LXM32M AC servo drive Product manual V1.08, 04.2014 www.schneider-electric.com 0198441113767, V1.08, 04.2014
LXM32MAC servo driveProduct manualV1.08, 04.2014
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The information provided in this documentation contains generaldescriptions and/or technical characteristics of the performance of theproducts contained herein. This documentation is not intended as asubstitute for and is not to be used for determining suitability or relia-bility of these products for specific user applications. It is the duty ofany such user or integrator to perform the appropriate and completerisk analysis, evaluation and testing of the products with respect to therelevant specific application or use thereof. Neither Schneider Electricnor any of its affiliates or subsidiaries shall be responsible or liable formisuse of the information contained herein. If you have any sugges-tions for improvements or amendments or have found errors in thispublication, please notify us.
No part of this document may be reproduced in any form or by anymeans, electronic or mechanical, including photocopying, withoutexpress written permission of Schneider Electric.
All pertinent state, regional, and local safety regulations must beobserved when installing and using this product. For reasons of safetyand to help ensure compliance with documented system data, onlythe manufacturer should perform repairs to components.
When devices are used for applications with technical safety require-ments, the relevant instructions must be followed.
Failure to use Schneider Electric software or approved software withour hardware products may result in injury, harm, or improper operat-ing results.
Failure to observe this information can result in injury or equipmentdamage.
© 2013 Schneider Electric. All rights reserved.
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Table of contents
Table of contents 3
Safety Information 11
Hazard categories 11
Qualification of personnel 12
Intended use 12
Basic information 13
DC bus voltage measurement 15
Functional safety 15
Standards and terminology 16
About the book 17
Further reading 18
1 Introduction 19
1.1 Device overview 19
1.2 Components and interfaces 20
1.3 Nameplate 21
1.4 Type code 22
2 Technical Data 23
2.1 Ambient conditions 23
2.2 Mechanical data 252.2.1 Dimensional drawings 25
2.3 Electrical Data 282.3.1 Power stage 28
2.3.1.1 Data for single-phase devices at 115 Vac 302.3.1.2 Data for single-phase devices at 230 Vac 312.3.1.3 Data for three-phase devices at 208 Vac 322.3.1.4 Data for three-phase devices at 400 Vac 332.3.1.5 Data for three-phase devices at 480 Vac 342.3.1.6 Peak output currents 352.3.1.7 DC bus data for single-phase devices 362.3.1.8 DC bus data for three-phase devices 36
2.3.2 Controller supply voltage 24V 372.3.3 Signals 38
2.3.3.1 Output PTO (CN4) 402.3.3.2 Input PTI (CN5) 41
2.3.4 Functional safety 462.3.5 Braking resistor 47
2.3.5.1 External braking resistors (accessories) 49
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2.3.6 Internal mains filter 502.3.7 External mains filters (accessories) 512.3.8 Mains reactor (accessory) 52
2.4 Conditions for UL 508C and CSA 53
2.5 Certifications 53
2.6 Declaration of conformity 54
2.7 TÜV certificate for functional safety 57
3 Basics 59
3.1 Functional safety 59
4 Engineering 61
4.1 Electromagnetic compatibility (EMC) 62
4.2 Cables 684.2.1 Overview of the required cables 69
4.3 Residual current device 70
4.4 Operation in an IT grounding system 70
4.5 Common DC bus 71
4.6 Mains reactor 72
4.7 Mains filter 734.7.1 Deactivating the Y capacitors 74
4.8 Rating the braking resistor 754.8.1 Internal braking resistor 764.8.2 External braking resistor 774.8.3 Rating information 78
4.9 Safety function STO ("Safe Torque Off") 824.9.1 Definitions 824.9.2 Function 824.9.3 Requirements for using the safety function 834.9.4 Application examples STO 85
4.10 Logic type 87
4.11 Monitoring functions 88
4.12 Configurable inputs and outputs 88
5 Installation 89
5.1 Before mounting 90
5.2 Mechanical installation 915.2.1 Installing and removing modules 925.2.2 Mounting the device 945.2.3 Mounting mains filter, mains reactor and braking resistor 96
5.3 Electrical installation 985.3.1 Overview of procedure 995.3.2 Connection overview 1005.3.3 Connection grounding screw 101
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5.3.4 Connection motor phases and holding brake (CN10 and CN11) 1035.3.5 Connecting the DC bus (CN9, DC bus) 1105.3.6 Braking resistor connection (CN8, Braking Resistor) 110
5.3.6.1 Internal braking resistor 1115.3.6.2 External braking resistor 111
5.3.7 Connection of power stage supply voltage (CN1) 1145.3.8 Motor encoder connection (CN3) 1195.3.9 Connection PTO (CN4, Pulse Train Out) 1215.3.10 Connection PTI (CN5, Pulse Train In) 123
5.3.10.1 Connection assignment PTI 5 V 1245.3.10.2 Connection assignment PTI 24 V 124
5.3.11 Connection controller supply and STO (CN2, DC Supply and STO) 1265.3.12 Connecting the digital inputs/outputs (CN6) 1295.3.13 Connection of PC with commissioning software CN7) 1315.3.14 Modules 131
5.4 Checking installation 133
6 Commissioning 135
6.1 Overview 1376.1.1 Commissioning steps 1376.1.2 Commissioning tools 138
6.2 Integrated HMI 1396.2.1 Indication and operation 1406.2.2 Menu structure 1426.2.3 Making settings 149
6.3 External graphic display terminal 1516.3.1 Display and controls 1526.3.2 Connecting the external graphic display terminal to LXM32 1536.3.3 Using the external graphic display terminal 153
6.4 Commissioning software 155
6.5 Commissioning procedure 1566.5.1 "First Setup" 1566.5.2 Operating state (state diagram) 1586.5.3 Setting basic parameters and limit values 1596.5.4 Digital inputs / outputs 1636.5.5 Testing the signals of the limit switches 1656.5.6 Testing the safety function STO 1666.5.7 Holding brake 167
6.5.7.1 Releasing the holding brake manually 1686.5.7.2 Adjustable parameters 1696.5.7.3 Checking the holding brake 171
6.5.8 Checking the direction of movement 1726.5.9 Setting parameters for encoder 174
6.5.9.1 Adjustment of the absolute position 1756.5.9.2 Shifting the working range 178
6.5.10 Setting the braking resistor parameters 1806.5.11 Autotuning the device 1826.5.12 Enhanced settings for autotuning 186
6.6 Controller optimization with step response 1896.6.1 Controller structure 189
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6.6.2 Optimization 1906.6.3 Optimizing the velocity controller 1906.6.4 Checking and optimizing default settings 1966.6.5 Optimizing the position controller 197
6.7 Memory Card 2006.7.1 Data exchange with the memory card 202
6.8 Duplicating existing device settings 204
6.9 Resetting the user parameters 205
6.10 Restoring factory settings 206
7 Operation 207
7.1 Access channels 210
7.2 Control mode 212
7.3 Operating states 2137.3.1 State diagram 2137.3.2 State transitions 2157.3.3 Indication of the operating state 216
7.3.3.1 HMI 2167.3.3.2 Signal outputs 2167.3.3.3 Fieldbus 216
7.3.4 Changing the operating state 2177.3.4.1 HMI 2177.3.4.2 Signal inputs 2177.3.4.3 Fieldbus 218
7.4 Operating modes 2197.4.1 Starting the operating mode 2197.4.2 Changing the operating mode 2207.4.3 Operating mode Jog 222
7.4.3.1 Continuous movement 2247.4.3.2 Step movement 2257.4.3.3 Parameterization 2277.4.3.4 Additional settings 229
7.4.4 Operating mode Electronic Gear 2307.4.4.1 Parameterization 2327.4.4.2 Additional settings 241
7.4.5 Operating mode Profile Torque 2427.4.5.1 Parameterization 2447.4.5.2 Additional settings 249
7.4.6 Operating mode Profile Velocity 2507.4.6.1 Parameterization 2527.4.6.2 Additional settings 257
7.4.7 Operating mode Profile Position 2587.4.7.1 Parameterization 2597.4.7.2 Additional settings 260
7.4.8 Operating mode Interpolated Position 2617.4.8.1 Parameterization 263
7.4.9 Operating mode Homing 2677.4.9.1 Parameterization 2697.4.9.2 Reference movement to a limit switch 274
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7.4.9.3 Reference movement to the reference switch in positive direction 2757.4.9.4 Reference movement to the reference switch in negative direction 2767.4.9.5 Reference movement to the index pulse 2777.4.9.6 Position setting 2787.4.9.7 Additional settings 279
7.4.10 Operating mode Motion Sequence 2807.4.10.1 Start of a data set with sequence 2837.4.10.2 Start of a data set without sequence 2857.4.10.3 Structure of a data set 2867.4.10.4 Error diagnostics 2917.4.10.5 Additional settings 292
7.5 Movement range 2937.5.1 Zero point of the movement range 2937.5.2 Movement beyond the movement range 294
7.5.2.1 Behavior for operating mode Jog 2947.5.2.2 Behavior for operating mode Profile Position 2957.5.2.3 Behavior for operating mode Motion Sequence 296
7.5.3 Setting a modulo range 2977.5.3.1 Parameterization 2987.5.3.2 Examples with relative movements 3017.5.3.3 Examples with absolute movements and "Shortest Distance" 3027.5.3.4 Examples with absolute movements and "Positive Direction" 3037.5.3.5 Examples with absolute movements and "Negative Direction" 304
7.6 Extended settings 3057.6.1 Scaling 305
7.6.1.1 Configuration of position scaling 3067.6.1.2 Configuration of velocity scaling 3077.6.1.3 Configuration of ramp scaling 308
7.6.2 Setting the digital signal inputs and signal outputs 3097.6.2.1 Parameterization of the signal input functions 3107.6.2.2 Parameterization of the signal output functions 3257.6.2.3 Parameterization of software debouncing 331
7.6.3 Setting the PTO interface 3347.6.4 Setting backlash compensation 3377.6.5 Setting the motion profile for the velocity 3397.6.6 Setting the controller parameters 341
7.6.6.1 Overview of the controller structure 3417.6.6.2 Overview of position controller 3427.6.6.3 Overview of velocity controller 3437.6.6.4 Overview of current controller 3447.6.6.5 Parameterizable controller parameters 3457.6.6.6 Selecting a controller parameter set 3467.6.6.7 Automatically switching between control parameter sets 3477.6.6.8 Copying a controller parameter set 3517.6.6.9 Deactivating the integral term 3517.6.6.10 Controller parameter set 1 3527.6.6.11 Controller parameter set 2 355
7.6.7 Settings of parameter _DCOMstatus 3587.6.8 Setting the PWM frequency of the power stage 360
7.7 Functions for target value processing 3617.7.1 Stop movement with Halt 361
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7.7.2 Stopping a movement with Quick Stop 3637.7.3 Inverting the analog signal inputs 3667.7.4 Limitation of the velocity via signal inputs 3677.7.5 Limitation of the current via signal inputs 3697.7.6 Jerk limitation 3717.7.7 Zero Clamp 3737.7.8 Setting a signal output via parameter 3747.7.9 Starting a movement via a signal input 3747.7.10 Position capture via signal input 375
7.7.10.1 Position capture via vendor-specific profile 3767.7.10.2 Position capture via DS402 profile 383
7.7.11 Relative Movement After Capture (RMAC) 387
7.8 Functions for monitoring movements 3917.8.1 Limit switches 3917.8.2 Reference switch 3937.8.3 Software limit switches 3947.8.4 Load-dependent position deviation (following error) 3977.8.5 Motor standstill and direction of movement 4007.8.6 Torque window 4017.8.7 Velocity window 4027.8.8 Standstill window 4037.8.9 Position register 4057.8.10 Position deviation window 4137.8.11 Velocity deviation window 4157.8.12 Velocity threshold value 4177.8.13 Current threshold value 419
7.9 Functions for monitoring internal device signals 4217.9.1 Temperature monitoring 4217.9.2 Monitoring load and overload (I2t monitoring) 4237.9.3 Commutation monitoring 4257.9.4 Monitoring of mains phases 4267.9.5 Ground fault monitoring 428
8 Examples 429
8.1 General information 429
8.2 Example of operation with a module 430
9 Diagnostics and troubleshooting 431
9.1 Status request/status indication 4319.1.1 Error diagnostics via integrated HMI 4329.1.2 Diagnostics via the commissioning software 4339.1.3 Diagnostics via signal outputs 4349.1.4 Diagnostics via the fieldbus 435
9.2 Error memory 4369.2.1 Reading the error memory via the fieldbus 4369.2.2 Reading the error memory via the commissioning software 441
9.3 Special menus at the integrated HMI 4429.3.1 Reading and acknowledging warnings 4429.3.2 Reading and acknowledging detected errors 4439.3.3 Acknowledging a module replacement 444
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9.3.4 Acknowledging a motor change 445
9.4 Table of warnings and errors by range 446
10 Parameters 489
10.1 Representation of the parameters 49010.1.1 Decimal numbers for fieldbus 491
10.2 List of parameters 492
11 Accessories and spare parts 657
11.1 Commissioning tools 657
11.2 Memory cards 657
11.3 Additional modules 657
11.4 Safety module eSM 658
11.5 Application nameplate 658
11.6 CANopen cable with connectors 659
11.7 CANopen connectors, distributors, terminating resistors 659
11.8 CANopen cables with open cable ends 660
11.9 Adapter cable for encoder signals LXM05/LXM15 to LXM32 660
11.10 Cables for PTO and PTI 660
11.11 Motor cables 66111.11.1 Motor cables 1.5 mm2 66111.11.2 Motor cables 2.5 mm2 66211.11.3 Motor cables 4 mm2 66211.11.4 Motor cables 6 mm2 66311.11.5 Motor cables 10 mm2 663
11.12 Encoder cables 664
11.13 Connectors 664
11.14 External braking resistors 665
11.15 DC bus accessories 666
11.16 Mains reactors 666
11.17 External mains filters 666
11.18 Spare parts connectors, fans, cover plates 666
12 Service, maintenance and disposal 667
12.1 Service address 667
12.2 Maintenance 66712.2.1 Lifetime safety function STO 667
12.3 Replacement of drive 668
12.4 Replacing modules 669
12.5 Changing the motor 669
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12.6 Shipping, storage, disposal 671
Glossary 673
Units and conversion tables 673Length 673Mass 673Force 673Power 673Rotation 674Torque 674Moment of inertia 674Temperature 674Conductor cross section 674
Terms and Abbreviations 675
Table of figures 679
Index 685
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Safety Information
Read these instructions carefully, and look at the equipment tobecome familiar with the device before trying to install, operate, ormaintain it. The following special messages may appear throughoutthis documentation or on the equipment to warn of potential hazardsor to call attention to information that clarifies or simplifies a proce-dure.
The addition of this symbol to a Danger safety label indi-cates that an electrical hazard exists, which will result inpersonal injury if the instructions are not followed.
This is the safety alert symbol. It is used to alert you topotential personal injury hazards. Obey all safety messagesthat follow this symbol to avoid possible injury or death.
Hazard categories
Safety instructions to the user are highlighted by safety alert symbolsin the manual. In addition, labels with symbols and/or instructions areattached to the product that alert you to potential hazards.
Depending on the seriousness of the hazard, the safety instructionsare divided into 4 hazard categories.
DANGERDANGER indicates an imminently hazardous situation, which, if notavoided, will result in death or serious injury.
WARNINGWARNING indicates a potentially hazardous situation, which, if notavoided, can result in death, serious injury, or equipment damage.
CAUTIONCAUTION indicates a potentially hazardous situation, which, if notavoided, can result in injury or equipment damage.
NOTICENOTICE indicates a potentially hazardous situation, which, if notavoided, can result in equipment damage.
LXM32M Safety Information
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Qualification of personnel
Only appropriately trained persons who are familiar with and under-stand the contents of this manual and all other pertinent product docu-mentation are authorized to work on and with this product. In addition,these persons must have received safety training to recognize andavoid hazards involved. These persons must have sufficient technicaltraining, knowledge and experience and be able to foresee and detectpotential hazards that may be caused by using the product, by chang-ing the settings and by the mechanical, electrical and electronic equip-ment of the entire system in which the product is used.
All persons working on and with the product must be fully familiar withall applicable standards, directives, and accident prevention regula-tions when performing such work.
Intended use
This product is a drive for three-phase servo motors and intended forindustrial use according to this manual.
The product may only be used in compliance with all applicable safetyregulations and directives, the specified requirements and the techni-cal data.
Prior to using the product, you must perform a risk assessment in viewof the planned application. Based on the results, the appropriatesafety measures must be implemented.
Since the product is used as a component in an entire system, youmust ensure the safety of persons by means of the design of thisentire system (for example, machine design).
Operate the product only with the specified cables and accessories.Use only genuine accessories and spare parts.
Any use other than the use explicitly permitted is prohibited and canresult in hazards.
Electrical equipment should be installed, operated, serviced, andmaintained only by qualified personnel.
Safety Information LXM32M
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Basic information
DANGERHAZARD DUE TO ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
• Only appropriately trained persons who are familiar with andunderstand the contents of this manual and all other pertinentproduct documentation and who have received safety training torecognize and avoid hazards involved are authorized to work onand with this drive system. Installation, adjustment, repair andmaintenance must be performed by qualified personnel.
• The system integrator is responsible for compliance with all localand national electrical code requirements as well as all otherapplicable regulations with respect to grounding of all equipment.
• Many components of the product, including the printed circuitboard, operate with mains voltage. Do not touch. Use only electri-cally insulated tools.
• Do not touch unshielded components or terminals with voltagepresent.
• The motor itself generates voltage when the motor shaft is rota-ted. Block the motor shaft to prevent rotation prior to performingany type of work on the drive system.
• AC voltage can couple voltage to unused conductors in the motorcable. Insulate both ends of unused conductors of the motorcable.
• Do not short across the DC bus terminals or the DC bus capaci-tors.
• Before performing work on the drive system:
- Disconnect all power, including external control power thatmay be present.
- Place a "Do Not Turn On" label on all power switches.- Lock all power switches in the open position.- Wait 15 minutes to allow the DC bus capacitors to discharge.
Measure the voltage on the DC bus as per chapter "DC busvoltage measurement" and verify the voltage is <42 Vdc. TheDC bus LED is not an indicator of the absence of DC bus volt-age.
• Install and close all covers before applying voltage.
Failure to follow these instructions will result in death or seri-ous injury.
LXM32M Safety Information
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Drive systems may perform unanticipated movements because ofincorrect wiring, incorrect settings, incorrect data or other errors.
WARNINGUNEXPECTED MOVEMENT
• Carefully install the wiring in accordance with the EMC require-ments.
• Do not operate the product with unknown settings or data.• Perform a comprehensive commissioning test.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
WARNINGLOSS OF CONTROL
• The designer of any control scheme must consider the potentialfailure modes of control paths and, for certain critical functions,provide a means to achieve a safe state during and after a pathfailure. Examples of critical control functions are emergency stop,overtravel stop, power outage and restart.
• Separate or redundant control paths must be provided for criticalfunctions.
• System control paths may include communication links. Consider-ation must be given to the implication of unanticipated transmis-sion delays or failures of the link.
• Observe all accident prevention regulations and local safetyguidelines. 1)
• Each implementation of the product must be individually and thor-oughly tested for proper operation before being placed into serv-ice.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), “SafetyGuidelines for the Application, Installation, and Maintenance of Solid State Control”and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guidefor Selection, Installation and Operation of Adjustable-Speed Drive Systems”.
The product is not approved for use in hazardous areas (explosiveatmospheres).
WARNINGEXPLOSION HAZARD
Only use this device outside of hazardous areas (explosive atmos-pheres).
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
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DC bus voltage measurement
The DC bus voltage can exceed 800 Vdc. The DC bus LED is not anindicator of the absence of DC bus voltage.
DANGERELECTRIC SHOCK, EXPLOSION OR ARC FLASH
• Disconnect the voltage supply to all connections.• Wait 10 minutes to allow the DC bus capacitors to discharge.• Use a properly rated voltage-sensing device for measuring
(>800 Vdc).• Measure the DC bus voltage between the DC bus terminals
(PA/+ and PC/-) to verify that the voltage is less than 42 Vdc.• Contact your local Schneider Electric representative if the DC bus
capacitors do not discharge to less than 42 Vdc within a period of10 minutes.
• Do not operate the product if the DC bus capacitors do not dis-charge properly.
• Do not attempt to repair the product if the DC bus capacitors donot discharge properly.
Failure to follow these instructions will result in death or seri-ous injury.
Functional safety
Using the safety functions integrated in this product requires carefulplanning. See chapter "4.9 Safety function STO ("Safe Torque Off")",page 82 for additional information.
An pluggable safety module is available as an accessory; this moduleprovides additional safety functions for the device. See the manual forthe module for information on the extended safety functions.
LXM32M Safety Information
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Standards and terminology
Technical terms, terminology and the corresponding descriptions inthis manual are intended to use the terms or definitions of the perti-nent standards.
In the area of drive systems, this includes, but is not limited to, termssuch as "safety function", "safe state", "fault", "fault reset", "failure","error", "error message", "warning", etc.
Among others, these standards include:
• IEC 61800 series: "Adjustable speed electrical power drive sys-tems"
• IEC 61158 series: "Digital data communications for measurementand control – Fieldbus for use in industrial control systems"
• IEC 61784 series: "Industrial communication networks – Profiles"• IEC 61508 series: "Functional safety of electrical/electronic/
programmable electronic safety-related systems"
Also see the glossary at the end of this manual.
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About the book
This manual is valid for LXM32M standard products. Chapter"1 Introduction" lists the type code for this product. The type codeallows you to identify whether your product is a standard product or acustomized version.
The following manuals belong to this product:
• Product manual, describes the technical data, installation, com-missioning and the operating modes and functions.
• Motor manual, describes the technical characteristics of themotors, including correct installation and commissioning.
• Fieldbus manual, description required to integrate the product intoa fieldbus.
• Module manuals, descriptions required for using modules.
Source manuals The latest versions of the manuals can be downloaded from the Inter-net at:
http://www.schneider-electric.com
Source CAD data For easier engineering, CAD data (drawings or EPLAN macros) areavailable for download from the Internet at:
http://www.schneider-electric.com
Work steps If work steps must be performed consecutively, this sequence of stepsis represented as follows:
■ Special prerequisites for the following work steps▶ Step 1◁ Specific response to this work step▶ Step 2
If a response to a work step is indicated, this allows you to verify thatthe work step has been performed correctly.
Unless otherwise stated, the individual steps must be performed in thespecified sequence.
Making work easier Information on making work easier is highlighted by this symbol:
Sections highlighted this way provide supplementary information onmaking work easier.
Parameters In text sections, parameters are shown with the parameter name, forexample _IO_act. The way parameters are represented in tables isexplained in the chapter Parameters. The parameter list is sortedalphabetically by parameter name.
SI units Technical data are specified in SI units. Converted units are shown inparentheses behind the SI unit; they may be rounded.
Example:Minimum conductor cross section: 1.5 mm2 (AWG 14)
Inverted signals Inverted signals are represented by an overline, for example STO_A orSTO_B.
LXM32M About the book
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Logic types The product supports logic type 1 and logic type 2 for digital signals.Note that most of the wiring examples show the logic type 1. The STOsafety function must be wired using the logic type 1.
Glossary Explanations of special technical terms and abbreviations.
Index List of keywords with references to the corresponding page numbers.
Further reading
Recommended literature for furtherreading:
• Ellis, George: Control System Design Guide. Academic Press• Kuo, Benjamin; Golnaraghi, Farid: Automatic Control Systems.
John Wiley & Sons
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1 Introduction
1.1 Device overview
The Lexium 32 product family consists of various servo drive modelsthat cover different application areas. Together with Lexium BMHservo motors or Lexium BSH servo motors as well as a comprehen-sive portfolio of options and accessories, the drives are ideally suitedto implement compact, high-performance drive solutions for a widerange of power requirements.
Lexium servo drive LXM32M This product manual describes the LXM32M servo drive.
Overview of some of the features of the servo drive:
• The flexible product can be adapted to a wide variety of tasks bymeans of numerous modules.
• The available fieldbus modules comprise CANopen/CANmotion,DeviceNet, Profibus DP and EtherNet/IP.
• An encoder module allows you to add a second encoder interfacefor digital encoders, analog encoders or resolvers.
• The product is commissioned via the integrated HMI, a PC withcommissioning software or the fieldbus.
• The safety function "Safe Torque Off" (STO) as per IEC 61800-5-2is implemented on board. The optional safety module eSM offersadditional safety functions.
• A memory card slot is provided for backup and copying of parame-ters and fast device replacement.
LXM32M 1 Introduction
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1.2 Components and interfaces
Slot 1
Slot 2
Slot 3
CN6
CN3
CN2CN5CN4
CN7
CN1CN8
CN10
CN11
CN9
CN1
CN7
CN6
CN11CN10CN9
CN8
Slot 1
Slot 2
Slot 3
CN3
CN2CN5CN4
Figure 1: Overview of connections
(CN1) Mains connection (power stage supply)(CN2) Connection for
• 24V controller supply• Safety function STO
(CN3) Motor encoder connection (encoder 1)(CN4) Connection for PTO (Pulse Train Out)
• ESIM (encoder simulation)(CN5) Connection for PTI (Pulse Train In)
• Pulse/direction- or -
• A/B encoder signals- or -
• CW/CCW pulses(CN6) Inputs and outputs
• 6 configurable digital inputs• 3 configurable digital outputs
(CN7) Modbus (commissioning interface)(CN8) Connection for external braking resistor(CN9) DC bus connection(CN10) Motor phases connection(CN11) Motor holding brake connection(Slot 1) Slot for safety module(Slot 2) Slot for encoder module (encoder 2)(Slot 3) Slot for fieldbus module
1 Introduction LXM32M
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1.3 Nameplate
The nameplate contains the following data:
Multiple rated equipment, see instructions manual
Input a.c. 3-phase Output
50 / 60 Hz continuous max.
380 V - 5.5 A
480 V - 4.5 A
6 A - 1.8 kW
6 A - 1.8 kW
18 A
18 A
LXM32
CN1, CN10:
CN8:
Cu AWG10 75°C
Cu AWG12 75°C
5.9 lb.in 0.67 N.m
4.3 lb.in 0.49 N.m
000000000000 Made in Indonesia
D.O.M
KCC-RET-SEk-LXM32
dd.mm.yy
RS 03
IND.CONT.EQE198280
US LISTED 91ZACIP20
1
2
3
6
95
8
7
4
Figure 2: Nameplate
(1) Product type, see type code(2) Power stage supply(3) Cable specifications and tightening torque(4) Certifications(5) Serial number(6) Output power(7) Degree of protection(8) Hardware version(9) Date of manufacture
LXM32M 1 Introduction
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1.4 Type code
LXM 32 M D18 M2 ∙∙∙∙Product designation LXM = Lexium
Product type 32 = AC servo drive for one axis
Interfaces C = Compact Drive with analog inputs and Pulse TrainA = Advanced Drive with CANopen fieldbusM = Modular Drive
Peak current U45 = 4.5 Arms U60 = 6 Arms U90 = 9 Arms D12 = 12 Arms D18 = 18 Arms D30 = 30 Arms D72 = 72 Arms D85 = 85 Arms C10 = 100 Arms
Power stage supply M2 = 1~, 115/200/240 VacN4 = 3~, 208/400/480 Vac 1)
Further options1) 208 Vac: With firmware version ≥V01.02 and DOM ≥10.05.2010
If you have questions concerning the type code, contact yourSchneider Electric sales office. Contact your machine vendor if youhave questions concerning customized versions.
Customized version: Position 12 of the type code is an "S". The sub-sequent number defines the customized version. Example:LXM32∙∙∙∙∙∙S123
The device designation is shown on the nameplate.
1 Introduction LXM32M
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2 Technical Data
This chapter contains information on the ambient conditions and onthe mechanical and electrical properties of the product family and theaccessories.
2.1 Ambient conditions
Climatic environmental conditionstransportation and storage
The environment during transportation and storage must be dry andfree from dust.
Temperature °C(°F)
-25 ... 70(-13 ... 158)
The following relative humidity is permissible during transportation andstorage:
Relative humidity (non-condens-ing)
% <95
Climatic environmental conditionsoperation
The maximum permissible ambient temperature during operationdepends on the mounting distances between the devices and on therequired power. Observe the pertinent instructions in the chapter"5 Installation".
Ambient temperature (no icing,non-condensing)
°C(°F)
0 ... 50(32 ... 122)
The following relative humidity is permissible during operation:
Relative humidity (non-condens-ing)
% 5 ... 95
LXM32M 2 Technical Data
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Installation altitude above meansea level without derating.
m(ft)
<1000(<3281)
Altitude above mean sea levelwhen all of the following condi-tions are met:• Maximum ambient tempera-
ture 45 °C (113 °F)• Reduction of the continuous
power by 1% per 100 m(328 ft) above 1000 m(3281 ft)
m(ft)
1000 ... 2000(3281 ... 6562)
Altitude above mean sea levelwhen all of the following condi-tions are met:• Maximum ambient tempera-
ture 40 °C (104 °F)• Reduction of the continuous
power by 1% per 100 m(328 ft) above 1000 m(3281 ft)
• Overvoltages of the supplymains limited to overvoltagecategory II as per IEC 60664-11)
• No IT mains
m(ft)
2000 ... 3000(6562 ... 9843)
1) LXM32∙U, LXM32∙D12, LXM32∙D18, LXM32∙D30 and LXM32∙D72 only.
Installation site and connection For operation, the device must be mounted in a closed control cabi-net. The device may only be operated with a permanently installedconnection.
Pollution degree and degree ofprotection Pollution degree 2
Degree of protection IP 20
Degree of protection when thesafety function is used
You must ensure that conductive substances cannot get into the prod-uct (pollution degree 2). Conductive substances may cause the safetyfunction to become inoperative.
Vibration and shockVibration, sinusoidal Tested as per IEC 60068-2-6
3.5 mm (2 ... 8.4 Hz)10 m/s2 (8.4 ... 200 Hz)
Shock, semi-sinusoidal Tested as per IEC 60068-2-27150 m/s2 (for 11 ms)
2 Technical Data LXM32M
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2.2 Mechanical data
2.2.1 Dimensional drawings
230
a20Ø5.5
HB
7.5
e
Ø10
Ø5.5
258
225
Ø0.22
Ø0.39
0.3
10.16
9.06
0.79
8.86
Ø0.22
mmin
Figure 3: Dimensional drawing
B
e E
2x
2x
230
a20Ø5.5
H
7.5
Ø10
Ø5.5
258
225
Ø0.22
Ø0.39
0.3
10.16
9.06
0.79
8.86
Ø0.22
mmin
Figure 4: Dimensional drawing
LXM32M 2 Technical Data
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371
5
360
170
E
B240
1.5
20
0.2
14.17
0.799.45
14.61
0.06
6.69
H
2x
2x
Ø6
Ø12
Ø6
Ø0.24
Ø0.47
Ø0.24
60.24
mmin
Figure 5: Dimensional drawing
LXM32∙... U45U60U90
D12D18D30M2
D30N4 D72 D85C10
Figure Figure 3 Figure 3 Figure 4 Figure 4 Figure 5
B mm(in)
68 ±1(2.68)
68 ±1(2.68)
68 ±1(2.68)
108 ±1(4.25)
180 ±1(7.09)
H mm(in)
270(10.63)
270(10.63)
270(10.63)
274(10.79)
385(15.18)
e mm(in)
24(0.94)
24(0.94)
13(0.51)
13(0.51)
-
E mm(in)
- - 42(1.65)
82(3.23)
140(5.51)
a mm(in)
20(0.79)
20(0.79)
20(0.79)
24(0.94)
-
Type of cooling Convec-tion 1)
Fan40 mm
Fan60 mm
Fan80 mm
Fan80 mm
1) >1 m/s
The connection cables of the devices are routed to the top and to thebottom. The following distances are required in order to enable suffi-cient air circulation and cable installation without bends:
• At least 100 mm (3.94 in) of free space is required above thedevice.
• At least 100 mm (3.94 in) of free space is required below thedevice.
• At least 60 mm (2.36 in) of free space is required in front of thedevice. The controls must be accessible.
2 Technical Data LXM32M
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MassLXM32∙...
U45 U60U90
D12D18M2
D18N4D30M2
D30N4 D72 D85C10
Mass kg(lb)
1.7(3.75)
1.8(3.97)
1.9(4.19)
2.1(4.63)
2.7(5.95)
4.8(10.58)
8.8(19.4)
LXM32M 2 Technical Data
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2.3 Electrical Data
The products are intended for industrial use and may only be operatedwith a permanently installed connection.
2.3.1 Power stage
Mains voltage: range and toler-ance 115/230 Vac single-phase Vac 100 -15% ... 120 +10%
200 -15% ... 240 +10%
208/400/480 Vac three-phase 1) Vac 200 -15% ... 240 +10%380 -15% ... 480 +10%
Frequency Hz 50 -5% ... 60 +5%1) 208 Vac: With firmware version ≥V01.02 and DOM ≥10.05.2010
Transient overvoltages Overvoltage category III 1)
Rated voltage to ground Vac 3001) Depends on installation altitude, see chapter "2.1 Ambient conditions"
Type of mains (type of grounding)TT grounding system, TN ground-ing system
approved
IT mains Depends on hardware version≥RS 02: Approved 1) <RS02: not approved
Mains with grounded line conduc-tor
Not approved
1) Depending on installation altitude, see chapter "2.1 Ambient conditions"
Leakage currentLeakage current (as perIEC 60990, figure 3)
mA <30 1)
1) Measured on mains with grounded neutral point and without external mains filter. Ifyou use an RCD, take into account that a 30 mA RCD can already trigger at 15 mA.In addition, there is a high-frequency leakage current which is not considered in themeasurement. The response to this depends on the type of residual current device.
Harmonic currents and impedance The harmonic currents depend on the impedance of the supply mains.This is expressed in terms of the short-circuit current of the supplymains. If the supply mains has a higher short-circuit current than indi-cated in the Technical Data for the device, use upstream mains reac-tors. See chapter "11.16 Mains reactors" for suitable mains reactors.
Monitoring the continuous outputcurrent
The continuous output current is monitored by the device. If the con-tinuous output current is permanently exceeded, the device reducesthe output current. The continuous output current can flow if the ambi-ent temperature is below 50°C (122 °F) and if the internal brakingresistor does not generate heat.
Monitoring of the continuous out-put power
The continuous output power is monitored by the device. If the contin-uous output power is exceeded, the device reduces the output cur-rent.
2 Technical Data LXM32M
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PWM frequency power stage The PWM frequency of the power stage depends on the device ver-sion.
LXM32∙... U45, U60, U90,D12, D18, D30,D72
D85, C10
PWM frequency power stage kHz 8 4 or 8 1)
1) Factory setting: 4 kHz. Adjustable via parameter.
Approved motors The following motors can be connected to this device family: BMH,BSH.When selecting, consider the type and amount of the mains voltageand the motor inductance.
Further conditions must be met if you use the safety module eSM.
If an encoder module is installed, additional motors can be used. Theconditions can be found in the corresponding manual for the module.
Inquire for other motors.
Inductance of motor The permissible minimum inductance of the motor to be connecteddepends on the device type and the nominal mains voltage. See thetables on pages 30 to 34 for the values.
The specified minimum inductance value limits the current ripple of thepeak output current. If the inductance value of the connected motor isless than the specified minimum inductance value, this may adverselyaffect current control and trigger motor phase current monitoring.
LXM32M 2 Technical Data
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2.3.1.1 Data for single-phase devices at 115 Vac
LXM32∙... U45M2 U90M2 D18M2 D30M2Nominal voltage (single-phase) Vac 115 115 115 115
Inrush current limitation A 1.7 3.5 8 16
Maximum fuse to be connected upstream1)
A 25 25 25 25
Short-circuit current rating (SCCR) kA 12 12 12 12
Continuous output current Arms 1.5 3 6 10
Peak output current Arms 3 6 10 15
Minimum inductance motor (phase/phase)
mH 5.5 3 1.4 0.8
Values without mains reactorNominal power 2) kW 0.15 0.3 0.5 0.8
Input current 2) 3) Arms 2.9 5.4 8.5 12.9
THD (total harmonic distortion) 2) 4) % 173 159 147 135
Power dissipation 5) W 7 15 28 33
Maximum inrush current 6) A 111 161 203 231
Time for maximum inrush current ms 0.8 1.0 1.2 1.4
Values with mains reactorMains reactor mH 5 2 2 2
Nominal power kW 0.2 0.4 0.8 0.8
Input current 3) Arms 2.6 5.2 9.9 9.9
THD (total harmonic distortion) 4) % 85 90 74 72
Power dissipation 5) W 8 16 32 33
Maximum inrush current 6) A 22 48 56 61
Time for maximum inrush current ms 3.3 3.1 3.5 3.71) As per IEC 60269; Circuit breakers with B or C characteristic; See "2.4 Conditions for UL 508C and CSA" for UL and CSA; Lower
ratings are permissible; The fuse must be rated in such a way that the fuse does not trip at the specified input current.2) At a mains impedance corresponding to a short-circuit current of the supply mains of 1 kA3) At nominal power and nominal voltage4) with reference to the input current5) Condition: internal braking resistor not active; value at nominal current, nominal voltage and nominal power; value approximately
proportional with output current6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time
2 Technical Data LXM32M
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2.3.1.2 Data for single-phase devices at 230 Vac
LXM32∙... U45M2 U90M2 D18M2 D30M2Nominal voltage (single-phase) Vac 230 230 230 230
Inrush current limitation A 3.5 6.9 16 33
Maximum fuse to be connected upstream1)
A 25 25 25 25
Short-circuit current rating (SCCR) kA 12 12 12 12
Continuous output current Arms 1.5 3 6 10
Peak output current Arms 4.5 9 18 30
Minimum inductance motor (phase/phase)
mH 5.5 3 1.4 0.8
Values without mains reactorNominal power 2) kW 0.3 0.5 1.0 1.6
Input current 2) 3) Arms 2.9 4.5 8.4 12.7
THD (total harmonic distortion) 2) 4) % 181 166 148 135
Power dissipation 5) W 10 18 34 38
Maximum inrush current 6) A 142 197 240 270
Time for maximum inrush current ms 1.1 1.5 1.8 2.1
Values with mains reactorMains reactor mH 5 2 2 2
Nominal power kW 0.5 0.9 1.6 2.2
Input current 3) Arms 3.4 6.3 10.6 14.1
THD (total harmonic distortion) 4) % 100 107 93 86
Power dissipation 5) W 11 20 38 42
Maximum inrush current 6) A 42 90 106 116
Time for maximum inrush current ms 3.5 3.2 3.6 4.01) As per IEC 60269; Circuit breakers with B or C characteristic; See "2.4 Conditions for UL 508C and CSA" for UL and CSA; Lower
ratings are permissible; The fuse must be rated in such a way that the fuse does not trip at the specified input current.2) At a mains impedance corresponding to a short-circuit current of the supply mains of 1 kA3) At nominal power and nominal voltage4) with reference to the input current5) Condition: internal braking resistor not active; value at nominal current, nominal voltage and nominal power; value approximately
proportional with output current6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time
LXM32M 2 Technical Data
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2.3.1.3 Data for three-phase devices at 208 Vac
LXM32∙... U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4Nominal voltage (three-phase) 1) Vac 208 208 208 208 208 208 208
Inrush current limitation A 2.2 4.9 10 10 29 29 29
Maximum fuse to be connected upstream2)
A 32 32 32 32 32 63 63
Short-circuit current rating (SCCR) kA 12 12 12 12 12 22 22
Continuous output currentPWM frequency = 4 kHzPWM frequency = 8 kHz
Arms-1.5
-3
-6
-10
-24
3224
4024
Peak output currentPWM frequency = 4 kHzPWM frequency = 8 kHz
Arms-6
-12
-18
-30
-72
8582
10082
Minimum inductance motor (phase/phase)
mH 8.5 4.5 3 1.7 0.7 0.6 0.51
Values without mains reactorNominal powerPWM frequency = 4 kHzPWM frequency = 8 kHz
kW-0.35
-0.7
-1.2
-2.0
-5
55
76
Input current 3) PWM frequency = 4 kHzPWM frequency = 8 kHz
Arms-1.8
-3.6
-6.2
-9.8
-21.9
21.822.3
29.725.9
THD (total harmonic distortion) 4) PWM frequency = 4 kHzPWM frequency = 8 kHz
%-132
-136
-140
-128
-106
108113
102106
Power dissipation 5) PWM frequency = 4 kHzPWM frequency = 8 kHz
W-13
-26
-48
-81
-204
235301
314390
Maximum inrush current 6) A 60 180 276 341 500 425 347
Time for maximum inrush current ms 0.5 0.7 0.9 1.1 1.5 0.8 1.0
Values with mains reactorMains reactor mH 2 2 1 1 1 1 0.5
Nominal powerPWM frequency = 4 kHzPWM frequency = 8 kHz
kW-0.4
-0.8
-1.5
-2.6
-6.5
76
116
Input current 3) PWM frequency = 4 kHzPWM frequency = 8 kHz
Arms-1.7
-3.1
-6.0
-9.2
-21.1
22.118.9
35.319.5
THD (total harmonic distortion) 4) PWM frequency = 4 kHzPWM frequency = 8 kHz
%-97
-79
-78
-59
-34
3332
3845
Power dissipation 5) PWM frequency = 4 kHzPWM frequency = 8 kHz
W-13
-27
-51
-86
-218
229295
328404
Maximum inrush current 6) A 19 55 104 126 155 93 124
Time for maximum inrush current ms 1.9 2.6 2.6 3.0 3.6 4.4 3.11) 208 Vac: With firmware version ≥V01.02 and DOM ≥10.05.20102) As per IEC 60269; Circuit breakers with B or C characteristic; See "2.4 Conditions for UL 508C and CSA" for UL and CSA; Lower
ratings are permissible; The fuse must be rated in such a way that the fuse does not trip at the specified input current.3) At nominal power and nominal voltage4) with reference to the input current5) Condition: internal braking resistor not active; value at nominal current, nominal voltage and nominal power; value approximately
proportional with output current6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time
2 Technical Data LXM32M
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2.3.1.4 Data for three-phase devices at 400 Vac
LXM32∙... U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4Nominal voltage (three-phase) Vac 400 400 400 400 400 400 400
Inrush current limitation A 4.3 9.4 19 19 57 57 57
Maximum fuse to be connected upstream1)
A 32 32 32 32 32 63 63
Short-circuit current rating (SCCR) kA 12 12 12 12 12 22 22
Continuous output currentPWM frequency = 4 kHzPWM frequency = 8 kHz
Arms-1.5
-3
-6
-10
-24
3224
4024
Peak output currentPWM frequency = 4 kHzPWM frequency = 8 kHz
Arms-6
-12
-18
-30
-72
8582
10082
Minimum inductance motor (phase/phase)
mH 8.5 4.5 3 1.7 0.7 0.6 0.51
Values without mains reactorNominal powerPWM frequency = 4 kHzPWM frequency = 8 kHz
kW-0.4
-0.9
-1.8
-3.0
-7
99
1111
Input current 2) PWM frequency = 4 kHzPWM frequency = 8 kHz
Arms-1.4
-2.9
-5.2
-8.3
-17.3
23.323.3
27.827.8
THD (total harmonic distortion) 3) PWM frequency = 4 kHzPWM frequency = 8 kHz
%-191
-177
-161
-148
-126
139139
133133
Power dissipation 4) PWM frequency = 4 kHzPWM frequency = 8 kHz
W-17
-37
-68
-115
-283
303429
375522
Maximum inrush current 5) A 90 131 201 248 359 520 520
Time for maximum inrush current ms 0.5 0.7 0.9 1.1 1.4 1.0 1.0
Values with mains reactorMains reactor mH 2 2 1 1 1 1 0.5
Nominal powerPWM frequency = 4 kHzPWM frequency = 8 kHz
kW-0.8
-1.6
-3.3
-5.6
-13
1513
2213
Input current 2) PWM frequency = 4 kHzPWM frequency = 8 kHz
Arms-1.8
-3.4
-6.9
-11.1
-22.5
25.021.9
38.124.5
THD (total harmonic distortion) 3) PWM frequency = 4 kHzPWM frequency = 8 kHz
%-108
-90
-90
-77
-45
4245
5170
Power dissipation 4) PWM frequency = 4 kHzPWM frequency = 8 kHz
W-19
-40
-74
-125
-308
306433
416563
Maximum inrush current 5) A 28 36 75 87 112 138 185
Time for maximum inrush current ms 1.9 2.3 2.3 2.6 3.0 4.3 3.01) As per IEC 60269; Circuit breakers with B or C characteristic; See "2.4 Conditions for UL 508C and CSA" for UL and CSA; Lower
ratings are permissible; The fuse must be rated in such a way that the fuse does not trip at the specified input current.2) At nominal power and nominal voltage3) with reference to the input current4) Condition: internal braking resistor not active; value at nominal current, nominal voltage and nominal power; value approximately
proportional with output current5) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time
LXM32M 2 Technical Data
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2.3.1.5 Data for three-phase devices at 480 Vac
LXM32∙... U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4Nominal voltage (three-phase) Vac 480 480 480 480 480 480 480
Inrush current limitation A 5.1 11.3 23 23 68 68 68
Maximum fuse to be connected upstream1)
A 32 32 32 32 32 63 63
Short-circuit current rating (SCCR) kA 12 12 12 12 12 22 22
Continuous output currentPWM frequency = 4 kHzPWM frequency = 8 kHz
Arms-1.5
-3
-6
-10
-24
3224
4024
Peak output currentPWM frequency = 4 kHzPWM frequency = 8 kHz
Arms-6
-12
-18
-30
-72
8582
10082
Minimum inductance motor (phase/phase)
mH 8.5 4.5 3 1.7 0.7 0.6 0.51
Values without mains reactorNominal powerPWM frequency = 4 kHzPWM frequency = 8 kHz
kW-0.4
-0.9
-1.8
-3.0
-7
99
1111
Input current 2) PWM frequency = 4 kHzPWM frequency = 8 kHz
Arms-1.2
-2.4
-4.5
-7.0
-14.6
19.919.9
23.723.7
THD (total harmonic distortion) 3) PWM frequency = 4 kHzPWM frequency = 8 kHz
%-201
-182
-165
-152
-129
145145
140140
Power dissipation 4) PWM frequency = 4 kHzPWM frequency = 8 kHz
W-20
-42
-76
-129
-315
312464
407560
Maximum inrush current 5) A 129 188 286 350 504 795 795
Time for maximum inrush current ms 0.6 0.7 1.0 1.2 1.6 1.0 1.0
Values with mains reactorMains reactor mH 2 2 1 1 1 1 0.5
Nominal powerPWM frequency = 4 kHzPWM frequency = 8 kHz
kW-0.8
-1.6
-3.3
-5.6
-13
1513
2213
Input current 2) PWM frequency = 4 kHzPWM frequency = 8 kHz
Arms-1.6
-2.9
-6.0
-9.6
-19.5
21.018.4
32.020.7
THD (total harmonic distortion) 3) PWM frequency = 4 kHzPWM frequency = 8 kHz
%-116
-98
-98
-85
-55
4548
5473
Power dissipation 4) PWM frequency = 4 kHzPWM frequency = 8 kHz
W-21
-44
-82
-137
-341
314466
417593
Maximum inrush current 5) A 43 57 116 137 177 208 279
Time for maximum inrush current ms 1.9 2.4 2.4 2.7 3.2 4.1 3.41) As per IEC 60269; Circuit breakers with B or C characteristic; See "2.4 Conditions for UL 508C and CSA" for UL and CSA; Lower
ratings are permissible; The fuse must be rated in such a way that the fuse does not trip at the specified input current.2) At nominal power and nominal voltage3) with reference to the input current4) Condition: internal braking resistor not active; value at nominal current, nominal voltage and nominal power; value approximately
proportional with output current5) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum time
2 Technical Data LXM32M
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2.3.1.6 Peak output currentsThe device can provide the peak output current for a limited period oftime. If the peak output current flows when the motor is at a standstill,the higher load on a single semiconductor switch causes the currentlimitation to become active earlier than when the motor moves.
The period of time for which the peak output current can be provideddepends on the hardware version.
With hardware version ≥RS03: 5 seconds
1 20105 6 7 8 9 15 30250
100
200
0
300
400
s
U60D12U45 (230 V)U90 (230 V)D18M2 (230 V)D18N4D30M2 (230 V)D30N4D72D85 (PWM = 4 kHz)C10 (PWM = 4 kHz)
LXM32 ...
2 43
%
Figure 6: Peak output current with hardware version ≥RS03
With hardware version <RS03: 1 second
1 20105 6 7 8 9 15 30250
100
200
0
300
400
s
U60D12U45 (230 V)U90 (230 V)D18M2 (230 V)D18N4D30M2 (230 V)D30N4D72
LXM32 ...
2 43
%
Figure 7: Peak output current with hardware version <RS03
LXM32M 2 Technical Data
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2.3.1.7 DC bus data for single-phase devices
LXM32∙... U45M2 U90M2 D18M2 D30M2Nominal voltage (1 ∼) V 115 230 115 230 115 230 115 230
Nominal voltage DC bus V 163 325 163 325 163 325 163 325
Undervoltage limit V 55 130 55 130 55 130 55 130
Voltage limit: activation of Quick Stop V 60 140 60 140 60 140 60 140
Overvoltage limit V 450 450 450 450 450 450 450 450
Maximum continuous power via DC bus kW 0.2 0.5 0.4 0.9 0.8 1.6 0.8 2.2
Maximum continuous current via DC bus A 1.5 1.5 3.2 3.2 6.0 6.0 10.0 10.0
2.3.1.8 DC bus data for three-phase devices
LXM32∙... U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4Nominal voltage (3 ∼) V 208 208 208 208 208 208 208
Nominal voltage DC bus V 294 294 294 294 294 294 294
Undervoltage limit V 150 150 150 150 150 150 150
Voltage limit: activation of Quick Stop V 160 160 160 160 160 160 160
Overvoltage limit V 820 820 820 820 820 820 820
Maximum continuous power via DC bus kW 0.4 0.8 1.7 2.8 6.5 7.0 11.0
Maximum continuous current via DC bus A 1.5 3.2 6.0 10.0 22.0 28.0 40.0
LXM32∙... U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4Nominal voltage (3 ∼) V 400 400 400 400 400 400 400
Nominal voltage DC bus V 566 566 566 566 566 566 566
Undervoltage limit V 350 350 350 350 350 350 350
Voltage limit: activation of Quick Stop V 360 360 360 360 360 360 360
Overvoltage limit V 820 820 820 820 820 820 820
Maximum continuous power via DC bus kW 0.8 1.6 3.3 5.6 13.0 15.0 22.0
Maximum continuous current via DC bus A 1.5 3.2 6.0 10.0 22.0 28.0 40.0
LXM32∙... U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4Nominal voltage (3 ∼) V 480 480 480 480 480 480 480
Nominal voltage DC bus V 679 679 679 679 679 679 679
Undervoltage limit V 350 350 350 350 350 350 350
Voltage limit: activation of Quick Stop V 360 360 360 360 360 360 360
Overvoltage limit V 820 820 820 820 820 820 820
Maximum continuous power via DC bus kW 0.8 1.6 3.3 5.6 13.0 15.0 22.0
Maximum continuous current via DC bus A 1.5 3.2 6.0 10.0 22.0 28.0 40.0
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2.3.2 Controller supply voltage 24V
24V supply The +24VDC controller supply must meet the requirements ofIEC 61131-2 (PELV standard power supply unit):
Input voltage Vdc 24 (-15/+20 %) 1)
Input current (without load) A ≤1 2)
Residual ripple % <5
Inrush current Charging current for capacitor C=1.8 mF
1) For connection of motors without holding brake; see figure below for motors withholding brake
2) Input current: holding brake not considered.
Controller supply in the case ofmotor with holding brake
If a motor with holding brake is connected, the 24 Vdc controller sup-ply must be adjusted according to the connected motor type, themotor cable length and the cross section of the wires for the holdingbrake. The following diagram applies to the motor cables available asaccessories, see chapter "11.11 Motor cables". Refer to the diagramfor the voltage that must be available at CN2 for releasing the holdingbrake. The voltage tolerance is ±5 %.
29
25
24
23
28
27
26
0 908070605040302010 100
...055
...205
...190
...070
...100
...140
m
Vdc BMH... BSH...
30
1
Figure 8: Controller supply in the case of motor with holding brake: the voltage depends on the motor type, the motorcable length and the conductor cross section.
(1) Maximum voltage of controller supply
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2.3.3 Signals
The digital inputs and outputs of this product can be wired for logictype 1 or logic type 2.
1 2
+24V
DI0,DI1,...
DI_COM
DQ0,DQ1,...
DQ_COM
DI0,DI1,...
DQ_COM
DQ0,DQ1,...
DI_COM0V
+24V
0V
Figure 9: Logic type
Logic type Active state(1) Logic type 1 Output supplies current (source output)
Current flows to the input
(2) Logic type 2 Output draws current (sink output)Current flows from the input
Signal inputs are protected against reverse polarity, outputs are short-circuit protected. The inputs and outputs are galvanically isolated.
Digital input signals 24 V When wired as logic type 1, the levels of the opto-isolated inputs DI∙comply with IEC 61131-2, type 1.
Level 0 with logic type 1 (Ulow) Vdc -3 ... 5
Level 1 with logic type 1 (Uhigh) Vdc 15 ... 30
Input current (typical) mA 5
Debounce time 1) ms 1.51) Adjustable via parameter (sampling period 250µs)
Capture input signals 24 V When wired as "logic type 1", the levels of the opto-isolated inputsCap∙ comply with IEC 61131-2, type 1.
Level 0 with logic type 1 (Ulow) Vdc -3 ... 5
Level 1 with logic type 1 (Uhigh) Vdc 15 ... 30
Input current (typical) mA 5
Debounce time Capture CAP ∙ μs 2
Jitter Capture CAP ∙ μs <2
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Input signals safety function STOLevel 0 with logic type 1 (Ulow) Vdc -3 ... 5
Level 1 with logic type 1 (Uhigh) Vdc 15 ... 30
Input current (typical) mA 5
Debounce time STO_A and STO_B ms >1
Detection of signal differencesbetween STO_A and STO_B
s >1
Response time of safety functionSTO
ms ≤10
24 V output signals The levels of the digital 24 V output signals DQ∙ comply withIEC 61131-2.
Output voltage V ≤30
Maximum switching current mA ≤100
Voltage drop at 100 mA load V ≤3
Holding brake output CN11 The 24 Vdc holding brake of the BMH motor or the BSH motor can beconnected to the output CN11. Data of output CN11:
Output voltage 1) V Voltage at controller supply CN2minus 0.8 V
Maximum switching current A 1.7
Energy inductive load 2) Ws 1.51) See "2.3.2 Controller supply voltage 24V"2) Time between switch off procedures: > 1 s
Encoder signals The encoder signals comply with the Stegmann Hiperface specifica-tion.
Output voltage for encoder V 10
Output current for encoder mA 100
SIN/COS input signal voltagerange
1 Vpp with 2.5 V offset,0.5 Vpp at 100 kHz
Input resistance Ω 120
The output voltage is short-circuit protected and overload protected.Transmission via RS485, asynchronous, half-duplex
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2.3.3.1 Output PTO (CN4)5 V signals are available at the PTO (Pulse Train Out, CN4) output.Depending on parameter PTO_mode, these signals are ESIM signals(encoder simulation) or directly transmitted PTI input signals (P/D sig-nals, A/B signals, CW/CCW signals). The PTO output signals can beused as PTI input signals for another device. The PTO output signalshave 5 V, even if the PTI input signal is a 24 V signal.
The signal level corresponds to RS422. Due to the input current of theoptocoupler in the input circuit, a parallel connection of a driver outputto several devices is not permitted.
The basic resolution of the encoder simulation at quadruple resolutionis 4096 increments per revolution in the case of rotary motors.
A
I
0
1
0
1
0
1
B
+ -
..7 ... ...8 9 1312 13 9 8..14 1415
Figure 10: Time chart with A, B and index pulse signal, counting forwards andbackwards
Output signal PTO The PTO output signals comply with the RS422 interface specifica-tion.
Logic level As per RS422 1)
Output frequency per signal kHz ≤500
Motor increments per second Inc/s ≤1.6 * 106
1) Due to the input current of the optocoupler in the input circuit, a parallel connectionof a driver output to several devices is not permitted.
NOTE: The device connected to the PTO output must be able to proc-ess the specified motor increments per second. Even at low velocities,(medium PTO frequency in the kHz range), edges may change at upto 1.6 MHz.
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2.3.3.2 Input PTI (CN5)5 V signals or 24 V signals can be connected to the PTI (Pulse TrainIn) input.
The following signals can be connected:
• A/B signals (ENC_A/ENC_B)• P/D signals (PULSE/DIR)• CW/CCW signals (CW/CCW)
See also chapter "5.3.10 Connection PTI (CN5, Pulse Train In)", page123.
Input circuit and selection ofmethod
The input circuit and the selected method affect the maximum permis-sible input frequency and the maximum permissible line length:
Input circuit RS422Figure 11 left
Push pullFigure 11 center
Open collectorFigure 11 right
Minimum input frequency with methodposition synchronization
Hz 0 0 0
Minimum input frequency with methodvelocity synchronization
Hz 100 100 100
Maximum input frequency MHz 1 0.2 0.01
Maximum line length m (ft) 100 (328) 10 (32.8) 1 (3.28)
A
C
B5 Vdc
A
C
B
A
C
B
24 Vdc
24 Vdc
5 Vdc
RS422 PushPull
PushPull
5 Vdc
A
C
B
24 Vdc
A
C
B
OpenCollector
OpenCollector
Figure 11: Signal input circuits: RS422, Push Pull and Open Collector
LXM32M 2 Technical Data
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Input Pin 1) RS422 2) 5V 24VA Pin 7 Reserved Reserved PULSE(24)
ENC_A(24) CW(24)
Pin 8 Reserved Reserved DIR(24) ENC_B(24) CCW(24
B Pin 1 PULSE(5) ENC_A(5) CW(5)
PULSE(5) ENC_A(5) CW(5)
Reserved
Pin4 DIR(5) ENC_B(5) CCW(5)
DIR(5) ENC_B(5) CCW(5)
Reserved
C Pin 2 PULSE ENC_A CW
PULSE ENC_A CW
PULSE ENC_A CW
Pin 5 DIR ENC_B CCW
DIR ENC_B CCW
DIR ENC_B CCW
1) Observe the different pairing in the case of twisted pair:Pin 1 / pin 2 and pin 4 / pin 5 for RS422 and 5V; pin 7 / pin 2 and pin 8 / pin 5 for 24V
2) Due to the input current of the optocoupler in the input circuit, a parallel connection of a driver output to several devices is not per-mitted.
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Function A/B signals External A/B signals can be supplied via the PTI input as referencevalues in operating mode Electronic Gear.
Signal Value FunctionSignal A before signal B 0 -> 1 Movement in positive
direction
Signal B before signal A 0 -> 1 Movement in negativedirection
A0
1
0
1B
+ -
..7 ... ...8 9 1312 13 9 8..14 1415
3
1
2 2
3
Figure 12: Time chart with A/B signal, counting forwards and backwards
Times for pulse/direction Minimum valueCycle duration A, B 1 μs (1)
Pulse duration 0.4 μs (2)
Lead time (A, B) 200 ns (3)
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Function P/D External P/D signals can be supplied via the PTI input as referencevalues in the operating mode Electronic Gear.
The motor performs a movement in the case of a rising edge of thePULSE signal. The direction is controlled with the DIR signal.
Signal Value FunctionPULSE 0 -> 1 Motor movementDIR 0 / open Positive direction
0
1
0
1
+ + +-
PULSE
DIR
322
2
4
1
Figure 13: Time chart with pulse/direction signal
Times for pulse/direction Minimum valueCycle duration (pulse) 1 μs (1)
Pulse duration (pulse) 0.4 μs (2)
Lead time (Dir-Pulse) 0 μs (3)
Hold time (Pulse-Dir) 0.4 μs (4)
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Function CW/CCW External CW/CCW signals can be supplied via the PTI input as refer-ence values in operating mode Electronic Gear.
The motor performs a movement in positive direction the case of a ris-ing edge of the CW signal. The motor performs a movement in nega-tive direction the case of a rising edge of the CCW signal.
Signal Value FunctionCW 0 -> 1 Movement in positive
directionCCW 0 -> 1 Movement in negative
direction
20
1
0
1
+ + - -
CW
CCW
2
1
2 23
Figure 14: Time chart with "CW/CCW"
Times for pulse/direction Minimum valueCycle duration CW, CCW 1 μs (1)
Pulse duration 0.4 μs (2)
Lead time (CW-CCW,CCW-CW)
0 μs (3)
LXM32M 2 Technical Data
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2.3.4 Functional safety
Data for maintenance plan andsafety calculations
The safety function must be requested and tested at regular intervals.The interval depends on the hazard and risk analysis of the total sys-tem. The minimum interval is 1 year (high demand mode as perIEC 61508).
Use the following data of the safety function STO for your mainte-nance plan and the safety calculations:
Lifetime of the safety functionSTO (IEC 61508) 1)
Years 20
SFF (IEC 61508)Safe Failure Fraction
% 90
HFT (IEC 61508)Hardware Fault ToleranceType A subsystem
1
Safety integrity levelIEC 61508IEC 62061
SIL3SILCL3
PFH (IEC 61508)Probability of Dangerous Hard-ware Failure per Hour
1/h(FIT)
1*10-9 (1)
PL (ISO 13849-1)Performance Level
e (category 3)
MTTFd (ISO 13849-1)Mean Time to Dangerous Failure
Years >100
DC (ISO 13849-1)Diagnostic Coverage
% 90
1) See chapter "12.2.1 Lifetime safety function STO".
Contact your local sales office for additional data, if required.
The data for the safety module eSM can be found in the product man-ual for the safety module.
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2.3.5 Braking resistor
The device has an internal braking resistor. If the internal brakingresistor is insufficient for the dynamics of the application, one or moreexternal braking resistors must be used.
The resistance values for external braking resistors must not be belowthe specified minimum resistance. If an external braking resistor isactivated by means of the appropriate parameter, the internal brakingresistor is deactivated.
LXM32∙... U45M2 U90M2 D18M2 D30M2Resistance value of internal brakingresistor
Ω 94 47 20 10
Continuous power internal braking resis-tor PPR
W 10 20 40 60
Peak energy ECR Ws 82 166 330 550
External braking resistor minimum Ω 68 36 20 10
External braking resistor maximum 1) Ω 110 55 27 16
Maximum continuous power externalbraking resistor
W 200 400 600 800
Capacitance of internal capacitor μF 390 780 1170 1560
Parameter DCbus_compat = 0 (default value)
Switch-on voltage braking resistor V 430 430 430 430
Energy absorption of internal capacitorsEvar at nominal voltage 115 V +10%
Ws 30 60 89 119
Energy absorption of internal capacitorsEvar at nominal voltage 200 V +10%
Ws 17 34 52 69
Energy absorption of internal capacitorsEvar at nominal voltage 230 V +10%
Ws 11 22 33 44
Parameter DCbus_compat = 1 (reduced switch-on voltage)
Switch-on voltage braking resistor V 395 395 395 395
Energy absorption of internal capacitorsEvar at nominal voltage 115 V +10%
Ws 24 48 73 97
Energy absorption of internal capacitorsEvar at nominal voltage 200 V +10%
Ws 12 23 35 46
Energy absorption of internal capacitorsEvar at nominal voltage 230 V +10%
Ws 5 11 16 22
1) The maximum specified braking resistor can derate the peak power of the device. Depending on the application, it is possible to usea higher ohm resistor.
See chapter "2.3.1.7 DC bus data for single-phase devices", page 36for the DC bus data.
LXM32M 2 Technical Data
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LXM32∙... U60N4 D12N4 D18N4 D30N4 D72N4 D85N4 C10N4Resistance value of internal braking resis-tor
Ω 132 60 30 30 10 10 10
Continuous power internal braking resis-tor PPR
W 20 40 60 100 150 150 150
Peak energy ECR Ws 200 400 600 1000 2400 2400 2400
External braking resistor minimum Ω 70 47 25 15 8 8 8
External braking resistor maximum 1) Ω 145 73 50 30 12 11 11
Maximum continuous power externalbraking resistor
W 200 500 800 1500 3000 4500 5500
Capacitance of internal capacitor μF 110 195 390 560 1120 1230 1230
Parameter DCbus_compat 2)
Switch-on voltage V 780 780 780 780 780 780 780
Energy absorption of internal capacitorsEvar at nominal voltage 208 V +10%
Ws 28 49 98 141 282 310 310
Energy absorption of internal capacitorsEvar at nominal voltage 380 V +10%
Ws 14 25 50 73 145 159 159
Energy absorption of internal capacitorsEvar at nominal voltage 400 V +10%
Ws 12 22 43 62 124 136 136
Energy absorption of internal capacitorsEvar at nominal voltage 480 V +10%
Ws 3 5 10 14 28 31 31
1) The maximum specified braking resistor can derate the peak power of the device. Depending on the application, it is possible to usea higher ohm resistor.
2) Parameter DCbus_compat has no effect in the case of three-phase devices
See chapter "2.3.1.8 DC bus data for three-phase devices", page 36for the DC bus data.
Further information on the subject PageRating the external braking resistor 75
Mounting the external braking resistor (accessory) 96
Electrical installation of the braking resistor (accessory) 75
Setting the braking resistor parameters 180
Order data for external braking resistors (accessory) 657
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2.3.5.1 External braking resistors (accessories)
VW3A760... 1Rxx 1) 2Rxx 3Rxx 4Rxx 1) 5Rxx 6Rxx 7Rxx 1)
Resistance Ω 10 27 27 27 72 72 72
Continuous power W 400 100 200 400 100 200 400
Maximum time in braking at 115 V /230 V
s 0.72 0.552 1.08 2.64 1.44 3.72 9.6
Peak power at 115 V / 230 V kW 18.5 6.8 6.8 6.8 2.6 2.6 2.6
Maximum peak energy at 115 V / 230 V Ws 13300 3800 7400 18100 3700 9600 24700
Maximum time in braking at 400 V /480 V
s 0.12 0.084 0.216 0.504 0.3 0.78 1.92
Peak power at 400 V / 480 V kW 60.8 22.5 22.5 22.5 8.5 8.5 8.5
Maximum peak energy at 400 V / 480 V Ws 7300 1900 4900 11400 2500 6600 16200
Degree of protection IP65 IP65 IP65 IP65 IP65 IP65 IP65
UL approval (file no.) - E233422 E233422 - E233422 E233422 -1) Resistors with a continuous power of 400 W are not UL/CSA-approved.
VW3A77... 04 05Resistance Ω 15 10
Continuous power W 1000 1000
Maximum time in braking at 115 V /230 V
s 3.5 1.98
Peak power at 115 V / 230 V kW 12.3 18.5
Maximum peak energy at 115 V / 230 V Ws 43100 36500
Maximum time in braking at 400 V /480 V
s 0.65 0.37
Peak power at 400 V / 480 V kW 40.6 60.8
Maximum peak energy at 400 V / 480 V Ws 26500 22500
Degree of protection IP20 IP20
UL approval (file no.) E221095 E221095
LXM32M 2 Technical Data
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2.3.6 Internal mains filter
Limit values This product meets the EMC requirements according to the standardIEC 61800-3 if the measures described in this manual are implemen-ted during installation.
If the selected composition (product itself, mains filter, other accesso-ries and measures) does not meet the requirements of category C1,the following information applies as per IEC 61800-3:
WARNINGRADIO INTERFERENCE
In a domestic environment this product may cause radio interferencein which case supplementary mitigation measures may be required.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Emission The following limit values for emission are complied with if the installa-tion is EMC-compliant and if the cables offered as accessories areused.
LXM32∙ ∙∙∙M2 ∙∙∙N4Conducted interferenceMotor cable length ≤10 mMotor cable length 10 ... ≤20 m
Category C2Category C3
Category C3Category C3
Radiated emissionMotor cable length ≤20 m Category C3 Category C3
External mains filters must be used if longer motor cables are used.See page 51 for the technical data of the external mains filters availa-ble as accessories.
Further information on the subject PageEngineering information external mains filters (accessory) 73
Mounting the external mains filter (accessory) 96
Electrical installation of external mains filters (accessory) 114
Order data external mains filters (accessory) 666
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2.3.7 External mains filters (accessories)
If external mains filters are used, the system integrator and/ormachine owner/operator is responsible for complying with the EMCdirectives.
Emission The specified limit values are complied with if the external mains filtersavailable as accessories are used.
The following limit values for emission are complied with if the installa-tion is EMC-compliant and if the cables offered as accessories areused.
LXM32∙ ∙∙∙M2 ∙∙∙N4Conducted interferenceMotor cable length ≤20 mMotor cable length >20 ... ≤50 mMotor cable length >50 ... ≤100 m
Category C1Category C2Category C3
Category C1Category C2Category C3
Radiated emissionMotor cable length ≤100 m Category C3 Category C3
Motor cables with a length exceeding 100 m are not permissible.
Common external mains filter Several device can be connected to a common external mains filter.Prerequisites:
• Single-phase devices may only be connected to single-phasemains filters; three-phase devices may only be connected to three-phase devices.
• The total input current of the connected devices must be smallerthan or equal to the permissible nominal current of the mains filter.
Assignment of external mains fil-ters to device type Device type 1 ∼ Order number mains filter
LXM32∙U45M2 (230 V, 1,5 A, 1 ∼) VW3A4420 (9 A, 1 ∼)
LXM32∙U90M2 (230 V, 3 A, 1 ∼) VW3A4420 (9 A, 1 ∼)
LXM32∙D18M2 (230 V, 6 A, 1 ∼) VW3A4421 (16 A, 1 ∼)
LXM32∙D30M2 (230 V, 10 A, 1 ∼) VW3A4421 (16 A, 1 ∼)
Device type 3 ∼ Order number mains filterLXM32∙U60N4 (480 V, 1,5 A, 3 ∼) VW3A4422 (15 A, 3 ∼)
LXM32∙D12N4 (480 V, 3 A, 3 ∼) VW3A4422 (15 A, 3 ∼)
LXM32∙D18N4 (480 V, 6 A, 3 ∼) VW3A4422 (15 A, 3 ∼)
LXM32∙D30N4 (480 V, 10 A, 3 ∼) VW3A4422 (15 A, 3 ∼)
LXM32∙D72N4 (480 V, 24 A, 3 ∼) VW3A4423 (25 A, 3 ∼)
LXM32∙D85N4 (480 V, 32 A, 3 ∼) VW3A4424 (47 A, 3 ∼)
LXM32∙C10N4 (480 V, 40 A, 3 ∼) VW3A4424 (47 A, 3 ∼)
LXM32M 2 Technical Data
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Further information on the subject PageEngineering information external mains filters (accessory) 73
Mounting the external mains filter (accessory) 96
Electrical installation of external mains filters (accessory) 114
Order data external mains filters (accessory) 666
2.3.8 Mains reactor (accessory)
Mains reactor Mains reactors must be connected upstream if the supply mains doesnot meet the requirements in terms of mains impedance. High currentharmonics result in considerable load on the DC bus capacitors.Mains reactors reduce harmonics in the mains supply. The load on theDC bus capacitors has a decisive impact on the service life of thedevices.
A higher continuous power of the device is an additional benefit ofusing an upstream mains reactor.
Further information on the subject PageEngineering information mains reactor (accessory) 72
Mounting the mains reactor (accessory) 96
Electrical installation of the mains reactor (accessory) 114
Order data mains reactor (accessory) 666
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2.4 Conditions for UL 508C and CSA
If the product is used to comply with UL 508C or CSA, the followingconditions must also be met:
Ambient temperature during opera-tion Surrounding air temperature °C
(°F)0 ... 50(32 ... 122)
Fuses Use fuses as per UL 248.
LXM32∙... ∙∙∙M2 U60N4,D12N4,D18N4,D30N4,D72N4
D85N4,C10N4
Maximum fuse rating of fuse to beconnected upstream
A 25 30 60
Class CC or J CC or J J
Wiring Use at least 60/75 °C copper conductors.
400/480 V three-phase devices 400/480 V three-phase devices may only be operated via mains up to480Y/277Vac.
Overvoltage category "Use only in overvoltage category III or where the maximum availableRated Impulse Withstand Voltage Peak is equal or less than 4000Volts.", or equivalent.
Motor Overload Protection This equipment provides Solid State Motor Overload Protection at110% of maximum FLA (Full Load Ampacity).
2.5 Certifications
Product certifications:
Certified by Assigned numberTÜV Nord SAS-192/2008TB-1
UL E116875
CSA 2320425
LXM32M 2 Technical Data
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2.6 Declaration of conformity
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LXM32M 2 Technical Data
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2 Technical Data LXM32M
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2.7 TÜV certificate for functional safety
LXM32M 2 Technical Data
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2 Technical Data LXM32M
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3 Basics
3.1 Functional safety
Automation and safety engineering are closely related. Engineering,installation and operation of complex automation solutions are greatlysimplified by integrated safety functions and safety modules.
Usually, the safety engineering requirements depend on the applica-tion. The level of the requirements results from, among other things,the risk and the hazard potential arising from the specific applicationand from the applicable standards and regulations.
Integrated safety function "SafeTorque Off" STO
The integrated safety function STO (IEC 61800-5-2) allows for a cate-gory 0 stop as per IEC 60204-1 without external power contactors. Itis not necessary to interrupt the supply voltage for a category 0 stop.This reduces the system costs and the response times.
IEC 61508 and IEC 61800-5-2 The standard IEC 61508 "Functional safety of electrical/electronic/programmable electronic safety-related systems" defines the safety-related aspects of systems. Instead of a single functional unit of asafety-related system, the standard treats all elements of a functionchain as a unit. These elements must meet the requirements of thespecific safety integrity level as a whole.
The standard IEC 61800-5-2 "Adjustable speed electrical power drivesystems – Safety requirements – Functional" is a product standardthat defines the safety-related requirements regarding drives. Amongother things, this standard defines the safety functions for drives.
Safety Integrity Level (SIL) The standard IEC 61508 defines 4 safety integrity levels (Safety Integ-rity Level (SIL)). Safety integrity level SIL1 is the lowest level, safetyintegrity level SIL4 is the highest level. The safety integrity levelrequired for a given application is determined on the basis of the haz-ard potential resulting from the hazard and risk analysis. This is usedto decide whether the relevant function chain is to be considered as asafety-related function chain and which hazard potential it must cover.
Average Frequency of a Danger-ous Failure per Hour (PFH)
To maintain the function of the safety-related system, the IEC 61508standard requires various levels of measures for avoiding and control-ling faults, depending on the required safety integrity level (SafetyIntegrity Level (SIL)). All components must be subjected to a probabil-ity assessment to evaluate the effectiveness of the measures imple-mented for controlling faults. This assessment determines the proba-bility of a dangerous failure per hour PFH (Average Frequency of aDangerous Failure per Hour (PFH)) for a safety system. This is thefrequency per hour with which a safety-related system fails in a haz-ardous manner so that it can no longer perform its function correctly.Depending on the SIL, the average frequency of a dangerous failureper hour must not exceed certain values for the entire safety-relatedsystem. The individual PFH values of a function chain are added. Theresult must not exceed the maximum value specified in the standard.
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SIL PFH at high demand or continuous demand4 ≥10-9 ... <10-8
3 ≥10-8 ... <10-7
2 ≥10-7 ... <10-6
1 ≥10-6 ... <10-5
Hardware Fault Tolerance (HFT)and Safe Failure Fraction (SFF)
Depending on the safety integrity level (Safety Integrity Level (SIL)) forthe safety system, the IEC 61508 standard requires a specific hard-ware fault tolerance (Hardware Fault Tolerance (HFT)) in connectionwith a specific safe failure fraction (Safe Failure Fraction (SFF)). Thehardware fault tolerance is the ability of a safety-related system toexecute the required function even if one or more hardware faults arepresent. The safe failure fraction of a safety-related system is definedas the ratio of the rate of safe failures to the total failure rate of thesafety-related system. As per IEC 61508, the maximum achievablesafety integrity level of a safety-related system is partly determined bythe hardware fault tolerance and the safe failure fraction of the safety-related system.
IEC 61800-5-2 distinguishes two types of subsystems (type A subsys-tem, type B subsystem). These types are specified on the basis of cri-teria which the standard defines for the safety-related components.
SFF HFT type A subsystem HFT type B subsystem0 1 2 0 1 2
<60 % SIL1 SIL2 SIL3 --- SIL1 SIL2
60 ... <90 % SIL2 SIL3 SIL4 SIL1 SIL2 SIL3
90 ... <99 % SIL3 SIL4 SIL4 SIL2 SIL3 SIL4
≥99 % SIL3 SIL4 SIL4 SIL3 SIL4 SIL4
Fault avoidance measures Systematic errors in the specifications, in the hardware and the soft-ware, incorrect usage and maintenance of the safety-related systemmust be avoided to the maximum degree possible. To meet theserequirements, IEC 61508 specifies a number of measures for faultavoidance that must be implemented depending on the requiredsafety integrity level (Safety Integrity Level (SIL)). These measures forfault avoidance must cover the entire life cycle of the safety system,i.e. from design to decommissioning of the system.
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4 Engineering
This chapter contains information on the application of the productthat is vital in the engineering phase.
Subject Page"4.1 Electromagnetic compatibility (EMC)" 62
"4.2 Cables" 68
"4.3 Residual current device" 70
"4.4 Operation in an IT grounding system" 70
"4.5 Common DC bus" 71
"4.6 Mains reactor" 72
"4.7 Mains filter" 73
"4.8 Rating the braking resistor" 75
"4.9 Safety function STO ("Safe Torque Off")" 82
"4.10 Logic type" 87
"4.11 Monitoring functions" 88
"4.12 Configurable inputs and outputs" 88
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4.1 Electromagnetic compatibility (EMC)
Signal interference can cause unexpected responses of the deviceand of other equipment in the vicinity of the device
WARNINGSIGNAL AND DEVICE INTERFERENCE
• Install the wiring in accordance with the EMC requirementsdescribed.
• Verify compliance with the EMC requirements described.• Verify compliance with all EMC regulations and requirements
applicable in the country in which the product is to be operatedand with all EMC regulations and requirements applicable at theinstallation site.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Limit values This product meets the EMC requirements according to the standardIEC 61800-3 if the measures described in this manual are implemen-ted during installation.
If the selected composition (product itself, mains filter, other accesso-ries and measures) does not meet the requirements of category C1,the following information applies as per IEC 61800-3:
WARNINGRADIO INTERFERENCE
In a domestic environment this product may cause radio interferencein which case supplementary mitigation measures may be required.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
The specified limit values require EMC measures to be taken formounting and wiring. Note the following requirements.
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Overview: EMC-compliant wiring
L2
L3
L1
M~
Mains filter (optional)Control cabinet
Centralgrounding point
Machine
Motor (groundto machine)
Digital I/O
Motor
Encoder 1
Figure 15: Overview of wiring under EMC considerations
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L2/S
L3/T
L1/RBR+BR-
U/T1 W/T3V/T2PA/+ PC/-PB
L2/SL1/R L3/T
M~
Mains filter(optional)
Control cabinet
Centralgrounding point
Machine
Motor (groundto machine)
Digital I/O
Motor
Encoder
External braking resistor
Figure 16: Overview of wiring under EMC considerations
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EMC requirements for the controlcabinet EMC measures Objective
Use mounting plates with good electrical conductiv-ity, connect large surface areas of metal parts,remove paint from contact areas.
Good conductivity dueto large surface contact.
Ground the control cabinet, the control cabinet doorand the mounting plate with ground straps orground wires. The conductor cross section must beat least 10 mm2 (AWG 6).
Reduces emissions.
Install switching devices such as power contactors,relays or solenoid valves with interference suppres-sion units or arc suppressors (for example, diodes,varistors, RC circuits).
Reduces mutual inter-ference
Do not install power components and control com-ponents adjacent to one another.
Reduces mutual inter-ference
Shielded cablesEMC measures ObjectiveConnect large surface areas of cable shields, usecable clamps and ground straps.
Reduces emissions.
Use cable clamps to connect a large surface areaof the shields of all shielded cables to the mountingplate at the control cabinet entry.
Reduces emissions.
Ground shields of digital signal wires at both endsby connecting them to a large surface area or viaconductive connector housings.
Reduces interferenceaffecting the signalwires, reduces emis-sions
Ground the shields of analog signal wires directlyat the device (signal input); insulate the shield atthe other cable end or ground it via a capacitor (forexample, 10 nF).
Reduces ground loopsdue to low-frequencyinterference.
Use only shielded motor cables with copper braidand a coverage of at least 85%, ground a large sur-face area of the shield at both ends.
Diverts interference cur-rents in a controlledway, reduces emis-sions.
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Cable installationEMC measures ObjectiveDo not route fieldbus cables and signal wires in asingle cable duct together with lines with DC andAC voltages of more than 60 V. (Fieldbus cables,signal lines and analog lines may be in the samecable duct)
Recommendation: Use separate cable ducts atleast 20 cm apart.
Reduces mutual inter-ference
Keep cables as short as possible. Do not installunnecessary cable loops, use short cables from thecentral grounding point in the control cabinet to theexternal ground connection.
Reduces capacitive andinductive interference.
Use equipotential bonding conductors in the follow-ing cases: wide-area installations, different voltagesupplies and installation across several buildings.
Reduces current in thecable shield, reducesemissions.
Use fine stranded equipotential bonding conduc-tors.
Diverts high-frequencyinterference currents.
If motor and machine are not conductively connec-ted, for example by an insulated flange or a con-nection without surface contact, you must groundthe motor with a ground strap or a ground wire. Theconductor cross section must be at least 10 mm2
(AWG 6).
Reduces emissions,increases immunity.
Use twisted pair for the DC supply. Reduces interferenceaffecting the signalcables, reduces emis-sions.
Power supplyEMC measures ObjectiveOperate product on mains with grounded neutralpoint.
Enables effectiveness ofmains filter.
Surge arrester if there is a risk of overvoltage. Reduces the risk ofdamage caused byovervoltage.
Motor and encoder cables Motor and encoder cables are especially critical in terms of EMC. Useonly pre-assembled cables (see chapter"11 Accessories and spare parts") or cables that comply with thespecifications (see chapter "4.2 Cables", page 68) and implement theEMC measures described below.
EMC measures ObjectiveDo not install switching elements in motor cables orencoder cables.
Reduces interference.
Route the motor cable at a distance of at least20 cm from the signal cable or use shielding platesbetween the motor cable and signal cable.
Reduces mutual inter-ference
For long lines, use equipotential bonding conduc-tors.
Reduces current in thecable shield.
Route the motor cable and encoder cable withoutcutting them. 1)
Reduces emission.
1) If a cable has to be cut for the installation, it has to be connected with shield con-nections and a metal housing at the point of the cut.
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Additional measures for EMCimprovement
Depending on the application, the following measures can improve theEMC-dependent values:
EMC measures ObjectiveUse mains reactors Reduces mains har-
monics, prolongs prod-uct service life.
Use external mains filters Improves the EMC limitvalues.
Additional EMC measures, for example mounting ina closed control cabinet with 15 dB shieldingattenuation of radiated interference
Improves the EMC limitvalues.
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4.2 Cables
Suitability of the cables Cables must not be twisted, stretched, crushed or bent. Use onlycables that comply with the cable specification. Consider the followingin determining suitability of the cables:
• Suitable for drag chain applications• Temperature range• Chemical resistance• Outdoor installation• Underground installation
Connecting shields Shield connection possibilities:
• Motor cable: The motor cable shield is fastened in the shield clampat the bottom of the device.
• Other cables: The shields are connected to the shield connectionat the bottom of the device.
• Alternative: Connect the shield via shield clamps and rail, forexample.
Equipotential bonding conductors Potential differences can result in excessive currents on the cableshields. Use equipotential bonding conductors to reduce currents onthe cable shields.
The equipotential bonding conductor must be rated for the maximumcurrent flowing. Practical experience has shown that the following con-ductor cross sections can be used:
• 16 mm2 (AWG 4) for equipotential bonding conductors up to alength of 200 m (656 ft)
• 20 mm2 (AWG 4) for equipotential bonding conductors with alength of more than 200 m (656 ft)
Cable guides The device features cable guides at the top and at the bottom. Thecable guides do not provide strain relief. The cable guide at the bot-tom of the device can be used as a shield connection.
NOTE: The upper cable guide is not a shield connection.
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4.2.1 Overview of the required cables
The properties of the required cables are listed in the table below. Usepre-assembled cables to reduce the risk of wiring errors. Pre-assem-bled cables can be found in chapter "11 Accessories and spare parts",page 657. If the product is used to comply with the requirements asper UL 508C, the conditions specified in chapter"2.4 Conditions for UL 508C and CSA", page 53, must be met.
Maximumlength:
Minimum cross section Shielded, bothends grounded
Twisted pair PELV
Controller supply − 0.75 mm2 (AWG 18) Required
Safety function STO 1) − 0.75 mm2 (AWG 18) 1) Required
Power stage supply − − 2)
Motor phases − 3) − 4) Required
External braking resistor 3 m As power stage supply Required
Motor encoder 100 m 6 * 0.14 mm2 and2 * 0.34 mm2 (6 * AWG 24and 2 * AWG 20)
Required Required Required
A/B signals 100 m 0.25 mm2 (AWG 22) Required Required Required
PULSE / DIR signals 100 m 0.14 mm2 (AWG 24) Required Required Required
CW/CCW signals 100 m 0.14 mm2 (AWG 24) Required Required Required
ESIM 100 m 0.14 mm2 (AWG 24) Required Required Required
Digital inputs / outputs 30 m 0.14 mm2 (AWG 24) Required
PC, commissioning inter-face
20 m 0.14 mm2 (AWG 24) Required Required Required
1) Note the installation requirements (protected cable installation), see page 83.2) See "5.3.7 Connection of power stage supply voltage (CN1)"3) Length depends on the required limit values for conducted interference.4) See "5.3.4 Connection motor phases and holding brake (CN10 and CN11)"
Motor cable and encoder cableMotor cables Style 20234
Motor cable outside diameter mm VW3M5∙01: 12 ±0.2VW3M5∙02: 14 ±0.3VW3M5∙03: 16.3 ±0.3VW3M5∙05: 19 ±0.3VW3M5∙04: 23.5 ±0.3
Permissible voltage motor cable Vac 600 (UL and CSA)
Encoder cables Style 20233
Encoder cable outside diameter mm VW3M8∙∙2: 6.8 ±0.2
Temperature range °C -40 ... 90 (fixed)-20 ... 80 (moving)
Permissible bend radius 4 x diameter (fixed)7.5 x diameter (moving)
Cable jacket Oil-resistant PUR
Shielding Shield braiding
Shield braiding coverage % ≥85
The motor cables and encoder cables are suitable for drag chainapplications; they are available in various lengths. See page 657 forthe versions available as accessories.
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4.3 Residual current device
WARNINGTHIS PRODUCT MAY CAUSE DIRECT CURRENT IN THE PROTECTIVEGROUND CONDUCTOR
If a residual current device (RCD) is used, conditions must beobserved.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Conditions for use of residual cur-rent device
If a residual current device (RCD / GFCI) or a residual current monitor(RCM) is used for protection against direct or indirect contact, the fol-lowing conditions must be met:
• A residual current device "type A", series s.i. (super-immunized,Schneider Electric) can be used for single-phase drives.
• In all other cases, you must use a residual current device "type B",with sensitivity to all currents and with approval for frequency inver-ters.
Additional conditions:
• The product has an increased leakage current when it is switchedon. Use residual current devices with a response delay so that theresidual current device does not trip inadvertently due to the peakcurrent that occurs when the product is switched on.
• High-frequency currents must be filtered.• When using residual current devices, consider the leakage cur-
rents of connected consumers.
4.4 Operation in an IT grounding system
See chapter "2.3.1 Power stage", page 28 for the approved types ofmains.
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4.5 Common DC bus
WARNINGDESTRUCTION OF SYSTEM COMPONENTS AND LOSS OF CONTROL
Incorrect use of a parallel connection of the DC bus may destroy thedrives immediately or after a delay.
• Note the requirements concerning the use of a parallel DC busconnection.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Availability The table below shows the products where operation via a commonDC bus is permissible:
LXM32∙ ∙∙∙M2, U60N4, D12N4,D18N4, D30N4, D72N4
D85N4, C10N4
DC bus connection Permissible Not permissible
Function principle The DC buses of several devices can be connected so that energycan be used efficiently. If on device decelerates, a different deviceconnected to the common DC bus can use the generated brakingenergy. Without a common DC bus, the braking energy would be con-verted to heat by the braking resistor while the other device wouldhave to be supplied with energy from mains.
With a common DC bus, several devices can share one external brak-ing resistor. The number of the individual external braking resistorscan be reduced to a single braking resistor if the braking resistor isproperly rated.
Requirements for use The requirements and limit values for parallel connection of multipleLXM32 via the DC bus can be found on the Internet in the form ofApplication Note MNA01M001.
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4.6 Mains reactor
A mains reactor must be used under the following conditions:
• Operation via supply mains with low impedance (short-circuit cur-rent of supply mains greater than specified in chapter"2 Technical Data", page 28).
• If the nominal power of the drive is insufficient without mains reac-tor.
• In the case of high demands concerning the service life of thedrive.
• In the case of operation with supply mains with reactive currentcompensation systems.
• For improvement of the power factor at the mains input and forreduction of mains harmonics.
A mains reactor can be used for several devices. Use a mains reactorwith a properly rated current.
Low-impedance supply mains cause high harmonic currents at themains input. High harmonic currents result in considerable load on theDC bus capacitors. The load on the DC bus capacitors has a decisiveimpact on the service life of the devices.
Further information on the subject PageTechnical data mains reactor (accessory) 52
Mounting the mains reactor (accessory) 96
Electrical installation of the mains reactor (accessory) 114
Order data mains reactor (accessory) 666
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4.7 Mains filter
Limit values This product meets the EMC requirements according to the standardIEC 61800-3 if the measures described in this manual are implemen-ted during installation.
If the selected composition (product itself, mains filter, other accesso-ries and measures) does not meet the requirements of category C1,the following information applies as per IEC 61800-3:
WARNINGRADIO INTERFERENCE
In a domestic environment this product may cause radio interferencein which case supplementary mitigation measures may be required.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
See chapter Technical Data, page 50, for the category the devicecomplies with.
Better values can be achieved depending on the application, mountingand installation, for example, in the case of installation in an enclosedcontrol cabinet with at least 15db shielding attenuation.
The drives have an integrated mains filter.
An additional external mains filter is required in the case of long motorcables. When using external mains filters, verify compliance with allapplicable EMC directives.
If the external mains filters offered in chapter"11.17 External mains filters" are used, the limit values specified inchapter "2.3.7 External mains filters (accessories)", page 51, are met.
Further information on the subject PageTechnical data external mains filters (accessory) 51
Mounting the external mains filter (accessory) 96
Electrical installation of external mains filters (accessory) 114
Order data external mains filters (accessory) 666
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4.7.1 Deactivating the Y capacitors
The ground connections of the internal Y capacitors can be discon-nected (deactivation). Usually, it is not required to deactivate theground connection of the Y capacitors.
Figure 17: Deactivating/activating the internal Y capacitors
For LXM32MU45 ... LXM32MD72:
To deactivate the Y capacitors, remove the screw. Keep this screw soyou can re-activate the Y capacitors, if required.
For LXM32MD85 and LXM32MC10:
To deactivate the Y capacitors, pull out the selector.
NOTE: The EMC limit values specified no longer apply if the Y capaci-tors are deactivated.
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4.8 Rating the braking resistor
DANGERFIRE HAZARD CAUSED BY EXTERNAL DRIVING FORCES ACTING ONMOTOR
If external driving forces acting on the motor cause excessively highcurrents to be regenerated and supplied back to the drive, this maycause overheating and fire of the drive.
• Verify that no energy is supplied to the driving motor after an errorof error classes 3 or 4.
Failure to follow these instructions will result in death or seri-ous injury.
An insufficiently rated braking resistor can cause overvoltage on theDC bus. Overvoltage on the DC bus causes the power stage to bedisabled. The motor is no longer actively decelerated.
WARNINGMOTOR WITHOUT BRAKING EFFECT
• Verify that the braking resistor has a sufficient rating.• Verify that the parameter settings for the braking resistor are cor-
rect.• Verify that the I2t value for temperature monitoring does not
exceed 100% by performing a test run under maximum load con-ditions.
• Verify that the calculations and the test run take into account thefact that the DC bus capacitors can absorb less braking energy athigher mains voltages.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
The temperature of the braking resistor may exceed 250 °C (482 °F)during operation.
WARNINGHOT SURFACES
• Ensure that any contact with a hot braking resistor is avoided.• Do not allow flammable or heat-sensitive parts in the immediate
vicinity of the braking resistor.• Verify that the heat dissipation is sufficient by performing a test
run under maximum load conditions.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
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Braking resistors are required for dynamic applications. During decel-eration, the kinetic energy is transformed into electrical energy in themotor. The electrical energy increases the DC bus voltage. The brak-ing resistor is activated when the defined threshold value is exceeded.The braking resistor transforms electrical energy into heat. If highlydynamic deceleration is required, the braking resistor must be welladapted to the system.
Further information on the subject PageTechnical data "2.3.5 Braking resistor" 47
Mounting the "External braking resistor" (accessory) 96
Electrical installation: "4.8 Rating the braking resistor" (acces-sory)
75
Setting the braking resistor parameters 180
"4.5 Common DC bus" 71
Order data for external braking resistors (accessory) 657
4.8.1 Internal braking resistor
A braking resistor is integrated in the drive to absorb braking energy.The device is shipped with the internal braking resistor active.
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4.8.2 External braking resistor
An external braking resistor is required for applications in which themotor must be decelerated quickly and the internal braking resistorcannot absorb the excess braking energy.
Monitoring The device monitors the power of the braking resistor. The load on thebraking resistor can be read out.The output for the external braking resistor is short-circuit protected.There is no protection in the case of a ground fault.
Selection of the external brakingresistor
The rating of an external braking resistor depends on the requiredpeak power and continuous power with which the braking resistor canbe operated.
The resistance R is derived from the required peak power and the DCbus voltage.
R = U2 / Pmax U : Switching threshold [V]
Pmax : Peek power [W]
R: Resistance [Ohm]
Figure 18: Calculating the resistance R of an external braking resistor
If 2 or more braking resistors are connected to one drive, note the fol-lowing criteria:
• The braking resistors must be connected in parallel or in series sothe required resistance is reached. Only connect resistors withidentical resistance in parallel in order to evenly distribute the loadto all braking resistors.
• The total resistance of all external braking resistors connected toone drive must not fall below a lower limit.
• The continuous power of the network of connected braking resis-tors must be calculated. The result must be greater than or equalto the actually required continuous power.
See chapter "2.3.5 Braking resistor" for the permissible resistance forthe drives. Use only resistors that are specified as braking resistors.For suitable braking resistors, see Accessories, page 665.
Mounting and commissioning of anexternal braking resistor
A parameter is used to switch between the internal and an externalbraking resistor. Test the function of the braking resistor under realisticconditions during commissioning, see page 159.
Braking resistors with degree of protection IP65 may be installed out-side the control cabinet in an appropriate environment in order todecrease the temperature in the control cabinet.The external braking resistors listed in the Accessories chapter areshipped with an information sheet that provides details on installation.
Wire ferrules: If you use wire ferrules, use only wire ferrules with col-lars for these terminals.
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4.8.3 Rating information
To rate the braking resistor, calculate the proportion contributing toabsorbing braking energy.
An external braking resistor is required if the kinetic energy that mustbe absorbed exceeds the total of the internal proportions, includingthe internal braking resistor.
Internal energy absorption Braking energy is absorbed internally by the following mechanisms:
• DC bus capacitor Evar
• Internal braking resistor EI
• Electrical losses of the drive Eel
• Mechanical losses of the drive Emech
Values for the energy absorption Evar can be found in chapter"2.3.5 Braking resistor".
Internal braking resistor Two characteristic values determine the energy absorption of theinternal braking resistor.
• The continuous power PPR is the amount of energy that can becontinuously absorbed without overloading the braking resistor.
• The maximum energy ECR limits the maximum short-term powerthat can be absorbed.
If the continuous power was exceeded for a specific time, the brakingresistor must remain without load for a corresponding period.
The characteristic values PPR and ECR of the internal braking resistorcan be found in chapter "2.3.5 Braking resistor".
Electrical losses Eel The electrical losses Eel of the drive system can be estimated on thebasis of the peak power of the drive. The maximum power dissipationis approximately 10% of the peak power at a typical efficiency of 90%.If the current during deceleration is lower, the power dissipation isreduced accordingly.
Mechanical losses Emech The mechanical losses result from friction during operation of the sys-tem. Mechanical losses are negligible if the time required by the sys-tem to coast to a stop without a driving force is considerably longerthan the time required to decelerate the system. The mechanical los-ses can be calculated from the load torque and the velocity fromwhich the motor is to stop.
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Example Deceleration of a rotary motor with the following data:
• Initial speed of rotation: n = 4000 min-1
• Rotor inertia: JR = 4 kgcm2
• Load inertia: JL = 6 kgcm2
• Drive: Evar = 23 Ws, ECR = 80 Ws, PPR = 10 W
Calculation of the energy to be absorbed:
2πn 2
60 EB = J1
2
to EB = 88 Ws. Electrical and mechanical losses are ignored.
In this example, the DC bus capacitors absorb Evar = 23 Ws (the valuedepends on the device type, see chapter "2 Technical Data").
The internal braking resistor must absorb the remaining 65 Ws. It canabsorb a pulse of ECR = 80 Ws. If the load is decelerated once, theinternal braking resistor is sufficient.
If the deceleration process is repeated cyclically, the continuous out-put must be considered. If the cycle time is longer than the ratio of theenergy to be absorbed EB and the continuous power PPR, the internalbraking resistor is sufficient. If the system decelerates more fre-quently, the internal braking resistor is not sufficient.
In the example, the ration of EB/PPR is 8.8 s. An external braking resis-tor is required if the cycle time is shorter.
Rating the external braking resistor
n3
n2
n1
0
n4t1 t2 t3 t4 t5 t6 t7 t8 t9 t10 t11 t12
M3
M2
M1
0
t
t
M4
M5
D1
D2 D3
TC
Figure 19: Characteristic curves for rating the braking resistor
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These two characteristics are also used for the rating the motor. Thesegments of the characteristic curves to be considered are designatedby Di (D1 ... D3).
The total inertia Jt must be known for the calculation of the energy atconstant deceleration..
Jt = Jm + Jc
Jm: Motor inertia (with holding brake)Jc: Load inertia
The energy for each deceleration segment is calculated as follows:
2πni 2
60ωi
2 = Ei = Jt12
Jt12
Calculation for the segments (D1) … (D3):
n3
2
- n1
2
60 E1 = Jt
12
2
2πn1 2
60 E2 = Jt
12
2πn4 2
60 E3 = Jt
12
Units: Ei in Ws (wattseconds), Jt in kgm2, ω in rad and ni in min-1.
See the technical data for the energy absorption Evar of the devices(without consideration of an internal or external braking resistor).
In the next calculation steps, only consider those segments Di, whoseenergy Ei exceeds the energy absorption of the device (see chapter"2.3 Electrical Data"). These excess energies EDi must be diverted bymeans of the braking resistor (internal or external).
EDi is calculated using the following formula:
EDi = Ei - Evar (in Ws)
The continuous power Pc is calculated for each machine cycle:
Pc = CycletimeΣEDi
Units: Pc in W, EDi in Ws and cycle time T in s
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The selection is made in two steps:
• The maximum energy during deceleration must be less than thepeak energy that the braking resistor can absorb: (EDi)<(ECr). Inaddition, the continuous power of the internal braking resistor mustnot be exceeded: (PC)<(PPr). If these conditions are met, then theinternal braking resistor is sufficient.
• If one of the conditions is not met, you must use an external brak-ing resistor. The braking resistor must be rated in such a way thatthe conditions are met. The resistance of the braking resistor mustbe between the specified minimum and maximum values, sinceotherwise the load can no longer be decelerated or the productmight be destroyed.
For order data for the external braking resistors, see chapter Accesso-ries, page 666.
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4.9 Safety function STO ("Safe Torque Off")
See chapter 46 for information on using the IEC 61508 standard.
4.9.1 Definitions
Safety function STO(IEC 61800-5-2)
The safety function STO ("Safe Torque Off") shuts off the motor tor-que safely. It is not necessary to interrupt the supply voltage. There isno monitoring for standstill.
Category 0 stop (IEC 60204-1) Stopping by immediate removal of power to the machine actuators(i.e. an uncontrolled stop).
Category 1 stop (IEC 60204-1) Controlled stop with power available to the machine actuators to ach-ieve the stop. Power is not interrupted until the stop is achieved.
4.9.2 Function
The STO safety function integrated into the product can be used toimplement an "EMERGENCY STOP" (IEC 60204-1) for category 0stops. With an additional, approved EMERGENCY STOP safety relaymodule, it is also possible to implement category 1 stops.
Function principle The STO safety function is triggered via 2 redundant inputs. The cir-cuits of the two inputs must be separate so that there are two chan-nels.
The switching process must be simultaneous for both inputs (offset<1s). The power stage is disabled and an error message is generated.The motor can no longer generate torque and coasts down withoutbraking. A restart is possible after resetting the error message with a"Fault Reset".
The power stage is disabled and an error message is generated ifonly one of the two inputs is switched off or if the time offset is toogreat. This error message can only be reset by switching off the prod-uct.
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4.9.3 Requirements for using the safety function
DANGERELECTRIC SHOCK CAUSED BY INCORRECT USE
The safety function STO (Safe Torque Off) does not cause electricisolation. The DC bus voltage is still present.
• Turn off the mains voltage using an appropriate switch to achievea voltage-free condition.
Failure to follow these instructions will result in death or seri-ous injury.
WARNINGLOSS OF SAFETY FUNCTION
Incorrect usage may cause a hazard due to the loss of the safetyfunction.
• Observe the requirements for using the safety function.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
The inputs for the safety function STO (inputs STO_A and STO_B) arepermanently set to logic type 1.
Category 0 stop During a category 0 stop, the motor coasts down in an uncontrolledway. If access to the machine coasting down involves a hazard(results of the hazard and risk analysis), you must take appropriatemeasures.
Category 1 stop A controlled stop must be triggered with a category 1 stop. The con-trolled stop is not monitored by the drive system. In the case of poweroutage or an error, a controlled stop is impossible. Final shutoff of themotor is achieved by switching off the two inputs of the STO safetyfunction. The shutoff is usually controlled by a standard EMERGENCYSTOP safety relay module with a safe time delay.
Behavior of holding brake Triggering the STO safety function means that the delay time formotors with holding brake is not effective. The motor cannot generateholding torque to bridge the time to application of the holding brake.Check whether additional measures have to be taken; for example,this may cause the load of vertical axes to lower.
Vertical axes, external forces If external forces act on the motor (vertical axis) and an unwantedmovement, for example caused by gravity, could cause a hazard, themotor must not be operated without additional measures for fall pro-tection.
Unintended restart To avoid unintended restart of the motor after restoration of power (forexample, after power outage), the parameter IO_AutoEnable mustbe set to "off". Note that a master controller must not trigger an unin-tended restart.
Degree of protection when thesafety function is used
You must ensure that conductive substances cannot get into the prod-uct (pollution degree 2). Conductive substances may cause the safetyfunction to become inoperative.
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Protected cable installation If short circuits and cross faults can be expected in connection withsafety-related signals and if these short circuits and cross faults arenot detected by upstream devices, protected cable installation as perISO 13849‑2 is required.
In the case of an unprotected cable installation, the two signals (bothchannels) of a safety function may be connected to external voltage ifa cable is damaged. If the two channels are connected to externalvoltage, the safety function is no longer operative.
Data for maintenance plan andsafety calculations
The safety function must be requested and tested at regular intervals.The interval depends on the hazard and risk analysis of the total sys-tem. The minimum interval is 1 year (high demand mode as perIEC 61508).
Use the following data of the safety function STO for your mainte-nance plan and the safety calculations:
Lifetime of the safety functionSTO (IEC 61508) 1)
Years 20
SFF (IEC 61508)Safe Failure Fraction
% 90
HFT (IEC 61508)Hardware Fault ToleranceType A subsystem
1
Safety integrity levelIEC 61508IEC 62061
SIL3SILCL3
PFH (IEC 61508)Probability of Dangerous Hard-ware Failure per Hour
1/h(FIT)
1*10-9 (1)
PL (ISO 13849-1)Performance Level
e (category 3)
MTTFd (ISO 13849-1)Mean Time to Dangerous Failure
Years >100
DC (ISO 13849-1)Diagnostic Coverage
% 90
1) See chapter "12.2.1 Lifetime safety function STO".
Contact your local sales office for additional data, if required.
The data for the safety module eSM can be found in the product man-ual for the safety module.
Hazard and risk analysis As a system integrator you must conduct a hazard and risk analysis ofthe entire system. The results must be taken into account in the appli-cation of the safety function.
The type of circuit resulting from the analysis may differ from the fol-lowing application examples. Additional safety components may berequired. The results of the hazard and risk analysis have priority.
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4.9.4 Application examples STO
Example of category 0 stop Use without EMERGENCY STOP safety relay module, category 0stop.
24V
ENABLE
FAULT RESET
24V
STO_A
STO_B
LXM32PLC
EM
ER
GE
NC
YS
TO
PFigure 20: Example of category 0 stop
An EMERGENCY STOP is requested. This request leads to a cate-gory 0 stop
• The power stage is immediately disabled via the inputs STO_A andSTO_B of the safety function STO. Power can no longer be sup-plied to the motor. If the motor has not yet stopped at this point intime, it coasts down in an uncontrolled way (uncontrolled stop).
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Example of category 1 stop Use with EMERGENCY STOP safety relay module, category 1 stop.
24V 24V
S12
PreventaXPS-AV
Y64
3837
S31
A2A1S14
03 04
Y+
ENABLE
FAULT RESET
Y74Y84
1424
1323
4757 58
48
S11
S13S21S22S32
24V24V24V
STO_ASTO_B
Halt
LXM32
Delayed
Undelayed
PLC
EMERGENCYSTOP
Figure 21: Example of category 1 stop with external Preventa XPS-AV EMERGENCY STOP safety relay module
An EMERGENCY STOP is requested. This request leads to a cate-gory 1 stop
• The function "Halt" is immediately started (undelayed) via the field-bus or the input HALT (single-channel, not monitored). Any activemovement is decelerated via the adjusted ramp.
• The power stage is disabled via the inputs STO_A and STO_B ofthe safety STO function after the delay time set in the EMER-GENCY STOP safety relay module has elapsed. Power can nolonger be supplied to the motor. If the motor has not yet stoppedwhen the delay time has elapsed, it coasts down in an uncontrolledway (uncontrolled stop).
NOTE: The specified minimum current and the permissible maximumcurrent of the relay outputs of the EMERGENCY STOP safety relaymodule must be observed.
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4.10 Logic type
WARNINGUNINTENDED OPERATION
If logic type 2 (sink outputs) is used, a ground fault of a signal isdetected as an On state.
• Use great care in wiring to exclude the possibility of ground faults.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
The digital inputs and outputs of this product can be wired for logictype 1 or logic type 2.
1 2
+24V
DI0,DI1,...
DI_COM
DQ0,DQ1,...
DQ_COM
DI0,DI1,...
DQ_COM
DQ0,DQ1,...
DI_COM0V
+24V
0V
Figure 22: Logic type
Logic type Active state(1) Logic type 1 Output supplies current (source output)
Current flows to the input
(2) Logic type 2 Output draws current (sink output)Current flows from the input
Signal inputs are protected against reverse polarity, outputs are short-circuit protected. The inputs and outputs are galvanically isolated.
The logic type is determined by the wiring of DI_COM and DQ_COM,see Figure 9. The logic type affects wiring and control of the sensors;therefore, you must determine the required value in the engineeringphase in view of the application.
Special case: Safety function STO The inputs for the safety function STO (inputs STO_A and STO_B) arepermanently set to logic type 1.
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4.11 Monitoring functions
The monitoring functions of the product can be used to monitor move-ments and to monitor device-internal signals. These monitoring func-tions are not safety functions.
The following monitoring functions are available:
Monitoring function TaskData connection Monitors data connection for interruption
Limit switch signals Monitors for permissible movement range
Position deviation Monitors for difference between actual position and reference position
Motor overload Monitors for excessively high current in the motor phases
Overvoltage and undervoltage Monitors for overvoltage and undervoltage of the power stage supply and theDC bus
Overtemperature Monitors the device for overtemperature
I2t limitation Power limitation in the case of overloads for the motor, the output current,the output power and the braking resistor.
Commutation Plausibility check of motor acceleration and effective torque
Mains phases Monitoring for missing mains phases
Short circuit / ground fault Monitors for short circuit between motor phase and motor phase andbetween motor phase and ground
See chapters "7.8 Functions for monitoring movements" and"7.9 Functions for monitoring internal device signals" for descriptionsof the monitoring functions.
4.12 Configurable inputs and outputs
The use of limit switches can provide some protection against hazards(for example, collision with mechanical stop caused by incorrect refer-ence values).
WARNINGLOSS OF CONTROL
• Check whether your application allows for the use of limitswitches. If yes, use limit switches.
• Verify correct connection of the limit switches.• Verify that the limit switches are mounted in a position far enough
away from the mechanical stop to allow for an adequate stoppingdistance.
• Verify correct parameterization and function of the limit switches.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
This product has digital inputs and outputs that can be configured.The inputs and outputs have a defined standard assignment depend-ing on the operating mode. This assignment can be adapted to therequirements of the customer's installation. See chapter"7.6.2 Setting the digital signal inputs and signal outputs" for additionalinformation.
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5 Installation
An engineering phase is mandatory prior to mechanical and electricalinstallation. See chapter "4 Engineering", page 61, for basic informa-tion.
WARNINGLOSS OF CONTROL
• The designer of any control scheme must consider the potentialfailure modes of control paths and, for certain critical functions,provide a means to achieve a safe state during and after a pathfailure. Examples of critical control functions are emergency stop,overtravel stop, power outage and restart.
• Separate or redundant control paths must be provided for criticalfunctions.
• System control paths may include communication links. Consider-ation must be given to the implication of unanticipated transmis-sion delays or failures of the link.
• Observe all accident prevention regulations and local safetyguidelines. 1)
• Each implementation of the product must be individually and thor-oughly tested for proper operation before being placed into serv-ice.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), “SafetyGuidelines for the Application, Installation, and Maintenance of Solid State Control”and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and Guidefor Selection, Installation and Operation of Adjustable-Speed Drive Systems”.
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5.1 Before mounting
Inspecting the product ▶ Verify the product version by means of the type code on the name-plate. See chapter "1.3 Nameplate" and chapter "1.4 Type code".
▶ Prior to mounting, inspect the product for visible damage.
Damages products may cause electric shock or unintended equip-ment operation.
DANGERELECTRIC SHOCK OR UNINTENDED EQUIPMENT OPERATION
Do not use damaged products.
Failure to follow these instructions will result in death or seri-ous injury.
Contact your local Schneider Electric sales office if you detect anydamage whatsoever.
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5.2 Mechanical installation
DANGERELECTRIC SHOCK OR UNINTENDED EQUIPMENT OPERATION
• Keep foreign objects from getting into the product.• Verify correct seat of seals and cable entries in order to avoid
deposits and humidity.
Failure to follow these instructions will result in death or seri-ous injury.
WARNINGLOSS OF SAFETY FUNCTION CAUSED BY FOREIGN OBJECTS
Conductive foreign objects, dust or liquids may cause safety func-tions to become inoperative.
• Do not use a safety function unless you have protected the sys-tem against contamination by conductive substances.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
The metal surfaces of the product may exceed 100 °C (212 °F) duringoperation.
WARNINGHOT SURFACES
• Ensure that any contact with hot surfaces is avoided.• Do not allow flammable or heat-sensitive parts in the immediate
vicinity of hot surfaces.• Verify that the heat dissipation is sufficient by performing a test
run under maximum load conditions.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
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5.2.1 Installing and removing modules
NOTICEDESTRUCTION DUE TO ESD
Electrostatic discharge (ESD) can cause immediate or later destruc-tion of the module or the device.
• Use suitable ESD measures (IEC 61340-5-2) when handling themodule.
• Do not touch any internal components.
Failure to follow these instructions can result in equipmentdamage.
Slot 1
Slot 2
Slot 3
E
Figure 23: Module slots
The device has 3 module slots. The module slots are designed for thefollowing modules. See also chapter"11 Accessories and spare parts".
Slot 1 Safety module eSM
I/O module IOM1
Slot 2 Encoder module RSR (resolver interface)
Encoder module DIG (digital interface)
Encoder module ANA (analog interface)
Slot 3 Fieldbus module CANopen (module identification CAN)
Fieldbus module Profibus DP (module identification PDP)
Fieldbus module DeviceNet (module identification DNT)
Fieldbus module EtherNet/IP (module identification ETH)
Fieldbus module EtherCAT (module identification ECT)
Do not install the safety module eSM until you have commissioned thedrive.
Plugging a modul into a slot Procedure for plugging in a module:
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■ Disconnect all power (power stage supply voltage and controllersupply voltage) before plugging in or removing a module. Verifythat no voltage is present (safety instructions).
▶ Fully read an understand the product manual as well as the man-ual for the module prior to installing the module.
▶ Verify that the order number on the nameplate of the module corre-sponds to the specification in the manual for the module.
▶ Note and record the serial number, revision and DOM shown onthe nameplate of the module and the nameplate of the device.
▶ Remove the cover from the module slot and keep the cover.▶ Check the module for visible damage. Do not install damaged
modules.▶ Plug the module into the appropriate slot until the snap-in lock
snaps in.
Information on wiring can be found in the chapter "Installation" of themanual for the module.
▶ Fasten the connection cable to the cable guide of the device.
Various settings must be made the next time the device is switchedon. See the chapter Commissioning of the manual for the module fordetails on these settings.
Removing a module from a slot
1 2
Figure 24: Removing a module from a slot
Procedure for removing a module from a slot of the device:
■ Disconnect all power (power stage supply and controller supply)before plugging in or removing a module. Verify that no voltage ispresent (safety instructions).
▶ Label the connection cables. Remove the wiring of the module.▶ Push the snap-in lock of the module to the left (1) and pull out the
module at the snap-in lock (2) while holding it to the left.▶ Close the module slot with the cover.
The next time the device is switched on, it signal a different hardware.See chapter "9.3.3 Acknowledging a module replacement", page 444for additional information.
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5.2.2 Mounting the device
Attaching a label with safetyinstructions
▶ Select the label suitable for the target country.Observe the safety regulations in the target country.
▶ Attach the label to the front of the device so that it is clearly visible.
Control cabinet The control cabinet must have a sufficient size so that all devices andcomponents can be permanently installed and wired in compliancewith the EMC requirements.
The ventilation of the control cabinet must be sufficient to comply withthe specified ambient conditions for the devices and componentsoperated in the control cabinet.
Mounting distances, ventilation When selecting the position of the device in the control cabinet, notethe following:
• Mount the device in a vertical position (±10°). This is required forcooling the device.
• Adhere to the minimum installation distances for required cooling.Avoid heat accumulations.
• Do not mount the device close to heat sources.• Do not mount the device on flammable materials.• The heated airflow from other devices and components must not
heat up the air used for cooling the device.
• If the thermal limits are exceeded during operation, the driveswitches off (overtemperature).
• Comply with the specifications in chapter"5.2.3 Mounting mains filter, mains reactor and braking resistor",page 96, for mounting additional components (external mains fil-ters, mains reactor, external braking resistor).
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The connection cables of the devices are routed to the top and to thebottom. The minimum distances must be adhered to for air circulationand cable installation.
dd d
c
a
b
d
Figure 25: Mounting distances and air circulation
Free space aabove the device
mm(in)
≥100(≥3.94)
Free space bbelow the device
mm(in)
≥100(≥3.94)
Free space cin front of the device
mm(in)
≥60(≥2.36)
Free space dbetween devices for ambient tem-perature during operation: 0 ... 50 °C (32 ... 122 °F)
mm(in)
≥0(≥0)
Mounting the device See chapter "2.2.1 Dimensional drawings", page 25 for the dimen-sions of the mounting holes.
NOTE: Painted surfaces have an insulating effect. Before mountingthe device to a painted mounting plate, remove all paint across a largearea of the mounting points until the metal is completely bare.
▶ Note the ambient conditions in chapter "2 Technical Data", page23.
▶ Mount the device in a vertical position (±10°).
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5.2.3 Mounting mains filter, mains reactor and braking resistor
External mains filter
The drives have an integrated mains filter.
An additional external mains filter is required in the case of long motorcables. When using external mains filters, verify compliance with allapplicable EMC directives.
Further information on the subject PageTechnical data external mains filters (accessory) 51
Engineering information external mains filters (accessory) 73
Electrical installation of external mains filters (accessory) 114
Order data external mains filters (accessory) 666
Mains reactor A mains reactor must be used under specific conditions as outlined inchapter "4.6 Mains reactor", page 72. The mains reactor is shippedwith an information sheet that provides details on mounting. Informa-tion on the electrical installation can be found in chapter"5.3.7 Connection of power stage supply voltage (CN1)", page 114.
If you install a mains reactor, the power provided by the device isincreased, see chapter "2.3.1 Power stage", page 28. Increasedpower is only available if the corresponding parameter is set duringcommissioning.
Further information on the subject PageTechnical data mains reactor (accessory) 52
Engineering information mains reactor (accessory) 72
Electrical installation of the mains reactor (accessory) 114
Order data mains reactor (accessory) 666
External braking resistor The temperature of the braking resistor may exceed 250 °C (482 °F)during operation.
WARNINGHOT SURFACES
• Ensure that any contact with a hot braking resistor is avoided.• Do not allow flammable or heat-sensitive parts in the immediate
vicinity of the braking resistor.• Verify that the heat dissipation is sufficient by performing a test
run under maximum load conditions.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Braking resistors with degree of protection IP65 may be installed out-side the control cabinet in an appropriate environment in order todecrease the temperature in the control cabinet.The external braking resistors listed in the Accessories chapter areshipped with an information sheet that provides details on installation.
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Further information on the subject PageTechnical data braking resistor 47
Mounting the external braking resistor (accessory) 96
Electrical installation of the braking resistor (accessory) 75
Setting the braking resistor parameters 180
Order data for external braking resistors (accessory) 657
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5.3 Electrical installation
DANGERELECTRIC SHOCK OR UNINTENDED EQUIPMENT OPERATION
• Keep foreign objects from getting into the product.• Verify correct seat of seals and cable entries in order to avoid
deposits and humidity.
Failure to follow these instructions will result in death or seri-ous injury.
DANGERELECTRIC SHOCK CAUSED BY INSUFFICIENT GROUNDING
• Verify compliance with all local and national electrical coderequirements as well as all other applicable regulations withrespect to grounding of the entire drive system.
