, SDS 5000 and FDS 5000 in the upper slot can be opened. The housing of the MDS 5000 and SDS 5000 in the bottom slot can be opened. Opening the housing in another place or for other purposes is not permitted. www.stoeber.de ID 441778.0004 5

Notes on Safety Electronc Cam 01 Use only copper lines. For the line cross sections to be used, see table 310-16 of the NEC standard for 60 o C or 75 o C. Protect the device from falling parts (pieces of wire, leads, metal parts, and so on) during installation or other tasks in the switching cabinet. Parts with conductive properties inside the inverter can cause short circuits or device failure. The motor must have an integrated temperature monitor with basic isolation in acc. with EN 61800-5-1 or external motor overload protection must be used. The permissible protection class is protective ground. Operation is not permitted unless the protective conductor is connected in accordance with the regulations. Comply with the applicable instructions for installation and commissioning of motor and brakes. Commissioning, operation and service Remove additional coverings before commissioning so that the device cannot overheat. During installation, provide the free spaces specified in the mounting instructions to prevent the inverter from overheating. The housing of the drive controller must be closed before you turn on the supply voltage. When the supply voltage is on, dangerous voltages can be present on the connection terminals and the cables and motor terminals connected to them. Remember that the device is not necessarily de-energized after all indicators have gone off. When network voltage is applied, the following are prohibited: Opening the housing Connecting or disconnecting the connection terminals Installing accessories Proceed as shown below to perform these tasks: 1. Disable the enable (X1). 2. Turn off the supply voltage (power pack and controller power supply as well as any auxiliary voltages for encoder, brake, etc.). 3. Protect the supply voltages from being turned on again. 4. Wait 5 minutes (time the DC link capacitors need to discharge). 5. Determine isolation from the voltage. 6. Short circuit the network input and ground it. 7. Cover the adjacent, voltage-carrying parts. You can then start your work on the drive controller. Repairs may only be performed by GmbH + Co. KG. Send defective devices together with a fault description to: GmbH + Co. KG Abteilung VS-EL Kieselbronner Str. 12 75177 Pforzheim GERMANY www.stoeber.de ID 441778.0004 6

Notes on Safety Electronc Cam 01 Disposal Please comply with the latest national and regional regulations! Dispose of the individual parts separately depending on their nature and currently valid regulations such as, for example: Electronic scrap (PCBs) Plastic Sheet metal Copper Aluminum Residual dangers The connected motor can be damaged with certain settings of drive controllers. Longer operation against an applied motor halting brake Longer operation of self-cooled motors at slow speeds Drives can reach dangerous excess speeds (e.g., setting of high output frequencies for motors and motor settings which are unsuitable for this). Secure the drive accordingly. www.stoeber.de ID 441778.0004 7

Notes on Safety Electronc Cam 01 2.1 Software Using the POSITool software The POSITool software package can be used to select the application and adjust the parameters and signal monitoring of the 5th generation of STÖBER inverters. The functionality is specified by selecting an application and transmitting these data to an inverter. The program is the property of GmbH + Co. KG and is copyrighted. The program is licensed for the user. The software is only provided in machine-readable form. GmbH + Co. KG gives the customer a nonexclusive right to use the program (license) provided it has been legitimately obtained. The customer is authorized to use the program for the above activities and functions and to make copies of the program, including a backup copy for support of this use, and to install same. The conditions of this license apply to each copy. The customer promises to affix the copyright notation to each copy of the program and all other property notations. The customer is not authorized to use, copy, change or pass on/transmit the program for purposes other than those in these regulations. The customer is also not authorized to convert the program (i.e., reverse assembly, reverse compilation) or to compile it in any other way. The customer is also not authorized to issue sublicenses for the program, or to rent or lease it out. Product maintenance The obligation to maintain refers to the two latest program versions created by GmbH + Co. KG and approved for use. GmbH + Co. KG will either correct program errors or will provide the customer with a new program version. This choice will be made by GmbH + Co. KG. If, in individual cases, the error cannot be immediately corrected, STÖBER ANTRIEBS- TECHNIK GmbH + Co. KG will provide an intermediate solution which may require the customer to comply with special operation regulations. A claim to error correction only exists when the reported errors are reproducible or can be indicated with machine-generated outputs. Errors must be reported in a reconstructable form and provide information which is useful to error correction. The obligation to correct errors ceases to exist for such programs which the customer changes or edits in any way unless the customer can prove that such action is not the cause of the reported error. GmbH + Co. KG will keep the respective valid program versions in an especially safe place (fireproof data safe, bank deposit box). www.stoeber.de ID 441778.0004 8

Notes on Safety Electronc Cam 01 2.2 Presentation of notes on safety NOTICE Notice means that property damage may occur if the stated precautionary measures are not taken. CAUTION Caution with warning triangle means that minor injury may occur if the stated precautionary measures are not taken. WARNING Warning means that there may be a serious danger of death if the stated precautionary measures are not taken. DANGER Danger means that serious danger of death exists if the stated precautionary measures are not taken. Information indicates important information about the product or a highlighted portion of the documentation which requires special attention. www.stoeber.de ID 441778.0004 9

Function Description 03 3 Function Description This chapter explains terms such as the configuration of a cam profile and functions such as the integration of table coupling and the PLCopen blocks. 3.1 Cam Profiles The relationship of the positions is illustrated in a 2-dimensional system of coordinates. The horizontal line shows the position of the master axis while the vertical line shows the position of the slave axis. The master circular length corresponds to the position circumference of the horizontal line. The position circumference of the vertical line corresponds to the slave circular length. A straight line with a slope of 1 corresponds to a 1:1 coupling of master to slave axis. Up to 4 different cam profiles can be stored on the inverter with the Electronic Cam application. You can switch between the cam profiles of congruent cam sections at any time. y = green = red blue Slave scaling 0 Master circular length Figure 3-1 Open (red, green)/closed cam profile (blue) Repeated execution of a cam profile is called cyclic (periodic) processing. Both open and closed cam profiles are possible (Figure 3-1). Behavior for an open and a closed cam profile after a master overflow differs. An open cam profile is when the slave axis is not located at the starting point again after a master circular length. Open cam profiles are used for endless positioning. Closed cam profiles are used for axes with a limited position range. Both endless and limited axis types can be used for the master and slave axis. There are no restrictions on the combination of axis types between master and slave. You specify the kind of slave axis type by selecting the application in the Configuration Assistant. The axis type of the master is set with the parameter G30 master axis type. x www.stoeber.de ID 441778.0004 10

Function Description 03 The relationship between master and slave can be evaluated absolutely or relatively. The absolute relationship requires master referencing. It can be reconstructed so that only a one-time referencing procedure is necessary. Master referencing is executed via the signal master reference position. The source of the signal is set in parameter G103. When the signal has a positive change in edge the current master position is set to the value entered in the parameter G38 master reference position. Master referencing Information When the master encoder triggers event 37:Encoder, the In Reference bit of the master is deleted regardless of the encoder being used. After power OFF/ON the position is reconstructed correctly even though the bit remains deleted. The In Reference signal of the slave is not affected by this (see chap. 3.3). www.stoeber.de ID 441778.0004 11

Function Description 03 3.2 Table Coupling The coordinates of the cams are stored standardized to 2 30 on the device. Master and slave scaling and master and slave offset are then performed. 2 30 50 [mm] 0 90 180 270 360 [ ] 0 0 Figure 3-2 Scaling of a standardized cam 2 30-50 Master circular length = 360 The scaling values are transferred by calling the MC_CamIn command. The values for master and slave scaling are specified on the inputs of the block (see Figure 3-3). Figure 3-3 Example of interconnection for MC_CamIn www.stoeber.de ID 441778.0004 12

Function Description 03 The respective current values are indicated in the following parameters: G854 Master scaling G855 Master offset G856 Slave scaling G857 Slave offset Figure 3-4 illustrates how scaling procedures and offset values work. 2 30 Input SlaveScal* + + Input MstrScal* 0 0 2 30 Input SlavOffs* G80 Masterfilter Master positio G348 + - Input MstrOffs* Figure 3-4 Calculation of the scaling and offset values When the MastrAbs input of the MC_CamIn block is active when a rising edge occurs on the Execute input, the master position is evaluated absolutely and is used directly for indexing in the cam table. When the input is inactive, indexing always starts at the beginning of the table. The SlaveAbs input must always be inactive at this time. Remember that this means that, when the cam starts, the value indicated in G862 output table coupling velocity must match the speed in I88. If not, ramping is performed with I11 maximum acceleration to the cam speed. This causes a position difference in the result If the Periodic input is active when there is a rising edge on Execute, the curve is executed cyclically. The prerequisite for this is that the master position must also be cyclic (i.e., the master type must be endless position range). If the input is inactive when there is a rising edge, the cam is executed before the next overflow of the master position via the circular length (or underflow under 0). www.stoeber.de ID 441778.0004 13

Function Description 03 NOTICE If the cam profile is to be changed during the motion or the scaling is to be modified, always remember to execute this in cam sections which must be congruent in both cam profiles to prevent the axis from jolting. The position cams in the application can be used for this purpose. The master filter is activated by parameter G340. When the master filter is deactivated, the master position is processed unfiltered. Masterfilter Figure 3-5 shows the setup of the master filter. PT 1 1 2 n G348 Filtered masterposition Master position G80 2 n PT 1 + + Modulo 2 Master position Master speed 2 n Master period G341 Masterfilter increment multiplier 1 G342 Masterfilter position low pass Figure 3-5 Setup of the master filter G343 + + G344 The standardized cam disk can be linked in in csv format. Any cam profiles can be calculated with this by existing table calculation programs (Excel, OpenOffice, and others) and imported to the POSITool software. Another option is to create cam profiles with the Optimus Motus software. You will find the software on the STÖBER Electronics 5000 CD or on the Internet at www.stoeber.de. You will need a dongle to use this software. This dongle is available from STÖBER Antriebstechnik GmbH & Co. KG under following article no.: Optimus Motus version Article no. Introductory packet 49780 Standard packet 49781 Filter dead time compensation Masterfilter speed low pass Masterfilter dead time compensation d dt G349 Filtered master-speed Over/And Master speed 1 Will be considered in due course. 2 Only for circular axes www.stoeber.de ID 441778.0004 14

Function Description 03 After you have installed the software on your PC and connected the dongle, you can call the software from the wizard Master scaling/optimus Motus on the Cams page (see Figure 3-7). For a description of the software, see Online Help (F1 key). Remember that when you use Optimus Motus, you must always import the cam tables via Optimus Motus. Cam profiles exported by POSITool can also be processed. The csv file of an exported cam is shown below: Figure 3-6 View of a CSV file in Excel The first line contains the original source parameters (in Figure 3-6, G64 and G65). These parameters tell you which of the four cam profiles were exported (in our example, cam table 3). These two values can be disregarded when importing a cam profile since each of the four cams can be imported with the Import Assistant. The position coordinates of master and slave axis which do not have to be equidistant are listed starting with the second line. On the master side they must ascend monotonically. In our example point 0 contains the 0 coordinates for master and slave position. The first point x 0 is used for values less than 0 on the cam input. The last point x n is used for values greater than 2 30. Figure 3-7 shows the page cams of the cam table / master scaling assistant. The first cam profile can be imported and exported on this page. You can access the other cam profiles from the tabs at the bottom. www.stoeber.de ID 441778.0004 15

Function Description 03 Figure 3-7 Cam table / master scaling assistant Information Cam data can be imported during online operation of POSITool as long as the number of reference points remains the same. If the number of reference points changes cam data can only be imported in offline operation and in configuration mode of POSITool. New cam profiles can only be imported in a configuration. Import in a reverse documentation is not possible. A cam profile can always be exported. www.stoeber.de ID 441778.0004 16

Function Description 03 3.3 PLCopen Programming The application offers the following commands: MC_MoveAbsolute MC_MoveSuperimposed MC_MoveRelative MC_Home MC_MoveAdditve MC_Stop MC_MoveVelocity MC_Reset MC_CamIn MC_CamOut The PLCopen blocks interface with the system via parameters I400 ff. When a PLCopen block is called in the program it uses the parameters starting at I400 ff to communicate with position control within the application and passes on such data as command, target position and speed. The commands change the current state of position control. The following diagram shows the possible states and state changes www.stoeber.de ID 441778.0004 17

Function Description 03 31 5:Synchronized Motion 24 26 22 23 29 27 25 3:Discrete Motion 30 4:Continuous Motion 32 28 21 16 15 20 6:Stopping 14 9 10 19 7:Errorstop 18 5 17 8 6 34 2:Standstill 8:Homing 4 2 3 Figure 3-8 State diagram and presentation of the transitions 13 11 7 1 1:Passive 12 33 35 www.stoeber.de ID 441778.0004 18

Function Description 03 Description of the transitions Changeover Triggering 1 : Passive to Standstill MC_AktivierePositionierung when the device is enabled Automatic when I52 = active and when the device is enabled 2: Standstill to Passive MC_DeaktivierePosi MC_Reset Enable off 3: Standstill to Homing MC_Home 4: Homing to Standstill Done 5: Homing to Errorstop Error 1 6: Standstill remains Default With MC_Stop "Standstill" is retained without any other state change 7: Standstill to Errorstop Error 1 8: Errorstop to Standstill MC_Reset when no further quick stop request is queued. Otherwise Errorstop is retained. 9: Stopping to Errorstop Error 1 10: Errorstop remains Default 11: Stopping to Standstill When the profile generator outputs 0 as the reference value speed 12: Standstill to Continuous Motion 13: Standstill to Synchronized Motion MC_MoveVelocity Jog +/- MC_Continue when the command MC_MoveVelocity was aborted with MC_Stop before MC_CamIn 1 Cause of the error condition: Falling edge on a hardware limit switch (except in the Homing state) Quick stop request from the device state machine Motion jobs rejected because of the following reasons: Impermissible direction Target is outside the software limit switches Absolute motion job in unreferenced state Circular axis absolute target position greater than circular length www.stoeber.de ID 441778.0004 19

Function Description 03 Changeover Triggering 14: Continuous Motion to Error 1 Errorstop 15: Continuous Motion to MC_Stop Stopping Jogging is activated 16: Stopping remains As long as the profile generator outputs a reference value speed other than 0. 17: Discrete Motion to Standstill Done 18: Standstill to Discrete Motion MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive TipStep MC_Continue if MC_MoveAbsolute, MC_MoveRelative or MC_MoveAdditive was aborted by MC_Stop before 19: Homing to Stopping MC_Stop 20: Discrete Motion to Errorstop Error 1 21: Discrete Motion to Stopping MC_Stop Jogging is activated 22: Discrete Motion remains As long as the motion is moving MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive 23: Synchronized Motion to Discrete Motion MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive 24: Discrete Motion to MC_CamIn Synchronized Motion 25: Continuous Motion remains As long as no new command is being executed, no quick stop request is issued and no software limit switch is reached. 1 Cause of the error condition: Falling edge on a hardware limit switch (except in the Homing state) Quick stop request from the device state machine Motion jobs rejected because of the following reasons: Impermissible direction Target is outside the software limit switches Absolute motion job in unreferenced state Circular axis absolute target position greater than circular length www.stoeber.de ID 441778.0004 20

Function Description 03 Changeover 26: Continuous Motion nach Synchronized Motion 27: Synchronized Motion nach Continuous Motion 28: Discrete Motion nach Continuous Motion 29: Continuous Motion nach Discrete Motion Triggering MC_CamIn MC_MoveVelocity MC_CamOut MC_MoveVelocity MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive 30: Synchronized Motion nach MC_Stop Stopping Jogging is activated 31: Synchronized Motion bleibt As long as no command other than MC_CamIn or MC_MoveSuperimposed is being executed, no quick stop request is issued and no software limit switch is reached. 32: Synchronized Motion nach Error 1 Errorstop 33: Aus allen Zuständen außer MC_Reset Errorstop nach Passive 34: In den Zustand Homing aus MC_Home den Zuständen Continous Motion, Discrete Motion und Synchronized Motion 35: Continuous Motion nach Software limit switches are reached Standstill The commands will now be described. For a description of the block inputs and outputs see block description documentation (ID 441692). 1 Cause of the error condition: Falling edge on a hardware limit switch (except in the Homing state) Quick stop request from the device state machine Motion jobs rejected because of the following reasons: Impermissible direction Target is outside the software limit switches Absolute motion job in unreferenced state Circular axis absolute target position greater than circular length www.stoeber.de ID 441778.0004 21

Function Description 03 3.3.1 MC_MoveAbsolute The MC_MoveAbsolute command is triggered via blocks 100257 (with time stamp) and 100258 (without time stamp). It causes a movement to an absolute position. The drive must be referenced before the command can be triggered (see MC_Homing below). With an endless axis this command only accepts target positions which are less than the circular length I01. Figure 3-9 shows an example of the interconnection of two MC_MoveAbsolute blocks. The time diagram in Figure 3-10 shows two processing procedures. In the first case the block with the target position P00 = 500 mm and the speed P01 = 5000 mm/s is started (BE1) and finished. The Done signal of the first block causes the second motion job with the target position P02 = 800 mm and the speed P04 = 3000 mm/s to be executed. The two separate motion profiles can be clearly seen. In the second case the next process block is already started before the target position of the first process block was reached. This causes the process block data of the second process block (target position, speed and acceleration ramps) to become valid at the rising edge of the signal on BE2. The second motion profile differs from the first case. Figure 3-9 Example of interconnection for MC_MoveAbsolute www.stoeber.de ID 441778.0004 22

Function Description 03 Done (2nd block) Done (1st block) BE2 1 0 1 0 1 0 ~ ~ ~ t t t BE1 1 0 ~ t Speed [mm/s] 5000 3000 ~ t Actual position [mm] 800 ~ 500 ~ Figure 3-10 Time diagram for MC_MoveAbsolute t www.stoeber.de ID 441778.0004 23

Function Description 03 3.3.2 MC_MoveRelative The MC_MoveRelative triggers a movement for a specified distance. It is triggered with the blocks 100266 (with time stamp) and 100267 (without time stamp). With an endless axis the distance to be traveled may be much greater than the circular length I01. Figure 3-11 shows an example of the interconnection of two MC_MoveRelative blocks. The time diagram in Figure 3-12 shows two processing procedures for the interconnection. In the first case the left-hand block with the relative target position P00 = 500 mm and the speed P01 = 5000 mm/s is finished. The Done signal of the block starts the second block with the relative target position P02 = 300 mm and the speed P04 = 3000 mm/s. The two separate motion profiles can be clearly seen. In the second case the second process block is already started before the target position of the first process block was reached. The relative target position of 300 is added to the current actual position of the drive. The end positions of the drive are different in the two cases. Figure 3-11 Example of interconnection for MC_MoveRelative www.stoeber.de ID 441778.0004 24

Function Description 03 Done (2nd block) Done (1st block) BE2 1 0 1 0 1 0 ~ ~ ~ t t t 1 BE1 0 Speed [mm/s] 5000 ~ t 3000 Actual position [mm] 800 ~ ~ t 500 480 180 ~ Figure 3-12 Time diagram for MC_MoveRelative t www.stoeber.de ID 441778.0004 25

Function Description 03 3.3.3 MC_MoveAdditive Blocks 100268 (with time stamp) and 100269 (without time stamp) can trigger the MC_MoveAdditive command. The command causes a motion for a specified distance. In contrast to the MC_MoveRelative command the target position is calculated from the addition of the positioning length specified on the block and the current reference position. With an endless axis the distance to be traveled can be much greater than the circular length I01. Figure 3-13 shows an example of the interconnection of two MC_MoveAdditive blocks. The time diagram in Figure 3-14 shows two processing cases. In the first case the left-hand block with the speed P01 = 5000 mm/s and the positioning path P00 = 500 mm are completely processed. The Done signal triggers the processing of the second block with the speed P04 = 3000 mm/s and the positioning path P02 = 300 mm. In the second case the first block is interrupted by the signal of BE2. Since the positioning path is added to the current reference position when MC_MoveAdditive is used, the end positions of the drive are the same in both cases. Information If, for example, a rotary attachment is to be repeatedly moved by 60, the MC_MoveRelative command is not suitable since, at every start, the actual position may differ by several increments from the reference position. Over time this error can accumulate. It can be avoided with the command MC_MoveAdditive. Figure 3-13 Example of interconnection with MC_MoveAdditive www.stoeber.de ID 441778.0004 26

Function Description 03 Done (2nd block) Done (1st block) BE2 1 0 1 0 1 0 ~ ~ ~ t t t BE1 Speed [mm/s] 1 0 ~ t 5000 3000 Actual position [mm] 800 ~ ~ t 500 ~ Figure 3-14 Time diagram for MC_MoveAdditive t www.stoeber.de ID 441778.0004 27

Function Description 03 3.3.4 MC_MoveVelocity Block 1002736 triggers the MC_MoveVelocity command. The command causes endless positioning at the specified speed. When a second MC_MoveVelocity block is triggered with a different speed profile the speed is adjusted with the specified accelerations (see Figure 3-15 and Figure 3-16). The MC_MoveAbsolute command with the target position P04 = 0 must be used to stop a movement such as the one shown in our example. Figure 3-15 Example of interconnection for MC_MoveVelocity and MC_MoveAbsolute www.stoeber.de ID 441778.0004 28

Function Description 03 BE3 BE2 BE1 Speed 1 0 1 0 1 0 5000 3000 t t t Actual position Circular length 100 100 t t Figure 3-16 Time diagram for MC_MoveVelocity and MC_MoveAbsolute www.stoeber.de ID 441778.0004 29

Function Description 03 3.3.5 MC_Stop The command MC_Stop is triggered by block 100275. It decelerates the speed down to zero with the specified deceleration ramp. The PLCopen state machine is in the Stopping state. The message 22:abortedX (X = motion block number of the motion block interrupted by MC_Stop) appears on the display. When the speed 0 is reached the state machine changes to the Standstill state. 3.3.6 MC_Home When the 24 V voltage is turned on the actual position is not known. Referencing provides a defined original position. Referencing of the slave is triggered with block 100249 (with time stamp) or 100254 (without time stamp). Absolute motions can only be executed in the referenced state. Information Referencing of the slave axis is triggered by the MC_Home command. See chap. 3.1 for how to reference the master axis. Hardware limit switches do not trigger malfunctions during referencing. When a hardware limit switch is reached the direction of revolution is reversed and referencing is continued. However, when reversal is blocked (I04 move direction) for an endless axis, the drive stops at the limit switch. Reference mode is parameterized in the Posi Maschine Assistant with the parameters I30 to I41. The next command cannot be started until referencing is concluded or terminated. Termination is done with MC_Stop or MC_Reset. The referenced state is signaled with I86 in reference = 1 and can be output via binary output or a bus system. When an absolute value encoder is used for position control, the in reference signal is retained when the device is switched on and off. When an absolute value encoder is not used referencing must be performed again every time an axis is initialized. An axis is initialized when the device starts up and when an axis is switched. When absolute value encoders are used and devices are exchanged, the in reference signal can be transferred to the new device by exchanging Paramodul. Remember that, in this case, the action A00 Save values must be performed before the exchange. When a motor is exchanged new referencing is always required. www.stoeber.de ID 441778.0004 30

Function Description 03 The primary parameters for referencing will now be discussed. NOTICE When the motor encoder triggers the event 37:Encoder, the in reference signal of the drive is deleted regardless of what encoder is being used. After power OFF/ON referencing must be performed again. Parameter I30 specifies the required initiators or the functions for binary inputs. There are three modes of referencing: 0:reference input, 1: encoder signal 0 and 2:define home. When 0:reference input mode is used, a sensor signal or a signal of a controller can be used as the reference point, for example. The interface is selected in parameter I103. A limit switch can also be used as the reference input (see Figure 3-17 examples of referencing, example 4). In this case parameters I101 or I102 and I103 must be set to the same interface (e.g., BE1). The function of the reference input must be inverse to that of the limit switch (e.g., BE1- inverse) since the limit switches are evaluated at LOW-active. I30 Referenzfahrt-Typ When mode 1:encoder signal 0 is selected, the reference position is set up the first time the zero signal is reached after start. This setting can only be used when an encoder with zero signals or zero information (e.g., EnDat, SSI and resolver) is used. When 2:define home mode is selected, the current position is replaced by the reference position when triggered by the Execute signal. This referencing mode can be used to reference a drive even in the device states switchon disable, ready for switchon and fault (for device states, see chap. 3.1 of the application manual). Referencing mode 2:define home can also be started during a motion. When the Execute signal is detected the actual position is set as the reference position and the drive is then decelerated with ramp I39 (see below) to a standstill. I31 determines the (search) direction when referencing starts. When the reference (or limit switch) is active the direction is reversed (cf. example further down). The correct value for I31 can be checked by positioning the axis by hand, for example. Two speeds (I32 and I33) are specified when the reference position must be approached precisely. Referencing begins with the fast speed I32. When the reference signal is detected the drive decelerates and moves in the opposite direction at the slow speed (see Figure 3-17 ). The two different speeds are useful particularly with large linear axes. When I32 or I33 is set to greater than I10 the referencing speeds are limited to I10. I32 and I33 can be changed with the Override function (up to I10). When endless axes are being used and the parameter I04 move direction only permits one direction of revolution, the drive uses only the slow speed during I31 referencing direction I32 referencing speed fast and I33 referencing speed slow www.stoeber.de ID 441778.0004 31

Function Description 03 referencing. When the drive reaches the reference position it stops. A reversal of revolution direction does not take place. When the reference point is detected the actual position is set as I34 reference position. When switch or sensor signals are used as reference points for the machine, the function of parameter I35 can be used to increase precision. The drive travels to the reference switch at the fast speed. The direction of revolution is then reversed and the slow speed is used. The drive stops when the next zeropulse signal is detected (see Figure 3-17, examples of referencing). I35 specifies whether the zero track signal of the motor encoder or the position encoder is to be used. Naturally, this function requires the use of an encoder with a zero signal. I37=1 starts the referencing process automatically when the axis is initialized. There are two cases in which axis initialization takes place. At power on if an axis is selected (A63 and A64, no axis active via A65, see chap. 1.2.1). When axes are switched I34 Reference position I35 referencing on encoder signal 0 I37 automatic referencing during axis initialization For referencing types 0:reference input and 1:Encoder signal 0 referencing is started as soon as the enable is issued. With type 2:define home the current position immediately becomes the reference position. When a valid position can be reconstructed while the axis is being initialized (e.g., by using a multi-turn absolute value encoder), automatic referencing does not take place. When the setting I37=2:reconstruct angle is used the current position of the position encoder is saved for 100 ms after removal of the device enable and reconstructed after the device is turned off and on. With single-turn absolute value encoders (e.g., resolvers) when the device is turned on again the position is only reconstructed when the angle of deviation was less than 5. With incremental encoders the position is always reconstructed with I37=2:reconstruct angle. However, it must be ensured that the axis cannot move when the device is off. www.stoeber.de ID 441778.0004 32

Function Description 03 The ramps for referencing can be set separately. When the reference position is reached the drive decelerates to a standstill. The distance required for reversal or deceleration is generally: v² with v: Speed Distance = ------- a: Acceleration (here I39). 2a After conclusion of referencing the drive stops after the required deceleration distance I33 2 / (2*I39) and does not return to the reference position. The Override function (see chap. 2.3.3) changes the speed and thus also the deceleration distance! When I39 greater than I11 is set, referencing acceleration is limited to I11. I39 referencing acceleration Example 1 I30=0:Ref.Schalter, I31=0:positiv Example 2 I30=0:Ref.Schalter, I31=0:positiv Reference switch Reference switch active Fast (I32) Ref. direction reversed Zero pulses Incremental encoder Since the reference switch divides the entire positioning range into two halves no further switch is needed. The direction defined in I31 is reversed when the reference switch is active at the beginning! Example 3 I30=0:Ref.Schalter, I31=0:positiv Example 4 I30=0:Ref.Schalter, I31=0:positiv Limit switch + Reference switch ENDv Zero pulses Incremental encoder I35=0 Slow (I33) REF I35=1 END+ Fast (I32) The reference switch (cam) only reacts briefly. A limit switch handles the reversal. Figure 3-17 Examples of referencing x Zero pulses Incremental encoder Limit switch + Zero pulses Incremental encoder Fast (I32) Slow (I33) Fast (I32) A limit switch can be used for referencing instead of a reference switch I101 = /I103 www.stoeber.de ID 441778.0004 33

Function Description 03 These parameters are used to automatically compensate for slip or an imprecise gear ratio. After the first referencing procedure the actual position I80 is overwritten with the reference position I34 over and over again when the reference switch is traveled over. The distance still to be covered is corrected and the axis is able to execute any number of relative movements in one direction without drifting away, even with slip-prone drives. I36 continuous referencing and I41 reference period Information With continuous referencing, referencing is always performed on the same side of the reference switch regardless of the current direction of revolution of the drive. The side is specified with the parameter I31. The side that the drive reaches first while revolving in the direction I31 is used. In our example referencing is performed on side A when I31=0:positive is set. Ref. switch signal A B I31=0:positive I31=1:negative Figure 3-18 Sides of the reference switch I36=1:standard is used when there is a reference switch within the entire position range or within a circular length I01. When the reference switch is reached I80 is offset with I34 reference position. When rotary attachment applications are used the circular length I01 must correspond as precisely as possible to the distance between two reference signals. For example, the same position must be indicated again after one belt rotation. The actual position I80 must be checked during one rotation at I36=0:inactive and, if necessary, I07 adjusted. The distance per revolution I07 must always be rounded to the next higher number to prevent bothersome backward motion offsets. If possible the reference switch should not be triggered during a deceleration ramp since this would cause a negative offset to be executed for a backwards movement. The setting I36=2:periodic is used when several reference switches are located along the positioning range. The distance between the reference switches is entered in I41 reference period. With this function the device takes along a potential reference position which it would expect at the next reference point. When a signal occurs at the reference point the device compares the distance of its own actual position with the last and the expected reference position. The nearest position is selected as the new reference position and is declared the actual position at the time of the initiator. I41 is visible in the POSI Machine Assistant if I36 was set to 2:periodic. www.stoeber.de ID 441778.0004 34

Function Description 03 Information When a referencing procedure is to be performed first during continuous, periodic referencing (e.g., to specify the machine zero point), remember that, for continuous periodic referencing, all reference switches are connected in parallel to one binary input. The signal evaluated by the inverter cannot differentiate between the various switches. Referencing (I30 = 0:reference switch) produces correspondingly different machine zero points. This is why referencing should only be performed with the referencing type I30 = 2:define home. NOTICE When I01, I07, I08 or other important positioning parameters are changed, it is mandatory that the axis be referenced again for each encoder system so that the relevant data on the inverter are kept consistent. Information 1. With slip-prone drives, the target window I22 must be greater than the maximum mechanical inaccuracy! 2. With a multi-turn absolute value encoder, referencing is usually necessary only once during commissioning. 3. To be able to replace the inverter for a referenced drive the action A00 save values must be used to save to Paramodul so that the referenced state is retained. The device can then be replaced and the new device uses the old Paramodul. This means the drive retains its reference. www.stoeber.de ID 441778.0004 35

Function Description 03 3.3.7 MC_Reset Acknowledging an error with MC_Reset in the status Errostop changes the state to Standstill. The command is triggered by block 100276. It has no effect on device malfunctions. This is a command which resets the PLCopen positioning controller. Device malfunctions must be reset with the acknowledgment signal (for selector A61, see chap. 1.2.1; for STÖBER state machine, see chap. 3 of the application manual). Note: A MC_Reset command resets the current reference position to the current actual position. A running movement can be interrupted. 3.3.8 MC_CamIn Block 100813 (with time stamp) triggers the MC_Camin command which causes an electronic cam to be coupled in. For details on the electronic cam, see chapters 3.1 and 3.2. 3.3.9 MC_CamOut Block 100814 triggers the MC_CamOut command which causes an electronic cam to be coupled out. The last valid slave speed is retained. The command MC_Stop must be used to decelerate the drive. www.stoeber.de ID 441778.0004 36

Function Description 03 3.3.10 MC_MoveSuperimposed A permanent reference exists between master and slave position when the PLCopen state synchronized motion is reached. The reference can be changed with MC_MoveSuperimposed (block 100288). Before the change can be executed the speeds of the motion profile linked with MC_MoveSuperimposed are added to the current speed. Additive speed BE1 250 0 1 0 t t Slave position 150 100 50 Figure 3-19 Time diagram for the command MC_MoveSuperimposed NOTICE When coupled in, slave speed and slave acceleration are no longer limited to the values in I10 and I11! The parameter C01 n-max is the limit for the speed. t www.stoeber.de ID 441778.0004 37

Function Description 03 3.3.11 End of command The Done signal tells you whether a command has been processed or not. You can read the Done signal in parameter I189 or I201 Bit 4. Command MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive MC_Continue MC_MoveVelocity MC_Stop MC_Home MC_Reset Condition for I189 = 0:inactive I189 = 1:active The Done signal becomes 0:inactive as The command is finished when the soon as you start the command with a motion profile has been covered and rising edge of the Execute signal. If the the difference between reference and Done signal was already 0:inactive, this actual position is less than the position state does not change. window. Internal state changes can delay the change of the Done signal to 1:active by up to 3 cycles (A150). Once the signal is 1:active, a departure from the position window can also not cause the signal to become 0:inactive again. The Done signal becomes 0:inactive as soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 0:inactive, this state does not change. The Done signal becomes 0:inactive as soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 0:inactive, this state does not change. The Done signal becomes 0:inactive as soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 0:inactive, this state does not change. The Done signal becomes 0:inactive as soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 0:inactive, this state does not change. The command is finished when the profile generator has reached the reference speed. Internal state changes can delay the change of the Done signal to 1:active by up to 3 cycles (A150). The command is finished when the profile generator has reached the reference speed 0. Internal state changes can delay the change of the Done signal to 1:active by one cycle (A150). The command is finished when the referencing procedure is concluded and the drive has come to a standstill after the reference positioning. With the "set reference" type of reference positioning, the Done signal becomes 1:active again 6 cycles (A150) after the rising edge of the Execute signal. www.stoeber.de ID 441778.0004 38

Function Description 03 Command Condition for I189 = 0:inactive I189 = 1:active AktivierePosi The Done signal becomes 1:active as soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 1:active, this state does not change. DeaktivierePosi MC_CamIn The Done signal becomes 0:inactive as soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 0:inactive, this The Done signal becomes 1:active when the profile generator reaches the master speed. This state is also indicated by I192 Bit 1. state does not change. MC_CamOut The Done signal becomes 1:active as soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 1:active, this state does not change. MC_Move- Superimposed The Done signal becomes 0:inactive as soon as you start the command with a rising edge of the Execute signal. If the Done signal was already 0:inactive, this state does not change. The command is finished when the higher-level motion profile was covered. Internal state changes can delay the change of the Done signal to 1:active by up to 3 cycles (A150). www.stoeber.de ID 441778.0004 39

Function Description 03 3.4 Interface The interface to the outside is divided into 2 parts. Control word for basic functions (contained in the template) Customer-specific control word for application-specific bits The control word for the basic functions is located at parameter address I223. The control word is allocated with the following signals: Basic functions Bit Signal 0 In reserve 1 Hardware limit switch + 2 Hardware limit switch - 3 Ref. switch, axis 4 Jog enable 5 Jog + 6 Jog - 7 TipStep + 8 TipStep - 9 Ref. switch, master axis 10- In reserve Status word I200 of the basic functions is set up as shown below: Bit Signal Meaning 0 Limit switch Group message of one of the two hardware limit switches or software limit switch has tripped. See bits 5... 8 in I91 profile generator flags. 1 Rejected Group message: The last command could not be executed due to no referencing, software limit switch or disabled direction of rotation. Error code I90 is between 1 and 4. 2 Limit Group message: M-limit, following error, M limit due to i²t 3 Terminated Group message: MC_Stop, enable off, quick stop 4 Constant speed The ramp generator specifies constant speed. 5 In-position Reference value reached. 6 In-reference Drive referenced. 7 Standstill After PLCopen I89=2 8 Hand or local mode Hand is active (also applies to local mode via keyboard). 9 Cam 1 The electrical cam is in the active range (I60, I61). 10 Switching point 11 Latch status bit Bits 10 to 12 are not used by the "electronic cam" application. www.stoeber.de ID 441778.0004 40

Function Description 03 Bit Signal Meaning 12 Latch status bit 13-15 Motion ID bit 0 - Motion ID bit 2 Identifier of the last processed positioning job (lower 3 bits). The motion ID is specified in Posi control word I210 / I222 and is used in status word I200 for the unique allocation of the status bits to a certain positioning job. To make adjustments for the interface signals, see the programming manual (ID 441693). Customer-specific adjustments www.stoeber.de ID 441778.0004 41

Additional Functions 04 4 Additional Functions This chapter will give you information on: Cams, SSI Motionbus and Jogging In addition section 4.4 gives you several solutions for application-specific, special situations such as opening a protective hood. 4.1 Cams Activation of glue jets or similar can be controlled with a cam-operated master controller on the inverter. The application offers you two possible solutions: Technology cam Fast cam The technology cam is calculated in the cycle time A150 of the technology task (e.g., 2 ms). If, as shown in Figure 4-1, I80 current position is used as the position, this is a slave cam. In our example cam beginning is entered in P60 and cam end in P61. The cam state is indicated in P62. When you connect G80 this is a master cam. The output of the cam can be used as desired in free graphic programming or it can be assigned to a binary output. When defining parameters for cam beginning and cam end remember that master and slave cams refer to differently scaled systems. Any desired number of technology cams can be configured. Cams can be used for limited and endless position ranges based on the application. Cams with pre-triggering can also be used for time-critical applications. Figure 4-1 Programming a slave cam www.stoeber.de ID 441778.0004 42

Additional Functions 04 Information Please note that the described function is also available with block 101081. You can use the block starting with version V5.3. Regardless of the cycle time set in A150, the fast cam is calculated in 1 ms increments (MDS 5000, FDS 5000) or in 250 µs increments (SDS 5000) together with position control. It can also be used as a master or slave cam. The number of fast cams is limited to 4. The fast cams have a speed dependent dead time compensation. The fast cam does not need to be wired in free graphic programming. The function can be set with parameters N100 to N136. The cam output signal is indicated in parameters N107 (fast cam 1), N117 (fast cam 2), N127 (fast cam 3) and N137 (fast cam 4). Fast cam NOTICE Please remember that the output signals of the fast cams are always indicated on binary outputs BA3 to BA6. If you decide to use the fast cams, you must first delete the default entries in parameters F63 BA3-source to F66 BA6-source. www.stoeber.de ID 441778.0004 43

Additional Functions 04 4.2 Jogging (Tipping) Jog mode is started by the binary signal TipEnable (selection of the signal source in I104) and not by a block. A stop command is triggered when it is activated. The drive decelerates down to a standstill and then sets the output signal Tip active. Afterward four other signals become effective: Tip+, Tip-, HandStep+ and HandStep-. If the drive is already at a standstill when TipEnable is activated, exactly one cycle time passes before the tip signals became effective. Tip+ and Tip- allow continuous manual positioning in positive or negative direction. When both signals are active, no movement takes place. The signals HandStep+ and HandStep- allow positioning relative to the current actual value by the step specified in I14. The signals Tip+ and Tip- have priority over the signals HandStep+ and HandStep-. When at least one of the signals Tip+ or Tip- is active, HandStep positioning is no longer considered. This also applies when both signals are active and no movement takes place. A running Step movement can be interrupted by MC_Stop but not by Tip+, Tip-, HandStep+ or HandStep-. When TipEnable is inactive and continuous manual positioning is being performed, a stop command is sent to the positioning controller. As soon as the drive is at a standstill the signal I188 tipping active becomes inactive. Jogging mode is deactivated. If the drive is executing a step when TipEnable is deactivated the drive completes the step. When the drive comes to a standstill Tip active becomes inactive. Jogging mode is deactivated. A motion block with the MC_Stop command can interrupt continuous manual positioning or a step. The value specified in the MC_Stop block is used for the deceleration ramp Related parameters: I12 Tip speed I13 Tip acceleration I14 TipStep Deactivating TipEnable Interrupting manual positioning or a step www.stoeber.de ID 441778.0004 44

Additional Functions 04 4.3 Master Slave Coupling In the application the master axis may be an external encoder, an existing drive (main drive) or a virtual master axis Coupling of master and slave To achieve precise coupling the drives should be coupled via the IGB Motionbus or the SSI Motionbus The IGB-Motionbus can only be set up with inverters of the SDS 5000 device series. For how to set up a coupling with the IGB-Motionbus, see the IGB Manual (ID 442089). You will require the following for the coupling with the SSI-Motionbus: Inverter of the MDS 5000 or SDS 5000 device series Option card XEA 5001 or REA 5001 For how to set up an SSI-Motionbus, see the mounting guidelines of the inverters: MDS 5000: ID 441688 SDS 5000: ID 442084 Only the coupling via SSI-Motionbus will be described here. With the SSI-Motionbus, the absolute multi-turn position (motor shaft or virtual master) is transferred as an SSI simulation. The master position can be scaled and referenced in every slave. The remainder increments are considered in master scaling. The position is reconstructed after power returns to the master position. For information on the topology of an SSI Motionbus see also the mounting instructions. Precision www.stoeber.de ID 441778.0004 45

Additional Functions 04 Information Operation of the SSI-Motionbus is blocked if the SSI master does not send a clock signal or the SSI simulant does not send data. If an inverter is parameterized to use the SSI-Motionbus, it will trigger the malfunction 37:Encoder if the clock signal or the data are missing. Such a lack of signals occurs, for example, during commissioning when inverters are switched on in succession. For this reason, recommends first commissioning the inverters without the SSI-Motionbus. To do this, deactivate interface X120. The interface must be activated again before the SSI-Motionbus can be commissioned. In addition, all stations must be switched on at the same time during commissioning of the SSI-Motionbus and during operation. When an error occurs on the SSI Motionbus the fault 37:Encoder is triggered by various causes. For a list of causes, see the event list in chap. 4 of the application manual. www.stoeber.de ID 441778.0004 46

Additional Functions 04 4.3.1 External Encoder This section describes the parameterization of the SSI Motionbus when an external encoder (real master encoder) specifies the position. Information If you set up the SDS 5000 with the MDS 5000, STÖBER ANTRIEBSTECHNIK GmbH+Co. KG recommends using an SDS 5000 as the SSI master since the SDS 5000 uses shorter scanning times. SSI Encoder Slave 1 Slave 2 Slave 3 Slave 31 SSI Master SSI Slave SSI Slave SSI Slave Data Clock Figure 4-2 Diagram of the coupling with the master encoder In this case, DIP switches S4 and S5 must be set on Motionbus to ON on the last slave (31 in our example) (terminating resistor). Slave 1 (SSI master) H120 = 67:SSI master H125 = Gray / binary (as per encoder system used) H130 as per encoder system used 1 G27 = 4:X120-encoder Ab Slave 2 (SSI slave) H120 = 67:SSI slave H125 = Gray / binary (as per encoder system used) H130 as per encoder system used 1 G27 = 4:X120-encoder 1 Parameter H126 is used for this setting with version V 5.2. Setting the DIP switches Parameterizing the encoder interfaces www.stoeber.de ID 441778.0004 47

Additional Functions 04 4.3.2 Main drive This section describes the parameterization of the SSI Motionbus when an MDS 5000 or SDS 5000, as real master, specifies the position via an SSI simulation. Information If you set up the SSI-Motionbus with SDS 5000 and MDS 5000, GmbH+Co. KG recommends using an SDS 5000 as the main drive (SSI simulation) and as SSI master since the SDS 5000 uses shorter scanning times. Main drive Slave 1 Slave 2 Slave 3 Slave 31 SSI Simulation SSI Master SSI Slave SSI Slave SSI Slave Data Clock Figure 4-3 Diagram of the coupling with the real master In this case, clock pulse and data must be set to ON via DIP switches S4 and S5 on the last slave (31 in our example) and on the main drive (terminating resistor). Main drive H120 = 82:SSI simulation H125 = 0:gray H130 = 0:25 2 H127 = 0:motor encoder G27 = 0:inactive Slave1 H120 = 67:SSI master H125 = 0:gray 2 Parameter H126 is used for this setting with version V 5.2. Setting the DIP switches Parameterizing the encoder interfaces www.stoeber.de ID 441778.0004 48

Additional Functions 04 H130 = 0:25 2 G27 = 4:X120-encoder Ab Slave 2 H120 = 68:SSI slave H125 = 0:gray H130 = 0:25 2 G27 = 4:X120-encoder 4.3.3 Virtual Master with Positioning Capability The virtual master is used when a position reference value from a virtual master axis is to be supplied to a network of several axes. Distribution of a real master position creates a problem in that all slave axes experience the control oscillations and load jolts of the main or master drive. This may cause uneven running at some speeds. When you use a virtual master instead, all axes receive an error-free reference value. This eliminates time delays and position differences since all axes of the Motionbus read the master position "simultaneously." Data Slave 1 virtual Master SSI Simulation Information If you set up the SSI-Motionbus with SDS 5000 and MDS 5000, GmbH+Co. KG recommends using an SDS 5000 as slave 1 with virtual master (SSI simulation) and as SSI master since the SDS 5000 uses shorter scanning times. Clock Figure 4-4 Diagram of the coupling with a virtual master Slave 2 Slave 3 Slave 4 Slave 32 SSI Master SSI Slave SSI Slave SSI Slave www.stoeber.de ID 441778.0004 49

Additional Functions 04 To use the SSI-Motion bus with the virtual master proceed as described below: Parameterizing SSI-Motionbus for virtual Master 1. Make the following settings on Slave 1: H120 = 82:SSI simulation H125 = 0:gray H130 = 0:25 3 H127 = 1:configuration G27 = 5:virtual master 2. Make the following settings on Slave 2: H120 = 67:SSI master H125 = 0:gray H130 = 0:25 3 G27 = 4:X120-encoder 3. Make the following settings on Slave 3 and all subsequent slaves: H120 = 68:SSI Slave H125 = 0:gray H130 = 0:25 3 G27 = 4:X120-encoder 4. On Slave 1 (Figure 4-4) set the DIP switches S4 CLOCK and S5 DATA on additional PCB XEA 5001 to ON. 5. On the last slave (Figure 4-4, Slave 32) set the DIP switches S4 CLOCK and S5 DATA on additional PCB XEA 5001 to ON (terminating resistor). You have parameterized the SSI Motion Bus for the virtual master function Activate positioning capability by using master PLCopen blocks in the configuration user interface of the axes (similar to PLCopen programming in chapter 3.3). When a master PLCopen block is called, it communicates via the parameters (starting at G400) with the positioning controller and passes on data such as command, target position and speed. The commands change the current state on the master positioning controller. The following diagram shows the possible states and the changes in state: 3 Parameter H126 is used for this setting with version V 5.2. Activating positioning capability by using the master blocks in the configuration user interface www.stoeber.de ID 441778.0004 50

Additional Functions 04 Figure 4-5 State diagram of the master positioning controller Although the functions of the commands specified in the diagram correspond to the PLCopen commands in chapter 3.3, they only apply to the virtual master. The following blocks are available to trigger the commands: Command Time Stamp Function Block No Time Stamp Function MC_MasterHome 101037 101038 MC_MasterMoveAbsolute 101039 101040 MC_MasterMoveRelative 101041 101042 MC_MasterMoveAdditive 101043 101044 MC_MasterMoveVelocity 101046 MC_MasterStop 101048 MC_MasterReset 101049 www.stoeber.de ID 441778.0004 51

Additional Functions 04 Information Remember the differences between the commands MC_MasterHome and MC_Home (see chapter 3.3). Since the MC_MasterHome command triggers referencing of the virtual master axis, it only contains the referencing type set reference. This means that the actual position of the virtual master is set to the value on the Position input after a rising edge on the Execute input of the block 101037 or 101038. At the same time parameter G150 In Reference = 1:active is set. The following parameters are available for the Master Tipping function: G140 Master tip enable: This signal activates the function. G141 Master tip +: This signal starts manual positioning in the positive direction when the Master Tip Enable signal is active. G142 Master tip -: This signal starts manual positioning in the negative direction when the Master Tip Enable signal is active. G144 Master tip velocity: Velocity of manual operation. G145 Master tip acceleration: Acceleration of manual operation. Tipping You can use the software limit switches for the virtual master when the virtual master is referenced (G155 in reference = 1:active). The software limit switches of the virtual master are active when the parameters G146 Master software limit switch + and G147 Master software limit switch - have different values. The limit switches are deactivated when the values are the same. The values entered in the parameters G146 and G147 are interpreted as positions. Motion jobs are refused when their target exceeds the limit switches. In this case the drive changes to the state Errorstop. When the command MC_MasterMoveVelocity is executed, target braking is performed when the software limit switch is approached. The virtual master stops at the software limit switch. The limit switches are also active in tipping mode. You can affect the speed of the virtual master with the master velocity override. This master velocity override is a factor which is used to calculate the current speed of the virtual master. Enter the factory in the parameter G143 Master velocity override Example: G84 master velocity = 150 /s G143 Master velocity override = 80 % The speed evaluated by the slave is: 150 / s 80 % = 120 / s Master software limit switches Master-Geschwindigkeits- Override www.stoeber.de ID 441778.0004 52

Additional Functions 04 4.4 Application-Specific Solutions Every system has several special situations that must be considered in addition to normal operating states. Some examples are listed below: Reaction to protective hood open Quick stop behavior Reconstruction of the synchronous position after an emergency off Executing an axis network quick stop Implementation of these special situations with a device of the 5th generation of STÖBER inverters will be illustrated here. Many machines are equipped with a protective hood. When this hood is open the operator's personal safety is in jeopardy and the drives must be brought to a standstill in accordance with machine guidelines. Depending on the particular application, a fixed position can be approached, the drive can be shut down as quickly as possible, or a coupled axis network can be shut down. Shutting down a network of axes (emergency halt) When an axis network is to be shut down it must be ensured that all involved inverters are supplied with 400 V during the deceleration time. Braking is implemented via the master drive (real or virtual master) while all slave axes must remain coupled until standstill. The power may then be turned off via delayed safety switchgear. Moving to a fixed position when protective hood is open When the protective hood is opened cutter drives must often move to a fixed position. This is simple to implement using PLCopen programming. MC_MoveAbsolute at the standstill position interrupts the motion command which is currently being executed. Also here, 400 V must be available on the controller while positioning is still being executed before the power is interrupted at a certain later time. You can specify in the block of the command whether positioning is to be performed only forward, only backward or using the shortest path (only circular axes). www.stoeber.de ID 441778.0004 53

Additional Functions 04 Shutting down all drives as soon as possible The enable can be withdrawn from all involved drives when an emergency off requires that all drives be brought to a standstill as quickly as possible without regard for existing master-slave cam couplings. This is triggered by a quick stop that interrupts any running cam. Also here, you must ensure that power remains available for the deceleration time. Reconstructing the synchronous position after an emergency halt After an emergency halt/emergency off it is often desirable to move the system to the point at which it was interrupted. The drives may be located anywhere since material may have been removed and the axes may have also been moved by hand. This means that all involved drives must move to the position which is specified after the current master position in the particular cam. This is done with the command MC_MoveAbsolute with the reference position from the cam output G860 (limited positioning range) or G861 (endless positioning range) plus basic position (position during activation of the cam). After the axis has reached the position the cam can be activated since the axis was adjusted to the right position. When this is done for all involved axes production can be directly started up again. If it is impossible to reconstruct the position (e.g., danger of the axes colliding) all axes must be moved to the basic position and the system then started up at the beginning of the cycle. 4.5 Operating indicators In device state 4:Enabled, the electronic cam application gives you information on device states. In addition, the value of parameter E80 appears in the bottom line of the display. Parameter E80 can assume the follow values in the electronic cam application: E80 Description 10: PLCO_init Initialize position control. 11: PLCO_Passive Position control is in the state 1:passive. 12: standstill Position control is in the state 2:standstill. 13: discr.motion Position control is in the state 3:discrete motion. 14: cont.motion Position control is in the state 4:continuous motion. 15: sync.motion Position control is in the state 5:synchronized motion. 16: stopping Position control is in the state 6:stopping. 17: errorstop Position control is in the state 7:errorstop (applications motion block positioning or electronic cam) 18: homing Position control is in the state 8:homing. 19: limit switch One of the limit switches has tripped. www.stoeber.de ID 441778.0004 54

Additional Functions 04 E80 Description 20: denied Position control has determined one of the following events: The drive is not referenced but the motion job requires the reference. A motion job was triggered whose target position is located outside the software limit switch. A motion job was triggered which moved in a direction of rotation which is inhibited. The message combines faults 1 to 4 in /90 ErrorCode. 21: limited Position control has determined that one of the following limits was reached: Torque limit Following error M-limitation by i 2 t 22: aborted Position control has determined one of the following events: A MC_Stop was triggered. The enable was switched off. A quick stop was triggered. www.stoeber.de ID 441778.0004 55

Application Examples 05 5 Application Examples GmbH+Co. KG offers examples for all of the following applications which make commissioning much easier. They are always ready to run and can also be expanded. If you'd like more information please call at 07231 582 0. In most cases it is sufficient to set the ratios of the system, cams, system speed and related ramp. The cam profiles are imported to the project. After this you can begin optimizing the drive directly. 5.1 Flying Saw If you don't want a continuous material flow to be interrupted while the material is being processed (e.g., being printed, cut or tested) a repeated sequence of movement is required. The following axis waits in the start position for a start signal. During processing this axis must run synchronously with the material flow. Afterwards it returns to its original position. This function is called flying saw. It can be implemented with PLCopen blocks on a device of the 5 th generation of STÖBER inverters. All you have to do is set the necessary parameters (such as start position, length of cut, reverse speed, etc.). There are 2 ways to implement a flying saw: Synchronous return stroke (stored on the cam) Asynchronous return stroke (via separate, asynchronously started return stroke command) With synchronous return stroke the cam is started again each time, and, at the end of the cam, the flying saw is back at its starting point. Since the cam is not to be executed repeatedly the block input Periodic must be set to 0:inactive. The cam should be started with a binary input with time stamp (BE1 BE5) so that the synchronous position can be maintained with maximum possible accuracy. When the cam is executed cyclically the product length results automatically (i.e., master scaling corresponds to the resulting product length). Synchroner Rückhub www.stoeber.de ID 441778.0004 56

Application Examples 05 Locations (scaled presentation) could look like this. 300 200 100 0 200 400 600 800 1000 0 200 400 600 800 1000 Figure 5-1 Closed cam profile the flying saw With asynchronous return stroke the cam is only used for coupling and synchronous movement. Synchronization is interrupted at the starting position with an MC_MoveAbsolute. The advantage of the asynchronous return stroke is the adaptation of the return stroke speed to the switching cycle which is easier on the mechanical parts. When a long product is cut with low switching cycle the return stroke can take place slowly. However, with the same cam, short products and a high switching cycle, the return stroke must take place faster. Asynchroner Rückhub www.stoeber.de ID 441778.0004 57

Application Examples 05 Figure 5-2 shows the relationship between position and speed. Slave position 300 200 Synchronous Asynchronous return stroke 100 0 Time Slave speed 0 Time Figure 5-2 Open cam profile the flying saw www.stoeber.de ID 441778.0004 58

Application Examples 05 5.2 Synchronizer/Switching Cycle Coupler/Uncoupler A drive can be specifically coupled or uncoupled for a switching cycle with the synchronizer function. Synchronous operation or remaining at a standstill for several switching cycles is also possible. Conceivable applications are the product carrousel, input worm drive synchronization collection of products when a product is missing from the continuous flow of goods or a product ejector. The ramp for the use/don't use function can be specified as the distance (i.e., independent of the speed). The axis always comes to a standstill at a defined parking position. The task is implemented by switching the tables at fixed positions. One cam exists for every system state (i.e., standstill, coupling, synchronous motion, and decoupling). The tables are switched so that the cams are switched congruently. Zero cam: This cam is the trivial case since, when called, it is always written to 0 by slave scaling = 0. This means that the slave reference value always remains zero regardless of the master axis. Coupling cam: The coupling cam is always calculated so that a master cycle corresponds to half a slave cycle (i.e., when master scaling is 360 slave scaling must be 180 ). This means that coupling and decoupling can take place within one cycle. Figure 5-3 shows an example of a coupling cam. www.stoeber.de ID 441778.0004 59

Application Examples 05 Slave position 360 270 180 Δ Master position: 360 Δ Slave position: 180 90 0 0 Figure 5-3 Einkoppelkurve 90 180 270 360 Master position Synchronous cam The synchronous cam is usually also the trivial case in which one circular length on the master side corresponds to one circular length on the slave side. The table contains only 2 points - 0.0 and 2 30, 2 30. For our case here, scaling means one master scaling = 360 and one slave scaling = 360. Decoupling cam The decoupling cam is designed like the coupling cam (i.e., at the zero crossing of the slave position decoupling to standstill occurs again within a half a switching cycle length (180 ). Figure 5-4 gives you an example of a decoupling cam. www.stoeber.de ID 441778.0004 60

Application Examples 05 Slave position 180 Δ Master position: 360 90 Δ Slave position: 180 0 0 Figure 5-4 Decoupling cam 90 180 270 360 To avoid jolting, the cams are overlapped by 10 for example. The position cams which trigger the switch are placed in the middle of this area. www.stoeber.de Master position ID 441778.0004 61

Application Examples 05 5.3 Cross Sealing with Welding Bars A constant welding time is the primary concern for a welding bar application regardless of the current system speed. When this time is not adhered to, shorter welding times mean poorer material connections and longer welding times mean burning and material damage. This time which is so important to the process can be implemented on the drive with a high time-discrete resolution. Figure 5-5 shows a diagram of how this requirement can be implemented. Welding active Slave position Time Master position Time Figure 5-5 Welding time is independent of system (master) speed Time This application is implemented with a timer together with two consecutive cam calls using free graphic programming. First the downwards motion is initiated with a non-cyclic cam. When this reaches the end the status bit cam end reached becomes active and the welding timer begins to run. When this timer expires, upward return stroke motion is initiated with a non-cyclic cam upwards. When the upwards end position is reached the status message done is output. The procedure can start at the beginning again. www.stoeber.de ID 441778.0004 62

Application Examples 05 Figure 5-6 Diagram of an example of programming the constant welding time 5.4 Printing Mark Offset Printing mark control (position offset) is used together with suitable readers to align master and slave drives. The synchronization signal is evaluated with one of the fast inputs with time stamp (BE1 - BE5) with a time resolution in the µs range. The speed at which the alignment or the offset motion takes place can be adjusted as can the acceleration of the motion. Examples of printing mark control are found in packaging technology (e.g., goods are constantly passing by which are to be packaged in printed foil). The job is to see that the printed image is always located at the same position on the packaging. The printing mark on the foil makes it possible to detect and automatically correct foil expansion or foil shrinkage (i.e., a slip). Drift which would otherwise take place during operation without printing mark control is eliminated. Figure 5-7 shows a diagram of how printing mark control works. Without printing mark control the actual position and the real position of the foil are misaligned and this misalignment increases with each product. In our example the error is corrected within the printing mark window with a rising edge of the printing mark. This means that the position of the foil is correct for each product in succession. motion is not triggered by a rising edge outside the permissible printing mark window and this prevents a misprint. www.stoeber.de ID 441778.0004 63

Application Examples 05 Printing mark offset Printing mark error Slave speed Master position Printing mark window Master Printing mark Figure 5-7 Printing mark offset Implementation on the inverter can be obtained via the PLCopen command MC_MoveRelative with time stamp for processes which come to a standstill. For processes which run continuously the PLCopen command MC_MoveSuperimposed is used. Implementation of a printing mark window is the result of the logical link of the printing mark signal with a position cam. The time resolution is 1 µs since the time stamp function can be used. www.stoeber.de ID 441778.0004 64

6 Used Parameters 6.1 Parameter Legend C230 Torque limit: Specification for the torque limit (absolute value) via fieldbus if the signal source is C130=4:Parameter. 24E6h r=2, w=2 Value range in %: -200 to 200 to 200 Fieldbus: 1LSB=1 %; PDO ; Type: I16; (raw value: 32767 = 200 %); USS address: 03 39 80 00 hex Parameter is not dependent on axis. Achse Parameter is axis-specific. Off Parameter can only be changed when enable is off. Value range: Specification of unit, minimum and maximum value The default setting is underlined. PROFIBUS = PNU (PKW1) CAN-Bus = Index PROFIBUS = Subindex CAN-Bus = Subindex Access level for read (r=2) and write accesses (w=2) Fieldbus: 1st position: Scaling for integer (PROFIBUS and CAN bus) 2nd position: - PDO Parameters can be imaged as process data. - Blank Parameter can only be accessed via PKW (PROFIBUS) or SDO (CAN bus). 3rd position: Data type. See application manual, chapter 3.2. 4th position: Scaling for raw values 6.2 Parameter List A.. Inverter A00.0 r=0, w=0 Save values & start: When this parameter is activated, the inverter saves the current configuration and the parameter values in the Paramodul. After power-off, the inverter starts with the saved configuration. If the configuration data on the inverter and Paramodul are identical, only the parameters are saved (speeds up the procedure). 200 NOTE Do not turn off the power of the control section (device version /L:24V, device version /H: supply voltage) while the action is being executed. If the power is turned off while the action is running this causes incomplete storage. After the device starts up again the fault "*ConfigStartERROR parameters lost" appears on the display. Only several 1000 storage procedures are possible per Paramodul. When this limit has almost been reached, result 14 is indicated after the storage procedure. When this happens, replace Paramodul as soon as possible. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 00 00 00 hex ID 441778.0004 65

A.. Inverter Process: Shows the progress of the "save vales" action in %. 200 1h A00.1 read (0) A00.2 read (0) Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 01 00 00 01 hex Result: Result of the "save values" action 0: error free 10: write error while opening a file: No Paramodul is installed or Paramodul is full or is damaged. 11: The inverter's configuration memory area that is to be saved is not written 12: write error while write-accessing Paramodul. Paramodul was removed, is full or is damaged. 14: Warning. Paramodul has already been write-accessed many times. The memory chip is reaching the end of its ability to be write-accessed without errors. Error-free saving is still possible. Replace the Paramodul as soon as possible! 200 2h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 00 00 02 hex A10.0 r=0, w=0 Userlevel: Specifies the access level of the user for the parameters via the "Display" communication path. Each parameter has one level for read or write accesses. A parameter can only be read or changed with the necessary access level. The higher the set level the more parameters can be accessed. 200Ah Possible settings: 0: Monitor; The elementary indicators can be monitored. General parameters can be changed. 1: Standard; The primary parameters of the selected application can be monitored and changed. 2: Extended; All parameters for commissioning and optimization of the selected application can be monitored and changed. 3: Service; Service parameters. Permit a comprehensive diagnosis. Value range: -32768... 1... 32767 Fieldbus: 1LSB=1; Type: I16; USS-Adr: 01 02 80 00 hex A10.1 r=0, w=0 Userlevel: Specifies the access level of the user for the parameters via the RS232 (X3) communication path. Each parameter has one level each for read or write accesses. A parameter can only be read or changed with the necessary access level. The higher the set level the more parameters can be accessed. 200Ah 1h Possible settings: 0: Monitor; The elementary indicators can be monitored. General parameters can be changed. 1: Standard; The primary parameters of the selected application can be monitored and changed. 2: Extended; All parameters for commissioning and optimization of the selected application can be monitored and changed. 3: Service; Service parameters. Permit a comprehensive diagnosis. Value range: -32768... 3... 32767 Fieldbus: 1LSB=1; Type: I16; USS-Adr: 01 02 80 01 hex ID 441778.0004 66

A.. Inverter A10.2 Userlevel: Specifies the access level of the user for the parameters via the CAN-bus (SDO) communication path. Each parameter has one level each for read or write accesses. A parameter 200Ah 2h r=0, w=0 can only be read or changed with the necessary access level. The higher the set level the more parameters can be accessed. Possible settings: 0: Monitor; The elementary indicators can be monitored. General parameters can be changed. 1: Standard; The primary parameters of the selected application can be monitored and changed. 2: Extended; All parameters for commissioning and optimization of the selected application can be monitored and changed. 3: Service; Service parameters. Permit a comprehensive diagnosis. Value range: -32768... 3... 32767 Fieldbus: 1LSB=1; Type: I16; USS-Adr: 01 02 80 02 hex A10.3 r=0, w=0 Userlevel: Specifies the access level of the user for the parameters via the PROFIBUS communication path with the PKW0 or PKW1 protocol. Each parameter has one level each for read or write accesses. A parameter can only be read or changed with the necessary access level. The higher the set level the more parameters can be accessed. 200Ah 3h Possible settings: 0: Monitor; The elementary indicators can be monitored. General parameters can be changed. 1: Standard; The primary parameters of the selected application can be monitored and changed. 2: Extended; All parameters for commissioning and optimization of the selected application can be monitored and changed. 3: Service; Service parameters. Permit a comprehensive diagnosis. Value range: -32768... 3... 32767 Fieldbus: 1LSB=1; Type: I16; USS-Adr: 01 02 80 03 hex A10.4 r=0, w=0 Userlevel: Specifies the access level of the user for the parameters via the "system bus" communication path. Each parameter has one level each for read or write accesses. A parameter can only be read or changed with the necessary access level. The higher the set level the more parameters can be accessed. 200Ah 4h Possible settings: 0: Monitor; The elementary indicators can be monitored. General parameters can be changed. 1: Standard; The primary parameters of the selected application can be monitored and changed. 2: Extended; All parameters for commissioning and optimization of the selected application can be monitored and changed. 3: Service; Service parameters. Permit a comprehensive diagnosis. Value range: -32768... 3... 32767 Fieldbus: 1LSB=1; Type: I16; USS-Adr: 01 02 80 04 hex A11.0 Edited Axe: Specifies the axis to be edited via device display. to be edited (A11) and active axis (operating indicator, E84) must not be identical (e.g., axis 1 can be edited while the inverter continues with axis 2). 200Bh ID 441778.0004 67

A.. Inverter 0: axis 1; 1: axis 2; 2: axis 3; 3: axis 4; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 02 C0 00 hex A11.1 Edited Axe: Selects the axis to be parameterized which is addressed with CANopen with SDO channel 1 or with PROFIBUS DP-V0. The axis to be edited (A11) and the active axis (operation indicator, E84) must not be identical (e.g., axis 1 can be edited while the inverter continues with axis 2). With PROFIBUS DP-V0, a distinction can be made between two axes with the PKW service. 1 or axis 2 is selected with A11.1 = 0. 3 or axis 4 is selected with A11.1 = 1. 200Bh 1h 0: axis 1; 1: axis 2; 2: axis 3; 3: axis 4; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 02 C0 01 hex A11.2 Edited Axe: Selects the axis to be parameterized which is addressed with CANopen with SDO channel 2. The axis to be edited (A11) and the active axis (operation indicator, E84) must not be identical (e.g., axis 1 can be edited while the inverter continues with axis 2). 0: axis 1; 1: axis 2; 2: axis 3; 3: axis 4; 200Bh 2h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 02 C0 02 hex A11.3 Edited Axe: Selects the axis to be parameterized which is addressed with CANopen with SDO channel 3. The axis to be edited (A11) and the active axis (operation indicator, E84) must not be identical (e.g., axis 1 can be edited while the inverter continues with axis 2). 0: axis 1; 1: axis 2; 2: axis 3; 3: axis 4; 200Bh 3h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 02 C0 03 hex A11.4 Edited Axe: Selects the axis to be parameterized which is addressed with CANopen with SDO channel 4. The axis to be edited (A11) and the active axis (operation indicator, E84) must not be identical (e.g., axis 1 can be edited while the inverter continues with axis 2). 0: axis 1; 1: axis 2; 2: axis 3; 3: axis 4; 200Bh 4h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 02 C0 04 hex ID 441778.0004 68

A.. Inverter Language: Language on the display. 200Ch A12 0: German; 1: English; 2: French; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 03 00 00 hex A21 Brake resistor R: Resistance value of the brake resistor being used. 2015h, OFF r=1, w=2 Value range in Ohm: 100.0... 200,0... 600.0 Fieldbus: 1LSB=0,1Ohm; Type: I16; USS-Adr: 01 05 40 00 hex A22, OFF Brake resistor P: Power of the brake resistor used. A22 = 0 means the brake chopper is deactivated. Only values in 10 W increments can be entered. 2016h r=1, w=2 Value range in W: 0... 40... 3200 Fieldbus: 1LSB=1W; Type: I16; (raw value:1lsb=10 W); USS-Adr: 01 05 80 00 hex A23 Brake resistor thermal: Thermal time constant of the brake resistor. 2017h, OFF r=1, w=2 Value range in s: 1... 6... 2000 Fieldbus: 1LSB=1s; Type: I16; USS-Adr: 01 05 C0 00 hex A29 r=2, w=2 Fault quick-stop: If the parameter is inactive, the power section is turned off when a fault occurs. The motor coasts down. If the parameter is active, a quick stop is executed when a fault occurs if the event permits (see event list). When the enable signal is LOW during a fault quick stop, the quick stop is interrupted and the motor coasts down. This also applies when A44 enable quick-stop is active. 201Dh 0: inactive; Coast down (disable power section immediately). 1: active; Execute quick stop. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 07 40 00 hex A34 r=2, w=2 Auto-start: When A34 = 1 is set, the device state "switch-on disable" to "ready for switch-on" is exited both during first startup and after a fault reset although the enable is active. With fault reset via enable, this causes an immediately restart! A34 is only supported with standard device state machines and not with DSP402 device state machine. 2022h WARNING Before activation of auto-start with A34 = 1, check to determine whether an automatic restart is allowed (for safety reasons). Only use auto-start under consideration of the standards and regulations which are applicable to the plant or machine. 0: inactive; After power on, a change of the enable from L-level to H-level is necessary to enable the drive ( message "1:switch-on disable"). This prevents an undesired startup of the motor (machine safety). 1: active; If auto-start is active, the drive can start running immediately after power on and existing enable. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 08 80 00 hex ID 441778.0004 69

A.. Inverter A35 Low voltage limit: When the inverter is enabled and the DC link voltage goes lower than the 2023h, OFF value set here, the inverter triggers the indication of the event "46:Low voltage." A35 should be r=2, w=2 approximately 85 % of the applied power voltage so that the possible failure of a network phase is absorbed. Value range in V: 180.0... 350,0... 570.0 Fieldbus: 1LSB=0,1V; Type: I16; USS-Adr: 01 08 C0 00 hex A36, OFF Mains voltage: Maximum voltage which the inverter provides to the motor. Usually the power (mains) voltage. Starting with this voltage, the motor runs in the weak field range. 2024h r=2, w=2 Value range in V: 220... 400... 480 Fieldbus: 1LSB=1V; Type: I16; (raw value:32767 = 2317 V); USS-Adr: 01 09 00 00 hex A37.0 Reset memorized values & start: The six different memorized values E33 to E38 (max. current, max. temperature, and so on) are reset. 2025h r=2, w=2 0: error free; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 09 40 00 hex A37.1 Process: Progress of the reset-memorized-values action in %. 2025h 1h read (2) 0: error free; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 09 40 01 hex A37.2 Result: After conclusion of the reset-memorized-values action, the result can be queried here. 2025h 2h read (2) 0: error free; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 09 40 02 hex A38 r=2, w=2 DC power-input: This parameter is used to set whether the inverter is to be exclusively supplied with DC voltage via the DC link. Read and adhere to the chapter "DC Link Coupling" in the Mounting Instructions for MDS 5000 (ID 441688) and FDS 5000 (ID 441858). Groups 2 and 3 are exclusively powered via the DC link. Set A38 = 1:active for these inverters. Set A38 = 1:inactive for group 1 inverters. If you do not set a DC link coupling at all, always set parameter A38 to 0:inactive. 2026h 0: inactive; Inverter is powered by the three-phase network. 1: active; Inverter is powered with direct current exclusively via the terminals U+ and U- (size 0 to size 2) or ZK+ and ZK- (MDS size 3). Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 09 80 00 hex ID 441778.0004 70

