English: Language Translation Document No. 5.09022.17 Part No. 431082 Status 08-Apr-2021

Parameter manual
Language English
Translation
Document No. 5.09022.17
Part No. 431082
Status 08-Apr-2021
b maXX BM5000
Parameter manual
Version 01.16 / 01.17
E 5.09022.17 Read the Operating Manual before starting any work!

Copyright The owner may produce an unrestricted number of copies of this Parameter manual solely
for internal use. This Parameter manual may not be copied or reproduced, even in extract
form, for any other purpose.
Use and disclosure of the contents of this Parameter manual are not permitted.
Names or company symbols in this Parameter manual can be trademarks, the use of which
by third parties for their own purposes may infringe the rights of the owners.
Preliminary informationCaution: The following applies if this document is identified as preliminary information:
This version contains preliminary technical information which the users of the devices and
functions described are intended to receive in advance, in order to be able to make arrange-
ments for any changes or functional enhancements that may be required.
This information should be considered to be provisional, as it has not yet been subjected to
the final Baumüller internal review process. In particular this information is still subject to
change, so that no legal obligation can be deduced on the basis of this preliminary informa-
tion. Baumüller accepts no liability for damages that may arise from this possibly erroneous
or incomplete version.
Should you detect or suspect errors of content and/or serious technical errors in this prelim-
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and inform us of your findings and comments so that they might be considered and possibly
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liminary information.
Obligation This Parameter manual is a part of the device/machine. This Parameter manual must be ac-
cessible to the operator at all times and be in a legible condition. When the device/machine
is sold/relocated, this Parameter manual must be passed on together with the device/ma-
chine by the owner.
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lier issue dates become invalid.
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Baumüller Nürnberg GmbH reserves the right to change the technical data and operation of
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manual, unless otherwise described in the General Conditions for Sales and Supply.
 Baumüller Nürnberg GmbH

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90482 Nürnberg
Germany
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Table of Contents
1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.1 Information about the Parameter Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.2 Explanation of Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.3 Limitation of Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.4 Copyright . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.5 Other Applicable Documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.6 Guarantee Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.7 Customer service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.8 Terms used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.1 Safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.2 Voltage test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.3 Requirements for the electrical supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.4 Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.4.1 Communication via EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.5 Switch-on sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.6 Performing the commissioning (using Axis 1 as an example) . . . . . . . . . . . . . . . . . . . 30
3 Error messages and troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.1 Behavior in case of errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.2 Monitoring functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.2.1 Monitoring function - explanations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.3 Error detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.4 Error handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.4.1 Error reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.5 Error descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4 Description of the Software Modules and Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . 87
4.1 Cycle times of the software modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
4.1.1 Cycle times at axis units (BM52xx, BM53xx, and so on). . . . . . . . . . . . . . . . . . . . . . 87
4.1.2 Cycle Times at the Active Mains Rectifier Unit (BM51xx) . . . . . . . . . . . . . . . . . . . . . 88
4.2 Structure of the parameter overviews . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
4.3 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
4.3.1 System control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
4.3.1.1 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
4.3.1.2 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
4.3.2 Identification plate of the option module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
4.3.2.1 Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
4.3.2.2 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
4.3.3 Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
4.4 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
4.4.1 Power unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
4.4.1.1 ProDrive Power Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
4.4.2 Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
4.4.2.1 Electronic motor identification plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
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4.4.2.2 Motor database . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

4.4.2.3 ProDrive tool motor type plate (asynchronous motors) . . . . . . . . . . . . . . . . . . . . . 132
4.4.2.4 Torque limits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
4.4.2.5 Torque monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
4.4.2.6 Torque threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
4.4.2.7 Maximum permissible speed (electrical conditioned). . . . . . . . . . . . . . . . . . . . . . . 136
4.4.2.8 ProDrive Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
4.4.2.9 Parameter overview motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
4.4.3 Synchronous Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
4.4.3.1 ProDrive Synchronous Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
4.4.3.2 Torque ripple compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
4.4.4 Asynchronous Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
4.4.4.1 ProDrive Asynchronous Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
4.4.4.2 Lh-characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
4.4.4.3 ProDrive Lh-characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
4.4.4.4 Parameter overview Lh-characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
4.4.4.5 Description of the Lh-characteristic parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . 180
4.4.5 Synchronous motor with interior permanent magnet . . . . . . . . . . . . . . . . . . . . . . . . 182
4.4.5.1 Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
4.4.5.2 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
4.4.5.3 Identification of the nonlinear parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
4.4.5.4 Field weakening at IPMSM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
4.4.5.5 Torque ripple compensation at IPMSM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
4.4.5.6 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
4.4.5.7 Description of the parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
4.4.6 Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
4.4.6.1 Length measuring devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
4.4.6.2 Encoder monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
4.4.6.3 ProDrive Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
4.4.6.4 Encoder optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
4.4.6.5 Encoder correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
4.4.6.6 Encoder accuracy and excentricity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
4.4.6.7 SSI digital configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
4.4.6.8 Resolver synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
4.4.6.9 Encoder angle via fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
4.4.7 Incremental encoder emulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
4.4.7.1 ProDrive Incremental encoder emulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
4.4.8 SSI encoder emulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
4.4.9 Autotuning of current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
4.4.9.1 ProDrive Autotuning of the Current Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
4.4.9.2 Parameter overview Autotuning of the Current Controller . . . . . . . . . . . . . . . . . . . 248
4.4.10 Autotuning of position / speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
4.4.10.1 Ks determination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
4.4.10.2 ProDrive Ks Determination. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
4.4.10.3 Parameter overview Ks measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
4.4.10.4 Description of the Ks measurement parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 260
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4.4.10.5 Control loop analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

4.4.11 Autotuning Asynchronous Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
4.4.11.1 Identification Lh characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
4.4.12 Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
4.4.12.1 Digital inputs at axis units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
4.4.12.2 ProDrive Digital Inputs at axis units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
4.4.12.3 Digital inputs at the active mains rectifier unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
4.4.12.4 ProDrive Digital Inputs at active mains rectifier unit . . . . . . . . . . . . . . . . . . . . . . . 271
4.4.13 Digital Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
4.4.13.1 Digital outputs at axis units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
4.4.13.2 ProDrive Digital Outputs at axis units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
4.4.13.3 Digital outputs at active mains rectifier units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
4.4.13.4 ProDrive Digital outputs at active mains rectifier units. . . . . . . . . . . . . . . . . . . . . . 284
4.4.14 Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
4.4.14.1 Description of the Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
4.4.14.2 ProDrive Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
4.4.15 Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
4.4.15.1 Description of the Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
4.4.15.2 ProDrive Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
4.4.16 Power steering pump I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
4.4.17 Fieldbus communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
4.4.17.1 Parameter Ids for the Real Time Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
4.4.17.2 Access Counter for each Real Time List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
4.4.18 Measuring encoder function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
4.4.18.1 ProDrive Measuring Encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
4.4.18.3 Description of the Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
4.4.19 Customizable PID controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
4.4.20 PT1 Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
4.4.20.1 Temporal features of the filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
4.4.21 Master-slave torque coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
4.4.22 Gantry functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 364
4.4.23 Synchronization. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367

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4.4.24 Configurable status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
4.4.25 SoftDrivePLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
4.4.25.1 Overview SoftDrivePLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
4.4.25.2 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
4.4.25.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
4.4.25.4 Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
4.4.25.5 Programming interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
4.4.26 DS402 Factor Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
4.4.26.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
4.4.26.2 ProDrive DS402 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
4.5 Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
4.5.1 Drive management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
4.5.1.1 States of the Device Control System of the axis unit . . . . . . . . . . . . . . . . . . . . . . . 400
4.5.1.2 States of the Device Control System of the active mains rectifier unit . . . . . . . . . . 401
4.5.1.3 Introduction to the Description of the Device Control System . . . . . . . . . . . . . . . . 403
4.5.1.4 State Machine for the Device Controller of the axis units BM52xx, BM53xx . . . . . 404
4.5.1.5 State Transitions in the Device Controller of the axis units . . . . . . . . . . . . . . . . . . 405
4.5.1.6 State Machine for the Device Controller of the active mains rectifier unit BM51xx 412
4.5.1.7 State Transitions in the Device Controller of the active mains rectifier unit . . . . . . 413
4.5.2 Data Set Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
4.5.2.1 General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
4.5.2.2 Command Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
4.5.2.3 Organization of the Parameters in the Data Sets. . . . . . . . . . . . . . . . . . . . . . . . . . 444
4.5.2.4 Delivered State. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
4.5.2.5 Switch-On Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
4.5.2.6 Changing, Loading, Copying and Storing Parameters . . . . . . . . . . . . . . . . . . . . . . 445
4.5.2.7 Identification of Parameter Set and Data Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
4.5.2.8 Functions of the Data Set Management System . . . . . . . . . . . . . . . . . . . . . . . . . . 446
4.5.2.9 Data Set Commands and Possible Error Messages . . . . . . . . . . . . . . . . . . . . . . . 447
4.5.2.10 Changeover to Data Set 1 to 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
4.5.2.11 Overview of the Data Set Management Commands . . . . . . . . . . . . . . . . . . . . . . . 449
4.5.3 Brake management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
4.5.3.1 Description of the Brake Management System . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
4.5.3.2 Brake watchdog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461
4.5.3.3 ProDrive Brake Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462
4.5.4 Error Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
4.5.5 Signal Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 474
4.5.5.1 Messages on the Signal Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 474
4.5.5.2 Supply ready for use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 474

Contents
4.5.5.3 Supply not ready for use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475

4.5.5.4 Phase Failure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
4.5.5.5 Chopper Resistor On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
4.5.5.6 Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
4.5.5.7 Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 476
4.5.6 Set Value Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479
4.6 Set Value Generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485
4.6.1 Ramp function generator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485
4.6.1.1 Optional interpolation of the ramp function generator input set value . . . . . . . . . . 490
4.6.1.2 ProDrive Ramp Function Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
4.6.2 Set Value Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505
4.6.3 Error reaction controlled stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509
4.6.4 Error Reaction Return Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
4.6.4.1 Parameter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
4.6.5 Cam generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514
4.6.5.1 Time control via the table index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514
4.6.5.2 Time control with virtual master axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514
4.6.5.3 Parameter-controlled processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515
4.6.5.4 Setting options of cam generator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
4.6.5.5 State machine of the cam generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519
4.6.5.6 Limiting of output value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
4.6.5.7 Handling the cam data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
4.6.6 Motor potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526
4.7 Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
4.7.1 Position / Speed Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536
4.7.1.1 The factor Ks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536
4.7.1.2 Position / speed controller adaption. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537
4.7.1.3 Cyclical Ks adaption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538
4.7.1.4 Acceleration feedforward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539
4.7.1.5 Friction compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539
4.7.1.6 Compensation of the torque ripple. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547
4.7.1.7 ProDrive Position / Speed Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548
4.7.1.8 Parameter Overview of Position / Speed Controller . . . . . . . . . . . . . . . . . . . . . . . 550
4.7.2 Filter of the torque current set value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573
4.7.2.1 PT1 filter and notch filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573
4.7.2.2 Polynomial filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573
4.7.2.3 Setting options of the polynomial filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574
4.7.2.4 Other filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576

Document No.: 5.09022.17 of 978
Contents
4.7.3 Current Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585

4.7.3.1 Current Prediction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588
4.7.3.2 Dead Time Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588
4.7.3.3 Torque Current Limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590
4.7.3.4 Feedforward . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596
4.7.3.5 Current controller adaption. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596
4.7.3.6 Pulse Width Modulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597
4.7.3.7 ProDrive Current Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 598
4.7.3.8 Overview of current controller parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600
4.7.3.9 Description of current controller parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
4.7.4 DC link controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612
4.7.4.1 Description of the DC link controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612
4.7.4.2 ProDrive DC link controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612
4.7.4.3 Reactive current brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612
4.7.4.4 Short circuit brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613
4.7.4.5 Parameter Overview of the DC link controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613
4.7.4.6 Description of the DC Link Controller Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . 614
4.7.5 Field weakening controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617
4.7.5.1 Breakdown torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 621
4.7.5.2 Parameter overview field weakening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625
4.7.5.3 Description of the Field Weakening parameters . . . . . . . . . . . . . . . . . . . . . . . . . . 626
4.7.6 Two-level controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 631
4.7.6.1 General. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 631
4.7.6.2 Two-level controller with absolute thresholds. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 632
4.7.6.3 Two-level controller with relative thresholds. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 633
4.7.6.4 Combination of the operating modes absolute and relative thresholds.. . . . . . . . . 633
4.7.6.5 Sign-independent monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 635
4.7.6.6 Linking of the controller output with the target parameter . . . . . . . . . . . . . . . . . . . 635
4.7.6.7 Parameter Overview of the Two-level Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 636
4.7.6.8 Description of the Two-level Controller Parameter with absolute Thresholds . . . . 637
4.7.6.9 Description of the two-level controller parameter with relative/absolute thresholds 640
4.7.7 Flux controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 644
4.7.7.1 ProDrive Flux controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 644
4.7.7.2 Parameter Overview of the Flux Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645
4.7.7.3 Description of the Flux Controller parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645
4.7.8 Controller adaptations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 646
4.7.8.1 Parameter Overview of the Controller Adaptations . . . . . . . . . . . . . . . . . . . . . . . . 648
4.7.8.2 Description of the Controller Adaptations parameters . . . . . . . . . . . . . . . . . . . . . . 648
4.7.8.3 Adaption EMF feedforward. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 651
4.7.8.4 Adaption torque monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 651
4.7.8.5 Ks adaption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 652
4.7.8.6 Adaption to the Saturation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 653
4.7.8.7 Compensation dead time voltages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 654
4.7.8.8 Temperature adaption motor resistances. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 654
4.7.8.9 Temperature adaption slip frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655
4.8 Active mains rectifier unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 657
4.8.1 The Charging Circuit of the Active Mains Rectifier Unit (BM51xx). . . . . . . . . . . . . . 659
4.8.2 The mains synchronization of the active mains rectifier unit (BM51xx) . . . . . . . . . . 660
4.8.3 Back-EMF Feedforward at the active mains rectifier unit (BM51xx) . . . . . . . . . . . . 660
4.8.4 DC link voltage controller (Udc controller) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661
4.8.5 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661
4.9 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 673
4.9.1 Operating Modes general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 673

Contents
4.9.1.1 Moving to positive stop command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 674

4.9.1.2 ProDrive Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 677
4.9.2 Operating Mode Target Position Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 693
4.9.2.1 Controlling the Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 694
4.9.2.2 Positioning Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 694
4.9.2.3 Bits in the Control Word / Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695
4.9.2.4 Actions on the Rising Edge of "New Set Value" . . . . . . . . . . . . . . . . . . . . . . . . . . 696
4.9.2.5 Sequence of Events for Positioning Handshake with "Single Set Value" . . . . . . . 696
4.9.2.6 Sequence of Events for Handshake with “Set of Set Values” . . . . . . . . . . . . . . . . 698
4.9.2.7 Hardware limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 699
4.9.2.8 Software Limit Switches. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 700
4.9.2.9 Target Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 701
4.9.2.10 Change of Operating Mode to Positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 702
4.9.2.11 Halting a Running Positioning Task. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 702
4.9.2.12 Aborting a Running Positioning Task. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 703
4.9.2.13 Set Value Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 703
4.9.2.14 Comparison of Motion Profiles for Positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . 703
4.9.2.15 Control by Means of the "Start Positioning" Method . . . . . . . . . . . . . . . . . . . . . . . 706
4.9.3 Operating mode Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 726
4.9.3.1 Procedure of a homing under consideration of Zero pulse or Zero angle . . . . . . . 726
4.9.3.2 Shifting the zero angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 727
4.9.3.3 Maximum distance for zero pulse detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 728
4.9.3.4 Procedure of a Homing to switch only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 728
4.9.3.5 Homing without setting the home position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 729
4.9.3.6 Automatic setting of the absolute value offset at homing . . . . . . . . . . . . . . . . . . . 729
4.9.3.7 Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 730
4.9.3.8 Homing Method 1 (neg. limit switch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 730
4.9.3.9 Homing Method 2 (pos. limit switch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 731
4.9.3.10 Homing Methods 3 and 4 (pos. zero point changeover switch). . . . . . . . . . . . . . . 731
4.9.3.11 Homing Methods 5 and 6 (neg. zero point changeover switch). . . . . . . . . . . . . . . 732
4.9.3.12 Homing Methods 7 to 14 (Reference Switch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 733
4.9.3.13 Homing Methods 15 and 16 (reserved) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 735
4.9.3.14 Homing Methods 17 to 30 (without zero pulse or zero angle) . . . . . . . . . . . . . . . . 735
4.9.3.15 Homing Methods 31 and 32 (reserved) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 736
4.9.3.16 Homing Methods 33 and 34 (zero pulse only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 736
4.9.3.17 Homing Method 35 (set home position only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 737
4.9.3.18 Manufacturer specific homing methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 737
4.9.3.19 Command set home position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 738
4.9.4 Manual drive operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 747
4.9.5 Operation mode spindle positioning (M19 command). . . . . . . . . . . . . . . . . . . . . . . 751
4.9.6 Operating Mode Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 760
4.9.7 Operating mode synchronous operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 771

Document No.: 5.09022.17 of 978
Contents

4.9.8 Operating mode Notch position search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 785
4.9.8.1 ProDrive Notch Position Search. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 787
4.9.8.2 Parameter overview Notch Position Search. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 788
4.9.9 Operating Mode U-f Characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 791
4.9.9.1 Compensating controller for acceleration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 793
4.9.9.2 Apparent current control at low frequencies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 793
4.9.10 Operation mode coupled operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 801
4.9.10.1 Transmission of master axis position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 803
4.9.10.2 Transmission of the curve data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 804
4.9.10.3 Changing the chaining sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 805
4.9.10.4 Definition of the starting segment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 806
4.9.10.5 Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 807
4.9.10.6 Use of the output-sided gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 808
4.9.10.7 Overlaying using an additional movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 809
4.9.10.8 Intermediate buffering of curve segments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 809
4.9.10.9 Real master axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 811
4.9.10.10 Flexible segments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 812
4.9.11 Operating mode current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 822
4.9.11.1 ProDrive OM current control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 823
4.10 Motor Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 824
4.10.1 Sensorless control for synchronous machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . 824
4.10.1.1 General constraints of sensorless control with the injection procedure . . . . . . . . . 825
4.10.1.2 Commissioning at the sensorless operation of the synchronous machine. . . . . . . 825
4.10.1.3 Vibration damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 826
4.10.1.4 Motor diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 826
4.10.1.5 Parameter overview sensorless synchronous motor . . . . . . . . . . . . . . . . . . . . . . . 827
4.10.1.6 Description of the sensorless synchronous motor parameters . . . . . . . . . . . . . . . 828
4.10.2 Sensorless control for asynchronous motors (open loop) . . . . . . . . . . . . . . . . . . . . 833
4.10.2.1 Sensorless control, at stator flux oriented . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 833
4.10.2.2 Catch on Fly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 839
4.10.2.3 Parameter overview sensorless asynchronous motor . . . . . . . . . . . . . . . . . . . . . . 840
4.10.2.4 Description of the sensorless asynchronous motor parameters . . . . . . . . . . . . . . 840
4.11 Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 844
4.11.1 Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 844
4.11.1.1 Speed-zero-message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 844
4.11.1.2 Parameter overview diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 845
4.11.1.3 Description of the diagnosis parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 846
4.11.2 Oscilloscope function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 859
4.11.3 Function FFT analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 867
4.11.4 Diagnosis SAF Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 877
4.11.4.1 Parameter overview FB Safety Module Info. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 877
4.11.4.2 Parameter overview FB Safety Module Status. . . . . . . . . . . . . . . . . . . . . . . . . . . . 878
4.11.4.3 Parameter overview FB Safety Module Real Time . . . . . . . . . . . . . . . . . . . . . . . . 879
4.11.4.4 Parameter Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 879

Contents
4.12 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 888

4.12.1 Field angle monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 888
4.12.2 Position Error monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 890
4.12.3 Overload monitoring of the power unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 894
4.12.3.1 Ixt model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 894
4.12.3.2 Temperature model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 898
4.12.4 Temperature monitoring of the motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 902
4.12.5 Overload monitoring of the motor (I2t). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 904
4.12.5.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 904
4.12.5.2 Speed variable l2t overload monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 907
4.12.5.3 Monitoring of the single phases . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 911
5 Summary of all Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 913
Appendix A - Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 965
Table of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 967
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 973
Overview of Revisions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 977

Document No.: 5.09022.17 of 978
1 GENERAL
1.1 Information about the Parameter Manual
The Operating Manual for the b maXX 5000 (5.09021) provides important information re-
garding handling the device. A prerequisite for safe working is compliance with all speci-
fied safety information and handling instructions.
Furthermore, the local accident prevention regulations and general safety requirements
applicable to the area of application of the device must be observed.
Before starting any work on the device, completely read through the Operating Manual,
in particular the chapter on safety information. The Operating Manual is an integral part
of the product and must be kept in the immediate vicinity of the device in order to be ac-
cessible to personnel at all times.
The Parameter Manual provides information about the parameters for the b maXX 5000
devices, for
controller firmware from Version 01.16
The parameters are used to influence not only the behavior of the drive controller but also
the behavior of the active mains rectifier unit (BM51xx). Furthermore the controller con-
trols not only the connected motor (axis) but also the DC link voltage and so the power
input from mains (active mains rectifier unit).

Document No.: 5.09022.17 of 978
1.2 Explanation of Symbols
1.2 Explanation of Symbols
Warnings
Warnings are identified by symbols in this Parameter Manual. The notices are introduced
by signal words which express the magnitude of the danger.
Observe the notices without exception and exercise caution to prevent accidents, person-
al injury and damage to property.
DANGER!
....warns of an imminently dangerous situation which will result in death or serious in-
jury if not avoided.
WARNING!
....warns of a potentially dangerous situation which may result in death or serious in-
jury if not avoided.
CAUTION!
....warns of a potentially dangerous situation which may result in minor or slight injury
if not avoided.
NOTICE!
....warns of a potentially dangerous situation which may result in material damage if
not avoided.
Recommenda-
tions
NOTE!
....points out useful tips and recommendations, as well as information for efficient,
trouble-free operation.

General 1
1.3 Limitation of Liability
All specifications and information have been compiled taking account of the applicable
standards and regulations, the state of the art and also our many years of expertise and
experience.
The manufacturer accepts no liability for damage resulting from:
m Non-compliance with the Operating Manual
m Non-compliance with the Parameter Manual
m Non-intended use
m Use of untrained personnel
The product actually supplied may deviate from the versions and illustrations described
here in the case of special versions, the use of additional ordering options or as a result
of the latest technical changes.
The user is responsible for carrying out servicing and maintenance in accordance with the
safety regulations in the applicable standards and all other relevant national or local reg-
ulations concerning conductor dimensioning and protection, grounding, isolation switch-
es, overcurrent protection, etc.
The person who carried out the assembly or installation is liable for damage arising during
assembly or upon connection.
1.4 Copyright
Treat the Parameter Manual confidentially. It is intended exclusively for persons involved
with the device. It must not be made available to third parties without the written permis-
sion of the manufacturer.
NOTE!
The details, text, drawings, pictures and other illustrations contained within are copy-
right protected and are subject to industrial property rights. Any improper exploitation
is liable to prosecution.
CiA and CANopen is a registered trademark of CAN in Automation e.V.

90429 Nürnberg, Germany
EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH,

83301 Traunreut, Germany
EtherCAT is a registered trademark of Beckhoff Automation GmbH,

33415 Verl, Germany
HIPERFACE and is a registered trademark of SICK STEGMANN GmbH,

HIPERFACE DSL 78166 Donaueschingen, Germany
PROFINET is a registered trademark of PROFIBUS International
Sercos is a registered trademark of Sercos international e.V.
SinCos is a registered trademark of SICK STEGMANN GmbH,

78166 Donaueschingen, Germany
Windows is a registered trademark of Microsoft Corporation, USA
b maXX is a registered trademark of Baumüller Nürnberg GmbH,

90482 Nürnberg, Germany

Document No.: 5.09022.17 of 978
1.5 Other Applicable Documents
NOTE!
Please note, that BAUMÜLLER is not responsible to examine whether any (industrial
property) rights of third parties are infringed by the application-specific use of the
BAUMÜLLER products/components or the execution.
1.5 Other Applicable Documents
Name Contents
Operating Manual for b maXX Description, installation and safety information
BM5000 (5.09021)
Components from other manufacturers are installed in the device. Hazard assessments
for these purchased parts have been performed by the respective manufacturers. The
compliance of the designs with the applicable European and national regulations has
been declared by the respective manufacturers of the components.
1.6 Guarantee Conditions
The guarantee conditions are located as a separate document in the sales documents.
Operation of the devices described here in accordance with the stated methods/ proce-
dures / requirements is permissible. Anything else, e.g. even the operation of devices in
installed positions that are not shown here, is not permissible and must be checked with
the factory in each individual case. If the devices are operated differently than described
here, any guarantee will be invalidated.
1.7 Customer service
Our customer service department is available for technical information.

Information concerning the responsible contact person can be obtained at any time by
telephone, fax, e-mail or over the internet.
1.8 Terms used
In this documentation, the term "device" is also used for the "b maXX" Baumüller product.
For abbreviations used, see ZAppendix A - Abbreviations– from page 965.

2COMMISSIONING
This chapter describes a specimen commissioning of a b maXX double axis unit
BM5323 in conjunction with a BM5032 mains rectifier unit with a Baumüller DS56-S mo-
tor.
Perform the commissioning to satisfy yourself that the supplied device is functioning prop-
erly.
This commissioning does not constitute a complete set-up of the device for your applica-
tion.
Before the commissioning, make sure that the technical requirements are met:
1 All points, including the installation, in the b maXX 5000 Operating Manual
(5.09021) have been followed.
2 Check of the requirements for the electrical supply.
3 Check of the requirements for the electrical cables and provision of appropriate ca-
bles.
4 Check of the characteristics of the connections and manufacture of the appropriate
cables.

Document No.: 5.09022.17 of 978
2.1 Safety information
2.1 Safety information
NOTE!
The installation and initial commissioning are carried out exclusively by the manufac-
turer's employees or by qualified personnel.
Qualified personnel are persons who, due to their training, experience, instruction
and knowledge of the relevant standards and specifications, accident prevention reg-
ulations and operating conditions of the person responsible for the safety of the in-
stallation have been authorized to carry out the activities required in each case and
in so doing are able to recognize and avoid potential dangers. The qualifications re-
quired for working on the unit are, for example:
m Training or instruction or authorization to commission, ground and characterize
power circuits and devices in accordance with safety engineering standards.
m Training or instruction in accordance with safety engineering standards in the care
and use of appropriate safety equipment.
WARNING!
Danger due to incorrect installation and initial commissioning!
Installation and initial commissioning require qualified personnel with adequate expe-
rience. Errors during installation can lead to life-threatening situations or result in sig-
nificant material damage.
Therefore:
m Have the installation and initial commissioning carried out exclusively by the man-
ufacturer's employees or by qualified personnel.

Commissioning 2
DANGER!
Danger to life from electric current!
When this electrical unit is operated, certain parts of the unit are of necessity at a haz-
ardous voltage.
Therefore:
m Pay attention to the areas on the device that could be dangerous during the elec-
trical installation.
Figure 1: Danger areas during electrical installation
2.2 Voltage test
DANGER!
Risk of fatal injury from electrical current!
During the routine test of these devices, a voltage test is performed by Baumüller
Nürnberg GmbH in accordance with EN 61800-5-1, Section 5.2.3.2. It is thus unnec-
essary for the customer to do this.
Therefore:
m Subsequent tests of the devices using high voltages may only be performed by
Baumüller Nürnberg GmbH.
m Disconnect the converter from the system during high-voltage testing!

Document No.: 5.09022.17 of 978
2.3 Requirements for the electrical supply
2.3 Requirements for the electrical supply
For all important data, see the Operating Manual for the b maXX 5000.
Small deviations in the electrical supply from the requirements can result in malfunctions
of the device. If the supply deviates greatly from the requirements, the device could be
destroyed.
The device may only be operated in environments of the second type (industrial environ-
ment).
The destruction of the device can cause personal injury.
DANGER!
Danger to life from electric current!
If the requirements for the electrical supply are not complied with, the device may be
damaged/destroyed and consequently present a significant danger to persons.
Therefore:
m Before installation, make sure that the requirements for the electrical supply are
met.
2.4 Preparations
Specimen installation of a BM5032 mains rectifier unit and Axis 1 of a dual-axis BM5323
with a Baumüller Motor DS 56-S motor (SRS50 encoder, sine-cosine with HIPER-
FACE).
The prerequisite for the commissioning is that assembly and installation have been car-
ried out correctly.
1 Make sure that the assembly is carried out correctly and, in particular, that all safety
regulations have been observed (see Assembly in the Operating Manual for the
b maXX 5000 basic unit).
NOTE
Pictures for the next work steps can be found in the Operating Manual for the
b maXX 5000 basic unit and in the ZInstallation plan– on page 21.

Commissioning 2
2 Make sure that the installation is carried out correctly and, in particular, that all safety
regulations have been observed (see Installation in the Operating Manual for the
b maXX 5000 basic unit).
Figure 2: Installation plan

Document No.: 5.09022.17 of 978
2.4 Preparations
3 ProDrive must be installed on the PC/Laptop.

During commissioning you can, among other things, enter motor and encoder data in the
operating software or correct incorrect values. So that you can perform the commission-
ing efficiently, it is advantageous to have all the data at hand for the commissioning. Data
for Baumüller motors are available in the form of a "Motor Database" within the operating
software.
4 Make sure that all the necessary data are at hand.
Motor data These data can be found, e.g., on the identification plate for the motor that you are using
(Identification for the commissioning.
plate)
Name Value, e.g. Used for entering in the parameter list /parame-
ter
Motor type, designation DS 56-M Parameter list/Motor configuration
Z107.2–Motor type
Nominal voltage UN 330 V Parameter list/Motor configuration
Z107.8–Nominal voltage
Nominal current IN 4.0 A Parameter list/Motor configuration
Z107.9–Nominal current
Nominal speed nN 3000 rpm Parameter list/Motor configuration
Z107.7–Nominal speed
The motor database is used in this example; the values in the table are provided only for
checking purposes.
Motor data These data can be found on the data sheet for the motor that you are using for the com-
(Data sheet) missioning.
ter
Max. current Imot,max 14.3 A Parameter list/Motor configuration
Z107.21– Maximum drive current
Number of pole pairs 3 Parameter list/Motor configuration
Z107.19– Pole pairs
Max. speed nmax. 6000 Parameter list/Motor configuration
Z107.26–Maximum speed mechanical
Notch angle, if specified1) 240° Parameter list/Motor configuration
Z127.8– Encoder Offset el.
1)
You can also have ProDrive determine the notch angle (see ZSearching for the notch position– on page 42).
Encoder data These data can be found on the data sheet for the encoder that you are using for the com-
(Data sheet) missioning.
ter

Encoder type Stegmann SRS With sine-cosine encoders with HIPERFACE inter-
50/60 SinCos face, the encoder type is read in automatically via

encoder the HIPERFACE interface
Number of pulses 1024 Parameter list/Encoder configuration/
Z137.1– Number of pulses
5 Make sure that the motor meets the following conditions:

m provided with a suitable encoder, in this example: SRS50 SinCos encoder
m connected to b maXX 5000

Commissioning 2
m ready for operation
m properly secured
m can rotate freely during commissioning
6 Make sure that switching elements for pulse enabling are connected to the b maXX
5000 (e.g. in a patch panel) and are functioning. Make sure that the switch is in the
rest position (inactive).
7 Make sure that all safety devices are connected on the supply and motor sides and
are ready for operation.
8 Make sure that the encoder for motor control (sine-cosine encoder) is connected to
the encoder evaluation module with the appropriate encoder cable.
9 Make sure that the PC/Laptop is connected to the controller.
2.4.1 Communication via EtherCAT
For communication via EtherCAT you will need:

m EtherCAT Master BMC-M-ECT-02
m Controller BMC-M-PLC-02
m Power supply unit BMC-M-PSB-01
m Engineering Framework ProMaster
n Leave the base address on the EtherCAT Master unchanged (192.168.1.1).

n Set the desired IP address on the BM5000 controller (here 192.168.1.2).
You will find further information about this in the b maXX BM5000, 5.09021 Operating
Manual, Art. No. 431081.
n Set a fixed IP address on the PC or use a second network card:
System Control  Network Connections  LAN Connection  Properties 
 Internet Protocol (TCP/IP)  Properties  Assign fixed IP addess
from the same address space (here, e.g. 192.168.1.254).

Document No.: 5.09022.17 of 978
2.4 Preparations
Figure 3: Setting fixed IP addresses
n Start ProMaster.
n Select b maXX controller PLC with EtherCAT Master from the catalog.
n Select b maXX 5000 Dual Axis EtherCAT Slave from the catalog.
n Open/activate the Workspace window.
n Click the Controller PLC in ProMaster.
n Click EtherCAT Master  Configure Master Bus (ProEtherCAT) in the Workspace win-
dow.
n The window will open:

Commissioning 2
Figure 4: ProEtherCAT
n Click on Connect.
n Select the tab Download  Update list  Download
Figure 5: ProEtherCAT Download
n Click on Close.
n Select the tab Bus control  click on Operational.

Document No.: 5.09022.17 of 978
2.4 Preparations
n Start ProDrive and select "Find device".
Figure 6: ProDrive: Find device
n The PLC will appear here with 192.168.1.1 and the controller with 192.168.1.2.
n Click on OK

Commissioning 2
n Select the device: Button SELECT DEVICE
n Select the device type for which parameters are to be set: Button TYPE
(here: bmaXX52_TwoAxis_EtherCAT_Slave)
n Select the communication: Button TYPE (here: TCP/IP)
Figure 7: ProDrive: Device selection with EtherCAT communication
10 Start the graphical user interface by clicking on "OK".

Document No.: 5.09022.17 of 978
2.4 Preparations
11 Wait until the ProDrive start window appears.

In this example, parameters will be set for Axis 1
Figure 8: ProDrive: Start window
12 Then press
"Connect".
13 This concludes the preparations. The remainder of the commissioning is described in

ZPerforming the commissioning (using Axis 1 as an example)– on page 30.

Commissioning 2
2.5 Switch-on sequence
The following overview shows the commissioning schematically. You will find the individ-
ual steps of the commissioning described in detail in ZPerforming the commissioning (us-
ing Axis 1 as an example)– from page 30.
Figure 9: Switch-on sequence

Document No.: 5.09022.17 of 978
2.6 Performing the commissioning (using Axis 1 as an example)
Begin the commissioning after you have completed the preparations.

1 Connect the power supplies to the b maXX
(main power supply + control voltage).
The device then starts up and indicates that it is ready for operation by lighting the
orange 'Power ON' LED H12.
m LED H12 must light up orange; this signifies Power ON and the device is ready for
operation.
m LED H12 must not light up green: when LED H12 lights up green, it means "Opera-
tion enabled"! The motor is supplied with current and can rotate! Override this im-
mediately with the pulse enable switching element!
m LED H13; a red LED means that the current limit has been reached. Reduce the
loading on the motor. Continue with the parameter setting.
m LED H14; a red LED indicates a error condition. Rectify the error later using the Pro-
Drive operating program. Continue with the parameter setting.
2 Establish communication as described in ZPreparations– on page 20.
3 Start the ProDrive program (if it is not already running).
4 Then click on auf "Drive Manager" in ProDrive
Figure 10: ProDrive: Project tree for Drive Manager

Commissioning 2
Acknowledging 5 "Acknowledge" any warnings/errors that may be present in the "Drive Management"
warnings/errors window (press the "Reset errors" button several times if necessary)
NOTE
Any queued error messages may result from the as yet incomplete parameter setting.
These errors cannot be acknowledged.
Figure 11: ProDrive: Drive Manager
NOTE
Due to the numerous possible combinations of motors and encoders, it is only possi-
ble to give an example here. Enter your own motor and encoder data!

Document No.: 5.09022.17 of 978
6 Click on "Power unit".
Figure 12: ProDrive: Project Tree for Power unit
7 In the "Maximum drive current" box, enter the current required for your application, at
most the limiting current of the motor (according to the data sheet): 2.5 A, at which
you wish to operate the motor and the power unit.
Figure 13: ProDrive: Power unit

Commissioning 2
Setting encoder The parameters for the encoder still have to be entered.
parameters 8 Go back to the project tree.
9 Click on "Encoder".
Figure 14: ProDrive: Project Tree for the Encoder

Document No.: 5.09022.17 of 978
The "Encoder 1 Configuration" window opens.
Figure 15: ProDrive: Encoder 1 Configuration
10 Enter data when using a sine-cosine encoder without a HIPERFACE interface. With
a sine-cosine encoder with a HIPERFACE interface, the data are transferred auto-
matically over the HIPERFACE interface - do not alter the data.
m Sine-cosine without HIPERFACE e.g. Number of Pulses = 1024
m Sine-cosine without HIPERFACE e.g. Revolutions = 1
11 Enter the overspeed limit manually in the parameter list in the diagnostic block
[FB:006]:
Parameter number 006.005 and 006.007: enter the value 300000,
Parameter number 006.006 and 006.008: enter the value -300000

Commissioning 2
12 Change back to the project tree and click on "Motor general".
Figure 16: ProDrive: Project Tree for Motor - General
Using the motor 13 Click on the "Motor database" button in the icon bar in the Motor window.
database
Figure 17: ProDrive: Motor database

Document No.: 5.09022.17 of 978
14 The following window appears.
Figure 18: ProDrive: Selecting the motor
15 In this window, enter:

m the nominal voltage for the motor DC link: "540 V"
m the motor type: "DS 56-S"
m the nominal speed: "6000 rpm"
m the maximum speed is automatically taken from the value for the nominal speed
NOTE
The values for nominal speed and maximum speed are the same for synchronous
motors and are thus adopted for the maximum speed when selecting the nominal
speed.
With asynchronous motors, the two values must be selected separately. Software for
asynchronous motors: in preparation.
16 Click on the OK button.

At this point all the data will be transferred from the motor database to the corresponding
parameters and display fields.
17 Check all the values for the motor using the motor data sheets (This is only for check-
ing purposes if you are using the Baumüller motor database. If you are employing mo-
tors from third-party manufacturers, you must do this in any case).
NOTE
If you are using motors from third-party manufacturers, you can also include their
data in the motor database.

Commissioning 2
Altering motor When using the Baumüller motor database, you will not find any discrepancies between
data the motor data sheet and the data taken automatically from the database.
18 Click on "Motor" in the project tree.
Checking motor 19 You will find all the important motor data or parameters displayed in the Motor window
data and the Synchronous Motor sub-window.
Check all data.
Figure 19: ProDrive: Motor-General

Document No.: 5.09022.17 of 978
Figure 20: ProDrive: Motor-Synchronous
Using the parame- If you are not using the Baumüller motor database, you can also enter all the motor pa-
ter list rameters using the "Parameter list".
20 Click on the "Parameter list" in the project tree.
21 In der parameter list, click on "Motor Id".
Figure 21: ProDrive: Parameter List - Motor Type
The following motor parameters must be specified:

m Maximum speed, mech. (Z107.26– Maximum speed, mechanical)

Commissioning 2
m Number of pole pairs (Z107.19– Pole pairs)
m Phase sequence (Z107.38– Motor flags, Bit 0 = 0: counter-clockwise, Bit 0 = 1: clock-
wise)
Now save the entered data.
22 Click on "Dataset management" in the project tree
Figure 22: ProDrive: Project Tree for Dataset management
23 Click on the "Save All" button in the Dataset management.

Document No.: 5.09022.17 of 978
Figure 23: ProDrive: Data Set Manager
24 Wait until "Successful" is displayed under "Data Set Status"

25 At this point the data set is saved in Flash memory.
26 Disconnect the device from the main power and control voltage supplies.
27 Reconnect the power supplies to the b maXX
(main power supply + control voltage).
By switching off and on again, you can check whether the settings you have made will
result in warnings or errors.
No errors may be present.
Autotuning of the Now perform the autotuning of the current controller.

current controller 28 Go to the project tree and click on "Configuration", then click on "Autotuning-Current
controller".

Commissioning 2
Figure 24: ProDrive: Project Tree - Autotuning-Current controller

Document No.: 5.09022.17 of 978
Figure 25: ProDrive: Autotuning of the Current Controller
Searching for the It is now necessary to search for the notch position.
notch position 29 Go to the project tree and click on "Operating Modes", then click on "Find Notch Po-
sition".

Commissioning 2
Figure 26: ProDrive: Project Tree - Find notch position
30 Click on the "Drive Manager" icon.

Document No.: 5.09022.17 of 978
The "Drive Manager" window will also appear
Figure 27: ProDrive: Find Notch Position, Drive Manager
31 For the method, select "fix currentangle and rotating shaft".

32 Select "Find notch position" in the Drive Manager-Axis 1 window.

Commissioning 2
WARNING!
Risk of injury due to moving components!
Rotating and/or linearly moving components can cause serious injuries.
If the motor is not rotating freely, the motor and parts connected to it may be dam-
aged/destroyed.
Therefore:
m Make sure that the motor can rotate freely during commissioning.
m Do not interfere with moving components during operation.
m Do not open covers during operation.
m The residual mechanical energy depends on the application. Driven components
will continue to rotate/move for a certain time, even after the energy supply has
been switched off. Provide appropriate safety devices.
33 Switch the pulse enabling to the active state.

34 Click on "Start".
35 Wait until "Successful" appears in the Status field.
36 Next click on "Stop/Off".
37 Check that the measured value corresponds to the value expected
(With Baumüller motors: resolver: 330° + 5°, sine-cosine: 240° ± 5°).
38 Switch the pulse enabling to the inactive state.
This completes all the parameter setting work for the specimen commissioning. You can
now satisfy yourself that the device is functioning correctly by having the motor rotate
briefly.

Document No.: 5.09022.17 of 978
Initial rotation of 39 Go back to the project tree.

the motor 40 Click on: "Set value generators".
41 Click on: "Ramp function generator".
Figure 28: ProDrive: Project Tree - Ramp function generator

Commissioning 2
Figure 29: ProDrive: Ramp function generator
42 Enter values in the following input fields:

m (Ramp function generator) Input
h Enter the value "10". Confirm with Enter.
43 Open the Drive Manager dialog for Axis 1
Figure 30: ProDrive: Drive Manager for Axis 1
44 Select the "Speed control mode“ from the scroll list in the Drive Manager dialog.
45 Switch the pulse enabling to the active state.

Document No.: 5.09022.17 of 978
46 Click on the "Start" button in the Drive Manager dialog.

47 The motor should now rotate at 10 % of the maximum speed.
48 Click on the "Stop/Off" button in the Drive Manager dialog.
49 The motor will then stop.
50 Switch the pulse enabling off.
Saving the data This data set should now be saved.

set 51 Click on the "Dataset management" icon in the icon bar.
52 Click on the "Save All" button in the Dataset management.
Figure 31: ProDrive: Dataset management
53 Wait until "OK" is displayed under "Data Set State"

At this point the data set is saved in Flash memory.
Switching off the To conclude the commissioning, the drive is switched off.
drive 54 Disconnect the device from the main power supply and the control voltage using the
appropriate switching elements.
This successfully completes the commissioning for Axis 1.
In the same way, you can set the parameters for Axis 2 and start it up from ZPrepara-
tions– on page 20.

3ERROR MESSAGES AND TROUBLE-
SHOOTING
3.1 Behavior in case of errors
Basic information
DANGER!
When this electrical unit is operated, certain parts of the unit are of necessity at a haz-
ardous voltage.
Therefore:
m Pay heed to areas on the device that could be dangerous.
WARNING!
Risk of injury due to improper troubleshooting!
Therefore:
m Only qualified personnel may work on this unit!
m Personnel that work with the b maXX device must be trained in the safety regula-
tions and the handling of the device, and be familiar with the correct operation of
it. In particular, reacting to error indications and conditions requires that the oper-
ator must have special knowledge.

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3.2 Monitoring functions
According to the type of device not each monitoring is appropriate. Please refer to the as-
sociated monitoring description in ZMonitoring function - explanations– from page 52, if
the monitoring is relevant for your device.
Adjustable threshold
Adjustable reaction
Reaction
Warning
Error
Monitoring function Warning/error
Mains voltage 6) Mains undervoltage X X - - IS

Mains overvoltage X X - - IS
6)
Phase monitoring Phase failure X X - - IS
Mains failure X X X - IS2)
Ground fault 1) Fault current to ground - X - - IS
Overcurrent Overcurrent motor - X - - IS
DC link DC link overvoltage - X - - IS
DC link relative undervoltage X - - - -
Overload monitoring Peak current not possible at this X - - - -
time
Heat sink temperature Temperature > threshold 1 X - X - -
Temperature > switch-off threshold - X - - IS
Temperature of device inte- Temperature > threshold 1 X - X - -
rior
Temperature > switch-off threshold - X - - IS
1) IS: Pulse inhibit
Not available with BM51xx, BM541X and BM542X
QS: Quick stop
2)
Pulse inhibit carried out after a specifiable interval. X: Implemented
3)
Only if KTY encoder used -: Not possible
4)
Adjustable
5)
Adjustable
6)
Not provided for power modules

Error messages and troubleshooting 3
Adjustable threshold
Adjustable reaction
Reaction
Warning
Error
Monitoring function Warning/error
Motor temperature I2t threshold exceeded - X - - IS

3)
Threshold 1 exceeded X - X - -
Threshold 2 exceeded 3) X - X - -
Encoder short circuit and/or tem- - X - - -
perature < -30 °C 3)
Encoder not connected and/or tem- - X - - -
perature > 250 °C 3)
Maximum temperature exceeded 3) - X X - IS
Position controller Dynamic position error - X X - QS
Static position error - X X - QS
4)
Controller synchronization Controller not synchronous with X X X X
external signal
Encoder 1 Cable break - X - - IS
Cable break (SIN2 + COS2) - X - - IS
Excessive speed - X X - IS
Encoder 2 Cable break - X - - IS
Cable break (SIN2 + COS2) - X - - IS
Excessive revolutional speed - X X - IS
Ramp-up option module Error during module initialization - X X - IS
Cyclical set value transmis- Time-out during transmission - X X X 5)
sion
Safety technology Switch off by Safety technology - X - - IS
(Safe Torque Off)
Safety technology Warning switch off by Safety tech- X - - - -
nology (Safe Torque Off)
Blockage monitoring Drive blocked - X X - IS
1) IS: Pulse inhibit
Not available with BM51xx, BM541X and BM542X
QS: Quick stop
2)
Pulse inhibit carried out after a specifiable interval. X: Implemented
3)
Only if KTY encoder used -: Not possible
4)
Adjustable
5)
Adjustable
6) Not provided for power modules

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3.2.1 Monitoring function - explanations
Mains voltage - not for axis units

This monitoring function verifies whether the mains voltage has a value within the set volt-
age range. If the value is lower, then the warning "Mains undervoltage" is reported. If the
value is higher, then the warning "Mains overvoltage" is reported.
Active Mains Rectifier Unit:
This monitoring function checks, if at the active mains rectifier unit the actual value of the
measured mains voltage is greater than the connection
U DC_min (P129.42) – 10 V
-------------------------------------------------------------- and lower than 530 V.
2
In addition to these fixed limits, which mark the maximum working range of the active
mains rectifier unit, the warning thresholds can be defined over the parameters Z141.41–
and Z141.42–. As soon as the mains voltage falls below or exceeds these thresholds a
warning is generated. By changing the reaction referring to the warnings 2026 and 2027
to "Pulse Inhibit", the actual mains voltage range in which the active mains rectifier unit is
operated, can be limited.
Phase monitoring - not for axis units

This monitoring function checks the mains voltage of the three outer conductors. If one
outer conductor is missing, then the warning "Phase failure" is reported after a period of
> 4 s.
If all three outer conductors are missing, then the warning "Mains failure" is reported to
the controller after a period of > 4 s. After the preset time lag has been reached (based
on a mains failure monitoring parameter), the controller generates the error message
"Mains failure".
NOTE!
If no electrical filter is used during operation, mains and phase failures are detected
within 100 ms. If the device is operated with an electrical filter, the mains and phase
failures are detected after a max. of 5 s. Depending on the load condition, the failure
can also be detected much earlier, however.
This applies to active mains rectifier units (BM51xx):

As soon as the device recognizes a phase failure or a mains failure, it goes into the error
status.
The settable delay time applies for mono units only and is nonexistent at active mains rec-
tifier units. The active mains rectifier unit messages an error promptly.
In consequence of the used mains filter at the active mains rectifier unit, the active mains
rectifier unit cannot recognize the phase failure in the enabled unloaded status. There-
fore, the user is enabled to inject a reactive current into the mains in the unloaded enabled
status. Thus, the capacities in the mains filter are loaded and the phase failure is recog-
nized. According to the conditions of the mains, the necessary reactive current for the de-
tection of phase failure differ.

Ground fault This monitoring function checks whether there is a short circuit between at least one mo-
tor terminal and ground. If a short circuit is detected, a pulse inhibit occurs immediately.
This monitoring function does not exist for BM541X, BM542X and BM51XX (active mains
rectifier unit).
Overcurrent This monitoring function checks whether the motor current is larger than the 1.3 times the
peak output current. This aids "disaster prevention" in case of a short circuit on the output
side.
At the active mains rectifier unit the mains current is monitored and not the motor current.
DC link This monitoring function checks the voltage in the DC link. If the voltage drops below an
internally set value (approx. 50 V under the specified value), the controller reports "DC
link undervoltage" and a warning is signaled. If the voltage rises above an internally set
value (approx. 820 V), the controller reports the error "DC link overvoltage" and a pulse
inhibit takes place immediately.
This monitoring function checks the voltage in the DC link.
If the DC link voltage is smaller than the measured mains peak voltage in the enabled sta-
tus, the active mains rectifier unit is not able to maintain its defined DC link voltage any-
more and generates the error 2009 „Undervoltage in the DC link" and reacts with a pulse
inhibit. If the DC link voltage is greater than the set value of 835 V of the power unit’s
specifications, then the active mains rectifier unit generates the error 2008 „Overvoltage
in the DC link" and reacts with a pulse inhibit.
Overload monitor- This monitoring function checks the present load as to whether the power unit can output
ing the peak current at this time. If the peak current is not possible, then the message "PU
monitoring approached; max. torque current was limited" (warning 206) is reported.
Temperature of This monitoring function checks the temperature in the interior of the device.
device interior m If the temperature is higher than the warning threshold, then the controller signals a
warning.
m If the temperature is too high, then a pulse inhibit takes place immediately.
Heat sink tem- This monitoring function checks the temperature of the heat sink.
perature m If the temperature is higher than the warning threshold, then the controller signals a
warning.
m If the temperature is too high, then a pulse inhibit takes place immediately.
Motor temperature This monitoring function checks the temperature of motor. If the I2t-threshold is exceeded,
then the error message "I2t overload" is reported by the controller.
Only for If the set temperature threshold 1 is exceeded, then the warning "Temperature threshold
KTY84 encoder 1 exceeded" is signaled by the controller.
If the set temperature threshold 2 is exceeded, then the warning "Temperature threshold
2 exceeded" is signaled by the controller.
The KTY84 encoder has a minimum measured value of approx. -30 °C. If this tempera-
ture is gone under, or if a short circuit occurs at the encoder, then the error message
"Temperature probe short circuit" is reported.
The KTY84 encoder has a minimum measured value of approx. +250 °C. If this tempera-
ture is exceeded, or if the encoder is not connected, then the error message "Temperature
probe not connected" is reported by the controller.
For all If the threshold set (type-specific) in the temperature switch or in the MSKL encoder is
encoders exceeded, then the error message "Overheating" is reported by the controller and a pulse
inhibit takes place immediately.

Document No.: 5.09022.17 of 978
At the active mains rectifier unit there is no monitoring.
Position controller This monitoring function checks the position error limit statically/dynamically. If the cur-
rent position error is statically/dynamically larger than the set position error limit, then the
error message "Static position error" or, respectively, "Dynamic position error" is reported.
After the monitoring period (position error period) has ended, an additional error message
is reported and a pulse inhibit takes place immediately.
Safety technology This monitoring function checks whether the safety function Safe Torque Off (STO) is ac-
tivated. If the drive is enabled at the moment of triggering the safety function, an error
message is generated. If the drive is not enabled, a warning is displayed.
Blockage monitor- This monitoring function checks the motor speed and the motor current.
ing If the "Blockage monitoring interval" time frame meets the following two conditions, then
the error message/warning "Drive blocked" is signaled by the controller and a pulse inhibit
takes place immediately.
m Motor speed = 0
m The motor current output by the device is the same as the set motor limiting current
(current limit).

3.3 Error detection
The illumination of the red LEDs H14 (axis 1) and H24 (axis 2) on the front of the housing
signals the occurrence of a error status.
A max. of 3 LEDs Essentially, the lowest red LEDs H14 and H24 "Error" are of significance here.
are illuminated.
NOTE!
In case of warnings or errors without error reactions, the LEDs H14 or H24 blink "Er-
ror". Only error messages with error reaction will be signalized by constant lighting
up.
3.4 Error handling
Error messages, which can also be considered error lists, are the basis of the error han-
dling.
NOTE!
The device is shipped with predefined error reactions. With regard to the error mes-
sages identified with "depending on the setting" in the "Reaction" column, the de-
vice's error reaction can be adjusted. Errors that, due to safety reasons, have an
immediate pulse inhibit as a consequence, may not be changed.
3.4.1 Error reset
If the red error LED is illuminated, at least one error is present.

Error reset cause all error messages to be reset. Individual resetting of errors is not pos-
sible. A reset causes deletion of the errors, if deletion was possible on account of the error
circumstances.
There are two methods of resetting an error:
m By means of write access to the control word
m Via a digital input
For further information on the subject of error reset, see "Instruction Manual b maXX
5000".

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3.5 Error descriptions
Error Brief error text Error description Default

No. error
response
100 No Heap memory available No Heap memory available No response
101 Stack monitoring: stack consumption The stack consumption has reached error threshold. A safe opera- Pulse block
has reached error threshold. tion is no longer possible. The additional info 1 of the error message
shows the task number in which the stack consumption is too large.
102 Error during indirect function access Error during indirect function access Pulse block
103 Real time load critical The calculation time load of the real time is too high. No response
114 Error division by zero Division by zero occurred in a floating point division. No response
115 Invalid value for floating point operation An invalid floating point value (e.g. NaN: not a number) was No response
detected in a floating point operation.
116 Timeout of I2C Bus Read/Write A timeout error occurred in the I2C Bus. The serial I2C EEPROM is No response
Eeprom connected to the DSP via the I2C Bus.
m Effect:
The Board ID and production data are stored in the I2C EEPROM.
The error may lead to an incorrect board configuration.
118 Error while reading or writing the hard- An error has occurred while reading or writing the hardware board Pulse block
ware board data data.
119 Drive no longer synchronous with field- The error is enabled, if the synchronization signal of the fieldbus is Pulse block
bus more than once out of the synchronous window after a successful
synchronization.
121 Measured RT fieldbus cycle too large The error is triggered when the fieldbus cycle that is measured in the Pulse block
FPGA is greater than the parameterized set value fieldbus cycle.
122 Measured fieldbus cycle too small The fieldbus cycle that is measured in the FPGA is smaller than the Pulse block
parameterized set value fieldbus cycle
123 RT fieldbus jitter greater than the syn- The error is triggered when the jitter of the fieldbus interrupt that is Pulse block
chronizer window measured in the FPGA is greater than the parameterized synchro-
nizer window.
124 PWM Counter 1 not synchronous with The error is triggered when the PWM counter of Drive 1 is no longer Pulse block
the DSP time dial system synchronous with the time dial system of the DSP.
126 RT fieldbus run time error The error is triggered when a error occurs in the chronological order Pulse block
of data transfer in the participating modules of the fieldbus system. It
is thereby assumed that set values are received in intervals via field-
bus and transmitted to the DSP while the DSP returns DSP actual
values to the fieldbus. When run times develop during the value
transfer that are too high, a error will be indicated. A more detailed
analysis can then be carried out through the diagnostic parameters
that are provided.
127 Timeout fieldbus interrupt The error is triggered when more than 3 fieldbus interrupts have Pulse block
failed. The synchronization will be initiated again.
128 Unknown identification System FPGA Identification of system FPGA is unknown in the DSP Pulse block
129 System FPGA version does not fit to System FPGA version does not fit to DSP software Pulse block
DSP software
130 The fallback version was booted by The fallback version was booted by Bootloader 1 Pulse block
Bootloader 1
131 The communication firmware has The communication firmware has booted the fallback version Pulse block
booted the fallback version
132 The firmware has booted the fallback The firmware has booted the fallback version Pulse block
version

No. error
response
133 The FPGA has booted the fallback ver- The FPGA has booted the fallback version Pulse block
sion
134 System FPGA and option module type The system FPGA is incompatible with the connected option mod- No response
are not compatible ule. An error occurs during the booting procedure.
n Remedy
Load the appropriate system FPGA
135 Error while programming to flash Error while programming to flash No response
137 Time dial computation time overrun It is being monitored whether the time dials exceed the run time of Pulse block
MAX_ZS_TIME_LIMIT_IN_TICK = 60 µs too frequently.
Monitoring in remaining time, threshold: per second = 1000*16 ZS,
10% of that: 1600 overruns per second

138 Cycle2 duration too long Cycle2 duration more than 1% too long in relation to one second. Pulse block
The CPU is overloaded, computation too great.
139 Drive not synchronous with RT fieldbus This warning message is issued when the synchronization of the No response
(Warning) drive with the fieldbus is activated (Parameter Z156.1–), but it has
not yet occurred (Parameter Z156.2–). The message occurs regard-
less of the fieldbus status (operational / not operational) and will be
deleted when the drive is synchronous.
Required for better error diagnosis because the drive cannot be
enabled if synchronicity is required but has not been achieved.
140 General firmware error, e.g. switch General firmware error, e.g. switch Pulse block
141 Operating system error Error in context with the operating system Pulse block
142 Method not implemented Method not implemented Pulse block
144 invalid file type invalid file type No response
145 File already open File already open No response
146 Maximum size of file reached (writing Maximum size of file reached (writing reading) No response
reading)
147 File not opened File not opened No response
148 File not opened for this access (Read File not opened for this access (Read Write access) No response
Write access)
149 Indicated ID wrong Indicated ID wrong No response
150 Indicated index does not exist (too Indicated index does not exist (too large) No response
large)
151 Parameter element cannot be written Parameter element cannot be written No response
152 External access not permitted External access not permitted No response
153 Value less minimum value Value less minimum value No response
154 Value greater maximum value Value greater maximum value No response
155 Value error Value error No response
156 Value cannot be changed due to the Value cannot be changed due to the operating condition No response
operating condition
157 wrong axis index wrong axis index No response
158 Format information wrong Format information wrong No response
159 Error while reading system data Error while reading system data from flash No response
168 No write permission for the actual Parameter cannot be changed due to the access protection. No
access level write permission for the actual access level.

Document No.: 5.09022.17 of 978

No. error
response
169 Application error for testing the error Application error for testing the error responses.
responses
The error can be triggered uniquely as follows:
1) Write the value 5 to P100.1 Info manager error command
2) Write the error number 169 to P100.6 Info manager launch

error
The error can be used to test the different error responses, e.g. pull-
back, without triggering a „true“ error.
170 Firmware for communication processor Firmware for communication processor could not be downloaded Pulse block
could not be downloaded
The error is messaged, if the firmware could not be downloaded to
the communication processor at the boot sequence.
Either both firmware files (actual and fallback) of the communication

firmware are faulty or nonexistent (error info1 = 0) or an error has
occurred at the file download to the communication processor (error
info1 = 1).
171 Wrong power unit serial number The serial number of the power unit is unknown Pulse block
172 Lead drive error Error within communication between two drives. The coupled drive No response
reported an error. The receiver drive reports error 172, if a new error
reaction is invoked and the error reaction is none of "no reaction" nor
"no error, no reaction". Then the drive reacts with the received error
reaction. The entry in the error reaction table is not used, since the
received error reaction will be used.
173 PLC Translation error Error when translating the PLC project No response
174 PLC runtime error PLC runtime error No response
175 Application error 1 Freely definable application error 1 No response
181 Value can be changed in inhibit state The new parameter value is not accepted No response
only
201 Exceeded limit pos. speed error value Speed error value > Maximum positive speed error value (parameter No response
Z6.7–)
202 Exceeded limit neg. speed error value Speed error value < Maximum negative speed error value (parame- No response
ter Z6.8–)
203 Positive overspeed limit exceeded x2 speed actual value > Positive overspeed limit (parameter Z6.5–) Pulse block
204 Negative overspeed limit exceeded x2 speed actual value < Neg. overspeed limit (parameter Z6.6–) Pulse block
205 Motor i2t overload The current i2t value (Z6.28–) has exceeded the limit value for the Pulse block
i2t model (Z6.29–).
206 LT monitoring approached; max. torque I*t monitoring of power unit is operating; the maximum available No response
current was limited torque current is limited.
Details see ZOverload monitoring of the power unit– on page 894.
207 Exceeded position error limit 1 Error occurs when position error limit 1 is exceeded. Pulse block
208 Exceeded position error limit 2 The error occurs when position error limit 2 is exceeded Pulse block

No. error
response
209 Blockage monitoring: Blocking time 1 The drive is blocked longer than the set Blockade Time Limit 1 No response
exceeded (Parameter 6.21).
The warning will be deleted automatically if the condition for blocking
is no longer met.
210 Blockage monitoring: Blocking time 2 The drive is blocked longer than the set Blockade Time Limit 2 Pulse block
exceeded (Parameter 6.22).
211 Error While Monitoring the Field Angle Error while monitoring the field angle is greater than 45° Pulse block
212 Parameterization allows exceeding of The set value for the Z107.26– max. speed mech. can be exceeded No response
the maximum speed of the motor because of the existing parameter settings. If Z107.26– = 0 rpm the
check of the parameter does not proceed.
m Cause:
a) Parameter Z107.26– max. speed mech. is set wrong.
b) The ramp function generator is used in operating modes -3 and
2. There Z110.13– Standardization Output Value is used for stan-
dardization. If Z110.13– is greater than Z107.26– the error is set
at drive enabling. If the error is ignored the speed set value
already can exceed the maximum speed mechanical.
c) The Overspeed Limits in parameter Z6.5– and Z6.6– are set
too large. The check of the actual speed protects the motor insuf-
ficiently.
n Remedy:
a) Enter a valid value in Z107.26–.
b) Adjust the standardization for the ramp function generator
(Z110.13–  Z107.26–)
c) Adjust the Overspeed Limits (|Limit| Z107.26–)
213 Position difference greater than thresh- The difference of the position in gantry mode is greater than the vari- No response
old in gantry mode able threshold.
214 Gantry mode: current difference In gantry mode the current difference is greater than the variable No response
greater than threshold threshold
215 Controller fan not working The fan of the controller board is switched on but the controller gets No response
no feedback from the tachometer. Either the fan is not working or the
tachometer signal is broken.
216 Power unit monitoring responded; Power unit monitoring (temperature model) responded; PWM fre- No response
PWM frequency reduced quency reduced (halved)
217 Dual-Use: electrical frequency to high This device is a dual-use-device and the electrical frequency is to Pulse block
high. The maximum value is 600 Hz Output frequency.
218 Peak current of power unit is reduced The power unit peak current is reduced to protect the unit from dam- No response
age
219 Warning motor 12t overload Warning: motor i²t overload No response
220 Power unit overload during operation Power unit overload. In the operation mode, voltage setting, the cur- Pulse block
mode voltage setting rent cannot be limited. The reaction to the overload is impulse inhibit
221 Exceedance warning threshold of real Only für single Phase Units (BM3300) with DC link supply from No response
power mains. Here the real power has to be limited, otherwise the DC link
will not get enough energy from mains.
222 Exceedance error threshold of real Only for single Phase Units (Bm3300) with DC link supply from Pulse block
power limitation mains. Here the real power has to be limited, otherwise the DC link
will not get enough energy from mains.
223 Fan failure One or several fans failed No response
231 Dual-use: electrical frequency too high The output frequency is limited to 600 Hz corresponding to the Pulse block
export restrictions. A dual-use device is necessary if higher frequen-
cies are required.
400 Amplitude of the encoder signal too Encoder monitoring has detected an amplitude that is too small at Pulse block
small Sin2+cos2 monitoring. Either the encoder has a problem or the mon-
itoring threshold is set too great.

Document No.: 5.09022.17 of 978

No. error
response
401 Amplitude of the encoder signal too Encoder monitoring has detected an amplitude that is too great at Pulse block
great Sin2+cos2.
402 Error while initializing the position Error while initializing the position (the analogous signals do not Pulse block
through Sin/Cos signals. agree with the position which was digital read out).
403 Encoder monitoring: Overspeed due to Sector error occurred while the encoder evaluation, which means Pulse block
sector error the calculated speed is too great
404 Signal monitoring at square-wave The signal monitoring of a square-wave incremental encoder has Pulse block
incremental encoder recognized an error.
405 CRC error in received data CRC error in received data from EnDat 2.1, HIPERFACE DSL or Pulse block
SSI
406 Lighting failure EnDat interface The error is triggered by module EnDat interface when the abso- Pulse block

lute encoder reports a lighting failure via the EnDat interface. With-
out lighting, the optical sampling system of the encoder no longer
works and no valid position information can be calculated anymore.
m Cause:
Cause for a lighting failure in the encoder may be contamination,
aging, or excess temperature.
n Remedy:
Replace encoder.
407 Signal amplitude too small EnDat The error is triggered by the module EnDat interface when the Pulse block

interface absolute encoder reports via the EnDat interface that the ampli-
tude of the Sine/Cosine signals is too small. Sine/Cosine signals that
are too small can lead to a position loss.
m Cause:
Cause for sine/cosine signals that are too small may be contami-
nation, aging, or excess temperature.
n Remedy:
Replace encoder.
 