• Ground the drive system before applying voltage.• Do not use conduits as protective ground conductors; use a pro-
tective ground conductor inside the conduit.• The cross section of the protective ground conductor must com-
ply with the applicable standards.• Do not consider cable shields to be protective ground conductors.
Failure to follow these instructions will result in death or seri-ous injury.
WARNINGTHIS PRODUCT MAY CAUSE DIRECT CURRENT IN THE PROTECTIVEGROUND CONDUCTOR
If a residual current device (RCD) is used, conditions must beobserved.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
See chapter "4.3 Residual current device", page 70 for conditions forusing a residual current device.
Logic types The product supports logic type 1 and logic type 2 for digital signals.Note that most of the wiring examples show the logic type 1. The STOsafety function must be wired using the logic type 1.
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5.3.1 Overview of procedure
▶ Take into account the information provided in chapter"4 Engineering". The selected settings affect the entire installation.
▶ The entire installation procedure must be performed without volt-age present.
Sequence of installation steps:
Connection Connection to PageGround connection Grounding screw 101
Motor phases CN10, CN11 103
DC bus connection CN9 71
External braking resistor CN8 75
Power stage supply CN1 114
Motor encoder (encoder 1) CN3 119
PTO: Encoder simulation ESIM CN4 40
PTI: Pulse/Direction P/D CN5 123
PTI: A/B signals CN5 123
PTI: CW/CCW CN5 123
Safety function STO CN2 126
24 V controller supply CN2 126
Digital inputs / outputs CN6 129
Commissioning interface (PC) CN7 131
Finally, verify proper installation.
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5.3.2 Connection overview
Slot 1
Slot 2
Slot 3
CN6
CN3
CN2CN5CN4
CN7
CN1CN8
CN10
CN11
CN9
CN1
CN7
CN6
CN11CN10CN9
CN8
Slot 1
Slot 2
Slot 3
CN3
CN2CN5CN4
Figure 26: Overview of the signal connections
Connection AssignmentCN1 Power stage supply
CN2 24 controller supply and safety function STO
CN3 Motor encoder (encoder 1)
CN4 PTO (encoder simulation ESIM)
CN5 PTI (A/B signals, P/D-Signale, CW/CCW signals)
CN6 Digital inputs/outputs
CN7 Modbus (commissioning interface)
CN8 External braking resistor
CN9 DC bus connection for parallel operation
CN10 Motor phases
CN11 Holding brake
Slot 1 Safety module or I/O module
Slot 2 Encoder module (encoder 2)
Slot 3 Fieldbus module
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5.3.3 Connection grounding screw
This product has an increased leakage current >3.5 mA. If the protec-tive ground connection is interrupted, a hazardous touch current mayflow if the housing is touched.
DANGERELECTRIC SHOCK CAUSED BY INSUFFICIENT GROUNDING
• Use a protective ground conductor at with least 10 mm2 (AWG 6)or two protective ground conductors with the cross section of theconductors supplying the power terminals.
• Verify compliance with all local and national electrical coderequirements as well as all other applicable regulations withrespect to grounding of all equipment.
Failure to follow these instructions will result in death or seri-ous injury.
The central grounding screw of the product is located at the bottom ofthe front side.
The figure below shows the device versionsLXM32MU45 ... LXM32MD72.
The figure below shows the device versions LXM32MD85 andLXM32MC10.
▶ Open the housing by removing the terminal cover.▶ Remove the cable guide.
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▶ Connect the ground connection of the device to the central ground-ing point of the system.
LXM32∙... U45, U60,U90, D12,D18, D30,D72
D85, C10
Tightening torque of groundingscrew
Nm(lb.in)
3.5(31)
3(27)
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5.3.4 Connection motor phases and holding brake (CN10 and CN11)
High voltages may be present at the motor connection. The motoritself generates voltage when the motor shaft is rotated. AC voltagecan couple voltage to unused conductors in the motor cable.
DANGERELECTRIC SHOCK
• Disconnect all power prior to performing any type of work on thedrive system.
• Block the motor shaft to prevent rotation prior to performing anytype of work on the drive system.
• Insulate both ends of unused conductors of the motor cable.• Supplement the motor cable grounding conductor with an addi-
tional protective ground conductor to the motor housing.• Verify compliance with all local and national electrical code
requirements as well as all other applicable regulations withrespect to grounding of all equipment.
Failure to follow these instructions will result in death or seri-ous injury.
DANGERELECTRIC SHOCK CAUSED BY INSUFFICIENT ISOLATION
If third-party motors are used, insufficient isolation may allow hazard-ous voltages to reach the PELV circuit.
• Verify protective separation between the temperature sensor andthe motor phases.
• Verify that the signals at the encoder connection meet the PELVrequirements.
• Verify protective separation between the brake voltage in themotor and the motor cable on the one hand and the motor phaseson the other hand.
Failure to follow these instructions will result in death or seri-ous injury.
WARNINGUNEXPECTED MOVEMENT
Drive systems may perform unexpected movements because ofincorrect connection or other errors.
• Operate the device with approved motors only. Even if motors aresimilar, different adjustment of the encoder system may be asource of hazards.
• Even if the connectors for motor connection and encoder connec-tion match mechanically, this does NOT imply that they may beused.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
LXM32M 5 Installation
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Route the cables from the motor and the encoder to the device (startat the motor). Due to the pre-assembled connectors, this direction isoften faster and easier.
Cable specifications See chapter "4.2 Cables", page 68 for information on the cables.
Shield: Required, both ends grounded
Twisted Pair: -
PELV: The wires for the holding brake mustbe PELV-compliant.
Cable composition: 3 wires for motor phases2 wires for holding brake
The conductors must have a suffi-ciently large cross section so that thefuse at the mains connection can tripif required.
Maximum cable length: Depends on the required limit valuesfor conducted interference, see chap-ter "2.3.6 Internal mains filter", page50, and chapter"2.3.7 External mains filters (accesso-ries)", page 51.
Special characteristics: Contains wires for the holding brake
Note the following information:
• You may only connect the original motor cable (with two wires forthe holding brake).
• The wires for the holding brake must also be connected to thedevice at connection CN11 in the case of motors without holdingbrakes. At the motor end, connect the wires to the appropriate pinsfor the holding brake; the cable can then be used for motors with orwithout holding brake. If you do not connect the wires at the motorend, you must isolate each wire individually (inductive voltages).
• Observe the polarity of the holding brake voltage.• The voltage for the holding brake depends on the controller supply
(PELV). Observe the tolerance for the controller supply and thespecified voltage for the holding brake, see chapter"2.3.2 Controller supply voltage 24V", page 37.
▶ Use pre-assembled cables (page 661) to reduce the risk of wiringerrors.
The optional holding brake of a motor is connected to connectionCN11. The integrated holding brake controller releases the holdingbrake when the power stage is enabled. When the power stage is dis-abled, the holding brake is re-applied.
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Properties of the connection termi-nals CN10
The terminals are approved for wires and rigid conductors. Observethe maximum permissible connection cross section. Take into accountthe fact that wire ferrules increase the connection cross section.
LXM32∙... U45, U60,U90, D12,D18, D30
D72 D85, C10
Connection cross section mm2 (AWG)
0.75 ... 5.3(18 ... 10)
0.75 ... 10(18 ... 8)
1.5 ... 25(14 ... 4)
Tightening torque for ter-minal screws
Nm(lb.in)
0.68(6.0)
1.81(16.0)
3.8(33.6)
Stripping length mm(in)
6 ... 7(0.24 ...0.28)
8 ... 9(0.31 ...0.35)
18(0.71)
Properties of the connection termi-nals CN11
The terminals are approved for wires and rigid conductors. Observethe maximum permissible connection cross section. Take into accountthe fact that wire ferrules increase the connection cross section.
LXM32∙... U45, U60,U90, D12,D18, D30,D72
D85, C10
Maximum terminal current A 1.7 1.7
Connection cross section mm2 (AWG)
0.75 ... 2.5(18 ... 14)
0.75 ... 2.5(18 ... 14)
Tightening torque for terminalscrews
Nm(lb.in)
- 0.5(4.4)
Stripping length mm(in)
12 ... 13(0.47 ... 0.51)
8(0.31)
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Assembling cables Note the dimensions specified when assembling cables.
BK L1 BK L2 BK L3
GN/YE
C
A
B
WHGY
D
BK L1BK L2BK L3
GN/YE
WHGY
A
3
1
2
Figure 27: Steps for assembling the motor cable
(1) Strip the cable jacket, length A.(2) Slide the shield braiding back over the cable jacket.(3) Secure the shield braiding with a heat shrink tube. The
shield must have at least length D. Verify that a large sur-face area of the shield braiding is connected to the EMCshield clamp.Shorten the wires for the holding brake to length B and thethree wires for the motor phases to length C. The protectiveground conductor has length A.Connect the wires for the holding brake to the device even inthe case of motors without a holding brake (inductive volt-age).
LXM32∙... U45, U60,U90, D12,D18, D30,D72
D85, C10
A mm (in) 140 (5.51) 220 (8.66)
B mm (in) 135 (5.32) 205 (8.07)
C mm (in) 130 (5.12) 200 (7.87)
D mm (in) 50 (1.97) 50 (1.97)
Observe the maximum permissible connection cross section. Takeinto account the fact that wire ferrules increase the conductor crosssection.
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Monitoring The device monitor the motor phases for:
• Short circuit between the motor phases• Short circuit between the motor phases and ground
Short circuits between the motor phases and the DC bus, the brakingresistor or the holding brake wires are not detected.
Wiring diagram motor and holdingbrake
The figure below shows the device versionsLXM32MU45 ... LXM32MD72.
M3~
BR+BR-
W
U
V
WV
U
CN10 Motor
CN11 Brake
BR- B
R+
Figure 28: Wiring diagram motor with holding brake
The figure below shows the device versions LXM32MD85 andLXM32MC10.
CN10
CN11
Figure 29: Wiring diagram motor with holding brake
Connection Meaning ColorU Motor phase Black L1 (BK)
V Motor phase Black L2 (BK)
W Motor phase Black L3 (BK)
PE Protective ground conduc-tor
Green/yellow (GN/YE)
BR+ Holding brake + White (WH) or black 5 (BK)
BR- Holding brake - Gray (GR) or black 6 (BK)
LXM32M 5 Installation
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Connecting the motor cable ▶ Note the EMC requirements for the motor cables, see page 62.▶ Connect the motor phases and protective ground conductor to
CN10. Verify that the connections U, V, W and PE (ground) matchat the motor and the device.
▶ Note the tightening torque specified for the terminal screws.▶ Connect the white wire or the black wire with the label 5 to connec-
tion BR+ of CN11.Connect the gray wire or the black wire with the label 6 to connec-tion BR- of CN11.
For LXM32MU45 ... LXM32MD72:
▶ Verify that the connector locks snap in properly at the housing.▶ Connect the cable shield to the shield clamp (large surface area
contact).
Figure 30: Shield clamp motor cable
For LXM32MD85 and LXM32MC10:
▶ Connect the cable shield with a shield clamp to an EMC rail (largesurface area contact).
Verify that the individual wires are in the individual guides.
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▶ If you do not connect and external braking resistor, mount thecable guide.
BR+BR-
L3/TL2/SL1/R
U/T1 W/T3V/T2PA/+ PC/-PB
Figure 31: Shield clamp motor cable
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5.3.5 Connecting the DC bus (CN9, DC bus)
WARNINGDESTRUCTION OF SYSTEM COMPONENTS AND LOSS OF CONTROL
Incorrect use of a parallel connection of the DC bus may destroy thedrives immediately or after a delay.
• Note the requirements concerning the use of a parallel DC busconnection.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Availability The table below shows the products where operation via a commonDC bus is permissible:
LXM32∙ ∙∙∙M2, U60N4, D12N4,D18N4, D30N4, D72N4
D85N4, C10N4
DC bus connection Permissible Not permissible
Requirements for use The requirements and limit values for parallel connection of multipleLXM32 via the DC bus can be found on the Internet in the form ofApplication Note MNA01M001.
5.3.6 Braking resistor connection (CN8, Braking Resistor)
An insufficiently rated braking resistor can cause overvoltage on theDC bus. Overvoltage on the DC bus causes the power stage to bedisabled. The motor is no longer actively decelerated.
WARNINGMOTOR WITHOUT BRAKING EFFECT
• Verify that the braking resistor has a sufficient rating.• Verify that the parameter settings for the braking resistor are cor-
rect.• Verify that the I2t value for temperature monitoring does not
exceed 100% by performing a test run under maximum load con-ditions.
• Verify that the calculations and the test run take into account thefact that the DC bus capacitors can absorb less braking energy athigher mains voltages.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Further information on the subject PageTechnical data braking resistor 47
Rating the braking resistor 75
Mounting the external braking resistor (accessory) 96
Setting the braking resistor parameters 180
Order data for external braking resistors (accessory) 657
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5.3.6.1 Internal braking resistorA braking resistor is integrated in the device to absorb braking energy.The device is shipped with the internal braking resistor active.
5.3.6.2 External braking resistorAn external braking resistor is required for applications in which themotor must be decelerated quickly and the internal braking resistorcannot absorb the excess braking energy.
Selection and rating of the external braking resistor are described inchapter "4.8 Rating the braking resistor", page 75. For suitable brakingresistors, see chapter "11 Accessories and spare parts", page 665.
Cable specifications See chapter "4.2 Cables", page 68 for information on the cables.
Shield: Required, both ends grounded
Twisted Pair: -
PELV: -
Cable composition: Minimum conductor cross section:Same cross section as power stagesupply, see page 114.
The conductors must have a suffi-ciently large cross section so that thefuse at the mains connection can tripif required.
Maximum cable length: 3 m
Special characteristics: Temperature resistance
The braking resistors recommended in chapter"11 Accessories and spare parts" have a 3-wire, temperature-resistantcable with a length of 0.75 m to 3 m.
Properties of the connection termi-nals CN8 LXM32∙... U45, U60,
U90, D12,D18, D30,D72
D85, C10
Connection cross section mm2 (AWG)
0.75 ... 3.3(18 ... 12)
1.5 ... 25(14 ... 4)
Tightening torque for terminalscrews
Nm(lb.in)
0.51(4.5)
3.8(33.6)
Stripping length mm(in)
10 ... 11(0.39 ... 0.43)
18(0.71)
The terminals are approved for fine wire conductors and rigid conduc-tors. Observe the maximum permissible connection cross section.Take into account the fact that wire ferrules increase the conductorcross section.
Wire ferrules: If you use wire ferrules, use only wire ferrules with col-lars for these terminals.
LXM32M 5 Installation
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Wiring diagram The figure below shows the device versionsLXM32MU45 ... LXM32MD72.
PBe
PB
PBe
CN8 Braking resistor
PB
CN8 Braking resistor
Figure 32: Wiring diagram external braking resistor
The figure below shows the device versions LXM32MD85 andLXM32MC10.
CN8
Figure 33: Wiring diagram external braking resistor
5 Installation LXM32M
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Connecting the external brakingresistor
▶ Switch off all supply voltages. Observe the safety instructions con-cerning electrical installation.
▶ Verify that no voltages are present (safety instructions).
For LXM32MU45 ... LXM32MD72:
▶ Remove the cover from the connection.▶ Ground the ground connection (PE) of the braking resistor.▶ Connect the external braking resistor to the device. Note the tight-
ening torque specified for the terminal screws.▶ Connect the cable shield to the shield connection at the bottom of
the device (large surface area contact).
For LXM32MD85 and LXM32MC10:
▶ Ground the ground connection (PE) of the braking resistor.▶ Connect the external braking resistor to the device. Note the tight-
ening torque specified for the terminal screws.▶ Connect the cable shield with a shield clamp to an EMC rail (large
surface area contact).
Verify that the individual wires are in the individual guides.▶ Mount the cable guide.
BR+BR-
L3/TL2/SL1/R
U/T1 W/T3V/T2PA/+ PC/-PB
Figure 34: Shield clamp external braking resistor
The parameter RESint_ext is used to switch between the internaland an external braking resistor. The parameter settings for the brak-ing resistor can be found in chapter"6.5.10 Setting the braking resistor parameters", page180. Verify thatthe selected external braking resistor is really connected. Test thefunction of the braking resistor under realistic conditions during com-missioning, see chapter"6.5.10 Setting the braking resistor parameters", page 180.
LXM32M 5 Installation
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5.3.7 Connection of power stage supply voltage (CN1)
This product has an increased leakage current >3.5 mA. If the protec-tive ground connection is interrupted, a hazardous touch current mayflow if the housing is touched.
DANGERELECTRIC SHOCK CAUSED BY INSUFFICIENT GROUNDING
• Use a protective ground conductor at with least 10 mm2 (AWG 6)or two protective ground conductors with the cross section of theconductors supplying the power terminals.
• Verify compliance with all local and national electrical coderequirements as well as all other applicable regulations withrespect to grounding of all equipment.
Failure to follow these instructions will result in death or seri-ous injury.
WARNINGINSUFFICIENT PROTECTION AGAINST OVERCURRENTS
• Use the external fuses specified in "Technical data".• Do not connect the product to a supply mains whose short-circuit
current rating (SCCR) exceeds the permissible value specified inthe chapter "Technical Data".
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
NOTICEDESTRUCTION DUE TO INCORRECT MAINS VOLTAGE
• Before switching on and configuring the product, verify that it isapproved for the mains voltage.
Failure to follow these instructions can result in equipmentdamage.
The products are intended for industrial use and may only be operatedwith a permanently installed connection.
Prior to connecting the device, check the approved mains types, seechapter "2.3.1 Power stage", page 28.
5 Installation LXM32M
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Cable specifications Observe the required cable properties, see page 68, and the informa-tion on electromagnetic compatibility (EMC), see page 62.
Shield: -
Twisted Pair: -
PELV: -
Cable composition: The conductors must have a suffi-ciently large cross section so that thefuse at the mains connection can tripif required.
Maximum cable length: -
Special characteristics: -
Properties of connection terminalsCN1 LXM32∙... U45, U60,
U90, D12,D18, D30
D72 D85, C10
Connection cross section mm2 (AWG)
0.75 ... 5.3(18 ... 10)
0.75 ... 10(18 ... 8)
1.5 ... 25(14 ... 4)
Tightening torque for ter-minal screws
Nm(lb.in)
0.68(6.0)
1.81(16.0)
3.8(33.6)
Stripping length mm(in)
6 ... 7(0.24 ...0.28)
8 ... 9(0.31 ...0.35)
18(0.71)
The terminals are approved for wires and rigid conductors. Observethe maximum permissible connection cross section. Take into accountthe fact that wire ferrules increase the connection cross section.
Prerequisites for connecting thepower stage supply
Note the following information:
• Three-phase devices may only be connected and operated viathree phases.
• Use upstream mains fuses. See chapter "2.3.1 Power stage", page28 for information on fuse types and fuse ratings.
• Observe the EMC requirements. If necessary, use surge arresters,mains filters and mains reactors.
• If you use an external mains filter, the mains cable must be shiel-ded and grounded at both ends if the length between the externalmains filter and the device exceeds 200 mm.
• See page 23 for a UL-compliant design.• Due to high leakage currents, use a protective ground conductor at
with least 10 mm2 (AWG 6) or two protective ground conductorswith the cross section of the conductors supplying the power termi-nals. Verify compliance with all local and national electrical coderequirements as well as all other applicable regulations withrespect to grounding of all equipment.
LXM32M 5 Installation
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Accessories: Mains reactor andexternal mains filter
Note the information on the following accessories: mains reactor andexternal mains filter.
Further information on the subject PageTechnical data mains reactor (accessory) 52
Engineering information mains reactor (accessory) 72
Mounting the mains reactor (accessory) 96
Order data mains reactor (accessory) 666
Further information on the subject PageTechnical data external mains filters (accessory) 51
Engineering information external mains filters (accessory) 73
Mounting the external mains filter (accessory) 96
Order data external mains filters (accessory) 666
Power stage supply single-phasedevice
Figure 35 shows an overview for wiring the power stage supply for asingle-phase device. The illustration also shows an external mains fil-ter and a mains reactor which are available as accessories.
S1E1
1 2
N/L2
3
L1
N/L2
L1
N/L2
L1
N/L2'
L1'
Figure 35: Overview power stage supply for single-phase device
(1) Mains reactor (accessory)(2) External mains filter (accessory)(3) Drive
N/L
2L1
CN1 Mains 115/230 Vac
N/L2
L1
Figure 36: Wiring diagram power stage supply for single-phase device.
▶ Verify the type of mains. See chapter "2.3.1 Power stage", page 28for the approved types of mains.
▶ Connect the mains cable (Figure 36). Note the tightening torquespecified for the terminal screws.
▶ Verify that the connector locks snap in properly at the housing.
5 Installation LXM32M
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Power stage supply three-phasedevice
Figure 37 shows an overview for wiring the power stage supply for athree-phase device. The illustration also shows an external mains filterand a mains reactor which are available as accessories.
S2
S3
S1
E3
E2
E1
1 2
L3
3
L2
L1
L3
L2
L1
L3
L2
L1
L3'
L2'
L1'
Figure 37: Wiring diagram, power stage supply for three-phase device.
(1) Mains reactor (accessory)(2) External mains filter (accessory)(3) Drive
The figure below shows the device versionsLXM32MU45 ... LXM32MD72.
L1L2
L3
CN1 Mains 208/400/480 Vac
L2
L1
L3
Figure 38: Wiring diagram power stage supply for three-phase device.
The figure below shows the device versions LXM32MD85 andLXM32MC10.
CN1
Figure 39: Wiring diagram power stage supply for three-phase device.
▶ Verify the type of mains. See chapter "2.3.1 Power stage", page 28for the approved types of mains.
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▶ Connect the mains cable. Note the tightening torque specified forthe terminal screws.
For LXM32MU45 ... LXM32MD72:
▶ Verify that the connector locks snap in properly at the housing.
For LXM32MD85 ... LXM32MC10:
▶ Close the housing by refitting the terminal cover.
5 Installation LXM32M
118 AC servo drive
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5.3.8 Motor encoder connection (CN3)
Function and encoder type The motor encoder is a Hiperface encoder integrated in the motor. Itprovides the device with information on the motor position (analog anddigital).
Note the information on approved motors, see chapter"2.3 Electrical Data".
Cable specifications See chapter "4.2 Cables", page 68 for information on the cables.
Shield: Required, both ends grounded
Twisted Pair: Required
PELV: Required
Cable composition: 6 * 0.14 mm2 + 2 * 0.34 mm2
(6 * AWG 24 + 2 * AWG 20)
Maximum cable length: 100 m
Special characteristics: Fieldbus cables are not suitable forconnecting encoders.
▶ Use pre-assembled cables (page 664) to reduce the risk of wiringerrors.
Wiring diagram
12345678A
B
1
8A
B
CN3 Encoder-1
Figure 40: Wiring diagram motor encoder
Pin Signal Motor, pin Pair Meaning I/O1 COS+ 9 2 Cosine signal I
2 REFCOS 5 2 Reference for cosine signal I
3 SIN+ 8 3 Sine signal I
6 REFSIN 4 3 Reference for sine signal I
4 Data 6 1 Receive data, transmit data I/O
5 Data 7 1 Receive data and transmit data, inverted I/O
7 ... 8 - 4 Reserved
A ENC+10V_OUT 10 5 Encoder supply O
B ENC_0V 11 5 Reference potential for encoder supplySHLD Shield
Connecting the motor encoder ▶ Verify that wiring, cables and connected interface meet the PELVrequirements.
▶ Note the EMC requirements for encoder cables, page 62. Useequipotential bonding conductors for equipotential bonding.
▶ Connect the connector to CN3 Encoder-1.▶ Verify that the connector locks snap in properly at the housing.
LXM32M 5 Installation
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Route the cables from the motor and the encoder to the device (startat the motor). Due to the pre-assembled connectors, this direction isoften faster and easier.
5 Installation LXM32M
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5.3.9 Connection PTO (CN4, Pulse Train Out)
5 V signals are available at the PTO (Pulse Train Out, CN4) output.Depending on parameter PTO_mode, these signals are ESIM signals(encoder simulation) or logically fed through PTI input signals (P/Dsignals, A/B signals, CW/CCW signals). The PTO output signals canbe used as PTI input signals for another device. The signal level cor-responds to RS422, see chapter"2.3.3.1 Output PTO (CN4)Connection PTO (CN4, Pulse Train Out)",page 40. The PTO output supplies 5 V signals, even if the PTI inputsignal is a 24 V signal.
Cable specifications See chapter "4.2 Cables", page 68 for information on the cables.
Shield: Required, both ends grounded
Twisted Pair: Required
PELV: Required
Cable composition: 8 * 0.14 mm2 (8 * AWG 24)
Maximum cable length: 100 m
Special characteristics: -
▶ Use equipotential bonding conductors, see page 68.▶ Use pre-assembled cables (page 660) to reduce the risk of wiring
errors.
Wiring diagram
12345678VW3M8223R30
VW3M8502R
1245
1
8
CN4 PTO
12345678EIA / TIA - 568 B
Figure 41: Wiring diagram Pulse Train Out (PTO)
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PTO: ESIM signalsPin Signal Pair Meaning I/O1 ESIM_A 2 ESIM channel A O (5 V)
2 ESIM_A 2 ESIM channel A, inverted O (5 V)
4 ESIM_B 1 ESIM channel B O (5 V)
5 ESIM_B 1 ESIM channel B, inverted O (5 V)
3 ESIM_I 3 ESIM index pulse O (5 V)
6 ESIM_I 3 ESIM index pulse, inverted O (5 V)
7 4 Reference potential
8 4 Reference potential
PTO: logically fed through signalsPTI signals
At the PTO output, the PTI input signals can be made available againto control a subsequent device (daisy chain). Depending on the inputsignal, the output signal can be of type P/D signal, A/B signal orCW/CCW signal. The PTO output supplies 5 V signals.
Pin P/D signal 1) A/B signal 2) CW/CCW signal 3) Pair Meaning I/O1 PULSE(5) ENC_A(5) CW(5) 2 See PTI connection, pin 1 O (5 V)
2 PULSE ENC_A CW 2 See PTI connection, pin 2 O (5 V)
4 DIR(5) ENC_B(5) CCW(5) 1 See PTI connection, pin 4 O (5 V)
5 DIR ENC_B CCW 1 See PTI connection, pin 5 O (5 V)1) See page 1242) See page 1243) See page 124
Connecting PTO ▶ Connect the connector to CN4. If you do not use a pre-assembledcable, verify correct pin assignment.
▶ Verify that the connector locks snap in properly at the housing.
5 Installation LXM32M
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5.3.10 Connection PTI (CN5, Pulse Train In)
P/D (pulse/direction), A/B signals or CW/CCW signals can be connec-ted to the PTI connection (Pulse Train In, CN5). It is possible to connect 5 V signals or 24 V signals, see chapter"2.3.3.2 Input PTI (CN5)", page 41. Pin assignments and cables aredifferent.
WARNINGUNEXPECTED MOVEMENT
Incorrect or interfered signals as reference values can cause unex-pected movements.
• Use shielded twisted-pair cables.• If possible, operate the interface with push-pull signals.• Do not use signals without push-pull in critical applications or in
environments subject to interference.• Do not use signals without push-pull in the case of cable lengths
of more than 3 m and limit the frequency to 50 kHz.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Cable specifications PTI See chapter "4.2 Cables", page 68 for information on the cables.
Shield: Required, both ends grounded
Twisted Pair: Required
PELV: Required
Minimum conductor cross section: 0.14 mm2 (AWG 24)
Maximum cable length: 100 m with RS42210 m with push-pull1 m with open collector
Special characteristics: -
▶ Use equipotential bonding conductors, see page 68.▶ Use pre-assembled cables (page 660) to reduce the risk of wiring
errors.
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5.3.10.1 Connection assignment PTI 5 V
12345678VW3M8223R30
CN5 PTI
1
8VW3M8502R
1245
12345678EIA / TIA - 568 B
Figure 42: Wiring diagram Pulse Train In (PTI) 5 V
P/D signals 5 VPin Signal Pair Meaning I/O1 PULSE(5) 2 Pulse 5V I (5 V)
2 PULSE 2 Pulse, inverted I (5 V)
4 DIR(5) 1 Direction 5V I (5 V)
5 DIR 1 Direction, inverted I (5 V)
A/B signals 5 VPin Signal Pair Meaning I/O1 ENC_A(5) 2 Encoder channel A 5V I (5 V)
2 ENC_A 2 Encoder channel A, inverted I (5 V)
4 ENC_B(5) 1 Encoder channel B 5V I (5 V)
5 ENC_B 1 Encoder channel B, inverted I (5 V)
CW/CCW signals 5 VPin Signal Pair Meaning I/O1 CW(5) 2 Pulse positive 5V I (5 V)
2 CW 2 Pulse positive, inverted I (5 V)
4 CCW(5) 1 Pulse negative 5V I (5 V)
5 CCW 1 Pulse negative, inverted I (5 V)
Connecting Pulse Train IN (PTI)5 V
▶ Connect the connector to CN5. If you do not use a pre-assembledcable, verify correct pin assignment.
▶ Verify that the connector locks snap in properly at the housing.
5.3.10.2 Connection assignment PTI 24 VNote that the wire pairs for 24 V signals require assignments differentfrom those for 5 V signals. Use a cable that complies with the cablespecification. Assemble the cable as shown in the illustration below.
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CN5 PTI
1
8
12345678
Figure 43: Wiring diagram Pulse Train In (PTI) 24 V. Note the different paring.
NOTE: No pre-assembled cable available as accessory. The assign-ment for PTI 24 V does not correspond to the known pairing of thecables for PTI 5 V.
P/D signals 24 VPin Signal Pair Meaning I/O7 PULSE(24) A Pulse 24V I (24 V)
2 PULSE A Pulse, inverted I (24 V)
8 DIR(24) B Direction 24V I (24 V)
5 DIR B Direction, inverted I (24 V)
A/B signals 24 VPin Signal Pair Meaning I/O7 ENC_A(24) A Encoder channel A 24V I (24 V)
2 ENC_A A Encoder channel A, inverted I (24 V)
8 ENC_B(24) B Encoder channel B 24V I (24 V)
5 ENC_B B Encoder channel B, inverted I (24 V)
CW/CCW signals 24 VPin Signal Pair Meaning I/O7 CW(24) A Pulse positive 24V I (24 V)
2 CW A Pulse positive, inverted I (24 V)
8 CCW(24) B Pulse negative 24V I (24 V)
5 CCW B Pulse negative, inverted I (24 V)
Connecting Pulse Train In (PTI)24 V
▶ Assemble the cable as shown in the illustration Figure 43. Verifycorrect pin assignment. Pairing for PTI 24 V does not correspondto the usual connector assignment.
▶ Connect the connector to CN5.▶ Verify that the connector locks snap in properly at the housing.
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5.3.11 Connection controller supply and STO (CN2, DC Supply and STO)
DANGERELECTRIC SHOCK CAUSED BY INCORRECT POWER SUPPLY UNIT
The +24VDC supply voltage is connected with many exposed signalconnections in the drive system.
• Use a power supply unit that meets the PELV (Protective ExtraLow Voltage) requirements.
• Connect the negative output of the power supply unit to PE(ground).
Failure to follow these instructions will result in death or seri-ous injury.
NOTICEDESTRUCTION OF CONTACTS
The connection for the controller supply at the product does not havean inrush current limitation. If the voltage is switched on by means ofswitching of contacts, damage to the contacts or contact weldingmay result.
• Switch the power input of the power supply unit instead of theoutput voltage.
Failure to follow these instructions can result in equipmentdamage.
Safety function STO WARNINGLOSS OF SAFETY FUNCTION
Incorrect usage may cause a hazard due to the loss of the safetyfunction.
• Observe the requirements for using the safety function.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Information on the signals of the safety function STO can be found inchapter "4.9 Safety function STO ("Safe Torque Off")". If the safetyfunction is NOT required, the inputs STO_A and STO_B must be con-nected to +24VDC.
Cable specifications CN2 See chapter "4.2 Cables", page 68 for information on the cables.
Shield: - 1)
Twisted Pair: -
PELV: Required
Minimum conductor cross section: 0.75 mm2 (AWG 18)
Maximum cable length: 100 m
Special characteristics: -1) See "4.9.3 Requirements for using the safety function"
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Properties of connection terminalsCN2 LXM32∙...
Maximum terminal current A 16 1)
Connection cross section mm2 (AWG)
0.5 ... 2.5(20 ... 14)
Stripping length mm(in)
12 ... 13(0.47 ... 0.51)
1) Note the maximum permissible terminal current when connecting several devices.
The terminals are approved for wires and rigid conductors. Observethe maximum permissible connection cross section. Take into accountthe fact that wire ferrules increase the connection cross section.
Permissible terminal current ofcontroller supply
• Connection CN2, pins 3 and 7 as well as CN2, pins 4 and 8 (seeFigure 44) can be used as 24V/0V connections for additional con-sumers. 1 Note the maximum permissible terminal current("Properties of connection terminals CN2").
• The voltage at the holding brake output depends on the controllersupply. Note that the current of the holding brake also flows via thisterminal.
• As long as the controller supply is switched on, the position of themotor will remain the same, even if the power stage supply isswitched off.
Wiring diagram
+
-
~24VDC
STO_A
STO_B
24V
0V
CN2 DC Supply / STOSTO_A
STO_B
24V
0V
1 5
432
876
1 5
4
3
2
8
7
6
1 5
4
3
2
8
7
6
Figure 44: Wiring diagram controller supply
Pin Signal Meaning1, 5 STO_A Safety function STO: Dual-channel connection, connection A
2, 6 STO_B Safety function STO: Dual-channel connection, connection B
3, 7 +24 VDC 24 V controller supply
4, 8 0VDC Reference potential for 24 V controller supply; Reference potential for STO
Connecting the safety functionSTO
▶ Verify that wiring, cables and connected interfaces meet the PELVrequirements.
▶ Connect the safety function in accordance with the specifications inchapter "4.9 Safety function STO ("Safe Torque Off")", page 82.
1. In the connector, the following pins are connected: pin 1 to pin 5, pin 2 to pin 6, pin 3 to pin 7 and pin 4 to pin 8.
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Connecting the controller supplyvoltage
▶ Verify that wiring, cables and connected interfaces meet the PELVrequirements.
▶ Route the controller supply voltage from a power supply unit(PELV) to the device.
▶ Ground the negative output at the power supply unit.▶ Note the maximum permissible terminal current when connecting
several devices.▶ Verify that the connector locks snap in properly at the housing.
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5.3.12 Connecting the digital inputs/outputs (CN6)
The device has configurable inputs and configurable outputs. Thestandard assignment and the configurable assignment depends onthe selected operating mode. For more information, see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
Cable specifications See chapter "4.2 Cables" for information on the cables.
Shield: -
Twisted Pair: -
PELV: Required
Cable composition: 0.25 mm2, (AWG 22)
Maximum cable length: 30 m
Special characteristics:
Properties of connection terminalsCN6 LXM32∙...
Connection cross section mm2 (AWG)
0.2 ... 1.0(24 ... 16)
Stripping length mm(in)
10(0.39)
Wiring diagram
Dl0/CAP1Dl1/CAP2Dl3Dl4Dl5
Dl2
DICOMSHLDDQ1DQ2DQ0DQCOM
CN6 I/O
Figure 45: Wiring diagram, digital inputs/outputs
Signal Meaning I/ODQ_COM Reference potential to DQ0 ... DQ4DQ0 Digital output 0 O (24 V)DQ1 Digital output 1 O (24 V)DQ2 Digital output 2 O (24 V)SHLD Shield connectionDI_COM Reference potential to DI0 ... DI5DI0 / CAP1 Digital input 0 / Capture input 1 I (24 V)
DI1 / CAP2 Digital input 1 / Capture input 2 I (24 V)
DI2 / CAP31)
Digital input 2 / Capture input 3 ) I (24 V)
DI3 Digital input 3 I (24 V)DI4 Digital input 4 I (24 V)DI5 Digital input 5 I (24 V)1) Available with hardware version ≥RS03
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The connectors are coded. Verify correct assignment when connect-ing them.
The configuration and the standard assignment of the inputs and out-puts are described in chapter"7.6.2 Setting the digital signal inputs and signal outputs".
Connecting the digital inputs/outputs
▶ Wire the digital connections to CN6.▶ Ground the shield to SHLD.▶ Verify that the connector locks snap in properly at the housing.
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5.3.13 Connection of PC with commissioning software CN7)
NOTICEDAMAGE TO PC
If this commissioning interface at the product is directly connected toa Gigabit Ethernet interface at the PC, the PC interface may bedestroyed.
• Do not directly connect an Ethernet interface to the commission-ing interface of this product.
Failure to follow these instructions can result in equipmentdamage.
Cable specifications See chapter "4.2 Cables", page 68 for information on the cables.
Shield: Required, both ends grounded
Twisted Pair: Required
PELV: Required
Cable composition: 8 * 0.25 mm2 (8 * AWG 22)
Maximum cable length: 100 m
Special characteristics: -
Connecting a PC A PC with commissioning software can be connected for commission-ing. The PC is connected via a bidirectional USB/RS485 converter,see chapter Accessories, page 657.
Wiring diagram
12345678
1
8
CN7
Figure 46: Wiring diagram PC with commissioning software
Pin Signal Meaning I/O1 ... 3 - Reserved -
4 MOD_D1 Bidirectional transmit/receive signal RS485 level
5 MOD_D0 Bidirectional transmit/receive signal, inverted RS485 level
6 - Reserved -
7 MOD+10V_OUT 10 V supply, maximum 100 mA O
8 MOD_0V Reference potential to MOD+10V_OUT
▶ Verify that the connector locks snap in properly at the housing.
5.3.14 Modules
The mechanical installation of modules is described in chapter"5.2.1 Installing and removing modules" on page 92.
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The electrical installation of the module is described in the corre-sponding manual for the module.
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5.4 Checking installation
Verify proper installation:
▶ Check the mechanical installation of the entire drive system:• Does the installation meet the specified distance requirements?• Did you tighten all fastening screws with the specified tightening
torque?▶ Check the electrical connections and the cabling:• Did you connect all protective ground conductors?• Do all fuses have the correct rating; are the fuses of the specified
type?• Did you connect or insulate all wires at the cable ends?• Did you properly connect and install all cables and connectors?• Are the mechanical locks of the connectors correct and effective?• Did you properly connect the signal wires?• Are the required shield connections EMC-compliant?• Did you take all measures for EMC compliance?
▶ Verify that all covers and seals of the control cabinet are properlyinstalled to meet the required degree of protection.
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6 Commissioning
This chapter describes how to commission the product.
An alphabetically sorted overview of the parameters can be found inthe chapter "Parameters". The use and the function of some parame-ters are explained in more detail in this chapter.
DANGERELECTRIC SHOCK CAUSED BY INCORRECT USE
The safety function STO (Safe Torque Off) does not cause electricisolation. The DC bus voltage is still present.
• Turn off the mains voltage using an appropriate switch to achievea voltage-free condition.
Failure to follow these instructions will result in death or seri-ous injury.
Unsuitable settings or unsuitable data may trigger unintended move-ments, trigger signals, damage parts and disable monitoring functions.Some settings do not become active until after a restart.
WARNINGUNINTENDED EQUIPMENT OPERATION
• Do not operate the drive system with unknown settings or data.• Never modify a parameter unless you fully understand the param-
eter and all effects of the modification.• After modifications to settings, restart the drive and verify the
saved data or settings.• When commissioning the product, carefully run tests for all oper-
ating states and potential error situations.• Verify the functions after replacing the product and also after
making changes to the settings or data.• Only start the system if there are no persons or obstructions in
the danger zone.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
If the power stage is disabled unintentionally, for example as a resultof power outage, errors or functions, the motor is no longer deceler-ated in a controlled way.
WARNINGMOVEMENT WITHOUT BRAKING EFFECT
Verify that movements without braking effect cannot cause injuries orequipment damage.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
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When the product is operated for the first time, there is a risk of unan-ticipated movements caused by, for example, incorrect wiring orunsuitable parameter settings.
WARNINGUNINTENDED MOVEMENT
• Run initial tests without coupled loads.• Verify that a functioning emergency stop push-button is within
reach of all persons involved in running tests.• Anticipate movements in unintended directions or oscillation of
the motor.• Only operate the system if there are no persons or obstructions in
the danger zone.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
The metal surfaces of the product may exceed 100 °C (212 °F) duringoperation.
WARNINGHOT SURFACES
• Ensure that any contact with hot surfaces is avoided.• Do not allow flammable or heat-sensitive parts in the immediate
vicinity of hot surfaces.• Verify that the heat dissipation is sufficient by performing a test
run under maximum load conditions.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
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6.1 Overview
6.1.1 Commissioning steps
You must also re-commission an already configured device if youwant to use it under changed operating conditions.
To be done"5.4 Checking installation"
"6.5 Commissioning procedure"
"6.5.1 "First Setup""
"6.5.2 Operating state (state diagram)"
"6.5.3 Setting basic parameters and limit values"
"6.5.4 Digital inputs / outputs"
"6.5.5 Testing the signals of the limit switches"
"6.5.6 Testing the safety function STO"
"6.5.7 Holding brake"
"6.5.8 Checking the direction of movement"
"6.5.9 Setting parameters for encoder"
"6.5.10 Setting the braking resistor parameters"
"6.5.11 Autotuning the device"
"6.5.12 Enhanced settings for autotuning"
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6.1.2 Commissioning tools
Overview The following tools can be used for commissioning, parameterizationand diagnostics:
1 2 3 4
Fault Edit Value Unit
Op
Mon
Conf
ESC
Figure 47: Commissioning tools
(1) Integrated HMI(2) External graphic display terminal(3) PC with commissioning software(4) Fieldbus
Access to all parameters is only possible with the commissioning soft-ware or via the fieldbus.
Device settings can be duplicated. Stored device settings can betransferred to a device of the same type. Duplicating the device set-tings can be used if multiple devices are to have the same settings, forexample, when devices are replaced.
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6.2 Integrated HMI
The device allows you to edit parameters, start the operating modeJog or perform autotuning via the integrated Human-Machine Inter-face (HMI). Diagnostics information (such as parameter values orerror numbers) can also be displayed. The individual sections on com-missioning and operation include information on whether a functioncan be carried out via the integrated HMI or whether the commission-ing software must be used.
Overview
Fault Edit Value Unit
Op
Mon
Conf
ESC 3
2
1
4
5
Figure 48: Controls at the integrated HMI
(1) Status LEDs(2) 7-segment display(3) ESC key(4) Navigation button(5) Red LED on: Voltage present at DC bus
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6.2.1 Indication and operation
Overview Status LEDs and a 4-digit 7-segment display indicate the device sta-tus, menu designation, parameter codes, status codes and error num-bers. By turning the navigation button, you can select menu levels andparameters and increment or decrement values. To confirm a selec-tion, press the navigation button.The ESC (Escape) button allows you to exit parameters and menus. Ifvalues are displayed, the ESC button lets you return to the last savedvalue.
Character set on the HMI The following table shows the assignment of the characters to thesymbols displayed by the 4-digit 7-segment display.
A B C D E F G H I J K L M N O P Q R
A B cC D E F G H i J K L M N o P Q R
S T U V W X Y Z 1 2 3 4 5 6 7 8 9 0
S T u V W X Y Z 1 2 3 4 5 6 7 8 9 0
! ? % ( ) + - _ < = > " ’ ^ / \ ° μ
! ?“ % ( ) + - _ < = > " ` ^ / \ ° µ
Indication of the device statusFault Edit Value Unit
Op
Mon
Conf
3
1
2
(1) Four status LEDs are located above the 7-segment display:
Fault Edit Value Unit MeaningLights,red
Operating state Fault
Lightsyellow
Lightsyellow
Parameter value can be edited
Lightsyellow
Value of the parameter
Lightsyellow
Unit of the selected parameter
(2) Three status LEDS for identification of the menu levels:
LED MeaningOp Operation
Mon Monitoring
Conf Configuration
(3) Flashing dots indicate a warning, for example, if a limit valuehas been exceeded.
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Display of values The HMI can directly display values up to 999.
Values greater than 999 are displayed in ranges of 1000. Turn thenavigation button to select one of the ranges.
Example:: Value 1234567890
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Figure 49: HMI display of values
Navigation button The navigation button can be turned and pressed. There are twotypes of pressing: brief pressing (≤1 s) and long pressing (≥3 s).
Turn the navigation button to do the following:
• Go to the next or previous menu• Go to the next or previous parameter• Increment or decrement values• Switch between ranges in the case of values >999
Briefly press the navigation button to do the following:
• Call the selected menu• Call the selected parameter• Save the current value to the EEPROM
Hold down the navigation button to do the following:
• Display a description of the selected parameter• Display the unit of the selected parameter
Access channels The product can be addressed via different access channels. Seechapter "7.1 Access channels" for additional information.
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6.2.2 Menu structure
Overview The integrated HMI is menu-driven. The following illustration showsthe top level of the menu structure.
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
ESC
<1s
<1s
ESC
<1s
ESC
<1s
ESCESC ESC
Figure 50: HMI menu structure
The level below the top level contains the parameters belonging to therespective menu items. To facilitate access, the parameter tables alsospecify the menu path, for example op → jog-.
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rdy
Card
inf- acg- drc- i-o- flt- Com- fcs-
prn
refd
mnam
pru
prr
unam
pino
pina
sens
ntyp
mino
mima
mnma
Pbbd
PbPr
nmax
pp1
pp2
imax
jer
Pn1
Pn2
tin1
tau1
tin2
tau2
fpp1
fpp2
di0
di1
di2
di3
di4
di5
qcur MbAd
Mbbd
rESC
rESu
rStF
VAct
nref
supv
nAct
vref
qref
Ana1
Ana2
qact
iAct
diMo
domo
udcr
ldfp
sto
udca
ldfm
ldfb
tdev
oph
tps
powo
lwrn
wrns
lflt
sigs
do1
ithr
tthr
iLiM
GFiL
GFAC
ESSC
ioPi
do0
do2
Jog-
tun-
op
mon
jgst
jghi
jglo
tust
gain
stin
Conf
hom-
hMSt
MEth
hMn
MSM- MSSt
AtyP
qabs
ioae
inmo
nrmp
hcur
htyp
tbr
eibr
rbr
pobr
PtoM
dEVC
Card
CoAd
Cobd
dnAd
dnbd
PbAd
iPMd
iPc1
iPc2
iPc3
iPc4
iPM1
iPM2
iPM3
iPM4
iPG1
iPG2
iPG3
iPG4
iPA1
iPA2
iPA3
iPA4
EtMd
dhcn
EFdr
EcSA
EcAA
EcSS
CoAd
Cobd
dnAd
dnbd
PbAd
iPMd
iPc1
iPc2
iPc3
iPc4
iPM1
iPM2
iPM3
iPM4
dhcn
EFdr
FSU-
�
�
Figure 51: HMI menu structure LXM32M
(1) Depending on module
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HMI menu FSU- Description
fsu- First setup (First Setup)
Coad CANopen address (node number)
Cobd CANopen baud rate
dnad DeviceNet node address (MAC ID)
dnbd DeviceNet baud rate
pbad Profibus address
ipMd Type of obtaining IP address
ipc1 IP address Ethernet module, byte 1
ipc2 IP address Ethernet module, byte 2
ipc3 IP address Ethernet module, byte 3
ipc4 IP address Ethernet module, byte 4
ipm1 IP address subnet mask, byte 1
ipm2 IP address subnet mask, byte 2
ipm3 IP address subnet mask, byte 3
ipm4 IP address subnet mask, byte 4
dhcn User application name HMI, part 4
efdr FDR service
HMI menu op Description
op Operating mode (O peration)
Jog- Operating mode Jog
tun- Autotuning
hom- Operating mode Homing
msm- Operating mode Motion Sequence
HMI menu Jog- Description
Jog- Operating mode Jog
jgst Start operating mode Jog
jghi Velocity for fast movement
jglo Velocity for slow movement
HMI menu tun- Description
tun- Autotuning
tust Start autotuning
gain Global gain factor (affects parameter set 1)
stin Direction of movement for Autotuning
HMI menu hom- Description
hom- Operating mode Homing
hmst Start operating mode Homing
meth Preferred homing method
hmn Target velocity for searching the switch
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HMI menu msm- Description
msm- Operating mode Motion Sequence
msst Start operating mode Motion Sequence
HMI menu Mon Description
Mon Monitoring (Monitoring)
Supu HMI display when motor moves
nact Actual speed of rotation
Vact Actual velocity
nref Reference speed of rotation
Vref Reference velocity
Qref Reference motor current (q component, generating torque)
qact Actual motor current (q component, generating torque)
iact Total motor current
ana1 Analog 1: Value of input voltage
ana2 Analog 2: Value of input voltage
dimo Status of digital inputs
domo Status of digital outputs
sto Status of the inputs for the safety function STO
udca Voltage at DC bus
udcr Degree of utilization of DC bus voltage
ldfp Current load of power stage
ldfm Current load of motor
ldfb Current load of braking resistor
tdeV Current device temperature
tps Current power stage temperature
oph Operating hours counter
Polo Number of power on cycles
lwrn Number of last warning (error class 0)
wrns Saved warnings, bit-coded
lflt Detected error causing a stop (error classes 1 to 4)
sigs Saved status of monitoring signals
HMI menu Conf Description
Conf Configuration (Configuration)
inf- Information/Identification (INFormation / Identification)
acg- Axis configuration (Axis Configuration)
drc- Device configuration (DRive Configuration)
i-o- Configurable inputs/outputs (In Out)
flt- Indication of detected error
Com- Communication (COMmunication)
fcs- Restore factory settings (default values) (Factrory Settings)
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HMI menu INF- Description
Inf- Information/Identification (INFormation / Identification)
prn Firmware number
Pru Firmware version
prr Firmware revision
refd Product Name
Mnam Type
unam User application name
pino Nominal current of power stage
pina Maximum current of power stage
ntyp Motor type
sens Encoder type of motor
mino Nominal current of motor
mima Maximum motor current
mnma Maximum permissible speed of rotation/velocity of motor
pbbd Profibus baud rate
pbpr Profibus drive profile
HMI menu acg- Description
acg- Axis configuration (Axis Configuration)
atyp Activation of Modulo
ioae Enabling the power stage at PowerOn
inmo Inversion of direction of movement
qabs Simulation of absolute position at power cycling
nrmp Maximum velocity of the motion profile for velocity
hcur Current value for Halt
htyp Halt option code
eibr Selection of internal or external braking resistor
tbr Maximum permissible activation duration of external braking resistor
rbr Resistance value of external braking resistor
pobr Nominal power of external braking resistor
ptom Type of usage of PTO interface
devC Specification of the control mode
Card Memory card management
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HMI menu DRC- Description
drC- Device configuration (DRive Configuration)
nmax Velocity limitation
imax Current limitation
jer Jerk limitation of the motion profile for velocity
pp1 Position controller P gain
pp2 Position controller P gain
pn1 Velocity controller P gain
pn2 Velocity controller P gain
tin1 Velocity controller integral action time
tin2 Velocity controller integral action time
tau1 Filter time constant of the reference velocity value filter
tau2 Filter time constant of the reference velocity value filter
fpp1 Feed-forward control Velocity
fpp2 Feed-forward control Velocity
HMI menu I-O- Description
i-o- Configurable inputs/outputs (In Out)
di0 Function Input DI0
di1 Function Input DI1
di2 Function Input DI2
di3 Function Input DI3
di4 Function Input DI4
di5 Function Input DI5
do0 Function Output DQ0
do1 Function Output DQ1
do2 Function Output DQ2
ithr Monitoring of current threshold
tthr Monitoring of time window
ilin Current limitation via input
gfac Selection of special gear ratios
gfil Activation of jerk limitation
essc Resolution of encoder simulation
iopi Selection of type of reference value signal for PTI interface
HMI menu FLT- Description
FLt- Indication of detected error
qcur Current value for Quick Stop
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HMI menu Com- Description
Com- Communication (COMmunication)
mbad Modbus address
mbbd Modbus baud rate
Coad CANopen address (node number)
Cobd CANopen baud rate
dnad DeviceNet node address (MAC ID)
dnbd DeviceNet baud rate
pbad Profibus address
ipMd Type of obtaining IP address
ipc1 IP address Ethernet module, byte 1
ipc2 IP address Ethernet module, byte 2
ipc3 IP address Ethernet module, byte 3
ipc4 IP address Ethernet module, byte 4
ipm1 IP address subnet mask, byte 1
ipm2 IP address subnet mask, byte 2
ipm3 IP address subnet mask, byte 3
ipm4 IP address subnet mask, byte 4
ipg1 IP address gateway, byte 1
ipg2 IP address gateway, byte 2
ipg3 IP address gateway, byte 3
ipg4 IP address gateway, byte 4
ipa1 Current IP address Ethernet module, byte 1
ipa2 Current IP address Ethernet module, byte 2
ipa3 Current IP address Ethernet module, byte 3
ipa4 Current IP address Ethernet module, byte 4
etMd Protocol
dhcn User application name HMI, part 4
efdr FDR service
ecsa Second EtherCAT address
ecaa EtherCAT address
ecss EtherCAT slave state
HMI menu fcs- Description
fcs- Restore factory settings (default values) (Factrory Settings)
resc Reset controller parameters
resu Resetting the user parameters
rstf Restore factory settings (default values)
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6.2.3 Making settings
Displaying and setting parameters The figure below shows an example of displaying a parameter (sec-ond level) and entering or selecting a parameter value (third level).
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
ESCESC
ESC
Fault Edit Value UnitOp
Mon
Conf
<1s
<1s
<1s
<2s
Figure 52: Integrated HMI, example of setting a parameter
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■ The parameter imax (iMax) is shown on the 7-segment display,see Figure 52.
▶ Press the navigation button for a longer period of time to display aparameter description.
◁ The parameter description is displayed in the form of horizontallyscrolling text.
▶ Briefly press the navigation button to display the current value ofthe selected parameter.
◁ The Value status LED lights up and the current parameter value isdisplayed.
▶ Press the navigation button for a longer period of time to displaythe unit of the current parameter value.
◁ As long as the navigation button is held down, the status LEDsValue and Unit light. The unit of the current parameter value is dis-played. Once you release the navigation button, the current param-eter value is displayed again and the status LED Value lights.
▶ Briefly press the navigation button to activate the Edit mode whichallows you to modify parameter values.
◁ The Edit and Value status LEDs light up and the current parametervalue is displayed.
▶ Turn the navigation button to change the value. The incrementsand the limit value for each parameter are pre-defined.
◁ The Edit and Value status LEDs light and the selected parametervalue is displayed.
▶ Briefly press the navigation button to save the changed parametervalue.
If you do not want to save the changed parameter value, press theESC button to cancel. The display returns to the original value.
◁ The displayed parameter value flashes once; the changed parame-ter value is written to the EEPROM.
▶ Press ESC to return to the menu
Setting the 7-segment display By default, the current operating state is displayed by the 4-digit 7-segment display, see page 213. You can set the following via themenu item drc- / supv:
• stat displays the current operating state• vact displays the current velocity of the motor• iact displays the current motor current
A change only becomes active when the power stage is disabled.
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6.3 External graphic display terminal
The external graphic display terminal is only designed for commission-ing drives.
1
2
3
54
6
7
Figure 53: External graphic display terminal
(1) Display field(2) Navigation button(3) STOP/RESET key(4) RUN key(5) FWD/REV key(6) ESC key(7) Function keys F1 ... F4
Depending on the firmware version of the external graphic display ter-minal, the information may be represented differently. Use the mostup to date firmware version.
If you have any questions please contact your sales office. Your salesoffice staff will be happy to give you the name of a customer serviceoffice in your area.
http://www.schneider-electric.com
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6.3.1 Display and controls
Display field (1) The display is subdivided into 5 areas.
1.1
1.2
1.3
1.5
1.4
RDY
MAIN MENU
0rpm 0.00Arms
PASSWORD
OPEN / SAVE
ACCESS LEVEL
LANGUAGE
Code
SERVO1
5
4
3
2
Figure 54: Display of the graphic display terminal (example shows English lan-guage)
(1.1) Status information of the drive(1.2) Menu bar(1.3) Data field(1.4) Function bar(1.5) Navigation
Status information of the drive(1.1)
This line displays the current operating state, the actual velocity andthe motor current. If an error is detected, the error number is displayedinstead of the operating state.
Menu bar (1.2) The menu bar displays the name of the current menu.
Data field (1.3) The following information can be displayed and values entered in thedata field:
• Submenus• Operating mode• Parameters and parameter values• State of movement• Error messages
Function bar (1.4) The function bar displays the name of the function that is triggeredwhen you press the corresponding function key. Example: Pressingthe F1 function key displays the "Code". If you press F1, the HMIname of the displayed parameter is shown.
Navigation (1.5) Arrows indicate that additional information is available that can be dis-played by scrolling.
Navigation button (2) By turning the navigation button, you can select menu levels andparameters and increment or decrement values. To confirm a selec-tion, press the navigation button.
Key STOP/RESET (3) The key STOP/RESET terminates a movement by means of a QuickStop.
Key RUN (4) The key RUN allows you to start a movement.
Key FWD/REV (5) The key FWD/REV allows you to reverse the direction of movement.
Key ESC (6) The ESC (Escape) button allows you to exit parameters and menus orcancel a movement. If values are displayed, the ESC key lets youreturn to the last saved value.
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Function keys F1 ... F4 (7) The assignment of the function keys F1 .... F4 depends on the con-text. The function bar displays the name of the function triggeredwhen the corresponding function key is pressed.
6.3.2 Connecting the external graphic display terminal to LXM32
The external graphic display terminal is an accessory for the drive,see chapter "11.1 Commissioning tools", page 657. The externalgraphic display terminal is connected to CN7 (commissioning inter-face). Only use the cable shipped with the external graphic display ter-minal to connect it. If the external graphic display terminal is connec-ted to LXM32, the integrated HMI is deactivated. The integrated HMIshows disp (Display).
6.3.3 Using the external graphic display terminal
The following 2 examples show you how to use the external graphicdisplay terminal.
Example 'Setting the Language' In this example, you set the desired language for the external graphicdisplay terminal. The drive must have been fully installed and the sup-ply voltage must be on.
■ The external graphic display terminal has been connected to CN7and the main menu is displayed.
▶ Rotate the navigation button until item 5 (LANGUAGE) is highligh-ted.
▶ Press the navigation button to confirm the selection.◁ The menu bar shows the selected function (5 LANGUAGE). The
data field displays the selected value, in this case the selected lan-guage.
▶ Press the navigation button to change the value.◁ The menu bar displays the selected function "Language". The sup-
ported languages are shown in the data field.▶ Turn the navigation button to select the desired language.◁ The currently active language is highlighted by a check.▶ Press the navigation button to confirm the selected value.◁ The menu bar displays the selected function "Language". The
selected language is shown in the data field.▶ Press ESC to return to the main menu.◁ The main menu is displayed in the selected language.
Example 'Using Operating ModeJog'
This example starts a movement in the operating mode Jog. The drivemust have been fully installed. Commission the drive as per chapter"6.5 Commissioning procedure". The following procedure correspondsto chapter ."6.5.8 Checking the direction of movement".
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■ The external graphic display terminal has been connected to CN7and the main menu is displayed. The desired language has beenset.
▶ Rotate the navigation button until item 1 (SERVO) is highlighted.▶ Press the navigation button to confirm the selection.◁ The menu bar shows the selected function (1 SERVO). The data
field displays the submenu of the selected function (1 SERVO).▶ Rotate the navigation button until item 1.4 (OPERATION) is high-
lighted and press the navigation button to confirm the selection.◁ The menu bar shows the selected function (1.4 OPERATION). The
data field displays the supported operating modes in a submenu.▶ Rotate the navigation button until item 1.4.1 (JOG) is highlighted
and press the navigation button to confirm the selection.◁ The menu bar shows the selected function (1.4.1 JOG). The data
field displays "Op. mode Jog" and the parameters and parametervalues for the operating mode
▶ Rotate the navigation button until the item "Op. mode Jog" is high-lighted and press the navigation button to confirm the selection.
◁ The data field displays "JOG → " (Jog, slow movement in positivedirection).
▶ Rotate the navigation button to change the (slow: → , ← fast: →→ ,←← ) and the direction of movement (positive direction of move-ment: → , →→ , negative direction of movement: ← , ←← ). You canalso use the FWD/REV key to change the direction of movement.
▶ Press the navigation button or the RUN key to enable the powerstage.
▶ Press the navigation button or the RUN key to start a movement.◁ The movement continues as long as you hold down the navigation
button / the RUN key or until you press the STOP/RESET key. Youcan neither change the velocity nor the direction of movement dur-ing the movement.
▶ To stop the movement, press the STOP/RESET key or release thenavigation button / the RUN key.
▶ Press the ESC key to disable the power stage.◁ Power stage is disabled.▶ Press ESC 3 times to return to the main menu.◁ Each time you press ESC you go back by one menu level.
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6.4 Commissioning software
The commissioning software has a graphic user interface and is usedfor commissioning, diagnostics and testing settings.
• Tuning of the controller parameters via a graphical user interface• Comprehensive set of diagnostics tools for optimization and main-
tenance• Long-term trace for evaluation of the performance• Testing the input and output signals• Tracking signals on the screen• Archiving of device settings and recordings with export function for
further processing in other applications
See page 131 for details on connecting a PC to the device.
Online help The commissioning software offers help functions, which can beaccessed via "? Help Topics" or by pressing the F1 key.
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6.5 Commissioning procedure
Unsuitable settings or unsuitable data may trigger unintended move-ments, trigger signals, damage parts and disable monitoring functions.Some settings do not become active until after a restart.
WARNINGUNINTENDED EQUIPMENT OPERATION
• Do not operate the drive system with unknown settings or data.• Never modify a parameter unless you fully understand the param-
eter and all effects of the modification.• After modifications to settings, restart the drive and verify the
saved data or settings.• When commissioning the product, carefully run tests for all oper-
ating states and potential error situations.• Verify the functions after replacing the product and also after
making changes to the settings or data.• Only start the system if there are no persons or obstructions in
the danger zone.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
WARNINGUNINTENDED BEHAVIOR CAUSED BY ACCESS CONTROL
Improper use of access control may cause commands to be trig-gered or blocked.
• Verify that no unintended behavior is caused as a result of ena-bling or disabling exclusive access.
• Verify that impermissible access is blocked.• Verify that required access is available.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
6.5.1 "First Setup"
A "First Setup" is required when the controller supply is switched onfor the first time or after the factory settings have been restored.
Duplicating device settings A memory card or the commissioning software allows you duplicatedevice settings. See chapter "6.8 Duplicating existing device settings",page 204 for additional information.
Automatic reading of the motordata record
When the device is switched on and if an encoder is connected toCN3, the device automatically reads the electronic nameplate from theHiperface encoder. The record is checked and written to theEEPROM.
The record contains technical information on the motor such as nomi-nal torque and peak torque, nominal current, nominal velocity andnumber of pole pairs. The record cannot be changed by the user.Without this information, the device is not ready for operation.
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Manual adjustment of the motorparameters
If the motor encoder is not connected to CN3, the motor parametersmust be adjusted manually. Note the information in the manual for theencoder modules.
Preparation If the device is not to be commissioned exclusively via the HMI, a PCwith the commissioning software must be connected.
Switching on the device ■ The power stage supply is switched off.▶ Disconnect the product from the the fieldbus during commissioning
in order to avoid conflicts by simultaneous access.▶ Switch on the controller supply.◁ The device goes through an initialization routine, all LEDs are tes-
ted, all segments of the 7-segment display and the status LEDslight up.
If a memory card is in the the slot of the device, the message CARD isdisplayed by the 7-segment display for a short period of time. Thisindicates that a memory card has been detected. If the message CARDis permanently displayed by the 7-segment display, there are differen-ces between the content of the memory card and the parameter val-ues stored in the device. See chapter "6.7 Memory Card", page 200for additional information.
After initialization and if one or more modules are plugged in, youmust make additional settings depending on the module(s). Makesthese settings as described in the appropriate manuals for the mod-ules.
Restarting the device A restart of the device is required for the changes to become effective.After the restart, the device is ready for operation. The device is in theoperating mode Jog. See chapter "7.4 Operating modes", page 219for changing operating modes.
Further steps ▶ Attach a label to the device that contains information for servicingthe device such as fieldbus type and device address.
▶ Make the settings described below for commissioning.
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6.5.2 Operating state (state diagram)
After switching on and when an operating mode is started, the productgoes through a number of operating states.
The state diagram (state machine) shows the relationships betweenthe operating states and the state transitions.
The operating states are internally monitored and influenced by moni-toring functions.
Graphical representation The state diagram is represented as a flow chart.
T10
T12
T15
3
4
6
5
OperationEnabled
ReadyTo Switch Onrdy
Switched OnSon
Switch OnDisableddis
T11
T16
T4
T3
T9 T2 T7
T1
Not ReadyTo Switch On
nrdy
INIT1
2T0
T13
Fault
Fault ReactionActive
fLt
fLt
8
9
T14
7Quick Stop Active
Stop 8888
8888
HaLt
rUn
T5
T6T8
Switching on
Operating state State transition
Start
Error class 2, 3, (4)Error class 1
Error
Motor under current
Motor without current
HALT
Figure 55: State diagram
Operating states and state transi-tions
See page 213 for detailed information on operating states and statetransitions.
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6.5.3 Setting basic parameters and limit values
Prepare a list with the parameters required for the functions used.
Controller parameter sets This device allows you to use two controller parameter sets. It is pos-sible to switch form one set of controller parameters to the other dur-ing operation. The active controller parameter set is selected with theparameter CTRL_SelParSet.
The corresponding parameters are CTRL1_xx for the first controllerparameter set and CTRL2_xx for the second controller parameter set.The following descriptions use the notation CTRL1_xx (CTRL2_xx) ifthere are no functional differences between the two controller parame-ter sets.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL_SelParSet Selection of controller parameter set (non-persistent)
Coding see parameter: CTRL_PwrUpParSet
Changed settings become active immedi-ately.
-012
UINT16UINT16UINT16UINT16 R/W--
CANopen 3011:19h Modbus 4402Profibus 4402CIP 117.1.25
_CTRL_ActParSet Active controller parameter set
Value 1: Controller parameter set 1 is activeValue 2: Controller parameter set 2 is active
A controller parameter set is active after thetime for the parameter switching(CTRL_ParChgTime) has elapsed.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3011:17h Modbus 4398Profibus 4398CIP 117.1.23
CTRL_ParChgTime Period of time for parameter switching
In the case of parameter set switching, thevalues of the following parameters arechanged gradually:- CTRL_KPn- CTRL_TNn- CTRL_KPp- CTRL_TAUnref- CTRL_TAUiref- CTRL_KFPp
Such a parameter switching can be causedby - change of the active controller parameterset- change of the global gain- change of any of the parameters listedabove- switching off the integral term of the veloc-ity controller
Changed settings become active immedi-ately.
ms002000
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:14h Modbus 4392Profibus 4392CIP 117.1.20
Setting limit values Suitable limit values must be determined and calculated on the basisof the system and motor data. As long as the motor is operated with-out loads, the default settings do not need to be changed.
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Current limitation The maximum motor current can be set with the parameterCTRL_I_max.
The maximum current for the "Quick Stop" function can be limited withthe parameter LIM_I_maxQSTP and for the "Halt" function with theparameter LIM_I_maxHalt.
▶ Use the parameter CTRL_I_max to set the maximum motor cur-rent.
▶ Use the parameter LIM_I_maxQSTP to set the maximum motorcurrent for the "Quick Stop" function.
▶ Use the parameter LIM_I_maxHalt to set the maximum motorcurrent for the "Halt" function.
The motor can be decelerated via a deceleration ramp or the maxi-mum current for the functions "Quick Stop" and "Halt".
The device limits the maximum permissible current on the basis of themotor data and the device data. Even if the value entered for the max-imum current in the parameter CTRL_I_max is too high, the value islimited.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL_I_maxConF → drC-
iMAX
Current limitation
During operation, the actual current limit isone of the following values (whichever islowest): - CTRL_I_max- _M_I_max- _PS_I_max- Current limitation via analog input (moduleIOM1)- Current limitation via digital inputLimitations caused by I2t monitoring arealso taken into account.
Default: _PS_I_max at 8 kHz PWM fre-quency and 230/480 V mains voltage
In increments of 0.01 Arms.
Changed settings become active immedi-ately.
Arms 0.00-463.00
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:Ch Modbus 4376Profibus 4376CIP 117.1.12
LIM_I_maxQSTPConF → FLt-
qcur
Current value for Quick Stop
This value is only limited by the minimum/maximum value range (no limitation of thisvalue by motor/power stage).
In the case of a Quick Stop, the actual cur-rent limit (_Imax_act) is one of the followingvalues (whichever is lowest):- LIM_I_maxQSTP- _M_I_max- _PS_I_max
Further current reductions caused by I2tmonitoring are also taken into account dur-ing a Quick Stop.
Default: _PS_I_max at 8 kHz PWM fre-quency and 230/480 V mains voltage
In increments of 0.01 Arms.
Changed settings become active immedi-ately.
Arms ---
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:Dh Modbus 4378Profibus 4378CIP 117.1.13
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
LIM_I_maxHaltConF → ACG-
hcur
Current value for Halt
This value is only limited by the minimum/maximum value range (no limitation of thisvalue by motor/power stage).
In the case of a Halt, the actual current limit(_Imax_act) is one of the following values(whichever is lowest):- LIM_I_maxHalt- _M_I_max - _PS_I_max
Further current reductions caused by I2tmonitoring are also taken into account dur-ing a Halt.
Default: _PS_I_max at 8 kHz PWM fre-quency and 230/480 V mains voltage
In increments of 0.01 Arms.
Changed settings become active immedi-ately.
Arms ---
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:Eh Modbus 4380Profibus 4380CIP 117.1.14
Velocity limitation The parameter CTRL_v_max can be used to limit the maximum veloc-ity.
▶ Use the parameter CTRL_v_max to set the maximum velocity ofthe motor.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL_v_maxConF → drC-
nMAX
Velocity limitation
During operation, the actual velocity limit isone of the following values (whichever islowest): - CTRL_v_max- M_n_max- Velocity limitation via analog input (moduleIOM1)- Velocity limitation via digital input
Changed settings become active immedi-ately.
usr_v1132002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3011:10h Modbus 4384Profibus 4384CIP 117.1.16
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6.5.4 Digital inputs / outputs
The device has configurable inputs and configurable outputs. Thestandard assignment and the configurable assignment depends onthe selected operating mode. For more information, see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
The signal states of the digital inputs and outputs can be displayed onthe HMI and displayed and modified using the commissioning soft-ware.
Integrated HMI The signal states can be displayed on the integrated HMI, but theycannot be modified.
45 3 2 17 6 0
DI /DQ =1
DI /DQ =0
Figure 56: Integrated HMI, displaying the signal state of the digital inputs (DI∙)and outputs (DQ∙)
Inputs (parameter _IO_DI_act):
▶ Open the menu item -MON / dimo.◁ The digital inputs are displayed in a bit-coded way.
Bit Signal I/O0 DI0 I
1 DI1 I
2 DI2 I
3 DI3 I
4 DI4 I
5 DI5 I
6 - -
7 - -
The parameter _IO_DI_act does not display the states of the inputsof the safety function STO. Use the parameter _IO_STO_act to visu-alize the states of the inputs of the safety function STO.
Outputs (parameter _IO_DQ_act):
▶ Open the menu item -MON / domo.◁ The digital outputs are displayed in a bit-coded way.
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Bit Signal I/O0 DQ0 O
1 DQ1 O
2 DQ2 O
3 - -
4 - -
5 - -
6 - -
7 - -
Fieldbus The current signal states are contained in the parameter _IO_act ina bit-coded way. The values "1" and "0" correspond to the current sig-nal state of the input or output.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_IO_act Physical status of the digital inputs and out-puts
Low byte:Bit 0: DI0Bit 1: DI1Bit 2: DI2Bit 3: DI3Bit 4: DI4Bit 5: DI5
High byte:Bit 8: DQ0Bit 9: DQ1Bit 10: DQ2
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3008:1h Modbus 2050Profibus 2050CIP 108.1.1
_IO_DI_actMon
diMo
Status of digital inputs
Bit assignments:Bit 0: DI0Bit 1: DI1Bit 2: DI2Bit 3: DI3Bit 4: DI4Bit 5: DI5
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3008:Fh Modbus 2078Profibus 2078CIP 108.1.15
_IO_DQ_actMon
doMo
Status of digital outputs
Bit assignments:Bit 0: DQ0Bit 1: DQ1Bit 2: DQ2
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3008:10h Modbus 2080Profibus 2080CIP 108.1.16
_IO_STO_actMon
Sto
Status of the inputs for the safety functionSTO
Coding of the individual signals:Bit 0: STO_ABit 1: STO_B
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3008:26h Modbus 2124Profibus 2124CIP 108.1.38
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6.5.5 Testing the signals of the limit switches
The use of limit switches can provide some protection against hazards(for example, collision with mechanical stop caused by incorrect refer-ence values).
WARNINGLOSS OF CONTROL
• Check whether your application allows for the use of limitswitches. If yes, use limit switches.
• Verify correct connection of the limit switches.• Verify that the limit switches are mounted in a position far enough
away from the mechanical stop to allow for an adequate stoppingdistance.
• Verify correct parameterization and function of the limit switches.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
▶ Set up the limit switches in such a way as to keep the motor fromovertraveling the limit switches.
▶ Trigger the limit switches manually.◁ The HMI displays an error message.
Parameters can be used to release the limit switches and to set theevaluation to active 0 or active 1, see page 393.
If possible, use normally closed contacts so that a wire break can besignaled as an error.
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6.5.6 Testing the safety function STO
Operation with STO If you want to use the STO safety function, carry out the followingsteps:
■ Power stage supply is switched off.Controller supply voltage is switched off.
▶ Verify that the signal wires at the inputs (STO_A) and (STO_B) areisolated from each other. The two signal wires must not be electri-cally connected.
■ Power stage supply is switched on.Controller supply voltage is switched on.
▶ To avoid unintended restart after restoration of power, the parame-ter IO_AutoEnable must be set to "off". Verify that the parameterIO_AutoEnable is set to "off" (HMI: conf → acg → ioae).
▶ Start the operating mode Jog (without motor movement) (see page222).
▶ Trigger the safety function. STO_A and STO_B must be switched offsimultaneously.
◁ The power stage is disabled and error message 1300 is generated.(NOTE: Error message 1301 indicates a wiring error.)
▶ Check the behavior of the drive when errors are present.▶ Document all tests of the safety function in your acceptance proto-
col.
Operation without STO If you do not want to use the STO safety function:
▶ Verify that the inputs STO_A and STO_B are connected to +24VDC.
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6.5.7 Holding brake
Holding brake The holding brake in the motor has the task of holding the currentmotor position when the power stage is disabled, even if externalforces act (for example, in the case of a vertical axis). The holdingbrake is not a safety function and not a service brake.
The signals of the holding brake meet the PELV requirements.
Releasing the holding brake When the power stage is enabled, current is applied to the motor.When current is applied to the motor, the holding brake is automati-cally released.
Releasing the holding brake requires a certain amount of time. Thistime is contained in the electronic nameplate of the motor. Transitionto the operating state 6 Operation Enabled is only possible after thistime delay has elapsed.
An additional time delay can be set via parameters, see chapter"6.5.7.2 Adjustable parameters".
Applying the holding brake When the power stage is disabled, the holding brake is automaticallyapplied.
Applying the holding brake requires a certain amount of time. Thistime is contained in the electronic nameplate of the motor. Currentremains to be applied to the motor during this time delay.
An additional time delay can be set via parameters, see chapter"6.5.7.2 Adjustable parameters".
NOTE: Triggering the STO safety function means that the time delayfor motors with holding brake is not effective. The motor cannot gener-ate holding torque to bridge the time to application of the holdingbrake. Check whether additional measures have to be taken; forexample, this may cause the load of vertical axes to lower.
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6.5.7.1 Releasing the holding brake manuallyReleasing the holding brake may cause an unintended movement inthe system, for example, if vertical axes are used.
WARNINGUNINTENDED MOVEMENT
• Take appropriate measures to avoid damage caused by falling orlowering loads.
• Verify that there are no persons or obstacles in the danger zonewhen performing a test of the holding brake.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Mechanical adjustments may require you to manually rotate the motorshaft.
Manual release of the holding brake is only possible in the operatingstates 3 Switch On Disabled, 4 Ready To Switch On or 9 Fault.
As of firmware version ≥V01.12, you can manually release the holdingbrake.
Releasing the holding brake via asignal input
In order to release the holding brake via a signal input, you must firstparameterize the signal input function "Release Holding Brake", seechapter "7.6.2 Setting the digital signal inputs and signal outputs".
Releasing the holding brake viathe fieldbus
The parameter BRK_release can be used to release the holdingbrake via the fieldbus.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
BRK_release Processing of holding brake
0 / Automatic: Automatic processing1 / Manual Release: Manual release ofholding brake
The holding brake output can only be activa-ted in the operating states 'Switch On Disa-bled', 'Ready To Switch On' or 'Fault'.
If the power stage is active, the value isautomatically set to 0.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.12.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 3008:Ah Modbus 2068Profibus 2068CIP 108.1.10
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6.5.7.2 Adjustable parametersThe time delay for releasing and applying the holding brake stored inthe electronic nameplate depends on the motor type.
An additional time delay can be set via parameters.
• BRK_AddT_release: Additional time delay for releasing the hold-ing brake
• BRK_AddT_apply: Additional time delay for applying the holdingbrake
Time delay for releasing the hold-ing brake
An additional time delay can be set via the parameterBRK_AddT_release.
Transition to the operating state 6 Operation Enabled is only possibleafter the entire time delay has elapsed.
t
0
1
0
1
0
1
as per nameplate
0
1
BRK_AddT_release
ENABLE
TORQUE MOTOR
OPERATION ENABLED
BRAKE OUT
Figure 57: Releasing the holding brake
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
BRK_AddT_release
Additional time delay for releasing the hold-ing brake
The overall time delay for releasing theholding brake is the time delay from theelectronic nameplate of the motor and theadditional time delay in this parameter.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
ms00400
INT16INT16INT16INT16 R/Wper.-
CANopen 3005:7h Modbus 1294Profibus 1294CIP 105.1.7
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Time delay for applying the holdingbrake
An additional time delay can be set via the parameterBRK_AddT_apply.
Current continues to be applied to the motor until the entire time delayhas passed.
t
1
0
0
1
0
1
0
1
ENABLE
TORQUE MOTOR
OPERATION ENABLED
BRAKE OUT
BRK_AddT_applyas per nameplate
Figure 58: Applying the holding brake
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
BRK_AddT_apply Additional time delay for applying the hold-ing brake
The overall time delay for applying the hold-ing brake is the time delay from the elec-tronic nameplate of the motor and the addi-tional time delay in this parameter.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
ms001000
INT16INT16INT16INT16 R/Wper.-
CANopen 3005:8h Modbus 1296Profibus 1296CIP 105.1.8
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6.5.7.3 Checking the holding brakeReleasing the holding brake may cause an unintended movement inthe system, for example, if vertical axes are used.
WARNINGUNINTENDED MOVEMENT
• Take appropriate measures to avoid damage caused by falling orlowering loads.
• Verify that there are no persons or obstacles in the danger zonewhen performing a test of the holding brake.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Checking the holding brake ■ The device is in operating state "Ready to switch on" and theparameters for the holding brake must have been set.
▶ Start the operating mode Jog (HMI: op → JOg → JGST).◁ The power stage is enabled and the holding brake released. The
HMI displays JG-.▶ Press the navigation button and hold it down.◁ As long as the navigation button is held down, the motor moves.▶ Press ESC.◁ The holding brake is applied. The power stage is disabled.
NOTE: Depending on the motor current set, the driving torque may begreater than the holding torque of the holding brake.
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6.5.8 Checking the direction of movement
WARNINGUNEXPECTED MOVEMENT CAUSED BY INTERCHANGED MOTORPHASES
• Do not interchange the motor phases.• If required, use the parameter POSdirOfRotat for reversing the
direction.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Direction of movement Movements are made in positive or in negative directions.In the case of a rotary motors, direction of movement is defined inaccordance with IEC 61800-7-204: Positive direction is when themotor shaft rotates clockwise as you look at the end of the protrudingmotor shaft.
Checking the direction of move-ment
▶ Start the operating mode Jog. (HMI: op → JOg → JGST)◁ The HMI displays JG-.
Movement in positive direction:
▶ Press the navigation button and hold it down.◁ A movement is made in positive direction.
Movement in negative direction:
▶ Turn the navigation button until the HMI displays -JG.▶ Press the navigation button and hold it down.◁ A movement is made in negative direction.
Changing the direction of move-ment
If the expected direction of movement and the actual direction ofmovement are not identical, you can invert the direction of movement.
• Inversion of direction of movement is off:Movements are made in positive direction with positive target val-ues.
• Inversion of direction of movement is on:Movements are made in positive direction with negative target val-ues.
The parameter InvertDirOfMove allows you to invert the directionof movement.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
InvertDirOfMoveConF → ACG-
inMo
Inversion of direction of movement
0 / Inversion Off / oFF : Inversion of direc-tion of movement is off1 / Inversion On / on : Inversion of directionof movement is on
The limit switch which is reached with amovement in positive direction must be con-nected to the positive limit switch input andvice versa.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:Ch Modbus 1560Profibus 1560CIP 106.1.12
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6.5.9 Setting parameters for encoder
When starting up, the device reads the absolute position of the motorfrom the encoder. The current absolute position can be read with theparameter _p_absENC.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_p_absENCMon
PAMu
Absolute position with reference to theencoder range
This value corresponds to the modulo posi-tion of the absolute encoder range.The value is no longer valid if the gear ratioof machine encoder and motor encoder ischanged. A restart is required in such acase.
usr_p---
UINT32UINT32UINT32UINT32 R/---
CANopen 301E:Fh Modbus 7710Profibus 7710CIP 130.1.15
If you have replaced the device, you must check the absolute positionof the motor. If there is a deviation or if you replace the motor, youmust set the absolute position once again.
Working range of the encoder The working range of the singleturn encoder is 131072 increments perturn.
The working range of the multiturn encoder is is 4096 turns with131072 increments per turn.
Underrun of absolute position If a rotary motor performs a movement from 0 into negative direction,there is an underrun of the absolute position of the encoder. However,the actual position keeps counting forward and delivers a negativeposition value. After switching off and on, the actual position no longercorresponds to the negative position value, but to the absolute posi-tion of the encoder.
In the case of applications with a multiturn encoder, an underrun ofthe absolute position may result in an unexpected actual position dur-ing switching on.
The following options are available to adjust the absolute position ofthe encoder:
• Adjustment of the absolute position• Shifting the working range
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6.5.9.1 Adjustment of the absolute positionWhen the motor is at a standstill, the new absolute position of themotor can be set to the current mechanical motor position the with theparameter ENC1_adjustment.
Adjusting the absolute position also shifts the position of the indexpulse.
The absolute position of an encoder at encoder 2 (modules can beadjusted via the parameter ENC2_adjustment.
▶ Set the absolute position at the negative mechanical limit to a posi-tion value > 0. This way, the movements remain within the continu-ous range of the encoder.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ENC1_adjustment Adjustment of absolute position of encoder1
The value range depends on the encodertype.
Singleturn encoder:0 ... x-1
Multiturn encoder:0 ... (4096*x)-1
Singleturn encoder (shifted with parameterShiftEncWorkRang):-(x/2) ... (x/2)-1
Multiturn encoder (shifted with parameterShiftEncWorkRang):-(2048*x) ... (2048*x)-1
Definition of 'x': Maximum position for oneencoder turn in user-defined units. Thisvalue is 16384 with the default scaling.
NOTE: * If processing is to be performed with inver-sion of the direction of movement, this mustbe set before the encoder position is adjus-ted.* After the write access, a wait time of atleast 1 second is required before the drive isswitched off.
Changed settings become active the nexttime the product is switched on.
usr_p---
INT32INT32INT32INT32 R/W--
CANopen 3005:16h Modbus 1324Profibus 1324CIP 105.1.22
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ENC2_adjustment Adjustment of absolute position of encoder2
The value range depends on the encodertype at the physical port ENC2.
This parameter can only be changed if theparameter ENC_abs_source is set to'Encoder 2'.
Singleturn encoder:0 ... x-1
Multiturn encoder:0 ... (y*x)-1
Singleturn encoder (shifted with parameterShiftEncWorkRang):-(x/2) ... (x/2)-1
Multiturn encoder (shifted with parameterShiftEncWorkRang):-(y/2)*x ... ((y/2)*x)-1
Definition of 'x': Maximum position for oneencoder turn in user-defined units. Thisvalue is 16384 with the default scaling.Definition of 'y': Revolutions of the multiturnencoder.
NOTE:* If processing is to be performed with inver-sion of the direction of movement, this mustbe set before the encoder position is adjus-ted.* After the write access, the parameter val-ues has to be saved to the EEPROM andthe drive has to be switched off, before thechange becomes active.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.01.
usr_p---
INT32INT32INT32INT32 R/W--
CANopen 3005:24h Modbus 1352Profibus 1352CIP 105.1.36
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6.5.9.2 Shifting the working rangeThe parameter ShiftEncWorkRang lets you shift the working range.
Working range without shift The working range without shift comprises:
Singleturn encoder 0 ... 131071 increments
Multiturn encoder 0 ... 4095 revolutions
0
_p_act
mechanical position
Figure 59: Working range without shift
Working range with shift The working range with shift comprises:
Singleturn encoder -65536 ... 65535 increments
Multiturn encoder -2048 ... 2047 revolutions
0
_p_act
mechanical position
Figure 60: Working range with shift
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ShiftEncWorkRang
Shifting of the encoder working range
0 / Off: Shifting off1 / On: Shifting on
Value 0:Position values are between 0 ... 4096 revo-lutions.
Value 1:Position values are between -2048 ... 2048revolutions.
After activating the shifting function, theposition range of a multiturn encoder is shif-ted for half of the range.Example for the position range of a multiturnencoder with 4096 revolutions.
Changed settings become active the nexttime the product is switched on.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:21h Modbus 1346Profibus 1346CIP 105.1.33
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6.5.10 Setting the braking resistor parameters
An insufficiently rated braking resistor can cause overvoltage on theDC bus. Overvoltage on the DC bus causes the power stage to bedisabled. The motor is no longer actively decelerated.
WARNINGMOTOR WITHOUT BRAKING EFFECT
• Verify that the braking resistor has a sufficient rating.• Verify that the parameter settings for the braking resistor are cor-
rect.• Verify that the I2t value for temperature monitoring does not
exceed 100% by performing a test run under maximum load con-ditions.
• Verify that the calculations and the test run take into account thefact that the DC bus capacitors can absorb less braking energy athigher mains voltages.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
The temperature of the braking resistor may exceed 250 °C (482 °F)during operation.
WARNINGHOT SURFACES
• Ensure that any contact with a hot braking resistor is avoided.• Do not allow flammable or heat-sensitive parts in the immediate
vicinity of the braking resistor.• Verify that the heat dissipation is sufficient by performing a test
run under maximum load conditions.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Further information on braking resistors PageTechnical data braking resistor 47
Rating the braking resistor 75
Mounting the external braking resistor 96
Electrical installation of the braking resistor 75
Order data for external braking resistors 657
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▶ Check the parameter RESint_ext. If you have connected anexternal braking resistor, you must set the parameter to "external".
▶ If you have connected an external braking resistor, (value of theparameter RESint_ext is set to "external"), you must assign theappropriate values to the parameters RESext_P, RESext_R andRESext_ton. Verify that the selected external braking resistor isreally connected.
▶ Test the function of the braking resistor under realistic, worst caseconditions.
If the regenerated power becomes greater than the power that can beabsorbed by the braking resistor, an error message is generated andthe power stage is disabled.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
RESint_extConF → ACG-
Eibr
Selection of type of braking resistor
0 / Internal Braking Resistor / int : Inter-nal braking resistor1 / External Braking Resistor / Eht : Exter-nal braking resistor2 / Reserved / rSVd : Reserved
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:9h Modbus 1298Profibus 1298CIP 105.1.9
RESext_PConF → ACG-
Pobr
Nominal power of external braking resistor
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
W11032767
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:12h Modbus 1316Profibus 1316CIP 105.1.18
RESext_RConF → ACG-
rbr
Resistance value of external braking resistor
The minimum value depends on the powerstage.
In increments of 0.01 Ω.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Ω 0.00100.00327.67
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:13h Modbus 1318Profibus 1318CIP 105.1.19
RESext_tonConF → ACG-
tbr
Maximum permissible switch-on time ofexternal braking resistor
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
ms1130000
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:11h Modbus 1314Profibus 1314CIP 105.1.17
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6.5.11 Autotuning the device
There are three ways of tuning the drive control loops:
• Easy Tuning: Automatic - autotuning without user intervention. Formost applications, autotuning yields good, highly dynamic results.
• Comfort Tuning: Semi-automatic - autotuning with user interven-tion. Parameters for direction and parameters for damping can beset by the user.
• Manual: The user can set and tune the control loop parametersmanually. Expert mode.
Autotuning Autotuning determines the friction torque as a constantly acting loadtorque and considers it in the calculation of the moment of inertia ofthe entire system.
External factors such as a load at the motor are considered. Autotun-ing optimizes the settings of the control loop parameters; see chapter"6.6 Controller optimization with step response".
Autotuning also supports typical vertical axes.
WARNINGUNEXPECTED MOVEMENT
Autotuning moves the motor in order to tune the control loops. Incor-rect parameters may cause unexpected movements or the loss ofmonitoring functions.
• Check the parameters AT_dir and AT_dis_usr (AT_dis). Thedistance required for the deceleration ramp must also be takeninto account.
• Verify that the parameter LIM_I_maxQSTP for Quick Stop is cor-rectly set.
• If possible, use the limit switches.• Verify that a functioning button for emergency stop is within
reach.• Only start the system if there are no persons or obstructions in
the hazardous area.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
During autotuning, the motor is activated and small movements aremade. Noise development and mechanical oscillations of the systemare normal.
If you want to perform Easy Tuning, no additional parameters need tobe set. If you want to perform Comfort Tuning, set the parametersAT_dir, AT_dis_usr (AT_dis) and AT_mechanics to meet therequirements of your system.
The parameter AT_Start is used to selected between Easy Tuningand Comfort Tuning. When the value is written, autotuning also starts.
▶ Start autotuning via the commissioning software.
It is also possible to start autotuning via the HMI.HMI: op → tun → tust
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▶ Save the new settings to the EEPROM via the commissioning soft-ware.
The product features 2 controller parameter sets that can be para-meterized separately. The values for the controller parametersdetermined during autotuning are stored in controller parameter set1.
If you have started autotuning via the HMI, press the navigationbutton to save the new values to the EEPROM.
If autotuning cancels with an error message, the default values areused. Change the mechanical position and restart autotuning. If youwant to verify the plausibility of the calculated values, you can havethem displayed; see chapter"6.5.12 Enhanced settings for autotuning", page 186.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
AT_diroP → tun-
StiM
Direction of movement for Autotuning
1 / Positive Negative Home / Pnh : Positivedirection first, then negative direction withreturn to initial position2 / Negative Positive Home / nPh : Nega-tive direction first, then positive directionwith return to initial position3 / Positive Home / P-h : Positive directiononly with return to initial position4 / Positive / P-- : Positive direction onlywithout return to initial position5 / Negative Home / n-h : Negative direc-tion only with return to initial position6 / Negative / n-- : Negative direction onlywithout return to initial position
Changed settings become active the nexttime the motor moves.
-116
UINT16UINT16UINT16UINT16 R/W--
CANopen 302F:4h Modbus 12040Profibus 12040CIP 147.1.4
AT_dis_usr Movement range for Autotuning
Range within which the control parametersare automatically optimized. The range isentered with reference to the current posi-tion.NOTE: In the case of "Movement in onedirection only" (Parameter AT_dir), thespecified range is used for each optimiza-tion step. The actual movement typicallycorresponds to 20 times the value, but it isnot limited.
The minimum value, the factory setting andthe maximum value depend on the scalingfactor.
Changed settings become active the nexttime the motor moves.
Available with firmware version ≥V01.03.
usr_p1327682147483647
INT32INT32INT32INT32 R/W--
CANopen 302F:12h Modbus 12068Profibus 12068CIP 147.1.18
AT_dis Movement range for Autotuning
Range within which the control parametersare automatically optimized. The range isentered with reference to the current posi-tion.NOTE: In the case of "Movement in onedirection only" (Parameter AT_dir), thespecified range is used for each optimiza-tion step. The actual movement typicallycorresponds to 20 times the value, but it isnot limited.
The parameter AT_dis_usr allows you toenter the value in user-defined units.
In increments of 0.1 revolution.
Changed settings become active the nexttime the motor moves.
revolution1.02.0999.9
UINT32UINT32UINT32UINT32 R/W--
CANopen 302F:3h Modbus 12038Profibus 12038CIP 147.1.3
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
AT_mechanical Type of coupling of the system
1 / Direct Coupling: Direct coupling2 / Belt Axis: Belt axis3 / Spindle Axis: Spindle axis
Changed settings become active the nexttime the motor moves.
-123
UINT16UINT16UINT16UINT16 R/W--
CANopen 302F:Eh Modbus 12060Profibus 12060CIP 147.1.14
AT_start Autotuning start
Value 0: TerminateValue 1: Activate EasyTuningValue 2: Activate ComfortTuning
Changed settings become active immedi-ately.
-0-2
UINT16UINT16UINT16UINT16 R/W--
CANopen 302F:1h Modbus 12034Profibus 12034CIP 147.1.1
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6.5.12 Enhanced settings for autotuning
The following parameters allow you to monitor and influence autotun-ing.
The parameters AT_state and AT_progress allow you to monitorthe progress and status of autotuning.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_AT_state Autotuning status
Bit assignments:Bits 0 ... 10: Last processing stepBit 13: auto_tune_processBit 14: auto_tune_endBit 15: auto_tune_err
----
UINT16UINT16UINT16UINT16 R/---
CANopen 302F:2h Modbus 12036Profibus 12036CIP 147.1.2
_AT_progress Progress of Autotuning %00100
UINT16UINT16UINT16UINT16 R/---
CANopen 302F:Bh Modbus 12054Profibus 12054CIP 147.1.11
If, in a test run, you want to check the effects of harder or softer set-tings of the controller parameters on your system, you can write theparameter CTRL_GlobGain to modify the settings determined duringautotuning. The parameter _AT_J allows you to read the moment ofinertia of the entire system calculated during autotuning.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL_GlobGainoP → tun-
GAin
Global gain factor (affects parameter set 1)
The global gain factor affects the followingparameters of controller parameter set 1:- CTRL_KPn- CTRL_TNn- CTRL_KPp- CTRL_TAUnref
The global gain factor is set to 100%- if the controller parameters are set todefault- at the end of the Autotuning process- if the controller parameter set 2 is copiedto set 1 via the parameter CTRL_ParSet-Copy
NOTE: If a full configuration is transmittedvia the fieldbus, the value for CTRL_Glob-Gain must be transmitted prior to the valuesof the controller parameters CTRL_KPn,CTRL_TNn, CTRL_KPp and CTRL_TAUn-ref. If CTRL_GlobGain is changed during aconfiguration transmission, CTRL_KPn,CTRL_TNn, CTRL_KPp and CTRL_TAUn-ref must also be part of the configuration.
In increments of 0.1 %.
Changed settings become active immedi-ately.
%5.0100.01000.0
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:15h Modbus 4394Profibus 4394CIP 117.1.21
_AT_M_friction Friction torque of the system
Is determined during Autotuning.
In increments of 0.01 Arms.
Arms ---
UINT16UINT16UINT16UINT16 R/---
CANopen 302F:7h Modbus 12046Profibus 12046CIP 147.1.7
_AT_M_load Constant load torque
Is determined during Autotuning.
In increments of 0.01 Arms.
Arms ---
INT16INT16INT16INT16 R/---
CANopen 302F:8h Modbus 12048Profibus 12048CIP 147.1.8
_AT_J Moment of inertia of the entire system
Is automatically calculated during Autotun-ing.
In increments of 0.1 kg cm2.
kg cm2 0.10.16553.5
UINT16UINT16UINT16UINT16 R/-per.-
CANopen 302F:Ch Modbus 12056Profibus 12056CIP 147.1.12
The parameter AT_wait lets you set a waiting time between the indi-vidual autotuning steps. Setting a waiting time is only useful in thecase of a low-rigidity coupling, in particular so if the next autotuningstep (changing the hardness) is already performed while the system isstill settling.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
AT_wait Waiting time between Autotuning steps
Changed settings become active the nexttime the motor moves.
ms30050010000
UINT16UINT16UINT16UINT16 R/W--
CANopen 302F:9h Modbus 12050Profibus 12050CIP 147.1.9
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6.6 Controller optimization with step response
6.6.1 Controller structure
The controller structure corresponds to the classical cascaded closedloop with current controller, velocity controller and position controller.In addition, the reference value of the velocity controller can besmoothed via a filter.
The controllers are tuned one after the other from the "inside" to the"outside" in the following sequence: current control, velocity control,position control. The superimposed control loop remains off.
M3~
E
_v_act, _n_act
_p_act, _p_actInt
A B C
4
321
_Iq_act_rms, _Id_act_rms
P V C
Figure 61: Controller structure
(1) Position controller(2) Velocity controller(3) Current controller(4) Encoder evaluation
See chapter "7.6.6 Setting the controller parameters" for a detaileddescription of the controller structure.
Current controller The current controller determines the torque of the motor. The currentcontroller is automatically optimally tuned with the stored motor data.
Velocity controller The velocity controller controls the motor velocity by varying the motorcurrent depending on the load situation. The velocity controller has adecisive influence on the dynamic response of the drive. The dynam-ics of the velocity controller depend on:
• Moment of inertia of the drive and the controlled system• Power of the motor• Stiffness and elasticity of the elements in the flow of forces• Backlash of the drive elements• Friction
Position controller The position controller reduces the difference between the referenceposition and the actual position of the motor (position deviation) to a
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minimum. When the motor is at a standstill, the position deviation isclose to zero in the case of a well-tuned position controller.
An optimized velocity control loop is a prerequisite for good amplifica-tion of the position controller.
6.6.2 Optimization
The drive optimization function matches the device to the applicationconditions. The following options are available:
• Selecting control loops. Superimposed control loops are automati-cally deactivated.
• Defining reference value signals: signal type, amplitude, frequencyand starting point
• Testing control performance with the signal generator.• Recording the control performance on screen and evaluating it with
the commissioning software.
Setting reference value signals ▶ Start controller optimization with the commissioning software.▶ Set the following values for the reference value signal:• Signal type: Step "positive"• Amplitude: 100 min-1
• Cycle duration: 100 ms• Number of repetitions: 1▶ Start the trace.
Only the signal types "Step" and "Square" allow you to determine theentire dynamic behavior of a control loop. The manual shows signalpaths for the signal type "Step".
Entering controller values The optimization steps described on the following pages require youto enter control loop parameters and test their effect by triggering astep function.
A step function is triggered as soon as you start recording in the com-missioning software.
You can enter controller values for optimization in the parameters win-dow in the "Control" group.
Controller parameter sets This device allows you to use two controller parameter sets. It is pos-sible to switch form one set of controller parameters to the other dur-ing operation. The active controller parameter set is selected with theparameter CTRL_SelParSet.
The corresponding parameters are CTRL1_xx for the first controllerparameter set and CTRL2_xx for the second controller parameter set.The following descriptions use the notation CTRL1_xx (CTRL2_xx) ifthere are no functional differences between the two controller parame-ter sets.
6.6.3 Optimizing the velocity controller
Optimum settings of complex mechanical control systems requirehands-on experience with controller tuning . This includes the ability tocalculate control loop parameters and to apply identification proce-dures.
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Less complex mechanical systems can often be successfully opti-mized by means of experimental adjustment using the aperiodic limitmethod. The following parameters are used for this:
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL1_KPnConF → drC-
Pn1
Velocity controller P gain
The default value is calculated on the basisof the motor parameters.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.0001 A/min-1.
Changed settings become active immedi-ately.
A/min-1 0.0001-2.5400
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:1h Modbus 4610Profibus 4610CIP 118.1.1
CTRL2_KPnConF → drC-
Pn2
Velocity controller P gain
The default value is calculated on the basisof the motor parameters.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.0001 A/min-1.
Changed settings become active immedi-ately.
A/min-1 0.0001-2.5400
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:1h Modbus 4866Profibus 4866CIP 119.1.1
CTRL1_TNnConF → drC-
tin1
Velocity controller integral action time
The default value is calculated.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.00-327.67
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:2h Modbus 4612Profibus 4612CIP 118.1.2
CTRL2_TNnConF → drC-
tin2
Velocity controller integral action time
The default value is calculated.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.00-327.67
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:2h Modbus 4868Profibus 4868CIP 119.1.2
Check and optimize the calculated values in a second step, as descri-bed on page 196.
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Determining the mechanical sys-tem of the system
To assess and optimize the transient response behavior of your sys-tem, group its mechanical system into one of the following two catego-ries.
• System with rigid mechanical system• System with a less rigid mechanical system
Rigid mechanical system
Less rigid mechanical system
e. g.
low elasticity higher elasticity
low backlashhigh backlash
Elastic coupling
Belt drivee. g. Direct driveRigid coupling Weak drive shaft
Figure 62: Rigid and less rigid mechanical systems
▶ Couple the motor and the mechanical system
▶ If you use limit switches: verify the function of the limit switchesafter installation of the motor.
Switching off the reference valuefilter of the velocity controller
The reference value filter of the velocity controller allows you toimprove the transient response at optimized velocity control. The ref-erence value filter must be switched off for the first setup of the veloc-ity controller.
▶ Deactivate the reference value filter of the velocity controller. Setthe parameter CTRL1_TAUnref (CTRL2_TAUnref) to the lowerlimit value "0".
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL1_TAUnrefConF → drC-
tAu1
Filter time constant of the reference velocityvalue filter
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.009.00327.67
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:4h Modbus 4616Profibus 4616CIP 118.1.4
CTRL2_TAUnrefConF → drC-
tAu2
Filter time constant of the reference velocityvalue filter
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.009.00327.67
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:4h Modbus 4872Profibus 4872CIP 119.1.4
NOTE: The procedure for optimization of the settings is only a sug-gestion. It is the responsibility of the user to decide whether themethod is suitable for the actual application.
Determining controller parametervalues for rigid mechanical sys-
tems
In the case of a rigid mechanical system, adjusting the control per-formance on the basis of the table is possible if:
• the moment of inertia of the load and of the motor are known and• the moment of inertia of the load and of the motor are constant
The P gain CTRL_KPn and the integral action time CTRL_TNn dependon:
• JL: Moment of inertia of the load• JM: Moment of inertia of the motor▶ Determine the controller parameter values on the basis of the fol-
lowing table:
JL= JM JL= 5 * JM JL= 10 * JM
JL KPn TNn KPn TNn KPn TNn1 kgcm2 0.0125 8 0.008 12 0.007 16
2 kgcm2 0.0250 8 0.015 12 0.014 16
5 kgcm2 0.0625 8 0.038 12 0.034 16
10 kgcm2 0.125 8 0.075 12 0.069 16
20 kgcm2 0.25 8 0.15 12 0.138 16
Determining controller parametervalues for rigid mechanical sys-
tems
For optimization purposes, determine the P gain of the velocity con-troller at which the controller adjusts velocity _v_act as quickly aspossible without overshooting.
▶ Set the integral action time CTRL1_TNn (CTRL2_TNn) to infinite(= 327.67 ms).
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If a load torque acts on the motor when the motor is at a standstill, theintegral action time must not exceed a value that causes uncontrolledchange of the motor position.
If the motor is subject to loads when it is at a standstill, setting theintegral action time to "infinite" may cause position deviations. Reducethe integral action time if the deviation is unacceptable in your applica-tion. However, reducing the integral action time can adversely affectoptimization results.
WARNINGUNEXPECTED MOVEMENT
The step function moves the motor at constant velocity until thespecified time has expired.
• Verify that the selected values for velocity and time do not exceedthe available distance.
• If possible, use limit switches.• Verify that a functioning button for emergency stop is within
reach.• Verify that the system is free and ready for the movement before
starting the function.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
▶ Initiate a step function.▶ After the first test, check the maximum amplitude for the reference
value for the current _Iq_ref.
Set the amplitude of the reference value just high enough so the refer-ence value for the current _Iq_ref remains below the maximumvalue CTRL_I_max. On the other hand, the value selected should notbe too low, otherwise friction effects of the mechanical system willdetermine the performance of the control loop.
▶ Trigger another step function if you had to modify _v_ref andcheck the amplitude of _Iq_ref.
▶ Increase or decrease the P gain in small increments until _v_actis obtained as fast as possible. The following diagram shows therequired transient response on the left. Overshooting - as shownon the right - is reduced by reducing CTRL1_KPn (CTRL2_KPn).
Differences between _v_ref and _v_act result from settingCTRL1_TNn (CTRL2_TNn) to "Infinite".
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0%
tt
_v_act
_v_ref100%
63%
0%
100%
TNn
_v_act
_v_ref
KPn
Amplitude
Improve with
Figure 63: Determining "TNn" for the aperiodic limit
In the case of drive systems in which oscillations occur before theaperiodic limit is reached, the P gain "KPn" must be reduced untiloscillations can no longer be detected. This occurs frequently in thecase of linear axes with a toothed belt drive.
Graphic determination of the 63%value
Graphically determine the point at which the actual velocity _v_actreaches 63% of the final value. The integral action time CTRL1_TNn(CTRL2_TNn) then results as a value on the time axis. The commis-sioning software supports you with the evaluation:
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL1_TAUiref Filter time constant of the reference currentvalue filter
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.000.504.00
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:5h Modbus 4618Profibus 4618CIP 118.1.5
CTRL2_TAUiref Filter time constant of the reference currentvalue filter
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.000.504.00
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:5h Modbus 4874Profibus 4874CIP 119.1.5
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6.6.4 Checking and optimizing default settings
0%
tt
100%
0%
100%
_v_act
_v_ref
_v_act
_v_ref
Am
plitu
de
Am
plitu
de
Rigid mechanicalsystem
Less rigid mechanical system
Figure 64: Step responses with good control performance
The controller is properly set when the step response is approximatelyidentical to the signal shown. Good control performance is character-ized by
• Fast transient response• Overshooting up to a maximum of 40%, 20% is recommended.
If the control performance does not correspond to the curve shown,change CTRL_KPn in increments of about 10% and then triggeranother step function:
• If the control is too slow: Use a higher CTRL1_KPn (CTRL2_KPn)value.
• If the control tends to oscillate: Use a lower CTRL1_KPn(CTRL2_KPn) value.
Oscillation ringing is characterized by continuous acceleration anddeceleration of the motor.
0%
tt
100%
0%
100%
_v_act
_v_ref
_v_act
_v_ref
KPn KPnImprove with Improve with
OscillationsToo slow
Am
plitu
d
Am
plitu
d
Figure 65: Optimizing insufficient velocity controller settings
If the controller performance remains unsatisfactory in spite of optimi-zation, contact your local sales representative.
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6.6.5 Optimizing the position controller
An optimized subordinate velocity controller is a prerequisite for opti-mization of the position controller.
When tuning the position controller, you must optimize the P gainCTRL1_KPp (CTRL2_KPp) in two limits:
• CTRL1_KPp (CTRL2_KPp) too high: Overshooting of the mechani-cal system, instability of the closed-loop control
• CTRL1_KPp (CTRL2_KPp) too low: High position deviation
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL1_KPpConF → drC-
PP1
Position controller P gain
The default value is calculated.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.1 1/s.
Changed settings become active immedi-ately.
1/s2.0-900.0
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:3h Modbus 4614Profibus 4614CIP 118.1.3
CTRL2_KPpConF → drC-
PP2
Position controller P gain
The default value is calculated.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.1 1/s.
Changed settings become active immedi-ately.
1/s2.0-900.0
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:3h Modbus 4870Profibus 4870CIP 119.1.3
WARNINGUNEXPECTED MOVEMENT
The step function moves the motor at constant velocity until thespecified time has expired.
• Verify that the selected values for velocity and time do not exceedthe available distance.
• If possible, use limit switches.• Verify that a functioning button for emergency stop is within
reach.• Verify that the system is free and ready for the movement before
starting the function.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
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Setting the reference value signal ▶ Select Position Controller as the reference value in the commis-sioning software.
▶ Set the reference signal:• Signal type: "Step"• For rotary motors: Set the amplitude to approx. 1/10 motor revolu-
tion.
The amplitude is entered in user-defined units. With the default scal-ing, the resolution is 16384 user-defined units per motor revolution.
Selecting the trace signals ▶ Select the values in the box General Trace Parameters:• Reference position of position controller _p_refusr (_p_ref)• Actual position of position controller _p_actusr (_p_act)• Actual velocity _v_act• Reference value current _Iq_ref
Optimizing the position controllervalue
▶ Trigger a step function with the default controller values.▶ After the first test, check the values achieved for _v_act and
_Iq_ref for current and velocity control. The values must notreach the current and velocity limitation range.
p_act
p_ref
p_act
p_ref
0%tt
100%
0%
100%
Am
plitu
de
Am
plitu
de
Rigid mechanicalsystem
Less rigid mechanical system
Figure 66: Step responses of a position controller with good control performance
The p gain setting CTRL1_KPp (CTRL2_KPp) is optimal if the refer-ence value is reached rapidly and with little or no overshooting.
If the control performance does not correspond to the curve shown,change the P gain CTRL1_KPp (CTRL2_KPp) in increments of approx-imately 10% and trigger another step function.
• If the control tends to oscillate: Use a lower KPp value.• If the actual value is too slow reaching the reference value: Use a
higher KPp value.
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0%t
Am
plitu
de
Am
plitu
de
t
Improve
with KPpImprove
with KPp
Control oscillatingControl too slow
p_act p_act
p_refp_ref
100%
0%
100%
Figure 67: Optimizing inadequate position controller settings
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6.7 Memory Card
The devices features a cad holder for a memory card. The parametersstored on the memory card can be transferred to other devices. If adevice is replaced, a new device of the same type can be operatedwith identical parameters.
The contents of the memory card is compared to the parametersstored in the device when the device is switched on.
When the parameters are written to the EEPROM, they are also savedto the memory card.
The parameters of the safety module require special treatment. Seethe module manual of the safety module for additional information.
Memory Card
Figure 68: Memory card
Note the following:
• Use only genuine accessory memory cards.• Do not touch the gold contacts.• The insert/remove cycles of the memory card are limited.• The memory card can remain in the device.• The memory card can only be removed from the device by pulling
(not by pushing).
Inserting a memory card ■ The controller supply is switched off.▶ Insert the memory card into the device with the gold contacts face
down; the slanted corner must be face to the mounting plate.▶ Switch on the controller supply.▶ Observe the 7-segment display during the initialization of the
device.
Card is displayed for a short periodof time
The device has detected a memory card. User intervention is notrequired.
The parameter values stored in the device and the contents of thememory card are identical. The data on the memory card originatesfrom the device into which the memory card is plugged in.
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Card is displayed permanently The device has detected a memory card. User intervention isrequired.
Cause OptionsThe memory card is new. The device data can be transferred to
the memory card.
The data on the memory card doesnot match the device (different devicetype, different motor type, differentfirmware version).
The device data can be transferred tothe memory card.
The data on the memory cardmatches the device, but the parame-ter values are different.
The device data can be transferred tothe memory card.
The data on the memory card can betransferred to the device. If the mem-ory card is to remain in the device,the device data must be transferred tothe memory card.
Card is not displayed The device has not detected a memory card. Switch off the controllersupply. Verify that the memory card has been properly inserted (con-tacts, slanted corner).
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6.7.1 Data exchange with the memory card
If there are differences between the parameters on the memory cardand the parameters stored in the device, the device stops after initiali-zation and displays CARD.
Copying data or ignoring the mem-ory card (Card ignr, ctod, dtoc)
■ The 7-segment display shows Card.▶ Press the navigation button.◁ The 7-segment display shows the last setting, for example ignr.▶ Briefly press the navigation button to activate the Edit mode.◁ The 7-segment display continues to display the last setting, the
Edit LED lights.▶ Select one of the following using the navigation button 2 :
• ignr ignores the memory card.• ctod transfers the data from the memory card to the device.• dtoc transfers the data from the device to the memory card.
◁ The device switches to operating state 4 Ready To Switch On.
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
ESC
ESC
1
2
Fault Edit Value UnitOp
Mon
Conf
32
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Figure 69: Memory card via integrated HMI
(1) Data on the memory card and in the device are different:The device displays card and waits for user intervention.
(2) Transition to operating state 4 Ready To Switch On (memorycard is ignored).
(3) Transfer of data (ctod = card to device, dtoc = device tocard) and transition to operating state4 Ready To Switch On.
Memory card has been removed(CARD miss)
If you removed the memory card, the device displays CARD after initial-ization. If you confirm this, the display shows miss. After you have
2. Options may be limited
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confirmed this warning, the product switches to the operating state4 Ready To Switch On..
Write protection for memory card(CARD, ENPR, dipr, prot)
It is possible to write-protect the memory card for LXM 32 (prot). Forexample, you may want to write-protect memory cards used for regu-lar duplication of device data.
To write-protect the memory card, select CONF - ACG- CARD on theHMI.
Selection Meaning
ENPR Write protection on (prot)
dipr Write protection off
Memory cards can also be write-protected via the commissioning soft-ware.
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6.8 Duplicating existing device settings
Application and advantage Multiple devices are to have the same settings, for example, whendevices are replaced.
Prerequisites Device type, motor type and firmware version must be identical.
Tools for duplication:
• Memory card (Memory Card)• Commissioning software (for Windows)
The controller supply must be switched on at the device.
Duplication using a memory card Device settings can be stored on a memory card (accessories).
The stored device settings can be copied to a device of the sametype. Note that the fieldbus address and the settings for the monitoringfunctions are copied along with this information. If the memory card isto remain in the new device, the device data must be transferred tothe memory card, see chapter "6.7 Memory Card".
Duplication using the commission-ing software
The commissioning software installed on a PC can save the settingsof a device in the form of a configuration file. The stored device set-tings can be copied to a device of the same type. Note that the field-bus address and the settings for the monitoring functions are copiedalong with this information.
See the manual for the commissioning software for additional informa-tion.
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6.9 Resetting the user parameters
The user parameters are reset by means of the parameterPARuserReset.
▶ Disconnect the product from the the fieldbus in order to avoid con-flicts by simultaneous access.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PARuserResetConF → FCS-
rESu
Reset user parameters
0 / No / no : No65535 / Yes / yES : Yes
Bit 0: Reset persistent user parameters andcontroller parameters to default valuesBit 1: Reset Motion Sequence parameters todefault valuesBits 2 ... 15: Reserved
The parameters are reset with the exceptionof:- Communication parameters- Inversion of direction of movement- Type of reference value signal for PTIinterface- Settings of encoder simulation- Functions of digital inputs and outputs- Safety module eSM
NOTE: The new settings are not saved tothe EEPROM.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-0-65535
UINT16UINT16UINT16UINT16 R/W--
CANopen 3004:8h Modbus 1040Profibus 1040CIP 104.1.8
Resetting via the HMI Use the menu items CONF -> FCS- -> rESu of the HMI to rest the userparameters. Confirm the selection with yes.
NOTE: The new settings are not saved to the EEPROM.
If the device transitions to the operating state2 Not Ready To Switch On after the user parameters are reset, thenew settings only become active until after the device is switched offand on again.
Resetting via the commissioningsoftware
Use the menu items "Device -> User Functions -> Reset User Param-eters" in the commissioning software to reset the user parameters.
If the device transitions to the operating state2 Not Ready To Switch On after the user parameters are reset, thenew settings only become active until after the device is switched offand on again.
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6.10 Restoring factory settings
The parameter values set by the user are lost in this process.The commissioning software allows you to save the parameter valuesset for a device as a configuration file.
The factory settings are restored by means of the parameterPARfactorySet.
▶ Disconnect the product from the the fieldbus in order to avoid con-flicts by simultaneous access.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PARfactorySetConF → FCS-
rStF
Restore factory settings (default values)
No / no : NoYes / yES : Yes
The parameters are reset to the factory set-tings and subsequently saved to theEEPROM.The factory settings can be restored via theHMI or the commissioning software.The saving process is complete when theparameter is read and 0 is returned.
NOTE: The parameters of the safety moduleeSM are not reset to the factory settings.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
-0-1
R/W--
Factory settings via HMI Use the menu items CONF -> FCS- -> rStF of the HMI to restore thefactory settings. Confirm the selection with yes.
The new settings only become active until after the device is switchedoff and on again.
Factory settings via commissioningsoftware
Use the menu items "Device -> User Functions -> Restore factory Set-tings" in the commissioning software to restore the factory settings.
The new settings only become active until after the device is switchedoff and on again.
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7 Operation
The chapter "7 Operation" describes the basic operating states, oper-ating modes and functions of the device.
Unsuitable settings or unsuitable data may trigger unintended move-ments, trigger signals, damage parts and disable monitoring functions.Some settings do not become active until after a restart.
WARNINGUNINTENDED EQUIPMENT OPERATION
• Do not operate the drive system with unknown settings or data.• Never modify a parameter unless you fully understand the param-
eter and all effects of the modification.• After modifications to settings, restart the drive and verify the
saved data or settings.• When commissioning the product, carefully run tests for all oper-
ating states and potential error situations.• Verify the functions after replacing the product and also after
making changes to the settings or data.• Only start the system if there are no persons or obstructions in
the danger zone.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Access channels"7.1 Access channels"
Control mode"7.2 Control mode"
Operating states"7.3 Operating states"
"7.3.1 State diagram"
"7.3.2 State transitions"
"7.3.3 Indication of the operating state"
"7.3.4 Changing the operating state"
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Operating modes"7.4 Operating modes"
"7.4.1 Starting the operating mode"
"7.4.2 Changing the operating mode"
"7.4.3 Operating mode Jog"
"7.4.4 Operating mode Electronic Gear"
"7.4.5 Operating mode Profile Torque"
"7.4.6 Operating mode Profile Velocity"
"7.4.7 Operating mode Profile Position"
"7.4.8 Operating mode Interpolated Position"
"7.4.9 Operating mode Homing"
"7.4.10 Operating mode Motion Sequence"
Movement range"7.5 Movement range"
"7.5.1 Zero point of the movement range"
"7.5.2 Movement beyond the movement range"
"7.5.3 Setting a modulo range"
Extended settings"7.6 Extended settings"
"7.6.1 Scaling"
"7.6.2 Setting the digital signal inputs and signal outputs"
"7.6.3 Setting the PTO interface"
"7.6.4 Setting backlash compensation"
"7.6.5 Setting the motion profile for the velocity"
"7.6.6 Setting the controller parameters"
"7.6.6 Setting the controller parameters"
"7.6.7 Settings of parameter _DCOMstatus"
"7.6.8 Setting the PWM frequency of the power stage"
Functions for target value process-ing "7.7 Functions for target value processing"
"7.7.1 Stop movement with Halt"
"7.7.2 Stopping a movement with Quick Stop"
"7.7.3 Inverting the analog signal inputs"
"7.7.4 Limitation of the velocity via signal inputs"
"7.7.5 Limitation of the current via signal inputs"
"7.7.6 Jerk limitation"
"7.7.7 Zero Clamp"
"7.7.8 Setting a signal output via parameter"
"7.7.9 Starting a movement via a signal input"
"7.7.10 Position capture via signal input"
"7.7.11 Relative Movement After Capture (RMAC)"
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Functions for monitoring move-ments "7.8 Functions for monitoring movements"
"7.8.1 Limit switches"
"7.8.2 Reference switch"
"7.8.3 Software limit switches"
"7.8.4 Load-dependent position deviation (following error)"
"7.8.5 Motor standstill and direction of movement"
"7.8.6 Torque window"
"7.8.7 Velocity window"
"7.8.8 Standstill window"
"7.8.9 Position register"
"7.8.10 Position deviation window"
"7.8.11 Velocity deviation window"
"7.8.12 Velocity threshold value"
"7.8.13 Current threshold value"
Functions for monitoring internaldevice signals "7.9 Functions for monitoring internal device signals"
"7.9.1 Temperature monitoring"
"7.9.2 Monitoring load and overload (I2t monitoring)"
"7.9.3 Commutation monitoring"
"7.9.4 Monitoring of mains phases"
"7.9.5 Ground fault monitoring"
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7.1 Access channels
WARNINGUNINTENDED BEHAVIOR CAUSED BY ACCESS CONTROL
Improper use of access control may cause commands to be trig-gered or blocked.