A.. Inverter A39 r=2, w=2 t-max. quickstop: Maximum time available to a quick stop during enable=low or in the device state "fault reaction active." After this time expires, the motor is de-energized (A900 = low). This switch-off also occurs even when the quick stop has not yet been concluded. Value range in ms: 0... 400... 32767 Fieldbus: 1LSB=1ms; Type: I16; USS-Adr: 01 09 C0 00 hex 2027h A41 -selector: Indicates the selected axis. The selected axis does not have to be the active axis. 2029h read (1) 0: 1; 1: 2; 2: 3; 3: 4; 4: inactive; The last selected axis was axis 1. 5: inactive; The last selected axis was axis 2. 6: inactive; The last selected axis was axis 3. 7: inactive; The last selected axis was axis 4. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0A 40 00 hex A43 Enable off delay: For suppression of short low-pulses on the X1.Enable. This finction is required for the connection of safety devices which use OSSD pulses for the diagnosis of switching cabability. 202Bh WARNING The delay time is set always causes an A43-delayed reaction to the switch-off of the X1.Enable. This Time must be considered when a stopping distance is calculated. Value range in ms: 0.0... 0,0... 10.0 Fieldbus: 1LSB=0,1ms; Type: I16; (raw value:32767 = 32.8 ms); USS-Adr: 01 0A C0 00 hex A44 r=2, w=3 Enable quick-stop: If the parameter is inactive, the power pack is turned off immediately when enable = LOW. The motor coasts down. When A44 is active, a quick stop is executed when enable = LOW. 202Ch 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0B 00 00 hex A45 Quickstop end: When this parameter is set to "0:Standstill," the quick stop ends with standstill. With the setting "1:no stop," the quick stop ends when the quick stop request is deleted. 202Dh r=2, w=2 0: standstill; 1: no stop; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0B 40 00 hex ID 441778.0004 71

A.. Inverter A55 r=2, w=3 Key hand function: With A55 = 1, the "HAND" key is enabled for turning local mode on/off. During local mode, the device enable is granted with the "I/O" key. Local mode is indicated on the display with an "L" at the bottom right. The arrow keys on the operator panel can be used to traverse with the drive enabled with "I/O." The speed reference value is calculated during speed mode from A51. In positioning applications, this corresponds to the hand speed I12. 2037h NOTE In local mode the regular enable via terminals or from the fieldbus is ignored! 0: inactive; - key has no function. 1: active; - key enabled for activation of local mode. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0D C0 00 hex A60, OFF Additional enable source: The additional enable signal functions the same as the enable signal on terminal X1. Both signals are AND linked. The power end state of the inverter is only enabled when both signals are HIGH. The A60 parameter specifies where the additional enable signal comes from. The selection "1:High" has the same meaning as a fixed value. With A60 = 1:High, only the enable via the terminal is active. With A60 = 3:BE1... 28:BE13-inverted, the additional enable is fed by the respective binary input (either direct or inverted). With A60 = 2:Parameter, the signal comes from bit 0 in parameter A180 Device Control Byte (global parameter). 203Ch 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; ID 441778.0004 72

A.. Inverter 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0F 00 00 hex A61, OFF Fault reset source: The fault reset signal triggers a fault reset. If the inverter has a malfunction, a change from LOW to HIGH resets this fault. The fault reset is not possible as long as A00 Save values is active or the cause of the fault still exists. Remember that not every fault can be acknowledged. The A61 parameter specifies where the fault reset signal comes from. With "0:Low" and "1:High," a fault reset is only possible with the <ESC> key at the device operator panel or with a LOW-HIGH- LOW change of the enable. With A61 = 3:BE1... 28:BE13-inverted, faults can be reset via the selected binary input. With A61 = 2:Parameter, the signal comes from bit 1 of parameter A180 Device Command Byte (global parameter). 203Dh 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0F 40 00 hex ID 441778.0004 73

A.. Inverter A62 Quick stop source: The quick stop signal triggers a quick stop of the drive. With positioning 203Eh, OFF mode, the acceleration specified in I17 determines the braking time. When the axis is in speed mode, the D81 parameter determines the braking time. (See also A45.) The A62 parameter specifies where the signal is coming from which causes the quick stop. "0:Low" means that no quick stop is executed. "1:High" means that the drive is permanently in quick stop mode. With A62 = 3:BE1... 28:BE13-inverted, the quick stop is triggered by the selected binary input. With A62 = 2:Parameter, A180 bit 2 is used as the signal source (global parameter). 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0F 80 00 hex A63, OFF selector 0 source: There are 2 "axis selector 0/1" signals with which one of the max. of 4 axes are selected in binary coding. The A63 parameter specifies where bit 0 for the axis selection is coming from. The possible selections "0:Low" and "1:High" are the same as fixed values. With A63 = 0:Low, the bit is set permanently to 0. With A63 = 1:High, it is permanently set to 1. With A63 = 3:BE1... 28:BE13-inverted, the axis selection can be made via the selected binary input. With A63 = 2:Parameter, A180, bit 3 is used as the signal source (global parameter). 203Fh NOTE - switchover is not possible unless the enable is off and E48 device control state is not 5:fault. ID 441778.0004 74

A.. Inverter - With the FDS 5000, the axes can only be used as parameter records for a motor. The POSISwitch AX 5000 option cannot be connected. 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 0F C0 00 hex A64, OFF selector 1 source: There are 2 "axis selector 0/1" signals with which one of the max. of 4 axes are selected in binary coding. The A64 parameter specifies where bit 0 for the axis selection is coming from. The possible selections "0:Low" and "1:High" are the same as fixed values. With A64 = 0:Low, the bit is set permanently to 0. With A64 = 1:High, it is permanently set to 1. With A64 = 3:BE1... 28:BE13-inverted, the axis selection can be made via the selected binary input. With A64 = 2:Parameter, A180, bit 4 is used as the signal source (global parameter). 204 NOTE - switchover is not possible unless the enable is off and E48 device control state is not 5:fault. - With the FDS 5000, the axes can only be used as parameter records for a motor. The POSISwitch AX 5000 option cannot be connected. 0: Low; 1: High; ID 441778.0004 75

A.. Inverter 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 10 00 00 hex A65, OFF disable source: The axis-disable signal deactivates all axes. The A65 parameter specifies where the signal comes from. With A65 = 3:BE1... 28:BE13-inverted, axis selection can be handled with the selected binary input. With A65 = 2:Parameter, A180, bit 5 is the signal source (global parameter). 2041h NOTE - switchover is not possible unless the enable is off and E48 device control state is not 5:fault. - With the FDS 5000, the axes can only be used as parameter records for a motor. The POSISwitch AX 5000 option cannot be connected. 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; ID 441778.0004 76

A.. Inverter 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 10 40 00 hex A80 Serial address: Specifies the address of the inverter for serial communication via X3 with POSITool or another USS master. 205 r=2, w=2 Value range: 0... 0... 31 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 14 00 00 hex A81 Serial baudrate: Specifies the baud rate for serial communication via the X3 interface. Starting with V 5.1, writing to A81 no longer changes the baud rate immediately but now not until after device OFF-ON (previously with A00 save values) or A87 activate serial baud rate = 1 (activate baud rate). This makes the reaction identical to that of the fieldbuses. 2051h 0: 9600 Baud; 1: 19200 Baud; 2: 38400 Baud; 3: 57600 Baud; 4: 115200 Baud; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 14 40 00 hex A82 CAN baudrate: Setting of the baud rate with which the CAN-Bus will be operated. Cf. CANopen fieldbus documentation, ID 441686. 2052h r=0, w=0 0: 10 kbit/s; 1: 20 kbit/s; 2: 50 kbit/s; ID 441778.0004 77

A.. Inverter 3: 100 kbit/s; 4: 125 kbit/s; 5: 250 kbit/s; 6: 500 kbit/s; 7: 800 kbit/s; 8: 1000 kbit/s; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 14 80 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A83 Busaddress: Specifies the device address for operation with fieldbus. A83 has no effect on communication via X3 with POSITool or another USS master. 2053h r=0, w=0 Value range: 0... 1... 125 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 14 C0 00 hex A84 read (0) PROFIBUS baudrate: When operated with a device of the 5th generation of STÖBER inverters with option board "PROFIBUS DP," the baud rate found on the bus is indicated. Cf. PROFIBUS DP fieldbus documentation, ID 441687. 2054h 0: Not found; 1: 9.6kBit/s; 2: 19.2kBit/s; 3: 45.45kBit/s; 4: 93.75kBit/s; 5: 187.5kBit/s; 6: 500 kbit/s; 7: 1500kBit/s; 8: 3000kBit/s; 9: 6000kBit/s; 10: 12000kBit/s; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 15 00 00 hex Only visible when a PROFIBUS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. A85 PROFIBUS diagnostic: Indication of internal inverter diagnostic information on the PROFIBUS DP interface. See PROFIBUS DP fieldbus documentation (ID 441687). 2055h Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 15 40 00 hex Only visible when a PROFIBUS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. ID 441778.0004 78

A.. Inverter A86 read (1) PROFIBUS configuration: The inverter offers various ways (PPO types) to transfer cyclic user data via PROFIBUS DP. These can be configured in the GSD file STOE5005.gsd on the controller (bus master). This indication parameter can be used to check which of the possible configurations was chosen. 2056h 0: No data communication via PROFIBUS started 1: PPO1: 4 PKW, 2 PZD 2: PPO2: 4 PKW, 6 PZD 3: PPO3: 0 PKW, 2 PZD 4: PPO4: 0 PKW, 6 PZD 5: PPO5: 4 PKW, 10 PZD 6: PPO2: 4 PKW, 6 PZD consis. 2 W 7: PPO4: 0 PKW, 6 PZD consis. 2 W 8: PPO5: 4 PKW, 10 PZD consis. 2 W Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 15 80 00 hex Only visible when a PROFIBUS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. A87 Activate serial baudrate: Starting with V 5.1, writing in A81 no longer changes the baud rate immediately. The change now takes place only after device OFF/ON (previously with A00 save values) or A87 = 1 (activate baud rate). This makes the reaction the same as the reaction of the fieldbuses. 2057h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 15 C0 00 hex A90.0 PZD Setpoint Mapping Rx 1. mapped Parameter: Address of the parameter which is imaged first from the contents of the process data channel (receiving direction as seen by the inverter). Value range: A00... A180... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 16 80 00 hex 205Ah A90.1 PZD Setpoint Mapping Rx 2. mapped Parameter: Address of the parameter which is imaged second from the contents of the process data channel (receiving direction as seen by the inverter). Value range: A00... I223... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 16 80 01 hex 205Ah 1h A90.2 PZD Setpoint Mapping Rx 3. mapped Parameter: Address of the parameter which is imaged third from the contents of the process data channel (receiving direction as seen by the inverter). Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 16 80 02 hex 205Ah 2h A90.3 PZD Setpoint Mapping Rx 4. mapped Parameter: Address of the parameter which is imaged fourth from the contents of the process data channel (receiving direction as seen by the inverter). Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 16 80 03 hex 205Ah 3h ID 441778.0004 79

A.. Inverter A90.4 PZD Setpoint Mapping Rx 5. mapped Parameter: Address of the parameter which is imaged fifth from the contents of the process data channel (receiving direction as seen by the inverter). 205Ah 4h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 16 80 04 hex A90.5 PZD Setpoint Mapping Rx 6. mapped Parameter: Address of the parameter which is imaged sixth from the contents of the process data channel (receiving direction as seen by the inverter). 205Ah 5h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 16 80 05 hex A91.0 PZD Setpoint Mapping 2Rx 1. mapped Parameter: If more parameters are to be imaged than can be specified in A90, this parameter offers a possible extension. See A90.0. 205Bh Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 16 C0 00 hex A91.1 PZD Setpoint Mapping 2Rx 2. mapped Parameter: For extension of A90, see A90.1. 205Bh 1h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 16 C0 01 hex A91.2 PZD Setpoint Mapping 2Rx 3. mapped Parameter: For extension of A90, See A90.2. 205Bh 2h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 16 C0 02 hex A91.3 PZD Setpoint Mapping 2Rx 4. mapped Parameter: For extension of A90, see A90.3. 205Bh 3h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 16 C0 03 hex A91.4 PZD Setpoint Mapping 2Rx 5. mapped Parameter: For extension of A90, see A90.4. 205Bh 4h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 16 C0 04 hex A91.5 PZD Setpoint Mapping 2Rx 6. mapped Parameter: For extension of A90, see A90.5. 205Bh 5h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 16 C0 05 hex A93 read (1) PZD Setpoint Len: Indicator parameter which indicates the length in bytes of the expected process data with reference values (data from PROFIBUS master to inverter) for the current parameterization. 205Dh Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 17 40 00 hex Only visible when a PROFIBUS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. ID 441778.0004 80

A.. Inverter A94.0 PZD ActValue Mapping Tx 1. mapped Parameter: Address of the parameter which is imaged first in the contents of the process data channel (sending direction as seen by the inverter). 205Eh Value range: A00... E200... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 17 80 00 hex A94.1 PZD ActValue Mapping Tx 2. mapped Parameter: Address of the parameter which is imaged second in the contents of the process data channel (sending direction as seen by the inverter). 205Eh 1h Value range: A00... I201... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 17 80 01 hex A94.2 PZD ActValue Mapping Tx 3. mapped Parameter: Address of the parameter which is imaged third in the contents of the process data channel (sending direction as seen by the inverter). 205Eh 2h Value range: A00... I200... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 17 80 02 hex A94.3 PZD ActValue Mapping Tx 4. mapped Parameter: Address of the parameter which is imaged fourth in the contents of the process data channel (sending direction as seen by the inverter). 205Eh 3h Value range: A00... I203... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 17 80 03 hex A94.4 PZD ActValue Mapping Tx 5. mapped Parameter: Address of the parameter which is imaged fifth in the contents of the process data channel (sending direction as seen by the inverter). 205Eh 4h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 17 80 04 hex A94.5 PZD ActValue Mapping Tx 6. mapped Parameter: Address of the parameter which is imaged sixth in the contents of the process data channel (sending direction as seen by the inverter). 205Eh 5h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 17 80 05 hex A95.0 PZD ActValue Mapping 2Tx 1. mapped Parameter: When more parameters are to be imaged than can be specified in A94, this parameter offers a possible extension. See A94.0. 205Fh Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 17 C0 00 hex A95.1 PZD ActValue Mapping 2Tx 2. mapped Parameter: For extension of A94, see A94.1. 205Fh 1h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 17 C0 01 hex A95.2 PZD ActValue Mapping 2Tx 3. mapped Parameter: For extension of A94, see A94.2. 205Fh 2h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 17 C0 02 hex ID 441778.0004 81

A.. Inverter PZD ActValue Mapping 2Tx 4. mapped Parameter: For extension of A94, see A94.3. 205Fh 3h A95.3 A95.4 A95.5 A97 read (1) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 17 C0 03 hex PZD ActValue Mapping 2Tx 5. mapped Parameter: For extension of A94, see A94.4. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 17 C0 04 hex PZD ActValue Mapping 2Tx 6. mapped Parameter: For extension of A94, see A94.5. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 17 C0 05 hex PZD ActValue Len: Indicator parameter which indicates the length in bytes of the current process data with actual values (data from inverter to PROFIBUS master) for the current parameterization. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 18 40 00 hex Only visible when a PROFIBUS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. 205Fh 205Fh 21h 4h 5h A100 Fieldbusscaling: The selection is made here between internal raw values and whole numbers for the representation/scaling of process data values during transmission via PZD channel. Regardless of this setting, the representation is always the whole number via PKW channel and the non cyclic parameter channel. 24h CAUTION When "0:integer" is parameterized (scaled values), the runtime load increases significantly and it may become necessary to increase A150 cycle time to avoid the fault "57:runtime usage" or "35:Watchdog." With few exceptions, the PKW channel is always transferred in scaled format. 0: integer without point; Values are transferred as whole number in user units * 10 to the power of the number of positions after the decimal point. 1: native; Values are transferred at optimized speed in the internal inverter raw format (e.g., increments). Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 19 00 00 hex Only visible when a PROFIBUS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. A101 Dummy-Byte: This variable is used to replace a piece of process data with the byte length when you want to test deactivation of the process variables via fieldbus. 25h NOTE The parameter is only visible when fieldbus device control was selected in the configuration assistant. Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 01 19 40 00 hex ID 441778.0004 82

A.. Inverter A102 Dummy-Word: This variable is used to replace a piece of process data with the word length when you want to test deactivation of the process variables via fieldbus. 26h NOTE The parameter is only visible when fieldbus device control was selected in the configuration assistant. Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 01 19 80 00 hex A103 Dummy-Doubleword: This variable is used to replace a piece of process data with the doubleword length when you want to test deactivation of the process variables via fieldbus. 27h NOTE The parameter is only visible when fieldbus device control was selected in the configuration assistant. Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 01 19 C0 00 hex A109 PZD-Timeout: To keep the inverter from continuing with the last received reference values after a failure of PROFIBUS or the PROFIBUS master, process data monitoring should be activated. The RX block monitors the regular receipt of process data telegrams (PZD) which the PROFIBUS master sends cyclically during normal operation. The A109 PZD-Timeout parameter is used to activate this monitoring function. A time is set here in milliseconds. The default setting is 65535. This value and also the value 0 mean that monitoring is inactive. This is recommended while the inverter is being commissioned on PROFIBUS and for service and maintenance work. Monitoring should only be activated for the running process during which a bus master cyclically sends process data to the inverter. The monitoring time must be adapted to the maximum total cycle time on PROFIBUS plus a sufficient reserve for possible delays on the bus. Sensible values are usually between 30 and 300 msec. When process data monitoring is triggered on the inverter, the fault "52:communication" is triggered. 2Dh * The A109 PZD-Timeout parameter is also used for communication via USS protocol for the USS- PZD telegram. Value range in ms: 0... 65535... 65535 Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 1B 40 00 hex A110.0 USS PZD Mapping Rx 1. mapped Parameter: Address of the parameter which is imaged first from the contents of the process data telegram (receiving direction as seen by the inverter). 2Eh NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1B 80 00 hex ID 441778.0004 83

A.. Inverter A110.1 USS PZD Mapping Rx 2. mapped Parameter: Address of the parameter which is imaged 2Eh 1h second from the contents of the process data telegram (receiving direction as seen by the inverter). NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1B 80 01 hex A110.2 USS PZD Mapping Rx 3. mapped Parameter: Address of the parameter which is imaged third from the contents of the process data telegram (receiving direction as seen by the inverter). 2Eh 2h NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1B 80 02 hex A110.3 USS PZD Mapping Rx 4. mapped Parameter: Address of the parameter which is imaged fourth from the contents of the process data telegram (receiving direction as seen by the inverter). 2Eh 3h NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1B 80 03 hex A110.4 USS PZD Mapping Rx 5. mapped Parameter: Address of the parameter which is imaged fifth from the contents of the process data telegram (receiving direction as seen by the inverter). 2Eh 4h NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1B 80 04 hex A110.5 USS PZD Mapping Rx 6. mapped Parameter: Address of the parameter which is imaged sixth from the contents of the process data telegram (receiving direction as seen by the inverter). 2Eh 5h NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1B 80 05 hex ID 441778.0004 84

A.. Inverter A113 USS PZD Rx Len: Indicator parameter which shows the length in bytes of the expected process data telegram with reference values of USS master for the current parameterization. 2071h read (1) NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range: 0... 0... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 1C 40 00 hex A114.0 USS PZD Mapping Tx 1. mapped Parameter: Address of the parameter which is imaged first in the contents of the process data telegram (sending direction as seen by the inverter). 2072h NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1C 80 00 hex A114.1 USS PZD Mapping Tx 2. mapped Parameter: Address of the parameter which is imaged second in the contents of the process data telegram (sending direction as seen by the inverter). 2072h 1h NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1C 80 01 hex A114.2 USS PZD Mapping Tx 3. mapped Parameter: Address of the parameter which is imaged third in the contents of the process data telegram (sending direction as seen by the inverter). 2072h 2h NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1C 80 02 hex A114.3 USS PZD Mapping Tx 4. mapped Parameter: Address of the parameter which is imaged fourth in the contents of the process data telegram (sending direction as seen by the inverter). 2072h 3h NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1C 80 03 hex ID 441778.0004 85

A.. Inverter A114.4 USS PZD Mapping Tx 5. mapped Parameter: Address of the parameter which is imaged 2072h 4h fifth in the contents of the process data telegram (sending direction as seen by the inverter). NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1C 80 04 hex A114.5 USS PZD Mapping Tx 6. mapped Parameter: Address of the parameter which is imaged sixth in the contents of the process data telegram (sending direction as seen by the inverter). 2072h 5h NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1C 80 05 hex A117 USS PZD Tx Len: Indicator parameter which indicates the length in bytes of the process data telegram to be sent with actual values to the USS master for the current parameterization. 2075h read (1) NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range: 0... 0... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 1D 40 00 hex A118 USS PZD scaling: The selection is made here between internal raw values and whole numbers for the representation/scaling of parameter values during transmission via the process data telegram. Regardless of this setting, the representation can be selected separately via the readparameter or write-parameter services. 2076h NOTE The parameter is only visible when a USS device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. 0: integer without point; Values are transferred as whole number in user units * number of positions after the decimal point to the 10th power. 1: native; Values are transferred in the internal inverter raw format (e.g., increments). Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 1D 80 00 hex A120 IGB Address: The IGB address of the device is entered in this parameter. Since up to 32 inverters can be connected to one IGB network, enter a value between 0 and 31 in this parameter. Remember that each IGB address can only be allocated once within an IGB network if you want to utilize the functionality of the IGB Motionbus. This is why you should use the IGB Motionbus Configuration assistant to set this parameter. Remember that the parameter does not exist unless you activate the IGB Motionbus function in step 6 of the configuration assistant. 2078h Value range: 0... 0... 31 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 1E 00 00 hex ID 441778.0004 86

A.. Inverter A121 IGB nominal number: The number of stations expected by the IGB Motionbus is entered in this parameter. If you plan to utilize the IGB Motionbus function, the parameter must be the same for all stations and must be set to the expected number of stations so that the state A155 = 3:IGB Motionbus is achieved. If the parameter is set to 0 or 1, the IGB Motionbus cannot be used. 2079h Value range: 0... 0... 32 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 1E 40 00 hex A124 IGB exceptional motion: When an SDS 5000 is a station on the IGB Motionbus, the device state machine cannot exit the state 1:switch on inhibit (see E48 device state) if the IGB Motionbus cannot be established (A155 IGB-state does not indicate 3:IGB Motionbus). You can activate IGB exceptional motion in A124 so that the axes can still be individually positioned during commissioning and failure of the IGB or the device. When IGB exceptional motion is activated, enabling is possible regardless of A155 IGB-state. 207Ch Warning When A124 is activated, non-synchronous, undefined movements are possible which can endanger personnel and machines. When you use A124, make sure that the movements cannot injure personnel or cause property damage. Information This parameter cannot be saved. It is preset with 0:inactive each time the device boots. 0: inactive; Normal operation. When an SDS 5000 is a station on the IGB Motionbus, the device state 1:switch on inhibit can only be exited if the IGB Motionbus can be established (A155 IGBstate indicates 3:IGB Motionbus). 1: active; IGB exceptional motion. When an SDS 5000 is a station on the IGB Motionbus, the device state machine can also exit the state 1:switch on inhibit via the IGB exceptional motion (see E48 device state) if the IGB Motionbus cannot be established (A155 IGB-state does not indicate 3:IGB Motionbus). This may be necessary during maintenance, for example, when not all the inverters for the IGB Motionbus are located at the same place. Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 1F 00 00 hex A126.0 IGB Producer Mapping 1. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The first parameter which is sent on the bus is entered in A126.0. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 00 hex ID 441778.0004 87

A.. Inverter A126.1 IGB Producer Mapping 2. mapped Parameter: Every SDS 5000 can cyclically send 207Eh 1h ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The second parameter which is sent on the bus is entered in A126.1. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 01 hex A126.2 IGB Producer Mapping 3. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The third parameter which is sent on the bus is entered in A126.2. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh 2h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 02 hex A126.3 IGB Producer Mapping 4. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 4th parameter which is sent on the bus is entered in A126.3. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh 3h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 03 hex ID 441778.0004 88

A.. Inverter A126.4 IGB Producer Mapping 5. mapped Parameter: Every SDS 5000 can cyclically send 207Eh 4h ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 5th parameter which is sent on the bus is entered in A126.4. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 04 hex A126.5 IGB Producer Mapping 6. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 6th parameter which is sent on the bus is entered in A126.5. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh 5h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 05 hex A126.6 IGB Producer Mapping 7. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 7th parameter which is sent on the bus is entered in A126.6. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh 6h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 hex ID 441778.0004 89

A.. Inverter A126.7 IGB Producer Mapping 8. mapped Parameter: Every SDS 5000 can cyclically send 207Eh 7h ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 8th parameter which is sent on the bus is entered in A126.7. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 07 hex A126.8 IGB Producer Mapping 9. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 9th parameter which is sent on the bus is entered in A126.8. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh 8h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 08 hex A126.9 IGB Producer Mapping 10. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 10th parameter which is sent on the bus is entered in A126.9. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh 9h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 09 hex ID 441778.0004 90

A.. Inverter A126. 10 IGB Producer Mapping 11. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 11th parameter which is sent on the bus is entered in A126.10. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 0A hex 207Eh 000 Ah A126. 11 IGB Producer Mapping 12. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 12th parameter which is sent on the bus is entered in A126.11. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh 000 Bh Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 0B hex A126. 12 IGB Producer Mapping 13. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 13th parameter which is sent on the bus is entered in A126.12. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh 000 Ch Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 0C hex ID 441778.0004 91

A.. Inverter A126. 13 IGB Producer Mapping 14. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 14th parameter which is sent on the bus is entered in A126.13. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 0D hex 207Eh 000 Dh A126. 14 IGB Producer Mapping 15. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 15th parameter which is sent on the bus is entered in A126.14. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh 000 Eh Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 0E hex A126. 15 IGB Producer Mapping 16. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 16th parameter which is sent on the bus is entered in A126.15. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh 000 Fh Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 0F hex ID 441778.0004 92

A.. Inverter A126. 16 IGB Producer Mapping 17. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 17th parameter which is sent on the bus is entered in A126.16. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 10 hex 207Eh 1 A126. 17 IGB Producer Mapping 18. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 18th parameter which is sent on the bus is entered in A126.17. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh 11h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 11 hex A126. 18 IGB Producer Mapping 19. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 19th parameter which is sent on the bus is entered in A126.18. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh 12h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 12 hex ID 441778.0004 93

A.. Inverter A126. 19 IGB Producer Mapping 20. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 20th parameter which is sent on the bus is entered in A126.19. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 13 hex 207Eh 13h A126. 20 IGB Producer Mapping 21. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 21th parameter which is sent on the bus is entered in A126.20. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh 14h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 14 hex A126. 21 IGB Producer Mapping 22. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 22th parameter which is sent on the bus is entered in A126.21. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh 15h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 15 hex ID 441778.0004 94

A.. Inverter A126. 22 IGB Producer Mapping 23. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 23th parameter which is sent on the bus is entered in A126.22. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh 16h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 16 hex A126. 23 IGB Producer Mapping 24. mapped Parameter: Every SDS 5000 can cyclically send ("produce") up to six selectable, PDO-capable parameters on the IGB Motionbus. These parameters are entered in the elements of the array parameter A126.x. The 24th parameter which is sent on the bus is entered in A126.23. Remember that each device can send a maximum of 32 bytes. The first 6 bytes are permanently assigned: - Byte 0: E48 device control state - Byte 1: E80 operating condition - Byte 2: E82 event type - Byte 3: A163.0 IGB systembits element 0 - Byte 4: A163.1 IGB systembits element 1 - Byte 5: reserved The parameters entered in A126.x are transmitted in succession, without gaps and with element 0, beginning with byte 6. 207Eh 17h Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 1F 80 17 hex A128.0 IGB Consumer Mapping 1. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 In A128.0 enter the parameter to which the first value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.0. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 00 hex ID 441778.0004 95

A.. Inverter A128.1 IGB Consumer Mapping 2. mapped Parameter: Each device can read up to six selectable 208 1h values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.1 enter the parameter to which the second value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.1. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 01 hex A128.2 IGB Consumer Mapping 3. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 2h In A128.2 enter the parameter to which the third value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.2. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 02 hex A128.3 IGB Consumer Mapping 4. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 3h In A128.3 enter the parameter to which the fourth value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.3. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 03 hex A128.4 IGB Consumer Mapping 5. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 4h In A128.4 enter the parameter to which the fifth value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.4. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 04 hex ID 441778.0004 96

A.. Inverter A128.5 IGB Consumer Mapping 6. mapped Parameter: Each device can read up to six selectable 208 5h values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.5 enter the parameter to which the sixth value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.5. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 05 hex A128.6 IGB Consumer Mapping 7. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 6h In A128.6 enter the parameter to which the 7th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.6. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 hex A128.7 IGB Consumer Mapping 8. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 7h In A128.7 enter the parameter to which the 8th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.7. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 07 hex A128.8 IGB Consumer Mapping 9. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 8h In A128.8 enter the parameter to which the 9th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.8. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 08 hex ID 441778.0004 97

A.. Inverter A128.9 IGB Consumer Mapping 10. mapped Parameter: Each device can read up to six 208 9h selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.9 enter the parameter to which the 10th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.9. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 09 hex A128. 10 IGB Consumer Mapping 11. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 000 Ah In A128.10 enter the parameter to which the 11th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.10. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 0A hex A128. 11 IGB Consumer Mapping 12. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 000 Bh In A128.11 enter the parameter to which the 12th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.11. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 0B hex A128. 12 IGB Consumer Mapping 13. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 000 Ch In A128.12 enter the parameter to which the 13th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.12. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 0C hex ID 441778.0004 98

A.. Inverter A128. 13 IGB Consumer Mapping 14. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.13 enter the parameter to which the 14th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.13. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 0D hex 208 000 Dh A128. 14 IGB Consumer Mapping 15. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 000 Eh In A128.14 enter the parameter to which the 15th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.14. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 0E hex A128. 15 IGB Consumer Mapping 16. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 000 Fh In A128.15 enter the parameter to which the 16th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.15. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 0F hex A128. 16 IGB Consumer Mapping 17. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 1 In A128.16 enter the parameter to which the 17th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.16. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 10 hex ID 441778.0004 99

A.. Inverter A128. 17 IGB Consumer Mapping 18. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.17 enter the parameter to which the 18th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.17. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 11 hex 208 11h A128. 18 IGB Consumer Mapping 19. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 12h In A128.18 enter the parameter to which the 19th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.18. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 12 hex A128. 19 IGB Consumer Mapping 20. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 13h In A128.19 enter the parameter to which the 20th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.19. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 13 hex A128. 20 IGB Consumer Mapping 21. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 14h In A128.20 enter the parameter to which the 21st value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.20. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 14 hex ID 441778.0004 100

A.. Inverter A128. 21 IGB Consumer Mapping 22. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.21 enter the parameter to which the 22nd value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.21. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 15 hex 208 15h A128. 22 IGB Consumer Mapping 23. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 16h In A128.22 enter the parameter to which the 23rd value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.22. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 16 hex A128. 23 IGB Consumer Mapping 24. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 17h In A128.23 enter the parameter to which the 24th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.23. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 17 hex A128. 24 IGB Consumer Mapping 25. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 18h In A128.24 enter the parameter to which the 25th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.24. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 18 hex ID 441778.0004 101

A.. Inverter A128. 25 IGB Consumer Mapping 26. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.25 enter the parameter to which the 26th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.25. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 19 hex 208 19h A128. 26 IGB Consumer Mapping 27. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 001 Ah In A128.26 enter the parameter to which the 27th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.26. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 1A hex A128. 27 IGB Consumer Mapping 28. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 001 Bh In A128.27 enter the parameter to which the 28th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.27. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 1B hex A128. 28 IGB Consumer Mapping 29. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 001 Ch In A128.28 enter the parameter to which the 29th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.28. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 1C hex ID 441778.0004 102

A.. Inverter A128. 29 IGB Consumer Mapping 30. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. In A128.29 enter the parameter to which the 30th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.29. Remember that you can only use parameters with the PDO-Mapping characteristic. 208 001 Dh Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 1D hex A128. 30 IGB Consumer Mapping 31. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 001 Eh In A128.30 enter the parameter to which the 31rd value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.30. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 1E hex A128. 31 IGB Consumer Mapping 32. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 208 001 Fh In A128.31 enter the parameter to which the 32nd value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A129.31. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 00 1F hex A129.0 IGB Consumer Quelladresse 1. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the first source address in A129.0. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 00 hex ID 441778.0004 103

A.. Inverter A129.1 IGB Consumer Quelladresse 2. mapped Parameter: Each device can read up to six 2081h 1h selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the second source address in A129.1. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 01 hex A129.2 IGB Consumer Quelladresse 3. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 2h Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the third source address in A129.2. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 02 hex A129.3 IGB Consumer Quelladresse 4. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 3h Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the fourth source address in A129.3. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 03 hex ID 441778.0004 104

A.. Inverter A129.4 IGB Consumer Quelladresse 5. mapped Parameter: Each device can read up to six 2081h 4h selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the fifth source address in A129.4. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 04 hex A129.5 IGB Consumer Quelladresse 6. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 5h Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the sixth source address in A129.5. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 05 hex A129.6 IGB Consumer Quelladresse 7. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 6h Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 7th source address in A129.6. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 hex ID 441778.0004 105

A.. Inverter A129.7 IGB Consumer Quelladresse 8. mapped Parameter: Each device can read up to six 2081h 7h selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 8th source address in A129.7. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 07 hex A129.8 IGB Consumer Quelladresse 9. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 8h Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 9th source address in A129.8. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 08 hex A129.9 IGB Consumer Quelladresse 10. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 9h Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 10th source address in A129.9. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 09 hex ID 441778.0004 1

A.. Inverter A129. 10 IGB Consumer Quelladresse 11. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 11th source address in A129.10. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 0A hex 2081h 000 Ah A129. 11 IGB Consumer Quelladresse 12. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 000 Bh Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 12th source address in A129.11. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 0B hex A129. 12 IGB Consumer Quelladresse 13. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 000 Ch Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 13th source address in A129.12. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 0C hex ID 441778.0004 107

A.. Inverter A129. 13 IGB Consumer Quelladresse 14. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 14th source address in A129.13. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 0D hex 2081h 000 Dh A129. 14 IGB Consumer Quelladresse 15. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 000 Eh Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 15th source address in A129.14. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 0E hex A129. 15 IGB Consumer Quelladresse 16. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 000 Fh Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 16th source address in A129.15. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 0F hex ID 441778.0004 108

A.. Inverter A129. 16 IGB Consumer Quelladresse 17. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 17th source address in A129.16. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 10 hex 2081h 1 A129. 17 IGB Consumer Quelladresse 18. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 11h Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 18th source address in A129.17. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 11 hex A129. 18 IGB Consumer Quelladresse 19. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 12h Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 19th source address in A129.18. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 12 hex ID 441778.0004 109

A.. Inverter A129. 19 IGB Consumer Quelladresse 20. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 20th source address in A129.19. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 13 hex 2081h 13h A129. 20 IGB Consumer Quelladresse 21. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 14h Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 21rd source address in A129.20. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 14 hex A129. 21 IGB Consumer Quelladresse 22. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 15h Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 22nd source address in A129.21. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 15 hex ID 441778.0004 110

A.. Inverter A129. 22 IGB Consumer Quelladresse 23. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 23rd source address in A129.22. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 16 hex 2081h 16h A129. 23 IGB Consumer Quelladresse 24. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 17h Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 24th source address in A129.23. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 17 hex A129. 24 IGB Consumer Quelladresse 25. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 18h Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 25th source address in A129.24. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 18 hex ID 441778.0004 111

A.. Inverter A129. 25 IGB Consumer Quelladresse 26. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 26th source address in A129.25. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 19 hex 2081h 19h A129. 26 IGB Consumer Quelladresse 27. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 001 Ah Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 27th source address in A129.26. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 1A hex A129. 27 IGB Consumer Quelladresse 28. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 001 Bh Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 28th source address in A129.27. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 1B hex ID 441778.0004 112

A.. Inverter A129. 28 IGB Consumer Quelladresse 29. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 29th source address in A129.28. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 1C hex 2081h 001 Ch A129. 29 IGB Consumer Quelladresse 30. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 001 Dh Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 30th source address in A129.29. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 1D hex A129. 30 IGB Consumer Quelladresse 31. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. 2081h 001 Eh Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 31rd source address in A129.30. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 1E hex ID 441778.0004 113

A.. Inverter A129. 31 IGB Consumer Quelladresse 32. mapped Parameter: Each device can read up to six selectable values from the IGB Motionbus. To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A129.x. 2. The target address (i.e., where the value is to be written). Enter this information in A128.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A129.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A129.x. Enter the 32nd source address in A129.31. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 40 1F hex 2081h 001 Fh A130.0 IGB Consumer2 Mapping 1. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x an. the same time, this also allows you to specify how many bytes will be read. In A130.0, enter the parameter to which the first value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.0. Remember that you can only use parameters with the PDO-Mapping attribute. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 00 hex A130.1 IGB Consumer2 Mapping 2. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 1h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.1 enter the parameter to which the second value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.1. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 01 hex ID 441778.0004 114

A.. Inverter A130.2 IGB Consumer2 Mapping 3. mapped Parameter: Each device can read up to 32 2082h 2h selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.2 enter the parameter to which the third value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.2. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 02 hex A130.3 IGB Consumer2 Mapping 4. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 3h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.3 enter the parameter to which the fourth value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.3. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 03 hex A130.4 IGB Consumer2 Mapping 5. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 4h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.4 enter the parameter to which the fifth value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.4. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 04 hex ID 441778.0004 115

A.. Inverter A130.5 IGB Consumer2 Mapping 6. mapped Parameter: Each device can read up to 32 2082h 5h selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.5 enter the parameter to which the sixth value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.5. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 05 hex A130.6 IGB Consumer2 Mapping 7. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 6h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.6 enter the parameter to which the 7th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.6. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 hex A130.7 IGB Consumer2 Mapping 8. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 7h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.7 enter the parameter to which the 8th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.7. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 07 hex ID 441778.0004 116

A.. Inverter A130.8 IGB Consumer2 Mapping 9. mapped Parameter: Each device can read up to 32 2082h 8h selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.8 enter the parameter to which the 9. value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.8. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 08 hex A130.9 IGB Consumer2 Mapping 10. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 9h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.9 enter the parameter to which the 10th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.9. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 09 hex A130. 10 IGB Consumer2 Mapping 11. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 000 Ah To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.10 enter the parameter to which the 11th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.10. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 0A hex ID 441778.0004 117

A.. Inverter A130. 11 IGB Consumer2 Mapping 12. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 000 Bh To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.11 enter the parameter to which the 12th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.11. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 0B hex A130. 12 IGB Consumer2 Mapping 13. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 000 Ch To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.12 enter the parameter to which the 13th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.12. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 0C hex A130. 13 IGB Consumer2 Mapping 14. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 000 Dh To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.13 enter the parameter to which the 14th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.13. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 0D hex ID 441778.0004 118

A.. Inverter A130. 14 IGB Consumer2 Mapping 15. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 000 Eh To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.14 enter the parameter to which the 15th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.14. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 0E hex A130. 15 IGB Consumer2 Mapping 16. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 000 Fh To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.15 enter the parameter to which the 16th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.15. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 0F hex A130. 16 IGB Consumer2 Mapping 17. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 1 To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.16 enter the parameter to which the 17th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.16. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 10 hex ID 441778.0004 119

A.. Inverter A130. 17 IGB Consumer2 Mapping 18. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 11h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.17 enter the parameter to which the 18th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.17. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 11 hex A130. 18 IGB Consumer2 Mapping 19. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 12h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.18 enter the parameter to which the 19th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.18. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 12 hex A130. 19 IGB Consumer2 Mapping 20. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 13h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.19 enter the parameter to which the 20th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.19. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 13 hex ID 441778.0004 120

A.. Inverter A130. 20 IGB Consumer2 Mapping 21. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 14h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.20 enter the parameter to which the 21rd value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.20. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 14 hex A130. 21 IGB Consumer2 Mapping 22. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 15h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.21 enter the parameter to which the 22st value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.21. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 15 hex A130. 22 IGB Consumer2 Mapping 23. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 16h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.22 enter the parameter to which the 23rd value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.22. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 16 hex ID 441778.0004 121

A.. Inverter A130. 23 IGB Consumer2 Mapping 24. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 17h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.23 enter the parameter to which the 24th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.23. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 17 hex A130. 24 IGB Consumer2 Mapping 25. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 18h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.24 enter the parameter to which the 25th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.24. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 18 hex A130. 25 IGB Consumer2 Mapping 26. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 19h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.25 enter the parameter to which the 26th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.25. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 19 hex ID 441778.0004 122

A.. Inverter A130. 26 IGB Consumer2 Mapping 27. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 001 Ah To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.26 enter the parameter to which the 27th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.26. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 1A hex A130. 27 IGB Consumer2 Mapping 28. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 001 Bh To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.27 enter the parameter to which the 28th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.27. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 1B hex A130. 28 IGB Consumer2 Mapping 29. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 001 Ch To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.28 enter the parameter to which the 29th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.28. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 1C hex ID 441778.0004 123

A.. Inverter A130. 29 IGB Consumer2 Mapping 30. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 001 Dh To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.29 enter the parameter to which the 30th value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.29. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 1D hex A130. 30 IGB Consumer2 Mapping 31. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 001 Eh To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.30 enter the parameter to which the 31st value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.30. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 1E hex A130. 31 IGB Consumer2 Mapping 32. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2082h 001 Fh To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. In A130.31 enter the parameter to which the 32nd value is to be written. The length of the parameter determines how many bytes are to be read starting at the address specified in A131.31. Remember that you can only use parameters with the PDO-Mapping characteristic. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 20 80 1F hex ID 441778.0004 124

A.. Inverter A131.0 IGB Consumer2 Quelladresse 1. mapped Parameter: Each device can read up to 32 2083h selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the first source address in A131.0. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 00 hex A131.1 IGB Consumer2 Quelladresse 2. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 1h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the second source address in A131.1. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 01 hex A131.2 IGB Consumer2 Quelladresse 3. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 2h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. ID 441778.0004 125

A.. Inverter Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the third source address in A131.2. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 02 hex A131.3 IGB Consumer2 Quelladresse 4. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 3h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the fourth source address in A131.3. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 03 hex A131.4 IGB Consumer2 Quelladresse 5. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 4h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the fifth source address in A131.4. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 04 hex ID 441778.0004 126

A.. Inverter A131.5 IGB Consumer2 Quelladresse 6. mapped Parameter: Each device can read up to 32 2083h 5h selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the sixth source address in A131.5. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 05 hex A131.6 IGB Consumer2 Quelladresse 7. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 6h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 7th source address in A131.6. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 hex A131.7 IGB Consumer2 Quelladresse 8. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 7h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. ID 441778.0004 127

A.. Inverter Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 8th source address in A131.7. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 07 hex A131.8 IGB Consumer2 Quelladresse 9. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 8h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 9th source address in A131.8. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 08 hex A131.9 IGB Consumer2 Quelladresse 10. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 9h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 10th source address in A131.9. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 09 hex ID 441778.0004 128

A.. Inverter A131.1 0 IGB Consumer2 Quelladresse 11. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 000 Ah To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 11th source address in A131.10. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 0A hex A131.1 1 IGB Consumer2 Quelladresse 12. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 000 Bh To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 12th source address in A131.11. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 0B hex A131.1 2 IGB Consumer2 Quelladresse 13. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 000 Ch To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. ID 441778.0004 129

A.. Inverter Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 13th source address in A131.12. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 0C hex A131.1 3 IGB Consumer2 Quelladresse 14. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 000 Dh To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 14th source address in A131.13. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 0D hex A131.1 4 IGB Consumer2 Quelladresse 15. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 000 Eh To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 15th source address in A131.14. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 0E hex ID 441778.0004 130

A.. Inverter A131.1 5 IGB Consumer2 Quelladresse 16. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 000 Fh To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 16th source address in A131.15. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 0F hex A131.1 6 IGB Consumer2 Quelladresse 17. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 1 To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 17th source address in A131.16. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 10 hex A131.1 7 IGB Consumer2 Quelladresse 18. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 11h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. ID 441778.0004 131

A.. Inverter Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 18th source address in A131.17. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 11 hex A131.1 8 IGB Consumer2 Quelladresse 19. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 12h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 19th source address in A131.18. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 12 hex A131.1 9 IGB Consumer2 Quelladresse 20. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 13h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 20th source address in A131.19. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 13 hex ID 441778.0004 132

A.. Inverter A131.2 0 IGB Consumer2 Quelladresse 21. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 14h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 21st source address in A131.20. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 14 hex A131.2 1 IGB Consumer2 Quelladresse 22. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 15h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 22nd source address in A131.21. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 15 hex A131.2 2 IGB Consumer2 Quelladresse 23. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 16h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. ID 441778.0004 133

A.. Inverter Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 23rd source address in A131.22. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 16 hex A131. 23 IGB Consumer2 Quelladresse 24. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 17h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 24th source address in A131.23. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 17 hex A131. 24 IGB Consumer2 Quelladresse 25. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 18h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 25th source address in A131.24. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 18 hex ID 441778.0004 134

A.. Inverter A131. 25 IGB Consumer2 Quelladresse 26. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 19h To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 26th source address in A131.25. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 19 hex A131. 26 IGB Consumer2 Quelladresse 27. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 001 Ah To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 27th source address in A131.26. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 1A hex A131. 27 IGB Consumer2 Quelladresse 28. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 001 Bh To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. ID 441778.0004 135

A.. Inverter Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 28th source address in A131.27. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 1B hex A131. 28 IGB Consumer2 Quelladresse 29. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 001 Ch To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 29th source address in A131.28. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 1C hex A131. 29 IGB Consumer2 Quelladresse 30. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 001 Dh To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 30th source address in A131.29. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 1D hex ID 441778.0004 136

A.. Inverter A131. 30 IGB Consumer2 Quelladresse 31. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 001 Eh To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 31st source address in A131.30. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 1E hex A131. 31 IGB Consumer2 Quelladresse 32. mapped Parameter: Each device can read up to 32 selectable values from the IGB Motionbus with the second consumer channel (IGB Motionbus Consumer2 Map block). 2083h 001 Fh To do this, you must make the following entries: 1. The source address (i.e., the inverter which sent the data and starting at what byte the sent data are to be read). Enter this information in A131.x. 2. The target address (i.e., where the value is to be written). Enter this information in A130.x. At the same time, this also allows you to specify how many bytes will be read. Enter the source address as a four-position value in A131.x. The first digits are the IGB address of the inverter which is supposed to be read. The two last digits represent the number of the byte starting at which the read access is to begin. If you want to read from the inverter with the IGB address 11 starting at byte 5, you would enter the value 1105 in A131.x. Enter the 32nd source address in A131.31. Value range: 0... 6... 3131 Fieldbus: 1LSB=1; Type: U16; raw value:1lsb=fnct.no.25; USS-Adr: 01 20 C0 1F hex A138 IGB motionbus time: This parameter indicates the global time (in milliseconds) on the IGB- Motionbus. The value runs from 0 to 2 32-1 = 4 294 967 295 ms and then starts again at 0. All stations of the IGB-Motionbus run synchronously to each other and use the common device clock. With the help of this parameter, you can trigger Scope imagines on different inverters, for example, and then arrange the pictures in POSITool by time. 208Ah Value range in ms: 0... 0... 4294967295 Fieldbus: 1LSB=1ms; PDO ; Type: U32; USS-Adr: 01 22 80 00 hex A140 LCD line0: Indication as character string of the top display line. 208Ch read (0) Fieldbus: Type: Str16; USS-Adr: 01 23 00 00 hex ID 441778.0004 137

A.. Inverter LCD line1: Indication as character string of the bottom display line. 208Dh A141 read (0) A142 Fieldbus: Type: Str16; USS-Adr: 01 23 40 00 hex Key code: Code of the effective key. 0=none, 1=LEFT, 2=RIGHT, 3=AB, 4=AUF, 5=#, 6=ESC, 7=F1, 8=F2, 9=F3, 10=F4, 11=HAND, 12= EIN, 13=AUS, 14=I/O 208Eh Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 23 80 00 hex A144 Remote key code: Key activations can be simulated by writing this parameter. For meaning, see A142. 209 r=3, w=0 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 24 00 00 hex A150, OFF r=1, w=3 Cycle time: Cycle time of the real-time configuration on the axis. The load of the real-time task can be checked in parameter E191 runtime usage. When the computing load becomes too great, the event "57:runtime usage" is triggered. NOTE Changing this parameter may mean that a changed configuration is detected when you go online with POSITool. 2096h 4: 1ms; 5: 2ms; 6: 4ms; 7: 8ms; 8: 16ms; 9: 32ms; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 25 80 00 hex A151 read (2) Session ID: The parameter indicates the current session ID which was assigned to the inverter by the Teleserver and the number which the person responsible for the machine gives the service employee (e.g., over the telephone). The service employee can only establish the remote service connection with the session ID if parameter A168 = 1:remote service with session ID is set. The entry 0 in A151 means that there is no session ID. 2097h Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 25 C0 00 hex A152 IGB position: The parameter indicates the current position of the inverter in the IGB network. 2098h read (2) 0: Single. The inverter is not connected with other SDS 5000s. 1: IGB-internal. Both RJ45 sockets are connected with other inverters (i.e., additional SDS 5000s are connected on either side of the inverter). 2: Gateway X3 A. The inverter is located on the outer left-hand end of the IGB (i.e., a valid inverter is not connected to its X3 A socket). 3: Gateway X3 B. The inverter is located on the outer right-hand end of the IGB (i.e., a valid inverter is not connected to its X3 B socket) or more than 32 inverters are connected with each other. In this case, the IGB is logically terminated after the 32nd SDS 5000 and this status is indicated. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 26 00 00 hex ID 441778.0004 138

A.. Inverter A153 read (2) IGB Actual Node Number: The parameter specifies the number of stations which are currently registered with the IGB. 0: or 1: At this time no further station is connected with this inverter via IGB. 2 to 32: Indicated number corresponds to the number of inverters found in the IGB network. 2099h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 26 40 00 hex A154.0 IGB Port X3 A State: The parameter indicates the status of the left-hand Ethernet socket X3 A. 209Ah read (2) 0: ERROR. The status of the socket is not known. 1: NoConnection. The socket is not connected with other devices. 2: 10 MBit/s. A connection exists to a station with a transmission rate of 10 Mbit/s. The station is not an SDS 5000. 3: 100 MBit/s. A connection exists to a station with a transmission rate of 100 Mbit/s. Communication to this station does not have full-duplex capability and the station is not an SDS 5000. 4: link OK. A connection exists to a station with a transmission rate of 100 Mbit/s whose communication has full-duplex capability. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 26 80 00 hex A154.1 IGB Port X3 B State: The parameter indicates the status of the right-hand Ethernet socket X3 B. 209Ah 1h read (2) 0: ERROR. The status of the socket is not known. 1: NoConnection. The socket is not connected with other devices. 2: 10 MBit/s. A connection exists to a station with a transmission rate of 10 Mbit/s. The station is not an SDS 5000. 3: 100 MBit/s. A connection exists to a station with a transmission rate of 100 Mbit/s. Communication to this station does not have full-duplex capability and the station is not an SDS 5000. 4: link OK. A connection exists to a station with a transmission rate of 100 Mbit/s whose communication has full-duplex capability. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 26 80 01 hex A155 IGB-State: The parameter indicates the IGB status of the device. 209Bh 0: Booting. The IGB is booting. The connected inverters register themselves on the IGB network and synchronize themselves. 1: Single. Currently there is no IGB network which is connected with other inverters. Either this SDS did not find another inverter with which an IGB network could be established, or an already existing connection to other inverters via IGB was disconnected. The functions Remote service or Direct link can be used. 2: IGB-Running. Several inverters have established an IGB network. The functions Remote service or Direct link (with POSITool) can be used. The function IGB-Motionbus is not used or cannot be used for one of the following reasons: - because the function was not selected during configuration - because parameter A120 IGB Address was not set uniquely for all stations - because A121 IGB nominal number was not parameterized ID 441778.0004 139

A.. Inverter 3: IGB-Motionbus; The IGB-Motionbus was established. This means that:: - The IGB-Motionbus function was activated on all inverters in the IGB network and - There was no multiple assignment of IGB addresses (A120 IGB address) and - Each inverter found the same number of partners in the IGB network and this number corresponds to the expected number in A121 for every inverter and - All inverters in the IGB network are synchronized and are receiving valid data. - No inverter has reported a double error (event 52, causes 9 and 10). In this state, the addition of further inverters has no effect on the existing IGB-Motionbus. 4: Motionbus error; The state A155 = 3:IGB-Motionbus was already reached once and exited because of an error. Either an IGB cable was disconnected so that not all SDS 5000s in the IGB network were still connected or there was a massive EMC disturbance or the synchronicity of the inverters among each other was violated. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 26 C0 00 hex A156 IGB Number Bootups: The parameter indicates the following information for each device: how often the device detected a bootup of the IGB since the last time its power was switched on or it triggered one itself. Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 27 00 00 hex 209Ch A157.0 read (0) Active IP address X3A: The parameter indicates the current IP address which is used for X3 A. 0.0.0.0 is an invalid value. In this case, communication with POSITool via the interface is not possible. The active IP address is determined from the settings in A166.0 and is indicated in A157.0. 209Dh Information Discuss this parameter with your network administrator so that an optimum connection is achieved. See also chapter 5.2 on system administration in the IGB manual (ID 442090). Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 27 40 00 hex A157.1 read (0) Active IP address X3B: The parameter indicates the current IP address which is used for X3 B. 0.0.0.0 is an invalid value. In this case, communication with POSITool via the interface is not possible. The active IP address is determined from the settings in A166.1 and is indicated in A157.1. 209Dh 1h Information Discuss this parameter with your network administrator so that an optimum connection is achieved. See also chapter 5.2 on system administration in the IGB manual (ID 442090). Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 27 40 01 hex A158.0 read (0) Active Subnetmask X3A: The parameter indicates the current subnetwork mask which is used for X3 A. 0.0.0.0 is an invalid value. In this case, communication via X3 A is not possible. Information Discuss this parameter with your network administrator so that an optimum connection is achieved. See also chapter 5.2 on system administration in the IGB manual (ID 442090). 209Eh Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 27 80 00 hex ID 441778.0004 140

A.. Inverter A158.1 Active Subnetmask X3B: The parameter indicates the current subnetwork mask which is used 209Eh 1h for X3 B. 0.0.0.0 is an invalid value. In this case, communication via X3 B is not possible. read (0) Information Discuss this parameter with your network administrator so that an optimum connection is achieved. See also chapter 5.2 on system administration in the IGB manual (ID 442090). Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 27 80 01 hex A160 read (0) Active DNS server address: The parameter indicates the IP address of the DNS server that is used by the inverter. The server is used to break down Internet addresses into IP addresses. The source for the DNS server shown here can be: - Parameter A179 (manual setting of the IP address of the DNS server) - The applicable DHCP server in the network 20A Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 28 00 00 hex A161 read (0) Active Gateway: The parameter indicates the IP address of the standard gateway used by the inverter. The standard gateway is needed for the Internet connection via X3. The source of the IP address of the standard gateway shown here can be: - Parameter A175 (manual setting of the IP address) - The applicable DHCP server in the network 20A1h Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 28 40 00 hex A162.0 IGB Lost Frames.0: The parameter serves as a lost frames counter for the IGB-Motionbus. It indicates a value for the current lost frames of expected but not correctly received data during the millisecond cycle. When the IGB-Motionbus is running, each SDS sends its data to all other inverters once every millisecond. When at least one inverter fails to send its data cyclically, this is detected and registered in element 0 of the parameter. This counter is incremented by the value of the expected but not received data. When all data of all inverters connected to the IGB have been correctly received, the lost frame counter is decremented by 1. This parameter thus provides information on the quality of the IGB network. When this value increases rapidly, a connection cable of the IGB has probably become disconnected or an inverter has been switched off. 20A2h Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 28 80 00 hex A162.1 IGB Lost Frames.1: Indicates the sum of all registered errors of the IGB-Motionbus since the inverter was switched on. When the IGB-Motionbus is in operation, each SDS sends its data to all other inverters once every millisecond. This value is incremented for data which were expected and correctly received but not within the millisecond cycle. If you are using the IGB-Motionbus, the value is cleared the first time the state A155 = 3IGB- Motionbus is reached so that the not yet perfect synchronization while the IGB was booting will not be counted as an error. After this, the value of the parameter can only be cleared by turning off the inverter. This parameter thus provides information on the quality of the IGB network. When this value increases rapidly, a connection cable of the IGB has probably become disconnected or an inverter has been switched off. When this value increases irregularly, the cabling and the environment should be checked for EMC-suitable wiring. 20A2h 1h Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 28 80 01 hex ID 441778.0004 141

A.. Inverter A163.0 IGB Systembits: The parameter is used for the internal activation of IGB functions. 20A3h Bit 0: Activate remote service Bit 1&2: Progress of the remote service connection 0 0: Blue LED is off - no remote service requested. 0 1: Blue LED lights up like a bolt of lightning - connection to the Teleserver is being established. 1 0: Blue LED flashes at regular intervals - device is waiting for connection of POSITool to the Teleserver. 1 1: Blue LED on continuously - connection is completely established and remote service can begin. Bit 3: Remote service response message Bit 4: This device is the active gateway at the moment. Bit 5: Reset inverter. Bit 6: The PLL of the device has been snapped onto the IGB. Bit 7: Remote service requires a valid session ID. Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 01 28 C0 00 hex A163.1 IGB Systembits: The parameter is used for the internal activation of IGB functions. Bit 0: Host controller is dead (is not living) Bit 1: Lost-frame series (double error) 0: All stations sent Motionbus data on time. 1: At least twice in succession at least one station did not send the data on time. Bit 2-7: Reserved 20A3h 1h Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 01 28 C0 01 hex A164.0 Manual IP address for X3A: The IP address for X3 A is entered in this parameter when an IP address must be assigned manually. This is the case when, for example, no DHCP server exists. If you connect X3 A to a PC or the Ethernet network, make sure that X3 A and X3 B are assigned manual IP addresses from different subnetworks. Do not connect X3 A and X3 B at the same time with the same LAN and obtain their IP address from the DHCP server. 20A4h Information Discuss this parameter with your network administrator so that an optimum connection is achieved. See also chapter 5.2 on system administration in the IGB manual (ID 442090). Information Remember that a parameter change does not take effect until: - the value is saved with action A00.0 and - the inverter has been turned off and on again. Value range: 0... 192.168.3.2... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 29 00 00 hex ID 441778.0004 142

A.. Inverter A164.1 Manual IP address for X3B: The IP address for X3 B is entered in this parameter when an IP 20A4h 1h address must be assigned manually. This is the case when, for example, no DHCP server exists. If you connect X3 A to a PC or the Ethernet network, make sure that X3 A and X3 B are assigned manual IP addresses from different subnetworks. Do not connect X3 A and X3 B at the same time with the same LAN and obtain their IP address from the DHCP server. Information Discuss this parameter with your network administrator so that an optimum connection is achieved. See also chapter 5.2 on system administration in the IGB manual (ID 442090). Information Remember that a parameter change does not take effect until: - the value is saved with action A00.0 and - the inverter has been turned off and on again. Value range: 0... 192.168.4.2... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 29 00 01 hex A165.0 Manual IP subnetmask for X3A: The subnet mask for X3 A is entered in this parameter when an IP address has to be assigned manually. This is the case when, for example, no DHCP server exists. The subnet mask is needed in addition to the IP address before you can communicate via TCP/IP. 20A5h Information Discuss this parameter with your network administrator so that an optimum connection is achieved. See also chapter 5.2 on system administration in the IGB manual (ID 442090). Information Remember that a parameter change does not take effect until: - the value is saved with action A00.0 and - the inverter has been turned off and on again Value range: 0... 255.255.255.0... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 29 40 00 hex A165.1 Manual IP subnetmask for X3B: The subnet mask for X3 B is entered in this parameter when an IP address has to be assigned manually. This is the case when, for example, no DHCP server exists. The subnet mask is needed in addition to the IP address before you can communicate via TCP/IP. 20A5h 1h Information Discuss this parameter with your network administrator so that an optimum connection is achieved. See also chapter 5.2 on system administration in the IGB manual (ID 442090). Information Remember that a parameter change does not take effect until: - the value is saved with action A00.0 and - the inverter has been turned off and on again Value range: 0... 255.255.255.0... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 29 40 01 hex ID 441778.0004 143

A.. Inverter A166.0 IP-Address-Delivery: This parameter specifies how the IP address and subnet mask of X3 A 20A6h are obtained. Information Discuss this parameter with your network administrator so that an optimum connection is achieved. See also chapter 5.2 on system administration in the IGB manual (ID 442089). Information Remember that a parameter change does not take effect until: - the value is saved with action A00.0 and - the inverter has been turned off and on again 0: Only manual setting. The device only uses the information in the parameters: - A164.0 Manual IP address - A165.0 Manual IP subnet mask These values are indicated in the parameters: - A157.0 Active IP address - A158.0 Active subnet mask 1: Standard. After being connected to the local network, the device registers like the other components automatically with the DHCP server to obtain its IP address and subnet mask. Depending on the settings in parameters A175 and A179, an attempt is made to obtain the IP address of the standard gateway and the DNS server from the DHCP server. If the device receives the information from the DHCP server within three minutes, this is entered in parameters A157 and A158. Depending on the settings in parameters A175 and A179, the just obtained IP address of the standard gateway and the DNS server are also indicated in parameters A161 and A160. When the device fails to receive any information from the DHCP server during this time, the manual values in A164.0 and A165.0 as well as A160 and A161 are used instead. 2: Only DHCP. After its connection to the local network, the device registers automatically with the DHCP server to obtain its information. When the device receives the information from the DHCP server, this is entered in parameters A157 and A158. Depending on the settings in parameters A175 and A179, the just obtained IP address of the standard gateway and the DNS server are also indicated in parameters A161 and A160. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 29 80 00 hex A166.1 IP-Address-Delivery: This parameter specifies how the IP address and subnet mask of X3 B are obtained. Information Remember that a parameter change does not take effect until: - the value is saved with action A00.0 and - the inverter has been turned off and on again 20A6h 1h Information Discuss this parameter with your network administrator so that an optimum connection is achieved ID 441778.0004 144

A.. Inverter 0: Only manual setting. The device only uses the information in the parameters: - A164.0 Manual IP address - A165.0 Manual IP subnet mask These values are indicated in the parameters: - A157.0 Active IP address - A158.0 Active subnet mask 1: Standard. After being connected to the local network, the device registers like the other components automatically with the DHCP server to obtain its IP address and subnet mask. Depending on the settings in parameters A175 and A179, an attempt is made to obtain the IP address of the standard gateway and the DNS server from the DHCP server. If the device receives the information from the DHCP server within three minutes, this is entered in parameters A157 and A158. Depending on the settings in parameters A175 and A179, the just obtained IP address of the standard gateway and the DNS server are also indicated in parameters A161 and A160. When the device fails to receive any information from the DHCP server during this time, the manual values in A164.1 and A165.1 as well as A160 and A161 are used instead. 2: Only DHCP. After its connection to the local network, the device registers automatically with the DHCP server to obtain its information. When the device receives the information from the DHCP server, this is entered in parameters A157 and A158. Depending on the settings in parameters A175 and A179, the just obtained IP address of the standard gateway and the DNS server are also indicated in parameters A161 and A160. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 29 80 01 hex A167 Remote Service Start: This parameter is used to set the source of the signal which you will use to start remote service. 20A7h Information Read chapter 5 of the IGB manual before you start remote service! Remote service is started by a positive edge change (change from low to high) of the signal which you set in this parameter. The signal must then remain high. Remote service is finished as soon as the high level can no longer be detected on the source. Proceed as follows to control remote service via fieldbus: 1. Set A167 = 2:A181 Bit 0. In this case, parameter A181 Bit 0 is the signal source. 2. Now describe this source via fieldbus. Remember that you cannot start remote service while a direct connection from PC to inverter exists! Information This parameter determines the behavior of the inverter during remote service. It can be accidentally overwritten by a remote service procedure which may change the parameter to its disadvantage (termination of the connection, loss of data). There are two ways to prevent accidental changes: - While the connection is being established, read the data from the inverter. - Use a project file related to the inverter in which this parameter is correctly set. 0: inactive; No remote service wanted. 1: A800; Remote service is started by the parameter A800. 2: A181-Bit 0; Remote service is started by bit 0 in parameter A181 Device Control Byte 2. ID 441778.0004 145

A.. Inverter 3: BE1; Remote service is started by the signal on binary input 1. 4: BE1-inverted; Remote service is started by the inverted signal on binary input 1. 5: BE2; Remote service is started by the signal on binary input 2. 6: BE2-inverted; Remote service is started by the inverted signal on binary input 2. 7: BE3; Remote service is started by the signal on binary input 3. 8: BE3-inverted; Remote service is started by the inverted signal on binary input 3. 9: BE4; Remote service is started by the signal on binary input 4. 10: BE4-inverted; Remote service is started by the inverted signal on binary input 4. 11: BE5; Remote service is started by the signal on binary input 5. 12: BE5-inverted; Remote service is started by the inverted signal on binary input 5. 13: BE6; Die Fernwartung wird durch das Signal an Binäreingang 6 gestartet. 14: BE6-inverted; Remote service is started by the inverted signal on binary input 6. 15: BE7; Remote service is started by the signal on binary input 7. 16: BE7-inverted; Die Fernwartung wird durch das invertierte Signal an Binäreingang 7 gestartet. 17: BE8; Remote service is started by the signal on binary input 8. 18: BE8-inverted; Remote service is started by the inverted signal on binary input 8. 19: BE9; Die Fernwartung wird durch das Signal an Binäreingang 9 gestartet. 20: BE9-inverted; Remote service is started by the inverted signal on binary input 9. 21: BE10; Die Fernwartung wird durch das Signal an Binäreingang 10 gestartet. 22: BE10-inverted; Remote service is started by the inverted signal on binary input 10. 23: BE11; Remote service is started by the signal on binary input 11. 24: BE11-inverted; Die Fernwartung wird durch das invertierte Signal an Binäreingang 11 gestartet. 25: BE12; Remote service is started by the signal on binary input 12. 26: BE12-inverted; Die Fernwartung wird durch das invertierte Signal an Binäreingang 12 gestartet. 27: BE13; Remote service is started by the signal on binary input 13. 28: BE13-inverted; Remote service is started by the inverted signal on binary input 13. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 29 C0 00 hex A168 Remote service with session-id option: This parameter is used to set whether remote service is to be performed with a session ID. The session ID makes remote service more secure. When the value 1 is entered in this parameter for the inverter to which the link to the Internet is connected, the POSITool user must also enter the session ID before starting remote service. 20A8h CAUTION This parameter is only evaluated for the inverter which is the active gateway. The setting of this parameter is ignored for all other inverters. This means that the parameter must always be set for the inverter which is the active gateway when remote service with session ID is used. Information This parameter determines the behavior of the inverter during remote service. It can be accidentally overwritten by a remote service procedure which may change the parameter to its disadvantage (termination of the connection, loss of data). There are two ways to prevent accidental changes: - While the connection is being established, read the data from the inverter. - Use a project file related to the inverter in which this parameter is correctly set. 0: inactive; The service technician does not need a session ID to establish a remote service connection. 1: active; The service technician needs a session ID to establish a remote service connection. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 2A 00 00 hex ID 441778.0004 146

A.. Inverter A169 Remote service advance: The parameter indicates the progress of the establishment of the connection is. The parameter supplies the same information as the blue LED on the front of the device. 0: noremoteservice. Remote service is not desired. 1: connecttoteleser. The connection to the Teleserver is being established. 2: waittopositool. The device is waiting for the connection to POSITool. 3: POSIToolOnline. The connection is established and remote service can begin. 20A9h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 2A 40 00 hex A170 Remote Service Acknowledge: The parameter changes bit 0 at the same frequency as the blue LED on the front with the following meaning: - Bit 0 = 1:LED on - Bit 0 = 0:LED off You can output this parameter to a binary output and then evaluate the signal of the blue LED. 20AAh Information This parameter can be used to represent the status of the blue LED on an external signal lamp. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 2A 80 00 hex A175 Default gateway: This parameter is used to specify the IP address of the gateway for X3 A when this value cannot be obtained from a DHCP server. There are two ways to do this: When you enter an IP address in this parameter other than "0.0.0.0," this IP address is used by the inverter without any further checks. When you enter the value "0.0.0.0" in this parameter, there are two possibilities: - If the value "1" or "2" is entered in parameter A166, the inverter automatically tries to obtain the IP address of the standard gateway from the responsible DHCP server. - If the value "0" is entered in parameter A166, no standard gateway is available on the inverter! 20AFh Please remember that the DHCP server usually also supplies the IP address of the standard gateway. If you want the IP address of the standard gateway to be automatically set by the DHCP server, please be sure to enter the value "0.0.0.0" here. Otherwise the IP address of the standard gateway which is supplied by the DHCP server will be ignored. Information Remember that a change in the parameter does not take effect until you: - save the value with the action A00.0 and - turn the inverter off and on again. Information Discuss this parameter with your network administrator so that an optimum connection is achieved. Value range: 0... 0.0.0.0... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 2B C0 00 hex ID 441778.0004 147

A.. Inverter A176 Teleserver Option: This parameter is used to set whether you want a remote service connection via Internet or a local network (LAN). 20B Information This parameter determines the behavior of the inverter during remote service. It can be accidentally overwritten by a remote service procedure which may change the parameter to its disadvantage (termination of the connection, loss of data). There are two ways to prevent accidental changes: - While the connection is being established, read the data from the inverter. - Use a project file related to the inverter in which this parameter is correctly set. 0: Internet. A remote service connection is established via the Internet. 1: LAN. A remote service connection is established via the local network. In this case, be sure to consider parameter A177. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 2C 00 00 hex A177 Name LAN teleserver: If you want to establish a remote service connection via the local network, enter the address of the computer here on which the LAN Teleserver will be running. The address can be entered in two formats: When the IP address is known, it can be entered directly (e.g., "192.168.3.2"). When the name of the LAN Teleserver is known and the inverter has an IP address via a valid DNS server, the name of the LAN Teleserver can also be entered. The inverter then determines the IP address automatically. 20B1h CAUTION When the name of the LAN Teleserver is entered, this must be entered with the fully qualified domain name. Example: The PC on which the LAN Teleserver is running has the name "PcLanTeleserver." The PC is assigned to the domain with the domain address "MuellerGmbh.de." The following fully qualified domain name must then be entered in the parameter: "PcLanTeleserver.MuellerGmbh.de" Please also contact your network administrator in this matter. Information This parameter determines the behavior of the inverter during remote service. It can be accidentally overwritten by a remote service procedure which may change the parameter to its disadvantage (termination of the connection, loss of data). There are two ways to prevent accidental changes: - While the connection is being established, read the data from the inverter. - Use a project file related to the inverter in which this parameter is correctly set. Fieldbus: Type: Str80; USS-Adr: 01 2C 40 00 hex A178 Error remote service: The parameter indicates the status of remote service with a hexadecimal number (length: 32 bits). One diagnostic value is coded in each of the four bytes. For the meaning of the diagnostic values, see the IGB manual (ID 442090). 20B2h Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 01 2C 80 00 hex ID 441778.0004 148

