Parameters - MPx-16 To MPx-20 & PSB - R911328651 - 11

Rexroth IndraDrive
MPx-16 to MPx-20 and PSB

Parameters
Reference Book Edition 11

R911328651
Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Rexroth IndraDrive MPx-16 to MPx-20 and PSB Parameters
Title Rexroth IndraDrive

MPx-16 to MPx-20 and PSB
Parameters
Type of Documentation Reference Book
Document Typecode DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Internal File Reference RS-df6652c9955f65180a347ea50019b662-1-en-US-4
Purpose of Documentation This documentation contains the descriptions of all parameters implemented
in the firmware for drive controllers of the IndraDrive range. It supports the
drive controller parameterization.
Record of Revision Edition Release Date Notes

DOK-INDRV*-GEN1-PARA**-RE01-EN-P 10.2009 First edition
DOK-INDRV*-GEN1-PARA**-RE02-EN-P 10.2010 Descriptions/information
regarding MPx17 sub‐
ject to change!
DOK-INDRV*-GEN1-PARA**-RE03-EN-P 05.2011 MPx-16/17VRS
DOK-INDRV*-GEN1-PARA**-RE04-EN-P 08.2011 MPx-16/17VRS
DOK-INDRV*-GEN1-PARA**-RE05-EN-P 04.2013 MPx-16/17/18VRS
DOK-INDRV*-GEN1-PARA**-RE06-EN-P 03.2014 MPx-16/17/18VRS
DOK-INDRV*-GEN1-PARA**-RE07-EN-P 09.2014 MPx-16/17/18/19VRS
and PSB
DOK-INDRV*-GEN1-PARA**-RE09-EN-P 09.2015 MPx-16/17/18/19/20VR
S and PSB
S and PSB
S and PSB
Copyright © Bosch Rexroth AG 2017

This document, as well as the data, specifications and other information set
forth in it, are the exclusive property of Bosch Rexroth AG. It may not be re‐
produced or given to third parties without its consent.
Liability The specified data is intended for product description purposes only and shall
not be deemed to be a guaranteed characteristic unless expressly stipulated
in the contract. All rights are reserved with respect to the content of this docu‐
mentation and the availability of the product.
Published by Bosch Rexroth AG
Bgm.-Dr.-Nebel-Str. 2 ■ D-97816 Lohr a. Main, Germany
Telephone +49 9352 18 0 ■ Fax +49 9352 18 8400
http://www.boschrexroth.com/
Dept. DC-IA/EDY1 (HP, BB)
Note This document has been printed on chlorine-free bleached paper.
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG I/1577
Table of Contents
Table of Contents
Page
1 Documentations............................................................................................................. 3
1.1 Drive systems, system components....................................................................................................... 3
1.2 Motors..................................................................................................................................................... 4
1.3 Cables..................................................................................................................................................... 4
1.4 Firmware................................................................................................................................................. 4
1.5 Control unit............................................................................................................................................. 5
2 Safety instructions for electric drives and controls......................................................... 7

2.1 Definitions of terms................................................................................................................................. 7
2.2 General information................................................................................................................................ 8
2.3 Instructions with regard to specific dangers.......................................................................................... 10
2.4 Explanation of signal words and the Safety alert symbol..................................................................... 16
3 General information..................................................................................................... 17
3.1 Document structure.............................................................................................................................. 17
4 Product-specific parameters........................................................................................ 21
4.1 P-0-0000 to P-0-0100 General functions.............................................................................................. 21
4.2 P-0-0101 to P-0-0200 General Functions............................................................................................. 89
4.3 P-0-0201 to P-0-0500 General functions............................................................................................ 158
4.4 P-0-0501 to P-0-0689 General functions ........................................................................................... 267
4.5 P-0-0690 to P-0-0799 Synchronization mode..................................................................................... 351
4.6 P-0-0800 to P-0-0899 Power supply................................................................................................... 385
4.7 P-0-0900 to P-0-0999 Encoder emulation.......................................................................................... 398
4.8 P-0-1000 to P-0-1099 Encoder evaluation......................................................................................... 418
4.9 P-0-1100 to P-0-1269 Velocity control................................................................................................ 428
4.10 P-0-1270 to P-0-1499 Drive-integrated PLC....................................................................................... 464
4.11 P-0-1500 to P-0-1599 Device parameters.......................................................................................... 536
4.12 P-0-1600 to P-0-1799 Cross Communication Drives, CCD................................................................ 554
4.13 P-0-1800 to P-0-1999 Cross Communication Drives, CCD................................................................ 669
4.14 P-0-2000 to P-0-2299 General device parameters............................................................................. 806
4.15 P-0-2300 to P-0-2999 16-bit alias IDNs.............................................................................................. 820
4.16 P-0-3000 to P-0-3199 Encoder memory............................................................................................. 856
4.17 P-0-3200 to P-0-3599 Safety technology............................................................................................ 884
4.18 P-0-3600 to P-0-4067 General device parameters........................................................................... 1001
4.19 P-0-4068 to P-0-4095 Field bus and serial communication.............................................................. 1110
5 Standard parameters............................................................................................... 1145

5.1 S-0-0000 to S-0-0100 Standard parameters.................................................................................... 1145
II/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Table of Contents
Page
5.6 S-0-1700 to S-0-1799 Power supply parameters............................................................................. 1470
5.7 S-0-1800 to S-0-1830 CIP Safety on sercos.................................................................................... 1513
6 Communication Objects (0x1000 to 0x1FFF).......................................................... 1525
7 Service and support................................................................................................. 1527
Explanation of the parameter attributes................................................................... 1529
Index........................................................................................................................ 1533
DOK-INDRV*-GEN1-PARA**-RE11-EN-P Bosch Rexroth AG 3/1577
Documentations
1 Documentations
1.1 Drive systems, system components
Drive systems, system components
Title Kind of documentation Document typecode1) Material number

Rexroth IndraDrive … DOK-INDRV*-… R911…
…Cs Project Planning Manual HCS01******-PRxx-EN-P 322210

Drive Systems with HCS01
…Mi Project Planning Manual KCU02+KSM02-PRxx-EN-P 335703
Drive Systems with KCU02
KSM02, KMS02/03, KMV03
Drive Systems with HMV01/02 Project Planning Manual SYSTEM*****-PRxx-EN-P 309636
HMS01/02, HMD01, HCS02/03
Supply Units, Power Sections Project Planning Manual HMV-S-D+HCS-PRxx-EN-P 318790
HMV, HMS, HMD, HCS02, HCS03
ML, Drive Systems with HMU05 Project Planning Manual Hxx05******-PRxx-EN-P 344279
Drive Controllers Project Planning Manual CSH********-PRxx-EN-P 295012
Control Sections CSB01, CSH01,
CDB01
Control Sections Project Planning Manual Cxx02******-PRxx-EN-P 338962
CSE02, CSB02, CDB02, CSH02
Additional Components and Accesso‐ Project Planning Manual ADDCOMP****-PRxx-EN-P 306140
ries
1) In the document typecodes, "xx" is a wild card for the current

edition of the documentation (example: PR01 is the first edition
of a Project Planning Manual)
Tab. 1-1: Documentations – Drive systems, system components
Drive Systems with Multi-Axis Drive Controllers

R911…
Rexroth IndraDrive Project Planning Manual DOK-INDRV*-HCQ-T+HMQ-T- 324185

Drive Controllers HCQ02, HCT02 PRxx-EN-P
Rexroth IndraDrive Project Planning Manual DOK-INDRV*-ADDCOMP****- 306140

Additional Components and Accesso‐ PRxx-EN-P
ries
Rexroth IndraControl VDP 80.1 Project Planning Manual DOK-SUPPL*-VDP*80.1***-PRxx- 329156
Machine Operator Panel EN-P
Operator Display

Tab. 1-2: Documentations – Drive Systems, System Components
4/1577 Bosch Rexroth AG DOK-INDRV*-GEN1-PARA**-RE11-EN-P
Documentations
1.2 Motors
Rexroth IndraDyn … DOK-MOTOR*-… R911…
A Asynchronous Motors MAD / MAF Project Planning Manual MAD/MAF****-PRxx-EN-P 295781

H Synchronous Kit Spindle Motors Project Planning Manual MBS-H******-PRxx-EN-P 297895
L Synchronous Linear Motors Project Planning Manual MLF********-PRxx-EN-P 293635
L Ironless Linear Motors MCL Project Planning Manual MCL********-PRxx-EN-P 330592
S Synchronous Motors MKE Project Planning Manual MKE*GEN2***-PRxx-EN-P 297663
S Synchronous Motors MSK Project Planning Manual MSK********-PRxx-EN-P 296289
S Synchronous Motors MSM Data Sheet MSM********-DAxx-EN-P 329338
S Synchronous Motors QSK Project Planning Manual QSK********-PRxx-EN-P 330321
T Synchronous Torque Motors Project Planning Manual MBT********-PRxx-EN-P 298798

Tab. 1-3: Documentations – Motors
1.3 Cables
DOK-CONNEC-… R911…
Rexroth Connection Cables Selection Data CABLE*INDRV-CAxx-EN-P 322949

IndraDrive and IndraDyn

edition of the documentation (example: CA02 is the second ed‐
ition of the documentation "Selection Data")
Tab. 1-4: Documentations – Cables
1.4 Firmware
Title Type of documentation Document typecode1) Material number
Rexroth IndraDrive ... DOK-INDRV*-… R911…
MPx-20 Application Manual MP*-20VRS**-APxx-EN-P 345608

Functions
MPx-20 Release Notes MP*-20VRS**-RNxx-EN-P 345606
Version Notes
Power Supply Basic PSB-20 Application Manual PSB-20VRS**-APxx-EN-P 345610
Functions
Power Supply Basic PSB-19 Application Manual PSB-19VRS**-APxx-EN-P 345602
Functions
Functions
Documentations

Rexroth IndraDrive ... DOK-INDRV*-… R911…

Version Notes
Functions
Version Notes
Functions
Version Notes
MPx-16 to MPx-20 and PSB Reference Book GEN1-PARA**-RExx-EN-P 328651
Parameters
MPx-16 to MPx-20 and PSB Reference Book GEN1-DIAG**-RExx-EN-P 326738
Diagnostic Messages
Integrated Safety Technology Application Manual SI3-**VRS**-APxx-EN-P 332634
"Safe Torque Off" (as of MPx-16)
Integrated Safety Technology Application Manual SI3*SMO-VRS-APxx-EN-P 338920
"Safe Motion" (as of MPx-18)
Rexroth IndraMotion MLD Reference Book MLD-SYSLIB2-RExx-EN-P 332627
Libraries as of MPx-17
Rexroth IndraMotion MLD Reference Book MLD-SYSLIB3-RExx-EN-P 338916
Libraries as of MPx-18
Rexroth IndraMotion MLD Application Manual MLD2-**VRS*-APxx-EN-P 334351
as of MPx-17
Rexroth IndraMotion MLD Application Manual MLD3-**VRS*-APxx-EN-P 338914
as of MPx-18
1) In the document typecodes, "xx" is a placeholder for the current

edition of the documentation (e.g.: RE02 is the second edition
of a Reference Book)
Tab. 1-5: Documentations – Firmware
1.5 Control unit

Rexroth IndraMotion MTX micro DOK-MTXMIC-… R911…
Easy setup for Standard Turning and Commissioning Manual EASY*******-COxx-EN-P 332281
Milling Machines
12VRS Manual SYS*DES*V12-RExx-EN-P 334369
System Description
Documentations

Rexroth IndraMotion MTX micro DOK-MTXMIC-… R911…
12VRS Manual NC*FUNC*V12-APxx-EN-P 334357

Functional Description
12VRS Reference Book MA*PAR**V12-RExx-EN-P 334365
Machine Parameters
12VRS Manual NC**PRO*V12-RExx-EN-P 334361
Programming Manual
1) In the document typecodes, "xx" is a placeholder for the current

edition of the documentation (e.g.: RE02 is the second edition
of a Reference Book)
Tab. 1-6: Documentations – Control unit
Safety instructions for electric drives and controls
2 Safety instructions for electric drives and controls

2.1 Definitions of terms
Application Documentation Application documentation comprises the entire documentation used to in‐
form the user of the product about the use and safety-relevant features for
configuring, integrating, installing, mounting, commissioning, operating, main‐
taining, repairing and decommissioning the product. The following terms are
also used for this kind of documentation: Operating Instructions, Commis‐
sioning Manual, Instruction Manual, Project Planning Manual, Application De‐
scription, etc.
Component A component is a combination of elements with a specified function, which
are part of a piece of equipment, device or system. Components of the elec‐
tric drive and control system are, for example, supply units, drive controllers,
mains choke, mains filter, motors, cables, etc.
Control system A control system comprises several interconnected control components
placed on the market as a single functional unit.
Device A device is a finished product with a defined function, intended for users and
placed on the market as an individual piece of merchandise.
Electrical equipment Electrical equipment encompasses all devices used to generate, convert,
transmit, distribute or apply electrical energy, such as electric motors, trans‐
formers, switching devices, cables, lines, power-consuming devices, circuit
board assemblies, plug-in units, control cabinets, etc.
Electric drive system An electric drive system comprises all components from mains supply to mo‐
tor shaft; this includes, for example, electric motor(s), motor encoder(s), sup‐
ply units and drive controllers, as well as auxiliary and additional compo‐
nents, such as mains filter, mains choke and the corresponding lines and ca‐
bles.
Installation An installation consists of several devices or systems interconnected for a
defined purpose and on a defined site which, however, are not intended to be
placed on the market as a single functional unit.
Machine A machine is the entirety of interconnected parts or units at least one of
which is movable. Thus, a machine consists of the appropriate machine drive
elements, as well as control and power circuits, which have been assembled
for a specific application. A machine is, for example, intended for processing,
treatment, movement or packaging of a material. The term "machine" also
covers a combination of machines which are arranged and controlled in such
a way that they function as a unified whole.
Manufacturer The manufacturer is an individual or legal entity bearing responsibility for the
design and manufacture of a product which is placed on the market in the in‐
dividual's or legal entity's name. The manufacturer can use finished products,
finished parts or finished elements, or contract out work to subcontractors.
However, the manufacturer must always have overall control and possess
the required authority to take responsibility for the product.
Product Examples of a product: Device, component, part, system, software, firmware,
among other things.
Project planning manual A Project Planning Manual is part of the application documentation used to
support the sizing and planning of systems, machines or installations.
Qualified persons In terms of this application documentation, qualified persons are those per‐
sons who are familiar with the installation, mounting, commissioning and op‐
eration of the components of the electric drive and control system, as well as
with the hazards this implies, and who possess the qualifications their work
requires. To comply with these qualifications, it is necessary, among other

things,
● to be trained, instructed or authorized to switch electric circuits and devi‐
ces safely on and off, to ground them and to mark them.
● to be trained or instructed to maintain and use adequate safety equip‐
ment.
● to attend a course of instruction in first aid.
User A user is a person installing, commissioning or using a product which has
been placed on the market.
2.2 General information

2.2.1 Using the Safety instructions and passing them on to others
Do not attempt to install and operate the components of the electric drive and
control system without first reading all documentation provided with the prod‐
uct. Read and understand these safety instructions and all user documenta‐
tion prior to working with these components. If you do not have the user doc‐
umentation for the components, contact your responsible Rexroth sales part‐
ner. Ask for these documents to be sent immediately to the person or per‐
sons responsible for the safe operation of the components.
If the component is resold, rented and/or passed on to others in any other
form, these safety instructions must be delivered with the component in the
official language of the user's country.
Improper use of these components, failure to follow the safety instructions in
this document or tampering with the product, including disabling of safety de‐
vices, could result in property damage, injury, electric shock or even death.
2.2.2 Requirements for safe use

Read the following instructions before initial commissioning of the compo‐
nents of the electric drive and control system in order to eliminate the risk of
injury and/or property damage. You must follow these safety instructions.
● Rexroth is not liable for damages resulting from failure to observe the
safety instructions.
● Read the operating, maintenance and safety instructions in your lan‐
guage before commissioning. If you find that you cannot completely un‐
derstand the application documentation in the available language,
please ask your supplier to clarify.
● Proper and correct transport, storage, mounting and installation, as well
as care in operation and maintenance, are prerequisites for optimal and
safe operation of the component.
● Only qualified persons may work with components of the electric drive
and control system or within its proximity.
● Only use accessories and spare parts approved by Rexroth.
● Follow the safety regulations and requirements of the country in which
the components of the electric drive and control system are operated.
● Only use the components of the electric drive and control system in the
manner that is defined as appropriate. See chapter "Appropriate Use".
● The ambient and operating conditions given in the available application
documentation must be observed.
● Applications for functional safety are only allowed if clearly and explicitly
specified in the application documentation "Integrated Safety Technolo‐
gy". If this is not the case, they are excluded. Functional safety is a safe‐
ty concept in which measures of risk reduction for personal safety de‐
pend on electrical, electronic or programmable control systems.
● The information given in the application documentation with regard to
the use of the delivered components contains only examples of applica‐
tions and suggestions.
The machine and installation manufacturers must
– make sure that the delivered components are suited for their indi‐
vidual application and check the information given in this applica‐
tion documentation with regard to the use of the components,
– make sure that their individual application complies with the appli‐
cable safety regulations and standards and carry out the required
measures, modifications and complements.
● Commissioning of the delivered components is only allowed once it is
sure that the machine or installation in which the components are instal‐
led complies with the national regulations, safety specifications and
standards of the application.
● Operation is only allowed if the national EMC regulations for the applica‐
tion are met.
● The instructions for installation in accordance with EMC requirements
can be found in the section on EMC in the respective application docu‐
mentation.
The machine or installation manufacturer is responsible for compliance
with the limit values as prescribed in the national regulations.
● The technical data, connection and installation conditions of the compo‐
nents are specified in the respective application documentations and
must be followed at all times.
National regulations which the user has to comply with
● European countries: In accordance with European EN standards
● United States of America (USA):
– National Electrical Code (NEC)
– National Electrical Manufacturers Association (NEMA), as well as
local engineering regulations
– Regulations of the National Fire Protection Association (NFPA)
● Canada: Canadian Standards Association (CSA)
● Other countries:
– International Organization for Standardization (ISO)
– International Electrotechnical Commission (IEC)
2.2.3 Hazards by improper use

● High electrical voltage and high working current! Danger to life or seri‐
ous injury by electric shock!
● High electrical voltage by incorrect connection! Danger to life or injury by
electric shock!
● Dangerous movements! Danger to life, serious injury or property dam‐
age by unintended motor movements!
● Health hazard for persons with heart pacemakers, metal implants and
hearing aids in proximity to electric drive systems!
● Risk of burns by hot housing surfaces!
● Risk of injury by improper handling! Injury by crushing, shearing, cutting,
hitting!
● Risk of injury by improper handling of batteries!
● Risk of injury by improper handling of pressurized lines!
2.3 Instructions with regard to specific dangers

2.3.1 Protection against contact with electrical parts and housings
This section concerns components of the electric drive and con‐
trol system with voltages of more than 50 volts.
Contact with parts conducting voltages above 50 volts can cause personal
danger and electric shock. When operating components of the electric drive
and control system, it is unavoidable that some parts of these components
conduct dangerous voltage.
High electrical voltage! Danger to life, risk of injury by electric shock or seri‐
ous injury!
● Only qualified persons are allowed to operate, maintain and/or repair the
components of the electric drive and control system.
● Follow the general installation and safety regulations when working on
power installations.
● Before switching on, the equipment grounding conductor must have
been permanently connected to all electric components in accordance
with the connection diagram.
● Even for brief measurements or tests, operation is only allowed if the
equipment grounding conductor has been permanently connected to the
points of the components provided for this purpose.
● Before accessing electrical parts with voltage potentials higher than
50 V, you must disconnect electric components from the mains or from
the power supply unit. Secure the electric component from reconnec‐
tion.
● With electric components, observe the following aspects:
Always wait 30 minutes after switching off power to allow live capacitors
to discharge before accessing an electric component. Measure the elec‐
trical voltage of live parts before beginning to work to make sure that the
equipment is safe to touch.
● Install the covers and guards provided for this purpose before switching
on.
● Never touch any electrical connection points of the components while
power is turned on.
● Do not remove or plug in connectors when the component has been
powered.
● Under specific conditions, electric drive systems can be operated at
mains protected by residual-current-operated circuit-breakers sensitive
to universal current (RCDs/RCMs).
● Secure built-in devices from penetrating foreign objects and water, as

well as from direct contact, by providing an external housing, for exam‐
ple a control cabinet.
High housing voltage and high leakage current! Danger to life, risk of injury
by electric shock!
● Before switching on and before commissioning, ground or connect the
components of the electric drive and control system to the equipment
grounding conductor at the grounding points.
● Connect the equipment grounding conductor of the components of the
electric drive and control system permanently to the main power supply
at all times. The leakage current is greater than 3.5 mA.
● Establish an equipment grounding connection with a minimum cross
section according to the table below. With an outer conductor cross sec‐
tion smaller than 10 mm2 (8 AWG), the alternative connection of two
equipment grounding conductors is allowed, each having the same
cross section as the outer conductors.
Cross section outer con‐ Minimum cross section equipment grounding conductor
ductor Leakage current ≥ 3.5 mA
1 equipment grounding 2 equipment grounding
conductor conductors
1.5 mm2 (16 AWG) 2 × 1.5 mm2 (16 AWG)
2.5 mm2 (14 AWG) 2 × 2.5 mm2 (14 AWG)
4 mm2 (12 AWG) 10 mm2 (8 AWG) 2 × 4 mm2 (12 AWG)
6 mm2 (10 AWG) 2 × 6 mm2 (10 AWG)
10 mm2 (8 AWG) -
16 mm2 (6 AWG) -
25 mm2 (4 AWG) 16 mm2 (6 AWG) -
35 mm2 (2 AWG) -
50 mm2 (1/0 AWG) 25 mm2 (4 AWG) -
70 mm2 (2/0 AWG) 35 mm2 (2 AWG) -
... ... ...
Tab. 2-1: Minimum cross section of the equipment grounding connection
2.3.2 Protective extra-low voltage as protection against electric shock

Protective extra-low voltage is used to allow connecting devices with basic in‐
sulation to extra-low voltage circuits.
On components of an electric drive and control system provided by Rexroth,
all connections and terminals with voltages up to 50 volts are PELV ("Protec‐
tive Extra-Low Voltage") systems. It is allowed to connect devices equipped
with basic insulation (such as programming devices, PCs, notebooks, display
units) to these connections.
Danger to life, risk of injury by electric shock! High electrical voltage by incor‐
rect connection!
If extra-low voltage circuits of devices containing voltages and circuits of
more than 50 volts (e.g., the mains connection) are connected to Rexroth
products, the connected extra-low voltage circuits must comply with the re‐
quirements for PELV ("Protective Extra-Low Voltage").
2.3.3 Protection against dangerous movements

Dangerous movements can be caused by faulty control of connected motors.
Some common examples are:
● Improper or wrong wiring or cable connection
● Operator errors
● Wrong input of parameters before commissioning
● Malfunction of sensors and encoders
● Defective components
● Software or firmware errors
These errors can occur immediately after equipment is switched on or even
after an unspecified time of trouble-free operation.
The monitoring functions in the components of the electric drive and control
system will normally be sufficient to avoid malfunction in the connected
drives. Regarding personal safety, especially the danger of injury and/or
property damage, this alone cannot be relied upon to ensure complete safety.
Until the integrated monitoring functions become effective, it must be as‐
sumed in any case that faulty drive movements will occur. The extent of faulty
drive movements depends upon the type of control and the state of opera‐
tion.
Dangerous movements! Danger to life, risk of injury, serious injury or property

damage!
A risk assessment must be prepared for the installation or machine, with its
specific conditions, in which the components of the electric drive and control
system are installed.
As a result of the risk assessment, the user must provide for monitoring func‐
tions and higher-level measures on the installation side for personal safety.
The safety regulations applicable to the installation or machine must be taken
into consideration. Unintended machine movements or other malfunctions
are possible if safety devices are disabled, bypassed or not activated.
To avoid accidents, injury and/or property damage:
● Keep free and clear of the machine’s range of motion and moving ma‐
chine parts. Prevent personnel from accidentally entering the machine’s
range of motion by using, for example:
– Safety fences
– Safety guards
– Protective coverings
– Light barriers
● Make sure the safety fences and protective coverings are strong enough
to resist maximum possible kinetic energy.
● Mount emergency stopping switches in the immediate reach of the oper‐
ator. Before commissioning, verify that the emergency stopping equip‐
ment works. Do not operate the machine if the emergency stopping

switch is not working.
● Prevent unintended start-up. Isolate the drive power connection by
means of OFF switches/OFF buttons or use a safe starting lockout.
● Make sure that the drives are brought to safe standstill before accessing
or entering the danger zone.
● Additionally secure vertical axes against falling or dropping after switch‐
ing off the motor power by, for example,
– mechanically securing the vertical axes,
– adding an external braking/arrester/clamping mechanism or
– ensuring sufficient counterbalancing of the vertical axes.
● The standard equipment motor holding brake or an external holding
brake controlled by the drive controller is not sufficient to guarantee per‐
sonal safety!
● Disconnect electrical power to the components of the electric drive and
control system using the master switch and secure them from reconnec‐
tion ("lock out") for:
– Maintenance and repair work
– Cleaning of equipment
– Long periods of discontinued equipment use
● Prevent the operation of high-frequency, remote control and radio equip‐
ment near components of the electric drive and control system and their
supply leads. If the use of these devices cannot be avoided, check the
machine or installation, at initial commissioning of the electric drive and
control system, for possible malfunctions when operating such high-fre‐
quency, remote control and radio equipment in its possible positions of
normal use. It might possibly be necessary to perform a special electro‐
magnetic compatibility (EMC) test.
2.3.4 Protection against electromagnetic and magnetic fields during opera‐

tion and mounting
Electromagnetic and magnetic fields!
Hazards for persons with active medical implants or passive metallic im‐
plants, as well as for pregnant women.
● Persons with active medical implants (e.g. heart pacemakers), passive
metallic implants (e.g. hip implants) and pregnant women might possibly
risk hazards by electromagnetic or magnetic fields in the immediate vi‐
cinity of components of the electric drive and control system and the as‐
sociated current-carrying conductors.
Entering the following areas can cause danger to these persons:
– Areas in which components of the electric drive and control system
and the associated current-carrying conductors are mounted, com‐
missioned and operated.
– Areas in which parts of motors with permanent magnets are stored,
repaired or mounted.
● Before entering these areas, the above-mentioned persons should seek
advice from their physician.
● Observe the occupational safety and health regulations applicable at the
site of operation, for installations equipped with components of the elec‐
tric drive and control system and the associated current-carrying con‐
ductors.
2.3.5 Protection against contact with hot parts

Hot surfaces of components of the electric drive and control system. Risk of
burns!
● Do not touch hot surfaces of, for example, braking resistors, heat sinks,
supply units and drive controllers, motors, windings and laminated
cores!
● According to the operating conditions, temperatures of the surfaces can
be higher than 60 °C (140 °F) during or after operation.
● Before touching motors after having switched them off, let them cool
down for a sufficient period of time. Cooling down can require up to 140
minutes! The time required for cooling down is approximately five times
the thermal time constant specified in the technical data.
● After switching chokes, supply units and drive controllers off, wait 15 mi‐
nutes to allow them to cool down before touching them.
● Wear safety gloves or do not work at hot surfaces.
● For certain applications, and in accordance with the respective safety
regulations, the manufacturer of the machine or installation must take
measures to avoid injuries caused by burns in the final application.
These measures can be, for example: Warnings at the machine or in‐
stallation, guards (shieldings or barriers) or safety instructions in the ap‐
plication documentation.
2.3.6 Protection during handling and mounting

Risk of injury by improper handling! Injury by crushing, shearing, cutting, hit‐
ting!
● Observe the relevant statutory regulations of accident prevention.
● Use suitable equipment for mounting and transport.
● Avoid jamming and crushing by appropriate measures.
● Always use suitable tools. Use special tools if specified.
● Use lifting equipment and tools in the correct manner.
● Use suitable protective equipment (hard hat, safety goggles, safety
shoes, safety gloves, for example).
● Do not stand under hanging loads.
● Immediately clean up any spilled liquids from the floor due to the risk of
falling!
2.3.7 Battery safety

Batteries consist of active chemicals in a solid housing. Therefore, improper
handling can cause injury or property damage.
Risk of injury by improper handling!
● Do not attempt to reactivate low batteries by heating or other methods
(risk of explosion and cauterization).
● Do not attempt to recharge the batteries as this may cause leakage or
explosion.
● Do not throw batteries into open flames.

● Do not dismantle batteries.
● When replacing the battery/batteries, do not damage the electrical parts
installed in the devices.
● Only use the battery types specified for the product.
Environmental protection and disposal! The batteries contained in

the product are considered dangerous goods during land, air, and
sea transport (risk of explosion) in the sense of the legal regula‐
tions. Dispose of used batteries separately from other waste. Ob‐
serve the national regulations of your country.
2.3.8 Protection against pressurized systems

According to the information given in the Project Planning Manuals, motors
and components cooled with liquids and compressed air can be partially sup‐
plied with externally fed, pressurized media, such as compressed air, hy‐
draulics oil, cooling liquids and cooling lubricants. Improper handling of the
connected supply systems, supply lines or connections can cause injuries or
property damage.
Risk of injury by improper handling of pressurized lines!
● Do not attempt to disconnect, open or cut pressurized lines (risk of ex‐
plosion).
● Observe the respective manufacturer's operating instructions.
● Before dismounting lines, relieve pressure and empty medium.
● Use suitable protective equipment (safety goggles, safety shoes, safety
gloves, for example).
● Immediately clean up any spilled liquids from the floor due to the risk of
falling!
Environmental protection and disposal! The agents (e.g., fluids)

used to operate the product might not be environmentally friendly.
Dispose of agents harmful to the environment separately from
other waste. Observe the national regulations of your country.
2.4 Explanation of signal words and the Safety alert symbol

The Safety Instructions in the available application documentation contain
specific signal words (DANGER, WARNING, CAUTION or NOTICE) and,
where required, a safety alert symbol (in accordance with ANSI
Z535.6-2011).
The signal word is meant to draw the reader's attention to the safety instruc‐
tion and identifies the hazard severity.
The safety alert symbol (a triangle with an exclamation point), which pre‐
cedes the signal words DANGER, WARNING and CAUTION, is used to alert
the reader to personal injury hazards.
DANGER
In case of non-compliance with this safety instruction, death or serious injury
will occur.
WARNING
In case of non-compliance with this safety instruction, death or serious injury
could occur.
CAUTION
In case of non-compliance with this safety instruction, minor or moderate in‐
jury could occur.
NOTICE
In case of non-compliance with this safety instruction, property damage could
occur.
General information
3 General information
3.1 Document structure
3.1.1 General information
All standard and product-specific parameters are listed in this documentation
in a numerically ascending order. In addition to the data contained in the
functional description, it represents a complete description of all parameters
used in the drive firmware. The description of the individual parameters is
divided into four subsections
1. Parameter number, parameter name, structure index and structure ele‐

ment:
The description specifies the parameter number (P-0-1621.0.1), the parame‐
ter name and, optionally, the structure index and the structure element.
Structure index (SI): Addresses the structure of the same type within a sub-
unit. One sub-unit may contain 255 units of the same structure.
Structure element (SE): Used to address elements. There may be up to 256
elements. Structure elements 1... 127 are standardized (sercos specification).
The remaining structure elements 128... 255 are manufacturer-specific.
2. Allocation:
This overview shows in which firmware version, in which functional pack‐
age(s) and for which hardware the parameter is available.
Hardware:
This overview shows whether the parameter is only available in connection
with specific hardware or a specific configuration. Special hardware require‐
ments may be directly specified in the parameter description and marked with
"s. text".
Analog-in (1-8): Available for hardware with analog inputs (1-8).

Analog-out (1-6): Available for hardware with analog outputs (1-6).
Analog-in x: Available for hardware with any analog inputs.
Analog-out x: Available for hardware with any analog outputs.
CiA402: Available for the selected CiA402 profile.

CiA408: Available for active master communication with Fluid Power device
profile (acc. to CiA408).
CoC: Available for active master communication with CAN hardware or with
CANopen communication profile CANopen via CAN.
CoE: Available for active master communication with CANopen communica‐
tion profile EtherCAT.
General information
CoV: Available for active master communication with CANopen communica‐

tion profile VARAN.
Controller A: Available with "ADVANCED" control section.

Controller B: Available with "BASIC" control section.
Controller A-CC: Available for "ADVANCED control section | sercos Master
(cross communication) / A-CC".
CN: Available with "Can" field bus hardware.

Display: Available for hardware with "control panel".
EM: Available with "encoder emulation" option.
Enable signal: Available for devices with "enable input" (HydraulicDrive).
ENC profile: Available with the encoder basic profile.
CN: Available with "Ethernet" field bus hardware.
EtherNet/IP/PROFINET: Available for active master communication with
PROFINET or EtherNet/IP.
Fluid Power device profile: Available for active master communication with
Fluid Power device profile (acc. to CiA408).
FSP drive: Available for the selected FSP drive profile.
L3, L4: Available with active STO starting lockout or STO/SBC option.
MLD: Available for active PLC.
Offline: Available in offline mode.
PB: Available with "Profibus" field bus hardware.
POWERLINK: Available for active master communication with CANopen
communication profile Ethernet POWERLINK.
PROFIBUS: Available for active master communication with active communi‐
cation profile PROFIBUS.
Real engineering: Available for hardware with engineering port.
Rexroth profile: Available for selected Rexroth profiles.
S3: Available with active S3 safety technology option.

SB: Available with active SB safety technology option.
SD: Available with active SD safety technology option.
sercos: Available with active "sercos" master communication (sercos III).

ServoDrive: Available for selected FSP ServoDrive profile.
SoE: Available for active master communication with ServoDrive communica‐
tion profile "EtherCAT".
SoV: Available for active master communication with ServoDrive communica‐
tion profile "VARAN".
Virtual Engineering: Available for field buses with engineering option.
General information
Parameters with device-dependent availability, the collective terms for specif‐

ic device categories or concrete device designations may be specified. the
following abbreviations are applied:
Cs: Includes HCS01, HCP
HCQ, HCT, Mn: As specified
HCS, KMV: Devices with braking resistor (HCS, KMV03).
HCS02, HCS03, HCS04, HMD, HMS, HMS05, HMV05, HCS05: As specified.
HMC Extended: HMC with extension card.
KSM, KMS: Motor-integrated or near motor converter.
Mi: Includes KMS, KSM, KMV.
Pitch: Pitch converter
Power supply: Input parameters available at the converter.
Functional packages:
Parameters are assigned to functional packages and only accessible as long
as the particular functional package is active:
--: There are no dependencies on functional packages. This parameter is al‐

ways available.
+: Functional packages connected with "+" have to be active simultaneously.
OL: "open loop" - Base package for axis control (V/f control) -> controlled op‐
eration without encoder information (not relevant for PSB).
CL: "closed loop" - Base package for axis control → controlled operation with
encoder feedback.
SRV: "servo/compensation)" - Functional package for servo-specific expan‐
sions.
SNC: "synchronization (ELS)" - Functional package for position synchroniza‐
tion tasks and velocity synchronization tasks.
MSP: "main spindle" - Functional package with main spindle functionalities.
ML: "motion logic" - Functional package for drive-integrated PLC.
SYX: "Sytronix" - The Sytronix functional package switches an electrohy‐
draulic axis to active.
Device parameters:
device-specific: The parameter applies to a specific device. If the device is a
multi-axis device, each axis accesses the same data.
axis-specific: The parameter applies to a specific axis. If the device is a multi-
axis device, each axis has its own defined data.
3. Function, structure, use

The function and structure of the parameter, as well as information on its pa‐
rameterization (use), are contained in the general description.
4. Attributes
The characteristic values and features specified help to classify the parame‐
ter.
General information
Firmware variants:
See also functional description "Overview of drive firmware"
Product-specific parameters
4 Product-specific parameters
4.1 P-0-0000 to P-0-0100 General functions
4.1.1 P-0-0001, Switching frequency of the power output stage
Allocation Contained in 16VRS: «MPB» «MPE» «MPM»
Contained in 17VRS: «MPB» «MPE» «MPM» «MPC»
Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «-»
Hardware --
Funct. package(s): --
Device parameter: device-specific
Function This parameter can be used to set the switching frequency of the power out‐
put stage (fPWM) as desired within the frequencies supported by each power
section.
Only set switching frequencies that are supported by the compo‐

nents being used. Observe the Technical Data for drive control‐
lers and motors.
See also Functional Description "Current controller"

Use Observe the following when configuring:
● The actually possible input values for the switching frequency of the out‐
put stage depend on the performance setting in parameter "P-0-0556,
Config word of axis controller".
● The effective switching frequency can be reduced according to the set‐
tings in "P-0-0045, Control word of current controller ", bits 7 and 11.
This reduction can be made in relation to the load, in relation to the ve‐
locity or synchronously with the output frequency (MPC).
● The maximum switching frequency is determined by "P-0-4058,, Amplifi‐
er type data", list element 16. Depending on the device type, the follow‐
ing values can be set:
Device type / switching frequency fs [kHz] 2 4 8 12 16
HCS01.1-B (Basic) x x x x x
HCS01.1-E (Economy) x x x O O
HCQ, HCT (multi-axis) O x x O O
HCS01.1-A (Advanced +)* x x x x x
*HCS01.1-A MPx-17 only

O: Not possible
X: Possible
Tab. 4-1: Switching frequency
The cycle time of the current control results from the combination of the
switching frequency of the output stage and the performance setting in pa‐
rameter "P-0-0556, Config word of axis controller". The higher the switching
frequency selected, the shorter the cycle time.
The higher the clock frequency selected, the lower the continuous
output current of the controller.
P-0-0001 - Attributes Function: Par Editable: PM Data length: 2Byte

Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_OV
Unit: Hz Extr. val. ch.: + Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: Grp. 5
MPx / PSB: min./max.: s. Text / s. Text Default value: 4000
4.1.2 P-0-0002, SPI flash aging counter

Contained in 19VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Hardware --
Function This parameter contains a rotary counter for consistent reconstruction of the
PARAM_SP memory area when the system is started the next time.
The functional principle of the parameter is documented only in‐

ternally. Changes or evaluations are reserved to customer sup‐
port.
P-0-0002 - Attributes Function: Par Editable: -- Data length: 4Byte

Memory: RETAIN_KUNDE Validity ch.: -- Format: DEC_OV
Unit: -- Extr. val. ch.: -- Decim. pl.: 0
Cycl. tra.: -- Comb. check: -- Set-depend.: --
MPx / PSB: min./max.: --- / --- Default value: ---
4.1.3 P-0-0003, Status of parameter buffering

Hardware --
Function This parameter provides status information about present storage processes
of the drive. As long as one of these bits is set, parameter changes in the re‐
lated memory area are not completed yet. If the drive is switched off in this
state, parameters will be lost.
Structure
Bit Designation/function Comment
0 Data backup in PARAM_SP

0: Not active
1: Active
1 Data backup in ON_BOARD_SP
0: Not active
1: Active
2 Data backup in ON_BOARD_FIX
0: Not active
1: Active

3 Data backup in PARAM_FIX
0: Not active
1: Active
8 Storage in PARAM_SP
0: All data backups were without error
1: One of the data backups caused an error
9 Storage in ON_BOARD_SP
10 Storage in ON_BOARD_FIX
11 Storage in PARAM_FIX
Tab. 4-2: P-0-0003, Status of parameter buffering

Memory: -- Validity ch.: -- Format: BIN
4.1.4 P-0-0004, Velocity loop smoothing time constant

Hardware --
Device parameter: axis-specific
Function The time constant which can be activated in this parameter acts in the veloci‐
ty controller and is suitable for suppressing quantization effects and for limit‐
ing the bandwidth of the velocity control loop.
See also Functional Description "Velocity Control"
Use The limit frequency is derived from the smoothing time constant T via the re‐
lationship:
Fig. 4-1: Bandwidth

The filter is deactivated by entering a smoothing time constant that is less
than or equal to the sampling time (clock rate "TA_vel") of the velocity con‐
troller.
An overview of the clock rates is available in section "Control Section Design
and Performance".
P-0-0004 - Attributes Function: Par Editable: ++ Data length: 2Byte

Unit: us Extr. val. ch.: + Decim. pl.: 0
MPB: min./max.: 0 / 65500 Default value: 800

MPC: min./max.: 0 / 65500 Default value: 800
MPE: min./max.: 0 / 32000 Default value: 800
MPM: min./max.: 0 / 65500 Default value: 800
PSB: min./max.: --- / --- Default value: ---
4.1.5 P-0-0005, SPI flash aging counter (onboard)

Allocation Contained in 16VRS: «-» «MPE» «-»
Contained in 17VRS: «-» «MPE» «-» «-»
Contained in 18VRS: «-» «MPE» «-» «-»
Contained in 19VRS: «-» «MPE» «-» «-» «-»
Contained in 20VRS: «-» «MPE» «-» «-» «-»
Hardware --
Function This parameter contains a rotary counter for consistent reconstruction of a

dynamically managed ON_BOARD_SP memory area when the system is
started the next time.

port.

Memory: RETAIN_GERAET Validity ch.: -- Format: DEC_OV
4.1.6 P-0-0006, Diagnostic message configuration

Allocation Contained in 18VRS: «MPB» «MPE» «MPM» «MPC»
Hardware --
Function This parameter can be used to switch the display of diagnostic messages in
"S-0-0390" to the compatibility mode. Then, in "S-0-0390" only bits 19 to 0
are written, whereas bits 31 to 20 are always 0, like in firmware version
17VRS (and earlier versions).
32-bit diagnostic message (use of bits 31-20)

0: active - sercos-specific 32-bit diagnostic messages (de‐
0 fault)
1: inactive - 20-bit diagnostic message (without "source
type" and "specification")
Tab. 4-3: Setup of diagnostic message configuration

Memory: PARAM_SP Validity ch.: -- Format: HEX
Unit: -- Extr. val. ch.: + Decim. pl.: 0
MPx / PSB: min./max.: 0x0 / 0x1 Default value: 0x0
4.1.7 P-0-0007, Display text of diagnostic message

Hardware --
Function This parameter contains the display suitable for "S-0-0095 Diagnostic mes‐
sage".
Example: "AF" or "PL"
See also Functional Description "Coded Diagnoses of the Drive"
P-0-0007 - Attributes Function: Par Editable: -- Data length: 1Byte var.
Memory: -- Validity ch.: -- Format: ASCII
4.1.8 P-0-0008, Activation E-Stop function

Hardware --
Function This parameter is used for activating the E-Stop input and selecting a reac‐
tion for the shutdown of the drive.
See also Functional Description "E-Stop Function"
Structure
0 Activation of E-Stop
0: Inactive
1: Active
1 Error class in the case of interpretation as an error (bit 2 =
0)
0: Best possible deceleration (P-0-0119)
1: Velocity command value set to zero
2 Interpretation
0: As non-fatal error
1: Fatal warning
Tab. 4-4: P-0-0008, Activation E-Stop function
The input is always "0-active", i.e. 0 V on the input means it is ac‐

tive! "P-0-0223, E-Stop input" must have been assigned to a digi‐
tal input via the P-0-0300 and P-0-0301 parameters.

Memory: PARAM_SP Validity ch.: PM->OM Format: BIN
4.1.9 P-0-0009, Error number

Hardware --
Function When the drive diagnoses a class 1 diagnostics error, a bit is set in parame‐
ter "S-0-0011, Class 1 diagnostics". Bit 13 for "Error in class 1 diagnostics" is
then set in the drive status word.
See also Functional Description "Error Memory (Power Section and Control
Section)"
Use In order to allow a more detailed diagnosis
● the diagnostic number appears on the display and is stored in parame‐
ter "S-0-0390, Diagnostic message number",
● the plain text diagnosis is stored in parameter "S-0-0095, Diagnostic
message"
● and the respective error number is stored in parameter "P-0-0009, Error
number".
When there isn't any error present, the value of parameter P-0-0009, Error
number equals 0.
Example for a diagnosis:
S-0-0390: F8022 (hex)
P-0-0009: 8022 (decimal)
S-0-0095: F8022 Enc. 1: enc. signals incorr. (can be cleared in ph. 2)
Memory: -- Validity ch.: -- Format: DEC_OV
Cycl. tra.: AT Comb. check: -- Set-depend.: --
4.1.10 P-0-0010, Excessive position command value

Hardware --
Funct. package(s): CL
Function In operation mode "cyclic position control"(e.g. S-0-0032… 35 = 0x0003,

0x0004, 0x000B or 0x000C) the NC provides position command values in
equal intervals "S-0-0001, NC cycle time (TNcyc)". Thereby, the drive moni‐
tors the difference among two sequently position command values on ex‐
ceeding the parameter "S-0-0091, Bipolar velocity limit value".
When exceeding, the failure "F2037 Excessive position command difference"
is applied and the failure causing "exzessive position command value"
Xcmd(k) is stored in the parameter "P-0-0010".
See also Functional Description "Position Control with Cyclic Command Val‐
ue Input"

Memory: -- Validity ch.: -- Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: -- Decim. pl.:
S-0-0078
4.1.11 P-0-0011, Last valid position command value

Hardware --
Function In operation mode "cyclic position control"(e.g. S-0-0032… 35 = 0x0003,

0x0004, 0x000B or 0x000C) the NC provides position command values in
equal intervals "S-0-0001, NC cycle time (TNcyc)". Thereby, the drive moni‐
tors the difference among two sequently position command values on ex‐
ceeding the parameter "S-0-0091, Bipolar velocity limit value".
When exceeding, the failure "F2037 Excessive position command difference"
is applied and "latest valid position command value" Xcmd(k-1) is stored in the
parameter "P-0-0011".
ue Input"
S-0-0077 /
S-0-0078
4.1.12 P-0-0013, List of all IDNs not corresponding to default value

Hardware --
Function This parameter contains a list of the IDNs of those parameters the datum of
which was changed with regard to the default value.
Criteria for inclusion in "P-0-0013":
● The parameter is a buffered application parameter.
● The parameter has a value <> than the default value or does not have a
default value.
● Parameter P-0-4084 is always included, if it is available.
In the case of master communications, which cannot handle EIDNs (e.g.
EtherCAT), the assigned instance parameter may be entered, if required.
See also Functional Description "Parameters, Basics"
Memory: -- Validity ch.: -- Format: IDN
4.1.13 P-0-0014, C1400 Command Get marker position

Hardware --
Function The command "P-0-0014" serves for checking the reference marks detection
of an incremental measuring system.
See also functional description "Get marker position"
Use If the command is activated, the detected reference mark of the position com‐
mand value of the measuring system is stored in the parameter "S-0-0173,
Marker position A" and the command is reported as finished. If the drive is
fitted with an encoder 2 in addition to encoder 1, bit 3 defines from "S-0-0147,
Homing parameter" in which encoder the position of the reference mark is
stored!
The position command value of further reference marks for incre‐

mental encoders with distance-coded reference marks is stored in
parameter "S-0-0174, Marker position B".
P-0-0014 - Attributes Function: Cmd Editable: OM Data length: 2Byte

4.1.14 P-0-0015, Minimum pulse duration

Allocation Contained in 20VRS: «-» «-» «-» «MPC» «-»
Hardware --
Function This parameter is used to parameterize the minimum pulse duration of the
power output stage. If the entered value = 0, no minimum pulses are ob‐
served.
Unit: us Extr. val. ch.: -- Decim. pl.: 1
MPx / PSB: min./max.: 0,0 / 10,0 Default value: 0,0
4.1.15 P-0-0016, Current controller control word 2

Allocation Contained in 19VRS: «MPB» «-» «-» «MPC» «-»
Contained in 20VRS: «MPB» «-» «-» «MPC» «-»
Hardware --
Function This parameter is used to configure the current controller.

See also functional description "Motor control"
Structure Bit Designation/function Comment
0 PWM phase offset

0: Not active (default)
1: Active
15-1 Reserved
Tab. 4-5: P-0-0016

Use Bit 0: The function is only available for HMS05 devices. This function is only
required if the axes are synchronized via master communication.
The function serves to reduce earth leakage currents in an axis group. For
this purpose, the function has to be activated for half of the drive controllers
connected to the same DC bus.
Cycl. tra.: -- Comb. check: + Set-depend.: +
MPx / PSB: min./max.: --- / --- Default value: s. Text
4.1.16 P-0-0018, Number of pole pairs/pole pair distance

Hardware --
Function The following settings can be made depending on bit 9 of parameter

"P-0-4014, Type of construction of motor".
● Number of pole pairs in case of rotary motors (no decimal place)
● Pole pair distance/pole pair length in case of linear motors (one decimal
place; as of MPx-20VRS, two decimal places)
The correct value is written to this parameter as follows:

● In case of Rexroth motors with encoder data memory:
Automatic when controller is switched on.
● In case of Rexroth motors without encoder data memory:
By loading the motor parameters with commissioning soft‐
ware "IndraWorks Ds/D/MLD".
● In case of other motors:
By manual input according to the manufacturer's specifica‐
tion.
See also functional description "Motor, mechanical axis system, measuring

systems"
See also functional description "Rexroth housing motors with encoder data
memory"
Unit: Pole pairs Extr. val. ch.: + Decim. pl.: 0
MPx / PSB: min./max.: 1 / s. Text Default value: 3
4.1.17 P-0-0019, Initial position value

Hardware --
Function In case of a non-homed drive (S-0-0403 = 0x0), the position feedback value
of encoder 1 (S-0-0051) and, if available, the position feedback value of en‐
coder 2 (S-0-0053) is set to the value of "P00019" during the initialization
process (command for transition from communication phase 3 to 4), if abso‐
lute encoder evaluation is not active.
See also parameter description: "S-0-0277 / S-0-0115"
The default value of "P-0-0019" is zero.
See also functional description "Absolute measuring systems"

See also functional description "Shifting the position data reference for rela‐
tive and absolute measuring systems"
Memory: PARAM_SP Validity ch.: PM->OM Format: DEC_MV
S-0-0077 /
Unit: S-0-0076 Extr. val. ch.: + Decim. pl.:
S-0-0078
MPx / PSB: min./max.: S-0-0076 / S-0-0076 Default value: 0,0000
4.1.18 P-0-0020, Oscilloscope: Operation mode

Hardware --
Function Parameter "P-0-0020" can be used to activate special functions.
The parameter can only be changed when all oscilloscope func‐

tions of a device have been deactivated (P-0-0028, Oscilloscope:
Control word").
0 Oscilloscope
0: Axis oscilloscope (one separate oscilloscope for each
axis of a device)
1: Device oscilloscope (one common oscilloscope for all
axes of a device)
4 Mode The bit is not
0: Standard mode: The shortest recording cycle is the po‐ remanent.
sition control cycle After having
1: Expert mode: The current or velocity control cycle can been switched
be selected as the shortest recording cycle. Recording in on, the device
these cycles is not guaranteed. Subject to the work load of is always in
the control section, the recording cycle can therefore also standard
be longer. mode.
5 Trend mode
0: Standard recording with trigger signal. Multiple device
measurement is possible.
1: Recording is continuous without trigger signal. Meas‐
ured values are provided via "P-0-0280" which can be
read cyclically.
Tab. 4-6: P‑0‑0020, Oscilloscope: Operation mode

See also Functional Description "Oscilloscope Function"
Memory: PARAM_SP Validity ch.: -- Format: BIN
MPx / PSB: min./max.: --- / --- Default value: 0x0
4.1.19 P-0-0021, Oscilloscope: List of measured values 1

Hardware --
Function The measured values of channel 1 of the oscilloscope function are stored in
chronological order in parameter "P-0-0021, Oscilloscope: list of measured
values 1". The oldest measured value is the first element of the list of meas‐
ured values.
The recorded signal is the one identified by means of the IDN entered in
"P-0-0023, Oscilloscope: signal selection 1".
Attribute, unit etc. are automatically adjusting to this selected sig‐

nal.


Hardware --
ured values.

nal.

4.1.21 P-0-0023, Oscilloscope: Signal selection 1

Hardware --
Function The IDN entered in "P-0-0023, Oscilloscope: Signal selection 1" defines the
signal that is to be recorded by channel 1.
Only such IDNs are allowed that are contained in the list "P-0-0149, Oscillo‐
scope: Signal selection list".
The measuring channel is deactivated with the input "0" or

"S-0-0000".
When the recording is over, the recorded measured values are contained in
parameter "P-0-0021, Oscilloscope: List of measured values 1".
See also Functional Description of firmware "Oscilloscope Function"
Memory: PARAM_SP Validity ch.: PM->OM Format: IDN
MPx / PSB: min./max.: --- / --- Default value: 0


Hardware --
The measuring channel is deactivated by entering "0" or using

"S-0-0000".
After recording has been completed, the recorded measured values are con‐
tained in parameter "P-0-0022, Oscilloscope: List of measured values 2".
4.1.23 P-0-0025, Oscilloscope: Trigger mask

Hardware --
Function For trigger signals with the display format "Bin" and "Hex", it is possible by
means of parameter "P-0-0025, Oscilloscope: trigger mask" to put an addi‐
tional trigger mask over the trigger signal and trigger threshold before the
comparison. On all other display formats of the trigger signal the parameter
doesn't have any effect.
MPx / PSB: min./max.: --- / --- Default value: 0xFFFFFFFF
4.1.24 P-0-0026, Oscilloscope: Trigger signal selection

Hardware --
Function The parameter "P-0-0026, Oscilloscope: Trigger signal selection" determines,

for the trigger unit, to which signal from "P-0-0149, Oscilloscope: Signal se‐
lection list" the trigger level (P-0-0027) is to be compared.
Selecting a trigger signal (cf. P-0-0026) also determines the unit

and format for "P-0-0027, Oscilloscope: Trigger level".
See also Functional Description of firmware "Oscilloscope Function"

Use At the start of the recording (P-0-0036, bit 2 ↑ 1) the trigger error bit
(P-0-0037, bit 7) is then set in the status word.
Changing the parameter is only possible when the oscilloscope has been de‐
activated (see also P-0-0028, Oscilloscope: Control word").
When S-0-0000 is preset as IDN, the trigger function is not active.
.
4.1.25 P-0-0027, Oscilloscope: Trigger level

Hardware --
Function The parameter "P-0-0027, Oscilloscope: trigger level" is the comparative val‐
ue for the trigger function.
Use Depending on the selected trigger edge (P-0-0030), the bit for "internal trig‐
ger" (P-0-0037, bit 2) is set when the trigger condition has been reached.
Before that bit 8 and bit 9 in the status word (P-0-0029) indicate whether the
value of the selected trigger source is above or below the trigger level or
whether the value corresponds to the trigger level.
The parameter can only be changed when the recording has

been started (see also "P-0-0028, Oscilloscope: control word").
Depending on the IDN selected in "P-0-0026, Oscilloscope: trig‐
ger signal selection", attribute and unit are adjusting to the selec‐
ted signal.

Memory: PARAM_SP Validity ch.: -- Format: DEC_MV

4.1.26 P-0-0028, Oscilloscope: Control word

Hardware --
Function The parameter "P-0-0028, Oscilloscope: Control word" contains (except for
the operation mode) all settings for controlling the oscilloscope. These set‐
tings contain the selection for trigger offset measurement and the activation
(start/stop) of the oscilloscope.
Structure
0 Start of recording
0: Recording is stopped
1: Recording is started
1 Kind of trigger
0: Internal trigger (without offset measurement)
1: External trigger (with offset measurement)
Tab. 4-7: P-0-0028, Oscilloscope: Control word

Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: --
4.1.27 P-0-0029, Oscilloscope: Status word

Hardware --
Function The parameter "P-0-0029, Oscilloscope: status word" displays the current
status of the oscilloscope function.
Structure
0 start of recording
0: Recording by P-0-0028, bit 0 stopped or completed.
1: Recording by P-0-0028, Bit 0 started. Change of some
oscilloscope parameters locked.
1 trigger start
0: trigger function completed
1: Trigger function started. Internal trigger not yet re‐
leased. Comparison continues to run.

2 internal trigger
0: Internal trigger not yet released.
1: Internal trigger released. Comparison successfully com‐
pleted.
3 trigger function completed
1: When triggering via external trigger signal, (P-0-0028,
bit1 = 1) an external trigger signal was detected. When
triggering via internal source only, this bit is set together
with bit 2.
4 delay function completed
0: delay function still active
1: Delay function completed. New measured values can
be read. Bit 0 is cleared.
7 trigger error
0: trigger function correctly intialized at start of recording
(P-0-0028, bit 0)
1: Trigger function not correctly intialized at start of record‐
ing (P-0-0028, bit 0), e.g. incorrect trigger source
(P-0-0026). Trigger function threrefore cannot be execu‐
ted.
8/9 status trigger signal
(comparison only takes place with active trigger function
and until internal trigger bit2 has been reached)
00: no comparison
01: trigger signal > trigger threshold (P-0-0027)
10: trigger signal < trigger threshold (P-0-0027)
11: trigger signal = trigger threshold (P-0-0027)
Tab. 4-8: P-0-0029, Oscilloscope: status word

See also Parameter Description "P-0-0028, Oscilloscope: control word
4.1.28 P-0-0030, Oscilloscope: Trigger edge

Hardware --
Function The parameter "P-0-0030, Oscilloscope: Trigger edge" determines the edge
at which the "internal trigger" (P-0-0029, bit 2) is triggered.
See also the functional description: "Oscilloscope Function"
0 Trigger edge positive

1: Internal trigger is triggered at positive edge
1 Trigger edge negative
1: Internal trigger is triggered at negative edge
2 Trigger equal
1: Internal trigger is triggered when trigger level and value
of trigger source are equal
Tab. 4-9: P-0-0030, Oscilloscope: Trigger edge

Use In addition, it is possible to check the equality of trigger level and trigger
source. Combinations of several conditions (e.g.) are possible.
The parameter can also be changed when the recording has been started
(see also "P-0-0028, Oscilloscope: Control word"). This however can cause
the "internal trigger" to be triggered accidentally.
MPx / PSB: min./max.: 1 / 4 Default value: 3
4.1.29 P-0-0031, Oscilloscope: Time resolution

Hardware --
Function The time resolution of the oscilloscope function (i.e. the sampling rate) can be
defined by means of parameter "P-0-0031, Oscilloscope: Time resolution".
This allows the signals to be recorded maximally (= highest sampling rate) in
the position controller clock cycle (Advanced: 250 µs, Basic: 500 µs, Low
Performance: 1 ms).
The following is valid for parameterizing "P-0-0031":
● The input range of "P-0-0031" depends on the hardware and firmware
used (and the performance set in "P-0-0556")
● When new values are entered, they are automatically substituted by
multiples of the minimum value
"P-0-0031" can only be changed, if the oscilloscope was deactiva‐

ted (P-0-0028, Oscilloscope: Control word).
.
See also Functional Description "Oscilloscope function"

4.1.30 P-0-0032, Oscilloscope: Size of memory

Hardware --
Function The size of memory defines the number of measured values to be recorded
per measurement. A maximum of 8192 measured values can be recorded
per channel. By means of the size of memory and the time resolution
("P-0-0031, Oscilloscope: time resolution") you can determine the recording
time.
The minimum recording duration is one position clock!
In general, the following applies:
Fig. 4-2: Recording time

With the size of memory the master can adjust the size of the lists of meas‐
ured values to its requirements (e.g. available memory). The parameter can
only be changed when the oscilloscope has been deactivated (see also
"P-0-0028, Oscilloscope: control word").
4.1.31 P-0-0033, Oscilloscope: Number of measured values after trigger

event
Hardware --
Function The parameter "P-0-0033, Oscilloscope: number of measured values after

trigger event" determines the number of measured values that will still be re‐
corded after the trigger event ("P-0-0029", bit 3 = 1) has occurred (delay
function).
Use After these measured values have been recorded, the bit "delay function
completed" (P-0-0029, bit 4) is set in "P-0-0029, Oscilloscope: status word".
The entire recording then is completed and the lists of measured values can
be read.
4.1.32 P-0-0034, Position command additional actual value

Allocation Contained in 16VRS: «MPB» «-» «MPM»
Contained in 17VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware --
Funct. package(s): CL+SNC
Function This parameter is used as the start value for synchronization in a synchroni‐
zation mode with outer position control loop.
It contains the difference between "P-0-0753, Position actual value in actual
value cycle" and the synchronous position command value generated from
the master axis position. In the case of modulo scaling, the parameterized ac‐
tual value cycle is used as modulo range for P-0-0034.
S-0-0077 /
S-0-0078
4.1.33 P-0-0035, Oscilloscope: Trigger control offset

Hardware --
Function With the selection "trigger offset measurement" (P-0-0028, bit 1 = 1), the pa‐
rameter "P-0-0035, Oscilloscope: control offset" contains the number of
measured values that were recorded between the occurrence of the "internal
trigger" (P-0-0029, bit 2) and the occurrence of the "external trigger for trigger
offset measurement" (P-0-0036, bit 0). The parameter indicates the offset be‐
tween these two trigger sources and can be used for synchronizing the lists
of measured values of several drives via the master.
See also Parameter Description "P-0-0028, Oscilloscope: control word"
4.1.34 P-0-0035.0.1, Oscilloscope: Trigger time

Allocation Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «PSB»
Hardware --
Function Parameter "P-0-0035.0.1" contains the current system time at the point in
time, when the oscilloscope function of the drive was triggered. The parame‐
ter contains the trigger time with a resolution of 100 ns. It is filled with the
content of parameter "P-0-00197" when the drive oscilloscope is triggered.
Structure Parameter "P-0-0035.0.1" is a 64-bit value with a structure in the form of a list
with two elements having a length of 4 bytes.
Element Content
1 Low word Trigger time (fine)

2 High word Trigger time (coarse)
Tab. 4-10: Structure of P-0-0035.0.1

Use Parameter "P-0-0035.0.1" is used for synchronizing measurements that are
to be taken simultaneously on the PC and in the drive. To this end, the sys‐
tem time of the drive has to be synchronized before with the system time of
the PC connected via IndraWorks. This synchronization can also be carried
out via a bus master. In this case, measurements can be synchronized on
several drives.
P-0-0035.0.1 - Attributes Function: Par Editable: -- Data length: 4Byte var.
4.1.35 P-0-0036, Oscilloscope: External trigger signal

Hardware --
Function The parameter "P-0-0036" is a real time control bit capable parameter and
can be parameterized in the real time channel of the interface and as hard‐
ware input.
See also Parameter Description "P-0-0028, Oscilloscope: control word"
See also Parameter Description "P-0-0136, Oscilloscope: manual trigger sig‐
nal"
Structure
0 external trigger signal

0: External trigger signal = Low
1: External trigger signal = High
Tab. 4-11: P-0-0020, Oscilloscope: external trigger signal


4.1.36 P-0-0037, Oscilloscope: Internal trigger signal

Hardware --
Function The parameter "P-0-0037, Oscilloscope: internal trigger signal" contains the
status of the internal trigger. It is a real-time status bit capable parameter and
can be parameterized both in the real-time channel of the interface and as
hardware output.
Structure
0 internal trigger
0: Internal trigger not yet triggered. Comparison still active.
1: Internal trigger triggered. Comparison successfully com‐
pleted.
Tab. 4-12: P-0-0037: Oscilloscope: internal trigger signal

4.1.37 P-0-0038, Torque-generating current, command value

Hardware --
Function Display parameter for the torque component or force-generating component

of the current command value.
The velocity loop generates the torque or force command value that is after‐
wards converted to the torque-generating current command value via
"P-0-0051, Torque/force constant". The value is therefore updated in the ve‐
locity loop cycle time (250 µs/125 µs controller performance).
See also Functional Description "Torque/Force Control"
Unit: A Extr. val. ch.: -- Decim. pl.: 3

4.1.38 P-0-0039, Flux-generating current, command value

Hardware --
Function Display parameter for the current command value component that generates
the magnetic flux in the motor. The flux-generating current is output of the
flux loop that is processed in the position loop cycle time.
In the case of asynchronous motors the flux-generating current nominally cor‐
responds to "P-0-4004, Magnetizing current". Differing from this value, the
flux-generating current command value is reduced, if:
● "P-0-0532, Premagnetization factor" of less than 100% was selected
and the motor is in no-load operation,
● the motor is operated in the field weakening range.
Synchronous motors do not require flux-generating current. The field weak‐
ening operation is an exception. In this case the controller generates a nega‐
tive flux-generating current in order to weaken the permanent field!
P-0-0039 - Attributes Function: Par Editable: OM Data length: 4Byte
Unit: A Extr. val. ch.: + Decim. pl.: 3
MPx / PSB: min./max.: s. Text / s. Text Default value: ---
4.1.39 P-0-0040, Velocity feedforward evaluation

Hardware --
Function By means of the velocity feedforward control, which can be freely set via
"P-0-0040, Velocity feedforward evaluation”, it is possible to set the following
distance at constant velocity to a desired percentage value. A minimum (ide‐
ally = 0) is obtained at 100 %. The degree of feedforward control can be set
within the range of 0 %...120 %.
The activation of lagless operation (cf. "S-0-0032", "S-0-0033",

"S-0-0034", "S-0-0035") causes a feedforward variable (= velocity
command value), which is determined from the position command
value, is fed forward as additive to the position controller output.

Unit: % Extr. val. ch.: + Decim. pl.: 2

4.1.40 P-0-0041, Position command average value filter time constant

Hardware --
Function Parameter "P-0-0041" allows the position command values to be filtered at

the input of the position controller using a moving average filter. This can be
used to smooth the position command value profile and to reduce accelera‐
tion or jerk, which is required for some mechanical systems to prevent the ex‐
citation of machine resonances caused by the command value course.
As of firmware version 08VRS the average value filter (P-0-0041)

can only be changed in the operation mode of cyclic position con‐
trol with "drive control" in the drive state "AF"!
See also Functional Description "Closed-loop position control with cyclic

command value provision"
Use "P-0-0041" is used only with cyclic position control for parameterizing the
jerk.
In this context, the following aspects have to be taken into account:
● The effective filter order M is always shown in "P-0-0042, Current posi‐
tion command average value filter order" (P-0-0042 = P-0-0041/TNcyc)
● The NC cycle time TNcyc (S-0-0001) and the position controller cycle
depend on the performance
See also Functional Description "Performance data"
Extended basics
With this filter type, the changes at the output with constant input variable are
always the same:
Fig. 4-3: Position command value as filter output

With a constant input variable X, filter output Y increases in a linear form and
reaches its final value at the filter output after time:
Fig. 4-4: Time base of the average value filter
This filter type therefore does not show the typical “creeping be‐
havior” (filter output rises and falls after an e-function) of common
VZ1 and VZ2 filters used otherwise.

4.1.41 P-0-0042, Current position command average value filter order

Hardware --
Function The parameter indicates the effective filter order M of the position command
value filter, which is designed as moving average filter.
The user cannot change P-0-0042 directly!
See also Functional Description

● "Position control with cyclic command value input"
● "Positioning block mode"
● "Drive-controlled positioning"
● "Drive-internal interpolation"
Use The effective filter order M depends on the active operation mode and the
performance.
See also Functional Description "Performance data"
We distinguish the following cases:
● External position command value input (position control with cyclic com‐
mand value input):
P-0-0042 = P-0-0041/TNcyc
→ Parameterization of P-0-0041! (max. filter order M = 64)
● Drive-internal command value generation
– Interpolation operation (drive-internal interpolation, drive-controlled
positioning)
P-0-0042 = min (S-0-0260; S-0-0359) / S-0-0193 / TNcyc
→ Parameterization of S-0-0260, S-0-0359, S-0-0193!
– Positioning block mode:
P-0-0042 = min (P-0-4008; P-0-4063) / P-0-4009 / TNcyc
→ Parameterization of P-0-4008, P-0-4063, P-0-4009!
In the case of operation modes with drive-internal position com‐

mand value generation, the calculated filter order is limited. The
maximum value is M = 512.
As an alternative to the calculation of the filter order from acceler‐

ation and jerk, the filter order can also be determined by directly
entering a filter time, "P-0-0641, Interpolation cmd value average
value filter time constant".
The filter properties as well as their parameterization are con‐

tained in the description of "P-0-0041, Position command average
value filter time constant".

4.1.42 P-0-0043, Torque-generating current, actual value

Hardware --
Function Display parameter for the torque-generating component of the measured ac‐
tual current value. The value is updated with the current loop cycle time.
The phase currents of the three-phase AC motor are measured.

The resulting torque-generating content of the total current is cal‐
culated internally and displayed by means of this parameter.

4.1.43 P-0-0044, Flux-generating current, actual value

Hardware --
Function Display parameter for the content of the measured actual current value that
generates the magnetic flux in the motor. The value is updated with current
loop cycle time.

The resulting flux-generating content of the total current is calcu‐
lated internally and displayed by means of this parameter.

4.1.44 P-0-0045, Control word of current controller

Hardware --
Function This parameter is used to configure the current controller.

See also Functional Description "Motor control"
Structure
0 Field weakening with synchronous motors In FW 20VRS

0: Switched off and above con‐
tained in
1: Enabled P-0-3945
1 Maximum motor voltage (with V/Hz [U/f] operation of
asynchronous motors)
0: DC bus voltage unfiltered
1: DC bus voltage filtered
2 Magnetization of asynchronous motors (operating princi‐ No longer active
ple of P-0-0532) in FW 18VRS
0: Load-dependent and above
1: Independent of load (open-loop controlled)

3 Control method for field weakening operation of the In FW 20VRS
asynchronous machine and above con‐
0: (Default) standard method active tained in
P-0-3945
1: Alternative method active
4 Monitoring with regard to interruption of motor power ca‐
ble
0: Active
1: Switched off
5 Compensation in power output stage (not with V/Hz [U/f]
operation of asynchronous motors)
0: Switched off
1: Enabled
6 Manual command value input for flux-generating current
0: Switched off
1: Enabled
7 Type of PWM clocking (can be set using bit 11/10/7)
8 Enabling velocity search mode (with V/Hz [U/f] and FXC MPB-17V02
0: Search mode switched off
1: Search mode enabled
9 Velocity search mode configuration (only with V/Hz [U/f] MPB-17V02
0: Search mode after "AF", only with the same sign of
n_cmd
1: Search mode after "AF", bidirectional
10 Type of PWM clocking (can be set using bit 11/10/7)

11/10/ Type of PWM clocking (can be set using bit 11/10/7)
7 000: Static PWM
001: PWM switching depending on load (only MPB,
MPC)
FW 17VRS and above
100: PWM switching depending on velocity (MPB, MPC
only)
FW 19VRS and above
010: PWM frequency halved in standstill (HMS05 only)
FW 20VRS and above
101: Dynamic PWM (MPB, MPC only)
(FW 20V12 and above; MPB, MPC only)
011: Open-loop-controlled PWM frequency switching
12 Enabling stall protection controller (with V/Hz [U/f] opera‐
tion of asynchronous motors)
0: Switched off
1: Enabled
13 Selection of V/Hz (U/f) characteristic (with V/Hz [U/f] op‐
eration of asynchronous motors)
0: Linear
1: Square
15/14 Selecting the motor operation (FXC not with
00: Current control with encoder 1/motor encoder MPE firmware)
01: V/Hz (U/f)-controlled operation (asynchronous motor

only)
10: Reserved
11: Flux-controlled motor operation, sensorless (FXC;
synchronous and asynchronous motors)
Tab. 4-13: Current controller configuration

Use The following aspects have to be taken into account:
● Bit 1: With open-loop V/Hz (U/f) control, the motor voltage is by default
limited to the unfiltered DC bus voltage. In this way, maximum motor
power can be obtained in the field weakening range. This voltage, how‐
ever, is relatively unstable due to the rectifier and other effects. If this
causes too much instability in the motor current (high harmonic compo‐
nent, unexpectedly high rise in motor temperature, already in no-load
operation), the maximum motor voltage can be limited to the filtered DC
bus voltage. This stabilizes the motor current considerably. But is also
reduces the maximum motor power in the field weakening range.
● Bit 2: This function can be switched off with bit 2 = 1. Only applies to
closed-loop control of asynchronous motors.
See also "P-0-0532, Premagnetization factor"
● Bit 3: If problems, which cannot be solved by manually adjusting motor
control parameters, occur during the operation of asynchronous motors
in the field weakening range (e.g., F8078 when decelerating), it is advis‐
able to activate the "alternative" control method for asynchronous mo‐

tors.
After the alternative control method has been activated
– the command "C4600 Command Calculate motor control parame‐
ters" has to be executed for Rexroth motors.
– the following steps have to be carried out for third-party motors.
– Enter the type plate data in "P-0-4032, Motor type plate data".
– "C3200 Command Calculate motor data"
– "C3600 Command Motor data identification"
If the motor does not yet run in an optimum way after the men‐
tioned commands were executed, the motor control parameters
can be manually changed.
● Bit 5: It is recommended to activate this function, if there are problems in

motor operation at low velocities. Particularly with sensorless field-orien‐
ted control, the operating behavior is considerably improved - motor
runs in a more stable way, maximum torques are higher. In the case of
field-oriented control with encoder, the operating behavior can be im‐
proved as regards the controller dynamics in the current controller or the
torque ripple content, for example. With open-loop V/Hz (U/f) control,
this setting is without effect.
● Bit 6: Manual command value input is recommended, if a command val‐
ue jump is to be added within the scope of optimization activities without
thereby accelerating the motor. Is only possible for synchronous motors
without reluctance effect and without field weakening.
Cycl. tra.: -- Comb. check: + Set-depend.: Grp. 5
4.1.45 P-0-0046, Status word of current controller

Hardware --
Function This parameter indicates states which have an effect on the proper behavior
of the current controller.
Structure
0 Internal drive enable active

0: No
1: Yes
1 Absolute value of actual current > 1.2 times the allowed
output current
0: No
1: Yes

2 Overvoltage in DC bus
0: No
1: Yes
3 Voltage limitation active in current controller
0: No
1: Yes
4 Closed loop output - integrated flow-generating content in
pos. limitation
0: No
1: Yes
5 Closed loop output - integrated flow-generating content in
neg. limitation
0: No
1: Yes
6 Closed loop output - integrated torque/flow-generating
content in positive limitation
0: No
1: Yes
7 Closed loop output - integrated torque/flow-generating
content in negative limitation
0: No
1: Yes
11... 8 Reserved
12 V/Hz [U/f] operation (sensorless): stall protection controller
active
0: Not active
1: Active
FXC operation (sensorless): detection motor blocking
0: Motor follows the velocity command value
1: Motor is blocked, v_actual (S-0-0040) does not reach
v_command.
13 V/Hz [U/f] operation (sensorless): current limitation control‐
ler active
0: Not active
1: Active
FXC operation (sensorless): detection whether motor has
stalled
0: Motor turns correctly according to the applied v_com‐
mand
1: Motor has "stalled" (standstill or low speed) even
though v_actual corresponds to v_command.
14 Reserved

15 FXC control (sensorless): communication of the rotor
standstill
0: v_actual (S-0-0040) and v_command are lower in value
than the standstill range (S-0-0124)
1: v_actual (S-0-0040) or v_command are larger in value
than the standstill range (S-0-0124)
23... 16 Reserved
24 Regenerative voltage limitation
0: No
1: Yes
25 Motive voltage limitation - torque-generating component
greater than flow-generating component
0: No
1: Yes
equal to flow-generating component
0: No
1: Yes
less than flow-generating component
0: No
1: Yes
28 Status of automatic PWM frequency switching
0: Higher PWM frequency active
1: Lower PWM frequency active
29 Short-circuit braking
1: Active
At least for 100 ms; if there is no current flowing during
short-circuit braking, for at least 200 ms.
0: Other states
31/30 Reserved
Tab. 4-14: Relevant Bits of the Current Controller Status Word
The current controller status word can be configured in the AT. It

is therefore possible to apply the status messages to a digital out‐
put or have them evaluated by the higher-level control.


4.1.46 P-0-0047, Position command value control

Hardware --
Function In the "position control" mode the control unit by means of "S-0-0047" and in
the clock of its interpolation cycle time writes the cyclic position command
values to the drive.
If required, these position command values coming directly from the control
unit can be read via "P-0-0047, Position command value control"!
The interpolation cycle time of the control unit (cf. "S-0-0001") can
be a multiple of the communication cycle time (cf. "S-0-0002") so
that "P-0-0047" is also updated on the same time base!
ue Input"
S-0-0077 /
S-0-0078
4.1.47 P-0-0048, Effective velocity command value

Hardware --
Function By means of this parameter it is possible to display the velocity command val‐
ue at the summing point of the velocity controller.
At the summing point the actual velocity value is subtracted from

the effective velocity command value. The result of this calcula‐
tion (control difference) is the input of the speed controller.
See also Functional Description "Velocity Loop"

See also Functional Description "Synchronization Modes"
S-0-0045 /
S-0-0046

4.1.48 P-0-0049, Effective torque/force command value

Hardware --
Function This parameter is used to display the torque/force command value after static
torque/force limitation by means of "S-0-0082" and "S-0-0083".
See also functional description "Torque/force control"
See also functional description "Velocity controller"
See also functional description "Current and torque/force limitation"
Use When using the parameter, observe the following aspects:
● Possibly effective additive torque command value components
(P-0-0455) of the optional cogging torque compensation and accelera‐
tion feedforward are not contained in "P-0-0049".
● The torque command value contained in "P-0-0049" is again limited by
the subsequent dynamic torque/current limitation. The result is
"P-0-0038, Torque-generating current, command value" which results
from multiplication with "P-0-0051, Torque/force constant" and is trans‐
mitted to the current controller.
By simultaneously considering "P-0-0049", "P-0-0038"

and"P-0-0445", all intermediate values can be determined.

S-0-0093 /
S-0-0094
4.1.49 P-0-0051, Torque/force constant

Hardware --
Function The torque/force constant specifies the ratio between the motor torque/force
and the associated torque-generating current of a motor.
The following requirements must have been fulfilled:
Synchronous motor:
● Motor temperature 20°C
● Motor current up to the level of the continuous current
Asynchronous motor:
● correct value in "P-0-4004, Magnetizing current"
● "P-0-0532 Premagnetization factor" of 100%
● operation without field weakening
When the motor is operated under deviating conditions, the active torque/
force constant changes. It is displayed in "P-0-0450, Torque/force constant".
"Correction of torque/force constant" can be activated with syn‐

chronous motors!

See also Functional Description "Motor, Mechanical Axis System, Measuring
Systems"
Unit: Nm/A Extr. val. ch.: + Decim. pl.: 2
4.1.50 P-0-0052, Actual position value of measuring encoder

Hardware --
Funct. package(s): SRV, SNC
Function This parameter indicates the current position of the measuring encoder at the
measuring gear output. Initialization depends on the type of measuring en‐
coder used.
Depending on "P-0-0330, Control word of measuring encoder, bit

2", the unit and the number of decimal places of the parameter
are changed:
Bit 2 = 0: The unit of the parameter is increments and the param‐
eter is shown without decimal places.
Bit 2 = 1: The unit of the parameter is degrees and the parameter
is shown with 4 decimal places.
See Functional Description "Measuring Encoder"

Use If measuring encoders have position feedback values which are not homed
(P-0-0331, Status of measuring encoder, bit 0 = 0), the internal position feed‐
back value of the particular measuring encoder is always set to zero after
progressing to phase 4. Parameter "P-0-0052" is generated by adding the in‐
ternal position feedback value of the measuring encoder by means of
"P-0-0087, Actual position value offset of measuring encoder".

4.1.51 P-0-0053, Master axis position

Hardware --
Funct. package(s): SNC
Function The master axis position as actual position of a master axis is used for com‐
mand value input for the synchronous operation modes.
The master (e.g. MLD) presets it cyclically in equidistant intervals (NC clock)
to the drive as (virtual) master axis.
In the following operation modes, this parameter is used for command value
input for the drive:
● Velocity synchronization
● Phase synchronization
● Electronic cam
● Electronic motion profile
● Position synchronization
See also Functional Description "Operation Modes for Synchronization"
Unit: Incr Extr. val. ch.: -- Decim. pl.: 0
4.1.52 P-0-0054, Additive master axis position

Hardware --
Function Parameter "P-0-0054" can be used to add a "Master axis position offset" to
the following master axis positions:
● P-0-0053, Master axis position
● P-0-0052, Actual position value of measuring encoder
● P-0-0761, Master axis position for slave axis
● P-0-0787, Group axis 1 position
See Parameter Description "P-0-0775, Resulting Master Axis Position"
● Any change in "P-0-0054" is traveled with a 2nd order interpolator, tak‐
ing parameters "P-0-0688, Additive master axis position, positioning ve‐
locity" and "P-0-0689, Additive master axis position, positioning acceler‐
ation" into account.
● The minimum/maximum value of "P-0-0054" corresponds to the master
axis cycle (P-0-0750 * 2P-0-0084).
If parameter "P-0-0750, Master axis revolutions per master axis

cycle" equals zero, the resulting maximum value for parameter
"P-0-0054" is (231 - 1) increments and the minimum value is
-231 increments.

4.1.53 P-0-0055, Return distance

Hardware --
Funct. package(s): SRV
Function In the case of error it is possible to set the "return" error reaction, depending
on the setting of the "Best possible deceleration" parameter. The drive gener‐
ates a position command value profile for the return distance, in considera‐
tion of the adjustable return velocity and return acceleration and complying
with the position limit values. The return distance is entered in parameter
P-0-0055. A positive return distance will cause positive motion with reference
to the selected coordinate system. The P-0-0055, Return distance parameter
can be transmitted in the cyclic telegram (MDT).
See also Functional Description "Best Possible Deceleration"
S-0-0077 /
S-0-0078
Cycl. tra.: MDT Comb. check: -- Set-depend.: --
4.1.54 P-0-0056, Return velocity

Hardware --
with the position limit values. The return velocity is entered in parameter
P-0-0056.
S-0-0045 /
S-0-0046
4.1.55 P-0-0057, Return acceleration

Hardware --
with the position limit values. The return acceleration is entered in parameter
P-0-0057.
S-0-0161 /
S-0-0162
4.1.56 P-0-0058, Return jerk

Hardware --
with the position limit values. In addition, the position command values can
be smoothed by a position command value average filter. The return jerk is
entered in parameter P-0-0058. It affects the effect of the position command
value average filter.
S-0-0161 /
S-0-0162
4.1.57 P-0-0059, Additive position command value, controller

Hardware --
Function This parameter serves to add an additional (additive) position command val‐
ue to the position command value generated by command value adjustment.
This additional command value is not subject to any limitation or change. This
is why the user has to make sure that absolute value, characteristic and the
derived variables are within their allowed ranges of values!
See also Functional Description "Position Control With Cyclic Command Val‐
ue Input", "Drive-Internal Interpolation", "Drive-Controlled Positioning" and
"Positioning Block Mode".
Use Feedforward values (velocity feedforward, acceleration feedforward) are de‐
rived from the position command value characteristic. In "P0-0556, Config
word of axis controller", you can set whether the values of "P0-0059, Additive
position command value, controller" are included in the generation of the
feedforward values or whether they are afterwards added to the position
command value generated by command value adjustment. Parameter
"P-0-0059, Additive position command value, controller" is overwritten with
"0" if there is an internal error reaction in the drive.
If the values of "P-0-0059" have been used for generating the

feedforward values, the time at which the additive position com‐
mand value takes effect is delayed by 1 position clock!
"P-0-0059" can only be used in position-controlled operation modes, such as

cyclic position control, drive-internal interpolation, drive-internal positioning
and positioning block mode.
The actually effective position command value (addition of posi‐

tion command value from command value adjustment of current
operation mode and "additive position command value, control‐
ler") is displayed in parameter "P0-0434, Position command value
of controller".
This parameter is used, for example, by the drive firmware to set command
values from the firmware-internal command value generator without limitation
and deformation (noise generator for control loop analysis). It can, for exam‐
ple, also be used by the control master for adding feedforward values!
S-0-0077 /
S-0-0078
MPx / PSB: min./max.: S-0-0076 / S-0-0076 Default value: ---
4.1.58 P-0-0060, Filter time constant additive position cmd value

Hardware --
Function This parameter serves for parameterization of the filter effect for the additive
position command value (see P-0-0692), which is filtered via a VZ1 filter
(PT1).
See also Functional Description "Basic Functions of the Synchronization
Modes"
● Either the parameter "P-0-0691, Additive position command value, proc‐

ess loop " or "S-0-0048, Additive position command value " is filtered.
● Bit 0 of "P-0-0155, Synchronization mode " decides for which parameter
the filter is used for. Is bit "0 = 0", the parameter "P-0-0691" is filtered,
otherwise the parameter "S-0-0048".
Unit: ms Extr. val. ch.: + Decim. pl.: 2
4.1.59 P-0-0061, Angle offset begin of table

Hardware --
Function This is the angle by which the access to the access to the cam table or Mo‐
tionProfile is offset in negative direction in relation to the master axis position
(P-0-0776).
Unit: Deg Extr. val. ch.: + Decim. pl.: 4
4.1.60 P-0-0063, Torque-generating voltage, actual value

Hardware --
Function Display parameter for the torque-generating component of the voltage output
by the current loop. The value is updated with the current loop cycle time.
Unit: V Extr. val. ch.: -- Decim. pl.: 1
4.1.61 P-0-0064, Flux-generating voltage, actual value

Hardware --
Function Display parameter for the flux-generating component of the voltage output by
the current loop. The value is updated with the current loop cycle time.

4.1.62 P-0-0065, Absolute voltage value, actual value

Hardware --
Function This parameter displays the absolute value of the voltage output by the cur‐
rent loop which consists of the voltage components Ud and Uq.
The displayed voltage value corresponds to the measured value

available at the motor terminals (conductor reference) and is up‐
dated with the current loop cycle time!
See also Functional Description "Motor Control"

4.1.63 P-0-0067, Phase current U, actual value

Hardware --
Function This parameter is used to display the actual current value in the motor
phase U measured in the current loop clock (TA, current).
See also Functional Description "Performance Data"
4.1.64 P-0-0068, Phase current V, actual value

Hardware --
Function This parameter is used to display the actual current value in the motor
phase V measured in the current loop clock (TA, current).
See also Functional Description "Performance Data"

4.1.65 P-0-0070, Effective additive torque/force command value

Hardware --
Function This parameter displays the additive torque/force command value effective in
the drive.
The value of the parameter is applied from the torque/force command value
in an additive way (S-0-0081). Usually, this is done without any delay. If the
external acceleration feedforward control function is used, however, applica‐
tion of the value from parameter "Delay of add. command values" (P-0-0458)
is delayed.
S-0-0093 /
S-0-0094
4.1.66 P-0-0071, C3100 Command Recalculate actual value cycle

Hardware --
Function By means of the command C1300, it is possible in the operating mode (OM,
bb, Ab) to recalculate the actual value cycle depending on the parameter
"P-0-0155, Synchronization mode", bit 4 "generation of actual value cycle".
After the command has been completed, it is necessary to start the command
"C0300 Set absolute position procedure command" (S-0-0447) in order to ini‐
tialize the actual position values.

4.1.67 P-0-0072, Cam table 1

Hardware --
Function Parameter "P-0-0072" contains a table with data points tab (φ) for the profile
of cam 1.
Rexroth IndraDrive supports up to 8 cam tables which can be divided into the
following groups:
● 4 cam tables with 3 to 1024 data points (P-0-0072, P-0-0092, P-0-0780,
P-0-0781)
P-0-0785)
The individual data points of the table are interconnected by

means of cubic spline interpolation.
See also Functional Description "Electronic Cam With Real/Virtual Master

Axis"
Structure The parameter has the following structure:
● The first element in the table is the data point for φ= 0°.
● The last element in the table is the data point for φ= 360°. (old standard)
or φ = 360° (new standard).
Table value φ = 360° - dφ (old stand‐ φ= 360° (new standard)

ard)
0 0 0
1 25 33,33
2 50 66,66
3 75 100
Tab. 4-15: Example of a Linear Cam Table (0 - 100% With 4 Data Points) With
Old and New Standard
● The actual values of the cam table are percentage values. They can be
between -799.999999% and 799.999999%.
● A value of 100% results in a position that corresponds to the active dis‐
tance (P-0-0093 or P-0-0073). The position of the slave axis is deter‐
mined by means of the positions determined in this way.
● When the table is used for the cam mode, the values are always map‐
ped to one master axis revolution (360°).
● When the table is used for a motion step of the MotionProfile mode, the
table applies from the master axis initial angle of this step to the master
axis initial angle of the following step.
● The data point distance dφ depends on whether the last table value is to
apply to the end angle of the table or to the end angle - dφ. This infor‐
mation on the table format must be set in bit 8 of "P-0-0086, Configura‐
tion word synchronous operation modes".
If the last table value applies to the end angle, the relationship is as follows:
Fig. 4-5: Data Point Distance for φ= 360°

If the last table value applies to the end angle - dφ, the relationship is as fol‐
lows:
Fig. 4-6: Data Point Distance for φ = 360°- dφ
When you use the table in the "MotionProfile" mode, the first table
value must be "0". The last table value must be for the master ax‐
is end angle (bit 8, P-0-0086 = 1)!
P-0-0072 - Attributes Function: Par Editable: ++ Data length: 4Byte var.

min./max.: -799,999999 /
MPx / PSB: Default value: s. Text
799,999999
4.1.68 P-0-0073, Cam distance 2

Hardware --
Function The distance 2 is used for the function "clocked pull roll". The function is acti‐
vated via bit 2 = 1 in the parameter "P-0-0086, Configuration word synchro‐
nous operation modes "
This means that if the difference between the new cam table value and the
old cam table value is negative, the profile of the cam is multiplied with dis‐
tance 2 (function "clocked pull roll").
Axis"
S-0-0077 /
S-0-0078

4.1.69 P-0-0074, Encoder type 1 (motor encoder)

Hardware --
Function This parameter is used to inform the controller about the encoder type which
is to be evaluated as a motor encoder.
Structure
Increase value in
Control Sections
All Devices
except Economy
Economy
P-0-0074
and
Motor encoder used
0 No encoder (sensorless operation) X X

2 (16*) Encoder with sine signals (1 Vpp, 5 V or 12 V supply) X X
Code number for motor type code field "encoder" = "C_"
4 Encoder with sine signals and HIPERFACE1) interface (1 Vpp, 12 V supply) X X
Code number for motor type code field "encoder" = "S1", "M1", "_3", "_5"
5 (18*) Encoder with square-wave signals (TTL, 5 V or 12 V supply) X X
6 (8*) Encoder with sine signals and EnDat2.1 interface (1 Vpp, 5 V or 12 V supply) X X
Code number for motor type code field "encoder" = "_2", "_6"
9 Encoder of MSM motors (digital) X X
103) Resolver encoder (5 Vpp, 10 Vpp supply/8 kHz) without data memory X X
132) Encoder combination: Encoder with square-wave signals (TTL, 5 V or 12 V supply), X
analog commutation encoder (hall sensor encoder SHL02 [12 V supply] or MCL
motor with hall unit "L1" [MCP...-L1...])
152) Encoder combination: Encoder with sine signals (1 Vpp, 5 V or 12 V supply), ana‐ X
log commutation encoder (hall sensor encoder SHL02 [12 V supply] or MCL motor
with hall unit "L1" [MCP...-L1...])
19 "NYCe encoder" (digital) X X
23 Encoder combination: Position encoder with sine signals (1Vpp, 5V or 12V supply) X X
and digital Hall sensors (12V supply) or MCL motor with Hall unit "L0" (MCP...-
L0...), connection via SHL03) as commutation encoder
26 Digital encoder (sercos encoder profile) X X
* Still possible for compatibility reasons

1) Only HIPERFACE encoders with type ID "FF" or the HIPER‐
FACE encoders released by Rexroth can be used, see
"DE_EN_FAQ_IndraDrive_unterstützte_Geber"
2) The interface occupied by the position encoder can be as‐
signed via "P-0-0077, Assignment motor encoder -> optional
slot". The function of the commutation encoder is associated
with the motor encoder and is detected automatically. The as‐
signed interface must not be assigned via "P-0-0078."
3) When connecting to X4, the safety technology option "S4" can‐
not be used.
Tab. 4-16: Assignment of motor encoder to value of P-0-0074
The encoder interface for the motor encoder is defined in

"P-0-0077, Assignment motor encoder -> optional slot".

Systems"
See also Project Planning Manual "Drive System with HCS01"
Encoders with square-wave signals should not be used as motor

encoders. When encoders with sine signals are used, the drive
characteristics are better than with square-wave signals.

4.1.70 P-0-0075, Encoder type 2 (optional encoder)

Hardware --
is to be evaluated as encoder 2.
systems"
See also project planning manual "Drive System with HCS01"
Structure
Value in P-0-0075 Optional encoder used
0 No encoder
1 Reserved
2 (16*) Encoder with sine signals (1Vpp, 5V or 12V supply)
3 Reserved
4 Encoder with sine signals and HIPERFACE1) interface (1Vpp, 12V supply)
5 (18*) Encoder with square-wave signals (TTL, 5 V or 12 V supply)
6 (8*) Encoder with sine signals and EnDat2.1 interface (1Vpp, 5V or 12V supply)
7 Reserved
10 Reserved
26 Digital encoder (sercos encoder profile)

1) Only HIPERFACE encoders with type ID "FF" or the HIPER‐
FACE encoders released by Rexroth can be used, see
Tab. 4-17: Assignment of optional encoder to value of P-0-0075
The encoder input for encoder 2 is determined in "P-0-0078, As‐

signment of encoder 2->interface"!

4.1.71 P-0-0076, Encoder type 3 (measuring encoder)

Hardware --
is to be evaluated as measuring encoder.
See also Functional Description "Measuring Encoder"
See also Project Planning Manual "Drive System With HCS01"
Structure
Value in P-0-0076 Measuring encoder used

0 No encoder
2 (16*) Encoder with sine signals (1Vss, 5V or 12V supply)
4 Encoder with sine signals and HIPERFACE 1) interface (1Vss, 12V supply)
5 (18*) Encoder with square-wave signals (TTL, 5V or 12V supply)
6 (8*) Encoder with sine signals and EnDat2.1 interface (1Vss, 5V or 12V supply)
18 Encoder with square-wave signals (TTL, 12V supply)

1) Use can only be made of HIPERFACE encoders with type ID
"FF" or of the HIPERFACE encoders released by Rexroth, see
Tab. 4-18: Assignment of Measuring Encoder to Value of P-0-0076
The encoder input for the measuring encoder must be determined

in "P-0-0079, Assignment measuring encoder→optional slot"!

4.1.72 P-0-0077, Assignment of encoder 1->interface

Hardware --
Function This parameter determines the interface intended for encoder 1 function.
If an "encoder combination" with analog commutation encoder is

used as encoder 1, two encoder interfaces are assigned to:
● Position encoder (TTL square wave encoder or 1Vpp sine
encoder)
● Commutation encoder (Hall sensor box SHL02 or MCL Hall
unit)
The "encoder combination" functionally is one encoder 1 and in
"P-0-0077" only has to be assigned to the interface assigned to
the position encoder.
The connection and evaluation of the commutation encoder de‐
pends on the control section used.
Single-axis, MPB firmware
P-0-0077 Interface for encoder 1
0 None
1 X4 (interface 1 => preferred slot for encoder 1)
2 X8 (interface 2)
4 X10 (interface 4)
20 Master communication (Sercos)
Tab. 4-19: Determining the interface for encoder 1

used as encoder 1, the following interface assignment has to be
complied with for the single-axis control section:
X8 multi-encoder interface (EC):
Position encoder: X4 (assigned in P-0-0077); commutation en‐
coder: X8 (not assigned in P-0-0078)
X8 no multi-encoder interface
Single-axis, MPC firmware
0 None
1 X4 (interface 1 => preferred slot for encoder 1)
2 X8 (interface 2)
4 X10 (interface 4)
21 CCD (Sercos)
The CCD (Sercos) interface is only supported if the Multi-Ethernet

(ET) option has been plugged.

complied with for the single-axis control section:
X8 multi-encoder interface (EC):
X8 no multi-encoder interface
Double-axis, with MPM-18VRS and above
0 None
1 X4.1 (interface 1, encoder evaluation axis 1)
3 X8 (interface 3, freely assignable encoder evaluation)
Tab. 4-21: Determining the interface for the motor encoder

complied with for the double-axis control section:
If interface X8 is a multi-encoder interface (EC), both axes (1 and
2) can evaluate an "encoder combination":
● Position encoder: X4.1 (assigned in P-0-0077); commutation
encoder: X8 (not assigned in P-0-0078)
If interface X8 is not a multi-encoder interface (EC), only axis 2
can evaluate an "encoder combination":
Multi-axis (HCT, HCQ), MPM firmware
0 None
1 X4.1 (encoder evaluation axis 1)
5 X8 (freely assignable encoder evaluation)

With the HCT and HCQ devices, no "encoder combination" may

be used as encoder 1.

MPx / PSB: min./max.: 0 / 21 Default value: s. Text
4.1.73 P-0-0078, Assignment of encoder 2->interface

Hardware --
Function This parameter determines the interface intended for encoder 2.

P-0-0078 Interface for connection of encoder 2
0 None
1 X4 (interface 1)
2 X8 (interface 2)
4 X10 (interface 4)

0 None
1 X4 (interface 1)
2 X8 (interface 2)
4 X10 (interface 4)
21 CCD (Sercos)
CCD (Sercos) interface is only supported if the Multi-Ethernet

0 None


0 None

4.1.74 P-0-0079, Assignment measuring encoder->interface

Hardware --
Function This parameter determines the interface intended for measuring encoder
function.
P-0-0079 Interface for connecting the measuring encoder or for measuring en‐
coder evaluation
0 None
1 X4 (interface 1)
2 X8 (interface 2)
4 X10 (interface 3)
Tab. 4-27: Determining the interface for the measuring encoder

coder evaluation
0 None
1 X4 (interface 1)
2 X8 (interface 2)
4 X10 (interface 3)
coder evaluation
21 CCD (Sercos)
CCD (Sercos) interface is only supported if the Multi-Ethernet

coder evaluation
0 None
● An additional measuring encoder connected to X8 or X10

can only be evaluated by one axis. Only one measuring en‐
coder evaluation is possible for a device.
● Within an axis, the connected motor encoder can also be
evaluated as a measuring encoder.
● Multiple measuring encoder evaluation across multiple axes
for a connected encoder is not possible.
coder evaluation
0 None

● An additional measuring encoder connected to X8 can only

be evaluated by one axis. Only one measuring encoder eval‐
uation is possible for a device.
● Within an axis, the connected encoder 1 can also be evalu‐
ated as a measuring encoder.
● Multiple measuring encoder evaluation across multiple axes
for a connected encoder is not possible.
See Functional Description "Measuring encoder"

4.1.75 P-0-0080, Assignment motor encoder->interface

Hardware --
Function This parameter determines the interface intended for the motor encoder func‐
tion.
If an "encoder combination" with an analog commutation encoder

is used as a motor encoder, the following encoders are assinged
to two encoder interfaces:
● Position encoder (TTL square-wave encoder or 1Vpp sine
encoder)
● Commutation encoder (SHL02 Hall sensor box or MCL Hall
unit)
The "encoder combination" functionally is one motor encoder and
in "P-0-0080" only has to be assigned to the interface assigned to
the position encoder.
The connection and evaluation of the commutation encoder de‐
pend on the control section used.
P-0-0080 Interface for the motor encoder
0 None
1 X4 (interface 1 => preferred slot for motor encoder)
2 X8 (interface 2)
4 X10 (interface 4)

0 None
1 X4 (interface 1 => preferred slot for motor encoder)
2 X8 (interface 2)
4 X10 (interface 4)
21 CCD (Sercos)
The CCD (Sercos) interface is only supported if the Multi-Ethernet

0 None
3 X8 (interface 3, encoder evaluation can be freely assigned)
6 X10 (interface 6, encoder evaluation can be freely assigned)

0 None
5 X8 (encoder evaluation can be freely assigned)
With HCT and HCQ devices, the "encoder combination" cannot

be used as a motor encoder.


4.1.76 P-0-0083, Gear ratio fine adjustment

Hardware --
Function The gear ratio of the electronic gear is changed by this percentage.
Use The values can be between - 799,999999% and 799,999999%.
gear ratio (GR) = gear ratio * (1 + P-0-0083)
Example:
P-0-0083 = 100% -> GR = GR * 2
P-0-0083 = - 100% -> GR = GR * 0
min./max.: -799,999999 /
MPx / PSB: Default value: 0,000000
799,999999
4.1.77 P-0-0084, Number of bits per master axis revolution

Hardware --
Function This parameter sets the resolution of the master axis.

The default setting for this parameter is 20. One master axis revolution thus
corresponds to 2^20 (1048576) increments. The resolution can be increased
by entering a value greater than 20. Every increase by 1 results in the dou‐
bling of the resolution. A value greater than 20 makes sense when big slave
axis distances are traveled at very low master axis velocities. Negative con‐
sequences of quantization effects are reduced by a higher resolution. This
parameter does not only set the format of all master axis positions. The reso‐
lution of "P-0-0052, Actual position value of measuring encoder" is influ‐
enced, too.
Master axis positions exchanged between control unit and drive

or between drives must have the same resolution. This, too, ap‐
plies to the actual position value of measuring encoder (P-0-0052)
of a real master axis.
If a control unit, which transmits master axis positions or receives
the actual position value of a real master axis, dose not have any
possibility for setting the resolution, P-0-0084 must be set to 20 in
all axes.


4.1.78 P-0-0085, Dynamic angle offset

Hardware --
Function With this parameter it is possible to dynamically offset the effective master
axis position according to the following equation:
Fig. 4-7: Effective Internal Master Axis Position

Example:
Assumption: Electronic gear 1:1 and fine adjustment = 0

Master axis velocity = 1000 rpm
Dynamic angle offset = 100%
Position loop Kv-factor (S-0-0104) = 1
Fig. 4-8: Example for Calculating an Effective Internal Master Axis Position
In this example the internal master axis position is offset by 2^P-0-0084 incr.
The figure below illustrates the offset position command value and actual po‐
sition value with P-0-0085 = 100%:
Fig. 4-9: Offset Position Command Value and Actual Position Value With
P‑0‑0085 = 100%
This function is available in the operation modes "cam" and "Mo‐

tionProfile".

4.1.79 P-0-0086, Configuration word synchronous operation modes

Hardware --
Function This parameter serves to make various basic settings for synchronization op‐
eration modes.
Structure
0 Distance switching
0: Distance switching at distance switch angle / cam table
switching
1: Distance switching at once
1 Gear switching
0: The change takes immediate effect
1: The change takes place on distance switching / cam ta‐
ble switching
2 Special case: clocked pull roll

0: Clocked pull roll deactivated
1: Clocked pull roll activated
3 Reference for distance 1 and gear switching
0: Distance switching is reference for bits 0&1
1: Cam table switching is reference for bits 0&1
4 Gear reduction path for cam function
0: Not active
1: Active
7 Cam table interpolation type
0: Cubic spline interpolation
1: Linear interpolation
8 Cam table 1 format
0: Last value in the table for 360°-dϕ (old)
1: Last value in the table for 360° (new)
Tab. 4-35: P‑0‑0086, Configuration word synchronous operation modes

Use ● Bit 0: Allows selecting whether new values for the cam distance
(P-0-0093) take immediate effect or not before the distance switch angle
is crossed or the cam table is switched.
● Bit 1: Allows selecting whether new values for the master drive gear
(P-0-0093) take immediate effect or not before the distance switch angle
is crossed or the cam table is switched.
● Bit 2: Allows switching between cam distance 1 (P-0-0093) and cam dis‐
tance 2 (P-0-0073) via bit 2 = 1 and in relation to the slope of the cam
table. If the gradient of the cam table is positive, cam distance 1
(P-0-0093) is active; with negative gradient, cam distance 2 (P-0-0073)
is active.
● Bit 3: Defines the reference point for the delayed acceptance of changes
(distance switch angle or cam table switching).
The examples below illustrate the cooperation among the bits:
Bit 3 Bit 0 Bit 1 Significance
0 0 0 A new master drive gear (P-0-0156/P-0-0157) takes im‐

mediate effect. A new "P-0-0093, Cam distance" is applied
only after the "P-0-0144, Cam distance switch angle" is
exceeded in positive or negative direction.
0 1 1 A change in "P-0-0093, Cam distance" is immediately ap‐
plied and therefore the master drive gear as well.
● Bit 4: This bit allows activating a linear phase-synchronous path in the

cam and MotionProfile position synchronization modes.
● Bit 7: In case of endless cams where module overflow does not take
place between the start and end values of the cam table, switching to
linear interpolation is required.
Bit 7 may only be changed in parameter mode (PM).
● Bits 8... 15: These bits specify the format of the respective cam table
(see P-0-0072, P-0-0092, P-0-0780 to P-0-0785). If a table is to be used
for the MotionProfile, the last value in the table must be at the end angle
and the related bit must be set.
MPx / PSB: min./max.: 0x0 / 0xFFFF Default value: 0x0
4.1.80 P-0-0087, Actual position value offset of measuring encoder

Hardware --
Function The evaluation of the measuring encoder results in a position feedback value
of the measuring encoder.
Parameter "P-0-0087" can be used to apply an offset to the feedback posi‐
tion.

2 measuring encoder scaling type", the unit and the number of
decimal places of the parameter are changed:

See also Functional Description "Shifting the Position Data Reference"
4.1.81 P-0-0088, Control word synchronization modes

Hardware --
Function This parameter can be used to control execution of the operation mode in
operating mode.
"P-0-0088" can be configured in the cyclic command value tele‐

gram.
See also Functional Description "MotionProfile With Real/Virtual Master Axis"

Structure
2... 0 Selection of active cam table
0 0 0: Cam table 1 (P-0-0072)
0 0 1: Cam table 2 (P-0-0092)
0 1 0: Cam table 3 (P-0-0780)
0 1 1: Cam table 4 (P-0-0781)
1 0 0: Cam table 5 (P-0-0782)
1 0 1: Cam table 6 (P-0-0783)
1 1 0: Cam table 7 (P-0-0784)
1 1 1: Cam table 8 (P-0-0785)
5/ 4 Active position synchronization mode
0 0: Phase synchronization
0 1: Electronic cam
1 0: MotionProfile
7/6 Selection of master axis

00: External virtual master axis (P-0-0053)
01: Internal virtual master axis (P-0-0761) (as of
MPx-17V06)
10: Real master axis (P-0-0052)
11: Group axis 1 position (P-0-0787) (as of MPx-17V06)
8 Repeated synchronization
With active operation mode, a bit toggle triggers repeated
synchronization.
9 Set selection (MotionProfile)
0: Set 0
1: Set 1
10 Position data processing (MotionProfile)
0: Absolute
1: Relative
11 Generation of "In Synchronization" bit with inactive syn‐
chronous operation mode
0: For position synchronization mode
1: For velocity synchronization mode
Tab. 4-36: P-0-0088, Control word synchronization modes

Use ● Bits 0/1/2: "Bit 0" to "bit 2" are used to select the cam table from which
the table values are to be taken in "cam" mode. With active operation
mode, the drive does not accept the preselection before the table ac‐
cess angle exceeds "P-0-0094, Cam switch angle". The active cam ta‐
ble can be taken from bits 0, 1 and 2 of parameter "P-0-0089, Status
word synchronization modes".
● Bits 5/4: If "position synchronization" mode is active, these bits specify
the kind of synchronization.
● Bits 6/7: If "position synchronization" or "velocity synchronization" mode
is active, these bits determine with which master axis the position or ve‐
locity command values are generated. There are the 2 options: "external
virtual master axis" and "real master axis".
● Bit 8: With active "position synchronization" mode, toggling this bit cau‐
ses dynamic synchronization to be restarted.
● Bit 9: This bit takes effect when the "MotionProfile" mode (analytically
defined cam) is active. One of the two possible parameter sets is selec‐
ted. Any change causes the parameter set to be switched, when the
master axis (table access angle) passes the master axis switching posi‐
tion (P-0-0700). The active set is acknowledged in bit 3 of "P-0-0089".
● Bit 10: This bit defines the processing mode in "MotionProfile" mode
(analytically defined cam). In case of absolute processing, the sum of
the distances of a set must be "0" or, in case of modulo position scaling,
a multiple of the modulo value. In this case, the slave axis initial position
parameterized in "P-0-0701" is reached every time the master axis posi‐
tion (table access angle) is "0". In case of relative processing, a motion
step begins at the point where the previous one ends.
● Bit 11: While synchronization mode is inactive, this bit defines the syn‐
chronization mode for which the "In Synchronization" bit (P-0-0089: Bit
8) is generated. If bit 11 is set, the "In Synchronization" bit is generated

for velocity synchronization mode. Otherwise, the "In Synchronization"
bit is generated for position synchronization mode which is specified in
more detail with bits 4 and 5.
4.1.82 P-0-0089, Status word synchronization modes

Hardware --
Function The parameter delivers useful status information regarding execution of syn‐
chronous operation modes and is evaluated toghether with "P-0-0086, Con‐
figuration word synchronous operation modes".
Structure The status parameter is a bit string with the following construction:
2… 0 Feedback active cam shaft

0 0 0: Cam table 1 active (P-0-0072)
3 Active set (MotionProfile)
0: Set 0 active
1: Set 1 active
4 Position status of actual position value in actual value cy‐
cle
0: Not homed
1: Homed
5 Status distance switching
0: Latest distance value not active
1: Latest distance value active
6 Status positioning the parameter P-0-0054
0: Positioning active
1: Positioning completed

7 Acknowledgement master axis selection
0: Virtual master axis active
1: Real master axis active
8 Synchronous Mode in Synchronization
0: Slave axis has not been synchronized
1: Slave axis has been synchronized
10/9 Active snychronous mode
00: Angle synchronization
01: Electronic cam
10: MotionProfile
12 Profile check carried out, set 0 (MotionProfile)
0: Not carried out
1: Carried out
13 Profile check ok, set 0 (MotionProfile)
0: Failure or not carried out
1: Without failure
14 Profile check carried out, set 1 (MotionProfile)
0: Not carried out
1: Carried out
15 Profile check ok, set 1 (MotionProfile)
0: Failure or not carried out
1: Without failure
Tab. 4-37: P‑0‑0089, Status word for synchronous operation modes

Use When using/interpreting the parameter, observe the following aspects:
● Bit 0... 2: The drive signals from which cam table the table values are
taken.
● Bit 3: Indicates which of the two sets of the MotionProfile is active.
● Bit 4: Displays the position status of "P-0-0753, Position actual value in
actual value cycle ". Is the position status equal one, an absolute syn‐
chronization can take place.
● Bit 5: When a new distance 1 is parameterized in "P-0-0093", bit 5 is de‐
leted. If the new value is accepted as active distance, bit 5 is set to 1.
● Bit 6: The additive master axis position (P-0-0054) is travelled with a 2.
order interpolator. During the travel motion this bit is 0. It is set to 1
when the interpolator has reached the final value.
● Bit 7: Acknowledges the master axis selection (virtual/real).
● Bit 8: Indicates whether the axis is within the synchronization window or
not. Depending to the operation mode, there are differend conditions.
– Velocity Synchronization: see "S-0-0183, Velocity synchronization
window"
– Position synchronization: see "S-0-0228, Position synchronization
window"
When activating the synchronization mode "P-0-0089, Bit 8" is always

set to "0" until the synchronization is completed. This is valid, when be‐
fore the new synchronization mode was activated, "P-0-0089, Bit 8" was
set.
● Bit 10/9: Acknowledge in the operation mode: "Position synchronization"
the selection of the operating mode by the bits 5/4 of "P-0-0088, Control
word synchronization modes ".
● Bit 13/12: For set 0 of MotionProfile.
Bit 12 indicates, if the parameterized profile of set 0 was checked. Then
select the check result from bit 13. "P-0-0702, MotionProfile, diagnosis,
set 0" contains more detailed information on negative check results.
● Bit 15/14: For set 1 of MotionProfile. Bit 14 indicates, if the parameter‐
ized profile of set 1 was checked. Then select the check result from bit
15. "P-0-0709, MotionProfile, diagnosis, set 1" contains more detailed
information on negative check results.
MPx / PSB: min./max.: 0x0 / 0xFFFF Default value: ---
4.1.83 P-0-0090, Travel range limit parameter

Hardware --
Function As of MPx-18VRS: Replacement parameter of "S-0-0532" for compatible ac‐

cess.
This parameter serves to define the signal behavior of the travel range limit
switch inputs and the behavior of the drive with regard to travel range ex‐
ceedance.
See also Functional Description "Position Limitation/Travel Range Limit
Switches"
See also Functional Description "Digital Inputs/Outputs"
0 Signal behavior of travel range limit switch inputs

0: Not inverted, 24 V ⇒ travel range exceeded
1: Inverted, 0 V ⇒ travel range exceeded
1 Activation of travel range limit switches
0: No
1: Yes
Digital inputs must be assigned to bit 0 and bit 1 of param‐
eter "P-0-0222". Otherwise, it is not possible to write to the
bit in operation mode.
2 Treatment of travel range exceedance
0: As an error (according to error reaction)
1: As a fatal warning (deceleration)
Tab. 4-38: Relevant bits of P-0-0090, Travel range limit parameter

4.1.84 P-0-0091, Position/travel range limit status

Hardware --

cess.
This parameter displays the status of position limitation and travel range limit
switch monitoring.
The status of position limitation and travel range limit switch monitoring is dis‐
played even if monitoring has been deactivated.
Switches"
Structure
0 0: Positive position limit value not exceeded

1: Positive position limit value exceeded
1 0: Negative position limit value not exceeded
1: Negative position limit value exceeded
2 0: Positive travel range limit switch not exceeded
1: Positive travel range limit switch exceeded
3 0: Negative travel range limit switch not exceeded
1: Negative travel range limit switch exceeded
Tab. 4-39: Relevant Bits of P‑0‑0091, Position/travel range limit status


4.1.85 P-0-0092, Cam table 2

Hardware --
Function Parameter P-0-0092 contains a table with data points tab (φ) for the profile of
cam 2.
See also Parameter Description "P-0-0072, Cam table 1"
Rexroth IndraDrive supports up to 8 cam tables which can be divided into the
following groups:
P-0-0781)
P-0-0785)


Axis"
min./max.: -799,999999 /
799,999999
4.1.86 P-0-0093, Cam distance

Hardware --
Function This parameter determines the cam distance with which the profile of the cam
is multiplied.
Axis"
S-0-0077 /
S-0-0078

4.1.87 P-0-0094, Cam switch angle

Hardware --
Function When the master axis position exceeds this angle in position or in negative
direction, switching to that cam table takes place which was preselected by
parameter "P-0-0088, Control word synchronization modes".
The parameter "P-0-0089, Status word synchronization modes" then is set to
the activated cam table. When the drive is initialized for the first time, the cam
set in P-0-0088 is activated. In this case, too, the parameter P-0-0089 is set.
Axis"
4.1.88 P-0-0095, Absolute encoder monitoring window, encoder 1

Hardware --
Function When switching on a drive with an absolute encoder 1, a check is run to de‐
termine whether the current position feedback value differs from the position
feedback value at the time the drive was switched off the last time.
If the difference exceeds the value defined in this parameter, error message
"F2074 Actual pos. value 1 outside absolute encoder window" is returned.
When switching the drive off, the current encoder data of encoder 1 are
saved in "P-0-0177".
Monitoring can be deactivated by writing "0" to this parameter.
See also functional description "Monitoring the measuring systems"

S-0-0077 /
S-0-0078

4.1.89 P-0-0096, Absolute encoder monitoring window, encoder 2

Hardware --
Function When switching on a drive with an absolute optional encoder (encoder 2), a
check is run to determine whether the current position feedback value of the
encoder differs from the position feedback value at the time the drive was
switched off the last time.
"F2075 Actual pos. value 2 outside absolute encoder window" is returned.
When switching the drive off, the current encoder data of the absolute encod‐
er are saved in "P-0-0178".
Monitoring can be deactivated by writing "0" to this parameter.

S-0-0077 /
S-0-0078
4.1.90 P-0-0097, Absolute encoder monitoring window for measuring

encoder
Hardware --
Function When switching on a drive with an absolute measuring encoder, a check is

run to determine whether the current position feedback value of the encoder
differs from the position feedback value at the time the drive was switched off
the last time.
F2076 is returned. When switching the drive off, the current encoder data of
the absolute encoder are saved in "P-0-0179, Absolute encoder buffer 3
(measuring encoder)".

2 measuring encoder scaling type", the unit and the number of
decimal places of the parameter are changed:
See functional description "Measuring encoder"


Unit: Incr Extr. val. ch.: + Decim. pl.: 0
4.1.91 P-0-0098, Max. model deviation

Hardware --
Function In operation modes with drive-internal position control, the position control
loop is also monitored in the drive. For this purpose, a "model position feed‐
back value" is calculated and compared to the actual position feedback value
(S-0-0051 or S-0-0053). The maximum value of deviation is saved in
"P-0-0098" and supports definition of the value of the lag monitoring window
(S-00159).
Before the "test run" for an axis is started, "P-0-0098" has to be

set to "0".
See also functional description "Position Controller (with respective feedfor‐

ward functions and actual value adjustment)"
Use There are two different cases for the "model position feedback value":
● Position control (or interpolation) with lag error
The model position feedback value is the difference between the posi‐
tion command value and the temporal derivative of the position com‐
mand value curve, divided by the position controller Kv factor (if an addi‐
tive velocity command value (S-0-0037) is added, it is also divided by
the position controller Kv factor and subtracted from the position com‐
mand value).
● Lagless position control (or interpolation)
In this case, the model position feedback value corresponds to the posi‐
tion command value (if an additive velocity command value (S-0-0037)
is added, it is also divided by the position controller Kv factor and sub‐
tracted from the position command value).
See also:
DE_FAQ_IndraDrive_Lageregelung_Überwachung/Anzeige_Schleppabstand
S-0-0077 /
S-0-0078

4.1.92 P-0-0099, Position command smoothing time constant

Hardware --
Function The position command smoothing time constant determines the maximum
jerk possible in the case of operation modes with position control.
The maximum jerk is calculated from:
Fig. 4-10: Maximum jerk
The parameter "P-0-0099, Position command smoothing time

constant" is only effective with the linear fine interpolator having
been activated (P-0-0187 = 0). The filter is deactivated by writing
the value 0 to this parameter.
See also Functional Description "Command Value Processing in Position

Control"
4.1.93 P-0-0100, Position command value extension

Hardware --
Function The parameter "P-0-0100, Position command value extension" extends the
parameter "S-0-0047" by 16 bits to 48 bits. This increases the resolution by 4
decimal places.
See also Parameter Description "S-0-0047, Position command value"

4.2 P-0-0101 to P-0-0200 General Functions

4.2.1 P-0-0101, Configuration STO/SBC
Allocation Contained in 17VRS: «MPB» «MPE» «-» «MPC»
Hardware L3, L4
Function This parameter configures the behavior of safety options "L3" and "L4".
See also Functional Description "Integrated Safety Technology"
Structure
0 Diagnosis on selection in AF mode: As of

0: Diagnosis with fatal error F8027 (default) MPx-17V08
1: Diagnosis with fatal warning E8027

1 Diagnosis output: As of
0: Full diagnosis output (default) MPx-17V08
1: Restricted diagnosis output
Tab. 4-40: P‑0‑0101, Configuration STO/SBC

Cycl. tra.: -- Comb. check: + Set-depend.: --
4.2.2 P-0-0105, Time stamp for list of diagnostic message numbers

Hardware --
Function This parameter contains a list of the points of time at which the diagnostic
drive message was changed. At each change of "S-0-0390 Diagnostic mes‐
sage number", the respective point of time (value from "P-0-0190, Operating
hours control section") is recorded. The last point of time at which the diag‐
nostic message was changed is entered in the first line of the list. All entries
already existing are moved down by one line. The list is full after 50 entries,
each other entry causes the oldest value to get lost.
The list from "S-0-0375, Diagnostic numbers list" corresponds

with the parameter P-0-0105. These parameters in the same line
contain the diagnostic message number corresponding to the re‐
spective point of time.
The numbers of the diagnostic error messages and the respective

points of time of the error events are only applied in S-0-0375 and
P-0-0105 by clearing the error message!

Unit: s Extr. val. ch.: -- Decim. pl.: 1
4.2.3 P-0-0106, Operating status STO/SBC

Allocation Contained in 16VRS: «MPB» «MPE» «-»
Contained in 17VRS: «MPB» «MPE» «-» «MPC»
Hardware L3, L4
Function This parameter provides binary status signals regarding the current state of
safety options "L3" and "L4".
See also Functional Description "Integrated Safety Technology"
Structure The individual bits of the parameter have the following significance:
0 Diagnostic message:
0: Limited
1: Complete
1 Operating status STO/SBC:
0: Normal operation (NO)
1: Special mode (STO/SBC)
2 Status of output stage:
0: Output stage enabled by STO
1: Output stage locked by STO
3 Error status
0: No error
1: Error
STO Safe torque off

SBC Safe brake control
Tab. 4-41: Operating Status STO/SBC
4.2.4 P-0-0107, Motor, type of position encoder

Hardware --
Function This parameter defines the essential properties of the motor encoder.
0 Encoder type
0: Rotary
1: Linear
3 Rotational direction
0: Not inverted
1: Inverted
Tab. 4-42: P-0-0107, Motor, type of position encoder

For Rexroth housing motors (MSK, MKE, 2AD, ADF, MAD, MAF), the bits 0,
3 are set to the value "0"!
4.2.5 P-0-0108, Master drive polarity

Hardware --
Function The polarity of the master axis position is inverted acc. to the electronic gear‐
box with this parameter. Therwith, an inverted electronic gearbox is realized.
See also Functional Description: "Synchronization Modes"
Structure
0 Master axis position

0: Polarity positive
1: Polarity negative
Tab. 4-43: P-0-0108, Master drive polarity

4.2.6 P-0-0109, Torque/force peak limit

Hardware --
Function Torque/force limit value that acts on the sum of all torque/force command val‐
ues:
● Command values from the acceleration feedforward controls (S-0-0348,
P-0-1126)
● Command values from the velocity loop (P-0-0049)

See also Functional Description "Torque/Force Limitation"
Use The parameter has a bipolar effect, i.e., positive and negative command val‐
ues are limited to the entered value. It does not allow cyclic write access and
therefore serves to absolutely define the maximum allowed drive torque
and/or the maximum allowed drive force.
This limit value should be defined according to the machine limits. It acts dur‐
ing drive-controlled deceleration, i.e., during the drive-controlled error reac‐
tion as well.
The unit for the values of this parameter depends on the scaling that has
been set (S-0-0086, Torque/force data scaling type).
The effective limit value is displayed in "P-0-0444, Actual value

peak torque limit". This value can be less than "P-0-0109" if, e.g.,
the value of "S-0-0092" is less than that of "P-0-0109" or if load-
dependent current limitation by motor or controller is active.
The torque limit values (S-0-0082, S-0-0083, S-0-0092) for limit‐
ing the torque during the machining process do not have any ef‐
fect during drive-controlled deceleration.

S-0-0093 /
S-0-0094
4.2.7 P-0-0110, Device control: Status word 2

Hardware --
Function The parameter "P-0-0110.0.0" is used to call several status messages.

1 Reserved In FW
Error class: F4, F6 and F7 18V30 and
1: No error above, and in
FW 20V12 and
0: Error above
See also Use
2 Reserved In FW
Error class: F8 (fatal errors) 18V30 and
1: No error above, and in
FW 20V12 and
0: Error above
See also Use
7 Locked by hardware With Sercos III,
0: The axis has not been locked by hardware inputs or the bit is map‐
safety inputs. ped to bit 7 of
S-0-0135
1: The axis has been locked due to a hardware input (e.g.,
E-Stop), an error on the module bus, STO or SMO selec‐
tion SMST_STO/SMES. Drive enable cannot be set.
Tab. 4-44: Device control: Status word 2
Since "S-0-0135" is only available for Sercos III, the parameter

"P-0-0110, Device control: Status word 2" is used to read the
state for all other master communications.
Bit 2,1: The bits 1 and 2 show whether or not errors of the error classes F4
(interface errors) to F8 (fatal errors) had been signaled since the last time the
command "S-0-0099, C05 Reset class 1 diagnostics" was executed. Depend‐
ing on the error class that is signaled, the drive carries out different error re‐
actions (P-0-0119, Best possible deceleration).
In many installations (e.g., Gantry axes) it is necessary that all axes be equal‐
ly decelerated in the case of error. Thus, all axes have to be decelerated with
the smallest possible delay. The bits 2 and 1 are updated in the position con‐
troller clock and can be assigned to the digital outputs. This enables other ax‐
es in the group to evaluate the signals in order to initiate a specific decelera‐
tion (E-Stop, quick stop with probe detection, drive enable signal switched off
by an MLD function, etc.). It is recommended to use the fast probe inputs
(see Project Planning Manual) as digital inputs.
Executing the command „S-0-0099, C05, Reset class 1 diagnostics“ sets the
bits to 1 again.
If the command "S-0-0099, C05 Reset class 1 diagnostics" can‐

not clear all errors or other errors are signaled during the execu‐
tion of the command C05, it is not ensured whether the bits 1/2
show 1 or 0 when the command is completed. Therefore, the
command "S-0-0099, C05 Reset class 1 diagnostics" cannot be
executed if the axis is in control and the bits 1 and 2 are evalu‐
ated. Drive enable (AF) can only be set for the axis if the bits 1/2
are 1 and the bit 13 (drive error) of "P-0-0115, Device control:
Status word" has not been set.

4.2.8 P-0-0111, Actual position value of motor

Hardware --
Function The "actual position value of motor" displays the current position of the motor
encoder. After the drive has been switched on, the actual position value is ini‐
tialized when the command "S-0-0422, C0200 parameterization level proce‐
dure command" is running, i.e. it is set to the initial value "0".
See also Functional Description "Complex actuators"
Use The actual position value is only used to control the motor and is independent
of the axis mechanics. Independent of the position scaling that has been set,
it is fixed to a scaling of 360,0000° and always limited to the modulo value of
360°.
Unit: P-0-4014 Extr. val. ch.: -- Decim. pl.: P-0-4014
4.2.9 P-0-0112, Actual velocity value of motor

Hardware --
Function This parameter displays the motor velocity irrespective of scaling and velocity
mix factor
If velocity scaling is set to load reference, the motor velocity is

displayed without consideration of the gear and the feed constant.
The unit is rpm or mm/min in case of linear motors.

See also Parameter Description "S-0-0040, Velocity feedback value"
4.2.10 P-0-0113, Bipolar velocity limit value of motor

Hardware --
Function This parameter serves to limit the motor velocity. The load gear and the feed
constant are not taken into account. The parameter is not affected by the
scaling of the velocity data. The parameter has the same effect as "S-0-0113,
Maximum motor speed", however, its value can be parameterized for all cus‐
tomer motor types.
"S-0-0113, Maximum motor speed" is loaded from the memory

when motors with encoder data memory are switched on.