• Verify that no unintended behavior is caused as a result of ena-bling or disabling exclusive access.
• Verify that impermissible access is blocked.• Verify that required access is available.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
The product can be addressed via different access channels. Accesschannels are:
• Integrated HMI• Fieldbus• Commissioning software or external graphic display terminal• Digital input signals
If several access channels are active at the same time, this may leadto unintended equipment operation.
The product allows you to work with exclusive access which limitsaccess to the product via a single access channel.
Only one access channel can have exclusive access to the product.An exclusive access can be provided via different access channels:
• Via the integrated HMI:
The operating mode Jog or Autotuning can be started via the HMI.• Via a fieldbus:
Exclusive access is provided to a fieldbus by blocking the otheraccess channels with the parameter AccessLock.
• Via the commissioning software:
The commissioning software receives exclusive access via theswitch "Exclusive access" in position "On".
When the product is switched on, there is no exclusive access via anaccess channel.
The signal input functions "Halt", "Fault Reset", "Enable", "PositiveLimit Switch (LIMP)", "Negative Limit Switch (LIMN)" and "ReferenceSwitch (REF)" as well as the signals of the safety function STO(STO_A and STO_B) are effective during exclusive access.
Access to the product via the HMI (writing parameters) can berevoked by means of the parameter HMIlocked.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
AccessLock Locking other access channels
Value 0: Allow control via other accesschannelsValue 1: Lock control via other access chan-nels
Example:The access channel is used by the fieldbus.In this case, control via the commissioningsoftware or the HMI is not possible.
The access channel can only be lockedafter the current operating mode has termi-nated.
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 3001:Eh Modbus 284Profibus 284CIP 101.1.14
HMIlocked Lock HMI
0 / Not Locked / nLoc : HMI not locked1 / Locked / Loc : HMI locked
The following functions can no longer bestarted when the HMI is locked:- Parameter change- Jog- Autotuning- Fault Reset
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 303A:1h Modbus 14850Profibus 14850CIP 158.1.1
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7.2 Control mode
The control mode determines whether the operating states arechanged and the operating modes started and changed via the signalinputs or via the fieldbus.
In local control mode, the operating states are changed and the oper-ating modes started and changed via the digital signal inputs.
In fieldbus control mode, the operating states are changed and theoperating modes started and changed via the fieldbus.
Availability The following table provides an overview of the operating modesavailable in the different control modes.
Operating mode Local control mode Fieldbus control modeJog Available 1) Available
Electronic Gear Available 1) Available
Profile Torque Available 1) 2) Available
Profile Velocity Available 1) 2) Available
Profile Position Not available Available
Interpolated Posi-tion
Not available Available
Homing Not available Available
Motion Sequence Available Available1) With firmware version≥V01.082) Only possible with IOM1 module
Setting the control mode The parameter DEVcmdinterf lets you set the control mode.
▶ Set the desired control mode with the parameter DEVcmdinterf.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
DEVcmdinterfConF → ACG- nonE
dEVC
Specification of the control mode
1 / Local Control Mode / io : Local controlmode2 / Fieldbus Control Mode / FbuS : Field-bus control mode
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:1h Modbus 1282Profibus 1282CIP 105.1.1
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7.3 Operating states
7.3.1 State diagram
After switching on and when an operating mode is started, the productgoes through a number of operating states.
The state diagram (state machine) shows the relationships betweenthe operating states and the state transitions.
The operating states are internally monitored and influenced by moni-toring functions.
T10
T12
T15
3
4
6
5
OperationEnabled
ReadyTo Switch Onrdy
Switched OnSon
Switch OnDisableddis
T11
T16
T4
T3
T9 T2 T7
T1
Not ReadyTo Switch On
nrdy
INIT1
2T0
T13
Fault
Fault ReactionActive
fLt
fLt
8
9
T14
7Quick Stop Active
Stop 8888
8888
HaLt
rUn
T5
T6T8
Switching on
Operating state State transition
Start
Error class 2, 3, (4)Error class 1
Error
Motor under current
Motor without current
HALT
Figure 70: State diagram
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Operating statesOperating state Description1 Start Electronics are initialized
2 Not Ready To Switch On The power stage is not ready to switch on
3 Switch On Disabled Impossible to enable the power stage
4 Ready To Switch On The power stage is ready to switch on.
5 Switched On Power stage is switched on
6 Operation Enabled Power stage is enabledSelected operating mode is active
7 Quick Stop Active "Quick Stop" is being executed
8 Fault Reaction Active Error response is active
9 Fault Error response terminatedPower stage is disabled
Error class The product triggers an error response if an error occurs. Dependingupon the severity of the error, the device responds in accordance withone of the following error classes:
Error class Response1 Movement is canceled with "Quick Stop".
2 Movement is canceled with "Quick Stop". The powerstage is disabled after standstill has been reached.
3 The power stage is immediately disabled without stop-ping the motor first.
4 The power stage is immediately disabled without stop-ping the motor first. The error can only be reset byswitching off the product.
Error response The state transition T13 (error class 2, 3 or 4) initiates an errorresponse as soon as an internal occurrence signals an error to whichthe device must react.
Error class Response2 Movement is stopped with "Quick Stop"
Holding brake is appliedPower stage is disabled
3, 4 or Safety function STO Power stage is immediately disabled
An error can be triggered by a temperature sensor, for example. Theproduct cancels the current movement and triggers an error response.Subsequently, the operating state changes to 9 Fault.
Resetting an error message A "Fault Reset" resets an error message.
In the event of a "Quick Stop" triggered by a detected error of class 1(operating state 7 Quick Stop Active), a "Fault Reset" causes a directtransition to operating state 6 Operation Enabled.
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7.3.2 State transitions
State transi-tion
Operatingstate
Condition / event 1) Response
T0 1-> 2 • Device electronics successfully initialized
T1 2-> 3 • Parameter successfully initialized
T2 3 -> 4 • No undervoltageEncoder successfully checkedActual velocity: <1000 min-1 STO signals = +24VFieldbus command: Shutdown 2)
T3 4 -> 5 • Request for enabling the power stage• Fieldbus command: Switch On or Enable
Operation
T4 5 -> 6 • Automatic transition• Fieldbus command: Enable Operation
Power stage is enabled.User-defined parameters are checked.Holding brake is released (if available).
T5 6 -> 5 • Fieldbus command: Disable Operation Movement is canceled with "Halt".Holding brake is applied (if available).Power stage is disabled.
T6 5 -> 4 • Fieldbus command: Shutdown
T7 4 -> 3 • Undervoltage• STO signals = 0V• Actual velocity: >1000 min-1
(for example by external driving force)• Fieldbus command: Disable Voltage
-
T8 6 -> 4 • Fieldbus command: Shutdown Power stage is immediately disabled.
T9 6 -> 3 • Request for disabling the power stage• Fieldbus command: Disable Voltage
Power stage is immediately disabled.
T10 5 -> 3 • Request for disabling the power stage• Fieldbus command: Disable Voltage
T11 6 -> 7 • Error of error class 1• Fieldbus command: Quick Stop
Movement is canceled with "Quick Stop".
T12 7 -> 3 • Request for disabling the power stage• Fieldbus command: Disable Voltage
Power stage is disabled immediately,even if "Quick Stop" is still active.
T13 x -> 8 • Error of error classes 2, 3 or 4 Error response is carried out, see "ErrorResponse".
T14 8 -> 9 • Error response terminated (error class 2)• Error of error classes 3 or 4
T15 9 -> 3 • Function: "Fault Reset" Error is reset (cause of error must havebeen corrected).
T16 7 -> 6 • Function: "Fault Reset"• Fieldbus command: Enable Operation 3)
1) In order to trigger a state transition it is sufficient if one condition is met2) Only required with fieldbus control mode, fieldbus CANopen and parameter DS402compatib = 13) Possible only if operating state was triggered via the fieldbus
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7.3.3 Indication of the operating state
7.3.3.1 HMIThe operating state is displayed by the HMI. The table below providesan overview.
Operating state HMI1 Start Init
2 Not Ready To Switch On nrdy
3 Switch On Disabled dis
4 Ready To Switch On rdy
5 Switched On Son
6 Operation Enabled run
7 Quick Stop Active Stop
8 Fault Reaction Active FLt
9 Fault FLt
7.3.3.2 Signal outputsInformation on the operating state is available via the the signal out-puts. The table below provides an overview.
Operating state "No fault" 1) "Active" 2)
1 Start 0 0
2 Not Ready To Switch On 0 0
3 Switch On Disabled 0 0
4 Ready To Switch On 1 0
5 Switched On 1 0
6 Operation Enabled 1 1
7 Quick Stop Active 0 0
8 Fault Reaction Active 0 0
9 Fault 0 01) The signal output function is factory setting for DQ02) The signal output function is the factory setting for DQ1
7.3.3.3 FieldbusDescriptions of how to indicate the operating states via a fieldbus canbe found in the fieldbus manual.
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7.3.4 Changing the operating state
7.3.4.1 HMIAn error message can be reset via the HMI.
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
ESC
1
ESCESC
Figure 71: Resetting an error message
In the case of a detected error of error class 1, resetting the error mes-sage causes a transition from operating state 7 Quick Stop Activeback to operating state 6 Operation Enabled.
In the case of a detected error of error classes 2 or 3, resetting theerror message causes a transition from operating state 9 Fault back tooperating state 3 Switch On Disable.
7.3.4.2 Signal inputsIt is possible to switch between operating states via the signal inputs.
Signal input function "Enable" The power stage is enabled by means of the signal input function"Enable".
"Enable" State transitionRising edge Enabling the power stage
T3
Falling edge Disabling the power stageT9 and T12
In local control mode, the signal input function "Enable" is the factorysetting for DI0.
In order to activate the power stage via the signal input in fieldbuscontrol mode, you must first parameterizes the signal input function"Enable", see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
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As of firmware version ≥V01.12, it is possible to also reset an errormessage with a rising or a falling edge at the signal input.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IO_FaultResOnEnaInpConF → ACG-
iEFr
Additional 'Fault Reset' for the signal inputfunction 'Enable'
0 / Off / oFF : No additional 'Fault Reset'1 / OnFallingEdge / FALL : Additional 'FaultReset' during falling edge2 / OnRisingEdge / riSE : Additional 'FaultReset' during rising edge
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.12.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:34h Modbus 1384Profibus 1384CIP 105.1.52
Signal input function "Fault Reset" The signal input function"Fault Reset" is used to reset an error mes-sage.
"Fault Reset" State transitionRising edge Resetting an error message
T15 and T16
In local control mode, the signal input function "Fault Reset" is the fac-tory setting for DI1.
In order to reset an error message via via the signal input in fieldbuscontrol mode, you must first parameterize the signal input function"Fault Reset", see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
7.3.4.3 FieldbusThe operating states can only be changed via the fieldbus in fieldbuscontrol mode.
Descriptions of how to change the operating states via a fieldbus canbe found in the fieldbus manual.
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7.4 Operating modes
7.4.1 Starting the operating mode
In local control mode, the parameter IOdefaultMode is used to setthe desired operating mode.
The set operating mode is automatically started by enabling the powerstage.
▶ Set the operating mode with the parameter IOdefaultMode.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOdefaultModeConF → ACG-
io-M
Operating mode
0 / None / nonE : None1 / Profile Torque / torq : Profile Torque2 / Profile Velocity / VELP : Profile Velocity3 / Electronic Gear / GEAr : Electronic Gear5 / Jog / JoG : Jog6 / Motion Sequence / MotS : MotionSequence
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:3h Modbus 1286Profibus 1286CIP 105.1.3
In fieldbus control mode, the desired operating mode is set via thefieldbus.
Descriptions of how to start and change operating modes via the field-bus can be found in the fieldbus manual.
Starting the operating mode viasignal input
As of firmware version ≥V01.08, the signal input function "ActivateOperating Mode" is available in local control mode.
This means that you can start the set operating mode via a signalinput.
If the signal input function "Activate Operating Mode" has been set,the operating mode is not started automatically when the power stageis enabled. The operating mode is only started when a rising edge isavailable at the edge.
In order to start the set operating mode via a signal input, you mustfirst parameterize the signal input function "Activate Operating Mode",see chapter "7.6.2 Setting the digital signal inputs and signal outputs".
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7.4.2 Changing the operating mode
The operating mode can be changed after the current operating modehas been terminated.
In addition, it is also possible to change the operating mode during arunning movement; however, this is only possible in certain operatingmodes.
Changing the operating mode dur-ing a movement
You can switch between the following operating modes during a run-ning movement.
• Jog• Electronic Gear• Profile Torque• Profile Velocity• Profile Position
The operating mode can be changed while the motor is at a standstillor while the motor is not at a standstill, depending on the new operat-ing mode.
Operating mode to be changed to Motor standstillJog With motor standstill
Electronic Gear(position synchronization)
With motor standstill
Electronic Gear(velocity synchronization)
Without motor standstill
Profile Torque Without motor standstill
Profile Velocity Without motor standstill
Profile PositionWith firmware version ≥V01.04
Drive profile Drive Profile Lexium:Adjustable via parameterPP_OpmChgTypeDrive profile DS402:With motor standstill 1)
Profile PositionWith firmware version <V01.04
With motor standstill
1) Parameter PP_OpmChgType must be set to the value 0.
The motor is decelerated to a standstill via the ramp set in the param-eter LIM_HaltReaction, see chapter"7.7.1 Stop movement with Halt".
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PP_OpmChgType Change to operating mode Profile Positionduring movements
0 / WithStandStill: Change with standstill1 / OnTheFly: Change without standstill
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.04.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3023:9h Modbus 8978Profibus 8978CIP 135.1.9
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Changing the operating mode viasignal input
In local control mode, the signal input function "Operating ModeSwitch" is available.
It allows you to switch via a signal input from the operating mode setin the IOdefaultMode to the operating mode set in the parameterIO_ModeSwitch.
In order to switch between two operating modes, you must first param-eterize the signal input function "Operating Mode Switch", see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IO_ModeSwitchConF → ACG-
ioMS
Operating mode for signal input functionOperating Mode Switch
0 / None / nonE : None1 / Profile Torque / torq : Profile Torque2 / Profile Velocity / VELP : Profile Velocity3 / Electronic Gear / GEAr : Electronic Gear
Changed settings become active immedi-ately.
-003
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:2Fh Modbus 1630Profibus 1630CIP 106.1.47
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7.4.3 Operating mode Jog
Availability See chapter "7.2 Control mode".
Description In the operating mode Jog, a movement is made from the actualmotor position in the desired direction.
A movement can be made using one of 2 methods:
• Continuous movement• Step movement
In addition, the product features 2 parameterizable velocities.
Starting the operating mode In local control mode, the operating mode must first have been selec-ted, see chapter "7.4.1 Starting the operating mode". After the powerstage is enabled, the operating mode is started automatically.
The power stage is enabled via the signal inputs, see chapter"7.3 Operating states". The table below provides an overview of thefactory settings of the signal inputs:
Signal input Signal input functionDI0 "Enable"
Enable and disable the power stageDI1 "Fault Reset"
Resetting an error messageDI2 "Positive Limit Switch (LIMP)"
See chapter "7.8.1 Limit switches"DI3 "Negative Limit Switch (LIMN)"
See chapter "7.8.1 Limit switches"DI4 "Jog Negative"
Operating mode Jog: Movement in negative directionDI5 "Jog Positive"
Operating mode Jog: Movement in positive direction
The factory settings of the signal inputs depend on the selected oper-ating mode; they can be adapted, see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
In the case of fieldbus control mode, the operating mode is started viathe fieldbus. See the fieldbus manual for a description.
Integrated HMI It is also possible to start the operating mode via the HMI. Calling → OP→ jog- → JGST enables the power stage and starts the operatingmode.
The method Continuous Movement is controlled via the HMI.
Turn the navigation button to select one of 4 types of movement:
• JG- : slow movement in positive direction• JG= : fast movement in positive direction• -JG : slow movement in negative direction• =JG : fast movement in negative direction
Press the navigation button to start the movement.
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Terminating the operating mode In local control mode, the operating mode is automatically terminatedby disabling the power stage.
In fieldbus control mode, the operating mode is terminated via thefieldbus. See the fieldbus manual for a description.
Status messages In local control mode, information on the operating state and the cur-rent movement is available via signal outputs.
In fieldbus control mode, information on the operating state and thecurrent movement is available via the fieldbus and the signal outputs.
Descriptions on obtaining information on the operating state and thecurrent movement can be found in the fieldbus manual.
The table below provides an overview of the signal outputs:
Signal output Signal output functionDQ0 "No Fault"
Signals the operating states 4 Ready To Switch On,5 Switched On and 6 Operation Enabled
DQ1 "Active"Signals the operating state 6 Operation Enabled
DQ2 With local control mode:"In Position Deviation Window"See chapter "7.8.10 Position deviation window"
With fieldbus control mode:"Freely Available"See chapter"7.7.8 Setting a signal output via parameter"
The factory settings of the signal outputs depend on the selected con-trol mode and the selected operating mode; they can be adapted, seechapter "7.6.2 Setting the digital signal inputs and signal outputs".
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7.4.3.1 Continuous movementAs long as the signal for the direction is available, a continuous move-ment is made in the desired direction.
The illustration below provides an overview of continuous movementin local control mode:
1
0
1
0
1
0
v = 0
v = JOGv_slowv = JOGv_fast
"Jog Positive"
"Jog Negative"
"Jog Fast/Slow"
v = JOGv_slow
� � � � � �
Figure 72: Continuous movement
(1) Slow movement in positive direction(2) Slow movement in negative direction(3) Fast movement in positive direction
The illustration below provides an overview of continuous movementin fieldbus control mode:
1
0
1
0
1
0
v = 0
v = JOGv_slowv = JOGv_fast
JOGactivate Bit 0
JOGactivate Bit 1
JOGactivate Bit 2
v = JOGv_slow
� � � � � �
Figure 73: Continuous movement via the fieldbus
(1) Slow movement in positive direction(2) Slow movement in negative direction(3) Fast movement in positive direction
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7.4.3.2 Step movementIf the signal for the direction is available for a short period of time, amovement with a parameterizable number of user-defined units ismade in the desired direction.
If the signal for the direction is available continuously, a movementwith a parameterizable number of user-defined units is made in thedesired direction. After this movement, the motor stops for a definedperiod of time. Then a continuous movement is made in the desireddirection.
The illustration below provides an overview of step movement in localcontrol mode:
1
0
1
0
v = 0
v = JOGv_slowv = JOGv_fast
"Jog Positive"
"Jog Fast/Slow"
v = JOGv_slow
� � � � � �
Figure 74: Step movement
(1) Slow movement in positive direction with a parameterizablenumber of user-defined units JOGstep
(2) Waiting time JOGtime(3) Slow continuous movement in positive direction(4) Fast continuous movement in positive direction
The illustration below provides an overview of step movement in field-bus control mode:
1
0
1
0
v = 0
v = JOGv_slowv = JOGv_fast
JOGactivate Bit 0
JOGactivate Bit 2
v = JOGv_slow
� � � � � �
Figure 75: Step movement
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(1) Slow movement in positive direction with a parameterizablenumber of user-defined units JOGstep
(2) Waiting time JOGtime(3) Slow continuous movement in positive direction(4) Fast continuous movement in positive direction
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7.4.3.3 ParameterizationOverview The illustration below provides an overview of the parameters that can
be adjusted in local control mode.
DI4 DI0 ... DI5
"Jog Negative" "Jog Fast/Slow"
DI5
"Jog Positive"
JOGv_slow, JOGv_fast
JOGstepJOGtime
RAMP_v_acc, RAMP_v_dec, RAMP_v_max
IO_JOGmethod= 0 = 1
Figure 76: Overview of adjustable parameters
The illustration below provides an overview of the parameters that canbe adjusted in fieldbus control mode.
JOGactivate
JOGv_slow, JOGv_fast
JOGstep
JOGtime
RAMP_v_acc, RAMP_v_dec, RAMP_v_max
JOGmethod
= 0 = 1
Figure 77: Overview of adjustable parameters
Velocities Two parameterizable velocities are available.
▶ Set the desired values with the parameters JOGv_slow andJOGv_fast.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
JOGv_slowoP → JoG-
JGLo
Velocity for slow movement
The adjustable value is internally limited tothe current parameter setting inRAMP_v_max.
Changed settings become active immedi-ately.
usr_v1602147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3029:4h Modbus 10504Profibus 10504CIP 141.1.4
JOGv_fastoP → JoG-
JGhi
Velocity for fast movement
The adjustable value is internally limited tothe current parameter setting inRAMP_v_max.
Changed settings become active immedi-ately.
usr_v11802147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3029:5h Modbus 10506Profibus 10506CIP 141.1.5
Switching between velocities In local control mode, the signal input function "Jog Fast/Slow" isavailable. It allows you to switch between the two velocities via a sig-nal input.
In order to switch between the two velocities, you must first parame-terize the signal input function "Jog Fast/Slow", see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
Selection of the method In local control mode, the parameter IO_JOGmethod is used to setthe method.
▶ Set the desired method with the parameter IO_JOGmethod.
In fieldbus control mode, the parameter JOGmethod is used to set themethod.
▶ Set the desired method with the parameter JOGmethod.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IO_JOGmethodConF → ACG-
ioJG
Selection of jog method
0 / Continuous Movement / coMo : Jogwith continuous movement1 / Step Movement / StMo : Jog with stepmovement
Changed settings become active the nexttime the motor moves.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:18h Modbus 1328Profibus 1328CIP 105.1.24
JOGmethod Selection of jog method
0 / Continuous Movement / coMo : Jogwith continuous movement1 / Step Movement / StMo : Jog with stepmovement
Changed settings become active immedi-ately.
-011
UINT16UINT16UINT16UINT16 R/W--
CANopen 3029:3h Modbus 10502Profibus 10502CIP 141.1.3
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Setting the step movement The parameters JOGstep and JOGtime are used to set the parame-terizable number of user-defined units and the time for which themotor is stopped.
▶ Set the desired values with the parameters JOGstep andJOGtime.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
JOGstep Distance for step movement
Changed settings become active the nexttime the motor moves.
usr_p1202147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3029:7h Modbus 10510Profibus 10510CIP 141.1.7
JOGtime Wait time for step movement
Changed settings become active the nexttime the motor moves.
ms150032767
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3029:8h Modbus 10512Profibus 10512CIP 141.1.8
Changing the motion profile for thevelocity
It is possible to change the parameterization of the motion profile forthe velocity, see chapter"7.6.5 Setting the motion profile for the velocity".
7.4.3.4 Additional settingsThe following functions can be used for target value processing:
• Chapter "7.7.1 Stop movement with Halt"• Chapter "7.7.2 Stopping a movement with Quick Stop"• Chapter "7.7.4 Limitation of the velocity via signal inputs"• Chapter "7.7.5 Limitation of the current via signal inputs"• Chapter "7.7.6 Jerk limitation"• Chapter "7.7.8 Setting a signal output via parameter"• Chapter "7.7.10 Position capture via signal input"• Chapter "7.7.11 Relative Movement After Capture (RMAC)"
The following functions can be used for monitoring the movement:
• Chapter "7.8.1 Limit switches"• Chapter "7.8.3 Software limit switches"• Chapter "7.8.4 Load-dependent position deviation (following error)"• Chapter "7.8.5 Motor standstill and direction of movement"• Chapter "7.8.8 Standstill window"
This function is only available for a step movement.• Chapter "7.8.9 Position register"• Chapter "7.8.10 Position deviation window"• Chapter "7.8.11 Velocity deviation window"• Chapter "7.8.12 Velocity threshold value"• Chapter "7.8.13 Current threshold value"
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7.4.4 Operating mode Electronic Gear
Availability See chapter "7.2 Control mode".
Description In the operating mode Electronic Gear, movements are carried outaccording to externally supplied reference value signals. A positionreference value is calculated on the basis of these external referencevalues plus an adjustable gear ratio. The reference value signals canbe A/B signals, P/D signals or CW/CCW signals.
A movement can be made using one of 3 methods:
• Position synchronization without compensation movement
In the case of position synchronization without compensationmovement, the movement is made synchronously (position syn-chronicity) with the supplied reference value signals. Referencevalue signals supplied during an interruption caused by Halt or by adetected error of error class 1 are not considered.
• Position synchronization with compensation movement
In the case of position synchronization with compensation move-ment, the movement is made synchronously (position synchronic-ity) with the supplied reference value signals. Reference value sig-nals supplied during an interruption caused by Halt or by a detec-ted error of error class 1 are considered and compensated for.
• Velocity synchronization
In the case of velocity synchronization, the movement is made syn-chronously (velocity synchronicity) with the supplied referencevalue signals.
Internal units The position value for the movement depends on the internal units.
The internal units are 131072 increments per revolution.
Starting the operating mode In local control mode, the operating mode must first have been selec-ted, see chapter "7.4.1 Starting the operating mode". After the powerstage is enabled, the operating mode is started automatically.
The power stage is enabled via the signal inputs, see chapter"7.3 Operating states". The table below provides an overview of thefactory settings of the signal inputs:
Signal input Signal input functionDI0 "Enable"
Enable and disable the power stageDI1 "Fault Reset"
Resetting an error messageDI2 "Positive Limit Switch (LIMP)"
See chapter "7.8.1 Limit switches"DI3 "Negative Limit Switch (LIMN)"
See chapter "7.8.1 Limit switches"DI4 "Gear Ratio Switch"
Switch between 2 parameterizable gear ratiosDI5 "Halt"
See chapter "7.7.1 Stop movement with Halt"
The factory settings of the signal inputs depend on the selected oper-ating mode; they can be adapted, see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
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In the case of fieldbus control mode, the operating mode is started viathe fieldbus. See the fieldbus manual for a description.
Terminating the operating mode In local control mode, the operating mode is automatically terminatedby disabling the power stage.
In fieldbus control mode, the operating mode is terminated via thefieldbus. See the fieldbus manual for a description.
Status messages In local control mode, information on the operating state and the cur-rent movement is available via signal outputs.
In fieldbus control mode, information on the operating state and thecurrent movement is available via the fieldbus and the signal outputs.
Descriptions on obtaining information on the operating state and thecurrent movement can be found in the fieldbus manual.
The table below provides an overview of the signal outputs:
Signal output Signal output functionDQ0 "No Fault"
Signals the operating states 4 Ready To Switch On,5 Switched On and 6 Operation Enabled
DQ1 "Active"Signals the operating state 6 Operation Enabled
DQ2 With local control mode:"In Position Deviation Window"See chapter "7.8.10 Position deviation window"
With fieldbus control mode:"Freely Available"See chapter"7.7.8 Setting a signal output via parameter"
The factory settings of the signal outputs depend on the selected con-trol mode and the selected operating mode; they can be adapted, seechapter "7.6.2 Setting the digital signal inputs and signal outputs".
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7.4.4.1 ParameterizationOverview The illustration below provides an overview of the parameters that can
be adjusted in local control mode.
DI4
(DI0 ... DI5)"Gear Ratio Switch"
PTI_signaltype
GEARnum
GEARdenom
GEARnum2
GEARdenom2
GEARdir_enabl
GEARposChgMode
GEARpos_v_max
InvertDirOfCount
IO_GEARmethod
DI0 ... DI5"Gear Offset 1"
"Gear Offset 2"
= 0
= 1
= 1
= 3
= 2
GEARratio
= 0 = 1 ... 11
A/B P/D CW/CCW
PTI
RAMP_v_enable
= 0 = 1
RAMP_v_acc
RAMP_v_dec
RAMP_v_max
= 2
OFSp_RelPos1, OFSp_RelPos2
OFSv_target, OFS_Ramp
Figure 78: Overview of adjustable parameters
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The illustration below provides an overview of the parameters that canbe adjusted in fieldbus control mode.
PTI_signal_type
GEARnum
GEARdenom
GEARnum2
GEARdenom2
GEARdir_enabl
GEARposChgMode
GEARpos_v_max
OFS_PosActivate
OFSp_RelPos1, OFSp_RelPos2
OFSv_target, OFS_Ramp
InvertDirOfCount
GEARselect
GEARreference
DI0 ... DI5"Gear Offset 1"
"Gear Offset 2"
= 0
= 1
= 1
= 3
= 2
GEARratio
= 0 = 1 ... 11
= 0 = 1
A/B P/D CW/CCW
PTI
RAMP_v_enable
= 0 = 1
RAMP_v_acc
RAMP_v_dec
RAMP_v_max
= 2
Figure 79: Overview of adjustable parameters
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Type of reference value signal A/B signals, P/D signals or CW/CCW signals can be connected to thePTI interface.
▶ Set the type of reference value signal for the PTI interface with theparameter PTI_signal_type.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PTI_signal_typeConF → i-o-
ioPi
Type of reference value signal for PTI inter-face
0 / A/B Signals / Ab : Signals ENC_A andENC_B (quadruple evaluation)1 / P/D Signals / Pd : Signals PULSE andDIR2 / CW/CCW Signals / cWcc : Signals CWand CCW
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:2h Modbus 1284Profibus 1284CIP 105.1.2
Inverting the reference value sig-nals
The direction of counting of the reference value signals at the PTIinterface can be inverted by means of the parameterInvertDirOfCount.
▶ Activate or deactivate inversion of the direction of counting bymeans of the parameter InvertDirOfCount.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
InvertDirOfCount
Inversion of direction of counting at PTIinterface
0 / Inversion Off: Inversion of direction ofcounting is off1 / Inversion On: Inversion of direction ofcounting is on
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3008:7h Modbus 2062Profibus 2062CIP 108.1.7
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Gear ratio The gear ratio is the ratio of the number of motor increments and thenumber of externally supplied reference increments.
Gear factor = =Reference increments
Motor increments Gear factor numerator
Gear factor denominator
In local control mode, the signal input function "Gear Ratio Switch"allows you to switch between 2 parameterizable gear ratios duringoperation.
In fieldbus control mode, the parameter GEARselect allows you toswitch between 2 parameterizable gear ratios during operation.
The parameter GEARratio allows you to set a predefined gear ratio.It is also possible to set a parameterizable gear ratio.
The parameterizable gear ratio is defined with the parametersGEARnum and GEARdenom. A negative numerator value reverses themotor's direction of movement.
▶ Set the desired gear ratio with the parameters GEARratio,GEARnum, GEARdenom, GEARnum2 and GEARdenom2.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
GEARratioConF → i-o-
GFAC
Selection of predefined gear ratios
0 / Gear Factor / FAct : Usage of gear ratioadjusted with GEARnum/GEARdenom1 / 200 / 200 : 2002 / 400 / 400 : 4003 / 500 / 500 : 5004 / 1000 / 1000 : 10005 / 2000 / 2000 : 20006 / 4000 / 4000 : 40007 / 5000 / 5000 : 50008 / 10000 / 10.00 : 100009 / 4096 / 4096 : 409610 / 8192 / 8192 : 819211 / 16384 / 16.38 : 16384
A change of the reference value by thespecified value causes one motor revolu-tion.
Changed settings become active immedi-ately.
-0011
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3026:6h Modbus 9740Profibus 9740CIP 138.1.6
GEARselect Gear ratio selection
Switches between two gear ratios:Value 0: Use gear ratio defined by parame-ter GEARratioValue 1: Use gear ratio from parametersGEARnum2/GEARdenom2
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 3026:Eh Modbus 9756Profibus 9756CIP 138.1.14
GEARnum Numerator of gear ratio
GEARnum---------------------- = Gear ratioGEARdenom
The new gear ratio is applied when thenumerator value is supplied.
Changed settings become active immedi-ately.
--214748364812147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3026:4h Modbus 9736Profibus 9736CIP 138.1.4
GEARdenom Denominator of gear ratio
See description GEARnum
-112147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3026:3h Modbus 9734Profibus 9734CIP 138.1.3
GEARnum2 Numerator of gear ratio number 2
GEARnum2---------------------- = Gear ratioGEARdenom2
The new gear ratio is applied when thenumerator value is supplied.
Changed settings become active immedi-ately.
--214748364812147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3026:Dh Modbus 9754Profibus 9754CIP 138.1.13
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
GEARdenom2 Denominator of gear ratio number 2
See description GEARnum
-112147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3026:Ch Modbus 9752Profibus 9752CIP 138.1.12
Selection of the method The method specifies the way the movement is to be performed.
▶ In local control mode, set the desired method with the parameterIO_GEARmethod.
▶ In fieldbus control mode, set the desired method with the parame-ter GEARreference.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IO_GEARmethodConF → ACG-
ioGM
Processing mode for operating mode Elec-tronic Gear
1 / Position Synchronization Immediate /PoiM : Position synchronization withoutcompensation movement2 / Position Synchronization Compensa-ted / Poco : Position synchronization withcompensation movement3 / Velocity Synchronization / VELo :Velocity synchronization
Changed settings become active the nexttime the motor moves.
-113
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:17h Modbus 1326Profibus 1326CIP 105.1.23
GEARreference Processing mode for operating mode Elec-tronic Gear
0 / Deactivated: Deactivated1 / Position Synchronization Immediate:Position synchronization without compensa-tion movement2 / Position Synchronization Compensa-ted: Position synchronization with compen-sation movement3 / Velocity Synchronization: Velocity syn-chronization
Changed settings become active immedi-ately.
-003
UINT16UINT16UINT16UINT16 R/W--
CANopen 301B:12h Modbus 6948Profibus 6948CIP 127.1.18
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Position change with power stagedisabled
If the method "Synchronization With Compensation Movement" isselected, the parameter GEARposChgMode determines the waychanges to the motor position and to the reference value signals arehandled with disabled power stage.
Position changes can be ignored or taken into account during a transi-tion to operating state 6 Operation Enabled.
• Off: Position changes with disabled power stage are ignored.• On: Position changes with disabled power stage are taken into
account.
Position changes between starting the operating mode and thesubsequent enabling of the power stage are not taken intoaccount.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
GEARposChgMode Consideration of position changes with inac-tive power stage
0 / Off: Position changes in states with inac-tive power stage are discarded.1 / On: Position changes in states with inac-tive power stage are considered.
This setting has an effect only if gear pro-cessing is started in the mode 'Synchroniza-tion with compensation movement'.
Changed settings become active the nexttime the power stage is enabled.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3026:Bh Modbus 9750Profibus 9750CIP 138.1.11
Offset movement The offset movement allows you to perform a movement with aparameterizable number of increments.
Offset movements are only available for the methods "Position Syn-chronization Without Compensation Movement" and "Position Syn-chronization With Compensation Movement".
Two parameterizable offset positions are available. The parametersOFSp_RelPos1 and OFSp_RelPos2 are used to set the offset posi-tions.
In local control mode, an offset movement is started via a signal input.
In fieldbus control mode, an offset movement is started via a signalinput or via the fieldbus.
In order to start offset movements via the signal input, you must firstparameterize the signal input functions "Gear Offset 1" and "Gear Off-set 2", see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
The velocity and the acceleration for the offset movement are set viathe parameters OFSv_target and OFS_Ramp.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
OFSp_RelPos1 Relative offset position 1 for offset move-ment
Changed settings become active immedi-ately.
Inc-214748364802147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3027:8h Modbus 10000Profibus 10000CIP 139.1.8
OFSp_RelPos2 Relative offset position 2 for offset move-ment
Changed settings become active immedi-ately.
Inc-214748364802147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3027:Ah Modbus 10004Profibus 10004CIP 139.1.10
OFS_PosActivate
Offset movement with relative offset position
This parameter starts an offset movementwith one the relative offset positions speci-fied by means of the parametersOFSp_RelPos1 and OFSp_RelPos2.
Value 0: No offset movementValue 1: Start offset movement with relativeoffset position 1 (OFSp_RelPos1)Value 2: Start offset movement with relativeoffset position 2 (OFSp_RelPos2)
Changed settings become active immedi-ately.
-003
UINT16UINT16UINT16UINT16 R/W--
CANopen 3027:Bh Modbus 10006Profibus 10006CIP 139.1.11
OFSv_target Target velocity for offset movement
The maximum possible value is 5000 if theuser-defined scaling factor of the velocityscaling is 1.
This applies to the user-defined scaling fac-tors. Example: If the user-defined scalingfactor of the velocity scaling is 2 (ScaleVEL-num = 2, ScaleVELdenom = 1), the maxi-mum possible value is 2500.
Changed settings become active immedi-ately.
usr_v1602147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3027:4h Modbus 9992Profibus 9992CIP 139.1.4
OFS_Ramp Acceleration and deceleration for offsetmovement
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
usr_a16002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3027:6h Modbus 9996Profibus 9996CIP 139.1.6
Changing the motion profile for thevelocity
If the method "Velocity Synchronization" is selected, the motion profilefor the velocity can be changed.
It is possible to change the parameterization of the motion profile forthe velocity, see chapter"7.6.5 Setting the motion profile for the velocity".
Velocity limitation As of firmware version ≥V01.10 a velocity limitation can be activatedfor the methods "Positions synchronization without compensationmovement" and "Positions synchronisation with compensation move-ment".
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
GEARpos_v_max Velocity limitation for the method PositionSynchronization
Value 0: No velocity limitationValue >0: Velocity limitation in usr_v
Changed settings become active immedi-ately.
Available with firmware version ≥V01.10.
usr_v002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3026:9h Modbus 9746Profibus 9746CIP 138.1.9
Release of direction Release of direction allows you to limit movements to positive or nega-tive direction. Release of direction is set with the parameterGEARdir_enabl.
▶ Set the desired directions of movement with the parameterGEARdir_enabl.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
GEARdir_enabl Enabled movement direction of gear pro-cessing
1 / Positive: Positive direction2 / Negative: Negative direction3 / Both: Both directions
This allows you to activate a return move-ment lock function.
Changed settings become active immedi-ately.
-133
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3026:5h Modbus 9738Profibus 9738CIP 138.1.5
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7.4.4.2 Additional settingsThe following functions can be used for target value processing:
• Chapter "7.7.1 Stop movement with Halt"• Chapter "7.7.2 Stopping a movement with Quick Stop"• Chapter "7.7.4 Limitation of the velocity via signal inputs"• Chapter "7.7.5 Limitation of the current via signal inputs"• Chapter "7.7.6 Jerk limitation"
This function is only available for the methods "Position Synchroni-zation Without Compensation Movement" and "Position Synchroni-zation With Compensation Movement".
• Chapter "7.7.7 Zero Clamp"
This function is only available with the method "Velocity Synchroni-zation".
• Chapter "7.7.8 Setting a signal output via parameter"• Chapter "7.7.10 Position capture via signal input"• Chapter "7.7.11 Relative Movement After Capture (RMAC)"
The following functions can be used for monitoring the movement:
• Chapter "7.8.1 Limit switches"• Chapter "7.8.3 Software limit switches"• Chapter "7.8.4 Load-dependent position deviation (following error)"
This function is only available for the methods "Position Synchroni-zation Without Compensation Movement" and "Position Synchroni-zation With Compensation Movement".
• Chapter "7.8.5 Motor standstill and direction of movement"• Chapter "7.8.7 Velocity window"
This function is only available with the method "Velocity Synchroni-zation".
• Chapter "7.8.9 Position register"• Chapter "7.8.10 Position deviation window"
This function is only available for the methods "Position Synchroni-zation Without Compensation Movement" and "Position Synchroni-zation With Compensation Movement".
• Chapter "7.8.11 Velocity deviation window"
This function is only available with the method "Velocity Synchroni-zation".
• Chapter "7.8.12 Velocity threshold value"• Chapter "7.8.13 Current threshold value"
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7.4.5 Operating mode Profile Torque
Without a proper limit value, the motor can reach a very high velocityin this operating mode.
WARNINGEXCESSIVELY HIGH VELOCITY DUE TO INCORRECT LIMIT VALUE
Verify that the parameterized velocity limitation is appropriate for themotor.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Availability See chapter "7.2 Control mode".
Description In the operating mode Profile Torque, a movement is made with adesired target torque.
Starting the operating mode In local control mode, the operating mode must first have been selec-ted, see chapter "7.4.1 Starting the operating mode". After the powerstage is enabled, the operating mode is started automatically.
The power stage is enabled via the signal inputs, see chapter"7.3 Operating states". The table below provides an overview of thefactory settings of the signal inputs:
Signal input Signal input functionDI0 "Enable"
Enable and disable the power stageDI1 "Fault Reset"
Resetting an error messageDI2 "Operating Mode Switch"
See chapter "7.4.2 Changing the operating mode"DI3 "Velocity Limitation"
See chapter"7.7.4 Limitation of the velocity via signal inputs"
DI4 "Current Limitation"See chapter"7.7.5 Limitation of the current via signal inputs"
DI5 "Halt"See chapter "7.7.1 Stop movement with Halt"
The factory settings of the signal inputs depend on the selected oper-ating mode; they can be adapted, see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
In the case of fieldbus control mode, the operating mode is started viathe fieldbus. See the fieldbus manual for a description.
Terminating the operating mode In local control mode, the operating mode is automatically terminatedby disabling the power stage.
In fieldbus control mode, the operating mode is terminated via thefieldbus. See the fieldbus manual for a description.
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Status messages In local control mode, information on the operating state and the cur-rent movement is available via signal outputs.
In fieldbus control mode, information on the operating state and thecurrent movement is available via the fieldbus and the signal outputs.
Descriptions on obtaining information on the operating state and thecurrent movement can be found in the fieldbus manual.
The table below provides an overview of the signal outputs:
Signal output Signal output functionDQ0 "No Fault"
Signals the operating states 4 Ready To Switch On,5 Switched On and 6 Operation Enabled
DQ1 "Active"Signals the operating state 6 Operation Enabled
DQ2 With local control mode:"Current Below Threshold"See chapter "7.8.13 Current threshold value"
With fieldbus control mode:"Freely Available"See chapter"7.7.8 Setting a signal output via parameter"
The factory settings of the signal outputs depend on the selected con-trol mode and the selected operating mode; they can be adapted, seechapter "7.6.2 Setting the digital signal inputs and signal outputs".
LXM32M 7 Operation
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7.4.5.1 ParameterizationOverview The illustration below provides an overview of the parameters that can
be adjusted in local control mode.
RAMP_tq_slope
IOM1_AI11_M_scale
(IOM1_AI12_M_scale)
RAMP_tq_enable
DI0 ... DI5
DI10 ... DI13
"Inversion AI11 (IO Module)"
("Inversion AI12 (IO Module)")
= 0 = 1
IOM1_AI11_mode
(IOM1_AI12_mode)
= 2
AI11
(AI12)
±10V
Figure 80: Overview of adjustable parameters
The illustration below provides an overview of the parameters that canbe adjusted in fieldbus control mode.
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RAMP_tq_slope
IOM1_AI11_M_scale
(IOM1_AI12_M_scale)
RAMP_tq_enable
DI0 ... DI5
DI10 ... DI13
"Inversion AI11 (IO Module)"
("Inversion AI12 (IO Module)")
= 0 = 1
IOM1_AI11_mode
(IOM1_AI12_mode)
= 2
AI11
(AI12)
±10V
PTtq_target
PTtq_reference
= 1 = 2
Figure 81: Overview of adjustable parameters
Setting the type of usage In local control mode, the parameters IOM1_AI11_mode andIOM1_AI12_mode let you select the type of usage of the analog sig-nal inputs.
▶ If you want to use the analog signal input AI1, set the parameterIOM1_AI11_mode to the value "Target Torque".
If you want to use the analog signal input AI2, set the parameterIOM1_AI12_mode to the value "Target Torque".
LXM32M 7 Operation
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_AI11_modeConF → i-o-
A11u
IOM1 Type of usage of AI11
0 / None / nonE : No function1 / Target Velocity / SPdS : Target velocityfor the velocity controller2 / Target Torque / trqS : Target torque forthe current controller3 / Velocity Limitation / LSPd : Limitation ofthe reference velocity for the velocity con-troller4 / Current Limitation / Lcur : Limitation ofthe reference current for the current control-ler
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
-014
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:Eh Modbus 20252Profibus 20252CIP 179.1.14
IOM1_AI12_modeConF → i-o-
A12u
IOM1 Type of usage of AI12
0 / None / nonE : No function1 / Target Velocity / SPdS : Target velocityfor the velocity controller2 / Target Torque / trqS : Target torque forthe current controller3 / Velocity Limitation / LSPd : Limitation ofthe reference velocity for the velocity con-troller4 / Current Limitation / Lcur : Limitation ofthe reference current for the current control-ler
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
-004
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:13h Modbus 20262Profibus 20262CIP 179.1.19
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Setting the target torque In local control mode, the parameters IOM1_AI11_M_scale andIOM1_AI12_M_scale are used to set the target torque for a voltagevalue of 10 V.
▶ If you want to use the analog signal input AI11, use the parameterIOM1_AI11_M_scale to set the desired target torque for a volt-age value of 10 V.
If you want to use the analog signal input AI12, use the parameterIOM1_AI12_M_scale to set the desired target torque for a volt-age value of 10 V.
In fieldbus control mode, use the parameter PTtq_reference tospecify whether the target torque is set via the parameterPTtq_target or via an analog signal input.
▶ If you want to use the parameter PTtq_target, set the parameterPTtq_reference to the value "Parameter 'PTtq_target'". Set thedesired target torque with the parameter PTtq_target.
If you want to use the analog signal input AI11, set the parameterPTtq_reference to the value "Analog Input". Set the desired tar-get torque for a voltage value of 10 V with the parameterIOM1_AI11_M_scale.
If you want to use the analog signal input AI12, set the parameterPTtq_reference to the value "Analog Input". Set the desired tar-get torque for a voltage value of 10 V with the parameterIOM1_AI12_M_scale.
LXM32M 7 Operation
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PTtq_reference Reference value source for operating modeProfile Torque
0 / None: None1 / Parameter 'PTtq_target': Referencevalue via parameter PTtq_target2 / Analog Input: Reference value via ana-log input
Changed settings become active immedi-ately.
Available with firmware version ≥V01.10.
-012
UINT16UINT16UINT16UINT16 R/W--
CANopen 301B:38h Modbus 7024Profibus 7024CIP 127.1.56
IOM1_AI11_M_scaleConF → i-o-
t11t
IOM1 Target torque at 10 V in operatingmode Profile Torque of AI11
100.0 % correspond to the continuous stalltorque _M_M_0.
By using a negative sign, you can invert theevaluation of the analog signal.
In increments of 0.1 %.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
%-3000.0100.03000.0
INT16INT16INT16INT16 R/Wper.-
CANopen 304F:12h Modbus 20260Profibus 20260CIP 179.1.18
IOM1_AI12_M_scaleConF → i-o-
t12i
IOM1 Target torque at 10 V in operatingmode Profile Torque of AI12
100.0 % correspond to the continuous stalltorque _M_M_0.
By using a negative sign, you can invert theevaluation of the analog signal.
In increments of 0.1 %.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
%-3000.0100.03000.0
INT16INT16INT16INT16 R/Wper.-
CANopen 304F:17h Modbus 20270Profibus 20270CIP 179.1.23
PTtq_target Target torque for operating mode ProfileTorque
100.0 % correspond to the continuous stalltorque _M_M_0.
In increments of 0.1 %.
Changed settings become active immedi-ately.
%-3000.00.03000.0
INT16INT16INT16INT16 R/W--
CANopen 6071:0h Modbus 6944Profibus 6944CIP 127.1.16
Changing the motion profile for thetorque
It is possible to change the parameterization of the motion profile forthe torque.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
RAMP_tq_enable Activation of the motion profile for torque
0 / Profile Off: Profile off1 / Profile On: Profile on
In the operating mode Profile Torque, themotion profile for torque can be activated ordeactivated.In the other operating modes, the motionprofile for torque is inactive.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-011
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:2Ch Modbus 1624Profibus 1624CIP 106.1.44
RAMP_tq_slope Slope setting of the motion profile for torque
100.00 % of the torque setting correspondto the continuous stall torque _M_M_0.
Example:A ramp setting of 10000.00 %/s results in atorque change of 100.0% of _M_M_0 in0.01s.
In increments of 0.1 %/s.
Changed settings become active immedi-ately.
%/s0.110000.03000000.0
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 6087:0h Modbus 1620Profibus 1620CIP 106.1.42
7.4.5.2 Additional settingsThe following functions can be used for target value processing:
• Chapter "7.7.1 Stop movement with Halt"• Chapter "7.7.2 Stopping a movement with Quick Stop"• Chapter "7.7.4 Limitation of the velocity via signal inputs"• Chapter "7.7.5 Limitation of the current via signal inputs"• Chapter "7.7.8 Setting a signal output via parameter"• Chapter "7.7.10 Position capture via signal input"• Chapter "7.7.11 Relative Movement After Capture (RMAC)"
The following functions can be used for monitoring the movement:
• Chapter "7.8.1 Limit switches"• Chapter "7.8.3 Software limit switches"• Chapter "7.8.5 Motor standstill and direction of movement"• Chapter "7.8.6 Torque window"• Chapter "7.8.9 Position register"• Chapter "7.8.12 Velocity threshold value"• Chapter "7.8.13 Current threshold value"
LXM32M 7 Operation
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7.4.6 Operating mode Profile Velocity
Availability See chapter "7.2 Control mode".
Description In the operating mode Profile Velocity, a movement is made with adesired target velocity.
Starting the operating mode In local control mode, the operating mode must first have been selec-ted, see chapter "7.4.1 Starting the operating mode". After the powerstage is enabled, the operating mode is started automatically.
The power stage is enabled via the signal inputs, see chapter"7.3 Operating states". The table below provides an overview of thefactory settings of the signal inputs:
Signal input Signal input functionDI0 "Enable"
Enable and disable the power stageDI1 "Fault Reset"
Resetting an error messageDI2 "Operating Mode Switch"
See chapter "7.4.2 Changing the operating mode"DI3 "Velocity Limitation"
See chapter"7.7.4 Limitation of the velocity via signal inputs"
DI4 "Zero Clamp"See chapter "7.7.7 Zero Clamp"
DI5 "Halt"See chapter "7.7.1 Stop movement with Halt"
The factory settings of the signal inputs depend on the selected oper-ating mode; they can be adapted, see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
In the case of fieldbus control mode, the operating mode is started viathe fieldbus. See the fieldbus manual for a description.
Terminating the operating mode In local control mode, the operating mode is automatically terminatedby disabling the power stage.
In fieldbus control mode, the operating mode is terminated via thefieldbus. See the fieldbus manual for a description.
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Status messages In local control mode, information on the operating state and the cur-rent movement is available via signal outputs.
In fieldbus control mode, information on the operating state and thecurrent movement is available via the fieldbus and the signal outputs.
Descriptions on obtaining information on the operating state and thecurrent movement can be found in the fieldbus manual.
The table below provides an overview of the signal outputs:
Signal output Signal output functionDQ0 "No Fault"
Signals the operating states 4 Ready To Switch On,5 Switched On and 6 Operation Enabled
DQ1 "Active"Signals the operating state 6 Operation Enabled
DQ2 With local control mode:"In Velocity Deviation Window"See chapter "7.8.11 Velocity deviation window"
With fieldbus control mode:"Freely Available"See chapter"7.7.8 Setting a signal output via parameter"
The factory settings of the signal outputs depend on the selected con-trol mode and the selected operating mode; they can be adapted, seechapter "7.6.2 Setting the digital signal inputs and signal outputs".
LXM32M 7 Operation
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7.4.6.1 ParameterizationOverview The illustration below provides an overview of the parameters that can
be adjusted in local control mode.
RAMP_v_max
RAMP_v_dec
RAMP_v_acc
IOM1_AI11_v_scale
(IOM1_AI12_v_scale)
RAMP_v_enable
DI0 ... DI5
DI10 ... DI13
"Inversion AI11 (IO Module)"
("Inversion AI12 (IO Module)")
= 0 = 1
IOM1_AI11_mode
(IOM1_AI12_mode)
= 1
AI11
(AI12)
±10V
Figure 82: Overview of adjustable parameters
The illustration below provides an overview of the parameters that canbe adjusted in fieldbus control mode.
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IOM1_AI11_v_scale
(IOM1_AI12_v_scale)
DI0 ... DI5
DI10 ... DI13
"Inversion AI11 (IO Module)"
("Inversion AI12 (IO Module)")
IOM1_AI11_mode
(IOM1_AI12_mode)
= 1
AI11
(AI12)
±10V
PVv_target
PVv_reference
= 1 = 2
RAMP_v_max
RAMP_v_dec
RAMP_v_acc
RAMP_v_enable
= 0 = 1
Figure 83: Overview of adjustable parameters
Setting the type of usage In local control mode, the parameters IOM1_AI11_mode andIOM1_AI12_mode let you select the type of usage of the analog sig-nal inputs.
▶ If you want to use the analog signal input AI1, set the parameterIOM1_AI11_mode to the value "Target Velocity".
If you want to use the analog signal input AI2, set the parameterIOM1_AI12_mode to the value "Target Velocity".
LXM32M 7 Operation
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_AI11_modeConF → i-o-
A11u
IOM1 Type of usage of AI11
0 / None / nonE : No function1 / Target Velocity / SPdS : Target velocityfor the velocity controller2 / Target Torque / trqS : Target torque forthe current controller3 / Velocity Limitation / LSPd : Limitation ofthe reference velocity for the velocity con-troller4 / Current Limitation / Lcur : Limitation ofthe reference current for the current control-ler
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
-014
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:Eh Modbus 20252Profibus 20252CIP 179.1.14
IOM1_AI12_modeConF → i-o-
A12u
IOM1 Type of usage of AI12
0 / None / nonE : No function1 / Target Velocity / SPdS : Target velocityfor the velocity controller2 / Target Torque / trqS : Target torque forthe current controller3 / Velocity Limitation / LSPd : Limitation ofthe reference velocity for the velocity con-troller4 / Current Limitation / Lcur : Limitation ofthe reference current for the current control-ler
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
-004
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:13h Modbus 20262Profibus 20262CIP 179.1.19
7 Operation LXM32M
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Setting the target velocity In local control mode, the parameters IOM1_AI11_v_scale andIOM1_AI12_v_scale are used to set the target velocity for a voltagevalue of 10 V.
▶ If you want to use the analog signal input AI11, use the parameterIOM1_AI11_v_scale to set the desired target velocity for a volt-age value of 10 V.
If you want to use the analog signal input AI12, use the parameterIOM1_AI12_v_scale to set the desired target velocity for a volt-age value of 10 V.
In fieldbus control mode, use the parameter PVv_reference tospecify whether the target torque is set via the parameterPVv_target or via an analog signal input.
▶ If you want to use the parameter PVv_target, set the parameterPVv_reference to the value "Parameter 'PVv_target'". Set thedesired target torque with the parameter PVv_target.
If you want to use the analog signal input AI11, set the parameterPVv_reference to the value "Analog Input". Set the desired tar-get torque for a voltage value of 10 V with the parameterIOM1_AI11_v_scale.
If you want to use the analog signal input AI12, set the parameterPVv_reference to the value "Analog Input". Set the desired tar-get torque for a voltage value of 10 V with the parameterIOM1_AI12_v_scale.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PVv_reference Reference value source for operating modeProfile Velocity
0 / None: None1 / Parameter 'PVv_target': Referencevalue via parameter PVv_target2 / Analog Input: Reference value via ana-log input
Changed settings become active immedi-ately.
Available with firmware version ≥V01.10.
-012
UINT16UINT16UINT16UINT16 R/W--
CANopen 301B:39h Modbus 7026Profibus 7026CIP 127.1.57
IOM1_AI11_v_scale
IOM1 Target velocity at 10 V in operatingmode Profile Velocity of AI11
The maximum velocity is limited to the set-ting in CTRL_v_max.
By using a negative sign, you can invert theevaluation of the analog signal.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
usr_v-214748364860002147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 304F:11h Modbus 20258Profibus 20258CIP 179.1.17
IOM1_AI12_v_scale
IOM1 Target velocity at 10 V in operatingmode Profile Velocity of AI12
The maximum velocity is limited to the set-ting in CTRL_v_max.
By using a negative sign, you can invert theevaluation of the analog signal.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
usr_v-214748364860002147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 304F:16h Modbus 20268Profibus 20268CIP 179.1.22
PVv_target Target velocity for operating mode ProfileVelocity
The target velocity is limited to the setting inCTRL_v_max and RAMP_v_max.
Changed settings become active immedi-ately.
usr_v-0-
INT32INT32INT32INT32 R/W--
CANopen 60FF:0h Modbus 6938Profibus 6938CIP 127.1.13
Changing the motion profile for thevelocity
It is possible to change the parameterization of the motion profile forthe velocity, see chapter"7.6.5 Setting the motion profile for the velocity".
7 Operation LXM32M
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7.4.6.2 Additional settingsThe following functions can be used for target value processing:
• Chapter "7.7.1 Stop movement with Halt"• Chapter "7.7.2 Stopping a movement with Quick Stop"• Chapter "7.8.5 Motor standstill and direction of movement"• Chapter "7.7.4 Limitation of the velocity via signal inputs"• Chapter "7.7.5 Limitation of the current via signal inputs"• Chapter "7.7.7 Zero Clamp"• Chapter "7.7.8 Setting a signal output via parameter"• Chapter "7.7.10 Position capture via signal input"• Chapter "7.7.11 Relative Movement After Capture (RMAC)"
The following functions can be used for monitoring the movement:
• Chapter "7.8.1 Limit switches"• Chapter "7.8.3 Software limit switches"• Chapter "7.8.7 Velocity window"• Chapter "7.8.9 Position register"• Chapter "7.8.11 Velocity deviation window"• Chapter "7.8.12 Velocity threshold value"• Chapter "7.8.13 Current threshold value"
LXM32M 7 Operation
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7.4.7 Operating mode Profile Position
Availability See chapter "7.2 Control mode".
Description In the operating mode Profile Position, a movement to a desired targetposition is performed.
A movement can be made using one of 2 methods:
• Relative movement• Absolute movement
Relative movement In the case of a relative movement, the movement is relative with ref-erence to the previous target position or the current motor position.
500 700
Absolute movement In the case of an absolute movement, the movement is absolute withreference to the zero point.
1200
500
A zero point must be defined with the operating mode Homing prior tothe first absolute movement.
Starting the operating mode The operating mode is started via the fieldbus. See the fieldbus man-ual for a description.
Terminating the operating mode The operating mode is terminated via the fieldbus. See the fieldbusmanual for a description.
Status messages Information on the operating state and the current movement is availa-ble via the fieldbus and the signal outputs.
Descriptions on obtaining information on the operating state and thecurrent movement can be found in the fieldbus manual.
The table below provides an overview of the signal outputs:
Signal output Signal output functionDQ0 "No Fault"
Signals the operating states 4 Ready To Switch On,5 Switched On and 6 Operation Enabled
DQ1 "Active"Signals the operating state 6 Operation Enabled
DQ2 "Freely Available"See chapter"7.7.8 Setting a signal output via parameter"
It is possible to change the factory settings of the signal outputs, seechapter "7.6.2 Setting the digital signal inputs and signal outputs".
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7.4.7.1 ParameterizationOverview The illustration below provides an overview of the adjustable parame-
ters.
PPv_targetPPp_target
RAMP_v_acc, RAMP_v_dec,
PPoption
RAMP_v_max, RAMP_v_jerk
Figure 84: Overview of adjustable parameters
Target position The parameter PPp_target allows you to enter the target position.
▶ Set the desired target position with the parameter PPp_target.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PPp_target Target position for operating mode ProfilePosition
Minimum/maximum values depend on:- Scaling factor- Software limit switches (if they are activa-ted)
Changed settings become active immedi-ately.
usr_p---
INT32INT32INT32INT32 R/W--
CANopen 607A:0h Modbus 6940Profibus 6940CIP 127.1.14
Target velocity The parameter PPv_target allows you to set the target velocity.
▶ Set the target velocity with the parameter PPv_target.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PPv_target Target velocity for operating mode ProfilePosition
The target velocity is limited to the setting inCTRL_v_max and RAMP_v_max.
Changed settings become active the nexttime the motor moves.
usr_v1604294967295
UINT32UINT32UINT32UINT32 R/W--
CANopen 6081:0h Modbus 6942Profibus 6942CIP 127.1.15
Selection of the method The parameter PPoption allows you to set the method for a relativemovement.
▶ Set the desired method for a relative movement with the parameterPPoption.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PPoption Options for operating mode Profile Position
Determines the reference position for rela-tive positioning:0: Relative with reference to the previoustarget position of the profile generator1: Not supported2: Relative with reference to the actual posi-tion of the motor
Changed settings become active the nexttime the motor moves.
-002
UINT16UINT16UINT16UINT16 R/W--
CANopen 60F2:0h Modbus 6960Profibus 6960CIP 127.1.24
Changing the motion profile for thevelocity
It is possible to change the parameterization of the motion profile forthe velocity, see chapter"7.6.5 Setting the motion profile for the velocity".
7.4.7.2 Additional settingsThe following functions can be used for target value processing:
• Chapter "7.7.1 Stop movement with Halt"• Chapter "7.7.2 Stopping a movement with Quick Stop"• Chapter "7.7.4 Limitation of the velocity via signal inputs"• Chapter "7.7.5 Limitation of the current via signal inputs"• Chapter "7.7.6 Jerk limitation"• Chapter "7.7.8 Setting a signal output via parameter"• Chapter "7.7.9 Starting a movement via a signal input"• Chapter "7.7.10 Position capture via signal input"• Chapter "7.7.11 Relative Movement After Capture (RMAC)"
The following functions can be used for monitoring the movement:
• Chapter "7.8.1 Limit switches"• Chapter "7.8.3 Software limit switches"• Chapter "7.8.4 Load-dependent position deviation (following error)"• Chapter "7.8.5 Motor standstill and direction of movement"• Chapter "7.8.8 Standstill window"• Chapter "7.8.9 Position register"• Chapter "7.8.10 Position deviation window"• Chapter "7.8.11 Velocity deviation window"• Chapter "7.8.12 Velocity threshold value"• Chapter "7.8.13 Current threshold value"
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7.4.8 Operating mode Interpolated Position
Availability Available with firmware version ≥V01.08.
The operating mode is only possible with the CAN fieldbus.
Description In the operating mode Interpolated Position, movements are made tocyclically set reference positions.
The monitoring functions Heartbeat and Node Guarding cannot beused in this operating mode.
▶ Check cyclical reception of PDOs at the PLC in order to detect aninterruption of the connection.
The reference positions are transmitted synchronously with eachcycle. The cycle time of a cycle can be set from 1 ... 20 ms.
The movement to the reference positions starts with the SYNC signal.
The drive performs an internal fine interpolation with a raster of250 µs.
The illustration below provides an overview:
1000
4000
2000250µs
2000
SYNC
R_PDO24000 x
SYNCSYNCSYNC
t
Inc
1 3 5
2
4
R_PDO2 R_PDO2
Figure 85: Overview
(1) Transmission of first reference position (example)(2) Movement to first reference position(3) Transmission of second reference position (example)(4) Movement to second reference position(5) Transmission of next reference position (example)
Starting the operating mode The operating mode is started via the fieldbus. See the fieldbus man-ual for a description.
Terminating the operating mode The operating mode is terminated via the fieldbus. See the fieldbusmanual for a description.
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Status messages Information on the operating state and the current movement is availa-ble via the fieldbus and the signal outputs.
Descriptions on obtaining information on the operating state and thecurrent movement can be found in the fieldbus manual.
The table below provides an overview of the signal outputs:
Signal output Signal output functionDQ0 "No Fault"
Signals the operating states 4 Ready To Switch On,5 Switched On and 6 Operation Enabled
DQ1 "Active"Signals the operating state 6 Operation Enabled
DQ2 "Freely Available"See chapter"7.7.8 Setting a signal output via parameter"
It is possible to change the factory settings of the signal outputs, seechapter "7.6.2 Setting the digital signal inputs and signal outputs".
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7.4.8.1 ParameterizationSynchronization mechanism The synchronization mechanism must be activated for the operating
mode Interpolated Position.
The synchronization mechanism is activated via the parameterSyncMechStart = 2.
The parameter SyncMechTol is used to set a synchronization toler-ance. The value of the parameter SyncMechTol is internally multi-plied by 250 μs. For example, a value of 4 corresponds to a toleranceof 1 ms.
The status of the synchronizations mechanism can be read by meansof the parameter SyncMechStatus.
▶ Activate the synchronization mechanism by means of the parame-ter SyncMechStart.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
SyncMechStart Activation of synchronization mechanism
Value 0: Deactivate synchronization mecha-nismValue 1: Activate synchronization mecha-nism (CANmotion).Value 2: Activate synchronization mecha-nism, standard CANopen mechanism.
The cycle time of the synchronization signalis derived from the parameters intTimPerValand intTimInd.
Changed settings become active immedi-ately.
-002
UINT16UINT16UINT16UINT16 R/W--
CANopen 3022:5h Modbus 8714Profibus 8714CIP 134.1.5
SyncMechTol Synchronization tolerance
This parameter is used to increase the syn-chronization tolerance in the operatingmode Interpolated Position. The value isapplied when the synchronization mecha-nism is activated via the parameter Syn-cMechStart.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.08.
-1120
UINT16UINT16UINT16UINT16 R/W--
CANopen 3022:4h Modbus 8712Profibus 8712CIP 134.1.4
SyncMechStatus Status of synchronization mechanism
Status of synchronization mechanism:Value 1: Synchronization mechanism ofdrive is inactive.Value 32: Drive is synchronizing with exter-nal sync signal.Value 64: Drive is synchronized with exter-nal sync signal.
Available with firmware version ≥V01.08.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3022:6h Modbus 8716Profibus 8716CIP 134.1.6
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Cycle time The cycle time is set via the parameters IP_IntTimPerVal andIP_IntTimInd.
The cycle time depends on the following factors:
• Number of drives• Baud rate• Time of the minimum data packets per cycle:
- SYNC- R_PDO2, T_PDO2- EMCY (This time must be reserved.)
• Optionally the time of the additional data packets per cycle:
- R_SDO and T_SDOThe PLC must make sure that the number of requests (R_SDO)and the cycle time match. The response (T_SDO) is transmittedwith the next cycle.
- nPDO - additional R_PDO and T_PDO:R_PDO1, T_PDO1, R_PDO3, T_PDO3, R_PDO4 and T_PDO4
The table below shows the typical values for the individual data pack-ets, depending on the baud rate:
Data packets Size in bytes 1 Mbit 500 kbit 250 kbitR_PDO2 6 0.114 ms 0.228 ms 0.456 ms
T_PDO2 6 0.114 ms 0.228 ms 0.456 ms
SYNC 0 0.067 ms 0.134 ms 0.268 ms
EMCY 8 0.13 ms 0.26 ms 0.52 ms
R_PDOx 8 0.13 ms 0.26 ms 0.52 ms
T_PDOx 8 0.13 ms 0.26 ms 0.52 ms
R_SDO and T_SDO 16 0.26 ms 0.52 ms 1.040 ms
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In the case of one drive, the minimum cycle time is calculated as fol-lows: tcycle= SYNC + R_PDO2+ T_PDO2 + EMCY + SDO +nPDO
The following table shows tcycle depending on the baud rate and thenumber of additional PDOs nPDO, based on one drive:
Number of additionalPDOs (nPDO)
Minimum cycletime at 1 Mbit
Minimum cycletime at 500 kbit
Minimum cycletime at 250 kbit
0 1 ms 2 ms 3 ms
1 1 ms 2 ms 3 ms
2 1 ms 2 ms 4 ms
3 2 ms 2 ms 4 ms
4 2 ms 3 ms 5 ms
5 2 ms 3 ms 5 ms
6 2 ms 3 ms 6 ms
Cycle time in seconds: IP_IntTimPerVal * 10 IP_IntTimInd
▶ Set the desired cycle time with the parametersIP_IntTimPerVal and IP_IntTimInd.
Valid cycle times are 1 ... 20 ms in increments of 1 ms.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IP_IntTimPerVal
Interpolation time period value
Available with firmware version ≥V01.08.
s01255
UINT8UINT16UINT16UINT16 R/W--
CANopen 60C2:1h Modbus 7000Profibus 7000CIP 127.1.44
IP_IntTimInd Interpolation time index
Available with firmware version ≥V01.08.
--128-363
INT8INT16INT16INT16 R/W--
CANopen 60C2:2h Modbus 7002Profibus 7002CIP 127.1.45
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Position comparison The drive cyclically processed the reference position as soon as bit 4of the control word is set to 1 ne. If the difference between referenceposition and actual position is too great, this results in a followingerror. To avoid such an error, the actual position must be read via theparameter _p_act before the operating mode is activated or contin-ued. New reference positions must correspond to the actual positionin the first cycle.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_p_act Actual position usr_p---
INT32INT32INT32INT32 R/---
CANopen 6064:0h Modbus 7706Profibus 7706CIP 130.1.13
Reference position The parameter IPp_target cyclically transmits a reference value.
▶ Set the desired reference value with the parameter IPp_target.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IPp_target Position reference value for operating modeInterpolated Position
Available with firmware version ≥V01.08.
--2147483648-2147483647
INT32INT32INT32INT32 R/W--
CANopen 60C1:1h Modbus 7004Profibus 7004CIP 127.1.46
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7.4.9 Operating mode Homing
Availability See chapter "7.2 Control mode".
Description In the operating mode Homing, a reference is generated between amechanical position and the actual position of the motor.
A reference between a mechanical position and the actual position ofthe motor is generated by means of a reference movement or bymeans of position setting.
A successful reference movement or position setting home the motorand the zero point becomes valid.
The zero point is the point of reference for absolute movements in theoperating modes Profile Position and Motion Sequence.
Methods A movement can be made using different methods:
• Reference movement to a limit switch
In the case of a reference movement to a limit switch, a movementto the negative limit switch or the positive limit switch is performed.When the limit switch is reached, the motor is stopped and a move-ment is made back to the switching point of the limit switch.From the switching point of the limit switch, a movement is made tothe next index pulse of the motor or to a parameterizable distancefrom the switching point.The position of the index pulse or the position of the parameteriza-ble distance from the switching point is the reference point.
• Reference movement to the reference switch
In the case of a reference movement to the reference switch, amovement to the reference switch is performed.When the reference switch is reached, the motor is stopped and amovement is made back to the switching point of the referenceswitch.From the switching point of the reference switch, a movement ismade to the next index pulse of the motor or to a parameterizabledistance from the switching point.The position of the index pulse or the position of the parameteriza-ble distance from the switching point is the reference point.
• Reference movement to the index pulse
In the case of a reference movement to the index pulse, a move-ment is made from the actual position to the next index pulse. Theposition of the index pulse is the reference point.
• Position setting
In the case of position setting, the current motor position is set to adesired position value.
A reference movement must be terminated without interruption for thenew zero point to be valid. If the reference movement is interrupted, itmust be started again.
Motors with multiturn encoder deliver a valid zero point after they areswitched on.
Starting the operating mode The operating mode is started via the fieldbus. See the fieldbus man-ual for a description.
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Terminating the operating mode The operating mode is terminated via the fieldbus. See the fieldbusmanual for a description.
Status messages Information on the operating state and the current movement is availa-ble via the fieldbus and the signal outputs.
Descriptions on obtaining information on the operating state and thecurrent movement can be found in the fieldbus manual.
The table below provides an overview of the signal outputs:
Signal output Signal output functionDQ0 "No Fault"
Signals the operating states 4 Ready To Switch On,5 Switched On and 6 Operation Enabled
DQ1 "Active"Signals the operating state 6 Operation Enabled
DQ2 "Freely Available"See chapter"7.7.8 Setting a signal output via parameter"
It is possible to change the factory settings of the signal outputs, seechapter "7.6.2 Setting the digital signal inputs and signal outputs".
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7.4.9.1 ParameterizationOverview The illustration below provides an overview of the adjustable parame-
ters.
HMp_home HMp_setP
HMdis
HMv, HMv_out
RAMP_v_acc, RAMP_v_dec,
HMmethod
= 1, 2, 7 ... 14 = 33, 34= 17, 18, 23 ... 30 = 35
RAMP_v_max, RAMP_v_jerk
Figure 86: Overview of adjustable parameters
Setting limit switches and refer-ence switches
The limit switches and reference switches must be set to meet therequirements, see chapter "7.8.1 Limit switches" and chapter"7.8.2 Reference switch".
Selection of the method The operating mode Homing establishes an absolute position refer-ence between the motor position and a defined axis position. Thereare various Homing methods which can be selected via the parameterHMmethod.
The HMprefmethod parameter is used to save the preferred methodto the EEPROM (persistent). When the preferred method has beenset in this parameter, the method is performed during homing evenafter the device is switched off and on. The value to be entered corre-sponds to the value in the HMmethod parameter.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
HMmethod Homing method
1: LIMN with index pulse2: LIMP with index pulse7: REF+ with index pulse, inv., outside8: REF+ with index pulse, inv., inside9: REF+ with index pulse, not inv., inside10: REF+ with index pulse, not inv., outside11: REF- with index pulse, inv., outside12: REF- with index pulse, inv., inside13: REF- with index pulse, not inv., inside14: REF- with index pulse, not inv., outside17: LIMN18: LIMP23: REF+, inv., outside24: REF+, inv., inside25: REF+, not inv., inside26: REF+, not inv., outside 27: REF-, inv., outside28: REF-, inv., inside29: REF-, not inv., inside30: REF-, not inv., outside 33: Index pulse neg. direction34: Index pulse pos. direction35: Position setting
Abbreviations:REF+: Search movement in pos. directionREF-: Search movement in neg. directioninv.: Invert direction in switchnot inv.: Direction not inverted in switchoutside: Index pulse / distance outsideswitchinside: Index pulse / distance inside switch
Changed settings become active immedi-ately.
-11835
INT8INT16INT16INT16 R/W--
CANopen 6098:0h Modbus 6936Profibus 6936CIP 127.1.12
HMprefmethodoP → hoM-
MEth
Preferred homing method
Changed settings become active immedi-ately.
-11835
INT16INT16INT16INT16 R/Wper.-
CANopen 3028:Ah Modbus 10260Profibus 10260CIP 140.1.10
Setting the distance from theswitching point
A distance to the switching point of the limit switch or the referenceswitch must be parameterized for a reference movement with indexpulse. The parameter HMdis lets you set the distance to the switchinglimit switch or the reference switch.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
HMdis Distance from switching point
The distance from the switching point isdefined as the reference point.
The parameter is only effective during a ref-erence movement without index pulse.
Changed settings become active the nexttime the motor moves.
usr_p12002147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3028:7h Modbus 10254Profibus 10254CIP 140.1.7
Defining the zero point The parameter HMp_home is used to specify a desired position value,which is set at the reference point after a successful reference move-ment. The desired position value at the reference point defines thezero point.
NOTE: If the value 0 is used, the zero point corresponds to the refer-ence point.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
HMp_home Position at reference point
After a successful reference movement, thisposition is automatically set at the referencepoint.
Changed settings become active the nexttime the motor moves.
usr_p-214748364802147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3028:Bh Modbus 10262Profibus 10262CIP 140.1.11
Setting monitoring The parameters HMoutdis and HMsrchdis allow you to activatemonitoring of the limit switchs and the reference switch.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
HMoutdis Maximum distance for search for switchingpoint
0: Monitoring of distance inactive>0: Maximum distance
After detection of the switch, the drive startsto search for the defined switching point. Ifthe defined switching point is not foundwithin the distance defined here, the refer-ence movement is canceled with an error.
Changed settings become active the nexttime the motor moves.
usr_p002147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3028:6h Modbus 10252Profibus 10252CIP 140.1.6
HMsrchdis Maximum search distance after overtravelof switch
0: Search distance monitoring disabled>0: Search distance
The switch must be activated again withinthis search distance, otherwise the refer-ence movement is canceled.
Changed settings become active the nexttime the motor moves.
usr_p002147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3028:Dh Modbus 10266Profibus 10266CIP 140.1.13
Reading out the position distance The position distance between the switching point and index pulsecan be read out with the following parameters.
The distance between the switching point and the index pulse must be>0.05 revolutions for reproducible reference movements with indexpulse.
If the index pulse is too close to the switching point, the limit switch orreference switch can be moved mechanically.
Otherwise the position of the index pulse can be moved with theparameter ENC_pabsusr, see Chapter"6.5.9 Setting parameters for encoder".
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_HMdisREFtoIDX_usr
Distance from switching point to index pulse
It allows to check the distance between theindex pulse and the switching point andserves as a criterion for determiningwhether the reference movement with indexpulse can be reproduced.
Available with firmware version ≥V01.03.
usr_p-2147483648-2147483647
INT32INT32INT32INT32 R/---
CANopen 3028:Fh Modbus 10270Profibus 10270CIP 140.1.15
_HMdisREFtoIDX Distance from switching point to index pulse
It allows to check the distance between theindex pulse and the switching point andserves as a criterion for determiningwhether the reference movement with indexpulse can be reproduced.
The parameter _HMdisREFtoIDX_usrallows you to enter the value in user-definedunits.
In increments of 0.0001 revolution.
revolution---
INT32INT32INT32INT32 R/---
CANopen 3028:Ch Modbus 10264Profibus 10264CIP 140.1.12
Setting velocities The parameters HMv and HMv_out are used to set the velocities forsearching the switch and for moving away from the switch.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
HMvoP → hoM-
hMn
Target velocity for searching the switch
The adjustable value is internally limited tothe current parameter setting inRAMP_v_max.
Changed settings become active the nexttime the motor moves.
usr_v1602147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 6099:1h Modbus 10248Profibus 10248CIP 140.1.4
HMv_out Target velocity for moving away from switch
The adjustable value is internally limited tothe current parameter setting inRAMP_v_max.
Changed settings become active the nexttime the motor moves.
usr_v162147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 6099:2h Modbus 10250Profibus 10250CIP 140.1.5
Changing the motion profile for thevelocity
It is possible to change the parameterization of the motion profile forthe velocity, see chapter"7.6.5 Setting the motion profile for the velocity".
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7.4.9.2 Reference movement to a limit switchThe illustration below shows a reference movement to a limit switch
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M
"Negative Limit Switch" "Positive Limit Switch"
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A
B
Figure 87: Reference movement to a limit switch
(1) Movement to limit switch at velocity HMv(2) Movement to the switching point of the limit switch at velocity
HMv_out(3) Movement to index pulse or movement to a distance from
the switching point at velocity HMv_outType A Method 1: Movement to the index pulse.
Method 17: Movement to distance from switching point.
Type B Method 2: Movement to the index pulse.
Method 18: Movement to distance from switching point.
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7.4.9.3 Reference movement to the reference switch in positive directionThe illustration below shows a reference movement to the referenceswitch in positive direction
"Reference Switch"
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�
M
A
D
B
C
�
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Figure 88: Reference movement to the reference switch in positive direction
(1) Movement to reference switch at velocity HMv(2) Movement to the switching point of the reference switch at
velocity HMv_out(3) Movement to index pulse or movement to a distance from
the switching point at velocity HMv_outType A Method 7: Movement to the index pulse.
Method 23: Movement to distance from switching point.
Type B Method 8: Movement to the index pulse.
Method 24: Movement to distance from switching point.
Type C Method 9: Movement to the index pulse.
Method 25: Movement to distance from switching point.
Type D Method 10: Movement to the index pulse.
Method 26: Movement to distance from switching point.
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7.4.9.4 Reference movement to the reference switch in negative directionThe illustration below shows a reference movement to the referenceswitch in negative direction
"Reference Switch"
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M
A
D
B
C
�
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Figure 89: Reference movement to the reference switch in negative direction
(1) Movement to reference switch at velocity HMv(2) Movement to the switching point of the reference switch at
velocity HMv_out(3) Movement to index pulse or movement to a distance from
the switching point at velocity HMv_outType A Method 11: Movement to the index pulse.
Method 27: Movement to distance from switching point.
Type B Method 12: Movement to the index pulse.
Method 28: Movement to distance from switching point.
Type C Method 13: Movement to the index pulse.
Method 29: Movement to distance from switching point.
Type D Method 14: Movement to the index pulse.
Method 30: Movement to distance from switching point.
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7.4.9.5 Reference movement to the index pulseThe illustration below shows a reference movement to the index pulse
1 1
HMmethod = 33 HMmethod = 34
Figure 90: Reference movement to the index pulse
(1) Movement to index pulse at velocity HMv_out
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7.4.9.6 Position settingDescription By means of position setting, the current motor position is set to the
position value in parameter HMp_setP. This also defines the zeropoint.
Position setting is only possible when the motor is at a standstill. Anyactive position deviation remains active and can still be compensatedfor by the position controller after position setting.
Setting the position for positionsetting
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
HMp_setP Position for Position Setting
Position for operating mode Homing,method 35.
Changed settings become active immedi-ately.
usr_p-0-
INT32INT32INT32INT32 R/W--
CANopen 301B:16h Modbus 6956Profibus 6956CIP 127.1.22
ExampleM MM
0
0"0"
2000
"2000"
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��
2000
Figure 91: Movement by 4000 user-defined units with position setting
(1) The motor is positioned by 2000 user-defined units.(2) By means of position setting to 0, the current motor position
is set to position value 0 which, at the same time, defines anew zero point.
(3) When a new movement by 2000 user-defined units is trig-gered, the new target position is 2000 user-defined units.
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7.4.9.7 Additional settingsThe following functions can be used for target value processing:
• Chapter "7.7.1 Stop movement with Halt"• Chapter "7.7.2 Stopping a movement with Quick Stop"• Chapter "7.7.4 Limitation of the velocity via signal inputs"• Chapter "7.7.5 Limitation of the current via signal inputs"• Chapter "7.7.6 Jerk limitation"• Chapter "7.7.8 Setting a signal output via parameter"• Chapter "7.7.10 Position capture via signal input"
The following functions can be used for monitoring the movement:
• Chapter "7.8.1 Limit switches"• Chapter "7.8.2 Reference switch"• Chapter "7.8.3 Software limit switches"• Chapter "7.8.4 Load-dependent position deviation (following error)"• Chapter "7.8.5 Motor standstill and direction of movement"• Chapter "7.8.8 Standstill window"• Chapter "7.8.9 Position register"• Chapter "7.8.10 Position deviation window"• Chapter "7.8.11 Velocity deviation window"• Chapter "7.8.12 Velocity threshold value"• Chapter "7.8.13 Current threshold value"
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7.4.10 Operating mode Motion Sequence
Availability Available with firmware version ≥V01.01.
Description In the operating mode Motion Sequence, movements are started viaparameterizable data sets.
A parameterizable data set contains settings on the type of movement(data set type) and the appropriate target values (such as the targetvelocity and target position).
In addition, you can specify in a data set that a subsequent data set isto be started once the movement has been terminated. You can alsodefine a transition condition for starting the subsequent data set.
The data sets are parameterized via the commissioning software.
Sequence A data set can be started in two different ways:
• Start of a data set with sequence:
The set data set is started.
If a subsequent data set has been defined in the data set, the sub-sequent data set is started once the movement has been termina-ted.
If a transition condition has been defined, the subsequent data setis started once the transition condition is met.
• Start of a data set without sequence:
The set data set is started.
If a subsequent data set has been defined in the data set, the sub-sequent data set is not started when the movement has been ter-minated.
Data set types The following data set types are available:
• Movement to a specific position value (absolute movement, addi-tive movement or relative movement)
• Movement at a specific velocity• Homing the motor (reference movement or position setting)• Repetition of a given sequence
The following types of data set types are available with firmware ver-sion ≥V01.09:
• Movement synchronized with external reference value signals(Electronic Gear)
• Write parameter with desired value
Number of data sets The number of data sets depends on the hardware version:
• With hardware version ≥RS03: 128 data sets• With hardware version <RS03: 32 data sets
Control mode In local control mode, a movement is started via the digital signalinputs.
In fieldbus control mode, a movement is started via the fieldbus. Seethe fieldbus manual for a description.
See chapter "7.2 Control mode" for information on setting the controlmode.
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Starting the operating mode In local control mode, the operating mode must first have been selec-ted, see chapter "7.4.1 Starting the operating mode". After the powerstage is enabled, the operating mode is started automatically.
The power stage is enabled via the signal inputs, see chapter"7.3 Operating states". The table below provides an overview of thefactory settings of the signal inputs:
Signal input Signal input functionDI0 "Enable"
Enable and disable the power stageDI1 "Reference Switch (REF)"
See chapter "7.8.2 Reference switch"DI2 "Positive Limit Switch (LIMP)"
See chapter "7.8.1 Limit switches"DI3 "Negative Limit Switch (LIMN)"
See chapter "7.8.1 Limit switches"DI4 "Start Motion Sequence"
Start sequenceDI5 "Data Set Select"
Select data set number
The factory settings of the signal inputs depend on the selected oper-ating mode; they can be adapted, see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
In the case of fieldbus control mode, the operating mode is started viathe fieldbus. See the fieldbus manual for a description.
Terminating the operating mode In local control mode, the operating mode is automatically terminatedby disabling the power stage.
In fieldbus control mode, the operating mode is terminated via thefieldbus. See the fieldbus manual for a description.
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Status messages In local control mode, information on the operating state and the cur-rent movement is available via signal outputs.
In fieldbus control mode, information on the operating state and thecurrent movement is available via the fieldbus and the signal outputs.Descriptions on obtaining information on the operating state and thecurrent movement can be found in the fieldbus manual.
The table below provides an overview of the signal outputs:
Signal output Signal output functionDQ0 With local control mode:
"Motion Sequence: Done"Signals the end of a sequence.
With fieldbus control mode:"No Fault"Signals the operating states 4 Ready To Switch On,5 Switched On and 6 Operation Enabled
DQ1 "Active"Signals the operating state 6 Operation Enabled
DQ2 With local control mode:"Motion Sequence: Start Acknowledge"Signals that the system is waiting for a transition condi-tion to be met.
With fieldbus control mode:"Freely Available"See chapter"7.7.8 Setting a signal output via parameter"
The factory settings of the signal outputs depend on the selected con-trol mode and the selected operating mode; they can be adapted, seechapter "7.6.2 Setting the digital signal inputs and signal outputs".
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7.4.10.1 Start of a data set with sequenceThe set data set is started.
If a subsequent data set has been defined in the data set, the subse-quent data set is started once the movement has been terminated.
If a transition condition has been defined, the subsequent data set isstarted once the transition condition is met.
Signal input functions In local control mode, the following signal input functions are requiredto start a data set with sequence:
Signal input function Description"Start Motion Sequence"
Factory setting for DI4Start of a data set with sequence.
A data set is set via the signal input func-tions "Data Set Bit 0" to "Data Set Bit x"and confirmed with the signal input func-tion "Data Set Select".
"Data Set Select"
Factory setting for DI5The signal input function "Data SetSelect" is used to confirmed the set dataset.
If the signal input functions "Data Set Bit0" to "Data Set Bit x" are not set to any ofthe signal inputs, data set 0 is confirmedwith the signal input function "Data SetSelect".
"Data Set Bit 0" to "Data Set Bit x"
Adjustable for signal inputs DI0 ...DI5
The signal input functions "Data Set Bit0" to "Data Set Bit x" are used to set adata set in a bit-coded way.
The set data set must be confirmed withthe signal input function "Data SetSelect".
Start condition A start condition is defined for starting a data set with sequence. Thestart conditions can be set with the parameter MSM_CondSequ.
▶ Set the desired start condition for the start of a data set withsequence with the parameter MSM_CondSequ.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MSM_CondSequ Start condition for the start of a sequencevia a signal input
0 / Rising Edge: Rising edge1 / Falling Edge: Falling edge2 / 1-level: 1 level3 / 0-level: 0 level
The start condition defines the way the startrequest is to be processed. This setting isused for the first start after activation of theoperating mode.
Changed settings become active the nexttime the motor moves.
-003
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 302D:8h Modbus 11536Profibus 11536CIP 145.1.8
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End of a sequence As of firmware version ≥V01.09 you can parameterize whether the setdata set is to be confirmed at the end of a sequence.
▶ Set the type of confirmation with the MSMendNumSequenceparameter.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MSMendNumSequence
Selection of the data set number after theend of a sequence
0 / DataSetSelect: Data set is set via thesignal input function "Data Set Select"1 / Automatic: Data set is set automatically
Value 0: After the end of a sequence, theselected data set must be set via the signalinput function "Data Set Select".Value 1: After the end of a sequence, theselected data set is set automatically.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.09.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 302D:9h Modbus 11538Profibus 11538CIP 145.1.9
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7.4.10.2 Start of a data set without sequenceThe set data set is started.
If a subsequent data set has been defined in the data set, the subse-quent data set is not started when the movement has been termina-ted.
Signal input functions In local control mode, the following signal input functions are requiredto start a data set without sequence:
Signal input function Description"Start Single Data Set"
The signal input function must beset.
The set data set is started without asequence via a rising edge.
A data set is set via the signal input func-tions "Data Set Bit 0" to "Data Set Bit x".
"Data Set Bit 0" to "Data Set Bit x"
Adjustable for signal inputs DI0 ...DI5
The signal input functions "Data Set Bit0" to "Data Set Bit x" are used to set adata set in a bit-coded way.
The set data set is immediately con-firmed; it does not need to be confirmedwith the signal input function "Data SetSelect".
Setting the start signal As of firmware version ≥V01.09, you can parameterize whether amovement can be aborted via a rising edge at the signal input.
The parameter MSMstartSignal lets you set the behavior of thestart signal.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MSMstartSignal Response to falling edge at signal input for'Start Signal Data Set'
0 / No Reaction: No response1 / Cancel Movement: Cancel active move-ment
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.09.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 302D:Ch Modbus 11544Profibus 11544CIP 145.1.12
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7.4.10.3 Structure of a data setData set type, settings and type of
transitionData set
type Setting A Setting DSetting CSetting B Transition type
Figure 92: Structure of a data set
Data set type Setting A Setting B Setting C Setting D Transition type"Move Absolute"
Movement to anabsolute positionvalue
Acceleration
Unit: usr_a
Velocity
Unit: usr_v
Absolute targetposition
Unit: usr_p
Deceleration
Unit: usr_a
• No Transition• Abort And Go
Next• Buffer And
Start Next• Blending Previ-
ous• Blending Next
"Move Additive"
Movement that isadded to currenttarget position
Acceleration
Unit: usr_a
Velocity
Unit: usr_v
Added target posi-tion
Unit: usr_p
Deceleration
Unit: usr_a
• No Transition• Abort And Go
Next• Buffer And
Start Next
"Reference Move-ment"
Reference move-ment 1)
Homing method
Like parameterHMmethod
Desired positionvalue at referencepoint
Unit: usr_p
- - • No Transition• Buffer And
Start Next
"Position Setting"
Position setting
Position for Posi-tion Setting
Unit: usr_p
- - - • No Transition• Buffer And
Start Next
"Repeat"
Repeat part of asequence
Number of repeti-tions
Number of thedata set at whichthe repetition is tobe started
- - • No Transition• Buffer And
Start Next
"Move Relative"
Relative move-ment with refer-ence to currentmotor position
Acceleration
Unit: usr_a
Velocity
Unit: usr_v
Relative targetposition
Unit: usr_p
Deceleration
Unit: usr_a
• No Transition• Abort And Go
Next• Buffer And
Start Next
"Move Velocity"
Movement at aspecific velocity
Acceleration
Unit: usr_a
Velocity
Unit: usr_v
Direction of move-ment
Value 0: Positive
Value 1: Negative
Value 2: Currentdirection of move-ment
Deceleration
Unit: usr_a
• Abort And GoNext
1) Function principle like operating mode Homing.
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The following data set types are available with firmware version≥V01.09:
Data set type Setting A Setting B Setting C Setting D Transition type"Gear"
Electronic Gear 1)
Method
Value 0: No synchroni-zation
Value 1: Position syn-chronization withoutcompensation move-ment
Value 2: Position syn-chronization with com-pensation movement
Value 3: Velocity syn-chronization
Numerator of gearratio
Like parameterGEARnum
Denominator of gearratio
Like parameterGEARdenom
- • Abort And GoNext
"Write Parameter"
Write parameterdirectly
Modbus address ofthe parameter
The parameters of thesafety module eSMand the followingparameters cannot bewritten directly:AccessLock AT_start DCOMopmode GEARreference JOGactivate OFSp_rel PAR_CTRLreset PAR_ScalingStart PAReeprSave PARuserReset PTtq_reference PTtq_target PVv_reference PVv_target
Value of the param-eter 2)
- - • No Transition• Buffer And
Start Next
1) Function principle like operating mode Electronic Gear.2) Values greater than 2147483647 must be entered as negative values.
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Transition type Transition type is used to set the type of transition to the subsequentdata set. The following types of transitions are possible:
• No Transition
No further data set is started upon successful completion of themovement (end of sequence).
• Abort And Go Next
If the transition condition is met, the current movement is abortedand the subsequent data set started.
The transition conditions are considered for the transition.• Buffer And Start Next
Upon successful completion of the movement and if the transitioncondition is met, the subsequent data set is started.
The transition conditions are considered for the transition.• Blending Previous / Blending Next
(data set type Move Absolute only)
The velocity is adapted to the velocity of the subsequent data setuntil the target position is reached or when it has been reached.
The transition is performed without consideration of the transitionconditions.
No Transition
Abort And Go Next
Buffer And Start Next
Blending Previous
Blending Next
1
1
1
1
1
4
4
4
4
2
3
2
2
2
Figure 93: Transition type
(1) First data set.(2) Target position of first data set reached.(3) Transition condition met, the first data set is terminated and
the next data set is started.(4) Next data set.
Subsequent data set and transitionconditions
Subsequent data set
Transition condition 1
Transition value 1
Transition value 2
Transition condition 2
Logical operator
Figure 94: Structure of a data set
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Subsequent data set Subsequent data set defines the data set to be started next.
Transition condition 1 Transition condition 1 is used to set the first transition condition. Thefollowing transition conditions are possible:
• Continue Without Condition
No condition for a transition. The subsequent data set is starteddirectly. Any second transition condition is without effect.
• Wait Time
The condition for a transition is a waiting time.• Start Request Edge
The condition for a transition is an edge at the signal input.• Start Request Level
The condition for a transition is a level at the signal input.
Transition value 1 Transition value 1 is used to set the value for the first transition condi-tion. The meaning depends on the selected transition condition.
• In the case of transition condition Continue Without Condition
- No meaning• In the case of transition condition Waiting Time
- Value 0 ... 30000: Waiting time of 0 ... 30000 ms• In the case of transition condition Start Request Edge
- Value 0: Rising edge- Value 1: Falling edge- Value 4: Rising or falling edge
• In the case of transition condition Start Request Level
- Value 2: 1 level- Value 3: 0 level
Logical operator Logical operator is used to logically link transition condition 1 and tran-sition condition 2. The following logical operators are available:
• None
No operator (transition condition 2 has no effect)• AND
Logical AND• OR
Logical OR
Transition condition 2 Transition condition 2 is used to set the second transition condition.The following transition conditions are possible:
• Continue Without Condition
No condition for a transition. The subsequent data set is starteddirectly.
• Start Request Edge
The condition for a transition is an edge at the signal input.
If an And is used to logically link an edge and a waiting time, theedge is not evaluated until the waiting time has elapsed.
• Start Request Level
The condition for a transition is a level at the signal input.
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Transition value 2 Transition value 2 is used to set the value for the second transitioncondition. The meaning depends on the selected transition condition.
• In the case of transition condition Continue Without Condition
- No meaning• In the case of transition condition Start Request Edge
- Value 0: Rising edge- Value 1: Falling edge- Value 4: Rising or falling edge
• In the case of transition condition Start Request Level
- Value 2: 1 level- Value 3: 0 level
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7.4.10.4 Error diagnosticsPlausibility check The fields of a data set are checked for plausibility when the data set
is started. If an error is detected in a data set, the parameters_MSM_error_num and _MSM_error_field provide information onthe data set number and the data set field containing the error.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_MSM_error_num Number of the data set in which an errorhas been detected
Value -1: No errorWert 0 ... 127: Number of the data set inwhich an error has been detected.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.09.
--1-1127
INT16INT16INT16INT16 R/---
CANopen 302D:Dh Modbus 11546Profibus 11546CIP 145.1.13
_MSM_error_field
Field of the data set in which an error hasbeen detected
Value -1: No errorValue 0: Data set typeValue 1: Setting AValue 2: Setting BValue 3: Setting CValue 4: Setting DValue 5: Transition typeValue 6: Subsequent data setValue 7: Transition condition 1Value 8: Transition value 1Value 9: Logical operatorValue 10: Transition condition 2Value 11: Transition value 2
Changed settings become active immedi-ately.
Available with firmware version ≥V01.09.
--1-111
INT16INT16INT16INT16 R/---
CANopen 302D:Eh Modbus 11548Profibus 11548CIP 145.1.14
Diagnostics via parameter The parameter _MSMnumFinish lets you read the number of the dataset that was being executed at the point in time the movement wascanceled.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_MSMNumFinish Number of data set that was active when amovement was interrupted
When a movement is interrupted, the num-ber of the data set that was being processedat the point in time of the interruption is con-tained in this parameter.
Changed settings become active immedi-ately.
--1-1127
INT16INT16INT16INT16 R/---
CANopen 302D:Bh Modbus 11542Profibus 11542CIP 145.1.11
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7.4.10.5 Additional settingsThe following functions can be used for target value processing:
• Chapter "7.7.1 Stop movement with Halt"• Chapter "7.7.2 Stopping a movement with Quick Stop"• Chapter "7.7.4 Limitation of the velocity via signal inputs"• Chapter "7.7.5 Limitation of the current via signal inputs"• Chapter "7.7.6 Jerk limitation"
This function is only available for the data set types Move Abso-lute, Move Additive, Move Relative, Reference Movement andGear.
• Chapter "7.7.7 Zero Clamp"
This function is only available for data set type Move Velocity.• Chapter "7.7.8 Setting a signal output via parameter"• Chapter "7.7.10 Position capture via signal input"• Chapter "7.7.11 Relative Movement After Capture (RMAC)"
This function is only available for the data set types Move Abso-lute, Move Additive, Move Relative, Move Velocity and Gear.
The following functions can be used for monitoring the movement:
• Chapter "7.8.1 Limit switches"• Chapter "7.8.2 Reference switch"
This function is only available for data set type Reference Move-ment.
• Chapter "7.8.3 Software limit switches"• Chapter "7.8.4 Load-dependent position deviation (following error)"
This function is only available for the data set types Move Abso-lute, Move Additive, Move Relative and Reference Movement.
• Chapter "7.8.5 Motor standstill and direction of movement"• Chapter "7.8.8 Standstill window"
This function is only available for the data set types Move Abso-lute, Move Additive, Move Relative and Reference Movement.
• Chapter "7.8.9 Position register"
This function is only available for fieldbus control mode.• Chapter "7.8.10 Position deviation window"
This function is only available for the data set types Move Abso-lute, Move Additive, Move Relative and Reference Movement.
• Chapter "7.8.11 Velocity deviation window"• Chapter "7.8.12 Velocity threshold value"• Chapter "7.8.13 Current threshold value"
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7.5 Movement range
The movement range is the maximum possible range within which amovement can be made to any position.
The actual position of the motor is the position in the movementrange.
The figure below shows the movement range in user-defined unitswith the factory scaling.
M
A ABB 0
Figure 95: Movement range
(A) -268435456 user-defined units (usr_p)(B) 268435455 user-defined units (usr_p)
Availability The movement range is relevant in the following operating modes:
• Jog• Profile Position• Homing• Motion Sequence (Move Absolute, Move Additive, Move Relative
and Reference Movement)
7.5.1 Zero point of the movement range
The zero point of the movement range is the point of reference forabsolute movements in the operating modes Profile Position andMotion Sequence.
Valid zero point The zero point of the movement range is set by means of a referencemovement or by position setting.
A reference movement and position setting can be performed in theoperating modes Homing and Motion Sequence.
In the case of a movement beyond the movement range (for example,a relative movement), the zero point becomes invalid.
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7.5.2 Movement beyond the movement range
The behavior in the case of a movement beyond the movement rangedepends on the operating mode and the type of movement.
The following behavior is possible:
• In the case of a movement beyond the movement range, themovement range restarts.
• In the case of a movement with a target position outside of themovement range, position setting to 0 is performed before themovement is started.
As of firmware version ≥V01.04, you can use the parameterPP_ModeRangeLim to set the behavior.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PP_ModeRangeLim
Absolute movement beyond movementrange
0 / NoAbsMoveAllowed: Absolute move-ment beyond movement range is not possi-ble1 / AbsMoveAllowed: Absolute movementbeyond movement range is possible
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.04.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3023:7h Modbus 8974Profibus 8974CIP 135.1.7
7.5.2.1 Behavior for operating mode JogContinuous movement Behavior for continuous movement beyond the movement range:
• The movement range restarts.
Step movement Behavior for step movement beyond the movement range:
• With firmware version ≥V01.04 and setting via parameterPP_ModeRangeLim = 1:
The movement range restarts.• With firmware version <V01.04:
Internal position setting to 0.
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7.5.2.2 Behavior for operating mode Profile PositionRelative movement Behavior for relative movement beyond the movement range:
• With firmware version ≥V01.04 and setting via parameterPP_ModeRangeLim = 1:
The movement range restarts.
A relative movement is possible when the motor is at a standstilland during movements
• With firmware version <V01.04:
Internal position setting to 0.
A relative movement is only possible when the motor is at a stand-still.
Absolute movement Behavior for absolute movement:
• With firmware version ≥V01.04 and setting via parameterPP_ModeRangeLim = 1:
A relative movement beyond the movement range is possible.• With firmware version <V01.04:
An absolute movement is made within the movement range. A rel-ative movement beyond the movement range is not possible.
Example:
Actual position: 268435000 user-defined units (usr_p)Target position absolute: -268435000 user-defined units (usr_p)
M
A ABB 0
M
A ABB 0
M
A ABB 0
1
2
3
Figure 96: Absolute movement
(A) -268435456 user-defined units (usr_p)(B) 268435455 user-defined units (usr_p)(1) Actual position: 268435000 user-defined units(2) Absolute movement to -268435000 user-defined units
Parameter PP_ModeRangeLim = 1(3) Absolute movement to -268435000 user-defined units
Parameter PP_ModeRangeLim = 0
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7.5.2.3 Behavior for operating mode Motion SequenceMove Relative and Move Additive Behavior for movement with Move Relative and Move Additive beyond
the movement range:
• With firmware version ≥V01.04 and setting via parameterPP_ModeRangeLim = 1:
The movement range restarts.• With firmware version <V01.04:
Internal position setting to 0.
Move Absolute Behavior for a movement with Move Absolute:
• With firmware version ≥V01.04 and setting via parameterPP_ModeRangeLim = 1:
A relative movement beyond the movement range is possible.• With firmware version <V01.04:
An absolute movement is made within the movement range. A rel-ative movement beyond the movement range is not possible.
Example:
Actual position: 268435000 user-defined units (usr_p)Target position absolute: -268435000 user-defined units (usr_p)
M
A ABB 0
M
A ABB 0
M
A ABB 0
1
2
3
Figure 97: Absolute movement
(A) -268435456 user-defined units (usr_p)(B) 268435455 user-defined units (usr_p)(1) Actual position: 268435000 user-defined units(2) Absolute movement to -268435000 user-defined units
Parameter PP_ModeRangeLim = 1(3) Absolute movement to -268435000 user-defined units
Parameter PP_ModeRangeLim = 0
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7.5.3 Setting a modulo range
Availability Available with firmware version ≥V01.01.
Description The modulo range supports applications with repeating arrangementsof target positions (such as rotary indexing tables). The target posi-tions are mapped to a parameterizable movement range.
Direction of movement The direction of movement for absolute target positions can be adjus-ted to meet the requirements of the application.
• Shortest distance• Positive direction of movement only• Negative direction of movement only
Multiple modulo range In addition, it is possible to set a multiple modulo range for absolutetarget positions. A movement with an absolute target position beyondthe modulo range is performed in a way as if several modulo rangeshad been arranged one after the other.
Example:
• Modulo range
- Minimum position: 0 usr_p- Maximum position: 3600 usr_p
• Actual position: 700 usr_p• Target positions absolute: 5000 usr_p• Left: Without multiple modulo range
Right: With multiple modulo range
1800
0
2700 900
1800
0
2700 900
700 700
14001400
Figure 98: Multiple modulo range
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7.5.3.1 Parameterization
MOD_Min
MOD_Max
MOD_AbsMultiRng
MOD_Enable
MOD_AbsDirection
= 0 = 1 ... 2
Figure 99: Overview of parameters
General Using a modulo range requires the scaling to be adapted. The scalingof the motor must be adapted to the requirements of the application,see chapter "7.6.1 Scaling".
Activation The modulo range is activated with the parameter MOD_Enable.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MOD_EnableConF → ACG-
AtyP
Activation of Modulo
0 / Modulo Off / oFF : Modulo is off1 / Modulo On / on : Modulo is on
Activating Modulo does not automaticallychange the value of other parameters.Before changing this value, verify that theparameter settings for the intended applica-tion are correct.NOTE: Modulo must be deactivated forAutotuning.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:38h Modbus 1648Profibus 1648CIP 106.1.56
Modulo range The parameters MOD_Min and MOD_Max can be used to set the mod-ulo range.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MOD_Min Minimum position of modulo range
The minimum position value of the modulorange must be less than the maximum posi-tion value of the modulo range. The value must not exceed the maximumpossible value of position scaling _Scale-POSmax.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:39h Modbus 1650Profibus 1650CIP 106.1.57
MOD_Max Maximum position of modulo range
The maximum position value of the modulorange must be greater than the minimumposition value of the modulo range. The value must not exceed the maximumpossible value of position scaling _Scale-POSmax.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
usr_p-3600-
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:3Ah Modbus 1652Profibus 1652CIP 106.1.58
Direction for absolute movements The parameter MOD_AbsDirection lets you set the direction ofmovement for absolute movements.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MOD_AbsDirection
Direction of absolute movement with Mod-ulo
0 / Shortest Distance: Movement withshortest distance1 / Positive Direction: Movement only inpositive direction2 / Negative Direction: Movement only innegative direction
If the parameter is set to 0, the drive calcu-lates the shortest way to the new targetposition and starts the movement in the cor-responding direction. If the distance to thetarget position is identical in positive andnegative directions, the movement takesplace in positive direction.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:3Bh Modbus 1654Profibus 1654CIP 106.1.59
Multiple modulo range for absolutemovements
The parameter MOD_AbsMultiRng lets you set a multiple modulorange for absolute movements.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MOD_AbsMultiRng
Multiple ranges for absolut movement withModulo
0 / Multiple Ranges Off: Absolute move-ment in one modulo range1 / Multiple Ranges On: Absolute move-ment in multiple modulo ranges
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:3Ch Modbus 1656Profibus 1656CIP 106.1.60
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7.5.3.2 Examples with relative movementsAssumptions The settings below are assumed for the examples.
• Rotary motor• Position scaling
- Numerator: 1- Denominator: 3600
• Modulo range
- Minimum position: 0 usr_p- Maximum position: 3600 usr_p
• Actual position: 700 usr_p
Example 1 Target positions relative: 500 usr_p and 3300 usr_p
1800
0
2700 900
1800
0
2700 900
700
1200
700400
Figure 100: Example 1
Example 2 Target positions relative: -500 usr_p and -3300 usr_p
1800
0
2700 900
1800
0
2700 900
700
200
700
1000
Figure 101: Example 2
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7.5.3.3 Examples with absolute movements and "Shortest Distance"Assumptions The settings below are assumed for the examples.
• Rotary motor• Position scaling
- Numerator: 1- Denominator: 3600
• Modulo range
- Minimum position: 0 usr_p- Maximum position: 3600 usr_p
• Actual position: 700 usr_p
Example 1 Target positions absolute: 1500 usr_p and 5000 usr_p
1800
0
2700 900
1800
0
2700 900
700
1500
700
1400
Figure 102: Example 1
Example 2 Target positions absolute: 2500 usr_p and 2900 usr_p
1800
0
2700 900
1800
0
2700 900
700
2500
7002900
Figure 103: Example 2
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7.5.3.4 Examples with absolute movements and "Positive Direction"Assumptions The settings below are assumed for the examples.
• Rotary motor• Position scaling
- Numerator: 1- Denominator: 3600
• Modulo range
- Minimum position: 0 usr_p- Maximum position: 3600 usr_p
• Actual position: 700 usr_p
Parameter MOD_AbsDirection: Positive Direction
Example 1 Parameter MOD_AbsMultiRng: Off
Target positions absolute: 1500 usr_p and 5000 usr_p
1800
0
2700 900
1800
0
2700 900
700
1500
700
1400
Figure 104: Example 1
Example 2 Parameter MOD_AbsMultiRng: On
Target positions absolute: 1500 usr_p and 5000 usr_p
1800
0
2700 900
1800
0
2700 900
700
1500
700
1400
Figure 105: Example 2
LXM32M 7 Operation
AC servo drive 303
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, 04.
2014
7.5.3.5 Examples with absolute movements and "Negative Direction"Assumptions The settings below are assumed for the examples.
• Rotary motor• Position scaling
- Numerator: 1- Denominator: 3600
• Modulo range
- Minimum position: 0 usr_p- Maximum position: 3600 usr_p
• Actual position: 700 usr_p
Parameter MOD_AbsDirection: Negative Direction
Example 1 Parameter MOD_AbsMultiRng: Off
Target positions absolute: 1500 usr_p and -5000 usr_p
1800
0
2700 900
1800
0
2700 900
700
1500
700
2200
Figure 106: Example 1
Example 2 Parameter MOD_AbsMultiRng: On
Target positions absolute: 1500 usr_p and -5000 usr_p
1800
0
2700 900
1800
0
2700 900
700
1500
700
2200
Figure 107: Example 2
7 Operation LXM32M
304 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
7.6 Extended settings
7.6.1 Scaling
WARNINGUNEXPECTED MOVEMENT CAUSED BY CHANGED SCALING
Changing the scaling changes the effect of the values in user-defined units. The same user-defined units cause different move-ments when the scaling is changed.
• Note that scaling affects all relationships between the user-defined units and the movements.
• Check the parameters with user-defined units.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Scaling converts user-defined units into internal units of the device,and vice versa.
E
M3~
Internalunits
Processingin internal
unitsScalingfactor
Scaling
Position
Velocity
AccelerationDeceleration
User-defined units
Figure 108: Scaling
User-defined units User-defined units are values for positions, velocities, accelerationand deceleration; they have the following units:
• usr_p for positions• usr_v for velocities• usr_a for acceleration and deceleration
Scaling factor The scaling factor is the relationship between the motor movementand the required user-defined units. When specifying the scaling fac-tor, note that numerator and denominator can only be integer values.
Commissioning software As of firmware version ≥V01.04, you can adjust the scaling via thecommissioning software. The parameters with user-defined units areautomatically checked and adjusted.
LXM32M 7 Operation
AC servo drive 305
0198
4411
1376
7, V
1.08
, 04.
2014
7.6.1.1 Configuration of position scalingPosition scaling is the relationship between the number of motor revo-lutions and the required user-defined units (usr_p).
Scaling factor Position scaling is specified by means of scaling factor:
In the case of a rotary motor, the scaling factor is calculated as shownbelow:
Number of revolutions of the motor
Number of user-defined units [usr_p]
Figure 109: Scaling factor of position scaling
A new scaling factor is activated when you specify the numeratorvalue.
With a scaling factor of < 1/131072, it is not possible to perform amovement outside of the movement range.
Factory setting The following factory settings are used:
• 1 motor revolution corresponds to 16384 user-defined units
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ScalePOSnum Position scaling: Numerator
Specification of the scaling factor:
Motor revolutions-------------------------------------------User-defined units [usr_p]
A new scaling is activated when the numer-ator value is supplied.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
revolution112147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:8h Modbus 1552Profibus 1552CIP 106.1.8
ScalePOSdenom Position scaling: Denominator
Refer to numerator (ScalePOSnum) for adescription.
A new scaling is activated when the numer-ator value is supplied.
Setting can only be changed if power stageis disabled.
usr_p1163842147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:7h Modbus 1550Profibus 1550CIP 106.1.7
7 Operation LXM32M
306 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
7.6.1.2 Configuration of velocity scalingVelocity scaling is the relationship between the number of motor revo-lutions per minute and the required user-defined units (usr_v).
Scaling factor Velocity scaling is specified by means of scaling factor:
In the case of a rotary motor, the scaling factor is calculated as shownbelow:
Number of revolutions of the motor per minute
Number of user-defined units [usr_v]
Figure 110: Scaling factor of velocity scaling
Factory setting The following factory settings are used:
• 1 motor revolution per minute corresponds to 1 user-defined unit
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ScaleVELnum Velocity scaling: Numerator
Specification of the scaling factor:
Speed of rotation of motor [min-1]--------------------------------------------------User-defined units [usr_v]
A new scaling is activated when the numer-ator value is supplied.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
min-1 112147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:22h Modbus 1604Profibus 1604CIP 106.1.34
ScaleVELdenom Velocity scaling: Denominator
Refer to numerator (ScaleVELnum) for adescription.
A new scaling is activated when the numer-ator value is supplied.
Setting can only be changed if power stageis disabled.
usr_v112147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:21h Modbus 1602Profibus 1602CIP 106.1.33
LXM32M 7 Operation
AC servo drive 307
0198
4411
1376
7, V
1.08
, 04.
2014
7.6.1.3 Configuration of ramp scalingRamp scaling is the relationship between the change in velocity andthe required user-defined units (usr_a).
Scaling factor Ramp scaling is specified by means of scaling factor:
Velocity change per second
Number of user-defined units [usr_a]
Figure 111: Scaling factor of ramp scaling
Factory setting The following factory settings are used:
• A change of 1 motor revolution per minute per second correspondsto 1 user-defined unit.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ScaleRAMPnum Ramp scaling: Numerator
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
min-1/s112147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:31h Modbus 1634Profibus 1634CIP 106.1.49
ScaleRAMPdenom Ramp scaling: Denominator
Refer to numerator (ScaleRAMPnum) for adescription.
A new scaling is activated when the numer-ator value is supplied.
Setting can only be changed if power stageis disabled.
usr_a112147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:30h Modbus 1632Profibus 1632CIP 106.1.48
7 Operation LXM32M
308 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
7.6.2 Setting the digital signal inputs and signal outputs
Signal function Different signal functions can be assigned to the digital signal inputsand digital signal outputs.
Depending on the selected control mode and the selected operatingmode, different functions are assigned to the digital signal inputs anddigital signal outputs.
Debounce time Signal input debouncing comprises hardware debouncing and soft-ware debouncing.
Hardware debounce time is permanently set, see "2.3.3 Signals". Soft-ware debouncing can be adapted via parameters, see chapter"7.6.2.3 Parameterization of software debouncing".
When a set signal function is changed and when the product isswitched off and on again, software debouncing is reset to the factorysetting.
LXM32M 7 Operation
AC servo drive 309
0198
4411
1376
7, V
1.08
, 04.
2014
7.6.2.1 Parameterization of the signal input functionsFactory setting The table below shows the factory settings of the digital signal inputs
in local control mode depending on the selected operating mode:
Signal Jog Electronic Gear Profile Torque Profile Velocity Motion SequenceDI0 Enable Enable Enable Enable EnableDI1 Fault Reset Fault Reset Fault Reset Fault Reset Reference Switch
(REF)DI2 Positive Limit
Switch (LIMP)Positive LimitSwitch (LIMP)
Operating ModeSwitch
Operating ModeSwitch
Positive LimitSwitch (LIMP)
DI3 Negative LimitSwitch (LIMN)
Negative LimitSwitch (LIMN)
Velocity Limitation Velocity Limitation Negative LimitSwitch (LIMN)
DI4 Jog negative Gear Ratio Switch Current Limitation Zero Clamp Start MotionSequence
DI5 Jog positive Halt Halt Halt Data Set Select
The table below shows the factory settings of the digital signal inputsin fieldbus control mode:
Signal Signal input functionDI0 Freely AvailableDI1 Reference Switch (REF)DI2 Positive Limit Switch (LIMP)DI3 Negative Limit Switch (LIMN)DI4 Freely AvailableDI5 Freely Available
Parameterization The table below provides an overview of the possible signal inputfunctions for local control mode:
7 Operation LXM32M
310 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Signal input function Jog ElectronicGear
ProfileTorque
ProfileVelocity
MotionSequence
Description in chapter
Freely Available ∙ ∙ ∙ ∙ ∙ No function
Fault Reset ∙ ∙ ∙ ∙ ∙ "7.3 Operating states"
Enable ∙ ∙ ∙ ∙ ∙ "7.3 Operating states"
Halt ∙ ∙ ∙ ∙ ∙ "7.7.1 Stop movement withHalt"
Current Limitation ∙ ∙ ∙ ∙ ∙ "7.7.5 Limitation of the cur-rent via signal inputs"
Zero Clamp ∙ ∙ ∙ ∙ ∙ "7.7.7 Zero Clamp"
Velocity Limitation ∙ ∙ ∙ ∙ ∙ "7.7.4 Limitation of thevelocity via signal inputs"
Jog Positive ∙ "7.4.3 Operating modeJog"
Jog Negative ∙ "7.4.3 Operating modeJog"
Jog Fast/Slow ∙ "7.4.3 Operating modeJog"
Gear Ratio Switch ∙ "7.4.4 Operating modeElectronic Gear"
Start Single Data Set ∙ "7.4.10 Operating modeMotion Sequence"
Data Set Select ∙ "7.4.10 Operating modeMotion Sequence"
Data Set Bit 0 ∙ "7.4.10 Operating modeMotion Sequence"
Data Set Bit 1 ∙ "7.4.10 Operating modeMotion Sequence"
Data Set Bit 2 ∙ "7.4.10 Operating modeMotion Sequence"
Data Set Bit 3 ∙ "7.4.10 Operating modeMotion Sequence"
Gear Offset 1 ∙ "7.4.4 Operating modeElectronic Gear"
Gear Offset 2 ∙ "7.4.4 Operating modeElectronic Gear"
Reference Switch (REF) ∙ ∙ ∙ ∙ ∙ "7.8.2 Reference switch"
Positive Limit Switch (LIMP) ∙ ∙ ∙ ∙ ∙ "7.8.1 Limit switches"
Negative Limit Switch (LIMN) ∙ ∙ ∙ ∙ ∙ "7.8.1 Limit switches"
Switch Controller ParameterSet
∙ ∙ ∙ ∙ ∙ "7.6.6.5 Parameterizablecontroller parameters"
Operating Mode Switch ∙ ∙ ∙ "7.4.2 Changing the oper-ating mode"
Velocity Controller Integral Off ∙ ∙ ∙ ∙ ∙ "7.6.6.9 Deactivating theintegral term"
Start Motion Sequence ∙ ∙ ∙ ∙ ∙ "7.4.10 Operating modeMotion Sequence"
Start Signal Of RMAC ∙ ∙ ∙ ∙ ∙ "7.7.11 Relative MovementAfter Capture (RMAC)"
Activate RMAC ∙ ∙ ∙ ∙ ∙ "7.7.11 Relative MovementAfter Capture (RMAC)"
LXM32M 7 Operation
AC servo drive 311
0198
4411
1376
7, V
1.08
, 04.