408 Position error EnDat interface The error is triggered by the module EnDat interface when an error Pulse block
occurred during the calculation of the absolute position in the abso-
lute encoder. An incorrect absolute position can lead to miscommu-
nication for synchronous motors.
m Cause:
Cause for an incorrect position calculation may be contamination,
aging, or excess temperature.
n Remedy:
Replace encoder.
 
409 Overvoltage EnDat interface The error is triggered by the module EnDat interface when the Pulse block
absolute absolute encoder reports via the EnDat interface that the
supply voltage applied to the encoder is too high.
m Cause:
Cause for supply voltage applied to the encoder may be a defec-
tive Sense line (Pin12 on X24/X25, Sub-D15). In this case, the
supply voltage may be switched to 8 V (Stegmann encoder).
n Remedy:
Check encoder cable
m Cause:
Cause can also be a defect in the encoder hardware.
n Remedy:
Replace encoder.

No. error
response
410 Undervoltage EnDat interface The error is triggered by the module EnDat interface when the Pulse block

absolute encoder reports via the EnDat interface that the supply
voltage is too low.
m Cause:
Cause for a encoder supply voltage that is too low may be cor-
roded contacts
n Remedy:
Check encoder cable
m Cause:
Cause can also be a defect in the encoder hardware.
n Remedy:
Replace encoder.
 
411 Overcurrent EnDat interface The error is triggered by the module EnDat interface when the Pulse block

absolute encoder reports via the EnDat interface that the encoder
supply current is too high.
m Cause:
Cause for a encoder supply current that is too high may be an
internal short circuit.
n Remedy:
Replace encoder.
 
412 Battery error EnDat interface The error is triggered by the module EnDat interface when the Mul- Pulse block

titurn absolute encoder reports via the EnDat interface that the
supply battery must be replaced. The battery voltage provides posi-
tion information for the Multiturn encoder in the memory when the
controller is switched off and no supply voltage is provided for the
encoder.
m Cause:
Cause for a battery replacement in the Multiturn encoder may be
a modification of the battery.
n Remedy:
Replace encoder.

413 Alarm Bit set EnDat interface has set alarm Bit (collective message). Pulse block
414 Error during reception: Address mirror- Error during reception: Address mirroring returns an error Pulse block
ing returns an error
415 Variance of encoder signals exceeds The variance of encoder signals exceeds adjustable limit Pulse block
adjustable limit
416 Touch probe: trigger zero pulse without The touch probe measurement is configured to trigger by a zero No response
incremental encoder pulse, but the used encoder does not provide a zero pulse.
m Effect:
Value is not accepted
Response parameterizable
n Acknowledgment:
No particular action

417 Warning Collision of frequency EnDat encoder has messaged warning collision of frequency, see No response
Z137.38–; preventative maintenance is recommended.

418 Warning Excess temperature EnDat encoder has messaged warning excess temperature; see No response
Z137.38– and error number 407; preventative maintenance is rec-
ommended.

419 Warning Lighting controller reserve EnDat encoder has messaged warning „Lighting controller reserve No response
reached reached“; see Z137.38– and error number 406; preventative main-
tenance is recommended in order to avoid lighting failure.

Document No.: 5.09022.17 of 978

No. error
response
420 Warning Battery load to small EnDat encoder has messaged warning „Battery load to small“; see No response
Z137.38– and error number 412; preventative battery change is rec-
ommended.

421 Warning Reference point EnDat encoder has messaged warning Reference point; see No response
Z137.38–; preventative maintenance is recommended.
422 Parity errors in received data Parity errors in the received data of SSI Pulse block
423 Received data invalid Received data of SSI encoder are invalid. Pulse block
424 Encoder emulation: Error configuration Configuration error, further details in status Z172.2– or Z172.11–: Adjustable
m Bit 10:
IEE option module is not available or system FPGA is not com-
patible with option module type
n Remedy
Plug a functional IEE module or load the appropriate system
FPGA
m Bit 11:
Start after zero pulse selected and encoder is not an incremen-
tal encoder
425 Encoder emulation: Run time error Run time error, further details in status Z172.2– or Z172.11–: Adjustable
Run time:
m Bit 8: Output frequency is limited
IEE module cannot sent the required number of pulses.
Cause:
m Product of speed set value and number of pulses is too great
m Bit 9: Error in set value source
IEE switches off, because an error was occurred in the set
value source
426 SSI encoder emulation: Error configu- Error in configuration of SSI encoder emulation, for details see sta- Adjustable
ration tus Z173.2–
m Bit 12: SIE option module not placed or system FPGA is not
compatible with option module type
n Remedy:
Plug a functional SIE module or load the appropriate system
FPGA
427 SSI encoder emulation: run-time error Run-time error, for details see status Z173.2– Adjustable
m Bit 14: Timeout
Missing external clock signal of SSI master
n Remedy:
Check the SSI encoder input and the connection cable.
428 Encoder monitoring: difference HIPERFACE encoders: The absolute position is read via the serial Pulse block
between analog and digital position too HIPERFACE interface and compared to the analog position calcu-
high lated from the analog SinCos signals by the FPGA. If the position
errors absolute value (Z14.22–) is higher than the defined error
threshold (Z14.21–) this error is set.
429 EnDat baud rate too low for digital posi- If the calculation and transmission of the digital position of the EnDat No response
tion transmission encoder lasts longer than 61.5 µs the error is displayed. The calcula-
tion of the transmission time is the following:
Duration = Mode command transmission + tCal (encoder type plate)
+ positioning transmission
430 Invalid encoder type The set encoder type (Z106.1–) is not permitted because it is not No response
supported by the installed FPGA.

No. error
response
431 Transmitting error between the DSL Failure in the HIPERFACE DSL encoder due to the EMC or shock/ Adjustable
master/slave vibration
Position is estimated as long as the error is applied. If the error
remains longer than 5 speed control cycles in series the error 405 is
enabled.
500 New set value not transferred to the The new set value was not transferred to the controller (position or No response
controller soon enough speed controller) through the set value manager for a minimum of
three times soon enough. Extrapolation is carried out up to the come
in of the next set value.
m Cause:
A possible cause could be too much consumed time for computa-
tion of activated functions.
n Remedy:
Check if unused functions were accidentally activated. Example:
Analogous outputs or RT oscilloscope are activated prior to initial
operation.
501 Current controller cycle time > RT0- The time slice RT0 includes the speed and position controller, the Pulse block
Cycle time encoder evaluation and the motor control. The current controller
cycle time is defined by the setting of the PWM frequency (parame-
ter Z130.15–).
n Remedy:
The error can be reset as soon as the PWM frequency (parameter
Z130.15–) of the reporting axis or the RT0-Cycle time (parameter
Z1.8–) will be adjusted to a valid combination
503 Torque coupling improper drive operat- Operating mode must be Speed control (-3) or Speed setting (2).
ing mode In the other operating modes the error will be initiated, if it will be
tried to activate the torque coupling
504 Torque coupling configuration error Configuration error:
m Device internal cross communication at Mono unit / single axis
unit impossible
505 Fieldbus cycle time < RT0-Cycle time The cycle time of the fieldbus task (Z1.10–) is set via the fieldbus Pulse block
cycle time (Z131.18–). The RT0-Cycle time is set in Z1.8–.
n Remedy:
The error can be reset as soon as the fieldbus cycle time is
greater or equal to the RT0-Cycle time.
600 Terminal position search Inject. Plau- In step 1 the injection procedure runs successively twice or the pole Pulse block
sib. Step 1 position is determined twice. If both results show a major difference
(or about 30°), this bit is set.
m Cause:
Carrier current Id too low or amplification factor of the tracking
controller is too little
601 Terminal position search Inject. Plau- In step 2 the carrier current is too low, in order to create the required Pulse block
sib. Step 2 saturation so that the content of the 2nd harmonic I2 (displayed in
parameter Z133.9– 2nd Harmonic Rate) does not reach the level
which is indicated in parameter Z133.10– 2nd Harmonic Min.Rate.
602 Overcurrent with notch position search Overcurrent with notch position search Method 2 (using injection) Pulse block
Method 2

Document No.: 5.09022.17 of 978

No. error
response
702 Rotor position at synchronous machine The rotor position of the synchronous drive is unknown. Either the Pulse block
is unknown rotor position offset or the absolute position could not be read from
the encoder or the synchronous drive is used with a incremental
encoder and a rotor position identification has not been executed
yet.
The error is also set if the encoder is switched off but the motor con-
figuration needs an encoder.
Reset of the error is possible. The error is set again if the cause of
the error has not been corrected.
m Cause:
For some encoders, the absolute position can partially no longer
be read out due to contamination of the code dial.
n Remedy:
Replace encoder.
m Cause:
Encoder cable defective
n Remedy:
Checking of encoder cable, and replacements if applicable
m Cause:
Encoder defective.
n Remedy:
Replace encoder and carry out new notch angle run!
703 Error writing rotor position offset to An error occurred while writing the rotor position offset into the Pulse block
encoder encoder (e.g. timeout, data field not writable, encoder processes
other commands).
704 For synchronous machine: encoder No encoder transmission was supported for synchronous machine. Pulse block
transmission not permitted A transmission factor not equal to 1:1 was read from the motor type
plate.
705 Motor temperature for characteristic The motor temperature that is measured via the KTY encoder is No response
curve of ASM slip invalid, lower than - monitored for asynchronous motors due to slip characteristic curves
50°C or higher than 200°C If the temperature is lower than -50°C or higher than 200°C, the tem-
perature values are assumed to be invalid and the error will be trig-
gered.
m Cause:
The KTY motor temperature encoder was incorrectly connected
or not at all connected.
n Remedy through:
n Check connections and cable of KTY motor temperature
encoder.
n Monitoring may be deactivated for intended operation without
temperature encoder.
m Cause:
KTY motor temperature encoder defective.
n Remedy through:
n A defective KTY motor temperature encoder generally requires
motor replacement.
m Cause:
Evaluation switch of the KTY motor temperature encoder in the
drive controller is defective.
n Remedy through:
n Drive controller replacement.
709 Motor excess temperature The measured temperature is higher than permitted Pulse block

No. error
response
710 Motor Temperature Threshold1 Motor temperature warning threshold 1 exceeded No response
exceeded
711 Motor Temperature Threshold 2 Motor temperature warning threshold 2 exceeded No response
exceeded
712 Short circuit on temperature sensor Short circuit on temperature encoder Pulse block
713 Temperature sensor is not connected Temperature encoder is not connected Pulse block
714 Motor excess temperature PTC resistor Motor excess temperature recognized by temperature switch Pulse block
716 Notch position not found An error occurred while identifying the rotor position of the synchro- Pulse block
nous machine. The rotor position has not been identified.
717 Excess voltage occurred during resis- Error during identification of motor parameters. The maximum per- Pulse block
tance measurement mitted phase voltage (= 80 V) was exceeded during the resistance
measurement.
m Possible cause:
Incorrect motor nominal current setting in Parameter 107.09.
718 Voltage limit accessed during resis- Error during identification of motor parameters. The voltage limit was Pulse block
tance measurement reached during the resistance measurement.
m Possible causes:
- Voltage insufficient.
719 Timeout during motor identification Error during identification of motor parameters. The maximum per- No response
mitted phase voltage (= 80 V) was exceeded during the resistance
measurement.
m Possible cause:
n Effect:
Output voltage set to ZERO to protect the motor. An additional
drive block occurs with standard error response.
Resetting after error elimination:

Error reset is possible. Timeout (45 seconds) with R measurement
with motor parameter identification, such as due to error during cur-
rent / voltage measurement or normalization or limit value.
720 An encoder is not activated An encoder is required for this operating mode Pulse block
721 Special case Kt = 0 Special case Kt = 0, no correct operation possible, isq set value is No response
forced to 0.
800 Special function already used for Special function such as hardware limit switch 1 was already used No response
another digital input for another digital input
801 Digital output already used This digital output is already used by another special function or by No response
another assignment.
802 OM power steering pump current Power steering pump I/O module error overcurrent. Level 22 mA. No response
> 22mA
803 OM power steering pump current OM power steering pump undercurrent. Level 3.6 mA. No response
< 3.6 mA
804 OM power steering pump analog input Power steering pump I/O: analog input cannot be activated because No response
not placed not placed
805 OM power steering pump analog out- Power steering pump can not be activated because it is not placed. No response
put not placed
806 OM power steering pump error configu- The system FPGA is not compatible with the power steering pump No response
ration I/O module

Document No.: 5.09022.17 of 978

No. error
response
900 Reference run required and not carried Reference run required and not yet carried out No response
out
The start of the active operating mode requires a one-time reference
run (homing) after activating the controller.
Currently, only the operating mode Position Target Specification (BA

= 1) requires homing. This requirement can be activated in the mode
for the position target specification.
901 Problem during homing A homing error has occurred. Possible error causes: No response
m An invalid homing mode was selected.
m Homing isn't possible because of limit switch and reference switch
status.
m A maximum distance was set for the zero pulse search and the
zero pulse was not detected within the specified distance.
902 Monitoring the block for positive direc- Monitoring the block for positive direction: No response
tion
Monitoring has detected a positioning attempt in positive direction
903 Monitoring the block for negative direc- Monitoring the block for negative direction: No response
tion
Block for negative direction has detected a positioning attempt in
negative direction.
904 Positioning time monitoring reports Positioning time monitoring reports Timeout No response
Timeout
Monitoring will become active as soon as the position set value is
equal to the target position at the end of positioning.
If the actual position is not located in the positioning window (Param-

eter 121.5) after the time set in Parameter 118.18 has expired, the
error will be triggered.
905 Error limit switch monitoring This error occurs under the following conditions: No response
Case a: Both hardware limit switches set simultaneously.
Case b: Positiver software limit switch and negative hardware limit

switch active simultaneously.
Case c: Negative software limit switch and positive hardware limit

switch active simultaneously.
Possible causes:
- Software limit switch set incorrectly, such as values for positive and
negative limit switches are reversed.
- Hardware limit switches are wired incorrectly.
- Errors on the cable for hardware limit switches.
906 Negative hardware limit switch overrun Negative hardware limit switch overrun No response
907 Positive hardware limit switch overrun Positive hardware limit switch overrun No response
908 Negative software limit switch overrun Operating mode Position Target Specification: No response
Target position to be approached is smaller than the negative soft-
ware limit switch.
Other operating modes:

Position set value is less than the negative software limit switch.

No. error
response
909 Positive software limit switch overrun Operating mode Position Target Specification: No response
Target position to be approached is greater than the positive soft-
ware limit switch.
Other operating modes:

Position set value is greater than the positive software limit switch.
910 Overspeed detected at set value input Overspeed detected at set value input: Quick Stop
In the operating mode speed control or speed setting a set value

was written exceeding the maximum interpolating speed set value of
the set value manager. Refer to Z110.3– Output for details.
Set values were written in the operating mode Position Control (-4)
that either exceed the set speed limit (Parameter Z121.11–), the
allowed maximum speed of the motor (Parameter Z107.26–) or
max. interpolatable set value speed.
The error is displayed and the set value speed is limited (Z121.11–
and Z107.26– respectively) at error response „No response“. There-
fore the input position and the output position drift away.
A speed (= master shaft speed) was recognized at the encoder input

in operating mode synchronous operation (-5), which leads to an
overflow at the encoder output with the set gear ratio. The error is
displayed and the drive tries to reduce the speed to the allowed limit
at error response „No response“.
Other error responses:

The active operating mode will be terminated and the drive will be
decelerated according to the preset error response
The error can be reset at any time.
911 New set value missing for Set-of-set The next set value did not arrive soon enough at the drive controller No response
values during the positioning process Set Value Specification (Set of set
values).
Error response „No response“ means here that the drive will not be
locked due to the error and the reaction is done in the operating
mode „Target Position Setting“. In case of error the ongoing position-
ing will be aborted, the error will be messaged and the drive will be
decelerated to a standstill with the positioning deceleration. The
error can be reset not before the brake application is finished.
The error can be reset promptly at other error responses.
912 Target position  Modulo value Operation mode: Target position setting No response
If in the target position a value is entered which is greater or equal
than the modulo value (Z118.20–), this error will be output at start of
the positioning. The error is only used at modulo target modes, e.g
Z118.10– = 11, 14 or 15.
n Effect:
m Error response: No response:
The error is messaged, the operating mode target position set-
ting remains active, but starting is not possible.
m Other error responses:
The operating mode target position setting will be stopped.
Response according to the set error response.
The error can be reset. But the target position must be less than the
modulo value, otherwise the error is messaged again at the next
positioning start.
913 Monitoring of positive stop generates The error will be set, when the positive stop was detected and the Pulse block
an error message position actual value is outside of the symmetrical monitoring win-
dow or the standstill message is not active anymore.

Document No.: 5.09022.17 of 978

No. error
response
914 Positive stop drive impossible Positive stop drive impossible is generated in case of the actual No response
operation state. Others reasons are an active master-slave torque
coupling or an active gantry-function.
915 Abort of the command at positive stop If the command "positive stop drive" is aborted while the positive Pulse block
stop is not detected by the drive but the standstill message is set
and the clamping torque is reached, this error will be generated.
916 Encoder of master axis is switched off If the synchronous operation mode in the "Real master axis" mode is No response
activated an inactive encoder of master axis was recognized.
917 Operating mode position control not ini- The operating mode position control (-4) could not be initialized cor- Quick Stop
tialized rectly.
m First possible cause:
- Z136.3– Target position is selected as the input set value
- the weighting with Z136.2– Mode bit 6 is activated
- but the „Modulo position actual value“ function (Z121.1–bit 4) is
inactive
n Remedy:
Activate the „Modulo position actual value“ function Z121.1–
bit 4 = 1 and clear the errors
m Second possible cause:
In the Z131.20– Division ratio fieldbus task one value greater
than 1 is set and the interpolation factor in the Z136.2– Mode
bit 12 and 13 is set greater than 1.
n Remedy
Both functions at once are not possible. Either set Z131.20– to 1
or delete the bits 12 and 13 in Z136.2–.
m Third possible cause:
The drive is in the enabled state in the operating mode Position
control (Z109.1– = -4) and the Z131.20– Division ratio fieldbus
task or the Z131.18– Fieldbus cycle time was changed.
1000 Power unit has canceled the controller Error is triggered in the module Operating Type Manager when a Pulse block
activation power unit error has occurred.
m Cause / Remedy:
- Check motor cable
- Check motor connection
- Replace power unit
n Effect:
The error is fatal and leads to the immediate deactivation of the
drive controller. The drive will fizzle out, if applicable. Controller
activation for the drive again will be prevented until the error
cause has been eliminated and the error has been reset.
1001 Bridge short circuit The error is triggered when the IGBT switch sequence monitoring of Pulse block
the pulse width modulation does not detect a permitted status.
Faulty and critical statuses may be bridge short circuit or inactive
periods that were not complied with.
1002 Power unit maximum DC link voltage The actual value of the DC link voltage is displayed through Parame- Pulse block
exceeded ter 130.03.
When a limit that is defined by the power unit is exceeded (see
Parameter Z129.21–), the power unit will switch off with error.
m Cause / Remedy:
- Continuous braking operation of the axes
- Error on chopper connection / chopper resistor
n Effect:
drive controller. The drive will fizzle out, if applicable.
Controller activation for the drive again will be prevented until the
error cause has been eliminated and the error has been reset.

No. error
response
1003 Overcurrent error in the power unit The limit of the maximum current of the power unit is exceeded in Pulse block
one of the three phases.
In the additional information 1 of the error message is shown in
which channel the overcurrent was recognized:
0: Overcurrent (from mono device power unit)

1: Channel A, positive
2: Channel A, negative
3: Channel B, positive
4: Channel B, negative
5: Channel C, positive
6: Channel C, negative
m Cause/ Remedy:
Check motor leads
Check motor connection
1004 Power section fault current / earth fault The ground fault current of the power unit is monitored to recognize Pulse block
monitoring a motor fault current. The error message will be generated when the
fault current exceeds 20% of the permitted peak current of the power
unit.
A more detailed classification of the fault current occurs in additional
information 1 of the error message:
0: Overcurrent (from mono device power unit)
1: positive fault current
2: negative fault current
m Cause:
The ground fault may occur in the motor, motor cable or chopper
resistor or its feed cable.
n Remedy:
Find and replace the defective device.
1005 In supply mode is 0x8001 event though Though DC link voltage is greater than 90 V in Z130.10– Supply Pulse block
DC link voltage is greater than 90 V mode is set 0x8001. There is a danger of overloading of the load
(mains), Danger Load Resistor Dam- resistor. The error is initiated only at b maXX mono units.
age Further details see Z130.10–.
1006 Power unit excess temperature If the power unit exceeds a power unit dependent cut-off tempera- Pulse block
ture, the power unit will be blocked.
m Cause / Remedy:
Check function of fan power unit
n Effect:
1007 Power unit safety relay The error is triggered when the voltage supply of the transistor acti-
vation in the power unit is switched off through the safety relay with
activated control activation.
To avoid error messages when activating a drive, comply with the
activation sequence specified in the documentation.
m Effect:

Document No.: 5.09022.17 of 978

No. error
response
1010 Bit bar power unit cannot be read When multiple errors occur on the converter and power unit, the Pulse block
evaluation of the bit bar of the power unit interface will display the
differentiation of the errors. If the bit bar cannot be read out, the error
message will be generated.
This error is provided for monitoring the deactivation sequence.
m Effect:
1011 Incompatibility between characteristic Incompatibility between the stored characteristic data Pulse block
data OWE and LT (Mono unit) OneWireEEPROM and Power unit (Mono unit)
1012 Error while reading out characteristic Error while reading out characteristic data via HIPERFACE from Pulse block

data via HIPERFACE from LT power unit (with Mono units)
1013 Deactivation through safety technology The drive function is disabled by the safety technology (Safe Torque Pulse block
Off)
1014 DSP Timeout error because the DSP DSP Timeout error because the DSP has not updated the Pot ABC Pulse block
has not updated the Pot ABC Registers Registers
1015 Phase error timeout Phase error timeout Pulse block
1016 Mains failure (Mono unit) Message only at Mono unit (device with seperate supply) Pulse block
If the device signals „Mains failure“, the error 1016 is set by the drive
manager in the transition „Ready to switch-on“ (2) to „Switch-on“ (3).
Further details see Z130.25– Mains Failure Delay
1017 Mains undervoltage Pulse block
1018 Mains overvoltage Pulse block
1019 Undervoltage DC link voltage Error Undervoltage DC link voltage is detected through the FPGA. Pulse block
Setting the error bit in the FPGA and activating the error message
only occurs when the pulses are activated. The pulses will then be
blocked in the FPGA. Therefore, the only permitted response is the
pulse block.
1020 Heat sink excess temperature Switch off due to exceeding of the maximum heat sink temperature Pulse block
from parameter 129.26
1021 Excess temperature inside tempera- Switch off due to exceeding of the maximum heat sink temperature Pulse block
ture from parameter 129.27
1022 Cable break heat sink temperature Pulse block
encoder
1023 Communication error with MUX regis- Communication error with Multiplex Register interface to the FPGA Pulse block
ter to the FPGA
1024 Current offset error The error will be triggered when the measured current offset is Pulse block
greater than 5% of the possible measuring range of the AD con-
verter. Only one phase must thereby indicate this error.
1025 Setting of pulse enable (IF) and PWM The error is triggered when the PWM counter is no longer synchro- Pulse block
not synchronous with DSP nous with the DSP Interrupt system and the pulse activation has
been enabled.
1032 Error DC-link supply DC-link undervoltage detected (Z130.35– / Z130.36– / Z130.37–) Pulse block
or signal "supply ready for use" of the Signal Bus is low.
1033 Signal bus line warning active Signal bus line "Warning" is active No response
1034 Signal bus line error Signal bus line Error is active No response

No. error
response
1035 No valid Lt data available in the One Warning: No valid Lt data available in the One Wire EEPROM. Pulse block
Wire Eeprom m Effect:
The parameterization of the power unit parameters occurs from
the data record or it is faulty.
1036 Error occurred while writing the Lt data Error occurred while writing the Lt data to the One Wire EEPROM Pulse block
to the One Wire Eeprom
1037 Signal error during communication with Signal error during communication with the One Wire EEPROM Pulse block
the One Wire EEprom m Effect:
Communication with the One Wire EEPROM is faulty. The power
unit data could not be read out. The power unit could thereby not
be parameterized.
1038 No Lt One Wire EEProm Warning: No Lt Data One Wire EEPROM exists! Pulse block
1039 reserved reserved No response
1043 Warning: Undervoltage DC link voltage Warning: Undervoltage DC link voltage No response
1044 Warning: Undervoltage Mains Warning: Undervoltage Mains No response
1045 Warning: Overvoltage Mains Warning: Overvoltage Mains No response
1046 Warning: Deactivation through safety The safety function Safe Torque Off is active No response
technology
1047 Warning: Phase failure This warning is set if a phase failure is recognized. No response
The warning will be deleted automatically as soon as the phase fail-
ure is no more existent and the error response „no respone“ is set
for this message. If a drive reaction is set, the error must be reset.
1048 Warning: Mains failure / Supply not A mains failure was detected or the supply is not ready-to-operate. No response
ready The warning is triggered independent of the drive state. If the drive is
enabled, the error 1016 (Mains failure) or 1032 (Error DC-link sup-
ply) is generated at the end of the Mains failure delay.
Further details see Z130.25– Mains failure delay
1049 Temperature warning threshold heat Temperature warning threshold heat sink exceeded No response
sink exceeded
1050 Temperature warning threshold Inside No response
Air exceeded
1054 DSP Timeout Error: DSP does not DSP Timeout Error: DSP does not write the PWM Pot Registers in Pulse block
write the PWM Pot Registers in time, 3 time, 3 times within 100 ms
times within 100 ms
1056 Performance element 24 V Fail When the 24V supply voltage drops below a specific threshold the Pulse block
FPGA will activate a corresponding error bit in its status and block
the pulses.
m Effect:
The response from the related DSP error message must neces-
sarily the pulse block so that the drive manager and thereby the
control loops remain synchronous with the status of the pulse
enable.
1057 15 V fault - power cycle required The 15 V power supply failed. Pulse block
1066 SS1 stop forced by SAF module If SS1 function is activated on SAF-002/-003 module and an appro- No response
priate error occurs, the SAF module forces the SS1 stop function on
the controller.

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No. error
response
1070 Change of the PWM frequency not Effect: The new set PWM frequency is not accepted. No response
possible. PWM frequency change is in
progress. The error can be caused:
1 The previous PWM frequency change is in progress.
Remedy: Reduce the cycle of the PWM change or implement a
function into the master control which enables a PWM change
only after the previous change was completed.
1 The PWM frequency redurction of the power unit temperature
model is active (warning 216).
Remedy: Monitoring of warning 216 via master control. If warning
216 is active no PWM change is initiated.
1071 Timeout quick discharge Error at discharging the DC link Pulse block
1100 Drive manager general error pulse When a pulse block has no reason that can be recognized by the Pulse block
enable drive manager (AM) (recognizable are: digital input, error with
response pulse block, command control word), there is a threat of an
endless change of statuses in the AM:
Statuses 2->3->2 etc. are continuously processed because all
switching conditions are met and the AM continues to attempt to
activate the drive.
To prevent this, the change in status 3 will be disabled when a pulse
block is recognized, a marker will be set and the error RC_ERR_D-
MGR_IF is entered for signaling.
No change is possible in Status 3 as long as the marker is set.
m Effect:
The drive switches to Status 15 (Error). Other responses are no
longer permitted so that the drive cannot automatically restart in
the case above (pulse block without entering a error with pulse
block) after Error #1100 has been reset.
1101 Motor parking brake does not open The motor parking brake should open in Automatic mode of the Pulse block
when the drive ist started brake activation when the drive is activated but it does not.
m Effect:
The drive is not activated so that it does not try to drive against the
closed brake. The above error message will be issued. The error
bit will be activated in the status of the brake activation.
1102 Motor parking brake does not close The motor parking brake should close in Automatic mode of the No response
when the drive is switched off brake activation when switching off after active braking (pulses are
activated, should be switched off), but it does not.
m Effect:
The above error message is issued. The error bit will be activated
in the status of the brake activation. The response of the drive
depends on the error response that has been set:
n Pulse block:
The drive blocks the pulses and will be switched off.
n otherwise:
AT first, the pulses remain switched on. The drive can then
either be switched off depending on the status in the drive man-
ager through a corresponding command (->Blocking of pulses)
or reactivated.
1103 Cyclical monitoring of brake activation The cyclical monitoring of the brake activation determines that the No response
reports error set value and actual status of the motor parking brake do not match
(brake should open but is closed or brake should close and is
opened).
m Effect:
depends on the error response that has been set.

No. error
response
1104 Motor parking brake: Brake moment The drive should build up in the Automatic mode of the brake activa- Pulse block
prior to opening the brake not reached tion during enable before opening the motor parking brake but can-
not reach a stop moment.
m Effect:
The drive is not activated to prevent a possibly hanging load from
dropping. The above error message will be issued. The error bit
will be activated in the status of the brake activation.
1105 Cyclical monitoring of the brake pad The cyclical monitoring of the brake pad detects a error. No response
reports the error m Effect:
depends on the error response that has been set.
1106 Drive operation mode not allowed with Drive operation mode not allowed with this motor mode operation Pulse block
this motor operation mode mode. error caused when changing from state 3 to 4.
m Effect
Drive is not started
m Error reset
Error can be reset
1107 To this operation mode cannot be To this operation mode cannot be changed in operation mode 4. No No response
changed in operation mode 4 online change possible e.g. from speed control to find notch posi-
tion.
1300 Memory organization is faulty. No response
1301 Invalid trigger configuration (both Invalid trigger configuration in the ring buffer. Triggering to both No response
edges) edges is not possible.
1302 no Trigger ID entered no Trigger ID entered No response
1303 no ID to read out data no ID to read out data No response
1304 no permission to read out data No response
1305 No record for channel and axis No record for channel and axis No response
1400 Error while loading or saving the data Error while loading or saving the data record Pulse block
record
1401 No valid parameter file found No valid parameter file found Pulse block
1402 CRC in parameter file not correct CRC in parameter file not correct Pulse block
1403 Invalid data record number indicated An invalid data record number was indicated for a data record com- No response
for DSV command mand.
The error is reported when an attempt is made to switch to a non-

existing data record, delete the active data record or copy the values
from a non-existing data record.
1500 uBlaze Software has a critical error It was an critical error and uBlaze Software is no longer functional No response
1501 If there is no response from the slave Slave did not respond within specified time. No response
(HPI-Buffer Initialization) Master Ident Code = 0xDEADBEEF
Slave Ident Code = 0xBEEFDEAD
1502 Message length is greater than HPI Message length is greater than HPI Buffer No response
Buffer
1503 Access to HPI wrong channel Access to the wrong (non-existent) HPI-Channel No response
1504 HPI Channel was not initialized First Access to the HPI-channel was early as the initialization. No response
1505 HPI buffer is empty HPI buffer has no user data available. No response
1506 HPI buffer is full HPI buffer has user data available or old telegram data are not No response
called for yet.
1507 TCP IP Stack could not be initialized An error has occurred at initialization of TCP/IP stack No response

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No. error
response
1508 SoE firmware error message SoE firmware (Servodrive-Profile over EtherCAT) sends an error No response
message to the drive controller. The error reaction is started by the
SoE firmware of the fieldbus processor.
1509 EtherCAT IP core cannot init EEPROM No response
1510 Sub device index invalid Sub device index invalid, i.e. out of range No response
1511 Firmware error fieldbus controller Fieldbus controller signaled a firmware error. No response
1512 Faulty backup of operation data No response
1513 Illegal drive address A invalid drive address is set. No response
1514 Error caused by memory allocation No response
1515 Faulty task start Operating system was not able to start a task. No response
1516 Faulty init of scaling data No response
1517 Error during reading of the cyclic actual No response
values
1518 Error during writing of the cyclic set val- No response
ues
1519 Critical GDP error while initialization Incorrect reading or writing of important data via GPD. GPD means No response
the communication between controller and fieldbus controller.
1520 Invalid version of the controller firm- Installed controller firmware cannot be used with this type of field- No response
ware bus. Version see controller parameter P102.2 or IDN P-0-0221
1521 Warning: Error while reading service No response
data
1522 Warning: Error while writing service No response
data
1523 Error during command execution An error occurred during a command execution. No response
1524 Timeout during command execution A timeout occurred during a command execution. No response
1525 MST-Error; drive controller lost syn- Sercos: MST incorrect No response
chronization SoE: controller signaled lost synchronization
1526 Error: MDT miss twice; watchdog time- Sercos: failure of MDT (MDT miss twice) No response
out process data SoE: watchdog timeout at process data
1527 Error during switch up of phase Error during switch up of the bus state No response
(phase switch up)
1528 Error during switch down of phase Error during switch down of the bus state No response
(phase switch down)
1529 Phase transition without ready Sercos: No response
acknowledge n switch up to CP3 not possible  back to CP0.
n switch up to CP4 not possible  back to CP0.
SoE:
n switch up to Safe-Op not possible  back to Pre-OP.
n switch up to Op not possible  back to Safe-OP.
1530 Error: Invalid phase Invalid phase (bus state) set. No response
1531 Switch to non-initialized operation Switch to a not supported or unknown operation mode. No response
mode
1532 Error: Two drives with same address in Error message only possible using Sercos. No response
ring
1533 Error while reading sync data of drive Error when adjusting the synchronization data with the settings in No response
controller the drive controller.
1534 Overflow mailbox service Overflow during a fragmented mailbox service. No response
1535 Invalid mailbox size Error detected when checking the mailbox size. No response

No. error
response
1536 to 1555: see Application Manual SoE slave for BM2500/3300/5000 (5.14010)
1600 wrong driver handle transferred No response
1601 Open command on already opened No response
driver
1602 Driver has already been opened No response
1603 ZERO pointer transferred No response
1604 Timeout with OS access No response
1605 Faulty checksum No response
1606 Response from device faulty No response
1607 invalid semaphore entered for waiting No response
1608 unexpected API status for active com- No response
mand
1609 too many repetitions with HIPER- No response

FACE protocol
1610 Call-up option invalid No response
1611 unknown object indicated for reading or No response
writing
1612 Error while initializing the driver No response
1613 the response data is too large for the No response
available buffer
1700 Error code directly according to error Pulse block
report from encoder
1701 Analog signals outside of specification Rotary encoder: Analog signals outside of specification Pulse block
Calibration data are faulty Linear encoder: Calibration data are faulty
1702 Internal angle offset faulty Pulse block
1703 Table for data field partitioning Pulse block
destroyed
1704 Analog limit values not available Pulse block
1705 Internal I2C bus not functional Pulse block
1706 Internal checksum error Pulse block
1707 Encoder reset occurred through pro- Pulse block
gram monitoring
1708 Counter overrun Pulse block
1709 Parity error Pulse block
1710 Checksum of transferred data is wrong Pulse block
1711 Unknown command code Pulse block
1712 Amount of transferred data wrong Pulse block
1713 Transferred command argument not Pulse block
permitted
1714 The selected data field may not be writ- Pulse block
ten to
1715 Wrong access code Pulse block
1716 Indicated data field size cannot be Pulse block
changed
1717 Indicated word address is outside of Pulse block
the data field

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No. error
response
1718 No data field or addressed data field Pulse block
does not exist
1728 Amount monitoring for analog signals Amount monitoring for analog signals (process data) Pulse block
(process data)
1729 Transmission current critical (contami- Transmission current critical (contamination, transmission break) Pulse block
nation, transmission break)
1730 Encoder temperature critical Encoder temperature critical Pulse block
1731 Speed too high, no position establish- Speed too high, no position establishment possible Pulse block
ment possible
1732 Speed too high, position can't be calcu- At rotatory encoders: position can't be calculated Pulse block
lated At linear encoders: sensor is not adjusted or is not in adjustment
mode
1733 Position error Multiturn At rotatory encoders: Position error Multiturn Pulse block
At linear encoders: distance magnetic tape/sensor too high
1734 Position error Multiturn At rotatory encoders: Position error Multiturn Pulse block
At linear encoders: Positional error
1735 Position error Multiturn Position error Multiturn Pulse block
1752 Error while initializing the encoder Error while initializing the encoder (multiple errors) Pulse block
(multiple errors)
1753 Position generally not dependable Encoder position not dependable. Quotient of resolution to line num- Pulse block
ber faulty
1754 Unknown error from encoder Unknown error code from the encoder Pulse block
1800 no or invalid data in the encoder motor The error occurs when no motor data can be read from the encoder Pulse block
type plate after rebooting.
1801 Invalid section found in the encoder Invalid section found while reading the encoder memory. Reference Pulse block
OEM memory to wrong data in the OEM memory of the encoder.
1802 too many sections of the type "variable Pulse block
operating data"
1803 Index for addressing the section for Pulse block
variable operating data too large
1805 Checksum error in Section Pulse block
1806 Version of imported data structure Pulse block
unknown
1808 Wrong quantity (0 or 128) Pulse block
1809 Wrong data field (only 0 or 1 permitted) Pulse block
1810 Data field start address too large (= Pulse block
128)
1813 No memory available in the encoder Pulse block
1814 Faulty data in the section Data in the section is not plausible (WordCount is 0 or too large) Pulse block
1815 No section exists for motor type plate in No section for a motor type plate exists in the encoder OEM mem- Pulse block
the encoder memory ory.
1816 No section exists for notch position No section exists for notch position mechanical in the encoder OEM Pulse block
mechanical in the encoder memory memory
1817 No section exists for M0 data in the No section exists for M0 data in the encoder OEM memory Pulse block
encoder memory
1818 No section exists for operating data in No section exists for operating data in the encoder OEM memory Pulse block
the encoder memory
1901 Connection did not exist, client was not No response
logged in.

No. error
response
1902 GdpProtocol version not supported. No response
1903 Maximum number of users reached. No response
1904 Report ID not known. No GDP report No response
1905 CRC32 checksum does not match the No response
calculated checksum.
1906 Telegram header size not plausible. No response
1907 Job length not plausible. No response
1908 Fragment length not plausible. No response
1909 Command not yet implemented. No response
1910 User is already logged in No response
1911 User is not logged in No response
1913 Too many parameters have been No response
requested
1914 The Job ID is wrong in a sequence of No response
partial telegrams
1915 Wrong count value for Parameter No response
Read-Write
1917 OrderSpec not supported No response
1918 Buffer size of small block length not No response
plausible
1919 Block length smaller than minimum No response
required size
1920 Too many simultaneously active com- No response
mand
1921 Command unknown No response
1922 Wrong list type No response
1923 Wrong parameter list ID No response
1924 Wrong parameter number for parame- Wrong parameter number for parameter list No response
ter list
1925 Parameter does not exist No response
1926 List does not exist No response
1927 Wrong real time mode No response
1928 Value for Alive Timeout may not be 0 No response
1930 Index range wrong (Start-Index End- No response
Index or Max-DIM
1931 General transmission error. Client must No response
repeat telegram (e.g. with fragmented
transmissions)
1932 No additional real time list can be regis- No additional real time list can be registered No response
tered
1933 CRC of a transferred file does not The files that can be transferred to the device are protected with a No response
match the calculated file CRC.
During the file transfer through GDP this file CRC is checked in addi-
tion to the separate checksum of the transmission. If it does not
match the calculated checksum, a error will be returned at the end of
the transmission so that this is not detected at the next booting pro-
cedure that the transmission has failed.

Document No.: 5.09022.17 of 978

No. error
response
1934 Communication partner reports error Communication partner reports error number in telegram user data No response
number in telegram user data The content of the use data must be interpreted as a error number
for further evaluation.
1935 Different subdevice Indices within a Parameters within a telegram can only be sent to the same subde- No response
request are not permitted vice. This error occurs when a client wants to transmit parameters
with different subdevice indices within a telegram.
m Effect:
The requested telegram cannot be transmitted.
1936 Report timeout has occurred Report timeout has occurred No response
1937 Actual data were not picked up on time Actual data (producer data) were not picked up on time Pulse block
1938 Set value failure at cyclic data Set value failure at cyclic data Pulse block
1939 File length smaller than transmitted The file length is smaller than the length of the transmitted data. No response
data More data has been transmitted than the file length should be,
according to the command.
1940 Command is not in the memory of the No response
command pool
1941 No command data for processing No response
1943 Error while writing a parameter through Error while writing a parameter through real time No response
real time
1944 "Scope" wrong "Scope" wrong No response
1946 Available memory in the destination Available memory in the destination device insufficient No response
device insufficient
1947 Invalid file name Invalid file name No response
1948 Unknown or wrong memory destination Unknown or wrong memory destination ("Destination") No response
("Destination")
1949 Unknown option Unknown option No response
1950 Wrong file length (e.g. may not be 0) No response
1951 Connection (TCP/IP, serial) not opened The connection of the transport layer (TCP/IP, serial, ...) is not open. No response
or closed by the partner Either the connection was not opened at all or it was closed due to a
socket error by the internal TCP/IP stack or communication partner.
1952 Data received for a complete telegram Characters were received through a communication source; how- No response
is insufficient ever, the telegram is incomplete and additional characters must be
received.
2000 Mains synchronization not possible The error is enabled, if the active mains rectifier unit can not syn- Pulse block
chronize with the mains within 10 s, although a successful offset-
and rotary field detection has taken place.
m Possible cause:
Frequency fluctuation of the mains voltage
2001 Timeout load circuit The active mains rectifier unit was not able to charge the DC link to Pulse block
the power supply peak voltage within the time set in Maximum
charging time.
m Possible cause:
The DC link capacity is greater than the permitted value.
The function of the voltage measurement for the DC link voltage
or to trigger the thyristors is faulty.
2002 Timeout relay The device is not able to switch on the power relay within 3 s after Pulse block
the request.
m Possible causes:

No. error
response
2003 Timeout DC link-control The active mains rectifier unit is not able to set the DC link voltage Pulse block
within 5 s set value.
m Possible causes:
Ramp slope was set too low
2004 1-phase power failure The active mains rectifier unit has detected a 1-phase mains failure. Pulse block
m Possible causes:
Failure of a phase of the three-phase power system
2005 2- or 3-phase power failure The active mains rectifier unit has detected a two- or three-phase Pulse block
mains failure.
m Possible causes:
The mains voltage collapsed
2006 Overvoltage in mains The active mains rectifier unit has measured a voltage of over 530 V Pulse block
effective in the mains.
m Possible causes:
The mains voltage has risen to over 530 V or the measurement
switch for the mains voltage measurement is defective.
2007 Undervoltage in mains The active mains rectifier unit has measured a voltage lower than Pulse block
U DC_min  P129.42  – 30 V
---------------------------------------------------------------
2
m Possible causes:
The mains voltage was fallen under
U DC_min  P129.42  – 30 V
--------------------------------------------------------------- or the measurement switch for the
2
mains voltage measurement is defective.
2008 Overvoltage in DC link The DC Link voltage has risen over the value in Z129.21–, the Pulse block
active mains rectifier unit was not able to feed the braking energy of
the drive quickly enough back into the mains.
m Possible causes:
The DC link controller is not optimally adapted to the application.
Possibly the active current limit in the regenerative braking mode
is set too low.
2009 Undervoltage in DC link If the DC link voltage in the controlled state is lower than the peak Pulse block
voltage or if the DC link voltage in the uncontrolled state is lower
than 87% of the peak voltage, this error is enabled.
m Possible causes:
The DC link controller is not optimally adapted to the application.
Possibly the active current limit in the supply mode is set too low.
2010 Mains Frequency in the Upper or the This message is transmitted if a mains frequency of more than No response
Lower Limit Range 65 Hz and less than 45 Hz was detected.

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No. error
response
2013 Timeout quick discharge The active mains rectifier unit calculates the discharging time from Pulse block
the maximum discharging resistor (see Instruction Manual) and the
maximum DC link capacity according to the relation:
t Discharging = – R Discharging_max  P129.62  ln  -------------------

20 V
P129.21
If the discharging is triggered, the DC link is discharged always for at

least 10 s via the discharging resistor. If the DC link voltage is
greater than 20 V after 10 s discharging time, then it is checked
whether the calculated discharging time is greater than the so far
elapsed discharging time of 10 s. If this is not the case, the error is
triggered at once.
If the calculated discharging time is greater than 10 s and if the DC
link voltage is greater than 20 V after the discharging time, then the
error is triggered also in this case.
m Possible causes: The chopper resistor is not connected or was

selected too great. Possibly the DC link capacity is greater than
specified (see Operating Instructions BM5000 (5.09021)).
2014 Short circuit in DC link The active mains rectifier unit determines that during the loading Pulse block
procedure, there is current flowing into the device, but the DC link
voltage is not rising accordingly. This error cannot be reset. The
device must be restarted.
m Possible causes:
The DC link is short-circuited or is loaded while it is being
charged.
2015 Current is still flowing, the relay may The active mains rectifier unit tried to separate the device from the Pulse block
not be switched off mains; thereby still a peak current of greater than 10 A was
detected. This error cannot be reset. The device must be restarted.
m Possible causes:
The DC link is still loaded although the "ready-for-use"-signal on
the signal bus and the signal "control ready-for-use" have
dropped.
2016 Relay does not drop The power relays, which bridge the load switch, do not drop, when Pulse block
the attempt is made to switch them off. This error cannot be reset.
The device must be restarted.
2017 Mains current at discharge The active mains rectifier unit determines a peak current of more Pulse block
than 10 A during the discharge. This error cannot be reset. The
device must be restarted.
m Possible causes:
The main contactor and the power relay could not be opened
before discharging them. Possibly their contacts are sticking
together.
2018 DC link voltage set value is too low If the set value of the DC link voltage is entered manually, then this Pulse block
input must be greater than the mains peak voltage of +40 V. If this
input is not complied with, this error is enabled.
If the automatic generation of the DC link voltage set value is active,
this error threshold is not checked.

No. error
response
2019 Mains Synchronization lost The active mains rectifier unit has lost its synchronization with the Pulse block
mains.
m Possible causes:
The mains frequency is lower than 40 Hz or greater than 70 Hz. It
also can happen that the mains frequency changes very quickly,
so that the synchronization cannot compensate this change.
2020 Offset Measurement was not possible This error is not enabled, if the active mains rectifier unit does not Pulse block
determine a mains offset within 10 s, which is constantly moving in a
window of 200 V.
m Possible causes:
There is a continuous variation of the mains offset. On the other
hand this can also be a reference to a defective voltage measure-
ment.
2021 Voltage Offset Outside the Plausible This error is enabled if a mains offset is determined in a linked volt- Pulse block
Range age greater than 40 V.
m Possible causes:
An offset, which is that high, indicates a defective measuring cir-
cuit.
2022 Overload of the Device This error is enabled in connection with the errors 2008 and 2009. If Pulse block
the active mains rectifier unit detects an over- or an undervoltage in
the DC link, it will try to counteract. If the device is already driving at
the current limit and the DC link voltage, despite of this, cannot be
maintained, then the load is too great for the device.
m Possible causes:
The current limit was set too low.
2023 Timeout - Rotary Field Detection The active mains rectifier unit was not able to determine the rotary Pulse block
field of the mains definitely within 5 s.
2024 Counterclockwise Rotary Field Pro- This error is enabled, if the active mains rectifier unit detects a coun- No error
cessing at the Device terclockwise field at the connection terminals. In general this error is
not parameterized as an error. The active mains rectifier unit can
also be operated to the full range with a counterclockwise field. This
error allows the user to exclude the counterclockwise field operation
of the device.
2025 Warning - Exceeding the Mains Power This error is enabled, if the the active mains power exceeds the No response
Level value in the parameter Z141.40–. The error is reset by the device as
soon as the mains power falls below the threshold, which was set.
2026 Warning - mains voltage smaller than This error is enabled, if the actual value of the mains voltage falls No response
adjusted threshold below the value in the parameter Z141.41–. If the error reaction "No
reaction" was parameterized for the error, then the error is reset as
soon as the actual value of the mains voltage exceeds the value in
Z141.41–.
2027 Warning - mains voltage greater than This error is enabled, if the actual value of the mains voltage No response
adjusted threshold exceeds the value in parameter Z141.42–. If the error reaction "No
Reaction" was parameterized for the error, then the error is reset by
the device as soon as the actual value of the mains voltage falls
below the value in Z141.42–.

Document No.: 5.09022.17 of 978

No. error
response
2028 No supply voltage at the device In state transition from "Power-on Disable" to "Ready to Start", a No response
three-phase supply is to be expected of the active mains rectifier on
its terminals after closing the contact "Ready for Main Contactor
ON" (X2-9; X2-10). This error is triggered, if no three-phase supply
is detected after closing the contact "Ready for Contactor ON" for 5
seconds. This error cannot be cleared by the user. This error is reset
by the device, if a three-phase supply is detected at the terminals of
the active mains rectifier unit.
2200 Error occurred in the FFT analyzer An error occurred in the FFT analyzer function. For an exact specifi- No response
cation, refer to Parameter Z104.8– "FFT Info".
2201 FFT result not ready for READING yet No response
2300 FPGA_RSP record is not available for No response
READING
2400 Invalid "Device type" in login message Invalid "Device type" in login message No response
2401 Invalid command for a confirm mes- Invalid command for a confirm message No response
sage
2402 Wrong connection ID from server Wrong connection ID from server No response
2403 File data on server and client are not File data on server and client are not equal No response
equal
2404 Error with erasing file data Error with erasing file data No response
2405 Erasing file data is busy Erasing file data is busy No response
2406 Error with writing file data Error with writing file data No response
2407 Writing file data is busy Writing file data is busy No response
2408 Error with reading file data Error with reading file data No response
2409 No valid FU file on client No valid FU file on client No response
2410 Handling FU file is busy Handling FU file is busy No response
2411 No valid PC file on client No valid PC file on client No response
2412 Handling PC file is busy Handling PC file is busy No response
2413 The transmit process is busy The transmit process is busy No response
2414 The receive process is busy The receive process is busy No response
2415 Timeout of transmit process Timeout of transmit process No response
2416 Timeout of receive process Timeout of receive process No response
2417 Build the list or parameter is busy Build the list or parameter is busy No response
2418 Module change too lower safety level A module change happened. The actual module has a lower safety Pulse block
level than the former one. The controller must not be operated.
m Error reset:
Pulse block, resetting not possible
2419 Modul change from SAF-003 to Modul change from SAF-003 to SAF-002. The controller must not be Pulse block
SAF-002 operated.
m Error reset:
Resetting not possible
2420 No valid controller for SAF module The controller is not suitable for SAF module. The safety level of No response
controller is lower than the safety level of the SAF module.
2421 Number of axes from controller and Number of axes from controller, DIP switch of SAF module and No response
SAF module are not equal safety parameter are not equal.
2422 No FSoE communication active at No FSoE communication active at SAF-002 or SAF-003. The SAF No response
SAF-002 or SAF-003 module is not ready and the controller may not leave drive state 0.
2423 Pulse inhibit because of SAF-100 The controller allows no pulse enable because a Reset Module Pulse block
(SAF-100) is plugged in.

No. error
response
2598 Last reserved error number for platform Platform errors are reserved error numbers that may have different No response
error levels of importance on each platform. This range of numbers is
reserved so that platform specific error numbers (e.g. Windows error
numbers) do not have to be defined as generally valid in rc.h. These
error numbers can then be used as return codes within the platform
and may thereby not be transferred externally.
2700 Fb Set value generator Set Value < Min One or more set values of the set value generator (FbSwg) are No response
(target parameter) smaller than the minimum value of the selected target parameter.
Testing is carried out to prevent overrun effects while writing to the

target parameter.
2701 Fb Set value generator Set Value > One or more set values of the set value generator (FbSwg) are No response
Max (target parameter) greater than the maximum value of the selected target parameter.
Testing is carried out to prevent overrun effects while writing to the

target parameter.
2702 Error in the configuration of the return General error in the configuration of the return motion detected by Pulse block
motion the test function.
Cause:
m The motorized operation at mains failure is not permitted
(Z130.10– Supply mode bit 1 = 0)
2720 Cam generator - no input parameter Selection of processing mode "parameter-controlled processing" No response
was selected No input parameter was selected.
2721 Cam generator - no reference parame- Selection of relative mode, but no reference parameter was No response
ter was selected selected.
2722 Cam generator - no output parameter No target parameter was selected. No response
was selected
2723 Cam generator - the output value was The output value of the cam is greater than the maximum value of Pulse block
limited the target parameter or the output value is lower than the minimum
value of the target parameter.
2724 Cam generator - in the RAM no valid An attempt was made to start the cam generator, although there was No response
cam was found no applicable cam in the RAM
2725 Cam generator - an error occurred An attempt to load a cam into the device failed. No response
while loading the cam
m Possible causes:
n Cam has more than 1024 supporting points
n An attempt was made to load a cam, although another cam was
processing yet
n An attempt was made to load a wrong file. Only files with exten-
sion *.kbin can be loaded.
2726 Cam generator - the active cam cannot In the "parameter-controlled processing" mode the cyclical process- No response
be used in this mode ing is selected. The count of supporting points must accord to power
2. This is not the case at the active cam (e.g. count of supporting
points is 256, 512 or 1024)
2740 No polynomial curve data available It was tried to release the drive in the operation mode "Coupled Pulse block
mode" but there is no polynomial curve data in the controller.
m Consequence:
The operation in the coupled mode isn't possible. Behavior accor-
dant to set error reaction.

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No. error
response
2741 Invalid segment number detected At the polynomial curve generator an invalid segment number was Pulse block
transferred for which there is no segment existent.
This error can occur at the transmission of the curve segments or at
a chain change.
m Consequence:
The transmitted curve segments are rejected.
2742 No valid start segment defined The start segment defined in the parameter Z122.7– isn't in the Pulse block
polynomial curve.
m Consequence:
The polynomial curve generator cannot be activated.
2743 No cam data available in internal buffer The intermediate buffer doesn't include valid polynomial curve data. Pulse block
Presumably the required data weren't able to be added in time. It is
recommended to reduce the speed of the master or to increase the
scope of the individual curve segments.
m Consequence:
The processing of the polynomial curves must be interrupted.
2744 Master axis in motion during synchroni- In the Z122.2– mode of the "Coupled mode" was set that the master No response
zation axis must stop during the synchronization phase. However a posi-
tion change was determined at the master axis position.
m Consequence:
Depending on the error reaction. If there is no reaction parameter-
ized, the drive processes the synchronization of the polynomial
curves anyway. However, the polynomial curve and the synchroni-
zation movement overlap.
2745 Invalid start position of the master axis A valid starting position of the master axis in the parameter Z122.8– Pulse block
and Z122.9– was not defined.
m Cause
Based on the starting position the current master axis position
Z122.3– and Z122.4– are not within the linking of the active
curve.
2746 File handler busy Although the previous transmission was not completed yet a polyno- No response
mial curve was transmitted.
2747 Transmitted file includes unknown The transmitted curve contains an unknown curve type. No response
curve type
m Consequence:
The transmission is interrupted and the file is canceled.
2748 An active curve could not be deleted It's not permitted to overwrite the polynomial curve completely No response
during processing. However, the reload by using a changed curve
segment would be possible.
m Consequence:
The previous curve is continued to be processed.

No. error
response
2749 Cam file version is unknown The controller firmware doesn't know the version of the transmitted No response
cam file.
m Consequence:
The cam file is rejected.
2750 To many revolutions per segment One of the transmitted curve segments was defined for more than No response
defined 65535 master or slave revolutions.
m Consequence:
The cam file is rejected.
2800 No identification in the DPRAM Header No identification found in the DPRAM Header (DEADBEEF) No response

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4 DESCRIPTION OF THE SOFTWARE
MODULES AND PARAMETERS
In this chapter, the parameters are described according to their use in the software mod-
ules. The structure of this chapter corresponds to the structure of ProDrive. Individual pa-
rameters which are used on various screens of ProDrive are described in their functional
blocks and are linked.
4.1 Cycle times of the software modules
4.1.1 Cycle times at axis units (BM52xx, BM53xx, and so on)
Software module Cycle time

Current controller Current controller cycle time 62.5 µs to 250 µs; depending
on the preset PWM Frequency Z130.15–; effective cycle
time readable in Z47.65–
Speed controller, posi- 62.5 µs to 1000 µs; adjustable in RT0-cycle time Z1.8–,
tion controller multiple of current controller cycle time Z47.65–
Two-level controller 1 ms
Operation modes of the 1 ms
task RT1 *
Operation modes of the Adjustable in fieldbus cycle time Z131.18– and division ratio
fieldbus task * fieldbus task Z131.20–
Cam generator Adjustable in fieldbus cycle time Z131.18– and division ratio
fieldbus task Z131.20–
Drive manager 1 ms
Ramp function generator Settable: RT1-cycle time (1 ms; default setting) or fieldbus
task cycle.
Effective cycle time can be read in Z110.22–
Setpoint generator 1 ms
Analogous inputs 125 µs, 250 µs, 500 µs or RT1-cycle time

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4.1 Cycle times of the software modules

Analogous outputs Adjustable values: 62.5 µs, RT0-cycle time or RT1-cycle
time
Digital inputs 1 ms
Digital outputs Remaining time
Configurable status word 1 ms
Oscilloscope function Adjustable from 62.5 µs to 100 s.
FFT analyzer (induce RT0-cycle time
and measure signals)
*) this means the cycle of the setpoint generation, the cycle of the monitorings,
the cycle of the management and the cycle of the other functions of the preset
operation mode Z109.1–.
Z109.1– Operation mode Task

-12 Coupled operation Fieldbus
-7 Autotuning Remaining time (manage-
ment)
-6 Spindle positioning RT1
-5 Synchronous operation with virtual master axis RT1
Synchronous operation with real master axis RT0 (Setpoint), RT1 (Man-
agement)
-4 Position control Fieldbus
-3 Speed control RT1 (default setting) or
fieldbus
-2 Current control RT0
-1 Notch position search RT1
1 Target position setting RT1
2 Speed setting RT1 (default setting) or
fieldbus
5 Manual drive operation RT1
6 Reference run operation RT1
4.1.2 Cycle Times at the Active Mains Rectifier Unit (BM51xx)

Mains synchronization 62,5 µs
Trigger of the charging 62,5 µs
circuit
Current controller 62,5 µs

Description of the Software Modules and Parameters 4
UZK controller of the 125 µs
active mains rectifier unit
UZK set value ramp 125 µs
Filter of the active cur- 125 µs
rent set value
Operation modes of the 1 ms
task RT1
Operation modes of the Adjustable in fieldbus cycle time Z131.18– and division ratio
fieldbus task fieldbus task Z131.20–
Drive manager / device 1 ms
manager
Digital inputs 1 ms
Digital outputs Remaining time
Automatic generation of Remaining time
UZK_set
Oscilloscope function Adjustable from 62.5 µs to 100 s.
The active mains rectifier unit (BM51xx) is always operated in the operation mode DC link
control. The operating mode cannot be changed by the user. For this reason the active
mains rectifier unit does not have an operating-mode-dependent assignment of single
function modules at certain cycle times. The cycle time of the RT0 cannot be changed at
the active mains rectifier unit and always is 125 µs. The assignment of the software mod-
ules at the according cycle times is executed according to the above mentioned table.
4.2 Structure of the parameter overviews
All parameter overviews are structured according to the following pattern: Axis-independent
Cyclic Write
DS Support
Read only
Storage
Number Name Type Min Max Default Value Unit Factor
1.1 System Clock FLOAT 0 1000000000 0 sec 1:1 X X

1.2 System Ticks RT1 UDINT 0 0xFFFFFFFF 0 1:1 X X
Number = Number of the parameter consisting of ID of the functional block (FB) and the
numbering within the FB
Name = Common parameter name for ProDrive and Parameter Manual
Type = Data type
INT Integer 16 bit
DINT Integer 32 bit
UINT Unsigned Integer 16 bit
UDINT Unsigned Integer 32 bit

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4.2 Structure of the parameter overviews
WORD Word 16 bit

DWORD Double Word 32 bit
FLOAT Float 32 bit
STRING String (characters)
RECORD Composite data type (Struct, Array, etc.)
Min = Range of values of the parameter, minimum value at internal standardization
Max = Range of values of the parameter, maximum value at internal standardization
Default Value = Default value at internal standardization
Unit = Unit of the parameter for display in ProDrive
Factor = Conversion factor F2/F1 between display ProDrive (Gui) and internal
standardization (Para): Gui = Para * F1 / F2
X in column „Read only“ = Parameter is read-only
X in column „Storage“ = Parameter will be stored in Flash
X in column „DS support“ = Parameter will be stored in data sets of the
Flash
O in column „Cyclic Write“ = Parameter may be written cyclic, e.g. using
process data of the fieldbus;
fieldbus cycle time  1 ms
X in column „Cyclic Write“ = Parameter may be written cyclic with
fieldbus cycle time < 1 ms also
X in column „Axis independent“ = Parameter is valid for all axes of the device
in common
Example:
Axis-independent
Cyclic Write
DS Support
Read only
Storage
110.5 Input 16 bit INT -16384 16384 0 % 4000hex: X X X

100%
Number Z110.5– Functional block ramp function generator, parameter 5
Name Input 16 bit Name of parameter, display ProDrive English
Type INT Integer 16 bit
Min ... Max -16384 to 16384 Range of values
Default Value 0 Default value 0 at internal standardization
Unit % Unit % for ProDrive
Factor 4000hex : 100% 100% in ProDrive correspond to 16384 internal

The parameter is writable, cyclic writable (fieldbus cycle time < 1 ms), it will be stored
namely in all data sets; it is NOT axis independent, i.e. it can be set separately for each
axis.

4.3 System
4.3.1 System control
NOTE!
These parameter exist largely both for axis units (BM52xx, BM53xx) and for the axis
mains rectifier unit (BM51xx). The respective differences are specified in the descrip-
tion of the parameter.
4.3.1.1 Parameter overview
Functional blocks: System control 1 [1]

System control 2 [2]
FbVersion [102]
FbSystem [139]
FbSysPerformance[158]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
1.1 System Clock UDINT 0 0xFFFFFFFF 0 s 1:1 X X

1.8 RT0-Cycle time FLOAT 62.50 1000.00 250.00 µs 1:1 X X
1.10 Task fieldbus cycle time UDINT 125 8000 1000 µs 1:1 X X
102.1 Firmware number UDINT 0 0xFFFFFFFF 0 1:1 X X

102.2 Firmware version UDINT 0 0xFFFFFFFF 0 1:1 X X
102.3 Firmware type UDINT 0 4 0 1:1 X X
102.4 Firmware build number UDINT 0 0xFFFFFFFF 0 1:1 X X
102.5 Firmware name STRING 1:1 X X
102.6 Firmware version info STRING 1:1 X X
102.7 Firmware time stamp STRING 1:1 X X
102.8 Bootloader0 version STRING 1:1 X X
102.10 System Fpga Id UDINT 0 0xFFFFFFFF 0 1:1 X X
102.11 Bootloader flags UDINT 0 0xFFFFFFFF 0 1:1 X X
102.13 Expected System Fpga UDINT 0 0xFFFFFFFF 0 1:1 X X
Id
102.14 FPGA version UDINT 0 0xFFFFFFFF 0 1:1 X X
102.15 FPGA firmware number UDINT 0 0xFFFFFFFF 0 1:1 X X

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4.3 System
102.18 Fieldbus controller firm- UDINT 0 0xFFFFFFFF 0 1:1 X X

ware number
ware version
102.20 Fieldbus controller firm- STRING 1:1 X X
ware version time stamp
ware type
ware build number
102.23 Board data command UINT 0 0x1000 0 1:1 X
102.24 Board data status UDINT 0 0xFFFF 0 1:1 X X
102.25 Hardware board identifi- STRING 1:1 X
cation
102.26 Circuit board assembly STRING 1:1 X
102.28 Hardware date STRING 1:1 X
102.29 Hardware name STRING 1:1 X
102.30 Controller serial number UDINT 0 0xFFFFFFFF 0 1:1 X
102.31 Controller article num- UDINT 0 0xFFFFFFFF 0 1:1 X
ber
102.32 Device serial number UDINT 0 0xFFFFFFFF 0 1:1 X
102.33 Device article number UDINT 0 0xFFFFFFFF 0 1:1 X
102.35 Device type code STRING 1:1 X
139.1 Password UINT 0 0xFFFF 0 1:1

139.2 Baudrate UDINT 9600 115200 38400 1:1 X
139.4 Number of axes UDINT 1 2 2 1:1 X X
139.23 System command UDINT 0 0xFFFFFFFF 0 1:1
139.25 Switch-on time UDINT 0 0xFFFFFFFF 0 s 1:1 X X
158.1 Real time load FLOAT 0 1 0 % 1:1 X X

158.2 Real time load average FLOAT 0 1 0 % 1:1 X X
158.3 Max real time load FLOAT 0 1 0 % 1:1 X X
158.4 Interrupt load FLOAT 0 1 0 % 1:1 X X
158.5 Interrupt load average FLOAT 0 1 0 % 1:1 X X
158.6 Interrupt load max FLOAT 0 1 0 % 1:1 X X
4.3.1.2 Description of the Parameters
NOTE FOR ACTIVE MAINS RECTIFIER UNIT!

The most parameter in this module are identical to the active mains rectifier unit. But
if there are differences they will be indicated at the respective parameter.

1.1 System Clock
Operating time of the controller in seconds.
1.2 System Ticks RT1
Display of the value of a counter which is incremented in TASK_RT1.