Unit: P-0-4014 Extr. val. ch.: + Decim. pl.: P-0-4014
MPx / PSB: min./max.: 0 / P-0-4014 Default value: 0,0000
4.2.11 P-0-0114, Undervoltage threshold

Hardware --
Function This parameter can be used to configure the undervoltage threshold for the
DC bus voltage. The active undervoltage threshold results from the operation
mode of the converter and the value in P-0-0114.
Active undervoltage threshold
Converter operation mode

0 ≤ P-0-0114 ≤ UDC_min_default P-0-0114 > UDC_min_default
(cf. P-0-0860) 1)
Converter mode UDC_min_default P-0-0114
Inverter mode Undervoltage threshold of the converter2) Undervoltage threshold of the converter2)
Converter mode with
P-0-0114 P-0-0114
energy store
UDC_min_default Default undervoltage threshold 75% (3-phase operation) or

66% (1-phase operation) of the line crest value from P-0-0815.
1) Configuration is achieved via P-0-0860 bit 14 and bit 0.
2) P-0-0114 does not have any effect; the controller evaluates the
state information of the module bus ("DC bus not ok" or "DC
bus ok", P-0-0461), i.e. the undervoltage threshold of the con‐
verter is effective.
Tab. 4-45: Active Undervoltage Threshold For the DC Bus Voltage Subject To
the Converter Configuration
If the feedback value of the DC bus voltage (S-0-0380) is below

the active undervoltage threshold, undervoltage is detected in the
DC bus and the drive reaction defined in "P-0-0118" bit 5... 3 is
executed.
Use ● Individual raising of the undervoltage threshold in "converter mode" (de‐

fault configuration). "P-0-0114" is only effective if the parameterized val‐
ue is greater than the default undervoltage threshold.
● In "inverter mode", "P-0-0114" does not have any effect.
● Adjustment of the undervoltage threshold to the output voltage of the

energy store in "converter mode with energy store". The value in
"P-0-0114" must be parameterized such that it is less than the output
voltage of the energy store.
Unit: V Extr. val. ch.: + Decim. pl.: 0
4.2.12 P-0-0115, Device control: Status word

Hardware --
Function Using this parameter, it is possible to read the drive state (device control), in‐
dependent of the master communication that is used.
See also Functional Description "Operation modes"
See also Functional Description "Master communication"
See also Functional Description "Drive Halt"
Structure The individual bits have the following significance:
0 BB relay status Behavior de‐

0: BB relay contact opened pends on
1: BB relay contact closed P-0-0118, bit 7
1 Ready signal
1: Drive ready (ready for power output)
2 Drive warning
1: Warning (class 2 diagnostics) is present
3 Status of ext. command value processing (primary op.
mode + secondary op. modes 1-7)
0: Drive ignores ext. command value input
1: Drive follows ext. command value input
4 Drive Halt acknowledgment
1: Drive Halt is active and axis is in standstill
5 Command change bit
0: No change in command state
1: Command state has changed
6 Status of int. command value processing (secondary op.
modes 8-15 of PLC)
0: Drive ignores int. command value input of PLC
1: Drive follows int. command value input of PLC

7 Operation mode initialized
1: Primary op. mode or secondary op. mode active and ini‐
tialization completed, otherwise 0
11-8 Actual operation mode
0000: Primary operation mode is active
0001: Secondary oper. mode 1 is active
0111: Secondary oper. mode 7 is active
1000: 1st internal secondary oper. mode is active
1111: 8th internal secondary oper. mode is active
12 Command value attained
1: Drive has attained command value input (see Detailed
information on bit 12)
13 Drive error
0: No error
1: Drive error
15/14 Ready for operation
00: Control section and power section not ready for opera‐
tion (e.g., drive error or phase 2)
01: Control section ready for operation (bb)
10: Control and power sections ready for operation (Ab)
11: Drive with torque (AF)
Tab. 4-46: Device control: Status word

Use Ready signal (bit 1)
The drive signals ready (bit 1 = 1) if the power voltage has been switched on
and the internal device state machine is in the operating mode (OM) or the
drive is in Ab.
If the drive has an error or the operating mode (OM) is exited or power volt‐
age is switched off, the ready signal is set to 0.
Detailed information on command value processing (bit 6/3)
The secondary operation modes 4... 7 can only be used via the master com‐
munication. The secondary operation modes 8... 15 (internal secondary oper‐
ation modes 1... 8) can only be used with the internal PLC (IndraMotion MLD-
S) and in the easy startup mode!
The following cases can be clearly distinguished by combining bit 6 and bit 3:
Bit 6 Bit 3 State Comment
0 0 Drive carries out internal de‐ Error; safety technology: drive-con‐

celeration trolled transition *1
0 1 Drive follows command value Normal operating status
of external control unit in active
operation mode
Bit 6 Bit 3 State Comment

1 0 Internal PLC controls drive via
an MC function block
1 1 Not possible
*1 With active safety technology and drive-controlled transition

configured, if additionally bit 2 = 0 and bit 13 = 0, this is a se‐
lection of the safety function with subsequent drive-controlled
stopping process.
Tab. 4-47: Cases to be distinguished for bit 6 and bit 3
In the easy startup mode, "bit 6 = 0" and "bit 3 = 1" are also set,
since the drive follows the command value input!
Detailed information on "command value attained" (bit 12)

As described in the table, bit 12, command value attained, is generated de‐
pending on the active operation mode:
Active operation mode Bit 12 "command value attained"
None 0
Torque control No message
Velocity control n_feedback = n_command (S-0-0330)
Cycl. position control IN_POSITION (S-0-0336)
Drive-int. interpolation IN_TARGET POSITION (S-0-0437; bit 1)
Drive-contr. positioning IN_TARGET POSITION (S-0-0338 or S-0-0437; bit 2:
IZP)
Positioning block mode End position reached (P-0-4061; bit 4) S-0-0338 In_Tar‐
get Position && no sequential block
Position and velocity syn‐ In Synchronization (P-0-0089; bit 8)
chronization

4.2.13 P-0-0116, Device control: Control word

Hardware --
Function This parameter shows the effective input of the drive control word. The value
written to this parameter is the respective drive control word of the active
master communication of easy startup mode or the MLD.
Analog interface, parallel interface: P-0-4028
Profibus, CANopen, DeviceNet and Interbus: P-0-4077 and P-0-4068
PROFINET, EtherNet IP: P-0-4077 and P-0-4068
sercos and EtherCAT: S-0-0134

Easy startup mode: P-0-0120
or by the drive-internal MLD
Structure
Command operation mode
0000: Primary operation mode
0001: Secondary operation mode 1
0010: Secondary operation mode 2, etc.
0111: Secondary operation mode 7
12/11/
9/8 1000: Internal secondary operation mode 8
...
1111: Internal secondary operation mode 15
Bit 12 activates the internal secondary operation modes 8
to 15. which are used by the MLD and in easy startup
mode.
Drive Halt
0: Drive Halt active. The drive was decelerated while ob‐
13 serving maximum acceleration (S-0-0138) if bits 14 and 15
were → "1" with 1 → "0".
1: Drive Halt inactive
Drive enable
0: Drive enable inactive; the driving torque was switched
14
off without delay if the drive was active with 1 → 0.
1: Drive enable active
Drive ON
0: Drive ON inactive; the drive was decelerated in the best
15
possible manner, if bit 14 was → "1" with 1 → "0".
1: Drive ON active
Tab. 4-48: Relevant bits of P-0-0116

Use The control bits in parameter "P-0-0116" are also contained in the control
words that are dependent on master communication (S-0-0134, P-0-4077,
P-0-4068 and P-0-4028) and can consequently also be handled in these con‐
trol words.
4.2.14 P-0-0117, Activation of control unit reaction on error

Hardware --
Function This parameter allows activating an error reaction controlled by the control
unit. When error reaction controlled by the control unit is active, the control
unit (external control/NC or local MLD) still can input command values for the
drive for 30 s. This allows realizing an error reaction coordinated by the con‐
trol unit in the case of an error.
After 30 seconds, the error reaction set in "P-0-0119, Best possi‐

ble deceleration" is carried out.
See also Functional Description "NC reaction on Error"

Structure
0 NC error reaction
0: Deactivated
1: Activated
1 MLD error reaction
0: Deactivated
1: Activated
Tab. 4-49: P-0-0117, Activation of NC reaction on error

Use Observe the following aspects for using the function:
● Using the NC error reaction is only possible when non-fatal errors
(F2xxx, F3xxx) occurred.
● Using the MLD error reaction is only possible when non-fatal errors
(F2xxx, F3xxx) or interface errors occurred.
● The MLD error reaction is only possible at active function package
("ML") via IndraMotion MLD (drive-PLC). If a fatal error occurs, the error
reaction can be done from an external control unit, too.
● A selection of NC error reaction and MLD error reaction at the same
time is impossible.
The MLD error reaction is only done at active function package

("ML").

4.2.15 P-0-0118, Power supply, configuration

Hardware --
Function Settings pertaining to error messages and error reactions are made in param‐
eter "P-0-0118" for drives that are interconnected through the DC bus and the
module bus (drive system). The handling of DC bus undervoltage is also de‐
termined.
A "non-fatal error" does not necessarily cause power on the DC

bus (power bus) to be turned off. This can be changed by param‐
eterization.
See also functional description "Power supply"

0 Package reaction (power off on error)

0: No reaction
1: Reaction: "P-0-0119 Best possible deceleration", Diag‐
nostic E8058
Exception: Power is always turned off if the braking resis‐
tor overloads!
1 Signaling of own drive errors
This bit determines whether a drive signals its own errors
via the module bus in the drive system.
0: No "package reaction" triggered in case of an error
(passive axis), power supply can be turned on regardless
of drive status
1: Signaling: "Package reaction" triggered in case of error
(active axis), power supply on only when ready for opera‐
tion (rdy)
2 Reserved
5-3 Behavior in case of undervoltage in DC bus or mains fail‐
ure These bits determine how the drive reacts to under‐
voltage in the DC bus:
0: Non-fatal error (F2026/F2819), see "P-0-0119, Best
possible deceleration"
001: Fatal warning (E8026/E8819), motive torque switch‐
ed off
100: Non-fatal warning (E2026/E2819), no error reaction
of drive
6 Automatic clearing up to
F2026 Undervoltage in power section MPx-17VRS
0: No, error has to be cleared (S-0-0099)

1: Yes, error is cleared by switching drive enable off and
on (P-0-0116, bit 15)
7 Power off on error Determines whether the drive initiates
disconnection from power supply when errors occur:
0: Disconnection from power supply only in case of F28xx
supply error
1: Disconnection from power supply in case of any error

8 Reaction to "supply error"
0: No reaction or undervoltage error
1: Warning E2829, not ready for power on: immediate shut
off of the drive controller, shut off according to P-0-0119;
bit 8
15-9 Reserved
Tab. 4-50: Relevant Bits of P-0-0118, Power supply, configuration

4.2.16 P-0-0119, Best possible deceleration

Hardware --
Function This parameter determines the way the drive is decelerated.
Parameterizable deceleration in reaction to

- Non-fatal errors F2xxx - Travel Fatal errors Fatal error
- Non-fatal safety tech‐ range errors F8xxx *3) F8022
nology errors F3xxx F6xxx (MPx-20VRS
- Safety and above)
- Interface errors (F4xxx)
technology
Deceleration type Purpose - Fatal warnings E83xx, errors F7xxx
E8034, E8058 (MPx-18VRS
- Drive enable is removed and above)
*4)
- Drive-contr. transition to
special mode standstill
SS1ES/SS1
Emergency stop Fastest possible decel‐ □□□0hex □□0□ hex Not possible Not possible
Velocity command value eration
reset
Emergency stop Deceleration preventing □□□4 hex □□4□ hex Not possible Not possible
Velocity command value damage to mechanical
reset with ramp and fil‐ system while maintain‐
ter ing emergency stop
properties
Quick stop Deceleration preventing □□□2 hex Not possible Not possible Not possible
Velocity command value damage to mechanical
reset with ramp and fil‐ system while maintain‐
ter ing quick stop properties
Parameterizable deceleration in reaction to

- Non-fatal errors F2xxx - Travel Fatal errors Fatal error
- Non-fatal safety tech‐ range errors F8xxx *3) F8022
nology errors F3xxx F6xxx (MPx-20VRS
- Safety and above)
- Interface errors (F4xxx)
technology
Deceleration type Purpose - Fatal warnings E83xx, errors F7xxx
E8034, E8058 (MPx-18VRS
- Drive enable is removed and above)
*4)
- Drive-contr. transition to
special mode standstill
SS1ES/SS1
With MPx-18VRS and For systematic return □□□3 hex Not possible Not possible Not possible
above, return motion motion in the case of
available in connection error
with expansion package
"SRV"
Emergency stop Deceleration of the axis Not possible Not possible □1□□ hex *2) □1□□ hex
using motor winding in the case of fatal er‐ possible if
rors where control is not 0□□□hex has
short-circuit*1)
possible been para‐
meterized
Torque disable For slave axes provided □□□1 hex □□1□ hex Torque disa‐ If 0□□□hex
they have been connec‐ ble even if has been
ted to the master axis in □1□□ hex has parameter‐
friction-locked form ized
been set
Controlled deceleration Deceleration of the axis Not possible Not possible Not possible 1□□□hex
in the case of fatal en‐
coder error, when con‐
trol is no longer possible
1) The braking effect cannot be controlled and, where appropri‐

ate, is lower in case of non-fatal errors.
2) □0□□ hex leads to torque disable
3) In case of F8000, F8060, F8067 and F83xx, deceleration by
means of motor winding short-circuit is not possible.
4) Not possible with return motion. If it has been configured, the
axis reacts on removal of drive enable with the configured re‐
action for F6xxx/F7xxx errors
Tab. 4-51: Options for parameterization
See also Functional Description "Error reactions"
See also Functional Description "Best possible deceleration"
Structure
Nibble Parameterization and description of error reaction
□□□■ Parameterizable best possible deceleration as error reaction (see table "Options for parameterization ..." column
hex 3).
0hex: Velocity command value reset (emergency stop)
● The controlled servo motor is decelerated taking parameter "P-0-0109" into account (vcmd = 0). Acceleration
is not limited.

● "P-0-0109" is used for deceleration with open-loop V/Hz (U/f) control only if the stall protection controller
has been activated (P-0-0045). Maximum deceleration is determined by parameter "P-0-0569".
The maximum braking time to be expected under the most unfavorable operating conditions is entered in
"S-0-0273, Maximum drive off delay time".
Once "S-0-0273" elapses:
● For servo drives ("servo brake" function, P-0-0525), the holding brake is activated and drive enable is inter‐
nally switched off after "S-0-0207".
● For main spindle drives (main spindle brake function, P-0-0525), drive enable is internally switched off and
the holding brake is activated, if the velocity has fallen below 10 rpm.
1hex: Torque disable

In case of an error, drive torque is disabled, i.e., the drive "coasts to stop". The drive is only decelerated by fric‐
tion torque. If the drive additionally features a motor holding brake, this brake is
● immediately activated for servo drives ("servo brake" function, P-0-0525).
● only activated at a velocity of less than 10 rpm in case of main spindle drives ("main spindle brake" func‐
tion, P-0-0525).
2hex: Velocity command value reset with ramp and filter (quick stop)
In the case of an error, the closed-loop-controlled servo drive in velocity control, or the open-loop-controlled drive
in V/Hz (U/f) operation is decelerated with a command value ramp, determined by "S-0-0372" and the jerk limit
value "S-0-0349". If the value S-0-0327 = "0", the value in "S-0-0138" is effective. Torque/force limitation is de‐
rived from parameter "P-0-0109".
Note: With open-loop V/Hz (U/f) control, the maximum deceleration is given by the value entered in "P-0-0569".
3hex: Return motion with MPx-18VRS and above (The return motion is only available in connection with the ex‐
pansion package "SRV" - see Enabling functional packages)
The drive generates a position command value profile, in order to move by the desired travel distance, if an error
occurs. In the event of an error, a relative travel block is therefore activated, which is defined by the following
parameters:
P-0-0055, Return distance
P-0-0056, Return velocity
P-0-0057, Return acceleration
P-0-0058, Return jerk
Note: No return motion is triggered when drive enable is switched off by the control.
4hex: Velocity command value reset with ramp and filter (emergency stop)
in V/Hz (U/f) operation is decelerated with a command value ramp, determined by "S-0-0429, Emergency halt
deceleration" and "S-0-0349, Bipolar jerk limit". If the value "S-0-0429" = "0", the value in "S-0-0138, Bipolar ac‐
celeration limit value" is effective. Torque/force limitation is derived from parameter "P-0-0109".
Note: With open-loop V/Hz (U/f) control, the maximum deceleration is given by the value entered in "P-0-0569,
Maximum stator frequency slope".
□□■□ Parameterizable best possible deceleration as error reaction to F6 and F7 error messages
hex 0hex: Velocity command value reset (emergency stop)

● The closed-loop-controlled servo motor is decelerated taking parameter "P-0-0109, Torque/force peak limit"
into account (vcmd = 0). Acceleration is not limited.
● "P-0-0109" is used for deceleration with open-loop V/Hz (U/f) control only if the stall protection controller
has been activated (P-0-0045). Maximum deceleration is determined by parameter "P-0-0569".
Once S-0-0273 elapses:
1hex: Torque enable (only combinable with □□□■ = 1hex)

In case of an error, drive torque is disabled, i.e. the drive "coasts to stop". The drive is only decelerated by friction
torque. If the drive additionally features a motor holding brake, this brake is
● only activated at a velocity of less than 10 rpm in case of main spindle drives ("main spindle drive" function,
P-0-0525).
2hex: Not possible
3hex: Not possible
value "S-0-0349". If the value "S-0-0429" = "0", the value in "S-0-0138" is effective. Torque/force limitation is de‐
Exception: In the case of fatal warnings E8029, E8030, E8042, E8043, E8044 and quick stop with probe detec‐
tion (AR), the drive is decelerated with the ramp "S-0-0138, Bipolar acceleration limit value" if P-0-0119 □□■□ =
4hex has been parameterized.
If the parameterization is P-0-0119 □□■□ ≠ 4hex, the drive reacts by resetting the velocity command value (vcmd
= 0) without taking any acceleration limitation into account. The available torque is determined by parameter
"P-0-0109, Torque/force peak limit".

□■□□ Activation of motor phase short circuit in the case of F8 error messages
hex 0hex: No motor phase short-circuit, immediate torque disable
The motor brake is immediately applied, if available.
1hex: Motor phase short circuit
3hex: Motor phase short circuit
Short-circuit braking maintained also after deceleration (to replace the holding brake if no holding brake is availa‐
ble).
2, 4 and 6 hex: reserved
■□□□ Controlled deceleration in the case of encoder error F8022

hex 0hex: Immediate torque disable
1hex: Controlled deceleration
Note: Can also be used in combination with the settings of □■□□ hex.
Valid with MPx-20VRS and above
Tab. 4-52: Setting the way the drive is decelerated with the above criteria
Use
Torque/
Acceleration limit values Jerk limit values
Deceleration type force limit
P-0-0109 S-0-0138 S-0-0429 S-0-0372 P-0-0057 S-0-0349 P-0-0058
Emergency stop
Velocity command val‐ ■ no acceleration limitation active no jerk limitation active
ue reset
Emergency stop
Velocity command val‐ ■ ■ ■ - ■1 -
ue reset with ramp and
filter
Quick stop
Velocity command val‐ ■ ■ - ■ - ■2 -
ue reset with ramp and
filter
Return motion with
MPx-18VRS and ■ - ■ - ■3)
above
Emergency stop
using motor winding no limitations active -
short-circuit
Servo brake:
Friction torque of hold‐
ing brake
Torque
Main spindle brake: no acceleration limitation active no jerk limitation active
disable
Not defined
Without motor brake:
Not defined
max. torque corre‐
Controlled deceleration sponds to approx. 80% - ■4 - no jerk limitation active
of P-0-0109
1) Filter time constant calculated from S-0-0349 and S-0-0429; if

S-0-0429 = 0, S-0-0138 is used.
2) Filter time constant calculated from S-0-0349 and S-0-0372; if
S-0-0372 = 0, S-0-0138 is used.
3) Filter time constant calculated from P-0-0057 and P-0-0058.
4) To decelerate in a controlled way at the torque limit, the decel‐
eration has to be set, using "S-0-0429", by approx. 20% lower
as compared to the max. possible ramp. Note: If "emergency
stop with ramp and filter" has been parameterized for F2, F3
and F4 errors, it is necessary to switch to quick stop so that de‐
celeration can take place with max. torque.
S-0-0138 Bipolar acceleration limit value
S-0-0349 Bipolar jerk limit value
S-0-0372 Drive Halt acceleration bipolar
S-0-0429 Emergency halt deceleration
P-0-0057 Return acceleration
P-0-0058 Return jerk
P-0-0109 Torque/force peak limit
Memory: PARAM_SP Validity ch.: PM->OM Format: HEX
4.2.17 P-0-0120, Control word easy startup

Hardware --
Function In the "easy startup" mode, this parameter is used to control the drive.
It is not necessary to configure the bits 14 and 13, they are set ini‐
tially.
Bit 12 is set automatically when the command "easy startup"
mode is started. If bit 12 is cleared during the "easy startup"
mode, the operation modes 0-8 can be addressed.
See also Functional Description "Master Communication"

See also Functional Description "Initial Start in Easy Startup Mode"
See also Functional Description "Operation Modes"

12/11/9/8 Command operation mode Bit 12 is auto‐
10x00: Internal secondary oper. mode (velocity con‐ matically set.
trol)
10x01: Internal secondary oper. mode (torque control)
10x10: Internal secondary oper. mode (synchroniza‐
tion)
10x11: Internal secondary oper. mode (drive-control‐
led positioning)
11x00: Internal secondary oper. mode (velocity syn‐
chronization)
13 Drive Halt
1-0 change: Deceleration of drive while maintaining
max. acceleration (S-0-0372) (only possible when
bits 14 and 15 = 1)
14 Drive enable
1-0 change: Torque disable without delay (independ‐
ent of bit 15 or 13)
15 Drive ON
1-0 change: Best possible deceleration (only possible
if bit 14 = 1)
Tab. 4-53: Relevant Bits from Control Word Easy Startup

4.2.18 P-0-0121, Encoder 1, gear turns, mechanical system side

Hardware --
Function Between motor encoder and encoder, a mechanical gear may be installed in
special cases.
The gear ratio is defined as follows:
Fig. 4-11: Motor encoder gear ratio (gear 1)

Example:
5 motor revolutions result in 2 encoder 1 revolutions
→ P-0-0121 : 5
→ P-0-0122 : 2
With synchronous motors in combination with encoder 1/motor

encoder which can be evaluated in absolute form, the advantage
of setting the commutation offset only once (see above) can only
be used at a respective gear ratio.

systems"
Unit: Rev Extr. val. ch.: + Decim. pl.: 0
4.2.19 P-0-0122, Encoder 1, gear turns, encoder side

Hardware --
Function Between motor encoder and encoder, a mechanical gear may be installed in
special cases.
Fig. 4-12: Motor encoder gear ratio (gear 1)

Example:
5 motor revolutions result in 2 encoder 1 revolutions
→ P-0-0121 : 5
→ P-0-0122 : 2
With synchronous motors in combination with encoder 1/motor

encoder which can be evaluated in absolute form, the advantage
of setting the commutation offset only once (see above) can only
be used at a respective gear ratio.

systems"

4.2.20 P-0-0123, Encoder 2 feed constant

Hardware --
Function This parameter is only active if "Feed constant 2" is activated in parameter
"P-0-0185, Encoder 2 control word". The value of this parameter is the length
of the linear distance that is run per revolution of a rotating transducer (e.g.
measuring wheel).
The unit depends on bit 4 in parameter "S-0-0076, Position data

scaling type".
The following applies:

S-0-0076 Bit 4 = 0 -> mm/rev
S-0-0076 Bit 4 = 1 -> inch/rev
See also functional description "E-stop function"
S-0-0077 /
S-0-0078
4.2.21 P-0-0124, Encoder 2, gear turns, mechanical system side

Hardware --
Function Between load and encoder 2, a mechanical gear may be installed in.
Fig. 4-13: Encoder 2 gear ratio (optional encoder)

Example:
2 load revolutions result in 5 encoder revolutions
→ P-0-0124 : 2
→ P-0-0125 : 5

systems"
Unit: Rev Extr. val. ch.: -- Decim. pl.: 0
4.2.22 P-0-0125, Encoder 2, gear turns, encoder side

Hardware --
Function Between load and encoder 2, a mechanical gear may be installed.

Fig. 4-14: Encoder 2 gear ratio (encoder 2)

Example:
→ P-0-0124 : 2
→ P-0-0125 : 5
systems"
4.2.23 P-0-0127, Measuring encoder gearbox revolutions, encoder side

Hardware --
Function Between load and measuring encoder, a mechanical gear may be installed.
Fig. 4-15: Gear ratio

Example:
→ P-0-0128: 2
→ P-0-0127: 5


4.2.24 P-0-0128, Measuring encoder gearbox revolutions, mechanical side

Hardware --
Function Between load and measuring encoder, a mechanical gear may be installed.
Fig. 4-16: Gear ratio

Example:
→ P-0-0128: 2
→ P-0-0127: 5
See also functional description "Measuring encoder"

4.2.25 P-0-0129, Internal position data format

Hardware --
Function The internal position resolution is displayed in this parameter. The position
resolution refers to one revolution of the actuator shaft (increments/revolu‐
tion), for rotary actuators.
For linear actuators the resolution is nanometers (nm).
The value of "P-0-0129" depends on "S-0-0278, Maximum travel

range". The higher the value of "S-0-0278", the lower the value of
"P-0-0129"!
Example:
P-0-0129 = 1048576
The resulting internal position resolution is:
360 degrees/1048576 = 0.34 mdegrees (rotary)

Unit: Incr/Rev Extr. val. ch.: -- Decim. pl.: 0
4.2.26 P-0-0130, Position switch signal selection list

Hardware --
Funct. package(s): SRV, CL+SNC
Function This parameter represents the list of reference signals.

The following signals are available:
● S-0-0000, Position switch switched off
● S-0-0051, Position feedback value of encoder 1
● S-0-0053, Position feedback value of encoder 2
● P-0-0434, Position command value of controller
● P-0-0753, Position actual value in actual value cycle
● P-0-0775, Resulting master axis position
● P-0-0776, Effective master axis position
● P-0-0778, Synchronous position command value
● P-0-0788, Group axis 1 position, fine-interpolated
● P-0-0789, Master axis position, fine-interpolated
It is not possible to make any input in this parameter, it represents the possi‐
ble input for parameter "P-0-0131".
4.2.27 P-0-0131, Position switch signal selection

Hardware --
Function In this parameter, one of the signals made available in parameter "P-0-0130"
is selected.
It is only allowed to enter signals from the list (P-0-0130), otherwise the drive
reacts with an error message. When the position switch is not used, it makes
sense to switch it off by selecting "S-0-0000" in order to avoid unnecessary
calculating time of the axis processor.

4.2.28 P-0-0132, Position switch switch-on threshold

Hardware --
Function The position switch enables implementation of 8 independent position switch

points. Each position switch point is defined by a switch-on threshold, switch-
off threshold, a lead time and the result, the cam status. In this parameter,
the 8 switch-on thresholds are entered. The input unit and limit is applied
from the selected reference signal.
S-0-0077 /
S-0-0078
4.2.29 P-0-0133, Position switch switch-off thresholds

Hardware --

the 8 switch-off thresholds are to be entered. The input unit and limit is ap‐
plied from the selected reference signal.
S-0-0077 /
S-0-0078
4.2.30 P-0-0134, Position switch lead times

Hardware --

the 8 lead times are to be entered.
By setting a lead time, the delay of an external switch element that is control‐
led by a position switch bit can be compensated. To do this, a theoretical cor‐
rection value for the respective switch-on and switch-off thresholds are calcu‐
lated from the programmed lead time and the current drive velocity. The posi‐
tion switch bit switches by the lead time before reaching the corresponding
threshold.
When using a lead time, the velocity of the drive in the (time)
range between theoretical and actual switch-on and switch-off
thresholds should be constant.

Memory: PARAM_SP Validity ch.: -- Format: DEC_OV
Unit: ms Extr. val. ch.: -- Decim. pl.: 0
4.2.31 P-0-0135, Position switch status word

Hardware --

off threshold, a lead time and the result, the cam status (status word).
This parameter represents the result for the position within the range defined
by switch-on threshold and switch-off threshold. In this case, the respective
bit is set in the status word. This parameter can only be read. Inputs are not
possible.
Structure
0 Status of position switch bit 1

Tab. 4-54: Position switch status word


4.2.32 P-0-0136, Oscilloscope: Manual trigger signal

Hardware --
Function The parameter "P-0-0136, Oscilloscope: Manual trigger signal" can be used
as alternatively external trigger signal. Especially, if the parameter "P-0-0036,
Oscilloscope: External trigger signal" is configured as real-time control bit in a
several-device-measuring .
See also Parameter Description "P-0-0036, Oscilloscope: External trigger
signal"
See also Functional Description: "Oscilloscope Function".
Structure
0 Manual trigger signal

0: Manual trigger signal = Low
1: Manual trigger signal = High
Tab. 4-55: P-0-0036, Oscilloscope: Manual trigger signal

4.2.33 P-0-0139, Analog output 1

Allocation Contained in 18VRS: «MPB» «-» «MPM» «MPC»
Contained in 19VRS: «MPB» «-» «MPM» «MPC» «PSB»
Hardware Analog-Out 1
Function This parameter displays the voltage value output through the analog output 1
of the drive controller.
See also Functional Description "Analog Outputs"
MPx / PSB: min./max.: -10,000 / 10,000 Default value: 0,000
4.2.34 P-0-0140, Analog output 2

Function This parameter displays the voltage value output through the analog output 2
of the drive controller.

4.2.35 P-0-0141, Thermal drive load

Hardware --
Function Parameter "P-0-0141" is used to check the thermal load of the amplifier. 0%
corresponds to a chip overtemperature of 0 K; 100% corresponds to the max‐
imum chip overtemperature. If the drive is designed properly, the thermal
load should not exceed 80% for the specified machining cycles.
See also Functional Description "Current Limitation Controller"
Use The typical duration for heating a control unit power output stage to final tem‐
perature is approx. 10 mins. The control unit load can be preset in order to
check the thermal drive load during start-up without having to perform ma‐
chining cycles within this period. This can be set to any value by writing pa‐
rameter "P-0-0141". However, the input value must be greater than the load
currently displayed.
● Due to the switching loss of the inverter, "P-0-0141" always

shows a value > 0 when control is enabled, even if the out‐
put current "P-0-0440, Actual output current value (absolute
value)" equals 0. The level of the basic load depends on
"P-0-0001, Switching frequency of the power output stage".
● Amplifier current is limited when the load reaches approx.
97%. This is displayed with the warning "E8057 Amplifier
overload, current limit active".

MPx / PSB: min./max.: 0,0 / 100,0 Default value: ---
4.2.36 P-0-0142, Synchronization acceleration

Hardware --
Funct. package(s): CL, SNC
Function This parameter contains the value of the acceleration or deceleration with
which the synchronous velocity is reached during dynamic synchronization
(velocity adjustment).
It is used in the synchronization modes and in the operation mode "position
control drive-controlled".
ue Input"
S-0-0161 /
S-0-0162
4.2.37 P-0-0143, Synchronization velocity

Hardware --
Function This parameter contains the value of the positioning velocity with which, dur‐
ing dynamic synchronization, the distance to absolute synchronization is trav‐
eled (position adjustment).
It is used in the synchronization modes and in the operation mode "position
control drive-controlled".
ue Input"
S-0-0045 /
S-0-0046
4.2.38 P-0-0144, Cam distance switch angle

Hardware --
Function A new value for "P-0-0093, Cam distance" will not become active before the
current table access angle (P-0-0227, Cam table, access angle) passes the
value entered in P-0-0144.
Only effective in "Cam" mode!

Axis"


Hardware --
ured values.

nal.


Hardware --
ured values.

nal.



Hardware --
Function The IDN entered in "P-0-0147" defines the signal that is to be recorded by
channel 3.

"S-0-0000".

Hardware --
Function The IDN entered in "P-0-0148" defines the signal that is to be recorded by
channel 4.

"S-0-0000".

4.2.43 P-0-0149, Oscilloscope: Signal selection list

Hardware --
Function The parameter "P-0-0149, Oscilloscope: Signal selection list" contains all pa‐
rameters that are suitable as trigger signal (P-0-0026) or measuring signal
(P-0-0023, P-0-0024, P-0-0147, P-0-0148).
4.2.44 P-0-0150, Oscilloscope: Number of valid measured values

Hardware --
Function When the oscilloscope feature has been activated, the signal to be recorded
is continuously transmitted to a measured values memory. When the trigger
event occurs, the recording is stopped and the list of measured values can be
read. The oldest measured value is the first element of this list, the latest
measured value is the last element.
If the trigger event occurs before this measured value memory is completely
filled, a number of measured values at the beginning of the list is invalid. The
number of valid measured values before the trigger event is made available
in the "P-0-0150, Oscilloscope: number of valid measured values" parameter.
4.2.45 P-0-0151, Synchronization window for modulo format

Hardware --
Function In the second step of dynamic synchronization (position adjustment), a dis‐

tance is determined that has to be traveled for transition to absolute synchro‐
nization. If the position difference is greater than the "synchronization window
for modulo format" (P-0-0151), the direction of synchronization is determined
by parameter "P-0-0154, Synchronization direction". If the position difference
is smaller than the value of parameter P-0-0151, synchronization takes place

over the shortest distance.
See also Functional Description for the operation mode "Phase Synchroniza‐
tion With Real/Virtual Master Axis"
S-0-0077 /
S-0-0078
4.2.46 P-0-0152, Synchronization completed

Hardware --
Function In the case of the NC-controlled or drive-controlled change of operation

modes, the parameter "P-0-0152, Synchronization completed" confirms that
the drive is controlled by the cyclic position command value again.
In the case of the operation modes "phase synchronization" and "cam", bit 0
is set to "1" after the first synchronization when the distance up to absolute or
relative synchronization was traveled. Once bit 0 has been set, it depends on
parameter P-0-0155 (bit 0) whether the bit is cleared, in case parameter
"S-0-0048, Additive position command value" is changed, until the position
difference resulting from it was traveled. If bit 0 is set to "1" in parameter
"P-0-0155, Synchronization mode", bit 0 remains set to "1".
See also Functional Description "Phase Synchronization With Real/Virtual
Master Axis"
4.2.47 P-0-0153, Optimum distance home switch-reference mark

Hardware --
Function During the commands for "homing procedure", the distance between the
switch edge or blocking detection (positive stop) and the reference mark is
monitored when the home switch, travel range limit switch or positive stop
(axis-side additional device for homing) are evaluated and when the encoder
reference marks are evaluated. The optimum distance provided for reference
marks with equal distances is half the reference mark distance. The optimum
distance has to be entered in parameter "P-0-0153, Optimum distance home
switch-reference mark" in accordance with the table below.
See also Functional Description "Establishing the Position Data Reference"

Structure
Encoder P-0-0153 Function
Rotary 0 The distance is monitored. The optimum distance is cal‐

culated internally and is 1/2 encoder revolution in the
case of HSF (MHD, MSK, MAD, MAF,2AD, ADF mo‐
tors) or incr. rotary encoders, respectively 1/2 encoder
revolution / "S-0-0116, Feedback 1 Resolution" in the
case of resolvers (MKD, MKE motors).
Rotary (Value) The distance is monitored. Half the reference mark dis‐
tance has to be entered in "P-0-0153, Optimum dis‐
tance home switch-reference mark".
Linear 0 The distance is not monitored. The linear encoder does
not possess reference marks with a constant distance
between them. You have to make sure that the actual
distance between switch edge or blocking detection and
reference mark is enough to ensure unequivocal detec‐
tion of the same reference mark edge.
Linear (Value) The distance is monitored. Half the reference mark dis‐
tance has to be entered in "P-0-0153, Optimum dis‐
tance home switch-reference mark".
Tab. 4-56: Determining the Value for P‑0‑0153

S-0-0077 /
S-0-0078
4.2.48 P-0-0154, Synchronization direction

Hardware --
Function In the second step of dynamic synchronization (position adjustment) a dis‐

tance is determined that has to be traveled for transition to absolute synchro‐
nization.
In the case of modulo axes, the drive can move in positive or negative direc‐
tion. The synchronization direction determines in which direction the drive is
to move.
Structure
P-0-0154 Function
0 shortest distance
1 positive direction
2 negative direction
Tab. 4-57: Synchronization Direction

Use If the shortest distance to absolute synchronization, however, is smaller than

"P-0-0151, Synchronization init window for modulo format", the shortest dis‐
tance is traveled and the preset synchronization direction is ignored.
4.2.49 P-0-0155, Synchronization mode

Hardware --
Function After activation of a synchronous operation mode with outer position control,
the drive automatically carries out dynamic synchronization. In this case, the
drive generates additive position command values until absolute or relative
synchronization has been reached.
See also functional description "Synchronization modes"
Structure
0 Processing of S-0-0048
0: "Standard" mode, trapezoidal velocity profile
1: "Register control" mode, P-0-0060, Filter time constant
active
1 Synchronization
0: Absolute synchronization
1: Relative synchronization
3/2 Synchronization range
00: Modulo range of slave axis (load revolution)
01: Command value cycle of slave axis
10: Division of command value cycle
4 Generation of actual value cycle
0: Actual value cycle depending on P-0-0752
1: Actual value cycle = command value cycle
5 Synchronization in velocity synchronization
0: Only when operation mode activated
1: Always active
6 Single-step synchronization
0: Not active
1: Active
7 Single-step synchronization mode
0: Synchronous with master axis
1: Not synchronous with master axis

8 Optimized double-step synchronization
0: Not active
1: Active
9 Optimization of synchronization path Only effective
0: No optimization when bit 6 = 1
1: Optimization
Tab. 4-58: Synchronization mode

Use Bit 0: Processing of S-0-0048
Trapezoidal velocity profile (mode: default - bit 0 = 0)
Means that a distance is determined at every change in "S-0-0048, Additive
position command value" and traveled with a 2nd order interpolator taking
"P-0-0686, Additive position command value, positioning velocity" and
"P-0-0687, Additive position command value, positioning acceleration" into
account.
Filter time constant active (mode: register controller - bit 0 = 1)
After absolute or relative synchronization has been reached, subsequent
changes in "S-0-0048, Additive position command value" are smoothed by a
1st order filter. The time constant of the filter is set in parameter "P-0-0060,
Filter time constant additive position cmd value".
When operation mode is active, any change of 1 → 0 in bit 0 is

without effect after absolute or relative synchronization has been
reached.
Bit 1: Synchronization
Absolute synchronization (bit 1 = 0)
The position established in relation to the master axis is always absolute.
Relative synchronization (bit 1 = 1)
The only action is an adjustment of the velocity.
Bit 3/2: Synchronization range
Synchronization can be set in the modulo range, in the command value cycle
or in the division of the command value cycle. The distance to be traveled is
then limited to this range. The actual position value used for calculating the
distance has to be unequivocal in the range in which synchronization is to
take place. The actual value cycle therefore has to be defined in such a way
that it is a multiple of the synchronization range.
Bit 4: Generation of actual value cycle
If bit 4 = 0, the actual value cycle in which there is "P-0-0753, Position actual
value in actual value cycle" is generated depending on "P-0-0752, Load revo‐
lutions per actual value cycle slave axis".
If bit 4 = 1, the actual value cycle is set equal to the command value cycle
(P-0-0754).
Bit 5: Synchronization in velocity synchronization:
Synchronization on activation of operation mode (bit 5 = 0)
If velocity adjustment is to be carried out only once in velocity synchronization
mode, bit 5 has to be set to "0". All following velocity changes are carried out
with max. acceleration.
Synchronization always active (bit 5 = 1)

In velocity synchronization mode, every change in velocity is limited to
"P-0-0142, Synchronization acceleration". The velocity change can be
caused by changing the master axis speed (P-0-0764), the master drive gear
(P-0-0156, P-0-0157) or the fine adjust (P-0-0083).
Bit 6: Single-step synchronization
As an alternative to double-step synchronization with velocity and position
adjustment, this bit can be used to select single-step synchronization. Instead
of "P-0-0142, Synchronization acceleration" and "P-0-0143, Synchronization
velocity", parameters "P-0-0697, Synchronization, master axis synchronous
position" and "P-0-0698, Synchronization, master axis synchronization range"
are active in this case. During synchronization, the position command values
are generated with a 5th order polynomial and added to the synchronous po‐
sition command values.
Single-step synchronization is only possible with absolute syn‐

chronization (bit 1 = 0).
Bit 7: Single-step synchronization

This bit is used to define whether single-step synchronization is to be syn‐
chronous with the master axis. In this case (bit 7 = 0), the synchronization
process starts at a master axis start position which is calculated as the differ‐
ence between the master axis synchronous position (P-0-0697) and the mas‐
ter axis synchronization range (P-0-0698). Synchronization is completed at
the master axis synchronous position.
If synchronization is not synchronous with the master axis (bit 7 = 1), the syn‐
chronization process starts immediately after the operation mode has been
activated. Synchronization is completed after the master axis synchronization
range has been passed through, irrespective of the master axis synchroniza‐
tion position.
Bit 8: Optimized double-step synchronization
This bit can be used to select optimized double-step synchronization. The
synchronization motion is added to the synchronous motion on start of the
synchronization mode. The two steps of velocity and position adjustment are
combined to one step. The synchronization profile is limited by "P-0-0142,
Synchronization acceleration" and "P-0-0143, Synchronization velocity".
Optimized double-step synchronization is only possible with abso‐

lute synchronization (bit 1 = 0).
Bit 9: Optimization of synchronization path (bit 9 = 1):

If single-step synchronization is set (bit 6 = 1), the required synchronization
path of the secondary master axis is optimized by adding or subtracting syn‐
chronization ranges. This aims at preventing any turning point in the position
curve in the added synchronization profile. In this case, there won't be any
maximum in the velocity curve (overshooting) and no change of the accelera‐
tion sign.
Path optimization is only possible with modulo axes.

4.2.50 P-0-0156, Master drive gear input revolutions

Hardware --
Function Together with the parameter "P-0-0157, Master drive gear output revolu‐
tions", this parameter determines the master drive gear.
Use The resulting "P-0-0775, Resulting master axis position" is multiplied with the
electronic gear ratio before further processing and then limited to the standar‐
dized range of 2P-0-0084. The gear ratio results from the division of the value of
"P-0-0157" by the value of "P-0-0156".
4.2.51 P-0-0157, Master drive gear output revolutions

Hardware --
Function Together with the parameter "P-0-0156, Master drive gear input revolutions",
this parameter determines the master drive gear.
Use The resulting "P-0-0775, Resulting master axis position" is multiplied with the
electronic gear ratio before further processing and then limited to the standar‐
dized range of 2^P-0-0084. The gear ratio results from the division of the val‐
ue of P-0-0157 by the value of P-0-0156.
4.2.52 P-0-0158, Angle offset change rate

Hardware --
Function In the "cam" mode, the parameter "P-0-0061, Angle offset begin of table" has
an influence on the table access angle.
Use If this angle offset is to be changed by a large range, it is necessary, with a
gradient in the active table, to make a slow approach to the new value, be‐
cause every change implies a jump in position command value. A new value
for parameter P-0-0061 doesn't take immediate effect. Starting with the cur‐
rent value, a ramp-like approximation of the new value is carried out. The ap‐
proximation is carried out along the shortest possible path. The gradient of
the ramp is set in parameter "P-0-0158, Angle offset change rate".
If the value "0" is preset for parameter P-0-0158, the angle offset is carried
out immediately in one step.
Unit: rpm Extr. val. ch.: + Decim. pl.: 2
4.2.53 P-0-0159, Slave drive feed travel

Hardware --
Function Velocity Synchronization

This parameter is used in the "velocity synchronization" mode with linear ve‐
locity scaling for converting the rotary master axis velocity to the linear slave
axis velocity.
P-0-0777 Effective master axis velocity (in rpm)

P-0-0159 Slave drive feed travel (in mm/min)
Slave axis velocity (in mm/min)
Fig. 4-17: Slave axis velocity
The function and significance of this parameter depend on the op‐

eration mode!
Synchronous operation mode with outer position control loop (phase synchro‐
nization, cam, MotionProfile)
With linear absolute scaling, the slave axis moves by the feed travel, per out‐
put revolution of the master drive gear (including fine adjustment), parameter‐
ized in "P-0-0159". This means that if "P-0-0776, Effective master axis posi‐
tion" changes by 2 P-0-0084 increments, the slave axis moves a distance corre‐
sponding to "P-0-0159, Slave drive feed travel".
Observe the following restrictions:
● In the "cam" and "MotionProfile" modes, "P-0-0159" only takes effect in
the linear gear reduction component.
● In the case of modulo scaling, the parameter "S-0-0103, Modulo value"
assumes the task of parameter "P-0-0159"; in the case of linear scaling,
for the synchronous operation modes with outer position control loop.

S-0-0077 /
S-0-0078
4.2.54 P-0-0161, Drive optimization: Periodic time

Hardware --
Function This parameter defines the periodic time of the sine function, which is effec‐
tive when the inertia is determined in the "automatic setting of axis control".
Use When the inertia is determined in the "automatic setting of axis control", the
drive travels a sine profile in velocity control mode. The parameter can be
used to specify the periodic time of the sine function. A short periodic time re‐
sults in high acceleration values and a long periodic time in low ones. This
does not have any effect on the velocity amplitude and offset of the sine func‐
tion.
We recommend using the "automatic setting of axis control" wiz‐

ard in IndraWorks because then the periodic time calculated for
inertia determination will be the optimal one.
See also Functional Description "Automatic Setting of Axis Control"

4.2.55 P-0-0162, C1800 Command Drive optimization/command value box

Hardware --
Function This command starts the drive-internal (independent of master) command

value input.
The settings of "P-0-0165, Drive optimization, control word" activate the fol‐
lowing funcitons:
● Automatic calculation and kinematic optimization of the velocity and po‐
sition control loops (automatic control loop setting)
● Generation of a command value characteristic, defined by the user, in
velocity or position control, e.g. for manual control loop optimization
(drive-internal command value box)
● Automatic determination of the cogging torque compensation tables by
drive-internal generation of the required command value characteristic,
using a sufficient number of measuring cycles
NOTICE Property damage in case of non-compliance

with requirements when starting the com‐
mand C1800!
Axis performs independent movements! By the initial position ensure that the
axis does not reach the collision area of machine contours through the inter‐
nally generated command value!
See also Functional Description "Automatic setting of axis control"

4.2.56 P-0-0163, Damping factor for autom. controller setting

Hardware --
Function Parameter "P-0-0163" allows the user to manipulate the control loop dynam‐
ics achieved by the automatic controller setting.
P-0-0163 = 10 ≙ minimum dynamics

P-0-0163 = 0.5 ≙ maximum dynamics

4.2.57 P-0-0164, Application for autom. controller setting

Hardware --
Function In order to take application-related control strategies into account for auto‐
matic control loop setting, a selection list is made available to the operator
from which he can select the desired application. This allows, for example,
completely switching off the I-component, if required, etc.
Structure The data below are referring to the speed loop.
P-0-0164 Application I-compo‐ P-compo‐

nent nent
0 Machine tool → good load stiffness With Normal

1 Nibbling machine → short response times Without, Tn Great
= 0ms
2 Following-on cutting device → rel. non- Without, Tn Normal
dynamic control loop setting = 0ms
3 Roll feed → very high degree of load iner‐ With Great
tia
4 Handling axis → oscillating systems With Small
Tab. 4-59: Application-Dependent Speed Loop Setting
If required, Bosch Rexroth will extend the table.
The default value was set to machine tool.

4.2.58 P-0-0165, Drive optimization, control word

Hardware --
Function When "P-0-0162, C1800 Command Drive optimization / command value box"
is started, the drive becomes detached from the master-sided command val‐
ue control and generates the required command value characteristic itself.
The drive can execute different functions depending on the settings in param‐
eter "P-0-0165":
● Automatic setting of axis control
– Calculation and optimization of the velocity and position control
loop parameters
– Determination of the load inertia and calculation of the acceleration
feedforward control
– Calculation of the maximum acceleration
● Generation of a command value characteristic defined in velocity or po‐
sition control mode, e.g., for manual control loop optimization (drive-in‐
ternal command value box).
● Automatic determination of the cogging torque compensation tables by
drive-internal generation of the required command value characteristic,
by means of a sufficient number of measuring cycles.
The conditions for the command value that can be generated in the drive are
determined.
See also functional description "Drive-internal command value box"
See also functional description "Cogging torque compensation"
See also functional description "Automatic setting of axis control"

Structure
0 Controller optimization Takes effect only

0: Off if bit 1 or bit 2 is
set.
1: On
As of
MPx-17V06
1 Velocity controller Up to
0: Calculate Kp and Tn MPx-17V04
1: Calculate and optimize Kp and Tn

1 Calculate and store velocity controller parameters As of
0: No MPx-17V06
1: Yes (+ optimization with bit 0 = 1)

2 Position controller Up to
0: Calculate Kv MPx-17V04
1: Calculate and optimize Kv

2 Calculate and store position controller parameters As of
0: No MPx-17V06
1: Yes (+ optimization with bit 0 = 1)

3 Determine acceleration feedforward
0: No
1: Yes
4 Load inertia
0: Use value of "P-0-4010"
1: Determine
5 Reserved
6 Calculate maximum acceleration
0: No
1: Yes
7 Reserved
9/8 Operating mode command value box
00: Reserved
01: Velocity control
10: Reserved
11: Position control
10 Command value generation for recording the cogging Not with MPE
torque table
11 Offset (sine-wave method) As of
0: Inactive MPx-18VRS
1: Active

12 Command value box: Periodic profile generation As of
0: Active MPx-18VRS
1: Inactive
13 Direction of motion (with motion always in one direction) Only up to
0: Left MPx-17VRS
1: Right
14 Motion As of
0: Oscillating motion (reversing drive) MPx-18VRS:
Only command
1: Motion always in one direction (stepper drive) value box
15 Determining travel range
0: Input of limits
1: Input of travel distance
Tab. 4-60: Parameters selectable for drive optimization / command value box
Use The three available functions cannot be used simultaneously, even if they
can be selected simultaneously with the corresponding bits.
The following priorities apply:
1. Recording of cogging torque compensation table (highest priority)
2. Drive-internal command value box (medium priority)
3. Automatic setting of axis control (lowest priority)
Automatic setting of axis control
To achieve "automatic setting of axis control", bit 15 of "P-0-0165"
serves to define whether a relative travel distance or the absolute limits
will be used. Up to MPx-17VRS, bits 13 and 14 can be used to define
the motion type and the motion direction. As of MPx-18VRS, this infor‐
mation is obtained from the configuration of the drive (S-0-0076 and
S-0-0393).
The values for end positions or travel distance are set in other parame‐
ters:
● P-0-0166, Drive optimization, end position negative
● P-0-0167, Drive optimization, end position positive
● P-0-0169, Drive optimization, travel distance
Bits 10, 8 and 9 have to be "0", as "automatic setting of axis con‐

trol" has the lowest priority.
Bits 2/1/0 (as of MPx-17V06)

If bit 1 and/or bit 2 is/are equal to "1", the velocity and/or position controller
parameters are calculated. If bit 0 is additionally set, the controller parame‐
ters are optimized, i.e., when command C1800 is started, the drive is internal‐
ly set in motion and the velocity and/or position controller is/are optimized.
Bits 13/14 (up to MPx-17VRS) and bit 15 are taken into account.
Bit 2/1
If the value of at least one of these bits is "1", the drive is internally set in mo‐
tion when command C1800 is started, in order to determine the controller pa‐
rameters. Otherwise, the values are calculated. Bits 14/13 (up to

MPx-17VRS) and bit 15 are taken into account.
Bit 4
If the bit is set, the drive is internally set in motion when command C1800 is
started, and the load inertia determined is entered in parameter "P-0-4010".
Otherwise, the value entered in parameter "P-0-4010" is used for calculation.
Bit 11
If the bit is set, an offset is taken into account in the sine profile (inertia deter‐
mination). The maximum velocity entered in parameter "P-0-0171" is not vio‐
lated. This offset prevents a sign change in the velocity profile.
Record cogging torque compensation table
Bit 10: If the value is "1", the drive is internally set in motion when command
C1800 is started, in order to determine the cogging torque compensation ta‐
ble.
The determination of the cogging torque compensation table

takes priority over "automatic setting of axis control" and "drive-in‐
ternal command value box".
Bits 15/14/13
Bits 15, 14 and 13 are not taken into account when the cogging torque com‐
pensation table is recorded. The motion direction and motion type are ob‐
tained from the configuration of the drive (S-0-0076 and S-0-0393). The travel
distance is internally defined in relative measured value recording mode. As
of MPx-18VRS, the travel distance can be directly specified using relative
measured value recording via parameters "P-0-1145" and "P-0-1146".
Drive-internal command value box
The only general requirement that can be set for the "drive-internal command
value box" in "P-0-0165" is the motion type requirements (reversing duty or
stepper mode). Further general requirements, such as end positions, effec‐
tive acceleration, maximum travel velocity and dwell time between the motion
phases, are directly set in other parameters:
● P-0-0166, Drive optimization, end position negative
● P-0-0167, Drive optimization, end position positive
● P-0-0169, Drive optimization, travel distance
● P-0-0170, Drive optimization, acceleration
● P-0-0171, Drive optimization, velocity
● P-0-0172, Drive optimization, dwell time
Bit 9/8: These two bits are used to define the operating mode of the "drive-
internal command value box". The drive can work in velocity or position con‐
trol mode. Velocity control takes place via encoder 1/motor encoder, position
control via the position encoder selected in "S-0-0520, Control word of axis
controller".
Bit 12: Defines whether the motion profile is run through once or periodically.
Bit 14: Defines the kind of motion of the axis for "drive-internal command val‐
ue box" mode:
● With "oscillating motion", the position limits are entered in "P-0-0166,
Drive optimization, end position negative" and in "P-0-0167, Drive opti‐
mization, end position positive".
● If "stepper mode" is set, the travel distance is entered in "P-0-0169,

Drive optimization, travel distance". The sign of "P-0-0169" determines
the direction of motion of the axis.
The "drive-internal command value box" has priority over "auto‐

matic setting of axis control".

4.2.59 P-0-0166, Drive optimization, end position negative

Hardware --
Function This parameter is used to enter the negative end position of the travel range
within which the axis may move if the drive-internal command value is speci‐
fied by "P-0-0162, C1800 Command Drive optimization".
"P-0-0166" is used when the following selection was made in the control word
for C1800 (P-0-0165, Drive optimization, control word):
● Automatic setting of axis control, or
● Drive-internal command value box
See also Functional Description "Drive-Internal Command Value Box"
"Automatic setting of axis control" requires value input only if "input of posi‐
tion limits" has been selected in parameter "P-0-0165, Drive optimization,
control word" bit 15. Up to MPx-17VRS, the parameter is overwritten by the
internally determined absolute position limit when the travel distance is de‐
fined after command C1800 has been started.
When the drive-internal command value box is used, the parameter defines
the negative limit of the oscillating motion.
WARNING The limit entered may be exceeded due to

overshoots in velocity control mode or decel‐
eration processes in position control mode.
The limit entered should not be equal to the maximum possible mechanical
travel range.

S-0-0077 /
S-0-0078

4.2.60 P-0-0167, Drive optimization, end position positive

Hardware --
Function This parameter is used to enter the positive end position of the travel range
within which the axis may move if the drive-internal command value is speci‐
fied by "P-0-0162, C1800 Command Drive optimization".
"P-0-0167" is used when the following selection was made in the control word
for C1800 (P-0-0165, Drive optimization, control word):
Use "Automatic setting of axis control" requires value input only if "input of posi‐
tion limits" has been selected in bit 15 of parameter "P-0-0165, Drive optimi‐
zation, control word". Up to MPx-17VRS, the parameter is overwritten by the
internally determined absolute position limit when the travel distance is de‐
fined after command C1800 has been started.
When the drive-internal command value box is used, the parameter defines
the positive limit of the oscillating motion.
WARNING The limit entered may be exceeded due to

overshoots in velocity control mode or decel‐
eration processes in position control mode.
The limit entered should not be equal to the maximum possible mechanical
travel range.

S-0-0077 /
S-0-0078
4.2.61 P-0-0168, Maximum acceleration to be parameterized

Hardware --
Function This parameter is used to enter the maximum acceleration determined in the
"automatic setting of axis control" (started by C1800) when "calculation of the
maximum acceleration" was activated in "P-0-0165, Drive optimization, con‐
trol word".
When C1800 is started, the "Automatic setting of axis control" is

only active when neither the "Drive-internal command value box"
nor "recording of cogging torque compensation table" operation
mode was activated in "P-0-0165"!
P-0-0168 is a proposed value for later determination of the maxi‐

mum acceleration values that can be specified in the operation
modes.

S-0-0161 /
S-0-0162
MPx / PSB: min./max.: --- / --- Default value: 0,000
4.2.62 P-0-0169, Drive optimization, travel distance

Hardware --
Function This parameter may be active if the following selection was made in the con‐
trol word for C1800 (P-0-0165, Drive optimization, control word):
Use "Use with automatic setting of axis control"
The value of "P-0-0169" is relevant only if travel distance input has been se‐
lected during determination of the travel range in "P-0-0165".
Up to MPx-17VRS:
● If the motion type selected in P-0-0165 is "oscillating motion", the al‐
lowed travel corresponds to the value of "P-0-0169" arranged symmetri‐
cally around the starting position both in positive and negative travel di‐
rection.
Note: When "P-0-0162, C1800 Command Drive optimization" is started,
the travel range provided for drive-internal command value input is
checked. For this reason, the values for "P-0-0166" and "P-0-0167" are
determined and, if necessary, checked for the allowed travel range limits
of the axis.
● If, furthermore, the motion type selected in "P-0-0165" is "stepper
mode", the axis travels stepwise for the value specified in "P-0-0169"
into the motion direction selected in "P-0-0165".
As of MPx-18VRS:
● The motion type and motion direction are derived from the configuration
of the drive (S-0-0076 and S-0-0393).
● If the motion direction can be selected as desired, the sign of the travel
distance is evaluated.
● If the travel distance is in positive direction or the motion can only be

made to the right, the travel range is spread in positive direction, starting
at the current position.
● If the travel distance is in negative direction or the motion can only be
made to the left, the travel range is spread in negative direction, starting
at the current position.
● Since a safety reserve is taken into account, the actual travel range is
less than the travel distance entered.
Use with "drive-internal command value box"
The value of "P-0-0169" is relevant only if stepper mode has been selected
as "motion type" in "P-0-0165, Drive optimization, control word". When C1800
is started, the axis successively moves over the distance set in "P-0-0169"
and always does so in only one direction. The direction depends on the sign
of "P-0-0169".
S-0-0077 /
S-0-0078
4.2.63 P-0-0170, Drive optimization, acceleration

Hardware --
Function This parameter is active when the following preselection was made in the
control word for C1800 ("P-0-0165, Drive optimization, control word"):
● automatic control loop setting or
● operating mode "drive-internal command value box"
In this parameter, enter the maximum acceleration with which the axis is
moved after the start by "P-0-0162, C1800 Command Drive optimization /
command value box" by a drive-internal position command value (only active
in position control).
When the drive-internal command value box is used in velocity

control, there isn't any acceleration limitation active, the velocity is
input as command value jump! Any possibly required acceleration
limitation can be achieved via the command value ramp parame‐
ters P-0-1201 etc. of velocity control!

S-0-0161 /
S-0-0162

4.2.64 P-0-0171, Drive optimization, velocity

Hardware --
Function This parameter is active if the following preselection was made for C1800 in
the control word (P-0-0165, Drive optimization, control word):
● Automatic control loop setting or
● Operating mode "drive-internal command value box"
In this parameter enter the maximum velocity at which the axis is moved by
the drive-internal command value after starting by "P-0-0162, C1800 Com‐
mand Drive optimization/command value box".
See also Functional Description "Automatic setting of axis control"
See also Functional Description "Drive-internal command value box"
S-0-0045 /
S-0-0046
4.2.65 P-0-0172, Drive optimization, dwell time

Hardware --
Function In this parameter, enter the dwell time during which the axis remains in stand‐
still at the end positions or at the end of the travel distance, after "P-0-0162,
C1800 Command Drive optimization / command value box" was started.
This parameter is active when the preselection operating mode "drive-internal
command value box" was made in the control word for C1800 ("P-0-0165,
Drive optimization, control word").
4.2.66 P-0-0173, List of configurable axis-specific monitoring functions

Hardware --
Function Using this parameter, the following error cases can be configured as a warn‐
ing:
Error message Diagnostics Warning message Diagnostics

List
(default) (default) (configuration (configuration changed)
Element
changed)
Bit 0 is not active in version 20 and above!

0 0x000F2031 Encoder 1 error: 0x000E2031 Encoder 1 warning:
Signal amplitude incorrect Signal amplitude incorrect
0x000F2037 Excessive position command dif‐ 0x000E2037 Excessive position command dif‐
1
ference ference warning
0x000F2042 Encoder 2: 0x000E2042 Encoder 2 warning:
2
Encoder signals incorrect Encoder signals incorrect
0x000F2043 Measuring encoder: 0x000E2043 Measuring encoder warning:
3
Encoder signals incorrect Encoder signals incorrect
Tab. 4-61: P‑0‑0173, List of config. axis-specific monitoring functions

The parameter has the following properties:
● It contains list elements with the complete diagnostic message consist‐
ing of diagnostic message number and diagnostic message name.
● Unless password-protected, it is set to the delivery values again when
the default values are loaded.
● Only contains error events that can be changed.
● The list indexing of the error events remains compatible even in the
case of version upgrade.
NOTICE When the error case has been configured as

a warning, the triggering of the monitoring
function no longer causes the drive-side error
reaction.
Thus, it is the user's responsibility to react to this monitoring function (case of
error) in an installation-specific way. If the user does not react, the installa‐
tion/machine can be damaged or destroyed!
P-0-0173 - Attributes Function: Par Editable: PM Data length: 4Byte var.

4.2.67 P-0-0174, Enabling of device-specific error reaction

Hardware --
Function This parameter is used to define whether list parameter "P-0-0175, List of
configurable device-specific monitoring functions" may be changed.

Memory: LT_SP Validity ch.: -- Format: HEX
MPx / PSB: min./max.: 0x0 / 0x1 Default value: ---
4.2.68 P-0-0175, List of configurable device-specific monitoring functions

Hardware --
Function The diagnostic message and therefore the reaction to specific error events
which may result in a destruction of the controller/motor if operation is contin‐
ued (e.g., F2018 Device overtemperature shutdown) can be configured by
the user if this is enabled for a device by the manufacturer using the parame‐
ter "P-0-0174, Enabling of device-specific error reaction". The error class of
these error events is a device-specific property and can vary depending on
the device.
The parameter has the following properties:
● It contains list elements with the complete diagnostic message in the
form of parameter "S-0-0390, Diagnostic message number" (error/warn‐
ing class and number, e.g., "0xF2018", "0xE2yyy").
● When default values are loaded, it is reset to the values on delivery if
– it is not protected by a password,
– it was enabled via "P-0-0174"
– the parameter is invalid.
● On transition from PM to OM, it is automatically set to the default value if
it is was not enabled via parameter "P-0-0174" or if parameter
"P-0-0174" is invalid!
● On transition from PM to OM, it is automatically set to the default value if
the device used is not IndraDrive Cs, IndraDrive Mi or Indradrive HCT/
HCQ.
● It contains no other error events than those that can be changed.
● The list indexing of the error events remains compatible even if the ver‐
sion is upgraded.
NOTICE Since the error case is configured as a warn‐

ing, triggering of the monitoring function no
longer results in a drive error reaction.
It is therefore the user's responsibility to select a plant-specific reaction to this
monitoring function (error case). If the user fails to react, the plant/machine
may be damaged or destroyed.


4.2.69 P-0-0177, Encoder 1, absoute encoder buffer

Hardware --
Function With an absolute encoder 1, current encoder data are saved when the drive
is switched off. The saved data are displayed in this parameter. They are
used for repeated position initialization and monitoring when the drive is
switched on the next time.
The saved data are displayed in a list and cannot be interpreted by custom‐
ers. They are used by service and development personnel for diagnostic pur‐
pose.
Memory: RETAIN_KUNDE Validity ch.: -- Format: HEX
4.2.70 P-0-0178, Encoder 2, absoute encoder buffer

Hardware --
Function With an absolute encoder 2, current encoder data are saved when the drive
is switched off. The saved data are displayed in this parameter. They are
used for repeated position initialization and monitoring when the drive is
switched on the next time.
pose.
4.2.71 P-0-0179, Absolute encoder buffer, measuring encoder

Hardware --
Function With an absolute measuring encoder, current encoder data are saved when
the drive is switched off. The saved data are displayed in this parameter.
They are used for repeated position initialization and monitoring when the
drive is switched on the next time.
pose.
See also functional description "Measuring encoder"
4.2.72 P-0-0180, Acceleration feedforward smoothing time constant

Hardware --
Function The parameter allows filtering of

● the twofold differentiated position command value (cyclic position control
loop),
● the differentiated velocity command value (velocity control loop),
using a 1st order low-pass filter in order to achieve an acceleration feedfor‐
ward control which does not result in any impermissibly high incitement of the
system even if the position and/or velocity resolution is poor. The twofold dif‐
ferentiation may result in a very noisy feedforward control value which, in
turn, is applied as additive torque command value.
Fig. 4-18: Parameterizable Filter Cascade

See also Functional Description "Closed-Loop Axis Control (Closed-Loop Op‐
eration)"
4.2.73 P-0-0181, Drive optimization: Antiresonance frequency

Hardware --
Function Contains up to five antiresonance frequencies of the drive system, consisting

of motor and mechanical system. These system frequencies are used when
the control parameters are calculated in the "automatic setting of axis control"
function.
Use To execute command "P-0-0162, C1800 Command Drive optimization" when
"automatic setting of axis control" is selected in "P-0-0165, Drive optimiza‐
tion, control word", the antiresonance frequencies of the system are required
for determining the optimal control parameters. The antiresonance frequen‐
cies can be determined by means of a frequency response analysis. Antire‐
sonance points usually occur briefly after resonance points in the frequency
response and attenuate the amplitudes of the frequencies concerned.
It is recommended to have the antiresonance frequencies auto‐

matically determined by the "frequency response analysis" or by
the "automatic setting of axis control" wizard in IndraWorks.

MPx / PSB: min./max.: 0,0 / 100000,0 Default value: s. Text
4.2.74 P-0-0182, Drive optimization: Resonance frequency

Hardware --
Function Contains up to five resonance frequencies of the drive system, consisting of

motor and mechanical system. These system frequencies are used when the
control parameters are calculated in the "automatic setting of axis control"
function.
Use To execute command "P-0-0162, C1800 Command Drive optimization / com‐
mand value box" when "automatic setting of axis control" is selected in
"P-0-0165, Drive optimization, control word", the resonance frequencies of
the system are required for determining the optimal control parameters. The
resonance frequencies can be determined by means of a frequency response
analysis. The resonance points should be attenuated by suitable filters of the
velocity control loop.
It is recommended to have the resonance frequencies automati‐

cally determined by the "frequency response analysis" or by the
"automatic setting of axis control" wizard in IndraWorks.

4.2.75 P-0-0183, Drive optimization, checksum

Allocation Contained in 20VRS: «MPB» «MPE» «MPM» «MPC» «-»
Hardware --
Function In this parameter, the checksum on the contents of parameters "P-0-0161",

"P-0-0164", "P-0-0165", "P-0-0166", "P-0-0167", "P-0-0169", "P-0-0170" and
"P-0-0171" is entered after successful completion of command "Automatic
setting" if the command was started via "P-0-0162", C1800 or the IndraWorks
Wizard.
Use To ensure the same requirements for execution of subsequent optimization of
"Automatic setting of axis control" via the control panel as for last execution
of the command "Automatic setting of axis control" via "P-0-0162", C1800 or
the IndraWorks Wizard, a checksum of the concerned parameters is saved. If
the configuration of the parameters on starting of subsequent optimization via
the control panel does not correspond to the configuration on determination
of the check sum or if the check sum is zero, subsequent optimization cannot
be started (command error C1810).
4.2.76 P-0-0184, Password-Motor

Contained in 19VRS: «MPB» «MPE» «-» «MPC» «-»
Hardware --
Function After a password has been entered, QSK motors can be operated on
IndraDrive Cs and IndraDrive C/M.
The display in "P-0-0184" is defined as follows:
● 0x00001: The entered password is valid.
● 0x00000: The entered password is invalid.

port.
The indicators 0x00001 or 0x00000 are available from

MPx17V16, MPx18V8 and from MPx19.

Memory: -- Validity ch.: -- Format: HEX
4.2.77 P-0-0185, Encoder 2 control word

Hardware --
Function This parameter is used to make basic settings for encoder 2.

● All operation modes are possible with encoder 2.
● The position feedback value is displayed in "S-0-0053, Position feed‐
back value of encoder 2".
● Encoder 2 is normally used to detect the position on the load side. If po‐
sition control is closed using encoder 2, it acts as a "position control en‐
coder".
● If the encoder 2 is a position control encoder without slip, it can be used
for motor control in specific cases, see table below.
●
See also Functional Description "Drive mechanics and arrangement of meas‐
uring systems".
See also Functional Description "Monitoring the measuring systems".
See also Functional Description "Measuring wheel mode".
Structure
0 Feed constant 2
0: Not activated
1: Activated
2/1 Use of encoder 2 (position control)
00: Position control encoder
01: Spindle encoder
10: Measuring wheel encoder
11: (Not allowed!)

8/4/3 Use of encoder 2 (special case motor control) FW 20V10 and
000: No motor control function of encoder 2 above
If encoder1/motor encoder available:

001: Encoder 2 is redundant motor control encoder
010: Encoder 2 is commutation initialization encoder
011: Encoder 2 is commutation initialization and redundant
motor control encoder FW 20V12 and
above
With a sensorless motor:
010: Encoder 2 is motor control encoder (commutation ini‐
tialization with regard to P-0-0515, Commutation offset 2
with FW 20V12 and above)
100: Reserved
101: Reserved
110: Reserved
111: Reserved
5 Position data reference if "measuring wheel mode" activa‐
ted
0: Encoder reference; position data reference of encoder 2
is deleted
1: Position status of encoder; position data reference of
encoder 2 is retained
7 Encoder 2 mounting position
0: Load-side mounting
1: Actuator-side mounting
8 Special function: encoder 1 and encoder 2 as alternative (not available)
motor control encoders, can be switched to "AF"
0: No special function
1: Special function, see bit 8/4/3 above
Tab. 4-62: Relevante bits of P‑0‑0185

Use Observe the following aspects for parameterization:
● Bit 2/1:
– If encoder 2 is used as a position control encoder, the effective
feed constant, in the case of a rotary encoder and a linear axis,
has to be entered in "P-0-0123, Encoder 2 feed constant" and acti‐
vated (bit 0 = 1). The functions "encoder 2 as motor control encod‐
er" and "redundant motor control encoder" can be used, but only if
the feed constant is inactive (bit 0)!
– If encoder 2 is used as a spindle encoder, encoder monitoring is
deactivated. Thus, the error reaction cannot be triggered if the
maximum allowed encoder input frequency is exceeded (at high
speeds).
If the maximum encoder input frequency reaches or exceeds the

maximum frequency stored in the firmware, the reference is
cleared. The position data reference has to be reestablished be‐
fore drive enable is switched back on.
– If encoder 2 is used as a measuring wheel encoder, "encoder 2 as

motor control encoder" at the same time is excluded. If the actual
position value of the measuring wheel encoder is to be displayed in
linear form, its feed constant has to be entered in "P-0-0123, En‐
coder 2 feed constant" and activated (bit 0 = 1). If the actual posi‐
tion value of the measuring wheel encoder is to be displayed in ro‐
tary form, the feed constant 2 remains inactive (bit 0 = 0, default).
If "measuring wheel encoder" has been selected, S-0-0521, bit 1

= "1" is automatically set.
– With the "complex actuator" configuration (P-0-0560, with function‐

al package "Sytronix" only), encoder 2 can only be used as a "posi‐
tion control encoder"!
● Bit 8/4/3 (bit 8 permanently set to "0")
– Encoder 2 can only be used as a motor control encoder if encoder
2 is used as a "position control encoder" (bit 2/1).
– If "redundant motor control encoder" has been activated, it is possi‐
ble to continue operating the drive after an error has occurred for
encoder1/motor encoder! The warning" E2074 Encoder 1: encoder
signals disturbed" is displayed. The "redundant motor control en‐
coder" can be simultaneously used as a "commutation initialization
encoder" for synchronous motors.
– Using encoder 2 as a "commutation initialization encoder" is gener‐
ally possible with a position control encoder that can be evaluated
in absolute form! In this case, the motor encoder of the synchro‐
nous motor can possibly be designed as a cost-saving, relative
measuring system since the commutation initialization is carried
out using encoder 2.
– It is advantageous to use encoder 2 as a "motor control encoder"
in the case of sensorless motors! "Current control with motor en‐
coder" has to be configured in "P-0-0045, Control word of current
controller", "encoder1/motor encoder" cannot be configured (com‐
mutation initialization with regard to P-0-0515, Commutation offset
2 with FW 20V12 and above).
The "redundant motor control encoder" setting only makes sense

for motors with encoder1/motor encoder!
Using encoder 2 as a "motor control encoder" is only possible if
the connection between the motor and encoder 2 is without slip!
● Bit 5: The position data reference can only be maintained in case the
measuring wheel mode is activated/deactivated, if it is ensured that the
mechanical reference of the position feedback value is not shifted from
the measuring wheel encoder to the motor encoder or the material to be
measured.
Risk of machine damage or rejects if the material position is not

returned correctly due to slip effects between material and motor
encoder.

4.2.78 P-0-0187, Position command processing mode

Hardware --
Function For jerk-free motion in "position control" mode, the position command values
transmitted via the command value channel are fine interpolated.
Parameter "P-0-0187" can be used to select the following types of interpola‐
tion:
● Linear fine interpolation P-0-0187 = 0
● Cubic approximation P-0-0187 = 1
● Cubic fine interpolation according to contour P-0-0187 = 2
Fig. 4-19: Differences between the types of interpolation

Linear fine interpolation P-0-0187 = 0
The cyclically transmitted position command values (S-0-0047) are interpre‐
ted as being connected straightly.
In case of this type of interpolation, the cyclically set position com‐

mand value only takes effect one command value cycle after it
was set at the position controller input. The downstream position
command value filter (P-0-0099) only takes effect in case of linear
interpolation!
Cubic approximation P-0-0187 = 1 (default setting)

The cyclically transmitted position command values (S-0-0047) are connec‐
ted by a jerk-optimized polynomial. This can cause slight path deviations, be‐
cause the main purpose of this type of interpolation is jerk limitation.
Cubic fine interpolation according to contour P-0-0187 = 2
The cyclically transmitted position command values (S-0-0047) are connec‐
ted by a jerk-optimized polynominal. In this case, it is impossible to generate
a jerk-optimized path, because the main purpose is interpolation according to
contour. This means the fine-interpolated position command value curve runs
exactly through the cyclically transmitted position command values (data

points).
In case of "cubic approximation" and "cubic fine interpolation ac‐

cording to contour", only defined values are allowed for the clock
ratio.
Clock ratio = NC cycle time/Ta_position

Clock ratio (interpolation cycle to position clock)
Position clock Position clock Position clock
Clock ratio
250 µs 500 µs 1000 µs
1 to 8 - steps of one 250 μs to 2 ms 500 μs to 4 ms 1000 μs to 8 ms
10 to 16 - steps of two 2.5 ms to 4 ms 5 ms to 8 ms 10 μs to 16 ms
20 to 32 - steps of four 5 ms to 8 ms 10 μs to 16 ms 20 μs to 32 ms
Tab. 4-63: Clock ratios (interpolation cycle to position clock)

Example for 500 µs:
Clock ratio Position clock 500 µs
1 to 8 - steps of one (1, 2, 500 μs, 1000 μs, 1500 μs, 2000 μs, 2500 μs, 3000 μs,
3, 4, 5, 6, 7, 8) 3500 μs, 4000 μs
10 to 16 - steps of two (10,
5000 μs, 6000 μs, 7000 μs, 8000 μs
12, 14, 16)
20 to 32 - steps of four (20,
10000 μs, 12000 μs, 14000 μs, 16000 μs,
24, 28, 32)
Tab. 4-64: Position clock
With firmware version MPE, fine interpolation according to con‐

tour and cubic fine interpretation are not possible.

MPB: min./max.: 0x0 / 0x2 Default value: 0x1

MPC: min./max.: 0x0 / 0x2 Default value: 0x1
MPE: min./max.: 0x0 / 0x1 Default value: 0x1
MPM: min./max.: 0x0 / 0x2 Default value: 0x1
4.2.79 P-0-0189, Debug output: IDN list of parameters last saved

Hardware --
Function This parameter shows the IDNs for which storage jobs were generated. Here,
it must be noted that storage jobs are only generated if "S-0-0269, Storage
mode" is equal to "0". In addition, the generation of a storage job requires

that the parameter value be actually changed.
The content of the parameter is presented as an IDN list with element 0 con‐
taining the latest entry and the end of the list containing the oldest entry. The
entries in the IDN list are each made before the storage process is started.
4.2.80 P-0-0190, Operating hours control section

Hardware --
Function This parameter displays the operating time of the drive's control section. By
means of this parameter it is possible to display the total duty cycle of the
control electronics since the delivery of the device. If a class 1 diagnostics
error occurs, the content of this parameter at this point of time is stored at the
first place in the "P-0-0193, Error memory operating hours of control section"
parameter.
The value is displayed in seconds and is stored on the control

section!
See also Functional Description "Operating Hours Counter"

Memory: RETAIN_GERAET Validity ch.: PM->OM Format: DEC_OV
4.2.81 P-0-0191, Operating hours power section

Hardware --
Function This parameter displays the operating hours of the power section since the
delivery of the device. These operating hours are the time during which the
drive has been operated with drive enable switched on.
The value is displayed in seconds and is stored on the power sec‐

tion!
See also Functional Description "Operating Hours Counter"

Memory: RETAIN_GERAET Validity ch.: PM->OM Format: DEC_OV
4.2.82 P-0-0192, Error memory of diagnostic numbers

Hardware --
Section)"
● the plain text of diagnosis is stored in parameter "S-0-0095, Diagnostic
message",
● the respective error number is stored in parameter "P-0-0009, Error
number".
The diagnostic number that belongs to the error and is displayed in
"S-0-0390, Diagnostic message number" is also stored in the "P-0-0192, Di‐
agnostic numbers of error memory" parameter. In the form of a stack, this pa‐
rameter contains, in chronological order, the diagnostic numbers of the last
50 errors occurred. The last error occurred is entered at the top.
The count of the "P-0-0190, Operating hours control section" parameter at
the time the error is detected is stored in the "P-0-0193, Error memory ope‐
rating hours of control section" parameter in the same order.
The parameter is stored on the control section.

Memory: ON_BOARD_SP Validity ch.: PM->OM Format: HEX
4.2.83 P-0-0193, Error memory operating hours of control section

Hardware --
Section)"

● the plain text of diagnosis is stored in parameter "S-0-0095, Diagnostic
message",
● the respective error number is stored in parameter "P-0-0009, Error
number".
The count of the "P-0-0190, Operating hours control section" parameter at
the time the error is detected is stored in the "P-0-0193, Error memory ope‐
rating hours of control section" parameter. In the form of a stack, this param‐
eter contains, in chronological order, the hours-run meter counts of the last
50 errors occurred. The count of the last error occurred is entered at the top.
The diagnostic number belonging to the error in accordance with "S-0-0390,
Diagnostic message number" is stored in the "P-0-0192, Diagnostic numbers
of error memory" parameter in the same order.
The parameter is stored on the control section.

Memory: ON_BOARD_SP Validity ch.: PM->OM Format: DEC_OV
4.2.84 P-0-0194, Error memory power section

Cs, HCQ, HCS02, HCS03, HCS04, HCT, HMD, HMS, KMV,
Hardware
Mi, Mn
then set in parameter "S-0-0135, Drive status word". If the error only con‐
cerns the power section, it is additionally stored in parameter "P-0-0194".
See also functional description "Error memory (power section and control
section)"
Use In case of errors due to the power section, a respective code is stored in
"P-0-0194" and saved on the power section. This way, the error remains
clearly assigned to the power section even in case of service (e.g. control
section replacement).
In this parameter, the last 12 errors that occurred are coded and saved in
consecutive order including the corresponding count of the operating hours
counter:
● Bit 0… 25: Operating hours counter value of the power section in sec‐
onds at the time the error occurred
● Bit 26… 31: Code number of the error
The last error that occurred is entered at the top of the error memory list
(P-0-0194). The parameter is stored on the power section.
Code number of the error Assigned error diagnosis

2 F8091
3 F8060
4 F8069
5 F2022
6 F2018
7 F2040
8 F2836
9 F2816
10 F2821
11 F2820
12 F8838
Tab. 4-65: Assignment of error diagnosis numbers to code numbers of errors

MPx / PSB: min./max.: 0x0 / 0xFFFFFFFF Default value: ---
4.2.85 P-0-0195, IDN list of retain data (replacement of devices)

Hardware --
Function In this list, the IDNs of those parameters are stored the values of which are
required for replacement of devices.
The parameter values of the IDNs listed in "P-0-0195":
● are only allowed to be loaded after a defective controller has been re‐
placed and
● had to be saved directly before the device was replaced!
Otherwise the current parameter values of target position, absolute encoder,
etc. are overwritten with old values which can cause incorrect drive behavior!
NOTICE Property damage caused by errors when

controlling motors and moving parts!
After having loaded the parameter values according to the IDN list of retain
data (P-0-0195), check the actual position values and the current target posi‐
tion!
See also Functional Description "Notes on How to Replace the Devices"


4.2.86 P-0-0196, Additional information of control section firmware

Hardware --
Function The build date and build time of the drive firmware can be read from this pa‐
rameter as a text.
See also Functional Description "System Overview"
4.2.87 P-0-0197, System time

Hardware --
Function This parameter contains the system time in Windows file time format
(elapsed time in 100ns increments since 1601-01-01).
This way, the system time is offered in a second format besides the format
according to IEC 61588 (parameter S-0-1305.0.1).
Structure Parameter "P-0-0197" is a 64-bit value with a structure in the form of a list
with two elements having a length of 4 bytes.
Element Content
1 Low word System time (fine)

2 High word System time (coarse)
Tab. 4-66: Structure of P-0-0197, System time

Use Observe the following for parameterizing or interpreting the parameter:
● The system time counter is activated when the second element of
"P-0-0197" is written.
● If a time is written via this parameter, it is converted to the format ac‐
cording to IEC 61588. Times prior to 1970-01-01 cannot be displayed.
● The system time counter for this parameter is updated every 2 millisec‐
onds.

4.2.88 P-0-0198, System time error memory

Hardware --
Function The state of the parameter "P-0-0197, System time" is stored in the parame‐
ter "P-0-0198" when the error is detected. It can be used in conjunction with
the parameters "P-0-0197" and "P-0-0199" to establish an axis-comprehen‐
sive time reference in the case of error.
See Functional Description "Handling, Diagnostic and Service Functions"
Structure This parameter is built in the form of a stack and contains the system meter
reading of the latest 50 errors in chronologically continuous order. First you
see the meter reading of the latest occurred error. The unit of the recorded
times is [102 ns].
Hereby, 2 elements of a parameter result in a time stamp, as the

system time is displayed with 64 bit (8 byte)!
Element Content Notes
1 Low Word system time (fine) Time for error (k)

2 High Word system time
(coarse)
3 Low Word system time (fine) Time for error (k1)
(coarse)
(coarse)
… … … …
(coarse)
Tab. 4-67: Construction of P‑0‑0198, System Time Error Memory

4.2.89 P-0-0199, System time error code

Hardware --
Function The parameter "P-0-0199" contains the error number consistent to

"P-0-0197, System time". It can be used in conjunction with the parameters
"P-0-0197" and "P-0-0198" to establish an axis-comprehensive time refer‐
ence in the case of error.
Therewith, via extracting the parameters from the old device and
bringing in the parameters to the replaced device, the error histo‐
ry can remain on the installation when the device must be
changed.
See Functional Description "Handling, Diagnostic and Service Functions"

Memory: ON_BOARD_SP Validity ch.: -- Format: HEX
4.2.90 P-0-0200, Start position probe function 2 active

Hardware --
Function The lower limit value of the "expectation window" for probe 2 is set in this pa‐
rameter. The "expectation window" is limiting the position range of an axis or
shaft within which probe signal edges cause measured values to be detected.
The "expectation window" has to be activated in "P-0-0226, Probe, extended
control word".
The "expectation window" cannot be used with "time measure‐

ment"!
See also Functional Description "Probe Function"

S-0-0077 /
S-0-0078

4.3.1 P-0-0201, End position probe function 2 active
Hardware --
Function The upper limit value of the "expectation window" for probe 2 is set in this pa‐

control word".

ment"!

S-0-0077 /
S-0-0078
4.3.2 P-0-0202, Difference probe values 1

Hardware --
Function This parameter displays the absolute value of the difference between
"S-0-0130, Probe value 1 positive edge" and "S-0-0131, Probe value 1 nega‐
tive edge". The value is recalculated whenever a new probe value 1 is detec‐
ted, whether positive or negative.
Use When "P-0-0202" is determined, axes with finite travel range must be differ‐
entiated from axes with infinite travel range::
● Axes with finite travel range (e.g., linear axes, absolute position data for‐
mat)
Fig. 4-20: Calculating P-0-0202 for Axes With Finite Travel Range
● Axes with infinite travel range (e.g., rotary axes, position data in modulo
format). In this case, the difference between the probe values is limited
to half the modulo value of the measuring signal. Calculation of
"P-0-0202" depends on the absolute value of the probe value difference:
Fig. 4-21: Calculating P‑0‑0202 for Axes With Infinite Travel Range if |
S‑0‑0130 – S‑0‑0131 | <= (Modulo Value / 2)
S‑0‑0130 – S‑0‑0131 | > (Modulo Value / 2)

4.3.3 P-0-0203, Difference probe values 2

Hardware --
Function This parameter displays the absolute value of the difference between
"S-0-0132, Probe value 2 positive edge" and "S-0-0133, Probe value 2 nega‐
tive edge". The value is recalculated whenever a new probe value 2 is detec‐
ted, whether positive or negative.
Use When "P-0-0203" is determined, axes with finite travel range must be differ‐
entiated from axes with infinite travel range::
● Axes with finite travel range (e.g., linear axes, absolute position data for‐
mat)
Fig. 4-23: Calculating P-0-0203 for Axes With Finite Travel Range
● Axes with infinite travel range (e.g., rotary axes, position data in modulo
format).
In this case, the difference between the probe values is limited to half
the modulo value of the measuring signal. Calculation of "P-0-0203" de‐
pends on the absolute value of the probe value difference:
S‑0‑0132 – S‑0‑0133 | <= (Modulo Value / 2)
S‑0‑0132 – S‑0‑0133 | > (Modulo Value / 2)
4.3.4 P-0-0204, Start position probe function 1 active

Hardware --
Function The lower limit value of the "expectation window" for probe 1 is set in this pa‐

control word".

ment"!

S-0-0077 /
S-0-0078
4.3.5 P-0-0205, End position probe function 1 active

Hardware --
Function The upper limit value of the "expectation window" for probe 1 is set in this pa‐
control word".

ment"!

S-0-0077 /
S-0-0078
4.3.6 P-0-0206, Probe 1, max. number of marker failures

Hardware --
Function The value entered in this parameter is a threshold for the registered number
of marker failures.
The number of successive times the expectation window is passed through
without marker event is added and displayed in "P-0-0224, Probe 1, number
of marker failures". When the value in P-0-0224 has reached the value of
P-0-0206, this is signaled in the respective bit of "S-0-0179, Probe status".
The display in S-0-0179 only takes place if the marker failure

monitor was activated in "P-0-0226, Probe, extended control
word" for probe 1!

4.3.7 P-0-0207, Probe 2, max. number of marker failures

Hardware --
Function The value entered in this parameter is a threshold for the registered number
of marker failures.
Use The number of successive times the expectation window is passed through
without marker event is added and displayed in "P-0-0225, Probe 2, number
of marker failures". When the value in P-0-0225 has reached the value of
P-0-0207, this is signaled in the respective bit of "S-0-0179, Probe status".
The display in S-0-0179 only takes place if the marker failure

monitor was activated in "P-0-0226, Probe, extended control
word" for probe 2!

4.3.8 P-0-0208, DA: Analog input 2

Hardware Analog-In 5
Function With this parameter, the value currently applied on "analog input 2" of option‐
al module "DA" is shown as an input voltage in Volt or as an input current in
mA depending on parameter "P-0-0255 Analog input; hardware configura‐
tion".
The parameter values are updated according to position controller clock.
This analog input is only available if an optional module "DA" is

configured!
See also Functional Description "Analog Interface"

See also Functional Description "Analog Inputs"
Use For example, the parameter content can be

● directly processed in the drive PLC,
● transferred cyclically to the control,
● or assigned to an internal drive parameter via assignment A, B or C.
The assigned parameters are updated depending on the selected

assignment. According to position controller clock with assign‐
ment A and every 2 ms with assignment B and C.

4.3.9 P-0-0210, Analog input 1

Function This parameter can be used to display the input voltage currently applied to
analog input 1 in volts. The parameter values are updated according to posi‐
tion controller clock.

assignment. The update takes place according to position control‐
ler clock with assignment A and every 2 ms with assignment B
and C.

4.3.10 P-0-0211, Analog input 2

Function With this parameter, the value currently applied on analog input 2 is shown
as an input voltage in Volt or as an input current in mA depending on param‐
eter "P-0-0255 Analog input; hardware configuration".
Analog input 2 on the control section CDB02.1B cannot be para‐

meterized as the current input!


and C.

4.3.11 P-0-0212, Analog input, list of assignable parameters

Hardware Analog-In x
Function This list parameter contains the ident numbers of the parameters, which can
be entered in the following parameters:
● P-0-0213, Analog input, assignment A, target parameter
● P-0-0236, Analog input, assignment B, target parameter
● P-0-0245, Analog input, assignment C, target parameter
These parameters are available for assigning an analog input value.
See also Functional Description of firmware "Analog Interface"
See also Functional Description of firmware "Analog Inputs"
4.3.12 P-0-0213, Analog input, assignment A, target parameter

Function The ident number of the target parameter for assignment A is entered in this
parameter.
The desired analog input for this assignment is configured via the parameter
"P-0-0218, Analog input, control parameter".
Actual scaling is achieved via "P-0-0214, Analog input, assignment A, scal‐
ing".
Only ident numbers can be entered in "P-0-0213" that are con‐

tained in "P-0-0212, Analog input, list of assignable parameters".

4.3.13 P-0-0214, Analog input, assignment A, scaling

Function
The parameter cannot be cyclically configured in the "MPE" firm‐
ware derivative!
The scaling of the analog input for assignment A is carried out via this param‐
eter. The setting of the scaling for the value range is carried out per 10 V or
per 20 mA depending on the setting in "P-0-0255, Analog input; hardware
configuration", which determines whether the analog input is used as a volt‐
age or current input.
The unit, the decimal places and the data type are defined by the parameter
assigned in "P-0-0213, Analog input, assignment A, target parameter".
See also Functional Description "Analog interface"
See also Functional Description "Analog inputs"
Cycl. tra.: AT + MDT Comb. check: -- Set-depend.: Grp. 1

4.3.14 P-0-0215, Analog input, assignment A, signal value at 0

Function
ware derivative!
This parameter is used to make the reference definition of the analog input
for assignment A. As a result, an offset at the analog input can be compensa‐
ted if necessary.
The setting of the reference definition for 0 V or 0 mA takes place depending
on the setting in "P-0-0255, Analog input; hardware configuration", which de‐
termines whether the analog input is used as a voltage or current input.
assigned in "P-0-0213, Analog input, assignment A, target parameter".
4.3.15 P-0-0216, Analog input, assignment A, dead zone

Function
ware derivative!
The dead zone is a value range arranged symmetrically around the "0-sig‐
nal". This parameter can be used to define a value range for the dead zone
within which the assignment outputs the value 0.
The dead zone value is calculated as follows:
P-0-0216 x P-0-0214 / 10 [V] or
P-0-0216 x P-0-0214 / 20 [mA]
The unit for the value range is V or mA depending on the setting in
"P-0-0255, Analog input; hardware configuration", which determines whether
the analog input is used as a voltage or current input.
The assigned value range results from "P-0-0214, Analog input, assignment
A, scaling".

4.3.16 P-0-0217, Analog input 1, time constant input filter

Function
ware derivative!
The analog input 1 can be read in by the drive firmware via a digital low-pass
filter.
The time constant (Tinput) is specified and influenced by this parameter.
Limit frequency of the input filter:
Inputting Tinput = TA_position deactivates the filter (see also Performance data).
Use
flimit limit frequency in Hz

Tinput time constant of input fliter in ms
Fig. 4-26: Calculating the limit frequency of the analog input filter
4.3.17 P-0-0218, Analog input, control parameter

Function This parameter is used:

● For controlling the "C2800 Analog input adjustment command"
● For assigning the analog inputs to "assignment A, B and C".
See also functional description "Analog interface"
See also functional description "Analog inputs"
Structure
0 Zero point/amplitude adjustment

0: Measurement of the voltage for command value = "0" → determines signal value at 0 V or 0 mA
1: Measurement of the voltage for command value = "P-0-0219" → determines signal value for
[1/10 V] or [1/20 mA]
2/1 Selection of the assignment for the adjustment
00: Adjustment of assignment A. Values for parameters "P-0-0214" and "P-0-0215" are determined.
01: Adjustment of assignment B. Values for parameters "P-0-0237" and "P-0-0238" are determined.
10: Adjustment of assignment C. Values for parameters "P-0-0246" and "P-0-0247" are deter‐
mined.
7-4: Assignment A, selection of analog input
0000: No analog input selected, assignment A is not active (default value)
0001: Analog input 1
0100: Analog input 1 of the optional module "DA"
1000: Container parameter 1 over remote analog input
11-8 Assignment B, selection of analog input
0000: No analog input selected, assignment B is not active (default value)
15-12 Assignment C, selection of analog input
0000: No analog input selected, assignment C is not active (default value)
Tab. 4-68: P-0-0218 Analog input, control parameter

Use If the command "P-0-0220, C2800 Analog input adjustment command" is
executed twice in succession, the following values are automatically set:
● the assessment of the input voltage and/or input current at the analog
input
● and the reference value at 0 V and/or 0 mA
The assignment of a defined command value on the relevant analog input to

assignment A, B or C has to be defined by "P-0-0218" bit 2 and bit 1 before
the command is carried out.
The respective voltage for the command value assigned by

"P-0-0218" has to be steadily applied at the analog input during
the execution of the command!

4.3.18 P-0-0219, Analog input, maximum value for adjustment

Function This parameter is used to specify a defined command value for determining
the values of the following parameters:
● P-0-0214, Analog input, assignment A, scaling
● P-0-0237, Analog input, assignment B, scaling
● P-0-0246, Analog input, assignment C, scaling
Use The following parameters can be used to carry out a zero point and gain ad‐
justment for the selected analog input (P-0-0218).
● P-0-0218, Analog input, control parameter
● P-0-0219, Analog input, maximum value for adjustment
● P-0-0220, C2800 Analog input adjustment command
The command C2800 determines and saves the following values automati‐
cally.
Assignment A (P-0-0218, Bit 2/1= 00)
● P-0-0215, Analog input, assignment A, signal value at 0
Assignment B (P-0-0218, Bit 2/1 = 01):
● P-0-0238, Analog input, assignment B, signal value at 0
or assignment C (P-0-0218, Bit 2/1= 10):
● P-0-0247, Analog input, assignment C, signal value at 0
4.3.19 P-0-0220, C2800 Analog input adjustment command

Function This command, in conjunction with

● P-0-0218, Analog input, control parameter
● P-0-0219, Analog input, maximum value for adjustment
can be used to carry out a zero point and gain adjustment for the selected
analog input (P-0-0218).
Use This command determines and saves the following values automatically.
Assignment A (P-0-0218, Bit 2,1= 00):
● P-0-0215, Analog input, assignment A, signal value at 0
Assignment B (P-0-0218, bit 2.1= 01):
● P-0-0238, Analog input, assignment B, signal value at 0
or assignment C (P-0-0218, bit 2.1= 10):
● P-0-0247, Analog input, assignment C, signal value at 0
P-0-0220 - Attributes Function: Cmd Editable: ++ Data length: 2Byte
4.3.20 P-0-0222, Travel range limit switch inputs

Hardware --
Function In this parameter the signals of the travel range limit switch inputs are dis‐
played. It is used to diagnose the travel range limit switch inputs.
Switch"
0 signal "limit switch +"

0: 0 V
1: +24 V
1 signal "limit switch -"
0: 0 V
1: +24 V
Tab. 4-69: Relevant bits of P-0-0222, Travel range limit inputs
When the travel range limit switches are activated, the respective
digital inputs at the control section must already have been as‐
signed to the respective bits of P-0-0222 via P-0-0300 and
P-0-0301. This was realized as the default setting!

4.3.21 P-0-0223, E-Stop input

Hardware --
Function The state of the E-stop input is mapped in this parameter. The parameter can
be used to check the "E-stop input" or for visualization by means of a com‐
missioning program.
See also Functional Description "E-Stop Function"
Structure
0 E-stop input state

0: Activated (0 V)
1: Not activated (+24 V)
Tab. 4-70: Structure of Parameter "P-0-0223, E-Stop input"

Use 24 V must be applied to the hardware input to allow normal operation of the
drive. If the "E-Stop function" is activated, "bit 0" of this parameter must be
assigned to a digital input. The assignment to a digital input is made via the
I/O configuration in parameter "P-0-0300, Digital inputs, assignment list".
Where the motor-integrated converter (IndraDrive Mi) is concerned, the E-
stop signal can be connected to the supply unit (KCU). In this case,
"P-0-0223" is not assigned to the digital inputs.

4.3.22 P-0-0224, Probe 1, number of marker failures

Hardware --
Function It is possible to define an expectation window for probe 1; in order to be eval‐

uated the probe edges have to be within this window.
With active expectation window a "marker failure monitor" can be activated in
"P-0-0226, Probe, extended control word" which registers the fact that the ex‐
pectation window is passed through without marker event and increments the
content of "P-0-0224, Probe 1, number of marker failures".
Use The content of "P-0-0224" is set to "0" again if
● a marker was detected within the expectation window,
● values are written to "P-0-0226, Probe, extended control word",
● "S-0-0170, Probing cycle procedure command" is started or
● probe enable is removed in "S-0-0405, Probe 1 enable"
4.3.23 P-0-0225, Probe 2, number of marker failures

Hardware --
Function It is possible to define an expectation window for probe 2; in order to be eval‐

uated the probe edges have to be within this window.
With active expectation window a "marker failure monitor" can be activated in
"P-0-0226, Probe, extended control word" which registers the fact that the ex‐
pectation window is passed through without marker event and increments the
content of "P-0-0225, Probe 2, number of marker failures".
Use The content of "P-0-0225" is set to "0" again if
● a marker was detected within the expectation window,
● values are written to "P-0-0226, Probe, extended control word",
● "S-0-0170, Probing cycle procedure command" is started or
● probe enable is removed in "S-0-0406, Probe 2 enable"

4.3.24 P-0-0226, Probe, extended control word

Hardware --
Function The probe function specified according to Sercos is configured and activated
via "S-0-0169, Probe control parameter". In "P-0-0226" it is possible to con‐
figure extended, manufacturer-specific functionalities of the probe function,
such as:
● Time measurement
● Expectation window and marker failure monitoring
● Triggering 2 probe evaluations through one probe input only
● Via this parameter, it is also possible to activate the probe-triggered
quick stop of an axis
See also Functional Description "Probe function"
See also Functional Description "Quick stop via probe input"
Structure
0 Expectation window for probe 1

0: Without expectation window
1: With expectation window
1 Marker failure monitoring for probe 1
0: Switched off
1: Switched on
2 Activation of time measurement for probe 1
0: Measurement of selected signals
1: Time measurement
3 Quick stop at probe 1 configuration
0: Not activated
1: Probe 1 quick stop configuration activated.
MPx-18V10 and above: The signal edge for triggering the
quick stop is selected via bit 10.
4 Expectation window for probe 2
0: Without expectation window
1: With expectation window
5 Marker failure monitoring for probe 2
0: Switched off
1: Switched on
6 Activation of time measurement for probe 2
0: Measurement of selected signals
1: Time measurement

10 Configuring signal edge for triggering probe 1 quick stop Up to
Prerequisite: Bit 3 has been set and the Signalflanke se‐ MPx-18V08,
lected below has been configured in "S-0-0169, Probe only positive
control word" signal edge
possible for
0: Switching to speed cmd value = 0 at a 0 -> 1 (positive) triggering the
edge quick stop
1: Switching to speed cmd value = 0 at a 1 -> 0 (negative)
edge
See also configuration "P-0-0119, Best possible decelera‐
tion"
11 Activating switch-on level monitoring for probe 1 with sin‐ MPx-18V10
gle measurement configured for a signal edge and above
0: Switch-on level monitoring not active
1: Switch-on level monitoring active
Tab. 4-71: P-0-0226, Probe, extended control word

Use ● Bit 0 and bit 4: Activating expectation window for probe 1 and 2
Via bit 0 or bit 4 it is possible to activate an expectation window for
probe 1 or probe 2 within which the selected edges of the probe signal
(marker) have to occur in order to be detected. The expectation window
is defined with the parameters "P-0-0204, Start position probe function 1
active" and "P-0-0205, End position probe function 1 active".
● Bit 1 and bit 5: Marker failure monitoring for probe 1 and 2
With marker failure monitoring for probe1 or 2 switched on,
P-0-0224/0225, Probe 1/2, number of marker failures is incremented by
1, if the selected signal passes through the expectation window without
a probe signal (marker) having occurred. If marker failure monitoring
has been switched off, the value in "P-0-0224" or "P-0-0225" is not in‐
cremented by 1 in the above case.
● Bit 2 and bit 6: Activation of time measurement for probe 1 and 2
If this bit has been set to 1, relative time measurement takes place when
a selected edge occurs. The signal selected in S-0-0426/0427, Signal
select probe 1/2 is ignored.
● Bit 3: Activating quick stop at probe 1 configuration
MPx-18V08 and below: If bit 3 has been set, the drive carries out veloci‐
ty command value reset at a 0 -> 1 edge of the activated enabled probe
1 (S-0-0401). The velocity command value reset, with or without config‐
urable ramp, is configured in parameter "P-0-0119, Best possible decel‐
eration". With active velocity command value reset, the drive in the case
of quick stop with probe detection displays "AR: Automatic drive reac‐
tion". When "S-0-0405, Probe 1 enable" is removed, the preselected op‐
eration mode becomes active again.
MPx-18V10 and above: If bit 3 has been set, the drive carries out veloci‐
ty command value reset via the signal edge of the activated enabled
probe 1 (S-0-0401) defined in bit 10. The velocity command value reset,
with or without configurable ramp, is configured in parameter "P-0-0119,
Best possible deceleration". With active velocity command value reset,
the drive in the case of quick stop with probe detection displays "AR:
Automatic drive reaction". When "S-0-0405, Probe 1 enable" is re‐
moved, the preselected operation mode becomes active again.
● Bit 10: Configuring signal edge for triggering probe 1 quick stop
MPx-18V10 and above: Bit 10 is used to specify, if bit 3 has been set, at
which signal edge at probe 1 input the quick stop at probe 1 is to be trig‐
gered. Prerequisite: The selected signal edge has been configured in
"S-0-0169, Probe control word".
● Bit 11: Activating switch-on level monitoring for probe 1 with single
measurement configured for a signal edge
MPx-18V10 and above: Setting bit 11 activates state monitoring of the
probe 1 input (S-0-0401, Probe 1) at activation of probe 1 enable
(S-0-0405, Probe 1 enable).
● Requirements for state monitoring:
1. "S-0-0169, Probe control parameter" has been configured for
probe 1 single measurement,
2. "S-0-0169, Probe control parameter" has only been configured for
evaluating one edge (positive or negative) of probe 1.
If the requirements have been complied with, the following aspects ap‐
ply:
– Positive signal edge evaluation configured: With activation of probe
1 enable, a one-time check for "S-0-0401, Probe 1" = 1 (24V) is
carried out. If the state of "S-0-0401" is 1 (24V), the error "F2131
Incorrect switching state of probe 1 input signal" is generated.
– Negative signal edge evaluation configured: With activation of
probe 1 enable, a one-time check for "S-0-0401, Probe 1" = 0 (0V
wire break monitoring) is carried out. If the state of "S-0-0401" is 0
(0V), the error "F2131 Incorrect switching state of probe 1 input
signal" is generated.
4.3.25 P-0-0227, Cam table, access angle

Hardware --
Function With this parameter it is possible in the "cam" and "MotionProfile" modes to
have the calculated value of the access angle for the current cam table dis‐
played.
Use The "cam table access angle" is generated from "P-0-0776, Effective master
axis position" minus "P-0-0061, Angle offset begin of table" plus component
of "P-0-0085, Dynamic angle offset".

4.3.26 P-0-0228, Analog input 3

Allocation Contained in 18VRS: «MPB» «-» «-» «MPC»
Contained in 19VRS: «MPB» «-» «-» «MPC» «PSB»
Function With this parameter, the value currently applied on analog input 3 is shown
as an input voltage in Volt or as an input current in mA depending on param‐
eter "P-0-0255 Analog input; hardware configuration".
Analog input 3 is only available with control sections CSB02.1B

and CSH02.1B!


and C.

4.3.27 P-0-0229, DA: Analog input 1

Function With this parameter, the value currently applied on "analog input 1" of option‐
al module "DA" is shown as an input voltage in Volt or as an input current in
mA depending on parameter "P-0-0255 Analog input; hardware configura‐
tion".
This analog input is only available if an optional module "DA" is

configured!


assignment. According to position controller clock with assign‐
ment A and every 2 ms with assignment B and C.


Function
ware derivative!
filter.
The time constant (Tinput) is specified and influenced by this parameter.
Limit frequency of the input filter:
Inputting a time constant < TA_position deactivates the filter (see also Perform‐
ance data).
Use


Function
ware derivative!
filter.
The time constant (Tinput) is specified by this parameter and influences the
limit frequency of the input filter as shown in the formula below.
Inputting a time constant < TA_position deactivates the filter (see also Perform‐
ance data).
Use

4.3.30 P-0-0233, DA: Analog input 1, time constant input filter

Function The analog input 1 of the optional module "DA" can be read in by the drive
firmware via a digital low-pass filter.
Entering a time constant < TA_position deactivates the filter is (see also Perform‐
ance data).

Use


4.3.31 P-0-0234, DA: Analog input 2, time constant input filter

Function The analog input 2 of the optional module "DA" can be read in by the drive
firmware via a digital low-pass filter.
Entering a time constant < TA_position deactivates the filter is (see also Perform‐
ance data).
Use

4.3.32 P-0-0236, Analog input, assignment B, target parameter

Function The ident number of the target parameter for assignment B is entered in this
parameter.
Actual scaling is achieved via "P-0-0237, Analog input, assignment B, scal‐
ing".



4.3.33 P-0-0237, Analog input, assignment B, scaling

Function
ware derivative!
The scaling of the analog input for assignment B is carried out via this param‐
assigned in "P-0-0236, Analog input, assignment B, target parameter".
4.3.34 P-0-0238, Analog input, assignment B, signal value at 0

Function
ware derivative!
for assignment B. As a result, an offset at the analog input can be compensa‐
ted if necessary.
assigned in "P-0-0236, Analog input, assignment B, target parameter".

4.3.35 P-0-0239, Analog input, assignment B, dead zone

Function
ware derivative!
P-0-0239 x P-0-0237 / 10 [V] or
P-0-0239 x P-0-0237 / 20 [mA]
B, scaling".
4.3.36 P-0-0241, Actual pos. smoothing time constant for hybrid pos. control
Hardware --
Function Where the hybrid position control (e.g., measuring wheel mode) is con‐
cerned, the entered time constant is used to filter the position feedback differ‐
ence between encoder 2 and encoder 1 via a 1st order low-pass filter.
Writing the value "0" to the parameter (P-0-0241) deactivates the

filter.
See also functional description "Measuring wheel mode"


4.3.37 P-0-0242, Current actual slip value

Hardware --
Function This parameter displays the current actual slip value between encoder 1
(S-0-0051) and encoder 2 (S-0-0053) at active slip monitoring. The value is
specified in percent.
Monitoring is active only when the drive is enabled. If encoder 2 is

configured as measuring wheel encoder (P-0-0185), monitoring is
only active when the control is preselected on encoder 2
(S-0-0520; bit 0 = 1). If monitoring is activated, "0" is written to the
value.

Unit: % Extr. val. ch.: -- Decim. pl.: 1
4.3.38 P-0-0243, Maximum occurred actual slip value

Hardware --
Function This parameter saves the maximum actual slip value occurred between en‐
coder 1 (S-0-0051) and encoder 2 (S-0-053). The current actual slip value is
displayed in "P-0-0242" in percent.

value.

4.3.39 P-0-0244, Monitoring window of slip

Hardware --
Function This parameter defines the monitoring threshold for the maximum allowed ac‐
tual slip value between encoder 1 (S-0-0051) and encoder 2 (S-0-0053). If
this value is exceeded, error message F2036 is generated.

value.

4.3.40 P-0-0245, Analog input, assignment C, target parameter

Function The ident number of the target parameter for assignment C is entered in this
parameter.
Actual scaling is achieved via "P-0-0246, Analog input, assignment C, scal‐
ing".



4.3.41 P-0-0246, Analog input, assignment C, scaling

Function
ware derivative!
The scaling of the analog input for assignment C is carried out via this param‐
assigned in "P-0-0245, Analog input, assignment C, target parameter".
4.3.42 P-0-0247, Analog input, assignment C, signal value at 0

Function
ware derivative!
for assignment C. As a result, an offset at the analog input can be compensa‐
ted if necessary.
assigned in "P-0-0245, Analog input, assignment C, target parameter".
4.3.43 P-0-0248, Analog input, assignment C, dead zone

Function
ware derivative!
P-0-0248 x P-0-0246 / 10 [V] or
P-0-0248 x P-0-0246 / 20 [mA]
C, scaling".
4.3.44 P-0-0249, E-Stop and safety zones

Allocation Contained in 17VRS: «MPB» «-» «-» «-»
Contained in 18VRS: «MPB» «-» «-» «-»
Contained in 19VRS: «MPB» «-» «-» «-» «-»
Contained in 20VRS: «MPB» «-» «-» «-» «PSB»
Hardware --
Function Where motor-integrated converters are concerned, safety zones can be

formed by using the appropriate connecting cables. This parameter displays
the safety zones that are formed by the cabling. The safety zones also have
an effect on the E-stop. The safety signals and the E-stop signal from the
connecting cable are used for the "zone node". In the case of the "zone be‐
ginner", the safety signals have to be fed into the motor-integrated converter
and are available for the subsequent converters of the safety zone.
Parameter value Safety zone

0 Commissioning mode
1 Zone node
2 Zone beginner

4.3.45 P-0-0250, System identification

Hardware --
Function Parameter for entering the system identification for mechatronic systems.
The parameter is not used by the drive for operation and can be used by a
higher-level control as desired.
● The parameter can be written with the UTF-8 character set.
● Size in number of bytes: 64
● A UTF-8 character can have 1 to 3 bytes.
● Depending on the UTF-8 characters used, the number of characters that
can be entered is reduced.
● When default values are being loaded, the parameter is cleared (actual
length = 0).
Memory: PARAM_SP Validity ch.: PM->OM Format: ASCII
4.3.46 P-0-0250.0.1, System data

Hardware --
Alias: P-0-2320
Function Parameter for entering the system identification at mechatronic systems. The
parameter is not used by the drive for operation and can be used by a higher-
order control as desired.
● The parameter can receive 40 elements of 32-bit size.
P-0-0250.0.1 - Attributes Function: Par Editable: ++ Data length: 4Byte var.
4.3.47 P-0-0250.0.10, IndraWorks view manager

Hardware --
Alias: P-0-2759
Function The parameter is used to store the set IndraWorks view on the drive.
Use The basic settings are defined via list element 0:

● 0: No view
● 1: Expert mode
● x: Version of the IndraWorks view manager
List elements 1 to 5 serve to store IndraWorks data.
4.3.48 P-0-0251, Remote analog input 1

Function With this parameter, the voltage (V) transmitted via the cyclic channel at "re‐
mote analog input 1" can be displayed.
The parameter content can be
● directly processed in the drive PLC.
● transferred cyclically to the control.
● assigned to an internal drive parameter (assignment A).

● assigned to an internal drive parameter (assignment B).


● assigned to an internal drive parameter (assignment C).
4.3.51 P-0-0255, Analog input; hardware configuration

Hardware Analog-In 1, Analog-In 2, Analog-In 3
Function This parameter can be used to configure basic settings for the analog inputs.
The following options are available
● Configuration of the analog inputs as voltage or current input
● Definition of the measuring range for the individual analog inputs
● Activation of wire break monitoring
Analog input 1 can only be used as a voltage input.

Analog inputs 2 and 3, as well as analog inputs 1 and 2 of the op‐
tional module "DA" can be configured as a current or voltage in‐
put. With the exception of analog input 2 for CDB02.1 control sec‐
tions, which can only be used as a voltage input.
If a break on the wires is detected when wire break monitoring

has been activated, the drive controller signals the error F2270.
Wire break monitoring is only useful with the measuring range
+4mA ... +20 mA.

Structure
0 Analog input 1: signal type

0: Voltage signals
1: Not possible
1 Analog input 1: measuring range
0: -10 V... +10 V (standard)
1: Not possible
3/2 Analog input 1: parameterization of wire break monitoring
00: Deactivated
01: Activated

0: Voltage signals
1: Current signals
0: -10 V... +10 V or -20 mA... +20 mA (standard)
1: +4 mA... +20 mA
00: Deactivated
01: Activated
0: Voltage signals
1: Current signals
1: +4 mA... +20 mA
00: Deactivated
01: Activated
12 Analog input 1 of optional module "DA": signal type
0: Voltage signals
1: Current signals
13 Analog input 1 of optional module "DA": measuring range
1: +4 mA... +20 mA
15/14 Analog input 1 of optional module "DA": parameterization
of wire break monitoring
00: Deactivated
01: Activated
16 Analog input 2 of optional module "DA": signal type
0: Voltage signals
1: Current signals
17 Analog input 2 of optional module "DA": measuring range
1: +4 mA... +20 mA
19/18 Analog input 2 of optional module "DA": parameterization
of wire break monitoring
00: Deactivated
01: Activated
Tab. 4-72: P-0-0255, Analog input; hardware configuration


4.3.52 P-0-0260, C99 Service function command

Hardware --
Function The command is used by the manufacturer service department to execute

specific functions for debugging and setting the devices.
4.3.53 P-0-0261, Service function, function presetting

Hardware --
Function This parameter is used together with the command "C9900 Service function
command". It is used for selecting functions. The command "C9900 Service
function command" is used by the service department for debugging and set‐
ting the devices.
4.3.54 P-0-0262, Service function status

Hardware --
command". It returns the status of the function. The command "C9900" is
used by the service department for debugging and setting the devices.

4.3.55 P-0-0263, Service function control word

Hardware --
command". It is used for controlling the selected function. The command
"C9900" is used by the service department for debugging and setting the de‐
vices.
4.3.56 P-0-0269, Oscilloscope: Channel number setting

Hardware --
Function The available memory can de divided for an oscilloscope recording. The
more channels that are selected, the less is the recording depth per channel.
This parameter cannot be changed during a recording.


Hardware --

"S-0-0000".
See also Functional Description of Firmware "Oscilloscope Function"

Hardware --

"S-0-0000".

Hardware --
Function The IDN entered in "P-0-0272, Oscilloscope: signal selection 7" defines the

"S-0-0000".

Hardware --
Function The IDN entered in "P-0-0273, Oscilloscope: signal selection 8" defines the

"S-0-0000".

Hardware --
Function In parameter "P-0-0274, Oscilloscope: List of measured values 5"the meas‐

ured values of channel 5 of the oscilloscope function are stored in chronologi‐
cal order. The oldest measured value is the first element of the list of meas‐
ured values.
The signal that is defined by the IDN entered in "P-0-0270, Oscilloscope: sig‐
nal selection 5" is recorded.
The attribute, unit, etc. automatically adjust to this selected signal.


Hardware --

ured values.
nal selection 6"is recorded.



Hardware --
Function In parameter "P--0-0276, Oscilloscope: List of measured values 7"the meas‐

ured values.
nal selection 7"is recorded.


Hardware --

ured values.
nal selection 8" is recorded.

4.3.65 P-0-0279, Oscilloscope: Trend mode, time resolution

Hardware --
Function The time resolution (sampling rate) defines the time in which the trend re‐
cords its data.
Use This setting also defines the time in which data must be retrieved. Since the
buffer has only limited recording capacity, the buffer must be read more fre‐
quently when the time is short than when it is long.
4.3.66 P-0-0280, Oscilloscope: Trend mode, list of measured values

Hardware --
Function The list of measured values contains the current trend data. Here, it must be
noted that the trend can only be recorded until the list is full. Once the list is
full, recording stops.
While reading is in progress, the data are written to a second buffer in the
background; thereafter, the buffer is switched. This double buffer mechanism
ensures that no data get lost by the reading process.
Only one program is allowed to evaluate the trend because the

buffer is switched after each reading process and older data are
no longer accessible.

Structure The trend is a list parameter having the following structure:
Element Contents
Currently, the version information uses only the low word
0 The low byte contains the version of the trend data (currently 1)
The high byte contains the number of channels (4 in this example)
1 Time stamp of P-0-0197 (low word) for the first data record
2 Time stamp of P-0-0197 (high word)
3 Data of signal selection 1
7 Time stamp of P-0-0197 (low word) for the second data record
8 Time stamp of P-0-0197 (high word)
9..12 Dates of the signals
13 Time stamp of P-0-0197 (low word) for the next data record
..
n Data of signal selection 4 - of the last data record
Tab. 4-73: Structure of List of Measured Values
If a signal selection is not used, the corresponding entry is set to

zero.
These data can, e.g., be stored on a PC and used for long-term recording or
continuous display. Any potential data loss can be recognized by a greater
distance between two time stamps.
4.3.67 P-0-0300, Digital inputs, assignment list

Hardware --
Function The parameter "P-0-0300" is an axis parameter, it exists once per drive ad‐
dress. "P-0-0300" is a list of parameter IDNs. With "P-0-0300" you set to
which parameter the corresponding input is assigned. Thus, the input bit at
bit position 0 of the parameter "P-0-0307" is assigned to the first, topmost pa‐
rameter of the list "P-0-0300". Parameter "P-0-0301" decides to which bit the
assignment takes place. IDNs must be input in P-0-0300.
Input signals: The ident numbers permitted for the configuration are listed in
"S-0-0399, IDN-list of configurable data in signal control word".
Default configurations
The default configurations depending on the control section are

described in the chapter on the digital inputs/outputs in the Func‐
tional Description!

4.3.68 P-0-0301, Digital inputs, bit numbers

Hardware --
Function This parameter is used to configure the digital inputs/outputs of the control
section.
"P-0-0301" is an axis parameter, it exists once per drive address. "Mit

P-0-0301" determines to which bit of the parameter specified in "P-0-0300,
Digital I/Os, assignment list" the level of the input is transmitted. "P-0-0301" is
a bit word; in this case, too, bit 0 correlates with the first, topmost entry in the
list "P-0-0300".
4.3.69 P-0-0303, Digital inputs, input image of device

Hardware --
Function This parameter is used to display the states of the digital inputs on the device
or control section hardware. If 24 V is applied on a digital input, the fixed bit
assigned to the digital input is set to "1" in the parameter "P-0-0303". The
state of the digital inputs is updated with position loop clock.
Structure The assignment of digital input or interface pin to the parameter bit number:
HCS01.1-Economy, CSE02.1A and CSB02.1A
Interface pin Parameter P-0-0303 bit number

3101 0
3102 1
3103 2
Onboard in‐ 3104 3

puts/outputs 3105 4
3106 5
3107 6
3108 7
Tab. 4-74: HCS01.1-Economy, CSE02.1A and CSB02.1A

HCS01.1-Basic and Advanced with optional DA option

3101 0
3102 1
3103 2

puts/outputs 3105 4
3106 5
3107 6
3108 7
37201 8
37202 9
37101 10
Inputs/outputs 37102 11
on the DA op‐
tion 37103 12
37104 13
37105 14
37106 15
Tab. 4-75: HCS01.1-Basic and Advanced with optional DA option

CSB02.1B and CSH02.1B with optional DA option

3101 0
3102 1
3103 2
3104 3
3105 4
3106 5
3107 6

puts/outputs 35106 8
35107 9
35108 10
35109 11
35206 12
35207 13
35208 14
35209 15
37201 16
37202 17
37101 18
on the DA op‐
tion 37103 20
37104 21
37105 22
37106 23
Tab. 4-76: CSB02.1B and CSH02.1B with optional DA option

CDB02.1B with optional DA option

31101 0
31102 1
31103 2
31104 3
31105 4
31106 5
31107 6
31108 7
31201 8
31202 9

puts/outputs 31204 11
31205 12
31206 13
31207 14
31208 15
36104 16
36105 17
36106 18
36204 19
36205 20
36206 21
37201 22
37202 23
37101 24
on the DA op‐
tion 37103 26
37104 27
37105 28
37106 29
Tab. 4-77: CDB02.1B with optional DA option

KSM02.1 and KMS02.1

3704 0

puts/outputs 3702 2
3802 3
Tab. 4-78: KSM02.1 and KMS02.1

HCT and HCQ

8601 0
8602 1
8603 2
8604 3
8605 4
8606 5
8607 6

puts/outputs 8501 8
8502 9
8503 10
8504 11
8505 12
8506 13
8507 14
8508 15
Tab. 4-79: HCT and HCQ


4.3.70 P-0-0304, Digital outputs, output image of device

Hardware --
Function "P-0-0304" is an device parameter, it exists once per device. "P-0-0304" is

used as a diagnostic parameter and displays the states to be output. In this
case, too, bit 0 correlates with the topmost element of "P-0-0312" and
"P-0-0316". It is also possible to decribe "P-0-0304" as parameter of a secon‐
dary source, e.g. a control unit, to serve a digital output. Therefore, it is nec‐
essary to write the correlate bit in "P-0-0312" with 0, so the "P-0-0304" is not
internally overwritten.
The value in "P-0-0304" is written in position loop clock on the digital outputs.
4.3.71 P-0-0306, Digital inputs, assignment connector and pin

Hardware --
Function The parameter "P-0-0306" is used to configure the assignment of the digital
inputs on the input image of an axis (subdevice). For this, the connector/pin
designation of the digital input to be configured is entered in the list parame‐
ter. The input is four digits long for single-row connectors and five digits long
for double-row connectors.
For single-row connectors, 3105 is therefore: connector X31, pin 05
and for double-row connectors 35106: connector X35, row 1, pin 06

4.3.72 P-0-0307, Digital inputs, input image sub-device

Hardware --
Function "P-0-0307" is an axis parameter, it exists once per drive address. "P-0-0307"
is a bit word; in this case, too, bit 0 correlates with the first, topmost entry in
the list "P-0-0306". This parameter shows the status of the internal inputs
with relation to the respective sub-device. "P-0-0307" serves thereby as dis‐
play of "P-0-0306" and is not writeable.
4.3.73 P-0-0310, Digital outputs, assignment list

Hardware --
Function The parameter "P-0-0310" is an axis parameter, it exists once per drive ad‐
dress. "P-0-0310" is a list of parameter IDNs. With "P-0-0310", you can pa‐
rameterize which parameter (which bit, see P-0-0311) is transmitted to which
output bit (P-0-0313). The ident number of the parameter to be output is en‐
tered in "P-0-0310".
Output signals: The ident numbers permitted for the configuration are listed in
"S-0-0398, IDN-list of configurable data in signal status word".
Default configurations
The default configurations depending on the control section are

described in the chapter on the digital inputs/outputs in the Func‐
tional Description!

4.3.74 P-0-0311, Digital outputs, bit numbers

Hardware --
Function "P-0-0311" is an axis parameter, it exists once per drive address within the
controller "P-0-0311" is a list of bit words, with the input range 0 ... 31. This
corresponds to bit 0 up to bit 31. The first element in this list is related onto
the first element of the parameter list "P-0-0310". The selected bit from the
selected parameter in "P-0-0310" is assigned to "P-0-0307".
4.3.75 P-0-0312, Digital outputs, assignment sub-device

Hardware --
Function "P-0-0312" is a device parameter, it only exists once in the controller.

"P-0-0312" is a list of bit words. The device from which a bit is to be transmit‐
ted to the output is entered in "P-0-0312". By means of the parameter
"P-0-0316" is specified on which output connector/pin a bit is to be output.
"P-0-0312", bit 0, correlates with all "P-0-0313" [Device], bit 0, of the device
and determines from which axis the bit to be output is to be taken. In this
way, "P-0-0312" also ensures that one bit can always be written by one de‐
vice only. When a bit is written with 0, it is not transmitted by any axis.
4.3.76 P-0-0313, Digital outputs, output image sub-device

Hardware --
Function "P-0-0313" is an axis parameter, it exists once per drive address. "P-0-0313"
is a bit word. Bit 0 relates to the topmost parameter in "P-0-0310" and the bit
selection in "P-0-0311", and shows the status of this bit. The parameters
"P-0-0312" and "P-0-0316" decide whether and where the bit is output at the
output connector. The parameter "P-0-0313" is a display parameter which
displays the state of specific bits within an axis.

4.3.77 P-0-0316, Digital outputs, assignment connector and pin

Hardware --
Function The parameter "P-0-0316" is used to configure the assignment of the output
image of an axis (subdevice) on the digital outputs. For this, the
connector/pin designation of the digital output to be configured is entered in
the list parameter. The input is four digits long for single-row connectors and
five digits long for double-row connectors.
For single-row connectors, 3108 is therefore: connector X31, pin 08
and for double-row connectors 37208: connector X37, row 2, pin 08
4.3.78 P-0-0320, Exception data

Hardware --
Function This parameter contains information on the processor system which cause
exception. When an exception occurs, the data are permanently stored and
are available for evaluation after control voltage has been switched on. The
data are not processed, i.e. they can only be interpreted by Rexroth with the
analysis tool and with the corresponding information from the MAP files and,
if necessary, additionally from the LST files. The exception is chronologically
included in the error and logbook analysis.
4.3.79 P-0-0322, Performance load

Hardware --
Function The performance load display shows the averaged percentage task runtime
in relation to the total runtime. This parameter can be used to draw conclu‐
sions about the CPU load of the drive controller. The higher the value dis‐
played, the higher the load of the interrupt/task system of the drive controller.
If the load rises to a value above approx. 90%, communication

and command processing may be slower.
See also Parameter Description "P-0-0322.0.1, Performance load config"

4.3.80 P-0-0322.0.1, Performance load config

Hardware --
Function This parameter can be used to configure P-0-0322.0.0, Performance load

config.

ternally, or evaluations are reserved to customer support.

4.3.81 P-0-0322.0.2, Prewarning threshold - performance utilization

Hardware --
Alias: P-0-2790
Function During operation the averaged CPU load is calculated (P-0-0322). With the
help of "P-0-0322.0.2" you can parameterize the prewarning threshold for the
critical load of the CPU. The parameterized value becomes effective when
the parameter mode is exited for the first time. When the prewarning
threshold is exceeded, warning E2004 is generated.
Notes on parameterization:
● The prewarning threshold can be switched off with P-0-0322.0.2 =
100 %
● We recommend a value < 90%. Please note that a loading > 90 % can
result in slower reactions to acyclic communication requests, reduced
MLD computer assignments and increased processing times for com‐
mands. In the case of loading > 95 % trouble-free operation can no lon‐
ger be ensured (F9003 watchdog).
If the loading is very high, values greater than 100 % may be dis‐
played, because internal evaluation functions are no longer called
in time.
P-0-0322.0.2 - Attributes Function: Par Editable: ++ Data length: 2Byte

4.3.82 P-0-0322.x.4, Task Trace

Hardware --
Function This parameter has been implemented for internal diagnostic messages.

ternally, or evaluations are reserved to customer support.
P-0-0322.x.4 - Attributes Function: Par Editable: -- Data length: 4Byte var.

4.3.83 P-0-0326, Multiplication of measuring encoder

Hardware --
Function The parameter P-0-0326 displays the factor with which the signals of the
measuring encoder are multiplied in the drive.
Use The multiplication of the measuring encoder is resulting depending on the pa‐
rameters "P-0-0765, Modulo factor measuring encoder" and "P-0-0327, En‐
coder resolution of measuring encoder".
The internal encoder resolution for the measuring encoder is calculated as
follows:
Fig. 4-31: Internal encoder resolution for the measuring encoder


4.3.84 P-0-0327, Encoder resolution of measuring encoder

Hardware --
Function The resolution of the measuring encoder is indicated in this parameter.