2014
Signal input function Jog ElectronicGear
ProfileTorque
ProfileVelocity
MotionSequence
Description in chapter
Activate Operating Mode ∙ ∙ ∙ ∙ ∙ "7.4.1 Starting the operat-ing mode"
Data Set Bit 4 ∙ "7.4.10 Operating modeMotion Sequence"
Data Set Bit 5 ∙ "7.4.10 Operating modeMotion Sequence"
Data Set Bit 6 ∙ "7.4.10 Operating modeMotion Sequence"
Inversion AI11 (IO Module) 1) ∙ ∙ Module manual
Inversion AI12 (IO Module) 1) ∙ ∙ Module manual
Release Holding Brake ∙ ∙ ∙ ∙ ∙ "6.5.7.1 Releasing theholding brake manually"
1) Analog signal inputs are available with the IOM1 module.
The table below provides an overview of the possible signal inputfunctions for fieldbus control mode:
Signal input function Description in chapterFreely Available No function
Fault Reset "7.3 Operating states"
Enable "7.3 Operating states"
Halt "7.7.1 Stop movement with Halt"
Start Profile Positioning "7.7.9 Starting a movement via asignal input"
Current Limitation "7.7.5 Limitation of the current viasignal inputs"
Zero Clamp "7.7.7 Zero Clamp"
Velocity Limitation "7.7.4 Limitation of the velocity viasignal inputs"
Gear Offset 1 "7.4.4 Operating mode ElectronicGear"
Gear Offset 2 "7.4.4 Operating mode ElectronicGear"
Reference Switch (REF) "7.8.2 Reference switch"
Positive Limit Switch (LIMP) "7.8.1 Limit switches"
Negative Limit Switch (LIMN) "7.8.1 Limit switches"
Switch Controller Parameter Set "7.6.6.5 Parameterizable control-ler parameters"
Velocity Controller Integral Off "7.6.6.9 Deactivating the integralterm"
Start Signal Of RMAC "7.7.11 Relative Movement AfterCapture (RMAC)"
Activate RMAC "7.7.11 Relative Movement AfterCapture (RMAC)"
Release Holding Brake "6.5.7.1 Releasing the holdingbrake manually"
The following parameters can be used to parameterize the digital sig-nal inputs:
7 Operation LXM32M
312 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DI0ConF → i-o-
di0
Function Input DI0
1 / Freely Available / nonE : Available asrequired2 / Fault Reset / FrES : Fault reset aftererror3 / Enable / EnAb : Enables the power stage4 / Halt / hALt : Halt5 / Start Profile Positioning / SPtP : Startrequest for movement6 / Current Limitation / iLiM : Limits thecurrent to parameter value7 / Zero Clamp / CLMP : Zero clamping8 / Velocity Limitation / VLiM : Limits thevelocity to parameter value9 / Jog Positive / JoGP : Jog: Moves in pos-itive direction10 / Jog Negative / JoGn : Jog: Moves innegative direction11 / Jog Fast/Slow / JoGF : Jog: Switchesbetween slow and fast movement12 / Gear Ratio Switch / GrAt : ElectronicGear: Switches between two gear ratios13 / Start Single Data Set / dStA : MotionSequence: Starts a single data set14 / Data Set Select / dSEL : MotionSequence: Data set selection15 / Data Set Bit 0 / dSb0 : MotionSequence: Data set bit 016 / Data Set Bit 1 / dSb1 : MotionSequence: Data set bit 117 / Data Set Bit 2 / dSb2 : MotionSequence: Data set bit 218 / Data Set Bit 3 / dSb3 : MotionSequence: Data set bit 319 / Gear Offset 1 / GoF1 : Electronic Gear:Adds first gear offset20 / Gear Offset 2 / GoF2 : Electronic Gear:Adds second gear offset21 / Reference Switch (REF) / rEF : Refer-ence switch22 / Positive Limit Switch (LIMP) / LiMP :Positive limit switch23 / Negative Limit Switch (LIMN) / LiMn :Negative limit switch24 / Switch Controller Parameter Set /CPAr : Switches controller parameter set27 / Operating Mode Switch / MSWt :Switches operating mode28 / Velocity Controller Integral Off /tnoF : Switches off velocity controller inte-gral term29 / Start Motion Sequence / StMS : MotionSequence: Starts a motion sequence30 / Start Signal Of RMAC / SrMc : Startsignal of relative movement after capture(RMAC)
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:1h Modbus 1794Profibus 1794CIP 107.1.1
LXM32M 7 Operation
AC servo drive 313
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
31 / Activate RMAC / ArMc : Activates therelative movement after capture (RMAC)32 / Activate Operating Mode / AcoP : Acti-vates operating mode35 / Data Set Bit 4 / dSb4 : MotionSequence: Data set bit 436 / Data Set Bit 5 / dSb5 : MotionSequence: Data set bit 537 / Data Set Bit 6 / dSb6 : MotionSequence: Data set bit 638 / Inversion AI11 (IO Module) / A11i :Inverts analog input AI11 (I/O module)39 / Inversion AI12 (IO Module) / A12i :Inverts analog input AI12 (I/O module)40 / Release Holding Brake / rEhb : Relea-ses the holding brake
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
7 Operation LXM32M
314 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DI1ConF → i-o-
di1
Function Input DI1
1 / Freely Available / nonE : Available asrequired2 / Fault Reset / FrES : Fault reset aftererror3 / Enable / EnAb : Enables the power stage4 / Halt / hALt : Halt5 / Start Profile Positioning / SPtP : Startrequest for movement6 / Current Limitation / iLiM : Limits thecurrent to parameter value7 / Zero Clamp / CLMP : Zero clamping8 / Velocity Limitation / VLiM : Limits thevelocity to parameter value9 / Jog Positive / JoGP : Jog: Moves in pos-itive direction10 / Jog Negative / JoGn : Jog: Moves innegative direction11 / Jog Fast/Slow / JoGF : Jog: Switchesbetween slow and fast movement12 / Gear Ratio Switch / GrAt : ElectronicGear: Switches between two gear ratios13 / Start Single Data Set / dStA : MotionSequence: Starts a single data set14 / Data Set Select / dSEL : MotionSequence: Data set selection15 / Data Set Bit 0 / dSb0 : MotionSequence: Data set bit 016 / Data Set Bit 1 / dSb1 : MotionSequence: Data set bit 117 / Data Set Bit 2 / dSb2 : MotionSequence: Data set bit 218 / Data Set Bit 3 / dSb3 : MotionSequence: Data set bit 319 / Gear Offset 1 / GoF1 : Electronic Gear:Adds first gear offset20 / Gear Offset 2 / GoF2 : Electronic Gear:Adds second gear offset21 / Reference Switch (REF) / rEF : Refer-ence switch22 / Positive Limit Switch (LIMP) / LiMP :Positive limit switch23 / Negative Limit Switch (LIMN) / LiMn :Negative limit switch24 / Switch Controller Parameter Set /CPAr : Switches controller parameter set27 / Operating Mode Switch / MSWt :Switches operating mode28 / Velocity Controller Integral Off /tnoF : Switches off velocity controller inte-gral term29 / Start Motion Sequence / StMS : MotionSequence: Starts a motion sequence30 / Start Signal Of RMAC / SrMc : Startsignal of relative movement after capture(RMAC)
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:2h Modbus 1796Profibus 1796CIP 107.1.2
LXM32M 7 Operation
AC servo drive 315
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
31 / Activate RMAC / ArMc : Activates therelative movement after capture (RMAC)32 / Activate Operating Mode / AcoP : Acti-vates operating mode35 / Data Set Bit 4 / dSb4 : MotionSequence: Data set bit 436 / Data Set Bit 5 / dSb5 : MotionSequence: Data set bit 537 / Data Set Bit 6 / dSb6 : MotionSequence: Data set bit 638 / Inversion AI11 (IO Module) / A11i :Inverts analog input AI11 (I/O module)39 / Inversion AI12 (IO Module) / A12i :Inverts analog input AI12 (I/O module)40 / Release Holding Brake / rEhb : Relea-ses the holding brake
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
7 Operation LXM32M
316 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DI2ConF → i-o-
di2
Function Input DI2
1 / Freely Available / nonE : Available asrequired2 / Fault Reset / FrES : Fault reset aftererror3 / Enable / EnAb : Enables the power stage4 / Halt / hALt : Halt5 / Start Profile Positioning / SPtP : Startrequest for movement6 / Current Limitation / iLiM : Limits thecurrent to parameter value7 / Zero Clamp / CLMP : Zero clamping8 / Velocity Limitation / VLiM : Limits thevelocity to parameter value9 / Jog Positive / JoGP : Jog: Moves in pos-itive direction10 / Jog Negative / JoGn : Jog: Moves innegative direction11 / Jog Fast/Slow / JoGF : Jog: Switchesbetween slow and fast movement12 / Gear Ratio Switch / GrAt : ElectronicGear: Switches between two gear ratios13 / Start Single Data Set / dStA : MotionSequence: Starts a single data set14 / Data Set Select / dSEL : MotionSequence: Data set selection15 / Data Set Bit 0 / dSb0 : MotionSequence: Data set bit 016 / Data Set Bit 1 / dSb1 : MotionSequence: Data set bit 117 / Data Set Bit 2 / dSb2 : MotionSequence: Data set bit 218 / Data Set Bit 3 / dSb3 : MotionSequence: Data set bit 319 / Gear Offset 1 / GoF1 : Electronic Gear:Adds first gear offset20 / Gear Offset 2 / GoF2 : Electronic Gear:Adds second gear offset21 / Reference Switch (REF) / rEF : Refer-ence switch22 / Positive Limit Switch (LIMP) / LiMP :Positive limit switch23 / Negative Limit Switch (LIMN) / LiMn :Negative limit switch24 / Switch Controller Parameter Set /CPAr : Switches controller parameter set27 / Operating Mode Switch / MSWt :Switches operating mode28 / Velocity Controller Integral Off /tnoF : Switches off velocity controller inte-gral term29 / Start Motion Sequence / StMS : MotionSequence: Starts a motion sequence30 / Start Signal Of RMAC / SrMc : Startsignal of relative movement after capture(RMAC)
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:3h Modbus 1798Profibus 1798CIP 107.1.3
LXM32M 7 Operation
AC servo drive 317
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
31 / Activate RMAC / ArMc : Activates therelative movement after capture (RMAC)32 / Activate Operating Mode / AcoP : Acti-vates operating mode35 / Data Set Bit 4 / dSb4 : MotionSequence: Data set bit 436 / Data Set Bit 5 / dSb5 : MotionSequence: Data set bit 537 / Data Set Bit 6 / dSb6 : MotionSequence: Data set bit 638 / Inversion AI11 (IO Module) / A11i :Inverts analog input AI11 (I/O module)39 / Inversion AI12 (IO Module) / A12i :Inverts analog input AI12 (I/O module)40 / Release Holding Brake / rEhb : Relea-ses the holding brake
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
7 Operation LXM32M
318 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DI3ConF → i-o-
di3
Function Input DI3
1 / Freely Available / nonE : Available asrequired2 / Fault Reset / FrES : Fault reset aftererror3 / Enable / EnAb : Enables the power stage4 / Halt / hALt : Halt5 / Start Profile Positioning / SPtP : Startrequest for movement6 / Current Limitation / iLiM : Limits thecurrent to parameter value7 / Zero Clamp / CLMP : Zero clamping8 / Velocity Limitation / VLiM : Limits thevelocity to parameter value9 / Jog Positive / JoGP : Jog: Moves in pos-itive direction10 / Jog Negative / JoGn : Jog: Moves innegative direction11 / Jog Fast/Slow / JoGF : Jog: Switchesbetween slow and fast movement12 / Gear Ratio Switch / GrAt : ElectronicGear: Switches between two gear ratios13 / Start Single Data Set / dStA : MotionSequence: Starts a single data set14 / Data Set Select / dSEL : MotionSequence: Data set selection15 / Data Set Bit 0 / dSb0 : MotionSequence: Data set bit 016 / Data Set Bit 1 / dSb1 : MotionSequence: Data set bit 117 / Data Set Bit 2 / dSb2 : MotionSequence: Data set bit 218 / Data Set Bit 3 / dSb3 : MotionSequence: Data set bit 319 / Gear Offset 1 / GoF1 : Electronic Gear:Adds first gear offset20 / Gear Offset 2 / GoF2 : Electronic Gear:Adds second gear offset21 / Reference Switch (REF) / rEF : Refer-ence switch22 / Positive Limit Switch (LIMP) / LiMP :Positive limit switch23 / Negative Limit Switch (LIMN) / LiMn :Negative limit switch24 / Switch Controller Parameter Set /CPAr : Switches controller parameter set27 / Operating Mode Switch / MSWt :Switches operating mode28 / Velocity Controller Integral Off /tnoF : Switches off velocity controller inte-gral term29 / Start Motion Sequence / StMS : MotionSequence: Starts a motion sequence30 / Start Signal Of RMAC / SrMc : Startsignal of relative movement after capture(RMAC)
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:4h Modbus 1800Profibus 1800CIP 107.1.4
LXM32M 7 Operation
AC servo drive 319
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
31 / Activate RMAC / ArMc : Activates therelative movement after capture (RMAC)32 / Activate Operating Mode / AcoP : Acti-vates operating mode35 / Data Set Bit 4 / dSb4 : MotionSequence: Data set bit 436 / Data Set Bit 5 / dSb5 : MotionSequence: Data set bit 537 / Data Set Bit 6 / dSb6 : MotionSequence: Data set bit 638 / Inversion AI11 (IO Module) / A11i :Inverts analog input AI11 (I/O module)39 / Inversion AI12 (IO Module) / A12i :Inverts analog input AI12 (I/O module)40 / Release Holding Brake / rEhb : Relea-ses the holding brake
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
7 Operation LXM32M
320 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DI4ConF → i-o-
di4
Function Input DI4
1 / Freely Available / nonE : Available asrequired2 / Fault Reset / FrES : Fault reset aftererror3 / Enable / EnAb : Enables the power stage4 / Halt / hALt : Halt5 / Start Profile Positioning / SPtP : Startrequest for movement6 / Current Limitation / iLiM : Limits thecurrent to parameter value7 / Zero Clamp / CLMP : Zero clamping8 / Velocity Limitation / VLiM : Limits thevelocity to parameter value9 / Jog Positive / JoGP : Jog: Moves in pos-itive direction10 / Jog Negative / JoGn : Jog: Moves innegative direction11 / Jog Fast/Slow / JoGF : Jog: Switchesbetween slow and fast movement12 / Gear Ratio Switch / GrAt : ElectronicGear: Switches between two gear ratios13 / Start Single Data Set / dStA : MotionSequence: Starts a single data set14 / Data Set Select / dSEL : MotionSequence: Data set selection15 / Data Set Bit 0 / dSb0 : MotionSequence: Data set bit 016 / Data Set Bit 1 / dSb1 : MotionSequence: Data set bit 117 / Data Set Bit 2 / dSb2 : MotionSequence: Data set bit 218 / Data Set Bit 3 / dSb3 : MotionSequence: Data set bit 319 / Gear Offset 1 / GoF1 : Electronic Gear:Adds first gear offset20 / Gear Offset 2 / GoF2 : Electronic Gear:Adds second gear offset21 / Reference Switch (REF) / rEF : Refer-ence switch22 / Positive Limit Switch (LIMP) / LiMP :Positive limit switch23 / Negative Limit Switch (LIMN) / LiMn :Negative limit switch24 / Switch Controller Parameter Set /CPAr : Switches controller parameter set27 / Operating Mode Switch / MSWt :Switches operating mode28 / Velocity Controller Integral Off /tnoF : Switches off velocity controller inte-gral term29 / Start Motion Sequence / StMS : MotionSequence: Starts a motion sequence30 / Start Signal Of RMAC / SrMc : Startsignal of relative movement after capture(RMAC)
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:5h Modbus 1802Profibus 1802CIP 107.1.5
LXM32M 7 Operation
AC servo drive 321
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
31 / Activate RMAC / ArMc : Activates therelative movement after capture (RMAC)32 / Activate Operating Mode / AcoP : Acti-vates operating mode35 / Data Set Bit 4 / dSb4 : MotionSequence: Data set bit 436 / Data Set Bit 5 / dSb5 : MotionSequence: Data set bit 537 / Data Set Bit 6 / dSb6 : MotionSequence: Data set bit 638 / Inversion AI11 (IO Module) / A11i :Inverts analog input AI11 (I/O module)39 / Inversion AI12 (IO Module) / A12i :Inverts analog input AI12 (I/O module)40 / Release Holding Brake / rEhb : Relea-ses the holding brake
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
7 Operation LXM32M
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DI5ConF → i-o-
di5
Function Input DI5
1 / Freely Available / nonE : Available asrequired2 / Fault Reset / FrES : Fault reset aftererror3 / Enable / EnAb : Enables the power stage4 / Halt / hALt : Halt5 / Start Profile Positioning / SPtP : Startrequest for movement6 / Current Limitation / iLiM : Limits thecurrent to parameter value7 / Zero Clamp / CLMP : Zero clamping8 / Velocity Limitation / VLiM : Limits thevelocity to parameter value9 / Jog Positive / JoGP : Jog: Moves in pos-itive direction10 / Jog Negative / JoGn : Jog: Moves innegative direction11 / Jog Fast/Slow / JoGF : Jog: Switchesbetween slow and fast movement12 / Gear Ratio Switch / GrAt : ElectronicGear: Switches between two gear ratios13 / Start Single Data Set / dStA : MotionSequence: Starts a single data set14 / Data Set Select / dSEL : MotionSequence: Data set selection15 / Data Set Bit 0 / dSb0 : MotionSequence: Data set bit 016 / Data Set Bit 1 / dSb1 : MotionSequence: Data set bit 117 / Data Set Bit 2 / dSb2 : MotionSequence: Data set bit 218 / Data Set Bit 3 / dSb3 : MotionSequence: Data set bit 319 / Gear Offset 1 / GoF1 : Electronic Gear:Adds first gear offset20 / Gear Offset 2 / GoF2 : Electronic Gear:Adds second gear offset21 / Reference Switch (REF) / rEF : Refer-ence switch22 / Positive Limit Switch (LIMP) / LiMP :Positive limit switch23 / Negative Limit Switch (LIMN) / LiMn :Negative limit switch24 / Switch Controller Parameter Set /CPAr : Switches controller parameter set27 / Operating Mode Switch / MSWt :Switches operating mode28 / Velocity Controller Integral Off /tnoF : Switches off velocity controller inte-gral term29 / Start Motion Sequence / StMS : MotionSequence: Starts a motion sequence30 / Start Signal Of RMAC / SrMc : Startsignal of relative movement after capture(RMAC)
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:6h Modbus 1804Profibus 1804CIP 107.1.6
LXM32M 7 Operation
AC servo drive 323
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
31 / Activate RMAC / ArMc : Activates therelative movement after capture (RMAC)32 / Activate Operating Mode / AcoP : Acti-vates operating mode35 / Data Set Bit 4 / dSb4 : MotionSequence: Data set bit 436 / Data Set Bit 5 / dSb5 : MotionSequence: Data set bit 537 / Data Set Bit 6 / dSb6 : MotionSequence: Data set bit 638 / Inversion AI11 (IO Module) / A11i :Inverts analog input AI11 (I/O module)39 / Inversion AI12 (IO Module) / A12i :Inverts analog input AI12 (I/O module)40 / Release Holding Brake / rEhb : Relea-ses the holding brake
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
7 Operation LXM32M
324 AC servo drive
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7.6.2.2 Parameterization of the signal output functionsFactory setting The table below shows the factory settings of the digital signal outputs
in local control mode depending on the selected operating mode:
Signal Jog Electronic Gear Profile Torque Profile Velocity Motion SequenceDQ0 No Fault No Fault No Fault No Fault Motion Sequence:
DoneDQ1 Active Active Active Active ActiveDQ2 In Position Devia-
tion WindowIn Position Devia-tion Window
Current BelowThreshold
In Velocity Devia-tion Window
Motion Sequence:Start Acknowledge
The table below shows the factory settings of the digital signal outputsin fieldbus control mode:
Signal Signal output functionDQ0 No FaultDQ1 ActiveDQ2 Freely Available
Parameterization The table below provides an overview of the possible signal outputfunctions in local control mode depending on the selected operatingmode:
LXM32M 7 Operation
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Signal output function Jog ElectronicGear
ProfileTorque
ProfileVelocity
MotionSequence
Description in chapter
Freely Available ∙ ∙ ∙ ∙ ∙ "7.7.8 Setting a signal out-put via parameter"
No Fault ∙ ∙ ∙ ∙ ∙ "7.3.3 Indication of theoperating state"
Active ∙ ∙ ∙ ∙ ∙ "7.3.3 Indication of theoperating state"
RMAC Active Or Finished ∙ ∙ ∙ ∙ ∙ "7.7.11 Relative MovementAfter Capture (RMAC)"
In Position Deviation Window ∙ ∙ ∙ "7.8.10 Position deviationwindow"
In Velocity Deviation Window ∙ ∙ ∙ ∙ "7.8.11 Velocity deviationwindow"
Velocity Below Threshold ∙ ∙ ∙ ∙ ∙ "7.8.12 Velocity thresholdvalue"
Current Below Threshold ∙ ∙ ∙ ∙ ∙ "7.8.13 Current thresholdvalue"
Halt Acknowledge ∙ ∙ ∙ ∙ ∙ "7.7.1 Stop movement withHalt"
Motion Sequence: StartAcknowledge
∙ "7.4.10 Operating modeMotion Sequence"
Motor Standstill ∙ ∙ ∙ ∙ ∙ "7.8.5 Motor standstill anddirection of movement"
Selected Error ∙ ∙ ∙ ∙ ∙ "9.1.3 Diagnostics via sig-nal outputs"
Drive Referenced (ref_ok) ∙ "7.4.9 Operating modeHoming"
Selected Warning ∙ ∙ ∙ ∙ ∙ "9.1.3 Diagnostics via sig-nal outputs"
Motion Sequence: Done ∙ "7.4.10 Operating modeMotion Sequence"
Motor Moves Positive ∙ ∙ ∙ ∙ ∙ "7.8.5 Motor standstill anddirection of movement"
Motor Moves Negative ∙ ∙ ∙ ∙ ∙ "7.8.5 Motor standstill anddirection of movement"
The table below provides an overview of the possible signal outputfunctions depending in fieldbus control mode:
7 Operation LXM32M
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Signal output function Description in chapterFreely Available "7.7.8 Setting a signal output via
parameter"
No Fault "7.3.3 Indication of the operatingstate"
Active "7.3.3 Indication of the operatingstate"
RMAC Active Or Finished "7.7.11 Relative Movement AfterCapture (RMAC)"
In Position Deviation Window "7.8.10 Position deviation window"
In Velocity Deviation Window "7.8.11 Velocity deviation window"
Velocity Below Threshold "7.8.12 Velocity threshold value"
Current Below Threshold "7.8.13 Current threshold value"
Halt Acknowledge "7.7.1 Stop movement with Halt"
Motion Sequence: Start Acknowledge "7.4.10 Operating mode MotionSequence"
Motor Standstill "7.8.5 Motor standstill and direc-tion of movement"
Selected Error "9.1.3 Diagnostics via signal out-puts"
Drive Referenced (ref_ok) "7.4.9 Operating mode Homing"
Selected Warning "9.1.3 Diagnostics via signal out-puts"
Motion Sequence: Done "7.4.10 Operating mode MotionSequence"
Position Register Channel 1 "7.8.9 Position register"
Position Register Channel 2 "7.8.9 Position register"
Position Register Channel 3 "7.8.9 Position register"
Position Register Channel 4 "7.8.9 Position register"
Motor Moves Positive "7.8.5 Motor standstill and direc-tion of movement"
Motor Moves Negative "7.8.5 Motor standstill and direc-tion of movement"
The following parameters can be used to parameterize the digital sig-nal outputs:
LXM32M 7 Operation
AC servo drive 327
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DQ0ConF → i-o-
do0
Function Output DQ0
1 / Freely Available / nonE : Available asrequired2 / No Fault / nFLt : Signals operatingstates Ready To Switch On, Switched Onand Operation Enabled3 / Active / Acti : Signals operating stateOperation Enabled4 / RMAC Active Or Finished / rMcA : Rel-ative movement after capture active or fin-ished (RMAC)5 / In Position Deviation Window / in-P :Position deviation is within window6 / In Velocity Deviation Window / in-V :Velocity deviation is within window7 / Velocity Below Threshold / Vthr :Motor velocity below threshold8 / Current Below Threshold / ithr :Motor current below threshold9 / Halt Acknowledge / hALt : Haltacknowledgement11 / Motion Sequence: Start Acknowl-edge / dSAc : Motion Sequence: Acknowl-edgement of start request13 / Motor Standstill / MStd : Motor at astandstill14 / Selected Error / SErr : One of theselected errors is active15 / Valid Reference (ref_ok) / rEFo : Drivehas a valid reference (ref_ok)16 / Selected Warning / SWrn : One of theselected warnings is active17 / Motion Sequence: Done / MSCo :Motion Sequence: Sequence done18 / Position Register Channel 1 / PrC1 :Position register channel 119 / Position Register Channel 2 / PrC2 :Position register channel 220 / Position Register Channel 3 / PrC3 :Position register channel 321 / Position Register Channel 4 / PrC4 :Position register channel 422 / Motor Moves Positive / MPoS : Motormoves in positive direction23 / Motor Moves Negative / MnEG : Motormoves in negative direction
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:9h Modbus 1810Profibus 1810CIP 107.1.9
7 Operation LXM32M
328 AC servo drive
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DQ1ConF → i-o-
do1
Function Output DQ1
1 / Freely Available / nonE : Available asrequired2 / No Fault / nFLt : Signals operatingstates Ready To Switch On, Switched Onand Operation Enabled3 / Active / Acti : Signals operating stateOperation Enabled4 / RMAC Active Or Finished / rMcA : Rel-ative movement after capture active or fin-ished (RMAC)5 / In Position Deviation Window / in-P :Position deviation is within window6 / In Velocity Deviation Window / in-V :Velocity deviation is within window7 / Velocity Below Threshold / Vthr :Motor velocity below threshold8 / Current Below Threshold / ithr :Motor current below threshold9 / Halt Acknowledge / hALt : Haltacknowledgement11 / Motion Sequence: Start Acknowl-edge / dSAc : Motion Sequence: Acknowl-edgement of start request13 / Motor Standstill / MStd : Motor at astandstill14 / Selected Error / SErr : One of theselected errors is active15 / Valid Reference (ref_ok) / rEFo : Drivehas a valid reference (ref_ok)16 / Selected Warning / SWrn : One of theselected warnings is active17 / Motion Sequence: Done / MSCo :Motion Sequence: Sequence done18 / Position Register Channel 1 / PrC1 :Position register channel 119 / Position Register Channel 2 / PrC2 :Position register channel 220 / Position Register Channel 3 / PrC3 :Position register channel 321 / Position Register Channel 4 / PrC4 :Position register channel 422 / Motor Moves Positive / MPoS : Motormoves in positive direction23 / Motor Moves Negative / MnEG : Motormoves in negative direction
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:Ah Modbus 1812Profibus 1812CIP 107.1.10
LXM32M 7 Operation
AC servo drive 329
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DQ2ConF → i-o-
do2
Function Output DQ2
1 / Freely Available / nonE : Available asrequired2 / No Fault / nFLt : Signals operatingstates Ready To Switch On, Switched Onand Operation Enabled3 / Active / Acti : Signals operating stateOperation Enabled4 / RMAC Active Or Finished / rMcA : Rel-ative movement after capture active or fin-ished (RMAC)5 / In Position Deviation Window / in-P :Position deviation is within window6 / In Velocity Deviation Window / in-V :Velocity deviation is within window7 / Velocity Below Threshold / Vthr :Motor velocity below threshold8 / Current Below Threshold / ithr :Motor current below threshold9 / Halt Acknowledge / hALt : Haltacknowledgement11 / Motion Sequence: Start Acknowl-edge / dSAc : Motion Sequence: Acknowl-edgement of start request13 / Motor Standstill / MStd : Motor at astandstill14 / Selected Error / SErr : One of theselected errors is active15 / Valid Reference (ref_ok) / rEFo : Drivehas a valid reference (ref_ok)16 / Selected Warning / SWrn : One of theselected warnings is active17 / Motion Sequence: Done / MSCo :Motion Sequence: Sequence done18 / Position Register Channel 1 / PrC1 :Position register channel 119 / Position Register Channel 2 / PrC2 :Position register channel 220 / Position Register Channel 3 / PrC3 :Position register channel 321 / Position Register Channel 4 / PrC4 :Position register channel 422 / Motor Moves Positive / MPoS : Motormoves in positive direction23 / Motor Moves Negative / MnEG : Motormoves in negative direction
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:Bh Modbus 1814Profibus 1814CIP 107.1.11
7 Operation LXM32M
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7.6.2.3 Parameterization of software debouncingThe debounce time can be set via the following parameters.
LXM32M 7 Operation
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
DI_0_Debounce Debounce time of DI0
0 / No: No software debouncing1 / 0.25 ms: 0.25 ms2 / 0.50 ms: 0.50 ms3 / 0.75 ms: 0.75 ms4 / 1.00 ms: 1.00 ms5 / 1.25 ms: 1.25 ms6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3008:20h Modbus 2112Profibus 2112CIP 108.1.32
DI_1_Debounce Debounce time of DI1
0 / No: No software debouncing1 / 0.25 ms: 0.25 ms2 / 0.50 ms: 0.50 ms3 / 0.75 ms: 0.75 ms4 / 1.00 ms: 1.00 ms5 / 1.25 ms: 1.25 ms6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3008:21h Modbus 2114Profibus 2114CIP 108.1.33
DI_2_Debounce Debounce time of DI2
0 / No: No software debouncing1 / 0.25 ms: 0.25 ms2 / 0.50 ms: 0.50 ms3 / 0.75 ms: 0.75 ms4 / 1.00 ms: 1.00 ms5 / 1.25 ms: 1.25 ms6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3008:22h Modbus 2116Profibus 2116CIP 108.1.34
DI_3_Debounce Debounce time of DI3
0 / No: No software debouncing1 / 0.25 ms: 0.25 ms2 / 0.50 ms: 0.50 ms3 / 0.75 ms: 0.75 ms4 / 1.00 ms: 1.00 ms5 / 1.25 ms: 1.25 ms6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3008:23h Modbus 2118Profibus 2118CIP 108.1.35
7 Operation LXM32M
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
DI_4_Debounce Debounce time of DI4
0 / No: No software debouncing1 / 0.25 ms: 0.25 ms2 / 0.50 ms: 0.50 ms3 / 0.75 ms: 0.75 ms4 / 1.00 ms: 1.00 ms5 / 1.25 ms: 1.25 ms6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3008:24h Modbus 2120Profibus 2120CIP 108.1.36
DI_5_Debounce Debounce time of DI5
0 / No: No software debouncing1 / 0.25 ms: 0.25 ms2 / 0.50 ms: 0.50 ms3 / 0.75 ms: 0.75 ms4 / 1.00 ms: 1.00 ms5 / 1.25 ms: 1.25 ms6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3008:25h Modbus 2122Profibus 2122CIP 108.1.37
LXM32M 7 Operation
AC servo drive 333
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7.6.3 Setting the PTO interface
The PTO interface allows you to make reference value signals fromthe device externally available.
The PTO interface can be used in one of 2 ways.
• Encoder simulation• PTI signal
The parameter PTO_mode lets you set the way the PTO interface isused.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PTO_modeConF → ACG-
PtoM
Type of usage of PTO interface
0 / Off / oFF : PTO interface disabled1 / Esim pAct Enc 1 / PEn1 : Encoder simu-lation based on actual position of encoder 12 / Esim pRef / PrEF : Encoder simulationbased on reference position (_p_ref)3 / PTI Signal / Pti : Directly the signalfrom PTI interface4 / Esim pAct Enc 2 / PEn2 : Encoder simu-lation based on actual position of encoder 2(module)
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-004
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:1Fh Modbus 1342Profibus 1342CIP 105.1.31
7 Operation LXM32M
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Encoder simulation The following types of encoder simulation are possible:
• Encoder simulation based on actual position of encoder 1• Encoder simulation based on the reference position values (_p_ref)• Encoder simulation based on actual position of encoder 2
The resolution for the encoder simulation is set with the parameterESIM_scale.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ESIM_scaleConF → i-o-
ESSC
Resolution of encoder simulation
Resolution defines the number of incre-ments per revolution (AB signal with quad-ruple evaluation).
The index pulse is created once per revolu-tion at an interval where signal A and signalB are high.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
EncInc8409665535
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:15h Modbus 1322Profibus 1322CIP 105.1.21
As of firmware version ≥V01.10, you can set the resolution with deci-mal places.
The parameter ESIM_HighResolution lets you set the resolutionwith decimal places.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ESIM_HighResolution
Encoder simulation: High resolution
Specifies the number of increments per rev-olution with 12 bit decimal places. If theparameter is set to a multiple of 4096, theindex pulse will be generated exactly at thesame position within one revolution.
The setting of parameter ESIM_scale is onlyused if parameter ESIM_HighResolution isset to 0. Otherwise, the setting ofESIM_HighResolution is used.
Example: 1417.322835 encoder simulationpulses per revolution are required.Set the parameter to 1417.322835 * 4096 =5805354.In this example, the index pulse will be gen-erated exactly after every 1417 pulses. Thismeans that the index pulse shifts with eachrevolution.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
EncInc00268431360
UINT32UINT32UINT32UINT32 R/Wper.expert
CANopen 3005:32h Modbus 1380Profibus 1380CIP 105.1.50
LXM32M 7 Operation
AC servo drive 335
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As of firmware version ≥V01.10, you can set a phase shift of theencoder simulation.
The phase shift of the encoder simulation is set with the parameterESIM_PhaseShift.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ESIM_PhaseShift
Encoder simulation: Phase shift for pulseoutput
The generated encoder simulation pulsescan be shifted in units of 1/4096 encoderpulses. The shift results in a position offsetat PTO. The index pulse is shifted as well.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.10.
--32768032767
INT16INT16INT16INT16 R/W-expert
CANopen 3005:33h Modbus 1382Profibus 1382CIP 105.1.51
PTI signal If the PTI signal is selected by means of parameter PTO_mode, thesignal from the PTI interface is directly made available at the PTOinterface.
7 Operation LXM32M
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7.6.4 Setting backlash compensation
By setting backlash compensation, you can compensate for mechani-cal backlash.
1 2
Figure 112: Example of mechanical backlash
(1) Example of low mechanical backlash(2) Example of high mechanical backlash
When backlash compensation is activated, the drive automaticallycompensates for the mechanical backlash during each movement.
Availability Available with firmware version ≥V01.14.
Backlash compensation is possible in the following operating modes:
• Jog• Electronic Gear (position synchronization)• Profile Position• Interpolated Position• Homing• Motion Sequence (Move Absolute, Move Additive, Move Relative,
Reference Movement and Gear)
Parameterization To use backlash compensation, you must set the amount of backlash.
The parameter BLSH_Position lets you set the amount of backlashin user-defined units.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
BLSH_Position Position value for backlash compensation
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.14.
usr_p002147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:42h Modbus 1668Profibus 1668CIP 106.1.66
In addition, you can set a processing time. The processing time speci-fies the period of time during which the mechanical backlash is to becompensated for.
The parameter BLSH_Time lets you set the processing time in ms.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
BLSH_Time Processing time for backlash compensation
Value 0: Immediate backlash compensationValue >0: Processing time for backlashcompensation
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.14.
ms0016383
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:44h Modbus 1672Profibus 1672CIP 106.1.68
Activating backlash compensation Before you can activate backlash compensation, there must be amovement in positive or negative direction. Backlash compensation isactivated with the parameter BLSH_Mode.
▶ Start a movement in positive direction or in negative direction. Thismovement must last as long as it takes to move the mechanicalsystem connected to the motor.
▶ If the movement was in positive direction (positive target values),activate backlash compensation with the value "OnAfterPositive-Movement".
▶ If the movement was in negative direction (negative target values),activate backlash compensation with the value "OnAfterNegative-Movement".
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
BLSH_Mode Processing mode of backlash compensation
0 / Off: Backlash compensation is off1 / OnAfterPositiveMovement: Backlashcompensation is on, last movement was inpositive direction2 / OnAfterNegativeMovement: Backlashcompensation is on, last movement was innegative direction
Changed settings become active immedi-ately.
Available with firmware version ≥V01.14.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:41h Modbus 1666Profibus 1666CIP 106.1.65
7 Operation LXM32M
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7.6.5 Setting the motion profile for the velocity
Target position and target velocity are input values specified by theuser. A motion profile for the velocity is calculated on the basis ofthese input values.
The motion profile for the velocity consists of an acceleration, a decel-eration and a maximum velocity.
A linear ramp for both directions of movement is available.
Availability The availability of the motion profile for the velocity depends on theoperating mode.
In the following operating modes, the motion profile for the velocity ispermanently active:
• Jog• Profile Position• Homing• Motion Sequence (Move Absolute, Move Additive, Move Relative
and Reference Movement)
In the following operating modes, the motion profile for the velocitycan be activated and deactivated:
• Electronic Gear (velocity synchronization)• Profile Velocity• Motion Sequence (Move Velocity)
In the following operating modes, the motion profile for the velocity isunavailable:
• Electronic Gear (position synchronization)• Profile Torque• Interpolated Position
Ramp slope The ramp slope determines the velocity changes of the motor per timeunit. The ramp slope can be set for acceleration and deceleration.
t
vRAMP_v_max
RAMP_v_acc RAMP_v_dec
Figure 113: Ramp slope
LXM32M 7 Operation
AC servo drive 339
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
RAMP_v_enable Activation of the motion profile for velocity
0 / Profile Off: Profile off1 / Profile On: Profile on
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-011
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:2Bh Modbus 1622Profibus 1622CIP 106.1.43
RAMP_v_maxConF → ACG-
nrMP
Maximum velocity of the motion profile forvelocity
If a greater reference speed is set in one ofthese operating modes, it is automaticallylimited to RAMP_v_max.This way, commissioning at limited speed iseasier to perform.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the motor moves.
usr_v1132002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 607F:0h Modbus 1554Profibus 1554CIP 106.1.9
RAMP_v_acc Acceleration of the motion profile for velocity
Writing the value 0 has no effect on theparameter.
Changed settings become active the nexttime the motor moves.
usr_a16002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 6083:0h Modbus 1556Profibus 1556CIP 106.1.10
RAMP_v_dec Deceleration of the motion profile for veloc-ity
The minimum value depends on the operat-ing mode:
Operating modes with minimum value 1:Electronic Gear (velocity synchronization)Profile VelocityMotion Sequence (Move Velocity)
Operating modes with minimum value 120:JogProfile PositionHomingMotion Sequence (Move Absolute, MoveAdditive, Move Relative and ReferenceMovement)
Writing the value 0 has no effect on theparameter.
Changed settings become active the nexttime the motor moves.
usr_a16002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 6084:0h Modbus 1558Profibus 1558CIP 106.1.11
7 Operation LXM32M
340 AC servo drive
0198
4411
1376
7, V
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, 04.
2014
7.6.6 Setting the controller parameters
7.6.6.1 Overview of the controller structureThe illustration below provides an overview of the controller structure.
M3~
E
_v_act, _n_act
_p_act, _p_actInt
A B C
4
321
_Iq_act_rms, _Id_act_rms
P V C
Figure 114: Controller structure, overview
(1) Position controller(2) Velocity controller(3) Current controller(4) Encoder evaluation
Position controller The position controller reduces the difference between the referenceposition and the actual position of the motor (position deviation) to aminimum. When the motor is at a standstill, the position deviation isclose to zero in the case of a well-tuned position controller.
An optimized velocity control loop is a prerequisite for good amplifica-tion of the position controller.
Velocity controller The velocity controller controls the motor velocity by varying the motorcurrent depending on the load situation. The velocity controller has adecisive influence on the dynamic response of the drive. The dynam-ics of the velocity controller depend on:
• Moment of inertia of the drive and the controlled system• Power of the motor• Stiffness and elasticity of the elements in the flow of forces• Backlash of the drive elements• Friction
Current controller The current controller determines the torque of the motor. The currentcontroller is automatically optimally tuned with the stored motor data.
LXM32M 7 Operation
AC servo drive 341
0198
4411
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, 04.
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7.6.6.2 Overview of position controllerThe illustration below provides an overview of the position controller.
_p_PTI_act
_v_PTI_act
CTRL1_KPp
_p_dif_comp
A
2
6
_pref_v
CTRL1_KFPp
5
4
-
_p_act, _p_actInt
RAMP_v_max
RAMP_v_acc
RAMP_v_dec
1
3
P_p_ref
Figure 115: Position controller
(1) Reference value signals for the operating mode ElectronicGear with the methods "Position Synchronization WithoutCompensation Movement" and "Position SynchronizationWith Compensation Movement"
(2) Evaluation of the reference value signal for the operatingmode Electronic Gear
(3) Target values for the operating modes Jog, Profile Position,Homing and Motion Sequence
(4) Motion profile for the velocity(5) Velocity feed-forward control(6) Position controller
Sampling period The sampling period of the position controller is 250 µs.
7 Operation LXM32M
342 AC servo drive
0198
4411
1376
7, V
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, 04.
2014
7.6.6.3 Overview of velocity controllerThe illustration below provides an overview of the velocity controller.
VV
CTRL1_TAUnref CTRL1_KPn
CTRL1_TNn
1
A B
854
CTRL_SpdFric
CTRL1_KFric
CTRL1_OSupDamp
CTRL1_OSupDlay
CTRL_v_max
7
3
2
_v_act
RAMP_v_enable
RAMP_v_max
RAMP_v_acc
RAMP_v_dec
_pref_acc
CTRL_KFAcc
6
Figure 116: Velocity controller
(1) Reference value signals for the operating mode ElectronicGear with the method "Velocity Synchronization" and targetvalues for the operating mode Profile Velocity
(2) Motion profile for the velocity(3) Velocity limitation(4) Overshoot suppression filter (parameter accessible in Expert
mode)(5) Filter time constant of the reference velocity value filter(6) Acceleration feed forward control (parameter accessible in
Expert mode)(7) Friction compensation (parameter accessible in Expert
mode)(8) Velocity controller
Sampling period The sampling period of the velocity controller is 62.5 µs.
LXM32M 7 Operation
AC servo drive 343
0198
4411
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7, V
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, 04.
2014
7.6.6.4 Overview of current controllerThe illustration below provides an overview of the current controller.
CTRL1_TAUiref
6 7
CB
54
CTRL1_Nf1damp
CTRL1_Nf2damp
CTRL1_Nf1freq
CTRL1_Nf2freq
CTRL1_Nf1bandw
CTRL1_Nf2bandw
CTRL_I_max
3
-
_Iq_act_rms, _Id_act_rms
1
2
RAMP_tq_enable
RAMP_tq_slope
C
Figure 117: Current controller
(1) Target values for the operating mode Profile Torque(2) Motion profile for the torque(3) Current limitation(4) Notch filter (parameter accessible in Expert mode)(5) Filter time constant of the reference current value filter(6) Current controller(7) Power stage
Sampling period The sampling period of the current controller is 62.5 µs.
7 Operation LXM32M
344 AC servo drive
0198
4411
1376
7, V
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, 04.
2014
7.6.6.5 Parameterizable controller parametersThe product features 2 controller parameter sets that can be parame-terized separately. The values for the controller parameters deter-mined during autotuning are stored in controller parameter set 1.
Controller parameter set A controller parameter set consists of freely accessible parametersand parameters which are only accessible in Expert mode.
Controller parameter set 1 Controller parameter set 2Freely accessible parameters:
CTRL1_KPn CTRL1_TNn CTRL1_KPp CTRL1_TAUiref CTRL1_TAUnref CTRL1_KFPpParameters only accessible in expertmode:
CTRL1_Nf1damp CTRL1_Nf1freq CTRL1_Nf1bandw CTRL1_Nf2damp CTRL1_Nf2freq CTRL1_Nf2bandw CTRL1_Osupdamp CTRL1_Osupdelay CTRL1_Kfric
Freely accessible parameters:
CTRL2_KPn CTRL2_TNn CTRL2_KPp CTRL2_TAUiref CTRL2_TAUnref CTRL2_KFPpParameters only accessible in expertmode:
CTRL2_Nf1damp CTRL2_Nf1freq CTRL2_Nf1bandw CTRL2_Nf2damp CTRL2_Nf2freq CTRL2_Nf2bandw CTRL2_Osupdamp CTRL2_Osupdelay CTRL2_Kfric
See chapters "7.6.6.10 Controller parameter set 1" and"7.6.6.11 Controller parameter set 2".
Parameterization • Selecting a controller parameter set
Select a controller parameter set after switching on.
See chapter "7.6.6.6 Selecting a controller parameter set".• Automatically switching between control parameter sets
It is possible to switch between the two controller parameter sets.
See chapter"7.6.6.7 Automatically switching between control parameter sets".
• Copying a controller parameter set
The values of controller parameter set 1 can be copied to controllerparameter set 2.
See chapter "7.6.6.8 Copying a controller parameter set".• Deactivating the integral term
The integral term and, by implication, the integral action time, canbe switched off via a digital signal input.
See chapter "7.6.6.9 Deactivating the integral term".
LXM32M 7 Operation
AC servo drive 345
0198
4411
1376
7, V
1.08
, 04.
2014
7.6.6.6 Selecting a controller parameter setThe currently active controller parameter set is indicated via theparameter _CTRL_ActParSet.
The parameter CTRL_PwrUpParSet allows you to set the controllerparameter set to be activated after switching on. Alternatively, you canset whether or not the product is to switch automatically between thetwo controller parameter sets.
The parameter CTRL_SelParSet allows you to switch between thetwo controller parameter sets during operation.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_CTRL_ActParSet
Active controller parameter set
Value 1: Controller parameter set 1 is activeValue 2: Controller parameter set 2 is active
A controller parameter set is active after thetime for the parameter switching(CTRL_ParChgTime) has elapsed.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3011:17h Modbus 4398Profibus 4398CIP 117.1.23
CTRL_PwrUpParSet
Selection of controller parameter set atpower up
0 / Switching Condition: The switchingcondition is used for parameter set switch-ing1 / Parameter Set 1: Parameter set 1 isused2 / Parameter Set 2: Parameter set 2 isused
The selected value is also written toCTRL_ParSetSel (non-persistent).
Changed settings become active immedi-ately.
-012
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:18h Modbus 4400Profibus 4400CIP 117.1.24
CTRL_SelParSet Selection of controller parameter set (non-persistent)
Coding see parameter: CTRL_PwrUpPar-Set
Changed settings become active immedi-ately.
-012
UINT16UINT16UINT16UINT16 R/W--
CANopen 3011:19h Modbus 4402Profibus 4402CIP 117.1.25
7 Operation LXM32M
346 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
7.6.6.7 Automatically switching between control parameter setsIt is possible to automatically switch between the two controller param-eter sets.
The following criteria can be set for switching between the controllerparameter sets:
• Digital signal input• Position deviation window• Target velocity below parameterizable value• Actual velocity below parameterizable value
Settings The illustration below provides an overview of switching between thecontroller parameter sets.
CLSET_v_Threshol
CLSET_winTime
CLSET_ParSwiCond
DI0 ... DI5
"Switch
Controller
Parameter
Set"
= 1 = 3 = 4= 2
CLSET_p_DiffWin_usr
(CLSET_p_DiffWin)
Figure 118: Parameters for switching the controller parameter sets
LXM32M 7 Operation
AC servo drive 347
0198
4411
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7, V
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, 04.
2014
Time chart The freely accessible parameters are changed linearly. This linearchange of the values of controller parameter set 1 to the values ofcontroller parameter set 2 takes place during the parameterizable timeCTRL_ParChgTime.
The parameters only accessible in Expert mode are directly changedto the values of the other controller parameter set after the parameter-izable time CTRL_ParChgTime has passed.
The figure below shows the time chart for switching the controllerparameters.
CTRL1_Nf1damp
CTRL1_Nf1freq
CTRL1_Nf1bandw
CTRL1_Nf2damp
CTRL1_Nf2freq
CTRL1_Nf2bandw
CTRL1_Osupdamp
CTRL1_Osupdelay
CTRL1_Kfric
CTRL_ParChgTime
CTRL1_KPn
CTRL1_TNn
CTRL1_KPp
CTRL1_TAUnref
CTRL1_TAUiref
CTRL1_KFPp
CTRL2_Nf1damp
CTRL2_Nf1freq
CTRL2_Nf1bandw
CTRL2_Nf2damp
CTRL2_Nf2freq
CTRL2_Nf2bandw
CTRL2_Osupdamp
CTRL2_Osupdelay
CTRL2_Kfric
CTRL2_KPn
CTRL2_TNn
CTRL2_KPp
CTRL2_TAUnref
CTRL2_TAUiref
CTRL2_KFPp
1
2
Figure 119: Time chart for switching the controller parameter sets
(1) Freely accessible parameters are changed linearly over time(2) Parameters which are only accessible in Expert mode are
switched over directly
7 Operation LXM32M
348 AC servo drive
0198
4411
1376
7, V
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, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CLSET_ParSwiCond
Condition for parameter set switching
0 / None Or Digital Input: None or digitalinput function selected1 / Inside Position Deviation: Inside posi-tion deviation (value definition in parameterCLSET_p_DiffWin)2 / Below Reference Velocity: Below refer-ence velocity (value definition in parameterCLSET_v_Threshol)3 / Below Actual Velocity: Below actualvelocity (value definition in parameterCLSET_v_Threshol)4 / Reserved: Reserved
In the case of parameter set switching, thevalues of the following parameters arechanged gradually:- CTRL_KPn- CTRL_TNn- CTRL_KPp- CTRL_TAUnref- CTRL_TAUiref- CTRL_KFPp
The following parameters are changedimmediately after the time for parameter setswitching (CTRL_ParChgTime):- CTRL_Nf1damp- CTRL_Nf1freq- CTRL_Nf1bandw- CTRL_Nf2damp- CTRL_Nf2freq- CTRL_Nf2bandw- CTRL_Osupdamp- CTRL_Osupdelay- CTRL_Kfric
Changed settings become active immedi-ately.
-004
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:1Ah Modbus 4404Profibus 4404CIP 117.1.26
CLSET_p_DiffWin_usr
Position deviation for parameter set switch-ing
If the position deviation of the position con-troller is less than the value of this parame-ter, the controller parameter set 2 is used.Otherwise, controller parameter set 1 isused.
The minimum value, the factory setting andthe maximum value depend on the scalingfactor.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.03.
usr_p01642147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3011:25h Modbus 4426Profibus 4426CIP 117.1.37
LXM32M 7 Operation
AC servo drive 349
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CLSET_p_DiffWin
Position deviation for parameter set switch-ing
If the position deviation of the position con-troller is less than the value of this parame-ter, the controller parameter set 2 is used.Otherwise, controller parameter set 1 isused.
The parameter CLSET_p_DiffWin_usrallows you to enter the value in user-definedunits.
In increments of 0.0001 revolution.
Changed settings become active immedi-ately.
revolution0.00000.01002.0000
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:1Ch Modbus 4408Profibus 4408CIP 117.1.28
CLSET_v_Threshol
Velocity threshold for parameter set switch-ing
If the reference velocity or the actual veloc-ity are less than the value of this parameter,the controller parameter set 2 is used. Oth-erwise, controller parameter set 1 is used.
Changed settings become active immedi-ately.
usr_v0502147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3011:1Dh Modbus 4410Profibus 4410CIP 117.1.29
CLSET_winTime Time window for parameter set switching
Value 0: Window monitoring deactivated.Value >0: Window time for the parametersCLSET_v_Threshol and CLSET_p_DiffWin.
Changed settings become active immedi-ately.
ms001000
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:1Bh Modbus 4406Profibus 4406CIP 117.1.27
CTRL_ParChgTime
Period of time for parameter switching
In the case of parameter set switching, thevalues of the following parameters arechanged gradually:- CTRL_KPn- CTRL_TNn- CTRL_KPp- CTRL_TAUnref- CTRL_TAUiref- CTRL_KFPp
Such a parameter switching can be causedby - change of the active controller parameterset- change of the global gain- change of any of the parameters listedabove- switching off the integral term of the veloc-ity controller
Changed settings become active immedi-ately.
ms002000
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:14h Modbus 4392Profibus 4392CIP 117.1.20
7 Operation LXM32M
350 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
7.6.6.8 Copying a controller parameter setThe parameter CTRL_ParSetCopy allows you to copy the values ofcontroller parameter set 1 to controller parameter set 2 or the valuesof controller parameter set 2 to controller parameter set 1.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL_ParSetCopy
Controller parameter set copying
Value 1: Copy controller parameter set 1 toset 2Value 2: Copy controller parameter set 2 toset 1
If parameter set 2 copied to parameter set1, the parameter CTRL_GlobGain is set to100%.
Changed settings become active immedi-ately.
-0.0-0.2
UINT16UINT16UINT16UINT16 R/W--
CANopen 3011:16h Modbus 4396Profibus 4396CIP 117.1.22
7.6.6.9 Deactivating the integral termThe integral term of the velocity controller can be deactivated via thesignal input function "Velocity Controller Integral Off". If the integralterm is deactivated, the integral action time of the velocity controller(CTRL1_TNn and CTRL2_TNn) is implicitly and gradually reduced tozero. The time it takes to reduce the value to zero depends on theparameter CTRL_ParChgTime. In the case of vertical axes, the inte-gral term is needed to reduce position deviations during standstill.
LXM32M 7 Operation
AC servo drive 351
0198
4411
1376
7, V
1.08
, 04.
2014
7.6.6.10 Controller parameter set 1
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL1_KPnConF → drC-
Pn1
Velocity controller P gain
The default value is calculated on the basisof the motor parameters.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.0001 A/min-1.
Changed settings become active immedi-ately.
A/min-1 0.0001-2.5400
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:1h Modbus 4610Profibus 4610CIP 118.1.1
CTRL1_TNnConF → drC-
tin1
Velocity controller integral action time
The default value is calculated.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.00-327.67
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:2h Modbus 4612Profibus 4612CIP 118.1.2
CTRL1_KPpConF → drC-
PP1
Position controller P gain
The default value is calculated.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.1 1/s.
Changed settings become active immedi-ately.
1/s2.0-900.0
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:3h Modbus 4614Profibus 4614CIP 118.1.3
CTRL1_TAUiref Filter time constant of the reference currentvalue filter
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.000.504.00
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:5h Modbus 4618Profibus 4618CIP 118.1.5
CTRL1_TAUnrefConF → drC-
tAu1
Filter time constant of the reference velocityvalue filter
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.009.00327.67
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:4h Modbus 4616Profibus 4616CIP 118.1.4
7 Operation LXM32M
352 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL1_KFPpConF → drC-
FPP1
Velocity feed-forward control
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.1 %.
Changed settings become active immedi-ately.
%0.00.0200.0
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:6h Modbus 4620Profibus 4620CIP 118.1.6
CTRL1_Nf1damp Notch filter 1: Damping
In increments of 0.1 %.
Changed settings become active immedi-ately.
%55.090.099.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:8h Modbus 4624Profibus 4624CIP 118.1.8
CTRL1_Nf1freq Notch filter 1: Frequency
The filter is switched off at a value of 15000.
In increments of 0.1 Hz.
Changed settings become active immedi-ately.
Hz50.01500.01500.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:9h Modbus 4626Profibus 4626CIP 118.1.9
CTRL1_Nf1bandw Notch filter 1: Bandwidth
Definition of bandwidth: 1 - Fb/F0
In increments of 0.1 %.
Changed settings become active immedi-ately.
%1.070.090.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:Ah Modbus 4628Profibus 4628CIP 118.1.10
CTRL1_Nf2damp Notch filter 2: Damping
In increments of 0.1 %.
Changed settings become active immedi-ately.
%55.090.099.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:Bh Modbus 4630Profibus 4630CIP 118.1.11
CTRL1_Nf2freq Notch filter 2: Frequency
The filter is switched off at a value of 15000.
In increments of 0.1 Hz.
Changed settings become active immedi-ately.
Hz50.01500.01500.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:Ch Modbus 4632Profibus 4632CIP 118.1.12
CTRL1_Nf2bandw Notch filter 2: Bandwidth
Definition of bandwidth: 1 - Fb/F0
In increments of 0.1 %.
Changed settings become active immedi-ately.
%1.070.090.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:Dh Modbus 4634Profibus 4634CIP 118.1.13
CTRL1_Osupdamp Overshoot suppression filter: Damping
The filter is switched off at a value of 0.
In increments of 0.1 %.
Changed settings become active immedi-ately.
%0.00.050.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:Eh Modbus 4636Profibus 4636CIP 118.1.14
LXM32M 7 Operation
AC servo drive 353
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL1_Osupdelay
Overshoot suppression filter: Time delay
The filter is switched off at a value of 0.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.000.0075.00
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:Fh Modbus 4638Profibus 4638CIP 118.1.15
CTRL1_Kfric Friction compensation: Gain
In increments of 0.01 Arms.
Changed settings become active immedi-ately.
Arms 0.000.0010.00
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:10h Modbus 4640Profibus 4640CIP 118.1.16
7 Operation LXM32M
354 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
7.6.6.11 Controller parameter set 2
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL2_KFPpConF → drC-
FPP2
Velocity feed-forward control
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.1 %.
Changed settings become active immedi-ately.
%0.00.0200.0
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:6h Modbus 4876Profibus 4876CIP 119.1.6
CTRL2_Kfric Friction compensation: Gain
In increments of 0.01 Arms.
Changed settings become active immedi-ately.
Arms 0.000.0010.00
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:10h Modbus 4896Profibus 4896CIP 119.1.16
CTRL2_KPnConF → drC-
Pn2
Velocity controller P gain
The default value is calculated on the basisof the motor parameters.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.0001 A/min-1.
Changed settings become active immedi-ately.
A/min-1 0.0001-2.5400
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:1h Modbus 4866Profibus 4866CIP 119.1.1
CTRL2_KPpConF → drC-
PP2
Position controller P gain
The default value is calculated.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.1 1/s.
Changed settings become active immedi-ately.
1/s2.0-900.0
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:3h Modbus 4870Profibus 4870CIP 119.1.3
CTRL2_Nf1bandw Notch filter 1: Bandwidth
Definition of bandwidth: 1 - Fb/F0
In increments of 0.1 %.
Changed settings become active immedi-ately.
%1.070.090.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:Ah Modbus 4884Profibus 4884CIP 119.1.10
CTRL2_Nf1damp Notch filter 1: Damping
In increments of 0.1 %.
Changed settings become active immedi-ately.
%55.090.099.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:8h Modbus 4880Profibus 4880CIP 119.1.8
LXM32M 7 Operation
AC servo drive 355
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL2_Nf1freq Notch filter 1: Frequency
The filter is switched off at a value of 15000.
In increments of 0.1 Hz.
Changed settings become active immedi-ately.
Hz50.01500.01500.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:9h Modbus 4882Profibus 4882CIP 119.1.9
CTRL2_Nf2bandw Notch filter 2: Bandwidth
Definition of bandwidth: 1 - Fb/F0
In increments of 0.1 %.
Changed settings become active immedi-ately.
%1.070.090.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:Dh Modbus 4890Profibus 4890CIP 119.1.13
CTRL2_Nf2damp Notch filter 2: Damping
In increments of 0.1 %.
Changed settings become active immedi-ately.
%55.090.099.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:Bh Modbus 4886Profibus 4886CIP 119.1.11
CTRL2_Nf2freq Notch filter 2: Frequency
The filter is switched off at a value of 15000.
In increments of 0.1 Hz.
Changed settings become active immedi-ately.
Hz50.01500.01500.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:Ch Modbus 4888Profibus 4888CIP 119.1.12
CTRL2_Osupdamp Overshoot suppression filter: Damping
The filter is switched off at a value of 0.
In increments of 0.1 %.
Changed settings become active immedi-ately.
%0.00.050.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:Eh Modbus 4892Profibus 4892CIP 119.1.14
CTRL2_Osupdelay
Overshoot suppression filter: Time delay
The filter is switched off at a value of 0.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.000.0075.00
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:Fh Modbus 4894Profibus 4894CIP 119.1.15
CTRL2_TAUiref Filter time constant of the reference currentvalue filter
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.000.504.00
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:5h Modbus 4874Profibus 4874CIP 119.1.5
7 Operation LXM32M
356 AC servo drive
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4411
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, 04.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL2_TAUnrefConF → drC-
tAu2
Filter time constant of the reference velocityvalue filter
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.009.00327.67
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:4h Modbus 4872Profibus 4872CIP 119.1.4
CTRL2_TNnConF → drC-
tin2
Velocity controller integral action time
The default value is calculated.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.00-327.67
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:2h Modbus 4868Profibus 4868CIP 119.1.2
LXM32M 7 Operation
AC servo drive 357
0198
4411
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7.6.7 Settings of parameter _DCOMstatusThe assignment of bit 11 of the parameter _DCOMstatus can be set.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_DCOMstatus DriveCom status word
Bit assignments:Bit 0: Ready To Switch OnBit 1: Switched OnBit 2: Operation EnabledBit 3: FaultBit 4: Voltage EnabledBit 5: Quick StopBit 6: Switch On DisabledBit 7: WarningBit 8: HALT request activeBit 9: RemoteBit 10: Target ReachedBit 11: Internal Limit ActiveBit 12: Operating mode-specificBit 13: x_errBit 14: x_endBit 15: ref_ok
----
UINT16UINT16UINT16UINT16 R/---
CANopen 6041:0h Modbus 6916Profibus 6916CIP 127.1.2
The assignment of bit 11 can be set via the parameter DS402intLim.
7 Operation LXM32M
358 AC servo drive
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4411
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7, V
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, 04.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
DS402intLim DS402 status word: Setting for bit 11 (inter-nal limit)
0 / None: Not used (reserved)1 / Current Below Threshold: Currentthreshold value2 / Velocity Below Threshold: Velocitythreshold value3 / In Position Deviation Window: Positiondeviation window4 / In Velocity Deviation Window: Velocitydeviation window5 / Position Register Channel 1: Positionregister channel 16 / Position Register Channel 2: Positionregister channel 27 / Position Register Channel 3: Positionregister channel 38 / Position Register Channel 4: Positionregister channel 49 / Hardware Limit Switch: Hardware limitswitch10 / RMAC active or finished: Relativemovement after capture is active or finished11 / Position Window: Position window
Setting for: Bit 11 of the parameter _DCOMstatusBit 10 of the parameter _actionStatusBit 10 of the parameter _DPL_motionStat
Changed settings become active immedi-ately.
-0011
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 301B:1Eh Modbus 6972Profibus 6972CIP 127.1.30
LXM32M 7 Operation
AC servo drive 359
0198
4411
1376
7, V
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, 04.
2014
7.6.8 Setting the PWM frequency of the power stage
The PWM frequency of the power stage depends on the device ver-sion.
LXM32∙... U45, U60, U90,D12, D18, D30,D72
D85, C10
PWM frequency power stage kHz 8 4 or 8 1)
1) Factory setting: 4 kHz. Adjustable via parameter.
The parameter PWM_fChop lets you set the PWM frequency of thepower stage.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PWM_fChop PWM frequency of power stage
4 / 4 kHz: 4 kHz8 / 8 kHz: 8 kHz
Factory setting:Peak output current ≤72 Arms: 8 kHzPeak output current >72 Arms: 4 kHz
Changing this setting is only possible in thecase of devices with a peak output current>72 Arms.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-4-16
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3005:Eh Modbus 1308Profibus 1308CIP 105.1.14
The technical data change depending on the PWM frequency of thepower stage, see chapter "2.3.1 Power stage".
7 Operation LXM32M
360 AC servo drive
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7.7 Functions for target value processing
7.7.1 Stop movement with Halt
With a Halt, the current movement is interrupted; it can be resumed.
A Halt can be triggered via a digital signal input or a fieldbus com-mand.
In order to interrupt a movement via a signal input, you must firstparameterize the signal input function "Halt", see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
The movement can be interrupted with 2 different deceleration types.
• Deceleration via deceleration ramp• Deceleration via torque ramp
Setting the type of deceleration The parameter LIM_HaltReaction lets you set the type of decelera-tion.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
LIM_HaltReactionConF → ACG-
htyP
Halt option code
1 / Deceleration Ramp / dEcE : Decelera-tion ramp3 / Torque Ramp / torq : Torque ramp
Type of deceleration for Halt.
Setting of deceleration ramp with parameterRAMP_v_dec.Setting of torque ramp with parameterLIM_I_maxHalt.
If a deceleration ramp is already active, theparameter cannot be written.
Changed settings become active immedi-ately.
-113
INT16INT16INT16INT16 R/Wper.-
CANopen 605D:0h Modbus 1582Profibus 1582CIP 106.1.23
Setting the deceleration ramp The deceleration ramp is set with the parameter Ramp_v_dec via themotion profile for the velocity, see chapter"7.6.5 Setting the motion profile for the velocity".
LXM32M 7 Operation
AC servo drive 361
0198
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Setting the torque ramp The parameter LIM_I_maxHalt lets you set the torque ramp.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
LIM_I_maxHaltConF → ACG-
hcur
Current value for Halt
This value is only limited by the minimum/maximum value range (no limitation of thisvalue by motor/power stage).
In the case of a Halt, the actual current limit(_Imax_act) is one of the following values(whichever is lowest):- LIM_I_maxHalt- _M_I_max - _PS_I_max
Further current reductions caused by I2tmonitoring are also taken into account dur-ing a Halt.
Default: _PS_I_max at 8 kHz PWM fre-quency and 230/480 V mains voltage
In increments of 0.01 Arms.
Changed settings become active immedi-ately.
Arms ---
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:Eh Modbus 4380Profibus 4380CIP 117.1.14
7 Operation LXM32M
362 AC servo drive
0198
4411
1376
7, V
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, 04.
2014
7.7.2 Stopping a movement with Quick Stop
With a Quick Stop, the current movement is stopped.
A Quick Stop can be triggered by a detected error of error classes 1 or2 or via a fieldbus command.
The movement can be stopped with 2 different deceleration types.
• Deceleration via deceleration ramp• Deceleration via torque ramp
In addition, you can set the operating state to switch to after the decel-eration.
• Transition to operating state 9 Fault• Transition to operating state 7 Quick Stop Active
LXM32M 7 Operation
AC servo drive 363
0198
4411
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7, V
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, 04.
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Setting the type of deceleration The parameter LIM_QStopReact lets you set the type of decelera-tion.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
LIM_QStopReact Quick Stop option code
-2 / Torque ramp (Fault): Use torque rampand transit to operating state 9 Fault-1 / Deceleration Ramp (Fault): Use decel-eration ramp and transit to operating state 9Fault6 / Deceleration ramp (Quick Stop): Usedeceleration ramp and remain in operatingstate 7 Quick Stop7 / Torque ramp (Quick Stop): Use torqueramp and remain in operating state 7 QuickStop
Type of deceleration for Quick Stop.
Setting of deceleration ramp with parameterRAMPquickstop.Setting of torque ramp with parameterLIM_I_maxQSTP.
If a deceleration ramp is already active, theparameter cannot be written.
Changed settings become active immedi-ately.
--267
INT16INT16INT16INT16 R/Wper.-
CANopen 3006:18h Modbus 1584Profibus 1584CIP 106.1.24
Setting the deceleration ramp The parameter RAMPquickstop lets you set the deceleration ramp.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
RAMPquickstop Deceleration ramp for Quick Stop
Deceleration ramp for a software stop or anerror with error class 1 or 2.
Changed settings become active the nexttime the motor moves.
usr_a160002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3006:12h Modbus 1572Profibus 1572CIP 106.1.18
7 Operation LXM32M
364 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Setting the torque ramp The parameter LIM_I_maxQSTP lets you set the torque ramp.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
LIM_I_maxQSTPConF → FLt-
qcur
Current value for Quick Stop
This value is only limited by the minimum/maximum value range (no limitation of thisvalue by motor/power stage).
In the case of a Quick Stop, the actual cur-rent limit (_Imax_act) is one of the followingvalues (whichever is lowest):- LIM_I_maxQSTP- _M_I_max- _PS_I_max
Further current reductions caused by I2tmonitoring are also taken into account dur-ing a Quick Stop.
Default: _PS_I_max at 8 kHz PWM fre-quency and 230/480 V mains voltage
In increments of 0.01 Arms.
Changed settings become active immedi-ately.
Arms ---
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:Dh Modbus 4378Profibus 4378CIP 117.1.13
LXM32M 7 Operation
AC servo drive 365
0198
4411
1376
7, V
1.08
, 04.
2014
7.7.3 Inverting the analog signal inputs
The evaluation of the analog signal inputs can be inverted via the digi-tal signal inputs.
• The signal input function "Inversion AI11 (I/O module) " inverts thesignal evaluation of the analog signal input AI11.
• The signal input function "Inversion AI12 (I/O module) " inverts thesignal evaluation of the analog signal input AI12.
In order to invert the signal evaluation of the analog signal inputs, youmust first parameterize the signal input functions "Inversion AI11 (I/Omodule)" and "Inversion AI12 (I/O module)", see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
Availability Analog signal inputs are available with the IOM1 module.
The signal input functions are available in the following operatingmodes:
• Profile Torque• Profile Velocity
7 Operation LXM32M
366 AC servo drive
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7.7.4 Limitation of the velocity via signal inputs
Limitation via analog signal input The velocity can be limited via an analog signal input.
Analog signal inputs are available with the IOM1 module.
The parameters IOM1_AI11_mode and IOM1_AI12_mode let youselect the type of usage of the analog signal inputs.
▶ If you want to use the analog signal input AI1, set the parameterIOM1_AI11_mode to the value "Velocity Limitation".
If you want to use the analog signal input AI2, set the parameterIOM1_AI12_mode to the value "Velocity Limitation".
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_AI11_modeConF → i-o-
A11u
IOM1 Type of usage of AI11
0 / None / nonE : No function1 / Target Velocity / SPdS : Target velocityfor the velocity controller2 / Target Torque / trqS : Target torque forthe current controller3 / Velocity Limitation / LSPd : Limitation ofthe reference velocity for the velocity con-troller4 / Current Limitation / Lcur : Limitation ofthe reference current for the current control-ler
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
-014
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:Eh Modbus 20252Profibus 20252CIP 179.1.14
IOM1_AI12_modeConF → i-o-
A12u
IOM1 Type of usage of AI12
0 / None / nonE : No function1 / Target Velocity / SPdS : Target velocityfor the velocity controller2 / Target Torque / trqS : Target torque forthe current controller3 / Velocity Limitation / LSPd : Limitation ofthe reference velocity for the velocity con-troller4 / Current Limitation / Lcur : Limitation ofthe reference current for the current control-ler
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
-004
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:13h Modbus 20262Profibus 20262CIP 179.1.19
LXM32M 7 Operation
AC servo drive 367
0198
4411
1376
7, V
1.08
, 04.
2014
The parameters IOM1_AI11_v_max and IOM1_AI12_v_max areused to set the value of the limitation for a voltage value of 10 V.
▶ If you want to use the analog signal input AI11, use the parameterIOM1_AI11_v_max to set the value of the limitation for a voltagevalue of 10 V.
If you want to use the analog signal input AI12, use the parameterIOM1_AI12_v_max to set the value of the limitation for a voltagevalue of 10 V.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_AI11_v_max IOM1 Limitation of velocity at 10 V of AI11
The maximum velocity is limited to the set-ting in CTRL_v_max.NOTE: The minimum velocity is internallylimited to 100 min-1.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
usr_v130002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 304F:10h Modbus 20256Profibus 20256CIP 179.1.16
IOM1_AI12_v_max IOM1 Limitation of velocity at 10 V of AI12
The maximum velocity is limited to the set-ting in CTRL_v_max.NOTE: The minimum velocity is internallylimited to 100 min-1.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
usr_v130002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 304F:15h Modbus 20266Profibus 20266CIP 179.1.21
Limitation via digital signal input The velocity can be limited to a specific value via a digital signal input.
The parameter IO_v_limit lets you set the velocity limitation.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IO_v_limit Velocity limitation via input
A velocity limitation can be activated via adigital input.NOTE: In operating mode Profile Torque,the minimum velocity is internally limited to100 min-1.
Changed settings become active immedi-ately.
usr_v0102147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3006:1Eh Modbus 1596Profibus 1596CIP 106.1.30
In order to limit the velocity via a digital signal input, you must firstparameterize the signal input function "Velocity Limitation", see chap-ter "7.6.2 Setting the digital signal inputs and signal outputs".
7 Operation LXM32M
368 AC servo drive
0198
4411
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7, V
1.08
, 04.
2014
7.7.5 Limitation of the current via signal inputs
Limitation via analog signal input The current can be limited via an analog signal input.
Analog signal inputs are available with the IOM1 module.
The parameters IOM1_AI11_mode and IOM1_AI12_mode let youselect the type of usage of the analog signal inputs.
▶ If you want to use the analog signal input AI1, set the parameterIOM1_AI11_mode to the value "Current Limitation".
If you want to use the analog signal input AI2, set the parameterIOM1_AI12_mode to the value "Current Limitation".
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_AI11_modeConF → i-o-
A11u
IOM1 Type of usage of AI11
0 / None / nonE : No function1 / Target Velocity / SPdS : Target velocityfor the velocity controller2 / Target Torque / trqS : Target torque forthe current controller3 / Velocity Limitation / LSPd : Limitation ofthe reference velocity for the velocity con-troller4 / Current Limitation / Lcur : Limitation ofthe reference current for the current control-ler
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
-014
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:Eh Modbus 20252Profibus 20252CIP 179.1.14
IOM1_AI12_modeConF → i-o-
A12u
IOM1 Type of usage of AI12
0 / None / nonE : No function1 / Target Velocity / SPdS : Target velocityfor the velocity controller2 / Target Torque / trqS : Target torque forthe current controller3 / Velocity Limitation / LSPd : Limitation ofthe reference velocity for the velocity con-troller4 / Current Limitation / Lcur : Limitation ofthe reference current for the current control-ler
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
-004
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:13h Modbus 20262Profibus 20262CIP 179.1.19
LXM32M 7 Operation
AC servo drive 369
0198
4411
1376
7, V
1.08
, 04.
2014
The parameters IOM1_AI11_I_max and IOM1_AI12_I_max areused to set the value of the limitation for a voltage value of 10 V.
▶ If you want to use the analog signal input AI11, use the parameterIOM1_AI11_I_max to set the value of the limitation for a voltagevalue of 10 V.
If you want to use the analog signal input AI12, use the parameterIOM1_AI12_I_max to set the value of the limitation for a voltagevalue of 10 V.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_AI11_I_maxConF → i-o-
L11i
IOM1 Limitation of current at 10 V of AI11
In increments of 0.01 Arms.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
Arms 0.003.00463.00
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:Fh Modbus 20254Profibus 20254CIP 179.1.15
IOM1_AI12_I_maxConF → i-o-
L12i
IOM1 Limitation of current at 10 V of AI12
In increments of 0.01 Arms.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
Arms 0.003.00463.00
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:14h Modbus 20264Profibus 20264CIP 179.1.20
Limitation via digital signal input The current can be limited to a specific value via a digital signal input.
The parameter IO_I_limit lets you set the current limitation.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IO_I_limitConF → i-o-
iLiM
Current limitation via input
A current limit can be activated via a digitalinput.
In increments of 0.01 Arms.
Changed settings become active immedi-ately.
Arms 0.000.20300.00
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:27h Modbus 1614Profibus 1614CIP 106.1.39
In order to limit the current via a digital signal input, you must firstparameterize the signal input function "Current Limitation", see chap-ter "7.6.2 Setting the digital signal inputs and signal outputs".
7 Operation LXM32M
370 AC servo drive
0198
4411
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7, V
1.08
, 04.
2014
7.7.6 Jerk limitation
Jerk limitation smoothes sudden acceleration changes to allow forsmooth transitions with almost no jerking.
t
v
Figure 120: Jerk limitation
Availability Jerk limitation is available in the following operating modes.
• Jog• Electronic Gear (position synchronization)
(with firmware version ≥V01.02 and parameter GEARjerklim)• Profile Position• Homing• Motion Sequence (Move Absolute, Move Additive, Move Relative,
Reference Movement and Gear)
Jerk limitation is activated and set via the parameter RAMP_v_jerk.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
RAMP_v_jerkConF → drC-
JEr
Jerk limitation of the motion profile for veloc-ity
0 / Off / oFF : Off1 / 1 / 1 : 1 ms2 / 2 / 2 : 2 ms4 / 4 / 4 : 4 ms8 / 8 / 8 : 8 ms16 / 16 / 16 : 16 ms32 / 32 / 32 : 32 ms64 / 64 / 64 : 64 ms128 / 128 / 128 : 128 ms
Adjustments can only be made if the operat-ing mode is inactive (x_end=1).
Changed settings become active the nexttime the motor moves.
ms00128
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:Dh Modbus 1562Profibus 1562CIP 106.1.13
LXM32M 7 Operation
AC servo drive 371
0198
4411
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7, V
1.08
, 04.
2014
Operating modes Electronic Gearand Motion Sequence
Jerk limitation is activated for the operating mode Electronic Gear(position synchronization) and for the operating mode MotionSequence with the data set type Gear (position synchronization) bymeans of the parameter GEARjerklim.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
GEARjerklimConF → i-o-
GFiL
Activation of jerk limitation
0 / Off / oFF : Jerk limitation deactivated.1 / PosSyncOn / P_on : Jerk limitationactive in processing modes with positionsynchronization.
The time for jerk limitation must be set viaparameter RAMP_v_jerk.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.02.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3026:7h Modbus 9742Profibus 9742CIP 138.1.7
7 Operation LXM32M
372 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
7.7.7 Zero Clamp
The motor can be stopped via a digital signal input. The velocity of themotor must be below a parameterizable velocity value.
Availability The signal input function "Zero Clamp" is available in the followingoperating mode:
• Electronic Gear (velocity synchronization)• Profile Velocity• Motion Sequence (Move Velocity)
Target velocities in the operating mode Profile Velocity and referencevelocities in the operating mode Electronic Gear (Velocity Synchroni-zation) that are below the parameterizable velocity value are interpre-ted as "Zero".
The signal input function "Zero Clamp" has a hysteresis of 20 %.
The parameter MON_v_zeroclamp lets you set the velocity value.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_v_zeroclamp
Velocity limit for Zero Clamp
A Zero Clamp operation is only possible ifthe reference velocity is below the ZeroClamp velocity limit.
Changed settings become active immedi-ately.
usr_v0102147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3006:28h Modbus 1616Profibus 1616CIP 106.1.40
In order to stop the motor via a digital signal input, you must firstparameterize the signal input function "Zero Clamp", see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
LXM32M 7 Operation
AC servo drive 373
0198
4411
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7, V
1.08
, 04.
2014
7.7.8 Setting a signal output via parameter
The digital signal outputs can be set as required via the fieldbus.
In order to set a digital signal output via the parameter, you must firstparameterize the signal input function "Freely Available", see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
The parameter IO_DQ_set lets you set the digital signal outputs.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IO_DQ_set Setting the digital outputs directly
Write access to output bits is only active ifthe signal pin is available as an output and ifthe function of the output was set to 'Availa-ble as required'.
Coding of the individual signals:Bit 0: DQ0Bit 1: DQ1Bit 2: DQ2
----
UINT16UINT16UINT16UINT16 R/W--
CANopen 3008:11h Modbus 2082Profibus 2082CIP 108.1.17
7.7.9 Starting a movement via a signal input
The signal input function "Start Profile Positioning" sets the start signalfor the movement in the operating mode Profile Position. The position-ing movement is then executed when the edge at the digital inputrises.
7 Operation LXM32M
374 AC servo drive
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2014
7.7.10 Position capture via signal input
The motor position can be captured when a signal is detected at aCapture input.
Number of Capture inputs The number of Capture inputs depends on the hardware version.
• With hardware version ≥RS03:
3 Capture inputs: DI0/CAP1, DI1/CAP2 and DI2/CAP3• With hardware version <RS03:
2 Capture inputs: DI0/CAP1 and DI1/CAP2Selection of the method The motor position can be captured in 2 different ways:
• One-time position capture.
One-time capture means that the position is captured at the firstedge.
• Continuous motor position capture
Continuous capture means that the motor position is capturedanew at every edge. The previously captured value is lost.
The motor position can be captured when the edge at the Captureinput rises or falls.
Accuracy A jitter of 2 µs results in an inaccuracy of the captured position ofapproximately 1.6 user-defined units at a velocity of 3000 min-1.(3000 min-1 = (3000*16384)/(60*106) = 0.8 usr_p/µs)
If the factory settings for scaling are used, 1.6 user-defined units cor-respond to 0.036 °.
The captured motor position is less accurate during the accelerationphase and the deceleration phase.
Selection of profile The motor position can be captured via 2 different profiles:
• Vendor-specific profileSee chapter "7.7.10.1 Position capture via vendor-specific profile"
• DS402 profileSee chapter "7.7.10.2 Position capture via DS402 profile"
LXM32M 7 Operation
AC servo drive 375
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7.7.10.1 Position capture via vendor-specific profileSetting the source The following parameters let you set the source for position capture.
▶ Set the source for position capture with the parametersCap1Source, Cap2Source and Cap3Source.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
Cap1Source Capture input 1 encoder source
0 / Pact Encoder 1: Source for captureinput 1 is Pact of encoder 11 / Pact Encoder 2: Source for captureinput 1 is Pact of encoder 2 (module)
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:Ah Modbus 2580Profibus 2580CIP 110.1.10
Cap2Source Capture input 2 encoder source
0 / Pact Encoder 1: Source for captureinput 2 is Pact of encoder 11 / Pact Encoder 2: Source for captureinput 2 is Pact of encoder 2 (module)
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:Bh Modbus 2582Profibus 2582CIP 110.1.11
Cap3Source Capture input 3 encoder source
0 / Pact Encoder 1: Source for captureinput 3 is Pact of encoder 11 / Pact Encoder 2: Source for captureinput 3 is Pact of encoder 2 (module)
Available with hardware version ≥RS03.
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:15h Modbus 2602Profibus 2602CIP 110.1.21
7 Operation LXM32M
376 AC servo drive
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Setting the edge The following parameters let you set the edge for position capture.
▶ Set the desired edge with the parameters Cap1Config,Cap2Config and Cap3Config.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
Cap1Config Capture input 1 configuration
0 / Falling Edge: Position capture at fallingedge1 / Rising Edge: Position capture at risingedge2 / Both Edges: Position capture at bothedges
Changed settings become active immedi-ately.
-002
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:2h Modbus 2564Profibus 2564CIP 110.1.2
Cap2Config Capture input 2 configuration
0 / Falling Edge: Position capture at fallingedge1 / Rising Edge: Position capture at risingedge2 / Both Edges: Position capture at bothedges
Changed settings become active immedi-ately.
-002
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:3h Modbus 2566Profibus 2566CIP 110.1.3
Cap3Config Capture input 3 configuration
0 / Falling Edge: Position capture at fallingedge1 / Rising Edge: Position capture at risingedge
Available with hardware version ≥RS03.
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:11h Modbus 2594Profibus 2594CIP 110.1.17
LXM32M 7 Operation
AC servo drive 377
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Starting position capture The following parameters let you start position capture.
▶ Set the desired method with the parameters Cap1Activate andCap2Activate and Cap3Activate.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
Cap1Activate Capture input 1 start/stop
0 / Capture Stop: Cancel capture function1 / Capture Once: Start one-time capture2 / Capture Continuous: Start continuouscapture3 / Reserved: Reserved4 / Reserved: Reserved
In the case of one-time capture, the functionis terminated when the first value is cap-tured. In the case of continuous capture, the func-tion continues to run.
Changed settings become active immedi-ately.
-0-4
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:4h Modbus 2568Profibus 2568CIP 110.1.4
Cap2Activate Capture input 2 start/stop
0 / Capture Stop: Cancel capture function1 / Capture Once: Start one-time capture2 / Capture Continuous: Start continuouscapture3 / Reserved: Reserved4 / Reserved: Reserved
In the case of one-time capture, the functionis terminated when the first value is cap-tured. In the case of continuous capture, the func-tion continues to run.
Changed settings become active immedi-ately.
-0-4
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:5h Modbus 2570Profibus 2570CIP 110.1.5
Cap3Activate Capture input 3 start/stop
0 / Capture Stop: Cancel capture function1 / Capture Once: Start one-time capture2 / Capture Continuous: Start continuouscapture
In the case of one-time capture, the functionis terminated when the first value is cap-tured. In the case of continuous capture, the func-tion continues to run.
Available with hardware version ≥RS03.
Changed settings become active immedi-ately.
-0-2
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:12h Modbus 2596Profibus 2596CIP 110.1.18
7 Operation LXM32M
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Status messages The parameter _CapStatus indicates the capture status.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_CapStatus Status of the capture inputs
Read access:Bit 0: Position captured via input CAP1Bit 1: Position captured via input CAP2Bit 2: Position captured via input CAP3
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:1h Modbus 2562Profibus 2562CIP 110.1.1
LXM32M 7 Operation
AC servo drive 379
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Captured position The captured position can be read via the following parameters:
7 Operation LXM32M
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_Cap1PosCons Capture input 1 captured position (consis-tent)
Captured position at the time of the "capturesignal".The captured position is re-calculated after"Position Setting" or "Reference Movement".By reading the parameter "_Cap1Count-Cons", this parameter is updated and lockedso it cannot be changed. Both parametervalues remain consistent.
Available with firmware version ≥V01.12.
usr_p---
INT32INT32INT32INT32 R/---
CANopen 300A:18h Modbus 2608Profibus 2608CIP 110.1.24
_Cap1CountCons Capture input 1 event counter (consistent)
Counts the capture events. The event counter is reset when captureinput 1 is activated.By reading this parameter, the parameter"_Cap1PosCons" is updated and locked soit cannot be changed. Both parameter val-ues remain consistent.
Available with firmware version ≥V01.12.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:17h Modbus 2606Profibus 2606CIP 110.1.23
_Cap2PosCons Capture input 2 captured position (consis-tent)
Captured position at the time of the "capturesignal".The captured position is re-calculated after"Position Setting" or "Reference Movement".By reading the parameter "_Cap2Count-Cons", this parameter is updated and lockedso it cannot be changed. Both parametervalues remain consistent.
Available with firmware version ≥V01.12.
usr_p---
INT32INT32INT32INT32 R/---
CANopen 300A:1Ah Modbus 2612Profibus 2612CIP 110.1.26
_Cap2CountCons Capture input 2 event counter (consistent)
Counts the capture events. The event counter is reset when captureinput 2 is activated.By reading this parameter, the parameter"_Cap2PosCons" is updated and locked soit cannot be changed. Both parameter val-ues remain consistent.
Available with firmware version ≥V01.12.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:19h Modbus 2610Profibus 2610CIP 110.1.25
_Cap3PosCons Capture input 3 captured position (consis-tent)
Captured position at the time of the "capturesignal".The captured position is re-calculated after"Position Setting" or "Reference Movement".By reading the parameter "_Cap3Count-Cons", this parameter is updated and lockedso it cannot be changed. Both parametervalues remain consistent.
Available with hardware version ≥RS03.
Available with firmware version ≥V01.12.
usr_p---
INT32INT32INT32INT32 R/---
CANopen 300A:1Ch Modbus 2616Profibus 2616CIP 110.1.28
LXM32M 7 Operation
AC servo drive 381
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_Cap3CountCons Capture input 3 event counter (consistent)
Counts the capture events. The event counter is reset when captureinput 3 is activated.By reading this parameter, the parameter"_Cap3PosCons" is updated and locked soit cannot be changed. Both parameter val-ues remain consistent.
Available with hardware version ≥RS03.
Available with firmware version ≥V01.12.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:1Bh Modbus 2614Profibus 2614CIP 110.1.27
7 Operation LXM32M
382 AC servo drive
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7.7.10.2 Position capture via DS402 profileAdjusting and starting position cap-
tureThe following parameter let you adjust and start position capture.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
TouchProbeFct Touch Probe function
Refers to chapter "Touch probe functional-ity" of the DS402 part2 (operation modesand application data) document.
Changed settings become active immedi-ately.
----
UINT16UINT16UINT16UINT16 R/W--
CANopen 60B8:0h Modbus 7028Profibus 7028CIP 127.1.58
Bit Value 0 Value 10 Deactivate Capture input 1 Activate Capture input 1
1 One-time capture Continuous capture
2 ... 3 Reserved (must be 0) -
4 Disabling capture with risingedge
Enabling capture with risingedge
5 Disabling capture with fallingedge
Enabling capture with fallingedge
6 ... 7 Reserved (must be 0) -
8 Deactivate Capture input 2 Activate Capture input 2
9 One-time capture Continuous capture
10 ... 11 Reserved (must be 0) -
12 Disabling capture with risingedge
Enabling capture with risingedge
13 Disabling capture with fallingedge
Enabling capture with fallingedge
14 ... 15 Reserved (must be 0) -
Status messages The following parameter lets you indicate the capture status.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_TouchProbeStat
Touch Probe status
Refers to chapter "Touch probe functional-ity" of the DS402 part2 (operation modesand application data) document.
Changed settings become active immedi-ately.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 60B9:0h Modbus 7030Profibus 7030CIP 127.1.59
LXM32M 7 Operation
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Bit Value 0 Value 10 Capture input 1 deactivated Capture input 1 activated
1 Capture input 1 no value cap-tured for rising edge
Capture input 1 value capturedfor rising edge
2 Capture input 1 no value cap-tured for falling edge
Capture input 1 value capturedfor falling edge
3 ... 7 Reserved -
8 Capture input 2 deactivated Capture input 2 activated
9 Capture input 2 no value cap-tured for rising edge
Capture input 2 value capturedfor rising edge
10 Capture input 2 no value cap-tured for falling edge
Capture input 2 value capturedfor falling edge
11 ... 15 Reserved -
Captured position The captured position can be read via the following parameters:
7 Operation LXM32M
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_Cap1PosRisEdge
Capture input 1 captured position at risingedge
This parameter contains the position cap-tured at the point in time a rising edge wasdetected.The captured position is recalculated after"Position Setting" or "Reference Movement".
usr_p---
INT32INT32INT32INT32 R/---
CANopen 60BA:0h Modbus 2634Profibus 2634CIP 110.1.37
_Cap1CntRise Capture input 1 event counter at risingedges
Counts the capture events at rising edges.The event counter is reset when captureinput 1 is activated.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:2Bh Modbus 2646Profibus 2646CIP 110.1.43
_Cap1PosFallEdge
Capture input 1 captured position at fallingedge
This parameter contains the position cap-tured at the point in time a falling edge wasdetected.The captured position is recalculated after"Position Setting" or "Reference Movement".
usr_p---
INT32INT32INT32INT32 R/---
CANopen 60BB:0h Modbus 2636Profibus 2636CIP 110.1.38
_Cap1CntFall Capture input 1 event counter at fallingedges
Counts the capture events at falling edges.The event counter is reset when captureinput 1 is activated.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:2Ch Modbus 2648Profibus 2648CIP 110.1.44
_Cap2PosRisEdge
Capture input 2 captured position at risingedge
This parameter contains the position cap-tured at the point in time a rising edge wasdetected.The captured position is recalculated after"Position Setting" or "Reference Movement".
usr_p---
INT32INT32INT32INT32 R/---
CANopen 60BC:0h Modbus 2638Profibus 2638CIP 110.1.39
_Cap2CntRise Capture input 2 event counter at risingedges
Counts the capture events at rising edges.The event counter is reset when captureinput 2 is activated.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:2Dh Modbus 2650Profibus 2650CIP 110.1.45
_Cap2PosFallEdge
Capture input 2 captured position at fallingedge
This parameter contains the position cap-tured at the point in time a falling edge wasdetected.The captured position is recalculated after"Position Setting" or "Reference Movement".
usr_p---
INT32INT32INT32INT32 R/---
CANopen 60BD:0h Modbus 2640Profibus 2640CIP 110.1.40
_Cap2CntFall Capture input 2 event counter at fallingedges
Counts the capture events at falling edges.The event counter is reset when captureinput 2 is activated.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:2Eh Modbus 2652Profibus 2652CIP 110.1.46
LXM32M 7 Operation
AC servo drive 385
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_CapEventCounters
Capture inputs 1 and 2 summary of eventcounters
This parameter contains the counted cap-ture events.
Bits 0...3: _Cap1CntRise (lowest 4 bits)Bits 4...7: _Cap1CntFall (lowest 4 bits)Bits 8...11: _Cap2CntRise (lowest 4 bits)Bits 12...15: _Cap2CntFall (lowest 4 bits)
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:2Fh Modbus 2654Profibus 2654CIP 110.1.47
7 Operation LXM32M
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7.7.11 Relative Movement After Capture (RMAC)
Relative Movement After Capture (RMAC) starts a relative movementvia a signal input while another movement is running.
The target position and the velocity can be parameterized.
RMAC_PositionRMAC_Velocity
0 t
v 1 2
3b
43a
Figure 121: Relative Movement After Capture
(1) Movement with set operating mode(for example operating mode Profile Velocity)
(2) Start of the relative movement after capture with the signalinput function Start Signal Of RMAC
(3a) Relative movement after capture is performed withunchanged velocity
(3b) Relative movement after capture is performed with parame-terized velocity
(4) Target position reached
Operating modes A Relative Movement After Capture (RMAC) can be started in the fol-lowing operating modes:
• Jog• Electronic Gear• Profile Torque• Profile Velocity• Profile Position• Motion Sequence (Move Absolute, Move Additive, Move Relative,
Move Velocity and Gear)
Availability Available with hardware version ≥RS03.
Signal input functions In local control mode, the following signal input functions are requiredto start the relative movement:
Signal input function Meaning ActivationActivate RMAC Activation of relative move-
ment after capture1 level
Start Signal Of RMAC Start signal for relativemovement
Adjustable viaparameterRMAC_Edge
Activate Operating Mode When the relative move-ment has terminated, thecurrent operating mode isresumed.
Rising edge
In fieldbus control mode, the signal input function "Start Signal OfRMAC" is required to start the relative movement.
LXM32M 7 Operation
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The signal input functions must have been parameterized, see chap-ter "7.6.2 Setting the digital signal inputs and signal outputs".
Status indication The status is available via a signal output or via the fieldbus.
In order to read the status via a signal output, you must first parame-terize the signal output function "RMAC Active Or Finished", see chap-ter "7.6.2 Setting the digital signal inputs and signal outputs".
In order to read the status via the fieldbus, you must set the parameterDS402intLim to the value "RMAC active or finished", see chapter"7.6.7 Settings of parameter _DCOMstatus".
In addition, the current status is available via the parameters_RMAC_Status and _RMAC_DetailStatus.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_RMAC_Status Status of relative movement after capture
0 / Not Active: Not active1 / Active Or Finished: Relative movementafter capture is active or finished
Available with firmware version ≥V01.10.
-0-1
UINT16UINT16UINT16UINT16 R/---
CANopen 3023:11h Modbus 8994Profibus 8994CIP 135.1.17
_RMAC_DetailStatus
Detailed status of relative movement aftercapture (RMAC)
0 / Not Activated: Not activated1 / Waiting: Waiting for capture signal2 / Moving: Relative movement after cap-ture running3 / Interrupted: Relative movement aftercapture interrupted4 / Finished: Relative movement after cap-ture terminated
Available with firmware version ≥V01.16.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3023:12h Modbus 8996Profibus 8996CIP 135.1.18
Activates Relative Movement AfterCapture
Relative Movement After Capture (RMAC) must be activated before itcan be started.
In local control mode, Relative Movement After Capture is activatedvia the signal input function "Activate RMAC".
In fieldbus control mode, Relative Movement After Capture (RMAC) isactivated via the following parameters:
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
RMAC_Activate Activation of relative movement after cap-ture
0 / Off: Off1 / On: On
Changed settings become active immedi-ately.
Available with firmware version ≥V01.10.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 3023:Ch Modbus 8984Profibus 8984CIP 135.1.12
7 Operation LXM32M
388 AC servo drive
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In fieldbus control mode, it is also possible to activate relative Move-ment After Capture (RMAC) via the signal input function "ActivateRMAC".
Target values The target position and the velocity for the relative movement are setvia the following parameters.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
RMAC_Position Target position of relative movement aftercapture
Minimum/maximum values depend on:- Scaling factor
Changed settings become active the nexttime the motor moves.
Available with firmware version ≥V01.10.
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 3023:Dh Modbus 8986Profibus 8986CIP 135.1.13
RMAC_Velocity Velocity of relative movement after capture
Value 0: Use of current motor velocityValue >0: Value is the target velocity
The adjustable value is internally limited tothe setting in RAMP_v_max.
Changed settings become active the nexttime the motor moves.
Available with firmware version ≥V01.10.
usr_v002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3023:Eh Modbus 8988Profibus 8988CIP 135.1.14
Edge for the start signal The edge which is to trigger the relative movement is set via the fol-lowing parameter.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
RMAC_Edge Edge of capture signal for relative move-ment after capture
0 / Falling edge: Falling edge1 / Rising edge: Rising edge
Available with firmware version ≥V01.10.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3023:10h Modbus 8992Profibus 8992CIP 135.1.16
Response to overtravelling of thetarget position
Depending on the set velocity, target position and deceleration ramp,the target position may be overtravelled.
The response to overtravelling of the target position is set via the fol-lowing parameter.
LXM32M 7 Operation
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
RMAC_Response Response if target postion is overtraveld
0 / Error Class 1: Error class 11 / No Movement To Target Position: Nomovement to target position2 / Movement To Target Position: Move-ment to target position
Changed settings become active immedi-ately.
Available with firmware version ≥V01.10.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3023:Fh Modbus 8990Profibus 8990CIP 135.1.15
7 Operation LXM32M
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7.8 Functions for monitoring movements
7.8.1 Limit switches
The use of limit switches can provide some protection against hazards(for example, collision with mechanical stop caused by incorrect refer-ence values).
WARNINGLOSS OF CONTROL
• Check whether your application allows for the use of limitswitches. If yes, use limit switches.
• Verify correct connection of the limit switches.• Verify that the limit switches are mounted in a position far enough
away from the mechanical stop to allow for an adequate stoppingdistance.
• Verify correct parameterization and function of the limit switches.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Limit switches Movements can be monitored using limit switches. A positive limitswitch and a negative limit switch can be used for monitoring.
If the positive or negative limit switch are tripped, the movement stops.An error message is generated and the operating state switches to7 Quick Stop Active.
The error message can be reset by means of a "Fault Reset". Theoperating state switches back to 6 Operation Enabled.
The movement can continue, however, only in the opposite direction.For example, if the positive limit switch was triggered, further move-ment is only possible in negative direction. In the case of furthermovement in positive direction, a new error message is generated andthe operating state switches back to 7 Quick Stop Active.
The parameters IOsigLIMP and IOsigLIMN are used to set the thetype of limit switch.
LXM32M 7 Operation
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOsigLIMP Signal evaluation for positive limit switch
0 / Inactive: Inactive1 / Normally closed: Normally closed NC2 / Normally open: Normally open NO
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-012
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:10h Modbus 1568Profibus 1568CIP 106.1.16
IOsigLIMN Signal evaluation for negative limit switch
0 / Inactive: Inactive1 / Normally closed: Normally closed NC2 / Normally open: Normally open NO
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-012
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:Fh Modbus 1566Profibus 1566CIP 106.1.15
The signal input functions "Positive Limit Switch (LIMP)" and "Nega-tive Limit Switch (LIMN)" must have been parameterized, see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
If possible, use normally closed contacts so that a wire break can besignaled as an error.
7 Operation LXM32M
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7.8.2 Reference switch
The reference switch is only active in the operating mode Homing andin the operating mode Motion Sequence (Reference Movement).
The parameter IOsigREF lets you set the type of reference switch.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOsigREF Signal evaluation for reference switch
1 / Normally Closed: Normally closed NC2 / Normally Open: Normally open NO
The reference switch is only active while areference movement to the reference switchis processed.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-112
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:Eh Modbus 1564Profibus 1564CIP 106.1.14
The signal input function "Reference Switch (REF)" must have beenparameterized, see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
If possible, use normally closed contacts so that a wire break can besignaled as an error.
LXM32M 7 Operation
AC servo drive 393
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7.8.3 Software limit switches
Movements can be monitored using software limit switches. A positiveposition limit and a negative position limit can be set for monitoring.
If the positive or negative position limit switch are reached, the move-ment stops. An error message is generated and the operating stateswitches to 7 Quick Stop Active.
The error message can be reset by means of a "Fault Reset". Theoperating state switches back to 6 Operation Enabled.
The movement can continue, however, only in the opposite directionof the position limit. For example, if the positive position limit wasreached, further movement is only possible in negative direction. Inthe case of further movement in positive direction, a new error mes-sage is generated and the operating state switches back to7 Quick Stop Active.
Prerequisite Software limit switch monitoring only works with a valid zero point, seechapter "7.5.1 Zero point of the movement range".
Behavior in operating modes withtarget positions
In the case of operating modes with target positions, the target posi-tion is compared to the position limits before the movement is started.The movement is started normally, even if the target position isgreater than the positive position limit or less than the negative posi-tion limit. However, the movement is stopped before the position limitis exceeded.
In the following operating modes, the target position is checked priorto the start of a movement.
• Jog (step movement)• Profile Position• Motion Sequence (Move Absolute, Move Additive and Move Rela-
tive)
Behavior in operating modes with-out target positions
In operating modes without target position, a Quick Stop is triggeredat the position limit.
In the following operating modes, a Quick Stop is triggered at the posi-tion limit.
• Jog (continuous movement)• Electronic Gear• Profile Torque• Profile Velocity• Motion Sequence (Move Velocity and Gear)
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As of firmware version ≥V01.16, you can use the parameterMON_SWLimMode to set the behavior for reaching a position limit.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_SWLimMode Behavior when position limit is reached
0 / Standstill Behind Position Limit: QuickStop is triggered at position limit and stand-still is reached behind position limit1 / Standstill At Position Limit: Quick Stopis triggered in front of position limit andstandstill is reached at position limit
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:47h Modbus 1678Profibus 1678CIP 106.1.71
Standstill at the position limit in operating modes without target posi-tion requires the parameter LIM_QStopReact to be set to "Decelera-tion ramp (Quick Stop)", see"7.7.2 Stopping a movement with Quick Stop". If the parameterLIM_QStopReact is set to "Torque ramp (Quick Stop)", the move-ment may come to a standstill in front of or behind the position limitdue to different loads.
Activation The software limit switches are activated via the parameterMON_SW_Limits.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_SW_Limits Activation of software limit switches
0 / None: Deactivated1 / SWLIMP: Activation of software limitswitches positive direction2 / SWLIMN: Activation of software limitswitches negative direction3 / SWLIMP+SWLIMN: Activation of soft-ware limit switches both directions
Software limit switches can only be activa-ted if the zero point is valid.
Changed settings become active immedi-ately.
-003
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:3h Modbus 1542Profibus 1542CIP 106.1.3
LXM32M 7 Operation
AC servo drive 395
0198
4411
1376
7, V
1.08
, 04.
2014
Setting position limits The software limit switches are set via the parameters MON_swLimPand MON_swLimN.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_swLimP Positive position limit for software limitswitch
If a user-defined value entered is outside ofthe permissible range, the limit switch limitsare automatically set to the maximum user-defined value.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
usr_p-2147483647-
INT32INT32INT32INT32 R/Wper.-
CANopen 607D:2h Modbus 1544Profibus 1544CIP 106.1.4
MON_swLimN Negative position limit for software limitswitch
Refer to description 'MON_swLimP'
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
usr_p--2147483648-
INT32INT32INT32INT32 R/Wper.-
CANopen 607D:1h Modbus 1546Profibus 1546CIP 106.1.5
7 Operation LXM32M
396 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
7.8.4 Load-dependent position deviation (following error)
The load-dependent position deviation is the difference between thereference position and the actual position caused by the load.
Parameters are available to read the load-dependent position devia-tion during operation and the maximum position deviation reached sofar.
The maximum permissible load-dependent position deviation can beparameterized. In addition, you can set the error class for a followingerror.
Availability Monitoring of the load-dependent position deviation is available in thefollowing operating modes:
• Jog• Electronic Gear (position synchronization)• Profile Position• Homing• Motion Sequence (Move Absolute, Move Additive, Move Relative
and Reference Movement)
Reading the position deviation The following parameters let you read the current load-dependentposition deviation in user-defined units or revolutions.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_p_dif_load_usr Current load-dependent position deviationbetween reference and actual position
The load-dependent position deviation is thedifference between the reference positionand the actual position caused by the load.This value is used for following error moni-toring.
Available with firmware version ≥V01.03.
usr_p-2147483648-2147483647
INT32INT32INT32INT32 R/---
CANopen 301E:16h Modbus 7724Profibus 7724CIP 130.1.22
_p_dif_load Current load-dependent position deviationbetween reference and actual position
The load-dependent position deviation is thedifference between the reference positionand the actual position caused by the load.This value is used for following error moni-toring.
The parameter _p_dif_load_usr allows youto enter the value in user-defined units.
In increments of 0.0001 revolution.
revolution-214748.3648-214748.3647
INT32INT32INT32INT32 R/---
CANopen 301E:1Ch Modbus 7736Profibus 7736CIP 130.1.28
The following parameters let you read the maximum value of the load-dependent position deviation reached so far in user-defined units orrevolutions.
LXM32M 7 Operation
AC servo drive 397
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_p_dif_load_peak_usr
Maximum value of the load-dependent posi-tion deviation
This parameter contains the maximum load-dependent position deviation reached so far.A write access resets this value.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.03.
usr_p0-2147483647
INT32INT32INT32INT32 R/W--
CANopen 301E:15h Modbus 7722Profibus 7722CIP 130.1.21
_p_dif_load_peak
Maximum value of the load-dependent posi-tion deviation
This parameter contains the maximum load-dependent position deviation reached so far.A write access resets this value.
The parameter _p_dif_load_peak_usrallows you to enter the value in user-definedunits..
In increments of 0.0001 revolution.
Changed settings become active immedi-ately.
revolution0.0000-429496.7295
UINT32UINT32UINT32UINT32 R/W--
CANopen 301E:1Bh Modbus 7734Profibus 7734CIP 130.1.27
Setting the position deviation The following parameter lets you set the warning threshold for themaximum load-dependent position deviation.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_p_dif_warn Maximum load-dependent position deviation(warning)
100.0 % correspond to the maximum posi-tion deviation (following error) as specifiedby means of parameter MON_p_dif_load.
Changed settings become active immedi-ately.
%075100
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:29h Modbus 1618Profibus 1618CIP 106.1.41
The following parameters let you set the following error threshold inuser-defined units or revolutions for the maximum load-dependentposition deviation.
7 Operation LXM32M
398 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_p_dif_load_usr
Maximum load-dependent position deviation(following error)
The load-dependent position deviation is thedifference between the reference positionand the actual position caused by the load.
The minimum value, the factory setting andthe maximum value depend on the scalingfactor.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.03.
usr_p1163842147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:3Eh Modbus 1660Profibus 1660CIP 106.1.62
MON_p_dif_load Maximum load-dependent position deviation(following error)
The load-dependent position deviation is thedifference between the reference positionand the actual position caused by the load.
The parameter MON_p_dif_load_usr allowsyou to enter the value in user-defined units.
In increments of 0.0001 revolution.
Changed settings become active immedi-ately.
revolution0.00011.0000200.0000
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 6065:0h Modbus 1606Profibus 1606CIP 106.1.35
Setting the error class The following parameter lets you set the error response to an exces-sively high load-dependent position deviation (following error).
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ErrorResp_p_dif Error response to following error
1 / Error Class 1: Error class 12 / Error Class 2: Error class 23 / Error Class 3: Error class 3
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-133
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:Bh Modbus 1302Profibus 1302CIP 105.1.11
LXM32M 7 Operation
AC servo drive 399
0198
4411
1376
7, V
1.08
, 04.
2014
7.8.5 Motor standstill and direction of movement
The status of a movement can be monitored. You can read outwhether the motor is at a standstill or whether it moves in a specificdirection.
Availability Monitoring depends on the firmware version
• Motor standstill: Available with firmware version ≥V01.00.• Direction of movement: Available with firmware version ≥V01.14.
Monitoring A velocity of <10 min-1 is interpreted as standstill.
v = 0v = -10
v = 10
MotorStandstill
Motor MovesPositive
Motor MovesNegative
t
v_act
1
0
1
0
1
0
Figure 122: Motor standstill and direction of movement
The status is available via signal outputs. In order to read the status,you must first parameterize the signal output functions "Motor Stand-still", "Motor Moves Positive" or "Motor Moves Negative", see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
7 Operation LXM32M
400 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
7.8.6 Torque window
The torque window allows you to monitor whether the motor hasreached the target torque.
If the difference between the target torque and the actual torqueremains in the torque window for the time MON_tq_winTime, the tar-get torque is considered to have been reached.
Availability The torque window is available in the following operating modes.
• Profile Torque
0
tq
MON_tq_winTime
_tq_act2 * MON_tq_win
t
2
1
Figure 123: Torque window
(1) Target torque(2) Target torque reached (the actual torque did not exceed the
permissible deviation MON_tq_win during timeMON_tq_winTime).
The parameters MON_tq_win and MON_tq_winTime specify the sizeof the window.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_tq_win Torque window, permissible deviation
The torque window can only be activated inoperating mode Profile Torque.
In increments of 0.1 %.
Changed settings become active immedi-ately.
%0.03.03000.0
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:2Dh Modbus 1626Profibus 1626CIP 106.1.45
MON_tq_winTime Torque window, time
Value 0: Torque window monitoring deacti-vated
Changing the value causes a restart of tor-que monitoring.
NOTE: Torque window is only used in oper-ating mode Profile Torque.
Changed settings become active immedi-ately.
ms0016383
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:2Eh Modbus 1628Profibus 1628CIP 106.1.46
LXM32M 7 Operation
AC servo drive 401
0198
4411
1376
7, V
1.08
, 04.
2014
7.8.7 Velocity window
The velocity window allows you to monitor whether the motor hasreached the target velocity.
If the difference between the target velocity and the current motorvelocity remains in the velocity window for the time MON_v_winTime,the target velocity is considered to have been reached.
Availability The velocity window is available in the following operating modes.
• Electronic Gear (velocity synchronization)• Profile Velocity
0
v
MON_v_winTime
_v_act2 * MON_v_win
t
2
1
Figure 124: Velocity window
(1) Target velocity(2) Target velocity reached (the target velocity did not exceed
the permissible deviation MON_v_win during timeMON_v_winTime).
The parameters MON_v_win and MON_v_winTime specify the size ofthe window.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_v_win Velocity window, permissible deviation
Changed settings become active immedi-ately.
usr_v1102147483647
UINT16UINT32UINT32UINT32 R/Wper.-
CANopen 606D:0h Modbus 1576Profibus 1576CIP 106.1.20
MON_v_winTime Velocity window, time
Value 0: Velocity window monitoring deacti-vated
Changing the value causes a restart ofvelocity monitoring.
Changed settings become active immedi-ately.
ms0016383
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 606E:0h Modbus 1578Profibus 1578CIP 106.1.21
7 Operation LXM32M
402 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
7.8.8 Standstill window
The standstill window allows you to monitor whether the motor hasreached the target position.
If the difference between the target position and the current motorposition remains in the standstill window for the timeMON_p_winTime, the target position is considered to have beenreached.
Availability The standstill window is available in the following operating modes.
• Jog (step movement)• Profile Position• Homing• Motion Sequence (Move Absolute, Move Additive, Move Relative
and Reference Movement)
0
_p_dif
MON_p_winTime
2 * MON_p_win_usr
(MON_p_win)
t
1
Figure 125: Standstill window
(1) Target position reached (the target position did not exceedthe permissible deviation MON_p_win_usr during timeMON_p_winTime).
The parameters MON_p_win_usr (MON_p_win) andMON_p_winTime specify the size of the window.
The parameter MON_p_winTout can be used to set the period of timeafter which a detected error is signaled if the standstill window was notreached.
LXM32M 7 Operation
AC servo drive 403
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_p_win_usr Standstill window, permissible control devia-tion
The control deviation for the standstill win-dow time must be within this range for astandstill of the drive to be detected.
Processing of the standstill window must beactivated via the parameter MON_p_win-Time.
The minimum value, the factory setting andthe maximum value depend on the scalingfactor.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.03.
usr_p0162147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:40h Modbus 1664Profibus 1664CIP 106.1.64
MON_p_win Standstill window, permissible control devia-tion
The control deviation for the standstill win-dow time must be within this range for astandstill of the drive to be detected.
Processing of the standstill window must beactivated via the parameter MON_p_win-Time.
The parameter MON_p_win_usr allows youto enter the value in user-defined units.
In increments of 0.0001 revolution.
Changed settings become active immedi-ately.
revolution0.00000.00103.2767
UINT32UINT16UINT16UINT16 R/Wper.-
CANopen 6067:0h Modbus 1608Profibus 1608CIP 106.1.36
MON_p_winTime Standstill window, time
Value 0: Monitoring of standstill windowdeactivatedValue >0: Time in ms during which the con-trol deviation must be in the standstill win-dow
Changed settings become active immedi-ately.
ms0032767
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 6068:0h Modbus 1610Profibus 1610CIP 106.1.37
MON_p_winTout Timeout time for standstill window monitor-ing
Value 0: Timeout monitoring deactivatedValue >0: Timeout time in ms
Standstill window processing values are setvia MON_p_win and MON_p_winTime.
Time monitoring starts when the target posi-tion (reference position of position control-ler) is reached or when the profile generatorhas finished processing.
Changed settings become active immedi-ately.
ms0016000
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:26h Modbus 1612Profibus 1612CIP 106.1.38
7 Operation LXM32M
404 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
7.8.9 Position register
The position register allows you to monitor whether the motor is withina parameterizable position range.
A movement can be monitored using one of 4 methods:
• The motor position is greater than or equal to comparison value A.• The motor position is less than or equal to comparison value A.• The motor position is within the range between comparison value A
and comparison value B.• The motor position is outside the range between comparison value
A and comparison value B.
Separate channels are available for monitoring.
A B
1
0
1
0
1
0
Pact >= A
Pact <= A
Pact in [A-B]
1
0Pact out [A-B]
Figure 126: Position register
Availability This function is only available for fieldbus control mode.
Number of channels The number of channels depends on the firmware version:
• 4 channels (with firmware version ≥V01.04)• 2 channels (with firmware version <V01.04)
Status messages The status of the position register is available via the parameter_PosRegStatus.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_PosRegStatus Status of the position register channels
Signal state:0: Comparison criterion not met1: Comparison criterion met
Bit assignments:Bit 0: State of position register channel 1Bit 1: State of position register channel 2Bit 2: State of position register channel 3Bit 3: State of position register channel 4
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300B:1h Modbus 2818Profibus 2818CIP 111.1.1
In addition, the status is available via signal outputs. In order to readthe status via the signal outputs, you must first parameterize the sig-
LXM32M 7 Operation
AC servo drive 405
0198
4411
1376
7, V
1.08
, 04.
2014
nal output function "Position Register Channel 1","Position RegisterChannel 2", "Position Register Channel 3" and "Position RegisterChannel 4", see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
Starting the position registers The channels of the position registers are started via the followingparameters.
7 Operation LXM32M
406 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PosReg1Start Start/stop of position register channel 1
0 / Off (keep last state): Position Registerchannel 1 is off and status bit keeps laststate1 / On: Position Register channel 1 is on2 / Off (set state 0): Position Register chan-nel 1 is off and status bit is set to 03 / Off (set state 1): Position Register chan-nel 1 is off and status bit is set to 1
Changed settings become active immedi-ately.
-003
UINT16UINT16UINT16UINT16 R/W--
CANopen 300B:2h Modbus 2820Profibus 2820CIP 111.1.2
PosReg2Start Start/stop of position register channel 2
0 / Off (keep last state): Position Registerchannel 2 is off and status bit keeps laststate1 / On: Position Register channel 2 is on2 / Off (set state 0): Position Register chan-nel 2 is off and status bit is set to 03 / Off (set state 1): Position Register chan-nel 2 is off and status bit is set to 1
Changed settings become active immedi-ately.
-003
UINT16UINT16UINT16UINT16 R/W--
CANopen 300B:3h Modbus 2822Profibus 2822CIP 111.1.3
PosReg3Start Start/stop of position register channel 3
0 / Off (keep last state): Position Registerchannel 3 is off and status bit keep laststate1 / On: Position Register channel 3 is on2 / Off (set state 0): Position Register chan-nel 3 is off and status bit is set to 03 / Off (set state 1): Position Register chan-nel 3 is off and status bit is set to 1
Changed settings become active immedi-ately.
Available with firmware version ≥V01.04.
-003
UINT16UINT16UINT16UINT16 R/W--
CANopen 300B:Ch Modbus 2840Profibus 2840CIP 111.1.12
PosReg4Start Start/stop of position register channel 4
0 / Off (keep last state): Position Registerchannel 4 is off and status bit keeps laststate1 / On: Position Register channel 4 is on2 / Off (set state 0): Position Register chan-nel 4 is off and status bit is set to 03 / Off (set state 1): Position Register chan-nel 4 is off and status bit is set to 1
Changed settings become active immedi-ately.
Available with firmware version ≥V01.04.