This parameter will be read out from the safety module for the time stamp of the error-log-
entries.
1.3 System Ticks RT2
Display of the value of a counter which is incremented in TASK_RT2 by the ratio

TASK_RT2/TASK_RT1, so that System Ticks RT2 and System Ticks RT1 have approx-
imately the same value.
1.8 RT0-Cycle Time
Axis units:
The parameter for the cycle time for the RT0 time slice (for position and speed control-
lers and motor control) can be set here.
The value must be between 62.5 µs and 1 ms; the standard value is 250 µs.
The parameter RTO-cycle time is rounded down to a multiple of current controller cycle
time Z47.65–.
The RT0-Cycle time can be changed only when the drive is inhibited.
The RT0-Cycle time must not fall below the preset current controller cycle time
Z47.65–. This is monitored and as the case may be the error 501 will be triggered
which inhibits the enable of the drive.
Active mains rectifier unit:
The cycle time of the RT0 time slice is always 125 µs and can not be changed at the
active mains rectifier. The DC link voltage controller is executed in the RT0 of the active
mains rectifier unit.
1.10 Task fieldbus cycle time
The parameter displays the cycle time for the task fieldbus.
The task fieldbus cycle time must not fall below the RT0-Cycle time. In this case the task
fieldbus cycle time is limited to the RT0-Cycle time, the error 505 will be triggered and thus
the enable of the drive will be inhibited.

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4.3 System
102.1 Firmware number
Internal Baumüller firmware number
102.2 Firmware version
Display of the firmware version with accordingly 2 digits for main version (incompatible
version), sub-version (compatible version) and bugfix version.
102.3 Firmware type
Classification of the Firmware
Value Meaning
0 Production
1 Beta version
2 Prototype
3 Nightly Build
4 Developer Build
5 Customers version
102.4 Firmware build number
Internal build number.
102.5 Firmware name
Firmware term
102.6 Firmware version information
Summarized text information of the firmware version.

102.7 Firmware time stamp
Time stamp for the firmware generation.
102.8 Bootloader0 version
Version of Bootloader 0.
102.9 Bootloader1 version
Version of Bootloader 1.
102.10 System Fpga Id
Identifier of the system FPGA. See also Z102.13–.
102.11 Bootloader flags
Flags from the Bootloader / Bootfile Management:
Bit # Meaning
0 Current BL1 was faulty, fallback used
1 Current firmware was faulty, fallback used
2 Current FPGA was faulty, fallback used
3 Current communication firmware was faulty, fallback used
4 New BL1 file has been saved in Flash
5 New firmware file has been saved in Flash
6 New FPGA file has been saved in Flash
7 New communication firmware file has been saved in Flash
8 Fallback of the communication firmware was faulty, communication firm-
ware has not been downloaded
9 Error at download communication firmware (timeout), communication
firmware has not been downloaded

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4.3 System
102.13 Expected System Fpga Id
Expected identifier of the system FPGA. See also Z102.10–.
102.14 FPGA version
Display of the FPGA version in the format Major[2] . Minor[2] . Fix[2]
102.15 FPGA firmware number
Baumüller internal FPGA Firmware number
102.18 Fieldbus controller firmware number
Baumüller internal fieldbus firmware number
102.19 Fieldbus controller firmware version
Display of the Fieldbus controller firmware version in the format:

Major[2] . Minor[2] . Fix[2]
102.20 Fieldbus controller firmware version time stamp
102.21 Fieldbus controller firmware type
Firmware type: 0: Production

1: Beta
2: Prototype
102.22 Fieldbus controller firmware build number
Number for counting beta states, prototypes or even nightly builds.

102.23 Board data command
Value/ Meaning
Command
0 No command or STOP command
1 Write current data set from the parameters to the serial EEPROM
2 Read data set from the serial EEPROM
3 Initialize serial EEPROM
Command 3 is provided with a key.
102.24 Board data status
Status code:
Value Meaning
0 No error
1 Busy – command being executed
3 Done – command has completed without errors
All other values are error codes
102.25 Hardware board identification
The HW board identifier has the following format: 33.YY.NN.BB.AA.D1 where:

YY: Year of development
NN: Sequential number
BB: Assembly variant
AA: Revision number
D1: Technical status
Format of HW board identifier: 16-byte string

e.g. "33.0707B", i.e. format: 33.JJ.NN.AA
102.26 Circuit board assembly
Format: 16-byte string e.g. "01: Safe"

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4.3 System
102.28 Hardware date
Format: 16-byte string e.g.: "01.04.2009"
102.29 Hardware name
Format: 16-byte string e.g.: "BSC Safe"
102.30 Controller serial number
102.31 Controller article number
102.32 Device serial number
102.33 Device article number
102.35 Device type code
Complete BM device type code including safety level of the form:

BM5XXX – XXXX – XXXX – XXXX – XX – XX[XX] - EXX - #XX

The positions in squared brackets are optional. The safety level is registered after the
special character "#". Definition of the safety levels:
Safety level Meaning

#00 or miss- The controller supports SAF-001 (STO).
ing
#01 The controller supports SAF-002 hardware version 000-000 / 001-000
and SAF-003 hardware version 000-000 / 001-000, if the controller is
tested on Q-schedule 5.10059 from version 01 and above.
#02 ... #99 Reserved for future versions of SAF modules and b maXX 5000.
139.1 Password
Password for protecting access to system parameters. The value displayed corresponds
to the password level.
NOTE!
The controller has several possible interfaces for accessing parameters (serial inter-
face as well as up to three EOE channels).
The handling of the password-protected levels is not interface-oriented. If an inter-
face channel switches to a password level, the corresponding access permission
also applies to all the other channels.
139.2 Baud rate
Baud rate for serial communication

Valid baud rates: 9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600
Each time the controller is switched on, the baud rate is set to 38400.
139.4 Number of axes
With setting number of axis = 1, a double axis can operate as a single axis. Then the
axis 2 is switched off.

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4.3 System
NOTE!
m The parameter number of axes is writable from password-level 1 on.
m After the number of axes were adjusted, the parameters must be saved and the
drive must be switched off and on again.
m The settings of a parameterized axis 2 are lost, if axis 2 is switched off with number
of axes = 1.
m Encoder 2 cannot be used, if axis 2 is switched off.
After switching on:
m Axis 2, which is switched off, stays in drive status "Not Ready-to-Start" (Z108.6–
= 0)
m References on axis 2 (for example the writing of a digital input to a target parame-
ter from axis 2) results in error messages within the data set management. In this
case check Z105.3–. Correct the parameter settings, which are concerned. Save
the parameters. Switch off and on again.
m The parameter Z19.1– Motor number is set to the value of the number of axes at
double axes.
139.23 System command
System commands in the controller are triggered by writing to this parameter.
Value Meaning
4096 Delete safety level (description see parameter Z200.20–).
All other values Reserved
139.25 Switch-on time
If the system is started this parameter saves the value of system clock (Z1.1–).
158.1 Real time load
Real computing time load by the real time tasks.
158.2 Real time load average
Average value of the computing time load by the real time tasks. The parameter is re-
freshed every second and shows the mean computing time load since the last update.

158.3 Max real time load
Maximum value of the computing time load by the real time tasks. The parameter can be
reset by writing a value.
158.4 Interrupt load
Computing time load by the interrupt routine.
158.5 Interrupt load average
Average value of the computing time load by the interrupt routine. The parameter is re-
freshed every second and shows the mean computing time load since the last update.
158.6 Interrupt load max
Maximum value of the computing time load by the interrupt routine. The parameter can
be reset by writing a value.

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4.3 System
4.3.2 Identification plate of the option module
Functional block: FbOmId [174]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
174.1 Command UINT 0 3 0 1:1 X

174.2 Status UINT 0 65535 0 1:1 X X
cation
174.5 Option module type STRING 1:1 X
code
174.8 Serial number UDINT 0 0xFFFFFFFF 0 1:1 X
174.9 Article number UDINT 0 0xFFFFFFFF 0 1:1 X
174.10 FPGA id UDINT 0 0xFFFFFFFF 0 1:1 X X
174.11 FPGA version UDINT 0 4294967295 0 1:1 X X
174.12 FPGA firmware number UDINT 0 4294967295 0 1:1 X X
174.13 FPGA version build UDINT 0 4294967295 0 1:1 X X
174,14 Option module firmware STRING 1:1 X
name
174.15 Option module firmware STRING 1:1 X
version
174.1 Command
Command for reading/writing/deleting the option module EEPROM

The general option module parameters Z174.4– … Z174.9– and if required the addition-
al option module specific parameters are saved / read.
Value Meaning
0 No command or STOP command
1 Write current data set from the parameters to the serial EEPROM

Value Meaning
2 Read data set from the serial EEPROM and write the data set to the
parameters.
3 Initialize / delete serial EEPROM
65535 … 4 Reserved
174.2 Status
Status of the command executing for reading/writing/deleting of the option module EE-
PROM
Value Meaning
0 No error
1 Busy – command being executed
2 Error
3 Done – command has completed without error
174.4 Hardware board identification
Hardware board identification of the option module as a 16 bytes string.

The Hardware board identifier has the following format: 33.JJNNZ
where JJ: year of development
NN: sequential number
Z: layout status
e.g. "33.1212B"
174.5 Option module type code
Type code of the option module as 40 bytes string.
Type code: BM5-O-VVV-WWW-XXX-YY[ZZ]

where VVV: Module type: (IEE, SIE, SVP, ...)
WWW: Module version (001/002/...)
XXX: HW version (001/002/...)
YY: SW version incompatible
ZZ: SW version compatible (optional)
e.g. "BM5-O-IEE-001-001-00"

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4.3 System
174.6 Hardware date
Date of the mounting or testing of the option module as 16 bytes string

e.g. "16.10.2013"
174.7 Hardware name
Name of the option module as 16 bytes string

e.g. "IEE-001"
174.8 Serial number
Serial number of the option module as 32 bits numerical value.
174.9 Article number
Article number of the option module as 32 bits numerical value.
174.10 FPGA id
Identification of the option module FPGA as 32 bits numerical value.
174.11 FPGA version
Version of the option module FPGA as 32 bits numerical value.

Major[2] Minor[2] Fix[2], e.g. 010701 (01.07.01)
174.12 FPGA firmware number
Baumüller internal FPGA Firmware number (number beginning with 6.xxxx), e.g. 6.1967.
174.13 FPGA version build
Baumüller internal build number of the FPGA for unique identification of different gener-
ation runs of the equal FPGA version (Z174.11–).

174.14 Option module firmware name
Name of the option module firmware.
174.15 Option module firmware version
Version of the option module firmware.

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4.3 System
4.3.3 Display

This software module is identical at the axis unit and at the active mains rectifier unit.
Functional block: FbDisplay [135]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
135.1 Mode Error Display UDINT 0 0xFFFFFFFF 0x1010000 1:1 X
135.1 Mode Error Display
Bit Value Meaning

15 ... 0 Reserved
23 ... 16 0 Only errors (with a response set in the parameters) are displayed:
the error-LED H14 (axis 1) or H24 (axis 2) is on in case of error.
If only warnings or errors without a response set in the parameters

are triggered, the error-LED flashes
1 All errors and warnings are displayed; the error-LED is on perma-
nently in case of error or warning.
24 Activation of LED Power On (H12 (axis 1) or H22 (axis 2), if power
on)
0 LED is on permanently
1 LED flashes (life signs)
31 ... 25 Reserved

4.4 Configuration
4.4.1 Power unit
All the power unit related data are divided into two groups. The first group includes the
so-named power unit characteristics which are shown in parameter group 129 and cannot
be written to.
The power unit has a non-volatile memory which holds the power unit characteristics.
When the controller is initialized, these data are read out and transferred to the corre-
sponding parameters in group 129.
The second group, parameter group 130, contains all the other power unit working data.
These parameters represent either constantly changing physical quantities or certain set-
tings which generally can be altered.
Detection of a mains failure
The detection of mains failure via the supply unit (or via the integrated supply unit of a
mono unit) is possibly not fast enough for specific applications. Therefore a mains failure
detection is optionally possible via the DC link voltage (see Z130.35–).
Behavior at mains failure
The drive can be configured that operation is possible at a mains failure for a set time
(Z130.25–). Different kinds of behavior can be set (see Z130.10–):
– Disable only motor operation (generator operation is enabled, field current is further
supplied).
– Normal operation (motor and generator operation): Normally this option makes only
sense at a DC link combination if another axis feeds back power to the DC link.
– Disabling and automatic restart: The pulses are inhibited in case of detected mains
failure. The drive changes to "Switch-on inhibit (1)" state and coasts down. If the time
of the mains failure is shorter than the set Mains failure delay (Z130.25–), the drive
restarts automatically. The drive changes automatically in the "Operation enabled"
state again.
Special devices BM5600
(from controller firmware version 1.08)

Besides the universal devices BM55XX as well acceleration devices BM56XX from ver-
sion 1.08 are supported. The characteristic of these devices is that the peak current is
twice as much as the rated current. The acceleration devices have been developed for a
cycle at which the peak current can provide 1.25 s at a entire cycle time of 5 s complying
to chapter 3.3.6 "Coherence between rated current and peak current" of the instruction
handbook BM5500, 5600, 5700. The devices were not developed to be operated by peak
current in the standstill state nor with output frequencies lower than 10 Hz. These devices
apply to the "Output frequency dependent maximum current derating", chapter 3.8 of the
instruction handbook BM5500, 5600, 5700 (5.13008).
In order to protect the BM56XX devices below an output frequency of 10 Hz the "Max.
drive current available" Z19.5– exponentially from 50% (output frequency = 0 Hz) to
100% (output frequency = 10 Hz) of the power unit's peak current Z6.25– is automatical-
ly limited.

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4.4 Configuration
Max. drive current available P19.5

%
Output peak
100
5000_0326_rev01_int
current P6.25
50
Hz
0 10 Hz
Output frequency
Figure 32: Output frequency dependent limit of the maximum drive current
From controller firmware 01.13 the peak current derating in parameter Z138.32– is pre-
sented and signalized in the parameter Z138.8– bit 6.
NOTE!
From controller firmware version 1.10:
If the temperature model regarding the overload monitoring of the power unit is active
(see Z175.2– Bit 0), the output frequency-dependent limit (ZFig. 32–) of the maxi-
mum drive current is dropped.
4.4.1.1 ProDrive Power Unit
Axis unit:
Figure 33: ProDrive Power Unit - axis units

Active mains rectifi-
er unit:
Figure 34: ProDrive Power Unit - active mains rectifier unit (BM51xx)
NOTE FOR ACTIVE MAINS RECTIFIER UNIT (BM51XX)!

The parameters, which are specified in the following table, are available only in some
cases.
For this refer to the particular ZDescription of the Parameters– from page 112, if the
parameter is available for the active mains rectifier unit.
Functional blocks: FbPsChars [129]

FbPower_Section [130]
FbPuTempModell [175]
For Parameter 6.27 see ZDiagnosis– from page 844
For Parameters 19.6 and 107.9 see ZMotor– from page 132
For Parameters 175.1, 175.2 and 175.15 see ZDiagnosis– from page 844

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4.4 Configuration
Axis-independent
Cyclic Write
DS Support
Read only
Storage
129.3 Hardware id STRING 1:1 X

129.5 Current scaling gain FLOAT 0 10000 1,1862 1:1 X
129.6 DC scaling gain FLOAT 0 10000 1,03885 1:1 X
129.7 Main voltage scaling FLOAT 0 10000 0 1:1 X
gain
129.8 Current converter con- UDINT 0 0xFFFFFFFF 0 1:1 X
figuration
129.9 IGBT dead time FLOAT 2.0 10.0 4.0 µs 1:1 X
129.10 Min pulse suppression FLOAT 0 10 2 µs 1:1 X
129.11 Current sampling time UINT 0 0xFFFF 250 1:1 X
offset
129.12 Nominal current 2 kHz FLOAT 0 1000.0 4.0 A 1:1 X
129.13 Nominal current 4 kHz FLOAT 0 1000.0 3 A 1:1 X
129.16 Peak current 2 kHz FLOAT 0 1000.0 10.0 A 1:1 X
129.20 Overcurrent threshold FLOAT 0 2000.0 16.6 A 1:1 X
129.21 Max. DC-link voltage FLOAT 10 1000.0 835.0 V 1:1 X
129.22 Max peak current time UINT 0 0xFFFF 10.00 s 100:1 X
129.24 Time phase error UINT 0 0xFFFF 0 ms 1:1 X
129.25 Current phase error FLOAT 0 1000.0 0 A 1:1 X
129.26 Max heat sink tempera- UINT 0 0xFFFF 85 Grad 1:1 X
ture C
129.27 Max ambience tempera- UINT 0 0xFFFF 65 Grad 1:1 X
ture C
129.41 Max. ground current FLOAT 0.16 450.0 3.0 A 1:1 X
129.42 Min. DC-link voltage FLOAT 10 1000.0 10.0 V 1:1 X
129.44 Firmware version UINT 0x0000 0xFFFF 0 1:1 X X
129.45 Power factor UINT 0x0000 0xFFFF 0x0013 1:1 X X
129.46 PU Serial number UDINT 0 0xFFFFFFFF 0 1:1 X
129.47 Amp type code STRING 1:1 X
129.48 Data configuration UINT 0 0xFF 0 1:1 X
129.49 Amp article number UDINT 0 0xFFFFFFFF 0 1:1 X
129.62 Maximum charging cur- UINT 0 1000 40 A 1:1
rent peak
129.64 Charging blocking time UINT 0 0xFFFF 10 s 1:1 X
129.85 Peak current 2 kHz TM FLOAT 0 1000.00 10.00 A 1:1 X

129.92 Fan configuration UINT 0 0xFFFF 0 1:1 X
130.1 Heat sink temperature FLOAT 0 1000 0 °C 1:1 X

130.2 Interior temperature FLOAT 0 1000 0 °C 1:1 X
130.3 DC link actual voltage FLOAT 10 1000 10 V 1:1 X
130.8 Mains voltage FLOAT 0.0e+0 1000 0.0e+0 V 1:1 X
130.9 Fan mode UINT 0x0000 0x3 0x0001 1:1 X
130.10 Mode UINT 0x0000 0xFFFF 0x0000 1:1 X
130.12 Heatsink temperature UINT 0 0xFFFF 75 °C 1:1 X
warning threshold
130.13 Interior temperature UINT 0 0xFFFF 55 °C 1:1 X
warning threshold
130.15 PWM frequency UINT 2 16 8 kHz 1:1 X O
130.18 I offset phase U FLOAT -2.56e+02 2.56e+02 0.0 A 1:1.414 X
130.19 I offset phase V FLOAT -2.56e+02 2.56e+02 0.0 A 1:1.414 X
130.20 I offset phase W FLOAT -2.56e+02 2.56e+02 0.0 A 1:1.414 X
130.24 Phase error delay time UINT 0 65535 0 ms 1:1 X
130.25 Mains failure delay UINT 0 6000 0 ms 1:1 X
130.29 Chopper threshold FLOAT 300 780 780 V 1:1 X X
130.34 Status STO module UINT 0 0xFFFF 0 1:1 X
130.35 Mains failure detection UDINT 0 0xFFFFFFFF 0 1:1 X X
mode
130.36 Relative Udc threshold FLOAT 10 90 80 % 1:1 X X
for mains failure
130.37 Udc threshold for mains FLOAT 10 1000 450 V 1:1 X X
failure
130.38 Udc hysteresis for FLOAT 10 500 50 V 1:1 X X
mains failure
130.39 Udc autodetect FLOAT 0 1000 0 V 1:1 X X
130.40 Operation time UDINT 0 0xFFFFFFFF 0 s 1:1 X
130.41 Actual PWM frequency UINT 2 16 8 kHz 1:1 X
175.3 Max. device control UINT 0 55 40 Grad 1:1 X X

cabin temperature C
175.4 Max. device altitude UINT 0 5000 1000 m 1:1 X X
175.5 Max. device mains volt- UINT 0 530 400 V 1:1 X X
age
175.6 Max. device DC link UINT 0 760 540 V 1:1 X X
voltage
175.7 PU max.continuous cur- FLOAT 0 1000 4 A 1:1 X
rent actual value
175.8 PU I2t max. continuous FLOAT 0 1000 4 A 1:1 X
current actual value

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4.4 Configuration

The parameter group 129 have the same meaning at the axis units and at the active
129.3 Hardware Id
The hardware identifier has the format:

33.YYNN.BBA01 Example: 33.0815.02D04
Abbreviation Meaning
YY Year Example: 2008
NN Sequential number Example: 15
BB Assembly variant Example: 02
A Revision number Example: D
01 Technical status Example: 04
129.4 Hardware name
This parameter begins with the abbreviation of the device type separated by colon and
followed by the type code of the device.
Abbreviation Meaning
EA: Single axis unit BM52xx or BM53xx
DA: Double axis unit BM52xx or BM53xx
MA: Mono unit BM54xx or BM55xx
NWR: Active mains rectifier unit (BM51xx)
BM3xxx: b maXX BM32xx or BM33xx
129.5 Current scaling gain
Standardization factor for current measurement, depends on the power unit.

129.6 DC scaling gain
Standardization factor for the DC link voltage, depends on the power unit.
129.7 Main voltage scaling gain
Standardization factor for the supply voltages, depends on the power unit
(relevant to mains rectifier units)
129.8 Current converter configuration
Factory settings for the configuration
129.9 IGBT dead time
Dead time for the power unit transistors.
129.10 Min. pulse suppression
Minimum pulse suppression is used to prevent extremely short duty cycles for pulse width
modulation, such as may occur when outputting large voltages. Instead of generating ex-
tremely short On/Off switching pulses, the switching state of the IGBTs is extended to the
next PWM period. This will further increase the maximum possible voltage setting. PWM
voltage pulses that are shorter than the parameter value will be suppressed.
129.11 Current sampling time offset
This parameter determines the starting time of the current measurement. For current con-
trol, the fundamental of the motor currents should be measured if possible. The harmon-
ics, which result from, among other things, the switching edges of the PWM, can distort
the measurement. The parameter can be used to take account of time-related influences
such as, e.g., the time constant of the analog current filter.

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4.4 Configuration
129.12 Nominal current 2 kHz
Nominal current of converter at the corresponding PWM switching frequency Z130.15–.

The value in this parameter applies to the required operating conditions. See chapter
"Technical data" of the device's operating manual.
The instantaneous nominal current of the power unit dependent of the PWM frequency
entry Z130.15– is displayed in parameter Z6.25–
If operating conditions are changed and after current derating, the continuous current is
displayed in parameter Z175.7– provided that the PU-overload monitoring is executed
via temperature model. See "Status PU temperature model" Z175.2–.
129.16 Peak current 2 kHz
The maximum accepted current of the power unit at the corresponding PWM switching
frequency Z130.15–.
From firmware version 01.10 onwards the parameter is applicable only if the lxt model for
the PU overload monitoring is used (see status PU temperature model Z175.2– Bit 0).
The value in this parameter applies to the required operating conditions: See chapter
The valid PU peak current dependent of the entered PWM frequency Z130.15–, is dis-
played in the parameter Z6.25–.
The value of the peak current (Z129.16– to Z129.19–, or parameter Z6.25–) corre-
sponds to the maximum current by which the device may be operated at peak current pro-

cessing time Z129.22– corresponding to the specifications in chapter "Technical data" of
the device's operating manual.
129.20 Overcurrent threshold
Monitoring the maximum converter current
129.21 Max DC link voltage
Maximum DC link voltage
129.22 Max peak current time
The maximum time period, within the converter may be operated at peak current
Z129.16– to Z129.19–, or Z6.25– complying with the specifications in the chapter
At continuous current units whereat peak and rated current of the device are the same
(BM57xx) this parameter has no meaning.
If the PU overload monitoring model is operated by the temperature model (see status PU
temperature model Z175.2–), this parameter is not important.
129.24 Time phase error
Maximum time for which the drive can be operated at nominal current with a phase failure.
See also Z130.24–.
129.25 Current phase error
If Bit 2 of the Supply Mode parameter (Z130.10–) is not set:

Maximum current at which the drive can be operated with a phase failure.
129.26 Max. heat sink temperature
Switch-off threshold for heat sink temperature

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4.4 Configuration
129.27 Max ambiance temperature
Switch-off threshold for the internal temperature of the power unit
129.41 Max. ground current
Monitoring the maximum ground current
129.42 Min. DC link voltage
Monitoring the minimum DC Link voltage
Only for mono units: displays the FW version of the power unit firmware.
129.45 Power factor
Only for mono units: displays the power setting of the power unit.
Definition of power setting: 0xXY: X Size, Y  Current setting-1
129.46 PU serial number
Displays the serial number of the power unit.
129.47 Amp type code
Displays the type designation code of the power unit.
129.48 Data configuration
Only for mono units: displays the data set version of the power unit.

129.49 Amp article number
Article number of the power unit, not of the complete unit. This parameter is true for all
devices of the b maXX 5000 family.
129.62 Maximum charging current peak
This parameter is only used at the active mains rectifier (BM51xx).

This parameter defines the maximum current amplitude during the charging of the DC
link.
129.64 Charging blocking time
This parameter is only used at the active mains rectifier (BM51xx).

This parameter defines the waiting time between two chargings. This time is necessary
to do not overload the charging circuit.
129.85 Peak current 2 kHz TM
From controller firmware version V01.10 and up:

Maximum admitted current of the power unit at the accordant PWM frequency Z130.15–
The parameter is valid only if the temperature model for the PU overload monitoring is
used (see PU temperature model state Z175.2– Bit 0)
The value in this parameter is valid for the required operating requirements. See chapter
"Technical data" in the Instruction Handbook.
The currently valid power unit peak current dependent of the entered PWM frequency
Z130.15–, is shown in parameter Z6.25–.
There is no connection between the peak current (>129.85< to >129.88<) and the peak
current time Z129.22–. The maximum permitted time for the peak current is specified in
chapter "Technical data" of the Instruction Handbook of the device.

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4.4 Configuration
129.92 Fan configuration
Factory setting of the existing fans in the device. During operation is checked if all the con-
figured fans are operating. In case a fan fails the error message 223 "Fan failure" ap-
pears.
In the additional identification "Info 1" can be seen which fans failed.
NOTE!
At the failure of one fan the device should be immediately repaired as a further oper-
ation can cause overheating and the permanent destruction of the device.
130.1 Heat sink temperature
This parameter has the same meaning at the axis units as well as at the active mains rec-
tifier unit.
Power Unit Heat Sink Temperature
130.2 Interior temperature
Internal temperature of the device (for NAT) or of the power unit (for mono unit).
At the active mains rectifier unit the internal space temperature is displayed.
130.3 DC link actual voltage
tifier unit.
Actual value of the DC link voltage
130.8 Main supply voltage
Only for mono units: main supply voltage.

This parameter does not exist at the active mains rectifier unit. At the active mains rectifier
unit the value of the mains supply can be requested in parameter Z141.12–.

130.9 Fan mode
Only for mono units: type of fan activation:
Bit 1...0 Meaning

00 Fan control dependent on heat sink and ambient temperature
01 Fan control dependent on the presence of main supply voltage
10 Fan is always switched off
11 Fan is always switched on
This parameter does not exist at the active mains rectifier unit. The fan of the active mains
rectifier unit is controlled by the hardware in dependence of the DC link voltage.
130.10 Mode
This parameter does not exist at the active mains rectifier unit. The supply mode of the
active mains rectifier unit cannot be changed.
Settings for the mains rectifier unit.
The parameter is changeable only in locked status.
Bit # Meaning
0 Relevant only for mono units BM54xx or BM55xx:
0: Device generates DC link voltage from the main supply itself.
1: DC link voltage is supplied externally
1 Behavior at mains failure:
0: The motorized operation is inhibited at mains failure
1: Motorized operation is possible if there is a mains failure
2 0: Limitation of the motor current to Z129.25– Current phase error; no
shutdown
1: Limitation of the motor current to Z107.9– Nominal current, shutdown
of the drive after the duration in Z130.24– Phase error delay time
4 ... 3 Reserved
5 Automatic restart after mains failure:
0: At mains failure the drive remains enabled for the time set in Z130.25–
Mains failure delay. According to the setting of bit 1 the motor operation
is disabled internally.
1: At mains failure the pulses are inhibited at once and the drive changes
in the "Switch-on inhibit" state. If mains is available again within the set
time in Z130.25–, the drive is enabled automatically (automatic restart).
It is essential generally: If the mains failure is longer than the set time in
Z130.25– an error message is generated.

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4.4 Configuration
Bit # Meaning
6 Switches off the ground current monitoring:
Maximum ground current: Z129.41–
If the measured ground current is greater than Z129.41– pulse inhibit
results when ground current monitoring is activated.
0: Ground current monitoring active

1: No ground current monitoring
7 Synchronization of the PWM switching edges depending on the IP
address
0: All switching edges are synchronous
1: Reverse switching edges for odd number IP addresses
Information: The earth current of the IGBTs can be reduced because the
switching currents of different power units can reduce each other.
8 Automatic fast discharge DC link
For BM5538, BM5539 only
After recognizing a power supply fail, the braking resistor is activated. If
the DC link cannot be discharged within 1 s, error 1071 is generated.
15 ... 9 Reserved
Bit 1:
At mains failure a motorized operation is advisable, if there is enough energy in the DC
link or if several axes are coupled via the DC link and simultaneously at the other axis
energy is supplied to the DC link.
NOTICE!
It must be ensured that the mains is not activated during motorized operation (for ex-
ample by switching off the main contactor), if motorized operation is activated at
mains failure. Otherwise the charging circuit of the DC link can be damaged!
The setting for the behavior at mains failure effects only in the set time in Z130.25–. If the
time is set to 0, the drive is inhibited at once at mains failure and an accordant error mes-
sage is generated (error 1016 Mains failure or error 1032 Error DC-link supply).
Bit 2:
If Bit 2 of parameter Z130.10– Mode is set, the controller activates a time monitor
when a phase failure is detected. The drive reports warning/error 1047 „Phase failure“.
The motor current is restricted to nominal current.
The further behavior is determined by the response which is set in warning/error 1047.
m Response is „No response“
The drive is enabled.
After the phase error delay time has elapsed, if the phase failure condition still exists
the drive generates Error 1015 „Phase error timeout" and inhibits the pulses to the
power unit.

If the phase error is cleared during phase error delay time, the controller deletes the
warning and switches back to the non-reduced current operation.
m Active braking („Return motion“, „Stop (Ramp-down time)“, „Stop (Quick stop time)“,
„Stop at current limit“, „Controlled stop", „SS1 stop")
The drive effects an active error response, changes to „failure“ state upon comple-
tion and inhibits the pulses to the power unit.
If the error response will be not finished up to the phase error delay time has
elapsed, the drive generates Error 1015 „Phase error timeout" and inhibits the puls-
es to the power unit.
Also if the phase error is cleared during phase error delay time, the pulses to the
power unit will be inhibited finally.
m Pulse block
This response is not permitted. In order that the pulses are inhibited fast as possible,
the parameter Z130.24– is set to 0.
If Bit 2 of parameter Z130.10– Mode is not set, the phase error delay time doesn’t act.

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4.4 Configuration
130.12 Heat sink temperature warning threshold
Warning threshold for heat sink temperature. If the temperature exceeds this threshold,
the corresponding warning is generated.
tifier unit.
130.13 Interior temperature warning threshold
Warning threshold for the internal temperature of the device. If the temperature exceeds
this threshold, the corresponding warning is generated.
tifier unit.
130.15 PWM frequency
The PWM Frequency of the drive controller and the cycle time of the current controller are
set in this parameter.
Valid values:
PWM Frequency Current controller cycle time

2 kHz 250 µs
4 kHz 125 µs
8 kHz 62,5 µs
16 kHz 62,5 µs
NOTE!
If the used device is an active mains rectifier unit, this parameter can be written to
with the value = 8. If the value would be unequal 8 the invalid value would not be ac-
cepted. The value cannot be changed by the user.
If it is intended to operate a PWM frequency of 2 kHz at an axis unit, it first must be
checked if the operation of the drive is permitted (e.g. if the rated values of the motor,
or of the motor filter if one is at use still are valid for this PWM frequency). At a switch-
ing frequency of 2 kHz the current controller cycle time is 250 µs - so the adjusting
range of the output frequency is 0 to 225 Hz (see the electrical data in the instruction
handbook of the device).
The PWM frequency of 16 kHz is not available at a Mono unit BM5500. If the value
would be equal 16 the invalid value would not be accepted.

Generally:
m The bandwidth of the current controller is inversely proportional to the current controller
cycle time.
m The noise of the motor caused by the voltage signals in pulse form, drops with an in-
creasing PWM frequency.
m The thermal loading in the IGBT model decreases along with falling PWM frequency.
Therefore the attainable peak current length increases with falling PWM frequency at
constant peak current while the nominal current of the device increases during contin-
uous operation.
m The adjusting range of the output frequency increases if the current controller cycle
time sinks. This adjusting range refers to the stationary operation and to the linear
range of the PWM - that means without an overmodulation and provides frequencies
that generate excellent output voltages.
n The quality of the generated output voltages is given by how close they are to the
effects of ideal sine voltages and depends on the ratio current controller frequency
fI-R (fI-R = 1/current controller cycle time) to the maximum output frequency fmax:
fmax = fI-R / Kpf. The greater the proportional factor Kpf the better the quality is which
is reached. A multiple of 6 is preferred for Kpf because of the 60° symmetry of the
three-phase system or of the voltage in the voltage space vector. Typically the
Kpf = 18 is selected to provide a good quality.
n The adjusting range is determined as follows (see chapter "Electrical data" in the in-
struction handbook of the device.
Current controller cycle time Output frequency adjusting range

250 µs 0 - 225 Hz
125 µs 0 - 450 Hz
62,5 µs 0 - 599 Hz (900 Hz) *)
*) 900 Hz are technically (from the control point of view) possible
n The controller specifies an upper limit for the output frequency of 599 Hz so that the
900 Hz, which are technically possible, may not be reached (for details over this limit
refer to the relevant Baumüller sales department. Key word: Export limitation).
n The converter can generate output voltages with frequencies between fmax and
599 Hz and the controller permits them. The quality of these voltages can't be guar-
anteed.
Change of the PWM frequency during operation
Up to Firmware version V01.08 the parameter can be changed only when the drive is in-
hibited. From firmware version V01.09 the parameter >130.15< can be changed during
continuous operation by the user.
The purpose of the functionality "PWM switching" while using the Ixt model in the over-
load monitoring of the power unit, is to offer the option by switching to a lower PWM fre-
quency, that noise and the Ixt actual value of the power unit is reduced but not to use the
increased power unit peak current of a lower PWM frequency. The maximum total current
of the drive Z19.6– (being dependent of the power unit peak current) is the standardized
value of several current parameters. A change during the running operation is not practi-
cal and not intended (the parameter is not cyclically writable):

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4.4 Configuration
However, there are a few limitations:

m For applications with high demands on the performance (e.g. synchronous operation)
the complexity of the controller setting with variable current controller bandwidth would
be too high. For this reason the PWM switching in enabled operation was restricted to
the speed control and current control operating modes (see Z109.2–), from firmware
version V01.15-1 this restriction is canceled, refer to the following note:
NOTE!
From firmware version V01.15-1 the restriction of PWM frequency change during op-
eration has been canceled because of special demands (for details of this special de-
mands please contact the application department of Baumüller). The change can be
executed in all operation modes while running operation, the restrictions noted in the
handbook must be referred to, when using the change in other operation modes ex-
cept speed control oder current control.
m The current controller cycle time may not exceed the RT0 cycle time Z1.8–. The value
will not be accepted if this condition is violated by writing a PWM frequency during the
continuous operation.
m The power unit peak current Z6.25–, depending on the PWM frequency, limits the
maximum drive current Z19.6–. If a higher PWM frequency is entered at continuous
operation, it could happen that Z19.6– should be reduced. In this case the change of
the PWM frequency is rejected. However, the change is allowed in the inhibited state
and Z19.6– is limited automatically.
m If the PWM frequency is changed in continuous operation with activated dead time
compensation (Dead time compensation factor Z47.50– > 0%) the adaption of the
dead time compensation must be activated after the PWM frequency Z123.1– bit 3 = 1
and therefore the values of the dead time correction table Z123.15– should be mea-
sured in this mode.
m The switching of the PWM frequency in continuous operation isn't permitted for the
sensorless synchronous motor.
m The PWM frequency should not be changed during the flying restart of the sensorless
asynchronous motor.
The failures at the implementation of the PWM switching during the continuous operation
in the controller were minimized - however, with reference to control engineering, they
can't be excluded completely. Therefore this option is adequate for simple (not critical)
applications, only.
The instantaneous PWM frequency is displayed in the parameter "Instantaneous PWM
frequency" (Z130.41–). It can deviate from the set PWM frequency >130.15<, if the safe-
ty function of the PU temperature mode "PWM reduction" is operated (see ZOverload
monitoring of the power unit– from page 894).
When switching into a lower PWM frequency it must be regarded that the adjusting range
of the output frequency possibly may be reduced.
A change of the set PWM frequency >130.15< during the running operation is not accept-
ed as long as the PWM reduction warning 216 is active. The error message 1070 (PWM
frequency change in progress) is generated.
For a change of the set PWM frequency >130.15< during the running operation following
must be regarded: Writing on parameter >130.15< is done within fieldbus cycle time

Z131.18– (but cannot be lower than 1 ms), but the PWM frequency change need not be
finished in this cycle time. After changing the PWM frequency the internal work structures
(internal variables) are prepared for the new values within the remaining cycle time to re-
duce the load of the limited calculation time resources. The PWM frequency is changed
after this word structures are finished. This process takes a certain time, while this time it
is not possible to change the PWM frequency again, error message 1070 (PWM frequen-
cy change in progress) is generated in this case. The PWM change during running oper-
ation is not designed for fast change cycles, rather than cycle time according to thermal
time constant or mechanical time constant of the motor.
130.18 I offset phase U
Measured current offset of phase U in [A].

tifier unit.
130.19 I offset phase V
Measured current offset of phase V in [A].

tifier unit.
130.20 I offset phase W
Measured current offset of phase W in [A].

tifier unit.
130.21 PWM enable
Display of the pulse enable for the power unit.

tifier unit.
130.24 Phase error delay time
Settable timeout for phase error (Error 1015 „Phase error timeout“). The maximum pos-
sible value is specified by Parameter Z129.24– Time phase error (a constant of the pow-
er unit characteristics).

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4.4 Configuration
If Bit 2 of parameter Z130.10– Mode is set, the controller activates a time monitor when
a phase failure is detected. The drive reports warning/error 1047 „Phase failure“. The mo-
tor current is restricted to nominal current.
The further behavior is determined by the response which is set in warning/error 1047.
m Response is „No response“
The drive is enabled.
After the phase error delay time has elapsed, if the phase failure condition still exists
the drive generates Error 1015 „Phase error timeout" and inhibits the pulses to the
power unit.
If the phase error is cleared during phase error delay time, the controller deletes the
warning and switches back to the non-reduced current operation.
m Active braking („Return motion“, „Stop (Ramp-down time)“, „Stop (Quick stop time)“,
„Stop at current limit“, „Controlled stop", „SS1 stop")
The drive effects an active error response, changes to „failure“ state upon comple-
tion and inhibits the pulses to the power unit.
If the error response will be not finished up to the phase error delay time has
elapsed, the drive generates Error 1015 „Phase error timeout" and inhibits the puls-
es to the power unit.
Also if the phase error is cleared during phase error delay time, the pulses to the
power unit will be inhibited finally.
m Pulse block
This response is not permitted. In order that the pulses are inhibited fast as possible,
the parameter Z130.24– is set to 0.
If Bit 2 of parameter Z130.10– Mode is not set, the phase error delay time doesn’t act.
This parameter does not exist at the active mains rectifier unit. When recognizing a phase
failure, the active mains rectifier unit immediately indicates the error 2004 „single-phase
fail" and inhibits the pulses.
130.25 Mains failure delay
A mains failure is ignored within this time.

Warning 1046 Mains failure is generated in general if a mains failure is detected. If the
mains failure is longer than the Mains failure delay and if the drive was enabled at the be-
ginning, an error message is generated (error 1016 Mains failure or error 1032 Error DC-
link supply).
Different options are possible for the behavior during the Mains failure delay. This options
are defined in parameter Z130.10– Mode.
If the mains is available again within the set Mains failure delay, no error message is gen-
erated. The warning is deleted and normal operation is continued.
This parameter does not exist at the active mains rectifier unit. When recognizing a phase
failure, the active mains rectifier unit immediately indicates the error 2005 "2-phase and
accordingly 3-phase mains failure" and inhibits the pulses.

130.29 Chopper threshold
Adjustable threshold to switch on the chopper resistor. An earlier switch on of the chopper
resistor is reached with this parameter. A connection for a chopper resistor is available at
the mains rectifier unit BM50xx and at the mono units (BM55xx). These devices have an
additional unchangeable switch on threshold at 780 V.
Each device can signalize the supply unit via the signal bus that the chopper resistor
should be switched on. This must be enabled in parameter Z140.1– Signal bus mode.
If the DC link voltage reaches the parameterized chopper switch on threshold, the signal
"Chopper resistor on" is set on the signal bus. If the DC link voltage falls to a value 20 V
below the chopper threshold, the signal is reset.
130.34 Status STO module
This parameter indicates the status of the STO module. If STO is triggered, the error bits
indicate the cause for the triggering.
The parameter should only be requested at disabled drive, because timeout errors (see
bit 0) could occur at enabled drive.
Bit no. Meaning

0 0: No error
1: Timeout.
No update of the status word within the last two seconds.
Bits 5 ... 7 and bits 13 ... 15 are not valid
1 1: CRC error at latest transfer of the status word
3 ... 2 Reserved
4 For a SAF module with restart inhibit only:
0: Restart inhibit not activated
1: Restart inhibit activated and waiting for status: both inputs switched off
5 0: No error
1: Error at internal communication in STO module
6 0: No error
1: Internal diagnosis channel 2 has triggered STO
7 0: No error
1: Internal diagnosis channel 1 has triggered STO
10 ... 8 SAF-001-001 identification:
0: SAF-001-001-000
1: SAF-001-001-001 (SS1 time fixed: 200 ms)
2 ... 7:reserved
13 ... 11 Reserved
14 0: Input terminal channel 2 is powered with 24 V
1: No 24 V power supply at input terminal of channel 2
15 0: Input terminal channel 1 is powered with 24 V
1: No 24 V power supply at input terminal of channel 1

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4.4 Configuration
130.35 Mains failure detection mode
A mains failure is normally detected by the supply unit.

This detection is not fast enough for specific applications. Therefore the DC link voltage
can be additionally used to determine a mains failure.
Value Meaning Remark

0 Mains failure detection via A mains failure is detected in the supply unit by
the supply unit means of the mains.
1 Mains failure detection The nominal value of the DC link voltage is
additionally via DC link volt- determined after switch on of mains. The
age (relative threshold). adjustable threshold (Z130.36–) is related to
this value.
As soon as the DC link voltage falls below this
threshold, this is regarded as mains failure.
2 Mains failure detection As soon as the DC link voltage falls below the
additionally via DC link volt- threshold set in Z130.37–, this is regarded as
age (absolute threshold). mains failure.
130.36 Relative Udc threshold for mains failure
Relative threshold for the mains failure detection. The threshold is related to the automat-
ically determined nominal voltage of the DC link displayed in Z130.39–.
As soon as the DC link voltage falls below this threshold, this is regarded as mains failure.
This threshold is only active if mode 1 is selected in Z130.35– Mains failure detection
mode.
130.37 Udc threshold for mains failure
Absolute threshold for the mains failure detection.

As soon as the DC link voltage falls below this threshold, this is regarded as mains failure.
This threshold is only active if mode 2 is selected in Z130.35– Mains failure detection
mode.
130.38 Udc hysteresis for mains failure
Hysteresis for the mains failure detection by means of the DC link voltage.

130.39 Udc autodetect
Automatically determined nominal voltage of the DC link.
130.40 Operation time
Operating time of the power unit of an axis. Synchronizes the IGBTs; then this value is
incremented.
130.41 Instantaneous PWM frequency
From controller version V01.09. onwards.

Display parameter of the instantaneous (operating) PWM frequency.
The instantaneous PWM frequency deviates from the set PWM frequency Z130.15–, if
the safety function of the PU temperature model "PWM reduction" has responded (warn-
ing 216 is triggered). In this case the PWM frequency referring to the set PWM frequency
(Z130.15–) is halved.
The corresponding instantaneous (operating) cycle time of the current controller is dis-
played in parameter Z47.65–.
Of importance for devices, which support the PU temperature model, only (see status PU
temperature model Z175.2–).

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4.4 Configuration
130.43 Fast DC link discharge
For BM5538 and BM5539 only.
Bit-Nr Bedeutung
0 Manual fast DC link discharge
1: Braking resistor for DC link discharge activated
15 ... 1 Reserved
130.44 Operation time at higher temperature
For BM5538 and BM5539 only.

Operation time according to Z130.40–, but recorded is the time with high power unit heat
sink temperature only.
175.3 Max. device control cabin temperature
From controller version V01.09. onwards. The parameter is used in the PU temperature
model, only.
Maximally provided or expected temperature change within the control cabinet (for air-
cooled devices) or change of surface temperature of the device (for devices with cold
plate cooling) in °C.
Important for devices, which support the PU temperature model (see status of PU tem-
perature model Z175.2–), only.
The parameter effects the value of the I2t max. continuous current Z175.8– and the value
of the maximum continuous current of the device Z175.7–.
There is no reduction of the output current at the default value of the parameter. This
means that the default value remains if there is no change of the required operating con-
ditions to be expected.
The parameter can be changed during the inhibited drive status, only.
175.4 Max. device altitude
From controller version V01.09. onwards. The parameter is used in the PU temperature
model, only.
Maximally provided or expected installation altitude in m above sea level.
Important for devices, which support the PU temperature model (see status PU tempera-
ture model Z175.2–), only.
The parameter effects the value of the I2t max. continuous current Z175.8– and the value
of the maximum continuous current of the device Z175.7–.

The parameter can be changed during the inhibited drive status, only
175.5 Max. device mains voltage
From controller version V01.09 onwards. The parameter is used in the PU temperature
model, only.
Maximally provided or expected effective value of power supply in V.
The parameter effects the value of the maximum continuous current of the device
Z175.7–, only.
The maximum mains voltage >175.5< is important for the mains rectifier unit, the active
mains rectifier unit and internally supplied mono devices, only. For other devices (includ-
ing externally supplied mono devices) the maximum DC link voltage Z175.6– is import-
ant, only.
The parameter can be changed in the inhibited drive status, only.
175.6 Max. device DC link voltage
From controller version V01.09 onwards. The parameter is used in the PU temperature
model, only.
Maximally provided or expected DC link voltage in V.
The parameter effects the value of the maximum continuous current of the device
Z175.7–, only.
The maximum mains voltage Z175.5– is important for the mains rectifier unit, the active
mains rectifier unit and internally supplied mono devices, only. For other devices (includ-
ing externally supplied mono devices) the maximum DC link voltage >175.6< is import-
ant, only.
The parameter can be changed in the inhibited drive status, only.

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4.4 Configuration
175.7 PU max. continuous current actual value
From controller version V01.09 onwards.

The parameter displays the instantaneous value of the maximum accepted continuous
current of the power unit.
Important for devices, which support the PU temperature model, only (see status PU tem-
perature model Z175.2–).
The parameter >175.7< is generated from the PU's nominal current Z6.26–, whereat the
correction factors are considered, which are described in chapter "Operating conditions"
of the operating manual of the device.
m Correction factor of the device's control cabinet temperature (ambient temperature
or surface temperature). The required temperature can be entered in parameter
Z175.3–.
m Correction factor of installation altitude. The required installation altitude can be en-
tered in parameter Z175.4–.
m Correction factor of voltage supply, PU mains voltage or PU DC link voltage. The re-
quired voltage can be entered in parameter Z175.5– or Z175.6–.
Furthermore the maximum accepted continuous current in dependence of the output fre-
quency Z47.49– can be reduced, as described in chapter "Output frequency dependent
current derating" in the operating manual of the device.
If the current limit safety function of the overload monitoring PU temperature model has
responded, the maximum current of the drive Z19.6– is limited to the max. PU instanta-
neous value of continuous current >175.7<. See ZOverload monitoring of the power
unit– from page 894.
175.8 PU I2t max. continuous current actual value
From controller version V01.09 onwards.

The parameter displays the instantaneous value of the maximum accepted continuous
current of the conductors and capacitors.
ture model Z175.2–).
The parameter is generated from the nominal current 2 kHz (Z129.12–), whereat the fol-
lowing correction factors are considered, which are described in "Operating conditions"
of the operating manual of the device.
m Correction factor of the device's control cabinet temperature (ambient temperature
or surface temperature). The required temperature can be entered in parameter
Z175.3–.
m Correction factor of installation altitude. The required installation altitude can be en-
tered in parameter Z175.4–.
At the active mains rectifier unit the nominal current at 8 kHz is evaluated instead of the
nominal current at 2 kHz.
The parameter displays the scaling factor of the I2t-sub-model (part of the PU tempera-
ture model).See ZOverload monitoring of the power unit– from page 894.

4.4.2 Motor

This chapter is not relevant for the active mains rectifier unit, because a motor is not
connected to active mains rectifier unit.
4.4.2.1 Electronic motor identification plate
Stegmann and Heidenhain encoders provide the option of storing OEM data in their EE-
PROM. This memory is used to store the following information in the encoders:
m Notch angle offset
m Machine characteristics
m Encoder characteristics
m Motor ordering code
The data structure of the OEM memory follows the Baumüller standard, as already imple-
mented on the b maXX 4400. Thus identification plates can also be read from encoders
which were previously used in b maXX 4400 drives and conversely.
4.4.2.2 Motor database
The motor database of ProDrive includes all necessary parameters for commissioning of
Baumüller motors.
4.4.2.3 ProDrive tool motor type plate (asynchronous motors)
The tool "Motor type plate" of ProDrive calculates or estimates essential additional pa-
rameter values for motor commissioning from the information of motor type plates of
asynchronous machine automatically.
The tool is for motors of other manufacturers and only the data of the motor type plate is
available. The tool can be started in function "Guided commissioning" or via following
path: Configuration  Motor  Motor-General  Group data Motor type plate.
Type plate
On the type plate can be normally found the following data (the corresponding controller
parameters are listed in brackets):
m Nominal power(Z107.6–)
m Nominal voltage(Z107.8–)
m Nominal current(Z107.9–)
m Nominal speed(Z107.7–)
m Nominal frequency(Z107.13–)
m Power factor(Z107.12–)

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4.4 Configuration
Calculated additional motor data

The following additional motor data is calculated (the corresponding controller parame-
ters are listed in brackets):
m Number of pole pairs(Z107.19–)
m Ke factor(Z107.20–)
m Motor maximum current(Z107.21–)
m Inertia of motor (Z107.36–)
m Slip frequency cold (Z107.15–)
m Slip frequency warm (Z107.16–)
m Magnetic current (Z107.14–)
m Main inductance(Z107.33–);
(Main inductance, Lh-Ident Z123.39– with controller FW < FW 1.16)
The calculated motor data guarantees no accuracy.
The user should adjust the parameter values of known motor values after the automatic
calculation.
4.4.2.4 Torque limits
Display maximum torque
The parameter Z138.20– "Max. torque actual value" represents the maximum internal
torque of the motor Mmax act and is proportional to the maximum torque current Isq max.
M max act = I sq max  Kt upd  Flux set [%]
with
Isq max Maximum torque current in A: "Max. torque current" Z19.8– to FW 01.12
or "Max. torque current actual value" Z138.30– from FW 01.13
Fluxset Magnetic set flux in % Z146.13–
Ktupd Kt updated Z155.24–, in Nm/A
The maximum torque current Isq max is calculated from the "Max. drive current actual val-
ue" Z19.5– Imax act and with subtraction of the field current. The "Max. drive current actual
value" Z19.5– in general is the same as the maximum drive current Z19.6–. However,
this current and the actual maximum torque can be reduced by the power unit overload
monitoring (refer to "Bit mask of external drive current limit" Z138.8–).
Additionally, in the field weakening range the torque is limited by the maximum power.
Therefore, the maximum available torque Z138.20– is constant in the base speed range.
In the field weakening range it decreases inversely proportional to the speed (see ZFig.
35– on page 134).
Symmetric torque limit

The symmetric torque limit Mlimit (Z138.22–) influences the set value of the torque current
controller, which controls the torque-generating current. The correspondent limit for the
torque-generating current Isq limit M will be fit as follows.
M limit
I sq limit M = -------------------------------------------
-
Kt upd  Flux set [%]
with
Fluxsetl Magnetic flux set value in % Z146.13–
Torque limits / torque current limits
Mmax (138.20) M max (138.20) MLim= f(Iq Lim) =

min(138.2,138.3,138.14,138.15)
|m| M Lim (138.22) | m|
[Nm] [Nm] MLim (138.22)
effective
limits MLim bd =
f(138.18)
5000_0235_rev02_int
base speed base speed
range field weakening range field weakening
NN n [min-1] N max mech NN n [min-1] N max mech

a) 107.7 107.26 b) 107.7 107.26
Figure 35: Torque limits
a) Asynchronous motor: Torque limit above Z138.22–

b) Asynchronous motor: Overlap of several limits
If there are several torque limits Z138.22–, that result from the torque current limits
Z138.2–, Z138.3–, Z138.14–, Z138.15– or from the breakdown torque-current limit op-
erating simultaneously then the smallest limit is decisive (compare ZFig. 35– (b)). Note:
In ZFig. 35– (b) the "Current mode" is assumed (Z138.1– bit 3 = 1) with regard to the
parameters Z138.2–, Z138.3–, Z138.14–, Z138.15–.
Particular case synchronous motor with interior permanent magnet (IPMSM)
The torque is calculated from the characteristic map of the IPMSM and from the currents
according to the following formula:
3
T = --- p   PM I q +  L d – L q I d I q 
2
If a torque limit is entered, the maximum Iq current is recalculated from this equitation,
where the torque limit (Z138.22–) corresponds to the torque T.

Document No.: 5.09022.17 of 978
4.4 Configuration
4.4.2.5 Torque monitoring
Torque indicator Z138.21– displays the internal machine torque. The actual possible ma-
chine torque is displayed by the maximum available torque Z138.20–. In order to reach
this maximum available torque, the torque-generating current must not be limited via the
parameters Z138.6–, Z138.7–, Z138.14–, Z138.15– or Z138.22–.
Refer to torque monitoring (ZTorque monitoring– on page 651) for the exact correlation
between the torque current and the torque.
Particular Case: Synchronous Machine
If the nominal machine working point (rated torque at rated speed) is only reached, if mag-
netizing current is applied to the machine, the following must be considered:
If the magnetizing current in the nominal working point is lower than 10% of the rated mo-
tor current, then the effects on the torque indicator is about 0.5% of the displayed value.
With magnetizing currents of about 20% of the rated current or above, these effects are
significant (deviation is about 2%).
If the required accuracy of torque indicator Z138.21– is critical due to this influence, it is
recommended, to define the rated data of the synchronous motor at the threshold speed
of field weakening (ID nominal = 0) for unmodified nominal motor current and to enter in
Pnom Z107.6– and nnom Z107.7–.
4.4.2.6 Torque threshold
It is possible to define a simple torque threshold. If the absolute value of the effective
torque exceeds this threshold, a status bit is set in parameter Z138.25– Status current
limitation. The relationship between the effective torque of the machine, the set torque
threshold and the status bit is shown in ZFig. 36–.
|Mact (P138.21)|
M Threshold (P138.24)
|M|
[Nm]
Status bit
1 (P138.25 bit 0)
0
t [sec ]
Figure 36: Torque threshold

4.4.2.7 Maximum permissible speed (electrical conditioned)
The overvoltage limit at the converter (Uzk,max) sets the following limit to the maximum
permissible speed of the synchronous machine.
1000 U zk,max
n emax = -----------------  -----------------
K e(cold) 2
with:
Uzk,max = 780 V for BM5200, BM5300, BM5400 and BM5500
Ke(cold): Ke factor for the cold machine in idle speed in V / 1000 min-1 (independent
of the value noted in parameter Z107.20–)
Without additional safety precautions the operating of the motor with speed greater than
nemax is not permitted.
DANGER!
The overvoltage limit at converter is passed over.
Therefore:
m Never operate the motor without additional safety precautions over the electrical
conditioned maximum permissible speed.

Document No.: 5.09022.17 of 978
4.4 Configuration
4.4.2.8 ProDrive Motor
Figure 37: ProDrive Motor - General
4.4.2.9 Parameter overview motor
Axis-independent
Cyclic Write
DS Support
Read only
Storage
19.1 Number of motors UDINT 1 2 2 1:1 X X

19.3 Motormanager status UINT 0 60 0 1:1 X
19.5 Max. drive current FLOAT 0 10000 0 A 1:1 X
actual value
19.6 Max. drive current FLOAT 0.0 10000 1.5 A 1:1 X
19.7 Max. field current ampli- FLOAT 0 10000 0 A 1:1 X
tude
19.8 Max. torque current FLOAT 0 10000 0 A 1:1 X
19.9 Field current preset FLOAT -10000 10000 0 A 1:1 X
value

19.10 Motor nominal torque FLOAT 0.1 10000 3.5 A 1:1 X
current
19.11 Ke factor in V/Nnom FLOAT 0 1000 0 V/Nnen 1:1 X
n
19.12 Cut-off frequency PT1- FLOAT 0.0 3000 0.0 Hz 1:1 X
filter Isq set value
19.17 Isq additive set value FLOAT -10000 10000 0.0 A 1:1 X
19.21 Isq additive set value 2 FLOAT -10000 10000 0.0 A 1:1 X
19.30 Slip frequency actual FLOAT 0.0 100 2,384615 Hz 1:1 X
temperature
19.32 Rotor time constant FLOAT 0.0 20 20 s 1:1 X
19.50 Notch position O.K. UINT 0x0 0xF 0x1 1:1 X
19.51 Current ref. for notch FLOAT 0.0 100 50 % 1:1 X
position detection
19.52 Modus motor operating UINT 0 2 0 1:1 X
mode
19.61 Delay reference current FLOAT 0 5 0 ms 1:1 X
107.1 Version UINT 0 0xFFFF 0 1:1 X

107.2 Motor type STRING 1:1 X
107.5 Nominal operation mode UINT 0 0xFFFF 0 1:1 X
107.6 Nominal power FLOAT 0 655.35 5 kW 1:1 X
107.7 Nominal speed UINT 1 65535 3000 U/min 1:1 X
107.8 Nominal voltage FLOAT 0 6553.5 0 V 1:1 X
107.9 Nominal current FLOAT 0 6553.5 3.5 A 1:1 X
107.10 Standstill current FLOAT 0 6553.5 0 A 1:1 X
107.11 Standstill torque FLOAT 0 42949672.95 0 Nm 1:1 X
107.12 Power factor FLOAT 0 1.000 0,9 1:1 X
107.13 Nominal frequency FLOAT 0 6553.5 0 Hz 1:1 X
107.14 Magnetic current FLOAT 0 6553.5 0.01 A 1:1 X
107.15 Slip frequency cold FLOAT 0 655.35 2 Hz 1:1 X
107.16 Slip frequency warm FLOAT 0 655.35 3 Hz 1:1 X
107.17 Slip temperature cold UINT 0 655 0 Grad 1:1 X
C
107.18 Slip temperature warm UINT 0 655 100 Grad 1:1 X
C
107.19 Pole pairs UINT 1 65535 3 1:1 X
107.20 Ke factor FLOAT 0 6553.5 20 V/1000 1:1 X
U/min
107.21 Max current FLOAT 0 6553.5 0 A 1:1 X
107.22 Peak torque FLOAT 0 42949672.95 0 Nm 1:1 X
107.23 Friction moment FLOAT 0 655.35 0 Nm 1:1 X
107.24 Attenuation factor FLOAT 0 655.35 0 Nm/10 1:1 X
00U/mi
n
107.25 Max speed electr. UINT 0 65535 0 U/min 1:1 X
107.26 Max speed mech. UINT 0 65535 0 U/min 1:1 X
107.27 Max temperature UINT 0 250 150 Grad 1:1 X
C

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4.4 Configuration
107.28 Time constant i2t UINT 0 65535 100 s 1:1 X

107.29 Stator resistance FLOAT 0 1000.000 0.5 Ohm 1:1 X
107.30 Stator leakage induc- FLOAT 0 655.35 0 mH 1:1 X
tance
107.31 Rotor resistance FLOAT 0 4294967.295 0 Ohm 1:1 X
107.32 Rotor leakage induc- FLOAT 0 655.35 0 mH 1:1 X
tance
107.33 Magnetizing inductance FLOAT 0 655.35 40 mH 1:1 X
107.34 Lq inductance FLOAT 0 655.35 2.5 mH 1:1 X
107.35 Ld inductance FLOAT 0 655.35 1.7 mH 1:1 X
107.36 Inertia of motor FLOAT 0 42949672.95 0 kg* 1:1 X
cm2
107.37 Temperture sensor type UINT 0 0xFFFF 0 1:1 X
107.38 Motor flags UINT 0 0xFFFF 1 1:1 X
107.39 Gear factor UINT 0 0xFFFF 0x0101 1:1 X
motor:encoder
107.40 Brake nominal voltage FLOAT 0 6553.5 0 V 1:1 X
107.41 Brake torque FLOAT 0 6553.5 0 Nm 1:1 X
107.42 Inertia of brake FLOAT 0 42949672.95 0 kg* 1:1 X
cm2
107.43 Nominal torque FLOAT 0 90000.00 0 Nm 1:1 X
107.44 Kt factor FLOAT 0 1000.00 0 Nm/A 1:1 X
107.67 Pole pitch UDINT 1 0xFFFFFFFF 16 mm 1:1 X
107.68 Load inertia FLOAT 0 42949672.95 0 kg* 1:1 X
cm2
107.72 Continuous current limit FLOAT 0 0xFFFFFFFF 0 A 1:1 X
curve
128.1 Motor temperature sta- UINT 0 0xFFFF 0 1:1 X

tus
128.2 Temperature acquisition UINT 0 0xFFFF 0 1:1 X
system
128.3 Motor temperature DINT -50 300 0 °C 1:1 X
128.4 Warning threshold 1 UINT 0 185 130 °C 1:1 X
128.7 Motor temperature hys- INT 0 5 5 °C 1:1 X
teresis
133.14 Status motor operating DINT 0 10 0 1:1 X

mode
138.1 Mode of Iq limit UINT 0 0xffff 0 1:1 X

138.2 Iq limit motor/TD1 FLOAT 0 100 100 % 1:1 X O
138.3 Iq limit generator/TD2 FLOAT 0 100 100 % 1:1 X O
138.4 Quadrant hysteresis Iq FLOAT 0 100 5 % 1:1 X
limit
138.5 Motor quadrant UINT 0 4 0 1:1 X
138.6 Iq upper limit FLOAT 0 10000 1.5 A 1:1 X
138.7 Iq lower limit FLOAT -10000 0 -1.5 A 1:1 X
138.8 Bitmask of external UINT 0 0xFF 0 Bits 1:1 X
drive current limit
138.9 External limiting max FLOAT 0 10000 10000 A 1:1 X
drive current

field current amplitude
138.11 Iq set value before notch FLOAT -10000 10000 0 A 1:1 X
filter
138.12 Center frequency Iq set FLOAT 0 8000 0 Hz 1:1 X
value notch filter
138.13 Bandwidth Iq set value FLOAT 0 4000 50 Hz 1:1 X
notch filter
138.14 Iq limit bipolar cyclic UINT 0 16384 16384 % 4000hex O
:100%
138.15 Iq limit bipolar FLOAT 0 100 100 % 1:1 X
138.16 Speed threshold for FLOAT 0 1e9 0 U/min 1:1 X
breakdown torque limit
138.17 Factor for breakdown FLOAT 0 1.41 0.9 1:1 X
torque
138.18 Iq limit breakdown FLOAT 0 1e9 0 A 1:1 X
torque
138.20 Max. torque actual value UDINT 0 0xFFFFFFFF 0 Nm 1000:1 X
138.21 Torque display DINT 0x80000000 0x7FFFFFFF 0 Nm 1000:1 X
138.22 Torque limit symmetric UDINT 0 2147483647 2147483647 Nm 1000:1 X X
138.24 Indication threshold UDINT 0 2147483647 2147483647 Nm 1000:1 X O

torque
138.25 Status current limitation UDINT 0 0xFFFFFFFF 0 1:1 X
138.26 Limitation max current of FLOAT 0 1e9 0 A 1:1 X
IPMSM
138.28 Hysteresis for Iq limit FLOAT 0 50 5 % 1:1 X
flag
138.29 Time constant torque FLOAT 0 1000 3 ms 1:1 X
display
actual value
138.32 Peak current derating FLOAT 0 10000 0 A 1:1 X
138.34 Torque base value FLOAT 0.001 1.0e6 0.001 Nm 1:1 X
146.1 Asynchronous Motor UINT 0 0xFFFF 0 1:1 X

Mode
146.13 Flux set value FLOAT -1e9 1e9 1 % 1:100 X
146.14 Actual flux FLOAT -1e9 1e9 0 % 1:100 X
146.16 Slip preset value DINT 0x80000000 0x7FFFFFFF 0 Inc/ 1:1 X
Tab
19.1 Number of motors
Number of axes. The value of the parameter is automatically set by the controller during
the boot process, using the device identifier (Z129.4– Hardware name).

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4.4 Configuration
If this parameter shall be operated as single axis, it must be set to 1 at a double axis. See
parameter Z139.4–.
19.3 Motor manager status
The status of the motor manager is displayed in this parameter. It shows the status of the
internal state machine.
Value Meaning
0 Motor manager switched off
1 Motor manager switched on
2 Pole position search completed successfully
3 Error during pole position search
9 ... 4 Reserved
10 Init. pole position search method 0
11 Pole position search method 0 active
19 ... 12 Reserved
20 Init. pole position search method 1
21 Pole position search method 1 active
39 ... 22 Reserved
40 Pole position offset will be entered in Parameter Z127.8–
41 Pole position offset will be stored in the encoder
42 Slow reduction of current after completion of the pole position search
43 Pole position search completed successfully
Remark:
Values 2 to 43 are only displayed when a pole position search is active (Actual Operating
Mode Z109.2– = -1).
For the other drive operating modes, the status is either 0 or 1.
19.5 Max. drive current actual value
Shows the currently effective limit of the total current. It influences the limit of the current
torque as well as of the field current. The parameter accords to the minimum value be-
tween the "maximum total current of the drive" Z19.6– and the "External limitation of the
maximum total current" Z138.9–.