For rotary encoders the value means the number of division periods or cycles
per revolution of the encoder shaft (DP/rev).
At present, only rotary encoders can be evaluated as measuring

encoders!

Unit: DP/Rev Extr. val. ch.: -- Decim. pl.: 0
4.3.85 P-0-0328, Measuring encoder, type of position encoder

Hardware --
Function This parameter defines essential properties of the measuring encoder.

Structure
0 Encoder type
0: Rotary
1: Not allowed
3 Rotational direction
0: Not inverted
1: Inverted
7/6 Absolute evaluation, option and deactivation
x0: Absolute evaluation impossible (bit 7 irrelevant)
01: Absolute evaluation possible and active (encoder is
handled as absolute encoder)
11: Absolute evaluation possible, but deactivated
8 Absolute evaluation in case of missing absolute evaluation Not defined in
option sercos
0: Bit 7 and bit 6 define the status of absolute evaluation
1: Absolute evaluation is activated, irrespective of bit 7
and bit 6

9 Cyclic marker monitoring Not with
0: Deactivated MPx-20VRS
1: Activated
Monitoring of real markers can be activated for distance
and failure
13 Encoder replacement monitoring Not defined in
0: Activated - encoder replacement is detected (only for sercos
encoders with data memory)
1: Deactivated - no error (F2176) is signaled if the encoder
is replaced and the reference is maintained, if applicable.
The position initialization remains unaffected thereof
ATTENTION: Only makes sense for mechanically adjus‐
ted encoders!
14 Position initialization of encoders with absolute position Not defined in
0: Position initialization with absolute position and incr. sercos
track Not with
1: Position initialization without incr. track MPx-20VRS
Attention: Reduced accuracy!

Position initialization without incr. track makes sense only
if the absolute position was shifted deliberately.
(Applies only to HIPERFACE encoders)
15 Cyclic absolute encoder monitoring Not defined in
0: Activated sercos
1: Deactivated Not with

MPx-20VRS
(EnDat and HIPERFACE encoders)
Tab. 4-80: P‑0‑0328, Type of position encoder for measuring encoder
Only the bits mentioned above are supported by the software. In

the case of absolute measuring systems with data memory, bit 6
is automatically set.

4.3.86 P-0-0329, Actual pos. smoothing time constant for measuring

encoder
Hardware --
Function This parameter determines the time constant of the filter for smoothing
"P-0-0052". Time constants can be set within a range from 0 to 1000 ms. If
"0" is entered, there is no smoothing. The delay of the filter is compensated

by feedforward.
4.3.87 P-0-0330, Control word of measuring encoder

Hardware --
Function This parameter can be used to activate different measuring encoder functions
and configure the scaling.
Structure
0 Reference mark evaluation

0: Deactivated
1: Activated
1 Overtravel compensation of measuring encoder filter
0: Activated
1: Deactivated
2 Measuring encoder scaling type As of
0: Incremental scaling (master axis scaling) MPx17V06
1: Rotary preferred scaling with fixed modulo value of 360

degrees
Tab. 4-81: Reference mark evaluation

Use Bit 0: The position data reference of a relative measuring encoder to an axis
or shaft is established by means of a reference mark signal of the encoder.
To achieve this, reference mark evaluation for the measuring encoder has to
be activated via bit 0 = 1. If reference mark evaluation is still active, it has to
be deactivated (bit 0 = 0) and then reactivated. When the reference mark sig‐
nal is read the next time, the previous, encoder-related position feedback val‐
ue at a dedicated position of the axis or shaft is set to 0 (degrees/or incre‐
ments). The dedicated position corresponds to the current axis position at the
occurrence of the reference mark signal. "P-0-0087, Actual position value off‐
set of measuring encoder" is additionally added to "P-0-0052, Actual position
value of measuring encoder". The reference bit (bit 0 of P-0-0331, Status of
measuring encoder) is set again. On activation of reference mark evaluation,
only the reference mark that was read first is evaluated, other reference
marks are ignored!
Bit 1: The overtravel time resulting from measuring encoder filtering is auto‐
matically compensated by the measuring encoder. In certain applications (to
avoid overshooting), it may be reasonable to deactivate this overtravel com‐
pensation function. Overtravel compensation can be deactivated via bit 1 = 1.
Bit 2: Scaling setting

To be noticed: This bit can only be changed in PM.
0: Incremental scaling (master axis scaling):
One revolution at the measuring encoder (P-0-0128, Output revolutions of
measuring gear) corresponds to 2 increments of P-0-0084. The measuring
encoder range is defined via "P-0-0765, Modulo factor measuring encoder".
Attention: The measuring encoder may be used as master axis encoder in
this configuration only.
1: Rotary scaling:
One revolution at the measuring encoder gear output (P-0-0128) corresponds
to 360,0000 degrees. The position data are processed with a fixed modulo
value of 360 degrees in "modulo" mode. ""
Attention: The measuring encoder may not be used as master axis encoder
in this setting.
4.3.88 P-0-0331, Status of measuring encoder

Hardware --
Function This parameter shows whether or not the actual position values in "P-0-0052"
have been homed.
Structure
0 Measuring encoder status

0: Not homed
1: Homed
Tab. 4-82: Measuring encoder status

4.3.89 P-0-0332, Actual velocity value of measuring encoder

Hardware --
Function This parameter displays the filtered measuring encoder velocity in rpm at the
measuring gear output.
Unit: rpm Extr. val. ch.: -- Decim. pl.: 4
4.3.90 P-0-0334, Absolute encoder range of measuring encoder

Hardware --
Function This parameter indicates the maximum extent of the travel range that can be
selected so that an absolute measuring encoder can be evaluated in abso‐
lute form.
Use If the encoder position exceeds this maximum travel range, bit 6 in the posi‐
tion feedback type parameter (P-0-0328) is set to zero. The actual position
value displayed is no longer unequivocal and the reference of the measuring
encoder is cleared. The reference status of the position encoders connected
to the drive is displayed in parameter "P-0-0331, Status of measuring encod‐
er".
4.3.91 P-0-0343, Encoder 1, cosine signal

Hardware --
Function This parameter displays the current analog-to-digital-converted value of the

voltage applied to the differential input of track A of the motor encoder.
See Functional Description "Measuring systems"
Use The level of the voltage applied to the differential input (between A+ and A-)
can be calculated:
Type of motor encoder Respective values of Voltage between A+/A-

P-0-0074
Encoder with 1Vpp sig‐ 2; 4; 6; 8; 14; 16 UA+/A-= P-0-0343 * 0.0004 * 1V

nals
Resolver encoder 10 (with a transmission UA+/A-= P-0-0343 * 0.0024 * 1V
ratio of 0.5)
Tab. 4-83: Calculating the current voltage level at the differential input of track A
of the motor encoder
4.3.92 P-0-0344, Encoder 1, sine signal

Hardware --

voltage applied to the differential input of track B of the motor encoder.
See Functional Description "Motor encoder"
Use The level of the voltage applied to the differential input (between B+ and B-)
can be calculated:
Type of motor encoder Respective values of Voltage between B+/B-

P-0-0074
Encoder with 1Vpp signals 2; 4; 6; 8; 14; 16 UB+/B-= P-0-0344 * 0.0004 *

1V
Resolver encoder 10 (with a transmission UB+/B-= P-0-0344 * 0.0024 *
ratio of 0.5) 1V
Tab. 4-84: Calculating the current voltage level at the differential input of track B
of the motor encoder

Hardware --

voltage applied to the differential input of track A of the external encoder.
See Functional Description "Encoder 2"
can be calculated:
Type of encoder Respective values of Voltage between A+/A-

P-0-0075
Encoder with 1Vpp signals 2; 4; 8; 16 UA+/A-= P-0-0345 * 0.0004 *

1V
Resolver encoder (with a 10 UA+/A-= P-0-0345 * 0.0024 *
transmission ratio of 0.5) 1V
of encoder 2

Hardware --

voltage applied to the differential input of track B of encoder 2.
See Functional Description "Encoder 2"
can be calculated:
Type of encoder Respective values of Voltage between B+/B-

P-0-0075
Encoder with 1Vpp signals 2; 4; 8; 16 UB+/B-= P-0-0346 * 0.0004 *

1V
Resolver encoder (with a 10 UB+/B-= P-0-0346 * 0.0024 *
transmission ratio of 0.5) 1V
of encoder 2

Hardware --

voltage applied to the differential input of track A of the measuring encoder.
See also Functional Description "Measuring encoder"
can be calculated:
Type of measuring encoder Respective values of Voltage between A+/A-

P-0-0076
Encoder with 1 Vpp signals 1; 2; 4; 6; 8; UA+/A-= P-0-0347 * 0.0003

* 1V
of the measuring encoder

Hardware --

voltage applied to the differential input of track B of the measuring encoder.
can be calculated:
Type of measuring encod‐ Respective values of Voltage between B+/B-

er P-0-0076
Encoder with 1Vpp signals 1; 2; 4; 6; 8; UB+/B-= P-0-0348 * 0.0003

* 1V
of the measuring encoder
4.3.97 P-0-0382, Mains power

Hardware --
Function This parameter shows the current power consumption from the mains.
The power consumption is only shown for devices with existing

feed-in.

Unit: Watt Extr. val. ch.: -- Decim. pl.: 0
4.3.98 P-0-0383, Mains energy counter

Hardware Power supply
Function This parameters shows the energy consumption of the converter since com‐
missioning.
Energy is calculated as the sum of mains power (P-0-0382) over operating
time.
The energy consumption is only shown for devices with existing

mains feed-in with DC bus measurement.

Unit: kWh Extr. val. ch.: -- Decim. pl.: 2
min./max.: -20000000,00 /
MPx / PSB: Default value: ---
20000000,00
4.3.99 P-0-0384, Short-term mains energy counter

Hardware --
Function Parameter "P-0-0384" can be used to determine the energy consumption of a

converter in a production cycle.
Application: Integrates the mains power across one processing cycle:
If the value at the beginning of a production cycle is "0", the energy consump‐
tion over one production cycle can be determined for a specific axis and then
optimized.
The energy consumption is only shown for devices with existing

feed-in.

Unit: Ws Extr. val. ch.: -- Decim. pl.: 0
min./max.: -2147483648 /
2147483647
4.3.100 P-0-0391, Actual position value difference encoder1 - encoder2

Hardware --
Function This parameter indicates the difference of the actual position values of en‐
coder 1 and encoder 2. The value is updated every 2 msec.
P-0-0391 Actual position value difference encoder1 - encoder2

S-0-0051 Actual position value encoder 1
S-0-0053 Actual position value encoder 2
Fig. 4-32: Definition of actual position value difference P-0-0391
See also Functional Description "Monitoring the Measuring Systems"
S-0-0077 /
S-0-0078
4.3.101 P-0-0393, IDN groups: Control word

Hardware --
Function This parameter determines which IDN group is output in "P-0-0394, IDN
groups: List".
P-0-0393 P-0-0394
IDN groups: IDN groups: List
Control word
0000H No selection
0001H All parameters with scaling-dependent attributes (aren't changed
any more in phase 4).
0002H All parameters the attributes of which can still change in phase 4.
0010H All parameters with position scaling (S-0-0076).
0011H All parameters with speed scaling (S-0-0044).
0012H All parameters with acceleration scaling (S-0-0160).
0013H All parameters with torque scaling (S-0-0086).
Use In the case of new control units it is aimed at relieving the non-cyclical data
channel of unnecessary or iterative requests. This primarily implies repeated
collection of the attributes. This is also done if the attributes cannot change
online in the drive. As there are attributes that are changing online (due to
scaling-dependence of the parameter or free assignment of signals as, for
example, in the case of the oscilloscope), it is necessary to give the control
unit a possibility to recognize the different characteristics of the attributes. Up
to now SERCOS hasn't provided any procedure for this purpose. An aggra‐
vating fact is that the existing parameters are depending on the firmware ver‐
sion.
An online procedure was therefore realized with which the control unit can
read via an IDN list which parameters are pertaining to the individual attribute
variants.
The current enabling of functional packages is taken into account

for determination by means of the list.

4.3.102 P-0-0394, IDN groups: List

Hardware --
Function This parameter contains the IDN group selected in the parameter "P-0-0393,
IDN groups: Control word".
See also Parameter Description "P-0-0393, IDN groups: Control word"
4.3.103 P-0-0395, Average value filter for display: Signal selection

Hardware --
Function This list parameter is used for configuring the signals which are to be filtered
by means of average value filter for display. It has exactly 2 elements (IDNs)
for the two filters:
● Element 1: Signal selection for display filter 1
● Element 2: Signal selection for display filter 2
The two filters are independent of each other and can be sepa‐
rately activated or deactivated. The average value filter for display
is calculated in the position clock (TA,position)!
Fig. 4-33: Function - Average Value Filter for Display

Use Observe the following aspects for signal selection:
● It is only possible to select signals from the parameter "P-0-0396, Aver‐
age value filter for display: Signal selection list".
● The filter function is deactivated, when the signal "S-0-0000" has been
selected.
Observe the following aspects in conjunction with the recording of the signals
in the oscilloscope function or the output at the analog outputs:
● The order of parameterization must be observed!
– If first the signal for the average value filter for display is set and
then the same signal is selected as measuring signal in the oscillo‐
scope, the filtered value is recorded in the oscilloscope.
– If the order is inverse, the non-filtered value is recorded.
● If the signal for the average value for display is changed or cleared, au‐
tomatic switching does not take place with the oscilloscope function.
The signal has to be selected again as measuring signal.
See also Parameter Description "P-0-0396, Average value filter for display:
Signal selection list"
Time constant"
Memory: PARAM_SP Validity ch.: -- Format: IDN

4.3.104 P-0-0396, Average value filter for display: Signal selection list
Hardware --
Function The parameter S-0-0396 contains all parameters (IDNs) which can be used
as signals for the average value filter for display (cf. P-0-0395).
Time constant"
Structure The following parameters are contained in the signal list:
● S-0-0040, Velocity feedback value
● S-0-0084, Torque/force feedback value
● S-0-0164, Acceleration feedback value 1
● S-0-0195, Acceleration feedback value 2
● S-0-0347, Velocity error
● S-0-0380, DC bus voltage
● S-0-0382, DC bus power
● P-0-0038, Torque-generating current, command value
● P-0-0039, Flux-generating current, command value
● P-0-0043, Torque-generating current, actual value
● P-0-0044, Flux-generating current, actual value
● P-0-0048, Effective velocity command value
● P-0-0049, Effective torque/force command value
● P-0-0141, Thermal drive load
● P-0-0440, Actual output current value (absolute value)
● P-0-0442, Actual value torque limit positive (stationary)
● P-0-0443, Actual value torque limit negative (stationary)
● P-0-0444, Actual value peak torque limit
● P-0-4046, Effective peak current
● ...
As the content of the list can be permanently extended, it is rec‐

ommended to read the list at the respective drive to get the cur‐
rent list content.


4.3.105 P-0-0397, Average value filter for display: Time constant

Hardware --
Function The parameter "P-0-0397" is used to parameterize the filter effect (= time
constant of the PT1 filter) of the average value filters for display. It has exact‐
ly 2 elements (IDNs) for the two display filters:
● Element 1: Time constant for display filter 1
● Element 2: Time constant for display filter 2
The two filters are independent of each other and can be sepa‐
rately activated or deactivated. The average value filter for display
is calculated in the position clock (TA,position)!
Fig. 4-34: Function - Average Value Filter for Display

Use Observe the following during parameterization:
● With "0" the filter function is inactive in spite of signal input.
● Inputs on a time base of 0.5 ms (max. position loop clock) are accepted.

4.3.106 P-0-0399, Configuration of simulation mode

Hardware --
Function The function axis simulation is parameterized with this control word.
Structure
0 Permanently parked axis Automatic start of the command "parking

0: Inactive axis" (S-0-0139) -> "permanently parked"
with enabling of axis simulation
1: Active
Tab. 4-89: Relevant Bits of P‑0‑0399

See also Functional Description "Axis Simulation"
4.3.107 P-0-0400, Axis correction external correction value

Hardware --
Function Via this parameter the control master can cyclically send a position correction
value to the drive.
See also Functional Description "Axis Error Correction"
Use Thereby, on the control side, correct errors in the actual position value of the
drive. The control-side correction is activated when P-0-0400 has been inclu‐
ded in the master data telegram. The values for P-0-0400 must have position
scaling according to "S-0-0076, Position data scaling type". The control-side
correction is contained in the "servo" expansion package and is only availa‐
ble after functional package has been enabled.
See also Parameter Description "S-0-0076, Position data scaling type"
S-0-0077 /
S-0-0078

4.3.108 P-0-0401, Axis correction active correction value

Hardware --
Function This parameter displays the currently effective correction value for the actual
position value.
The actual position value system to be corrected is selected via

the respective bit of "P-0-0413, Axis correction control word".

See also Parameter Description "S-0-0076, Position data scaling type"
S-0-0077 /
S-0-0078
4.3.109 P-0-0402, Axis correction reference temperature

Hardware --
Function The reference temperature for the position-dependent and the position-inde‐
pendent, temperature-related axis error correction is entered in this parame‐
ter.
Unit: S-0-0208 Extr. val. ch.: + Decim. pl.: 1
4.3.110 P-0-0403, Axis correction reference position for temp. corr.

Hardware --
Function The reference position for the position-dependent, temperature-related axis

error correction is entered in this parameter.
For determining the value of P-0-0403 see Functional Description "Axis Error
Correction"

S-0-0077 /
S-0-0078
4.3.111 P-0-0404, Axis correction actual temperature pos.-dependent

Hardware --
Function Via this parameter the actual temperature of the axis can be transmitted to
the controller. This value acts on the position-dependent, temperature-related
axis error correction.
4.3.112 P-0-0405, Axis correction actual temperature pos.-independent

Hardware --
Function Via this parameter the actual temperature of the axis can be transmitted to
the controller. This value acts on the position-independent, temperature-rela‐
ted axis error correction.
4.3.113 P-0-0406, Axis correction temperature factor pos.-dependent

Hardware --
Function The position-dependent temperature correction factor is entered in this pa‐

rameter. The value is scaled with 1/Kelvin (1/K).
Correction"
Use The position-dependent temperature correction is used to compensate for the

temperature-dependent linear expansion of the mechanical transfer elements
of a servo axis or the measuring system. The function becomes active when
the correction factor is unequal "0", it is contained in the "servo" expansion
package.
Unit: 1/°K Extr. val. ch.: + Decim. pl.: 6
4.3.114 P-0-0407, Axis correction temperature factor pos.-independent

Hardware --
Function The position-independent temperature correction factor is entered in this pa‐

rameter. The value is scaled with the quotient position data scaling 10K
(S-0-0076/10K).
Correction"
Use The position-independent temperature correction is used to compensate for
purely temperature-dependent linear expansion of tools, workpieces and
slides. The function becomes active when the correction factor is unequal "0".
S-0-0077 /
S-0-0078
4.3.115 P-0-0408, Axis correction start position

Hardware --
Function The start position of the correction range for the precision axis error correc‐
tion is determined in this parameter. The correction range is between
P-0-0408 and "P-0-0409, Axis correction end position".


S-0-0077 /
S-0-0078
4.3.116 P-0-0409, Axis correction end position

Hardware --
Function The end position of the correction range for the precision axis error correction
is displayed in this parameter. The correction range is between "P-0-0408,
Axis correction start position" and P-0-0409.


S-0-0077 /
S-0-0078
4.3.117 P-0-0410, Axis correction support point distance

Hardware --
Function The support point distance for the correction range of the precision axis error
correction is determined by means of this parameter. The correction values
entered in "P-0-0411/P-0-0412, Axis correction, correction table positive/
negative" refer to the support points of the correction range.
With the value "0" in P-0-0410, the precision axis error correction
is deactivated, if the value is greater than "0" it is activated!
See also Functional Description "Axis Error Correction".

Use The correction range is between "P-0-0408, Axis correction start position"
and "P-0-0409, Axis correction end position" and has a number of support
points which corresponds to the maximum number of rows from "P-0-0411"
or "P-0-0412". The value of P-0-0410 is the distance between the neighbor‐
ing support points.
S-0-0077 /
S-0-0078
MPx / PSB: min./max.: S-0-0076 / S-0-0076 Default value: s. Text

4.3.118 P-0-0411, Axis correction, correction table positive

Hardware --
Function For precision axis error correction the position correction values for the sup‐
port points of the correction range are entered in the table lines of this list pa‐
rameter. The correction values for P-0-0411 have to be determined with posi‐
tive direction of motion because they only take effect with positive direction of
motion.
Use The first and last of the table lines used have to written with the value "0" be‐
cause otherwise an abrupt change of the actual position value occurs at the
start and end position of the correction range!
Table line index P-0-0411 (positive direction)
0 0 (corr. value at start position P-0-0408)

1 corr. value at support point 2
... ...
499 0 (corr. value at end position P-0-0409)
Tab. 4-90: Assignment of support point correction values to table line index of
correction tables P-0-0411 when using 500 support points
The number of correction values can be 6...500, otherwise the

error "datum not correct" is signaled when this parameter is writ‐
ten!

S-0-0077 /
S-0-0078
4.3.119 P-0-0412, Axis correction, correction table negative

Hardware --
Function For precision axis error correction the position correction values for the sup‐
port points of the correction range are entered in the table lines of this list pa‐
rameter. The correction values for P-0-0412 have to be determined with neg‐
ative direction of motion because they only take effect in the drive with nega‐
tive direction of motion.
Use The first and last of the table lines used have to written with the value "0" be‐
cause otherwise an abrupt change of the actual position value occurs at the
start and end position of the correction range!
Table line index P-0-0412 (negative direction)
0 0 (corr. value at start position P-0-0408)

.... ....
499 0 (corr. value at end position P-0-0409)
Tab. 4-91: Assignment of support point correction values to table line index of
correction tables P-0-0412 when using 500 support points
The number of correction values can be 6...500, otherwise the

error "datum not correct" is signaled when this parameter is writ‐
ten!

S-0-0077 /
S-0-0078
4.3.120 P-0-0413, Axis correction control word

Hardware --
Function With axis error correction, errors in the mechanical system and the measur‐
ing systems are systematically corrected in the actual position value system.
The actual position value system to be corrected is selected in this parame‐
ter.
See also functional description "Axis error correction"
0 Actual position value correction of encoder 1

0: No
1: Yes
1 Actual position value correction of encoder 2
0: No
1: Yes
Tab. 4-92: Relevant bits P-0-0413

4.3.121 P-0-0414, DA: Analog output 1

Function This parameter indicates the voltage value that is output via analog output 1
of optional module "DA".
This analog output is available only if the optional module "DA"

has been configured!
See also Functional Description"Analog Outputs"

4.3.122 P-0-0415, DA: Analog output 2

Function This parameter indicates the voltage value, which is output via analog output
2 of optional module "DA".
This analog output is available only when an optional module

"DA" is configured!


4.3.123 P-0-0418, Analog output 1, signal value at 0V

Function This parameter is used to make the reference definition of analog output 1
(value with output 0 V). The unit is defined by the parameter assigned in
"P-0-0420, Analog output 1, signal selection".
The parameter is inactive when parameters with "binary" display attribute are
assigned.
4.3.124 P-0-0419, Analog output 2, signal value at 0V

Function This parameter is used to make the reference definition of analog output 2
(value with output 0 V). The unit is defined by the parameter assigned in
"P-0-0423, Analog output 2, signal selection".
assigned.
4.3.125 P-0-0420, Analog output 1, signal selection

Function This parameter can be used to assign a parameter IDN to the analog out‐
put 1 of the drive controller. All IDNs can be assigned that are listed in
"P-0-0426, Analog output, IDN list of assignable parameters".
The current parameter value is output as a voltage on the analog output if the
output of parameters for axes 1 or 2 is selected in the parameter "P-0-0427,
Control parameter of analog output". The output voltage can, for example, be
made visible by means of an oscilloscope.

4.3.126 P-0-0422, Analog output 1, scaling [1/V]

Function This parameter is used to scale the voltage output by analog output 1. The
unit is defined by the parameter assigned in "P-0-0420, Analog output 1, sig‐
nal selection".
If parameters with "binary" display attribute are assigned, this parameter
serves to define the number of the bit that is to be output at the analog out‐
put. If the respective bit is not set, the output voltage is 0 V. If the bit is set,
1 V is output.
4.3.127 P-0-0423, Analog output 2, signal selection

Function This parameter can be used to assign a parameter IDN to the analog out‐
put 2 of the drive controller. All IDNs can be assigned that are listed in
4.3.128 P-0-0425, Analog output 2, scaling [1/V]

Function This parameter is used to scale the voltage output by analog output 2. The
unit is defined by the parameter assigned in "P-0-0423, Analog output 2, sig‐
nal selection".
1 V is output.
4.3.129 P-0-0426, Analog output IDN list of assignable parameters

Hardware Analog-Out 1, Analog-Out 2, Analog-Out 3, Analog-Out 4
Function This parameter contains a list of all parameter IDNs which can be assigned
via the following parameters:
● P-0-0420, Analog output 1, signal selection
4.3.130 P-0-0427, Control parameter of analog output

Hardware Analog-Out 1, Analog-Out 2, Analog-Out 3, Analog-Out 4
Function This control parameter serves to define the signal source and restrictions for
the analog outputs.
Up to and including MPx-19VRS, overflow is set as default value

for limitation.
See also functional description "Analog outputs"

0 Analog output 1, limitation

0: Overflow
1: Limitation
1 Analog output 1, calculation of absolute value
0: Direct output, with sign
1: Calculation of absolute value
3/2 Analog output 1, signal source
00: Direct output of voltage signals via "P-0-0139"
01: Output of parameter values of axis 1
0: Overflow
1: Limitation
0: Overflow
1: Limitation
0: Overflow
1: Limitation

Tab. 4-93: Relevant bits of "P-0-0427, Control parameter of analog output"

4.3.131 P-0-0428, DA: Analog output 1, signal value at 0V

Function This parameter is used to make the reference definition of analog output 1 of
the optional module "DA" (value with output 0 V). The unit is defined by the
parameters assigned in "P-0-0459, DA: analog output, signal selection".
assigned.
4.3.132 P-0-0429, DA: Analog output 2, signal value at 0V

Function This parameter is used to make the reference definition of analog output 2 of
the optional module "DA" (value with output 0 V). The unit is defined by the
parameters assigned in "P-0-0459, DA: analog output, signal selection".
assigned.

4.3.133 P-0-0434, Position command value of controller

Hardware --
Function This parameter is used to display the position command value effective at the
position loop input. Depending on the active operation mode, this position
command value can be
● the position command value generated and filtered by the drive itself
(e.g., in the case of interpolation modes)
● the position command value cyclically set by a control unit, and filtered
and fine-interpolated in the drive.
The internal position command value "P-0-0434, Position com‐

mand value controller" is generated in the position loop clock (cf.
P-0-0556)!
See also Functional Description "Cyclic Position Control"

See also Functional Description "Positioning Block Mode"
See also Functional Description "Drive-Internal Interpolation"
S-0-0077 /
S-0-0078
4.3.134 P-0-0435, Control word of position controller

Hardware --
Function In this parameter it is possible to activate additional functions of the position

loop.
Structure
0 quadrant error correction

0: inactive
1: active


4.3.135 P-0-0436, Reference radius for quadrant error correction

Hardware --
Function This parameter determines the radius of a circular path that is used as refer‐
ence for quadrant error correction.
Use This radius is used for calculating the path velocity and should correspond to
a radius, characteristic for the machine, for circularly interpolating machining.
See also Functional Description "Quadrant Error Correction"
S-0-0077 /
S-0-0078
4.3.136 P-0-0437, Velocity time range for quadrant error correction

Hardware --
Function This parameter is used to enter the amount of the velocity range of the veloci‐
ty pulse, which is connected to the velocity command value when quadrant
error correction is active and the direction of motion is reversed.
If value "0" is set, quadrant error correction is deactivated.

S-0-0045 /
S-0-0046
4.3.137 P-0-0438, Table of path velocities for quadrant error correction

Hardware --
Function This parameter corresponds to "P-0-0439, Table of velocity pulse for quad‐
rant error correction".
In the lines of this list parameter, a maximum of 20 path velocities can be en‐
tered in ascending order. A velocity pulse amplitude for quadrant error cor‐
rection can be assigned in P-0-0439 to each entered path velocity.

S-0-0045 /
S-0-0046
4.3.138 P-0-0439, Table of velocity pulse for quadrant error correction

Hardware --
Function This parameter corresponds to "P-0-0438, Table of path velocities for quad‐
rant error correction".
In the lines of this list parameter a maximum of 20 velocity pulse amplitudes
can be entered in ascending order. The values are assigned to the path ve‐
locities of the corresponding lines of P-0-0438.
S-0-0045 /
S-0-0046
4.3.139 P-0-0440, Actual output current value (absolute value)

Hardware --
Function Display parameter for the measured actual current value which is the rms val‐
ue of the motor phase current.
The phase currents are scanned in the current controller cycle, converted as
a current vector and the rms value is calculated from these data. This param‐
eter displays the value averaged during 2 ms and is used as the input value
for the overload models of amplifier and motor.

4.3.140 P-0-0441, Thermal drive load warning threshold

Hardware --
Function MPx16: Overload warning

Parameter for determining a threshold value for the thermal controller work
load.
If the value displayed in "P-0-0141, Thermal drive load" exceeds the deter‐
mined threshold, warning "E2061 Amplifier overload prewarning" is gener‐
ated. The warning sets bit 1 in parameter "S-0-0012, Class 2 diagnostics".
If values exceeding 100% are entered, "E2061" is not displayed.

Warning "E8057 Device overload, current limit active" is gener‐
ated as early as at a thermal load of approx. 97% if the output
current is limited by the controller.

4.3.141 P-0-0442, Actual value torque limit positive (stationary)

Hardware --
Function Display parameter for the effective positive torque limit value. The displayed
value is the smallest value of
● S-0-0092, Bipolar torque/force limit value
● P-0-0109, Torque/force peak limit
● S-0-0082, Torque/force limit value positive
● load-dependent limitations by motor and controller
● motor-dependent limitations.
See also Functional Description "Current and Torque/Force Limitation"
Use The unit for the values of this parameter depends on the scaling that has
P-0-0442 displays the positive torque/force limit value (with re‐

gard to load torque/load force) effective at a stationary (constant)
velocity. For acceleration processes, a higher limit value can be
effective, if the lower value of P-0-0109 and S-0-0092 is greater
than S-0-0082, and acceleration feedforward has been activated.
The parameter "P-0-0444, Actual value peak torque limit" shows
the maximum allowed drive torque or the maximum allowed drive
force (stationary load torque + acceleration torque) effective for
acceleration processes.

S-0-0093 /
S-0-0094
4.3.142 P-0-0443, Actual value torque limit negative (stationary)

Hardware --
Function Display parameter for the effective negative torque limit value. The displayed
value is the smallest value of
● "S-0-0092, Bipolar torque/force limit value"
● "P-0-0109, Torque/force peak limit"
● "S-0-0083, Torque/force limit value negative"
● load-dependent limitations by motor and controller
● motor-dependent limitations.
Use The unit for the values of this parameter depends on the scaling that has
P-0-0443 displays the negative torque/force limit value (with re‐

gard to load torque/load force) effective at a stationary (constant)
velocity. For acceleration processes, a higher limit value can be
effective, if the lower value of P-0-0109 and S-0-0092 is greater
than S-0-0083, and acceleration feedforward has been activated.
The parameter "P-0-0444, Actual value peak torque limit" shows
the maximum allowed drive torque or the maximum allowed drive
force (stationary load torque + acceleration torque) effective for
acceleration processes.

S-0-0093 /
S-0-0094

4.3.143 P-0-0444, Actual value peak torque limit

Hardware --
Function Display parameter for the maximum drive torque or the maximum drive force.
The value is the limit value for positive and negative torque/force command
values.
The value displayed is the lower value of
● "P-0-0109, Torque/force peak limit"
● "S-0-0092, Bipolar torque/force limit value"
● work load-dependent limits by motor and controller
● motor-dependent limits.
The unit for the values of this parameter depends on the scaling that has
been set ("S-0-0086, Torque/force data scaling type").
See also Functional Description "Torque/Force Limitation"
S-0-0093 /
S-0-0094
4.3.144 P-0-0445, Status word torque/current limit

Hardware --
Function This parameter combines the status messages (bits) referring to torque/
current limitation.
0 Positive torque command value

0: Not restricted: P-0-0442 = S-0-0082
1: Restricted: P-0-0442 < S-0-0082
1 Negative torque command value
0: Not restricted: P-0-0443 = S-0-0083
1: Restricted: |P-0-0443| < |S-0-0083|
3/2 Reserved

4 Amplifier overload warning (E2061)
0: No: P-0-0141 < P-0-0441
1: Yes: P-0-0141 ≥ P-0-0441
5 Speed-dependent torque limitation
0: Inactive
1: Active: Maximum torque < min ( S-0-109 / S-0-0110 )
6 Regenerative power limitation
0: Inactive
1: Active: Maximum torque < min ( S-0-109 / S-0-0110 )
7 Torque/force limitation equal to zero (E2056)
(P-0-0442 = 0 or P-0-0443 = 0 or P-0-0444 = 0)
0: No
1: Yes
8 Amplifier overload, peak current limitation
0: Inactive
1: Active
9 Motor overload (E8055), peak current limitation
0: Inactive
1: Active
10 Reserved
13-11 Effective current limitation - display of the limit resulting in As of
the current limit value P-0-0444: MP*03V20
000: No limitation active As of
001: Amplifier temperature model MP*04VRS
010: Motor temperature model

011: Speed-dependent torque limitation
100: Regenerative limitation
101: S-0-0092
110: P-0-0109
111: Motive torque switched off
14 E2051 Motor overtemp. prewarning
0: Inactive
1: Active
15 F2019 Motor overtemperature shutdown or F2021 Motor
temperature monitor defective
0: Inactive
1: Active
Tab. 4-95: Structure of P-0-0445, Status word torque/current limit

4.3.145 P-0-0446, Thermal motor load

Hardware --
Function A thermal model is calculated for the motor. This model is based on the time
constants of the motor winding, the continuous current and the short-time
overload of the motor. If it is at standstill or if it does not feature any tempera‐
ture measurement function, a motor can only be protected against destruc‐
tion with the "thermal model". If the load has reached the load limit (100%),
the motor current is reduced.
The following parameter are included in the thermal model of the motor:
● P-0-0640, Cooling type
● P-0-4034, Thermal time constant of winding
● P-0-4035, Thermal time constant of motor
● P-0-4037, Thermal short-time overload of winding
● S-0-0111, Motor current at standstill
Function Parameter "P-0-0446" serves to check the thermal load of the motor. A ther‐
mal load of 100% corresponds to the maximum motor temperature.
The parameter can be preset to a value that is higher than the current one to
allow checking the thermal motor load on commissioning more quickly with‐
out having to perform machining cycles within this time interval.
See also Functional Description "Motor Temperature Monitoring"
4.3.146 P-0-0447, Motor shaft power

Hardware --

cess.
This parameter indicates the current power of the motor. The power is calcu‐
lated from the mechanical data, "current torque/force" and "current speed/
velocity".
In sensorless operation mode, the torque and speed are only

model-based factors and are therefore inaccurate. The value of
the torque/force of asynchronous motors is inaccurate especially
in the field-weakening range. To achieve good results with syn‐
chronous motors, use must be made of the possibility of correct‐
ing the torque constants subject to temperature and overload.
See also Functional Description "Correction of Torque/Force Constant"

Unit: Watt Extr. val. ch.: -- Decim. pl.: 0
4.3.147 P-0-0448, Temperature-dependent torque/force coefficient

Hardware --
Function This parameter influences the effective torque/force constant, depending on

the measured winding temperature of the motor. Based on the value of
"P-0-0051, Torque/force constant", a reduction takes effect. The current val‐
ue is displayed in "P-0-0450, Current torque/force constant".
● At a winding temperature of 20°C, no reduction takes place.
● At a winding temperature of 110°C is "P-0-0051" reduced by the per‐
centage of "P-0-0448".
● At winding temperatures lower or higher than 110°C, the reduction is in‐
terpolated or extrapolated relating to "reduction reference values" of
20°C and 110°C.
The reduction only works correctly, when "P-0-0051, Torque/force

constant" refers to the ambient temperature 20°C.
The parameter is motor-specific and for synchronous Rexroth motors it is

made available on the manufacturer side:
● For MSK motors and as of encoder memory version 4.5, it is automati‐
cally written with the parameter "P-0-3058, Temperature-dependent tor‐
que/force coefficient, enc. memory".
● For other synchronous Rexroth motors, it is made available, if required,
via IWD or the drive database "DriveBase".
See also Functional Description "Correction of Torque/Force Constants"
4.3.148 P-0-0449, Speed-dependent torque/force coefficient

Hardware --
Function This parameter influences the effective torque/force constant, depending on

the velocity of the motor. Based on the value of "P-0-0051, Torque/force con‐
stant", a reduction takes effect depending on the arithmetic average value of
the absolute velocity value. The current value is displayed in "P-0-0450, Cur‐
rent torque/force constant".
The reduction only works correctly, when "P-0-0051, Torque/force

constant" refers to the ambient temperature 20°C.
The parameter is motor-specific and for synchronous Rexroth motors it is

made available on the manufacturer side:
● For MSK motors and as of encoder memory version 4.5, it is automati‐
cally written with the parameter "P-0-3057, Speed-dependent torque/
force coefficient, encoder memory ".
● For other synchronous Rexroth motors, it is made available, if required,
via IWD or the drive database "DriveBase".
See also Functional Description "Correction of Torque/Force Constants"
Unit: Hz Extr. val. ch.: -- Decim. pl.: 5
4.3.149 P-0-0450, Current torque/force constant

Hardware --
Function The currently effective value of the torque/force constant is displayed in this
parameter. The torque or the force at the motor can be calculated, by means
of approximation, by multiplying "P-0-0450" and "P-0-0043, Torque-generat‐
ing current, actual value".
For synchronous motors, the value of the torque/force constant depends on
the
● value of the currently flowing motor current: Reduction of torque/force
constant at currents greater Inominal
● temperature of motor winding and rotor: Reduction of torque/force con‐
stant at rising temperature
For asynchronous motors, the torque/force constant is reduced, when the
motor is operated with field weakening.
Unit: Nm/A Extr. val. ch.: -- Decim. pl.: 2
4.3.150 P-0-0451, Actual acceleration torque/force value

Hardware --
Function The acceleration torque is determined from the total inertia (determined using
the automatic control loop setting) and the value in "S-0-0164, Acceleration
feedback value 1". The acceleration torque is displayed in "P-0-0451, Actual
acceleration torque/force value".
S-0-0093 /
S-0-0094
4.3.151 P-0-0452, Actual process torque/force value

Hardware --
Function The current process torque is determined from the current total torque in pa‐
rameter "S-0-0084, Torque/force feedback value" and the determined
"P-0-0451, Actual acceleration torque/force value". The process torque is dis‐
played in "P-0-0452, Actual process torque/force value".
S-0-0093 /
S-0-0094
4.3.152 P-0-0453, Velocity controller integral term

Hardware --
Function The integral-action component of the velocity loop is displayed in parameter

P-0-0453.
S-0-0093 /
S-0-0094
4.3.153 P-0-0454, Velocity feedforward actual value

Hardware --
Function This parameter displays the current velocity feedforward control value.
The parameter is related to "S-0-0044, Velocity data scaling type".
Use With lagless operation modes, the velocity feedforward control is calculated
in the position controller on the basis of the position command values and
added to the velocity command value in dependence on "P-0-0040 Velocity
feedforward evaluation".
S-0-0045 /
S-0-0046
4.3.154 P-0-0455, Acceleration feedforward actual value

Hardware --
Function This parameter displays the present acceleration feedforward value.

Use The acceleration feedforward is generated as follows:
1. For lagless, position-controlled operation modes, the feedforward value
is calculated from the position command values, depending on
"S-0-0348, Acceleration feedforward gain".
2. In velocity control, the feedforward value is calculated from the velocity
command values, depending on "P-0-1126, Velocity control loop: Accel‐
eration feedforward".
The parameter depends on "S-0-0086, Torque/force data scaling type".
S-0-0093 /
S-0-0094
4.3.155 P-0-0456, Position command value delay

Hardware --
Function This parameter is used to set the position command value delay, it specifies
the number of position clocks to be delayed.
The position command value generator (P-0-0457) is the input value of the
command value delay function, the output value is the position command val‐
ue of controller (P-0-0434). The output value can be delayed by up to 32 po‐
sition clocks. The default setting is "0", that is to say the position command
value delay function is not active.

4.3.156 P-0-0457, Position command value generator

Hardware --
Function This parameter displays the position command value without delay. Depend‐
ing on the active operation mode, this position command value can be
● the position command value generated, filtered and fine interpolated by
the drive itself (e.g., in the case of interpolation modes) or
● the position command value cyclically set by a control unit, filtered and
fine interpolated in the drive.
The position command value generator is the input value of the command
value delay function, the output value is the position command value of con‐
troller (P-0-0434). The output value can be delayed by up to 32 position
clocks, the number of clocks is set with the position command value delay
(P-0-0456).
The internal position command value "P-0-0457, Position com‐

mand value generator" is generated in the position loop clock (cf.
P-0-0556)!
ue Input"
S-0-0077 /
S-0-0078
4.3.157 P-0-0458, Delay of add. command values

Hardware --
Function This parameter delays the efficiency of "S-0-0081, Additive torque/force com‐
mand value" and therefore supports the external acceleration feedforward
control. The control cyclically delivers the value of the acceleration feedfor‐
ward control to the drive as additive torque/force command value. The delay
ensures that "P-0-0070, Effective additive torque/force command value" be‐
comes active simultaneously with "P-0-0434, Position command value of
controller". To achieve this, the effective torque/force command value can be
delayed by a maximum of 64 position clocks.
If the value is set higher than zero, the function is activated. This also acti‐
vates an average value filter (P-0-0041) and a linear fine interpolator (control
clock in position clock) according to position command value acceptance.
The function is also activated if value "-1" is set. In this context, the active de‐
lay is calculated internally according to the formula presented in the note be‐
low (max. 64 clock pulses).
The necessary number of delay clocks depends on (P-0-0456,

Position command value delay) and the type of fine interpolation
(P-0-0187).
Linear fine interpolation: P-0-0458 = P-0-0456 + 1
"Cubic approximation" and "cubic fine interpolation": P-0-0458 =
P-0-0456 + (NC clock/position clock -1) + 1 (the term is no longer
applicable with a clock ratio of 1/1)

MPx / PSB: min./max.: -1 / 64 Default value: 0
4.3.158 P-0-0459, DA: Analog output 1, signal selection

Function With this parameter, analog output 1 of the optional module "DA" can be as‐
signed a parameter IDN. All IDNs can be assigned that are listed in
4.3.159 P-0-0460, Module group, control word

Hardware --
Function This parameter is used to display the information transmitted from a device
(inverter or converter) via the module bus. Due to the hierarchical structure of
the module bus, only the most significant information is effective!
This parameter only displays the control information transmitted

by the respective controller via the module bus. The bits of this
parameter cannot be written externally!
0 All module bus nodes without error

0: No
1: Yes
1 Ready for power output (DC bus ok)
0: No
1: Yes
2 Supply overload prewarning
0: No
1: Yes
3 Error DC bus voltage, mains failure (DC bus not ok)
0: No
1: Yes
4 Inverter error
0: No
1: Yes
5 Supply error
0: No
1: Yes
6 Reserved
7 Clear supply error
0: Not active
1: Active
8 Module bus communication error
0: No
1: Yes
9 DC bus short circuit disabled: Indicates whether the mains Only for
contactor is closed HMV05
0: Mains contactor open, DC bus short circuit possible
1: Mains contactor closed, DC bus short circuit at HLB
locked
15-10 Reserved
Tab. 4-96: Relevant bits of P‑0‑0460


4.3.160 P-0-0461, Module group, status word

Hardware --
Function This parameter shows the currently active information of the module bus.
See also Functional Description "Power supply"
Structure
0 All module bus nodes without error

0: No
1: Yes
1 Ready for power output (DC bus ok)
0: No
1: Yes
2 Supply overload prewarning
0: No
1: Yes
3 Error DC bus voltage, mains failure (DC bus not ok)
0: No
1: Yes
4 Inverter error
0: No
1: Yes
5 Supply error
0: No
1: Yes
6 Reserved
7 Clear supply error
0: Not active
1: Active
8 Module bus communication error
0: No
1: Yes

9 Mains disabled
HNA at IndraBus detects that the mains contactor has
been activated, and locks the DC bus short circuit for the
HLB bleeder module
0: Not active
1: Active
15-10 Reserved

4.3.161 P-0-0462, DA: Analog output 2, signal selection

Function With this parameter, analog output 2 of the optional module "DA" can be as‐
signed a parameter IDN. All ID numbers can be assigned, which are entered
in the list "P-0-0426, Analog output, IDN list of assignable parameters".
4.3.162 P-0-0463, DA: Analog output 1, scaling [1/V]

Function This parameter is used to scale the voltage output by analog output 1 of the
optional module "DA". The unit is defined by the parameters assigned in
"P-0-0459, DA: analog output 1, signal selection".
1 V is output.

4.3.163 P-0-0464, DA: Analog output 2, scaling [1/V]

Function This parameter is used to scale the voltage output by analog output 2 of the
optional module "DA". The unit is defined by the parameters assigned in
"P-0-0462, DA: analog output 2, signal selection".
1 V is output.
4.3.164 P-0-0465, Maximum value thermal drive load

Hardware --
Function This parameter detects the peak value of the amplifier load (P-0-0141). The
user has to write a value to the parameter to reset the peak value.
Use A value of "zero" must be written to the parameter before commencement of
a machining cycle, in order to detect the maximum value of the load during
this machining cycle. After completion of the machining cycle, the peak value
of the load of this cycle can be read.
4.3.165 P-0-0466, Maximum value thermal motor load

Hardware --
Function This parameter detects the peak value of the thermal motor load (P-0-0465).
The user has to write a value to the parameter to reset the peak value.
Use A value of "zero" must be written to the parameter before commencement of

a machining cycle, in order to detect the maximum value of the load during
this machining cycle. After completion of the machining cycle, the peak value
of the load of this cycle can be read.
4.3.166 P-0-0467, Maximum value thermal load of braking resistor

Hardware HCS, KMV
Function This parameter detects the peak value of "P-0-0844, Maximum value thermal
load of braking resistor". The parameter is continuously written by the drive.
To reset the value, the parameter has to be written manually.
A value of "zero" has to be written to the parameter before a machining cycle
in order to detect the maximum value of the load during this machining cycle.
After completion of the machining cycle, the peak value of the load of this cy‐
cle can be read.
MPx / PSB: min./max.: 0 / 110 Default value: ---
4.3.167 P-0-0468, Prewarning threshold of therm. motor load

Hardware --
Function This parameter defines the threshold of the thermal motor load at which the
prewarning bit (S-0-0012; bit 2) and prewarning "E2051 Motor overtemp. pre‐
warning" are set.
4.3.168 P-0-0469, Prewarning threshold of therm. load of braking resistor

Hardware HCS, KMV
Function This parameter defines the threshold of the thermal braking resistor load at
which the prewarning bit (S-0-0012; bit 1) and prewarning "E2820, Braking
resistor overload prewarning" are set.
4.3.169 P-0-0470, Block patch: Block selection

Hardware --
Function This parameter, along with parameter "P-0-0471", is intended for extended
diagnostic purposes.
4.3.170 P-0-0471, Block patch: Block data

Hardware --
Function This parameter, along with parameter "P-0-0470", is intended for extended
diagnostic purposes.
4.3.171 P-0-0472, Motor saturation current

Hardware --
Function The parameter displays the current up to which torque generation is realized
proportionally to the cross current. At higher currents, torque generation is
underproportionate due to the iron saturation in the motor. As of this current
value, the value for the current torque constant is reduced.
For Rexroth motors with encoder data memory, the parameter is initialized
from the encoder data memory.
Unit: A Extr. val. ch.: + Decim. pl.: 3
4.3.172 P-0-0476, Logbook configuration word

Hardware --
Function When bit 0 is set, a logbook entry is generated for the most important "SMO
operating states" upon their activation. The configuration is used for diagnos‐
tic purposes.
4.3.173 P-0-0477, Logbook axis number

Allocation Contained in 16VRS: «-» «-» «MPM»
Contained in 17VRS: «-» «-» «MPM» «-»
Contained in 18VRS: «-» «-» «MPM» «-»
Contained in 19VRS: «-» «-» «MPM» «-» «-»
Hardware --
Function This parameter shows the logical axis number of the entry in "P-0-0478, Log‐
book event".
● 0 = Logical axis "0" (left-hand axis)
● 1 = Logical axis "1" (right-hand axis)
● 0xFFFF = Both axes
This parameter cannot be used by the user. It is read-only and

cannot be edited.

4.3.174 P-0-0478, Logbook event

Hardware --
Function This parameter displays a code which allows the drive development staff to
diagnose drive-internal states.
Use The entries in this parameter are realized automatically by the controller sub‐
ject to internal states. The entry time is retained in "P-0-0479, Logbook time
stamp".
The value displayed in this parameter can only be interpreted with

internal knowledge of the firmware! Therefore, the user cannot
utilize this parameter! It is write-protected and cannot be
changed!

4.3.175 P-0-0479, Logbook time stamp

Hardware --
Function This parameter shows the time of entry in "P-0-0478, Logbook event". The
value of "P-0-0190, Operating hours control section" is recorded in parameter
"P-0-0478" at the corresponding time.
For this reason, this parameter cannot be used by the user. It is

read-only and cannot be edited.

Memory: ON_BOARD_SP Validity ch.: PM->OM Format: DEC_OV
4.3.176 P-0-0480, Patch function 1, source pointer

Hardware --
Function This parameter allows selecting a controller-internal memory cell. This mem‐
ory cell can be read or written by means of the patch function 1.
The patch function allows the development staff to diagnose inter‐

nal signal states and data; customers cannot use this function!
Therefore, only the development staff know the values of this pa‐
rameter (memory addresses)!
See also Functional Description "Patch Function"


4.3.177 P-0-0481, Patch function 1, attribute

Hardware --
Function This parameter is used to configure the access and the output to the control‐
ler-internal memory address selected in "P-0-0480, Patch function 1, source
pointer".
Structure
2/1/0 Source data type

0: INT4
1: INT2
2: INT1
3: FLOAT8
4: FLOAT4
6/5/4 Source data output format
0: BIN
1: DEC w sign
2: DEC w/o sign
3: HEX
4: FLOAT
5: BOOL
11-7 Reserved
15-12 Address target system Default
0000: IndraDrive control section IndraDrive con‐
trol section
0001: Host CPU of channel 1 of Safe Motion
0011: Co-CPU of channel 1 of Safe Motion
0101: Host CPU of channel 1 and channel 2 of Safe Mo‐ *
tion
0111: Co-CPU of channel 1 and channel 2 of Safe Motion
* The two codifications may only be set if the master password

(P-0-4064 = 4) is set. This mode only supports write accesses.
It does not support simultaneous read accesses.
The patch function is reserved for development personnel for di‐

agnosing internal signal states and/or internal data and cannot
used by the customer.

4.3.178 P-0-0482, Patch function 1, bit mask

Hardware --
Function This parameter defines a bit mask that acts on the output of the value of the
controller-internal memory cell selected by "P-0-0480, Patch function 1,
source pointer". This parameter acts subject to "P-0-0481, Patch function 1,
attribute". It is only active in certain configuration constellations.
The patch function allows the development staff to diagnose firm‐

ware-internal signal states and data; customers cannot use this
function!

4.3.179 P-0-0483, Patch function 1, exponent

Hardware --
Function This parameter defines an exponent that acts on the output of the value of
the controller-internal memory cell selected by "P-0-0480, Patch function 1,



4.3.180 P-0-0485, Patch function 1, display

Hardware --
Function By means of this parameter it is possible to read or write a value to the con‐
tent of a controller-internal memory cell. Further specifications and configura‐
tions are made in the other parameters relevant to the patch function (for de‐
tails please see the Functional Description).

function! As unqualified writing to this parameter can interfere with
the drive function, this parameter is write-protected!

4.3.181 P-0-0486, Patch function 2, source pointer

Hardware --
Function This parameter allows selecting a controller-internal memory cell. This mem‐
ory cell can be read or written by means of the patch function 2.

Therefore, only the development staff know the values of this pa‐
rameter (memory addresses)!


4.3.182 P-0-0487, Patch function 2, attribute

Hardware --
Function This parameter is used to configure the access and the output to the control‐
ler-internal memory address selected in "P-0-0486, Patch function 2, source
pointer".
Structure
2/1/0 Source data type

0: INT4
1: INT2
2: INT1
3: FLOAT8
4: FLOAT4
6/5/4 Source data output format
0: BIN
1: DEC w sign
2: DEC w/o sign
3: HEX
4: FLOAT
5: BOOL
11-7 Reserved
15-12 Address target system Default
0000: IndraDrive control section IndraDrive con‐
trol section
0101: Host CPU of channel 1 and channel 2 of Safe Mo‐ *
tion
0111: Co-CPU of channel 1 and channel 2 of Safe Motion
* The two codifications may only be set if the master password

(P-0-4064 = 4) is set. This mode only supports write accesses.
It does not support simultaneous read accesses.
The patch function is reserved for development personnel for di‐

agnosing internal signal states and/or internal data and cannot
used by the customer.

4.3.183 P-0-0488, Patch function 2, bit mask

Hardware --
Function This parameter defines a bit mask that acts on the output of the value of the
controller-internal memory cell selected by "P-0-0486, Patch function 2,


4.3.184 P-0-0489, Patch function 2, exponent

Hardware --
Function This parameter defines an exponent that acts on the output of the value of
the controller-internal memory cell selected by "P-0-0486, Patch function 2,

function!


4.3.185 P-0-0491, Patch function 2, display

Hardware --
Function By means of this parameter it is possible to read or write a value to the con‐
tent of a controller-internal memory cell. Further specifications and configura‐
tions are made in the other parameters relevant to the patch function.

function! As unqualified writing to this parameter can interfere with
the drive function, this parameter is write-protected!

4.3.186 P-0-0492, Symbol-based patch function 1, data source

Allocation Contained in 16VRS: «MPB» «-» «-»
Hardware --
Function This parameter is used for selecting a variable of the PLC. This variable can
be read out via the "symbol-based patch function 1, display".
The variable is accessed via the symbol name, which has the following syn‐
tax:
<Application name>.<POU name>.<Variable name>
The display format can be affixed as string to the symbol name, separated by
a comma.
Example of entering a symbol name:
Application.GVL.dwCounter,16# (data type is known, display format hexadec‐
imal)
«Up to firmware version 17VRS: This parameter is used for selecting a mem‐
ory cell of the PLC. This memory cell can be read out via "PLC patch function
1, display". The address is selected via "range/offset" from the symbol file of
the PLC. The data type (sign, number of bytes) and the display format can be
affixed as string to the address selection, separated by a comma. »
Observe the following when entering the name:
● Maximum size: 256 bytes
The following data types are supported:
BOOL 1 byte
BYTE, USINT 1 byte without sign
SINT 1 byte with sign
WORD, UINT 2 bytes without sign
INT 2 bytes with sign
DWORD, UDINT 4 bytes without sign
DINT 4 bytes with sign
REAL 4 bytes
The following output formats can be evaluated:
2# Binary display
10# Decimal display
16# Hexadecimal display
See also Functional Description "Patch function"

4.3.187 P-0-0493, Symbol-based patch function 1, display

Hardware --
Function This parameter displays the content of a variable that has been selected via
the PLC patch function.

Hardware --
tax:

a comma.
imal)
«As of firmware version 17VRS: This parameter is used for selecting a mem‐
BOOL 1 byte
REAL 4 bytes
2# Binary display
10# Decimal display


Hardware --

Hardware --
tax:
a comma.
imal)
«Up to firmware version 17VRS: This parameter is used for selecting a mem‐
BOOL 1 byte
REAL 4 bytes

2# Binary display
10# Decimal display


Hardware --

Hardware --
tax:
a comma.
imal)
«As of firmware version 17VRS: This parameter is used for selecting a mem‐

BOOL 1 byte
REAL 4 bytes
2# Binary display
10# Decimal display


Hardware --


4.4.1 P-0-0501, Dynamic alias mapping, mapping EIDN
Hardware --
Function This parameter is required for internal use only.

4.4.2 P-0-0502, Dynamic alias mapping, mapping EIDN content

Hardware --

4.4.3 P-0-0503, EIDN-list of invalid data for parameterization levels

Hardware --

4.4.4 P-0-0506, Amplitude for angle acquisition

Hardware --
Function This parameter presets the start value for the amplitude of the test signal for
the automatic commutation offset determination methods with current.
See also Functional Description "Commutation Setting"
Use The value for this parameter is stored. It can be changed for adjustment pur‐
poses.
This parameter takes effect for commutation setting by means of saturation

method and sine-wave method:
● When the saturation method is activated, this parameter is a voltage val‐
ue, unit "V".
● When the sine-wave method is activated, this parameter is a torque/
force value with unit "%". The reference value 100% is the motor torque
at standstill of the motor according to the data in "S-0-0086, Torque/
force data scaling type".
The value for this parameter can be automatically generated by

the controller. By the start value "0" further values are iteratively
generated for P-0-0506 and "P-0-0507, Test frequency for angle
acquisition" until the commutation offset determination is success‐
fully completed. After the iteration the values are stored and used
for every further commutation offset determination.
See also Parameter Description "S-0-0086, Torque/Force data scaling type"

See also Parameter Description "P-0-0522, Control word for commutation
setting"
4.4.5 P-0-0507, Test frequency for angle acquisition

Hardware --
Function This parameter sets the start frequency of the test signal for the automatic
commutation offset determination.
See also Functional Description "Commutation Setting"
Use The value for this parameter is stored. It can be changed for adjustment pur‐
poses.
The value for this parameter can be automatically generated by

the controller. By the start value "0" further values are iteratively
generated for "P-0-0506" and "P-0-0506, Voltage amplitude for
angle acquisition" until the commutation offset determination is
successfully completed. After the iteration the values are stored
and used for every further commutation offset determination.


4.4.6 P-0-0508, Commutation offset

Hardware --
Function In case of synchronous motors with encoder data memory, which are deliv‐
ered with fixed mechanical configuration of rotor and absolute encoder sys‐
tem, this value is determined once at the factory and stored in the encoder
data memory "P-0-3008, Commutation offset, encoder memory".
During initialization, after switch-on and after the encoder memory has been
detected, the parameter value is automatically loaded to the controller, and
the motor is immediately ready for operation with drive enable. Parameter "P-
x-0508" depends on the parameter set, i.e., parameter "P-0-3008" is loaded
to the active parameter set of P-x-0508.
This value is determined once by the axis for synchronous kit motors with ab‐
solute measuring system and stored in the controller in parameter "P-0-0508"
and, if available, in "P-0-3008" of the encoder memory).
See also functional description "Commutation setting"
Use In case of synchronous kit motors with incremental measuring system, the
commutation offset has to be re-determined each time the drive is switched
on. After drive enable, a procedure for determining the correct value for the
effective commutation offset (P-0-0521) is automatically started. After this
procedure has been completed successfully, the motor is able to produce
force. The available commutation setting procedures are saturation method
and sine-wave method.
The saturation method is to be preferred as it runs without motion. During the
subsequent homing procedure of the incremental measuring system, during
spindle positioning or with active cyclic reference mark monitoring, a commu‐
tation offset fine adjustment is carried out. To achieve this, the value of
"P-0-0521" converted to the reference mark is compared with "P-x-0508" and
corrected if necessary. The motor then runs with the optimum commutation
offset from "P-0-3008"/"P-x-0508" which was determined during initial com‐
missioning. Commutation offset fine adjustment is deactivated if the value "0"
is entered in "P-0-0508".
In general, the values of "P-0-0521" and "P-x-0508" are different because
"P-0-0521" is related to the position of the motor encoder at the time the drive
is switched on and "P-x-0508" is related to the reference mark of the axis!
"P-x-0508" is only writable in parameterization mode and can only

be indirectly edited for optimization purposes in initial commis‐
sioning mode using "P-0-0521, Effective commutation offset"
while the drive is active.
The value for "P-x-0508" has to be re-determined whenever:
● the mechanical arrangement of the measuring system is
changed in case of rotary motors or
● the primary and secondary parts are mechanically changed
in case of kit motors.
This parameter is of no relevance for asynchronous motors.


4.4.7 P-0-0509, Commutation offset coarse

Hardware --
Function When the motor is switched on, this parameter provides a functional commu‐
tation offset value for synchronous motors which are equipped with a low-res‐
olution measuring system which, however, measures absolutely with respect
to the pole pairs of the motor (e.g., digital Hall sensors).
The low-resolution absolute encoder system is a supplement for

relative encoders 1.
With this commutation offset value, the motor is immediately functional after
drive enable. However, reduced power has to be expected.
The value has to be determined on initial commissioning of the motor. Ideally,
this has to be done for a motor position which corresponds as precisely as
possible to the position feedback value determined with low resolution (e.g.,
centrally in a 60° range with three digital Hall sensors). The value is stored in
the controller and becomes directly active at "AF" in "P-0-0521, Effective
commutation offset".
By using the "optimum commutation offset with regard to refer‐

ence point", after the motor has been recommissioned the effec‐
tive commutation offset (P-0-0521) reaches the quality of the val‐
ue stored during the initial commissioning of the drive. This re‐
sults in reproducible drive behavior with regard to torque/force de‐
velopment.
See also functional description "Commutation setting"

4.4.8 P-0-0510, Rotor inertia

Hardware --
Function Depending on bit 9 of parameter "P-0-4014, Type of construction of motor",

the value of this parameter has a different significance:
● Rotor inertia (without load inertia) in case of rotary motors
● Primary part mass (without load mass) in case of linear motors

Automatic when controller is switched on.
tion.

systems"
See also functional description "Automatic setting of axis control"
Use Unit, decimal places
The drive firmware automatically adjusts the unit and decimal places to the
type of construction of the motor (rotary or linear) entered in "P-0-4014 Type
of construction of motor".
Unit for type of constr. of motor Decimal places for type of constr. of mo‐
(P-0-4014) tor (P-0-4014)
Rotary Linear Rotary Linear
kgm2 kg 5 5
Tab. 4-100: Unit and decimal places of P-0-0510, depending on P-0-4014

This parameter is used for:
● Automatic control loop setting (C1800)
● Sensorless, flux-controlled operation of asynchronous motors
If none of the mentioned cases is used, it is not obligatory to enter a value!
Automatic control loop setting
The rotor inertia or motor mass is important, in conjunction with the load iner‐
tia or load mass, for optimizing the velocity control loop.
Sensorless, flux-controlled operation of asynchronous motors (FXC)
For sensorless, flux-controlled operation of asynchronous motors, the value
of the rotor inertia is important, in conjunction with the (motor-related) load in‐
ertia, for the setting of the frequency controller.
Automatic control loop setting (C1800) and sensorless, flux-con‐

trolled operation of asynchronous motors are mutually exclusive!
See also functional description "Sensorless motor operation, flux-controlled"

Unit: kgm² Extr. val. ch.: + Decim. pl.: 7
MPx / PSB: min./max.: 0,0000000 / 429,4967295Default value: 0,0000000

4.4.9 P-0-0512, Temperature sensor

Hardware --
Function The controller monitors the motor temperature by means of temperature sen‐
sors installed in the motor. The controller can directly evaluate temperature
sensors, because the characteristics of the sensors are stored in the firm‐
ware.
See also functional description "Motor temperature monitoring"
Use
Automatically on switchon of the controller and transition of
"PM → OM".
tion.
The temperature sensor type integrated into the motor is configured by the
parameter value:
Parameter val‐
Function Comment
ue
0 No temperature sensor
SNM150-DK, by Thermik (PTC with switching per‐
1
formance, three-core circuitry)
2 K227, (NTC, analog characteristic)
3 KTY84-130, (PTC, analog characteristic)
SNM130-DK, (PTC with switching performance,
4
three-core circuitry)
5 Temperature sensor for Bosch SF motors (NTC)
Temperature sensor with switching performance as of
6
(bimetal) MPx-16V10
Temperature sensor evaluation via Safety4Wire or
as of
7 Endat 2.2 protocol (digital transmission of meas‐
MPx-20V02
ured values)
Unknown temperature sensor
100 The characteristic of the unknown temperature

sensor has to be entered in list parameter
"P-0-0513, Temperature sensor characteristic".
Tab. 4-101: Supported temperature sensors


Cycl. tra.: -- Comb. check: + Set-depend.: Grp. 5
4.4.10 P-0-0513, Temperature sensor characteristic

Hardware --
Function If a temperature sensor is to be evaluated but its characteristic curve is not

saved in the firmware, it must be entered here as a value table.
See also Functional Description "Motor Temperature Monitoring"
Use The values must be strictly and monotonously ascending or descending, i.e.
in the table the values assigned to an increasing temperature must either be
always higher than all preceding values or always lower than all preceding
values. In the table, the resistance values must not descend and ascend in
different sections of the table!
Row no. of "P-0-0513" Temperature in °Celsius Resistance value in Ohm

[°C] [Ω]
0 -40
1 -30
2 -20
3 -10
4 0
5 10
6 20
7 30
8 40
9 50
10 60
11 70
12 80
13 90
14 100
15 110
16 120
17 130
18 140
19 150
Row no. of "P-0-0513" Temperature in °Celsius Resistance value in Ohm

[°C] [Ω]
20 160
21 170
22 180
23 190
24 200
25 210
26 220
27 230
28 240
29 250
Tab. 4-102: List for temperature sensor characteristic curve

See also Parameter Description "P-0-0512, Temperature sensor"
Unit: Ohm Extr. val. ch.: + Decim. pl.: 0
4.4.11 P-0-0515, Commutation offset 2

Allocation Contained in 20VRS: «MPB» «-» «MPM» «MPC» «-»
Hardware --
Function This parameter is only used if encoder 2 is the only commutation encoder
(encoder 2 = motor control encoder; encoder 1 is not available), or if motor
control was actively switched to encoder 2 (P-0-0185).
With an absolute measuring system, the value is determined once on the axis
side and stored in the controller in parameter "P-0-0515".
See also Functional Description "Commutation setting"
Use For incremental measuring systems, the commutation offset has to be deter‐
mined again each time the drive is switched back on. After drive enable has
been set, a procedure for determining the correct value for the effective com‐
mutation offset (P-0-0521) is automatically started. After the procedure has
been successfully run, the motor is able to generate force. The saturation
method or the sine-wave method can be selected as the commutation setting
procedure.
When the incremental measuring system is subsequently homed, during
spindle positioning or when the zero mark of the encoder is passed, a com‐
mutation offset fine adjustment is carried out. For this purpose, the value of
"P-0-0521", that was converted to the reference mark, is compared to "P-
x-0515" and corrected, if necessary. Afterwards the motor runs with the opti‐
mum commutation offset from "P-x-0515" determined during the initial com‐
missioning. The commutation fine adjustment is activated if bit 10 has been
set in "P-0-0522".
"P-x-0515" can only be written in the parameter mode and can

only be changed indirectly and for optimization in the initial com‐
missioning mode using "P-0-0521, Effective commutation offset" if
the drive is active.
The value for "P-x-0515" always has to be determined again if:
● the measuring system of rotary motors is changed in its me‐
chanical arrangement or
● the primary and secondary parts of kit motors are mechani‐
cally modified.
For asynchronous motors, this parameter does not take effect.

4.4.12 P-0-0516, Commutation speed smoothing time constant

Hardware --
Function The commutation speed can be smoothed by entering a time constant which
exceeds the sampling time of the velocity controller. The commutation speed
is used to improve the dynamic behavior in current control mode.
Use The commutation speed should only be smoothed if a position signal with
poor resolution is present and mechanical resonance points are therefore ex‐
cited. The dynamics of the current control is deteriorated by using a high filter
time constant.
4.4.13 P-0-0517, Commutation: Required harmonic component

Hardware --
Function This parameter serves as threshold to determine a minimum harmonic con‐

tent of the current at commutation determination due to the saturation meth‐
od.
Use Is the percentage based harmonic content of the current relating on the fun‐
damental wave during the automatic commutation determination smaller than
the entered value in "P-0-0517", will this lead to a wrong result for "P-0-0521,
Effective commutation offset " which can result in a positive feedback of the
motor (F8078 Speed loop error). The drive interrupts the command with the
command error "F8013" or "C1218 Automatic commutation: Current too low

".
In most cases, the default value of 4% must not be changed. Only

for exceptional cases, this threshold value must be iteratively ad‐
justed for start up.
● If the error "F8013" or "C1218 Automatic commutation: Cur‐
rent too low " occurs, and if similar values (+/- ca. 30) for
"P-0-0521" at reiterated commutation adjustments for sever‐
al motor positions (drive stays in "Ab") can be determined,
then reduce "P-0-0517" so far, until the error message does
not occur anymore. Finally, check the correct functions of
the commutation adjustment repeatedly!
● If the "error F8078 Speed loop error " occurs, although the
commutation determination has no error signalled, increase
the parameter "P-0-0517"!

4.4.14 P-0-0518, C5600 Command subsequent optimization of commutation

offset
Hardware --
Function This command is used to subsequently optimize the commutation offset

which was previously determined by means of sine-wave method or satura‐
tion method.
The command can only be executed in control (status "AF").

4.4.15 P-0-0519, Commutation status word

Hardware --
Function The current status of the commutation setting of the connected motor is diag‐
nosed in the commutation status word.
If motors with digital Hall sensors are used, the signal state of the Hall sensor
signals is displayed via bits 12... 14.

Bit Status message
0 Generation of the value of "P-0-0521, Effective commuta‐
tion offset"
0: Communication offset not active
1: Applying "P-0-0509, Commutation offset coarse" (re‐
duced performance, at least 87%) or automatic determina‐
tion by means of "AF"
1 Reference-point-optimized commutation offset
0: Not active
1: Active - correction value was determined and added to
"P-0-0521"; full performance in accordance with initial com‐
missioning, 100%!
2 Optimization or adjustment of P-0-0521, Effective commu‐
tation offset
0: None
1: Carried out - "C1200 Commutation offset setting com‐
mand" or "C5600 Command Subsequent optimization of
commutation offset" or "Hall sensor or axis limit switch
edge adjustment", performance almost that of initial com‐
missioning, approx. 97%!
11... 3 Reserved
14/13 Signal status of Hall sensors: (0 = low, 1 = high) MPx-17VRS
/12 Bit 12: S1 and below
Bit 13: S2 Only if "initial

commissioning
Bit 14: S3 mode" is active
With
MPx-18VRS
and above al‐
ways active in
OM
15 Reserved
Tab. 4-103: P‑0‑0519, Commutation status word
For motors with absolute encoder, where the commutation offset

is saved in the encoder data memory, bits 0/1/2 are always "1"!


4.4.16 P-0-0521, Effective commutation offset

Hardware --
Function With synchronous motors, the parameter P-0-0521, Effective commutation

offset displays the value of the commutation offset currently active for motor
control.
Origin:
● Value applied from the encoder data memory (P-0-3008, Commutation
offset, type plate) via "P-0-0508, Commutation offset":
– For Rexroth housing motors MSK and MS2N (supplied with motor-
specific commutation offset).
– For Rexroth kit motors or third-party motors with a motor encoder
that can be evaluated in absolute form with encoder data memory
(motor-specific commutation offset generated once during initial
commissionig of the motor using an appropriate commutation
method via command, value automatically saved in P-0-3008 and
P-0-0508).
● Value applied from "P-0-0508, Commutation offset":
– For Rexroth kit motors or third-party motors with a motor encoder
that can be evaluated in absolute form without encoder data mem‐
ory (motor-specific commutation offset generated once during ini‐
tial commissionig of the motor using an appropriate commutation
method via command, value automatically saved in P-0-0508).
– For Rexroth motors MCL with "analog Hall unit" option and a rela‐
tive motor encoder (the motor type-specific value of "P-0-0508" is
made available by the manufacturer and loaded to the drive using
IndraWorks with the data set of the motor type).
● Value applied from "P-0-0509, Commutation offset, coarse":
– For Rexroth motors MCL with "digital Hall unit" option and a rela‐
tive motor encoder (the motor type-specific value of "P-0-0509" is
made available by the manufacturer and loaded to the drive using
IndraWorks with the data set of the motor type).
– For Rexroth motors MLF with a relative motor encoder and switch-
monitored axis end position (motor-specific value generated during
initial commissionig of the motor using the measuring method and
command with automatic saving in P-0-0509).
● Value applied from "P-0-0515, Commutation offset 2" if encoder 2 used
as the only motor control encoder that can be evaluated in absolute
form (motor-specific commutation offset generated once during initial
commissionig of the motor using an appropriate commutation method
via command, value automatically saved in "P-0-0515").
● Value automatically generated by the configured commutation method
for relative motor encoders when "AF" is set for the first time after
switching from PM to OM.
If a relative motor encoder is used, the value of "P-0-0521" can be subse‐
quently optimized by an automatic optimization method in motor operation:
● If value of P-0-0521 is automatically generated (after "AF" has been

set), by using the "optimum commutation offset with regard to reference
point", configured in P-0-0522, Control word for commutation setting.
See also Functional Description Commutation setting\Basics on commu‐
tation setting.
● For Rexroth motors MLF with switch-monitored end position using com‐
mutation adjustment by passing the axis limit switch.
See also Functional Description "Commutation setting\Commutation
setting for Rexroth linear motors MLF, MCL".
● For Rexroth motors MCL with "digital Hall unit" option using commuta‐
tion adjustment by passing a sector limit.
See also Functional Description "Commutation setting\Commutation
setting of motors with digital Hall sensors".
Multiple bits of "P-0-0519, Commutation status word" display the

"optimization degree" of the commutation offset!
Use
In the initial commissioning mode (can be activated in "P-0-0522, Control
word for commutation setting"), the value of "P-0-0521" can be written and
thus used for manually optimizing the motor-specific commutation offset val‐
ue. If the initial commissioning mode has been activated, the optimized value
is automatically applied to "P-0-0508" and, where applicable, to "P-0-3008"
(not for Rexroth housing motors MSK and MS2N!). Options for optimization:
● Manual optimization of the commutation offset determined via command
or automatically by measuring the drive torque or drive force at constant
torque/force command value and varying the value of "P-0-0521". The
optimum value is the value with which the highest torque or the highest
force is generated! Based on the original value, the value of "P-0-0521"
should not be modified by more than +/-150!
● Subsequent optimization using P-0-0518, C5600 Command subsequent
optimization of commutation offset.
See also Functional Description "Commutation setting\Basics on commuta‐
tion setting".
4.4.17 P-0-0522, Control word for commutation setting

Hardware --
Function Purpose and content of the control word for commutation setting:
● Setting the method with which the controller determines the commuta‐
tion offset of a closed-loop-controlled synchronous motor, if required.
● Configuring options with regard to the execution of the determination
procedure.
● Settings for the optimization method, if the commutation offset has to be

automatically determined again each time the motor is switched back
on.
Structure
2/1/0 Method of commutation setting for synchronous motors The sine wave
with motor encoder method with
000: Locked current is not
available for
001: Currentless (without AF) - manual distance measure‐ MPE!
ment with linear motors
010: With current (with AF) - automatically determined for
all SY types of motor construction by saturation method
all SY types of motor construction by sine-wave method
all SY types of motor construction by orientation method
(FW 20VRS and above)
3 Method of commutation setting for rotary synchronous mo‐ MPx20 and
tors operated without encoder above
0: With current (with AF) - rotor aligned with a fixed com‐
mutation angle preset (orientation)
1: With current (with AF) - rotor position automatically de‐
termined by saturation method
4 Search direction for sine-wave method
0: Increase of amplitude with priority
1: Increase of frequency with priority
5 Return to the start position when sine-wave and saturation
methods are used
0: Automatic return
1: No return
6 Reserved
7 Setting the test signal for sine-wave method
0: Fixed duration
1: Fixed number of signal periods
8 Releasing holding brake with active sine-wave method
0: Brake remains applied
1: Brake is released
9 Storing the commutation offset
0: For kit motors and third-party motors, the commutation
offset, which has been determined and, if necessary, sub‐
sequently optimized, is stored in the encoder memory if
any is available.
1: Even if an encoder memory is available, the determined
offset is not saved in the encoder, but in the drive. This
can only be used for motors with mechanically adjusted
encoders (defined commutation offset).

10 Rotary synchronous motor with relative encoder and one FW 17VRS
reference mark per motor revolution: Effective commuta‐ and above
tion offset (P-0-0521), automatic optimization:
0: Value of "P-0-0521" is not optimized; value of
"P-0-0521" that is automatically generated by "AF" re‐
mains unchanged.
1: Value of "P-0-0521" is optimized by adding a correction
value when the reference mark of the encoder is passed.
See also Functional Description "Recommissioning a syn‐
chronous motor"
Requirements:
1. "Cyclic marker evaluation" has to be activated in
"S-0-0277" (only up to and including FW 19VRS)
2. Commutation offset that has been optimized during
initial commissioning is stored by passing the refer‐
ence mark of the encoder in "initial commissioning
mode" (bit 10 and bit 15 = 1)
11 Synchronous motor with relative encoder and multiple ref‐ FW 17VRS
erence marks or none per motor revolution or linear motor and above
travel range: "P-0-0521, Effective commutation offset", au‐
tomatic optimization when the position data reference is
established (drive-controlled homing):
0: No optimization; the value of P-0-0521 that is automati‐
cally generated by "AF" remains unchanged
1: Value of "P-0-0521" is optimized by adding a correction
value
See also Functional Description "Recommissioning a syn‐
chronous motor"
Prerequisite: Commutation offset that has been optimized
during initial commissioning is stored by "C0600 Drive-
controlled homing procedure command" in "initial commis‐
sioning mode" (bit 11 and bit 15 = "1")
12 Configuration of the signal state of the axis limit switch, MPx-20VRS
displaying the defined initial position of the axis (for com‐ and above
mutation setting using "measuring method" at Rexroth lin‐
ear motor with relative measuring system).
0: +24V if the axis limit switch is activated
1: 0V if the axis limit switch is activated
13 Zero point adjustment for commutation setting MPx-20VRS
0: Zero point adjustment is not carried out and above
1: Zero point of the encoder position is shifted by the com‐

mutation angle offset

14 Current signal state of the axis limit switch, displaying the MPx-20VRS
defined initial position of the axis (commutation setting us‐ and above
ing "measuring method" at Rexroth linear motor with rela‐
tive measuring system).
0: 0V
1: + 24V
15 Initial commissioning mode
0: Inactive
1: Active
Tab. 4-104: Relevant bits of P‑0‑0522, Control word for commutation setting
Use Bit 15 = "1" of "P-0-0522" is used to inform the controller that the initial com‐
missioning of a synchronous motor is carried out. The "initial commissioning
mode" allows the value of the effective commutation offset (P-0-0521) to be
optimized and stored. Once bit 15 is "0" again, "P-0-0521" can neither be
manually changed nor stored.
If bit 13 is set in the "initial commissioning mode", the encoder position is shif‐
ted by the commutation angle offset in encoder systems that support zero
point shifting. This way, the commutation angle offset can be set to zero
since encoder position and commutation angle have the same reference.
Optimizing and storing the com‐ For motors with an absolute measuring system:
mutation offset
The value of the effective commutation offset (P-0-0521) is directly applied to
"P-0-0508". In the "initial commissioning mode", the manual changes to
"P-0-0521" are also immediately stored in "P-0-0508". If an encoder data
memory is available the changes are also stored in "P-0-3008, Commutation
offset, type plate".
The optimized value immediately takes effect when the motor is switched
back on.
For motors with a relative measuring system:
Depending on the motor and encoder design, the effective commutation off‐
set (P-0-0521) is determined and optimized if the "initial commissioning
mode" has been activated. Afterwards, it should be stored in "P-0-0508", as
explained below. When the motor is recommissioned, the same quality of the
commutation offset can hereby be automatically restored despite relative
measuring system.
● If the reference mark is passed with the "initial commissioning mode"
activated in the case of motors with one reference mark per motor revo‐
lution, the controller stores the value of "P-0-0521", converted to the
mark, in "P-0-0508, Commutation offset". Up to and including FW
19VRS, the "cyclic marker evaluation" has to be activated for this pur‐
pose in "S-0-0277"!
● If the drive passes the dedicated point for homing by executing
"S-0-0148, C0600 Drive-controlled homing procedure command" in the
case of motors with multiple reference marks or none per motor revolu‐
tion or linear motor travel range, and with the "initial commissioning
mode" activated, the controller stores the value of "P-0-0521", converted
to this dedicated point, in "P-0-0508, Commutation offset".
Determining the correction value
During recommissioning ("initial commissioning mode" inactive), the value

stored in "P-0-0508" is compared to the value of the effective commutation
offset (P-0-0521) that was converted to the same dedicated position:
● In the case of motors with one reference mark per motor revolution, as
soon as the reference mark of the encoder has been passed. Up to and
including MPx19, the "cyclic marker evaluation" has to be activated for
this purpose in S-0-0277!
● In the case of motors with multiple reference marks or none per motor
revolution or linear motor travel range, as soon as the dedicated point
for homing has been passed after "C0600 Drive-controlled homing pro‐
cedure command" was started.
Optimizing the commutation offset value
If the result of the comparison is valid, the difference of the two values is add‐
ed to the current value of "P-0-0521". In this way, the quality of the commuta‐
tion offset now effective complies with the value stored during initial commis‐
sioning.
See also Functional Description "Commutation setting\Basics on commuta‐
tion setting".
Sine-wave method and orientation The commutation methods which require unrestricted movement can only be
method used for freely moving axes. A possibly available holding brake has to be re‐
leased during the commutation setting!
WARNING Vertical axes without weight compensation

moving down when holding brake is automat‐
ically released by activating sine-wave meth‐
od or orientation method!
⇒ The commutation methods which require unrestricted movement can only
be used for equilibrated axes!
If the "sine-wave method" with current was selected, bit 7 can be

used to considerably reduce the time required for commutation
setting if "fixed number of signal periods" is set and the values of
"P-0-0507, Test frequency for angle acquisition" are > approx. 50.
Using this setting is only recommended for synchronous motors
with relative measuring system in conjunction with the use of "op‐
timum commutation offset with regard to reference point", be‐
cause the quality of the determined commutation setting can be
poor.
This parameter is stored.
Measuring method with relative If commutation setting is to be carried out using the measuring method for
measuring system Rexroth linear motors with relative measuring system, the axis limit switch re‐
quired for this purpose, that signals the defined initial position of the axis, is to
be assigned to bit 14 via a digital input. Bit 12 is used to configure the signal
state which is signaled to the controller if the axis limit switch is activated.
See also Functional Description "Commutation setting\Commutation setting
for Rexroth linear motors MLF, MCL".
4.4.18 P-0-0523, Commutation setting measured value

Hardware --
Function If the commutation setting for synchronous linear motors with absolute meas‐
uring system should be carried out in a currentless way (can be set in
P-0-0522, Control word for commutation setting), then the defined distance
measure can be entered here.
See Functional Desricption"Synchronous Linear Motors"
The currentless commutation setting only makes sense in the

case of synchronous linear motors with absolute measuring sys‐
tem, because the distance measurement is only carried out once
during the initial commissioning. The determined value is stored
and in connection with the absolute measuring system it automat‐
ically causes the current and magnetic field to be correctly coordi‐
nated in the motor at each new start of the machine axis.
See also Functional Description "Rexroth Kit Motors"

Unit: mm Extr. val. ch.: + Decim. pl.: 1
min./max.: -214748364,8 /
214748364,7
4.4.19 P-0-0524, C1200 Commutation offset setting command

Hardware --
Function By means of parameter "P-0-0524" it is possible to activate the command for

setting the commutation offset.
See also Functional Description "Commutation Setting".
Use After starting the command, the drive automatically determines the value for
the commutation offset of the synchronous motor and stores it in "P-0-0521,
Effective commutation offset ". With the initial commissioning mode activated
(see P-0-0522, Control word for commutation setting) and absolute motor en‐
coder the value is stored in "P-0-0508, Commutation offset ". If an encoder
memory is available, the commutation offset is also stored in "P-0-3008,
Commutation offset, type plate".
The correct value for the commutation offset causes the appropriate assign‐
ment of the current flow in the motor to the permanent magnetic field so that
the maximum force is caused by the flowing current.
This command is only required for synchronous motors that are

delivered without fixed, mechanical assignment of the rotor or
movable part of the motor to the encoder system (e.g. synchro‐
nous kit motors).

4.4.20 P-0-0525, Holding brake control word

Hardware --
Function This parameter informs the controller of the type of holding brake and the
way it is controlled.
● Self-releasing or self-holding brake
● Main drive brake or servo brake
● Enabling the "release holding brake" command
● For Rexroth motors with encoder data memory, bit 0 and

bit 2 are automatically set.
● For motors without encoder data memory, bit 0 and bit 2, de‐
pending on whether a holding brake is available, have to be
manually set to the appropriate value.
● For motors without integrated holding brake, an external
holding brake can be controlled by the controller (set bit 2 to
"1"). Set bit 0 according to type of holding brake.
See also Functional Description "Motor holding brake"

Structure
0 Type of holding brake

0: Self-holding, applied at 0 V
1: Electrically holding, applied at 24 V
1 Functional principle
0: Servo brake, brake is activated after max. braking time
1: Main drive brake, brake is only activated if nact< 10 rpm
2 Holding brake available?

0: No
1: Yes (possibly external holding brake, if no motor-inter‐
nal brake available!)
5 Command "release holding brake" allowed
0: No
1: Yes

6 Activate time interval of holding brake check?
0: No
1: Yes
7 Activating command "release holding brake" allowed via
control panel?
0: No
1: Yes
8 Wire break monitoring of holding brake FW 16VRS
0: Active, monitoring for wire break, if holding brake para‐ and above
meterized (default for HCS01). Only
1: Deactivated, no monitoring for wire break (default IndraDrive Cs
HCQ/HCT/HCS02/03). has option of
wire break
monitoring
10/9 Test direction "C2100 Command Holding system check"
00: Test in both directions (default)
01: Test in positive direction
10: Test in negative direction
12 Diagnostic message for time interval of holding brake FW 17VRS
check Only possible in conjunction with bit 6 and above
0: Active
1: Diagnostic message suppressed (E3115/F3115)
13 Torque limitation during brake check FW 20VRS
1: Active (default) and above
0: Not active
Note: The limitations by the thermal models (S-0-0092,
S-0-0082, S-0-0083) are still active!

4.4.21 P-0-0526, Displacement during brake check

Hardware --
Function When command "Holding system check" is executed, a torque at applied

holding brake is specified. This torque specification results in a change in po‐
sition. This change in position in the individual phases of torque specification
is stored in the particular list elements.
When the brake test is started, 0 is written to the values of the pa‐
rameter.
Structure Structure of the list parameter:
List element Function Comment
0 Position displacement during test of motor brake

and positive torque specification
1 Position displacement during test of motor brake
and negative torque specification
2 Reserved
3 Reserved
Tab. 4-106: P-0-0526.000.000, Displacement during brake check

With certain brake types, the position displacement is a measure for the wear
of the brake.
S-0-0077 /
S-0-0078
4.4.22 P-0-0527, Actual holding brake current

Hardware --
Function This parameter displays the currently effective actual holding brake current
which flows through the brake connected to the controller.
This parameter is for display only. It is impossible to parameterize

the holding brake current monitoring.
This parameter is only used with IndraDrive Cs (HCS01) and

HCP.

4.4.23 P-0-0528, Flux control loop proportional gain

Hardware --
Function For asynchronous motors, the gain of the flux loop is entered in this parame‐
ter.
See also Functional Description "Field-Oriented Closed-Loop Current Con‐
trol"
Use In the case of asynchronous motors, the rotor flux is the product of motor
magnetizing inductance and magnetizing current. The rotor flux, however, on‐
ly occurs with a delay via the rotor time constant. The task of the flux loop is
to generate the rotor flux command value as quickly as possible by the corre‐
sponding overshoot of the magnetizing current. The flux-loop was realized as
a P-loop with command value feedforward as is illustrated in the figure below.
The controller output is divided by the current magnetizing inductance, the re‐
sult is the id command value for the current loop. The double nominal mag‐
netizing current is considered to be the limit value for the id command value.
Fig. 4-35: Flux Loop

For dynamic applications, the flux loop gain can be determined from the mo‐
tor data according to the following estimate formula.
Fig. 4-36: Formula for Determination of Flux Loop Proportional Gain

For less dynamic applications or if the id command value P-0-0039 has the
tendency to oscillate, this value can be reduced. Basically it is also possible
to run without flux loop, in this case make the setting P-0-0528 = 0.
4.4.24 P-0-0529, Scaling of stall current limit

Hardware --
Function The stall current limit is the limit for the torque-generating current of asyn‐
chronous motors.
See also Functional Description "Field-Oriented Closed-Loop Current Con‐
trol"
Use With higher currents the torque at the shaft is reduced. In practical application
this limit is only important in the upper field weakening range when the mag‐
netizing current has very low values. The determining elements of the stall
current limit are the inductances of the equivalent circuit diagram (P-0-4039,
P-0-4040, P-0-4041) and the active rotor flux that is generated in the station‐
ary case from the magnetizing current id.
iq,lim: stall current limit for torque-generating current

σ: leakage factor of the asynchronous motor
Fig. 4-37: Stall current limit of an asynchronous machine
With the value set in P-0-0529 it is possible to change the stall current limit
relatively. With the setting P-0-0529 = 100% it is exactly the limit value de‐
fined above that takes effect, lower values are reducing the stall current limit
accordingly. For Bosch Rexroth motors the parameter value is stored in the
"DriveBase". For third-party motors it is recommended to make the input via
the motor type plate P-0-4032. The command "P-0-4033, C3200 Command
Calculate data for asynchronous motor" also calculates the value for
P-0-0529.
4.4.25 P-0-0530, Slip increase

Hardware --
Function This parameter is only used with asynchronous motors. In asynchronous mo‐
tors, the rotor resistance and therefore the rotor time constant change with
temperature.
See also Functional Description "Field-Oriented Current Control"
Use The rotor time constant is included in the calculation of the load-dependent
slip value that is required for torque output. The rotor time constant that var‐
ies depending on the temperature is compensated by a temperature-depend‐
ent slip increase.
The value of the slip increase (in relation to 100 K temperature difference) is
motor-specific and is individually defined for each asynchronous motor type.
Writing the correct value to this parameter:

● In case of Rexroth motors with encoder data memory: The
value is loaded automatically.
● In case of Rexroth motors without encoder data memory: By
loading the motor parameters using the "IndraWorks Ds/D/
MLD" commissioning software.
● In case of other motors: Manual entry.

Unit: 1/100K Extr. val. ch.: + Decim. pl.: 2
4.4.26 P-0-0532, Premagnetization factor

Hardware --
Function
Cycl. tra.: MDT Comb. check: -- Set-depend.: Grp. 4
4.4.27 P-0-0533, Voltage loop proportional gain

Hardware --
Function This parameter is used to enter the proportional gain of the voltage controller.
The voltage controller serves to control the motor voltage in the field weaken‐
ing range.

● In case of MAD and MAF with encoder data memory: Auto‐
matically on initial commissioning.
● In case of 2AD, ADF, linear and rotary kit motors: By loading
the motor parameters using the "IndraWorks Ds/D/MLD"
commissioning software.
● In case of other motors: Default value or manual input.
See also Functional Description "Third-Party Motors at IndraDrive Control‐

lers"
Unit: A/V Extr. val. ch.: + Decim. pl.: 3
MPx / PSB: min./max.: 0,000 / s. Text Default value: 0,500
4.4.28 P-0-0534, Voltage loop integral action time

Hardware --
Function This parameter is used to enter the integral action time of the voltage control‐
ler. The voltage controller serves to control the motor voltage in the field
weakening range.

● In case of other motors: default value or manual input.
See also Functional Description "Field-Oriented Current Control"

4.4.29 P-0-0535, Motor voltage at no load

Hardware --
Function As a matter of principle, this parameter only takes effect in field weakening
mode. It defines a voltage that is indicated in percent of the maximum con‐
verter output voltage.
See also Functional Description "Determining the Parameter Values of Third-
Party Motors"
Use Its function depends on the selected type of motor construction:
1) Asynchronous motor:
The parameter defines the voltage at no load of the motor in field weakening
mode. This voltage is used to precontrol the command value of the rotor flux.
2) Synchronous motor:
The parameter defines the command value of the e.m.f. voltage for accelera‐
tion or deceleration processes in the field weakening range. Under certain cir‐
cumstances, increased torque can be generated by reducing this value in
these cases.

● In case of other motors: Default value or manual input. The
value set may not exceed 80% because of the control re‐
serve required.

4.4.30 P-0-0536, Maximum motor voltage

Hardware --
Function This parameter defines the command voltage of the voltage controller. This
voltage is specified in percent of the maximum converter output voltage.

● In case of other motors: Default value or manual input. The
value set may not exceed 90% because of the control re‐
serve required.
See also Functional Description "Third-Party Motors at IndraDrive Control‐

lers"
4.4.31 P-0-0539, Holding brake status word

Hardware --
Function This parameter displays the current status of the holding brake.
See also Functional Description "Motor Holding Brake"
0 Output voltage for holding brake

0: 0V
1: 24V
1 Status of holding brake check
0: Not successful: Brake not released or insufficient holding
torque or brake test required because the time elapsed since
the previous test exceeds the value of "P-0-0550, Time inter‐
val holding system check".
1. Successful: Brake release and holding torque checked and
without error.
2 Test status "brake release"
0: Not checked or release check required/incorrect, because
the time elapsed since the previous test exceeds the value of
"P-0-0550, Time interval brake check".
1: Successful
3 Test status "holding torque"
0: Holding torque too low or holding torque not checked or
holding torque check required, because the time elapsed
since the previous test exceeds the value of "P-0-0550, Time
interval holding system check".
1: Holding torque is sufficient, further brake check not yet re‐
quired.
4 Test status "motor holding brake output overload" As of
The overload protection of the motor holding brake connec‐ MPx-16V20
tion is always active with connected motor holding brake. Af‐
ter control voltage has been switched on, the bit is initially set
to "1". The status is updated when the holding brake (24 V) is
activated.
0: The holding brake current is inaccurate. There is a short-
circuit or an overload.
1: The holding brake current is okay.
5 Test status "wire break" As of
While brake current monitoring is active, the bit is initially set MPx-16V20
to "1" after control voltage has been switched on. The status
is updated when the holding brake (24 V) is activated.
0: The holding brake current is inaccurate. There is a wire
break or the holding brake current is too low.
1: The holding brake current is okay, i.e. there is no wire
break.
The bit is "1" when brake current monitoring (P-0-0525, Hold‐
ing brake control word) is deactivated.
6 Reserved

7 Nominal holding brake torque As of
0: The nominal holding brake torque (P-0-0540, Torque of MPx18V04
holding brake) was not achieved during the brake test inten‐
ded to check the holding torque (C2100 Holding system check
command).
1: The nominal holding brake torque (P-0-0540, Torque of
holding brake) was achieved during the brake test intended to
check the holding torque (C2100 Holding system check com‐
mand).
8 Status time interval of the brake check As of
0: Remaining time of the brake check interval > 15 min MPx18V10
1: Remaining time of the brake check interval < 15 min

Only used in conjunction with monitoring of the brake check
interval "P-0-0525, Holding brake control word" Bit 6.
Tab. 4-107: Relevant Bits of "P-0-0539, Holding brake status word"

4.4.32 P-0-0540, Torque of holding brake

Hardware --
Function In this parameter, the nominal torque of the holding brake is to be entered.
This way, the brake is checked at activated motor holding brake monitoring if
no deviating specifications are made in parameters "P-0-0545, Test torque
for releasing holding system" and "P-0-0547, Nominal load of holding sys‐
tem".
For motors with holding brake and encoder data memory (Rexroth drives with
encoder memory), the correct value is automatically written to "P-0-0540".
For motors without encoder data memory, the value has to be entered man‐
ually.
Unit: Nm Extr. val. ch.: -- Decim. pl.: 3
4.4.33 P-0-0541, C2100 Holding system check command

Hardware --
Function With this command it is possible to check the holding brake.

Use For this purpose, drive enable is required. The holding brake is first released
and the motor is controlled with the torque parameterized in "P-0-0545, Test
torque for releasing holding system". If the motor does not move, the error
message "C2108 Error when releasing the holding system" is output. If the
motor moves (2 degrees), the brake is correctly released.
● The test moment of the holding system is according to the

value in parameter "P-0-0547, Nominal load of holding sys‐
tem " * 1.3. This is a safety factor, required by the govern‐
ment safety organization to ensure that the actual nominal
load torque is kept, at least.
● To reestablish the holding torque of the holding system, you
can use the command "P-0-0541, C2100 Holding system
check command ".
NOTICE Property damage caused by drive-controlled

axis movements during brake check!
Before starting the command, move the axis to a noncritical position!
The holding torque of the brake is now checked. For this purpose, the brake
is applied by the controller and the holding torque of the brake is generated
by the motor. If the rotor does not move, the brake has the given holding tor‐
que. If the rotor moves (>2 degrees), the message "C2103 Brake torque too
low" is output. The result of the brake check is displayed by 3 bits in
"P-0-0539, Holding brake status word".
4.4.34 P-0-0542, C2000 Command Release holding brake

Hardware --
Function By means of this parameter, it is possible to release the motor holding brake
when drive enable has been switched off. At the start of the command, the
holding brake is released; upon completion of the command, the brake is ap‐
plied again.
When drive enable is set with the command being active, the holding brake
remains released; when drive enable is switched off, the brake, however, is
automatically applied.
The command has to be enabled via bit 5 in "P-0-0525, Holding

brake control word".


4.4.35 P-0-0543, C3800 Command Apply holding brake

Hardware --
Function By means of this parameter, it is possible to apply the holding brake in com‐
munication phase 4.
Use At the start of the command, the holding brake is applied. Upon completion of
the command, the brake is released again, if drive enable has been set.
When drive enable is removed with the command being active, the holding
brake remains applied, even if the command is cleared. If drive enable is set
when the command has been set, the brake is nevertheless released.
4.4.36 P-0-0544, C3900 Command Holding brake resurfacing

Hardware --
Function With this command, a holding brake, which no longer attains its holding tor‐
que, can be resurfaced. For this purpose, drive enable is required. During the
execution of the command, the motor is moved against the applied brake.
Use After the start of "C3900", the drive is accelerated to 100 min-1 or 100 mm/
min. Active acceleration and deceleration ramps, as well as filters (P-0-1201,
P-0-1202, P-0-1203, P-0-1211, P-0-1213 und P-0-1222) are taken into ac‐
count! After the command velocity has been reached, the brake is applied for
400 ms. After that the drive is shut down by velocity control.
NOTICE Property damage caused by drive-controlled

axis movements during brake check!
Before starting the command, move the axis to a noncritical position!
When using a redundant holding brake, you have to make sure

that this brake has been released.

4.4.37 P-0-0545, Test torque for releasing holding system

Hardware --
Function The first step of the command "C2100 Command Holding system check"
checks the release of the holding system.
Use In this parameter you can set a test torque with which the drive is to move
with the holding system released. If no movement is detected when P-0-0545
takes effect, an error message is output and the status "error when releasing
the holding system" is set in "P-0-0539, Holding brake status word". If
"P-0-0545, Test torque for releasing holding system" has been set to "0", the
check is run with the value in "P-0-0540, Torque of holding brake".
S-0-0093 /
S-0-0094
4.4.38 P-0-0546, Starting torque for releasing holding system

Hardware --
Function The first step of the "C2100 Brake check command" checks the release of
the motor holding brake.
If the load due to weight is not sufficient for the motor to move, a torque is
preset. The torque which results in motion is displayed in this parameter (the
torque due to weight and the force due to weight are not contained in
P-0-0546). The parameter is updated during every brake check.
S-0-0093 /
S-0-0094

4.4.39 P-0-0547, Nominal load of holding system

Hardware --
Function For monitoring the holding brake (C2100 Brake check command or automati‐
cally, as defined in P-0-0525), the motor generates test torques in order to
check the releasing of the brake or its holding torque.
Use When the holding torque of the brake is checked, the motor may not move
under the effect of the test torque. Any possibly existing static axis load (e.g.,
weight) is recognized and taken into account.
If "P-0-0547" has been set to 0, the check is run with the value in "P-0-0540,
Torque of holding brake".
The weight load of vertical axes should not exceed 50% of the
nominal holding force of the holding system!
Observe the pertinent regulations of the particular institution for

statutory accident insurance and prevention with regard to testing
and dimensioning of axis holding systems!

S-0-0093 /
S-0-0094
4.4.40 P-0-0548, Holding system check position window

Hardware --
Function To monitor the holding brake (C2100 Brake check command or automatically,
as defined in "P-0-0525"), the motor generates test torques in order to check
the releasing of the brake or its holding torque.
Use Using the parameter, it is thus possible to influence the maximum possible
displacement of the axis, for axes having major backlash or major gear ratio.
The value of the parameter refers to the encoder active in position control
(S-0-0520).
If "P-0-0548.0.0" has been set to 0, the check is run with the de‐
fault value of 2 degrees.

S-0-0077 /
S-0-0078
4.4.41 P-0-0548.0.1, Holding system check velocity command value

Hardware --
the releasing of the holding system or the holding torque of the holding sys‐
tem.
Use Using the parameter, the speed masking window of the velocity controller is
influenced during the command "P-0-0541, C2100 Holding system check
command". Thereby, an axis having major backlash and/or major gear ratio
can move faster in this range. The value of the parameter refers to the en‐
coder active in position control (S-0-0520).
If "P-0-0548.0.1" has been set to 0, the check is run with the de‐
fault velocity of 10 rpm.
P-0-0548.0.1 - Attributes Function: Par Editable: PM Data length: 4Byte

S-0-0045 /
S-0-0046
4.4.42 P-0-0548.0.2, Maximum test duration holding system released

Hardware --
the releasing of the holding system.
Use With this parameter, set the maximum test duration of the holding system in
the released state. This time consists of "P-0-0548.0.1", and "P-0-0548.0.0"
during the command "P-0-0541, C2100 Holding system check command".
Usually, adjustments are only required for mechanical systems with major
gear ratio and major backlash within the holding system.
If "P-0-0548.0.2" has been set to 0, the check is run with a time of

200ms.


4.4.43 P-0-0548.x.3, Test duration holding system locked

Hardware --
as defined in P-0-0525), the motor generates test torques in order to check
the holding system.
Use This parameter influences the duration for applying the test torque. The
check of the holding system in the locked state is only considered to have
been passed, if the actual torque greater than or equal to 95% of the test tor‐
que had been applied for the time parameterized here.
P-0-0548.x.3 - Attributes Function: Par Editable: PM Data length: 4Byte
4.4.44 P-0-0548.x.130, Holding system check configuration data, compact

Hardware --
Alias: P-0-3588, P-0-3589
Function Summary of the holding system check configuration data structure elements
(P-0-0548.0.0 to P-0-0548.0.3).
P-0-0548.x.130 - Attributes Function: Par Editable: PM Data length: 4Byte var.
4.4.45 P-0-0549, Oper. hours control sec. at last succ. holding system check
Hardware --
Function This parameter displays the point of time of the operating hours counter of
the control section at which the last successful holding system check was
carried out.
The operating hours counter of the control section runs while con‐
trol voltage is applied to the controller!

Memory: RETAIN_GERAET Validity ch.: -- Format: DEC_OV

4.4.46 P-0-0550, Time interval holding system check

Hardware --
Function If the holding brake check time interval is activated in P-0-0525, or the safe
braking and holding system has been activated, the value of P-0-0550 is
used for monitoring the time interval to the last successful, drive-side brake
check:
● If the time interval to the last successful brake check approaches the
value of P-0-0550 up to 15 min., the warning "E3115 Prewarning, end of
brake check time interval" is output.
● If the interval exceeds the value of P-0-0550, the error message "F3115
Error, brake check time interval exceeded" is generated.
Unit: s Extr. val. ch.: + Decim. pl.: 1
4.4.47 P-0-0551, Current load torque

Hardware --
Function In this parameter, the maximum occurring load torque of the axis in standstill
is displayed.
S-0-0093 /
S-0-0094
4.4.48 P-0-0553, Test torque factor for brake check

Hardware --
Function The holding torque of the brake is checked during the holding brake test in
relation to the nominal load of the holding system and this test torque factor.
As compared with the nominal load, the check should be performed with a
torque that is 30% higher.
The specified test torque is calculated as follows:
P-0-0547, Nominal load of holding system * P-0-0553, Test torque factor for
brake check
4.4.49 P-0-0554, Current torque value of the motor holding brake

Hardware --
Function The torque maintained by the motor holding brake during the execution of the
command "C2100 Command Holding system check" is entered in this param‐
eter; as a maximum the test torque, independent of whether the check was
successful or not. After a failed brake check and the resulting resurfacing pro‐
cedure, the value should be taken as the basis for improving the holding tor‐
que of the brake.
S-0-0093 /
S-0-0094
4.4.50 P-0-0555, axis controller messages

Hardware --
Function Up to MPx-16: Axis status word

This parameter contains the following status information (messages) regard‐
ing axis control in the form of individual status bits:
● Velocity messages
● Limits that have been reached, i.e., information regarding an active limi‐
tation
See also Functional Description "Limitations"
See also Functional Description "Closed-Loop Axis Control (Closed-Loop Op‐
eration)"
0 1: If n_feedback = n_command (S-0-0330)

1 1: If n_feedback < nx (S-0-0332)

2 1: If n_feedback = 0 (S-0-0331)
3 1: If n_command > n_limit (S-0-0335)
4 1: If T >= Tx (S-0-0333)
5 1: If T >= Tlimit (S-0-0334)
6 1: If T = T_cmd (S-0-0824)
8 1: If velocity limitation active
9 1: If T (S-0-0084) > 90% of the currently possible maxi‐
mum load (P-0-0444)
10 1: If acceleration limitation is active
11 1: If positive torque limitation is active
12 1: If negative torque limitation is active
14 1: If position feedback value is in Inpos window
(S-0-0336)
15 1: If position feedback value is in Inpos coarse window
(S-0-0341)
Tab. 4-108: Message Bits of the Velocity Control Loop
Bits 11 and 12 are set when the output variable of the velocity
loop is limited by "S-0-0082, Torque/force limit value positive" or
"S-0-0083, Torque/force limit value negative" or "S-0-0092, Bipo‐
lar torque/force limit value".

4.4.51 P-0-0556, Config word of axis controller

Hardware --
Function The parameter is used for configuring functions specific to axis control and
setting the control performance.
See also functional description "Axis control (closed-loop operation)"
See also functional description "Performance data"
Structure The individual bits of the parameter have the following meaning:
0 Fine interpolator As of
0: On - fine interpolation of the velocity command value MPx-17VRS
can be activated if necessary.
1: Off - (default configuration)
Disabling monitoring is not recommended. This should on‐
ly be done in case of emergency (e.g., in case of highly
non-linear gears).
1 Velocity control loop monitoring (F8078)
0: On (default configuration)
1: Off
2 Control loop performance setting for IndraDrive Cs devi‐ Up to
ces (HCS01.1) MPx-17VRS
0: Basic: Moderate control loop cycle times - moderate
control performance
1: Advanced: Short control loop cycle times - high control
performance
Exception: IndraDrive Cs Economy, only offers Economy
control loop performance. Bit 2 does not need to be con‐
figured.
5/2 Control loop performance setting As of
00 Basic: Moderate control loop cycle times - moderate MPx-18VRS
control performance
01 Advanced: Short control loop cycle times - high control
performance
10 Economy: Longest control loop cycle times - low con‐
trol performance
11: Not possible
Exceptions:
● Basic and Advanced control loop performance are
only possible with MPB and MPC firmware compo‐
nents.
● Economy control loop performance is only possible
with the MPE firmware component.
● Basic control loop performance is only possible with
the MPM firmware component.
Which performance settings are available depends on the
firmware and the device.
See also functional description "Control section design
and performance"

3 Execution mode C0700 Load defaults procedure (motor-
specific controller values)
Prerequisite:
"F2008 RL The motor type has changed"
Reset "F2008" by
● Pressing <Esc> on the control panel or
● Executing "C0500 Reset class 1 diagnostics, error
reset"
0: C0700 Load defaults procedure command is executed
1: C0700 Load defaults procedure command is not execu‐
ted
4 Torque/force limitation warning (E8260)
If required, the display of the warning in the case of active
torque/force limitation can be deactivated.
0: E8260 is displayed (active)
1: E8260 is not displayed (masked)
5 Reserved Up to
MPx-17VRS
6 Motor data initialization
Motor data are read from the motor data memory:
0: Once during the booting process
1: Always when the drive is switched to operating mode
8 Open position control loop As of
0:Control loop closed MPx-20VRS
1:Control loop open

If the position control loop is open, a MLD controller may
take over control
9 Point at which "P-0-0059, Additive position command val‐
ue, controller" takes effect
0: Has no effect on feedforward
1: Has an effect on feedforward
10 Range of values for unipolar torque limitation (S-0-0082,
Torque/force limit value positive and S00083, Torque/force
limit value negative)
0: Standard range of values (default): "S-0-0082" can only
have positive values, "S-0-0083", can only have negative
values (negative sign required!).
1: Extended value range: The value of "S-0-0082" has to
be greater than "S-0-0083" (with prefix). Both values can
be entered with the same sign, i.e., with positive or with
negative sign!

11 Activation of torque correction for synchronous motors up to
0: No dynamic correction of the torque constant MPx-19VRS
1: Dynamic correction of the torque constant depending on As of

the saturation and the motor temperature MPx-20VRS,
refer to
P-0-3945
12 Activation of automatic determination of counterbalance of
load due to weight
0: No automatic determination. The value parameterized
in "S-0-0163, Weight counterbalance" is used when drive
enable is switched on.
1: Automatic determination of load due to weight. When
drive enable is switched off, the current holding torque is
copied to parameter "S-0-0163, Weight counterbalance".
This value is used when drive enable is switched on the
next time.
13 Asynchronous motors: Reduction of velocity control loop up to
gain in field weakening operation MPx-19VRS
0: Reduction not active As of
1: Reduction is proportional to field weakening (default val‐ MPx-20VRS,
ue) refer to
P-0-3945
Synchronous motors: Velocity control loop gain is correc‐
ted when torque constant is corrected (see bit 11)
0: Adjustment of control loop gain to corrected torque con‐
stant
1: Correction switched off (default value)
14 Range of action of torque/force limitations
0: Unipolar limitation of the working load (velocity control‐
ler output), bipolar limitation of the total load from machin‐
ing and acceleration feedforward control
1: Unipolar and bipolar limitation of the total load from ma‐
chining and acceleration feedforward control
● Unipolar: "S-0-0082, Torque/force limit value posi‐
tive" and "S00083, Torque/force limit value negative"
● Bipolar: "S-0-0092, Bipolar torque/force limit value"
and "P-0-0109, Torque/force peak limit"

Use Observe the following while configuring the parameters:
● Bit 9: Point at which additive position command value of controller takes
effect: In the majority of cases, feedforward values have a positive effect
on the control dynamics and reaction time of a drive. They are gener‐
ated from command value characteristics:
– Velocity feedforward from the position command value characteris‐
tic
– Acceleration feedforward from the velocity command value charac‐
teristic
With this bit, it can be set whether "P-0-0059, Additive position com‐
mand value, controller" is included in the generation of the feedforward
values or whether it is afterwards added to the position command value

generated by command value adjustment. "P-0-0059" can only be ap‐
plied in the following position-controlled operation modes:
– Cyclic position control
– Drive-controlled positioning
– Drive-internal interpolation
– Positioning block mode
● Bit 10: (Range of values for unipolar torque limitation):
The "extended range of values" allows using the same signs for
"S-0-0082" and "S-0-0083". In this way, symmetric torque limitation can
be implemented with respect to the basic load, for example, for axes
with basic load (vertical axes without counterbalancing).
NOTICE Property damage caused by positive feed‐

back and impeded axis deceleration in the
case of improper setting of "S-0-0082" and
"S-0-0083"!
The "extended value range" should only be used in appropriate applications.
There is increased risk of positive feedback in the speed control loop, if, e.g.,
the negative prefix of "S-0-0083" is omitted by mistake.
● Bit 13: Asynchronous motors: Reduction of velocity control loop gain in

field weakening operation
It makes sense to activate this feature when the asynchronous motor
runs steadily in the speed range of constant torque, but the torque com‐
mand value in field weakening operation tends to oscillation. The reduc‐
tion is active by default (value 1).
● Bit 13: Synchronous motors: Correction of velocity control loop gain
Activation only makes sense when the correction of the torque/force
constant has been activated (bit 11). The torque constant is reduced in
the overload range of the motor. Changes in the torque constant change
the effective control loop gain, this can be compensated.
MPB: min./max.: --- / --- Default value: 0x2001

MPC: min./max.: --- / --- Default value: 0x2001
MPE: min./max.: --- / --- Default value: 0x2021
MPM: min./max.: --- / --- Default value: 0x2001
4.4.52 P-0-0558, Drive Halt configuration

Hardware --
Function This parameter is used as control word for the drive halt function.
See also functional description "Drive halt"
Structure The parameter has the following structure:
0 Drive halt function 0: Compatibility

0: Quick stop switches to internal operation mode. mode
1: Operational stop decelerates in the active operation

mode with Vcmd = 0.
1 Control mode quick stop 0: Compatibility
0: Defined by operation modes (S-0-0032 ...): If an op‐ mode
eration mode is set with position control, drive halt is
executed in position control, otherwise in velocity con‐
trol
1: Freely selectable
2 Control type quick stop
0: Velocity-controlled
1: Position-controlled
4 P-0-0690, Additive velocity command value, process as of MPx-20VRS
controller "in drive halt"
0: Inactive
1: Active
Tab. 4-110: Drive halt configuration

4.4.53 P-0-0560, Configuration of actuator

Hardware --
Function As of MPx-20V06: This parameter is used to configure the actuator.
A distinction is made between simple actuators (0, 1) and com‐

plex actuators (4, 5).
Structure Actuators are selected via the parameter value:
Value Function Comment
0 E motor (rotary)
1 E motor (linear)
4 E motor pump hydraulic cylinder (Sytronix) (as actuator, a
motor controlled by a controller is applied, potentially non-
linear behavior of the actuator path)
5 E motor pump hydraulic motor (Sytronix) (as actuator, a
motor controlled by a controller is applied, potentially non-
linear behavior of the actuator path)
Use
With the Sytronix functional package, the actuator types (4, 5) are
released.
For simple actuators (0, 1) without Sytronix functional package, the actuator
type is permanently coupled to the motor type (P-0-4014; bit 9).
For simple actuators (0, 1) with Sytronix functional package, the actuator type
is checked according to the motor type.
For complex actuators (4, 5), the motor encoder is uncoupled from the me‐
chanical axis system.
● The motor encoder is independent with its own actual velocity motor
(P-0-0112)
● For motor data, an independent scaling applies (Sercos default)
● The velocity controller refers to the motor encoder and provides
"P-0-0561, Effective velocity controller command value"
● Coupling to the position controller is realized via "P-0-0562, Active in‐
feed/gear factor"
● Position control can still be realized using encoder 1 or encoder 2
● Acceleration feedforward (S-0-0348) is inactive
4.4.54 P-0-0561, Effective velocity controller command value

Hardware --
Funct. package(s): CL+SYX
Function With this parameter, the effective velocity command value of the velocity con‐
troller can be displayed. The command value is motor-related with fixed scal‐
ing (Sercos default).
The velocity controller is motor-related for "complex actuators".

"P-0-0112, Actual velocity value of motor" is deducted from the ef‐
fective velocity controller command value. The result of this calcu‐
lation "S-0-0347, Velocity error" is forwarded to the velocity con‐
troller.

See also parameter description "P-0-0560, Configuration of actuator"
4.4.55 P-0-0562, Active infeed/gear factor

Hardware --
Function The active infeed/gear factor is applied for controller output adjustment. For
complex actuators (P-0-0560), "uncoupled motor encoder", it defines the con‐
nection between drive control and motor control.
With the reciprocal value of the factor, the velocity command val‐
ue (P-0-0048) is converted into the velocity controller command
value (P-0-0561).
The parameter is only available in the Sytronix functional package

for the MPB and MPC derivatives.

Memory: PARAM_SP Validity ch.: PM->OM Format: FLOAT
4.4.56 P-0-0563, Velocity command value input for adjustment

Hardware --
Function The parameter displays the velocity command value that is transferred to the
velocity controller for command value adjustment.
S-0-0045 /
S-0-0046
4.4.57 P-0-0564, Motor acceleration limit value

Hardware --
Function With a "complex actuator", the parameter limits the acceleration in a motor-
related way.
The velocity command value for the complex actuator (E-motor-Pump) is limi‐
ted to a motor-related value (Sytronix).
See also Functional Description "Velocity controller"
See also parameter description "P-0-0560, Configuration of actuator"
Unit: P-0-4014 Extr. val. ch.: + Decim. pl.: P-0-4014
MPx / PSB: min./max.: 1 / 2147483647 Default value: 2147483,647

4.4.58 P-0-0565, C3600 Command Motor data identification

Hardware --
Function Command C3600 provides several options of data identification and/or plau‐
sibility test of the connected motor.
The following options can be selected via "P-0-0601, Configuration motor da‐
ta identification":
● Motor data identification with the motor at standstill or put into motion
(as of MPx-16VRS)
● Determination of the characteristic magnetization curve of asynchronous
motors (as of MPx-16VRS)
● Plausibility test of motor and encoder data (as of MPx-17VRS)
● Rotational direction test of motor and encoder (as of MPx-17VRS)
The most accurate motor data identification result can be ach‐

ieved when "P-0-0001, Switching frequency of the power output
stage" is set to the lowest possible value when "C3600" is started!
See also functional description "Automatic setting of motor control"

4.4.59 P-0-0566, C4600 Command Calculate motor control parameters

Hardware --
Function When this command is executed, the required motor control parameters are
calculated from the motor parameters.
See also Functional Description "Automatic Setting of Motor Control"

4.4.60 P-0-0568, Voltage boost

Hardware --
Function This parameter can be used to raise the voltage at the base point of the U/f
characteristic (in case of standstill or very low velocities of an asynchronous
motor). The voltage required at the base point is determined on the basis of
the motor data and provided by the controller.
Use Due to long motor lines, for example, starting problems can sometimes occur
for motors. In this case, this parameter can be used to improve the starting
behavior by a value greater than 0 V.
If the current at standstill is too high, it can be reduced by setting negative
values in "P-0-0568".
4.4.61 P-0-0569, Maximum stator frequency slope

Hardware --
Function This parameter contains the maximum frequency command value slope of
the motor voltage
Use U/f operation
When encoderless asynchronous motors are operated in voltage-controlled
mode (U/f), "P-0-0569" is used to specify the maximum frequency command
value slope. The value is automatically determined via the command for cal‐
culating the motor parameters of third-party motors (C3200 and C3600). If
the stall protection controller responds during power-up, the value of
P-0-0569 is possibly too high and should be reduced.
FXC operation
This parameter is irrelevant (inactive) in encoderless flux-controlled motor op‐
eration mode (FXC). Here, the maximum stator frequency slope can be ad‐
justed via the inertia parameters.
Motor data identification, with motion (C3600)
When motor data identification with motion is selected (configuration via
P-0-0601), the motor shaft is accelerated to half the nominal speed within
one second. If the motor torque or load inertia is high, this may exceed the
acceleration capacity of the motor or drive. In such a case, the acceleration
command value can be reduced to a compatible value via P-0-0569.
fStator Stator frequency

Tdyn Acceleration torque of the motor
NPP Number of pole pairs of the motor
JAxis_MS_FXC Effective inertia of the axis
P-0-0018 Number of pole pairs/pole pair distance
S-0-0111 Motor current at standstill
P-0-0510 Rotor inertia
P-0-4010 Load inertia
P-0-0051 Torque/force constant
Fig. 4-38: Calculating a Compatible Value for P-0-0569, Maximum stator fre‐
quency slope
Unit: Hz/s Extr. val. ch.: + Decim. pl.: 2
4.4.62 P-0-0570, Stall protection loop proportional gain

Hardware --
Function This parameter presets the P-gain of the stall protection loop.
The enable signal of the stall protection loop is controlled via bit 12 in
"P-0-0045, Control word of current controller".
4.4.63 P-0-0571, Stall protection loop integral action time

Hardware --
Function By means of this parameter it is possible to set the integral action time of the
stall protection loop.
The enable signal of the stall protection loop is controlled via a bit in
"P-0-0045, Control word of current controller".

4.4.64 P-0-0572, Slip compensation factor

Hardware --
Function By means of this parameter it is possible to trim the slip compensation feed‐
forward. With the setting 0.00% the feedforward is switched off completely.
4.4.65 P-0-0573, IxR boost factor

Hardware --
Function By means of this parameter it is possible to trim the feedforward of the IxR
boost. With the setting 0.00% the feedforward is switched off completely.
4.4.66 P-0-0574, Oscillation damping factor

Hardware --
Function By means of this parameter it is possible to trim the oscillation damping feed‐
forward. With the setting 0.00% the feedforward is switched off completely.
4.4.67 P-0-0575, Search mode: Search current factor

Hardware --
Function Via P-0-0045, Control word of current controller the search mode function
can be selected. During the search process a search current is generated in
the still turning machine that is to be searched.
Search current = magnetizing current * P-0-0575 / 100%
4.4.68 P-0-0576, Search mode: Finding point slip factor

Hardware --
Function The search mode function is selected via "P-0-0045, Control word of current
controller". As soon as the machine has been found the rated slip is added to
the speed at the "finding point". 100% are corresponding to the rated slip of
the machine.
With clockwise rotating field: V = Vfinding point + (Vslip * P-0-0576 / 100%)
With anti-clockwise rotat. field: V = Vfinding point - (Vslip * P-0-0576 / 100%)
4.4.69 P-0-0577, Square characteristic: Lowering factor

Hardware --
Function The square characteristic is selected via "P-0-0045, Control word of current
controller". The degree of lowering in the basic range of setting is trimmed
with this parameter.
The value of 100% corresponds to the original square curve. When the per‐
centage value becomes lower, this lowering factor is reduced until the setting
0% has been reached which corresponds to the linear characteristic.

4.4.70 P-0-0578, Current for deceleration, absolute value

Hardware --
Function The current for deceleration, with which the asynchronous motor is deceler‐
ated up to standstill in U/f operation or FXC operation, is entered in this pa‐
rameter. When determining the motor parameters via "P-0-0565, C3600
Command Motor data identification", the value is automatically set to the rat‐
ed current of the motor.
See also Functional Description "Voltage-Controlled Operation (Open-Loop
U/f Control)"
See also Functional Description "Sensorless Motor Operation, Flux-Control‐
led"
Use The current for deceleration (P-0-0578) only takes effect in U/f operation or
FXC operation of asynchronous to stop the motor.
U/f operation
In U/f operation, the current for deceleration can be deactivated by inputting
zero in "P-0-0579, Current for deceleration, time period". This means that the
motor is only stopped by U/f operation. The stopping, however, normally is
improved by the activation of P-0-0578 by P-0-0579 unequal zero! P-0-0578
can be changed by value input, the minimum value is "P-0-4004, Magnetizing
current".
FXC operation
In FXC operation it is impossible to deactivate the current for deceleration!
When the value "0" is entered in "P-0-0579, Current for deceleration, time pe‐
riod", only the generated current is reduced, immediately after the detection
of stopping (by means of calculation), from the value of P-0-0578 to
"P-0-4004, Magnetizing current" * "P-0-0532, Premagnetization factor". By
P-0-0579 unequal zero, the current for deceleration can be maintained be‐
yond the (calculated) motor standstill.
See also Parameter Description "P-0-0579, Current for deceleration, time pe‐
riod"
MPx / PSB: min./max.: s. Text / s. Text Default value: 0,000
4.4.71 P-0-0579, Current for deceleration, time period

Hardware --
Function In this parameter, the time is entered for which the current for deceleration
(P-0-0579) is implanted in the asynchronous motor in U/f or FXC operation.
See also Functional Description "Voltage-Controlled Open-Loop Operation
(V/Hz [U/f] Control)"

led"
Use V/Hz [U/f] operation
In V/Hz [U/f] operation, the current for deceleration is started if the value of
the (calculated) actual velocity value falls below the value of "S-0-0124,
Standstill range" with velocity command value zero. If the velocity command
value rises above the standstill range again before "P-0-0579" has elapsed,
the motor accelerates to the specified command value in U/f control. If the
command value remains on zero, a "P-0-0568 voltage increase" for the cur‐
rent flowing into the motor is triggered after "P-0-0579" has elapsed.
FXC operation
In FXC operation, the current for deceleration is started if the value of the
(calculated) actual velocity value falls below "S-0-0124" with velocity com‐
mand value zero. With the value of "P-0-0579", the current for deceleration
can still be maintained above standstill, however (calculated velocity com‐
mand value "0").
After the duration of: "P-0-0579", the following currents are fed in depending
on the motor type:
● Asynchronous motor: P-0-4004, magnetizing current * P-0-0532, pre‐
magnetization factor
● Synchronous motor: P-0-0602, FXC: minimum no-load current *
P-0-0532, premagnetization factor
The adjustable duration of the current for deceleration enables the standstill
process in V/Hz [U/f] operation or FXC operation to be improved, as the
standstill detection only offers a low level of accuracy in motors without en‐
coders. The value of "P-0-0579" must be adapted to the standstill behavior of
the axis.
The default value of "P-0-0579" is 0.5 s. DC deceleration is deac‐

tivated if zero is entered.

4.4.72 P-0-0580, Motor frequency

Hardware --
Function This is a display parameter for motor control in all operation modes.
It has one decimal place and displays the motor frequency with sign.