-003
UINT16UINT16UINT16UINT16 R/W--
CANopen 300B:Dh Modbus 2842Profibus 2842CIP 111.1.13
LXM32M 7 Operation
AC servo drive 407
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PosRegGroupStart
Start/stop of position register channels
0 / No Channel: No channel activated1 / Channel 1: Channel 1 activated2 / Channel 2: Channel 2 activated3 / Channel 1 & 2: Channels 1 and 2 activa-ted4 / Channel 3: Channel 3 activated5 / Channel 1 & 3: Channels 1 and 3 activa-ted6 / Channel 2 & 3: Channels 2 and 3 activa-ted7 / Channel 1 & 2 & 3: Channels 1, 2 and 3activated8 / Channel 4: Channel 4 activated9 / Channel 1 & 4: Channels 1 and 4 activa-ted10 / Channel 2 & 4: Channels 2 and 4 acti-vated11 / Channel 1 & 2 & 4: Channels 1, 2 and4 activated12 / Channel 3 & 4: Channels 3 and 4 acti-vated13 / Channel 1 & 3 & 4: Channels 1, 3 and4 activated14 / Channel 2 & 3 & 4: Channels 2, 3 and4 activated15 / Channel 1 & 2 & 3 & 4: Channels 1, 2,3 and 4 activated
Changed settings become active immedi-ately.
Available with firmware version ≥V01.14.
-0015
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:16h Modbus 2860Profibus 2860CIP 111.1.22
Setting the source The source of the comparison criterion is set via the following parame-ters.
7 Operation LXM32M
408 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PosReg1Source Selection of source for position registerchannel 1
0 / Pact Encoder 1: Source for position reg-ister channel 1 is Pact of encoder 11 / Pact Encoder 2: Source for position reg-ister channel 1 is Pact of encoder 2 (mod-ule)
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:6h Modbus 2828Profibus 2828CIP 111.1.6
PosReg2Source Selection of source for position registerchannel 2
0 / Pact Encoder 1: Source for position reg-ister channel 2 is Pact of encoder 11 / Pact Encoder 2: Source for position reg-ister channel 2 is Pact of encoder 2 (mod-ule)
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:7h Modbus 2830Profibus 2830CIP 111.1.7
PosReg3Source Selection of source for position registerchannel 3
0 / Pact Encoder 1: Source for position reg-ister channel 3 is Pact of encoder 11 / Pact Encoder 2: Source for position reg-ister channel 3 is Pact of encoder 2 (mod-ule)
Changed settings become active immedi-ately.
Available with firmware version ≥V01.04.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:10h Modbus 2848Profibus 2848CIP 111.1.16
PosReg4Source Selection of source for position registerchannel 4
0 / Pact Encoder 1: Source for position reg-ister channel 4 is Pact of encoder 11 / Pact Encoder 2: Source for position reg-ister channel 4 is Pact of encoder 2 (mod-ule)
Changed settings become active immedi-ately.
Available with firmware version ≥V01.04.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:11h Modbus 2850Profibus 2850CIP 111.1.17
Setting the comparison criterion The comparison criterion is set via the following parameters.
In the case of the comparison criteria "Pact in" and "Pact out", there isa difference between "basic" and "extended".
• Basic: The movement to be performed remains within the move-ment range.
• Extended: The movement to be performed can extend beyond themovement range.
LXM32M 7 Operation
AC servo drive 409
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PosReg1Mode Selection of comparison criterion for posi-tion register channel 1
0 / Pact greater equal A: Current positionis greater than or equal to comparison valueA for position register channel 11 / Pact less equal A: Current position isless than or equal to comparison value A forposition register channel 12 / Pact in [A-B] (basic): Current position isin the range A-B including limits (basic)3 / Pact out [A-B] (basic): Current positionis out of the range A-B excluding limits(basic)4 / Pact in [A-B] (extended): Current posi-tion is in the range A-B including limits(extended)5 / Pact out [A-B] (extended): Currentposition is out of the range A-B excludinglimits (extended)
Changed settings become active immedi-ately.
-005
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:4h Modbus 2824Profibus 2824CIP 111.1.4
PosReg2Mode Selection of comparison criterion for posi-tion register channel 2
0 / Pact greater equal A: Current positionis greater than or equal to comparison valueA for position register channel 21 / Pact less equal A: Current position isless than or equal to comparison value A forposition register channel 22 / Pact in [A-B] (basic): Current position isin the range A-B including limits (basic)3 / Pact out [A-B] (basic): Current positionis out of the range A-B excluding limits(basic)4 / Pact in [A-B] (extended): Current posi-tion is in the range A-B including limits(extended)5 / Pact out [A-B] (extended): Currentposition is out of the range A-B excludinglimits (extended)
Changed settings become active immedi-ately.
-005
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:5h Modbus 2826Profibus 2826CIP 111.1.5
7 Operation LXM32M
410 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PosReg3Mode Selection of comparison criterion for posi-tion register channel 3
0 / Pact greater equal A: Current positionis greater than or equal to comparison valueA for position register channel 31 / Pact less equal A: Current position isless than or equal to comparison value A forposition register channel 32 / Pact in [A-B] (basic): Current position isin the range A-B including limits (basic)3 / Pact out [A-B] (basic): Current positionis out of the range A-B excluding limits(basic)4 / Pact in [A-B] (extended): Current posi-tion is in the range A-B including limits(extended)5 / Pact out [A-B] (extended): Currentposition is out of the range A-B excludinglimits (extended)
Changed settings become active immedi-ately.
Available with firmware version ≥V01.04.
-005
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:Eh Modbus 2844Profibus 2844CIP 111.1.14
PosReg4Mode Selection of comparison criterion for posi-tion register channel 4
0 / Pact greater equal A: Current positionis greater than or equal to comparison valueA for position register channel 41 / Pact less equal A: Current position isless than or equal to comparison value A forposition register channel 42 / Pact in [A-B] (basic): Current position isin the range A-B including limits (basic)3 / Pact out [A-B] (basic): Current positionis out of the range A-B excluding limits(basic)4 / Pact in [A-B] (extended): Current posi-tion is in the range A-B including limits(extended)5 / Pact out [A-B] (extended): Currentposition is out of the range A-B excludinglimits (extended)
Changed settings become active immedi-ately.
Available with firmware version ≥V01.04.
-005
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:Fh Modbus 2846Profibus 2846CIP 111.1.15
Setting comparison values The comparison values are set via the following parameters.
LXM32M 7 Operation
AC servo drive 411
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PosReg1ValueA Comparison value A for position registerchannel 1
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 300B:8h Modbus 2832Profibus 2832CIP 111.1.8
PosReg1ValueB Comparison value B for position registerchannel 1
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 300B:9h Modbus 2834Profibus 2834CIP 111.1.9
PosReg2ValueA Comparison value A for position registerchannel 2
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 300B:Ah Modbus 2836Profibus 2836CIP 111.1.10
PosReg2ValueB Comparison value B for position registerchannel 2
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 300B:Bh Modbus 2838Profibus 2838CIP 111.1.11
PosReg3ValueA Comparison value A for position registerchannel 3
Available with firmware version ≥V01.04.
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 300B:12h Modbus 2852Profibus 2852CIP 111.1.18
PosReg3ValueB Comparison value B for position registerchannel 3
Available with firmware version ≥V01.04.
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 300B:13h Modbus 2854Profibus 2854CIP 111.1.19
PosReg4ValueA Comparison value A for position registerchannel 4
Available with firmware version ≥V01.04.
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 300B:14h Modbus 2856Profibus 2856CIP 111.1.20
PosReg4ValueB Comparison value B for position registerchannel 4
Available with firmware version ≥V01.04.
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 300B:15h Modbus 2858Profibus 2858CIP 111.1.21
7 Operation LXM32M
412 AC servo drive
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7.8.10 Position deviation window
The position deviation window allows you to monitor whether themotor is within a parameterizable position deviation.
The position deviation is the difference between reference positionand actual position.
The position deviation window comprises position deviation and moni-toring time.
Availability The position deviation window is available in the following operatingmodes.
• Jog• Electronic Gear (position synchronization)• Profile Position• Homing• Motion Sequence (Move Absolute, Move Additive, Move Relative
and Reference Movement)
Monitoring
0
_p_difMON_ChkTime
MON_ChkTime
2 * MON_p_DiffWin_usr
(MON_p_DiffWin)
= 0
> 0
t
MON_ChkTime
1
0
1
0
Figure 127: Position deviation window
The parameters MON_p_DiffWin_usr (MON_p_DiffWin) andMON_ChkTime specify the size of the window.
Status indication The status is available via a signal output or via the fieldbus.
In order to read the status via a signal output, you must first parame-terize the signal output function "In Position Deviation Window", seechapter "7.6.2 Setting the digital signal inputs and signal outputs".
In order to read the status via the fieldbus, you must set the parameterDS402intLim to the value "In Position Deviation Window", see chap-ter "7.6.7 Settings of parameter _DCOMstatus".
The parameter MON_ChkTime acts on the parametersMON_p_DiffWin_usr (MON_p_DiffWin), MON_v_DiffWin,MON_v_Threshold and MON_I_Threshold.
LXM32M 7 Operation
AC servo drive 413
0198
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_p_DiffWin_usr
Monitoring of position deviation
The system checks whether the drive iswithin the defined deviation during theperiod set with MON_ChkTime. The status can be output via a parameteriz-able output.
The minimum value, the factory setting andthe maximum value depend on the scalingfactor.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.03.
usr_p0162147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:3Fh Modbus 1662Profibus 1662CIP 106.1.63
MON_p_DiffWin Monitoring of position deviation
The system checks whether the drive iswithin the defined deviation during theperiod set with MON_ChkTime. The status can be output via a parameteriz-able output.
The parameter MON_p_DiffWin_usr allowsyou to enter the value in user-defined units.
In increments of 0.0001 revolution.
Changed settings become active immedi-ately.
revolution0.00000.00100.9999
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:19h Modbus 1586Profibus 1586CIP 106.1.25
MON_ChkTimeConF → i-o-
tthr
Monitoring of time window
Adjustment of a time for monitoring of posi-tion deviation, speed deviation, speed valueand current value. If the monitored value isin the permissible range during the adjustedtime, the monitoring function delivers a posi-tive result.The status can be output via a parameteriz-able output.
Changed settings become active immedi-ately.
ms009999
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:1Dh Modbus 1594Profibus 1594CIP 106.1.29
7 Operation LXM32M
414 AC servo drive
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7.8.11 Velocity deviation window
The velocity deviation window allows you to monitor whether themotor is within a parameterizable velocity deviation.
The velocity deviation is the difference between the reference velocityand the actual velocity.
The velocity deviation window comprises velocity deviation and moni-toring time.
Availability The velocity deviation window is available in the following operatingmodes.
• Jog• Electronic Gear (velocity synchronization)• Profile Velocity• Profile Position• Homing• Motion Sequence
Monitoring
0
MON_ChkTime
2 * MON_v_DiffWin
= 0
> 0
t
v
MON_ChkTime
1
0
1
0
Figure 128: Velocity deviation window
The parameters MON_v_DiffWin and MON_ChkTime specify the sizeof the window.
Status indication The status is available via a signal output or via the fieldbus.
In order to read the status via a signal output, you must first parame-terize the signal output function "In Velocity Deviation Window", seechapter "7.6.2 Setting the digital signal inputs and signal outputs".
In order to read the status via the fieldbus, you must set the parameterDS402intLim to the value "In Velocity Deviation Window", see chap-ter "7.6.7 Settings of parameter _DCOMstatus".
The parameter MON_ChkTime acts on the parametersMON_p_DiffWin_usr (MON_p_DiffWin), MON_v_DiffWin,MON_v_Threshold and MON_I_Threshold.
LXM32M 7 Operation
AC servo drive 415
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_v_DiffWin Monitoring of velocity deviation
The system checks whether the drive iswithin the defined deviation during theperiod set with MON_ChkTime. The status can be output via a parameteriz-able output.
Changed settings become active immedi-ately.
usr_v1102147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3006:1Ah Modbus 1588Profibus 1588CIP 106.1.26
MON_ChkTimeConF → i-o-
tthr
Monitoring of time window
Adjustment of a time for monitoring of posi-tion deviation, speed deviation, speed valueand current value. If the monitored value isin the permissible range during the adjustedtime, the monitoring function delivers a posi-tive result.The status can be output via a parameteriz-able output.
Changed settings become active immedi-ately.
ms009999
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:1Dh Modbus 1594Profibus 1594CIP 106.1.29
7 Operation LXM32M
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7.8.12 Velocity threshold value
The velocity threshold value allows you to monitor whether the actualvelocity is below a parameterizable velocity value.
The velocity threshold value comprises the velocity and the monitoringtime.
Monitoring
0
MON_ChkTime
MON_ChkTime
2 * MON_v_Threshold
= 0
> 0
t
v
1
0
1
0
Figure 129: Velocity threshold value
The parameters MON_v_Threshold and MON_ChkTime specify thesize of the window.
Status indication The status is available via a signal output or via the fieldbus.
In order to read the status via a signal output, you must first parame-terize the signal output function "Velocity Below Threshold", see chap-ter "7.6.2 Setting the digital signal inputs and signal outputs".
In order to read the status via the fieldbus, you must set the parameterDS402intLim to the value "Velocity Below Threshold", see chapter"7.6.7 Settings of parameter _DCOMstatus".
The parameter MON_ChkTime acts on the parametersMON_p_DiffWin_usr (MON_p_DiffWin), MON_v_DiffWin,MON_v_Threshold and MON_I_Threshold.
LXM32M 7 Operation
AC servo drive 417
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_v_Threshold
Monitoring of velocity threshold
The system checks whether the drive isbelow the defined value during the periodset with MON_ChkTime. The status can be output via a parameteriz-able output.
Changed settings become active immedi-ately.
usr_v1102147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3006:1Bh Modbus 1590Profibus 1590CIP 106.1.27
MON_ChkTimeConF → i-o-
tthr
Monitoring of time window
Adjustment of a time for monitoring of posi-tion deviation, speed deviation, speed valueand current value. If the monitored value isin the permissible range during the adjustedtime, the monitoring function delivers a posi-tive result.The status can be output via a parameteriz-able output.
Changed settings become active immedi-ately.
ms009999
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:1Dh Modbus 1594Profibus 1594CIP 106.1.29
7 Operation LXM32M
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7.8.13 Current threshold value
The current threshold value allows you to monitor whether the currentmotor current is below a parameterizable current value.
The current threshold value comprises the current value and the moni-toring time.
Monitoring
0
MON_ChkTime
MON_ChkTime
= 0
> 0
t
I
1
0
1
0
2 * MON_I_Threshold
Figure 130: Current threshold value
The parameters MON_I_Threshold and MON_ChkTime specify thesize of the window.
Status indication The status is available via a signal output or via the fieldbus.
In order to read the status via a signal output, you must first parame-terize the signal output function "Current Below Threshold", see chap-ter "7.6.2 Setting the digital signal inputs and signal outputs".
In order to read the status via the fieldbus, you must set the parameterDS402intLim to the value "Current Below Threshold", see chapter"7.6.7 Settings of parameter _DCOMstatus".
The parameter MON_ChkTime acts on the parametersMON_p_DiffWin_usr (MON_p_DiffWin), MON_v_DiffWin,MON_v_Threshold and MON_I_Threshold.
LXM32M 7 Operation
AC servo drive 419
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_I_ThresholdConF → i-o-
ithr
Monitoring of current threshold
The system checks whether the drive isbelow the defined value during the periodset with MON_ChkTime. The status can be output via a parameteriz-able output.The parameter _Iq_act_rms is used as com-parison value.
In increments of 0.01 Arms.
Changed settings become active immedi-ately.
Arms 0.000.20300.00
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:1Ch Modbus 1592Profibus 1592CIP 106.1.28
MON_ChkTimeConF → i-o-
tthr
Monitoring of time window
Adjustment of a time for monitoring of posi-tion deviation, speed deviation, speed valueand current value. If the monitored value isin the permissible range during the adjustedtime, the monitoring function delivers a posi-tive result.The status can be output via a parameteriz-able output.
Changed settings become active immedi-ately.
ms009999
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:1Dh Modbus 1594Profibus 1594CIP 106.1.29
7 Operation LXM32M
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7.9 Functions for monitoring internal device signals
7.9.1 Temperature monitoring
The power stage temperature and the motor temperature are moni-tored internally.
Power stage temperature The parameters _PS_T_current and _PS_T_max can be used toread the current temperature and the maximum temperature of thepower stage.
The parameter _PS_T_warn contains as threshold value for a warn-ing.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_PS_T_currentMon
tPS
Current power stage temperature °C---
INT16INT16INT16INT16 R/---
CANopen 301C:10h Modbus 7200Profibus 7200CIP 128.1.16
_PS_T_warn Temperature warning threshold of powerstage
°C---
INT16INT16INT16INT16 R/-per.-
CANopen 3010:6h Modbus 4108Profibus 4108CIP 116.1.6
_PS_T_max Maximum power stage temperature °C---
INT16INT16INT16INT16 R/-per.-
CANopen 3010:7h Modbus 4110Profibus 4110CIP 116.1.7
LXM32M 7 Operation
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Motor temperature The parameters _M_T_current and _M_T_max can be used to readthe current temperature and the maximum temperature of the motor.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_M_T_current Current motor temperature °C---
INT16INT16INT16INT16 R/---
CANopen 301C:11h Modbus 7202Profibus 7202CIP 128.1.17
_M_T_max Maximum temperature of motor °C---
INT16INT16INT16INT16 R/---
CANopen 300D:10h Modbus 3360Profibus 3360CIP 113.1.16
7 Operation LXM32M
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7.9.2 Monitoring load and overload (I2t monitoring)
The load is the thermal load on the power stage, the motor and thebraking resistor.
Load and overload on the individual components are monitored inter-nally; the values can be read by means of parameters.
Overload starts at a load value of 100 %.
0 % 100 % 200 %
0 % 100 %
2
1
Figure 131: Load and overload
(1) Load(2) Overload
Load monitoring The current load can be read using the following parameters:
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_PS_loadMon
LdFP
Current load of power stage %---
INT16INT16INT16INT16 R/---
CANopen 301C:17h Modbus 7214Profibus 7214CIP 128.1.23
_M_loadMon
LdFM
Current load of motor %---
INT16INT16INT16INT16 R/---
CANopen 301C:1Ah Modbus 7220Profibus 7220CIP 128.1.26
_RES_loadMon
LdFb
Current load of braking resistor
The braking resistor set via parameter RES-int_ext is monitored.
%---
INT16INT16INT16INT16 R/---
CANopen 301C:14h Modbus 7208Profibus 7208CIP 128.1.20
LXM32M 7 Operation
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Overload monitoring In the case of 100 % overload of the power stage or the motor), thecurrent is limited internally. In the case of 100 % overload of the brak-ing resistor, the braking resistor is switched off.
The current overload and the peak value can be read using the follow-ing parameters:
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_PS_overload Current overload of power stage %---
INT16INT16INT16INT16 R/---
CANopen 301C:24h Modbus 7240Profibus 7240CIP 128.1.36
_PS_maxoverload Maximum value of overload of power stage
Maximum overload of power stage duringthe last 10 seconds.
%---
INT16INT16INT16INT16 R/---
CANopen 301C:18h Modbus 7216Profibus 7216CIP 128.1.24
_M_overload Current overload of motor (I2t) %---
INT16INT16INT16INT16 R/---
CANopen 301C:19h Modbus 7218Profibus 7218CIP 128.1.25
_M_maxoverload Maximum value of overload of motor
Maximum overload of motor during the last10 seconds.
%---
INT16INT16INT16INT16 R/---
CANopen 301C:1Bh Modbus 7222Profibus 7222CIP 128.1.27
_RES_overload Current overload of braking resistor (I2t)
The braking resistor set via parameter RES-int_ext is monitored.
%---
INT16INT16INT16INT16 R/---
CANopen 301C:13h Modbus 7206Profibus 7206CIP 128.1.19
_RES_maxoverload
Maximum value of overload of braking resis-tor
Maximum overload of braking resistor dur-ing the last 10 seconds.The braking resistor set via parameter RES-int_ext is monitored.
%---
INT16INT16INT16INT16 R/---
CANopen 301C:15h Modbus 7210Profibus 7210CIP 128.1.21
7 Operation LXM32M
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7.9.3 Commutation monitoring
WARNINGUNEXPECTED MOVEMENT
The risk of unexpected movements increases if monitoring functionsare deactivated.
• Use the monitoring functions.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
The device checks the plausibility of motor acceleration and effectivemotor torque in order to recognize uncontrolled movements and tosuppress them if required. The monitoring function is referred to ascommutation monitoring.
If the motor accelerates for a period of more than 5 to 10 ms eventhough the drive control decelerates the motor with the maximum cur-rent set, commutation monitoring signals an uncontrolled motor move-ment.
The parameter MON_commutat lets you deactivate commutation mon-itoring.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_commutat Commutation monitoring
0 / Off: Commutation monitoring off1 / On: Commutation monitoring on
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-011
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:5h Modbus 1290Profibus 1290CIP 105.1.5
LXM32M 7 Operation
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7.9.4 Monitoring of mains phases
NOTICEDESTRUCTION CAUSED BY MISSING MAINS PHASE
If a mains phase for a three-phase product misses and the monitor-ing function is deactivated, this can cause overload and destructionof the product.
• Use the monitoring functions.• Do not operate the product if a mains phase misses.
Failure to follow these instructions can result in equipmentdamage.
The mains phases are monitored internally.
The parameter ErrorResp_Flt_AC lets you set the error responseto a missing mains phase for three-phase devices.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ErrorResp_Flt_AC
Error response to missing mains phase
1 / Error Class 1: Error class 12 / Error Class 2: Error class 23 / Error Class 3: Error class 3
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-123
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:Ah Modbus 1300Profibus 1300CIP 105.1.10
If the product is supplied via the DC bus, mains phase monitoringmust be set to the mains voltage used.
The type of main phase monitoring is set by means of the parameterMON_MainsVolt.
7 Operation LXM32M
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_MainsVolt Detection and monitoring of mains phases
0 / Automatic Mains Detection: Automaticdetection and monitoring of mains voltage1 / DC-Bus Only (Mains 1~230 V / 3~480V): DC bus supply only, corresponding tomains voltage 230 V (single-phase) or 480V (three phases)2 / DC-Bus Only (Mains 1~115 V / 3~208V): DC bus supply only, corresponding tomains voltage 115 V (single-phase) or 208V (three phases)3 / Mains 1~230 V / 3~480 V: Mains voltage230 V (single-phase) or 480 V (three pha-ses)4 / Mains 1~115 V / 3~208 V: Mains voltage115 V (single-phase) or 208 V (three pha-ses)
Value 0: As soon as a mains voltage detec-ted, the device automatically checkswhether the mains voltage is 115 V or 230 Vin the case of single-phase devices or 208 Vor 400/480 V in the case of three-phasedevices.
Values 1 ... 2: If the device is supplied onlyvia the DC bus, the parameter has to be setto the voltage value corresponding to themains voltage of the supplying device.There is no mains voltage monitoring.
Values 3 ... 4: If the mains voltage is notdetected properly during start-up, the mainsvoltage to be used can be selected man-ually.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-004
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3005:Fh Modbus 1310Profibus 1310CIP 105.1.15
LXM32M 7 Operation
AC servo drive 427
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7.9.5 Ground fault monitoring
NOTICEDESTRUCTION CAUSED BY GROUND FAULTS
If the monitoring function is deactivated, the product may bedestroyed by a ground fault.
• Use the monitoring functions.• Avoid ground faults by wiring the product properly.
Failure to follow these instructions can result in equipmentdamage.
When the power stage is enabled, the device monitors the motor pha-ses for ground faults.
A ground fault of one or more motor phases is detected. A groundfault of the DC bus or the braking resistor is not detected.
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_GroundFault
Ground fault monitoring
0 / Off: Ground fault monitoring off1 / On: Ground fault monitoring on
In exceptional cases, deactivation may benecessary, for example:- Long motor cablesDeactivate ground fault monitoring if itresponds in an unwanted way.
Changed settings become active the nexttime the product is switched on.
-011
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3005:10h Modbus 1312Profibus 1312CIP 105.1.16
7 Operation LXM32M
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8 Examples
8.1 General information
The examples show some typical applications of the product. Theexamples are intended to provide an overview; they are not exhaus-tive wiring plans.
Using the safety functions integrated in this product requires carefulplanning. See chapter "4.9 Safety function STO ("Safe Torque Off")",page 82 for additional information.
LXM32M 8 Examples
AC servo drive 429
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8.2 Example of operation with a module
See the manual for the modules for details on wiring.
+
-24VDC
~
CN11BR+BR-
CN2STO_A
24VSTO_B
0V
CN6
DICOM
DI0/CAP1
DQCOM
SHLD
W
UV
CN10
CN1
L3
L1L2
L3
L2
L1
DQ0
DQ1
DQ2
DI1/CAP2
DI2
DI3
DI4
DI5
CN3
18
A B
CN8
PBPBe
LXM32M
18
CN7
RS485
USB
2
CN4
18
1
8
6
Figure 132: Wiring example
(1) EMERGENCY STOP(2) Commissioning accessories
8 Examples LXM32M
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9 Diagnostics and troubleshooting
This chapter describes the various types of diagnostics and providestroubleshooting assistance.
9.1 Status request/status indication
Information on the product status is provided by:
• Integrated HMI• Commissioning software• Fieldbus• Status LEDs (see the manuals for the modules)
The error memory also contains a history of the last 10 detectederrors.
Meaning of a warning A warning alerts to a problem that was detected by a monitoring func-tion. A warning belongs to error class 0 and does not cause a transi-tion of the operating state.
Meaning of an error An error is a deviation from the required value or state. Errors are sub-divided into different error classes.
Error class The product triggers an error response if an error occurs. Dependingupon the severity of the error, the device responds in accordance withone of the following error classes:
Error class Response1 Movement is canceled with "Quick Stop".
2 Movement is canceled with "Quick Stop". The powerstage is disabled after standstill has been reached.
3 The power stage is immediately disabled without stop-ping the motor first.
4 The power stage is immediately disabled without stop-ping the motor first. The error can only be reset byswitching off the product.
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 431
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9.1.1 Error diagnostics via integrated HMI
The following illustration shows the status LEDs and the 7-segmentdisplay of the integrated HMI
Fault Edit Value Unit
Op
Mon
Conf
1
2
Figure 133: Status indication via the integrated HMI
Status LED "Fault" If the drive is in the operating state Fault, the "Fault" (1) status LEDlights.
Indication of a warning If there are warnings (error class 0), the two dots to the right of the 7-segment display (2) flash. Warnings are not directly displayed on the7-segment display in the form of an error number, bust must be explic-itly queried by the user.
See chapter "9.3.1 Reading and acknowledging warnings" for addi-tional information.
Indication of an error In the case of a detected error of error class 1, the error number andstop are alternately shown on the 7 segment display.
In the case of a detected error of error class 2 ... 4, the error numberand flt are alternately shown on the 7 segment display.
See chapter "9.3.2 Reading and acknowledging detected errors" forinformation on acknowledging detected errors via the integrated HMI.
The meanings of the error numbers can be found in chapter"9.4 Table of warnings and errors by range".
9 Diagnostics and troubleshooting LXM32M
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7-segment display The 7-segment display provides the user with information.
With the factory setting, the 7-segment display shows the operatingstates. The operating states are described in chapter"7.3 Operating states".
Message Description
INIT Operating state 1 Start
nrdy Operating state 2 Not Ready To Switch On
dis Operating state 3 Switch On Disabled
rdy Operating state 4 Ready To Switch On
son Operating state 5 Switched On
run and halt Operating state 6 Operation Enabled
stop Operating state 7 Quick Stop Active
flt Operating state 8 Fault Reaction Active and 9 Fault
The table below provides an overview of the messages that can addi-tionally be displayed on the integrated HMI.
Message Description
Card Data on the memory card differs from data in the product.See chapter "6.7.1 Data exchange with the memory card"for information on how to proceed.
disp An external HMI is connected. The integrated HMI has nofunction.
fsu Perform a First Setup. See chapter"6.5 Commissioning procedure".
mot A new motor was detected. See chapter"9.3.4 Acknowledging a motor change" for replacing amotor.
prot Parts of the integrated HMI were locked with the parameterHMIlocked.
slt1 ... slt3 The device has detected a different equipment with mod-ules. See chapter"9.3.3 Acknowledging a module replacement" for replacingmodules.
ulow Controller supply during initialization not high enough.
wdog Unknown system error. Contact technical Support.
8888 Undervoltage controller supply.
9.1.2 Diagnostics via the commissioning software
See the information provided with the commissioning software fordetails on how to display the device state via the commissioning soft-ware.
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9.1.3 Diagnostics via signal outputs
Information on the operating state is available via the the signal out-puts. The table below provides an overview.
Operating state "No fault" 1) "Active" 2)
1 Start 0 0
2 Not Ready To Switch On 0 0
3 Switch On Disabled 0 0
4 Ready To Switch On 1 0
5 Switched On 1 0
6 Operation Enabled 1 1
7 Quick Stop Active 0 0
8 Fault Reaction Active 0 0
9 Fault 0 01) The signal output function is factory setting for DQ02) The signal output function is the factory setting for DQ1
Indicating warnings and errors Selected warnings or errors can be output via the signal outputs.
In order to output a warning or an error via a signal outputs, you mustfirst parameterizes the signal output functions "Selected Warning" or"Selected Error", see chapter"7.6.2 Setting the digital signal inputs and signal outputs".
The parameters MON_IO_SelWar1, MON_IO_SelWar2,MON_IO_SelErr1 and MON_IO_SelErr2 are used to specify theerror or warning numbers; if these errors or warnings occur, a signaloutput is to be set.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_IO_SelWar1 First number for the signal output functionSelected Warning
Changed settings become active immedi-ately.
-0065535
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 303B:8h Modbus 15120Profibus 15120CIP 159.1.8
MON_IO_SelWar2 Second number for the signal output func-tion Selected Warning
Changed settings become active immedi-ately.
-0065535
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 303B:9h Modbus 15122Profibus 15122CIP 159.1.9
MON_IO_SelErr1 First number for the signal output functionSelected Error
Changed settings become active immedi-ately.
-0065535
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 303B:6h Modbus 15116Profibus 15116CIP 159.1.6
MON_IO_SelErr2 Second number for the signal output func-tion Selected Error
Changed settings become active immedi-ately.
-0065535
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 303B:7h Modbus 15118Profibus 15118CIP 159.1.7
9.1.4 Diagnostics via the fieldbus
For further information on the fieldbus, see the fieldbus manual.
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9.2 Error memory
General The error memory is an error history of the last 10 detected errors; it isnot cleared even if the product is switched off. The error memoryallows you to read and evaluate past events.
The following information on the events is stored:
• Error class• Error number• Motor current• Number of switch-on cycles• Additional error information (for example, parameter numbers)• Product temperature• Power stage temperature• Time the error was detected (with reference to operating hours
counter)• DC bus voltage• Velocity• Number of Enable cycles after switch-on• Time from Enable until detection of the error
The stored information relates to the situation at the point in time theerror was detected.
9.2.1 Reading the error memory via the fieldbus
The following parameters allow you to manage the error memory:
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ERR_clear Clear error memory
Value 1: Delete entries in the error memory
The clearing process is completed if a 0 isreturned after a read access.
Changed settings become active immedi-ately.
-0-1
UINT16UINT16UINT16UINT16 R/W--
CANopen 303B:4h Modbus 15112Profibus 15112CIP 159.1.4
ERR_reset Reset error memory read pointer
Value 1: Set error memory read pointer tooldest error entry.
Changed settings become active immedi-ately.
-0-1
UINT16UINT16UINT16UINT16 R/W--
CANopen 303B:5h Modbus 15114Profibus 15114CIP 159.1.5
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The error memory can only be read sequentially. The parameterERR_reset must be used to reset the read pointer. Then the firsterror entry can be read. The read pointer is automatically set to thenext entry. A new read access delivers the next error entry. If the errornumber 0 is returned, there is no additional error entry.
Position of the entry Meaning1 First error entry (oldest message).
2 Second error entry (later message).
... ...
10 Tenth error entry. In the case of ten error entries,the most recent message is contained here.
An error entry consists of several pieces of information which can beread using different parameters. When you read an error entry, theerror number must be read first with the parameter _ERR_number.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_ERR_class Error class
Value 0: Warning (no response)Value 1: Error class 1Value 2: Error class 2Value 3: Error class 3Value 4: Error class 4
-0-4
UINT16UINT16UINT16UINT16 R/---
CANopen 303C:2h Modbus 15364Profibus 15364CIP 160.1.2
_ERR_number Error number
Reading this parameter copies the entireerror entry (error class, time of occurrenceof error, ...) to an intermediate memory fromwhich the elements of the error can then beread.
In addition, the read pointer of the errormemory is automatically set to the next errorentry.
-0-65535
UINT16UINT16UINT16UINT16 R/---
CANopen 303C:1h Modbus 15362Profibus 15362CIP 160.1.1
_ERR_motor_I Motor current at error time
In increments of 0.01 Arms.
Arms ---
UINT16UINT16UINT16UINT16 R/---
CANopen 303C:9h Modbus 15378Profibus 15378CIP 160.1.9
_ERR_powerOnMon
PoWo
Number of power on cycles -0-4294967295
UINT32UINT32UINT32UINT32 R/---
CANopen 303B:2h Modbus 15108Profibus 15108CIP 159.1.2
_ERR_qual Error additional information
This entry contains additional information onthe error, depending on the error number. Example: a parameter address
-0-65535
UINT16UINT16UINT16UINT16 R/---
CANopen 303C:4h Modbus 15368Profibus 15368CIP 160.1.4
_ERR_temp_dev Temperature of device at error time °C---
INT16INT16INT16INT16 R/---
CANopen 303C:Bh Modbus 15382Profibus 15382CIP 160.1.11
_ERR_temp_ps Temperature of power stage at error time °C---
INT16INT16INT16INT16 R/---
CANopen 303C:Ah Modbus 15380Profibus 15380CIP 160.1.10
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_ERR_time Error time
With reference to operating hours counter
s0-536870911
UINT32UINT32UINT32UINT32 R/---
CANopen 303C:3h Modbus 15366Profibus 15366CIP 160.1.3
_ERR_DCbus DC bus voltage at error time
In increments of 0.1 V.
V---
UINT16UINT16UINT16UINT16 R/---
CANopen 303C:7h Modbus 15374Profibus 15374CIP 160.1.7
_ERR_motor_v Motor velocity at error time usr_v---
INT32INT32INT32INT32 R/---
CANopen 303C:8h Modbus 15376Profibus 15376CIP 160.1.8
_ERR_enable_cycl
Number of cycles of enabling the powerstage at error time
Number of cycles of enabling the powerstage from the time the power supply (con-trol voltage) was switched on to the time theerror occurred.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 303C:5h Modbus 15370Profibus 15370CIP 160.1.5
_ERR_enable_time
Time between enabling of power stage andoccurrence of the error
s---
UINT16UINT16UINT16UINT16 R/---
CANopen 303C:6h Modbus 15372Profibus 15372CIP 160.1.6
Error bits The parameters _WarnLatched and _SigLatched contain informa-tion on warnings and errors.
The error bits of the warnings can be read using the parameter_WarnLatched.
The error bits of the errors can be read using the parameter_SigLatched.
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_WarnLatchedMon
WrnS
Saved warnings, bit-coded
Saved warning bits are deleted in the caseof a Fault Reset.Bits 10, 13 are deleted automatically.
Signal state:0: Not activated1: Activated
Bit assignments:Bit 0: General warningBit 1: ReservedBit 2: Out of range (SW limit switches, tun-ing)Bit 3: ReservedBit 4: Active operating modeBit 5: Commissioning interface (RS485)Bit 6: Integrated fieldbusBit 7: ReservedBit 8: Following warning limit reachedBit 9: ReservedBit 10: Inputs STO_A and/or STO_B Bit 11: ReservedBit 12: ReservedBit 13: Low voltage DC bus or mains phasemissingBit 14: ReservedBit 15: ReservedBit 16: Integrated encoder interfaceBit 17: Temperature of motor highBit 18: Temperature of power stage highBit 19: ReservedBit 20: Memory cardBit 21: Optional fieldbus moduleBit 22: Optional encoder moduleBit 23: Optional safety module eSM or mod-ule IOM1Bit 24: ReservedBit 25: ReservedBit 26: ReservedBit 27: ReservedBit 28: ReservedBit 29: Braking resistor overload (I2t)Bit 30: Power stage overload (I2t)Bit 31: Motor overload (I2t)
Monitoring functions are product-dependent.
----
UINT32UINT32UINT32UINT32 R/---
CANopen 301C:Ch Modbus 7192Profibus 7192CIP 128.1.12
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_SigLatchedMon
SiGS
Saved status of monitoring signals
Signal state:0: Not activated1: Activated
Bit assignments:Bit 0: General errorBit 1: Hardware limit switches (LIMP/LIMN/REF)Bit 2: Out of range (software limit switches,tuning)Bit 3: Quick Stop via fieldbusBit 4: Error in active operating modeBit 5: Commissioning interface (RS485)Bit 6: Integrated fieldbusBit 7: ReservedBit 8: Following errorBit 9: ReservedBit 10: Inputs STO are 0Bit 11: Inputs STO differentBit 12: ReservedBit 13: DC bus voltage lowBit 14: DC bus voltage highBit 15: Mains phase missingBit 16: Integrated encoder interfaceBit 17: Overtemperature motorBit 18: Overtemperature power stageBit 19: ReservedBit 20: Memory cardBit 21: Optional fieldbus moduleBit 22: Optional encoder moduleBit 23: Optional safety module eSM or mod-ule IOM1Bit 24: ReservedBit 25: ReservedBit 26: Motor connectionBit 27: Motor overcurrent/short circuitBit 28: Frequency of reference signal toohighBit 29: EEPROM errorBit 30: System start-up (hardware or param-eter)Bit 31: System error (for example, watch-dog, internal hardware interface)
Monitoring functions are product-dependent.
----
UINT32UINT32UINT32UINT32 R/---
CANopen 301C:8h Modbus 7184Profibus 7184CIP 128.1.8
9.2.2 Reading the error memory via the commissioning software
See the information provided with the commissioning software fordetails on how to read the error memory using the commissioning soft-ware.
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9.3 Special menus at the integrated HMI
The following functions depend on the situation. They are only availa-ble in specific contexts.
9.3.1 Reading and acknowledging warnings
Procedure for reading and acknowledging warnings via the integratedHMI:
■ A warning is active. The two dots to the right of the 7-segment dis-play flash.
▶ Remedy the cause of the warning.▶ Press the navigation button and hold it down.◁ The 7-segment display shows the error number of the warning.▶ Release the navigation button.◁ The 7-segment display shows fres.▶ Press the navigation button to acknowledge the warning.◁ The 7-segment display returns to the initial state.
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
>1s
ESC
2
34
1
Figure 134: Acknowledging warnings via the integrated HMI
(1) HMI displays a warning(2) Number of detected error is displayed(3) Resetting the warning(4) Canceling, the warning remains in the memory
See chapter "9.4 Table of warnings and errors by range", page 446,for detailed information on the warnings.
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9.3.2 Reading and acknowledging detected errors
Procedure for reading and acknowledging detected errors via the inte-grated HMI:
■ The LED "Fault" is on. The 7-segment display alternately showsflt and an error number. An error of error classes 2 to 4 has beendetected.
▶ Remedy the cause of the detected error.▶ Press the navigation button.◁ The 7-segment display shows fres.▶ Press the navigation button to acknowledge the detected error.◁ The product switches to operating state 4 Ready To Switch On.
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
ESC
1
ESCESC
Figure 135: Acknowledging detected errors via the integrated HMI
(1) HMI displays a detected error with error number
The meanings of the error numbers can be determined using the tablein chapter "9.4 Table of warnings and errors by range", page 446.
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9.3.3 Acknowledging a module replacement
General Note the information in the manuals for the respective modules.
Slot 1 Refer to the manual for the safety module for information on replacinga module in slot 1.
Slot 2 and slot 3 The replacement of a module is confirmed via the integrated HMI.
■ The 7-segment display shows slt2 or slt3.▶ Press the navigation button.◁ The 7-segment display shows save.▶ Press the navigation button to acknowledge. The information on
the current module equipment is saved to the EEPROM.◁ The product switches to operating state 4 Ready To Switch On.
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
ESC
ESC
2
3
1
2
Figure 136: Acknowledging a module change via the integrated HMI
(1) HMI displays that a replacement of a module has beendetected.
(2) Canceling the saving process(3) Saving the new equipment with modules and switching to
operating state 4 Ready To Switch On.
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9.3.4 Acknowledging a motor change
Procedure for acknowledging a motor change via the integrated HMI:
■ The 7-segment display shows mot .▶ Press the navigation button.◁ The 7-segment display shows save.▶ Press the navigation button to save the new motor parameters to
the EEPROM.◁ The product switches to operating state 4 Ready To Switch On.
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
Fault Edit Value UnitOp
Mon
Conf
ESC
ESC
2
3
1
2
Figure 137: Acknowledging a motor change via the integrated HMI
(1) HMI displays that a replacement of a motor has been detec-ted.
(2) Canceling the saving process(3) Saving the new motor data and switching to operating state
4 Ready To Switch On.
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9.4 Table of warnings and errors by range
The table below summarizes the error numbers classified by range.
Error number RangeE 1xxx General
E 2xxx Overcurrent
E 3xxx Voltage
E 4xxx Temperature
E 5xxx Hardware
E 6xxx Software
E 7xxx Interface, wiring
E 8xxx Fieldbus
E Axxx Motor movement
E Bxxx Communication
Error number not listed If the error number is not listed in the table below, the firmware versionmay be newer than the version of the manual or there may be a sys-tem error.
▶ Verify that you use the correct manual (" About the book")▶ Verify that the wiring is EMC-compliant
("4.1 Electromagnetic compatibility (EMC)")▶ Contact technical support ("12.1 Service address")
List of error numbers The table below provides an overview of the error numbers.
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Errornumber
Errorclass
Description Cause Correctives
E 1100 - Parameter out of permissiblevalue range
The value entered was outsideof the permissible value rangefor this parameter.
The entered value must bewithin the permissible valuerange.
E 1101 - Parameter does not exist Error signaled by parametermanagement: Parameter(index) does not exist.
Select a different parameter(index).
E 1102 - Parameter does not exist Error signaled by parametermanagement: Parameter (sub-index) does not exist.
Select a different parameter(subindex).
E 1103 - Parameter write not permissible(READ only)
Write access to read onlyparameter.
Write only to parameters thatare not read-only.
E 1104 - Write access denied (no accessauthorization)
Parameter only accessible atexpert level.
The write access level expertis required.
E 1105 - Block Upload/Download not initial-ized
E 1106 - Command not permissible whilepower stage is active
Command not permissiblewhile the power stage is ena-bled (operating state Opera-tion Enabled or Quick StopActive).
Disable the power stage andrepeat the command.
E 1107 - Access via other interface blocked Access occupied by anotherchannel (for example: Com-missioning software is activeand fieldbus access was triedat the same time).
Check the channel that blocksthe access.
E 1108 - File cannot be uploaded:Unknown file ID
E 1109 1 Data stored after a power outageis invalid
E 110A - System error: No bootloader avail-able
E 110B 3 Configuration error (additionalinfo=Modbus register address)
Parameter _SigLatched Bit 30
Error detected during parame-ter check (for example, refer-ence velocity value for operat-ing mode Profile Position isgreater than maximum permis-sible velocity of drive).
Value in additional error infor-mation shows the Modbus reg-ister address of the parameterwhere the initialization errorwas detected.
E 110D 1 Basic configuration of driverequired after factory setting
The "First Setup" (FSU) wasnot run at all or not completed.
Perform a First Setup.
E 110E - Parameter changed that requiresa restart of the drive
Only displayed by the commis-sioning software.A parameter modificationrequires the drive to beswitched off and on.
Restart the drive to activatethe parameter functionality.See the chapter Parametersfor the parameter that requiresa restart of the drive.
E 110F - Function not available in this typeof device
The specific type of devicedoes not support this functionor this parameter value.
Check if you have the correctdevice type, in particular typeof motor, type of encoder,holding brake.
E 1110 - Unknown file ID for upload ordownload
The specific type of devicedoes not support this kind offile.
Verify that you have the cor-rect device type or the correctconfiguration file.
E 1111 - File transfer not correctly initial-ized
A previous file transfer hasbeen aborted.
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Errornumber
Errorclass
Description Cause Correctives
E 1112 - Locking of configuration denied An external tool has tried tolock the configuration of thedrive for upload or download.This may not work becauseanother tool had alreadylocked the configuration of thedrive or the drive is in an oper-ating state that does not allowlocking.
E 1113 - System not locked for configura-tion transfer
An external tool has tried totransfer the configuration with-out locking the drive.
E 1114 4 Configuration download aborted
Parameter _SigLatched Bit 5
During a configuration down-load, a communication error oran error in the external tooloccurred. The configurationwas only partially transferredto the drive and might beinconsistent now.
Switch the drive off/on andretry to download the configu-ration or restore the factorysettings.
E 1115 0 Incorrect configuration file format
Parameter _WarnLatched Bit 5
An external tool has downloa-ded a configuration which hasan invalid or unknown format.
E 1116 - Request is processed asynchro-nously
E 1117 - Asynchronous request blocked Request to a module isblocked because the moduleis currently processing anotherrequest.
E 1118 - Configuration data incompatiblewith device
The configuration data con-tains data from a differentdevice.
Check device type includingtype of power stage.
E 1119 - Incorrect data length, too manybytes
E 111A - Incorrect data length, insufficientnumber of bytes
E 111B 4 Configuration download error(additional info=Modbus registeraddress)
During a configuration down-load, one or more configura-tion values have not beenaccepted by the drive.
Check whether the configura-tion file is valid and matchesthe type and version of thedrive. The value in the addi-tional error info shows theModbus register address ofthe parameter where the initi-alization error was detected.
E 111C 1 Not possible to initialize recalcula-tion for scaling
A parameter could not be ini-tialized.
The address of the parameterthat caused the error can beread via the parameter_PAR_ScalingError.
E 111D 3 Original state of a parameter aftererror during recalculation ofparameters with user-definedunits cannot be restored.
The drive contained an invalidconfiguration before the recal-culation was started. An erroroccurred during the recalcula-tion.
Switch the drive off and onagain. This may help you toidentify the affected parame-ter(s). Change the parametersas required. Verify that theparameter configuration isvalid before starting the recal-culation procedure.
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Errornumber
Errorclass
Description Cause Correctives
E 111E 1 Not possible to recalculate datarecord
A data set of the operatingmode Motion Sequence couldnot be recalculated.
The address of the parameterand the number of the data setthat caused the error can beread via the parameter_PAR_ScalingError.
E 111F 1 Recalculation not possible. Invalid scaling factor. Check whether you really wantthe selected scaling factor. Trya different scaling factor.Before triggering scaling, resetthe parameters with user-defined units.
E 1120 1 Recalculation for scaling not pos-sible
A parameter could not berecalculated.
The address of the parameterthat caused the error can beread via the parameter_PAR_ScalingError.
E 1121 - Incorrect sequence of steps forscaling (fieldbus)
The recalculation has beenstarted prior to the initializa-tion.
The recalculation must bestarted after the initialization.
E 1122 - Recalculation for scaling not pos-sible
Recalculation for scaling isalready running.
Wait for the running recalcula-tion for scaling to finish.
E 1123 - Parameter cannot be changed Recalculation for scaling isrunning.
Wait for the running recalcula-tion for scaling to finish.
E 1124 1 Timeout during recalculation forscaling
The time between the initiali-zation of the recalculation andthe start of the recalculationhas been exceeded (30 sec-onds).
Recalculation must be startedwithin 30 seconds after initiali-zation.
E 1125 1 Scaling not possible The scaling factors for posi-tion, velocity or acceleration/deceleration are beyond inter-nal calculation limits.
Retry with different scaling fac-tors.
E 1126 - Configuration is blocked byanother access channel
Close other access channel(for example, other instance ofcommissioning software).
E 1127 - Invalid key received
E 1128 - Special login is required for Manu-facturing Test Firmware
E 1129 - Test step not yet started
E 112D - Current configuration of edges isnot supported
The selected capture inputdoes not support rising andfalling edge at the same time.
Set the edge to either "rising"or "falling".
E 112F - Time filter settings cannot bechanged
Position capture is alreadyactive with a time filter. The fil-ter settings cannot bechanged.
Deactivate position capture.
E 1300 3 Safety function STO activated(STO_A, STO_B)
Parameter _SigLatched Bit 10
The safety function STO wasactivated in the operating stateOperation Enabled.
Check the wiring of the inputsof the safety function STO andreset the error.
E 1301 4 STO_A and STO_B different level
Parameter _SigLatched Bit 11
The levels of the inputsSTO_A and STO_B were dif-ferent for more than 1 second.
The drive has to be switchedoff and the reason fixed (forexample, check whetherEMERGENCY STOP is active)before it is switched on.
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Errornumber
Errorclass
Description Cause Correctives
E 1302 0 Safety function STO activated(STO_A, STO_B)
Parameter _WarnLatched Bit 10
Safety function STO was acti-vated while the power stagewas disabled.
The warning is automaticallyreset once the safety functionSTO is deactivated.
E 1310 2 Frequency of the external refer-ence value signal too high
Parameter _SigLatched Bit 28
The frequency of the externalreference value signals (A/Bsignals, P/D signals orCW/CCW signals) is higherthan the permissible value.
Check the frequency of theexternal reference values.Check the gear ratio in theoperating mode ElectronicGear.
E 1311 - The selected signal input functionor signal output function cannotbe configured
The selected signal input func-tion or signal output functioncannot be used in the selectedoperating mode.
Select another function orchange the operating mode.
E 1312 - Limit switch or reference switchsignal not defined for signal inputfunction
Reference movements requirelimit switches. These limitswitches are not assigned toinputs.
Assign the signal input func-tions Positive Limit Switch,Negative Limit Switch and Ref-erence Switch.
E 1313 - Configured debounce time notpossible for this signal input func-tion
The signal input function doesnot support the selecteddebounce time.
Set the debounce time to avalid value.
E 1314 4 At least two inputs have the samesignal input function.
At least two inputs are config-ured with the same signalinput function.
Reconfigure the inputs.
E 1315 0 Frequency of reference value sig-nal is too high (warning).
Parameter _WarnLatched Bit 28
The frequency of the pulsesignal (A/B, Pulse/Direction,CW/CCW) exceeds the speci-fied working range. Receivedpulses may be lost.
Adapt the output pulse fre-quency of the controller to fitthe input specification of thedrive. Also adapt the gear ratioin the operating mode Elec-tronic Gear to the applicationrequirements (position accu-racy and velocity).
E 1316 1 Position capture via signal inputcurrently not possible
Parameter _SigLatched Bit 28
Position capture is alreadybeing used.
E 1317 0 Interference at PTI input
Parameter _WarnLatched Bit 28
Interfering pulses or impermis-sible edge transitions (A and Bsignal simultaneously) havebeen detected.
Check cable specifications,shield connection and EMC.
E 1318 - The selected type of usage of theanalog inputs is not possible.
At least two analog inputs areconfigured with the same typeof usage.
Reconfigure the analog inputs.
E 1501 4 System error: DriveCom statemachine unknown state
E 1502 4 System error: HWL low-level statemachine unknown state
E 1503 1 Quick Stop triggered via fieldbus A Quick Stop has been trig-gered via the fieldbus. TheQuick Stop option code hasbeen set to -1 or -2 which cau-ses the drive to transition tothe operating state 9 Faultinstead of the operating state7 Quick Stop Active.
E 1600 - Oscilloscope: No additional dataavailable
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Errornumber
Errorclass
Description Cause Correctives
E 1601 - Oscilloscope: Parameterizationincomplete
E 1602 - Oscilloscope: Trigger variable notdefined
E 1606 - Logging still active
E 1607 - Logging: No trigger defined
E 1608 - Logging: Invalid trigger option
E 1609 - Logging: No channel selected
E 160A - Logging: No data available
E 160B - Parameter cannot be logged
E 160C 1 Autotuning: Moment of inertia out-side permissible range
The load inertia is too high. Verify that the system caneasily be moved.Check the load.Use a differently rated drive.
E 160E 1 Autotuning: Test movement couldnot be started
E 160F 1 Autotuning: Power stage cannotbe enabled
Autotuning was not started inthe operating state Ready ToSwitch On.
Start Autotuning when thedrive is in the operating stateReady To Switch On.
E 1610 1 Autotuning: Processing stopped Autotuning process stoppedby user command or by driveerror (see additional errormessage in error memory, forexample, DC bus undervolt-age, limit switches triggered)
Fix the cause of the stop andrestart Autotuning.
E 1611 1 System error: Autotuning internalwrite access
HALT is active and an Auto-tuning parameter is written.Occurs when Autotuning isstarted.
E 1612 1 System error: Autotuning internalread access
E 1613 1 Autotuning: Maximum permissiblemovement range exceeded
Parameter _SigLatched Bit 2
The motor exceeded theadjusted movement range dur-ing Autotuning.
Increase the movement rangevalue or disable range moni-toring by setting AT_DIS = 0.
E 1614 - Autotuning: Already active Autotuning has been startedtwice simultaneously or anAutotuning parameter is modi-fied during Autotuning (param-eter AT_dis and AT_dir).
Wait for Autotuning to finishbefore restarting Autotuning.
E 1615 - Autotuning: This parameter can-not be changed while Autotuningis active
Parameter AT_gain or AT_Jare written during Autotuning.
Wait for Autotuning to finishbefore changing the parame-ter.
E 1617 1 Autotuning: Friction torque or loadtorque too great
The current limit has beenreached (parameterCTRL_I_max).
Verify that the system caneasily be moved.Check the load.Use a differently rated drive.
E 1618 1 Autotuning: Optimization aborted The internal Autotuningsequence has not been fin-ished (following error?).
Note the additional informationprovided in the error memory.
E 1619 - Autotuning: The velocity jumpheight in parameter AT_n_ref istoo small
Parameter AT_n_ref < 2 *AT_n_tolerance.Checked only once at the firstvelocity jump.
Modify the parameterAT_n_ref or AT_n_toleranceto meet the desired condition.
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 451
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 1620 1 Autotuning: Load torque too high Product rating is not suitablefor the machine load.Detected machine inertia istoo high compared to the iner-tia of the motor.
Reduce load, check rating.
E 1621 1 System error: Calculation error
E 1622 - Autotuning: Not possible to per-form Autotuning
Autotuning can only be per-formed if no operating mode isactive.
Terminate the active operatingmode or disable the powerstage.
E 1623 1 Autotuning: HALT request hasstopped the autotuning process
Autotuning can only be per-formed if no operating mode isactive.
Terminate the active operatingmode or disable the powerstage.
E 1A00 - System error: FIFO memory over-flow
E 1A01 3 Motor has been changed (differ-ent type of motor)
Parameter _SigLatched Bit 16
Detected motor type is differ-ent from previously detectedmotor.
Confirm the change.
E 1A03 4 System error: Hardware and firm-ware do not match
E 1B00 3 System error: Incorrect parame-ters for motor and power stage
Parameter _SigLatched Bit 30
Incorrect manufacturer param-eter value (data) non-volatilememory of device.
Replace device.
E 1B02 3 Target value too high.
Parameter _SigLatched Bit 30
E 1B04 2 Product of encoder simulation res-olution and the maximum velocityis too high
Parameter _SigLatched Bit 30
Value in parameterCTRL_v_max or resolution orthe encoder simulationESIM_scale are too high.
Reduce the resolution of theencoder simulation or themaximum velocity in parame-ter CTRL_v_max.
E 1B05 2 Error during parameter switching
Parameter _SigLatched Bit 30
E 1B06 3 Wake & shake cannot be started.
Parameter _SigLatched Bit 30
Motor velocity is too high atthe beginning of the wake andshake procedure.
Verify that the motor is at astandstill at the beginningwake and shake procedure.
E 1B07 0 Motor velocity is too high at theend of the wake and shakesequence.
Motor was not at a standstill atthe end of the wake and shakesequence. Depending on themechanical system, the com-mutation offset calculated dur-ing wake and shake might beincorrect.
Check the mechanical system.
E 1B08 3 Position difference during thewake and shake procedure is toohigh.
Incorrect motor data enteredby user (especially motorresistance, motor inertia (incase of rotary motors) ormotor mass (in case of linearmotors)).Incorrect setting for parameterWakeAndShakeGain.
Check motor data.Check setting of parameterWakeAndShakeGain.
E 1B09 0 The reference current during thewake and shake procedure isreduced as a result of I2t monitor-ing.
The current used during wakeand shake is too high.
9 Diagnostics and troubleshooting LXM32M
452 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 1B0A 0 Reference current during wakeand shake might be too high forthe power stage used.
The wake and shake proce-dure is performed with thenominal motor current. If thenominal motor current isgreater than the nominalpower stage current, powerstage I2t monitoring mightreduce the current used duringwake and shake.
E 1B0B 1 The power stage must be in oper-ating state Ready To Switch On atthe beginning of the commutationoffset identification.
Set the operating state of thepower stage to Ready ToSwitch On and restart commu-tation offset identification.
E 1B0C 3 Actual motor velocity too high.
E 1B0D 3 Velocity value determined byvelocity observer is incorrect
Incorrect system inertia forvelocity observer calculations.Incorrect velocity observerdynamics.System inertia changes duringoperation. In this case, opera-tion with velocity observer isnot possible and the velocityobserver has to be switchedoff.
Change the velocity observerdynamics via the parameterCTRL_SpdObsDyn.Change the system inertiaused for velocity observer cal-culations via the parameterCTRL_SpdObsInert.If error persists, deactivatevelocity observer.
E 1B0E 3 Not possible to determine thecommutation angle at the end ofthe wake and shake procedure
Incorrect motor data enteredby user (especially motorresistance, motor inertia (incase of rotary motors) ormotor mass (in case of linearmotors)).Incorrect setting for parameterWakeAndShakeGain.Motor brake (if available) notproperly wired.
Check motor data.Check setting of parameterWakesAndShakeGain.Check wiring of motor brake.
E 2300 3 Power stage overcurrent
Parameter _SigLatched Bit 27
Motor short circuit and disa-bling of the power stage.Motor phases are inverted.
Check the motor power con-nection.
E 2301 3 Braking resistor overcurrent
Parameter _SigLatched Bit 27
Braking resistor short circuit. If you use the internal brakingresistor, please contact Tech-nical Support.If you use an external brakingresistor, check the wiring andthe rating of the braking resis-tor.
E 3100 par. Missing mains supply, undervolt-age mains supply or overvoltagemains supply
Parameter _SigLatched Bit 15
Missing phase(s) for morethan 50 ms.Mains voltage is out of range.Mains frequency is out ofrange.
Verify that the values of themains power supply networkcomply with the technical data.
E 3200 3 DC bus overvoltage
Parameter _SigLatched Bit 14
Excessive regeneration duringbraking.
Check deceleration ramp,check rating of drive and brak-ing resistor.
E 3201 3 DC bus undervoltage (shutdownthreshold)
Parameter _SigLatched Bit 13
Power supply loss, poor powersupply.
Check mains supply.
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 453
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 3202 2 DC bus undervoltage (Quick Stopthreshold)
Parameter _SigLatched Bit 13
Power supply loss, poor powersupply.
Check mains supply.
E 3206 0 Undervoltage DC bus, missingmains supply, undervoltage mainssupply or overvoltage mains sup-ply
Parameter _WarnLatched Bit 13
Missing phase(s) for morethan 50 ms.Mains voltage is out of range.Mains frequency is out ofrange.Mains voltage and parametersetting of MON_MainsVolt donot match (for example, mainsvoltage is 230 V andMON_MainsVolt is set to 115V).
Verify that the values of themains power supply networkcomply with the technical data.Check the settings of theparameter for reduced mainsvoltage.
E 3300 0 Maximum motor voltage is too lowfor the power stage used
The maximum motor voltageM_U_max is too low. Thepower stage supply voltageand the maximum motor volt-age do not match.
Use a motor with a highermaximum voltage M_U_max.If this warning is ignored, themotor may be damaged.
E 4100 3 Power stage overtemperature
Parameter _SigLatched Bit 18
Transistors overtemperature:Ambient temperature is toohigh, fan is inoperative, dust.
Check the fan, improve theheat dissipation in the cabinet.
E 4101 0 Warning power stage overtemper-ature
Parameter _WarnLatched Bit 18
Transistors overtemperature:Ambient temperature is toohigh, fan is inoperative, dust.
Check the fan, improve theheat dissipation in the cabinet.
E 4102 0 Power stage overload (I2t)
Parameter _WarnLatched Bit 30
The current has exceeded thenominal value for an extendedperiod of time.
Check rating, reduce cycletime.
E 4200 3 Device overtemperature
Parameter _SigLatched Bit 18
Board overtemperature: Ambi-ent temperature is too high.
Check fan, improve the heatdissipation in the cabinet.
E 4300 2 Motor overtemperature
Parameter _SigLatched Bit 17
Ambient temperature is toohigh.Duty cycle is too high.Motor not properly mounted(thermal isolation).Motor overload (power lossestoo high).
Check motor installation: Theheat must be dissipated viathe mounting surface. Reduceambient temperature. Provideventilation.
E 4301 0 Warning motor overtemperature
Parameter _WarnLatched Bit 17
Resistance of thermal sensoris too high; overload, ambienttemp (see I2t).
Check motor installation: Theheat must be dissipated viathe mounting surface.
E 4302 0 Motor overload (I2t)
Parameter _WarnLatched Bit 31
The current has exceeded thenominal value for an extendedperiod of time.
Verify that the system caneasily be moved.Check the load.Use a differently sized motor,if necessary.
E 4303 0 No motor temperature monitoring The temperature parameters(in electronic nameplate ofmotor, non-volatile memory ofencoder) are unavailable orinvalid; parameter A12 isequal to 0.
Contact Technical Support.Replace motor.
E 4304 0 The encoder type does not sup-port motor temperature monitor-ing.
9 Diagnostics and troubleshooting LXM32M
454 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 4402 0 Warning: Braking resistor over-load (I2t > 75%)
Parameter _WarnLatched Bit 29
The braking resistor has beenswitched on for such a longperiod of time that 75% of itsoverload capability have beenexceeded.
The regeneration energy is toohigh. Possible causes: Theexternal loads are too high,the motor velocity is too high,the deceleration is too fast.
E 4403 par. Braking resistor overload (I2t >100%)
The braking resistor isswitched on for an excessivelylong period of time.
The regeneration energy is toohigh. Possible causes: Theexternal loads are too high,the motor velocity is too high,the deceleration is too fast.
E 5101 0 Modbus power supply missing
E 5102 4 Motor encoder supply voltage
Parameter _SigLatched Bit 16
Encoder power supply is notwithin permissible range of 8Vto 12V; there may be a hard-ware problem.
Replace the device.Contact Technical Support.
E 5200 4 Error at connection to motorencoder
Parameter _SigLatched Bit 16
Incorrect encoder cable orcable not connected, EMC.
Check the cable connectionand the shield.
E 5201 4 Errors in motor encoder communi-cation
Parameter _SigLatched Bit 16
Encoder error message: Com-munication error detected bythe encoder itself.
Check the cable connectionand the shield.
E 5202 4 Motor encoder is not supported
Parameter _SigLatched Bit 16
Incompatible encoder type isconnected.
Use genuine accessories.
E 5203 4 Connection error motor encoder
Parameter _SigLatched Bit 16
E 5204 3 Connection to motor encoder lost
Parameter _SigLatched Bit 16
Encoder cable problems (com-munication has been interrup-ted).
Check the cable connection.
E 5206 0 Communication error in encoder
Parameter _WarnLatched Bit 16
Communication disturbed,EMC.
Check cable specifications,shield connection and EMC.
E 5207 1 Function is not supported The current hardware revisiondoes not support the function.
E 5302 4 The motor requires a PWM fre-quency (16kHz) which the powerstage does not support.
The connected motor onlyworks with a PWM frequencyof 16 kHz (motor nameplateentry). However, the powerstage does not support thisPWM frequency.
Use a motor that works with aPWM frequency of 8 kHz.
E 5430 4 System error: EEPROM readerror
Parameter _SigLatched Bit 29
E 5431 3 System error: EEPROM writeerror
Parameter _SigLatched Bit 29
E 5432 3 System error: EEPROM statemachine
Parameter _SigLatched Bit 29
E 5433 3 System error: EEPROM addresserror
Parameter _SigLatched Bit 29
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 455
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 5434 3 System error: EEPROM incorrectdata length
Parameter _SigLatched Bit 29
E 5435 4 System error: EEPROM not for-matted
Parameter _SigLatched Bit 29
E 5436 4 System error: EEPROM incom-patible structure
Parameter _SigLatched Bit 29
E 5437 4 System error: EEPROM check-sum error (manufacturer data)
Parameter _SigLatched Bit 29
E 5438 3 System error: EEPROM check-sum error (user parameters)
Parameter _SigLatched Bit 29
E 5439 3 System error: EEPROM check-sum error (fieldbus parameters)
Parameter _SigLatched Bit 29
E 543B 4 System error: No valid manufac-turer data
Parameter _SigLatched Bit 29
E 543E 3 System error: EEPROM check-sum error (NoInit parameter)
Parameter _SigLatched Bit 29
E 543F 3 System error: EEPROM check-sum error (motor parameters)
Parameter _SigLatched Bit 29
E 5441 4 System error: EEPROM check-sum error (global controllerparameter set)
Parameter _SigLatched Bit 29
E 5442 4 System error: EEPROM check-sum error (controller parameterset 1)
Parameter _SigLatched Bit 29
E 5443 4 System error: EEPROM check-sum error (controller parameterset 2)
Parameter _SigLatched Bit 29
E 5444 4 System error: EEPROM check-sum error (NoReset parameter)
Parameter _SigLatched Bit 29
E 5445 4 System error: EEPROM check-sum error (hardware information)
Parameter _SigLatched Bit 29
E 5446 4 System error: EEPROM check-sum error (for power outage data)
Parameter _SigLatched Bit 29
Problem with internalEEPROM detected.
Restart the drive. If the errorpersists, contact TechnicalSupport.
9 Diagnostics and troubleshooting LXM32M
456 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 5447 3 System error: EEPROM check-sum error (data sets operatingmode Motion Sequence)
Parameter _SigLatched Bit 29
E 5448 2 System error: Communicationerror to memory card
Parameter _SigLatched Bit 20
E 5449 2 System error: Memory card bus isbusy
Parameter _SigLatched Bit 20
E 544A 4 System error: EEPROM check-sum error (administration data)
Parameter _SigLatched Bit 29
E 544B 4 System error: EEPROM check-sum error (DeviceNet data)
Parameter _SigLatched Bit 29
E 544C 4 System error: EEPROM is write-protected
Parameter _SigLatched Bit 29
E 544D 2 System error: Memory card error
Parameter _SigLatched Bit 20
An error may have occurredduring the last saving proce-dure or the memory card maybe inoperative.
Retry saving the data.Replace the memory card.
E 544E 2 System error: Memory card error
Parameter _SigLatched Bit 20
An error may have occurredduring the last saving proce-dure or the memory card maybe inoperative.
Retry saving the data.Replace the memory card.
E 544F 2 System error: Memory card error
Parameter _SigLatched Bit 20
An error may have occurredduring the last saving proce-dure or the memory card maybe inoperative.
Retry saving the data.Replace the memory card.
E 5451 0 System error: No memory cardavailable
Parameter _WarnLatched Bit 20
E 5452 2 System error: Data on memorycard and device do not match
Parameter _SigLatched Bit 20
Different type of device.Different type of power stage.Data on memory card doesnot match firmware version ofdevice.
E 5453 2 System error: Incompatible dataon the memory card
Parameter _SigLatched Bit 20
E 5454 2 System error: Capacity of detec-ted memory card to small
Parameter _SigLatched Bit 20
E 5455 2 System error: Memory card notformatted
Parameter _SigLatched Bit 20
Update memory card via HMIcommand "dtoc" (drive-to-card).
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 457
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 5456 1 System error: Memory card iswrite-protected
Parameter _SigLatched Bit 20
The memory card has beenwrite-protected.
Remove memory card or disa-ble write protection via HMI.
E 5457 2 System error: Incompatible mem-ory card
Parameter _SigLatched Bit 20
Memory card capacity is insuf-ficient.
Replace memory card
E 5462 0 Memory card implicitly written bythe device
Parameter _WarnLatched Bit 20
The content of the memorycard and the content of theEEPROM are not equal.
E 5500 3 System error: Timeout duringtransmission of data
E 5501 4 System error: Received toggle bitdoes not match
SW watchdog safety moduleeSM (CPU_A)
E 5502 2 System error: Timeout duringread/write request
E 5503 2 System error: Invalid response inthe case of a read/write request
E 5504 4 System error: Safety module notavailable
E 5505 4 System error: Unknown type ofsafety module
E 5506 1 Error during write access to safetymodule via fieldbus (additionalinfo = detailed error number)
E 5600 3 Motor connection phase error
Parameter _SigLatched Bit 26
Missing motor phase. Check connection of motorphases.
E 5603 3 Commutation error
Parameter _SigLatched Bit 26
Wiring error of motor cable.Encoder signals are lost orsubject to interference.The load torque is greater thanthe motor torque.The encoder EEPROM con-tains incorrect data (encoderphase offset is incorrect).Motor is not adjusted.
Check motor phases, checkencoder wiring.Check and improve EMC sit-uation, check grounding andshield connection.Resize the motor so it canwithstand the load torque.Check the motor data.Contact Technical Support.
E 6102 4 System error: Internal softwareerror
Parameter _SigLatched Bit 30
E 6103 4 System error: System stack over-flow
Parameter _SigLatched Bit 31
E 6104 - System error: Division by zero(internal)
E 6105 - System error: Overflow during 32bit calculation (internal)
E 6106 4 System error: Size of data inter-face does not match
Parameter _SigLatched Bit 30
E 6107 - Parameter outside of value range(calculation error)
9 Diagnostics and troubleshooting LXM32M
458 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 6108 - Function not available
E 6109 - System error: Internal rangeexceeded
E 610A 2 System error: Calculated valuecannot be represented as 32 bitvalue
E 610D - Error in selection parameter Wrong parameter value selec-ted.
Check the value to be written.
E 610E 4 System error: 24 VDC belowundervoltage threshold for shut-down
E 610F 4 System error: Internal timer basiserror (Timer0)
Parameter _SigLatched Bit 30
E 6111 2 System error: Memory arealocked
Parameter _SigLatched Bit 30
E 6112 2 System error: Out of memory
Parameter _SigLatched Bit 30
E 6113 1 System error: Calculated valuecannot be represented as a 16 bitvalue
E 6114 4 System error: Impermissible func-tion call from interrupt service rou-tine
Programming error
E 6115 4 System error: IGBT thermal con-nection test has been started
Manufacturing Test Firmware
E 7100 4 System error: Invalid power stagedata
Parameter _SigLatched Bit 30
Power stage data stored indevice is corrupt (wrong CRC),error in internal memory data.
Contact Technical Support orreplace the device.
E 7110 2 System error: Error internal brak-ing resistor
Internal braking resistor isinoperative or not connected.
Contact Technical Support.
E 7111 - Parameter cannot be changedbecause the external brakingresistor is active.
An attempt is made to changeone of the parametersRESext_ton, RESext_P orRESext_R even though theexternal braking resistor isactive.
Verify that the external brakingresistor is not active if one ofthe parameters RESext_ton,RESext_P or RESext_R hasto be changed.
E 7112 2 No external braking resistor con-nected
External braking resistor acti-vated (Parameter RESint_ext),but no external resistor isdetected.
Check wiring of the externalbraking resistor. Verify correctresistance.
E 7120 4 Invalid motor data
Parameter _SigLatched Bit 16
Motor data is corrupt (wrongCRC).
Contact Technical Support orreplace the motor.
E 7121 2 System error: Errors in motorencoder communication
Parameter _SigLatched Bit 16
EMC, detailed information isincluded in the error memorythat contains the error code ofthe encoder.
Contact Technical Support.
E 7122 4 Invalid motor data
Parameter _SigLatched Bit 30
Motor data stored in motorencoder is corrupt, error ininternal memory data.
Contact Technical Support orreplace the motor.
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 459
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 7124 4 System error: Motor encoder inop-erative
Parameter _SigLatched Bit 16
Encoder signals internal error. Contact Technical Support orreplace the motor.
E 7125 4 System error: Length specificationfor user data too great
Parameter _SigLatched Bit 16
E 7129 0 System error: Error in motorencoder
Parameter _WarnLatched Bit 16
E 712C 0 System error: Communicationwith encoder not possible
Parameter _WarnLatched Bit 16
E 712D 4 Electronic motor nameplate notfound
Parameter _SigLatched Bit 16
Motor data is corrupt (wrongCRC).Motor without electronic motornameplate (for example, SERmotor)
Contact Technical Support orreplace the motor.
E 712F 0 No data segment of the electronicmotor nameplate
E 7132 0 System error: Motor configurationcannot be written
E 7133 0 Not possible to write motor config-uration
E 7134 4 Incomplete motor configuration
Parameter _SigLatched Bit 16
E 7135 4 Format is not supported
Parameter _SigLatched Bit 16
E 7136 4 Incorrect encoder type selectedwith parameter MotEnctype
Parameter _SigLatched Bit 16
E 7137 4 Error during the internal conver-sion of the motor configuration
Parameter _SigLatched Bit 16
E 7138 4 Parameter of the motor configura-tion out of permissible range
Parameter _SigLatched Bit 16
E 7139 0 Encoder offset: Data segment inencoder is corrupt.
E 713A 3 Adjustment value of the encoderof the third party motor has not yetbeen determined.
Parameter _SigLatched Bit 16
E 7200 4 System error: Calibration analog/digital converter during manufac-turing / incorrect BLE file
Parameter _SigLatched Bit 30
9 Diagnostics and troubleshooting LXM32M
460 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 7320 4 System error: Invalid encoderparameter
Parameter _SigLatched Bit 16
Communication channel(Hiperface) to encoder is sub-ject to interference, motorencoder has not been factory-parameterized.
Contact Technical Support.
E 7321 3 Timeout reading the absoluteposition from the encoder
Parameter _SigLatched Bit 16
Communication channel(Hiperface) to encoder is sub-ject to interference or motorencoder is inoperative.
Check wiring and shield con-nection of encoder cable orreplace motor.
E 7327 0 Error bit set in Hiperface answer
Parameter _WarnLatched Bit 16
EMC problems. Check wiring (shield).
E 7328 4 Motor encoder: Position evalua-tion error
Parameter _SigLatched Bit 16
Position evaluation problemdetected by encoder.
Contact Technical Support orreplace the motor.
E 7329 0 Motor encoder: Warning
Parameter _WarnLatched Bit 16
EMC, encoder signals internalwarning.
Contact Technical Support orreplace the motor.
E 7330 4 System error: Motor encoder(Hiperface)
Parameter _SigLatched Bit 16
Check wiring and shield con-nection of encoder cable.Contact Technical Support.
E 7331 4 System error: Motor encoder initi-alization
Parameter _SigLatched Bit 30
Check wiring and shield con-nection of encoder cable.Contact Technical Support.
E 7335 0 Communication with motorencoder active
Parameter _WarnLatched Bit 16
Command is being processedor communication may be dis-turbed by EMC problems.
Check shield connection ofencoder cable.Contact Technical Support.
E 733F 3 Amplitude of encoder analog sig-nals too low
Parameter _SigLatched Bit 16
Incorrect encoder wiring.Encoder not connected.Encoder signals subject toEMC interference (shield con-nection, cabling, etc.).
E 7340 3 Reading of absolute positionaborted, number of unsuccessfulconsecutive attempts too great
Parameter _SigLatched Bit 16
Communication channel(Hiperface) to encoder is sub-ject to interference.Encoder (in motor) is inopera-tive.
Check wiring and shield con-nection of encoder cable,replace motor.
E 7341 0 Encoder temperature warninglevel reached
Parameter _WarnLatched Bit 16
The maximum permissibleduty cycle is exceeded.The motor was not mountedproperly, for example, it isthermally isolated.The motor is blocked or dam-aged so that more current isused than under normal condi-tions.The ambient temperature istoo high.
Reduce the duty cycle, forexample, reduce acceleration.Supply additional cooling, forexample, use a fan.Mount the motor in such a wayas to increase thermal conduc-tivity.Use a differently rated drive ormotor.Replace the motor if it is dam-aged.
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 461
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 7342 2 Encoder temperature limitreached
Parameter _SigLatched Bit 16
The maximum permissibleduty cycle is exceeded.The motor was not mountedproperly, for example, it isthermally isolated.The motor is blocked or dam-aged so that more current isused than under normal condi-tions.The ambient temperature istoo high.
Reduce the duty cycle, forexample, reduce acceleration.Supply additional cooling, forexample, use a fan.Mount the motor in such a wayas to increase thermal conduc-tivity.Use a differently rated drive ormotor.Replace the motor if it is dam-aged.
E 7343 0 Warning: Absolute position is dif-ferent from incremental position
Parameter _WarnLatched Bit 16
- Encoder is subject to EMCinterference.- Motor encoder is inoperative.
Check wiring and shield con-nection of encoder cable,replace motor.
E 7344 3 Absolute position is different fromincremental position
Parameter _SigLatched Bit 16
- Encoder is subject to EMCinterference.- Motor encoder is inoperative.
Check wiring and shield con-nection of encoder cable,replace motor.
E 7345 0 Amplitude of analog signals toohigh, limit of AD conversionexceeded
Encoder signals subject toEMC interference (shield con-nection, cabling, etc.).Encoder inoperative.
Check cabling and shield con-nection.Replace encoder.
E 7346 4 System error: Encoder not ready
Parameter _SigLatched Bit 16
Check wiring and shield con-nection of encoder cable.Contact Technical Support.
E 7347 0 System error: Position initializa-tion not possible
Analog and digital encodersignals subject to massiveinterference.
Reduce encoder signal inter-ference, check shield connec-tion, etc.Contact Technical Support.
E 7348 3 Timeout reading encoder temper-ature
Parameter _SigLatched Bit 16
Encoder without temperaturesensor
Check wiring and shield con-nection of encoder cable.Contact Technical Support.
E 7349 0 Discrepancy between absoluteand analog encoder phases
Analog encoder signals aresubject to interference.Encoder inoperative.
Check wiring and shield con-nection of encoder cable.Replace motor.Contact Technical Support.
E 734A 3 Amplitude of analog signals fromencoder too high, signals are clip-ped
Parameter _SigLatched Bit 16
Incorrect encoder wiring.Encoder hardware interfaceinoperative.
E 734B 0 Signal position evaluation of ana-log encoder inoperative
Parameter _WarnLatched Bit 16
Incorrect encoder wiring.Encoder hardware interfaceinoperative.
E 734C 3 Error with quasi absolute position
Parameter _SigLatched Bit 16
The motor shaft may havebeen moved while the drivewas shut down. A quasi abso-lute position has been detec-ted that is not within the per-missible motor shaft deviationrange.
If the quasi absolute functionis active, only shut down thedrive if the motor is at a stand-still and do not move the motorshaft when the drive is off.
E 734D 0 Index pulse is not available for theencoder
Parameter _WarnLatched Bit 16
9 Diagnostics and troubleshooting LXM32M
462 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 7500 0 RS485/Modbus: Overrun error
Parameter _WarnLatched Bit 5
EMC; cabling problem. Check cables.
E 7501 0 RS485/Modbus: Framing error
Parameter _WarnLatched Bit 5
EMC; cabling problem. Check cables.
E 7502 0 RS485/Modbus: Parity error
Parameter _WarnLatched Bit 5
EMC; cabling problem. Check cables.
E 7503 0 RS485/Modbus: Receive error
Parameter _WarnLatched Bit 5
EMC; cabling problem. Check cables.
E 7601 4 System error: Unknown type ofencoder
Parameter _SigLatched Bit 22
E 7602 4 Configuration error: Encoder mod-ule and selected machineencoder type do not match
Parameter _SigLatched Bit 22
E 7603 4 Configuration error: Encoder mod-ule and selected motor encodertype do not match
Parameter _SigLatched Bit 22
E 7604 4 Configuration error: Encoder mod-ule parameterized, but no moduledetected
Parameter _SigLatched Bit 22
E 7605 4 Configuration error: No motorencoder type selected for encodermodule
Parameter _SigLatched Bit 22
E 7606 4 Configuration error: No machineencoder type selected for encodermodule
Parameter _SigLatched Bit 22
E 7607 4 Encoder module cannot be identi-fied
Parameter _SigLatched Bit 22
The encoder module isunknown.
Exchange encoder module.
E 7608 4 Encoder module power supplyovercurrent
Parameter _SigLatched Bit 22
- Short circuit at connector orencoder cable.- Incorrect or inoperativeencoder.
E 7609 4 Encoder not connected toencoder module
Parameter _SigLatched Bit 22
Connector not connected tomodule or connected to motor/encoder. Incorrect or damaged encodercable.
E 760A 3 Encoder module in slot 2 missing.
Parameter _SigLatched Bit 22
Module has been removed ormodule is inoperative.
E 760C 2 Encoder signals that maximumfrequency is exceeded
Parameter _SigLatched Bit 22
Velocity too high for theencoder.
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 463
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 760D 4 Configuration error: Incorrect useof encoder module
Parameter _SigLatched Bit 22
Incorrect value in parameterENC2_usage.
E 760E 2 Position evaluation error (signaltracking error detected)
Parameter _SigLatched Bit 22
Encoder signals subject toEMC interference
Check wiring, cable shield.
E 760F 0 Position evaluation problem (inter-ference detected)
Parameter _WarnLatched Bit 22
Encoder signals subject toEMC interference
Check wiring, cable shield.
E 7610 0 Resolver: Loss of position track-ing, position is inaccurate
Parameter _WarnLatched Bit 22
- Motor moves too fast.- Motor acceleration is too fast.
- Reduce speed. - Reduce acceleration.- Reduce resolver resolution.- Adapt resolver excitation fre-quency.
E 7611 2 Resolver: Signal degradationerror, position is inaccurate
Parameter _SigLatched Bit 22
Resolver is inoperative.Resolver signals are subject tointerference.Resolver cable is too long.
Replace resolver.Check resolver cable, espe-cially cable shield.Additional info bits:D5: Sine/cosine inputs exceedDOS out of range threshold.D4: Sine/cosine inputs exceedDOS mismatch threshold.
E 7612 3 Resolver: Error due to loss of sig-nal, position unreliable
Parameter _SigLatched Bit 22
Resolver is inoperative.Resolver wiring is incorrect.Resolver signals are subject toexcessive interference.Resolver is unsuitable fordrive.Incorrect parameter transfor-mation ratio.
Check resolver cable, espe-cially wiring and shield con-nection.Replace resolver.Additional info bits:D7: Sine/cosine inputs clipped.D6: Sine/cosine inputs belowLOS threshold.
E 7613 3 Resolver: Signal communicationsubject to interference
Parameter _SigLatched Bit 22
Resolver signals are subject tointerference.
Check resolver cable, espe-cially wiring and shield con-nection.
E 7614 3 Error at resolver power supply.
Parameter _SigLatched Bit 22
Resolver is not connectedproperly.
Check resolver cable.
E 7615 3 System error: Encoder moduleRES is not ready for position eval-uation
Parameter _SigLatched Bit 22
EMC problem. Check resolver cable.
E 7616 3 System error: Resolver timeout
Parameter _SigLatched Bit 22
System error Replace encoder module.
E 7617 1 Resolver velocity is too high
Parameter _SigLatched Bit 22
Motor velocity is too high. Reduce motor velocity.
E 7618 4 Encoder 2 Hall sensor error
Parameter _SigLatched Bit 22
Incorrect wiring or damagedcable for Hall signals ofencoder 2.
Check encoder cabling.
E 7619 4 Error during module - encodercommunication
Parameter _SigLatched Bit 22
Incorrect encoder wiring/adjustment or incorrectencoder parameter settings(example: parameter ENC-DigSSICoding is set for SSIencoder).
Check encoder cable, espe-cially wiring and shield. Checkencoder parameter settings.Check encoder adjustment.
9 Diagnostics and troubleshooting LXM32M
464 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 761A 0 Warning during module - encodercommunication
Parameter _WarnLatched Bit 22
Incorrect encoder wiring. Check encoder cable, espe-cially wiring and shield.
E 761B 4 Connected type of EnDat encoderis not supported
Parameter _SigLatched Bit 22
Operation of the EnDatencoder not possible with theentries detected in theencoder nameplate.
Use a supported EnDatencoder.
E 761C 4 Configuration error: Invalid SSIencoder parameter setting
Parameter _SigLatched Bit 22
Incorrect values in parameterENCDigSSIResSgl or ENC-DigSSIResMult.
E 761D 2 Maximum velocity of the encoderis exceeded
Parameter _SigLatched Bit 22
Velocity too high for theencoder. In the case of SSI orEnDat2.2, the reason mayalso be an encoder communi-cation error.
E 761E 2 Encoder module overtemperature
Parameter _SigLatched Bit 22
The ambient temperature istoo high.
Improve the heat dissipation inthe cabinet.
E 761F 2 Position evaluation error (ABencoder signals)
Parameter _SigLatched Bit 22
No sync signal available.
E 7620 4 Checksum error in EnDat encoderdata
Parameter _SigLatched Bit 22
E 7621 1 Runtime compensation was notsuccessful
Parameter _SigLatched Bit 22
Check encoder cable, espe-cially wiring and shield.
E 7622 0 Warning: Resolver timeout
Parameter _WarnLatched Bit 22
System error. Replace encoder module
E 7623 0 Absolute encoder signal is notavailable
Parameter _WarnLatched Bit 22
There is no encoder availableat the input specified via theparameter ENC_abs_source.
Check wiring, check encoder.Change the value of theparameter ENC_abs_source.
E 7624 0 Not possible to set the absoluteposition for encoder 2.
Parameter _WarnLatched Bit 22
Setting the absolute positionvia ENC2_setpabs for theencoder at the input forencoder 2 is not possible. If noencoder is connected to theinput for encoder 2 input and ifENC2_setpabs is executed,this warning is also generated.
Use an encoder that supportsdirect setting of the absoluteposition via ENC2_setpabs.
E 7625 0 Not possible to set the absoluteposition for encoder 1.
Parameter _WarnLatched Bit 22
There is no encoder connec-ted to the input for encoder 1.
Connect an encoder to theinput for encoder 1 before try-ing to set the absolute positiondirectly via ENC1_abs_pos.
E 7626 4 Overflow error during encoderscaling
Parameter _SigLatched Bit 22
The multiturn resolution of themachine encoder with refer-ence to the motor shaftexceeds the system limits, forexample, due to the mechani-cal gear ratio betweenmachine encoder and motorencoder.
Reduce the number of bits ofthe multitun resolution that areused for position evaluationvia the parameter ENCDi-gResMulUsed.
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 465
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 7627 4 Configuration error: Invalid BISSencoder parameter setting
Parameter _SigLatched Bit 22
Incorrect values in parametersENCDigBISSResSgl or ENC-DigBISSResMult.
E 7628 0 BISS encoder bits 'War' or 'Err'are set
Parameter _WarnLatched Bit 22
The bits are used for diversetypes of monitoring such as:- Encoder temperature is toohigh.- Service life of LED insideencoder exceeded.- Position is not reliable.
Replace encoder.
E 7629 3 BISS initialization error
Parameter _SigLatched Bit 22
E 7701 4 System error: Timeout during con-nection to power stage
Parameter _SigLatched Bit 31
Contact Technical Support.
E 7702 4 System error: Invalid datareceived from power stage
Parameter _SigLatched Bit 31
Contact Technical Support.
E 7703 4 System error: Data exchange withpower stage lost
Parameter _SigLatched Bit 31
Contact Technical Support.
E 7704 4 System error: Exchange of identi-fication data from power stage notsuccessful
Parameter _SigLatched Bit 31
Contact Technical Support.
E 7705 4 System error: Checksum identifi-cation data from power stageincorrect
Parameter _SigLatched Bit 31
Contact Technical Support.
E 7706 4 System error: No identificationframe received from power stage
Parameter _SigLatched Bit 31
Contact Technical Support.
E 7707 4 System error: Type of powerstage and manufacture data donot match
Contact Technical Support.
E 7708 4 PIC voltage supply too low
Parameter _SigLatched Bit 31
Contact Technical Support.
E 7709 4 System error: Invalid numbers ofdata received
Parameter _SigLatched Bit 31
Contact Technical Support.
E 770A 2 PIC received data with incorrectparity
Parameter _SigLatched Bit 31
Contact Technical Support.
E 7800 1 eSM module: System error: Errorof class 1 forced
Parameter _SigLatched Bit 23
E 7801 2 eSM module: System error: Errorof class 2 forced
Parameter _SigLatched Bit 23
9 Diagnostics and troubleshooting LXM32M
466 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 7802 3 eSM module: System error: Errorof class 3 forced
Parameter _SigLatched Bit 23
E 7803 4 eSM module: System error: Errorof class 4 forced
Parameter _SigLatched Bit 23
E 7804 3 eSM module: Insufficient deceler-ation for Quick Stop
Parameter _SigLatched Bit 23
Quick Stop ramp of drive lowerthan Quick Stop ramp config-ured for eSM.
Change ramp in eSM or drive.
E 7805 1 eSM module: Error during SafeOperating Stop (SOS)
Parameter _SigLatched Bit 23
Motor movement during SafeOperating Stop (SOS).
Keep motor from moving whileSafe Operating Stop is active(external forces, loads).
E 7806 1 eSM module: Safely LimitedSpeed (SLS) exceeded inmachine operating mode SetupMode
Parameter _SigLatched Bit 23
Delay for reaching Safely Limi-ted Speed (SLS) too low oreSM deceleration ramp toohigh.
Increase delay for eSM controlof Safely Limited Speed (SLS)or decrease eSM decelerationramp for reaching Safely Limi-ted Speed (SLS).
E 780A 2 eSM module: /ESTOP signal forEMERGENCY STOP triggered
Parameter _SigLatched Bit 23
EMERGENCY STOP is active. Reset EMERGENCY STOP.
E 780B 0 eSM module: Not ready for FaultReset
Parameter _WarnLatched Bit 23
eSM is in state Quick StopActive or Fault Reaction Activeor Fault.
Wait until eSM is no longer instate Quick Stop Active orFault Reaction Active or Faultor reboot the drive.
E 780C 0 eSM module: Not ready for eSMDisable
Parameter _WarnLatched Bit 23
Safety module eSM is not inoperating state Operation Ena-bled.
eSM Disable requires thesafety module eSM to be inoperating state Operation Ena-bled.
E 780F 0 eSM module: Parameter cannotbe written in this operating state
Parameter _WarnLatched Bit 23
Parameter cannot be written inthis eSM state.
Change eSM state to write thisparameter.
E 7810 0 eSM module: Incorrect password
Parameter _WarnLatched Bit 23
The password that was sentby the configuration tool is notidentical to the passwordstored in the device.
Send the stored password.
E 7811 0 eSM module: Timeout duringparameter download (default val-ues loaded)
Parameter _WarnLatched Bit 23
Connection problems or EMC. Check wiring (shield).
E 7813 0 eSM module: Parameter check-sum cannot be written in thisoperating state
Parameter _WarnLatched Bit 23
eSM is not ready to be config-ured.
Use correct password. Recon-figure safety module eSM.Contact Technical Support.
E 7814 0 eSM module: Parameter check-sum incorrect (default values loa-ded)
Parameter _WarnLatched Bit 23
EMC problems. The commissioning software isoutdated and not compatiblewith the safety module eSM.
Check wiring (shield).Install latest commissioningsoftware version.
E 7815 0 eSM module: Warning: Undertem-perature
Parameter _WarnLatched Bit 23
Temperature too low.
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 467
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 7816 0 eSM module: Warning: Overtem-perature
Parameter _WarnLatched Bit 23
Temperature too high. Check the ambient conditions.Verify that the flow of air is suf-ficient (pollution, objects).
E 7818 2 eSM module: System error:ESM5VDC undervoltage
Parameter _SigLatched Bit 23
Error in eSM 5V supply.
E 7819 2 eSM module: Overload outputschannel A
Parameter _SigLatched Bit 23
Short circuit or overload. Check wiring and connecteddevices.
E 781A 4 eSM module: System error: 5Vovervoltage
Parameter _SigLatched Bit 23
eSM internal power supplyerror
E 781B 4 eSM module: System error: 5Vundervoltage
Parameter _SigLatched Bit 23
eSM internal power supplyerror
E 781D 2 eSM module: ESMSTART: Maxi-mum permissible pulse durationexceeded
Parameter _SigLatched Bit 23
Pulse duration longer than 4seconds.
Pulse duration must be lessthan 4 seconds.
E 781E 4 eSM module: System error: RAM
Parameter _SigLatched Bit 23
eSM RAM error
E 781F 4 eSM module: System error: Stackoverflow
Parameter _SigLatched Bit 23
E 7820 4 eSM module: System error: Pro-gram sequence control (communi-cation)
Parameter _SigLatched Bit 23
Software watchdog eSM(CPU_B)
E 7821 4 eSM module: System error: Pro-gram sequence control (Idle task)
Parameter _SigLatched Bit 23
E 7825 4 eSM module: System error: Firm-ware checksum error
Parameter _SigLatched Bit 23
E 7826 0 eSM module: Parameter outsideof permissible value range
Parameter _WarnLatched Bit 23
Parameter outside of permissi-ble value range.
Check the parameter value.
E 7827 2 eSM module: Parameter check-sum error
Parameter _SigLatched Bit 23
Saved parameter values areinvalid.
Reconfigure the eSM. ContactTechnical Support.
E 7828 2 eSM module: System error: SPIframing error
Parameter _SigLatched Bit 23
E 7829 4 eSM module: Input states channelA and channel B are not identical
Parameter _SigLatched Bit 23
Wire break or connected devi-ces are inoperable.
Check wiring and connecteddevices.
9 Diagnostics and troubleshooting LXM32M
468 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 782A 2 eSM module: Output states chan-nel A and channel B are not iden-tical
Parameter _SigLatched Bit 23
Short circuit to 24V DC. Sys-tem error.
Check wiring and connecteddevices. Check connection ofSTO_A and STO_B. ContactTechnical Support.
E 782B 3 eSM module: System error: Posi-tion evaluation error (values notidentical)
Parameter _SigLatched Bit 23
CPU_A and CPU_B have dif-ferent position values. Possi-ble encoder problem.
E 782C 3 eSM module: System error:Velocity evaluation error (valuesnot identical)
Parameter _SigLatched Bit 23
CPU_A and CPU_B have dif-ferent velocity values. Possibleencoder problem.
E 782F 2 eSM module: System error: Errorduring dynamization of STO sig-nal
Parameter _SigLatched Bit 23
E 7833 0 eSM module: System error:EEPROM incorrect checksum(default values loaded)
Parameter _WarnLatched Bit 23
EEPROM error.
E 7834 0 eSM module: Safety modulereplaced (default values loaded)
Parameter _WarnLatched Bit 23
This safety module has notbeen configured with thisdrive. The parameters havebeen reset to the default val-ues.
Reconfigure the safety mod-ule.
E 7835 4 eSM module: Commutation posi-tion
Parameter _SigLatched Bit 23
Encoder error or error in inter-nal communication with thedrive (for example, EMC).
Check EMC. Check encoderconnection. Contact TechnicalSupport.
E 7836 4 eSM module: Parameter check-sums not identical
Parameter _SigLatched Bit 23
Parameter of CPU_A is notidentical to parameter ofCPU_B. Problem during load-ing of parameters into eSMmodule.
Retry loading the parametersinto the eSM module. If theproblem persists, contactTechnical Support.
E 7837 0 eSM module: System error: Bootprogram: Invalid address
Parameter _WarnLatched Bit 23
Invalid write access of boot-loader to flash memory range.
E 7838 1 eSM module: Safely LimitedSpeed (SLS) exceeded inmachine operating mode Auto-matic Mode
Parameter _SigLatched Bit 23
Drive velocity greater thanconfigured eSM speed limit.
Reduce velocity of the drive orcheck eSM speed limit formachine operating mode Auto-matic Mode.
E 7839 2 eSM module: Input ESMSTARTlow instead of high (automaticstart)
Parameter _SigLatched Bit 23
ESMSTART is configured forautomatic start and must behigh at start.
Check parameter configurationof ESMSTART. Check wiringof ESMSTART.
E 783A 2 eSM module: Input ESMSTARThigh instead of low (manual start)
Parameter _SigLatched Bit 23
ESMSTART is configured formanual start and must be lowat start.
Check parameter configurationof ESMSTART. Check wiringof ESMSTART.
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 469
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 783B 2 eSM module: Guard dooracknowledgment: The acknowl-edgement signal is available fortoo long a time.
Parameter _SigLatched Bit 23
The acknowledgement signalis available for more than 6seconds.
The acknowledgement signalmust be available for less than6 seconds.
E 783C 4 eSM module: System error: Stateof eSM state machines not identi-cal
Parameter _SigLatched Bit 23
E 783F 2 eSM module: Output AUXOUT1(cross fault to another output)
Parameter _SigLatched Bit 23
Cross fault detection detecteda cross fault to another output.
Check wiring and connecteddevices.
E 7840 2 eSM module: Output /INTER-LOCK_OUT (cross fault toanother output)
Parameter _SigLatched Bit 23
Cross fault detection detecteda cross fault to another output.
Check wiring and connecteddevices.
E 7841 2 eSM module: OutputRELAY_OUT_A (cross fault toanother output)
Parameter _SigLatched Bit 23
Cross fault detection detecteda cross fault to another output.
Check wiring and connecteddevices.
E 7842 2 eSM module: OutputCCM24V_OUT_A (cross fault toanother output)
Parameter _SigLatched Bit 23
Cross fault detection detecteda cross fault to another output.
Check wiring and connecteddevices.
E 7843 2 eSM module: Output AUXOUT1(cross fault to 24V)
Parameter _SigLatched Bit 23
Cross fault detection detecteda cross fault to 24V.
Check wiring and connecteddevices.
E 7844 2 eSM module: Output /INTER-LOCK_OUT (cross fault to 24V)
Parameter _SigLatched Bit 23
Cross fault detection detecteda cross fault to 24V.
Check wiring and connecteddevices.
E 7845 2 eSM module: OutputRELAY_OUT_A (cross fault to24V)
Parameter _SigLatched Bit 23
Cross fault detection detecteda cross fault to 24V.
Check wiring and connecteddevices.
E 7846 2 eSM module: OutputCCM24V_OUT_A (cross fault to24V)
Parameter _SigLatched Bit 23
Cross fault detection detecteda cross fault to 24V.
E 7848 2 eSM module: System error: InputESMSTART_A
Parameter _SigLatched Bit 23
E 7849 2 eSM module: System error: InputSETUPENABLE_A
Parameter _SigLatched Bit 23
E 784A 2 eSM module: System error: InputSETUPMODE_A
Parameter _SigLatched Bit 23
9 Diagnostics and troubleshooting LXM32M
470 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 784B 2 eSM module: System error: InputGUARD_A
Parameter _SigLatched Bit 23
E 784C 2 eSM module: System error: InputGUARD_ACK
Parameter _SigLatched Bit 23
E 784D 2 eSM module: System error: Input /INTERLOCK_IN_A
Parameter _SigLatched Bit 23
E 784E 2 eSM module: System error: Input /ESTOP_A
Parameter _SigLatched Bit 23
E 784F 2 eSM module: System error: InputNOTUSED_A
Parameter _SigLatched Bit 23
E 7850 2 eSM module: Overload outputschannel B
Parameter _SigLatched Bit 23
Short circuit or overload. Check wiring and connecteddevices.
E 7851 4 eSM module: System error: UARToverrun/framing error
Parameter _SigLatched Bit 23
E 7852 2 eSM module: System error:ResEnc (encoder resolution) isset to 0
Parameter _SigLatched Bit 23
E 7853 4 eSM module: System error: CPUsynchronization
Parameter _SigLatched Bit 23
E 7854 2 eSM module: No motor movementfor 36 hours
Parameter _SigLatched Bit 23
There has not been a mini-mum motor movement for thelast 36 hours.
There should be a minimummotor movement at least onceevery 36 hours.
E 7855 2 eSM module: System error: Time-out high-priority tests (5 sec)
Parameter _SigLatched Bit 23
E 7856 2 eSM module: System error: Time-out low-priority tests
Parameter _SigLatched Bit 23
E 7857 2 eSM module: Parameterdec_Qstop (minimum decelera-tion) is set to 0
Parameter _SigLatched Bit 23
Module is not configured. Download a configuration.
E 7858 2 eSM module: Output AUXOUT2(cross fault to another output)
Parameter _SigLatched Bit 23
Cross fault detection detecteda cross fault to another output.
Check wiring and connecteddevices.
E 7859 2 eSM module: Output /INTER-LOCK_OUT (cross fault toanother output)
Parameter _SigLatched Bit 23
Cross fault detection detecteda cross fault to another output.
Check wiring and connecteddevices.
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 471
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 785A 2 eSM module: OutputRELAY_OUT_B (cross fault toanother output)
Parameter _SigLatched Bit 23
Cross fault detection detecteda cross fault to another output.
Check wiring and connecteddevices.
E 785B 2 eSM module: OutputCCM24V_OUT_B (cross fault toanother output)
Parameter _SigLatched Bit 23
Cross fault detection detecteda cross fault to another output.
Check wiring and connecteddevices.
E 785C 2 eSM module: Output AUXOUT2(cross fault to 24V)
Parameter _SigLatched Bit 23
Cross fault detection detecteda cross fault to 24V.
Check wiring and connecteddevices.
E 785D 2 eSM module: Output /INTER-LOCK_OUT (cross fault to 24V)
Parameter _SigLatched Bit 23
Cross fault detection detecteda cross fault to 24V.
Check wiring and connecteddevices.
E 785E 2 eSM module: OutputRELAY_OUT_B (cross fault to24V)
Parameter _SigLatched Bit 23
Cross fault detection detecteda cross fault to 24V.
Check wiring and connecteddevices.
E 785F 2 eSM module: OutputCCM24V_OUT_B (cross fault to24V)
Parameter _SigLatched Bit 23
Cross fault detection detecteda cross fault to 24V.
Check wiring and connecteddevices.
E 7861 2 eSM module: System error: InputESMSTART_B
Parameter _SigLatched Bit 23
E 7862 2 eSM module: System error: InputSETUPENABLE_B
Parameter _SigLatched Bit 23
E 7863 2 eSM module: System error: InputSETUPMODE_B
Parameter _SigLatched Bit 23
E 7864 2 eSM module: System error: InputGUARD_B
Parameter _SigLatched Bit 23
E 7865 2 eSM module: System error: InputGUARD_ACK
Parameter _SigLatched Bit 23
E 7866 2 eSM module: System error: Input /INTERLOCK_IN_B
Parameter _SigLatched Bit 23
E 7867 2 eSM module: System error: Input /ESTOP_B
Parameter _SigLatched Bit 23
E 786A 4 eSM module: Undertemperature
Parameter _SigLatched Bit 23
Temperature of the eSM toolow.
Check ambient conditions.
E 786C 2 eSM module: OvervoltageESM24VDC
Parameter _SigLatched Bit 23
Voltage too high at theESM24VDC.
Check power supply.
9 Diagnostics and troubleshooting LXM32M
472 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 786D 4 eSM module:
Parameter _SigLatched Bit 23
Temperature too high. Check the ambient conditions.Verify that the flow of air is suf-ficient (pollution, objects).
E 786E 4 eSM module: System error: Oper-ating states not identical
Parameter _SigLatched Bit 23
E 7870 4 eSM module: System error: Soft-ware versions not identical
Parameter _SigLatched Bit 23
E 7871 3 eSM module: Error during SafeOperating Stop (SOS) after error
Parameter _SigLatched Bit 23
Motor movement during SafeOperating Stop (SOS).
E 7872 4 eSM module: System error: Soft-ware incompatible with hardware
Parameter _SigLatched Bit 23
E 7873 1 eSM module: Error during decel-eration to Safely Limited Speed(SLS)
Parameter _SigLatched Bit 23
Velocity of drive greater thanspeed limit configured for eSMSafely Limited Speed (SLS).
Check speed limit and delaytime for eSM Safely LimitedSpeed (SLS). Adapt the drivevalues for ramp and velocity, ifnecessary.
E 7874 2 eSM module: Repeated error dur-ing Safe Operating Stop (SOS)
Parameter _SigLatched Bit 23
E 7875 4 eSM module: Repeated error dur-ing deceleration for Quick Stop
Parameter _SigLatched Bit 23
E 7876 3 eSM module: /INTERLOCK_INnot high (timeout if t_Relay = 2)
Parameter _SigLatched Bit 23
E 7877 2 eSM module: Input /INTER-LOCK_IN is high even thoughIgnore has been configured
Parameter _SigLatched Bit 23
E 7878 2 eSM module: Speed limit formachine operating mode SetupMode (eSM_v_maxSetup) higherthan speed limit for machine oper-ating mode Automatic Mode(eSM_v_maxAuto)
Parameter _SigLatched Bit 23
Speed limit for machine oper-ating mode Setup Mode mustnot be greater than speed limitfor machine operating modeAutomatic Mode.
Check the speed limits formachine operating modesAutomatic Mode and SetupMode and change them asrequired.
E 7879 4 eSM module: System error:Unknown state of eSM statemachine
Parameter _SigLatched Bit 23
E 787A 2 eSM module: ESM24VDC under-voltage
Parameter _SigLatched Bit 23
Voltage at the ESM24VDCconnector to low.
Check power supply.
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 473
0198
4411
1376
7, V
1.08
, 04.
2014
Errornumber
Errorclass
Description Cause Correctives
E 787D 4 eSM module: System error: Asyn-chronous communication (UART/SPI)
Parameter _SigLatched Bit 23
E 787E 4 eSM module: System error: RAM(bit)
Parameter _SigLatched Bit 23
E 787F 4 eSM module: Encoder signal error
Parameter _SigLatched Bit 23
Encoder error or encodercable error. Signal evaluationerror in drive.
E 7880 2 eSM module: Unknown service
Parameter _SigLatched Bit 23
E 7881 2 eSM module: Parameter does notexist
Parameter _SigLatched Bit 23
Parameter does not exist. Check the parameter number.
E 7882 4 eSM module: System error: 3_3Vovervoltage
Parameter _SigLatched Bit 23
Error in internal eSM powersupply.
E 7883 4 eSM module: System error: 3_3Vundervoltage
Parameter _SigLatched Bit 23
Error in internal eSM powersupply.
E 7884 4 eSM module: System error: Tem-perature sensor
Parameter _SigLatched Bit 23
Temperature sensor forCPU_A or CPU_B does notwork properly.
E 7886 2 eSM module: No speed limit fornegative direction set for direc-tion-dependent SLS
Parameter _SigLatched Bit 23
Direction-dependent SLS isactive, but no speed limitgreater than 0 min-1 has beenspecified in the parametereSM_v_maxSetup or inparameter eSM_SLSnegDirS.
Set a speed limit for direction-dependent SLS greater than 0min-1 in the parameter_eSM_v_maxSetup or in theparameter eSM_SLSnegDirSor deactivate direction-dependent SLS via the param-eter eSM_FuncSwitches.
E 7887 2 eSM module: Speed limit for SLSin negative direction has beenspecified, but direction-dependantSLS has not been activated
Parameter _SigLatched Bit 23
Direction-dependent SLS isnot active, but a speed limit fordirection-dependent SLS innegative direction has beenspecified.
Set the speed limit for direc-tion-dependent SLS in nega-tive direction in parametereSM_SLSnegDirS to 0 min-1
or activate direction-depend-ent SLS via the parametereSM_FuncSwitches.
E 7900 4 Error detecting module in fieldbusslot
Parameter _SigLatched Bit 21
Fieldbus module not correctlymounted in the slot. Unsupported fieldbus moduleinserted.Fieldbus module inoperative.EMC problems.
Replace fieldbus module.Improve EMC.
E 7901 4 Unknown type of fieldbus moduledetected in fieldbus slot
Parameter _SigLatched Bit 21
The type of module detectedin fieldbus slot is not suppor-ted by the drive.
Use supported type of fieldbusmodule. Refer to manual orcatalog.
E 7903 3 Fieldbus module in slot 3 missing
Parameter _SigLatched Bit 21
Fieldbus module has beenremoved or fieldbus module isinoperative.
Confirm or cancel HMI dialogbox for fieldbus modulereplacement.Install a new fieldbus module.
9 Diagnostics and troubleshooting LXM32M
474 AC servo drive
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Errornumber
Errorclass
Description Cause Correctives
E 7904 0 Parameter access error in fieldbusmodule
Fieldbus module parameterdoes not exist or cannot bewritten.
E 7905 3 Fieldbus module in slot 3 hasbeen changed.
Parameter _SigLatched Bit 21
The fieldbus module has beenreplaced by another type offieldbus module.
Confirm the new fieldbus mod-ule via the HMI dialog.
E 7906 0 Internal timeout in communicationwith fieldbus module
Problem in internal communi-cation with fieldbus module.Fieldbus module inoperative.EMC problems.
Replace fieldbus module.Improve EMC.
E 7A05 3 Module IOM1: System error: Cali-bration analog/digital converterduring manufacturing
Parameter _SigLatched Bit 23
E 7A06 3 Module IOM1: System error: Errorduring initialization
Parameter _SigLatched Bit 23
E 7A07 3 Module IOM1: System error:EEPROM read error, CRC doesnot match
Parameter _SigLatched Bit 23
E 7A08 3 Module IOM1: System error:EEPROM write error
Parameter _SigLatched Bit 23
E 7A09 3 Module IOM1: System error:EEPROM erase error
Parameter _SigLatched Bit 23
E 7A0A 3 Module IOM1: System error:Incorrect flash API implemented
Parameter _SigLatched Bit 23
E 7A0B 0 Module IOM1: Overtemperature(warning)
Parameter _WarnLatched Bit 23
Device cooling not sufficient.Cooling fan inoperative.Ambient temperature too high.
Check fan and ambient tem-perature.
E 7A0C 2 Module IOM1: Overtemperature
Parameter _SigLatched Bit 23
Device cooling not sufficient.Cooling fan inoperative.Ambient temperature too high.
Check fan and ambient tem-perature.
E 7A0D 2 Module IOM1: Module not availa-ble
Parameter _SigLatched Bit 23
The module IOM1 was notdetected when the operatingmode Profile Velocity or ProfileTorque with reference valuevia analog input was activated.The module IOM1 has beenremoved when the de devicewas off.
Plug in the module IOM1.
E 7A0E 4 Module IOM1: Inoperative
Parameter _SigLatched Bit 23
Module IOM1 inoperative.Hardware interface to themodule IOM1 inoperative.
E 7A0F 2 Module IOM1: Inoperative
Parameter _SigLatched Bit 23
Module IOM1 inoperative.Hardware interface to themodule IOM1 inoperative.
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 475
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Errornumber
Errorclass
Description Cause Correctives
E 7A10 4 Module IOM1: Inoperative
Parameter _SigLatched Bit 23
Module IOM1 inoperative.Hardware interface to themodule IOM1 inoperative.
E 7A11 4 Module IOM1: Inoperative
Parameter _SigLatched Bit 23
Module IOM1 inoperative.Hardware interface to themodule IOM1 inoperative.
E 7A12 2 Module IOM1: Module IOM1required for velocity or torque limi-tation via analog input
Parameter _SigLatched Bit 23
Velocity or torque limitation viaanalog input has been activa-ted, but the module IOM1 hasnot been plugged in.
Plug in the module IOM1 ordeactivate the velocity or tor-que limitation setting via theanalog input.
E 7A13 par. Module IOM1: Overload or shortcircuit at analog output
Parameter _SigLatched Bit 23
Overload or shot circuit at oneof the analog outputs.
Check wiring and connectedload.
E 8110 0 CANopen: Overflow internalreceive queue (message lost)
Parameter _WarnLatched Bit 21
Two short CAN messageshave been sent too fast (at1MBits only).
E 8120 0 CANopen: CAN Controller in ErrorPassive
Parameter _WarnLatched Bit 21
Too many error frames havebeen detected.
Check CAN bus installation.
E 8130 2 CANopen: Heartbeat or LifeGuard error
Parameter _SigLatched Bit 21
The bus cycle time of theCANopen master is higherthan the programmed heart-beat or node guard time.
Check the CANopen configu-ration, increase the heartbeator node guard time.
E 8131 0 CANopen: Heartbeat or LifeGuard error
Parameter _WarnLatched Bit 21
E 8140 0 CANopen: CAN controller was in'bus-off', communication is possi-ble again
Parameter _WarnLatched Bit 21
E 8141 2 CANopen: CAN controller is in'bus-off'
Parameter _SigLatched Bit 21
Too many error frames havebeen detected, CAN deviceswith different baud rates.
Check CAN bus installation.
E 8142 0 CANopen: CAN controller is in'bus-off'
Parameter _WarnLatched Bit 21
Too many error frames havebeen detected, CAN deviceswith different baud rates.
Check CAN bus installation.
E 8281 0 CANopen: RxPDO1 could not beprocessed
Parameter _WarnLatched Bit 21
Error while processingReceive PDO1: PDO1 con-tains invalid value.
Check RxPDO1 content (appli-cation).
E 8282 0 CANopen: RxPDO2 could not beprocessed
Parameter _WarnLatched Bit 21
Error while processingReceive PDO2: PDO2 con-tains invalid value.
Check RxPDO2 content (appli-cation).
E 8283 0 CANopen: RxPDO3 could not beprocessed
Parameter _WarnLatched Bit 21
Error while processingReceive PDO3: PDO3 con-tains invalid value.
Check RxPDO3 content (appli-cation).
E 8284 0 CANopen: RxPDO4 could not beprocessed
Parameter _WarnLatched Bit 21
Error while processingReceive PDO4: PDO4 con-tains invalid value.
Check RxPDO4 content (appli-cation)
9 Diagnostics and troubleshooting LXM32M
476 AC servo drive
0198
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7, V
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, 04.
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Errornumber
Errorclass
Description Cause Correctives
E 8291 0 CANopen: TxPdo could not beprocessed
Parameter _WarnLatched Bit 21
E 8292 0 CANopen: TxPdo could not beprocessed
Parameter _WarnLatched Bit 21
E 8293 0 CANopen: TxPdo could not beprocessed
Parameter _WarnLatched Bit 21
E 8294 0 CANopen: TxPdo could not beprocessed
Parameter _WarnLatched Bit 21
E 82A0 0 CANopen: Initialization CANopenstack
Parameter _WarnLatched Bit 21
E 82A1 0 CANopen: Overflow internal trans-mit queue (message lost)
Parameter _WarnLatched Bit 21
E 82B1 0 CANopen: The data tunnelingprotocol is not Modbus RTU
Parameter _WarnLatched Bit 21
E 82B2 0 CANopen: Data frame is stillbeing processed
Parameter _WarnLatched Bit 21
A new data frame was writtenbut the previous data frame isstill being processed.
Write the data frame againlater on.
E A060 2 Calculated velocity too high foroperating mode Electronic Gear
Parameter _SigLatched Bit 4
Gear ratio or reference veloc-ity value too high
Reduce the gear ratio or refer-ence velocity.
E A061 2 Position change in referencevalue for operating mode Elec-tronic Gear too high
Parameter _SigLatched Bit 4
Position reference change istoo high.Error at signal input for refer-ence value.
Reduce the resolution of themaster.Check signal input for refer-ence signal.
E A065 0 Parameters cannot be written
Parameter _WarnLatched Bit 4
A data set is still active. Wait until the currently activedata set is terminated.
E A066 0 Teach-in position cannot be takenover
Parameter _WarnLatched Bit 4
Data set type is not 'MoveAb-solute'
Set the data set type to 'Move-Absolute'
E A067 1 Invalid value in data set (addi-tional info = data set number (lowbyte) and entry (high byte))
Parameter _SigLatched Bit 4
Value not possible in data set. See also parameter_MSM_error_num and_MSM_error_entry for addi-tional information.
E A068 0 Offset positioning not possible
Parameter _WarnLatched Bit 4
Operating mode ElectronicGear inactive or no gear modeselected.
Start operating mode Elec-tronic Gear and/or select agear mode.
E A069 0 Setting the offset position is notpossible
Parameter _WarnLatched Bit 4
If offset positioning is active, itis not possible to set the posi-tion offset.
Wait until current offset posi-tioning has finished.
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 477
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Errornumber
Errorclass
Description Cause Correctives
E A06B 2 Position deviation in operatingmode Electronic Gear too high
Parameter _SigLatched Bit 4
The position deviation hasbecome excessively high dueto a velocity limitation or therelease of direction.
Check the velocity of theexternal reference values andthe velocity limitation. Checkthe release of direction.
E A300 - Braking procedure after HALTrequest still active
HALT was removed too soon.New command was sentbefore motor standstill wasreached after a HALT request.
Wait for complete stop beforeremoving HALT signal.Wait until motor has come to acomplete standstill.
E A301 - Drive in operating state QuickStop Active
Error with error class 1 occur-red.Drive stopped with Quick Stop.
E A302 1 Stop by positive limit switch
Parameter _SigLatched Bit 1
The positive limit switch wasactivated because movementrange was exceeded, misoper-ation of limit switch or signaldisturbance.
Check application.Check limit switch function andconnection.
E A303 1 Stop by negative limit switch
Parameter _SigLatched Bit 1
The negative limit switch wasactivated because movementrange was exceeded, misoper-ation of limit switch or signaldisturbance.
Check application.Check limit switch function andconnection.
E A304 1 Stop by reference switch
Parameter _SigLatched Bit 1
E A305 - Power stage cannot be enabled inthe current operating state
Fieldbus: An attempt wasmade to enable the powerstage in the operating stateNot Ready To Switch On.
Refer to the state diagram.
E A306 1 Stop by user-initiated softwarestop
Parameter _SigLatched Bit 3
Drive is in operating stateQuick Stop Active due to asoftware stop request. Theactivation of a new operatingmode is not possible, the errorcode is sent as the responseto the activation command.
Clear break condition withcommand Fault Reset.
E A307 - Interruption by internal softwarestop
In the operating mode Homingand Jog, the movement isinternally interrupted by aninternal software stop. Theactivation of a new operatingmode is not possible, the errorcode is sent as the responseto the activation command.
Clear break condition withcommand Fault Reset.
E A308 - Drive is in operating state Fault orFault Reaction Active
Error with error class 2 orhigher occurred.
Check error code (HMI orcommissioning software),remove error condition andclear error with commandFault Reset.
E A309 - Drive not in operating state Oper-ation Enabled
A command was sent thatrequires the drive to be in theoperating state Operation Ena-bled was sent (for example, acommand to change the oper-ating mode).
Set drive to operating stateOperation Enabled and repeatthe command.
9 Diagnostics and troubleshooting LXM32M
478 AC servo drive
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Errornumber
Errorclass
Description Cause Correctives
E A310 - Power stage not enabled Command cannot be usedbecause the power stage isnot enabled (operating stateOperation Enabled or QuickStop Active).
Set drive to an operating statein which the power stage isenabled, refer to the state dia-gram.
E A311 - Operating mode change active A start request for an operat-ing mode has been receivedwhile a change of the operat-ing mode was active.