A.. Inverter A179 Manual DNS server IP address: This parameter is used to configure the setting of the DNS server IP address on the inverter. There are two ways to do this: When you enter an IP address in this parameter other than "0.0.0.0," this IP address is used by the inverter without any further checks. When you enter the value "0.0.0.0" in this parameter, there are two possibilities: - If the value "1" or "2" is entered in parameter A166, the inverter automatically tries to obtain the IP address of the DNS server from the responsible DHCP server. - If the value "0" is entered in parameter A166, no DNS server is available on the inverter! 20B3h Please remember that the DHCP server usually also supplies the IP address of the DNS server. If you want the IP address of the DNS server to be automatically set by the DHCP server, please be sure to enter the value "0.0.0.0" here. Otherwise the IP address of the DNS server which is supplied by the DHCP server will be ignored. If you have questions concerning your DHCP or DNS server, please contact your network administrator. Value range: 0... 0.0.0.0... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 2C C0 00 hex A180 r=2, w=2 Device control byte: This byte contains control signals for device control. It is designed for fieldbus communication. The particular bit is only active when 2:Parameter is set in the related source selector (A60... A65). The signals can be monitored directly via the parameters A300... A305 on the device controller. 20B4h Bit-0: Additional enable, takes effect in addition to terminal enable. Must be HIGH. Removal of the enable can also trigger a quick stop (set enable quick stop A44 =1:active ). The brakes are applied and the end stage switches off. Bit-1: Acknowledge (reset) faults Bit-2: Quick stop. The active ramp is I17 (for positioning control) or D81 (speed control). Bit-3,4: With multiple-axis operation, the axis to be activated is selected here. Bit4 Bit3 0 0 1 0 1 2 1 0 3 1 1 4 Bit-5: Deactivate all axes. No motor on. Bit-6: Release brake unconditionally for MDS 5000 and FDS 5000. With SDS 5000, the brake can only be released if the power unit is on. Bit-7: Bit 7 in A180 (device control byte) is copied to bit 7 in E200 (device status byte) during each cycle of the device controller. When bit 7 is toggled in A180, the host PLC is informed of a concluded communication cycle (send, evaluate and return data). This makes cycle timeoptimized communication (e.g., with PROFIBUS) possible. The handshake bit 7 in A180 / E200 supplies no information on whether the application reacted to the process data. Depending on the application, other routines are provided (e.g., motion ID for command positioning). Value range: 0... 00000001bin... 255 (Representation binary) Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 01 2D 00 00 hex ID 441778.0004 149

A.. Inverter A181 Device Control Byte 2: This parameter is used to control remote service via fieldbus. Proceed as follows: 1. Set A167 = 2:Parameter. In this case, parameter A181, bit 0 is the signal source. 2. Describe this source via fieldbus. 20B5h Remember that since bits 1 to 7 of this parameter are reserved, they may not be write-accessed. Information This parameter determines the behavior of the inverter during remote service. It can be accidentally overwritten by a remote service procedure which may change the parameter to its disadvantage (termination of the connection, loss of data). There are two ways to prevent accidental changes: - While the connection is being established, read the data from the inverter. - Use a project file related to the inverter in which this parameter is correctly set. Value range: 0... 00000000bin... 255 (Representation binary) Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 01 2D 40 00 hex A200 COB-ID SYNC Message: Specifies the identifier for which the inverter expects the receipt of the SYNC telegrams from CAN-Bus. For most applications the default value should not be changed. 20C8h Value range: 1... 128... 2047 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 32 00 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A201 Communication Cycle Period: When SYNCs are specified in a fixed time frame for transmission of the PDO telegrams, A201 can be used for monitoring. The entry of 0 μsec means the parameter is deactivated. When activated the cycle time of the SYNC telegrams is entered in μsec. The threshold value for triggering a timeout is 150 % of this value. Monitoring takes place when the NMT status is Operational and at least one SYNC telegram was received. When the threshold value is exceeded, fault 52:Communication with cause 2:CAN SYNC Error is triggered. The red LED of the CAN 5000 option board flashes three times briefly and then goes off for 1 second. Monitoring is deactivated when the NMT status Operational is exited and the entered value is set to 0 μsec. 20C9h Value range in us: 0... 0... 32000000 Fieldbus: 1LSB=1us; Type: U32; USS-Adr: 01 32 40 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A203 Guard Time: The master monitors the slaves with the node-guarding routine. The master polls node-guarding telegrams cyclically. Parameter A203 specifies the cycle time in msec. The routine is inactive when a cycle time of 0 msec is set. Value range in ms: 0... 0... 4000 Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 32 C0 00 hex 20CBh Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. ID 441778.0004 150

A.. Inverter A204 Life Time Factor: The parameter A204 is used during the node guard routine to monitor the master. When the queries of the master do not arrive at the slave within a certain amount of time, the inverter triggers the life guard event (i.e., fault 52:communication). The time is calculated by multiplying the parameters A204 and A203. 20CCh Value range: 0... 0... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 33 00 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A207 COB-ID Emergency Object: Specifies the identifier for which the inverter sends the emergency telegrams to the CAN-Bus. Usually the default value should not be changed since this also deactivates the automatic identifier assignment after the Pre-Defined Connection Set. 20CFh Value range: 0... 128... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 33 C0 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A208 Inhibit Time Emergency: Specifies the time in multiples of 100 µsec which the inverter must at least wait between the sending of emergency telegrams. 20D Value range in 100 us: 0... 0... 4294967295 Fieldbus: 1LSB=1 100 us; Type: U32; USS-Adr: 01 34 00 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A210 Producer Heartbeat Time: In case the heartbeat protocol is to be used by the master for station monitoring on the CAN-Bus, this time specifies in msec how frequently the inverter will send heartbeat messages. 20D2h Value range in ms: 0... 0... 65535 Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 34 80 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A211 Verify Config. Configuration date: The date on which the configuration and parameterization were finished can be stored here as the number of days since 01.01.1984. 20D3h Value range in days since 01.01.1984: 0... 0... 4294967295 Fieldbus: 1LSB=1days since 01.01.1984; Type: U32; USS-Adr: 01 34 C0 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. ID 441778.0004 151

A.. Inverter A212 Verify Config. Configuration time: The time at which the configuration and parameterization were finished can be stored here as the number of msec since 0:00 hours. 20D4h Value range in ms: 0... 0... 4294967295 Fieldbus: 1LSB=1ms; Type: U32; USS-Adr: 01 35 00 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A213 Fieldbusscaling: The selection is made here between internal raw values and whole numbers for the representation/scaling of process data values during transmission via the four PDO channels. Regardless of this setting, the representation via SDO is always the whole number. 20D5h CAUTION When "0:integer" is parameterized (scaled values), the runtime load increases significantly and it may become necessary to increase A150 cycle time to avoid the fault "57:runtime usage" or "35:Watchdog." 0: integer without point; Values are transmitted as whole numbers in user units * the number of positions after the decimal place to the power of 10. 1: native; Values are transferred at optimized speed in internal inverter raw format (e.g., increments). Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 35 40 00 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A214 CAN Bit Sample-Access-Point: Specifies the position at which the bits received by CAN-Bus are scanned. Arbitrary changes of the default value may cause transmission problems. 20D6h -1: CIA; 0: SAP-1; 1: SAP-2; 2: SAP-3; Fieldbus: 1LSB=1; Type: I8; USS-Adr: 01 35 80 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A218.0 r=2, w=2 2. Server SDO Parameter. COB-ID Client -> Server: Specifies the identifier for which the inverter expects the telegrams for the 2nd SDO channel with the requests from the client. As soon as a station with a node-id > 31 is active on the CAN-Bus, this parameter must be changed and the automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is 0 or if bit 31 is 1, this SDO channel is turned off. 20DAh Value range: 0... 0... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 36 80 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. ID 441778.0004 152

A.. Inverter A218.1 2. Server SDO Parameter. COB-Id Server -> Client: Specifies the identifier for which the 20DAh 1h r=2, w=2 inverter sends the telegrams for the 2nd SDO channel with the responses from the client. As soon as a station with a node-id > 31 is active on the CAN-Bus, this parameter must be changed and the automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is 0 or if bit 31 is 1, this SDO channel is turned off. Value range: 0... 0... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 36 80 01 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A218.2 2. Server SDO Parameter. Node-ID of SDO's Client: The client which uses this SDO channel can enter its own node ID here for information purposes. 20DAh 2h r=2, w=2 Value range: 0... 0... 127 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 36 80 02 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A219.0 r=2, w=2 3. Server SDO Parameter. COB-ID Client -> Server: Specifies the identifier for which the inverter sends the telegrams for the 3rd SDO channel with the requests from the client. As soon as a station with a node-id > 31 is active on the CAN-Bus, this parameter must be changed and the automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is 0 or if bit 31 is 1, this SDO channel is turned off. 20DBh Value range: 0... 0... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 36 C0 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A219.1 r=2, w=2 3. Server SDO Parameter. COB-Id Server -> Client: Specifies the identifier for which the inverter sends the telegrams for the 3rd SDO channel with the responses to the client. As soon as a station with a node-id > 31 is active on the CAN-Bus, this parameter must be changed and the automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is 0 or if bit 31 is 1, this SDO channel is turned off. 20DBh 1h Value range: 0... 0... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 36 C0 01 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A219.2 3. Server SDO Parameter. Node-ID of SDO's Client: The client which uses this SDO channel can enter its own node ID here for information purposes. 20DBh 2h r=2, w=2 Value range: 0... 0... 127 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 36 C0 02 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. ID 441778.0004 153

A.. Inverter A220.0 4. Server SDO Parameter. COB-ID Client -> Server: Specifies the identifier for which the 20DCh r=2, w=2 inverter expects the telegrams for the 4th SDO channel with the requests from the client. As soon as a station with a node-id > 31 is active on the CAN-Bus, this parameter must be changed and the automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is 0 or if bit 31 is 1, this SDO channel is turned off. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range: 0... 0... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 37 00 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A220.1 r=2, w=2 4. Server SDO Parameter. COB-ID Server -> Client: Specifies the identifier for which the inverter sends the telegrams for the 4th SDO channel with the responses to the client. As soon as a station with a node-id > 31 is active on the CAN-Bus, this parameter must be changed and the automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is 0 or if bit 31 is 1, this SDO channel is turned off. 20DCh 1h NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range: 0... 0... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 37 00 01 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A220.2 4. Server SDO Parameter. Node-Id of SDO's Client: The client which uses this SDO channel can enter its own node ID here for information purposes. 20DCh 2h r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range: 0... 0... 127 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 37 00 02 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A221.0 r=2, w=2 1. rec. PDO Parameter. COB-ID: Specifies the identifier for which the inverter expects the telegrams for the 1st PDO channel from the master. Usually the default value should not be changed since this also disables the automatic identifier assignment after the Pre-Defined Connection Set. If the value is 0 or bit 31 is 1, this service is off. 20DDh ID 441778.0004 154

A.. Inverter NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range: 0... 512... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 37 40 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A221.1 r=2, w=2 1. rec. PDO Parameter. Transmission Type: Specifies the type of transmission (with or without SYNC, etc.) when received process data from this 1st PDO channel are accepted by the inverter. See CANopen fieldbus documentation, ID 441686. 20DDh 1h NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range: 0... 254... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 37 40 01 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A222.0 2. rec. PDO Parameter. COB-ID: Identifier for the receiving direction of the 2nd PDO channel. See A221.0 20DEh r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range: 0... 768... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 37 80 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A222.1 2. rec. PDO Parameter. Transmission Type: Transmission type for 2nd PDO channel. See A221.1. 20DEh 1h r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range: 0... 254... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 37 80 01 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. ID 441778.0004 155

A.. Inverter A225.0 1. rec. PDO Mapping Rx. 1. mapped Parameter: Address of the parameter which is 20E1h imaged first from the contents of the 1st PDO channel (receiving direction as seen by the inverter). NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range: A00... A180... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 38 40 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A225.1 1. rec. PDO Mapping Rx. 2. mapped Parameter: Address of the parameter which is imaged second from the contents of the 1st PDO channel (receiving direction). 20E1h 1h NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 38 40 01 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A225.2 1. rec. PDO Mapping Rx. 3. mapped Parameter: Address of the parameter which is imaged third from the contents of the 1st PDO channel (receiving direction). 20E1h 2h NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 38 40 02 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A225.3 1. rec. PDO Mapping Rx. 4. mapped Parameter: Address of the parameter which is imaged fourth from the contents of the 1st PDO channel (receiving direction). 20E1h 3h NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 38 40 03 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. ID 441778.0004 156

A.. Inverter A225.4 1. rec. PDO Mapping Rx. 5. mapped Parameter: Address of the parameter which is 20E1h 4h imaged fifth from the contents of the 1st PDO channel (receiving direction). NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 38 40 04 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A225.5 1. rec. PDO Mapping Rx. 6. mapped Parameter: Address of the parameter which is imaged sixth from the contents of the 1st PDO channel (receiving direction). 20E1h 5h NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 38 40 05 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A226.0 2. rec. PDO Mapping Rx. 1. mapped Parameter: For 2nd PDO channel, see A225.0. 20E2h r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 38 80 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A226.1 2. rec. PDO Mapping Rx. 2. mapped Parameter: For 2nd PDO channel, see A225.1. 20E2h 1h r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 38 80 01 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. ID 441778.0004 157

A.. Inverter 2. rec. PDO Mapping Rx. 3. mapped Parameter: For 2nd PDO channel, see A225.2. 20E2h 2h A226.2 r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 38 80 02 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A226.3 2. rec. PDO Mapping Rx. 4. mapped Parameter: For 2nd PDO channel, see A225.3. 20E2h 3h r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 38 80 03 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A226.4 2. rec. PDO Mapping Rx. 5. mapped Parameter: For 2nd PDO channel, see A225.4. 20E2h 4h r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 38 80 04 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A226.5 2. rec. PDO Mapping Rx. 6. mapped Parameter: For 2nd PDO channel, see A225.5. 20E2h 5h r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 38 80 05 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A229.0 r=2, w=2 1. trans. PDO Parameter. COB-ID: Specifies the identifier for which the inverter sends the telegrams for the 1st PDO channel to the master. Usually the default value should not be changed since the automatic identifier assignment after the Pre-Defined Connection Set is also disabled. If the value is 0 or bit 31 is 1, this service is off. 20E5h ID 441778.0004 158

A.. Inverter NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range: 0... 384... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 39 40 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A229.1 r=2, w=2 1. trans. PDO Parameter. Transmission Type: Specifies the transmission type (with or without SYNC, etc.) when process data are sent via this 1st PDO channel. See CANopen fieldbus documentation, ID 441686. 20E5h 1h NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range: 0... 254... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 39 40 01 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A229.2 1. trans. PDO Parameter. Inhibit Time: Specifies the time in multiples of 100 µsec which the inverter must adhere to between sending PDO telegrams on channel 1. 20E5h 2h r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range in 100 us: 0... 0... 65535 Fieldbus: 1LSB=1 100 us; Type: U16; USS-Adr: 01 39 40 02 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A229.3 r=2, w=2 1. trans. PDO Parameter. Event Timer: When transmission type "254: Event-Triggerd" is set, the telegram is sent either after an internal event or after the time set here in msec. See A229.1. 20E5h 3h NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range in ms: 0... 0... 65535 Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 39 40 03 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. ID 441778.0004 159

A.. Inverter A230.0 2. trans. PDO Parameter. COB-ID: Identifier for sending direction of the 2nd PDO channel. 20E6h See A230.1. r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range: 0... 640... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 39 80 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A230.1 2. trans. PDO Parameter. Transmission Type: Transmission type for 2nd PDO channel. See A229.1. 20E6h 1h r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range: 0... 254... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 39 80 01 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A230.2 2. trans. PDO Parameter. Inhibit Time: Pause time for PDO channel 2. See A229.2. 20E6h 2h r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range in 100 us: 0... 0... 65535 Fieldbus: 1LSB=1 100 us; Type: U16; USS-Adr: 01 39 80 02 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A230.3 2. trans. PDO Parameter. Event Timer: For PDO channel 2. See A229.3. 20E6h 3h r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range in ms: 0... 0... 65535 Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 39 80 03 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. ID 441778.0004 160

A.. Inverter A233.0 1. trans. PDO Mapping Tx. 1. mapped Parameter: Address of the parameter which is 20E9h imaged first on the 1st PDO channel for sending. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Value range: A00... E200... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 3A 40 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A233.1 1. trans. PDO Mapping Tx. 2. mapped Parameter: Address of the parameter which is imaged second on the 1st PDO channel for sending. 20E9h 1h NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 3A 40 01 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A233.2 1. trans. PDO Mapping Tx. 3. mapped Parameter: Address of the parameter which is imaged third on the 1st PDO channel for sending. 20E9h 2h NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 3A 40 02 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A233.3 1. trans. PDO Mapping Tx. 4. mapped Parameter: Address of the parameter which is imaged fourth on the 1st PDO channel for sending. 20E9h 3h NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 3A 40 03 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. ID 441778.0004 161

A.. Inverter A233.4 1. trans. PDO Mapping Tx. 5. mapped Parameter: Address of the parameter which is 20E9h 4h imaged fifth on the 1st PDO channel for sending. NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 3A 40 04 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A233.5 1. trans. PDO Mapping Tx. 6. mapped Parameter: Address of the parameter which is imaged sixth on the 1st PDO channel for sending. 20E9h 5h NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 3A 40 05 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A234.0 2. trans. PDO Mapping Tx. 1. mapped Parameter: For 2nd PDO channel. See A233.0. 20EAh r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 3A 80 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A234.1 2. trans. PDO Mapping Tx. 2. mapped Parameter: For 2nd PDO channel. See A233.1. 20EAh 1h r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 3A 80 01 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. ID 441778.0004 162

A.. Inverter 2. trans. PDO Mapping Tx. 3. mapped Parameter: For 2nd PDO channel. See A233.2. 20EAh 2h A234.2 r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 3A 80 02 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A234.3 2. trans. PDO Mapping Tx. 4. mapped Parameter: For 2nd PDO channel. See A233.3. 20EAh 3h r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 3A 80 03 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A234.4 2. trans. PDO Mapping Tx. 5. mapped Parameter: For 2nd PDO channel. See A233.4. 20EAh 4h r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 3A 80 04 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A234.5 2. trans. PDO Mapping Tx. 6. mapped Parameter: For 2nd PDO channel. See A233.5. 20EAh 5h r=2, w=2 NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 01 3A 80 05 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. ID 441778.0004 163

A.. Inverter A237 1. rec. PDO-Mapped Len: Indication parameter indicating in bytes the size of the expected receive telegram of the 1st PDO channel for the current parameterization. 20EDh read (1) NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 3B 40 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A238 2. rec. PDO-Mapped Len: For 2nd PDO channel. See A237. 20EEh read (2) NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 3B 80 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A241 1. trans. PDO-Mapped Len: Indication parameter indicating in bytes the size of the expected send telegram of the 1st PDO channel for the current parameterization. 20F1h read (1) NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 3C 40 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A242 2. trans. PDO-Mapped Len: For 2nd PDO channel. See A241. 20F2h read (2) NOTE The parameter is only visible when a CAN device controller is selected in the device configuration or the appropriate blocks were used with the option for free, graphic programming. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 3C 80 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. ID 441778.0004 164

A.. Inverter CAN diagnostic: Indication of internal inverter diagnostic information via the CAN-Bus interface. 20F5h A245 Bits 0-2: NMT state, state of the CANopen state machine: 0 = Inactive, 1 = Reset application, 2 = Reset communication, 3 = Bootup, 4 = Pre-operational, 5 = Stopped 6 = Operational Bit 3: CAN controller indicates warning level. Bit 4: CAN controller indicates bus off. Bit 5: Toggle bit: Telegrams are being received on SDO channel 1. Bit 6: Memory bit: Receiving FIFO of SDO channel 1 has exceeded the half-full filling level. (Client is sending telegrams faster than they can be processed by the inverter.) Bit 7: Toggle bit: Telegrams are being received on PDO channel 1 (only for Operational). Bit 8: Memory bit: Receiving FIFO of PDO channel 1 has exceeded the half-full filling level (only for Operational). (Client is sending telegrams faster than they can be processed by the inverter.) Bit 9: Current state of the red LED on CAN 5000, is 1 when LED is on. Bit 10: Current state of the green LED on CAN 5000, is 1 when LED is on. Bit 11: PDO sync relationship error: PDO1 is using sync. All bits can be briefly deleted by sending NMT command Reset Node. Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3D 40 00 hex Only visible when the CAN 5000 option is installed or when CAN 5000 was selected as option module 1 in the device configuration. A252.0 EtherCAT Sync Manager 2 PDO Assign: The Sync-Manager 2 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT Slave Controller (ESC) in which the process output data with reference values are sent by the EtherCAT master to the inverter. These data specify which PDO mapping parameters are assigned to this Sync- Manager. This array contains four elements of the data type U16. We recommend entering the CANopen index of parameter A225 (1600 hex) in element 0 of this parameter. The indices of the parameters A226 (1601 hex), A227 (1602 hex) or A228 (1603 hex) can then be entered as necessary in the other elements. The value 0 indicates a blank entry. 20FCh Value range: 0... 160ex... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F 00 00 hex (Representation hexadecimal) Only visible when option module CAN 5000 or ECS 5000 was recognized. A252.1 EtherCAT Sync Manager 2 PDO Assign: The Sync-Manager 2 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT Slave Controller (ESC) in which the process output data with reference values are sent by the EtherCAT master to the inverter. These data specify which PDO mapping parameters are assigned to this Sync- Manager. This array contains four elements of the data type U16. We recommend entering the CANopen index of parameter A226 (1601 hex) in element 1 of this parameter. The indices of the parameters A225 (1600 hex), A227 (1602 hex) or A228 (1603 hex) can then be entered as necessary in the other elements. The value 0 indicates a blank entry. 20FCh 1h Value range: 0... 1601hex... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F 00 01 hex (Representation hexadecimal) Only visible when option module CAN 5000 or ECS 5000 was recognized. ID 441778.0004 165

A.. Inverter A252.2 EtherCAT Sync Manager 2 PDO Assign: The Sync-Manager 2 controls the memory size 20FCh 2h and the access of the inverter processor to the portion of memory in the EtherCAT Slave Controller (ESC) in which the process output data with reference values are sent by the EtherCAT master to the inverter. These data specify which PDO mapping parameters are assigned to this Sync- Manager. This array contains four elements of the data type U16. We recommend entering the value 0 (for unused) in element 2 of this parameter because the indices of parameters A225 (1600 hex) and A226 (1601 hex) have already been entered as default values in elements 0 and 1. Up to 12 parameters can already be transferred in this way. If more process data are required, the CANopen index of parameter A227 (1602 hex) can be specified here. However, remember that the corresponding block 100921 ECS PDO3-rx Map must also be instanced here. Value range: 0... 000ex... 65535 (Representation hexadecimal) Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F 00 02 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A252.3 EtherCAT Sync Manager 2 PDO Assign: The Sync-Manager 2 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT Slave Controller (ESC) in which the process output data with reference values are sent by the EtherCAT master to the inverter. These data specify which PDO mapping parameters are assigned to this Sync- Manager. This array contains four elements of the data type U16. We recommend entering the value 0 (for unused) in element 3 of this parameter because the indices of parameters A225 (1600 hex) and A226 (1601 hex) have already been entered as default values in elements 0 and 1 and sometimes the index of A227 (1603 hex) in element 2. Up to 18 parameters can already be transferred in this way. If more process data are required, the CANopen index of parameter A228 (1603 hex) can be specified here. However, remember that the corresponding block 100923 ECS PDO4-rx Map must also be instanced here. 20FCh 3h Value range: 0... 000ex... 65535 (Representation hexadecimal) Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F 00 03 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A253.0 EtherCAT Sync Manager 3 PDO Assign: The Sync-Manager 3 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT Slave Controller (ESC) in which the process input data with actual values are sent by the inverter to the EtherCAT master. These data specify which PDO mapping parameters are assigned to this Sync-Manager. This array contains four elements of the data type U16. We recommend entering the CANopen index of parameter A233 (1A00 hex) in element 0 of this parameter. The indices of the parameters A234 (1A01 hex), A235 (1A02 hex) or A236 (1A03 hex) can then be entered as necessary in the other elements. The value 0 indicates a blank entry. 20FDh Value range: 0... 1A0ex... 65535 (Representation hexadecimal) Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F 40 00 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. ID 441778.0004 166

A.. Inverter A253.1 EtherCAT Sync Manager 3 PDO Assign: The Sync-Manager 3 controls the memory size 20FDh 1h and the access of the inverter processor to the portion of memory in the EtherCAT Slave Controller (ESC) in which the process input data with actual values are sent by the inverter to the EtherCAT master. These data specify which PDO mapping parameters are assigned to this Sync-Manager. This array contains four elements of the data type U16. We recommend entering the CANopen index of parameter A234 (1A01 hex) in element 1 of this parameter. The indices of the parameters A233 (1A00 hex), A235 (1A02 hex) or A236 (1604 hex) can then be entered as necessary in the other elements. The value 0 indicates a blank entry. Value range: 0... 1A01hex... 65535 (Representation hexadecimal) Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F 40 01 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A253.2 EtherCAT Sync Manager 3 PDO Assign: The Sync-Manager 3 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT Slave Controller (ESC) in which the process input data with actual values are sent by the inverter to the EtherCAT master. These data specify which PDO mapping parameters are assigned to this Sync-Manager. This array contains four elements of the data type U16. We recommend entering the value 0 (for unused) in element 2 of this parameter because the indices of parameters A233 (1A00 hex) and A234 (1A01 hex) have already been entered as default values in elements 0 and 1. Up to 12 parameters can already be transferred in this way. If more process data are required, the CANopen index of parameter A235 (1A02 hex) can be specified here. However, remember that the corresponding block 100922 ECS PDO3-rx Map must also be instanced here. 20FDh 2h Value range: 0... 000ex... 65535 (Representation hexadecimal) Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F 40 02 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A253.3 EtherCAT Sync Manager 3 PDO Assign: The Sync-Manager 3 controls the memory size and the access of the inverter processor to the portion of memory in the EtherCAT Slave Controller (ESC) in which the process input data with actual values are sent by the inverter to the EtherCAT master. These data specify which PDO mapping parameters are assigned to this Sync-Manager. This array contains four elements of the data type U16. We recommend entering the value 0 (for unused) in element 3 of this parameter because the indices of parameters A233 (1A00 hex) and A234 (1A01 hex) have already been entered as default values in elements 0 and 1 and sometimes the index of A235 (1A03 hex) in element 2. Up to 18 parameters can already be transferred in this way. If more process data are required, the CANopen index of parameter A236 (1A03 hex) can be specified here. However, remember that the corresponding block 100924 ECS PDO4-tx Map must also be instanced here. 20FDh 3h Value range: 0... 000ex... 65535 (Representation hexadecimal) Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 3F 40 03 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. ID 441778.0004 167

A.. Inverter A256 EtherCAT Address: Shows the address of the inverter within the EtherCAT network. The value is usually specified by the EtherCAT master. It is either derived from position of the station within the EtherCAT ring or is purposely selected by the user. Values usually start at 1001 hexadecimal (1001h is the first device after the EtherCAT master, 1002h is the second, and so on). 210 Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 40 00 00 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A257.0 EtherCAT Diagnosis: Indication of internal inverter diagnostic information on the EtherCAT interface ECS 5000 and the connection to the EtherCAT. A text with the following format is indicated in element 0: "StX ErX L0X L1X" 2101h Part 1 of the text means: St Abbreviation of EtherCAT Device State (State of the EtherCAT State Machine) X Digit for state: 1 Init State 2 Pre-operational state (3 Requested Bootstrap State is not supported.) 4 Safe-operational state 8 Operational state 0x11 Error during INIT State 0x12 Error during PREOP State (0x13 Error during BOOTSTRAP) State 0x14 Error during Safe-Operational State 0x18 Error during Operational State Part 2 of the text means: Er Abbreviation of EtherCAT Device Error X Digit for state: 0 No error 1 Booting error, ECS 5000 error 2 Invalid configuration, select configuration with EtherCAT in POSI Tool. 3 Unsolicited state change, inverter has changed state by itself. 4 Watchdog, no more data from EtherCAT even though timeout time expired. 5 PDI watchdog, host processor timeout Part 3 of the text means: L0 Abbreviation for LinkOn of port 0 (the RJ45 socket labeled "IN") X Digit for state: 0 No link (no connection to other EtherCAT device) 1 Link detected (connection to other device found) Part 4 of the text means: L1 Abbreviation for LinkOn of port 1 (the RJ45 socket labeled "OUT") X Digit for state: 0 No link (no connection to other EtherCAT device) 1 Link detected (connection to other device found) Fieldbus: Type: Str16; USS-Adr: 01 40 40 00 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. ID 441778.0004 168

A.. Inverter A257.1 EtherCAT Diagnosis: Indication of internal inverter diagnostic information on the EtherCAT 2101h 1h interface ECS 5000 and the connection to the EtherCAT. A text with the following format is indicated in element 1: L0 xx L1 xx" Part 1 of the text means: L0 Abbreviation for Link Lost Counter Port 0 (RJ45 socket labeled "IN") xx Number of lost connections (hexadecimal) on the port Part 2 of the text means: L1 Abbreviation for Link Lost Counter Port 1 (RJ45 socket labeled "OUT") xx Number of lost connections (hexadecimal) on the port. Fieldbus: Type: Str16; USS-Adr: 01 40 40 01 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A257.2 EtherCAT Diagnosis: Indication of internal inverter diagnostic information on the EtherCAT interface ECS 5000 and the connection to the EtherCAT. A text with the following format is indicated in element 2: R0 xxxx R1 xxxx" 2101h 2h Part 1 of the text means: R0 Abbreviation for Rx ErrorCounter Port 0 (RJ45 socket labeled "IN") xxxx ErrorCounter in hexadecimal with number of registered errors such as, for example, FCS checksum, Part 2 of the text means: R0 Abbreviation for Rx ErrorCounter Port 1 (RJ45 socket labeled "OUT") xxxx ErrorCounter in hexadecimal with number of registered errors such as, for example, FCS checksum, Fieldbus: Type: Str16; USS-Adr: 01 40 40 02 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A258 EtherCAT PDO Timeout: This PDO monitoring function (PDO = Process Data Object) should be activated so that the inverter does not continue with the last received reference values after a failure of the EtherCAT network or the master. After the EtherCAT master has put this station (the inverter in this case) into the state "OPERATIONAL," it begins to send new process data (reference values, and so on) cyclically. When this monitor function has been activated, it is active in the "OPERATIONAL" state. When no new data are received via EtherCAT for longer than the set timeout time, the monitor function triggers the fault 52:communication with the cause of fault 6:EtherCAT PDO. If the EtherCAT master shuts down this station correctly (exits the "OPERATIONAL" state), the monitoring function is not triggered. 2102h The timeout time can be set in milliseconds with this parameter. The following special setting values are available: ID 441778.0004 169

A.. Inverter 0: Monitoring inactive 1 to 99: Monitoring by STÖBER watchdog is active. Timeout time is always 1000 milliseconds. From 100: Monitoring by STÖBER watchdog is active. The numeric value is the timeout value in milliseconds. 65534: Monitoring is not set by this value but by the "SM Watchdog" functionality of EtherCAT. For diagnosis of this externally set function, see parameter A259. 65535: Monitoring inactive Information You will only need the STÖBER watchdog function if your controller does not have a watchdog function itself. If your controller does have a watchdog function, recommends the setting A258 = 65534 (EtherCAT watchdog). Value range in ms: 0... 65535... 65535 Fieldbus: 1LSB=1ms; Type: U16; USS-Adr: 01 40 80 00 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A259.0 EtherCAT SM-Watchdog: This PDO monitoring function (PDO = Process Data Object) should be activated so that the inverter does not continue with the last received reference values after a failure of the EtherCAT network or the master. If the value 65534 was set in another parameter A258 EtherCAT PDO-Timeout, the timeout can be set in the EtherCAT master (TwinCAT software). The result is then indicated in this parameter: 2103h Element 0 contains the resulting watchdog time in 1 milliseconds. Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 40 C0 00 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A259.1 EtherCAT SM-Watchdog: This PDO monitoring function (PDO = Process Data Object) should be activated so that the inverter does not continue with the last received reference values after a failure of the EtherCAT network or the master. If the value 65534 was set in another parameter A258 EtherCAT PDO-Timeout, the timeout can be set in the EtherCAT master (TwinCAT software). The result is then indicated in this parameter: 2103h 1h Element 1 contains whether the watchdog was just triggered (1) or not (0). When the watchdog is triggered and the function is activated (see value 65534 in parameter A258), the fault 52:communication is triggered on the inverter with cause of fault 6:EtherCAT PDO. Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 40 C0 01 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. ID 441778.0004 170

A.. Inverter A259.2 EtherCAT SM-Watchdog: 2103h 2h This PDO monitoring function (PDO = Process Data Object) should be activated so that the inverter does not continue with the last received reference values after a failure of the EtherCAT network or the master. If the value 65534 was set in another parameter A258 EtherCAT PDO-Timeout, the timeout can be set in the EtherCAT master (TwinCAT software). The result is then indicated in this parameter: Element 2 contains the number of times this watchdog has been triggered. Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 40 C0 02 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A260 EtherCAT synchronization mode: This parameter activates EtherCAT synchronization monitoring mode on the inverter. The inverter offers the option of monitoring the synchronization between master and inverter via Distributed Clock. A check is made to determine whether the time difference between the arrival of the EtherCAT Frame at the inverter and the point in time of the SYNC0 signal on the inverter is within a tolerable time range. When monitoring is activated, Sync errors are counted with an error counter and indicated in parameter A261.2. Synchronization mode is deactivated and activated by entering the following values: 2104h 0:Synchronization deactivated 1:Synchronization active Other values are not defined and are therefore not permitted. CAUTION When the PLC cycle time is not the SYNC0 cycle time, all synchronization errors can no longer be detected. CAUTION Activation of synchronization mode requires different amounts of run time depending on the cycle time of the PLC and the inverter. With high-performance applications are being run on the inverter, activation of synchronization mode may cause the error "runtime load." Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 41 00 00 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A261.0 EtherCAT Sync-Diagnostics: This parameter can be used to diagnose errors in synchronization mode. The parameter indicates the following error codes: 2105h 0: No error 1: Sync Manager 2 and Sync Manager 3 have different cycle times. 2: Cycle time < 1 ms: The cycle time must be ³ 1000 µs. 3: Uneven cycle time: Cycle time must be a whole-number multiple of 1000 µs. ID 441778.0004 171

A.. Inverter 4: Internal error: Internal device PLL could not be started. Possible cause: The project does not contain parameter G90. 5: A required EtherCAT parameter does not exist. Parameters A260 and A261 must be available for EtherCAT with synchronization. 6: Internal error: Inverter interrupt could not be initialized. Possible cause: Firmware error Other values: Not defined Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 41 40 00 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A261.1 EtherCAT Sync-Diagnostics: This element is reserved. 2105h 1h Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 41 40 01 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A261.2 EtherCAT Sync-Diagnostics: This parameter indicates the synchronization errors which have occurred up to now between master and inverter. Synchronization mode must be activated in parameter A260 before the counter function becomes active. When the error counter is continuously incremented, this indicates a parameterization error on the master or the inverter. Occasional incrementing of the counter (e.g., in the minutes range) indicates a jitter in the total EtherCAT system. 2105h 2h Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 41 40 02 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A262.0 EtherCAT Sync Manager 0 Synchronization type: The parameter indicates the synchronization operating mode for Sync Manager 0 (write mailbox) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 21h 0: not synchronized No other values possible. Information Please note that the synchronization operating mode is set exclusively by the controller. If you change the parameter, your settings will have no effect. 0: not synchronized; 1: synchronized with AL event on this Sync Manager; 2: synchronized with AL event Sync0; 3: synchronized with AL event Sync1; ID 441778.0004 172

A.. Inverter 32: synchronized with AL event of SM0; 33: synchronized with AL event of SM1; 34: synchronized with AL event of SM2; 35: synchronized with AL event of SM3; Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 41 80 00 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A262.1 EtherCAT Sync Manager 0 Cycle time: The parameter indicates the value of the cycle time for Sync Manager 0 (write mailbox) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 21h 1h 0: not synchronized No other values possible. Information Please note that the cycle time is set exclusively by the controller. If you change the parameter, your settings will have no effect. 0: not synchronized; 1: synchronized with AL event on this Sync Manager; 2: synchronized with AL event Sync0; 3: synchronized with AL event Sync1; 32: synchronized with AL event of SM0; 33: synchronized with AL event of SM1; 34: synchronized with AL event of SM2; 35: synchronized with AL event of SM3; Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 41 80 01 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A262.2 EtherCAT Sync Manager 0 Shift time: The parameter indicates the value of the shift time for Sync Manager 0 (write mailbox) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 21h 2h 0: not synchronized No other values possible. Information Please note that the shift time is set exclusively by the controller. If you change the parameter, your settings will have no effect. ID 441778.0004 173

A.. Inverter 0: not synchronized; 1: synchronized with AL event on this Sync Manager; 2: synchronized with AL event Sync0; 3: synchronized with AL event Sync1; 32: synchronized with AL event of SM0; 33: synchronized with AL event of SM1; 34: synchronized with AL event of SM2; 35: synchronized with AL event of SM3; Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 41 80 02 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A263.0 EtherCAT Sync Manager 1 Synchronization type: The parameter indicates the synchronization operating mode for Sync Manager 1 (read mailbox) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 2107h 0: not synchronized No other values possible. Information Please note that the synchronization operating mode is set exclusively by the controller. If you change the parameter, your settings will have no effect. 0: not synchronized; 1: synchronized with AL event on this Sync Manager; 2: synchronized with AL event Sync0; 3: synchronized with AL event Sync1; 32: synchronized with AL event of SM0; 33: synchronized with AL event of SM1; 34: synchronized with AL event of SM2; 35: synchronized with AL event of SM3; Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 41 C0 00 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A263.1 EtherCAT Sync Manager 1 Cycle time: The parameter indicates the value of the cycle time for Sync Manager 1 (read mailbox) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 2107h 1h 0: not synchronized No other values possible. ID 441778.0004 174

A.. Inverter Information Please note that the cycle time is set exclusively by the controller. If you change the parameter, your settings will have no effect. 0: not synchronized; 1: synchronized with AL event on this Sync Manager; 2: synchronized with AL event Sync0; 3: synchronized with AL event Sync1; 32: synchronized with AL event of SM0; 33: synchronized with AL event of SM1; 34: synchronized with AL event of SM2; 35: synchronized with AL event of SM3; Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 41 C0 01 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A263.2 EtherCAT Sync Manager 1 Shift time: The parameter indicates the value of the shift time for Sync Manager 1 (read mailbox) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 2107h 2h 0: not synchronized No other values possible. Information Please note that the shift time is set exclusively by the controller. If you change the parameter, your settings will have no effect. 0: not synchronized; 1: synchronized with AL event on this Sync Manager; 2: synchronized with AL event Sync0; 3: synchronized with AL event Sync1; 32: synchronized with AL event of SM0; 33: synchronized with AL event of SM1; 34: synchronized with AL event of SM2; 35: synchronized with AL event of SM3; Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 41 C0 02 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. ID 441778.0004 175

A.. Inverter A264.0 EtherCAT Sync Manager 2 Synchronization type: The parameter indicates the 2108h synchronization operating mode for Sync Manager 2 (output process data) which was set by the controller on the inverter. Since Sync Managers for mailbox communication are never synchronized, the parameter can only have the following values: 0: not synchronized 2: Synchronized with AL Event Sync0: Synchronized operating mode (synchronous to sync 0 signal). No other values possible. Information Please note that the synchronization operating mode is set exclusively by the controller. If you change the parameter, your settings will have no effect. 0: not synchronized; 1: synchronized with AL event on this Sync Manager; 2: synchronized with AL event Sync0; 3: synchronized with AL event Sync1; 32: synchronized with AL event of SM0; 33: synchronized with AL event of SM1; 34: synchronized with AL event of SM2; 35: synchronized with AL event of SM3; Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 42 00 00 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A264.1 EtherCAT Sync Manager 2 Cycle time: The parameter indicates the value of the cycle time in ns for Sync Manager 2 (output process data) which was set by the controller on the inverter. 2108h 1h Information Please note that the cycle time is set exclusively by the controller. If you change the parameter, your settings will have no effect. 0: not synchronized; 1: synchronized with AL event on this Sync Manager; 2: synchronized with AL event Sync0; 3: synchronized with AL event Sync1; 32: synchronized with AL event of SM0; 33: synchronized with AL event of SM1; 34: synchronized with AL event of SM2; 35: synchronized with AL event of SM3; Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 42 00 01 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. ID 441778.0004 176

A.. Inverter A264.2 EtherCAT Sync Manager 2 Shift time: The parameter indicates the value of the shift time in 2108h 2h ns for Sync Manager 2 (output process data) which was set by the controller on the inverter. Information Please note that the shift time is set exclusively by the controller. If you change the parameter, your settings will have no effect. 0: not synchronized; 1: synchronized with AL event on this Sync Manager; 2: synchronized with AL event Sync0; 3: synchronized with AL event Sync1; 32: synchronized with AL event of SM0; 33: synchronized with AL event of SM1; 34: synchronized with AL event of SM2; 35: synchronized with AL event of SM3; Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 42 00 02 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A265.0 EtherCAT Sync Manager 3 Synchronization type: The parameter indicates the synchronization operating mode for Sync Manager 3 (input process data) which was set by the controller on the inverter. The parameter can only have the following values: 2109h 0: not synchronized 2: Synchronized with AL Event Sync0: Synchronized operating mode (synchronous to sync 0 signal) No other values possible. Information Please note that the synchronization operating mode is set exclusively by the controller. If you change the parameter, your settings will have no effect. 0: not synchronized; 1: synchronized with AL event on this Sync Manager; 2: synchronized with AL event Sync0; 3: synchronized with AL event Sync1; 32: synchronized with AL event of SM0; 33: synchronized with AL event of SM1; 34: synchronized with AL event of SM2; 35: synchronized with AL event of SM3; Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 42 40 00 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. ID 441778.0004 177

A.. Inverter A265.1 EtherCAT Sync Manager 3 Cycle time: The parameter indicates the value of the cycle time 2109h 1h in ns for Sync Manager 3 (output process data) which was set by the controller on the inverter. Information Please note that the cycle time is set exclusively by the controller. If you change the parameter, your settings will have no effect. 0: not synchronized; 1: synchronized with AL event on this Sync Manager; 2: synchronized with AL event Sync0; 3: synchronized with AL event Sync1; 32: synchronized with AL event of SM0; 33: synchronized with AL event of SM1; 34: synchronized with AL event of SM2; 35: synchronized with AL event of SM3; Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 42 40 01 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A265.2 EtherCAT Sync Manager 3 Shift time: The parameter indicates the value of the shift time in ns for Sync Manager 3 (output process data) which was set by the controller on the inverter. 2109h 2h Information Please note that the shift time is set exclusively by the controller. If you change the parameter, your settings will have no effect. 0: not synchronized; 1: synchronized with AL event on this Sync Manager; 2: synchronized with AL event Sync0; 3: synchronized with AL event Sync1; 32: synchronized with AL event of SM0; 33: synchronized with AL event of SM1; 34: synchronized with AL event of SM2; 35: synchronized with AL event of SM3; Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 42 40 02 hex Only visible when option module CAN 5000 or ECS 5000 was recognized. A266 ECS Tolerance barrier: This parameter is used to specify the maximum permissible number of ECS 5000 events. When this threshold value is exceeded, the fault 55:option board with the cause 9:ECS5000failure is triggered. Never change this value without first contacting GmbH & Co. KG. 210Ah Value range: 0... 1... 12 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 42 80 00 hex ID 441778.0004 178

A.. Inverter A267.0 ECS internal test counter: This parameter counts any ECS-5000 events which are detected 210Bh between the control unit of the inverter and the ECS 5000. Different causes are counted separately in an array with 4 elements. When the counter is incremented rapidly, this may mean EMC interference. Fieldbus: 1LSB=1; Type: U32; USS-Adr: 01 42 C0 00 hex A268 ECS compatibility mode: Adjustment of the behavior of the EtherCAT firmware to ensure it can still be used with software in other devices which may possibly be outdated, for example in EtherCAT Master. 0: current; This is the correct setting for the behavior for currently applicable EtherCAT specifications. If possible, do not change this setting to produce and require behavior in accordance with current requirements. 1: No PDO test before OP; In this case the drive as an EtherCAT slave no longer checks upon prompt for transition to OPERATIONAL whether PDOs have previously been received (in sync manager 2). Use this setting only if you do not need a workaround for non-problem free behavior of the EtherCAT master! 210Ch Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 43 00 00 hex A300 read (2) Additional enable: Indicates the current value of the AdditEna signal (additional enable) on the interface to the device control (configuration, block 100107). The "additional enable" signal works exactly like the enable signal on terminal X1. Both signals are AND linked. This means that the power end stage of the inverter is only enabled when both signals are HIGH. 212Ch 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4B 00 00 hex A301 read (2) Fault reset: Indicates the current value of the FaultRes signal (fault reset) on the interface to the device control (configuration, block 100107). The Fault reset signal triggers a fault reset. When the inverter has malfunctioned, a change from LOW to HIGH causes this fault to be reset if the cause of the fault has been corrected. Reset is not possible as long as A00 Save values is active. 212Dh 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4B 40 00 hex A302 read (2) Quick stop: Indicates the current value of the QuickStp signal (quick stop) on the interface to the device control (configuration, block 100107). The quick stop signal triggers a quick stop of the drive. During positioning mode, the acceleration specified in I17 determines the braking time. When the axis is in "revolutions" (speed) mode, the parameter D81 determines the braking time (see also A39 and A45). 212Eh 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4B 80 00 hex ID 441778.0004 179

A.. Inverter A303 read (2) selector 0: Indicates the current value of the AxSel0 signal (axis selector 0) on the interface to the device control (configuration, block 100107). There are two "axis selector 0 / 1" signals with which one of the max. of 4 axes can be selected in binary code. 212Fh NOTE - switchover is not possible unless the enable is off and E48 device control state is not 5:fault. - With the FDS 5000, the axes can only be used as parameter records for a motor. The POSISwitch AX 5000 option cannot be connected. 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4B C0 00 hex A304 read (2) selector 1: Indicates the current value of the AxSel1 signal (axis selector 1) on the interface to the device control (configuration, block 100107). There are two "axis selector 0 / 1" signals with which one of the max. of 4 axes can be selected in binary code. 213 NOTE - switchover is not possible unless the enable is off and E48 device control state is not 5:fault. - With the FDS 5000, the axes can only be used as parameter records for a motor. The POSISwitch AX 5000 option cannot be connected. 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4C 00 00 hex A305 read (2) disable: Indicates the current value of the AxDis signal (axis disable) on the interface to the device control (configuration, block 100107). The axis-disable signal deactivates all axes. NOTE - switchover is not possible unless the enable is off and E48 device control state is not 5:fault. - With the FDS 5000, the axes can only be used as parameter records for a motor. The POSISwitch AX 5000 option cannot be connected. 2131h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 4C 40 00 hex A3 X1.Enable 2132h read (2) 0: inactive; 1: active; Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 01 4C 80 00 hex ID 441778.0004 180

A.. Inverter A576 Control word: Control word with control signals for the device state machine and the drive function. 604 Bit 0: "Switch on" - is set to 1 for switchon when bit 0 in status word "Ready to Switch On" is 1. Bit 1: "Enable voltage" - should always be left at 1, is active. Bit 2: "Quick stop" - is set to 0 when the drive is to come to a standstill as soon as possible. Bit 3: "Enable operation" - is set to 1 for enable when bit 1 in status word "Switched on" is 1. Bit 4-6: "Operation mode specific" - see below. Bit 7: "Fault reset" - edge 0 -> 1 to acknowledge queued fault. Bit 8: "Halt" - is not supported, always leave 0 = inactive. Bit 9 and 10: "Reserved" - always leave 0 = inactive. Bit 11 and 12: selector, bit 0 and 1. Select the axis here for multi-axis operation. 00 = axis1, Bit 13: disable. Deactivate all axes. No motor connected. Bit 14: Release brake. Bit 15: "Reserved" - always leave 0 = inactive. On bits 4-6 "operation mode specific" - the meaning of the bits depends on the operating mode of the inverter. This is set in A608 (modes of operation). The following operating modes and related bit meanings are available at this time: Job mode: Bit-4: Jog + Bit-5: Jog - Bit-6: Reserved, always 0 Homing mode: Bit-4: Homing operation start Bit-5: Reserved, always 0 Bit-6: Reserved, always 0 Interpolated position mode: Bit-4: Interpolation mode active Bit-5: Reserved, always 0 Bit-6: Reserved, always 0 Comfort reference value: Bit-4: HLG block, ramp generator input = 0 Bit-5: HLG stop, freeze ramp generator input Bit-6: HLG zero, ramp generator input = 0 (same as bit 4) Can be accessed via CANopen under: Index 6040 hex Subindex 0 Value range: 0... 000ex... 65535 (Representation hexadecimal) Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 01 90 00 00 hex ID 441778.0004 181

A.. Inverter A577 Status word: The status word indicates the current state of the device. Some bits are operation mode specific. 6041h read (1) Bit-0: "Ready to switch on" Bit-1: "Switched on" Bit-2: "Operation enabled" Bit-3: "Fault" Bit-4: "Voltage enabled" Bit-5: "Quick stop" Bit 6: "Switch on disabled" Bit-7: "Warning" Bit-8: "Message" Bit-9: "Remote," corresponds to the negated output Local of block 320 Local Bit-10: "Target reached," see below Bit-11: "Internal limit active," 1 = limit is active Bit-12 and 13: "Operation mode specific," see below Bit-14 and 15: "PLL Bit0" and "PLL Bit1" with the meaning of interpolated position mode: 00: OK 01: Cycle time extended and still engaged 10: Cycle time shortened and still engaged 11: Not engaged Bit-10 "Target reached," bit-11 "Internal limit active" and bits 12 and 13 "Operation mode specific." The meaning of the bits depends on the operating mode of the inverter. This is set in the parameter A608 modes of operation. The following operating modes are currently available with their related bit meanings: Comfort reference value: Bit-10: "Target reached," reference-value-reached flag, same as D183 "n-window reached" Bit-11: "Internal limit active," 1 = limit is active, one of the following signals is active: D182, D185, D186, D308, D309, D462 Homing mode: Bit-12: Homing attained: Reference point found Bit-13: Homing error: termination of referencing due to error Interpolated position mode: Bit-12: Interpolation mode active Bit-13: Reserved, always 0 Can be accessed via CANopen under: Index 6041hex Subindex 0 Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 01 90 40 00 hex A800 Remote service start: You can use this parameter to start remote service via the operator panel on the front of the inverter. The effectiveness of this parameter depends on how parameter A167 is set. ID 441778.0004 182

A.. Inverter Information Before you start remote service, read chapter 5 of the IGB Manual and the description of parameter A167! 0: inactive; No remote service wanted. 1: active; Request remote service. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 C8 00 00 hex A900 r=3, w=4 A901 r=3, w=4 A902 read (2) SysEnableOut: Enable output of the device controller to the axis(axes). Indicates that the power section is on and enables reference value processing. Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E1 00 00 hex SysQuickstopOut: Quick stop output of the device controller to the axis(axes). Indicates that the device controller forces a quick stop which is executed by speed control. Reference value processing of the axis must support this with priority before axis reference value processing. Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E1 40 00 hex SysStatusword: Status word of the device controller as per DSP402. Bit Bit 0 Ready for switch-on 8 Message 1 Switched on 9 Remote 2 Oper. enabled 10 Reference value reached 3 Fault 11 Limit value 4 Voltage disabled 12...15 Reserved 5 Quick stop 6 Switch-on disable 7 Warning Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 E1 80 00 hex A903 r=3, w=4 A905 A9 A907 SysOpenBrake: Command bit: Open halting brake (X2). This signal bypasses brake control and goes directly to plug connector X2. Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E1 C0 00 hex New PDO1 data for Tx: The parameter is set to "1" when a PDO is received. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 01 E2 40 00 hex Time stamp PDO1: Time relationship between PDO receipt and cycle time. Fieldbus: 1LSB=1µs; Type: U32; USS-Adr: 01 E2 80 00 hex Reference timestamp PLL: Time relationship of PLL to cycle time. Fieldbus: 1LSB=1µs; Type: U16; USS-Adr: 01 E2 C0 00 hex ID 441778.0004 183

A.. Inverter A910 r=3, w=4 SysAdditionalEnableIn: Additional enable signal of the axis to the device controller. A logical AND link with the enable signal (usually from binary input X100.enable) occurs on the device controller. Information When POSITool establishes a connection to the inverter, this parameter is always read, even when "write parameter" was specified in POSITool as the data communication direction. Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E3 80 00 hex A911 r=3, w=4 A912 r=3, w=4 A913 r=3, w=4 SysQuickstopIn: Quick stop request of the axis to the device controller. Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E3 C0 00 hex SysFaultResetInput: Fault reset of the axis to the device controller. Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E4 00 00 hex SysQuickstopEndInput: Quick stop end signal of the axis to the device controller. Indicates that a quick stop was concluded. With applications without braking control, this is usually the "standstill reached" signal. With applications with braking control, this is usually the "brake closed" signal. Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E4 40 00 hex A914 r=2, w=4 SysControlWord: Control word to DSP402 device controller. Bit Bit 1 Switch on 9...15 Reserved 2 Disable voltage 3 Quick stop 4 Enable oper. 5 Disable HLG 6 Stop HLG 7 HLG zero 8 Reset fault Fieldbus: 1LSB=1; Type: U16; USS-Adr: 01 E4 80 00 hex A916 r=3, w=4 A918 r=3, w=4 Reference cycle-time: Cycle time of the SYNC telegram. Is created from G98. Fieldbus: 1LSB=1µs; Type: I16; USS-Adr: 01 E5 00 00 hex SysLocal: Signal of the device controller to the axis (axes). Indicates that local operation is activated ("hand" key). Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E5 80 00 hex ID 441778.0004 184

A.. Inverter A919 SysEnableLocal: Signal of the device controller to the axis (axes). Indicates that local operation ("hand" key) and local enable ("I/O" or "I" key) are activated. r=3, w=4 A922 Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E5 C0 00 hex SysControlWordBit4: Signal of device control on the axis/axes. The function is applicationspecific. The parameter is only functional for the applications listed below. r=2, w=4 Application Comfort reference value Meaning Corresponds to the Stop signal Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E6 80 00 hex A923 SysControlWordBit5: Signal of device control on the axis/axes. The function is applicationspecific. The parameter is only functional for the applications listed below. r=2, w=4 Application Comfort reference value Meaning Halt ramp generator (with lower priority than Stop and Quick Stop) Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E6 C0 00 hex A924 SysControlWordBit6: Signal of device control on the axis/axes. The function is applicationspecific. The parameter is only functional for the applications listed below. r=2, w=4 Application Comfort reference value Meaning Corresponds to the Stop signal Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E7 00 00 hex A925 read (2) SysTargetReached: Signal of the axis to the device control. The reference value was reached. The function is application-specific. The parameter is only functional for the applications listed below. Application Comfort reference value Meaning Reference-value-reached flag, same as D183 n-window reached Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E7 40 00 hex A926 read (2) SysTargetReached: Signal of the axis to the device control. The reference value was reached. The function is application-specific. The parameter is only functional for the applications listed below. Application Meaning Comfort reference value One of the following signals is active: D182, D185, D186, D308, D309, D462 Fieldbus: 1LSB=1; Type: B; USS-Adr: 01 E7 80 00 hex ID 441778.0004 185

B.. Motor Motor-type: Indication of the motor name as text. 220 B00 Default setting: ED302U Fieldbus: Type: Str16; USS-Adr: 02 00 00 00 hex B01.0 Commission data 2201h Fieldbus: 1LSB=1; Type: U32; USS-Adr: 02 00 40 00 hex Only visible when B = 0:el. motor-type is set and the motor encoder is an EnDat -Encoder on X4 or X140. B02, OFF Back EMF: Specifies the peak value of induced voltage between two phases at 1000 Rpm. When an effective value is specified for external motors, this must be multiplied by 1.41 before entry in B02. Value range in V/1000rpm: 5.0... 60,0... 3000.0 Fieldbus: 1LSB=0,1V/1000rpm; Type: I16; (raw value:1lsb=0,1 rpm); USS-Adr: 02 00 80 00 hex 2202h Only visible with servo operation (B20 greater or equal to 64:Servo-control). B04, OFF El. motor-type: STÖBER motors of the ED/EK series are available with electronic single and multi-turn encoders. These encoders offer a special parameter memory. In all standard models STÖBER places all motor data in this memory including any existing halting brake ("electronic nameplate"). 2204h B04 is only used when B = 0 is set. With B04 = 0, only the commutation offset is read. The other motor data can be entered as desired. When B04 = 1 is set, the following parameters are read from the nameplate. B00, B01, B02, B05, B10, B11, B12, B13, B15, B16, B17, B51, B52, B53, B62, B64, B65, B66, B67, B68, B70, B71, B72, B73, B74, B82, B83, F, F07 With B04 = 1, the motor data are read from the encoder after each power-on. Any manual changes to motor data are only effective until the next power-off and power-on even when the changes are stored non-volatilely in Paramodule. For permanent changes to the motor data, set B04 = 0. Then store the changes with A00 = 1. Electronic nameplates of other motor manufacturers cannot be evaluated. NOTE Correct evaluation of the electronic nameplate after a change in parameter B04 is not ensured until after a device new start. 0: Commutation; 1: All data; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 01 00 00 hex Only visible when B = 0:el. motor-type is set and the motor encoder is an EnDat -Encoder on X4 or X140. ID 441778.0004 186

B.. Motor B05, OFF Commutation-offset: Shift the encoder zero position in comparison to the motor. STÖBER motors with resolvers are set to B05 = 0 at the plant and checked. Normally a change in the B05 parameter is not required. When phase test B40 produces a value B05 > 5 or B05 < 355, a wiring or plug problem is probably the cause. 2205h With STÖBER motors with absolute value encoders, the commutation offset is written to the electronic nameplate at the plant and is read by the inverter during "startup." In this case, B05 is also set at the factory to 0. If B05 is changed, total offset = nameplate offset + B05 applies. Value range in : 0.0... 0,0... 360.0 Fieldbus: 1LSB=0,1 ; Type: I16; (raw value:32767 = 2879.9 ); USS-Adr: 02 01 40 00 hex Only visible with servo operation (B20 greater or equal to 64:Servo-control). B, OFF Motor-data: STÖBER motors of the ED/EK series are available with electronic single and multiturn encoders. These encoders offer a special parameter memory. In all standard models STÖBER places the entire motor data in this memory including any existing halting brake ("electronic nameplate"). 22h With B = 0, the data set in B04 are read from the encoder after each power-on. Any manual changes in motor data only remain effective until the next power-off and power-on even when the changes are stored in Paramodule non-volatilely. Set B = 1 for motors without electronic nameplates. The default values of the motor data entered in the parameter list must then be checked and adjusted. The commutation offset can be autotuned with the action B40. The changes must then be stored with A00 = 1. Electronic nameplates of other motor manufacturers cannot be evaluated. NOTE Up to and including firmware status V 5.2, correct evaluation of the nameplate after a change in parameter B does not occur until a device new start. Starting with firmware status V 5.3, the nameplate is evaluated immediately. The parameter B only appears for inverters of the MDS 5000 and SDS 5000 series. 0: El. motor-type; 1: User defined; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 01 80 00 hex Only visible when the motor encoder is an EnDat -Encoder on X4 or X140. B07, OFF Brake data: With B07 Brake data = 0, the data set in F Brake release time and F07 Brake application time are read on every power on from the encoder. Any manual changes to these brake data are therefore only effective until the next switch off and switch on, even if the changes have been saved in the Paramodul in non-volatile memory. 2207h 0: electrical name plate; 1: arbitrary setting; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 01 C0 00 hex Only available if B Motor data = 0:el. name plate and F08 Brake = 1:active. ID 441778.0004 187

B.. Motor B08, OFF Field weakening: Switches on the field weakening mode for servo motors. With field weakening activated, higher speeds can be achieved, however the efficiency drops at these speeds. As a rule the field weakening should be activated. 0: inactive; 1: active; 2208h Fieldbus: 1LSB=1; Type: B; USS-Adr: 02 02 00 00 hex Only visible with servo operation (B20 greater or equal to 64:Servo-control). B10, OFF Motor-poles: Results from the nominal speed nnom [Rpm] and the nominal frequency f [Hz] of the motor. B10 = 2 (f 60 / nnom). Correct entry of the number of poles is mandatory for the inverter to function. 220Ah Value range: 2... 6... 20 Fieldbus: 1LSB=1; Type: U8; (raw value:255 = 510); USS-Adr: 02 02 80 00 hex B11, OFF Nominal motor power: Nominal power in kw as per nameplate. If only the nominal torque Mn is known instead of the nominal power, B11 must be calculated from Mn [Nm] and the nominal speed n [Rpm] based on the following formula: B11 = Mn n / 9550. 220Bh Value range in kw: 0.120... 0,307... 500.000 Fieldbus: 1LSB=0,001kW; Type: I32; USS-Adr: 02 02 C0 00 hex B12 Nominal motor current: Nominal current in A as per nameplate. 220Ch, OFF Value range in A: 0.001... 1,520... 327.670 Fieldbus: 1LSB=0,001A; Type: I32; USS-Adr: 02 03 00 00 hex B13 Nominal motor speed: Nominal speed in Rpm as per nameplate. 220Dh, OFF Value range in rpm: 0... 3000... 95999 Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1 rpm); USS-Adr: 02 03 40 00 hex B14, OFF Nominal motor voltage: Nominal voltage as per nameplate. Since, with asynchronous motors, the type of switching (Y/Δ) must be adhered to, make sure that the parameters B11... B15 match! 220Eh Value range in V: 0... 400... 480 Fieldbus: 1LSB=1V; Type: I16; (raw value:32767 = 2317 V); USS-Adr: 02 03 80 00 hex Only visible with asynchronous machines (B20 less than 64:Servo-control). B15, OFF Nominal motor frequency: Nominal frequency of the motor as per nameplate. Parameters B14 and B15 specify the inclination of the V/F characteristic curve and thus the characteristic of the drive. The V/F characteristic curve determines the frequency (B15 f-nominal) at which the motor will be operated (B14 V-nominal). Voltage and frequency can be linearly increased over the nominal point. Upper voltage limit is the applied network voltage. STÖBER system motors up to a size of 112 offer the possibility of star/delta operation. Delta operation with 400 V permits a power increase by the factor of 1.73 and an expanded speed range with constant torque. In this type of circuit, the 220Fh ID 441778.0004 188

B.. Motor motor requires more current. It must be ensured that: - The frequency inverter is designed for the corresponding power (PDelta = 1.73 PStar). - B12 (I-nominal) is parameterized for the corresponding nominal motor current (IDelta = 1.73 IStar). With quadratic characteristic curve (B21 = 1), nominal frequencies are limited via 124 Hz internally to 124 Hz. Value range in Hz: 0.0... 50,0... 1600.0 Fieldbus: 1LSB=0,1Hz; Type: I32; (raw value:2147483647 = 512000.0 Hz); USS-Adr: 02 03 C0 00 hex Only visible with asynchronous machines (B20 less than 64:Servo-control). B17, OFF T0 (standstill): Standstill torque M0 as per nameplate. Used, among others, as reference value for the torque and current limitation (C03 and C05). 2211h Value range in Nm: 0.000... 1,090... 2147483.647 Fieldbus: 1LSB=0,001Nm; Type: I32; USS-Adr: 02 04 40 00 hex Only visible with servo operation (B20 greater or equal to 64:Servo-control). B18 Related torque: The parameter B18 shows the reference value for percentage of torque values (such as C03, C05, E62 and E66) in every control mode (B20). 2212h Value range in Nm: -8.72... 1,09... 8.72 Fieldbus: 1LSB=0,01Nm; Type: I16; raw value:1lsb=fnct.no.22; USS-Adr: 02 04 80 00 hex B19 cos (phi): Cos (phi) as per nameplate. 2213h, OFF Value range: 0.500... 0,720... 1.000 Fieldbus: 1LSB=0,001; Type: I16; USS-Adr: 02 04 C0 00 hex Only visible with asynchronous machines (B20 less than 64:Servo-control). B20, OFF Control mode: Specifies the type of motor control.for servo motors, select 64:Servo-control. Asynchronous machines can be operated without speed feedback in the control modes 0:V/f-control and 1:Sensorless vector control. The selection 2:Vector control is available for asynchronous motors with feedback. 2214h NOTE - With control type "0:V/f-control," there is no current or torque limitation. Similarly, connection to a rotating motor is not possible ("capturing"). - Control type 64:Servo-control is not available with the FDS 5000 inverter. 0: V/f-control; 1: sensorless vector control; 2: vector control; 64: servo-control; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 05 00 00 hex ID 441778.0004 189

B.. Motor V/f-characteristic: Switch between linear and square characteristic curve. 2215h B21, OFF NOTE When the control mode is SLVC, only the linear characteristic curve format can be used. 0: Linear; Voltage/frequency characteristic curve is linear. Suitable for all applications. 1: Square; Square characteristic curve for use with fans and pumps. The characteristic curve is continued linearly starting at the nominal frequency (B15). Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 05 40 00 hex Only visible with asynchronous machines (B20 less than 64:Servo-control). B22 V/f-factor: Offset factor for the increase of the V/f characteristic curve. The increase with V/F factor = 100 % is specified by V-nominal (B14) and f-nominal (B15). 2216h Value range in %: 90... 100... 110 Fieldbus: 1LSB=1%; Type: I16; (raw value:32767 LSB=800%); USS-Adr: 02 05 80 00 hex Only visible with asynchronous machines (B20 less than 64:Servo-control). B23 V/f-Boost: The term boost means an increase in voltage in the lower speed range whereby a higher startup torque is available. With a boost of 100 % the nominal motor current flows at 0 Hz. To specify the required boost voltage, the stator resistance of the motor must be known. For this reason, with motors without electronic nameplate, it is essential that B41 (autotune motor) be performed!! With STÖBER standard motors, the stator resistance of the motor is specified by the choice of motor. 2217h Value range in %: 0... 10... 400 Fieldbus: 1LSB=1%; Type: I16; (raw value:32767 LSB=800%); USS-Adr: 02 05 C0 00 hex Only visible with V/f control (B20 = 0). B24 r=2, w=2 Switching frequency: The noise volume of the drive is affected by changing the switching frequency. Increasing the switching frequency increases losses, however. For this reason, the permissible nominal motor current (B12) must be reduced when the switching frequency is increased. With operation of a servo motor (B20 = 64), at least 8 khz must be set. With a setting of 4 khz, an internal switch to 8 khz is performed for servo operation. In some operating states, the switching frequency is changed by the inverter itself. The currently active switching frequency can be read in E151. 2218h NOTE The factory setting of this parameter depends on B20. With a servo controller, the value 8:8kHz is entered in B24. When an asynchronous machine (V/f controller, sensorless vector controller and vector controller) is used, B24 has the value 4:4kHz. 4: 4kHz; 8: 8kHz; 16: 16kHz; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 00 00 hex ID 441778.0004 190

B.. Motor B25, OFF r=2, w=2 Halt flux: B25 specifies whether the motor with applied brakes remains electrified during halt and quick stop. Particularly useful for positioning. After a HALT, the motor remains fully electrified for the time B27. After expiration of this time, the electrification is lowered to the level specified in B25. When 0 % is the setting and the brake is applied (halt, quick stop), the motor goes dead and the flux is canceled. The advantage is a better thermal motor balance since the motor can cool off during the pause times. The disadvantage is the additional time for establishment of magnetization (rotor time constant, approx. 0.5 sec). The required time is determined automatically by the inverter and added to brake release time F. 2219h Value range in %: 0... 100... 100 Fieldbus: 1LSB=1%; Type: I16; (raw value:32767 LSB=800%); USS-Adr: 02 40 00 hex Only when B20 = 1:SLVC or 2:VC. B26, OFF Motor encoder: Selection of the interface to which the motor encoder is connected. The encoder must be correctly parameterized in H.. for the particular interface (see encoder list in the H.. group). 221Ah NOTE Remember that the interfaces X120 and X140 are only available on the MDS 5000 and SDS 5000. The settings 3:X140-Resolver and 4:X120-encoder do not exist on the FDS 5000. 0: inactive; 1: BE-encoder; An incremental encoder which is connected to terminals BE4 and BE5 is used as motor encoder. The exact parameterization of the encoder must be performed in H10... H12. 2: X4-encoder; The motor encoder is connected to interface X4. The exact parameterization of the encoder must be performed in H00... H02. 3: X140-encoder; A encoder on the optional interface X140 is used as motor encoder. The exact parameterization of the encoder must be performed in H30... H32. 4: X120-encoder; The motor encoder is connected to the optional interface X120. The precise parameterization of the encoder must be performed in H120 to H126. NOTE The interface X120 is only available with the "I/O terminal module, expanded (XEA 5000)" and "I/O terminal module, expanded (XEA 5001)" respectively! Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 80 00 hex B27, OFF Time halt-flux: In case of a reduced halt flux B25, the applied brake and active power pack of the full magnetization current is still maintained for the time B27. 221Bh r=2, w=2 Value range in s: 0... 0... 255 Fieldbus: 1LSB=1s; Type: U8; USS-Adr: 02 C0 00 hex Only when B20 = 1:SLVC or 2:VC. ID 441778.0004 191

B.. Motor B28, OFF r=2, w=2 Encoder gearfactor: When the encoder for motor control for setting B20 = 2 (control type = vector control) is not mounted directly on the motor shaft, the gear ratio between motor shaft and the encoder must be specified here. It must apply: B28 = Number of motor revolutions/number of encoder revolutions. An SSI or an incremental encoder must be used. B28 can also assume negative values. Values whose amount is less than 1/10 may not be set. When B28 is not equal to 1.000, E09 indicates the encoder position and not the rotor position. 221Ch Value range: -32.000... 1,000... 31.999 Fieldbus: 1LSB=0,001; Type: I16; (raw value:10 Bit=1); USS-Adr: 02 07 00 00 hex Only visible with asynchronous machines (B20 less than 64:Servo-control). B29 r=3, w=4 Tolerate overcurrent: With applications which run close to the overcurrent threshold of the inverter, normal control procedures can cause undesired overcurrent malfunctions. For these cases, the parameter B29 makes it possible to tolerate a crossing of the overcurrent threshold for an adjustable number of current controller cycles. 221Dh The parameter should not be changed until after the max. current value has been checked with an external current measuring instrument. CAUTION With B20 = 0:V/f-control and B20 = 1:sensorless vector control, B29 must be 0! Value range in current-ctrl cycles: 0... 0... 20 Fieldbus: 1LSB=1current-ctrl cycles; Type: I8; USS-Adr: 02 07 40 00 hex B30 Additional motor-operation: Only possible with B20 = 0 (V/f control). For multi-motor operation. Permits the connection of an additional motor on the enabled inverter. This briefly reduces motor voltage to prevent an overcurrent switch-off. 221Eh 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 02 07 80 00 hex Only visible with V/f control (B20 = 0). B31, OFF Oscillation damping: Large motors can have a tendency to sympathetic vibration during no load. Increasing parameter B31 damps these vibrations with B20 = 2:SLVC. Values from 60... 100 % are suitable for problematic drives. 221Fh Value range in %: 0... 30... 100 Fieldbus: 1LSB=1%; Type: I16; (raw value:256 LSB=100%); USS-Adr: 02 07 C0 00 hex Only when B20 = 1:SLVC. ID 441778.0004 192