4.4.73 P-0-0590, Motor model frequency loop proportional gain

Hardware --
Function This parameter only takes effect in conjunction with "field-oriented current
control" without encoder. Together with "P-0-0591, Motor model frequency
controller integral action time", it is used to parameterize the "frequency con‐
troller".
Based on the differences between motor model and measured currents, the
frequency controller determines the current rotational frequency of the motor
shaft. The output of the frequency controller supplies parameter "S-0-0040,
Velocity feedback value" and is accordingly transmitted to the velocity con‐
troller.
Field-oriented current control without encoder is activated via

"P-0-0045, Control word of current controller". If the functional
package "closed loop" is active, "operation without encoder" has
to be set in "P-0-077"!
See also functional description "Field-oriented current control"

Use Observe the following aspects when setting "P-0-0590":
● The value of "P-0-0590" depends on the motor type to be energized.
● During initial commissioning, this value is automatically calculated by
executing "P-0-0565, C3600 Command motor data identification" (with
"current control without encoder" having been set).
● The calculated value should only be changed by especially trained serv‐
ice staff!
See also parameter descriptions "P-0-0591" and "P-0-0592"
4.4.74 P-0-0591, Motor model frequency loop integral action time

Hardware --
Function This parameter only takes effect in conjunction with field-oriented current
control without encoder. Together with "P-0-0590, Frequency controller pro‐
portional gain", it is used to parameterize the frequency controller.
Based on the differences between motor model and measured currents, the
frequency controller determines the current rotational frequency of the motor
shaft. The output of the frequency controller supplies parameter "S-0-0040,
Velocity feedback value" and is accordingly transmitted to the velocity con‐
troller.

package "closed loop" is active, "operation without encoder" has
to be set in "P-0-077"!

ice staff!
4.4.75 P-0-0592, Motor model adjustment factor

Hardware --
Function This parameter only takes effect in conjunction with field-oriented current
control without encoder.
The drive-internal motor model calculation specified in the current controller
cycle is corrected according to the adjustment factor entered in "P-0-0592" in
such a way that the motor currents and the rotor flux determined according to
the motor model comply with the real values.

package "closed loop" is active, operation without encoder has to
be set in "P-0-077"!

ice staff!
4.4.76 P-0-0593, FXC: Total flux loop proportional gain

Hardware --
Function Parameter for the proportional gain of the flux control loop in "sensorless mo‐
tor operation, flux-controlled". It is not necessary to adjust this value to the
specific motor.
led"
Unit: 1/HENRY Extr. val. ch.: + Decim. pl.: 2
MPB: min./max.: 0,01 / 50,00 Default value: 0,10

MPC: min./max.: 0,01 / 50,00 Default value: 1,00
MPE: min./max.: 0,01 / 50,00 Default value: 1,00
MPM: min./max.: 0,01 / 50,00 Default value: 1,00
PSB: min./max.: 0,01 / 50,00 Default value: 1,00
4.4.77 P-0-0594, FXC: Total flux loop integral action time

Hardware --
Function Parameter for the integral action time of the flux loop of sensorless, flux-con‐
trolled motor operation. The value should be checked and adjusted in motor-
specific form. What is helpful is a run-up test with ramp-shaped velocity com‐
mand value in approx. 2 s to 75% of the rated speed. The total current
P-0-0440 should rapidly fall to a stationary value after the command value
change has been started. To make the value of P-0-0440 fall more rapidly,
reduce the value of P-0-0594.
led".
4.4.78 P-0-0596, FXC: Frequency loop scaling factor of inertia

Hardware --
Function Up to and including MPx07

Parameter for the percentage activation of the total inertia of the axis for the
integration behavior of the frequency controller in encoderless flux-controlled
motor operation mode:
α: Frequency command value slope of the frequency controller

M_th: Theoretical maximum motor torque, calculated internally
ΣJ: Axis inertia
P510: Inertia (P-0-0510)
P596: Frequency controller scaling factor of inertia (FXC) in %
Fig. 4-39: Operating Principle of the Inertia Scaling Factor
As of MPx08
The parameter no longer affects the frequency command value slope of the
frequency controller (frequency ramp) but only the integral action time of the
frequency controller in encoderless flux-controlled motor operation mode:
TI_fctrl_FXC Integral action time of the FXC frequency controller

JAxis_MS_FXC Effective inertia of the axis (motor-related)
P-0-0596 Frequency loop scaling factor of inertia (FXC)
NPP Number of pole pairs of the motor
P-0-0018 Number of pole pairs/pole pair distance
P-0-0510 Rotor inertia
P-0-4010 Load inertia (motor-related)
ct, P-0-0051 Torque/force constant
Fig. 4-40: Integral action time of the FXC frequency controller
Use Up to and including MPx07
The value of P-0-0596 allows manipulating the pitch of the frequency ramp of
the frequency controller (maximum frequency command value slope). The
optimum value is reached at maximum acceleration of the motor. If the value
is changed further, this will only cause the motor temperature to rise due to
increased motor currents.
The frequency command value slope (ramp) becomes flattened if

the value of P-0-0596 is increased.

led"
As of MPx08
The value of P-0-0596 can be used to manipulate the reaction time of the fre‐
quency controller. The reaction time becomes the longer, the higher the se‐
lected integral action time is.

4.4.79 P-0-0597, FXC: Current loop proportional gain

Hardware --
Function Parameter for the proportional gain of the current loop of sensorless, flux-
controlled motor operation.
It is not necessary to adjust the value in motor-specific form. However, if
overcurrent ("F8060 Overcurrent in power section") occurs during accelera‐
tion out of standstill, the value of P-0-0597 should be reduced (e.g. half the
value).
led"
4.4.80 P-0-0598, FXC: Current loop integral action time

Hardware --
Function Parameter for the integral action time of the current loop of sensorless, flux-
controlled motor operation.
It is not necessary to adjust the value in motor-specific form. However, if os‐
cillation of the motor current (P-0-0440) occurs under load, you should first of
all try to attenuate the oscillation by increasing the value of P-0-0598.
led"

PSB: min./max.: 0,01 / 500,00 Default value: 20,00
4.4.81 P-0-0599, FXC: Slip frequency filter time constant

Hardware --
Function Parameter for slip compensation under load of a sensorless, flux-controlled

asynchronous motor. The time constant of the slip frequency filter influences
the reaction time of slip compensation in the case of load impulse.
Use It is not necessary to adjust the value in motor-specific form. It should be in‐
creased, however, when the motor under load gets "out of balance" and pos‐
sibly stops, because the current limit of the device has been reached. Higher
values slow down the reaction time of the speed slip compensation and this
results in less current rise in the case of load impulse (Attention: The continu‐
ous current of the device must be sufficient for the stationary load case!)
led"
4.4.82 P-0-0600, Rated slip frequency

Hardware --
Function Parameter for slip compensation if a sensorless flux-controlled asynchronous

motor is subject to load. Enter the slip frequency at rated power in this pa‐
rameter to ensure that the slip of the motor can be compensated if the motor
is under load.
P18: number of pole pairs (P-0-0018)

fnominal: rated frequency acc. to motor type plate
nnominal: rated speed acc. to motor type plate
Fig. 4-41: Calculating P-0-0600, FXC: Rated slip frequency
The slip compensation acts in proportion with the value entered in

"P-0-0600", for which reason it is ineffective if the minimum value
is entered.

led"

4.4.83 P-0-0601, Configuration motor data identification

Hardware --
Function The parameters configures the method for determining the motor parameters
and motor control parameters of third-party motors when "P-0-0565, C3600
Command Motor data identification" is executed.
See also Functional Description "Sensorless motor operation, flux-controlled"
See also Functional Description "Determining the parameter values of third-
party motors"
Structure
1/0 00: Motor data identification (C3600) when motor is in FW 16VRS
standstill (default)
01: Motor data identification (C3600) when motor shaft is
rotating (rotary motor only)
10: Determining the magnetization characteristic of asyn‐
chronous motors when motor shaft is rotating (rotary mo‐
tor only)
2/1/0 000: Motor data identification (C3600) when motor is in From FW
standstill (default) 17VRS to FW
001: Motor data identification (C3600) when motor shaft 19VRS
is rotating (rotary motor only)
010: Determining the magnetization characteristic of
asynchronous motors when motor shaft is rotating (rotary
motor only)
011: Validation check of number of pole pairs or pole pair
distance and encoder resolution or encoder division peri‐
od, in the case of motion over two revolutions of the mo‐
tor shaft or two pole pairs (including rotational direction
check of motor and encoder).
100: Rotational direction check of motor and encoder
(motion over approx. half a pole pair)
101; 110; 111: Combinations not allowed
3/2/1/0 0011: Validation check of number of pole pairs or pole FW 20VRS and
pair distance and encoder resolution or encoder division above
period, in the case of motion over two revolutions of the
motor shaft or two pole pairs (including rotational direc‐
tion check of motor and encoder).
1100: Direction of motion of motor displayed (moves as
long as control button is pressed)
0101;0110; 0111: Combinations not allowed
4 Direction of motion for motor data identification (C3600) FW 20VRS and
with rotating motor shaft (rotary motor only) above
0: Not inverted
1: Inverted
Tab. 4-111: Configuring command C3600

Use FW 16VRS and above
Bit 1 Bit 0 Asynchronous motor
Motor identification without motion:
0 0 Allows "P-0-4041, Motor magnetizing inductance" to be

determined with low accuracy using the preset value of
"P-0-4004".
Motor identification with turning motor:
"P-0-4041, Motor magnetizing inductance" can be deter‐
0 1 mined with high accuracy. The motor shaft needs to be
able to turn freely (load-free). The motor accelerates to
half the nominal speed.
Magnetization characteristic is determined with turning
1 0
motor. The motor accelerates to half the nominal speed.
Tab. 4-112: Aspects for configuring the command C3600 (for asynchronous mo‐
tors only)
For synchronous motors, the command C3600 can only be used

with FW 17VRS and above!
Use FW 17VRS, FW 18VRS, FW 19VRS
Bit 2 Bit 1 Bit 0 Asynchronous motor Synchronous motor

"P-0-4016, Direct-axis induc‐
tance of motor" and "P-0-4017,
0 0 0 Quadrature-axis inductance of
0
motor" can only be determined
with low accuracy (appropriate
for sensorless motors)
Bit 2 Bit 1 Bit 0 Asynchronous motor Synchronous motor

Note: This setting is not allowed for linear motors!
Quadrature-axis inductance of
0 0 1 motor" can be determined with
a good accuracy (only appropri‐
0
ate for motors with encoder).
The motor shaft needs to be
able to turn freely (load-free).
The motor accelerates to half
the nominal speed.
Determining the magnetization
characteristic is only required for
0 1 0 asynchronous motors. The mo‐ (Not for synchronous motors!)
tor accelerates to half the nomi‐
nal speed.
The validation check is possible for synchronous and asynchro‐
nous motors. A motor encoder has to be available in each case.
0 1 1 The motor moves by at most 2 pole pair distances (linear motor)
or at most 2 revolutions (rotary motor) at low velocity (10 rpm or 1
m/min).
The rotational direction check of motor and encoder is possible for
synchronous and asynchronous motors. A motor encoder has to
1 0 0
be available in each case. The motor moves by at most 0.5 pole
pair distances (linear motor) or 0.5 pole pairs (rotary motor).
Tab. 4-113: Aspects for configuring the command C3600, regarding asynchro‐
nous and synchronous motors
Accelerating in the case of motor data identification with motion
In the case of motor data identification with motion, the motor shaft is acceler‐
ated to half the nominal speed in one second. This can exceed the accelera‐
tion capacity of the motor or drive if the motor or load inertia is high. In such
cases, the current of the motor can no longer be maintained at an efficient
and stable level and the procedure is repeated with half the previous acceler‐
ation. The repetitions can become noticeable by jerky movements and the
corresponding rotor noise.
WARNING Error when controlling motors and moving

parts!
On the controller side, the motor shaft is accelerated with a positive rotational
direction. It is impossible to invert the rotational direction (only with MPx20
and above)! Keep motion range or travel distance (for linear axes) free.
Mount cover and touch guard!
Use FW 20VRS and above

Bit 3 Bit 2 Bit 1 Bit 0 Asynchronous motor Synchronous motor

0 0 0 0 Quadrature-axis inductance of
0
motor" can only be determined
with low accuracy (appropriate
for sensorless motors)
Note: This setting is not allowed for linear motors!
Quadrature-axis inductance of
0 0 0 1 motor" can be determined with
a good accuracy (only appropri‐
0
ate for motors with encoder).
The motor shaft needs to be
able to turn freely (load-free).
The motor accelerates to half
the nominal speed.
Determining the magneti‐
zation characteristic is only
required for asynchronous
0 0 1 0 (Not for synchronous motors!)
motors. The motor accel‐
erates to half the nominal
speed.
The validation check is possible for synchronous and asyn‐
chronous motors. A motor encoder has to be available in
0 0 1 1 each case. The motor moves by at most 2 pole pair distan‐
ces (linear motor) or at most 2 revolutions (rotary motor) at
low velocity (10 rpm or 1 m/min).
The rotational direction check of motor and encoder is possi‐
ble for synchronous and asynchronous motors. A motor en‐
0 1 0 0 coder has to be available in each case. The motor moves by
at most 0.5 pole pair distances (linear motor) or 0.5 pole
pairs (rotary motor).
The motor’s direction of motion can be displayed for syn‐
chronous and asynchronous motors. This is independent of
1 1 0 0 whether or not a motor encoder is available. The motor
moves as long as the control button intended for this pur‐
pose is kept pressed.
Tab. 4-114: Aspects for configuring the command C3600, regarding asynchro‐
nous and synchronous motors
Bit 4: Accelerating in the case of motor data identification with motion
The rotor’s direction of motion is inverted if bit 4 has been set. In the case of
motor data identification with motion, the motor shaft is accelerated to half the
nominal speed in one second. This can exceed the acceleration capacity of
the motor or drive if the motor or load inertia is high. In such cases, the cur‐
rent of the motor can no longer be maintained at an efficient and stable level,
and the procedure is repeated with half the previous acceleration. The repeti‐
tions can become noticeable by jerky movements and the corresponding ro‐
tor noise.
WARNING Error when controlling motors and moving

parts!
On the controller side, the motor shaft is accelerated with a positive rotational
direction. With FW 20VRS and above it is possible to invert the rotational di‐
rection using bit 4! Keep motion range or travel distance (for linear axes) free.
Mount cover and touch guard!

MPx / PSB: min./max.: 0x0 / 0x1F Default value: 0x0
4.4.84 P-0-0602, FXC: Minimum no-load current

Hardware --
Function This parameter sets the minimum value of the no-load current for FXC opera‐
tion of sensorless synchronous motors (flux-generating current, "wattless cur‐
rent"). The sign causes different behavior of the intensity of the no-load cur‐
rent:
● With positive sign, "P-0-0602" takes full effect.
● With negative sign, the current at motor revolution is reduced to 0.1 *
"S-0-0111, Motor current at standstill" (plus current due to friction tor‐
que). At motor standstill, "P-0-0602" takes full effect.
● As a matter of principle, the current at motor standstill can

be influenced (reduced) proportionally to "P-0-0532, Pre‐
magnetization factor".
● The threshold for motor standstill detection is "S-0-0124,
Standstill window".
● "P-0-0602" has no effect for asynchronous motors.
Use
The no-load current of the synchronous motor determines its load behavior
and the motor temperature rise at no load:
● At motor revolution, the load impulse resistance rises as the no-load
current is increased. The input is limited to 75% of "S-0-0111, Motor cur‐
rent at standstill".
● The motor standstill is improved as the no-load current is increased. The
deceleration itself, however, is realized via "P-0-0578, Current for decel‐
eration, absolute value" and "P-0-0579, Current for deceleration, time
period".
● The no-load current improves the load impulse resistance and the motor
standstill, but causes the motor temperature to rise, even if the motor
has not been loaded. If the operating behavior allows this, the motor
temperature rise can be minimized:
– By reducing the no-load current via P-0-0532 (e.g., 50%) at motor
standstill
– By minimizing the no-load current by means of a negative sign of

P-0-0602 (see above) with the motor rotating
The default value of P-0-0602 = 0.1 * "S-0-0111, Motor current at standstill";
the correct value on the application side must be defined at initial commis‐
sioning, if required!
led (FXC Control) "
MPx / PSB: min./max.: s. Text / s. Text Default value: 0,000
4.4.85 P-0-0603, FXC: Torque-generating current command value, model

Hardware --
Function "P-0-0603" is the FXC display parameter for the torque proportion or force-
generating proportion of the current command value of the motor model.
The velocity controller generates the torque or force command value that is
then converted via "P-0-0051" to the torque-generating current command val‐
ue. The value is updated during the velocity controller cycle time (250 µs/
125 µs controller performance).
See also functional description "Torque/force control"
4.4.86 P-0-0604, FXC: Flux-generating current command value, model

Hardware --
Function FXC display parameter for the proportion of the current command value gen‐
erating the magnetic flux in the motor.
The flux-generating current is the output of the flux controller adjusted in the
position controller cycle time. For asynchronous motors, the flux-generating
current nominally corresponds to "P-0-4004, Magnetizing current".
Deviating from this value, the flux-generating current command value is re‐
duced if:
● "P-0-0532" has been selected lower than 100% and the motor is operat‐
ed in standstill
● the motor is operated in the field weakening range.
For synchronous motors, a positive flux-generating current is required for the
FXC method. Its minimum value is specified in "P-0-0602, Minimum no-load
current". During field weakening operation, the controller applies a negative
flux-generating current to weaken the permanent field!

4.4.87 P-0-0605, FXC: Torque-generating actual current value, model

Hardware --
Function FXC display parameter for the torque-generating proportion of the measured
actual current value. The value is updated during the current controller cycle
time.

The resulting torque-generating content of the total current is cal‐
culated within the controller and displayed through this parameter.

4.4.88 P-0-0606, FXC: Flux-generating actual current value, model

Hardware --
Function FXC display parameter for the proportion of the measured current command
value generating the magnetic flux in the motor. The value is updated during
the current controller cycle time.

The resulting flux-generating content of the total current is calcu‐
lated within the controller and displayed through this parameter.

4.4.89 P-0-0607, FXC, current command value

Hardware --
Function FXC display parameters for the total current command value. It consists of
the geometrical addition of parameters P-0-0603 and P-0-0604.

The resulting torque-generating and flux-generating contents of
the total current are calculated within the controller and displayed
via parameters "P-0-0605" and "P-0-0606".

4.4.90 P-0-0608, Controlled decel.: Velocity controller P-gain

Hardware --
Function The velocity controller for controlled deceleration in case of encoder defect
calculates the control circuit deviation (S-0-0347, Velocity error) from the dif‐
ference of "P-0-0048, Effective velocity command value" and "S-0-0535, Ac‐
tive velocity feedback value". The control circuit deviation multiplied by the
velocity controller proportional gain (P-0-0608) results in the torque/force
command value (P-0-0049).
The parameter defines the proportional gain factor for this PI controller.
The parameter is only effective for controlled deceleration after a defect of
the motor encoder. For Rexroth motors with encoder data memory, the value
is set to the value of "S-0-0100".
Unit: Nm/(rad/s) Extr. val. ch.: + Decim. pl.: 3
4.4.91 P-0-0609, Controlled decel.: Velocity controller integral action time

Hardware --
Function The velocity controller for controlled deceleration in case of encoder defect
calculates the control circuit deviation (S-0-0347, Velocity error) from the dif‐
ference of "P-0-0048, Effective velocity command value" and "S-0-0535, Ac‐
tive velocity feedback value". The control circuit deviation multiplied by the
velocity controller integral action time (P-0-0609) results in the torque/force
command value (P-0-0049).
The parameter defines the integral action time for this PI controller.
The parameter is only effective for controlled deceleration after a defect of
the motor encoder. For Rexroth motors with encoder data memory, the value
is set to the value of "S-0-0101".
4.4.92 P-0-0610, Control word of current rms value generator

Hardware --
Function "Bit 0" of "P-0-0610" is used to set the cyclic calculation of the total current
rms value. The result is shown in "P-0-0611".
Cyclic calculation of the total current rms value

0 0: Not active
1: Active
Tab. 4-115: P‑0‑0610, Control word of current rms value generator

4.4.93 P-0-0611, Current rms value

Hardware --
Function If bit 0 of parameter "P-0-0610" is set, the rms value of the total current is cal‐
culated cyclically and output to "P-0-0611" for being displayed. Otherwise,
the display shows the value previously output.
4.4.94 P-0-0640, Cooling type

Hardware --
Function The motors of the MSK und MSM lines can be operated in different cooling
types. Depending on the particular motor type, cooling can be implemented
as follows:
● Standard cooling (natural convection, non-ventilated)
● Surface ventilation
● Liquid Cooling
● Cooling with additional heat supply or heat discharge
Systems", "Current and Torque/Force Limitation"
Use Depending on realized the cooling type, the motor can carry different continu‐
ous currents. The characteristic continuous current of the above motors, how‐
ever, is the one the motor can continuously carry with its standard cooling
type (natural convection). It is stored in parameter "P-0-2111, Motor current
at standstill, encoder memory" for the particular motor type and, along with
other motor parameters, is loaded to the controller when the drive is switched
on (P-0-2111 -> S-0-0111, Motor current at standstill).
This parameter has to be set to the realized cooling type. As a result:
● the 100% reference of the motor work load is adjusted to the realized
cooling type,
● the thermal time constant of the motor effective in the motor tempera‐
ture model is determined by means of the value of "P-0-4035, Thermal
time constant of motor" (refers to standard cooling),
● the allowed continuous current, to which the firmware-internal motor
temperature model limits, is determined. (S-0-0111, Motor current at
standstill * cooling type factor).
Realized motor cooling P-0-0640, Cooling Comment

Cooling type factor
type
Nat. convection, non-ventilated 0 (default) 1,0

Surface ventilation 1 1,5
Liquid Cooling 2 1,9
Nat. convection, non-ventilated, improved 3 1,2
cooling (heat discharge at motor flange)
Nat. convection, non-ventilated, thermal ef‐ 4 0,85
fect via motor flange (e.g. gear mounting)
Tab. 4-116: Cooling Type Factor in Relation to the Value of P-0-0640
The default value for "P-0-0640" is "0" which means that the refer‐
ence value is initially set to the standard cooling type of the motor.
For motors other than MSK and MSM, the only allowed value is
"0"!
Adjusting the 100% value to the realized cooling type

In case of percentage-based scaling for torque/force data (bits 0...2 of
S-0-0086, Torque/force data scaling type), this parameter can be used to ad‐
just the reference value (100%) for MSK and MSM motors to the cooling type
that has been realized.
With the cooling type factor, it is possible to calculate the reference value
(100% value).
4.4.95 P-0-0641, Interpolation cmd value average value filter time constant
Hardware --
Function The parameter P-0-0641 takes effect on the filtering of the position command
values with a moving average filter (see also command value adjustment of
the interpolation modes). As an alternative to the calculation of the filter order

from acceleration and jerk, the filter order can also be determined by entering
a filter time.
With the average filter, the position command value profile can be smoothed
after command value generation, and the acceleration and jerk can be re‐
duced. This can be required for some mechanical systems to avoid excitation
of machine resonances by the command value characteristic.
See also Functional Description "Drive-Controlled Positioning"
Use The parameter P-0-0641 is used for the interpolation modes "drive-internal
interpolation", "drive-controlled positioning" and "positioning block mode" to
smooth the command value profile.
The following aspects have to be taken into account:
● By entering the filter time (value >= TNcyc), the calculation of the filter or‐
der from acceleration and jerk is switched off.
● The filter time preset in the parameter is applied during the initialization
of the operation mode or when a new position is set.
● The effective filter order M is always displayed in "P-0-0042, Current po‐
sition command average value filter order" (P-0-0042 = P-0-0641/TNcyc)
● The NC cycle time TNcyc is derived from the parameter S-0-0001.
The function constant filter order is switched off by default

(P-0-0641 = 0), the filter order is therewith calculated from accel‐
eration and jerk.

4.4.96 P-0-0642, Anti-vibration filter frequency

Hardware --
Function Parameter for entering the frequency of the anti-vibration filter. The anti-vibra‐
tion filter is deactivated with a value of "0".
From the frequency and damping (P-0-0643), the internal factors

(A1, A2) and the delay clocks (n) for the anti-vibration filter are
calculated. The filter can contain up to 125 position values.


4.4.97 P-0-0643, Anti-vibration filter damping

Hardware --
Function Parameter for entering the damping of the anti-vibration filter.
From the frequency and damping (P-0-0642), the internal factors

(A1, A2) and the delay clocks (n) for the anti-vibration filter are
calculated.
The filter can contain up to 125 position values.

4.4.98 P-0-0644, Anti-vibration filter delay clocks

Hardware --
Function Display parameter of the active anti-vibration filter delay clocks.
From the frequency (P-0-0642) and damping (P-0-0643), the in‐

ternal factors (A1, A2) and the delay clocks (n) for the anti-vibra‐
tion filter are calculated.
The filter can contain up to 125 position values.

4.4.99 P-0-0650.0.1, Internal IndraDrive parameter

Hardware --
Function Parameter for IndraDrive-internal function.
The parameter may only be changed by the IndraDrive develop‐

ers of Bosch Rexroth AG. Changing this parameter value may
cause a drive defect.



Hardware --



Hardware --


Memory: -- Validity ch.: -- Format: FLOAT
4.4.102 P-0-0660, C6300 Generate type plate command

Hardware --
Function Predefined parameterizations can be stored in the device in the form of a

"nameplate" The parameter can be used to execute the command for gener‐
ating a nameplate.
See also functional description "Generating a nameplate"
Use These variants of nameplate data can be generated in the device:
● Configurable factory default values, buffered in the control section, dis‐
played in "P-0-0660.0.1".
● Application data with encoder memory version 7, buffered in the encod‐
er memory, displayed in "P-0-3075".
● Motor data with encoder memory version 7, buffered in the encoder
memory, displayed in "P-0-3071", "P-0-3072", "P-0-3073".
● Motor data with encoder memory version 4, buffered in the encoder
memory, displayed representatively in "P-0-3000".
Not all of the nameplates are possible in all devices. Which nameplates are
possible with the device at hand can be read in parameter "P-0-0660.0.2".
P-0-0660 - Attributes Function: Cmd Editable: PM Data length: 2Byte

4.4.103 P-0-0660.0.1, Configurable factory default values

Hardware --
Alias: P-0-2660
Function Replacement parameter "P-0-2660" is to be used for communication interfa‐

ces which do not support any 32-bit ident numbers (EIDN).
This parameter contains information about the configurable factory settings.
The content of the parameter should not be changed.
P-0-0660.0.1 - Attributes Function: Par Editable: PM Data length: 4Byte var.
Memory: FIX_IDN_SP Validity ch.: -- Format: HEX
4.4.104 P-0-0660.0.2, Generate type plate, IDN list of type plates

Hardware --
Alias: P-0-2730
Function Predefined parameterizations can be stored in the drive in the form of a

"nameplate". Not all of the nameplates are possible in all devices. Which
nameplates are possible with the device at hand can be read here.
Structure The parameter is structured as list parameter and contains the IDNs of the
nameplates possible in the device.
Element Designation/function Comment
1 to 3 P-0-3071; P-0-3072; Nameplate "motor data with encoder

P-0-0073 memory version 7" is possible.
4 P-0-3075 Nameplate "application data with encod‐
er memory version 7" is possible.
5 P-0-660.0.1 Nameplate "configurable factory default
values" is possible.
6 P-0-3000 Nameplate "motor data with encoder
memory 4" is possible.
Tab. 4-117: P-0-0660.0.2, Generate nameplate generation, IDN list of name‐

plates

4.4.105 P-0-0660.0.3, Generate type plate, configuration list

Hardware --
Alias: P-0-2738
Function Predefined parameterizations can be generated in the drive in the form of a

"nameplate". This parameter is used to define the content of the nameplates
to be generated.
See also functional description "Generating a nameplate".
Structure The parameter is structured as list parameter and is basically structured as
follows:
1 Ident number of nameplate X to be defined.

2 Ident number of a parameter, which is to be stored in
nameplate X.
... Ident number of further parameters, which are to be
stored in nameplate X.
Tab. 4-118: P-0-0660.0.3, Generate nameplate, configuration list

4.4.106 P-0-0660.0.128, Compact parameter diagnostics

Hardware --
Alias: P-0-2411
Function
port.

4.4.107 P-0-0660.0.129, Instance parameter diagnostics

Hardware --
Alias: P-0-2412
Function
port.

4.4.108 P-0-0661, C9100 Confirm power section configuration command

Allocation Contained in 19VRS: «MPB» «-» «-» «MPC» «PSB»
Hardware HCS05, HMS05, HMV05
Function At the "IndraDrive ML" drive family, individual components like one or several
power sections (HMU) and the mains connection component (HNA) are inclu‐
ded in one complete device.
When the control voltage is activated, the components are queried by the
firmware. If the number of power sections or mains connection components
has changed since last activation, error "F8835 Inconsistency in power
section configuration" is returned.
If error F8835 occurs, the complete device has to be checked. If all required
components are available, the currently recognized configuration of the com‐
plete device has to be acknowledged with command C9100.
4.4.109 P-0-0664, C6800 Control command device data archiving

Allocation Contained in 17VRS: «-» «-» «-» «MPC»
Contained in 18VRS: «-» «-» «-» «MPC»
Contained in 19VRS: «-» «-» «-» «MPC» «-»
Hardware --
Function Command "C6800" is used to determine the device data archiving status.
The status is stored in parameter "P-0-0669, Device data archiving, status"
and can be read from this parameter after the command has been executed.
The comparison data of the CCD master and, in case of cross

communication (CCD), the comparison data of the CCD slaves
are read. To determine the status, these data are compared with
the data stored in the machine archive.
The command cannot be executed if another device data archiv‐

ing command (C6500, C6600 or C6700) is active.

4.4.110 P-0-0665, C6500 Command Archive device data

Hardware --
Function Command "C6500" is used to transfer the "device data to be backed up" from
the active non-volatile memory (flash) to a machine archive. Device data
comprise the data required for restoring a drive configuration (operating data
including MLD application and firmware). The machine archive is structured
and filed under "Backup\Axis.." in multiple files on the SD card. The device
data are restored manually using command C6600.
On Advanced control sections (MPC), the files are structured and archived in
a file "Backup\Archive\Backup.zip" to provide easy access to the machine ar‐
chive.
The sequence of the command is recorded in the file "Backup\Backup.log". In
case of any command errors, the file provides additional information on the
error source.
Archiving also includes the device data of the CCD slaves where
cross-communication (CCD) is applicable. When CCD slaves ex‐
ist, execution of the command can take several minutes.
While the command is active, write accesses to the device data to

be backed up are to be avoided. Running PLC programs are to
be stopped during the runtime of the command. Running PLC
programs are not stopped by the command.
Command C6500 allows calling command C2200. As long as the

latter is active, the flashing display changes from "C65" to "C22".
If necessary, calling command C2200 can be deactivated in
"P-0-0668".

4.4.111 P-0-0666, C6600 Command Restore device data

Hardware --
Function Command "C6600" is used to restore the device data to be backed up from
the machine archive. Device data comprise the data required for restoring a
drive configuration (operating data including MLD application and firmware).
This requires that command C6500 has been used at least once to create a
machine archive. The machine archive is structured and filed under "Backup
\Axis.." in multiple files on the SD card.
chive.
This command fails if no machine archive is available.
As of MPx-20VRS: The sequence of the command is recorded in the file
"Backup\Restore.log". In case of any command errors, the file provides addi‐
tional information on the error source.
Up to MPx-19VRS: The sequence of the command is recorded in the file
"Backup\Backup.log". In case of any command errors, the file provides addi‐
The drive retain data (parameters listed in "P-0-0195" without

"P-0-1359") are always ignored on restore as currency of the data
(e.g. absolute encoder position) cannot be ensured. In case of
service, however, the respective par files can be retrieved from
the backup data and manually loaded using a tool. It has to be
decided whether these data are up-to-date.
Restoring also includes the device data of the CCD slaves where
Running PLC programs are to be stopped before starting the

command. Only this way can they be restored. Running PLC pro‐
grams are not stopped by the command.
Command C6600 is executed in two variants: "device replace‐

ment" and "device data restoration". "P-0-0669" displays the var‐
iant executed.

"P-0-0668".
NOTICE MPx20V04 and below:

Property damage caused by changed ad‐
dressing of the sercos nodes!
When the backup device data are restored, the correct distribution of the
sercos addresses is not checked.
To prevent incorrect device data from being loaded to the drives, make sure
that the sercos addresses are not changed in the time between backup and
restoring of the device data.
NOTICE as of MPx-20V06:
Property damage caused by changed wiring
of the sercos nodes!
For restoration of the saved device data, wiring of the CCD group has to
comply with the wiring during archiving of the device data. This applies to the
order of the CCD slaves in the CCD ring or in the line as well as to the selec‐
ted sercos port in the CCD master the drives are connected to.

4.4.112 P-0-0667, C6700 Command update of device data

Hardware --
Function Command "C6700" is used to update the device data to be backed up. De‐
vice data comprises the data required for restoring a drive configuration (ope‐
rating data including MLD application and firmware).
The update is to be provided on the SD card:
1. As update archive in the "User\Update\Archiv" directory. An update ar‐
chive is a machine archive containing all device data or only a partial
quantity of a machine archive. The update archive requires file type
"*.zip" and is only recognized by an Advanced control section (MPC).
2. As individual device data files in the "User\Update\Axis..." directory. In
this case, a device data file is a file unpacked from a machine archive.
As the content is not checked, parameter and firmware files can also
provided from different sources. Only the file structure (directory and file
names) has to be observed. Individual files are only considered if no up‐
date archive was provided.
As of MPx-20VRS: The sequence of the command is recorded in the file
"User\Update\Update.log". In case of any command errors, the file provides
additional information on the error source.
Up to MPx-19VRS: The sequence of the command is recorded in the file
"Backup\Backup.log". In case of any command errors, the file provides addi‐
To prevent the retain data of the MLD becoming invalid during up‐
date of a MLD boot project, it is only loaded into the program
memory if update data are also available for the retain data.
These are to be provided as "Retain_MLD?.par" file. It has to be
ensured that the retain data comply with the MLD boot project.
Update also includes the device data of the CCD slaves where
Running PLC programs are to be stopped before starting the

command. Only this way can the PLC programs can be updated.
Running PLC programs are not stopped by the command.

"P-0-0668".
NOTICE MPx20V04 and below:

Property damage caused by changed ad‐
dressing of the sercos nodes!
When the backup device data are restored, the correct distribution of the
sercos addresses is not checked.
To prevent incorrect device data from being loaded to the drives, make sure
that the sercos addresses are not changed in the time between backup and
restoring of the device data.
NOTICE as of MPx-20V06:
Property damage caused by changed wiring
of the sercos nodes!
For restoration of the saved device data, wiring of the CCD group has to
comply with the wiring during archiving of the device data. This applies to the
order of the CCD slaves in the CCD ring or in the line as well as to the selec‐
ted sercos port in the CCD master the drives are connected to.

4.4.113 P-0-0668, Device data archiving, configuration

Hardware --
Function This parameter is used to configure device data archiving.

Device data archiving using command C6500 is used to transfer the "device
data to be backed up" from the active non-volatile memory (flash) to a ma‐
chine archive. Device data comprise the data required for restoring a drive
configuration (operating data including MLD application and firmware). The
machine archive is structured and filed under "Backup\Axis.." in multiple files
on the SD card. The device data are restored manually using command
C6600.
chive.
0 Machine archive monitoring

0: Tolerant mode: Machine archive not monitored.
1: Strict mode: The machine archive is monitored for being
updated.
● If the machine archive has not been updated, switch‐
ing error C6704 is triggered.
Up to MPx-19VRS:
● Updating with command C6700 is only possible with
an updated machine archive.
● New drives (device exchange) are automatically up‐
dated to the device data from the machine archive.
15 Application to operating data memory
0: Active
1: Command C2200 is not executed within commands
C6500, C6600 and C6700.
Tab. 4-119: Device data archiving configuration

4.4.114 P-0-0669, Device data archiving, status

Hardware --
Function This parameter shows the current device data archiving status.
Device data archiving using command C6500 is used to transfer the "device
data to be backed up" from the active non-volatile memory (flash) to a ma‐
chine archive. Device data comprise the data required for restoring a drive
configuration (operating data including MLD application and firmware). The
machine archive is structured and filed under "Backup\Axis.." in multiple files
on the SD card. The device data are restored manually using command
C6600.
chive.
Structure
The status is updated internal during initialization (booting) and by
executing a device data archiving command. To update only the
status, command C6800 is to be executed.
Command C6600 is executed in two variants: "device replace‐

ment" and "device data restoration". "Device replacement" in‐
cludes restoration of all device data except drive retain data (pa‐
rameters listed in "P-0-0195" without "P-0-1359").
The comparison value indicates the variant that is executed on
starting command C6600.
Value Designation Comment
3-0 Comparison value: The status informs whether the ma‐

chine archive has been updated.
0x0: Machine archive is current
0x1: Machine archive does not match the device data to
be backed up
0x2: New device detected
0x3: An update has not been confirmed yet (E2667)
7-4 Activity: The status value is not suitable for controlling the
commands.
0x0: No active command
0x1: C6500: Machine archive is generated
0x2: C6600: Machine archive is restored
0x3: C6700: Update of device data
0x4: C6800: Control command is executed
15-8 Error: During access to the machine archive or during ac‐
cess to the device data in the active non-volatile memory
(flash).
0x0: Without error
0x1: SD card access error
0x2: Machine archive access error
0x3: CCD slave access error
0x4: Drive controller access error
Tab. 4-120: P-0-0669, Device data archiving, status

4.4.115 P-0-0669.0.1, Device data update files date

Hardware --
Function This parameter is only required for internal use.


4.4.116 P-0-0680, Control panel: Configuration

Hardware Display
Function Parameter "P-0-0680.0.0" can be used to configure the control panel.

Structure
Bit Significance Comment
Running text output in case of errors, warnings and com‐
mand errors.
15 0:Active - running text is still displayed.
1: Deactivated - the diagnostic number for an error, a
warning or a command error is flashing when displayed.
Edit or View mode
0: Edit mode - changes can be made using the control
panel.
14 1: View mode - Input via the control panel is disabled.

Note: If View mode is active, input can be enabled. To do
this, the <ESC> and <ENTER> keys on the standard dis‐
play must be pushed and held for 8 seconds. The menu is
disabled again by returning to the standard display.
Tab. 4-121: Control panel: Connection setup

4.4.117 P-0-0680.0.1, Control panel: Config. list of changeable app.

parameters
Hardware Display
Alias: P-0-2305
Function This list parameter serves to configure the menu structure for the editable
"Quick Setup" parameters. 12 list elements result in one data set. The maxi‐
mum number of data sets that can be configured is 32.
1. The list elements of the parameter must be entered in HEX

format.
2. The short text, info text 1 and info text 2 list elements may
not be empty (= 0).
Allowed characters: Subset of the ASCII character set 0x20
to 0x7D. A blank is inserted for 0x00.
Structure List ele‐ Significance Description

ment
0 Ident number Ident number of the parameter whose parameter datum
can be edited via the control panel.
1 List element If a list parameter is applicable, the corresponding list ele‐
ment must be entered here.
2 Axis number 0: Axis 1
1: Axis 2 (only possible for multi-axis device)
3 Conversion The parameter datum is divided by the conversion factor.
factor The conversion factor must be ≥ 1.
4 Short text Up to 2 characters for short text.
Note: There must be at least one valid character.
5 Info text 1 4 characters for info text.
7 Min value Minimum input value for the parameter
8 Max value Maximum input value for the parameter
9 Step size This element defines the step size with which the parame‐
ter value can be reduced and increased by pushing the
"down and up keys", respectively.
10 Is not evalu‐ Reserved
ated
ated
12 Ident number Ident number of the parameter whose parameter datum
can be edited via the control panel.
13 ... ...
Tab. 4-122: Configuring the Menu Structure for Editable Parameters
Example:
Configuration
Data element: Input: List parameter input (HEX):

Ident number P-0-1370 0x0000855A
List element 0 0x00000000
Axis number 0 0x00000000
Conversion factor 1 0x00000001
Short text 01 0x30310000
Info text 1 P-0- 0x502D302D
Info text 2 1370 0x31333730
Min value -50 0xFFFFFFCE
Max value 50 0x00000032
Step size 1 0x00000001
Dummy 1 0 0x00000000
Dummy 2 0 0x00000000

4.4.118 P-0-0680.0.2, Ctrl panel: Config. list of app. parameters to be

displayed
Hardware Display
Alias: P-0-2306
Function This list parameter serves to configure the menu structure for the displayable
"Actual Values" parameters. 10 list elements result in one data set. The maxi‐
mum number of data sets that can be configured is 32.
1. The list elements of the parameter must be entered in HEX

format.
2. The short text, info text 1 and info text 2 list elements may
not be empty (= 0).
Allowed characters: Subset of the ASCII character set 0x20
to 0x7D. A blank is inserted for 0x00.
Structure List element Significance Description

0 Ident number Ident number of the parameter whose parameter da‐
tum is displayed via the control panel.
1 List element If a list parameter is applicable, the corresponding list
element must be entered here.
2 Axis number 0: Axis 1
1: Axis 2 (only possible with multi-axis device)
3 Conversion The parameter datum is divided by the conversion
factor factor. The conversion factor must be ≥ 1.
4 Display format 0: Parameter datum is displayed in decimal format.
1: Parameter datum is displayed in hexadecimal for‐
mat.
5 Short text Up to 2 characters for short text.
ated
List element Significance Description

ated
Ident number of the parameter whose parameter da‐
10 Ident number
tum is displayed via the control panel.
11 ... ...
Tab. 4-123: Configuring the Menu Structure for Displayable Parameters
Example:
Connection setup
Data element: Input: List parameter input (HEX):

Ident number P-0-1270 0x000084F6
List element 0 0x00000000
Axis number 0 0x00000000
Conversion factor 1 0x00000001
Display format 0 0x00000000
Short text 01 0x30310000
Info text 1 P-0- 0x502D302D
Info text 2 1270 0x31323730
Dummy 1 0 0x00000000
Dummy 2 0 0x00000000

4.4.119 P-0-0686, Additive position command value, positioning velocity

Hardware --
Function Maximum position change (=velocity) with which "S-0-0048, Additive position
command value" is added to the synchronous position command value of the
slave axis.
S-0-0048 is used to preset an additive offset for the synchronous

position command value of the master axis position for slave axis.

Use The following has to be observed for usage:
● When a position synchronization mode is activated, drive-controlled syn‐
chronization is carried out. The profile is determined either by a 5th order
polynomial or by the parameters "P-0-0142, Synchronization accelera‐

tion" and "P-0-0143, Synchronization velocity".
● The way in which subsequent changes of S-0-0048 will be processed
depends on bit 0 of "P-0-0155, Synchronization mode".
– Bit0 = 1: Changes are smoothed by a 1st order filter
– Bit0 = 0: Changes are defined via the parameters "P-0-0686, Addi‐
tive position command value, positioning velocity" and "P-0-0687,
Additive position command value, positioning acceleration".
S-0-0045 /
S-0-0046
4.4.120 P-0-0687, Additive position command value, positioning acceleration

Hardware --
Function Maximum velocity change (=acceleration) with which "S-0-0048, Additive po‐
sition command value" is added to the synchronous position command value
of the slave axis.
See also Parameter Description "P-0-0686, Additive position command val‐
ue, positioning velocity"
S-0-0161 /
S-0-0162
4.4.121 P-0-0688, Additive master axis position, positioning velocity

Hardware --
Function Maximum position change (=velocity) with which "P-0-0054, Additive master
axis position" is added to the master axis angle.
Parameter P-0-0054 is used to preset an additive offset to the ef‐

fective master axis position.

Use The following has to be observed for usage:
● The adjustment to a preset offset is carried out with defined velocity and
acceleration limitation.
● The limit values are parameterized in the parameters "P-0-0688, Addi‐

tive master axis position, positioning velocity" and "P-0-0689, Additive
master axis position, positioning acceleration".
● The velocity profile which is traveled when P-0-0054 has been changed
then is trapezoidal.
4.4.122 P-0-0689, Additive master axis position, positioning acceleration

Hardware --
Function Maximum velocity change (=acceleration) with which "P-0-0054, Additive

master axis position" is added to the master axis angle.
See also Parameter Description "P-0-0688, Additive master axis position, po‐
sitioning velocity"
Unit: rad/s² Extr. val. ch.: + Decim. pl.: 3
4.5 P-0-0690 to P-0-0799 Synchronization mode

4.5.1 P-0-0690, Additive velocity command value, process loop
Hardware --
Function In addition to S-0-0037, parameter P-0-0690 is used to set an additive veloci‐

ty command value.
P-0-0690 can preferably be used for drive-based process loops

(by means of MLD)!
Use Observe the following when using P-0-0690:

● P-0-0690 takes effect in all operation modes in which the velocity loop is
used.
● In the velocity synchronization mode, P-0-0690 is taken into account for
generating the "In Synchronization" bit.
● In the case of drive-internal command value generation (Drive Halt,
error reaction, ...), P-0-0690 is set to "0".

S-0-0045 /
S-0-0046
4.5.2 P-0-0691, Additive position command value, process loop

Hardware --
Function Apart from "P-0-0059", the parameter "P-0-0691" is used to add a position
command value.
"P-0-0691" can preferably be used for drive-based process loops

(by means of MLD)!
See also Functional Description "Control Loop Structure"

Use Observe the following aspects when using "P-0-0691":
● "P-0-0691" takes effect in the synchronization modes with outer position
control loop (phase synchronization, cam, MotionProfile).
● The preset value of "P-0-0691" is then smoothed with a 1st order filter,
when bit 0 has not been set in "P-0-0155", Synchronization mode. In
this case, "P-0-0060, Filter time constant additional pos. command" is
used for the filter of "P-0-0691".
● When bit 1 has been set in "P-0-0155, Synchronization mode", the pa‐
rameter "P-0-0691" takes effect in unfiltered form. The parameter
"P-0-0060, Filter time constant additive position cmd value" is then used
for filtering "S-0-0048, Additive position command value".
● Parameter "P-0-0691" is taken into account for the generation of the bit
"In Synchronization" (bit 8, "P-0-0089, Status word synchronization
modes"). The bit is set when the following applies:
| Xsynch + S-0-0048 + P-0-0691 - P-0-0753| < S-0-0228.
● Parameter P-0-0691 is also taken into account for the generation of
"P-0-0034, Position command additional actual value".
The following applies: P-0-0034 = P-0-0753 - Xsynch - P-0-0691.
● When "relative synchronization" has been set (bit 1, P-0-0155 = 1),
there is no synchronization motion (with the master axis having stopped)
when the synchronous operation mode is activated. Changes made af‐
terwards in "P-0-0691" are processed in relative form.
S-0-0077 /
S-0-0078

4.5.3 P-0-0692, Additive master axis position, process loop

Hardware --
Function The value specified for "P-0-0692" is smoothed with a 1st order filter and then
added to the sum of "P-0-0054, Additive master axis position" and "P-0-0053,
Master axis position" or "P-0-0052, Actual position value of measuring encod‐
er".
The time constant of the filter is defined with parameter "P-0-0693".
See also Functional Description "Control Loop Structure"
Use Observe the following aspects for parameterizing "P-0-0692":
● The maximum value (modulo value) of "P-0-0692" is determined by the
master axis cycle.
● The master axis cycle is the product of "P-0-0750, Master axis revolu‐
tions per master axis cycle", with 2P-0-0084.
● Approximation to a new value always takes place over the shortest dis‐
tance.
min./max.: -2147483648 /
2147483647
4.5.4 P-0-0693, Filter time constant, add. master axis pos., process loop
Hardware --
Function This parameter determines the time constant of a 1st order filter. This filter is
used to smooth "P-0-0692, Additive master axis position, process loop".

4.5.5 P-0-0694, Gear ratio fine adjustment, process loop

Hardware --
Function With the percentage-based value of this parameter, a factor is generated

which takes effect in the electronic gear.
Parameterization
To generate the factor the preset value is divided by 100 and 1 is added.
See also Functional Description "Synchronization"
Memory: -- Validity ch.: PM->OM Format: DEC_MV
4.5.6 P-0-0695, Angle offset begin of table, process loop

Hardware --
Function Observe the following aspects for parameterizing P-0-0695:

● The master axis position after the electronic gear is reduced by the an‐
gle parameterized in P-0-0695.
● The range of values of P-0-0695 is from 0 to 360 degrees. 360 degrees
(one master axis revolution) corresponds to a value of 2^P-0-0084.
● Approximation to a new value always takes place over the shortest dis‐
tance.
See Functional Description "Control Loop Structure"
4.5.7 P-0-0696, Filter time constant, angle offset profile, process loop
Hardware --
Function This parameter determines the time constant of a 1st order filter. This filter is
used to smooth "P-0-0692, Additive master axis position, process loop".
See also Functional Description "Synchronization"

4.5.8 P-0-0697, Synchronization, master axis synchronous position

Hardware --
Function This parameter takes effect when single-step synchronization (bit 6 = 1) has
been set in "P-0-0155, Synchronization mode". It defines the master axis po‐
sition at which synchronism is to have been established.
Modes"
Use After a synchronization mode has been activated, synchronization starts the
next time "P-0-0776, Effective master axis position" passes the master axis
start position. The master axis start position is calculated in the following way:
P-0-0697 Synchronization, master axis synchronous position

P-0-0698 Synchronization, master axis synchronization range
Fig. 4-42: Calculating master axis start position
Synchronization is completed when the master axis position has run through
the master axis synchronization range and has reached the value indicated in
this parameter. The parameter refers to the output of the electronic gear (pa‐
rameter "P-0-0776, Effective master axis position").
The allowed range of values is between 0 and 359.9999°.
4.5.9 P-0-0698, Synchronization, master axis synchronization range

Hardware --
Function This parameter takes effect when single-step synchronization (bit 6 = 1) has
been set in "P-0-0155, Synchronization mode". It defines the distance within
which synchronism is to have been established.
Modes"

4.5.10 P-0-0700, MotionProfile, master axis switching position

Hardware --
Function While the "MotionProfile" mode is active, changes in the sequence of motion
can be made in the second, inactive data set. The parameter defines the po‐
sition at which switching to the selected inactive set takes place.
See also Functional Description: "MotionProfile With Real/Virtual Master Ax‐
is"
Use The active set is selected with "P-0-0088, Control word synchronization
modes", bit 9. When all changes have been parameterized and the "profile
check" for the inactive set has been successfully carried out, it is possible to
switch to this set.
Switching takes place when "P-0-0227, Cam table, access angle" passes the
switch angle set in this parameter. Switching is acknowledged with bit 3 of
"P-0-0089, Status word synchronization modes". After switching has taken
place, the bits of status word and control word are identical.
4.5.11 P-0-0701, Motion step 1, slave axis initial position

Hardware --
Function This parameter takes effect if absolute position processing of the motion pro‐
file has been set in bit 10 of "P-0-0088, Control word synchronization modes".
After synchronization, the position command value generated in the "elec‐
tronic motion profile" mode corresponds to the position set in this parameter,
when "P-0-0227, Cam table, access angle" is zero, i.e. at the beginning of the
1st motion step.
20V08 and above: The parameter cannot be changed in the ope‐

rating mode, if the "MotionProfile" mode has been activated and
absolute position processing of the "MotionProfile" has been set
in bit 10 of "P-0-0088, Control word synchronization modes".
See also Functional Description "Electronic motion profile with real/virtual

master axis"

S-0-0077 /
S-0-0078
4.5.12 P-0-0702, MotionProfile, diagnosis, set 0

Hardware --
Function A validation check is carried out for the sequence of motion parameterized for
the "MotionProfile" mode in set 0.
If one of the checks results in discrepancy, a number is displayed in this pa‐
rameter. The cause of the discrepancy can be taken from this number. For
the significances of the numbers, see the diagnostic message "F2004 Error
in MotionProfile".
See also Functional Description "Motion Profile With Real/Virtual Master Ax‐
is"
4.5.13 P-0-0703, Number of motion steps, set 0

Hardware --
Function This parameter determines, for block 0 of "MotionProfile" mode, of how many
motion steps the sequence of motion consists which is processed per master
axis revolution.
Up to MPx-17VRS: If relative actual position value reference has been set
(P-0-0088, Control word synchronization modes, bit 10 = 1), the sequence of
motion must consist of at least two steps.

4.5.14 P-0-0704, Master axis velocity, set 0

Hardware --
Function This parameter specifies at which constant velocity the master axis moves
when set 0 of the "MotionProfile" mode is active.
Use Indicating the master axis velocity is necessary when a motion step is used
for which the slave axis velocity is determined (standard profile rest in veloci‐
ty, velocity in velocity or velocity in rest). The given value must refer to the
output of the electronic gear.
Unit: 1/min Extr. val. ch.: + Decim. pl.: 4
4.5.15 P-0-0705, List of master axis initial positions, set 0

Hardware --
Function This parameter determines, for set 0 of the "MotionProfile" mode, at which
master axis positions (or table access angles) the motion steps begin.
Use Setting is such that motion step 1 begins at master axis initial position "0".
The first element of this list must therefore be "zero". This list must have at
least as many elements as set 0 has motion steps (P-0-0703).
4.5.16 P-0-0706, List of motion laws, set 0

Hardware --
Function This parameter determines, for set 0 of the "MotionProfile" mode, which prop‐
erties the individual motion steps have.
See also Functional Description: "MotionProfile With Real/Virtual Master Ax‐
is"
3…0 Profile of motion step

0000: Analytic profile
0001: Cam table 1 (P-0-0072)
0010: Cam table 2 (P-0-0092)
0011: Cam table 3 (P-0-0780)
0100: Cam table 4 (P-0-0781)
0101: Cam table 5 (P-0-0782)
0110: Cam table 6 (P-0-0783)
0111: Cam table 7 (P-0-0784)
1000: Cam table 8 (P-0-0785)
12…8 Profile type
0 0000: R-R with inclined sine curve
0 0001: R-R with 5th order polynomial
0 0010: R-V
0 0100: V-R
0 0110: V
0 0111: V-V
1 0010: R-R VLim
R-R Rest in Rest

R-R VLim Rest in Rest with limited velocity
R-V Rest in Velocity
V-R Velocity in Rest
V Constant Velocity
V-V Velocity in Velocity
Tab. 4-124: Motion Laws
Use When the bits 0…3 are "0", the profile of the step is determined by the bits
8…12.If bits 0…3 represent a number between 1 and 8, the profile of this
step is determined by the corresponding cam table (no. 1...8). 8) bestimmt.
This list must have at least as many elements as set 0 has motion steps
(P-0-0703).
MPx / PSB: min./max.: 0x0 / 0x1200 Default value: s. Text
4.5.17 P-0-0707, List of distances, set 0

Hardware --
Function This list determines, for set 0 of the "MotionProfile" mode, which distances
are traveled in the individual motion steps.
Use If a standard profile and not a cam table has been selected in the motion
step, the distance determines the path which is traveled in the corresponding
step. If a cam table has been selected, the traveled path results from the
product of distance and last value of the table.
If absolute position processing has been set for this operation mode, the sum
of distances of the involved motion steps must be "0" or a multiple of the
modulo value.
(P-0-0703).
S-0-0077 /
S-0-0078
4.5.18 P-0-0708, List of slave axis velocities, set 0

Hardware --
Function This list determines, for set 0 of the "MotionProfile" mode, which slave axis
velocities occur in the individual motion steps at the beginning or at the end.
Use Indicating the slave axis velocity is necessary when one of the standard pro‐
files R-V (Rest in Velocity), V-R (Velocity in Rest) or V-V (Velocity in Velocity)
has been selected in the motion step.
Taking master axis range, distance and parameterized master axis velocity
(P-0-0704) into account, the coefficients of the 5th order polynomial are cal‐
culated in such a way that the parameterized velocity results at the slave axis
at the end (for R-V) or at the beginning (for V-R and V-V) of the motion step.
If constant velocity has been selected in the mode of a step, the slave axis
velocity resulting from the values of master axis range, distance and parame‐
terized master axis velocity is calculated and displayed in the respective list
element.
(P-0-0703).
S-0-0045 /
S-0-0046
4.5.19 P-0-0709, MotionProfile, diagnosis, set 1

Hardware --
Function A validation check is carried out for the sequence of motion parameterized for
the "MotionProfile" mode in set 1.
If one of the checks results in discrepancy, a number is displayed in this pa‐
rameter. The cause of the discrepancy can be taken from this number.
See Diagnostic Description "F2004 Error in MotionProfile "
is"
4.5.20 P-0-0710, Number of motion steps, set 1

Hardware --
Function This parameter determines, for block 1 of "MotionProfile" mode, of how many
motion steps the sequence of motion consists which is processed per master
axis revolution.
Up to MPx-17VRS: If relative actual position value reference has been set
(P-0-0088, Control word synchronization modes, bit 10 = 1), the sequence of
motion must consist of at least two steps.
4.5.21 P-0-0711, Master axis velocity, set 1

Hardware --
Function This parameter specifies at which constant velocity the master axis moves
when set 1 of the "MotionProfile" mode is active.
Use Indicating the master axis velocity is necessary when a motion step is used
for which the slave axis velocity is determined (standard profile rest in veloci‐
ty, velocity in velocity or velocity in rest). The given value must refer to the
output of the electronic gear.
Unit: 1/min Extr. val. ch.: + Decim. pl.: 4
4.5.22 P-0-0712, List of master axis initial positions, set 1

Hardware --
Function This parameter determines, for set 1 of the "MotionProfile" mode, at which
master axis positions (or table access angles) the motion steps begin.
Use Setting is such that motion step 1 begins at master axis initial position "0".
The first element of this list must therefor be "zero".
(P-0-0710).
4.5.23 P-0-0713, List of motion laws, set 1

Hardware --
Function This parameter determines, for set 1 of the "MotionProfile" mode, which prop‐
erties the individual motion steps have.
is"
(P-0-0710).
See Parameter Description "P-0-0706, List of motion laws, set 0"
MPx / PSB: min./max.: 0x0 / 0x1200 Default value: s. Text
4.5.24 P-0-0714, List of distances, set 1

Hardware --
Function This list determines, for set 1 of the "MotionProfile" mode, which distances
are traveled in the individual motion steps.

Use If a standard profile and not a cam table has been selected in the motion
step, the distance determines the path which is traveled in the corresponding
step. If a cam table has been selected, the traveled path results from the
product of distance and last value of the table. If absolute position processing
has been set for this operation mode, the sum of distances of the involved
motion steps must be "0" or a multiple of the modulo value.
(P-0-0710).
S-0-0077 /
S-0-0078
4.5.25 P-0-0715, List of slave axis velocities, set 1

Hardware --
Function This list determines, for set 1 of the "MotionProfile" mode, which slave axis
velocities occur in the individual motion steps at the beginning or at the end.
Use Indicating the slave axis velocity is necessary when one of the standard pro‐
files R-V (Rest in Velocity), V-R (Velocity in Rest) or V-V (Velocity in Velocity)
has been selected in the motion step.
Taking master axis range, distance and parameterized master axis velocity
(P-0-0711) into account, the coefficients of the 5th order polynomial are cal‐
culated in such a way that the parameterized velocity results at the slave axis
at the end (for R-V) or at the beginning (for V-R and V-V) of the motion step.
If constant velocity has been selected in the mode of a step, the slave axis
velocity resulting from the values of master axis range, distance and parame‐
terized master axis velocity is calculated and displayed in the respective list
element.
(P-0-0710).
S-0-0045 /
S-0-0046
4.5.26 P-0-0750, Master axis revolutions per master axis cycle

Hardware --
Function Parameter "P-0-0750" defines the modulo range for the master axis parame‐
ters which are involved in the generation of parameter "P-0-0775, Resulting
master axis position" (including P-0-0775). The information on the range of
the master axis cycle has to be given to the drive so that the overflows of the
master axis position can be processed correctly.
See also Functional Description "Synchronization modes"
See also Functional Description "Velocity synchronization with real/virtual
master axis"
Use The master axis cycle is defined on the control unit side. It contains the num‐
ber of master axis revolutions required in order to bring all drives, that are to
follow the master axis, back to a defined position with respect to each other.
The value of this parameter normally is set to the least common multiple
(LCM) of the input revolutions of the master drive gear "P-0-0156" of the re‐
spective slave axes.
Special case P-0-0750 = 0
Modulo scaling of slave axis:
If value "0" is written to the parameter, the user has to write to "S-0-0103" in
such a way that 232 - 2P-0-0084, Number of bits per master axis revolution master axis revolu‐
tions after the master axis gear correspond to the modulo range. Application:
"flying saw."
Absolute scaling of slave axis:
With absolute scaling of the slave axis, "P-0-0750" has to be set to 0, when
the slave axis follows the master axis in the phase synchronization mode.
Make sure that the master axis range is not exceeded, that the master axis
range value does not fall below the limit and that the derived slave axis posi‐
tion is not outside of the maximum travel range. Otherwise, this causes acci‐
dental axis motion.
Master axis range with P-0-0750 = 0
Master axis range: -231 incr. to 231 - 1 increments.
This corresponds to 2(32 - P-0-0084) master axis revolutions
If the value of "P-0-0750, Master axis revolutions per master axis cycle" is to
be changed in the operating mode from 0 to a value unequal to 0 or from a
value unequal to 0 to 0, the parameter value is read-only. The error "Ope‐
rating data currently read-only due to other settings" is generated.
4.5.27 P-0-0751, Synchronization divisions per command cycle slave axis

Hardware --
Function A division of the command value cycle is defined with this parameter. The
number of divisions that are contained in the command value cycle is indica‐
ted in parameter P-0-0751.
Use This means that the command value cycle is divided by the value of parame‐
ter P-0-0751 in order to determine the division. The size of the command val‐
ue cycle is contained in parameter "P-0-0754, Command value cycle". The
synchronization division can be selected for synchronization in parameter
"P-0-0155, Synchronization mode". The distance traveled during the synchro‐
nization process won't be longer than the defined division. The position to
which the slave axis synchronizes is calculated by means of modulo division
from the synchronous position command value in the command value cycle.
The synchronization division can be smaller or greater than a load revolution
of the drive.
4.5.28 P-0-0752, Load revolutions per actual value cycle slave axis
Hardware --
Function With modulo position scaling, the actual value cycle determines the maximum
range of position data at the slave axis to which control of "operation mode
position synchronization with subordinate operation modes" relates. Via pa‐
rameter P-0-0752, the number of modulo ranges S-0-0103 is given of which
the actual value cycle consists. The actual position value within the actual
value cycle can be taken from parameter "P-0-0753, Position actual value in
actual value cycle".
Use The actual value cycle is required if, in the case of one of the subordinate op‐
eration modes of the position synchronization mode, synchronization is to be
carried out in a range greater or smaller than the modulo value S-0-0103.
The synchronization range in these cases is determined by the command val‐
ue cycle or a division of it.
If several electronic gear ratios are to be set at an axis (e.g. because of differ‐
ent formats), there are several command value cycles resulting at this axis.
The actual value cycle then has to be set in such a way that it corresponds to
the least common multiple (LCM) of these command value cycles.
If the electronic gear is not to be changed, the actual value cycle is set in
such a way that it complies with the command value cycle or a multiple of it.
If synchronization is to be carried out only within the modulo range, the num‐
ber of "load revolutions per actual value cycle slave axis" can be set to "1".

4.5.29 P-0-0753, Position actual value in actual value cycle

Hardware --
Function In the operation modes "phase synchronization", "cam" and "MotionProfile"

and in conjunction with modulo position scaling, this parameter displays the
current actual position value which the mentioned operation modes use to
close the position loop.
Use The actual position value in the actual value cycle is within a range that is
generated depending on bit 4 of parameter "P-0-0155, Synchronization
mode":
● If bit 4 ="0", the modulo range of the actual value cycle is generated by
multiplication of "P-0-0752, Load revolutions per actual value cycle
slave axis" with "S-0-0103, Modulo value".
● With bit 4="1", the actual value cycle corresponds to the value of
"P-0-0754, Command value cycle".
Setting this position command value occurs via the command "Set absolute
position procedure" or "Drive-controlled homing" for the position command
value, which is configured in Phase 2 or in PM (parameter mode) in parame‐
ter "S-0-0520, Control word of axis controller "
When, for example, "phase synchronization with virtual master axis, encod‐
er 1" has been set as operation mode, the parameter "P-0-0753" changes by
analogy to the position command value 1. Its range is limited to the
"S-0-0103, Modulo value". Homing of the actual position value 1 then causes
"P-0-0753" to be set to the same value as actual position value 1.
The position status of the actual position value in the actual value cycle can
be taken from bit 4 of parameter "P-0-0089, Status word synchronization
modes".
When activating the operation mode for synchronization, the travel distance
for synchronization is determined with the actual position value in the actual
value cycle. The result is a limitation of the travel distance to the synchroniza‐
tion range (command value cycle, division of the command value cycle or
modulo range) that has been set.
S-0-0077 /
S-0-0078
4.5.30 P-0-0754, Command value cycle

Hardware --
Function In processes with different machining cycles, the drives must be able to syn‐
chronize over several master axis revolutions or divisions of a master axis
revolution. This property is defined via the so-called command value cycle.
The command value cycle is automatically set internally and gives the range
of the synchronous position command values of an axis operated in the oper‐
ation modes "phase synchronization", "cam" or "MotionProfile".
The data of the following parameters are used for calculation:
● P-0-0156, Master drive gear input revolutions
● P-0-0157, Master drive gear output revolutions
● P-0-0159, Slave drive feed travel
● P-0-0750, Master axis revolutions per master axis cycle
● P-0-0755, Gear reduction
● S-0-0103, Modulo value
Use This applies to modulo scaling:
Fig. 4-43: Modulo Scaling

For the operation modes "cam" and "MotionProfile", a linear, phase-synchro‐
nous gear reduction path can be activated via bit 4 of "P-0-0086, Configura‐
tion word synchronous operation modes". If "P-0-0755,, Gear reduction"!=
"0", the command value cycle is calculated according to the following formu‐
la.
Fig. 4-44: Cam

The command value cycle can be selected in parameter "P-0-0155, Synchro‐
nization mode" as a range for synchronization. With "P-0-0751, Synchroniza‐
tion divisions per command cycle slave axis", a division of the command val‐
ue cycle can be defined. This division can also be selected for synchroniza‐
tion in "P-0-0155".
S-0-0077 /
S-0-0078
4.5.31 P-0-0755, Gear reduction

Hardware --
Function This parameter is used to set a movement that is phase synchronous with the
master axis, in the operation modes "cam" and "MotionProfile". With an end‐
lessly turning axis, the forward movement is realized with the linear compo‐
nent, the compensatory movements via the cam.
The linear component is switched on by bit 4 of "P-0-0086, Configuration
word synchronous operation modes".
Use The following parameters are used to calculate the additive synchronous po‐
sition command values XSynchAdd:
● P-0-0776, Effective master axis position
● P-0-0061, Angle offset begin of profile
● P-0-0755, Gear reduction
● S-0-0103, Modulo value
Depending on the type of position scaling, the following formulas are used to
calculate the additive synchronous position command values XSynchAdd.
Fig. 4-45: Generating the Additive Synchronous Position Command Value With
Modulo Scaling
When using the parallel phase-synchronous movement, it is nec‐

essary to set modulo position scaling.

4.5.32 P-0-0756, Virtual master axis, scaling type

Contained in 18VRS: «MPB» «-» «-» «MPC»
Hardware --
Function This parameter defines the scaling type, the measurement unit and the pro‐
cessing format for the position/velocity and acceleration data for the virtual
master axis. The jerk is not mentioned separately because the jerk data are
derived from this parameter.
The position data and the velocity data have 4 decimal places.
Acceleration and jerk have 2 decimal places.
Structure
Bit Position data Velocity data Acceleration data

2-0 Scaling type: Scaling type: Scaling type:
001: Linear scaling 001: Linear scaling 001: Linear scaling
010: Rotary scaling 010: Rotary scaling 010: Rotary scaling
4 Unit for linear scaling Unit for linear scaling Unit for linear scaling
0: Millimeter [mm] 0: mm/min1: in/min 0: mm/s2
1: Inch [in] Unit for rotary scaling 1: in/s2
Unit for rotary scaling 0: Revolution [r/min] Unit for rotary scaling
0: Angular degree 1: Reserved 0: Radiant [rad/s2]
1: Reserved 1: Reserved
7 modulo format Irrelevant Irrelevant
0: Absolute scaling
1: Modulo scaling
Tab. 4-125: P-0-0756, Virtual master axis, scaling type

4.5.33 P-0-0757, Virtual master axis, modulo value

Hardware --
Function When bit 7 was set to "1" in parameter "P-0-0756, Virtual master axis, scaling
type", parameter "P-0-0757, Virtual master axis, modulo value" determines
the numeric range in which the virtual position data run (0 to modulo value).
Use The unit of the parameter corresponds to the selected scaling of the position
data.
4.5.34 P-0-0758, Virtual master axis, actual position value

Hardware --
Function The parameter displays the virtual position feedback value.

In the operating mode with deactivated master axis generator (P-0-0917,
Control word of master axis generator, bit 0 = 0), it is possible to pre-initialize
the position feedback value.
min./max.: -214748,3648 /
214748,3647
4.5.35 P-0-0759, Virtual master axis, actual velocity value

Hardware --
Function This parameter displays the virtual actual velocity value. When switching to
the operating mode, the actual velocity value is initialized with 0.
Use With the master axis generator deactivated ("P-0-0917, Control word of mas‐
ter axis generator", bit 0 = 0), it is possible to pre-initialize the actual velocity
value in the operating mode. This can be necessary, for example, when
switching from a master axis (P-0-0052, P-0-0053) to the internal virtual mas‐
ter axis "P-0-0761, Master axis position for slave axis" in control.
min./max.: -214748,3648 /
214748,3647
4.5.36 P-0-0760, Virtual master axis, positioning control word

Hardware --
Function This parameter is used as control word for virtual positioning.

Structure
0 Applying positioning command values
Applied by toggling
2/1 Activating the positioning MPx-17VRS
00: Positioning active, started when bit 0 changes and above
Positioning aborted by: Changes be‐

come effective
01: Infinite travel in positive direction when bit 0
10: Infinite travel in negative direction changes.
11: Stopping the axis (positioning stop)
3 Type of positioning command value MPx-17VRS
0: Absolute and above
1: Relative Applied at the

start of a new
positioning pro‐
cedure
4 Dedicated point for positioning command values MPx-17VRS

0: Last effective target position and above
1: Current actual position value Applied at the

start of a new
positioning pro‐
cedure
12 Activating the secondary master
0: Positioning mode
1: Secondary master
Tab. 4-126: P-0-0760, Virtual master axis, positioning control word

Use Bit 4: Dedicated point for positioning command values
Bit 4 = 0: Reference for positioning is previous target position (P-0-0767), i.e.
any residual path is taken into account for positioning.
Bit 4 = 1: Reference for positioning is the current actual position value
(P-0-0758), any residual path is not traveled.
In the context of absolute positioning procedures, bit 4 only has to

be taken into account with modulo mode of the virtual master axis
generator.
Bit 12: Activating the secondary master

If bit 12 has been set, the phase-synchronous motion of the secondary mas‐
ter (P-0-0761) to a primary master is active. The primary master is defined
via parameter "P-0-0924, Selection primary master". If bit 12 has been set,
the less significant bits are without effect in "P-0-0760".
Memory: -- Validity ch.: PM->OM Format: BIN
4.5.37 P-0-0761, Master axis position for slave axis

Hardware --
Function This parameter contains the value of the signal source specified by parame‐
ter "P-0-0916, Master axis format converter signal selection", wherein this
value has been converted to master axis format. The master axis format of
the internal virtual master axis VmAxisInt (P-0-0761) is defined via "P-0-0917;
bit 4".

4.5.38 P-0-0762, Virtual master axis, velocity limit value

Hardware --
Function This parameter is used during "dynamic jerk adjustment" to define the limit up
to which an increase in velocity is allowed. In addition, a specified positioning
velocity is checked and limited.
4.5.39 P-0-0763, Modulo factor, master axis format converter

Hardware --
Function This parameter defines the master axis cycle/modulo value for generating the
internal virtual master axis position VmAxisInt "P-0-0761, Master axis position
for slave axis" provided it was previously switched to effective by setting
"P-0-0917; bit 4".
P-0-0763 > 0
The value of this parameter defines the number of master axis revolutions
per master axis cycle of the internal virtual master axis. The master axis cycle
of the internal virtual master axis comprises a range from 0 increments to
P-0-0763 * 2 P-0-0773 - 1 increments.
The modulo value of the internal virtual master axis then corresponds to
P-0-0763 * 2 P-0-0773 increments.
P-0-0763 = 0
In this case, the master axis cycle ranges from -2 31 increments to 2 31 - 1
increments. This corresponds to 2(32 - P-0-0773) master axis revolutions.
The default setting of the parameter is not active.
This parameter is used in cases where the generated internal vir‐

tual master axis VmAxisInt is used as master axis source for re‐
mote axes having a master axis format that differs from the CCD
master axis/local axis.


4.5.40 P-0-0764, Master axis speed

Hardware --
Function The master axis speed corresponds to the difference of the master axis val‐
ues of parameter "P0-0775, Resulting master axis position" per position loop
interrupt of the drive. The master axis speed is given in rpm.
See also Functional Description: "Synchronization Modes"
4.5.41 P-0-0765, Modulo factor measuring encoder

Hardware --
Function The parameter "P-0-0765, Modulo factor measuring encoder" defines the ab‐
solute range of the measuring encoder.
Use The input is a factor of 2 P-0-0084, number of bits per master axis revolution. Therefore, the
following applies:
Measuring encoder modulo range = measuring encoder modulo factor * 2
P-0-0084
If the value 0 is input for "P-0-0765", the position data range of the measuring
encoder is from -2 31 incr. to 2 31 -1 increments.
This corresponds to 2 (32 - P-0-0084) measuring encoder revolutions
The measuring encoder is evaluated and displayed in this range. If the modu‐
lo factor of the measuring encoder * 2 P-0-0084 is smaller than the absolute dis‐
play range of the measuring encoder (is automatically defined by the selected
encoder), bit 6 is set in the parameter "P-0-0328, Type of position encoder for
measuring encoder" (absolute encoder evaluation is possible).

4.5.42 P-0-0766, Virtual master axis, positioning command value

Hardware --
Function This parameter is used to specify the target position (absolute position) or a
relative travel distance for the master axis generator.
The effective target position to which the virtual axis positions can
be read at any time from "P-0-0767, Virtual master axis, effective
target position"!
After the drive has been switched on, the value of "P-0-0766" is
set to zero.
Use When the edge of bit 0 of "P-0-0760, Virtual master axis, positioning control
word" is changed, the master axis generator travels to a virtual axis position
which corresponds to "P-0-0766, Virtual master axis, positioning command
value", this being controlled by an internally generated position command val‐
ue.
The master axis generator takes the following additional positioning data into
account:
● P-0-0770, Virtual master axis, positioning velocity
● P-0-0771, Virtual master axis, positioning acceleration
● P-0-0772, Virtual master axis, positioning deceleration
● P-0-0913, Virtual master axis, positioning jerk
min./max.: -214748,3648 /
214748,3647
4.5.43 P-0-0767, Virtual master axis, effective target position

Hardware --
Function Via this parameter the current target position (absolute position) can be read
when the virtual master axis is positioned.
Use The parameter is initialized depending on the following settings:
● the value of "P-0-0766, Virtual master axis, positioning command value",
if it has been defined as absolute target position,
● the sum of the previous value of "P-0-0767, Virtual master axis, effective
target position" and "P-0-0766, Virtual master axis, positioning com‐
mand value", if the new target position relates to the previous target po‐
sition ( "P-0-0760, Virtual master axis, positioning control word", bit 4 = 0
(previous target position)),
● the sum of the actual position value "P-0-0758, Virtual master axis, ac‐
tual position value" and "P-0-0766, Virtual master axis, positioning com‐
mand value" at the time toggling takes place, if the target position re‐
lates to the current actual position value (P-0-0760, bit 4 = 1 (current ac‐
tual position value)).
4.5.44 P-0-0768, Virtual master axis, positioning status

Hardware --
Function The parameter is formed while the virtual master axis is active. The parame‐
ter contains status bits of the virtual positioning generator.
Structure
0 Target position reached P-0-0767 = P-0-0758
1 Acknowledgement bit P-0-0760, Virtual master axis, posi‐
tioning control word, bit 0
2 IN_TARGET POSITION = (|P-0-0767 - P-0-0758 | <
P-0-0911) && | P-0-0759 | < P-0-0912
3 Interpolator stopped
4 Constant command velocity
5 Drive accelerates
6 Drive decelerates
8 Synchroniz. of second. master completed
12 Jog mode active (P-0-0760, bits 1 and 2)
Tab. 4-127: P-0-0768, Virtual master axis, positioning status

Use When the bit is set, the secondary master (P-0-0761) moves synchronously
with the primary master either relatively or absolutely.
4.5.45 P-0-0769, Virtual master axis, command value mode

Hardware --
Function In the case of virtual modulo scaling, this parameter defines the allowed di‐
rection of rotation of the "virtual master axis" of the master axis generator for
positioning processes.
Structure
1/0 00: positive direction

Only positive direction of rotation is allowed for position‐
ing (relative/absolute).
01: negative direction
Only negative direction of rotation is allowed for posi‐
tioning (relative/absolute).
10: shortest distance
Both positive and negative directions of rotation are al‐
lowed for positioning (relative/absolute).
Tab. 4-128: P-0-0769, Virtual master axis, command value mode

4.5.46 P-0-0770, Virtual master axis, positioning velocity

Hardware --
Function This parameter presets the velocity command value (positioning velocity
command value) of the virtual master axis.
4.5.47 P-0-0771, Virtual master axis, positioning acceleration

Hardware --
Function This parameter presets the acceleration command value of the virtual master
axis.

4.5.48 P-0-0772, Virtual master axis, positioning deceleration

Hardware --
Function This parameter presets the deceleration command value of the virtual master
axis.
4.5.49 P-0-0773, Number of bits per master axis revolution, format converter
Hardware --
Function This parameter defines the resolution of the internal virtual master axis
VmAxisInt "P-0-0761 Master axis position for slave axis" provided it was pre‐
viously switched to effective by setting bit 4" Master axis format of internal vir‐
tual master axis (VmAxisInt)" of parameter "P-0-0917, Control word of master
axis generator". The numerical value corresponds to the exponent of a power
of two. The default setting of this parameter is 20. As a result, one master ax‐
is revolution corresponds to 2 20 (1048576) increments per master axis revo‐
lution. If bit 4 of parameter "P-0-0917" is not set (default setting), the resolu‐
tion of the internal virtual master axis VmAxisInt "P-0-0761, Master axis posi‐
tion for slave axis" is defined by parameter "P-0-0084, Number of bits per
master axis revolution".
This parameter is used in cases where the generated internal vir‐

tual master axis VmAxisInt is used as master axis source for re‐
mote axes having a master axis format that differs from the CCD
master axis/local axis.

4.5.50 P-0-0774, Virtual master axis, positioning window shortest distance

Hardware --
Function This parameter allows determining a symmetrical position range relative to

the current position (target position window). Within the symmetrical position
range it is always possible to move to a target position over the shortest dis‐
tance even if only one direction of movement has been determined for posi‐
tioning in "P-0-0769, Virtual master axis, command value mode".
4.5.51 P-0-0775, Resulting master axis position

Hardware --
Function The resulting master axis position is the master axis position which takes ef‐
fect at the input of the master drive gear in the synchronous operation
modes. Depending on the parameterization, the resulting master axis position
consists of several different master axis positions and is generated in the
drive in the position loop clock.
Use The resulting master axis position consists of the sum of three master axis
positions.
Position synchronization or velocity synchronization active:
Generation is defined via bit 7 and 6 of parameter "P-0-0088, Control word
synchronization modes".
Bits 7/6 Master axis P-0-0775
00 P-0-0053 P-0-0053 +P-0-0054 + P-0-0692
01 P-0-0761 as of MPx-17V06 P-0-0761 + P-0-0054 + P-0-0692
10 P-0-0052 P-0-0052 +P-0-0054 + P-0-0692
11 P-0-0787 as of MPx-17V06 -P-0-0787 + P-0-0054 + P-0-0692
Other active synchronous operation modes:

● Synchronous operation mode with real master axis:
P-0-0775 = P-0-0052 + P-0-0054 + P-0-0692
● Synchronous operation mode with virtual master axis:
The resulting master axis position is generated as follows depending on
bits 7 and 6 of parameter "P-0-0088, Control word synchronization
modes":
– Bit 7/6 = x0: P-0-0775 = P-0-0053 + P-0-0054 + P-0-0692
– Bit 7/6 = 01: P-0-0775 = P-0-0761 + P-0-0054 + P-0-0692 as of
MPx-17V06
– Bit 7/6 = 11: P-0-0775 = P-0-0787 + P-0-0054 + P-0-0692 as of
MPx-17V06
No synchronous operation mode active:
If function package "IndraMotion MLD" is activated or one of the two synchro‐
nous operation modes (position synchronization or velocity synchronization)
is configured, the following is applicable:
Bits 7/6 Master axis P-0-0775

00 P-0-0053 P-0-0053 +P-0-0054 + P-0-0692
01 P-0-0761 as of MPx-17V06 P-0-0761 + P-0-0054 + P-0-0692
10 P-0-0052 P-0-0052 +P-0-0054 + P-0-0692
11 P-0-0787 as of MPx-17V06 P-0-0787 + P-0-0054 + P-0-0692
If the additive "IndraMotion MLD" function package is not activated and none
of the two "position synchronization or velocity synchronization" modes is
configured, then the following applies:
● Synchronous operation mode with real master axis
P-0-0775 = P-0-0052 + P-0-0054 + P-0-0692
● Synchronous operation mode with virtual master axis
The resulting master axis position is generated as follows depending on
bits 6 and 7 of parameter "P-0-0088, Control word synchronization
modes":
– Bit 7/6 = X0: P-0-0775 = P-0-0053 + P-0-0054 + P-0-0692
– Bit 7/6 = 01: P-0-0775 = P-0-0761 + P-0-0054 + P-0-0692 as of
MPx-17V06
– Bit 7/6 = 11: P-0-0775 = P-0-0787 + P-0-0054 + P-0-0692 as of
MPx-17V06
4.5.52 P-0-0776, Effective master axis position

Hardware --
Function The effective master axis position is the resulting master axis position
"P-0-0775" after the master drive gear "P-0-0157/P-0-0156" and the gear ra‐
tio fine adjustment "P-0-0083". With modulo scaling, the effective master axis
position is limited to 2 P-0-0084. The parameter is only generated with active
synchronous operation mode.

4.5.53 P-0-0777, Effective master axis velocity

Hardware --
Function The effective master axis velocity is "P-0-0764, Master axis speed" after the
master drive gear P-0-0157/P-0-0156 and the gear ratio fine adjustment
P-0-0083.
4.5.54 P-0-0778, Synchronous position command value

Hardware --
Function The synchronous position command value is the synchronous position com‐
mand value of the slave axis derived from the resulting master axis position
(P-0-0775). It is determined depending on the synchronous operation mode
with outer position control loop that has been set.
S-0-0077 /
S-0-0078
4.5.55 P-0-0779, Synchronous velocity

Hardware --
Function The synchronous velocity is the differentiated synchronous position com‐

mand value P-0-0778 per controller cycle.
See also Functional Description "Phase Synchronization with Real/Virtual
Master Axis"

S-0-0045 /
S-0-0046
4.5.56 P-0-0780, Cam table 3

Hardware --
Function Parameter "P-0-0780" contains a table with data points tab (φ) for the profile
of cam 3.
Axis"
Use Rexroth IndraDrive supports up to 8 cam tables which can be divided into the
following groups:
P-0-0781)
P-0-0785)


min./max.: -799,999999 /
799,999999
4.5.57 P-0-0781, Cam table 4

Hardware --
Function Parameter"P-0-0781" contains a table with data points tab (φ) for the profile
of cam 4.
See also Functional Description of Operation Mode "Electronic Cam With Re‐
al/Virtual Master Axis"
following groups:
P-0-0781)
P-0-0785)


min./max.: -799,999999 /
799,999999
4.5.58 P-0-0782, Cam table 5

Hardware --
cam 5.
Axis"
following groups:
P-0-0781)
P-0-0785)


min./max.: -799,999999 /
799,999999
4.5.59 P-0-0783, Cam table 6

Hardware --
cam 6.
See also Functional Description of the operation mode "Electronic Cam With
Real/Virtual Master Axis"
following groups:

P-0-0781)
P-0-0785)


min./max.: -799,999999 /
799,999999
4.5.60 P-0-0784, Cam table 7

Hardware --
cam 7.
Axis"
following groups:
P-0-0781)
P-0-0785)


min./max.: -799,999999 /
799,999999
4.5.61 P-0-0785, Cam table 8

Hardware --
Function Parameter"P-0-0785" contains a table with data points tab (φ) for the profile
of cam 8.

Axis"
following groups:
P-0-0781)
P-0-0785)


min./max.: -799,999999 /
799,999999
4.5.62 P-0-0786, Modulo value actual value cycle

Hardware --
Function The parameter P-0-0786 is used to display the modulo value for the actual
value cycle. It is the range for parameter "P-0-0753, Position actual value in
actual value cycle".
S-0-0077 /
S-0-0078
4.5.63 P-0-0787, Group axis 1 position

Hardware --
Function "Group axis 1 position" serves as group axis between the IndraMotion MLD-
M and a higher-level control or as a second virtual master axis which is iden‐
tical with the virtual master axis position in "P-0-0053, Master axis position".
The group axis is used to specify cyclic master axis command values at time-
equidistant intervals (NC clock).
"P-0-0787" is used as primary master axis for secondary master axis opera‐
tion or directly as primary master axis for the master axis format converter of
the virtual axis.
"P-0-0787" serves as a second virtual master axis for the real synchronous
operation modes in addition to the following master axes:
● P-0-0053, Master axis position
● P-0-0761, Master axis position for slave axis
See also Functional Description "Virtual Master Axis Generator"
4.5.64 P-0-0788, Group axis 1 position, fine-interpolated

Hardware --
Function This parameter displays the group axis position of parameter "P-0-0787,
Group axis 1 position" fine interpolated with regard to the position loop clock.
4.5.65 P-0-0789, Master axis position, fine-interpolated

Hardware --
Function This parameter displays the master axis position of the parameter "P-0-0053,
Master axis position" fine interpolated with regard to the position loop clock.
4.6 P-0-0800 to P-0-0899 Power supply

4.6.1 P-0-0800, Mains current loop proportional gain
Function "S-0-1708.0.11" replacement parameter for communication interfaces which
do not support any 32-bit ident numbers (EIDN).
4.6.2 P-0-0801, DC bus voltage controller, proportional gain

4.6.3 P-0-0802, DC bus voltage controller, integral action time

4.6.4 P-0-0803, Mains current loop integral action time

4.6.5 P-0-0804, Effective active-current generating component, command

value
4.6.6 P-0-0805, Effective reactive-current generating component, cmd

value
4.6.7 P-0-0806, Current mains voltage crest value

Function As of MPx-19VRS: "S-0-1702.0.1" replacement parameter for communication

interfaces which do not support any 32-bit ident numbers (EIDN).
For HCS03 devices (converters), this parameter displays the current crest
value of the mains voltage. This parameter does not exist for HCS01/02 and
HCQ/HCT devices (converters) and inverters (HMS, HMD).
4.6.8 P-0-0807, Active-current generating component, actual value

4.6.9 P-0-0808, Reactive-current generating component, actual value

4.6.10 P-0-0809, Properties of charging circuit

Hardware Cs, HCQ, HCS02, HCS03, HCS04, HCT, HMS, KMV, Mi, Mn
Function This list parameter displays the data for the soft-start charging circuit. It is
stored in the power section in non-volatile form.
See also Functional Description "Power Supply"
Memory: LT_SP Validity ch.: PM->OM Format: DEC_OV
4.6.11 P-0-0810, Minimum mains crest value

Function For HCx converters, it is possible to set an individual minimum value for the
crest value of the mains voltage in this parameter. This value is only effective,
if it is greater than the minimum value of the mains connection voltage range!
For HCS01/2 and HCQ/HCT If the mains crest value, when the converter is switched on, is lower than the
value in P-0-0810, the diagnostic message "E2814 Undervoltage in mains" is
generated.
For HCS03 If the mains crest value, when the converter is switched on or operated, is
lower than the value in P-0-0810, the diagnostic message "E2814 Undervolt‐
age in mains" is generated.
For HCS devices, the mains voltage crest value detected when
switching on is displayed in "P-0-0815, Nominal mains voltage
crest value"!

4.6.12 P-0-0815, Nominal mains voltage crest value

Hardware --
Function With converters (HCS), this parameter shows the nominal line voltage crest
value, which was measured the first time the supply voltage was connected
after the control voltage was switched on.
The following values can be derived from this:
● Undervoltage in the intermediate circuit (P-0-0815 * 0.75 or 0.66 during
single-phase operation)
● Minimum switch-on voltage of a braking resistor (1.08 * P-0-0815)
4.6.13 P-0-0816, Amplifier temperature 2

Hardware --
Function Indicates the current temperature of a second temperature sensor on the

power section. This sensor is available for HCS03.1 devices.
The parameter P-0-0816 is always available, even if there is no second tem‐
perature sensor available. In this case the value "0" is displayed.
The corresponding warning and switch-off thresholds are "E2040 Amplifier
overtemperature 2 prewarning" and "F2040 Amplifier overtemperature 2 shut‐
down".
Unit: S-0-0208 Extr. val. ch.: -- Decim. pl.: 1
4.6.14 P-0-0817, Amplifier temperature 3

Hardware HCS02, HCS03, HCS04, HMS
Function This parameter displays the current temperature of a third temperature sen‐
sor on the power section. This sensor is provided in HCS04.2 devices with
higher power. If the device is not provided with a third temperature sensor,
P-0-0817 always displays a value of "0".
Use The related warning and shutdown thresholds are "E2040 Device overtem‐
perature 2 prewarning" and "F2040 Device overtemperature 2 shutdown".

4.6.15 P-0-0819, Energy counter

Hardware --
Function This parameter displays the energy which was supplied to the drive. The en‐
ergy is determined by means of the operating time as the sum of the effective
power.
Memory: RETAIN_KUNDE Validity ch.: -- Format: DEC_MV
Unit: kWh Extr. val. ch.: -- Decim. pl.: 2
min./max.: -20000000,00 /
20000000,00
4.6.16 P-0-0833, Braking resistor threshold

Hardware HCS, KMV
Function The braking resistor is only switched on via the firmware if this is required by
the deceleration of the motor. This means that it is switched on whenever the
DC bus voltage is higher than the voltage threshold "P-0-0833, Braking resis‐
tor threshold".
The switch-on threshold is defined by the device, the mains voltage and the
maximum motor voltage "P-0-0853". For devices that operate up to 220V, the
switch-on threshold is always defined at 390V.
If devices with an input voltage range of 200V - 500V are used, the threshold
of the braking resistor is reduced (for connected motors with reduced voltage
resistance). The switch-on threshold is always at least 20% over the peak of
the current mains voltage.
See functional description "Information on the braking resistor and the DC
bus resistor unit HLB01"
Use If HLB01 resistor units are used, they are to be operated in "independent of
mains voltage" mode. This way, only motors with a minimum voltage resist‐
ance of 900V can be operated.
● When converters are operated in parallel operation or group

supply, make sure that the switch-on/switch-off thresholds
are the same. The motor with the lowest voltage resistance
defines the switch-on threshold of the braking resistor.
● If braking resistor units of the HLB01 type are used for moni‐
toring the DC bus voltage, bit 12 = 1 is to be set in parame‐
ter "P-0-0860, Converter configuration" in all converters of
the HCS03 type connected to the DC bus. This deactivates
the reduction of the regenerative power which has been acti‐
vated at the converter due to the missing braking resistor.

4.6.17 P-0-0844, Thermal load of braking resistor

Hardware HCS, KMV
Function This parameter displays the percentage-based thermal energy currently stor‐
ed in the braking resistor in relation to its maximum allowed energy content.
If the load rises to a value exceeding the prewarning threshold, E2820 Brak‐
ing resistor overload prewarning is displayed. Once a load of 110% is
reached, the device generates error "F2820" and reacts with the error reac‐
tion set for F2 errors. The braking resistor function remains active during the
deceleration phase.
As of MPx-17VRS: The prewarning threshold is defined by parameter
"P-0-0469, Prewarning threshold of therm. load of braking resistor".
To allow a quick check of the thermal load of the braking resistor during a
machining cycle, a value can be written to the display value that is greater
than the current load prior to the machining cycle. If the value after the ma‐
chining cycle is lower than the set value and the value defined in "P-0-0467,
Maximum value thermal load of braking resistor" is lower than 100%, the ma‐
chining cycle is not limited by the braking resistor.
KMV power supply: Once a load of 110% is reached, the device generates
error "F8820" and reacts by switching off the main contactor (bb relay of the
power supply is opened).
4.6.18 P-0-0851, Short-time energy counter

Hardware --
Function Similar to "P-0-0819, Energy counter", this parameter serves to display the
energy consumed by the drive. Resolution is 1 Ws. This allows evaluation of
the energy consumption of individual machining cycles which can take from a
few seconds to as long as several hours. The parameter is not stored and is
zero after the drive has been switched on.
Unit: Ws Extr. val. ch.: -- Decim. pl.: 0
min./max.: -2147483648 /
2147483647
4.6.19 P-0-0853, Max. DC bus voltage, motor

Hardware --
Function If a motor is not suitable for the maximum DC bus voltage defined by the de‐
vice, the maximum allowed DC bus voltage for the motor (output voltage of
the converter) has to be entered in this parameter. This parameter defines
the threshold for switching off the power output stage and the switch-on
threshold of the braking resistor (if present). The reduction becomes effective
if the voltage entered here is lower than the values defined by the device.
Subject to the device, the switch-on voltage of the braking resistor is reduced
as compared with the switch-off threshold of the power output stage.
For Bosch Rexroth motors with encoder data memory (MSK: 950V; MSM:
420V), the parameter is automatically set.
Observe the following aspects for parameterization:
The switch-on voltage of the braking resistor is checked with the mains volt‐
age.
BG 1: The braking resistor switch-on voltage may not be lower than 108% of
"P-0-0815, Nominal mains voltage crest value".
4.6.20 P-0-0858, Data of external braking resistor

Hardware HCS, KMV
Function The type data of an externally connected braking resistor are set for the con‐
verter in this list parameter.
The HLR braking resistors which can be used are assigned to the corre‐
sponding HCS devices in the documentation "Rexroth IndraDrive, Supply
Units and Power Sections; Project Planning Manual".
The type data of the HLR braking resistors are contained in the documenta‐
tion "Rexroth IndraDrive, Additional Components; Project Planning Manual".
The list parameter has the following structure:
List ele‐ Name Unit Decimal pla‐ Length

ment no. ces in
bytes
0 Nominal braking resistance ohm 4 4

1 Braking resistor continuous power W 4 4
2 Max. regenerative power to be absor‐ KWs 4 4
bed
3 MPx-17VRS and below: Braking resis‐ V 4 4
tor switch-on threshold
MPx-18VRS and above: List element
not available
4 Not supported 4 4
MPx-18VRS and above: List element
not available
Tab. 4-129: Data of external braking resistor

● To control an external braking resistor, this has to be configured in pa‐
rameter "P-0-0860, Converter configuration".
● If the braking resistor control has been activated in "P-0-0860, Convert‐
er configuration", the braking resistor data have to be correct. They are
compared to the limit values that depend on the device.
● MPx-17VRS and below:
If the dielectric strength of the motor requires a reduced DC bus voltage,
the default value of the braking resistor switch-on threshold might have
to be reduced, too. The value in the list element no. 3 takes effect as the
braking resistor switch-on threshold, if this has been configured in the
parameter "P-0-0860, Converter configuration".
– HCS01.1E-...-02-... : The value in the list element no. 3 has to be
at least 108 % of "P-0-0815, Nominal mains voltage crest value"
and cannot be higher than 390 V (default).
at least 130 % von "P-0-0815" and cannot be higher than 820 V
(default).
at least 130 % von "P-0-0815" and cannot be higher than 820 V
(default).
● MPx-18VRS and above:
If the dielectric strength of the motor requires a reduced DC bus voltage,
the braking resistor switch-on threshold has to be adjusted, too. This is
done by inputting the maximum allowed DC bus voltage for the motor in
"P-0-0853, Max. DC bus voltage, motor".
If the value entered in the list element no. 3 is too low, this is veri‐
fied when the mains is switched on (HCS03/04) or after the first
soft start (HCS01/02, HCQ, HCT), and the diagnostic message
"F2825 Switch-on threshold braking resistor too low" is gener‐
ated.

4.6.21 P-0-0859, Data of internal braking resistor

Contained in 19VRS: «MPB» «MPE» «-» «MPC» «PSB»
Hardware Cs, HCQ, HCS02, HCS03, HCS04, HCT, HMS, KMV, Mi, Mn
Function For converters the type data of the device-internal braking resistor are dis‐
played in this list parameter. The parameter is stored in non-volatile form in
the power section.
Structure
Element No. Name Unit Decimal places Length in bytes
0 nominal braking re‐ Ohm 4 4

sistance
1 braking resistor con‐ W 4 4
tinuous power
2 max. regenerative kWs 4 4
power to be absor‐
bed
Tab. 4-130: Data of the internal braking resistor

Memory: LT_SP Validity ch.: PM->OM Format: DEC_OV
4.6.22 P-0-0860, Converter configuration

Hardware --
Function This parameter is used to make basic settings for the power section of con‐
verters.
Structure The bits of the parameter have the following significance:
0 Power supply source of the converter With

0: Mains voltage (default) MPx-17VRS
and above in
1: DC bus conjunction
with bit 14
1 HMS/HMD as module bus master MPx-18VRS
0: Deactivated (standard) and above
1: Activated
2 Mains disconnected by the supply unit MPx-19VRS
0: Power off: Mains contactor only opened in the case of and above
supply unit error and "(supply unit) error" signal on
IndraBus/module bus
1: Power off: Mains contactor additionally opened in the
case of "inverter error" on IndraBus/module bus
3 HMV/KMV mains connection PSB-19VRS
0: Three-phase operation and above
1: Single-phase/two-phase operation
4 HMV/KMV mains choke check PSB-19VRS
0: Deactivated and above
1: Activated
7-5 Reserved
8 Braking resistor (internal/external)
0: Internal braking resistor has been activated
1: External braking resistor has been activated, internal
braking resistor has been deactivated.
9 Braking resistor switch-on threshold adjusted depending MPx-17VRS
on load and below
0: Active, threshold is increased, proportionally to the ther‐ Irrelevant in
mal load, up to 30V above the reference value MPx-18VRS
1: Inactive and above. Al‐
ways active if
the device al‐
lows it
11/10 Selecting the braking resistor switch-on threshold (refer‐
ence values)
00: EIN = DC820V (HCS01.1E-....-03-...) or DC390V
(HCS01.1E-....-02-...) (MPx-17VRS and below)
01: ON = list element 3 of "P-0-0858, Data of external
braking resistor" (max. DC820V or max. DC390V, see
above) (MPx-17VRS and below)
11: Braking resistor deactivated; braking resistor switch-on
threshold increased to 870 V (MPx-18V26 and above)
12 Reserved

13 Phase monitoring of mains voltage Single-phase
0: Deactivated (e.g., for single-phase operation) operation only
possible with
1: Active HCS01
14 Converter at energy buffer (DC bus) With
0: Energy buffer not available MPx-17VRS
and above in
1: Energy buffer available conjunction
with bit 0
15 Reserved

● Bit 0: Power supply
This bit defines whether the converter is supplied with power via the
mains connection (converter operation, default) or via the DC bus (inver‐
ter operation).
In a converter the supply unit and inverter are combined in one

device.
Bit 0 and bit 14: Power supply, operating mode, MPx17VRS and above
It is possible to configure a converter, such as HCS01, as an inverter. The
different modes are described below.
Operating mode Use Parameterization To be noticed

of the converter
Converter mode The converter is supplied with P-0-0860, bit 0 = "0" P-0-0114 can be used (it is possible to
(default setting) mains voltage; if applicable, other and bit 14 = "0" increase the undervoltage threshold).
inverters, but not a DC energy buf‐
fer, have been connected to its DC
bus.
Converter mode The converter is supplied with P-0-0860, bit 0 = "0" ● Setting for pitch drives of wind
with energy buffer mains voltage; if applicable, other and bit 14 = "1" power stations, for example.
in DC Bus inverters, plus a DC energy buffer, ● Status message "Ab" even without
have been connected to its DC bus. available mains voltage, as only
the DC bus voltage is monitored
(P-0-0114).
● No error message in the event of
mains failure.
Inverter mode The converter is exclusively sup‐ P-0-0860, bit 0 = "1", P-0-0114 is irrelevant
plied via the DC bus connection on bit 14 is irrelevant.
the DC side; any available DC en‐
ergy buffer is irrelevant to parame‐
terization.
P-0-0114 Undervoltage threshold

Tab. 4-132: Differences of the individual operating modes
Supplementary instructions on Select the converter at energy buffer setting whenever a converter
converters with energy buffer in (HCS01/HCQ/HCT) is to be operated without mains supply, i.e. the power
the DC bus
voltage has to be ensured via an energy buffer connected on the DC side. In

this mode, the "Ab" status message (ready for power output) is exclusively
derived via the parameter "P-0-0114, Undervoltage threshold".
If an energy buffer is available, the undervoltage threshold

(P-0-0114) has to be set to a value lower than the output voltage
of the energy buffer.
● Bit 9: Braking resistor switch-on threshold adjusted depending on load
If multiple HCS devices are connected via the DC bus, the load of the
braking resistors has to be balanced. This is achieved by increasing the
switch-on and switch-off thresholds in directly proportional form to the
thermal load of the braking resistor controlled by the device. The maxi‐
mum increase is 30 volt above the reference value. This ensures equal
thermal load for all braking resistors.
This bit is no longer relevant in MPx-18VRS and above. The load-de‐
pendent increase in the braking resistor switch-on threshold is not active
for devices of size 1 (230V supply). For all other devices the function is
always active.
The current braking resistor switch-on threshold is displayed in

"P-0-0833".
● Bit 11/10: Selecting the braking resistor switch-on threshold (reference

value)
If the braking resistor switch-on threshold is dynamic, it is increased de‐
pending on the load. There are selection and adjustment options for the
reference value at 0 percent of thermal braking resistor load.
In MPx-18VRS and above, the braking resistor switch-on threshold is
derived from the dielectric strength of the motor (P-0-0853).
In an axis group with an external braking resistor, the braking resistors
of drives with an internal braking resistor can be deactivated to reduce
the temperature rise in the control cabinet.
● Bit 13: Phase failure monitoring
HCS01 devices can monitor the connected phases of the mains and di‐
agnose the failure of one or two phases with "F2818 Phase failure". If
devices are operated in single-phase mode (provided they are approved
for this mode), phase monitoring of the mains voltage has to be deacti‐
vated!
If devices are not suitable for permanent single-phase operation,

deactivating the phase failure monitoring causes the maximum
and continuous currents to be reduced to 25% of the nominal val‐
ues.


4.6.23 P-0-0861, Power supply status word

Hardware --
Function This parameter is used to display the state of the power supply.
Structure
0 Drive ready for power output

0: No
1: Yes
1 Soft start procedure completed (converters only)
0: No
1: Yes
2 Mains voltage available (converters only)
0: No
1: Yes
3 Supply ready for power output
0: No, DC bus "not ok"
1: Yes, DC bus "ok"
4 Soft start error (converters only)
0: No
1: Yes
5 Soft start relay supplied with current (converters only)
0: No
1: Yes
6 Converter supply unit error F28xx (converters only)
0: No
1: Yes
7 Braking resistor overload warning active
0: No
1: Yes
8 3 phases available
0: No
1: Yes
9 Supply ready for operation / BB relay status BB relay sta‐
0: No / BB relay contact opened tus, for con‐
verters only.
1: Yes / BB relay contact closed

10 E2040 Device overtemperature 2 prewarning Temperature
sensor 3 active
0: No
1: Yes
11 F2040 Device overtemperature 2 shutdown or F2022 De‐
vice temperature monitor defective Temperature sensor 3
active?
0: No
1: Yes
12 E2050 Device overtemp. prewarning active
0: No
1: Yes
13 F2018 Device overtemperature shutdown or F2022 Device
temperature monitor defective active
0: No
1: Yes
14 E2040 Device overtemperature 2 prewarning active
0: No
1: Yes
15 F2040 Device overtemperature 2 shutdown or
F2022 Device temperature monitor defective (for tempera‐
ture measurement 2) active
0: No
1: Yes
Tab. 4-133: Power supply status word

4.7 P-0-0900 to P-0-0999 Encoder emulation

4.7.1 P-0-0900, Encoder emulation signal selection list
Hardware EM
Function The following table represents the signals possible for emulation and their
special features with regard to emulation.
Incremental encoder emulation
Emulation signal Scaling Scaling Sources for signal Handling of signal

(P-0-0901.0.3, En‐ P-0-0901.0.4, En‐ jumps jumps
coder emulation res‐ coder emulation
olution) zero pulse offset;
P-0-0901.0.5, En‐
coder emulation
zero pulse distance
S-0-0051, Position feed‐ S-0-0076 [mm] or Lines Indirectly by control Internally with ex‐
back value 1 [lines/revolution] via S-0-0148, trapolation on
P-0-0012 changeover
S-0-0053, Position feed‐ S-0-0076 [mm] or Lines Indirectly by control Internally with ex‐
back value 2 [lines/revolution] via S-0-0148, trapolation on
P-0-0012 changeover
S-0-0386, Active position S-0-0076 [mm] or Lines Indirectly by control Internally with ex‐
feedback value [lines/revolution] via S-0-0148, trapolation on
P-0-0012 changeover
P-0-0434, Position com‐ S-0-0076 [mm] or Lines P-0-0901.0.2 via Externally by stop‐
mand value of controller [lines/revolution] controller ping emulation via
the controller
P-0-0052, Actual position [Lines/revolution] Lines Indirectly by control Internally with ex‐
value of measuring en‐ via P-0-0012, trapolation on
coder Internally on mark changeover
detection
P-0-0087 via con‐ Externally by stop‐
troller ping emulation via
the controller
P-0-0775, Resulting mas‐ [Lines/revolution] Lines P-0-0053 via con‐ Externally by stop‐
ter axis position troller ping emulation via
the controller
P-0-0776, Effective mas‐ [Lines/revolution] Lines P-0-0053 via con‐ Externally by stop‐
ter axis position troller, changeover ping emulation via
"AB -> AF" the controller
Encoder 1 signal P-0-4014 [mm] or No parameterization Internally on mark Internally with ex‐
[lines/revolution] possible detection trapolation on
changeover
P-0-0901.0.7, Encoder [Lines/revolution] Lines Externally by stop‐
emulation, external signal ping emulation via
the controller
Tab. 4-134: "Features" of emulator signals

See also functional description "Encoder emulation"
Absolute encoder emulation (SSI encoder emulation)
Emulation signal Scaling (P-0-0901.0.3, En‐ Sources for signal jumps Handling of signal jumps
coder emulation resolution)
S-0-0051, Position feedback Bit per revolution unit [bit] Indirectly by control via Internally with extrapolation
value 1 S-0-0148, P-0-0012 on changeover
S-0-0053, Position feedback Bit per revolution unit [bit] Indirectly by control via Internally with extrapolation
value 2 S-0-0148, P-0-0012 on changeover
S-0-0386, Active position Bit per revolution unit [bit] Indirectly by control via Internally with extrapolation
feedback value S-0-0148, P-0-0012 on changeover
P-0-0434, Position command Bit per revolution unit [bit] P-0-0901.0.2 via controller Externally by stopping emula‐
value of controller tion via the controller
P-0-0052, Actual position val‐ Bit per revolution unit [bit] Indirectly by control via Internally with extrapolation
ue of measuring encoder P-0-0012, on changeover
Internally on mark detection
P-0-0087 via controller Externally by stopping emula‐
tion via the controller
P-0-0775, Resulting master Bit per revolution unit [bit] P-0-0053 via controller Externally by stopping emula‐
axis position tion via the controller
P-0-0776, Effective master Bit per revolution unit [bit] P-0-0053 via controller, Externally by stopping emula‐
axis position changeover "AB -> AF" tion via the controller
P-0-0901.0.7, Encoder emu‐ Bit per revolution unit [bit] Externally by stopping emula‐
lation, external signal tion via the controller
Tab. 4-135: "Features" of emulator signals

4.7.2 P-0-0901.x.1, Encoder emulation signal selection

Hardware EM
Alias: P-0-2340, P-0-2341, P-0-2342, P-0-2343, P-0-2344, P-0-2345,
P-0-2346
Function This parameter serves to configure (control) the incremental and SSI encoder
emulation. It allows defining the signal to be emulated.
Use Supported emulation signals, signal selection list
The signals to be emulated, which are supported by the drive, can be found
in parameter "P-0-0900, Encoder emulation signal selection list".
Configuration
Configuration is achieved by entering the desired IDN from list parameter
"P-0-0900" in parameter "P-0-0901.0.1".
If incremental encoder emulation is activated, it is also possible, if

necessary, to activate a mere emulation of the encoder 1 signal
via bit 12 of "P-0-0901.0.2", irrespective of the setting in
"P-0-0901.0.1"!


4.7.3 P-0-0901.x.2, Encoder emulation control parameter

Hardware EM
Alias: P-0-2348, P-0-2349, P-0-2350, P-0-2351, P-0-2352, P-0-2353,
P-0-2354
Function This parameter is used to configure (control) emulation of the encoder.
Except for bit 7, all changes to P-0-0901.0.2 can only be made in

PM.
See also Functional Description "Encoder Emulation"

1/0 Emulation activation (SSI or incremental)

00: Encoder emulation deactivated
01: Incremental encoder emulation
10: Absolute encoder emulation
4 Dead time compensation (only for IGS)
0: Switched off
1: Active
7 Temporary stop (only for IGS)
0: Emulation active
1: Emulation stopped
10/9/8: Oversampling/overclocking (only for IGS)
000: None
001: 2-fold
010: 4-fold
011: 8-fold
100: 16-fold
101: 32-fold
110: 64-fold
111: 128-fold
12 Emulation type of incremental encoder emulation
0: Signal emulation
1: Motor encoder emulation
Tab. 4-136: Structure of P-0-0901.0.2, Encoder emulation control parameter

Use Observe the following aspects for parameter setting:
● Bit 7 - Temporary stop: Serves to stop the emulator output temporarily.
If the control sets this bit, there will be no further increment output. This
is required in case the control changes the signal to be emulated in
jumps but this jump is not to be emulated because it may result in error
message F2053.
● Bits 10/9/8 - Oversampling/overclocking: Serve to select the overclock‐

ing of the emulator signals in order to increase the resolution of the em‐
ulation signals and to reduce the signal jitter.
An increase in overclocking results in a reduction of the maximum

output frequency (e.g., no oversampling → 4 MHz, 8-fold over‐
sampling → 500 kHz and 128-fold oversampling → 32 kHz).
● Bit 12 - Emulation type of incremental encoder emulation:
The parameterization of bit 12 affects the output of the zero pulse.

If bit 12 = 0, the zero pulse is only output when the drive has been
homed (cf. S-0-0403). If bit 12 = 1, the zero pulse is output imme‐
diately after switchon.
P-0-0901.x.2 - Attributes Function: Par Editable: ++ Data length: 2Byte

Cycl. tra.: MDT Comb. check: + Set-depend.: --
4.7.4 P-0-0901.x.3, Encoder emulation resolution

Hardware EM
Alias: P-0-2356, P-0-2357, P-0-2358, P-0-2359, P-0-2360, P-0-2361,
P-0-2362
Function "P-0-0901.0.3" is used to parameterize the resolution of the emulated incre‐

mental encoder (incremental) or the emulated SSI encoder (absolute).
Units, limit values and reference variables are depending on the

encoder emulation used, the motor type and the scaling parame‐
terized in "S-0-0076".

Use Incremental encoder emulation
If an incremental encoder is emulated, the number of encoder marks of the
incremental encoder to be emulated have to be entered in "P-0-0901.0.3".
Formats and units are variable:
● Rotary encoder: Lines/revolution
● Linear encoder: mm or inch
Observe the following aspects for parameterizing "P-0-0901.0.3":
● Input range for incremental encoder emulation: 1 - 262144 = (2 18)
● The maximum signal frequency of the emulated signals may not exceed
the maximum allowed output frequency of 1 MHz. The number of incre‐
ments has to be adjusted according to the velocity.
If overclocking is increased (P-0-0901.0.2), the maximum output

frequency is reduced (e.g., oversampling of 8 → 1 MHz, with 16 →
500 kHz and with 32 → 250 kHz!).
Example parameterization for incremental encoders with linear scaling:

How high can the maximum number of encoder marks be set with linear scal‐
ing (with load reference), a velocity of max. 3000 rpm, a feed constant of 65
mm, and a gear ratio of 5?
Note: fmax. = 1 MHz, since overclocking is only 8-fold!
If vload = 39000 mm/min = 650 mm/s = 0.65 m/s
P-0-0901.0.3max = vmax/fmax = 650 mm/s /1 MHz = 0.00065 mm = 0.65 µm
SSI emulation:
If an absolute encoder in SSI format is emulated, the desired bit width of the
SSI position to be output has to be entered here.
Formats and units are variable:
● Rotary motor: Bits/revolution
● Linear motor (linear scaling): Bits/mm or bits/inch
Observe the following aspects for parameterizing "P-0-0901.0.3":
● Input range with SSI emulation: 8 bits... 24 bits
● SSI emulation always involves a transfer of 24 bits, wherein the resolu‐
tion of one motor revolution and therefore the absolutely representable
travel range can be defined by the setting in "P-0-0901.0.3".
Example parameterization for SSI emulation:
If "P-0-0901.0.3" = 12 bits/revolution, then one encoder revolution has a reso‐
lution of 12 bits (= 4096 increments) and can be absolutely represented with
a maximum of 212 (4096) revolutions.
Unit: Lines/Rev Extr. val. ch.: + Decim. pl.: 0
4.7.5 P-0-0901.x.4, Encoder emulation zero pulse offset

Hardware EM
Alias: P-0-2364, P-0-2365, P-0-2366, P-0-2367, P-0-2368, P-0-2369,
P-0-2370
Function In case of incremental encoder emulation, this parameter allows offsetting the
position of the zero pulse (reference pulse) within the parameterized zero
pulse distance (P-0-0901.0.5).
Use Observe the following aspects for parameterizing "P-0-0901.0.4":
● Entries can be made in any phase, even during ongoing operation.
However, the drive should be at standstill while a value is entered.
● The input is made in lines of the emulator resolution, with formats and
units being variable as follows:
– Rotary encoder: Lines
– Linear encoder (or linear scaling): mm or inch
The offset has to be less than the zero pulse distance parameter‐
ized in "P-0-0901.0.5".

Unit: Lines Extr. val. ch.: + Decim. pl.: 0
4.7.6 P-0-0901.x.5, Encoder emulation zero pulse distance

Hardware EM
Alias: P-0-2372, P-0-2373, P-0-2374, P-0-2375, P-0-2376, P-0-2377,
P-0-2378
Function This parameter is used to define the distance between two successive zero
pulses during incremental encoder emulation, in relation to the travel dis‐
tance.
Formats, units and maximum values are variable:
● Rotary motor: lines (max value = 2^32 lines)
● Linear motor: mm or Inch (max. value = S-0-0278)
Use Observe the following aspects when parameterizing "P-0-0901.0.5":
● Parameterization of P-0-0901.0.5 = P-0-0901.0.3 (standard case):
One zero pulse per revolution (or per mm) is generated.
● Parameterization of P-0-0901.0.5 < P-0-0901.0.3 (cyclic zero pulse out‐
put):
More zero pulse than one are generated per revolution (or per mm). If,
for example, a zero pulse is required after every 180 degrees,
P-0-0901.0.5 = 0.5 * P-0-0901.0.3 must be parameterized.
Please note that, if cyclic output is selected, no more than one

zero pulse can be output per output cycle (i.e., position loop
clock).
● Parameterization of P-0-0901.0.5 = N * P-0-0901.0.3:

One zero pulse is generated within N revolutions (or per N mm). This al‐
lows, for example, generating only one single zero pulse over the entire
travel range at the machine zero point.
Entering "0" is not allowed.
If one zero pulse is desired per revolution, the value entered in

"P-0-0901.0.3" must also be entered in "P-0-0901.0.5". It is also possible to
output a zero pulse only every x revolutions; in this case, P-0-0901.0.5 = x *
P-0-0901.0.3 is correct.
The value is entered in emulator resolution lines.

Unit: Lines Extr. val. ch.: + Decim. pl.: 0
4.7.7 P-0-0901.x.6, Encoder emulation assignment

Hardware EM
Alias: P-0-2380, P-0-2381, P-0-2382, P-0-2383, P-0-2384, P-0-2385,
P-0-2386
Function This parameter serves to specify the axis which is assigned to the encoder
emulation of the particular optional slot.
In order to assign an axis to the optional slot of the encoder emulation, the
corresponding axis number must be entered in this parameter. This is above
all important for double-axis devices, particularly if only one emulator card is
inserted.
The assignment parameter serves to configure which one of the two axes is
to be emulated by this card.
Example:
P-0-0901.3.6 = 2
This means that the emulator card at interface 3 (see structure instance) em‐
ulates axis 2.

MPx / PSB: min./max.: 1 / s. Text Default value: s. Text
4.7.8 P-0-0901.0.7, Encoder emulation, external signal

Hardware EM
Alias: P-0-2388
Function This parameter specifies an external signal which is to be emulated. To ach‐

ieve this, it can be selected from the "P-0-0901.0.1" signal selection. To emu‐
late signals which are transmitted via the master communication interface,
this parameter must be included in the cyclic telegram.
min./max.: -2147483648 /
2147483647
4.7.9 P-0-0901.0.8, Encoder emulation, modulo value of external signal

Hardware EM
Alias: P-0-2396
Function This parameter serves to the specify the modulo value for processing exter‐
nal supplied emulation signals. The modulo value defines the numerical value
at which the position data overflow to "0" and therefore serves to control the
zero pulse output.
Unit: Incr/Rev Extr. val. ch.: -- Decim. pl.: 0
4.7.10 P-0-0910, SSI control parameter

Hardware --
Function This parameter serves to configure the hardware of the SSI encoder input on
option "MD2".
Structure The following bits are defined:
3... 0 Baud rate:

0001: 125kHz
0011: 250 kHz
0111: 500 kHz
1111: 1,000 kHz
4 Coding:
0: Cray code
1: Binary
7... 5 Error bits:
000: None
001: GA13 (PFB)
010: GA14 (PosErr)
100: GA15 (TransmitterErr)

12... 8 SSI data format => number of transmitted bits
Rotation encoder:
01101: Single-turn
11001: Multi-turn
Linear encoder:
Linear encoder depending on the data format; e.g.:
11000: 24 bits
15 24V monitoring: Deactivation is
0: Activated useful if no IOs
are used.
1: Deactivated
Tab. 4-137: P-0-0910, SSI control parameter

The following aspects have to be observed for use:
● The maximum cable length is directly linked with the baud rate.
● For the data to be set, please refer to the encoder manufacturer's ap‐
propriate data sheet.
4.7.11 P-0-0911, Virtual master axis, positioning window

Hardware --
Function This parameter is used to generate bit 2 of "P-0-0768, Virtual master axis,
positioning status".
See also Parameter Description "P-0-0768, Virtual master axis, positioning
status"
4.7.12 P-0-0912, Virtual master axis, standstill window

Hardware --
Function To recognize the standstill of the virtual master axis a threshold value for the
velocity is entered in this parameter. Standstill is detected, if the absolute val‐
ue of the actual velocity value falls below this threshold. This parameter is re‐
quired to generate bit 2 of P-0-0768, Virtual master axis, positioning status.
See also Parameter Description "P-0-0768, Virtual master axis, positioning

status"
4.7.13 P-0-0913, Virtual master axis, positioning jerk

Hardware --
Function The jerk limits the change in acceleration per time unit in the positioning and
velocity modes of the virtual master axis.
The limit value specified in this parameter is effective if a trapezoidal acceler‐
ation progress is set in parameter "P-0-0917, Control word of master axis
generator". In this case, the value specified can only be exceeded with active
dynamic jerk adjustment.
If a "sine²-shaped acceleration progress" (P-0-0917) is set, the jerk value
specified here is ignored.
4.7.14 P-0-0914, Virtual master axis, velocity threshold positioning

Hardware --
Function By means of this parameter it is possible to set a threshold value for the ac‐
tual velocity.
If the actual velocity is above the threshold value, the drive moves to a target
position without reversing the direction of rotation, even if the setting in
"P-0-0769, Virtual master axis, command value mode" should cause the di‐
rection of rotation to be reversed.
By entering the value "0" the velocity threshold is deactivated, i.e.

drive always moves to the target position as determined in
"P-0-0769, Virtual master axis, command value mode"!


4.7.15 P-0-0915, Master axis format converter IDN list signal selection
Hardware --
Function This parameter specifies all parameters which can be converted into master
axis format.
● S-0-0000, Dummy parameter
● S-0-0051, Actual position value encoder 1
● S-0-0053, Actual position value encoder 2
● S-0-0386, Active position value
● P-0-0048, Effective velocity command value
● P-0-0434, Position command value of controller
● P-0-0457, Position command valu generator
● P-0-0753, Position actual value in actual value cycle
● P-0-0758, Virtual master axis, actual position value
● P-0-0787, Group axis 1 position
● P-0-1270, PLC Global Register A0
● P-0-1771, CCD: Actual value data container 1, Slave 1 4Byte
The number of possible parameters can vary depending on the

firmware derivative.

4.7.16 P-0-0916, Master axis format converter signal selection

Hardware --
Function This parameter is used to select the parameter whose value is to be conver‐
ted into the format of the master axis.
The IDNs of the parameters that can be selected are listed in "P-0-0915,
Master axis format converter IDN list signal selection". It is only possible to
select these parameters!
4.7.17 P-0-0917, Control word of master axis generator

Hardware --
Function This parameter serves to activate and deactivate the virtual master axis gen‐
erator. In addition, it is used to make positioning interpolator settings and to
define the master axis format of the internal virtual master axis VmAxisInt
(P-0-0761, Master axis position for slave axis)-
Structure
0 Master axis generator activation
0: Master axis generator deactivated
1: The master axis generator is activated if the "P-0-0758,
Virtual master axis, actual position value" is entered in pa‐
rameter "P-0-0916, Master axis format converter signal se‐
lection".
2 Selection of acceleration curve As of
0: Trapezoidal MPx-17V08
1: Sine²-shaped
3 Deactivation of dynamic jerk adjustment As of

0: Jerk adjustment active MPx-17V08
1: Jerk adjustment not active

4 Master axis format of internal virtual master axis (VmAxi‐ As of
sInt) MPx-17V10
Note: Can only be edited in parameter mode.
0: Corresponds to the format defined by parameters
"P-0-0750" and "P-0-0084".
⇒ master axis format of synchronous operation modes.
1: Corresponds to the format defined by parameters
"P-0-0763" and "P-0-0773".
⇒ own master axis format (special case)
Use
Bit 2: Selection of acceleration progress for the positioning interpolator
0: The change in acceleration and deceleration during positioning, jogging
and stopping is trapezoidal. The progress is "triangular" if the particular end
value of "P-0-0771" or "P-0-0772" is not reached. The change in acceleration
and deceleration is defined by parameter "P-0-0913, Virtual master axis, po‐
sitioning jerk".
1: The change in acceleration and deceleration during positioning, jogging
and stopping is sine²-shaped. The positioning jerk set in parameter
"P-0-0913" is not taken into account.
If bit 2 = 1, jerk limitation is not active. There will be an accelera‐

tion jump if a current motion is interrupted in the acceleration or
deceleration phase. For this reason, cyclic commanding of the in‐
terpolator should be avoided.
Bit 3: Deactivation of dynamic jerk adjustment

0: The "dynamic jerk adjustment" is active. If the positioning jerk (P-0-0913) is
reduced during an acceleration or deceleration phase, this might result in an
undesired slow degradation of acceleration or deceleration. As a result, the
velocity exceeds the desired target value with overshooting. The "dynamic
jerk adjustment" increases the positioning jerk to such a degree that the
specified "P-0-0762, Virtual master axis, velocity limit value" is not exceeded.
1: The "dynamic jerk adjustment" is switched off.
Bit 4: Master axis format of internal virtual master axis (VmAxisInt)
0: The master axis format of the internal virtual master axis VmAxisInt
(P-0-0761, Master axis position for slave axis) is defined by parameters
"P-0-0750 Master axis revolutions per master axis cycle" and "P-0-0084,
Number of bits per master axis revolution" and corresponds to the master ax‐
is format used by the synchronous operation modes.
1: The master axis format of the internal virtual master axis VmAxisInt
(P-0-0761) is defined by parameters "P-0-0763 Modulo factor, master axis
format converter" and "P-0-0773, Number of bits per master axis revolution,
format converter".
Bit 4 = 1 is required in cases where the generated internal virtual

master axis VmAxisInt is used as master axis source for remote
axes having a master axis format that differs from the CCD mas‐
ter axis/local axis. If bit 4 = 1 in MLD-M system mode, the local
master axis format of the synchronous operation modes (defined
by P-0-0750 and P-0-0084) of the CCD master axis is no longer
automatically set for the CCD slave axes when the CCD phase is
switched from P2 to P4.

4.7.18 P-0-0918, Feed travel internal virtual master axis

Hardware --
Function This parameter is required for the virtual master axis of the internal master
axis generator if the virtual master axis has absolute scaling. The distance
parameterized there corresponds to 2 P-0-0084 increments (one revolution of
the master axis).
4.7.19 P-0-0919, Synchronization mode, secondary master

Hardware --
Function This parameter determines how the secondary master synchronizes with the
primary master.
Structure
Relative synchronization
1 0: Absolute synchronization
1: Relative synchronization
Synchronization range
2 0: 360° (1 master axis revolution)
1: Master axis cycle
Synchronization method
6 0: 2-step synchronization
1: 1-step synchronization

Mode for 1-step synchronization
7 0: Absolutely synchronous with master axis
1: Relatively synchronous with master axis
Optimization of synchronization path
Only effective
9 0: No optimization
when bit 6 = 1
1: Optimization
Tab. 4-138: Synchronization Mode, Secondary Master

Use Bit 1: Absolute synchronization (bit 1 = 0)
The position established in relation to the primary master axis is always abso‐
lute.
Relative synchronization (bit 1 = 1)
The only action is an adjustment of the velocity.
Bit 2: Bit 2 defines the synchronization range in absolute synchronization
mode. The distance to be traveled is limited to this range.
Bit 6: Selection of 1-step synchronization (not in relative synchronization
mode).
Bit 7: Absolutely synchronous with master axis (bit 7 = 0):
The synchronization path has been completely traveled when the primary
master axis reaches the parameterized synchronous position (after gear and
fine adjust).
Relatively synchronous with master axis (bit 7 = 1):
Synchronization starts immediately at the current position of the primary mas‐
ter axis. It is completed after the primary master axis has traveled through the
parameterized synchronization range (after gear and fine adjust). The para‐
meterized synchronous position is ineffective.
Bit 9: Optimization of synchronization path (bit 9 = 1):
If single-step synchronization is selected (bit 6 = 1), the required synchroniza‐
tion path of the secondary master axis is optimized by adding or subtracting
synchronization ranges. This aims at preventing any turning point in the posi‐
tion curve in the added synchronization profile. In this case, there won't be
any maximum in the velocity curve (overshooting) and no change of the ac‐
celeration sign.
Path optimization is only possible with modulo axes.
MPx / PSB: min./max.: 0x0 / 0x3FF Default value: 0x0
4.7.20 P-0-0920, Synchronization acceleration, secondary master

Hardware --
Function This parameter indicates the acceleration or deceleration with which the sec‐
ondary master accelerates or decelerates when its velocity is adjusted to the
velocity of the primary master. For position adjustment, this parameter is

used to set the acceleration and deceleration of the superimposed motion.
Scaling / unit: 1E-3 rad/s2.
4.7.21 P-0-0921, Synchronization velocity, secondary master

Hardware --
Function For position adjustment, this parameter is used to set the velocity of the su‐
perimposed motion.
Scaling / unit: 1E-4 rpm.
4.7.22 P-0-0922, Preferred synchronization direction, secondary master

Hardware --
Function The disttance to be traveled for transition to absolute synchronization is de‐

termined in the second step of synchronization position adjustment).
Where modulo axes are concerned, the overlaid motion of the secondary
master can be made in positive or negative direction. The preferred synchro‐
nization direction defines the direction in which the drive is to move.
Structure
0 Shortest distance
1 Positive direction
2 negative direction
Tab. 4-139: Preferred Synchronization Direction, Secondary Master

Use If the shortest distance to absolute synchronization is shorter than parameter
"P-0-0923, Synchroniz. window for shortest distance, secondary master", the
shortest way distance is traveled while the preferred direction specified is ig‐
nored.

4.7.23 P-0-0923, Synchroniz. window for shortest distance, secondary

master
Hardware --
Function For synchronization of the secondary master, a preferred direction (P-0-0922)

must have been parameterized for position adjustment. This window sus‐
pends the preferred direction within a defined window. If the difference be‐
tween primary master and secondary master is within the window, synchroni‐
zation takes place over the shortest distance. With P-0-0923 = 0, the function
is deactivated.
Scaling / unit: 1E-4 degrees.
4.7.24 P-0-0924, Selection primary master

Hardware --
Function This parameter is used to select the primary master for secondary master op‐
eration of the virtual axis. This functionality is mainly used for the CCD mas‐
ter axis with active MLD-M system mode.
Structure
1/0 00: P-0-0787, Group axis 1 position
01: P-0-0052, Actual position value of measuring encoder
10: P-0-0053, Master axis position
Tab. 4-140: P-0-0924, Selection primary master

4.7.25 P-0-0925, Master drive gear input revolutions, secondary master

Hardware --
Function Together with P-0-0926, this parameter determines the master drive gear
which is used for phase-synchronous operation of the virtual axis.