Wait until the operating modechange has terminated beforetriggering a start request foranother operating mode.
E A312 - Profile generation interrupted
E A313 - Position overtraveled, referencepoint is therefore no longerdefined (ref_ok=0)
The movement range limitswere exceeded which resultedin a loss of the reference point.An absolute movement cannotbe made before a new refer-ence point is defined.
Define a new reference pointby means of the operatingmode Homing.
E A314 - No reference point Command needs a definedreference point (ref_ok=1).
Define a new reference pointby means of the operatingmode Homing.
E A315 - Homing active Command cannot be usedwhile the operating modeHoming is active.
Wait until reference movementis finished.
E A316 - Overflow during calculation ofacceleration
E A317 - Motor is not at a standstill Command sent which is notpermissible when the motor isnot at a standstill.For example:- Change of software limitswitches- Change of handling of moni-toring signals- Setting of reference point- Teach in of data set
Wait until the motor has cometo a standstill (x_end = 1).
E A318 - Operating mode active (x_end=0) Activation of a new operatingmode is not possible while thecurrent operating mode is stillactive.
Wait until the command in theoperating mode has finished(x_end=1)or terminate current operatingmode with HALT command.
E A319 1 Manual tuning/Autotuning: Move-ment out of permissible range
Parameter _SigLatched Bit 2
The movement exceeds theparameterized maximum per-missible movement range.
Check permissible movementrange value and time interval.
E A31A - Manual tuning/Autotuning: Ampli-tude/offset too high
Amplitude plus offset for tun-ing exceed internal velocity orcurrent limitation.
Choose lower amplitude andoffset values.
E A31B - Halt requested Command not permissiblewhile Halt is requested.
Clear Halt request and repeatcommand.
E A31C - Invalid position setting with soft-ware limit switch
Value for negative (positive)software limit switch is greater(less) than value for positive(negative) software limitswitch.
Set correct position values.
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 479
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Errornumber
Errorclass
Description Cause Correctives
E A31D - Velocity range exceeded (param-eter CTRL_v_max, M_n_max)
The velocity was set to a valuegreater than the maximumpermissible velocity in param-eter CTRL_v_max orM_n_max, whichever is lower.
If the value of parameterM_n_max is greater than thevalue of parameterCTRL_v_max, increase thevalue of parameterCTRL_v_max or reduce thevelocity value.
E A31E 1 Stop by positive software limitswitch
Parameter _SigLatched Bit 2
Not possible to execute com-mand because positive soft-ware limit switch was overtrav-eled.
Return to the permissiblerange.
E A31F 1 Stop by negative software limitswitch
Parameter _SigLatched Bit 2
Not possible to execute com-mand because negative soft-ware limit switch was overtrav-eled.
Return to the permissiblerange.
E A320 par. Following error
Parameter _SigLatched Bit 8
External load or accelerationare too high.
Reduce external load or accel-eration.Use a differently rated drive, ifnecessary.Error response can be adjus-ted via parameter Error-Resp_p_dif.
E A321 - Invalid setting for RS422 positioninterface
E A322 - Error in ramp calculation
E A323 3 System error: Processing errorduring generation of profile (seeadditional info for details)
E A324 1 Error during homing (additionalinfo = detailed error number)
Parameter _SigLatched Bit 4
Homing movement was stop-ped by an error, the detailedreason is indicated by theadditional info in the error buf-fer.
Possible sub error codes:E A325, E A326, E A327, EA328 or E A329.
E A325 1 Limit switch to be approached notenabled
Parameter _SigLatched Bit 4
Homing to positive limit switchor negative limit switch is disa-bled.
Enable limit switch via 'IOsi-gLimP' or 'IOsigLimN'.
E A326 1 Reference switch not foundbetween positive limit switch andnegative limit switch
Parameter _SigLatched Bit 4
Reference switch inoperativeor not correctly connected.
Check the function and wiringof the reference switch.
E A329 1 More than one signal positive limitswitch/negative limit switch/refer-ence switch signal active
Parameter _SigLatched Bit 4
Reference switch or limitswitch not connected correctlyor supply voltage for switchestoo low.
Check the wiring and 24VDCsupply voltage.
E A32A 1 Positive limit switch triggered withnegative direction of movement
Parameter _SigLatched Bit 4
Start reference movement withnegative direction (for examplereference movement to nega-tive limit switch) and activatethe positive limit switch (switchin opposite direction of move-ment).
Check correct connection andfunction of limit switch.Activate a jog movement withnegative movement (targetlimit switch must be connectedto the negative limit switch).
9 Diagnostics and troubleshooting LXM32M
480 AC servo drive
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Errornumber
Errorclass
Description Cause Correctives
E A32B 1 Negative limit switch triggeredwith positive direction of move-ment
Parameter _SigLatched Bit 4
Start reference movement withpositive direction (for examplereference movement to posi-tive limit switch) and activatethe negative limit switch(switch in opposite direction ofmovement).
Check correct connection andfunction of limit switch.Activate a jog movement withpositive movement (target limitswitch must be connected tothe positive limit switch).
E A32C 1 Reference switch error (switchsignal briefly enabled or switchovertraveled)
Parameter _SigLatched Bit 4
Switch signal disturbance.Motor subjected to vibration orshock when stopped after acti-vation of the switch signal.
Check supply voltage, cablingand function of switch.Check motor reaction afterstopping and optimize control-ler settings.
E A32D 1 Positive limit switch error (switchsignal briefly enabled or switchovertraveled)
Parameter _SigLatched Bit 4
Switch signal disturbance.Motor subjected to vibration orshock when stopped after acti-vation of the switch signal.
Check supply voltage, cablingand function of switch.Check motor reaction afterstopping and optimize control-ler settings.
E A32E 1 Negative limit switch error (switchsignal briefly enabled or switchovertraveled)
Parameter _SigLatched Bit 4
Switch signal disturbance.Motor subjected to vibration orshock when stopped after acti-vation of the switch signal.
Check supply voltage, cablingand function of switch.Check motor reaction afterstopping and optimize control-ler settings.
E A32F 1 Index pulse not found
Parameter _SigLatched Bit 4
Index pulse signal not connec-ted or not working properly.
Check index pulse signal andconnection.
E A330 0 Reference movement to indexpulse cannot be reproduced.Index pulse is too close to theswitch
Parameter _WarnLatched Bit 4
The position differencebetween the index pulse andthe switching point is insuffi-cient.
Increase the distance betweenthe index pulse and theswitching point. If possible, thedistance between the indexpulse and the switching pointshould be a half motor revolu-tion.
E A332 1 Jog error (additional info =detailed error number)
Parameter _SigLatched Bit 4
Jog movement was stoppedby error.
For additional info, check thedetailed error number in theerror buffer.
E A333 3 System error: Invalid internalselection
E A334 2 Timeout Standstill Window moni-toring
Position deviation after move-ment greater than standstillwindow. This may have beencaused by an external load.
Check load.Check settings for standstillwindow (parameterMON_p_win, MON_p_win-Time and MON_p_winTout).Optimize controller settings.
E A336 1 System error: Jerk limitation withposition offset after end of move-ment (additional info = offset inInc.)
E A337 0 Operating mode cannot be contin-ued
Parameter _WarnLatched Bit 4
Continuation of interruptedmovement in operating modeProfile Position is not possiblebecause another operatingmode had been active in themeantime.In the operating mode MotionSequence, continuation is notpossible if a motion blend wasinterrupted.
Restart the operating mode.
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 481
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Errornumber
Errorclass
Description Cause Correctives
E A338 0 Operating mode unavailable
Parameter _WarnLatched Bit 4
The selected operating modeis not available.
E A339 0 No processing of motor encoderselected or position capture ofmotor index pulse active
Parameter _WarnLatched Bit 4
E A33A 0 Reference point is not defined(ref_ok=0)
Parameter _WarnLatched Bit 4
No reference point defined bymeans of operating modeHoming.Reference position lostbecause the movement rangehas been left.Motor does not have an abso-lute encoder.
Use operating mode Homingto define a reference point.Use a motor with an absoluteencoder.
E A33C 0 Function not available in currentoperating mode
Parameter _WarnLatched Bit 4
Activation of a function whichis not available in the currentoperating mode.Example: Start of backlashcompensation while autotun-ing/manual tuning is active.
E A33D 0 Motion blend is already active
Parameter _WarnLatched Bit 4
Change of motion blend duringthe current motion blend (endposition of motion blend notyet reached)
Wait for the motion blend tocomplete before setting thenext position.
E A33E 0 No movement activated
Parameter _WarnLatched Bit 4
Activation of a motion blendwithout movement.
Start a movement before themotion blend is activated.
E A33F 0 Position of motion blend move-ment not in the range of the activemovement
Parameter _WarnLatched Bit 4
The position of the motionblend is outside of the currentmovement range.
Check the position of themotion blend and the currentmovement range.
E A340 1 Error in operating mode MotionSequence (additional info =detailed error number)
Parameter _SigLatched Bit 4
The operating mode MotionSequence was stopped by anerror. Check the error memoryfor details on the error.
Verify the error by checkingthe additional error informa-tion.
E A341 0 Position of motion blend hasalready been passed
Parameter _WarnLatched Bit 4
The current movement haspassed beyond the position ofthe motion blend.
E A342 1 Target velocity was not reached atmotion blend position.
Parameter _SigLatched Bit 4
The position of the motionblend was overtraveled, thetarget velocity was notreached.
Reduce the ramp velocity sothat the target velocity isreached at the position of themotion blend.
E A343 0 Processing only possible with lin-ear ramp
Parameter _WarnLatched Bit 4
Motion blend position was setwith a non-linear ramp.
Set a linear ramp type.
E A344 3 Maximum position deviationbetween motor encoder andmachine encoder exceeded
Parameter _SigLatched Bit 8
Incorrect or damaged encodercable.Machine encoder not connec-ted or not supplied correctly.Different counting directions ofmotor encoder and machineencoder.Wrong setting of resolutionfactors (numerator or denomi-nator) of machine encoder.
Check encoder connection.Check parameterization ofmachine encoder.
9 Diagnostics and troubleshooting LXM32M
482 AC servo drive
0198
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Errornumber
Errorclass
Description Cause Correctives
E A347 0 Threshold for position deviationwarning reached
Parameter _WarnLatched Bit 8
External load or accelerationare too high.
Reduce external load or accel-eration.Threshold can be adjusted viathe parameterMON_p_dif_warn.
E A348 1 No analog reference value sourceselected
Parameter _SigLatched Bit 4
No analog reference valueselected
Select an analog referencevalue source.
E A349 - Position setting exceeds systemlimits
Position scaling of POSscale-Denom and POSscaleNumresults in a scaling factor thatis too small.
Change POSscaleDenom andPOSscaleNum in such a wayas to increase the resultingscaling factor.
E A34A - Velocity setting exceeds systemlimits
The velocity scaling of 'VELs-caleDenom' and 'VELscale-Num' results in a scaling factorthat is too small.The velocity has been set to avalue greater than the maxi-mum possible velocity (themaximum velocity is 13200rpm).
Change 'VELscaleDenom' and'VELscaleNum' in such a wayas to increase the resultingscaling factor.
E A34B - Ramp setting exceeds system lim-its
The ramp scaling of 'RAMPs-caleDenom' and 'RAMPscale-Num' results in a scaling factorthat is too small.
Change of 'RAMPscaleDe-nom' and 'RAMPscaleNum' insuch a way as to increase theresulting scaling factor.
E A34C - Resolution of scaling too high(range exceeded)
E A34D - The function is not possible whenModulo is active.
The function cannot be execu-ted when Modulo is active.
Deactivate Modulo to use thefunction.
E A34E - Target value for absolute move-ment not possible with definedmodulo range and modulo han-dling.
If parameter 'MOD_Absolute'is set to:Shortest Distance: Targetvalue is not in defined modulorange.Positive Direction: Targetvalue is less than parameter'MOD_Min'.Negative Direction: Targetvalue is greater than parame-ter 'MOD_Max'.
Set a correct target value forabsolute movement.
E A34F - Target position outside of modulorange. Corresponding movementwithin range performed instead.
The current setting of parame-ter 'MOD_AbsMultiRng' onlyallows for a movement withinthe modulo range.
Change the parameter'MOD_AbsMultiRng' to allowfor movements beyond themodulo range.
E A350 1 Change for jerk filter input positiontoo great
Parameter _SigLatched Bit 4
Operating mode ElectronicGear with processing method'Position synchronization withcompensation movement' hasbeen activated which resultedin a position change greaterthan 0.25 revolutions.
Deactivate jerk filter process-ing for Electronic Gear or useprocessing method 'Positionsynchronization without com-pensation movement'.
LXM32M 9 Diagnostics and troubleshooting
AC servo drive 483
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Errornumber
Errorclass
Description Cause Correctives
E A351 1 Function cannot be executed withthe current position scaling factor
Parameter _SigLatched Bit 4
The positions scaling factor isset to a value less than 1rev/131072usr_p, which is lessthan the internal resolution.In the operating mode CyclicSynchronous Position, the res-olution is not set to 1rev/131072usr_p.
Use a different position scalingfactor or deactivate the selec-ted function.
E A352 - Position list active
E A353 - Position list not sorted
E A354 - Position list does not match theconfiguration of the Modulo range
E A355 1 Error during relative movementafter capture (additional info =detailed error number)
Parameter _SigLatched Bit 4
Movement was stopped byerror.
Check the error memory or theparameter _LastError_Qual foradditional information.
E A356 0 Function Relative Movement AfterCapture not assigned to a digitalinput.
Assign the function RelativeMovement After Capture to adigital input.
E A357 - Braking procedure still active Command is not permissiblewhen a braking procedure isactive.
Wait until motor has come to acomplete standstill.
E A358 1 Target position overtraveled withfunction Relative Movement AfterCapture
Parameter _SigLatched Bit 4
Stopping distance too small orvelocity too high at the point intime of the capture event.
Reduce the velocity.
E A359 0 Request cannot be processedsince the relative movement aftercapture is still active
E A35A 1 Selected data set cannot be star-ted
Parameter _SigLatched Bit 4
The data set with the selectednumber is not available.
Check the number of availabledata sets.
E A35B 0 Modulo cannot be activated
Parameter _WarnLatched Bit 4
The set operating mode doesnot support Modulo.
E B100 0 RS485/Modbus: Unknown service
Parameter _WarnLatched Bit 5
Unsupported Modbus servicewas received.
Check application on the Mod-bus master.
E B101 1 Incorrect I/O data configuration(additional info=Modbus registeraddress)
Parameter _SigLatched Bit 21
The I/O data configuration orthe Modbus I/O scanning con-figuration contains an invalidparameter.
Check the configuration of theI/O data.
E B102 1 Fieldbus module: General error
Parameter _SigLatched Bit 21
E B103 2 Fieldbus module: Controlling com-munication channel has beenclosed
Parameter _SigLatched Bit 21
E B104 2 Fieldbus module: Internal commu-nication error
Parameter _SigLatched Bit 21
9 Diagnostics and troubleshooting LXM32M
484 AC servo drive
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Errornumber
Errorclass
Description Cause Correctives
E B105 2 Fieldbus module: I/O data timeout
Parameter _SigLatched Bit 21
E B106 2 Fieldbus module: I/O data map-ping error
Parameter _SigLatched Bit 21
E B107 4 Fieldbus module: EEPROM errorin module
Parameter _SigLatched Bit 21
E B108 1 Fieldbus module: Active IOCphysical layer does not match theIOC physical layer of the detectedfieldbus module.
Parameter _SigLatched Bit 21
The manufacturer data hasbeen stored with a physicallayer different from the physi-cal layer normally used by themodule.
Contact Technical Support.
E B120 2 Cyclic communication: Incorrectcycle time
Parameter _SigLatched Bit 21
The drive does not support theconfigured cycle time or thedifference between the meas-ured cycle time and the config-ured cycle time is too great.
Change the cycle time in themaster controller to a cycletime supported by the drive orcheck synchronization require-ments.
E B121 2 Cyclic communication: Synchroni-zation signal missing
Parameter _SigLatched Bit 21
Two cycles have passed with-out a synchronization signalhaving been received.
Analyze the communication.
E B122 2 Cyclic communication: Incorrectsynchronization
Parameter _SigLatched Bit 21
One signal was missing andexpected second signal wasreceived at an incorrect pointin time. The master controllermay be unable to provide therequired synchronization sig-nals at the current cycle time,for example, due to insufficientcomputing power.
Analyze the communication orincrease the cycle time.
E B123 2 Cyclic communication: The selec-ted cycle time tolerance is toohigh.
Parameter _SigLatched Bit 21
The cycle time tolerance maynot exceed one quarter of theset cycle time.
Enter a correct value.
E B124 0 Cyclic Communication: Drive isnot synchronous with mastercycle.
Parameter _WarnLatched Bit 21
Operating mode has beenactivated but drive is notsynchronized to external syn-chronization signal.
After having started the syn-chronization mechanism, waitfor 120 cycles before activat-ing the operating mode.
E B200 0 RS485/Modbus: Protocol error
Parameter _WarnLatched Bit 5
Logical protocol error: Wronglength or unsupported sub-function.
Check application on the Mod-bus master.
E B201 2 RS485/Modbus: Connection mon-itoring error
Parameter _SigLatched Bit 5
Connection monitoring hasdetected an interruption of theconnection.
Check all connections andcables used for dataexchange. Verify that thedevice is on.
E B202 0 RS485/Modbus: Connection mon-itoring warning
Parameter _WarnLatched Bit 5
Connection monitoring hasdetected an interruption of theconnection.
Check all connections andcables used for dataexchange. Verify that thedevice is on.
E B203 0 RS485/Modbus: Incorrect numberof monitor objects
Parameter _WarnLatched Bit 5
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Errornumber
Errorclass
Description Cause Correctives
E B312 2 Profibus: Clear command witherror response
Parameter _SigLatched Bit 21
Clear command sent by mas-ter, bus error.
Check application.
E B314 2 Profibus: Watchdog error witherror response
Parameter _SigLatched Bit 21
The bus cycle time of the Pro-fibus master is greater thanthe programmed watchdogtime.
Increase watchdog time in theProfibus master.
E B316 2 Profibus: Communication errorwith error response
Parameter _SigLatched Bit 21
System or bus error, EMC. Check Profibus connection,shield connection.
E B400 2 CANopen: NMT reset with powerstage enabled
Parameter _SigLatched Bit 21
NMT Reset command isreceived while drive is in oper-ating state Operation Enabled.
Disable the power stagebefore sending a NMT resetcommand.
E B401 2 CANopen: NMT stop with powerstage enabled
Parameter _SigLatched Bit 21
NMT Stop command isreceived while drive is in oper-ating state Operation Enabled.
Disable the power stagebefore sending a NMT Stopcommand.
E B402 0 CAN PLL active
Parameter _WarnLatched Bit 21
An attempt has been made tostart the synchronizationmechanism even though thesynchronization mechanismwas already active.
Deactivate the synchronizationmechanism.
E B403 2 Excessive Sync period deviationfrom ideal value
Parameter _SigLatched Bit 21
The period time of the SYNCsignals is not stable. The devi-ation is more than 100usec.
The SYNC signals of themotion controller must bemore accurate.
E B404 2 Sync signal error
Parameter _SigLatched Bit 21
SYNC signal missed morethan twice.
Check CAN connection, checkmotion controller.
E B405 2 Drive could not be adapted tomaster cycle
Parameter _SigLatched Bit 21
The jitter of the SYNC object istoo great or the motion busrequirements are not consid-ered.
Check the timing requirementsregarding interpolation timeperiod and number of devices.
E B406 0 Baud rate is not supported.
Parameter _WarnLatched Bit 21
The configured baud rate isnot supported.
Choose one of the followingbaud rates: 250kB, 500kB,1000kB.
E B407 0 Drive is not synchronous withmaster cycle
Parameter _WarnLatched Bit 21
The 'Cyclic SynchronousMode' cannot be activated aslong as the drive is notsynchronized.
Check motion controller. To besynchronized, the motion con-troller must cyclically sendSYNC signals.
E B500 0 DeviceNet: IO data could not beprocessed
Parameter _WarnLatched Bit 21
Error while processing I/Odata: Output data containsinvalid value.
Check output data content(application).
E B501 2 DeviceNet: Duplicate MAC ID
Parameter _SigLatched Bit 21
A device with the same MACID is found at the DeviceNetbus.
Use another MAC ID for thisdevice or for the other device.
E B502 2 DeviceNet: Receive queue over-run
Parameter _SigLatched Bit 21
E B503 2 DeviceNet: Transmit queue over-run
Parameter _SigLatched Bit 21
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Errornumber
Errorclass
Description Cause Correctives
E B504 2 DeviceNet: Error sending an I/Omessage
Parameter _SigLatched Bit 21
E B505 2 DeviceNet: CAN controller in bus-off
Parameter _SigLatched Bit 21
Too many error frames havebeen detected, CAN deviceswith different baudrates.
Check CAN bus installation.
E B506 2 DeviceNet: CAN overflow (mes-sage lost)
Parameter _SigLatched Bit 21
Two short DeviceNet mes-sages have been sent too fast.
E B507 2 DeviceNet: Reset request, changeof baudrate or MAC-ID
Parameter _SigLatched Bit 21
Master sent DeviceNet resetrequest while the power stagewas enabled.
Reset the device only whilethe power stage is disabled.
E B508 2 DeviceNet: Power supply disabled
Parameter _SigLatched Bit 21
DeviceNet bus power supplywas switched off while thepower stage was enabled.
Disable the power stagebefore switching off the Devi-ceNet master.
E B509 2 DeviceNet: Timeout explicit con-nection
Parameter _SigLatched Bit 21
E B50A 2 DeviceNet: Timeout I/O connec-tion
Parameter _SigLatched Bit 21
E B50B 2 DeviceNet: Explicit connection ter-minated while operating state wasOperation Enabled
Parameter _SigLatched Bit 21
An explicit connection was ter-minated while no I/O channelwas open and the power stagewas enabled.
If you use explicit connectionsonly, disable the power stagebefore terminating the connec-tion.
E B50C 2 DeviceNet: I/O connection termi-nated while operating state wasOperation Enabled
Parameter _SigLatched Bit 21
An I/O connection was termi-nated while the power stagewas enabled.
Disable the power stagebefore terminating the I/O con-nection.
E B600 2 Ethernet: Network overload
Parameter _SigLatched Bit 21
E B601 2 Ethernet: Loss of Ethernet carrier
Parameter _SigLatched Bit 21
E B602 2 Ethernet: Duplicate IP address
Parameter _SigLatched Bit 21
E B603 2 Ethernet: No valid IP address
Parameter _SigLatched Bit 21
E B604 0 Ethernet: DHCP/BOOTP
Parameter _WarnLatched Bit 21
IP assignment via DHCP/BOOTP unsuccessfull. Effortwas given up after 2 minutes.
Set up a properly workingDHCP or BOOTP server orassign the IP address man-ually.
E B605 2 Ethernet FDR: Unconfigured error
Parameter _SigLatched Bit 21
E B606 2 Ethernet FDR: Irrecoverable error
Parameter _SigLatched Bit 21
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Errornumber
Errorclass
Description Cause Correctives
E B607 2 Ethernet: I/O data idle
Parameter _SigLatched Bit 21
PLC has been stopped, butI/O data keeps being transmit-ted.
Disable power stage of con-nected drives before stoppingthe PLC.
E B610 2 EtherCAT: Fieldbus watchdogerror (additional info = detailederror number)
Parameter _SigLatched Bit 21
EtherCAT frames are lost, forexample, due to cable errorsor master errors.
Verify correct cabling andshield connection. Check diag-nostics info of EtherCAT mas-ter.
E B611 2 EtherCAT: Invalid I/O data (addi-tional info = detailed error num-ber)
Parameter _SigLatched Bit 21
Incorrect input data or outputdata (such as object length,object type)
Check for correct PDO config-uration (length, objects, etc.).
E B612 2 EtherCAT: Link lost at input andoutput port
Parameter _SigLatched Bit 21
EtherCAT cable error. Link toconnected devices lost.
Check link LEDs. Checkcables and verify that the devi-ces connected to input portand output port operate. UseEtherCAT master diagnosticsfor further troubleshooting.
E B700 0 Drive Profile Lexium: On activa-tion of the profile, no dmControl,refA or refB has been mapped.
dmControl, refA or refB havenot been mapped.
dmControl, refA or refB mustbe mapped.
E B702 1 Insufficient velocity resolution dueto velocity scaling
Due to the configured velocityscaling, the velocity resolutionin REFA16 is insufficient.
Change the velocity scaling.
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10 Parameters
This chapter provides an overview of the parameters which can beused for operating the product.
In addition, special parameters for communication via the fieldbus aredescribed in the corresponding fieldbus manual.
WARNINGUNINTENDED BEHAVIOR CAUSED BY PARAMETERS
Unsuitable parameter values may trigger unintended movements orsignals, damage parts and disable monitoring functions.
• Never change a parameter unless you understand its meaning.• Only start the system if there are no persons or obstructions in
the hazardous area.• When commissioning, carefully run tests for all operating states
and potential error situations.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
LXM32M 10 Parameters
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10.1 Representation of the parameters
The way parameters are shown provides information required forunique identification, the default values and the properties of a param-eter.
Structure of the parameter representation:
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ABCDEConF → inF-
Prn
Short description (cross reference)
Selection values1 / Abc1 / ABC1 : Explanation 12 / Abc2 / ABC2 : Explanation 2
Description and details
Apk 0.003.00300.00
UINT32R/Wper.-
Fieldbus 1234:5h
Parameter name The parameter name uniquely identifies a parameter.
HMI menu HMI menu shows the sequence of menus and commands to accessthe parameter via the HMI.
Description
Short description (cross reference)The short description contains information on the parameter and across reference to the page that describes the use of the parameter.
Selection values:In the case of parameters which offer a selection of settings, the valueto be entered via the fieldbus and the designation of the value forentry via the commissioning software and the HMI are specified.1 = Value for input via fieldbusAbc1 = Designation for entry via the commissioning softwareABC1 = Designation for entry via the HMI
Further description and detailsProvides further information on the parameter.
Unit The unit of the value.
Minimum value The minimum value which can be entered.
Factory setting Factory settings when the product is shipped
Maximum value The maximum value which can be entered.
Data type If the minimum and the maximum values are not explicitly indicated,the valid range of values is determined by the data type.
Data type Byte Minumum value Maximum valueINT8 1 Byte / 8 Bit -128 127
UINT8 1 Byte / 8 Bit 0 255
INT16 2 Byte / 16 Bit -32768 32767
UINT16 2 Byte / 16 Bit 0 65535
INT32 4 Byte / 32 Bit -2147483648 2147483647
UINT32 4 Byte / 32 Bit 0 4294967295
R/W Indicates read and/or write values
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"R/" values can only be read"R/W" values can be read and written.
Persistent "per." indicates whether the value of the parameter is persistent, i.e.whether it remains in the memory after the device is switched off .
When a value is entered via the HMI, the device stores the value ofthe parameter automatically each time it is changed.
When changing a value via commissioning software or fieldbus, theuser must explicitly store the changed value in the persistent memory.
NOTE: Parameters for the safety module eSM are modified using thecommissioning software. The parameter values are saved persistentlyafter transfer. Explicit saving to the persistent memory is not requiredin the case of the eSM module.
10.1.1 Decimal numbers for fieldbus
Entering values Please note that parameter values are entered via the fieldbus withouta decimal point. All decimal places must be entered.
Input examples:
Value Commissioning software Fieldbus20 20 20
5.0 5.0 50
23.57 23.57 2357
1.000 1.000 1000
LXM32M 10 Parameters
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10.2 List of parameters
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_AccessInfo Current access channel
Low byte:Value 0: Used by channel in high byteValue 1: Exclusively used by channel inhigh byte
High byte: Current assignment of accesschannelValue 0: ReservedValue 1: I/OValue 2: HMIValue 3: Modbus RS485Value 4: Fieldbus main channelValues 5 ... 12: Modbus TCP, CANopensecond SDO or Profibus master class 2Values 13 ... 28: Ethenet/IP explicit chan-nels
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3001:Ch Modbus 280Profibus 280CIP 101.1.12
_actionStatus Action word
Signal state:0: Not activated1: Activated
Bit assignments:Bit 0: Warning (error class 0)Bit 1: Error class 1Bit 2: Error class 2Bit 3: Error class 3Bit 4: Error class 4Bit 5: ReservedBit 6: Motor is at a standstill (_n_act < 9)Bit 7: Motor movement in positive directionBit 8: Motor movement in negative directionBit 9: Assignment can be set via parameterDPL_intLimBit 10: Assignment can be set via parameterDS402intLimBit 11: Profile generator idle (referencevelocity is 0)Bit 12: Profile generator deceleratesBit 13: Profile generator acceleratesBit 14: Profile generator moves at constantspeedBit 15: Reserved
----
UINT16UINT16UINT16UINT16 R/---
CANopen 301C:4h Modbus 7176Profibus 7176CIP 128.1.4
_AT_J Moment of inertia of the entire system (187)
Is automatically calculated during Autotun-ing.
In increments of 0.1 kg cm2.
kg cm2 0.10.16553.5
UINT16UINT16UINT16UINT16 R/-per.-
CANopen 302F:Ch Modbus 12056Profibus 12056CIP 147.1.12
_AT_M_friction Friction torque of the system (187)
Is determined during Autotuning.
In increments of 0.01 Arms.
Arms ---
UINT16UINT16UINT16UINT16 R/---
CANopen 302F:7h Modbus 12046Profibus 12046CIP 147.1.7
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_AT_M_load Constant load torque (187)
Is determined during Autotuning.
In increments of 0.01 Arms.
Arms ---
INT16INT16INT16INT16 R/---
CANopen 302F:8h Modbus 12048Profibus 12048CIP 147.1.8
_AT_progress Progress of Autotuning (186) %00100
UINT16UINT16UINT16UINT16 R/---
CANopen 302F:Bh Modbus 12054Profibus 12054CIP 147.1.11
_AT_state Autotuning status (186)
Bit assignments:Bits 0 ... 10: Last processing stepBit 13: auto_tune_processBit 14: auto_tune_endBit 15: auto_tune_err
----
UINT16UINT16UINT16UINT16 R/---
CANopen 302F:2h Modbus 12036Profibus 12036CIP 147.1.2
_CanDiag CANopen diagnosis word
0001h: pms read error for TxPdo0002h: pms write error for RxPdo10004h: pms write error for RxPdo20008h: pms write error for RxPdo30010h: pms write error for RxPdo40020h: heartbeat or lifeguard error (timerexpired)0040h: heartbeat msg with wrong statereceived0080h: CAN warning level set0100h: CAN message lost0200h: CAN busoff0400h: software queue rx/tx overrun0800h: error indication from last error
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3041:6h Modbus 16652Profibus 16652CIP 165.1.6
_Cap1CntFall Capture input 1 event counter at fallingedges (385)
Counts the capture events at falling edges.The event counter is reset when captureinput 1 is activated.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:2Ch Modbus 2648Profibus 2648CIP 110.1.44
_Cap1CntRise Capture input 1 event counter at risingedges (385)
Counts the capture events at rising edges.The event counter is reset when captureinput 1 is activated.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:2Bh Modbus 2646Profibus 2646CIP 110.1.43
_Cap1Count Capture input 1 event counter
Counts the capture events. The event counter is reset when captureinput 1 is activated.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:8h Modbus 2576Profibus 2576CIP 110.1.8
LXM32M 10 Parameters
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_Cap1CountCons Capture input 1 event counter (consis-tent) (381)
Counts the capture events. The event counter is reset when captureinput 1 is activated.By reading this parameter, the parameter"_Cap1PosCons" is updated and locked soit cannot be changed. Both parameter val-ues remain consistent.
Available with firmware version ≥V01.12.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:17h Modbus 2606Profibus 2606CIP 110.1.23
_Cap1Pos Capture input 1 captured position
Captured position at the time of the "capturesignal".The captured position is re-calculated after"Position Setting" or "Reference Movement".
usr_p---
INT32INT32INT32INT32 R/---
CANopen 300A:6h Modbus 2572Profibus 2572CIP 110.1.6
_Cap1PosCons Capture input 1 captured position (consis-tent) (381)
Captured position at the time of the "capturesignal".The captured position is re-calculated after"Position Setting" or "Reference Movement".By reading the parameter "_Cap1Count-Cons", this parameter is updated and lockedso it cannot be changed. Both parametervalues remain consistent.
Available with firmware version ≥V01.12.
usr_p---
INT32INT32INT32INT32 R/---
CANopen 300A:18h Modbus 2608Profibus 2608CIP 110.1.24
_Cap1PosFallEdge
Capture input 1 captured position at fallingedge (385)
This parameter contains the position cap-tured at the point in time a falling edge wasdetected.The captured position is recalculated after"Position Setting" or "Reference Movement".
usr_p---
INT32INT32INT32INT32 R/---
CANopen 60BB:0h Modbus 2636Profibus 2636CIP 110.1.38
_Cap1PosRisEdge
Capture input 1 captured position at risingedge (385)
This parameter contains the position cap-tured at the point in time a rising edge wasdetected.The captured position is recalculated after"Position Setting" or "Reference Movement".
usr_p---
INT32INT32INT32INT32 R/---
CANopen 60BA:0h Modbus 2634Profibus 2634CIP 110.1.37
_Cap2CntFall Capture input 2 event counter at fallingedges (385)
Counts the capture events at falling edges.The event counter is reset when captureinput 2 is activated.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:2Eh Modbus 2652Profibus 2652CIP 110.1.46
_Cap2CntRise Capture input 2 event counter at risingedges (385)
Counts the capture events at rising edges.The event counter is reset when captureinput 2 is activated.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:2Dh Modbus 2650Profibus 2650CIP 110.1.45
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_Cap2Count Capture input 2 event counter
Counts the capture events. The event counter is reset when captureinput 2 is activated.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:9h Modbus 2578Profibus 2578CIP 110.1.9
_Cap2CountCons Capture input 2 event counter (consis-tent) (381)
Counts the capture events. The event counter is reset when captureinput 2 is activated.By reading this parameter, the parameter"_Cap2PosCons" is updated and locked soit cannot be changed. Both parameter val-ues remain consistent.
Available with firmware version ≥V01.12.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:19h Modbus 2610Profibus 2610CIP 110.1.25
_Cap2Pos Capture input 2 captured position
Captured position at the time of the "capturesignal".The captured position is re-calculated after"Position Setting" or "Reference Movement".
usr_p---
INT32INT32INT32INT32 R/---
CANopen 300A:7h Modbus 2574Profibus 2574CIP 110.1.7
_Cap2PosCons Capture input 2 captured position (consis-tent) (381)
Captured position at the time of the "capturesignal".The captured position is re-calculated after"Position Setting" or "Reference Movement".By reading the parameter "_Cap2Count-Cons", this parameter is updated and lockedso it cannot be changed. Both parametervalues remain consistent.
Available with firmware version ≥V01.12.
usr_p---
INT32INT32INT32INT32 R/---
CANopen 300A:1Ah Modbus 2612Profibus 2612CIP 110.1.26
_Cap2PosFallEdge
Capture input 2 captured position at fallingedge (385)
This parameter contains the position cap-tured at the point in time a falling edge wasdetected.The captured position is recalculated after"Position Setting" or "Reference Movement".
usr_p---
INT32INT32INT32INT32 R/---
CANopen 60BD:0h Modbus 2640Profibus 2640CIP 110.1.40
_Cap2PosRisEdge
Capture input 2 captured position at risingedge (385)
This parameter contains the position cap-tured at the point in time a rising edge wasdetected.The captured position is recalculated after"Position Setting" or "Reference Movement".
usr_p---
INT32INT32INT32INT32 R/---
CANopen 60BC:0h Modbus 2638Profibus 2638CIP 110.1.39
_Cap3Count Capture input 3 event counter
Counts the capture events. The event counter is reset when captureinput 3 is activated.
Available with hardware version ≥RS03.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:14h Modbus 2600Profibus 2600CIP 110.1.20
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_Cap3CountCons Capture input 3 event counter (consis-tent) (382)
Counts the capture events. The event counter is reset when captureinput 3 is activated.By reading this parameter, the parameter"_Cap3PosCons" is updated and locked soit cannot be changed. Both parameter val-ues remain consistent.
Available with hardware version ≥RS03.
Available with firmware version ≥V01.12.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:1Bh Modbus 2614Profibus 2614CIP 110.1.27
_Cap3Pos Capture input 3 captured position
Captured position at the time of the "capturesignal".The captured position is re-calculated after"Position Setting" or "Reference Movement".
Available with hardware version ≥RS03.
usr_p---
INT32INT32INT32INT32 R/---
CANopen 300A:13h Modbus 2598Profibus 2598CIP 110.1.19
_Cap3PosCons Capture input 3 captured position (consis-tent) (381)
Captured position at the time of the "capturesignal".The captured position is re-calculated after"Position Setting" or "Reference Movement".By reading the parameter "_Cap3Count-Cons", this parameter is updated and lockedso it cannot be changed. Both parametervalues remain consistent.
Available with hardware version ≥RS03.
Available with firmware version ≥V01.12.
usr_p---
INT32INT32INT32INT32 R/---
CANopen 300A:1Ch Modbus 2616Profibus 2616CIP 110.1.28
_CapEventCounters
Capture inputs 1 and 2 summary of eventcounters (386)
This parameter contains the counted cap-ture events.
Bits 0...3: _Cap1CntRise (lowest 4 bits)Bits 4...7: _Cap1CntFall (lowest 4 bits)Bits 8...11: _Cap2CntRise (lowest 4 bits)Bits 12...15: _Cap2CntFall (lowest 4 bits)
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:2Fh Modbus 2654Profibus 2654CIP 110.1.47
_CapStatus Status of the capture inputs (379)
Read access:Bit 0: Position captured via input CAP1Bit 1: Position captured via input CAP2Bit 2: Position captured via input CAP3
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300A:1h Modbus 2562Profibus 2562CIP 110.1.1
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_Cond_State4 Conditions for transition to operating stateReady To Switch On
Signal state:0: Condition not met1: Condition met
Bit 0: DC bus or mains voltageBit 1: Inputs for safety functionBit 2: No configuration download ongoingBit 3: Velocity greater than limit valueBit 4: Absolut position has been setBit 5: Holding brake not manually released
----
UINT16UINT16UINT16UINT16 R/---
CANopen 301C:26h Modbus 7244Profibus 7244CIP 128.1.38
_CTRL_ActParSet
Active controller parameter set (159)
Value 1: Controller parameter set 1 is activeValue 2: Controller parameter set 2 is active
A controller parameter set is active after thetime for the parameter switching(CTRL_ParChgTime) has elapsed.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3011:17h Modbus 4398Profibus 4398CIP 117.1.23
_CTRL_KPid Current controller d component P gain
This value is calculated on the basis of themotor parameters.
In increments of 0.1 V/A.
Changed settings become active immedi-ately.
V/A0.5-1270.0
UINT16UINT16UINT16UINT16 R/-per.-
CANopen 3011:1h Modbus 4354Profibus 4354CIP 117.1.1
_CTRL_KPiq Current controller q component P gain
This value is calculated on the basis of themotor parameters.
In increments of 0.1 V/A.
Changed settings become active immedi-ately.
V/A0.5-1270.0
UINT16UINT16UINT16UINT16 R/-per.-
CANopen 3011:3h Modbus 4358Profibus 4358CIP 117.1.3
_CTRL_TNid Current controller d component integralaction time
This value is calculated on the basis of themotor parameters.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.13-327.67
UINT16UINT16UINT16UINT16 R/-per.-
CANopen 3011:2h Modbus 4356Profibus 4356CIP 117.1.2
_CTRL_TNiq Current controller q component integralaction time
This value is calculated on the basis of themotor parameters.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.13-327.67
UINT16UINT16UINT16UINT16 R/-per.-
CANopen 3011:4h Modbus 4360Profibus 4360CIP 117.1.4
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_DataError Error code for synchronous errors (DE bit)
Drive Profile Lexium:Manufacturer-specific error code thatcaused the DataError bit to be set.Usually, this is an error that was caused bythe changing of an data value within theprocess data. The DataError bit relates toMT-independent parameters.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 301B:1Bh Modbus 6966Profibus 6966CIP 127.1.27
_DataErrorInfo Additional error information of a DataError(DE bit)
Drive Profile Lexium:Indicates the parameter of the mapping thatcaused the DE bit to be set. The DE bit isset if MT-independent parameters of thecurrent mapping cause an error in connec-tion with a write command.
Example:1 = First mapped parameter2 = Second mapped parameteretc.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 301B:1Dh Modbus 6970Profibus 6970CIP 127.1.29
_DCOMopmd_act Active operating mode
-6 / Manual Tuning / Autotuning: ManualTuning / Autotuning-3 / Motion Sequence: Motion Sequence-2 / Electronic Gear: Electronic Gear-1 / Jog: Jog0 / Reserved: Reserved1 / Profile Position: Profile Position3 / Profile Velocity: Profile Velocity4 / Profile Torque: Profile Torque6 / Homing: Homing7 / Interpolated Position: InterpolatedPosition8 / Cyclic Synchronous Position: CyclicSynchronous Position9 / Cyclic Synchronous Velocity: CyclicSynchronous Velocity10 / Cyclic Synchronous Torque: CyclicSynchronous Torque
--6-10
INT8INT16INT16INT16 R/---
CANopen 6061:0h Modbus 6920Profibus 6920CIP 127.1.4
_DCOMstatus DriveCom status word (358)
Bit assignments:Bit 0: Ready To Switch OnBit 1: Switched OnBit 2: Operation EnabledBit 3: FaultBit 4: Voltage EnabledBit 5: Quick StopBit 6: Switch On DisabledBit 7: WarningBit 8: HALT request activeBit 9: RemoteBit 10: Target ReachedBit 11: Internal Limit ActiveBit 12: Operating mode-specificBit 13: x_errBit 14: x_endBit 15: ref_ok
----
UINT16UINT16UINT16UINT16 R/---
CANopen 6041:0h Modbus 6916Profibus 6916CIP 127.1.2
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_DEV_T_currentMon
tdEV
Current device temperature °C---
INT16INT16INT16INT16 R/---
CANopen 301C:12h Modbus 7204Profibus 7204CIP 128.1.18
_DPL_BitShiftRefA16
Bit shift for RefA16 for Drive Profile Lexium
Velocity scaling may lead to values thatcannot be represented as 16 bit values. IfRefA16 is used, this parameter indicates thenumber of bits by which the value is shiftedso that transmission is possible. The mastermust consider this value prior to transmis-sion and shift the bits to the right accord-ingly. The number of bits is recalculatedeach time the power stage is enabled.
Changed settings become active immedi-ately.
-0012
UINT16UINT16UINT16UINT16 R/---
CANopen 301B:5h Modbus 6922Profibus 6922CIP 127.1.5
_DPL_driveInput
Drive Profile Lexium driveInput ----
UINT16UINT16UINT16UINT16 R/---
CANopen 301B:28h Modbus 6992Profibus 6992CIP 127.1.40
_DPL_driveStat Drive Profile Lexium driveStat ----
UINT16UINT16UINT16UINT16 R/---
CANopen 301B:25h Modbus 6986Profibus 6986CIP 127.1.37
_DPL_mfStat Drive Profile Lexium mfStat ----
UINT16UINT16UINT16UINT16 R/---
CANopen 301B:26h Modbus 6988Profibus 6988CIP 127.1.38
_DPL_motionStat
Drive Profile Lexium motionStat ----
UINT16UINT16UINT16UINT16 R/---
CANopen 301B:27h Modbus 6990Profibus 6990CIP 127.1.39
_ECATaddressConF → CoM-
EcAA
Actual EtherCAT address
Currently used EtherCAT slave address setby the master.
Changed settings become active immedi-ately.
--1-
UINT16UINT16UINT16UINT16 R/---
CANopen 3045:7h Modbus 17678Profibus 17678CIP 169.1.7
LXM32M 10 Parameters
AC servo drive 499
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_ECATslavestateConF → CoM-
EcSS
EtherCAT slave state
1 / Init / init : Init2 / PreOp / ProP : Pre-Operational3 / Boot / boot : Bootstrap4 / SafeOp / SFoP : Safe-Operational8 / Op / oP : Operational
--1-
UINT16UINT16UINT16UINT16 R/---
CANopen 3045:2h Modbus 17668Profibus 17668CIP 169.1.2
_ERR_class Error class (438)
Value 0: Warning (no response)Value 1: Error class 1Value 2: Error class 2Value 3: Error class 3Value 4: Error class 4
-0-4
UINT16UINT16UINT16UINT16 R/---
CANopen 303C:2h Modbus 15364Profibus 15364CIP 160.1.2
_ERR_DCbus DC bus voltage at error time (439)
In increments of 0.1 V.
V---
UINT16UINT16UINT16UINT16 R/---
CANopen 303C:7h Modbus 15374Profibus 15374CIP 160.1.7
_ERR_enable_cycl
Number of cycles of enabling the powerstage at error time (439)
Number of cycles of enabling the powerstage from the time the power supply (con-trol voltage) was switched on to the time theerror occurred.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 303C:5h Modbus 15370Profibus 15370CIP 160.1.5
_ERR_enable_time
Time between enabling of power stage andoccurrence of the error (439)
s---
UINT16UINT16UINT16UINT16 R/---
CANopen 303C:6h Modbus 15372Profibus 15372CIP 160.1.6
_ERR_motor_I Motor current at error time (438)
In increments of 0.01 Arms.
Arms ---
UINT16UINT16UINT16UINT16 R/---
CANopen 303C:9h Modbus 15378Profibus 15378CIP 160.1.9
_ERR_motor_v Motor velocity at error time (439) usr_v---
INT32INT32INT32INT32 R/---
CANopen 303C:8h Modbus 15376Profibus 15376CIP 160.1.8
10 Parameters LXM32M
500 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_ERR_number Error number (438)
Reading this parameter copies the entireerror entry (error class, time of occurrenceof error, ...) to an intermediate memory fromwhich the elements of the error can then beread.
In addition, the read pointer of the errormemory is automatically set to the nexterror entry.
-0-65535
UINT16UINT16UINT16UINT16 R/---
CANopen 303C:1h Modbus 15362Profibus 15362CIP 160.1.1
_ERR_powerOnMon
PoWo
Number of power on cycles (438) -0-4294967295
UINT32UINT32UINT32UINT32 R/---
CANopen 303B:2h Modbus 15108Profibus 15108CIP 159.1.2
_ERR_qual Error additional information (438)
This entry contains additional information onthe error, depending on the error number. Example: a parameter address
-0-65535
UINT16UINT16UINT16UINT16 R/---
CANopen 303C:4h Modbus 15368Profibus 15368CIP 160.1.4
_ERR_temp_dev Temperature of device at error time (438) °C---
INT16INT16INT16INT16 R/---
CANopen 303C:Bh Modbus 15382Profibus 15382CIP 160.1.11
_ERR_temp_ps Temperature of power stage at errortime (438)
°C---
INT16INT16INT16INT16 R/---
CANopen 303C:Ah Modbus 15380Profibus 15380CIP 160.1.10
_ERR_time Error time (439)
With reference to operating hours counter
s0-536870911
UINT32UINT32UINT32UINT32 R/---
CANopen 303C:3h Modbus 15366Profibus 15366CIP 160.1.3
_ErrNumFbParSvc
Last error number of fieldbus parameterservices
Some fieldbus types only provide generalerror codes if a request for a parameterservice is not successful. This parameterreturns the vendor-specific error number ofthe last unsuccessful service.
CANopen: SDO serviceEtherCAT: CoE SDO serviceEtherNet/IP: CIP explicit message serviceDeviceNet: CIP explicit message serviceModbus TCP: FC3, FC16
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3040:43h Modbus 16518Profibus 16518CIP 164.1.67
LXM32M 10 Parameters
AC servo drive 501
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_eSM_functMon
SMoP
eSM function
Active eSM function
Value 0: Safe Torque Off (STO)Value 1: No motion monitoring activeValue 2: Safe Operating Stop (SOS)Value 3: Safely Limited Speed (SLS)Value 4: ReservedValue 5: Safe Stop 1 (SS1)Value 6: Safe Stop 2 (SS2)Value 7: Safe Operating Stop (SOS) aftererrorValue 8: Safely Limited Speed (SLS) inmachine operating mode Automatic Mode
If bit 15 of the value is set: GUARD_ACKwas triggered
Available with firmware version ≥V01.01.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 304C:17h Modbus 19502Profibus 19502CIP 176.1.23
_eSM_LI_act eSM digital inputs channel B
Signal state:0: 0 level1: 1 level
Bit assignments:Bit 0: /ESTOP_BBit 1: GUARD_BBit 3: SETUPMODE_BBit 4: SETUPENABLE_BBit 6: GUARD_ACKBit 8: ESMSTARTBit 9: /INTERLOCK_IN
Available with firmware version ≥V01.01.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 304C:12h Modbus 19492Profibus 19492CIP 176.1.18
_eSM_LI_mask eSM digital inputs channel B mask
Mask of active digital inputs
0: Digital input is not active1: Digital input is active
Bit assignments:See digital inputs channel.
Available with firmware version ≥V01.01.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 304C:13h Modbus 19494Profibus 19494CIP 176.1.19
_eSM_LO_act eSM digital outputs channel B
Signal state:0: 0 level1: 1 level
Bit assignments:Bit 0: CCM24V_OUT_BBit 1: Drive operating state 6 OperationEnabled (B)Bit 2: RELAY_OUT_BBit 3: AUXOUT2Bit 4: /INTERLOCK_OUTBits 5 ... 15: Reserved
Available with firmware version ≥V01.01.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 304C:14h Modbus 19496Profibus 19496CIP 176.1.20
10 Parameters LXM32M
502 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_eSM_stateMon
SMSt
eSM state
0 / eSM module missing / MiSS : eSMmodule missing1 / Start / Strt : Start2 / Not Ready To Switch On / nrdy : NotReady To Switch On3 / Switch On Disabled / diS : Switch OnDisabled4 / Ready To Switch On / rdy : Ready ToSwitch On6 / Operation Enabled / run : OperationEnabled7 / Quick Stop / qStP : Quick Stop8 / Fault Reaction Active / FLt : FaultReaction Active9 / Fault / FLt : Fault
Status word of eSM state machine
Available with firmware version ≥V01.01.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 304C:16h Modbus 19500Profibus 19500CIP 176.1.22
_eSMVer eSM revision of firmware
Revision of firmware:Bits 0 ... 7: Firmware evolution (dec)Bits 8 ... 15: Firmware minor revision (dec)Bits 16 ... 23: Firmware major revision (dec)Bits 24 ... 31: Reserved
Available with firmware version ≥V01.01.
----
UINT32UINT32UINT32UINT32 R/---
CANopen 304C:Fh Modbus 19486Profibus 19486CIP 176.1.15
_EthFdrError FDR last error code
0 / No error: No error2 / Not compatible: Configuration not com-patible with drive3 / Server read error: Error reading file onserver4 / Server connection error: Unable toconnect to server12 / Server file missing: FDR file missingon server13 / Copy to drive error: Error copying filefrom server to drive14 / Invalid configuration: Current driveconfiguration is invalid
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:46h Modbus 17548Profibus 17548CIP 168.1.70
_EthFdrStatus FDR status
0 / Not initialized: Not initialized1 / Initialization: Initialization2 / IP assignment: IP assignment3 / Ready: Ready4 / Operational: Operational5 / Unconfigured: Unconfigured6 / Irrecoverable: Irrecoverable
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:45h Modbus 17546Profibus 17546CIP 168.1.69
_EthIPFdr1 Current IP address FDR server, byte 1 -00255
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:3Ch Modbus 17528Profibus 17528CIP 168.1.60
LXM32M 10 Parameters
AC servo drive 503
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_EthIPFdr2 Current IP address FDR server, byte 2 -00255
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:3Dh Modbus 17530Profibus 17530CIP 168.1.61
_EthIPFdr3 Current IP address FDR server, byte 3 -00255
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:3Eh Modbus 17532Profibus 17532CIP 168.1.62
_EthIPFdr4 Current IP address FDR server, byte 4 -00255
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:3Fh Modbus 17534Profibus 17534CIP 168.1.63
_EthIPgateAct1 Current IP address gateway, byte 1
Byte 1 (x.0.0.0) of the IP address of thegateway.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:1Bh Modbus 17462Profibus 17462CIP 168.1.27
_EthIPgateAct2 Current IP address gateway, byte 2 ----
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:1Ch Modbus 17464Profibus 17464CIP 168.1.28
_EthIPgateAct3 Current IP address gateway, byte 3 ----
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:1Dh Modbus 17466Profibus 17466CIP 168.1.29
_EthIPgateAct4 Current IP address gateway, byte 4 ----
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:1Eh Modbus 17468Profibus 17468CIP 168.1.30
_EthIPmaskAct1 Current IP address subnet mask, byte 1
Byte 1 (x.0.0.0) of the IP address of the sub-net mask.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:17h Modbus 17454Profibus 17454CIP 168.1.23
10 Parameters LXM32M
504 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_EthIPmaskAct2 Current IP address subnet mask, byte 2 ----
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:18h Modbus 17456Profibus 17456CIP 168.1.24
_EthIPmaskAct3 Current IP address subnet mask, byte 3 ----
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:19h Modbus 17458Profibus 17458CIP 168.1.25
_EthIPmaskAct4 Current IP address subnet mask, byte 4 ----
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:1Ah Modbus 17460Profibus 17460CIP 168.1.26
_EthIPmoduleAct1ConF → CoM-
iPA1
Current IP address Ethernet module, byte 1
Byte 1 (x.0.0.0) of the IP address of theEthernet module.
-00255
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:13h Modbus 17446Profibus 17446CIP 168.1.19
_EthIPmoduleAct2ConF → CoM-
iPA2
Current IP address Ethernet module, byte 2 -00255
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:14h Modbus 17448Profibus 17448CIP 168.1.20
_EthIPmoduleAct3ConF → CoM-
iPA3
Current IP address Ethernet module, byte 3 -00255
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:15h Modbus 17450Profibus 17450CIP 168.1.21
_EthIPmoduleAct4ConF → CoM-
iPA4
Current IP address Ethernet module, byte 4 -00255
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:16h Modbus 17452Profibus 17452CIP 168.1.22
_EthMAC1 MAC address Ethernet module, byte 1 ----
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:1Fh Modbus 17470Profibus 17470CIP 168.1.31
LXM32M 10 Parameters
AC servo drive 505
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_EthMAC2 MAC address Ethernet module, byte 2 ----
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:20h Modbus 17472Profibus 17472CIP 168.1.32
_EthMAC3 MAC address Ethernet module, byte 3 ----
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:21h Modbus 17474Profibus 17474CIP 168.1.33
_EthMAC4 MAC address Ethernet module, byte 4 ----
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:22h Modbus 17476Profibus 17476CIP 168.1.34
_EthMAC5 MAC address Ethernet module, byte 5 ----
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:23h Modbus 17478Profibus 17478CIP 168.1.35
_EthMAC6 MAC address Ethernet module, byte 6 ----
UINT16UINT16UINT16UINT16 R/---
CANopen 3044:24h Modbus 17480Profibus 17480CIP 168.1.36
_fwNoSlot1 Firmware number of slot 1
Example: PR0912.00The value is provided as a decimal value:91200.NOTE: If no module is installed, the value 0is returned.
----
UINT32UINT32UINT32UINT32 R/---
CANopen 3002:17h Modbus 558Profibus 558CIP 102.1.23
_fwNoSlot2 Firmware number of slot 2
Example: PR0912.00The value is provided as a decimal value:91200.NOTE: If no module is installed, the value 0is returned.
----
UINT32UINT32UINT32UINT32 R/---
CANopen 3002:1Ch Modbus 568Profibus 568CIP 102.1.28
_fwNoSlot3 Firmware number of slot 3
Example: PR0912.00The value is provided as a decimal value:91200.NOTE: If no module is installed, the value 0is returned.
----
UINT32UINT32UINT32UINT32 R/---
CANopen 3002:21h Modbus 578Profibus 578CIP 102.1.33
10 Parameters LXM32M
506 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_fwRevSlot1 Firmware revision of slot 1
The version format is XX.YY.ZZ.Part XX.YY is contained in parameter_fwVerSlot1.Part ZZ is used for quality evolution andcontained in this parameter.NOTE: If no module is installed, the value 0is returned.
Example: V01.23.45The value is provided as a decimal value:45
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3002:19h Modbus 562Profibus 562CIP 102.1.25
_fwRevSlot2 Firmware revision of slot 2
The version format is XX.YY.ZZ.Part XX.YY is contained in parameter_fwVersSlot2.Part ZZ is used for quality evolution andcontained in this parameter.NOTE: If no module is installed, the value 0is returned.
Example: V01.23.45The value is provided as a decimal value:45
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3002:1Eh Modbus 572Profibus 572CIP 102.1.30
_fwRevSlot3 Firmware revision of slot 3
The version format is XX.YY.ZZ.Part XX.YY is contained in parameter_fwVerSlot3.Part ZZ is used for quality evolution andcontained in this parameter.NOTE: If no module is installed, the value 0is returned.
Example: V01.23.45The value is provided as a decimal value:45
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3002:23h Modbus 582Profibus 582CIP 102.1.35
_fwVersSlot1 Firmware version of slot 1
The version format is XX.YY.ZZ.Part XX.YY is contained in this parameter.Part ZZ is contained in parameter _fwRev-Slot1.NOTE: If no module is installed, the value 0is returned.
Example: V01.23.45The value is provided as a decimal value:123
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3002:18h Modbus 560Profibus 560CIP 102.1.24
LXM32M 10 Parameters
AC servo drive 507
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_fwVersSlot2 Firmware version of slot 2
The version format is XX.YY.ZZ.Part XX.YY is contained in this parameter.Part ZZ is contained in parameter _fwRev-Slot2.NOTE: If no module is installed, the value 0is returned.
Example: V01.23.45The value is provided as a decimal value:123
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3002:1Dh Modbus 570Profibus 570CIP 102.1.29
_fwVersSlot3 Firmware version of slot 3
The version format is XX.YY.ZZ.Part XX.YY is contained in this parameter.Part ZZ is contained in parameter _fwRev-Slot3.NOTE: If no module is installed, the value 0is returned.
Example: V01.23.45The value is provided as a decimal value:123
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3002:22h Modbus 580Profibus 580CIP 102.1.34
_GEAR_p_diff Current position deviation in operating modeElectronic Gear
Current position deviation between refer-ence position and actual position with themethods "Position Synchronization WithoutCompensation Movement" and "PositionSynchronization With Compensation Move-ment".A position deviation can be caused by amovement in a blocked direction (parameterGEARdir_enabl) or by a velocity limitation(parameter GEARpos_v_max).
Available with firmware version ≥V01.10.
Inc---
INT32INT32INT32INT32 R/---
CANopen 301F:Dh Modbus 7962Profibus 7962CIP 131.1.13
_HMdisREFtoIDX_usr
Distance from switching point to indexpulse (273)
It allows to check the distance between theindex pulse and the switching point andserves as a criterion for determiningwhether the reference movement with indexpulse can be reproduced.
Available with firmware version ≥V01.03.
usr_p-2147483648-2147483647
INT32INT32INT32INT32 R/---
CANopen 3028:Fh Modbus 10270Profibus 10270CIP 140.1.15
_HMdisREFtoIDX Distance from switching point to indexpulse (273)
It allows to check the distance between theindex pulse and the switching point andserves as a criterion for determiningwhether the reference movement with indexpulse can be reproduced.
The parameter _HMdisREFtoIDX_usrallows you to enter the value in user-definedunits.
In increments of 0.0001 revolution.
revolution---
INT32INT32INT32INT32 R/---
CANopen 3028:Ch Modbus 10264Profibus 10264CIP 140.1.12
10 Parameters LXM32M
508 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_I_actMon
iAct
Total motor current
In increments of 0.01 Arms.
Arms ---
INT16INT16INT16INT16 R/---
CANopen 301E:3h Modbus 7686Profibus 7686CIP 130.1.3
_Id_act_rms Actual motor current (d component, fieldweakening)
In increments of 0.01 Arms.
Arms ---
INT16INT16INT16INT16 R/---
CANopen 301E:2h Modbus 7684Profibus 7684CIP 130.1.2
_Id_ref_rms Reference motor current (d component, fieldweakening)
In increments of 0.01 Arms.
Arms ---
INT16INT16INT16INT16 R/---
CANopen 301E:11h Modbus 7714Profibus 7714CIP 130.1.17
_Imax_act Currently effective current limitation
Value of the currently effective current limi-tation. This is one of the following values(whichever is lowest):- CTRL_I_max (only during normal opera-tion)- LIM_I_maxQSTP (only during Quick Stop)- LIM_I_maxHalt (only during Halt)- Current limitation via digital input- _M_I_max (only if motor is connected)- _PS_I_maxLimitations caused by I2t monitoring arealso taken into account.
In increments of 0.01 Arms.
Arms ---
UINT16UINT16UINT16UINT16 R/---
CANopen 301C:28h Modbus 7248Profibus 7248CIP 128.1.40
_Imax_system Current limitation of the system
This parameter specifies the maximum sys-tem current. This is the lower value of themaximum motor current and the maximumpower stage current. If no motor is connec-ted, only the maximum power stage currentis considered in this parameter.
In increments of 0.01 Arms.
Arms ---
UINT16UINT16UINT16UINT16 R/---
CANopen 301C:27h Modbus 7246Profibus 7246CIP 128.1.39
_Inc_ENC2Raw Actual raw increment value of encoder 2
This parameter is only needed for commis-sioning of encoder 2 in case of an unknownmachine encoder resolution.
Available with firmware version ≥V01.01.
EncInc---
INT32INT32INT32INT32 R/---
CANopen 301E:25h Modbus 7754Profibus 7754CIP 130.1.37
_InvalidParam Modbus address of parameter with invalidvalue
In case of a configuration error, the Modbusaddress of the parameter with an invalidvalue is indicated here.
--0-
UINT16UINT16UINT16UINT16 R/---
CANopen 301C:6h Modbus 7180Profibus 7180CIP 128.1.6
LXM32M 10 Parameters
AC servo drive 509
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_IO_act Physical status of the digital inputs and out-puts (164)
Low byte:Bit 0: DI0Bit 1: DI1Bit 2: DI2Bit 3: DI3Bit 4: DI4Bit 5: DI5
High byte:Bit 8: DQ0Bit 9: DQ1Bit 10: DQ2
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3008:1h Modbus 2050Profibus 2050CIP 108.1.1
_IO_DI_actMon
diMo
Status of digital inputs (164)
Bit assignments:Bit 0: DI0Bit 1: DI1Bit 2: DI2Bit 3: DI3Bit 4: DI4Bit 5: DI5
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3008:Fh Modbus 2078Profibus 2078CIP 108.1.15
_IO_DQ_actMon
doMo
Status of digital outputs (164)
Bit assignments:Bit 0: DQ0Bit 1: DQ1Bit 2: DQ2
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3008:10h Modbus 2080Profibus 2080CIP 108.1.16
_IO_STO_actMon
Sto
Status of the inputs for the safety functionSTO (164)
Coding of the individual signals:Bit 0: STO_ABit 1: STO_B
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3008:26h Modbus 2124Profibus 2124CIP 108.1.38
_IOdataMtoS01 I/O parameter data Master to Slave -parameter 01
Actual data of the cyclic communicationbetween the master and slave.This parameter contains the data of the firstparameter mapped from the master to theslave.The parameters _IOdataMtoS02 to _IOda-taMtoS16 contain the data of the remainingmapped parameters.
-0FFFFFFFFh4294967295
UINT32UINT32UINT32UINT32 R/---
CANopen 3040:1h Modbus 16386Profibus 16386CIP 164.1.1
_IOdataStoM01 I/O parameter data Slave to Master -parameter 01
Actual data of the cyclic communicationbetween the master and slave.This parameter contains the data of the firstparameter mapped from the slave to themaster.The parameters _IOdataStoM02 to _IOda-taStoM16 contain the data of the remainingmapped parameters.
-0FFFFFFFFh4294967295
UINT32UINT32UINT32UINT32 R/---
CANopen 3040:21h Modbus 16450Profibus 16450CIP 164.1.33
10 Parameters LXM32M
510 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_IOM1_AI11_actMon
An11
IOM1 Value of input voltage of AI11
Available with firmware version ≥V01.06.
mV-10000-10000
INT16INT16INT16INT16 R/---
CANopen 304F:1h Modbus 20226Profibus 20226CIP 179.1.1
_IOM1_AI12_actMon
An12
IOM1 Value of input voltage of AI12
Available with firmware version ≥V01.06.
mV-10000-10000
INT16INT16INT16INT16 R/---
CANopen 304F:5h Modbus 20234Profibus 20234CIP 179.1.5
_IOM1_AQ11_refMon
Ao11
IOM1 Value of AQ11
Unit depends on setting in parameterIOM1_AQ_mode.
If setting is 'Voltage':Unit: mV
If setting is 'Current':Unit: µA
Available with firmware version ≥V01.06.
--10000-20000
INT16INT16INT16INT16 R/---
CANopen 304F:27h Modbus 20302Profibus 20302CIP 179.1.39
_IOM1_AQ12_refMon
Ao12
IOM1 Value of AQ12
Unit depends on setting in parameterIOM1_AQ_mode.
If setting is 'Voltage':Unit: mV
If setting is 'Current':Unit: µA
Available with firmware version ≥V01.06.
--10000-20000
INT16INT16INT16INT16 R/---
CANopen 304F:31h Modbus 20322Profibus 20322CIP 179.1.49
_IOM1_DI_actMon
di1X
IOM1 Status of digital inputs
Bit assignments:Bit 0: DI10Bit 1: DI11Bit 2: DI12Bit 3: DI13
Available with firmware version ≥V01.06.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 304F:35h Modbus 20330Profibus 20330CIP 179.1.53
_IOM1_DQ_actMon
do1X
IOM1 Status of digital outputs
Bit assignments:Bit 0: DQ10Bit 1: DQ11
Available with firmware version ≥V01.06.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 304F:36h Modbus 20332Profibus 20332CIP 179.1.54
LXM32M 10 Parameters
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_IOmappingMtoS01
I/O parameter mapping Master to Slave -parameter 01
Actual mapping of the cyclic communicationbetween the master and slave.This parameter contains the mapping of thefirst parameter mapped from the master tothe slave.The parameters _IOmappingMtoS02 to_IOmappingMtoS16 contain the mapping ofthe remaining mapped parameters.
-0FFFFh65535
UINT16UINT16UINT16UINT16 R/---
CANopen 3040:11h Modbus 16418Profibus 16418CIP 164.1.17
_IOmappingStoM01
I/O parameter mapping Slave to Master -parameter 01
Actual mapping of the cyclic communicationbetween the master and slave.This parameter contains the mapping of thefirst parameter mapped from the slave tothe master.The parameters _IOmappingStoM02 to_IOmappingStoM16 contain the mapping ofthe remaining mapped parameters.
-0FFFFh65535
UINT16UINT16UINT16UINT16 R/---
CANopen 3040:31h Modbus 16482Profibus 16482CIP 164.1.49
_Iq_act_rmsMon
qAct
Actual motor current (q component, gener-ating torque)
In increments of 0.01 Arms.
Arms ---
INT16INT16INT16INT16 R/---
CANopen 301E:1h Modbus 7682Profibus 7682CIP 130.1.1
_Iq_ref_rmsMon
qrEF
Reference motor current (q component,generating torque)
In increments of 0.01 Arms.
Arms ---
INT16INT16INT16INT16 R/---
CANopen 301E:10h Modbus 7712Profibus 7712CIP 130.1.16
_LastError_Qual
Additional info of last error
This parameter contains additional informa-tion on the last error, depending on the errornumber. For example: a parameter address.
--0-
UINT16UINT16UINT16UINT16 R/---
CANopen 301C:1Fh Modbus 7230Profibus 7230CIP 128.1.31
_LastErrorMon
LFLt
Error causing a stop (error classes 1 to 4)
Number of the current error. Any consequ-tive errors do not overwrite this error num-ber.
Example: If a limit switch error reactioncaused an overvoltage error, this parameterwould contain the number of the limit switcherror.
Exception: Errors of error class 4 overwriteexisting entries.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 603F:0h Modbus 7178Profibus 7178CIP 128.1.5
10 Parameters LXM32M
512 AC servo drive
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_LastWarningMon
LWrn
Number of last warning (error class 0)
Number of the most recent warning.If the warning becomes inactive again, thenumber is memorized until the next faultreset.Value 0: No warning occurred
----
UINT16UINT16UINT16UINT16 R/---
CANopen 301C:9h Modbus 7186Profibus 7186CIP 128.1.9
_M_BRK_T_apply Holding brake application time ms---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:21h Modbus 3394Profibus 3394CIP 113.1.33
_M_BRK_T_release
Holding brake release time ms---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:22h Modbus 3396Profibus 3396CIP 113.1.34
_M_EncoderConF → inF-
SEnS
Encoder type of motor
1 / SinCos With HiFa / SWhi : SinCos withHiperface2 / SinCos Without HiFa / SWoh : SinCoswithout Hiperface3 / SinCos With Hall / SWhA : SinCos withHall4 / SinCos With EnDat / SWEn : SinCos withEnDat5 / EnDat Without SinCos / EndA : EnDatwithout SinCos6 / Resolver / rESo : Resolver7 / Hall / hALL : Hall (not supported yet)8 / BISS / biSS : BISS
High byte:Value 0: Rotary encoderValue 1: Linear encoder
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:3h Modbus 3334Profibus 3334CIP 113.1.3
_M_HoldingBrake
Holding brake identification
Value 0: Motor without holding brakeValue 1: Motor with holding brake
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:20h Modbus 3392Profibus 3392CIP 113.1.32
_M_I_0 Continuous stall current of motor
In increments of 0.01 Arms.
Arms ---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:13h Modbus 3366Profibus 3366CIP 113.1.19
LXM32M 10 Parameters
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_M_I_maxConF → inF-
MiMA
Maximum current of motor
In increments of 0.01 Arms.
Arms ---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:6h Modbus 3340Profibus 3340CIP 113.1.6
_M_I_nomConF → inF-
Mino
Nominal current of motor
In increments of 0.01 Arms.
Arms ---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:7h Modbus 3342Profibus 3342CIP 113.1.7
_M_I2t Maximum permissible time for maximumcurrent of motor
ms---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:11h Modbus 3362Profibus 3362CIP 113.1.17
_M_Jrot Moment of inertia of motor
Units:Rotary motors: kgcm2 Linear motors: kg
In increments of 0.001 motor_f.
motor_f---
UINT32UINT32UINT32UINT32 R/---
CANopen 300D:Ch Modbus 3352Profibus 3352CIP 113.1.12
_M_kE Voltage constant kE of motor
Voltage constant in Vrms at 1000 min-1.
Units:Rotary motors: Vrms/min-1 Linear motors: Vrms/(m/s)
In increments of 0.1 motor_u.
motor_u---
UINT32UINT32UINT32UINT32 R/---
CANopen 300D:Bh Modbus 3350Profibus 3350CIP 113.1.11
_M_L_d Inductance d component of motor
In increments of 0.01 mH.
mH---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:Fh Modbus 3358Profibus 3358CIP 113.1.15
_M_L_q Inductance q component of motor
In increments of 0.01 mH.
mH---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:Eh Modbus 3356Profibus 3356CIP 113.1.14
_M_loadMon
LdFM
Current load of motor (423) %---
INT16INT16INT16INT16 R/---
CANopen 301C:1Ah Modbus 7220Profibus 7220CIP 128.1.26
10 Parameters LXM32M
514 AC servo drive
0198
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_M_M_0 Continuous stall torque of motor
A value of 100 % in operating mode ProfileTorque corresponds to this parameter.
Units:Rotary motors: NcmLinear motors: N
motor_m---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:16h Modbus 3372Profibus 3372CIP 113.1.22
_M_M_max Maximum torque of motor
In increments of 0.1 Nm.
Nm---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:9h Modbus 3346Profibus 3346CIP 113.1.9
_M_M_nom Nominal torque/force of motor
Units:Rotary motors: NcmLinear motors: N
motor_m---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:8h Modbus 3344Profibus 3344CIP 113.1.8
_M_maxoverload Maximum value of overload of motor (424)
Maximum overload of motor during the last10 seconds.
%---
INT16INT16INT16INT16 R/---
CANopen 301C:1Bh Modbus 7222Profibus 7222CIP 128.1.27
_M_n_maxConF → inF-
MnMA
Maximum permissible speed of rotation/velocity of motor
Units:Rotary motors: min-1 Linear motors: mm/s
motor_v---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:4h Modbus 3336Profibus 3336CIP 113.1.4
_M_n_nom Nominal speed of rotation/velocity of motor
Units:Rotary motors: min-1 Linear motors: mm/s
motor_v---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:5h Modbus 3338Profibus 3338CIP 113.1.5
_M_overload Current overload of motor (I2t) (424) %---
INT16INT16INT16INT16 R/---
CANopen 301C:19h Modbus 7218Profibus 7218CIP 128.1.25
_M_Polepair Number of pole pairs of motor ----
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:14h Modbus 3368Profibus 3368CIP 113.1.20
LXM32M 10 Parameters
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_M_PolePairPitch
Pole pair pitch of motor
In increments of 0.01 mm.
Available with firmware version ≥V01.01.
mm---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:23h Modbus 3398Profibus 3398CIP 113.1.35
_M_R_UV Winding resistance of motor
In increments of 0.01 Ω.
Ω ---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:Dh Modbus 3354Profibus 3354CIP 113.1.13
_M_T_current Current motor temperature (422) °C---
INT16INT16INT16INT16 R/---
CANopen 301C:11h Modbus 7202Profibus 7202CIP 128.1.17
_M_T_max Maximum temperature of motor (422) °C---
INT16INT16INT16INT16 R/---
CANopen 300D:10h Modbus 3360Profibus 3360CIP 113.1.16
_M_TypeConF → inF-
MtyP
Motor type
Value 0: No motor selectedValue >0: Connected motor type
----
UINT32UINT32UINT32UINT32 R/---
CANopen 300D:2h Modbus 3332Profibus 3332CIP 113.1.2
_M_U_max Maximum voltage of motor
In increments of 0.1 V.
V---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:19h Modbus 3378Profibus 3378CIP 113.1.25
_M_U_nom Nominal voltage of motor
In increments of 0.1 V.
V---
UINT16UINT16UINT16UINT16 R/---
CANopen 300D:Ah Modbus 3348Profibus 3348CIP 113.1.10
_ManuSdoAbort CANopen Manufacturer-specific SDO AbortCode
Provides more detailed information on ageneral SDO Abort Code (0800 0000).
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3041:Ah Modbus 16660Profibus 16660CIP 165.1.10
10 Parameters LXM32M
516 AC servo drive
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_ModeError Error code for synchronous errors (ME bit)
Drive Profile Lexium:Manufacturer-specific error code thatcaused the ModeError bit to be set.Usually, this is an error that was caused bythe activation of an operating mode. TheModeError bit relates to MT-dependentparameters.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 301B:19h Modbus 6962Profibus 6962CIP 127.1.25
_ModeErrorInfo Additional error information of a ModeError(ME bit)
Drive Profile Lexium:Indicates the parameter of the mapping thatcaused the ME bit to be set. The ME bit isset if MT-dependent parameters of the cur-rent mapping cause an error in connectionwith a write command.
Example:1 = First mapped parameter2 = Second mapped parameteretc.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 301B:1Ch Modbus 6968Profibus 6968CIP 127.1.28
_MSM_avail_ds Number of available data sets
Number of data sets that are available.
Changed settings become active immedi-ately.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 302D:Fh Modbus 11550Profibus 11550CIP 145.1.15
_MSM_error_field
Field of the data set in which an error hasbeen detected (291)
Value -1: No errorValue 0: Data set typeValue 1: Setting AValue 2: Setting BValue 3: Setting CValue 4: Setting DValue 5: Transition typeValue 6: Subsequent data setValue 7: Transition condition 1Value 8: Transition value 1Value 9: Logical operatorValue 10: Transition condition 2Value 11: Transition value 2
Changed settings become active immedi-ately.
Available with firmware version ≥V01.09.
--1-111
INT16INT16INT16INT16 R/---
CANopen 302D:Eh Modbus 11548Profibus 11548CIP 145.1.14
_MSM_error_num Number of the data set in which an errorhas been detected (291)
Value -1: No errorWert 0 ... 127: Number of the data set inwhich an error has been detected.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.09.
--1-1127
INT16INT16INT16INT16 R/---
CANopen 302D:Dh Modbus 11546Profibus 11546CIP 145.1.13
LXM32M 10 Parameters
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_MSM_used_data_sets
Number of data sets used
Any data set whose data set type is notequal to 'None' is counted as a used dataset.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.16.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 302D:1Fh Modbus 11582Profibus 11582CIP 145.1.31
_MSMactNum Current data set number
Value -1: Operating mode is inactive or nodata set is triggeredValues 0 ... 31: Number of the current dataset
Changed settings become active immedi-ately.
--1-1127
INT16INT16INT16INT16 R/---
CANopen 302D:6h Modbus 11532Profibus 11532CIP 145.1.6
_MSMnextNum Next data set to be triggered
Value -1: Operating mode is inactive or nodata set is selectedValues 0 ... 31: Number of the next data set
Changed settings become active immedi-ately.
--1-1127
INT16INT16INT16INT16 R/---
CANopen 302D:7h Modbus 11534Profibus 11534CIP 145.1.7
_MSMNumFinish Number of data set that was active when amovement was interrupted (291)
When a movement is interrupted, the num-ber of the data set that was being pro-cessed at the point in time of the interrup-tion is contained in this parameter.
Changed settings become active immedi-ately.
--1-1127
INT16INT16INT16INT16 R/---
CANopen 302D:Bh Modbus 11542Profibus 11542CIP 145.1.11
_n_act_ENC1 Actual speed of rotation of encoder 1
Available with firmware version ≥V01.01.
min-1 ---
INT16INT16INT16INT16 R/---
CANopen 301E:28h Modbus 7760Profibus 7760CIP 130.1.40
_n_act_ENC2 Actual speed of rotation of encoder 2 (mod-ule)
min-1 ---
INT16INT16INT16INT16 R/---
CANopen 301E:1Eh Modbus 7740Profibus 7740CIP 130.1.30
_n_actMon
nAct
Actual speed of rotation min-1 ---
INT16INT16INT16INT16 R/---
CANopen 301E:8h Modbus 7696Profibus 7696CIP 130.1.8
10 Parameters LXM32M
518 AC servo drive
0198
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2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_n_refMon
nrEF
Reference speed of rotation min-1 ---
INT16INT16INT16INT16 R/---
CANopen 301E:7h Modbus 7694Profibus 7694CIP 130.1.7
_OFSp_act Actual offset position Inc---
INT32INT32INT32INT32 R/---
CANopen 3027:Ch Modbus 10008Profibus 10008CIP 139.1.12
_OpHoursMon
oPh
Operating hours counter s---
UINT32UINT32UINT32UINT32 R/---
CANopen 301C:Ah Modbus 7188Profibus 7188CIP 128.1.10
_p_absENCMon
PAMu
Absolute position with reference to theencoder range (174)
This value corresponds to the modulo posi-tion of the absolute encoder range.The value is no longer valid if the gear ratioof machine encoder and motor encoder ischanged. A restart is required in such acase.
usr_p---
UINT32UINT32UINT32UINT32 R/---
CANopen 301E:Fh Modbus 7710Profibus 7710CIP 130.1.15
_p_absmodulo Absolute position with reference to internalresolution in internal units
This value is based on encoder raw positionwith reference to internal resolution (131072Inc).
Inc---
UINT32UINT32UINT32UINT32 R/---
CANopen 301E:Eh Modbus 7708Profibus 7708CIP 130.1.14
_p_act_ENC1_int
Actual position of encoder 1 in internal units
Available with firmware version ≥V01.01.
Inc---
INT32INT32INT32INT32 R/---
CANopen 301E:26h Modbus 7756Profibus 7756CIP 130.1.38
_p_act_ENC2_int
Actual position of encoder 2 (module) ininternal units
Inc---
INT32INT32INT32INT32 R/---
CANopen 301E:19h Modbus 7730Profibus 7730CIP 130.1.25
_p_act_ENC1 Actual position of encoder 1
Available with firmware version ≥V01.01.
usr_p---
INT32INT32INT32INT32 R/---
CANopen 301E:27h Modbus 7758Profibus 7758CIP 130.1.39
LXM32M 10 Parameters
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_p_act_ENC2 Actual position of encoder 2 (module) usr_p---
INT32INT32INT32INT32 R/---
CANopen 301E:1Ah Modbus 7732Profibus 7732CIP 130.1.26
_p_act_int Actual position in internal units Inc---
INT32INT32INT32INT32 R/---
CANopen 6063:0h Modbus 7700Profibus 7700CIP 130.1.10
_p_act Actual position (266) usr_p---
INT32INT32INT32INT32 R/---
CANopen 6064:0h Modbus 7706Profibus 7706CIP 130.1.13
_p_addGEAR Initial position electronic gear
When Electronic Gear is inactive, the refer-ence position for the position controller canbe determined here. This position is setwhen Electronic Gear is activated with theselection of 'Synchronization with compen-sation movement'.
Inc---
INT32INT32INT32INT32 R/---
CANopen 301F:3h Modbus 7942Profibus 7942CIP 131.1.3
_p_dif_load_peak_usr
Maximum value of the load-dependent posi-tion deviation (398)
This parameter contains the maximum load-dependent position deviation reached sofar. A write access resets this value.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.03.
usr_p0-2147483647
INT32INT32INT32INT32 R/W--
CANopen 301E:15h Modbus 7722Profibus 7722CIP 130.1.21
_p_dif_load_peak
Maximum value of the load-dependent posi-tion deviation (398)
This parameter contains the maximum load-dependent position deviation reached sofar. A write access resets this value.
The parameter _p_dif_load_peak_usrallows you to enter the value in user-definedunits..
In increments of 0.0001 revolution.
Changed settings become active immedi-ately.
revolution0.0000-429496.7295
UINT32UINT32UINT32UINT32 R/W--
CANopen 301E:1Bh Modbus 7734Profibus 7734CIP 130.1.27
10 Parameters LXM32M
520 AC servo drive
0198
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2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_p_dif_load_usr
Current load-dependent position deviationbetween reference and actual position (397)
The load-dependent position deviation is thedifference between the reference positionand the actual position caused by the load.This value is used for following error moni-toring.
Available with firmware version ≥V01.03.
usr_p-2147483648-2147483647
INT32INT32INT32INT32 R/---
CANopen 301E:16h Modbus 7724Profibus 7724CIP 130.1.22
_p_dif_load Current load-dependent position deviationbetween reference and actual position (397)
The load-dependent position deviation is thedifference between the reference positionand the actual position caused by the load.This value is used for following error moni-toring.
The parameter _p_dif_load_usr allows youto enter the value in user-defined units.
In increments of 0.0001 revolution.
revolution-214748.3648-214748.3647
INT32INT32INT32INT32 R/---
CANopen 301E:1Ch Modbus 7736Profibus 7736CIP 130.1.28
_p_dif_usr Current position deviation including dynamicposition deviation
Position deviation is the difference betweenreference position and actual position. Thecurrent position deviation consists of theload-dependent position deviation and thedynamic position deviation.
Available with firmware version ≥V01.03.
usr_p-2147483648-2147483647
INT32INT32INT32INT32 R/---
CANopen 301E:14h Modbus 7720Profibus 7720CIP 130.1.20
_p_dif Current position deviation including dynamicposition deviation
Position deviation is the difference betweenreference position and actual position. Thecurrent position deviation consists of theload-dependent position deviation and thedynamic position deviation.
The parameter _p_dif_usr allows you toenter the value in user-defined units.
In increments of 0.0001 revolution.
revolution-214748.3648-214748.3647
INT32INT32INT32INT32 R/---
CANopen 60F4:0h Modbus 7716Profibus 7716CIP 130.1.18
_p_DifENC1toENC2
Current deviation of encoder positions
Available with firmware version ≥V01.01.
Inc---
INT32INT32INT32INT32 R/---
CANopen 301E:18h Modbus 7728Profibus 7728CIP 130.1.24
_p_PTI_act Actual position at PTI interface
Counted position increments at PTI inter-face.
Inc-2147483648-2147483647
INT32INT32INT32INT32 R/---
CANopen 3008:5h Modbus 2058Profibus 2058CIP 108.1.5
LXM32M 10 Parameters
AC servo drive 521
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2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_p_ref_int Reference position in internal units
Value corresponds to the reference positionof the position controller.
Inc---
INT32INT32INT32INT32 R/---
CANopen 301E:9h Modbus 7698Profibus 7698CIP 130.1.9
_p_ref Reference position
Value corresponds to the reference positionof the position controller.
usr_p---
INT32INT32INT32INT32 R/---
CANopen 301E:Ch Modbus 7704Profibus 7704CIP 130.1.12
_PAR_ScalingError
Additional information on error during recal-culation
Coding:Bits 0 ... 15: Address of the parameter thatcaused the errorBits 16 ... 31: Number of the data set in theoperating mode Motion Sequence thatcaused the error
Changed settings become active immedi-ately.
Available with firmware version ≥V01.03.
----
UINT32UINT32UINT32UINT32 R/---
CANopen 3004:16h Modbus 1068Profibus 1068CIP 104.1.22
_PAR_ScalingState
Status of recalculation of the parameterswith user-defined units
0 / Recalculation active: Recalculationactive1 / reserved (1): reserved (1)2 / Recalculation finished - no error:Recalculation finished, no error3 / Error during recalculation: Error duringrecalculation4 / Initialization successful: Initializationsuccessful5 / reserved (5): reserved (5)6 / reserved (6): reserved (6)7 / reserved (7): reserved (7)
Status of recalculation of the parameterswith user-defined units which are recalcula-ted with a changed scaling factor.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.03.
-027
UINT16UINT16UINT16UINT16 R/---
CANopen 3004:15h Modbus 1066Profibus 1066CIP 104.1.21
10 Parameters LXM32M
522 AC servo drive
0198
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2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_PBbaudConF → inF-
Pbbd
Profibus baud rate
0 / None / nonE : No connection28 / 9.6 kBaud / 9.6 : 9.6 kBaud32 / 19.2 kBaud / 19.2 : 19.2 kBaud42 / 93.75 kBaud / 93.7 : 93.75 kBaud54 / 187.5 kBaud / 187 : 187.5 kBaud68 / 500 kBaud / 500 : 500 kBaud80 / 1500 kBaud / 1500 : 1500 kBaud82 / 3000 kBaud / 3000 : 3000 kBaud83 / 6000 kBaud / 6000 : 6000 kBaud88 / 12000 kBaud / 12Mb : 12000 kBaud
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3043:4h Modbus 17160Profibus 17160CIP 167.1.4
_PBprofileConF → inF-
PbPr
Profibus drive profile
0 / None / nonE : No connection1 / Profidrive Telegram 1 / Pd_1 : Profi-drive standard telegram 1 (not yet suppor-ted)2 / Profidrive Telegram 2 / Pd_2 : Profi-drive standard telegram 2 (not yet suppor-ted)7 / Profidrive Telegram 7 / Pd_7 : Profi-drive standard telegram 7 (not yet suppor-ted)9 / Profidrive Telegram 9 / Pd_9 : Profi-drive standard telegram 9 (not yet suppor-ted)103 / Profidrive Manufact / Pd_M : Profi-drive manufacturer-specific (not yet suppor-ted)104 / Drive Profile Lexium 1 / dPL1 : DriveProfile Lexium telegram 1 (library)105 / Drive Profile Lexium 2 / dPL2 : DriveProfile Lexium telegram 2
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3043:3h Modbus 17158Profibus 17158CIP 167.1.3
_PosRegStatus Status of the position register chan-nels (405)
Signal state:0: Comparison criterion not met1: Comparison criterion met
Bit assignments:Bit 0: State of position register channel 1Bit 1: State of position register channel 2Bit 2: State of position register channel 3Bit 3: State of position register channel 4
----
UINT16UINT16UINT16UINT16 R/---
CANopen 300B:1h Modbus 2818Profibus 2818CIP 111.1.1
_Power_act Current output power W---
INT32INT32INT32INT32 R/---
CANopen 301C:Dh Modbus 7194Profibus 7194CIP 128.1.13
LXM32M 10 Parameters
AC servo drive 523
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_Power_mean Mean output power W---
UINT16UINT16UINT16UINT16 R/---
CANopen 301C:Eh Modbus 7196Profibus 7196CIP 128.1.14
_pref_acc Acceleration of reference value for accelera-tion feed-forward control
Sign according to the changed speed value:
Increased speed: Positive signReduced speed: Negative sign
usr_a---
INT32INT32INT32INT32 R/---
CANopen 301F:9h Modbus 7954Profibus 7954CIP 131.1.9
_pref_v Velocity of reference value for velocity feed-forward control
usr_v---
INT32INT32INT32INT32 R/---
CANopen 301F:7h Modbus 7950Profibus 7950CIP 131.1.7
_prgNoDEVConF → inF-
Prn
Firmware number of device
Example: PR0912.00The value is provided as a decimal value:91200
----
UINT32UINT32UINT32UINT32 R/---
CANopen 3001:1h Modbus 258Profibus 258CIP 101.1.1
_prgRevDEVConF → inF-
Prr
Firmware revision of device
The version format is XX.YY.ZZ.Part XX.YY is contained in parameter_prgVerDEV.Part ZZ is used for quality evolution andcontained in this parameter.
Example: V01.23.45The value is provided as a decimal value:45
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3001:4h Modbus 264Profibus 264CIP 101.1.4
_prgVerDEVConF → inF-
PrV
Firmware version of device
The version format is XX.YY.ZZ.Part XX.YY is contained in this parameter.Part ZZ is contained in parameter _prgRev-DEV.
Example: V01.23.45The value is provided as a decimal value:123
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3001:2h Modbus 260Profibus 260CIP 101.1.2
_PS_I_maxConF → inF-
PiMA
Maximum current of power stage
In increments of 0.01 Arms.
Arms ---
UINT16UINT16UINT16UINT16 R/-per.-
CANopen 3010:2h Modbus 4100Profibus 4100CIP 116.1.2
10 Parameters LXM32M
524 AC servo drive
0198
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_PS_I_nomConF → inF-
Pino
Nominal current of power stage
In increments of 0.01 Arms.
Arms ---
UINT16UINT16UINT16UINT16 R/-per.-
CANopen 3010:1h Modbus 4098Profibus 4098CIP 116.1.1
_PS_loadMon
LdFP
Current load of power stage (423) %---
INT16INT16INT16INT16 R/---
CANopen 301C:17h Modbus 7214Profibus 7214CIP 128.1.23
_PS_maxoverload
Maximum value of overload of powerstage (424)
Maximum overload of power stage duringthe last 10 seconds.
%---
INT16INT16INT16INT16 R/---
CANopen 301C:18h Modbus 7216Profibus 7216CIP 128.1.24
_PS_overload_cte
Current overload of power stage (chip tem-perature)
%---
INT16INT16INT16INT16 R/---
CANopen 301C:22h Modbus 7236Profibus 7236CIP 128.1.34
_PS_overload_I2t
Current overload of power stage (I2t) %---
INT16INT16INT16INT16 R/---
CANopen 301C:16h Modbus 7212Profibus 7212CIP 128.1.22
_PS_overload_psq
Current overload of power stage (powersquared)
%---
INT16INT16INT16INT16 R/---
CANopen 301C:23h Modbus 7238Profibus 7238CIP 128.1.35
_PS_overload Current overload of power stage (424) %---
INT16INT16INT16INT16 R/---
CANopen 301C:24h Modbus 7240Profibus 7240CIP 128.1.36
_PS_T_currentMon
tPS
Current power stage temperature (421) °C---
INT16INT16INT16INT16 R/---
CANopen 301C:10h Modbus 7200Profibus 7200CIP 128.1.16
LXM32M 10 Parameters
AC servo drive 525
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_PS_T_max Maximum power stage temperature (421) °C---
INT16INT16INT16INT16 R/-per.-
CANopen 3010:7h Modbus 4110Profibus 4110CIP 116.1.7
_PS_T_warn Temperature warning threshold of powerstage (421)
°C---
INT16INT16INT16INT16 R/-per.-
CANopen 3010:6h Modbus 4108Profibus 4108CIP 116.1.6
_PS_U_maxDC Maximum permissible DC bus voltage
In increments of 0.1 V.
V---
UINT16UINT16UINT16UINT16 R/-per.-
CANopen 3010:3h Modbus 4102Profibus 4102CIP 116.1.3
_PS_U_minDC Minimum permissible DC bus voltage
In increments of 0.1 V.
V---
UINT16UINT16UINT16UINT16 R/-per.-
CANopen 3010:4h Modbus 4104Profibus 4104CIP 116.1.4
_PS_U_minStopDC
DC bus voltage low threshold for Quick Stop
If the threshold is reached, the drive per-forms a Quick Stop.
In increments of 0.1 V.
V---
UINT16UINT16UINT16UINT16 R/-per.-
CANopen 3010:Ah Modbus 4116Profibus 4116CIP 116.1.10
_PT_max_val Maximum possible value for operating modeProfile Torque
100.0 % correspond to the continuous stalltorque _M_M_0.
In increments of 0.1 %.
%---
INT16INT16INT16INT16 R/---
CANopen 301C:1Eh Modbus 7228Profibus 7228CIP 128.1.30
_RAMP_p_act Actual position of profile generator usr_p---
INT32INT32INT32INT32 R/---
CANopen 301F:2h Modbus 7940Profibus 7940CIP 131.1.2
_RAMP_p_target Target position of profile generator
Absolute position value of the profile gener-ator, calculated on the basis of the relativeand absolute position values received.
usr_p---
INT32INT32INT32INT32 R/---
CANopen 301F:1h Modbus 7938Profibus 7938CIP 131.1.1
10 Parameters LXM32M
526 AC servo drive
0198
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2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_RAMP_v_act Actual velocity of profile generator usr_v---
INT32INT32INT32INT32 R/---
CANopen 606B:0h Modbus 7948Profibus 7948CIP 131.1.6
_RAMP_v_target Target velocity of profile generator usr_v---
INT32INT32INT32INT32 R/---
CANopen 301F:5h Modbus 7946Profibus 7946CIP 131.1.5
_RES_loadMon
LdFb
Current load of braking resistor (423)
The braking resistor set via parameter RES-int_ext is monitored.
%---
INT16INT16INT16INT16 R/---
CANopen 301C:14h Modbus 7208Profibus 7208CIP 128.1.20
_RES_maxoverload
Maximum value of overload of braking resis-tor (424)
Maximum overload of braking resistor dur-ing the last 10 seconds.The braking resistor set via parameter RES-int_ext is monitored.
%---
INT16INT16INT16INT16 R/---
CANopen 301C:15h Modbus 7210Profibus 7210CIP 128.1.21
_RES_overload Current overload of braking resistor(I2t) (424)
The braking resistor set via parameter RES-int_ext is monitored.
%---
INT16INT16INT16INT16 R/---
CANopen 301C:13h Modbus 7206Profibus 7206CIP 128.1.19
_RESint_P Nominal power of internal braking resistor W---
UINT16UINT16UINT16UINT16 R/-per.-
CANopen 3010:9h Modbus 4114Profibus 4114CIP 116.1.9
_RESint_R Resistance value of internal braking resistor
In increments of 0.01 Ω.
Ω ---
UINT16UINT16UINT16UINT16 R/-per.-
CANopen 3010:8h Modbus 4112Profibus 4112CIP 116.1.8
LXM32M 10 Parameters
AC servo drive 527
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_RMAC_DetailStatus
Detailed status of relative movement aftercapture (RMAC) (388)
0 / Not Activated: Not activated1 / Waiting: Waiting for capture signal2 / Moving: Relative movement after cap-ture running3 / Interrupted: Relative movement aftercapture interrupted4 / Finished: Relative movement after cap-ture terminated
Available with firmware version ≥V01.16.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3023:12h Modbus 8996Profibus 8996CIP 135.1.18
_RMAC_Status Status of relative movement after cap-ture (388)
0 / Not Active: Not active1 / Active Or Finished: Relative movementafter capture is active or finished
Available with firmware version ≥V01.10.
-0-1
UINT16UINT16UINT16UINT16 R/---
CANopen 3023:11h Modbus 8994Profibus 8994CIP 135.1.17
_ScalePOSmax Maximum user-defined value for positions
This value depends on ScalePOSdenomand ScalePOSnum.
usr_p---
INT32INT32INT32INT32 R/---
CANopen 301F:Ah Modbus 7956Profibus 7956CIP 131.1.10
_ScaleRAMPmax Maximum user-defined value for accelera-tions and decelerations
This value depends on ScaleRAMPdenomand ScaleRAMPnum.
usr_a---
INT32INT32INT32INT32 R/---
CANopen 301F:Ch Modbus 7960Profibus 7960CIP 131.1.12
_ScaleVELmax Maximum user-defined value for velocities
This value depends on ScaleVELdenomand ScaleVELnum.
usr_v---
INT32INT32INT32INT32 R/---
CANopen 301F:Bh Modbus 7958Profibus 7958CIP 131.1.11
_SigActive Current status of monitoring signals
See _SigLatched for more details on the bitcodes.
----
UINT32UINT32UINT32UINT32 R/---
CANopen 301C:7h Modbus 7182Profibus 7182CIP 128.1.7
10 Parameters LXM32M
528 AC servo drive
0198
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, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_SigLatchedMon
SiGS
Saved status of monitoring signals (441)
Signal state:0: Not activated1: Activated
Bit assignments:Bit 0: General errorBit 1: Hardware limit switches (LIMP/LIMN/REF)Bit 2: Out of range (software limit switches,tuning)Bit 3: Quick Stop via fieldbusBit 4: Error in active operating modeBit 5: Commissioning interface (RS485)Bit 6: Integrated fieldbusBit 7: ReservedBit 8: Following errorBit 9: ReservedBit 10: Inputs STO are 0Bit 11: Inputs STO differentBit 12: ReservedBit 13: DC bus voltage lowBit 14: DC bus voltage highBit 15: Mains phase missingBit 16: Integrated encoder interfaceBit 17: Overtemperature motorBit 18: Overtemperature power stageBit 19: ReservedBit 20: Memory cardBit 21: Optional fieldbus moduleBit 22: Optional encoder moduleBit 23: Optional safety module eSM or mod-ule IOM1Bit 24: ReservedBit 25: ReservedBit 26: Motor connectionBit 27: Motor overcurrent/short circuitBit 28: Frequency of reference signal toohighBit 29: EEPROM errorBit 30: System start-up (hardware or param-eter)Bit 31: System error (for example, watch-dog, internal hardware interface)
Monitoring functions are product-dependent.
----
UINT32UINT32UINT32UINT32 R/---
CANopen 301C:8h Modbus 7184Profibus 7184CIP 128.1.8
_SuppDriveModes
Supported operating modes as per DSP402
Bit 0: Profile PositionBit 2: Profile VelocityBit 3: Profile TorqueBit 5: HomingBit 16: JogBit 17: Electronic GearBit 21: Manual TuningBit 23: Motion Sequence
----
UINT32UINT32UINT32UINT32 R/---
CANopen 6502:0h Modbus 6952Profibus 6952CIP 127.1.20
LXM32M 10 Parameters
AC servo drive 529
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_TouchProbeStat
Touch Probe status (383)
Refers to chapter "Touch probe functional-ity" of the DS402 part2 (operation modesand application data) document.
Changed settings become active immedi-ately.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 60B9:0h Modbus 7030Profibus 7030CIP 127.1.59
_tq_act Actual torque value
Positive value: Actual torque in positivedirection of movementNegative value: Actual torque in negativedirection of movement100.0 % correspond to the continuous stalltorque _M_M_0.
In increments of 0.1 %.
%---
INT16INT16INT16INT16 R/---
CANopen 6077:0h Modbus 7752Profibus 7752CIP 130.1.36
_Ud_ref Reference motor voltage d component
In increments of 0.1 V.
V---
INT16INT16INT16INT16 R/---
CANopen 301E:5h Modbus 7690Profibus 7690CIP 130.1.5
_UDC_actMon
udcA
Voltage at DC bus
In increments of 0.1 V.
V---
UINT16UINT16UINT16UINT16 R/---
CANopen 301C:Fh Modbus 7198Profibus 7198CIP 128.1.15
_Udq_ref Total motor voltage (vector sum d compo-nents and q components)
Square root of ( _Uq_ref2 + _Ud_ref2)
In increments of 0.1 V.
V---
INT16INT16INT16INT16 R/---
CANopen 301E:6h Modbus 7692Profibus 7692CIP 130.1.6
_Uq_ref Reference motor voltage q component
In increments of 0.1 V.
V---
INT16INT16INT16INT16 R/---
CANopen 301E:4h Modbus 7688Profibus 7688CIP 130.1.4
_v_act_ENC1 Actual velocity of encoder 1
Available with firmware version ≥V01.01.
usr_v---
INT32INT32INT32INT32 R/---
CANopen 301E:29h Modbus 7762Profibus 7762CIP 130.1.41
_v_act_ENC2 Actual velocity of encoder 2 (module) usr_v---
INT32INT32INT32INT32 R/---
CANopen 301E:23h Modbus 7750Profibus 7750CIP 130.1.35
10 Parameters LXM32M
530 AC servo drive
0198
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1376
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, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_v_actMon
VAct
Actual velocity usr_v---
INT32INT32INT32INT32 R/---
CANopen 606C:0h Modbus 7744Profibus 7744CIP 130.1.32
_v_PTI_act Actual velocity at PTI interface
Determined pulse frequency at positioninterface PTI.
Inc/s-2147483648-2147483647
INT32INT32INT32INT32 R/---
CANopen 3008:6h Modbus 2060Profibus 2060CIP 108.1.6
_v_refMon
VrEF
Reference velocity usr_v---
INT32INT32INT32INT32 R/---
CANopen 301E:1Fh Modbus 7742Profibus 7742CIP 130.1.31
_Vmax_act Currently effective velocity limitation
Value of the currently effective velocity limi-tation. This is one of the following values(whichever is lowest):- CTRL_v_max- M_n_max (only if motor is connected)- Velocity limitation via digital input
usr_v---
UINT32UINT32UINT32UINT32 R/---
CANopen 301C:29h Modbus 7250Profibus 7250CIP 128.1.41
_VoltUtilMon
udcr
Degree of utilization of DC bus voltage
With a value of 100%, the drive operates atthe voltage limit.
%---
INT16INT16INT16INT16 R/---
CANopen 301E:13h Modbus 7718Profibus 7718CIP 130.1.19
_WarnActive Active warnings, bit-coded
See _WarnLatched for more details on thebit codes.
----
UINT32UINT32UINT32UINT32 R/---
CANopen 301C:Bh Modbus 7190Profibus 7190CIP 128.1.11
LXM32M 10 Parameters
AC servo drive 531
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Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
_WarnLatchedMon
WrnS
Saved warnings, bit-coded (440)
Saved warning bits are deleted in the caseof a Fault Reset.Bits 10, 13 are deleted automatically.
Signal state:0: Not activated1: Activated
Bit assignments:Bit 0: General warningBit 1: ReservedBit 2: Out of range (SW limit switches, tun-ing)Bit 3: ReservedBit 4: Active operating modeBit 5: Commissioning interface (RS485)Bit 6: Integrated fieldbusBit 7: ReservedBit 8: Following warning limit reachedBit 9: ReservedBit 10: Inputs STO_A and/or STO_B Bit 11: ReservedBit 12: ReservedBit 13: Low voltage DC bus or mains phasemissingBit 14: ReservedBit 15: ReservedBit 16: Integrated encoder interfaceBit 17: Temperature of motor highBit 18: Temperature of power stage highBit 19: ReservedBit 20: Memory cardBit 21: Optional fieldbus moduleBit 22: Optional encoder moduleBit 23: Optional safety module eSM or mod-ule IOM1Bit 24: ReservedBit 25: ReservedBit 26: ReservedBit 27: ReservedBit 28: ReservedBit 29: Braking resistor overload (I2t)Bit 30: Power stage overload (I2t)Bit 31: Motor overload (I2t)
Monitoring functions are product-dependent.
----
UINT32UINT32UINT32UINT32 R/---
CANopen 301C:Ch Modbus 7192Profibus 7192CIP 128.1.12
AbsHomeRequest Absolute positioning only after homing
0 / No: No1 / Yes: Yes
This parameter has no function if theparameter 'PP_ModeRangeLim' is set to '1'which allows overtraveling of the movementrange (ref_ok is set to 0 when the range isovertraveled).
Changed settings become active immedi-ately.
-011
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:16h Modbus 1580Profibus 1580CIP 106.1.22
10 Parameters LXM32M
532 AC servo drive
0198
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, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
AccessExcl Get exclusive access to access channel
Write parameter:Value 0: Release access channelValue 1: Use exclusive access for accesschannel
Read parameter:Value 0: Access channel is not used exclu-sivelyValue 1: Access channel is used exclusively(access channel used for reading)
Changed settings become active immedi-ately.
----
UINT16UINT16UINT16UINT16 R/W--
CANopen 3001:Dh Modbus 282Profibus 282CIP 101.1.13
AccessLock Locking other access channels (211)
Value 0: Allow control via other accesschannelsValue 1: Lock control via other access chan-nels
Example:The access channel is used by the fieldbus.In this case, control via the commissioningsoftware or the HMI is not possible.
The access channel can only be lockedafter the current operating mode has termi-nated.
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 3001:Eh Modbus 284Profibus 284CIP 101.1.14
AT_diroP → tun-
StiM
Direction of movement for Autotuning (184)
1 / Positive Negative Home / Pnh : Positivedirection first, then negative direction withreturn to initial position2 / Negative Positive Home / nPh : Nega-tive direction first, then positive directionwith return to initial position3 / Positive Home / P-h : Positive directiononly with return to initial position4 / Positive / P-- : Positive direction onlywithout return to initial position5 / Negative Home / n-h : Negative direc-tion only with return to initial position6 / Negative / n-- : Negative direction onlywithout return to initial position
Changed settings become active the nexttime the motor moves.
-116
UINT16UINT16UINT16UINT16 R/W--
CANopen 302F:4h Modbus 12040Profibus 12040CIP 147.1.4
LXM32M 10 Parameters
AC servo drive 533
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2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
AT_dis_usr Movement range for Autotuning (184)
Range within which the control parametersare automatically optimized. The range isentered with reference to the current posi-tion.NOTE: In the case of "Movement in onedirection only" (Parameter AT_dir), thespecified range is used for each optimiza-tion step. The actual movement typicallycorresponds to 20 times the value, but it isnot limited.
The minimum value, the factory setting andthe maximum value depend on the scalingfactor.
Changed settings become active the nexttime the motor moves.
Available with firmware version ≥V01.03.
usr_p1327682147483647
INT32INT32INT32INT32 R/W--
CANopen 302F:12h Modbus 12068Profibus 12068CIP 147.1.18
AT_dis Movement range for Autotuning (184)
Range within which the control parametersare automatically optimized. The range isentered with reference to the current posi-tion.NOTE: In the case of "Movement in onedirection only" (Parameter AT_dir), thespecified range is used for each optimiza-tion step. The actual movement typicallycorresponds to 20 times the value, but it isnot limited.
The parameter AT_dis_usr allows you toenter the value in user-defined units.
In increments of 0.1 revolution.
Changed settings become active the nexttime the motor moves.
revolution1.02.0999.9
UINT32UINT32UINT32UINT32 R/W--
CANopen 302F:3h Modbus 12038Profibus 12038CIP 147.1.3
AT_mechanical Type of coupling of the system (185)
1 / Direct Coupling: Direct coupling2 / Belt Axis: Belt axis3 / Spindle Axis: Spindle axis
Changed settings become active the nexttime the motor moves.
-123
UINT16UINT16UINT16UINT16 R/W--
CANopen 302F:Eh Modbus 12060Profibus 12060CIP 147.1.14
AT_n_ref Jump of speed of rotation for Autotuning
The parameter AT_v_ref allows you to enterthe value in user-defined units.
Changed settings become active the nexttime the motor moves.
min-1 101001000
UINT32UINT32UINT32UINT32 R/W--
CANopen 302F:6h Modbus 12044Profibus 12044CIP 147.1.6
AT_start Autotuning start (185)
Value 0: TerminateValue 1: Activate EasyTuningValue 2: Activate ComfortTuning
Changed settings become active immedi-ately.
-0-2
UINT16UINT16UINT16UINT16 R/W--
CANopen 302F:1h Modbus 12034Profibus 12034CIP 147.1.1
10 Parameters LXM32M
534 AC servo drive
0198
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, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
AT_v_ref Jump of velocity for Autotuning
The minimum value, the factory setting andthe maximum value depend on the scalingfactor.
Changed settings become active the nexttime the motor moves.
Available with firmware version ≥V01.03.
usr_v11002147483647
INT32INT32INT32INT32 R/W--
CANopen 302F:13h Modbus 12070Profibus 12070CIP 147.1.19
AT_wait Waiting time between Autotuningsteps (188)
Changed settings become active the nexttime the motor moves.
ms30050010000
UINT16UINT16UINT16UINT16 R/W--
CANopen 302F:9h Modbus 12050Profibus 12050CIP 147.1.9
BLSH_Mode Processing mode of backlash compensa-tion (338)
0 / Off: Backlash compensation is off1 / OnAfterPositiveMovement: Backlashcompensation is on, last movement was inpositive direction2 / OnAfterNegativeMovement: Backlashcompensation is on, last movement was innegative direction
Changed settings become active immedi-ately.
Available with firmware version ≥V01.14.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:41h Modbus 1666Profibus 1666CIP 106.1.65
BLSH_Position Position value for backlash compensa-tion (337)
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.14.
usr_p002147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:42h Modbus 1668Profibus 1668CIP 106.1.66
BLSH_Time Processing time for backlash compensa-tion (338)
Value 0: Immediate backlash compensationValue >0: Processing time for backlashcompensation
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.14.
ms0016383
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:44h Modbus 1672Profibus 1672CIP 106.1.68
LXM32M 10 Parameters
AC servo drive 535
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2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
BRK_AddT_apply Additional time delay for applying the hold-ing brake (170)
The overall time delay for applying the hold-ing brake is the time delay from the elec-tronic nameplate of the motor and the addi-tional time delay in this parameter.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
ms001000
INT16INT16INT16INT16 R/Wper.-
CANopen 3005:8h Modbus 1296Profibus 1296CIP 105.1.8
BRK_AddT_release
Additional time delay for releasing the hold-ing brake (169)
The overall time delay for releasing theholding brake is the time delay from theelectronic nameplate of the motor and theadditional time delay in this parameter.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
ms00400
INT16INT16INT16INT16 R/Wper.-
CANopen 3005:7h Modbus 1294Profibus 1294CIP 105.1.7
BRK_release Processing of holding brake (168)
0 / Automatic: Automatic processing1 / Manual Release: Manual release ofholding brake
The holding brake output can only be acti-vated in the operating states 'Switch On Dis-abled', 'Ready To Switch On' or 'Fault'.
If the power stage is active, the value isautomatically set to 0.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.12.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 3008:Ah Modbus 2068Profibus 2068CIP 108.1.10
CANaddressConF → CoM- ConF → FSu-
CoAd
CANopen address (node number)
Changed settings become active the nexttime the product is switched on.
-1-127
R/Wper.-
CANbaudConF → CoM- ConF → FSu-
Cobd
CANopen baud rate
50 kBaud / 50 : 50 kBaud125 kBaud / 125 : 125 kBaud250 kBaud / 250 : 250 kBaud500 kBaud / 500 : 500 kBaud1 MBaud / 1000 : 1 MBaud
Changed settings become active the nexttime the product is switched on.
-502501000
R/Wper.-
10 Parameters LXM32M
536 AC servo drive
0198
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7, V
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, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CANpdo1Event PDO 1 event mask
Changes of values in the object trigger anevent:Bit 0: First PDO objectBit 1: Second PDO objectBit 2: Third PDO objectBit 3: Fourth PDO object
Changed settings become active immedi-ately.
-0115
UINT16UINT16UINT16UINT16 R/W--
CANopen 3041:Bh Modbus 16662Profibus 16662CIP 165.1.11
CANpdo2Event PDO 2 event mask
Changes of values in the object trigger anevent:Bit 0: First PDO objectBit 1: Second PDO objectBit 2: Third PDO objectBit 3: Fourth PDO object
Changed settings become active immedi-ately.
-0115
UINT16UINT16UINT16UINT16 R/W--
CANopen 3041:Ch Modbus 16664Profibus 16664CIP 165.1.12
CANpdo3Event PDO 3 event mask
Changes of values in the object trigger anevent:Bit 0: First PDO objectBit 1: Second PDO objectBit 2: Third PDO objectBit 3: Fourth PDO object
Changed settings become active immedi-ately.
-0115
UINT16UINT16UINT16UINT16 R/W--
CANopen 3041:Dh Modbus 16666Profibus 16666CIP 165.1.13
CANpdo4Event PDO 4 event mask
Changes of values in the object trigger anevent:Bit 0: First PDO objectBit 1: Second PDO objectBit 2: Third PDO objectBit 3: Fourth PDO object
Changed settings become active immedi-ately.
-01515
UINT16UINT16UINT16UINT16 R/W--
CANopen 3041:Eh Modbus 16668Profibus 16668CIP 165.1.14
Cap1Activate Capture input 1 start/stop (378)
0 / Capture Stop: Cancel capture function1 / Capture Once: Start one-time capture2 / Capture Continuous: Start continuouscapture3 / Reserved: Reserved4 / Reserved: Reserved
In the case of one-time capture, the functionis terminated when the first value is cap-tured. In the case of continuous capture, the func-tion continues to run.
Changed settings become active immedi-ately.
-0-4
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:4h Modbus 2568Profibus 2568CIP 110.1.4
LXM32M 10 Parameters
AC servo drive 537
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
Cap1Config Capture input 1 configuration (377)
0 / Falling Edge: Position capture at fallingedge1 / Rising Edge: Position capture at risingedge2 / Both Edges: Position capture at bothedges
Changed settings become active immedi-ately.
-002
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:2h Modbus 2564Profibus 2564CIP 110.1.2
Cap1Source Capture input 1 encoder source (376)
0 / Pact Encoder 1: Source for captureinput 1 is Pact of encoder 11 / Pact Encoder 2: Source for captureinput 1 is Pact of encoder 2 (module)
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:Ah Modbus 2580Profibus 2580CIP 110.1.10
Cap2Activate Capture input 2 start/stop (378)
0 / Capture Stop: Cancel capture function1 / Capture Once: Start one-time capture2 / Capture Continuous: Start continuouscapture3 / Reserved: Reserved4 / Reserved: Reserved
In the case of one-time capture, the functionis terminated when the first value is cap-tured. In the case of continuous capture, the func-tion continues to run.
Changed settings become active immedi-ately.
-0-4
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:5h Modbus 2570Profibus 2570CIP 110.1.5
Cap2Config Capture input 2 configuration (377)
0 / Falling Edge: Position capture at fallingedge1 / Rising Edge: Position capture at risingedge2 / Both Edges: Position capture at bothedges
Changed settings become active immedi-ately.
-002
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:3h Modbus 2566Profibus 2566CIP 110.1.3
Cap2Source Capture input 2 encoder source (376)
0 / Pact Encoder 1: Source for captureinput 2 is Pact of encoder 11 / Pact Encoder 2: Source for captureinput 2 is Pact of encoder 2 (module)
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:Bh Modbus 2582Profibus 2582CIP 110.1.11
10 Parameters LXM32M
538 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
Cap3Activate Capture input 3 start/stop (378)
0 / Capture Stop: Cancel capture function1 / Capture Once: Start one-time capture2 / Capture Continuous: Start continuouscapture
In the case of one-time capture, the functionis terminated when the first value is cap-tured. In the case of continuous capture, the func-tion continues to run.
Available with hardware version ≥RS03.
Changed settings become active immedi-ately.
-0-2
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:12h Modbus 2596Profibus 2596CIP 110.1.18
Cap3Config Capture input 3 configuration (377)
0 / Falling Edge: Position capture at fallingedge1 / Rising Edge: Position capture at risingedge
Available with hardware version ≥RS03.
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:11h Modbus 2594Profibus 2594CIP 110.1.17
Cap3Source Capture input 3 encoder source (376)
0 / Pact Encoder 1: Source for captureinput 3 is Pact of encoder 11 / Pact Encoder 2: Source for captureinput 3 is Pact of encoder 2 (module)
Available with hardware version ≥RS03.
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 300A:15h Modbus 2602Profibus 2602CIP 110.1.21
CLSET_p_DiffWin_usr
Position deviation for parameter set switch-ing (349)
If the position deviation of the position con-troller is less than the value of this parame-ter, the controller parameter set 2 is used.Otherwise, controller parameter set 1 isused.
The minimum value, the factory setting andthe maximum value depend on the scalingfactor.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.03.
usr_p01642147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3011:25h Modbus 4426Profibus 4426CIP 117.1.37
LXM32M 10 Parameters
AC servo drive 539
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CLSET_p_DiffWin
Position deviation for parameter set switch-ing (350)
If the position deviation of the position con-troller is less than the value of this parame-ter, the controller parameter set 2 is used.Otherwise, controller parameter set 1 isused.
The parameter CLSET_p_DiffWin_usrallows you to enter the value in user-definedunits.
In increments of 0.0001 revolution.
Changed settings become active immedi-ately.
revolution0.00000.01002.0000
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:1Ch Modbus 4408Profibus 4408CIP 117.1.28
CLSET_ParSwiCond
Condition for parameter set switching (349)
0 / None Or Digital Input: None or digitalinput function selected1 / Inside Position Deviation: Inside posi-tion deviation (value definition in parameterCLSET_p_DiffWin)2 / Below Reference Velocity: Below refer-ence velocity (value definition in parameterCLSET_v_Threshol)3 / Below Actual Velocity: Below actualvelocity (value definition in parameterCLSET_v_Threshol)4 / Reserved: Reserved
In the case of parameter set switching, thevalues of the following parameters arechanged gradually:- CTRL_KPn- CTRL_TNn- CTRL_KPp- CTRL_TAUnref- CTRL_TAUiref- CTRL_KFPp
The following parameters are changedimmediately after the time for parameter setswitching (CTRL_ParChgTime):- CTRL_Nf1damp- CTRL_Nf1freq- CTRL_Nf1bandw- CTRL_Nf2damp- CTRL_Nf2freq- CTRL_Nf2bandw- CTRL_Osupdamp- CTRL_Osupdelay- CTRL_Kfric
Changed settings become active immedi-ately.
-004
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:1Ah Modbus 4404Profibus 4404CIP 117.1.26
10 Parameters LXM32M
540 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CLSET_v_Threshol
Velocity threshold for parameter set switch-ing (350)
If the reference velocity or the actual veloc-ity are less than the value of this parameter,the controller parameter set 2 is used. Oth-erwise, controller parameter set 1 is used.