B.. Motor B32, OFF SLVC-dynamics: The reaction speed of the SLVC to changes in load can be influenced by B32. The highest dynamics are B32 = 100 %. 222 Value range in %: 0... 70... 100 Fieldbus: 1LSB=1%; Type: I16; (raw value:256 LSB=100%); USS-Adr: 02 08 00 00 hex Only when B20 = 1:SLVC. B35 Offset raw-motorencoder: The parameter B35 is added to the encoder raw value or accumulated encoder raw value. The results are indicated in E154 raw motor-encoder and E153 accumulated raw-motor-encoder. The scaling of B35 depends on the motor encoder being used: - EnDat, SSI: MSB = 2048 encoder revolutions - Resolver: 65,536 LSB = 1 encoder revolution (i.e., MSB = 32,768 encoder revolutions) - Incremental encoder: 4 LSB = 1 increment 2223h MSB = Most Significant Bit LSB = Least Significant Bit Fieldbus: 1LSB=1; Type: U32; USS-Adr: 02 08 C0 00 hex Only visible when B26 is not set to 0:inactive. B36, OFF Maximum magnetisation: The parameter permits the motor to move within the basic speed range with reduced magnetization. With a light load, this can be used to reduce heatup of motor and inverter. The parameter should usually be set to 100 % (no reduction). NOTE The parameter is only effective in control type B20 = 2:Vectorcontrol. 2224h Value range in %: 50... 100... 100 Fieldbus: 1LSB=1%; Type: I16; (raw value:32767 LSB=800%); USS-Adr: 02 09 00 00 hex Only when B20 = 1:SLVC or 2:VC. B40.0 r=2, w=2 Phase test & start: Writing a one starts the phase test action. It may only be used for servo motors. A check is made to determine whether phases were mixed up when the motor was connected, whether the number of motor poles (B10) is correct and auto-tunes the commutation offset (B05). During the action the motor must be able to revolve freely. The enable must be LOW at the starting point. After B40.0 = 1 the enable must be switched HIGH. After the action was executed, the enable must be switched back to LOW. The result of the action can be read after removal of the enable in B05. 2228h During this action the cycle time is internally set to 32 ms. The switch is made when the action is activated. WARNING Starting the action releases the motor brake. Since, due to the action, the motor is not sufficiently energized, it is unable to carry any loads (e.g., in a lifting system). For this reason the action may only be performed with motors which are not installed in a system. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A 00 00 hex ID 441778.0004 193

B.. Motor Process: Progress of the phase test in %. 2228h 1h B40.1 read (2) B40.2 read (2) Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 0A 00 01 hex Result: After conclusion of the phase test action, the result can be queried here. 0: error free; 1: aborted; 2: phase order; 3: motor poles; 4: commutation offset; 5: test run; 2228h 2h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A 00 02 hex B41.0 r=2, w=2 Autotuning & start: Writing a one starts the Autotune motor action. It measures the resistance (B53) and the inductivity (B52) of the motor. The drive may move during this action. The enable must be LOW at the starting point. After B41.0 = 1, the enable must be switched to HIGH. After the action is executed, the enable must be switched back to LOW. The result of the action can be read in B52, B53 after the enable is removed. During this action the cycle time is internally set to 32 ms. The switch is made when the action is activated. When an asynchronous machine (B20 < 64) is being used, the action also autotunes the values for B54 leakage factor and B55 saturation coefficient. 2229h WARNING Starting the action releases the motor brake. Since, due to the action, the motor is not sufficiently energized, it is unable to carry any loads (e.g., in a lifting system). For this reason the action may only be performed with motors which are not installed in a system. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A 40 00 hex B41.1 Process: Progress of autotuning the motor in %. 2229h 1h read (2) Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 0A 40 01 hex B41.2 Result: After conclusion of the Autotune motor action, the result can be queried. 2229h 2h read (2) 0: error free; 1: aborted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A 40 02 hex ID 441778.0004 194

B.. Motor B42.0 r=2, w=2 Optimize current controller & start: Writing a one starts the Optimize current controller action. This re-specifies the parameters for current controller gain (B64... B68). During the action, the drive revolves at approx. 2000 Rpm and may make clicking noises at regular intervals. The action may take up to approx. 20 minutes. The result of the action can be read in B64... B68 after the enable is removed. When the action is enabled on the device during local operation, the action can only be terminated with a very long delay. 222Ah During this action the cycle time is internally set to 32 ms. The switch is made when the action is activated. WARNING Starting the action releases the motor brake. Since, due to the action, the motor is not sufficiently energized, it is unable to carry any loads (e.g., in a lifting system). For this reason the action may only be performed with motors which are not installed in a system. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A 80 00 hex B42.1 Process: Progress of the current controller optimization %. 222Ah 1h read (2) Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 0A 80 01 hex B42.2 Result: After conclusion of the current controller optimization action, the result can be queried here. 222Ah 2h read (2) 0: error free; 1: aborted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A 80 02 hex B43.0 r=2, w=2 Winding test & start: Writing a one starts the Winding test action. This checks the symmetry of the ohmic resistances of the motor windings. The enable must be LOW at the starting point. After B43.0 = 1, the enable must be switched to HIGH. After the action is executed, the enable must be switched back to LOW. 222Bh Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A C0 00 hex B43.1 Process: Progress of the winding test in %. 222Bh 1h read (2) Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 0A C0 01 hex B43.2 Result: After conclusion of the winding test action, the result can be queried. 222Bh 2h read (2) 0: error free; 1: aborted; 2: R_SYM_U; 3: R_SYM_V; 4: R_SYM_W; 5: POLAR_SYM_U; 6: POLAR_SYM_V; 7: POLAR_SYM_W; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 0A C0 02 hex ID 441778.0004 195

B.. Motor B52, OFF Stator inductance: Inductance Lu-v of the motor winding in mh. Enter only for external motors. The value can be autotuned with the B41 action. 2234h r=2, w=2 Value range in mh: 0.001... 26,400... 2147483.647 Fieldbus: 1LSB=0,001mH; Type: I32; USS-Adr: 02 0D 00 00 hex B53, OFF Stator winding resistance: Stator winding resistance Ru-v of the motor winding in ohm. Enter only for external motors. The value can be autotuned with the B41 action. 2235h r=2, w=2 Value range in Ohm: 0.001... 20,400... 2147483.647 Fieldbus: 1LSB=0,001Ohm; Type: I32; USS-Adr: 02 0D 40 00 hex B54 Leakage factor: Ratio of leakage inductance to total inductance "Ls" of the motor 2236h, OFF NOTE The default value is sufficient for most motors and applications. Adjustments may become necessary when an external motor is connected. In such cases the value can be autotuned with the action B41. However, do not make this adjustment before consulting with STÖBER ANTRIEBSTECHNIK GmbH & Co. KG. Value range: 0.010... 0,100... 0.300 Fieldbus: 1LSB=0,001; Type: I16; USS-Adr: 02 0D 80 00 hex Only visible with asynchronous machines (B20 less than 64:Servo-control). B55, OFF Magnetic saturation coefficient: The parameter specifies how much the motor is magnetically saturated at the nominal point. The parameter is important for the control accuracy of control type VC (B20 = 2:VC) in the field weakening area. 2237h NOTE The default value is sufficient for most motors and applications. Adjustments may become necessary when an external motor is connected. In such cases the value can be autotuned with the action B41. However, do not make this adjustment before consulting with STÖBER ANTRIEBSTECHNIK GmbH & Co. KG. Value range: 0.000... 0,750... 0.950 Fieldbus: 1LSB=0,001; Type: I32; (raw value:2147483647 = 32767.000); USS-Adr: 02 0D C0 00 hex Only visible with asynchronous machines (B20 less than 64:Servo-control). B61 T-Motor (thermal): Time constant of motor heatup in seconds. 223Dh, OFF r=2, w=2 Value range in s: 0.1... 900,0... 3276.7 Fieldbus: 1LSB=0,1s; Type: I16; USS-Adr: 02 0F 40 00 hex B62 Motor inertia: Inertia J of the motor in kg cm². 223Eh, OFF r=2, w=2 Value range in kg cm2: 0.0001... 0,4430... 214748.3647 Fieldbus: 1LSB=0,0001kg cm2; Type: I32; (raw value:1lsb=0,0001); USS-Adr: 02 0F 80 00 hex ID 441778.0004 196

B.. Motor Mmax/Mnom: Relationship of breakdown torque of the motor to its nominal torque. 223Fh B63, OFF Value range: 1.0... 2,5... 8.0 Fieldbus: 1LSB=0,1; Type: I16; (raw value:32767 = 8.0); USS-Adr: 02 0F C0 00 hex Only visible with asynchronous machines (B20 less than 64:Servo-control). B64 Integral time lq: Integral time of the current controller for the torque-generating share in msec. A setting under 0.6 msec causes an integral gain of 0 (corresponds to an infinite integral time). 224 Value range in ms: 0.0... 1,8... 100.0 Fieldbus: 1LSB=0,1ms; Type: I16; USS-Adr: 02 10 00 00 hex Only visible with control types with current control (B20 = 64:Servo or 2:VC). B65 Proportional gain torque controller: Proportional gain of the torque controller. 2241h Value range in %: 0.0... 70,0... 800.0 Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 02 10 40 00 hex Only visible with control types with current control (B20 = 64:Servo or 2:VC). B66 Integral time Id: Integral time of the current controller for the flow-generating share in msec. A setting under 0.6 msec causes an integral gain of 0 (corresponds to an infinite integral time). 2242h Value range in ms: 0.0... 1,8... 100.0 Fieldbus: 1LSB=0,1ms; Type: I16; USS-Adr: 02 10 80 00 hex Only visible when B20 is not 0:V/f-control. B67 Proportional gain flux: Proportional gain of the flow controller. 2243h Value range in %: 0.0... 35,0... 800.0 Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 02 10 C0 00 hex Only visible when B20 is not 0:V/f-control. B68 Kd-iq: D share of the torque controller. 2244h Value range in %: 0.0... 15,8... 595.8 Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=595,8%); USS-Adr: 02 11 00 00 hex Only visible when B20 is not 0:V/f-control. B70 TW: Thermal time constant of the winding. 2246h, OFF Value range in s: 0.01... 155,00... 327.67 Fieldbus: 1LSB=0,01s; Type: I16; USS-Adr: 02 11 80 00 hex ID 441778.0004 197

B.. Motor B72, OFF TH: Is used for the thermal motor model. The parameter specifies in % the ratio of housing temperature and winding temperature at steady thermal factor. Example: During stationary operation at nominal point, the housing has a temperature of 110 C, the winding 150 C, and the ambient temperature is 25 C. This results in: B72 = (110 C-25 C) / (150 C-25 C) * 100 % = 68 %. 2248h Value range in %: 5.0... 55,2... 95.0 Fieldbus: 1LSB=0,1%; Type: I32; (raw value:409600 LSB=100%); USS-Adr: 02 12 00 00 hex B73 tr0: Specifies the speed-independent friction of the motor. 2249h, OFF Value range in Nm: -32.768... 0,031... 32.767 Fieldbus: 1LSB=0,001Nm; Type: I16; USS-Adr: 02 12 40 00 hex B74 tr1: Specifies the speed-dependent friction of the motor. 224Ah, OFF Value range in Nm/1000rpm: -3.2768... 0,0185... 3.2767 Fieldbus: 1LSB=0,0001Nm/1000rpm; Type: I16; (raw value:1lsb=0,0001 rpm); USS-Adr: 02 12 80 00 hex B82 I-max: Maximum current before the motor is de-magnetized. Specification in A. 2252h, OFF r=2, w=2 Value range in A: 0.000... 6,080... 2147483.647 Fieldbus: 1LSB=0,001A; Type: I32; USS-Adr: 02 14 80 00 hex B83 n-max motor: Maximum permissible speed for the motor. Specification in Rpm. 2253h, OFF r=2, w=2 Value range in rpm: 0... 8000... 17 Bit Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1 rpm); USS-Adr: 02 14 C0 00 hex B295 Double transmission motor-encoder: Indicates whether double transmission monitoring is active for the SSI encoder used as the motor encoder. Evaluation of the encoder begins without double transmission monitoring but double transmission monitoring is automatically activated after a short time if the SSI encoder being used supports this. When monitoring is inactive, data security is reduced significantly. If the motor encoder is not an SSI encoder, the parameter has no meaning. 2327h NOTE The parameter can only be used when an SSI encoder is evaluated on the inverter. 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 02 49 C0 00 hex Only visible when SSI or EnDat Encoder is used as the motor encoder. B296 Error-counter motor-encoder: Counts the number of tolerable errors of the motor encoder since the last device new start. 2328h NOTE The parameter can only be used when an SSI or EnDat encoder is evaluated on the inverter. Fieldbus: 1LSB=1; Type: U32; USS-Adr: 02 4A 00 00 hex Only visible when SSI or EnDat Encoder is used as the motor encoder. ID 441778.0004 198

B.. Motor B297 Maximum-speed motorencoder: B297 can be used for a plausibility check of the motor encoder signals for EnDat and SSI encoders. The difference between two consecutive encoder positions are monitored. If this difference exceeds the speed specified in B297, a fault is triggered (37:n-feedback / double transmission, starting with V5.2: 37:Encoder / X4-speed or X120-speed). 2329h NOTE The parameter can only be used when an SSI or EnDat encoder is evaluated on the inverter. Value range in rpm: 0... 131071... 17 Bit Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1 rpm); USS-Adr: 02 4A 40 00 hex Only visible when SSI or EnDat Encoder is used as the motor encoder. B298 Error-tolerance motorencoder: Sets the tolerance of the inverter to errors of the motor encoder. This tolerance can be used to prevent a fault 37:Encoder when encoder errors occur sporadically. The inverter extrapolates an encoder value in this case. The parameter B298 specifies how many errors will be tolerated before the inverter malfunctions. Error evaluation is structured as shown below: Each arriving encoder value is checked. When an encoder error is determined, B299 and B298 are compared. If the error evaluation counter B299 is greater than or equal to B298, fault 37:Encoder is triggered. If B299 is less than B298, the error is tolerated. The counter status B299 is incremented by 1.0. If the arriving encoder value is correct, the error evaluation counter B299 is decremented by 0.1. Decrementation continues until the value 0 is reached. Example: With a setting in B298 of 1.0, one error is tolerated; at least 10 correct values must be determined before the next error so that a malfunction is not triggered. The following errors are tolerated: - EnDat -CRC - EnDat -Busy - SSI-double transmission - SSI-Busy - Violation of the maximum speed in B297 With other encoder errors (e.g., wire break), a fault is triggered immediately regardless of B298. Error tolerance may negatively affect the quality of movement. The wiring should be checked when encoder errors occur frequently. 232Ah NOTE The parameter can only be used when an SSI or EnDat encoder is evaluated on the inverter. Value range: 0.0... 1,0... 3.0 Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 02 4A 80 00 hex Only visible when SSI or EnDat Encoder is used as the motor encoder. B299 Error-evaluation motorencoder: Shows the current status of the error evaluation counter (see B298). 232Bh NOTE The parameter can only be used when an SSI or EnDat encoder is evaluated on the inverter. Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 02 4A C0 00 hex Only visible when SSI or EnDat Encoder is used as the motor encoder. ID 441778.0004 199

B.. Motor B300.0 Brake test & start: 232Ch, OFF r=2, w=2 WARNING Danger of injury or property damage due to defective motor halting brake. Starting the brake test action releases the motor brakes one after the other. During the encoder test and/or in the case of a faulty brake, the drive axis may move. Take special cautionary measures particularly in case of gravity-stressed axes. Restrict the direction of rotation in B3 if the drive is not permitted to rotate in a particular direction. Information Remember that this function may only be used with the SDS 5000. A motor encoder is required for the brake test. Only the configured (slip-free) motor encoder is evaluated. Information The brake test only functions with a motor encoder. Only the configured (slip-free) motor encoder is evaluated. Information Remember that the brake test function is defined for the STÖBER drive system (geared motor with brake and optional ServoStop). It is essential to clarify the technical demands on a system of another manufacturer before you use it. The brake test checks to see whether the brakes can still provide the necessary stopping torque. For this purpose an encoder test is performed initially with the brake released. Then brake 1 is applied and the drive is taught a parameterizable testing torque in every permissible direction of rotation. If the drive determined a movement and the brake could not provide the required counter torque, the test is considered failed. The parameterizable testing torques are entered in the parameters B304.x (positive torque) and B305.x (negative torque). This is repeated for brake 2 (if brake 2 exists). Afterwards, the encoder is tested again. Information Remember that the motor torque is limited to the values in C03 and C05. If greater values are entered in B304.x and B305.x, they cannot be achieved. Check E62 and E66 to determine whether additional torque limits are also in effect. Information Remember that, with thrust axes, the torque to be provided by the motor for the direction of revolution in which loads are reduced is calculated as follows: M Parameter = M Brake - M Load M Parameter : Torque to be entered in B304.x or B305.x M Brake : Stopping torque to be provided by the brake M Load : Load torque Information During the brake test action, the cycle time is set internally to 32 ms. This occurs when the action is activated. After conclusion of the action, the previous cycle time is used again. Prerequisites for the performance of a brake test: You have parameterized the brake activation with the parameter F08 and F09. ID 441778.0004 200

B.. Motor In B304.0 you specified for brake 1 the torque which must stop the brake in the positive direction of revolution. In B305.0 you specified for brake 1 the torque which must stop the brake in the negative direction of revolution. In B304.1 you specified for brake 2 the torque which must stop the brake in the positive direction of revolution. In B305.1 you specified for brake 2 the torque which must stop the brake in the negative direction of revolution. If the drive may only revolve in one direction, you have restricted the direction of revolution for the test in parameter B3. You have entered the angle of revolution in B307 which the drive evaluates as standstill. Information If you would like to perform the action and brake management considers a brake test mandatory (fault 72), the fault must be acknowledged before the action starts. However, the acknowledgment is only in effect for 5 minutes. If a valid brake test B300 is not performed during this time, the fault appears again. Once you have acknowledged the malfunction, you can continue with the perform brake test instruction. To perform the brake test, proceed as follows: 1. Change to the device state Ready for switch on. 2. Set the action B300.0 brake test & start to 1:active. 3. Switch on the enable signal. ( 1 ) The inverter starts the brake test and the motor begins rotating. The drive may move during this process. 4. Wait until B300.1 indicates the result 100 % and B300.2 indicates the result 0:error free. 5. Switch the enable signal off. The brake test was performed successfully. If you did not achieve the result, parameter B300.2 will give you information on the cause. The inverter keeps an internal brake test memory with the last 20 events from B300.2 as well as the actually achieved stopping torques for brakes 1 and 2 in the positive and negative direction. When the result is 0: error free, these correspond to the values parameterized in B304.x and B305.x. If the values stored in the brake test memory are less than these, the brake test was not successful. The maximum positioning path for the brake test is approx. 45 in both directions. If a direction of revolution is restricted, the positioning path is 2 x 45 in the permitted direction. A stopping distance based on the torque and the inertia ratio is added in both cases. With coupled mechanics, you will have to include the gear ratio in the calculations. When both directions of revolution are permitted in B3, positioning in the positive direction occurs first. Remember that this calculation is only valid for an intact brake. When the tested brake cannot provide the required stopping torque, the positioning path cannot be calculated. In this case, the inverter switches off within < 10 ms and activates a second brake (if one exists). The standstill of the drive is then primarily affected by the application time and functional efficiency of the second brake. If there is no second brake, the motor coasts down. ( 1 ) If the enable signal is not switched on within 30 seconds, the function is interrupted automatically. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4B 00 00 hex ID 441778.0004 201

B.. Motor Process: Progress of the brake test in %. 232Ch 1h B300.1 read (2) B300.2 read (2) Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 4B 00 01 hex Result: After conclusion of the brake test action, the result can be queried here. The achieved test torques (in positive and negative directions - for brakes 1 and 2) of the last 20 tests are stored in a brake test memory. These can only be indicated in POSITool. 0: error free 1: aborted. The brake test action was aborted. Reasons for the abortion may be: - The enable was switched off during the test. - The enable signal has not been switched on within 30 seconds. Perform the brake test again. 2: maximal torque not reached for brake 1. During the test, brake 1 could not maintain the required torque. Perform the grind-brake function for brake 1 or replace brake 1. Then perform the brake test again. 3: maximal torque not reached for brake 2. During the test, brake 2 could not maintain the required torque. Perform the grind-brake function for brake 2 or replace brake 2. Then perform the brake test again. 4: Fault; Possible reasons for this message: - No brake is parameterized. Set F08 to 1:active and F09 to the brake being used. - No encoder is parameterized. Determine whether an encoder exists and whether the connected motor can be operated in Servo control or Vector control control mode. Set B20 accordingly. - Brake test has not been activated in the state "Ready for switch on" (e.g. in the state "Switch on inhibit"). 5: encoder defective. Reasons for this message may be: - The brake(s) does/do not release. Test the brakes. - The encoder is defective. Contact the STÖBER hotline at +49 (0) 180 5 786323. 6: E62/E66 torque limit; Possible reasons for this message: - C03/C05 is not set high enough. - Other application-dependent torque limits are in effect. - The device is overloaded. 232Ch 2h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4B 00 02 hex B301.0 Brake 1 grind &start: 232Dh, OFF r=2, w=2 WARNING Danger of injury or property damage due to defective motor halting brake. Starting the brake grinding function releases the motor brakes one after the other. During the encoder test and/or in the case of a faulty brake, the drive axis may move. Take special cautionary measures particularly in case of gravity-stressed axes. Restrict the direction of rotation in B3 if the drive is not permitted to rotate in a particular direction. WARNING Danger due to movement of the drive. During the action, the motor rotates at approx. 20 Rpm and with the torque entered in C03 or C05. Check E62 and E66 to determine whether additional torque ID 441778.0004 202

B.. Motor limits are also in effect. Ensure the following: - Before the function starts, make sure the drive is in a position in which it is permissible for it to move at this speed and torque. Information Note that this function can only be used with the SDS 5000 in conjunction with a BRS 5000 and encoder feedback. Information The brake grinding function can, unlike the function B300 Brake test, also be used on asynchronous motors without encoder. Information Please note that the brake grinding function is defined for the STÖBER drive system (gear motor with brake and, if applicable ServoStop). For example, you cannot use the brake grinding function with brakes that are attached to the output power of the gear unit. It is essential to clarify the technical demands on a system from another manufacturer before you use this function. During the brake grinding function, the brake is repeatedly applied for approx. 0.7 s and then released for approx. 0.7 s while the motor is rotating with approx. 20 rpm. This grinds off any deposits from the friction surface which may affect the halting function. Action B301.0 starts the grind-brake function for brake 1. You can parameterize: - how often the brake is applied (B308) during rotation - how often the drive is to rotate in each direction (B309) - whether one direction of revolution is inhibited (B3) Information During the brake grinding action, the cycle time is set internally to 32 ms. The change occurs when the action is activated. After the action is concluded, the previous cycle time is used again. Prerequisites for the use of the grind-brake function: You have parameterized brake activation. In B308 you have entered how often the brake is to be applied while rotating in one direction. In B309 you have entered how often the drive is to grind in each direction. In B3 you have specified whether one direction of rotation is inhibited. The brake should be ground with its maximum holding torque. For normal motor-controller combinations this is the case with C03/C05 = ±200 %. Check E62 and E66 to see whether other torque limits are also in effect. Information If you would like to perform the action and brake management considers a brake test mandatory (fault 72), the fault must be acknowledged before the action starts. However, the acknowledgment is only in effect for 5 minutes. If a valid brake test B300 is not performed during this time, the fault appears again. Once you have acknowledge the malfunction, you can continue with the brake grinding function instruction. To perform the brake grinding function, proceed as shown below: 1. Change to the device state Ready for switch on. ID 441778.0004 203

B.. Motor 2. Set parameter B301.0 grind brake 1 & start to 1:active. 3. Switch on the enable signal. ( 1 ) The drive begins to revolve in accordance with the parameter specifications. 4. Wait until parameter B301.1 indicates the result 100 % and parameter B301.2 the result 0: error free. 5. Turn the enable off. You have successfully performed the brake grinding function. If you did not achieve the result, parameter B301.2 will provide you with information on the cause. The inverter maintains an internal memory with the operating times of the last 40 successful grinding procedures. All grinding procedures are counted in parameter E176 regardless of the result. The maximum positioning path is B308 x 0.5 motor revolutions. With coupled mechanics, you will have to include the gear ratio in your calculations. When both directions of revolution are permitted in B3, positioning in the positive direction occurs first. ( 1 ) If the enable signal is not switched on within 30 seconds, the function is interrupted automatically. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4B 40 00 hex B301.1 Process: Progress of the grind-brake 1 action in %. 232Dh 1h read (2) Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 4B 40 01 hex B301.2 read (2) Result: After conclusion of the grind-brake 1 action, the result can be queried here. The operating times of the last 40 error-free grind-brake X actions are saved. This memory can only be indicated in POSITool. 232Dh 2h 0: error free 1: aborted. The brake grinding function was terminated. Reasons for the termination may be: - The enable was switched off during the test. - The enable signal has not been switched on within 30 seconds. Perform the brake grinding function again. 4: Fault; Possible reasons for this message: - Brake 1 is not parameterized. Set F08 to 1:active and F09 to 1:brake1 or 3:brake1and2. - Brake grinding 1 has not been activated in the state "Ready for switch on" (e.g. in the state "Switch on inhibit"). Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4B 40 02 hex B302.0 Brake 2 grind &start: 232Eh, OFF r=2, w=2 WARNING Danger of injury or property damage due to defective motor halting brake. Starting the brake grinding function releases the motor brakes one after the other. During the encoder test and/or in the case of a faulty brake, the drive axis may move. Take special cautionary measures particularly in case of gravity-stressed axes. Restrict the direction of rotation in B3 if the drive is not permitted to rotate in a particular direction. ID 441778.0004 204

B.. Motor WARNING Danger due to movement of the drive. During the action, the motor rotates at approx. 20 Rpm and with the torque entered in C03 or C05. Check E62 and E66 to determine whether additional torque limits are also in effect. Ensure the following: - Before the function starts, make sure the drive is in a position in which it is permissible for it to move at this speed and torque. Information Note that this function can only be used with the SDS 5000 in conjunction with a BRS 5000 and encoder feedback. Information The brake grinding function can, unlike the function B300 Brake test, also be used on asynchronous motors without encoder. Information Please note that the brake grinding function is defined for the STÖBER drive system (gear motor with brake and, if applicable ServoStop). For example, you cannot use the brake grinding function with brakes that are attached to the output power of the gear unit. It is essential to clarify the technical demands on a system from another manufacturer before you use this function. During the brake grinding function, the brake is repeatedly applied for approx. 0.7 s and then released for approx. 0.7 s while the motor is rotating with approx. 20 rpm. This grinds off any deposits from the friction surface which may affect the halting function. Action B302.0 starts the grind-brake function for brake 2. You can parameterize: - how often the brake is applied (B308) during rotation - how often the drive is to rotate in each direction (B309) - whether a direction of revolution is inhibited (B3) Information During the brake grinding action, the cycle time is set internally to 32 ms. The change occurs when the action is activated. After the action is concluded, the previous cycle time is used again. Prerequisites for the use of the grind-brake function: You have parameterized brake activation. In B308 you have entered how often the brake is to be applied while rotating in one direction. In B309 you have entered how often the drive is to grind in each direction. In B3 you have specified whether one direction of rotation is inhibited. The brake should be ground with its maximum holding torque. For normal motor-controller combinations this is the case with C03/C05 = ±200 %. Check E62 and E66 to see whether other torque limits are also in effect. Information If you would like to perform the action and brake management considers a brake test mandatory (fault 72), the fault must be acknowledged before the action starts. However, the acknowledgment is only in effect for 5 minutes. If a valid brake test B300 is not performed during this time, the fault appears again. Once you have acknowledge the malfunction, you can continue with the brake grinding function instruction. ID 441778.0004 205

B.. Motor To perform the brake grinding function, proceed as shown below: 1. Change to the device state Ready for switch on. 2. Set parameter B302.0 grind brake 2 & start to 1:active. 3. Switch on the enable signal. ( 1 ) The drive begins to revolve in accordance with the parameter specifications. 4. Wait until parameter B302.1 indicates the result 100 % and parameter B302.2 the result 0: error free. 5. Turn the enable off. You have successfully performed the brake grinding function. If you did not achieve the result, parameter B302.2 will provide you with information on the cause. The inverter maintains an internal memory with the operating times of the last 40 successful grinding procedures. All grinding procedures are counted in parameter E176 regardless of the result. The maximum positioning path is B308 x 0.5 motor revolutions. With coupled mechanics, you will have to include the gear ratio in your calculations. When both directions of revolution are permitted in B3, positioning in the positive direction occurs first. ( 1 ) If the enable signal is not switched on within 30 seconds, the function is interrupted automatically. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4B 80 00 hex Process: Progress of the grind-brake 2 action in %. B302.1 232Eh 1h Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 02 4B 80 01 hex read (2) B302.2 read (2) Result: After conclusion of the grind-brake 2 action, the result can be queried here. The operating times of the last 40 error-free grind-brake X actions are saved. This memory can only be indicated in POSITool. 0: fehlerfrei 1: aborted. The brake grinding function was terminated. Reasons for the termination may be: - The enable was switched off during the test. - The enable signal has not been switched on within 30 seconds. Perform the brake grinding function again. 4: Fault; Possible reasons for this message: - Brake 2 is not parameterized. Set F08 to 1:active and F09 to 2:brake2 or 3:brake1and2. - Brake grinding 2 has not been activated in the state "Ready for switch on" (e.g. in the state "Switch on inhibit"). 232Eh 2h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4B 80 02 hex B304.0 r=2, w=3 Max-positive torque for B300: The maximum positive torque to be impressed during the B300 brake test action as a percentage of motor standstill torque M0 for servo motors and nominal torque Mn for asynchronous motors. If the maximum torque is not maintained by the brake during the brake test, the action terminates with the result B300.2 = maximum torque not achieved for brake 1/2. Enter the maximum torque for brake 1 in B304.0 and in B304.1 for brake 2. 233 Value range in %: 0... 100... 200 Fieldbus: 1LSB=1%; Type: I16; (raw value:32767 LSB=800%); USS-Adr: 02 4C 00 00 hex Only visible when F08 brake is not 0:inactive. ID 441778.0004 2

B.. Motor B304.1 Max-positive torque for B300: The maximum positive torque to be impressed during the 233 1h r=2, w=3 B300 brake test action as a percentrage of motor standstill torque M0 for servo motors and nominal torque Mn for asynchronous motors. If the maximum torque is not maintained by the brake during the brake test, the action terminates with the result B300.2 = maximum torque not achieved for brake 1/2. Enter the maximum torque for brake 1 in B304.0 and in B304.1 for brake 2. Value range in %: 0... 100... 200 Fieldbus: 1LSB=1%; Type: I16; (raw value:32767 LSB=800%); USS-Adr: 02 4C 00 01 hex Only visible when F08 brake is not 0:inactive. B305.0 r=2, w=3 Max-negative torque for B300: The maximum negative torque to be impressed during the B300 brake test action as a percentrage of motor standstill torque M0 for servo motors and nominal torque Mn for asynchronous motors. If the maximum torque is not maintained by the brake during the brake test, the action terminates with the result B300.2 = maximum torque not achieved for brake 1/2. Enter the maximum torque for brake 1 in B305.0 and in B305.1 for brake 2. 2331h Value range in %: -200... -100... 0 Fieldbus: 1LSB=1%; Type: I16; (raw value:32767 LSB=800%); USS-Adr: 02 4C 40 00 hex Only visible when F08 brake is not 0:inactive. B305.1 r=2, w=3 Max-negative torque for B300: The maximum negative torque to be impressed during the B300 brake test action as a percentrage of motor standstill torque M0 for servo motors and nominal torque Mn for asynchronous motors. If the maximum torque is not maintained by the brake during the brake test, the action terminates with the result B300.2 = maximum torque not achieved for brake 1/2. Enter the maximum torque for brake 1 in B305.0 and in B305.1 for brake 2. 2331h 1h Value range in %: -200... -100... 0 Fieldbus: 1LSB=1%; Type: I16; (raw value:32767 LSB=800%); USS-Adr: 02 4C 40 01 hex Only visible when F08 brake is not 0:inactive. B3 r=2, w=3 Move direction for B300-B302: With axes which have only one mechanically permissible direction, all actions for B300 brake test, B301 grind-brake 1 and B302 grind-brake 2 are only performed in the specified direction. 0: positive and negative. Both directions are permitted. 1: positive. Only the positive direction is permitted. 2: negative. Only the negative direction is permitted. 2332h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4C 80 00 hex Only visible when F08 brake is not 0:inactive. B307 r=2, w=3 Standstill window for B300: The standstill window to be monitored in degrees during the B300 brake test action. If, during the brake test, the axis moves by more than the angle specified here, the action is terminated with the result B300.2 = maximum torque not achieved for brake 1/2. 2333h Value range in : 0.0... 1,8... 360.0 Fieldbus: 1LSB=0,1 ; Type: I16; (raw value:32767 = 2879.9 ); USS-Adr: 02 4C C0 00 hex Only visible when F08 brake is not 0:inactive. ID 441778.0004 207

B.. Motor B308 No of intervals for B301/B302: B308 contains how often the brake is to be applied per 2334h direction during the actions B301 brake1 grind and B302 brake 2 grind during a grinding procedure. r=2, w=3 Value range: 1... 5... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4D 00 00 hex Only visible when F08 brake is not 0:inactive. B309 r=2, w=3 No of cycles for B301/B302: The repetitions of the grinding positioning movements in the positive and negative direction to be performed for actions B301 grind-brake 1 and B302 grindbrake 2. 2335h Value range: 1... 1... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4D 40 00 hex Only visible when F08 brake is not 0:inactive. B310 Brake management: Activates or deactivates brake management. Active brake management forces the regular performance of the B300 brake test action. 2336h r=2, w=3 Information When brake management is inactive, all E177 time passed since last brake test timers are cleared. 0: inactive: Brake management is switched off. 1: global; Brake management is globally active. Common monitoring is performed for all parameterized axes. The settings in F08 brake and B311 timeout for brake test B300 on axis 1 apply to brake management, regardless of the number of configured axes. 2: axis spec.: Brake management is active axis-specifically. An independent monitoring procedure is performed for each parameterized axis. This setting must be selected when several motors are connected to the inverter via POSISwitch. The settings must be made for brake management on each configured axis (e.g., in 1.F08 for axis 1 and in 3.F08 for axis 3). Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 4D 80 00 hex B311 r=2, w=3 Timeout for brake test B300: Defines the time within which action B300 brake test should be performed. After the set time expires, the device indicates a message. After the set time expires for the second time, the device changes to the device fault state. Gerätezustand Störung. To avoid interrupting your production process, the malfunction is only generated if there is no enable. This makes it possible to delay the timeout. The fault must be acknowledged before the actions B300 brake test, B301 brake 1 grind and B302 brake 2 grind can be performed. 2337h Value range in hours: 1... 168... 8760 Fieldbus: 1LSB=1hours; Type: U32; (raw value:4294967295 = 298261 hours); USS-Adr: 02 4D C0 00 hex Only visible when B310 exists and is not 0:inactive. ID 441778.0004 208

C.. Machine C01 r=2, w=2 n-max: Maximum permissible speed. The speed is related to the motor shaft speed. When C01*1.1 + 100 Rpm is exceeded, the inverter assumes fault "56:Overspeed." C01 may not exceed the maximum permissible motor speed B83. For positioning application the n-forwardfeed is limited to C01. 2401h Value range in rpm: 0... 3000... 17 Bit Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1 rpm); USS-Adr: 03 00 40 00 hex C03 Max-positive Torque: Positive maximum torque in % of motor standstill torque M0 with servo motors and nominal torque Mn for asynchronous motors. If the maximum torque is exceeded, the controller reacts with the message "47:M-MaxLimit." Depending on the operational status and the configuration being used, the actual, active, positive, maximum torque may differ from C03. The active, positive maximum torque can be monitored in E62. See also E22 and C (if present). 2403h Value range in %: 0... 150... 750 Fieldbus: 1LSB=1%; Type: I16; (raw value:32767 LSB=800%); USS-Adr: 03 00 C0 00 hex C05 Max-negative Torque: Positive maximum torque in % of motor standstill torque M0 with servo motors and nominal torque Mn for asynchronous motors. When the maximum torque is exceeded, the controller reacts with the message "47:M-MaxLimit" and E180 = 1. Depending on the operational state and the configuration being used, the actual, active, negative maximum torque may differ from C05. The active, negative, maximum torque can be monitored in E66. See also E22 and C (if present). 2405h Value range in %: -750... -150... 0 Fieldbus: 1LSB=1%; Type: I16; (raw value:32767 LSB=800%); USS-Adr: 03 01 40 00 hex C r=2, w=2 Factor torque limit: Weighting factor for the torque limits. The reference value can be selected for most standard applications via C130. When the parameterized torque limits C03, C05 specify other limit values, the smaller value becomes the active torque limit. C must be increased for some standard applications to allow torques over 200 % to take effect in C03, C05. 24h Value range in %: 0.0... 200,0... 800.0 Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 03 01 80 00 hex C08 r=2, w=2 Quick stop torque limit: Quick stop causes the inverter to switch to the torque limit set in C08. The limits specified in C03, C05 or other limits specified by the application are ignored during the quick stop. However, the effective torque limit can be automatically reduced if an operating limit of the inverter or the motor would be violated otherwise. 2408h Value range in %: 0... 150... 750 Fieldbus: 1LSB=1%; Type: I16; (raw value:32767 LSB=800%); USS-Adr: 03 02 00 00 hex ID 441778.0004 209

C.. Machine Startup Mode: Specifies the startup behavior of the drive. 2414h C20, OFF 0: normal; Default setting 1: load start; For machines with increased break away torque. During the time time-load start (C22), the motor torque is increased to torque load start (C21) and the speed is controlled with a sixteenth of the current ramp. 2: cycle characteristic; A torque pre-control is performed, i.e. the inverter calculates the required torque from the specified motor-type (B00) and the ratio of the inertias J-load/J-motor (C30). This calculated torque is impressed on the drive. Forward feed is only calculated for acceleration or deceleration procedures. When reference value changes are less than the used ramp or the drive is in static operation, forward feed is deactivated. This provides a tolerance to reference value noise. 3: capturing; A turning motor is connected to the inverter. The inverter determines the actual speed of the motor, synchronizes itself and specifies the appropriate reference value. 4: cycle characteristic 2; A torque forward feed is performed with the setting 2:cycle characteristic (i.e., the inverter calculates the required torque from the specified motor type (B00) and the inertia ratio of load/motor (C30). This calculated torque is impressed on the drive. In comparison to 2:cycle characteristic, the drive tends to vibrate with this setting. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 03 05 00 00 hex Only when B20 = 1:SLVC. C21, OFF Torque load start: Only when C20 = 1 (load start). Specification of the torque for the difficult startup. 2415h Value range in %: 0... 100... 400 Fieldbus: 1LSB=1%; Type: I16; (raw value:32767 LSB=800%); USS-Adr: 03 05 40 00 hex Only when B20 = 1:SLVC. C22, OFF Time load start: Only when C20 = 1. Time for the difficult startup with the torque defined under C21. 2416h Value range in s: 0.0... 5,0... 10.0 Fieldbus: 1LSB=0,1s; Type: I16; (raw value:32767 = 32.8 s); USS-Adr: 03 05 80 00 hex Only when B20 = 1:SLVC. C30 r=2, w=3 J-load/J-motor: Ratio of the mass inertia of load to motor. When control mode SLVC is used, C30 affects the dynamics of the torque limitation. If the drive uses this control mode while in cyclic operation, C30 is used for the calculation of the forward feed. 241Eh Value range: 0.0... 0,0... 512.0 Fieldbus: 1LSB=0,1; Type: I16; (raw value:32767 = 512.0); USS-Adr: 03 07 80 00 hex ID 441778.0004 210

C.. Machine C31 r=2, w=2 Proportional gain n-controller: Proportional gain of the speed controller. With C31 = 100 % and a speed deviation of 32 Rpm, the P-share of the speed controller supplies the standstill moment M0 as reference value to the current or torque controller. Value range in %: 0.0... 10,0... 800.0 Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 03 07 C0 00 hex 241Fh Only visible with control types with current control (B20 = 64:Servo or 2:VC). C32 r=2, w=2 Integral time n-controller: Time constant of the I share in speed controller. A short integral time causes a high integration speed and thus increases the "static rigidity" of the drive. With dynamic processes, a short integral time can cause overswinging in the target position. In this case, increase C32. The I-controller is deactivated with C32 < 1 msec. 242 At C31 = 100 % and a speed deviation of 32 Rpm, the I share of the speed controller supplies the nominal motor torque for the current or speed torque controller precisely after the integral time C32. Value range in ms: 0.0... 50,0... 3276.7 Fieldbus: 1LSB=0,1ms; Type: I16; USS-Adr: 03 08 00 00 hex Only visible with control types with current control (B20 = 64:Servo or 2:VC). C33 Low pass reference speed: Reference value smoothing. C33 should be increased in case of reference value noise, vibrating mechanics or large external masses. 2421h Value range in ms: 0.0... 0,0... 500.0 Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1lsb=fnct.no.12; USS-Adr: 03 08 40 00 hex C34 r=2, w=2 n-motor low pass: Smoothing time constant for the measured motor speed in msec. Any noise during the measurement of the motor speed causes disagreeable noise and an additional thermal motor load. C34 helps to reduce speed noise and thus improve the smoothness of running. C34 should be kept as low as possible since an increase of C34 reduces the achievable controller gain C31 and thus the dynamics. 2422h Value range in ms: 0.0... 0,8... 10.0 Fieldbus: 1LSB=0,1ms; Type: I16; raw value:1lsb=fnct.no.6; USS-Adr: 03 08 80 00 hex C36 r=2, w=2 Reference torque low pass: Smoothing time constant for the torque reference value on the output of the speed controller in msec. Is used to suppress vibration and resonance. The effect of torque smoothing is dosed with C37. 2424h Value range in ms: 0.0... 1,0... 40.0 Fieldbus: 1LSB=0,1ms; Type: I16; raw value:1lsb=fnct.no.5; USS-Adr: 03 09 00 00 hex Only visible with control types with current control (B20 = 64:Servo or 2:VC). ID 441778.0004 211

C.. Machine C37 Reference torque filter: The torque reference value is generated on the output of the speed 2425h controller from two components whose relationship is affected by C37. Direct output of the PI speed controller (share corresponds to 100 %-C37). Smoothed output of PI speed controller (share corresponds to C37). For maximum dynamics, set C37 = 0 %. The reference value low pass is cancelled out with the time constant C36. C37 can be increased to 100 % to attenuate the vibrations. Value range in %: 0... 25... 100 Fieldbus: 1LSB=1%; Type: I16; (raw value:32767 LSB=100%); USS-Adr: 03 09 40 00 hex Only visible with control types with current control (B20 = 64:Servo or 2:VC). C61 Speed limiter: Switches the speed limiter on. When n-limiter is on, the inverter still limits only the maximum speed and is in torque control mode. Remember that the parameter is automatically set by the comfort reference value application when torque control is parameterized. You must set C61 in the technology controller application if you want to use torque control. Torque control is not possible for any of the other applications. 243Dh 0: inactive; Normal speed control (possible with higher-level position control, see C62). 1: active; Torque control with speed limiter. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 03 0F 40 00 hex Only visible with control types with current control (B20 = 64:Servo or 2:VC). C62 Position ctrl: Switch position control on and off. Position control is used, for example, for positioning or precise-angle synchronous operation. With all positioning applications (also without encoder), C62 = 1 is required. 243Eh 0: inactive; 1: active; position control Fieldbus: 1LSB=1; Type: U8; USS-Adr: 03 0F 80 00 hex C130, OFF r=2, w=2 Torque limit source: Selection of the source for the signal of the external torque limit "M-Max." It can be permanently specified that the signal is supplied by the analog inputs or the fieldbus. With C130 = 4:Parameter, the (global) parameter C230 is used as the signal source. The resulting torque limit is indicated in C330. 2482h 0: 0 (zero); 1: AE1; 2: AE2; 3: AE3; 4: parameter; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 03 20 80 00 hex ID 441778.0004 212

C.. Machine C230 Torque limit: Specification for the torque limit (absolute value) via fieldbus if the signal source is C130 = 4:Parameter. 24E6h r=2, w=2 Value range in %: -200... 200... 200 Fieldbus: 1LSB=1%; PDO ; Type: I16; (raw value:32767 LSB=200%); USS-Adr: 03 39 80 00 hex C330 read (2) Torque limit: Indication of the value of the Torque Limit signal on the interface for calculation of the torque limits. The internal, currently effective torque limits also depend on the fixed torque limits C03 and C05 as well as any possible torque limit due to the i²t model. The current limits are indicated in E62 and E66. 254Ah Fieldbus: 1LSB=1%; PDO ; Type: I16; (raw value:32767 LSB=200%); USS-Adr: 03 52 80 00 hex D.. Reference Value D93 Reference value generator: For commissioning and optimization of speed control. If D93 = 0:bipolar, then +D95 and -D95 are specified alternately. If D93 = 1:unipolar, then 0 rpm and D95 are specified alternately. Each speed specification remains valid for the time D94. 0: bipolar; Normal reference value selection. 1: unipolar; ±D95 is cyclically specified as reference value. The time can be set in D94. 265Dh Fieldbus: 1LSB=1; Type: U8; USS-Adr: 04 17 40 00 hex D94 Ref. val. generator time: The reference value changes each time this period of time expires. 265Eh Value range in ms: -32768... 500... 32767 Fieldbus: 1LSB=1ms; Type: I16; USS-Adr: 04 17 80 00 hex D95 Ref. val. generator speed: Speed reference value of the reference value generator. 265Fh Value range in rpm: -8191... 250... 8191 Fieldbus: 1LSB=1rpm; Type: I16; (raw value:32767 = 8191 rpm); USS-Adr: 04 17 C0 00 hex D96.0 Reference value generator & start: Writing a one starts the reference value generator action. A square-shaped reference value is specified for the motor. The action can only be used with control modes servo-control and vector control (control mode B20). The enable must be LOW at the starting point. After D96.0 = 1, the enable must be switched HIGH. Any existing brake is automatically released. 266 WARNING Starting the action releases the motor brake. Since, due to the action, the motor is not sufficiently energized, it is unable to carry any loads (e.g., in a lifting system). For this reason the action may only be performed with motors which are not installed in a system. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 04 18 00 00 hex ID 441778.0004 213

D.. Reference Value Process: Shows the progress of the reference value generator action in %. 266 1h D96.1 read (1) D96.2 read (1) Fieldbus: 1LSB=1%; Type: U8; USS-Adr: 04 18 00 01 hex Result: Shows the result of the reference value generator action. 0: error free; 1: aborted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 04 18 00 02 hex 266 2h E.. Display Value I-Motor: Indicates the current motor current as amount in amperes. 280 E00 read (0) E01 read (0) Fieldbus: 1LSB=0,1A; PDO ; Type: I16; raw value:1lsb=fnct.no.3; USS-Adr: 05 00 00 00 hex P-Motor: Indicates the current active power of the motor in kw. Fieldbus: 1LSB=0,001kW; PDO ; Type: I32; (raw value:2147483647 = 3435.973 kw); USS-Adr: 05 00 40 00 hex 2801h E02 read (0) M-Motor filtered: Indication of the current motor torque in Nm. With asynchronous types of control as related to the nominal motor torque, with servo types of control as related to the standstill moment M0. Smoothed for indication on the device display. Access to unsmoothed amount is possible with E90. 2802h Fieldbus: 1LSB=0,1Nm; PDO ; Type: I16; raw value:1lsb=fnct.no.7; USS-Adr: 05 00 80 00 hex E03 DC-link-voltage: Indication of the current DC link voltage. Value range with single-phase inverters: 0 to 500 V, with three-phase inverters 0 to 800 V. 2803h read (1) Fieldbus: 1LSB=0,1V; PDO ; Type: I16; USS-Adr: 05 00 C0 00 hex E04 U-Motor: Chained effective voltage present on the motor. 2804h read (1) Fieldbus: 1LSB=0,1V; PDO ; Type: I16; (raw value:32767 = 2317.0 V); USS-Adr: 05 01 00 00 hex E05 f1-motor: Frequency of the voltage applied to the motor. 2805h read (1) Fieldbus: 1LSB=0,1Hz; PDO ; Type: I32; (raw value:2147483647 = 512000.0 Hz); USS-Adr: 05 01 40 00 hex E07 read (1) n-post-ramp: Indication of the current speed reference value as related to the motor shaft after the ramp generator and the n-reference value lowpass. In operating mode position (C62 = 1), the sum of output position control and n-forwardfeed (= speed control reference value) is indicated. Fieldbus: 1LSB=0,1rpm; PDO ; Type: I32; (raw value:14 Bit=1 rpm); USS-Adr: 05 01 C0 00 hex 2807h ID 441778.0004 214

E.. Display Value E08 read (0) n-motor filtered: Indication of the current motor speed. Smoothed for indication on the device display. Access to the unsmoothed motor speed is possible with E91. When the drive is operated without feedback, this speed is determined mathematically via the motor model (in this case, the actual motor speed may differ from the calculated speed). 2808h Fieldbus: 1LSB=1rpm; PDO ; Type: I32; (raw value:14 Bit=1 rpm); USS-Adr: 05 02 00 00 hex E09 read (0) Rotor position: Position of the motor shaft and the motor encoder respectively. With absolute value encoders, the encoder position is continuously read from the encoder and entered in this parameter. The value range is limited to ±128 U. This position is available for all operating modes. With types of control without motor encoders, E09 is simulated (not precise). The display shows whole motor revolutions with 3 positions after the decimal point. The full resolution of 24 B bit/u is supplied via fieldbus. Accuracy and maximum value range varies with the encoder. When E09 is evaluated by a higher-level controller for position acquisition, the following must be true: The encoder increment number must be an even power of two. E09 must be read cyclically The position must be accumulated on the controller. 2809h Fieldbus: 1LSB=0,001revolutions; PDO ; Type: I32; (raw value:24 Bit=1 revolutions); USS-Adr: 05 02 40 00 hex E10 read (1) AE1-Level: Level of the signal available on analog input 1 (X100.1 - X100.3) (without consideration of F11, F12). To compensate for an offset (the value which arrives at the inverter when the controller specifies 0 V), this must be entered with the opposite sign in F11. 280Ah Fieldbus: 1LSB=0,001V; PDO ; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 05 02 80 00 hex E11 read (1) AE2-Level: Level of the signal on analog input 2 (X100.4 - X100.5) (without consideration of F21, F22). To compensate for an offset (the value which arrives at the inverter when the controller specifies 0 V), this must be entered in F21 with the opposite sign. 280Bh Fieldbus: 1LSB=0,001V; PDO ; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 05 02 C0 00 hex E14 read (2) Chargerelay: Status of the internal charging relay. Active means that the relay contact is closed and the charging resistors from the power network to the DC link are bypassed. When the network voltage is turned on, the charging relay remains open at first. It closes when the DC link is charged up via the charging resistors. 280Eh NOTE Make sure that the charging relay contacts are open (E14 = 0:inactive) before you connect the power supply. Particularly in a DC link network, remember that the charging relays of all connected inverters are open before the power supply is connected. 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 05 03 80 00 hex ID 441778.0004 215

E.. Display Value E15 n-motor-encoder: Speed calculated from the motor encoder specified in B26. This indication also functions when the control type in B20 does not require an encoder. 280Fh read (1) Fieldbus: 1LSB=0,1rpm; PDO ; Type: I32; (raw value:14 Bit=1 rpm); USS-Adr: 05 03 C0 00 hex E16 Analog-output1-level: Indication of the level on the analog output (X100.6 and X100.7). ±10 V corresponds to ±16384. 281 read (1) Fieldbus: 1LSB=0,001V; PDO ; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 05 04 00 00 hex E17 Relay1: Status display of relay 1. The function of the relay contact on X1.1 and X1.2 (NO) depends on the firmware version of the inverter. 2811h read (1) Firmware up to and including V 5.5A Status display 1:active means that the relay contact is closed. There is no malfunction. Firmware beginning with V 5.5B The function of relay 1 depends on parameter F10 Relay 1 function. The basic setting of parameter F10 is 0: No malfunction. 0: inactive; 1: active; Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 05 04 40 00 hex E18 Relay2: MDS 5000 and FDS 5000: state of relay 2 (motor halting brake, X2.1, X2.2). Active means that the relay contact is closed and the motor halting brake is released. 2812h read (1) 0: inactive; 1: active; Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 05 04 80 00 hex E19 Binary inputs: Indicates level of all binary inputs as binary word. Bit 0 = enable, Bit 1 = BE1 to Bit 13 = BE13 and so on. 2813h read (2) Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 05 04 C0 00 hex E20 Device utilisation: Indicates the current utilization of the inverter in %. 100 % corresponds to the nominal power of the inverter. 2814h read (1) Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 05 05 00 00 hex E21 Motor utilisation: Indicates current utilization of the motor in %. Reference number is the nominal motor current entered under B12. 2815h read (1) Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 05 05 40 00 hex ID 441778.0004 216

E.. Display Value E22 read (1) i2t-device: Level of the thermal device model (i 2 t model). The fault "59:overtemp.device i2t" occurs at 105 % of full load. When the 100 % limit is reached, the inverter triggers the event "39:overtemp.device i2t" with the level specified in U02. The output current is limited to the permissible device nominal current for servo and vector control (B20 = 2 or 64). 2816h Value range in %: 0... 80... 255 Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:100 LSB=100%); USS-Adr: 05 05 80 00 hex E23 read (1) i2t-motor: Level of the thermal motor model (i 2 t model). 100 % corresponds to full utilization. The thermal model is based on the design data entered under group B.. (Motor) (i.e., continuous operation - S1 operation). With more than 100 %, the reaction parameterized in U10, U11 is triggered for the event "45:overtemp.device i2t." 2817h Value range in %: 0... 80... 255 Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:100 LSB=100%); USS-Adr: 05 05 C0 00 hex E24 read (1) i2t-braking resistor: Level of the thermal braking resistor model (i²t model). 100 % corresponds to full utilization. The data of the braking resistor are specified with A21... A23. With more than 100 %, the fault "42:tempBrakeRes" occurs. 2818h Value range in %: 0... 80... 255 Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:100 LSB=100%); USS-Adr: 05 00 00 hex E25 Device-temperature: Current device temperature in C. 2819h read (1) Fieldbus: 1LSB=1 C; PDO ; Type: I16; (raw value:32767 = 328 C); USS-Adr: 05 40 00 hex E26.0 read (2) Brake: The parameter only exists with the SDS 5000. Element 0 indicates the control status of brake 1 (on X5 or on brake module X302). 0: set; 1: release; 281Ah Fieldbus: 1LSB=1; Type: U8; USS-Adr: 05 80 00 hex E26.1 read (2) Brake: The parameter only exists with the SDS 5000. Element 1 indicates the control status of brake 2 (on X5 or on brake module X302). 0: set; 1: release; 281Ah 1h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 05 80 01 hex E27 Binary outputs: The status of all binary outputs is indicated as binary word. Bit0 = BA1 to Bit9 = BA10. 281Bh read (2) NOTE Note that an encoder simulation on BA1 and BA2 is not indicated in E27. Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 05 C0 00 hex ID 441778.0004 217

E.. Display Value E28 Analog-output2-level: Indication of the level on the analog output (X1.7 and X1.8). ±10 V corresponds to ±16384. 281Ch read (1) Fieldbus: 1LSB=0,001V; PDO ; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 05 07 00 00 hex E29 read (2) Warning: Perform brake test!: If the brake management is not active (B310=0:inactive) the warning remains at 0:inactive. With the activation of the brake management it is monitored whether the time set in B311 Timeout for brake test B300 has elapsed but the action B300 Brake test has not been performed. 281Dh 0: Warning inactive; 1: Brake test necessary, reasons for this message can be - The time set in B311 Timeout for brake test B300 has elapsed but the action B300 Brake test has not been performed - The time set in B311 Timeout for brake test B300 has elapsed twice but the action B300 Brake test has not been performed (Malfunction 72:Brake test is present) - The action B300 has been completed with an error Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 07 40 00 hex E30 Run time: Indication of how long the inverter controller section was supplied with voltage (operating hours counter). 281Eh read (1) Fieldbus: 1LSB=1; Type: U32; USS-Adr: 05 07 80 00 hex E31 Enable time: Indication of how long the inverter controller section was supplied with voltage and the power section enable was active. 281Fh read (1) Fieldbus: 1LSB=1; Type: U32; USS-Adr: 05 07 C0 00 hex E32 Energy counter: Indication of the total supplied energy in Wh. 282 read (1) Fieldbus: 1LSB=1Wh; PDO ; Type: U32; USS-Adr: 05 08 00 00 hex E33 Vi-max-memorized value: The DC link voltage is monitored continuously. The greatest measured value is stored here non-volatilely. This value can be reset with A37 1. 2821h read (1) Fieldbus: 1LSB=0,1V; PDO ; Type: I16; USS-Adr: 05 08 40 00 hex E34 I-max-memorized value: The motor current is monitored continuously. The greatest measured value is stored here non-volatilely. This value can be reset with A37 1. 2822h read (1) Fieldbus: 1LSB=0,1A; PDO ; Type: I16; raw value:1lsb=fnct.no.3; USS-Adr: 05 08 80 00 hex E35 Tmin-memorized value: The temperature of the inverter is monitored continuously. The smallest measured value is stored here non-volatilely. This value can be reset with A37 1. 2823h read (1) Fieldbus: 1LSB=1 C; PDO ; Type: I16; (raw value:32767 = 328 C); USS-Adr: 05 08 C0 00 hex ID 441778.0004 218

E.. Display Value E36 Tmax-memorized value: The temperature of the inverter is monitored continuously. The greatest measured value is stored here non-volatilely. This value can be reset with A37 1. 2824h read (1) Fieldbus: 1LSB=1 C; PDO ; Type: I16; (raw value:32767 = 328 C); USS-Adr: 05 09 00 00 hex E39 Application start time: When the configuration has started successfully on the device, E30 operating time is copied to E39. 2827h Fieldbus: 1LSB=1; Type: U32; USS-Adr: 05 09 C0 00 hex E40 r=3, w=4 Temperature counter: This parameter shows the time in % during which the inverter was operated above a device temperature of 75 C (as measured by the device sensor). The maximum permissible time is 1 hour (= 100 %) within an operating time of 24 hours. The counter counts up by 0.1 % in 3.6 sec and down by 0.1 % in 83 sec (i.e., 23 times slower). 2828h Fieldbus: 1LSB=0,1%; Type: U32; (raw value:4294967295 LSB=1327914,6%); USS-Adr: 05 0A 00 00 hex E43 Event cause: Diagnostic information concerning the fault which occurred last. The currently active event is indicated in E82 event type. Event "34:hardware fault" 1: FPGA; Fault while loading the FPGA block to the control section. 2: NOV-ST; The non-volatile memory of the control section board is defective. 3: NOV-LT; The non-volatile memory of the power section board is defective. 4: brake 1; Activation of brake 1 is defective or the brake module has no 24 V power. 5: brake 2; Activation of brake 2 is defective or the brake module has no 24 V power. 10: ST<->LT; The power section serial number does not match the request in control section. 11: currentmeas; Deviation in current offset measurement during device startup is too great. 282Bh Event "37:n-feedback" 1: Para<->encoder; parameterization does not match the connected encoder. 2: ParaChgOffOn; Parameterchange; encoder parameterization cannot be changed during operation. Save and then turn device off and on so that the change takes effect. 4: X4 chan.a/clk; wire break, possibly track A / clock 5: X4 chan.b/dat; wire break, possibly track B / data 6: X4 chan.0; wire break, track 0 7: X4EnDatAlarm; The EnDat encoder reported an alarm. 8: X4EnDatCRC; The EnDat encoder reported that too many errors were found during the redundancy check. The cause can be wirebreak or errors in the cable shield. 9: comm. offset; commutating offset is not correct. 10: resol.carrier; resolver is not or wrong connected, wirebreak is possible 11: X140-undervol; wrong transmission factor, wire break 12: X140-overvolt.; wrong transmission factor, wire break 14: resol.failure; wirebreak 15: X120-double t; Different values were determined during the double transmission to X120. 16: X120-Busy; encoder gave no response for too long; For SSI slave: No telegram for the last 5 ms and drive is enabled. 17: X120-wirebreak; A wire break was discovered on X120. 18: X120-Timeout; 19: X4-double tr.; Different values were determined during the double transmission to X4. ID 441778.0004 219

E.. Display Value 20: X4-Busy; encoder gave no response for too long 21: X4-wirebreak; 22: AX5000; Acknowledgment of the axis switch is not effected. 23: Ax5000require; comparison of E57 and E70. 24: X120-speed; B297, G297 or I297 exceeded for encoder on X120. 25: X4-speed; B297, G297 or I297 exceeded for encoder on X4. 26: No Enc. found; either no encoder was found on X4 or the EnDat /SSI encoder has a wire break. 27: X4-AX5000 found; a functional AX 5000 option board was found on X4 although incremental encoder or EnDat encoder was parameterized, or no EnDat encoder is connected to the AX 5000 option board. 28: X4-EnDat found.; an EnDat encoder was found on X4 although another encoder was parameterized. 29: AX5000/IncEnc; either X4 has a faulty AX 5000 option board or the A-track of an incremental encoder has a wire break. 30: opt2 incomp.; Version of option 2 is not current. 31: X140-EnDatAlar; The EnDat encoder on X140 reports an alarm. 32: X140-EnDatCRC; The EnDat encoder on X140 reports that too many faults were found during the redundancy test. Possible causes may be wire break or a cable shield fault. 33: IGB-speed; G297 exceeded on the IGB. Event "40:invalid data" 0... 7: Fault on the non-volatile memory of the control section board. 1: fault; Low-level write/read error or timeout 2: blockmiss; Unknown data block. 3: datasecurity; Block has no data security 4: checksum; Data block has checksum error. 5: r/o; Data block is "read only." 6: readerr; Startup phase: block read error 7: blockmiss; Block not found. 16... 31: Non-volatile power module memory 17: fault; Low-level write/read error or timeout 18: blockmiss; Unknown data block. 19: datasecurity; Block has no data security 20: checksum; Data block has checksum error. 21: r/o; Data block is "read only." 22: readerr; Startup phase: block read error 23: blockmiss; Block not found. 32... 47: Non-volatile encoder memory 32: el.mot-type; No nameplate data exists 33: el.typelim; A parameter from the electrical motor nameplate could not be entered (limit value or non existent). 48 bis 59: Non-volatile option 2 memory 48: optionboard2; Error in non-volatile memory of option 2 with REA 5000 and REA 5001 respectively and XEA 5000 and XEA 5001 respectively Event "46: low voltage" 1: Low Voltage; the value in E03 DC-link-voltage has dropped below the value parameterized in A35 low voltage limit. ID 441778.0004 220

E.. Display Value 2: Network phase; phase monitoring has found that a switched-on power unit is missing a phase. 3: Drop in networ; when phase monitoring finds that the network voltage is missing, the charging relay is immediately switched off. Normal operation is maintained. If the power unit is still switched on after network voltage returns, a fault is triggered after 0.5 s. Event "52:communication" 1: CAN LifeGuard; The device recognized the "life-guarding-event" (master no longer sends RTR). 2: CAN Sync Error; the sync message was not received within the time set in parameter A201 cycle period timeout. 3: CAN Bus Off; went off when bus went off. The driver started it again. 4: PZD-Timeout; failure of the cyclic data connection (PROFIBUS). 5: USS; (under preparation) failure of the cyclic data connection (USS). 6: EtherCAT PDO-Ti; The inverter failed to receive process data within the time set in A258. 7: EtherCAT-DcSYNC0; There is a malfunction on the synchronization signal "SYNC 0". This malfunction can only occur with EtherCAT synchronization activated using "Distributed Clock (DC)". 8: IGB µc failure; The controller for IGB communication has failed. 9: IGB lost frame; IGB-Motionbus fault. The station discovered the loss of at least 2 consecutive data frames (double error). This cause can only occur when the IGB state = 3:motionbus and the motor is energized. 10: IGB P.lostFra; IGB-Motionbus fault. Another station discovered a double error and reported this via A163. This causes that inverter to also malfunction with this cause. The cause can only occur when the IGB state = 3:motionbus and the motor is energized. 11: IGB sync erro; The synchronization within the inverter has malfunctioned because the configuration was stopped by POSITool. This fault can only occur when the IGB state equaled 3:motionbus and the motor was energized. 12: IGB configtim; A block was not executed at the beginning of the global area in real-time. The runtime sequence of blocks may have been set incorrectly. This fault can only occur when the IGB state equaled 3:motionbus and the motor was energized. 13: IGBPartnerSyn; Another station in the IGB network has a synchronization fault (see cause 11). This station reported its fault via A163. This causes that inverter to also malfunction with cause 13. This fault can only occur when the IGB state equaled 3:Motionbus and the motor was energized. Event "55:Option board" 1: CAN5000failure; CAN 5000 was recognized, installed and failed. 2: DP5000failure; DP 5000 was recognized, installed and failed. 3: REA5000failure; REA 5000 was recognized, installed and failed. 4: SEA5000failure; SEA 5000 was recognized, installed and failed. 5: XEA5000failure; XEA 5000 or XEA 5001 was recognized, installed and failed. 6: EncSim-init; could not be initialized on XEA. The motor may have turned during initialization. 7: WrongOption; Incorrect or missing option board (comparison of E54/E58 with E68/E69) or on SDS 5000: option board with old hardware version (XEA 5001: from HW 10, REA 5000: from HW19) 8: LEA5000failure; LEA 5000 was recognized, installed and failed. 9: ECS5000failure; ECS 5000 was recognized, installed and failed. 10: supply; Failure of the 24 V supply for XEA 5001 or LEA 5000. 11: SEA5001failure; SEA 5001 was recognized, installed and failed. 12: REA5001failure; REA 5001 was recognized, installed and failed. ID 441778.0004 221

E.. Display Value Event "57:Runtime usage" A cyclic task cannot be completely processed within its cycle time. Cause is the number of the affected task. Event "69:Motor connection" 1: motornotdiscon; The contactor is not released while the axis is being changed. The cause of this can only be determined when at least two phase contacts are stuck and the DC link is charged (see E03). With asynchronous motors, magnetization could not be established. 2: no motor; No motor connected at all or the line to the motor is disconnected. Event "70:Parameter consistency" 1: encoder type; control mode B20 is set to "servo" but no appropriate encoder is selected (B26, H.. parameter). 2: X120 direction; X120 is used as source in one parameter but is parameterized in H120 as drain (or vice versa). 3: B12<->B20; Control mode B20 is not set to servo but the nominal motor current (B12) exceeds the 4-kHz nominal current (R24) of the device by more than 1.5 times. 4: B10<->H31; Resolver/motorpoleno.; the set motor pole number (B10) and the resolver pole number (H31) do not match. 5: Neg. slip. With use of control modes V/f, SLVE or Vector Control (B20): Control mode to "ASM": A negative slip results from the values for nominal motor speed (B13), nominal motor frequency (B15) and motor pole number (B10). 6: torque-lim; When the values entered in C03 or C05 are used, the maximum current of the inverter would be exceeded. Enter lower torque limits. 7: B26:SSI-Slave; SSI slave may not be used as motor encoder (synchronization problems) 8: C01>B83; C01 may not be greater than B83. 9: E102/E103 miss; An attempt was made to obtain a master position via the IGB but parameters E102 and E103 which are required for this do not exist. 10: G104<->G27; A master position is sent via the IGB-Motionbus (i.e., G104 is not set to 0:inactive), but G27 does not have the settings 0:inactive and 6:IGB which are valid for this case. Event "71:Firmware" 1: FW defective; The firmware states of the communication processor and the drive processor are not consistent. The firmware must be downloaded again. 2: activate FW; New firmware was loaded to the inverter but not yet activated. Power supply must be turned off/on. 3: CRC-error; The cyclic check discovered a checksum error. Power supply must be turned off/on. If the error occurs again on renewed OFF/ON, the device hardware is faulty and must be replaced. Event "72:Brake test" 1: B311timeout; The time set in B311 timeout for brake test B300 has expired without action B300 brake test having been executed. 2: Brake defective; During the execution of the brake test action, the stopping torque entered in B304 or B305 could not be maintained or the encoder test run included in the brake test was concluded with errors. ID 441778.0004 222

E.. Display Value Event "73:Ax2braketest" 1: B311timeout; The time set in B311 timeout for brake test B300 has expired without action B300 brake test having been executed with active axis 2. 2: Brake defective; During the execution of the brake test action with active axis 2, the stopping torque entered in B304 or B305 could not be maintained or the encoder test run included in the brake test was concluded with errors. Event "74:Ax3braketest" 1: B311timeout; The time set in B311 timeout for brake test B300 has expired without action B300 brake test having been executed with active axis 3. 2: Brake defective; During the execution of the brake test action with active axis 3, the stopping torque entered in B304 or B305 could not be maintained or the encoder test run included in the brake test was concluded with errors. Event "75:Ax4braketest" 1: B311timeout; The time set in B311 timeout for brake test B300 has expired without action B300 brake test having been executed with active axis 4. 2: Brake defective; During the execution of the brake test action with active axis 4, the stopping torque entered in B304 or B305 could not be maintained or the encoder test run included in the brake test was concluded with errors. Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 0A C0 00 hex E44 Event cause: Diagnostic information for the fault which occurred last. The cause is indicated in plain text. The currently active event in indicated in E82 event type. 282Ch read (0) Fieldbus: Type: Str16; USS-Adr: 05 0B 00 00 hex E48 Device control state: State of the device state machine. The device state machine enables or disables the drive function and the power module (application on the active axis). 283 read (0) 0: Self-test; The inverter is executing a self test and calibration procedure and cannot be enabled yet. The drive function is disabled. The device state automatically changes after a short time to 1:switch on inhibit. 1: Switch-on disable; This device state prevents an automatic restart during device startup and with the fault acknowledgment. The drive function is disabled. The device state can change to 2:ready for switch-on under the following conditions: Enable on low level or A34 autostart active during first startup AND DC link charged AND activated Additional conditions for the SDS 5000: - No IGB Motionbus is configured or - An IGB Motionbus is configured and the IGB is either located in the state 3:IGB Motionbus or A124 IGB exceptional motion is activated. Information Remember that the change in device status from 1:switch on inhibit to 2:ready for switch-on depends on parameter A34. ID 441778.0004 223