19.6 Max. drive current
Settable limitation of the total current of the drive influences the limitation from the current
torque as well as from the field current.
The maximum total current of the drive is limited by the "Power unit peak current" Z6.25–:
"Max. drive current" [>19.6<]  "Power unit peak current" [Z6.25–].
NOTE!
m The total current limit of the drive can automatically be reduced furthermore, for ex-
ample by the PU overload monitoring or the phase fail (see "bit bar of external cur-
rent limit" Z138.8– and "External limiting max. drive current" Z138.9–.9 and the
value of the parameter >19.6< is not changed. The current acting limit of the total
current is displayed in the " Maximum available total current" Z19.5–.
m The "Max. drive current" >19.6< is the scaling size of the standardized current pa-
rameter Z166.3– / Z166.4– (current threshold motoric/generator; operation mode
U-f characteristic).
19.7 Max. field current amplitude
Display of the maximum amplitude of the field current. The maximum field current for syn-
chronous motors is set via the absolute value of the field current preset value (Z19.9–).
The maximum field current for asynchronous motors with encoder is set via the limitation
of flux controller (Z146.12–) and for asynchronous motors without encoder is set via the
max. drive current (Z19.6–).
The maximum field current amplitude is also limited by the maximum total current of the
drive (Z19.6–):
Max. field current amplitude [>19.7<]  0,95 * Max. drive current [Z19.6–]
NOTE!
The amplitude of the field current can be reduced automatically e. g. by the PU over-
load monitoring or phase fail (see "Bit bar of external current limit" Z138.8– and "Ex-
ternal limiting max. field current amplitude" Z138.10–), without the parameter value
>19.7< being changed. The currently effective present limit of the field current is the
minimum value between "Max. field current amplitude" >19.7< and "External limiting
max. field current amplitude" Z138.10–.

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4.4 Configuration
19.8 Max. torque current
Display of the standardized factor of the maximum torque current in A.
NOTE!
The "Max. torque current" >19.8< is the standardized factor of the standardized
torque current limits of the parameters Z138.2–, Z138.3–, Z138.14– and
Z138.15–, of the standardized torque current set values Z18.50– and Z19.51– as
well as of the standardized total current limit Z120.12–.
The maximum torque current Isq max (>19.8<) results from the max. drive current Imax aux
with subtraction of the field current Isd aux.
2 2
I sq max = I max aux – I sd aux
The max. drive current Imax aux and the field current Isd aux are dependent of the motor
type and of the torque current standardized modes (parameter "Mode of Iq limit" Z138.1–
Bit 1 and Bit 3). The following modes are available:
m Standard load factor mode

SM or ASM with Z138.1– bit 1 = 0 (bit 3 = 0 from FW 01.13 of the controller):
Imax aux = "Max. drive current actual value" Z19.5–
Isd aux = "Isd set value" Z47.2–.
m Load factor mode ASM-IsdMax

ASM only: Z138.1– bit 1 = 1 (bit 3 = 0 from FW 01.13 of the controller):
Imax aux = "Max. drive current actual value" Z19.5–
Isd aux = "Limit magnetizing current" Z146.13–.
m Current mode (from controller FW 01.13 onwards)

Z138.1– bit 3 = 1 (independent of bit 1 and the motor type)
Imax aux = "Max. drive current" Z19.6–
Isd aux = 0,
or Isq max ref * >19.8< = "Max. drive current" Z19.6–

loading mode standard current mode
5000_0349_rev01_int
isqMax isqMax
19.8 19.8
= LT-Imax = LT-Imax
= 2 2
LT-Imax-act isd-set 2 2
= LT-Imax-act isd-set
0 0
0 0
NN n [min-1] t
isd-set
47.2
LT-Imax-act
19.5
NN 107.7
0
LT-Imax 19.6
0
n [min-1]
external
drive current limit
0
a) b) 0
t
a) Field current dependence (external total current limit is not assumed).
b) External total current limit dependence (field weakening is not assumed).
Figure 38: Modes of the "Max. torque current 19.8 at the synchronous motor

Document No.: 5.09022.17 of 978
4.4 Configuration
loading mode standard loading mode ASM-isdMax current mode
= LT-Imax = LT-Imax
isqMax isqMax
19.8 19.8
= LT-Imax-act 2 isd-set 2
= 2 2
LT-Imax-act isd-set
2 2
= LT-Imax-act Isd-Lim
0 0
0 0
NN n [min-1] t
5000_0350_rev01_int
isd-act
47.2
LT-Imax-act
Isd-Lim 146.12
19.5
Isd-nom
LT-Imax 19.6
external
drive current limit
0 0
a) 0 b) 0
NN 107.7 n [min-1] t
a) Field current dependence (no external total current limit is assumed).
b) External total current limit dependence (field weakening is not assumed).
Figure 39: "Max. torque current" modes 19.8 at the asynchronous motor
19.9 Field current preset value
At an asynchronous machine and if the "Permanent field current" field weakening type
is set (Z142.1– bit 0 = 1) then any field current is permanently preset (lsd set value
Z47.2– = Field current preset value >19.9<). This way the field weakening controllers
and flux controllers are deactivated. For example here the magnetizing current of the
ASM at the nominal point can be entered.
However, the required field current can differ or be lower at field weakening as well as
greater when magnetizing. If the field weakening type was set "at the voltage limit"
(Z142.1– bit 0 = 0) the parameter >19.9< has no meaning for the ASM.
If a synchronous machine is operated in field weakening here a negative current value

must be entered. At a synchronous machine and if the field weakening type "permanent
field current " is set ((Z142.1– bit 0 = 1) here any negative field current can permanently
be preset (Isd-set value Z47.2– = Field current preset value >19.9<). This way the field
weakening controller is deactivated. For example here the required field current at maxi-
mum speed and torque can be entered. The required field current amplitude however can
differ from that value if the speed and torques are lower than the maximum values. If the
field weakening type "at the voltage limit" is set (Z142.1– bit 0 = 0) then the parameter
>19.9< imposes a field current limit to the field weakening controller and the controlled
field weakening characteristic.

19.10 Motor nominal torque current
Display of the nominal torque current Isq-nom, comprised of the motor nominal current Inom
(Z107.9–) less the field current.
ASM (Isd-nom = Magnetizing current Z107.14–):
2 2
I sq-nom = I nom –I sd-nom
SM (Isd-nom = 0, or << Inom, is assumed):
I sq-nom = I nom
19.11 Ke factor in V/Nnom
Ke factor in V/Nnom or the effective value of the phase-to-phase induced voltage at the
nominal speed. It results from the parameters Z107.7– Nominal speed and Z107.20– Ke
factor (in V/1000 rpm) at a magnetic flux = 100%.
When the Ke factor Z107.20– in the enabled state is changed then the internally used
value in the controller is smoothed in order to reduce interferences in the controller. The
temporal change of the smoothing Ke factor can be monitored in the parameter 19.11.
19.12 Cut-off frequency PT1-filter Isq set value
Cut-off frequency of the iq set value filter. The filter is switched off by setting this param-
eter to 0.
19.17 Isq additive set value
Additional set value for current.
19.21 Isq additive set value 2
Second additional set value for current.
NOTE!
This parameter can be used by function „FFT analyzer“. In this case it must be
checked by the user that the master control does not use this parameter.

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4.4 Configuration
19.22 Isq additive set value 2 FFT identification
Display parameter of the additional current set value of the „FFT analyzer“.
19.30 Slip frequency actual temperature
(This is relevant at asynchronous motors with an encoder if the temperature monitoring

is active, Z128.2– bits 0 to 7).
Slip frequency of the motor at nominal torque current and nominal flux (magnetic flux =
100%) according to the motor temperature actual value Z128.3–. The parameter is cal-
culated by the temperature adaption characteristic and is used to determine the "Slip pre-
set value" (Z146.16–). See ZTemperature adaption slip frequency– on page 655.
19.32 Rotor time constant
Display of the rotor time constant for the asynchronous motor; required for flux control.
The value is calculated from the magnetic current Z107.14–, the nominal current
Z107.9– and the slip frequency cold Z107.16–.
Has no significance for synchronous motors.
19.50 Notch position O.K.
Bit Meaning
0 Plausibility O.K. (Absolute encoder present)
1 Notch position search active
2 Notch position search ended
3 Notch position search failed or plausibility error
15 ... 4 Reserved
19.51 Current ref. for notch position detection
Current for the notch position detection.

Standardization:
100% = Nominal current Z107.9–

19.52 Modus motor operating mode
The current status is displayed in Z133.14–.
Value Meaning
0 With encoder, observer off
1 With encoder, observer on
2 Motor model for the motor control (sensorless)
19.61 Delay reference current
Additional delay of the current set value in ms.

Is required with motor having several windings for the master, refer to Z 4.4.6.9–.
107.1 Version
Version of the data structure.
107.2 Motor type
Motor type as a character string, e.g.: "DS 71-K".
107.3 Article number
Article number of the motor on motors with an electronic identification plate. The value
displayed is read from motors with an electronic identification plate and is for information
only.
107.4 Serial number
Serial number of the motor. The value displayed is read from motors with an electronic
identification plate and is for information only.

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4.4 Configuration
107.5 Nominal operation mode
At Baumüller, the operating mode of the motor is specified in the form Sx-yy%.
The high byte of the mode is designated by the number in front of the dash, the low byte
encodes the percentage value.
Using the example of S3-40%:

High byte = 3 decimal,
Low byte = 40 decimal.
107.6 Nominal power
Nominal output of the motor (at nominal temperature, motor warm). The value displayed
is read from motors with an electronic identification plate and is used to calculate the nom-
inal torque (Z107.43–).
If the value of nominal power Z107.6– is 0, no correct operation is possible, the warn-
ing/error 721 is generated (see parameter Kt factor Z107.44–)
107.7 Nominal speed
Nominal speed of the motor.

If the motor has no electronic identification plate, the nominal speed must be entered.
107.8 Nominal voltage
Nominal voltage of the motor. The value displayed is read from motors with an electronic
identification plate and is used for motor control at the sensorless asynchronous motor.
107.9 Nominal current
Nominal current of the motor; required for I2t monitoring and for controlling asynchronous
motors. If the motor has no electronic identification plate, the nominal current must be en-
tered.

107.10 Standstill current
Display of the motor standstill current.

The value displayed is read from motors with an electronic identification plate.
The parameter can be changed in the inhibited state, only.
107.11 Standstill torque
Display of the motor standstill torque. The value displayed is read from motors with an
electronic identification plate and is for information only.
107.12 Power factor
Power factor (cos ) of the motor. The value displayed is read from motors with an elec-
tronic identification plate and is for information only.
107.13 Nominal frequency
Display of the motor nominal frequency in Hz. This value is required for the control sys-
tem. If the motor has no electronic identification plate, the nominal frequency must be en-
tered.
107.14 Magnetic current
Magnetizing current Id for asynchronous motors. If the motor has no electronic identifica-
tion plate, the magnetizing current must be entered. If the motor type is not known, Id can
be found from the identification plate / motor data sheet.
If Id is not known, it can be calculated approximately:
2
I d = I  1 –  k  cos  n 
Where:
|I| = Motor nominal current (Z107.9–)
cos n = Power factor (Z107.12–)
k = 1.0 to 1.3
It corresponds to the nominal current Id at IPMSM (see ZSynchronous motor with interior
permanent magnet– on page 182). The motor constant K (Z171.12–) used for adjust-
ment of the MTPA characteristic can be calculated from the nominal current I (Z107.9–)
and the nominal current Id.

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4.4 Configuration
107.15 Slip frequency (cold)
(This is relevant at asynchronous motors with an encoder if the temperature monitoring

is activated, Z128.2– bits 0 to 7)
100%) accordant to slip temperature (cold) Z107.17–. The parameters 107.15 and
Z107.17– support the temperature adaption characteristic of the slip frequency. Refer to
"Slip frequency temperature actual value" Z19.30–.
The cold slip frequency must be lower than the warm slip frequency (Z107.16–).
At asynchronous motors without an electronic type plate the parameter must be set man-
ually.
107.16 Slip frequency (warm)
(this is relevant at asynchronous motors with encoder, only)

100%) according to the slip temperature (warm) Z107.18–. The parameters 107.16 and
Z107.18– support the temperature adaption characteristic of the slip frequency. Refer to
"Slip frequency temperature actual value" Z19.30–.
The slip frequency when warm must be higher than the slip frequency when cold
(Z107.15–).
ually.
107.17 Slip temperature (cold)
(this is relevant at asynchronous motors with an encoder if the temperature monitoring is

activated, Z128.2– bit 0 to 7).
Temperature specification for which the motor slip frequency when cold (Z107.15–) ap-
plies, see also Z19.30–.
The cold slip temperature must be lower than the warm slip temperature (Z107.18–).
ually.
107.18 Slip temperature (warm)
(this is relevant at asynchronous motors with an encoder if the temperature monitoring is

activated, Z128.2– bit 0 to 7).
Temperature specification for which the motor slip frequency when warm (Z107.16–) ap-
plies, see also Z19.30–.

The slip temperature when warm must be higher than the slip temperature when cold
(Z107.17–).
ually.
107.19 Pole pairs
Number of pole pairs in the motor. If the motor has no electronic identification plate, the
number of pole pairs must be entered.
107.20 Ke factor
Display motor-voltage constant at the "cold" motor in V/1000 rpm. Motor EMF referring to
1000 rpm.
At the ASM the Ke factor refers to the "warm" motor (operating temperature). However,
the difference between the "cold" and the "warm" motor usually is negligible. At the SM
the Ke factor refers to the "cold" motor whereas the difference between "cold" and the
"warm" motor is about 5% in average.
If the motor has no electronic identification plate, the Ke factor must be entered. If no val-
ue for the Ke factor is available, the following procedure is possible:
m Define the speed set value according to the nominal speed of the motor Z107.7–
m Enable the drive and operate it no-load
m By altering the Ke factor, bring the Iq controller output to approx. 0% (
(When changing the Ke factor 107.20 in the enabled state the used value in the con-
troller is smoothed to reduce the interferences in the controller. The temporal change
of the smoothing Ke factor can be monitored in the parameter Z19.11– (Ke-factor in
V/Nnom.)
Refer to EMF feedforward (ZFig. 153– on page 651) of the exact correlation between the
speed actual value and the EMF feedforward.
NOTE!
At the sensorless operation of the asynchronous motors the parameter 107.20 is not
important and has an informative meaning, only.
107.21 Max. current
Peak current of the motor. The value displayed is read from motors with an electronic
identification plate and is used for the injection procedure.

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4.4 Configuration
107.22 Peak torque
Peak torque of the motor. The value displayed is read from motors with an electronic iden-
tification plate and is for information only.
107.23 Friction moment
Display of the motor friction moment. The value displayed is read from motors with an
107.24 Attenuation factor
Display of the motor attenuation factor, Kd. The value displayed is read from motors with
an electronic identification plate and is for information only.
107.25 Max speed electr.
The maximum speed of the motor, regardless of the mechanical configuration. The value
displayed is read from motors with an electronic identification plate and is for information
only.
107.26 Max speed mech.
Setting of the maximum speed of the motor that is permissible in the mechanical config-
uration used. The mechanical maximum speed can at most equal the electrical maximum
speed.
CAUTION!
If the motor operates with higher speed than the maximum speed, the motor may be
damaged mechanically.
The smaller value of max. speed mech. Z107.26– and of speed limit Z121.11– acts as
limitation in the operating modes 1, 5, 6 and -4. For details, refer to Z121.11–.
Additionally it limits the settings of the standardization for the ramp function generator in
operating modes 2 and -3. For details, refer to Z110.13–.

107.27 Max temperature
Switch-off threshold of the motor temperature monitor.
107.28 Time constant I2t
Thermal Time Constant of the motor, Tt [s].
107.29 Stator resistance
The displayed value accords to a motor temperature of 20° (motor cold) and is read at
motors with an electronic type key.
The parameter 107.29 can be used in dependence of Z123.10– for motor control.
107.30 Stator leakage inductance
Leakage inductance of the single phase equivalent circuit of the asynchronous machine.
The value displayed is read from motors with an electronic identification plate and is used
for motor control as a function of parameter Z123.10–.
107.31 Rotor resistance
Rotor resistance of the single phase equivalent circuit of the asynchronous machine. The
value displayed is read from motors with an electronic identification plate and is used for
motor control as a function of parameter Z123.10–.
107.32 Rotor leakage inductance
Rotor leakage inductance of the single phase equivalent circuit of the asynchronous ma-
chine. The value displayed is read from motors with an electronic identification plate and
is used for motor control as a function of parameter Z123.10–.
107.33 Magnetizing inductance
Magnetizing inductance of the single phase equivalent circuit of the asynchronous ma-
chine. The value displayed is read from motors with an electronic identification plate.
The parameter is necessary for SFOC operation of an asynchronous motor without en-
coder.

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4.4 Configuration
NOTE!
This parameter can be changed from automatic Lh-identification (see ZLh-character-
istic– on page 178).
107.34 Lq inductance
Quadrature axis inductance of a synchronous machine.

107.35 Ld inductance
Direct axis inductance of a synchronous machine.

107.36 Motor inertia
Moment of inertia of the motor.

This parameter is for information only, e. g. it can be used for calculation of the Ks factor
Z18.40– from drive data in ProDrive.
The value displayed is read from motors with an electronic identification plate.
107.37 Temperature sensor type
Two different types of temperature sensor are available for use. If the motor has no elec-
tronic identification plate, the temperature sensor type must be entered.
Value Meaning
0 KTY 84
1 Temperature switch or motor protection thermistor (MSKL)
2 PT1000
15 ... 3 Reserved

107.38 Motor flags
Bit Meaning
0 0: Motor phase sequence counter-clockwise
1: Phase sequence clockwise
2 ... 1 00: Synchronous motor
01: Asynchronous motor
10: Interior permanent magnet synchronous motor (IPMSM)
15 ... 3 Reserved,
default = 0
The value of this parameter can be changed, if the drive controller isn’t on *).
*) Switched on means that in the Status word parameter Z108.3–, the bit 1 = 1.
DANGER!
If the value is changed, the drive automatically loses the notch position search for the
synchronous motor. After change the user must execute notch position search again,
in order to operate a synchronous motor with encoder without danger.
If the synchronous motor is operated sensorless, it can be operated with the new param-
eter value immediately. As with the sensorless synchronous machines, the parameter
value for asynchronous machines is effective immediately. If the same value is written to
the parameter, which already is in the parameter, then this writing procedure has no ef-
fects.
107.39 Gear factor, motor: encoder
The value displayed is read from motors with an electronic identification plate and is for
information only.
High byte: Numerator of the gear (1 ... 255)
Low byte: Denominator of the gear (1 ... 255)
If the value is 0x0101, there is no gearing between the motor shaft and the encoder.
The value 0 is not defined and can be returned as an error message
or treated internally like the value 0x0101 (no gearing, hence 1:1 transmission).
107.40 Brake nominal voltage
Voltage for the motor brake. The value displayed is read from motors with an electronic
identification plate and is for information only.

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4.4 Configuration
107.41 Brake torque
Holding torque of the motor brake. The value displayed is read from motors with an elec-
tronic identification plate and is for information only.
107.42 Inertia of brake
Moment of inertia of the motor brake. The value displayed is read from motors with an
107.43 Nominal torque
Display of nominal torque (at motor nominal temperature, i.e. motor warm); calculated
from nominal output and nominal speed.
If the value of nominal torque Z107.43– is 0, no correct operation is possible, the warn-
ing/error 721 is generated (see parameter Kt factor Z107.44–). This state is caused by
setting of the nominal power Z107.6– to 0.
107.44 Kt factor
Display motor torque constant in Nm/A.

The connection between torque-generating current and motor torque at the nominal point
(i.e. magnetic flux = 100% and at the nominal temperature "warm" motor).
The Kt factor is calculated from the nominal torque MN (Z107.43–) and nominal torque
current lsq-N (Z19.10–) of the motor.
MN
Kt factor = ----------
I sq-N
The exact correlation between the torque current and the torque is shown in the torque
monitoring (ZFig. 154– on page 651).
NOTE!
If the value of Kt factorZ107.44– is 0, no correct operation is possible, the warning/er-
ror 721 is generated and the Isq set value is forced to 0. This state is caused by setting
of the nominal power Z107.6– to 0.

107.67 Pole pitch
Pole pitch for linear measuring systems.
107.68 Load inertia
The parameter is not part of the electronic type plate and must be entered manually.
107.72 Continuous current limit curve
The supporting points of the continuous current limit characteristic (motor duty type: S1)
are entered in 107.72[0] to 107.72[10]. 107.72[0] should be equal to the standstill current
value (Z107.10–), while in other elements the current values must be entered in a fixed
distance of a maximum speed mechanical (Z107.26–) divided by 10.
The selection and the entering of the values can be made manually or by an available
supporting point set in the Baumüller motor data base. Generally, the supporting points
107.72[0] to 107.72[10] are assigned zero.
107.73 Drive inertia
This parameter displays the total inertia of the drive and is the sum of motor inertia
Z107.36– and load inertia Z107.68–.
JA=JM + JL
With JA Z107.73– in [kg cm2]
JM Z107.36– in [kg cm2]
JL Z107.68– in [kg cm2]

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4.4 Configuration
107.74 Ks-data
This parameter displays the Ks factor from the drive data.

The calculated value corresponds with the "system gain" at nominal point. It is calculated
from drive inertia (Z107.73–) and Kt-factor (Z107.44–):
o
180 k t -factor
k s = -----------  --------------------
 JA
--------------
-
10000
With Ks-data Z107.74– in [(Grad/s2)/A]
Kt-factor Z107.44– in [Nm/A]
JA Z107.73–– in [kg cm2]
This parameter is for information only
107.75 Number of windings
Number of windings for motors with multiple windings. This parameter simplifies the pa-
rameter setting of motors with multiple windings.
128.1 Motor temperature status
Status of the motor temperature measurement and monitoring:
Bit Meaning
0 0: Motor temperature monitoring switched off
1: Motor temperature monitoring switched on
3 ... 1 Reserved
4 1: Warning threshold 1 exceeded
5 1: Warning threshold 2 exceeded
6 1: Switch-off temperature reached
7 1: Overtemperature detected by temperature switch
8 1: Short circuit detected on temperature encoder
9 1: Temperature encoder is not connected
15 ... 10 Reserved

128.2 Temperature acquisition system
This parameter is used to switch the motor temperature detection and monitoring on and
off, and also the determine the connection to the device.
Bit Meaning
7 ... 0 Selection of the connection for the motor temperature encoder:
0: No encoder, or motor temperature monitoring off
1: Connection to encoder input, standard connection
2: Connection to encoder input, non-standard connection
3: Connection to power unit
4 … 255 reserved
15 ... 8 Reserved
128.3 Motor temperature
Display of the measured motor temperature in °C

Is important if the motor temperature monitoring is switched on (value Z128.2– bits 0 to
7 ≠ 0 and 1 and 3), only.
128.4 Warning threshold 1
Motor temperature threshold 1. If the motor temperature exceeds this value, Warning 710
is generated.
128.5 Warning threshold 2
Motor temperature threshold 2. If the motor temperature exceeds this value, Warning 711
is generated.
128.7 Motor temperature hysteresis
Hysteresis for canceling Warnings 710 and 711 initiated by Z128.4– Warning threshold
1 and Z128.5– Warning threshold 2.

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4.4 Configuration
133.14 Status motor operating mode
The mode is set in parameter Z19.52–.
Value Meaning
0 Motor observer off
1 Motor observer on
2 Motor model for the motor control
138.1 Mode of Iq limit
The mode of the torque current limit will be set with this parameter.
Bit no. Meaning

0 0: for motor/generator (default)
1: for instantaneous direction 1 / instantaneous direction 2
1 Bit mode maximum torque current reference variable
(for the ASM, only).
(starting from controller FW V1.13 relevant only if 138.1 bit 3 = 0)
Mode bit to calculate the "Max. torque current" Z19.8–
Increase of the "Max. torque current " Z19.8– at field weakening by calcu-
lation of the parameter with the "Isd set value" Z47.2– instead of "Max.
field current amplitude" Z19.7–:
0: activated
1: deactivated
2 Breakdown torque limit:
0: deactivated
1: activated (at asynchronous machines always)
(also see bit 5)
3 Additional bit mode: Max. torque current reference value
(starting from controller FW V1.13):
Additional mode to calculate the "Max. torque current" Z19.8–:

0: Load mode (standard setting)
1: Current mode

Bit no. Meaning
4 Breakdown torque controller
0: deactivated
1: activated
If the breakdown torque controller was activated then the breakdown
torque limit is not effective anymore!
5 Adapting the breakdown torque limit
0: activated
1: deactivated
(if breakdown torque limit is activated, only, refer to bit 2)
15 ... 6 Reserved
Bit 0:
Torque limit Mot/Gen Torque limit MR1/MR2

138.1 = 0 138.1 = 1
Speed actual value Speed actual value
Q2 Q1 Q2 Q1
Limit mot Limit TD2
Iq set value Iq set value

Limit gen Limit TD1
Q3 Q4 Q3 Q4
5000_0203_rev02_int.cdr
Figure 40: Torque current limit

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4.4 Configuration
Bit 1 and 3:
Dependent of the motor type and the controller FW version the following modes are avail-
able to calculate the "Max. torque current" Z19.8–.
Bit 1 Bit 3 Motor Controller Standardizing modes

type FW
Standard load Load factor Current mode
factor mode mode
ASM-IsdMax
X X X before V1.13 yes -- --
0 X ASM before V1.13 yes -- --
1 X ASM before V1.13 -- yes --
X 0 X from V1.13 yes -- --
0 0 ASM from V1.13 yes -- --
1 0 ASM from V1.13 -- yes --
X 1 X from V1.13 -- -- yes
X = independent of that
Standard load mode (default setting):

m Dependent of the field weakening and the external total current limit
m Dependent of 138.1 bit 1 at the ASM
m Z19.8– is calculated from "Max. drive current actual value" Z19.5– and "Max. field
current amplitude" Z19.7– (at the ASM with 138.1 bit 1 = 1: "lsd set value" Z47.2–
instead of the parameter Z19.7–).
Current mode
m Independent of the field weakening and the external total current limit.
m Independent of 138.1 bit 1.
m Z19.8– is calculated from the "Max. drive current" Z19.6– and the "Magnetizing cur-
rent" Z107.14– (ASM) or field weakening = 0 (SM).
Details about the effect of the standardization modes in the "Max. torque current" are de-
scribed in the parameter Z19.8–.
Details about the standardization modes in the torque current limits are described in the
chapter ZTorque Current Limiting– from page 590.
Bit 5:
By default, the adaption is not active due to compatibility reasons. It is recommended to
activate the adaption if the breakdown torque limit (138.1 Bit 2 = 1) is activated.
Bit 2, 4, 5:
Details to ASM without encoder SFOC are explained in chapter ZSensorless control, at
stator flux oriented– from page 833.

138.2 Iq limit motor/TD1
This parameter limits the torque current set value for the motor operation or in the torque
direction 1 (depending on setting in Z138.1– bit 0).
The parameter is subject to the hysteresis (Z138.4–) when defining the quadrant.
Other torque current limits are available, as well: Z138.3–, Z138.14–, Z138.15– and the
torque current limit generated the torque limit Z138.22–.
Furthermore, there are other torque limits Z138.18–, Z138.30–, Z114.5–- and Z114.6–
. In addition, the motor-operated torque current can be disabled due to power failure (refer
to Z138.10– bit 1).
The strongest limit is effective. The definite upper and lower torque current limit is dis-
played in Z138.6– and Z138.7–.
Standardization:
100% = Max. torque current Z19.8–
138.3 Iq limit generator/TD2
This parameter limits the torque current set value for the generator operation or in the
torque direction 2 (depending on setting in Z138.1– bit 0).
The parameter is subject to the hysteresis (Z138.4–) when defining the quadrant.
Other torque current limits are available, as well: Z138.2–, Z138.14–, Z138.15– and the
torque current limit generated the torque limit Z138.22–.
Furthermore, there are other torque limits Z138.18–, Z138.30–, Z114.5–- and Z114.6–
. In addition, the motor-operated torque current can be disabled due to power failure (refer
to Z138.10– bit 1).
Standardization:
138.4 Quadrant hysteresis Iq limit
Hysteresis for current and speed for assessing the operating quadrants.
Standardization:
100% = Motor nominal torque current Z19.10–
or
100% = (Motor) Nominal speed Z107.7–

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4.4 Configuration
138.5 Motor quadrant
Display of the currently determined quadrant, using the current speed, the instantaneous
current and the set hysteresis.
The following diagram illustrates the definition:
Figure 41: Definition of the quadrants
138.6 Iq upper limit
Display of the currently determined upper limit for the instantaneous current [in A].
138.7 Iq lower limit
Display of the currently determined lower limit for the instantaneous current [in A].
138.8 Bitmask of external drive current limit
Display of external sources of the drive current limit as a bit string.

A 1 in the corresponding bit position means that the limit is active.
If several bits are set, the smallest limit takes effect.
Meaning of the bits and the external source of the drive current limiting:
Bit Current limit from

0 Main power error; phase failure
1 Reserved
2 PU overload monitoring
3 Reserved
4 Moving to positive stop command
5 Homing to a mechanical stop

Bit Current limit from
6 Peak current derating
15 ...7. Reserved
138.9 External limiting max. drive current
Display of the total current [in A] which has been reduced by an external limit. See "Bit-
mask of external drive current limit" Z138.8–.
It the external limit is not active:
External limiting max drive current >138.9< = Maximum value (10000 A)
138.10 External limiting max field current amplitude
Display of the field current [in A] which has been reduced by an external limit of the drive
current. See "Bit mask of external drive current limit" Z138.8–.
If there is no external limit active:
External limiting max field current amplitude >138.10< = Maximum value (10000 A)
138.11 Iq set value before notch filter
The Iq set value at the input of the notch filter is shown in this parameter.
138.12 Center frequency Iq set value notch filter
Setting of the center frequency of the Iq set value of the notch filter. The filter is switched
off, when the value is less than 2 Hz.
138.13 Bandwidth Iq set value notch filter
The bandwidth of the Iq set value of the notch filter is set here.

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4.4 Configuration
138.14 Iq limit bipolar cyclic
The parameter enables a symmetric torque current limit for a fast cyclic access, e.g. via
analogous input or fieldbus process data.
The torque current set value can be limited symmetrical in both directions.
Other torque current limits can be set Z138.2–, Z138.3–, Z138.15– as well as the torque
current limit generated by the torque limit Z138.22–.
Other torque current limits are available as well: Z138.18–, Z138.30–, Z114.5– and
Z114.6–. Furthermore, the motor-operated torque current can be disabled due to power
failure (refer to Z138.10– bit 1).
Changes in Z138.14– are accepted in the set cycle of the speed controller (= RT0 cycle
time Z1.8–).
In comparison with the symmetrical torque current limit the 138.14 cannot be saved and
is not subject to the hysteresis (Z138.15–) when defining the quadrant.
Standardization:
138.15 Iq limit bipolar
The torque current set value can be limited symmetrically with this limit, i.e. equal in both
torque directions.
Other torque current limits are available as well: Z138.2–, Z138.3–, Z138.14– and the
torque current limit generated by the torque limit Z138.22–.
Other torque current limits are available, as well: Z138.18–, Z138.30–, Z114.5– and
Z114.6–. Furthermore, the motor-operated torque current can be disabled due to power
failure (refer to Z138.10– bit 1).
The strongest limit is effective. The definite upper and lower torque current limit are dis-
In comparison with the symmetrical, cyclic torque current limit (Z138.14–), the 138.15
can not be written cyclical. However, it can be saved and is subject to the hysteresis
(Z138.4–) when defining the quadrant.
Standardization:
138.16 Speed threshold for breakdown torque limit
Operating speed nK that limits the maximum torque current by the breakdown limit lk,Max
Z138.18– instead of the set max. torque current, lsq,Max Z19.8– as follows:
See ZTorque Current Limiting– on page 590 and see also Factor for breakdown torque
Z138.17–.

nK
I K Max = ---------  I sq Max
n act
NOTE!
As the "Max. torque current" Z19.8– dependent of the field weakening or the external
total current limit can change in the operating process, the threshold speed value of
138.16 can change, as well. Refer to the parameters Z19.8– and Z138.1–.
138.17 Factor for breakdown torque
This factor is used to adjust the Ud voltage limit at the breakdown torque that is used to
calculate the "lsq limit breakdown torque" (Z138.18–) and the threshold speed break-
down torque limit (Z138.16–).
The lower the factor the lower the Ud voltage limit is and the greater the distance to the
breakdown torque.
If the breakdown torque factor is one then the Ud voltage limit at the breakdown torque is
1/2-times of the phase voltage which is available.
See ZTorque Current Limiting– on page 590.
138.18 Iq limit breakdown torque
The maximum torque current which is permitted due to the breakdown torque limit or the
breakdown torque controller. The breakdown torque limit calculates the maximum torque
current with the present electrical frequency and Ud voltage limit and the breakdown
torque controller limits the maximum torque current as soon as the required voltage ex-
ceeds the maximum permitted voltage.
The breakdown torque limit lsq k limit 138.18 can be activated by Z138.1– bit 2 and set by
the factor of the breakdown torque Z138.17–. Furthermore this limit can be set by an
adaption mechanism automatically to reach the aimed Ud voltage limit in spite of moder-
ate discrepancies in the motor model. The adaption is not activated by default for reasons
of compatibility. If the breakdown torque limit is active (Z138.1– bit 2 = 1) it is recom-
mended to activate the adaption as well (Z138.1– bit 5 = 1).
If the breakdown torque controller is activate the breakdown torque limit does not act any-
more (Z138.1– bit 4 = 1).
If the breakdown torque limit as well as the breakdown torque controller are deactivated
then
lsq k limit 138.18 = lsq Max Z19.8–.
The parameter 138.18 additionally is limited to 2 x max. total current of the drive Z19.6–.
Other torque current limits can also be set Z138.2–, Z138.3–, Z138.14–, Z138.15– and
the torque current limit caused by the torque limit Z138.22–.

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4.4 Configuration
Furthermore, other torque current limits are available: Z138.30–, Z114.5– and
Z114.6–. Furthermore, the motor-operating torque current can be disabled due to a pow-
er failure (refer to Z138.10– bit 1).
See ZTorque Current Limiting– on page 590 and see also Z138.16–.
138.20 Max. torque actual value
The parameter presents the maximum internal torque of the motor Mmax act. which is
available due to the maximum torque current actual value, the updated Kt factor and the
field current. This value is calculated from the maximum torque current. If the maximum
current of the motor is limited by a monitoring (such as PU overload monitoring, refer to
"bit mask external total current limit" Z138.8–), then this is regarded in this parameter.
M max act = I sq max  Kt upd  Flux set [%]
with:
Isq max Maximum torque current: to controller FW 01.12 "Max. torque current"
Z19.8–,
from controller FW 01.13 "Max. torque current actual value" Z138.30–, in A
Fluxset Magnetic flux set value in % Z146.13–
138.21 Torque display
This parameter displays the torque in Nm, acting within the motor. This is the torque in
the air gap of the motor, which is calculated as follows:
m i = Kt upd  Flux act [%]  I sq act

with:
mi Torque display in Nm, 138.21
isq,Ist Isq actual value filtered in A Z47.5–
Fluxact Magnetic flux actual value in % Z146.14–
The parameter 138.21 is filtered with the time constant of Z138.29–.

138.22 Torque limit symmetric
The same limit acts in both directions. The torque limit is carried out by limiting the torque
current set value. The accordant limit at the torque-generating current lsqM limit is calcu-
lated as follows:
M limit
I sq M-limit = -------------------------------------------
-
Kt upd  Flux set [%]
with:
Isq M-limit Torque current limit from torque limit 138.22, in A
Mlimit Torque limit symmetric, 138.22, in Nm
Fluxset Magnetic flux set value in % Z146.13–
Furthermore, other settable torque limits are available that result from the setting of the
torque current limit (Z138.2–, Z138.3–, Z138.14–, Z138.15–). Furthermore, other
torque current limits are available Z138.18–, Z138.30–, Z114.5– and Z114.6–, that limit
the torque due to a breakdown torque or an excessive Udc actual value. The torque can
be disabled due to a power failure refer to Z138.10– bit 1).
The strongest limit is effective.
138.24 Indication threshold torque
If the absolute value of the effective torque (Z138.21–) exceeds the value of the torque
threshold, bit 0 in parameter Status current limitation (Z138.25–) is set.
138.25 Status current limitation
Status parameter for the functional block current limitation
Bit no. Meaning

0 Indicates whether the absolute value of the effective torque (Z138.21–) is
greater or less than the set torque threshold (Z138.24–)
0: The torque is less than the torque threshold
1: Torque threshold exceeded
31 ... 1 Reserved

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4.4 Configuration
138.26 Limitation max current of IPMSM
This parameter shows the limitation of the maximum current at IPMSM during field weak-
ening.
138.28 Hysteresis for Iq limit flag
Hysteresis for the "Torque current set value is limited (hysteresis)" message in Speed
controller status (Z18.20–, bit 26). The torque current set value must fall below the effec-
tive limit (Z138.6– or Z138.7–) by this hysteresis to cancel the limit flag.
This parameter effects the detection of a blocked motor, because the limit flag with hys-
teresis is used for the blockage monitoring.
Standardization:
138.29 Time constant torque display
Time constant for the torque display (Z138.21–).
138.30 Max. torque current actual value
Starting from controller firmware version 01.13.

Display of the maximum torque current in A, available due to the maximum total current
actual value and of the used field current.
The parameter 138.30 Isq max act results from the "Max. drive current actual value"
Z19.5– Imax act and by subtracting the "lsd set value" lsd set Z47.2–.
2 2
I sq max act = I max act –I sd set
138.32 Peak current derating
Derating of the peak current of the drive is required for special devices (see ZPower unit–
from page 107 and parameter Z138.8– bit 6).

138.34 Torque base value
(from FW version 1.14)

Reference value of the standardized torque parameters.
The torque reference value Mbase was specified the maximum, internal motor torque that
would be available due to a torque current of the same amount as the maximum total cur-
rent Z19.6–.
Flux nom
M base = I s max  Kt  -------------------- = I s max  Kt
100
with:
Is max "Max. drive current" Z19.6– in A
Fluxnom Nominal magnetic flux, 100%
Kt Motor Kt factor Z107.44–, in Nm/A
Asynchronous motors or synchronous motors in the field weakening range cannot reach
this torque because of the field current which is required.
The parameter is the reference value of the standardized set value Z18.78–.
146.1 Asynchronous motor mode
Bit string to select the control mode of an asynchronous motor
Bit no. Meaning

7 ... 0 Reserved
8 Build-up of the flux before the transition in drive manager state 4
(Z108.6–):
1: on
0: off
9 Reserved
10 Command start of the Lh-identification
11 Lh-identification with
0: Clockwise rotating field
1: Counterclockwise rotating field
15 ... 12 Reserved

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4.4 Configuration
146.13 Flux set value
Set value of the flux in percent
146.14 Actual flux
Actual value of the flux in percent
146.16 Slip preset value
(this is relevant at asynchronous motors with encoder, only)
Slip preset value between electrical and mechanical frequency [Inc/Tab].

It is calculated from lsq set value, flux set value (Z146.13–) and the "slip frequency tem-
perature actual value" (Z19.30–). Refer to ZTemperature adaption slip frequency– on
page 655.

4.4.3 Synchronous Motor
4.4.3.1 ProDrive Synchronous Motor
Figure 42: ProDrive Synchronous motor
4.4.3.2 Torque ripple compensation
Synchronous motors normally have ripple torques. This can cause speed variations in the
speed control, because the torques cannot be adjusted quickly enough. The controller
can compensate these ripple torques. A feedforward of an additional current torque is
generated, in which an additional current torque is generated in dependence of an electric
or mechanic angle.

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4.4 Configuration
Figure 43: Torque ripple compensation
Before operation of the controller, an identification of the torque ripples can be made. The
required currents are measured here and then are preprocessed. Then the additional cur-
rent set values are saved in the table.
3.4.3.2.1 Parameter overview
Functional block: FbOptimization [157]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
157.1 Mode optimization UINT 0 0xFFFF 0 1:1 X

157.2 State Identification UINT 0 0xFFFF 0 1:1 X
torque ripple compensa-
tion
157.3 Table torque ripple cur- FLOAT -1000 1000 0 A 1:1 X
rent
157.6 Actual torque ripple cur- FLOAT -1000 1000 0 A 1:1 X
rent

3.4.3.2.2 Description of the Parameter
157.1 Mode optimization
Bit no. Meaning

0 Initialization measuring of torque ripple compensation
1 Reset of the torque ripple curve
2 Reserved
3 Activation of the torque ripple compensation
4 Torque ripple compensation after
0: electric angle
1: mechanic angle
157.2 State identification torque ripple compensation
Value Meaning
0 Inactive
1 Initialization
2 Measurement
3 ... 8 Preprocess measured values
9 End
157.3 Table torque ripple current
Table of the Torque ripple currents in dependence of the electric/mechanic angle.
157.6 Actual torque ripple current
The actual additional current set value for the torque ripple compensation.

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4.4 Configuration
4.4.4 Asynchronous Motor
The asynchronous motor is operated with a temperature adapter and a slip set point. The
slip is calculated from the temperature-independent slip frequency, the Id-current actual
value and the flux actual value.
4.4.4.1 ProDrive Asynchronous Motor
Figure 44: ProDrive asynchronous motor

4.4.4.2 Lh-characteristic
BM5000 can consider a non-linear Lh-characteristic for motor control. This can be en-
tered manually or can be identified in idle mode.
The value of the magnetizing current Z107.14– is necessary for setting or identification
of the Lh-characteristic.
The Lh-characteristic consists of 23 inputs, that are mapped to a current range from 0 to
1.1 x nominal magnetizing current Z107.14–. The controller interpolates interim values
when reading the table.
The mapping of the current is stored in parameter "Magnetizing current, Lh-Ident"
Z123.33–, i. e. the controller sets Z123.37– = Z107.14– while generating the values
(manually or automatically).
The values of the Lh-characteristic Z123.33– are standardized with the value of "Main
inductance Lh-Ident" Z123.38– (Lh-characteristic value corresponding with (nominal)
magnetizing current Z123.37–, Z107.14–). The identification can be started in clockwise
rotating field and counterclockwise rotating field (set via bit 11 in Z146.1–).
Manual input
For the manual input ot the Lh-characteristic there are 2 input alternatives within Pro-
Drive, either Lh or the flux dependent on the magnetizing current. ProDrive offers 7 inter-
polation points for calculation of the Lh-characteristic.
Automatic identification
For generating the Lh-characteristic except of the magnetizing current also the leakage
inductance (Z107.30–, Z107.32– or Z123.7–), the resistance (Z107.29–, Z107.31– or
Z123.6–) are necessary.
It is explicitly recommended to measure the dead time voltages (see ZCompensation
dead time voltages– from page 654) because the dead time voltages are compensated
for identification: while the identification is done the factor Z47.50– is automatically set to
100 %, after finishing the value is reset to the previous value.
For identification of the Lh-characteristic the operation mode current presetting must be
set (Z109.1–, Z109.2– = -8).
The automatic identification of the Lh-characteristic Z123.33– is started via bit 10 of the
parameter Z146.1– (mode asynchronous machine). At the same time the status Current
presetting of the drive is checked. Nominal speed Z107.7–, speed for Lh identification,
nominal magnetizing current Z123.39– (% of nominal speed) and ramp-up time must be
preset. Then it is accelerated to the desired speed (Z123.39–) with 1.1 times of nominal
magnetizing current. Thereby a linear ramp calculated from the ramp-up time is used.
Then the motor successively is supplied with a step size of 1/20 of the nominal magnetiz-
ing current at this speed. Thereby the required voltage is measured. As it is estimated that
the drive is in idle state, the inductance can be calculated with the acceptability that the
slip = 0.
It is decelerated and the inductances are standardized to main inductance, Lh identifica-
tion Z123.38– entered in the table.

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4.4 Configuration
Transfer of the Lh-characteristic (main inductance, Ke factor)
The "Main inductance, Lh-identification Z123.38–" can be transferred to the motor control
(see Z123.10– bit 1) after identification of the Lh-characteristic (manually or automatical-
ly).
4.4.4.3 ProDrive Lh-characteristic
Figure 45: ProDrive Lh-characteristic

4.4.4.4 Parameter overview Lh-characteristic
Axis-independent
Cyclic Write
DS Support
Read only
Storage
123.33 Magnetization induc- FLOAT 0.0 100.0 1 1:1 X

tance look up table
123.39 Speed for Lh identifica- FLOAT 0 0xFFFFFFFF 30 % 1:1 X

tion
146.17 State Lh identification UINT 0 10 0 1:1 X

146.19 Ramp-up time nominal FLOAT 1 1000 10 s 1:1 X
speed
4.4.4.5 Description of the Lh-characteristic parameters
123.33 Magnetization inductance look up table
Table for Lh-Im-characteristic. Standardized to the nominal inductance.
123.37 Magnetization current, Lh-ident.
The parameter keeps the value of the magnetizing current Z107.14– while automatic Lh
identification or manual input ot the Lh characteristic.
123.38 Magnetization inductance, Lh-ident.
Measured Lh value (automatic identification of Lh characteristic) or calculated Lh value

(manual input of Lh characteristic) corresponding with the magnetizing current Lh-ident.
Z123.37–.
123.39 Speed for Lh identification
Speed (in % of the nominal speed), at which the Lh identification is executed.

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4.4 Configuration
146.17 State Lh identification
Value Meaning
0 inactive
1 Initialization
2 Acceleration of nominal speed with 1.1 * magnetizing current
3 To build up
4 Wait until current and voltage are constant
5 Measuring the voltages
6 Braking to 0
7 Calculating the inductance
8 Motor control entry in table
9 Completed
10 Error
146.19 Ramp-up time nominal speed
Ramp-up time for controlled acceleration/deceleration to nominal speed/speed = 0 due to

determine the main inductance characteristic.

4.4.5 Synchronous motor with interior permanent magnet
Interior Permanent Magnet Synchronous Motors (IPMSM)

The b maXX 5000 can operate synchronous motors with interior permanent magnet
(IPMSM). The IPMSM has nonlinear inductances. Generally the cross-inductance is
greater than the direct axis inductance. These inductances are depending on Id as well
as Iq.
For operation in an optimum way the current controller must be adapted to the inductanc-
es, because the gain of the current controller is directly proportional to the inductances.
The active inductances were gathered directly from the table depending on the current
set values and the current controllers were adapted to these values.
Additionally to the torque of the Lorentz force a reluctance torque exists at the IPMSM
based on the different inductances (T~(Lq-Ld)*Id*Iq). In order to get the maximum torque
for the impressed current (MTPA), also an Id current must be impressed depending on
this torque. The currents were split automatically during controlling, so that always the
highest torque is reached depending on the total current.
4.4.5.1 Control
In ZFig. 46– the structure of the control is applied. In order to integrate the IPMSM in the
control structure of the BM5000 the current torque set value is assumed the total current
set value compared to the synchronous/asynchronous motor because the ld current ac-
counts for the torque. This way the total current set value from the speed controller is
gained a well and passes through all limits and filtering of the current torque set value.
Then the total current set value is divided in a lq and ld current set value by the motor
constant K. Additionally, the ld current passes the limits of Z171.10– and Z171.11–.

Document No.: 5.09022.17 of 978
4.4 Configuration
Figure 46: ProDrive control structure of the IPMSM
The division of the set values is made along the MTPA characteristic (maximum torque
per ampere). This characteristic now is determined by Z171.12– only and the ld current
is calculated as follows:
2
I ges
2
I d = K – K + ---------
-
2
The remaining current from the total current set value is the lq current (Z171.16–).
4.4.5.2 Commissioning
In order to ensure an optimum in dynamic when operating a IPMSM, the following notes
for setting are mandatory:
– Using a Baumueller motor the data can be loaded from a motor data base. All set-
tings are carried out automatically with ProDrive.
– If no Baumueller motor is used, at first an autotuning (see ZAutotuning of current
controller– from page 245) must be executed to set the current controller roughly.
– The notch position must be set next.
– The field current can be limited via parameter limit magnetizing current (Z146.12–).
This is important in order to prevent the demagnetization of the motor.

– After this the speed controller must be set. A good setting can be determined with a
control loop analysis.
– Subsequently Lq, Ld and the magnetic flux must be mapped in the controller. There-
fore are two options:
n If the parameters are known, they can be loaded via a csv-file.
n If they are not known, an automatic identification can be executed with ProDrive
(see chapter Z 4.4.5.3–).
– In conclusion the current controllers must be optimized again. The optimization is
executed according to the table values of Lq(0,0) and Ld(0,0).
4.4.5.3 Identification of the nonlinear parameters
The identification of the nonlinear parameters Lq, Ld and the magnetic flux is executed in
speed control operation. ProDrive executes this automatically. The inductance is mea-
sured during ramp-up, in which both currents Iq and Id were kept constant. Therefore the
corresponding inductances can be found for each current combination Iq and Id.
The following settings may be entered:
– Standardization current for the curve family
n This is the maximum current as far as the identification is executed. From 0 A up
to this value the currents were varied in ten equal distances and the measure-
ments were executed.
– Ramp function generator

n The ramp-up time must be set to 0 seconds, so that the speed controller is directly
limited at a speed jump.
– Set value generator

n The set value generator should alternately generate values from 0 up to a suffi-
cient high speed in order to get enough measuring values during the ramp-up.
4.4.5.4 Field weakening at IPMSM
If a voltage limit is reached at the controller, the field weakening controller interferes at
the BM5000. In contrast to synchronous and asynchronous motors a higher torque can
be reached with field weakening at IPMSM, because the additional Id current effects a
reluctance torque.
The required curves of an IPMSM are shown in ZFig. 47–. Without field weakening the
motor works on the MTPA curve (red). If an additional Id current is supplied, the state
shifts left (greater Id current). The Id current can be increased up to the MTPF curve (max-
imum torque per flux) at field weakening. The maximum torque is reached here at an
available flux. At a greater Id current the motor needs higher voltage to reach the desired
torque. If the available flux reduces further, the maximum Iq current is reduced and the
current pointer always positions itself along the MTPF curve up to the zero point of the
flux. So it is secured that always the maximum torque can be reached.

Document No.: 5.09022.17 of 978
4.4 Configuration
Figure 47: Characteristic curve of the IPMSM
The field weakening in the BM5000 operates via the standard field weakening controller
and the breakdown torque controller. As field weakening is impressed always at the
IPMSM the field current controller calculates a minimum ld current (Z171.10–) which
must be impressed in the motor at the least. The output of the field weakening controller
is multiplied by the maximum current from the MTPF characteristic. The field weakening
controller should provide a lover threshold than the breakdown torque controller. If the re-
quired voltage rises over the starting threshold of the breakdown controller the lq current
is limited. From this maximum total current during a present flux (Z171.17–) and the min-
imum ld current (Z171.10–) the maximum total current of the IPMSM (Z138.26–) is cal-
culated. This ensures that no more current impressed and the maximum torque is
reached.

Figure 48: ProDrive Breakdown torque controller at IPMSM
MTPF characteristic
The MTPF characteristic shows the maximum field current which can be impressed at a
specific flux reserve to reach the maximum torque. The x-axis indicates the flux in Vs and
the y-axis indicates the current in A. The MTPF characteristic is standardized in depen-
dence of the nominal voltage and the nominal speed as it is assumed that the motors can
be operated without limiting the ld current. Thus, the flux reserve is divided in 15 equal
steps up to 0 by the nominal flux. The characteristic can be calculated automatically in the
controller by bit 12 of Z171.1–.The MTPF should be calculated again if the maximum cur-
rent (Z19.6–) or the maximum field current (Z146.12–) are changed.

Document No.: 5.09022.17 of 978
4.4 Configuration
Figure 49: State machine of field weakening at IPMSM
4.4.5.5 Torque ripple compensation at IPMSM
In general, torques are features of the synchronous motors. The compensation is referred
to in detail in the chapter ZTorque ripple compensation– on page 174.
Functional block: FbReluctance [171]

Axis-independent
Cyclic Write
DS Support
Read only
Storage
171.1 Control word reluctance UINT 0 0xFFFF 0 1:1

171.3 Ld curve family FLOAT 1e-5 1e9 1e-3 mH 1:1000 X
171.4 Lq curve family FLOAT 1e-5 1e9 1e-3 mH 1:1000 X
171.5 Norm current for induc- FLOAT 0.01 1e9 10 A 1:1 X
tance chart familiy
171.10 Minimum Id Current FLOAT -1e9 0 0 A 1:1 X
171.11 Id Current of MTPF FLOAT -100 0 -100 A 1:1 X
characteristic

171.12 Motor constant K FLOAT -1 1e9 -1 A 1:1 X
171.13 MTPF Table FLOAT -100 0 -100 % 1:1 X
171.14 Nominal flux FLOAT 0.0001 1e9 1 Vs 1:1 X
171.15 State field weakening of DINT 0 10 0 1:1 X
IPMSM
171.16 Total reference current FLOAT -10000 10000 0 A 1:1 X
171.17 Maximal torque current FLOAT 0 10000 0 A 1:1 X
from flux
171.20 Magnetic flux FLOAT 0.0001 1e9 0.1 Vs 1:1 X
171.21 State identification non- UINT 0 0xFFFF 0 1:1 X
linearity
4.4.5.7 Description of the parameter
171.1 Control word reluctance
Bit no. Meaning

0 Motor constant determined via Idnom and Inom
1 Calculate motor constant via Lq, Ld and magnetic flux
4…2 Reserved
5 Start identification of Lq, Ld and magnetic flux
6 Start identification of the magnetic flux
8 ... 7 Reserved
9 Recalculation of the tables
13 ... 10 Reserved
14 Transfer of the inductances from autotuning and of the Ke factor from
motor type plate as constant values
15 Calculate MTPF table
171.3 Ld curve family
Nonlinear direct axis inductance depending on the currents Isd and Isq. The first index
shows the dependence of Id, the second of Iq.

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4.4 Configuration
171.4 Lq curve family
Nonlinear cross inductance depending on the currents Isd and Isq. The first index shows
the dependence of Id, the second of Iq.
171.5 Standardized current for inductance curve family
Maximum current for the set of characteristic curves. The curve families Z171.3– and
Z171.4– are standardized to this current.
171.10 Minimum Id current
Minimum Id current determined by the field weakening controller. This is needed to re-
duce the flux at high speed and less torque request and to enable a higher torque at high
speed.
171.11 Id Current of MTPF characteristic
Maximum Id current which can be still supplied at a fixed flux. The maximum Id current is
taken from the MTPF characteristic. A higher Id current would not yield a higher torque at
constant flux.
171.12 Motor constant K
Factor
 PM
K = ------------------------------
-
4   Lq – Ld 
The current set values Id and Iq are calculated with this factor.
The motor factor can be calculated automatically via Bit 0 and 1 of parameter Control
word reluctance (Z171.1–). The factor K is calculated via the nominal current and the
nominal Id current at bit 0 and from the mean values of Lq, Ld and the magnetic flux table
(Z171.3–, Z171.4– and Z171.20–) at bit 1.

171.13 MTPF Table
MTPF table according to the flux.

The table is standardized to the maximum Id current (Z146.12– corresponds to 100%)
and the nominal flux (Z171.14–). The available flux is calculated from the maximum avail-
able voltage and the electrical speed. The MTPF table can be calculated automatically
via bit 15 of parameter Control word reluctance (Z171.1–).
171.14 Nominal flux
Standardization for MTPF table. The nominal flux can be calculated automatically with the
MTPF table from the nominal voltage and the nominal speed.
171.15 State field weakening of IPMSM
State of the field weakening
Value Meaning
0 No field weakening
1 Reducing of the flux by increasing of the Id current
2 Reducing of the flux by limitation of the Iq current
171.16 Total reference current
The total current set value at the IPMSM of the won from the speed controller. This is di-
vided to a lq and ld current and the optimum torque results.
171.17 Maximal torque current from flux
This current is obtained from the breakdown torque controller. This is the maximum
torque current that can be impressed in the motor. From this current and the minimum ld
current the limit of the maximum total current is calculated so that an optimum division in
lq and ld current can be reached. This way the maximum torque current can be reached
taking into consideration all the present limits.
171.20 Magnetic flux
Nonlinear magnetic flux depending on the current.

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4.4 Configuration
171.21 State identification nonlinearity
Status of the identification of the Lq, Ld and Ke curve families
Value Meaning
0 Inactive
1 Initialization
2 Determination of the maximum speed for the identification
3 Variation of Id
4 Variation of Iq
5 Wait until speed is equal zero
6 Acceleration and switching to measurement, if speed greater than 10%
and speed controller is limited
7 ... 8 Reserved
9 Measurement of Uq, Ud and speed
10 ... 15 Calculation of the magnetic flux
16 ... 17 Determination of the sampling time
18 Reset of the parameters used for the measurement
19 Calculation of the inductance, if the needed current is too high
20 End
21 Error
22 Timeout
23 Calculation of Ld
24 Recalculation of the tables

4.4.6 Encoder

This chapter is not relevant for the active mains rectifier unit, because an encoder is
not connected to active mains rectifier unit.
This software module manages the evaluation and monitoring of the encoder signals.
The following full digital encoder types can be evaluated:
Encoder type Supply Remark


EnDat 2.2 5V Max. 16 MHz
HIPERFACE DSL 10 V
SSI 5V Max. 2 MHz
The following encoder types can be evaluated:
Encoder type Supply Signal Maximum input

frequency
Resolver Excitation fre- Transmission ratio -
quency 7.8125 kHz 0.5
Square-wave incre- 5V RS422 (TTL) 250 kHz
mental encoder
Sine-Cosine encoder 5V ~ 1 Vss 250 kHz
Sine-Cosine encoder 10 V ~ 1 Vss 250 kHz
with HIPERFACE
with EnDat
with SSI interface
Sine incremental 5V ~ 1 Vss 250 kHz
encoder with commu-
tation track
Hall sensor 5V ~1 Vss 250 kHz
Maximum input frequency and maximum speed
The maximum input frequency is related to the electrical input signal. This value has ef-
fect on the maximum evaluable speed of the drive, which is possible depending on the
number of pulses.
Incremental encoder:

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4.4 Configuration
-1 f input  60
n max,theoretical  min  = -----------------------------------------
-
Number of pulses
Example: Sine-Cosine encoder with a number of pulses 1024:
kHz  60- = 14648 min -1

n max,theoretical  min  = 250
-1
------------------------------
1024
Resolver
The theoretical maximum speed is limited due to the excitation frequency (7.8125 kHz)
and the number of pole pairs at a resolver.
-1 f excitation  60 7.8125 kHz  60

n max,theoretical  min  = -----------------------------------------------------------------------------------
- = -----------------------------------------------------------------------------------
-
20  Number of pole pairs Resolver 20  Number of pole pairs Resolver
Example: Resolver with 1 pole pair
kHz  60- = 23437 min -1

n max,theoretical  min  = 7.8125
-1
-------------------------------------
20  1
4.4.6.1 Length measuring devices
Length measuring devices with sinusoidal tracks
The PPR count in the parameter >137.1< must be entered and saved at length measur-
ing devices with sinusoidal tracks.
m If the length measuring device is used to operate a linear motor the PPR count is
calculated as follows:
 Pole pair number  Pole pitch [mm]-

PPR count = 2-------------------------------------------------------------------------------------------
Length of the signal period [mm]
In parameter Z137.33– the read length of the signal period is shown at EnDat 2.1
or HIPERFACE.
The pole pitch ("length of a magnet") is described in the motor data sheet.
It is recommended to use the value 1 for the pole pair number. If the PPR count
doesn't amount to an integer, then the pole pair number must be increased until an
integer is reached.
Alternatively the PPR count calculation can be performed in ProDrive under "Con-
figurationMotor\Linear-Motor".

Hereby, Z107.67– Pole pitch, Z107.19– Pole pair number Z107.28– Division dis-
tance measuring system (accords to the length of the signal period) must be entered
and "Calculate rotary parameters" must be pressed. The PPR count in the parame-
ter >137.1< is entered.
m If the length measuring device is used to control the position only (Z18.9– Controller
options bit 0 = 1) the user must set the PPR count accordant to the existing mechan-
ical structure.
Length measuring devices with EnDat 2.2
No standardization is done when using length measuring devices with EnDat 2.2. The
no. of pulses need not to be calculated and is irrelevant.
The digital position is mapped to the position actual value (Z106.12–) in presetting. The
digital position can be mapped to the encoder angle actual value instead using bit no. 13
in encoder options (Z106.3–, bit 13).
Mapping on 16 bit angle and 16 bit turns (standard).

The lower 16 bit of the digital position are mapped in the upper 16 bit of the parameter
Z106.5– Encoder angle actual value. The upper 16 bit are mapped in the lower 16 bit of
the parameter Z106.6– Encoder revolutions actual value. This way the complete position
can be read via the parameter Z106.12–. 32 bit at the maximum are evaluated.
Mapping on 32 bit angle actual value (option can be activated via Z106.3–, bit 13)
The digital position is mapped to parameter Z106.5– Encoder angle actual value. This is
only useful in combination with cyclic position set value on parameter Z136.5– Target an-
gle, in this case position set value and position actual value are of identical standardiza-
tion.
NOTE!
When having length measuring devices to control the motor it must be ensured that
the zero point of the encoder is not within the traveling range! The zero point is at
Z106.5– Encoder angle actual value < 0 and Z106.6– Encoder revolutions actual
value < 0. If. If so, please contact the center application department.
4.4.6.2 Encoder monitoring
Monitoring of signal amplitude Sin² + Cos²
The controller evaluates the present total amplitude from the sine and cosine traces of the
encoder (Am in ZFig. 50–). At error free operation the sum of the quadrants of the sine
and cosine measuring values is nearly constant. However the signal level is not always
constant, in particular there is a dependence of the angle speed and consequently from
the speed.

Document No.: 5.09022.17 of 978
4.4 Configuration
The levels for the monitoring of the sin² +cos² value can be set in the parameter Z14.1–
and Z14.2–.
Figure 50: Sine/Cosine traces and instantaneous amplitude of the encoder signal
Sector Monitoring
The sector sequence at the sampling of the encoder traces (sine or cosine signal) is an-
alyzed at this monitoring. Here it is assumed that the sampling rate is at least 4 times the
signal frequency and therefore each quadrant of a signal period is at least sampled once.
Monitoring of square-wave incremental encoder
The levels of the encoder signal are monitored separately at a square-wave incremental
encoder, because a monitoring of the amplitude using sin² +cos² is only restricted possi-
ble. The zero trace (zero pulse) is not monitored.

NOTE!
m The amplitude monitoring does not monitor for cable breaks and is only in a limited
position to detect any cable breaks that might be present.
It is not guaranteed that an individual break in one of the sin+/sin- or cos+/cos-
lines will be detected by the form of amplitude monitoring implemented.
m It is not possible, if the machine is stationary, to detect a cable break using the in-
direct method of amplitude monitoring. If might be possible to detect that a cable
break is present using amplitude monitoring, but the machine must first be started
up.
m The amplitude monitoring and the display in the encoder diagnosis of ProDrive is
only possible up to approximately 18 kHz signal frequency (is equivalent to
n [min-1] = 18 kHz * 60 / number of pulses) at a square-wave incremental encod-
er. Above this frequency only the special square-wave incremental encoder mon-
itoring is effective.
m The signals of the commutation track are not monitored at Sine incremental encod-
ers with commutation track.
Monitoring of the position actual value
This monitoring is available at Sine-Cosine encoders with digital interface. The absolute
position, which the encoder calculates, is read out at the digital interface (HIPERFACE,
EnDat, SSI). This value is compared with the position calculated from sine and cosine
traces and is written in parameter Z14.22– Position monitoring error. If this value ex-
ceeds the set error threshold Z14.21–, error 428 is initiated:
428 Encoder monitoring: difference between analog and digital position too high
The response time is max. 5 s. Please consider the setting notes for parameter Z14.21–.
Restrictions:
– Monitoring of HIPERFACE encoder and EnDat 2.1 is possible from firmware version
1.08.
– Monitoring of SSI encoder is possible from Firmware version 01.13.
Field Angle Monitoring on Synchronous Machines
The controller determines the pole wheel direction of the rotor with the aid of the motor
model. This is then compared with the pole wheel direction which is calculated from the
encoder used for motor control. When monitoring is enabled (i.e. the field angle speed
threshold Z143.8– is not equal to 0), at an angle error greater than 45° (electrical), bit 8
of parameter Z143.1– is set and the error message
211 Error While Monitoring the Field Angle
is initiated. The pulse enable is blocked as a result.
Additionally, the field angle monitoring can be switched on and off by setting the field an-
gle speed threshold (Z143.8–) as a function of the speed set value. If the speed is less
than the field angle speed threshold (Z143.8–), the monitoring remains disabled.