Changed settings become active immedi-ately.
usr_v0502147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3011:1Dh Modbus 4410Profibus 4410CIP 117.1.29
CLSET_winTime Time window for parameter set switch-ing (350)
Value 0: Window monitoring deactivated.Value >0: Window time for the parametersCLSET_v_Threshol and CLSET_p_DiffWin.
Changed settings become active immedi-ately.
ms001000
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:1Bh Modbus 4406Profibus 4406CIP 117.1.27
CTRL_GlobGainoP → tun-
GAin
Global gain factor (affects parameter set1) (187)
The global gain factor affects the followingparameters of controller parameter set 1:- CTRL_KPn- CTRL_TNn- CTRL_KPp- CTRL_TAUnref
The global gain factor is set to 100%- if the controller parameters are set todefault- at the end of the Autotuning process- if the controller parameter set 2 is copiedto set 1 via the parameter CTRL_ParSet-Copy
NOTE: If a full configuration is transmittedvia the fieldbus, the value for CTRL_Glob-Gain must be transmitted prior to the valuesof the controller parameters CTRL_KPn,CTRL_TNn, CTRL_KPp and CTRL_TAUn-ref. If CTRL_GlobGain is changed during aconfiguration transmission, CTRL_KPn,CTRL_TNn, CTRL_KPp and CTRL_TAUn-ref must also be part of the configuration.
In increments of 0.1 %.
Changed settings become active immedi-ately.
%5.0100.01000.0
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:15h Modbus 4394Profibus 4394CIP 117.1.21
LXM32M 10 Parameters
AC servo drive 541
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL_I_max_fw Maximum current for field weakening (dcomponent)
This value is only limited by the minimum/maximum parameter range (no limitation ofthis value by motor/power stage).
The actual field weakening current is theminimum of CTRL_I_max_fw and one halfof the lower value of the nominal current ofthe power stage and the motor.
In increments of 0.01 Arms.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Arms 0.000.00300.00
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3011:Fh Modbus 4382Profibus 4382CIP 117.1.15
CTRL_I_maxConF → drC-
iMAX
Current limitation (161)
During operation, the actual current limit isone of the following values (whichever islowest): - CTRL_I_max- _M_I_max- _PS_I_max- Current limitation via analog input (moduleIOM1)- Current limitation via digital inputLimitations caused by I2t monitoring arealso taken into account.
Default: _PS_I_max at 8 kHz PWM fre-quency and 230/480 V mains voltage
In increments of 0.01 Arms.
Changed settings become active immedi-ately.
Arms 0.00-463.00
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:Ch Modbus 4376Profibus 4376CIP 117.1.12
CTRL_KFAcc Acceleration feed-forward control
In increments of 0.1 %.
Changed settings become active immedi-ately.
%0.00.03000.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3011:Ah Modbus 4372Profibus 4372CIP 117.1.10
10 Parameters LXM32M
542 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL_ParChgTime
Period of time for parameter switching (159)
In the case of parameter set switching, thevalues of the following parameters arechanged gradually:- CTRL_KPn- CTRL_TNn- CTRL_KPp- CTRL_TAUnref- CTRL_TAUiref- CTRL_KFPp
Such a parameter switching can be causedby - change of the active controller parameterset- change of the global gain- change of any of the parameters listedabove- switching off the integral term of the veloc-ity controller
Changed settings become active immedi-ately.
ms002000
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:14h Modbus 4392Profibus 4392CIP 117.1.20
CTRL_ParSetCopy
Controller parameter set copying (351)
Value 1: Copy controller parameter set 1 toset 2Value 2: Copy controller parameter set 2 toset 1
If parameter set 2 copied to parameter set1, the parameter CTRL_GlobGain is set to100%.
Changed settings become active immedi-ately.
-0.0-0.2
UINT16UINT16UINT16UINT16 R/W--
CANopen 3011:16h Modbus 4396Profibus 4396CIP 117.1.22
CTRL_PwrUpParSet
Selection of controller parameter set atpower up (346)
0 / Switching Condition: The switchingcondition is used for parameter set switch-ing1 / Parameter Set 1: Parameter set 1 isused2 / Parameter Set 2: Parameter set 2 isused
The selected value is also written toCTRL_ParSetSel (non-persistent).
Changed settings become active immedi-ately.
-012
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:18h Modbus 4400Profibus 4400CIP 117.1.24
CTRL_SelParSet Selection of controller parameter set (non-persistent) (159)
Coding see parameter: CTRL_PwrUpPar-Set
Changed settings become active immedi-ately.
-012
UINT16UINT16UINT16UINT16 R/W--
CANopen 3011:19h Modbus 4402Profibus 4402CIP 117.1.25
LXM32M 10 Parameters
AC servo drive 543
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL_SpdFric Speed of rotation up to which the frictioncompensation is linear
Changed settings become active immedi-ately.
min-1 0520
UINT32UINT32UINT32UINT32 R/Wper.expert
CANopen 3011:9h Modbus 4370Profibus 4370CIP 117.1.9
CTRL_TAUnact Filter time constant to smooth velocity ofmotor
The default value is calculated on the basisof the motor data.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.00-30.00
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3011:8h Modbus 4368Profibus 4368CIP 117.1.8
CTRL_v_maxConF → drC-
nMAX
Velocity limitation (162)
During operation, the actual velocity limit isone of the following values (whichever islowest): - CTRL_v_max- M_n_max- Velocity limitation via analog input (moduleIOM1)- Velocity limitation via digital input
Changed settings become active immedi-ately.
usr_v1132002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3011:10h Modbus 4384Profibus 4384CIP 117.1.16
CTRL_VelObsActiv
Activation of velocity observer
0 / Velocity Observer Off: Velocityobserver is off1 / Velocity Observer Passive: Velocityobserver is on, but not used for motor con-trol2 / Velocity Observer Active: Velocityobserver is on and used for motor control
Velocity observer control reduces velocityripple and enhances controller bandwith.NOTE: Set the correct dynamics and inertiavalues before activation.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
-002
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3011:22h Modbus 4420Profibus 4420CIP 117.1.34
CTRL_VelObsDyn Dynamics of velocity observer
Dynamics of the velocity observer. This timeconstant should be much smaller than thatof the velocity controller.
In increments of 0.01 ms.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
ms0.030.25200.00
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3011:23h Modbus 4422Profibus 4422CIP 117.1.35
10 Parameters LXM32M
544 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL_VelObsInert
Inertia value for velocity observer
System inertia that is used for velocityobserver calculations.The default value is the inertia of the moun-ted motor.In the case of autotuning, the value of thisparameter can be set equal to that of_AT_J.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
g cm2 1-2147483648
UINT32UINT32UINT32UINT32 R/Wper.expert
CANopen 3011:24h Modbus 4424Profibus 4424CIP 117.1.36
CTRL_vPIDDPart PID velocity controller: D gain
In increments of 0.1 %.
Changed settings become active immedi-ately.
%0.00.0400.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3011:6h Modbus 4364Profibus 4364CIP 117.1.6
CTRL_vPIDDTime PID velocity controller: Time constant of Dterm smoothing filter
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.010.2510.00
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3011:5h Modbus 4362Profibus 4362CIP 117.1.5
CTRL1_KFPpConF → drC-
FPP1
Velocity feed-forward control (353)
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.1 %.
Changed settings become active immedi-ately.
%0.00.0200.0
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:6h Modbus 4620Profibus 4620CIP 118.1.6
CTRL1_Kfric Friction compensation: Gain (354)
In increments of 0.01 Arms.
Changed settings become active immedi-ately.
Arms 0.000.0010.00
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:10h Modbus 4640Profibus 4640CIP 118.1.16
CTRL1_KPnConF → drC-
Pn1
Velocity controller P gain (191)
The default value is calculated on the basisof the motor parameters.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.0001 A/min-1.
Changed settings become active immedi-ately.
A/min-1 0.0001-2.5400
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:1h Modbus 4610Profibus 4610CIP 118.1.1
LXM32M 10 Parameters
AC servo drive 545
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL1_KPpConF → drC-
PP1
Position controller P gain (197)
The default value is calculated.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.1 1/s.
Changed settings become active immedi-ately.
1/s2.0-900.0
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:3h Modbus 4614Profibus 4614CIP 118.1.3
CTRL1_Nf1bandw Notch filter 1: Bandwidth (353)
Definition of bandwidth: 1 - Fb/F0
In increments of 0.1 %.
Changed settings become active immedi-ately.
%1.070.090.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:Ah Modbus 4628Profibus 4628CIP 118.1.10
CTRL1_Nf1damp Notch filter 1: Damping (353)
In increments of 0.1 %.
Changed settings become active immedi-ately.
%55.090.099.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:8h Modbus 4624Profibus 4624CIP 118.1.8
CTRL1_Nf1freq Notch filter 1: Frequency (353)
The filter is switched off at a value of 15000.
In increments of 0.1 Hz.
Changed settings become active immedi-ately.
Hz50.01500.01500.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:9h Modbus 4626Profibus 4626CIP 118.1.9
CTRL1_Nf2bandw Notch filter 2: Bandwidth (353)
Definition of bandwidth: 1 - Fb/F0
In increments of 0.1 %.
Changed settings become active immedi-ately.
%1.070.090.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:Dh Modbus 4634Profibus 4634CIP 118.1.13
CTRL1_Nf2damp Notch filter 2: Damping (353)
In increments of 0.1 %.
Changed settings become active immedi-ately.
%55.090.099.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:Bh Modbus 4630Profibus 4630CIP 118.1.11
CTRL1_Nf2freq Notch filter 2: Frequency (353)
The filter is switched off at a value of 15000.
In increments of 0.1 Hz.
Changed settings become active immedi-ately.
Hz50.01500.01500.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:Ch Modbus 4632Profibus 4632CIP 118.1.12
10 Parameters LXM32M
546 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL1_Osupdamp Overshoot suppression filter: Damping (353)
The filter is switched off at a value of 0.
In increments of 0.1 %.
Changed settings become active immedi-ately.
%0.00.050.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:Eh Modbus 4636Profibus 4636CIP 118.1.14
CTRL1_Osupdelay
Overshoot suppression filter: Timedelay (354)
The filter is switched off at a value of 0.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.000.0075.00
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3012:Fh Modbus 4638Profibus 4638CIP 118.1.15
CTRL1_TAUiref Filter time constant of the reference currentvalue filter (195)
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.000.504.00
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:5h Modbus 4618Profibus 4618CIP 118.1.5
CTRL1_TAUnrefConF → drC-
tAu1
Filter time constant of the reference velocityvalue filter (193)
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.009.00327.67
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:4h Modbus 4616Profibus 4616CIP 118.1.4
CTRL1_TNnConF → drC-
tin1
Velocity controller integral action time (191)
The default value is calculated.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.00-327.67
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3012:2h Modbus 4612Profibus 4612CIP 118.1.2
CTRL2_KFPpConF → drC-
FPP2
Velocity feed-forward control (355)
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.1 %.
Changed settings become active immedi-ately.
%0.00.0200.0
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:6h Modbus 4876Profibus 4876CIP 119.1.6
LXM32M 10 Parameters
AC servo drive 547
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL2_Kfric Friction compensation: Gain (355)
In increments of 0.01 Arms.
Changed settings become active immedi-ately.
Arms 0.000.0010.00
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:10h Modbus 4896Profibus 4896CIP 119.1.16
CTRL2_KPnConF → drC-
Pn2
Velocity controller P gain (191)
The default value is calculated on the basisof the motor parameters.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.0001 A/min-1.
Changed settings become active immedi-ately.
A/min-1 0.0001-2.5400
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:1h Modbus 4866Profibus 4866CIP 119.1.1
CTRL2_KPpConF → drC-
PP2
Position controller P gain (197)
The default value is calculated.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.1 1/s.
Changed settings become active immedi-ately.
1/s2.0-900.0
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:3h Modbus 4870Profibus 4870CIP 119.1.3
CTRL2_Nf1bandw Notch filter 1: Bandwidth (355)
Definition of bandwidth: 1 - Fb/F0
In increments of 0.1 %.
Changed settings become active immedi-ately.
%1.070.090.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:Ah Modbus 4884Profibus 4884CIP 119.1.10
CTRL2_Nf1damp Notch filter 1: Damping (355)
In increments of 0.1 %.
Changed settings become active immedi-ately.
%55.090.099.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:8h Modbus 4880Profibus 4880CIP 119.1.8
CTRL2_Nf1freq Notch filter 1: Frequency (356)
The filter is switched off at a value of 15000.
In increments of 0.1 Hz.
Changed settings become active immedi-ately.
Hz50.01500.01500.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:9h Modbus 4882Profibus 4882CIP 119.1.9
CTRL2_Nf2bandw Notch filter 2: Bandwidth (356)
Definition of bandwidth: 1 - Fb/F0
In increments of 0.1 %.
Changed settings become active immedi-ately.
%1.070.090.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:Dh Modbus 4890Profibus 4890CIP 119.1.13
10 Parameters LXM32M
548 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL2_Nf2damp Notch filter 2: Damping (356)
In increments of 0.1 %.
Changed settings become active immedi-ately.
%55.090.099.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:Bh Modbus 4886Profibus 4886CIP 119.1.11
CTRL2_Nf2freq Notch filter 2: Frequency (356)
The filter is switched off at a value of 15000.
In increments of 0.1 Hz.
Changed settings become active immedi-ately.
Hz50.01500.01500.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:Ch Modbus 4888Profibus 4888CIP 119.1.12
CTRL2_Osupdamp Overshoot suppression filter: Damping (356)
The filter is switched off at a value of 0.
In increments of 0.1 %.
Changed settings become active immedi-ately.
%0.00.050.0
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:Eh Modbus 4892Profibus 4892CIP 119.1.14
CTRL2_Osupdelay
Overshoot suppression filter: Timedelay (356)
The filter is switched off at a value of 0.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.000.0075.00
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3013:Fh Modbus 4894Profibus 4894CIP 119.1.15
CTRL2_TAUiref Filter time constant of the reference currentvalue filter (195)
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.000.504.00
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:5h Modbus 4874Profibus 4874CIP 119.1.5
CTRL2_TAUnrefConF → drC-
tAu2
Filter time constant of the reference velocityvalue filter (193)
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.009.00327.67
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:4h Modbus 4872Profibus 4872CIP 119.1.4
LXM32M 10 Parameters
AC servo drive 549
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
CTRL2_TNnConF → drC-
tin2
Velocity controller integral action time (191)
The default value is calculated.
In the case of switching between the twocontroller parameter sets, the values areadapted linearly over the time defined in theparameter CTRL_ParChgTime.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
ms0.00-327.67
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3013:2h Modbus 4868Profibus 4868CIP 119.1.2
DCbus_compat DC bus compatibility LXM32 and ATV32
0 / No DC bus or LXM32 only: DC bus notused or only LXM32 connected via the DCbus1 / DC bus with LXM32 and ATV32:LXM32 and ATV32 connected via the DCbus
NOTE: Connecting LXM32 drives andATV32 drives via the DC bus may changethe technical data.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.03.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:26h Modbus 1356Profibus 1356CIP 105.1.38
DCOMcontrol DriveCom control word
Refer to chapter Operation, OperatingStates, for bit assignment information.Bit 0: Switch OnBit 1: Enable VoltageBit 2: Quick StopBit 3: Enable OperationBits 4 ... 6: Operating mode specificBit 7: Fault ResetBit 8: HaltBit 9: Operating mode specificBits 10 ... 15: Reserved (must be 0)
Changed settings become active immedi-ately.
----
UINT16UINT16UINT16UINT16 R/W--
CANopen 6040:0h Modbus 6914Profibus 6914CIP 127.1.1
10 Parameters LXM32M
550 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
DCOMopmode Operating mode
-6 / Manual Tuning / Autotuning: ManualTuning or Autotuning-3 / Motion Sequence: Motion Sequence-2 / Electronic Gear: Electronic Gear-1 / Jog: Jog0 / Reserved: Reserved1 / Profile Position: Profile Position3 / Profile Velocity: Profile Velocity4 / Profile Torque: Profile Torque6 / Homing: Homing7 / Interpolated Position: InterpolatedPosition8 / Cyclic Synchronous Position: CyclicSynchronous Position9 / Cyclic Synchronous Velocity: CyclicSynchronous Velocity10 / Cyclic Synchronous Torque: CyclicSynchronous Torque
Changed settings become active immedi-ately.
--6-10
INT8INT16INT16INT16 R/W--
CANopen 6060:0h Modbus 6918Profibus 6918CIP 127.1.3
DEVcmdinterfConF → ACG- nonE
dEVC
Specification of the control mode (212)
1 / Local Control Mode / io : Local controlmode2 / Fieldbus Control Mode / FbuS : Field-bus control mode
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:1h Modbus 1282Profibus 1282CIP 105.1.1
DI_0_Debounce Debounce time of DI0 (332)
0 / No: No software debouncing1 / 0.25 ms: 0.25 ms2 / 0.50 ms: 0.50 ms3 / 0.75 ms: 0.75 ms4 / 1.00 ms: 1.00 ms5 / 1.25 ms: 1.25 ms6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3008:20h Modbus 2112Profibus 2112CIP 108.1.32
DI_1_Debounce Debounce time of DI1 (332)
0 / No: No software debouncing1 / 0.25 ms: 0.25 ms2 / 0.50 ms: 0.50 ms3 / 0.75 ms: 0.75 ms4 / 1.00 ms: 1.00 ms5 / 1.25 ms: 1.25 ms6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3008:21h Modbus 2114Profibus 2114CIP 108.1.33
LXM32M 10 Parameters
AC servo drive 551
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
DI_2_Debounce Debounce time of DI2 (332)
0 / No: No software debouncing1 / 0.25 ms: 0.25 ms2 / 0.50 ms: 0.50 ms3 / 0.75 ms: 0.75 ms4 / 1.00 ms: 1.00 ms5 / 1.25 ms: 1.25 ms6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3008:22h Modbus 2116Profibus 2116CIP 108.1.34
DI_3_Debounce Debounce time of DI3 (332)
0 / No: No software debouncing1 / 0.25 ms: 0.25 ms2 / 0.50 ms: 0.50 ms3 / 0.75 ms: 0.75 ms4 / 1.00 ms: 1.00 ms5 / 1.25 ms: 1.25 ms6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3008:23h Modbus 2118Profibus 2118CIP 108.1.35
DI_4_Debounce Debounce time of DI4 (333)
0 / No: No software debouncing1 / 0.25 ms: 0.25 ms2 / 0.50 ms: 0.50 ms3 / 0.75 ms: 0.75 ms4 / 1.00 ms: 1.00 ms5 / 1.25 ms: 1.25 ms6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3008:24h Modbus 2120Profibus 2120CIP 108.1.36
DI_5_Debounce Debounce time of DI5 (333)
0 / No: No software debouncing1 / 0.25 ms: 0.25 ms2 / 0.50 ms: 0.50 ms3 / 0.75 ms: 0.75 ms4 / 1.00 ms: 1.00 ms5 / 1.25 ms: 1.25 ms6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3008:25h Modbus 2122Profibus 2122CIP 108.1.37
10 Parameters LXM32M
552 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
DPL_Activate Activation of Drive Profile Lexium
Value 0: Deactivate Drive Profile LexiumValue 1: Activate Drive Profile Lexium
The access channel via which the drive pro-file has been activated is the only accesschannel that can use the drive profile.
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 301B:8h Modbus 6928Profibus 6928CIP 127.1.8
DPL_dmControl Drive Profile Lexium dmControl ----
UINT16UINT16UINT16UINT16 R/W--
CANopen 301B:1Fh Modbus 6974Profibus 6974CIP 127.1.31
DPL_intLim Setting for bit 9 of _DPL_motionStat and_actionStatus
0 / None: Not used (reserved)1 / Current Below Threshold: Currentthreshold value2 / Velocity Below Threshold: Velocitythreshold value3 / In Position Deviation Window: Positiondeviation window4 / In Velocity Deviation Window: Velocitydeviation window5 / Position Register Channel 1: Positionregister channel 16 / Position Register Channel 2: Positionregister channel 27 / Position Register Channel 3: Positionregister channel 38 / Position Register Channel 4: Positionregister channel 49 / Hardware Limit Switch: Hardware limitswitch10 / RMAC active or finished: Relativemovement after capture is active or finished11 / Position Window: Position window
Setting for:Bit 9 of the parameter _actionStatusBit 9 of the parameter _DPL_motionStat
Changed settings become active immedi-ately.
Available with firmware version ≥V01.08.
-01111
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 301B:35h Modbus 7018Profibus 7018CIP 127.1.53
DPL_RefA16 Drive Profile Lexium RefA16 ----
INT16INT16INT16INT16 R/W--
CANopen 301B:22h Modbus 6980Profibus 6980CIP 127.1.34
LXM32M 10 Parameters
AC servo drive 553
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
DPL_RefA32 Drive Profile Lexium RefA32 ----
INT32INT32INT32INT32 R/W--
CANopen 301B:20h Modbus 6976Profibus 6976CIP 127.1.32
DPL_RefB32 Drive Profile Lexium RefB32 ----
INT32INT32INT32INT32 R/W--
CANopen 301B:21h Modbus 6978Profibus 6978CIP 127.1.33
DS402compatib DS402 state machine: State transition from3 to 4
0 / Automatic: Automatic (state transition isperformed automatically)1 / DS402-compliant: DS402-compliant(state transition must be controlled via thefieldbus)
Determines the state transition between thestates SwitchOnDisabled (3) and Ready-ToSwitchOn (4).
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 301B:13h Modbus 6950Profibus 6950CIP 127.1.19
10 Parameters LXM32M
554 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
DS402intLim DS402 status word: Setting for bit 11 (inter-nal limit) (359)
0 / None: Not used (reserved)1 / Current Below Threshold: Currentthreshold value2 / Velocity Below Threshold: Velocitythreshold value3 / In Position Deviation Window: Positiondeviation window4 / In Velocity Deviation Window: Velocitydeviation window5 / Position Register Channel 1: Positionregister channel 16 / Position Register Channel 2: Positionregister channel 27 / Position Register Channel 3: Positionregister channel 38 / Position Register Channel 4: Positionregister channel 49 / Hardware Limit Switch: Hardware limitswitch10 / RMAC active or finished: Relativemovement after capture is active or finished11 / Position Window: Position window
Setting for: Bit 11 of the parameter _DCOMstatusBit 10 of the parameter _actionStatusBit 10 of the parameter _DPL_motionStat
Changed settings become active immedi-ately.
-0011
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 301B:1Eh Modbus 6972Profibus 6972CIP 127.1.30
DVNaddressConF → CoM- ConF → FSu-
dnAd
DeviceNet node address (MAC ID)
Changed settings become active the nexttime the product is switched on.
-06363
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3042:1h Modbus 16898Profibus 16898CIP 166.1.1
DVNbaudConF → CoM- ConF → FSu-
dnbd
DeviceNet baud rate
0 / 125 kBaud / 125 : 125 kBaud1 / 250 kBaud / 250 : 250 kBaud2 / 500 kBaud / 500 : 500 kBaud3 / Autobaud / Auto : Autobaud
Changed settings become active the nexttime the product is switched on.
-033
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3042:2h Modbus 16900Profibus 16900CIP 166.1.2
DVNbuspower Monitoring of DeviceNet bus power supply
0: Monitoring off1: Monitoring on
Changed settings become active immedi-ately.
-011
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3042:3h Modbus 16902Profibus 16902CIP 166.1.3
LXM32M 10 Parameters
AC servo drive 555
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
DVNioDataIn DeviceNet I/O data input
110 / Position Controller Profile: PositionController Profile111 / Standard Assembly: Standardassembly112 / Extended Assembly: Extendedassembly
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
-110110112
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3042:4h Modbus 16904Profibus 16904CIP 166.1.4
DVNioDataOut DeviceNet I/O data output
100 / Position Controller Profile: PositionController Profile101 / Standard Assembly: Standardassembly102 / Extended Assembly: Extendedassembly
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
-100100102
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3042:5h Modbus 16906Profibus 16906CIP 166.1.5
ECAT2ndaddressConF → CoM-
EcSA
Value for an EtherCAT Identification
Value for an EtherCAT "Identification" (alsoknown as "Station Alias"), for example, forthe EtherCAT function Hot Connect.
Changed settings become active the nexttime the product is switched on.
-0065535
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3045:6h Modbus 17676Profibus 17676CIP 169.1.6
ENC_abs_source Source for setting absolute encoder position
0 / Encoder 1: Absolute position deter-mined from encoder 11 / Encoder 2 (module): Absolute positiondetermined from encoder 2 (module)
This parameter defines the encoder sourcewhich is used to determine the base abso-lute position after power cycling. If this is setto Encoder 1, the absolute position fromencoder 1 is read and copied to the systemvalues of encoder 2.
Changed settings become active the nexttime the product is switched on.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:25h Modbus 1354Profibus 1354CIP 105.1.37
10 Parameters LXM32M
556 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ENC_ModeOfMaEnc
Selection of mode of machine encoder
0 / None: Machine encoder is not used formotor control1 / Position Control: Machine encoder isused for position control2 / Velocity And Position Control:Machine encoder is used for velocity andposition control
NOTE: It is not possible to use the machineencoder for speed control and the motorencoder for position control.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-012
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3050:2h Modbus 20484Profibus 20484CIP 180.1.2
ENC1_adjustment
Adjustment of absolute position of encoder1 (176)
The value range depends on the encodertype.
Singleturn encoder:0 ... x-1
Multiturn encoder:0 ... (4096*x)-1
Singleturn encoder (shifted with parameterShiftEncWorkRang):-(x/2) ... (x/2)-1
Multiturn encoder (shifted with parameterShiftEncWorkRang):-(2048*x) ... (2048*x)-1
Definition of 'x': Maximum position for oneencoder turn in user-defined units. Thisvalue is 16384 with the default scaling.
NOTE: * If processing is to be performed with inver-sion of the direction of movement, this mustbe set before the encoder position is adjus-ted.* After the write access, a wait time of atleast 1 second is required before the drive isswitched off.
Changed settings become active the nexttime the product is switched on.
usr_p---
INT32INT32INT32INT32 R/W--
CANopen 3005:16h Modbus 1324Profibus 1324CIP 105.1.22
LXM32M 10 Parameters
AC servo drive 557
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ENC2_adjustment
Adjustment of absolute position of encoder2 (177)
The value range depends on the encodertype at the physical port ENC2.
This parameter can only be changed if theparameter ENC_abs_source is set to'Encoder 2'.
Singleturn encoder:0 ... x-1
Multiturn encoder:0 ... (y*x)-1
Singleturn encoder (shifted with parameterShiftEncWorkRang):-(x/2) ... (x/2)-1
Multiturn encoder (shifted with parameterShiftEncWorkRang):-(y/2)*x ... ((y/2)*x)-1
Definition of 'x': Maximum position for oneencoder turn in user-defined units. Thisvalue is 16384 with the default scaling.Definition of 'y': Revolutions of the multiturnencoder.
NOTE:* If processing is to be performed with inver-sion of the direction of movement, this mustbe set before the encoder position is adjus-ted.* After the write access, the parameter val-ues has to be saved to the EEPROM andthe drive has to be switched off, before thechange becomes active.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.01.
usr_p---
INT32INT32INT32INT32 R/W--
CANopen 3005:24h Modbus 1352Profibus 1352CIP 105.1.36
10 Parameters LXM32M
558 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ENC2_type Type of encoder at encoder 2 (module)
0 / none: Undefined1 / SinCos Hiperface (rotary): SinCosHiperface (rotary)2 / SinCos 1Vpp (wake & shake - rotary):SinCos 1Vpp (wake & shake, rotary)3 / Sincos 1Vpp Hall (no wake & shake -rotary): SinCos 1Vpp Hall (no wake &shake, rotary)5 / EnDat 2.2 (rotary): EnDat 2.2 (rotary)6 / Resolver: Resolver8 / BISS: BISS9 / A/B/I (rot): A/B/I (rotary)10 / SSI (rot): SSI (rotary)257 / SinCos Hiperface (linear): SinCosHiperface (linear)258 / SinCos 1Vpp (wake & shake - lin-ear): SinCos 1Vpp (wake & shake, linear)259 / SinCos 1Vpp Hall (no wake & shake- linear): SinCos 1Vpp Hall (no wake &shake, linear)261 / EnDat 2.2 (linear): EnDat 2.2 (linear)265 / A/B/I (linear): A/B/I (linear)
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
-00265
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3050:3h Modbus 20486Profibus 20486CIP 180.1.3
ENC2_usage Type of usage of encoder 2 (module)
0 / None: Undefined1 / Motor: Configured as motor encoder2 / Machine: Configured as machineencoder
NOTE: If the parameter is set to "Motor",encoder 1 has no functionality.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3050:1h Modbus 20482Profibus 20482CIP 180.1.1
ENCAnaPowSupply
Power supply encoder module ANA (analoginterface)
5 / 5V: 5 V supply voltage12 / 12V: 12 V supply voltage
Power supply of the analog encoder only ifthe encoder is used as a machine encodersupplying 1Vpp encoder signals.This parameter is not used for Hiperfaceencoders. Hiperface encoders are suppliedwith 12 V.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.01.
-5512
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3051:2h Modbus 20740Profibus 20740CIP 181.1.2
LXM32M 10 Parameters
AC servo drive 559
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ENCDigABIMaxFreq
ABI maximum frequency
The maximum possible ABI frequency isencoder-specific (specified by the encodermanufacturer). The encoder module DIGsupports a maximum ABI frequency of 1MHz (this is the default and maximum valueof ENCDigABIMaxFreq). An ABI frequencyof 1 MHz means that there are 4000000encoder increments in 1 second.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.01.
kHz110001000
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3052:6h Modbus 21004Profibus 21004CIP 182.1.6
ENCDigABImaxIx ABI maximum distance for index pulsesearch
In the case of a reference movement to theindex pulse, ENCDigABImaxIx contains themaximum distance within which the indexpulse must be found. If no physical indexpulse is found over this range, an error mes-sage is generated.
Example: A rotary ABI encoder with oneindex pulse per revolution is connected. Theresolution of the encoder is 8000 encoderincrements per revolution (this value can bedetermined using parameter_Inc_Enc2Raw. _Inc_Enc2Raw and ENCDi-gABImaxIx have the same scaling). Themaximum distance necessary for a refer-ence movement to the index pulse is onerevolution. This means that ENCDigABI-maxIx should be set to 8000. Internally, atolerance of 10% is added. This means thatduring a reference movement to the indexpulse, an index pulse must be found within8800 encoder increments.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
EncInc1100002147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3052:7h Modbus 21006Profibus 21006CIP 182.1.7
ENCDigBISSCoding
Position coding of BISS encoder
0 / binary: Binary coding1 / gray: Gray coding
This parameter defines the type of positioncoding of the BISS encoder.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.01.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3052:Ah Modbus 21012Profibus 21012CIP 182.1.10
10 Parameters LXM32M
560 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ENCDigBISSResMul
BISS multiturn resolution
This parameter is only relevant for BISSencoders (singleturn and multiturn). If a sin-gleturn BISS encoder is used, ENCDig-BISSResMult must be set to 0. Example: If ENCDigBISSResMult is set to12, the number of turns of the encoder usedmust be 2^12 = 4096.The sum of ENCDigBISSResMult + ENC-DigBISSResSgl must be less than or equalto 46 bits.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.01.
bit0024
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3052:9h Modbus 21010Profibus 21010CIP 182.1.9
ENCDigBISSResSgl
BISS singleturn resolution
This parameter is only relevant for BISSencoders (singleturn and multiturn). Example: If ENCDigBISSResSgl is set to13, an BISS encoder with a singleturn reso-lution of 2^13 = 8192 increments must beused.If a multiturn encoder is used, the sum ofENCDigBISSResMult + ENCDigBISS-ResSgl must be less than or equal to 46bits.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.01.
bit81325
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3052:8h Modbus 21008Profibus 21008CIP 182.1.8
ENCDigPowSupply
Power supply encoder module DIG (digitalinterface)
5 / 5V: 5 V supply voltage12 / 12V: 12 V supply voltage
Power supply of the digital encoder.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.01.
-5512
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3052:4h Modbus 21000Profibus 21000CIP 182.1.4
LXM32M 10 Parameters
AC servo drive 561
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ENCDigResMulUsed
Number of bits of the multiturn resolutionused of the encoder
Specifies the number of bits of the multiturnresolution used for position evaluation.If ENCDigResMulUsed = 0, all bits of themultiturn resolution of the encoder are used.Example:If ENCDigResMulUsed = 11, only 11 bits ofthe multiturn resolution of the encoder areused.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.03.
bit0024
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3052:Bh Modbus 21014Profibus 21014CIP 182.1.11
ENCDigSSICoding
Position coding of SSI encoder
0 / binary: Binary coding1 / gray: Gray coding
This parameter defines the type of positioncoding of the SSI encoder.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.01.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3052:3h Modbus 20998Profibus 20998CIP 182.1.3
ENCDigSSIMaxFreq
SSI maximum transfer frequency
This parameter is only relevant for SSIencoders (singleturn and multiturn). The maximum possible SSI transfer fre-quency is encoder-specific (specified byencoder manufacturer). The value of ENC-DigSSIMaxFreq and the possible SSI trans-fer frequencies of the encoder module areused to configure an optimum SSI transferfrequency (the encoder module supports 0.2MHz and 1 MHz transfer frequencies).Example: The encoder has a maximumtransfer frequency of 400 kHz. ENCDigSSI-MaxFreq is set to 400. Internally, the trans-fer frequency is set to 200 kHz. If the encoder cable is very long, ENCDigS-SIMaxFreq may have to be reduced. In thiscase, the response time of the drive isslightly reduced. The higher the transfer fre-quency, the lower the lag time in the controlloop.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.01.
kHz2002001000
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3052:5h Modbus 21002Profibus 21002CIP 182.1.5
10 Parameters LXM32M
562 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ENCDigSSIResMult
SSI multiturn resolution
This parameter is only relevant for SSIencoders (singleturn and multiturn). If a sin-gleturn SSI encoder is used, ENCDigSSIR-esMult must be set to 0. Example: If ENCDigSSIResMult is set to 12,the number of turns of the encoder usedmust be 2^12 = 4096.The sum of ENCDigSSIResMult + ENC-DigSSIResSgl must be less than or equal to32 bits.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.01.
bit0024
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3052:2h Modbus 20996Profibus 20996CIP 182.1.2
ENCDigSSIResSgl
SSI singleturn resolution
This parameter is only relevant for SSIencoders (singleturn and multiturn). Example: If ENCDigSSIResSgl is set to 13,an SSI encoder with a singleturn resolutionof 2^13 = 8192 increments must be used.If a multiturn encoder is used, the sum ofENCDigSSIResMult + ENCDigSSIResSglmust be less than or equal to 32 bits.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.01.
bit81325
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3052:1h Modbus 20994Profibus 20994CIP 182.1.1
ENCSinCosMaxIx Maximum distance for search for indexpulse for SinCos encoder
The parameter specifies the maximum num-ber of periods during which the index pulsemust be found (search range).A tolerance of 10 % is added to this value. Ifno index pulse is found within this range(including the 10% tolerance), an error mes-sage is generated.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
-110242147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3051:4h Modbus 20744Profibus 20744CIP 181.1.4
ERR_clear Clear error memory (436)
Value 1: Delete entries in the error memory
The clearing process is completed if a 0 isreturned after a read access.
Changed settings become active immedi-ately.
-0-1
UINT16UINT16UINT16UINT16 R/W--
CANopen 303B:4h Modbus 15112Profibus 15112CIP 159.1.4
LXM32M 10 Parameters
AC servo drive 563
0198
4411
1376
7, V
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, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ERR_reset Reset error memory read pointer (436)
Value 1: Set error memory read pointer tooldest error entry.
Changed settings become active immedi-ately.
-0-1
UINT16UINT16UINT16UINT16 R/W--
CANopen 303B:5h Modbus 15114Profibus 15114CIP 159.1.5
ErrorResp_bit_DE
Error response to data error (DE bit)
-1 / No Error Response: No error response0 / Warning: Warning1 / Error Class 1: Error class 12 / Error Class 2: Error class 23 / Error Class 3: Error class 3
For the Drive Profile Lexium, the errorresponse to data error (DE bit) can be para-meterized. For EtherCAT RxPDO data error handling,this parameter is also used to classify theerror response.
--1-13
INT16INT16INT16INT16 R/Wper.-
CANopen 301B:6h Modbus 6924Profibus 6924CIP 127.1.6
ErrorResp_bit_ME
Error response to mode error (ME bit)
-1 / No Error Response: No error response0 / Warning: Warning1 / Error Class 1: Error class 12 / Error Class 2: Error class 23 / Error Class 3: Error class 3
For Drive Profile Lexium, the error responsefor an mode error (ME bit) can be parame-terized.
--1-13
INT16INT16INT16INT16 R/Wper.-
CANopen 301B:7h Modbus 6926Profibus 6926CIP 127.1.7
ErrorResp_Flt_AC
Error response to missing mainsphase (426)
1 / Error Class 1: Error class 12 / Error Class 2: Error class 23 / Error Class 3: Error class 3
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-123
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:Ah Modbus 1300Profibus 1300CIP 105.1.10
ErrorResp_I2tRES
Error response to 100% I2t braking resistor
0 / Warning: Warning (error class 0)1 / Error Class 1: Error class 12 / Error Class 2: Error class 2
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:22h Modbus 1348Profibus 1348CIP 105.1.34
ErrorResp_p_dif
Error response to following error (399)
1 / Error Class 1: Error class 12 / Error Class 2: Error class 23 / Error Class 3: Error class 3
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-133
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:Bh Modbus 1302Profibus 1302CIP 105.1.11
10 Parameters LXM32M
564 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ESIM_HighResolution
Encoder simulation: High resolution (335)
Specifies the number of increments per rev-olution with 12 bit decimal places. If theparameter is set to a multiple of 4096, theindex pulse will be generated exactly at thesame position within one revolution.
The setting of parameter ESIM_scale is onlyused if parameter ESIM_HighResolution isset to 0. Otherwise, the setting ofESIM_HighResolution is used.
Example: 1417.322835 encoder simulationpulses per revolution are required.Set the parameter to 1417.322835 * 4096 =5805354.In this example, the index pulse will be gen-erated exactly after every 1417 pulses. Thismeans that the index pulse shifts with eachrevolution.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
EncInc00268431360
UINT32UINT32UINT32UINT32 R/Wper.expert
CANopen 3005:32h Modbus 1380Profibus 1380CIP 105.1.50
ESIM_PhaseShift
Encoder simulation: Phase shift for pulseoutput (336)
The generated encoder simulation pulsescan be shifted in units of 1/4096 encoderpulses. The shift results in a position offsetat PTO. The index pulse is shifted as well.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.10.
--32768032767
INT16INT16INT16INT16 R/W-expert
CANopen 3005:33h Modbus 1382Profibus 1382CIP 105.1.51
ESIM_scaleConF → i-o-
ESSC
Resolution of encoder simulation (335)
Resolution defines the number of incre-ments per revolution (AB signal with quad-ruple evaluation).
The index pulse is created once per revolu-tion at an interval where signal A and signalB are high.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
EncInc8409665535
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:15h Modbus 1322Profibus 1322CIP 105.1.21
LXM32M 10 Parameters
AC servo drive 565
0198
4411
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, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
eSM_BaseSetting
eSM basic settings
None: No functionAuto Start: Automatic start (ESMSTART)Ignore GUARD_ACK: GUARD_ACK inac-tiveIgnore INTERLOCK_IN: INTERLOCK chaininactive
Setting can only be changed if power stageis disabled.
Available with firmware version ≥V01.01.
----
R/Wper.-
eSM_dec_NC eSM deceleration ramp
Deceleration ramp for monitored decelera-tion
Value 0: Disabled, no monitoring of deceler-ation rampValue >0: Deceleration ramp in min-1/s
Setting can only be changed if power stageis disabled.
Available with firmware version ≥V01.01.
min-1/s0032786009
R/Wper.-
eSM_dec_Qstop eSM deceleration ramp for Quick Stop
Deceleration ramp for monitored QuickStop. This value must be greater than 0.
Value 0: eSM module is not configuredValue >0: Deceleration ramp in min-1/s
Setting can only be changed if power stageis disabled.
Available with firmware version ≥V01.01.
min-1/s0032786009
R/Wper.-
eSM_disable eSM disable
Value 0: No actionValue 1: Force a change of eSM state 6 toeSM state 3
Setting can only be changed if power stageis disabled.
Available with firmware version ≥V01.01.
----
UINT16UINT16UINT16UINT16 R/W--
CANopen 304C:1Ah Modbus 19508Profibus 19508CIP 176.1.26
10 Parameters LXM32M
566 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
eSM_FuncAUXOUT1
eSM function of status output AUXOUT1
None: No function/ESTOP: Signal state /ESTOPGUARD: Signal state GUARDSETUPMODE: Signal state SETUPMODESETUPENABLE: Signal state SETUPENA-BLEGUARD_ACK: Signal state GUARD_ACK/INTERLOCK_IN: Signal state /INTER-LOCK_INSTO by eSM: Signal state of internal STORELAY: Signal state RELAY/INTERLOCK_OUT: Signal state /INTER-LOCK_OUTStandstill: Standstill (v = 0)SLS: SLSError class 4: Error of error class 4 occur-redError class 1 ... 4: Error of error classes 1… 4 occurred/ESTOP inv.: Signal state /ESTOP, invertedGUARD inv.: Signal state GUARD, invertedSETUPMODE inv.: Signal state SETUP-MODE, invertedSETUPENABLE inv.: Signal state SETU-PENABLE, invertedGUARD_ACK inv.: Signal stateGUARD_ACK, inverted/INTERLOCK_IN inv.: Signal state /INTER-LOCK_IN, invertedSTO by eSM inv.: Signal state of internalSTO, invertedRELAY inv.: Signal state RELAY, inverted/INTERLOCK_OUT inv.: Signal state /INTERLOCK_OUT, invertedStandstill inv.: Standstill, invertedSLS inv.: SLS, invertedError class 4 inv.: Error of error class 4occurred, invertedError class 1 ... 4 inv.: Error of errorclasses 1 … 4 occurred, inverted
Setting can only be changed if power stageis disabled.
Available with firmware version ≥V01.01.
----
R/Wper.-
LXM32M 10 Parameters
AC servo drive 567
0198
4411
1376
7, V
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, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
eSM_FuncAUXOUT2
eSM function of status output AUXOUT2
None: No function/ESTOP: Signal state /ESTOPGUARD: Signal state GUARDSETUPMODE: Signal state SETUPMODESETUPENABLE: Signal state SETUPENA-BLEGUARD_ACK: Signal state GUARD_ACK/INTERLOCK_IN: Signal state /INTER-LOCK_INSTO by eSM: Signal state of internal STORELAY: Signal state RELAY/INTERLOCK_OUT: Signal state /INTER-LOCK_OUTStandstill: Standstill (v = 0)SLS: SLSError class 4: Error of error class 4 occur-redError class 1 ... 4: Error of error classes 1… 4 occurred/ESTOP inv.: Signal state /ESTOP, invertedGUARD inv.: Signal state GUARD, invertedSETUPMODE inv.: Signal state SETUP-MODE, invertedSETUPENABLE inv.: Signal state SETU-PENABLE, invertedGUARD_ACK inv.: Signal stateGUARD_ACK, inverted/INTERLOCK_IN inv.: Signal state /INTER-LOCK_IN, invertedSTO by eSM inv.: Signal state of internalSTO, invertedRELAY inv.: Signal state RELAY, inverted/INTERLOCK_OUT inv.: Signal state /INTERLOCK_OUT, invertedStandstill inv.: Standstill, invertedSLS inv.: SLS, invertedError class 4 inv.: Error of error class 4occurred, invertedError class 1 ... 4 inv.: Error of errorclasses 1 … 4 occurred, inverted
Setting can only be changed if power stageis disabled.
Available with firmware version ≥V01.01.
----
R/Wper.-
eSM_FuncSwitches
eSM switches for functions
None: No functionDirectionDependentSLS: SLS dependenton direction of movement
Available as of firmware version safety mod-ule eSM ≥V01.01.Bit 0 = 0: SLS independent of direction ofmovementBit 0 = 1: SLS dependent on direction ofmovement
Setting can only be changed if power stageis disabled.
Available with firmware version ≥V01.01.
-001
R/Wper.-
10 Parameters LXM32M
568 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
eSM_LO_mask eSM digital outputs channel B mask
Mask of active digital outputs
0: Digital output is not active1: Digital output is active
Bit assignments:See digital outputs channel.
Available with firmware version ≥V01.01.
----
UINT16UINT16UINT16UINT16 R/W--
CANopen 304C:15h Modbus 19498Profibus 19498CIP 176.1.21
eSM_SLSnegDirS eSM speed limit negative direction machineoperating mode Setup Mode
Firmware version safety module eSM≥V01.01.Parameter eSM_FuncSwitches Bit 0 = 1:Value = Monitored speed limit for negativedirection of movement.
Setting can only be changed if power stageis disabled.
Available with firmware version ≥V01.01.
min-1 008000
R/Wper.-
eSM_t_NCDel eSM delay time until start of monitoreddeceleration
Delay time until monitoring of the decelera-tion ramp starts. This time can be adjustedto meet the requirements of a PLC.
Setting can only be changed if power stageis disabled.
Available with firmware version ≥V01.01.
ms0010000
R/Wper.-
eSM_t_Relay eSM deactivation of output RELAY
Deactivation of the digital output RELAY:
Value 0: Immediate, no delay timeValue 1: At motor standstill (v = 0)Value 2: At motor standstill (v = 0) andINTERLOCK_OUT = 1Value >2: Delay time in ms, deactivation ofoutput after this time has passed
Setting can only be changed if power stageis disabled.
Available with firmware version ≥V01.01.
ms0010000
R/Wper.-
eSM_v_maxAuto eSM speed limit for machine operatingmode Automatic Mode
This value sets the speed limit for monitor-ing in machine operating mode AutomaticMode.
Value 0: The speed limit is not monitoredValue >0: Monitored speed limit
Setting can only be changed if power stageis disabled.
Available with firmware version ≥V01.01.
min-1 008000
R/Wper.-
LXM32M 10 Parameters
AC servo drive 569
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
eSM_v_maxSetup eSM speed limit for machine operatingmode Setup Mode
This value sets the speed limit for monitor-ing in machine operating mode Setup Mode.
Firmware version safety module eSM≥V01.01:Parameter eSM_FuncSwitches Bit 0 = 0:Value = Monitored speed limit for positiveand negative directions of movement.Parameter eSM_FuncSwitches Bit 0 = 1:Value = Monitored speed limit for positivedirection of movement.
Setting can only be changed if power stageis disabled.
Available with firmware version ≥V01.01.
min-1 008000
R/Wper.-
EthErrorMgt FDR error management
0 / Off: FDR problem does not trigger anerror1 / On: FDR problem triggers an error
Specifies the response to a missing or inva-lid FDR file.
Changed settings become active immedi-ately.
-011
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:42h Modbus 17540Profibus 17540CIP 168.1.66
EthFdrAction FDR action
0 / IDLE: No action1 / SAVE: Save current configuartion toserver2 / RESTORE: Restore configuration fromserver3 / DELETE: Delete configuration on server
Changed settings become active immedi-ately.
-003
UINT16UINT16UINT16UINT16 R/W--
CANopen 3044:43h Modbus 17542Profibus 17542CIP 168.1.67
EthFdrEnableConF → CoM- ConF → FSu-
EFdr
FDR service
0 / Off / oFF : FDR service disabled1 / On / on : FDR service enabled
Enable Ethernet service "Fast DeviceReplacement" (FDR).If FDR is enabled, the DHCP server mustsupport FDR, otherwise no IP address canbe obtained via DHCP.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:40h Modbus 17536Profibus 17536CIP 168.1.64
EthFdrLocalCfg FDR local configuration
0 / Server: Server configuration1 / Local: Local configuration
Specifies whether the drive configuration isdownloaded from an FDR server or whetherthe local drive configuration is used.
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:41h Modbus 17538Profibus 17538CIP 168.1.65
10 Parameters LXM32M
570 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
EthFdrTime FDR autosave time
Interval for periodic saving of the configura-tion to the FDR server.Value 0: No autosave
Changed settings become active immedi-ately.
minutes0109999
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:44h Modbus 17544Profibus 17544CIP 168.1.68
EthIPgate1ConF → CoM-
iPG1
IP address gateway, byte 1
Changed settings become active the nexttime the product is switched on.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:Fh Modbus 17438Profibus 17438CIP 168.1.15
EthIPgate2ConF → CoM-
iPG2
IP address gateway, byte 2
Changed settings become active the nexttime the product is switched on.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:10h Modbus 17440Profibus 17440CIP 168.1.16
EthIPgate3ConF → CoM-
iPG3
IP address gateway, byte 3
Changed settings become active the nexttime the product is switched on.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:11h Modbus 17442Profibus 17442CIP 168.1.17
EthIPgate4ConF → CoM-
iPG4
IP address gateway, byte 4
Changed settings become active the nexttime the product is switched on.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:12h Modbus 17444Profibus 17444CIP 168.1.18
EthIPmask1ConF → CoM- ConF → FSu-
iPM1
IP address subnet mask, byte 1
Changed settings become active the nexttime the product is switched on.
-0255255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:Bh Modbus 17430Profibus 17430CIP 168.1.11
EthIPmask2ConF → CoM- ConF → FSu-
iPM2
IP address subnet mask, byte 2
Changed settings become active the nexttime the product is switched on.
-0255255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:Ch Modbus 17432Profibus 17432CIP 168.1.12
EthIPmask3ConF → CoM- ConF → FSu-
iPM3
IP address subnet mask, byte 3
Changed settings become active the nexttime the product is switched on.
-0255255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:Dh Modbus 17434Profibus 17434CIP 168.1.13
LXM32M 10 Parameters
AC servo drive 571
0198
4411
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7, V
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, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
EthIPmask4ConF → CoM- ConF → FSu-
iPM4
IP address subnet mask, byte 4
Changed settings become active the nexttime the product is switched on.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:Eh Modbus 17436Profibus 17436CIP 168.1.14
EthIPmaster1 IP address master, byte 1
IP address of the master that is permitted toperform Modbus TCP I/O scanning.If set to 0.0.0.0 (default), any master canperform I/O scanning.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:29h Modbus 17490Profibus 17490CIP 168.1.41
EthIPmaster2 IP address master, byte 2
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:2Ah Modbus 17492Profibus 17492CIP 168.1.42
EthIPmaster3 IP address master, byte 3
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:2Bh Modbus 17494Profibus 17494CIP 168.1.43
EthIPmaster4 IP address master, byte 4
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:2Ch Modbus 17496Profibus 17496CIP 168.1.44
EthIpModeConF → CoM- ConF → FSu-
iPMd
Type of obtaining IP address
0 / Manual / MAnu : Manual1 / BOOTP / boot : BOOTP2 / DHCP / dhcP : DHCP
When selecting DHCP, also set the parame-ter EthFdrEnable to ON or OFF, dependingon whether or not your DHCP server sup-ports FDR.
Changed settings become active immedi-ately.
-022
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:5h Modbus 17418Profibus 17418CIP 168.1.5
EthIPmodule1ConF → CoM- ConF → FSu-
iPc1
IP address Ethernet module, byte 1
Changed settings become active the nexttime the product is switched on.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:7h Modbus 17422Profibus 17422CIP 168.1.7
10 Parameters LXM32M
572 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
EthIPmodule2ConF → CoM- ConF → FSu-
iPc2
IP address Ethernet module, byte 2
Changed settings become active the nexttime the product is switched on.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:8h Modbus 17424Profibus 17424CIP 168.1.8
EthIPmodule3ConF → CoM- ConF → FSu-
iPc3
IP address Ethernet module, byte 3
Changed settings become active the nexttime the product is switched on.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:9h Modbus 17426Profibus 17426CIP 168.1.9
EthIPmodule4ConF → CoM- ConF → FSu-
iPc4
IP address Ethernet module, byte 4
Changed settings become active the nexttime the product is switched on.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:Ah Modbus 17428Profibus 17428CIP 168.1.10
EthMbIPswap1 IP address of master for Modbus wordswap, byte 1
IP address of a Modbus master device. Forthis master, the word order is swapped to"Low word first", instead of the default "Highword first".
High word first: Modicon QuantumLow word first: Premium, HMI (SchneiderElectric)
Changed settings become active immedi-ately.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:50h Modbus 17568Profibus 17568CIP 168.1.80
EthMbIPswap2 IP address of master for Modbus wordswap, byte 2
Changed settings become active immedi-ately.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:51h Modbus 17570Profibus 17570CIP 168.1.81
EthMbIPswap3 IP address of master for Modbus wordswap, byte 3
Changed settings become active immedi-ately.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:52h Modbus 17572Profibus 17572CIP 168.1.82
EthMbIPswap4 IP address of master for Modbus wordswap, byte 4
Changed settings become active immedi-ately.
-00255
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:53h Modbus 17574Profibus 17574CIP 168.1.83
LXM32M 10 Parameters
AC servo drive 573
0198
4411
1376
7, V
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, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
EthMbScanner Modbus TCP I/O scanning
0 / Off: Modbus TCP I/O scanning off1 / On: Modbus TCP I/O scanning on
I/O scanning only works if the parameterEthMode is set to Modbus TCP.
Changed settings become active immedi-ately.
-011
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:28h Modbus 17488Profibus 17488CIP 168.1.40
EthMbScanTimeout
Modbus TCP I/O scanning timeout
Communication monitoring timeout for Mod-bus TCP.Value 0: Timeout monitoring disabled
In increments of 0.1 s.
Changed settings become active immedi-ately.
s0.02.060.0
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:2Dh Modbus 17498Profibus 17498CIP 168.1.45
EthModeConF → CoM-
EtMd
Protocol
0 / Modbus TCP / MtCP : Modbus TCP I/Oscanning is enabled1 / EtherNet/IP / EtiP : EtherNet/IP com-munication is enabled
NOTE: Modbus TCP parameter access ispossible irrespective of the selected setting.
Changed settings become active the nexttime the product is switched on.
-011
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:1h Modbus 17410Profibus 17410CIP 168.1.1
EthOptMapInp1 Optionally mapped input parameter 1 (driveto PLC)
Modbus address of parameter which isoptionally mapped to Ethernet/IP assemblyor Modbus TCP I/O scanner data (drive toPLC).
Changed settings become active immedi-ately.
--0-
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:34h Modbus 17512Profibus 17512CIP 168.1.52
EthOptMapInp2 Optionally mapped input parameter 2 (driveto PLC)
Modbus address of parameter which isoptionally mapped to Ethernet/IP assemblyor Modbus TCP I/O scanner data (drive toPLC).
Changed settings become active immedi-ately.
--0-
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:35h Modbus 17514Profibus 17514CIP 168.1.53
EthOptMapInp3 Optionally mapped input parameter 3 (driveto PLC)
Modbus address of parameter which isoptionally mapped to Ethernet/IP assemblyor Modbus TCP I/O scanner data (drive toPLC).
Changed settings become active immedi-ately.
--0-
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:36h Modbus 17516Profibus 17516CIP 168.1.54
10 Parameters LXM32M
574 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
EthOptMapOut1 Optionally mapped output parameter 1 (PLCto drive)
Modbus address of parameter which isoptionally mapped to Ethernet/IP assemblyor Modbus TCP I/O scanner data (PLC todrive).
Changed settings become active immedi-ately.
--0-
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:2Eh Modbus 17500Profibus 17500CIP 168.1.46
EthOptMapOut2 Optionally mapped output parameter 2 (PLCto drive)
Modbus address of parameter which isoptionally mapped to Ethernet/IP assemblyor Modbus TCP I/O scanner data (PLC todrive).
Changed settings become active immedi-ately.
--0-
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:2Fh Modbus 17502Profibus 17502CIP 168.1.47
EthOptMapOut3 Optionally mapped output parameter 3 (PLCto drive)
Modbus address of parameter which isoptionally mapped to Ethernet/IP assemblyor Modbus TCP I/O scanner data (PLC todrive).
Changed settings become active immedi-ately.
--0-
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:30h Modbus 17504Profibus 17504CIP 168.1.48
EthRateSet Transmission rate setting
0 / Autodetect: Autodetect1 / 10 Mbps Full: 10 Mbps full duplex2 / 10 Mbps Half: 10 Mbps half duplex3 / 100 Mbps Full: 100 Mbps full duplex4 / 100 Mbps Half: 100 Mbps half duplex
Changed settings become active immedi-ately.
-004
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:2h Modbus 17412Profibus 17412CIP 168.1.2
EthWebserver Ethernet webserver
0 / Off: Ethernet webserver off1 / On: Ethernet webserver on
Changed settings become active the nexttime the product is switched on.
-011
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3044:6h Modbus 17420Profibus 17420CIP 168.1.6
GEARdenom Denominator of gear ratio (236)
See description GEARnum
-112147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3026:3h Modbus 9734Profibus 9734CIP 138.1.3
GEARdenom2 Denominator of gear ratio number 2 (237)
See description GEARnum
-112147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3026:Ch Modbus 9752Profibus 9752CIP 138.1.12
LXM32M 10 Parameters
AC servo drive 575
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
GEARdir_enabl Enabled movement direction of gear pro-cessing (240)
1 / Positive: Positive direction2 / Negative: Negative direction3 / Both: Both directions
This allows you to activate a return move-ment lock function.
Changed settings become active immedi-ately.
-133
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3026:5h Modbus 9738Profibus 9738CIP 138.1.5
GEARjerklimConF → i-o-
GFiL
Activation of jerk limitation (372)
0 / Off / oFF : Jerk limitation deactivated.1 / PosSyncOn / P_on : Jerk limitationactive in processing modes with positionsynchronization.
The time for jerk limitation must be set viaparameter RAMP_v_jerk.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.02.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3026:7h Modbus 9742Profibus 9742CIP 138.1.7
GEARnum Numerator of gear ratio (236)
GEARnum---------------------- = Gear ratioGEARdenom
The new gear ratio is applied when thenumerator value is supplied.
Changed settings become active immedi-ately.
--214748364812147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3026:4h Modbus 9736Profibus 9736CIP 138.1.4
GEARnum2 Numerator of gear ratio number 2 (236)
GEARnum2---------------------- = Gear ratioGEARdenom2
The new gear ratio is applied when thenumerator value is supplied.
Changed settings become active immedi-ately.
--214748364812147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3026:Dh Modbus 9754Profibus 9754CIP 138.1.13
GEARpos_v_max Velocity limitation for the method PositionSynchronization (240)
Value 0: No velocity limitationValue >0: Velocity limitation in usr_v
Changed settings become active immedi-ately.
Available with firmware version ≥V01.10.
usr_v002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3026:9h Modbus 9746Profibus 9746CIP 138.1.9
10 Parameters LXM32M
576 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
GEARposChgMode Consideration of position changes with inac-tive power stage (238)
0 / Off: Position changes in states with inac-tive power stage are discarded.1 / On: Position changes in states with inac-tive power stage are considered.
This setting has an effect only if gear pro-cessing is started in the mode 'Synchroniza-tion with compensation movement'.
Changed settings become active the nexttime the power stage is enabled.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3026:Bh Modbus 9750Profibus 9750CIP 138.1.11
GEARratioConF → i-o-
GFAC
Selection of predefined gear ratios (236)
0 / Gear Factor / FAct : Usage of gear ratioadjusted with GEARnum/GEARdenom1 / 200 / 200 : 2002 / 400 / 400 : 4003 / 500 / 500 : 5004 / 1000 / 1000 : 10005 / 2000 / 2000 : 20006 / 4000 / 4000 : 40007 / 5000 / 5000 : 50008 / 10000 / 10.00 : 100009 / 4096 / 4096 : 409610 / 8192 / 8192 : 819211 / 16384 / 16.38 : 16384
A change of the reference value by thespecified value causes one motor revolu-tion.
Changed settings become active immedi-ately.
-0011
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3026:6h Modbus 9740Profibus 9740CIP 138.1.6
GEARreference Processing mode for operating mode Elec-tronic Gear (237)
0 / Deactivated: Deactivated1 / Position Synchronization Immediate:Position synchronization without compensa-tion movement2 / Position Synchronization Compensa-ted: Position synchronization with compen-sation movement3 / Velocity Synchronization: Velocity syn-chronization
Changed settings become active immedi-ately.
-003
UINT16UINT16UINT16UINT16 R/W--
CANopen 301B:12h Modbus 6948Profibus 6948CIP 127.1.18
GEARselect Gear ratio selection (236)
Switches between two gear ratios:Value 0: Use gear ratio defined by parame-ter GEARratioValue 1: Use gear ratio from parametersGEARnum2/GEARdenom2
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 3026:Eh Modbus 9756Profibus 9756CIP 138.1.14
LXM32M 10 Parameters
AC servo drive 577
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
HMdis Distance from switching point (271)
The distance from the switching point isdefined as the reference point.
The parameter is only effective during a ref-erence movement without index pulse.
Changed settings become active the nexttime the motor moves.
usr_p12002147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3028:7h Modbus 10254Profibus 10254CIP 140.1.7
HMIDispParaMon
SuPV
HMI display when motor moves
0 / OperatingState / StAt : Operating state1 / v_act / VAct : Actual motor velocity2 / I_act / iAct : Actual motor current
Changed settings become active immedi-ately.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 303A:2h Modbus 14852Profibus 14852CIP 158.1.2
HMIlocked Lock HMI (211)
0 / Not Locked / nLoc : HMI not locked1 / Locked / Loc : HMI locked
The following functions can no longer bestarted when the HMI is locked:- Parameter change- Jog- Autotuning- Fault Reset
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 303A:1h Modbus 14850Profibus 14850CIP 158.1.1
10 Parameters LXM32M
578 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
HMmethod Homing method (270)
1: LIMN with index pulse2: LIMP with index pulse7: REF+ with index pulse, inv., outside8: REF+ with index pulse, inv., inside9: REF+ with index pulse, not inv., inside10: REF+ with index pulse, not inv., outside11: REF- with index pulse, inv., outside12: REF- with index pulse, inv., inside13: REF- with index pulse, not inv., inside14: REF- with index pulse, not inv., outside17: LIMN18: LIMP23: REF+, inv., outside24: REF+, inv., inside25: REF+, not inv., inside26: REF+, not inv., outside 27: REF-, inv., outside28: REF-, inv., inside29: REF-, not inv., inside30: REF-, not inv., outside 33: Index pulse neg. direction34: Index pulse pos. direction35: Position setting
Abbreviations:REF+: Search movement in pos. directionREF-: Search movement in neg. directioninv.: Invert direction in switchnot inv.: Direction not inverted in switchoutside: Index pulse / distance outsideswitchinside: Index pulse / distance inside switch
Changed settings become active immedi-ately.
-11835
INT8INT16INT16INT16 R/W--
CANopen 6098:0h Modbus 6936Profibus 6936CIP 127.1.12
HMoutdis Maximum distance for search for switchingpoint (272)
0: Monitoring of distance inactive>0: Maximum distance
After detection of the switch, the drive startsto search for the defined switching point. Ifthe defined switching point is not foundwithin the distance defined here, the refer-ence movement is canceled with an error.
Changed settings become active the nexttime the motor moves.
usr_p002147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3028:6h Modbus 10252Profibus 10252CIP 140.1.6
HMp_home Position at reference point (271)
After a successful reference movement, thisposition is automatically set at the referencepoint.
Changed settings become active the nexttime the motor moves.
usr_p-214748364802147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3028:Bh Modbus 10262Profibus 10262CIP 140.1.11
LXM32M 10 Parameters
AC servo drive 579
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
HMp_setP Position for Position Setting (278)
Position for operating mode Homing,method 35.
Changed settings become active immedi-ately.
usr_p-0-
INT32INT32INT32INT32 R/W--
CANopen 301B:16h Modbus 6956Profibus 6956CIP 127.1.22
HMprefmethodoP → hoM-
MEth
Preferred homing method (270)
Changed settings become active immedi-ately.
-11835
INT16INT16INT16INT16 R/Wper.-
CANopen 3028:Ah Modbus 10260Profibus 10260CIP 140.1.10
HMsrchdis Maximum search distance after overtravelof switch (272)
0: Search distance monitoring disabled>0: Search distance
The switch must be activated again withinthis search distance, otherwise the refer-ence movement is canceled.
Changed settings become active the nexttime the motor moves.
usr_p002147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3028:Dh Modbus 10266Profibus 10266CIP 140.1.13
HMv_out Target velocity for moving away fromswitch (273)
The adjustable value is internally limited tothe current parameter setting inRAMP_v_max.
Changed settings become active the nexttime the motor moves.
usr_v162147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 6099:2h Modbus 10250Profibus 10250CIP 140.1.5
HMvoP → hoM-
hMn
Target velocity for searching theswitch (273)
The adjustable value is internally limited tothe current parameter setting inRAMP_v_max.
Changed settings become active the nexttime the motor moves.
usr_v1602147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 6099:1h Modbus 10248Profibus 10248CIP 140.1.4
InvertDirOfCount
Inversion of direction of counting at PTIinterface (234)
0 / Inversion Off: Inversion of direction ofcounting is off1 / Inversion On: Inversion of direction ofcounting is on
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3008:7h Modbus 2062Profibus 2062CIP 108.1.7
10 Parameters LXM32M
580 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
InvertDirOfMaEnc
Inversion of direction of machine encoder
0 / Inversion Off: Inversion of direction isoff1 / Inversion On: Inversion of direction ison
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3050:8h Modbus 20496Profibus 20496CIP 180.1.8
InvertDirOfMoveConF → ACG-
inMo
Inversion of direction of movement (173)
0 / Inversion Off / oFF : Inversion of direc-tion of movement is off1 / Inversion On / on : Inversion of directionof movement is on
The limit switch which is reached with amovement in positive direction must be con-nected to the positive limit switch input andvice versa.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:Ch Modbus 1560Profibus 1560CIP 106.1.12
IO_AutoEnableConF → ACG-
ioAE
Enabling the power stage at PowerOn
0 / RisingEdge / riSE : After start-up, a ris-ing edge with the signal input function Ena-ble enables the power stage1 / HighLevel / LEVL : After start-up, anactive signal input with signal input functionEnable enables the power stage2 / AutoOn / Auto : After start-up, the powerstage is automatically enabled
Changed settings become active the nexttime the power stage is enabled.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:6h Modbus 1292Profibus 1292CIP 105.1.6
IO_AutoEnaConfigConF → ACG-
ioEM
Enables the power stage as set viaIO_AutoEnable even after error
0 / Off / _oFF : Setting in parameterIO_AutoEnable is only used after start-up1 / On / on : Setting in parameterIO_AutoEnable is used after start-up andafter error
Changed settings become active the nexttime the power stage is enabled.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:4h Modbus 1288Profibus 1288CIP 105.1.4
IO_DQ_set Setting the digital outputs directly (374)
Write access to output bits is only active ifthe signal pin is available as an output and ifthe function of the output was set to 'Availa-ble as required'.
Coding of the individual signals:Bit 0: DQ0Bit 1: DQ1Bit 2: DQ2
----
UINT16UINT16UINT16UINT16 R/W--
CANopen 3008:11h Modbus 2082Profibus 2082CIP 108.1.17
LXM32M 10 Parameters
AC servo drive 581
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IO_FaultResOnEnaInpConF → ACG-
iEFr
Additional 'Fault Reset' for the signal inputfunction 'Enable' (218)
0 / Off / oFF : No additional 'Fault Reset'1 / OnFallingEdge / FALL : Additional 'FaultReset' during falling edge2 / OnRisingEdge / riSE : Additional 'FaultReset' during rising edge
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.12.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:34h Modbus 1384Profibus 1384CIP 105.1.52
IO_GEARmethodConF → ACG-
ioGM
Processing mode for operating mode Elec-tronic Gear (237)
1 / Position Synchronization Immediate /PoiM : Position synchronization withoutcompensation movement2 / Position Synchronization Compensa-ted / Poco : Position synchronization withcompensation movement3 / Velocity Synchronization / VELo :Velocity synchronization
Changed settings become active the nexttime the motor moves.
-113
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:17h Modbus 1326Profibus 1326CIP 105.1.23
IO_I_limitConF → i-o-
iLiM
Current limitation via input (370)
A current limit can be activated via a digitalinput.
In increments of 0.01 Arms.
Changed settings become active immedi-ately.
Arms 0.000.20300.00
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:27h Modbus 1614Profibus 1614CIP 106.1.39
IO_JOGmethodConF → ACG-
ioJG
Selection of jog method (228)
0 / Continuous Movement / coMo : Jogwith continuous movement1 / Step Movement / StMo : Jog with stepmovement
Changed settings become active the nexttime the motor moves.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:18h Modbus 1328Profibus 1328CIP 105.1.24
IO_ModeSwitchConF → ACG-
ioMS
Operating mode for signal input functionOperating Mode Switch (221)
0 / None / nonE : None1 / Profile Torque / torq : Profile Torque2 / Profile Velocity / VELP : Profile Velocity3 / Electronic Gear / GEAr : Electronic Gear
Changed settings become active immedi-ately.
-003
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:2Fh Modbus 1630Profibus 1630CIP 106.1.47
10 Parameters LXM32M
582 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IO_v_limit Velocity limitation via input (368)
A velocity limitation can be activated via adigital input.NOTE: In operating mode Profile Torque,the minimum velocity is internally limited to100 min-1.
Changed settings become active immedi-ately.
usr_v0102147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3006:1Eh Modbus 1596Profibus 1596CIP 106.1.30
IOdefaultModeConF → ACG-
io-M
Operating mode (219)
0 / None / nonE : None1 / Profile Torque / torq : Profile Torque2 / Profile Velocity / VELP : Profile Velocity3 / Electronic Gear / GEAr : Electronic Gear5 / Jog / JoG : Jog6 / Motion Sequence / MotS : MotionSequence
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:3h Modbus 1286Profibus 1286CIP 105.1.3
LXM32M 10 Parameters
AC servo drive 583
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DI0ConF → i-o-
di0
Function Input DI0 (313)
1 / Freely Available / nonE : Available asrequired2 / Fault Reset / FrES : Fault reset aftererror3 / Enable / EnAb : Enables the power stage4 / Halt / hALt : Halt5 / Start Profile Positioning / SPtP : Startrequest for movement6 / Current Limitation / iLiM : Limits thecurrent to parameter value7 / Zero Clamp / CLMP : Zero clamping8 / Velocity Limitation / VLiM : Limits thevelocity to parameter value9 / Jog Positive / JoGP : Jog: Moves in pos-itive direction10 / Jog Negative / JoGn : Jog: Moves innegative direction11 / Jog Fast/Slow / JoGF : Jog: Switchesbetween slow and fast movement12 / Gear Ratio Switch / GrAt : ElectronicGear: Switches between two gear ratios13 / Start Single Data Set / dStA : MotionSequence: Starts a single data set14 / Data Set Select / dSEL : MotionSequence: Data set selection15 / Data Set Bit 0 / dSb0 : MotionSequence: Data set bit 016 / Data Set Bit 1 / dSb1 : MotionSequence: Data set bit 117 / Data Set Bit 2 / dSb2 : MotionSequence: Data set bit 218 / Data Set Bit 3 / dSb3 : MotionSequence: Data set bit 319 / Gear Offset 1 / GoF1 : Electronic Gear:Adds first gear offset20 / Gear Offset 2 / GoF2 : Electronic Gear:Adds second gear offset21 / Reference Switch (REF) / rEF : Refer-ence switch22 / Positive Limit Switch (LIMP) / LiMP :Positive limit switch23 / Negative Limit Switch (LIMN) / LiMn :Negative limit switch24 / Switch Controller Parameter Set /CPAr : Switches controller parameter set27 / Operating Mode Switch / MSWt :Switches operating mode28 / Velocity Controller Integral Off /tnoF : Switches off velocity controller inte-gral term29 / Start Motion Sequence / StMS : MotionSequence: Starts a motion sequence30 / Start Signal Of RMAC / SrMc : Startsignal of relative movement after capture(RMAC)
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:1h Modbus 1794Profibus 1794CIP 107.1.1
10 Parameters LXM32M
584 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
31 / Activate RMAC / ArMc : Activates therelative movement after capture (RMAC)32 / Activate Operating Mode / AcoP : Acti-vates operating mode35 / Data Set Bit 4 / dSb4 : MotionSequence: Data set bit 436 / Data Set Bit 5 / dSb5 : MotionSequence: Data set bit 537 / Data Set Bit 6 / dSb6 : MotionSequence: Data set bit 638 / Inversion AI11 (IO Module) / A11i :Inverts analog input AI11 (I/O module)39 / Inversion AI12 (IO Module) / A12i :Inverts analog input AI12 (I/O module)40 / Release Holding Brake / rEhb : Relea-ses the holding brake
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
LXM32M 10 Parameters
AC servo drive 585
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DI1ConF → i-o-
di1
Function Input DI1 (315)
1 / Freely Available / nonE : Available asrequired2 / Fault Reset / FrES : Fault reset aftererror3 / Enable / EnAb : Enables the power stage4 / Halt / hALt : Halt5 / Start Profile Positioning / SPtP : Startrequest for movement6 / Current Limitation / iLiM : Limits thecurrent to parameter value7 / Zero Clamp / CLMP : Zero clamping8 / Velocity Limitation / VLiM : Limits thevelocity to parameter value9 / Jog Positive / JoGP : Jog: Moves in pos-itive direction10 / Jog Negative / JoGn : Jog: Moves innegative direction11 / Jog Fast/Slow / JoGF : Jog: Switchesbetween slow and fast movement12 / Gear Ratio Switch / GrAt : ElectronicGear: Switches between two gear ratios13 / Start Single Data Set / dStA : MotionSequence: Starts a single data set14 / Data Set Select / dSEL : MotionSequence: Data set selection15 / Data Set Bit 0 / dSb0 : MotionSequence: Data set bit 016 / Data Set Bit 1 / dSb1 : MotionSequence: Data set bit 117 / Data Set Bit 2 / dSb2 : MotionSequence: Data set bit 218 / Data Set Bit 3 / dSb3 : MotionSequence: Data set bit 319 / Gear Offset 1 / GoF1 : Electronic Gear:Adds first gear offset20 / Gear Offset 2 / GoF2 : Electronic Gear:Adds second gear offset21 / Reference Switch (REF) / rEF : Refer-ence switch22 / Positive Limit Switch (LIMP) / LiMP :Positive limit switch23 / Negative Limit Switch (LIMN) / LiMn :Negative limit switch24 / Switch Controller Parameter Set /CPAr : Switches controller parameter set27 / Operating Mode Switch / MSWt :Switches operating mode28 / Velocity Controller Integral Off /tnoF : Switches off velocity controller inte-gral term29 / Start Motion Sequence / StMS : MotionSequence: Starts a motion sequence30 / Start Signal Of RMAC / SrMc : Startsignal of relative movement after capture(RMAC)
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:2h Modbus 1796Profibus 1796CIP 107.1.2
10 Parameters LXM32M
586 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
31 / Activate RMAC / ArMc : Activates therelative movement after capture (RMAC)32 / Activate Operating Mode / AcoP : Acti-vates operating mode35 / Data Set Bit 4 / dSb4 : MotionSequence: Data set bit 436 / Data Set Bit 5 / dSb5 : MotionSequence: Data set bit 537 / Data Set Bit 6 / dSb6 : MotionSequence: Data set bit 638 / Inversion AI11 (IO Module) / A11i :Inverts analog input AI11 (I/O module)39 / Inversion AI12 (IO Module) / A12i :Inverts analog input AI12 (I/O module)40 / Release Holding Brake / rEhb : Relea-ses the holding brake
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
LXM32M 10 Parameters
AC servo drive 587
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DI2ConF → i-o-
di2
Function Input DI2 (317)
1 / Freely Available / nonE : Available asrequired2 / Fault Reset / FrES : Fault reset aftererror3 / Enable / EnAb : Enables the power stage4 / Halt / hALt : Halt5 / Start Profile Positioning / SPtP : Startrequest for movement6 / Current Limitation / iLiM : Limits thecurrent to parameter value7 / Zero Clamp / CLMP : Zero clamping8 / Velocity Limitation / VLiM : Limits thevelocity to parameter value9 / Jog Positive / JoGP : Jog: Moves in pos-itive direction10 / Jog Negative / JoGn : Jog: Moves innegative direction11 / Jog Fast/Slow / JoGF : Jog: Switchesbetween slow and fast movement12 / Gear Ratio Switch / GrAt : ElectronicGear: Switches between two gear ratios13 / Start Single Data Set / dStA : MotionSequence: Starts a single data set14 / Data Set Select / dSEL : MotionSequence: Data set selection15 / Data Set Bit 0 / dSb0 : MotionSequence: Data set bit 016 / Data Set Bit 1 / dSb1 : MotionSequence: Data set bit 117 / Data Set Bit 2 / dSb2 : MotionSequence: Data set bit 218 / Data Set Bit 3 / dSb3 : MotionSequence: Data set bit 319 / Gear Offset 1 / GoF1 : Electronic Gear:Adds first gear offset20 / Gear Offset 2 / GoF2 : Electronic Gear:Adds second gear offset21 / Reference Switch (REF) / rEF : Refer-ence switch22 / Positive Limit Switch (LIMP) / LiMP :Positive limit switch23 / Negative Limit Switch (LIMN) / LiMn :Negative limit switch24 / Switch Controller Parameter Set /CPAr : Switches controller parameter set27 / Operating Mode Switch / MSWt :Switches operating mode28 / Velocity Controller Integral Off /tnoF : Switches off velocity controller inte-gral term29 / Start Motion Sequence / StMS : MotionSequence: Starts a motion sequence30 / Start Signal Of RMAC / SrMc : Startsignal of relative movement after capture(RMAC)
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:3h Modbus 1798Profibus 1798CIP 107.1.3
10 Parameters LXM32M
588 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
31 / Activate RMAC / ArMc : Activates therelative movement after capture (RMAC)32 / Activate Operating Mode / AcoP : Acti-vates operating mode35 / Data Set Bit 4 / dSb4 : MotionSequence: Data set bit 436 / Data Set Bit 5 / dSb5 : MotionSequence: Data set bit 537 / Data Set Bit 6 / dSb6 : MotionSequence: Data set bit 638 / Inversion AI11 (IO Module) / A11i :Inverts analog input AI11 (I/O module)39 / Inversion AI12 (IO Module) / A12i :Inverts analog input AI12 (I/O module)40 / Release Holding Brake / rEhb : Relea-ses the holding brake
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
LXM32M 10 Parameters
AC servo drive 589
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DI3ConF → i-o-
di3
Function Input DI3 (319)
1 / Freely Available / nonE : Available asrequired2 / Fault Reset / FrES : Fault reset aftererror3 / Enable / EnAb : Enables the power stage4 / Halt / hALt : Halt5 / Start Profile Positioning / SPtP : Startrequest for movement6 / Current Limitation / iLiM : Limits thecurrent to parameter value7 / Zero Clamp / CLMP : Zero clamping8 / Velocity Limitation / VLiM : Limits thevelocity to parameter value9 / Jog Positive / JoGP : Jog: Moves in pos-itive direction10 / Jog Negative / JoGn : Jog: Moves innegative direction11 / Jog Fast/Slow / JoGF : Jog: Switchesbetween slow and fast movement12 / Gear Ratio Switch / GrAt : ElectronicGear: Switches between two gear ratios13 / Start Single Data Set / dStA : MotionSequence: Starts a single data set14 / Data Set Select / dSEL : MotionSequence: Data set selection15 / Data Set Bit 0 / dSb0 : MotionSequence: Data set bit 016 / Data Set Bit 1 / dSb1 : MotionSequence: Data set bit 117 / Data Set Bit 2 / dSb2 : MotionSequence: Data set bit 218 / Data Set Bit 3 / dSb3 : MotionSequence: Data set bit 319 / Gear Offset 1 / GoF1 : Electronic Gear:Adds first gear offset20 / Gear Offset 2 / GoF2 : Electronic Gear:Adds second gear offset21 / Reference Switch (REF) / rEF : Refer-ence switch22 / Positive Limit Switch (LIMP) / LiMP :Positive limit switch23 / Negative Limit Switch (LIMN) / LiMn :Negative limit switch24 / Switch Controller Parameter Set /CPAr : Switches controller parameter set27 / Operating Mode Switch / MSWt :Switches operating mode28 / Velocity Controller Integral Off /tnoF : Switches off velocity controller inte-gral term29 / Start Motion Sequence / StMS : MotionSequence: Starts a motion sequence30 / Start Signal Of RMAC / SrMc : Startsignal of relative movement after capture(RMAC)
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:4h Modbus 1800Profibus 1800CIP 107.1.4
10 Parameters LXM32M
590 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
31 / Activate RMAC / ArMc : Activates therelative movement after capture (RMAC)32 / Activate Operating Mode / AcoP : Acti-vates operating mode35 / Data Set Bit 4 / dSb4 : MotionSequence: Data set bit 436 / Data Set Bit 5 / dSb5 : MotionSequence: Data set bit 537 / Data Set Bit 6 / dSb6 : MotionSequence: Data set bit 638 / Inversion AI11 (IO Module) / A11i :Inverts analog input AI11 (I/O module)39 / Inversion AI12 (IO Module) / A12i :Inverts analog input AI12 (I/O module)40 / Release Holding Brake / rEhb : Relea-ses the holding brake
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
LXM32M 10 Parameters
AC servo drive 591
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DI4ConF → i-o-
di4
Function Input DI4 (321)
1 / Freely Available / nonE : Available asrequired2 / Fault Reset / FrES : Fault reset aftererror3 / Enable / EnAb : Enables the power stage4 / Halt / hALt : Halt5 / Start Profile Positioning / SPtP : Startrequest for movement6 / Current Limitation / iLiM : Limits thecurrent to parameter value7 / Zero Clamp / CLMP : Zero clamping8 / Velocity Limitation / VLiM : Limits thevelocity to parameter value9 / Jog Positive / JoGP : Jog: Moves in pos-itive direction10 / Jog Negative / JoGn : Jog: Moves innegative direction11 / Jog Fast/Slow / JoGF : Jog: Switchesbetween slow and fast movement12 / Gear Ratio Switch / GrAt : ElectronicGear: Switches between two gear ratios13 / Start Single Data Set / dStA : MotionSequence: Starts a single data set14 / Data Set Select / dSEL : MotionSequence: Data set selection15 / Data Set Bit 0 / dSb0 : MotionSequence: Data set bit 016 / Data Set Bit 1 / dSb1 : MotionSequence: Data set bit 117 / Data Set Bit 2 / dSb2 : MotionSequence: Data set bit 218 / Data Set Bit 3 / dSb3 : MotionSequence: Data set bit 319 / Gear Offset 1 / GoF1 : Electronic Gear:Adds first gear offset20 / Gear Offset 2 / GoF2 : Electronic Gear:Adds second gear offset21 / Reference Switch (REF) / rEF : Refer-ence switch22 / Positive Limit Switch (LIMP) / LiMP :Positive limit switch23 / Negative Limit Switch (LIMN) / LiMn :Negative limit switch24 / Switch Controller Parameter Set /CPAr : Switches controller parameter set27 / Operating Mode Switch / MSWt :Switches operating mode28 / Velocity Controller Integral Off /tnoF : Switches off velocity controller inte-gral term29 / Start Motion Sequence / StMS : MotionSequence: Starts a motion sequence30 / Start Signal Of RMAC / SrMc : Startsignal of relative movement after capture(RMAC)
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:5h Modbus 1802Profibus 1802CIP 107.1.5
10 Parameters LXM32M
592 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
31 / Activate RMAC / ArMc : Activates therelative movement after capture (RMAC)32 / Activate Operating Mode / AcoP : Acti-vates operating mode35 / Data Set Bit 4 / dSb4 : MotionSequence: Data set bit 436 / Data Set Bit 5 / dSb5 : MotionSequence: Data set bit 537 / Data Set Bit 6 / dSb6 : MotionSequence: Data set bit 638 / Inversion AI11 (IO Module) / A11i :Inverts analog input AI11 (I/O module)39 / Inversion AI12 (IO Module) / A12i :Inverts analog input AI12 (I/O module)40 / Release Holding Brake / rEhb : Relea-ses the holding brake
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
LXM32M 10 Parameters
AC servo drive 593
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DI5ConF → i-o-
di5
Function Input DI5 (323)
1 / Freely Available / nonE : Available asrequired2 / Fault Reset / FrES : Fault reset aftererror3 / Enable / EnAb : Enables the power stage4 / Halt / hALt : Halt5 / Start Profile Positioning / SPtP : Startrequest for movement6 / Current Limitation / iLiM : Limits thecurrent to parameter value7 / Zero Clamp / CLMP : Zero clamping8 / Velocity Limitation / VLiM : Limits thevelocity to parameter value9 / Jog Positive / JoGP : Jog: Moves in pos-itive direction10 / Jog Negative / JoGn : Jog: Moves innegative direction11 / Jog Fast/Slow / JoGF : Jog: Switchesbetween slow and fast movement12 / Gear Ratio Switch / GrAt : ElectronicGear: Switches between two gear ratios13 / Start Single Data Set / dStA : MotionSequence: Starts a single data set14 / Data Set Select / dSEL : MotionSequence: Data set selection15 / Data Set Bit 0 / dSb0 : MotionSequence: Data set bit 016 / Data Set Bit 1 / dSb1 : MotionSequence: Data set bit 117 / Data Set Bit 2 / dSb2 : MotionSequence: Data set bit 218 / Data Set Bit 3 / dSb3 : MotionSequence: Data set bit 319 / Gear Offset 1 / GoF1 : Electronic Gear:Adds first gear offset20 / Gear Offset 2 / GoF2 : Electronic Gear:Adds second gear offset21 / Reference Switch (REF) / rEF : Refer-ence switch22 / Positive Limit Switch (LIMP) / LiMP :Positive limit switch23 / Negative Limit Switch (LIMN) / LiMn :Negative limit switch24 / Switch Controller Parameter Set /CPAr : Switches controller parameter set27 / Operating Mode Switch / MSWt :Switches operating mode28 / Velocity Controller Integral Off /tnoF : Switches off velocity controller inte-gral term29 / Start Motion Sequence / StMS : MotionSequence: Starts a motion sequence30 / Start Signal Of RMAC / SrMc : Startsignal of relative movement after capture(RMAC)
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:6h Modbus 1804Profibus 1804CIP 107.1.6
10 Parameters LXM32M
594 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
31 / Activate RMAC / ArMc : Activates therelative movement after capture (RMAC)32 / Activate Operating Mode / AcoP : Acti-vates operating mode35 / Data Set Bit 4 / dSb4 : MotionSequence: Data set bit 436 / Data Set Bit 5 / dSb5 : MotionSequence: Data set bit 537 / Data Set Bit 6 / dSb6 : MotionSequence: Data set bit 638 / Inversion AI11 (IO Module) / A11i :Inverts analog input AI11 (I/O module)39 / Inversion AI12 (IO Module) / A12i :Inverts analog input AI12 (I/O module)40 / Release Holding Brake / rEhb : Relea-ses the holding brake
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
LXM32M 10 Parameters
AC servo drive 595
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DQ0ConF → i-o-
do0
Function Output DQ0 (328)
1 / Freely Available / nonE : Available asrequired2 / No Fault / nFLt : Signals operatingstates Ready To Switch On, Switched Onand Operation Enabled3 / Active / Acti : Signals operating stateOperation Enabled4 / RMAC Active Or Finished / rMcA : Rel-ative movement after capture active or fin-ished (RMAC)5 / In Position Deviation Window / in-P :Position deviation is within window6 / In Velocity Deviation Window / in-V :Velocity deviation is within window7 / Velocity Below Threshold / Vthr :Motor velocity below threshold8 / Current Below Threshold / ithr :Motor current below threshold9 / Halt Acknowledge / hALt : Haltacknowledgement11 / Motion Sequence: Start Acknowl-edge / dSAc : Motion Sequence: Acknowl-edgement of start request13 / Motor Standstill / MStd : Motor at astandstill14 / Selected Error / SErr : One of theselected errors is active15 / Valid Reference (ref_ok) / rEFo : Drivehas a valid reference (ref_ok)16 / Selected Warning / SWrn : One of theselected warnings is active17 / Motion Sequence: Done / MSCo :Motion Sequence: Sequence done18 / Position Register Channel 1 / PrC1 :Position register channel 119 / Position Register Channel 2 / PrC2 :Position register channel 220 / Position Register Channel 3 / PrC3 :Position register channel 321 / Position Register Channel 4 / PrC4 :Position register channel 422 / Motor Moves Positive / MPoS : Motormoves in positive direction23 / Motor Moves Negative / MnEG : Motormoves in negative direction
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:9h Modbus 1810Profibus 1810CIP 107.1.9
10 Parameters LXM32M
596 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DQ1ConF → i-o-
do1
Function Output DQ1 (329)
1 / Freely Available / nonE : Available asrequired2 / No Fault / nFLt : Signals operatingstates Ready To Switch On, Switched Onand Operation Enabled3 / Active / Acti : Signals operating stateOperation Enabled4 / RMAC Active Or Finished / rMcA : Rel-ative movement after capture active or fin-ished (RMAC)5 / In Position Deviation Window / in-P :Position deviation is within window6 / In Velocity Deviation Window / in-V :Velocity deviation is within window7 / Velocity Below Threshold / Vthr :Motor velocity below threshold8 / Current Below Threshold / ithr :Motor current below threshold9 / Halt Acknowledge / hALt : Haltacknowledgement11 / Motion Sequence: Start Acknowl-edge / dSAc : Motion Sequence: Acknowl-edgement of start request13 / Motor Standstill / MStd : Motor at astandstill14 / Selected Error / SErr : One of theselected errors is active15 / Valid Reference (ref_ok) / rEFo : Drivehas a valid reference (ref_ok)16 / Selected Warning / SWrn : One of theselected warnings is active17 / Motion Sequence: Done / MSCo :Motion Sequence: Sequence done18 / Position Register Channel 1 / PrC1 :Position register channel 119 / Position Register Channel 2 / PrC2 :Position register channel 220 / Position Register Channel 3 / PrC3 :Position register channel 321 / Position Register Channel 4 / PrC4 :Position register channel 422 / Motor Moves Positive / MPoS : Motormoves in positive direction23 / Motor Moves Negative / MnEG : Motormoves in negative direction
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:Ah Modbus 1812Profibus 1812CIP 107.1.10
LXM32M 10 Parameters
AC servo drive 597
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOfunct_DQ2ConF → i-o-
do2
Function Output DQ2 (330)
1 / Freely Available / nonE : Available asrequired2 / No Fault / nFLt : Signals operatingstates Ready To Switch On, Switched Onand Operation Enabled3 / Active / Acti : Signals operating stateOperation Enabled4 / RMAC Active Or Finished / rMcA : Rel-ative movement after capture active or fin-ished (RMAC)5 / In Position Deviation Window / in-P :Position deviation is within window6 / In Velocity Deviation Window / in-V :Velocity deviation is within window7 / Velocity Below Threshold / Vthr :Motor velocity below threshold8 / Current Below Threshold / ithr :Motor current below threshold9 / Halt Acknowledge / hALt : Haltacknowledgement11 / Motion Sequence: Start Acknowl-edge / dSAc : Motion Sequence: Acknowl-edgement of start request13 / Motor Standstill / MStd : Motor at astandstill14 / Selected Error / SErr : One of theselected errors is active15 / Valid Reference (ref_ok) / rEFo : Drivehas a valid reference (ref_ok)16 / Selected Warning / SWrn : One of theselected warnings is active17 / Motion Sequence: Done / MSCo :Motion Sequence: Sequence done18 / Position Register Channel 1 / PrC1 :Position register channel 119 / Position Register Channel 2 / PrC2 :Position register channel 220 / Position Register Channel 3 / PrC3 :Position register channel 321 / Position Register Channel 4 / PrC4 :Position register channel 422 / Motor Moves Positive / MPoS : Motormoves in positive direction23 / Motor Moves Negative / MnEG : Motormoves in negative direction
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3007:Bh Modbus 1814Profibus 1814CIP 107.1.11
10 Parameters LXM32M
598 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_AI11_I_maxConF → i-o-
L11i
IOM1 Limitation of current at 10 V ofAI11 (370)
In increments of 0.01 Arms.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
Arms 0.003.00463.00
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:Fh Modbus 20254Profibus 20254CIP 179.1.15
IOM1_AI11_M_scaleConF → i-o-
t11t
IOM1 Target torque at 10 V in operatingmode Profile Torque of AI11 (248)
100.0 % correspond to the continuous stalltorque _M_M_0.
By using a negative sign, you can invert theevaluation of the analog signal.
In increments of 0.1 %.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
%-3000.0100.03000.0
INT16INT16INT16INT16 R/Wper.-
CANopen 304F:12h Modbus 20260Profibus 20260CIP 179.1.18
IOM1_AI11_modeConF → i-o-
A11u
IOM1 Type of usage of AI11 (246)
0 / None / nonE : No function1 / Target Velocity / SPdS : Target velocityfor the velocity controller2 / Target Torque / trqS : Target torque forthe current controller3 / Velocity Limitation / LSPd : Limitation ofthe reference velocity for the velocity con-troller4 / Current Limitation / Lcur : Limitation ofthe reference current for the current control-ler
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
-014
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:Eh Modbus 20252Profibus 20252CIP 179.1.14
IOM1_AI11_offsetConF → i-o-
A11o
IOM1 Offset voltage of AI11
The analog input AI11 is corrected/offset bythe offset value. If you have defined a zerovoltage window, this window is effective inthe zero pass range of the corrected analoginput AI11.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
mV-500005000
INT16INT16INT16INT16 R/Wper.-
CANopen 304F:Bh Modbus 20246Profibus 20246CIP 179.1.11
LXM32M 10 Parameters
AC servo drive 599
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_AI11_TauConF → i-o-
A11F
IOM1 Filter time constant of AI11
First-order low pass (PT1) filter time con-stant for analog input AI11.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
ms0.000.00327.67
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:2h Modbus 20228Profibus 20228CIP 179.1.2
IOM1_AI11_v_max
IOM1 Limitation of velocity at 10 V ofAI11 (368)
The maximum velocity is limited to the set-ting in CTRL_v_max.NOTE: The minimum velocity is internallylimited to 100 min-1.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
usr_v130002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 304F:10h Modbus 20256Profibus 20256CIP 179.1.16
IOM1_AI11_v_scale
IOM1 Target velocity at 10 V in operatingmode Profile Velocity of AI11 (256)
The maximum velocity is limited to the set-ting in CTRL_v_max.
By using a negative sign, you can invert theevaluation of the analog signal.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
usr_v-214748364860002147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 304F:11h Modbus 20258Profibus 20258CIP 179.1.17
IOM1_AI11_winConF → i-o-
A11W
IOM1 Zero voltage window of AI11
Threshold value up to which an input volt-age value is treated as 0 V.Example: Value 20, this means a rangefrom -20 ... +20 mV is treated as 0 mV.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
mV001000
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:9h Modbus 20242Profibus 20242CIP 179.1.9
IOM1_AI12_I_maxConF → i-o-
L12i
IOM1 Limitation of current at 10 V ofAI12 (370)
In increments of 0.01 Arms.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
Arms 0.003.00463.00
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:14h Modbus 20264Profibus 20264CIP 179.1.20
10 Parameters LXM32M
600 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_AI12_M_scaleConF → i-o-
t12i
IOM1 Target torque at 10 V in operatingmode Profile Torque of AI12 (248)
100.0 % correspond to the continuous stalltorque _M_M_0.
By using a negative sign, you can invert theevaluation of the analog signal.
In increments of 0.1 %.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
%-3000.0100.03000.0
INT16INT16INT16INT16 R/Wper.-
CANopen 304F:17h Modbus 20270Profibus 20270CIP 179.1.23
IOM1_AI12_modeConF → i-o-
A12u
IOM1 Type of usage of AI12 (246)
0 / None / nonE : No function1 / Target Velocity / SPdS : Target velocityfor the velocity controller2 / Target Torque / trqS : Target torque forthe current controller3 / Velocity Limitation / LSPd : Limitation ofthe reference velocity for the velocity con-troller4 / Current Limitation / Lcur : Limitation ofthe reference current for the current control-ler
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
-004
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:13h Modbus 20262Profibus 20262CIP 179.1.19
IOM1_AI12_offsetConF → i-o-
A12o
IOM1 Offset voltage of AI12
The analog input AI12 is corrected/offset bythe offset value. If you have defined a zerovoltage window, this window is effective inthe zero pass range of the corrected analoginput AI12.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
mV-500005000
INT16INT16INT16INT16 R/Wper.-
CANopen 304F:Ch Modbus 20248Profibus 20248CIP 179.1.12
IOM1_AI12_TauConF → i-o-
A12F
IOM1 Filter time constant of AI12
First-order low pass (PT1) filter time con-stant for analog input AI12.
In increments of 0.01 ms.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
ms0.000.00327.67
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:18h Modbus 20272Profibus 20272CIP 179.1.24
LXM32M 10 Parameters
AC servo drive 601
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_AI12_v_max
IOM1 Limitation of velocity at 10 V ofAI12 (368)
The maximum velocity is limited to the set-ting in CTRL_v_max.NOTE: The minimum velocity is internallylimited to 100 min-1.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.06.
usr_v130002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 304F:15h Modbus 20266Profibus 20266CIP 179.1.21
IOM1_AI12_v_scale
IOM1 Target velocity at 10 V in operatingmode Profile Velocity of AI12 (256)
The maximum velocity is limited to the set-ting in CTRL_v_max.
By using a negative sign, you can invert theevaluation of the analog signal.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
usr_v-214748364860002147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 304F:16h Modbus 20268Profibus 20268CIP 179.1.22
IOM1_AI12_winConF → i-o-
A12W
IOM1 Zero voltage window of AI12
Threshold value up to which an input volt-age value is treated as 0 V.Example: Value 20, this means a rangefrom -20 ... +20 mV is treated as 0 mV.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
mV001000
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:Ah Modbus 20244Profibus 20244CIP 179.1.10
IOM1_AQ_ErrResp
IOM1 Error response to overload of analogoutputs
0 / Error Class 0: Error class 01 / Error Class 1: Error class 12 / Error Class 2: Error class 23 / Error Class 3: Error class 3
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-013
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:1Fh Modbus 20286Profibus 20286CIP 179.1.31
IOM1_AQ_modeConF → i-o-
Aoty
IOM1 Type of usage of analog outputs
0 / none / nonE : Analog outputs are deacti-vated1 / Voltage / VoLt : Both analog outputs arevoltage outputs2 / Current / Curr : Both analog outputs arecurrent outputs
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.06.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:20h Modbus 20288Profibus 20288CIP 179.1.32
10 Parameters LXM32M
602 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_AQ11_FixVal
IOM1 Fixed value for AQ11
Only available if parameterIOM1_AQ11_func is set to 'Fixed Value'.
Unit and range depend on setting in param-eter IOM1_AQ_mode.
If setting is 'Voltage':Unit: mVRange: -10000 … 10000
If setting is 'Current':Unit: µARange: 0 … 20000
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
--10000020000
INT16INT16INT16INT16 R/W--
CANopen 304F:24h Modbus 20296Profibus 20296CIP 179.1.36
IOM1_AQ11_funcConF → i-o-
A11M
IOM1 Function of AQ11
0 / None / nonE : No function1 / Actual Velocity / VACt : Actual velocity(10 V / 20 mA correspond to value inCTRL_v_max)2 / Actual Torque / tAct : Actual torque (10V / 20 mA correspond to value inCTRL_I_max)3 / Reference Velocity / VrEF : Referencevelocity (10 V / 20 mA correspond to valuein CTRL_v_max)4 / Reference Torque / trEF : Referencetorque (10 V / 20 mA correspond to value inCTRL_I_max)5 / Position Deviation / PdiF : Positiondeviation (10 V / 20 mA correspond to valuein MON_p_dif_load_usr)6 / Fixed Value / FiVA : Fixed value (settingin parameter IOM1_AQ11_FixVal)7 / Actual Position / PAct : Actual positionin the modulo range (10 V / 20 mA corre-spond to value in MOD_Max)
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
-007
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:21h Modbus 20290Profibus 20290CIP 179.1.33
LXM32M 10 Parameters
AC servo drive 603
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_AQ11_I_rangeConF → i-o-
A11C
IOM1 Range of current of AQ11
0 / 0-20mA / 0-2 : 0 mA … 20 mA (0 mAcorrespond to 0 user-defined units)1 / 4-20mA unsigned / 4-2u : 4 mA … 20mA (4 mA correspond to 0 user-definedunits)2 / 4-20mA signed / 4-2S : 4 mA … 20 mA(12 mA correspond to 0 user-defined units)
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.06.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:22h Modbus 20292Profibus 20292CIP 179.1.34
IOM1_AQ11_invert
IOM1 Inversion of AQ11
Only available if output is set to a voltageoutput.
Value 0: No inversionValue 1: Inversion active
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:23h Modbus 20294Profibus 20294CIP 179.1.35
IOM1_AQ12_FixVal
IOM1 Fixed value for AQ12
Only available if parameterIOM1_AQ12_func is set to 'Fixed Value'.
Unit and range depend on setting in param-eter IOM1_AQ_mode.
If setting is 'Voltage':Unit: mVRange: -10000 … 10000
If setting is 'Current':Unit: µARange: 0 … 20000
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
--10000020000
INT16INT16INT16INT16 R/W--
CANopen 304F:2Eh Modbus 20316Profibus 20316CIP 179.1.46
10 Parameters LXM32M
604 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_AQ12_funcConF → i-o-
A12M
IOM1 Function of AQ12
0 / None / nonE : No function1 / Actual Velocity / VACt : Actual velocity(10 V / 20 mA correspond to value inCTRL_v_max)2 / Actual Torque / tAct : Actual torque (10V / 20 mA correspond to value inCTRL_I_max)3 / Reference Velocity / VrEF : Referencevelocity (10 V / 20 mA correspond to valuein CTRL_v_max)4 / Reference Torque / trEF : Referencetorque (10 V / 20 mA correspond to value inCTRL_I_max)5 / Position Deviation / PdiF : Positiondeviation (10 V / 20 mA correspond to valuein MON_p_dif_load_usr)6 / Fixed Value / FiVA : Fixed value (settingin parameter IOM1_AQ12_FixVal)7 / Actual Position / PAct : Actual positionin the modulo range (10 V / 20 mA corre-spond to value in MOD_Max)
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
-007
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:2Bh Modbus 20310Profibus 20310CIP 179.1.43
IOM1_AQ12_I_rangeConF → i-o-
A12C
IOM1 Range of current of AQ12
0 / 0-20mA / 0-2 : 0 mA … 20 mA (0 mAcorrespond to 0 user-defined units)1 / 4-20mA unsigned / 4-2u : 4 mA … 20mA (4 mA correspond to 0 user-definedunits)2 / 4-20mA signed / 4-2S : 4 mA … 20 mA(12 mA correspond to 0 user-defined units)
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.06.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:2Ch Modbus 20312Profibus 20312CIP 179.1.44
IOM1_AQ12_invert
IOM1 Inversion of AQ12
Only available if output is set to a voltageoutput.
Value 0: No inversionValue 1: Inversion active
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:2Dh Modbus 20314Profibus 20314CIP 179.1.45
LXM32M 10 Parameters
AC servo drive 605
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_DI_10_Deb IOM1 Debounce time of DI10
0 / No: No software debouncing1 / 0.25 ms: 0.25 ms2 / 0.50 ms: 0.50 ms3 / 0.75 ms: 0.75 ms4 / 1.00 ms: 1.00 ms5 / 1.25 ms: 1.25 ms6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:40h Modbus 20352Profibus 20352CIP 179.1.64
IOM1_DI_11_Deb IOM1 Debounce time of DI11
0 / No: No software debouncing1 / 0.25 ms: 0.25 ms2 / 0.50 ms: 0.50 ms3 / 0.75 ms: 0.75 ms4 / 1.00 ms: 1.00 ms5 / 1.25 ms: 1.25 ms6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:41h Modbus 20354Profibus 20354CIP 179.1.65
IOM1_DI_12_Deb IOM1 Debounce time of DI12
0 / No: No software debouncing1 / 0.25 ms: 0.25 ms2 / 0.50 ms: 0.50 ms3 / 0.75 ms: 0.75 ms4 / 1.00 ms: 1.00 ms5 / 1.25 ms: 1.25 ms6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:42h Modbus 20356Profibus 20356CIP 179.1.66
IOM1_DI_13_Deb IOM1 Debounce time of DI13
0 / No: No software debouncing1 / 0.25 ms: 0.25 ms2 / 0.50 ms: 0.50 ms3 / 0.75 ms: 0.75 ms4 / 1.00 ms: 1.00 ms5 / 1.25 ms: 1.25 ms6 / 1.50 ms: 1.50 ms
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.06.
-066
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:43h Modbus 20358Profibus 20358CIP 179.1.67
10 Parameters LXM32M
606 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_DQ_set IOM1 Setting the digital outputs directly
Write access to output bits is only active ifthe signal pin is available as an output and ifthe function of the output was set to 'Availa-ble as required'.
Coding of the individual signals:Bit 0: DQ10Bit 1: DQ11
Available with firmware version ≥V01.06.
----
UINT16UINT16UINT16UINT16 R/W--
CANopen 304F:37h Modbus 20334Profibus 20334CIP 179.1.55
LXM32M 10 Parameters
AC servo drive 607
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_IOfunct_DI10ConF → i-o-
di10
IOM1 Function Input DI10
1 / Freely Available / nonE : Available asrequired2 / Fault Reset / FrES : Fault reset aftererror3 / Enable / EnAb : Enables the power stage4 / Halt / hALt : Halt5 / Start Profile Positioning / SPtP : Startrequest for movement6 / Current Limitation / iLiM : Limits thecurrent to parameter value7 / Zero Clamp / CLMP : Zero clamping8 / Velocity Limitation / VLiM : Limits thevelocity to parameter value9 / Jog Positive / JoGP : Jog: Moves in pos-itive direction10 / Jog Negative / JoGn : Jog: Moves innegative direction11 / Jog Fast/Slow / JoGF : Jog: Switchesbetween slow and fast movement12 / Gear Ratio Switch / GrAt : ElectronicGear: Switches between two gear ratios13 / Start Single Data Set / dStA : MotionSequence: Starts a single data set14 / Data Set Select / dSEL : MotionSequence: Data set selection15 / Data Set Bit 0 / dSb0 : MotionSequence: Data set bit 016 / Data Set Bit 1 / dSb1 : MotionSequence: Data set bit 117 / Data Set Bit 2 / dSb2 : MotionSequence: Data set bit 218 / Data Set Bit 3 / dSb3 : MotionSequence: Data set bit 319 / Gear Offset 1 / GoF1 : Electronic Gear:Adds first gear offset20 / Gear Offset 2 / GoF2 : Electronic Gear:Adds second gear offset21 / Reference Switch (REF) / rEF : Refer-ence switch22 / Positive Limit Switch (LIMP) / LiMP :Positive limit switch23 / Negative Limit Switch (LIMN) / LiMn :Negative limit switch24 / Switch Controller Parameter Set /CPAr : Switches controller parameter set27 / Operating Mode Switch / MSWt :Switches operating mode28 / Velocity Controller Integral Off /tnoF : Switches off velocity controller inte-gral term29 / Start Motion Sequence / StMS : MotionSequence: Starts a motion sequence31 / Activate RMAC / ArMc : Activates therelative movement after capture (RMAC)32 / Activate Operating Mode / AcoP : Acti-
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:50h Modbus 20384Profibus 20384CIP 179.1.80
10 Parameters LXM32M
608 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
vates operating mode35 / Data Set Bit 4 / dSb4 : MotionSequence: Data set bit 436 / Data Set Bit 5 / dSb5 : MotionSequence: Data set bit 537 / Data Set Bit 6 / dSb6 : MotionSequence: Data set bit 638 / Inversion AI11 (IO Module) / A11i :Inverts analog input AI11 (I/O module)39 / Inversion AI12 (IO Module) / A12i :Inverts analog input AI12 (I/O module)40 / Release Holding Brake / rEhb : Relea-ses the holding brake
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.06.
LXM32M 10 Parameters
AC servo drive 609
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_IOfunct_DI11ConF → i-o-
di11
IOM1 Function Input DI11
1 / Freely Available / nonE : Available asrequired2 / Fault Reset / FrES : Fault reset aftererror3 / Enable / EnAb : Enables the power stage4 / Halt / hALt : Halt5 / Start Profile Positioning / SPtP : Startrequest for movement6 / Current Limitation / iLiM : Limits thecurrent to parameter value7 / Zero Clamp / CLMP : Zero clamping8 / Velocity Limitation / VLiM : Limits thevelocity to parameter value9 / Jog Positive / JoGP : Jog: Moves in pos-itive direction10 / Jog Negative / JoGn : Jog: Moves innegative direction11 / Jog Fast/Slow / JoGF : Jog: Switchesbetween slow and fast movement12 / Gear Ratio Switch / GrAt : ElectronicGear: Switches between two gear ratios13 / Start Single Data Set / dStA : MotionSequence: Starts a single data set14 / Data Set Select / dSEL : MotionSequence: Data set selection15 / Data Set Bit 0 / dSb0 : MotionSequence: Data set bit 016 / Data Set Bit 1 / dSb1 : MotionSequence: Data set bit 117 / Data Set Bit 2 / dSb2 : MotionSequence: Data set bit 218 / Data Set Bit 3 / dSb3 : MotionSequence: Data set bit 319 / Gear Offset 1 / GoF1 : Electronic Gear:Adds first gear offset20 / Gear Offset 2 / GoF2 : Electronic Gear:Adds second gear offset21 / Reference Switch (REF) / rEF : Refer-ence switch22 / Positive Limit Switch (LIMP) / LiMP :Positive limit switch23 / Negative Limit Switch (LIMN) / LiMn :Negative limit switch24 / Switch Controller Parameter Set /CPAr : Switches controller parameter set27 / Operating Mode Switch / MSWt :Switches operating mode28 / Velocity Controller Integral Off /tnoF : Switches off velocity controller inte-gral term29 / Start Motion Sequence / StMS : MotionSequence: Starts a motion sequence31 / Activate RMAC / ArMc : Activates therelative movement after capture (RMAC)32 / Activate Operating Mode / AcoP : Acti-
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:51h Modbus 20386Profibus 20386CIP 179.1.81
10 Parameters LXM32M
610 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
vates operating mode35 / Data Set Bit 4 / dSb4 : MotionSequence: Data set bit 436 / Data Set Bit 5 / dSb5 : MotionSequence: Data set bit 537 / Data Set Bit 6 / dSb6 : MotionSequence: Data set bit 638 / Inversion AI11 (IO Module) / A11i :Inverts analog input AI11 (I/O module)39 / Inversion AI12 (IO Module) / A12i :Inverts analog input AI12 (I/O module)40 / Release Holding Brake / rEhb : Relea-ses the holding brake
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.06.
LXM32M 10 Parameters
AC servo drive 611
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_IOfunct_DI12ConF → i-o-
di12
IOM1 Function Input DI12
1 / Freely Available / nonE : Available asrequired2 / Fault Reset / FrES : Fault reset aftererror3 / Enable / EnAb : Enables the power stage4 / Halt / hALt : Halt5 / Start Profile Positioning / SPtP : Startrequest for movement6 / Current Limitation / iLiM : Limits thecurrent to parameter value7 / Zero Clamp / CLMP : Zero clamping8 / Velocity Limitation / VLiM : Limits thevelocity to parameter value9 / Jog Positive / JoGP : Jog: Moves in pos-itive direction10 / Jog Negative / JoGn : Jog: Moves innegative direction11 / Jog Fast/Slow / JoGF : Jog: Switchesbetween slow and fast movement12 / Gear Ratio Switch / GrAt : ElectronicGear: Switches between two gear ratios13 / Start Single Data Set / dStA : MotionSequence: Starts a single data set14 / Data Set Select / dSEL : MotionSequence: Data set selection15 / Data Set Bit 0 / dSb0 : MotionSequence: Data set bit 016 / Data Set Bit 1 / dSb1 : MotionSequence: Data set bit 117 / Data Set Bit 2 / dSb2 : MotionSequence: Data set bit 218 / Data Set Bit 3 / dSb3 : MotionSequence: Data set bit 319 / Gear Offset 1 / GoF1 : Electronic Gear:Adds first gear offset20 / Gear Offset 2 / GoF2 : Electronic Gear:Adds second gear offset21 / Reference Switch (REF) / rEF : Refer-ence switch22 / Positive Limit Switch (LIMP) / LiMP :Positive limit switch23 / Negative Limit Switch (LIMN) / LiMn :Negative limit switch24 / Switch Controller Parameter Set /CPAr : Switches controller parameter set27 / Operating Mode Switch / MSWt :Switches operating mode28 / Velocity Controller Integral Off /tnoF : Switches off velocity controller inte-gral term29 / Start Motion Sequence / StMS : MotionSequence: Starts a motion sequence31 / Activate RMAC / ArMc : Activates therelative movement after capture (RMAC)32 / Activate Operating Mode / AcoP : Acti-
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:52h Modbus 20388Profibus 20388CIP 179.1.82
10 Parameters LXM32M
612 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
vates operating mode35 / Data Set Bit 4 / dSb4 : MotionSequence: Data set bit 436 / Data Set Bit 5 / dSb5 : MotionSequence: Data set bit 537 / Data Set Bit 6 / dSb6 : MotionSequence: Data set bit 638 / Inversion AI11 (IO Module) / A11i :Inverts analog input AI11 (I/O module)39 / Inversion AI12 (IO Module) / A12i :Inverts analog input AI12 (I/O module)40 / Release Holding Brake / rEhb : Relea-ses the holding brake
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.06.
LXM32M 10 Parameters
AC servo drive 613
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_IOfunct_DI13ConF → i-o-
di13
IOM1 Function Input DI13
1 / Freely Available / nonE : Available asrequired2 / Fault Reset / FrES : Fault reset aftererror3 / Enable / EnAb : Enables the power stage4 / Halt / hALt : Halt5 / Start Profile Positioning / SPtP : Startrequest for movement6 / Current Limitation / iLiM : Limits thecurrent to parameter value7 / Zero Clamp / CLMP : Zero clamping8 / Velocity Limitation / VLiM : Limits thevelocity to parameter value9 / Jog Positive / JoGP : Jog: Moves in pos-itive direction10 / Jog Negative / JoGn : Jog: Moves innegative direction11 / Jog Fast/Slow / JoGF : Jog: Switchesbetween slow and fast movement12 / Gear Ratio Switch / GrAt : ElectronicGear: Switches between two gear ratios13 / Start Single Data Set / dStA : MotionSequence: Starts a single data set14 / Data Set Select / dSEL : MotionSequence: Data set selection15 / Data Set Bit 0 / dSb0 : MotionSequence: Data set bit 016 / Data Set Bit 1 / dSb1 : MotionSequence: Data set bit 117 / Data Set Bit 2 / dSb2 : MotionSequence: Data set bit 218 / Data Set Bit 3 / dSb3 : MotionSequence: Data set bit 319 / Gear Offset 1 / GoF1 : Electronic Gear:Adds first gear offset20 / Gear Offset 2 / GoF2 : Electronic Gear:Adds second gear offset21 / Reference Switch (REF) / rEF : Refer-ence switch22 / Positive Limit Switch (LIMP) / LiMP :Positive limit switch23 / Negative Limit Switch (LIMN) / LiMn :Negative limit switch24 / Switch Controller Parameter Set /CPAr : Switches controller parameter set27 / Operating Mode Switch / MSWt :Switches operating mode28 / Velocity Controller Integral Off /tnoF : Switches off velocity controller inte-gral term29 / Start Motion Sequence / StMS : MotionSequence: Starts a motion sequence31 / Activate RMAC / ArMc : Activates therelative movement after capture (RMAC)32 / Activate Operating Mode / AcoP : Acti-
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:53h Modbus 20390Profibus 20390CIP 179.1.83
10 Parameters LXM32M
614 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
vates operating mode35 / Data Set Bit 4 / dSb4 : MotionSequence: Data set bit 436 / Data Set Bit 5 / dSb5 : MotionSequence: Data set bit 537 / Data Set Bit 6 / dSb6 : MotionSequence: Data set bit 638 / Inversion AI11 (IO Module) / A11i :Inverts analog input AI11 (I/O module)39 / Inversion AI12 (IO Module) / A12i :Inverts analog input AI12 (I/O module)40 / Release Holding Brake / rEhb : Relea-ses the holding brake
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.06.
LXM32M 10 Parameters
AC servo drive 615
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_IOfunct_DQ10ConF → i-o-
do10
IOM1 Function Output DQ10
1 / Freely Available / nonE : Available asrequired2 / No Fault / nFLt : Signals operatingstates Ready To Switch On, Switched Onand Operation Enabled3 / Active / Acti : Signals operating stateOperation Enabled4 / RMAC Active Or Finished / rMcA : Rel-ative movement after capture active or fin-ished (RMAC)5 / In Position Deviation Window / in-P :Position deviation is within window6 / In Velocity Deviation Window / in-V :Velocity deviation is within window7 / Velocity Below Threshold / Vthr :Motor velocity below threshold8 / Current Below Threshold / ithr :Motor current below threshold9 / Halt Acknowledge / hALt : Haltacknowledgement11 / Motion Sequence: Start Acknowl-edge / dSAc : Motion Sequence: Acknowl-edgement of start request13 / Motor Standstill / MStd : Motor at astandstill14 / Selected Error / SErr : One of theselected errors is active15 / Valid Reference (ref_ok) / rEFo : Drivehas a valid reference (ref_ok)16 / Selected Warning / SWrn : One of theselected warnings is active17 / Motion Sequence: Done / MSCo :Motion Sequence: Sequence done18 / Position Register Channel 1 / PrC1 :Position register channel 119 / Position Register Channel 2 / PrC2 :Position register channel 220 / Position Register Channel 3 / PrC3 :Position register channel 321 / Position Register Channel 4 / PrC4 :Position register channel 422 / Motor Moves Positive / MPoS : Motormoves in positive direction23 / Motor Moves Negative / MnEG : Motormoves in negative direction
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.06.
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:5Ah Modbus 20404Profibus 20404CIP 179.1.90
10 Parameters LXM32M
616 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOM1_IOfunct_DQ11ConF → i-o-
do11
IOM1 Function Output DQ11
1 / Freely Available / nonE : Available asrequired2 / No Fault / nFLt : Signals operatingstates Ready To Switch On, Switched Onand Operation Enabled3 / Active / Acti : Signals operating stateOperation Enabled4 / RMAC Active Or Finished / rMcA : Rel-ative movement after capture active or fin-ished (RMAC)5 / In Position Deviation Window / in-P :Position deviation is within window6 / In Velocity Deviation Window / in-V :Velocity deviation is within window7 / Velocity Below Threshold / Vthr :Motor velocity below threshold8 / Current Below Threshold / ithr :Motor current below threshold9 / Halt Acknowledge / hALt : Haltacknowledgement11 / Motion Sequence: Start Acknowl-edge / dSAc : Motion Sequence: Acknowl-edgement of start request13 / Motor Standstill / MStd : Motor at astandstill14 / Selected Error / SErr : One of theselected errors is active15 / Valid Reference (ref_ok) / rEFo : Drivehas a valid reference (ref_ok)16 / Selected Warning / SWrn : One of theselected warnings is active17 / Motion Sequence: Done / MSCo :Motion Sequence: Sequence done18 / Position Register Channel 1 / PrC1 :Position register channel 119 / Position Register Channel 2 / PrC2 :Position register channel 220 / Position Register Channel 3 / PrC3 :Position register channel 321 / Position Register Channel 4 / PrC4 :Position register channel 422 / Motor Moves Positive / MPoS : Motormoves in positive direction23 / Motor Moves Negative / MnEG : Motormoves in negative direction
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
Available with firmware version ≥V01.06.