E.. Display Value 2: Ready for switch-on; The DC link is charged; E67 starting lockout is inactive; any possible axis switch is finished. The drive function is disabled. If the enable becomes active now, the device state changes to 3:switched on. 3: Switched on; The DC link is charged; E67 starting lockout is inactive; the power module is being prepared for operation. The drive function is disabled. The device state changes to 4:enabled after the longer of the two times 4 msec or A150 cycle time. 4: Enabled; The drive function is enabled. Reference values are processed. 5: Fault; A fault has occurred. The fault memory was written. The drive function is disabled. The device state can changed to 1:switch on inhibit when the fault is acknowledged. Information Remember that the change in device state from 1:switch on inhibit to 2:ready for switch-on depends on parameter A34. 6: Fault reaction; A fault has occurred. The fault memory is being written. When A29 fault-quick stop occurs, the drive function remains enabled for the time of the quick stop. The device state changes to 5:fault when - The fault memory is written AND either - The power module must be switched off (e.g., for short circuit or ground fault) - A67 Start up inhibit becomes = 1:active or - A29 Fault quick stop is = 0:inactive or - The quick stop ends (in standstill after maximum A39 t-max Q-Stop or with enable = inactive) or - When E DC-link-voltage becomes less than 130 V. 7: Quick stop; A quick stop was triggered; the inverter moves with the quick stop ramp, speedcontrolled, to a standstill. The drive function remains enabled for the time of the quick stop. After the quick stop is concluded, the device state changes (depending on the device control in the global area, A39 t-max. Q-stop, A44 enable quick-stop, A45 quick stop end). Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 0C 00 00 hex E50 Device: Indication of the device type (e.g., MDS 5015). 2832h read (0) Fieldbus: Type: Str16; USS-Adr: 05 0C 80 00 hex E51.0 read (0) Firmware version: Software version of the inverter (e.g., V5.0). With the SDS 5000, the version of the active firmware is indicated in element 0 and the version of the firmware in the firmware download memory is indicated in element 1. Fieldbus: Type: Str16; USS-Adr: 05 0C C0 00 hex 2833h E51.1 read (0) Firmware version: Software version of the inverter (e.g., V5.0). With the SDS 5000, the version of the active firmware is indicated in element 0 and the version of the firmware in the firmware download memory is indicated in element 1. Fieldbus: Type: Str16; USS-Adr: 05 0C C0 01 hex 2833h 1h E52 Serial number: Number of the device from a manufactured series. Corresponds to the number on the nameplate. 2834h read (1) Fieldbus: 1LSB=1; Type: U32; USS-Adr: 05 0D 00 00 hex ID 441778.0004 224

E.. Display Value E53 Configuration identification global: Indicates the abbreviation for the configuration of the global area (independent of axis). If the configuration was changed, an asterisk (*) appears. 2835h r=1, w=4 Default setting: 5:CAN IGB Fieldbus: Type: Str16; USS-Adr: 05 0D 40 00 hex E54 Option board 1: Indication of the upper option board (e.g., CAN 5000) which was detected during initialization. 2836h read (1) Fieldbus: Type: Str16; USS-Adr: 05 0D 80 00 hex E55 Configuration identification axis: Indicates the abbreviation for the configuration of the axis. If the configuration was changed, an asterisk (*) appears. 2837h r=1, w=4 Default setting: 21:ElectCamEndl Fieldbus: Type: Str16; USS-Adr: 05 0D C0 00 hex E56.0 r=1, w=2 Parameter identification: Indicates whether parameters of the axis 1 were changed via the operator panel (display and keys). When "0:axis 1" is selected in A11 axis edit and at least one parameter was changed via the operator panel, the value of E56.0 Parameter identification is set to 255. When"1:axis 2" is selected in A11, the value of E56.1 is set to 255 if changes were made. The same also applies to axis 3 and 4. This can be used as an indication of unauthorized manipulation of parameters. 2838h 1: Default setting of POSITool. 2..254: Value was purposely set by the user in POSITool or fieldbus and has not been changed yet. 255: At least one value was changed via the operator panel! Exceptions: When A11 is set on the operator panel or A00 save values is triggered, this has no effect on E56. Value range: 0... 1... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 05 0E 00 00 hex E56.1 r=1, w=2 Parameter identification: Indicates whether parameters of the axis 2 were changed via the operator panel (display and keys). When "0:axis 1" is selected in A11 axis edit and at least one parameter was changed via the operator panel, the value of E56.0 Parameter identification is set to 255. When"1:axis 2" is selected in A11, the value of E56.1 is set to 255 if changes were made. The same also applies to axis 3 and 4. This can be used as an indication of unauthorized manipulation of parameters. 2838h 1h 1: Default setting of POSITool. 2..254: Value was purposely set by the user in POSITool or fieldbus and has not been changed yet. 255: At least one value was changed via the operator panel! Exceptions: When A11 is set on the operator panel or A00 save values is triggered, this has no effect on E56. Value range: 0... 1... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 05 0E 00 01 hex ID 441778.0004 225

E.. Display Value E56.2 Parameter identification: Indicates whether parameters of the axis 3 were changed via the operator panel (display and keys). When "0:axis 1" is selected in A11 axis edit and at least one 2838h 2h r=1, w=2 parameter was changed via the operator panel, the value of E56.0 Parameter identification is set to 255. When"1:axis 2" is selected in A11, the value of E56.1 is set to 255 if changes were made. The same also applies to axis 3 and 4. This can be used as an indication of unauthorized manipulation of parameters. 1: Default setting of POSITool. 2..254: Value was purposely set by the user in POSITool or fieldbus and has not been changed yet. 255: At least one value was changed via the operator panel! Exceptions: When A11 is set on the operator panel or A00 save values is triggered, this has no effect on E56. Value range: 0... 1... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 05 0E 00 02 hex E56.3 r=1, w=2 Parameter identification: Indicates whether parameters of the axis 4 were changed via the operator panel (display and keys). When "0:axis 1" is selected in A11 axis edit and at least one parameter was changed via the operator panel, the value of E56.0 Parameter identification is set to 255. When"1:axis 2" is selected in A11, the value of E56.1 is set to 255 if changes were made. The same also applies to axis 3 and 4. This can be used as an indication of unauthorized manipulation of parameters. 2838h 3h 1: Default setting of POSITool. 2..254: Value was purposely set by the user in POSITool or fieldbus and has not been changed yet. 255: At least one value was changed via the operator panel! Exceptions: When A11 is set on the operator panel or A00 save values is triggered, this has no effect on E56. Value range: 0... 1... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 05 0E 00 03 hex E57 POSISwitch: Indication of a POSISwitch which was detected during initialization. 2839h read (1) Fieldbus: Type: Str16; USS-Adr: 05 0E 40 00 hex E58 Optional board 2: Indication of the lower option board (e.g., SEA 5000) which was detected during initialization. 283Ah read (1) Fieldbus: Type: Str16; USS-Adr: 05 0E 80 00 hex E59 Configuration identification: Indicates the abbreviation for the complete configuration (global area and all four axes). If the configuration was changed, an asterisk (*) is shown. 283Bh r=1, w=4 Default setting: user Fieldbus: Type: Str16; USS-Adr: 05 0E C0 00 hex ID 441778.0004 226

E.. Display Value E60 Safe firmware version: Only with SDS 5000. Version of the boot firmware of the inverter (e.g., V 4.1). 283Ch Fieldbus: Type: Str16; USS-Adr: 05 0F 00 00 hex E62 Act. pos. T-max: Currently effective positive torque limit in relation to B18. 283Eh read (1) Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 05 0F 80 00 hex E66 Act. neg. T-max: Currently effective positive torque limit in relation to B18. 2842h read (1) Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 05 10 80 00 hex E67 Starting lockout: Indication of the status of the ASP 5001 option. 2843h read (1) 0: inactive; The starting lockout (startup disable) is inactive. The power section can be enabled. 1: active; The starting lockout (startup disable) is active. The power section is reliably disabled. Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 05 10 C0 00 hex E68 Required optional board 1: Is entered by the POSITool configuration assistant. When the configuration is transferred via Paramodul to another device, a comparison of E68 and E54 ensures that all hardware resources are present. If not, the fault "55:option board" is triggered with E43 event cause = 7:wrong or missing option board. The fault can then not be acknowledged. 2844h Default setting: CAN 5000 Fieldbus: Type: Str16; USS-Adr: 05 11 00 00 hex E69 Required optional board 2: Is entered by the POSITool configuration assistant. When the configuration is transferred via Paramodul to another device, a comparison of E69 and E58 ensures that all hardware resources are present. If not, the fault "55:option board" is triggered with E43 event cause = 7:wrong or missing option board. The fault can then not be acknowledged. 2845h Default setting: SEA 5001 Fieldbus: Type: Str16; USS-Adr: 05 11 40 00 hex E70 Required Ax5000: Is entered by the POSITool configuration assistant. When the configuration via Paramodul is transferred to another device, a comparison of E70 with E57 ensures that all hardware resources are present. If not, the fault "37:n-feedback" (from V5.2: 37:encoder) with E43 event cause = 23:Ax5000-n-reference is triggered. The fault can then not be acknowledged. 2846h Default setting: AX 5000 Fieldbus: Type: Str16; USS-Adr: 05 11 80 00 hex E71 AE1 scale: AE1 signal by offset and gain. E71 = (E10 + F11) * F12. 2847h read (1) Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=200,0%); USS-Adr: 05 11 C0 00 hex ID 441778.0004 227

E.. Display Value AE2 scale: AE2 signal by filter, offset and gain. E72 = (E11 + F21) * F22. 2848h E72 read (1) E73 Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=200,0%); USS-Adr: 05 12 00 00 hex AE3 scale: AE2 signal by filter, offset and gain as well as PID controller and offset 2. E73 = (E74 + F31) * F32 2849h read (1) Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=200,0%); USS-Adr: 05 12 40 00 hex Only visible when an XEA board is installed in the bottom option slot. E74 read (1) AE3-Level: Level of signal queued on the analog input 3 (X102.1 - X102.2) (without consideration of F31, F32). To allow for an offset (the value which arrives at the inverter when the controller specifies 0 V), this must be entered in F31 with the opposite sign. 284Ah Fieldbus: 1LSB=0,001V; PDO ; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 05 12 80 00 hex Only visible when an XEA board is installed in the bottom option slot. E75 X1.Enable-inverted 284Bh read (2) 0: inactive; 1: active; Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 05 12 C0 00 hex E80 Operating condition: Indication of the current operating status as per the operating indication. Useful for fieldbus queries or serial remote control. 285 read (0) 10: PLCO_init; Initialize position control (applications motion block positioning or electronic cam). 11: PLCO_Passive; Position control is in the state 1:passive (applications motion block positioning or electronic cam). 12: standstill; Position control is in the state 2:standstill (applications motion block positioning or electronic cam). 13: discr.motion; Position control is in the state 3:discrete motion (applications motion block positioning or electronic cam). 14: cont.motion; Position control is in the state 4:continuous motion (applications motion block positioning or electronic cam). 15: sync.motion; Position control is in the state 5:synchronous motion (applications motion block positioning or electronic cam). 16: stopping; Position control is in the state 6:stopping (applications motion block positioning or electronic cam). 17: errorstop; Position control is in the state 7:errorstop (applications motion block positioning or electronic cam). 18: homing; Position control is in the state 8:homing (applications motion block positioning or electronic cam). 19: limit switch; One of the limit switches has tripped. Remember that not every application has the limit switch function (applications motion block positioning or electronic cam). ID 441778.0004 228

E.. Display Value 20: denied; Position control has determined one of the following events (applications motion block positioning or electronic cam): - The drive is not referenced but the motion job requires the reference. - A motion job was triggered whose target position is located outside the software limit switch. - A motion job was triggered which moved in a direction of rotation which is inhibited. The message combines faults 1 to 4 in /90 ErrorCode. 21: limited; Position control has determined that one of the following limits was reached (applications motion block positioning or electronic cam): - Torque limit - Following error - M-limitation by i 2 t 22: aborted; Position control has determined one of the following events (applications motion block positioning or electronic cam): - An MC_Stop was triggered. - The enable was switched off. - A quick stop was triggered. 23: waiting; The drive is located in a chain of motion blocks and is waiting for the advance signal (application motion block positioning). 24: delay; The drive is located in a chain of motion blocks with pause and the pause is still in effect (application motion block positioning). 30: fault; The inverter ist in the state fault. 31: self test; The inverter ist in the state self test. 32: switch-on disable; The inverter ist in the state switch-on diable (see application manual chap.3). 33: param.lock; reserved 34: quick stop; The inverter performs a quick stop. 35: switched on; The inverter is in the state switcjed on (see application manual, chap. 3). 36: jog active; Tipping operation is active in the comfort reference value application (D437 = 1:active). 37: stop active; During the comfort reference value application, a halt command is queued and the speed has reached the range +C40 to -C40 once (D438 = 1:active). 38: stop; During the comfort reference value application, a halt command is queued (D302 = 1:active) and the drive delays with the ramp D84. 39: not allowed direction; During the comfort reference value application, a reference value is specified for a certain direction of rotation which is inhibited (D184 = 1:active, see also D308 and D309). 40: capturing; During the comfort reference value application, the inverter is in scan active mode (D433 = 1:active). 41: heavy duty starting; During the comfort reference value application, the inverter is in startup under load mode (D434 = 1:active). 42: accelerating; During the comfort reference value application, the amount of motor speed increases (D443 = 1:active). 43: decelerating; During the comfort reference value application, the amount of motor speed decreases (D444 = 1:aktiv). 44: reference > max reference; During the comfort reference value application, the speed limit is reached which limit is indicated in D336 (torque control) or D338 (speed control) (D185 = 1:active). 45: reference < min reference; During the comfort reference value application, the speed limit is reached which limit is indicated in D337 (torque control) or D339 (speed control) (D186 = 1:active). ID 441778.0004 229

E.. Display Value 46:zero torque=0; During torque control mode in the comfort reference value application, the current torque is in the range of -5 % M N to +5 % M N. 47: positive torque; During torque control mode in the comfort reference value application, the current torque (E90) is greater than 5 % as related to the user direction of rotation (D57) (D440 = 1:active). 48: negative torque; During torque control mode in the comfort reference value application, the current torque (E90) is lower than -5 % as related to the user direction of rotation (D57) (D441 = 1:active). 49: standstill; During speed control mode in the comfort reference value application, the speed has reached the range of +C40 to -C40 (D180 = 1:active). 50: forward direction; During speed control mode in the comfort reference value application, the speed (E91) is greater than C40 as related to the user direction (D57) (D442 = 1:active). 51: backward direction; During speed control mode in the comfort reference value application, the speed (E91) is lower than -C40 as related to the user direction (D57). 52: limit switch wrong; During the comfort reference value application, the limit switches are mixed up (i.e., the -limit switch triggered for a positive reference value (D304 = 1:active) or vice versa). Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 14 00 00 hex E81 Event level: Indicates whether a current event is queued. The corresponding event type is indicated in E82. Useful for fieldbus polling or serial remote control. 2851h read (1) 0: inactive. The event system is inactive. The inverter is running in normal operating mode. 1: Message. A message is waiting. Operation continues. 2: Warning. A warning is waiting. Operation can be continued until expiration of the warning time for this event (indicated in E83 warning time). After that a fault is triggered. 3: Fault. A fault has occurred. The drive function is blocked. Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 14 40 00 hex E82 Event type: Indication of the currently queued event/fault. Useful for fieldbus polling or serial remote control. The cause is stored in E43 / E44. 2852h read (0) 30: inactive; 31: Short/ground; The hardware overcurrent switch off is active because the motor demands too much current from the inverter (interwinding fault, overload). 32: Short/ground internal; During the enabling of the inverter, a short circuit was determined. An internal device error has probably occurred. 33: Overcurrent; The total motor current exceeds the permissible maximum. Could be acceleration times are too short or torque limits in C03 and C05 were set incorrectly. 34: Hardware fault; A hardware error has occurred (e.g., in the memory of the control section). See E43. 35: Watchdog; The watchdog of the microprocessor has triggered. The microprocessor is being used to full capacity or its function may be faulty. 36: High voltage; The voltage in the DC link exceeds the permissible maximum. This can be due to excessive network voltage, the feedback of the drive during braking mode, too low a braking resistor or due to a brake ramp which is too steep. 37: Encoder; An error in the parameterized encoder was determined (for details, see E43). ID 441778.0004 230

E.. Display Value 38: Overtemp.device sensor; The temperature measured by the device sensor exceeds the permissible maximum value. The cause may be that ambient and switching cabinet temperatures are too high. 39: Overtemp.device i2t; The i2t-model for the inverter exceeds 100 % of the thermal capacity. Causes may be an inverter overload due to a motor blockage or a switching frequency which is too high. 40: Invalid data; While the non-volatile memory was being initialized, a data error was found (for details, see E43). 41: Temp.MotorTMP; The motor temperature sensor reports excessive temperature. The motor may be overloaded or the temperature sensor is not connected. 42: TempBrakeRes.; The i2t model for the braking resistor exceeds 100 % of the capacity. The braking resistor may not be designed to handle the application. 43: inactive; 44: External fault 1; Triggering is programmed application-specifically. 45: Overtemp.motor i2t; The i2t model of the motor reaches 100 % of the load. The motor may be overloaded. 46: Low voltage; The DC link voltage is below the limit value set in A35. The cause can be drops in the network voltage, the failure of a phase with three-phase connection or the acceleration times are too short. 47: Torque limit; The torque permitted for static operation is exceeded in the controller types servo controller, vector controller or sensorless vector controller. The limits may have been set incorrectly in C03 and C05. 48: inactive; 49: inactive; 50: inactive; 51: inactive; 52: Communication; A fault in communication was determined (for details, see E43). 53: inactive; 54: inactive; 55: Option board; A fault in the operation of an option board was determined (for details, see E43). 56: Overspeed; The measured speed was greater than C01 x 1.1 + 100 Rpm. The encoder may be defective. 57: Second activation; The cycle time of a real-time task was exceeded (for details, see E43). 58: Grounded; The power module has determined an error (starting with module 3). 59: Overtemp.device i2t; The i2t model of the inverter exceeds 105 % of the capacity. The cause may be an overload of the inverter due to a motor blockage or a switching frequency which is too high. 60: <u102>; 61: <u112>; 62: <u122>; 63: <u132>; 64: <u142>; 65: <u152>; 66: <u162>; 67: <u172>; 68: External fault 2; Triggering is programmed application-specifically. 69: Motor connection; A connection error of the motor was determined (for details, see E43). 70: Parameter consistency; The parameterization has inconsistencies (for details, see E43). 71: firmware; ID 441778.0004 231

E.. Display Value 72: Brake test timeout; Brake test timeout. Brake management reports that a brake test is necessary (see E43). 73: 2 brake test timeout; Brake management reports that a brake test of axis 2 is necessary (see E43). 74: 3 brake test timeout; Brake management reports that a brake test of axis 3 is necessary (see E43). 75: 4 brake test timeout; Brake management reports that a brake test of axis 4 is necessary (see E43). Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 14 80 00 hex E83 Warning time: While warnings are running, the time remaining until the fault is triggered is indicated. Useful for fieldbus polling or serial remote control. 2853h read (1) Fieldbus: 1LSB=1s; PDO ; Type: U8; USS-Adr: 05 14 C0 00 hex E84 Active axis: Indication of the current axis. Useful for fieldbus polling or serial remote control. 2854h read (1) 0: 1; 1: 2; 2: 3; 3: 4; 4: All axes inactive. 1 was active last. 5: All axes inactive. 2 was active last. 6: All axes inactive. 3 was active last. 7: All axes inactive. 4 was active last. Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 15 00 00 hex E90 M-Motor: Indication of the current motor torque in Nm. In contrast to E02, not smoothed. 285Ah Fieldbus: 1LSB=0,01Nm; PDO ; Type: I16; raw value:1lsb=fnct.no.16; USS-Adr: 05 16 80 00 hex E91 n-motor: Indication of the current motor speed in Rpm. In contrast to E08, not smoothed. When the drive is operated without feedback, this speed is mathematically determined via the motor model (in this case, the actual motor speed may differ from the calculated speed). 285Bh Fieldbus: 1LSB=0,1rpm; PDO ; Type: I32; (raw value:14 Bit=1 rpm); USS-Adr: 05 16 C0 00 hex E92 I-d: Flux current in %. 285Ch Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 05 17 00 00 hex E93 I-q: Torque-generating current in %. 285Dh Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 05 17 40 00 hex ID 441778.0004 232

E.. Display Value I-a: Measured a-current components in ab-system. 285Eh E94 E95 E96 E97 E98 E99 E100 Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 05 17 80 00 hex I-b: Measured b-current components in ab-system. Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 05 17 C0 00 hex I-u: Measured u-current components in uvw-system. Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 05 18 00 00 hex I-v: Measured v-current component in uvw-sysstem. Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 05 18 40 00 hex Ud: Voltage in d-direction in V (chained peak voltage). Fieldbus: 1LSB=0,1V; Type: I16; USS-Adr: 05 18 80 00 hex Uq: Voltage in q-direction in V (chained peak voltage). Fieldbus: 1LSB=0,1V; Type: I16; USS-Adr: 05 18 C0 00 hex n-motor: Indication of the current motor speed as % in space-saving 16-bit format. The specification is related to C01 n-max. 285Fh 286 2861h 2862h 2863h 2864h read (1) Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767 LSB=200,0%); USS-Adr: 05 19 00 00 hex E101 I-Motor: Indicates the current motor current in % of the nominal device current at 4 khz switching frequency. 2865h read (1) Fieldbus: 1LSB=1%; PDO ; Type: U8; USS-Adr: 05 19 40 00 hex E102 Lead position consumer: Receiving parameter for a lead position via IGB. E102 must be allocated to parameter E163 of the lead position in IGB mapping. 2866h r=2, w=3 The parameter value is indicated scaled in revolutions. The internal scaling raw value is 1 MSB = 2048 revolutions. MSB = most significant Bit Information When POSITool establishes a connection to the inverter, this parameter is always read, even when "write parameter" was specified in POSITool as the data communication direction. Fieldbus: 1LSB=1E-6revolutions; PDO ; Type: I32; (raw value:20 Bit=1 revolutions); USS-Adr: 05 19 80 00 hex ID 441778.0004 233

E.. Display Value E103 r=2, w=3 Lead position consumer timestamp: Receiving parameter for a time stamp for the lead position (E102) via IGB. E103 must be allocated to parameter E164 of the lead position in IGB mapping. The parameter value is indicated scaled in µs. The internal scaling raw value is 1 LSB = 7.63 ns. 2867h LSB = least significant Bit Information When POSITool establishes a connection to the inverter, this parameter is always read, even when "write parameter" was specified in POSITool as the data communication direction. Fieldbus: 1LSB=1µs; PDO ; Type: U32; (raw value:4294967295 = 32767999 µs); USS-Adr: 05 19 C0 00 hex E120 Equipment: The text entered in the field "equipment" during step 1/6 of the device configuration. 2878h r=1, w=5 Fieldbus: Type: Str8; USS-Adr: 05 1E 00 00 hex E121 User: The text entered in the field "user" during step 1/6 of the device configuration. 2879h read (1) Fieldbus: Type: Str16; USS-Adr: 05 1E 40 00 hex E122.0 Download information: Contains information on the active firmware: User/login name on the PC with which the download was performed. Fieldbus: Type: Str16; USS-Adr: 05 1E 80 00 hex 287Ah E122.1 Download information: Contains information on the active firmware: Computer name of the PC with which the download was performed. Fieldbus: Type: Str16; USS-Adr: 05 1E 80 01 hex 287Ah 1h E122.2 Download information: Contains information on the active firmware: Date and time of the firmware download. Fieldbus: Type: Str16; USS-Adr: 05 1E 80 02 hex 287Ah 2h E122.3 Download information: Contains information on the active firmware: Number of previously performed downloads on the connected inverter. Fieldbus: Type: Str16; USS-Adr: 05 1E 80 03 hex 287Ah 3h E123.0 Download information 2: Contains information on the firmware download memory. User/registration name on the PC on which the download was performed. Fieldbus: Type: Str16; USS-Adr: 05 1E C0 00 hex 287Bh E123.1 Download information 2: Contains information on the firmware download memory. Computer name of the PC with which the download was performed. Fieldbus: Type: Str16; USS-Adr: 05 1E C0 01 hex 287Bh 1h ID 441778.0004 234

E.. Display Value E123.2 Download information 2: Contains information on the firmware download memory. Date and 287Bh 2h time of the firmware download. Fieldbus: Type: Str16; USS-Adr: 05 1E C0 02 hex E123.3 Download information 2: Contains information on the firmware download memory. Number of downloads to the connected inverter that have been performed up to now. Fieldbus: Type: Str16; USS-Adr: 05 1E C0 03 hex 287Bh 3h E149 Hardware Version: Device family (FDS/MDS/SDS), hardware version of the power section (layout version), power section manufacturing date (calendar week and year). 2895h read (1) Fieldbus: Type: Str16; USS-Adr: 05 25 40 00 hex E151 Active switching frequency: The current switching frequency used by the inverter. 2897h read (2) Fieldbus: 1LSB=1kHz; Type: U8; USS-Adr: 05 25 C0 00 hex E152 SSI simulation raw value: Indicates the position which is output via the SSI simulation. With a 25-bit SSI simulation, the upper 25 bits (31..7) of E152 correspond to the position output via SSI. With a 13-bit SSI simulation, bits 19..7 correspond to the position output via SSI. Bits 6..0 are hidden when SSI is used. 2898h Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 05 26 00 00 hex Only visible when E58 = XEA 5000 (and XEA 5001 respectively) and H120 is greater than 80:Incremental-Encoder-Simulation. E153 Accumulated raw-motor-encoder: Supplies an accumulated raw value of the motor encoder parameterized in B26. The value contains the value of B35 as the adding offset. 2899h Since these values are raw values, scaling depends on the motor encoder being used. EnDat, SSI: MSB = 2048U Resolver: 65536LSBs = 1U (i.e., MSB = 32768U) Incremental encoder: 1LSB = 1Count (4-fold evaluation of the number of markers) MSB = Most Significant Bit LSB = Least Significant Bit Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 05 26 40 00 hex Only visible when B26 is not set to 0:inactive. ID 441778.0004 235

E.. Display Value E154 Raw motor-encoder: Supplies the raw value of the motor encoder parameterized in B26. The value contains the value of B35 as the adding offset. 289Ah Since these values are raw values, scaling depends on the motor encoder being used. EnDat, SSI: MSB = 2048 U Resolver: 65536LSBs = 1U (i.e., MSB = 32768U) Incremental encoder: 1LSB = 1Count (4-fold evaluation of the number of markers), Counter resolution: 16 bits MSB = Most Significant Bit LSB = Least Significant Bit Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 05 26 80 00 hex Only visible when B26 is not set to 0:inactive. E155 Raw position-encoder: Raw value of the encoder parameterized in I02. The format varies depending on which encoder is used. For EnDat and SSI encoders, the data word is specified leftjustified by the encoder. Example: - EnDat Multiturn, SSI: MSB = 2048 encoder revolutions - EnDat Singleturn, resolver: MSB = 0.5 encoder revolutions - Incremental encoder: Only the upper 16 bits are used. They contain the counted increments after 4-fold evaluation. 289Bh MSB = Most Significant Bit Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 05 26 C0 00 hex E156 Raw master-encoder: Raw value of the encoder parameterized in G27. The format varies with the encoder being used. Example: - EnDat Multiturn, SSI: MSB = 2048 encoder revolutions - EnDat Singleturn, resolver: MSB = 0.5 encoder revolutions - Incremental encoder: Only the upper 16 bits are used. They contain the counted increments after 4-fold evaluation. 289Ch MSB = Most Significant Bit Fieldbus: 1LSB=1; PDO ; Type: U32; USS-Adr: 05 27 00 00 hex E161 n-rmpg: The speed reference value on the output of the ramp generator. 28A1h Fieldbus: 1LSB=0,1rpm; PDO ; Type: I32; (raw value:14 Bit=1 rpm); USS-Adr: 05 28 40 00 hex ID 441778.0004 236

E.. Display Value E163 Lead-Position Producer: The parameter provides a lead axis position for the further distribution via IGB. The source of this lead axis position can be selected in G104. 28A3h read (2) The parameter value is indicated scaled in revolutions. The internal scaling raw value is 1 MSB = 2048 revolutions. (MSB = Most Significant Bit) Fieldbus: 1LSB=1E-6revolutions; PDO ; Type: I32; (raw value:20 Bit=1 revolutions); USS-Adr: 05 28 C0 00 hex E164 Lead-Position Prod. Timestamp: The parameter provides a timestamp for the lead axis position in E163 for the further distribution via IGB. 28A4h read (2) The parameter value is indicated scaled in µs. The internal scaling raw value is 1 LSB = 7.63 ns. (LSB = Least Significant Bit) Fieldbus: 1LSB=1µs; PDO ; Type: U32; (raw value:4294967295 = 32767999 µs); USS-Adr: 05 29 00 00 hex E165 Id-ref: Reference value for the flux current in %. 28A5h Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 05 29 40 00 hex E166 Iq-ref: Reference value for the torque generating current in %. 28A6h Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 05 29 80 00 hex E167 Power module state: Specifies whether the power end stage is enabled. 28A7h 192: power module off; 248: activate power module; 255: power module on; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 05 29 C0 00 hex E170 T-reference: Only for control types with torque specification. Reference torque currently required by the speed controller. 28AAh read (2) Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767 LSB=800,0%); USS-Adr: 05 2A 80 00 hex E174 CRC-counter: Counts non-volatilely the CRC and Busy errors which occurred on EnDat encoders. The occurrence of CRC errors indicates EMC problems. This value can be reset with A37 1. Fieldbus: 1LSB=1; Type: U32; USS-Adr: 05 2B 80 00 hex 28AEh E175 SSI-errors: Counts the erroneous protocols which occur with SSI encoders. Erroneous protocols are recognized when the maximum incremental value contained in H900 exceeds two consecutive protocols. The erroneous value is rejected. When the second error occurs in succession, the system malfunctions (maximum following error, encoder). 28AFh NOTE The parameter H900 can only be read/changed by level-4 users. Fieldbus: 1LSB=1; Type: U32; USS-Adr: 05 2B C0 00 hex ID 441778.0004 237

E.. Display Value Counter grind actions: Counts all B301 grind-brake 1 actions, regardless of result B301.2. 28B E176.0 read (2) E176.1 read (2) E177 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 05 2C 00 00 hex Counter grind actions: Counts all B301 grind-brake 2 actions, regardless of result B302.2. Fieldbus: 1LSB=1; Type: U16; USS-Adr: 05 2C 00 01 hex Time passed since last brake test: Indicates the time in hours which has passed since the last B300 brake test action. 28B 28B1h 1h read (2) If brake management is not active (B310 = 0:inactive), the time remains zero. The time begins to run when brake management is activated. The time remaining until event 72 is indicated as the "brake test" message is calculated as follows: (B311 timeout brake test B300) - (E177 time since last brake test). The next brake test should be performed within this time. The time remaining until event 72 is indicated as the "brake test" fault is calculated as follows: 2 * B311 - E177 The inverter is blocked due to the fault. The fault must be acknowledged before the functions B300 brake test and B301/B302 brake 1/2 grind can be performed. Information This parameter applies similarly to events 73, 74 and 75 in axes 2, 3 and 4. Fieldbus: 1LSB=1hours; Type: U32; (raw value:4294967295 = 298261 hours); USS-Adr: 05 2C 40 00 hex E180 Status positive T-limit: The positive torque limit is in effect. In the "comfort reference value" application, the signal can be read in D200 Bit 3 in fieldbus mode. 28B4h 0: inactive; 1: active; Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 2D 00 00 hex E181 Status negative T-limit: The negative torque limit is in effect. In the "comfort reference value" application, the signal can be read in D200 Bit 4 in fieldbus mode. 28B5h 0: inactive; 1: active; Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 2D 40 00 hex ID 441778.0004 238

E.. Display Value E182 Status positive n-limit: With operation with speed limiter or with torque control (C61 = 1), the positive maximum speed was reached. With operation without speed limiter or with speed control (C61 = 0), a too large positive reference value speed was limited to +C01. 0: inactive; 1: active; 28B6h Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 2D 80 00 hex E183 Status negative n-limit: With operation with speed limiter or torque control (C61 = 1), the negative maximum speed was reached. With operation without speed limiter or with speed control (C61 = 0), an excessively negative reference value speed was limited to -C01. 0: inactive; 1: active; 28B7h Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 2D C0 00 hex E191 r=2, w=4 Runtime usage: Indication of the relative utilization of the real-time task by the graphic configuration. The maximum value is calculated for each cycle of the configuration. When utilization is too high (> approx. 75 %), the cycle time in A150 should be set to a higher value. With changes of A150, E191 starts at 0 %. 28BFh Fieldbus: 1LSB=1%; Type: U16; raw value:1lsb=fnct.no.9; USS-Adr: 05 2F C0 00 hex E200 Device status byte: This byte contains status signals of the device controller. 28C8h read (2) Bit-0: Enabled. The drive is ready. No faults, the device status corresponds to E84 = 4:oper. enabled. Bit-1: Error. Device status is "fault reaction active" or "fault." Bit-2: Quick stop (also quick stop in "fault reaction active"). Bit-3, 4: With multiple-axis operation, the active axis is shown here. Bit 4 Bit 3 0 0 1 0 1 2 1 0 3 1 1 4 Bit-5: in E84 is active. Bit-6: Local: Local operation is activated. Bit-7: Bit 7 in A180 (device control byte) is copied once every device controller cycle to bit 7 in E200 (device status byte). When bit 7 in A180 is toggled, the higher-level PLC is informed of a concluded communication cycle (send, evaluate, return data). For PROFIBUS for example, this permits cycle-time-optimized communication. The handshake bit 7 in A180 / E200 supplies no information as to whether the application has reacted to the process data. Depending on the application, other routines are provided for this (e.g., motion-id for command positioning). NOTE You can only use the toggle signal of bit 7 when device controllers 3:terminals, 4:USS, 5:CANopen, 6:PROFIBUS or 23:EtherCAT are used. If you configured a DSP 402 device controller, bit 7 always has signal status 0. Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 05 32 00 00 hex ID 441778.0004 239

F.. Control Interface F01 n brake release: The specified speed is represented internally as a frequency at which the brake is released in control mode B20 = 0:V/f-control or B20 = 1:sensorless vector control. 2A01h r=2, w=2 The speed is not evaluated in control mode B20 = 2:vector control or B20 = 64:servo-control. Value range in rpm: 1... 1... 8191 Fieldbus: 1LSB=1rpm; Type: I16; (raw value:32767 = 8191 rpm); USS-Adr: 00 40 00 hex Only visible when B20 = 0:V/f-control or B20 = 1:SLVC and F08 is not 0:inactive. F02 n-brake set: When this speed is passed below during halting, the brake is applied. 2A02h r=2, w=2 Value range in rpm: 1... 30... 8191 Fieldbus: 1LSB=1rpm; Type: I16; (raw value:32767 = 8191 rpm); USS-Adr: 00 80 00 hex Only visible when B20 = 0:V/f-control or B20 = 1:SLVC and F08 is not 0:inactive. F r=2, w=3 T-brake release: Only when F08 = 1 (brake). Defines the release time of the connected brake. Select F as a factor 1.3 greater than the time t2 (SMS Catalog, Section M: Servo Motors ED+EK). When the halt/quick stop signal is enabled or removed, the release is delayed by the time F. 2Ah NOTE When a coupling relay is used, the brake release time must be increased by the trigger time of the relay. Value range in ms: 0... 0... 32767 Fieldbus: 1LSB=1ms; Type: I16; USS-Adr: 01 80 00 hex Only visible when F08 brake is not 0:inactive. F07 r=2, w=3 T-brake set: Only when F08 = 1 (brake). Defines the application time of the connected brake. Select F07 as a factor 1.3 greater than the time t1 (SMS Catalog, Section M: Servo Motors ED+EK). With the removal of the enable and halt/quick stop, the drive still remains in the control for the time F07. 2A07h NOTE When a coupling relay is used, the brake application time must be extended by the opening time of the rely. Value range in ms: 0... 0... 32767 Fieldbus: 1LSB=1ms; Type: I16; USS-Adr: 01 C0 00 hex Only visible when F08 brake is not 0:inactive. ID 441778.0004 240

F.. Control Interface F08 r=2, w=2 Brake: Activates the control of the halting brake by the inverter. When F08 is parameterized to 0:inactive, the status of brake activation corresponds to the status of A900. With SDS 5000, F08 must be activated so that F09 can be set and actions B300, B301 and B302 can be triggered. When B310 brake management is active, F08 must be activated. 2A08h Information A change in this parameter does not take effect for the brake management of the SDS 5000 until after the device is turned off and on again 0: inactive; The brake is not controlled by the application. It is always released with enable on (24 V on X2). 1: active; The brake is activated by the application. The activation of the brake is triggered by setting the stop or quick stop signal and removing the enable. The integral portion of the speed controller (reference torque) is saved at the moment the brake is applied and restored during the restart. The saved torque is deleted when the enable is deactivated (A900 = 0). 2: Do not save torque; The function of the brake is identical to the selection 1:active. The integral portion of the speed controller (reference torque) is NOT saved. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 00 00 hex F09 Utilized brakes: 2A09h r=2, w=2 WARNING Danger of injury and property damage! Selection of the actions B300 Brake test or B301/B302 brake 1/2 grind without an actually connected brake can cause dangerous, unintentional movements of the drive with maximum motor torque! It is very important to adjust the setting of this parameter to the wiring of the brake! Parameter F09 specifies which brake will have cyclic status monitoring. If the reported status of the brake does not coincide with that of the controller, fault 34 hardware defect, cause 4:brake1 or 5:brake2 will be triggered. Actions B300 brake test and B301/B302 brake 1/2 grind use parameter F09 to determine which brakes are present. The actions are only performed on brakes which were parameterized before as present. Information The settings for brake management must be performed for every configured axis (e.g., in 1.F09 for axis 1 and in 3.F09 for axis 3). 1: Brake1, Only one brake is connected to X300.1 of STÖBER's BRS 5000 brake module. 2: Brake2, Only one brake is connected to X300.3 of STÖBER's BRS 5000 brake module. 3: Brake 1and2; Two brakes are connected to X300 of STÖBER's BRS 5000 brake module. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 40 00 hex Only visible when F08 brake is not 0:inactive. ID 441778.0004 241

F.. Control Interface F10 Relay 1-function: The parameters for the behavior of relay 1 are set in F10. 2A0Ah. 0: Function 0; Relay 1 is open if no configuration is active or E48 device status: 0: Self-test 5: Malfunction 6: Malfunction reaction active Relay 1 is closed if a configuration is active and E48 device status: 1: Switch on inhibit 2: Ready for switch on 3: Switched on 4: Operation enabled 7: Fast stop active. 1: Function 1; Relay 1 is open if no configuration is active or E48 device status: 0: Self-test 1: Switch on inhibit 5: Malfunction Relay 1 is closed if a configuration is active and E48 device status: 2: Ready for switch on 3: Switched on 4: Operation enabled 6: Malfunction reaction 7: Fast stop active Fieldbus: 1LSB=1; Type: U8; USS-Adr: 02 80 00 hex F11 r=2, w=2 AE1-Offset: F11 is added to E10. The result is multiplied by F12. This signal is supplied to the configuration. To compensate for an offset (the value which arrives at the inverter when the controller specifies 0 V), this must be entered in F11 with the opposite sign. Value range in V: -10.000... 0,000... 10.000 Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 02 C0 00 hex 2A0Bh Only visible when a board is installed in the bottom option slot. F12 AE1-gain: The result of the addition of F11 and E10 is multiplied by F12. This signal is supplied to the configuration. 2A0Ch r=2, w=2 Value range in %: -400.0... 100,0... 400.0 Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=400,0%); USS-Adr: 03 00 00 hex Only visible when a board is installed in the bottom option slot. ID 441778.0004 242

F.. Control Interface F13 AE1 ref low pass filter: The time constant for filtering a reference value specified on AE1 is parameterized in F13. 2A0Dh r=2, w=2 Value range in ms: 0.0... 0,6... 200.0 Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1lsb=fnct.no.11; USS-Adr: 03 40 00 hex F14, OFF r=2, w=2 AE1-mode selector: The reference value mode for AE1 is set in F14. When 0:-10V to 10V is selected, a voltage reference value can be connected to AE1 in the specified range. The selections 1 and 2 can be set when a current reference value is specified. With 1: 0 to 20mA the specification 0 ma is interpreted as the minimum reference value and 20 ma as the maximum reference value. This interpretation is reversed for the setting 2. In other words, at 0 ma (wire break) the motor is activated with the maximum reference value (pump control). Wire break monitoring can be activated in F15 for the settings 3 and 4. With these settings a current reference value of 4 to 20 ma is connected. With 3:4 to 20 ma, 4 ma is processed as the minimum reference value and 20 ma as the maximum reference value. When the selection is 4:20 to 4 ma, processing is reversed (i.e., at 4 ma the motor is activated with the maximum reference value). 2A0Eh 0: -10V to 10V; 1: 0 to 20mA; 2: 20 to 0mA; 3: 4 to 20mA; 4: 20 to 4mA; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 03 80 00 hex F15 r=2, w=2 Wire breakage sensing: When F14 is set to 3:4 to 20 ma or 4:20 to 4 ma, wire break monitoring can be activated in F15. Active wire break monitoring means that application event 4 will be generated as per the parameterization in U140 to U142 if a wire break occurs. The drive continues at the velocity which was valid before the wire break until either a fault is generated by the event parameterization, the enable is switched off or the drive is stopped with a stop or quick stop command. 2A0Fh 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 03 C0 00 hex F21 r=2, w=2 AE2-Offset: F21 is added to E11. The result is multiplied by F22. This signal is supplied to the configuration. To compensate for an offset (the value which arrives at the inverter when the controller specifies 0 V), this must be entered in F21 with the opposite sign. 2A15h Value range in V: -10.000... 0,000... 10.000 Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 05 40 00 hex Only visible when a board is installed in the bottom option slot. ID 441778.0004 243

F.. Control Interface F22 AE2-gain: F21 is added to E11. The result is multiplied by F22. This signal is supplied to the configuration. 2A16h r=2, w=2 Value range in %: -400.0... 100,0... 400.0 Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=400,0%); USS-Adr: 05 80 00 hex Only visible when a board is installed in the bottom option slot. F23 AE2 ref low pass filter: The time constant for filtering a reference value specified on AE2 is parameterized in F23. 2A17h r=2, w=2 Value range in ms: 0.0... 0,6... 200.0 Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1lsb=fnct.no.11; USS-Adr: 05 C0 00 hex F31 r=2, w=2 AE3-Offset: F31 is added to E74. The result is multiplied by F32. This signal is supplied to the configuration. To compensate an offset (the value which arrives at the inverter when the controller specifies 0 V), this must be entered in F31 with opposite sign. 2A1Fh Value range in V: -10.000... 0,000... 10.000 Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 07 C0 00 hex Only visible when an XEA board is installed in the bottom option slot. F32 AE3-gain: F31 is added to E74. The result is multiplied by F32. This signal is supplied to the configuration. 2A2 r=2, w=2 Value range in %: -400.0... 100,0... 400.0 Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=400,0%); USS-Adr: 08 00 00 hex Only visible when an XEA board is installed in the bottom option slot. F33 AE3 ref low pass filter: The time constant for filtering a reference value specified on AE3 is parameterized in F33. 2A21h r=2, w=2 Value range in ms: 0.0... 0,6... 200.0 Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1lsb=fnct.no.11; USS-Adr: 08 40 00 hex Only visible when an XEA board is installed in the bottom option slot. F40 r=2, w=2 Analog-output1-source: The value output in analog output AA1 is calculated as follows from the parameters F40 to F44: First, the following intermediate result is calculated (value of the parameter entered in F40) x F42 + F41. This intermediate result is then smoothed with the time constant specified in F43. If this is activated in F44, the amount is generated from the smoothed value. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mv. The scanning time corresponds to A150. 2A28h Enter the coordinate of the parameter in F40 whose value you want to output to AA1. You can only ID 441778.0004 244

F.. Control Interface enter parameters with the data type 16-bit with sign as the source (data type I16, ± 16384 = ± 10 V). Value range: A00... E08... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 0A 00 00 hex Only visible when a board is installed in the bottom option slot. F41 r=2, w=2 Analog-output1-offset: The value output in analog output AA1 is calculated as follows from the parameters F40 to F44: First, the following intermediate result is calculated (value of the parameter entered in F40) x F42 + F41. This intermediate result is then smoothed with the time constant specified in F43. If this is activated in F44, the amount is generated from the smoothed value. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mv. The scanning time corresponds to A150. 2A29h Enter the offset in F41. Value range in V: -10.000... 0,000... 10.000 Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 0A 40 00 hex Only visible when a board is installed in the bottom option slot. F42 r=2, w=2 Analog-output1-gain: The value output in analog output AA1 is calculated as follows from the parameters F40 to F44: First, the following intermediate result is calculated (value of the parameter entered in F40) x F42 + F41. This intermediate result is then smoothed with the time constant specified in F43. If this is activated in F44, the amount is generated from the smoothed value. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mv. The scanning time corresponds to A150. 2A2Ah Enter the ratio factor in F42. Value range in %: -3198.9... 100,0... 3198.9 Fieldbus: 1LSB=0,1%; Type: I16; (raw value:1024 LSB=100%); USS-Adr: 0A 80 00 hex Only visible when a board is installed in the bottom option slot. F43 r=2, w=2 Analog-output1-act low pass filter: The value output in analog output AA1 is calculated as follows from the parameters F40 to F44: First, the following intermediate result is calculated (value of the parameter entered in F40) x F42 + F41. This intermediate result is then smoothed with the time constant specified in F43. If this is activated in F44, the amount is generated from the smoothed value. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mv. The scanning time corresponds to A150. 2A2Bh Enter the time constant for smoothing the intermediate result in F43. Value range in ms: 0.0... 0,6... 200.0 Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1lsb=fnct.no.11; USS-Adr: 0A C0 00 hex ID 441778.0004 245

F.. Control Interface F44 r=2, w=2 Analog-output1-absolut: The value output in analog output AA1 is calculated as follows from the parameters F40 to F44: First, the following intermediate result is calculated (value of the parameter entered in F40) x F42 + F41. This intermediate result is then smoothed with the time constant specified in F43. If this is activated in F44, the amount is generated from the smoothed value. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mv. The scanning time corresponds to A150. 2A2Ch In F44, activate the amount generation for analog output AA1. Amount generation is activated when you set F44 = 1:active. 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0B 00 00 hex F50 r=2, w=2 Analog-output2-source: The value output in analog output AA2 is calculated as follows from the parameters F50 to F54: First, the following intermediate result is calculated (value of the parameter entered in F50) x F52 + F51. This intermediate result is then smoothed with the time constant specified in F53. If this is activated in F54, the amount is generated from the smoothed value. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mv. The scanning time corresponds to A150. 2A32h Enter the coordinate of the parameter in F50 whose value you want to output to AA2. You can only enter parameters with the data type 16-bit with sign as the source (data type I16, ± 16384 = ± 10 V). Value range: A00... E00... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 0C 80 00 hex Only visible when a board is installed in the bottom option slot. F51 r=2, w=2 Analog-output2-offset: The value output in analog output AA2 is calculated as follows from the parameters F50 to F54: First, the following intermediate result is calculated (value of the parameter entered in F50) x F52 + F51. This intermediate result is then smoothed with the time constant specified in F53. If this is activated in F54, the amount is generated from the smoothed value. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mv. The scanning time corresponds to A150. 2A33h Enter the offset in F51. Value range in V: -10.000... 0,000... 10.000 Fieldbus: 1LSB=0,001V; Type: I16; (raw value:32767 = 20.000 V); USS-Adr: 0C C0 00 hex Only visible when a board is installed in the bottom option slot. ID 441778.0004 246

F.. Control Interface F52 r=2, w=2 Analog-output2-gain: The value output in analog output AA2 is calculated as follows from the parameters F50 to F54: First, the following intermediate result is calculated (value of the parameter entered in F50) x F52 + F51. This intermediate result is then smoothed with the time constant specified in F53. If this is activated in F54, the amount is generated from the smoothed value. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mv. The scanning time corresponds to A150. 2A34h Enter the ratio factor in F52. Value range in %: -3198.9... 100,0... 3198.9 Fieldbus: 1LSB=0,1%; Type: I16; (raw value:1024 LSB=100%); USS-Adr: 0D 00 00 hex Only visible when a board is installed in the bottom option slot. F53 r=2, w=2 Analog-output2-act low pass filter: The value output in analog output AA2 is calculated as follows from the parameters F50 to F54: First, the following intermediate result is calculated (value of the parameter entered in F50) x F52 + F51. This intermediate result is then smoothed with the time constant specified in F53. If this is activated in F54, the amount is generated from the smoothed value. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mv. The scanning time corresponds to A150. 2A35h Enter the time constant for smoothing the intermediate result in F53. Value range in ms: 0.0... 0,6... 200.0 Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1lsb=fnct.no.11; USS-Adr: 0D 40 00 hex F54 r=2, w=2 Analog-output2-absolut: The value output in analog output AA2 is calculated as follows from the parameters F50 to F54: First, the following intermediate result is calculated (value of the parameter entered in F50) x F52 + F51. This intermediate result is then smoothed with the time constant specified in F53. If this is activated in F54, the amount is generated from the smoothed value. A voltage of ±10 V is output on the terminals. The resolution is approx. 10 mv. The scanning time corresponds to A150. 2A36h In F54, activate the amount generation for analog output AA2. Amount generation is activated when you set F54 = 1:active. 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0D 80 00 hex ID 441778.0004 247

F.. Control Interface BA1-source: The value of the parameterized coordinate is output on binary output 1 (X101.8). 2A3Dh F61 r=2, w=2 NOTE Please remember that binary output BA1 is already being used by the encoder simulation via the binary outputs. In this case no entry is permitted in F61. Value range: A00... F181... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 0F 40 00 hex Only visible when a board is installed in the bottom option slot. F62 BA2-source: The value of the parameterized coordinate is output on binary output 2 (X101.9). 2A3Eh r=2, w=2 NOTE Please remember that binary output BA2 is already being used by the encoder simulation via the binary outputs. In this case no entry is permitted in F62. Value range: A00... F182... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 0F 80 00 hex Only visible when a board is installed in the bottom option slot. F63 BA3-source: The value of the parameterized coordinate is output on binary output 1 (X103.1). 2A3Fh r=2, w=2 Value range: A00... F183... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 0F C0 00 hex Only visible when an XEA board is installed in the bottom option slot. F64 BA4-source: The value of the parameterized coordinate is output on binary output 4 (X103.2). 2A4 r=2, w=2 Value range: A00... F184... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 10 00 00 hex Only visible when an XEA board is installed in the bottom option slot. F65 BA5-source: The value of the parameterized coordinate is output on binary output 5 (X103.3). 2A41h r=2, w=2 Value range: A00... F185... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 10 40 00 hex Only visible when an XEA board is installed in the bottom option slot. F66 BA6-source: The value of the parameterized coordinate is output on binary output 6 (X103.4). 2A42h r=2, w=2 Value range: A00... F186... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 10 80 00 hex Only visible when an XEA board is installed in the bottom option slot. ID 441778.0004 248

F.. Control Interface BA7-source: The value of the parameterized coordinate is output on binary output 7 (X103.5). 2A43h F67 r=2, w=2 Value range: A00... F187... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 10 C0 00 hex Only visible when an XEA board is installed in the bottom option slot. F68 BA8-source: The value of the parameterized coordinate is output on binary output 8 (X103.6). 2A44h r=2, w=2 Value range: A00... F188... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 11 00 00 hex Only visible when an XEA board is installed in the bottom option slot. F69 BA9-source: The value of the parameterized coordinate is output on binary output 9 (X103.7). 2A45h r=2, w=2 Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 11 40 00 hex Only visible when an XEA board is installed in the bottom option slot. F70 BA10-source: The value of the parameterized coordinate is output on binary output 10 (X103.8). 2A46h r=2, w=2 Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 11 80 00 hex Only visible when an XEA board is installed in the bottom option slot. F80 r=2, w=2 BA1 on delay: A signal which is output on BA1 can be delayed with the parameters F80 and F81. When a value is entered in F80, the switchon procedure of the signal is delayed by this number of milliseconds. Value range in ms: 0... 0... 4294967 Fieldbus: 1LSB=1ms; Type: U32; (raw value:1lsb=0,00099999993131496 ms); USS-Adr: 14 00 00 hex 2A5 Only visible when a board is installed in the bottom option slot. F81 r=2, w=2 BA1 off delay: A signal which is output on BA1 can be delayed with the parameters F80 and F81. When a value is entered in F81, the switchoff procedure of the signal is delayed by this number of milliseconds. Value range in ms: 0... 0... 4294967 Fieldbus: 1LSB=1ms; Type: U32; (raw value:1lsb=0,00099999993131496 ms); USS-Adr: 14 40 00 hex 2A51h Only visible when a board is installed in the bottom option slot. F82 BA1 inverting: When the parameter F82 is activated, the output of the signal entered in F61 is inverted on BA1. 2A52h r=2, w=2 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 14 80 00 hex Only visible when a board is installed in the bottom option slot. ID 441778.0004 249

F.. Control Interface F83 r=2, w=2 BA2 on delay: A signal which is output on BA2 can be delayed with the parameters F83 and F84. When a value is entered in F83, the switchon procedure of the signal is delayed by this number of milliseconds. Value range in ms: 0... 0... 4294967 Fieldbus: 1LSB=1ms; Type: U32; (raw value:1lsb=0,00099999993131496 ms); USS-Adr: 14 C0 00 hex 2A53h Only visible when a board is installed in the bottom option slot. F84 r=2, w=2 BA2 off delay: A signal which is output on BA2 can be delayed with the parameters F83 and F84. When a value is entered in F84, the switchon procedure of the signal is delayed by this number of milliseconds. 2A54h Value range in ms: 0... 0... 4294967 Fieldbus: 1LSB=1ms; Type: U32; (raw value:1lsb=0,00099999993131496 ms); USS-Adr: 15 00 00 hex Only visible when a board is installed in the bottom option slot. F85 BA2 inverting: When the parameter F85 is activated, the output of the signal entered in F62 is inverted on BA2. 2A55h r=2, w=2 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 15 40 00 hex Only visible when a board is installed in the bottom option slot. F90 Release time axis-switch: Specifies the release time of the contactor used for the axis switchover. This minimum time is waited before the inverter lets the next contactor be applied. 2A5Ah r=2, w=3 Value range in ms: 0... 20... 32767 Fieldbus: 1LSB=1ms; Type: I16; USS-Adr: 16 80 00 hex F91 Set time axis-switch: Specifies the set time of the contactor used for the axis switchover. This time is at least waited before the inverter lets the axis be electrified. 2A5Bh r=2, w=3 Value range in ms: 0... 20... 32767 Fieldbus: 1LSB=1ms; Type: I16; USS-Adr: 16 C0 00 hex F100, OFF Brake release source: Selection of the source for the "release brake" signal. The signal can be permanently pre-specified as supplied by the binary inputs or the fieldbus. With F100 = 2:Parameter, A180, bit 6 (global parameter) is used as the signal source. This is the setting for fieldbus operation. 2A64h CAUTION The "release brake" signal releases the brake regardless of the device state - this may cause accidental movements. ID 441778.0004 250

F.. Control Interface 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 19 00 00 hex F181 BA1: Bit 0 from the BA control bits byte F210. In the "comfort reference value" application, the status of BE1 can be indicated based on F209. 2AB5h read (1) 0: Low; 1: High; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 2D 40 00 hex Only visible when a board is installed in the bottom option slot. F182 BA2: Bit 1 from the BA control bits byte F210. In the "comfort reference value" application, the status of BE2 can be indicated based on F209. 2AB6h read (1) 0: Low; 1: High; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 2D 80 00 hex Only visible when a board is installed in the bottom option slot. ID 441778.0004 251

F.. Control Interface F183 BA3: Bit 2 from the BA control bits byte F210. In the "comfort reference value" application, the status of BE3 can be indicated based on F209. 2AB7h read (1) 0: Low; 1: High; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 2D C0 00 hex Only visible when an XEA board is installed in the bottom option slot. F184 BA4: Bit 3 from the BA control bits byte F210. In the "comfort reference value" application, the status of BE4 can be indicated based on F209. 2AB8h read (1) 0: Low; 1: High; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 2E 00 00 hex Only visible when an XEA board is installed in the bottom option slot. F185 BA5: Bit 4 from the BA control bits byte F210. In the "comfort reference value" application, the status of BE5 can be indicated based on F209. 2AB9h read (1) 0: Low; 1: High; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 2E 40 00 hex Only visible when an XEA board is installed in the bottom option slot. F186 BA6: Bit 5 from the BA control bits byte F210. In the "comfort reference value" application, the status of BE6 can be indicated based on F209. 2ABAh read (1) 0: Low; 1: High; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 2E 80 00 hex Only visible when an XEA board is installed in the bottom option slot. F187 BA7: Bit 6 from the BA control bits byte F210. In the "comfort reference value" application, the status of BE7 can be indicated based on F209. 2ABBh read (1) 0: Low; 1: High; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 2E C0 00 hex Only visible when an XEA board is installed in the bottom option slot. ID 441778.0004 252

F.. Control Interface F188 BA8: Bit 7 from the BA control bits byte F210. In the "comfort reference value" application, the status of BE8 can be indicated based on F209. 2ABCh read (1) 0: Low; 1: High; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 2F 00 00 hex Only visible when an XEA board is installed in the bottom option slot. F200 read (2) BE-byte: BE1-BE8 as bit pattern for space-saving transmission on the process data channel. Binary input 9 to 13 (only with XEA 5000 and XEA 5001 for MDS 5000 or LEA 5000 for FDS 5000 respectively) are available in parameter E19. 2AC8h Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 32 00 00 hex F210 r=2, w=2 BA control bits: The parameter F210 is primarily used to permit a higher-level controller access to the binary outputs of the inverter. The individual bits of F210 are automatically extracted in the bit parameters F181... F188. With the help of the parameters F61... F70, the individual bits can be written to the binary outputs. In the "comfort reference value" application, the function of F210 can be changed with the parameter F209. 2AD2h Value range: 0... 00000000bin... 255 (Representation binary) Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 34 80 00 hex Only visible when a board is installed in the bottom option slot. F300 read (2) Open brake: Indication of the "release brake" signal. With HIGH, the halting brake is activated and released via relay contacts 1 and 2 on plug X2, regardless of the current operating state of the inverter. The "release brake" signal is required, for example, to manually move the drive without enable or without power (with an external 24 V power supply). 2B2Ch 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 4B 00 00 hex G.. Technology Master encoder: The encoder which is to supply the signals for the master position is selected. 2C1Bh G27, OFF 0: inactive; No master signals are evaluated. 1: BE-encoder; Master signals are connected to binary inputs. 3: X140-encoder; Master signals arrive via plug connector X140. 4: X120-encoder; Master signals arrive via plug connector X120. 5: virt. Master; Master position of the integrated virtual master. ID 441778.0004 253

G.. Technology 6: IGB; Only for SDS 5000. The values in E102 and E103 are used as master signals. Remember that E102 and E103 must be written by the IGB-Motionbus. For an explanation of the settings required for this, see chapter 4 of the IGB Manual (ID 442090). Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 C0 00 hex G28 n-master: For monitoring purposes during commissioning. Speed of the master encoder as per G27. 2C1Ch read (0) Fieldbus: 1LSB=1rpm; Type: I32; (raw value:14 Bit=1 rpm); USS-Adr: 07 07 00 00 hex G30 Type of master axis: Specification of whether the master axis is an axis with limited positioning range or an endless axis. 2C1Eh 0: limited; 1: endless; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 07 80 00 hex Only when no electronic gear is used. G38 Reference position of master axis: Value which is loaded as the actual position for the master axis during "define home". 2C26h Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; PDO ; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 07 09 80 00 hex G40 Circular length of master axis: Maximum value for the actual master position starting at which the position is counted from zero again (e.g., 360 degrees - modulo function). 2C28h Value range in G49: 0.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 07 0A 00 00 hex G46 Decimal digits: Number of decimal places for the indication and the entry of master position reference values, speeds - accelerations as well as G47. Important: A change in G46 causes a shift in the decimal point and thus a change in the affected values. For this reason, G46 should be programmed at the beginning of a commissioning procedure. 2C2Eh NOTE The parameter is identical with I of the slave axis. Example: When G46 is reduced from 2 to 1, values such as 12.27 mm are changed to 122.7 mm. Value range: 0... 2... 3 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 0B 80 00 hex Only when no electronic gear is used. ID 441778.0004 254

G.. Technology G47, OFF Distance per rev. Numerator: Together with G48, G47 specifies the distance (position difference) in relation to one revolution of the master encoder G27. The number of decimal places corresponds to G46. The direction of counting of the master position can be reversed with a negative value in G47. 2C2Fh NOTE The parameter is identical with I07 of the slave axis. Value range in G49: -21474836.48... 360,00... 21474836.47 Fieldbus: 1LSB=siehe G46; Type: I32; USS-Adr: 07 0B C0 00 hex Only when no electronic gear is used. G48, OFF Distance per rev. Denominator: Counter G47 is divided by the denominator G48. This can be used to calculate a mathematically precise gear ratio as a fraction (toothed gearing, toothed belt transmission). 2C3 NOTE The parameter is identical with I08 of the slave axis. Value range in encoder revolutions: 0... 1... 31 Bit Fieldbus: 1LSB=1encoder revolutions; Type: I32; USS-Adr: 07 0C 00 00 hex Only when no electronic gear is used. G49 Measure.unit: Entry and indication of the unit of measure defined as desired by the user for the master axis via POSITool. A max. of 8 characters are permitted. Examples of permissible entries: Inc, mm,, Grad, inch. 2C31h NOTE The parameter is identical with I09 of the slave axis. Default setting: Fieldbus: Type: Str8; USS-Adr: 07 0C 40 00 hex Only when no electronic gear is used. G53 Offset for actual master position: The value in G53 is added to the actual master position. 2C35h r=2, w=2 Value range in G49: -47185920.00... 0,00... 47185919.98 Fieldbus: 1LSB=siehe G46; PDO ; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 07 0D 40 00 hex G54 r=2, w=2 Master velocity offset: The value in G54 is added to the master speed. The value is specified during regular master scaling. G54 is particularly useful for simulating a motion of the master encoder to make commissioning easier. 2C36h Value range in G245: -47185920.00... 0,00... 47185919.98 Fieldbus: 1LSB=siehe G46; PDO ; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 07 0D 80 00 hex ID 441778.0004 255

G.. Technology G58 Virtual master reference position: When "virtual master set reference position" (G59) has a rising edge, the actual position of the virtual master is set to this value. 2C3Ah r=2, w=2 Value range in G49: -47185920.00... 0,00... 47185919.98 Fieldbus: 1LSB=siehe G46; PDO ; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 07 0E 80 00 hex G59 Virtual master set reference position: When this parameter has a rising edge, the actual position of the virtual master is set to the value "virtual master reference position" (G58). 2C3Bh r=2, w=2 0: inactive; 1: active; Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 07 0E C0 00 hex G60.0 x/y coupling X-: Values of cam table 1 in the X direction. The values are stored using a standardized method. The end value is 2^30 = 1073741824. Value range: -31Bit... 0... 31 Bit Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 0F 00 00 hex 2C3Ch G61.0 x/y coupling Y-: Values of cam table 1 in the Y direction. The values are stored using a standardized method. The end value is 2^30 = 1073741824. Value range: -31Bit... 0... 31 Bit Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 0F 40 00 hex 2C3Dh G62.0 x/y coupling X- 2: Values of cam table 2 in the X direction. The values are stored using a standardized method. The end value is 2^30 = 1073741824. Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 0F 80 00 hex 2C3Eh G63.0 x/y coupling Y- 2: Values of cam table 2 in the Y direction. The values are stored using a standardized method. The end value is 2^30 = 1073741824. Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 0F C0 00 hex 2C3Fh G64.0 x/y coupling X- 3: Values of cam table 3 in the X direction. The values are stored using a standardized method. The end value is 2^30 = 1073741824. Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 10 00 00 hex 2C4 G65.0 x/y coupling Y- 3: Values of cam table 3 in the Y direction. The values are stored using a standardized method. The end value is 2^30 = 1073741824. Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 10 40 00 hex 2C41h G66.0 x/y coupling X- 4: Values of cam table 4 in the X direction. The values are stored using a standardized method. The end value is 2^30 = 1073741824. Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 10 80 00 hex 2C42h ID 441778.0004 256

G.. Technology G67.0 x/y coupling Y- 4: Values of cam table 4 in the Y direction. The values are stored using a 2C43h standardized method. The end value is 2^30 = 1073741824. Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 10 C0 00 hex G68 r=1, w=3 Length of cam table 1: G68 determines the effective length of cam table 1 which is created from the X array G60 and the Y array G61. The number of array elements can be greater than the effective length since the number of array elements must be the same for all axes. In contrast, G68 can be different for each axis but never greater than the number of array elements. G68 is automatically set by the wizard when the cam table is imported. 2C44h WARNING G68 should not be changed manually. An incorrect setting of G68 can lead to unexpected movements of the drive. Value range: 0... 16380... 16380 Fieldbus: 1LSB=1; Type: I16; USS-Adr: 07 11 00 00 hex G69 r=1, w=3 Length of cam table 2: G69 determines the effective length of cam table 2 which is created from the X array G62 and the Y array G63. The number of array elements can be greater than the effective length since the number of array elements must be the same for all axes. In contrast, G69 can be different for each axis but never greater than the number of array elements. G69 is automatically set by the wizard when the cam table is imported. 2C45h WARNING G69 should not be changed manually. An incorrect setting of G69 can lead to unexpected movements of the drive. Value range: 0... 16380... 16380 Fieldbus: 1LSB=1; Type: I16; USS-Adr: 07 11 40 00 hex G70 r=1, w=3 Length of cam table 3: G70 determines the effective length of cam table 3 which is created from the X array G64 and the Y array G65. The number of array elements can be greater than the effective length since the number of array elements must be the same for all axes. In contrast, G70 can be different for each axis but never greater than the number of array elements. G70 is automatically set by the wizard when the cam table is imported. 2C46h WARNING G70 should not be changed manually. An incorrect setting of G70 can lead to unexpected movements of the drive. Value range: 0... 16380... 16380 Fieldbus: 1LSB=1; Type: I16; USS-Adr: 07 11 80 00 hex G71 r=1, w=3 Length of cam table 4: G71 determines the effective length of cam table 4 which is created from the X array G66 and the Y array G67. The number of array elements can be greater than the effective length since the number of array elements must be the same for all axes. In contrast, G71 can be different for each axis but never greater than the number of array elements. G71 is automatically set by the wizard when the cam table is imported. 2C47h ID 441778.0004 257

G.. Technology WARNING G71 should not be changed manually. An incorrect setting of G71 can lead to unexpected movements of the drive. Value range: 0... 16380... 16380 Fieldbus: 1LSB=1; Type: I16; USS-Adr: 07 11 C0 00 hex G80 read (2) Master actual position: Indication of the actual master position of the "Master SyncPosi" block. The actual position is indicated in the units specified in G46, G47, G48 and G49. Even when the master axis is parameterized as endless position range, G80 supplies continuous actual positions without the endless break. 2C5 Fieldbus: 1LSB=siehe G46; PDO ; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 07 14 00 00 hex G84 Master velocity: Indication of the master speed of the "Master SyncPosi" block. The speed is indicated in units as specified by G46, G47, G48 and G49. 2C54h read (2) Fieldbus: 1LSB=siehe G46; PDO ; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 07 15 00 00 hex G87 Timestamp of master position: Suitable time stamp for the current master actual position. 2C57h Fieldbus: 1LSB=1µs; Type: U16; USS-Adr: 07 15 C0 00 hex G88 Master endless overflow: Indicates the break of the actual master position endless axis of G40 to 0 with 1:overflow and the break from 0 to G40 with -1:underflow. 2C58h read (1) -1: Underflow; 0: inactive; 1: Overflow; Fieldbus: 1LSB=1; Type: I8; USS-Adr: 07 16 00 00 hex G89 read (1) Master is in reference: Indicates that the master axis was referenced. The signal is set when a rising edge on the master reference switch input causes the actual position to be set to the reference position G34. 2C59h CAUTION When the event "37:n-feedback" is triggered by the encoder belonging to the master axis, the "master is in reference" signal is deleted. After power OFF/ON (acknowledgment) referencing must be performed again. 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 16 40 00 hex ID 441778.0004 258

G.. Technology G90 PLL: The parameter activates PLL control. PLL control synchronizes the inverter with the SYNC telegrams of the CAN bus or the SYNC signal of the EtherCAT bus. 2C5Ah Information Do not change this parameter if you are using the EtherCAT PCB ECS 5000 or the Integrated Bus (IGB)! In these cases, the parameter is set automatically. A manual change can cause the synchronization to malfunction. 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 16 80 00 hex G91 PLL phase-offset: Time offset value between the arrival of the SYNC telegram and the phase position of the cycle time on the inverter. 2C5Bh Value range in µs: -32768... -800... 32767 Fieldbus: 1LSB=1µs; Type: I16; USS-Adr: 07 16 C0 00 hex Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10. G92 PLL gain: Proportional gain of PLL control. The gain must be reduced when the jitter of the SYNC telegrams increases. 2C5Ch Value range in %: 0.0... 20,0... 100.0 Fieldbus: 1LSB=0,1%; Type: I32; (raw value:2,14748e9 LSB=100%); USS-Adr: 07 17 00 00 hex Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10. G93 PLL low pass: Determines the limit frequency of the low pass filter of PLL control. The time must be increased when the jitter of the SYNC telegrams increases. 2C5Dh Value range in ms: 0.0... 40,0... 200.0 Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1lsb=fnct.no.11; USS-Adr: 07 17 40 00 hex Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10. G95 PLL status: Shows the status of PLL control. Bit-0: PLL status Bit-1: PLL status 00 PLL engaged 01 Engaged, but more than half the control range is utilized (frequency too high). 10 Engaged, but more than half the control range is utilized (frequency too low). 11 PLL not engaged. Bit-2: Is 1 when PLL has extended the internal cycle time (A150). Bit-3: Is 1 when control hits the limits of the control range. Bit-4: Is 1 when the measured cycle time (G96) is greater than the specification (G98). Bit-5: Is 1 when G90 = inactive (PLL is deactivated). Bit-6: Reserved Bit-7: Reserved 2C5Fh Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 17 C0 00 hex Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10. ID 441778.0004 259

G.. Technology G96 PLL measured cycle-time: Cycle time (filtered value) of the SYNC telegrams determined by PLL control. 2C6 Fieldbus: 1LSB=1µs; Type: I32; USS-Adr: 07 18 00 00 hex Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10. G97 PLL cycle-correction: Cycle correction specified by PLL control. 2C61h Fieldbus: 1LSB=1clock-cycles; Type: I8; USS-Adr: 07 18 40 00 hex Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10. G98 Reference cycle-time: Specified value for the cycle time of the SYNC telegram. 2C62h Value range in µs: 0... 4000... 8000 Fieldbus: 1LSB=1µs; Type: I16; USS-Adr: 07 18 80 00 hex G103, OFF Set master reference position source: When it has a rising edge the "set master reference position" signal sets the actual master position to the set master reference position. The parameter G103 specifies the source of the signal. The selection options 0:Low and 1:High are the same as fixed values. With G103 = 3:BE1...28:BE13-inverted the actual master position can be set via the selected binary input. With G103 = 2:Parameter the signal source is the control word of the selected application (e.g., I223 Bit 9). This setting is provided for fieldbus operation. Possible control words (global parameters) are: 2C67h Application Parameter Bit Electronic cam I223 9 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; ID 441778.0004 260

G.. Technology 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 19 C0 00 hex G104, OFF Lead-Position Source: Selects the source encoder for a lead axis position which is indicated in parameters E163 and E164. These parameters can be distributed via the IGB to forward the lead axis position to other inverters. Information A plausibility check can be performed with parameters G297 and G298 for the encoder selected with this parameter. Remember that not all applications contain parameters G297 and G298! 2C68h 0: inactive; No lead axis position is output. 1: BE-encoder; The signals on binary inputs BE3, BE4 and BE5 are output as the lead axis position. 2: X4-encoder; The signals on X4 are output as the lead axis position. 3: X140-encoder; The signals on plug connector X140 are output as the lead axis position. 4: X120-encoder; The signals on X120 are output as the lead axis position. 5: virt. Master; The signals of the virtual master are output as the lead axis position. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 1A 00 00 hex Only visible when E163 Lead-position producer exists. G140 Master tip enable: Parameters G140 to G142 as well as G144 and G145 make it possible to move the virtual master in tipping mode. The Master TipEnable signal puts the virtual master in tipping mode. 0: inactive; 1: active; 2C8Ch Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 07 23 00 00 hex G141 Master tip+: Parameters G140 to G142 as well as G144 and G145 make it possible to move the virtual master in tipping mode. The Master Tip+ signal starts manual positioning in the positive direction. NOTE Tip mode must be activated for correct function (Master TipEnable signal). 2C8Dh 0: inactive; 1: active; Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 07 23 40 00 hex ID 441778.0004 261