4.7.26 P-0-0926, Master drive gear output revolutions, secondary master

Hardware --
Function Together with P-0-0925, this parameter determines the master drive gear
which is used for phase-synchronous operation of the virtual axis.
4.7.27 P-0-0927, Master drive gear fine adjustment, secondary master

Hardware --
Function This parameter sets a factor used for phase-synchronous operation of the vir‐
tual axis. With this factor (1 + P-0-0927), the position of the primary master is
multiplied after the master drive gear.
min./max.: -799,999999 /
799,999999
4.7.28 P-0-0928, Additive master axis position, secondary master

Hardware --
Function This parameter allows offsetting the secondary master in relation to the mas‐
ter axis position which is calculated from the primary masster and the elec‐
tronic gear by means of fine adjustment.
The unit of the parameter is degrees and the data has 4 decimal places.
Unit: Deg Extr. val. ch.: -- Decim. pl.: 4
min./max.: -214748,3648 /
214748,3647
4.7.29 P-0-0929, Change velocity of add. master axis posit., secondary

master
Hardware --
Function Parameter "P-0-0929" serves to define the maximum velocity at which the
current value of a "P-0-0928, Additive master axis position, secondary mas‐
ter" is moved to a new one.
The unit of the parameter is rpm and the data has 4 decimal places.
4.7.30 P-0-0930, Change accel. of add. master axis posit., secondary master
Hardware --
Function Parameter "P-0-0930" indicates the acceleration and deceleration with which
"P-0-0928" is changed.
The unit of the parameter is rad/s² and the data has 3 decimal places.
4.7.31 P-0-0931, Synchronous position, secondary master

Hardware --
Function This parameter is only effective during single-step synchronization in secon‐

dary master operation.
This requires that the absolute master-axis-synchronous synchronization
mode is set. These settings are made in parameter "P-0-0919, Synchroniza‐
tion mode, secondary master".
This parameter indicates the position of the primary master, at which the syn‐
chronization motion is completed and the secondary master is synchronous.
The value range is defined by the master axis cycle (P-0-0750).

4.7.32 P-0-0932, Synchronization range, secondary master

Hardware --
Function This parameter specifies the range of the primary master, within which the
synchronization of the secondary master takes place. This specification re‐
fers to the output of the electronic gear of the secondary master.
This parameter is only effective during single-step synchroniza‐

tion in secondary master operation.

4.8 P-0-1000 to P-0-1099 Encoder evaluation

4.8.1 P-0-1000, Kind of encoder 1, encoder memory
Hardware --
Function In the case of motors with encoder data memory (MKE, MSK etc.), the char‐
acteristic value for the type and specific features of encoder 1 (motor encod‐
er) can be read from this parameter.
See also Functional Description: "Rexroth Housing Motors With Encoder Da‐
ta Memory"
Use The value that has been read allows identifying the encoder incorporated in
the motor:
Value of P-0-1000 Encoder type Specific feature

0xc001 EnDat Single-turn encoder
0xe001 EnDat Multi-turn encoder
0x4001 EnDat Length measurement sys‐
tem
0x00x2 HIPERFACE Single-turn encoder
0x00x7 HIPERFACE Multi-turn encoder
0x0011 MSM motor encoder Single- or multi-turn
This parameter is invalid for motors without encoder data memo‐

ry!

Memory: FEEDB_I2C Validity ch.: -- Format: HEX
4.8.2 P-0-1000.x.130, Phys. encoder type plate

Hardware ENC-Profil
Function Summary of structure elements phys. encoder type plate (P-0-1000.0.1 to

P-0-1000.0.10).
4.8.3 P-0-1001, Encoder 1 resolution, encoder memory

Hardware --
Function The value for the motor encoder resolution, that is stored in the encoder data
memory, is stored in this parameter.
In the case of motors with encoder data memory (MSK, MKE etc.), the value
is copied to the effective parameter "S-0-0116, Resolution of feedback 1"
when the controller is initialized (transition to phase 4).
See also Functional Description "Rexroth Housing Motors With Encoder Data
Memory"
Memory: FEEDB_I2C Validity ch.: -- Format: DEC_OV
4.8.4 P-0-1002, Absolute encoder offset 1, encoder memory

Hardware --
Function This parameter is required for homing absolute motor encoders. The value is
the difference between the zero point of the motor encoder and the machine
zero point in the position data format of the motor encoder.
Customers cannot interpret the value!
See also Functional Description "Rexroth Housing Motors with Encoder Data
Memory"
Memory: FEEDBACK Validity ch.: -- Format: HEX

Hardware --
Function In the case of optional encoders with encoder data memory, the characteris‐
tic value for the type and specific features of encoder 2 can be read from this
parameter.
Use The encoder 2 can be identified by the value that has been read:

0x4001 EnDat Absolute encoder lin.
0xc001 EnDat Single-turn encoder rot.
0xe001 EnDat Multi-turn encoder rot.
This parameter is invalid for encoders without data memory!


Hardware --
Function The value for the resolution of the optional encoder (encoder 2), that is stored
in the encoder data memory, is stored in this parameter.
The value is copied to the effective parameter "S-0-0117, Resolution of feed‐
back 2" when the controller is initialized (transition to phase 4).
See also Functional Description "Optional Encoder"


Hardware --
Function This parameter is required for homing absolute optional encoders. The value
is the difference between the zero point of the optional encoder and the ma‐
chine zero point in the position data format of the encoder 2.


Hardware --
Function In the case of measuring encoders with encoder data memory, the character‐
istic value for the type and specific features of encoder 3 can be read from
this parameter.
Use The encoder 3 (measuring encoder) can be identified by the value that has
been read:

0x4001 EnDat Absolute encoder lin.
0xc001 EnDat Single-turn encoder rot.
0xe001 EnDat Multi-turn encoder rot.
Tab. 4-141: Allocation of Value of P-0-1020, Encoder Mode 3, Encoder Memory
This parameter is invalid for encoders without data memory!



Hardware --
Function The value for the resolution of the measuring encoder (encoder 3) that is
stored in the encoder data memory is stored in this parameter.
The value is copied to the effective parameter "P-0-0327, Encoder resolution
of measuring encoder" when the controller is initialized (transition to
phase 4).

Hardware --
Function The parameter "P-0-1022, Absolute encoder offset 3, encoder memory" is re‐
quired for homing an absolute measuring encoder. The value is the differ‐
ence between the zero point of the optional encoder and the machine zero
point in the position data format of the encoder 3 (measuring encoder).

4.8.11 P-0-1031, Content of encoder memory optional slot 1

Hardware --
Function This parameter is used to transfer the encoder data from the encoder memo‐
ry to optional slot x in the control unit parameter memory. The content of the
parameter can only be interpreted by Bosch Rexroth service technicians.

Hardware --
Function This parameters displays the content read of the encoder data memory at op‐
tional slot 2.

Hardware --
tional slot 3.

Hardware --
tional slot 4.

Contained in 17VRS: «MPB» «-» «MPM» «-»
Contained in 19VRS: «MPB» «-» «MPM» «-» «-»
Hardware --
tional slot 5.

Allocation Contained in 17VRS: «MPB» «-» «-» «-»
Hardware --
tional slot 6.
4.8.17 P-0-1044, Master comm. engineering over IP: Status IP

communication
Hardware Virtual Engineering
Function Via parameter P-0-1044, the status information on the current state of IP
communication with engineering over IP can be read at the master communi‐
cation interface of the device. The parameter contains general information on
IP communication and device-dependent information.
Structure The general status information of IP communication is contained in parame‐
ter P-0-1044, preferably in the first 8 bits. The bits 8 to 31 contain the device-
dependent information.
The individual bits of the parameter have the following significance:

1/0 State of internal memory TCP/IP stack
00: No problem with internal memory
01: Internal memory space full
10: Internal memory space intermittently filled
3/2 Reserved
6/4 Default gateway information
000: Not set
001: From master comm. engineering over IP (S-0-1022)
010: From SERCOS III master (CCD) (P-0-1643)
100: From engineering (P-0-1533)
7 Reserved
9/8 Setting of device gateway information
00: No gateway information set
01: Active gateway information manually set
10: Active gateway information automatically generated
11/10 Status of device gateway information
00: Gateway information not used
01: Gateway address which was read is active
10: Gateway address which was read has not been activated
up to now
12 Status of device network mask
0: Network mask which was read is active
1: Network mask which was read has not been activated up
to now
15/13 Reserved
17/16 Setting of device IP address
00: No IP address set
01: Active IP address manually set
10: Active IP address automatically set
20/18 Status of IP address
000: No IP address available for activation
001: IP address which was read is active
010: IP address which was read has not been activated up to
now
100: "Duplicate IP Address", address not active
21 Reserved
22 Validity of device IP settings
0: IP settings valid
1: Invalid IP settings (address and gateway in different net‐
works)

23 Status of IP communication
0: IP communication possible
1: No IP communication possible (resources missing)
25/24 Status of FPGA Rx Buffer Port1
00: FPGA Rx Buffer Port1 able to receive data
01: FPGA Rx Buffer Port1 temporarily busy
10: FPGA Rx Buffer Port1 permanently busy
27/26 Status of FPGA Rx Buffer Port2
29/28 Status of FPGA Tx Buffer Port1
00: FPGA Tx Buffer Port1 able to receive data
01: FPGA Tx Buffer Port1 temporarily busy
10: FPGA Tx Buffer Port1 permanently busy
31/30 Status of FPGA Tx Buffer Port2
Tab. 4-142: P‑0‑1044, Status information IP Communication, Master Comm. En‐

gineering Over IP
4.8.18 P-0-1045, Power section communication: Control word

Function For power sections with built-in IP communication, communication can be ac‐
tivated with this parameter.
0 Activation of IP communication
0: Communication to power section not possible
The IP communication to the power section is interrupted
and all received IP telegrams for the power section are
cleared.
1: Communication to power section possible
The IP address configured in parameter "P-0-1046" is
transmitted to the power section and communication to
this IP address is activated in the control unit.
1-15 Reserved
Tab. 4-143: P-0-1045.0.0, Power section communication: Control word

4.8.19 P-0-1046, Power section communication: IP address

Function For power sections with built-in IP communication, a free Class C IP network
must be configured to be used for communication.
A completely free IP network is required because:
● Communication with the power section is via IP routing
● IP addresses from the configured network are automatically assigned by
the power section
The configured IP address takes effect by activating communication to the
power section. Communication is activated with parameter "P-0-1045".
Structure The IP address is a list parameter with the following structure:
Fig. 4-46: P-0-1046, Power section communication: IP address

Use
The IP address must be set with regard to the specific application.
It can only be configured through the communication interfaces to
the control unit.
IP communication with the power section is used to directly execute special

diagnostics or update options on the power section.
4.9 P-0-1100 to P-0-1269 Velocity control

4.9.1 P-0-1118, Velocity controller command filter
Hardware --
Function This parameter defines the time constant of the velocity command value filter.
The filter can be used to improve the overshoot behavior of the velocity con‐
troller.
The filter is deactivated by entering a time constant that is less

than or equal to the sampling time (clock rate) of the position con‐
troller.
See also Functional Description "Control Section Design and Performance"

4.9.2 P-0-1119, Velocity mix factor feedback 1 & 2

Hardware --
Function The "velocity mix factor" parameter determines the ratio of the actual velocity
values between the motor encoder and the optional encoder.
See also Functional Description "Notes on Commissioning"
Use The input is percentage-based; the following applies:
0%: The speed controller works solely with the velocity of encoder 1.
100%: The speed controller works solely with the velocity of encoder 2 (op‐
tional encoder).
If no optional encoder is available, the parameter is set to 0%.
If encoder 2 (optional encoder) is used as the only control encod‐

er, the value is to be set to 100%.

4.9.3 P-0-1120, Velocity control loop filter: Filter type

Hardware --
Function This parameter allows up to 4 different filters (2nd order) to be activated and
selected. There are two filters available in the "MPE firmware variant", and
there are 8 filters available in the "MPC firmware variant".
See also Functional Description "Velocity controller"
Use
Fig. 4-47: Parameterizable filter cascade

The following filter types can be selected:
● 0: Filter switched off
● 1: Low-pass filter activated
→ P-0-1121, Velocity control loop filter: Limit frequency of low pass
● 2: Band-stop filter activated
→ P-0-1122, Velocity control loop filter: Bandwidth of band-stop filter
→ P-0-1123, Velocity control loop filter: Center frequency of band-stop
filter
● 3: 2nd order filter activated (MPx-17V06 and above)
→ P-0-1140, Velocity control loop filter: Numerator natural frequency
→ P-0-1141, Velocity control loop filter: Denominator natural frequency
→ P-0-1142, Velocity control loop filter: Numerator damping
→ P-0-1143, Velocity control loop filter: Denominator damping
All of the above filter parameters "P-0-1120, P-0-1121, P-0-1122,

P-0-1123, P-0-1140, P-0-1141, P-0-1142 and P-0-1143" are list
parameters each comprising 4 elements (element 1 for filter 1, el‐
ement 2 for filter 2, ...).
The content of "P-0-1120, Velocity control loop filter: Filter type" consists of 4
elements:
● P-0-1120[0] → filter type for filter 1

4.9.4 P-0-1121, Velocity control loop filter: Limit frequency of low pass
Hardware --
Function The parameter serves to parameterize the base frequency of the four filters
("firmware variant MPE" features only two filters) which can be selectively ac‐
tivated via "P-0-1120". The value is entered in Hz, i.e., the actual frequency (f
= 1/T) at which damping of -3 dB is intended (weakening of the amplitude to
0.707 of the input amplitude) is entered.
Use
Fig. 4-48: Frequency Response of 2nd Order Low-Pass Filter

The content of "P-0-1121" consists of 4 elements:
● P-0-1121[0] → cut-off frequency for low-pass filter 1
However, a list element in "P-0-1121" is only relevant if the corre‐

sponding list element has been set to "1" (filter type = low-pass fil‐
ter) in "P-0-1120".

4.9.5 P-0-1122, Velocity control loop filter: Bandwidth of band-stop filter

Hardware --
Function The parameter serves to parameterize the bandwidth of the four band-stop
filters ("firmware variant MPE" features only two filters) which can be selec‐
tively activated via P-0-1120 [n] = 2. The value is entered in Hz, i.e., the ac‐
tual frequency (f = 1/T) is entered.
Use
Fig. 4-49: Frequency Response of Band-Stop Filter

The content of "P-0-1122" consists of 4 elements:
● P-0-1122[0] → Bandwidth for band-stop filter 1

sponding list element has been set to "2" (filter type = band-stop
filter) in "P-0-1120".

4.9.6 P-0-1123, Vel. cont. loop filter: Center frequency of band-stop filter
Hardware --
Function The parameter serves to parameterize the mid-band frequency of the four
band-stop filters ("firmware variant MPE" features only two filters) which can
be selectively activated via P-0-1120 [n] = 2. The value is entered in Hz, i.e.,
the actual frequency (f = 1/T) is entered.
Use
Fig. 4-50: Amplitude characteristic of a band-stop filter depending on the band‐

width (qualitative)
The content of "P-0-1123, Velocity control loop filter: The band-stop filter mid-
band frequency" consists of 4 elements:
● P-0-1123[0] → Mid-band frequency for band-stop filter 1

sponding list element has been set to "2" (filter type = band-stop

4.9.7 P-0-1126, Velocity control loop: Acceleration feedforward

Hardware --
Function This parameter is used for activating and setting a variable acceleration feed‐
forward in the "velocity control" mode.
See also Functional Description "Position Loop"
Use Operating Principle
The differentiated velocity command value (acceleration command value) is
multiplied by the value of parameter "P-0-1126" in order to add (feedforward)
a corresponding additive torque command value.
The feedforward value (additive torque/force command value) can be
smoothed by a subsequent low-pass filter "(P-0-0180)".
This kind of feedforward can, for example, be used to minimize

the command value deviation in the acceleration phase.
Input values
Entering a value greater than "0" in "P-0-1126" activates the ac‐

celeration feedforward control (P-0-1126 = 0 → switched off).
For optimum parameterization of the acceleration feedforward, the following

values have to be entered in "P-0-1126":
● Total mass (motor + load) in kg (linear motor), and the
● Total mass inertia (motor + load), in relation to the motor output shaft, in
gm2 (rotary motor)
Depending on the respective mechanical system, the input value

of "P-0-1126" has to be adjusted on site.
Unit, decimal places

The drive firmware automatically adjusts the unit and decimal places to the
type of construction of the motor (rotary or linear) entered in "P-0-4014, Type
of construction of motor":
● Rotary motor: mN*m / rad/s2 → g*m2
● Linear motor: mN / mm/s2 → kg.

Unit: mNm/(rad/s²) Extr. val. ch.: + Decim. pl.: 4
4.9.8 P-0-1129, Cogging torque compensation value

Hardware --
Function As of MPx-17V08
This parameter is the active compensation value of the cogging torque com‐
pensation. It is added to the output of the velocity controller as an additive
torque/force value and is not limited by S-0-0082/S-0-0083.
Use Internal cogging torque compensation:
The drive generates the value from a table with the function being active.
External cogging torque compensation:
A control delivers the value to the drive (e.g., MLD).
External writing to the parameter is not expedient while internal

cogging torque compensation is active.

S-0-0093 /
S-0-0094
4.9.9 P-0-1130, Table of cogging torque compensation values pos.

direction
Hardware --
Function In this list parameter, 1024 position-dependent cogging torque/force correc‐

tion values for positive (non-negated) direction of motion are stored. With ac‐
tive cogging torque/force compensation, the correction values are added to
the torque/force command value depending on the motor position, when the
motor moves in positive direction.
See also Functional Description of firmware "Compensation Functions / Cor‐
rections"
S-0-0093 /
S-0-0094

4.9.10 P-0-1131, Control word of cogging torque compensation

Hardware --
Function This parameter is used to activate cogging torque or cogging force compen‐
sation and to set the method for determining the compensation table.
See also Functional Description "Compensation functions / corrections"
Structure The individual bits of the parameter have the following significances:
0 Cogging torque or cogging force compensation

0: Inactive
1: Active
1 Range of action of cogging torque or cogging force compensation MPx-18VRS and
0: Unlimited range of action above
The cogging torque compensation table extends to one motor revolution (rotary mo‐ Only editable in param‐
tor) or one pole pair distance (linear motor). eter mode (PM).
1: Limited range of action

The cogging torque compensation table extends to the range within the position limit
values P-0-1145 and P-0-1146.
7... 2 Reserved
13... 9 Reserved

14 Establishing the position reference between encoder 1 and motor MPx-17VRS and
0: Automatically, default above
In case of absolute encoders (single- or multi-turn encoders) and relative encoders

with one reference mark/motor revolution or distance-coded reference marks.
1: By homing
In case of relative encoders without reference mark or with multiple reference marks/
motor revolution.
15/8 Settings for determining the cogging torque compensation tables *MPx-18VRS and
00: Determine new tables in the case of axis motion: above
They refer to motor and connected mechanical axis system.

01: Determine new tables in the case of axis motion:
Entire travel range: Eliminate influence of unbalanced inertia by means of calculation,
then save the tables.
[* Restricted position range: Correct measured values by the direct components from
parameters P-0-1147 and P-0-1148, then save the tables.]
10: No action
11: Correct existing tables without axis motion:
Entire travel range: Determine influence of unbalanced inertia by means of calcula‐
tion and eliminate it from the tables.
[* Restricted position range: Correct table values by the direct components from pa‐
rameters P-0-1147 and P-0-1148.]
Tab. 4-144: Relevant bits of P‑0‑1131, Control word of cogging torque compen‐
sation
4.9.11 P-0-1132, Table of cogging torque compensation values neg.

direction
Hardware --
Function In this list parameter, 1024 position-dependent cogging torque/force correc‐

tion values for negative (non-negated) direction of motion are stored. With ac‐
tive cogging torque/force compensation, the correction values are added to
the torque/force command value depending on the motor position, when the
motor moves in negative direction.
rections"

S-0-0093 /
S-0-0094
4.9.12 P-0-1133, Status word of cogging torque compensation

Hardware --
Function This parameter displays:

● The velocity-dependent effectiveness of cogging torque compensation.
● The status of measured value recording during the determination of the
compensation tables.
See also functional description "Compensation functions / corrections"
Structure The individual bits of the parameter have the following meaning:
1/0 Status of effectiveness of cogging torque/force compensa‐

tion
00: Cogging torque compensation not active!
01: Effective, because S-0-0040 < P-0-1134
10: Effective in attenuated form, because P-0-1134 <
S-0-0040 < P-0-1135
11: Without effect, because S-0-0040 > P-0-1135
7… 2 Reserved!
8 Required no. of measured val. per pos. raster reached
0: Yes
1: No
9 Drive in range of measured value recording
0: No
1: Yes
10 Position reference encoder 1 - motor As of
0: No MPx-18VRS
1: Yes
15… Reserved!
11
Tab. 4-145: Relevant bits of P-0-1133, status word of cogging torque compensa‐
tion

4.9.13 P-0-1134, Velocity threshold for attenuation of cogging torque

compens
Hardware --
Function In this parameter, enter the velocity threshold above which the cogging tor‐
que/force compensation values stored in P-0-1131 or P-0-1133 are used in
attenuated form for motor control. At velocities below this velocity threshold,
the compensation values are fully effective!
rections"
S-0-0045 /
S-0-0046
4.9.14 P-0-1135, Velocity threshold for switching off cogging torque

compens.
Hardware --
Function In this parameter, the velocity threshold is entered above which the cogging
torque/force compensation values stored in "P-0-1130" or "P-0-1132" are no
longer used for motor control. At velocities below this velocity threshold and
above the threshold of "P-0-1134", the compensation values take effect pro‐
portionately, depending on the velocity! (100% with "P-0-1134", 0% with
"P-0-1135")
See also Functional Description "Compensation Functions / Corrections"
S-0-0045 /
S-0-0046
4.9.15 P-0-1136, Lead time cogging torque compensation

Hardware --
Function With active cogging torque compensation, the dead time and dynamic re‐
sponse of the current loop, given high cogging torque frequency, can have a
negative effect on the compensation result. By means of this parameter, the

dead time and dynamic response of the current loop can be compensated.
rections"
4.9.16 P-0-1138, C4800 Command Determine cogging torque compensation

table
Hardware --
Function Via this parameter, the command C4800 can be started. By means of this
command, cogging torque compensation values are determined with regard
to a motor position raster with 1024 positions and stored in table form in the
list parameters P-0-1130 or P-0-1132. The command is signaled to have
been completed, when 40 measured values per position raster range are
available for the possible directions of motion of the axis.
rections"
4.9.17 P-0-1139, Cogging torque compensation adaption factor

Hardware --
Function This parameter has a multiplicative effect on all values of the cogging torque
compensation tables. The effect of cogging torque compensation can thereby
be intensified or attenuated:
● Permanently over a constant value unequal 100%
● Depending on the status variables of the machining process, by the
master writing values unequal to 100% to "P-0-1139" (e.g., by including
this parameter in the master data telegram [MDT]).
T_Cog_Tab Table value of cogging torque corr. table, position-dependent

T_Cog_Corr Effective cogging torque compensation value, position-depend‐
ent
Fig. 4-51: P-0-1139: Cogging torque compensation adaption factor
For each direction of motion, there is a cogging torque compensa‐

tion table with 1024 values. The compensation values are posi‐
tion-dependent.
See also Functional Description "Compensation Functions / Corrections"

4.9.18 P-0-1140, Velocity control loop filter: Numerator natural frequency

Hardware --
Function The parameter serves to parameterize the numerator natural frequency of the
four 2nd order filters ("firmware variant MPE" features only two filters) which
can be selectively activated via P-0-1120 [n] = 3. The input value is scaled in
Hz, i.e., the actual frequency (f = 1/T) is entered.
Use The content of "P-0-1140" consists of 4 elements:
● P-0-1140[0] → Numerator natural frequency for 2nd order filter 1

sponding list element has been set to "3" (filter type = 2nd order
Fig. 4-52: Frequency Response of 2nd Order Filter

4.9.19 P-0-1141, Velocity control loop filter: Denominator natural frequency

Hardware --
Function The parameter serves to parameterize the denominator natural frequency of

the four 2nd order filters ("firmware variant MPE" features only two filters)
which can be selectively activated via P-0-1120 [n] = 3. The input value is
scaled in Hz, i.e., the actual frequency (f = 1/T) is entered.
● P-0-1141[0] → Denominator natural frequency for 2nd order filter 1



4.9.20 P-0-1142, Velocity control loop filter: Numerator damping

Hardware --
Function The parameter serves to parameterize the numerator damping of the four
2nd order filters ("firmware variant MPE" features only two filters) which can
be selectively activated via P-0-1120 [n] = 3. The input value is not scaled.
● P-0-1142[0] → Numerator damping for 2nd order filter 1


4.9.21 P-0-1143, Velocity control loop filter: Denominator damping

Hardware --
Function The parameter serves to parameterize the denominator damping of the four
2nd order filters ("firmware variant MPE" features only two filters) which can
be selectively activated via P-0-1120 [n] = 3. The input value is not scaled.
● P-0-1143[0] → Denominator damping for 2nd order filter 1



4.9.22 P-0-1145, Cogging torque compensation: Lower position limit

Hardware --
Function Defines the lower position limit during cogging torque compensation, if an ab‐
solute travel range was defined via bit 1 of parameter "P-0-1131, Control
word of cogging torque compensation".
See also Functional Description "Cogging Torque Compensation"
Use The lower and upper position limits (P-0-1145 and P-0-1146) define the travel
range for recording the cogging torque compensation table. The position
range for which the cogging torque compensation values are filed, is reduced
by the acceleration and deceleration range. Due to the distance required for
acceleration and deceleration to reach the target velocity, the cogging torque
compensation table cannot be recorded over the entire travel range.
S-0-0077 /
S-0-0078
4.9.23 P-0-1146, Cogging torque compensation: Upper position limit

Hardware --
Function Defines the upper position limit during cogging torque compensation, if an ab‐
solute travel range is defined via bit 1 of parameter "P-0-1131, Control word
of cogging torque compensation".
Use The lower and upper position limits (P-0-1145 and P-0-1146) define the travel
range for recording the cogging torque compensation table. The position
range for which the cogging torque compensation values are filed, is reduced
by the acceleration and deceleration range. Due to the distance required for
acceleration and deceleration to reach the target velocity, the cogging torque
compensation table cannot be recorded over the entire travel range.
S-0-0077 /
S-0-0078
4.9.24 P-0-1147, Cogging torque compensation: Offset positive

Hardware --
Function Defines the direct component for the cogging torque compensation table in
positive direction, if an absolute travel range is defined via bit 1 of parameter
"P-0-1131, Control word of cogging torque compensation".
Use If the cogging torque compensation table is recorded over an absolute travel
range, it is not possible to automatically determine the direct component be‐
cause the travel range can be unequal to a mechanical revolution or pole pair
width. In order to compensate any possible direct components (continuous
torques or forces), corrective measures can be taken by entering a value.
S-0-0093 /
S-0-0094
4.9.25 P-0-1148, Cogging torque compensation: Offset negative

Hardware --
Function Defines the direct component for the cogging torque compensation table in
negative direction, if an absolute travel range is defined via bit 1 of parameter
"P-0-1131, Control word of cogging torque compensation".
Use If the cogging torque compensation table is recorded over an absolute travel
range, it is not possible to automatically determine the direct component be‐
cause the travel range can be unequal to a mechanical revolution or pole pair
width. In order to compensate any possible direct components (continuous
torques or forces), corrective measures can be taken by entering a value.
S-0-0093 /
S-0-0094
4.9.26 P-0-1150, Command value generator output

Hardware --
Function This parameter shows the basic value of the command value generator. The
basic value is displayed in the format of the assigned parameter.

4.9.27 P-0-1151, Command value generator, list of possible target

parameters
Hardware --
Function This list parameter contains the IDNs of the parameters which can be entered
in "P-0-1152, Command value generator, target parameter assignment". The
command value generator can act on the following parameters:
● S-0-0037, Additive velocity command value
● S-0-0081, Additive torque/force command value
● P-0-0039, Flux-generating current, command value
● P-0-0059, Additive position command value, controller
4.9.28 P-0-1152, Command value generator, target parameter assignment

Hardware --
Function In this parameter, enter the IDN of the parameter to which the result of the
command value generator is to be written.
Use By selecting the target parameter, the display (unit and scaling) of these pa‐
rameters are set to the target parameter.
● P-0-1150, Command value generator output
● P-0-1154, Command value generator, offset
● P-0-1155, Command value generator, amplitude
4.9.29 P-0-1153, Command value generator, control word

Hardware --
Function This parameter is used to configure the integrated command value generator.
See also Functional Description "Drive-Integrated Command Value Genera‐

tor"
Structure
3-0 Signal selection (selection of signal shape of command

value generator)
0001: Noise signal
0010: Sine signal
0011: Square-wave signal
0100: Modified sine signal
0101: Reserved
0110: Sine sweep
4 Enable
0: Disabled: The command value generator is stopped and
zero is output as command value.
1: Enabled: The command value generator is enabled and
the command value is output to the target parameter.
5 Periodic signal
0: One-time sequence
1: Periodic signal generation
Note: The setting of the noise signal periodic time is fixed
to 4095 cycles.
6 Switch-off delay
In order to generate signals without mean value, switch-off
of signal generation can be delayed until a complete signal
period is output.
0: Enable signal switched off immediately
1: Switch-off delayed until period complete
7 Noise generator amplitude
The noise signal can be generated with constant ampli‐
tude (square-wave pulses with varying periodic time) or
with continuous amplitude.
0: Amplitude as square-wave signal
1: Amplitude as factor

8 Enable reset
Enabling of the command value generator can be auto‐
matically reset after a drive error.
0: Enabling is maintained, i.e., after drive error has been
cleared and drive enabled, the command value becomes
effective.
1: Repeated enabling of the command value generator is
required after a drive error has been cleared.
9 Sine / cosine signal switching As of
If "Sine signal" is selected from signal selection and the MPX17V08
output of the command value generator is not assigned to
any target parameter (P-0-1152 = S-0-0000), the signal
shape can be switched over.
0: Sine signal
1: Cosine signal
Tab. 4-146: P-0-1153, Command value generator, control word
Bit 4 is the only one that can be configured in the signal control
word in "P-0-1153".

4.9.30 P-0-1154, Command value generator, offset

Hardware --
Function This parameter is used for setting the direct component (offset) for the selec‐
ted signal (sine, square-wave, noise). The display, i.e. unit and scaling of the
parameter, are set according to the assigned parameter.
min./max.: -214748,3648 /
214748,3647
4.9.31 P-0-1155, Command value generator, amplitude

Hardware --
Function This parameter is used for setting the amplitude (double crest value, peak-to-
peak value). The range of values of the selected signal shape (sine, square-
wave, noise) is between half the plus/minus amplitude. The display, i.e. unit
and scaling of the parameter, are set according to the assigned parameter.
4.9.32 P-0-1156, Command value generator, duration 1

Hardware --
Function This parameter is used for setting the square-wave signal. For the duration
"P-0-1156, Command value generator, duration 1" the command value gen‐
erator output "P-0-1150, Command value generator, command value" is set
to half the positive amplitude "P-0-1155, Command value generator, ampli‐
tude" plus offset "P-0-1154, Command value generator, offset".
When the duration 1 is over, the output of the command value generator is
set to half the negative amplitude "P-0-1155, Command value generator, am‐
plitude" plus offset "P-0-1154, Command value generator, offset". Duration 2
starts as of this point of time.
4.9.33 P-0-1157, Command value generator, duration 2

Hardware --
Function This parameter is used for setting the square-wave signal for command value
generator.
When duration 1 is over, duration 2 starts. For this duration "P-0-1157, Com‐
mand value generator, duration 2" the command value generator output
"P-0-1150, Command value generator, command value" is set to half the
negative amplitude "P-0-1155, Command value generator, amplitude" plus
offset "P-0-1154, Command value generator, offset". When duration 2 is
over, the output signal is set to the offset "P-0-1154, Command value genera‐
tor, offset" until the periodic time has been reached.

4.9.34 P-0-1158, Command value generator, periodic time

Hardware --
Function This parameter is used to set the square-wave signal and the sine signal for
the command value generator. After the periodic time has elapsed, signal
output is repeated.
When the command value generator is in sine sweep mode, this parameter is
used to set the duration of the sweep. The time is entered in seconds and re‐
fers to the complete sweep, i.e., the up and down sweep.
4.9.35 P-0-1159, Command value generator, sine sweep start frequency

Hardware --
Function This parameter specifies the frequency at which the sine sweep generator
starts to wobble.
The firmware does not take a change in this parameter into ac‐
count before the enable bit is set in "P-0-1153, Command value
generator, control word".

tor"
4.9.36 P-0-1160, Command value generator, sine sweep end frequency

Hardware --
Function This parameter specifies the frequency up to which wobbling can be effected
using the sine sweep generator.
The firmware does not take a change in this parameter into ac‐
count before the enable bit is set in "P-0-1153, Command value
generator, control word".

tor"
4.9.37 P-0-1200, Control word 1 velocity control

Hardware --
Function In velocity control mode, parameter "P-0-1200" is used to control or configure

the following functions:
● Channel for velocity command value input (memory of fixed values or
S-0-0036)
● Behavior of ramp-function generator (run-up stop)
● Command value generator (motor potentiometer)
Structure
4-0 Activation of command value P-0-1206 P-0-1214, bit 8

00000: Command value "S-0-0036" active 0: Direct selection
xxxxx: Fixed command value P-0-1206[i] and/or 1: Binary coded selec‐
ramps and filters P-0-1223[i], P-0-1224[i], tion
P-0-1225[i] active
7-5 Run-up stop
000: Deactivated
xx1: Unconditionally active
010: If command value limitation active
100: If torque limitation active
110: If command value limitation or torque limita‐
tion active
9/8 Ramp inputs for motor potentiometer
00: Command value is maintained
01: Command value is increased
10: Command value is reduced
11: Command value is maintained
10 Inversion of velocity command value
0: Not active
1: Active
Tab. 4-147: P‑0‑1200, Control word 1 velocity control

Use Take the following aspects into account for parameter setting:
● Bit 4-0: Activation of command value P-0-1206:
If one of bits 0...4 has been set in "P-0-1200", it is not the velocity com‐
mand value "S-0-0036" that is used, but a list element from the com‐
mand value memory "P-0-1206". For this purpose, the selection method
can be selected and the current command value, ramp and filter memo‐
ries can be activated or deactivated in parameter "P-0-1214, Control
word 2 velocity control".
Selection method:
– Direct selection (max. 5 command values)
– Binary coding (up to 31 command values)
● Bits 7-5: Run-up stop: The run-up stop function interrupts an accelera‐
tion process of the ramp-function generator, i.e., the output of the ramp-
function generator is frozen. The ramp-function generator can continue
carrying out deceleration processes, i.e., slowing down the drive is al‐
ways possible.
The run-up stop function can be executed as follows:
– Externally selected by user (bit 5 = 1)
– Command value limitation active warnings (bit 6 = 1)
– Torque limitation active (bit 7 = 1)
● Bits 9/8: Motor potentiometer: These bits do not take effect until bit 0 is
set in "P-0-1214, Control word 2 velocity control" and serve to readjust
the ramp acceleration and ramp velocity when the motor potentiometer
function is used.
– Bit 8: "Ramp" - Ramp acceleration or ramp velocity is increased
– Bit 9: "Ramp" - Ramp acceleration or ramp velocity is reduced
If both bits are equal ("00" or "11"), the command value remains
unchanged!

MPx / PSB: min./max.: 0x0 / 0xFFF Default value: ---
4.9.38 P-0-1201, Ramp 1 pitch

Hardware --
Function The acceleration entered in P-0-1201 takes effect in the "velocity control"
mode during acceleration.
Use With the acceleration entered in this parameter, the acceleration takes place
from the last effective command value to the new preset command value, as
long as the velocity at the ramp output is smaller than the value entered in
"P-0-1202, Final speed ramp 1".
Influence of P-0-1209
If the function "speed masking in command value channel" is used

(P-0-1207, P-0-1208, P-0-1209), the content of P-0-1201 is multiplied with
the content of P-0-1209 and this influences the effective acceleration.
The value of parameter "P-0-1201, Ramp 1 pitch" should always

be smaller than the value of parameter "S-0-0138, Bipolar accel‐
eration limit value", because otherwise the warning "E2070 Accel‐
eration limit active" is output. When the value "0" is input in the
parameter and with values greater than S-0-0138, parameter
S-0-0138 takes effect.

S-0-0161 /
S-0-0162
4.9.39 P-0-1202, Final speed ramp 1

Hardware --
Function The parameter "P-0-1202, Final speed ramp 1" takes effect in the "velocity
control" mode during acceleration and deceleration.
When exceeding (acceleration) or falling below (deceleration) the velocity in‐
dicated in "P-0-1202, Final speed ramp 1", the pitch of the drive-internal
speed command value ramp changes as follows:
● from the value indicated in "P-0-1201, Ramp 1 pitch" to the value indica‐
ted in "P-0-1203, Ramp 2 pitch" (acceleration)
● or from the value indicated in "P-0-1211, Deceleration ramp 1" to the
value indicated in "P-0-1213, Deceleration ramp 2" (deceleration)
See also Functional Description "Velocity Command Value Reset With Filter
and Ramp"
S-0-0045 /
S-0-0046
4.9.40 P-0-1203, Ramp 2 pitch

Hardware --
Function The acceleration entered in P-0-1203 takes effect in the "velocity control"
mode during acceleration.
With the acceleration entered in this parameter, the acceleration takes place
from the last effective command value to the new preset command value, as
soon as the velocity at the ramp output is greater than the value entered in
Use Influence of P-0-1209
the content of P-0-1209 and this influences the effective acceleration.
The value of parameter "P-0-1203, Ramp 2 pitch" should always

be smaller than the value of parameter "S-0-0138, Bipolar accel‐
eration limit value", because otherwise the warning "E2070 Accel‐
eration limit active" is output. When the value "0" is input in the
parameter and with values greater than S-0-0138, parameter

S-0-0161 /
S-0-0162
4.9.41 P-0-1206, Memory of velocity command values

Hardware --
Function This list parameter is used as a memory of fixed command values for velocity
command values. The individual values can be selected via the control word
P-0-1200.
Selection via P-0-1200 takes place in binarily coded form!

See also Parameter Description "P-0-1200, Control word 1 velocity control"
Structure The parameter has a list structure; the following assignments apply to it.
P-0-1206 Significance Comment

Element 1-31 Fixed cmd value 1 - 31
Use Observe the following aspects for using the fixed command values:
● The function for selecting the fixed command values P-0-1206 only
takes effect in the "velocity control" mode.
● In contrast to S-0-0036, the parameter P-0-1206 cannot be cyclically
changed.
● The range of values and unit of the parameter elements in P-0-1206
correspond to those of the velocity command value S-0-0036.
● When P-0-1200 = 0 is selected, no fixed command value takes effect,
but S-0-0036 or possibly the command value of the motor potentiometer
function.

S-0-0045 /
S-0-0046
4.9.42 P-0-1207, Lower limit of velocity masking window

Hardware --
Function In conjunction with the parameter P-0-1208 (upper limit of velocity masking
window), the list parameter P-0-1207 defines four velocity ranges (velocity
windows).
The ranges apply to positive and negative velocities, the definitions of the
ranges are mirrored with regard to speed zero.
● The function "velocity masking window" is only effective in

the "velocity control" mode.
● The parameter "P-0-1210, Status word of velocity control
mode" contains information on the status of the current com‐
mand value with regard to a velocity masking window.

S-0-0045 /
S-0-0046
4.9.43 P-0-1208, Upper limit of velocity masking window

Hardware --
Function The list parameter "P-0-1208", in conjunction with the parameter "P-0-1207"
(lower limit of velocity masking window), defines four velocity ranges (velocity
windows).
The ranges apply to positive and negative velocities, the definitions of the
ranges are mirrored with regard to speed zero.
● The function "velocity masking window" is only effective in

the "velocity control" mode.
● The parameter "P-0-1210, Status word of velocity control
mode" contains information on the status of the current com‐
mand value with regard to a velocity masking window.

S-0-0045 /
S-0-0046
4.9.44 P-0-1209, Acceleration factors for velocity masking window

Hardware --
Function The list parameter P-0-1209 contains the acceleration factors that take effect
in the velocity ranges defined with P-0-1207 and P-0-1208.
The ramp generator passes the range of the velocity window (P-0-1207 and
P-0-1208). But the acceleration factors indicated in P-0-1209 have a multiply‐
ing effect on the acceleration and deceleration values or, in the case of alter‐
native scaling of the acceleration, on the ramp times of the ramp generator
(P-0-1201, P-0-1203, P-0-1211 and P-0-1213).
Use The effect of P-0-1209 is as follows:
● With P-0-1209 = 1.000 the ramp generator behaves in a neutral way.
● With P-0-1209 > 1.000 the acceleration increases accordingly within the
velocity window.
The units of P-0-1201, P-0-1203, P-0-1211 and P-0-1213 depend

on the scaling (cf. S-0-0160).
● The acceleration factors (P-0-1209) only take effect in the

"velocity control" mode. They are neither active during the
command "Drive Halt".
● The status word of the "velocity control" mode P-0-1210 con‐
tains information on the current status of the command value
or the ramp output with regard to a velocity masking window.

4.9.45 P-0-1210, Status word of velocity control mode

Hardware --
Function Parameter "P-0-1210" provides information about the current state of the
ramp generator and the current command value for velocity control mode.
Parameter "P-0-1210" can be configured in the cyclic actual value

channel (e.g., AT with SERCOS) in "S-0-0144, Signal status
word" and assigned to the digital outputs.

Structure
0 Command value reached

The output of the ramp generator and the jerk filter cor‐
responds exactly to the applied velocity command val‐
ue.
1 Run-up stop active
The run-up stop function has been activated either di‐
rectly or via cmd value limitation or torque limitation.
The ramp generator keeps the output frozen as long as
there is no cmd value applied that is higher than the
current ramp output. The jerk filter is not affected.
2 Deceleration active
The ramp generator is in the deceleration state.
3 Acceleration active
The ramp generator is in the acceleration state.
4 Command value within mask window
Command value specification hits a velocity mask win‐
dow. Therefore the active command value is affected.
5 V-ramp within mask window
The ramp generator is in acceleration or deceleration
state. An acceleration factor from "P-0-1209" is active
because the current value is within a velocity mask win‐
dow.
Tab. 4-148: P-0-1210, Status Word of Velocity Control Mode
All status displays of "P-0-1210" are only active in "velocity con‐

trol" mode.

4.9.46 P-0-1211, Deceleration ramp 1

Hardware --
Function The deceleration entered in "P-0-1211, Deceleration ramp 1" only takes ef‐
fect in the "velocity control" mode.
With the deceleration entered in this parameter, the deceleration takes place
from the last effective velocity command value to the new velocity command
value as soon as the velocity at the ramp output is smaller than the value in
See also Functional Description "Velocity Command Value Reset With Filter
and Ramp ("Quick Stop")"
If the function "speed masking in command value channel" takes effect
the content of P-0-1209 and this influences the effective deceleration.
The value of parameter "P-0-1211, Deceleration ramp 1" should

always be smaller than the value of parameter "S-0-0138, Bipolar
acceleration limit value", because otherwise the warning "E2070
Acceleration limit active" is output. When the value "0" is input in
the parameter and with values greater than S-0-0138, parameter

S-0-0161 /
S-0-0162
4.9.47 P-0-1213, Deceleration ramp 2

Hardware --
Function The deceleration entered in "P-0-1213, Deceleration ramp 2" takes effect in
the "velocity control" mode during the braking process.
With the deceleration entered in this parameter, the deceleration takes place
from the last effective velocity command value to the new velocity command
value, as long as the velocity at the ramp output is greater than the value in
parameter "P-0-1202, Final speed ramp 1".
the content of P-0-1209 and this influences the effective deceleration.
S-0-0161 /
S-0-0162

4.9.48 P-0-1214, Control word 2 velocity control

Hardware --
Function Via this parameter it is possible to control the execution of a velocity control
mode in the operating mode.
Structure You can make the following settings in this parameter:
0 Motor potentiometer, enabling

0: Locked, i.e. S-0-0036 or P-0-1206[i] active
1: Motor potentiometer is active
2/1 Motor potentiometer, initial value after drive enable
00: Start with command value 0
01: Drive moves to old command value again
10: Actual velocity value S-0-0040 is maintained
11: Not allowed!
3 Motor potentiometer, acceleration for ramp command val‐
ue
0: Constant: Velocity increased or reduced in linear form
with activation time of ramp inputs (ramp+, ramp-)
1: Linear change: Velocity increased or reduced in square
form with activation time of ramp inputs (ramp+, ramp-)
4 Motor potentiometer, evaluation mode of ramp inputs
0: Continuously: Acceleration as long as a ramp input
(ramp+, ramp-) is activated
1: Edge-controlled: Velocity increased by step size in the
case of 0->1 edge at a ramp input (ramp+, ramp-)
5 Enabling of motor potentiometer for easy startup mode
0: Locked, i.e. P-0-1460 or P-0-1206[i] active
1: Motor potentiometer is active

8 Selection mode of active command value, ramp and filter
memories
0: Direct selection by P-0-1200, bit 0-4
1: Binarily coded selection by P-0-1200, bit 0-4
10,9 Selection of active command value, ramp and filter mem‐
ories
00: Only memory of fixed command values (P-0-1206)
01: No selection
10: Fixed command values (P-0-1206) and ramps
(P-0-1223, P-0-1224) and filter time constants (P-0-1225)
11: Only ramps (P-0-1223, P-0-1224) and filter time con‐
stants (P-0-1225), no fixed command values
Tab. 4-149: P-0-1214, Control word 2 velocity control
In contrast to P-0-1200, parameter P-0-1214 is stored in the drive

in non-volatile form!

● Bit 8: Selection of memory of fixed command values, of filter time con‐
stant memory and of ramp pitch lists
– 0: Direct selection: Each bit in P-0-1200 selects exactly one ele‐
ment of the command value memory. If more than one bit of the
group of bits 0...4 has been set, the least significant bit determines
the command value selection. Bit 0 has the highest priority.
– 1: Binary coding: The binary numeric value of P-0-1200, bit 4...0,
selects an element of the command value memory.
4.9.49 P-0-1215, Motor potentiometer, acceleration

Hardware --
Function In conjunction with the motor potentiometer available in the "velocity control"
mode, this parameter is used for the following purposes:
● For linear velocity change: Definition of the velocity change by which the
ramp velocity changes when setting P-0-1214, bit8 ("ramp+") →
ΔP-0-1218 = activation time * [P-0-1215]
● For square velocity change: Definition of the acceleration change by
which the ramp velocity changes within 2 s when setting P-0-1214, bit8
("ramp+") → Δacceleration = activation time * ( [P-0-1215] / 2 s)
With the input activated the velocity is increased in linear or

square form (see "P-0-1214, Motor potentiometer, control param‐
eter") until the effective positive velocity limit value, i.e. minimum
value (S-0-0091, S-0-0038), has been reached.

S-0-0161 /
S-0-0162
4.9.50 P-0-1216, Motor potentiometer, deceleration

Hardware --
Function This parameter is used in conjunction with the motor potentiometer available
in the velocity control mode as follows:
● With a linear change in velocity:
Definition of the change in ramp velocity taking effect on setting of
P-0-1214, bit 9 ("ramp").
→ ΔP-0-1218 = activation time * [P-0-1216]
● With a square change in velocity:
Definition of the change in ramp acceleration taking effect within 2 sec
on setting of P-0-1214, bit 9 ("ramp").
→ Δdeceleration = activation time * ( [P-0-1216] / 2 sec)
With activated input, the velocity is reduced in linear or square

form (see motor potentiometer, control parameter) until the effec‐
tive negative velocity limit value, i.e. the minimum value
(S-0-0091, S-0-0039) is reached.

S-0-0161 /
S-0-0162
4.9.51 P-0-1217, Motor potentiometer, step size

Hardware --
Function This parameter takes effect when bit 4 "change by constant velocity step" is
one in "P-0-1214, Motor potentiometer, control parameter".
"P-0-1218, Motor potentiometer, command value", i.e. the velocity command
value, is increased by the velocity value with every positive edge at the ramp
input ramp+ until the positive velocity limit value S-0-0038 has been reached.
With every negative edge at the ramp input ramp- it is reduced by the velocity
value until the negative velocity limit value S-0-0039 has been reached.
S-0-0045 /
S-0-0046
4.9.52 P-0-1218, Motor potentiometer, command value

Hardware --
Function The parameter "P-0-1218, Motor potentiometer, command value" is used to

display the velocity command value generated by the motor potentiometer.
After it was processed in the ramp-function generator, this value is also dis‐
played in "P-0-0048, Effective velocity command value".
The value of parameter P-0-1218 is stored in case the control

voltage fails so that it is possible to reuse the value.

Memory: RETAIN_KUNDE Validity ch.: PM->OM Format: DEC_MV
S-0-0045 /
S-0-0046
4.9.53 P-0-1222, Velocity command filter

Hardware --
Function This parameters serves to smooth acceleration jumps in the velocity com‐
mand value characteristic in order to achieve gentle starting and stopping of
the drive in velocity control mode.
See also Functional Description "Velocity Command Value Reset With Ramp
and Filter"
Use In "velocity control" mode, the time constant entered in parameter "P-0-1222"
is used to filter (PT1 filter) the velocity command value (cf. S-0-0036) de‐
formed via the ramp function (cf. P-0-1201, P-0-1202, P-0-1203, P-0-1211,
P-0-01213).
The effective velocity command value (cf. P-0-0048) at the controller input re‐
sults from the sum of
● the ramped and filtered value in "S-0-0036, Velocity command value"
and
● the direct value in "S-0-0037, Additive velocity command value".
4.9.54 P-0-1223, List of acceleration ramps

Hardware --
Function This list parameter is used as memory for the pitch values of the acceleration
ramps. The individual values can be selected via the control word "P-0-1200".
Structure
P-0-1223 Significance
Elements 1 to 31 Acceleration ramp pitch 1 to 31
Tab. 4-150: Acceleration Ramps

● The function for selecting the acceleration and deceleration ramp pitch‐
es P-0-1223 and P-0-1224 only takes effect in the "velocity control"
mode.
● The unit of P-0-1223 and P-0-1224 corresponds to the setting made in
S-0-0160 (acceleration data scaling type).
● When setting P-0-1200, bit 0-4 = 0, the ramp pitches set in P-0-1201,
P-0-1202, P-0-1203, P-0-1211, P-0-1213 become active.
● Parameter "P-0-1214, Control word 2 velocity control", bit 10, 9 deter‐
mines whether the control bits 0...4 in P-0-1200 only select fixed com‐
mand values, only ramp pitches and filter time constants or both.
See also Parameter Description "P-0-1206, Memory of velocity command
values"
See also Parameter Description "P-0-1225, List of smoothing time constants"
S-0-0161 /
S-0-0162

4.9.55 P-0-1224, List of deceleration ramps

Hardware --
Function This list parameter is used as memory for the pitch values of the deceleration
ramps. The individual values can be selected via the control word "P-0-1200".
Structure
P-0-1224 Significance
Elements 1 to 31 Acceleration ramp pitch 1 to 31
Tab. 4-151: Deceleration Ramps

● The function for selecting the acceleration and deceleration ramp pitch‐
es P-0-1223 and P-0-1224 only takes effect in the "velocity control"
mode.
● The unit of P-0-1223 and P-0-1224 corresponds to the setting made in
S-0-0160 (acceleration data scaling type).
● When setting P-0-1200, bit 0-4 = 0, the ramp pitches set in P-0-1201,
P-0-1202, P-0-1203, P-0-1211, P-0-1213 become active.
values"
See also Parameter Description "P-0-1225, List of smoothing time constants"
S-0-0161 /
S-0-0162
4.9.56 P-0-1225, List of smoothing time constants

Hardware --
Function This list parameter is used as memory for velocity command value filter time
constants for jerk limitation in the "velocity control" mode. The individual val‐
ues can be selected via the control word P-0-1200.
Structure P-0-1225 Significance

element 1 to 31 velocity command value filter time constant 1 to 31
Tab. 4-152: Filter time constants

Use The following has to be observed for using the fixed command values:
● The function for selecting the velocity command value filter time con‐
stants P-0-1225 only takes effect in the "velocity control" mode.
● With the setting P-0-1200, bit 0-4 = 0, the velocity command value filter
time constant defined by P-0-1222 becomes active.
values"
See also Parameter Description "P-0-1223, List of acceleration ramps"
4.10 P-0-1270 to P-0-1499 Drive-integrated PLC

4.10.1 P-0-1270, PLC Global Register A0
Hardware --
Funct. package(s): ML
Function Access via "parameters for general purpose" (global registers) can be used
for data exchange between the MLD and a neighboring drive or a higher-lev‐
el control unit or an external operator terminal (e.g., BTV).
The global registers (G0... G31 or A0... A31), respectively, do not

have any direct influence on the drive, but only take effect in con‐
junction with MLD.
Use Observe the following aspects for using the parameter:

● The display format for this parameter can be individually adjusted with
"P-0-1386, PLC display format Global Register".
● The content of this parameter is lost in case the control voltage fails.
Therefore, the parameter can be used for cyclic communication with ex‐
ternal devices (similar to the process image (PII, POI)).
● In contrast to the PII/POI, global registers are not automatically ac‐
cessed at the beginning or the end of the task, but by accessing specific
parameters as required (e.g., by means of MX_ReadParam).
● In addition to "P-0-1270", other available global registers are the follow‐
ing:
– G0... G15: P-0-1370 - P-0-1385

– G16... G31: P-0-1316 - P-0-1331
– A1... A31: P-0-1271 - P-0-1301
See also Application Manual "Rexroth IndraMotion"

Hardware --
Function See also "P-0-1270, PLC Global Register A0"

See also "Rexroth IndraMotion MLD (Drive-Integrated PLC)"
See also Application Manual "Rexroth IndraMotion MLD"

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4.10.33 P-0-1311, PLC Global Register GL1

Hardware --
Function The parameter is a list register with 1024 elements (of 4 bytes each) and
used for data exchange between the integrated PLC and the drive or a high‐
er-level PLC or control unit.
The display format for this parameter can be individually adjusted with pa‐
rameter "P-0-1386, PLC display format Global Register".
When default values are being loaded, the parameter is cleared (actual
length = 0).
The data length of "P-0-1311" is firmly set to 4 bytes and cannot

be changed. The content of "P-0-1311" is buffered in the event of
a control voltage failure.
See also "Rexroth IndraMotion MLD (Drive PLC)"

See also application manual "Rexroth IndraMotion MLD"

Hardware --
used for data exchange between the integrated PLC and the drive or an ex‐
ternal higher-level PLC or control unit.
length = 0).
The data length of "P-0-1312" is firmly set to 4 bytes and cannot

be changed. The content of "P-0-1312" is buffered in the event of
a control voltage failure.

4.10.35 P-0-1316, PLC Global Register G16

Hardware --
Function See also "P-0-1370, PLC Global Register G0"


Hardware --



Hardware --


Hardware --


Hardware --



Hardware --


Hardware --


Hardware --



Hardware --


Hardware --


Hardware --



Hardware --


Hardware --


Hardware --



Hardware --


Hardware --

4.10.51 P-0-1350, PLC control word

Hardware --
Function 16-bit control parameter for controlling the drive-integrated PLC (MLD).
With a positive edge the bits activate the corresponding process. By the on‐
line-write function short edges are taken into account, too. While one action is
running, other start edges of this action aren't taken into account. When sev‐
eral edges have been activated, they are processed one after the other from
MSB to LSB.
The end of the actions can be identified in "P-0-1351, PLC status word".
See also Functional Description "IndraMotion MLD (Drive-Integrated PLC)"
0 RUN
The PLC is put into the status RUN. Only works if a
project was loaded. The status goes to RUN.
1 STOP
The PLC is stopped and goes to the status STOP. After
their current run the tasks aren't started any more.
Attention:
If necessary, running tasks are aborted by force after
their cycle time. The PLC, however, immediately signals
STOP.
2 not used
3 not used
4 RESET hot
The PLC is reset without initializing the retain variables.
The status goes to STOP.
5 RESET cold
The PLC is reset and the retain variables are initialized.
The status goes to STOP.
6 RESET hard
All data of the PLC are cleared. The boot project there‐
by is cleared, too.
7 reload boot project
The boot project in loaded.
The PLC remains in STOP.
15-8 not used
Tab. 4-153: PLC control word

Memory: -- Validity ch.: PM->OM Format: BIN
4.10.52 P-0-1351, PLC status word

Hardware --
Function This parameter is read-only.

16-bit status parameter of the drive-integrated PLC (MLD)
See also "Rexroth IndraMotion MLD (drive PLC)"
0 RUN: The PLC is in the RUN state.

The PLC is at a breakpoint (with !RUN). MPx-17VRS and
1 MPx-20VRS and
above
2 Reserved
Runtime error: PLC runtime error (e.g., watchdog, divi‐
3
sion by 0, etc.)
4 Project loaded: A project has been loaded (in RAM).
7 Reserved
Specifies whether the PLC currently has temporary con‐
8
trol
9 Reserved
Acknowledgement bit active: The command is in process MPx-18V02 and
10
above
Acknowledgement bit done: Processing was successful‐ MPx-18V02 and
11
ly completed above
Acknowledgement bit error: Processing was terminated MPx-18V02 and
12
with an error above
15-13 Reserved
Tab. 4-154: PLC status word

Use Bit 12/11/10: The acknowledgement bits show the states of the actions star‐
ted by "P-0-1250". After a control bit was set, "active" shows that the com‐
mand is in process. As soon as the command is processed, "active" is reset
and "done" or "error" is set. The "done" or "error" bit is reset by a falling edge
of the control signal. Only one action at a time should be started.
Information on processing:
● It is possible to immediately process a command and directly set "done"
or "error" instead of "active".
● If the user resets the control bit before the command has been pro‐
cessed, the "done/error" bit is only generated for a short time and possi‐
bly might not be visible.
● If the user sets another bit while a command is processed or sets multi‐
ple control bits in parallel, the commands are processed one after the
other and the acknowledgement bits are reset by clearing all control
bits. In this case, it is impossible to unequivocally recognize which com‐
mand had which status.

4.10.53 P-0-1352, PLC user program administration data

Hardware --
Function Several system files of the PLC are stored in this parameter.
The parameter is administrated by the system and mustn't be changed by the
user.
4.10.54 P-0-1353, PLC user program area 0

Hardware --
Function The PLC boot project is stored in the parameters P-0-1353 - P-0-1358.
These parameters are administrated by the system and cannot be

changed by the user.


Hardware --
Function The PLC boot project is stored in the parameters P-0-1353 to P-0-1358.




Hardware --



Hardware --



Hardware --
Function The PLC boot project is stored in these parameters. The parameter is admin‐
istrated by the system and mustn't be changed by the user.


Hardware --
Function The PLC boot project is stored in these parameters. The parameter is admin‐
istrated by the system and mustn't be changed by the user.
4.10.60 P-0-1359, PLC retain data

Hardware --
Function If a PLC program with retain data is used, the retain data can be saved via
this list parameter and transmitted to other drives.
Use The following aspects have to be taken into account:
● The structure of the individual retain data cannot be seen from this pa‐
rameter.
● Reading out or writing data from/to "P-0-1359" must not take place while
the PLC is running, because the data are directly written to or read from
the working memory of the PLC. This would lead to inconsistent data.
● The retain data are initialized whenever the drive detects a changed
boot project. If a new boot project is to be loaded together with
"P-0-1359", any other project that may have been loaded before must
be deleted (MLD basic parameter or P-0-1350).
● The parameter is not included in the list "S-0-0192 IDN-list of all backup
operation data", since otherwise reloading of a drive parameter backup
would overwrite the PLC retain data.
Memory: RETAIN_KUNDE Validity ch.: PM->OM Format: HEX
4.10.61 P-0-1360, PLC program identifier

Hardware --
Function List parameter with two elements
Element Significance
#0 Date: Program compilation time (time_t)

If no program has been loaded, this value is 0. After a HARD reset,
there will still be the old date.
#1 PID: Unique program identification
If no program has been loaded, this value is 0.
Tab. 4-155: PLC Project Identification

4.10.62 P-0-1361, PLC program name

Hardware --
Function This parameter displays the filename of the current MLD project. The name is
assigned to the MLD project during compilation from the project name in In‐
droLogic.
After a HARD reset, the name of the previously opened MLD project is still
displayed.
4.10.63 P-0-1362, PLC boot project info

Hardware --
Function This parameter is only used for diagnostic purposes and contains information
regarding the PLC boot project; the information is automatically generated
and entered by the drive when
● the drive is started or
● when the boot project is loaded with IndraLogic.
Reading the parameter allows clearly identifying the present PLC boot proj‐
ect.
Maximum and actual length of the list parameter always are 322
elements with 4 Bytes each!
Use Element Significance
0 time stamp of PLC boot project in time_t format (seconds since

1970-01-01); 0 = no project existing
1 Project ID
The project ID in the case of a new loaded boot project is only filled
after switching on again or when the boot project is activated. Directly
after loading, the project ID first contains "0".
The length is always constant and the space for strings is completely
filled with 0-characters (1).
2..17 project name (file name)
18..33 project designation
34..49 project version
50..65 author
66..321 Data writing (multiple-line) - max. 1024 characters incl. 0-character.
Tab. 4-156: PLC boot project info
If no boot project is existing, all elements contain "0".

4.10.64 P-0-1363, PLC project info

Hardware --
Function This parameter is only used for diagnostic purposes and contains information
regarding the PLC project currently loaded in the memory; the information is
automatically generated and entered by the drive when
● the drive is started or
● when the boot project is loaded with IndraLogic.
Reading the parameter allows clearly identifying the currently loaded PLC
project.
Maximum and actual length of the list parameter always are 322
elements with 4 bytes each! The space for strings is completely
filled with 0-characters.
Use Element Significance
0 time stamp of PLC project in time_t format (seconds since

1970-01-01); 0 = no project existing
1 Project ID
The length is always constant and the space for strings is completely
filled with 0-characters (1).
2..17 project name (file name)
18..33 project designation
34..49 project version
50..65 author
66..321 Data writing (multiple-line) - max. 1024 characters incl. 0-character.
Tab. 4-157: PLC project info
If no PLC project is existing, all elements contain "0".

4.10.65 P-0-1364, PLC idle time

Hardware --
Function This parameter displays the last available part of the PLC time slice.
4.10.66 P-0-1365, PLC error message

Hardware --
Function As of firmware version 18VRS:

This parameter displays the current error state of the PLC runtime system for
diagnostic purposes. If a runtime error occurs in the PLC, the error text is en‐
tered here. The error is cleared after a PLC reset.
If the cause of error is not clear, more detailed information can be read out
via the logger of the MLD (MLD Application Manual).
Error text in the parameter Cause Remedy

*EXCEPTION* Watchdog applica‐ Runtime error in PLC program. Run‐ Eliminate the error by modifying the pro‐
tion '<app>' task '<task>' time monitor (watchdog) for a task has gram.
been activated. In this task, processing (Correct any endless loop) ...
was not completed in the preset time.
*EXCEPTION* ArrayBounds appli‐ 1. Array limits exceeded Re 1.: Modify PLC program: Check and cor‐
cation '<app>' task '<task>' 2. Upward/downward violation of a low‐ rect array accesses
er limit range Re 2.: Modify PLC program: Eliminate incor‐
rect assignment
*EXCEPTION* FPU DivisionByZero Division by "0" Modify PLC program: Remove division by
application '<app>' task '<task>' "0"
*EXCEPTION* FPU Error applica‐ Incorrect call of one of the following Modify PLC program: Check and correct
tion '<app>' task '<task>' mathematical functions (tan, ln, log, transfer values
sqrt, expt).
*EXCEPTION* AccessViolation ap‐ 1. Invalid access with a pointer in PLC Re 1.: Modify PLC program: Eliminate incor‐
plication '<app>' task '<task>' program. Accesses outside of PLC da‐ rect assignment.
ta ranges cause this error Re 2.: Modify PLC program: Modify incorrect
2. Error in system event use or programming.
See instructions in the task configuration
*EXCEPTION* Misalignment appli‐ Invalid access with a pointer in PLC Modify PLC program: Eliminate incorrect as‐
cation '<app>' task '<task>' program. Access outside of PLC data signment
ranges cause this error
*MLD-ERROR* Boot project could Wrong project version or project defec‐ More information in logger. Load project with
not be loaded - check device ver‐ tive correct version. Contact support if version is
sion correct.
*MLD-ERROR* PLC retain data Corrupt retain data; maybe hardware Save "P-0-1359" again and reload project. If
corrupt - reset by 'reset cold/hard' - defect error occurs repeatedly, replace control pan‐
please contact support el.
*MLD-ERROR* Only one position Only one PositionLoop task is allowed. Use only one PositionLoop task
loop event task is allowed task
'{task}'
*MLD-ERROR* Only one motion Only one motion task is allowed Use only one motion task
task is allowed task '{task}'
*MLD-ERROR* The motion task cy‐ The motion task cannot run with the Adjust the NC cycle time of the motion task
cle time does not match nc cycle current NC cycle time
time task {task}
*MLD-ERROR* The motion task cy‐ The motion task cannot run with the Adjust the CCD cycle time of the motion
cle time does not match ccd cycle current CCD cycle time task
time task {task}
*MLD-ERROR* A ccd synchronized A motion task in synchronism with CCD Select other task type
motion task is not allowed (MLD - M is not allowed (MLD-M system mode)
system mode) task '{task}'
*MLD-ERROR* Internal: Resource Internal error - resource not available Modify PLC program: Eliminate incorrect ac‐
is not available '{info}' (task, event, ...) cess to resources mentioned
*MLD-ERROR* Memory card for Boot project was parameterized as file Install memory card or set boot project in
boot project is missing on memory card, but no memory card parameters (P-0-1367).
available.
Tab. 4-158: PLC error message

Up to firmware version 17VRS:

If a runtime error occurs in the PLC, the error code is entered in this parame‐
ter along with a time stamp and an error text. The error is cleared after a PLC
reset.
Example - (message window in IndraLogic):
Dec. 2023: Division by zero - WORD zero division
Pou:238 Ofs:96
Task = DefaultTask (see also call stack menu) - RESET to continue
The message window in IndraLogic displays the error code in decimal form.
Information in the parameter:
Id: 000007E7 Hex; Time:000000C0 s; Par:00000005; Text: WORD zero divi‐
sion; Pou:238; Ofs:96; Task = DefaultTask;
Parameter "P-0-1365" contains the error code in hexadecimal form.
Dec. Hex Message in IndraLogic Cause Remedy

16 10 Task monitoring failed %s - Runtime error in PLC program. Eliminate the error by modifying
reset PLC to continue Runtime monitor (watchdog) for the program
a task has been activated. In (correct any endless loop) ...
this task, processing was not
completed in the preset time.
21 15 I/O updating failed Unallowed addressing of an ar‐ Apply 4-byte limit to array ad‐
'Error reading inputs ray in the I/O range dresses.
(CstUpdateEnd)!\nTask =
%s'
23 17 Not enough code memory PLC project too big for memory. Reduce the project size or use
available on controller! a control section with a higher-
capacity code memory.
27 1B Boot project not loaded and Boot project could not be loa‐ Recreate project with corre‐
deleted ded, as it is incompatible with sponding target
firmware.
29 1D Retain memory corrupt or Corrupt retain data were detec‐ Save "P-0-1359" again and re‐
cannot be mapped ted load project. If error occurs re‐
peatedly, replace control panel.
33 21 Target ID of boot project Boot project has a wrong ver‐ Load boot project with correct
does not match current tar‐ sion or is corrupt. version.
get.
2019, 2039 7E3, 7F7 PLC cannot be started with Error message after attempt to The first error is still contained
pending error - %s (see also start the PLC in error state with‐ in the text. Restart PLC and pay
call stack menu) - RESET to out reset. attention to first error.
continue
2020- 2021 7E4-7E5 Array lower bounds violation Array limits exceeded Modify PLC program: Check
- %s (see also call stack and correct array accesses
menu) - RESET to continue
Call stack menu
2022- 2025 7E6-7E9 Division by zero - %s (see Division by "0" Modify PLC program: Remove
also call stack menu) - RE‐ division by "0"
SET to continue
2026- 2029 7EA-7ED Lower range bounds (*) vio‐ A subrange type has been ex‐ Modify PLC program: Eliminate
lation - %s (see also call ceeded incorrect assignment
stack menu) - RESET to
continue
2031 7EF Invalid pointer access (ad‐ Invalid access with a pointer in Modify PLC program: Eliminate
dress), %s (see also call PLC program. Accesses out‐ incorrect assignment
stack menu) - RESET to side of PLC data ranges cause
continue this error
2032 7F0 Invalid pointer access Invalid access with a pointer in Modify PLC program: Eliminate
(area), %s (see also call PLC program. Accesses out‐ incorrect assignment
stack menu) - RESET to side PLC data ranges cause
continue this error
2033 7F1 Invalid pointer access (write Invalid access with a pointer in Modify PLC program: Eliminate
access on input), %s (see PLC program. Accesses out‐ incorrect assignment
also call stack menu) - RE‐ side of PLC data ranges cause
SET to continue this error
2034 7F2 Invalid pointer access Invalid access with a pointer in Modify PLC program: Eliminate
(alignment), %s (see also PLC program. Accesses out‐ incorrect assignment
call stack menu) - RESET to side of PLC data ranges cause
continue this error
4020 FB4 Error loading symbols - se‐ Memory not sufficient for de‐ Reduce number of symbols or
lect / reduce symbols! fined symbols. use a control section with a
higher-capacity project memory
4021 FB5 Not enough memory for per‐ Memory not sufficient for persis‐ Reduce number of persistent
sistent variables - please re‐ tent variables. variables or use a control sec‐
duce variables! tion with a higher-capacity proj‐
ect memory.
4030 FBE Memory card defective or Memory card missing, memory chkdsk/check and, if necessary,
no memory card available! card defective, FAT defective undo write protection
(chkdsk), file read-only Change memory card
4035 FC3 Boot project too large to Boot project is too large Reduce or, if possible, activate
load! boot project on memory card.
4036 FC4 Error while saving file! MMC missing, MMC defective, chkdsk/check and, if necessary,
FAT defective (chkdsk), file undo write protection
read-only Change memory card
4037 FC5 Please note: Drive is in con‐ PLC program active with axis Attention: While downloading,
trol and stopped when movement and, at the same the controller enable is switched
downloading time, a new PLC is to be loa‐ off
(->AH->AB)! ded.
4038 FC6 Incorrect configuration Internal error Contact support

4070 FE6 PLC stop due to +24 V error Voltage breakdown see F8070
4080 FF0 Callback function has false Error in system event Modify PLC program: Modify in‐
parameters or local varia‐ correct use or programming
bles See instructions in the task con‐
figuration.
4081 FF1 Called unallowed POU from Error in system event Modify PLC program: Modify in‐
callback function correct use or programming
See instructions in the task con‐
figuration
4082 FF2 System event not provided Error in system event Modify PLC program: Modify in‐
by this hardware correct use or programming
figuration
4083 FF3 System event needs func‐ Error in system event Modify PLC program: Modify in‐
tion named "callback..." correct use or programming
figuration
4097 1001 PLC cannot be started dur‐ PLC may not be started during Stop download
ing firmware download firmware download.
4098 1002 PLC cannot be started be‐ PLC may not be started in case Complete commands first
cause drive does not allow it of C54 or C55.
(e.g., C54 or C55 is running)
4099 1003 PLC retain data are invalid Corrupt retain data; maybe Save "P-0-1359" again and re‐
(P-0-1359) - can be deleted hardware defect load project. If error occurs re‐
by reset cold/origin - please peatedly, replace control panel.
contact Support
Tab. 4-159: PLC error message

4.10.67 P-0-1367, PLC configuration

Hardware --
Function This parameter serves to configure the fundamental behavior of the MLD (in‐
tegrated PLC).
Structure
1/0 Start behavior of PLC

00: Default start behavior: The PLC starts in boot 2.9 if it was in "RUN" state on
switchoff. Else, it remains in STOP state.
01: Start when booting: The PLC starts in boot 2.9, irrespective of the previous state
(enters RUN state).
10: Stop: The PLC remains in STOP state.
11: Start in operating mode: The PLC starts automatically on transition to operating
mode.
Attention: The PLC does not start automatically on changeover to operating mode if,
beforehand, a new program was loaded (in parameter mode) or a start/stop or reset
was made.
3/2 Reserved
4 Permanent control
0: PLC does not have control
1: PLC has continuous control over drive (ON, HALT, operation mode selection).
Attention: The primary operation mode and the secondary operation modes 1-6 are
automatically configured. If a field bus is used, profile FFFD or 0000 (no profile) must
be set there, and the parameters of the operation modes of PLC motion blocks may
not be configured cyclically.
5 Reserved
6 AxisData activation
The global AxisData structure is supported.
Attention:The structure is always there, but the data is only transmitted if this bit is set
to 1.
7 Reaction to FB error
Behavior when motion function blocks are called which result in an error (e.g., if
MC_MoveAbsolute is called while MC_Stop is active).
0: An axis error F2150 (or F2140 with MLD-M and FB error on slave) is generated.
1: No axis error is generated.
8 Boot project filing location As of MPC-17VRS
If an Advanced control panel (HAP01.1E incl. uSD-card-Slot) is available, this bit can
be set to activate the memory extension of the MLD. The memory location for the
boot project is changed from "PLC program parameters" to "system file on memory
card of Advanced control panel". This setting will not become active before the drive
is switched on the next time. After activation, the boot project must be reloaded Boot
projects are not automatically copied or deleted.

9 Selection of PLC retain data size and PLC retain data memory location To MPC-17V08
By default, approx. 512 bytes are available for PLC retain data. These bytes are kept
in the parameter memory of the control panel. If this memory is insufficient, the mem‐
ory size can be increased to approx. 32 Kbytes in the firmware derivative MPC. If
necessary, the PLC project must be deleted to allow changing bit 9.
0: The memory location for PLC retain data is the parameter memory of the control
panel. The PLC retain data size is 512 bytes.
1: The memory location for PLC retain data is device-internal retain memory. The
PLC retain data size is 32 Kbytes. Device replacement requires execution of com‐
mands C5400 and C5500.
31... 10 Reserved
Tab. 4-160: P‑0‑1367, PLC configuration

4.10.68 P-0-1368, PLC Global Register AL0

Hardware --
Function This parameter is a list register with 8192 elements (4 bytes each) and is
used for data exchange of the integrated PLC with the drive or a higher-level
external PLC or control unit.
Use The display format for this parameter can be individually adjusted with
The data length of P-0-1368 is 4 bytes and cannot be changed.

The content of P-0-1368 is not backed up in case control voltage
fails. For non-volatile data use P-0-1389!
See also Functional Description "Rexroth IndraMotion MLD (Drive-Integrated

PLC)"

Hardware --
Function Access via "parameters for general purpose" (global registers) can be used
for data exchange between the MLD and a neighboring drive or a higher-lev‐
el control unit or an external operator terminal (e.g., BTV).
See also Functional Description "Rexroth IndraMotion MLD (Drive PLC)"
Use Single parameter / register with 4 bytes (32 bits)
Observe the following aspects for using the parameter:
● The global registers (G0... G32; A0... A31 and AT0, AT1) do not have
any direct influence on the drive, but only take effect in conjunction with
the MLD.
● The display format for this parameter can be individually adjusted with
● The content of this parameter is buffered in the event of a control volt‐
age failure. For this reason, non-cyclic settings should be made using
the global registers. Cyclic data to external devices is usually executed
with the process image (PII, POI).
● In contrast to the PII/POI, global registers are not automatically ac‐
cessed at the beginning or the end of the task, but by accessing specific
parameters as required (e.g., by means of MX_ReadParam).
● In addition to "P-0-1370", other available global registers are the follow‐
ing:
– G1... G15: P-0-1371 - P-0-1385
– G16... G31: P-0-1316 - P-0-1331
– A0... A31: P-0-1270 - P-0-1301

Hardware --
Function This parameter is a register with individual values for data exchange of the
PLC with the drive or a higher-level PLC or control unit. The display format
for this parameter can be individually adjusted with "P-0-1386, PLC display
format Global Register". The content of this parameter is buffered in case the
control voltage fails.


Hardware --

Hardware --

Hardware --
PLC with the drive or a higher-level PLC or control unit.
The display format for this parameter can be individually adjusted with
"P-0-1386, PLC display format Global Register". The content of this parame‐
ter is buffered in case the control voltage fails.


Hardware --

PLC)"

Hardware --

PLC)"

Hardware --

PLC)"


Hardware --

PLC)"

Hardware --

PLC)"

Hardware --

PLC)"


Hardware --

PLC)"

Hardware --

PLC)"

Hardware --

PLC)"


Hardware --

PLC)"

Hardware --

PLC)"
4.10.85 P-0-1386, PLC display format Global Register

Hardware --
Function This list parameter serves to adjust the display format for the "PLC Global
Registers".
Structure Each element in the list has the following structure:

3-0 Reserved
7-4 Display format
0: BIN
1: DEC w sign
2: DEC w/o sign
3: HEX
4: FLOAT
11-8 Number of decimal places
0 to 7 decimal places
Tab. 4-161: P-0-1386, PLC display format Global Register

To ensure that the change in format also becomes effective in AxisData (if
the relevant parameter is configured in AxisData), the mode must be switch‐
ed from PM to OM.
● The actual length of the parameter must always be 68 elements.
● When loading default values, each list element is set to = 0x0010 (DEC
w sign, 0 decimal places).
The elements have the following relation to the register parameters:
Element no. Influenced parameter
0... 15 P-0-1370... P-0-1385, PLC Global Register G0... G15
16 P-0-1389, PLC Global Register GL0
17 P-0-1368, PLC Global Register AL0
18... 33 P-0-1316... P-0-1331, PLC Global Register G16... G31
34... 65 P-0-1270... P-0-1301, PLC Global Register A0...A31
66... 67 P-0-1311... P-0-1312, PLC Global Register GL1...GL2
Tab. 4-162: P-0-1386, PLC display format Global Register

4.10.86 P-0-1387, PLC Global Register AT0

Hardware --
Function Freely usable text parameter with a maximum of 255 characters plus termi‐
nating zero character. It is used for data exchange between the integrated
PLC and the drive or a higher-level PLC or control unit.
● The UTF-8 character set can be written to this parameter.
● A UTF-8 character can have a size of 1 to 3 bytes.
● The number of characters that can be entered may be less, depending

on the UTF-8 characters used.
The content of this parameter is not buffered in the event of a

control voltage failure.

4.10.87 P-0-1388, PLC Global Register AT1

Hardware --
Function Freely usable text parameter with a maximum of 255 characters plus termi‐
nating zero character. It is used for data exchange between the integrated
PLC and the drive or a higher-level PLC or control unit.
● The UTF-8 character set can be written to this parameter.
● A UTF-8 character can have a size of 1 to 3 bytes.
● The number of characters that can be entered may be less, depending
on the UTF-8 characters used.
The content of this parameter is not buffered in the event of a

control voltage failure.


Hardware --
used for data exchange between the integrated PLC and the drive or an ex‐
ternal higher-level PLC or control unit.
The data length is firmly set to 4 bytes and cannot be changed.

The content is buffered in the event of a control voltage failure.
length = 0).
See also functional description "Rexroth IndraMotion MLD (Drive PLC)"
4.10.89 P-0-1390, PLC input WORD0 AT %IB0

Hardware --
Function This parameter belongs to the I/O channel (process image) which is the con‐
tact of the MLD to external devices, as it allows evaluating and addressing
digital and analog inputs/outputs. In this context, this parameter is used for
displaying and transporting the inputs to the process image of the inputs (PII)
in MLD.
Use
Fig. 4-53: PII - PLC Inputs

● This parameter contains the process image of a PLC input (PII) and
therefore is not buffered, which means that its content gets lost in case
voltage fails.
● It contains 16 bits and is assigned to the hardware via the link logic
(e.g., X31/32).
● At the beginning of the task, the PLC (IndraMotion MLD) reads the val‐
ues of the hardware to the parameter (the PII).
● To connect the input, the corresponding assignment of the IDN (e.g.,
P-0-1390) to a digital input of "X31/32" is required.
● In addition to "P-0-1390", other available input registers are the follow‐
ing:
– 32 bits: P-0-1440 - P-0-1447
– 16 bits: P-0-1391 - P-0-1397, P-0-1398 - P-0-1409


Hardware --
Function See also "P-0-1390, PLC input WORD0 AT %IB0"

PLC)"

Hardware --

PLC)"

Hardware --

PLC)"


Hardware --

PLC)"

Hardware --

PLC)"

Hardware --

PLC)"


Hardware --

PLC)"

Hardware --

PLC)"

Hardware --

PLC)"


Hardware --
Function Parameter for the PLC input image. The parameter contains the process im‐
age of a PLC input (input process image). It contains 16 bits and is assigned
in the corresponding dialog (e.g. "X31/32") of the commissioning software
(e.g. IndraWorks). At the beginning of the task the PLC reads the values from
this parameter to the input process image.

Hardware --

Hardware --


Hardware --

Hardware --

Hardware --

Hardware --

Hardware --


Hardware --

PLC)"

Hardware --

PLC)"
4.10.109 P-0-1410, PLC output WORD0 AT %QB0

Hardware --
Function The parameter belongs to the I/O channel (process image), which represents
the contact of the MLD to the outside world and in which digital and analog
inputs/outputs can be evaluated and/or addressed. The parameter serves to
display and transporting data from the process image to the outputs (PAA).
Use
Fig. 4-54: PAA - PLC outputs

Observe the following aspects for their usage:
● The parameter contains the process image of a PLC output (PAA) and
is not buffered, i.e. its content is lost after a power failure.
● It contains 16 bits and is assigned to hardware via the logic circuit (e.g.
X31/32), or read directly by the master communication (possibly via the
serial interface).
● The PLC (IndraMotion MLD) writes the values from the PAA to hard‐
ware at the end of the task.
● To connect the output, the IDN (e.g. P-0-1410) has to be assigned to a
digital output of "X31/32".
● Apart from "P-0-1410" the following input registers are available:
– 16 bits: P-0-1411 - P-0-1417
P-0-1418 - P-0-1429


Hardware --
Function See also "P-0-1410, PLC output WORD0 AT %QB0"

PLC)"

Hardware --

PLC)"

Hardware --

PLC)"


Hardware --

PLC)"

Hardware --

PLC)"

Hardware --

PLC)"


Hardware --

PLC)"

Hardware --
Function See also "P-0-1410, PLC Output WORD0 AT %QB0"


Hardware --
Function The parameter contains the process image of a PLC output (output process
image). It contains 16 bits and is assigned in the corresponding dialog (e.g.
"X31/32") of the commissioning software (e.g. IndraWorks). At the end of the
task the PLC writes the values from the output process image to this parame‐
ter.


Hardware --
ter.

Hardware --
ter.

Hardware --
ter.


Hardware --
ter.

Hardware --
ter.

Hardware --
ter.

Hardware --
ter.

Hardware --
ter.


Hardware --
ter.

Hardware --
ter.
4.10.129 P-0-1440, PLC input DWORD25 AT %IB100

Hardware --
Function This parameter belongs to the I/O channel (process image) which is the con‐
tact of the MLD to external devices, as it allows evaluating and addressing
digital and analog inputs/outputs. In this context, this parameter is used for
displaying the inputs and accessing the process image of the inputs (PII) to
the process image of the inputs (PII) in the MLD.
Fig. 4-55: PII - PLC Inputs

Use The following aspects have to be observed for use:
● This parameter contains the process image of a PLC input (PII) and is
not buffered, which means that its content gets lost in case voltage fails.
● It contains 32 bits and is assigned via the link logic (e.g.," X31/32").
● At the beginning of the task, the PLC (IndraMotion MLD) reads the val‐
ues to the PII.
● To write to the input, the corresponding assignment of the IDN (e.g.,
P-0-1390 to a digital output of X31/32) is required.
● In addition to "P-0-1440", other available input registers are the follow‐
ing:
– 32 bits: P-0-1441 - P-0-1447
– 16 bits: P-0-1390 - P-0-1397, P-0-1398 - P-0-1409

Hardware --
Function See also "P-0-1440, PLC input DWORD25 AT %IB100"

PLC)"

Hardware --

PLC)"

Hardware --

PLC)"

Hardware --


PLC)"

Hardware --

PLC)"

Hardware --

PLC)"

Hardware --

PLC)"

4.10.137 P-0-1449, C4900 PLC command

Hardware --
Function This parameter can be used to control a PLC program via the standardized
command mechanisms.
4.10.138 P-0-1450, PLC/setting-up mode Positioning command value

Hardware --
Function This parameter is used to input a positioning command value for drive-con‐
trolled positioning via IndraMotion MLD with temporary control or via the set‐
ting-up mode.
To use positioning with the setting-up mode, the operation mode

must first be preselected with "P-0-0120, Control word easy start‐
up".

See also Functional Description "IndraMotion MLD (Drive-Integrated SPS)"
Use The function of "P-0-1450" complies with "S-0-0282, Positioning command
value ", its effectiveness is explained in the Functional Description.
See Functional Description "Rexroth IndraMotion MLD"
S-0-0077 /
S-0-0078

4.10.139 P-0-1451, PLC/setting-up mode, positioning velocity

Hardware --
Function This parameter is used to input a positioning velocity for drive-controlled posi‐
tioning via IndraMotion MLD with temporary control or via the setting-up
mode.

up".

Use The function of "P-0-1451" complies with "S-0-0259, Positioning velocity ", its
effectiveness is explained in the Functional Description.
S-0-0045 /
S-0-0046
4.10.140 P-0-1452, PLC/setting-up mode, positioning acceleration

Hardware --
Function This parameter is used to input a positioning acceleration for drive-controlled

positioning via IndraMotion MLD with temporary control or via the setting-up
mode.

up".

Use The function of "P-0-1452" complies with "S-0-0260, Positioning acceleration
", its effectiveness is explained in the Functional Description.
See Application Manual "Rexroth IndraMotion MLD"
S-0-0161 /
S-0-0162
4.10.141 P-0-1453, PLC/setting-up mode, positioning deceleration

Hardware --
Function This parameter is used to input a positioning deceleration for drive-controlled

positioning via IndraMotion MLD with temporary control or via the setting-up
mode.

up".

Use The function of "P--0--1453" complies with "S-0-0359, Positioning decelera‐
tion", its effectiveness is explained in the Functional Description.
S-0-0161 /
S-0-0162
4.10.142 P-0-1454, PLC/setting-up mode, positioning command value

acceptance
Hardware --
Function This parameter is used to control the positioning process (e.g., start of posi‐
tioning) for drive-controlled positioning via IndraMotion MLD with temporary
control or via the setting-up mode.

up".

Use The function of "P-0-1454" complies with "S-0-0346, Positioning control word

4.10.143 P-0-1455, PLC/setting-up mode, positioning command value

acknowledge
Hardware --
Function This parameter is used for internal analysis of the positioning process for
drive-controlled positioning via IndraMotion MLD with temporary control or via
the setting-up mode.

must first be preselected with "P0-0120, Control word easy start‐
up".

Use Regarding its function, parameter "P-0-1455" corresponds to parameter
"S-0-0419, Positioning command acknowledge" the operating principle of
which is explained in detail in the Functional Description.
4.10.144 P-0-1460, PLC/setting-up mode, velocity command value

Hardware --
Function This parameter is used to input a velocity command value in velocity control
via IndraMotion MLD with temporary control or via the setting-up mode.
Use The function of "P-0-1460" complies with "S-0-0036, Velocity command value

S-0-0045 /
S-0-0046
4.10.145 P-0-1461, PLC/setting-up mode Ramp pitch

Hardware --
Function This parameter is used to set a ramp in velocity control via IndraMotion MLD
with temporary control or via the setting-up mode.
Use The function of "P-0-1461" complies with "P-0-1203, Ramp 2 pitch ", its effec‐
tiveness is explained in the Functional Description.
S-0-0161 /
S-0-0162
4.10.146 P-0-1463, PLC/setting-up mode Deceleration ramp

Hardware --
Function This parameter is used to set a deceleration in velocity control via

IndraMotion MLD with temporary control or via the setting-up mode.
Use The function of "P-0-1463" complies with "P-0-1213, Deceleration ramp 2 ",
its effectiveness is explained in the Functional Description.
S-0-0161 /
S-0-0162

4.10.147 P-0-1465, PLC/setting-up mode Torque/force command value

Hardware --
Function This parameter is used to input a torque/force command value in torque con‐
trol via IndraMotion MLD-S with temporary control or via the setting-up mode.
To use torque/force control with the setting-up mode, the opera‐

tion mode must first be preselected with "P-0-0120, Control word
easy startup".

Use The function of "P-0-1465" complies with "S-0-0080, Torque/force command
value ", its effectiveness is explained in the Functional Description.
S-0-0093 /
S-0-0094
4.10.148 P-0-1466, PLC Torque/force ramp

Hardware --
Function Using the torque/force ramp time (P-0-1467), the PLC torque/force ramp de‐
fines a pitch for the PLC torque/force command value (P-0-1465) in torque/
fore control PLC operation mode under temporary control or in set-up mode.
In its function, parameter P-0-1466 corresponds to parameter S-0-0822, Tor‐
que/force ramp, whose operating principle is explained in detail in the func‐
tional description.
S-0-0093 /
S-0-0094
4.10.149 P-0-1467, PLC/setting-up mode, torque/force ramp time

Hardware --
Function Using the torque/force ramp (P-0-1466), the PLC torque/force ramp time de‐
fines a pitch for the PLC torque/force command value (P-0-1465) in torque/
fore control operation mode via the drive-internal PLC under temporary con‐
trol or in set-up mode.
In its function, parameter P-0-1467 corresponds to parameter S-0-0823, Tor‐
que/force ramp time, whose operating principle is explained in detail in the
functional description.
4.10.150 P-0-1470.0.1, PLC inputs area AT %IB1000 - %IB1199

Hardware --
Function This parameter belongs to the I/O channel (process image) which is MLD's
contact to external devices, as it allows digital and analog inputs/outputs to
be evaluated and addressed via sercos. In this context, this parameter is
used for displaying and transporting the inputs to the process image of the in‐
puts (PII) in MLD.
See also Functional Description "Rexroth IndraMotion MLD (drive PLC)"
Use
Fig. 4-56: PII - PLC inputs

● The parameter corresponds to the addresses ranging from %IB1000 to
%IB1199 in the input image of the PLC. It has a length of 200 bytes
(100 words). This parameter can be linked to a sercos modular I/O. For
this purpose, it is entered in "P-0-1628, CCD: Configuration list act.
master values I/Os".
● In addition to "P-0-1470.0.1", other available input registers are the fol‐
lowing:
– 32 bits: P-0-1440 to P-0-1447
– 16 bits: P-0-1391 to P-0-1397; P-0-1398 to P-0-1409
– P-0-1470.0.2, P-0-1470.0.3, P-0-1470.0.4

Hardware --
puts (PII) in MLD.
%IB1399 in the input image of the PLC. The parameter has a length of
200 bytes (100 words). This parameter can be linked to a sercos modu‐
lar I/O. For this, it is entered in the "P-0-1628 CCD: Configuration list
master actual values I/Os".
lowing:
– 32 bits: P-0-1440 to P-0-1447
– 16 bits: P-0-1391 to P-0-1397; P-0-1398 to P-0-1409
– P-0-1470.0.1, P-0-1470.0.3, P-0-1470.0.4

Hardware --
puts (PII) in MLD.
lowing:
– 32 bits: P-0-1440 to P-0-1447
– 16 bits: P-0-1391 to P-0-1397; P-0-1398 to P-0-1409
– P-0-1470.0.1, P-0-1470.0.2, P-0-1470.0.4

Hardware --
puts (PII) in MLD.
%IB1199 in the input image of the PLC. It has a length of 200 bytes
(100 words). This parameter can be linked to a sercos III modular I/O.
For this, it is entered in the "P-0-1628 CCD: Configuration list master ac‐
tual values I/Os".
lowing:
– 32 bits: P-0-1440 to P-0-1447
– 16 bits: P-0-1391 to P-0-1397; P-0-1398 to P-0-1409
– P-0-1470.0.1, P-0-1470.0.2, P-0-1470.0.3
4.10.154 P-0-1471.0.1, PLC outputs area AT %QB1000 - %QB1199

Hardware --
be evaluated and addressed via sercos. Here, the parameter is used for dis‐
playing and transporting the outputs from the process image of the output
(PIO) of the MLD to the sercos outputs.
● The parameter corresponds to the addresses ranging from %QB1000 to
%QB1199 in the output image of the PLC. The parameter has a length
of 200 bytes (100 words). This parameter can be linked to a sercos
modular I/O. For this, it is entered in the "P-0-1627 CCD: Configuration

list master cmd values I/Os".
● In addition to "P-0-1471.0.1," the following input registers are also avail‐
able:
16 bits: P-0-1411 to P-0-1417
P-0-1418 - P-0-1429
P-0-1471.0.2, P-0-1471.0.3, P-0-1471.0.4

Hardware --
lowing:
16 bits: P-0-1411 to P-0-1417
P-0-1418 - P-0-1429
P-0-1471.0.1, P-0-1471.0.3, P-0-1471.0.4

Hardware --

lowing:
16 bits: P-0-1411 to P-0-1417
P-0-1418 - P-0-1429
P-0-1471.0.1, P-0-1471.0.2, P-0-1471.0.4

Hardware --
lowing:
16 bits: P-0-1411 to P-0-1417
P-0-1418 - P-0-1429
P-0-1471.0.1, P-0-1471.0.2, P-0-1471.0.3

4.11 P-0-1500 to P-0-1599 Device parameters

4.11.1 P-0-1506, Circuit board code optional module 1
Hardware --
Function This parameter contains identification data for the circuit board of the optional
module 1 (control section). It is stored on a memory chip on the circuit board
and data are written to it once when the circuit board is assembled.
See also Functional Description "Circuit Board Code"
Use The parameter contains a list. The following data are included in the ele‐
ments of the list:
Element no. Function
0 circuit board designation (1)

2 component number
3 serial number
4 circuit board type and version
5 release/revision index
6 writing cycles
Tab. 4-163: Elements of parameter P-0-1506

By means of circuit board code parameters the controller firmware identifies
all circuit boards incorporated in the control section and in the basic device
and thus generates the type designation of the control section ("P-0-1520,
Control section type") and the basic device ("S-0-0140, Controller type"). The
type designation of the control section also implies firmware dependencies.
Memory: I2C_OPM_SP Validity ch.: -- Format: HEX


Hardware --
ments of the list:

2 component number
3 serial number
6 writing cycles


Hardware --
ments of the list:

2 component number
3 serial number
6 writing cycles

4.11.4 P-0-1510, Circuit board code power section

Hardware Cs, HCQ, HCS02, HCS03, HCS04, HCT, HMD, HMS, Mi, Mn
Function This parameter contains identification data for the power section circuit board
(basic device). It is stored on a memory chip on the circuit board and data are
written to it once when the circuit board is assembled.
ments of the list:

2 component number
3 serial number
6 writing cycles

4.11.5 P-0-1511, Circuit board code control section

Cs, HCQ, HCS02, HCS03, HCS04, HCS05, HCT, HMS,
Hardware
HMS05, HMV05, KMV, Mi, Mn
Function This parameter contains identification data for the basic circuit board of the
control section. It is stored on a memory chip on the circuit board and data
are written to it once when the circuit board is assembled.
ments of the list:

2 component number
3 serial number
6 writing cycles

4.11.6 P-0-1512, Circuit board code of optional module 4

Hardware --
ments of the list:
Element number Function

2 component number
3 serial number
6 writing cycles

4.11.7 P-0-1515, Circuit board code carrier board

Hardware --
Function This parameter contains the identification data for the circuit board "carrier
board" of the controller. It is stored on a memory chip on the circuit board and
data are written to it once when the circuit board is assembled.
Structure The parameter contains a list. The following data are included in the ele‐
ments of the list:
0 Circuit board designation (1)

2 Component number
3 Serial number
4 Circuit board type and version

5 Release/revision index
6 Writing cycles
Tab. 4-169: Elements of Parameter P-0-1515

Use By means of circuit board code parameters, the controller firmware identifies
and thus generates the type designation of the control section "P-0-1520,
Control section type" and basic device "S-0-0140, Controller type". The type
designation of the control section also implies firmware dependencies.

Hardware --
Function This parameter contains identification data about the circuit board of the op‐
tional module 5 (control section). It is stored on a memory chip on the circuit
board and data are written to it once when the circuit board is assembled.
ments of the list:

2 Component number
3 Serial number
6 Writing cycles

By means of circuit board code parameters, the controller firmware identifies


Hardware --
Function This parameter contains identification data about the circuit board of the op‐
tional module 6 (control section). It is stored on a memory chip on the circuit
board and data are written to it once when the circuit board is assembled.
ments of the list:

2 Component number
3 Serial number
6 Writing cycles

By means of circuit board code parameters, the controller firmware identifies
4.11.10 P-0-1518, Module code of control section

Hardware
Mi, Mn
Function This parameter contains identification data for the control section. It is stored
on a memory chip on the control section and data are written to it once when
the circuit board is assembled.
See also Functional Description: "Circuit Board Code"
ments of the list:
0 Module designation (1)

3 Part number
4 Serial number
7 Writing cycles

The type designation of the control section also implies firmware dependen‐
cies.
4.11.11 P-0-1519, Module code of power section

Hardware
Mi, Mn
Function This parameter contains identification data for the power section. It is stored
on a memory chip on the power section and data are written to it once when
the circuit board is assembled.
ments of the list:

3 Part number
4 Serial number
5 Power section - firmware code
7 Writing cycles

cies.

Memory: LT_SP Validity ch.: PM->OM Format: HEX
4.11.12 P-0-1520, Control section type

Hardware --
Function This parameter displays the type designation of the control section. By
means of circuit board code parameters the controller firmware identifies all
circuit boards incorporated in the control section and thus generates the type
designation.
cies.
4.11.13 P-0-1521, Programming module identifier

Hardware --
Function This parameter contains identification data for the programming module. It is
stored on a memory chip on the control panel and data is written to it once
when the circuit board is assembled.
Use The parameter contains a list. The following data is included in the elements
of the list:
0 Basic module designation (1)

3 Part number
4 Serial number
5 Programming module - firmware code
7 Factory identifier

The type designation of the programming module also implies firmware de‐
pendencies.

4.11.14 P-0-1522, Type data of module 3

Hardware KMV, Mi
Function This parameter contains identification data for assembly 3. It is stored on a

memory chip on the assembly and data is written to it once when the device
is manufactured.
Use The parameter contains a list. The following data is included in the elements
of the list:

3 Part number
4 Serial number
5 Assembly - firmware code
7 Factory identifier

cies.
4.11.15 P-0-1530, Engineering: MAC address

Hardware Real Engineering
Function Parameter "P-0-1530" contains the MAC address for the engineering inter‐
face which is required within the scope of Ethernet communication. The MAC
address (Media Access Control) is used for unequivocal identification in the
network.
Structure The MAC address is a list parameter with the following structure:
Fig. 4-57: P‑0‑1530, Engineering: MAC address

Use
The MAC address has been permanently assigned to the hard‐
ware and cannot be modified!
See Parameter Description "S-0-1019, Master comm. engineering over IP:

MAC address"
4.11.16 P-0-1531, Engineering: IP address

Function "P-0-1531" contains the IP address for the engineering interface. This ad‐
dress is required to ensure that the device in the network can be reached via
IP communication.
Changes in the parameter only become effective by:

● Switching on the 24 V supply of the drive again
● Executing drive command "C6100 Command activate IP set‐
tings"

Fig. 4-58: P-0-1531, Engineering: IP address

Use
The IP address has to be set with regard to the specific applica‐
tion. It can be set via all communication interfaces or via the con‐
trol panel.
See also parameter description:

"P-0-1532, Engineering: Network mask"
"P-0-1533, Engineering: Gateway address"
"S-0-1020, Master comm. engineering over IP: IP address"
4.11.17 P-0-1532, Engineering: Network mask

Function Parameter "P-01532 "contains the network mask for the engineering interface
which is required within the scope of IP communication. Each IP address (In‐
ternet Protocol) consists of a network and a device part. The network mask is
used to distinguish between network and device part.

● Executing the drive command "C6100 Command Activate IP
settings"
Structure The network mask is a list parameter with the following structure:
Fig. 4-59: P-0-1532, Engineering: Network mask

Use
The network mask must be set with regard to the specific applica‐
tion. This setting can be done via all communication interfaces or
the control unit.
See also Parameter Description

"P-0-1531, Engineering: IP address"
"P-0-1533, Engineering: Gateway address"
"S-0-1021, Master comm. engineering over IP: Network mask"
4.11.18 P-0-1533, Engineering: Gateway address

Function Parameter "P-0-1533" contains the Gateway-address for the engineering in‐
terface which is required within the scope of IP communication.
If the communication node wants to transmit an IP package (Internet Proto‐
col), the network parts of the source IP address and the target IP address are
compared. If they do not match, the IP package is transmitted to the gateway
IP address.

● Executing the drive command "C6100 Command Activate IP
settings"
Structure The gateway address is a list parameter with the following structure:
Fig. 4-60: P-0-1533, Engineering: Gateway address

Use
The gateway address must be set with regard to the specific ap‐
plication. This setting can be done via all communication interfa‐
ces or the control unit.

"P-0-1531, Engineering: IP address"
"P-0-1532, Engineering: Network mask"
"S-0-1022, Master comm. engineering over IP: Gateway address"
4.11.19 P-0-1534, C6100 Command Activate IP settings

Hardware Real Engineering, Virtual Engineering

cess and for communication interfaces, which do not support any 32-bit ident
numbers (EIDN).
This command can be used to activate the IP settings made by the user (IP
address, network mask and standard gateway) for the devices available in
the controller.
Before the command is started, the settings effective before the

change was made remain active, even if the IP settings were
changed.
Use When the command is started, the communication of all devices (hardware,
over which IP communication can take place, cf. network card in the PC), the
settings of which were changed, is aborted. After the command was success‐
fully executed, the IP communication is resumed with the new settings.
The command can be started from the operator panel.

4.11.20 P-0-1535, Setting of IP communication

Hardware Real Engineering, Virtual Engineering
Function This parameter can be used to make basic settings for IP communication of
the drive.
Changed settings only become active after a restart of the drive.
The shutdown of IP servers is an aspect of IT security.

To protect the settings made, the customer password should
therefore be set in order that the parameter is protected against
unauthorized changes.
0 Proxy-ARP
0: Active
1: Not active
Proxy-ARP is a mechanism, in which a device (router) re‐
plies to ARP requests for hosts from the other known IP
networks.
1 IP routing
0: Active
1: Not active
2 ARP probe
0: Active
1: Not active
ARP probe is a mechanism for detecting IP address con‐
flicts. In the drive, it is only executed when the IP configu‐
ration or the LINK status is changed.
7-3 Reserved
8 Telnet server
0: Active
1: Not active
TCP port: 23
9 SIS server
0: Active
1: Not active
TCP port: 5002

10 TFTP server
0: Active
1: Not active
UDP port: 69
11 FTP server
0: Active
1: Not active
TCP port: 20/21
12 ComServer (BRWS)
0: Active
1: Not active
TCP port: 6042
13 WebServer (http)
0: Active
1: Not active
TCP port: 80
15-14 Reserved

4.11.21 P-0-1544, Engineering: Status IP communication

Function By means of the parameter "P01544, Engineering: Status IP communication",

you can read the status information on the current state of IP communication
via the engineering interface of the device.
The parameter contains both general information on IP communication and
device-dependent information.
Structure The general status information on IP communication is contained in parame‐
ter "P01544, Engineering: Status IP communication", preferably in the first 8
bits. The bits 8 to 31 contain the device-dependent information.
1... 0 State of internal memory TCP/IP stack

00: No problem with internal memory
01: Internal memory space full
10: Internal memory space intermittently filled
3... 2 Reserved
6... 4 Default gateway information
000: Not set
001: From master comm. engineering over IP (S-0-1022)
010: From SERCOS III master (CCD) (P-0-1643)
100: From engineering (P-0-1533)
7 Reserved
9... 8 Setting of device gateway information
00: No gateway information set
01: Active gateway information manually set
10: Active gateway information automatically generated
11... 10 Status of device gateway information
00: Gateway information not used
01: Gateway address which was read is active
10: Gateway address which was read has not been acti‐
vated up to now
12 Status of device network mask
0: Network mask which was read is active
1: Network mask which was read has not been activated
up to now
15... 13 Reserved
17... 16 Setting of device IP address
00: No IP address set
01: Active IP address manually set
10: Active IP address automatically set
20..18 Status of IP address
000: No IP address available for activation
010: IP address which was read has not been activated
up to now
21 Reserved
22 Validity of device IP settings
1: Invalid IP settings (address and gateway in different
networks)

23 Status of IP communication
1: No IP communication possible (resources missing)
25... 24 Status of FPGA Rx Buffer
00: FPGA Rx Buffer able to receive data
01: FPGA Rx Buffer temporarily busy
10: FPGA Rx Buffer permanently busy
27... 26 Reserved
29... 28 Status of FPGA Tx Buffer
00: FPGA Tx Buffer able to receive data
01: FPGA Tx Buffer temporarily busy
10: FPGA Tx Buffer permanently busy
31... 30 Reserved
Tab. 4-177: P-0-1544, Engineering: Status IP communication

4.11.22 P-0-1550, Container FSoE MasterMessage

Hardware S3, S4, S5, SB, SD
Function Besides the size (max. and actual length 8 byte), the parameter contains the
corresponding data array that contains the last message received from the
FSoE master.
Verify: +
4.11.23 P-0-1551, Container FSoE SlaveMessage

Function Besides the size (max. and actual length 8 byte), the parameter contains the
corresponding data array that contains the last message transmitted to the
FSoE master.

4.12 P-0-1600 to P-0-1799 Cross Communication Drives, CCD

4.12.1 P-0-1600, CCD: Configuration
Hardware Controller A-CC
Function As of MPx-18VRS: "P-0-1800.0.1" replacement parameter for compatible ac‐

cess and for communication interfaces which do not support any 32-bit ident
numbers (EIDN).
This parameter serves to configure the CCD communication in the CCD mas‐
ter.
See also Functional Description "Cross Communication (CCD)"
Structure The bits of the configuration word have the following significance and func‐
tion:
0 Activation of cross communication in the master

0: CCD master not active
1: CCD master active
1 Reserved
2 Reserved
4/3 CCD operation mode
00: CCD system mode
01: MLD-M system mode
10: CCD basic mode
5 Decoupling from CCD phase switchover: MPC-17VRS
0: Coupling to OM/PM switchover of CCD master (behav‐
ior in the past)
1: No coupling to OM/PM switchover of CCD master (de‐
fault setting)
6 Synchronization of system times MPC-17VRS
0: Function is switched off
1: The system time (P-0-0197) of the CCD master is dis‐
tributed to the CCD slaves on CCD phase startup

8/7 CCD error reaction
00: No reaction:
There is no reaction to errors of the CCD node. Any de‐
sired reaction has to be programmed in the control unit.
01: Simple error reaction:
In case of errors in a CCD node, warning "E2140" is dis‐
played in the master.
10: Master-controlled synchronous error reaction
If this error reaction is active, parameter "P-0-170x, CCD:
Diagnostic message number slave x" is cyclically evalu‐
ated and accordingly reacts to the slaves in the master. Bit
10 can be used to select whether "P-0-179x" and
"S-0-0390" are configured automatically for all slaves.
11: Automatic complete error reaction:
As soon as an error occurs in an axis, all axes are decel‐
erated as parameterized in "P-0-0119". Error F2140/
E2140 is set in the master.
9 Only in effect if bit 8/7 = 10
Definition of the reaction of the CCD master to an F8xxx
error in the CCD group
0: Torque disable; master clears "Drive enable" in the
master control word of the CCD slaves
1: Best possible deceleration; master clears "Drive on" in
the master control word of the CCD slaves
10 CCD group error reaction if bit 8/7 = 10
Definition of whether "S-0-0390" of the slaves is automati‐
cally configured in AT, i.e., whether all slaves participate in
the error reaction.
0: Group reaction active
1: Selective error reaction of the slaves (manual configura‐
tion)
11 Reaction in case of telegram failure
If the number of telegram failures in phase 4 exceeds the
number parameterized in "P-0-1639", error F4140 is gen‐
erated.
Bit 11 = 0: The master attempts a phase return to phase 2
via phase 0.
Bit 11 = 1: The master continues to preset phase 4.
Is used to define the reaction of the CCD master to a non-
fatal error and errors of class F6/F7xxx in the CCD group.
0: No additional reaction
1: Master clears "Drive on" in the master control word of
the CCD slaves
Tab. 4-178: CCD Configuration

Use Regarding parameterization, observe the following:
"P-0-1600" is only set in the CCD master because the CCD

slaves are mere sercos III drives!
Bits 4/3: CCD operation mode for the CCD group. Depending on the applica‐
tion, the appropriate mode must be selected:
● 00: CCD system mode:
Commands for the CCD slaves are triggered by the higher-level control
(remote and external with profile interpreter with profile 0xFFFE and
0xFFFD) or, where appropriate, by the local MLD in the CCD slaves
with constant control and profile type FFFD.
Process data can be exchanged between CCD master and slaves, as
well as between the external control and CCD slaves --> CCD slaves
are known in the external control.
● 01: MLD-M system mode:
The CCD slaves are controlled via MLD in the master drive or via P165x
in the master by the ext. control. Process data are only exchanged be‐
tween CCD master and slaves --> CCD slaves are not known in the ex‐
ternal control.
● 10: CCD basic mode:
Command triggering of CCD slaves can be by higher-level control unit
(remote external, but without profile interpreter) via parameter P165x in
the master, via MLD in the master drive or, where possible, via local
MLD-S with permanent/local control. Process data are only exchanged
between CCD master and slaves --> CCD slaves are not known in the
external control.
Bit 5: Decoupling from CCD phase switchover:
This allows restoring the past behavior in versions below MPC-08:
● 1: No coupling to OM/PM switchover of CCD master:
OM/PM switchover in the CCD master (C02 or C04) does not affect
phase switchover of the CCD group. If the CCD group is in phase 4, a
switchover to PM of the CCD master does not case a phase return to
CCD phase 2. In the CCD slaves, sercos phase startup is decoupled
from the device switchover, with the result that an error occurring during
initialization of the axis does not lead to abortion of the CCD phase
startup (default setting).
● 0: Coupling to PM<->OM switchover of CCD master:
Permanent coupling of CCD phase switchover to OM/PM switchover in
the CCD master. A switchover to PM in the CCD master always results
in specification of CCD phase 2. An error occurring in switchover com‐
mand C02 (OM) of a CCD node always leads to abortion of the CCD
phase startup (past behavior in versions below MPC-08).
Bits 8/7: Error reaction:
● 00: No reaction
In case of an error in a CCD axis, other CCD axes are not automatically
decelerated. A group error reaction has to be explicitly programmed by
the control unit.
● 01: Simple error reaction: In case of errors in a CCD node, warning
E2140 is displayed in the master.
● 10: Master-controlled synchronous error reaction
If the error reaction is active, parameter "P-0-170x, Diagnostic message

number slave x" is cyclically evaluated. For this purpose, "P-0-170x"
must be configured for each slave in "P-0-1624". In "P-0-1626", parame‐
ter "S-0-0390" must have been entered at the corresponding place. The
error reactions of both master and slaves are dependent on the error
number detected.
● 11: Automatic complete error reaction:
If the CCD master detects that an axis in the CCD group (master or
slave) signals a class 1 diagnostics error, all axes are decelerated with
best possible deceleration, as parameterized in "P-0-0119". The CCD
master outputs error "F2140 CCD slave error". If the CCD master is not
in control mode, only warning E2140 is displayed.
Bit 10: CCD error reaction on the master side (only in case of a master-con‐
trolled synchronous error reaction)
● If a slave in the CCD axis group is not to participate in the activated
error reaction in the master, the automatic parameterization of the slave
diagnosis for all slaves must be switched off with bit 10 of "P-0-1600". In
this case, the entries for the diagnostic message numbers of the slaves
to participate in the error reaction must be made manually in "P-0-1624"
and "P-0-1626".
(P-0-1624[i] = P-0-170x and P-0-1626[i] = S-0-0390)
P-0-1600 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte
4.12.2 P-0-1601, CCD: Addresses of projected drives

Function As of MPx-18VRS: "P-0-1801.0.10" replacement parameter for compatible

access and for communication interfaces which do not support any 32-bit
ident numbers (EIDN).
This parameter is used along with the drive cross communication (CCD) to
list the addresses of the CCD slaves (drives) projected in the CCD group,
thus establishing the assignment of the actual drive address and drive num‐
ber (logical drive address) in the CCD group.
If all projected drives are detected (contained in P-0-1603), the addresses are
entered in the same order as given in P-0-1601 and applied to P-0-4031. The
order can be selected as desired and is applied after the address of the CCD
master according to P-0-4031(P0->P1). On transition to P2, it is verified
whether the addresses projected here are also of the drive type.
See also functional description "Cross communication (CCD)"
If the address of a sercos slave, which is not contained in the list

of device addresses in P-0-1603, is mentioned in "P-0-1601",
command error E4013 is generated.
Structure The list parameter (2 bytes per element) has the following structure and con‐
tent:
Fig. 4-61: P-0-1601, CCD: Addresses of projected drives

● "P-0-1601" is only present in the CCD master and therefore has to be
parameterized there.
● The drive having the address entered in list element 0 corresponds to
CCD drive 1, etc.
● A configured slave can be deactivated via bit 15 = 1 in a list element. As
a result, the order of parameterization in the CCD lists and the PLC pro‐
grams can remain identical for similar applications.
When all CCD slaves have been deactivated, X24 has to be con‐
nected to X25 with a sercos cable.
P-0-1601 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte var.
4.12.3 P-0-1602, CCD: Timing settings


numbers (EIDN).
This parameter contains the cycle times and timing settings used for cross
communication (CCD), which are automatically configured internally in the
CCD master.
Parameter "P-0-1602" is for diagnostic purposes only. The cycle

time is set via "S-0-1001".

See also Parameter Description "S-0-1001, sercos III: NC cycle time
(TNcyc)"
Structure The list parameter has the following content:
Fig. 4-62: Content of P‑0‑1602, CCD: Timing settings

4.12.4 P-0-1603, CCD: Actual topology addresses


numbers (EIDN).
This parameter is used in conjunction with the drive cross communication
(CCD). It displays the addresses of the sercos slaves (drives and I/Os) found
in phase 0, in ascending order according to their topology (list element 0 cor‐
responds to the CCD slave directly at the CCD master, etc.). Only the slaves
contained in this list can be addressed in CCD phase 2 and higher phases.
Up to phase 2, multiple addresses can exist.
If "P-0-1601" contains drives not contained in "P-0-1603", warning "E4013" or
"C0265" is generated while command "C0200" is executed.
If the command topology in "P-0-1636" differs from the actual topology, warn‐
ing "E4013" is generated in CCD phase 2. Advancing to CCD phase 3 or 4 is
impossible.
The command and actual topologies always have to be identical. Either the
entries in "P-0-1636" have to be adjusted to the actual topology or the ad‐
dresses of the CCD slaves have to be set to the command topology by
means of command "P-0-1635, C7000 CCD: Command adjust slave ad‐
dresses".
tent:
Fig. 4-63: P-0-1603, CCD: Actual topology

4.12.5 P-0-1604, CCD: Addresses of projected I/Os


This parameter is used along with the drive cross communication (CCD) to
list the addresses of the CCD slaves (I/Os) projected in the CCD group, thus
establishing the assignment of the actual I/O address and I/O number (logical
I/O address) in the CCD group.
The transition command "C0200 Exit parameterization level procedure com‐
mand" will compare this list in the CCD master with the sercos slaves found.
If all projected drives are detected (contained in P-0-1603), the addresses are
entered in the same order as given in"P-0-1604" and applied to "P-0-4031".
The order can be selected as desired and is applied after the address of the
drive according to "P-0-4031"(P0->P1). On transition to P2, it is verified
whether the addresses projected here are also of the I/O type.
If the address of a sercos slave is listed in "P-0-1604", which is

not contained in "P-0-1603", addresses of found drives, command
error C0265 is generated.
tent:
Fig. 4-64: P-0-1604, CCD: Addresses of projected I/Os

● "P-0-1604" is only present in the CCD master and therefore has to be
parameterized there.
● The I/O module having the address entered in list element 0 corre‐
sponds to CCD I/O 1, etc.
4.12.6 P-0-1605, CCD: Command communication phase


numbers (EIDN).
This parameter is used to specify the command phase for the CCD group.
P-0-1605 is only available in the CCD master.

Use Observe the following aspects when writing to this parameter:
● Possible phase specification:
– 0: P0
– 1: P1
– 2: P2
– 3: P3
– 4: P4
● The CCD phase input is automatically made by commands
"P-0-1620.0.5" and "P-0-1620.0.6" in the CCD master, i.e. the master in‐
ternally writes to "P-0-1605".

4.12.7 P-0-1606, CCD: Actual communication phase


numbers (EIDN).
This parameter displays the current actual communication phase of the CCD
group.
"P-0-1606" cannot be changed by the user and exists in the CCD

master for diagnostic purposes only.

4.12.8 P-0-1607, CCD: Axis error


This parameter contains the class 1 diagnostics error bits of the CCD nodes.
Bit No. Description

0 Class 1 diagnostics bit of the master
1 Class 1 diagnostics bit of slave 1
Tab. 4-179: Class 1 Diagnostics Error Bits


4.12.9 P-0-1608, CCD: Control word


numbers (EIDN).
This parameter can be used to control the functions of the CCD master dur‐
ing ongoing operation. The parameter is not stored.
Structure
0 Target phase
0: Synch. osci. function in CCD master deactivated (de‐
fault)
1: Synch. osci. function in CCD master activated
Tab. 4-180: CCD Control Word

4.12.10 P-0-1609, CCD: Status word


numbers (EIDN).
This parameter provides information about the CCD status.
Structure
3-0 Target phase
sercos phase to which to switch
7-4 Actual phase
Currently active sercos phase
8 Phase switching active
There is an attempt to switch to the target phase

9 Phase switch aborted with error
An error has occurred during switching to the target phase.
10 Parameter channel not available
At present, the parameter channel is not available because
the actual phase is < 2 or phase switch is active.
Tab. 4-181: CCD Status

4.12.11 P-0-1610, CCD: Cycle time


With this parameter, a CCD cycle time can be parameterized which is smaller
than the automatically determined command value cycle time of the CCD
master. The command value cycle time of the CCD master is derived from
"S-0-0001" or S-0-1050.x.10 (consumer connection) with sercos master com‐
munication.
Use The resulting NC cycle time which the CCD master specifies for the CCD
slaves in S-0-1050.x.10 of the consumer connection results from the lower
value of "S-0-0001" or S-0-1050.x.10 (consumer connection) with sercos
master communication of the CCD master and "P-0-1610" of the master. This
means that if the value in "P-0-1610 CCD Cycle time" is unequal to 0 and
less than the master communication cycle time of the master "S-0-0001" or
S-0-1050.x.10, "P-0-1610" is specified as the NC connection cycle time for
the CCD slaves.
4.12.12 P-0-1610.0.3, CCD: Actual topology

Alias: P-0-2413
Function Parameter "P-0-1610.0.3" displays the actual topology (status of the

SERCOS ring) of the slave interfacing.
● 0 = no line at port and port 2
● 1 = line at port 1
● 3 = line at port 1 and line at port 2
● 4 = dual ring
See also Functional Description "Cross-Communication (CCD)"
Use The actual topology is used to monitor the command topology (see
P-0-1620.003).
P-0-1610.0.3 - Attributes Function: Par Editable: -- Data length: 2Byte
4.12.13 P-0-1610.0.21, CCD: Slave addresses at end of line

Alias: P-0-2414
Function Parameter P-0-1610.0.21 is a list parameter with two list element. In the top‐
ology is a line topology, this parameter is filled with the addresses of the CCD
slaves at the end of the lines.. If there is a dual ring, both list elements con‐
tain the value 0.
List element 0 = address of the CCD slave at the end of the line at port 1
If no slave is connected to anyone port of the CCD master, the associated list
element displays the value 0. This parameter can be used for diagnosing a
ring breakage.
4.12.14 P-0-1610.0.30, CCD: Diagnostic message text

Alias: P-0-2415
Function Parameter "P-0-1610.0.30" displays the status of the CCD master, i.e., of the
CCD communication.
The status is displayed in plaintext (ASCII characters).

Use In combination with the diagnostic message number (cf. S-0-0390), this ex‐
tended diagnostic message text is helpful for analyzing the CCD axis system
during commissioning, i.e., during configuration.
For example, the following text messages can be displayed:
The numbers following the slave, drive or I/O have the following significance:
● Drive 0 or slave 0, local axis or virtual slave

● Slave 1 to slave x, real SERCOS slaves
● Drive 1 to drive x, removed SERCOS axes
● I/O 1 to I/O x, removed SERCOS I/Os
● "Run-up not yet started…"
● "Initialization started…"
● "Telegram configuration drive started …"
● "Telegram configuration I/O started …"
● "Offset calculation started…"
● "Timing calculation started…"
● "Initialization successfully completed!"
● "Number of slaves configured > number of slaves found!" The number
of CCD slaves configured in "P-0-1601" and "P-0-1604" is higher than
the number of CCD slaves connected to the CCD master or found dur‐
ing scanning.
● "Configured slave was not recognized in P-0-1603!" A slave configured
in "P-0-1601" or "P-0-1604" was not found in parameter "P-0-1603,
CCD: Actual topology addresses".
● "Configured slave was not recognized in P-0-1636!" A slave configured
in "P-0-1601" or "P-0-1604" was not found in parameter "P-0-1636,
CCD: Command topology addresses".
● "Error during PLC initialization in MLDM-Mode!"During switchover from
phase 2 to phase 4, an error occurred while initialization of the PLC was
in progress, e.g., write task to a remote axis failed. Maybe the flash or
control section is defective. Contact the service team!
● "Error: NC cycle time is not supported!" The NC cycle time is not sup‐
ported. See documentation for allowed combinations of CCD mode, per‐
formance and CCD cycle time.
● "Error: Config. of signal status/control word (P-0-1611/12)" Non-allowed
IDNs are entered in the configuration for the signal control/status word
of the virtual slave (element 0-15 P-0-1611/12).
● "Error: Timing calculation" An error occurred during calculation of
SERCOS timing.
● "Error: CC cycle time not supported" A cycle time which is not supported
by the CCD master is entered in the CCD slave (S-0-1050.2.10 or
S-0-1050.3.10) with a connection that was configured externally. Or a
cycle time which is not supported by the CCD master is entered for a
CC connection of the master (P-0-1645.x.10).
● "Error: Calculation of MS-MDT/ATConnection!" Initialization of the para‐
meterized connections in the CCD master and the CCD slaves failed.
● "Error: Config. ext. Connection S-0-1050.2.x or S-0-1050.3.x" The calcu‐
lations for parameterized connections in the CCD master and the CCD
slaves failed. No producer connection was found to one of the consumer
connections (see SE-2 in S-0-1050.x.2 of the slaves or P-0-1645.x.2 of
the master).
● "Error: Number of active Slaves in P-0-1603/P-0-1636 not equal" The
number of active slaves whose address is contained in "P-0-1636" was
not found by the master. In phase 0, the master waits for further slaves
or addresses must be deleted from "P-0-1636".
● "Error: Values in P-0-1603 and P-0-1636 not equal" Not all of the ad‐
dresses of active slaves entered in "P-0-1636" were found in the actual
topology. There are duplicate addresses or other addresses were found.
Set the address on the slaves or assign remote addresses after having
checked the address topology assignment of "P-0-1636".
● "The CCD motion cycle time is not allowed for motion task" (see Section
"Task System" in Chapter "Basic Functions of Rexroth IndraMotion
MLD").
● "Error: Address of projected drive and I/O must be unique" There may
be no duplicate address for the configured drives and I/Os in "P-0-1601"
and "P-0-1604"!
● "Number of CCD-Slaves not allowed at this mode or cycle time" The
number of slaves in this mode and this cycle time is not allowed.
● "MLDM-Mode not allowed in advanced performance" MLD-M not al‐
lowed with Advanced performance.
● "Error when reading T4min-Time (S-0-1005)" Error while the T4min time
"S-0-1005" of a slave of the drive type is read.
● "Error: IDN in Master CC Connection not allowed" An IDN which is not
cyclically allowed for this connection type (producer/consumer) is para‐
meterized in parameter "P-0-1645.x.6".
● "Error: Length/Typ of Master CC Connection not allowed" The total
length of all data of the CC connection or the type of an IDN of the CC
connection in "P-0-1645.x.6" is not allowed.
● "Error: Configuration real-time bits Master CC" The parameterization of
the real-time bits of a CC connection of the CCD master is faulty (IDN
not suitable for real-time bits). See P-0-1645.x.20/21.
● "Error: Writing I/O x configuration (S-0-1504.0.20)" Error during configu‐
ration of the I/O x S-0-1504.0.20.
● "Error when writing S/P-X-XXXX Slave x (Code 0x....)" An error with
SERCOS code 0xXXXX has occurred during writing parameter S/P-X-
XXXX to slave x via the service channel.
● "Error when reading S/P-X-XXXX Slave x (Code 0x....)" An error with
SERCOS code 0xXXXX has occurred during reading parameter S/P-X-
XXXX from slave x via the service channel.
● "Error at command execution of S/P-0-XXXX Slave x" An error has oc‐
curred during execution of command S/P-0-XXXX on slave x. For more
details, please refer to the slave diagnostics.
● "Timeout for command acknowledgment of S/P-0-XXXX Slave x" The
command S/P-0-XXXX that has been started on slave x was not com‐
pleted within 25 s with or without error.
● "Switching to phase x successfully carried out"
● "Error when switching to phase x (Code 0x…)" An error with code
0xXXXXXX was signaled during SERCOS phase transition (soft phase
switch). It was not possible to switch to SERCOS phase X.
● "Error: Type of SERCOS-I/O x unknown" The type of the SERCOS I/O
is not allowed. It is only allowed to operate SERCOS I/Os for which a
defined length and SCP version 1.1 are entered in parameter S-0-1000
= 0x0101.
● "Error: Length of SERCOS-I/O x not allowed" Error: The length of the
SERCOS I/O data exceeds the allowed length of 48 bytes.
● "Error: Drive x in P-0-1601 is not an allowed drive type" The drive con‐
figured in P-0-1601 is not supported by the CCD master; no IndraDrive
with expected parameters.
● "Error: I/O x in P-0-1604 is not an allowed I/O type" The I/O configured
in "P-0-1604" is not supported by the CCD master; no compact I/O with
expected SCP version 1.1.
● "Data length for I/O x Output exceeded, P-0-1627" The maximum length
of the output data of an I/O has been exceeded. Correction required in
"P-0-1627".
● "Data length for I/O x Input exceeded, P-0-1628" The maximum length
of the input data of an I/O has been exceeded. Correction required in
"P-0-1628".
● "Data length for MDT drive x exceeded, P-0-1621/25" The maximum
length of the MDT data of a drive has been exceeded. Correction re‐
quired in "P-0-1621" or "P-0-1625".
● "Data length for AT drive x exceeded, P-0-1622/26" The maximum
length of the AT data of a drive has been exceeded. Correction required
in "P-0-1622" or "P-0-1626".
● "Error: Configured IDN P/S-x-xxxx I/O x Output, P-0-1627" The config‐
ured IDN for the output data of the I/O is not allowed. Correction re‐
quired in "P-0-1627".
● "Error: Configured IDN P/S-x-xxxx I/O x Input, P-0-1628" The configured
IDN for the input data of the I/O is not allowed. Correction required in
"P-0-1628".
● "Number of IDN for MDT exceeded drive x" The number of configured
IDNs for a drive is too high. Correction required in "P-0-1621" or
P-0-1623/25.
● "Number of IDN for AT exceeded drive x" The number of configured
IDNs for a drive is too high. Correction required in "P-0-1622" or
P-0-1624/26.
● "Error: Config. IDN P/S-x-xxxx for MDT drive x, P-0-1621/23/25" The
configured IDN for the MDT data of the drive is not allowed. Correction
required in "P-0-1621" or P-0-1623/25.
● "Error: Config. IDN P/S-x-xxxx for AT drive x, P-0-1622/24/26" The con‐
figured IDN for the AT data of the drive is not allowed. Correction re‐
quired in "P-0-1622" or P-0-1624/26.
● "Different number of IDN for MDT drive x, P-0-1623/25" The number of
IDNs configured for the MDT data is different in "P-0-1623" and
"P-0-1625".
● "Different number of IDN for AT drive x, P-0-1624/26" The number of
IDNs configured for the AT data is different in "P-0-1623" and
"P-0-1625".
● "IDN mismatch P/S-x-xxxx for MDT drive x, P-0-1623/25" The IDNs in a
master->slave MDT connection do not match each other, e.g., S-0-0084
-> S-0-0036 (different length). Correction required in "P-0-1623" or
"P-0-1625".
● "IDN mismatch P/S-x-xxxx for AT drive x, P-0-1624/26" The IDNs in a
master<-slave AT connection do not match each other, e.g., S-0-0036 -
> S-0-0084 (different length). Correction required in P-0-1624 or
P-0-1626.
● "IDN P/S-x-xxxx is auto.config. for MDT drive x, P-0-1625" The IDN con‐
figured for the MDT is used for internal purposes and cannot be as‐
signed by the user any more. Correction required in P-0-1625.
See also Application Manual "IndraMotion MLD"
4.12.15 P-0-1610.0.31, CCD: Diagnosis code

Function This parameter displays a diagnosis code for error "F4140 CDD communica‐
tions error" which does not allow a more detailed diagnosis of the error
cause.
● 0x00000000 = no error
● 0x00000001 = unallowed phase return (P-0-1605 was set to a value un‐
equal to 4 without taking the CCD master into account)
● 0x0001xxxx = Failure of Bus-Slave-Valid in S-Dev of Slave x; slave
does not enter any data in AT (bit 0 = slave 1, bit 1 = slave 2, etc.)
● 0x00020020 = no link at port 1 and port 2
● 0x00020021 = double AT failure
● 0x00022001 = no valid topology detected (line P1, line P2 or dual ring)
4.12.16 P-0-1611, CCD: Configuration list signal status word

Hardware --
Function List parameter for configuring the signals (cf. S-0-0026) of the signal status
words in all CCD slaves.
Structure The parameter has a list structure; and the following applies:
● The first 16 list elements are reserved for the virtual slave in the master.
● The next 16 list elements are written to "S-0-0026" of slave 1.
etc.