----
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 304F:5Bh Modbus 20406Profibus 20406CIP 179.1.91
LXM32M 10 Parameters
AC servo drive 617
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IOsigLIMN Signal evaluation for negative limitswitch (392)
0 / Inactive: Inactive1 / Normally closed: Normally closed NC2 / Normally open: Normally open NO
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-012
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:Fh Modbus 1566Profibus 1566CIP 106.1.15
IOsigLIMP Signal evaluation for positive limitswitch (392)
0 / Inactive: Inactive1 / Normally closed: Normally closed NC2 / Normally open: Normally open NO
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-012
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:10h Modbus 1568Profibus 1568CIP 106.1.16
IOsigREF Signal evaluation for reference switch (393)
1 / Normally Closed: Normally closed NC2 / Normally Open: Normally open NO
The reference switch is only active while areference movement to the reference switchis processed.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-112
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:Eh Modbus 1564Profibus 1564CIP 106.1.14
IOsigRespOfPS Response to active limit switch during ena-bling of power stage
0 / Error: Active limit switch triggers anerror.1 / No Error: Active limit switch does nottrigger an error.
Defines the response when the power stageis enabled while a hardware limit switch isactive.
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:6h Modbus 1548Profibus 1548CIP 106.1.6
IP_IntTimInd Interpolation time index (265)
Available with firmware version ≥V01.08.
--128-363
INT8INT16INT16INT16 R/W--
CANopen 60C2:2h Modbus 7002Profibus 7002CIP 127.1.45
IP_IntTimPerVal
Interpolation time period value (265)
Available with firmware version ≥V01.08.
s01255
UINT8UINT16UINT16UINT16 R/W--
CANopen 60C2:1h Modbus 7000Profibus 7000CIP 127.1.44
10 Parameters LXM32M
618 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
IPp_target Position reference value for operating modeInterpolated Position (266)
Available with firmware version ≥V01.08.
--2147483648-2147483647
INT32INT32INT32INT32 R/W--
CANopen 60C1:1h Modbus 7004Profibus 7004CIP 127.1.46
JOGactivate Activation of operating mode Jog
Bit 0: Positive direction of movementBit 1: Negative direction of movementBit 2: 0=slow 1=fast
Changed settings become active immedi-ately.
-007
UINT16UINT16UINT16UINT16 R/W--
CANopen 301B:9h Modbus 6930Profibus 6930CIP 127.1.9
JOGmethod Selection of jog method (228)
0 / Continuous Movement / coMo : Jogwith continuous movement1 / Step Movement / StMo : Jog with stepmovement
Changed settings become active immedi-ately.
-011
UINT16UINT16UINT16UINT16 R/W--
CANopen 3029:3h Modbus 10502Profibus 10502CIP 141.1.3
JOGstep Distance for step movement (229)
Changed settings become active the nexttime the motor moves.
usr_p1202147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3029:7h Modbus 10510Profibus 10510CIP 141.1.7
JOGtime Wait time for step movement (229)
Changed settings become active the nexttime the motor moves.
ms150032767
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3029:8h Modbus 10512Profibus 10512CIP 141.1.8
JOGv_fastoP → JoG-
JGhi
Velocity for fast movement (228)
The adjustable value is internally limited tothe current parameter setting inRAMP_v_max.
Changed settings become active immedi-ately.
usr_v11802147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3029:5h Modbus 10506Profibus 10506CIP 141.1.5
JOGv_slowoP → JoG-
JGLo
Velocity for slow movement (228)
The adjustable value is internally limited tothe current parameter setting inRAMP_v_max.
Changed settings become active immedi-ately.
usr_v1602147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3029:4h Modbus 10504Profibus 10504CIP 141.1.4
LXM32M 10 Parameters
AC servo drive 619
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
LIM_HaltReactionConF → ACG-
htyP
Halt option code (361)
1 / Deceleration Ramp / dEcE : Decelera-tion ramp3 / Torque Ramp / torq : Torque ramp
Type of deceleration for Halt.
Setting of deceleration ramp with parameterRAMP_v_dec.Setting of torque ramp with parameterLIM_I_maxHalt.
If a deceleration ramp is already active, theparameter cannot be written.
Changed settings become active immedi-ately.
-113
INT16INT16INT16INT16 R/Wper.-
CANopen 605D:0h Modbus 1582Profibus 1582CIP 106.1.23
LIM_I_maxHaltConF → ACG-
hcur
Current value for Halt (162)
This value is only limited by the minimum/maximum value range (no limitation of thisvalue by motor/power stage).
In the case of a Halt, the actual current limit(_Imax_act) is one of the following values(whichever is lowest):- LIM_I_maxHalt- _M_I_max - _PS_I_max
Further current reductions caused by I2tmonitoring are also taken into account dur-ing a Halt.
Default: _PS_I_max at 8 kHz PWM fre-quency and 230/480 V mains voltage
In increments of 0.01 Arms.
Changed settings become active immedi-ately.
Arms ---
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:Eh Modbus 4380Profibus 4380CIP 117.1.14
10 Parameters LXM32M
620 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
LIM_I_maxQSTPConF → FLt-
qcur
Current value for Quick Stop (161)
This value is only limited by the minimum/maximum value range (no limitation of thisvalue by motor/power stage).
In the case of a Quick Stop, the actual cur-rent limit (_Imax_act) is one of the followingvalues (whichever is lowest):- LIM_I_maxQSTP- _M_I_max- _PS_I_max
Further current reductions caused by I2tmonitoring are also taken into account dur-ing a Quick Stop.
Default: _PS_I_max at 8 kHz PWM fre-quency and 230/480 V mains voltage
In increments of 0.01 Arms.
Changed settings become active immedi-ately.
Arms ---
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3011:Dh Modbus 4378Profibus 4378CIP 117.1.13
LIM_QStopReact Quick Stop option code (364)
-2 / Torque ramp (Fault): Use torque rampand transit to operating state 9 Fault-1 / Deceleration Ramp (Fault): Use decel-eration ramp and transit to operating state 9Fault6 / Deceleration ramp (Quick Stop): Usedeceleration ramp and remain in operatingstate 7 Quick Stop7 / Torque ramp (Quick Stop): Use torqueramp and remain in operating state 7 QuickStop
Type of deceleration for Quick Stop.
Setting of deceleration ramp with parameterRAMPquickstop.Setting of torque ramp with parameterLIM_I_maxQSTP.
If a deceleration ramp is already active, theparameter cannot be written.
Changed settings become active immedi-ately.
--267
INT16INT16INT16INT16 R/Wper.-
CANopen 3006:18h Modbus 1584Profibus 1584CIP 106.1.24
Mains_reactor Mains reactor
0 / No: No1 / Yes: Yes
Value 0: No mains reactor connected. Thenominal power of the power stage isreduced.Value 1: A mains reactor is connected.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:20h Modbus 1344Profibus 1344CIP 105.1.32
LXM32M 10 Parameters
AC servo drive 621
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MBaddressConF → CoM-
MbAd
Modbus address
Valid addresses: 1 to 247
Changed settings become active the nexttime the product is switched on.
-11247
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3016:4h Modbus 5640Profibus 5640CIP 122.1.4
MBbaudConF → CoM-
Mbbd
Modbus baud rate
9600 / 9600 Baud / 9.6 : 9600 Baud19200 / 19200 Baud / 19.2 : 19200 Baud38400 / 38400 Baud / 38.4 : 38400 Baud
Changed settings become active the nexttime the product is switched on.
-96001920038400
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3016:3h Modbus 5638Profibus 5638CIP 122.1.3
MBnode_guard Modbus Node Guarding
Value 0: Node Guarding inactiveValue >0: Monitoring time
A read request or a write request must beperformed during the monitoring time.
Changed settings become active immedi-ately.
ms0010000
UINT16UINT16UINT16UINT16 R/W--
CANopen 3016:6h Modbus 5644Profibus 5644CIP 122.1.6
Mfb_ResRatio Transformation ratio
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
-0.3-1.0
UINT16UINT16UINT16UINT16 R/W--
CANopen 305C:17h Modbus 23598Profibus 23598CIP 192.1.23
MOD_AbsDirection
Direction of absolute movement with Mod-ulo (299)
0 / Shortest Distance: Movement withshortest distance1 / Positive Direction: Movement only inpositive direction2 / Negative Direction: Movement only innegative direction
If the parameter is set to 0, the drive calcu-lates the shortest way to the new targetposition and starts the movement in the cor-responding direction. If the distance to thetarget position is identical in positive andnegative directions, the movement takesplace in positive direction.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:3Bh Modbus 1654Profibus 1654CIP 106.1.59
10 Parameters LXM32M
622 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MOD_AbsMultiRng
Multiple ranges for absolut movement withModulo (300)
0 / Multiple Ranges Off: Absolute move-ment in one modulo range1 / Multiple Ranges On: Absolute move-ment in multiple modulo ranges
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:3Ch Modbus 1656Profibus 1656CIP 106.1.60
MOD_EnableConF → ACG-
AtyP
Activation of Modulo (298)
0 / Modulo Off / oFF : Modulo is off1 / Modulo On / on : Modulo is on
Activating Modulo does not automaticallychange the value of other parameters.Before changing this value, verify that theparameter settings for the intended applica-tion are correct.NOTE: Modulo must be deactivated forAutotuning.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:38h Modbus 1648Profibus 1648CIP 106.1.56
MOD_Max Maximum position of modulo range (299)
The maximum position value of the modulorange must be greater than the minimumposition value of the modulo range. The value must not exceed the maximumpossible value of position scaling _Scale-POSmax.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
usr_p-3600-
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:3Ah Modbus 1652Profibus 1652CIP 106.1.58
MOD_Min Minimum position of modulo range (299)
The minimum position value of the modulorange must be less than the maximum posi-tion value of the modulo range. The value must not exceed the maximumpossible value of position scaling _Scale-POSmax.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:39h Modbus 1650Profibus 1650CIP 106.1.57
LXM32M 10 Parameters
AC servo drive 623
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_ChkTimeConF → i-o-
tthr
Monitoring of time window (414)
Adjustment of a time for monitoring of posi-tion deviation, speed deviation, speed valueand current value. If the monitored value isin the permissible range during the adjustedtime, the monitoring function delivers a posi-tive result.The status can be output via a parameteriz-able output.
Changed settings become active immedi-ately.
ms009999
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:1Dh Modbus 1594Profibus 1594CIP 106.1.29
MON_commutat Commutation monitoring (425)
0 / Off: Commutation monitoring off1 / On: Commutation monitoring on
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-011
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:5h Modbus 1290Profibus 1290CIP 105.1.5
MON_GroundFault
Ground fault monitoring (428)
0 / Off: Ground fault monitoring off1 / On: Ground fault monitoring on
In exceptional cases, deactivation may benecessary, for example:- Long motor cablesDeactivate ground fault monitoring if itresponds in an unwanted way.
Changed settings become active the nexttime the product is switched on.
-011
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3005:10h Modbus 1312Profibus 1312CIP 105.1.16
MON_HW_Limits Temporary deactivation of hardware limitswitches
0: No limit switch deactivated1: Deactivate positive limit switch2: Deactivate negative limit switch3: Deactivate both limit switches
With this parameter, a PLC can temporarilydeactivate hardware limit switches. This isuseful if a homing procedure controlled by aPLC is to use a limit switch as a referenceswitch without an error response of thedrive.The parameter is only available with theEtherCAT module.
Changed settings become active immedi-ately.
-003
UINT16UINT16UINT16UINT16 R/W--
CANopen 3006:11h Modbus 1570Profibus 1570CIP 106.1.17
10 Parameters LXM32M
624 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_I_ThresholdConF → i-o-
ithr
Monitoring of current threshold (420)
The system checks whether the drive isbelow the defined value during the periodset with MON_ChkTime. The status can be output via a parameteriz-able output.The parameter _Iq_act_rms is used as com-parison value.
In increments of 0.01 Arms.
Changed settings become active immedi-ately.
Arms 0.000.20300.00
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:1Ch Modbus 1592Profibus 1592CIP 106.1.28
MON_IO_SelErr1 First number for the signal output functionSelected Error (435)
Changed settings become active immedi-ately.
-0065535
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 303B:6h Modbus 15116Profibus 15116CIP 159.1.6
MON_IO_SelErr2 Second number for the signal output func-tion Selected Error (435)
Changed settings become active immedi-ately.
-0065535
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 303B:7h Modbus 15118Profibus 15118CIP 159.1.7
MON_IO_SelWar1 First number for the signal output functionSelected Warning (435)
Changed settings become active immedi-ately.
-0065535
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 303B:8h Modbus 15120Profibus 15120CIP 159.1.8
MON_IO_SelWar2 Second number for the signal output func-tion Selected Warning (435)
Changed settings become active immedi-ately.
-0065535
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 303B:9h Modbus 15122Profibus 15122CIP 159.1.9
LXM32M 10 Parameters
AC servo drive 625
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_MainsVolt Detection and monitoring of mains pha-ses (427)
0 / Automatic Mains Detection: Automaticdetection and monitoring of mains voltage1 / DC-Bus Only (Mains 1~230 V / 3~480V): DC bus supply only, corresponding tomains voltage 230 V (single-phase) or 480V (three phases)2 / DC-Bus Only (Mains 1~115 V / 3~208V): DC bus supply only, corresponding tomains voltage 115 V (single-phase) or 208V (three phases)3 / Mains 1~230 V / 3~480 V: Mains voltage230 V (single-phase) or 480 V (three pha-ses)4 / Mains 1~115 V / 3~208 V: Mains voltage115 V (single-phase) or 208 V (three pha-ses)
Value 0: As soon as a mains voltage detec-ted, the device automatically checkswhether the mains voltage is 115 V or 230 Vin the case of single-phase devices or 208 Vor 400/480 V in the case of three-phasedevices.
Values 1 ... 2: If the device is supplied onlyvia the DC bus, the parameter has to be setto the voltage value corresponding to themains voltage of the supplying device.There is no mains voltage monitoring.
Values 3 ... 4: If the mains voltage is notdetected properly during start-up, the mainsvoltage to be used can be selected man-ually.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-004
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3005:Fh Modbus 1310Profibus 1310CIP 105.1.15
MON_p_dif_load_usr
Maximum load-dependent position deviation(following error) (399)
The load-dependent position deviation is thedifference between the reference positionand the actual position caused by the load.
The minimum value, the factory setting andthe maximum value depend on the scalingfactor.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.03.
usr_p1163842147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:3Eh Modbus 1660Profibus 1660CIP 106.1.62
10 Parameters LXM32M
626 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_p_dif_load Maximum load-dependent position deviation(following error) (399)
The load-dependent position deviation is thedifference between the reference positionand the actual position caused by the load.
The parameter MON_p_dif_load_usr allowsyou to enter the value in user-defined units.
In increments of 0.0001 revolution.
Changed settings become active immedi-ately.
revolution0.00011.0000200.0000
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 6065:0h Modbus 1606Profibus 1606CIP 106.1.35
MON_p_dif_warn Maximum load-dependent position deviation(warning) (398)
100.0 % correspond to the maximum posi-tion deviation (following error) as specifiedby means of parameter MON_p_dif_load.
Changed settings become active immedi-ately.
%075100
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:29h Modbus 1618Profibus 1618CIP 106.1.41
MON_p_DiffWin_usr
Monitoring of position deviation (414)
The system checks whether the drive iswithin the defined deviation during theperiod set with MON_ChkTime. The status can be output via a parameteriz-able output.
The minimum value, the factory setting andthe maximum value depend on the scalingfactor.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.03.
usr_p0162147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:3Fh Modbus 1662Profibus 1662CIP 106.1.63
MON_p_DiffWin Monitoring of position deviation (414)
The system checks whether the drive iswithin the defined deviation during theperiod set with MON_ChkTime. The status can be output via a parameteriz-able output.
The parameter MON_p_DiffWin_usr allowsyou to enter the value in user-defined units.
In increments of 0.0001 revolution.
Changed settings become active immedi-ately.
revolution0.00000.00100.9999
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:19h Modbus 1586Profibus 1586CIP 106.1.25
LXM32M 10 Parameters
AC servo drive 627
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_p_win_usr Standstill window, permissible control devia-tion (404)
The control deviation for the standstill win-dow time must be within this range for astandstill of the drive to be detected.
Processing of the standstill window must beactivated via the parameter MON_p_win-Time.
The minimum value, the factory setting andthe maximum value depend on the scalingfactor.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.03.
usr_p0162147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:40h Modbus 1664Profibus 1664CIP 106.1.64
MON_p_win Standstill window, permissible control devia-tion (404)
The control deviation for the standstill win-dow time must be within this range for astandstill of the drive to be detected.
Processing of the standstill window must beactivated via the parameter MON_p_win-Time.
The parameter MON_p_win_usr allows youto enter the value in user-defined units.
In increments of 0.0001 revolution.
Changed settings become active immedi-ately.
revolution0.00000.00103.2767
UINT32UINT16UINT16UINT16 R/Wper.-
CANopen 6067:0h Modbus 1608Profibus 1608CIP 106.1.36
MON_p_winTime Standstill window, time (404)
Value 0: Monitoring of standstill windowdeactivatedValue >0: Time in ms during which the con-trol deviation must be in the standstill win-dow
Changed settings become active immedi-ately.
ms0032767
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 6068:0h Modbus 1610Profibus 1610CIP 106.1.37
MON_p_winTout Timeout time for standstill window monitor-ing (404)
Value 0: Timeout monitoring deactivatedValue >0: Timeout time in ms
Standstill window processing values are setvia MON_p_win and MON_p_winTime.
Time monitoring starts when the target posi-tion (reference position of position control-ler) is reached or when the profile generatorhas finished processing.
Changed settings become active immedi-ately.
ms0016000
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:26h Modbus 1612Profibus 1612CIP 106.1.38
10 Parameters LXM32M
628 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_SW_Limits Activation of software limit switches (395)
0 / None: Deactivated1 / SWLIMP: Activation of software limitswitches positive direction2 / SWLIMN: Activation of software limitswitches negative direction3 / SWLIMP+SWLIMN: Activation of soft-ware limit switches both directions
Software limit switches can only be activa-ted if the zero point is valid.
Changed settings become active immedi-ately.
-003
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:3h Modbus 1542Profibus 1542CIP 106.1.3
MON_SWLimMode Behavior when position limit isreached (395)
0 / Standstill Behind Position Limit: QuickStop is triggered at position limit and stand-still is reached behind position limit1 / Standstill At Position Limit: Quick Stopis triggered in front of position limit andstandstill is reached at position limit
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:47h Modbus 1678Profibus 1678CIP 106.1.71
MON_swLimN Negative position limit for software limitswitch (396)
Refer to description 'MON_swLimP'
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
usr_p--2147483648-
INT32INT32INT32INT32 R/Wper.-
CANopen 607D:1h Modbus 1546Profibus 1546CIP 106.1.5
MON_swLimP Positive position limit for software limitswitch (396)
If a user-defined value entered is outside ofthe permissible range, the limit switch limitsare automatically set to the maximum user-defined value.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
usr_p-2147483647-
INT32INT32INT32INT32 R/Wper.-
CANopen 607D:2h Modbus 1544Profibus 1544CIP 106.1.4
MON_tq_win Torque window, permissible deviation (401)
The torque window can only be activated inoperating mode Profile Torque.
In increments of 0.1 %.
Changed settings become active immedi-ately.
%0.03.03000.0
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:2Dh Modbus 1626Profibus 1626CIP 106.1.45
LXM32M 10 Parameters
AC servo drive 629
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MON_tq_winTime Torque window, time (401)
Value 0: Torque window monitoring deacti-vated
Changing the value causes a restart of tor-que monitoring.
NOTE: Torque window is only used in oper-ating mode Profile Torque.
Changed settings become active immedi-ately.
ms0016383
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:2Eh Modbus 1628Profibus 1628CIP 106.1.46
MON_v_DiffWin Monitoring of velocity deviation (416)
The system checks whether the drive iswithin the defined deviation during theperiod set with MON_ChkTime. The status can be output via a parameteriz-able output.
Changed settings become active immedi-ately.
usr_v1102147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3006:1Ah Modbus 1588Profibus 1588CIP 106.1.26
MON_v_Threshold
Monitoring of velocity threshold (418)
The system checks whether the drive isbelow the defined value during the periodset with MON_ChkTime. The status can be output via a parameteriz-able output.
Changed settings become active immedi-ately.
usr_v1102147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3006:1Bh Modbus 1590Profibus 1590CIP 106.1.27
MON_v_win Velocity window, permissible deviation (402)
Changed settings become active immedi-ately.
usr_v1102147483647
UINT16UINT32UINT32UINT32 R/Wper.-
CANopen 606D:0h Modbus 1576Profibus 1576CIP 106.1.20
MON_v_winTime Velocity window, time (402)
Value 0: Velocity window monitoring deacti-vated
Changing the value causes a restart ofvelocity monitoring.
Changed settings become active immedi-ately.
ms0016383
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 606E:0h Modbus 1578Profibus 1578CIP 106.1.21
MON_v_zeroclamp
Velocity limit for Zero Clamp (373)
A Zero Clamp operation is only possible ifthe reference velocity is below the ZeroClamp velocity limit.
Changed settings become active immedi-ately.
usr_v0102147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3006:28h Modbus 1616Profibus 1616CIP 106.1.40
10 Parameters LXM32M
630 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MSM_CondSequ Start condition for the start of a sequencevia a signal input (283)
0 / Rising Edge: Rising edge1 / Falling Edge: Falling edge2 / 1-level: 1 level3 / 0-level: 0 level
The start condition defines the way the startrequest is to be processed. This setting isused for the first start after activation of theoperating mode.
Changed settings become active the nexttime the motor moves.
-003
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 302D:8h Modbus 11536Profibus 11536CIP 145.1.8
MSM_datasetnum Selection of data set number in data settable
Before an entry in the data set table can beread or written, the corresponding data setnumber must be selected.
Changed settings become active immedi-ately.
-00127
UINT16UINT16UINT16UINT16 R/W--
CANopen 302D:10h Modbus 11552Profibus 11552CIP 145.1.16
MSM_ds_logopera
Logical operator
0 / None: None1 / Logical AND: Logical AND2 / Logical OR: Logical OR
Transition condition 1 and transition condi-tion 2 can be logically combined.
Changed settings become active immedi-ately.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 302D:1Ah Modbus 11572Profibus 11572CIP 145.1.26
MSM_ds_setA Setting A
The value depends on the type of data setas selected with parameter MSM_ds_type:
- Move Absolute: Acceleration- Move Relative: Acceleration- Reference Movement: Homing method(except method 35)- Position Setting: Position for Position Set-ting- Repeat: Loop counter- Move Additive: Acceleration- Move Velocity: Acceleration- Gear: Synchronization method- Write Parameter: Modbus address of theparameter
Changed settings become active immedi-ately.
--214748364802147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 302D:12h Modbus 11556Profibus 11556CIP 145.1.18
LXM32M 10 Parameters
AC servo drive 631
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MSM_ds_setB Setting B
The value depends on the type of data setas selected with parameter MSM_ds_type:
- Move Absolute: Velocity- Move Relative: Velocity- Reference Movement: Position at refer-ence point after a successful referencemovement- Position Setting: -- Repeat: Number of data set to be execu-ted- Move Additive: Velocity- Move Velocity: Velocity- Gear: Numerator- Write Parameter: Value of the parameter
Changed settings become active immedi-ately.
--214748364802147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 302D:13h Modbus 11558Profibus 11558CIP 145.1.19
MSM_ds_setC Setting C
The value depends on the type of data setas selected with parameter MSM_ds_type:
- Move Absolute: Absolute position- Move Relative: Relative position- Reference Movement: -- Position Setting: -- Repeat: -- Move Additive: Relative position- Move Velocity: Selection of directionValue 0: PositiveValue 1: NegativeValue 2: Current direction- Gear: Denominator- Write Parameter: -
Changed settings become active immedi-ately.
--214748364802147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 302D:14h Modbus 11560Profibus 11560CIP 145.1.20
MSM_ds_setD Setting D
The value depends on the type of data setas selected with parameter MSM_ds_type:
- Move Absolute: Decelaration- Move Relative: Decelaration- Reference Movement: -- Position Setting: -- Repeat: -- Move Additive: Decelaration- Move Velocity: Deceleration- Gear: -- Write Parameter: -
Changed settings become active immedi-ately.
--214748364802147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 302D:15h Modbus 11562Profibus 11562CIP 145.1.21
10 Parameters LXM32M
632 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MSM_ds_sub_ds Subsequent data set
Number of the next data set to be started.
Changed settings become active immedi-ately.
-00127
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 302D:17h Modbus 11566Profibus 11566CIP 145.1.23
MSM_ds_trancon1
Transition condition 1
0 / Continue Without Condition: Continuewithout condition1 / Wait Time: Wait time2 / Start Request Edge: Start request edge3 / Start Request Level: Start request level
Changed settings become active immedi-ately.
-003
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 302D:18h Modbus 11568Profibus 11568CIP 145.1.24
MSM_ds_trancon2
Transition condition 2
0 / Continue Without Condition: Continuewithout condition2 / Start Request Edge: Start request edge3 / Start Request Level: Start request level
Changed settings become active immedi-ately.
-003
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 302D:1Ch Modbus 11576Profibus 11576CIP 145.1.28
MSM_ds_transiti
Transition type
0 / No Transition: No transition1 / Abort And Go Next: Abort and go next2 / Buffer And Start Next: Buffer and startnext3 / Blending Previous: Blending previous4 / Blending Next: Blending next
Changed settings become active immedi-ately.
-004
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 302D:16h Modbus 11564Profibus 11564CIP 145.1.22
MSM_ds_tranval1
Value for transition condition 1
The value depends on the type of data setas selected with parameter MSM_ds_tran-con1:
- Continue Without Condition: No transitioncondition value- Waiting Time: Wait time in msValues: 0 ... 30000- Start Request Edge: Start request edgeValue 0: Rising edgeValue 1: Falling edgeValue 4: Rising or falling edge- Start Request Level: Start request levelValue 2: 1 levelValue 3: 0 level
Changed settings become active immedi-ately.
-0030000
INT32INT32INT32INT32 R/Wper.-
CANopen 302D:19h Modbus 11570Profibus 11570CIP 145.1.25
LXM32M 10 Parameters
AC servo drive 633
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MSM_ds_tranval2
Value for transition condition 2
The value depends on the type of data setas selected with parameter MSM_ds_tran-con2:
- Continue Without Condition: No transitioncondition value- Start Request Edge: Start request edgeValue 0: Rising edgeValue 1: Falling edgeValue 4: Rising or falling edge- Start Request Level: Start request levelValue 2: 1 levelValue 3: 0 level
Changed settings become active immedi-ately.
-004
INT32INT32INT32INT32 R/Wper.-
CANopen 302D:1Dh Modbus 11578Profibus 11578CIP 145.1.29
MSM_ds_type Data set type
0 / None: None1 / Move Absolute: Absolute movement2 / Move Additive: Additive movement3 / Reference Movement: Referencemovement4 / Position Setting: Position setting5 / Repeat: Repeat6 / Move Relative: Relative movement7 / Move Velocity: Movement with adefined velocity8 / Gear: Movement with a defined gear fac-tor9 / Write Parameter: Write a parameter
The values for the selected data set typeare specified by means of the parametersMSM_ds_set1 to MSM_ds_set4.
Changed settings become active immedi-ately.
-009
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 302D:11h Modbus 11554Profibus 11554CIP 145.1.17
MSM_start_ds Selection of a data set to be started foroperating mode Motion Sequence
Changed settings become active immedi-ately.
-0031
UINT16UINT16UINT16UINT16 R/W--
CANopen 301B:Ah Modbus 6932Profibus 6932CIP 127.1.10
10 Parameters LXM32M
634 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
MSMendNumSequence
Selection of the data set number after theend of a sequence (284)
0 / DataSetSelect: Data set is set via thesignal input function "Data Set Select"1 / Automatic: Data set is set automatically
Value 0: After the end of a sequence, theselected data set must be set via the signalinput function "Data Set Select".Value 1: After the end of a sequence, theselected data set is set automatically.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.09.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 302D:9h Modbus 11538Profibus 11538CIP 145.1.9
MSMstartSignal Response to falling edge at signal input for'Start Signal Data Set' (285)
0 / No Reaction: No response1 / Cancel Movement: Cancel active move-ment
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.09.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 302D:Ch Modbus 11544Profibus 11544CIP 145.1.12
MT_dismax_usr Maximum permissible distance
If the reference value is active and the maxi-mum permissible distance is exceeded, anerror of error class 1 is generated.
The value 0 switches off monitoring.
The minimum value, the factory setting andthe maximum value depend on the scalingfactor.
Changed settings become active the nexttime the motor moves.
Available with firmware version ≥V01.03.
usr_p0163842147483647
INT32INT32INT32INT32 R/W--
CANopen 302E:Ah Modbus 11796Profibus 11796CIP 146.1.10
MT_dismax Maximum permissible distance
If the reference value is active and the maxi-mum permissible distance is exceeded, anerror of error class 1 is generated.
The value 0 switches off monitoring.
The parameter MT_dismax_usr allows youto enter the value in user-defined units.
In increments of 0.1 revolution.
Changed settings become active the nexttime the motor moves.
revolution0.01.0999.9
UINT16UINT16UINT16UINT16 R/W--
CANopen 302E:3h Modbus 11782Profibus 11782CIP 146.1.3
LXM32M 10 Parameters
AC servo drive 635
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
OFS_PosActivate
Offset movement with relative offset posi-tion (239)
This parameter starts an offset movementwith one the relative offset positions speci-fied by means of the parametersOFSp_RelPos1 and OFSp_RelPos2.
Value 0: No offset movementValue 1: Start offset movement with relativeoffset position 1 (OFSp_RelPos1)Value 2: Start offset movement with relativeoffset position 2 (OFSp_RelPos2)
Changed settings become active immedi-ately.
-003
UINT16UINT16UINT16UINT16 R/W--
CANopen 3027:Bh Modbus 10006Profibus 10006CIP 139.1.11
OFS_Ramp Acceleration and deceleration for offsetmovement (239)
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
usr_a16002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3027:6h Modbus 9996Profibus 9996CIP 139.1.6
OFSp_abs Start absolute offset movement
Changed settings become active immedi-ately.
Inc-2147483648-2147483647
INT32INT32INT32INT32 R/W--
CANopen 3027:1h Modbus 9986Profibus 9986CIP 139.1.1
OFSp_rel Start relative offset movement
Changed settings become active immedi-ately.
Inc-214748364802147483647
INT32INT32INT32INT32 R/W--
CANopen 3027:3h Modbus 9990Profibus 9990CIP 139.1.3
OFSp_RelPos1 Relative offset position 1 for offset move-ment (239)
Changed settings become active immedi-ately.
Inc-214748364802147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3027:8h Modbus 10000Profibus 10000CIP 139.1.8
OFSp_RelPos2 Relative offset position 2 for offset move-ment (239)
Changed settings become active immedi-ately.
Inc-214748364802147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3027:Ah Modbus 10004Profibus 10004CIP 139.1.10
OFSp_SetPos Set offset position
Changed settings become active immedi-ately.
Inc-214748364802147483647
INT32INT32INT32INT32 R/W--
CANopen 3027:5h Modbus 9994Profibus 9994CIP 139.1.5
10 Parameters LXM32M
636 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
OFSv_target Target velocity for offset movement (239)
The maximum possible value is 5000 if theuser-defined scaling factor of the velocityscaling is 1.
This applies to the user-defined scaling fac-tors. Example: If the user-defined scalingfactor of the velocity scaling is 2 (ScaleVEL-num = 2, ScaleVELdenom = 1), the maxi-mum possible value is 2500.
Changed settings become active immedi-ately.
usr_v1602147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3027:4h Modbus 9992Profibus 9992CIP 139.1.4
p_MaxDifToENC2 Max. permissible deviation of encoder posi-tions
The maximum permissible position devia-tion between the encoder positions is cycli-cally monitored. If the limit is exceeded, anerror is generated.The current position deviation is availablevia the parameter '_p_DifEnc1ToEnc2'.The default value corresponds to 1/2 motorrevolution.The maximum value corresponds to 100motor revolutions.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Inc16553613107200
INT32INT32INT32INT32 R/Wper.-
CANopen 3050:7h Modbus 20494Profibus 20494CIP 180.1.7
PAR_CTRLresetConF → FCS-
rESC
Reset controller parameters
0 / No / no : No1 / Yes / yES : Yes
Reset of the controller parameters. The cur-rent controller parameters are recalculatedon the basis of the motor data of the con-nected motor.
NOTE: Current and velocity limitations arenot reset. Therefore, a user parameter resetis required.
NOTE: The new settings are not saved tothe EEPROM.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 3004:7h Modbus 1038Profibus 1038CIP 104.1.7
LXM32M 10 Parameters
AC servo drive 637
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PAR_ScalingStart
Recalculation of parameters with user-defined units
The parameters with user-defined units canbe recalculated with a changed scaling fac-tor.
Value 0: InactiveValue 1: Initialize recalculationValue 2: Start recalculation
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.03.
-002
UINT16UINT16UINT16UINT16 R/W--
CANopen 3004:14h Modbus 1064Profibus 1064CIP 104.1.20
PAReeprSave Save parameter values to EEPROM
Value 1: Save persistent parameters
The currently set parameters are saved tothe non-volatile memory (EEPROM).The saving process is complete when theparameter is read and 0 is returned.
NOTE: Parameters for the safety moduleeSM are modified using the commissioningsoftware. The parameter values are savedpersistently after transfer. Explicit saving tothe persistent memory is not required in thecase of the safety module eSM.
Changed settings become active immedi-ately.
----
UINT16UINT16UINT16UINT16 R/W--
CANopen 3004:1h Modbus 1026Profibus 1026CIP 104.1.1
PARfactorySetConF → FCS-
rStF
Restore factory settings (default val-ues) (206)
No / no : NoYes / yES : Yes
The parameters are reset to the factory set-tings and subsequently saved to theEEPROM.The factory settings can be restored via theHMI or the commissioning software.The saving process is complete when theparameter is read and 0 is returned.
NOTE: The parameters of the safety mod-ule eSM are not reset to the factory settings.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
-0-1
R/W--
10 Parameters LXM32M
638 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PARuserResetConF → FCS-
rESu
Reset user parameters (205)
0 / No / no : No65535 / Yes / yES : Yes
Bit 0: Reset persistent user parameters andcontroller parameters to default valuesBit 1: Reset Motion Sequence parametersto default valuesBits 2 ... 15: Reserved
The parameters are reset with the exceptionof:- Communication parameters- Inversion of direction of movement- Type of reference value signal for PTIinterface- Settings of encoder simulation- Functions of digital inputs and outputs- Safety module eSM
NOTE: The new settings are not saved tothe EEPROM.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-0-65535
UINT16UINT16UINT16UINT16 R/W--
CANopen 3004:8h Modbus 1040Profibus 1040CIP 104.1.8
PBaddressConF → CoM- ConF → FSu-
PbAd
Profibus address
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
-1126126
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3043:2h Modbus 17156Profibus 17156CIP 167.1.2
PDOmask Deactivate receive PDO
Value 0: Activate receive PDOValue 1: Deactivate receive PDO
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 3040:42h Modbus 16516Profibus 16516CIP 164.1.66
LXM32M 10 Parameters
AC servo drive 639
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PosReg1Mode Selection of comparison criterion for posi-tion register channel 1 (410)
0 / Pact greater equal A: Current positionis greater than or equal to comparison valueA for position register channel 11 / Pact less equal A: Current position isless than or equal to comparison value A forposition register channel 12 / Pact in [A-B] (basic): Current position isin the range A-B including limits (basic)3 / Pact out [A-B] (basic): Current positionis out of the range A-B excluding limits(basic)4 / Pact in [A-B] (extended): Current posi-tion is in the range A-B including limits(extended)5 / Pact out [A-B] (extended): Currentposition is out of the range A-B excludinglimits (extended)
Changed settings become active immedi-ately.
-005
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:4h Modbus 2824Profibus 2824CIP 111.1.4
PosReg1Source Selection of source for position registerchannel 1 (409)
0 / Pact Encoder 1: Source for position reg-ister channel 1 is Pact of encoder 11 / Pact Encoder 2: Source for position reg-ister channel 1 is Pact of encoder 2 (mod-ule)
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:6h Modbus 2828Profibus 2828CIP 111.1.6
PosReg1Start Start/stop of position register channel1 (407)
0 / Off (keep last state): Position Registerchannel 1 is off and status bit keeps laststate1 / On: Position Register channel 1 is on2 / Off (set state 0): Position Register chan-nel 1 is off and status bit is set to 03 / Off (set state 1): Position Register chan-nel 1 is off and status bit is set to 1
Changed settings become active immedi-ately.
-003
UINT16UINT16UINT16UINT16 R/W--
CANopen 300B:2h Modbus 2820Profibus 2820CIP 111.1.2
PosReg1ValueA Comparison value A for position registerchannel 1 (412)
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 300B:8h Modbus 2832Profibus 2832CIP 111.1.8
PosReg1ValueB Comparison value B for position registerchannel 1 (412)
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 300B:9h Modbus 2834Profibus 2834CIP 111.1.9
10 Parameters LXM32M
640 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PosReg2Mode Selection of comparison criterion for posi-tion register channel 2 (410)
0 / Pact greater equal A: Current positionis greater than or equal to comparison valueA for position register channel 21 / Pact less equal A: Current position isless than or equal to comparison value A forposition register channel 22 / Pact in [A-B] (basic): Current position isin the range A-B including limits (basic)3 / Pact out [A-B] (basic): Current positionis out of the range A-B excluding limits(basic)4 / Pact in [A-B] (extended): Current posi-tion is in the range A-B including limits(extended)5 / Pact out [A-B] (extended): Currentposition is out of the range A-B excludinglimits (extended)
Changed settings become active immedi-ately.
-005
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:5h Modbus 2826Profibus 2826CIP 111.1.5
PosReg2Source Selection of source for position registerchannel 2 (409)
0 / Pact Encoder 1: Source for position reg-ister channel 2 is Pact of encoder 11 / Pact Encoder 2: Source for position reg-ister channel 2 is Pact of encoder 2 (mod-ule)
Changed settings become active immedi-ately.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:7h Modbus 2830Profibus 2830CIP 111.1.7
PosReg2Start Start/stop of position register channel2 (407)
0 / Off (keep last state): Position Registerchannel 2 is off and status bit keeps laststate1 / On: Position Register channel 2 is on2 / Off (set state 0): Position Register chan-nel 2 is off and status bit is set to 03 / Off (set state 1): Position Register chan-nel 2 is off and status bit is set to 1
Changed settings become active immedi-ately.
-003
UINT16UINT16UINT16UINT16 R/W--
CANopen 300B:3h Modbus 2822Profibus 2822CIP 111.1.3
PosReg2ValueA Comparison value A for position registerchannel 2 (412)
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 300B:Ah Modbus 2836Profibus 2836CIP 111.1.10
PosReg2ValueB Comparison value B for position registerchannel 2 (412)
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 300B:Bh Modbus 2838Profibus 2838CIP 111.1.11
LXM32M 10 Parameters
AC servo drive 641
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PosReg3Mode Selection of comparison criterion for posi-tion register channel 3 (411)
0 / Pact greater equal A: Current positionis greater than or equal to comparison valueA for position register channel 31 / Pact less equal A: Current position isless than or equal to comparison value A forposition register channel 32 / Pact in [A-B] (basic): Current position isin the range A-B including limits (basic)3 / Pact out [A-B] (basic): Current positionis out of the range A-B excluding limits(basic)4 / Pact in [A-B] (extended): Current posi-tion is in the range A-B including limits(extended)5 / Pact out [A-B] (extended): Currentposition is out of the range A-B excludinglimits (extended)
Changed settings become active immedi-ately.
Available with firmware version ≥V01.04.
-005
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:Eh Modbus 2844Profibus 2844CIP 111.1.14
PosReg3Source Selection of source for position registerchannel 3 (409)
0 / Pact Encoder 1: Source for position reg-ister channel 3 is Pact of encoder 11 / Pact Encoder 2: Source for position reg-ister channel 3 is Pact of encoder 2 (mod-ule)
Changed settings become active immedi-ately.
Available with firmware version ≥V01.04.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:10h Modbus 2848Profibus 2848CIP 111.1.16
PosReg3Start Start/stop of position register channel3 (407)
0 / Off (keep last state): Position Registerchannel 3 is off and status bit keep laststate1 / On: Position Register channel 3 is on2 / Off (set state 0): Position Register chan-nel 3 is off and status bit is set to 03 / Off (set state 1): Position Register chan-nel 3 is off and status bit is set to 1
Changed settings become active immedi-ately.
Available with firmware version ≥V01.04.
-003
UINT16UINT16UINT16UINT16 R/W--
CANopen 300B:Ch Modbus 2840Profibus 2840CIP 111.1.12
PosReg3ValueA Comparison value A for position registerchannel 3 (412)
Available with firmware version ≥V01.04.
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 300B:12h Modbus 2852Profibus 2852CIP 111.1.18
10 Parameters LXM32M
642 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PosReg3ValueB Comparison value B for position registerchannel 3 (412)
Available with firmware version ≥V01.04.
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 300B:13h Modbus 2854Profibus 2854CIP 111.1.19
PosReg4Mode Selection of comparison criterion for posi-tion register channel 4 (411)
0 / Pact greater equal A: Current positionis greater than or equal to comparison valueA for position register channel 41 / Pact less equal A: Current position isless than or equal to comparison value A forposition register channel 42 / Pact in [A-B] (basic): Current position isin the range A-B including limits (basic)3 / Pact out [A-B] (basic): Current positionis out of the range A-B excluding limits(basic)4 / Pact in [A-B] (extended): Current posi-tion is in the range A-B including limits(extended)5 / Pact out [A-B] (extended): Currentposition is out of the range A-B excludinglimits (extended)
Changed settings become active immedi-ately.
Available with firmware version ≥V01.04.
-005
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:Fh Modbus 2846Profibus 2846CIP 111.1.15
PosReg4Source Selection of source for position registerchannel 4 (409)
0 / Pact Encoder 1: Source for position reg-ister channel 4 is Pact of encoder 11 / Pact Encoder 2: Source for position reg-ister channel 4 is Pact of encoder 2 (mod-ule)
Changed settings become active immedi-ately.
Available with firmware version ≥V01.04.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:11h Modbus 2850Profibus 2850CIP 111.1.17
PosReg4Start Start/stop of position register channel4 (407)
0 / Off (keep last state): Position Registerchannel 4 is off and status bit keeps laststate1 / On: Position Register channel 4 is on2 / Off (set state 0): Position Register chan-nel 4 is off and status bit is set to 03 / Off (set state 1): Position Register chan-nel 4 is off and status bit is set to 1
Changed settings become active immedi-ately.
Available with firmware version ≥V01.04.
-003
UINT16UINT16UINT16UINT16 R/W--
CANopen 300B:Dh Modbus 2842Profibus 2842CIP 111.1.13
LXM32M 10 Parameters
AC servo drive 643
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PosReg4ValueA Comparison value A for position registerchannel 4 (412)
Available with firmware version ≥V01.04.
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 300B:14h Modbus 2856Profibus 2856CIP 111.1.20
PosReg4ValueB Comparison value B for position registerchannel 4 (412)
Available with firmware version ≥V01.04.
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 300B:15h Modbus 2858Profibus 2858CIP 111.1.21
PosRegGroupStart
Start/stop of position register channels (408)
0 / No Channel: No channel activated1 / Channel 1: Channel 1 activated2 / Channel 2: Channel 2 activated3 / Channel 1 & 2: Channels 1 and 2 activa-ted4 / Channel 3: Channel 3 activated5 / Channel 1 & 3: Channels 1 and 3 activa-ted6 / Channel 2 & 3: Channels 2 and 3 activa-ted7 / Channel 1 & 2 & 3: Channels 1, 2 and 3activated8 / Channel 4: Channel 4 activated9 / Channel 1 & 4: Channels 1 and 4 activa-ted10 / Channel 2 & 4: Channels 2 and 4 acti-vated11 / Channel 1 & 2 & 4: Channels 1, 2 and4 activated12 / Channel 3 & 4: Channels 3 and 4 acti-vated13 / Channel 1 & 3 & 4: Channels 1, 3 and4 activated14 / Channel 2 & 3 & 4: Channels 2, 3 and4 activated15 / Channel 1 & 2 & 3 & 4: Channels 1, 2,3 and 4 activated
Changed settings become active immedi-ately.
Available with firmware version ≥V01.14.
-0015
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 300B:16h Modbus 2860Profibus 2860CIP 111.1.22
PP_ModeRangeLim
Absolute movement beyond movementrange (294)
0 / NoAbsMoveAllowed: Absolute move-ment beyond movement range is not possi-ble1 / AbsMoveAllowed: Absolute movementbeyond movement range is possible
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.04.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3023:7h Modbus 8974Profibus 8974CIP 135.1.7
10 Parameters LXM32M
644 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PP_OpmChgType Change to operating mode Profile Positionduring movements (220)
0 / WithStandStill: Change with standstill1 / OnTheFly: Change without standstill
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Available with firmware version ≥V01.04.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3023:9h Modbus 8978Profibus 8978CIP 135.1.9
PPoption Options for operating mode Profile Posi-tion (260)
Determines the reference position for rela-tive positioning:0: Relative with reference to the previoustarget position of the profile generator1: Not supported2: Relative with reference to the actual posi-tion of the motor
Changed settings become active the nexttime the motor moves.
-002
UINT16UINT16UINT16UINT16 R/W--
CANopen 60F2:0h Modbus 6960Profibus 6960CIP 127.1.24
PPp_target Target position for operating mode ProfilePosition (259)
Minimum/maximum values depend on:- Scaling factor- Software limit switches (if they are activa-ted)
Changed settings become active immedi-ately.
usr_p---
INT32INT32INT32INT32 R/W--
CANopen 607A:0h Modbus 6940Profibus 6940CIP 127.1.14
PPv_target Target velocity for operating mode ProfilePosition (259)
The target velocity is limited to the setting inCTRL_v_max and RAMP_v_max.
Changed settings become active the nexttime the motor moves.
usr_v1604294967295
UINT32UINT32UINT32UINT32 R/W--
CANopen 6081:0h Modbus 6942Profibus 6942CIP 127.1.15
PTI_pulse_filter
Filter time for input signals at the PTI inter-face
A signal at the PTI interface is only evalu-ated if it is available for a time that is longerthan the set filter time.For example, if an interference pulse isavailable for a period shorter than the set fil-ter time, the interference pulse is not evalu-ated.
The interval between 2 signals must also begreater than the set filter time.
Available with hardware version ≥RS03.
In increments of 0.01 µs.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
µs0.000.2513.00
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3005:2Fh Modbus 1374Profibus 1374CIP 105.1.47
LXM32M 10 Parameters
AC servo drive 645
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PTI_signal_typeConF → i-o-
ioPi
Type of reference value signal for PTI inter-face (234)
0 / A/B Signals / Ab : Signals ENC_A andENC_B (quadruple evaluation)1 / P/D Signals / Pd : Signals PULSE andDIR2 / CW/CCW Signals / cWcc : Signals CWand CCW
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the product is switched on.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:2h Modbus 1284Profibus 1284CIP 105.1.2
PTO_modeConF → ACG-
PtoM
Type of usage of PTO interface (334)
0 / Off / oFF : PTO interface disabled1 / Esim pAct Enc 1 / PEn1 : Encoder simu-lation based on actual position of encoder 12 / Esim pRef / PrEF : Encoder simulationbased on reference position (_p_ref)3 / PTI Signal / Pti : Directly the signalfrom PTI interface4 / Esim pAct Enc 2 / PEn2 : Encoder simu-lation based on actual position of encoder 2(module)
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-004
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:1Fh Modbus 1342Profibus 1342CIP 105.1.31
PTtq_reference Reference value source for operating modeProfile Torque (248)
0 / None: None1 / Parameter 'PTtq_target': Referencevalue via parameter PTtq_target2 / Analog Input: Reference value via ana-log input
Changed settings become active immedi-ately.
Available with firmware version ≥V01.10.
-012
UINT16UINT16UINT16UINT16 R/W--
CANopen 301B:38h Modbus 7024Profibus 7024CIP 127.1.56
PTtq_target Target torque for operating mode ProfileTorque (248)
100.0 % correspond to the continuous stalltorque _M_M_0.
In increments of 0.1 %.
Changed settings become active immedi-ately.
%-3000.00.03000.0
INT16INT16INT16INT16 R/W--
CANopen 6071:0h Modbus 6944Profibus 6944CIP 127.1.16
10 Parameters LXM32M
646 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
PVv_reference Reference value source for operating modeProfile Velocity (256)
0 / None: None1 / Parameter 'PVv_target': Referencevalue via parameter PVv_target2 / Analog Input: Reference value via ana-log input
Changed settings become active immedi-ately.
Available with firmware version ≥V01.10.
-012
UINT16UINT16UINT16UINT16 R/W--
CANopen 301B:39h Modbus 7026Profibus 7026CIP 127.1.57
PVv_target Target velocity for operating mode ProfileVelocity (256)
The target velocity is limited to the setting inCTRL_v_max and RAMP_v_max.
Changed settings become active immedi-ately.
usr_v-0-
INT32INT32INT32INT32 R/W--
CANopen 60FF:0h Modbus 6938Profibus 6938CIP 127.1.13
PWM_fChop PWM frequency of power stage (360)
4 / 4 kHz: 4 kHz8 / 8 kHz: 8 kHz
Factory setting:Peak output current ≤72 Arms: 8 kHzPeak output current >72 Arms: 4 kHz
Changing this setting is only possible in thecase of devices with a peak output current>72 Arms.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-4-16
UINT16UINT16UINT16UINT16 R/Wper.expert
CANopen 3005:Eh Modbus 1308Profibus 1308CIP 105.1.14
RAMP_tq_enable Activation of the motion profile for tor-que (249)
0 / Profile Off: Profile off1 / Profile On: Profile on
In the operating mode Profile Torque, themotion profile for torque can be activated ordeactivated.In the other operating modes, the motionprofile for torque is inactive.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-011
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:2Ch Modbus 1624Profibus 1624CIP 106.1.44
LXM32M 10 Parameters
AC servo drive 647
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
RAMP_tq_slope Slope setting of the motion profile for tor-que (249)
100.00 % of the torque setting correspondto the continuous stall torque _M_M_0.
Example:A ramp setting of 10000.00 %/s results in atorque change of 100.0% of _M_M_0 in0.01s.
In increments of 0.1 %/s.
Changed settings become active immedi-ately.
%/s0.110000.03000000.0
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 6087:0h Modbus 1620Profibus 1620CIP 106.1.42
RAMP_v_acc Acceleration of the motion profile for veloc-ity (340)
Writing the value 0 has no effect on theparameter.
Changed settings become active the nexttime the motor moves.
usr_a16002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 6083:0h Modbus 1556Profibus 1556CIP 106.1.10
RAMP_v_dec Deceleration of the motion profile for veloc-ity
The minimum value depends on the operat-ing mode:
Operating modes with minimum value 1:Electronic Gear (velocity synchronization)Profile VelocityMotion Sequence (Move Velocity)
Operating modes with minimum value 120:JogProfile PositionHomingMotion Sequence (Move Absolute, MoveAdditive, Move Relative and ReferenceMovement)
Writing the value 0 has no effect on theparameter.
Changed settings become active the nexttime the motor moves.
usr_a16002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 6084:0h Modbus 1558Profibus 1558CIP 106.1.11
RAMP_v_enable Activation of the motion profile for veloc-ity (340)
0 / Profile Off: Profile off1 / Profile On: Profile on
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
-011
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:2Bh Modbus 1622Profibus 1622CIP 106.1.43
10 Parameters LXM32M
648 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
RAMP_v_jerkConF → drC-
JEr
Jerk limitation of the motion profile for veloc-ity (371)
0 / Off / oFF : Off1 / 1 / 1 : 1 ms2 / 2 / 2 : 2 ms4 / 4 / 4 : 4 ms8 / 8 / 8 : 8 ms16 / 16 / 16 : 16 ms32 / 32 / 32 : 32 ms64 / 64 / 64 : 64 ms128 / 128 / 128 : 128 ms
Adjustments can only be made if the operat-ing mode is inactive (x_end=1).
Changed settings become active the nexttime the motor moves.
ms00128
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3006:Dh Modbus 1562Profibus 1562CIP 106.1.13
RAMP_v_maxConF → ACG-
nrMP
Maximum velocity of the motion profile forvelocity (340)
If a greater reference speed is set in one ofthese operating modes, it is automaticallylimited to RAMP_v_max.This way, commissioning at limited speed iseasier to perform.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the motor moves.
usr_v1132002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 607F:0h Modbus 1554Profibus 1554CIP 106.1.9
RAMP_v_sym Acceleration and deceleration of the motionprofile for velocity
The values are internally multiplied by 10(example: 1 = 10 min-1/s).
Write access changes the values underRAMP_v_acc and RAMP_v_dec. The limitvalues are checked on the basis of the val-ues indicated for these parameters.Read access returns the greater value fromRAMP_v_acc/RAMP_v_dec.If the value cannot be represented as a 16bit value, the value is set to 65535 (maxi-mum UINT16 value)
Changed settings become active the nexttime the motor moves.
----
UINT16UINT16UINT16UINT16 R/W--
CANopen 3006:1h Modbus 1538Profibus 1538CIP 106.1.1
LXM32M 10 Parameters
AC servo drive 649
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
RAMPaccdec Acceleration and deceleration for the DriveProfile Lexium
High word: AccelerationLow word: Deceleration
The values are internally multiplied by 10(example: 1 = 10 min-1/s).
Write access changes the values inRAMP_v_acc and RAMP_v_dec. The limitvalues are checked on the basis of the val-ues indicated for these parameters.If the value cannot be represented as a 16bit value, the value is set to 65535 (maxi-mum UINT16 value).
Changed settings become active the nexttime the motor moves.
----
UINT32UINT32UINT32UINT32 R/W--
CANopen 3006:2h Modbus 1540Profibus 1540CIP 106.1.2
RAMPquickstop Deceleration ramp for Quick Stop (364)
Deceleration ramp for a software stop or anerror with error class 1 or 2.
Changed settings become active the nexttime the motor moves.
usr_a160002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3006:12h Modbus 1572Profibus 1572CIP 106.1.18
RESext_PConF → ACG-
Pobr
Nominal power of external braking resis-tor (181)
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
W11032767
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:12h Modbus 1316Profibus 1316CIP 105.1.18
RESext_RConF → ACG-
rbr
Resistance value of external braking resis-tor (181)
The minimum value depends on the powerstage.
In increments of 0.01 Ω.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
Ω 0.00100.00327.67
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:13h Modbus 1318Profibus 1318CIP 105.1.19
RESext_tonConF → ACG-
tbr
Maximum permissible switch-on time ofexternal braking resistor (181)
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
ms1130000
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:11h Modbus 1314Profibus 1314CIP 105.1.17
10 Parameters LXM32M
650 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
RESint_extConF → ACG-
Eibr
Selection of type of braking resistor (181)
0 / Internal Braking Resistor / int : Inter-nal braking resistor1 / External Braking Resistor / Eht : Exter-nal braking resistor2 / Reserved / rSVd : Reserved
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:9h Modbus 1298Profibus 1298CIP 105.1.9
ResolENC2Denom Resolution of encoder 2, denominator
Refer to ResolEnc2Num.Denominator as positive 32 bit number,maximum value 1 million.
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
revolution1116383
INT32INT32INT32INT32 R/Wper.-
CANopen 3050:5h Modbus 20490Profibus 20490CIP 180.1.5
LXM32M 10 Parameters
AC servo drive 651
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ResolENC2Num Resolution of encoder 2, numerator
Digital encoders:Specification of the encoder increments theexternal encoder returns for one or severalrevolutions of the motor shaft.The value is indicated with a numerator anda denominator so that it is possible, forexample, to consider the gear ratio of amechanical gearing. NOTE: The value may not be set to 0.
The resolution factor is not applied until thisnumerator value is specified.
Example: One motor revolution causes 1/3encoder revolution at an encoder resolutionof 16384 EncInc/revolution.
ResolENC2Num 16384 EncInc--------------------------- = -----------------------ResolENC2Denom 3 revolutions
Analog encoders:Num/Denom must be set equivalent to thenumber of analog periods per 1 motor revo-lution.
Example: One motor revolution causes 1/3encoder revolution at an encoder resolutionof 16 analog periods per revolution.
ResolENC2Num 16 periods--------------------------- = --------------------ResolENC2Denom 3 revolutions
Setting can only be changed if power stageis disabled.
Changed settings become active the nexttime the power stage is enabled.
EncInc1100002147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3050:6h Modbus 20492Profibus 20492CIP 180.1.6
RMAC_Activate Activation of relative movement after cap-ture (388)
0 / Off: Off1 / On: On
Changed settings become active immedi-ately.
Available with firmware version ≥V01.10.
-001
UINT16UINT16UINT16UINT16 R/W--
CANopen 3023:Ch Modbus 8984Profibus 8984CIP 135.1.12
RMAC_Edge Edge of capture signal for relative move-ment after capture (389)
0 / Falling edge: Falling edge1 / Rising edge: Rising edge
Available with firmware version ≥V01.10.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3023:10h Modbus 8992Profibus 8992CIP 135.1.16
10 Parameters LXM32M
652 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
RMAC_Position Target position of relative movement aftercapture (389)
Minimum/maximum values depend on:- Scaling factor
Changed settings become active the nexttime the motor moves.
Available with firmware version ≥V01.10.
usr_p-0-
INT32INT32INT32INT32 R/Wper.-
CANopen 3023:Dh Modbus 8986Profibus 8986CIP 135.1.13
RMAC_Response Response if target postion is overtra-veld (390)
0 / Error Class 1: Error class 11 / No Movement To Target Position: Nomovement to target position2 / Movement To Target Position: Move-ment to target position
Changed settings become active immedi-ately.
Available with firmware version ≥V01.10.
-002
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3023:Fh Modbus 8990Profibus 8990CIP 135.1.15
RMAC_Velocity Velocity of relative movement after cap-ture (389)
Value 0: Use of current motor velocityValue >0: Value is the target velocity
The adjustable value is internally limited tothe setting in RAMP_v_max.
Changed settings become active the nexttime the motor moves.
Available with firmware version ≥V01.10.
usr_v002147483647
UINT32UINT32UINT32UINT32 R/Wper.-
CANopen 3023:Eh Modbus 8988Profibus 8988CIP 135.1.14
ScalePOSdenom Position scaling: Denominator (306)
Refer to numerator (ScalePOSnum) for adescription.
A new scaling is activated when the numer-ator value is supplied.
Setting can only be changed if power stageis disabled.
usr_p1163842147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:7h Modbus 1550Profibus 1550CIP 106.1.7
ScalePOSnum Position scaling: Numerator (306)
Specification of the scaling factor:
Motor revolutions-------------------------------------------User-defined units [usr_p]
A new scaling is activated when the numer-ator value is supplied.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
revolution112147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:8h Modbus 1552Profibus 1552CIP 106.1.8
LXM32M 10 Parameters
AC servo drive 653
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
ScaleRAMPdenom Ramp scaling: Denominator (308)
Refer to numerator (ScaleRAMPnum) for adescription.
A new scaling is activated when the numer-ator value is supplied.
Setting can only be changed if power stageis disabled.
usr_a112147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:30h Modbus 1632Profibus 1632CIP 106.1.48
ScaleRAMPnum Ramp scaling: Numerator (308)
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
min-1/s112147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:31h Modbus 1634Profibus 1634CIP 106.1.49
ScaleVELdenom Velocity scaling: Denominator (307)
Refer to numerator (ScaleVELnum) for adescription.
A new scaling is activated when the numer-ator value is supplied.
Setting can only be changed if power stageis disabled.
usr_v112147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:21h Modbus 1602Profibus 1602CIP 106.1.33
ScaleVELnum Velocity scaling: Numerator (307)
Specification of the scaling factor:
Speed of rotation of motor [min-1]--------------------------------------------------User-defined units [usr_v]
A new scaling is activated when the numer-ator value is supplied.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
min-1 112147483647
INT32INT32INT32INT32 R/Wper.-
CANopen 3006:22h Modbus 1604Profibus 1604CIP 106.1.34
ShiftEncWorkRang
Shifting of the encoder working range (179)
0 / Off: Shifting off1 / On: Shifting on
Value 0:Position values are between 0 ... 4096 revo-lutions.
Value 1:Position values are between -2048 ... 2048revolutions.
After activating the shifting function, theposition range of a multiturn encoder is shif-ted for half of the range.Example for the position range of a multiturnencoder with 4096 revolutions.
Changed settings become active the nexttime the product is switched on.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:21h Modbus 1346Profibus 1346CIP 105.1.33
10 Parameters LXM32M
654 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
SimAbsolutePosConF → ACG-
qAbS
Simulation of absolute position at powercycling
0 / Simulation Off / oFF : Do not use thelast mechanical position after power cycling1 / Simulation On / on : Use last mechani-cal position after power cycling
This parameter specifies the way positionvalues are handled over a power cycle andallows for the simulation of an absoluteposition encoder using singleturn encoders.
If this function is activated, the device savesthe pertinent position data prior to a shut-down so that it can restore the mechanicalposition the next time it is switched on.
In the case of singleturn encoders, the posi-tion can be restored if the motor shaft hasnot been moved by more than 0.25 revolu-tions while the drive was off.
In the case of multiturn encoders, the per-missible shaft movement while the drive isoff can be much greater, depending on thetype of multiturn encoder.
For this function to work, the drive may onlybe shut down while the motor is at a stand-still and the motor shaft must not be movedoutside of the permissible range (for exam-ple, use a holding brake).
Changed settings become active immedi-ately.
Available with firmware version ≥V01.01.
-001
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3005:23h Modbus 1350Profibus 1350CIP 105.1.35
SyncMechStart Activation of synchronization mecha-nism (263)
Value 0: Deactivate synchronization mecha-nismValue 1: Activate synchronization mecha-nism (CANmotion).Value 2: Activate synchronization mecha-nism, standard CANopen mechanism.
The cycle time of the synchronization signalis derived from the parameters intTimPerValand intTimInd.
Changed settings become active immedi-ately.
-002
UINT16UINT16UINT16UINT16 R/W--
CANopen 3022:5h Modbus 8714Profibus 8714CIP 134.1.5
LXM32M 10 Parameters
AC servo drive 655
0198
4411
1376
7, V
1.08
, 04.
2014
Parameter nameHMI menuHMI name
Description UnitMinimum valueFactory settingMaximum value
Data typeR/WPersistentExpert
Parameteraddress via field-bus
SyncMechStatus Status of synchronization mechanism (263)
Status of synchronization mechanism:Value 1: Synchronization mechanism ofdrive is inactive.Value 32: Drive is synchronizing with exter-nal sync signal.Value 64: Drive is synchronized with exter-nal sync signal.
Available with firmware version ≥V01.08.
----
UINT16UINT16UINT16UINT16 R/---
CANopen 3022:6h Modbus 8716Profibus 8716CIP 134.1.6
SyncMechTol Synchronization tolerance (263)
This parameter is used to increase the syn-chronization tolerance in the operatingmode Interpolated Position. The value isapplied when the synchronization mecha-nism is activated via the parameter Syn-cMechStart.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.08.
-1120
UINT16UINT16UINT16UINT16 R/W--
CANopen 3022:4h Modbus 8712Profibus 8712CIP 134.1.4
TouchProbeFct Touch Probe function (383)
Refers to chapter "Touch probe functional-ity" of the DS402 part2 (operation modesand application data) document.
Changed settings become active immedi-ately.
----
UINT16UINT16UINT16UINT16 R/W--
CANopen 60B8:0h Modbus 7028Profibus 7028CIP 127.1.58
WakesAndShakeGain
Gain for wake and shake
If wake and shake did not work properly,this parameter can be used to adapt thedynamics of the wake and shake procedure.Value > 100: Increased dynamics whichleads to less motor movement.Value < 100: Reduced dynamics whichleads to more motor movement.
In increments of 0.1 %.
Setting can only be changed if power stageis disabled.
Changed settings become active immedi-ately.
Available with firmware version ≥V01.10.
%1.0100.0400.0
UINT16UINT16UINT16UINT16 R/Wper.-
CANopen 3050:Eh Modbus 20508Profibus 20508CIP 180.1.14
10 Parameters LXM32M
656 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
11 Accessories and spare parts
11.1 Commissioning tools
Description Order no.Commissioning software, can be downloaded at: www.schneider-electric.com -
PC connection kit, serial connection between drive and PC, USB-A to RJ45 TCSMCNAM3M002P
Multi-Loader, device for copying the parameter settings to a PC or to another drive VW3A8121
Modbus cable, 1 m, 2 x RJ45 VW3A8306R10
External graphic display terminal VW3A1101
11.2 Memory cards
Description Order no.Memory card for copying parameter settings VW3M8705
25 memory cards for copying parameter settings VW3M8704
11.3 Additional modules
Description Order no.I/O module (module identification IOM1), additional analog and digital inputs and outputs withspring terminals
VW3M3302
Fieldbus module CANopen (module identification CAN) with 2 x RJ45 connection VW3A3608
Fieldbus module CANopen (module identification CAN) with DE9 D-SUB connection (male) VW3A3618
Fieldbus module CANopen (module identification CAN) with Open Style Connection (female) VW3A3628
Fieldbus module Profibus DP (module identification PDP) with DE9 D-SUB connection(female)
VW3A3607
Fieldbus module DeviceNet (module identification DNT) with Open Style Connection (female) VW3M3301
Fieldbus module EtherNet/IP (module identification ETH) with 2 x RJ45 connection. For Ether-Net/IP and Modbus-TCP
VW3A3616
Fieldbus module EtherCAT (module identification ECT) with 2 x RJ45 connection VW3A3601
Encoder module RSR (resolver interface) with DE9 D-SUB connection (female) VW3M3401
Encoder module DIG (digital interface) with HD15 D-SUB connection (female) VW3M3402
Encoder module ANA (analog interface) with HD15 D-SUB connection (female) VW3M3403
LXM32M 11 Accessories and spare parts
AC servo drive 657
0198
4411
1376
7, V
1.08
, 04.
2014
11.4 Safety module eSM
Description Order no.Safety module eSM with safety functions SOS, SLS, SS1, SS2 as per IEC/EN 61800-5-2 VW3M3501
Cable for safety module eSM, 3 m; 24-pin connector, other cable end open VW3M8801R30
Cable for safety module eSM, 1.5 m; 2 x 24-pin connector VW3M8802R15
Cable for safety module eSM, 3 m; 2 x 24-pin connector VW3M8802R30
Connection terminal adapter for eSM safety module, for easy wiring of several safety modulesin the control cabinet
VW3M8810
Connector with wire jumper (for INTERLOCK signal) for eSM terminal adapter; 4 pieces VW3M8820
11.5 Application nameplate
Description Order no.Application nameplate to be clipped onto the top of the drive, size 38.5 mm x 13 mm for labelsize 1.5 inches x 0.5 inches, 50 pieces
VW3M2501
11 Accessories and spare parts LXM32M
658 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
11.6 CANopen cable with connectors
Description Order no.CANopen cable, 0.3 m, 2 x RJ45 VW3CANCARR03
CANopen cable, 1 m, 2 x RJ45 VW3CANCARR1
2 m, 2 x RJ45, shielded twisted pair cable 490NTW00002
5 m, 2 x RJ45, shielded twisted pair cable 490NTW00005
12 m, 2 x RJ45, shielded twisted pair cable 490NTW00012
2 m, 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 certification 490NTW00002U
5 m, 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 certification 490NTW00005U
12 m, 2 x RJ45, shielded twisted pair cable with UL and CSA 22.1 certification 490NTW00012U
CANopen cable, 1 m, D9-SUB (female) to RJ45 TCSCCN4F3M1T
CANopen cable, 1 m, D9-SUB (female) with integrated terminating resistor to RJ45 VW3M3805R010
CANopen cable, 3 m, D9-SUB (female) with integrated terminating resistor to RJ45 VW3M3805R030
CANopen cable, 0.3 m, 2 x D9-SUB (female), LSZH standard cable (low-smoke, zero halogen,flame-retardant, tested as per IEC 60332-1)
TSXCANCADD03
CANopen cable, 1 m, 2 x D9-SUB (female), LSZH standard cable (low-smoke, zero halogen,flame-retardant, tested as per IEC 60332-1)
TSXCANCADD1
CANopen cable, 3 m, 2 x D9-SUB (female), LSZH standard cable (low-smoke, zero halogen,flame-retardant, tested as per IEC 60332-1)
TSXCANCADD3
CANopen cable, 5 m, 2 x D9-SUB (female), LSZH standard cable (low-smoke, zero halogen,flame-retardant, tested as per IEC 60332-1)
TSXCANCADD5
CANopen cable, 0.3 m, 2 x D9-SUB (female), flame-retardant, tested as per IEC 60332-2, ULcertification
TSXCANCBDD03
CANopen cable, 1 m, 2 x D9-SUB (female), flame-retardant, tested as per IEC 60332-2, ULcertification
TSXCANCBDD1
CANopen cable, 3 m, 2 x D9-SUB (female), flame-retardant, tested as per IEC 60332-2, ULcertification
TSXCANCBDD3
CANopen cable, 5 m, 2 x D9-SUB (female), flame-retardant, tested as per IEC 60332-2, ULcertification
TSXCANCBDD5
11.7 CANopen connectors, distributors, terminating resistors
Description Order no.CANopen terminating resistor, 120 Ohm, integrated in RJ45 connector TCSCAR013M120
CANopen connector with PC interface, D9-SUB (female), with switchable terminating resistorand additional D9-SUB (male) to connect a PC to the bus, PC interface straight, bus cableangled 90°
TSXCANKCDF90TP
CANopen connector, D9-SUB (female), with switchable terminating resistor, angled 90° TSXCANKCDF90T
CANopen connector, D9-SUB (female), with switchable terminating resistor, straight TSXCANKCDF180T
Four-port tap, for connection of 4 drop lines to trunk line, 4 x D9-SUB (male) with switchableterminating resistor
TSXCANTDM4
Two-port tap for connection of 2 drop lines to trunk line, with additional commissioning inter-face, 3 x RJ45 (female), with switchable terminating resistor
VW3CANTAP2
Two-port tap, for connection of 2 drop lines to trunk line, 4 x D9-SUB (male) with switchableterminating resistor
TSXCANTDM4
CANopen adapter cable D9-SUB to RJ45, 3 m TCSCCN4F3M3T
LXM32M 11 Accessories and spare parts
AC servo drive 659
0198
4411
1376
7, V
1.08
, 04.
2014
11.8 CANopen cables with open cable ends
Cables with open cable ends are suitable for connection of D-SUBconnectors. Observe the cable cross section and the connection crosssection of the required connector.
Description Order no.CANopen cable, 50 m, [(2 x AWG 22) + (2 x AWG 24)], LSZH standard cable (low-smoke, zerohalogen, flame-retardant, tested as per IEC 60332-1), both cable ends open
TSXCANCA50
CANopen cable, 100 m, [(2 x AWG 22) + (2 x AWG 24)], LSZH standard cable (low-smoke,zero halogen, flame-retardant, tested as per IEC 60332-1), both cable ends open
TSXCANCA100
CANopen cable, 300 m, [(2 x AWG 22) + (2 x AWG 24)], LSZH standard cable (low-smoke,zero halogen, flame-retardant, tested as per IEC 60332-1), both cable ends open
TSXCANCA300
CANopen cable, 50 m, [(2 x AWG 22) + (2 x AWG 24)], flame-retardant, tested as perIEC 60332-2, UL certification, both cable ends open
TSXCANCB50
CANopen cable, 100 m, [(2 x AWG 22) + (2 x AWG 24)], flame-retardant, tested as perIEC 60332-2, UL certification, both cable ends open
TSXCANCB100
CANopen cable, 300 m, [(2 x AWG 22) + (2 x AWG 24)], flame-retardant, tested as perIEC 60332-2, UL certification, both cable ends open
TSXCANCB300
CANopen cable, 50 m, [(2 x AWG 22) + (2 x AWG 24)], flexible LSZH HD standard cable (low-smoke, zero halogen, flame-retardant, tested as per IEC 60332-1), for heavy-duty or flexibleinstallation, oil-resistant, both cable ends open
TSXCANCD50
CANopen cable, 100 m, [(2 x AWG 22) + (2 x AWG 24)], flexible LSZH HD standard cable(low-smoke, zero halogen, flame-retardant, tested as per IEC 60332-1), for heavy-duty or flexi-ble installation, oil-resistant, both cable ends open
TSXCANCD100
CANopen cable, 300 m, [(2 x AWG 22) + (2 x AWG 24)], flexible LSZH HD standard cable(low-smoke, zero halogen, flame-retardant, tested as per IEC 60332-1), for heavy-duty or flexi-ble installation, oil-resistant, both cable ends open
TSXCANCD300
11.9 Adapter cable for encoder signals LXM05/LXM15 to LXM32
Description Order no.Encoder adapter cable Molex 12-pin (LXM05) to RJ45 10-pin (LXM32), 1 m VW3M8111R10
Encoder adapter cable D15-SUB (LXM15) to RJ45 10-pin (LXM32), 1 m VW3M8112R10
11.10 Cables for PTO and PTI
Description Order no.Signal cable 2 x RJ45, PTO to PTI, 0.3 m VW3M8502R03
Signal cable 2 x RJ45, PTO to PTI, 1.5 m VW3M8502R15
Signal cable 1 x RJ45, other cable end open, for connecting PTI in the control cabinet, 3 m VW3M8223R30
11 Accessories and spare parts LXM32M
660 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
11.11 Motor cables
11.11.1 Motor cables 1.5 mm2
Description Order no.Motor cable 1.5 m, [(4 x 1.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5101R15
Motor cable 3 m, [(4 x 1.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5101R30
Motor cable 5 m, [(4 x 1.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5101R50
Motor cable 10 m, [(4 x 1.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5101R100
Motor cable 15 m, [(4 x 1.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5101R150
Motor cable 20 m, [(4 x 1.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5101R200
Motor cable 25 m, [(4 x 1.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5101R250
Motor cable 50 m, [(4 x 1.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5101R500
Motor cable 75 m, [(4 x 1.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5101R750
Motor cable 25 m, [(4 x 1.5 mm2) + (2 x 1 mm2)] shielded; both cable ends open VW3M5301R250
Motor cable 50 m, [(4 x 1.5 mm2) + (2 x 1 mm2)] shielded; both cable ends open VW3M5301R500
Motor cable 100 m, [(4 x 1.5 mm2) + (2 x 1 mm2)] shielded; both cable ends open VW3M5301R1000
LXM32M 11 Accessories and spare parts
AC servo drive 661
0198
4411
1376
7, V
1.08
, 04.
2014
11.11.2 Motor cables 2.5 mm2
Description Order no.Motor cable 1.5 m, [(4 x 2.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5102R15
Motor cable 3 m, [(4 x 2.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5102R30
Motor cable 5 m, [(4 x 2.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5102R50
Motor cable 10 m, [(4 x 2.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5102R100
Motor cable 15 m, [(4 x 2.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5102R150
Motor cable 20 m, [(4 x 2.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5102R200
Motor cable 25 m, [(4 x 2.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5102R250
Motor cable 50 m, [(4 x 2.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5102R500
Motor cable 75 m, [(4 x 2.5 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM23, other cable end open
VW3M5102R750
Motor cable 25 m, [(4 x 2.5 mm2) + (2 x 1 mm2)] shielded; both cable ends open VW3M5302R250
Motor cable 50 m, [(4 x 2.5 mm2) + (2 x 1 mm2)] shielded; both cable ends open VW3M5302R500
Motor cable 100 m, [(4 x 2.5 mm2) + (2 x 1 mm2)] shielded; both cable ends open VW3M5302R1000
11.11.3 Motor cables 4 mm2
Description Order no.Motor cable 3 m, [(4 x 4 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connector M40,other cable end open
VW3M5103R30
Motor cable 5 m, [(4 x 4 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connector M40,other cable end open
VW3M5103R50
Motor cable 10 m, [(4 x 4 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5103R100
Motor cable 15 m, [(4 x 4 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5103R150
Motor cable 20 m, [(4 x 4 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5103R200
Motor cable 25 m, [(4 x 4 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5103R250
Motor cable 50 m, [(4 x 4 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5103R500
Motor cable 75 m, [(4 x 4 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5103R750
Motor cable 25 m, [(4 x 4 mm2) + (2 x 1 mm2)] shielded; both cable ends open VW3M5303R250
Motor cable 50 m, [(4 x 4 mm2) + (2 x 1 mm2)] shielded; both cable ends open VW3M5303R500
Motor cable 100 m, [(4 x 4 mm2) + (2 x 1 mm2)] shielded; both cable ends open VW3M5303R1000
11 Accessories and spare parts LXM32M
662 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
11.11.4 Motor cables 6 mm2
Description Order no.Motor cable 3 m, [(4 x 6 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connector M40,other cable end open
VW3M5105R30
Motor cable 5 m, [(4 x 6 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connector M40,other cable end open
VW3M5105R50
Motor cable 10 m, [(4 x 6 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5105R100
Motor cable 15 m, [(4 x 6 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5105R150
Motor cable 20 m, [(4 x 6 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5105R200
Motor cable 25 m, [(4 x 6 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5105R250
Motor cable 50 m, [(4 x 6 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5105R500
Motor cable 75 m, [(4 x 6 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5105R750
Motor cable 25 m, [(4 x 6 mm2) + (2 x 1 mm2)] shielded; both cable ends open VW3M5305R250
Motor cable 50 m, [(4 x 6 mm2) + (2 x 1 mm2)] shielded; both cable ends open VW3M5305R500
Motor cable 100 m, [(4 x 6 mm2) + (2 x 1 mm2)] shielded; both cable ends open VW3M5305R1000
11.11.5 Motor cables 10 mm2
Description Order no.Motor cable 3 m, [(4 x 10 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5104R30
Motor cable 5 m, [(4 x 10 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5104R50
Motor cable 10 m, [(4 x 10 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5104R100
Motor cable 15 m, [(4 x 10 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5104R150
Motor cable 20 m, [(4 x 10 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5104R200
Motor cable 25 m, [(4 x 10 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5104R250
Motor cable 50 m, [(4 x 10 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5104R500
Motor cable 75 m, [(4 x 10 mm2) + (2 x 1 mm2)] shielded; motor end 8-pin circular connectorM40, other cable end open
VW3M5104R750
Motor cable 25 m, [(4 x 10 mm2) + (2 x 1 mm2)] shielded; both cable ends open VW3M5304R250
Motor cable 50 m, [(4 x 10 mm2) + (2 x 1 mm2)] shielded; both cable ends open VW3M5304R500
Motor cable 100 m, [(4 x 10 mm2) + (2 x 1 mm2)] shielded; both cable ends open VW3M5304R1000
LXM32M 11 Accessories and spare parts
AC servo drive 663
0198
4411
1376
7, V
1.08
, 04.
2014
11.12 Encoder cables
Suitable for BMH motors:
Description Order no.Encoder cable 1.5 m, [3 x (2 x 0.14 mm2) + (2 x 0.34 mm2)] shielded; motor end 12-pin circularconnector M23, device end 10-pin connector RJ45
VW3M8102R15
Encoder cable 3 m, [3 x (2 x 0.14 mm2) + (2 x 0.34 mm2)] shielded; motor end 12-pin circularconnector M23, device end 10-pin connector RJ45
VW3M8102R30
Encoder cable 5 m, [3 x (2 x 0.14 mm2) + (2 x 0.34 mm2)] shielded; motor end 12-pin circularconnector M23, device end 10-pin connector RJ45
VW3M8102R50
Encoder cable 10 m, [3 x (2 x 0.14 mm2) + (2 x 0.34 mm2)] shielded; motor end 12-pin circularconnector M23, device end 10-pin connector RJ45
VW3M8102R100
Encoder cable 15 m, [3 x (2 x 0.14 mm2) + (2 x 0.34 mm2)] shielded; motor end 12-pin circularconnector M23, device end 10-pin connector RJ45
VW3M8102R150
Encoder cable 20 m, [3 x (2 x 0.14 mm2) + (2 x 0.34 mm2)] shielded; motor end 12-pin circularconnector M23, device end 10-pin connector RJ45
VW3M8102R200
Encoder cable 25 m, [3 x (2 x 0.14 mm2) + (2 x 0.34 mm2)] shielded; motor end 12-pin circularconnector M23, device end 10-pin connector RJ45
VW3M8102R250
Encoder cable 50 m, [3 x (2 x 0.14 mm2) + (2 x 0.34 mm2)] shielded; motor end 12-pin circularconnector M23, device end 10-pin connector RJ45
VW3M8102R500
Encoder cable 75 m, [3 x (2 x 0.14 mm2) + (2 x 0.34 mm2)] shielded; motor end 12-pin circularconnector M23, device end 10-pin connector RJ45
VW3M8102R750
Encoder cable 25 m, [3 x (2 x 0.14 mm2) + (2 x 0.34 mm2)] shielded; both cable ends open VW3M8222R250
Encoder cable 50 m, [3 x (2 x 0.14 mm2) + (2 x 0.34 mm2)] shielded; both cable ends open VW3M8222R500
Encoder cable 100 m, [3 x (2 x 0.14 mm2) + (2 x 0.34 mm2)] shielded; both cable ends open VW3M8222R1000
D9-SUB (male) connector, for encoder module resolver AEOCON011
Encoder cable 100 m, [5 x (2 x 0.25 mm2) + (2 x 0.5 mm2)] shielded; both cable ends open VW3M8221R1000
Encoder cable 1 m, shielded; HD15 D-SUB (male); other cable end open VW3M4701
11.13 Connectors
Description Order no.Encoder connector (cable end) for motor M23, 5 pcs VW3M8214
Encoder connector (cable end) for drive RJ45 (10 pins), 5 pcs VW3M2208
Motor connector (cable end) M23, 1.5 ... 2.5 mm2, 5 pcs VW3M8215
Motor connector (cable end) M40, 4 mm2, 5 pcs VW3M8217
Extras The tools required for cable assembly can be ordered directly from themanufacturer.
• Crimping tool for encoder connector M23:Coninvers SF-Z0007 www.coninvers.com
• Crimping tool for power connector M23/M40:Coninvers SF-Z0008 www.coninvers.com
• Crimping tools for encoder connector RJ45 10 pins:Yamaichi Y-ConTool-11, Y-ConTool-20, Y-ConTool-30www.yamaichi.com
11 Accessories and spare parts LXM32M
664 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
11.14 External braking resistors
Description Order no.Braking resistor IP65; 10 Ω; maximum continuous power 400 W; 0.75 m connection cable(2.1 mm2), UL
VW3A7601R07
Braking resistor IP65; 10 Ω; maximum continuous power 400 W; 2 m connection cable(2.1 mm2), UL
VW3A7601R20
Braking resistor IP65; 10 Ω; maximum continuous power 400 W; 3 m connection cable(2.1 mm2), UL
VW3A7601R30
Braking resistor IP65; 27 Ω; maximum continuous power 100 W; 0.75 m connection cable(2.1 mm2), UL
VW3A7602R07
Braking resistor IP65; 27 Ω; maximum continuous power 100 W; 2 m connection cable(2.1 mm2), UL
VW3A7602R20
Braking resistor IP65; 27 Ω; maximum continuous power 100 W; 3 m connection cable(2.1 mm2), UL
VW3A7602R30
Braking resistor IP65; 27 Ω; maximum continuous power 200 W; 0.75 m connection cable(2.1 mm2), UL
VW3A7603R07
Braking resistor IP65; 27 Ω; maximum continuous power 200 W; 2 m connection cable(2.1 mm2), UL
VW3A7603R20
Braking resistor IP65; 27 Ω; maximum continuous power 200 W; 3 m connection cable(2.1 mm2), UL
VW3A7603R30
Braking resistor IP65; 27 Ω; maximum continuous power 400 W; 0.75 m connection cable(2.1 mm2), UL
VW3A7604R07
Braking resistor IP65; 27 Ω; maximum continuous power 400 W; 2 m connection cable(2.1 mm2), UL
VW3A7604R20
Braking resistor IP65; 27 Ω; maximum continuous power 400 W; 3 m connection cable(2.1 mm2), UL
VW3A7604R30
Braking resistor IP65; 72 Ω; maximum continuous power 100 W; 0.75 m connection cable(2.1 mm2), UL
VW3A7605R07
Braking resistor IP65; 72 Ω; maximum continuous power 100 W; 2 m connection cable(2.1 mm2), UL
VW3A7605R20
Braking resistor IP65; 72 Ω; maximum continuous power 100 W; 3 m connection cable(2.1 mm2), UL
VW3A7605R30
Braking resistor IP65; 72 Ω; maximum continuous power 200 W; 0.75 m connection cable(2.1 mm2), UL
VW3A7606R07
Braking resistor IP65; 72 Ω; maximum continuous power 200 W; 2 m connection cable(2.1 mm2), UL
VW3A7606R20
Braking resistor IP65; 72 Ω; maximum continuous power 200 W; 3 m connection cable(2.1 mm2), UL
VW3A7606R30
Braking resistor IP65; 72 Ω; maximum continuous power 400 W; 0.75 m connection cable VW3A7607R07
Braking resistor IP65; 72 Ω; maximum continuous power 400 W; 2 m connection cable VW3A7607R20
Braking resistor IP65; 72 Ω; maximum continuous power 400 W; 3 m connection cable VW3A7607R30
Braking resistor IP65; 100 Ω; maximum continuous power 100 W; 0.75 m connection cable VW3A7608R07
Braking resistor IP65; 100 Ω; maximum continuous power 100 W; 2 m connection cable VW3A7608R20
Braking resistor IP65; 100 Ω; maximum continuous power 100 W; 3 m connection cable VW3A7608R30
Braking resistor IP20; 15 Ω; maximum continuous power 1000 W; M6 terminals, UL VW3A7704
Braking resistor IP20; 10 Ω; maximum continuous power 1000 W; M6 terminals, UL VW3A7705
LXM32M 11 Accessories and spare parts
AC servo drive 665
0198
4411
1376
7, V
1.08
, 04.
2014
11.15 DC bus accessories
Description Order no.DC bus connection cable, pre-assembled, 0.1 m, 5 pieces VW3M7101R01
LXM ATV cable for DC bus, 2* 5.3 mm2 (2* AWG 10), shielded, 15 m VW3M7102R150
DC bus connector kit, connector housing and contacts, 10 pieces VW3M2207
A crimping tool is required for the crimp contacts of the connector kit.Manufacturer:Tyco Electronics, Heavy Head Hand Tool, Tool Pt. No 180250
11.16 Mains reactors
Description Order no.Mains reactor 1~; 50-60 Hz; 7 A; 5 mH; IP00 VZ1L007UM50
Mains reactor 1~; 50-60 Hz; 18 A; 2 mH; IP00 VZ1L018UM20
Mains reactor 3~; 50-60 Hz; 16 A; 2 mH; IP00 VW3A4553
Mains reactor 3~; 50-60 Hz; 30 A; 1 mH; IP00 VW3A4554
Mains reactor 3~; 50-60 Hz; 60 A; 0.5 mH; IP00 VW3A4555
11.17 External mains filters
Description Order no.Mains filter 1~; 9 A; 115/230 Vac for LXM32 VW3A4420
Mains filter 1~; 16 A; 115/230 Vac for LXM32 VW3A4421
Mains filter 3~; 15 A; 208/400/480 Vac for LXM32 VW3A4422
Mains filter 3~; 25 A; 208/400/480 Vac for LXM32 VW3A4423
Mains filter 3~; 47 A; 208/400/480 Vac for LXM32 VW3A4424
11.18 Spare parts connectors, fans, cover plates
Description Order no.Connector kit LXM32M: 3 x AC power stage supply (230/400 Vac), 1 x control supply, 2 x digi-tal inputs/outputs (6-pin), 2 x motor (10 A / 24 A), 1 x holding brake
VW3M2203
Cover plate for module slot, spare part to replace damaged/lost cover plates, 10 pieces VW3M2405
Cooling fan kit 40 mm x 40 mm, plastic housing, with connection cable VW3M2401
Cooling fan kit 60 mm x 60 mm, plastic housing, with connection cable VW3M2402
Cooling fan kit 80 mm x 80 mm, plastic housing, with connection cable VW3M2403
11 Accessories and spare parts LXM32M
666 AC servo drive
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12 Service, maintenance and disposal
The product may only be repaired by a Schneider Electric customerservice center. No warranty or liability is accepted for repairs made byunauthorized persons.
12.1 Service address
If you cannot resolve an error yourself please contact your salesoffice. Have the following details available:
• Nameplate (type, identification number, serial number, DOM, ...)• Type of error (with LED flash code or error number)• Previous and concomitant circumstances• Your own assumptions concerning the cause of the error
Also include this information if you return the product for inspection orrepair.
If you have any questions please contact your sales office. Your salesoffice staff will be happy to give you the name of a customer serviceoffice in your area.
http://www.schneider-electric.com
12.2 Maintenance
Check the product for pollution or damage at regular intervals.
12.2.1 Lifetime safety function STO
The STO safety function is designed for a lifetime of 20 years. Afterthis period, the data of the safety function are no longer valid. Theexpiry date is determined by adding 20 years to the DOM shown onthe nameplate of the product.
▶ This date must be included in the maintenance plan of the system.
Do not use the safety function after this date.
Example The DOM on the nameplate of the product is shown in the formatDD.MM.YY, for example 31.12.08. (31 December 2008). This means:Do not use the safety function after December 31, 2028.
LXM32M 12 Service, maintenance and disposal
AC servo drive 667
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12.3 Replacement of drive
Unsuitable settings or unsuitable data may trigger unintended move-ments, trigger signals, damage parts and disable monitoring functions.Some settings do not become active until after a restart.
WARNINGUNINTENDED EQUIPMENT OPERATION
• Do not operate the drive system with unknown settings or data.• Never modify a parameter unless you fully understand the param-
eter and all effects of the modification.• After modifications to settings, restart the drive and verify the
saved data or settings.• When commissioning the product, carefully run tests for all oper-
ating states and potential error situations.• Verify the functions after replacing the product and also after
making changes to the settings or data.• Only start the system if there are no persons or obstructions in
the danger zone.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Prepare a list with the parameters required for the functions used.
Observe the following procedure when replacing devices.
▶ Save all parameter settings. To do so, use a memory card, seechapter "6.7 Memory Card", page 200, or save the data to a PCusing the commissioning software, see chap-ter "6.4 Commissioning software", page 155.
▶ Switch off all supply voltages. Verify that no voltages are present(safety instructions).
▶ Label all connections and remove all connection cables (unlockconnector locks).
▶ Uninstall the product.▶ Note the identification number and the serial number shown on the
product nameplate for later identification.▶ Install the new product as per chapter "5 Installation".▶ If the product to be installed has previously been used in a different
system or application, you must restore the factory settings beforecommissioning the product.
▶ Commission the product as per chapter "6 Commissioning".
12 Service, maintenance and disposal LXM32M
668 AC servo drive
0198
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12.4 Replacing modules
Unsuitable settings or unsuitable data may trigger unintended move-ments, trigger signals, damage parts and disable monitoring functions.Some settings do not become active until after a restart.
WARNINGUNINTENDED EQUIPMENT OPERATION
• Do not operate the drive system with unknown settings or data.• Never modify a parameter unless you fully understand the param-
eter and all effects of the modification.• After modifications to settings, restart the drive and verify the
saved data or settings.• When commissioning the product, carefully run tests for all oper-
ating states and potential error situations.• Verify the functions after replacing the product and also after
making changes to the settings or data.• Only start the system if there are no persons or obstructions in
the danger zone.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
Prepare a list with the parameters required for the functions used.
See chapter "5.2.1 Installing and removing modules", page 92 forinformation on installing and removing modules.
12.5 Changing the motor
WARNINGUNEXPECTED MOVEMENT
Drive systems may perform unexpected movements because ofincorrect connection or other errors.
• Operate the device with approved motors only. Even if motors aresimilar, different adjustment of the encoder system may be asource of hazards.
• Even if the connectors for motor connection and encoder connec-tion match mechanically, this does NOT imply that they may beused.
Failure to follow these instructions can result in death, seriousinjury, or equipment damage.
LXM32M 12 Service, maintenance and disposal
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▶ Switch off all supply voltages. Verify that no voltages are present(safety instructions).
▶ Label all connections and uninstall the product.▶ Note the identification number and the serial number shown on the
product nameplate for later identification.▶ Install the new product as per chapter "5 Installation".
If the connected motor is replaced by another motor, the motor dataset is read again. If the device detects a different motor type, the con-troller parameters are recalculated and the HMI displays MOT. Seechapter "9.3.4 Acknowledging a motor change", page 445 for addi-tional information.
If the motor is replaced, the encoder parameters must also be re-adjusted, see chapter "6.5.9 Setting parameters for encoder", page174.
If a motor encoder is connected via encoder 2 (module), a motorreplacement is not detected. Observe the information provided in theencoder manual.
Changing the motor type tempora-rily
▶ If you want to operate the new motor type only temporarily via thedevice, press ESC at the HMI.
◁ The newly calculated controller parameters are not saved to theEEPROM. This way, you can resume operation with the originalmotor using the saved controller parameters.
Changing the motor type perma-nently
▶ If you want to operate the new motor type permanently via thisdevice, press the navigation button at the HMI.
◁ The newly calculated controller parameters are saved to theEEPROM.
See also chapter "9.3.4 Acknowledging a motor change", page 445.
12 Service, maintenance and disposal LXM32M
670 AC servo drive
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12.6 Shipping, storage, disposal
Note the ambient conditions on page 23.
Shipping The product must be protected against shocks during transportation. Ifpossible, use the original packaging for shipping.
Storage The product may only be stored in spaces where the specified permis-sible ambient conditions are met.Protect the product from dust and dirt.
Disposal The product consists of various materials that can be recycled. Dis-pose of the product in accordance with local regulations.
Visit http://www.schneider-electric.com for information and documentson environmental protection as per ISO 14025 such as:
• EoLi (Product End-of-Life Instructions)• PEP (Product Environmental Profile)
LXM32M 12 Service, maintenance and disposal
AC servo drive 671
0198
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12 Service, maintenance and disposal LXM32M
672 AC servo drive
0198
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Glossary
Units and conversion tables
The value in the specified unit (left column) is calculated for thedesired unit (top row) with the formula (in the field).
Example: conversion of 5 meters (m) to yards (yd)5 m / 0.9144 = 5.468 yd
Length
in ft yd m cm mmin - / 12 / 36 * 0.0254 * 2.54 * 25.4
ft * 12 - / 3 * 0.30479 * 30.479 * 304.79
yd * 36 * 3 - * 0.9144 * 91.44 * 914.4
m / 0.0254 / 0.30479 / 0.9144 - * 100 * 1000
cm / 2.54 / 30.479 / 91.44 / 100 - * 10
mm / 25.4 / 304.79 / 914.4 / 1000 / 10 -
Mass
lb oz slug kg glb - * 16 * 0.03108095 * 0.4535924 * 453.5924
oz / 16 - * 1.942559*10-3 * 0.02834952 * 28.34952
slug / 0.03108095 / 1.942559*10-3 - * 14.5939 * 14593.9
kg / 0.45359237 / 0.02834952 / 14.5939 - * 1000
g / 453.59237 / 28.34952 / 14593.9 / 1000 -
Force
lb oz p Nlb - * 16 * 453.55358 * 4.448222
oz / 16 - * 28.349524 * 0.27801
p / 453.55358 / 28.349524 - * 9.807*10-3
N / 4.448222 / 0.27801 / 9.807*10-3 -
Power
HP WHP - * 746
W / 746 -
LXM32M Glossary
AC servo drive 673
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Rotation
min-1 (RPM) rad/s deg./smin-1 (RPM) - * π / 30 * 6
rad/s * 30 / π - * 57.295
deg./s / 6 / 57.295 -
Torque
lb‧in lb‧ft oz‧in Nm kp‧m kp‧cm dyne‧cmlb‧in - / 12 * 16 * 0.112985 * 0.011521 * 1.1521 * 1.129*106
lb‧ft * 12 - * 192 * 1.355822 * 0.138255 * 13.8255 * 13.558*106
oz‧in / 16 / 192 - * 7.0616*10-3 * 720.07*10-6 * 72.007*10-3 * 70615.5
Nm / 0.112985 / 1.355822 / 7.0616*10-3 - * 0.101972 * 10.1972 * 10*106
kp‧m / 0.011521 / 0.138255 / 720.07*10-6 / 0.101972 - * 100 * 98.066*106
kp‧cm / 1.1521 / 13.8255 / 72.007*10-3 / 10.1972 / 100 - * 0.9806*106
dyne‧cm / 1.129*106 / 13.558*106 / 70615.5 / 10*106 / 98.066*106 / 0.9806*106 -
Moment of inertia
lb‧in2 lb‧ft2 kg‧m2 kg‧cm2 kp‧cm‧s2 oz‧in2
lb‧in2 - / 144 / 3417.16 / 0.341716 / 335.109 * 16
lb‧ft2 * 144 - * 0.04214 * 421.4 * 0.429711 * 2304
kg‧m2 * 3417.16 / 0.04214 - * 10*103 * 10.1972 * 54674
kg‧cm2 * 0.341716 / 421.4 / 10*103 - / 980.665 * 5.46
kp‧cm‧s2 * 335.109 / 0.429711 / 10.1972 * 980.665 - * 5361.74
oz‧in2 / 16 / 2304 / 54674 / 5.46 / 5361.74 -
Temperature
°F °C K°F - (°F - 32) * 5/9 (°F - 32) * 5/9 + 273.15
°C °C * 9/5 + 32 - °C + 273.15
K (K - 273.15) * 9/5 + 32 K - 273.15 -
Conductor cross section
AWG 1 2 3 4 5 6 7 8 9 10 11 12 13
mm2 42.4 33.6 26.7 21.2 16.8 13.3 10.5 8.4 6.6 5.3 4.2 3.3 2.6
AWG 14 15 16 17 18 19 20 21 22 23 24 25 26
mm2 2.1 1.7 1.3 1.0 0.82 0.65 0.52 0.41 0.33 0.26 0.20 0.16 0.13
Glossary LXM32M
674 AC servo drive
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Terms and Abbreviations
See chapter " Standards and terminology" for information on the perti-nent standards on which many terms are based. Some terms andabbreviations may have specific meanings with regard to the stand-ards.
AC Alternating current
Actual position Current position of moving components in the drive system.
CAN (Controller Area Network), standardized open fieldbus as per ISO11898, allows drives and other devices from different manufacturersto communicate.
CCW Counter Clockwise.
CW Clockwise.
DC Direct current
DC bus Circuit that supplies the power stage with energy (direct voltage).
DOM Date of manufacturing: The nameplate of the product shows the dateof manufacture in the format DD.MM.YY or in the formatDD.MM.YYYY. For example:31.12.11 corresponds to December 31, 2011 31.12.2011 corresponds to December 31, 2011
Degree of protection The degree of protection is a standardized specification for electricalequipment that describes the protection against the ingress of foreignobjects and water (for example: IP 20).
Direction of rotation Rotation of the motor shaft in a positive or negative direction of rota-tion. Positive direction of rotation is when the motor shaft rotatesclockwise as you look at the end of the protruding motor shaft.
Drive system System consisting of controller, drive and motor.
EMC Electromagnetic compatibility
Electronic gear Calculation of a new output velocity for the motor movement based onthe input velocity and the values of an adjustable gear ratio; calculatedby the drive system.
Encoder Sensor that converts a measured distance or angle into an electricalsignal. This signal is evaluated by the drive to determine the actualposition of a shaft (rotor) or a driving unit.
Error Discrepancy between a detected (computed, measured or signaled)value or condition and the specified or theoretically correct value orcondition.
Error class Classification of errors into groups. The different error classes allowfor specific responses to errors, for example by severity.
Factory setting Factory settings when the product is shipped
Fault Fault is an operating state. If the monitoring functions detect an error,a transition to this operating state is triggered, depending on the errorclass. A "Fault Reset" is required to exit this operating state after thecause of the detected error has been removed. Further informationcan be found in the pertinent standards such as IEC 61800-7, ODVACommon Industrial Protocol (CIP).
LXM32M Glossary
AC servo drive 675
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Fault Reset A function used to restore the drive to an operational state after adetected error is cleared by removing the cause of the error so thatthe error is no longer active.
Holding brake The holding brake in the motor has the task of holding the currentmotor position when the power stage is disabled, even if externalforces act (for example, in the case of a vertical axis). The holdingbrake is not a safety function and not a service brake.
I/O Inputs/outputs
I2t monitoring Anticipatory temperature monitoring. The expected temperature rise ofcomponents is calculated in advance on the basis of the motor cur-rent. If a limit value is exceeded, the drive reduces the motor current.
IT mains Mains in which all active components are isolated from ground or aregrounded by a high impedance. IT: isolé terre (French), isolatedground.Opposite: Grounded mains, see TT/TN mains
Inc Increments
Index pulse Signal of an encoder to reference the rotor position in the motor. Theencoder returns one index pulse per revolution.
Internal units Resolution of the power stage at which the motor can be positioned.Internal units are specified in increments.
Limit switch Switches that signal overtravel of the permissible range of travel.
Monitoring function Monitoring functions acquire a value continuously or cyclically (forexample, by measuring) in order to check whether it is within permissi-ble limits. Monitoring functions are used for error detection.
NMT Network Management (NMT), part of the CANopen communicationprofile; tasks include initialization of the network and devices, starting,stopping and monitoring of devices
Node guarding Monitoring of the connection to the slave at an interface for cyclic datatraffic.
PC Personal Computer
PELV Protective Extra Low Voltage, low voltage with isolation. For moreinformation: IEC 60364-4-41
PLC Programmable logic controller
Parameter Device data and values that can be read and set (to a certain extent)by the user.
Persistent Indicates whether the value of the parameter remains in the memoryafter the device is switched off.
Power stage The power stage controls the motor. The power stage generates cur-rent for controlling the motor on the basis of the motion signals fromthe controller.
Profibus Standardized open fieldbus as per EN 50254-2 which allows drivesand other devices from different manufacturers to communicate.
Pulse/direction signals Digital signals with variable pulse frequencies which signal changes inposition and direction of movement via separate signal wires.
Quick Stop The Quick Stop function can be used for fast deceleration of a move-ment as a response to a detected error or via a command.
RCD RCD residual current device.
Glossary LXM32M
676 AC servo drive
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rms "Root Mean Square" value of a voltage (Vrms) or a current (Arms)
RS485 Fieldbus interface as per EIA-485 which enables serial data transmis-sion with multiple devices.
Safety function Safety functions are defined in the standard IEC 61800-5-2 (for exam-ple, Safe Torque Off (STO), Safe Operating Stop (SOS) or Safe Stop1 (SS1)). If the safety functions are wired properly, they meet therequirements specified in IEC 61800-5-2.
Scaling factor This factor is the ratio between an internal unit and a user-definedunit.
TT mains, TN mains Grounded mains, differ in terms of the ground connection (PE conduc-tor connection). Opposite: Ungrounded mains, see IT mains.
User-defined unit Unit whose reference to motor movement can be determined by theuser via parameters.
Warning If the term is used outside the context of safety instructions, a warningalerts to a potential problem that was detected by a monitoring func-tion. A warning does not cause a transition of the operating state.
LXM32M Glossary
AC servo drive 677
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Glossary LXM32M
678 AC servo drive
0198
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Table of figures
1) Overview of connections 20
2) Nameplate 21
3) Dimensional drawing 25
4) Dimensional drawing 25
5) Dimensional drawing 26
6) Peak output current with hardware version RS03 35
7) Peak output current with hardware version RS03 35
8) Controller supply in the case of motor with holding brake: the voltage depends on the motor type, themotor cable length and the conductor cross section. 37
9) Logic type 38
10) Time chart with A, B and index pulse signal, counting forwards and backwards 40
11) Signal input circuits: RS422, Push Pull and Open Collector 41
12) Time chart with A/B signal, counting forwards and backwards 43
13) Time chart with pulse/direction signal 44
14) Time chart with "CW/CCW" 45
15) Overview of wiring under EMC considerations 63
16) Overview of wiring under EMC considerations 64
17) Deactivating/activating the internal Y capacitors 74
18) Calculating the resistance R of an external braking resistor 77
19) Characteristic curves for rating the braking resistor 79
20) Example of category 0 stop 85
21) Example of category 1 stop with external Preventa XPS-AV EMERGENCY STOP safety relay module 86
22) Logic type 87
23) Module slots 92
24) Removing a module from a slot 93
25) Mounting distances and air circulation 95
26) Overview of the signal connections 100
27) Steps for assembling the motor cable 106
28) Wiring diagram motor with holding brake 107
29) Wiring diagram motor with holding brake 107
30) Shield clamp motor cable 108
LXM32M Table of figures
AC servo drive 679
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31) Shield clamp motor cable 109
32) Wiring diagram external braking resistor 112
33) Wiring diagram external braking resistor 112
34) Shield clamp external braking resistor 113
35) Overview power stage supply for single-phase device 116
36) Wiring diagram power stage supply for single-phase device. 116
37) Wiring diagram, power stage supply for three-phase device. 117
38) Wiring diagram power stage supply for three-phase device. 117
39) Wiring diagram power stage supply for three-phase device. 117
40) Wiring diagram motor encoder 119
41) Wiring diagram Pulse Train Out (PTO) 121
42) Wiring diagram Pulse Train In (PTI) 5 V 124
43) Wiring diagram Pulse Train In (PTI) 24 V. Note the different paring. 125
44) Wiring diagram controller supply 127
45) Wiring diagram, digital inputs/outputs 129
46) Wiring diagram PC with commissioning software 131
47) Commissioning tools 138
48) Controls at the integrated HMI 139
49) HMI display of values 141
50) HMI menu structure 142
51) HMI menu structure LXM32M 143
52) Integrated HMI, example of setting a parameter 149
53) External graphic display terminal 151
54) Display of the graphic display terminal (example shows English language) 152
55) State diagram 158
56) Integrated HMI, displaying the signal state of the digital inputs (DI) and outputs (DQ) 163
57) Releasing the holding brake 169
58) Applying the holding brake 170
59) Working range without shift 178
60) Working range with shift 178
61) Controller structure 189
62) Rigid and less rigid mechanical systems 192
63) Determining "TNn" for the aperiodic limit 195
64) Step responses with good control performance 196
Table of figures LXM32M
680 AC servo drive
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65) Optimizing insufficient velocity controller settings 196
66) Step responses of a position controller with good control performance 198
67) Optimizing inadequate position controller settings 199
68) Memory card 200
69) Memory card via integrated HMI 202
70) State diagram 213
71) Resetting an error message 217
72) Continuous movement 224
73) Continuous movement via the fieldbus 224
74) Step movement 225
75) Step movement 225
76) Overview of adjustable parameters 227
77) Overview of adjustable parameters 227
78) Overview of adjustable parameters 232
79) Overview of adjustable parameters 233
80) Overview of adjustable parameters 244
81) Overview of adjustable parameters 245
82) Overview of adjustable parameters 252
83) Overview of adjustable parameters 253
84) Overview of adjustable parameters 259
85) Overview 261
86) Overview of adjustable parameters 269
87) Reference movement to a limit switch 274
88) Reference movement to the reference switch in positive direction 275
89) Reference movement to the reference switch in negative direction 276
90) Reference movement to the index pulse 277
91) Movement by 4000 user-defined units with position setting 278
92) Structure of a data set 286
93) Transition type 288
94) Structure of a data set 288
95) Movement range 293
96) Absolute movement 295
97) Absolute movement 296
98) Multiple modulo range 297
LXM32M Table of figures
AC servo drive 681
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99) Overview of parameters 298
100) Example 1 301
101) Example 2 301
102) Example 1 302
103) Example 2 302
104) Example 1 303
105) Example 2 303
106) Example 1 304
107) Example 2 304
108) Scaling 305
109) Scaling factor of position scaling 306
110) Scaling factor of velocity scaling 307
111) Scaling factor of ramp scaling 308
112) Example of mechanical backlash 337
113) Ramp slope 339
114) Controller structure, overview 341
115) Position controller 342
116) Velocity controller 343
117) Current controller 344
118) Parameters for switching the controller parameter sets 347
119) Time chart for switching the controller parameter sets 348
120) Jerk limitation 371
121) Relative Movement After Capture 387
122) Motor standstill and direction of movement 400
123) Torque window 401
124) Velocity window 402
125) Standstill window 403
126) Position register 405
127) Position deviation window 413
128) Velocity deviation window 415
129) Velocity threshold value 417
130) Current threshold value 419
131) Load and overload 423
132) Wiring example 430
Table of figures LXM32M
682 AC servo drive
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133) Status indication via the integrated HMI 432
134) Acknowledging warnings via the integrated HMI 442
135) Acknowledging detected errors via the integrated HMI 443
136) Acknowledging a module change via the integrated HMI 444
137) Acknowledging a motor change via the integrated HMI 445
LXM32M Table of figures
AC servo drive 683
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Table of figures LXM32M
684 AC servo drive
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2014
Index
24V controller supply 126
400/480V 3-phase devices UL 53
A
A/B
Wiring diagram 125
A/B 5V
Wiring diagram 124
Abbreviations 675
Access channels 210
Accessories 51
External braking resistor, data 49
Mains reactor 52
Accessories and spare parts 657
Ambient conditions 23
Connection 24
Installation site 24
Approved motors 29
Assembling cables
Motor phases 106
Autotuning 182
Autotuning, enhanced settings 186
B
Braking resistor 47
External 49
Mounting 96
Rating 75
Selection 77
C
Cable installation - EMC requirements 66
Cables 68
Cable specifications
Digital signals 129
External braking resistor 111
Graphic display terminal 131
Motor connection 104
Motor encoder 119
PC 131
Protected cable installation 84
PTI 123
Pulse Train In 123
CAD data 17
Category 0 stop 82
Category 1 stop 82
Central grounding point 101
Certifications 53
Changing the motor 669
Character set
HMI 140
LXM32M Index
AC servo drive 685
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Commissioning 135
Autotuning 182
Controller optimization with stepresponse 189
Controller structure 189
Default settings and optimization 196
Digital inputs and outputs 163
Direction of movement, test 172
Enhanced settings for autotuning 186
First setup 156
Holding brake, checking 171
Limit switches, testing 165
Parameters for braking resistor 180
Safety function STO, test 166
Setting basic parameters 159
setting parameters for encoder 174
steps 156
Velocity controller optimization 190
Commissioning software 155
Online help 155
Setting reference value signal 190
Step function 190
Common DC bus 71
Components and interfaces 20
Connection
Ambient conditions 24
Controller supply 24V 126
DC bus 110
Digital inputs/outputs 129
Encoder simulation 121
ESIM 121
External braking resistor 110
Grounding screw 101
Holding brake 103
Mains supply, single-phase device 116
Mains supply, three-phase device 117
Motor encoder 119
Motor phases 103
PC 131
Power stage supply single-phasedevice 116
Power stage supply three-phasedevice 117
Power stage supply voltage 114
PTO 121
Pulse Train Out 121
Safety function STO 126
STO 126
Connection assignment 24V
A/B 124
CW/CCW 124
PTI 124
PULSE/DIR 124
Pulse Train In 124
Index LXM32M
686 AC servo drive
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Connection assignment 5V
A/B 124
CW/CCW 124
PTI 124
PULSE/DIR 124
Pulse Train In 124
Connection overview 100
Control cabinet 94
EMC requirements 65
Controller
Structure 189
Values 190
Controller optimization with step response 189
Controller supply
Permissible terminal current 127
Rating 127
Controller supply connection 126
Controller supply voltage
Connection 128
Controller supply voltage 24VDC 37
Current controller
Function 189, 341
CW/CCW 45
Wiring diagram 125
CW/CCW 5V
Wiring diagram 124
D
DC bus
Common DC bus 71
Connection 110
Daisychaining 71
Declaration of conformity 54
Definition
STO 82
Degree of protection 24
Determining controller parameter values
Controller parameter values for rigidmechanical systems 193
Device
Mounting 94, 95
Device overview 19
Diagnostics 431
Diagram
A/B signals 43
CW/CCW signals 45
P/D signals 44
Digital inputs/outputs
Connection 130
Digital inputs and outputs
Display and modify 163
Direction of movement, test 172
Direction of rotation ->Direction of move-ment 172
Disposal 667, 671
DOM 675
E
Electrical installation 98
Electronic Gear 230
EMC 62
Cable installation 66
Control cabinet 65
Improvement of EMC 67
Motor cable and encoder cable 66
Power supply 66
Shielded cables 65
LXM32M Index
AC servo drive 687
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Encoder (motor) connectionMotor encoder
Connection 119
Encoder cable
EMC requirements 66
Encoder simulation
Connection 121
Equipotential bonding conductors 68
Error class 214, 431
Error response 214
Meaning 214, 431
ESIM
Connection 121
Examples 429
External braking resistor
Cable specifications 111
Connection 110, 113
Mounting 96
External braking resistors 49
External main filter
Mounting 96
External mains filter 51
Mounting 96
F
Fault Reset 214
First power up
Preparation 157
First setup
Commissioning 156
Frequency power stage 29
Function
Signals A/B 43
Signals CW/CCW 45
Signals P/D 44
Functional safety 15, 46, 59
Further reading 18
Fuses UL 53
G
Glossary 673
Grounding screw 101
H
Hazard categories 11
HMI
Character set 140
Holding brake 167
Holding brake, checking 171
Homing 267
I
Improvement of EMC 67
Input circuit 41
Installation 89
electrical 98
mechanical 91
Installation site
Ambient conditions 24
Intended use 12
Internal mains filter 50
Interpolated Position 261
Introduction 19
IP degree of protection 24
IT mains, operation in 70
J
Jog 222
Index LXM32M
688 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
L
Limit switches, testing 165
Limit values
Setting 159
M
Mains filter 73
External 51
internal 50
Mains filter, external 51
Mains reactor 52
Mounting 96, 96
Mains supply
Connection single-phase device 116
Connection three-phase device 117
Mains supply, connection 115
Maintenance 667
Manuals
Source 17
Mechanical installation 91
Mechanical system, design for control sys-tem 192
Monitoring
Braking resistor 77
Motor phases 107
Monitoring functions 88
Motion Sequence 280
Motor cable
Connection 108
EMC requirements 66
Motor data record
Automatic reading 156
Motor encoder
Connection 119
Encoder type 119
Function 119
Mounting
External braking resistor 96
External mains filter 96
Mains reactor 96
Mechanical 94
Mounting distances 94
N
Name plate 21
O
Operating mode
Electronic Gear 230
Homing 267
Interpolated Position 261
Jog 222
Motion Sequence 280
Profile Position 258
Profile Torque 242
Profile Velocity 250
Operating mode, changing 220
Operating mode, starting 219
Operating modes 219
Changing 220
Starting 219
Operating state 158
Operating state, changing the 217
Operating states 213
Indicating operating states 216
Operating state, changing the 217
State diagram 213
LXM32M Index
AC servo drive 689
0198
4411
1376
7, V
1.08
, 04.
2014
Operating states, indication 216
Operation 207
Optimization of default settings 196
Overview 137
Connections 100
Procedure for electrical installation 99
Overvoltage category
UL 53
P
P/D
Wiring diagram 125
Parallel connection DC bus 71
Parameter
representation 490
Parameters 489
Parameters for braking resistor 180
PC
Connection 131, 131
Pollution degree 24
Position controller
Function 189, 341
optimizing 197
Power stage frequency 29
Power stage supply
Connection 115
Connection single-phase device 116
Connection three-phase device 117
Power supply - EMC requirements 66
Profile Position 258
Profile Torque 242
Profile Velocity 250
Protected cable installation 84
PT_in 5V
Wiring diagram:Pulse Train 5V:Wiringdiagram 124
PTI
Wiring diagram:Pulse Train:Wiringdiagram 125
PTO
Connection 121
Pulse/Direction 44
Pulse/direction P/D 5V
Wiring diagram 124
Pulse Train In
24 V connection 125
5 V connection 124
Connection assignment 24V 124
Connection assignment 5V 124
Pulse Train Out
Connection 121
PWM frequency 29
Q
Qualification of personnel 12
R
Rating
Controller supply 127
Rating information
Braking resistor 78
Rating of braking resistor 75
Reference value filter 192
Reference value signal
Setting 190
Replacement of drive 668
Resetting error message 214
Restoring factory settings 206
Index LXM32M
690 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014
S
Safe Torque Off 82
Definition 82, 82
Safety disconnect moment 82
Safety function 82
Application examples 85
Category 0 stop 82
Category 1 stop 82
Definition 82
Definitions 82
Requirements 83
Safety function STO
Connection 127
Safety function STO, test 166
Safety Information 11
Sampling period 342, 343, 344
Scaling 305
Scaling factor 305
Service 667
Service address 667
Setting parameters for encoder 174
Shield - EMC requirements 65
Shipping 671
Signals
A/B 43
CW/CCW 45
Pulse/Direction 44
Software for commissioning 155
Source
CAD data 17
Manuals 17
Speed controller, see Velocity controller
State diagram 213
State machine 158
State transitions 215
Step function 190
STO 82
Application examples 85
Connection 126, 127
Definitions 82
Requirements 83
Storage 671
Surrounding air temperature UL 53
Switching on the device 157
T
Technical data 23
Terms 675
Troubleshooting 431
TÜV certificate for functional safety 57
Type code 22
U
UL
400/480V 3-phase devices 53
Fuses 53
Overvoltage category 53
Surrounding air temperature 53
UL, conditions for
Wiring 53
Units and conversion tables 673
usr_a 305
usr_p 305
usr_v 305
V
Velocity controller
Function 189, 341
Setting 190
LXM32M Index
AC servo drive 691
0198
4411
1376
7, V
1.08
, 04.
2014
Ventilation 94
W
Wiring diagram
24 V supply 127
Controller supply 127
Digital inputs/outputs 129
ESIM 121
External braking resistor 112
Graphic display terminal 131
Motor encoder 119
PC 131
PTO 121
Pulse Train Out 121
Wiring diagram, CW/CCW 124
Wiring diagram 24V
A/B 125
CW/CCW 125
PT_in 125
PULSE/DIR 125
Pulse Train 125
Wiring diagram 5V
PULSE/DIR, A/B 124
Pulse Train, PT_in 124
Wiring UL 53
Index LXM32M
692 AC servo drive
0198
4411
1376
7, V
1.08
, 04.
2014