G.. Technology G142 Master tip-: Parameters G140 to G142 as well as G144 and G145 make it possible to move the virtual master in tipping mode. The Master Tip- signal starts manual positioning in the negative direction. NOTE Tip mode must be activated for correct function (Master TipEnable signal). 2C8Eh 0: inactive; 1: active; Fieldbus: 1LSB=1; PDO ; Type: B; USS-Adr: 07 23 80 00 hex G143 Master velocity override: Enter the speed override for the virtual master in parameter G143. Master velocity override affects all speeds of the virtual master (tipping, positioning). 2C8Fh Value range in %: 0.0... 100,0... 400.0 Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767 LSB=400,0%); USS-Adr: 07 23 C0 00 hex G144 Master tip velocity: Parameters G140 to G142 as well as G144 and G145 make it possible to move the virtual master in tipping mode. Like all other speeds of the virtual master, it can be changed via the master velocity override G143. Acceleration during tip mode is specified by G145. 2C9 NOTE Since the parameterized value is rounded internally to whole increments, the entered values do not always appear exactly as entered. Value range in G245: 0.00... 0,00... 47185919.98 Fieldbus: 1LSB=siehe G46; PDO ; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 07 24 00 00 hex G145 Master tip acceleration: Parameters G140 to G142 as well as G144 and G145 make it possible to move the virtual master in tipping mode. Enter the acceleration of the virtual master in tipping mode in parameter G145. 2C91h NOTE Since the parameterized value is rounded internally to whole increments, the entered values do not always appear exactly as entered. Value range in G244: 0.00... 0,00... 47185919.98 Fieldbus: 1LSB=siehe G46; PDO ; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 07 24 40 00 hex G146 Master software limit switch +: Enter the position of the software limit switch for the virtual master in parameters G146 and G147. The software limit switch can only be used with a limited positioning range (G30 = 0). Enter the software limit switch in the positive direction of rotation in G146. The software limit switch is only active when the virtual master is referenced. The positioning controller rejects motion jobs to targets outside the software limit switches (ErrorCode G163 = 2). Tip mode and endless motion blocks are stopped at the software limit switches. When G146 and G147 are set to the same value, their function is deactivated. 2C92h ID 441778.0004 262

G.. Technology CAUTION When a flying change in motion block with slower ramps causes the permissible position range to be exceeded, this is not caught by software limit switches! Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; PDO ; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 07 24 80 00 hex G147 Master software limit switch -: Enter the position of the software limit switch for the virtual master in parameters G146 and G147. The software limit switch can only be used with a limited positioning range (G30 = 0). Enter the software limit switch in the negative direction of rotation in G147. The software limit switch is only active when the virtual master is referenced. The positioning controller rejects motion jobs to targets outside the software limit switches (ErrorCode G163 = 3). Manual positioning and endless motion blocks are stopped at the software limit switches. When G146 and G147 are set to the same value, their function is deactivated. 2C93h CAUTION When a flying change in motion block with slower ramps causes the permissible position range to be exceeded, this is not caught by software limit switches! Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; PDO ; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 07 24 C0 00 hex G150 Denied: The positioning virtual master has refused to execute a command. The cause is shown in parameter G163. 2C96h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 25 80 00 hex G151 Limited: The positioning virtual master is currently restricted by one of the software limit switches. 2C97h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 25 C0 00 hex G152 Aborted: Indication of the Aborted signal on the output interface of the positioning virtual master. The active signal indicates that the last motion job was aborted (e.g., by a halt command or a new motion job which was refused). Since the signal becomes inactive when a new motion job is started, the "Aborted" flag cannot be used to detect the abortion of a previous motion job by a new motion job. 2C98h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 26 00 00 hex ID 441778.0004 263

G.. Technology G153 Constant velocity: Indication of the signal for constant speed on the output interface of the positioning virtual master. When the signal is HIGH, the virtual master is moving at a constant speed. 0: inactive; 1: active; 2C99h Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 26 40 00 hex G154 In Position: Indication of the current value on the positioning virtual master's output of the same name. "In Position" is set when the specified speed profile has been completely covered. 2C9Ah 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 26 80 00 hex G155 In reference: Indication of the In Reference output signal of the positioning virtual master. The signal is set when a home command has caused the virtual master to change its current position to the reference position G58. 2C9Bh 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 26 C0 00 hex G156 Done: Indication of the Done signal on the output interface of the positioning virtual master. An active signal means that the command to be performed has been successfully executed. 2C9Ch 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 27 00 00 hex G157 Accelerating: Indication of the Accelerating signal on the output interface of the positioning virtual master. An active signal causes the speed to increase. 2C9Dh 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 27 40 00 hex G158 Decelerating: Indication of the Decelerating signal on the output interface of the positioning virtual master. An active signal causes the current speed to be reduced. 2C9Eh 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 27 80 00 hex ID 441778.0004 264

G.. Technology PLCopen master state: State of the positioning virtual master as per PLCopen definition. 2C9Fh G159 read (1) 0: PLCO_Init; Positioning virtual master is in the initialization phase. 1: PLCO_Passive; Positioning is passive. When the drive is outside the last target window, the reference position becomes the actual position and the In Position signal becomes inactive. 2: Standstill; The positioning virtual master is in standstill and is ready to accept a motion job. 3: Discrete motion; The positioning virtual master is in the middle of a movement which has a defined target position. 4: Continuous motion; The positioning virtual master is in the middle of a movement which does not have a defined target position. 5: Reserve 6: Stopping; The positioning virtual master moves along the set deceleration ramp until it comes to a standstill. A transition to the state "standstill" occurs afterwards. 7: Error stop; The positioning virtual master executes a halt. When the drive is at a standstill, the "ErrorStop" state is retained. 8: Reserve Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 07 27 C0 00 hex G160 read (2) Active PLCopen Step-ID: This parameter indicates the last-started motion block of the virtual master. When PLCopen blocks are used, each of these blocks has a step ID which can be set as desired (a number from 0 to 65535) on its reference value interface. The ID of the last-started PLCopen block is entered in G160. 2CA Fieldbus: 1LSB=1; Type: U16; USS-Adr: 07 28 00 00 hex G161 Error: Indication of the Error signal on the output interface of the positioning virtual master. An active signal shows an error that has occurred. The type of error is indicated in G163. 2CA1h read (1) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 28 40 00 hex G162 read (1) Active motionid: The value of the MotionID of the positioning virtual master which was accepted from the last rising "Execute" edge. A MotionID which is accepted with the rising edge of the "Execute" signal can be transmitted with each command. When the applicable MotionID is indicated as an active MotionID, this means that the command is being executed. 2CA2h Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 07 28 80 00 hex G163 Error code: When the PLCopen state of the positioning virtual master is G159 "ErrorStop," the cause can be read here. 2CA3h read (1) 0: error free; 1: Illegal direction; An attempt was made to start a motion job in an illegal direction of rotation. 2: SW-lim.switch+; An attempt was made to start a motion job whose target position is outside the positive software limit switch. ID 441778.0004 265

G.. Technology 3: SW-lim.switch-; An attempt was made to start a motion job whose target position is outside the negative software limit switch. 4: Absolute positioning without referencing; An attempt was made to start a motion job with an absolute target while the drive was not referenced. 5: Reserve 6: Reserve 7: SW-lim.switch+; ErrorStop due to activated software limit switch+. 8: SW-lim.switch-; ErrorStop due to activated software limit switch-. 9: Reserve 10: Denied because Position is not in circular length; 11: Reserve Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 07 28 C0 00 hex G190 Actual position virtual master: Indicates the current actual position of the "virtual master" block. 2CBEh Fieldbus: 1LSB=siehe G46; PDO ; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 07 2F 80 00 hex G191 Actual velocity virtual master: Indicates the current positioning speed of the "virtual master" block. 2CBFh Value range in G245: -47185920.00... 0,00... 47185919.98 Fieldbus: 1LSB=siehe G46; PDO ; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 07 2F C0 00 hex G194 Virtual master timestamp: Contains the time stamp of the current value of the actual position of the virtual master. 2CC2h read (2) Fieldbus: 1LSB=1µs; PDO ; Type: U16; USS-Adr: 07 30 80 00 hex G203 read (2) Master actual position: parameter for requesting the actual master position via a fieldbus. The position is transmitted without regard for fieldbus scaling and customer scaling without any positions after the decimal point (e.g., "123.45 " is sent to the controller as G203 = 12345). 2CCBh Fieldbus: 1LSB=siehe G46; PDO ; Type: I32; (raw value:1lsb=0,01 <G49>); USS-Adr: 07 32 C0 00 hex G244 Measure.unit: Unit of measure automatically derived from G49 for master acceleration. 2CF4h Default setting: /s² Fieldbus: Type: Str8; USS-Adr: 07 3D 00 00 hex Only when no electronic gear is used. G245 Measure.unit: Unit of measure for master speed automatically derived from G49. 2CF5h Default setting: /s Fieldbus: Type: Str8; USS-Adr: 07 3D 40 00 hex Only when no electronic gear is used. ID 441778.0004 266

G.. Technology G248 Technology increments: (When the "Master SyncPosi" block is used). Automatically generated from G27 and the related encoder parameters. The effective encoder increment number is indicated. Value range: 0... 16384... 16384 Fieldbus: 1LSB=1; Type: I16; USS-Adr: 07 3E 00 00 hex 2CF8h G249 Effective master revolutions: (When the "Master SyncPosi" block is used). G249 and G250 provide the effective master-slave transmission ratio based on increments. The entries are generated automatically. Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 3E 40 00 hex 2CF9h G250 Effective slave revolutions: (When the "Master SyncPosi" block is used). G249 and G250 provide the effective master-slave transmission ratio based on increments. The entries are generated automatically. Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 3E 80 00 hex 2CFAh G251 Effective master counting direction: (When the "Master SyncPosi" block is used). Direction in which the actual master value is moving when the master encoder is rotating clockwise. 2CFBh 0: positive; 1: negative; Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 3E C0 00 hex G290 Error-evaluation lead-position source: This parameter indicates the current state of the error evaluation counter (see G298) for the encoder selected in G104. 2D22h Value range: 0.0... 0,0... 12.0 Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 07 48 80 00 hex G291 Error-counter lead-position source: This parameter counts the errors tolerated by the encoder selected in G104 since the new start of the device. 2D23h Fieldbus: 1LSB=1; Type: U32; USS-Adr: 07 48 C0 00 hex G295 Double transmission master-encoder: Indicates whether double-transmission monitoring is active for the SSI encoder used as the master encoder. Double-transmission monitoring is not active at first when encoder evaluation begins but shortly thereafter it is activated automatically if the SSI encoder supports this. Inactive monitoring significantly reduces data security. This parameter can be disregarded if the master encoder is not an SSI encoder. 2D27h NOTE This parameter can only be used when an SSI or an EnDat encoder is being evaluated on the inverter. 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 49 C0 00 hex ID 441778.0004 267

G.. Technology G296 Error-counter master-encoder: Counts the number of tolerated errors of the master encoder since the last new start of the device. 2D28h NOTE This parameter can only be used when an SSI or an EnDat encoder is being evaluated on the inverter. Value range: 0... 0... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 07 4A 00 00 hex G297 Maximum-speed master-encoder: A plausibility check of the encoders selected in G104 and G27 is available with G297. The difference between two consecutive encoder values is monitored. f this difference exceeds the speed specified in G297, a malfunction is triggered (37:nfeedback/double transmission, starting with V5.2: 37:Encoder/X4-speed or X120-speed and starting with V5.4 IGB-wirebreak) 2D29h Regardless of the encoder system being used, specification of the incremental difference is always standardized to 8192 increments/rotation. Information This parameter can only be used when an SSI or an EnDat encoder is being evaluated on the inverter. The selection 6:IGB can also be monitored for the encoder selected in G27. Value range in increments/ms: 0... 16777216... 24 Bit Fieldbus: 1LSB=1increments/ms; Type: I32; (raw value:7 Bit=1 increments/ms); USS-Adr: 07 4A 40 00 hex G298 Error-tolerance master-encoder: Sets the inverter's tolerance of faults of the encoders selected in G104 and G27. This tolerance keeps fault 37:encoder from being triggered due to sporadic encoder errors. The inverter extrapolates an encoder value in this case. Parameter G298 specifies how many errors will be tolerated before the inverter malfunctions. 2D2Ah The fault evaluation is set up as follows (example for the encoder parameterized in G27. G290 is the reference parameter instead of G299 for the G104 encoder): Each arriving encoder value is checked. When an encoder error is found, G299 and G298 are compared. If the error evaluation counter G299 is greater than or equal to G298, fault 37:encoder is triggered. If G299 is less than G298, the error is tolerated. Counter G299 is incremented by 1.0. When the arriving encoder value is correct, error evaluation counter G299 is decremented by 0.1. Decrementation continues until the value 0. Example: When 0.1 is set in G298 one error is tolerated. At least 10 correct values must then be determined before the next error is found. The following errors are tolerated: - EnDat -CRC - EnDat -Busy - SSI-double transmission - SSI-Busy - Violation of the maximum speed from G297 A malfunction is triggered immediately for other encoder errors (e.g., wire break) regardless of G298. ID 441778.0004 268

G.. Technology The quality of motion may suffer due to error toleration. When encoder errors occur frequently we recommend checking the wiring. The fault evaluation counter can be viewed in G299 or G291. Information This parameter can only be used when an SSI or an EnDat encoder is being evaluated on the inverter. The selection 6:IGB can also be monitored for the encoder selected in G27. Value range: 0.0... 1,0... 3.0 Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 07 4A 80 00 hex G299 Error-evaluation master-encoder: Indicates the current status of the error evaluation counter (see G298). 2D2Bh NOTE This parameter can only be used when an SSI or an EnDat encoder is being evaluated on the inverter. Value range: 0.0... 0,0... 12.0 Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 07 4A C0 00 hex G340, OFF Masterfilter: Activates filter via the master actual-value filter. Incremental multiplication is always active regardless of the filter. 2D54h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 55 00 00 hex G341, OFF Masterfilter increment multiplier: Multiplication factor for the master position to the exponent of 2. For example, a value of 5 results in the multiplication of the master position by a factor of 32. 2D55h Value range: 0... 0... 8 Fieldbus: 1LSB=1; Type: I8; USS-Adr: 07 55 40 00 hex G342 Masterfilter position low pass: Time constant for the position low pass of the master actualvalue filter. 2D56h Value range in ms: 0.0... 1,2... 1007.2 Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1lsb=fnct.no.11; USS-Adr: 07 55 80 00 hex Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10. G343 Masterfilter speed low pass: Time constant for the speed low pass of the master actualvalue filter. 2D57h Value range in ms: 0.0... 3,7... 1007.2 Fieldbus: 1LSB=0,1ms; Type: I32; raw value:1lsb=fnct.no.11; USS-Adr: 07 55 C0 00 hex Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10. ID 441778.0004 269

G.. Technology G344 Masterfilter dead time compensation: Compensation option for dead times which are created while the master actual value is being processed. 2D58h Value range in ms: 0.0... 0,0... 1000.0 Fieldbus: 1LSB=0,1ms; Type: I32; (raw value:2147483647 = 32768000.0 ms); USS-Adr: 07 56 00 00 hex Only when the value of the parameter is not 0 for the next smaller coordinate divisible by 10. G348 Filtered master-position: The parameter shows the master position after increment multiplication and filtering by the master actual-value filter. 2D5Ch Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.23; USS-Adr: 07 57 00 00 hex G349 Filtered master-speed: The parameter shows the master speed after increment multiplication and filtering by the master actual-value filter. 2D5Dh Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.24; USS-Adr: 07 57 40 00 hex G400 Motion ID: Motion ID is a motion job ID which the user can assign as desired. The PLCopen blocks increment G400 each time a block starts and use this as the motion block ID. When G400 changes, this means that the previous PLCopen block was aborted. See also G162. 2D9 Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 07 64 00 00 hex G401 Command: The PLCopen blocks are built on the functionality of the positioning virtual master. The command is sent to this functionality in G401. 2D91h Value range: 0... 0... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 64 40 00 hex G402 Execute: The PLCopen blocks are built on the functionality of the positioning virtual master. The Execute signal is sent to this functionality in G402. 2D92h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 07 64 80 00 hex G403 Target position: The PLCopen blocks are built on the functionality of the positioning virtual master. The target position is sent to this functionality in G403. 2D93h Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 07 64 C0 00 hex G404 Velocity: The PLCopen blocks are built on the functionality of the positioning virtual master. The reference speed is sent to this functionality in G404. 2D94h Value range in G245: 0.00... 0,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 07 65 00 00 hex ID 441778.0004 270

G.. Technology G405 Accel: The PLCopen blocks are built on the functionality of the positioning virtual master. The reference acceleration is sent to this functionality in G405. 2D95h Value range in G244: 0.00... 0,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 07 65 40 00 hex G4 Decel: The PLCopen blocks are built on the functionality of the positioning virtual master. The reference deceleration is sent to this functionality in G4. 2D96h Value range in G244: 0.00... 0,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 07 65 80 00 hex G407 Jerk: The PLCopen blocks are built on the functionality of the positioning virtual master. The reference jerk limitation is sent to this functionality in G407. 2D97h Value range in G244: 0.00... 0,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 07 65 C0 00 hex G408 Timestamp of execute: The PLCopen blocks are built on the functionality of the positioning virtual master. The time stamp of the Execute signal is sent to this functionality in G408. The virtual master uses this value to reconstruct precisely to the microsecond when the Execute signal occurred regardless of the cycle time parameterized in A150. 2D98h Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 07 66 00 00 hex G409 MC_Stop: According to the definition in PLCopen, the PLCopen block "Master PLCopen MC_Stop" must block other PLCopen blocks when the Execute signal is queued. The MC_Stop block supplies its negated Execute input in G409. All other PLCopen blocks generate a logical AND link between their Execute signal and G409. 2D99h Value range: 0... 1... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 66 40 00 hex G850 Master absolute/relative: Value the last time MC_CamIn was executed. 0: Master relative. In this mode the start of the table is allocated to the current master value at the point in time the cam was activated. 1: Master absolute. In this mode the corresponding point in the table is always allocated to the current master value. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 D4 80 00 hex G852 Cam table periodic: Value when the table coupling block was activated last. When the master is a type "endless position range with circular length" and cam execution is periodic (cyclic), the cam is started again each time the circular length overflows or underflows. When the cam profile is open the difference between start and end values is added as for an offset. This creates a cam profile without jumps. When cam execution is not periodic, the start or end value of the cam table is retained starting the next time the circular length overflows or underflows. There is no more reaction to the master position. ID 441778.0004 271

G.. Technology When the master is a type "limited," periodic execution is not possible. The start and end values are extrapolated for all X values located outside the cam. In other words, the last Y value of the table is allocated to all values which are greater than the last X value, and the first Y value is allocated to all values which are less than the first X value. This is not possible after the value range of the actual master position overflows. For instance, if the actual master position exceeds the overflow point in the positive direction, it assumes the maximum negative value behind the overflow point and calculates the applicable table value from this. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 D5 00 00 hex G853 G854 G855 G856 G857 G858 G860 Cam table reference number: Value the last time MC_CamIn was executed. The cam reference number to be selected is transferred with this parameter. One of a maximum of four cam tables is selected. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 D5 40 00 hex Master scaling: Value the last time the table coupling block was activated. A distance is specified here in master units. It is the distance which is allocated to the entire length of the cam table in the X direction. Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.23; USS-Adr: 07 D5 80 00 hex Master scaling: Value the last time the table coupling block was activated. The "master offset" value is subtracted from the current actual master position before the result is prepared for use as an index in the cam table. Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.24; USS-Adr: 07 D5 C0 00 hex Slave scaling: Value the last time the table coupling block was activated. A distance is specified here in slave units. It is the distance which is allocated to the standardized end value (2^30) of the cam table in the Y direction. Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 07 D6 00 00 hex Slave offset: Value the last time the table coupling block was activated. The "slave offset" value is added to the scaled output value of the cam table. Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 07 D6 40 00 hex CamIn Execute: Saved status of the Execute signal of the MC_Camin block which is supplied with the coupling parameter. A rising edge of the signal is detected with this value. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 D6 80 00 hex Output table coupling limited pos. range: This value is supplied to the Posi kernel as the actual master position in the presentation for limited position range. Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 07 D7 00 00 hex ID 441778.0004 272

G.. Technology G861 Output table coupling endless pos. range: This value is supplied to the Posi kernel as the actual master position in the presentation for endless position range. G862 G863 Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 07 D7 40 00 hex Output table coupling velocity: This value is supplied to the Posi kernel as the master speed. Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 07 D7 80 00 hex State code of table coupling: Table coupling behavior is divided into various states. 0: Active. Normal processing of the table coupling. The output value is determined by the applicable rules of computation and written to the output. 1: Reserved 2: Reserved 3: End of table reached. The master position has overflowed or underflowed over the zero point with a non-periodic cam. From this time on, no more changes to the output value of the table coupling occur until the table coupling is activated again with an Execute signal. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 D7 C0 00 hex G864 G865 G866 Status flags of table coupling: Bit 0 = 1. The calculated index in the cam table is less than 0. Bit 1 = 1. The calculated index in the cam table is greater than the maximum index. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 D8 00 00 hex Accumulator of periodic curve offset: The periodic cam offset is added to this value each time the master position overflows the circular length or is subtracted each time the master position underflows the zero point. Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 07 D8 40 00 hex Periodic curve offset: With open cam profiles the difference between the Y values at the beginning and the end of the table and the slave scaling value results in an offset which must be considered appropriately each time the master position overflows or underflows. This value is calculated once at the start of the cam and is then indicated in G866. Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 07 D8 80 00 hex G867 G868 Master position minus offset: Indication of the master position minus the master offset. Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.24; USS-Adr: 07 D8 C0 00 hex Master position in normalized form: Indication of the master position minus the master offset over the master scaling value (normalized/standardized for table access). Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 D9 00 00 hex ID 441778.0004 273

G.. Technology Output value of table in normalized form: Standardized value on the table output. G869 G870 Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 D9 40 00 hex Output value of table in scaled form: Output value of the table scaled with the slave scaling value but still without slave offset. G871 G908 Fieldbus: 1LSB=1; Type: I32; USS-Adr: 07 D9 80 00 hex Master pos. minus offset no compensation: Indication of the master position minus master offset without dead time compensation. Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.24; USS-Adr: 07 D9 C0 00 hex Connector master position limited: Connector parameter which establishes the connection to the referencing blocks. The actual position has already been converted to the reference system of the slave drive and is indicated in the units as specified by I, I07, I08 and I09. Even when the master axis is parameterized with an endless position range, G900 shows consecutive actual positions without a break at the round-trip length. Fieldbus: 1LSB=1; Type: P64; USS-Adr: 07 E3 00 00 hex G909 Connector master position endless: Connector parameter which establishes the connection to the referencing blocks. The actual position has already been converted to the reference system of the slave drive and is indicated in the units as specified by I, I07, I08 and I09. When the master axis is parameterized as endless axis, G901 always supplies values between 0 and the value of G940 (see also G940 and G40). In contrast to G901, G909 shows the value before a master slave coupling block. Fieldbus: 1LSB=1; Type: P64; USS-Adr: 07 E3 40 00 hex G910 Master pos. limited no compensation: G910 is used as a possible actual-value source for a master cam. G910 contains the actual position of the master without the otherwise obligatory dead time compensation. G911 also shows the actual value without a break in circular length G40 for parameterization as master with endless position range. G911 is indicated as position value with the units specified by G46, G47, G48 and G49. Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 07 E3 80 00 hex G911 Master pos. endless no compensation: G911 is used as a possible actual-value source for a master cam. G911 contains the actual position of the master without the otherwise obligatory dead time compensation. G911 also shows the actual value with a break in circular length G40 for parameterization as master with endless position range. G911 is indicated as position value with the units specified by G46, G47, G48 and G49. Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 07 E3 C0 00 hex ID 441778.0004 274

G.. Technology G950 Master absolute/relative: 0:Master relative. In this mode the start of the table is allocated to the current master value at the time the cam was activated. 1:Master absolute. In this mode the corresponding point in the table is always allocated to the current master value. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 ED 80 00 hex G951 G952 Slave absolute/relative: Not used at this time. Is always 0. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 ED C0 00 hex Cam table periodic: When the master is a type "endless position range with circular length" and the cam is executed periodically, the cam is started again each time the circular length overflows or underflows. When the cam profile is open, the difference between the start and end values is accumulated as the offset. This produces a cam profile without jumps. When cam execution is not periodic, the start or end value of the cam table is retained starting the next time the circular length overflows or underflows. There is no more reaction to the master position. When the master is a type "limited," periodic execution is not possible. The start and end values are extrapolated for all X values located outside the cam. In other words, the last Y value of the table is allocated to all values which are greater than the last X value, and the first Y value is allocated to all values which are less than the first X value. This is not possible after the value range of the actual master position overflows. For instance, if the actual master position exceeds the overflow point in the positive direction, it assumes the maximum negative value behind the overflow point and calculates the applicable table value from this. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 EE 00 00 hex G953 G954 Cam table reference number: The cam reference number to be selected is transferred with this parameter. One of a maximum of four cam tables is selected. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 EE 40 00 hex Master scaling: A distance is specified here in master units. It is the distance which is allocated to the entire length of the cam table in the X direction. Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 07 EE 80 00 hex G955 G956 Master offset: The "master offset" value is subtracted from the current actual master position before the result is prepared for use as an index in the cam table. Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 07 EE C0 00 hex Slave scaling: A distance is specified here in slave units. It is the distance which is allocated to the standardized end value (2^30) of the cam table in the Y direction. Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 07 EF 00 00 hex ID 441778.0004 275

G.. Technology Slave offset: The "slave offset" value is added to the scaled output value of the cam table. G957 G958 Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 07 EF 40 00 hex CamIn Execute: The Execute signal of the MC_Camin block is supplied with this coupling parameter to the table coupling block. G959 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 07 EF 80 00 hex CamIn Execute timestamp: The time stamp belonging to the Execute signal of the MC_Camin block is transmitted in this coupling parameter. Fieldbus: 1LSB=1; Type: U16; USS-Adr: 07 EF C0 00 hex H.. Encoder X4-function: Function of encoder interface X4 (motor encoder). 2E0 H00, OFF r=2, w=2 NOTE Please remember that only the setting 3:Incremental-encoder In is available on the FDS 5000. NOTE Also please remember that a change in H00 may cause position values to be rescaled (in positioning applications). Scaling can take several seconds. 0: inactive; 3: incremental encoder in; (only for asynchronous motors) 64: EnDat ; 65: SSI master; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 00 00 00 hex H01, OFF r=2, w=2 X4-increments: Number of increments for the encoder set in H00. With incremental encoders, each increment supplies 4 counting increments via the edge evaluation and thus a four-fold higher resolution of the position. Value range in inc/r: 30... 1024... 8191 Fieldbus: 1LSB=1inc/r; Type: I16; USS-Adr: 08 00 40 00 hex 2E01h Only visible when H00 = 3:EncoderIn. H02, OFF X4-inverted: Inverts the sign of the angle supplied by the encoder in the encoder acquisition. Can be used for reversed phases. Adhere to B05! 2E02h r=2, w=2 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 00 80 00 hex Only visible when H00 is not 0:inactive. ID 441778.0004 276

H.. Encoder X4-SSI-code: Type of coding of the angle via the SSI encoder. 2E05h H05, OFF r=2, w=2 0: gray; 1: binary; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 01 40 00 hex Only visible when H00 = 65:SSI-Master. H08, OFF r=2, w=2 POSISwitch encoder selector: Available as an option, the POSISwitch control module permits the connection of several motors to one inverter. In H08 it can be set separately for each of the four (software) axes which connection on the POSISwitch (i.e., which motor) is allocated to the particular axis configuration. This routine permits two or more applications to be run together on separate (software) axes with a single motor. 2E08h NOTE Following a change in parameter H08, correct evaluation of the electronic nameplate is not ensured until after a device new start. 0: Enc1; 1: Enc2; 2: Enc3; 3: Enc4; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 02 00 00 hex Only visible when a POSISwitch was detected on X4. H10, OFF r=2, w=2 X4-SSI data bits: With 24 or 25-bit evaluation, the 12-bit highest significance for rotary encoders corresponds to whole encoder rotations (multi-turns). Afterwards 12 or 13 bits within one rotation can still be coded. When 24-bit is set, the bit with the least significance is forced to 0. When 13-bit is set, all 13 bits code the angle within one rotation (single-turn). 2E0Ah 0: 25 1: 24 2: 13 short; Evaluation of a single-turn SSI encoder with 13-bit telegram. 3: 13 tree; Evaluation of a 13-bit single-turn SSI encoder with 25-bit telegram. The evaluation ignores the upper 12 bits. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 02 80 00 hex Only visible when H00 = 65:SSI-Master. ID 441778.0004 277

H.. Encoder H11, OFF r=2, w=2 X4 double transmission: Switches off double transmission for SSI encoder. When double transmission is activated, the angle is scanned twice in immediate succession to increase data reliability. If the encoder does not support double transmission, the inverter automatically switches off the monitoring but continues to scan twice. When double transmission is switched off with this parameter, the inverter no longer generates a second scan. Double transmission should not be deactivated if the hardware permits this function. 2E0Bh 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 08 02 C0 00 hex Only visible when H00 = 65:SSI-Master. H18, OFF POSISwitch port-status: Indicates as a binary word the POSISwitch ports to which encoders are connected. This is determined by the inverter during startup. 2E12h read (2) Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 04 80 00 hex Only visible when a POSISwitch was detected on X4. H40, OFF r=2, w=2 BE-encoder: Function of the encoder evaluation on BE3 (X101.13), BE4 (X101.14) and BE5 (X101.15). The binary inputs have the following functions for the different settings: 1: incremental encoder in 2: stepmotor in BE3 Zero track - BE4 Track A+ (Increments) freq.+ BE5 Track B+ (Direction of rotation) sign+ 2E28h NOTE Also please remember that a change in H40 may cause position values to be rescaled (in positioning applications). Scaling can take several seconds. 0: inactive; 1: incremental encoder in; 2: stepmotor In; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 0A 00 00 hex Only visible when a board is installed in the bottom option slot. H41, OFF r=2, w=2 BE-increments: Increments per encoder revolution of the encoder on BE4 (X101.14) and BE5 (X101.15). With incremental encoders, each increment supplies 4 counting steps via edge evaluation and thus four times as high a resolution of the position. Value range in inc/r: 30... 1024... 8191 Fieldbus: 1LSB=1inc/r; Type: I16; USS-Adr: 08 0A 40 00 hex 2E29h Only visible when a board is installed in the bottom option slot and H40 is not 0:inactive. ID 441778.0004 278

H.. Encoder H42, OFF BE-inverted: Inverts the sign of the angle supplied by the BE encoder in the encoder acquisition. Can be used for reversed motor phases. 2E2Ah r=2, w=2 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 0A 80 00 hex Only visible when a board is installed in the bottom option slot and H40 is not 0:inactive. H60, OFF r=2, w=2 BA-encodersimulation: Function of the encoder simulation on binary outputs BA1 and BA2 (terminals X101.16 and X101.17). The encoder simulation is available as system function in all applications. Important: The encoder simulation only works when no other function is assigned to the binary outputs. If present at all in the application, the corresponding parameters F61 and F62 may not contain any entries (blank input). 2E3Ch 0: inactive; 1: incremental encoder simulation; 2: stepmotor Simulation; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 0F 00 00 hex Only visible when a board is installed in the bottom option slot. H62 BA-inverted: Inverts the sign of the BA encoder simulation. 2E3Eh, OFF r=2, w=2 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 0F 80 00 hex Only visible when a board is installed in the bottom option slot and H60 is not 0:inactive. H63, OFF r=2, w=2 BA-increments: Increments of the encoder simulation on BA1 / BA2. When the source is an absolute value encoder, H63 specifies the increments as with a real incremental encoder. When the source is an incremental encoder, the scaling factor determines the selection. 1:2 means that half of the source increments are output on the BAs. 2E3Fh 1: 64 i/r(1:16); 2: 128 i/r(1:8); 3: 256 i/r(1:4); 4: 512 i/r(1:2); 5: 1024 i/r(1:1); Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 0F C0 00 hex Only visible when a board is installed in the bottom option slot and H60 is not 0:inactive. ID 441778.0004 279

H.. Encoder H67, OFF BA-encodersimulation source: Specifies which source is used as position encoder for the BA encoder simulation. 2E43h r=2, w=2 0: motor-encoder; 1: Configuration; H67 = 1 provides an opportunity to calculate as desired the increments to be output within the graphic configuration (e.g., as frequency proportionate to the motor torque). In standard applications, simulation with H67 = 1 usually does not take effect. 2: position-encoder; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 10 C0 00 hex Only visible when a board is installed in the bottom option slot and H60 is not 0:inactive. H120, OFF X120-Function: Function of plug connector X120 on the I/O terminal module expanded (XEA 5000 and XEA 5001 respectively) and on the I/O terminal module resolver REA 5001 respectively. 2E78h r=2, w=2 NOTE The X120 interface on the REA 5000 option board permanently simulates TTL encoder signals in reference to a resolver connected to X140. This is the reason why this interface cannot be affected with H120. NOTE Also please remember that a change in H120 may cause position values to be rescaled (in positioning applications). Scaling can take several seconds. 0: inactive; 4: incremental encoder in; 5: stepmotor In; 67: SSI master; 68: SSI slave; 80: incremental encoder simulation; 81: stepmotor Simulation; 82: SSI simulation; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 1E 00 00 hex H121, OFF r=2, w=2 X120-increments: Increments per encoder rotation of the encoder on X120. With incremental encoders each increment supplies 4 counting steps via edge evaluation and thus four times as high a resolution of the position. 2E79h Value range in inc/r: 30... 1024... 8191 Fieldbus: 1LSB=1inc/r; Type: I16; USS-Adr: 08 1E 40 00 hex Only visible when an XEA board is installed in the bottom option slot and an encoder input is parameterized in H120. ID 441778.0004 280

H.. Encoder H122, OFF X120-inverted: Inverts the sign of the angle supplied by the X120 encoder in the encoder acquisition. Can be used for reversed motor phases. Adhere to B05! 2E7Ah r=2, w=2 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 1E 80 00 hex Only visible when an XEA board is installed in the lower option slot and H120 is not 0:inactive or when an REA board is installed in the lower option slot. H123, OFF r=2, w=2 X120-encoder simulation increments: Increments of the encoder simulation on X120. When the source is an absolute value encoder, H123 specifies the increments as with a real incremental encoder. When the source is an incremental encoder, the scaling factor provides the selection. 1:2 means that half of the source increments are output on X120. 2:1 means that twice as many increments are output on X120. 2E7Bh NOTE The X120 interface on the REA 5000 option board permanently simulates TTL encoder signals in reference to a resolver connected to X140. This is the reason why the scaling factor set in H123 always refers to X140 in this case. 1: 64 i/r(1:16); 2: 128 i/r(1:8); 3: 256 i/r(1:4); 4: 512 i/r(1:2); 5: 1024 i/r(1:1); 6: 2048 i/r(2:1); Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 1E C0 00 hex Only visible when an XEA board is installed in the lower option slot and an encoder simulation is parameterized in H120 or when an REA board is installed in the lower option slot. H124 X120-zero position offset: Shift the zero pulse during incremental encoder simulation. 2E7Ch, OFF r=2, w=2 Value range in : 0.0... 0,0... 360.0 Fieldbus: 1LSB=0,1 ; Type: I16; USS-Adr: 08 1F 00 00 hex Only visible when an XEA board is installed in the lower option slot and an encoder simulation is parameterized in H120 or when an REA board is installed in the lower option slot. H125 X120-SSI-Code: Type of angle coding via the SSI encoder and for the SSI simulation. 2E7Dh, OFF r=2, w=2 0: gray; 1: binary; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 1F 40 00 hex Only visible when an XEA board is installed in the bottom option slot and an SSI functionality is selected in H120. ID 441778.0004 281

H.. Encoder H127, OFF X120-encoder simulation source: Specifies which source will be used as position encoder for the X120 encoder simulation. 2E7Fh r=2, w=2 0: Motorencoder; The encoder set in B26 is used as the source. 1: Configuration; The virtual master is used as the source. 2: Positions-encoder; The encoder set in I02 is used as the source. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 1F C0 00 hex Only visible when E58 = XEA 5000 (and XEA 5001 respectively) and H120 is greater than 80:Incremental-Encoder-Simulation. H130, OFF r=2, w=2 X120-SSI-data bits: With evaluation or simulation with 24 or 25 bit, the 12-bit highest significance for rotary encoders corresponds to whole encoder rotations (multi-turns). Afterwards 12 or 13 bits can still be coded within one rotation. When 24 bit is set, the bit with the least significance is forced to 0. With a setting to 13 bits, all 13 bits code the angle within one rotation (single-turn). 2E82h NOTE Note that the SSI data bits are set with the parameter H126 in version V 5.2. For questions concerning the documentation of H126, contact electronics@stoeber.de. 0: 25 1: 24 2: 13 short; Evaluation or simulation of a single-turn SSI encoder with 13-bit telegram 3: 13 tree; Evaluation or simulation of a single-turn SSI encoder with 25-bit telegram. The upper 12 bits are ignored for the evaluation. For simulation, 0 is forced. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 20 80 00 hex Only visible when an XEA board is installed in the bottom option slot and an SSI functionality is selected in H120. H131, OFF r=2, w=2 X120 double transmission: Switches off double transmission for SSI encoder. When double transmission is activated, the angle is scanned twice in immediate succession to increase data reliability. If the encoder does not support double transmission, the inverter automatically switches off the monitoring but continues to scan twice with running switching cycle. When double transmission is switched off with this parameter, the inverter no longer generates a second scan. 2E83h NOTE Double transmission should not be deactivated if the hardware permits this function. 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 08 20 C0 00 hex Only visible when an XEA board is installed in the bottom option slot and an SSI functionality is selected in H120. ID 441778.0004 282

H.. Encoder H132, OFF SSI-Timeout: The parameter activates timeout monitoring for SSI simulation on X120. Timeout monitoring triggers fault 37 when no position has been scanned during the last 5 ms for an MDS 5000 or during the last 1.25 ms for an SDS 5000. If timeout monitoring is deactivated, the higher-level controller must ensure that the SSI transmission is error-free and within the correct cycle. This monitoring is then switched off on the drive! When the SSI simulation is part of an SSI motion bus (e.g., synchronous operation, cam), monitoring must remain on. Otherwise the SSI motion bus is not safe and, with it, the application. When the simulation is ready for operation after the inverter starts up, it also takes approx. 5 s before monitoring starts even if timeout is already activated. This gives the evaluated device (controller, other inverter) a somewhat longer startup time before the fault is triggered. 2E84h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 08 21 00 00 hex Only visible when E58 = XEA 5000 (and XEA 5001 respectively) and H120 is greater than 80:Incremental-Encoder-Simulation. H133 SSI simulation offset: This parameter specifies an offset for the SSI simulation. This is added to the value from the evaluation of a real source encoder. The parameter has no effect if a virtual master encoder is used as the SSI source. Fieldbus: 1LSB=1; Type: U32; USS-Adr: 08 21 40 00 hex 2E85h Only visible when E58 = XEA 5000 (and XEA 5001 respectively) and H120 is greater than 80:Incremental-Encoder-Simulation. H140, OFF X140-function: Function of plug connector X140 on the resolver I/O terminal module (REA 5000, REA 5001). 2E8Ch r=2, w=2 NOTE Also please remember that a change in H140 may cause position values to be rescaled (in positioning applications). Scaling can take several seconds. 0: inactive; 66: resolver; 71: EnDat with sine and cosine; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 23 00 00 hex Only visible when a resolver option board is installed in the bottom option slot. H142, OFF X140-inverted: Inverts the sign of the angle supplied by the X140 encoder in the encoder acquisition. Can be used for reversed motor phases. Adhere to B05! 2E8Eh r=2, w=2 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 23 80 00 hex Only visible when a resolver option board is installed in the bottom option slot and H140 is not 0:inactive. ID 441778.0004 283

H.. Encoder H148, OFF X140-resolver poles: Number of poles of the resolver on X140 (Firmware versions prior to V 5.4 only permit the operation of two-pole resolvers). 2E94h r=2, w=2 NOTE Only for use with an REA 5000. The incremental encoder simulation on X120 outputs a number of markers which is incremented by the factor H148/2 in comparison to the number of markers parameterized in H123. Value range: 2... 2... 6 Fieldbus: 1LSB=1; Type: U8; (raw value:255 = 510); USS-Adr: 08 25 00 00 hex Only visible when E58 is parameterized as "REA 5000" or "REA 5001" and H140 = 66:Resolver. H300, OFF RefRetained: With the setting "1:active" the status "In Reference" (I86) is not deleted on the occurrence of an EnDat CRC error on X4, as would otherwise normally be the case. The setting of H300 is relevant for the following parameter combinations: 1. I02 = 2:X4-Encoder 2. I02 = 0:Motor encoder and B26 = 2:X4-Encoder 2F2Ch 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 08 4B 00 00 hex I.. Positioning I01 Circular length: Only when a positioning application with endless positioning range exists. Maximum value for the actual position starting at which the position is counted from zero again (e.g., 360 degrees - modulo function). Value range in I09: -31Bit... 360,00... 31Bit 3001h Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 00 40 00 hex I02, OFF Position-encoder: Selection of the interface to which the position encoder is connected. The encoder must be correctly parameterized for the particular interface in the H.. group. 3002h 0: Motor-encoder; The encoder selected with B26 (motor feedback). 1: BE-encoder; Incremental encoder on binary inputs BE4 and BE5. 2: X4-encoder; Encoder on plug connector X4 of the MDS 5000 and FDS 5000 respectively basic device. The encoder connected to X4 is usually used for motor control. In this case, the settings I02 = 0 and I02 = 2 produce the same result. 3: X140-encoder; Resolver on plug connector X140 of the REA 5000, resolver or EnDat -Encoder on plug connector X140 of the REA 5001. When the resolver is used for motor control, I02 = 0 and I02 = 3 have the same effect. 4: X120-encoder; Encoder on plug connector X120 of the expanded I/O terminal module (XEA 5000 and XEA 5001 respectively). Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 00 80 00 hex ID 441778.0004 284

I.. Positioning I04 Move direction: With endless axes with only one mechanically permissible direction of movement. Movements in the wrong direction are answered with the message "refused" in parameter I200.1. The referencing is completely executed with the speed I33. The direction of rotation is not reversed. 3004h 0: Positive and negative; Both directions are permitted. 1: Positive; Only the positive direction is permitted (also applies to manual traversing!). 2: Negative; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 01 00 00 hex I Decimal digits: Number of positions after the decimal point for indication and entry of position reference values, speeds, accelerations as well as I07. Important: A change in I causes a shift in the decimal point (i.e., the affected values are changed). For this reason, I should be programmed at the very beginning of commissioning. Example: When I is reduced from 2 to 1, values are changed (e.g., 12.27 mm to 122.7 mm). The reason for this is the error-free rounding of the positioning software. 30h Value range: 0... 2... 3 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 01 80 00 hex I07, OFF Distance per rev. Numerator: Together with I08, I07 determines the distance (position difference) with reference to one rotation of the POSI encoder I02. I corresponds to the number of decimal positions. A left/right reversal can be performed with negative values in I07. (In this case the hardware limit switches must also be reversed!) Example: A gear ratio of i = 2015/144 = 13.99 and an angle reference value specification [degrees] on the driven shaft results in I07 = 360 /13.99R=25.73 /R. I07 = 360*144=51840 and I08 = 2015 must be specified for a correct rounding conversion. When a directly driven ball screw spindle with an incline of 10 mm/r is used, I07=10.00 results with I09 = 'mm' and two positions after the decimal point. With high demands, I08 can help to increase precision almost to any amount: 12.34567 mm/r corresponds to I07 = 12345.67 and I08 = 1000. 3007h Value range in I09: -21474836.48... 360,00... 21474836.47 Fieldbus: 1LSB=siehe I; Type: I32; (raw value:1lsb=0,01 <I09>); USS-Adr: 09 01 C0 00 hex I08, OFF Distance per rev. Denominator: Counter I07 is divided by denominator I08. This means that a mathematically precise gear ratio can also be calculated as a fraction (toothed gearing, toothed belt transmission). External encoders which are not mounted on the motor: An "encoder rotation" must be placed in relation to a motor rotation. 3008h Important: Since a change in I08 also affects the values of other parameters, /08 should be parameterized at the beginning of a commissioning procedure. Value range in encoder revolutions: 0... 1... 31 Bit Fieldbus: 1LSB=1encoder revolutions; Type: I32; USS-Adr: 09 02 00 00 hex ID 441778.0004 285

I.. Positioning I09 Measure.unit: Input and indication of the unit of measure defined as desired by the user with POSITool. A maximum of 8 characters is possible Examples of permissible entries: Inc, mm,, degree, inch, and so on. Default setting: 3009h Fieldbus: Type: Str8; USS-Adr: 09 02 40 00 hex I10 Maximal speed: When a higher feed speed is specified, the value is limited to I10 without the occurrence of a following error. 300Ah NOTE The parameterized value is rounded internally to whole increments of the measuring system used. Depending on the resolution of the position encoder I02, the entered values cannot always be precisely imaged. The maximum motor speed is calculated from nmax = I10*I08 / I07 (take units into account). Value range in I09/s: 0.00... 10,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 02 80 00 hex I11 Maximal acceleration: Specified accelerations are limited to the maximum value I11. Quick stop, manual positioning and reference positioning have their own acceleration ramps (I17, I13 and I39). NOTE The parameterized value is internally rounded to whole increments of the measuring system used. Depending on the resolution of the position encoder I02, the entered values may sometimes not be able to be precisely imaged. The acceleration time to the nominal speed is calculated as t = I10 / I11 (note units). 300Bh Value range in I09/s2: 0.00... 10,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 02 C0 00 hex I12 Tip speed: Speed in tip mode. As with all other speeds, it can be changed via velocity override. Acceleration in tip mode is specified via I13. 300Ch NOTE The parameterized value is rounded internally to whole increments of the measuring system used. Depending on the resolution of the position encoder I02, the entered values may sometimes not be able to be precisely imaged. Value range in I09/s: 0.00... 180,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 03 00 00 hex I13 Tip acceleration: Acceleration during tip mode. 300Dh NOTE The parameterized value is rounded internally to whole increments of the measuring system used. Depending on the resolution of the position encoder I02, entered values may sometimes not be able to be precisely imaged. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 03 40 00 hex ID 441778.0004 286

I.. Positioning I14 TipStep: Increment which is traversed when a rising edge is detected on the TipStep+ or TipStepsignal. The signal must be parameterized to a source via the related parameter I107 TipStep+ signal source. Value range in I09: -31Bit... 256,00... 31Bit 300Eh Fieldbus: 1LSB=siehe I; PDO ; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 03 80 00 hex I16 r=2, w=2 Ramp smoothing: Reverse limitation via ramp smoothing. The generated acceleration profile (position, speed, torque) is smoothed with a filter of the 2nd order (PT2) whose time constant corresponds to I16. This can be used to reduce or even completely eliminate high-frequency excitations of vibration-prone mechanics. The positioning procedure is lengthened somewhat by the smoothing but the drive traverses more smoothly to the target position (fewer overswings). 301 NOTE With the motion block positioning application, I16 is used as indicator parameter. Smoothing times are entered in array parameter J25.X. The current smoothing time is copied during operation to I16 where it can be viewed there. Value range in ms: 0... 0... 32766 Fieldbus: 1LSB=1ms; Type: I16; raw value:1lsb=fnct.no.13; USS-Adr: 09 04 00 00 hex I17 Quickstop deceleration: Acceleration for quick stop. 3011h NOTE The parameterized value is rounded internally to whole increments of the measuring system being used. The entered values may thus not be able to be imaged exactly as entered depending on what the resolution of the position encoder I02 is. Value range in I09/s2: 0.00... 10,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 04 40 00 hex I20 Proportional gain position control: Position control gain (purely P behavior). Particularly in the machine tool sector, I20 is called "speed gain" or "proportional gain position control." In actual practice, the proportional gain position control is sometimes also specified with the unit [m/min / mm]. This is exactly 0. I20. 3014h Value range in 1/s: 0... 30... 300 Fieldbus: 1LSB=1 1/s; Type: I32; USS-Adr: 09 05 00 00 hex I21 Maximal following error: When the following error exceeds the value set here, external event 0 is triggered. The reaction to the violation of the following error can be specified via POSITool. 3015h Value range in I09: -31Bit... 360,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 05 40 00 hex I22 Target window: Window for the generation of the signal I85 "In Position" and I180 "Position window reached." 3016h Value range in I09: -31Bit... 5,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 05 80 00 hex ID 441778.0004 287

I.. Positioning I23 r=2, w=2 Deadband position control: Deadband of the position controller. Useful for avoiding idle-state oscillations caused by friction or reversal play, particularly when an external position encoder is used. CAUTION I23 Deadband must be less than target window I22. Otherwise the drive will not reach its target position! 3017h Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 05 C0 00 hex I24 r=2, w=2 Backlash compensation: Due to design, with machines the drive may not be immediately located at the mechanical end when a reverse in direction occurs. To be able to correctly relate the actual and reference positions to the drive in such cases, the backlash compensation needs to know the direction in which the drive is pointing at the mechanical end - in addition to information about the position encoder, and, if applicable, the referencing. In principle, this is not possible until after a movement by at least the value of the backlash compensation. This is why, when the axis is initialized, the drive must be at the mechanical end. This is accomplished by referencing, for instance. With the next movement in the same direction the mechanics would thus remain pointing in the same direction at the mechanical end. And there would also be no compensation of the backlash. However, if a movement is executed in the other direction, the reference position is corrected by I24 in the applicable direction. Each time the direction of movement changes, the reference position is corrected based on the combination of I31 and the last direction of motion. Referencing mode Define home is not permitted together with the backlash compensation since it does not supply any information on the mechanical end of the machine! 3018h Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 00 00 hex I25 r=2, w=2 Speed feedforward: Application of the calculated speed profile on the output of the position controller. The n-feed forward relieves the position controller and thus reduces following error. At I25 = 100 %, the drive traverses at a constant speed without a stationary following error but tends to overswing in the target position. For this reason that I25 is 60... 95 % for most applications. In addition to reducing I25, overswinging in the target position can also be combated by increasing C32 (time constant I-share). 3019h Value range in %: 0... 80... 100 Fieldbus: 1LSB=1%; Type: I16; (raw value:32767 LSB=400%); USS-Adr: 09 40 00 hex I26 r=2, w=2 Posi gear ratio: When an external position encoder I02 which is not mounted on the motor shaft is used, the ratio of motor and encoder speed is specified in I26. With a rotating position encoder, the following applies directly: I26 = motor speed/encoder speed or I26 = distance per rotation of the external encoder/distance per rotation of the motor encoder. 301Ah Example of linear axis: SSI external encoder with 1LSB = 0.01 mm and a 24-bit encoder resolution result in 12-bit resolution per "rotation" and 12 bits for the number of rotations. With 2^12 bits = 4096, the axis covers 40.96 mm with an external "encoder rotation." The motor is ID 441778.0004 288

I.. Positioning connected with the linear axis with an effective radius of 30 mm. This results in a length per motor encoder rotation of R = 2 x Pi x r = 188.49 mm --> I26 = 40.96 mm / 188.49 mm = 0.215. In this case, I07 = 4096 and I08 = 100 are set (corresponds to 40.96 mm per external encoder rotation). Value range: 0.000... 1,000... 65.535 Fieldbus: 1LSB=0,001; Type: U16; USS-Adr: 09 80 00 hex I30 Referencing mode: The type of referencing. 301Eh 0: reference input; The reference input (switch) is important when searching for the reference point. Reference traversing type I30 = 0 can also be used to reference the hardware stop by having the reference switch react to the signal of the end switch. Remember that the LOW active signal of the hardware limit switch causes the drive to move in the direction opposite to I31. 1: Encoder signal 0; Useful only for drives without gear to adjust the motor shaft to a defined position. 2: Define home; With the start of Referencing, the current actual position is equated with reference position I34. No movement takes place. Important referencing type for absolute value encoders. With I30 = 2 it is also very easy to set the actual position to zero at all times. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 07 80 00 hex I31 Referencing direction: Initial direction to begin the reference point search if the reference switch signal is LOW. If the reference switch is HIGH, the drive runs in the opposite direction. If a application with endless position range only permits one direction (I04 > 0), the referencing direction is based on I04 and not I31. 301Fh 0: positive; 1: negative; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 07 C0 00 hex I32 Referencing speed fast: Unit in E09/s. Speed for the first phase of referencing (rough approaching of the reference switch). The reference traversing acceleration is specified by I39. Fast reference traversing I32 is omitted when only one direction of rotation (I04) is permitted for a application with endless position range. In this case, referencing can only be performed at the slow speed (I33). 302 NOTE The parameterized value is internally rounded to whole increments of the measuring system being used. Depending on the resolution of the positioning encoder I02, the entered values can thus not always be precisely imaged. Value range in I09/s: 0.00... 90,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 08 00 00 hex ID 441778.0004 289

I.. Positioning I33 Referencing speed slow: Unit in E09/s. Speed for the concluding phase of referencing. Switching between I32 and I33 is performed automatically after the reference switch is found. The reference traversing acceleration is specified by I39. NOTE The parameterized value is internally rounded to whole increments of the measuring system being used. Depending on the resolution of the positioning encoder I02, the entered values can thus not always be precisely imaged. 3021h Value range in I09/s: 0.00... 4,50... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 08 40 00 hex I34 Reference position: Value which is loaded as the actual position in the reference point. Depending on the type of reference traversing I30, the reference point is specified by traversing to a reference switch or the encoder zero track or, with I30 = 2:define home, is accepted immediately after a command. 3022h The drive stops just behind the reference point after reference traversing based on the brake ramp I39. Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; PDO ; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 08 80 00 hex I35 Referencing on encoder signal 0: Only when I36 = 0 and I30 = 0. In addition to the reference switch, the encoder zero track is evaluated. After the appropriate reference switch signal has been recognized, the drive continues traversing with the low reference speed until it reaches the encoder zero track. It does not stop until then. Referencing exclusively on the encoder zero track (I30 = 1) is not affected by I35. 3023h 0: inactive; Zero pulse is not evaluated. Referencing to the edge of the end or reference switch. Important, for example, for endless axes with gears. Also useful when there are not enough binary inputs and, at the same time, low demands on accuracy. 1: Motor encoder; This setting is reserved for future expansions and should not be used. 2: Positions-encoder; The zero track of the position encoder set in I02 is evaluated. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 08 C0 00 hex I36 Continuous referencing: These parameters are used for the fully automatic offset of slip or an imprecise gear ratio. After the first referencing, the actual position I80 is overwritten with the reference position I34 every time the reference switch is passed over. Since the distance still to be covered is corrected, even with slip-prone drives, the axis can execute any number of relative movements in one direction without drifting away. 3024h I36 = 1:standard is used when there is one reference switch in the entire position range or within one circular length I01. When the reference switch is reached, I80 is offset with the I34 reference position. With rotary attachment applications, the circular length I01 must correspond as precisely as possible to the distance between two reference signals. After one belt circle is completed, for instance, the same position must be indicated again. The actual position I80 must be checked ID 441778.0004 290

I.. Positioning during a rotation at I36 = 0:inactive and, if necessary, I07 must be adjusted. The distance per rotation I07 must always be rounded to higher numbers to prevent bothersome backwards corrections. The reference switch should not be addressed during a deceleration ramp since a negative correction would cause a backwards movement. When several reference switches are located along the position range, the setting I36 = 2:periodic is used. The distance of the reference switches is entered in I41 reference period. With this function, the device carries a "potential reference position" which it would expect for the next reference point. When a signal occurs at the reference point, the device compares the distance of its own actual position with the last and the expected reference position. The nearest position is selected as the new reference position and it becomes the actual position of the initiator time. 0: inactive; 1: standard; Exactly one reference switch exists over the entire traversing range or within one circular length (endless axis). When the reference edge of this reference switch is passed, the actual position is automatically corrected. 2: periodic; Several reference switches are positioned at intervals of I41 reference period along the traversing area. These switches trigger correction of the actual position. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 09 00 00 hex I37 Power-on referencing: Affects the referencing behavior during device startup (control portion startup with 24 V). 3025h 0: inactive; 1: active; With first enable after power-on, reference positioning is started automatically. This is only possible when the axis has not yet been referenced! NOTE With absolute value encoders, only possible/necessary once. 2: reconstruct saved angle; The current position of the position encoder is stored 100 ms after the device enable is removed and is reconstructed after the device is powered off and on again. With single-turn, absolute value encoders (e.g., resolvers), the position is only reconstructed after power-on when the angle of deviation was less than 5. With incremental encoders, the position is always reconstructed. NOTE The parameter can only reconstruct the angle in the positioning function. When the synchronous function is used, G37 must also be activated. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 09 40 00 hex I39 Referencing acceleration: Acceleration which is used for referencing. 3027h NOTE The parameterized value is rounded internally to whole increments of the measuring system used. Depending on the resolution of position encoder I02, the entered values cannot always be imaged precisely. Value range in I09/s2: 0.00... 10,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 09 C0 00 hex ID 441778.0004 291

I.. Positioning I41 Reference period: Only when I36 = 2 (periodic, continuous referencing). Specifies the distance of the reference markers or reference flags for periodic, continuous referencing. 3029h Value range in I09: -31Bit... 360,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 0A 40 00 hex I50 Software stop +: Only for limited traversing area. No meaning for applications with endless position range. Effective only when the axis is referenced. The position controller rejects motion block jobs to destinations outside the software stops (ErrorCode I90 = 2). Hand (manual) and endless motion blocks are stopped at the software stops. If I50 and I51 are both set to the value 0, their function is deactivated. 3032h CAUTION Violations of the permissible positioning range due to a flying motion block change with slower ramps are not stopped by software stops. Value range in I09: -31Bit... 10000000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 0C 80 00 hex I51 Software stop -: Only for limited traversing area. No meaning for applications with endless position range. Effective only when the axis is referenced. The position controller refuses motion block jobs to destinations outside the software stops (ErrorCode I90 = 3). Hand (manual) and endless motion blocks are stopped at the software stops. If I50 and I51 are both set to the value 0, their function is deactivated. 3033h CAUTION Violations of the permissible positioning range due to a flying motion block change with slower ramps are not stopped by software stops. Value range in I09: -31Bit... -10000000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 0C C0 00 hex I52 PosiAutoEnable: Automatic enable of the positioning block. With I52 = 0:inactive the positioning block must be activated via the "aktivateposi" command. With I52 = 1:active, this procedure is executed automatically and the PLCOpen state of positioning changes to "standstill" as soon as the drive state permits. Since "Activate Posi" is executed when the enable of the commands is set with I52 = 1:active, the "done" signal (e.g., I189) is set afterwards. 3034h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 0D 00 00 hex I80 Current position: Read only. Indication of the actual (current) position (without leeway compensation). 305 read (1) Fieldbus: 1LSB=siehe I; PDO ; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 14 00 00 hex ID 441778.0004 292

I.. Positioning I81 read (1) x-reference: Read only. Indication of the reference position of the current motion block job. The externally specified target position I353 is accepted when a motion block job is started (rising edge of the Execute signal) in I81. The consecutive, continuous reference value of the position controller can be indicated in I95. 3051h Fieldbus: 1LSB=siehe I; PDO ; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 14 40 00 hex I82 read (1) Active motionid: The value of MotionID which was accepted with the last rising "Execute" edge. A MotionID which is accepted with the rising edge of the "Execute" signal can be transferred with each command. When the applicable MotionID is indicated as the active MotionID, the command is being processed. 3052h Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 09 14 80 00 hex I84 Following error: Read only. Indication of the current position deviation. If the following error I84 is not below the permissible maximum I21, the drive triggers a fault. 3054h read (1) Fieldbus: 1LSB=siehe I; PDO ; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 15 00 00 hex I85 read (1) In position: Indication of the current value on the same-name output of the positioning block. Remember that the "In Position" signal is not only dependent on the positioning window I22. "In Position" is set when the specified speed profile is completely traversed and the difference between actual position and reference position passes below the value I22 for the first time. "In Position" then remains until the next motion block job starts - even when the actual position overswings beyond the position window. Signal I180 (position window reached) is available as an alternate choice. If, after a movement job with active "In Position", the enable is switched off, "In Position" remains active until the difference between actual position and reference position is more than the value I22 for the first time. Then "In Position" becomes inactive. 3055h NOTE When a position controller with deadband is used, the following must be true: I22 > I23! 0: inactive; not within the target position window. 1: active; within the target position window. Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 15 40 00 hex I86 read (1) In reference: Read only. Indication of the "In reference" output signal. The signal is set when the drive changed its current actual position to the reference position I34. If the drive is still in motion at this moment, standstill (i.e., the end of the state I89 = 8:homing) must be waited for before a next command is started. 3056h CAUTION When the event "37:encoder" is triggered, the signal In Reference is deleted regardless of the encoder used. After off/on (acknowledgement), referencing must be performed again. 0: inactive; Drive not referenced. No absolute positioning possible. 1: active; Drive referenced. Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 15 80 00 hex ID 441778.0004 293

I.. Positioning Speed: Read only. Current reference value of the positioning speed with unit. 3058h I88 read (1) I89 read (1) Fieldbus: 1LSB=siehe I; PDO ; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 16 00 00 hex PLCOpen-state: Status of the positioning controller after PLCopen definition. 0: PLCO_Init; Position is in the initialization phase. 1: PLCO_Passive; Positioning is passive. When the drive is located outside the last target window, the reference position is updated with the actual position and the "In position" signal becomes inactive. 2: Standstill; Drive is in position control. No motion block job is being executed currently. The drive is ready to accept a motion block job. 3: Discrete motion; Drive is within a movement which has a defined target position. 4: Continuous motion; Drive is in a movement which does not have a defined target position. 5: Synchronous motion; Drive is in a synchronous movement. 6: Stopping; Drive is traversing with position control to the set brake ramp until standstill. A transition to the "standstill" state then follows. 7: ErrorStop; Drive is executing a quick stop with deactivated position control. When the drive has stopped, the state ErrorStop is retained. 8: Homing; Reference traversing is active. 3059h Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 09 16 40 00 hex I90 Error code: When the PLCOpen state is "ErrorStop," the cause can be read out here. 305Ah read (1) 0: error free; 1: illegal direction; An attempt was made to start a process block job in an illegal direction of rotation. 2: SW-lim.switch+; An attempt was made to start a motion block job whose target position is outside the positive SW limit switch. 3: SW-lim.switch-; An attempt was made to start a motion block job whose target position is outside the negative SW limit switch. 4: Absolute positioning without referencing; An attempt was made to start a motion block job with an absolute target while the drive was not referenced. 5: Hardware-Limit-Switch +; ErrorStop due to activated hardware limit switch+. 6: Hardware-Limit-Switch-; ErrorStop due to activated hardware limit switch-. 7: SW-lim.switch+; ErrorStop due to activated software limit switch+. 8: SW-lim.switch-; ErrorStop due to activated software limit switch-. 9: External Quickstop; ErrorStop due to externally triggered quick stop. 10: Denied because Position is not in circular; 11: denied because of sync. on position during motion, Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 09 16 80 00 hex ID 441778.0004 294

I.. Positioning I91 read (1) Profile generator flags: Status signals of the profile generator which generates reference values for the position and speed controller. Bit-0: In reserve Bit-1: ACCmax (ACC specification greater than I11) Bit-2: DECmax (DECEL specification greater than I11) Bit-3: VmaxOVR+ (speed specification after inclusion of override > I10) Bit-4: VmaxOVR- (speed specification after inclusion of override < -I10) Bit-5: HW-LimSwitch+ (+hardware limit switch touched) Bit-6: HW-LimSwitch- (-hardware limit switch touched) Bit-7: SW-LimSwitch+ (current reference value of position controller I95 is located on or outside a SW limit switch (e.g., during manual traversing). In contrast, "refusal" of motion block jobs is signaled in I90 ErrorCode. Bit-8: SW-LimSwitch- Bit-9: In reserve Bit-10: ConstVelocity (disappears during speed changes, also due to override) Bit-11: Accelerating Bit-12: Decelerating Bit-13: BacklashComp 0: Reference position is not offset by I24 to compensate for the leeway. The drive is in the original direction in mechanical intervention. 1: Reference position is not offset by I24 to compensate for the leeway. The drive is in the opposite direction in mechanical intervention. Bit-14: LeewayDir Depending on the referencing direction, I24 must be added to or subtracted from the current actual position to obtain the real mechanical actual position. 0: I24 must be added. 1: I24 must be subtracted. 305Bh Fieldbus: 1LSB=1; Type: U16; USS-Adr: 09 16 C0 00 hex I93 Speed feed forward: Indication of the current value of the speed feed forward which the profile generator sends to the speed controller. The speed feed forward is specified in I25. 305Dh read (1) Fieldbus: 1LSB=0,1rpm; Type: I32; (raw value:14 Bit=1 rpm); USS-Adr: 09 17 40 00 hex I94 read (1) Torque feed forward: Indication of the current value of the torque feed forward which the profile generator sends to the speed controller. The torque feed forward is calculated from the inertia ratio entered in I30. Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 17 80 00 hex 305Eh I95 Position controller reference value: Indication of the continuous position reference value calculated by the profile generator. 305Fh read (1) Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 17 C0 00 hex I96 read (1) Current position: Read only. Indication of the actual position (including backlash compensation). This position is indicated with positioning applications in the operational indicator of the device display. Fieldbus: 1LSB=siehe I; PDO ; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 18 00 00 hex 3 ID 441778.0004 295

I.. Positioning I100, OFF Execute source: The Execute signal starts the actual command (see I351). Parameter I100 specifies the source for the Execute signal. The available selections 0:low and 1:high are the same as fixed values. With I100 = 3:BE1...28:BE13-inverted, the Execute can be executed via the selected binary input. With I100 = 2:Parameter, the control word of the selected application is used as the signal source (e.g., I210.0). This setting is designed for fieldbus operation. The Execute input of the positioning block can be monitored in I300 regardless of the parameterized signal source. Possible control words (global parameters) are: 34h Application Parameter Bit Command positioning I210 0 Motion block positioning I220 0 Synchronous running I222 0 Interpolated Position Mode I427 7 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 19 00 00 hex ID 441778.0004 296

I.. Positioning I101, OFF /HW-Limit-Switch+ source: The /limit-switch+ signal limits the traversing area in the positive direction. Parameter I101 specifies from where the signal comes. The signal is low active (i.e., cable-break-proof implementation). For available selections, see I100. With I101 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 1) is used as the signal source (global parameters). This must be set for fieldbus operation. With I301, the signal can be directly monitored on the block input. Possible control words (global parameters) are: 35h Application Parameter Bit Command positioning I210 1 Motion block positioning I220 1 Synchronous running I222 1 NOTE The limit switch inputs are LOW active. LOW level causes the "limit switch" fault. 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 19 40 00 hex ID 441778.0004 297

I.. Positioning I102, OFF /HW-Limit-Switch- source: The /limit-switch- signal limits the traversing area in the negative direction. Parameter I102 specifies from where the signal comes. The signal is low active (i.e., cable-break-proof implementation). For available selections, see I100. With I102 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 2) is used as the signal source (global parameters). This must be set for fieldbus operation. With I302, the signal can be directly monitored on the block input. Possible control words (global parameters) are: 36h Application Parameter Bit Command positioning I210 2 Motion block positioning I220 2 Synchronous running I222 2 NOTE The limit switch inputs are LOW active. LOW level causes the "limit switch" fault. 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 19 80 00 hex ID 441778.0004 298

I.. Positioning I103, OFF Reference switch source: Selection of the source for the reference switch signal. For available selections, see I100. The reference switch signal is used to detect the reference position during reference traversing. Reference traversing is started with the command MC_HOME in the motion-command byte I211. With I103 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 3) is used as the signal source (global parameters). This must be set for fieldbus operation. I303 can be used to monitor the signal directly on the block input. Possible control words (global parameters) are: 37h Application Parameter Bit Command positioning I210 3 Motion block positioning I220 3 Synchronous running I222 3 Interpolated Position Mode I427 4 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 19 C0 00 hex ID 441778.0004 299

I.. Positioning I104, OFF Tip enable source: Selection of the source for the enable tip signal. The enable tip signal puts the axis in tip mode. For available selections, see I100. With I104 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 4) is used as the signal source (global parameters). This must be set for fieldbus operation. The signal can be directly monitored on the block input via I304. Possible control words (global parameters) are: 38h Application Parameter Bit Command positioning I210 4 Motion block positioning I220 4 Synchronous running I222 4 Interpolated Position Mode I427 0 / 1 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1A 00 00 hex ID 441778.0004 300

I.. Positioning I105, OFF Tip+ source: Selection of the source for the Tip+ signal. The Tip+ signal starts manual traversing in the positive direction. For available selections, see I100. With I105 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 5) is used as the signal source (global parameters). This must be set for fieldbus operation. The signal can be directly monitored on the block input via I305. Possible control words (global parameters) are: 39h Application Parameter Bit Command positioning I210 5 Motion block positioning I220 5 Synchronous running I222 5 Interpolated Position Mode I427 2 NOTE Tip mode must be activated. 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1A 40 00 hex ID 441778.0004 301

I.. Positioning I1, OFF Tip- source: Selection of the source for the Tip- signal. For available selections, see I100. The signal starts tip mode in the negative direction. With I1 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 6) is used as the signal source (global parameters). This must be set for fieldbus operation. The signal can be directly monitored on the block input via I3. Possible control words (global parameters) are: 3Ah Application Parameter Bit Command positioning I210 6 Motion block positioning I220 6 Synchronous running I222 6 Interpolated Position Mode I427 3 NOTE Tip mode must be activated. 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1A 80 00 hex ID 441778.0004 302

I.. Positioning I107, OFF HandStep+ source: Selection of the source for the "HandStep+" signal. The signal starts handstep traversing in the positive direction. Positioning is performed with a fixed distance (I14) relative to the positive direction. For available selections, see I100. With I107 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 7) is used as the signal source (global parameters). This must be set for fieldbus operation. The signal can be monitored directly on the block input via I307. Possible control words (global parameters) are: 3Bh Application Parameter Bit Command positioning I210 7 Motion block positioning I220 7 Synchronous running I222 7 NOTE For correct function, tip mode must be activated. 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1A C0 00 hex ID 441778.0004 303

I.. Positioning I108, OFF HandStep- source: Selection of the source for the HandStep- signal. The signal starts handstep traversing in the negative direction. Positioning is performed with a fixed distance (I14) relative to the negative direction. For available selections, see I100. With I108 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 8) is used as the signal source (global parameters). This must be set for fieldbus operation. The signal can be monitored directly on the block input via I308. Possible control words (global parameters) are: 3Ch Application Parameter Bit Command positioning I210 8 Motion block positioning I220 8 Synchronous running I222 8 NOTE For correct function, tip mode must be activated. 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1B 00 00 hex ID 441778.0004 304