Document No.: 5.09022.17 of 978
4.4 Configuration
Field angle monitoring only functions for the encoder which is set for motor control.
|Speed actual value| > Field angle

19.16 Speed threshold
Rho electric 143.8
Motor Model
Model
0
Encoder mec. angle Rho electrical

Actual value 106.13 47.47
Cos signal A
Encoder
106.25 Position
*
Sin signal B Calculation
Encoder Error
106.24 No. 211
Position error Motor Motor Threshold = p/4
Pole pairs Offset
107.19 127.8
5000_0125_rev02.cdr
Error
cos² + sin² No. 400 to 404
Figure 51: Sin2cos2 Monitoring and Field Angle Monitoring of a Synchronous Machine

4.4.6.3 ProDrive Encoder
Figure 52: ProDrive Encoder
4.4.6.4 Encoder optimization
The signals of the encoder or of the encoder's attachment are not always correct. The en-
coder signals can be optimized with different methods. This way correct positioning infor-
mation and speed information is obtained.

Document No.: 5.09022.17 of 978
4.4 Configuration
Figure 53: ProDrive encoder optimization
4.4.6.5 Encoder correction
Offset- and amplitude error corrections must be done at all analog encoders. However,
the static encoder error corrections at the sine incremental, the SinCos HIPERFACE, the
SinCos Endat 2.1 and the SSI encoders are advisable upon completion of first correction.
1. Offset and amplitude error correction
Amplitude and offset of the sinusoidal and cosine tracks are measured here. This way is
optimized, that the unit circle of the sine value and the cosine value is centered and has
a 90% amplitude. On the ProDrive page Encoder diagnosis the measured values can be
included for checking. If the measured points are on the predefined green circle, the angle
and speed measuring have been processed correctly.

Figure 54: ProDrive Encoder diagnosis
2. Statical encoder error correction
The encoder signals are subject to tolerances. Therefore, the sinusoidal signals and the
cosine signals are not always conform with an exact sinusoidal function. These toleranc-
es can cause speed vibrations with a frequency of speed*PPR (pulses per revolution).
These tolerances are suppressed by using the automatic statical encoder error correc-
tion. The offset values of the encoder tracks are fit, so that the speed vibrations are min-
imized.
Calculation takes place in speed control. Thereby, the setpoint frequency of speed * PPR
(pulses per revolution) must be constant and they must lie between 30 and 500 Hz.
Measuring checks are made with the circular buffer speed (Z18.22–) and the sinusoidal
track (Z106.24–). The measurement at a SinCos HIPERFACE encoder with 1024 PPR
count in speed control with a set speed of 10 rpm is shown in the following. The relevant
frequency is
f = 10 rpm * 1024 = 170 Hz.

Document No.: 5.09022.17 of 978
4.4 Configuration
Figure 55: Speed and sinus track before statical encoder error correction
Figure 56: Speed and sinus track after statical encoder error correction

4.4.6.6 Encoder accuracy and excentricity
To increase the absolute accuracy in the drives and to reduce the vibrations at rotational
frequency the encoder angle can be improved by an angular-dependent correction value.
Vibrations may occur in the speed, with the frequency of the present speed, if the encoder
is not exactly aligned centrically towards the motor shaft, for example. The control error,
which was caused by an encoder excentricity, cannot be corrected by the positioning con-
troller or by the speed controller. The control error can be approximated by a sinusoidal
function. Thus, the control error is suppressed on the encoder angle by adding an addi-
tional angle with a sinusoidal function.
Encoders providing a low resolution such as resolvers are imprecise in their absolute ac-
curacy. In the controller the basic vibration (1st harmonic vibration) as well as other har-
monic (up to the 4th harmonic vibration) angular displacements can be compensated. For
this purpose the amplitude and the phase of the correction function must be entered in
Z106.71– and Z106.70– (basic vibration) and in Z106.76– and Z106.77– (higher har-
monic vibrations). The maximum harmonic vibration to be corrected is specified by
Z106.75– whereat 0 is the 1st harmonic vibration. The correction is enabled by bit 6 of
Z106.3–.
2p
Position deviation
angle 18.61
Encoder excentricity
Phase shifting 106.70
Encoder excentricity
amplitude 106.71
0
0 2p Position actual t
value 106.10
(angle)
a) Approximation
Position actual
2p
0
value 106.10
(angle)
5000_0231_rev02
t
b)
a) Error of encoder excentricity and its approach
b) Variation of the position value angle
Figure 57: Encoder excentricity
Determination is carried out in current control. The setpoint frequency (speed) must be
constant. It must lie between 0.1 and 500 Hz.

Document No.: 5.09022.17 of 978
4.4 Configuration
In addition, an automatic identification of the correction values is possible in ProDrive.

The current and the speed must be entered during the identification (Z106.79–) for this
purpose. The evaluation is determined by a constant current input. The present status is
displayed in Z106.72–.
4.4.6.7 SSI digital configuration
The complete transmission cycle must be processed within 61.5 µs. For this, the trans-
mission speed Z106.60– bits 10 to 13, the number of the bits to be transmitted
(Z106.62– + Z106.63– + Z106.98– + Z106.99–), the parity bit (Z106.60– bit 16) as well
as the monoflop time tm of the encoder are relevant (refer to the according encoder data
sheet).
T = P106.62 + P106.63 + P106.98 + P106.99 + P106.60 bit 16- + t  61.5 s

------------------------------------------------------------------------------------------------------------------------------------------- m
P106.60 bit 10...13 in Hz
Parity bit
Up to a maximum of 48 bit data + optional parity bit can be transmitted. In case the parity
bit shall be evaluated, it must be transmitted as the last bit (least-significant bit / LSB). If
the encoder transmits the parity bit at another position then it must be considered as a
data bit and goes into the 48-bit limitation. Then the parity bit is not be checked.
Additional data
If the encoder transmits additional data before and/or after the encoder position, these
can be filed in any scalar and cyclically writable parameters.
If the additional data is not relevant for the application, then the bit number (Z106.98–.
Z106.99–) is specified, only - the target parameter however is left empty.
Additional data can be transmitted before the position (MSB) or after the position (LSB).
NOTE!
When transmitting in the gray code format the additional data is decoded, as well!
Sample configuration
Z106.98– = 6 6 bit data before the position

Z106.63– = 8 8 bit revolutions
Z106.62– = 16 16 bit angle
Z106.99– = 18 18 bit data after the position
Z106.100– = Z126.21– Application parameter Uint16_1
Z106.101– = Z126.61– Application parameter Uint32_1

47 42 41 34 33 18 17 0 Bit
106.98 106.63 106.62 106.99
6 Bit 18 Bit
126.21 MSB 0 . . . . 0 126.61 MSB 0 . . . . . . 0
15 0 31 0
5000_0408_Rev01
8 Bit 16 Bit
106.11 0 . . . . . . . . . . . . 0 LSB MSB 0 . . . . . . . 0 106.10
31 0 31 0
Figure 58: SSI digital sample configuration
4.4.6.8 Resolver synchronization
The resolver can be operated with two different excitation frequencies, 7.8125 kHz and
8 kHz. By using the 8 kHz thereby the resolver excitation can be synchronized on the
fieldbus. Additionally the phase of the resolver excitation can be set to set the resulting
sine and cosine tracks to a certain time.
Figure 59: Synchronization of the resolver

Document No.: 5.09022.17 of 978
4.4 Configuration
In ZFig. 59– the synchronization of the resolver is represented. Via bit 4 of parameter
Z106.43– the excitation frequency can be set to 8 kHz and activates the synchronization.
The Dsp interrupt is synchronized to the fieldbus and the resolver tracks (blue) are syn-
chronized to the first Dsp interrupt. The excitation (green) is shifted so that the maximum
of the resulting sine and cosine track is synchronous to the Dsp interrupt. The phase shift
between the Dsp interrupt and the accordant maximums are set via the parameter
Z106.52– and accepts values between 0 and 124 µs. Thereby, the excitation voltages of
the amplitude and the phase towards one another can deviate depending on the imped-
ance of the resolver.
4.4.6.9 Encoder angle via fieldbus
The encoder angle can be transferred via the fieldbus with the b maXX 5000. This is es-
pecially a benefit, when having motors with several windings with one encoder cabling, if
a splitting of the encoder cable is to be avoided. It must be considered during the appli-
cation, that there is a dead time due to the fieldbus transmission. This must be parame-
terized, so that all converters get the same electric angle. In order that all of the
participants observe the same current set value, a dead time in the current set value must
be additionally added at the master. Hereby, highly-dynamical applications with quick
changes of high electrical frequencies are not suited.
Setting
At a motor with several windings there is always a "Master converter" connected with the
encoder. The other converters are slaves obtaining their encoder angle via the fieldbus
(Z106.1– = 9). The following parameters must be transmitted via the fieldbus:
Z106.5– Actual angle value of encoder
Z18.22– x2 actual speed value filtered
These parameters must be mapped to the following parameters:
Z106.90– Encoder angle fieldbus
Z106.91– Encoder angle speed
To minimize the dead time the control should be operated with by a cycle time which is
as low as possible. The lowest dead time results in a slave to slave communication. Here-
by, the master must be in position 1 of the fieldbus topology and the slaves in further po-
sitions. In this configuration the total dead time must be calculated as follows:
T Deadtime,total = 2  T Fieldbus + T RT0
At a fieldbus cycle time of 1 ms and a speed controller cycle of 250 µs a dead time of
2.25 ms follows. This must be entered at the master in the Z19.61– (delay current set val-
ue) and at the slave in the Z106.92– (fieldbus dead time).
Because of the additional dead time in the speed control loop speed and position control
loops cannot be operated with the standard gains.

Functional block: Encoder monitoring [14]

FbEncoder [106]
FbEncoderId [137]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
14.1 Min value sin²+cos² FLOAT 0 141.42 30 % 1:1 X

14.2 Max value sin²+cos² FLOAT 0 141.42 125 % 1:1 X
14.3 Actual value sin²+cos² FLOAT 0 141.42 0 % 1:1 X
14.4 Variance of sin²+cos² FLOAT 0 141.42 0 % 1:1 X
14.5 Average sin²+cos² FLOAT 0 2896 0 Inc 1:1 X
14.6 Max sin²+cos² variance FLOAT 0 141.42 100 % 1:1 X X
14.7 Variance quality factor FLOAT 0 141.42 0 1:1 X
14.8 Absolute range of fluctu- FLOAT 0 141.42 0 % 1:1 X
ation
14.9 Tolerance FLOAT 0 141.42 50 % 1:1 X X
14.10 Max error count ampli- UINT 0 0x001F 1 1:1 X
tude
14.11 Error count lower limit UINT 0 0x001F 0 1:1 X
14.12 Error count upper limit UINT 0 0x001F 0 1:1 X
14.13 Max error count sector UINT 0 0x001F 1 1:1 X
14.14 Error count sector UINT 0 0x001F 0 1:1 X
14.15 Max error count incre- UINT 0 0x001F 1 1:1 X
mental encoder
14.16 Error count incremental UINT 0 0x001F 0 1:1 X
encoder
14.17 Encoder error mask UDINT 0 0x7F 0x1F 1:1 X
14.19 Cycle time variance cal- UDINT 0 0x7FFFFFFF 10000 1:1 X
culation
14.20 Status variance calcula- UDINT 0 0xFFFF 0 1:1 X
tion
14.21 Position monitoring error FLOAT 0.0 360.0 45.0 Grad 1:1 X
threshold
14.22 Position monitoring error FLOAT -360.0 360.0 0 Grad 1:1 X
106.1 Encoder type INT 0 11 0 1:1 X

106.2 Status UINT 0 0xFFFF 0 1:1 X
106.3 Encoder options UDINT 0 0xFFFFFFFF 0 1:1 X
106.4 Oversampling factor UINT 0 8 0 Bit 1:1 X
106.5 Encoder actual angle UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
106.6 Encoder actual revolu- UDINT 0 0xFFFFFFFF 0 1:1 X
tions
106.7 Speed display DINT 0x80000000 0x7FFFFFFF 0 Inc/ms 1:1 X

Document No.: 5.09022.17 of 978
4.4 Configuration
106.8 Filter time constant FLOAT 0 1000 10 ms 1:1 X

speed display
106.9 Speed display filtered FLOAT -1.000000e+09 1.000000e+09 0 Grad/s 1:1 X
106.10 Encoder position actual UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
angle
106.11 Encoder position actual UDINT 0 0xFFFFFFFF 0 1:1 X
revolutions
value
106.15 Revolution overflow UDINT 0 2147483647 0 1:1
counter
106.16 Revolution overflow UDINT 0 2147483647 0 1:1 X
counter max value
106.20 Offset sinus INT -2048 2047 0 1:1 X
106.21 Offset cosine INT -2048 2047 0 1:1 X
106.22 Gain sinus UINT 0 2047 1024 1:1 X
106.23 Gain cosine UINT 0 2047 1024 1:1 X
106.24 Sinus signal INT -32768 32767 0 1:1 X
106.25 Cosinus signal INT -32768 32767 0 1:1 X
106.43 Resolver mode WORD 0x0 0xFFFF 0x3 1:1 X
106.44 Resolver excitation set UINT 0 100 55 % 1:1 X
amplitude
106.45 Resolver excitation act UINT 0 100 0 % 1:1 X
amplitude
106.46 Resolver set phase off- UINT 0 0xFFFF 20 µs 1:1 X
set
106.47 Resolver actual phase UINT 0 0xFFFF 0 µs 1:1 X
offset
106.52 Resolver phase syn- UINT 0 124 0 µs 1:1 X
chronization
106.60 SSI mode UDINT 0 0xFFFFFFFF 0x00004000 1:1 X
106.61 SSI status UDINT 0 0xFFFFFFFF 0 1:1 X
106.62 SSI bits angle UINT 0 31 12 1:1 X
106.63 SSI bits revolutions UINT 0 31 12 1:1 X
106.64 SSI angle UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
106.65 SSI revolutions UDINT 0 0xFFFFFFFF 0 1:1 X
106.70 Encoder excentricity UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
angular phase shift
angular amplitude
106.72 State of encoder optimi- DINT 0 0xFF 0 1:1 X
zation
106.75 Maximum harmonic UINT 0 3 0 1:1 X
106.76 Amplitudes of the har- UDINT 0 0xFFFFFFFF 0 Grad 1:1 X
monics
106.77 Phases of the harmon- UDINT 0 0xFFFFFFFF 0 Grad 1:1 X
ics
106.78 Correction angle DINT 0x80000000 0x7FFFFFFF 0 Grad 1:1
106.79 Speed for calculation of FLOAT 0 3000 600 Grad/s 1:1
excentricity

106.81 DSL communication UDINT 0 0xFFFFFFFF 0 1:1 X
error counter
106.90 Encoder angle fieldbus UDINT 0 0xFFFFFFFF 0 Grad 1:1 X X
106.91 Encoder speed fieldbus FLOAT -1000000 1000000 0 Grad/s 1:1 X X
106.92 Fieldbus deadtime FLOAT 0 5 2 ms 1:1 X
106.98 SSI bits extra data MSB UINT8 0 32 0 Bit 1:1 X
106.99 SSI bits extra data LSB UINT8 0 32 0 Bit 1:1 X
106.100 SSI extra data target UDINT 0 0xFFFFFFFF 0 1:1 X
parameter MSB
parameter LSB
137.1 Number of pulses UDINT 0 524288 1024 1:1 X

137.2 Number of revolutions UINT 0 0xFFFF 1 1:1 X
137.3 Encoder data selection UINT 0 0xFFFF 4 1:1 X
137.4 BM-OEM notch position UINT 0 0xFFFF 0 1:1
mechanical
137.5 M0-Offset angle UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
137.6 M0-Offset revolution UDINT 0 0xFFFFFFFF 0 1:1 X
137.7 M0-Sector position initi- DINT -2147483648 2147483647 0 1:1
ator
137.8 Encoder operation time UDINT 0 0xFFFFFFFF 0 1:1
137.9 Time first commission- UDINT 0 0xFFFFFFFF 0 1:1
ing
137.10 Time last refresh UDINT 0 0xFFFFFFFF 0 1:1
137.20 Type name STRING 1:1 X
137.21 Serial number STRING 1:1 X
137.22 Firmware version STRING 1:1 X
137.23 Firmware date STRING 1:1 X
137.24 Eprom capacity UINT 0 0xFFFF 0 Byte 1:1 X
137.25 Data storage capacity UINT 0 0xFFFF 0 Byte 1:1 X
137.26 Defined fields UINT 0 128 0 1:1 X
137.27 Data field status UINT 0 0xFFFF 0 1:1 X
137.28 Digital resolution UINT 0 0xFFFF 0 Bit 1:1 X
137.29 Position format UINT 0 0xFFFF 0 Bit 1:1 X
137.30 Instruction set UINT 0 0xFFFF 0 1:1 X
137.31 Resolution of revolu- UINT 0 0xFFFF 0 Bit 1:1 X
tions
137.32 Angle resolution UINT 0 0xFFFF 0 Bit 1:1 X
137.33 Signal length UDINT 0 0xFFFFFFFF 0 nm 1:1 X
137.34 Measure step UDINT 0 0xFFFFFFFF 0 nm 1:1 X
137.36 Alarm mask UINT 0 0xFFFF 0 1:1 X
137.37 Alarm buffer UINT 0 0xFFFF 0 1:1 X
137.38 Warning mask UINT 0 0xFFFF 0 1:1 X
137.39 Warning buffer UINT 0 0xFFFF 0 1:1 X
137.42 Parameter of OEM 1, 2 UINT 0 0xFFFF 0 1:1 X

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4.4 Configuration
14.1 Min value sin²+cos²
Minimum threshold value for (sin²+cos²) monitoring of the encoder signals in percent.
14.2 Max value sin²+cos²
Maximum threshold value for (sin²+cos²) monitoring of the encoder signals in percent.
14.3 Actual value sin²+cos²
The value is calculated from the encoder track for (sin²+cos²) monitoring.
14.4 Variance of sin²+cos²
Standardized variance of the (sin²+cos²) actual value.
14.5 Average sin²+cos²
Calculated average value to the normal distribution of the encoder track signals from the
(sin²+cos²) monitoring. The value corresponds to the radius, thus the square root of
(sin²+cos²) and is displayed in the resolution of the A/D converter (2048 is equivalent to
1.0).
14.6 Max sin²+cos² variance
Error threshold for the variance monitoring of the (sin²+cos²) value. If the variance ex-
ceeds this threshold an error message is set off.
14.7 Variance quality factor
This parameter indicates the quality of the calculated signal variance (Z14.4–) of the
(sin²+cos²) value of the encoder signals. The variance is calculated using the least errors
squared method. The sum of all errors squared is a measure of the quality of the calcu-
lated variance and should be as small as possible.

14.8 Absolute range of fluctuation
The absolute range of fluctuation of the (sin²+cos²) measured value in percent.
14.9 Tolerance
14.10 Max error count amplitude
Setpoint for (sin²+cos²) amplitude monitoring of the encoder signals. At activated moni-
toring an error message is generated corresponding to the preset numbers of exceedings
or under-runs of monitoring threshold.
14.11 Error count lower limit
Display of how often the minimum threshold (sin²+cos²) has been under-run.
14.12 Error count upper limit
Display of how often the maximum threshold (sin²+cos²) has been exceeded.
14.13 Max error count sector
Setpoint for the sector monitoring of the encoder signals. At activated monitoring an error
message is generated corresponding to the preset numbers of sector errors.
14.14 Error count sector
Display of how often a sector error has been detected.
14.15 Max error count incremental encoder
Setpoint for the incremental encoder monitoring. At activated monitoring an error mes-
sage is generated corresponding to the preset numbers of incremental encoder errors.

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4.4 Configuration
14.16 Error count incremental encoder
Display of how often an incremental encoder error has been detected.
14.17 Encoder error mask
Bit field for selecting the active encoder monitors.

When Bit 0 = 1 the encoder monitoring is activated. With Bits 1 to 6 it must be set which
of the several monitoring functions operate.
When Bit 0 = 0, the encoder monitoring is disabled completely.
Bit # Meaning
0 0: Encoder monitoring switched off
1: Encoder monitoring switched on
1 Monitoring of maximum signal amplitude active
2 Monitoring of minimum signal amplitude active
3 Monitoring of sectors active
4 Monitoring of the square-wave incremental encoder active
5 Monitoring of the position initialization active
6 Variance monitoring active
7 Monitoring of the position actual value.
This monitoring must not be enabled at length measuring devices (linear
encoders).
14.19 Cycle time variance calculation
Cycle time of the variance calculation in ms.
14.20 Status variance calculation
Internal status of the variance calculation.
14.21 Position monitoring error threshold
Error threshold for position actual value monitoring, see Z14.17– bit 7. Mechanical angle
in degrees.

An electrical angle less than 45° is recommended using synchronous machines. Thus a
positive feedback in the current closed loop can be avoided at a slowly growing position
actual value error. Recommendation for setting:
45°
Error threshold 14.21  -----------------------------------------
Pole pairs 107.19
14.22 Position monitoring error
Present difference between the digital position and the analog position from the sine-co-
sine traces. Updating interval approx. 500 ms. Mechanical angle in degrees.
Error 14.22 = Digital position – Analog position
The digital resolution Z137.28– and the number of pulses Z137.1– restrict the possible
resolution of the encoder.
106.1 Encoder type
Selection of encoder type and thus the type of encoder evaluation.
Value Encoder type Remark

0 No encoder
1 Resolver Excitation frequency 7.8125 kHz;
transmission ratio 0.5;
2 Square-wave incremental encoder 5V with sensing line;
signal RS422 (TTL)
3 Sine-Cosine incremental encoder 5V with sensing line, signal ~1 Vpp
4 Sine-Cosine incremental encoder with Absolute value encoder of SICK-
HIPERFACE Stegmann GmbH;
incremental signal ~1 Vpp
5 Sine-Cosine incremental encoder with Absolute value encoder of Dr. Joh.
EnDat Heidenhain GmbH with incremen-
tal signal ~1 Vpp
 recognizable by the designation
of order EnDat 01 or EnDat 02
see Z137.20–
6 Sine-Cosine encoder with SSI interface Absolute value encoder with incre-
mental signal ~1 Vpp

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4.4 Configuration
Value Encoder type Remark

7 EnDat 2.2 As in 5 mentioned, but digital evalu-
ation only. Possibly available incre-
mental signals will not be evaluated!
8 HIPERFACE DSL
9 Encoder via fieldbus The encoder angle is transmitted via
the fieldbus and is calculated from
the angle and the current speed.
10 Sine-Cosine incremental encoder with 5V with sensing line, signal ~1 Vpp
commutation track
11 SSI encoder The same as 6 but only a digital
evaluation is carried out
12 Hall sensor 5V with sensing line, signal ~1 Vp
NOTE!
SSI length measuring devices are not supported at the time!
If the installed FPGA software (Z102.15–) does not support the selected encoder
type, error no. 430 is generated.
106.2 Status
Status of the encoder
Bit Description
0 0: Encoder not active
1: Encoder active
1 0: Automatic resolver setting not active
1: Automatic resolver setting active
2 0: Encoder initialization not active
1: Encoder initialization active
3 0: Analog traces are used
1: Digital information is used (HIPERFACE DSL, EnDat 2.2, SSI)
4 0: Encoder optimization is not completed yet
1: Encoder optimization completed (amplitudes/offset, eccentricity...)
5 0: Offset- and amplitude error correction is carried out
1: Offset- and amplitude error correction is completed
15 ... 6 Reserved

106.3 Encoder options
Options for encoder evaluation.
Bit Meaning Remark

0 Inversion of the encoder 0: Not inverted
evaluation 1: Inverted (mounted with different direction
of revolution)
1 Automatic signal correction 0: Switched off
1: Activated. An automatic correction of
amplitude and offset of the sine-cosine
signals is carried out.
2 Inversion of the serial read 0: Not inverted
position 1: Inverted (the serial read out absolute posi-
tion will be inverted)
3 Initialization of HIPER- 0: Initialization with the digitally read position
FACE-encoder with only
assignment to analog sig- 1: Initialization with digitally read position and
nal analog signals (better initialization accu-
racy, assignment of digital position refer-
ring to analog tracks must be available)
4 Start of the automatic static
encoder error correction
5 Identification of unbalance
6 Activation of unbalance
compensation
7 Consideration of the 0: The M0 Offset will be added without con-
encoder’s range at addition sideration of the range which is clearly dis-
of the M0 Offset tinguishable by the encoder
1: The range which is clearly distinguishable
by the encoder will be considered at the
addition of the M0 Offset (e. g. overflow at
4096 revolutions)
9 ... 8 Reserved
10 Addition of the revolutions 0: The Z106.15– revolution overflow counter
of the overflow count on the is not used during the encoder initializa-
actual position value tion to generate the actual positioning
value (Z106.11– or Z106.12–).
1: The revolutions of the overflow counter
are added to the position actual value.
Bit 7 of the Z106.3– is not relevant in this
case.
12 ... 11 Reserved

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4.4 Configuration
Bit Meaning Remark

13 Position standardization at 0: Mapping of the digital position on the com-
EnDat 2.2 linear encoder bined position actual value (Z106.12–)
for position control 1: Mapping of the digital position on the
angle actual value (Z106.5–)
31 ... 14 Reserved
NOTE!
The automatic signal correction should be used only during commissioning. As soon
as the values for the gain and for the offset correction are determined, the automatic
signal correction should be deactivated and the correction values should be saved
with the parameter set.
At square-wave incremental encoders this function can only be used up to a 18 kHz
signal frequency.
Bit 3 Initialization of HIPERFACE-encoder assigned to the analog signal

If the bit is set, the analog tracks at initialization of absolute encoders with HIPER-
FACE-interface are used. This achieves a higher initialization accuracy. The precon-
dition must be an assignment of the digital position information to the analog tracks
according to the HIPERFACE-specification. The delivery status of encoders have this
assignment. However, this status can be changed by overwriting the digital position of
the encoder.
If this option is set and the assignment is not specified, error 402 occurs at initialization
of the encoder.
This bit is set to zero at all other encoder types.
106.4 Oversampling factor
Oversampling factor for encoder evaluation.

This value can only be changed if the motor is stopped.
Meaning of the values:
Value Meaning
0 no oversampling
1 2-fold oversampling

Value Meaning
106.5 Encoder actual angle
Current actual value of encoder angle (without absolute dimension offset adjustment)
Standardization: 0xFFFFFFFF for 360 degrees
106.6 Encoder actual revolutions
Present actual value of encoder revolutions (without absolute dimension offset adjust-
ment).
The overflow occurs at the number of revolutions, which is set in parameter Z137.2–.
At Sine-Cosine encoder with EnDat or HIPERFACE the read out value will be entered
in Z137.2– automatically.
At other encoder types the overflow for the parameter >106.6< can be defined by the
user via the parameter Z137.2–.
106.7 Speed display
Display of the actual speed in increments per ms. The resolution is 32 bit increments per
revolution.
106.8 Filter time constant speed display
Filter time constant for the smoothed speed display (Z106.9–) from the actual speed dis-
play Z106.7–.
106.9 Speed display filtered
Filtered value of the speed (only for display, smoothing time constant can be set in
Z106.8–).

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4.4 Configuration
106.10 Encoder position actual angle
The parameter shows the angle of the encoder position actual value in 32 bit resolution.
If the encoder is selected for position control, it corresponds with parameter Z18.55–.
106.11 Encoder position actual revolutions
The parameter shows the number of revolutions of the encoder’s actual value position in
32 bit resolution. If the encoder is selected for position control, it corresponds with param-
eter Z18.56–.
106.12 Encoder position actual value
Combined actual value position of the encoder (contains revolutions Z106.11– and angel
Z106.10–) in position resolution (fixed at 16 bits per revolution at present). Includes rev-
olutions and angles. If the encoder is selected for position control, it corresponds with pa-
rameter Z18.54–.
106.15 Revolution overflow counter
This parameter counts the overflows of parameter "Encoder actual revolutions"

(Z106.6–) from 0 up to the (maximum value -1). The maximum value is specified in pa-
rameter "Revolution overflow counter max value" (Z106.16–).
The counter value is saved retentive after the controller was switched off and on again.
In the off-state position changes of multiturn encoders are detected up to a maximum of
¼ of the position revolution range "Number of revolutions" (Z137.2–). The value of "Rev-
olution overflow counter" (>106.15<) is corrected correspondingly.
NOTE!
At singleturn encoders as well as at resolvers the overflow count operates as well.
The correctable ¼ revolution range is a +-¼ encoder revolution. Therefore the over-
flow count can not be corrected even after a revolution which is greater than a ¼ rev-
olution in the switched off status. After an encoder error at a rotating motor the
permitted revolution can be exceeded from the encoder information loss onward. In
both cases the overflow count of the encoder is incorrect after a restart or a re-initial-
ization!
At incremental encoders the overflow count cannot be used.
The parameter is writable. The controller rejects an input value, which is greater or equal
than the value "Revolutions overflow counter maximum value" (Z106.16–).
The overflow counter can be used for the following functions

m Addition of the overflow count revolutions to the actual positioning value (Z106.11– or
Z106.12–) at the encoder initialization. The Activation of the function is made by
Z106.3– encoder options bit 10.
m Z121.17– modulo actual position value and Z121.12– actual position value with over-
flows. The activation of this function is made by Z121.1– positioning general mode
bit 4.
106.16 Revolution overflow counter max value
This parameter specifies the maximum counter limit for the encoder revolution overflow
counter (Z106.15–) from which the overflow counter starts with 0 again.
If the value of the parameter is equal to 0 or 1, the parameter Z106.15– does not count.
The parameter is writable. The value Z106.15– is adapted to the new counting range ac-
cording to a modulo calculation, if a smaller value than the present value of Z106.15– is
written.
106.20 Offset sine
Offset correction for the sine signal. Automatically adjusted when optimization activated.
Can also be set as a fixed parameter.
106.21 Offset cosine
Offset correction for the cosine signal. Automatically adjusted when optimization activat-
ed.
106.22 Gain sine
Amplification of the sine signal. Automatically adjusted when optimization activated.

106.23 Gain cosine
Amplification of the cosine signal. Automatically adjusted when optimization activated.


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4.4 Configuration
106.24 Sine signal
Analog value of sine trace (after correction).

At square-wave incremental encoders the measuring value of the B trace is shown. How-
ever the displayed value is only usable up to approximately 18 kHz signal frequency.
106.25 Cosine signal
Analog value of cosine trace (after correction).

At square-wave incremental encoders the measuring value of the A trace is shown. How-
ever the displayed value is only usable up to approximately 18 kHz signal frequency.
106.43 Resolver mode
Via this mode the amplitude and the phase adjustment of the resolver can be automated
and the resolver frequency and the evaluation procedure can be set.
Bit Meaning
0 0: manual setting
1: automatically amplitude setting
1 0: manual setting
1: automatically phase setting
3 ... 2 Reserved
4 Resolver frequency
0: 7.8125 kHz without synchronization on the fieldbus
1: 8 kHz with synchronization on the fieldbus
6 ... 5 Reserved
7 0: Standard evaluation
1: Reevaluation
15 ... 8 Reserved
106.44 Resolver excitation set amplitude
Amplitude set value of the resolver excitation is overwritten after the activation of the
Z106.43– bit 0, and no longer can be set manually. At the automatic setting the excitation
amplitude is increased until the maximum complies with 90% of the AD conversion range.

106.45 Resolver excitation act amplitude
Actual value of the amplitude of the resolver excitation.
106.46 Resolver set phase offset
Set value of resolver excitation phase is overwritten after Z106.43– bit 1 was activated
and cannot be set manually anymore. This phase marks the shifting of the excitation fre-
quency to the evaluation. At an automatic setting the phase is set in such a way that the
evaluation is always carried out at the maximum of the sine and cosine track.
106.47 Resolver actual phase offset
Actual phase value of the resolver excitation.
106.52 Resolver phase synchronization
Setting of the phase shifting of the resolver tracks dependent on the DSP interrupt. Then
bit 4 of Z106.43– still must be activated.
Configuration examples:
– Z106.43– = 0x0003: Resolver standard setting, resolver frequency = 7.8125 kHz

without synchronization on the fieldbus with automatic amplitude and phase setting
– Z106.43– = 0x0083: Resolver reevaluation, resolver frequency = = 7.8125 kHz
without synchronization on the fieldbus with automatic amplitude and phase setting
_________________________________________________________________
– Z106.43– = 0x0093: Resolver reevaluation, resolver frequency = 8 kHz with syn-

chronization on the fieldbus and automatic amplitude and phase setting
Here the required phase shift to the DSP interrupt with >106.52< can be set.
– Z106.43– = 0x0092: Resolver reevaluation = 8 kHz with synchronization on the

fieldbus. However, with an automatic phase setting and an manual amplitude set-
ting. Here the following procedure shall be complied with:
1. Setting of Z106.20– (Z106.21–) = 0 and Z106.22– (Z106.23–) = 1024.
2. Set the excitation set-amplitude manually by Z106.44–, until the value is
displayed at Z14.3– by about 85%.
3. Set the required phase shifting to the DSP interrupt by >106.52<.

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4.4 Configuration
106.60 SSI mode
Setting of transmission and the data format:
Bit Meaning
9 ... 0 Reserved
13 - 10 Baud rate
Value Meaning
0 100 kHz
1 199 kHz
2 399 kHz
3 1,014 MHz
4 1,974 MHz
5 ... 15 Reserved
14 Binary code / Gray code
0: Transmitted in binary code
1: Transmitted in Gray code
15 Reserved
16 Parity
0: Transmitted without parity bit
1: Transmitted with parity bit
17 Even parity / odd parity
0: Even parity (bit 16 is set)
1: Odd parity (bit 16 is set)
31 ... 18 Reserved
106.61 SSI status
Status of SSI transmission:
Bit Meaning
0 Transmission activity
0: Transmission is not active
1: Transmission is active
1 Validity of data
0: The encoder data is invalid (parity error)
1: The output data is valid
2 Reserved

Bit Meaning
3 Parity error
0: No parity error
1: Parity error
31 … 4 Reserved
106.62 SSI bits angle
Setting of bit numbers to transmit the angle (0 to 31).
106.63 SSI bits revolutions
Setting of bit numbers to transmit revolutions (0 to 31).
106.64 SSI angle
There is a 32 bit value for the SSI angle (singleturn) in increments, which is directly read
by the encoder.
106.65 SSI revolutions
There is a 32 bit value for the SSI revolutions (multiturn), which is directly read by the en-
coder.
106.70 Encoder excentricity angular phase shift
The phase of the sinusoidal additional angle in order to compensate excentricity or 1st
harmonic.
106.71 Encoder excentricity angular amplitude
The amplitude of the sinusoidal additional angle in order to compensate excentricity or

1st harmonic.

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4.4 Configuration
106.72 State of encoder optimization
Status Meaning
0 Inactive
1 Initialization
2 Measuring for static encoder error correction
3 Measuring for the determination of eccentricity
4 Calculation of amplitude and phase of the measured value
5 Offset correction at static encoder error correction
6 Calculation of amplitude and phase of eccentricity
7 End
8 Error, setpoint frequency not constant
9 Error, setpoint frequency too low
10 Error, setpoint frequency too high
11 Offset error and amplitude error correction active
12 ... 14 Internal calculation
15 Error in calculation
16 ... 21 Internal calculation
22 Acceleration
23 Braking
24 Correction measurement
106.75 Maximum harmonic
Maximum harmonic correction function. The basic vibration is corrected if the value is 0;
if the value is one then additionally the 2nd harmonic vibration is corrected. Deviations up
to the fourth harmonic vibration can be corrected at the maximum.
106.76 Amplitudes of the harmonics
Array including the amplitudes to correct the encoder angle as a harmonic function
whereat the index 0 stands for the amplitude of the 2nd harmonic vibration. The further
harmonics follow with a rising index.

106.77 Phases of the harmonics
Array including the phases to correct the encoder angle as a harmonic function whereat
the index 0 stands for the phase of the 2nd harmonic. The further harmonic vibrations fol-
low with a rising index.
106.78 Correction angle
Correction angle of excentricity and adding the individual harmonics, added to the encod-
er angle.
106.79 Speed for calculation of excentricity
By this speed the motor is operated during the evaluation of the excentricity or the indi-
vidual harmonics.
106.81 DSL communication error counter
Error counter of faulty transmission between encoder and IP core or error in the evalua-
tion of the encoder. Possible causes could be EMC issues or failures due to shock or vi-
bration. If an error occurs the warning 431 is generated and a position is estimated for 5
speed control cycles; the error 405 is generated if the error remains. The error counter is
incremented as soon as there is a cycle error occurs. If the encoder is initialized again
then the error counter is deleted as well.
106.90 Encoder angle fieldbus
Encoder angle transmitted via the fieldbus.
106.91 Encoder speed fieldbus
Current speed transmitted via the fieldbus.
106.92 Fieldbus dead time
Dead time between the master where the encoder is connected and the slave receiving
the encoder angle via the connected fieldbus. During a slave to slave communication the
following dead time results:

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4.4 Configuration
T Deadtime,total = 2  T Fieldbus + T RT0
It is recommended to check the time with the global oscilloscope.
106.98 SSI bits extra data MSB
Number of the bits transmitted before the first bit of the position (most significant bit/MSB.
Changes at the parameter become effective by the activation of the encoder with
Z106.1–.
106.99 SSI bits extra data LSB
Number of the bits transmitted after the last bit of the position at the SSI encoder (least
significant bit / LSB).
Z106.1–.
106.100 SSI extra data target parameter MSB
Parameter in which the additional data transmitted before the first bit of the position is to
be filed. The data is filed left-justified.
Any scalar and cyclically written parameters are permitted.
Z106.1–.
106.101 SSI extra data target parameter LSB
Parameter in which the additional data transmitted after the first bit of the position is to be
filed. The data is filed left-justified.
Any scalar and cyclically written parameters are permitted.
Z106.1–.

106.102 Encoder temperature
The parameter displays the encoder temperature when using HIPERFACE DSL® dnd En-
Dat 2.2® encoders. The resolution is 0.1 °C. The accuracy is dependent on the encoder.
Resolution and accuracy can not be influenced by the device. The temperature is updated
in the remaining time, 200 ms fastest. The parameter shows the last successful transmit-
ted value in case of communication problems. The parameter value is 0 °C if no encoder
is configured.
137.1 Number of pulses
Displays the number of pulses or the number of pole pairs of the encoder or serves for
the setting of the encoder.
Type of encoder Meaning Remark

Resolver Number of pole pairs of the
resolver
Square-wave incremental Number of pulses of the
Data must be entered using
encoder incremental encoder
the data sheet and saved in
Sine-Cosine encoder Number of sine periods per the data set
revolution
SSI encoder Number of sine periods per
revolution *)
Sine-Cosine encoder with Number of sine periods per Rotary encoder: The value
EnDat 2.1 or revolution will be read out automatically
HIPERFACE from the encoder
Length measuring devices:
The user must enter the
value
EnDat 2.2 Number of sine periods per When having length measur-
revolution, provided that ing devices: the parameter
they are existing. has no meaning.
Rotary encoder: see
Z137.31–, Z137.32–
Length measuring devices
see Z137.34–
HIPERFACE DSL There are no sine periods Rotary encoder: see
at encoders of this type; Z137.31–, Z137.32–
consequently the parame-
ter is 0 here.
*) Not used at operation of SSI encoders without sinusoidal tracks (encoder type
Z106.1– = 11)

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4.4 Configuration
137.2 Number of revolutions
The full revolution number of the connected encoder is specified. The read absolute po-
sition is clear within this revolution number.
At rotary encoders with EnDat, HIPERFACE or HIPERFACE DSL protocol the value
is read from the encoder and is written into this parameter.
At length measuring devices with EnDat 2.1- or HIPERFACE protocol the value is cal-
culated with the read encoder data (Z137.29– Position format, Z137.33– Signal length,
Z137.34– Measure step) and the set PPR count is calculated, the result is rounded up
and is entered in this parameter.
Position format
2  Measure step [mm]-
Revolutions = ---------------------------------------------------------------------------------
PPR count  Signal length [mm]
At length measuring devices with EnDat 2.2 protocol the value is calculated with the
read encoder data (Z137.29– Position format, Z137.34– Measure step) and the set mo-
tor parameters (Z107.19– Pole pairs, Z107.67– Pole pitch),.
Position format
2  Measure step [mm]-
Revolutions = ---------------------------------------------------------------------------------
Pole pitch [mm}  2  Pole pairs
At encoders with SSI protocol the parameter is set by means of the setting in Z106.63–
SSI bits multiturn.
137.3 Encoder data selection
Specifies which data will be read automatically from the encoder identification plate after
switch-on.
Bit Meaning
0 Read motor identification plate (motor data) from encoder
1 Read absolute value offset (M0 offset) from encoder
2 Read BM OEM notch position mechanical from encoder
3 Read variable operating data from encoder
15 ... 4 Reserved
137.4 BM-OEM notch position mechanical
Displays the value of the mechanic notch position (this means that the notch position
electric is divided by motor pole pair number) stored in the encoder.
Standardization: 0xFFFFFFFF for 360 degrees

137.5 M0-Offset angle
Absolute distance (angle fraction, only). Offset between the encoder coordinate system
and the machine coordinate system.
Concerning details, see Z137.6– M0-Offset revolutions
137.6 M0-Offset revolutions
Absolute distance (revolution fraction, only). Offset between the encoder coordinate sys-
tem and the machine coordinate system.
The absolute distance is the offset between the encoder coordinate system (of the encod-
er actual value as it is read from the absolute value encoder - Z106.5– and Z106.6–) and
the position coordinate system (Z106.10– / Z106.11– / Z106.12–). The M0-Offset is
added to the read encoder actual value at each initialization. Due to this, the requested
position coordinate system (machine coordinate system) results directly.
Encoder
coordinates
0
Position
coordinates
0 Reference point
M0 offset
Figure 60: Absolute value offset
Homing sets the M0-Offset automatically (see ZAutomatic setting of the absolute value
offset at homing– on page 729).
It only makes sense to use an M0-Offset with absolute value encoders. Furthermore, the
encoder's range must cover the total traversing range of the drive.
It can be selected at addition of the M0-Offset, whether the range (Z137.2– Number of
revolutions) which is clearly represented by the encoder should be taken into account or
not. This is defined in parameter Z106.3– Encoder options bit 7.
If the represented range should be taken into account, an overflow occurs at addition of
the M0-Offset at Z137.2– Number of revolutions. In this case the parameter Z137.6– M0-
Offset revolutions is ineffective at singleturn encoders.
A change of the M0-Offset takes effect after switching on or after an encoder initialization.
The M0-Offset is not influenced when writing the parameters.
137.7 M0-Sector position initiator
Offset of the position zero proximity switch for the machine zero position.

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4.4 Configuration
137.8 Encoder operating hours
Encoder operating hours
137.9 Time first commissioning
Time of the first commissioning of the machine or the encoder
137.10 Time last refresh
Time of the last time update of the encoder. Time stamps are written periodically to the
encoder (not yet implemented).
137.20 Type name
Model name of the encoder.

The following strings are displayed for encoder without communication (without serial
data interface):
m Resolver „Resolver“
m Square-wave incremental encoder (5 V; TTL):„Incremental encoder“
m Sine incremental encoder (~1 Vpp): „Sine incr. encoder“
Encoder with communication:

m Sine-Cosine encoder with SSI interface: "SSI encoder"
m Sine-Cosine encoder with HIPERFACE:
The identification is displayed depending on the read type identification:
e.g.: SRM 60 with identification 27hex: „SRM 50/60 / SCM-Kit 101“
SKS 36 with identification 32hex: „SKS 36“
unknown identification: „unknown“
m Sine-Cosine encoder with EnDat
The specified name is composed as follows:
Type of encoder + designation of order + EnDat version + EnDat instruction set
e.g.: Multiturn encoder EQN1325
designation of order 01; EnDat version 02; instruction set 2.2;
Z137.20– = „MultiRotaryED01-2.2“
Singleturn encoder ECN1313
designation of order is not in electronic type plate; EnDat version 02;
instruction set 2.1;
Z137.20– = „SingleRotaryEDxx-2.1“

137.21 Serial number
Serial number of the encoder.
Firmware version of the encoder.

The version of the EnDat interface is displayed at EnDat encoder. Only the incompat-
ible part of the version will be displayed. The compatible part (to the right of the decimal
point) is missing.
137.23 Firmware date
Date of the encoder firmware version.
137.24 Eprom capacity
Size of the usable OEM memory
137.25 Data storage capacity
Total storage capacity of the encoder
137.26 Defined fields
Only for Stegmann encoders: number of defined OEM memory data fields
137.27 Data field status
Only for Stegmann encoders: status of the defined data fields. See Stegmann manual for
meaning

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4.4 Configuration
137.28 Digital resolution
The parameter shows the resolution oft he the digital position in bits per revolution. It is
operated only with rotary encoder with EnDat - or HIPERFACE -encoders.
137.29 Position format
The parameter is set at EnDat - and HIPERFACE -encoders only.

It displays the resolution of the digital position value, which is read out of the encoder. The
parameter corresponds to the angle resolution at singleturn encoders. The sum of the
resolution of angle and revolutions is displayed at multiturn encoders.
The total resolution of the position value is displayed at length measuring systems.
137.30 Instruction set
The parameter is only valid for EnDat encoders.

It displays the supported instruction set as well as type specific information of the con-
nected encoder.
Bit Meaning
1 ... 0 01: Instruction set type 2.2 is supported
3 ... 2 01: Safety relevant applications are supported
5 ... 4 01: Mode command "Measuring device receives comm. command" is sup-
ported
7 ... 6 01: Shutdown of instruction set type 2.2 is supported
Residual Reserved
Only measuring devices with Bit 0 = 1 and Bit 1 = 0 support the functions of EnDat ver-
sion greater or equal 2.2.
Identification of instruction set (only for EnDat encoders).
137.31 Number of bits revolution counter
The parameter is set at EnDat -, HIPERFACE - and HIPERFACE DSL - encoders on-
ly.
It displays the resolution of the digital position value (number of bits) in the area of revo-
lution of multiturn encoders.
The parameter displays 0 at singleturn encoders and length measuring devices.

137.32 Angle bits
The parameter is set at EnDat -, HIPERFACE - and HIPERFACE DSL - encoders on-
ly.
It displays the resolution of the digital position value (number of bits) in the area of angle
at encoders or angle measuring devices.
137.33 Signal length
The parameter is set at EnDat - and HIPERFACE -length measuring device ("linear en-
coders") only.
It displays the length of a signal period in the unit nm.
137.34 Measure step 1
The parameter is set at EnDat - and HIPERFACE -length measuring device ("linear en-
coders") only.
The parameter displays the measuring step which will be output from the measuring in-
strument at the serial transfer of the position value. The unit is nm.
137.36 Alarm mask

The supported error messages of the connected encoder type are shown here.
Bit Supported error messages

0 1: Illumination failure
1 1: Signal amplitude
2 1: Position value
3 1: Overvoltage
4 1: Undervoltage
5 1: Overcurrent
6 1: Battery defect
Residual Reserved

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4.4 Configuration
137.37 Alarm buffer

The error messages of the connected encoder type are displayed in this parameter. The
encoder sends an error message if the malfunction can result in wrong position values.
The cause of error will be displayed in this parameter.
Bit Monitoring according to

0 1: Illumination failure
1 1: Signal amplitude faulty
2 1: Position value faulty
3 1: Overvoltage occurred
4 1: Undervoltage supply
5 1: Overcurrent occurred
6 1: Battery change needed
Residual Reserved
Not generally all error messages were supported (see Z137.36– Alarm mask).
The controller responds to a set error bit with a corresponding error (error numbers 406
to 412).
137.38 Warning mask

The supported warnings of the connected encoder type are shown.
Bit Supported warnings

0 1: Collision of frequency
1 1: Excess temperature
2 1: Lighting controller reserve
3 1: Battery load
4 1: Reference point crossed
Residual Reserved
137.39 Warning buffer

The warnings of the connected encoder type are displayed in this parameter. The ex-
ceeded requirements of tolerance for specific encoder internal values are displayed.
It is not assumed that position value are wrong at warnings contrary to error messages.
Bit Description
0 1: Collision of frequency
1 1: Excess temperature
2 1: Lighting controller reserve reached
3 1: Battery load to small
4 1: "Reference point crossed" will be supported
Residual Reserved
Not generally all warnings were supported (see Z137.38– Warning mask).
The controller responds to a set warning with a corresponding error (error numbers 417
to 421). These can be always acknowledged.
137.42 Parameter of OEM 1, 2
137.43 Parameter of OEM 3, 4
These two parameters are only valid for EnDat encoder.

The available OEM memories are displayed.
The controller uses these areas for the Baumueller motor type plate.

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4.4 Configuration
4.4.7 Incremental encoder emulation

This module is not available at the active mains rectifier unit.
For the use of incremental encoder emulation there must be implemented the option mod-
ule incremental encoder emulation IEE in the slot B. This can be seen at the option mod-
ule type code Z174.5–. The following modules are appropriate:
BM5-O-IEE-XXX-XXX-XXXX
BM5-O-EIP-001-XXX-XXXX
BM5-O-MOD-001-XXX-XXXX
Only if the sequence of characters IEE / EIP / MOD is on the bolded characters, then an
option module with IEE support is implemented.
An implemented IEE / EIP / MOD option module is additionally displayed on the start page
of ProDrive.
Actual values of one of the encoders or external set values are processed in the controller
and the pulse sequences A and B are generated and then the zero pulse is derived.
In order to minimize disturbances the cables from the controller to the superimposed PLC
must be twisted pair cables.
As output signals two signals, which are phase quadrature TTL-rectangular-pulse se-
quences A and B, are provided. Also the inverted pulse sequences A and B, the zero
pulse 0 together with its inverted signal 0 is provided.
Figure 61: Pulse sequence of incremental encoder emulation
Calculation of maximum possible speed nmax dependent on the set PPR count N and of
the maximum output frequency fmax = 500 kHz incremental encoder emulation:

f max
n max = ---------
N
Example: N = 10 000 PPR counts

nmax  50 U/s = 3000 RPM
Delay, if set value source = Encoder:

Delay < 1.5 µs
Delay, if set value source = Position set value / Fieldbus set value:
Delay < Cycle time setting position set value / Fieldbus set value + 1.5 µs
4.4.7.1 ProDrive Incremental encoder emulation
Figure 62: ProDrive Incremental encoder emulation
Functional block: FbIee [172]

Axis-independent
Cyclic Write
DS Support
Read only
Storage
172.1 Mode block 1 DWORD 0 0xFFFFFFFF 0 1:1 X X

172.2 Status Block 1 DWORD 0 0xFFFFFFFF 0 1:1 X X
172.3 Number of pulses block UDINT 1 524288 1024 1:1 X X
1
172.4 Zero pulse offset block 1 UDINT 0 0xFFFFFFFF 0 1:1 X X
172.5 Fieldbus set value block UDINT 0 0xFFFFFFFF 0 1:1 X X
1

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4.4 Configuration

172.11 Status block 2 DWORD 0 0xFFFFFFFF 0 1:1 X X
2
2
172.1 Mode block 1
Settings for block 1:
Bit no. Meaning

0 0: Switch off IEE
1: Switch on IEE
2 ... 1 If bit 0 = 1:
00: Switch on IEE as soon as possible

(Source = encoder: after completion of the encoder initialization)
Other source: at once)
01: Switch on IEE after the first zero pulse of the source
(permissible only for source = encoder with zero pulse (e.g. square
wave incremental encoders)
10: Reserved
11: Reserved
3 Change polarity
0: Switch off
1: Switch on
6 ... 4 Select source signal:
000: Encoder 1
001: Reserved
010: Position set value
011: Fieldbus set value
100 ... 111: Reserved
7 Reserved
8 Zero pulse generation
0: Switch on
1: Switch off
31 ... 9 Reserved

172.2 Status block 1
Status of block 1:
Bit no. Meaning

1 ... 0 00: IEE is switched off
01: IEE is being initialized
10: IEE is switched on
3 ... 2 Reserved
4 1: Error has occurred (accumulative error, details see bits 8 ... 11)
7 ... 5 Reserved
8 If bit 4 = 1: Error specification
1: Output frequency is limited
IEE module cannot sent the required number of pulses
1: Error in set value source
1: Option module IEE not available
1: IEE should be started after the first zero pulse of the source, source has
no zero trace
12 1: Zero pulse generation is switched on
0: Zero pulse generation is switched off
31 ... 13 Reserved
172.3 Number of pulses block 1
Number of pulses per revolution of incremental encoder emulation.
172.4 Zero pulse offset block 1
Angle offset between zero angle of the over Z172.1– selected source and the zero pulse
of the incremental encoder emulation.

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4.4 Configuration
5000_0272_rev01_int.cdr
P172.4 = 0°
= 0000 0000hex
P172.4 = -90° P172.4 = 90°

= C000 0000hex = 4000 0000hex
Figure 63: Incremental encoder emulation zero pulse
172.5 Fieldbus set value block 1
This parameter is interpreted as 32-bit angle (360° accordant to FFFFFFFFhex).

If fieldbus set value was selected with bits 4 to 6 (Select source signal) in parameter Mode
(Z172.1–), the top 24 bit are issued in each control cycle with linear fine interpolation at
the incremental encoder-emulation module IEE.
172.10 Mode block 2
The same as Z172.1–, but here encoder 2 instead of encoder 1 is read out at
source = encoder.
172.11 Status block 2
Status of block 2. See Z172.2–
172.12 Number of pulses block 2
See Z172.3–

172.13 Zero pulse offset block 2
See Z172.4–
172.14 Fieldbus set value block 2
See Z172.5–

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4.4 Configuration
4.4.8 SSI encoder emulation

For the use of SSI encoder emulation there must be implemented the option module SSI
encoder emulation SIE in the slot B. This can be seen at the option module type code
Z174.5–:
BM5-O-SIE-XXX-XXX-XXXX
Only if the sequence of characters SIE is on the bolded characters, then the option mod-
ule SIE is implemented.
An implemented SIE option module is additionally displayed on the start page of Pro-
Drive.
Actual values of one of the encoders or external set values are sent as telegrams with
configurable length (number of bits for multiturn (revolutions) and singleturn (angle)), ad-
justable format (binary code / Gray code) and switchable parity (even/odd) via the data
line.
The clock must be generated by an external control or a SSI encoder input according to
the SSI standard (200 kHz … 2 MHz).
Up to 48 bits and an optional parity bit can be transmitted. The number of bits result from
the number of bits for angle Z173.1– bit 8 to 13, number of bits for revolutions Z173.1–
bit 16 to 21 as well as the additional data bits MSB Z173.5– and LSB Z173.6–.
Functional block: FbSie [173] Axis-independent

Cyclic Write
DS Support
Read only
Storage
173.1 Mode DWORD 0 0xFFFFFFFF 0x101000 1:1 X

173.2 Status DWORD 0 0xFFFFFFFF 0 1:1 X
173.5 Extra data bits MSB UINT8 0 32 0 Bit 1:1 X
173.6 Extra data bits LSB UINT8 0 32 0 Bit 1:1 X
173.7 Extra data source UDINT 0 0xFFFFFFFF 0 1:1 X
parameter MSB
parameter LSB

173.1 Mode
Settings for the SSI encoder emulation
Bit no. Meaning

0 0: Switch off SIE
1: Switch on SIE
3 ... 1 Select source signal
Value:
0: Encoder (block 1: encoder 1, block 2: encoder 2)
1: Position set value
2 ... 3: Reserved
4: Encoder (block 1: encoder 2, block 2: encoder 1)
5 ... 7: Reserved
4 Reserved
5 Coding transfer:
0: Binary transfer
1: Gray code
7 ... 6 Parity:
00: Do not transfer parity bit
01: Transfer parity bit with even parity
10: Transfer parity bit with odd parity
11: Reserved
13 ... 8 Number of bits for angle (singleturn)
0 … 32
15 ... 15 Reserved
21 ... 16 Number of bits for revolutions (multiturn)
0 … 32
31 ... 22 Reserved
Maximum 48 bits (without parity bit) will be transferred

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4.4 Configuration
173.2 Status
Bit no. Meaning

1 ... 0 00: SIE is switched off
01: SIE is being initialized
10: SIE is switched on
3 ... 2 Reserved
4 0: Data transfer inactive
1: Data transfer active
7 ... 5 Reserved
8 1: Error has occurred (accumulative error, details see bits 12 ... 14)
11 ... 9 Reserved
1: Configuration: Option module is not available
13 Reserved
1: Timeout
31 ... 15 Reserved
173.5 Extra data bits MSB
Number of bits, to be read from the source parameter and to be transmitted before (MSB)
the position. The related source parameter can be specified in Z173.7–.
An acceptance of the setting is carried out when mode Z173.1– is set.
173.6 Extra data bits LSB
Number of bits to be read from the source parameter and to be transmitted after (LSB)
the position. The related source parameter can be specified in Z173.8–.
173.7 Extra data source parameter MSB
From this parameter the most significant n bits are transmitted before the position. The
number n is specified in Z173.5–.
All scalar and cyclically readable parameters are permitted.

173.8 Extra data source parameter LSB
From this parameter the least significant n bits are transmitted after the position. The
number is specified in Z173.6–.
All scalar and cyclically readable parameters are permitted.

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4.4 Configuration
4.4.9 Autotuning of current controller

The active mains rectifier unit doesn’t use this module. The active mains rectifier unit
doesn’t support the autotuning of the current controller.
At present, the following three measurements have been implemented for the autotuning
function:
m Stator resistance measurement,
m Leakage inductance measurement (stator inductance measurement on synchronous
machines)
m Dead time measurement on the power inverter
After the measurements have been performed successfully, the current control circuit can
be self-optimized on command. In ProDrive you can decide whether the modeling param-
eters used for motor control should be set to the values of inductance and resistance from
the motor data sheet or from the results of the autotuning. The dead time compensation
can also be activated via ProDrive.
NOTE!
With the function "Autotuning" additional parameters cannot be determined for the
motor model of the connected electrical machine!
BM5000 is not an intelligent measuring device for electrical machines!
With the function "Autotuning" the control engineering characteristics are determined
only. This includes the electrical machine, the cable as well as additional filters be-
tween inverter output of motor and the motor connection terminals.
Dead time compensation is not absolutely necessary when operating with encoder re-
sponse. Dead time measurement need only be carried out for open loop operation and
the dead time compensation then activated.
Starting autotun- m The resistance and inductance measurements can only be started together.
ing: m The dead time measurement can only be started if the resistance and inductance mea-
surements are also activated at the same time.
m After change of switch frequency (Z130.15–) the dead time measurement must be ex-
ecuted again depending on the controller version (see ZDead Time Compensation–
from page 588)!
If desired, the calculation and adoption of the measured resistance and inductance must
be activated in the current regulator parameters (Z123.10– bit 3 = 1) before the mea-
surement. The measured resistance is standardized to 20°C, if a temperature sensor is
connected to measure the motor temperature. If the measurement results are not satis-
factory, these parameters can be recalculated from the motor data sheet or be set directly
with other values.

The adoption of the measured motor parameters into the motor control system and the
activation of the dead time compensation is only allowed if the corresponding measure-
ments have been carried out successfully. Otherwise the motor control system uses the
values from the motor data sheet.
Copy R/L measurement to motor data

If it is required to use the values of resistance and inductance measurement for other mo-
tors of the same type, this values can be copied to the motor data parameters.
m Synchronous motor:
Stator resistance Z107.29– = Stator resistance measured Z123.6–
Lq inductance Z107.34– = Inductance measured Z123.7–
Ld inductance Z107.35– = IInductance measured Z123.7–
m Asynchronous motor:
Stator resistance Z107.29– = Stator resistance measured Z123.6–
Rotor resistance Z107.31–  0,5 x Stator resistance measured Z123.6–
Stator leakage inductance Z107.30–  0,5 x Inductance measured Z123.7–
Rotor leakage inductance Z107.32–  0,5 x Inductance measured Z123.7–
The R/L motor data can be activated for motor control ("Accept parameter Z123.10– , bit
3 = 0) and than saved in parameter set.
The parameter set can be transmitted to other devices.
NOTE!
The autotuning only has an effect on the current data set.

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4.4 Configuration
4.4.9.1 ProDrive Autotuning of the Current Controller
Figure 64: ProDrive Autotuning of the current controller

4.4.9.2 Parameter overview Autotuning of the Current Controller
Functional block: Autotuning of the current controller [123]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
123.1 Mode UDINT 0 0xffffffff 1 1:1 X

123.2 Status UDINT 0 22 0 1:1 X
123.4 Display max. current FLOAT 0 10000 0.000000e+00 A 1:1 X
123.6 Stator resistance mea- FLOAT 0.0 100 1.7 Ohm 1:1 X
sured
123.7 Inductance measured FLOAT 0.0 10000 6.4 mH 1:1 X
123.8 Result current controller FLOAT 0.0 1000 0.0 V/A 1:1 X
Kp
123.9 Result current controller FLOAT 0.0 1000 0.0 ms 1:1 X
Tn
123.10 Parameters takeover DINT 0 15 0 1:1 X
123.12 Time constant of step FLOAT 0 10000 0 ms 1:1 X
response
123.14 Normalized Error FLOAT 0 100 0 % 1:1 X
123.15 Dead time compensa- FLOAT -100 100 0 V 1:1 X
tion table
123.35 Result Rr FLOAT 0 100 0 Ohm 1:1 X
123.1 Mode
The contents of the identification can be set with this parameter.

The parameter can be changed only in an inhibited state.
Bit Meaning
0 Mode motor resistance and inductance measurement
0: No measurement
1: Measurement
1 Mode dead time measurement
(measurement of the table dead time correction Z123.15–)
0: No measurement
1: Measurement
2 Reserved

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4.4 Configuration
Bit Meaning
3 Mode of the adaption of the dead time compensation after the PWM fre-
quency:
0: Not activated
1: Activated
4 Motor diagnosis:
0: Not activated
1: Activated
The motor diagnosis will be initiated if only bit 4 is activated and all other
bits were deactivated.
To bit 1: Bit 1 can be set only of bit 0 is set too, i. e. the table dead time correction
Z123.15– can only be measured in combination with resistance and
inductance.
To bit 3: Mode of the adaption of the dead time compensation after the
PWM frequency:
– If the adaption is requested, the bit must be set before the measurement and then
must remain the same.
– If the bit is changed, the dead time voltage measurement must be repeated.
– If the adaption is activated, the dead time measurement values are converted to val-
ues corresponding to a PWM frequency of 8 kHz and subsequently stored in the
dead time correction table Z123.15–. The effective dead time voltage for the dead
time compensation is adapted according to the presently used switch frequency.
This can be different to the switch frequency at the moment of the measurement.
Better dead time compensation is reached if the used switch frequency and switch
frequency at the time of measurement are equal.
NOTE!
There is no way proving, if dead time measurement was executed by "Adaption ac-
cording to PWM frequency", successfully.
123.2 Status
This parameter shows the current status of the identification.
Value Meaning
0 Identification inactive or completed
1 Preparation for identification
2 Identification starting
3 Switch on voltage setting
4 Voltage setting
5 Starts identification of the resistance
6 Identification of resistance or inductance

Value Meaning
7 Error during identification of resistance or inductance
8
9
Identification of dead time in progress
10
11
12
13 Error during identification of dead time
14 Identification ready
15 Identification switched off
16 Identification cannot be switched on
17 Identification error: Set Value voltage too great.
18 Identification error: Voltage limit accessed
19 Identification error: Timeout (60 seconds) while measuring the resistance
20 Identification interrupted
21 Identification finished successfully
22 Identification switched off / aborted
30 Motor diagnosis active
123.4 Display max. current
This parameter shows the maximum current during the identification.

The value arises from the lowest value of:
m Nominal current (Z107.9–)
m Max. total current of the device (Z19.6–)
m 70% of the "Power unit peak current" (Z6.25–), or 70% of the "Power unit nominal cur-
rent" (Z6.26–) if the overload time (Z129.22– Max. peak current duration) is less than
3 seconds or if the PU overload monitoring occurs via temperature model (see Status
PU temperature model Z175.2–).
The display is updated after the start of identification.
123.6 Stator resistance measured
This parameter shows the identified stator resistance, including the resistance of the
IGBT and the motor cable. In the case of asynchronous motors, the rotor resistance is not
included. The identified value is calculated to 20°C if a temperature sensor to access the
motor temperature is connected.

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4.4 Configuration
123.7 Inductance measured
This parameter shows the identified inductance of the motors. Conversion from motor da-
ta: SM: sig_Ls = Lm + Ls ;
ASM: sig_Ls = Ls + Lr .
The following pictures show the equivalent circuits for the asynchronous machine (ASM)
and the synchronous machine (SM) at standstill.
rs: Stator resistance,

rr : Rotor resistance (on the stator side)
Ls : Leakage inductance of stator,
Lr : Leakage inductance of rotor (on stator side)
Lm : Magnetizing inductance (main inductance = LH)
Figure 65: Equivalent circuits of ASM (left) and SM (right) at standstill
123.8 Result current controller Kp
This parameter shows the calculated current controller Kp value at a PWM frequency of
4 kHz.
123.9 Result current controller Tn
This parameter shows the identified reset time for the current controller.