4.12.17 P-0-1612, CCD: Configuration list signal control word

Hardware --
Function List parameter for configuring the signals (cf. S-0-0027) of the signal status
Structure The parameter has a list structure; and the following applies:
● The first 16 list elements are reserved for the virtual slave in the master.
etc.
4.12.18 P-0-1613, CCD: Assignment list signal status word

Hardware --
Function List parameter to configure the bits (cf. S-0-0328) of the signal status words
in all CCD slaves.
Structure The parameter has a list structure; the following points apply to it:
● the first 16 list elements are reserved for the virtual slave in the master
● the next 16 list elements are written in S-0-0328 of slave 1
● the next 16 list elements are written in S-0-0328 of slave 2 etc.
4.12.19 P-0-1614, CCD: Assignment list signal control word

Hardware --
Function List parameter to configure the bits (cf. S-0-0329) of the signal control words
in all CCD slaves.
Structure The parameter has a list structure; the following points apply to it:
● the first 16 list elements are reserved for the virtual slave in the master
● the next 16 list elements are written in S-0-0329 of slave 1
● the next 16 list elements are written in S-0-0329 of slave 2 etc.
4.12.20 P-0-1615, CCD: Extrapolated cmd value IDN list signal selection

The transmission delay between CCD master and slaves must be compensa‐
ted for which reason the command value for the slaves is extrapolated. This
is achieved by means of parameter "P-0-1615" which serves as a selection
list for parameterizing "P-0-1616".
4.12.21 P-0-1616, CCD: Extrapolated cmd value signal selection


ted for which reason the command value for the slaves is extrapolated. To
achieve this, parameter "P-0-1616" is used for configuring the CCD master
signal used for extrapolation.
The extrapolated value is then entered in parameter "P-0-1618,

CCD: extrapolated command value".


4.12.22 P-0-1617, CCD: Number of extrapolation steps


achieve this, the number of extrapolation steps to be taken is specified in
"P-0-1617".
● The extrapolation covers n sercos cycles.
● The range of input values is from 0 to 2.
4.12.23 P-0-1618, CCD: Extrapolated command value


achieve this, the extrapolated command value is entered in "P-0-1616" and
can then be assigned to the slaves (P-0-1623.x = P-0-1618).
4.12.24 P-0-1619, CCD: Slave information at topology location

Function Parameter "P-0-1619" provides different pieces of information on the recog‐

nized slaves at the topology location. The parameter is created in binary for‐
mat (4-byte list).
The information in this parameter serves to diagnose the slaves via the topol‐
ogy location and can be adjusted and displayed via the commissioning soft‐
The following information is provided for each slave:
● Vendor Code
● Device Name
● Vendor Device ID
● Connected to sub-device
● Serial number
● FSP type
Addressing variant with:
0 = no information or slave not available.
1 = address can be set via switch/control panel; remote address assignment
not possible.
2 = address can be set via switch/control panel or remote address assign‐
ment.
3 = address can only be set via remote address assignment.
Function The topology location is the physical position of the slave at the sercos mas‐
ter interface. Observe the following aspects for the different wiring topologies:
- Line at port 1:
SI 0 = 1st slave at port 1 of the master
SI 1 = 2nd slave at port 1 of the master, etc.
- Line at port 2:
SI 0 = 1st slave at port 2 of the master
SI 1 = 2nd slave at port 2 of the master, etc.
If the configured command topology is a ring, the addresses of the slaves are
displayed in reverse order at port 2 so that, if the ring is interrupted, it is of no
relevance whether the ring is interrupted directly at port 2 of the master or be‐
tween two slaves.
- Ring: same as line at port 1
- 2 lines: same as ring without interruption
"0" means that the parameter in the slave is SI = 0 in each case. There may
also be several SIs in a slave.
4.12.25 P-0-1620.0.3, CCD: Command topology

Alias: P-0-2416
Function Parameter "P-0-1620.0.3" servese to define the command topology of the

slave interfacing.
● 0 = no monitoring
● 3 = line 1 at port 1 and line at port 2
● 4 = dual ring
Monitoring of the "actual topology" is active if a value unequal to 0 is parame‐
terized in the parameter. If the "actual topology" from "P-0-1610.0.3" is differ‐
ent from the "command topology", the warning "E4016" is output.
Use The command topology from "P-0-1620.0.3" is used to monitor the "actual
topology" (see P-0-1610.0.3).
4.12.26 P-0-1620.0.4, CCD: Slave identification

Alias: P-0-2417
Function Parameter "P-0-1620.0.4" can be used to control the diagnosis LED of a

SERCOS III slave in phases 2 to 4 of the CCD group by entering a topology
location via the CCD master. If value 0 is entered, the function is deactivated.
It allows unique assignment of a CCD slave to an address from parameter
"P-0-1636". This function is useful for remote address assignment.
Topology location 1 corresponds to 1 element from parameter "P-0-1603",
etc.
4.12.27 P-0-1620.0.5, C7400 CCD: Switching to phase 2

Alias: P-0-2418
Function This command can be used to switch the CCD communication over to
SERCOS phase 2. Parameter "P-0-1605, CCD: Command communication
phase" is set to phase 2. Thereafter, an attempt is made to reach "Phase 2"
via "Phase 0" and "Phase 1". This should be done only if the CCD master is
not in OM because otherwise error "F4140" is output.
P-0-1620.0.5 - Attributes Function: Cmd Editable: PM Data length: 2Byte


Alias: P-0-2419
Function This command can be used to switch the CCD communication over to
SERCOS phase 4. Parameter "P-0-1605, CCD: Command communication
phase" is set to phase 4. Subsequently, an attempt is made to switch over to
phase 4 via the SERCOS phase startup. During this startup, switching com‐
mands "S-0-0127" and "S-0-0128" of the SERCOS slaves are started. If an
error occurs during this process or during phase switchover, the command is
exited with an error.
See also Parameter Description "P-0-1630, CCD: Diagnosis"
P-0-1620.0.6 - Attributes Function: Cmd Editable: ++ Data length: 2Byte
4.12.29 P-0-1620.0.21, C7100 CCD: Command Close ring

Alias: P-0-2420
Function The CCD master provides the command "P-0-1620.0.21" (C7100) for ring
healing purposes. This allows closing the line or the two lines to the dual ring
in the "command topology" P-0-1620.0.3 = 4 (dual ring). If an error occurs
during the command "C7100", the message "C7101 CCD: Impossible to
close ring" is displayed.
Cause:
● CCD group not in phase 4
● Topology does not consist of a line or dual line
● No line available between the last nodes of the lines.
● New ring delay could not be transmitted to the slave.
4.12.30 P-0-1620.0.30, CCD: I/O selection for commando C72

Function This parameter is used to select the modular I/O for which command "C7200
CCD: Command Apply I/O configuration" (1-4) is executed. A value of 0 ap‐
plies the configuration for all modular I/Os.

MPx / PSB: min./max.: 0 / s. Text Default value: ---
4.12.31 P-0-1620.0.31, C7200 CCD: Commando Apply I/O configuration

Alias: P-0-2421
Function This command is used to apply the content of parameter "S-0-.1500.0.3" of

each modular I/O connected to the CCD master to parameter P-0-.1634.SI.1
(SI = slave index). This ensures that, during the next CCD phase startup, the
CCD master detects whether inline nodes have been exchanged for each
other at the I/O bus coupler.
4.12.32 P-0-1621, CCD: Configuration list master communication cmd values

Function Parameter "P-0-1621" serves to configure the command values in "CCD sys‐
tem mode". In the group field bus connection, these command values are
transmitted from the external field bus master via the CCD master to the CCD
slaves in the MDT.
As a result, parameter "P-0-1621" corresponds to a list of command values
which are provided via the master communication command value telegram
(P-0-4081) and which the master directly copies to the MDT CCD interface
for the appropriate CCD slaves.
The content of "P-0-1621", along with the content of "P-0-1625",

is also directly copied to the list of cyclic command values of the
associated slave.

Structure The configuration list has the following structure:
Fig. 4-65: Structure of P-0-1621, CCD: Configuration list master communica‐

tion cmd values
● Parameter "P-0-1621" allows only command values to be entered that
can be configured cyclically (cf. S-0-0188).
● The cyclic master communication command values of the slaves are
configured via "P-0-1621". The master communication command values
of the CCD master are still entered in "P-0-4081".
● Due to the allowed maximum of 16 IDNs for each slave, the number of
maximum possible entries is limited in "P-0-1621".
4.12.33 P-0-1621.x.1, CCD: Slave address in high level network

Alias: P-0-2321, P-0-2323, P-0-2325, P-0-2327, P-0-2329, P-0-2331,
P-0-2333
Function Replacement parameter "P-0-232x" is to be used for communication interfa‐

This parameter defines the SERCOS address of the CCD slaves in the mas‐
ter communication network of the CCD master (high level network). The ad‐
dress to be set is the address the master communication master can use to
address the CCD slaves.
The reference to the CCD slave in the lower-level SERCOS III network is es‐
tablished via parameter "P-0-1601, CCD: Addresses of projected drives".
Parameter "P-0-1621.0.1" refers to the CCD slave with the SERCOS III ad‐
dress which is entered in element 0 of "P-0-1601".
Parameter "P-0-1621.1.1" refers to the CCD slave with the SERCOS III ad‐
dress which is entered in element 1 of "P-0-1601".
In CCD system mode for SERCOC, parameter "P-0-1621.x.1" has the addi‐
tional function of the appropriate master communication parameter
"S-0-1040" for the CCD slaves. Any write or read access to parameter
"S-0-1040" by the SERCOS master is bypassed to parameter "P-0-1621.x.1"
in the CCD master because parameter "S-0-1040" is used for SERCOS III
communication in the CCD slave and can therefore not be used for SERCOS
communication of the high level network.
P-0-1621.x.1 - Attributes Function: Par Editable: P2 Data length: 2Byte
4.12.34 P-0-1621.x.9, CCD: Master comm. C0100 Comm. phase 3 transition

check
Function In CCD system mode, parameter "P-0-1621.x.9" has the function of the ap‐
propriate master communication parameter "S-0-0127, C0100 Communica‐
tion phase 3 transition check" for sercos and EtherCAT. In the CCD master,
initiation of the command is bypassed to parameter "P-0-1621.x.9" because
parameter "S-0-0127" is reserved for sercos communication in the CCD
slave.
The appropriate action for the associated master communication slave is car‐
ried out in the CCD master.
See Functional Description "Cross Communication (CCD)"
P-0-1621.x.9 - Attributes Function: Cmd Editable: P23 Data length: 2Byte

check
slave.
See Functional Description "Cross Communication (CCD)"

P-0-1621.x.10 - Attributes Function: Cmd Editable: ++ Data length: 2Byte
4.12.36 P-0-1621.x.24, CCD: Master communication gateway parameter pool

1
Alias: P-0-2422, P-0-2423, P-0-2424, P-0-2425, P-0-2426, P-0-2427,
P-0-2428
Function This parameter is required for the SERCOS and EtherCAT gateways in CCD
system mode. It serves to store all parameters of the master communication
slaves for which there are no parameters in the CCD master. These master
communication slave parameters are simulated for the interface.
The parameter is created in binary format (4 bytes variable) and can only in‐
terpreted and displayed with a commissioning program (IndraDrive). This pro‐
gram provides a dialog which displays the data of the parameter and its sig‐
nificance.
P-0-1621.x.24 - Attributes Function: Par Editable: ++ Data length: 4Byte var.

2
Alias: P-0-2429, P-0-2430, P-0-2431, P-0-2432, P-0-2433, P-0-2434,
P-0-2435
Function This parameter is required for the SERCOS and EtherCAT gateways in CCD
system mode. It serves to display all parameters of the master communica‐
tion slaves which are not stored and for which there are no parameters in the
CCD master. These master communication slave parameters are simulated
for the interface.
The parameter is created in binary format (4 bytes variable) and can only in‐
terpreted and displayed with a commissioning program (IndraDrive). This pro‐
gram provides a dialog which displays the data of the parameter and its sig‐
nificance.

4.12.38 P-0-1621.x.35, C5300 CCD: sercos SYNC delay measuring

procedure command
propriate master communication parameter "S-0-1024" for SERCOS III. In
the CCD master, initiation of the command is bypassed to parameter
"P-0-1621.x.35" because parameter "S-0-1024" is reserved for the outer
SERCOS III network in the CCD slave. The appropriate action for the associ‐
ated SERCOS III slave is carried out in the CCD master.
4.12.39 P-0-1622, CCD: Configuration list master communication actual

values
Function In "CCD system mode", parameter "P-0-1622" serves to configure the actual
values which are transferred from the individual CCD slaves via the CCD
master to the external field bus master in the group field bus connection.
As a result, "P-0-1622" corresponds to a list of actual values which are sup‐
plied by the particular CCD slave via CCD-AT and which the master directly
copies to the master communication actual value telegram (cf. P-0-4080).
The content of "P-0-1622", along with the content of "P-0-1626",

is also directly copied to the list of cyclic actual values of the as‐
sociated slaves.

Fig. 4-66: Structure of P‑0‑1622, CCD: Configuration List Master Communica‐

tion Actual Values
● Parameter "P-0-1622" allows only actual values to be entered that can
be configured cyclically (cf. S-0-0188).
● The cyclic master communication actual values of the slaves are config‐
ured via "P-0-1622". The master communication actual values of the
CCD master are still entered in "P-0-4080".
● Due to the allowed maximum of 16 IDNs for each slave, the number of
maximum possible entries is limited in "P-0-1621".
4.12.40 P-0-1623, CCD: Configuration list master cmd values

Hardware --
Function Parameter "P-0-1623" serves to configure the command values. These are
transmitted from the CCD master to the CCD slaves in the MDT. The list con‐
tains command values which the CCD master files in the MDT (SERCOS III).
Parameter "P-0-1625, CCD: Configuration list slave cmd values"

describes how these values are interpreted by the CCD slave.

Fig. 4-67: Structure of P‑0‑1623, CCD: Configuration list master cmd values
The first 16 list elements are reserved for configuring the data for
the CCD master axis in MLD-M system mode with "virtual slave
operation".
Use Observe the following aspects when parameterizing "P-0-1623":

● Parameter "P-0-1623" allows actual values and command values to be
entered that can be configured cyclically (cf. "S-0-0187", "S-0-0188").
● Due to the allowed maximum of 16 IDNs, the number of maximum pos‐
sible entries is limited and therefore depends on the number of entries in
"P-0-1621".
4.12.41 P-0-1624, CCD: Configuration list actual master values

Hardware --
Function Parameter "P-0-1624" serves to configure the actual values. These are trans‐
mitted from the CCD slaves to the CCD master in the AT. The list contains
the IDNs of the data which is put into the AT by the CCD slave and is deter‐
mined for the CCD master. The CCD master internally copies this data to the
parameters mentioned.
Parameter "P-0-1626, CCD: Configuration list actual slave val‐

ues" describes which data is put into the AT by the slave to ach‐
ieve this.

Fig. 4-68: Structure of P‑0‑1624, CCD: Configuration list actual master values
operation".

● If transmission of the global AxisData structure is active (P-0-1367, bit 6
= "1") and additional axis information is to be output (e.g., via
AxisData[1].dwUserActualDataA_i), such information must be parame‐
terized in the first four IDNs of each axis (see "IDN01", "IDN02", … in
the diagram). For more parameterization instructions, please refer to the
IndraMotion MLD Application Manual under index entry "AxisData".
● Parameter "P-0-1624" allows command values to be entered that can
be configured cyclically (cf. S-0-0188).
"P-0-1622".
4.12.42 P-0-1625, CCD: Configuration list slave cmd values

Hardware --
Function Parameter "P-0-1625" serves to configure the command values. These are
transmitted from the CCD master to the CCD slaves in the MDT.
The list contains IDNs which are also copied to "S-0-0024, Con‐
figuration list of MDT" of the associated slave. The command val‐
ues are generated by the master. The reference list applicable for
the CCD master is "P-0-1623" or "S-0-1050.1.6 in MPx07 and
above" (e.g., "P-0-0434" -> "S-0-0047").

Fig. 4-69: Structure of P‑0‑1625, CCD: Configuration list slave cmd values
operation".

● Parameter "P-0-1625" allows only command values to be entered that
can be configured cyclically (cf. S-0-0188).
"P-0-1621".

4.12.43 P-0-1626, CCD: Configuration list actual slave values

Hardware --
Function Parameter "P-0-1626" serves to configure the actual values. These are trans‐
mitted from the CCD slaves to the CCD master in the AT.
The list contains actual values for the CCD master (internal)
which are put into the SERCOS III AT by the slave. The parame‐
ters of the list are directly copied to the list of cyclic actual values
of the associated slave. Parameter "P-0-1624, CCD: Configura‐
tion list actual master values" describes how the CCD master in‐
terprets this data. The first 16 list elements belong to slave 1, the
next ones to slave 2, etc.

Fig. 4-70: Structure of P‑0‑1626, CCD: Configuration list actual slave values
(CCD Master Configuration List AT Data)
operation".

terized in the first four IDNs of each axis (see "IDN01", "IDN02", … in
the diagram). For more parameterization instructions, please refer to the
IndraMotion MLD Application Manual under index entry "AxisData".
● Parameter "P-0-1626" allows actual values and command values to be

entered that can be configured cyclically (cf. S-0-0187, S-0-0188).
"P-0-1622".
4.12.44 P-0-1627, CCD: Configuration list master cmd values I/Os

Function This parameter serves to configure the command values which are transmit‐
ted from the CCD master to the sercos I/Os in the MDT.
Fig. 4-71: Structure of P‑0‑1627, CCD: Configuration list master cmd values
I/Os
Use The CCD master puts the data of the parameters contained in the list into the
MDT, and the data is output by the sercos I/O via the latter's outputs. The
outputs of the sercos I/O module can be operated by the MLD writing to the
parameters configured here. A compact I/O has only one 16-bit output port so
that the maximum size of the parameter assigned by the master is 16 bits.
The parameter in element 0 corresponds to the outputs of the first I/O mod‐
ule, element 16 to those of the second one, element 32 to those of the third
one, and element 48 to those of the forth one.

4.12.45 P-0-1628, CCD: Configuration list act. master values I/Os

Function This parameter serves to configure the actual values which are transmitted
from the SERCOS III I/Os to the CCD master in the AT.
Fig. 4-72: Structure of P‑0‑1628, CCD: Configuration List Act. Master Values
I/Os
Use The master writes the AT data from the SERCOS III I/O to the parameters
contained in the list. The inputs of the SERCOS III I/O module can be in‐
quired by the MLD reading the parameters configured here. A compact I/O
can have a 16-bit or 32-bit input port so that a corresponding parameter must
be entered here. The parameter in element 0 corresponds to the inputs of the
first I/O module, element 16 to those of the second one, element 32 to those
of the third one, and element 48 to those of the forth one.
4.12.46 P-0-1629, CCD: Configuration compact I/Os

Function This parameter serves to configure the analog compact I/Os connected to the
CCD master and has a direct effect on "S-0-1504.0.20", Parameter channel
output (EIDN) in the S-III I/O module.
Parameter "P-0-1629" can be used to parameterize the behavior of the ana‐
log inputs and outputs. To achieve this, the CCD master writes the content of
the associated 4 elements of "P-0-1629" to the "S-0-1504.0.20" in the appro‐
priate S-III I/O module in phase 2.
The parameter has list structure, with 16 elements being assigned to one S-
III I/O module each. The first 16 elements (0-15) belong to I/O 1, the next 16
elements (16-31) to I/O 2, etc. Only the first elements are used of each ele‐
ment group (see picture). Parameterization involves only those I/O numbers
which have analog S-III I/O modules assigned to them. To digital I/Os, the
entries of the elements assigned are of no relevance.
Fig. 4-73: Structure of P‑0‑1629, CCD: Configuration compact I/Os

4.12.47 P-0-1630, CCD: Diagnosis

Function As of MPx-18VRS: Replacement parameter "P-0-1810.0.10" for compatible

Parameter "P-0-1630" displays the status of the CCD master, i.e., of the CCD
communication.

See also Functional Description "Diagnostic System"
Use In combination with the diagnostic message number (cf. S-0-0390), this ex‐
tended diagnostic message text is primarily helpful for analyzing the CCD ax‐
is system during commissioning, i.e., during configuration.
● Drive 0 or slave 0: Local axis or virtual slave
● Slave 1 to slave x: Real sercos slaves
● Drive 1 to drive x: Remote sercos axes

● I/O 1 to I/O x: Remote sercos I/Os
The following messages can be displayed:
● Run-up not yet started…
● Initialization started…
● Telegram configuration drive started …
● Telegram configuration I/O started …
● Offset calculation started …
● Timing calculation started …
● Initialization successfully completed!
● Number of slaves configured > number of slaves found!
In "P-0-1601" and "P-0-1604", more CCD slaves have been configured
than are connected to the CCD master or found during scanning.
● Configured slave was not recognized in P-0-1603!
A slave configured in "P-0-1601" or "P-0-1604" was not found in param‐
eter "P-0-1603, CCD, Actual topology".
A slave configured in "P-0-1601" or "P-0-1604" was not found in param‐
eter "P-0-1636, CCD, Command topology addresses".
● Error during PLC initialization in MLDM-Mode!
During switchover from phase 2 to phase 4, an error occurred while initi‐
alization of the PLC was in progress, e.g., an internal write task to a re‐
mote axis via the service channel failed. Maybe the flash or control sec‐
tion is defective. Contact the service team!
● Error: NC cycle time is not supported!
The NC cycle time is not supported. See documentation for allowed
combinations of CCD mode, performance and CCD cycle time.
● Error: Config. of signal status/control word (P-0-1611/12) slave(0)
Non-allowed IDNs are entered in the configuration for the signal control/
status word of the virtual slave (elements 0-15, P-0-1611/12).
● Error: Timing calculation
An error occurred during calculation of sercos timing.
● Error: CC cycle time is not supported!
A check of the parameterized CC connections showed that the parame‐
terized cycle time is not allowed. See "S-0-1050.x.10" in connection 2 or
3 of the CCD slaves or in "P01645.x.10" of the CCD master.
● Error: Config. ext. Connection S-0-1050.2.x or S-0-1050.3.x!
An error occurred while the connection table was set up in the CCD
master. The parameterization of the CC connections in the CCD slaves
"S-0-1050.2.x" or "S-0-1050.3.x" must be checked for non-allowed val‐
ues. These may be caused by an invalid connection type of an excee‐
ded maximum length.
● Error: Length/Type of Master CC Connection not allowed
A wrong type or unallowed length is entered in the parameterization of a
CC connection with participation of the CCD master. See "P-0-1645.x.1"
or "P-0-1645.x.6".
● Error: IDN in Master CC Connection not allowed
An unallowed parameter for transmission is entered in the parameteriza‐

tion of a CC connection with participation of the CCD master. See
"P-0-1645.x.6".
● Error: Configuration real-time bits Master CC
An unallowed parameter for the real-time bits is entered in the parame‐
terization of a CC connection with participation of the CCD master. See
"P-0-1645.x.20" or "P-0-1645.x.21".
● Error: Length of P-0-1603 and P-0-1636 not equal
The lengths of the command and actual topologies specified in
"P-0-1603" and "P-0-1636" must be equal.
● Error: Values in P-0-1603 and P-0-1636 not equal
Command and actual topologies are different.
● The CCD motion cycle time is not allowed for motion task
(See Section Task System in Chapter "Basic Functions of Rexroth
IndraMotion MLD")
● Error: Address of projected drive and I/O must be unique
Duplicate addresses are not allowed for the projected drives and I/Os in
"P-0-1601" and "P-0-1604"!
● Number of CCD-Slaves not allowed at this mode or cycle time
The number of slaves is not allowed in this mode and in this cycle time.
For allowed combinations, please refer to the documentation.
● MLDM-Mode not allowed in advanced performance
MLD-M is not allowed with Advanced performance.
● Error when reading T4min-Time (S-0-1005)
An error occurred during reading of the T4 min time S-0-1005 of a slave
of drive type.
● Error when writing S/P-X-XXXX Slave x (Code 0x....)
An error with sercos code 0xXXXX occurred during writing parameter
S/P-X-XXXX to slave x via the service channel.
● Error when reading S/P-X-XXXX Slave x (Code 0x....) An error with
sercos code 0xXXXX occurred during reading parameter S/P-X-XXXX
from slave x via the service channel.
● Error at command execution of S/P-0-XXXX Slave x
An error occurred during execution of command S/P-0-XXXX on slave x.
More detailed information can be found in the slave diagnostics.
● Timeout for command acknowledgment of S/P-0-XXXX Slave x
Command S/P-0-XXXX that was started on slave x was not completed
with or without error within 25 s.
● Switching to phase x successfully carried out
● Error when switching to phase x (Code 0x…)
An error with code 0xXXXXXX was signaled during sercos phase transi‐
tion (soft phase switch). It was not possible to switch to sercos phase X.
● Error: Type of sercos I/O x unknown
The type of sercos I/O is not allowed. It is only allowed to operate
sercos I/Os for which a defined length and SCP version 1.1 are entered
in parameter S01000 = 0x0101.
● Error: Length of sercos I/O x not allowed
Error: The length of the sercos I/O data exceeds the allowed length of
48 bytes.
● Error: Drive x in P-0-1601 is not an allowed drive type
The drive projected in P-0-1601 is not supported by the CCD master (no
IndraDrive with expected parameters).
● Error: I/O[%d] in P-0-1604 is not an allowed I/O type
The I/O configured in P-0-1604 is not supported by the CCD master; no
compact I/O with expected SCP version 1.1.
● Data length for I/O x Output exceeded, P-0-1627
The maximum length of the output data of an I/O has been exceeded.
Correction required in "P-0-1627".
● Data length for I/O x Input exceeded, P-0-1628
The maximum length of the input data of an I/O has been exceeded.
Correction required in "P-0-1628".
● Data length for MDT drive x exceeded, P-0-1621/25
The maximum length of the MDT data of a drive has been exceeded.
Correction required in "P-0-1621" or "P-0-1625".
● Data length for AT drive x exceeded, P-0-1622/26
The maximum length of the AT data of a drive has been exceeded. Cor‐
rection required in "P-0-1622" or "P-0-1626".
● Error: Configured IDN %s I/O[%d] Output, P-0-1627
The configured IDN for the output data of the I/O is not allowed. Correc‐
tion required in "P-0-1627".
● Error: Configured IDN %s I/O[%d] Input, P-0-1628
The configured IDN for the input data of the I/O is not allowed. Correc‐
tion required in "P-0-1628".
● Error when writing analog-I/O x configuration (S-0-1504.0.20)
Error during configuration of the analog I/Os "S-0-1504.0.20".
● Number of IDN for MDT exceeded drive x
The number of IDNs configured for a drive is too high. Correction re‐
quired in "P-0-1621" or "P-0-1623/25".
● Number of IDN for AT exceeded drive x
quired in "P-0-1622" or "P-0-1624/26".
● Error: Config. IDN %s for MDT drive x, P-0-1621/23/25
The configured IDN for the MDT data of the drive is not allowed. Correc‐
tion required in "P-0-1621" or "P-0-1623/25".
● Error: Config. IDN %s for AT drive x, P-0-1622/24/26
The configured IDN for the AT data of the drive is not allowed. Correc‐
tion required in "P-0-1622" or "P-0-1624/26".
● Different number of IDN for MDT drive x, P-0-1623/25
The number of IDNs configured in "P-0-1623" for the MDT data is differ‐
ent from that configured in "P-0-1625".
● Different number of IDN for AT drive x, P-0-1624/26
The number of IDNs configured in "P-0-1623" for the AT data is different
from that configured in "P-0-1625".
● IDN mismatch %s for MDT drive[%d], P-0-1623/25
The IDNs in a master->slave MDT connection do not match each other,

e.g. S-0-0084 -> S-0-0036 (different length). Correction required in
"P-0-1623" or "P-0-1625".
● IDN mismatch %s for AT drive[%d], P-0-1624/26
The IDNs in a master<-slave AT connection do not match each other,
e.g. S-0-0036 <- S-0-0084 (different length). Correction required in
"P-0-1624" or "P-0-1626".
● IDN %s is auto.config. for MDT drive[%d], P-0-1625
The IDN configured for the MDT is used for internal purposes and can‐
not be assigned by the user. Correction required in "P-0-1625".
4.12.48 P-0-1630.x.1, CCD: Slave IP address

Function The master displays the IP addresses of the SERCOS III master communica‐
tion of the CCD slaves in parameter "P-0-1630.x.1". The SERCOS instance
(x) corresponds to the slave index in the CCD group (0 = virtual slave, 1 =
slave 1, etc.). The master reads the IP addresses of the CCD slaves immedi‐
ately after phase 2 has been reached. These IP addresses are displayed in
this parameter.
Parameter in
Description the CCD master Parameter in the drive
127.0.0.1 (P-0-1641 from CCD master is ac‐
Master IP address P-0-1630.0.1
tive)
Slave 1 IP address P-0-1630.1.1 Content from S-0-1020 in slave 1
Tab. 4-182: P-0-1630.0.1, CCD: Slave IP Address

4.12.49 P-0-1630.x.2, CCD: Device Status (S-Dev)

Function Parameter "P-0-1630.x.2" displays the SERCOS III: Device Status (S-Dev)
(S-0-1045) of the CCD slaves, which is transmitted from the CCD slaves to
the CCD master in the AT. The SERCOS instance (x) corresponds to the
slave index in the CCD group (0 = virtual slave, 1 = slave 1, etc.). This pa‐
rameter is an image of the Device Status (S-Dev) of the CCD slaves. It is

read-only and can be used for diagnostic purposes.
Parameter in
Description the CCD master Parameter in the drive
CCD: Device status word P-0-1630.0.2 Formed directly
CCD: Device status word P-0-1630.1.2 Content S-0-1045 of CCD slave 1
CCD: Device status word P-0-1630.2.2 Content S-0-1045 of CCD slave 2
Tab. 4-183: P-0-1630.00.2, CCD: Device Status (S-Dev)

See also Parameter Description "S-0-1045, SERCOS III: Device Status (S-
Dev)"
P-0-1630.x.2 - Attributes Function: Par Editable: -- Data length: 2Byte
4.12.50 P-0-1630.x.3, CCD: Connection-Control #0 (C-Con)

Function Parameter P-0-1630.x.3 displays the connection control word (C-Con) of con‐
nection #0 of the CCD slaves, which is transmitted from the CCD slaves to
the CCD master in the AT. The CCD master uses connection #0
(S-0-1050.0.x) of the CCD slaves for classic MS-AT data. The safety technol‐
ogy (SI) is used as slave index (0 = virt. slave, 1 = slave 1, etc.). The parame‐
ter is an image of C-Con of connection #0 in the CCD slave. It is read-only
and can be used for diagnostic purposes.
See also Parameter Description "S-0-1050.0.8, SIII-Connection: Connection
control (C-Con)"
Structure
0 ProducerReady
0: Producer does not generate any valid command values
yet
1: Producer generates valid command values, slave can
process the command values with toggle of bit 1
1 NewData bit
Edge indicates that there is new data in the connection
2 CC DataFieldDelay
1: CC producer data has a SERCOS cycle delay, because
it was copied via the bus master. The consumer shall pre‐
fer taking the data of the port at which this bit has the val‐
ue 0.

3 ProducerSynchonized
0: The PLL of the producer is not synchronized with the
clock of the ring
1: The PLL of the producer is synchronized with the clock
of the ring
6 Real-time bit 1
7 Real-time bit 2
Tab. 4-184: P‑0‑1630.x.3, CCD: Connection-Control #0 (C-Con)

4.12.51 P-0-1630.x.20, CCD: Resource-Status (S-Res)

Function Parameter "P-0-1630.x.20" displays the drive status word "S-0-0135" of the
CCD slaves for drive slaves and the I/O status word "S-0-1500.0.2" for I/O
slaves.
The master parameterizes the resource status word to connection #0 of the
CCD slaves. The CCD slaves cyclically transmit the resource status word to
the master. The safety technology (SI) is used as slave index (0 = virt. slave,
1 = slave 1, etc.). For slaves of drive type, this parameter is an image of the
drive status word of the CCD slaves. The parameter is read-only and can be
used for diagnostic purposes.
See also Parameter Description "S-0-0135, Drive Status Word"
Structure S-0-1500.0.2, I/O status
12 I/O warning
Not supported by EasyIO
13 I/O error
The bit is set if a class 1 diagnostics error is present.
14 Inputs valid
0: Inputs not valid
1: Inputs valid
15 Outputs ready for operation
0: Outputs not active
1: Outputs active
Tab. 4-185: Structure of I/O Status SERCOS III (S-Res)


4.12.52 P-0-1631, CCD: AT error counter


This parameter displays an error counter for ATs. This parameter serves to
monitor ATs in which the value in parameter "S-0-1012, sercos III: Length of
ATs" of the CCD slaves is greater than. The error counters count all invalid
drive telegrams (ATs) in phases 3 and 4 and has its upper limit at 65535.
In case of strong transmission interferences the value 65535 is

reached after some time.
See also Functional Description "Cross Communication"

Use Interpretation of the parameter content
Observe the following when interpreting the error counter:
● The error counter is incremented once per communication cycle.
● The counter is only incremented as well, if the corresponding AT fails
both on Port 1 and on Port 2.
● The error counter is cleared on transition from phase 2 to phase 3.
4.12.53 P-0-1632, CCD: System data 2 bytes

Function This parameter is a dummy parameter which is required for internal configu‐
ration of the fixed MDT and AT data in the system mode.
The user cannot edit this parameter!


4.12.54 P-0-1633, CCD: System data 4 bytes

Function This parameter is a dummy parameter which is required for internal configu‐
ration of the fixed MDT and AT data in the system mode.
The user cannot edit this parameter!

4.12.55 P-0-1634.x.1, CCD: Module type codes of the modular I/Os

Alias: P-0-2436, P-0-2437, P-0-2438, P-0-2439
Function For the current composition of the modular I/O, please refer to parameter
"S-0-1500.0.3" of the bus coupler.
The list contains all "module type codes" of the inline nodes which are con‐
nected to the bus coupler in their connecting order. Whenever the CCD
phase is started up, the content of parameter "P-0-1634.x.1" is compared
with the content of "S-0-1500.0.3" in the I/O slave to check the I/O for proper
composition. "P-0-1634.x.1" can be defined via command "C7200 CCD:
Command Apply I/O configuration". Values can also be written directly
"P-0-1634.x.1" in order to apply a parameter backup.
P-0-1634.x.1 - Attributes Function: Par Editable: CCD_P2 Data length: 4Byte var.
4.12.56 P-0-1635, C7000 CCD: Command adjust slave addresses

Function This command is used to set the addresses of the CCD slaves. In this way,
the addresses from "P-0-1636, CCD: command topology" are preset for the
corresponding CCD slaves.
The command topology from P-0-1636 is thereby applied to the CCD slaves.
"List element 0" corresponds to the command address for the first CCD slave
connected to the CCD master. Only in this way is it possible to assign an un‐
equivocal address to the compact I/Os.

4.12.57 P-0-1636, CCD: Command topology addresses


numbers (EIDN).
This parameter is used in conjunction with the drive cross communication
(CCD). All addresses of the CCD slaves (drives and I/Os) connected to the
CCD master have to be specified in ascending order of their topology (list el‐
ement 0 corresponds to the CCD slave directly next to the CCD master, etc.).
Each address may be assigned only once.
The addresses of the sercos slaves which are only connected to the CCD
master but have not been configured also have to be listed.
If drives are configured in "P-0-1601" or I/Os in "P-0-1604", which are not
contained in "P-0-1636", this will result in warning "E4013 Incorrect CCD ad‐
dressing" or in "C0265 Incorrect CCD address configuration" when command
"C0200 Exit parameterization level procedure command" is executed.
If the command topology in "P-0-1636" differs from the actual topology, warn‐
ing "E4013" is generated in CCD phase 2. Advancing to CCD phase 3 or 4 is
impossible.
The command and actual topologies always have to be identical. The moni‐
toring order is not defined. All addresses have to be available and "P-0-1603,
CCD: Actual topology addresses" or "P-0-1636" may not contain any further
or other addresses.
Either the entries in "P-0-1636" have to be adjusted to the actual topology or
the addresses of the CCD slaves have to be set to the command topology by
means of command "C7000 CCD: Command Adjust slave addresses".
tent:
Fig. 4-74: P-0-1636, CCD: Command topology

Element 0 corresponds to the CCD slave which is directly connected to the
CCD master.
4.12.58 P-0-1637, CCD: Error counter Port-1


These list parameters display the telegram errors of the sercos FPGAs for
the particular port according to sercos.
Element Error counter
0 Counter for received ethernet frames with FCS error

1 Counter for received ethernet frames with an alignment error
Counter for discarded receive ethernet frames based on missing rx
2
buffer resources
Counter for discarded forwarding ethernet frames based on miss‐
3
ing collision buffer resources
4 Counter for ethernet frames which violate the IP channel window
The counters are running through. Counter levels remain preserved in case
of phase return.
4.12.59 P-0-1638, CCD: Error counter Port-2


These list parameters display the telegram errors of the sercos FPGAs for

2
buffer resources
3
ing collision buffer resources
of phase return.
4.12.60 P-0-1639, CCD: Allowed telegram failures


numbers (EIDN).
This parameter can be used to parameterize the allowed telegram failures
before error F4140 is trigger.
The parameter specifies the number of allowed telegram failures (MDT or
AT) which may occur directly one after the other in phase 4, before the drive
triggers an F4 error. The parameter can be changed and is retained in the
parameter memory (default value = 1).
4.12.61 P-0-1640, CCD: MAC address

Contained in 17VRS: «-» «-» «MPM» «MPC»
Contained in 18VRS: «-» «-» «MPM» «MPC»
Contained in 19VRS: «-» «-» «MPM» «MPC» «-»
Contained in 20VRS: «-» «-» «MPM» «MPC» «-»
Hardware --
Function Parameter "P-0-1640" contains the MAC address of the CCD master which is
required within the scope of Ethernet communication. The MAC address (Me‐
dia Access Control) is used for unique identification in the network.
Structure The MAC address is a list parameter with the following structure:
Fig. 4-75: P-0-1640, CCD: MAC Address

Use
The MAC address has been permanently assigned to the hard‐
ware and cannot be modified!
See also Parameter Description "S-0-1019, Master comm. engineering over

IP: MAC address"
4.12.62 P-0-1641, CCD: IP address

Function "P-0-1641" contains the IP address of the CCD master. This address is re‐
quired to ensure that the device in the network can be reached via IP com‐
munication.

● Executing drive command "C6100 Command activate IP set‐
tings"

Fig. 4-76: P-0-1641, CCD: IP Address

Use
The IP address has to be set with regard to the specific applica‐
trol panel.
See also parameter description:

P-0-1642, CCD: Network mask
P-0-1643, CCD: Gateway address
S-0-1020, Master comm. engineering over IP: IP address
4.12.63 P-0-1642, CCD: Network mask

Function Parameter "P-0-1642" contains the network mask of the CCD master as IP
node which is required within the scope of IP communication. Each IP ad‐
dress (Internet Protocol) consists of a network and a device part. The net‐
work mask is used to distinguish between the network and device parts.

● Executing drive command "C6100 Command Activate IP
settings"
Structure The network mask is a list parameter with the following structure:
Fig. 4-77: P-0-1642, CCD: Network Mask

Use
The network mask must be set with regard to the specific applica‐
trol panel.
See also Parameter Description:

P-0-1641, CCD: IP Address
P-0-1643, CCD: Gateway Address
S-0-1020, Master comm. engineering over IP: IP Address
4.12.64 P-0-1643, CCD: Gateway address

Function Parameter "P-0-1643" contains the gateway address of the CCD master as
IP node which is required within the scope of IP communication.
If the communication node wants to transmit an IP package (Internet Proto‐
col), the network parts of the source IP address and the target IP address are
compared. If they do not match, the IP package is transmitted to the gateway
IP address.

● Executing drive command "C6100 Command Activate IP
settings"
Structure The gateway address is a list parameter with the following structure:
Fig. 4-78: P-0-1643, CCD: Gateway Address

Use
The gateway address must be set with regard to the specific ap‐
plication. It can be set via all communication interfaces or via the
control panel.

P-0-1641, CCD: IP Address
P-0-1642, CCD: Network Mask
S-0-1022, Master comm. engineering over IP: Gateway Address
4.12.65 P-0-1644, CCD: Status IP communication

Function Via the parameter "P-0-1644, CCD: status IP communication", you can read
the status information on the current status of IP communication at the CCD
master of the device.
The parameter contains both general information on IP communication and
device-dependent information for the CCD master in the device.
Structure The general status information on IP communication is preferably contained
in the first 8 bits of parameter P-0-1644. The bits 8 to 31 contain the device-
dependent information for the CCD master.
1..0 status internal memory TCP/IP stack

00: no problem with internal memory
01: internal memory space full
10: internal memory space intermittently filled
3..2 reserved

6..4 default gateway information
000: not set
001: from Ethernet slave (S-0-1022)
010: from SERCOS III master (P-0-1643)
100: from Engineering Port (P-0-1533)
7 reserved
9..8 setting of device gateway information
00: no gateway information set
01: active gateway information manually set
10: active gateway information automatically generated
11..10 status of device gateway information
00: gateway information not used
01: gateway address which was read is active
10: gateway address which was read has not been activa‐
ted up to now
12 status of device network mask
0: network mask which was read is active
1: network mask which was read has not been activated
up to now
15..13 reserved
17..16 setting of device IP address
00: no IP address set
01: active IP address manually set
10: active IP address automatically set
20..18 status of IP address
000: no IP address available for activation
010: IP address which was read has not been activated up
to now
21 reserved
22 validity of device IP settings
1: invalid IP settings (address and gateway in different net‐
works)
23 status of IP communication
1: no IP communication possible (resources missing)

25..24 status of FPGA Rx Buffer Port1
27..26 status of FPGA Rx Buffer Port2
29..28 status of FPGA Tx Buffer Port1
30..31 status of FPGA Tx Buffer Port2
Tab. 4-186: P-0-1644, CCD: status IP communication

4.12.66 P-0-1645.x.1, CCD connection: Configuration

Function This parameter contains the configuration data of a CC connection with par‐
ticipation of the CCD master.
This data consists of:
● Activate configuration
● Connection type
● Configuration source
● Configuration type
● Clock generation (producer)
● Monitoring mechanism (consumer)
2-0 Monitoring mechanism (consumer) Only "00" pos‐

00: Synchronous operation sible
01: Asynchronous operation (with watchdog)

10: Asynchronous operation (without watchdog)
11: Reserved
3 Clock generation (producer)
0: Synchronous
1: Asynchronous
5-4 Configuration type Only "00" and
00: Configuration list with EIDNs (SE-6 relevant) "10" possible
01: Container without assigned contents (SE-5 relevant)

10: Telegram type parameter FSP-Drive (S-0-0015 rele‐
vant)
11: Reserved
13-12 Configuration source
00: Bus master
01: Not bus master
10: Not bus master
11: Not bus master
14 Connection type
0: Consumer
1: Producer
15 Configuration activation
0: Slave does not need to evaluate/take into account con‐
figuration
1: Slave needs to evaluate/take into account configuration
Tab. 4-187: P‑0‑1645.x.1, CCD connection: Configuration

P-0-1645.x.1 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte
4.12.67 P-0-1645.x.2, CCD connection: Connection number

Function This parameter is used to unequivocally identify a connection. A bus master

requires this parameter to determine the telegram offset, for example.
Rules:
1. Producer and consumer of one connection have the same connection
number.
2. A slave cannot have the same connection numbers for its connections.
3. MS-AT and MS-MDT in a slave have different connection numbers.

4.12.68 P-0-1645.x.3, CCD connection: Telegram assignment

Function The telegram assignment defines at which position (telegram offset) and in
which telegram (MDT or AT, telegram number) the connection is. The tele‐
gram offset points to the connection control (C-Con) of this connection. The
parameter describes the CC connection with participation of the CCD master.
Since the CCD master generates the telegram structure itself, this parameter
is for display purposes only.
Structure
10-0 Telegram offset in bytes

11 Telegram type
0: AT
1: MDT
15-12 Telegram number
0: MDT0 / AT0
1: MDT1 / AT1
2: MDT2 / AT2
3: MDT3 / AT3
Tab. 4-188: P‑0‑1645.x.3, CCD connection: Telegram assignment

4.12.69 P-0-1645.x.4, CCD connection: Max. length of connection

Function With this parameter, the CCD master shows how many bytes it allows for this
connection. The 2 bytes are included for the connection control C-Con.

4.12.70 P-0-1645.x.5, CCD connection: Current connection length

Function With this parameter, the CCD master shows how many bytes are currently
required for this connection. The 2 bytes are included for the connection con‐
trol C-Con.
The date of this parameter is made available by the CCD master for all con‐
figuration types which can be set (P-0-1645.0.1, CCD connection: Configura‐
tion) and is always updated after "P-0-1645.0.6, CCD connection: Configura‐
tion list" has been written.
4.12.71 P-0-1645.x.6, CCD connection: Configuration list

Function The parameter describes the CC connection with participation of the CCD
master.
This parameter contains the IDNs (4 bytes) which are cyclically transmitted in
this connection. The content only takes effect in configuration type
00: Configuration with EIDNs (P-0-1645.0.1, CCD connection: Configuration).
With this configuration type, the CCD master determines parameter
"P-0-1645.0.5, CCD connection: Current length of connection" from the con‐
tent of this parameter.
4.12.72 P-0-1645.x.7, CCD connection: Assigned connection capability

Function Parameter "P-0-1645.0.7" is used to assign a connection type to a connec‐

tion.
Use Regarding parameterization, observe the following:
● If the value of the parameter is "-1", there was no assignment and the
default settings are applicable.
● If the value of the parameter is "0", a clock-synchronous consumer con‐
nection is set with a maximum of 12 bytes.
● If the value of the parameter is "1", a clock-synchronous producer con‐
● When the value is written, parameters "P-0-1645.0.1 "CCD Connection:

Configuration" and "P-0-1645.0.4 "CCD Connection: Max. length of con‐
nection" are adjusted to match the setting.
● During CCD phase startup, the system checks whether the maximum
number of configurable connections of this type is exceeded when all
connections are selected. If yes, an error code is output during CCD
phase startup.
MPx / PSB: min./max.: -1 / 1 Default value: ---
4.12.73 P-0-1645.x.8, CCD connection: Connection control (C-Con)

Function This parameter contains the image of the connection control (C-Con) of the
connection. This applies to producer and consumer connections.
Structure
0 ProducerReady
yet
1: Producer generates valid command values Slave can
apply command values by toggling bit 1
1 NewData bit
2 CC DataFieldDelay
1: CC producer data has a SERCOS cycle delay, because
it was copied via the bus master. The consumer shall pre‐
fer taking the data of the port at which this bit has the val‐
ue 0.
clock of the ring
of the ring
6 Real-time bit 1
7 Real-time bit 2
Tab. 4-189: P‑0‑1645.x.8, CCD connection: Connection control (C-Con)


4.12.74 P-0-1645.x.9, CCD connection: State

Function This parameter displays the current status of each single connection.
Structure The displayed value (state) of the connection state machine depends on the
connection type (producer, consumer):
Value Description Comment
0 init State automatically reached on restart. Connection error

bit is deleted from S-Dev.
1 prepare State of an active connection if the connection check in
the command during the CCD phase startup was without
errors.
2 ready Connection is started - ProducerReady is sent with 1 -
NewData does not toggle yet Currently, the state cannot
be detected in IndraDrive because the transfer is achieved
immediately after "producing".
3 producing NewData toggles according to specification - valid process
data is transferred.
4 stopping Stop bit is set - state of remaining bits in C-Con and state
of process data are as desired. Currently, the state is not
implemented in the IndraDrive.
Tab. 4-190: P‑0‑1645.0.9, Value Code for Producer Connections
0 init State automatically reached on restart. Connection error

1 prepare State of an active connection if the connection check took
place during the CCD phase startup.
2 waiting Waiting for NewData; process data is not retrieved.
3 consuming Process data is retrieved; connection monitoring is active.
4 stopped No process data is extracted. Connection monitoring is not
active. Currently, the state is not implemented in the
IndraDrive.
5 warning No process data is extracted. Connection monitoring is ac‐
tive.
7 error No process data is extracted. The connection error bit in
S-Dev is set. The state is exited by a CCD phase startup.
Tab. 4-191: P‑0‑1645.0.9, Value Code for Consumer Connections


4.12.75 P-0-1645.x.10, CCD connection: Producer cycle time

Function This parameter indicates the cycle time within which the producer updates
the data of the cyclic connection. In addition, the NewData bit in the connec‐
tion control word is toggled. The consumer of the connection uses the time as
monitoring time to detect failures. The number of failures is displayed in
"P-0-1645.0.12, CCD connection: Error counter data losses".
The parameter describes the CC connection with participation of the CCD
master.
4.12.76 P-0-1645.x.11, CCD connection: Allowed losses of producer data

Function This parameter indicates the number of allowed losses of producer data, be‐
fore a connection is considered to be broken, the consumer does not process
data anymore and sets the Err-Con bit for the bus master in the device status
(S-Dev, S-IF).
master.
4.12.77 P-0-1645.x.12, CCD connection: Error counter data losses

Function This parameter indicates how many losses of producer data the consumer
has already detected. This counter is without overflow and ends with 65535.
The counter will be reset through the positive edge of ProducerReady in the
connection control (C-Con).
4.12.78 P-0-1645.x.20, CCD connection: IDN allocation of real-time bits

Function This parameter contains the IDN assignment (4Byte) of the real-time bits in
the connection control (C-Con). The list contains a maximum of 2 IDNs. The
bit assignment takes place in parameter "P-0-1645.0.21, CCD connection: Bit
allocation of real-time bit".
master.
4.12.79 P-0-1645.x.21, CCD connection: Bit number allocation of real-time

bits
Function This parameter contains the bit assignment of the real-time bits parameter‐
ized in "P-0-1645.0.20, CCD connection: IDN allocation of real-time bit". The
list contains a maximum of 2 bit offsets with values from 0... 31.
master.
4.12.80 P-0-1651, CCD: Master control word, slave 1


The parameter P-0-165x, CCD: Master control word, slave x contains the
control word which the CCD master delivers to CCD slave x and which ar‐
rives in "S-0-0134, Master control word" of the CCD slave.
"x" is the slave number → e.g. slave "1"

● The internal PLC writes the master control words (P-0-165x) in MLD-M
system mode.
● In CCD system mode and with active field bus connection, the internal
profile interpreter writes to the signal control words.
● In CCD basic mode and CCD system mode, direct writing to the param‐
eters is allowed with a parallel interface and sercos master communica‐
tion.


See also "P-0-1651, CCD: Master control word, slave 1"















4.12.89 P-0-1660.x.2, CCD: Device Control (C-Res)

Function In parameter "P-0-1660.0.2", the sercos III: device control word (S-0-1044) of
the CCD slaves is shown, which is transferred from the CCD master to the
CCD slaves in the MDT telegram. The safety technology (SI) is used as slave
index (0 = virt. slave, 1 = slave 1, etc.).
This parameter is an image of the Device Control (C-Dev) of the CCD slaves.
It is read-only and can be used for diagnostic purposes.

Function Parameter "P-0-1660.0.3" displays the connection control word (C-Con) of

connection #1 of the CCD slaves, which is transmitted from the CCD master
to the CCD slaves in the MDT telegram. The CCD master uses connection
#1 (S-0-1050.0.1) of the CCD slaves for classic MS-MDT data. The safety
technology (SI) is used as slave index (0 = virt. slave, 1 = slave 1, etc.).
The parameter is an image of C-Con of connection #1 in the CCD slave.
control (C-Con)"
Structure
0 ProducerReady:
yet
1 NewData bit:
2 CC-DataFieldDelay:
1: CC producer data has a sercos cycle delay, because it
was copied via the bus master. The consumer shall prefer
taking the data of the port at which this bit has the value 0.

3 ProducerSynchonized:
clock of the ring
of the ring
6 Real-time bit 1
7 Real-time bit 2
Tab. 4-192: P‑0‑1660.0.3, CCD: Connection-Control #1 (C-Con)

4.12.91 P-0-1660.x.20, CCD: Resource-Control (C-Res)

Function Parameter "P-0-1660.0.20" displays the "S-0-0134, Master status word" of

the CCD slaves for drive slaves and the I/O control word for I/O slaves. The
master parameterizes the resource control word to connection #1 of the CCD
slaves. The master cyclically transmit the resource control word to the mas‐
ter. The safety technology (SI) is used as slave index (0 = virt. slave, 1 =
slave 1, etc.).
For slaves of drive type, this parameter is an image of the master status word
of the CCD slaves.
In MLD-M mode and CCD system mode, this parameter is for display purpo‐
ses only. In CCD basic mode, the parameter can be used to preset the mas‐
ter control word "S-0-0134" of the CCD slaves.
Bit 12 in parameter "P-0-1600" can be used for slaves of type I/O to select
whether the CCD master always automatically activates the outputs or
whether this is determined by the application via parameter "P-0-1660.0.20".
Structure
S-0-1500.0.2, I/O status
12 I/O warning
Not supported by EasyIO
13 I/O error
The bit is set if a class 1 diagnostics error is present.

14 Inputs valid
0: Inputs not valid
1: Inputs valid
15 Outputs ready for operation
0: Outputs not active
1: Outputs active
Tab. 4-193: Structure of I/O Status sercos III (S-Res)

4.12.92 P-0-1661, CCD: Drive status word, slave 1


Parameter "P-0-166x, CCD: Drive status word, slave x" contains the status
word delivered from CCD slave x to the CCD master. (corresponds to the
content of S-0-0135, Drive status word of CCD slave x.)

Use Observe the following aspects when using parameters "P-0-166x":
● The internal PLC evaluates the drive status words (P-0-166x) in MLD-M
system mode.
profile interpreter implements the drive status words.


See also "P-0-1661, CCD: Drive status word, slave 1"















4.12.101 P-0-1670, CCD: Active actual position value, master


See also "P-0-1671, CCD: Active actual position value, slave 1"

S-0-0077 /
S-0-0078
4.12.102 P-0-1671, CCD: Active actual position value, slave 1


The parameters "P-0-167x, CCD: Active actual position value, master... slave
x" display the active actual position values of the CCD slaves which the CCD
slaves transfer to the CCD master in the motion channel (AT) of the MLD-M.

● The parameter is only served while the MLD-M is active, i.e. in MLD
system mode (P-0-1600).
● In the event of an error, the parameter can be used for diagnostic purpo‐
ses.
S-0-0077 /
S-0-0078


S-0-0077 /
S-0-0078



S-0-0077 /
S-0-0078


S-0-0077 /
S-0-0078



S-0-0077 /
S-0-0078


S-0-0077 /
S-0-0078


S-0-0077 /
S-0-0078


S-0-0077 /
S-0-0078


S-0-0077 /
S-0-0078
4.12.111 P-0-1680, CCD: Actual velocity value, master


See also "P-0-1681, CCD: Actual velocity value, slave 1"
S-0-0045 /
S-0-0046
4.12.112 P-0-1681, CCD: Actual velocity value, slave 1


The parameters "P-0-168x, CCD: Actual velocity value, master... slave x" dis‐
play the actual velocity values of the CCD slaves which the CCD slaves
transfer to the CCD master in the motion channel (AT) of the MLD-M.

system mode (P-0-1600).
ses.
S-0-0045 /
S-0-0046


S-0-0045 /
S-0-0046



S-0-0045 /
S-0-0046


S-0-0045 /
S-0-0046


S-0-0045 /
S-0-0046



S-0-0045 /
S-0-0046


S-0-0045 /
S-0-0046


S-0-0045 /
S-0-0046


See also Parameter Description "P-0-1681, CCD: Actual velocity value, slave
1"
S-0-0045 /
S-0-0046
4.12.121 P-0-1690, CCD: Actual torque/force value, master


See also "P-0-1691, CCD: Actual torque/force value, slave 1"
S-0-0093 /
S-0-0094
4.12.122 P-0-1691, CCD: Actual torque/force value, slave 1


The parameters "P-0-169x, CCD: Actual torque/force value, master... slave x"
display the actual torque/force values of the CCD slaves which the CCD
slaves transfer to the CCD master in the motion channel (AT) of the MLD-M.

The parameter is only served while the MLD-M is active, i.e. in MLD system
mode (P-0-1600).

S-0-0093 /
S-0-0094


S-0-0093 /
S-0-0094


S-0-0093 /
S-0-0094



S-0-0093 /
S-0-0094


S-0-0093 /
S-0-0094


S-0-0093 /
S-0-0094


S-0-0093 /
S-0-0094


S-0-0093 /
S-0-0094


S-0-0093 /
S-0-0094
4.12.131 P-0-1700, CCD: Diagnostic message number, slave

Function "P-0-1808.1.1" replacement parameter for communication interfaces which
4.12.132 P-0-1701, CCD: Diagnostic message number, slave 1


numbers (EIDN).
This parameter is used to display and evaluate the diagnostic message num‐
ber of the CCD slaves x in the CCD master.

● With active CCD error reaction (P-0-1600, bit 8 = 1) and in MLDM
mode, the CCD master automatically configures "S-0-0390" in the AT of
slave x and copies the content to P-0-170x.
● A special handling for P-0-170x is implemented in the master to interpret
the diagnostic message of a slave and, if necessary, trigger a reaction in
the master.


numbers (EIDN).
See also "P-0-1701, CCD: diagnostic message number slave 1"



numbers (EIDN).


numbers (EIDN).


numbers (EIDN).


numbers (EIDN).


numbers (EIDN).


numbers (EIDN).



4.12.141 P-0-1710, CCD: Signal status word, master


numbers (EIDN).
See also "P-0-1711, CCD: Signal status word, slave 1"
4.12.142 P-0-1711, CCD: Signal status word, slave 1


numbers (EIDN).
The parameter in the CCD master contains the bits corresponding to the con‐
tent of the signal status word (S-0-0144) in the CCD slave. Parameterization
is done via:
● P-0-1611, CCD: Configuration list signal status word
● P-0-1613, CCD: Assignment list signal status word

Use The following must be observed during use of this parameter:
● The signal status word of slave x is automatically configured and inter‐
preted only in MLD system mode and CCD system mode.
● In CCD basic mode, the signal status word of slave x is not operated.
Parameter "P-0-1710" is reserved for the virtual slave in the mas‐

ter. At present, "0" is always displayed!



numbers (EIDN).


numbers (EIDN).



numbers (EIDN).


numbers (EIDN).


numbers (EIDN).



numbers (EIDN).


numbers (EIDN).



4.12.151 P-0-1720, CCD: Signal control word, master


numbers (EIDN).
See also "P-0-1721, CCD: Signal control word, slave 1"
4.12.152 P-0-1721, CCD: Signal control word, slave 1


numbers (EIDN).
The parameter in the CCD master contains the bits written to the signal con‐
trol word (S-0-0145) in CCD slave x via the CCD bus.

● In MLD-M system mode, the internal PLC writes to the signal control
words.
● In CCD basic mode, there is direct write access to the parameters.
– Parameterization is done via:
– P-0-1612, CCD: Configuration list signal control word
– P-0-1614, CCD: Assignment list signal control word
Parameter "P-0-1720" is reserved for the virtual slave in the mas‐

ter. No function at present!



numbers (EIDN).


numbers (EIDN).


numbers (EIDN).



numbers (EIDN).


numbers (EIDN).


numbers (EIDN).



numbers (EIDN).


4.12.161 P-0-1730, CCD: Command value data container 1, Master 4Byte


See also "P-0-1731, CCD: Command value data container 1, Slave 1 4Byte "

4.12.162 P-0-1731, CCD: Command value data container 1, Slave 1 4Byte


In MLD system mode (cf. P-0-1600), parameters "P-0-173x" are used for the
real-time channel.

Use Observe the following aspects for use:
● In CCD system mode and CCD basic mode, the parameters can be
used as copy containers.
● The data container can be used for transmission of 4 bytes data to the
CCD slave in the command value telegram (e.g. P-0-1731 -> S-0-0036).
Example:
Slave 1 files "P-0-0434" to the AT -> Master copies to "P-0-1731" and files
"P-0-1731" to the MDT for slave 1 as "S-0-0047".
Parameters "P-0-1820" to "P-0-1899" are to be used for transmit‐

ting 2-byte data.
























In MLD system mode (P-0-1600), parameters "P-0-174x" are used for the re‐
al-time channel.

Example:
Slave 1 files "S-0-0040" to the AT -> Master copies to "P-0-1741" and files

ting 2-byte data.

















See also "P0-1741, CCD: Command value data container 2, Slave 1 4Byte "







al-time channel.

Example:
The PLC writes to "P-0-1751" -> Master files this parameter to the MDT for
slave 1 as "S-0-0282".

ting 2-byte data.
























In MLD system mode (cf. P-0-1600), parameters "P-0-176x" are used for the
real-time channel.

Example:
The PLC writes to "P-0-1761" -> Master files this parameter to the MDT for
slave 1 as "S-0-0282".

ting 2-byte data.




















4.12.201 P-0-1770, CCD: Actual value data container 1, Master 4Byte


See also "P-0-1771, CCD: Actual value data container 1, Slave 1 4Byte"
4.12.202 P-0-1771, CCD: Actual value data container 1, Slave 1 4Byte


In MLD system mode (P-0-1600), parameters P-0-177x are used for the real-
time channel.

Observe the following aspects for use:
● The data container can be used for transmission of 4 bytes data from
the CCD slave in the actual value telegram (e.g. P-0-1771 <- S-0-0051).
Example:
The slave files "S-0-0051"in the AT. The master copies the content of the AT
to "P-0-1771". In the master, "P-0-1771" is used for internal processing






















In MLD system mode (P-0-1600), parameters P-0-0178x are used for the re‐
al-time channel.

Example:
The slave files "S-0-0040" to the AT. The master copies the content of the AT























al-time channel.

Example:

ting 2-byte data.


















4.13 P-0-1800 to P-0-1999 Cross Communication Drives, CCD


4.13.2 P-0-1800.0.1, CCD: Configuration

Hardware --
Alias: P-0-1600
Function This parameter is used to configure the CCD communication in the CCD
master.
See also Functional Description "Cross communication (CCD)"
Structure The bits of the configuration word have the following significances and func‐
tions:
0 Activation of cross communication in the master

0: CCD master not active
1: CCD master active
1 Activating optional functions in CCD system mode for MPx-20V08
Sercos (Gateway): and above
0: Faster timing is run in CCD group
1: Timing of master communication is applied in CCD
group

2 Automatic IP address setting of CCD slaves MPx-20V04
0: Not active and above
1: Active
4/3 CCD operating mode
00: CCD system mode
01: MLD-M system mode
10: CCD basic mode
5 Decoupling from CCD phase switch
0: Coupled to OM/PM switching of CCD master (behavior
in the past)
1: Not coupled to OM/PM switching of CCD master (de‐
fault setting)
6 Synchronization of system times
0: Function is switched off
1: The system time (P-0-0197) of the CCD master is dis‐
tributed to the CCD slaves on CCD phase progression
8/7 CCD error reaction:
00: No reaction:
There is no reaction to errors of the CCD node. Any de‐
sired reaction has to be programmed in the control unit.
01: Simple error reaction:
In case of errors in a CCD node, warning "E2140" is dis‐
played in the master.
10: Master-controlled synchronous error reaction:
If this error reaction is active, parameter P-0-1808.x.1, Di‐
agnostic message number slave x is cyclically evaluated
and accordingly reacts to the other slaves in the master.
Bit 10 can be used to select whether "P-0-1808.x.1" and
"S-0-0390" are configured automatically for all slaves.
11: Automatic complete error reaction:
As soon as an error occurs in an axis, all axes are decel‐
erated as parameterized in "P-0-0119". Error F2140/
E2140 is set in the master.
Definition of the reaction of the CCD master to an F8xxx
error in the CCD group.
0: Torque disable; master clears "Drive enable" in the
master control word of the CCD slaves
1: Best possible deceleration; master clears "Drive on" in
the master control word of the CCD slaves

10 CCD group error reaction if bit 8/7 = 10
Definition of whether "S-0-0390" of the slaves is automati‐
cally configured in AT, i.e., whether all slaves participate in
the error reaction.
0: Group reaction active
1: Selective error reaction of the slaves (manual configura‐
tion)
11 Reaction in case of telegram failure
If the number of telegram failures in phase 4 exceeds the
number parameterized in "P-0-1800.0.5", error F4140 is
generated.
0: The master attempts a phase return to phase 2 via
phase 0.
1: The master continues to preset phase 4.
Is used to define the reaction of the CCD master to a non-
fatal error or errors of class F6/F7xxx in the CCD group.
0: No additional reaction
1: Master clears "Drive on" in the master control word of
the CCD slaves
14 SWC (Single Wire Coexistence)
0: SWC support not active
1: SWC support active
Tab. 4-194: CCD configuration

"P-0-1800.0.1" is only set in the CCD master because CCD

slaves are mere sercos drives.
Bit 1: Activating optional functions in CCD system mode for sercos (Gate‐
way):
With the setting it is possible to distinguish two timing options to synchronize
the command values and actual values of CCD mter and CCD slaves.
● Bit 1 = 0: In CCD group, faster timing is run than in master communica‐
tion group. A master communication cycle time of 4 ms and 2 ms results
in a CCD cycle time of 1 ms, for example. This facilitates faster connec‐
tions in the CCD group. The CCD timing depends on the possibilities of
the CCD slaves. The low cycle times can also cause restrictions for the
CCD slaves (possible operation modes, max. quantity of cyclyc data,
etc.).
●
Bit 1 = 1: Timing of the master communication group is applied to the
CCD group. With master communication cycle time of 2 ms, for exam‐
ple, only this cycle time is possible in the CCD group.
Bit 4/3: CCD operating mode for the CCD group. Depending on the applica‐
tion, the appropriate mode has to be selected:
● 00: CCD system mode:
Commands for the CCD slaves are triggered by the higher-level control
(remote and external with profile interpreter with 0xFFFE and 0xFFFD
profiles) or, where appropriate, by the local MLD in the CCD slaves with
permanent control and FFFD profile type.
Process data can be exchanged between CCD master and slaves, as
well as between the external control and CCD slaves. --> CCD slaves
are known in the external control.
● 01: MLD-M system mode:
Commands for the CCD slaves are triggered via MLD in the master
drive. Process data are only exchanged between CCD master and
slaves --> CCD slaves are not known in the external control.
● 10: CCD basic mode:
The CCD slaves can be commanded by the higher-level control (remote
and external, but without profile interpreter) via parameter P-0-1806.x.11
in the master, via MLD in the master drive or, where appropriate, via the
local MLD-S with permanent/local control. Process data are only ex‐
changed between CCD master and slaves --> CCD slaves are not
known in the external control.
Bit 5: Decoupling from CCD phase switch
This allows restoring the past behavior in versions below MPC-08:
● 1: No coupling to OM/PM switching of CCD master:
OM/PM switching in the CCD master (C02 or C04) does not affect
phase switch of the CCD group. If the CCD group is in phase 4, switch‐
ing to PM of the CCD master does not cause a phase return to CCD
phase 2. In the CCD slaves, sercos phase progression is decoupled
from the device switching, with the result that an error occurring during
initialization of the axis does not lead to abortion of the CCD phase pro‐
gression (default setting). In case of sercos or EtherCat master commu‐
nication, CCD phase switch is coupled to master communication phase
switch in CCD system mode.
● 0: Coupling to PM<->OM switching of CCD master:
Permanent coupling of CCD phase switch to OM/PM switching in the
CCD master. Switching to PM in the CCD master always results in
specification of CCD phase 2. An error occurring in transition command
C02 (OM) of a CCD node always leads to abortion of the CCD phase
progression (past behavior in versions below MPC-08).
Bit 8/7: Error reaction:
● 00: No reaction
In case of an error in a CCD axis, other CCD axes are not automatically
decelerated. A group error reaction has to be explicitly programmed by
the control unit.
● 01: Simple error reaction: In case of errors in a CCD node, warning
E2140 is displayed in the master.
● 10: Master-controlled synchronous error reaction
If the error reaction is active, parameter "P-0-1808.x.1, Diagnostic mes‐
sage number slave x" is cyclically evaluated. For this purpose,
"P-0-1808.x.1" has to be configured for each slave in "P-0-1805.x.2". In
"P-0-1805.x.4", the parameter "S-0-0390" has to have been entered at
the corresponding place. The error reactions of both master and slaves
are dependent on the error number detected.
● 11: Automatic complete error reaction:
If the CCD master detects that an axis in the CCD group (master or
slave) signals a class 1 diagnostics error, all axes are decelerated as
parameterized in "P-0-0119". The CCD master outputs error "F2140
CCD slave error". If the CCD master is not in control, only warning
E2140 is displayed.
Bit 10: Master-side CCD error reaction (only in case of a master-controlled
synchronous error reaction)
● If a slave in the CCD axis group is not to participate in the activated
error reaction in the master, the automatic parameterization of the slave
diagnosis for all slaves has to be switched off with bit 10 of
"P-0-1800.0.1". In this case, the entries for the diagnostic message
numbers of the slaves to participate in the error reaction have to be
made manually in "P-0-1805.x.2" and "P-0-1805.x.4".
(P-0-1805.x.2[i] = P-0-1808.x.1 and P-0-1805.x.4[i] = S-0-0390)
Bit 14: SWC (Single Wire Coexistence)
● With SWC support active, no sercos telegrams are output at the last
CCD slave of a line. Hotplug is not possible with active SWC. If a CCD
slave not supporting the function is detected in Sercos phase "0", a
warning is displayed.
P-0-1800.0.1 - Attributes Function: Par Editable: CCD_P2 Data length: 2Byte
4.13.3 P-0-1800.0.3, CCD: Control word

Alias: P-0-1608
Function This parameter can be used to control the functions of the CCD master dur‐
ing ongoing operation. The parameter is not stored.
Structure
0 Target phase
0: Synch. osci. function in CCD master deactivated (de‐
fault)
1: Synch. osci. function in CCD master activated
Tab. 4-195: CCD Control Word

Cycl. tra.: MDT Comb. check: + Set-depend.: --

4.13.4 P-0-1800.0.5, CCD: Allowed telegram failures

Alias: P-0-1639
Function This parameter can be used to parameterize the allowed telegram failures
before error F4140 is trigger.
The parameter specifies the number of allowed telegram failures (MDT or
AT) which may occur directly one after the other in phase 4, before the drive
triggers an F4 error. The parameter can be changed and is retained in the
parameter memory (default value = 1).
4.13.5 P-0-1800.0.10, CCD: Cycle time

Alias: P-0-1610
Function This parameter can be used to set a CCD cycle time shorter than the master
communication cycle time "S-0-0001" or S-0-1050.x.10 (consumer connec‐
tion) of the CCD master.
Use The resulting NC cycle time which the CCD master specifies for the CCD
slaves in "S-0-1050.x.10", results from the lower value of "S-0-0001" or
S-0-1050.x.10 (consumer connection) of the CCD master and
"P-0-1800.0.10" of the master. That is to say, if the value in "P-0-1800.0.10,
CCD cycle time" is unequal 0 and lower than the master communication cy‐
cle time of the master, "P-0-1800.0.10" is specified as the connection cycle
time for the CCD slaves.
If with MPC-18VRS the CCD master axis is moved synchronously

with the CCD slaves using a master axis, the cycle time in
"P-0-1800.0.10" cannot be smaller than in S-0-0001, or
"S-0-1050.x.10". This is only possible with MPC-20VRS and
above.


4.13.6 P-0-1800.0.20, CCD: Application connection configuration,

incremental
Alias: P-0-2307
Function Parameter "P-0-1800.0.20" can be used by each CC configurator to configure

its own CC connections. Parameter P-0-1800.0.20 contains information in
CFG_bin format. This is the format to be used for informing the CCD master
about all CC connection data of an application ID (per configurator) in the
CCD group.
P-0-1800.0.20 - Attributes Function: Par Editable: CCD_P2 Data length: 1Byte var.
4.13.7 P-0-1800.0.21, CCD: Application connection configuration, overall

Alias: P-0-2308
Function Parameter "P-0-1800.0.21" stores the sum total of all CC connections speci‐
fied by configurators. It is required for initializing the overall system after re‐
start or for parameter backup.
The parameter serves to store all connections which CC configurators repor‐
ted to the CCD master via parameter "P-0-1800.0.20".
4.13.8 P-0-1800.0.22, CCD: Current connection configuration

Alias: P-0-2309
Function P-0-1800.0.22 serves for diagnosing all connections of the CCD group.

4.13.9 P-0-1800.0.30, CCD: Extrapolated cmd value IDN list signal selection
Alias: P-0-1615
Function The transmission delay between CCD master and slaves must be compensa‐
ted for which reason the command value for the slaves is extrapolated. This
is achieved by means of parameter "P-0-1800.0.30" which serves as a selec‐
tion list for parameterizing "P-0-1800.0.31".
4.13.10 P-0-1800.0.31, CCD: Extrapolated cmd value signal selection

Alias: P-0-1616
achieve this, parameter "P-0-1800.0.31" is used for configuring the CCD
master signal used for extrapolation.
The extrapolated value is then entered in parameter

"P-0-1800.0.33, CCD: Extrapolated command value".

4.13.11 P-0-1800.0.32, CCD: Number of extrapolation steps

Alias: P-0-1617
achieve this, the number of extrapolation steps to be taken is specified in
"P-0-1800.0.32".
Use Observe the following aspects when setting "P-0-1800.0.32":
● The extrapolation covers n sercos cycles.
● The range of input values is from 0 to 2.

4.13.12 P-0-1800.0.33, CCD: Extrapolated command value

Alias: P-0-1618
achieve this, the extrapolated command value is entered in "P-0-1800.0.31"
and can then be assigned to the slaves (P-0-1805.x.1[i] = P-0-1800.0.33).


al-time channel.

Example:
The slave files "P-0-0303" to the AT. The master copies the content of the AT

ting 2-byte data.

4.13.14 P-0-1801.0.1, CCD: Slave identification

Alias: P-0-2319
Function Parameter "P-0-1801.0.1" can be used to control the diagnosis LED of a

sercos slave in phases 2 to 4 of the CCD group by entering a topology loca‐
tion via the CCD master. If value 0 is entered, the function is deactivated. It
allows unique assignment of a CCD slave to an address from parameter
"P-0-1801.0.2". This function is useful for remote address assignment.
Topology location 1 corresponds to the first element from parameter
"P-0-1801.0.3", etc.
4.13.15 P-0-1801.0.2, CCD: Command topology addresses

Alias: P-0-1636
Function This parameter is used in conjunction with the drive cross communication
(CCD). All addresses of the CCD slaves (drives and I/Os) connected to the
CCD master must be specified in ascending order of their topology (list ele‐
ment 0 corresponds to the CCD slave directly next to the CCD master, etc.).
Each address may be assigned only once.
If drives are projected in "P-0-1801.0.10" or I/Os in "P-0-1801.0.11", which
are not contained in "P-0-1801.0.2", this will result in warning "E4013 Incor‐
rect CCD addressing" when the CCD phase is started up.
The command and actual topologies must always be identical. The monitor‐
ing order is not defined. All addresses must be available and "P-0-1801.0.3,
CCD: Actual topology addresses" or "P-0-1801.0.2" may not contain any fur‐
ther or other addresses.
Either the entries in "P-0-1801.0.2" must be adjusted to the actual topology or
the addresses of the CCD slaves must be set to the command topology by
means of command "C7000 CCD: Command Adjust slave addresses".
tent:
Fig. 4-79: P‑0‑1801.0.2, CCD: Command topology addresses

Element 0 corresponds to the CCD slave which is directly connected to the
CCD master.
4.13.16 P-0-1801.0.3, CCD: Actual topology addresses

Alias: P-0-1603
Function This parameter is used in conjunction with the drive cross communication
(CCD). It displays the addresses of the sercos slaves (drives and I/Os) found
in phase 0, in ascending order according to their topology (list element 0 cor‐
responds to the CCD slave directly at the CCD master, etc.). Only the slaves
contained in this list can be addressed in CCD phase 2 and higher phases.
Up to phase 2, multiple addresses can exist.
If "P-0-1801.0.10" contains drives not contained in "P-0-1803.0.11", warning
"E4013" or "C0265" is generated while command "C0200" is executed.
If the command topology in "P-0-1801.0.2" differs from the actual topology,
warning "E4013" is generated. Switching on to CCD phase 3 or 4 is impossi‐
ble.
The content of command and actual topologies must always be identical. Ei‐
ther the entries in "P-0-1801.0.2" must be adjusted to the actual topology or
the addresses of the CCD slaves must be set to the command topology by
means of command "P-0-1801.0.5, C7000 CCD: Command adjust slave ad‐
dresses".
tent:
Fig. 4-80: P‑0‑1801.0.3, CCD: Actual topology

4.13.17 P-0-1801.0.4, CCD: Slave information at topology location

Alias: P-0-2330
Function Parameter "P-0-1801.0.4" provides different pieces of information on the rec‐

ognized slaves at the topology location. The parameter is created in binary
format (4-byte list).
The information in this parameter serves to diagnose the slaves via the topol‐
ogy location and can be adjusted and displayed via the commissioning soft‐
The following information is provided for each slave:
● Vendor Code
● Device Name
● Vendor Device ID
● Connected to sub-device
● Serial number
● FSP type
Addressing variant with:
0 = no information or slave not available.
1 = address can be set via switch/control panel; remote address assignment
not possible.
2 = address can be set via switch/control panel or remote address assign‐
ment.
3 = address can only be set via remote address assignment.
Function The topology location is the physical position of the slave at the sercos mas‐
ter interface. Observe the following aspects for the different wiring topologies:
- Line at port 1:
Index 0 = 1st slave at port 1 of the master
Index 1 = 2nd slave at port 1 of the master, etc.
- Line at port 2:
Index 0 = 1st slave at port 1 of the master

Index 1 = 2nd slave at port 2 of the master, etc.
If the configured command topology is a ring, the addresses of the slaves are
displayed in reverse order at port 2 so that, if the ring is interrupted, it is of no
relevance whether the ring is interrupted directly at port 2 of the master or be‐
tween two slaves.
- Ring: same as line at port 1
- 2 lines: same as ring without interruption
4.13.18 P-0-1801.0.5, C7000 CCD: Command adjust slave addresses

Alias: P-0-2332
Function Command P-0-1801.0.5 is used to set the addresses of the CCD slaves. The
addresses from "P-0-1801.0.2, CCD: Command topology addresses" are
specified to the corresponding CCD slaves and applied to the CCD slaves.
"List element 0" corresponds to the command address for the first CCD slave
which is connected to the CCD master. This is the only way to assign a
unique address, e.g., to the compact I/Os.
4.13.19 P-0-1801.0.10, CCD: Addresses of projected drives

Alias: P-0-1601
Function This parameter is used along with the drive cross communication (CCD) to
list the addresses of the CCD slaves (drives) projected in the CCD group,
thus establishing the assignment of the actual drive address and drive num‐
ber (logical drive address) in the CCD group.
If all projected drives are detected (P-0-1801.0.3), the addresses are entered
in the same order as given in "P-0-1801.0.10" and applied to "P-0-4031". The
order can be selected as desired and is applied after the address of the CCD
master according to "P-0-4031" (P0 -> P1). On transition to P2, it is verified
whether the addresses projected here are also of the drive type.
If the address of a sercos slave, which is not contained in

"P-0-1801.0.3, CCD: Actual topology addresses", is mentioned in
"P-0-1801.010", warning E4013 is generated.
tent:
Fig. 4-81: P-0-1801.0.10, CCD: Addresses of projected drives

● "P-0-1801.0.10" is only present in the CCD master and therefore has to
be parameterized there.
● The drive with the address entered in list element 0 corresponds to CCD
drive 1, etc.
● By means of bit 14 = 1 in a list element, a projected slave can be
marked as "hot-plug slave". A "hot-plug slave" does not need to be in‐
cluded in the CCD group during CCD phase startup. It may be added
subsequently in sercos phase 4 to the end of a line and is then included
into the CCD group by means of the sercos hot-plug mechanism. This
way, normal operation for this slave was established in sercos phase 4.
A slave marked with "hot-plug" can also removed from the CCD group in
phase 4. The CCD group remains in phase 4. Error F4140 is generated.
The removed CCD slave can be afterwards added again to the CCD
group by means of the hot-plug mechanism.
Use
When all CCD slaves have been deactivated, X24 has to be con‐
nected to X25 with a sercos cable.
4.13.20 P-0-1801.0.11, CCD: Addresses of projected I/Os

Alias: P-0-1604
Function This parameter is used along with the drive cross communication (CCD) to
list the addresses of the CCD slaves (I/Os) projected in the CCD group, thus
establishing the assignment of the actual I/O address and I/O number (logical
I/O address) in the CCD group.
If all projected I/Os are detected (P-0-1801.0.3), the addresses are entered in
the same order as given in "P-0-1801.0.11" and applied to "P-0-4031". The
order can be selected as desired and is applied after the drive addresses ac‐
cording to "P-0-4031" (P0 -> P1). On transition to P2, it is verified whether the
addresses projected here are also admissible I/Os.
If the address of a sercos slave, which is not contained in

"P-0-1801.0.3, CCD: Actual topology addresses", is mentioned in
"P-0-1801.0.11", warning "E4013" is generated.
Operation of sercos I/Os is only possible with active "PLC" func‐

tional package in the drive. The SLC is an exception. An SLC can
also be operated at the CCD master as I/O module without active
"PLC" function package.
With an active "PLC" functional package, the addresses of the I/O
slaves are supplied from the PLC program and can be read here
only. The addresses cannot be changed in parameter
"P-0-18001.0.11".
Without active "PLC" functional package, the address of a SLC
can be entered in this parameter.
tent:
Fig. 4-82: P-0-1801.0.11, CCD: Addresses of projected I/Os

● "P-0-1801.0.11" is only present in the CCD master and therefore has to
be parameterized there.
● The I/O module having the address entered in list element 0 corre‐
sponds to CCD I/O 1, etc.
● By means of bit 14 = 1 in a list element, a projected slave can be
marked as "hot-plug slave". A "hot-plug slave" does not need to be in‐
cluded in the CCD group during CCD phase startup. It may be added
subsequently in sercos phase 4 to the end of a line and is then included
into the CCD group by means of the sercos hot-plug mechanism. This
way, normal operation for this slave was established in sercos phase 4.
A slave marked with "hot-plug" can also removed from the CCD group in
phase 4. The CCD group remains in phase 4. Error F4140 is generated.
The removed CCD slave can be afterwards added again to the CCD
group by means of the hot-plug mechanism.
4.13.21 P-0-1801.0.20, CCD: Command topology

Alias: P-0-2322
Function Parameter "P-0-1801.0.20" serves to define the command topology of the

slave interfacing.
● 0 = no monitoring
● 3 = line 1 at port 1 and line at port 2
● 4 = dual ring
Monitoring of the "actual topology" is active if a value unequal to 0 is parame‐
terized in the parameter. If the "actual topology" from "P-0-1801.0.21" is dif‐
ferent from the "command topology", warning "E4016" is output.
Use The command topology from "P-0-1801.0.20" is used to monitor the "actual
topology" (see P-0-1801.0.21).
4.13.22 P-0-1801.0.21, CCD: Actual topology

Alias: P-0-2324
Function Parameter "P-0-1801.0.21" displays the actual topology (status of the sercos
ring) of the slave interfacing.
● 0 = no line at port and port 2
● 3 = line at port 1 and line at port 2
● 4 = dual ring
Use The actual topology is used to monitor the command topology (see
P-0-1801.0.20).

4.13.23 P-0-1801.0.22, CCD: Slave addresses at end of line

Alias: P-0-2326
Function Parameter "P-0-1801.0.22" is a list parameter with two list elements. If the
topology is a line topology, this parameter is filled with the addresses of the
CCD slaves at the end of the lines. If there is a dual ring, both list elements
contain the value 0.
If no slave is connected to anyone port of the CCD master, the associated list
element displays the value 0. This parameter can be used for diagnosing a
ring breakage.
4.13.24 P-0-1801.0.23, C7100 CCD: Command Close ring

Alias: P-0-2328
Function The CCD master provides command "P-0-1801.0.22" (C7100) for ring heal‐
ing purposes. This allows closing the line or the two lines to the dual ring in
the "command topology" P-0-1801.0.20 = 4 (dual ring). If an error occurs in
command C7100, the message C7101 CCD: Impossible to close ring is dis‐
played.
Cause:
● CCD group not in phase 4
● Topology does not consist of a line or dual line
● No line available between the last nodes of the lines.
● New ring delay could not be transmitted to the slave.




Alias: P-0-2334
Function This command can be used to switch the CCD communication over to sercos
phase 2. Parameter "P-0-1802.0.3, CCD: Command communication phase"
is set to phase 2. Thereafter, an attempt is made to reach "Phase 2" via
"Phase 0" and "Phase 1". This should be done only if the CCD master is not
in OM because otherwise error "F4140" is output.

Alias: P-0-2335
Function This command can be used to switch the CCD communication over to sercos
phase 4. Parameter "P-0-1802.0.3, CCD: Command communication phase"
is set to phase 4. Subsequently, an attempt is made to switch over to phase 4
via the sercos phase startup. During this startup, switching commands
"S-0-0127" and "S-0-0128" of the sercos slaves are started. If an error occurs
during this process or during phase switchover, the command is exited with
an error.
See also Parameter Description "P-0-1810.0.10, CCD: Diagnosis"

4.13.28 P-0-1802.0.3, CCD: Command communication phase

Alias: P-0-1605
Function This parameter is used to specify the command phase for the CCD group.
P-0-1802.0.3 is only available in the CCD master.

Use Observe the following aspects when writing to this parameter:
● Possible phase specification:
– 0: P0
– 1: P1
– 2: P2
– 3: P3
– 4: P4
● Normally, the CCD phase input is automatically made by commands
"P-0-1802.0.1" and "P-0-1802.0.2" in the CCD master, i.e. the master in‐
ternally writes to "P-0-1802.0.3".
4.13.29 P-0-1802.0.4, CCD: Actual communication phase

Alias: P-0-1606
Function This parameter displays the current actual communication phase of the CCD
group.
"P-0-1802.0.4" cannot be changed by the user and exists in the

CCD master for diagnostic purposes only.



4.13.31 P-0-1803.x.1, CCD: Slave address in high level network

Function Replacement parameter "P-0-232x" is to be used for communication interfa‐

This parameter defines the sercos address of the CCD slaves in the master
communication network of the CCD master (high level network). The address
to be set is that which the master communication master can use to address
the CCD slaves.
The reference to the CCD slave in the lower-level sercos network is estab‐
lished via parameter "P-0-1801.0.10, CCD:Addresses of projected drives".
Parameter "P-0-1803.0.1" refers to the CCD slave with the sercos address
which is entered in element 0 of "P-0-1801.0.10". Parameter "P-0-1803.1.1"
refers to the CCD slave with the sercos address which is entered in element
1 of "P-0-1801.0.10".
x is the slave number → e.g. 1 = local slave; 2 = slave 1 ... !
In CCD system mode, parameter "P-0-1803.x.1" has for sercos the additional
function of the appropriate master communication parameter "S-0-1040" for
the CCD slaves. Any write or read access to parameter "S-0-1040" by the
sercos master is bypassed to parameter "P-0-1803.x.1" in the CCD master
because parameter "S-0-1040" is used for sercos communication in the CCD
slave and can therefore not be used for sercos communication of the high
level network.
P-0-1803.x.1 - Attributes Function: Par Editable: P2 Data length: 2Byte
4.13.32 P-0-1803.x.11, CCD: Configuration list master communication cmd

values
Function Parameter "P-0-1803.x.11" serves to configure the command values in "CCD

system mode". In the group field bus connection, these command values are
transmitted from the external field bus master via the CCD master to the CCD
slaves in the MDT.
As a result, parameter "P-0-1803.x.11" corresponds to a list of command val‐
ues which are provided via the master communication command value tele‐
gram (P-0-4081) and which the master directly copies to the MDT CCD inter‐
face for the appropriate CCD slaves.
The content of "P-0-1803.x.11", along with the content of

"P-0-1805.x.3", is also directly copied to the list of cyclic com‐
mand values of the associated slave.

● The only values that can be entered in parameter "P-0-1803.x.11" are
command values that can be configured cyclically (S-0-0188).
● The cyclic master communication command values of the slaves are
configured via "P-0-1803.x.11". The master communication command
values of the CCD master are still entered in "P-0-4081".
● Due to the allowed maximum number of 16 IDNs for each CCD slave,
the number of maximum possible entries is limited in "P-0-1803.x.11".
4.13.33 P-0-1803.x.12, CCD: Configuration list master communication actual

values
Function In "CCD system mode", parameter "P-0-1803.x.12" serves to configure the

actual values which are transferred from the individual CCD slaves via the
CCD master to the external field bus master in the group field bus connec‐
tion.
As a result, "P-0-1803.x.12" corresponds to a list of actual values which are

supplied by the particular CCD slave via CCD-AT and which the master di‐
rectly copies to the master communication actual value telegram.
The content of "P-0-1803.x.12", along with the content of

"P-0-1805.x.4", is also directly copied to the list of actual cyclic
values of the associated slave.

actual values that can be configured cyclically (S-0-0188).
● The cyclic master communication actual values of the slaves are config‐
ured via "P-0-1803.x.12". The master communication actual values of
the CCD master are still entered in "P-0-4080".
● Due to the allowed maximum number of 16 IDNs for each CCD slave,
the number of maximum possible entries is limited in "P-0-1803.x.12".

check
slave.
See Functional Description "Cross-Communication (CCD)"

P-0-1803.x.20 - Attributes Function: Cmd Editable: P23 Data length: 2Byte


check
slave.

4.13.36 P-0-1803.x.22, C5300 CCD: sercos SYNC delay measuring

procedure command
propriate master communication parameter "S-0-1024" for sercos. In the
CCD master, initiation of the command is bypassed to parameter
"P-0-1803.x.22" because parameter "S-0-1024" is reserved for the outer
sercos network in the CCD slave. The appropriate action for the associated
sercos slave is carried out in the upper network of the CCD gateway.



1
Function The parameter is required for the Sercos and EtherCat gateway in the CCD
system mode. It is used to save all parameters of the master communication
slaves for which there are no parameters available in the CCD master. These
master communication slave parameters are simulated for the interface.
x is the slave number → e.g., 1 = local slave; 2 = slave 1 ...!
The parameter is of binary format (4 bytes variable) and can only be interpre‐
ted and displayed with a commissioning program (IndraWorks). The "CCD:
Sercos III gateway configuration" dialog displays the data of the parameter
with their significances.

2
Function This parameter is required for the sercos and EtherCAT gateways in CCD
system mode. It serves to display all parameters of the master communica‐
tion slaves which are not stored and for which there are no parameters in the
CCD master. These master communication slave parameters are simulated
for the interface.
The parameter is created in binary format (4 byte variable) and can only be
interpreted and displayed with a commissioning program (IndraDrive). This
program provides a dialog which displays the data of the parameter and its
significance.



4.13.40 P-0-1804.x.1, CCD: Configuration list signal status word

Hardware Controller A-CC, MLD
Function List parameter for configuring the signals (S-0-0026) of the signal status

4.13.41 P-0-1804.x.2, CCD: Configuration list signal control word

Function List parameter for configuring the signals (S-0-0027) of the signal status word
in all CCD slaves.

4.13.42 P-0-1804.x.3, CCD: Assignment list signal status word

Function List parameter for configuring the bits (S-0-0328) of the signal status words in
all CCD slaves.

4.13.43 P-0-1804.x.4, CCD: Assignment list signal control word

Function List parameter for configuring the bits (S-0-0329) of the signal control words
in all CCD slaves.

4.13.44 P-0-1804.x.130, Assignment signal status/control word, compact

Alias: P-0-2406, P-0-2407, P-0-2408, P-0-2409, P-0-2410, P-0-2555,
P-0-2556, P-0-2557, P-0-2558, P-0-2559
Function Summary of the structure elements for assigning CCD signal status/control
word (P-0-1804.0.1 to P-0-1804.0.4).
In this parameter, the information about a component required for the engi‐
neering tool is provided in compact form for each instance.


4.13.46 P-0-1805.x.1, CCD: Configuration list master cmd values

Function Parameter "P-0-1805.x.1" serves to configure the command values. These

are transmitted from the CCD master to the CCD slaves in the MDT. The list
contains command values which the CCD master files in the MDT (sercos).
Parameter "P-0-1805.x.3, CCD:Configuration list slave cmd val‐

ues" describes how these values are interpreted by the CCD
slave.

Use Observe the following aspects when parameterizing "P-0-1805.x.1":
● Parameter "P-0-1805.x.1" can be used to enter actual values and com‐
mand values that can be configured cyclically (cf. "S-0-0187",
"S-0-0188").
"P-0-1803.x.11".

4.13.47 P-0-1805.x.2, CCD: Configuration list actual master values

Function Parameter "P-0-1805.x.2" serves to configure the actual values. These are
transmitted from the CCD slaves to the CCD master in the AT. The list con‐
tains the IDNs to which the data are filed which are put into the AT by the
CCD slave and are intended for the CCD master. The CCD master internally
copies this data to the parameters mentioned.
Parameter "P-0-1805.x.4, CCD: Configuration list actual slave

values" contains the data which the slave files to the AT to ach‐
ieve this.

terized in the first four IDNs of each axis). For more parameterization in‐
structions, please refer to the IndraMotion MLD Application Manual un‐
der index entry "AxisData".
● Parameter "P-0-1805.x.2" allows entering command values that can be
configured cyclically (S-0-0188).
"P-0-1803.x.12".
4.13.48 P-0-1805.x.3, CCD: Configuration list slave cmd values

Function Parameter "P-0-1805.x.3" serves to configure the command values. These

are transmitted from the CCD master to the CCD slaves in the MDT.
The list contains IDNs which are also copied to the cyclic con‐
sumer connection of the associated slave. The command values
are generated by the master. "P-0-1805.x.1" (e.g. P-0-0434 ->
S-0-0047) is applicable as a reference list for the CCD master.

command values that can be configured cyclically (S-0-0188).
"P-0-1803.x.11".
4.13.49 P-0-1805.x.4, CCD: Configuration list actual slave values

Function Parameter "P-0-1805.x.2" serves to configure the actual values. These are
transmitted from the CCD slaves to the CCD master in the AT.
The list contains actual values for the CCD master (internal)
which the slave puts into the sercos AT. The parameters of the
list are directly copied to the list of the producer connection of the
associated slave. Parameter "P-0-1805.x.2, CCD: Configuration
list actual master values" describes how the CCD master inter‐
prets these data.

terized in the first four IDNs of each axis). For more parameterization in‐
structions, please refer to the IndraMotion MLD Application Manual un‐
der index entry "AxisData".
● Parameter "P-0-1805.x.4" allows entering actual values that can be con‐
figured cyclically (S-0-0187).
"P-0-1803.x.12".

4.13.50 P-0-1805.x.130, Configuration master/slave command/actual values,

compact
Alias: P-0-2560, P-0-2561, P-0-2562, P-0-2563, P-0-2564, P-0-2565,
P-0-2566, P-0-2567, P-0-2568, P-0-2569
Function Summary of the structure elements for configuration of CCD master/slave

command/actual values (P-0-1805.0.1 to P-0-1805.0.4).


4.13.52 P-0-1806.x.1, CCD: Slave IP address

Function The CCD master displays the IP addresses of the sercos master communica‐
tion of the CCD slaves in parameter "P-0-1806.x.1". The sercos instance (x)
corresponds to the slave index in the CCD group (1 = local slave, 2 = slave 1,
etc.). The master reads the IP addresses of the CCD slaves immediately af‐
ter phase 2 has been reached. These IP addresses are displayed in this pa‐
rameter.
Parameter in
Description Parameter in the drive
the CCD master
127.0.0.1 (P-0-1641 from CCD master is ac‐
Master IP address P-0-1806.1.1
tive)
Tab. 4-196: P-0-1806.x.1, CCD: Slave IP Address

4.13.53 P-0-1806.x.2, CCD: Device Status (S-Dev)

Function Parameter "P-0-1806.x.2" displays the SERCOS III: Device Status (S-Dev)
(S-0-1045) of the CCD slaves, which is transmitted from the CCD slaves to
the CCD master in the AT. The sercos instance (x) corresponds to the slave
index in the CCD group (1 = local slave, 1 = slave 1, etc.). This parameter is
an image of the Device Status (S-Dev) of the CCD slaves. It is read-only and
can be used for diagnostic purposes.
Parameter in the
Description CCD master Parameter in the drive
CCD: Device status

P-0-1806.1.2 Formed directly
word
CCD: Device status
P-0-1806.2.2 Content S-0-1045 of CCD slave 1
word
CCD: Device status
P-0-1806.3.2 Content S-0-1045 of CCD slave 2
word
Tab. 4-197: P-0-1806.x.2, CCD: Device Status (S-Dev)

4.13.54 P-0-1806.x.3, CCD: Device Control (C-Res)

Function Parameter "P-0-1806.x.3" displays the sercos: Device control word

(S-0-1044) of the CCD slaves, which is transmitted from the CCD master to
the CCD slaves in the MDT. Here, the SI is used as slave index (1 = local
slave, 2 = slave 1, etc.).
This parameter is an image of the Device Control (C-Dev) of the CCD slaves.

Function Parameter P-0-1806.x.4 displays the connection control word (C-Con) of con‐
nection #0 of the CCD slaves, which is transmitted from the CCD slaves to
the CCD master in the AT. The CCD master uses connection #0
(S-0-1050.0.x) of the CCD slaves for classic MS-AT data. Here, the SI serves
as slave index (1 = local slave, 2 = slave 1, etc.). The parameter is an image
of C-Con of connection #0 in the CCD slave. It is read-only and can be used
for diagnostic purposes.
control (C-Con)"
Structure
0 ProducerReady
yet
1 NewData bit
- Each change indicates that new process data are trans‐
ferred.
- In synchronous mode (S-0-1050.x.1 bit 1/0 = 00), the
counter is incremented by 1 in every producer cycle
(S-0-1050.x.10).
Bit 1 and bit 12 are identical.
2 CC DataFieldDelay
1: CC producer data have a sercos cycle delay, because
they were copied via the bus master. The consumer shall
prefer taking the data of the port at which this bit has the
value 0.

clock of the ring
of the ring
6 Real-time bit 1
7 Real-time bit 2
15-12 Counter:
ferred.
(S-0-1050.x.10).
- Bit 12 and bit 1 are identical.


Function Parameter "P-0-1806.x.5" displays the connection control word (C-Con) of

connection #1 of the CCD slaves, which is transmitted from the CCD master
to the CCD slaves in the MDT. The CCD master uses connection #1
(S-0-1050.1.x) of the CCD slaves for classic MS-MDT data. Here, the SI
serves as slave index (1 = local slave, 1 = slave 1, etc.). The parameter is an
image of C-Con of connection #1 in the CCD slave. It is read-only and can be
used for diagnostic purposes.
0 ProducerReady
yet
1 NewData bit
ferred.
(S-0-1050.x.10).
2 CC DataFieldDelay
value 0.
clock of the ring
of the ring
6 Real-time bit 1
7 Real-time bit 2
15-12 Counter: The function is
- Each change indicates that new process data are trans‐ supported as of
ferred. MPx-18VRS

(S-0-1050.x.10).

4.13.57 P-0-1806.x.10, CCD: Resource-Status (S-Res)

Alias: P-0-1661, P-0-1662, P-0-1663, P-0-1664, P-0-1665, P-0-1666,
P-0-1667, P-0-1668, P-0-1669, P-0-2336, P-0-2338, P-0-2355,
P-0-2371, P-0-2387
Function Parameters "P-0-1806.x.10, CCD: Drive status word, slave x" contain the sta‐
tus word delivered from CCD slave x to the CCD master (corresponds to the
content of "S-0-0135, Drive status word" of CCD slave x).
"x" is the slave number → e.g. 1 = local slave; 2 = slave 1!

Use Observe the following aspects when using parameters "P-0-1806.x.10":
● The internal PLC evaluates the drive status words (P-0-1806.x.10) in
MLD-M system mode.
profile interpreter implements the drive status words.
4.13.58 P-0-1806.x.11, CCD: Resource-Control (C-Res)

Alias: P-0-1651, P-0-1652, P-0-1653, P-0-1654, P-0-1655, P-0-1656,
P-0-1657, P-0-1658, P-0-1659, P-0-2337, P-0-2347, P-0-2363,
P-0-2379, P-0-2395
Function Parameters "P-0-1806.x.11" contain the control word that has been transfer‐
red from the CCD master to CCD slave x and ends up in S-0-0134, Master
control word of the CCD slave.
"x" is the slave number → e.g. 1 = local slave; 2 = slave 1

● The internal PLC writes to the master control words (P-0-1806.x.11) in
MLD-M system mode.
● In CCD basic mode and CCD system mode, direct writing to the param‐
eters is allowed with a parallel interface and SERCOS master communi‐
cation.



4.13.60 P-0-1807.x.1, CCD connection: Configuration

Function This parameter contains the configuration data of a CC connection with par‐
ticipation of the CCD master.
This data consists of:
● Activate configuration
● Connection type
● Configuration source
● Configuration type
● Clock generation (producer)
● Monitoring mechanism (consumer)
Structure
2-0 Monitoring mechanism (consumer) MPx-16VRS

00: Synchronous operation only supports
"00"
01: Asynchronous operation (with watchdog)
10: Asynchronous operation (without watchdog)
11: Reserved
3 Clock generation (producer)
0: Synchronous
1: Asynchronous

5-4 Configuration type MPx-16VRS
00: Configuration list with EIDNs (SE-6 relevant) only supports
"00" and "10"
01: Container without assigned contents (SE-5 relevant)
10: Telegram type parameter FSP-Drive (S-0-0015 rele‐
vant)
11: Reserved
13-12 Configuration source
00: Bus master
01: Not bus master
10: Not bus master
11: Not bus master
14 Connection type
0: Consumer
1: Producer
15 Configuration activation
0: Slave does not need to evaluate/take into account con‐
figuration
1: Slave needs to evaluate/take into account configuration
Tab. 4-200: P‑0‑1807.x.1, CCD connection: Connection setup

4.13.61 P-0-1807.x.2, CCD connection: Connection number

Function This parameter is used to unequivocally identify a connection. A bus master

requires this parameter to determine the telegram offset, for example.
Rules:
1. Producer and consumer of one connection have the same connection
number.
2. A slave cannot have the same connection numbers for its connections.
3. MS-AT and MS-MDT in a slave have different connection numbers.

4.13.62 P-0-1807.x.3, CCD connection: Telegram assignment

Function The telegram assignment defines at which position (telegram offset) and in
which telegram (MDT or AT, telegram number) the connection is. The tele‐
gram offset points to the connection control (C-Con) of this connection. The
parameter describes the CC connection with participation of the CCD master.
Since the CCD master generates the telegram structure itself, this parameter
is for display purposes only.
Structure
10-0 Telegram offset in bytes

11 Telegram type
0: AT
1: MDT
15-12 Telegram number
0: MDT0 / AT0
1: MDT1 / AT1
2: MDT2 / AT2
3: MDT3 / AT3
Tab. 4-201: P‑0‑1807.x.3, CCD connection: Telegram assignment

4.13.63 P-0-1807.x.4, CCD connection: Max. length of connection

Function With this parameter, the CCD master shows how many bytes it allows for this
connection. The 2 bytes are included for the connection control C-Con.
4.13.64 P-0-1807.x.5, CCD connection: Current connection length

Function With this parameter, the CCD master shows how many bytes are currently
required for this connection. The 2 bytes are included for the connection con‐
trol C-Con.
The data of this parameter are made available by the CCD master for all ad‐
justable configuration types (P-0-1807.x.1, CCD connection: Configuration)
and are always updated after "P-0-1807.x.6, CCD connection: Configuration
list" has been written.
4.13.65 P-0-1807.x.6, CCD connection: Configuration list

Function The parameter describes the CC connection with participation of the CCD
master.
This parameter contains the IDNs (4 bytes) which are cyclically transmitted in
this connection.
The content only takes effect in the following configuration type:
00: Configuration with EIDNs (P-0-1807.x.1, CCD connection: Connection)
With this configuration type, the CCD master determines parameter
"P-0-1807.x.5, CCD connection: Current length of connection" from the con‐
tent of this parameter.
4.13.66 P-0-1807.x.7, CCD connection: Assigned connection capability

Function Parameter "P-0-1807.0.7" is used to assign a connection type to a connec‐

tion.
● If the value of the parameter is "-1", there was no assignment and the
default settings are applicable.
● If the value of the parameter is "0", a clock-synchronous consumer con‐
● If the value of the parameter is "1", a clock-synchronous producer con‐
● When the value is written, parameters "P-0-1807.x.1, CCD connection:
Configuration" und "P-0-1807.x.4, CCD connection: Max. length of con‐
nection" are adjusted to match the setting.
● During CCD phase startup, the system checks whether the maximum
number of configurable connections of this type is exceeded when all
connections are selected. If yes, an error code is output during CCD
phase startup.
4.13.67 P-0-1807.x.8, CCD connection: Connection control (C-Con)

Function This parameter contains the image of the connection control (C-Con) of the
connection. This applies to producer and consumer connections.
Structure
0 ProducerReady
yet
1: Producer generates valid command values Slave can
apply command values by toggling bit 1
1 NewData bit
ferred.
(S-0-1050.x.10).
2 CC DataFieldDelay
value 0.
clock of the ring
of the ring
6 Real-time bit 1

7 Real-time bit 2
15-12 Counter: The function is
- Each change indicates that new process data are trans‐ supported as of
ferred. MPx-18VRS

(S-0-1050.x.10).
Tab. 4-202: P‑0‑1807.x.8, CCD connection: Connection control (C-Con)

4.13.68 P-0-1807.x.9, CCD connection: State

Function This parameter displays the current status of each single connection.
Structure The displayed value (state) of the connection state machine depends on the
connection type (producer, consumer):
0 init State automatcially reached on restart. Connection error

1 prepare State of an active connection if the connection check in
the command during the CCD phase startup was without
errors.
2 ready Connection has been started - ProducerReady is sent with
1 - NewData does not yet toggle. Currently, the state can‐
not be detected in IndraDrive because the transfer is ach‐
ieved immediately after "producing".
3 producing NewData toggles according to specification - valid process
data is transferred.
4 stopping Stop bit is set - state of remaining bits in C-Con and state
of process data are as desired. Currently, the state is not
implemented in the IndraDrive.
Tab. 4-203: P‑0‑1807.x.9, Value Code for Producer Connections

Structure
0 init State automatcially reached on restart. Connection error

1 prepare State of an active connection if the connection check took
place during the CCD phase startup.

2 waiting Waiting for NewData; process data is not retrieved.
3 consuming Process data is retrieved; connection monitoring is active.
4 stopped Process data is not retrieved. Connection monitoring is not
active. Currently, the state is not implemented in the
IndraDrive.
5 warning Process data is not retrieved. Connection monitoring is ac‐
tive.
7 error Process data is not retrieved. Connection error bit is set in
S-Dev. The state is exited by a CCD phase startup.
Tab. 4-204: P‑0‑1807.x.9, Value Code for Consumer Connections

4.13.69 P-0-1807.x.10, CCD connection: Producer cycle time

Function This parameter indicates the cycle time within which the producer updates
the data of the cyclic connection. In addition, the NewData bit in the connec‐
tion control is toggled. The consumer of the connection uses the time as a
monitoring time to detect failures. The number of failures is displayed in
"P-0-1807.x.12, CCD connection: Error counter data losses".
master.
4.13.70 P-0-1807.x.11, CCD connection: Allowed losses of producer data

Function This parameter indicates the number of allowed losses of producer data, be‐
fore a connection is considered to be broken, the consumer does not process
data anymore and sets the Err-Con bit for the bus master in the device status
(S-Dev, S-IF).
master.

4.13.71 P-0-1807.x.12, CCD connection: Error counter data losses

Function This parameter indicates how many losses of producer data the consumer
has already detected. This counter is without overflow and ends with 65535.
The counter will be reset through the positive edge of ProducerReady in the
connection control (C-Con).
4.13.72 P-0-1807.x.20, CCD connection: IDN allocation of real-time bits

Function This parameter contains the IDN assignment (4Byte) of the real-time bits in
the connection control (C-Con). The list contains a maximum of 2 IDNs. The
bit assignment takes place in parameter "P-0-1807.x.21, CCD connection: Bit
allocation of real-time bits".
master.
4.13.73 P-0-1807.x.21, CCD connection: Bit number allocation of real-time

bits
Function This parameter contains the bit assignment of the real-time bits parameter‐
ized in "S01807.x.20, CCD connection: IDN allocation of real-time bit". The
list contains a maximum of 2 bit offsets with values from 0... 31.
master.



4.13.75 P-0-1808.x.1, CCD: Diagnostic message number, slave

Alias: P-0-1700, P-0-1701, P-0-1702, P-0-1703, P-0-1704, P-0-1705,
P-0-1706, P-0-1707, P-0-1708, P-0-1709
Function This parameter is used to display and evaluate the diagnostic message num‐
ber of the CCD slaves x in the CCD master.
"x" is the slave number → e.g. 1 = local slave; 2 = CCD slave 1!

● With active CCD error reaction (P-0-1800.0.1, bit 8 = 1) and in MLDM
mode, the CCD master automatically configures "S-0-0390" in the AT of
slave x and copies the content to P-0-1808.x.1.
● A special handling for P-0-1808.x.1 is implemented in the master to in‐
terpret the diagnostic message of a slave and, if necessary, trigger a re‐
action in the master.

4.13.76 P-0-1808.x.2, CCD: Signal status word

Alias: P-0-1710, P-0-1711, P-0-1712, P-0-1713, P-0-1714, P-0-1715,
P-0-1716, P-0-1717, P-0-1718, P-0-1719
Function The parameter in the CCD master contains the bits corresponding to the con‐
tent of the signal status word (S-0-0144) in the CCD slave. Parameterization
is done via:
● P-0-1804.x.1, CCD: Configuration list signal status word
● P-0-1804.x.3, CCD: Assignment list signal status word
x is the slave number → e.g. 1 = local slave; 2 = CCD slave 1!

● The signal status word of slave x is automatically configured and inter‐
preted for field buses only in MLD system mode and CCD system mode.
● In CCD basic mode, the signal status word of slave x is not served.
4.13.77 P-0-1808.x.3, CCD: Signal control word

Alias: P-0-1720, P-0-1721, P-0-1722, P-0-1723, P-0-1724, P-0-1725,
P-0-1726, P-0-1727, P-0-1728, P-0-1729
Function The parameter in the CCD master contains the bits written to the signal con‐
trol word (S-0-0145) in CCD slave x via the CCD bus.

● In MLD-M system mode, the internal PLC writes to the signal control
words.
● In CCD basic mode, the signal control word of slave x is not served.
– Parameterization is done via:
– P-0-1804.x.2, CCD: Configuration list signal control word
– P-0-1804.x.4, CCD: Assignment list signal control word

4.13.78 P-0-1808.x.10, CCD: Active actual position value

Alias: P-0-1670, P-0-1671, P-0-1672, P-0-1673, P-0-1674, P-0-1675,
P-0-1676, P-0-1677, P-0-1678, P-0-1679
Function Parameters "P-0-1808.x.10" display the active actual position values of the
CCD slaves which the CCD slaves transfer to the CCD master in the motion
channel (AT) of the MLD-M.

system mode (P-0-1800.0.1).
ses.
S-0-0077 /
S-0-0078
4.13.79 P-0-1808.x.11, CCD: Actual velocity value

Alias: P-0-1680, P-0-1681, P-0-1682, P-0-1683, P-0-1684, P-0-1685,
P-0-1686, P-0-1687, P-0-1688, P-0-1689
Function Parameters "P-0-1808.x.11" display the actual velocity values of the CCD
slaves which the CCD slaves transfer to the CCD master in the motion chan‐
nel (AT) of the MLD-M.
x is the slave number → e.g. 1 = local slave; 2 = CCD slave 1.
ses.

S-0-0045 /
S-0-0046
4.13.80 P-0-1808.x.12, CCD: Actual torque/force value

Alias: P-0-1690, P-0-1691, P-0-1692, P-0-1693, P-0-1694, P-0-1695,
P-0-1696, P-0-1697, P-0-1698, P-0-1699
Function Parameters "P-0-1808.x.12" display the actual torque/force values of the

CCD slaves which the CCD slaves transfer to the CCD master in the motion

S-0-0093 /
S-0-0094
4.13.81 P-0-1808.x.13, CCD: Status word synchronous operation modes

Alias: P-0-1810, P-0-1811, P-0-1812, P-0-1813, P-0-1814, P-0-1815,
P-0-1816, P-0-1817, P-0-1818, P-0-1819
Function The parameters display the status word of the synchronous operation mode
of CCD slave x in the CCD master, which CCD slave x transfers in the motion

● The parameter is only served while MLD-M mode is active, i.e. with ac‐
tive MLD-M (P-0-1800.0.1).
4.13.82 P-0-1808.x.20, CCD: Command value data container 1 4Byte

Alias: P-0-1730, P-0-1731, P-0-1732, P-0-1733, P-0-1734, P-0-1735,
P-0-1736, P-0-1737, P-0-1738, P-0-1739
Function In MLD system mode (P-0-1800.0.1), parameters "P-0-1808.x.20" are used

for the real-time channel.

● The data container can be used for transmission of 4-byte data to the
CCD slave in the command value telegram (e.g. P-0-1808.x.20 ->
S-0-0036).
Example:
The PLC writes to "P-0-1808.2.20" -> Master files this parameter to the MDT
for slave 1 as "S-0-0282".
Parameters "P-0-1808.x.30" to "P-0-1808.x.34" are to be used for

transmitting 2-byte data.

4.13.83 P-0-1808.x.21, CCD: Command value data container 2, 4Byte

Alias: P-0-1740, P-0-1741, P-0-1742, P-0-1743, P-0-1744, P-0-1745,
P-0-1746, P-0-1747, P-0-1748, P-0-1749


S-0-0036).
Example:



Alias: P-0-1750, P-0-1751, P-0-1752, P-0-1753, P-0-1754, P-0-1755,
P-0-1756, P-0-1757, P-0-1758, P-0-1759


S-0-0036).
Example:




Alias: P-0-1760, P-0-1761, P-0-1762, P-0-1763, P-0-1764, P-0-1765,
P-0-1766, P-0-1767, P-0-1768, P-0-1769


S-0-0036).
Example:





S-0-0036).
Example:



Alias: P-0-1820, P-0-1821, P-0-1822, P-0-1823, P-0-1824, P-0-1825,
P-0-1826, P-0-1827, P-0-1828, P-0-1829


S-0-0080).
Example:



Alias: P-0-1830, P-0-1831, P-0-1832, P-0-1833, P-0-1834, P-0-1835,
P-0-1836, P-0-1837, P-0-1838, P-0-1839


S-0-0080).
Example:



Alias: P-0-1840, P-0-1841, P-0-1842, P-0-1843, P-0-1844, P-0-1845,
P-0-1846, P-0-1847, P-0-1848, P-0-1849


S-0-0080).
Example:



Alias: P-0-1850, P-0-1851, P-0-1852, P-0-1853, P-0-1854, P-0-1855,
P-0-1856, P-0-1857, P-0-1858, P-0-1859


S-0-0080).
Example:





S-0-0080).
Example:


4.13.92 P-0-1808.x.40, CCD: Actual value data container 1, 4Byte

Alias: P-0-1770, P-0-1771, P-0-1772, P-0-1773, P-0-1774, P-0-1775,
P-0-1776, P-0-1777, P-0-1778, P-0-1779


● The data container can be used for transmission of 4-byte data from the
CCD slave in the actual value telegram (e.g. P-0-1808.x.40 <-
S-0-0051).
Example:
Slave 1 files "S-0-0040" to the AT. The master copies the content of the AT to
"P-0-1808.2.40". In the master, "P-0-1808.2.40" is used for internal process‐
ing




Alias: P-0-1780, P-0-1781, P-0-1782, P-0-1783, P-0-1784, P-0-1785,
P-0-1786, P-0-1787, P-0-1788, P-0-1789


S-0-0051).
Example:
ing



Alias: P-0-1790, P-0-1791, P-0-1792, P-0-1793, P-0-1794, P-0-1795,
P-0-1796, P-0-1797, P-0-1798, P-0-1799


S-0-0051).
Example:
ing



Alias: P-0-1800, P-0-1801, P-0-1802, P-0-1803, P-0-1804, P-0-1805,
P-0-1806, P-0-1807, P-0-1808, P-0-1809


S-0-0051).
Example:
ing






S-0-0051).
Example:
ing



Function
In MLD system mode (P-0-1800.0.1), parameters "P-0-1808.x.41" are used

S-0-0051).
Example:
ing



Alias: P-0-1860, P-0-1861, P-0-1862, P-0-1863, P-0-1864, P-0-1865,
P-0-1866, P-0-1867, P-0-1868, P-0-1869


S-0-0084).
Example:
ing



Alias: P-0-1870, P-0-1871, P-0-1872, P-0-1873, P-0-1874, P-0-1875,
P-0-1876, P-0-1877, P-0-1878, P-0-1879


S-0-0084).
Example:
ing



Alias: P-0-1880, P-0-1881, P-0-1882, P-0-1883, P-0-1884, P-0-1885,
P-0-1886, P-0-1887, P-0-1888, P-0-1889


S-0-0084).
Example:
ing



Alias: P-0-1890, P-0-1891, P-0-1892, P-0-1893, P-0-1894, P-0-1895,
P-0-1896, P-0-1897, P-0-1898, P-0-1899


S-0-0084).
Example:
ing





S-0-0084).
Example:
ing





S-0-0084).
Example:
ing





4.13.105 P-0-1809.0.1, CCD: SLc, diagnostic information

Alias: P-0-2397
Function This parameter serves to support the SLc03 without activated PLC in
IndraDrive.
When the PLC is activated in IndraDrive, the input and output data reside in
the I/O image of the PLC.
The parameter is only supported while the PLC in IndraDrive is inactive. In
phase 4, the parameter can be used to read the diagnostic information of the
SLc03.
The length of the data can be set in the SLc using parameter "P-0-3690.1.1".
4.13.106 P-0-1809.0.2, CCD: SLc, states of safety inputs

Alias: P-0-2399
IndraDrive.

phase 4, the parameter can be used to read the status of the safety inputs of
the SLc03.
The length of the data can be set in the SLc using parameter P-0-3690.2.1.
4.13.107 P-0-1809.0.3, CCD: SLc, states of safety outputs

Alias: P-0-2400
IndraDrive.
phase 4, the parameter can be used to read the status of the safety outputs
of the SLc03.
4.13.108 P-0-1809.0.4, CCD: SLc, group status and control words

Alias: P-0-2401
IndraDrive.
phase 4, the parameter can be used to read the group status and the control
word of the SLc03.
The length of the data can be set in the SLc using parameter "P-0-3690.4.1"
and "P-0-3690.5.1".

4.13.109 P-0-1809.0.6, CCD: SLc user data (inputs)

Alias: P-0-2402
IndraDrive.
phase 4, the parameter can be used to read the user data (inputs) of the
SLc03.
4.13.110 P-0-1809.0.10, CCD: User data of SLc (outputs)

Alias: P-0-2398
IndraDrive.
phase 4, the parameter can be used to specify the user data (outputs) of the
SLc03.

4.13.111 P-0-1810, CCD: Status word synchronous operation modes, master


See also "P-0-1811, CCD: Status word synchronous operation modes, slave
1"
4.13.112 P-0-1810.0.1, CCD: Version

Function This parameter displays the version of the CCD master.

4.13.113 P-0-1810.0.2, CCD: Status word

Alias: P-0-1609
Function This parameter provides information about the CCD status.

Structure
3-0 Target phase
sercos phase to which to switch
7-4 Actual phase
Currently active sercos phase
8 Phase switch active
There is an attempt to switch to the target phase

9 Phase switch aborted with error
An error has occurred during switching to the target phase.
10 Parameter channel not available
At present, the parameter channel is not available because
the actual phase is < 2 or phase switch is active.
Tab. 4-205: CCD: Status Word

4.13.114 P-0-1810.0.3, CCD: Timing settings

Alias: P-0-1602
Function This parameter contains the cycle times and timing settings used for cross
communication (CCD), which are automatically determined or configured in‐
ternally in the CCD master.
Parameter "P-0-1810.0.3" is for diagnostic purposes only. The cy‐

cle time is set via "S-0-1001".

See also Parameter Description "S-0-1002, SERCOS III: Communication Cy‐
cle time (tScyc)"
Structure The list parameter has the following content:
Fig. 4-83:
4.13.115 P-0-1810.0.4, CCD: FPGA version

Function This parameter displays the version of the sercos master FPGA.
4.13.116 P-0-1810.0.10, CCD: Diagnostic message text

Alias: P-0-1630
Function Parameter "P-0-1610.0.10" displays the status of the CCD master, i.e., of the
CCD communication.