I.. Positioning I109, OFF Posi latch reset source: The Posi.latch reset signal activates the Posi.latch function which permits microsecond-precise acquisition of the current position and is thus suitable for measuring work pieces, for example. The Posi.latch status I190 is reset at the rising edge of the reset signal. I109 specifies the source of the Posi.latch reset signal. For available selections, see I100. With I109 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 9) is used as the signal source (global parameters). This must be set for fieldbus operation. The signal can be directly monitored on the block input via I309. Possible control words (global parameters) are: 3Dh Application Parameter Bit Command positioning I210 9 Motion block positioning I220 9 Synchronous running I222 9 Interpolated Position Mode I427 5 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1B 40 00 hex ID 441778.0004 305

I.. Positioning I110, OFF Posi latch execute source: The edge of the Execute signal triggers (depending on mode I75) the microsecond-precise measurement (only BE1 to BE5) of the current actual position in I191. I110 specifies the source of the Posi.Latch Execute signal. With I110 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 10) is used as the signal source (global parameters). This must be set with fieldbus operation. The signal can be directly monitored on the block input via I310. The status of Posi.Latch can be monitored in I190. Possible control words (global parameters) are: 3Eh Application Parameter Bit Command positioning I210 10 Motion block positioning I220 10 Synchronous running I222 10 Interpolated Position Mode I427 6 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1B 80 00 hex ID 441778.0004 3

I.. Positioning I111, OFF Switching point reset source: Selection of the source for the Posi.switchingpoint reset signal. The reset signal resets the switching point defined by N10... N12. With I111 = 2:Parameter, the control word of the selected application (e.g., I210 Bit 11) is used as the signal source (global parameters). This must be set for fieldbus operation. The signal can be monitored directly on the block input via I311. Possible control words (global parameters) are: 3Fh Application Parameter Bit Command positioning I210 11 Motion block positioning I220 11 Synchronous running I222 11 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 1B C0 00 hex I130, OFF Override source: Override affects all speeds (velocities) (hand traversing, positioning, reference traversing). Selection of the source for the Override signal. The signal can be permanently prespecified to 0, and be supplied by the analog inputs (AE1 to AE3) or the fieldbus. With I130 = 4:Parameter, parameter (global) I230 is the signal source. This setting must be used for fieldbus operation. 3082h ID 441778.0004 307

I.. Positioning 0: 0 (zero); 1: AE1; 2: AE2; 3: AE3; 4: parameter; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 20 80 00 hex I131, OFF Reference value offset source: Selection of the source for the Reference value offset signal. This signal serves as the weighting factor of the reference value offset parameter I70. For further details, see I70. For available selections, see I130. With I131 = 4:Parameter, the (global) parameter I231 is the signal source. The result of the reference value link can be read directly on the block input via I353. The value is composed of I70 * Value [I131] + I213 = I353. 3083h 0: 0 (zero); 1: AE1; 2: AE2; 3: AE3; 4: parameter; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 20 C0 00 hex I180 read (1) Position window reached: Actual position is located in the position window. Indication of the InPosWin signal on the output interface of the positioning controller. In contrast to In Position I85, the signal I180 immediately becomes LOW when it leaves the position window I22 (e.g., due to overswings). Remark: With the enable switched off, once the actual position has left the position window for the first time, the reference position from the position controller is continuously updated to the actual position. As a consequence, the actual position is always in the position window and I180 is active. 30B4h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2D 00 00 hex I181 Error: Indication of the Error signal on the output interface of the positioning controller. HIGH means that an error has occurred. For the type of error, see I90 ErrorCode. 30B5h read (1) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2D 40 00 hex I182 read (1) Aborted: Indication of the Aborted signal on the output interface of the positioning controller. HIGH means that the last motion block job was aborted (e.g., by a halt command or a new motion block who was denied). Since the signal is set to LOW when a motion block job is started, it is not possible to detect the abortion of a previous motion block job with the "aborted" flag. 30B6h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2D 80 00 hex ID 441778.0004 308

I.. Positioning I183 Constant velocity: Indication of the ConstVel signal (constant velocity) on the output interface of the positioning controller. With HIGH, the drive moves at a constant speed (velocity). 30B7h read (1) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2D C0 00 hex I184 Accelerating: Indication of the Accelera signal (acceleration) on the output interface of the positioning controller. The speed increases with HIGH. 30B8h read (1) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2E 00 00 hex I185 Decelerating: Indication of the Decelera signal (deceleration) on the output interface of the positioning controller. The current speed is reduced with HIGH. 30B9h read (1) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2E 40 00 hex I187 read (1) Maximum following error: Indication of the ErrMaxFo signal (maximum following error exceeded) on the output interface of the positioning controller. With HIGH, the maximum following error I21 was exceeded. 30BBh 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2E C0 00 hex I188 Tipping active: Indication of the Tip Activ signal (tipping active) on the output interface of the positioning controller. With HIGH, the axis is in manual mode. 30BCh read (1) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2F 00 00 hex I189 Done: Indication of the Done signal on the output interface of the positioning controller. With HIGH, the command to be executed was processed successfully. 30BDh read (1) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 2F 40 00 hex ID 441778.0004 309

I.. Positioning I192 Flags for synchronous motion: Uses status bits to indicate the current state of a synchronous movement. 30C read (2) Bit-0: Superimposed positioning command is in position. When a relative or absolute positioning job is started as superimposed on a synchronous movement, it is shown here that the superimposed positioning command is in position. Bit 7 and bit 1 are set simultaneously. Bit-1: Snapped in Master and slave axes are totally connected. Acceleration procedures for synchronization are finished. Bit 7 is set simultaneously. Bit-2: Wait for synchronization. After starting MC_GearInAtAbsPositon or MC_GearInAtRelPosition, the drive can remain in a wait state without moving. This state is indicated with this bit. Bit 7 is set simultaneously. Bit-3: With endless master axis, always look for the next possible circle. Bit-4: Destination cannot be reached. Endless position range: Next possible circle selected. Linear axis: Synchronized to speed and snapped in. Bit-5: Reserved Bit-6: Reserved Bit-7: Movement with synchronous master reference active. This bit indicates that a command with synchronous master reference was started. Additional bits may also have been set. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 30 00 00 hex I193 read (2) Active PLCopen Step-ID: This parameter is used by the device display to indicate the motion block which was started last. With Motion Block Positioning applications, I82 is copied to I193 to indicate the posi motion block (in the background - i.e., not in real time. For Scope displays, please use I82). When PLCopen blocks are used, the reference value interface of each of these blocks has a step ID as an identifier which can be set as desired (a number from 0 to 65535). The ID of the last started PLCopen block can then be entered in I193 (in real time). 30C1h Fieldbus: 1LSB=1; Type: U16; USS-Adr: 09 30 40 00 hex I194 Timestamp of actual position: Shows the time stamp of the current actual position I80. 30C2h read (1) Fieldbus: 1LSB=1µs; Type: U16; USS-Adr: 09 30 80 00 hex I200 Posi.status word: Supplies information on the reaction of the axis during operation on a fieldbus. 30C8h read (2) Bit-0: Limit switch (group message: one of the two hardware limit switch or software limit switch). See bit 5...8 in I91Profile generator flags Bit-1: Rejected (group message: not referenced, software limit switch, disable direction of rotation) The last command could not be executed, error code I90 is between 1 and 4. Bit-2: Limit (group message: Torque limit, following error, torque limitation by i²t) Bit-3: Aborted (group message: MC_Stop, enable off, quick stop) ID 441778.0004 310

I.. Positioning Bit-4: Constant speed: The ramp generator specifies constant speed. Bit-5: In-position: Reference value reached (I85). Bit-6: In-reference. Drive referenced. Bit-7: Standstill (in accordance with PLCopen I89 = 2). Bit-8: Inching or local operation: Inching is active (also applies to local mode via keyboard). Bit-9: Cam 1: The electrical cam is in the active area. (I60, I61). Bit-10: Switching point 1: The switching point was approached. Bit-11: Latch Status Bit 0: 0 Latch ready to receive. 1 If measurement with rising edge, value is ready to be fetched in parameter I191. 1 If differential measurement, the first edge was detected. Bit-12: Latch Status Bit 1: 1 If differential measurement, the value is ready to be fetched in parameter I191. If measurement with rising edge, this bit has no function. Bit-13 - Bit-15: Motion ID Bit 0 - Motion ID Bit 2: Identifier of the positioning job processed last (lower 3 bits). The Motion ID is specified in Posi control word /210 / I222 and is used in status word I200 for the unambiguous assignment of the status bits to a certain positioning job. CAUTION When the event "37:encoder" is triggered, the signal In Reference (Bit 6) is deleted regardless of the encoder used. After off/on (acknowledgement), referencing must be performed again. NOTE Bits 9 to 12 are not available in application synchronous command positioning. NOTE Bits 10 to 12 are not available in application el. cam. Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 09 32 00 00 hex I201 Motion status byte: Supplies information on the reaction of the axis during operation on a fieldbus. 30C9h read (2) Motion status byte Bit-0: PLCopenstate bit0 Bit-1: PLCopenState bit1 Bit-2: PLCopenState bit2 Bit-3: PLCopenState bit3 Bit-4: Done (in acc. w. PLCopen): Command executed successfully. Bit-5: Pos window reached (I180) Bit-6: Accelerating Bit-7: Decelerating Bit 0 to 3 PLCopenState are coded as shown below (as I89). 0: Init 1: Passive 2: Standstill 3: Discr. motion ID 441778.0004 311

I.. Positioning 4: Cont. motion 5: Sync. motion 6: Stopping 7: Error stop 8: Homing Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 09 32 40 00 hex I203 read (2) Current position: parameter for calling up the current (actual) position via a fieldbus. I203 is the counterpart of target position I213. The position is indicated with customer scaling without decimal places: "123.45 mm" is sent to the controller as I203 = 12345. 30CBh Fieldbus: 1LSB=siehe I; PDO ; Type: I32; (raw value:1lsb=0,01 <I09>); USS-Adr: 09 32 C0 00 hex I210 r=2, w=2 Posi.control word: parameter for control of the application via fieldbus. The individual bits are only active when they have also been selected via the related source selector. Example: With Execute source I100 = 4:Parameter, I210, bit 0 supplies the Execute signal. When I100 = 7:BE3 is set, bit 0 in parameter I210 has no function. 30D2h Bit-0: Execute Bit-1: HW-limit switch+ Bit-2: HW-limit switch- Bit-3: Reference switch Bit-4: Tip enable Bit-5: Hand+ Bit-6: Hand- Bit-7: HandStep+ Bit-8: HandStep- Bit-9: Posi.Latch reset Bit-10: Posi.Latch execute Bit-11: Switching point reset Bit-12 - Bit-14: Motion ID bit 0 to Motion ID bit 2: Identifier of the current motion block job (lower 3 bits). The motion ID is specified in posi control word I210 and is used in status word I200 for the unique allocation of the status bits to the particular motion block job. Bit-15: In reserve Value range: 0... 0000000000000000bin... 65535 Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 09 34 80 00 hex (Representation binary) I211 Motion command byte: parameter for specification of the command to be executed via fieldbus. Bits 0 to 4 code the command number as shown below. 30D3h r=2, w=2 Bit-0: CMD Bit-1: CMD Bit-2: CMD Bit-3: CMD Bit-4: CMD A positioning command is coded here (see below). ID 441778.0004 312

I.. Positioning Bit-5: Brake Reaction of the halting brake (F08 = 1:active) at the end of the job: HIGH causes the halting brake to be applied after the command is executed. The end stage remains on and the torque is set to zero. The brake is automatically released when the next command is executed. Application of the brake during the pauses between positioning commands decreases thermal stress on the drive and helps to save on energy costs. Bit-6 & 7: Used to specify the direction of rotation for applications with endless position range. 00:Direction optimization, 01:only positive direction, 10:only negative direction, 11:retain current direction CMD coding hexadecimal binary MC_MoveAbsolute 01 00001 MC_MoveRelative 02 00010 MC_MoveAdditive 03 00011 MC_MoveVelocity 04 00100 MC_Stop 05 00101 MC_Home 00110 MC_Reset 07 00111 AktivierePosi 08 01000 DeaktivierePosi 09 01001 MC_Continue 0d 01101 Only for applications with "electronic gear": hexadecimal binary MC_GearIn 0a 01010 MC_GearOut 0b 01011 MC_MoveSuperimposed 0c 01100 Value range: 0... 00000000bin... 255 (Representation binary) Fieldbus: 1LSB=1; PDO ; Type: U8; USS-Adr: 09 34 C0 00 hex I213 r=2, w=2 Target position: parameter for target specification via fieldbus. The position is specified with the customer's scaling (I07, I08, I) without decimal point: "123.45 mm" is sent to the inverter as I213 = 12345. The number of positions after the decimal point is specified in parameter I. Parameter I353 is used to monitor the value directly on the block input. I353 is comprised as follows: I70 * Value[I131] + I213 = I353. 30D5h Value range in I09: -21474836.48... 0,00... 21474836.47 Fieldbus: 1LSB=siehe I; PDO ; Type: I32; (raw value:1lsb=0,01 <I09>); USS-Adr: 09 35 40 00 hex I215 r=2, w=2 V-factor: Weighting of the traversing speed. The maximum speed I10 is multiplied by I215 and the thus calculated speed is used as the basis for the motion block job to be started. The parameter I215 can also be transferred via a fieldbus system to the inverter. The following scaling is then used: 16384 = 100 %. 30D7h Value range in %: -200.0... 100,0... 200.0 Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767 LSB=200,0%); USS-Adr: 09 35 C0 00 hex ID 441778.0004 313

I.. Positioning I216 r=2, w=2 Acc-factor: Weighting of the acceleration ramp. The maximum acceleration I11 is multiplied by I216 and the thus calculated acceleration is used as the basis for the motion block job to be started. The parameter I216 can also be transferred to the inverter via a fieldbus system. The following scaling is then used: 255 = 100 %. 30D8h Value range in %: 0... 100... 100 Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:255 LSB=100%); USS-Adr: 09 36 00 00 hex I217 r=2, w=2 Dec-factor: Weighting of the brake ramp. The maximum acceleration I11 is multiplied by I217 and the thus calculated brake ramp is used as the basis for the motion block job to be started. The parameter I217 can also be transferred to the inverter via a fieldbus system. The following scaling is then used: 255 = 100 %. 30D9h Value range in %: 0... 100... 100 Fieldbus: 1LSB=1%; PDO ; Type: U8; (raw value:255 LSB=100%); USS-Adr: 09 36 40 00 hex I223 r=2, w=2 Electronic cam control word: parameter for controlling the application via fieldbus. The individual bits are only active when they have actually been selected by the related source selector. 30DFh Bit-0: In reserve Bit-1 and Bit-2: Hardware limit switch+ and hardware limit switch-: Hardware limit switch, end of positive/negative range. LOW active! When a negative value in I07 (distance per revolution numerator) changes the direction of counting, the hardware limit switches must be reversed! Bit-3: Reference switch: Referencing is started by the "MC_Home" command in the command byte. Bit-4: Tip enable: Activate hand referencing mode ("tipping/jogging"). Bit-5 and Bit-6: Tip+ and Tip-: Hand referencing in positive/negative direction with speed I12 and acceleration I13. Bit-7 and Bit-8: TipStep+ and TipStep-: Step hand referencing in positive/negative direction: With a rising edge the axis travels the distance I14 in the positive direction (speed I12, acceleration I13). Bit-9: Set master reference: With a rising edge the actual master position is set to the set master reference position. Bit-10: In reserve Bit-11: In reserve Bit-12: In reserve Bit-13: In reserve Bit-14: In reserve Bit-15: In reserve Value range: 0... 0000000000000000bin... 65535 Fieldbus: 1LSB=1; PDO ; Type: U16; USS-Adr: 09 37 C0 00 hex (Representation binary) ID 441778.0004 314

I.. Positioning I230 r=2, w=2 Override: Override affects all speeds (hand traversing, positioning, reference traversing). Selection of the source for the Override signal via I130. The signal can be permanently prespecified to 0 and can be supplied by the analog inputs (AE1 to AE3) of the fieldbus. With I130 = 4:Parameter, (global) parameter I230 is used as the signal source. This setting must be set for fieldbus operation. The value can be directly monitored on the block input via I330. The reference parameters are I10 for positioning, I12 for tipping (inching), and I32 and I33 for referencing. 30E6h Value range in %: -200.0... 100,0... 200.0 Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767 LSB=200,0%); USS-Adr: 09 39 80 00 hex I231 r=2, w=2 Reference value offset: Specification for the weighting of I70 reference value offset if the signal source is I131 = 4:Parameter. This global parameter can be written via the process data channel of a fieldbus, for example. 30E7h Value range in %: -200.0... 0,0... 200.0 Fieldbus: 1LSB=0,1%; PDO ; Type: I16; (raw value:32767 LSB=200,0%); USS-Adr: 09 39 C0 00 hex I246 read (1) Reference difference limited pos. range: Parameter I246 (reference difference limited pos. range) converts position values of the positioning controller to internal values without the reference shift. In particular this requires the parameter for the fast cam function. 30F6h Fieldbus: 1LSB=1; Type: I32; USS-Adr: 09 3D 80 00 hex I247 Start position: Position at which the current or the last started motion block job started. 30F7h Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 3D C0 00 hex I248 Reference-difference: Internally used value which implements the shift of the current position encoder value to the referenced actual position. 30F8h Fieldbus: 1LSB=1; Type: I32; USS-Adr: 09 3E 00 00 hex I249 Measure.unit: Read access only. Internally used text which is derived from the text in I09. The text in I09 is supplemented with "/s." Is used as a units string for posi speeds (velocities). 30F9h Default setting: /s Fieldbus: Type: Str8; USS-Adr: 09 3E 40 00 hex I250 Measure.unit: Read access only. Internally used text which is derived from the text in I09. The text in I09 is supplemented with "/s2." Is used as a units string for posi accelerations. 30FAh Default setting: /s² Fieldbus: Type: Str8; USS-Adr: 09 3E 80 00 hex I251 Measure.unit: Read access only. Internally used text which is derived from the text in I09. The text in I09 is supplemented with "/s3." Is used as a units string for posi jerk. 30FBh Default setting: /s³ Fieldbus: Type: Str8; USS-Adr: 09 3E C0 00 hex ID 441778.0004 315

I.. Positioning I252 Posi-increments: Read access only. The position controller uses the resolution indicated in I252 internally. I252 is generated internally from the values of the position encoder specified in I02. The actual encoder parameterization is performed in the H.. group. With incremental encoders, the resolution is quadruple the increment number. With the resolver or an EnDat encoder on the motor, the encoder resolution for the positioning controller is reduced uniformly to 16.384 inc/u. 30FCh Value range: 0... 16384... 16384 Fieldbus: 1LSB=1; Type: I16; USS-Adr: 09 3F 00 00 hex I253 Effective distance per rev. Numerator: Read only. The factor I253 / I254 indicates the distance per one increment of position control. Valid: I253 / I254 = I07 / (I08 * I252). Common factors in I253 / I254 are automatically shortened. I253 and I254 make it quick and simple to convert between position values in the user representation and internal system representation in increments. 30FDh Pos_intern [ink] = I254 / I253 * Pos_user [e.g., mm]. The relationship which is represented applies when the number of positions after the decimal point in the user presentation ("Pos_user") corresponds to the number of positions after the decimal point in I07 and thus also in I253. Value range in I09: 0.00... 360,00... 21474836.47 Fieldbus: 1LSB=siehe I; Type: I32; (raw value:1lsb=0,01 <I09>); USS-Adr: 09 3F 40 00 hex I254 Effective distance per rev. Denominator: Read access only. See I253. 30FEh Value range: 0... 16384... 31 Bit Fieldbus: 1LSB=1; Type: I32; USS-Adr: 09 3F 80 00 hex I255 Posi counting direction: Read access only. Sign of I07. This value specifies the direction in which the position values are counted positively. 30FFh 0: positive; 1: negative; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 3F C0 00 hex I295 Double transmission position-encoder: Indicates whether double transmission monitoring is active for the SSI encoder used as the position encoder. Double-transmission monitoring is not active at first when encoder evaluation begins but shortly thereafter it is activated automatically if the SSI encoder supports this. Inactive monitoring significantly reduces data security. This parameter can be disregarded if the master encoder is not an SSI encoder. 3127h NOTE When the motor encoder is used as position encoder, encoder monitoring is only parameterized effectively in the motor group and indicated (B295... B299). I295... I299 are irrelevant in this case. The parameter can only be used when an SSI or an EnDat encoder is evaluated on the inverter. 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 49 C0 00 hex Only visible when SSI or EnDat Encoder is used as the position encoder and I02 is not set to 0:Motorencoder. ID 441778.0004 316

I.. Positioning I296 Error-counter position-encoder: Counts the number of tolerated errors of the position encoder since the last new start of the device. 3128h NOTE When the motor encoder is used as position encoder, encoder monitoring is only parameterized effectively in the motor group and indicated (B295... B299). I295... I299 are irrelevant in this case. The parameter can only be used when an SSI or an EnDat encoder is evaluated on the inverter. Value range: 0... 0... 4294967295 Fieldbus: 1LSB=1; Type: U32; USS-Adr: 09 4A 00 00 hex Only visible when SSI or EnDat Encoder is used as the position encoder and I02 is not set to 0:Motorencoder. I297 Maximum-speed position-encoder: I297 offers a plausibility check of the encoder signals for EnDat and SSI encoders. The difference between two consecutive encoder values is monitored. If this difference exceeds the speed specified in I297 a malfunction is triggered (37:n-feedback/double transmission, starting with V5.2: 37:encoder/X4-wirebreak or X120-wirebreak). Regardless of the encoder system being used, specification of the incremental difference is always standardized to 8192 increments/rotation. 3129h NOTE When the motor encoder is used as position encoder, encoder monitoring is only parameterized effectively in the motor group and indicated (B295... B299). I295... I299 are irrelevant in this case. The parameter can only be used when an SSI or an EnDat encoder is evaluated on the inverter. Value range in increments/ms: 0... 16777216... 24 Bit Fieldbus: 1LSB=1increments/ms; Type: I32; (raw value:7 Bit=1 increments/ms); USS-Adr: 09 4A 40 00 hex Only visible when SSI or EnDat Encoder is used as the position encoder and I02 is not set to 0:Motorencoder. I298 Error-tolerance position-encoder: Sets the tolerance of the inverter to errors of the motor encoder. This tolerance keeps fault 37:encoder from being triggered due to sporadic encoder errors. The inverter extrapolates an encoder value in this case. Parameter I298 specifies how many errors will be tolerated before the inverter malfunctions. Error evaluation: Each arriving encoder value is checked. When an encoder error is found, I299 and I298 are compared. If the error evaluation counter I299 is greater than or equal to I298, fault 37:Encoder is triggered. If I299 is less than I298, the error is tolerated. Counter I299 is incremented by 1.0. When the arriving encoder value is correct, error evaluation counter I299 is decremented by 0.1. Decrementation continues until the value 0. Example: When 0.1 is set in I298 one error is tolerated. At least 10 correct values must then be determined before the next error is found. The following errors are tolerated: - EnDat -CRC - EnDat -Busy - SSI-double transmission - SSI-Busy 312Ah ID 441778.0004 317

I.. Positioning - Violation of the maximum speed from I297 A malfunction is triggered immediately for other encoder errors (e.g., wire break) regardless of I298. The quality of motion may suffer due to error toleration. When encoder errors occur frequently we recommend checking the wiring. NOTE When the motor encoder is used as position encoder, encoder monitoring is only parameterized effectively in the motor group and indicated (B295... B299). I295... I299 are irrelevant in this case. The parameter can only be used when an SSI or an EnDat encoder is evaluated on the inverter. Value range: 0.0... 1,0... 3.0 Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 09 4A 80 00 hex Only visible when SSI or EnDat Encoder is used as the position encoder and I02 is not set to 0:Motorencoder. I299 Error-evaluation position-encoder: Indicates the current status of the error evaluation counter (see I298). 312Bh NOTE When the motor encoder is used as position encoder, encoder monitoring is only parameterized effectively in the motor group and indicated (B295... B299). I295... I299 are irrelevant in this case. The parameter can only be used when an SSI or an EnDat encoder is evaluated on the inverter. Value range: 0.0... 0,0... 12.0 Fieldbus: 1LSB=0,1; Type: I8; USS-Adr: 09 4A C0 00 hex Only visible when SSI or EnDat Encoder is used as the position encoder and I02 is not set to 0:Motorencoder. I300 Execute: Indication of the Execute signal on the input interface of the positioning controller. The Execute signal starts a command in accordance with the PLCopen standard. 312Ch read (2) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4B 00 00 hex I301 /HW-LimSwitch+: Indication of the /HW-Limi signal (HW limit switch+) on the input interface of the positioning controller. The /limit switch+ limits the traversing area in the positive direction. 312Dh read (2) NOTE The limit switch inputs are LOW active. LOW level causes the fault "limit switch." 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4B 40 00 hex ID 441778.0004 318

I.. Positioning I302 /HW-LimSwitch-: Indication of the /HW-Limi signal (/HW limit switch-) on the input interface of the positioning controller. The /limit switc- limits the traversing area in the negative direction. 312Eh read (2) NOTE The limit switch inputs are LOW active. LOW level causes the fault "limit switch." 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4B 80 00 hex I303 read (2) Reference switch: Indication of the RefSwitc signal (reference switch) on the input interface of the positioning controller. Indication of the current signal state on the RefSwitch input (reference switch) of the positioning block. The RefSwitc signal is used to reference the axis during reference traversing. 312Fh 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4B C0 00 hex I304 Tip enable: Indication of the TipEnable signal on the input interface of the positioning controller. The TipEnable signal switches the axis to hand (manual) mode. 313 read (2) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4C 00 00 hex I305 Tip+: Indication of the Tip+ signal on the input interface of the positioning controller. The Hand+ signal starts hand (manual) traversing in the positive direction. 3131h read (2) NOTE Correct function is not possible unless hand (manual) mode has been activated (TipEnable signal). 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4C 40 00 hex I3 Tip-: Indication of the Tip- signal on the input interface of the positioning controller. The signal starts hand (manual) traversing in the negative direction. 3132h read (2) NOTE Correct function is not possible unless hand (manual) mode has been activated (TipEnable signal). 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4C 80 00 hex ID 441778.0004 319

I.. Positioning I307 read (2) TipStep+: Indication of the TipStep+ signal on the input interface of the positioning controller. The signal starts hand (manual) step traversing in the positive direction. Positioning is performed with a fixed distance (I14) relative to the positive direction. NOTE Correct function is not possible unless hand (manual) mode has been activated (TipEnable signal). 3133h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4C C0 00 hex I308 read (2) TipStep-: Indication of the TipStep- signal on the input interface of the positioning controller. The signal starts hand (manual) step traversing in the negative direction. Positioning is performed with a fixed distance (I14) relative to the negative direction. 3134h NOTE Correct function is not possible unless hand (manual) mode has been activated (TipEnable signal). 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4D 00 00 hex I309 read (2) Posi Latch reset: Indication of the LReset signal (reset Posi.Latch) on the input interface of the Latch controller. The Posi.Latch Reset signal resets the Posi.Latch status and thus activates the Posi.Latch function. 3135h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4D 40 00 hex I310 read (2) Posi Latch execute: Indication of the LExec signal (Posi-Latch Execute) on the input interface of the Posi.Latch block. The edge of the Posi.Latch Execute signal triggers the measurement of the current actual position (depending on which mode is set). 3136h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4D 80 00 hex I311 Switching point reset: Indication of the Reset signal (reset switching points) on the input interface of the Posi switching point controller. The Reset signal resets the switching point. 3137h read (2) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 4D C0 00 hex ID 441778.0004 320

I.. Positioning I330 read (2) Velocity override: Indication of the Override signal (speed override) on the input interface of the positioning controller. Override affects all speeds (hand traversing, positioning, referencing). The reference parameters are I10 (only with synchronous command positioning and command positioning) as soon as J21.x (with motion block positioning) for positioning, I12 for tipping (inching) and I32, I33 for referencing. 314Ah NOTE - With a signal value of 0 %, the axis does not move! - Since motion block positioning uses the override function based on profile, the current override value is indicated based on the selected motion block (and thus the linked profile). If the override function is not used in a profile, I330 indicates the value 100 % and not the value of the source (e.g., AE1) entered in I130. When a motion block is triggered via the BlockStart signals, the current override value can be polled after the start of the motion block in I330. Fieldbus: 1LSB=0,1%; Type: I16; (raw value:32767 LSB=400,0%); USS-Adr: 09 52 80 00 hex I350 read (2) Motion ID: Indication of the MotionID signal (Motion ID) on the input interface of the positioning controller. Motion ID is an identifier for a motion block job which the user can assign as desired. The value is transferred at the rising edge of "Execute" to the output (parameter I82 active motion ID) so that the status bits can always be precisely allocated to a concrete motion block job, for example. The positioning controller itself does not interprete the value. The value of I350 MotionID is accepted with the following commands in accordance with I82 active motionid: MC_MoveAbsolute 01 (hex) MC_MoveRelative 02 (hex) MC_MoveAdditive 03 (hex) MC_MoveVelocity 04 (hex) MC_Home (hex) MC_Continue 0d (hex) 315Eh The value is not accepted for: MC_Stop 05 (hex) MC_Reset 07 (hex) Activate posi 08 (hex) Deactivate posi 09 (hex) Fieldbus: 1LSB=1; Type: U16; USS-Adr: 09 57 80 00 hex I351 Command: Indication of the CMD signal (command) on the input interface of the positioning controller. 315Fh read (2) Bit-0: CMD bit 0 Bit-1: CMD bit 1 Bit-2: CMD bit 2 Bit-3: CMD bit 3 Bit-4: CMD bit 4 Bit-5: Controls the reaction of the halting brake after the conclusion of a motion block job. Bit-6: Bits 6 and 7 are used to specify the direction of rotation for applications with endless position range. Bit-7:00 Direction optimization. 01 only positive direction, 10 only negative direction, 11 retain current direction. ID 441778.0004 321

I.. Positioning CMD coding (hex) 01 hex MC_MoveAbsolute hex MC_Home 02 hex MC_MoveRelativ 07 hex MC_Reset 03 hex MC_MoveAdditiv 08 hex ActivatePosi 04 hex MC_MoveVelocity 09 hex DeactivatePosi 05 hex MC_Stop 0d hex MC_Continue Expedient applicable only for applications with integrated Master-Slave functionality: 0a hex MC_GearIn 0f hex MC_GearInAtRelPos 0b hex MC_GearOut 10 hex MC_StopSuperimposed 0c hex MC_MoveSuperimposed 11 hex MC_VelocitySuperimposed 0e hex MC_GearInAtAbsPos 12 hex MC_SuperimposedAbs Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 57 C0 00 hex I353 TargetPosition: Indication of the TargetPo signal (target position) on the input interface of the positioning controller. 3161h read (2) Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 58 40 00 hex I355 read (2) Velocity: Specified speed. Indication of the current value on the input interface of the positioning controller. When a motion block job is started with the Execute signal, the speed (velocity) indicated in I355 is used. Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 58 C0 00 hex 3163h I356 read (2) Acceleration ramp: Specified acceleration. Indication of the current value on the input interface of the positioning controller. When a motion block job is started by the Execute signal, the acceleration shown in I356 is used by the profile generator. Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 59 00 00 hex 3164h I357 read (2) Deceleration ramp: Braking ramp specification. Indication of the current value on the input interface of the positioning controller. When a motion block job is started with the Execute signal, the deceleration shown in I357 is used by the profile generator. Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 59 40 00 hex 3165h I360 Transient command on internal bus: For monitoring the commands which reach positioning control. The command format in I360 is not identical with the indication parameter I351. I360 is only used to monitor internal processes. Fieldbus: 1LSB=1; Type: U16; USS-Adr: 09 5A 00 00 hex 3168h I400 r=2, w=2 Motion ID: Motion ID is an ID of a motion job which the user can assign as desired. The PLCopen blocks are incremented for every I400 block start and this is used as the motion block identifier. A change in I400 means that the previous PLCopen block was aborted. See also I82, I222 and I350. 319 Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 09 64 00 00 hex ID 441778.0004 322

I.. Positioning I401 Command: The PLCopen blocks are based on the command positioning functionality. The command is sent to this functionality with I401. See also I351. 3191h r=2, w=2 Value range: 0... 0... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 64 40 00 hex I402 Execute: The PLCopen blocks are based on the command positioning functionality. The execute (is sent to this functionality with I402. See also I300. 3192h r=2, w=2 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 09 64 80 00 hex I403 Target position: The PLCopen blocks are based on the command positioning functionality. The target position is sent to this functionality with I403. See also I353. 3193h r=2, w=2 Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 64 C0 00 hex I404 Velocity: The PLCopen blocks are based on the command positioning functionality. The velocity is sent to this functionality with I404. See also I355. 3194h r=2, w=2 Value range in I09/s: 0.00... 10,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 65 00 00 hex I405 Accel: The PLCopen blocks are based on the command positioning functionality. The reference value acceleration is sent to this functionality with I405. See also I356. 3195h r=2, w=2 Value range in I09/s2: 0.00... 10,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 65 40 00 hex I4 Decel: The PLCopen blocks are based on the command positioning functionality. The reference value deceleration is sent to this functionality with I4. See also I357. 3196h r=2, w=2 Value range in I09/s2: 0.00... 10,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 65 80 00 hex I407 Jerk: The PLCopen blocks are based on the command positioning functionality. The reference value jerk is sent to this functionality with I407. 3197h r=2, w=2 Value range in I09/s3: 0.00... 10,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 09 65 C0 00 hex I408 r=2, w=2 Timestamp of execute: The PLCopen blocks are based on the command positioning functionality. The time stamp of the Execute signal is sent to this functionality with I408. This value makes it possible for position control to reconstruct with microsecond precision when exactly the Execute signal occurred, regardless of the cycle time parameterized in A150. 3198h Value range in µs: 0... 0... 65535 Fieldbus: 1LSB=1µs; Type: U16; USS-Adr: 09 66 00 00 hex ID 441778.0004 323

I.. Positioning I409 MC_Stop: As per definition in PLCopen the PLCopen block "MC_Stop" has the job of stopping other PLCopen blocks when the Execute signal is queued. The MC_Stop block in I409 supplies its negated Execute input. All other PLCopen blocks form a logical AND-link between their Execute signal and I409. 3199h Value range: 0... 1... 255 Fieldbus: 1LSB=1; Type: U8; USS-Adr: 09 66 40 00 hex I900 Actual pos. limited positioning range: I900 is used as the actual-value source for universal axis cams. I900 contains the actual position of the axis and also shows the actual value without break in the circular length when the axis is parameterized with endless position range. I900 is indicated as position value with the units determined by I, I07, I08 and I09. Fieldbus: 1LSB=siehe I; PDO ; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 E1 00 00 hex I901 Actual pos. limited positioning range: I900 is used as the actual-value source for universal axis cams. I900 contains the actual position of the axis and also shows the actual value with break in the circular length when the axis is parameterized with endless position range. I900 is indicated as position value with the units determined by I, I07, I08 and I09. Fieldbus: 1LSB=siehe I; PDO ; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 09 E1 40 00 hex L.. PLCopen Reference Values L10 TargetPosition: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. A target position is entered in this parameter. The value can be changed during positioning but the change does not take effect until the next Execute command. With negative positions, the direction of revolution can be changed by negative entry of the position. 360Ah Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0C 02 80 00 hex L11 Position mode: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter the command in this parameter which determines the type of positioning of the drive. The available selections correspond to the command set of basic command positioning. 360Bh Value range in I09/s: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 02 C0 00 hex L12 Acceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter an acceleration in unit/s² in this parameter. 360Ch ID 441778.0004 324

L.. PLCopen Reference Values CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 03 00 00 hex L13 Deceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter a deceleration in unit/ s² in this parameter. 360Dh CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 03 40 00 hex L14 Ruck: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. The parameter is used for the reverse limitation but is not implemented, however. Any setting values have no function. 360Eh Value range in I09/s3: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 03 80 00 hex L15 Direction: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. This parameter is used to specify the direction in which absolute positions should be approached from standstill when a continuous axis is being used. 360Fh 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0C 03 C0 00 hex L16 Brake: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. For drives with halting brake, this parameter can be used to specify whether the brake should be applied at the end of the motion block (e.g., to save energy or to cool off the drive when it is being used with lifting systems). 361 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0C 04 00 00 hex ID 441778.0004 325

L.. PLCopen Reference Values L17 PLCopen Step-ID: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. An ID can be entered in this parameter which is copied to I193 active PLCopen Step-ID when the connected PLCopen starts. 3611h Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0C 04 40 00 hex L20 TargetPosition: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. A target position is entered in this parameter. The value can be changed during positioning but the change does not take effect until the next Execute command. With negative positions, the direction of revolution can be changed by negative entry of the position. 3614h Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0C 05 00 00 hex L21 Position mode: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter the command in this parameter which determines the type of positioning of the drive. The available selections correspond to the command set of basic command positioning. 3615h Value range in I09/s: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 05 40 00 hex L22 Acceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter an acceleration in unit/s² in this parameter. 3616h CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 05 80 00 hex L23 Deceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter a deceleration in unit/ s² in this parameter. 3617h CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 05 C0 00 hex ID 441778.0004 326

L.. PLCopen Reference Values L24 Ruck: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. The parameter is used for the reverse limitation but is not implemented, however. Any setting values have no function. 3618h Value range in I09/s3: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 00 00 hex L25 Direction: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. This parameter is used to specify the direction in which absolute positions should be approached from standstill when a continuous axis is being used. 3619h 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0C 40 00 hex L26 Brake: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. For drives with halting brake, this parameter can be used to specify whether the brake should be applied at the end of the motion block (e.g., to save energy or to cool off the drive when it is being used with lifting systems). 361Ah 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0C 80 00 hex L27 PLCopen Step-ID: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. An ID can be entered in this parameter which is copied to I193 active PLCopen Step-ID when the connected PLCopen starts. 361Bh Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0C C0 00 hex L30 TargetPosition: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. A target position is entered in this parameter. The value can be changed during positioning but the change does not take effect until the next Execute command. With negative positions, the direction of revolution can be changed by negative entry of the position. 361Eh Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0C 07 80 00 hex ID 441778.0004 327

L.. PLCopen Reference Values L31 Position mode: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter the command in this parameter which determines the type of positioning of the drive. The available selections correspond to the command set of basic command positioning. 361Fh Value range in I09/s: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 07 C0 00 hex L32 Acceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter an acceleration in unit/s² in this parameter. 362 CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 08 00 00 hex L33 Deceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter a deceleration in unit/ s² in this parameter. 3621h CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 08 40 00 hex L34 Ruck: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. The parameter is used for the reverse limitation but is not implemented, however. Any setting values have no function. 3622h Value range in I09/s3: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 08 80 00 hex L35 Direction: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. This parameter is used to specify the direction in which absolute positions should be approached from standstill when a continuous axis is being used. 3623h 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0C 08 C0 00 hex ID 441778.0004 328

L.. PLCopen Reference Values L36 Brake: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. For drives with halting brake, this parameter can be used to specify whether the brake should be applied at the end of the motion block (e.g., to save energy or to cool off the drive when it is being used with lifting systems). 3624h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0C 09 00 00 hex L37 PLCopen Step-ID: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. An ID can be entered in this parameter which is copied to I193 active PLCopen Step-ID when the connected PLCopen starts. 3625h Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0C 09 40 00 hex L40 TargetPosition: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. A target position is entered in this parameter. The value can be changed during positioning but the change does not take effect until the next Execute command. With negative positions, the direction of revolution can be changed by negative entry of the position. 3628h Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0C 0A 00 00 hex L41 Position mode: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter the command in this parameter which determines the type of positioning of the drive. The available selections correspond to the command set of basic command positioning. 3629h Value range in I09/s: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 0A 40 00 hex L42 Acceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter an acceleration in unit/s² in this parameter. 362Ah CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 0A 80 00 hex ID 441778.0004 329

L.. PLCopen Reference Values L43 Deceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter a deceleration in unit/ s² in this parameter. 362Bh CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 0A C0 00 hex L44 Ruck: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. The parameter is used for the reverse limitation but is not implemented, however. Any setting values have no function. 362Ch Value range in I09/s3: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 0B 00 00 hex L45 Direction: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. This parameter is used to specify the direction in which absolute positions should be approached from standstill when a continuous axis is being used. 362Dh 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0C 0B 40 00 hex L46 Brake: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. For drives with halting brake, this parameter can be used to specify whether the brake should be applied at the end of the motion block (e.g., to save energy or to cool off the drive when it is being used with lifting systems). 362Eh 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0C 0B 80 00 hex ID 441778.0004 330

L.. PLCopen Reference Values L47 PLCopen Step-ID: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. An ID can be entered in this parameter which is copied to I193 active PLCopen Step-ID when the connected PLCopen starts. 362Fh Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0C 0B C0 00 hex L50 TargetPosition: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. A target position is entered in this parameter. The value can be changed during positioning but the change does not take effect until the next Execute command. With negative positions, the direction of revolution can be changed by negative entry of the position. 3632h Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0C 0C 80 00 hex L51 Position mode: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter the command in this parameter which determines the type of positioning of the drive. The available selections correspond to the command set of basic command positioning. 3633h Value range in I09/s: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 0C C0 00 hex L52 Acceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter an acceleration in unit/s² in this parameter. 3634h CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 0D 00 00 hex L53 Deceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter a deceleration in unit/ s² in this parameter. 3635h CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 0D 40 00 hex ID 441778.0004 331

L.. PLCopen Reference Values L54 Ruck: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. The parameter is used for the reverse limitation but is not implemented, however. Any setting values have no function. 3636h Value range in I09/s3: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 0D 80 00 hex L55 Direction: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. This parameter is used to specify the direction in which absolute positions should be approached from standstill when a continuous axis is being used. 3637h 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0C 0D C0 00 hex L56 Brake: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. For drives with halting brake, this parameter can be used to specify whether the brake should be applied at the end of the motion block (e.g., to save energy or to cool off the drive when it is being used with lifting systems). 3638h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0C 0E 00 00 hex L57 PLCopen Step-ID: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. An ID can be entered in this parameter which is copied to I193 active PLCopen Step-ID when the connected PLCopen starts. 3639h Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0C 0E 40 00 hex L60 TargetPosition: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. A target position is entered in this parameter. The value can be changed during positioning but the change does not take effect until the next Execute command. With negative positions, the direction of revolution can be changed by negative entry of the position. 363Ch Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0C 0F 00 00 hex ID 441778.0004 332

L.. PLCopen Reference Values L61 Position mode: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter the command in this parameter which determines the type of positioning of the drive. The available selections correspond to the command set of basic command positioning. 363Dh Value range in I09/s: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 0F 40 00 hex L62 Acceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter an acceleration in unit/s² in this parameter. 363Eh CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 0F 80 00 hex L63 Deceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter a deceleration in unit/ s² in this parameter. 363Fh CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 0F C0 00 hex L64 Ruck: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. The parameter is used for the reverse limitation but is not implemented, however. Any setting values have no function. 364 Value range in I09/s3: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 10 00 00 hex L65 Direction: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. This parameter is used to specify the direction in which absolute positions should be approached from standstill when a continuous axis is being used. 3641h 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0C 10 40 00 hex ID 441778.0004 333

L.. PLCopen Reference Values L66 Brake: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. For drives with halting brake, this parameter can be used to specify whether the brake should be applied at the end of the motion block (e.g., to save energy or to cool off the drive when it is being used with lifting systems). 3642h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0C 10 80 00 hex L67 PLCopen Step-ID: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. An ID can be entered in this parameter which is copied to I193 active PLCopen Step-ID when the connected PLCopen starts. 3643h Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0C 10 C0 00 hex L70 TargetPosition: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. A target position is entered in this parameter. The value can be changed during positioning but the change does not take effect until the next Execute command. With negative positions, the direction of revolution can be changed by negative entry of the position. 3646h Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0C 11 80 00 hex L71 Position mode: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter the command in this parameter which determines the type of positioning of the drive. The available selections correspond to the command set of basic command positioning. 3647h Value range in I09/s: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 11 C0 00 hex L72 Acceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter an acceleration in unit/s² in this parameter. 3648h CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 12 00 00 hex ID 441778.0004 334

L.. PLCopen Reference Values L73 Deceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter a deceleration in unit/ s² in this parameter. 3649h CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 12 40 00 hex L74 Ruck: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. The parameter is used for the reverse limitation but is not implemented, however. Any setting values have no function. 364Ah Value range in I09/s3: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 12 80 00 hex L75 Direction: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. This parameter is used to specify the direction in which absolute positions should be approached from standstill when a continuous axis is being used. 364Bh 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0C 12 C0 00 hex L76 Brake: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. For drives with halting brake, this parameter can be used to specify whether the brake should be applied at the end of the motion block (e.g., to save energy or to cool off the drive when it is being used with lifting systems). 364Ch 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0C 13 00 00 hex ID 441778.0004 335

L.. PLCopen Reference Values L77 PLCopen Step-ID: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. An ID can be entered in this parameter which is copied to I193 active PLCopen Step-ID when the connected PLCopen starts. 364Dh Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0C 13 40 00 hex L80 TargetPosition: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. A target position is entered in this parameter. The value can be changed during positioning but the change does not take effect until the next Execute command. With negative positions, the direction of revolution can be changed by negative entry of the position. 365 Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0C 14 00 00 hex L81 Position mode: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter the command in this parameter which determines the type of positioning of the drive. The available selections correspond to the command set of basic command positioning. 3651h Value range in I09/s: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 14 40 00 hex L82 Acceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter an acceleration in unit/s² in this parameter. 3652h CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 14 80 00 hex L83 Deceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter a deceleration in unit/ s² in this parameter. 3653h CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 14 C0 00 hex ID 441778.0004 336

L.. PLCopen Reference Values L84 Ruck: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. The parameter is used for the reverse limitation but is not implemented, however. Any setting values have no function. 3654h Value range in I09/s3: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 15 00 00 hex L85 Direction: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. This parameter is used to specify the direction in which absolute positions should be approached from standstill when a continuous axis is being used. 3655h 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0C 15 40 00 hex L86 Brake: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. For drives with halting brake, this parameter can be used to specify whether the brake should be applied at the end of the motion block (e.g., to save energy or to cool off the drive when it is being used with lifting systems). 3656h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0C 15 80 00 hex L87 PLCopen Step-ID: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. An ID can be entered in this parameter which is copied to I193 active PLCopen Step-ID when the connected PLCopen starts. 3657h Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0C 15 C0 00 hex L90 TargetPosition: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. A target position is entered in this parameter. The value can be changed during positioning but the change does not take effect until the next Execute command. With negative positions, the direction of revolution can be changed by negative entry of the position. 365Ah Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0C 16 80 00 hex ID 441778.0004 337

L.. PLCopen Reference Values L91 Position mode: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter the command in this parameter which determines the type of positioning of the drive. The available selections correspond to the command set of basic command positioning. 365Bh Value range in I09/s: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 16 C0 00 hex L92 Acceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter an acceleration in unit/s² in this parameter. 365Ch CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 17 00 00 hex L93 Deceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter a deceleration in unit/ s² in this parameter. 365Dh CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 17 40 00 hex L94 Ruck: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. The parameter is used for the reverse limitation but is not implemented, however. Any setting values have no function. 365Eh Value range in I09/s3: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 17 80 00 hex L95 Direction: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. This parameter is used to specify the direction in which absolute positions should be approached from standstill when a continuous axis is being used. 365Fh 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0C 17 C0 00 hex ID 441778.0004 338

L.. PLCopen Reference Values L96 Brake: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. For drives with halting brake, this parameter can be used to specify whether the brake should be applied at the end of the motion block (e.g., to save energy or to cool off the drive when it is being used with lifting systems). 366 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0C 18 00 00 hex L97 PLCopen Step-ID: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. An ID can be entered in this parameter which is copied to I193 active PLCopen Step-ID when the connected PLCopen starts. 3661h Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0C 18 40 00 hex L100 TargetPosition: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. A target position is entered in this parameter. The value can be changed during positioning but the change does not take effect until the next Execute command. With negative positions, the direction of revolution can be changed by negative entry of the position. 3664h Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0C 19 00 00 hex L101 Position mode: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter the command in this parameter which determines the type of positioning of the drive. The available selections correspond to the command set of basic command positioning. 3665h Value range in I09/s: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 19 40 00 hex L102 Acceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter an acceleration in unit/s² in this parameter. 3666h CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 19 80 00 hex ID 441778.0004 339

L.. PLCopen Reference Values L103 Deceleration ramp: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. Enter a deceleration in unit/ s² in this parameter. 3667h CAUTION If the value exceeds the max. acceleration /11, the acceleration is limited during positioning to /11. Value range in I09/s2: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 19 C0 00 hex L104 Ruck: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. The parameter is used for the reverse limitation but is not implemented, however. Any setting values have no function. 3668h Value range in I09/s3: 0.00... 1000,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0C 1A 00 00 hex L105 Direction: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. This parameter is used to specify the direction in which absolute positions should be approached from standstill when a continuous axis is being used. 3669h 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0C 1A 40 00 hex L1 Brake: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. For drives with halting brake, this parameter can be used to specify whether the brake should be applied at the end of the motion block (e.g., to save energy or to cool off the drive when it is being used with lifting systems). 366Ah 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0C 1A 80 00 hex ID 441778.0004 340

L.. PLCopen Reference Values L107 PLCopen Step-ID: The parameter belongs to a parameter group for PLCopen reference values which are instanced by using block 100203. Multiple use creates additional groups starting at L20, L30, L40, and so on. An ID can be entered in this parameter which is copied to I193 active PLCopen Step-ID when the connected PLCopen starts. 366Bh Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0C 1A C0 00 hex M.. PLCopen Reference Values virtual Master M10 TargetPosition: Specification of the position for the virtual master. The value can also be changed during positioning but the change does not take effect until the next Execute command. With relative positions, the direction of revolution can be changed by entering the position negatively. 380Ah Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0D 02 80 00 hex M11 Velocity: Specification of the speed (velocity) for a motion command of the positioning virtual master. 380Bh Value range in G245: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 02 C0 00 hex M12 Acceleration ramp: Specification of the acceleration for a motion command of the positioning virtual master. 380Ch Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 03 00 00 hex M13 Deceleration ramp: Specification of the deceleration for a motion command of the positioning virtual master. 380Dh Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 03 40 00 hex M14 Jerk: Specification of the maximum jerk for a motion command of the positioning virtual master (not implemented at this time). 380Eh Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 03 80 00 hex ID 441778.0004 341

M.. PLCopen Reference Values virtual Master M15 Direction: Specification of the direction optimization for a motion command of the positing virtual master. 380Fh 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0D 03 C0 00 hex M16 PLCopen Step-ID: This ID is used by parameter G160 during execution of the PLCopen command. This makes it possible to identify which PLCopen block is active or was active last. 381 Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0D 04 00 00 hex M20 TargetPosition: Specification of the position for the virtual master. The value can also be changed during positioning but the change does not take effect until the next Execute command. With relative positions, the direction of revolution can be changed by entering the position negatively. 3814h Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0D 05 00 00 hex M21 Velocity: Specification of the speed (velocity) for a motion command of the positioning virtual master. 3815h Value range in G245: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 05 40 00 hex M22 Acceleration ramp: Specification of the acceleration for a motion command of the positioning virtual master. 3816h Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 05 80 00 hex M23 Deceleration ramp: Specification of the deceleration for a motion command of the positioning virtual master. 3817h Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 05 C0 00 hex M24 Jerk: Specification of the maximum jerk for a motion command of the positioning virtual master (not implemented at this time). 3818h Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 00 00 hex ID 441778.0004 342

M.. PLCopen Reference Values virtual Master M25 Direction: Specification of the direction optimization for a motion command of the positing virtual master. 3819h 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0D 40 00 hex M26 PLCopen Step-ID: This ID is used by parameter G160 during execution of the PLCopen command. This makes it possible to identify which PLCopen block is active or was active last. 381Ah Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0D 80 00 hex M30 TargetPosition: Specification of the position for the virtual master. The value can also be changed during positioning but the change does not take effect until the next Execute command. With relative positions, the direction of revolution can be changed by entering the position negatively. 381Eh Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0D 07 80 00 hex M31 Velocity: Specification of the speed (velocity) for a motion command of the positioning virtual master. 381Fh Value range in G245: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 07 C0 00 hex M32 Acceleration ramp: Specification of the acceleration for a motion command of the positioning virtual master. 382 Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 08 00 00 hex M33 Deceleration ramp: Specification of the deceleration for a motion command of the positioning virtual master. 3821h Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 08 40 00 hex M34 Jerk: Specification of the maximum jerk for a motion command of the positioning virtual master (not implemented at this time). 3822h Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 08 80 00 hex ID 441778.0004 343

M.. PLCopen Reference Values virtual Master M35 Direction: Specification of the direction optimization for a motion command of the positing virtual master. 3823h 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0D 08 C0 00 hex M36 PLCopen Step-ID: This ID is used by parameter G160 during execution of the PLCopen command. This makes it possible to identify which PLCopen block is active or was active last. 3824h Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0D 09 00 00 hex M40 TargetPosition: Specification of the position for the virtual master. The value can also be changed during positioning but the change does not take effect until the next Execute command. With relative positions, the direction of revolution can be changed by entering the position negatively. 3828h Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0D 0A 00 00 hex M41 Velocity: Specification of the speed (velocity) for a motion command of the positioning virtual master. 3829h Value range in G245: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 0A 40 00 hex M42 Acceleration ramp: Specification of the acceleration for a motion command of the positioning virtual master. 382Ah Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 0A 80 00 hex M43 Deceleration ramp: Specification of the deceleration for a motion command of the positioning virtual master. 382Bh Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 0A C0 00 hex M44 Jerk: Specification of the maximum jerk for a motion command of the positioning virtual master (not implemented at this time). 382Ch Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 0B 00 00 hex ID 441778.0004 344

M.. PLCopen Reference Values virtual Master M45 Direction: Specification of the direction optimization for a motion command of the positing virtual master. 382Dh 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0D 0B 40 00 hex M46 PLCopen Step-ID: This ID is used by parameter G160 during execution of the PLCopen command. This makes it possible to identify which PLCopen block is active or was active last. 382Eh Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0D 0B 80 00 hex M50 TargetPosition: Specification of the position for the virtual master. The value can also be changed during positioning but the change does not take effect until the next Execute command. With relative positions, the direction of revolution can be changed by entering the position negatively. 3832h Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0D 0C 80 00 hex M51 Velocity: Specification of the speed (velocity) for a motion command of the positioning virtual master. 3833h Value range in G245: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 0C C0 00 hex M52 Acceleration ramp: Specification of the acceleration for a motion command of the positioning virtual master. 3834h Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 0D 00 00 hex M53 Deceleration ramp: Specification of the deceleration for a motion command of the positioning virtual master. 3835h Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 0D 40 00 hex M54 Jerk: Specification of the maximum jerk for a motion command of the positioning virtual master (not implemented at this time). 3836h Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 0D 80 00 hex ID 441778.0004 345

M.. PLCopen Reference Values virtual Master M55 Direction: Specification of the direction optimization for a motion command of the positing virtual master. 3837h 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0D 0D C0 00 hex M56 PLCopen Step-ID: This ID is used by parameter G160 during execution of the PLCopen command. This makes it possible to identify which PLCopen block is active or was active last. 3838h Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0D 0E 00 00 hex M60 TargetPosition: Specification of the position for the virtual master. The value can also be changed during positioning but the change does not take effect until the next Execute command. With relative positions, the direction of revolution can be changed by entering the position negatively. 383Ch Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0D 0F 00 00 hex M61 Velocity: Specification of the speed (velocity) for a motion command of the positioning virtual master. 383Dh Value range in G245: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 0F 40 00 hex M62 Acceleration ramp: Specification of the acceleration for a motion command of the positioning virtual master. 383Eh Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 0F 80 00 hex M63 Deceleration ramp: Specification of the deceleration for a motion command of the positioning virtual master. 383Fh Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 0F C0 00 hex M64 Jerk: Specification of the maximum jerk for a motion command of the positioning virtual master (not implemented at this time). 384 Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 10 00 00 hex ID 441778.0004 346

M.. PLCopen Reference Values virtual Master M65 Direction: Specification of the direction optimization for a motion command of the positing virtual master. 3841h 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0D 10 40 00 hex M66 PLCopen Step-ID: This ID is used by parameter G160 during execution of the PLCopen command. This makes it possible to identify which PLCopen block is active or was active last. 3842h Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0D 10 80 00 hex M70 TargetPosition: Specification of the position for the virtual master. The value can also be changed during positioning but the change does not take effect until the next Execute command. With relative positions, the direction of revolution can be changed by entering the position negatively. 3846h Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0D 11 80 00 hex M71 Velocity: Specification of the speed (velocity) for a motion command of the positioning virtual master. 3847h Value range in G245: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 11 C0 00 hex M72 Acceleration ramp: Specification of the acceleration for a motion command of the positioning virtual master. 3848h Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 12 00 00 hex M73 Deceleration ramp: Specification of the deceleration for a motion command of the positioning virtual master. 3849h Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 12 40 00 hex M74 Jerk: Specification of the maximum jerk for a motion command of the positioning virtual master (not implemented at this time). 384Ah Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 12 80 00 hex ID 441778.0004 347

M.. PLCopen Reference Values virtual Master M75 Direction: Specification of the direction optimization for a motion command of the positing virtual master. 384Bh 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0D 12 C0 00 hex M76 PLCopen Step-ID: This ID is used by parameter G160 during execution of the PLCopen command. This makes it possible to identify which PLCopen block is active or was active last. 384Ch Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0D 13 00 00 hex M80 TargetPosition: Specification of the position for the virtual master. The value can also be changed during positioning but the change does not take effect until the next Execute command. With relative positions, the direction of revolution can be changed by entering the position negatively. 385 Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0D 14 00 00 hex M81 Velocity: Specification of the speed (velocity) for a motion command of the positioning virtual master. 3851h Value range in G245: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 14 40 00 hex M82 Acceleration ramp: Specification of the acceleration for a motion command of the positioning virtual master. 3852h Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 14 80 00 hex M83 Deceleration ramp: Specification of the deceleration for a motion command of the positioning virtual master. 3853h Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 14 C0 00 hex M84 Jerk: Specification of the maximum jerk for a motion command of the positioning virtual master (not implemented at this time). 3854h Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 15 00 00 hex ID 441778.0004 348

M.. PLCopen Reference Values virtual Master M85 Direction: Specification of the direction optimization for a motion command of the positing virtual master. 3855h 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0D 15 40 00 hex M86 PLCopen Step-ID: This ID is used by parameter G160 during execution of the PLCopen command. This makes it possible to identify which PLCopen block is active or was active last. 3856h Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0D 15 80 00 hex M90 TargetPosition: Specification of the position for the virtual master. The value can also be changed during positioning but the change does not take effect until the next Execute command. With relative positions, the direction of revolution can be changed by entering the position negatively. 385Ah Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0D 16 80 00 hex M91 Velocity: Specification of the speed (velocity) for a motion command of the positioning virtual master. 385Bh Value range in G245: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 16 C0 00 hex M92 Acceleration ramp: Specification of the acceleration for a motion command of the positioning virtual master. 385Ch Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 17 00 00 hex M93 Deceleration ramp: Specification of the deceleration for a motion command of the positioning virtual master. 385Dh Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 17 40 00 hex M94 Jerk: Specification of the maximum jerk for a motion command of the positioning virtual master (not implemented at this time). 385Eh Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 17 80 00 hex ID 441778.0004 349

M.. PLCopen Reference Values virtual Master M95 Direction: Specification of the direction optimization for a motion command of the positing virtual master. 385Fh 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0D 17 C0 00 hex M96 PLCopen Step-ID: This ID is used by parameter G160 during execution of the PLCopen command. This makes it possible to identify which PLCopen block is active or was active last. 386 Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0D 18 00 00 hex M100 TargetPosition: Specification of the position for the virtual master. The value can also be changed during positioning but the change does not take effect until the next Execute command. With relative positions, the direction of revolution can be changed by entering the position negatively. 3864h Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0D 19 00 00 hex M101 Velocity: Specification of the speed (velocity) for a motion command of the positioning virtual master. 3865h Value range in G245: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 19 40 00 hex M102 Acceleration ramp: Specification of the acceleration for a motion command of the positioning virtual master. 3866h Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 19 80 00 hex M103 Deceleration ramp: Specification of the deceleration for a motion command of the positioning virtual master. 3867h Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 19 C0 00 hex M104 Jerk: Specification of the maximum jerk for a motion command of the positioning virtual master (not implemented at this time). 3868h Value range in G244: 0.00... 1000,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0D 1A 00 00 hex ID 441778.0004 350

M.. PLCopen Reference Values virtual Master M105 Direction: Specification of the direction optimization for a motion command of the positing virtual master. 3869h 0: shortest way; 1: positive; 2: negative; 3: actual direction; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0D 1A 40 00 hex M1 PLCopen Step-ID: This ID is used by parameter G160 during execution of the PLCopen command. This makes it possible to identify which PLCopen block is active or was active last. 386Ah Value range: 0... 0... 65535 Fieldbus: 1LSB=1; Type: U16; USS-Adr: 0D 1A 80 00 hex N.. Posi.Switches N100 Cam 1 enable: Enable signal for fast cam 1. Note: In the "1:active" setting the cam function is linked directly to the output BA3. BA3 should therefore not be parameterized for other purposes in this case. In particular the contents of parameter F63 BA3-Source should be deleted. 3A64h 0: Inactive. When cam start and end positions are not the same, the cam output is always inactive. When cam start and end positions are the same, the cam output remains unchanged. 1: Active. When cam start and end positions are not the same, the cam output is set for its function. When cam start and end positions are the same, the cam output remains unchanged. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 19 00 00 hex N101 Cam 1 master/axis: Switching of fast cam 1 between master and axis cam. 3A65h 0:. The fast cam is generated based on the axis position. 1: Master. The fast cam is generated based on the master position. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 19 40 00 hex N102 Fast electronic master cam 1 start position: Starting position of the fast master electronic cam 1. The position value is scaled like a master reference value via the parameters G46, G47, G48, and G49. 3A66h Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0E 19 80 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden. ID 441778.0004 351

N.. Posi.Switches N103 Fast electronic master cam 1 end position: Ending position of the fast master electronic cam 1. The position value is scaled like a master reference value via the parameters G46, G47, G48, and G49. Value range in G49: -47185920.00... 0,00... 47185919.97 3A67h Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0E 19 C0 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden. N104 Fast electronic slave cam 1 start position: Starting position of the fast slave electronic cam 1. The position value is scaled like a position reference value of the positioning controller via the Posi parameters I, I07, I08, and I09. 3A68h Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0E 1A 00 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 1, the parameter belonging to the masking function is hidden. N105 Fast electronic slave cam 1 end position: Ending position of the fast slave electronic cam 1. The position value is scaled like a position reference value of the positioning controller via the Posi parameters I, I07, I08, and I09. 3A69h Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0E 1A 40 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 1, the parameter belonging to the masking function is hidden. N1 Fast electronic cam 1 deadtime compensation: Entry of a dead time compensation shifts the cam by the distance that the related axis would have traveled during the set time if it had traveled at the speed during the last technology cycle. This means that, at a constant speed, a time shift of exactly the set dead time compensation will occur. Positive values shift the cam to an earlier time. Negative values shift the cam to a later time. 3A6Ah Value range in us: -31Bit... 0... 31 Bit Fieldbus: 1LSB=1us; Type: I32; USS-Adr: 0E 1A 80 00 hex N107 Output fast electronic cam 1: Indication of the output of fast electronic cam 1. 3A6Bh read (1) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 1A C0 00 hex ID 441778.0004 352

N.. Posi.Switches N110 Cam 2 enable: Enable signal for fast cam 2. Note: In the "1:active" setting the cam function is linked directly to the output BA4. BA4 should therefore not be parameterized for other purposes in this case. In particular the contents of parameter F64 BA4-Source should be deleted. 3A6Eh 0: Inactive. When cam start and end positions are not the same, the cam output is always inactive. When cam start and end positions are the same, the cam output remains unchanged. 1: Active. When cam start and end positions are not the same, the cam output is set for its function. When cam start and end positions are the same, the cam output remains unchanged. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 1B 80 00 hex N111 Cam 2 master/axis: Switching of fast cam 2 between master and axis cam. 3A6Fh 0:. The fast cam is generated based on the axis position. 1: Master. The fast cam is generated based on the master position. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 1B C0 00 hex N112 Fast electronic master cam 2 start position: Starting position of the fast master electronic cam 2. The position value is scaled like a master reference value via the parameters G46, G47, G48, and G49. 3A7 Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0E 1C 00 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden. N113 Fast electronic master cam 2 end position: Ending position of the fast master electronic cam 2. The position value is scaled like a master reference value via the parameters G46, G47, G48, and G49. 3A71h Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0E 1C 40 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden. N114 Fast electronic slave cam 2 start position: Starting position of the fast slave electronic cam 2. The position value is scaled like a position reference value of the positioning controller via the Posi parameters I, I07, I08, and I09. 3A72h Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0E 1C 80 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 1, the parameter belonging to the masking function is hidden. ID 441778.0004 353

N.. Posi.Switches N115 Fast electronic slave cam 2 end position: Ending position of the fast slave electronic cam 2. The position value is scaled like a position reference value of the positioning controller via the Posi parameters I, I07, I08, and I09. Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0E 1C C0 00 hex 3A73h The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 1, the parameter belonging to the masking function is hidden. N116 Fast electronic cam 2 deadtime compensation: Entry of a dead time compensation shifts the cam by the distance that the related axis would have traveled during the set time if it had traveled at the speed during the last technology cycle. This means that, at a constant speed, a time shift of exactly the set dead time compensation will occur. Positive values shift the cam to an earlier time. Negative values shift the cam to a later time. 3A74h Value range in us: -31Bit... 0... 31 Bit Fieldbus: 1LSB=1us; Type: I32; USS-Adr: 0E 1D 00 00 hex N117 Output fast electronic cam 2: Indication of the output of fast electronic cam 2. 3A75h read (1) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 1D 40 00 hex N120 Cam 3 enable: Enable signal for fast cam 3. Note: In the "1:active" setting the cam function is linked directly to the output BA5. BA5 should therefore not be parameterized for other purposes in this case. In particular the contents of parameter F65 BA5-Source should be deleted. 3A78h 0: Inactive. When cam start and end positions are not the same, the cam output is always inactive. When cam start and end positions are the same, the cam output remains unchanged. 1: Active. When cam start and end positions are not the same, the cam output is set for its function. When cam start and end positions are the same, the cam output remains unchanged. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 1E 00 00 hex N121 Cam 3 master/axis: Switching of fast cam 3 between master and axis cam. 3A79h 0:. The fast cam is generated based on the axis position. 1: Master. The fast cam is generated based on the master position. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 1E 40 00 hex ID 441778.0004 354

N.. Posi.Switches N122 Fast electronic master cam 3 start position: Starting position of the fast master electronic cam 3. The position value is scaled like a master reference value via the parameters G46, G47, G48, and G49. Value range in G49: -47185920.00... 0,00... 47185919.97 3A7Ah Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0E 1E 80 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden. N123 Fast electronic master cam 3 end position: Ending position of the fast master electronic cam 3. The position value is scaled like a master reference value via the parameters G46, G47, G48, and G49. 3A7Bh Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0E 1E C0 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden. N124 Fast electronic slave cam 3 start position: Starting position of the fast slave electronic cam 3. The position value is scaled like a position reference value of the positioning controller via the Posi parameters I, I07, I08, and I09. 3A7Ch Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0E 1F 00 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 1, the parameter belonging to the masking function is hidden. N125 Fast electronic slave cam 3 end position: Ending position of the fast slave electronic cam 3. The position value is scaled like a position reference value of the positioning controller via the Posi parameters I, I07, I08, and I09. 3A7Dh Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0E 1F 40 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 1, the parameter belonging to the masking function is hidden. N126 Fast electronic cam 3 deadtime compensation: Entry of a dead time compensation shifts the cam by the distance that the related axis would have traveled during the set time if it had traveled at the speed during the last technology cycle. This means that, at a constant speed, a time shift of exactly the set dead time compensation will occur. Positive values shift the cam to an earlier time. Negative values shift the cam to a later time. 3A7Eh Value range in us: -31Bit... 0... 31 Bit Fieldbus: 1LSB=1us; Type: I32; USS-Adr: 0E 1F 80 00 hex ID 441778.0004 355

N.. Posi.Switches Output fast electronic cam 3: Indication of the output of fast electronic cam 3. 3A7Fh N127 read (1) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 1F C0 00 hex N130 Cam 4 enable: Enable signal for fast cam 4. Note: In the "1:active" setting the cam function is linked directly to the output BA6. BA6 should therefore not be parameterized for other purposes in this case. In particular the contents of parameter F66 BA6-Source should be deleted. 3A82h 0: Inactive. When cam start and end positions are not the same, the cam output is always inactive. When cam start and end positions are the same, the cam output remains unchanged. 1: Active. When cam start and end positions are not the same, the cam output is set for its function. When cam start and end positions are the same, the cam output remains unchanged. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 20 80 00 hex N131 Cam 4 master/axis: Switching of fast cam 4 between master and axis cam. 3A83h 0:. The fast cam is generated based on the axis position. 1: Master. The fast cam is generated based on the master position. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 20 C0 00 hex N132 Fast electronic master cam 4 start position: Starting position of the fast master electronic cam 4. The position value is scaled like a master reference value via the parameters G46, G47, G48, and G49. 3A84h Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0E 21 00 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden. N133 Fast electronic master cam 4 end position: Ending position of the fast master electronic cam 4. The position value is scaled like a master reference value via the parameters G46, G47, G48, and G49. 3A85h Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0E 21 40 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden. ID 441778.0004 356

N.. Posi.Switches N134 Fast electronic slave cam 4 start position: Starting position of the fast slave electronic cam 4. The position value is scaled like a position reference value of the positioning controller via the Posi parameters I, I07, I08, and I09. Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0E 21 80 00 hex 3A86h The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 1, the parameter belonging to the masking function is hidden. N135 Fast electronic slave cam 4 end position: Ending position of the fast slave electronic cam 4. The position value is scaled like a position reference value of the positioning controller via the Posi parameters I, I07, I08, and I09. Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0E 21 C0 00 hex 3A87h The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 1, the parameter belonging to the masking function is hidden. N136 Fast electronic cam 4 deadtime compensation: Entry of a dead time compensation shifts the cam by the distance that the related axis would have traveled during the set time if it had traveled at the speed during the last technology cycle. This means that, at a constant speed, a time shift of exactly the set dead time compensation will occur. Positive values shift the cam to an earlier time. Negative values shift the cam to a later time. 3A88h Value range in us: -31Bit... 0... 31 Bit Fieldbus: 1LSB=1us; Type: I32; USS-Adr: 0E 22 00 00 hex N137 Output fast electronic cam 4: Indication of the output of fast electronic cam 4. 3A89h read (1) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 22 40 00 hex N140 Cam enable: Enable signal for universal cam block 101081. 3A8Ch 0: inactive; Cam output is inactive but can be forced to active via N150. 1: active; Cam output is controlled by the cam function but can be forced to active via N150. Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 23 00 00 hex N141 Cam for axis/master: Switch the universal cam between master and axis cam. 3A8Dh 0: ; The cam is based on the axis position. The actual position is taken from parameter I900 (or I901). 1: Master; The cam is based on the master position. The actual position is taken from parameter G908 (or G909). Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 23 40 00 hex ID 441778.0004 357