123.10 Parameters takeover
Bit no. Meaning

0 Reserved
1 Main inductance from
0: Lh-characteristic
1: Motor data
2 Smooth the dead time table
3 Motor resistance (s) and inductance(s) for motor control from:
0: Motor type plate
1: Identification
To bit 1:
If this bit is activated, the main inductance is taken over from motor data (Z107.33–), oth-
erwise it is taken from the characteristic (Z123.38–).
To bit 3:
If this bit is activated, the stator resistance and the inductance from the identification is
used for motor control.
The identified parameters are used internally for the motor control, if bit 3 is active.
NOTE!
There is no prove if the identification of winding resistance and inductance was suc-
cessfully.
The following parameters are internal used for motor control, i. e. for pre-control of decou-
pling, IxR pre-control and current prediction of current controller:
Bit 3 = 0:
– Synchronous motor
Z107.29– Stator resistance
Z107.34– Inductance Lq
Z107.35– Inductance Ld
– Asynchronous motor
Z107.29– Stator resistance
Z107.30– Stator leakage inductance
Z107.31– Rotor resistance
Z107.32– Rotor leakage inductance
Bit 3 = 1:
– Synchronous motor
Z123.6– Stator resistance measured
Z123.7– Inductance measured (Lq and Ld)

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4.4 Configuration
– Asynchronous motor
Z123.6– Stator resistance measured
Z123.7– Inductance measured (stator inductance)
In ProDrive it is possible to calculate the current controller either with the identified values
of resistance and inductance or with the motor data and d and q current controller are pa-
rameterized identically (Z47.7– = Z47.9– and Z47.8– = Z47.10–).
123.12 Time constant of step response
This parameter displays the identified time constant for asynchronous motors. The cur-
rent level for this is approx. 80% (current rise from 75% to 85%) of the maximum current
(Z123.4–). For synchronous motors the current level is 85% (current rise from 75% to
95%) of the maximum current and from that the value can be compared with the result
current controller Tn (Z123.9–) in order to assess the saturation effects. A clear satura-
tion effect is present if the step response time constant is clearly less than the value of
the result current controller Tn (Z123.9–) parameter. The parameter Z123.9– has in ef-
fect been measured with a current of 50% of the maximum current (Z123.4–).
123.14 Normalized Error
This parameter shows the normalized error that has been established while determining
the step response time constant (Z123.12–). The quality of the evaluation can be as-
sessed from the value and a value of less than 5% can be considered good.
123.15 Dead time compensation table
Table of the current-dependent correction of the voltage setting based on the measured
IGBT dead time.
The table is displayed graphical in ProDrive on page "Autotuning current controller" by
clicking on button "Dead time compensation".
Current range of the table:
For asynchronous motors from 0 to max. current value of identification (Z123.4–, mag-
netizing Z107.14–).
For all other motors from 0 to half of the max. current value of identification (Z123.4–).

NOTE!
Dependence on the frequency:
m Up to Firmware version V01.08: The table is valid for the set operating frequency
of the power unit at time of measurement, only. Measurement for the dead time
compensation must be made again if the operating frequency (Z130.15–) was
changed!
m From Firmware version V01.09: If the correction table (dead time) is measured
during the adaption of the dead time compensation according to the PWM frequen-
cy is active (Z123.1– bit 3 = 1), the effective voltage of the dead time compensa-
tion is corrected according to the effective PWM frequency. Therefore, a dead time
measurement after a change of the PWM frequency is not necessary anymore.
However, the best results are generally reached if the used PWM frequency cor-
responds to the PWM frequency at the moment of the dead time measurement.
NOTE!
m The table can not be reseted to default values in case once values are measured
and saved in the parameter set.
m The default values of the table are the result of a measurement of a specific device
at PWM frequency of 8 kHz, DC link voltage of 540 V and a current range of 0 to
1 A. The current dependent correction can be different from device to device. It is
not assured that the default values can be used for other devices. A table measure-
ment is recommended.
m The measured table of a device can be transferred to another device via parameter
set file. The parameter Z123.15– is part of the parameter set. Reasonable is the
transfer between devices of identical type only. It is recommended to activate the
adaption after PWM frequency of both devices (with Z123.1– bit 3 = 1 this adap-
tion is active). Please note, that even devices of the same type can content IGBT
modules of different manufacturers and this can have effects to the accuracy of the
transfered table.
m The dead time measurement must be repeated if the IGBT dead time (Z129.9–)
was changed.
123.35 Result Rr
This parameter shows the identified rotor resistance of an asynchronous motor.

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4.4 Configuration
4.4.10 Autotuning of position / speed controller

The active mains rectifier unit doesn’t use this module, because the active mains rec-
tifier unit doesn’t support the autotuning of the position / speed controller.
The "system gain" that is determined by the complete inertia of the drive, the motor-torque
constant Kt and the magnetic flux are combined at the rated point in the Ks factor
Z18.40–.
The actual value of the "gain" is calculated in the parameter ""Ks actual value" Z155.10–.
The inverse of the "Ks actual value" Z155.10–: (1/Ksact), serves in the controller as a
standardization constant between the acceleration value (speed controller output) and
the torque current set value. Therefore, ideally, the parameterization of the posi-
tion/speed controller is independent of the existing controlled system. The speed control-
ler can be parameterized with a symmetric optimum independent of the used motor and
the existing drive inertia.
The optimized values of the speed controller can not be used for all drives. For example,
a great load inertia could cause that the distortion in the torque current set value exceeds
10% of the motor nominal current. The excessive distortion is caused by the speed ripple
(dependent of the encoder type) and amplified by a (1/Ksact) which is too great. In this
case the encoder smoothing should be increased (to reduce the ripple) or a smoother set-
ting of the speed controller should be made. ProDrive offers a calculating tool for a
smoother setting.
Automatic identification of controlled system
It is possible to carry out an automatic identification of the controlled system with the con-
troller. The values at the speed controller, the positioning controller Kv factor as well as
at the inertia and the Ks factor are determined. See ZControl loop analysis– on page 264
for a detailed description.
4.4.10.1 Ks determination
Refer to ZThe factor Ks– on page 536 for a general description of the factor Ks.
The value of the factor Ks at the nominal point, Ks factor Z18.40– can be calculated or
measured.
Ks calculation
The Ks factor Z18.40– can be calculated as follows:
o
180 Kt
Ks factor = -----------  Flux nom [%]  ------
 J
with

Ks factor Parameter Z18.40– in (degree/s2)/A
Fluxnom 100% (according to definition of the Ks factor Z18.40–)
Kt Kt = Kt factor, in Nm/A
Kt factor Motor Kt in Nm/A Z107.44–
J Torque of the drive in kg m2 (Attention: Torque inertia parameters of the
controller are shown in kg cm2 !)
Example DS100M25 motor: Kt = 2.7 Nm/A, JM = 141 kg cm² = 0.0141 kg m²

n Motor without load (JL = 0):
Total torque J = JM + JL = 0.0141 kg m²
Ks factor = (180°/) * Kt/J = (180°/) * 2.7 / 0.0141 = 10973 (degree/s²)/A
n Motor with load (JL = 0.9 kg m2) by a gear, gear factor GF = at a ratio of 3 to 1 (motor
rotates faster), encoder is on the motor side:
Total moment of inertia, converted to encoder side (here, motor side):
J = JM + JL/GF² = 0.0141 + 0.9/9 = 0.1141 kg m²
Ks factor = (180°/) * Kt/J = (180°/) * (2.7 / 0.1141) = 1356 (degree/s²)/A
Ks measurement, methods
Three methods of the Ks measurement are provided:

1 One accelerating/braking measurement. "Ks measured" Z52.8–.
2 A FFT analysis specifically for the Ks measurement. Result: "Ks measured" Z52.8–.
3 Ks measurement as a part of the control loop analysis. See chapter ZControl loop anal-
ysis– from page 264.
If the result of the measuring is to be taken over, ProDrive copies the value of Z52.8– in
the parameter Ks factor Z18.40–.
The methods 1 and 2 can be started via "Command status" Z52.1– or in ProDrive on
page Ks measurement. The third method can be executed in ProDrive on page Optimi-
zation -> Control loop analysis
The different methods are described in the following:
Ks measurement by accelerating/braking
The Ks factor (see chapter ZThe factor Ks– on page 536) can be evaluated by an accel-
eration and braking procedure or a speed change N between N1 and N2 in [degree/s].
The following motion model is used:
1- + b  n + c
isq  n t  = a  -----
Ks
with:
a = abs( N/ t)
0 < |N1| < |n| < |N2|

Document No.: 5.09022.17 of 978
4.4 Configuration
[(Degree/s²)/A] is the unit for Ks and n is the speed in [degree/s]; a is the amplitude of the
acceleration or braking procedure in [degree/s2]. The factor b is the sliding friction in
[(A/degree)/s]. The factor c is the static friction in [A], and is signed depending on the
speed direction.
During the measurement the speed controller is applied with a great set value step
change so that the torque current goes in a specified limit (lsq-lim) (i.e. isq remains con-
stant during the acceleration or braking procedure).
By measuring the time t to change the specified speed N with limited current Isq-lim, Ks
can be evaluated as follows:
a
Ks  ---------------
I sq-Lim
The calculation of the Ks factor is incorrect due to the friction forces. So that the friction
forces do not invalidate the Ks measurement the evaluated factor should (measured Ks
factor) Z52.8– be made from the averaging between the evaluated Ks factors at the ac-
celeration procedure Z52.6– and the braking procedure Z52.7–.
Ks measured (P52.8) =  Ks Accel. + Ks Decel.   2
Acceleration: Starting speed = N1, end speed = N2

Braking: Starting speed = N2, end speed = N1
The prerequisites for the Ks measurement are:

1 Current controller and motor control have correctly set parameters.
2 Set Value generator and ramp function generator have parameters set (ProDrive offers
recommended settings for both options).
3 Drive is running with speed control (or position control) with set value generator and
with provisionally set Ks factor and speed control parameters. As a recommended val-
ue the speed controller can be preset with Kp = 60 1/s, Tn = 0.3 s and the parameter
Ks factor Z18.40– can be preset with twice the estimated value or the experienced val-
ue.
4 After the successful measurement the measured Ks factor Z52.8– can be taken over
(copy in Z18.40–). At the same time Kp and Tn of the speed controller can be param-
eterized e. g. after symmetric optimum (for this ProDrive provides a calculation tool).
As by-product of the measurement of the drive inertia (Z52.11– "Inertia measured"), the
sliding friction factor (Z52.9– "Load friction factor") and the static friction coefficient
(Z52.10– "Load friction") are determined as well.
Ks measurement with FFT analyzer function
The Ks measurement by the FFT-analyzer is a lighter version of the control loop analysis.
Here, a noise signal, whose amplitude must be specified, is given to the current additional
set value, as well. Contrary to the control loop analysis here the Ks factor is determined,
only.
This method is suited especially for drives in machines with a limited travel plant, as it can
be carried out in position control, as well and for drives where the inertia torque is un-
known. Concerning this, the drive can be operated in current control mode, so that the

drive carries out minimum movements, only. Thereby, the measured Ks-factor is a rough
setting, only; more accurate values can be calculated during movement, only.
The second and the third method use the FFT analyzer function of the controller. With the
controller-internal Ks-evaluation (method 2) the Ks value can be set for single mass sys-
tems only, when having vibrancy-capable systems then a more detailed consideration of
the distance in ProDrive on the page control system analysis is required (method 3).
The Ks measuring via the FFT analysis can be executed in all operating modes where the
torque current controller (this means current control or higher operating modes such as
speed or position control) is active. The current amplitude in Z52.12– must be specified,
wring internal in the controller to the parameter Z19.22–, to do this. Usual are 10% of the
nominal current of the motor. Plausible scenarios are listed in the following:
– Motor and/or load inertia are not known
n The operating mode current control with a current set value (Z18.50–) of 0 A for
a rough presetting of the Ks factor
– Inertias are known approximately or were measured in the operation current control,
already
n Motor is freely movable
m Execute Ks-measurement in speed or position control by a low speed
(< 100 U/min)
n Motor has a limited travel path or a measurement at a specific position
m If the travel path is limited or if the Ks measurement is to be executed at a spe-
cific position, the measurement in position control can be executed with an ad-
ditional periodical angle offset. This cyclical angle offset can be set via the
parameter Z52.18–. Hereby, accordant to the required additional movement
between 5 and 20 degrees would be provided.
In general, can be said that an exact measurement has to be carried out during move-
ment, preferably, because otherwise the measurement is affected by friction.
Ks measurement with control loop analysis
The third method of the Ks measuring is appropriate for oscillatory systems and is de-
scribed in detail in the chapter ZControl loop analysis– on page 264.

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4.4 Configuration
4.4.10.2 ProDrive Ks Determination
Figure 66: ProDrive Ks measuring
4.4.10.3 Parameter overview Ks measurement
Functional block: KsMeasurement [52] Axis-independent

Cyclic Write
DS Support
Read only
Storage
52.1 Command status UINT 0 100 0 1:1

52.2 Mean speed 1 FLOAT -1000000 1000000 0 Grad/s 1:1 X
52.4 Mean Isq 1 FLOAT -10000 10000 0.000000e+00 A 1:1 X
52.6 Ks result acceleration FLOAT -1.000000e+00 1,00E+09 0.000000e+00 Grad/ 1:1 X
s2/A
52.7 Ks result deceleration FLOAT -1.000000e+00 1,00E+09 0.000000e+00 Grad/ 1:1 X
s2/A

52.8 Ks measured FLOAT -1.0 1e+9 0 Grad/ 1:1 X
s2/A
52.9 Load friction factor FLOAT -10000 10000 0 A/Grad 1:1 X
/s
52.10 Load friction FLOAT -10000 10000 0 A 1:1 X
52.11 Inertia measured FLOAT 0 1e+9 0 kg cm2 1:1 X
52.12 Amplitude for FFT FLOAT -1e9 1e9 0 1:1
52.15 Kp identification FLOAT 0 1000000 0 1/s 1:1 X
52.16 Tn identification FLOAT 0 1000000 0 s 1:1 X
52.17 Phase margin FLOAT 0 89 60 Grad 1:1
52.18 Angle amplitude for Ks UINT 0 0xFFFF 0 Grad 1:1
identification
52.19 Period for Ks identifica- FLOAT 0.01 100 1 s 1:1
tion
4.4.10.4 Description of the Ks measurement parameters
52.1 Command status
Value 1 starts the Ks measurement via the acceleration and braking procedure and via
the value 40 the FFT analyzer is started. If the Ks measurement starts both axes via the
FFT analyzer then the axis remains in the waiting state until the other axis has finished
and then starts automatically because the FFT analyzer exists once only. Additionally the
speed controller parameter in dependence of the phase reserve, the PWM frequency, the
sampling time and encoder smoothing can be calculated.
The current status is also displayed here.
Meaning of the parameter:
Value Meaning
0 Inactive
1 Start of the Ks measurement via acceleration or braking procedure
2 Initialization
3 Field buildup with asynchronous motor
4 Wait for constant set speed Speed_1 (Parameters Z132.10– and
Z132.14–) 1)
5 Settling to constant speed Speed_1 1)
6 Constant speed Speed_1 1)
7 Acceleration
8 Settling to constant speed Speed_2 (Param. Z132.12– and Z132.16–) 2)
9 Constant speed Speed_2 2)
10 Braking

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4.4 Configuration
Value Meaning
11 Calculating Ks
12 Not used
13 Calculation complete
14 End
15 Not used
16 Error: Time for speed Speed_1 1) less than 2 seconds
17 Error: Time for speed Speed_2 2) less than 2 seconds
18 Error: Time for acceleration less than 0.1 seconds
19 Error: Time for braking less than 0.1 seconds
20 Error: Time for Speed_1 1) or Speed_2 2) or acceleration or braking phases
greater than 120 seconds
21 Error: Set speed Speed_1 or Speed_2 too low, < 10 degrees/s
22 Error: Determined value of Ks would be negative because acceleration value
too low
23 Error: Determined value of Ks would be negative because acceleration value
too low during braking
24 Error: Speed deviation too great (>5%)
25 Error: Incorrect acceleration sign during acceleration or braking
26 Error: Set acceleration not equal to ZERO at constant speed
27 Error at the Ks measurement with FFT analyzer
40 Start Ks measurement with FFT analyzer
41 Wait until the FFT analyzer is available
42 Measurement using the FFT analyzer is active
43 Calculation of the speed controller parameters
1)
Speed_1  Z132.10– = Z132.14–
2)
Speed_2  Z132.12– = Z132.16–
52.2 Mean speed 1
Display of the determined speeds while the drive is being operated at constant speed
Speed_1.
52.3 Mean speed 2
Display of the determined speeds while the drive is being operated at constant speed
Speed_2.

52.4 Mean Isq 1
Display of the determined torque-producing currents while the drive is being operated at
constant speed Speed_1.
52.5 Mean Isq 2
Display of the determined torque-producing currents while the drive is being operated at
constant speed Speed_2.
52.6 Ks result acceleration
Display of the Ks results determined during an acceleration procedure. Interim result to

evaluate the parameter Z52.8–.
52.7 Ks result deceleration
Display of the Ks results determined during a braking procedure. Interim result to evaluate
the parameter Z52.8–.
52.8 Ks measured
Display of the Ks value determined.

If Ks was evaluated by the accelerating/braking method the value is shown in >52.8<
from the parameters Z52.6– and Z52.7– by averaging. Both values should not differ too
much (+/-10%). A negative value means that the measurement was not successful.
52.9 Load friction factor
The determined coefficient of sliding friction, b, is displayed here in units of [(A/degree)/s].
52.10 Load friction
The determined static friction coefficient c is displayed here in units of [A].

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4.4 Configuration
52.11 Drive inertia measured
Display of the measured inertia of the drive (sum of the motor and the load inertia) at the
Ks measurement by accelerating/braking. The inertia is calculated from the measured Ks
Z52.8– and the Kt factor Z107.44–.
52.12 Amplitude for FFT
Axis-dependent amplitude for the starting signal of the Ks measurement. When starting
the Ks measurement with FFT this signal is put on the parameter Z104.12– and starts
the distance via the lsq additional set value (Z19.17–).
52.15 Kp identification
Optimized gain of speed controller form the identification.
52.16 Tn identification
Optimized reset time of the speed controller from the identification.
52.17 Phase margin
Setting of the required phase margin which the speed controller was designed to.
52.18 Angle amplitude for Ks identification
This is an additional angle of the Ks determination in position control. This angle is peri-
odically written with an additional smoothing to the parameter Z136.4– or Z136.6–.
52.19 Period for Ks identification
The period that the additional angle is added to the position set value to determine the
Ks-determination in position control.

4.4.10.5 Control loop analysis

The active mains rectifier unit doesn’t support optimizations in its control loop.
It is possible to carry out an automatically plant identification and after this an automatic
setting of the position and speed controller as well as implementing the polynomial filter
of the torque current set value with the FFT analyzer function and operating program Pro-
Drive. In ProDrive on the Optimization  Control Loop Analysis page (refer to ZFig. 67–
) the automatic identification and controller setting can be executed.
Preparation
For this purpose the motor must be operated at a speed controller in speed control, which
was set low. The other possibility is to operate in current control with a low current pre-
setting.
System information for the control loop analysis
For the distance identification and the optimization the following information of the system
is required: Kt factor, position-speed controller-sampling time and PWM frequency. From
the PWM frequency and assuming the amount optimum as a criteria for the parameter-
ization of the current controller, the additional time constant of the closed control lop (cur-
rent time constant) can be evaluated.
Step 1: Recording control process (amplitude and phase response)
Noise is added to the additional current set value by "Start analysis". The evaluation of
the measuring values is processed via the FFT analyzer function. This evaluation deter-
mines the frequency response.

Document No.: 5.09022.17 of 978
4.4 Configuration
Figure 67: Optimization
The noise amplitude Z104.12– must be specified in ampere. ProDrive recommends 10%
of the rated current. In order to start the drive it must be in the released state.
The recorded frequency response accords to the entire range of the FFT evaluation. Per
amplitude and phase (FFT-length/2)-elements are accepted. This way the frequency re-
sponse covers up to "Max. frequency" Z104.19– (this means the parameter FFT-data
Z104.21–, whose data accordingly have 500 elements, only, are not used).
The recorded frequency response can be stored in a file ("Save file" button). In this file
also the system information of the control loop analysis is saved.
Based on the recorded frequency response the plant can be identified in the next step.
Optionally, the identification can be executed by a frequency response recorded and
saved priorly. It can be loaded from a file in the operating memory space of ProDrive with
system information ("Load file" button)
Step 2: Identification of the control process
With the first 512 elements of the entire FFT evaluation the identification is carried out, up
to a frequency of
Max. frequency [104.19] * 512 / (FFT length / 2)
Example: With "Max. frequency" Z104.19– = 2000 Hz and "FFT length" Z104.9– = 4096
up to a frequency of 500 Hz.
At first is evaluated if it is a single mass system or a two-mass vibrational system. For this
the accepted frequency response is checked, if there are distinctive antiresonance and
resonance frequencies.

m With a plant having no elastic force, the torque constant Kt and the Ks factor and thus
the total torque inertia of the drive JA is calculated by the least squares method.
m With a two-mass vibrational system the torque constant Kt, the Ks factor, the motor in-
ertia JM, the load inertia JL, the spring stiffness DS and the spring damping DS is cal-
culated. Hereby the wanted type parameters are determined via a genetic algorithm.
The starting values are calculated from the detected damping and resonance frequen-
cy, on the basis of which the frequency range (range round the resonance and the an-
tiresonance) for the identification is determined, as well. If the measuring and the
identified model disaccord, then the frequency range and the resonance frequencies
can be also specified manually.
Furthermore, can be manually determined if the plant must be molded like a single mass
system or like a two-mass vibrational system. In the first case select "Identify as a single
mass system" in ProDrive, in the second case select "Specify resonance frequencies" in
ProDrive.
The identified values are not saved automatically (for same values there are no controller
parameters existent).
The initial value of the torque constant accords to the Kt factor Z107.44– or in case of a
loaded frequency response the factor Kt from the stored system information.
NOTE!
m ProDrive allows to define or to change the torque constants for the identification
freely. If this constant is changed the identified values are calculated again. How-
ever, these deviate from the current drive (accordingly Z107.44–) or from those of
the system from which the system information originates. The identified Ks factor
at the single mass system remains. At the two-mass vibrational system a change
of the Kt factor causes a new calculation of the identified distance and therewith of
the Ks factor.
m If the system is detected as a single mass system (or the identification is forced to
a single mass system), in spite of this the fields for the variables JL, CF, DF as well
as the identification range and the resonance frequencies are displayed in the Pro-
Drive. The variables JL, CF, DF and the identification range show the value 0 as
identifier for the single mass system. In this case the displayed resonance frequen-
cies are not relevant.
m If the system is detected as a two mass vibrational system in ProDrive the field for
the range of the identification and for the resonance frequency are used in order
to display the automatically evaluated values, as well as to enter the specified val-
ues.
Step 3: Evaluate optimum controller and filter settings
At a two-mass vibrational system with the polynomial filter of the torque current set value
the attempt is made to suppress the amplitude at the resonance frequency and to reduce
the amplitude for higher amplitudes so that the controller gain can be increased.
At the single mass system the polynomial filter of the torque current set value is set to "not
filter" (all of their coefficients are set to zero except the first one, which is set to one).
In order to optimize the controller and polynomial filters the sampling time (cycle of posi-
tion and speed controller) as well as the current time constant (additional time constant
of the closed control loop dependent of the PWM frequency) are required.

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4.4 Configuration
The initial value of the sampling time is specified by the RT0 cycle time Z1.8– (or by the
accordant value from the PWM frequency Z130.15– (or from the PWM frequency in the
stored system information).
NOTE!
At this point ProDrive allows, to freely define or change the sampling time as well the
current time constant in order to optimize the controller and Isq-set-polynomial filter.
With a change of these variables the result of this optimization does not accord to the
current system or the system from which the stored system information originates.
The user must check the parameters Z1.8– and Z130.15– and set them again, if re-
quired.
Via the demands to the phase reserve and the amplitude margin Kp and Tn of the speed
controller are calculated; this way the controllers gains can be set higher or lower (Td of
the speed controller is set to zero, always).
After this and due to the bandwidth of the closed speed closed loop the gain Kv of the
position controller is submitted.
Step 4: Show result
Here the result of the frequency analysis can be checked from different points of view be-
fore transmitting the evaluated and optimized values to the final parameters.
Step 5: Download optimized values
Here the evaluated and optimized values can be transmitted to the controller.
NOTE!
ProDrive transfers the optimized values to the coefficients of the Isq-set-polynomial
filter, but doesn’t activate the filter automatically. The user must control the state of
the filter (Z29.2–) and activate the filter (Z29.1–), if necessary.

4.4.11 Autotuning Asynchronous Motor
4.4.11.1 Identification Lh characteristic
The procedure to identify the Lh characteristic curve is described detailed in chapter ZLh-
characteristic– on page 178 as a part of the configuration of the asynchronous motor. The
detailed description is in chapter ZProDrive Lh-characteristic– on page 179.

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4.4 Configuration
4.4.12 Digital Inputs
4.4.12.1 Digital inputs at axis units
On the axis units, digital inputs DI8 (axis 1) and DI7 (axis 2) are permanently linked to the
"Pulse enable" function.
Apart from the inputs for measuring probes and pulse enable, any function may be select-
ed for any of the inputs.
When using the quick stop, the assignment "Quick stop axis1 - DI6" and "Quick stop axis2
- DI5" is recommended.
ONE FUNCTION per input may be selected, only. With one function, one input linking per
input can be used at the same time (see also operating mode for digital input 1, Z116.2–).
Normally the inputs are invertible. An inversion of the input does not effect on the "Pulse
enable" function and "Measuring probe" function. Only the hardware status of the respec-
tive input is significant for these functions (for this see Z116.1– Status digital inputs).
Function DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8

Pulse enable-axis1 HW
Measuring probe-1 HW
Error reset-axis1 X X X X X X X X
Quick stop-axis1 X X X X X X X
Controller enable-axis1 X X X X X X X X
Neg. HW limit switch-axis1 X X X X X X X
Pos. HW limit switch-axis1 X X X X X X X
Zero-point-sw-1 axis1 X X X X X X X
Brake feedback axis1 X X X X X X X
Reset time stamp X X X X X X X X
Pulse enable-axis2 HW
Measuring probe-2 HW
Error reset-axis2 X X X X X X X X
Quick stop-axis2 X X X X X X X
Controller enable-axis2 X X X X X X X X
Neg. HW limit switch-axis2 X X X X X X X
Pos. HW limit switch-axis2 X X X X X X X
Zero-point-sw-1 axis2 X X X X X X X
Brake feedback axis2 X X X X X X X

4.4.12.2 ProDrive Digital Inputs at axis units
Figure 68: ProDrive Digital Inputs at double axis unit
4.4.12.3 Digital inputs at the active mains rectifier unit
At the active mains rectifier unit the digital input DI8 is permanently linked to the function
"Pulse enable". Additionally the digital input DI7 is permanently linked to the function "Er-
ror-Reset" and the digital input DI6 with the function "Quick Discharge".
The active mains rectifier unit does not support other special functions; therefore there
are no special functions, which can be assigned to the digital inputs DI1 - DI5.
Additionally, an input linkage with one parameter can be made for the permanently linked
digital inputs as well as for the non-linked digital inputs (also see operating mode digital
input 1 Z116.2–).
The input, which is linked with the function "Pulse Inhibit" cannot be inverted.
Function DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8

Pulse enable (IF) HW
Error reset (FR) X
Quick discharge (SE) X

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4.4 Configuration
4.4.12.4 ProDrive Digital Inputs at active mains rectifier unit
Figure 69: ProDrive Digital Inputs at active mains rectifier unit

The parameters shown in the following table are partially available for the active
mains rectifier unit only. The differences between the active mains rectifier unit and
the axis are defined in the particular ZDescription of the Parameters– from page 273.

Functional block: DigInputs [116]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
116.1 Status digital inputs DWORD 0 0xFFFFFFFF 0 1:1 X X

116.2 Mode digital input 1 WORD 0 0xFFFF 0 1:1 X X
116.3 DI1 Axis index UINT 0 255 0 1:1 X X
116.4 Target number digital UDINT 0 0xFFFFFFFF 0 1:1 X X
input 1
116.5 Bit selection digital input DWORD 0 0xFFFFFFFF 0 1:1 X X
1
116.6 Set bit pattern for LOW DWORD 0 0xFFFFFFFF 0 1:1 X X
state digital input 1
116.7 Set bit pattern for HIGH DWORD 0 0xFFFFFFFF 0 1:1 X X
input 2
2
input 3
3
input 4
4

Document No.: 5.09022.17 of 978
4.4 Configuration

input 5
5
input 6
6
input 7
7
input 8
8
116.1 Status digital inputs
Status of the digital inputs. Bits 23 ... 16 display the hardware status, i.e., whether the in-
put has been set active. Bits 7 ... 0 show the logical states of the inputs according to their
configured inversion (see Bit 15 in each case in the mode digital input 1 Z116.2–, mode
digital input 2 Z116.8–, etc. parameters).

Bit # Meaning
0 Logical status of Input 1 0 = inactive
1 = active
1 = active
1 = active
1 = active
1 = active
1 = active
1 = active
1 = active
15 ... 8 Reserved
16 HW status of Input 1 0 = inactive
1 = active
1 = active
1 = active
1 = active
1 = active
1 = active
1 = active
1 = active
31 ... 24 Reserved

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4.4 Configuration
116.2 Mode digital input 1
Operating mode of digital input 1.

Bit 15 can be used to define whether the input linking for the functions for which parame-
ters can be set via Bits 0...5 should operate with inversion or directly.
Bit 6 is used to determine which axis the special function selected with Bits 0...5 should
apply to.
In addition Bit 7 is used to determine whether the selected special function should be ap-
plied to both axes at the same time. These two bits thus apply only to the special func-
tions. The axis reference for input linking is specified with the appropriate DIx axis Index
parameter.
If the input is permanently linked to the "Pulse enable" function, the logical inversion has
no effect on the function.
At active mains rectifier unit no special function is parameterizable via bit 0 ... 5. The
axis reference bit 6 is no longer settable too.
The user can only set the inversion of bit 15 and the evaluation of bit 14.
Bit # Meaning
5…0 Function of the input:
Value: Function
0: No special function
1: Quick stop
2: Controller enable
3: Error reset
4: Negative hardware limit switch
5: Positive hardware-limit switch
6: Zero point reference switch
7: Reset time stamp for ring buffer recording
8 Feedback of motor holding brake
9…63 Reserved
6 axis reference for the special function:
0: axis 1
1: axis 2
7 0: Apply special function to axis according to Bit 6
1: Apply special function to both axes. Bit 6 will be ignored.
13 ... 8 Reserved
14 0: Input is edge triggered
1: Input is level triggered
15 0: Input is not inverted
1: Input is inverted

NOTE!
The following inputs are permanently linked to the "Pulse enable" function:
DI8 (axis 1) and DI7 (axis 2)
NOTE!
The states of the "Quick stop", "Controller enable" and "Error reset" special functions
can be observed in the "Status digital inputs drive manager" Z108.8– parameter.
The states of the "Negative hardware limit switch", "Positive hardware limit switch"
and "Zero point reference switch" special functions can be observed in the "Status
limit switch" Z121.2– parameter.
NOTE!
„Feedback motor holding brake“ must be activated additionally in Z134.1– Brake
mode for evaluation of the digital input.
116.3 DI1 Axis index
This parameter specifies which axis (0: axis 1, 1: axis 2, 255: both axes) the parameter
being changed should act on.
The parameter acts only on input linkages and not on the other functions (Quick stop, etc.,
see mode digital input 1, Z116.2–).
At active mains rectifier unit this parameter can not be written. It is essential axis 1 al-
ways.
116.4 Target number digital input 1
Number of the parameter to be changed by digital input 1.
116.5 Bit selection digital input 1
This parameter specifies which bits of the target parameter will be modified with the bit
pattern Low/High.
If the data of the target parameter is of type Float, no bit selection can be made; all the
bits written to the target parameter will always be of the bit pattern Low or High.

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4.4 Configuration
116.6 Set bit pattern for LOW state digital input 1
Bit pattern for logic LOW on digital input 1
116.7 Set bit pattern for HIGH state digital input 1
Bit pattern for logic HIGH on digital input 1
For description, see Z116.2–.


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4.4 Configuration
116.22 Target Number Digital Input 4

116.32 Operating mode digital input 6

At the active mains rectifier unit bit 14 and bit 15 can be changed only. Input 6 is per-
manently defined as hardware "Quick Discharge".

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4.4 Configuration

At the active mains rectifier unit bit 14 and bit 15 can be changed only. Input 7 is per-
manently defined as hardware "Error-Reset“.

At active mains rectifier unit Bit 14 can here be changed only. Input 8 is used perma-
nently as hardware pulse enable. An inversion of the input is no longer possibly.


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4.4 Configuration
4.4.13 Digital Outputs
4.4.13.1 Digital outputs at axis units
For axis units the special function „Triggering motor holding brake“ is available in addition
to the free connections.
Function DO1 DO2 DO3 DO4

Brake Triggering Axis 1 X X X X
Brake Triggering Axis 2 X X X X
4.4.13.2 ProDrive Digital Outputs at axis units
Figure 70: ProDrive Digital outputs at axis units BM52xx and BM53xx
4.4.13.3 Digital outputs at active mains rectifier units
Initializations at active mains rectifier unit:
The digital output 4 (DO4) of the active mains rectifier unit is prepared as a fix defined
hardware signal „Operationally ready for controller“ with the initializations of the parame-
ter 117.17 to 117.21. This DO4 signal is identically with the „Operationally ready“ signal
of the signal bus and signalizes to the higher controller that the active mains rectifier unit
has reached the preset DC link voltage and is ready for operation under load now.

4.4.13.4 ProDrive Digital outputs at active mains rectifier units
Figure 71: ProDrive Digital outputs at active mains rectifier unit (BM51xx)

The parameters shown in the following table are partially available for the active
mains rectifier unit only. The differences between the active mains rectifier unit and
the axis are defined in the particular Z– from page 285.
Functional block: DigOutputs [117]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
117.1 Status digital outputs DWORD 0 0xFFFFFFFF 0 1:1 X X

117.2 Mode digital output 1 WORD 0 0xFFFF 0 1:1 X X
117.3 DO1 Source axis index UINT 0 1 0 1:1 X X
117.4 Source number digital UDINT 0 0xFFFFFFFF 0 1:1 X X
output 1
117.5 Bit selection digital out- DWORD 0 0xFFFFFFFF 0 1:1 X X
put 1
117.6 Compare bit pattern dig- DWORD 0 0xFFFFFFFF 0 1:1 X X
ital output 1
output 2
put 2
ital output 2

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4.4 Configuration

output 3
put 3
ital output 3
117.17 Mode digital output 4 UINT 0 0xFFFF 0 1:1 X X
output 4
put 4
ital output 4
117.22 Mode DWORD 0 0xFFFFFFFF 0 1:1 X X X
117.23 Bit mask digital outputs WORD 0 0xF 0 1:1 X X
117.1 Status digital outputs
Status of the digital outputs. Bits 6 … 0 display the hardware status, i.e., whether the par-
ticular output has been set active.
Bit # Meaning
0 Status of Output 1 0 = inactive
1 = active
1 = active
1 = active
1 = active
31 ... 4 Reserved
117.2 Mode digital output 1
Operating mode of digital output 1. Bits 3 ... 0 are used for setting the comparison oper-
ator to the bit pattern which was set as a parameter. Bit 8 specifies for which axis the
special function specified in bits 4 ... 7 should be valid.
At the active mains rectifier unit no special function is parameterizable with bits 4 ... 7.
The reference to the axis in bit 8 is not settable.

Bit Meaning
3 ... 0 0000: Channel is deactivated
0001: ([Data] AND [Bit selection]) is equal to the [Bit pattern]
0010: ([Data] AND [Bit selection]) is not equal to the [Bit pattern]
0011: ([Data] AND [Bit selection]) is equal to ONE, i.e., [Data] has at least
one bit of the [Bit selection] set
0100: ([Data] AND [Bit selection]) is equal to ZERO, i.e., [Data] has no bits
of the [Bit selection] set
0101: ([Data] AND [Bit selection]) is greater than the [Bit pattern]
0110: ([Data] AND [Bit selection]) is less than the [Bit pattern]
0111 … 1111 reserved
7 ... 4 0: No special function
1: Triggering of the motor holding brake
8 Axis reference of the special function
0: Axis 1
1: Axis 2
15 … 9 Reserved
NOTE!
The triggering of a motor holding brake via a digital output must be activated addition-
ally in Z134.1– Brake mode.
117.3 DO1 Source axis index
This parameter specifies the axis from which the parameter to be compared should be
read.
117.4 Source number digital output 1
Number of the parameter to be compared which is to activate digital output 1.
117.5 Bit selection digital output 1
Bit selection for digital output 1. The bit selection also applies to Float parameters. It
therefore makes sense to fix the bit selection to FFFFFFFFhex for parameters of data type
Float.

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4.4 Configuration
117.6 Compare bit pattern digital output 1
Bit pattern that will be compared with the bit pattern of the source parameter for digital
output 1


This parameter is fix preallocated by the firmware at initialization of the device. The user
can overwrite this parameter no more.



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4.4 Configuration


117.22 Mode
This parameter is used to set the behavior for the triggering of the digital outputs.
Bit # Meaning
0 0: Transparency mode off: The outputs are triggered via connections.
1: Transparency mode active: The outputs are triggered via Z117.23–.
31 ... 1 Reserved
NOTE!
If the transparency mode is switched off (the outputs are triggered by the output con-
nections), the states of the digital outputs remain as long as the respective output
state is updated with a new connection.
117.23 Bit mask digital outputs
The value of the four lower bits of the bit mask is written to the digital outputs 1 to 4 in the
transparency mode.

4.4.14 Analog Inputs

tifier unit doesn’t have analog inputs.
4.4.14.1 Description of the Analog Inputs
The b maXX 5000 functionality for reading the analog inputs is shown in the diagram be-
low.
Figure 72: Structure of the analog inputs on the b maXX 5000
KS1,KS2: Scaling factors which can be set by the user.

(Parameters Z144.2– and Z144.11–)
PGain: Conversion factors 1 and 2
Max: Maximum value of the target parameter

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4.4 Configuration
Remarks concerning the amplitude of the input signal:

10 V corresponds to 100%
The hardware is designed so that the analog inputs can cope with a signal level of 12.3
V. These remaining, unexploited 2.3 V are kept in reserve. Regarding the size of the 12-
bit input register, the following applies:
-12.3 V…+12.3 V corresponds to 0…4095
Input signal:
Figure 73: Signal at analog input
After A/D conversion (non-quantized representation):
Figure 74: A/D conversion
After restandardization:
Figure 75: After restandardization

4.4.14.2 ProDrive Analog Inputs
Figure 76: ProDrive analog inputs
Functional block: FbAnalogInput [144]

Axis-independent
Cyclic Write
DS Support
Read only
Storage
144.1 Time constant PT1 ana- FLOAT 0 0.060 0.001 ms 1:1000 X

log input 1
144.2 Scaling factor analog FLOAT -1000000000 1000000000 1 1/V 1:1 X
input 1
144.3 Offset analog input 1 FLOAT -10 10 0 V 1:1 X

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4.4 Configuration
144.4 Threshold analog input FLOAT -10 10 0 V 1:1 X

1
144.5 Value analog input 1 FLOAT -23 23 0 V 1:1 X
144.6 Target number analog UDINT 0 0xFFFFFFFF 0 1:1 X
input 1
144.7 AI1 Axis index UINT 0 1 0 1:1 X
log input 2
input 2
2
input 2
144.20 Time slot analog inputs UINT 0 3 0 1/2/3 1:1 X
144.1 Time constant PT1 analog input 1
Time constant of the PT1 filter for smoothing the analog input signal on Channel 1
144.2 Scaling factor analog input 1
Scaling factor for analog input 1
144.3 Offset analog input 1
Offset for analog input 1
144.4 Threshold analog input 1
Threshold value of analog input signal 1 for setting the response sensitivity

144.5 Value analog input 1
Input value of analog input signal on channel 1

The input signal after PT1 smoothing and offset correction is displayed.
144.6 Target number analog input 1
Number of the parameter to be changed by analog input 1. All cyclic writable parameters
are permitted.
144.7 AI1 Axis index
This parameter shows for which axis (0: axis 1; 1: axis 2; 255: both axis) the parameter
to be changed should act.
144.10 Time constant PT1 analog input 2
Time constant of the PT1 filter for smoothing the analog input signal on channel 2
144.11 Scaling factor analog input 2
Scaling factor for analog input 2
144.12 Offset analog input 2
Offset for analog input 2
144.13 Threshold analog input 2
Threshold value of analog input signal 2 for setting the response sensitivity
Input value of analog input signal on Channel 2

The input signal after PT1 smoothing and offset correction is displayed.

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4.4 Configuration
144.15 Target number analog input 2
Number of the parameter to be changed by analog input 2. All cyclic writable parameters
are permitted.
144.16 AI2 Axis index
Description see parameter Z144.7–.
144.20 Time slot analog inputs
This parameter specifies the sampling interval in which the analog inputs are read.
Setting the parameters to the values 0, 1, 2, 3 corresponds to the relationship n= 0, 1, 2, 3
Value Sampling interval [µs]

0 125
1 250
2 500
3 1000

4.4.15 Analog Outputs

tifier unit doesn’t have analog outputs.
4.4.15.1 Description of the Analog Outputs
Using the analog outputs, any drive parameters such as, e.g., actual current, actual
speed or position error can be output.
Both floating point and integer parameters can be output.
A total of two channels are available for the analog outputs. Thus a maximum of 2 drive
parameters for the two axes can be output at the same time.
The cycle of the visualization is presettable. 1000 µs, the RT0-Cycle time Z1.8– or
62.5 µs can be set as cycle time.
4.4.15.2 ProDrive Analog Outputs
Figure 77: ProDrive analog outputs

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4.4 Configuration
The check box "Test input on/off" has no direct reference to any parameter. When the
"Test input on/off" check box (see below) is activated, the ID number Z125.22– (from the
Test signal parameter) should be entered in the parameter
"Visu channel 1 source parameter Id (Z125.1–) or
"Visu channel 2 source parameter Id (Z125.2–)
in the corresponding "Source parameter number" box.
Deactivation of the "Test input" is done in two ways:

m by deactivating the "Test input on/off" check box; Parameter 125.1 or 125.2 should
then be set to 0. As a result, the value 0 appears in the corresponding "Source param-
eter number" box.
m by directly writing a different ID in the "Source parameter number" box. The corre-
sponding check box must also be automatically deactivated.
Functional block: FbVisu [125]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
125.1 Visu channel 1 source UDINT 0 4294967295 0 1:1 X X

parameter Id
parameter Id
125.3 Visu command UINT 0 1 0 1:1 X X
125.4 Visu status UINT 0 1 0 1:1 X X
125.5 Channel axis UINT 0 0xF 0 1:1 X X
125.7 Visu task No UINT 0 3 3 1:1 X X
125.8 General scaling FLOAT -5000000000 5000000000 1.000000e+00 Unit/V 1:1 X X
125.9 Force scaling FLOAT 0 2147483648 1.000000e+00 N/V 1:1 X X
125.10 Current scaling FLOAT -5000000000 5000000000 1.000000e+00 A/V 1:1 X X
125.11 Voltage scaling FLOAT -5000000000 5000000000 1.0 V/V 1:1 X X
125.12 Position scaling FLOAT -5000000000 5000000000 3.600000e+01 Unit/V 1:1 X X
125.13 Speed scaling FLOAT -5000000000 5000000000 1.000000e+03 Unit/V 1:1 X X
125.14 Acceleration scaling FLOAT -5000000000 5000000000 4 Unit/V 1:1 X X
125.15 Torque scaling FLOAT -5000000000 5000000000 1 Nm/V 1:1 X X
125.16 Visu FPGA UDINT 0x00000000 0xFFFFFFFF 0 1:1 X
125.17 Test signal amplitude FLOAT 0 5000000000 0 V 1:1 X
125.18 Correction gain channel FLOAT 0 5000000 1.000 1:1 X X
1
2

125.20 Offset channel 1 FLOAT -10.0 10.0 0 V 1:1 X X
125.22 Test signal FLOAT -5000000000 5000000000 0 V 1:1 X
125.29 Calibration configuration UDINT 0 4294967295 0 1:1 X X
125.1 Visu channel 1 source parameter Id
125.2 Visu channel 2 source parameter Id
The ID number of the parameter to be visualized is entered with these parameters. Pa-
rameter Z125.5– "Channel axis" is used to specify which axis (axis 0 or axis 1) the pa-
rameter number refers to.
125.3 Visu command
Run command for the visualization
Value Meaning
0 Stop (deactivate visualization)
1 Run (activate visualization)
125.4 Visu status
Display of the internal visualization status
Value Meaning
0 Stop (visualization inactive)
1 Run (visualization active)
125.5 Channel axis
This parameter is used to define which axis the parameter numbers to be visualized refer
to.

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4.4 Configuration
Bit Meaning
0 0: Channel 1 (Z125.1–) visualizes axis 0
1: Channel 1 (Z125.2–) visualizes axis 1
1 0: Channel 2 (Z125.1–) visualizes axis 0
1: Channel 2 (Z125.2–) visualizes axis 1
15 ... 2 Reserved
125.7 Visu task No
This parameter is used to specify the cycle time of the output for visualizing the data.
Value Meaning
0 Reserved
1 Visu cycle = 62.5 µs
2 Visu cycle = RT0-Cycle time Z1.8–; the RT0-Cycle time is set to 250 µs
by default
3 Visu cycle = 1000 µs
125.8 General scaling
Standardization for all parameters for which no other suitable standardization exists. The
units of the value to be visualized will provide an indication of this (Z125.1–, Z125.2–).
I.e. this standardization will be used also for related quantities with the unit [%].
125.9 Force scaling
Parameters with the units [N] will be normalized to [N / V] with this factor.
125.10 Current scaling
Parameters with the units [A] will be normalized to [A / V] with this factor.
125.11 Voltage scaling
Parameters with the units [V] will be normalized to [V / V] with this factor.

125.12 Position scaling
This standardization is used for parameter with the units [Inc], [degree], [mm] and [nm].
125.13 Speed scaling
This standardization is used for parameter with the units [degree/s], [Rev/min], [Inc/ms],
[mm/s], [degree/mm] and [Inc/tab].
125.14 Acceleration scaling
This standardization is used for parameter with the units [Inc/ms2], [degree/s2] and
[Inc/tab2].
125.15 Torque scaling
Parameters with the units [Nm] will be normalized to [Nm / V] with this factor.
125.17 Test signal amplitude
This parameter is used to set the amplitude of the test signal, parameter Z125.22–, in
volts or to disable its generation.
Parameter 125.17 Signal

0V No signal generated.
If parameter 125.22 is selected in parameter 125.1/2, the (con-
stant) value of parameter 125.22 will be written to the analog
output.
>0 V…10 V Generation of a sine wave signal of amplitude >0 V…10 V and
frequency (see below) with output in parameter 125.22.
If parameter 125.22 is selected in parameter 125.1/2, the value
of parameter 125.22 will be written to the analog output.
The frequency of the sine wave oscillation is dependent on parameter 125.7:

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4.4 Configuration
Value in Z125.7– Output cycle time Oscillation fre-

Visu Task No [µs] quency [Hz]
1 62,5 16
2 250 * 4
3 1000 1
*) see also parameter Z125.7–
125.18 Correction gain channel 1
Additional standardization on channel 1
125.19 Correction gain channel 2
Additional standardization on channel 2

Parameter which are using the same standardization factor, but generally have different
dimensions can be rescaled channel-dependent with both correction gains.
Example: Z18.58– Position set value angle on channel 1
Z18.60– Position error rev+angle on channel 2
both use Z125.12– Position scaling
125.20 Offset channel 1
Offset correction for channel 1
125.21 Offset channel 2
Offset correction for channel 2
125.22 Test signal
If this parameter is entered as source ID in parameter Z125.1– or Z125.2–, a sine wave

test signal can be generated for the output. The amplitude is defined by parameter
Z125.17–. The cycle time is equal to the 1000-fold of the set output cycle time of param-
eter Z125.7–.

125.29 Calibration configuration
This parameter configures the calibration if the analog outputs are configured by manu-
facturer.
Bit Bedeutung
0 0: Kalibrierung deaktiviert
1: Kalibrierung aktiviert
15 ... 1 Reserviert
4.4.16 Power steering pump I/O

For the use of the power steering pump function there must be implemented an option
module "Power steering pump I/O" in the slot B. This can be seen at the option module
type code (Z174.5–):
BM5-O-SVP-XXX-XXX-XXXX
Only if the sequence of characters SVP is on the bolded characters, then the option mod-
ule SVP is implemented.
This module makes available analog and digital inputs and outputs. The circuit board as-
sembly can vary (different converter, different number of inputs and outputs).
Functional block: FbPspIO [176]

Axis-independent
Cyclic Write
DS Support
Read only
Storage
176.1 Mode UDINT 0 0xFFFFFFFF 0 1:1 X X

176.2 Mode analog inputs UDINT 0 0xFFFFFFFF 0 1:1 X X
176.6 Status digital inputs WORD 0 0xFFFF 0 1:1 X X
176.7 Status digital outputs WORD 0 0xFFFF 0 1:1 X X
176.8 Value analog input 1 FLOAT -25 25 0 1:1 X X

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4.4 Configuration

176.16 Value analog output 1 FLOAT -11 11 0 V 1:1 X X
176.1 Mode
Activation of the analog input and output channels:
Bit Meaning
0 1: Switch on channel analog input 1
0: Switch off channel analog input 1
4…7 Reserved
8 1: Switch on channel analog output 1
0: Switch off channel analog output 1
12 … 31 Reserved

176.2 Mode analog inputs
Configuration of the analog inputs
Bit Meaning
Bit 0 … 23: Oversampling
Oversampling factor: 0 … 8
3…0 Oversampling factor analog input 1
7…4 Oversampling factor analog input 2
11 … 8 Oversampling factor analog input 3
15 … 12 Oversampling factor analog input 4
16 … 23 Reserved
Only if the relevant analog input is a current input:
Bit 24 … 27: Current input range
0: 0 … 20 mA (-> no wire break detection)
1: 4 … 20 mA (-> wire break detection active)
24 Analog input 1
25 Analog input 2
26 Analog input 3
27 Analog input 4
28 … 31 Reserved
176.6 Status digital inputs
Status of the digital inputs
Bit Meaning
0 Status digital input 1:
0: disabled 1: active
4 … 15 Reserved

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4.4 Configuration
176.7 Status digital outputs
Status of the digital outputs
Bit Meaning
0 Status digital output 1:
4 … 15 Reserved
Value of the analog input 1 after scaling

Scaling:
Voltage input: 1V = 1,0
Current input: 1 mA = 1,0
Value of the analog input 2 after scaling.

Scaling, unit see Z176.8– Value analog input 1



176.16 Value analog output 1
Value of the analog output 1 before scaling.

Scaling: 1 V = 1,0

Scaling: 1 V = 1,0

Scaling: 1 V = 1,0

Scaling: 1 V = 1,0

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4.4 Configuration
4.4.17 Fieldbus communication

The display of the fieldbus data of the active mains rectifier (BM51xx) is identical to
that of the axis units (BM52xx and BM53xx).
The fieldbus communication is realized via a separate processor. The basic configuration
is carried out by the fieldbus processor or by the fieldbus master, as well. Therefore, most
parameters within this range are provided for display and diagnostics. Specific settings
must be made in the controller.
It is necessary and also helpful to understand the communication timing in specific cases.
Basic sequence of the different software components in the controller
Figure 78: Basic sequence of the fieldbus task (fieldbus cycle 1ms, RT0 cycle 250 µs)
The basic sequence of the relevant software components for the fieldbus communication
is shown in ZFig. 78–. The current controller responds every 62.5 µs. The position and
speed controller responds every 250 µs right before the current controller responds. The
fieldbus communication takes place in an own task, which can be interrupted by the cur-
rent controller or by the position and speed controller.
The beginning of the fieldbus task or of the controller interrupt (after this the fieldbus task
starts) is synchronized to the sync signal of the fieldbus. Hence, the fieldbus task starts
at a sync offset of 0 µs with a time delay of about 30 µs shortly after the sync signal. This
is due to the computing time of the controller interrupt.
In a fieldbus task the set values are read, the actual values are written and then the inter-
polation for the cyclical position set value specification is calculated. The interpolated po-
sition set values are transferred to the position controller with the next position/speed
controller cycle (RT0 cycle).

Transferring the set values from the fieldbus task into the position/speed
controller.
At 250 µs cycle time or greater the set values are transferred in the next RT0 cycle after
the fieldbus task was started.
At 125 µs cycle time the set values are transferred in the RT0 cycle after next one, so that
the fieldbus task is available of more computing time.
Via the parameter Z131.23– Fieldbus options bit 1 can be set that the acceptance of the
set values in the position/speed controller takes place in the beginning of the next fieldbus
cycle only.
Transmission sequence from the fieldbus to the controller
The basic sequence from fieldbus transmission (here EtherCAT) up to the processing in
the controller is shown in the following figure.
Figure 79: Set value and actual value transfer from the fieldbus to the controller. The configuration fieldbus
cycle 1 ms, RT0 cycle 250 µs, sync offset 0 µs is shown in the example.
In the controller the set value as well as the actual value transmission takes place in the
fieldbus task. The set values (at a sync offset of 0 µs) must reach the controller before the
sync signal takes place. As the fieldbus processor requires time to receive the data from
the fieldbus and then to provide it to the controller, this data must be provided to the field-
bus in time. Alternatively the fieldbus task start and resultant the transmission in the con-
troller can be delayed via the sync offset.
During data exchange between the controller and the fieldbus processor the set values
and the actual values are exchanged back to back. The same applies for data exchange
to the fieldbus (default behavior at EtherCAT: common frame for set values and actual
values).Consequential the actual values are delayed by about two fieldbus cycles.

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4.4 Configuration
Separated transmission of set values and actual values.
Figure 80: Separated transmission of set values and actual values.
The actual values in the controller can be transmitted separately from the set values.
However, transmission isn't carried out in the fieldbus task anymore, but at the end of a
controller interrupt. The actual values are immediately transferred by the fieldbus proces-
sor and provided in the EtherCAT buffer. Thus the dead time for the actual values is re-
duced.
Hereby, the timing for the fieldbus transmission must be considered exactly in order to
avoid access conflicts when responding to the actual values on the fieldbus.
Time setting of actual value transfer
Figure 81: Optional separated transmission of set values and actual values.
The transmission time of the actual values to the fieldbus processor can be determined
in the parameter Fieldbus options (Z131.23–), separately. Now transmission takes place
at the end of a controller interrupt and not in the fieldbus task anymore. It is possible to
set the controller interrupt carrying out the transmission. Thereby, the controller interrupt
starts to count where the fieldbus task is carried out, too. A setting of 0 controller cycles
means that the actual values are transmitted in the interrupt, where the fieldbus task will

be started after that. This means that with this setting the actual values are transmitted
right before the set values are read.
The exact time for actual value transmission to the fieldbus processor alternates because
of the controller interrupt's computing time. Therefore, a time frame of 62.5 µs is set. In
the example shown a controller cycle of 5 was set. Therewith, transmission is carried out
within a time frame of 312.5 µs to 375 µs after the sync event has taken place (at sync
offset 0 µs). Additional time must be calculated for the transmission to the fieldbus, as the
fieldbus processor requires time to receive the data from the controller and to transmit it
onto the fieldbus buffer.
4.4.17.1 Parameter Ids for the Real Time Lists
The contents of the real time lists in the controller are configured at system commission-
ing by means of a service channel. These are then exchanged in real time. For each di-
rection (Consumer and Producer) there exist two lists in which the values of a maximum
of 16 parameter Ids can be transferred in each case.
The IDs of the Producer and Consumer lists are represented in ProDrive as a two-dimen-
sional array[2][16] in each case. The lists can then be opened simultaneously in ProDrive.
All the data can thus be visualized in a clearly laid-out manner.
4.4.17.2 Access Counter for each Real Time List
The number of accesses to the Producer and Consumer lists is represented in each case
as a one-dimensional array[2]. The lists can then be opened simultaneously in ProDrive.
All the accesses can thus be visualized on-line in a clearly laid-out manner. The access
counters are writable parameters, so that the counter statuses can be set externally, e.g.
to 0.
Using a further two parameters it is possible to display separately for Producer and Con-
sumer, which list was last accessed in each case.
Functional block: FbFieldbus [131]

Axis-independent
Cyclic Write
DS Support
Read only
Storage
131.1 Mode WORD 0 0xFFFF 0 1:1 X

131.2 State WORD 0 0xFFFF 0 1:1 X
131.3 Producer List UDINT 0 0xFFFFFFFF 0 1:1 X X
131.4 Consumer List UDINT 0 0xFFFFFFFF 0 1:1 X X
131.5 Producer Counter UDINT 0 0xFFFFFFFF 0 1:1 X

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4.4 Configuration
131.6 Consumer Counter UDINT 0 0xFFFFFFFF 0 1:1 X

131.7 Last Producer Index UINT 0 0xFFFF 0 1:1 X
131.8 Last Consumer Index UINT 0 0xFFFF 0 1:1 X
131.9 Slave Settings DWORD 0 0xFFFFFFFF 0 1:1 X X
131.10 Slave info UDINT 0 0xFFFFFFFF 0 1:1 X X
131.11 MAC Address STRING 1:1 X
131.12 Base IP address UDINT 0 0xFFFFFFFF 0xC0A80000 1:1 X X
131.13 DIP switch settings UDINT 0 0xFFFFFFFF 0 1:1 X X
131.14 Software IP address UDINT 0 0xFFFFFFFF 0 1:1 X X
131.15 Actual IP address UDINT 0 0xFFFFFFFF 0 1:1 X X
131.16 Gateway UDINT 0 0xFFFFFFFF 0 1:1 X X
131.17 Subnet mask UDINT 0 0xFFFFFFFF 0xffff0000 1:1 X X
131.18 Fieldbus cycle time UDINT 125000 8000000 1000000 ns 1:1 X X
131.19 Slave error code UDINT 0 0xFFFFFFFF 0 1:1 X X
131.20 Division ratio fieldbus UINT 1 32 1 X X
task
131.21 Configuration profile 1 DWORD 0 0xFFFFFFFF 0x0 1:1 X X
131.22 Fieldbus type WORD 0 0xFFFF 0 1:1 X
131.23 Options DWORD 0 0xFFFFFFFF 0 1:1 X X
131.24 Profinet device name UINT 0 0xFF 0 1:1 X X
131.52 Error counter fieldbus UDINT 0 0xFFFFFFFF 0 1:1 X X
actual values
set values
131.55 Max error count field- UDINT 0 0xFFFFFFFF 2 1:1 X X
bus actual values
bus set values
131.1 Mode
By setting the appropriate bits, the following channels can be switched off independently
of one another:
Bit Description
4 ... 0 Reserved
5: Cyclic real-time channel for Ethercat
6: Slow service channel for managing the real-time GDP lists
7: Slow parameter channel for Microblaze GDP protocol

131.2 State
Displays the Fieldbus status.

No bits defined yet
131.3 Producer List
The parameter Ids configured by the Fieldbus computer are displayed in the real-time
lists. The parameters are two-dimensional arrays.
Figure 82: Producer list and cunsumer list
131.4 Consumer List
See Z131.3–

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4.4 Configuration
131.5 Producer Counter
The number of accesses to the Producer and Consumer lists is represented in each case
as a one-dimensional array. The access counters are writable parameters, so that the
counter statuses can be set externally, e.g. to 0.
Using the two parameters Last Producer Index (Z131.7–) and Last Consumer index
(Z131.8–) it is possible to display separately for Producer and Consumer, which list was
last accessed in each case.
The index corresponds to the number of the accessed real-time list. At present, a maxi-
mum of only 2 lists is possible.
131.6 Consumer Counter
See Z131.5–
131.7 Last Producer Index
The index of the list that was last accessed is displayed.
131.8 Last Consumer Index
The index of the list that was last accessed is displayed.
131.9 Slave Settings
The settings for the communications software (MicroBlaze) can be altered by setting bits.
Bit # Description
0 1: Read network settings for the EoE (Ethernet over EtherCAT) of Parame-
ters 131.14, 131.16, 131.17
0: IP address = base IP address + DIP-switch value (131.12 + 131.13),
Gateway = 0.0.0.0, Subnet mask = 255.255.0.0
1 Select a language online at CoE object directory
1: English
0: German
13 ... 2 Reserved
14 0: Do not activate Factor Group
1: Activate Factor Group

Bit # Description
15 Reserved
16 1: Switch off of the offset calculation for the objects 0x6062, 0x6064,
0x607A, 0x607C, 0x607D (UNSIGNED = SIGNED + 0x80000000)
31 ... 17 Reserved
131.10 Slave info
Current Slave Information.
Bit # Description
1 ... 0 Fieldbus status:
0 – Init
1 – PreOperational
2 – SafeOperational
3 – Operational
In SafeOperational, the actual values are applicable. In Operational, the set
value and actual values are applicable.
7 ... 2 Reserved
23 ... 8 Fieldbus status code:
The current AL Status Code is displayed at EtherCAT
31 ... 24 Reserved
131.11 MAC Address
Display of the MAC address for all Ethernet based fieldbuses supported by Baumueller
as: EtherCAT, POWERLINK, VARAN, Profinet-IRT.
131.12 Base IP address
If Slave Settings Z131.9– Bit 0 = 1, the IP address is determined from:

Base IP address + DIP-switch settings (Z131.13–)
131.13 DIP switch settings
Setting on the DIP-switch used as an offset to the base IP address when Slave Settings
Z131.9– Bit 0 = 0.

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4.4 Configuration
131.14 Software IP address
Using Slave Options, it is possible to define whether the IP address is determined from
this parameter or from the DIP switches.
131.15 Actual IP address
Display of the current IP address (depends on Z131.9–, Z131.12– to Z131.14–)
131.16 Gateway
Gateway IP address
131.17 Subnet mask
Subnet mask associated with the IP address.

Recommended value: 255.255.0.0
131.18 Fieldbus cycle time
Setting for the Fieldbus cycle time in ns.

Besides the Z131.20– division ratio of fieldbus task its value determines the Z1.10– field-
bus task cycle is determined (=cycle of the set value generator for cyclical set values).
NOTE!
A parameter change is permitted at a inhibited state and in the fieldbus state INIT
(Z131.10– slave info bit 0 and 1), only.
131.19 Slave error code
Error code for the EtherCAT slave.

131.20 Division ratio fieldbus task
The set value generator for the cyclical set values (= Z1.10– fieldbus task cycle) is exe-
cuted in every fieldbus cycle (Z131.18–). A quicker cycle than the fieldbus cycle can be
set by the division ratio.
Division ratio =
1: Cyclical set value generator is activated once per fieldbus cycle
2: Cyclical set value generator is activated twice per fieldbus cycle
4: Cyclical set value generator is activated four times per fieldbus cycle
etc.
The resulting Z1.10– fieldbus task cycle may not fall below the Z1.8– RTO cycle time
and should at least be 250 µs.
Example:
Z131.18– Fieldbus cycle time = 2 ms; division ratio = 8;
Z1.8– RT0 cycle time = 250 µs
 2 ms / 8 = 250 µs.
A call up ratio greater than 8 would no longer be admissible anymore.
The following operating modes are considered as cyclical set values:

m Z109.1– = -4; position control; Z136.3– target position and Z136.5– target angle
m Z109.1– = -12; coupled operation; Z122.3– master axis position revolutions and
Z122.4– master axis position angle
NOTE!
A parameter change is permitted at a inhibited state and in the fieldbus state INIT
(Z131.10– slave info bit 0 and 1), only.
131.21 Configuration profile 1
This parameter configures the used drive profile in the fieldbus slave.
The definition of the parameter depends on the fieldbus slave type. The description is to
be found in the corresponding technical documentation.
The controller must be rebooted after changing a parameter.
For other specific settings corresponding to the fieldbus, see parameter Z131.9– Slave
settings.

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4.4 Configuration
131.22 Fieldbus type
The parameter displays the active fieldbus type. The fieldbus types defined in
IEC 61800-7 form the basis. If the parameter is set to 0, the fieldbus firmware version
does not support this function.
Bit # Description
7 ... 0 Profile type (IEC 61800-7-200):
0 = No IEC profile type
1 = CiA 402
2 = CIP Motion
3 = PROFIdrive
4 = Sercos
Rest is reserved
15 ... 8 Network technology:
1 = EtherCAT
2 = VARAN
3 = CANopen
4 = Ethernet Powerlink
5 = PROFINET-IRT
6 = Sercos III
Rest is reserved
131.23 Options
Options for the fieldbus communication
Bit # Description
0 Activate separated set value and actual value transmission
0: Transmission of the set values and the actual values at the same time and
at the beginning of the fieldbus task
1: Reading out the set values at the beginning of the fieldbus task, writing of
the actual values in a controller interrupt. The time in controller cycles is
settable via bit 8 to bit 15
1 Takeover date of the set values from the fieldbus task into the position/speed
controller.
0: Takeover to the next RT0
1: Takeover in the beginning of the next fieldbus cycle
7 ... 2 Reserved
15 ... 8 The time (in controller cycles) to transmit the actual values to the fieldbus
processor
The transmission of the set values and the actual values from/to the fieldbus processor
normally takes place in the fieldbus task. For special applications individual time settings
can be configured for actual value transmissions.

The transmission occurs in line with a controller interrupt. The time is set in a grid of con-
troller cycles (62.5 µs).
A setting of 0 controller cycles means that the actual values are transmitted in the inter-
rupt in which the fieldbus task is started in the following. In this way the reading of the set
values follow close upon the transmission of the actual values due to this setting.
131.24 Profinet device name
This parameter contains the Profinet device name (max. 240 characters). ProDrive dis-
plays this parameter as text on the Configuration / Fieldbus slave page, if the fieldbus of
the connected controller is a Profinet type.
131.52 Error counter fieldbus actual values
Error counter for access conflicts at actual values.

The counter is incremented, if the fieldbus firmware did not retrieve the actual values. If
the fieldbus is in operational state and the drive is synchronous with the fieldbus, the error
1937 is set at exceeding of threshold Z131.55–.
131.53 Error counter fieldbus set values
Error counter for set value failures.

The counter is incremented at every set value failure. If the fieldbus is in operational state
and the drive is synchronous with the fieldbus, the error 1938 is set at exceeding of
threshold Z131.56–.
131.55 Max error count fieldbus actual values
Error threshold for access conflicts at actual values.

This parameter configures how many access conflicts (actual values have been not re-
trieved) are necessary to set the error 1937.
131.56 Max error count fieldbus set values
Error threshold for set value failures.