See also Functional Description "Diagnostic System"

Use In combination with the diagnostic message number (S-0-0390), this exten‐
ded diagnostic message text is primarily helpful for analyzing the CCD axis
system during commissioning, i.e., during configuration.
● Drive 0 or slave 0: Local axis or virtual slave
● Slave 1 to slave x: Real SERCOS slaves
● Drive 1 to drive x: Remote SERCOS axes
● I/O 1 to I/O x: Remote SERCOS I/Os
The following messages can be displayed:
● Run-up not yet started…
● Initialization started…
● Telegram configuration drive started …
● Telegram configuration I/O started …
● Offset calculation started …
● Timing calculation started …
● Initialization successfully completed!
● Number of slaves configured > number of slaves found!
The number of CCD slaves configured in "P-0-1801.0.10" and
"P-0-1801.0.11" is higher than the number of CCD slaves connected to
the CCD master or found during scanning.
A slave configured in "P-0-1801.0.10" or "P-0-1801.0.11" was not found
in parameter "P-0-1801.0.3, CCD: Actual topology addresses".
● Configured slave was not recognized in P-0-1801.0.2!
A slave configured in "P-0-1801.0.10" or "P-0-1801.0.11" was not found
in parameter "P-0-1801.0.2, CCD: Command topology addresses".
● Error during PLC initialization in MLDM-Mode!
During switchover from phase 2 to phase 4, an error occurred while initi‐
alization of the PLC was in progress, e.g., an internal write task to a re‐
mote axis via the service channel failed. Maybe the flash or control sec‐
tion is defective. Contact the service team!
● Error: NC cycle time is not supported!
The NC cycle time is not supported. See documentation for allowed
combinations of CCD mode, performance and CCD cycle time.
● Error: Config. of signal status/control word (P-0-1804.1.1/P-0-1804.1.2)
slave(0)
Non-allowed IDNs are entered in the configuration for the signal control/
status word of the virtual slave (elements 0-15, P-0-1804.1.1/
P-0-1804.1.2).
● Error: Timing calculation
An error occurred during calculation of SERCOS timing.
● Error: CC cycle time is not supported!
A check of the parameterized CC connections showed that the parame‐
terized cycle time is not allowed.
● Error: Config. ext. Connection !
An error occurred while the connection table was set up in the CCD
master. The parameterization of the CC connections in the CCD slaves
must be checked for non-allowed values. These may be caused by an
invalid connection type of an exceeded maximum length.
● Error: Length/Type of Master CC Connection not allowed
A wrong type or unallowed length is entered in the parameterization of a
CC connection with participation of the CCD master. See "P-0-1807.x.1"
or "P-0-1807.x.6".
● Error: IDN in Master CC Connection not allowed
An unallowed parameter for transmission is entered in the parameteriza‐
tion of a CC connection with participation of the CCD master. See
"P-0-1807.x.6".
● Error: Configuration real-time bits Master CC
An unallowed parameter for the real-time bits is entered in the parame‐
terization of a CC connection with participation of the CCD master. See
"P-0-1807.x.20" or "P-0-1807.x.21".
● Error: Length of P-0-1801.0.3 and P-0-1801.0.3 not equal
The lengths of the command and actual topologies specified in
"P-0-1801.0.3" and "P-0-1801.0.2" must be equal.
● Error: Values in P-0-1801.0.3 and P-0-1801.0.2 not equal
Command and actual topologies are different.
● The CCD motion cycle time is not allowed for motion task
(See Section Task System in Chapter "Basic Functions of Rexroth
IndraMotion MLD")
● Error: Address of projected drive and I/O must be unique
Duplicate addresses are not allowed for the projected drives and I/Os in
"P-0-1801.0.10" and "P-0-1801.0.11"!
● Number of CCD-Slaves not allowed at this mode or cycle time
The number of slaves is not allowed in this mode and in this cycle time.
For allowed combinations, please refer to the documentation.
● MLDM-Mode not allowed in advanced performance
MLD-M is not allowed with Advanced performance.
● Error when reading T4min-Time (S-0-1005)
An error occurred during reading of the T4 min time S-0-1005 of a slave
of drive type.
● Error when writing S/P-X-XXXX Slave x (Code 0x....)
An error with SERCOS code 0xXXXX occurred during writing parameter
S/P-X-XXXX to slave x via the service channel.
● Error when reading S/P-X-XXXX Slave x (Code 0x....) An error with
SERCOS code 0xXXXX occurred during reading parameter S/P-X-
XXXX from slave x via the service channel.
● Error at command execution of S/P-0-XXXX Slave x
An error occurred during execution of command S/P-0-XXXX on slave x.
More detailed information can be found in the slave diagnostics.
● Timeout for command acknowledgment of S/P-0-XXXX Slave x
Command S/P-0-XXXX that was started on slave x was not completed
with or without error within 25 s.
● Switching to phase x successfully carried out
● Error when switching to phase x (Code 0x…)

An error with code 0xXXXXXX was signaled during SERCOS phase
transition (soft phase switch). It was not possible to switch to SERCOS
phase X.
● Error: Type of SERCOS-I/O x unknown
The type of SERCOS I/O is not allowed. It is only allowed to operate
SERCOS I/Os for which a defined length and SCP version 1.1 are en‐
tered in parameter S01000 = 0x0101.
● Error: Length of SERCOS-I/O x not allowed
Error: The length of the SERCOS I/O data exceeds the allowed length
of 48 bytes.
● Error: Drive x in P-0-1801.0.10 is not an allowed drive type
The drive projected in P-0-1801.0.10 is not supported by the CCD mas‐
ter (no IndraDrive with expected parameters).
● Error: I/O[%d] in P-0-1801.0.11 is not an allowed I/O type
The I/O configured in P-0-1801.0.11 is not supported by the CCD mas‐
ter; the only IO slave supported without activated PLC is the SLc03.
● Data length for I/O x Output exceeded
The maximum length of the output data of an I/O has been exceeded.
● Data length for I/O x Input exceeded
The maximum length of the input data of an I/O has been exceeded.
● Data length for MDT drive x exceeded, P-0-1803.x.11 / P-0-1805.x.3
The maximum length of the MDT data of a drive has been exceeded.
Correction required in "P-0-1803.x.11" or "P-0-1805.x.3".
● Data length for AT drive x exceeded, P-0-1803.x.12 / P-0-1805.x.4
The maximum length of the AT data of a drive has been exceeded. Cor‐
rection required in "P-0-1803.x.12" or "P-0-1805.x.4".
● Error: Configured IDN %s I/O[%d] Output
The configured IDN for the output data of the I/O is not allowed.
● Error: Configured IDN %s I/O[%d] Input
The configured IDN for the input data of the I/O is not allowed.
● Number of IDN for MDT exceeded drive x
quired in "P-0-1803.x.11" or "P-0-1805.x.1/3".
● Number of IDN for AT exceeded drive x
quired in "P-0-1803.x.12" or "P-0-1805.x.2/4".
● Error: Config. IDN %s for MDT drive x, P-0-1805.x.1/3
The configured IDN for the MDT data of the drive is not allowed. Correc‐
tion required in "P-0-1803.x.11" or "P-0-1805.x.1/3".
● Error: Config. IDN %s for AT drive x, P-0-1805.x.2/4
The configured IDN for the AT data of the drive is not allowed. Correc‐
tion required in "P-0-1803.x.12" or "P-0-1805.x.2/4".
● Different number of IDN for MDT drive x, P-0-1805.x.1/3
The number of IDNs configured in "P-0-1805.x.1" for the MDT data is
different from that configured in "P-0-1805.x.3".
● Different number of IDN for AT drive x, P-0-1805.x.2/4

The number of IDNs configured in "P-0-1805.x.2" for the AT data is dif‐
ferent from that configured in "P-0-1805.x.4".
● IDN mismatch %s for MDT drive[%d], P-0-1805.x.1/3
The IDNs in a master->slave MDT connection do not match each other,
e.g. S-0-0084 -> S-0-0036 (different length). Correction required in
"P-0-1805.x.1" or "P-0-1805.x.3".
● IDN mismatch %s for AT drive[%d], P-0-1805.x.2/4
The IDNs in a master<-slave AT connection do not match each other,
e.g. S-0-0036 <- S-0-0084 (different length). Correction required in
"P-0-1805.x.2" or "P-0-1805.x.4".
● IDN %s is auto.config. for MDT drive[%d], P-0-1805.x.3
The IDN configured for the MDT is used for internal purposes and can‐
not be assigned by the user. Correction required in "P-0-1805.0.3".
● Error: CC binary configuration (code 0x%x)
The binary configuration of the CC connections is incorrect.
4.13.117 P-0-1810.0.11, CCD: Diagnosis code

Alias: P-0-2403
Function This parameter displays a diagnosis code for error "F4140 CDD communica‐
tions error" which does not allow a more detailed diagnosis of the error
cause.
● 0x00000000 = no error
● 0x00000001 = unallowed phase return (P-0-1605 was set to a value un‐
equal to 4 without taking the CCD master into account)
● 0x00000002 = a communication error has occurred in a CCD slave
● 0x00000004 = the NC cycle time in the CCD master was changed in
phase 4
● 0x00000008 = the ring buffer for synchronization with non-synchronous
master communication has overflown
● 0x00000010 = the configuration of the IO driver was changed in phase 4
● 0x0001xxxx = Failure of Bus-Slave-Valid in S-Dev of Slave x; slave
does not enter any data in AT (bit 0 = slave 1, bit 1 = slave 2, etc.)
● 0x00020020 = no link at port 1 and port 2
● 0x00020021 = double AT failure
● 0x00022001 = no valid topology detected (line P1, line P2 or dual ring)

4.13.118 P-0-1810.0.12, CCD: Error counter Port-1

Alias: P-0-1637
Function These list parameters display the telegram errors of the sercos FPGAs for

2
buffer ressources
3
ing collision buffer ressources
of phase return.
See also Functional Description "Cross-Communication"
4.13.119 P-0-1810.0.13, CCD: Error counter Port-2

Alias: P-0-1638
Function These list parameters display the telegram errors of the sercos FPGAs for
Ele‐
Error counter Comment
ment

Counter for received ethernet frames with an alignment
1
error
Counter for discarded receive ethernet frames based on
2
missing rx buffer ressources
Ele‐
Error counter Comment
ment
Counter for discarded forwarding ethernet frames based
3
on missing collision buffer ressources
Counter for ethernet frames which violate the IP channel
4
window
Tab. 4-206: Error counter

of phase return.
4.13.120 P-0-1810.0.15, CCD: AT error counter

Alias: P-0-1631
Function This parameter displays an error counter for ATs. This parameter serves to
monitor ATs in which the value entered in parameter "S-0-1012, sercos:
Length of ATs" of the CCD slaves is greater than 0. The error counters count
all invalid drive telegrams (ATs) in phases 3 and 4 and has its upper limit at
65535.
If the transmission is subject to strong interferences, the value

65535 is reached after a while.

Use Interpreting the parameter content
Observe the following points while interpreting the error counter:
● The error counter is incremented once per communication cycle.
● The counter is only incremented as well, if the corresponding AT fails
both on Port 1 and on Port 2.
● The error counter is cleared on transition from phase 2 to phase 3.
4.13.121 P-0-1810.0.16, CCD: Axis error

Alias: P-0-1607
Function This parameter contains the class 1 diagnostics error bits of the CCD nodes.
Bit No. Description Comment
0 Class 1 diagnostics bit of the master

Tab. 4-207: Class 1 Diagnostics Error Bits

4.13.122 P-0-1811, CCD: Status word synchronous operation modes, slave 1


The parameters display the status word of the synchronous operation mode
of CCD slave x in the CCD master, which CCD slave x transfers in the motion

The parameters are only served while MLD system mode is active, i.e. with
active MLD-M (P-0-1600).



1"


1"


1"



1"
4.13.127 P-0-1815.x.1, CCD: Master communication, synchronization input

value
Function This parameter is effective in conjunction with the synchronization with non-
synchronous master communication function.
A ring buffer is used to achieve decoupling of the master communication
command values for the slaves from the transmission. The command values
are not directly transmitted to the slaves but with an adjustable delay of pa‐
rameter "P-0-1816.0.5". What is achieved with this delay is the fact that a
command value which is not synchronously transmitted for processing in the
slaves immediately causes a telegram failure because processing in the
slaves is implemented with delayed values.
Parameters P-0-1815.x.1 can be put into the cyclic master communication
command value telegram in order to transmit the command values for the lo‐
cal axis of the CCD master and the CCD slaves from the control in CCD sys‐
tem mode. These command values are caught by the CCD master and filed
in the ring buffer. The control still has to put an application counter
(P-0-1816.0.1) into the telegram in addition to the command values. This ap‐
plication counter serves to provide the command values with a time mark.


4.13.128 P-0-1815.x.2, CCD: Master communication, synchronization output

value
Parameters P-0-1815.x.2 are used to transmit the command values for the lo‐
cal axis and the CCD slaves that are contained in the ring buffer. To achieve
this, parameters P-0-1815.x.2 must be entered in the CCD mapping parame‐
ters P-0-1805.x.1, CCD: Configuration list master cmd values. The target pa‐
rameter of the slaves must be entered in parameter P-0-1805.x.3, CCD:
CCD: Configuration list slave cmd values (e.g. S-0-0047).



1"

4.13.130 P-0-1816.0.1, CCD: Master communication, synchronization counter

Parameter P-0-1816.0.1 serves to assign the command values temporally
and must be transmitted from the control (application) to the slave command
values once in each command value cycle. Using this application counter, the
CCD master can achieve a temporal assignment of the command values for
the CCD slaves and the local axis.
4.13.131 P-0-1816.0.2, CCD: Master communication, synchronization P-gain

The difference between the command and actual distances of the input and
output values of the ring buffer is used to calculate a correction value for the
internal timing of the CCD master and therefore compensate the difference.
As a result, the CCD timing can be adjusted to the master communication
timing.
This correction value is inversely proportional to the time in which there was
no difference between command and actual distances. This correction value
is multiplied by parameter P-0-1816.0.2 CCD.
As a result, an individual amplification of the value determined by the CCD
master can be set. The default value of this parameter was calculated in nu‐
merous tests and should ensure optimal control behavior.

4.13.132 P-0-1816.0.3, CCD: Master communication, synchronization I-gain

The difference between the command and actual distances of the input and
output values of the ring buffer is used to calculate a correction value for the
internal timing of the CCD master and therefore compensate the difference.
As a result, the CCD timing can be adjusted to the master communication
timing.
This correction value is inversely proportional to the time in which there was
no difference between command and actual distances. This correction value
is scaled and added up by means of parameter "P-0-1816.0.3".
As a result, any difference from the time is scaled to an increasingly higher
degree. The default value of this parameter was calculated in numerous tests
and should ensure optimal control behavior.
4.13.133 P-0-1816.0.4, CCD: Master communication, synchronization error

window
rameter "P-0-1816.0.5" (command interval of input/output value). If values ex‐
ceed or fall below this command interval, there may be a jitter or a drift of
master communication transmission to the CCD system.
In case of a jitter, this difference is probably compensated after a few cycles.
In case of a drift, the actual interval will be increasingly farther away from the
command interval after some time. This state must be counteracted by the
CCD master.
Using its timing, the CCD master counteracts this drift subject to various influ‐
ence factors.
The error window of parameter "P-0-1816.0.4" specifies how long a deviation

from the command interval of input/output values can be present until the
CCD master counteracts by changing its timing.
The error window is parameterized in CCD cycles. In CCD system mode, the
CCD cycle corresponds to the master communication cycle.
4.13.134 P-0-1816.0.5, CCD: Master communication, synchronization delay

The delay is parameterized in CCD cycles. In CCD system mode, the CCD
cycle corresponds to the master communication cycle.


1"


1"


1"


See also "P-0-1821, CCD: Command value data container 1, Slave 1 2Byte"

4.13.139 P-0-1820.0.1, CCD: Master axes configuration list

Function The configuration list defines the master axes to be prepared by listing the
logic axis number of the desired source axes.
The logic axis numbers of the real IndraDrive axes are defined by parameter
"P-0-1801.0.10". The logic axis numbers of the measuring encoder axis
(RMA_1), the virtual axis (VMA_1) and the group axis (MA_LINK_1) are con‐
stant. The maximum number of entries that can be made is 3. The order in
the list numbers the master axes from 1 to 3. This numbering is used to as‐
sign the parameters to the adjustment of the master axes.
Memory: PARAM_SP Validity ch.: P2->P3 Format: DEC_OV
4.13.140 P-0-1820.0.2, CCD: Source of measuring encoder position feedback

value
Function If a measuring encoder axis RMA_1 is entered in the master axis configura‐
tion list, the axis to which the measuring encoder is connected must be speci‐
fied. To achieve this, the logic axis number of the IndraDrive axis from which
the actual position value of the measuring encoder (P-0-0052) is to be re‐
trieved must be specified in this parameter.
4.13.141 P-0-1820.0.3, CCD: Actual position value of measuring encoder

Function If a measuring encoder axis RMA_1 is entered in the master axis configura‐
tion list, the actual position value of the measuring encoder is retrieved from
the axis specified in Parameter P-0-1820.0.2 and filed in this parameter.
4.13.142 P-0-1820.0.4, CCD: Axis position selection

Function This bit list is used to specify for each real IndraDrive axis whether the only
parameter configured in the drive telegram is parameter "S-0-0386, Active
position feedback value" or whether parameter "P-0-0434, Position command
value of controller" is configured as well.
If a bit is 0, the associated IndraDrive axis only retrieves the "S-0-0386, Ac‐
tive position feedback value". If a bit is 1, the "P-0-0434, Position command
value of controller" is additionally retrieved.
Bit 0 refers to the axis with logic axis number 1; bit n refers to the axis with
the logic axis number n+1.
It is reasonable to retrieve the position command value in addition to the
noisy actual position value and use it as a source for a master axis only for
IndraDrive axes which are intended to serve as a master axis.
Memory: PARAM_SP Validity ch.: P2->P3 Format: BIN


al-time channel.
"x" is the slave number → e.g., slave "1"

Example:

ting 4-byte data.

4.13.144 P-0-1821.x.1, CCD: Position command value for master axis n

Function If it is intended to use the axis position of an IndraDrive axis for master axis
adjustment, the position command value of this axis can be used as an alter‐
native to the active actual position value. In this case, this axis cyclically
transmits the value of parameter P-0-0434, Position command value of con‐
troller, to the control. In the control, the value is stored in one of parameters
P-0-1821.x.1. Structure index x corresponds to the master axis for the adjust‐
ment of which the position command value is to be used (1, 2 or 3).
S-0-0077 /
S-0-0078
4.13.145 P-0-1821.x.2, CCD: Master axis n, filter type

Function For adjusting a configured master axis, the value of the source parameter is
filtered to the format of the master axis after completed conversion. The fol‐
lowing filters can be selected:
Value filter type Comment
0 Filter deactivated
1 1st order low-pass filter with velocity feedforward
Value filter type Comment

2 2nd order low-pass filter with velocity feedforward
3 3rd order low-pass filter with velocity and acceleration
feedforward
Tab. 4-208: Master Axis Filter Types

All filters are designed such that, with constant velocity, the signal is not de‐
layed by the filtering. Where filter 3 is concerned, the output signal is not de‐
layed, not even during acceleration.
The structure index specifies whether the parameter is intended for the mas‐
ter axis (1, 2 or 3).
4.13.146 P-0-1821.x.3, CCD: Master axis n, filter corner frequency

Function For master axis adjustment, the cutoff frequency of the filter must be speci‐
fied in addition to the filter type. The filter cutoff frequency is the frequency at
which the signal is reduced by 3 dB. The maximum possible filter cutoff fre‐
quency depends on the CCD cycle time. The maximum value can be calcula‐
ted as follows:
Maximum filter cutoff frequency = 1 / (2 * CCD cycle time)
If it is higher, the value specified is limited to the maximum possible value. In
this case, the minimum possible filter effect is active.
4.13.147 P-0-1821.x.4, CCD: Master axis n, number of extrapolation steps

Function To compensate the time requirements of fine interpolation and the transmis‐
sion times between CCD master and slaves, the master axis position of a
master axis is extrapolated after it has been adjusted. This parameter defines
for each master axis n the number of CCD cycles by which the established
master axis position is extrapolated. The velocity of the master axis is used
for extrapolation. For this reason, there will be extrapolation errors during ac‐
celeration and deceleration.
4.13.148 P-0-1821.x.5, CCD: Master axis n, master axis position

Function This parameter shows the adjusted master axis position.



4.13.150 P-0-1822.0.1, CCD: Default master axis selection for the IndraDrive
axes
Function This parameter is used to select one of the 3 possible master axes for the
IndraDrive axes. The master axis position selected is transmitted to the par‐
ticular IndraDrive axis until the first command is triggered. Starting with bits 0
and 1 for logic axis 1, two bits are available for each of the following logic ax‐
es. This allows specifying values of 0 to 3 in each case. Values 1, 2 and 3

refer to the order in the configuration list for the master axes.
On initialization, the assignments made in this parameter are ap‐

plied to parameter "P-0-1822.0.2, CCD: Master axis selection for
the IndraDrive axes". They are only active until "P-0-1822.0.2" is
changed either directly or by a command of a PLC function block.
1/0 Default master axis for axis 1

00: Local master axis
01: Master axis 1
10: Master axis 2
11: Master axis 3
01: Master axis 1
10: Master axis 2
11: Master axis 3
01: Master axis 1
10: Master axis 2
11: Master axis 3
01: Master axis 1
10: Master axis 2
11: Master axis 3
01: Master axis 1
10: Master axis 2
11: Master axis 3
01: Master axis 1
10: Master axis 2
11: Master axis 3

01: Master axis 1
10: Master axis 2
11: Master axis 3
01: Master axis 1
10: Master axis 2
11: Master axis 3
01: Master axis 1
10: Master axis 2
11: Master axis 3
01: Master axis 1
10: Master axis 2
11: Master axis 3
31... Reserved
20
Tab. 4-209: Selecting the Default Master Axes

Use The assignment of the master axis to the slave axis made in this parameter is
only required if bit "In Synchronization" is to be established in the slave axis
before synchronization mode is activated with the correct master axis posi‐
tion.
4.13.151 P-0-1822.0.2, CCD: Master axis selection for the IndraDrive axes
Function This parameter is used to select one of the 3 possible master axes for each
of the IndraDrive axes. The master axis position selected (P-0-1821.x.5,
CCD: Master axis n, master axis position ) is transferred to the master axis
position of the particular IndraDrive axis (P-0-1823.x.2, CCD: Master axis po‐
sition for axis n).
Starting with bits 0 and 1 for logic axis 1, two bits are available for each of the
following logic axes. This allows specifying values of 0 to 3 in each case. Val‐
ues 1, 2 and 3 refer to the order in the configuration list for the master axes.
Structure
1/0 Master axis for axis 1

01: Master axis 1
10: Master axis 2
11: Master axis 3
01: Master axis 1
10: Master axis 2
11: Master axis 3
01: Master axis 1
10: Master axis 2
11: Master axis 3
01: Master axis 1
10: Master axis 2
11: Master axis 3
01: Master axis 1
10: Master axis 2
11: Master axis 3
01: Master axis 1
10: Master axis 2
11: Master axis 3
01: Master axis 1
10: Master axis 2
11: Master axis 3

01: Master axis 1
10: Master axis 2
11: Master axis 3
01: Master axis 1
10: Master axis 2
11: Master axis 3
01: Master axis 1
10: Master axis 2
11: Master axis 3
31... Reserved
20
Tab. 4-210: Selecting the Master Axes

Use This parameter is changed when a command for a synchronous motion func‐
tion block is triggered. Using the master axis configuration list, the master ax‐
is number is determined from the logic axis number of the master axis and
set for the slave axis specified.




4.13.153 P-0-1823.x.1, CCD: Default synchronization mode for axis n

Function This parameter defines a default synchronous operation mode for the
IndraDrive axes. This is achieved by entering a characteristic number.
The following settings can be selected:
● Phase synchronization (0)
● Cam (1)
● MotionProfile (2)
● Velocity synchronization (3)
During initialization, the synchronization mode selected in parameter
"P-0-1823.x.1" is set for the slave axis in parameter "P-0-0088, Control word
synchronization modes". The setting made in this parameter is only required
if bit "In Synchronization" is to be established in the slave axis before syn‐
chronization mode is activated with the correct operation mode.
The structure index specifies the logic axis n for which the parameter takes
effect.
4.13.154 P-0-1823.x.2, CCD: Master axis position for axis n

Function This parameter is used to store for each IndraDrive axis the position of the
master axis which is assigned to this IndraDrive axis by default or by trigger‐
ing a command. The assignment is found in parameter "P-0-1802.0.2, CCD:
Master axis selection for the IndraDrive axes".
The structure index specifies the logic axis n for which the respective param‐
eter takes effect.

















al-time channel.

Example:

ting 4-byte data.
























al-time channel.

Example:

ting 4-byte data.
























al-time channel.

Example:

ting 4-byte data.
























al-time channel.

Example:

ting 4-byte data.
























al-time channel.

Example:

ting 4-byte data.
























al-time channel.

Example:

ting 4-byte data.
























al-time channel.

Example:

ting 4-byte data.



















4.13.231 P-0-1901.0.1, CiA402: Controlword

Allocation Contained in 20VRS: «MPB» «MPE» «-» «MPC» «-»
Hardware CiA402
Function The parameter realizes the object 0x6040 "Control word" for profile "CiA402".
The description of the object can be found in specification "CiA 402 CANopen
device profile for drives and motion control".
Via parameter "P-0-1901.0.1" the Drive State Machine can be controlled in
accordance with "CiA402".
See also functional description "Profile types"
0 Switch on
1 Enable voltage
2 Quick stop
3 Enable operation
4... 6 Operation mode-specific
7 Fault reset
8 Halt
9 Operation mode-specific
Tab. 4-211: CiA402: Control word

4.13.232 P-0-1901.0.2, CiA402: Statusword

Hardware CiA402
Function The parameter realizes the object 0x6041 "status word" for the profile
"CiA402".
Parameter "P-0-1901.0.2" can be used to indicate the status of the drive state
machine according to "CiA402".
See also Functional Description "Profile types"
Structure
0 Ready to switch on
1 Switched on
2 Operation enabled
3 Fault
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning
8/9 Reserved
10 Target reached
11 Internal limit active
12/13 Operation mode-specific
14/15 Reserved
Tab. 4-212: CiA402: Status word

Bit 13 Bit 12 Bit 10 Mode
0 0 0 Homing mode Homing procedure is in progress

Homing procedure is interrupted or not
0 0 1
started
Homing is attained, but target is not
0 1 0
reached
Homing procedure is completed success‐
0 1 1
fully
1 0 1 Homing error occurred, velocity is 0
X 1 X Other modes Drive follows the command value
Only in cyclic
1 X X Following error
position mode
Tab. 4-213: Bit 13/12/10:

4.13.233 P-0-1901.0.3, CiA402: Abort connection option code

Hardware CiA402
Function The parameter realizes the object 0x6007 "Abort connection option code" for
profile "CiA402".
Via parameter "P-0-1901.0.3" the reaction to a communication error of the
drive state machine can be set in accordance with "CiA402".
● 0 = In the case of a communication error, only a warning is issued
● 1 = In the case of a communication error, an error message is issued
4.13.234 P-0-1901.0.4, CiA402: Quick stop option code

Hardware CiA402
Function The parameter realizes object 0x605A "Quick stop option code" for profile
"CiA402".
Via parameter "P-0-1901.0.4" the deceleration ramp and reaction during the
transition to the state “quick stop” of the drive state machine can be set in ac‐
cordance with "CiA402".
● 0 = Disable drive function (torque enable)

● 2 = Deceleration with 0x6085 "Quick stop deceleration" and subsequent
transition to "Switch on disable"
● 6 = Deceleration with 0x6085 "Quick stop deceleration" (S-0-0372) and
maintaining in "Quick Stop"
4.13.235 P-0-1901.0.5, CiA402: Shutdown option code

Hardware CiA402
Function The parameter realizes object 0x605B "Shutdown option code" for profile
"CiA402".
Via parameter "P-0-1901.0.5" the deceleration ramp can be set for the input
"Shutdown" of the drive state machine in accordance with "CiA402".
4.13.236 P-0-1901.0.6, CiA402: Disable operation option code

Hardware CiA402
Function The parameter realizes object "0x605C Disable operation option code" for
profile "CiA402".
"Disable operation" of the drive state machine in accordance with "CiA402".
● - 1 = Deceleration with selection from "P-0-0119" (0x3077)
4.13.237 P-0-1901.0.7, CiA402: Halt option code

Hardware CiA402
Function The parameter realizes object 0x605D "Halt option code" for profile "CiA402".
"Halt" of the drive state machine in accordance with "CiA402".
● 1 = Deceleration with the deceleration ramp defined for the active oper‐
ation mode (not possible in all operation modes, otherwise like *2)
● 2 = Deceleration with 0x6085 "Quick stop deceleration" (S-0-0372)
4.13.238 P-0-1901.0.8, CiA402: Fault reaction option code

Hardware CiA402
Function The parameter realizes object 0x605E "Fault reaction option code" for profile
"CiA402".
Via parameter "P-0-1901.0.8" the deceleration ramp can be set for the drive
state machine’s switching to "Fault" in accordance with "CiA402".
● -1 = Deceleration with selection from P-0-0119 (0x3077)
4.13.239 P-0-1901.0.9, CiA402: Modes of operation

Hardware CiA402
Function The parameter realizes the object 0x6060 "Modes of operation" for profile
"CiA402".
The operation mode can be set via parameter "P-0-1901.0.9".
Structure The following values are permissible:
Value Designation/function Comment
0 No change / no mode selected

6 Homing mode
8 Cyclic synchronous position mode
9 Cyclic synchronous velocity mode
10 Cyclic synchronous torque mode
Manufacturer-specific (operation) modes

-1 Drive-internal interpolation
-2 Drive-controlled positioning
-3 Positioning block mode
-4 Velocity synchronization
-5 Phase synchronization
-6 Electronic cam
-7 Electronic motion profile
Tab. 4-214: CiA402: Modes of operation

P-0-1901.0.9 - Attributes Function: Par Editable: ++ Data length:
2Byte /
1Byte
4.13.240 P-0-1901.0.10, CiA402: Modes of operation display

Hardware CiA402
Function The parameter realizes the object 0x6061 "Modes of operation display" for
profile "CiA402".
Via parameter "P-0-1901.0.10" the active mode (of operation) is displayed.
P-0-1901.0.10 - Attributes Function: Par Editable: -- Data length:
2Byte /
1Byte
4.13.241 P-0-1901.0.11, CiA402: Supported drive modes

Hardware CiA402
Function The parameter realizes the object 0x6502 "Supported drive modes" for profile
"CiA402".
Via parameter "P-0-1901.0.11" the possible modes (of operation) are dis‐
played.

4.13.242 P-0-1901.0.12, CiA402: Error Code

Hardware CiA402
Function The parameter realizes the object 0x603F "Error Code" for profile "CiA402".
Via parameter "P-0-1901.0.12" the active "CiA402 Error Code" is displayed.
4.13.243 P-0-1901.0.21, CiA402: Position encoder resolution

Hardware CiA402
Function The parameter realizes the object 0x608F 00 "Position encoder resolution"
for profile "CiA402".
Via parameter "P-0-1901.0.21" the number of subindices (2) is displayed for
this object.
2Byte /
1Byte
4.13.244 P-0-1901.0.22, CiA402: Position encoder resolution, Encoder

icrements
Hardware CiA402
Function The parameter realizes object 0x608F 01 "Position encoder resolution, en‐
coder increments" for profile "CiA402".
Via parameter "P-0-1901.0.22" the resolution of encoder 1 can be set.
4.13.245 P-0-1901.0.23, CiA402: Position encoder resolution, Motor

revelutions
Hardware CiA402
Function The parameter realizes the object 0x608F 02 "Position encoder resolution,
motor revolutions" for profile "CiA402".
Only the value "1" can be written to parameter "P-0-1901.0.23". Thus, the
setting from "P-0-1901.0.22" (0x608F 01) refers to one motor revolution.
4.13.246 P-0-1901.0.24, CiA402: Gear ratio

Hardware CiA402
Function The parameter realizes the object 0x6091 00 "Gear Ratio" for profile
"CiA402".
these objects.
The gear ratio is set by means of parameters "S-0-0121" (0x6091 01 "Gear
ratio, motor shaft revolutions") and "S-0-0122" (0x6091 02 "Gear ratio, driving
shaft revolutions").
2Byte /
1Byte
4.13.247 P-0-1901.0.25, CiA402: Feed constant

Hardware CiA402
Function The parameter realizes the object 0x6092 00 "Feed Constant" for profile
"CiA402".
this object.
The feed constant is set via parameters P-0-1901.0.26 (0x6092 01 "Feed
constant, feed") and P-0-1901.0.27 (0x6092 02 "Feed constant, shaft revolu‐
tions").
2Byte /
1Byte

4.13.248 P-0-1901.0.26, CiA402: Feed constant, feed

Hardware CiA402
Function The parameter realizes the object 0x6092 01 "Feed Constant, Feed" for pro‐
file "CiA402".
Via parameter "P-0-1901.0.26" the feed is entered in the set position scaling.
S-0-0077 /
S-0-0078
4.13.249 P-0-1901.0.27, CiA402: Feed constant, shaft revolutions

Hardware CiA402
Function The parameter realizes the object 0x6092 02 "Feed Constant, shaft revolu‐
tions" for profile "CiA402".
Only the value "1" can be written to parameter "P-0-1901.0.27", which means
that the setting from "P-0-1901.0.26" (0x6092 01) refers to one motor revolu‐
tion.
4.13.250 P-0-1901.0.28, CiA402: Velocity factor

Hardware CiA402
Function The parameter realizes the object 0x6096 00 "Velocity factor" for profile
"CiA402".
this object.
The "velocity factor" is set via the parameters "P-0-1901.0.29" and
"P-0-1901.0.30".
2Byte /
1Byte

4.13.251 P-0-1901.0.29, CiA402: Velocity factor, numerator

Hardware CiA402
Function The parameter realizes the object 0x6096 01 "Velocity factor, numerator" for
profile "CiA402".
Via parameter "P-0-1901.0.29" the numerator of the "Velocity factor" can be
entered.
4.13.252 P-0-1901.0.30, CiA402: Velocity factor, divisor

Hardware CiA402
Function The parameter realizes the object 0x6096 02 "Velocity factor, divisor" for pro‐
file "CiA402".
Only the value "1" can be written to parameter "P-0-1901.0.30". For this rea‐
son, the nominator of the "velocity factor" is always "1".
4.13.253 P-0-1901.0.31, CiA402: Acceleration factor

Hardware CiA402
Function The parameter realizes the object 0x6097 00 "Acceleration factor" for profile
CiA402.
these objects (“2” in this case).
The "Acceleration factor" is set via the parameters "P-0-1901.0.32" (0x6097
01 "Acceleration factor, numerator") and "P-0-1901.0.33" (0x6097 02 "Accel‐
eration factor, divisor").
2Byte /
1Byte

4.13.254 P-0-1901.0.32, CiA402: Acceleration factor, numerator

Hardware CiA402
Function The parameter realizes the object 0x6097 01 "Acceleration factor, numerator"
for profile "CiA402".
Via parameter "P-0-1901.0.32" the numerator of the "Acceleration factor" can
be entered.
4.13.255 P-0-1901.0.33, CiA402: Acceleration factor, divisor

Hardware CiA402
Function The parameter realizes the object 0x6097 02 "Acceleration factor, divisor" for
profile "CiA402".
Only the value "1" can be written to parameter "P-0-1901.0.33". For this rea‐
son, the nominator of the "Acceleration factor" is always "1".
4.13.256 P-0-1901.0.34, CiA402: Polarity

Hardware CiA402
Function The parameter realizes the object 0x607E "Polarity" for profile "CiA402".
Via parameter "P-0-1901.0.34" the polarity of position and velocity data can
be set.
Structure
6 Velocity polarity
0: Positive
1: Negative
7 Position polarity
0: Positive
1: Negative
Tab. 4-215: Polarity

P-0-1901.0.34 - Attributes Function: Par Editable: PM Data length:

2Byte /
1Byte
4.13.257 P-0-1901.0.35, CiA402: SI unit position

Hardware CiA402
Function The parameter realizes the object 0x60A8 "SI unit position" for profile
"CiA402".
Via parameter "P-0-1901.0.35" the unit (scaling) of position data can be set.
Structure
15 - 0 Reserved
23 - 16 Position unit
41: Degrees (rotary scaling)
01: m (linear scaling)
31 - 24 Exponent
-6... 0: With unit “degrees"
-9... 0: With unit "m"
Tab. 4-216: SI unit position

MPx / PSB: min./max.: --- / --- Default value: 0xFC410000
4.13.258 P-0-1901.0.36, CiA402: SI unit velocity

Hardware CiA402
Function The parameter realizes the object 0x60A9 "SI unit velocity" for profile
"CiA402".
Via parameter "P-0-1901.0.36" the unit (scaling) of velocity data can be set.
Structure
7-0 Reserved
18 - 8 Time unit
47: min
03: sec

23 - 16 Velocity unit
B4: Revolutions (rotary scaling)
01: m (linear scaling)
31 - 24 Exponent
-6 ... 0: With unit “revolutions”
-9 ... 0: With unit “m”
Tab. 4-217: SI unit Velocity

MPx / PSB: min./max.: --- / --- Default value: 0xFCB44700
4.13.259 P-0-1901.0.37, CiA402:SI unit acceleration

Hardware CiA402
Function The parameter realizes the object 0x60AA "SI unit acceleration" for profile
"CiA402".
Via parameter "P-0-1901.0.37" the unit (scaling) of acceleration data can be
set.
Structure
7-0 Reserved
15 - 8 Time unit
57: "sec2"
23 - 16 Acceleration unit
10: "rad" (rotary scaling)
01: “m” (linear scaling)
31 - 24 Exponent
-6... 0: With unit "rad"
-9... 0: With unit "m"
Tab. 4-218: SI unit acceleration

MPx / PSB: min./max.: --- / --- Default value: 0xFD105700
4.13.260 P-0-1901.0.41, CiA402: Target Position

Hardware CiA402
Function The parameter realizes the object 0x607A "Target Position" for profile
"CiA402".
Via parameter "P-0-1901.0.41" the position command value can be provided
in the (operation) mode "Cyclic synchronous position mode".
S-0-0077 /
S-0-0078
4.13.261 P-0-1901.0.42, CiA402: Interpolation time period

Hardware CiA402
Function The parameter realizes the object 0x60C2 00 "Interpolation time period" for
profile "CiA402".
this object.
The "interpolation time" is set via parameters "P-0-1901.0.43" (0x60C2 01
"interpolation time period, value") and "P-0-1901.0.44" (0x60C2 02 "Interpola‐
tion time period, index").
2Byte /
1Byte
4.13.262 P-0-1901.0.43, CiA402: Interpolation time period value

Hardware CiA402
Function The parameter realizes the object 0x60C2 01 "Interpolation time period, val‐
ue" for profile "CiA402".
Via parameters "P-0-1901.0.43" and "P-0-1901.0.44" the time can be en‐
tered, over which the command value from "P-0-1901.0.41" (0x607A) is to be
interpolated.
The interpolation time in "s" results from P-0-1901.0.43 * 10 P-0-1901.0.44.
2Byte /
1Byte

4.13.263 P-0-1901.0.44, CiA402: Interpolation time index

Hardware CiA402
Function The parameter realizes the object 0x60C2 02 "Interpolation time period, in‐
dex" for profile "CiA402".
The description of the object can be found in specification "CiA402 CANopen
Via parameters "P-0-1901.0.43" and "P-0-1901.0.44" the time can be en‐
tered, over which the command value from "P-0-1901.0.41" (0x607A) is to be
interpolated.
The interpolation time in "s" results from P-0-1901.0.43 * 10 P-0-1901.0.44.
2Byte /
1Byte
MPx / PSB: min./max.: -6 / -2 Default value: ---
4.13.264 P-0-1901.0.45, CiA402: Position Range Limit

Hardware CiA402
Function The parameter realizes the object 0x607B 00 "Position Range Limit" for pro‐
file "CiA402".
this object.
The "position range" is set via parameters "P-0-1901.0.46" (0x607B 01 "Min
position: Range Limit") and "P-0-1901.0.47" (0x607B 02 "Max position:
Range Limit"). Only the value "0" can be written to parameter
"P-0-1901.0.46". Modulo scaling in IndraDrive is activated by a value unequal
to "0" in "P-0-1901.0.47" (0x607B 02 "Max position Range Limit").
2Byte /
1Byte
4.13.265 P-0-1901.0.46, CiA402: Min position range limit

Hardware CiA402
Function The parameter realizes the object 0x607B 01 "Min position Range Limit" for
profile "CiA402".
The description of the object can be found in specification "CiA 402 CANopen
The "position range" is set via parameters "P-0-1901.0.46" (0x607B 01 "Min

position Range Limit") and "P-0-1901.0.47" (0x607B 02 "Max position Range
Limit"). Only the value "0" can be written to parameter "P-0-1901.0.46". Mod‐
ulo scaling is activated in IndraDrive by a value unequal to "0" in
"P-0-1901.0.47" (0x607B 02 Max position Range Limit).
S-0-0077 /
S-0-0078
4.13.266 P-0-1901.0.47, CiA402: Max position range limit

Hardware CiA402
Function The parameter realizes the object 0x607B 02 "Max position Range Limit" for
profile CiA402.
The "position range" is set via parameters "P-0-1901.0.46" (0x607B 01 Min
position: Range Limit) and "P-0-1901.0.47" (0x607B 02 Max position: Range
Limit). Only the value “0” can be written to parameter "P-0-1901.0.46". Modu‐
lo scaling is activated in IndraDrive by a value unequal to “0” in
"P-0-1901.0.47" (0x607B 02 Max position Range Limit).
S-0-0077 /
S-0-0078
4.13.267 P-0-1901.0.48, CiA402: Software Position Limit

Hardware CiA402
Function The parameter realizes the object 0x607D "00 Software Position Limit" for
profile "CiA402".
this object.
The position limits and the activation of position limit monitoring are set via
parameters "P-0-1901.0.49" (0x607D 01 Min position limit) and
"P-0-1901.0.50" (0x607D 02 Max position limit).
If both parameters (objects) have the value "0", monitoring of the

position limits is switched off!

2Byte /
1Byte
4.13.268 P-0-1901.0.49, CiA402: Min position limit

Hardware CiA402
Function The parameter realizes the object 0x607D 01 "Min position limit" for profile
"CiA402".
If both parameters (objects) have the value "0", monitoring of the position lim‐
its is switched off.
S-0-0077 /
S-0-0078
4.13.269 P-0-1901.0.50, CiA402: Max position limit

Hardware CiA402
Function The parameter realizes the object 0x607D 02 "Max position limit" for profile
"CiA402".
If both parameters (objects) have the value "0", monitoring of the position lim‐
its is switched off.
S-0-0077 /
S-0-0078
4.13.270 P-0-1901.0.51, CiA402:Position actual internal value

Hardware CiA402
Function The parameter realizes the object 0x6063 "Position actual internal value" for
profile "CiA402".
Via parameter "P-0-1901.0.51" the current value of the motor measuring sys‐
tem can be displayed in the internal processing unit.

4.13.271 P-0-1901.0.52, CiA402:Position demand internal value

Hardware CiA402
Function The parameter realizes the object 0x60FC "Position demand internal value"
for profile CiA402.
Via parameter "P-0-1901.0.52" the internal input value of the position control‐
ler can be displayed in the unit of internal processing.
4.13.272 P-0-1901.0.53, CiA402:Homing method

Hardware CiA402
Function The parameter realizes the object 0x6098 "Homing method" for profile
CiA402.
Via parameter "P-0-1901.0.53" the homing method can be selected for the
"homing mode".
Structure
1 Homing with negative limit switch and zero pulse

2 Homing with positive limit switch and zero pulse
3 Homing with negative edge of the homing switch and zero
pulse in negative direction
4 Homing with positive edge of the homing switch and zero
pulse in positive direction
5 Homing with negative edge of the homing switch and zero
pulse in positive direction
6 Homing with positive edge of the homing switch and zero
pulse in negative direction
17 Homing with negative limit switch without zero pulse
18 Homing with positive limit switch without zero pulse
19 Homing with negative edge of the homing switch without
zero pulse in negative direction

20 Homing with positive edge of the homing switch without
zero pulse in positive direction
21 Homing with negative edge of the homing switch without
22 Homing with positive edge of the homing switch without
33 Homing to the zero pulse without homing switch in nega‐
tive direction
34 Homing to the zero pulse without homing switch in positive
direction
37 Current position is reference
Tab. 4-219: Homing method

2Byte /
1Byte
4.13.273 P-0-1901.0.54, CiA402: Homing speeds

Hardware CiA402
Function The parameter realizes the object 0x6099 00 "Homing speeds" for profile
"CiA402".
this object.
The homing speed is set via parameter "S-0-0041" (0x6099 01 Speed during
search for switch) and (0x6099 02 Speed during search for zero). It is not
possible to make different settings for the speed for searching for the mark
and for the switch.
2Byte /
1Byte

4.14 P-0-2000 to P-0-2299 General device parameters

4.14.1 P-0-2002, Oper. hours of contr. sect. at change of functional
packages
Hardware --
Function This parameter is used in conjunction with the enabling of functional pack‐
ages.
In parameter "P-0-2002" the count of the operating hours counter of the con‐
trol section, at the time of a change in the functional package selection in
"P-0-2003, Selection of functional packages", is stored.
The value is stored on the control section and therefore gets lost
when the device is replaced. Parameter P-0-2002 cannot be
changed but only be read.
See also Functional Description "Enabling of Functional Packages"

See also Functional Description "Functional Packages"
Memory: ON_BOARD_SP Validity ch.: -- Format: DEC_OV
4.14.2 P-0-2003, Selection of functional packages

Hardware --
Function Parameter "P-0-2003" is used for selecting the desired and licensed function‐
al packages for functional package enable. There may be cases where func‐
tional packages are enabled (ALL) which may only be used alternatively
(MSP, SNC, SRV) to each other. The effective alternative package is selec‐
ted via "P-0-2003".
See also functional description "Enabling of functional packages"
See also functional description "Functional packages"
See also functional description "Change of active functional packages selec‐
tion"
Structure
Name of package
Bit No. (Bit = 1 → Package has been selected) Rules for selection via P-0-2003
0 Base package "open-loop" - As an alternative to bit 1 - Not with safety technology

1 Base package "closed-loop" - As an alternative to bit 0 - Not with CSB-01.1N-FC
Name of package
Bit No. (Bit = 1 → Package has been selected) Rules for selection via P-0-2003
2 Not used --
3 Not used --
4 Expansion package "servo function" (SRV) - As an alternative to bit 5, 6 or 7
- Not with "open-loop"
5 Expansion package "synchronization" (SNC) - As an alternative to bit 4, 6 or 7
- Not with CSB-01.1N-FC
6 Expansion package "main spindle" (MSP) - As an alternative to bit 4, 5 or 7
- Not with "open-loop" for CDB01.1C
7 Expansion package "Sytronix" (SYX) - As an alternative to bit 4, 5 or 6
- Only with IndraMotion MLD (ML or TF)
- Only for MPB and MPC
8 Additional package "IndraMotion MLD - For MPC only
Advanced" (MA) - Only in conjunction with bit 1 (closed-loop) and bit 9
(IndraMotion MLD)
9 Additional package "IndraMotion MLD" (ML - As an alternative to TF bit 10
or TF)1)
10 Additional package "Technology function" - As an alternative to ML bit 9
(TF)
15 - 11 Not used --
20 - 16 Reserved
31 - 21 Not used --
1) MLD design "ML" for MPH firmware; "TF" for MPB firmware
Tab. 4-220: Selection of functional packages via parameter P-0-2003
● When the mode is switched from parameterization mode (PM) to ope‐
rating mode (OM), this parameter is marked as invalid if enabled pack‐
ages were selected which may be active only alternatively in relation to
each other.
● Changes do not become effective before the drive is restarted the next
time or "S-0-1350, C6400 reboot command" is executed.
4.14.3 P-0-2004, Active functional packages

Hardware --
Function This parameter contains the active functional packages.

When booting the functional packages selected in "P-0-2003, Selection of
functional packages " are activated and then the respective bits are set or
cleared in"P-0-2004". This allows recognizing at any time which functional
packages are actually active.
See also Functional Description "Enabling of Functional Packages"
See also Functional Description "Functional Packages"
See also Functional Description "Change of Active Functional Packages Se‐
lection"
4.14.4 P-0-2051, Operating hours counter, motor

Hardware --
Function This parameter displays the current count of the operating hours counter of
the motor.
The operating hours counter records the duration of three different operating
states:
● Motor enabled (AF, electric load)
● Motor in motion (actual velocity unequal to "0")
● Motor temperature less than 10K away from "S-0-0204, Motor shutdown
temperature"
The following motor deceleration thresholds apply:
● Rotary motor: 10rpm
● Linear motor: 10mm/min
See functional description "Diagnostic data of motor operation"
Structure
List parameter with three elements
List ele‐ Operating time Default Definition

ment value
0 Duration drive enable 0.0 Time period during which drive

enable (AF) was set for the motor
1 Duration motion 0.0 Time period during which the actual
velocity of the motor was unequal to
"0"
2 Duration motor warn‐ 0.0 Time period during which the motor
ing temperature temperature was less than 10 K be‐
low the switch-off threshold
Tab. 4-221: List Elements of "P-0-2051, Operating hours counter, motor"

Use For motors without encoder data memory, the values of "P-0-2051" remain
unchanged when switching to the operating mode (bb, Ab, OM). After switch‐
ing to the operating mode, time recording continues on the basis of the val‐
ues of "P-0-2051", when the corresponding time recording criterion has been
fulfilled.
4.14.5 P-0-2052, Thermal operating data, motor

Hardware --
Function This parameter displays the current status of the thermal operating data:
● Maximum temperature of motor
● Average motor temperature during total operating time (motor in "AF")
The values of the thermal operating data are only realistic, when
the temperature sensor allows winding temperature measure‐
ment! This is impossible for temperature sensors with switching
performance!
See Functional Description "Diagnostic Data of Motor Operation"

Structure
List Parameter With Two Elements
List ele‐ Operating time Default Unit Definition
ment value
0 Maximum tempera‐ 0.0 °C Maximum winding temperature
ture which ever occurred during the
operating time (AF)
1 Average temperature 0.0 °C Average winding temperature,
averaged over the total ope‐
rating time (AF) of the motor
Tab. 4-222: List Elements of P-0-2052, Thermal operating data, motor

Use The parameter can be written in the parameter mode (PM).
For motors without encoder data memory, the values of P-0-2052 remain un‐
changed when switching to the operating mode (bb, Ab, OM). After switching
to the operating mode, temperature operating data measurement continues
on the basis of the values of P-0-2052, when the measurement criteria have
been fulfilled.
Unit: °C Extr. val. ch.: -- Decim. pl.: 1

4.14.6 P-0-2053, Mechanical operating data, motor

Hardware --
Function This parameter displays the current status of the mechanical operating data:
● Maximum velocity of motor shaft or of moving part of motor
● Average velocity of motor shaft or of moving part of motor during total
operating time (motor in AF)
See Functional Description "Diagnostic Data of Motor Operation"
Structure
List Parameter With Two Elements
ment value
0 Maximum velocity 0 S-0-0044 Maximum velocity of motor
which ever occurred during the
operating time (AF)
1 Average velocity 0 S-0-0044 Average velocity of motor dur‐
ing motion, averaged over the
time period during which the
motor is in motion.
Tab. 4-223: List Elements of P-0-2053, Mechanical operating data, motor

Use The parameter is writable in the parameter mode (PM).
For motors without encoder data memory, the values of P-0-2053 remain un‐
changed on switching to the operating mode (bb, Ab, OM).
After switching to the operating mode, measurement of the mechanical ope‐
rating data continues on the basis of the values of P-0-2053, when the meas‐
urement criteria have been fulfilled.
Unit: s. Text Extr. val. ch.: -- Decim. pl.: s. Text
4.14.7 P-0-2054, Operational performance, motor

Hardware --
Function To quantify the mechanical motion of the motor or the axis, the drive deter‐
mines the operational performance of the connected motor. For this purpose,
a current value is generated in intervals of 8ms and added up. This value is
calculated from the following product:
● Current velocity (average absolute value over 8ms)
● Duration of motor motion (rotary motor > 10min-1, linear motor >100mm/
min), max. 8ms
The unit of the operational performance depends on the mechanical motor

design (configured in P-0-4014):
● Rotary motor: unit is 1000 rev
● Linear motor: unit is meter
The operational performance can be used as threshold value, e.g.

for lubrication intervals. The user can reset or change the value.
Replacing motors with diagnostic data in encoder memory (e.g. MSK,

MS2N):
● Changed motor serial numbers are recognized by the drive (comparison
of "S-0-1300.20.12" (encoder memory) and "P-0-02055" (drive))
● The previous operational performance of the motor is saved in
"P-0-2054" and calculated from the product of:
– P-0-3051, Encoder memory, operating hours counter, motor, "list
element 1, motion duration", and
– P-0-3053, Encoder memory, mechanical operating data, motor,
"list element 1, average velocity of motor in motion"
The value of "P-0-2054" that is already available in the drive is

overwritten with the operational performance value of the replace‐
ment motor without notification!
Replacing MSM motors (encoder data memory can be used in a restricted

way)
● Value of "P-0-2054, Operational performance, motor" available in the
drive parameter set is deleted, if "P-0-2055, Serial number, motor" in the
drive did not contain any value. Furthermore, the serial number of the
replacement motor in this case is applied to "P-0-2055"!
● Value of "P-0-2054, Operational performance, motor" available in the
drive parameter set is retained, if "P-0-2055, Serial number, motor" in
the drive already contained a value. Furthermore, the serial number of
the replacement motor in this case is applied to "P-0-2055".
See Functional Description "Diagnostic data of motor operation"
Unit: 1000 Rev Extr. val. ch.: -- Decim. pl.: 0
4.14.8 P-0-2055, Serial number, motor

Hardware --
Function This parameter serves for identification of the serial number and the connec‐
ted motor model.
This functionality is only available for Rexroth motors with QEM encoder data
memory version 4 (MSK) or 7 (MS2N). The serial number of the motor serves
for identification of the motor model currently connected to the controller. This
indicates whether the motor connected to the controller has been replaced.
Depending on the motor model connected, the operating data stored in the
encoder are applied to the controller or, if necessary, synchronized with the
operating data available in the controller.
Memory: PARAM_SP Validity ch.: -- Format: ASCII
4.14.9 P-0-2100, Velocity loop proportional gain, type plate

Hardware --
Function This parameter contains the default value for "S-0-0100, Velocity loop propor‐
tional gain" stored in the encoder data memory.
During execution of command "C0700 Load defaults proced. command (mo‐
tor-spec. controller val.)" or on acknowledgement of error "F2008 RL The mo‐
tor type has changed", the content of this parameter is copied to the effective
parameter "S-0-0100". This function is only available for Rexroth motors with
encoder data memory.
Memory"
Unit: Nm/(rad/s) Extr. val. ch.: -- Decim. pl.: 3
4.14.10 P-0-2101, Velocity loop integral-action time, type plate

Hardware --
Function Default value for "S-0-0101, Velocity loop integral action time" stored in the
parameter "S-0-0101, Velocity loop integral action time". This function is only
available for Rexroth motors with encoder data memory.
Memory"
4.14.11 P-0-2104, Position loop Kv-factor, type plate

Hardware --
Function Default value for "S-0-0104" stored in the encoder data memory.
parameter "S-0-0104". This function is only available for Rexroth motors with
Memory"
Unit: 1000/min Extr. val. ch.: -- Decim. pl.: 2
4.14.12 P-0-2106, Current loop proportional gain 1, type plate

Hardware --
Function Default value for "S-0-2106, Current loop proportional gain 1, type plate" stor‐
ed in the encoder data memory and intended for operating the connected
motor at a PWM switching frequency of 4000 Hz.
Use During execution of command "C0700 Load defaults proced. command (mo‐
parameter "S-0-0106". In this context, there is an automatic adjustment to
"P-0-0001, Switching frequency of the power output stage" and to the per‐
formance setting parameterized in "P-0-0556, Config word of axis controller".
The factory-set current loop values should not be changed.
This function is only available for Rexroth motors with encoder

data memory.
Memory"
Unit: V/A Extr. val. ch.: -- Decim. pl.: 2

4.14.13 P-0-2107, Current loop integral-action time 1, type plate

Hardware --
Function Default value for "S-0-0107, Current loop integral action time 1" stored in the
parameter "S-0-0107".
The factory-set current loop values should not be changed.
This function is only available for Rexroth motors with encoder

data memory.
Memory"
4.14.14 P-0-2109, Motor peak current, type plate

Hardware --
Function Value stored in the encoder data memory for the maximum current that can
temporarily flow in the motor without the motor being destroyed. When the
controller is switched on and during the transition "PM → OM", the content of
the parameter is copied to the effective parameter "S-0-0109, Motor peak
current".
This function is only available for Rexroth motors with encoder data memory.
Memory"

4.14.15 P-0-2111, Motor current at standstill, type plate

Hardware --
Function Value stored in the encoder data memory for the current that can continuous‐
ly flow in the motor without the motor being destroyed. When the controller is
switched on and during the transition "PM → OM", the content of the parame‐
ter is copied to the effective parameter "S-0-0111, Motor current at standstill".
Memory"

4.14.16 P-0-2113, Maximum velocity of motor, type plate

Hardware --
Function Value stored in the encoder data memory for the maximum possible motor
speed. When the controller is switched on and during the transition "PM →
OM", the content of the parameter is copied to the effective parameter
"S-0-0113, Maximum motor speed".
Memory"
4.14.17 P-0-2141, Motor type, type plate

Hardware --
Function Text for the motor type stored in the encoder data memory. During execution
of command "C0700 Load defaults proced. command (motor-spec. controller
val.)", the content of this parameter is copied to parameter "S-0-0141, Motor
type".
Diagnostic message "F2008 RL The motor type has changed" is based on
the comparison of "S-0-0141" with "P-0-2141".
Memory"
Memory: PARAM_SP Validity ch.: -- Format: ASCII
4.14.18 P-0-2204, Motor shutdown temperature, type plate

Hardware --
Function Value available in the encoder data memory for the maximum allowed ope‐
rating temperature of the motor. When the controller is switched on and dur‐
ing the transition "PM → OM", the content of the parameter is copied to the
effective parameter "S-0-0204, Motor shutdown temperature".
Memory"
4.14.19 P-0-2206, Drive On delay time, type plate

Hardware --
Function Default value stored in the encoder data memory for the release delay of the
motor holding brake.
parameter "S-0-0206, Drive on delay time".
Memory"

4.14.20 P-0-2207, Drive Off delay time, type plate

Hardware --
Function Default value stored in the encoder data memory for the clamping delay of
the motor holding brake.
parameter "S-0-0207, Drive off delay time".
Memory"
4.14.21 P-0-2216, Parameter set switching, configuration

Hardware --
Funct. package(s): SRV, SNC, MSP, SYX
Function Parameter set switching is configured with this parameter. The parameter
groups that are included in parameter set switching are defined and the
switching behavior is parameterized.
See also Functional Description "Parameter set switching"
Structure The individual bits of the parameter have the following significances:
4-0 Parameter group selection

Bit 0: Group 1, application parameters
0: Cannot be switched
1: Can be switched
Bit 1: Group 2, control loop parameters
1: Can be switched
Bit 2: Group 3, load gear parameters
1: Can be switched
Bit 3: Group 4, winding parameters
1: Can be switched
Bit 4: Group 5, motor control and encoder parameters
1: Can be switched
7-5 Unassigned
8 Drive-controlled parameter set switching
0: Deactivated
1: Active
14-9 Unassigned
15 Position data reference in the case of gear switching See note
(encoder 1)
0: Is lost
1: Is maintained (S-0-0051 jumps)
Tab. 4-224: Parameter set switching, group selection

Use Observe the following points when using the parameter:
● It is possible to select none, multiple or all parameter groups for param‐
eter set switching.
● The parameters which are combined in the respective group are descri‐
bed in chapter "Parameter set switching" of the Functional Description.
● Which parameters are switched can be checked in parameter
"S-0-0219, IDN-list of parameter set" after "P-0-2216" was changed.
● If the gear ratio changes at gear switching, the exact reference position
of encoder 1 cannot be guaranteed any more. This is signaled by the
fact that its reference bit is cleared in "S-0-0403, Position feedback val‐
ue status".
● If the gear ratio changes at gear switching, the position data reference is
lost if the mounting position of the reference encoder does not comply
with the selected data reference (e.g., data reference at load, reference
via encoder 1/motor encoder). Hereby, the reference bit of the reference
encoder is cleared in "S-0-0403, Position feedback value status".
● Some controls no longer allow motion if "S-0-0403 = 0". To move the ax‐
is nevertheless, it is possible to keep the reference bits from being
cleared by activating "maintain position data reference", although the

position data reference of encoder 1 got lost.
The position data reference is only safely reestablished, when a

new homing procedure was executed! The reference of a spindle
encoder (encoder 2) is maintained in the case of gear switching, if
there is data reference to the load!

4.14.22 P-0-2217, Parameter set switching, preselection range

Hardware --
Function This parameter is used to define the number of switchable parameter sets
which are available in the drive firmware.
See also Functional Description "Parameter Set Switching"
Use
The parameter set switching functions is included in the base
package of MPE.
Parameter set 0 1 2 3 4 5 6 7
number
Value in 0
P-0-2217
1
2
3
4
5
6
7
Tab. 4-225: Selecting Parameter Sets for Parameter Set Switching


4.14.23 P-0-2218, Parameter set switching, delay time

Hardware --
Function This parameter can be used to enter a waiting time for defined delay of pa‐
rameter set switching.
See also Functional Description "Parameter Set Switching"
Use
The parameter set switching functions is included in the base
package of MPE.
Observe the following aspects for using the parameter:

● The waiting time is only effective if the "winding parameters" or "encoder
parameters" parameter group is active.
● The waiting time allows the user to wait until the motor contactors has
been switched successfully in case of winding or encoder switching.
● If the "winding parameters" parameter group is active, reactivation of
drive enable is delayed; if the "encoder parameters" parameter group is
active, the internal start of command C02 is delayed.
4.15 P-0-2300 to P-0-2999 16-bit alias IDNs

4.15.1 P-0-2300, List of 32-bit IDNs
Hardware --
Function The parameter lists

● P-0-2300, List of 32-bit IDNs and
● P-0-2301, List of 16-bit alias IDNs
allow converting 32-bit EIDNs to 16-bit alias IDNs. By means of the 16-bit
alias IDNs, it is possible to parameterize the functionality accessible via
EIDNs via a conventional communication interface which cannot handle 32-
bit EIDNs.
P-0-2300 contains the list of those EIDNs for which 16-bit alias IDNs have
been defined. The list is displayed in hexadecimal form and classified in as‐
cending order. For each entry there is a corresponding entry in P-0-2301
which indicates the associated 16-bit alias IDN.

4.15.2 P-0-2301, List of 16-bit alias IDNs

Hardware --
Function The parameter lists

● P-0-2300, List of 32-bit IDNs and
● P-0-2301, List of 16-bit alias IDNs
allow converting 32-bit EIDNs to 16-bit alias IDNs. By means of the 16-bit
alias IDNs, it is possible to parameterize the functionality accessible via
EIDNs via a conventional communication interface which cannot handle 32-
bit EIDNs.
P-0-2301 contains the list of the 16-bit alias IDNs. The list is displayed in hex‐
adecimal form and is not classified. For each entry there is a corresponding
entry in P-0-2300 which indicates the associated EIDN.
4.15.3 P-0-2302, SMO: Status word, bit-coded SCA

do not support 32-bit IDNs (EIDN).
4.15.4 P-0-2303, Device address

4.15.5 P-0-2304, Active device address

4.15.6 P-0-2305, Control panel: Config. list of changeable app. parameters

4.15.7 P-0-2306, Ctrl panel: Config. list of app. parameters to be displayed

4.15.8 P-0-2307, CCD: Application connection configuration, incremental

4.15.9 P-0-2308, CCD: Application connection configuration, overall

4.15.10 P-0-2309, CCD: Current connection configuration

4.15.11 P-0-2310, Master communication: Protocol

Function Replacement parameter of "P-0-4089.0.1" for communication interface, which
does not support 32-bit ident numbers (EIDN).
4.15.12 P-0-2311, Master communication: Device name

Function Replacement parameter of "P-0-4089.0.2" for communication interface, which
does not support 32-bit ident numbers (EIDN).
4.15.13 P-0-2312, Master communication: MAC address device

Function Replacement parameter of "P-0-4089.0.10" for communication interface,
which does not support 32-bit ident numbers (EIDN).
4.15.14 P-0-2313, Master communication: MAC address Port1

4.15.15 P-0-2314, Master communication: MAC address Port2

4.15.16 P-0-2315, Master communication: IP address

4.15.17 P-0-2316, Master communication: Network mask

4.15.18 P-0-2317, Master communication: Gateway address

4.15.19 P-0-2318, Master communication: Configuration

Function P-0-4089.0.5 replacement parameter for communication interfaces which do
not support any 32-bit ident numbers (EIDN).
4.15.20 P-0-2319, CCD: Slave identification

4.15.21 P-0-2320, System data

4.15.22 P-0-2321, CCD: Slave address in high level network

4.15.23 P-0-2322, CCD: Command topology


4.15.25 P-0-2324, CCD: Actual topology


4.15.27 P-0-2326, CCD: Slave addresses at end of line


4.15.29 P-0-2328, C7100 CCD: Command Close ring


4.15.31 P-0-2330, CCD: Slave information at topology location


4.15.33 P-0-2332, C7000 CCD: Command adjust slave addresses


4.15.35 P-0-2334, C7400 CCD: Switching to phase 2


4.15.37 P-0-2336, CCD: Resource-Status (S-Res)

4.15.38 P-0-2337, CCD: Resource-Control (C-Res)


4.15.40 P-0-2339, Parameter channel: Configuration

4.15.41 P-0-2340, Encoder emulation signal selection








4.15.49 P-0-2348, Encoder emulation control parameter








4.15.57 P-0-2356, Encoder emulation resolution








4.15.65 P-0-2364, Encoder emulation zero pulse offset








4.15.73 P-0-2372, Encoder emulation zero pulse distance








4.15.81 P-0-2380, Encoder emulation assignment








4.15.89 P-0-2388, Encoder emulation, external signal

4.15.90 P-0-2389, Basic encoder evaluation phys. configuration, compact







4.15.97 P-0-2396, Encoder emulation, modulo value of external signal

4.15.98 P-0-2397, CCD: SLc, diagnostic information

4.15.99 P-0-2398, CCD: User data of SLc (outputs)

4.15.100 P-0-2399, CCD: SLc, states of safety inputs

4.15.101 P-0-2400, CCD: SLc, states of safety outputs

4.15.102 P-0-2401, CCD: SLc, group status and control words

4.15.103 P-0-2402, CCD: SLc user data (inputs)

4.15.104 P-0-2403, CCD: Diagnosis code

4.15.105 P-0-2406, Assignment signal status/control word, compact





4.15.110 P-0-2411, Compact parameter diagnostics

4.15.111 P-0-2412, Instance parameter diagnostics

Function Replacement parameter of "P-0-0660.0.129" for communication interfaces
which do not support any 32-bit ident numbers (EIDN).
4.15.112 P-0-2413, CCD: Actual topology

4.15.113 P-0-2414, CCD: Slave addresses at end of line

4.15.114 P-0-2415, CCD: Diagnostic message text

4.15.115 P-0-2416, CCD: Command topology

4.15.116 P-0-2417, CCD: Slave identification



4.15.119 P-0-2420, C7100 CCD: Command Close ring

4.15.120 P-0-2421, C7200 CCD: Commando Apply I/O configuration

4.15.121 P-0-2422, CCD: Master communication gateway parameter pool 1














4.15.135 P-0-2436, CCD: Module type codes of the modular I/Os




4.15.139 P-0-2440, SMO: Basic scaling, compact

4.15.140 P-0-2441, SMO: Position scaling, compact

4.15.141 P-0-2442, SMO: Velocity scaling, compact

4.15.142 P-0-2443, SMO: Acceleration scaling, compact

4.15.143 P-0-2445, SMO: Global safety functions, compact

4.15.144 P-0-2446, SMO: Safe motion, compact










Function "P-0-3290.10.130" replacement parameter for communication interfaces






4.15.160 P-0-2462, SMO: Safety function status

4.15.161 P-0-2463, SMO: State machine control word, functional

4.15.162 P-0-2464, SMO: Configuration of normal operation

4.15.163 P-0-2465, C8100 SMO: Command Activate configuration mode

4.15.164 P-0-2466, C8200 SMO: Command Exit configuration mode

4.15.165 P-0-2467, C8300 SMO: Command Activate parameter image

4.15.166 P-0-2468, SMO: Password

4.15.167 P-0-2469, SMO: System configuration

4.15.168 P-0-2474, SMO: Phys. encoder configuration, compact

4.15.169 P-0-2486, SMO: Encoder mechanics, compact

4.15.170 P-0-2492, SMO: IO mapper inputs, compact, compact
















4.15.186 P-0-2508, SMO: IO mapper block type, compact







4.15.193 P-0-2515, SMO: Signal control for discrete outputs, IDN assignment
4.15.194 P-0-2516, SMO: Signal control for discrete outputs, bit number
4.15.195 P-0-2517, SMO: Signal ctrl for discrete outputs, possible source IDNs
4.15.196 P-0-2518, SMO: Signal ctrl for discrete outputs, possible source bits
4.15.197 P-0-2519, SMO: Signal control, status, safe bus, IDN assignment
4.15.198 P-0-2520, SMO: Signal control, status, safe bus, bit number
4.15.199 P-0-2521, SMO: Signal control, status, safe bus, possible source
IDNs
4.15.200 P-0-2522, SMO: Signal control, status, safe bus, possible source bits
4.15.201 P-0-2523, SMO: Operation mode transitions, compact

4.15.202 P-0-2524, SMO: Safe standstill, compact

4.15.203 P-0-2525, SMO: Image information, compact

4.15.204 P-0-2526, SMO: Functional input signals, local

4.15.205 P-0-2527, SMO: IO mapper inputs, minimum pulse duration

4.15.206 P-0-2528, SMO: Mask of control word, safety bus

4.15.207 P-0-2529, SMO: Signal control, status, safe bus, SMMx coding
4.15.208 P-0-2530, SMO: Certificate information

4.15.209 P-0-2531, SMO: Stopping process, compact

4.15.210 P-0-2532, SMO: Configuration Input Signals, safety zone module

4.15.211 P-0-2533, SMO: Active axis identifier

4.15.212 P-0-2534, SMO: Proposed axis identifier

4.15.213 P-0-2535, C8500 SMO: Command Apply identification data

4.15.214 P-0-2536, SMO: Axis identification: Control word

4.15.215 P-0-2537, SMO: Verification interface, configuration

4.15.216 P-0-2538, SMO: Verification interface, data

4.15.217 P-0-2539, SMO: Verification interface, acknowledgment

4.15.218 P-0-2540, SMO: Verification interface, axis ID

4.15.219 P-0-2541, SMO: Verification interface, commissioning identifier

4.15.220 P-0-2542, SMO: Measured position difference

4.15.221 P-0-2543, SMO: Axis validation status

4.15.222 P-0-2544, SMO: Configuration of safe braking and holding function

4.15.223 P-0-2545, SMO: Control word of safe braking and holding function
4.15.224 P-0-2546, SMO: Safety zone control word

4.15.225 P-0-2547, SMO: Safety zone configuration

4.15.226 P-0-2548, SMO: Control word of safe door locking

4.15.227 P-0-2549, SMO: Configuration of consuming connection, safety bus

4.15.228 P-0-2550, SMO: Consuming connection configuration list, safety bus

4.15.229 P-0-2551, SMO: Configuration of producing connection, safety bus

4.15.230 P-0-2552, SMO: Producing connection configuration list, safety bus

4.15.231 P-0-2553, SMO: Identification data image

4.15.232 P-0-2554, SMO: Module code






4.15.238 P-0-2560, Configuration master/slave command/actual values,

compact

compact

compact

compact

compact

compact

compact

compact

compact

compact
4.15.248 P-0-2570, SMO: Circuit board code

4.15.249 P-0-2571, Circuit board management data, compact

4.15.250 P-0-2572, Basic encoder evaluation configuration, compact






4.15.256 P-0-2578, Type plate, compact



Function "S-0-1300.20.130" replacement parameter for communication interfaces



4.15.262 P-0-2584, Serial Number

Function Replacement parameter of "S-0-1300.0.12" for communication interfaces



4.15.266 P-0-2588, Diagnostic trace configuration

Function Replacement parameter for "S-0-1303.0.1" for communication interfaces
4.15.267 P-0-2589, Diagnostic trace control

4.15.268 P-0-2590, Diagnostic trace state

4.15.269 P-0-2591, Diagnostic trace main diagnostics

4.15.270 P-0-2592, Power section logbook data, compact

Function "P-0-2602.0130" replacement parameter for communication interfaces which
4.15.271 P-0-2593, Diagnostic trace detailed diagnostics

4.15.272 P-0-2594, Diagnostic trace system time fine

4.15.273 P-0-2595, Diagnostic trace system time coarse

4.15.274 P-0-2596, Mains current

4.15.275 P-0-2597, Phase current L3

4.15.276 P-0-2598, Mains voltage Phase to Phase L3-L1

4.15.277 P-0-2599, Power factor

4.15.278 P-0-2602.0.1, Power section logbook event

Function This parameter displays a code through which the drive development staff
can diagnose internal power section statuses.
The entires in this parameter are automatically made by the control unit de‐
pending on the internal statuses. The time of the entry is logged in
"P-0-2602.0.2, Timestamp of power section logbook event".
The displayed value for this parameter can only be interpreted

with internal knowledge of the firmware.
It is of no use to the user. It is write protected and cannot be edi‐
ted.

4.15.279 P-0-2602.0.2, Time stamp of power section logbook event

Function This parameter displays the time of the last entry in "P-0-2602.0.1, Power
section logbook event". The value for "P-0-2602.0.20, Operating hours coun‐
ter of power section" is logged in parameter "P-0-2602.0.2" at the proper
time.
It is of no use to the user. It is write protected and cannot be edi‐

ted.

Memory: LT_SP Validity ch.: -- Format: DEC_OV
4.15.280 P-0-2602.0.3, Error memory: Diagnostic code

Function
This parameter has no other function. It is write protected and
cannot be edited.

4.15.281 P-0-2602.0.20, Operating hours counter of power section

Function This parameter is used to display the operating hours of the power section
from the time the device was delivered. It refers to the time in which the drive
was operated with control enable activated.
The value is displayed in seconds and is saved on the power sec‐

tion.

Memory: LT_SP Validity ch.: -- Format: DEC_OV
4.15.282 P-0-2602.0.130, Power section logbook data, compact

Alias: P-0-2592
Function Summary of the structure elements for the power section logbook data
(P-0-2602.0.1 to P-0-2602.0.20).
4.15.283 P-0-2603.0.4, Error memory: Time stamp (system time)

Function
This parameter has no other function. It is write protected and
cannot be edited.

Memory: -- Validity ch.: -- Format: TIME

4.15.284 P-0-2603.0.50, Power section XML identification data

Alias: P-0-2762
Function For IndraDrive CLM/ML devices, the parameter contains the type data of all
modules in XML format. In case of service, the parameter is used to deter‐
mine the hardware and firmware versions of the device.
Memory: LT_SP Validity ch.: -- Format: ASCII
4.15.285 P-0-2660, Configurable factory default values

4.15.286 P-0-2700, Mains synchronization configuration, compact

4.15.287 P-0-2701, List of operation modes

4.15.288 P-0-2702, DC bus voltage command value, feeding

4.15.289 P-0-2703, DC bus voltage command value, regenerative

4.15.290 P-0-2704, Actual DC bus voltage

4.15.291 P-0-2705, Bipolar mains current limit value

4.15.292 P-0-2706, Lower DC bus voltage threshold

4.15.293 P-0-2707, Upper DC bus voltage threshold

4.15.294 P-0-2708, Mains current command value filter, time constant

4.15.295 P-0-2709, Configuration of power supply control, compact

4.15.296 P-0-2710, Thermal device load

4.15.297 P-0-2712, Control word of current rms value generator

4.15.298 P-0-2713, Current rms value

4.15.299 P-0-2714, Power supply control word

4.15.300 P-0-2715, Power supply status word

4.15.301 P-0-2718, Power supply ON/OFF

4.15.302 P-0-2719, sercos III encoder profile "extended", compact

do not support any 32-bit IDNs (EIDN).
4.15.303 P-0-2720, Type data of mains connection devices, compact

4.15.304 P-0-2721, DC bus capacitance, measured

4.15.305 P-0-2722, Circuit board adjustment values

4.15.306 P-0-2723, Circuit board type data 0





4.15.311 P-0-2728, Sync failures monitoring threshold

4.15.312 P-0-2729, Detailed diagnostic message

4.15.313 P-0-2730, Generate type plate, IDN list of type plates

Function Replacement parameter for "P-0-0660.0.2" for communication interfaces
4.15.314 P-0-2731, Mains type data, compact

4.15.315 P-0-2732, Reactive power, command value

4.15.316 P-0-2733, Reactive power, actual value

4.15.317 P-0-2734, Dynam. maximum device current

4.15.318 P-0-2735, Mains voltage Phase to Phase L3-L1 RMS value



4.15.321 P-0-2738, Generate type plate, configuration list

4.15.322 P-0-2739, Voltage command value filter, time constant

4.15.323 P-0-2740, Reactive power controller, proportional gain

4.15.324 P-0-2741, Reactive power controller, integral action time













4.15.337 P-0-2754, SMO: IO mapper inputs, IO mapper block status

4.15.338 P-0-2755, System fine time

4.15.339 P-0-2756, System coarse time

4.15.340 P-0-2757, ECAT: SII Configured Station Alias

4.15.341 P-0-2758, ECAT: Register Configured Station Alias

4.15.342 P-0-2759, IndraWorks view manager

4.15.343 P-0-2760, Supply unit control loop data, compact

4.15.344 P-0-2761, Thermal parameters, motor, compact

4.15.345 P-0-2762, Power section XML identification data



4.15.348 P-0-2765, Encoder status (input)

4.15.349 P-0-2766, Position unscaled (input)

4.15.350 P-0-2767, Multi-encoder interface configuration

4.15.351 P-0-2768, Encoder status

4.15.352 P-0-2769, Marker position

4.15.353 P-0-2770, Position



4.15.356 P-0-2773, Position



4.15.359 P-0-2776, Position



4.15.362 P-0-2779, Position



4.15.365 P-0-2782, Position



4.15.368 P-0-2785, Position


4.15.370 P-0-2787, Marker position not scaled (input)



4.15.373 P-0-2790, Prewarning threshold - performance utilization

4.15.374 P-0-2791, SMO: Active position limit value, positive

4.15.375 P-0-2792, SMO: Active position limit value, negative

4.15.376 P-0-2793, SMO: Safe homing procedure configuration

4.15.377 P-0-2794, SMO: C4000 Safe homing procedure command

4.15.378 P-0-2795, SMO: Reference position

4.15.379 P-0-2796, SMO: Safe homing procedure tolerance window

4.15.380 P-0-2797, SMO: Maximum homing velocity

4.15.381 P-0-2798, SMO: Reference check time interval

4.15.382 P-0-2799, SMO: Actual position value, coded

4.15.383 P-0-2875.0.3, Maximum flow

Hardware --
Funct. package(s): SYX
Alias: P-0-3473
Function The possible maximum flow is stored in this parameter. The value results
from the performance data of the valve and electronics and is stored as de‐
fault value in the valve.

Unit: l/min Extr. val. ch.: + Decim. pl.: 3
4.15.384 P-0-2875.0.4, Maximum pressure

Hardware --
Alias: P-0-3474
Function The permissible maximum pressure for the valve is stored as default value in
this parameter.
Unit: bar Extr. val. ch.: + Decim. pl.: 3
4.15.385 P-0-2937.0.1, Force acquisition control word

Hardware --
Function
The description of this parameter is in preparation.

4.15.386 P-0-2937.0.3, Input of force feedback value

Hardware --
Function

S-0-0093 /
S-0-0094
4.15.387 P-0-2943, Pump displacement volume

Hardware --
Function Parameter "P-0-2943, Pump displacement volume" indicates the displace‐

ment of the pump in the unit cm³.

Unit: cm³ Extr. val. ch.: + Decim. pl.: 1
4.15.388 P-0-2944, Motor nominal speed

Hardware --
Function Parameter "P-0-2944, Motor nominal speed" indicates the nominal speed of
the drive motor in the operation modes "pressure/swivel angle control" or
"pressure/flow" (open/closed-loop control).
Unit: 1/min Extr. val. ch.: -- Decim. pl.: 0
4.15.389 P-0-2945, Configuration of analog mode

Hardware --
Function On devices with analog master communication or deactivated Multi-Ethernet

master communication, this parameter is used for configuring analog opera‐
tion.
0 Activation of controller enable

0: Edge-controlled signal
1: State-controlled signal
1 Automatic setting of controller enable in condition "Ab" "P-0-4028; bit
0: Not active 15" must not
be cyclically
1: Active configured.
2 Activation of controller enable by enable cable HydraulicDrive
0: Not active only!
1: Active "P-0-4028; bit

15" must not
be cyclically
configured.

WARNING State-controlled controller enable!
If analog operation is configured for "state-controlled controller enable", the

drive automatically switches to drive control after a drive error was cleared, if
the configured digital input or the enable cable is set. This can cause a move‐
ment of the axis!
WARNING Automatic run-up
If analog operation is configured for "automatic after run-up", the drive

switches to closed-loop control immediately after running up. This can cause
a movement of the axis!
Use Activation of controller enable (bit 0)

For activating the controller enable, parameter "P-0-4028; bit 15" has to be
configured for a digital input.
● Edge-controlled: With a positive edge of the digital input the drive
switches to closed-loop control. In the case of an error, the error has to
be acknowledged first. Afterwards, the drive can only be switched to
closed-loop control operation with a new positive edge at the digital in‐
put.
● State-controlled: State “1” at the digital input switches the drive to
closed-loop control, as long as this is not prevented by any error. When
an error is acknowledged, the drive automatically switches again to the
closed-loop control mode as long as the digital input is still set.
Automatic setting of controller enable (bit 1)
After having run up to the state "Ab" the drive automatically switches to
closed-loop control (AF). If an error occurs, the drive enable is reset.
After command "C0500, Reset class 1 diagnostics" was executed for clearing
any present error, the drive remains in state "Ab" and requires again an edge
(e.g. switching from PM -> OM) to set the controller enable when bit 0 = 0
(edge-controlled) is set. With bit 0 = 1 (state-controlled), the drive activates
the controller enable immediately after the error was cleared.
Activation of controller enable by enable cable (bit 2)
With HydraulicDrive it is possible to set the drive enable by means of a spe‐
cial hardware enable cable.
With a positive edge of the enable cable, command "C0500, Reset class 1
diagnostics" is executed first and then the drive enable is activated. If an
error occurs, the drive enable is reset.
""
If, while drive enable is active, the enable cable is reset, the drive signals
"F2025, Drive not ready for control".

4.16 P-0-3000 to P-0-3199 Encoder memory

4.16.1 P-0-3000, Module code of motor, type plate
Hardware --
Function This parameter contains the identification data for motors with encoder data
memory. For Rexroth motors with encoder data memory, it is stored there
when the motor is assembled.
In case the encoder is replaced, the elements 3 and 4 of

P-0-3000 are cleared (i.e., the content is "0") for motors with en‐
coder data memory. This signals that the parameter contents are
no longer corresponding to the condition as supplied.
Structure The list parameter contains the following elements:

3 Part number
4 Serial number
5 Module firmware code
7 Writing cycles

Use The firmware of the controller identifies the following parameters from the
module firmware code:
● "P-0-3100, Version of data structure in encoder memory"
● "P-0-4014, Type of construction of motor"
4.16.2 P-0-3001, Encoder type, encoder memory

Hardware --
Function Value stored in the encoder data memory for encoder 1. When the controller
is switched on and during the transition "PM → OM", the content of the pa‐
rameter is copied to the effective parameter "P-0-0074".
memory"
4.16.3 P-0-3002, Number of pole pairs/pole pair distance, type plate

Hardware --
Function Value stored in the encoder data memory for number of pole pairs/pole pair
distance. When the controller is switched on and during the transition "PM →
"P-0-0018, Number of pole pairs/pole pair distance".
memory"
Unit: Pole pairs Extr. val. ch.: -- Decim. pl.: 0
4.16.4 P-0-3003, Rotor inertia, type plate

Hardware --
Function Value for the rotor inertia of the motor stored in the encoder data memory.
When the controller is switched on and during the transition "PM → OM", the
content of the parameter is copied to the effective parameter "P-0-0510, Ro‐
tor inertia".
Memory"
Unit: kgm² Extr. val. ch.: -- Decim. pl.: 7
MPx / PSB: min./max.: 0,0000000 / 429,4967295Default value: 0,0000000

4.16.5 P-0-3004, Speed controller smoothing time constant, type plate

Hardware --
Function Default value for "P-0-0004, Velocity loop smoothing time constant" stored in
the encoder data memory.
Use During execution of command "C0700 Load defaults proced. command (mo‐
parameter "P-0-0004". This function is only available for Rexroth motors with
Memory"
4.16.6 P-0-3005, Torque/force constant, type plate

Hardware --
Function Value for the torque/force constant of the motor stored in the encoder data
memory. When the controller is switched on and during the transition "PM →
"P-0-0051, Torque/force constant". .
Memory"
Unit: Nm/A Extr. val. ch.: -- Decim. pl.: 2
4.16.7 P-0-3006, Rated motor speed, type plate

Hardware --
Function Value stored in the encoder data memory for the rated speed of an asynchro‐
nous motor. When the controller is switched on and during the transition "PM
→ OM", the content of the parameter is copied to the effective parameter

"P-0-4036, Rated motor speed".
Memory"
4.16.8 P-0-3007, Stator resistance, type plate

Hardware --
Function Value for the stator resistance of the motor stored in the encoder data memo‐
ry. When the controller is switched on and during the transition "PM → OM",
the content of the parameter is copied to the effective parameter "P-0-4048,
Stator resistance".
Memory"
Unit: Ohm Extr. val. ch.: -- Decim. pl.: 3
4.16.9 P-0-3008, Commutation offset, type plate

Hardware --
Function Value for the commutation offset of the synchronous motor stored in the en‐
coder data memory. When the controller is switched on and during the transi‐
tion "PM → OM", the content of the parameter is copied to the effective pa‐
rameter "P-0-0508, Commutation offset ".
See also Functional Description: "Rexroth Housing Motors With Encoder Da‐
ta Memory"
Memory: FEEDBACK Validity ch.: -- Format: DEC_OV

4.16.10 P-0-3009, Holding brake control word, type plate

Hardware --
Function Information on the motor holding brake stored in the encoder data memory.
In the case of MSK and, if required, MAD and MAF motors, the bits are writ‐
ten to the bits 0 and 2 of the effective parameter "P-0-0525, Holding brake
control word" when the controller is switched on and during the transition "PM
→ OM". All other bits of P-0-0525 can be freely written.
Memory"
4.16.11 P-0-3010, Torque of motor holding brake, type plate

Hardware --
Function Value for the nominal torque of the motor holding brake stored in the encoder
data memory.
content of the parameter is copied to the effective parameter "P-0-0540, Tor‐
que of holding brake".
Memory"
4.16.12 P-0-3011, Holding brake current, type plate

Hardware --
Function Value for the current of the motor holding brake stored in the encoder data
memory.
As the monitoring of the holding brake current is not available in the

IndraDrive controllers, the value is not copied to an effective parameter. The
parameter is only used to write the value to the encoder memory.
4.16.13 P-0-3012, Temperature sensor, type plate

Hardware --
Function Characteristic value, stored in the encoder data memory, for the temperature
sensor incorporated in the motor winding. When the controller is switched on
and during the transition "PM → OM", the content of the parameter is copied
to the effective parameter "P-0-0512, Temperature sensor".
Memory"
4.16.14 P-0-3014, Magnetizing current, type plate

Hardware --
Function Value for the magnetizing current in the rated point of the motor stored in the
encoder data memory. When the controller is switched on and during the
transition "PM → OM", the content of the parameter is copied to the effective
parameter "P-0-4004, Magnetizing current".
Memory"

4.16.15 P-0-3015, Flux-generating current, limit value, type plate

Hardware --
Function Limit value for the flux-generating current stored in the encoder data memory.
content of the parameter is copied to the effective parameter "P-0-4005, Flux-
generating current, limit value".
Memory"
4.16.16 P-0-3016, Direct-axis inductance of motor, type plate

Hardware --
Function Value stored in the encoder data memory for the direct-axis inductance of a
synchronous motor. When the controller is switched on and during the transi‐
tion "PM → OM", the value is copied to the effective parameter "P-0-4016, Di‐
rect-axis inductance of motor".
Memory"
Unit: mH Extr. val. ch.: -- Decim. pl.: 3
4.16.17 P-0-3017, Quadrature-axis inductance of motor, type plate

Hardware --
Function
Value stored in the encoder data memory for the quadrature-axis inductance
of a synchronous motor. When the controller is switched on and during the
transition "PM → OM", the value is copied to the effective parameter
"P-0-4017, Quadrature-axis inductance of motor".
Memory"
4.16.18 P-0-3018, Charact. quadr.-axis induct. of motor, induct., type plate

Hardware --
Function List of inductance values of the characteristic of the motor quadrature-axis in‐
ductance stored in the encoder data memory. When the controller is switched
on and during the transition "PM → OM", the content of the parameter is cop‐
ied to the effective parameter "P-0-4002, Charact. of quadrature-axis induct.
of motor, inductances".
Memory"
4.16.19 P-0-3019, Charact. quadr.-axis induct. of motor, currents, type plate

Hardware --
Function List of current values of the characteristic of the motor quadrature-axis induc‐
tance stored in the encoder data memory. When the controller is switched on
and during the transition "PM → OM", the content of the parameter is copied
to the effective parameter "P-0-4003, Charact. of quadrature-axis inductance
of motor, currents".
Memory"

4.16.20 P-0-3020, Thermal time constant of winding, type plate

Hardware --
Function Value for the thermal time constant of the motor winding stored in the encod‐
er data memory. When the controller is switched on and during the transition
"PM → OM", the content of the parameter is copied to the effective parameter
"P-0-4034, Thermal time constant of winding".
Memory"
4.16.21 P-0-3021, Thermal time constant of motor, type plate

Hardware --
Function Value for the thermal time constant of the motor stored in the encoder data
memory. When the controller is switched on and during the transition "PM →
"P-0-4035, Thermal time constant of motor".
Memory"
Unit: min Extr. val. ch.: -- Decim. pl.: 1
4.16.22 P-0-3022, Thermal short-time overload of winding, type plate

Hardware --
Function Value for the thermal short-time overload of the winding stored in the encoder
data memory. When the controller is switched on and during the transition
"PM → OM", the content of the parameter is copied to the effective parameter
"P-0-4037, Thermal short-time overload of winding".
Memory"
4.16.23 P-0-3023, Current limit value of demagnetization, type plate

Hardware --
Function Factor for the current limit value for synchronous motors stored in the encod‐
er data memory; if the limit value is exceeded, the magnets run the risk of be‐
ing demagnetized. When the controller is switched on and during the transi‐
tion "PM → OM", the content of the parameter is copied to the effective pa‐
rameter "P-0-4013, Current limit value of demagnetization".
Memory"
4.16.24 P-0-3025, Brake voltage, type plate

Hardware --
Function For KSD motors (IndraDrive Mi), the brake voltage is derived from the DC
bus voltage. This parameter defines the brake voltage required for the instal‐
led brake.
This parameter is only relevant for IndraDrive Mi!


4.16.25 P-0-3028, Flux loop proportional gain, type plate

Hardware --
Function Default value for "P-0-0528, Flux control loop proportional gain" stored in the
Memory"
4.16.26 P-0-3029, Scaling of stall current limit, type plate

Hardware --
Function Default value for "P-0-0529, Scaling of stall current limit" stored in the encod‐
er data memory.
Memory"
4.16.27 P-0-3032, Premagnetization factor, type plate

Hardware --
Function Default value for "P-0-0532, Premagnetization factor" stored in the encoder
data memory.
Memory"
4.16.28 P-0-3033, Voltage loop proportional gain, type plate

Hardware --
Function Default value for "P-0-0533, Voltage loop proportional gain" stored in the en‐
coder data memory.
Memory"
Unit: A/V Extr. val. ch.: -- Decim. pl.: 3
4.16.29 P-0-3034, Voltage loop intergral action time, type plate

Hardware --
Function Default value for "P-0-0534, Voltage loop integral action time" stored in the
Memory"
4.16.30 P-0-3035, Motor voltage at no load, type plate

Hardware --
Function Default value for "P-0-0535, Motor voltage at no load" stored in the encoder
data memory.
Memory"
4.16.31 P-0-3036, Maximum motor voltage, type plate

Hardware --
Function Default value for "P-0-0536, Maximum motor voltage" stored in the encoder
data memory.
Memory"

4.16.32 P-0-3039, Stator leakage inductance, type plate

Hardware --
Function Value for the stator leakage inductance of an asynchronous motor stored in
the encoder data memory. When the controller is switched on and during the
parameter "P-0-4039, Stator leakage inductance".
Memory"
4.16.33 P-0-3040, Rotor leakage inductance, type plate

Hardware --
Function Value for the rotor leakage inductance of an asynchronous motor stored in
the encoder data memory. When the controller is switched on and during the
parameter "P-0-4040, Rotor leakage inductance".
Memory"
4.16.34 P-0-3041, Motor magnetizing inductance, type plate

Hardware --
Function Value stored in the encoder data memory for the magnetizing inductance of
an asynchronous motor. When the controller is switched on and during the
parameter "P-0-4041, Motor magnetizing inductance".
Memory"
4.16.35 P-0-3042, Characteristic of motor magnetizing inductance, type plate

Hardware --
Function Characteristic of the magnetizing inductance of an asynchronous motor stor‐

ed in the encoder data memory. When the controller is switched on and dur‐
ing the transition "PM → OM", the content of the parameter is copied to the
effective parameter "P-0-4042, Characteristic of motor magnetizing induc‐
tance".
Memory"
4.16.36 P-0-3043, Rotor time constant, type plate

Hardware --
Function Value stored in the encoder data memory for the rotor time constant of an
asynchronous motor. When the controller is switched on and during the tran‐
sition "PM → OM", the content of the parameter is copied to the effective pa‐
rameter "P-0-4043, Rotor time constant".
Memory"

4.16.37 P-0-3044, Motor torque at nominal current with reluctance, type plate
Hardware --
Function If the reluctance torque is used, the available motor torque is increased while
the current remains the same. This requires an appropriate motor construc‐
tion. If reluctance is used at nominal current, parameter "P-0-3940" specifies
the corresponding torque and/or force developed by the motor if the reluc‐
tance effect is utilized. The current to which the torque refers, is entered in
parameter "S-0-0111, Motor current at standstill".
The value of the torque must be higher than the torque calculated from the
product of:
P-0-0051, Torque/force constant * S-0-0111, Motor current at standstill
4.16.38 P-0-3045, Motor torque at maximum current with reluctance, type

plate
Hardware --
tion. If reluctance is used at maximum current, parameter "P-0-3941" speci‐
fies the corresponding torque and/or force developed by the motor if the re‐
luctance effect is utilized. The current to which the torque refers, is entered in
parameter "S-0-0109, Motor peak current".
The value of the torque must be higher than the torque specified in parameter
"S-0-0534, Maximum torque/force of motor".
4.16.39 P-0-3046, Reluctance angle at nominal motor current, type plate

Hardware --
tion. Parameter "P-0-3942, Reluctance angle at nominal motor current" speci‐
fies the electrical angle by which the current is to be imprinted into the motor
as compared with the commutation offset. The angle applies to the current
value which is specified in parameter "S-0-0111, Motor current at standstill".
4.16.40 P-0-3047, Reluctance angle at maximum motor current, type plate

Hardware --
tion. Parameter "P-0-3943, Reluctance angle at maximum motor current"
specifies the electrical angle by which the current is to be imprinted into the
motor as compared with the commutation offset. The angle applies to the cur‐
rent value which is specified in parameter "S-0-0109, Motor peak current".
4.16.41 P-0-3048, Motor control configuration, type plate

Hardware --
Function The motor control parameters for different control methods are stored in the
electronic type plate. The parameter is available as of memory version 4.6 of
the type plate parameters.
Configuration bits are stored for controlling synchronous motors according to
the reluctance principle. When the type plate parameters are loaded to the
drive controller, these bits are copied in parameter "P-0-4014, Type of con‐
struction of motor" that is active for control.
4.16.42 P-0-3051, Encoder memory, operating hours counter, motor

Hardware --
Function This parameter is only available for Rexroth motors with QEM encoder data
memory version 4 (MSK) and 7 (MS2N). It displays the operating hours coun‐
ter data stored in the encoder.
The count of the operating hours counter is determined by the controller at 2-
ms intervals (P-0-2051) and stored hourly in the active, non-volatile parame‐
ter memory.
However, "P-0-3051" is only updated after the control voltage supply has
been switched on by storing the value of "P-0-2051" in "P-0-3051", if neces‐
sary.
● To ensure that the current operating data of the motor that

are saved in the controller can be stored in the encoder data
memory in servicing cases, switch on the control voltage
again before the motor is replaced.
● The above-mentioned Rexroth motors do not allow for a re‐
set of the operating hours counter!
See Functional Description "Diagnostic data of motor operation"

Structure
List parameter with the following elements

ment value
0 Drive enable duration 0.0 s Time period during which drive
enable (AF) had been set for
the motor.
1 Motion duration 0.0 s Time period during which the
actual velocity of the motor had
been unequal to „0“.
2 Motor warning temper‐ 0.0 s Time period during which the
ature duration motor temperature had excee‐
ded the warning threshold
(S-0-0201).
Tab. 4-228: List elements of "P-0-3051"

The operating hours counter data of the above-mentioned Rexroth motors
are available in the encoder data memory for servicing and can be used for
assessing the motor failure.
4.16.43 P-0-3052, Encoder memory, thermal operating data, motor

Hardware --
Function Parameter "P-0-3052" is used to display the thermal operating data of the
motor stored in the encoder data memory.
The parameter is read-only and cannot be changed by the cus‐

tomer.
This parameter is only available for Rexroth motors with QEM encoder data
memory version 4 (MSK) and 7 (MS2N). It displays the thermal operating da‐
ta of the motor stored in the encoder. Refer to "Structure".
The thermal operating data are determined by the controller at 2-ms intervals
(P-0-2052) and stored hourly to the active, non-volatile parameter memory.
been switched on by storing the value of "P-0-2052" to"P-0-3052" if necessa‐
ry.
● To ensure that the current operating data of the motor that is

stored in the controller can be filed to the encoder data
memory in servicing cases, the control voltage has to be
switched on again before the motor is replaced.
● The above-mentioned Rexroth motors do not allow resetting
the thermal operating data!

Structure

ment value
0 Maximum tem‐ 0.0 °C Maximum winding temperature which
perature ever occurred during the operating
time (AF)
1 Average tem‐ 0.0 °C Average winding temperature, aver‐
perature aged over the total operating time
(AF) of the motor
Tab. 4-229: List elements of P-0-3052, encoder memory, thermal operating data,
motor
The thermal operating data of the above-mentioned Rexroth motors is availa‐
ble in the encoder data memory for servicing and can be used for assessing
the motor failure.
Memory: FEEDBACK Validity ch.: -- Format: DEC_MV
4.16.44 P-0-3053, Encoder memory, mechanical operating data, motor

Hardware --
Function This parameter is only available for Rexroth motors with QEM encoder data
memory version 4 (MSK) and 7 (MS2N). It displays the mechanical operating
data of the motor stored in the encoder.
The mechanical operating data are determined by the controller at 2-ms inter‐
vals (P-0-2053) and stored hourly to the active, non-volatile parameter mem‐
ory.
been switched on by storing the value of "P-0-2053" to"P-0-3053" if necessa‐
ry.
● To ensure that the current operating data of the motor that is

stored in the controller can be filed to the encoder data
memory in servicing cases, the control voltage has to be
switched on again before the motor is replaced.
● The above-mentioned Rexroth motors do not allow resetting
the mechanical operating data!

Structure
List ele‐ Default

ment Operating time value Unit Definition
0 Maximum 0 min-1 Maximum velocity of motor
velocity which ever occurred during the
operating time (AF)
1 Average velocity 0 min-1 Average winding temperature,
averaged over the total ope‐
rating time (AF) of the motor
Tab. 4-230: List elements of P-0-3053, encoder memory, mechanical operating

data, motor
The mechanical operating data of the above-mentioned Rexroth motors is
available in the encoder data memory for servicing and can be used for as‐
sessing the motor failure!
Unit: s. Text Extr. val. ch.: -- Decim. pl.: s. Text
4.16.45 P-0-3055, Maximum motor torque/force, encoder memory

Hardware --
Function Motor-specific value for the maximum torque of the motor stored in the type
plate. When the controller is switched on, the value, in the case of MSK mo‐
tors is copied to the effective parameter "S-0-0534, Maximum torque/force of
motor".
4.16.46 P-0-3056, Nominal motor torque/force, encoder memory

Hardware --
Function Motor-specific value for the continuous torque at standstill of the motor stored
in the type plate. When the controller is switched on, the value, in the case of
MSK motors is copied to the effective parameter "S-0-0533, Nominal torque/
force of motor".
4.16.47 P-0-3057, Speed-dependent torque/force coefficient, encoder

memory
Hardware --
Function Motor-specific value for the speed-dependent torque/force coefficient stored

in the type plate. When the controller is switched on, the value, in the case of
MSK motors, is copied to the effective parameter "P-0-0449, Speed-depend‐
ent torque/force coefficient".
4.16.48 P-0-3058, Temperature-dependent torque/force coefficient, enc.

memory
Hardware --
Function Motor-specific value for the thermal torque/force coefficient stored in the type
plate.

Automatically on switchon of the controller and transition of
"PM → OM".
tion.
See also Functional Description "Correcting the torque/force constant"

4.16.49 P-0-3060.0.1, Motor fan switch-on temperature

Hardware --
Function For temperature sensors providing a measured value of the motor tempera‐
ture, this parameter defines switching on and off of the fan. The signal for
switching on corresponds to the value of the parameter. The signal for
switching off is 10K lower.
4.16.50 P-0-3060.0.3, Speed-dependent motor shutdown temperature

reduction
Hardware --
Function This parameter defines the temperature difference by which the motor shut‐
down temperature is reduced by the temperature model depending on the
current speed. The data are specified according to the currently set tempera‐
ture scaling based on 1000 revolutions per minute.
Example: For scaling in degrees Celsius, a value of 3.0 in this parameter de‐
fines that the motor shutdown temperature is to be reduced by 3.0 °C at a
speed of 1000 rpm.
Speed-dependent motor shutdown temperature reduction is initialized de‐
pending on the mounting situation from the respective list element in parame‐
ter "P-0-3060.0.5". The mounting position is defined in "P-0-3060.0.4".
For Bosch Rexroth motors, the parameters required for initializa‐

tion of "P-0-3060.0.3" are read from the encoder memory. For
third-party motors, "P-0-3060.0.3" can be configured directly.

4.16.51 P-0-3060.0.4, Motor mounting situation

Hardware --
Function With this parameter, the motor mounting situation is defined. Based on this,
the speed-dependent motor shutdown temperature reduction is set.
Structure Possible mounting situations are:
Value Mounting situation Comment
0 Gears
Under this mounting situation, the gear temperature is also
increased. For this reason, only a low overtemperature is
admissible.
1 60 K:
Under this mounting situation, a maximum housing over‐
temperature of 60 K is admissible.
2 100 K:
Under this mounting situation, a maximum winding over‐
temperature of 100 K is admissible.
Tab. 4-231: Overview of possible mounting situations

Use The numerical value in "P-0-3060.0.4" serves as list index for the reduction
factor in "P-0-3060.0.5" belonging to the respective mounting situation. For
initialization of the motor temperature model, the respective factor is applied
from "P-0-3060.0.5" to "P-0-3060.0.3" according to this index.
4.16.52 P-0-3060.0.5, Motor shutdown temperature reduction/1000rpm

Hardware --
Function This parameter contains factors for the possible mounting situations and rela‐
ted cooling conditions of the motor. Based on the respective factor, the shut‐
down temperature of the related mounting situation of the motor is to be re‐
duced accordingly by the motor temperature model.
Structure The list is structured as follows:
0 Reduced on gear mounting

1 Reduction at 60 K
Also serves as default setting (set by the default
value of P-0-3060.0.4)
2 Reduction at 100 K
Tab. 4-232: Speed-dependent motor shutdown temperature reduction

Use For initialization of the motor temperature model, the reduction factor of the
respective mounting situation is selected from the list in "P-0-3060.0.5" by
means of the list index in "P-0-3060.0.4" and applied in "P-0-3060.0.3".
4.16.53 P-0-3060.0.10, Thermal parameters, motor

Hardware --
Function This list parameter contains the thermal motor data applied for control in the
motor temperature model.
The thermal time constant housing is also applied for the rotor protective
function.
Only if all thermal parameters have a value above zero, the motor
temperature model is activated.
Element Name Unit Decimal pla‐ Length

no. ces in bytes
0 Thermal conductance of housing-en‐ W/K 4 4

vironment
1 Thermal conductance of winding- W/K 4 4
housing
2 Thermal time constant of housing min 4 4
3 Thermal time constant of winding s 4 4
Tab. 4-233: Thermal motor parameters

4.16.54 P-0-3060.0.130, Thermal parameters, motor, compact

Hardware --
Alias: P-0-2761
Function Summary of structure elements of thermal parameters, motor (P-0-3060.x.1

to P-0-3060.x.10).
4.16.55 P-0-3061, Status of motor fan control

Hardware --
Function The fan control provides a status bit in "P-0-3061", which has to be assigned
to the digital output of the control section to control the motor fan.
Structure
0 Motor fan control*

0: Motor fan off
1: Motor fan on
15-1 Reserved
* Assign to digital output to control the motor fan

Tab. 4-234: P‑0‑3061, Status of motor fan control
See also Functional Description "Digital inputs/outputs"
4.16.56 P-0-3071, Identification data, type plate

Hardware --
Function This parameter contains the identification data of the motor. The parameter is
stored in the motor data memory. If the firmware detects this type of motor,
e.g. MS2N motors, the data are copied to the controller when switching on
the control voltage.
On "P-0-0660, C6300 Command Generate nameplate", the identification data
of third-party motors (to be configured by the customer) are displayed in this
parameter and stored in the encoder memory (password required).
For Rexroth motors, the following data are stored:
● S-0-1300.20.03, Vendor Code
● S-0-1300.20.04, Device Name
● S-0-1300.20.08, Hardware version
● S-0-1300.20.11, Order Number
● S-0-1300.20.12, Serial Number
● P-0-3100, Version of data structure in encoder memory

4.16.57 P-0-3072, Motor: Static type data, type plate

Hardware --
Function This parameter contains the type data of the motor. The parameter is stored
in the motor data memory. If the firmware detects this type of motor, the data
are copied to the controller when switching on the control voltage.
On "P-0-0660, C6300 Command Generate nameplate", the type data of third-
party motors (to be configured by the customer) are displayed in this parame‐
ter and stored in the encoder memory (password required).
For Rexroth motors, it may contain the following parameter data.
● S-0-0109, Motor peak current
● S-0-0111, Motor current at standstill
● S-0-0113, Maximum motor speed
● S-0-0204, Motor shutdown temperature
● S-0-0533, Nominal torque/force of motor
● S-0-0534, Maximum torque/force of motor
● P-0-0018, Number of pole pairs/pole pair distance

● P-0-0051, Torque/force constant
● P-0-0448, Temperature-dependent torque/force coefficient
● P-0-0449, Speed-dependent torque/force coefficient
● P-0-0510, Rotor inertia
● P-0-0512, Temperature sensor
● P-0-0540, Torque of holding brake
● P-0-0853, Max. DC bus voltage, motor
● P-0-2206, Drive On delay time, type plate
● P-0-2207, Drive Off delay time, type plate
● P-0-3025, Brake voltage, type plate
● P-0-3060.0.3, Speed-dependent motor shutdown temperature reduction
● P-0-3060.0.5, Motor shutdown temperature reduction / 1000rpm
● P-0-3060.0.10, Thermal parameters, motor
● P-0-3941, Motor torque/force at maximum current when using reluc‐
tance
● P-0-3942, Reluctance angle at nominal motor current
● P-0-3943, Reluctance angle at maximum motor current
● P-0-4002, Charact. of quadrature-axis induct. of motor, inductances
● P-0-4003, Charact. of quadrature-axis inductance of motor, currents
● P-0-4005, Flux-generating current, limit value
● P-0-4013, Current limit value of demagnetization
● P-0-4014, Type of construction of motor

● P-0-4016, Direct-axis inductance of motor
● P-0-4017, Quadrature-axis inductance of motor
● P-0-4048, Stator resistance
4.16.58 P-0-3073, Motor: Control loop default values, type plate

Hardware --
Function This parameter contains the default control data of the motor stored in the
motor data memory. If the firmware detects this type of motor, e.g. MS2N mo‐
tors, the data can be loaded into the controller with the controller default val‐
ues command (motor-specific controller values).
On execution of "P-0-0660, C6300 Command Generate nameplate", the de‐
fault controller data of third-party motors (to be configured by the customer)
are displayed in this parameter and stored in the encoder memory (password
required).
For Rexroth motors, it may contain the following parameter data:
● S-0-0100, Velocity controller proportional gain
● S-0-0101, Velocity controller integral action time
● S-0-0104, Position controller Kv-factor
● S-0-0106, Current controller proportional gain 1
● S-0-0107, Current controller integral action time 1
● P-0-0004, Velocity controller smoothing time constant
● P-0-0533, Voltage controller proportional gain
● P-0-0534, Voltage controller integral action time
● P-0-0535, Motor voltage at no load
● P-0-0536, Maximum motor voltage
● P-0-3945, Motor control configuration
4.16.59 P-0-3075, Application-specific data, type plate

Hardware --
Function This parameter contains the application-specific default values of the motor
stored in the motor data memory. If the firmware detects this type of motor,
e.g. MS2N motors, the data can be loaded into the controller with the control‐
ler default values command (application data).
On execution of "P-0-0660, C6300 Command Generate nameplate", the ap‐

plication-specific default values of third-party motors (to be configured by the
customer) are displayed in this parameter and stored in the encoder memory
(password required).
For Rexroth motors, such data are not configured on delivery.
4.16.60 P-0-3100, Version of data structure in encoder memory

Hardware --
Function This parameter indicates the version of the data structure in the encoder
memory of Rexroth motors.
Encoder
memory ver‐
Motor sion P-0-3100 Comment
4.1 0x0401 Standard

4.2 0x0402 IndraDrive Mi
MSK, MAD, 4.3 0x0403 4.1 + Diagnostic data of motor operation
MAF, KSM 4.4 0x0404 4.3 + Field weakening
4.5 0x0405 4.4 + Torque constant correction
4.6 0x0406 4.5 + MSK133 reluctance utilization
MSM 5.1 0x0501 Standard
SBC (Parker) 6.1 0x0601 Standard
MS2N encoder 0x0406 4.5 + MSK133 Standard reluctance uti‐
4.6 and 7.1
performance A 0x0701 lization
MS2N encoder
7.1 0x0701 Standard
performance C
Tab. 4-235: Versions and properties of encoder memory integrated in motors

memory"

4.17 P-0-3200 to P-0-3599 Safety technology

4.17.1 P-0-3200, SMO: Manufacturer version
Function This parameter contains the version name of the safety firmware.
4.17.2 P-0-3200.0.1, SMO: Certificate information

Alias: P-0-2530
Function The parameter shows the content of the SMO certificate for the firmware of
the safety option. The certificate contains information on the firmware version
of the two safety processors.
The parameter contains a binary memory snapshot, which can be shown as
plain language text via an IndraWorks dialog.
4.17.3 P-0-3200.0.5, SMO: Module code

Alias: P-0-2554
Function This parameter displays the content of the assembly code of the safety op‐
tion.

4.17.4 P-0-3200.0.6, SMO: Circuit board code

Alias: P-0-2570
Function This parameter displays the content of the circuit board code of the safety op‐
tion.
4.17.5 P-0-3200.0.20, SMO: Service password

Function
This parameter is for service purposes only and irrelevant on the
application side!

4.17.6 P-0-3201, SMO: Configuration of functional commissioning

Function This parameter serves to configure the behavior while "Safe Motion" is not
active in order to be able to implement functional commissioning prior to
"Safe Motion" commissioning.
Properties:
● Is only taken into account by "Safe Motion" in the non-active state
(P-0-3230)
● Is not write-protected by "P-0-3230.0.1, SMO: Password"
● Is not contained in "P-0-3232, SMO: Parameter image"
● Does not have to be verified
● Has zero as default value
0 Configuration of functional commissioning

0: Condition as supplied: Output stage locked, brake acti‐
vated for being applied
1: Enabling for functional commissioning: Output stage
and brake are enabled by "Safe Motion" and are activated
as requested by the standard firmware.
Exception: In the event of safety technology errors, the
output stage is blocked and the brake is activated for be‐
ing applied.
Tab. 4-236: Configuration of functional commissioning

4.17.7 P-0-3203, SMO: Optional firmware packages

Function In parameter "P-0-3203", the required and licensed optional safety firmware
packages can be activated.
0 Optional package "Extended Safety Functions"

0: Not active
1: Active
1 Optional package"SafeMotion SIL3"
0: Not active
1: Active

4.17.8 P-0-3210, C8600 SMO: Command Measure position difference

Function This parameter contains the command for measuring the position difference
during axis validation. The measurement is started on start of the command.
When the command is stopped, the measurement is stopped and the result is
displayed in "P-0-3210.0.1, SMO: Measured position difference".

4.17.9 P-0-3210.0.1, SMO: Measured position difference

Alias: P-0-2542
Function This parameter contains the position difference which was determined at the
end of the "P-0-3210, C8600 SMO: Command Measure position difference"
measurement command.
S-0-0077 /
S-0-0078
4.17.10 P-0-3210.0.2, SMO: Axis validation status

Alias: P-0-2543
Function This parameter serves to display and store the axis validation.
Structure
0 Axis validation status

0: Axis not validated
1: Axis validated
Tab. 4-238: SMO: Axis validation status

Verify: +
4.17.11 P-0-3211, SMO: Error reaction validation assistance

Function Performing the machine acceptance test in the "error reaction" testing point
requires to check the drive reaction to safety technology errors occurring.
Specifically for this purpose, this parameter features the option of generating
F3 and/or F7 errors.
Bit 0 and bit 1 are evaluated every time the parameter "P-0-3211" is written. If
a bit has been set, the error belonging to the bit is generated once per write
request.
Structure
0 Generating F3 errors
0: No F3100 error
1: F3100 - an error is present
1 Generating F7 errors
0: No F7100 error
1: F7100 - an error is present
Tab. 4-239: SMO: Axis validation status

4.17.12 P-0-3212, SMO: Code words for tests

Function
This parameter is for service purposes only and irrelevant on the
application side!

4.17.13 P-0-3215, SMO: Velocity command value for SOS check function
Function This parameter serves to enter the velocity for the "SMO: Safe standstill"
check function.
"Drive halt" active due to SafeMotion selection SMST (Special

Mode Safe Standstill).
With the entered speed, a motion is started and error F7030 trig‐
gered after exceeding the monitoring window.
This way, the SMO Safe standstill function is tested.

S-0-0045 /
S-0-0046
4.17.14 P-0-3218, SMO: Scaling factor for velocity limit value

Function The parameter defines the percentage evaluation factor for calculating the
velocity limit value of the positioning operation modes when using Safe Mo‐
tion.
The velocity limit value is derived from the product of "P-0-3238,

SMO: active velocity threshold "and "P-0-3218, SMO: Scaling fac‐
tor for velocity limit value". The limit value is usually reduced by
"P-0-3255, SMO: Velocity threshold safe standstill" compared
with the active velocity threshold.
See also "P-0-3219, SMO: Configuration of support functions"

4.17.15 P-0-3219, SMO: Configuration of support functions

Function This parameter can be used to configure the support functions for Safe-Mo‐
tion.
Structure
Limiting of the positioning velocity

0: Not active
0 1: Active
Note: The scaling of the velocity must be identical for Safe
Motion and the standard firmware, otherwise the function
cannot be activated
Tab. 4-240: SMO: Configuration of support functions

See also "P-0-3218, SMO: Scaling factor for velocity limit value"

4.17.16 P-0-3220, C8000 SMO: Command Apply scaling

Function The command C8000 is used for adopting the scaling data from the standard
firmware in Safe Motion. This allows a uniform scaling to be set.
4.17.17 P-0-3221.0.1, SMO: Polarity

Function This parameter serves to set the polarity in the safety technology. The polari‐
ty can only be set identically for all scaling types (position, velocity, accelera‐
tion).
It is advisable to parameterize the parameter in the same way as

"S-0-0043" of the standard firmware.
0 Polarity
0: Positive
1: Negative
Tab. 4-241: Velocity polarities

P-0-3221.0.1 - Attributes Function: Par Editable: SCM Data length: 2Byte
Verify: +
4.17.18 P-0-3221.0.2, SMO: Input revolutions of load gearbox

Function If a mechanical gear is installed between the motor and load, the gear ratio of
the gear is entered via "P-0-3321.0.2" and "P-0-3221.0.3, SMO: Output revo‐
lutions of load gearbox".


Verify: +
4.17.19 P-0-3221.0.3, SMO: Output revolutions of load gearbox

Function If a mechanical gear is installed between the motor and load, the gear ratio of
the gear is entered via "P-0-3321.0.3" and "P-0-3221.0.2, SMO: Input revolu‐
tions of load gearbox".


Verify: +
4.17.20 P-0-3221.0.4, SMO: Feed constant

Function This parameter is only relevant for linear axes driven by a rotary motor. The
feed constant is the distance covered by the axis, when the gear output shaft
or motor shaft performs one rotation.


S-0-0077 /
S-0-0078
Verify: +
4.17.21 P-0-3221.0.6, SMO: Modulo value

Function If the modulo format is set (P-0-3222.0.1, SMO: Scaling type for position da‐
ta, bit 7) the modulo value specifies the number value when the position data
overflows on "0".


S-0-0077 /
S-0-0078
Verify: +
4.17.22 P-0-3221.0.7, SMO: Maximum travel range

Function With the parameter "P-0-3221.0.7", the largest possible mechanical travel
distance of the machine is defined.


S-0-0077 /
S-0-0078
Verify: +
4.17.23 P-0-3221.0.130, SMO: Basic scaling, compact

Alias: P-0-2440
Function Summary of the basic scaling structure elements (P-0-3221.0.1 to

P-0-3221.0.7).

4.17.24 P-0-3222.0.1, SMO: Position data scaling type

Function The scaling type of the position data determines the format and the relation in
which the position data are exchanged between the drive and the control or
user interface. The values of the position data parameters (e.g. P-0-3257,
SMO: Position feedback value) are displayed by the drive with the set scal‐
ing. The scaling setting is usually defined by the control.
Any change in the parameter setting has an effect on the scaling

of the safety technology. Such a change therefore has an effect
on the display and processing of velocity, position or acceleration
data in the safety technology.

2-0 Scaling type

001: Linear scaling
010: Rotary scaling
3 Scaling
0: Preferred scaling
1: Parameter scaling
4 Unit for linear scaling
0: Millimeter [mm]
1: Inch [in]
Unit for rotary scaling
0: Angular degree
1: Reserved
5 Reserved
6 Data reference
0: With respect to motor shaft
1: With respect to load
7 Processing format
0: Absolute format
1: Modulo format
15-8 Reserved
Tab. 4-242: Position data scaling type

Verify: +
4.17.25 P-0-3222.0.2, SMO: Linear position data scaling exponent

Function With linear parameter scaling (P-0-3222.0.1), this parameter is used to define
the scaling factor and decimal format (decimal place) of the position data pa‐
rameters.



Verify: +
4.17.26 P-0-3222.0.3, SMO: Rotational position resolution

Function The smallest phase value for the rotary position data parameter is defined for
the rotary parameter scaling (P-0-3222.0.1) with this parameter.
Fig. 4-84: Smallest angle value for the rotary position data parameters


Verify: +

4.17.27 P-0-3222.0.130, SMO: Position scaling, compact

Alias: P-0-2441
Function Summary of the position scaling structure elements (P-0-3222.0.1 to

P-x-3222.0.3).
4.17.28 P-0-3223.0.1, SMO: Velocity data scaling type

Function The scaling type of the velocity data defines the format and the relationship in
which the velocity data are exchanged between the drive and the control or
interface.


2-0 Scaling type

001: Linear scaling
010: Rotary scaling
3 Scaling
0: Meter [m]
1: Inch [in]
0: Revolution
1: Reserved

5 Unit of time
0: Minute [min]
1: Second [s]
6 Data reference
15-8 Reserved
Tab. 4-243: SMO: Velocity data scaling type

Verify: +
4.17.29 P-0-3223.0.2, SMO: Velocity data scaling exponent

Function With parameter scaling (P-0-3223.0.1), this parameter is used to define the
scaling factor and decimal format of the velocity data.



Verify: +
4.17.30 P-0-3223.0.130, SMO: Velocity scaling, compact

Alias: P-0-2442
Function Summary of the velocity scaling structure elements (P-0-3223.0.1 to

P-0-3223.0.2).

4.17.31 P-0-3224.0.1, SMO: Acceleration data scaling type

Function The scaling type of the acceleration data determines the format and the rela‐
tion in which the acceleration data is exchanged between the drive and the
control or the interface. The values of the acceleration data parameters are
shown by the drive with the set scaling. The setting of the scaling is normally
specified by the control.


2-0 Scaling type

001: Linear scaling
010: Rotary scaling
011: Ramp time scaling
3 Scaling
0: Meter [m]
1: Inch [in]
0: Radiant [rad]
1: Reserved
5 Unit of time
0: Second [s2]
1: Reserved

6 Data reference
15-8 Reserved
Tab. 4-244: SMO: Acceleration data scaling type

Verify: +
4.17.32 P-0-3224.0.2, SMO: Acceleration data scaling exponent

Function With parameter scaling (P-0-3224.0.1), this parameter is used to define the
scaling factor and decimal format (decimal place) of the acceleration data pa‐
rameters.



Verify: +
4.17.33 P-0-3224.0.3, SMO: Ramp reference velocity for acceleration data

Function If "Ramp time" scaling type is set as "P-0-3224.0.1, SMO: Scaling type for ac‐
celeration data", the value in this parameter and the ramp reference time
serve as definition quantities for the reference velocity ramp. The value of
"P-0-3224.0.3" is scaled according to the scaling type for velocity data set in
"P-0-3223.0.1, SMO: Velocity data scaling type".



S-0-0045 /
S-0-0046
Verify: +
4.17.34 P-0-3224.0.130, SMO: Acceleration scaling, compact

Alias: P-0-2443
Function Summary of the acceleration scaling structure elements (P-0-3224.0.1 to

P-0-3224.0.3).
4.17.35 P-0-3230, SMO: Password level

Function This parameter shows the current status of "P-0-3230.0.1, SMO: Password".
Structure
Level Designation/function Status
0 Write protection of the password-protected safety Safety technology

technology parameters is active. is not active
C0720 SMO: Load defaults procedure command is al‐
lowed.
1 The password-dependent write protection of the pass‐ Safety technology
word-protected safety technology parameters is deac‐ is active
tivated.
The safety technology can be deactivated.
lowed.
Level Designation/function Status

technology parameters is active. is active
C0720 SMO: Load defaults procedure command is
not allowed.
technology parameters is active. is active
lowed.
Tab. 4-245: SMO: Password level

4.17.36 P-0-3230.0.1, SMO: Password

Alias: P-0-2468
Function Parameter "P-0-3230.0.1" can be used to activate the safety technology. The
password serves to disable and enable write access to all relevant safety
technology parameters.
Structure Password inputs.
● At least 3 characters and no more than 10 characters long
● permissible characters are "A - Z", "a - z" and numerals "0 - 9"
If the safety technology password is not as specified, the password entered is
discarded.
The initial password "INDRASAVE" and parameter "P-0-3235.0.1,

SMO: Active axis identifier" are not accepted as safety technology
password.
Safety technology passwords are handled with the assistance of

dialog boxes in the "IndraWorks Ds/D/MLD" commissioning soft‐
ware.


4.17.37 P-0-3231, SMO: Operating status

Function This parameter provides binary status signals for online monitoring of the
"Safety technology operating status" of the Safe Motion.
Structure
Normal operation (NO)

0 0: Not active
1: Active
EMERGENCY STOP (SMES)
1 0: Not active
1: Active
Special mode Safe standstill (SMST)
2 0: Not active
1: Active
Special mode Safe motion 1 (SMM1)
3 0: Not active
1: Active
4 0: Not active
1: Active
5 0: Not active
1: Active
6 0: Not active
1: Active
7 0: Not active
1: Active
8 0: Not active
1: Active
9 0: Not active
1: Active
10 0: Not active
1: Active

11 0: Not active
1: Active
12 0: Not active
1: Active
13 0: Not active
1: Active
14 0: Not active
1: Active
15 0: Not active
1: Active
16 0: Not active
1: Active
17 0: Not active
1: Active
18 0: Not active
1: Active
19 Reserved
23-20 Reserved
SMO application
24 0: Not active
1: Active
Safety technology error
25 0: Error message
1: No error message
SMO transition process
26 0: Not active
1: Active
Parking axis
27 0: Not active
1: Active

Parameterization mode
28 0: Not active
1: Active
SMO configuration mode
29 0: Not active
1: Active
Behavior with non-active "Safe Motion" (only relevant if bit
31 = 1)
30 0: Condition as supplied
1: Functional commissioning; output stage and brake(s)
are activated by the standard firmware
SMO activation status
31 0: "Safe Motion" functionality is active
1: "Safe Motion" functionality is not active
Tab. 4-246: SMO: Operating status

4.17.38 P-0-3231.0.1, C8100 SMO: Command Activate configuration mode

Alias: P-0-2465
Function This command is used to go from parameter mode (PM) to configuration

mode (SCM). During switching, errors are output as command errors, and the
axis remains in parameter mode.
4.17.39 P-0-3231.0.2, C8200 SMO: Command Exit configuration mode

Alias: P-0-2466
Function This command is used to go from configuration mode (SCM) to parameter

mode (PM). During switching, errors are output as command errors, and the
axis remains in configuration mode.

4.17.40 P-0-3231.0.3, C8300 SMO: Command Activate parameter image

Alias: P-0-2467
Function This command activates "P-0-3232, SMO: Parameter image".

Within the command, initializations are made and parameter settings and
configurations are checked. Errors are reported as command errors.
4.17.41 P-0-3231.0.4, SMO: System configuration

Alias: P-0-2469
Function The parameter defines the system behavior of Safe Motion.

Structure
0 Defined safety with parked axis

0: No safety
1: Safety
Tab. 4-247: SMO: System configuration
With Bit 0 = 1, a safety is signaled which has to result from the

risk analysis of the installation. Use for axes with long coasting
times (grinding wheels, spindles, rolls, ...) must be excluded. The
risk analysis must show that the axis, when parked, does not
present any kind of danger to persons.

Verify: +

4.17.42 P-0-3232, SMO: Parameter image

Function Contains a binary image of all parameters in the safety memory.

See also Safety Technology "Serial Commissioning"
P-0-3232 - Attributes Function: Par Editable: CM+PM Data length: 1Byte var.
4.17.43 P-0-3233, SMO: List of non-verified parameters

Function This parameter contains a list of all safety technology parameters that have
not been verified yet. This list presents every non-verified parameter as a 32-
bit hexedecimal value.
4.17.44 P-0-3234.0.1, SMO: Configuration checksum

Function This parameters displays the unique configuration data record identifier stor‐
ed in the safety option for diagnostic purposes. This identifier can be used to
determine whether the safety-technology acceptance of the axis must be re‐
peated after a parameter change (check of the scaling settings as compared
with the real axis movement). If the configuration identifier has remained un‐
changed as compared with the last state accepted, acceptance of the axis
does not have to be repeated.

4.17.45 P-0-3234.0.2, SMO: Operating hours at last change of configuration

Function This parameter displays the state of the operating hours counter of the con‐
trol section at the time when the safety parameters were changed the last
time. It cannot be changed by the user.
4.17.46 P-0-3234.0.3, SMO: Configuration change counter

Function This parameter displays the state of the internal configuration parameter
change counter. It is incremented with each write access to a configuration
parameter and cannot be directly changed by the user.
4.17.47 P-0-3234.0.4, SMO: Parameterization checksum

Function This parameters displays the unique parameterization data record identifier
stored in the safety option for diagnostic purposes.
4.17.48 P-0-3234.0.5, SMO: Operating hours at last change of

parameterization
Function This parameter displays the state of the operating hours counter of the con‐
trol section at the time when the safety parameters were changed the last
time. It cannot be changed by the user.
4.17.49 P-0-3234.0.6, SMO: Parameterization change counter

Function This parameter displays the state of the internal parameterization parameter
change counter. It is incremented with each write access to a parameteriza‐
tion parameter and cannot be directly changed by the user.
4.17.50 P-0-3234.0.130, SMO: Image information, compact

Alias: P-0-2525
Function Summary of the image information structure elements (P-0-3234.0.1 to

P-0-3234.0.6).
4.17.51 P-0-3235.0.1, SMO: Active axis identifier

Alias: P-0-2533
Function The parameter contains a text which uniquely describes the function of the
axis and the application in which it is used.
The "SMO: Active axis identifier" unequivocally identifies the ma‐

chine axis in the entire safety-related installation.

4.17.52 P-0-3235.0.2, SMO: Proposed axis identifier

Alias: P-0-2534
Function This parameter can be used to assign a new "SMO: Active axis identifier".
This requires that the character string:
● Does not correspond to the default value of "P-0-3235.0.1, SMO: Active
axis identifier"
● Is unequal to "P-0-3230.0.1, SMO: Password"
● Must comprise ≥ 3 and ≤ 44 characters
● Is limited to a range between 20 and 7D (hex) in the UTF-8 characters.
– 0123456789
– ABCDEFGHIJKLMNOPQRSTUVWXYZ
– abcdefghijklmnopqrstuvwxyz
– !#$%&()*+-.,<>=?@[]_{}|
The "SMO: Proposed axis identifier" must uniquely identify the

machine axis in the entire safety-related installation.
P-0-3235.0.2 - Attributes Function: Par Editable: SCM Data length: 1Byte var.
Verify: +
4.17.53 P-0-3235.0.3, C8500 SMO: Command Apply identification data

Alias: P-0-2535
Function In connection with "P-0-3235.0.4, SMO: Axis identification: Control word", this
command controls the acceptance of the proposed identification parameters.

4.17.54 P-0-3235.0.4, SMO: Axis identification: Control word

Alias: P-0-2536
Function This parameter controls axis identification. The identification is activated via
bits 0 and 1. The axis reacts with a visual signal. In this state, the identifica‐
tion can be confirmed by starting "P-0-3235.0.3, C8500 SMO Command Ap‐
ply identification data". When the command C8500 is carried out, the identifi‐
cation data are applied for which the bit in "P-0-3235.0.4" has been set to "1".
Once the command has been completed successfully, the bits are reset to
"0".
Structure
0 Identification for assigning the axis identifier

0: Not active
1: Active
1 Identification for assigning the TUNID
0: Not active
1: Active
Tab. 4-248: SMO: Axis identification: Control word

4.17.55 P-0-3235.0.5, SMO: Identification data image

Alias: P-0-2553
Function

port.