N.. Posi.Switches N142 Master cam start position: Start position of the universal cam parameterized as master cam. The position value is scaled like a master reference value via parameters G46, G47, G48, G49. 3A8Eh Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0E 23 80 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden. N143 Master cam end position: End position of the universal cam parameterized as master cam. The position value is scaled like a master reference value via parameters G46, G47, G48, G49. 3A8Fh Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0E 23 C0 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden. N144 cam start position: Start position of the universal cam parameterized as axis cam. The position value is scaled like a position reference value of the position controller via Posi parameters I, I07, I08, I09. 3A9 Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0E 24 00 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 1, the parameter belonging to the masking function is hidden. N145 cam end position: End position of the universal cam parameterized as axis cam. The position value is scaled like a position reference value of the position controller via Posi parameters I, I07, I08, I09. 3A91h Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0E 24 40 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 1, the parameter belonging to the masking function is hidden. N146 Cam hysteresis master scaling: Hysteresis to the left and right of the start and end points of the universal cam parameterized as master cam. The position value is scaled like a master reference value via parameters G46, G47, G48, G49. 3A92h Value range in G49: 0.00... 0,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0E 24 80 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden. ID 441778.0004 358

N.. Posi.Switches N147 Cam hysteresis axis scaling: Hysteresis to the left and right of the start and end points of the universal cam parameterized as axis cam. The position value is scaled like a position reference value via parameters I, I07, I08, I09. Value range in I09: 0.00... 0,00... 31Bit 3A93h Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0E 24 C0 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 1, the parameter belonging to the masking function is hidden. N148 Dead time compensation of cam: The input of a dead time compensation causes a speedrelated shift of the cam. For more information, see the documentation of the cam block. 3A94h Value range in µs: 0... 0... 31 Bit Fieldbus: 1LSB=1µs; Type: I32; USS-Adr: 0E 25 00 00 hex N149 Output signal of cam: Indication of the output of the universal cam. 3A95h read (1) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 25 40 00 hex N150 Force cam to value: The value of N150 is OR-linked to the internal output signal of the universal cam. The result is output as cam output signal. 3A96h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 25 80 00 hex N151 read (1) Dead time compensation limited: When the cam is parameterized to endless position range, the calculated dead time compensation is limited to a maximum of +/- one circular length. When the limitationis exceeded, 1:active is output on parameter N151. If the dead time compensation is within the permitted range, inactive is output. 3A97h 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 25 C0 00 hex N160 Cam enable: Enable signal for universal cam block 101081. 3AA 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 28 00 00 hex ID 441778.0004 359

N.. Posi.Switches Cam for axis/master 3AA1h N161 0: ; 1: Master; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 28 40 00 hex N162 Master cam start position Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0E 28 80 00 hex 3AA2h The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden. N163 Master cam end position Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0E 28 C0 00 hex 3AA3h The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden. N164 cam start position Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0E 29 00 00 hex 3AA4h The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 1, the parameter belonging to the masking function is hidden. N165 cam end position Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0E 29 40 00 hex 3AA5h The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 1, the parameter belonging to the masking function is hidden. N166 Cam hysteresis master scaling Value range in G49: 0.00... 0,00... 47185919.98 Fieldbus: 1LSB=siehe G46; Type: I32; raw value:1lsb=fnct.no.20; USS-Adr: 0E 29 80 00 hex 3AA6h The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden. N167 Cam hysteresis axis scaling Value range in I09: 0.00... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: I32; raw value:1lsb=fnct.no.14; USS-Adr: 0E 29 C0 00 hex 3AA7h The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 1, the parameter belonging to the masking function is hidden. ID 441778.0004 360

N.. Posi.Switches N168 Dead time compensation of cam Value range in µs: 0... 0... 31 Bit 3AA8h Fieldbus: 1LSB=1µs; Type: I32; USS-Adr: 0E 2A 00 00 hex N169 Output signal of cam 3AA9h read (1) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 2A 40 00 hex N170 Force cam to value 3AAAh 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 2A 80 00 hex N171 Dead time compensation limited 3AABh read (1) 0: inactive; 1: active; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 2A C0 00 hex N260 Posi.latch mode: Controls Posi.Latch function for micro-second-precise measurement of a position or length with an external signal. 3B04h 0: Latch on rising edge; 1: Latch on falling edge; 2: Latch on next edge; 3: Reserved; Like 2 for the time being. 4: Difference between rising and rising edge; 5: Difference between falling and falling edge; 6: Difference between rising and falling edge; 7: Difference between falling and rising edge; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 41 00 00 hex N261 Latch for axis/master: Determines whether the latch latches the axis or the master position. 3B05h 0: ; 1: Master; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 41 40 00 hex ID 441778.0004 361

N.. Posi.Switches N262, OFF Posi latch execute source: The edge of the Posi.Latch Execute signal triggers the measurement of the actual position in N265 based on this parameter. N262 specifies the source of the Posi.Latch Execute signal. When this parameter equals 2:Parameter, latching is not possible because of the lack of applicable control bits. 3Bh NOTE Measurement of the actual position can be done with micro-second precision when the Posi.Latch Execute signal is assigned to binary inputs BE1 to BE5. 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 41 80 00 hex N263, OFF Posi latch reset source: The Posi.Latch reset signal activates the Posi.Latch function. The Posi.Latch function records the current position and can thus be used to measure work pieces, for example. When the reset signal has a rising edge, Posi.Latch status N266 is reset. N263 specifies the source of the Posi.Latch reset signal. When this parameter equals 2:Parameter, latching is not possible because of the lack of applicable control bits. 3B07h 0: Low; 1: High; ID 441778.0004 362

N.. Posi.Switches 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 41 C0 00 hex N264 read (1) Latched master position: Indication of the master position measured with the latch function. With a length measurement (N260 = 4..7), the output position is indicated after the first edge of Posi.Latch Execute and the measured length after the second edge. 3B08h Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0E 42 00 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden. N265 read (1) Latched axis position: Indication of the axis position measured with the latch function. With a length measurement (N260 = 4..7), the output position is indicated after the first edge of Posi.Latch Execute and the measured length after the second edge. 3B09h Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0E 42 40 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 1, the parameter belonging to the masking function is hidden. ID 441778.0004 363

N.. Posi.Switches Posi latch state: Indication of the current Posi.Latch status. 3B0Ah N266 read (1) 0: Latch is armed; The latch is armed (ready) and waiting for the set signal edge on the Latch- Execute input. 1: Position is latched; In modes 0, 1 and 2, the latch has stored a position and is in its end state. The ready state 0 is obtained again with Latch Reset. In modes 4, 5, 6 and 7, the first of two signal edges has been detected and the latch is waiting for the second signal edge depending on which mode is set. 2: Difference is latched; Only in modes 4, 5, 6 and 7. The latch has stored the second position and calculated the difference in positions. It is in its end state. The ready state 0 is obtained again with Latch Reset. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 42 80 00 hex N270 Posi.latch mode: Controls Posi.Latch function for micro-second-precise measurement of a position or length with an external signal. 3B0Eh 0: Latch on rising edge; 1: Latch on falling edge; 2: Latch on next edge; 3: Reserved; Like 2 for the time being. 4: Difference between rising and rising edge; 5: Difference between falling and falling edge; 6: Difference between rising and falling edge; 7: Difference between falling and rising edge; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 43 80 00 hex N271 Latch for axis/master: Determines whether the latch latches the axis or the master position. 3B0Fh 0: ; 1: Master; Fieldbus: 1LSB=1; Type: B; USS-Adr: 0E 43 C0 00 hex N272, OFF Posi latch execute source: The edge of the Posi.Latch Execute signal triggers the measurement of the actual position in N275 based on this parameter. N272 specifies the source of the Posi.Latch Execute signal. When this parameter equals 2:Parameter, latching is not possible because of the lack of applicable control bits. 3B1 NOTE Measurement of the actual position can be done with micro-second precision when the Posi.Latch Execute signal is assigned to binary inputs BE1 to BE5. 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; ID 441778.0004 364

N.. Posi.Switches 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 44 00 00 hex N273, OFF Posi latch reset source: The Posi.Latch reset signal activates the Posi.Latch function. The Posi.Latch function records the current position and can thus be used to measure work pieces, for example. When the reset signal has a rising edge, Posi.Latch status N276 is reset. N273 specifies the source of the Posi.Latch reset signal. When this parameter equals 2:Parameter, latching is not possible because of the lack of applicable control bits. 3B11h 0: Low; 1: High; 2: parameter; 3: BE1; 4: BE1-inverted; 5: BE2; 6: BE2-inverted; 7: BE3; 8: BE3-inverted; 9: BE4; 10: BE4-inverted; 11: BE5; 12: BE5-inverted; 13: BE6; 14: BE6-inverted; 15: BE7; ID 441778.0004 365

N.. Posi.Switches 16: BE7-inverted; 17: BE8; 18: BE8-inverted; 19: BE9; 20: BE9-inverted; 21: BE10; 22: BE10-inverted; 23: BE11; 24: BE11-inverted; 25: BE12; 26: BE12-inverted; 27: BE13; 28: BE13-inverted; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 44 40 00 hex N274 read (1) Latched master position: Indication of the master position measured with the latch function. With a length measurement (N270 = 4..7), the output position is indicated after the first edge of Posi.Latch Execute and the measured length after the second edge. 3B12h Value range in G49: -47185920.00... 0,00... 47185919.97 Fieldbus: 1LSB=siehe G46; Type: P64; raw value:1lsb=fnct.no.19; USS-Adr: 0E 44 80 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 0, the parameter belonging to the masking function is hidden. N275 read (1) Latched axis position: Indication of the axis position measured with the latch function. With a length measurement (N270 = 4..7), the output position is indicated after the first edge of Posi.Latch Execute and the measured length after the second edge. 3B13h Value range in I09: -31Bit... 0,00... 31Bit Fieldbus: 1LSB=siehe I; Type: P64; raw value:1lsb=fnct.no.8; USS-Adr: 0E 44 C0 00 hex The parameter of the next smaller coordinate divisible by 10 + 1 is read. If this parameter equals 1, the parameter belonging to the masking function is hidden. N276 Posi latch state: Indication of the current Posi.Latch status. 3B14h read (1) 0: Latch is armed; The latch is armed (ready) and waiting for the set signal edge on the Latch- Execute input. 1: Position is latched; In modes 0, 1 and 2, the latch has stored a position and is in its end state. The ready state 0 is obtained again with Latch Reset. In modes 4, 5, 6 and 7, the first of two signal edges has been detected and the latch is waiting for the second signal edge depending on which mode is set. 2: Difference is latched; Only in modes 4, 5, 6 and 7. The latch has stored the second position and calculated the difference in positions. It is in its end state. The ready state 0 is obtained again with Latch Reset. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 0E 45 00 00 hex ID 441778.0004 366

R.. Production data R01.0 Hardware-version power-unit for hardware: Number specifying the hardware status of the power pack. All changes in the hardware states are counted here. 4201h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 12 00 40 00 hex R01.1 Hardware-version power-unit for software : Number specifying the hardware status of the power pack. Only changes in the hardware states which require a software adjustment are counted here. 4201h 1h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 12 00 40 01 hex R02 Power phases: Specifies whether the device is a single-phase or three-phase device. 4202h 0: Single-phase; 1: Three-phase; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 12 00 80 00 hex R03 Power supply: Power supply of the input rectifier. 4203h Fieldbus: 1LSB=1V; Type: I16; USS-Adr: 12 00 C0 00 hex R04 Nominal current async: Nominal current of the inverter for operation of asynchronous machines and normal switching (B24 = 4 khz). 4204h Fieldbus: 1LSB=0,001A; Type: I32; USS-Adr: 12 01 00 00 hex R05 Upper temperature limit: Maximum permissible inverter temperature. When the measured inverter temperature E25 exceeds this value, a fault "38:Temperature device sensor" is triggered. 4205h Fieldbus: 1LSB=1 C; Type: I16; (raw value:32767 = 328 C); USS-Adr: 12 01 40 00 hex R24 Nominal current servo: Nominal current of the inverter during operation with servo motors and normal switching (B24 = 8 khz). 4218h Fieldbus: 1LSB=0,001A; Type: I32; USS-Adr: 12 00 00 hex R25 Lower temperature limit: Minimum permissible inverter temperature. When the measured inverter temperature E25 passes below this value, a fault "38:temperature device sensor" is triggered. May indicate that the temperature sensor is defective. 4219h Fieldbus: 1LSB=1 C; Type: I16; (raw value:32767 = 328 C); USS-Adr: 12 40 00 hex R26 Maximum current async: Specifies the current strength above which the inverter triggers a fault "33:overcurrent" during operation with ASM. Specification is made in %, reference value is R04. 421Ah Fieldbus: 1LSB=1%; Type: I16; (raw value:32767 LSB=800%); USS-Adr: 12 80 00 hex ID 441778.0004 367

R.. Production data R27 Maximum current servo: Specifies the current strength above which the inverter triggers a fault "33:overcurrent" during operation with servo. Specification is made in %, reference value is R24. 421Bh Fieldbus: 1LSB=1%; Type: I16; (raw value:32767 LSB=800%); USS-Adr: 12 C0 00 hex R28 Upper voltage limit: Maximum permissible DC link voltage. When the measured DC link voltage E03 exceeds this value, a fault "36:high voltage" is triggered. 421Ch Fieldbus: 1LSB=1V; Type: I16; (raw value:32767 = 3277 V); USS-Adr: 12 07 00 00 hex R29 Lower voltage limit: Minimum required DC link voltage. Represents the lower limit for parameter A35. 421Dh Fieldbus: 1LSB=1V; Type: I16; (raw value:32767 = 3277 V); USS-Adr: 12 07 40 00 hex R30 Brake chopper available: Specifies whether a brake resistance can be connected to the inverter. 421Eh 0: inactive; No brake resistance possible. 1: active; Brake resistance possible. Fieldbus: 1LSB=1; Type: B; USS-Adr: 12 07 80 00 hex R31 Brake chopper on level: The brake chopper is turned on at the latest when this value is exceeded. 421Fh Fieldbus: 1LSB=1V; Type: I16; (raw value:32767 = 3277 V); USS-Adr: 12 07 C0 00 hex R32 Brake chopper off level: The brake chopper is switched off at the latest when this value is passed below. 422 Fieldbus: 1LSB=1V; Type: I16; (raw value:32767 = 3277 V); USS-Adr: 12 08 00 00 hex R33 Maximum motor power: Maximum power which a motor that is operated on this inverter may have. Represents the upper limit for B11. 4221h Fieldbus: 1LSB=0,001kW; Type: I16; (raw value:1lsb=0,01 kw); USS-Adr: 12 08 40 00 hex R34 Maximum brakeresistor power: Maximum power which a brake resistor that is connected to this inverter may have. Represents the upper limit for A22. 4222h Fieldbus: 1LSB=1W; Type: I16; (raw value:1lsb=10 W); USS-Adr: 12 08 80 00 hex R35 Minimum brakeresistor resistance: Minimum resistance value which a braking resistor connected to this inverter must have. Represents the lower limit for A21. 4223h Fieldbus: 1LSB=1Ohm; Type: I16; (raw value:32767 = 3277 Ohm); USS-Adr: 12 08 C0 00 hex ID 441778.0004 368

R.. Production data R36.0 Hardware-version control-unit for hardware: Number specifying the hardware version of the control unit. All changes in the hardware states are counted here. 4224h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 12 09 00 00 hex R36.1 Hardware-version control-unit for software: Number specifying the hardware version of the control unit. All changes in the hardware states which require a software adjustment are counted here. 4224h 1h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 12 09 00 01 hex T.. Scope T25 Automatic scope start: When T25 is "1:active," Scope starts automatically after the configuration is downloaded. With a device new start, Scope is also automatically started with the settings saved last. 0: inactive; 1: active; 4619h Fieldbus: 1LSB=1; Type: B; USS-Adr: 14 40 00 hex U.. Protection functions U00 Level low voltage: Level at which the event "46:low voltage" is triggered due to cause "1:low voltage DC link voltage limit." 480 2: Warning; After the tolerance time in U01 expires, the device assumes fault status. 3: Fault; When the value in A35 is passed below, the device immediately assumes fault status. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 00 00 00 hex U01 Time low voltage: Can only be set with U00 = 2:warning. Defines the time during which the triggering of low voltage monitoring is tolerated. After expiration of this time, the device assumes fault status. 4801h Value range in s: 1.00... 1,00... 10.00 Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1 s); USS-Adr: 15 00 40 00 hex Only visible when the appropriate event level is parameterized to 2:Warning. U02 Level overtemperature Device i2t: Parallel to the monitoring of the heat dissipater temperature, an additional protective function is offered via i²t. The device load can be indicated as a percentage via parameter E22. If the value in E22 is greater than 100 %, event 39 is triggered. When the event is triggered, a current limitation occurs in the control modes Servo, Vectorcontrol 4802h ID 441778.0004 369

U.. Protection functions and Sensorless Vectorcontrol (SLVC). At the same time a quick stop is triggered when U02 is parameterized as a failure. Reduction of the current can mean that the quick stop is no longer executed correctly. WARNING Undesired sinking of the gravity-stressed axes! Remember that the current limitation also causes a torque limitation. This may cause gravity-stressed axes to sink. NOTE Remember that event 59 is always triggered when E22 is greater than 105 %. 0: inactive; Device does not react to the triggering of U02. 1: Message; When U02 is triggered, this is only indicated. The device continues to remain ready for operation. 2: Warning; After expiration of the tolerance time in U03, the device assumes fault status (for E39, see chap. 17). 3: Fault; After U02 is triggered, the device immediately assumes fault status (for E39, see chap. 17). Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 00 80 00 hex U03 Time overtemperature Device i2t: Can only be set with U02 = 2:warning. Defines the time during which a trigger of the i²t monitoring is tolerated. After expiration of this time, the device assumes fault status. 4803h Value range in s: 1.00... 10,00... 60.00 Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1 s); USS-Adr: 15 00 C0 00 hex Only visible when the appropriate event level is parameterized to 2:Warning. U10 Level temperature motor i2t: Parallel to the monitoring of the positor line on the motor, the inverter simulates the motor temperature via an i²t model. The motor load is indicated as a percentage in parameter E23. If the value in E23 is greater than 100 %, event 45 is triggered. 480Ah 0: inactive; Device does not react to the triggering of U10. 1: Message; Triggering of U10 is only indicated. The device continues to be ready for operation. 2: Warning; After expiration of the tolerance time U11, the device assume fault status. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 02 80 00 hex U11 Time temperature motor i2t: Can only be set when U10 = 2:warning. Defines the time during which a trigger of i²t monitoring is tolerated. After expiration of this time, the device assumes fault status. 480Bh Value range in s: 1.00... 30,00... 60.00 Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1 s); USS-Adr: 15 02 C0 00 hex Only visible when the appropriate event level is parameterized to 2:Warning. ID 441778.0004 370

U.. Protection functions U12 Level motor connection: When the axis switch via POSISwitch is utilized, the inverter can test during switching whether the contactor of the motor to be switched off has actually broken contact (opened). In addition, under certain circumstances, it can be determined that no motor is connected. 480Ch 0: inactive; 3: Fault; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 03 00 00 hex U15 Level MotorTMP: Trips when the motor temperature sensor on X2 triggers. 480Fh 2: Warning; After expiration of the tolerance time U16, the device assume fault status. 3: Fault; The device immediately assumes fault status after the motor TMP is triggered. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 03 C0 00 hex U16 Time MotorTMP: Can only be set when U15 = 2:warning. Defines the time during which triggering of the motor TMP is tolerated. After expiration of this time, the device assumes fault status. 481 Value range in s: 1.00... 2,00... 60.00 Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1 s); USS-Adr: 15 04 00 00 hex Only visible when the appropriate event level is parameterized to 2:Warning. U20 Level M-Max limit: When the calculated motor torque exceeds the current torque limit in E62 during stationary operation, event 47 is triggered. 4814h 0: inactive; Device does not react to the triggering of U20. 1: Message; Triggering of U20 is only indicated. The device continues to remain ready for operation. 2: Warning; After expiration of the tolerance time in U21, the device assumes fault status. 3: Fault; The device immediately assumes fault status after U20 is triggered. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 05 00 00 hex U21 Time M-Max limit: Can only be set when U20 = 2:warning. Defines the time during which a drive overload is tolerated. After expiration of this time, the device assumes fault status. 4815h Value range in s: 1.00... 10,00... 60.00 Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1 s); USS-Adr: 15 05 40 00 hex Only visible when the appropriate event level is parameterized to 2:Warning. U30 Emergency braking: In case of some malfunctions that normally result in the drive coasting down, emergency braking can be performed as an option. The emergency braking is treated like a malfunction fast stop for these malfunctions, however the emergency braking does not follow the fast stop ramp (D81), but is performed using an internally pre-calculated current. Emergency braking is only possible in the servo mode (B20=64:Servo). 481Eh ID 441778.0004 371

U.. Protection functions Only the malfunction reaction for the selected malfunctions is affected. In addition to the setting in U30, the malfunction fast stop must also be activated in A29. A39 (t-max. fast stop) should be set such that the emergency braking can be ceased. In the case of the following malfunctions in which the drive is switched so it is free of torque ("coasts down"), emergency braking can be performed as an option: Malfunction 37:Encoder, Malfunction 46:Overvoltage with cause 3:Line drop, Malfunction 56:Overspeed. NOTE At the start of the emergency braking, brake actuation is triggered simultaneously. 0: inactive; all malfunctions for which a fast stop is not possible result in coasting down. The setting in A29 applies to the malfunctions for which a fast stop can be used. 1: active; in the case of the malfunctions 37:Encoder, 56:Overspeed and 46:Undervoltage with cause 3:Line drop emergency braking is performed. The malfunction fast stop must be activated in A29. The malfunctions for which a fast stop can be used continue to react with the normal fast stop. Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 07 80 00 hex Only visible with servo operation (B20 greater or equal to 64:Servo-control). U80 Fault sample parameter 0: Each of the 10 fault memory entries has space for user-defined data which are also saved when a fault is triggered. The parameter to be recorded is set here. 485 Value range: A00... 1.I80... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 15 14 00 00 hex U81 Fault sample parameter 1: Each of the 10 fault memory entries has space for user-defined data which are also saved when a fault is triggered. The parameter to be recorded is set here. 4851h Value range: A00... 1.G80... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 15 14 40 00 hex U82 Fault sample parameter 2: Each of the 10 fault memory entries has space for user-defined data which are also saved when a fault is triggered. The parameter to be recorded is set here. 4852h Value range: A00... 1.I84... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 15 14 80 00 hex U83 Fault sample parameter 3: Each of the 10 fault memory entries has space for user-defined data which are also saved when a fault is triggered. The parameter to be recorded is set here. 4853h Value range: A00... 1.I89... A.Gxxx.yyyy (Parameter number in plain text) Fieldbus: 1LSB=1; Type: U32; raw value:uss-adr; USS-Adr: 15 14 C0 00 hex ID 441778.0004 372

U.. Protection functions U100 Level application event 0: Application-specific event no. 60. Starting with the level "1:message," the display shows the event number with the text specified in U102 (e.g., "60:my fault") when this event occurs. 0: inactive; 1: Message; 2: Warning; 3: Fault; 4864h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 19 00 00 hex U101 Time application event 0: Can only be set with U100 = 2:warning. Defines the time during which the event remains a warning. After expiration of this time, the device assumes fault status. 4865h Value range in s: 0.00... 0,00... 63.75 Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1 s); USS-Adr: 15 19 40 00 hex Only visible when the appropriate event level is parameterized to 2:Warning. U102 Text application event 0: Text which appears on the display when the event is triggered. 4866h Default setting: FollowError Fieldbus: Type: Str16; USS-Adr: 15 19 80 00 hex U110 Level application event1: Application-specific event no. Nr. 61. Starting with the level "1:message," the display shows the event number with the text specified in U112 (e.g., "61:my fault") when this event occurs. 486Eh 0: inactive; 1: Message; 2: Warning; 3: Fault; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 1B 80 00 hex U111 Time application event 1: Can only be set when U110 = 2:warning. Defines the time during which the event remains a warning. After expiration of this time, the device assumes fault status. 486Fh Value range in s: 0.00... 0,00... 63.75 Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1 s); USS-Adr: 15 1B C0 00 hex Only visible when the appropriate event level is parameterized to 2:Warning. U112 Text application event 1: Indication which appears on the display when the event is triggered. 487 Default setting: LimitSwitch Fieldbus: Type: Str16; USS-Adr: 15 1C 00 00 hex ID 441778.0004 373

U.. Protection functions U120 Level application event 2: Application-specific event no. 62. Starting with the level "1:message," the event number and the text specified in U122 (e.g., "62:my fault") appear on the display when this event occurs. 0: inactive; 1: Message; 2: Warning; 3: Fault; 4878h Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 1E 00 00 hex U121 Time application event 2: Can only be set when U120 = 2:warning. Defines the time during which the event remains a warning. After expiration of this time, the device assumes fault status. 4879h Value range in s: 0.00... 0,00... 63.75 Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1 s); USS-Adr: 15 1E 40 00 hex Only visible when the appropriate event level is parameterized to 2:Warning. U122 Text application event 2: Indication which appears on the display when the event is triggered. 487Ah Default setting: Ext2 Fieldbus: Type: Str16; USS-Adr: 15 1E 80 00 hex U130 Level application event 3: Application-specific event no. 63. Starting with level "1:message," the event number and the text specified in U132 (e.g., "63:my fault") appear on the display when this event occurs. 4882h 0: inactive; 1: Message; 2: Warning; 3: Fault; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 20 80 00 hex U131 Time application event 3: Can only be set when U130 = 2:warning. Defines the time during which the event remains a warning. After this time expires, the device assumes fault status. 4883h Value range in s: 0.00... 0,00... 63.75 Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1 s); USS-Adr: 15 20 C0 00 hex Only visible when the appropriate event level is parameterized to 2:Warning. U132 Text application event 3: Indication which appears on the display when the event is triggered. 4884h Default setting: Ext3 Fieldbus: Type: Str16; USS-Adr: 15 21 00 00 hex ID 441778.0004 374

U.. Protection functions U140 Level application event 4: Application-specific event no. 64. Starting with the level "1:message," the event number and the text specified in U142 (e.g., "64:my fault") appear on the display when this event occurs. 0: inactive; 1: Message; 2: Warning; 3: Fault; 488Ch Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 23 00 00 hex U141 Time application event 4: Can only be set when U140 = 2:warning. Defines the time during which the event remains a warning. After this time expires, the device assumes fault status. 488Dh Value range in s: 0.00... 0,00... 63.75 Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1 s); USS-Adr: 15 23 40 00 hex Only visible when the appropriate event level is parameterized to 2:Warning. U142 Text application event 4: Indication which appears on the display when the event is triggered. 488Eh Default setting: currentloop lost Fieldbus: Type: Str16; USS-Adr: 15 23 80 00 hex U150 Level application event 5: Application-specific event no. 65. Starting with the level "1:message," the event number and the text specified in U152 (e.g., "65:my fault") appear on the display when this event occurs. 4896h 0: inactive; 1: Message; 2: Warning; 3: Fault; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 25 80 00 hex U151 Time application event 5: Can only be set when U150 = 2:warning. Defines the time during which the event remains a warning. After this time expires, the device assumes fault status. 4897h Value range in s: 0.00... 0,00... 63.75 Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1 s); USS-Adr: 15 25 C0 00 hex Only visible when the appropriate event level is parameterized to 2:Warning. U152 Text application event 5: Indication which appears on the display when the event is triggered. 4898h Default setting: Ext5 Fieldbus: Type: Str16; USS-Adr: 15 26 00 00 hex ID 441778.0004 375

U.. Protection functions U160 Level application event 6: Application-specific event no. 66. Starting with level "1:message," the event number and the text specified in U162 (e.g., "66:my fault") appear on the display when this event occurs. 0: inactive; 1: Message; 2: Warning; 3: Fault; 48A Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 28 00 00 hex U161 Time application event 6: Can only be set when U160 = 2:warning. Defines the time during which the event remains a warning. After this time expires, the device assumes fault status. 48A1h Value range in s: 0.00... 0,00... 63.75 Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1 s); USS-Adr: 15 28 40 00 hex Only visible when the appropriate event level is parameterized to 2:Warning. U162 Text application event 6: Indication which appears on the display when the event is triggered. 48A2h Default setting: Ext6 Fieldbus: Type: Str16; USS-Adr: 15 28 80 00 hex U170 Level application event 7: Application-specific event no. 67. Starting with level "1:message," the event number and the text specified in U172 (e.g., "67:my fault") appear on the display when this event occurs. 48AAh 0: inactive; 1: Message; 2: Warning; 3: Fault; Fieldbus: 1LSB=1; Type: U8; USS-Adr: 15 2A 80 00 hex U171 Time application event 7: Can only be set when U170 = 2:warning. Defines the time during which the event remains a warning. After this time expires, the device assumes fault status. 48ABh Value range in s: 0.00... 0,00... 63.75 Fieldbus: 1LSB=0,01s; Type: U8; (raw value:2 Bit=1 s); USS-Adr: 15 2A C0 00 hex Only visible when the appropriate event level is parameterized to 2:Warning. U172 Text application event 7: Indication which appears on the display when the event is triggered. 48ACh Default setting: Ext7 Fieldbus: Type: Str16; USS-Adr: 15 2B 00 00 hex ID 441778.0004 376

U.. Protection functions U180 r=2, w=2 Text external fault 1: In addition to the 8 external events whose level (fault, warning, and so on) can be specified as desired by the user, two other events which always trigger a fault are available for application development. The related fault messages are specified by the parameters U180 and U181. 48B4h Default setting: ExtFault1 Fieldbus: Type: Str16; USS-Adr: 15 2D 00 00 hex U181 Text external fault 2: See U180. 48B5h r=2, w=2 Default setting: ExtFault2 Fieldbus: Type: Str16; USS-Adr: 15 2D 40 00 hex Z.. Störungszähler Par. Beschreibung Feldbus- Adresse Z31 Kurz-/Erdschluß: Der Parameter zeigt an, wie oft die Störung 31:Kurz-/Erdschluß aufgetreten ist. Ereignisbeschreibung: Überlastung). Auslösung: Die Hardware-Überstromabschaltung ist aktiv. Ursache: Der Motor fordert einen zu hohen Strom vom Umrichter (Wicklungsschluss, 521Fh Level: Störung Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: Der Motor trudelt immer aus. Der Bremschopper wird abgeschaltet. Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 07 C0 00 hex Z32 Kurz-/Erdschluß intern: Der Parameter zeigt an, wie oft die Störung 32:Kurz-/Erdschluß intern aufgetreten ist. Ereignisbeschreibung: Auslösung: Beim Einschalten des Geräts (24 V einschalten bei bereits vorhandener Leistungsversorgung) wird ein Kurz-/Erdschluß erkannt. Ursache: Es liegt ein geräteinterner Brückenkurzschluss oder ein interner oder externer Erdschluss vor. Level: Störung Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: Das Leistungsteil wird hardwareseitig abgeschaltet. Der Motor trudelt immer aus. Der Bremschopper wird abgeschaltet, solange die Störung ansteht. Senden Sie das Gerät zur Reparatur. 522 Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 08 00 00 hex ID 441778.0004 377

Z.. Störungszähler Par. Beschreibung Feldbus- Adresse Z33 Überstrom: Der Parameter zeigt an, wie oft die Störung 33:Überstrom aufgetreten ist. Ereignisbeschreibung: Falsch eingestellte Momentbegrenzungen in den Parametern C03 und C05. Auslösung: Der Gesamtmotorstrom überschreitet zulässiges Maximum. Ursache: Zu kurze Beschleunigungszeiten. 5221h Level: Störung Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: Der Motor trudelt immer aus. Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 08 40 00 hex Z34 Hardware-Defekt: Der Parameter zeigt an, wie häufig die Störung 34:Hardware-Defekt aufgetreten ist. Ereignisbeschreibung: Auslösung: Es liegt ein Hardwarefehler vor. Ursachen: 1: FPGA; Fehler beim Laden der FPGA. 2: NOV-ST; Steuerteil-Speicher defekt (FERAM). 3: NOV-LT; Leistungsteil-Speicher defekt (EEPROM). 4: Bremse1; Die Ansteuerung der Bremse 1 ist defekt oder am Bremsmodul fehlt die 24-V-Versorgung. 5: Bremse2; Die Ansteuerung der Bremse 2 ist defekt oder am Bremsmodul fehlt die 24-V-Versorgung. 10: ST <-> LT; Leistungsteil-Seriennummer passt nicht zur Forderung in Steuerteil. 11: Strommess; Stromoffsetmessung bei Geräteanlauf ergibt zu große Abweichung. Level: Störung Quittierung: Nicht quittierbar Sonstiges: Der Bremschopper wird abgeschaltet, solange die Störung ansteht. Der Umrichter muss zur Reparatur eingeschickt werden. 5222h Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 08 80 00 hex Z35 Watchdog: Der Parameter zeigt an, wie oft die Störung 35:Watchdog aufgetreten ist. Ereignisbeschreibung: Auslösung: Der Watchdog des Mikroprozessors spricht an. Ursache: Der Mikroprozessor ist ausgelastet, oder seine Funktion ist gestört. Level: Störung Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: Der Motor trudelt immer aus. Der Bremschopper ist abgeschaltet, während der Umrichter neu startet. 5223h Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 08 C0 00 hex ID 441778.0004 378

Z.. Störungszähler Par. Beschreibung Feldbus- Adresse Z36 Überspannung: Der Parameter zeigt an, wie oft die Störung 36:Überspannung aufgetreten ist. 5224h Ereignisbeschreibung: Auslösung: Die Spannung im Zwischenkreis überschreitet zulässiges Maximum (Anzeige Zwischenkreisspannung in E03). Ursache: Level: Quittierung: Sonstiges: Zu hohe Netzspannung Rückspeisung des Antriebs im Bremsbetrieb (kein Bremswiderstand angeschlossen, Bremschopper mit A22=0 deaktiviert oder defekt). Bremswiderstand zu klein (Überstromschutz). Rampen zu steil. Störung Aus-/Einschalten des Geräts oder programmierte Quittierung. Der Motor trudelt immer aus. Der Bremschopper wird abgeschaltet, solange die Störung ansteht. Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 09 00 00 hex Z37 Encoder: Der Parameter zeigt an, wie oft die Störung 37:Encoder aufgetreten ist. Ereignisbeschreibung: Auslösung: Fehler durch Encoder. Ursache: 1: Para<->Encoder; Parametrierung passt nicht zu angeschlossenem Encoder. 2: ParaÄndAusEin; Pamameteränderung; Encoder-Parametrierung im Betrieb nicht änderbar. Speichern und danach Gerät aus-/einschalten, damit die Änderung wirksam ist. 4: X4-Spur A/CLK; Drahtbruch Spur A/Clock. 5: X4-Spur B/Dat; Drahtbruch Spur B/Daten. 6: X4-Spur 0; Drahtbruch Spur 0. 7: X4-EnDatAlarm; Der EnDat -Geber meldet einen Alarm. 8: X4-EnDatCRC; Der EnDat -Geber meldet, dass bei der Redundanzprüfung zu viele Fehler festgestellt wurden. Die Ursachen können Drahtbruch oder Fehler im Kabelschirm sein. 9: Komm.Offset; Kommutierungsoffset stimmt nicht 10: Resol.Träger; Resolver nicht/falsch angeschlossen, evtl. Drahtbruch. 11: X140 Unterspg; Falscher Übertragungsfaktor 12: X140-Überspg; Falscher Übertragungsfaktor 14: Resol.Fehler; Drahtbruch 15: X120-Doppelü; X120-Doppelübertragungsfehler aufgetreten. 16: X120-Busy; Geber hat zu lange keine Antwort geliefert; bei SSI-Slave: bei freigegebenen Antrieb seit 5 ms kein Telegramm 17: X120-Drahtbru; An X120 wurde ein Drahtbruch festgestellt. 18: X120-Timeout; 19: X4-Doppelü.; X4-Doppelübertragung. 20: X4-Busy; Geber hat zu lange keine Antwort geliefert. 21: X4-Drahtbruch; 22: AX5000; Quittierung auf Achsumschaltung ist nicht erfolgt. 23: AX5000Soll; Vergleich von E57 und E70. 24: X120-Winkeldi; Überschreitung von B297, G297 oder I297 beim Encoder an X120 25: X4-Drehzahl; Überschreitung von B297, G297 oder I297 beim Encoder an X4 26: X4-kein Encod; an X4 wurde entweder kein Encoder gefunden oder am EnDat /SSI-Geber ein Drahtbruch festgestellt 5225h ID 441778.0004 379

Z.. Störungszähler Par. Beschreibung Feldbus- Adresse 27: X4-AX5000 gef.; es wurde eine funktionsfähige Option AX 5000 an X4 gefunden, obwohl Inkrementalgeber oder EnDat -Geber parametriert wurde, oder es ist kein EnDat -Geber an der Option AX 5000 angeschlossen. 28: X4-EnDat gefu; Es wurde ein EnDat -Geber an X4 festgestellt, obwohl ein anderer Geber parametriert wurde. 29: AX5000/InkEnc; es wurde an X4 entweder eine fehlerhafte Option AX 5000 oder ein Drahtbruch der A-Spur bei einem Inkrementalgeber festgestellt. 30: Opt2 inkomp; Version der Option 2 ist nicht aktuell 31: X140EnDatAlar; Der EnDat -Geber an X140 meldet einen Alarm. 32: X140EnDatCRC; Der EnDat -Geber an X140 meldet, dass bei der Redundanzprüfung zu viele Fehler festgestellt wurden. Die Ursachen können Drahtbruch oder Fehler im Kabelschirm sein. 33: IGB-Winkeldif; Überschreitung von G297 auf dem IGB Level: Störung Quittierung: Aus-/Einschalten des Geräts für die Ursachen 7, 10, 11, 12, 13 und 14; für andere Ursachen programmierte Quittierung. Sonstiges: Der Motor trudelt immer aus. ACHTUNG Bei Positionieranwendungen wird durch das Ereignis "37:Encoder" die Referenz gelöscht. Nach der Quittierung muss neu referenziert werden. Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 09 40 00 hex Z38 Übertemp.Gerät Sensor: Der Parameter zeigt an, wie oft die Störung 38:Übertemp.Gerät Sensor aufgetreten ist. Ereignisbeschreibung: Auslösung: Die durch den Gerätesensor gemessene Temperatur überschreitet den zulässigen Maximalwert oder unterschreitet den zulässigen Minimalwert. Ursache: Es herrschen zu hohe oder zu niedrige Umgebungs- / Schaltschranktemperaturen. Level: Störung Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: Die zulässigen Temperaturen sind im Leistungsteil des Umrichters gespeichert. 5226h Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 09 80 00 hex Z39 Übertemp. Gerät i2t: Der Parameter zeigt an, wie oft die Störung 39:Übertemp. Gerät i2t aufgetreten ist. Ereignisbeschreibung: Auslösung: Das i 2 t-modell für den Umrichter überschreitet 100 % thermische Auslastung. Ursache: Umrichter überlastet, z.b. weil Motor blockiert. Zu hohe Taktfrequenz. Level: Inaktiv, Meldung, Warnung oder Störung parametrierbar in U02 (Default: Störung) Sonstiges: Bei Auslösung des Ereignisses findet in den Steuerarten Servo und Vectorcontrol zunächst eine Strombegrenzung statt. Gleichzeitig wird bei der Parametrierung in U02 als Störung ein Schnellhalt ausgelöst. Durch die Reduzierung des Stromes kann es dazu kommen, dass der Schnellhalt nicht mehr korrekt ausgeführt wird! 5227h Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 09 C0 00 hex ID 441778.0004 380

Z.. Störungszähler Par. Beschreibung Feldbus- Adresse Z40 Ungültige Daten: Der Parameter zeigt an, wie oft die Störung 40:Ungültige Daten aufgetreten 5228h ist. Ereignisbeschreibung: Auslösung: Bei der Initialisierung der nichtflüchtigen Speicher wurde ein Datenfehler erkannt. Ursache: 1 bis 7: Steuerteil-Speicher 1: Fehler; Low-Level Schreib-/ Lesefehler oder Timeout. 2: BlockFehlt; unbekannter Datenblock. 3: DatSich; Block hat keine Datensicherheit. 4: CheckSum; Block hat Checksummenfehler. 5: R/O; read only; Block ist r/o. 6: Lesefehler; Hochlaufphase: Block-Lesefehler. 7: BlockFehlt; Block nicht gefunden. 17 bis 23: Leistungsteil-Speicher 17: Fehler; Low-Level Schreib-/ Lesefehler oder Timeout. 18: BlockFehlt; unbekannter Datenblock. 19: DatSich; Block hat keine Datensicherheit. 20: CheckSum; Block hat Checksummenfehler. 21: R/O; read only; Block ist r/o. 22: Lesefehler; Hochlaufphase: Block-Lesefehler. 23: BlockFehlt; Block nicht gefunden. 32 und 33: Encoder-Speicher 32: el. Typschild; keine Typenschilddaten vorhanden. 33: el.typgw; Grenzwert el. Typschild; Typenschildparameter nicht eintragbar (Grenzwert oder Existenz). 48: Optionsmodul2; Fehler im Speicher von Option 2 bei REA 5000 und XEA 5000 bzw. XEA 5001. Level: Störung Quittierung: Das Ereignis ist nicht quittierbar für die Ursachen 1 bis 23 und 48. Der Umrichter muss zur Reparatur eingeschickt werden. Bei den Ursachen 32 und 33 kann das Ereignis quittiert werden. Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0A 00 00 hex Z41 Temp.MotorTMS: Der Parameter zeigt an, wie oft die Störung 41:Temp.MotorTMS aufgetreten ist. Ereignisbeschreibung: Auslösung: Motortemperaturfühler meldet Übertemperatur. (Anschlussklemmen X2.3, X2.4). Ursache: Der Motor ist überlastet. Der Temperaturfühler ist nicht angeschlossen. Level: Störung Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. 5229h Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0A 40 00 hex ID 441778.0004 381

Z.. Störungszähler Par. Beschreibung Feldbus- Adresse Z42 Temp.BremsWd.: Der Parameter zeigt an, wie oft die Störung 42:Temp.BremsWd aufgetreten ist. Ereignisbeschreibung: Auslösung: Das i 2 t-modell für den Bremswiderstand überschreitet 100 % Auslastung. 522Ah Ursache: Der Bremswiderstand ist eventuell nicht der Anwendung entsprechend ausgelegt. Level: Störung Quittierung: Programmierte Quittierung. Die Quittierung durch Aus-/Einschalten des Geräts nicht zu empfehlen, da in diesem Fall das i 2 t-model auf 80 % zurückgesetzt wird. Dadurch besteht die Gefahr, dass der Bremswiderstand beschädigt wird. Sonstiges: Der Bremschopper wird abgeschaltet, solange die Störung ansteht. Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0A 80 00 hex Z44 Externe Störung1: Der Parameter zeigt an, wie oft die Störung 44:Extern Störung 1 aufgetreten ist. Ereignisbeschreibung: Auslösung: Applikationsspezifisch oder durch Option Freie Programmierung. Level: Störung Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: Sollte nur für Applikationsereignisse verwendet werden, die nicht niedriger als Level Störung eingestellt werden dürfen. 522Ch Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0B 00 00 hex Z45 Übertemp.Motor i2t: Der Parameter zeigt an, wie oft die Störung 45:Übertemp.Motor i2t aufgetreten ist. Ereignisbeschreibung: Auslösung: Das i 2 t-modell für den Motor erreicht 100 % Auslastung. Ursache: Der Motor ist überlastet. Level: Parametrierbar als inaktiv, Meldung oder Warnung in U10 und U11. Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. 522Dh Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0B 40 00 hex Z46 Unterspannung: Der Parameter zeigt an, wie oft die Störung 46:Unterspannung aufgetreten ist. Ereignisbeschreibung: Auslösung: Die Zwischenkreisspannung liegt unter dem in A35 eingestellten Grenzwert. Ursache: 1: Unterspng UZK; Der Wert in E03 Zwischenkreisspannung ist unter den in A35 Unterspannungsgrenze parametrierten Wert gefallen 2: Netz 2phasig; Die Phasenüberwachung hat bei eingeschaltetem Leistungsteil erkannt, dass eine Phase fehlt. 3: Netz Einbruch; Erkennt die Phasenüberwachung, das das Netz fehlt, wird sofort das Laderelais abgeschaltet. Normaler Betrieb wird aufrechterhalten. Ist bei Netzwiederkehr das Leistungsteil noch eingeschaltet, wird nach 0,5 s eine Störung ausgelöst. Level: Parametrierbar für Ursache 1 in U00 und U01. Warnung mit 10 Sekunden Warnzeit für Ursache 2, Störung für Ursache 3 Quittierung: Für Level Störung" quittierbar durch Aus-/Einschalten des Geräts oder programmierte Quittierung. 522Eh ID 441778.0004 382

Z.. Störungszähler Par. Beschreibung Feldbus- Adresse Sonstiges: Der Motor trudelt bei Ursache 3 immer aus. Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0B 80 00 hex Z47 M-Max Grenze: Der Parameter zeigt an, wie oft die Störung 47:M-Max Grenze aufgetreten ist. Ereignisbeschreibung: Auslösung: Das für den statischen Betrieb zugelassene Maximalmoment wird in den Steuerarten Servoregelung, Vektorregelung oder Sensorlose Vektorregelung überschritten. (E62:akt. pos. M-max, E66:akt. neg. M-max) Ursache: Begrenzung durch Parameter C03 und C05. Level: Parametrierbar in U20 und U21. 522Fh Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0B C0 00 hex Z52 Kommunikation: Der Parameter zeigt an, wie oft die Störung 52:Kommunikation aufgetreten ist. Ereignisbeschreibung: Auslösung: Kommunikationsstörung Ursache: 1: CAN LifeGuard; Das Gerät erkannte das Life-Guarding-Event" (Master sendet keine RTR mehr). 2: CAN Sync Error; Sync-Nachricht wurde nicht innerhalb der in Parameter A201 Cycle Period Timeout eingestellten Zeit empfangen. 3: CAN Bus Off; Der CAN-Controller hat sich mit Bus-Off abgeschaltet. Der Treiber hat ihn wieder gestartet. 4: PZD-Timeout; Ausfall der zyklischen Datenverbindung (PROFIBUS). 5: USS; (in Vorbereitung), Ausfall der zyklischen Datenverbindung (USS). 6: EtherCAT PDO-Ti; Der Umrichter hat in der in A258 eingestellten Zeit keine Prozessdaten erhalten. 8: IGB µc Ausfall; Der Controller für die IGB-Kommunikation ist ausgefallen. 7: EtherCAT-DcSYNC0; Das Synchronisierungs-Signal "SYNC 0" ist gestört. Diese Störung kann nur bei aktivierter EtherCAT Synchronisierung mittels "Distributed Clock (DC)" auftreten. 9: IGB Lost Frame; Störung im IGB-Motionbus, der Teilnehmer hat den Verlust von min. 2 aufeinanderfolgende Datenframes entdeckt (Doppelfehler); diese Ursache kann nur auftreten, falls der IGB-Zustand = 3:Motionbus ist und der Motor bestromt ist. 10: IGB P. LostFr; Störung des IGB-Motionbus; ein anderer Teilnehmer hat einen Doppelfehler entdeckt und über A163 mitgeteilt. Infolgedessen geht auch dieser Umrichter in Störung mit dieser Ursache; die Ursache kann nur auftreten, falls der IGB-Zustand = 3:Motionbus ist und der Motor bestromt ist. 11: IGB Sync Erro; Die Synchronisation innerhalb des Umrichters ist gestört, weil die Konfiguration durch POSITool gestoppt wurde; diese Störung kann nur auftreten, falls der IGB-Zustand gleich 3:Motionbus und der Motor bestromt waren. 12: IGB ConfigTim; Ein Baustein wurde nicht zu Beginn des bereichs in Echtzeit ausgeführt; ggf. wurde die Laufzeitreihenfolge von Bausteinen falsch eingestellt. Diese Störung kann nur auftreten, falls der IGB-Zustand gleich 3:Motionbus und der Motor bestromt waren. 13: IGBPartnerSyn; Bei einem anderen Teilnehmer im IGB-Netzwerk besteht eine Störung der Synchronisation (s. Ursache 11). Dieser Teilnehmer hat 5234h ID 441778.0004 383

Z.. Störungszähler Par. Beschreibung Feldbus- Adresse seine Störung über A163 mitgeteilt. Infolgedessen geht auch dieser Umrichter in Störung mit Ursache 13. Diese Störung kann nur auftreten, falls der IGB- Zustand gleich 3:Motionbus und der Motor bestromt waren. Level: Störung Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0D 00 00 hex Z55 Optionsplatine: Der Parameter zeigt an, wie oft die Störung 55:Optionsplatine aufgetreten ist. Ereignisbeschreibung: Auslösung: Fehler beim Betrieb mit Optionsplatine. Ursache: 1: CAN5000Ausfall; CAN 5000 wurde erkannt, installiert und fiel aus. 2: DP5000Ausfall; DP 5000 wurde erkannt, installiert und fiel aus. 3: REA5000Ausfall; REA 5000 wurde erkannt, installiert und fiel aus. 4: SEA5000Ausfall; SEA 5000 wurde erkannt, installiert und fiel aus. 5: XEA5000Ausfall; XEA 5000 oder XEA 5001 wurde erkannt, installiert und fiel aus. 6: InkSim-Init; Inkrementalgebersimulation auf XEA konnte nicht initialisiert werden. Eventuell hat der Motor während der Initialisierung gedreht. 7: falscheoption; falsche oder fehlende Optionsplatine (Vergleich E54/E58 mit E68/E69) oder bei SDS 5000: Optionsplatine mit zu altem Hardwarestand (XEA 5001: ab HW 10, REA 5000: ab HW19) 8: LEA5000Ausfall; LEA 5000 wurde erkannt, installiert und fiel aus. 9: ECS5000Ausfall; ECS 5000 wurde erkannt, installiert und fiel aus. 10: 24VAusfall; Ausfall der 24 V-Versorgung für XEA 5001 oder LEA 5000 11: SEA5001Ausfal; SEA 5001 wurde erkannt, installiert und fiel aus. 12: REA5001Ausfal; REA 5001 wurde erkannt, installiert und fiel aus. Level: Störung Quittierung: Aus-/Einschalten des Geräts für alle Ursachen oder programmierte Quittierung für Ursachen 1 bis 6 und 8 bis 10. 5237h Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0D C0 00 hex Z56 Overspeed: Der Parameter zeigt an, wie oft die Störung 56:Overspeed aufgetreten ist. Ereignisbeschreibung: Auslösung: Die gemessene Drehzahl ist größer als C01*1,1 + 100 Upm Ursache: Encoder defekt Level: Störung Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: Der Motor trudelt immer aus (ab V5.0D). 5238h Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0E 00 00 hex ID 441778.0004 384

Z.. Störungszähler Par. Beschreibung Feldbus- Adresse Z57 Laufzeit Auslastung: Der Parameter zeigt an, wie oft die Störung 57:Laufzeit Auslastung aufgetreten ist. Ereignisbeschreibung: Auslösung: Die Zykluszeit eines Echtzeit-Tasks wurde überschritten. 5239h Ursache: 2: RT2; Überschreitung der Zykluszeit Echtzeittask 2 (1 ms). 3: RT3; Überschreitung der Zykluszeit Echtzeittask 3 (Technologietask). 4: RT4; Überschreitung der Zykluszeit Echtzeittask 4 (32 ms). 5: RT5; Überschreitung der Zykluszeit Echtzeittask 5 (256 ms) Level: Störung Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0E 40 00 hex Z58 Erdschluß: Der Parameter zeigt an, wie oft die Störung 58:Erdschluß aufgetreten ist. Ereignisbeschreibung: Auslösung: Hardwaresignal vom Leistungsteil bei MDS 5000 BG3. Ursache: Unsymmetrische Motorströme. Level: Störung Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: Der Motor trudelt immer aus. Der Bremschopper wird abgeschaltet, solange die Störung ansteht. 523Ah Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0E 80 00 hex Z59 Übertemp.Gerät i2t: Der Parameter zeigt an, wie oft die Störung 59:Übertemp.Gerät i2t aufgetreten ist. Ereignisbeschreibung: Auslösung: Das für den Umrichter gerechnete i 2 t-modell überschreitet 105 % thermische Auslastung. Ursache: Umrichter überlastet, z.b. weil Motor blockiert. Zu hohe Taktfrequenz. Level: Störung Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. 523Bh Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0E C0 00 hex Z60 Applikations-Ereignis 0: Der Parameter zeigt an, wie oft die Störung 60:Applikations-Ereignis 0 aufgetreten ist. Ereignisbeschreibung: Auslösung: Applikationsspezifisch oder durch Option Freie Programmierung. Ursache: Für jede Achse separat frei programmierbar. Level: Parametrierbar in Systemparameter U100. Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: - Meldung/Warnung: Auswertung erfolgt im 256 ms-zyklus. - Störung: Auswertung erfolgt in parametrierter Zykluszeit (A150), Texte, Zeiten und Level sind in den Parametergruppe U.. ab U100 einstellbar. 523Ch Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0F 00 00 hex ID 441778.0004 385

Z.. Störungszähler Par. Beschreibung Feldbus- Adresse Z61 Applikations-Ereignis 1: Der Parameter zeigt an, wie oft die Störung 61:Applikations-Ereignis 1 aufgetreten ist. Ereignisbeschreibung: Auslösung: Applikationsspezifisch oder durch Option Freie Programmierung. 523Dh Ursache: Für jede Achse separat frei programmierbar. Level: Parametrierbar in Systemparameter U110. Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: - Meldung/Warnung: Auswertung erfolgt im 256 ms-zyklus. - Störung: Auswertung erfolgt in parametrierter Zykluszeit (A150), Texte, Zeiten und Level sind in den Parametergruppe U.. ab U100 einstellbar. Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0F 40 00 hex Z62 Applikations-Ereignis 2: Der Parameter zeigt an, wie oft die Störung 62:Applikations-Ereignis 2 aufgetreten ist. Ereignisbeschreibung: Auslösung: Applikationsspezifisch oder durch Option Freie Programmierung. Ursache: Für jede Achse separat frei programmierbar. Level: Parametrierbar in Systemparameter U120. Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: - Meldung/Warnung: Auswertung erfolgt im 256 ms-zyklus. - Störung: Auswertung erfolgt in parametrierter Zykluszeit (A150), Texte, Zeiten und Level sind in den Parametergruppe U.. ab U100 einstellbar. 523Eh Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0F 80 00 hex Z63 Applikations-Ereignis 3: Der Parameter zeigt an, wie oft die Störung 63:Applikations-Ereignis 3 aufgetreten ist. Ereignisbeschreibung: Auslösung: Applikationsspezifisch oder durch Option Freie Programmierung. Ursache: Für jede Achse separat frei programmierbar. Level: Parametrierbar in Systemparameter U130. Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: - Meldung/Warnung: Auswertung erfolgt im 256 ms-zyklus. - Störung: Auswertung erfolgt in parametrierter Zykluszeit (A150), Texte, Zeiten und Level sind in den Parametergruppe U.. ab U100 einstellbar. 523Fh Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 0F C0 00 hex Z64 Applikations-Ereignis 4: Der Parameter zeigt an, wie oft die Störung 64:Applikations-Ereignis 4 aufgetreten ist. Ereignisbeschreibung: Auslösung: Applikationsspezifisch oder durch Option Freie Programmierung. Ursache: Für jede Achse separat frei programmierbar. Level: Parametrierbar in Systemparameter U140. Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: - Meldung/Warnung: Auswertung erfolgt im 256 ms-zyklus. - Störung: Auswertung erfolgt in parametrierter Zykluszeit (A150), Texte, Zeiten und Level sind in den Parametergruppe U.. ab U100 einstellbar. 524 Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 10 00 00 hex ID 441778.0004 386

Z.. Störungszähler Par. Beschreibung Feldbus- Adresse Z65 Applikations-Ereignis 5: Der Parameter zeigt an, wie oft die Störung 65:Applikations-Ereignis 5 aufgetreten ist. Ereignisbeschreibung: Auslösung: Applikationsspezifisch oder durch Option Freie Programmierung. 5241h Ursache: Für jede Achse separat frei programmierbar. Level: Parametrierbar in Systemparameter U150. Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: - Meldung/Warnung: Auswertung erfolgt im 256 ms-zyklus. - Störung: Auswertung erfolgt in parametrierter Zykluszeit (A150), Texte, Zeiten und Level sind in den Parametergruppe U.. ab U100 einstellbar. Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 10 40 00 hex Z66 Applikations-Ereignis 6: Der Parameter zeigt an, wie oft die Störung 66:Applikations-Ereignis 6 aufgetreten ist. Ereignisbeschreibung: Auslösung: Applikationsspezifisch oder durch Option Freie Programmierung. Ursache: Für jede Achse separat frei programmierbar. Level: Parametrierbar in Systemparameter U160. Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: - Meldung/Warnung: Auswertung erfolgt im 256 ms-zyklus. - Störung: Auswertung erfolgt in parametrierter Zykluszeit (A150), Texte, Zeiten und Level sind in den Parametergruppe U.. ab U100 einstellbar. 5242h Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 10 80 00 hex Z67 Applikations-Ereignis 7: Der Parameter zeigt an, wie oft die Störung 67:Applikations-Ereignis 7 aufgetreten ist. Ereignisbeschreibung: Auslösung: Applikationsspezifisch oder durch Option Freie Programmierung. Ursache: Für jede Achse separat frei programmierbar. Level: Parametrierbar in Systemparameter U170. Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: - Meldung/Warnung: Auswertung erfolgt im 256 ms-zyklus. - Störung: Auswertung erfolgt in parametrierter Zykluszeit (A150), Texte, Zeiten und Level sind in den Parametergruppe U.. ab U100 einstellbar. 5243h Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 10 C0 00 hex Z68 Externe Störung 2: Der Parameter zeigt an, wie oft die Störung 68:Externe Störung 2 aufgetreten ist. Ereignisbeschreibung: Auslösung: Applikationsspezifisch oder durch Option Freie Programmierung. Level: Störung Quittierung: Sonstiges: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sollte für Applikationsereignisse verwendet werden, die ausschließlich im Level Störung parametriert werden dürfen. 5244h Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 11 00 00 hex ID 441778.0004 387

Z.. Störungszähler Par. Beschreibung Feldbus- Adresse Z69 Motoranschluß: Der Parameter zeigt an, wie oft die Störung 69:Motoranschluß aufgetreten ist. Ereignisbeschreibung: Diese Ursache kann nur festgestellt werden, wenn mindestens zwei Phasen kleben und der Zwischenkreis geladen ist (s. E03). Bei Asynchronmotoren konnte keine Magnetisierung aufgebaut werden. 2: kein Motor; ev. kein Motor angeschlossen oder Leitung zu Motor unterbrochen. Auslösung: Anschlussfehler des Motors. Ursache: 1: Kontakt klebt; das Schütz hat während des Achswechsels nicht geöffnet. 5245h Level: Parametrierbar als inaktiv oder Störung in U12. Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Störungszähler: Z69 Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 11 40 00 hex Z70 Parameter-Konsistenz: Der Parameter zeigt an, wie oft die Störung 70:Parameter-Konsistenz aufgetreten ist. Ereignisbeschreibung: Auslösung: Die Parametrierung ist widersprüchlich. Ursache: 1: kein Servoenc; Kein servotauglicher Encoder; die Steuerart B20 steht auf Servo", es ist aber kein entsprechender Encoder ausgewählt (B26, H.. Parameter). 2: X120 Datenr; in einem Parameter wird X120 als Quelle verwendet, ist aber in H120 als Senke parametriert (oder umgekehrt). 3: B12<->B20; Steuerart B20 steht nicht auf Servo, aber der Motornenn-strom (B12) übersteigt den 4 khz-nennstrom (R24) des Geräts um mehr als das 1,5- fache. 4: B10<->H31; Resolver-/Motorpolzahl; die eingestellte Motorpolzahl (B10) und die Resolverpolzahl (H31) passen nicht zusammen. 5: neg. Schlupf; Bei Verwendung der Steuerarten U/f, SLVC oder Vector Control (B20): Es ergibt sich aus den Werten für Motornenndrehzahl (B13), Motornennfrequenz (B15) und Motorpolzahl (B10) ein negativer Schlupf. 6: Momentgrenze; Bei Verwendung der in C03 bzw. C05 eingetragenen Werte würde der Maximalstrom des Umrichters überschritten. Tragen Sie niedrigere Momentgrenzen ein. 7: B26:SSI-Slave; SSI-Slave darf nicht als Motorencoder verwendet werden (Synchronisationsprobleme). 8: C01>B83; C01 darf nicht grösser als B83 sein. 9: E102/E103 fehl; Es wird versucht, über den IGB eine Masterposition zu beziehen, die dafür erforderlichen Parameter E102 und E103 sind jedoch nicht vorhanden. 10:G104<->G27; Es wird eine Masterposition über den IGB-Motionbus gesenden (d.h. G104 ist nicht auf 0:inaktiv eingestellt), aber in G27 können nicht die für diesen Fall gültigen Einstellungen 0:inaktiv und 6:IGB festgestellt werden. Level: Störung Quittierung: Aus-/Einschalten des Geräts oder programmierte Quittierung. Sonstiges: Bei einer Fehlparametrierung wird erst beim Freigeben eine Störung ausgelöst. 5246h Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 11 80 00 hex ID 441778.0004 388

Z.. Störungszähler Par. Beschreibung Feldbus- Adresse Z71 Firmware: Der Parameter zeigt an, wie oft die Störung 71:Firmware aufgetreten ist. Ereignisbeschreibung: 5247h Auslösung: Ursache: Level: Quittierung: Sonstiges: Es wurde ein Firmwarefehler festgestellt. 1: FW defekt; Nur bei SDS 5000: Es wurde eine Firmware-Inkonsistenz festgestellt. Laden Sie die Firmware erneut. 2: FW aktivieren!; Nur bei SDS 5000: Die Firmware wurde in den Umrichter geladen, aber noch nicht aktiviert. Aktivieren Sie die Firmware und führen Sie einen Geräteneustart durch. 3: CRC-Fehler; Es wurde ein Firmwarefehler festgestellt. Schalten Sie die 24 V- Versorgung aus und wieder ein. Falls sich der Fehler bei erneutem AUS/EIN wiederholt, ist die Gerätehardware defekt und muss ausgetauscht werden. Störung Aus-/Einschalten des Geräts Die Ursachen 1 und 2 treten nur bei Gerätestart auf, so dass der Umrichter nicht freigegeben werden kann. Ursache 3 kann auch im Betrieb auftreten. Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 11 C0 00 hex Z72 Bremsentest Timeout: Der Parameter zeigt an, wie oft die Störung 72:Bremsentest aufgetreten ist. Ereignisbeschreibung: Auslösung: Bei aktivem Bremsenmanagement im SDS 5000 ist die in B311 Intervall Bremsentest eingestellte Zeit verstrichen, ohne dass die Aktion B300 Bremsentest durchgeführt wurde. Ursache: 1: B311Timeout; Die in B311 Timeout für Bremsentest B300 eingestellte Zeit ist verstrichen, ohne dass die Aktion B300 Bremsentest durchgeführt wurde. 2: Bremse defekt; Bei Durchführung der Aktion B300 Bremsentest konnte das geforderte Haltmoment (B304, B305) nicht gehalten werden oder der im Bremsentest enthaltene Encoder-Testlauf wurde fehlerhaft beendet. Level: Meldung bis die in B311 Timeout für Bremsentest B300 eingestellte Zeit doppelt verstrichen ist, danach Störung. Quittierung: Für Level "Störung" kann das Ereignis für eine Dauer von 5 Minuten quittiert werden, um die Aktion B300 Bremsentest durchführen zu können. Läuft diese Zeit ab, ohne dass die Aktion B300 Bremsentest erfolgreich durchgeführt wurde, wechselt der Umrichter erneut in den Zustand "Störung". Wurde die Aktion B300 Bremsentest erfolgreich durchgeführt, ist das Ereignis automatisch quittiert. Sonstiges: Diese Störung wird nur bei ausgeschalteter Freigabe erzeugt. 5248h Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 12 00 00 hex ID 441778.0004 389

Z.. Störungszähler Par. Beschreibung Feldbus- Adresse Z73 Achse2 Bremsentest Timeout: Der Parameter zeigt an, wie oft die Störung 73:Achse2 Bremsentest Timeout aufgetreten ist. Ereignisbeschreibung: Auslösung: Bei aktivem Bremsenmanagement im SDS 5000 ist die in B311 Intervall Bremsentest eingestellte Zeit verstrichen, ohne dass die Aktion B300 Bremsentest mit aktiver Achse2 durchgeführt wurde. 5249h Ursache: 1: B311Timeout; Die in B311 Timeout für Bremsentest B300 eingestellte Zeit ist verstrichen, ohne dass ein Bremsentest mit aktiver Achse 2 durchgeführt wurde. 2: Bremse defekt; Bei Durchführung der Aktion B300 Bremsentest mit aktiver Achse 2 konnte das geforderte Haltmoment (B304, B305) nicht gehalten werden oder der im Bremsentest enthaltene Encoder-Testlauf wurde fehlerhaft beendet. Level: Meldung bis die in B311 Timeout für Bremsentest B300 eingestellte Zeit doppelt verstrichen ist, danach Störung. Quittierung: Für Level "Störung" kann das Ereignis für eine Dauer von 5 Minuten quittiert werden, um die Aktion B300 Bremsentest durchführen zu können. Läuft diese Zeit ab, ohne dass die Aktion B300 Bremsentest mit aktiver Achse 2 erfolgreich durchgeführt wurde, wechselt der Umrichter erneut in den Zustand "Störung". Wurde die Aktion B300 Bremsentest erfolgreich durchgeführt, ist das Ereignis automatisch quittiert. Sonstiges: Diese Störung wird nur bei ausgeschalteter Freigabe erzeugt. Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 12 40 00 hex Z74 Achse3 Bremsentest Timeout: Der Parameter zeigt an, wie oft die Störung 74:Ax3BremsTest aufgetreten ist. Ereignisbeschreibung: Auslösung: Bei aktivem Bremsenmanagement im SDS 5000 ist die in B311 Intervall Bremsentest eingestellte Zeit verstrichen, ohne dass die Aktion B300 Bremsentest mit aktiver Achse 3 durchgeführt wurde. Ursache: 1: B311Timeout; Die in B311 Timeout für Bremsentest B300 eingestellte Zeit ist verstrichen, ohne dass die Aktion B300 Bremsentest mit aktiver Achse 3 durchgeführt wurde. 2: Bremse defekt; Bei Durchführung der Aktion B300 Bremsentest mit aktiver Achse 3 konnte das geforderte Haltmoment (B304, B305) nicht gehalten werden oder der im Bremsentest enthaltene Encoder-Testlauf wurde fehlerhaft beendet. Level: Meldung bis die in B311 Timeout für Bremsentest B300 eingestellte Zeit doppelt verstrichen ist, danach Störung. Quittierung: Für Level "Störung" kann das Ereignis für eine Dauer von 5 Minuten quittiert werden, um die Aktion B300 Bremsentest durchführen zu können. Läuft diese Zeit ab, ohne dass die Aktion B300 Bremsentest mit aktiver Achse 3 erfolgreich durchgeführt wurde, wechselt der Umrichter erneut in den Zustand "Störung". Wurde die Aktion B300 Bremsentest erfolgreich durchgeführt, ist das Ereignis automatisch quittiert. Sonstiges: Diese Störung wird nur bei ausgeschalteter Freigabe erzeugt. 524Ah Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 12 80 00 hex ID 441778.0004 390

Z.. Störungszähler Par. Beschreibung Feldbus- Adresse Z75 Achse4 Bremsentest Timeout: Der Parameter zeigt an, wie oft die Störung 75:Ax4BremsTest aufgetreten ist. Ereignisbeschreibung: Auslösung: Bei aktivem Bremsenmanagement im SDS 5000 ist die in B311 Intervall Bremsentest eingestellte Zeit verstrichen, ohne dass die Aktion B300 Bremsentest mit aktiver Achse 4 durchgeführt wurde. 524Bh Ursache: 1: B311Timeout; Die in B311 Timeout für Bremsentest B300 eingestellte Zeit ist verstrichen, ohne dass ein Bremsentest mit aktiver Achse 4 durchgeführt wurde. 2: Bremse defekt; Bei Durchführung der Aktion B300 Bremsentest mit aktiver Achse 4 konnte das geforderte Haltmoment (B304, B305) nicht gehalten werden oder der im Bremsentest enthaltene Encoder-Testlauf wurde fehlerhaft beendet. Level: Meldung bis die in B311 Timeout für Bremsentest B300 eingestellte Zeit doppelt verstrichen ist, danach Störung. Quittierung: Für Level "Störung" kann das Ereignis für eine Dauer von 5 Minuten quittiert werden, um die Aktion B300 Bremsentest durchführen zu können. Läuft diese Zeit ab, ohne dass die Aktion B300 Bremsentest mit aktiver Achse 4 erfolgreich durchgeführt wurde, wechselt der Umrichter erneut in den Zustand "Störung". Wurde die Aktion B300 Bremsentest erfolgreich durchgeführt, ist das Ereignis automatisch quittiert. Sonstiges: Diese Störung wird nur bei ausgeschalteter Freigabe erzeugt. Feldbus: 1LSB=1; Typ: U16; USS-Adr: 1A 12 C0 00 hex ID 441778.0004 391

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Notes SMS, POSIDYN and POSIDRIVE are protected names of GmbH + Co. KG. Other product and brand names are trademarks of the particular manufacturers and are only used for explanatory purposes. 2010 GmbH + Co. KG ID 441778.0004.2010 - Subject to technical change without prior notice - www.stoeber.de ID 441778.0004

STÖBER PRODUCT RANGE Geared Motors MGS Geared Motors MGS C Helical Geared Motors MGS F Shaft-Mounted Helical Geared Motors MGS K Helical Bevel Geared Motors MGS S Helical Worm Geared Motors SMS Geared Motors SMS P Planetary Geared Motors SMS PA Planetary Geared Motors SMS PH Planetary Geared Motors SMS PHA Planetary Geared Motors SMS PHQ Planetary Geared Motors SMS PHQA Planetary Geared Motors SMS PKX Right-Angle Planetary Geared Motors SMS PK Right-Angle Planetary Geared Motors SMS PHKX Right-Angle Planetary Geared Motors SMS PHK Right-Angle Planetary Geared Motors SMS KS Right-Angle Planetary Geared Motors SMS C Helical Geared Motors SMS F Shaft-Mounted Helical Geared Motors SMS K Helical Bevel Geared Motors SMS S Helical Worm Geared Motors GmbH + Co. KG Kieselbronner Str. 12 75177 PFORZHEIM GERMANY Tel. +49 (0)7231 582-0 Fax +49 (0)7231 582-1000 email: mail@stoeber.de www.stoeber.de 24/h service hotline +49 (0)180 5 786323 Electronics Gear Units Inverters POSIDRIVE MDS 5000 Servo Inverters POSIDYN SDS 5000 Servo Inverters POSIDRIVE MDS 5000 Frequency Inverters POSIDRIVE FDS 5000 Frequency Inverters MGS Gear Units MGS C Helical Gear Units MGS F Shaft-Mounted Helical Gear Units MGS K Helical Bevel Gear Units MGS S Helical Worm Gear Units SMS Gear Units SMS C Helical Gear Units SMS F Shaft-Mounted Helical Gear Units SMS K Helical Bevel Gear Units SMS S Helical Worm Gear Units ServoFit Gear Units ServoFit P Planetary Gear Units ServoFit PA Planetary Gear Units ServoFit PH Planetary Gear Units ServoFit PHA Planetary Gear Units ServoFit PHQ Planetary Gear Units ServoFit PHQA Planetary Gear Units ServoFit KS Right-Angle Servo Gear Units Gear Units Combinations PKX Right-Angle Planetary Gear Units PK Right-Angle Planetary Gear Units PHKX Right-Angle Planetary Gear Units PHK Right-Angle Planetary Gear Units Motors AC Motors MGS System Motor Servo Motors EK Servo Motors ED Servo Motors www.stoeber.de