This parameter configures how many set value failures (set values have been not written)
are necessary to set the error 1938.

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4.4 Configuration
4.4.18 Measuring encoder function

tifier unit doesn’t support the measuring encoder function.
The Measuring encoder function can be used to store the position actual values of En-
coder 1 or Encoder 2 to different external signals.
Different settings may be selected as trigger signals for measuring encoders. When the
trigger signal occurs, the current position actual value of the corresponding encoder will
be stored and shown in the assigned measuring encoder display parameters.
The accuracy of the measuring encoder is the accuracy of the encoder system that is
used:
m With rectangular incremental encoders, the resolution per revolution corresponds with
the quadruple of the line number.
m With SinCos encoders and sine incremental encoders, the analog information from
the sine and cosine tracks is also evaluated.
m Only the information from the analogous evaluation exists for tilt encoders.
NOTE!
All-digital encoders (Endat 2.2; HIPERFACE DSL, SSI without analogous tracks)
are not supported currently.
The following events may trigger the storage:

m Rising and / or falling edge at digital input TP1
m Rising and / or falling edge at digital input TP2
m Zero pulse of a encoder. This function is only possible with rectangular or sine incre-
mental encoders.
m Zero pulse of a encoder in connection with an additional qualification signal (High or
Low level) at digital input TP1 or TP2.
A one-time or continuous storage is possible for each trigger event (e.g. rising edge at
digital input TP1). If a trigger should be issued for a rising or falling edge of a digital input,
a minimum edge distance of at least 4 µs must be observed due to the limitations of the
digital I/O evaluation. The minimum edge distance is extended up to 500 µs, if the filter
for suppression of bounce influences is switched on.
Only the first measurement will be displayed for single measurements ("one-time trigger-
ing"). Triggering will then be deactivated and additional trigger events will therefore be ig-
nored. The availability of the measured values will be shown in Parameter 124.3 (Status).
124.2 (Measuring Encoder ActCmd) can be used to reactivate an already configured
(124.1 Measuring Encoder ConfMode) single measurement and the existing measured
values for the applicable trigger event will thereby be deleted.

With continuous triggering, the first measurement within the sampling cycle (1 ms) is al-
ways displayed. If additional trigger events follow within the same sampling cycle, they
will be ignored. The first measurement within the next sampling cycle will overwrite the
values of the previous one. The availability of new measured values will be displayed in
parameters 124.3 (Status, after initial measurement) and 124.4 (Status 2, Toggle Bit after
each new measurement).
With triggering from a digital input, the allocation positive/negative edge is dependent on
the direction of revolution. The measured values of the positive edge at positive direction
of revolution are equal to the measured values of the negative edge at negative direction
of revolution. The measured values of the negative edge at positive direction of revolution
are equal to the measured values of the positive edge at negative direction of revolution,
and where necessary adding the measuring inaccuracy due to the encoder’s resolution.
With triggering from zero pulse, the measured value of the positive edge is independent
of the direction of revolution, the measured value of the negative edge differs depending
on the direction of revolution by maximum ± ¼ number of pulses.
So only the positive edge should be analyzed by triggering from zero pulse.
Zero pulse Positive direction of revolution
High
Low
J
Positive Negative
(rising) (falling)
edge edge
Zero pulse Negative direction of revolution

High
Low
J
Negative Positive
(falling) (rising)
edge edge
Digital input Positive direction of revolution
High
Low
J
Positive Negative
(rising) (falling)
edge edge
Digital input
Negative direction of revolution
High
Low
J
Negative Positive
(falling) (rising)
edge edge
Figure 83: Direction of revolution

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4.4 Configuration
Standardization
The latched values are available in the 64 bit format (32 bit revolutions Z124.5–,
Z124.7–, Z124.9–, ... and 32 bit angle Z124.6–, Z124.8–, Z124.10–, ...) and in 32 bit
format (Z124.31– to Z124.34–)
The 32 bit format offers different scaling types (see Z124.30–):
m n bit revolutions + m bit angle, n + m = 32
m Scaling with the Factor Group
m Scaling with the actual position value modulo
4.4.18.1 ProDrive Measuring Encoder
Figure 84: ProDrive Measuring Encoder

Functional block: FbTouchProbe [124]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
124.1 Configuration mode DWORD 0 0xFFFFFFFF 0 1:1 X X

124.2 Activation command WORD 0 0xFFFF 0 1:1 O X
124.3 Status DWORD 0 0xFFFFFFFF 0 1:1 X X
124.4 Status 2 DWORD 0 0xFFFFFFFF 0 1:1 X X
124.5 Encoder 1 trigger digital UDINT 0 0xFFFFFFFF 0 1:1 X X
input TP1 pos. edge rev-
olutions
input TP1 pos. edge
angle
input TP1 neg. edge
revolutions
input TP1 neg. edge
angle
olutions
input TP2 pos. edge
angle
input TP2 neg. edge
revolutions
input TP2 neg. edge
angle
124.13 Encoder 1 trigger zero UDINT 0 0xFFFFFFFF 0 1:1 X X
pulse pos. edge revolu-
tions
pulse pos. edge angle
pulse neg. edge revolu-
tions
pulse neg. edge angle
olutions
input TP1 pos. edge
angle

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4.4 Configuration

input TP1 neg. edge
revolutions
input TP1 neg. edge
angle
olutions
input TP2 pos. edge
angle
input TP2 neg. edge
revolutions
input TP2 neg. edge
angle
tions
tions
124.30 DS402 mode UDINT 0 0xFFFFFFFF 0x00100100 1:1 X
124.31 DS402 touch probe 1 UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
pos. value
neg. value
pos. value
neg. value
4.4.18.3 Description of the Parameter
124.1 Configuration Mode
Configuration of the measuring encoder
NOTE!
All measurements are inactive during the change of the configuration!

Bit Meaning
Encoder 1
0…2 Measurement "Encoder 1 with Trigger digital input TP1"
0 Activation channel measurement positive edge
(Enc1TrDi1PosValRev/Enc1TrDi1PosValPhi)
0: switch off
1: switch on
1 Activation channel measurement negative edge
(Enc1TrDi1NegValRev/Enc1TrDi1NegValPhi)
0: switch off
1: switch on
2 Trigger frequency
0: one-time trigger
a new measure does not occur until measuring encoder has been reac-
tivated with P124.2
1: Continuous triggering
Measurements always occur; however, within a sampling cycle of the
module (1 ms), only the first event will be triggered.
3…5 Measurement "Encoder 1 with Trigger digital input TP2"
0: switch off
1: switch on
0: switch off
1: switch on
5 Trigger frequency
0: one-time trigger
tivated with P124.2
6… Measurement "Encoder 1 with Trigger Zero Pulse"
12
(Enc1TrZpPosValRev/Enc1TrZpPosValPhi)
0: switch off
1: switch on
(Enc1TrZpNegValRev/Enc1TrZpNegValPhi)
0: switch off
1: switch on
8 Reserved

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4.4 Configuration
Bit Meaning
9 Activation Qualification with digital input
0: Qualification off
1: Qualification on
10 Selection digital input for qualification
0: Qualification zero pulse with digital input TP1
11 Selection Signal Level for qualification
0: Zero pulse trigger active when digital input = low
1: Zero pulse trigger active when digital input = high
12 Trigger frequency
0: one-time trigger
tivated with P124.2
13… Reserved
14
15 Activation filter 500 µs for measuring encoder digital input TP1 (effects only for
measuring encoder, to all encoder)
1: Filtering with 500 µs
0:No filtering (-> 4 µs)
Encoder 2
16… Measurement "Encoder 2 with Trigger digital input TP1"
18
0: switch off
1: switch on
0: switch off
1: switch on
0: one-time trigger
tivated with P124.2
19… Measurement "Encoder 2 with Trigger digital input TP2"
21
0: switch off
1: switch on

Bit Meaning
0: switch off
1: switch on
0: one-time trigger
tivated with P124.2
22… Measurement "Encoder 2 with Trigger Zero Pulse"
28
(Enc2TrZpPosValRev/Enc2TrZpPosValPhi)
0: switch off
1: switch on
(Enc2TrZpNegValRev/Enc2TrZpNegValPhi)
0: switch off
1: switch on
24 Reserved
25 Activation Qualification with digital input
0: Qualification off
1: Qualification on
26 Selection digital input for qualification
27 Selection Signal Level for qualification
0: Zero pulse trigger active when digital input = low
1: Zero pulse trigger active when digital input = high
0: one-time trigger
tivated with P124.2
29 Reserved
30 For all channels:
0: Delete measuring values, if channel is switched on
1: Delete measuring values, if channel is switched off
31 Activation filter 500 µs for measuring encoder digital input TP2 (effects only for
measuring encoder, to all encoder)
1: Filtering with 500 µs
0:No filtering (-> 4 µs)

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4.4 Configuration
124.2 Activation Command
Command to delete one or more measurements. The following actions will be performed
for the corresponding channel:
m Deleting the associated status bit (measurement occurred / not occurred) in status
m Setting measured values of individual channels to zero
m Reactivation of an already (through Parameter 124.1) activated channel
Toggling the corresponding bit will trigger the command.
The parameter can be used to delete the indexes / latched values of the measuring en-
coder during active operation, but the application is not necessary.
Bit Meaning
Encoder 1
0 0->1, 1->0:
Measurement Channel "Delete / reactivate Encoder 1 with Trigger digital
input TP1 positive edge
1 0->1, 1->0:
input TP1 negative edge
2 0->1, 1->0:
3 0->1, 1->0:
4 0->1, 1->0:
Measurement Channel "Delete / reactivate Encoder 1 with Trigger Zero
Pulse positive edge
5 0->1, 1->0:
Pulse negative edge
6 ... 7 Reserved
Encoder 2
8 0->1, 1->0:
9 0->1, 1->0:
10 0->1, 1->0:

Bit Meaning
11 0->1, 1->0:
12 0->1, 1->0:
Pulse positive edge
13 0->1, 1->0:
Pulse negative edge
14 ... 15 Reserved
124.3 Status
Status of the measuring encoder.
Bit Meaning
0 Measured value storage Measurement Channel "Encoder 1 with Trigger dig-
ital input TP1 positive edge":
0: Switched off
1: Switched on
ital input TP1 negative edge":
0: Switched off
1: Switched on
0: Switched off
1: Switched on
0: Switched off
1: Switched on
4 Measured value storage Measurement Channel "Encoder 1 with Trigger
Zero Pulse positive edge":
0: Switched off
1: Switched on
Zero Pulse negative edge":
0: Switched off
1: Switched on
0: Switched off
1: Switched on

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4.4 Configuration
Bit Meaning
0: Switched off
1: Switched on
0: Switched off
1: Switched on
0: Switched off
1: Switched on
Zero Pulse positive edge":
0: Switched off
1: Switched on
Zero Pulse negative edge":
0: Switched off
1: Switched on
12 Status of the measured value storage Channel "Encoder 1 with Trigger digi-
tal input TP1" ("or" linked Bits 20,21):
0: No measured value stored yet
1: Measured value stored
14 Status of the measured value storage Channel "Encoder 1 with Trigger Zero
Pulse " ("or" linked Bits 24,25):
17 Status of the measured value storage Channel "Encoder 2 with Trigger Zero
Pulse " ("or" linked Bits 30,31):
19 … 18 Reserved

Bit Meaning
21…20 Status of measured value storage Measurement Channel "Encoder 1 with
Trigger digital input TP1":
01: Measured value positive edge stored
10: Measured value negative edge stored
11: Measured value positive + negative edge stored
25…24 Status of measured value storage channel "Encoder 1 with Zero Pulse":
31…30 Status of measured value storage channel "Encoder 2 with Zero Pulse":
Attention:
The status bits 12…17 and 20…21 remain set with continuous triggering of the corre-
sponding channel (P124.1) after the first measurement. For signaling, the additional use
of P124.4 is recommended where new measured values of the channels are signaled
through toggle bits.
124.4 Status 2
Extended status of the measuring encoder.

Toggle bits to signal new measurements with continuous triggering (refer to Z124.1–).

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4.4 Configuration
The corresponding bit changes its status with each new measurement.
Bit Meaning
0 Toggle bit to signal "New measured value in channel "Encoder 1 with Trigger
digital input TP1 positive edge" exists.
0->1, 1->0: new measured value exists
digital input TP1 negative edge" exists.
Zero Pulse positive edge" exists.
Zero Pulse negative edge" exists.
Zero Pulse positive edge" exists.
Zero Pulse negative edge" exists.
12…31 Reserved

124.5 Encoder 1 Trigger digital input TP1 pos. Edge Revolutions
Revolutions Encoder 1 with triggering of measurement through rising edge at digital input
TP1.
124.6 Encoder 1 Trigger digital input TP1 pos. Edge Angle
Angle Encoder 1 with triggering of measurement through rising edge at digital input TP1.
124.7 Encoder 1 trigger digital input TP1 neg. edge revolutions
Revolutions Encoder 1 with triggering of measurement through falling edge at digital input
TP1.
124.8 Encoder 1 Trigger digital input TP1 neg. Edge Angle
Angle Encoder 1 with triggering of measurement through falling edge at digital input TP1.
124.9 Encoder 1 trigger digital input TP2 pos. edge revolutions
TP2.
124.11 Encoder 1 trigger digital input TP2 neg. edge revolutions
TP2.

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4.4 Configuration
124.13 Encoder 1 Trigger Zero Pulse pos. Edge Revolutions
Revolutions Encoder 1 with triggering of measurement through rising edge of Zero Pulse
of Encoder 1.
124.14 Encoder 1 Trigger Zero Pulse pos. Edge Angle
Angle Encoder 1 with triggering of measurement through rising edge of Zero Pulse of En-
coder 1.
124.15 Encoder 1 Trigger Zero Pulse neg. Edge Revolutions
Revolutions Encoder 1 with triggering of measurement through falling edge of Zero Pulse
of Encoder 1.
124.16 Encoder 1 Trigger Zero Pulse neg. Edge Angle
Angle Encoder 1 with triggering of measurement through falling edge of Zero Pulse of En-
coder 1.
TP1.
124.19 Encoder 2 Trigger digital input TP1 neg. Edge Revolutions
TP1.

TP2.
124.23 Encoder 2 Trigger digital input TP2 neg. Edge Revolutions
TP2.
124.25 Encoder 2 Trigger Zero Pulse pos. Edge Revolutions
Revolutions Encoder 2 with triggering of measurement through rising edge of Zero Pulse
of Encoder 2.
124.26 Encoder 2 Trigger Zero Pulse pos. Edge Angle
Angle Encoder 2 with triggering of measurement through rising edge of Zero Pulse of En-
coder 2.
124.27 Encoder 2 Trigger Zero Pulse neg. Edge Revolutions
Revolutions Encoder 2 with triggering of measurement through falling edge of Zero Pulse
of Encoder 2.

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4.4 Configuration
124.28 Encoder 2 Trigger Zero Pulse neg. Edge Angle
Angle Encoder 2 with triggering of measurement through falling edge of Zero Pulse of En-
coder 2.
124.30 DS402 mode
Settings for Z124.31– to Z124.34–.

Source and division of revolutions and angle.
NOTE!
for the DS402 touch probe 1 and 2 must not set the same source
Bit Meaning
0 1: Switch on DS402 touch probe
Start calculation of the combined measured values Z124.31– to
Z124.34– and if necessary Z179.16– to Z179.19–.
The respective source is selected in bits 16 … 23.
Configuration/scaling of the combined measured values see bits 2 ... 1.
Attention:
The respective channel in Z124.1– Configuration mode must be activated!
0: Switch off
2 ... 1 Configuration/scaling of the combined measured values Z124.31– to
Z124.34–:
00: Configuration corresponding to bits 4 … 9
01: Calculation with Factor Group (Z179.2– to Z179.9–) 1)
10: Modulo actual position value 2)
11: Reserved
3 Reserved

Bit Meaning
9…4 Configuration setting of the combined measured values (if bit 1 = 0)
x bits revolutions + (32 - x) bits angle:
Value:
0: 32 bits angle
1: 1 bit revolutions + 31 bits angle
2: 2 bits revolutions + 30 bits angle
31: 31 bits revolutions + 1 bit angle
32: 32 bits revolutions
10 … 15 Reserved
19 … 16 Source for DS402 touch probe 1 (TP1)
(Z124.31– / Z124.32–, object 0x60BA / 0x60BB)
Value:
0: Encoder 1 trigger digital input TP1
2: Encoder 1 trigger zero pulse
6 … 15: Reserved

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4.4 Configuration
Bit Meaning
23 … 20 Source for DS402 touch probe 2 (TP2)
(Z124.33– / Z124.34–, object 0x60BC / 0x60BD)
Value:
6 … 15: Reserved
31 … 24 Reserved
1
) Z131.9– bit 14 Factor Group must be activated
2) Z121.1– bit 4 modulo actual position value must be activated
124.31 DS402 touch probe 1 pos. value
DS402 touch probe object 0x60BA

The source is selected in Z124.30–.
The following scalings are possible:
m according to Z124.30– bits 9 ... 4 (Z124.30– bits 2 ... 1 = 00) or
m with the Factor Group weightings from Z179.2– to Z179.9– (Z124.30–
bit 2 ... 1 = 01) or
m position system of the modulo actual position value Z121.17– (Z124.30–
bit 2 ... 1 = 10)
124.32 DS402 touch probe 1 neg. value
DS402 touch probe object 0x60BB

bit 2 ... 1 = 01) or
bit 2 ... 1 = 10)

124.33 DS402 touch probe 2 pos. value
DS402 touch probe object 0x60BC

bit 2 ... 1 = 01) or
bit 2 ... 1 = 10)
124.34 DS402 touch probe 2 neg. value
DS402 touch probe object 0x60BD

bit 2 ... 1 = 01) or
bit 2 ... 1 = 10)

Document No.: 5.09022.17 of 978
4.4 Configuration
4.4.19 Customizable PID controller

This module is available at the active mains rectifier unit in the same functional scale.
These two customizable PID controller can be used for realization of user-specific feed-
back control problems.
m The cycle time is 250 µs.
m The single controllers (P, I, D) can be switched on and switched off separately by se-
lection of the corresponding bits in the PID controller mode.
m The PID controller can be synchronized with current, speed or position controller, i.e.
the controller is only then activated, when current, speed or position controller are ac-
tive.
m Set value, actual value and output can be freely selected via freely configurable source
or target parameters.
Set value and actual value can be specified alternatively via open-loop control + field-
bus or analogous inputs. The output can be read out via open-loop control + fieldbus
or analogous output.
The customizable controller can be configured as P, PI, PD, PID, I, ID and D controller by
selection of the corresponding bits in the PID controller mode. The activation of the PID
controller can be synchronized with current, speed or position controller by selection of
the bits in PID controller mode.
Two customizable controller are available for each device. At a double axis unit the PID
controller can be allocated freely to the axes. Thereby set value, actual value and output
are in the same axis.
Algorithm
The following transfer function is true for the PID controller:
Y  s  = Kp + ------------
Kp - + Kp  Tv  s
G  s  = -----------
Us Tn  s
Kp = P - gain
Tv = Derivative time
Tn = Integral action time
With
Ki = Kp
-------
Tn
and
Kd = Kp  Tv

we obtain:
G  s  = Kp + Ki
------ + Kd  s
s
This means that Kp is effective for the D and I controller even then if the P controller is
inactive.
The functional diagram is described below:
Mode PID controller

P150.1/17, Bit 4
0x0000
5000_0185_rev01_int.cdr
P controller
P-gain
P150.7/23 PID controller
Mode PID controller deactivated
P150.1, Bit 5
Source number set value PID controller Target number
P150.4/20 = 0 0x0000 P150.6/22 = 0
PID controller PID controller 0x0000
Set value upper limit upper limit PID controller
PID controller I controllerPID controller P150.11/27
Target
Set value Integral term P150.11/27 output
P150.13/29 Pxxxx
Pxxxx P150.16/32 + P150.15/31
- +
PID controller PID controller
I-gain
lower limit lower limit
P150.4/20 = Parameter number P/Tn = P150.7/23 /
P150.12/28 P150.12/28 P150.6/22 = Target number
P150.8/24 Mode PID controller
Source number P150.1/17, Bit 6 PID controller
actual value PID controller activated
P150.5/21 = 0 0x0000
Actual value D controller
Actual value PID controller
Pxxxx P150.14/30
Pt1 time constant D-gain:

P150.5/21 = Parameter number PID controller P*Tn = P150.7/23 * PID controller mode
P150.10/26 P150.9/25 P150.1/17( Bit 2, 1, 0 ) = 0 PID controller deactivated
= 1 and current controller active PID controller activated
= 2 and speed controller active PID controller activated
= 3 and position controller active PID controller activated
= 4 PID active always
PID controller deactivated:

PID controller output (P150.15/31),PID controller integral term (P150.16/32) will be set to 0
Figure 85: PID controller functional diagram
Functional block: FbPidCtrl[150]

Axis-independent
Cyclic Write
DS Support
Read only
Storage
150.1 Mode PID controller 1 WORD 0 0xFFFF 0 1:1 X X

150.2 Status PID controller 1 WORD 0 0xFFFF 0 1:1 X X
150.3 Axis index PID controller UINT 0 1 0 1:1 X
1
150.4 Source number set UDINT 0 0xFFFFFFFF 0 1:1 X X
value PID controller 1

Document No.: 5.09022.17 of 978
4.4 Configuration
150.5 Source number actual UDINT 0 0xFFFFFFFF 0 1:1 X X

150.6 Target number output UDINT 0 0xFFFFFFFF 0 1:1 X X
PID controller 1
150.7 Kp PID controller 1 FLOAT 0 100000 1 1:1 X O X
150.8 Tn PID controller 1 FLOAT 0.000001 100000 0.01 s 1:1 X X
150.9 Td PID controller 1 FLOAT 0 100000 0 s 1:1 X X
150.10 Pt1 time constant PID FLOAT 0 20 0 s 1:1 X X
controller 1
150.11 Output upper limit PID FLOAT -5000000000 5000000000 0 1:1 X O X
controller 1
150.12 Output lower limit PID FLOAT -5000000000 5000000000 0 1:1 X O X
controller 1
150.13 Set value PID controller FLOAT -5000000000 5000000000 0 1:1 O X
1
150.14 Actual value PID con- FLOAT -5000000000 5000000000 0 1:1 O X
troller 1
150.15 Output PID controller 1 FLOAT -5000000000 5000000000 0 1:1 X X
150.16 Integral term PID con- FLOAT -5000000000 5000000000 0 1:1 O X
troller 1
2
PID controller 2
controller 2
controller 2
controller 2
2
troller 2
troller 2

150.1 Mode PID controller 1
Configuration of the PID controller
Bit Meaning
2 ... 0 Activate the PID controller:
000: Deactivate PID controller
001: Activate PID controller, if current controller is active
010: Activate PID controller, if speed controller is active
011: Activate PID controller, if position controller is active
100: Activate PID controller always
3 Reserved
4 If PID controller active (bit 2 ... 0  000):
0: Deactivate P controller
1: Activate P controller
0: Deactivate I controller
1: Activate I controller
0: Deactivate D controller
1: Activate D controller
15 ... 7 Reserved
150.2 Status PID controller 1
Status of the PID controller:
Bit Meaning
0 0: PID controller is deactivated
1: PID controller is activated
3 ... 1 Reserved
4 1: PID controller output is limited
7 ... 5 Reserved
8 If PID controller output is linked only (Z150.6–  0):
1: PID controller output greater than maximum value or less than minimum
value of the target parameter. PID controller output is limited to target
parameter at writing.

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4.4 Configuration
Bit Meaning
9 If PID controller input is linked only (Z150.4–  0 or Z150.5–  0):
1: PID controller source number set value or actual value is greater than
maximum value or less than minimum value of the set value or actual
value. PID controller source number set value or actual value is limited to
set value or actual value at writing.
15 ... 10 Reserved
150.3 Axis index PID controller 1
Index to select the axis from which the PID controller reads the set value and the actual
value and on which the PID controller writes the output.
Value Meaning
0 Assign PID controller to axis 1
65535 ... 2 Reserved
150.4 Source number set value PID controller 1
Selection of the source of the PID controller set value. At source number = 0 the value
can be specified directly, e.g. via a fieldbus or an analogous input.
150.5 Source number actual value PID controller 1
Selection of the source of the PID controller actual value. At source number = 0 the value
150.6 Target number output PID controller 1
Selection of the target of the PID controller output.

All cyclic writable parameters are permitted.
150.7 Kp PID controller 1
Proportional gain of the PID controller 1.

150.8 Tn PID controller 1
Integral action time of the PID controller 1.
150.9 Td PID controller 1
Derivative time of the PID controller 1.
150.10 Pt1 time constant PID controller 1
Time constant of the PT1 filter in the D leg of the PID controller. If the value „0“ is speci-
fied, the signal will be transmitted unfiltrated.
150.11 Output upper limit PID controller 1
Upper limit of the PID controller output.

If the output is limited with this limit, it will be signalized in Z150.2– bit 4.
NOTE!
If the upper limit is greater than the maximum value of the linked target parameter,
then the output is limited at writing on the target parameter to the maximum value of
the linked target parameter if necessary. This will be signalized in Z150.2– bit 8.
150.12 Output lower limit PID controller 1
Lower limit of the PID controller output.

NOTE!
If the lower limit is less than the minimum value of the linked target parameter, then
the output is limited at writing on the target parameter to the minimum value of the
linked target parameter if necessary. This will be signalized in Z150.2– bit 8.

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4.4 Configuration
150.13 Set value PID controller 1
Value of the set value of the PID controller.

The source of this set value can be selected in Z150.4– „Source number set value PID
controller 1“.
If the source is not selected (Z150.4– = 0) the set value can be written via fieldbus or an
analogous input.
If the source is selected (Z150.4–  0) and the value of the source parameter is less than
the minimum value or greater than the maximum value of the set value, the set value is
limited to its minimum or maximum value. This will be signalized in Z150.2– bit 9.
150.14 Actual value PID controller 1
Value of the actual value of the PID controller.

The source of this actual value can be selected in Z150.5– „Axis index PID controller 1“.
If the source is not selected (Z150.5– = 0) the actual value can be written via fieldbus or
an analogous input.
If the source is selected (Z150.5–  0) and the value of the source parameter is less than
the minimum value or greater than the maximum value of the actual value, the actual val-
ue is limited to its minimum or maximum value. This will be signalized in Z150.2– bit 9.
150.15 Output PID controller 1
Value of the output of the PID controller.

The target of the output can be selected in Z150.6– „Target number output PID controller
1“.
The output is set to 0 at deactivated PID controller.
150.16 Integral term PID controller 1
Display of the unlimited integral term of the PID controller.

The integral term is set to 0 permanently at deactivated PID controller or switched off in-
tegral controller.
150.17 Mode PID controller 2
Configuration of the PID controller 2 see Z150.1– table

150.18 Status PID controller 2
Status of the PID controller:
Bit Meaning
0 0: PID controller is deactivated
1: PID controller is activated
3 ... 1 Reserved
4 1: PID controller output is limited
7 ... 5 Reserved
8 If PID controller output is linked only (Z150.22–  0):
1: PID controller output greater than maximum value or less than minimum
value of the target parameter. PID controller output is limited to target
parameter at writing.
9 If PID controller input is linked only (Z150.20–  0 or Z150.21–  0):
1: PID controller source number set value or actual value is greater than
maximum value or less than minimum value of the set value or actual
value. PID controller source number set value or actual value is limited to
set value or actual value at writing.
15 ... 10 Reserved
150.19 Axis index PID controller 2
Index to select the axis from which the PID controller 2 reads the set value and the actual
value and and on which the PID controller writes the output.
Value Meaning
150.20 Source number set value PID controller 2
Selection of the source of the PID controller set value. At source number = 0 the value

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4.4 Configuration
150.21 Source number actual value PID controller 2
Selection of the source of the PID controller actual value. At source number = 0 the value
150.22 Target number output PID controller 2
Selection of the target of the PID controller output.

All cyclic writable parameters are permitted.
150.23 Kp PID controller 2
Proportional gain of the PID controller 2.
150.24 Tn PID controller 2
Integral action time of the PID controller 2.
150.25 Td PID controller 2
Derivative time of the PID controller 2.
150.26 Pt1 time constant PID controller 2
Time constant of the PT1 filter in the D leg of the PID controller. If the value „0“ is speci-
fied, the signal will be transmitted unfiltrated.
150.27 Output upper limit PID controller 2
Upper limit of the PID controller output.

NOTE!
If the upper limit is greater than the maximum value of the linked target parameter,
then the output is limited at writing on the target parameter to the maximum value of
the linked target parameter if necessary. This will be signalized in Z150.18– bit 8.

150.28 Output lower limit PID controller 2
Lower limit of the PID controller output.

NOTE!
If the lower limit is less than the minimum value of the linked target parameter, then
the output is limited at writing on the target parameter to the minimum value of the
linked target parameter if necessary. This will be signalized in Z150.18– bit 8.
150.29 Set value PID controller 2
Value of the set value of the PID controller.

The source of this set value can be selected in Z150.20– „Source number set value PID
controller 2“.
If the source is not selected (Z150.20– = 0) the set value can be written via fieldbus or
an analogous input.
If the source is selected (Z150.20–  0) and the value of the source parameter is less
than the minimum value or greater than the maximum value of the set value, the set value
is limited to its minimum or maximum value. This will be signalized in Z150.18– bit 9.
150.30 Actual value PID controller 2
Value of the actual value of the PID controller.

The source of this actual value can be selected in Z150.21– „Axis index PID controller 2“.
If the source is not selected (Z150.21– = 0) the actual value can be written via fieldbus
or an analogous input.
If the source is selected (Z150.21–  0) and the value of the source parameter is less
than the minimum value or greater than the maximum value of the actual value, the actual
value is limited to its minimum or maximum value. This will be signalized in Z150.18–
bit 9.
150.31 Output PID controller 2
Value of the output of the PID controller.

The target of the output can be selected in Z150.22– „Target number output PID control-
ler 2“.
The output is set to 0 at deactivated PID controller.

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4.4 Configuration
150.32 Integral term PID controller 2
Display of the unlimited integral term of the PID controller.

The integral term is set to 0 permanently at deactivated PID controller or switched off in-
tegral controller.

4.4.20 PT1 Filters
Per axis two instances of freely programmable PT1 filters exist, whose outputs can be
used further on, for example as an input for a PID controller, for analog outputs, as display
filter or within the SoftDrivePLC.
At a double axis there are 4 PT1 filter independently of one another - every axis was as-
signed to accordantly two instances (instance 0 and instance 1).
Every PT1 filter instance whose instance number (with i = 0 or 1) is indicated in the pa-
rameter ID in the second last position, is available of the following parameters:
Parameter ID Name Remark

P182.1.i.0 Mode Activate / deactivate filter
P182.2.i.0 Source parameter ID Filter input
P182.3.i.0 Time constant PT1 filter Time constant T, Data type float.
Unit 1 s with three decimal places
P182.4.i.0 PT1 filter output Smoothed output value
4.4.20.1 Temporal features of the filters
Both of the instances of the PT1 filters of every axis are calculated permanently in the RT1
cycle alternating every 2 ms. The cycle time in which every filter is calculated, is therefore
not settable.

Axis-independent
Cyclic Write
DS Support
Read only
Storage
182.1 Mode WORD 0 0xFFFF 0 1:1 X O

182.2 Source parameter id UDINT 0 4294967295 0 1:1 X
182.3 Time constant PT1 filter FLOAT 0 32.767 2 s 1:1 X O
182.4 PT1 filter output FLOAT -3.4028234e38 3.4028234e38 0 1:1 X

Document No.: 5.09022.17 of 978
4.4 Configuration
182.1 Mode
Bit Meaning
0 0: Filter is switched off
1: Filter is switched on
15 ... 1 Reserved
182.2 Source parameter id
Specifying the parameter number of the value to be filtered.

In general, all of the parameters with the following data types can be indicated as source
parameters:
UINT, UDINT, INT, DINT, FLOAT.
182.3 Time constant PT1 filter
This parameter indicates the smoothing time constant.
182.4 PT1 filter output
This parameter represents the filter output. The data type of the filter output is always
FLOAT, independently of the data type of the source parameter.
The output is always displayed in ProDrive as a raw value of the source parameter. A cal-
culation of the unit of the input value by ProDrive does not effect the presentation of the
output value.

4.4.21 Master-slave torque coupling

tifier unit doesn’t support the torque coupling function.
By means of the function „Master-slave torque coupling“ the loading of two drives, which
carry load together, can be divided in a defined ratio.
Structure of the control
The following requirements must be fulfilled for the torque coupling:

m Drives are rigidly coupled
m Master is in a position-controlled operation mode (e. g. position control) or in a speed-
controlled operation mode (e. g. speed control)
m Slave is in a speed-controlled operation mode (e. g. speed control)
m Master and slave receive the same speed set value
– Master in position-controlled mode
Slave receives the speed set value generated in master
– Master in speed-controlled mode
Master and slave receive the same speed set value from master control
m Cross communication between master and slave is possible (Mono units: via Ether-
CAT or double axis unit also internally)
A compensating controller on the slave drive calculates an additional speed set value
from the torque set value of the master (receiving over cross communication) and the
torque set value of the slave corresponding to the torque weighting. Over a rigid coupling
the torque are set corresponding to the torque weighting (see ZFig. 86– on page 353 or
ZFig. 87– on page 354).
The coupling is activated on the master (Z147.1– Bit 8), slave-side this setting is efficient-
ly not before master and slave are enabled (Z147.3– Bit 4 = 1), because the servo loops
are closed then.
NOTE!
The slave can accelerate possibly up to the overspeed limit (Z6.5– or Z6.6–), if the
mechanical coupling is removed during the torque coupling is active (Z147.3–
Bit 4 = 1).
For stressing the drives in standstill and if applicable also during the motion an additional
torque init stress can be connected.
Two options are available for the connection of the torque init stress:

Document No.: 5.09022.17 of 978
4.4 Configuration
Torque init stress only on slave-side via compensating controller
Compensating controller Stress

n set
147.9 Torque init stress
P147.13 Mv
147.10
P147.7 P147.18
P147.8 Coupling- Coupling-
1 0 factor factor
147.4 slave master
Bit 0 147.6 147.5
Master
speed
control
m set slave
Master
Slave
P18.68
position-- n actual
slave
n set
control
Cross
m set master
communication command
P147.4
Coupling
P147.19
n actual
P18.21
Master
master
Master
n set
speed
control m set master
n set
Master
position
control
Figure 86: Structure of the control of the torque coupling at connecting the torque coupling via compensat-
ing controller

Torque init stress on master and slave-side as torque additional set value
The torque init stress is parameterized and calculated on the master axis and is connect-
ed to the output of the speed controller. In addition it will be sent via cross communication
to the slave on which it is connected to the output of the speed controller also.
The torque init stress acts symmetrically on the master and the slave axis.
Compensating controller
n set
147.9
P147.13
147.10
P147.7
P147.8 Coupling- Coupling-
1 0 factor factor
147.4 slave master
Bit 0 147.6 147.5
Master
speed
control
m set slave
-
Master
P18.68
position-- n actual
slave
n set
control
Slave
Cross
Torque init stress
communication
m set master
command
P147.4
Coupling
P14720
P147.19
Stress
Torque init stress
Mv
P147.18
n actual
P18.21
Master
master
Master
n set
speed
control - m set master -
n set
Master
position
control
Figure 87: Structure of the control of the torque coupling at connecting the torque coupling as torque addi-
tional set value

Document No.: 5.09022.17 of 978
4.4 Configuration
Speed dependent torque init stress
The torque init stress can be set also speed dependent (see the following figure) as need-
ed, if e.g. a high torque init stress is needed at standstill, otherwise the drives should sup-
port one another as possible.
5000_0180_rev01_int.cdr
Mv
(efficient torque
init stress)
P147.15
P147.16
P147.17 |n|
|n| < P147.17: Mv = P147.16 * n/P147.17 + P147.15 * (1 - n/P147.17)

|n| >= P147.17: Mv = P147.16
Figure 88: Torque init stress of the torque coupling
Cross communication
The following parameters must be sent cyclic:

m Z147.4– Coupling command master
m Z147.19– Torque set value master
m Z147.21– Torque init stress actual value master
(only if torque init stress is connected directly (Z147.1– Bit 16 = 1))
m Transmit master Z18.21– "w2 Speed set value total" to slave Z18.68– "Speed additi-
nal set value" (only if master in position controlled mode)
The cross communication can take place either via fieldbus (e.g. EtherCAT) or within a
double axis internally.
Cross communication via fieldbus
The parameter to be transferred cyclic (coupling command master, w2 speed set value
master (optional), torque set value master, torque init stress actual value master (option-
al)) must be mapped correspondingly controller-side and EtherCAT-side. Set Z147.1–
Bit 4 = 0 at the slave axis.

Figure 89: Cross communication via EtherCAT
The drive master writes its actual values (coupling command master, w2 speed set value
master (optional), torque set value master, torque init stress actual value master (option-
al)) in the telegram received from the control and sends up the telegram to the drive slave.
The drive slave reads this values in the same bus cycle as its set values. Therefore
m the drive master must be located physically in the EtherCAT cycle in front of the drive
slave in order that the drive slave gets the actual values.
m the coupling command master, the torque set value master, w2 speed set value
master (optional) and torque init stress actual value master (optional) must be
mapped in the drive master and the drive slave in the same address area.
Axis internal cross communication within a double axis unit
In order to activate the axis internal cross communication within a double axis unit
Z147.1– Bit 4 = 1 must be set on slave axis. Which of the two axes 1 and 2 assumes the
master functionality and which the slave functionality is always equal. It is recommended
to configurate axis 1 as master and axis 2 as slave because dead time does not effect
then.
The cross communication can be realized on a double axis also via fieldbus (see ZCross
communication via fieldbus– on page 355).

Document No.: 5.09022.17 of 978
4.4 Configuration
Figure 90: Axis internal cross communication
Functional block: FbTrqCoupling[147]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
147.1 Mode DWORD 0 0xFFFFFFFF 0 1:1 X

147.2 Status master UINT 0 0xFFFF 0 1:1 X
147.3 Status slave UINT 0 0xFFFF 0 1:1 X
147.4 Coupling command UINT 0 1 0 1:1 O
master
147.5 Torque coupling factor FLOAT 0 1 0 1:1 X
master
slave
147.7 Kp compensating con- FLOAT 0 10000 2 Grad/ 1:1 X
troller Nms
147.8 Tn compensating con- FLOAT 0 100000 10 ms 1:1 X
troller
147.9 Compensating controller FLOAT 0 180000 18000 Grad/s 1:1 X
output upper limit
147.10 Compensating controller FLOAT -180000 0 -18000 Grad/s 1:1 X
output lower limit
147.11 Compensating controller FLOAT -10000 10000 0 Nm 1:1 X
set value

actual value
147.13 Compensating controller FLOAT -180000 180000 0 Grad/s 1:1 X
output
147.14 Compensating controller FLOAT -2000000 2000000 0 Nm/s 1:1 X
integral term
147.15 Torque init stress 0 FLOAT -10000 10000 0 Nm 1:1 X
147.17 Speed limit torque init FLOAT 1 180000 1 Grad/s 1:1 X
stress 1
147.18 Torque init stress pt1 FLOAT 0 5000 0 ms 1:1 X
time constant
147.19 Torque set value master DINT -10000000 10000000 0 mNm 1:1 O
147.21 Torque init stress actual DINT -10000000 10000000 0 mNm 1:1 O
value master
147.1 Mode
Configuration of the torque coupling
Bit Meaning
1 ... 0 Specification of the configuration:
00: No torque coupling
01: Drive assumes the master functionality
10: Drive assumes the slave functionality
11: Reserved
3 ... 2 Reserved
4 Master-slave communication (at slave functionality only, i.e. Bit 1...0 = 10)
Transfer of the values / commands between master and slave:
0: external
Values are transferred via fieldbus
1: internal
Values are transferred directly from axis to axis without external connec-
tion; possible at double axis unit only
It is recommended here to set master functionality to axis 1 and slave
functionality to axis 2.
7 ... 5 Reserved
8 Coupling standby switch on / switch off (possible only at master functionality,
i.e. Bit 1...0 = 01). Slave-side the coupling is efficiently not before master and
slave are enabled:
0: Coupling standby switch off
1: Coupling standby switch on
11 ... 9 Reserved

Document No.: 5.09022.17 of 978
4.4 Configuration
Bit Meaning
12 Activate/deactivate the speed dependent torque init stress (at slave function-
ality only, i.e. Bit 1...0 = 10)
0: Torque init stress is independent from the speed (only Z147.15– Torque
init stress 0 is efficient)
1: Torque init stress is connected speed dependent (ramp is efficient corre-
sponding to ZFig. 88– on page 355)
15 ... 13 Reserved
16 Switching on and generating the torque init stress
0: Torque init stress acts via compensating controller a)
1: Torque init stress acts directly on the torque set values b)
31 ... 17 Reserved
a)
Torque init stress must be parameterized to slave
b) Torque init stress must be parameterized to master, transfer via cross commu-
nication is needed, if master slave communication is externally (see Bit 4)
147.2 Status master
Status of the master in torque coupling (at master functionality only, i.e. Z147.1–
Bit 1...0 = 01).
Bit Meaning
0 0: Master functionality is switched off
1: Master functionality is switched on
15 ... 1 Reserved
147.3 Status slave
Status of the slave in torque coupling (at slave functionality only, i.e. Z147.1–
Bit 1...0 = 10).
Bit Meaning
0 0: Slave functionality is switched off
1: Slave functionality is switched on
3 ... 1 Reserved
4 Torque coupling between master and slave
0: Coupling is switched off
1: Coupling is switched on
15 ... 5 Reserved

147.4 Coupling command master
Coupling command from the master to the slave at torque coupling.

This parameter must be sent cyclic from the master to the slave.
At external master-slave communication this parameter must be sent via cross commu-
nication (fieldbus) or digital inputs/outputs. See also ZCross communication– on page
355.
At internal master-slave communication an external transmission is not required.
The master transmits the command „Switch on torque coupling“, when the coupling is ac-
tivated basically (Z147.1– Bit 0 = 1) and the master drive is enabled.
Bit Meaning
0 0: Torque coupling is switched off
1: Torque coupling is switched on
15 ... 1 Reserved
147.5 Torque coupling factor master
Weighting of the master torque at torque coupling (at slave functionality only, i.e. Z147.1–
Bit 1...0 = 10, see ZFig. 86– on page 353).
NOTE!
The parameterized torque init stress Z147.15–, Z147.16– is set only at the time
when both the speed coupling factor master and slave are 1.
147.6 Torque coupling factor slave
Weighting of the slave torque at torque coupling (at slave functionality only, i.e. Z147.1–
Bit 1...0 = 10, see ZFig. 86– on page 353).
NOTE!
The parameterized torque init stress Z147.15–, Z147.16– is set only at the time
when both the speed coupling factor master and slave are 1.
147.7 Kp compensating controller
Proportional gain of compensating controller at torque coupling (at slave functionality on-
ly, i.e. Z147.1– Bit 1...0 = 10, see ZFig. 86– on page 353).

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4.4 Configuration
147.8 Tn compensating controller
Integral action time of the compensating controller (at slave functionality only, i.e.
Z147.1– Bit 1...0 = 10, see ZFig. 86– on page 353).
147.9 Compensating controller output upper limit
Upper limit of the compensating controller at torque coupling (at slave functionality only,
i.e. Z147.1– Bit 1...0 = 10, see ZFig. 86– on page 353).
147.10 Compensating controller output lower limit
Lower limit of the compensating controller at torque coupling (at slave functionality only,
i.e. Z147.1– Bit 1...0 = 10, see ZFig. 86– on page 353).
147.11 Compensating controller set value
Set value (set torque of the master) of the compensating controller in Nm at torque cou-
pling.
147.12 Compensating controller actual value
Actual value (set torque of the slave) of the compensating controller in Nm at torque cou-
pling.
147.13 Compensating controller output
Display of the limited compensating controller output at torque coupling (at slave function-
ality only, i.e. Z147.1– Bit 1...0 = 10, see ZFig. 86– on page 353).
147.14 Compensating controller integral term
Display of the unlimited, integral part of the compensating controller output at torque cou-
pling (at slave functionality only, i.e. Z147.1– Bit 1...0 = 10, see ZFig. 86– on page 353).

147.15 Torque init stress 0
Torque init stress of the slave drive at torque coupling at standstill (at slave functionality
only, i.e. Z147.1– Bit 1...0 = 10, see ZFig. 86– on page 353). If parameter Z147.1–
Bit 12 is set, this additional torque takes effect correspondingly (see ZFig. 88– on page
355).
NOTE!
The parameterized torque init stress is set only at the time when both the speed cou-
pling factor master and slave Z147.5–, Z147.6– are 1.
147.16 Torque init stress 1
Torque init stress of the slave drive at torque coupling at speed limit torque init stress
Z147.17– (at slave functionality only, i.e. Z147.1– Bit 1...0 = 10, see ZFig. 86– on page
353). If parameter Z147.1– Bit 12 is set, this additional torque takes effect correspond-
ingly (see ZFig. 88– on page 355).
NOTE!
The parameterized torque init stress is set only at the time when both the speed cou-
pling factor master and slave Z147.5–, Z147.6– are 1.
147.17 Speed limit torque init stress 1
Speed limit for the torque init stress 1 Z147.16– at torque coupling (at slave functionality
only, i.e. Z147.1– Bit 1...0 = 10, see ZFig. 86– on page 353). If parameter Z147.1–
Bit 12 is set, this additional torque takes effect correspondingly (see ZFig. 88– on page
355). The limit effects bipolar, thus means in both directions of revolution.
147.18 Torque init stress pt1 time constant
Time constant of PT1 element to connect the torque init stress to the slave at torque cou-
pling (at slave functionality only, i.e. Z147.1– Bit 1...0 = 10, see ZFig. 86– on page 353).
147.19 Torque set value master
Display of the torque set value of the master at torque coupling in the dimensions for
transmission via fieldbus.

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4.4 Configuration
At external master-slave communication this parameter must be sent via cross commu-
nication (fieldbus) or analog inputs/outputs. See also ZCross communication– on page
355.
At internal master-slave communication an external transmission is not required.
147.21 Torque init stress actual value master
Display of the present torque init stress of the master at torque coupling in the format for
transmission via fieldbus. It is dependent on place and connection of the torque init stress.
1 Torque init stress acts via compensating controller Z147.1– Bit 16 = 0
No Meaning
2 Torque init stress acts directly on the torque set values
m Master
Display of the present torque init stress which is parameterized and generated of the
master.
At external master-slave communication this parameter must be sent via cross com-
munication (fieldbus) or analog inputs/outputs. See also ZCross communication–
on page 355.
An external transmission is not required at internal master-slave communication.
m Slave
Display of the present torque init stress which is parameterized and generated of the
master and sent to the slave.

4.4.22 Gantry functions
The drive features a base system to realize Gantry axes. Only the functions for monitoring
the position difference and the torque current difference between the axes of a double
axes are realized so far.
The threshold for the position difference or the torque current difference is adjustable,
also a time condition. If the respective difference exceeds the threshold for the set time,
an error message can be displayed.
Functional block: FbGantry [169]
Axis-independent
Cyclic Write
DS Support
Read only
Storage

169.2 Status UDINT 0 0xFFFFFFFF 0 1:1 X X
169.3 Position difference limit UDINT 0 0xFFFFFFFF 0x00010000 Inc 1:1 X X
169.4 Position difference time UINT 0 65535 1000 ms 1:1 X X
169.5 Actual position differ- DINT -2147483648 2147483647 0 Inc 1:1 X X
ence
169.6 Current difference limit FLOAT 0 10000 1.0 A 1:1 X X
169.7 Current difference time UINT 0 65535 1000 ms 1:1 X X
169.8 Actual current difference FLOAT -10000 10000 0 A 1:1 X X
169.1 Mode
Setting of the Gantry mode:
Bit no. Meaning

0 0: Gantry functions disabled
1: Gantry functions enabled
1 0: Internal coupling at a double axis
1: Coupling via fieldbus (not implemented yet)
7 ... 2 Reserved

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4.4 Configuration
Bit no. Meaning

8 1: Report error 213, if position difference for the set time is greater than
the threshold.
9 1: Report error 214, if current difference for the set time is greater than the
threshold.
31 ... 10 Reserved
169.2 Status
Status of the Gantry mode:
Bit no. Meaning

3 ... 0 Reserved
4 Position difference is greater than the set threshold
5 Position difference for the set time is greater than the threshold
6 Current difference is greater than the set threshold
7 Current difference for the set time is greater than the threshold
31 ... 8 Reserved
169.3 Position difference limit
Threshold for the monitoring of the position difference between both Gantry axes.
If the updated position difference is greater than this threshold, bit 4 in parameter
Z169.2– Status is set immediately.
Standardization: 16 bit revolutions, 16 bit angle
One motor revolution corresponds to 65536 increments.
169.4 Position difference time
Time slot for the monitoring of the position difference between both Gantry axes.
If the position difference for this time is greater than the set threshold, bit 5 in parameter
Z169.2– Status is set and depending on the setting in Z169.1– Mode bit 8 error message
213 "Position difference greater than threshold in Gantry operation" is displayed.

169.5 Actual position difference
Displays the position difference between both Gantry axes (axis 1 - axis 2).
Standardization: 16 bit revolutions, 16 bit angle
A motor revolution corresponds to 65536 increments.
169.6 Current difference limit
Threshold for monitoring the difference of the torque current between both Gantry axes.
Bit 6 in parameter Z169.2– Status is set immediately, if the effective difference of the ac-
tual torque current values (smoothed torque current actual values, parameter Z47.5–)
between both axes is greater than this threshold.
169.7 Current difference time
Time slot for the monitoring of the torque current difference between both Gantry axes.
Bit 7 in parameter Z169.2– Status is set, if the difference of the actual torque current val-
ues between both Gantry axes is greater than the set threshold during this time. Further-
more the error message 214 "Current difference greater than threshold in Gantry
operation" is displayed, which refers to the setting in Z169.1– Mode, bit 9.
169.8 Actual current difference
Displays the difference of the actual torque current values (smoothed torque current ac-
tual values, parameter Z47.5–) between both Gantry axes.

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4.4 Configuration
4.4.23 Synchronization
Functional block: FbSynchronisation[156]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
156.1 Mode UINT 0 1 0 1:1 X X

156.2 Status UINT 0 0xFFFF 0 1:1 X X
156.3 Sync tolerance UINT 0 0x1FFF 1000 µs 1000:20 X X
156.4 Sync offset DINT -2147483648 2147483647 0 µs 1000:20 X X
156.5 Fieldbus cycle UDINT 0 4294967295 0 µs 1000:20 X X
156.6 Fieldbus jitter DINT -2147483648 2147483647 0 µs 1000:20 X X
156.7 Sync error DINT -2147483648 2147483647 0 µs 1000:20 X X
156.8 Max. jitter positive DINT 0 262144 0 µs 1000:20 X
156.9 Max. jitter negative DINT -262144 0 0 µs 1000:20 X
156.15 Time fieldbus write DINT -500000 500000 0 µs 1000:20 X X
access
156.16 Time DSP read access DINT -500000 500000 0 µs 1000:20 X X
156.17 Time DSP write access DINT -500000 500000 0 µs 1000:20 X X
156.18 Time fieldbus read DINT -500000 500000 0 µs 1000:20 X X
access
156.19 Time fieldbus read to DINT -500000 500000 0 µs 1000:20 X X
DSP read
156.1 Mode
Switch on or switch off synchronization to fieldbus signal.
Bit Meaning
0 0: Synchronization is switched off
1: Synchronization is switched on
1 0: Automatic adjustment of the Sync offset Z156.4–
1: Manual adjustment of the Sync offset Z156.4–

156.2 Status
Status of the synchronization
Bit Meaning
0 0: Not synchronous
1: Synchronous
156.3 Sync tolerance
Tolerance range for the synchronization signal. These values set the maximum permitted
jitter for the synchronization signal. It also sets the range within the drive synchronously
to the fieldbus.
156.4 Sync offset
Offset between the fieldbus synchronization signal and the controller cycle. Positive val-
ues generate an offset of the controller cycle.
This parameter is set automatically. Manual setting is possible, if manual setting is acti-
vated in the parameter „Synchronization Mode“ (Z156.1–).
According to fieldbus cycle time and configuration of the EtherCAT master, a manual set-
ting may be necessary, in order to exchange data between the drive controller and the
fieldbus connection without problems.
The Sync Offset must be set, so that no access conflicts occur on the internal DPRAM.
This can be controlled via the parameters Z156.15– to Z156.19–. Write access fieldbus
and read access DSP must be at least 50 µs apart. The same applies to write access
DSP and read access fieldbus.
156.5 Fieldbus cycle
Measured interval-length of the synchronization signal.
156.6 Fieldbus jitter
Measured jitter of the fieldbus synchronization signal (deviation of the set interval-length).
156.7 Sync error
Current phase error between synchronization signal and the controller cycle.

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4.4 Configuration
156.8 Max. jitter positive
Maximum jitter of the synchronization signal in positive direction (measured interval

greater than the set interval).
156.9 Max. jitter negative
Maximum jitter of the synchronization signal in negative direction (measured interval low-
er than the set interval).
Display of the maximum jitter can be reset by a write access with any value.
156.15 Time fieldbus write access
Instant of time of write access of the fieldbus processor on the DPRAM referring to the
Sync signal.
156.16 Time DSP read access
Instant of time of read access of the controller processor on the DPRAM referring to the
Sync signal.
156.17 Time DSP write access
Instant of time of write access of the controller processor on the DPRAM referring to the
Sync signal.
156.18 Time fieldbus read access
Instant of time of read access of the fieldbus processor on the DPRAM referring to the
Sync signal.
156.19 Time fieldbus read to DSP read
Period between the read accesses of the controller processor and the fieldbus processor.

4.4.24 Configurable status word

This function is not available for the active mains rectifier unit.
With this function single bit information with up to 16 parameters can be copied into a
common status word (Z165.2–).
The following settings are possible for each status bit ("channel")
m Parameter number of source
m Bit number
m Logical bit
Via the parameter Z165.6– Latch the state of short-time bits of the parameter Z165.2–
is specified (OR function).
NOTE!
The cycle time of function is 1 ms. States, which occur for a short time interval will not
be detected reliably by the configurable status word or the latch. The configurable
status word is generated at the end of task RT1. That means that all other operations
of this task have been processed.
Furthermore adjacent bit pairs of the parameter Z165.2– can be combined with logic op-
erations. The structure of the operations is predefined (see ZFig. 91–).
The following boolean operators are available: AND, OR, XOR, NAND, NOR and XNOR.
The operation results can also be mapped to the configurable bits 14 and 15 of the
Z108.3– Status word 1 of the drive manager. Here the information is available with a de-
lay of 1 ms. This function is described in the parameters Z108.9– to Z108.12–.

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4.4 Configuration
Figure 91: Boolean operation of the configurable status bits Z165.2– via the operators of Z165.5–.

Functional block: FbGPState[165]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
165.1 Mode DWORD 0 0xFFFFFFFF 0 1:1 X O

165.2 Configurable status DWORD 0 0xFFFFFFFF 0x0 1:1 X
165.3 Source numbers UDINT 0 0xFFFFFFFF 0 1:1 X
165.4 Bit mode WORD 0 0xFFFF 0 1:1 X
165.5 Logic functions UINT 0 6 0 1:1 X
165.6 Latch DWORD 0 0xFFFFFFFF 0x0 1:1 O
165.1 Mode
Mode for the function - configurable status word.
Bit No. Meaning

0 Control of the entire function “configurable status word”
0: Configurable Status including the links is switched off; the status of all
status bits of the Z165.2– is frozen.
1: Activation of “configurable status”.
1 Control of the logic operations
0: All operating functions are switched off; the status of the status bits 16
to 30 of the Z165.2– is frozen.
1: Activation of the parameterized operations
165.2 Configurable status
This parameter shows the status of the parameterized bits of the source parameters. This
parameter shows the results from the logic operations.
The particular status bit is deleted, if the following occurs:
m The associated channel (source parameter to >0.0<) is switched off
m The associated logic operation (Z165.1– to 0) is switched off
If the function of the logic operations is switched off completely via the Z165.1– Mode
bit 0 = 0, the state of the completely configurable status is frozen at the shut-off time.

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4.4 Configuration
If only the function of all logic operations is switched off via the Z165.1– Mode bit 1 = 0,
the status of the logic operation outputs (bit no. 16 to 30) is frozen only.
Bit No. Meaning

15 ... 0 Status of bits from the source parameters
Bit 0: Status Bit Source 0  Z165.3– Index 0
….
30 ... 16 Results from the logic operations of the status bits:
Bit 16 Result from Bit 0 and 1
31 Reserved
165.3 Source numbers
This is a RECORD type parameter (array). This parameter contains the numbers of all 16
source parameters. As soon as a valid parameter number is parameterized, the channel
for the relevant status bit of Z165.2– is released.
Index Meaning
0 Source parameter for status bit 0 of Z165.2–
… …

165.4 Bit mode
The bit logic and the bit number of the source parameter are set in this parameter.
Bit No. Meaning

4…0 Bit number
7…5 Reserved
8 Bit Logic:
0 = positive logic;
selected bit is copied unchanged into the configured status
1 = negative logic;
selected bit is copied inverted into the configured status
15 … 9 Reserved
This is a RECORD type parameter (array).
Index Meaning
0 Bit number and bit logic for status bit 0 of Z165.2–
… …
165.5 Logic functions
The status bits of Z165.2– are combined using logic functions via these parameters. Bi-
nary logic functions of adjacent bits of the configured status can be processed.
Refer to the appropriate bit of Z165.2– for the results of logic function.
The logic structure is described in chapter ZConfigurable status word– from page 370.
The logic function is activated by entering a value between 1 and 6.
Value Meaning
0 Logic function is switched off.
1 AND operation
2 OR operation
3 XOR operation (exclusive OR operation)
4 NAND operation (NOT – AND)
5 NOR operation (NOT – OR)
6 XNOR operation (exclusive NOT – OR)

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4.4 Configuration
This is a RECORD type parameter (array).
Index Meaning
0 Logic Operator (OP0 a)) for status bit 16 of Z165.2–
… …
a) This abbreviation is used for the logic operations in the logic structure
165.6 Latch
The result of a bitwise OR operation with a configurable status Z165.2– is indicated at

the end of each cycle.
Here one-time statuses in the status bits are saved.
This parameter can be written to, in order to reset single bits or the complete latch.
Switching off single channels or the complete function has no effect on its value.

4.4.25 SoftDrivePLC
4.4.25.1 Overview SoftDrivePLC
For controller version V01.07 and higher a restricted PLC functionality exists in the firm-
ware. Herewith programmable operations and accesses to controller parameters can be
executed.
The SoftDrivePLC enables simple assignments directly on the drive (without needing a
PLC option module).
The SoftDrivePLC of the b maXX drive is provided in two variations
m Standard version (free)
m Full version (extra charge)
Limitations of the standard version compared with the full version
m Only one event task and the default task is possible
m Fastest event task RT0 is not possible
m Length of the executable code within the task is reduced
The program ProProg 5 is used for operation of the full version. The standard version can
be operated with ProDrive as well as with ProProg5.
NOTE!
Controllers with full version of the SoftDrivePLC must be ordered explicitly. The Bau-
mueller type code shows whether this functionality is integrated or not.
If the full version is available, an identifier "-Exx-" exists in the device type code at which
xx must be an odd number.
Example:
BM5XXX - XXXX - XXXX - XXXX - XX - XXXX - E01 - #XX - ...
The full functionality of the SoftDrivePLC is available at a controller with this type code.
At double axis controllers of the BM5xxx series the SoftDrivePLC exists only once. User
programs can access to the parameters of both axes.
The SoftDrivePLC is programmed with the ProProg V5.x software in the IEC-61131 lan-
guage Structured Text (ST).
4.4.25.2 Function
With the SoftDrivePLC simple parameter accesses can be executed directly at the con-
troller without using a PLC option module.
Typical applications for the SoftDrivePLC:
m Computing of scalar controller parameters

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4.4 Configuration
m Access to digital, analog inputs / outputs

m Weighting of controller values
m Error management, etc.
The following direct access is possible to controller parameters via the SoftDrivePLC:
m Read access to all 16 bit and 32 bit scalar controller parameters including floating
point parameters,
m write access to all 16 bit and 32 bit writable scalar controller parameters,
m access to data set parameters depending on active data set,
m access to instantiated parameters
4.4.25.3 Limitations
The following limitations apply for the SoftDrivePLC:

m Supported data types: BOOL, WORD, DWORD, SINT, INT, DINT, USINT, UINT,
UDINT, REAL
m Access to scalar parameters only
m At present no function calls or function block calls possible
m It follows that there were no standard function blocks defined in IEC-61131 avail-
able, e.g. edge detection (R_TRIG, F_TRIG), timer (TP, TON, TOF), counter (CUT,
CDT, ...) etc.
m No motion function blocks or other technology functions available
m No fieldbus master control
m In Program Organization Units (POU) called by interrupt events there are no back
loops allowed (i.e. no loop instructions e.g. FOR, WHILE, REPEAT applicable)
m The memory size for local variables is 500 bytes. In this memory operands of the
types bool, byte, word or double word can be set arbitrarily, as long as the sum of
the memory requirement of the operands does not exceed 500 bytes.
Operand IEC data type Memory requirements in

bytes
Bool Bool 1
Byte SINT, USINT 1
Word INT, UINT, WORD 2
Double word DINT, UDINT, DWORD 4
Float REAL 4
m Data memory for global variables: 500 bytes

m Program memory size: for each POU: approx. 12 kByte instruction list commands
(depending on the length of the orders). Maximum size of a project file: 128 kByte.
m Number and characteristics of tasks are fixed.
m No retain data

m No breakpoints, single step operation, single cycle operation, no forcing of I/Os pos-
sible.
m The controller PLC saves a correct translated project always in the flash memory. It
is not possible to keep a boot project in the flash while working with another project
in RAM.
4.4.25.4 Tasks
The SoftDrivePLC features from V01.08 the following tasks which one or more POUs
could be assigned:
m default task (lowest priority in real time operating system of the controller),
m RT0, RT1, RT2, fieldbus task, write events to parameter.
The required calculating time of the default task can be read in parameter Z170.5–.
All tasks can be activated or deactivated separately via controller parameter.
Parameter Z170.1– configures, whether the SoftDrivePLC should execute a cold start at
once when switching on the controller.
4.4.25.5 Programming interface
The Windows program ProProg Version 5.x or ProDrive are the programming interfaces
for the SoftDrivePLC.
These programs are able to
m write and administrate PLC projects
m load projects in the controller and run projects
m control the PLC (cold start and hot start)
m display controller variables during run-time in appropriate debug windows
Programming via ProDrive
ProDrive provides a framework for a PLC project. Such a project is part of the ProDrive
project and is saved automatically in a sub-directory associated on the b maXX drive with-
in the ProDrive project. The PLC project file (*.plcprojx) is compatible to ProProg5. The
PLC project files are included in case of copying or zipping a ProDrive project.
The Build process generates a PLC program file (*.pro) which is saved in a sub-directory
associated with the b maXX drive within the ProDrive project. This file is then transmitted
to the drive and activated. When executing an upload or download of a parameter set via
ProDrive, the PLC program file is transmitted also and saved using the same file name
but another file extension (*.pro)
NOTE!
The parameter module, the SAF modules and the Control Panel do not support the
PLC program file.

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4.4 Configuration
Worksheets
For programming the SoftDrivePLC ProDrive provides a variables worksheet and two
code worksheets .
The variables of the PLC project can be defined with an ST editor in the variable work-
sheet. The drive parameters which can be inserted in the variables data sheet by double
click or drag & drop are to be found in the toolbox at the right window frame. The toolbox
also provides filtering drive parameters by name or by number.
For programming the two tasks ProDrive provides a separate code worksheet. The pro-
gramming is done with the help of an ST editor. The toolbox at the code worksheet con-
tains beside the list of defined variables, the keywords and functions as well as the
commands for possible type changes. The entries can be inserted in the code worksheet
by double click or drag & drop. Each entry provides a context menu for opening e.g. help
or other functions.
Error handling in the controller
Overview of the PLC relevant errors, which must be considered by the controller:
m Static errors:
n Load error of the PLC project file (boot file)
n Compile error of the neutral intermediate codes
 Error in the intermediate code or not supported command sequence
 Violation of restrictions as returns in real time tasks
m Run-time errors
n Task timeout (watchdog error)
n Array boundary check errors
n Division by zero - is not evaluated currently - the result of division by zero is zero
n Errors according to return values of the executing parameter access functions
n Bracket errors
n and so on
Functional block: FbSoftDrivePlc [170]

Axis-independent
Cyclic Write
DS Support
Read only
Storage
170.1 PLC control word UINT 0 0xFFFF 0 1:1 X X

170.2 PLC status UINT 0 0xFFFF 0 1:1 X X
170.3 Task control word UDINT 0 0xFFFFFFFF 0xFFFFFFFF 1:1 X X X
170.4 Task status UDINT 0 0xFFFFFFFF 0 1:1 X
170.5 Run time default task FLOAT 0 5000000000 0 µs 1:1 X X

170.6 Translation control WORD 0 0xFFFF 0 1:1 X
170.7 Cycle time default task FLOAT 0 5000000000 0 ms 1:1 X X
170.10 Project name STRING 1:1 X X
170.11 Project time stamp STRING 1:1 X X
170.12 Free memory UDINT 0 0xFFFFFFFF 0 1:1 X X
170.13 POU count UINT 0 0xFFFF 0 1:1 X X
170.14 Task count UINT 0 0xFFFF 0 1:1 X X
170.15 Project CRC UDINT 0 0xFFFFFFFF 0 1:1 X
170.16 MetaData CRC UDINT 0 0xFFFFFFFF 0 1:1 X
170.20 Write event parameter UINT 0 0xFFFF 0 1:1 O X
UINT
170.21 Write event parameter UDINT 0 0xFFFFFFFF 0 1:1 O X
UDINT
170.22 Write event parameter FLOAT 0 0xFFFFFFFF 0 1:1 O X
REAL
170.30 Error code UDINT 0 0xFFFFFFFF 0 1:1 X X
170.31 Error module number UINT 0 0xFFFF 0 1:1 X X
170.32 Error line number UINT 0 0xFFFF 0 1:1 X X
170.33 Error POU Code type UINT 0 0xFFFF 0 1:1 X X
170.34 Error module name STRING 1:1 X X
170.50 Run time task RT0 FLOAT 0 5000000000 0 µs 1:1 X X
170.53 Run time fieldbus task FLOAT 0 5000000000 0 µs 1:1 X X
170.54 Run time write event FLOAT 0 5000000000 0 µs 1:1 X X
task
170.1 PLC control word
Controls the start-up behavior and start/stop behavior (stop, cold start, warm start, hot
start) for the SoftDrivePLC.
Value Meaning
0 PLC stop
1 PLC cold start
All variables will be initialized with default values
2 PLC warm start (behavior as cold start)
3 PLC hot start
No variables are initialized.