4.17.56 P-0-3235.0.6, SMO: Proposed axis identifier, auto commissioning

Alias: P-0-3899
Function The parameter contains the proposed axis identifier for the automated serial
commissioning.
4.17.57 P-0-3235.0.7, SSO Proposed TUNID, auto commissioning

Alias: P-0-3898
Function The parameter contains the proposed "TUNID" for the automated serial com‐
missioning. The parameter is a 10-byte value.
4.17.58 P-0-3236.0.1, SMO: Verification interface, configuration

Alias: P-0-2537
Function This parameter is used by the engineering tool to set the parameter which is
to be read for verification purposes. The display format is hexadecimal.
4.17.59 P-0-3236.0.2, SMO: Verification interface, data

Alias: P-0-2538
Function This parameter is used to read out the parameter selected in "P-0-3233,
SMO: Verification interface, configuration". Along with the data of the param‐
eter, the ident number, the attribute and a checksum of these data are also
transmitted to the engineering tool.

4.17.60 P-0-3236.0.3, SMO: Verification interface, acknowledgment

Alias: P-0-2539
Function Via this parameter, the engineering tool acknowledges the parameter value
read out via "P-0-3236.0.2, SMO: Verification interface, data".
4.17.61 P-0-3236.0.4, SMO: Verification interface, axis ID

Alias: P-0-2540
Function This parameter can be used to allow the engineering tool to read a random
value generated by the axis after power-on, which is required for generating
the data of "P-0-3236.0.3, SMO: Verification interface, acknowledgment".
4.17.62 P-0-3236.0.5, SMO: Verification interface, commissioning identifier

Alias: P-0-2541
Function This parameter can be used to allow the engineering tool to write a randomly
generated value to the axis, which the axis required for checking the content
of "P-0-3236.0.3, SMO: Verification interface, acknowledgment".

4.17.63 P-0-3237, SMO: Status word

Function This parameter provides binary status signals for online monitoring of the
safety technology.
Structure
0 Safety state
0: Axis not safe
1: Axis safe
1 State of output stage disable
0: Enabled
1: Disabled:
Tab. 4-249: SMO: Status Word

4.17.64 P-0-3238, SMO: Active velocity threshold

Function This parameter displays the currently active velocity monitoring limit.
S-0-0045 /
S-0-0046
4.17.65 P-0-3238.0.1, SMO: Active position limit value, positive

Hardware S3, S4
Alias: P-0-2791
Function After establishing the position data reference, the parameter shows the cur‐
rently active absolute positive position limit value. Without position data refer‐
ence, the parameter is set to the maximum value.
S-0-0077 /
S-0-0078

4.17.66 P-0-3238.0.2, SMO: Active position limit value, negative

Hardware S3, S4
Alias: P-0-2792
Function After establishing the position data reference, the parameter shows the cur‐
rently active absolute negative position limit value. Without position data ref‐
erence, the parameter is set to the minimum value.
S-0-0077 /
S-0-0078
4.17.67 P-0-3242.x.1, SMO: Phys. encoder type

Function This parameter is used to inform the safety technology about the encoder
type which is to be evaluated.
It is advisable to parameterize the parameter identically to

"S-0-0602.1.1" of the standard firmware.
Structure Value Designation/function Comment
0 No encoder
No encoder (sensorless operation)
2 Encoder with sine signals
(1Vpp, 5V supply)
4 Encoder with sine signals and HIPERFACE interface Only the 1 Vpp
(SICK|STEGMANN) track is evalu‐
(1Vpp, 12V supply) ated.
Code number for motor type code field "encoder" = "S1",

"M1", "_3", "_5"
6 Encoder with sine signals and EnDat2.1 interface (Heiden‐ Only the 1 Vpp
hain) track is evalu‐
(1Vpp, 12V supply) ated.
Code number for motor type code field "encoder" = "_2",

"_6"
10 Resolver encoder Analog signals
(5Vpp, 10Vpp supply / 8kHz)

15 Encoder with sine signals and analog Hall sensor Only the 1 Vpp
Encoder combination: Encoder with sine signals (1Vpp, 5V track is evalu‐
or 12V supply) and analog Hall sensor encoder SHL02 ated.
(12V supply) or MCL motor with "L1" Hall unit (MCP...-
L1...))
23 Encoder with sine signals and digital Hall sensor Only the 1 Vpp
Encoder combination: Encoder with sine signals (1Vpp, 5V track is evalu‐
or 12V supply) and digital Hall sensors (12V supply) or ated.
MCL motor with "L0" Hall unit (MCP...-L0..., connected via
SHL03) as commutation encoder
26 Encoder with sine signals and SSI interface Only the 1 Vpp
(1Vpp sine signals; SSI interface configurable) track is evalu‐
ated.
105 Encoder with ACURO®link interface (Hengstler)
(10 MHz, 12V supply)
Tab. 4-250: SMO: Phys. encoder type

P-0-3242.x.1 - Attributes Function: Par Editable: SCM Data length: 2Byte
Verify: +
4.17.68 P-0-3242.x.2, SMO: Phys. encoder properties

Function This parameter describes the properties of the physical encoder.

"S-0-0277" or "S-0-0115" (depending on which encoder is as‐
signed to the optional slot X4 [X4.1 and X4.2 for the double-axis
device; X104 for IndraDrive Mi (KMS02, KSM02)]) of the standard
firmware.
0 Type of design:
0: Rotary
1: Linear
1 Rotational direction:
0: Not inverted
1: Inverted
12 Amplitude monitoring in normal operation: FW 20V08 and
0: Active above
1: Not active Only for encod‐

er types: 2, 4,
6, 23, 26
Tab. 4-251: SMO: Phys. encoder properties

Verify: +
4.17.69 P-0-3242.x.3, SMO: Phys. encoder resolution (analog)

Function This parameter specifies the encoder resolution for analog encoders.
● Rotary encoder: Number of division periods per shaft revolution (DP/rev)
● Linear encoder: Resolution in mm (mm/line count)

"S-0-0602.x.3" (depending on which encoder is assigned to the
optional slot X4 [X4.1 and X4.2 for the double-axis device; X104
for IndraDrive Mi (KMS02, KSM02)]) of the standard firmware.

Unit: P-0-3242.x.2 Extr. val. ch.: + Decim. pl.: P-0-3242.x.2
Verify: +
min./max.: P-0-3242.x.2 /
P-0-3242.x.2
4.17.70 P-0-3242.x.4, SMO: Phys. encoder resolution (digital)

Function This parameter specifies the encoder resolution for digital encoders. The pa‐
rameter is not relevant to combined encoders.
● Rotary encoder: Number of increments per shaft revolution (incr/rev)
● Linear encoder: Digital linear encoders are not supported

"S-0-0602.x.4" (depending on which encoder is assigned to the
optional slot X4 [X4.1 and X4.2 for the double-axis device; X104
for IndraDrive Mi (KMS02, KSM02)]) of the standard firmware.

Unit: Incr/Rev Extr. val. ch.: + Decim. pl.: 0
Verify: +
4.17.71 P-0-3242.x.130, SMO: Phys. encoder configuration, compact

Alias: P-0-2474
Function Summary of the physical encoder configuration structure elements

(P-0-3242.x.1 to P-0-3242.x.3).
4.17.72 P-0-3245.x.131, SMO: Phys. encoder configuration, standard

firmware
Function The parameter contains the phys. encoder configuration (resolution and
sense of motion) of the standard firmware and is used for adjusting the phys.
encoder configuration in the safety engineering.
The parameter is not relevant for the user. The format is specified further in
the firmware.
4.17.73 P-0-3252.x.2, SMO: Mounting position

Function This parameter serves to configure the safety technology encoder mounting
position.
0 Mounting position:
0: Encoder mounted on motor side
1: Encoder mounted on load side
Tab. 4-252: SMO: Mounting position

Verify: +
4.17.74 P-0-3252.x.3, SMO: Gearbox input revolutions

Function This parameter defines the input revolutions (on encoder side) of the encoder
gear.
Verify: +
4.17.75 P-0-3252.x.4, SMO: Gearbox output revolutions

Function This parameter defines the output revolutions (on motor or load side) of the
encoder gear.
Verify: +
4.17.76 P-0-3252.x.130, SMO: Encoder mechanics, compact

Alias: P-0-2486
Function Summary of the encoder mechanics structure elements (P-0-3252.x.1 to

P-0-3252.x.4).

4.17.77 P-0-3253, SMO: Safe homing procedure control word

Function The parameter provides binary control signals for "P-0-3253.0.2, SMO:
C4000 Safe homing procedure command".
Structure
0 SMO reference signal

0: Not activated
1: Activated
Tab. 4-253: P-0-3253.0.0

4.17.78 P-0-3253.0.1, SMO: Safe homing procedure configuration

Alias: P-0-2793
Function This parameter is used to configure the auxiliary function "Safe homing
procedure".
Structure
0 Safe homing procedure active

0: No (default)
1: Yes
1 SMO reference signal
0: Dynamic evaluation (default)
The edge that is to be evaluated is selected using bit 2
1: Static evaluation
2 Edge evaluation of SMO reference signal (only if bit 1 = 0)
0: Positive (default)
1: Negative

3 Cyclic check of safe reference
1: Active
4 Behavior if safe reference missing
0: Error F3112 (default)
1: Warning E3112
Tab. 4-254: P-0-3253.0.1, SMO: Safe homing procedure configuration
In the special mode "Safe motion" (without absolute position mon‐

itoring functions), the error message F3112 is always generated if
reference is missing, even if bit 4 = 1.

Verify: +
4.17.79 P-0-3253.0.2, SMO: C4000 Safe homing procedure command

Alias: P-0-2794
Function The command parameter serves to establish the position data reference for
SMO. The command does not trigger any independent motion of the drive.
P-0-3253.0.2 - Attributes Function: Cmd Editable: OM Data length: 2Byte
4.17.80 P-0-3253.0.3, SMO: Reference position

Alias: P-0-2795
Function Position parameter for "safe homing" containing the position value of the
SMO reference signal (P-0-3253.0.0). During command C4000, the SMO ref‐
erence signal is expected at this position +/- the tolerance range
(P-0-3253.0.4).
S-0-0077 /
S-0-0078
Verify: +

4.17.81 P-0-3253.0.4, SMO: Safe homing procedure tolerance window

Alias: P-0-2796
Function Bipolar tolerance range for safe homing. The tolerance range is applied for
different independent monitoring functions:
During command C4000:
● The plausibility of the position at which the SMO reference signal is rec‐
ognized is validated with "P-0-3253.0.3 SMO: Reference position" +/-
this tolerance range.
● It is checked that the distance between the SMO reference signal and
the reference switch of the standard firmware is at least as high as this
tolerance range multiplied by a factor of 2.
After the safe reference is established:
● For monitoring of the SMO reference signal for "stuck at high": Outside
of the SMO reference position (P-0-3253.0.3) +/- this tolerance range,
the SMO reference signal has to be on low level.
At cyclic checking of the safe reference:
● On triggering the reference event, the SMO position feedback value has
to be in the range of "P-0-3253.0.3, SMO: Reference position" +/- this
tolerance range.
S-0-0077 /
S-0-0078
Verify: +
4.17.82 P-0-3253.0.5, SMO: Maximum homing velocity

Alias: P-0-2797
Function The axis may be moved at this maximum velocity if safe homing is required
(bit 0 "Safety related homing procedure active" = 1 in P-0-3253.0.1) but the
safe reference is missing.
S-0-0045 /
S-0-0046
Verify: +
4.17.83 P-0-3253.0.6, SMO: Reference check time interval

Alias: P-0-2798
Function If "cyclic checking of the safe reference" is configured (P-0-3253.0.1) and the
SMO reference signal (P-0-3253.0.0) is not recognized in the admissible po‐
sition range (P-0-3253.0.3 ± P-0-3253.0.4), the "status of the SMO encoder
position feedback value" is lost (P-0-3256). Additionally, error message
F3166 is generated.
The check is only performed if the velocity feedback value is below the veloc‐
ity threshold (P-0-3253.0.5) (same criteria for clear recognition at C4000).
The time interval is respectively restarted if the SMO reference signal is rec‐
ognized in the admissible range of if error F3166 is cleared.
Verify: +
4.17.84 P-0-3254, C8400 SMO: Command Apply encoder configuration

Function This command facilitates parameterization of the safety technology encoder.

The encoder data from the standard firmware are applied to the safety tech‐
nology application. The data of the encoder connected via X4 (IndraDrive Mi
on the interface X104; for double-axis device on interfaces X4.1 (axis 1) and
X4.2 (axis 2)) is used.
4.17.85 P-0-3255, SMO: Velocity threshold for safe standstill

Function This parameter defines a velocity threshold for safety standstill. It is signaled
in bit 6 of parameter "P-0-3256, SMO: Encoder evaluation status".
P-0-3255 - Attributes Function: Par Editable: SCM Data length: 4Byte
S-0-0045 /
S-0-0046
Verify: +
4.17.86 P-0-3256, SMO: Encoder evaluation status

Function The status displays the current state of the encoder evaluation. The parame‐
ter definition complies with the most important aspects of the Sercos encoder
specification.
Structure
0 Encoder types 2, 4, 6, 10, 23, 26:

Amplitude monitoring error
Encoder type 105:
Error in protocol evaluation
0: No error
1: Error
1 Encoder types 2, 4, 6, 10, 23, 26:
Frequency monitoring error
Encoder type 105:
Alert bit 1 or 2 set
0: No error
1: Error
2 Encoder types 2, 4, 6, 23, 26:
Quadrant counter error
Encoder type 10:
Excitation frequency monitoring error
Encoder type 105:
Error in lifecounter monitoring
0: No error
1: Error
3 Encoder types 2, 4, 6, 10, 23, 26:
Phase monitoring error
Encoder type 105:
Data transmission error
0: No error
1: Error
4 Encoder types 2, 4, 6, 10, 23, 26:
Hardware error
Encoder type 105:
Extrapolation error
0: No error
1: Error
5 Status of SMO encoder position feedback value (X4.n/
X104 interface)
0: Relative
1: Safely homed

6 Encoder standstill
0: No standstill
1: Standstill
7 Encoder type 10:
Analog/digital conversion error
0: No error
1: Error
10/9/8 Verification error
000: No error
001: Position error
010: Velocity error
100: Status error
11 Direction of motion Version 20 and
0: Positive above
1: Negative
12 Encoder warning
0: No warning
1: Warning
13 Encoder error
0: No errors
1: Error
15/14 Encoder evaluation status
00: Not active
01: Active "error output OFF"
11: Active "error output ON"
Tab. 4-255: SMO: Encoder evaluation status

4.17.87 P-0-3257, SMO: Position feedback value

Function The actual position value shows the current position of the safety technology
encoder. On initialization, it is set to "0" with relative evaluation.
S-0-0077 /
S-0-0078
4.17.88 P-0-3257.0.1, SMO: Actual position value, coded

Alias: P-0-2799
Function Bit-by-bit inverted "P-0-3257, SMO: Position feedback value".

4.17.89 P-0-3258, SMO: Velocity feedback value

Function The actual velocity value shows the current velocity of the safety technology
encoder.
S-0-0045 /
S-0-0046
4.17.90 P-0-3261, SMO: State machine control word

Function This parameter provides binary control signals for online control of the safety
functions via digital hardware inputs (local safety inputs) or via safe bus com‐
munication of the drive.
Structure
Operation mode selection signal (MS)

0 0: Special mode
1: Normal operation
EMERGENCY STOP signal (ES)
1 0: Active
1: Not active
Enabling signal (EC)
2 0: Not active
1: Active

SMM1 signal (A_SMM1)
3 0: Not active
1: Active
4 0: Not active
1: Active
5 0: Not active
1: Active
6 0: Not active
1: Active
7 0: Not active
1: Active
8 0: Not active
1: Active
9 0: Not active
1: Active
10 0: Not active
1: Active
11 0: Not active
1: Active
12 0: Not active
1: Active
13 0: Not active
1: Active
14 0: Not active
1: Active
15 0: Not active
1: Active

16 0: Not active
1: Active
17 0: Not active
1: Active
18 0: Not active
1: Active
19 Reserved
Tab. 4-256: SMO: State machine control word

4.17.91 P-0-3261.0.1, SMO: State machine control word, functional

Alias: P-0-2463
functions via the master communication of the drive.
Structure In NC-controlled safety technology operation mode transitions (P-0-3280.0.1:
Bit 0 = 0),the control can shorten the transition times "P-0-3280.0.2" and
"P-0-3280.0.3" and "P-0-3280.0.4". The selected monitoring functions are ac‐
tive immediately.
0 NC-Ready
0: Inactive
1: Inactive
0-1 edge: Causes an immediate change to the selected
safety technology operating status. The "0-1 edge" can
only be evaluated if the control signal is at least 10 ms
zero.
Tab. 4-257: SMO: State machine control word, functional

P-0-3261.0.1 - Attributes Function: Par Editable: OM Data length: 2Byte

4.17.92 P-0-3262, SMO: Selected operating status

Function This parameter provides binary status signals for displaying the selected
safety technology operating status.
Structure
Normal operation (NO)

0 0: Not active
1: Active
Special mode EMERGENCY STOP (SMES)
1 0: Not active
1: Active
Special mode safe standstill (SMST)
2 0: Not active
1: Active
Special mode safe motion 1 (SMM1)
3 0: Not active
1: Active
4 0: Not active
1: Active
5 0: Not active
1: Active
6 0: Not active
1: Active
7 0: Not active
1: Active
8 0: Not active
1: Active
9 0: Not active
1: Active
10 0: Not active
1: Active

11 0: Not active
1: Active
12 0: Not active
1: Active
13 0: Not active
1: Active
14 0: Not active
1: Active
15 0: Not active
1: Active
16 0: Not active
1: Active
17 0: Not active
1: Active
18 0: Not active
1: Active
19 Reserved
Tab. 4-258: SMO: Selected operating status

4.17.93 P-0-3263.0.1, SMO: Configuration of stopping process

Function The parameter is used to configure the "Safe Motion" error reaction.
The error reactions configured in "P-0-3263.0.1" have to match

the error reactions of the standard firmware (P-0-0117, Activation
of control unit reaction on error and P-0-0119, Best possible de‐
celeration).
Parameterizable deceleration as a reaction to

- non-fatal safety tech‐ - safety technology er‐ fatal errors F8xxx
nology errors F3xxx rors F7xxx
Type of deceleration Intended use - fatal warnings E83xx

- drive-controlled tran‐
sition to special mode
standstill SMST1/
SMST2/SMES
Emergency stop Fastest possible decel‐ □□□□0hex □□□0□ hex Not possible
Velocity command val‐ eration
ue reset
Emergency stop Deceleration protecting □□□□4 hex □□□4□ hex Not possible
Velocity command val‐ the mechanics while
ue reset with ramp and complying with emer‐
filter gency stop properties
Quick stop Deceleration protecting □□□□2 hex Not possible Not possible
Velocity command val‐ the mechanics while
ue reset with ramp and complying with quick
filter stop properties
NC/MLD error reaction For systematic return 1□□□□ hex Not possible Not possible
Error reaction control‐ motion in the case of
led by control unit error
Torque disable For slave axes, provi‐ □□□□1 hex □□□1□ hex □□□□□ hex
ded they have been
connected to the mas‐
ter axis in friction-
locked form
Tab. 4-259: Parameterization options

Structure
0□□□■ Parameterizable best possible deceleration as error reaction (see table "Options for parameterization ..." column
hex 3)
0hex: Velocity command value reset (emergency stop)
Note: Safe Motion monitors the reaction of the standard drive, using the safety function SMD
● The axis is decelerated taking parameter "P-0-0109" into account (vcmd = 0). There is no acceleration limita‐
tion.
● In open-loop V/Hz (U/f) control, "P-0-0109" is only used for deceleration if the stall protection controller has
been activated (P-0-0045). Maximum deceleration is determined by parameter "P-0-0569".
Once "S-0-0273" elapses:

1hex: Torque disable (can only be combined with 1 in □□□■□ hex)
Note: Safe Motion activates the safety function STO (SBC).
In the case of error, the drive torque is disabled, i.e. the drive "coasts to stop". The drive is only decelerated by
the friction torque. If the drive is additionally equipped with a motor holding brake, the brake is
● only activated at a velocity of less than 10 rpm for main spindle drives ("main spindle brake" function,
P-0-0525) - immediately activated if the safety function (SBC) has been configured.
2hex: Velocity command value reset with ramp and filter (quick stop)
value "S-0-0349". If the value S-0-0327 = "0", the value in "S-0-0138" takes effect. Torque/force limitation is de‐
Note: With open-loop V/Hz (U/f) control, the maximum deceleration is given by the value entered in "P-0-0569".
3hex: Not possible

in V/Hz (U/f) operation is decelerated with a command value ramp, determined by "S-0-0429, Emergency halt
deceleration" and "S-0-0349, Bipolar jerk limit". If the value "S-0-0429" = "0", the value in "S-0-0138, Bipolar ac‐
celeration limit value" takes effect. Torque/force limitation is derived from parameter "P-0-0109".
□□□■□ Parameterizable best possible deceleration as error reaction to F7 error messages
hex 0hex: Velocity command value reset (emergency stop)
Note: Safe Motion monitors the reaction of the standard drive, using the safety function SMD.
● The axis is decelerated taking parameter "P-0-0109, Torque/force peak limit" into account (vcmd = 0). There
is no acceleration limitation.
● In open-loop V/Hz (U/f) control, "P-0-0109" is used for deceleration if the stall protection controller has been
activated (P-0-0045). Maximum deceleration is determined by parameter "P-0-0569".
Once S-0-0273 elapses:
1hex: Torque disable (can only be combined with 1 in □□□□■ hex)

Note: Safe Motion activates the safety function STO (SBC).
In the case of error, the drive torque is disabled, i.e. the drive "coasts to stop". The drive is only decelerated by
the friction torque. If the drive is additionally equipped with a motor holding brake, the brake is

● only activated at a velocity of less than 10 rpm for main spindle drives ("main spindle brake" function,
P-0-0525) - immediately activated if the safety function (SBC) has been configured.
2hex: Not possible
3hex: Not possible
Note: Safe Motion monitors the reaction of the standard drive, using the safety function SMD.
value "S-0-0349". If the value "S-0-0429" = "0", the value in "S-0-0138" takes effect. Torque/force limitation is
derived from parameter "P-0-0109".
■□□□□ NC/MLD error reaction
hex Note: Safe Motion monitors the "Safe maximum speed (SMS)". The reaction time is limited to "P-0-3263.0.6". If
the axis has not yet been decelerated and is not yet torque-free, the error reaction is aborted with an F7 error
message.
0hex: Deactivated
1hex: Activated
Tab. 4-260: Setting the way the drive is decelerated with the above criteria
Verify: +
4.17.94 P-0-3263.0.2, SMO: Oscillation velocity window of SMD-E

Function This parameter serves to configure the "safety-monitored deceleration

(SMD)" safety function for monitoring the drive-controlled error reaction.
At the beginning of monitoring, the velocity value defined in this parameter is
added to the actual velocity and is the monitoring threshold during the reac‐
tion time set in "P-0-3263.0.3, SMO: SMD-E reaction time".
See also: Safely-Monitored Deceleration (SMD)
S-0-0045 /
S-0-0046
Verify: +

4.17.95 P-0-3263.0.3, SMO: SMD-E reaction time


Reaction time for the standard drive to be able to adjust the command value
input for transition to the "safe standstill". After this time has elapsed, the par‐
ameterized deceleration ramp is monitored.
Verify: +
4.17.96 P-0-3263.0.4, SMO: Velocity window of SMD-E

Function This parameter serves to configure the "safely-monitored deceleration

The start value for monitoring the deceleration ramp is established from the
current actual velocity plus the tolerance limit defined in this parameter.
S-0-0045 /
S-0-0046
Verify: +
4.17.97 P-0-3263.0.5, SMO: SMD-E delay


The parameter defines a deceleration threshold (bipolar) for going to the
"safe standstill".

S-0-0161 /
S-0-0162
Verify: +
4.17.98 P-0-3263.0.6, SMO: Error reaction F3 tolerance time

Function This parameter defines the maximum available time within which the drive
must be decelerated to standstill by means of "error reaction F3". If this is not
the case, the "F7050 Time for stopping process exceeded" or "F8350 Time
for stopping process exceeded" (if F3==F7 reaction) is generated.
See also "Safely-Monitored Deceleration (SMD)"
Verify: +
4.17.99 P-0-3263.0.7, SMO: Error reaction F7 tolerance time

Function This parameter defines the maximum available time within which the drive
must be decelerated to standstill by means of "error reaction F7". Otherwise,
error message "F8350 Time for stopping process exceeded" is generated.
Verify: +
4.17.100 P-0-3263.0.8, SMO: SMD-E jerk

Function The parameter defines the maximum allowed jerk that is taken into account in
the velocity envelope curve for the monitoring of the drive-controlled error re‐
action, with velocity command value reset with ramp and filter, after F3 and
F7 errors.
With the value 0, the jerk is not taken into account.
The parameter is used in the safety functions "Safely-limited end position

(SLE)" and "Safely-limited position (SLP)" to calculate the maximum allowed
approach velocity to the parameterized position limits.
If the jerk (P-0-3263.0.8 > 0) is used, the value in

„P-0-3263.0.8“ should be parameterized with the jerk limit value of
the standard firmware in parameter „S-0-0349, Bipolar jerk limit“,
and the value in „P-0-3263.0.3, SMO: SMD-E reaction
time“ should be parameterized with the deceleration ramp of the
standard firmware in „S-0-0429, Emergency halt deceleration“.

S-0-0161 /
S-0-0162
Verify: +
4.17.101 P-0-3263.0.130, SMO: Stopping process, compact

Alias: P-0-2531
Function Summary of the stopping process structure elements (P-0-3263.0.1 to

P-0-3263.0.7).
4.17.102 P-0-3264, SMO: Safety function selection

technology functions. The motion operation mode in special mode "Safe mo‐
tion" is selected in coded form.
Structure
Safe brake control (SBC)

0 0: Selected
1: Not selected
1 Reserved
Safe torque off (STO)
2 0: Selected
1: Not selected

Safe operating stop (SOS)
3 0: Selected
1: Not selected
Safely-limited speed (SLS)
4 0: Selected
1: Not selected
5 Reserved
Safe direction positive (SDIpos) normal operation
6 0: Selected
1: Not selected
Safe direction negative (SDIneg) normal operation
7 0: Selected
1: Not selected
Safely-limited increment (SLI)
8 0: Selected
1: Not selected
Safely-limited position (SLP)
SMO-14 and
9 0: Selected
above
1: Not selected
Safely-monitored position (SMP)
SMO-14 and
10 0: Selected
above
1: Not selected
Safe CAM (SCA)
SMO-14 and
11 0: Selected
above
1: Not selected
Safe stop 1 (SS1) - drive-controlled
14 0: Selected
1: Not selected
15 0: Selected
1: Not selected
Safe stop 1 (SS1) - NC-controlled
16 0: Selected
1: Not selected
17 0: Selected
1: Not selected
18 Reserved

Safely-monitored deceleration with trend monitoring
(SMDTrend)
19
0: Selected
1: Not selected
Safely-monitored deceleration based on actual velocity
(SMDActVel)
20
0: Selected
1: Not selected
22/21 Reserved
Safe maximum speed (SMS)
23 0: Selected
1: Not selected
Safely-monitored transient oscillation (SLS-LT)
24 0: Selected
1: Not selected
Safely-limited end position (SLE)
SMO-14 and
25 0: Selected
above
1: Not selected
Motion operation modes (SMM1 - SMM16)
0x00: Special mode Safe motion not selected
30... 0x01: Special mode Safe motion SMM1 selected
26 ...
0x0F: Special mode Safe motion SMM15 selected
0x10: Special mode Safe motion SMM16 selected
31 Reserved
Tab. 4-261: SMO: Safety function selection

4.17.103 P-0-3264.0.1, SMO: Safety function status

Alias: P-0-2462
Function This parameter represents binary status signals for displaying the status of
safety functions and provides them for Safe Motion. The status of the motion
operation mode in special mode "Safe motion" is displayed in coded form in
bit 30... 26.
Safe brake control (SBC)

0 0: Not active
1: Active
1 Reserved
Safe torque off (STO)
2 0: Not active
1: Active
Safe operating stop (SOS)
3 0: Not active
1: Active
Safely-limited speed (SLS)
0: Not active
4 1: Active
Note: Detailed information on the "SLS" selected can be
found under bits 26 to 30
5 Reserved
Safe direction positive (SDIpos)
6 0: Not active
1: Active
Safe direction negative (SDIneg)
7 0: Not active
1: Active
Safely-limited increment (SLI)
0: Not active
8 1: Active
Note: Detailed information on the "SLI" selected can be
Safely-limited position (SLP)
0: Not active
SMO-14 and
9 1: Active above
Safely-monitored position (SMP)
0: Not active
SMO-14 and
10 1: Active above
Safe CAM (SCA)
SMO-14 and
11 0: Not active
above
1: Active

14 0: Not active
1: Active
15 0: Not active
1: Active
16 0: Not active
1: Active
17 0: Not active
1: Active
18 Reserved
Safely-monitored deceleration with trend monitoring
(SMDTrend)
19
0: Not active
1: Active
Safely-monitored deceleration based on actual velocity
(SMDActVel)
20
0: Not active
1: Active
Drive-controlled error reaction (with safely-monitored de‐
celeration based on actual velocity (SMDActVel) in case of
21 F3 and F7 errors)
0: Not active
1: Active
NC/MLD error reaction (with F3 error reaction time moni‐
toring)
22
0: Not active
1: Active
Safe maximum speed (SMS)
23 0: Not active
1: Active
Safely-monitored transient oscillation (SLS-LT)
0: Not active
24 1: Active
Note: Detailed information on the "SLS-LT" selected can
be found under bits 26 to 30
Safely-limited end position (SLE)
SMO-14 and
25 0: Not active
above
1: Active

Motion operation modes (SMM1 - SMM16)
0x00: Special mode Safe motion not active
30... 0x01: Special mode Safe motion SMM1 active
26 ...
0x0F: Special mode Safe motion SMM15 active
0x10: Special mode Safe motion SMM16 active
31 Reserved
Tab. 4-262: SMO: Safety function status

4.17.104 P-0-3264.0.2, SMO: Safety function diagnostics

Hardware S3, S4
Alias: P-0-3590
Function This parameter provides binary status signals regarding the current state of
safety functions.
Structure
0 "Safely-limited end position (SLE)" active

0: Actual position outside pos. position limit P-0-3270.0.4 as of SMO-14
1: Actual position within pos. position limit P-0-3270.0.4
1 "Safely-limited end position (SLE)" active
0: Actual position outside neg. position limit P-0-3270.0.5 as of SMO-14
1: Actual position within neg. position limit P-0-3270.0.5
2 "Safety-limited position n (SLP)"/"Safely-monitored posi‐
tion n (SMP)" active
as of SMO-14
0: Actual position outside pos. position limit P-0-3290.x.4
1: Actual position within pos. position limit P-0-3290.x.4
3 "Safety-limited position n (SLP)"/"Safely-monitored posi‐
tion n (SMP)" active
as of SMO-14
0: Actual position outside neg. position limit P-0-3290.x.5
1: Actual position within neg. position limit P-0-3290.x.5
Tab. 4-263: SMO: Safety function diagnostics

Bit 0 and 1 are updated in the SI operating state with active

"Safely-limited end position (SLE)" safety function and in error
state after occurrence of error F7023/F7024 as long as the error-
causing SI operating state is selected.
Bit 2 and 3 are updated in the SI operating state with active
"Safely-limited position n (SLP)" or "Safely-monitored position n
(SMP)" safety function and in error state after occurrence of error
F7011/F7012 as long as the error-causing SI operating state is
selected.

4.17.105 P-0-3265, SMO: Status word of safe braking and holding function
Hardware S4, S5, SB, SD
Function The parameter provides the state of the safe holding system.
Structure
0 Safe Brake Control (SBC) control status

0: Controlled
1: Not controlled
15 Reserved
Tab. 4-264: SMO: Status word of safe braking and holding function
Cycl. tra.: AT Comb. check: + Set-depend.: --
4.17.106 P-0-3265.0.1, SMO: Configuration of safe braking and holding

function
Alias: P-0-2544
Function The parameter is used to configure the safe braking and holding function.
0 Safe brake control (SBC)

0: Not active
1: Active (default)
1 "Release holding system" - allowed with active SBC in
"special mode safe standstill" with STO.
0: No (default)
1: Yes
Tab. 4-265: SMO: Configuration of safe braking and holding function
WARNING Lethal injury and/or property damage caused

by unintended axis motion!
⇒ If the brake is triggered manually via the control signal
"release holding brake", the drive is no longer able to counteract influences
applied from the outside. The safety technology does not monitor in this
state!
If external force influences are to be expected, e.g. in the case of a vertical
axis, this motion has to be safely prevented by additional measures, e.g.
weight compensation.

Verify: +
4.17.107 P-0-3265.0.2, SMO: Control word of safe braking and holding function
Alias: P-0-2545
Function This parameter provides binary control signals for online control of the safe
brake via digital hardware inputs (local safe inputs).
Structure
0 Open holding system

1: Active
Tab. 4-266: SMO: Control word of safe braking and holding function
With active SBC function, the signal can be used to activate the holding sys‐
tem if "P-0-3265.0.1: bit 1 = 1" and the "special mode safe standstill" safety
technology operating status is active with STO.
4.17.108 P-0-3266, SMO: Safety zone status word

Hardware S4, S5
Function This parameter displays the information which the zone node delivers to the
zone bus (bits 0 and 1) for diagnostic purposes. This information is formed
from the status of the preceding zone nodes (bits 4 and 5) and the status of
the zone node itself (bits 8 and 9).
In addition, it displays enabling of normal operation (bit 2) which is only es‐
tablished by the zone master. The states shown here do not lead to an axis
reaction of the zone node. tThese are shown in "P-0-3266.0.1, SMO: Safety
zone control word".
Structure
0 Safety on following zone nodes (out, X43)

0: Zone is not safe
1: Zone is safe
1 Error on following zone nodes (out, X43)
0: Zone error present
1: Zone error not present
2 Enabling of normal operation (only zone master) (out,
X43)
0: Normal operation disabled
1: Normal operation enabled
4 Safety on preceding zone nodes (in, X42)
0: Zone is not safe
1: Zone is safe
5 Error on preceding zone nodes (in, X42)
1: Zone error not present
8 Safety of axis (axis contribution to total status)
0: Axis is not safe
1: Axis is safe
9 Error of axis (axis contribution to total status)
0: "Safe Motion" error present on axis
1: No "Safe Motion" error present on axis
10 Release of normal operation (only zone master) (axis con‐
tribution to total status)
Tab. 4-267: Safety zone status word


4.17.109 P-0-3266.0.1, SMO: Safety zone control word

Hardware S4, S5
Alias: P-0-2546
Function This parameter displays information which the zone master reports to the
zone node via the zone bus. In addition, the status of the zone bus communi‐
cation is displayed.
Structure
0 Status "safety of safety zone" (total)

0: Zone not safe
1: Zone is safe
1 Status "error of safety zone" (total)
1: No errors
2 Status "enabling of normal operation by zone master"
4 Status "zone bus communication"
0: No or invalid telegrams received
1: Valid telegrams received
Tab. 4-268: Safety zone control word

4.17.110 P-0-3266.0.2, SMO: Safety zone configuration

Hardware S4, S5
Alias: P-0-2547
Function This parameter serves to configure the axis for operation in a safety zone.
0 Zone formation
0: Single-axis acknowledgement (default) - self-sustaining
acknowledgement of safety through axis. (X42 and X43
are not wired)
1: Zone acknowledgement: The axis is connected to the
safety zone module via the zone bus (X42 and X43) to
form a safety zone.
1 Safety acknowledgement of the zone (effective only with
bit 0 = 1)
0: Zone node (default)
1: Zone master
4-2 Reserved
5 Control of safe door locking via the safety zone module
(only active when Bit 0 = 1 and Bit 1 = 1)
1: Active
7/6 Reserved
8 Zone error reaction - reaction
Reaction of the zone node to a zone error
0: No reaction (default)
1: Reaction (E8300, with the same reaction as errors of
category F3)
9 Zone error reaction - signaling
The zone node signals to the safety zone its own safety
technology errors with regard to the zone error reaction.
0: No signaling (default)
1: Signaling (triggering of "zone reaction" in case of an
error)
Tab. 4-269: SMO: Safety zone configuration

Verify: +
4.17.111 P-0-3266.0.3, SMO: Control word of safe door locking

Hardware S4, S5
Alias: P-0-2548
Function This parameter provides binary control signals for online control of the safe
door locking (SDL).
The acknowledgement contacts of the safety door are provided via digital
hardware inputs (safe inputs) of the safety zone module.
0 Unlock safety door request

0: Lock door
1: Unlock door
1 Acknowledgement contacts of safety door
0: Latch open
1: Latch closed
Tab. 4-270: SMO: Control word of safe door locking

4.17.112 P-0-3266.0.4, SMO: Tolerance time for Safe door locking

Hardware S4, S5
Alias: P-0-3741
Function The maximum tolerated delay between the control of the door locking device
and the door locking feedback (P-0-3266.0.3) in the case of state changes is
set using "P-0-3266.0.4, SMO: Tolerance time for Safe door locking".
The parameter has to be set in such a way that both the delays in the case of
door locking state changes and any contact bouncing of the feedback signals
are taken into account.
Verify: +
4.17.113 P-0-3270.0.1, SMO: Configuration of global safety functions

Function This parameter provides binary control signals for statically influencing global
safety technology functions. By setting the respective bit, the associated
monitoring function in normal operation and special mode (with highest priori‐
ty) is activated.
0 Safe maximum speed (SMS)

0: Not active
1: Active (default)
2 Safely-limited end position (SLE) SMO-14 and
0: Not active (default) above
1: Active (normal and special modes)

Can only be activated if SLE has not been configured in
normal operation (P-0-3277.0.1; bit 2 = 0)
3 Safe CAM (SCA) SMO-14 and
0: Not active (default) above
1: Active (normal and special modes)

4 Reserved
Tab. 4-271: Configuring the global safety function

Verify: +
4.17.114 P-0-3270.0.2, SMO: Safe maximum speed

Function This parameter defines the velocity monitoring limit for the "Safe maximum
speed" (SMS) safety function.
If the drive exceeds the parameterized velocity threshold, error message
F7020 is output. The drive is decelerated to standstill with the configured F7
error reaction.
S-0-0045 /
S-0-0046
Verify: +
4.17.115 P-0-3270.0.3, SMO: Standstill window for safe direction

Function The parameter (consideration of encoder noise) is used as position monitor‐

ing window for direction monitoring in various safety functions.
● In the safety function "Safe direction (SDI)", the value defines the maxi‐
mum allowed travel distance in the non-enabled direction, in relation to
the actual position taken at the time of activation of the safety function.
If the "standstill window for safe direction" is left in the non-enabled di‐
rection, the error F7031 is generated.
● In the safety function "Safe CAM (SCA)", the parameter is used as a
switching hysteresis to prevent the cam status display at the cam limit
from flickering (due to encoder noise). Entering a cam range or exiting it
occurs after the parameterized switching hysteresis was passed. The
switching hysteresis that has been set takes effect on all cams.
● In the following safety functions, the parameter is applied as a monitor‐
ing window for the return to the allowed position range.
– Safely-limited end position (SLE)
– Safely-limited position (SLP)
– Safely-monitored position (SMP)
The value defines the maximum allowed travel distance in the non-
enabled direction in relation to the previous actual position (tracked
threshold).
If the monitoring window is left in the non-enabled direction, the safety
function-specific position limit value error is generated again:
– F7011 SMP, SLP: Safe position limit value, positive exceeded
– F7012 SMP, SLP: Safe position limit value, negative exceeded
– F7023 SLE: Safe position limit value, positive exceeded
– F7024 SLE: Safe position limit value, negative exceeded
S-0-0077 /
S-0-0078
Verify: +
4.17.116 P-0-3270.0.4, SMO: Safe end position limit value, positive

Function The allowed travel range of an axis can be defined by position limit values.
The "safe end position limit value, where positive" defines the maximum ad‐
missible position feedback value in positive direction.
The parameterized position limits (P-0-3270.0.4 and P-0-3270.0.5) are sub‐
ject to dual-channel monitored with the "Safely-limited end position (SLE)"
function if it has been configured in "P-0-3270.0.1" or "P-0-3277.0.1".
● Monitoring of the "Safely-limited end position (SLE)" will not become ef‐
fective before the drive has been safely homed (P-0-3256; bit 0).
● If the safety function recognizes faulty behavior during "Safely-limited
end position" monitoring, error message F7023 or F7024 are returned.
The drive is shut down with the configured F7 error reaction (torque dis‐
able is not admissible as F7 error reaction).

S-0-0077 /
S-0-0078
Verify: +
4.17.117 P-0-3270.0.5, SMO: Safe end position limit value, negative

The "safe end position limit value, negative" defines the maximum admissible
position feedback value in negative direction.
The parameterized position limits (P-0-3270.0.4 and P-0-3270.0.5) are sub‐
ject to dual-channel monitored with the "Safely-limited end position (SLE)"
function if it has been configured in "P-0-3270.0.1" or "P-0-3277.0.1".
● Monitoring of the "Safely-limited end position (SLE)" will not become ef‐
fective before the drive has been safely homed (P-0-3256; bit 0).
● If the safety function recognizes faulty behavior during "Safely-limited
end position" monitoring, error message F7023 or F7024 are returned.
The drive is shut down with the configured F7 error reaction (torque dis‐
able is not admissible as F7 error reaction).
S-0-0077 /
S-0-0078
Verify: +
4.17.118 P-0-3270.0.130, SMO: Global safety functions, compact

Alias: P-0-2445
Function Summary of the global safety function structure elements (P-0-3270.0.1 to

P-0-3270.0.5).
4.17.119 P-0-3271.0.1, SMO: Safe CAM 1

Function The "Safe CAM 1" can be parameterized in this list parameter.
The status of the multiple cams 1 to 8 and of the single cams 1 to

16 is displayed in "P-0-3273.0.1, SMO: Status word, bit-coded
SCA".
The status of the single cams 1 to 31 is displayed in
"P-0-3273.0.0, SMO: Status word, binary-coded SCA".
Other settings can be made in "P-0-3270.0.3, SMO: Standstill

window for safe direction" and in "P-0-3270.0.6, SMO: Safe CAM,
lead time".
Structure The evaluation of cam 1 is parameterized in the list element 0:

● 0: Cam not active (no cam evaluation)
● 1: Cam evaluation in positive direction
● 2: Cam evaluation in negative direction
● 3: Cam evaluation in both directions
The switch-on threshold of cam 1 is parameterized in the list element 1.
The switch-off threshold of cam 1 is parameterized in the list element 2.
S-0-0077 /
S-0-0078
Verify: +
4.17.120 P-0-3271.0.2, SMO: Safe CAM 2


SCA".

lead time".


S-0-0077 /
S-0-0078
Verify: +
4.17.121 P-0-3271.0.3, SMO: Safe CAM 3


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.122 P-0-3271.0.4, SMO: Safe CAM 4


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.123 P-0-3271.0.5, SMO: Safe CAM 5


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +

4.17.124 P-0-3271.0.6, SMO: Safe CAM 6


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.125 P-0-3271.0.7, SMO: Safe CAM 7


SCA".

lead time".


S-0-0077 /
S-0-0078
Verify: +
4.17.126 P-0-3271.0.8, SMO: Safe CAM 8


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.127 P-0-3271.0.9, SMO: Safe CAM 9


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.128 P-0-3271.0.10, SMO: Safe CAM 10


SCA".

lead time".


S-0-0077 /
S-0-0078
Verify: +
4.17.129 P-0-3271.0.11, SMO: Safe CAM 11


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.130 P-0-3271.0.12, SMO: Safe CAM 12


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.131 P-0-3271.0.13, SMO: Safe CAM 13


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +

4.17.132 P-0-3271.0.14, SMO: Safe CAM 14


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.133 P-0-3271.0.15, SMO: Safe CAM 15


SCA".

lead time".


S-0-0077 /
S-0-0078
Verify: +
4.17.134 P-0-3271.0.16, SMO: Safe CAM 16


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.135 P-0-3271.0.17, SMO: Safe CAM 17


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.136 P-0-3271.0.18, SMO: Safe CAM 18


SCA".

lead time".


S-0-0077 /
S-0-0078
Verify: +
4.17.137 P-0-3271.0.19, SMO: Safe CAM 19


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.138 P-0-3271.0.20, SMO: Safe CAM 20


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.139 P-0-3271.0.21, SMO: Safe CAM 21


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +

4.17.140 P-0-3271.0.22, SMO: Safe CAM 22


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.141 P-0-3271.0.23, SMO: Safe CAM 23


SCA".

lead time".


S-0-0077 /
S-0-0078
Verify: +
4.17.142 P-0-3271.0.24, SMO: Safe CAM 24


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.143 P-0-3271.0.25, SMO: Safe CAM 25


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.144 P-0-3271.0.26, SMO: Safe CAM 26


SCA".

lead time".


S-0-0077 /
S-0-0078
Verify: +
4.17.145 P-0-3271.0.27, SMO: Safe CAM 27


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.146 P-0-3271.0.28, SMO: Safe CAM 28


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.147 P-0-3271.0.29, SMO: Safe CAM 29


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +

4.17.148 P-0-3271.0.30, SMO: Safe CAM 30


SCA".

lead time".

S-0-0077 /
S-0-0078
Verify: +
4.17.149 P-0-3271.0.31, SMO: Safe CAM 31


SCA".

lead time".


S-0-0077 /
S-0-0078
Verify: +
4.17.150 P-0-3271.0.130, SMO: Safe CAM, compact

Alias: P-0-3721
Function Summary of the "Safe CAM" structure elements (P-0-3271.0.1 to

P-0-3271.0.8).
4.17.151 P-0-3273, SMO: Status word, binary-coded SCA

Function The cam status of the 31 single cams is displayed in "binary-coded" form in
this parameter.
● Bit 15... 0 = 0000.0000.0000.0000:
Drive is not in a parameterized cam range or drive without safe refer‐
ence (default)
● Bit 15... 0 = 0000.0000.0000.0001:
Drive is in cam range 1
● Bit 15... 0 = 0000.0000.0000.0010:
● Bit 15... 0 = 0000.0000.0000.0011:
...
● Bit 15... 0 = 0000.0000.0001.1110:
● Bit 15... 0 = 0000.0000.0001.1111:
4.17.152 P-0-3273.0.1, SMO: Status word, bit-coded SCA

Alias: P-0-2302
Function Depending on the configuration, the cam status of the first 16 single cams or
of the 8 multiple cams is displayed in "bit-coded" form in this parameter.
● Bit 15... 0 = 0000.0000.0000.0000:
Drive is not in a parameterized cam range or drive without safe refer‐
ence (default)
● Bit 15... 0 = 0000.0000.xxxx.xxx1:
● Bit 15... 0 = 0000.0000.xxxx.xx1x:
● Bit 15... 0 = 0000.0000.xxxx.x1xx:
...
● Bit 15... 0 = 1xxx.xxxx.xxxx.xxxx:
4.17.153 P-0-3277.0.1, SMO: Configuration of normal operation

Alias: P-0-2464
Function This parameter provides binary control signals for statically influencing safety
functions for normal operation. By setting the respective bit, the associated
monitoring is activated in normal operation.
0 Safe direction in normal operation, positive (SDI)

1: Active
1 Safe direction in normal operation, negative (SDI)
1: Active
2 Safely-limited end position (SLE) as of SMO-14
1: Active in normal operation
Can only be activated if SLE is not globally configured
(P-0-3270.0.1; bit 2 = 0)
Tab. 4-272: SMO: Configuration in normal operation

Verify: +
4.17.154 P-0-3280.0.1, SMO: Configuration of operation mode transitions

Function This parameter is used to configure the safety technology operation mode
transitions.
Structure
0 Safety technology operation mode transitions to „Safe

standstill“
0: NC-controlled (default)
1: Drive-controlled
Transitions to special mode "Safe motion SMM1… 16" are
always NC-controlled.
1 Safe stop 1 (SS1)
0: SS1 time-prioritized (default): STO function is triggered
in standstill with drive enable removed, but at the latest af‐
ter the maximum transition time (P-0-3280.0.2/
P-0-3280.0.3) has elapsed.
1: SS1 deceleration/standstill-prioritized: STO function is
triggered in standstill with drive enable removed. Delay
monitoring is always active.

2 Delay monitoring configuration with SS1 time-prioritized
variant (only configurable if bit 1 = 0)
0: No delay monitoring (default)
1: With delay monitoring
3 Variant of "Safely-monitored deceleration" if a "Safe stand‐
still" is selected
0: With trend monitoring (default)
1: Based on actual velocity
Safe standstill includes Emergency stop and the special
mode "Safe standstill"
4 Variant of "Safely-monitored deceleration" if a special
mode "Safe motion" is selected
0: With trend monitoring (default)
1: Based on actual velocity
5 Option Immediate switching within special mode "Safe mo‐
tion"
0: Inactive (default)
1: Active
Immediate switching upon selection, if: Vact ≤ SLS-SMM
target and SDI-SMM source == SDI-SMM target or SMM
target without SDI
6 Option „Immediate switching NO to motion mode“

0: Inactive (default)
1: Active
Immediate switching upon selection, if: Vact ≤ SLS-SMM
target and SDI-NO mode == SDI-SMM target or SMM tar‐
get without SDI
Tab. 4-273: SMO: Configuration of operation mode transitions

Verify: +
4.17.155 P-0-3280.0.2, SMO: Max. transition time normal oper. to safe

standstill
Function In case of transitions from normal operation to special mode "safe standstill"
or "E-STOP", this parameter defines the maximum available time after which
the command value system of the drive must have been adjusted to the new
operating status.
See also Safely-Monitored Deceleration (SMD)

Verify: +
4.17.156 P-0-3280.0.3, SMO: Max. transition time between safe operating

states
Function In case of transitions from one safe operating status to another, this parame‐
ter defines the maximum available time after which the command value sys‐
tem of the drive must have been adjusted to the new operating status.
Verify: +
4.17.157 P-0-3280.0.4, SMO: Max. transition time normal oper. to safe motion
Function In case of transitions from normal operation to special mode "safe motion",
this parameter defines the maximum available time after which the command
value system of the drive must have been adjusted to the new operating sta‐
tus.
Verify: +
4.17.158 P-0-3280.0.5, SMO: Max. tolerance time for different selection

Function This parameter defines the maximum allowed time within which the input sig‐
nals may be different from the selection signals. The parameter defines the
maximum allowed time during which no or several SMM switches can be ac‐
tuated when the motion operation modes are selected.
When the maximum allowed time is exceeded, the "F3141 Operating status
selection validation error" is generated
Verify: +
4.17.159 P-0-3280.0.6, SMO: Oscillation velocity window of SMD


(SMD)" safety function based on the actual velocity.
At the beginning of monitoring, the velocity value defined in this parameter is
added to the actual velocity and is the monitoring threshold during the reac‐
tion time set in "P-0-3280.0.7, SMO: SMD-E reaction time".
S-0-0045 /
S-0-0046
Verify: +
4.17.160 P-0-3280.0.7, SMO: SMD reaction time


The "SMD-E reaction time" is the reaction time for the system (control and
drive) in order that the command value input can be adjusted for the transfer
to the selected special mode. After this time has elapsed, the parameterized
deceleration ramp is monitored.
Verify: +

4.17.161 P-0-3280.0.8, SMO: Velocity window of SMD


The start value for monitoring the deceleration ramp is established from the
current actual velocity and the tolerance limit defined in this parameter.
S-0-0045 /
S-0-0046
Verify: +
4.17.162 P-0-3280.0.9, SMO: SMD delay


(SMD)" safety function with trend monitoring based on the actual velocity.
The parameter defines a deceleration threshold (bipolar) for switching be‐
tween the safety technology operating statuses.
S-0-0161 /
S-0-0162
Verify: +
4.17.163 P-0-3280.0.10, SMO: SMD jerk

Function The parameter defines the maximum allowed jerk that is taken into account in
the velocity envelope curve for monitoring the safety technology operating
status change with the transition function "Safely-monitored deceleration
based on actual velocity (SMDActVel)".
With the value 0, the jerk is not taken into account.

In the case of drive-controlled transition and use of the jerk

(P-0-3280.0.10 > 0), the value in
● "P-0-3280.0.10" should be parameterized with the jerk limit
value of the standard firmware in parameter "S-0-349, Bipo‐
lar jerk limit".
● "P-0-3280.0.9, SMO: SMD delay", depending on the setting
in "P-0-0119, Best possible deceleration", should be para‐
meterized with the deceleration ramp of the standard firm‐
ware in "S-0-0372, Drive Halt acceleration bipolar" or
"S-0-0429, Emergency halt deceleration".

S-0-0161 /
S-0-0162
Verify: +
4.17.164 P-0-3280.0.130, SMO: Operation mode transitions, compact

Alias: P-0-2523
Function Summary of the operation mode transition structure elements (P-0-3280.0.1

to P-0-3280.0.9).
4.17.165 P-0-3285.0.1, SMO: Configuration of safe standstill

Function This parameter serves to configure the safe standstill.

Structure
0 Monitoring in special mode "safe standstill (SMST)"

0: Safe operating stop (SOS) - (default)
1: Safe torque off (STO)
Tab. 4-274: SMO: Configuration of safe standstill

Verify: +

4.17.166 P-0-3285.0.2, SMO: Monitoring window for safe operational stop

Function This parameter defines the maximum allowed travel distance in relation to ac‐
tual position taken at the time of activation of "Safe operating stop (SOS)".
If the parameterized position window is violated, the "F7030 Position window
for safe operating stop exceeded" error is generated.
S-0-0077 /
S-0-0078
Verify: +
4.17.167 P-0-3285.0.130, SMO: Safe standstill, compact

Alias: P-0-2524
Function Summary of the safe standstill structure elements (P-0-3285.0.1 to

P-0-3285.0.2).
4.17.168 P-0-3290.x.1, SMO: Configuration of safe motion

Function This parameter can be used to configure the safety functions in special mode
"safe motion".
Structure
0 Function block safe motion n (n = SMM 1-16)

1: Active
1 Safely-limited speed (SLS) Cannot be
1: Active changed
2 Safe direction, positive (SDI)

1: Active

3 Safe direction, negative (SDI)
1: Active
4 Safely-limited increment (SLI)
1: Active
5 Safely-monitored position (SMP) as of SMO-14
1: Active
Can only be activated if SLP is not configured (bit 7 = 0)
6 Safely-monitored transient oscillation (SLS-LT)
1: Active
7 Safely-limited position (SLP) as of SMO-14
1: Active
Can only be activated if SMP is not configured (bit 5 = 0)
Tab. 4-275: SMO: Configuration of safe motion

Verify: +
4.17.169 P-0-3290.x.2, SMO: Safely-limited speed

Function This parameter defines a velocity threshold (bipolar) for the safety function
"Safely-limited speed", which is always active in the special mode "Safe Mo‐
tion n" (n= 1-16). If the threshold is exceeded, the error message F7013
Safely-limited speed exceeded is generated.
S-0-0045 /
S-0-0046
Verify: +

4.17.170 P-0-3290.x.3, SMO: Safely-limited increment

Function This parameter defines a relative position window for the "Special mode
"Safe Motion" n" (n = 1-16). This window is spread on start of the "Special
mode "Safe Motion" n" (n = 1-16) . For duration of the "Special mode "Safe
Motion" n" (n = 1-16), the drive can be freely moved within this position win‐
dow. If the function "Safely-limited increment" is activated in "Special mode
"Safe Motion" n" (n = 1-16), the error message F7010 Safely-limited incre‐
ment exceeded is emitted if this position window is exceeded.
S-0-0077 /
S-0-0078
Verify: +
4.17.171 P-0-3290.x.4, SMO: Safe position limit value, positive

The "safe position limit value, positive" defines the maximum admissible posi‐
tion feedback value for "special operation safe motion n" (n = 1-16) in positive
direction.
Depending on the configuration in P-0-3290.x.1, the parameterized position
limits (P-0-3290.x.4 and P-0-3290.x.5) are subject to dual-channel monitoring
using the functions "Safely-monitored position (SMP)" (P-0-3290.x.1; bit 5 =
1) or "Safely-limited position (SLP)" (P-0-3290.x.1; bit 7 = 1 ).
● Monitoring of the "Safely-monitored position (SLP)" and "Safely-limited
position (SLP)" will not become effective before the drive has been safe‐
ly homed (P-0-3256; bit 0).
● If the safety function recognizes faulty behavior during "Safely-moni‐
tored position (SMP)" or "Safely-limited position (SLP)" monitoring, error
message F7011 or F7012 are returned. The drive is shut down with the
configured F7 error reaction (torque disable is not admissible as F7
error reaction for safety function "Safely-limited position (SLP)").
S-0-0077 /
S-0-0078
Verify: +

4.17.172 P-0-3290.x.5, SMO: Safe position limit value, negative

The "safe position limit value, negative" defines the maximum admissible po‐
sition feedback value for "special operation safe motion n" (n = 1-16) in nega‐
tive direction.
Depending on the configuration in "P-0-3290.x.1", the parameterized position
limits (P-0-3290.x.4 and P-0-3290.x.5) are subject to dual-channel monitoring
using the functions "Safely-monitored position (SMP)" (bit 5 = 1 in
P-0-3290.x.1) or "Safely-limited position (SLP)" (bit 7 = 1 in P-0-3290.x.1).
● Monitoring of the "Safely-monitored position (SLP)" and "Safely-limited
position (SLP)" will not become effective before the drive has been safe‐
ly homed (P-0-3256; bit 0).
● If the safety function recognizes faulty behavior during "Safely-moni‐
tored position (SMP)" or "Safely-limited position (SLP)" monitoring, error
message F7011 or F7012 are returned. The drive is shut down with the
configured F7 error reaction (torque disable is not admissible as F7
error reaction for safety function "Safely-limited position (SLP)").
S-0-0077 /
S-0-0078
Verify: +
4.17.173 P-0-3290.x.6, SMO: Maximum activation time of enabling control

Function The numerical value entered in the parameter defines the maximum time per‐
mitted for actuating the enabling control. After the time entered in this param‐
eter has elapsed, the enabling control must be removed. The time is effective
if the mode selector and an SMM switch are actuated in addition to the ena‐
bling control.
Verify: +
4.17.174 P-0-3290.x.7, SMO: Tolerance time for overshooting

Function This parameter defines a time window for "Safely-monitored transient oscilla‐
tion" in "Special mode safe motion n" (n = 1-16). If monitoring is configured
(P-0-3290.x.1), the actual velocity of the axis may be out of the bipolar veloci‐
ty range (P-0-3290.x.8) for the defined time period. If the "Safely-limited
speed" is exceeded at the end of the tolerance time, error message "F7014
Timeout safely-monitored transient oscillation" is generated.
Verify: +
4.17.175 P-0-3290.x.8, SMO: Safely-reduced speed

Function This parameter defines a velocity threshold (bipolar) for "Safely-monitored

transient oscillation" in "Special mode safe motion n" (n = 1-16). If monitoring
is configured (P-0-3290.x.1), this velocity threshold may be exceeded for a
limited time period (P-0-3290.x.7) in "Special mode safe motion n" (n = 1-16).
If the "Safely-limited speed" is exceeded at the end of the tolerance time,
error message "F7014 Timeout safely-monitored transient oscillation" is gen‐
erated. For monitoring the "Safely-limited speed (SLS)" at the same time, the
value in "P-0-3290.x.8" should be less than the value in "P-0-3290.x.2".
S-0-0045 /
S-0-0046
Verify: +
4.17.176 P-0-3290.x.130, SMO: Safe motion, compact

Alias: P-0-2446, P-0-2447, P-0-2448, P-0-2449, P-0-2450, P-0-2451,
P-0-2452, P-0-2453, P-0-2454, P-0-2455, P-0-2456, P-0-2457,
P-0-2458, P-0-2459, P-0-2460, P-0-2461
Function Summary of the safe motion structure elements (P-0-3290.x.1 to

P-0-3290.x.8).

4.17.177 P-0-3320, SMO: Safe Input Signals, safety zone module

Hardware S4, S5
Function Parameter "P-0-3320" is used to map the safe inputs of the safety zone mod‐
ule (HSZ01).
Structure
Bit* Input Input pair
0/8 1/2 1
1/8 3/4 2
2/8 5/6 3
3/8 7/8 4
4/8 9 / 10 5
5/8 11 / 12 6
6/8 13 / 14 7
7/8 1 5/ 16 8
*) *For dual-channel selection via an input pair, a cross compari‐

son of input signals is carried out. The result is identically dis‐
played in the related bits n and n+8.
Tab. 4-276: P-0-3320, SMO: Safe Input Signals, safety zone module
4.17.178 P-0-3320.0.2, SMO: Configuration Input Signals, safety zone module

Hardware S4, S5
Alias: P-0-2532
Function This parameter can be used to define how the inputs of the safety zone mod‐
ule are to be evaluated (1-channel (individually) or 2-channel (in pairs)).
Structure
0 Evaluation of input pair 1

0: 2-channel selection (default value)
1: 1-channel selection (see note)

Tab. 4-277: Configuration of input signals, safety zone module
When using a "1-channel wiring" to select Safe Motion, the follow‐

ing error exclusion is required:
Unintentional deactivation of the safety function due to short cir‐
cuit to other potentials must be ruled out (see EN 61800-5-2, Ta‐
ble D.1). (Due to the potential-isolated inputs and possible poten‐
tial shifts of the 24 V systems, a connection of the selection chan‐
nel to ground could result in a selection.) If technically possible, a
dual-channel wiring is preferable to a single-channel wiring with
error exclusion.

Verify: +
4.17.179 P-0-3321, SMO: Safe Output Signals, safety zone module

Hardware S4, S5
Function Parameter "P-0-3321" displays the selection of the safe outputs of the safety
zone module (HSZ01, connector X44).
0 Output, zone safety of channel 1 (SZA_Ch1)

0: No zone safety
1: Zone safety
1 Output, zone error of channel 1 (SZE_Ch1)
0: Zone error
1: No zone error
2 Output, safe door locking of channel 1 (SDL_Ch1)
0: Door latch not activated
1: Door latch activated
3 Output, zone safety of channel 2 (SZA_Ch2)
0: No zone safety
1: Zone safety
4 Output, zone error of channel 2 (SZE_Ch2)
0: Zone error
1: No zone error
5 Output, safe door locking of channel 2 (SDL_Ch2)
0: Door latch not activated
1: Door latch activated
Tab. 4-278: SMO: Safe Output Signals, safety zone module

4.17.180 P-0-3322.0.1, SMO: Functional input signals, local

Hardware S3, S4, S5, SD
Alias: P-0-2526
Function The parameter displays the current states of the inputs at X41 (X41.1 and
X41.2 for double-axis devices; X104 for IndraDrive Mi (KMS02, KSM02)) of
the optional safety technology module.
See also Project Planning Manual "X41, Safe Motion safety technology"
0 Diagnostic input 1 (SI_In_Ch1) at local interface

0: Not active (0 V)
1: Active (24 V)
1 Diagnostic input 2 (SI_In_Ch2) at local interface
0: Not active (0 V)
1: Active (24 V)
Tab. 4-279: SMO: Functional input signals, local

4.17.181 P-0-3323, SMO: Safe output signals, local

Hardware S3, S4, S5, SD
Function The parameter shows the current state of the safe output on X41 (X4.1 and
X4.2 with the double axis device; X104 with IndraDrive Mi (KMS02, KSM02))
of the optional safety technology module.
Structure
0 Safe output at local interface

0: Not active
1: Active
Tab. 4-280: SMO: Safe output signals, local

4.17.182 P-0-3329, SMO: Functional input signals, drive

Function This parameter can be used to specify functional inputs to "Safe Motion" for
processing the IO mapper. Typically, the inputs originate from the digital
(standard) inputs or the (standard) master communication.

4.17.183 P-0-3330.x.1, SMO: IO mapper inputs, type

Function This parameter is used to configure the type of the linking module as "type
number". For example, a value of "1" is entered for the "safe connector" type
(P-0-3331.0.0). One instance of this parameter is present for each IO mapper
network (0... 15).
Structure
P-0-3330.0.1
Module type Comment
0 Inactive
1 Safe connector
2 Safe inversion
3 Safe constant selection
4 Binary-to-bit decoder
5 Safe OR
6 Safe AND with protection against restart
7 SDL with door request
8 Safe AND as of
SMO-14V04
9 Functional connector as of
SMO-14V04
10 Safe AND with ES bypass and protection against restart as of
SMO-14V04
Tab. 4-281: SMO: IO mapper inputs, type

Verify: +
4.17.184 P-0-3330.x.2, SMO: IO mapper inputs, IDN source

Function These parameters are used to configure the input signals of the IO mapper
block. One instance of this parameter is present for each IO mapper network
(0... 15).
Example: Parameter "P-0-3320" is entered as IDN source and "0" is entered
for the bit source to configure input "E0" of the safety zone module.
P-0-3330.x.2 - Attributes Function: Par Editable: SCM Data length: 4Byte var.
Verify: +
4.17.185 P-0-3330.x.3, SMO: IO mapper inputs, bit source

Function These parameters are used to configure the input signals of the IO mapper
(0... 15).
Example: Parameter "P-0-3320" is entered as IDN source and "0" is entered
for the bit source to configure input "E0" of the safety zone module.
P-0-3330.x.3 - Attributes Function: Par Editable: SCM Data length: 2Byte var.
Verify: +
4.17.186 P-0-3330.x.4, SMO: IO mapper inputs, IDN target

Function These parameters are used to configure the input signal of the IO mapper
(0... 15).
Example:
Parameter "P-0-3261" is entered as IDN target and "0" is entered for the bit
target to configure the "operating mode selection signal (MS)".

Verify: +
4.17.187 P-0-3330.x.5, SMO: IO mapper inputs, bit target

Function These parameters are used to configure the input signal of the IO mapper
(0... 15).
Example:
Parameter "P-0-3261" is entered as IDN target and "0" is entered for the bit
target to configure the "operating mode selection signal (MS)".

Verify: +
4.17.188 P-0-3330.x.130, SMO: IO mapper inputs, compact, compact

Alias: P-0-2492, P-0-2493, P-0-2494, P-0-2495, P-0-2496, P-0-2497,
P-0-2498, P-0-2499, P-0-2500, P-0-2501, P-0-2502, P-0-2503,
P-0-2504, P-0-2505, P-0-2506, P-0-2507
Function Summary of the structure elements of the IO mapper inputs, compact

(P-0-3330.x.1 to P-0-3330.x.5).
4.17.189 P-0-3331.x.130, SMO: IO mapper block type, compact

Alias: P-0-2508, P-0-2509, P-0-2510, P-0-2511, P-0-2512, P-0-2513,
P-0-2514, P-0-2751, P-0-2752, P-0-2753
Function In this parameter, the information about a component required for the engi‐
4.17.190 P-0-3332.0.1, SMO: IO mapper inputs, minimum pulse duration

Alias: P-0-2527
Function This parameter is used to parameterize the minimum pulse duration (mini‐
mum waiting time between 0-1 edge and 1-0 edge) for the reset and start in‐
put of the IO mapper block type 6: "Safe AND with protection against restart"
and type 10: "Safe AND with ES bypass and protection against restart". If the
pulse duration falls below the minimum value, error message F3010, SMO:
IO mapper inputs error is generated.
Verify: +
4.17.191 P-0-3332.0.2, SMO: IO mapper inputs, IO mapper block status

Alias: P-0-2754
Function The parameter provides status signals of the IO mapper blocks type 7: "SDL
with door request" and type 10: "Safe AND with ES bypass and protection
against restart
Structure
0 Type 7: "SDL with door request"

"Door opening enabled"
0: Door opening enabled not possible
1: Door opening enabled possible
1 Reserved
2 Type 10: Safe AND with ES bypass and protection against
restart"
"Waiting for 1-0 edge reset input" (Wait_for_Reset)
0: Not active
1: Active
3 Type 10: Safe AND with ES bypass and protection against
restart"
"Waiting for 1-0 edge start input" (Wait_for_Start)
0: Not active
1: Active
15 - 4 Reserved
Tab. 4-282: P-0-3332.0.2 SMO: IO mapper inputs, IO mapper block status


4.17.192 P-0-3335.0.1, SMO: Signal control for discrete outputs, IDN

assignment
Alias: P-0-2515
Function
Verify: +
4.17.193 P-0-3335.0.2, SMO: Signal control for discrete outputs, bit number
Alias: P-0-2516
Function
Verify: +
4.17.194 P-0-3335.0.3, SMO: Signal ctrl for discrete outputs, possible source
IDNs
Alias: P-0-2517
Function This parameter serves to store the potential signals that can be configured as
signal source for the local output. No other IDNs than the IDNs contained in
this parameter along with their associated bit numbers in "P-0-3335.0.4" can
be configured in "P-0-3335.0.1, SMO: Signal control for discrete outputs, IDN
assignment" or "P-0-3335.0.2, SMO: Signal control for discrete outputs, bit
number".

4.17.195 P-0-3335.0.4, SMO: Signal ctrl for discrete outputs, possible source
bits
Alias: P-0-2518
Function This parameter serves to store the bit numbers of the potential signal sources
that can be configured for the local output. Only the bit numbers in this pa‐
rameter combined with their corresponding IDN in "P-0-3335.0.3" can be con‐
figured in "P-0-3335.0.1, SMO: Signal control for discrete outputs, IDN" or
"P-0-3335.0.2, SMO: Signal control for discrete outputs, bit number".
4.17.196 P-0-3336.0.1, SMO: Signal control, status, safe bus, IDN assignment
Alias: P-0-2519
Function This parameter is used to configure the signals (IDNs) for the status word
provided for transmission via the safe bus.
The current expansion stage only allows preferential configurations via safe
bus communication. The content of this parameter is automatically set ac‐
cordingly.
See also Parameter Description "P-0-3341, SMO: Status word Safety-Bus"
Verify: +
4.17.197 P-0-3336.0.2, SMO: Signal control, status, safe bus, bit number
Alias: P-0-2520
Function This parameter is used to configure the signals (bit numbers) for the status
word provided for transmission via the safe bus.
The current expansion stage only allows preferential configurations via safe
bus communication. The content of this parameter is automatically set ac‐
cordingly.
See also Parameter Description "P-0-3341, SMO: Status word Safety-Bus"
Verify: +
4.17.198 P-0-3336.0.3, SMO: Signal control, status, safe bus, possible source
IDNs
Alias: P-0-2521
Function This parameter serves to store the potential signals (IDNs) that can be con‐
figured as signal sources for the status word Safety bus.
4.17.199 P-0-3336.0.4, SMO: Signal control, status, safe bus, possible source
bits
Alias: P-0-2522
Function This parameter serves to store the potential signals (bit numbers) that can be
configured as signal sources for the status word Safety bus.
4.17.200 P-0-3336.0.5, SMO: Signal control, status, safe bus, SMMx coding
Alias: P-0-2529
Function The "Special mode safe motion x (SMM x)" source signals from "P-0-3231,
SMO: Operating status" are bit-encoded. Depending on the type of preferen‐
tial configuration of the status word Safety bus, the status for special mode
safe motion is contained there either with bit or binary coding.
The coding function is parameterized in this parameter. If a value unequal to
0 is entered here, the coding in the "signal control for status word Safety bus"
function is bit-to-binary. The number of source signals is then parameterized
in this parameter.
Structure Bit Coding function Assignment of P-0-3341
0 Binary coding not active; bit coding 1:1 assignment

1 Binary coding not active; bit coding 1-bit-coded in P-0-3341
4-2 Binary coding active SMM1 / 4-2 to 2 bit 2-bit-coded in P-0-3341, 1
outputs following bit assigned
8-5 Binary coding active SMM1 / 8-5 to 3 bit 3-bit-coded in P-0-3341, 2
outputs following bits assigned
16 - 9 Binary coding active SMM1 / 8-5 to 3 bit 4-bit-coded in P-0-3341, 3
outputs following bits assigned
Tab. 4-283: SMO: Signal control, status, safe bus, SMMx coding
Verify: +
4.17.201 P-0-3340, SMO: Safety bus control word

Function This parameter is used to transmit control information of a safety control via
safe bus communication as a part of the consumer connection. The evalua‐
tion of the individual bits of the "control word Safety bus" depends on the con‐
figuration of the IO mapper inputs (P-0-3330.x.y).
Only preferential configurations are supported at present; there‐

fore the "IO mapper inputs" are configured automatically.
If "P-0-3340.0.1, SMO: Mask of Control word Safety-Bus" is used
to mask bits, the respective bit of the control word is not imple‐
mented to the target parameter 1:1. A user-side setting for evalu‐
ation of the bit can be configured in the IO mapper.

4.17.202 P-0-3340.0.1, SMO: Mask of control word, safety bus

Alias: P-0-2528
Function This parameter can be used to deactivate the preferential configuration of in‐
dividual bits of "P-0-3340.0.0, SMO: Control word Safety-Bus". Bits thus de‐
activated can be used via the I/O configurator as desired.
A value of "0" at the appropriate bit of this parameter deactivates

the effect of the bit in "P-0-3345, SMO: Configuration Safety-Bus".

Verify: +
4.17.203 P-0-3341, SMO: Safety bus status word

Function This parameter is used to transmit status information of the drive-integrated

Safe Motion application via safe bus communication to a safety control, being
a part of the producer connection. The significance of the individual bits de‐
pends on the settings in "P-0-3336.0.1, SMO: Signal control, status, safe bus,
IDN assignment" and "P-0-3336.0.2, SMO: Signal control, status, safe bus,
bit number".
4.17.204 P-0-3342, SMO: Status of consuming connection, safety bus

Function This parameter is used to map the state of the consumer connection.
Structure The following definitions apply:
Bit Description Function
0 Not initialized The connection has not been initialized or closed yet.
1 Initializes The connection is being initialized. But the connection has
not been started yet.
2 Active The connection has been fully initialized and has been
started.
3 Error An error has occurred in the active connection.
Tab. 4-284: Safe Connection States


4.17.205 P-0-3342.0.1, SMO: Configuration of consuming connection, safety

bus
Alias: P-0-2549
Function This parameter is used to set the expected configuration of the consumer
connection in the form of the type number.
Type number
Type Name
Decimal Hexadecimal
1 1-byte SMO control word, bit-coded SMM 778 0x030A

2 1-byte SMO control word, binary-coded SMM 779 0x030B
3 2-byte SMO control word, bit-coded SMM 780 0x030C
4 2-byte SMO control word, binary-coded SMM 781 0x030D

Verify: +
4.17.206 P-0-3342.0.2, SMO: Consuming connection configuration list, safety

bus
Alias: P-0-2550
Function This parameter is used to map the IDNs in the consumer connection which
are transmitted to the drive.
4.17.207 P-0-3343, SMO: Status of producing connection, safety bus

Function This parameter is used to map the state of the producer connection.
Structure The following definitions apply:
Bit Description Function
0 Not initialized The connection has not been initialized or closed yet.
1 Initializes The connection is being initialized. But the connection has
not been started yet.
2 Active The connection has been fully initialized and has been
started.
3 Error An error has occurred in the active connection.
Tab. 4-285: Producer Connection States

4.17.208 P-0-3343.0.1, SMO: Configuration of producing connection, safety

bus
Alias: P-0-2551
Function This parameter is used to configure the expected configuration of the produc‐
er connection in the form of the type number.
Type number
Type Name
Decimal Hexadecimal
1 1-byte SMO status word, bit-coded SMM 782 0x030E

2 1-byte SMO status word, binary-coded SMM 783 0x030F
3 2-byte SMO status word, bit-coded SMM 784 0x0310
4 2-byte SMO status word, binary-coded SMM 785 0x0311

Verify: +
4.17.209 P-0-3343.0.2, SMO: Producing connection configuration list, safety

bus
Alias: P-0-2552
Function This parameter is used to map the IDNs in the producer connection which are
transmitted to the drive.

4.17.210 P-0-3345, SMO: Safety bus configuration

Function The type of bus communication is selected in this parameter.

Structure
0 No Safety bus communication

1 CIP Safety on Sercos active
2 FSoE active MPx-20V02
and above
3 PROFIsafe active MPx-20V12
and above
Tab. 4-286: SMO: Safety bus configuration

Verify: +
4.17.211 P-0-3350, FSoE: Slave address

Function The 2-byte value is the FSoE slave address applied from "P-0-3351.0.0" after
the validity check.
4.17.212 P-0-3351, FSoE: Expected slave address

Function The two-byte value can be written with the desired FSoE slave address which
is then applied to "P-0-3350.0.0".
Verify: +
4.17.213 P-0-3352, FSoE: Slave state

Function The two-byte long parameter shows the state of the FSoE stack. The follow‐
ing states are coded by the indicated numbers:
FSOE_k_FSOE_STATE_RESET = 0x0001, /* reset state */
FSOE_k_FSOE_STATE_SESSION = 0x0002, /* session state */
FSOE_k_FSOE_STATE_CONNECTION = 0x0004, /* connection state */
FSOE_k_FSOE_STATE_PARAMETER = 0x0008, /* parameter state */
FSOE_k_FSOE_STATE_DATA = 0x0010 /* data state */
4.17.214 P-0-3353, Proposed FSoE slave address, auto commissioning

Function The parameter contains the proposed "FSoE slave addres" for the automated
serial commissioning.
4.17.215 P-0-3355, FSoE: Safe communication parameters

Function The only communication parameter that is currently transmitted here is the
time in ms until a watchdog is triggered. The parameter is a 2-byte value.
4.17.216 P-0-3356, FSoE: Safe application parameters

Function The array of a total of four byte contains the two-byte long Consumer Number
and additionally the two-byte long Producer Number.

4.17.217 P-0-3360.0.1, PROFIsafe: F-Device Address

Function The parameter displays the active PROFIsafe F-Device address. For safe ad‐
dress assignment (P-0-3235.0.3), the value of the parameter is applied from
the parameter "P-0-3360.0.2", that was input before, and saved in the identifi‐
cation data image on the programming module.
The PROFIsafe F-Device address is used to safely address a

safety node in PROFIsafe communication and therefore has to be
unique within a PROFIsafe network!

4.17.218 P-0-3360.0.2, PROFIsafe: Proposed F-Device address

Function The F-Device address to be assigned is input in this parameter. For safe ad‐
dress assignment (P-0-3235.0.3), the value of this parameter is applied to the
parameter "P-0-3360.0.1".
The PROFIsafe F-Device address is used to safely address a

safety node in PROFIsafe communication and therefore has to be
unique within a PROFIsafe network!

Verify: +
4.17.219 P-0-3360.0.3, PROFIsafe: Current F-Device state

Function The parameter displays the current state of the PROFIsafe F-Device state
machine for diagnostic purposes.
● 0x0001: PSD_RESET
● 0x0032: PSD_INIT
● 0x0054: PSD_PARAM
● 0x0067: PSD_DATAEX
● 0x0000: PSD_HARD_FAIL
4.17.220 P-0-3360.0.4, PROFIsafe: F-parameters

Function For diagnostic purposes displays the safe communication parameters trans‐
mitted from the F-Host (safety control) to the F-Device during PROFINET
system run-up. The data are transmitted from the F-Host to the F-Device in
the Motorola format.

4.17.221 P-0-3360.0.5, PROFIsafe: Application parameters

Function The parameter "P-0-3360.0.5" displays the F-module identifier configured in

the PROFInet controller, that complies with a specific predefined producer/
consumer configuration of the drive.
F-module identifier Type number

P-0-3360.0.5 Predefined producer/consumer configuration
C1 Not configured
C2 780/784
C4 781/785
C6 787/788
C8 787/790
CA 786/789
CC 786/784
Tab. 4-287: Predefined producer/consumer configuration

The F-module identifier is transmitted to the drive during the PROFINET sys‐
tem run-up. The drive then checks whether the identifier complies with the
predefined configuration set in the parameters "P-0-3342.0.1" and
"P-0-3342.0.2".
4.17.222 P-0-3360.0.6, PROFIsafe: Proposed F-Device address, auto

commissioning
Function The parameter contains the proposed "PROFISafe F-Device address" for the
automated serial commissioning.
4.17.223 P-0-3473, Maximum flow

4.17.224 P-0-3474, Maximum pressure

4.17.225 P-0-3581, List of available profile types







4.17.232 P-0-3588, Holding system check configuration data, compact

4.17.233 P-0-3589, Holding system check configuration data, compact

4.17.234 P-0-3590, SMO: Safety function diagnostics

4.17.235 P-0-3591, Module/firmware history, compact

Function Replacement parameter of "P-0-3915.0.130" for communication interfaces
4.18 P-0-3600 to P-0-4067 General device parameters

4.18.1 P-0-3600.0.1, CANopen: Device type
Allocation Contained in 20VRS: «MPB» «MPE» «-» «MPC» «PSB»
Hardware CoC, CoE, CoV, Ethernet POWERLINK
Function Parameter "P-0-3600.0.1" indicates the device type according to "CiA301".

CANopen object according to "CiA301" and Ethernet POWERLINK object ac‐
cording to "EPSG301".
Index 1000h - "Device type"
Structure Bit Contents
Device profile number: Indicates the profile used.

15... 0
Example: With profile CiA402. 402d (0192h) is displayed.
Additional information: indicates whether the drive is in "open loop" or

31... 16
"closed loop". In "open loop", bit 16 = 1, in "closed loop", bit 17 = 1.

4.18.2 P-0-3601.0.1, CANopen: Error register

Function CANopen object according to "CiA301" and Ethernet POWERLINK object ac‐
Index 1001h - "Error register"
Structure Any error present is signaled as "Generic error" in bit 0.
Bit Designation/function
"Generic error"
0 0: No error present
1: Error present
7...1 Reserved

2Byte /
1Byte
4.18.3 P-0-3602.0.1, CiA301: COB-ID SYNC message

Hardware CoC
Function This parameters implements the object 1005h "COB ID SYNC message" for
the profile "CiA301".
The object defines the COB ID of the synchronization object (SYNC). It also
defines whether the device generates the Sync telegram.
Structure Index 1005h, subindex 0 for "COB ID SYNC message"
Bit Name/function Comment
CAN ID Die CAN ID of the Sync telegram is 80h

28…0
80h by default.
Frame
29
0b: 11-bit CAN ID
Generally, the CANopen master sends

the Sync telegram. In this case, the
CANopen device generates the CANopen device is the receiver of the
Sync telegram Sync telegram ("Sync Consumer" and is
0b: CANopen device does not then synchronized as slave via the Sync
30 telegram by the master).
generate the Sync telegram
1b: CANopen device generates In special cases, the CANopen device
the Sync telegram can sent the Sync telegram and allows
other CANopen devices to synchronize
with it ("Sync Producer").
31 Not relevant
Example:
As "Sync consumer", the object value is 00000080h by default.

As "Sync producer", the object value is 40000080h by default.

4.18.4 P-0-3603.0.1, CANopen: Communication cycle period

Index 1006h - "Communication cycle period" in µs
Use CAN application protocol over EtherCAT (CoE): In the FreeRun mode, the
communication cycle time is configured by the object. In the DC Mode (Dis‐
tributed Clock) the object is not effective, since the communication cycle time
is taken from the register of the FPGA.
CANopen/CAN (CoC) and Ethernet POWERLINK (EPL):
The communication cycle time is configured by the object. The object can be
written for controlling, if the slave is in the state PreOperational (CoC) or Pre‐
Operational1 (EPL).

4.18.5 P-0-3604.0.1, CANopen: Manufacturer device name

Index 1008h - "Manufacturer device name"
Contains the "Manufacturer device name" as text (string).
4.18.6 P-0-3604.0.2, CANopen: Manufacturer hardware version

Index 1009h - "Manufacturer hardware version"
Contains the "Manufacturer hardware version" as text (string).
4.18.7 P-0-3604.0.3, CANopen: Manufacturer software version

Index 100Ah - "Manufacturer software version"
Contains the "Manufacturer software version" as text (string).
4.18.8 P-0-3605.0.1, CiA301: Guard time

Hardware CoC
Function This parameters implements the object 100Ch "Guard time" for the profile
"CiA301".
The object contains the "Guard time" in milliseconds.
Use the "Guard time" and the "Life time factor" to calculate the "life time" for
the node guarding protocol to monitor the node as follows:
Life time [ms] = Guard time [ms] × Life time factor

Guard time: 100Ch (P-0-3605.0.1)
Life time factor: 100Dh (P-0-3605.0.2)
If the device is not queried by the master using the guarding telegram within
the "life time", a monitoring error is generated.
If the "life time" is "0", "node guarding" is disabled.
When enabling the "node guarding", the "heartbeat consumer"

and the "heartbeat producer" are disabled implicitly.

4.18.9 P-0-3605.0.2, CiA301: Life time factor

Hardware CoC
Function This parameters implements the object 100Dh "Life time factor" for the profile
"CiA301".
See "Guard time" (100Ch/ P-0-3605.0.1)
2Byte /
1Byte
4.18.10 P-0-3605.0.3, CiA301: COB-ID EMCY

Hardware CoC
Function This parameters implements the object 1014h "COB ID EMCY" for the profile
"CiA301".
The object contains the identifier for emergency messages (EMCY).
Structure
Index 1014h, subindex 0 for "COB ID EMCY"
By default, the CAN ID is 80h.

CAN ID
28…0 Node ID: "Device address" (refer to
80h + Node ID
P-0-4089.0.3)
Frame
29
0b: 11-bit CAN ID

30 Reserved
Validity of the identifier for emer‐
31 gency messages (EMCY)
0b: EMCY exists/is valid

4.18.11 P-0-3605.0.4, CiA301: Consumer heartbeat time

Hardware CoC
Function This parameters implements the object 1016h "Consumer heartbeat time",
subindex 0 "Highest sub-index supported" for the profile "CiA301".
The object has the constant value "1".
2Byte /
1Byte
4.18.12 P-0-3605.0.5, CiA301: Consumer heartbeat time

Hardware CoC
Function This parameters implements the object 1016h "Consumer heartbeat time",
subindex 1 "Consumer heartbeat time" for the profile "CiA301"
As "heartbeat consumer", the slave monitors the "heartbeat" of the master.
The object indexes the maximum cycle time expected by the "master heart‐
beat" in milliseconds. If the slave did not receive any "heartbeat" from the
master within this period, a monitoring error is generated.
Structure Index 1016h, subindex 1
If "Heartbeat consumer" is enabled, the

"Heartbeat time" in milliseconds "Node guarding" is disabled implicitly.
15…0
[ms] Disable the "heartbeat consumer" with
"heartbeat time"="0".
If "Heartbeat consumer" is enabled, the
"Node guarding" is disabled implicitly.
23…
"Master Node ID" Disable the "heartbeat consumer" with
16
"master node ID"="0" or "master node
ID">"127".
31…
Reserved (00h)
24

4.18.13 P-0-3605.0.6, CiA301: Producer heartbeat time

Hardware CoC
Function This parameters implements the object 1017h "Producer heartbeat time" for
The object indexes the cycle time in milliseconds within which the slave
sends its "heartbeat".
Disable the "Heartbeat producer" with P-0-3605.0.6="0".
When enabling the "heartbeat producer", the "node guarding" is

disabled implicitly.

4.18.14 P-0-3606.0.1, Identity Object: Highest sub-index supported

Index 1018h - "Identity Object"
Subindex 0 - "Highest subindex supported"
Subindex Description Parameter

0 Highest subindex supported P-0-3606.0.1
1 Vendor ID P-0-3606.0.2
2 Product code P-0-3606.0.3
3 CANopen: Revision number P-0-3606.0.4
4 Serial number P-0-3606.0.5

2Byte /
1Byte
4.18.15 P-0-3606.0.2, CANopen: Vendor ID

Subindex 1 - "Vendor ID"
See also parameter description "P-0-3606.0.1"
4.18.16 P-0-3606.0.3, CANopen: Product Code

Subindex 2 - "Product Code"
4.18.17 P-0-3606.0.4, CANopen: Revision Number

Subindex 3 - "Revision Number"
4.18.18 P-0-3606.0.5, CANopen: Serial Number

Subindex 4 - "Serial Number"
4.18.19 P-0-3607.0.1, CiA301: SDO server parameter

Hardware CoC
Function This parameters implements the object 1200h "SDO server parameter", sub‐
index 0 "Highest sub-index supported" for the profile "CiA301".
The object has the constant value "2".
2Byte /
1Byte
4.18.20 P-0-3607.0.2, CiA301: COB-ID client -> server (rx)

Hardware CoC
index 1 "COB ID client -> server (rx)" for the profile "CiA301".
The object describes the Service Data Object (SDO) from the master to the
slave. The value cannot be changed and is set as follows by default:
Index 1200h, subindex 1

CAN ID
600h + Node ID
P-0-4089.0.3)
Frame
29
0b: 11-bit CAN ID
dyn
30 0b: The value is specified stati‐
cally
valid
31
0b: SDO exists/is valid

4.18.21 P-0-3607.0.3, CiA301: COB-ID server -> client (tx)

Hardware CoC
index 2 "COB ID server -> client (tx)" for the profile "CiA301".
The object describes the Service Data Object (SDO) from the slave to the
master. The value cannot be changed and is set as follows by default:
Index 1200h, subindex 2

CAN ID
580h + Node ID
P-0-4089.0.3)
Frame
29
0b: 11-bit CAN ID
dyn
30 0b: The value is specified stati‐
cally
valid
31
0b: SDO exists/is valid


4.18.22 P-0-3608.x.1, CiA301: RPDO communication parameter

Hardware CoC
Function The parameters implement the objects from 1400h to 1403h

"RPDO communication parameter", subindex 0
"Highest sub-index supported" for the profile "CiA301".
The objects have the constant value "2".
P-0-3608.0.1 Index 1400h , subindex 0 for RPDO1
P-0-3608.1.1 Index 1401h, subindex 0 for RPDO2
P-0-3608.x.1 - Attributes Function: Par Editable: -- Data length:

2Byte /
1Byte
4.18.23 P-0-3608.x.2, CiA301: COB-ID used by RPDO

Hardware CoC

"RPDO communication parameter", subindex 1 "COB ID used by RPDO" for
Structure
P‑0‑3608.0.2: Index 1400h , subindex 1 for "COB ID used by RPDO"1

CAN ID
200h + Node ID
P-0-4089.0.3)
Frame
29
0b: 11-bit CAN ID
30 Reserved
valid
31
0b: RPDO exists/is valid

CAN ID
300h + Node ID
P-0-4089.0.3)
Frame
29
0b: 11-bit CAN ID
30 Reserved
valid
31

CAN ID
400h + Node ID
P-0-4089.0.3)
Frame
29
0b: 11-bit CAN ID
30 Reserved
valid
31

CAN ID
500h + Node ID
P-0-4089.0.3)
Frame
29
0b: 11-bit CAN ID
30 Reserved
valid
31

4.18.24 P-0-3608.x.3, CiA301: Transmission type RPDO

Hardware CoC

"RPDO communication parameter", subindex 2 "Transmission type RPDO"
for the profile "CiA301".
The transmission method of the respective RPDO can be set via the parame‐
ter.
Supported transmission methods
Type 0 synchronous, acyclic

The RPDO is sent by the master if required ("event-driven"). Data
received in the slave is processed after the next Sync telegram.
Type 1 synchronous, cyclic
The RPDO is sent in each Sync cycle by the master. Data received
in the slave is processed after the next Sync telegram.
Type 254 Synchronous, acyclic
The RPDO is sent by the master if required ("event-driven"). Data
received in the slave is processed as soon as possible.
P-0-3608.x.3 - Attributes Function: Par Editable: PM Data length:

2Byte /
1Byte
4.18.25 P-0-3609.x.1, CiA301: RPDO mapping parameter

Hardware CoC

"RPDO mapping parameter", subindex 0 for the profile "CiA301".
The object contains the number of valid mapping objects in this PDO.

2Byte /
1Byte
4.18.26 P-0-3609.x.2, CiA301: RPDO: 1st application object

Hardware CoC

"RPDO mapping parameter", subindex 1 "1st application object" for the pro‐
file "CiA301".
The object of the data type UNSIGNED32 contains information from the map‐
ping object in the PDO.
It can be written on subindex 1, if subindex 0 is equal to "0".
Structure
Bit Name/function
31…16 Index of the mapping object

15…8 Subindex of the mapping object
7…0 Data length in bits

4.18.27 P-0-3609.x.3, CiA301: RPDO: 2nd application object

Hardware CoC

"RPDO mapping parameter", subindex 2 "2nd application object" for the pro‐
file "CiA301".

Structure
Bit Name/function


4.18.28 P-0-3609.x.4, CiA301: RPDO: 3rd application object

Hardware CoC

"RPDO mapping parameter", subindex 3 "3rd application object" for the pro‐
file "CiA301".
Structure
Bit Name/function


4.18.29 P-0-3609.x.5, CiA301: RPDO: 4th application object

Hardware CoC

"RPDO mapping parameter", subindex 4 "4th application object" for the pro‐
file "CiA301".
Structure
Bit Name/function


4.18.30 P-0-3610, CANopen: Heartbeat/NodeGuard Configuration

Hardware CoC, CoE, CoV
Function Parameter "P-0-3610" is a CANopen-specific parameters which can be used

to configure the node monitoring function (Heartbeat or Node Guarding).
See also Functional Description "CANopen Interface"
Structure The individual elements of the parameter have the following significance:
Element Designation/func‐ Comment Object

tion
1 Producer Heartbeat Default value: 0 0x1017/00

Time (ms) Min./max. value:
0/60000
2 Consumer Heart‐ Default value: 0 0x1016/01 Low
beat Time (ms) Min./max. value: word
0/60000
3 Consumer Heart‐ Default value: 127 0x1016/01 High
beatNode ID Min./max. value: word
1/127
Element Designation/func‐ Comment Object

tion
4 Node Guard Time Default value: 0 0x100C0x100C
(ms) (off)
Min./max. value:
0/60000
5 Life Time Factor Default value: 3 0x100D
Min./max. value:
1/255
Tab. 4-288: P-0-3610 CANopen: Heartbeat/NodeGuard Configuration

Use As only one type of monitoring may be switched on at a time, element 4 must
be set to 0, when a value is written to element 1 or 2, and vice versa.
4.18.31 P-0-3611, CANopen: COB-IDs

Function "P-0-3611" is a CANopen-specific parameter with which the COB-IDs (CAN

identifier) are configured. If the default values are not changed, an address
change (P-4025) are applied to the COB-IDs
Structure The individual elements of the parameter have the following significance:
Element Description Default value Object
1 COB-ID PDO1(tx) 0x180 + Node-Id 0x1800/01

2 COB-ID PDO1(rx) 0x200 + Node-Id 0x1400/01
9 COB-ID EMCY 0x80 + Node-Id 0x1014/00
10 COB-ID SYNC 0x80 0x1005/00
Tab. 4-289: P-0-3611, CANopen: COB-IDs used

4.18.32 P-0-3612, CANopen: Transmission Types

Function Parameter P-0-3612 is a CANopen-specific parameter with which the trans‐

mission types of the PDOs are set.
See also Functional Description "CANopen"
Element Designation/function Comment Object
1 Transmission Type PDO1(tx) default value: 254 0x1800/02

2 Transmission Type PDO1(rx) default value: 254 0x1400/02
Tab. 4-290: P-0-3612, CANopen: Transmission Types

4.18.33 P-0-3613, CANopen: List of the Event Parameters

Function This list contains parameters which are monitored for changes during cyclic
configuration. If such a parameter is configured in a PDO which is transmitted
cyclically and the parameter changes, the PDO is transmitted.
● A typical application is the transmission of probe values.
● This list cannot be edited by the user.

4.18.34 P-0-3614.x.1, CiA301: TPDO communication parameter

Hardware CoC

"TPDO communication parameter", subindex 0
"Highest sub-index supported" for the profile "CiA301".
The objects have the constant value "5".
P-0-3614.0.1 Index 1800h , subindex 0 for TPDO1
P-0-3614.x.1 - Attributes Function: Par Editable: -- Data length:

2Byte /
1Byte
4.18.35 P-0-3614.x.2, CiA301: COB-ID used by TPDO

Hardware CoC

"TPDO communication parameter", subindex 1 "COB ID used by TPDO" for
Structure
P‑0‑3614.0.2: Index 1800h , subindex 1 for "COB ID used by TPDO"1

CAN ID
180h + Node ID
P-0-4089.0.3)
Frame
29
0b: 11-bit CAN ID
30 Reserved
valid
31

CAN ID
280h + Node ID
P-0-4089.0.3)
Frame
29
0b: 11-bit CAN ID
30 Reserved
valid
31

CAN ID
380h + Node ID
P-0-4089.0.3)
Frame
29
0b: 11-bit CAN ID
30 Reserved
valid
31

CAN ID
480h + Node ID
P-0-4089.0.3)
Frame
29
0b: 11-bit CAN ID
30 Reserved
valid
31

4.18.36 P-0-3614.x.3, CiA301: Transmission type TPDO

Hardware CoC

"TPDO communication parameter", subindex 2 "Transmission type TPDO"
for the profile "CiA301".
The transmission method of the respective TPDO can be set via the parame‐
ter.
Supported transmission methods
Type 0 synchronous, acyclic

The TPDO is sent by the slave if required ("event-driven") after the
next Sync point.
Type 1 synchronous, cyclic
The TPDO is cyclically sent by the slave after each Sync point.
Type 252 synchronous, RTR-only
Data of the TDPO is refreshed in each Sync cycle. The TPDO is not
actively send, only upon an RTR request.
Type 254 Synchronous, acyclic
The TPDO is sent by the slave only if required ("event-driven").
"Event-driven": An event is available if data changed in the PDO.

If data changes continuously, the "inhibit time" (subindex 3)
(P-0-3614.x.4) applies to ensure that the PDO is not sent more of‐
ten than this inhibit time. If data changes rarely or not at all, the
PDO is still sent after the time "event timer" (subindex 5)
(P-0-3614.x.5) elapses.

2Byte /
1Byte
4.18.37 P-0-3614.x.4, CiA301: Inhibit time TPDO

Hardware CoC

"TPDO communication parameter", subindex 3 "Inhibit time TPDO" for the
profile "CiA301".
Via the parameter, a minimum time span in microseconds [µs] can be defined
for the "event-driven" TPDO. Even if the event occurs more often, the TPDO
is not sent more often than this time span in order not to overload the field
bus.
"Inhibit time TPDO" should be a multiple of 100 µs and lower than

"event timer TPDO" (P-0-3614.x.6).

4.18.38 P-0-3614.x.6, CiA301: Event timer TPDO

Hardware CoC

"TPDO communication parameter", subindex 5 "Event timer TPDO" for the
profile "CiA301".
A maximum time span in milliseconds [ms] can be defined for "event-driv‐
en"TPDO via the parameter. After this period, the TPDO is also sent without
event.
"Event timer TPDO" should be a multiple of 1 ms and higher than

"inhibit time TPDO" (P-0-3614.x.5).

4.18.39 P-0-3615.x.1, CiA301: TPDO mapping parameter

Hardware CoC
Function The parameters implement the objects from 1A00h to 1A03h

"TPDO mapping parameter", subindex 0 for the profile "CiA301".
The object contains the number of valid mapping objects in this PDO.
P-0-3615.0.1 Index 1A00h , subindex 0 for TPDO1
Use Example:
Number 0: Mapping disabled. The PDO is thus disabled.

Number 1: Object of the subindex 1 is valid.
Number 2: Objects of the subindices 1 to 2 are valid.
Subindex 1 up to subindex 4 are the valid maximum.
Proceed as follows for the PDO mapping:

1. Set subindex 0 to "0" to delete all existing mapping objects in this PDO.
2. Write from subindex 1 up to subindex N (N ≤ 4) with mapping objects.
3. Set the subindex 0 to the number N.
2Byte /
1Byte
4.18.40 P-0-3615.x.2, CiA301: TPDO: 1st application object

Hardware CoC

"TPDO mapping parameter", subindex 1 "1st application object" for the profile
"CiA301".

Structure Bit Name/function


4.18.41 P-0-3615.x.3, CiA301: TPDO: 2nd application object

Hardware CoC

"TPDO mapping parameter", subindex 2 "2nd application object" for the pro‐
file "CiA301".
Structure
Bit Name/function


4.18.42 P-0-3615.x.4, CiA301: TPDO: 3rd application object

Hardware CoC

"TPDO mapping parameter", subindex 3 "3rd application object" for the pro‐
file "CiA301".
Structure
Bit Name/function


4.18.43 P-0-3615.x.5, CiA301: TPDO: 4th application object

Hardware CoC

"TPDO mapping parameter", subindex 4 "4th application object" for the pro‐
file "CiA301".
Structure
Bit Name/function


4.18.44 P-0-3616.0.1, ECAT: EtherCAT Address

Hardware CoE
Function CAN over EtherCAT (CoE) object

Index 1100h - "EtherCAT address"
Shows the identification number of EtherCAT - also called "Second Slave Ad‐
dress (SSA)".
4.18.45 P-0-3616.0.2, ECAT: Virtual MAC Address

Hardware CoE

Index 1110h - "Virtual MAC Address"
Shows the MAC address for Ethernet over EtherCAT (EoE).
2Byte /
1Byte
4.18.46 P-0-3617.0.1, ECAT: IP Address Info

Hardware CoE

Index 1111h - "IP Address Info"
Subindex 0 - "Highest subindex supported"

0 Highest subindex supported P-0-3617.0.1
1 IP address P-0-3617.0.2
2 Subnet Mask P-0-3617.0.3
3 Default gateway P-0-3617.0.4

2Byte /
1Byte
4.18.47 P-0-3617.0.2, ECAT: IP Address

Hardware CoE

Subindex 1 - "IP address"
4.18.48 P-0-3617.0.3, ECAT: Subnet Mask

Hardware CoE

Subindex 2 - "Subnet Mask"
4.18.49 P-0-3617.0.4, ECAT: Default Gateway

Hardware CoE

Subindex 3 - "Default Gateway"

4.18.50 P-0-3618.0.1, ECAT: Receive PDO Mapping

Hardware CoE
Function CAN over EtherCAT (CoE) object according to /CiA301/

Index 1600h "Receive PDO Mapping Parameter"
Subindex 0 - "number of mapped application objects in PDO"
While reading, the number of valid entries of the application objects is re‐
turned to the subindex. When a certain value is written N (0 ≤ N ≤ 16) the
entries of the application objects, which are available in subindices 1 to N,
are mapped in the PDO channel. Subindices N+1 through 16 become invalid.
Value Description
0 Mapping deactivated
1 Subindex 1 valid
2 Subindices 1 to 2 valid
...... ......

2Byte /
1Byte
4.18.51 P-0-3619.x.1, ECAT: RPDO: application object

Hardware CoE
Function CAN over EtherCAT (CoE) object according to /CiA301/

Index 1600h "Receive PDO Mapping Parameter"
Subindices 1 to 16 - "Application object". The relevant parameter is
"P-0-3619.x.1"

1 Entry of the application object P-0-3619.0.1

Structure The application objects in the subindices describe the content of the PDO by
their index, subindex and length in bit.
Bit 31... 16 Bit 15... 8 Bit 7... 0

Index Subindex Length

4.18.52 P-0-3620.0.1, ECAT: Transmit PDO Mapping

Hardware CoE
Function CAN over EtherCAT (CoE) object to /CiA301/

Index 1A00h "Transmit PDO Mapping Parameter"
Subindex 0 - "number of mapped application objects in PDO"
When this parameter is read, the number of valid entries of application ob‐
jects in the subindices is returned. When a certain value N (0 ≤ N ≤ 16) is
written to the parameter, the entries of application objects available in subin‐
dices 1 to N are mapped to the PDO channel. Subindices N+1 to 16 become
invalid.
Value Description
0 Mapping deactivated
1 Subindex 1 valid
...... ......

2Byte /
1Byte
4.18.53 P-0-3621.x.1, ECAT: TPDO: application object

Hardware CoE
Function CAN over EtherCAT (CoE) object to /CiA301/

Index 1A00h "Receive PDO mapping parameter"
Subindices 1 to 16 - "Application object".

Structure The application objects in the subindices describe the content of the PDO by
their index, subindex and length in bits.
Bit 31...16 Bit 15...8 Bit 7...0

Index Subindex Length

4.18.54 P-0-3622.0.1, ECAT: Sync Manager Communication Type

Hardware CoE

Index 1C00h "Sync Manager COMMUNICATION Type"
Subindex 0 - "Number of Sync Manager".

Supported subindices and relevant parameters:

0 Number of Sync Manager P-0-3622.0.1
1 Sync Manager 0: mailbox out (Master → slave) = 1 P-0-3622.0.2
2 Sync Manager 1: mailbox in (Slave → Master) = 2 P-0-3622.0.3
3 Sync Manager 2: process data out (RxPDO) = 3 P-0-3622.0.4
4 Sync Manager 3: process data in (TxPDO) = 4 P-0-3622.0.5

2Byte /
1Byte
4.18.55 P-0-3622.0.2, ECAT: Sync Manager 0

Hardware CoE

Index 1C00h "Sync Manager COMMUNICATION Type"
Subindex 1 - Sync Manager 0.

Hardware CoE

Index 1C00h "Sync Manager Communication Type"

Hardware CoE


Hardware CoE

4.18.59 P-0-3623.0.1, ECAT: PDO Assignment RX (Outputs)

Hardware CoE

Index 1C12h - "PDO Assignment RX (outputs)"
Subindex 0 - "Number of PDOs"
1 PDO channel is supported, "Number of PDOs" = 1.
Supported subindices and relevant parameters:

Number of PDOs
0 P-0-3623.0.1
=1
PDO Assign Outputs 1
1 P-0-3623.0.2
= 1600h

2Byte /
1Byte

4.18.60 P-0-3623.0.2, ECAT: PDO Assign Outputs 1

Hardware CoE

Index 1C12h - "PDO assignment RX (outputs)"
Subindex 1 - "PDO assign outputs 1". See parameter P-0-3623.0.1
1 PDO channel is supported, "PDO assign outputs 1" = 1600h.
4.18.61 P-0-3624.0.1, ECAT: PDO Assignment TX (Inputs)

Hardware CoE

Index 1C13h - "PDO assignment TX (inputs)"
Subindex 0 - "Number of PDOs"
1 PDO channel is supported, "number of PDOs" = 1.
For supported subindices and corresponding parameters, see the following
table:

0 Number of PDOs = 1 P-0-3624.0.1
1 PDO assign outputs 1 = 1A00h P-0-3624.0.2

2Byte /
1Byte
4.18.62 P-0-3624.0.2, ECAT: PDO Assign Inputs 1

Hardware CoE

Index 1C13h - "PDO assignment TX (inputs)"
Subindex 1 - "PDO assign outputs 1". See parameter P-0-3624.0.1
1 PDO channel is supported, "PDO assign outputs 1" = 1A00h.
4.18.63 P-0-3626.0.1, EPL: Verify Configuration

Hardware Ethernet POWERLINK
Function This parameter contains the number of parameters, which are used to config‐
ure the drive (CN) by the managed node (MN).
2Byte /
1Byte
4.18.64 P-0-3626.0.2, EPL: ConfDate

Function The parameter contains the "configuration date", which is written by the Man‐
aged Node (MN) when the drive (CN) is being configured.
Contents: Number of days since January 1, 1984
4.18.65 P-0-3626.0.3, EPL: ConfTime

Function This parameter contains the "configuration time" which is written by the man‐
aged node (MN) when the drive (CN) is configured.
Content: Number of milliseconds (ms) since midnight.
4.18.66 P-0-3627.0.1, EPL: Interface Group

Function This parameter shows the number of entries of the "NMT_InterfaceGroup"

(P-0-3627.0.2 to P-0-3627.0.10).

2Byte /
1Byte
4.18.67 P-0-3627.0.2, EPL: Interface Index

Function The parameter contains the number of the physical Ethernet POWERLINK in‐
terface of the drive. It is computed from object number - 0x102F.
Example: 0x1030 - 0x102 F = 1
⇒ Number of the physical Ethernet POWERLINK interface in the drive = 1
4.18.68 P-0-3627.0.3, EPL: Interface Description

Function The parameter contains the vendor’s name, product name and hardware ver‐
sion of the drive.
4.18.69 P-0-3627.0.4, EPL: Interface Type

Function The parameter indicates the type of interface, distinguished by the physical/
link protocol/s directly below the network layer in the protocol stack.
Structure
1 Others
6 ethernet-csmacd
7 iso88023-csmacd
Tab. 4-291: P-0-3627.0.4, EPL: Interface type

2Byte /
1Byte
4.18.70 P-0-3627.0.5, EPL: Interface Mtu

Function The parameter contains the maximum packet size of the telegrams (MTU,
Maximum Transmission Unit) that can be received or sent by the drive.
4.18.71 P-0-3627.0.6, EPL: Interface Phys Address

Function This parameter contains the MAC address of the master communication in‐
terface.
4.18.72 P-0-3627.0.7, EPL: Interface Name

Function This parameter contains the name of the master communication interface for
reference purposes. It can be used for a device driver to access the interface,
for example.
4.18.73 P-0-3627.0.8, EPL: Interface Oper Status

Function The parameter contains the operational state of the master communication
interface.
Structure
0 Out of operation
1 In operation
Tab. 4-292: P-0-3627.0.8


2Byte /
1Byte
4.18.74 P-0-3627.0.9, EPL: Interface Admin State

Function The parameter contains the administration status of the master communica‐
tion interface.
Structure
0 Interface out of operation

1 Interface in operation
Tab. 4-293: P-0-3627.0.9

2Byte /
1Byte
4.18.75 P-0-3627.0.10, EPL: Valid

Function The parameter contains information, whether or not the data of parameters
"P-0-3627.0.1" to "P-0-3627.0.9" (object 0x1030, NMT_InterfaceGroup) are
valid.
Structure
0 (FALSE) Data in object are invalid

1 (TRUE) Data in object are valid
Tab. 4-294: P-0-3627.0.10

2Byte /
1Byte
4.18.76 P-0-3628.0.1, EPL: Sequ Layer Timeout

Function Timeout in milliseconds (ms) until the connection interruption of an acyclic

SDO transmission sequence is recognized.

4.18.77 P-0-3629.0.1, EPL: Cmd Layer Timeout

Function Timeout in milliseconds (ms) until the connection interruption of an acyclic

SDO command is recognized.
4.18.78 P-0-3630.0.1, EPL: Rx Comm Param

Function This parameter contains the number of entries in object 0x1400.

2Byte /
1Byte
4.18.79 P-0-3630.0.2, EPL: Node ID

Function This parameter contains the node ID of the drive.

2Byte /
1Byte
4.18.80 P-0-3630.0.3, EPL: Mapping Version

Function Mapping version of the process data received (RPDO). The drive checks the
mapping version in the received PDO and compares it to the version set
here. If the "main version" differs, the RPDO is ignored. If the "main version"
is identical, but the "sub-version" differs, the RPDO is accepted.
Structure Bit Designation/function
0... 3 (low-nibble) Sub version

4... 7 (high-nibble) Main version
Tab. 4-295: P-0-3630.0.3, EPL: Mapping version

2Byte /
1Byte
4.18.81 P-0-3631.0.1, EPL: Rx Mapp Param

Function Number of mapped objects in the RPDO. Before entries in object 0x1600 can
be changed, the MN has to set this value to 0. In order that the entries can
become effective again, the number of entries in this parameter must again
be set to <> 0.
Structure
Value Designation/function
0 RPDO deactivated
1... 254 Number of mapped objects in the RPDO.
Tab. 4-296: P-0-3631.0.1, EPL: Rx Mapp Param

2Byte /
1Byte
4.18.82 P-0-3631.x.2, EPL: Rx Object Mapping

Function Mapping of objects in the RPDO.

Structure
Octet - offset Name Comment
0-1 Index Index of the mapped object

2 Subindex Subindex of the mapped object
3 Reserved
4-5 Offset Offset of the mapped object within the payload
data in the PRDO (in bits)
6-7 Length Length of the mapped object in the PRDO (in bits)
Tab. 4-297: Mapping structure of the objects in the RPDO


4.18.83 P-0-3632.0.1, EPL: Tx Comm Param

Function This parameter contains the number of entries in object 0x1800.

2Byte /
1Byte
4.18.84 P-0-3632.0.2, EPL: Node ID

Function Node ID of the node that receives the TDO. Since the drive is a controlled
node (CN), the entry is not used according to the specification (always 0).
2Byte /
1Byte
4.18.85 P-0-3632.0.3, EPL: Mapping Version

Function Mapping version of the process data to be sent (TPDO).

Structure
0... 3 (low-nibble) Sub version

4... 7 (high-nibble) Main version
Tab. 4-298: P-0-3632.0.3, EPL: Mapping version

2Byte /
1Byte

4.18.86 P-0-3633.0.1, EPL: Tx Mapp Param

Function Number of mapped objects in the TPDO. Before the entries in object 0x1A00
can be changed, the MN must set this value to 0. In order that the entries can
become effective again, the number of entries in this parameter has to be set
to <> 0.
Structure
Value Designation/function
0 TPDO deactivated
1... 254 Number of mapped objects in the TPDO.
Tab. 4-299: P-0-3633.0.1, EPL: Tx Mapp Param

2Byte /
1Byte
4.18.87 P-0-3633.x.2, EPL: Tx Object Mapping

Function Mapping of objects in the TPDO.

Structure Structure of entries
Octet - offset Name Comment
0-1 Index Index of the mapped ob‐

ject
2 Subindex Subindex of the mapped
object
3 Reserved
4-5 Offset Offset of the mapped ob‐
ject within the payload da‐
ta in the RPDO (in bits)
6-7 Length Length of the mapped ob‐
ject in the RPDO (in bits)
Tab. 4-300: Structure of mapping of objects in the TPDO, P-0-3633.000.002


4.18.88 P-0-3634.0.1, EPL: CN Loss SoC

Function Number of entries in object 0x1C0B, CN Loss SoC.

2Byte /
1Byte
4.18.89 P-0-3634.0.2, EPL: Loss SoC: Cumulative Cnt

Function SoC failure counter, which is increased by the value “1” whenever the con‐
trolled node (CN) detects a "loss of SoC".
4.18.90 P-0-3634.0.3, EPL: Loss SoC: Threshold Cnt

Function SoC threshold value counter. It is increased by the value “8” whenever the
controlled node (CN) detects a "loss of SoC". It is reduced by the value “1”, if
no "loss of SoC" was detected within a cycle.
4.18.91 P-0-3634.0.4, EPL: Loss SoC: Threshold

Function If the “Loss SoC: Threshold Cnt” exceeds the threshold value set here, the
drive changes to the "Pre-Operational 1" state and the threshold value coun‐
ter (0x1C0Bsub2) is reset to 0.
The threshold value counter is deactivated when the threshold value is set to
0 here. In this case, the drive does not execute an error reaction upon "Loss
of SoC".
4.18.92 P-0-3635.0.1, EPL: CN CRC Error

Function Number of entries in object 0x1C0F, CN CRC Error.

2Byte /
1Byte
4.18.93 P-0-3635.0.2, EPL: CRC Error: Cumulative Cnt

Function SoC failure counter, which is increased by the value “1” whenever the con‐
trolled node (CN) detects a "CRC error".
4.18.94 P-0-3635.0.3, EPL: CRC Error: Threshold Cnt

Function The parameter writes to the CRC threshold value counter. The CRC thresh‐
old value counter is increased by the value “8” whenever the controlled node
(CN) detects a "CRC error". It is reduced by the value “1”, if no "CRC error"
was detected within a cycle.
4.18.95 P-0-3635.0.4, EPL: CRC Error: Threshold

Function If the CN exceeds the set threshold value of the parameter "CRC Error:
Threshold Cnt", the drive executes an error reaction and the threshold value
counter (0x1C0Fsub2) is reset to the value “0”.
The threshold value counter is deactivated when the threshold value is set to
the value “0”. In this case, the drive does not execute an error reaction upon
a "CRC error".

4.18.96 P-0-3636.0.1, EPL: CN Loss Of SoC Tolerance

Function The drive supports a tolerance interval in ns, which is applied when the pa‐
rameter "Loss of SoC" is recognized.
4.18.97 P-0-3637.0.1, EPL: IP Addr Table

Function Number of entries in object 0x1E40, NWL_IpAddrTable.

2Byte /
1Byte
4.18.98 P-0-3637.0.2, EPL: If Index

Function Interface index of the associated IP interface of the drive. The interface is the
same as in object 0x1030sub01 (see P-0-3627.0.2).
4.18.99 P-0-3637.0.3, EPL: Addr IPAD

Function IP address of the Ethernet POWERLINK interface of the drive. Since the
Ethernet POWERLINK network is always a class-C network, the drive always
has an IP address within the range of 192.168.100.x. The host ID of the IPv4
address (x) is identical to the node ID of the drive.

4.18.100 P-0-3637.0.4, EPL: Net Mask IPAD

Function Subnet mask of the IP interface of master communication of the drive.

4.18.101 P-0-3637.0.5, EPL: Reasm Max Size

Function Length of the largest IP telegram that the drive can assemble from the IP
fragments arriving via Ethernet POWERLINK master communication.
4.18.102 P-0-3637.0.6, EPL: Default Gateway IPAD

Function Default gateway of IP communication via the Ethernet POWERLINK interface

of the drive.
4.18.103 P-0-3638.0.1, EPL: Ip Group

Function Number of entries in object 0x1E4A, NWL_IpGroup.

2Byte /
1Byte
4.18.104 P-0-3638.0.2, EPL: Forwarding

Function Capability of the drive to forward IP telegrams, which are received by the
drive, but are not intended for the drive.
Structure
0 (FALSE) No forwarding
1 (TRUE) Forwarding
Tab. 4-301: P-0-3638.0.2

2Byte /
1Byte
4.18.105 P-0-3638.0.3, EPL: Default TTL

Function Default value for the time-to-live (TTL) field in the IP header of a telegram
generated by the drive, if this value is not supported by the transport layer.
4.18.106 P-0-3638.0.4, EPL: Forward Datagrams

Function Number of received telegrams, the final IP destination of which is not this
drive.
However, an attempt was made to find a route for forwarding to the final des‐
tination.
4.18.107 P-0-3639.0.1, EPL: Feature Flags

Function Properties, which the drive has with regard to the Ethernet POWERLINK
communication profile.
Structure
Octet Bit Designation/function Property
0 0 Isochronous 0 (FALSE): Drive does not support isochronous access via PReq.
1 (TRUE): Isochronous access to the drive possible via PReq.
1 SDO via UDP/IP 0 (FALSE): Drive does not support SDO communication via POWERLINK
Asnd Frames.
1 (TRUE): Drive supports SDO communication via POWERLINK Asnd
Frames.
2 SDO via Asnd 0 (FALSE): Drive does not support SDO communication via POWERLINK
Asnd Frames.
1 (TRUE): Drive supports SDO communication via POWERLINK Asnd
Frames.
3 SDO via PDO 0 (FALSE): Drive does not support SDO communication by means of contain‐
ers in the PDO channel.
1 (TRUE): Drive supports SDO communication by means of containers in the
PDO channel.
4 NMT info service 0 (FALSE): Drive does not support NMT info service
1 (TRUE): Drive supports NMT info service
5 Extended NMT state 0 (FALSE): Drive does not support extended NMT state commands.
commands 1 (TRUE): Drive does not support extended NMT state commands.
6 Dynamic PDO map‐ 0 (FALSE): Drive does not support dynamic PDO mapping.
ping 1 (TRUE): Drive supports dynamic PDO mapping.
7 NMT services via 0 (FALSE): Drive does not support NMT services via UDP/IP.
UDP/IP 1 (TRUE): Drive supports NMT services via UDP/IP.
Octet Bit Designation/function Property

1 8 Configuration manager 0 (FALSE): Drive does not support configuration manager functions.
1 (TRUE): Drive supports configuration manager functions.
9 Multiplex access 0 (FALSE): Drive does not support isochronous Multiplex access.
1 (TRUE): Drive supports isochronous Multiplex access.
10 Node ID setting by 0 (FALSE): Drive does not support node ID setting by means of SW.
means of SW 1 (TRUE): Drive supports node ID setting by means of SW.
11 MN basic Ethernet 0 (FALSE): MN does not support Basic Ethernet mode.
mode 1 (TRUE): MN supports Basic Ethernet mode.
12 Support of routing type 0 (FALSE): Drive does not support routing type 1.
1 1 (TRUE): Drive supports routing type 1.
13 Support of routing type 0 (FALSE): Drive does not support routing type 2.
2 1 (TRUE): Drive supports routing type 2.
14 Read/write all SDO by 0 (FALSE): Drive does not support reading/writing all SDOs by index.
index 1 (TRUE): Drive supports reading/writing all SDOs by index.
15 Read/write multiple pa‐ 0 (FALSE): Drive does not support reading/writing multiple parameters by in‐
rameters with SDO by dex.
index 0 (FALSE): Drive supports reading/writing multiple parameters by index.
16... 31 Reserved
Tab. 4-302: P-0-3639.000.001

4.18.108 P-0-3640.0.1, EPL: EPL Version

Function Version of the drive’s Ethernet POWERLINK communication profile.

Structure
0... 3 (low nibble) POWERLINK subversion

4... 7 (high nibble) POWERLINK main version
Tab. 4-303: P-0-3640.0.1

2Byte /
1Byte

4.18.109 P-0-3641.0.1, EPL: Curr NMT State

Function Current NMT status of the drive according to Ethernet POWERLINK specifi‐
cation.
2Byte /
1Byte
4.18.110 P-0-3642.0.1, EPL: EPL Node ID

Function Number of entries in object 0x1F93, EPLNodeID.

2Byte /
1Byte
4.18.111 P-0-3642.0.2, EPL: Node ID

Function Ethernet POWERLINK node ID of the drive. The node ID of the drive can on‐
ly be set by means of software (e.g. IndraWorks).
2Byte /
1Byte
4.18.112 P-0-3642.0.3, EPL: Node ID By HW

Function The Boolean flag signals whether or not the node ID of the Ethernet POWER‐
LINK drive can be set exclusively by means of hardware (HW) or software
(SW).
0 (FALSE) for drives, the node ID of which can be set exclusively by means
of SW.
1 (TRUE) for drives, the node ID of which can be set exclusively by means of
HW.

2Byte /
1Byte
4.18.113 P-0-3642.0.4, EPL: SW Node ID

Function Node ID of the controlled node (CN).

This parameter serves to configure the node ID of the CN by means of soft‐
ware.
2Byte /
1Byte
4.18.114 P-0-3643.0.1, EPL: Cycle Timing

Function Number of entries in object 0x1F98, NMT_CycleTiming.

2Byte /
1Byte
4.18.115 P-0-3643.0.2, EPL: Isochr Tx Max Payload

Function Maximum length of data in the isochronous telegram to be sent (in octets).
4.18.116 P-0-3643.0.3, EPL: Isochr Rx Max Payload

Function Maximum length of data in the isochronous telegram to be received (in oc‐
tets).

4.18.117 P-0-3643.0.4, EPL: Pres Max Latency

Function Maximum time in ns required by the CN to reply to a PReq.

4.18.118 P-0-3643.0.5, EPL: Preq Act Payload Limit

Function Contains the length of the payload data in octets in the PReq to be expected
by the CN. The length of payload data plus header results in the length of the
PReq frames.
4.18.119 P-0-3643.0.6, EPL: Pres Act Payload Limit

Function Contains the length of the payload data in octets in the PReq sent by the CN.
The length of payload data plus header results in the length of the PReq
frames. The payload data can be filled by the PDO up to this limit.
4.18.120 P-0-3643.0.7, EPL: Asnd Max Latency

Function Maximum time in ns required by the CN to reply to an SoA.

4.18.121 P-0-3643.0.8, EPL: Multiple Cycle Cnt

Function Describes the length of the multiplexed cycle in multiples of the POWERLINK
cycle.
2Byte /
1Byte
4.18.122 P-0-3643.0.9, EPL: Async MTU

Function Maximum frame size for asynchronous data in octets. The value is valid for
Asnd frames as well as for UDP/IP and other Ethernet frames. The value
therefore describes the length of the complete Ethernet frame minus 14 oc‐
tets for Ethernet header and 4 octets of checksum.
4.18.123 P-0-3643.0.10, EPL: Prescaler

Function Change rate of the SoC PS flag. The value represents the number of cycles
until the MN toggles the flag.
If this value is 0, there shall be no toggling of the PS flag.
If this value is 1, the PS flag is to be toggled in each cycle.
If this value is 2, the PS flag is to be toggled in every second cycle.
This toggling can take place with any optional further values.
4.18.124 P-0-3644.0.1, EPL: CN Basic Ethernet Timeout

Function Delay time of the drive in us, before it automatically switches from state "not
active" to state "Basic Ethernet".

4.18.125 P-0-3645.0.1, EPL: Host Name


Parameters - MPx-16 To MPx-20 & PSB - R911328651 - 11

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Rexroth IndraDrive

MPx-16 to MPx-20 and PSB

Reference Book Edition 11

Title Rexroth IndraDrive

Type of Documentation Reference Book

Document Typecode DOK-INDRV*-GEN1-PARA**-RE11-EN-P

Internal File Reference RS-df6652c9955f65180a347ea50019b662-1-en-US-4

Record of Revision Edition Release Date Notes

Copyright © Bosch Rexroth AG 2017

2 Safety instructions for electric drives and controls......................................................... 7

5 Standard parameters............................................................................................... 1145

6 Communication Objects (0x1000 to 0x1FFF).......................................................... 1525

7 Service and support................................................................................................. 1527

Explanation of the parameter attributes................................................................... 1529

Title Kind of documentation Document typecode1) Material number

…Cs Project Planning Manual HCS01******-PRxx-EN-P 322210

1) In the document typecodes, "xx" is a wild card for the current

Title Kind of documentation Document typecode1) Material number

Rexroth IndraDrive Project Planning Manual DOK-INDRV*-HCQ-T+HMQ-T- 324185

Rexroth IndraDrive Project Planning Manual DOK-INDRV*-ADDCOMP****- 306140

1) In the document typecodes, "xx" is a wild card for the current

A Asynchronous Motors MAD / MAF Project Planning Manual MAD/MAF****-PRxx-EN-P 295781

1) In the document typecodes, "xx" is a wild card for the current

Rexroth Connection Cables Selection Data CABLE*INDRV-CAxx-EN-P 322949

1) In the document typecodes, "xx" is a wild card for the current

MPx-20 Application Manual MP*-20VRS**-APxx-EN-P 345608

Title Type of documentation Document typecode1) Material number

MPx-18 Release Notes MP*-18VRS**-RNxx-EN-P 338658

1) In the document typecodes, "xx" is a placeholder for the current

1.5 Control unit

Title Type of documentation Document typecode1) Material number

12VRS Manual NC*FUNC*V12-APxx-EN-P 334357

1) In the document typecodes, "xx" is a placeholder for the current

Safety instructions for electric drives and controls

2 Safety instructions for electric drives and controls

Safety instructions for electric drives and controls

requires. To comply with these qualifications, it is necessary, among other

2.2 General information

2.2.2 Requirements for safe use

Safety instructions for electric drives and controls

2.2.3 Hazards by improper use

Safety instructions for electric drives and controls

2.3 Instructions with regard to specific dangers

Safety instructions for electric drives and controls

● Secure built-in devices from penetrating foreign objects and water, as

1.5 mm2 (16 AWG) 2 × 1.5 mm2 (16 AWG)

2.5 mm2 (14 AWG) 2 × 2.5 mm2 (14 AWG)

4 mm2 (12 AWG) 10 mm2 (8 AWG) 2 × 4 mm2 (12 AWG)

6 mm2 (10 AWG) 2 × 6 mm2 (10 AWG)

25 mm2 (4 AWG) 16 mm2 (6 AWG) -

50 mm2 (1/0 AWG) 25 mm2 (4 AWG) -

70 mm2 (2/0 AWG) 35 mm2 (2 AWG) -

... ... ...

Tab. 2-1: Minimum cross section of the equipment grounding connection

2.3.2 Protective extra-low voltage as protection against electric shock

Safety instructions for electric drives and controls

2.3.3 Protection against dangerous movements

Dangerous movements! Danger to life, risk of injury, serious injury or property

Safety instructions for electric drives and controls

ment works. Do not operate the machine if the emergency stopping

2.3.4 Protection against electromagnetic and magnetic fields during opera‐

Safety instructions for electric drives and controls

2.3.5 Protection against contact with hot parts

12VRS Manual NCFUNCV12-APxx-EN-P 334357