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4.4 Configuration
170.2 PLC Status
Status of the SoftDrivePlc
Bit no. Meaning

0 Effective status
1: PLC is stopped
1: PLC is started
2 ... 1 Start option
00: Stop
01: PLC has been started with cold start
10: PLC has been started with warm start
11: PLC has been started with hot start
3 Error status
0: No error
1: Error (PLC in RUN mode or STOP mode, depending on error)
4 Translation status
0: Translation active
1: Translation completed
5 Translation error status
0: No translation error
1: Translation error
15 ... 6 Reserved
170.3 Task control word
From controller firmware version V01.08 the controller PLC supports several tasks in dif-
ferent time levels, which can be run simultaneously. A task, which can be activated/deac-
tivated separately, is assigned to each bit of this parameter.
Bit value = 0: Task is deactivated
Bit value = 1: Task is activated
Bit no. Meaning

0 Default task (remaining time)
1 Task RT0 (adjustable, see Z1.8–)
2 Task RT1 (1 ms)
3 Task RT2 (2 ms)
4 Task fieldbus (adjustable, see Z131.18–)
5 Write to parameter PlcEventWrUint (see Z170.20–)
6 Write to parameter PlcEventWrUdint (see Z170.21–)
7 Write to parameter PlcEventWrReal (see Z170.22–)
15 ... 8 Reserved

170.4 Task Status
This parameter shows which task(s) of the controller PLC are active or which task was
active since the last start command. So it can be recognized that write accesses took
place and the correspondent POU was executed.
Mapping from bit to controller PLC task see parameter Task control word (Z170.3–).
Specified bits can be set to 0 by writing a new mask.
The correspondent bit is set cyclically at cyclic tasks
When writing the parameter the value is not written directly to the parameter, following is
valid:
New parameter value = logical AND operation of
previous parameter value AND input value
170.5 Run time default task
This parameter shows the execution time of the default task in µs.
170.6 Translation control
Control word to translate the PLC intermediate code to executable code. By default, this
parameter is handled by ProProg V5. After loading the PLC project in the controller a "1"
must be written in this parameter to start the internal translation of the project.
Bit no. Meaning

0 A rising edge starts the translation of the loaded project.
1 A rising edge effects that the project in the controller is deleted.
15 ... 2 Reserved
170.7 Cycle time default task
Execution time of the default task including interrupts from other tasks with higher priority
in the controller.
170.10 Project name
This parameter shows the name of the active project in the controller.

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4.4 Configuration
170.11 Project time stamp
This parameter shows the creation date and the creation time of the active project.
170.12 Free memory
This parameter shows the free code memory in the controller.
170.13 POU count
This parameter shows the number of the existing POUs (Program Organization Units) in
the project.
170.14 Task count
This parameter shows the number of tasks in the project.
170.15 Project CRC
CRC32 of the project file. The programming system uses this parameter to compare the
project loaded in the programming interface with the project saved in the controller.
170.16 MetaData CRC
CRC of the meta data. The programming system uses this parameter to compare the
project loaded in the programming interface with the project saved in the controller.
170.20 Write event parameter UINT
Writing on this UINT parameter leads to a call of the "Event write UINT" task, if the POU
is enabled via Z170.3–.
170.21 Write event parameter UDINT
Writing on this UDINT parameter leads to a call of the "Event write UDINT" task, if the
POU is enabled via Z170.3–.

170.22 Write event parameter REAL
Writing on this REAL parameter leads to a call of the "Event write REAL" task, if the POU
is enabled via Z170.3–.
170.30 Error code
This parameter shows the PLC specific error code, if an error has occurred during trans-
lation or at the run-time.
Error code Meaning

3000 Error in project – maximum count of tasks exceeded
3001 Error in project – maximum count of program organization units (POU)
exceeded.
3002 Error in project – unknown data type in intermediate code
3003 Error in project – unknown insert mode (assembler header of instruction)
3004 Error in project – bad operator code
3005 Error in project – bad operator code length
3006 Error in project – bad operand. Operand does not match operator
3007 Error in project – data type is not supported for the current operator code
3008 Error in project – bad asm table entry
3009 Error in project – bad parameter id
3010 Error in project – the used parameter is not of scalar type. Arrays and
structures are not supported yet.
3011 Error in project – bracket close instruction without bracket open
3012 Error in project – unknown label in jump instruction
3013 Error in project – unknown POU number in CAL instruction
3014 Error in project – back jump found within a POU which is called from an
interrupt service POU (RT0, RT1, RT2, fieldbus task, etc.).
3015 Code memory overflow
3016 Buffer overflow intermediate code
3017 Invalid accumulator data type
3018 Watchdog error default task
3019 Check operator error (see CHK_ACC or CHK_OPD)
3020 Watchdog error event task
3021 Error in project – not supported task type in project file
3022 The loaded PLC project is not valid for the PLC extension stage of the
controller. The controller is not activated for the full version of the PLC.

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4.4 Configuration
170.31 Error module number
This parameter shows at module related errors the number of the module or the POU
where the error has occurred.
170.32 Error line number
This parameter shows at module related errors the number of the faulty intermediate code
instruction.
170.33 Error POU Code type
At module related errors this parameter shows the type of the POU, which caused the er-
ror.
It is defined:
Value Meaning
0 Reserved
1 Initialization code
2 Regular process code
170.34 Error module name
This parameter shows at module related errors the name of the POU, where an error has
occurred.
170.50 Run time task RT0
This parameter shows the execution time of the PLC code in the RT0 time slice.

170.53 Run time fieldbus task
This parameter shows the execution time of the PLC code in the fieldbus task.
170.54 Run time write event task
This parameter shows the execution time of the PLC code in the last processed event
task. The event task runs when writing to parameter Z170.20–, Z170.21– or Z170.22–.

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4.4 Configuration
4.4.26 DS402 Factor Group
4.4.26.1 General information
The DS402 Factor Group (CiA CANopen Drives and motion control profile Part 2: Oper-
ation modes and application data) is supported in order to adapt to user-specific units.
Position, speed and acceleration weightings can calculate or recalculate the most import-
ant drive parameters.
A conversion and a write access to the accordant drive parameter are executed by each
write access to the writable parameters. Read only parameters are updated cyclically.
The Factor Group is activated for all axes available in the device by setting bit 14 = 1 in
parameter Z131.9– (Fieldbus slave settings). Scaling can be adjusted separately for
each axis.
NOTE!
The Factor Group cannot be used together with the functions "Modulo position set
value" or "Modulo position actual value"!
The DS402 scalings are calculated as follows (the corresponding DS402 object number
is in brackets):
Position resolution encoder increments P179.2

Position resolution (0x608F) = -----------------------------------------------------------------------------------------------------------------
Position resolution motor revolutions P179.3
Speed resolution (0x6090) = Speed resolution encder increments P179.4-

--------------------------------------------------------------------------------------------------------
Speed resolution motor revolutions P179.5
Gear ratio (0x6091) = Gear ratio motor shaft revolutions P179.6

-----------------------------------------------------------------------------------------------------
Gear ratio drive shaft revolutions P179.7
Feed constant feed P179.8

Feed constant (0x6092) = ------------------------------------------------------------------------------------------------------------
Feed constant drive shaft revolutions P179.9

Bit 7: Bit 6:
Polarity P179.1 (0x607E) 1: Multiply position with (-1) 1 Multiply speed with (-1)
Position resolution (0x608F) * Gear ratio (0x6091)

Position weighting without sign = --------------------------------------------------------------------------------------------------------------------------
Feed constant (0x6092)
Position weighting with sign = Position weighting without sign * Polarity (0x607E)
Speed weighting without sign = Speed resolution (0x6090) * Gear ratio (0x6091)-
--------------------------------------------------------------------------------------------------------------------
Feed constant (0x6092)
Speed weighting with sign = Speed weighting without sign * Polarity (0x607E)
d
Acceleration weighting = ----- Speed weighting without sign
dt

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4.4 Configuration
Conversion between Factor Group parameters and controller parameters:
Position weighting unsigned

Position window P179.11
(0x6067)
x Positioning positioning window (P121.5)
Position weighting signed
Target position P179.12 Positioning relative target position (P118.16)

(0x607A) Cyclic position set value specification
x
target position (P136.3)
Cyclic position set value specification
target angle (P136.5)
Home offset P179.13

(0x607C) x Home position (P120.3)
Minimum software position limit

P179.14 x Negative software limit switch (P121.3)
(0x607D.01)
Maximum software position limit

P179.15 x Positive software limit switch (P121.4)
(0x607D.02)
1/ Position weighting unsigned
Position actual value P179.10

(0x6064) Position actual angle for fieldbus (P18.76)
x
Position actual revolutions for fieldbus (P18.77)
Touch probe 1 pos. value P179.16

(0x60BA)
Touch probe 1 neg. value P179.17
(0x60BB)
Touch probe 2 pos. value P179.18
(0x60BC)
Touch probe 2 neg. value P179.19 Touch probe revolutions+angle
(0x60BD) x (selection with P124.30
from P124.5 ... 124.16 or 124.28)
Position error actual value P179.20

(0x60F4) x Position error rev+angle (P18.60)
Figure 92: Factor Group effect of position weighting

Speed weighting unsigned
Profile speed P179.22

(0x6081) X Positioning speed (P118.11)
Speed weighting unsigned
Homing speed search for switch

P179.23 X Homing speed (P120.5)
(0x6099.01)
Speed weighting signed
Speed offset P179.25

(0x6081) X Speed additional value (P18.68)
Speed weighting signed
Target speed P179.26

(0x60FF)
X Ramp function generator input 32 bit (P110.4)
Position weighting signed
Speed actual value P179.21

(0x606C) X x2 speed actual value (P121.4)
Acceleration weighting
Homing acceleration P179.27

(0x6064) X Homing acceleration (P120.7)
Homing deceleration (P120.8)
Profile acceleration P179.28

(0x6083) X Positioning acceleration (P118.12)
Profile deceleration P179.29

(0x6084) X Positioning deceleration (P118.13)
Quick stop deceleration P179.30

(0x6085) X Quick stop time (P110.8)
Figure 93: Factor Group effect of the speed and acceleration weighting

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4.4 Configuration
NOTES!
m Touch probe
The following settings must be set / considered if touch probe objects with a Factor
group standardization are used:
– Activate channels in parameter Z124.1–
– Map activated channels on the Factor Group objects, DS402 touch probe
– Switch on and select scaling with Factor Group
m Operating mode "Target Position Setting"
Only the relative target modes 4, 7, 9, 12 (see Z118.16–) are supported
m The touch probe value of the standardized (by the Factor Group) non-positioning
encoder cannot be calculated correctly anymore, if the standardized (by the Factor
group) actual position value overflows. This is the case at devices with more than
one encoder per axis (single axis BM5300, mono device BM5500) and separate
encoders for motor and positioning control (Z18.9– bit 0 = 1).
If this overflow can not be excluded, the factor group must be switched off for this
encoder (Z124.30–), if one of the parameters Z124.31– to Z124.34– is intended
to be used for this encoder.
m The functions "Modulo position actual value" and "Modulo position set value" are
not considered within the Factor Group
m Accuracy
Position-rated values are in general up to 32 bit precise - at the writing or reading
of 16 bit exact target or source parameters an accuracy of 16 bit only is reached
(this refers to the following parameters: Z121.5–, Z136.3–, Z118.16–, Z120.3–,
Z121.3–, Z121.4– and Z18.60–).
Speed and acceleration-rated values require a resolution of 16 bit.
Example:
The position should be resolved in 0.1° increments and the speed in 0.1°/s increments,
without negation.
P 179.2 = 65536
P 179.3 = 1
P 179.4 = 65536
P 179.5 = 1
P 179.6 = 1
P 179.7 = 1
P 179.8 = 3600
P 179.9 = 1

4.4.26.2 ProDrive DS402
Figure 94: ProDrive Factor Group and touch probe DS402
Functional block: FbFactorGroup [179]

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4.4 Configuration
Axis-independent
Cyclic Write
DS Support
Read only
Storage
179.1 Polarity UINT8 0 0xFF 0 1:1 X

179.2 Position resolution UDINT 1 4294967295 65536 Inc 1:1 X
encoder increments
179.3 Position resolution UDINT 1 4294967295 1 1:1 X
motor revolutions
179.4 Velocity resolution UDINT 1 4294967295 65536 Inc/s 1:1 X
encoder increments/s
179.5 Velocity resolution motor UDINT 1 4294967295 1 1/s 1:1 X
revolutions/s
179.6 Gear ratio drive shaft UDINT 1 4294967295 1 1:1 X
revolutions
revolutions
179.8 Feed constant feed UDINT 1 4294967295 65536 1:1 X
179.9 Feed constant drive UDINT 1 4294967295 1 1:1 X
shaft revolutions
179.10 Position actual value DINT 0x80000000 0x7FFFFFFF 0 Inc 1:1 X
179.11 Position window UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
179.12 Target position DINT 0x80000000 0x7FFFFFFF 0 Inc 1:1 X
179.13 Home offset DINT 0x80000000 0x7FFFFFFF 0 Inc 1:1 X
179.14 Minimum software posi- DINT 0x80000000 0x7FFFFFFF 0 Inc 1:1 X
tion limit
179.15 Maximum software posi- DINT 0x80000000 0x7FFFFFFF 0 Inc 1:1 X
tion limit
179.16 Touch probe pos1 pos DINT 0x80000000 0x7FFFFFFF 0 Inc 1:1 X
value
179.17 Touch probe pos1 neg DINT 0x80000000 0x7FFFFFFF 0 Inc 1:1 X
value
value
value
179.20 Position error actual DINT 0x80000000 0x7FFFFFFF 0 Inc 1:1 X
value
179.21 Speed actual value DINT 0x80000000 0x7FFFFFFF 0 Inc/s 1:1 X
179.22 Profile speed UDINT 0 0xFFFFFFFF 0 Inc/s 1:1 X
179.23 Homing speed search UDINT 0 0xFFFFFFFF 0 Inc/s 1:1 X
for switch
for zero
179.25 Speed offset DINT 0x80000000 0x7FFFFFFF 0 Inc/s 1:1 X
179.26 Target speed DINT 0x80000000 0x7FFFFFFF 0 Inc/s 1:1 X
2
179.27 Homing acceleration UDINT 0 0xFFFFFFFF 0 Inc/s 1:1 X

179.28 Profile acceleration UDINT 0 0xFFFFFFFF 0 Inc/s2 1:1 X
179.29 Profile deceleration UDINT 0 0xFFFFFFFF 0 Inc/s2 1:1 X
2
179.30 Quick stop deceleration UDINT 0 0xFFFFFFFF 0 Inc/s 1:1 X
179.1 Polarity
DS402 Factor Group object 0x607E for the polarity inversion of position and speed.
Bit Meaning
0…5 Reserved
6 1: Multiply speed with (-1)
7 1: Multiply position with (-1)
179.2 Position resolution encoder increments
DS402 Factor Group object 0x608F.01 (numerator of the position weighting).
179.3 Position resolution motor revolutions
DS402 Factor Group object 0x608F.02 (denominator of the position weighting).
179.4 Speed resolution encoder increments/s
DS402 Factor Group object 0x6090.01 (numerator of the speed weighting).
179.5 Speed resolution motor revolutions/s
DS402 Factor Group object 0x6090.02 (denominator of the speed weighting).
179.6 Gear ratio motor shaft revolutions
DS402 Factor Group object 0x6091.01 (numerator of the gear ratio).

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4.4 Configuration
179.7 Gear ratio drive shaft revolutions
DS402 Factor Group object 0x6091.02 (denominator of the gear ratio).
179.8 Feed constant feed
DS402 Factor Group object 0x6092.01 (numerator of the feed constant).
179.9 Feed constant drive shaft revolutions
DS402 Factor Group object 0x6092.02 (denominator of the feed constant).
179.10 Position actual value
DS402 Factor Group object 0x6064 (position actual value with position weighting corre-
sponding to ZGeneral information– from page 387).
179.11 Position window
DS402 Factor Group object 0x6067 (positioning window for the operating mode "Position
target setting" with position weighting corresponding to ZGeneral information– from page
387).
179.12 Target position
DS402 Factor Group object 0x607A (target position for the operating modes "Position tar-
get setting" (only modes with relative target position) and "Cyclical set value setting" with
position weighting corresponding to ZGeneral information– from page 387).
179.13 Home offset
DS402 Factor Group object 0x607C (home offset for the operating mode "Homing" with
position weighting corresponding to ZGeneral information– from page 387).

179.14 Minimum software position limit
DS402 Factor Group object 0x607D.01 (negative limit switch for all position controlled op-
erating modes with position weighting corresponding to ZGeneral information– from
page 387).
179.15 Maximum software position limit
DS402 Factor Group object 0x607D.02 (positive limit switch for all position controlled op-
erating modes with position weighting corresponding to ZGeneral information– from
page 387).
179.16 Touch probe pos1 pos value
DS402 Factor Group object 0x60BA (touch probe value from revolutions and angle
scaled with position weighting corresponding to ZGeneral information– from page 387).
Notice: The touch probe must be parameterized adequately, see notes on Zpage 391–.
179.17 Touch probe pos1 neg value
DS402 Factor Group object 0x60BB (touch probe value from revolutions and angle
179.18 Touch probe pos2 pos value
DS402 Factor Group object 0x60BC (touch probe value from revolutions and angle
179.19 Touch probe pos2 neg value
DS402 Factor Group object 0x60BD (touch probe value from revolutions and angle

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4.4 Configuration
179.20 Position error actual value
DS402 Factor Group object 0x60F4 (position error with position weighting corresponding
to ZGeneral information– from page 387).
179.21 Speed actual value
DS402 Factor Group object 0x606C (speed actual value with speed weighting corre-
sponding to ZGeneral information– from page 387).
179.22 Profile speed
DS402 Factor Group object 0x6081 (profile speed with speed weighting corresponding to
ZGeneral information– from page 387).
179.23 Homing speed search for switch
DS402 Factor Group object 0x6099.01 (homing speed search for switch with speed
weighting corresponding to ZGeneral information– from page 387).
179.24 Homing speed search for zero
DS402 Factor Group object 0x6099.02 (homing speed search for zero with speed weight-
ing corresponding to ZGeneral information– from page 387).
179.25 Speed offset
DS402 Factor Group object 0x60B1 (speed offset with speed weighting corresponding to
179.26 Target speed
DS402 Factor Group object 0x60FF (target speed with speed weighting corresponding to

179.27 Homing acceleration
DS402 Factor Group object 0x609A (homing acceleration with acceleration weighting
corresponding to ZGeneral information– from page 387).
179.28 Profile acceleration
DS402 Factor Group object 0x6083 (profile acceleration with acceleration weighting cor-
responding to ZGeneral information– from page 387).
179.29 Profile deceleration
DS402 Factor Group object 0x6084 (profile deceleration with acceleration weighting cor-
responding to ZGeneral information– from page 387).
179.30 Quick stop deceleration
DS402 Factor Group object 0x6085 (quick stop deceleration with acceleration weighting
corresponding to ZGeneral information– from page 387).

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4.5 Management
4.5 Management
4.5.1 Drive management
The drive manager manages the important system resources of the drive or the active
mains rectifier unit. These include, among other things, the complete control of the device
in the various operating modes, switching between modes, error handling, the manage-
ment of all communications interfaces, etc.
The control of the drive is effected by means of a state machine which is operated via the
control word Z108.1– and hardware control inputs. At the same time, control is also pos-
sible using only the hardware inputs, i.e., without activating the control word. To do this,
the bits for motor control in the Communications Source parameter Z108.7– must be ap-
propriately cleared.
The state machine for device control of the axis unit (see ZFig. 96– on page 404), for de-
vice control of the active mains rectifier unit (see ZFig. 97– on page 412) and the com-
mands in the control word conform to the Drivecom/CANopen standard. The control word
Z108.1– and the corresponding commands are explained in detail in the parameter de-
scription.
For the axis unit the following hardware control inputs are present:
m Quick stop input (SH):
n Terminal: X2 Digital Inputs
Using Parameters 116.2/116.8/116.14/116.20/116.26/116.32/116.38/116.44, any
chosen digital input can be selected as the input for the Quick Stop. For normal op-
eration, a High level (if input is not inverted) is required. If no input is selected, the
signal will always be seen internally as set (High). A Zero level on this input (if input
is not inverted) initiates the Quick Stop response.
m Pulse enable (IF):
n Terminal: X2 Digital Inputs Pin 20 (axis 1) or Pin 19 (axis 2)
enables the pulses for PWM. This input acts directly on the power unit driver. If a
Zero level is applied here, no pulses can be output by the power unit.
m Controller enable (RF):
n Terminal: X2 Digital Inputs
Using Parameters 116.2/116.8/116.14/116.20/116.26/116.32/116.38/116.44, any
chosen digital input can be selected as the input for the controller enable. If no input
is selected, the signal will always be seen internally as set (high). The controller en-
able takes place together with the pulse enable or via the control word command.
m Input error reset (FR):
n Using parameters 116.2/116.8/116.14/116.20/116.26/116.32/116.38/116.44 any
chosen digital input can be selected as the input for error reset. A rising edge on this
input (if input is not inverted) initiates an error reset.
For the active mains rectifier unit the following hardware control inputs are present:
m Quick discharge input (SE):
n Terminal: X2 Digital Inputs Pin 18
This allocation of the quick discharge input is not changeable at the active mains
rectifier unit. A low-level (if input is not inverted) is required for normal operation. The
active mains rectifier unit always has a quick discharge input. This input can not be
dropped. A high-level at this input (if input is not inverted) triggers the quick dis-
charge of the DC link.

m Pulse enable (IF):
n Terminal: X2 digital inputs pin 20
enables the pulses for PWM. This input acts directly on the power unit driver. If a
zero level is applied here, no pulses can be output by the power unit.
m Input error reset (FR):
n Terminal: X2 digital inputs pin 19
The allocation of the error reset input is not changeable at the active mains rectifier
unit. A rising edge at this input (if input is not inverted) triggers the error reset.
4.5.1.1 States of the Device Control System of the axis unit
n NOT READY TO SWITCH ON

m The electronics are supplied with power
m Initialization is running
m The drive function is inhibited
m The operationally ready relay is OFF (drive is not operationally ready)
n SWITCH-ON INHIBIT
m Software/hardware initialization is complete
m The parameters for the application can be changed
m Switch-on is inhibited
m The operationally ready relay is ON (drive is operationally ready)
n READY TO SWITCH ON
m Switch-on is enabled
n SWITCHED ON
m In automatic operation with holding brake, power is applied to the drive before the
transition to OPERATION ENABLED.
m Power unit is operationally ready, DC link voltage / mains voltage is present (de-
pending on the parameterization)
n OPERATION ENABLED
m Drive function is enabled

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4.5 Management
n OPERATION INHIBIT ACTIVE

m "Inhibit Operation" command is executed
n DRIVE SHUT-DOWN ACTIVE

m "Shut-down" command is executed
n QUICK STOP ACTIVE

m "Quick Stop" command is executed
n ERROR RESPONSE ACTIVE

m An error-dependent action is carried out
m Drive function can be enabled
n ERROR
m The operationally ready relay is OFF (drive is not operationally ready)
4.5.1.2 States of the Device Control System of the active mains rectifier unit
n NOT READY TO SWITCH ON

m The electronics are supplied with power
m Initialization is running
m The device function is inhibited
m „Ready for pulse enable“ is OFF
m „Ready for main contactor ON“ is OFF
n SWITCH-ON INHIBIT
m Software/hardware initialization is complete

m Switch-on is inhibited
n READY TO SWITCH ON
m Switch-on is enabled
m „Ready for pulse enable“ is ON
m „Ready for main contactor ON“ is ON
n SWITCHED ON
m DC link is charged
m Power unit is operationally ready, power relays are activated
n OPERATION ENABLED
m Device function is enabled
m Voltage set value in DC link is reached
m „Operational ready for control“ is ON
n OPERATION INHIBITED
m Device function is inhibited
m Power unit is operationally ready, power relays are activated
m „Operational ready for control“ is OFF
n QUICK DISCHARGE ACTIVE

m Device function is inhibited
m Discharge circuit ON

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4.5 Management
n ERROR
4.5.1.3 Introduction to the Description of the Device Control System
Figure 95: Introduction to the Device Control System
Within the states (see ZFig. 95–), Bits 7...0 of Status Word 1 Z108.3– are represented
in binary form as XXXX XXXX.
At the state transitions (arrowed, see ZFig. 95–), Bits 7...0 of the Control Word Z108.1–
are represented in binary form as xxxx xxxx.
None of the bits labeled X (i.e. the bits of the status word) or x (i.e. the bits of the control
word) have any significance for the control of the state machine or the representation of
the current state.

4.5.1.4 State Machine for the Device Controller of the axis units BM52xx, BM53xx
Figure 96: State Machine for the Device Controller of the axis unit

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4.5 Management
4.5.1.5 State Transitions in the Device Controller of the axis units
0 Input to the State Machine  NOT READY TO SWITCH ON

n Event:
m Switch on supply to electronics
m Hardware reset or
m Software reset
n Action:
m Switch off the operationally ready relay
m Start initialization and self test
1 NOT READY TO SWITCH ON  SWITCH-ON INHIBIT

n Event:
m Initialization and self test completed without error
n Action:
m Switch on operationally ready relay
2 SWITCH-ON INHIBIT  READY TO SWITCH ON

n Event:
– Drive activation by control word:
m "Shut-down" command
– Drive activation by hardware control inputs:
m Pulse enable input = Low
n Condition:
m axis not parked
m Quick Stop input = High (only if Quick Stop (QS) hardware control input is used)
n Action:
m None
3 READY TO SWITCH ON  SWITCHED ON

n Event:
m "Switch On" command
m Pulse enable input = High
n Condition:
m Power supply reports operational readiness / main supply voltage applied and
n Action:
m None

4 SWITCHED ON  OPERATION ENABLED
n Event:
m "Enable Operation" command
m Controller Enable input = High (only if Controller Enable (CE) hardware control in-
put is used)
n Condition:
put is used)
n Action:
m Drive function is enabled and
m Holding brake is enabled
(only if brake is in Automatic mode (Parameter 134.1 Bit 0 = 1)
5 OPERATION ENABLED  OPERATION INHIBIT ACTIVE

n Event:
m "Inhibit Operation" command or
m Controller Enable input = Low (transition only possible if Controller Enable (CE)
hardware control input is used)
n Action:
m Operation Inhibit is initiated (braked or coasted-down, depending on the setting)
5a OPERATION INHIBIT ACTIVE  SWITCHED ON

n Event:
m INHIBIT response (P108.15) is set to "Inhibit Drive Function" (Pulse Inhibit, value
0) or
m Operation Inhibit has ended (speed 0 reached) and holding brake is applied (hold-
ing brake only relevant if brake is in Automatic mode (Parameter 134.1 Bit 0 = 1)
and state monitoring (Parameter 134.1 Bit 4 = 1) is switched on)
n Action:
m Drive function is inhibited
5b OPERATION INHIBIT ACTIVE  OPERATION ENABLED

n Event:
m Operation Inhibit has ended (speed 0 reached) and holding brake could not be
applied (holding brake only relevant if brake is in Automatic mode (Parameter
134.1 Bit 0 = 1) and state monitoring (Parameter 134.1 Bit 4 = 1) is switched on)
and

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4.5 Management
put is used)
n Condition:
m INHIBIT response (Z108.15–) is not set to "Inhibit Drive Function" (Pulse Inhibit,
value 0)
put is used)
n Action:
6 SWITCHED ON  READY TO SWITCH ON

n Event:
m "Shut Down" command or
n Action:
m None
7 READY TO SWITCH ON  SWITCH-ON INHIBIT

n Event:
m "Quick Stop" command or
m "Inhibit Voltage" command or
m Quick Stop input = Low (only if Quick Stop (QS) hardware control input is used)
n Action:
m None
8 OPERATION ENABLED  DRIVE SHUT-DOWN ACTIVE

n Event:
m "Shut Down" command or
n Action:
m Drive shut-down is initiated (braked or coast-down, depending on setting, or coast
down if Pulse enable input = Low)
8a DRIVE SHUT-DOWN ACTIVE  READY TO SWITCH ON

n Event:
m SHUT-DOWN response (Z108.14–) is set to "Inhibit Drive Function" (Pulse Inhib-
it, value 0) or
m Drive Shut-down has ended (speed 0 reached) and holding brake is applied
(holding brake only relevant if brake is in Automatic mode (Parameter 134.1
Bit 0 = 1) and state monitoring (Parameter 134.1 Bit 4 = 1) is switched on) or
n Action:

8b DRIVE SHUT-DOWN ACTIVE  OPERATION ENABLED

n Event:
m Drive Shut-down has ended (speed 0 reached) and holding brake could not be
applied (holding brake only relevant if brake is in Automatic mode (Parameter
134.1 Bit 0 = 1) and state monitoring (Parameter 134.1 Bit 4 = 1) is switched on)
or
n Condition:
m SHUT-DOWN response (Z108.14–) is not set to "Inhibit Drive Function" (Pulse
Inhibit, value 0)
m Action:
9 OPERATION ENABLED  SWITCH-ON INHIBIT

n Event:
m "Inhibit Voltage" command
n Action:
10 SWITCHED ON  SWITCH-ON INHIBIT

n Event:
n Action:
11 OPERATION ENABLED  QUICK STOP ACTIVE

n Event:
n Action:
m Quick Stop is initiated (braked or coast-down, depending on setting)
12 QUICK STOP ACTIVE  SWITCH ON INHIBIT

n Event:

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4.5 Management
m QUICK STOP response (Z108.13–) is set to "Inhibit Drive Function" (Pulse Inhib-
it, value 0) or
m Quick Stop has ended (speed 0 reached) and holding brake is applied (holding
brake only relevant if brake is in Automatic mode (Parameter 134.1 Bit 0 = 1) and
state monitoring (Parameter 134.1 Bit 4 = 1) is switched on) or
n Action:
16 QUICK STOP ACTIVE  OPERATION ENABLED

n Event:
put is used)
n Condition:
m Quick Stop input = High (only if Quick Stop (QS) hardware control input is used)
and
m Pulse enable input = High and
m QUICK STOP response (Z108.13–) is set to "Remain in Quick Stop" (value 5 to
8) or
QUICK STOP response (Z108.13–) is not set to "Remain in Quick Stop" (value
less than 5) and Quick Stop has ended (speed reached 0) and the holding brake
could not be applied (holding brake only relevant if brake is in Automatic mode
(Parameter 134.1 Bit 0 = 1) and state monitoring (Parameter 134.1 Bit 4 = 1) is
switched on)
n Drive activation by control word:
put is used)
n Action:
m Drive function is enabled and
m Holding brake is enabled
(only if brake is in Automatic mode (Parameter 134.1 Bit 0 = 1)
13 All states  ERROR RESPONSE ACTIVE

n Event:
m Drive error is detected, i.e., an error to which a response should follow has been
triggered
n Action:
m Error-dependent error response is initiated
14 ERROR RESPONSE ACTIVE  ERROR

n Event:
m Error response is complete

n Action:
m Switch off the operationally ready relay
15 ERROR  SWITCH ON INHIBIT

n Event:
m "Reset Error" command or
m Error Reset input = Low -> High (only if Error Reset hardware control input is
used)
n Condition:
m Error is no longer present
n Action:
m Reset of error is carried out
m Switch on the operationally ready relay
The change of state only takes place if the actions have been fully carried out. The se-
quence of actions corresponds to their execution during the change of state. The next
state is reached after complete processing of the actions and new commands are accept-
ed.
m Activation of the operationally ready relay

The switching state of the operationally ready relay is only changed at the following state
transitions.
Transition Switching Action on the Comment

operationally ready Relay
0 Switch off Start of the drive initialization
1 Switch on Drive initialization complete
13 Switch off Errors have occurred in the drive.
15 Switch on All errors have been reset and the drive is error-free
The result of this is that for each state of the drive manager there is a well-defined switch-
ing state for the operationally ready relay.
State Switching State of the operationally ready Relay

NOT READY TO SWITCH ON OFF
SWITCH ON INHIBIT ON
READY TO SWITCH ON ON
SWITCHED ON ON
OPERATION ENABLED ON
OPERATION INHIBIT ACTIVE ON
DRIVE SHUT-DOWN ACTIVE ON
QUICK STOP ACTIVE ON
ERROR RESPONSE ACTIVE ON
ERROR OFF

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m Smooth torque reduction

This parameter can be set to provide smooth torque reduction using controlled braking
procedures.
m Parking axis
If a controller in the Fieldbus network is operated without a motor or encoder, the output
of errors (display, error LED) can be suppressed by activating the "Parking axis" display
state.
In the "Parking axis" display state, a "P" is displayed and the error LED remains off. This
is also the case when errors occur. However errors and the drive state continue to be sig-
naled as usual by means of the status word and the error parameters. The transition to
other drive states as State 1 (Switch-on Inhibit) or State F (Error) is not possible.
After the "Parking Axis" display state is exited, the actual drive state (1 or F) will be dis-
played again. Error and warning messages will be transmitted and displayed as usual
(display, error LED). Changing to other states will be possible again.
The "Activate Parking Axis" and "Cancel Parking axis" requests are transmitted using the
Parking axis Control Word parameter Z108.20–. The state and errors for the requests are
signaled by the Parking Axis Status Word parameter Z108.21–.
The controller will only accept the "Activate Parking Axis" command if the following con-
ditions have been satisfied:
n Controller is in Drive State 1 (Switch-on Inhibit) or Drive State F (Error)
n Drive is at a standstill (N=0 threshold under-run)
The "Cancel Parking Axis" command will be accepted if the controller is in the "Parking
Axis" display state.
If the controller is switched off in the "Parking Axis" display state, this state will be re-es-
tablished at the next switch-on.

4.5.1.6 State Machine for the Device Controller of the active mains rectifier unit BM51xx
0
+24 V
NOT READY FOR START

Action: BIF HS BBS X010 0000
INHIBIT START
BIF HS BBS X110 0000
Action:
Main contactor ON Shut down xxxx x110; IF = 0 1); SE = 0
Detect mains voltage
Measure mains offset 2
Determine rotating field
Execute mains synchronization
READY FOR SWITCH ON

Action:
Load DC link Switch on xxxx x111; IF = 1; SE = 0
Power relay ON 3
IF = 1
SWITCHED ON OPERATION DISABLED
BIF HS BBS X011 0011 BIF HS BBS X011 0011
5a
Action: Disable
Set DC link voltage to set value Enable operation
operation
xxxx 1111; IF = 1; SE = 0
4 xxxx 0111
or IF = 0
ENABLE OPERATION
From every condition:

6 Qick discharge xxxx x01x
or SE = 1 DC link voltage < 20 V 2); IF = x; SE = 0 7
QUICK DISCHARGE ACTIVE
Action: BIF HS BBS X000 X000
Inhibit pulses
Open power relay
Discharge DC link via chopper resistor
From every condition: Reset error 0xxx xxxx oder FR = 1

8 Error message generated -> 1xxx xxxx 9
ERROR
Action:
Open power relay
BIF Hardware contact „Ready for pulse enable“ closed 1

) Only when control occurs
BIF Hardware contact „Ready for pulse enable“ opened exclusively via HW inputs (see 108.7)
HS Hardware contact „Ready for main contactor“ closed
HS Hardware contact „Ready for main contactor“ opened 2
) If an error is triggered during
IF = 0 Hardware input „Puls enable“ logic level = 0 (not active) discharge, which cancels the
IF = 1 Hardware input „Puls enable“ logic level = 1 (active) discharging, the status quick
5000_0213_rev04_int.cdr
SE = 0 Hardware input „Qick discharge“ logic level = 0 (not active); no discharge can be left by reset of the
inversion quick discharge request although the
SE = 1 Hardware input „Qick discharge“ logic level = 1 (active); no inversion DC link is not yet discharged to a
FR = 0 Hardware input „Error reset“ logic level = 0 (not active); no inversion voltage 20V.
FR = 1 Hardware input „Error reset“ logic level = 1 (active); no inversion
Figure 97: State Machine for the Device Controller of the active mains rectifier unit

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4.5 Management
4.5.1.7 State Transitions in the Device Controller of the active mains rectifier unit
0 Input to the State Machine  NOT READY TO SWITCH ON

n Event:
m Switch on supply to electronics
m Hardware reset or
m Software reset
n Action:
m Start initialization and self test
m Switch off „Ready for pulse enable“
m Switch off „Ready for main contactor ON“
m Reset signal bus
1 NOT READY TO SWITCH ON  SWITCH-ON INHIBIT

n Event:
m Initialization and self test completed without error
n Action:
m None
2 SWITCH-ON INHIBIT  READY TO SWITCH ON

n Event:
– Device activation by control word:
m "Shut-down" command
– Device activation by hardware control inputs:
n Condition:
m Quick discharge input = Low
n Action:
m Switch on „Ready for main contactor ON“
m Wait until a valid three-phase current is active at the device
m Measure mains offset
m Determine rotating field
m Execute mains synchronization
3 READY TO SWITCH ON  SWITCHED ON

n Event:
m "Switch On" command and pulse enable input = High
n Condition:

n Action:
m Charge DC link
m Power relays energized, the power unit is connected with mains
4 SWITCHED ON  OPERATION ENABLED

n Event:
m "Enable Operation" command and pulse enable input = High
n Condition:
n Action:
m Set DC link voltage to set value
5 OPERATION ENABLED  OPERATION INHIBITED

n Event:
m "Enable Operation" command and pulse enable input = Low
n Condition:
n Action:
m Operation is inhibited (pulses are inhibited, device is no longer operational, main
contactor and power relay remain closed)
5a OPERATION INHIBITED  SWITCHED ON

n Event:
n Condition:
n Action:
m None
6 All states  QUICK DISCHARGE ACTIVE

n Event:
m „Quick discharge“ comand or
m Quick discharge input = High
n Condition:
m None
n Action:
m Inhibit pulses (if pulses were enabled)

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4.5 Management
m Device is no longer operational (if the device was operational)

m Abort charging (if charging was active)
m Open power relay
m Start discharging of the DC link via chopper resistor
7 QUICK DISCHARGE ACTIVE  SWITCH ON INHIBIT

n Event:
m After the discharging time (see error 2013) the DC link voltage is less than 20 V
n Condition:
m No quick discharge request via control word
n Action:
m Stop discharging of the DC link
8 All states  ERROR

n Event:
m Device error is detected, i.e., an error to which a response should follow has been
triggered
n Action:
m Inhibit pulses (if pulses were enabled)
m Device is no longer operational (if the device was operational)
m Abort charging (if charging was active)
m Open power relay
9 ERROR  SWITCH ON INHIBIT

n Event:
m "Reset Error" command or
m Error Reset input = Low -> High
n Condition:
m Error is no longer present
n Action:
m Reset of error is carried out
The change of state only takes place if the actions have been fully carried out. The se-
quence of actions corresponds to their execution during the change of state. The next
state is reached after complete processing of the actions and new commands are accept-
ed.

m Activation of the „Ready for pulse enable“ contact
The switching state of the „Ready for pulse enable“ contact is only changed at the follow-
ing state transitions.
Transition Switching Action on the „Ready Comment

for pulse enable“ contact
0 Switch on Start of the device initialization
2 Switch off Device is ready to switch on
6 Switch on Quick discharge was selected
8 Switch on Errors have been detected in the device
The result of this is that for each state of the drive there is a well-defined switching state
for the „Ready for pulse enable“ contact:
State Switching State of the „Ready for pulse enable“ contact:

NOT READY TO SWITCH ON Open
SWITCH ON INHIBIT Open
READY TO SWITCH ON Close
SWITCHED ON Close
OPERATION ENABLED Close
OPERATION INHIBITED Close
QUICK DISCHARGE ACTIVE Open
ERROR Open
m Activation of the „Ready for main contactor ON“ contact

The switching state of the „Ready for main contactor ON“ contact is only changed at the
following state transitions.
Transition Switching Action on the „Ready Comment

for main contactor ON“ contact
0 Switch on Start of the device initialization
2 Switch off Main contactor will be switched on to analyze the mains
6 Switch on Locking contact quick discharge  connection to the
mains
8 Switch on The device should be disconnected from mains in case
of error
for the „Ready for main contactor ON“ contact:
State Switching State of the „Ready for main contactor ON“ contact:
NOT READY TO SWITCH ON Open
SWITCH ON INHIBIT Open
READY TO SWITCH ON Close
SWITCHED ON Close
OPERATION ENABLED Close
OPERATION INHIBITED Close
QUICK DISCHARGE ACTIVE Open
ERROR Open

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m Activation of the „Operationally ready for control“ signal

The switching state of the „Operationally ready for control“ signal is only changed at the
following state transitions. The logic level of this signal is identically with the logic level of
the „Supply operationally ready“ signal on the signal bus (see ZSignal Bus– from page
474).
Transition Switching Action on the „Opera- Comment

tionally ready for control“ signal
0 Set to Low Start of the device initialization
4 Set to High DC link voltage is adjusted to set value -> Operation
enabled
5 Set to Low Operation was inhibited
6 Set to Low The device is not operationally during quick discharge
8 Set to Low The device is not operationally during an error
for the „Operationally ready for control“ signal:
State Switching State of the „Operationally ready for control“ signal:

NOT READY TO SWITCH ON Low
SWITCH ON INHIBIT Low
READY TO SWITCH ON Low
SWITCHED ON Low
OPERATION ENABLED High
OPERATION INHIBITED Low
QUICK DISCHARGE ACTIVE Low
ERROR Low
Functional block: FbDriveMgr [108]

FbBaMgr [109]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
108.1 Control word 1 WORD 0 0xFFFF 0 1:1 X

108.2 Control word 1 SER- WORD 0 0xFFFF 0 1:1 X
COS
108.3 Status word 1 WORD 0 0xFFFF 0x0020 1:1 X
108.4 Status word 1 SERCOS WORD 0 0xFFFF 0 1:1 X
108.5 Status word 2 DWORD 0 0xFFFFFFFF 0 1:1 X
108.6 Drive status UINT 0 15 0 1:1 X

108.7 Comm. source WORD 0 0x7F 1 1:1 X O
108.8 Status dig. inputs drive WORD 0 0xFFFF 0 1:1 X
manager
108.9 Parameter selection sta- UDINT 0 0xFFFFFFFF 0 1:1 X X
tusbit 14
108.10 Bit pattern status bit 14 UDINT 0 0xFFFFFFFF 0 1:1 X X
tusbit 15
108.13 QUICK STOP reaction INT 0 8 0 1:1 X X
code
108.14 SHUTDOWN reaction INT 0 3 0 1:1 X X
code
108.15 DISABLE OPERATION INT 0 3 0 1:1 X X
reaction code
108.16 Status internal limits DWORD 0 0xFFFFFFFF 0 1:1 X
108.17 Mask for status internal DWORD 0 0xFFFFFFFF 0x000000FF 1:1 X X
limit
108.18 Delay for quickstop UINT 0 65535 0 ms 1:1 X
input
108.19 Time for reducing torque FLOAT 0 8 0 s 1:1 X
108.20 Parking Shaft Control UINT 0 2 0 - 1:1 O
Word
108.21 Parking Shaft Status WORD 0 0xFFFF 0 1:1 X
Word
109.1 Operation Mode Set INT -13 6 -3 1:1 X X
109.2 Operation Mode Act INT -13 6 -3 1:1 X
108.1 Control word 1
This parameter is the input word to the state machine for the device controller.
The same parameter is used for the actuation of the axis units and active mains rectifier
unit. The meaning of several bits is different however, see the following table:
Bit Meaning at axis units Meaning at active mains rectifier

unit
0 1: "Switch On" command 1: "Switch On" command
0: "Shut-down" command 0: "Shut-down" command
1a) 1: "Do Not Inhibit Any Voltage" com- 1: „Do not reset quick discharge“
mand (operating condition) command (operating condition)
0: "Inhibit Voltage" command 0: „Reset quick discharge“ command

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4.5 Management
Bit Meaning at axis units Meaning at active mains rectifier

unit
2b) 1: "No Quick Stop" command (operat- 1: „Do not quick discharge“ command
ing condition) (operating condition)
0: "Quick Stop" command 0: „Quick discharge“ command
3 1: "Enable Operation" command 1: "Enable Operation" command
0: "Inhibit Operation" command 0: "Inhibit Operation" command
4 Depends on operating mode: Reserved
Ramp FG inhibit, start reference run,
new set value
Ramp FG stop,
Change set immediately
Ramp FG zero,
Absolute / relative target specification
7 0 -> 1 Error reset 0 -> 1 Error reset
Hold
Change of set value
10 Reserved Reserved
Jog forwards,
Start Positioning,
Start sequential positioning,
Inhibit set value
Jog backwards,
Interrupt positioning
13 0: Enable mode changeover Reserved
1: Inhibit mode changeover
15 ... 14 Reserved Reserved
a) Bit active low
b)
Bit active low
Description of the bits for axis units

m Bit 0 to 3:
Control of the state machine for the drive. The device control commands are defined by
the following bit combinations:

Adapting transitions to the state machine
Command Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Transi-

Reset Enable Quick Inhibit Switch tions
Error Operation Stop a) Voltage b) On
Shut Down X X 1 1 0 2, 6, 8
Switch On X X 1 1 1 3
Inhibit Voltage X X X 0 X 7, 9, 10,
12
Quick Stop X X 0 1 X 7, 10, 11
Inhibit Operation X 0 1 1 1 5
Enable Operation X 1 1 1 1 4, 5b, 8b,
16
Reset Error 01 X X X X 15
a) These bits are active low.
b)
These bits are active low.
The bits labeled X have no significance for the corresponding command.
m Bit 4 - Ramp FG inhibit / New set value / Start reference run

n Speed Setting (Operating mode 2)
1: Enable ramp function generator
0: Inhibit ramp function generator (set output to 0)
n Speed Control (Operating mode -3)
Sense of the bits inverted with respect to the Speed Setting mode (Operating mode
2)
1: Inhibit ramp function generator (set output to 0)
0: Enable ramp function generator (enable output)
n Target Position Setting (Operating mode 1)
1: Start positioning if control of positioning is via "New Set Value"
n Reference run mode (Operating mode 6)
1: Start reference run
n Coupled operation (operation mode -12)
0->1 Activate switchover to a reloaded curve
m Bit 5 - Ramp FG Stop / Change set immediately:

Change set immediately
This bit is dependent on the setting in Parameter Z118.2–,
Mode bit 11 active low or active high.
Z118.2– Mode Bit 11 = 0:
0: Single set value: Procedure of individual positioning records
1: Set-of-set values: Procedure with a speed profile.
Z118.2– Mode Bit 11 = 1:
0: Set-of-set values
1: Single set value

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1: Enable ramp function generator ramp-up
0: Inhibit ramp function generator ramp-up.Output is frozen
2)
1: Inhibit ramp function generator ramp-up. Output is frozen
0: Enable ramp function generator ramp up
0->1 Perform sequence change
m Bit 6 - Ramp FG zero / absolute / relative target specification

0: Absolute target specification
1: Relative target specification
1: Enable ramp FG input
0: Set ramp FG input to zero (braking with ramp)
2)
1: Set ramp function generator input to zero (braking with ramp)
0: Enable ramp function generator input
0->1 Activate additional movement
m Bit 7: Device control command "Error reset"

A change to this bit from 0 to 1 is required for the command.
m Bit 8: Hold
n Synchronous operation (Operating mode -5)
0: Continue synchronous operation
1: Disconnect slave axis from master axis and hold
n Position control (Operating mode -4):
0: Continue position control
1: Hold axis with Z121.8– stop delay (FbPosCommonData)
n Target Position Setting (Operating mode 1):
0: Continue positioning
1: Hold axis with positioning delay
n Reference run operation (Operating mode 6):
0: Continue reference run
1: Hold axis with Z121.8– stop delay (FbPosCommonData)
0->1 Takeover of gear factor

m Bit 9: Change of set value
Change of set value with "set-of-set values"
0: Ongoing positioning operation is ended (target speed = 0; "Set Value reached" is
set) before the next operation is started.
1: Positioning with the current profile speed up to the current target and a running
start to the next positioning operation from this target.
m Bit 11:
n Manual drive operation (Operating mode 5):
1: Jog forwards
1: Start positioning if control of positioning is via "Start positioning"
1: Inhibit set values (Position set values which are written to P136.3/5 or P136.4/6
are not adopted)
n Spindle positioning
Start of a sequential positioning
m Bit 12:
n Manual drive operation (Operating mode 5):
1: Jog backwards
n Target Position Setting (Operating mode 1):
1: Interrupt positioning with Z121.8– stop delay (FbPosCommonData)
1: Inhibit set values (Position set values which are written to 136.3/136.5 or
136.4/136.6 are not adopted)
m Bit 13:
For all operating modes: inhibit operating mode changeover
To avoid inconsistencies between the set operating mode and the mode-dependent bits,
the mode changeover can be inhibited selectively. When the bit is set, the set operating
mode remains active. Any intended change to the operating mode will only be adopted
when the bit is cleared. A new operating mode can thus be activated synchronously with
the control word. The instantaneous state of the mode changeover is indicated in
Z108.5– Status Word 2.
0: Enable mode changeover
1: Inhibit mode changeover

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4.5 Management
Control Word 1: General Overview of All Operating Modes
Reference Run Operation (6)

Synchronous Operation (-5)
Manual Drive Operation (5)

Notch Position Search (-1)
Target Position Setting (1)

Coupled operation (-12)
Spindle positioning (-6)
Speed Control (-3) 2)
Current Control (-2)

Current Setting (-8)
Voltage Setting (-9)
U-f operation (-10)
Speed Setting (2)

Autotuning (-7)
Control (-4)
Position
Bit
0 Switch On (State machine device control)
1 Inhibit Voltage (State machine device control) 1)
2 Quick Stop (State machine device control) 1)
3 Enable Operation (State machine device control)
4 Activate X X X X X X X Inhibit X X Start Positioning Inhibit X Start
3)
curve ramp FG ramp refer-
("New Set FG1) ence
Value") run
5 Sequence X X X X X X X Stop X X Change set Stop X X

change ramp FG immediately 3) 5) ramp
FG 1)
6 Activate X X X X X X X Ramp X X Absolute / rela- Ramp X X

additional FG zero tive target specifi- FG
movement cation zero 1)
7 Reset Error (State machine device control)

8 Takeover X X X X X Hold Hold X X X Hold X X Hold
of gear
factor
9 X X X X X X X X X X X Change of set X X X
value 3)
10 X X X X X X X X X X X X X X X
11 X X X X X Start X Inhibit set X X X Start positioning X Jog for- X
sequen- values 4) wards
tial posi-
tioning
12 X X X X X X X X X X X Interrupt position- X Jog X

ing back-
wards
13 Inhibit operating mode changeover

The bits labeled X are reserved and must be set to 0 by the controller.
1)
These bits are active low
2) In Operating Modes -3 and 2, Bits 4, 5 and 6 are prioritized as follows: Bit 4
before Bit 5 before Bit 6

3) If control of the positioning is by "New Set Value"
4)
If control of the positioning is by "Start Positioning"
5) This bit is dependent on the setting in Parameter Z118.2– Mode Bit 11 active
low or active high
Description of the bits for active mains rectifier unit (BM51xx)

m Bit 0 to Bit 3 and Bit 7:
Control of the device’s state machine. The device control commands are defined by
the following bit combinations:
Command Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Transi-

Reset Enable Quick Reset Switch tions
Error Operation dis- Quick On
charge a) dis-
charge a)
Shut Down X X 1 1 0 2
Switch On X X 1 1 1 3
Enable Operation X 1 1 1 1 4
Inhibit Operation X 0 1 1 1 5
Quick Discharge X X 0 1 X 6
Reset Quick Dis- X X X 0 X 7
charge
Reset Error 01 X X X X 9
a)
These bits are active low.
The bits labeled X have no significance for the corresponding command.
m Bit 4 to Bit 6 and Bit 8 to Bit 15:

At the active mains rectifier unit these bits are reserved and must be set to 0 by the
control.
108.2 Control word 1 Sercos
Display of the Sercos master control word S-0-0134. The parameter is operated acycli-
cally by the fieldbus controller if it is operating with profile type Sercos (see Z131.22–).
The chart is to be found in ProDrive under Diagnosis/Sercos.
A valid and current value is displayed in OPERATIONAL bus status, only.
Writing to the parameters does not have any effect on the state machine of the device
controller.

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108.3 Status word 1
This parameter is the output word from the state machine for the device controller.
Bit # Meaning at axis units Meaning at active mains rectifier

unit
0a) 1: Ready to switch on 1: Ready to switch on
0: Not ready to switch on 0: Not ready to switch on
1b) 1: Switched on 1: Switched on
0: Not operationally ready 0: Not operationally ready
2c) 1: Operation enabled 1: Operation enabled
0: Operation inhibited 0: Operation inhibited
3d) 1: Error 1: Error
0: No error 0: No error
4 1: Main supply voltage / DC link volt- 1: DC link charged, relays have
age present closed
0: Main supply voltage / DC link volt- 0: DC link not fully charged, relays are
age not present opened
5e) 1: No request for Quick Stop 1: Request quick discharge is not
0: Quick Stop (or request for Quick active
Stop present) 0: Request quick discharge is active
6f) 1: Switch-on inhibit 1: Switch-on inhibit
0: No switch-on inhibit 0: No switch-on inhibit
7 1: Warning 1: Warning or error
0: No warning 0: No warning
8 Depends on operating mode Reserved
9 Reserved
10g) 1: Set value reached 1: DC link set value reached
0: Set value not reached 0: DC link set value not reached
11 1: Internal limits active 1: Internal current limits active
0: No internal limits active 0: No internal current limits active
15 ... 14 Real-time bits, can be set as parame- Reserved
ters
See Parameters 108.9…108.12
a)
Display of drive manager operating state
b) Display of drive manager operating state
c)
Display of drive manager operating state
d) Display of drive manager operating state
e)
Bit active low

f) Display of drive manager operating state
g)
Meaning dependent on Control Word Bit 8:
If Hold=0: 0: Set Value not reached/1: Set Value reached
If hold=1: 0: axis braking/1: axis held
Description of the bits for axis units

m Bits 0 to 6:
These bits indicate the state of the state machine for the device.
Bit in the Status Word

Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0
Device Controller State Switch-on Quick Error Operation Switched Ready to
Inhibit Stop a) Enabled on switch on
NOT READY TO SWITCH ON 0 X 0 0 0 0
SWITCH-ON INHIBIT 1 X 0 0 0 0
READY TO SWITCH ON 0 1 0 0 0 1
SWITCHED ON 0 1 0 0 1 1
OPERATION ENABLED 0 1 0 1 1 1
QUICK STOP ACTIVE 0 0 0 1 1 1
ERROR RESPONSE ACTIVE 0 X 1 1 1 1
ERROR 0 1 1 0 0 0
a)
This bit is active low
The bits labeled X are not defined.
Bit 3: Error
The controller sets this bit as soon as an error (Parameter 100.2 > 0) which triggers an
error reaction from the drive appears. The bit remains set during the error reaction and in
the error state, and is only cleared when the error is successfully reset. The error LED
lights as soon as this bit is set.
Bit 4: Main supply voltage / DC link voltage present

Mono unit with its own power supply:
The bit is set when the main supply voltage is present on the power unit and the DC link
is loaded. It is cleared if the main supply fails. This bit is always updated independently to
the device state.
Bus axis (without its own supply; DC link is generated externally by an active mains rec-
tifier unit or a mains rectifier unit):
If the evaluation of the "Operationally ready" signal is switched on (Parameter Z140.1–

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4.5 Management
Bit 0 = 0 and Bit 10 = 0) and if the supply and the bus axis are linked together via the sig-
nal bus, the following applies:
If the DC link of the mains rectifier unit is loaded and the mains rectifier unit is operation-
ally ready, the mains rectifier unit reports "Operationally ready" over the signal bus. Then
Bit 4 is set; otherwise it is cleared. This bit is always updated independently to the device
state.
If the evaluation of the "Operationally ready" signal is switched off (Parameter Z140.1–
Bit 0 = 1) or (Z140.1– Bit 0 = 0 and Bit 10 = 1), Bit 4 is always set.
Bit 5: Quick Stop or request for Quick Stop active

The bit is active low and is cleared as soon as a Quick Stop response is initiated via the
"Quick Stop" control word command or via a hardware input configured for "Quick Stop"
(see Parameter Z108.8– DI_StatusDrvControl (Status digital inputs drive manager)).
When the "Ready to Switch On" state is reached, the bit is set. If "Remain in Quick Stop"
is selected as the behavior for the Quick Stop response (Parameter Z108.13– Quickstop-
Code (QUICK STOP reaction code) Values 5 to 8), this bit remains cleared for as long as
the drive is in Quick Stop. The bit is set once more as soon as the drive is enabled again
or the "Ready to Switch On" state is reached as a result of a command.
Bit 7: Warning
This bit indicates when a warning or an error which does not result in any error reaction
is present in the controller. This state can be recognized externally by the flashing of the
error LED.
Bit 8: Status of ramp function generator is Stop

m Speed control (Operating mode -3) and speed setting (Operating mode 2):
This bit indicates that the ramp function generator has been stopped and its output is
therefore frozen.
m Coupled operation (operation mode -12)
1: A reloaded curve is ready to be activated.
0: A reloaded curve was activated and there is no curve available anymore
Bit 9: Remote
This bit is not yet supported at present.
Bit 10: Set Value reached

This bit is cleared in the inhibited state in all operating modes
m Position control (Operating mode -4) and synchronous operation (Operating mode -5):
The bit is set immediately if neither of the two position contouring error monitors has
detected an overshoot of the set limits (Parameter 143.1 Monitoring Status, Bits 0 and
4 are both 0).
m Speed control (Operating mode -3) and speed setting (Operating mode 2):
The bit is set if
– the output value of the ramp function generator is equal to the input value and

– the speed controller deviation is less than the preset limit and the ramp function gen-
erator is reporting "Set Value reached". During active braking procedures (Quick
Stop, Inhibit Operation) the bit is set as soon as the drive is at standstill (Parameter
Z6.1– "Speed=0 Message").
m Manual drive operation (Operating mode 5):
The bit is set if the output speed set value (Parameter Z119.8–) has reached the spec-
ified jogging speed (Parameter Z119.4–).
m Reference run operation (Operating mode 6):
The bit is set in the following cases:
– Reference run has completed successfully (bit 12 is set additionally)
– Reference run is not yet started or interrupted (command hold) and the drive is at
standstill (then bit 12 is deleted)
– Error at reference run and drive is at standstill (bit 13 is set additionally)
An overview of the bit combinations for the reference run is located subsequent to the
table „General Overview of All Operating Modes“.
m Spindle positioning (Operating mode -6):
The bit is set as soon as the position actual value is in the set position window for the
set position window time. The bit will be deleted when the drive is not any longer in the
positioning window.
1: The drive follows the polynomial curve
0: The polynomial curve is overlaid by the synchronization or additional movement
For the following operating modes, the meaning of this bit depends on the state of Control
Word 1 Bit 8, Hold:
m Target Position Setting (Operating mode 1):
– If Hold = 0:
The bit is set as soon as the actual position value is in the preset positioning window
for the preset positioning window time. The bit is cleared when the drive is no longer
in the positioning window.
– If Hold = 1:
The bit is set as soon as the axis has come to a stop. For this, the set value setting
and the drive must be at a standstill (Parameter Z6.1– "Speed-0 Message"). The
Hold function is only implemented in the Target Position Setting mode (Operating
mode 1).
Bit 11: Internal limits active

The bit is set if an internal limit is active, for example current limit, speed limit, hardware
and software limit switches. This bit is always updated independently to the device state.
Parameter Z108.17– "Mask for Status of Internal Limits" can be used to define which in-
ternal limits should be displayed.
Bit 12:
m Speed control (-3) and speed setting (2):
The bit is set if the n=0 threshold is under-run. This bit is always updated independently
to the device state.

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4.5 Management
m Target Position Setting (Operating mode 1):

The bit is set to acknowledge a new set value if the control of the positioning is effected
by means of "New Set Value".
The bit is set if the reference run has completed successfully with the home position
being set.
The bit is deleted if the start bit in the control word (bit 4) is canceled.
m Spindle positioning (Operating mode -6):
The start of a sequential positioning will be acknowledged when the controller has rec-
ognized the command and positions. For this purpose the preceding spindle position-
ing must be completed and then an increasing edge must be recognized in the start-
bit. This handshake is made only at sequential positioning and at start after spindle po-
sitioning error.
m Position control (operating mode -4):
1: Target position effective
The bit is set, if the drive follows the set value (target position) from the cyclic transmis-
sion, i. e. the set value is written to the input of the position controller. The bit is deleted,
if the drive ignores the cyclic set value.
This is the case at
- a stop via the Z108.1– control word bit 8
- a set value lock via control word bit 12
- a stop triggered by the end switch monitoring
0->1 The sequence was changed successfully (check-back for bit 5 Z108.1–)
Bit 13:
The bit is set if the reference run has been interrupted by an internal error.
The bit is deleted if the error is reset.
0->1 Change of gear factor was made (check-back for Bit 8 Z108.1–)

Status Word 1: General Overview of All Operating Modes
Reference Run Operation (6)

Synchronous Operation (-5)
Manual Drive Operation (5)

Notch Position Search (-1)
Target Position Setting (1)

Coupled operation (-12)
spindle positioning (-6)
Speed Control (-3) a)
Current Control (-2)

Current Setting (-8)
Voltage Setting (-9)
U-f operation (-10)
Speed Setting (2)

Autotuning (-7)
Control (-4)
Position
Bit
0 Ready to switch on (State machine device control)
1 Switched on (State machine device control)
2 Operation enabled (State machine device control)
3 Error (State machine device control)
4 Voltage inhibited (State machine device control) a))
5 Quick Stop active (State machine device control) a)
6 Switch-on inhibit (State machine device control)
7 Warning
8 Curve X X X X X X X Ramp X X X Ramp X X
ready FG FG
stop stop
9 Remote
10 Set value reached
Drive fol- X X X Auto- in posi- Posi- Posi- Speed X Notch Target Speed Jog- Refer-
lows curve tuning tion tion tion set set position position set ging ence
com- set value value deter- value speed run
plete value mined com-
plete
11 Internal limits active
12 Sequence X X X X Start- X Target Speed X X Set Speed X Refer-
changed Com- posi- =0 Value =0 ence
mand- tion acknowl run
Ackno effec- edg- com-
wledge tive ment plete
13 Gear fac- Refer-
tor receipt ence
run
error
14 Can be set via Parameter 108.9, 108.10
15 Can be set via Parameter 108.11, 108.12
a) These bits are active low
The bits labeled X are reserved and must not be evaluated by the controller.

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4.5 Management
Operating mode specific bits for reference run operation (Operating mode 6):
Bit 13 Bit 12 Bit 10 Meaning

Error ref- Refer- Set value
erence ence run reached
run has com-
pleted
0 0 0 Reference run in operation or speed not equal
zero (e.g. braking procedure at stop command)
0 0 1 Reference run interrupted (stop command) or
not yet started, speed = 0.
0 1 0 Reserved
0 1 1 Reference run has completed successfully,
speed = 0.
1 0 0 Error at reference run, speed  0.
1 0 1 Error at reference run, speed = 0.
1 1 X Reserved
Description of the bits for active mains rectifier unit

m Bit 0 to Bit 3 and Bit 5 to Bit 6:
These bits indicate the state of the state machine for the device.
Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0

Device Controller State Switch-on Quick Error Operation Switched Ready to
Inhibit Stop a) Enabled on Switch On
NOT READY TO SWITCH ON 0 1 0 0 0 0
SWITCH-ON INHIBIT 1 1 0 0 0 0
READY TO SWITCH ON 0 1 0 0 0 1
SWITCHED ON 0 1 0 0 1 1
OPERATION ENABLED 0 1 0 1 1 1
OPERATION INHIBITED 0 1 0 0 1 1
QUICK DISCHARGE ACTIVE 0 0 X 0 0 0
ERROR 0 1 1 0 0 0
a) This bit is active low
The bits marked with X are not defined.
m Bit 3: Error
The active mains rectifier unit sets this bit as soon as an error appears which triggers
an error reaction from the device. The bit remains set during the error reaction and in

the error state, and is cleared not until the error is successfully reset.
The error LED lights up as soon as this bit is set.
m Bit 4: DC link charged, relays have closed

The active mains rectifier unit sets this bit if the DC link has been loaded to the peak
mains voltage and the power relays have been closed. As soon as this bit is set, the
power unit is connected to the mains directly. The bit will be reset as soon as the power
relays have opened. Thereby the DC link is not discharged. Although this bit is set no
longer, it can be possible that there is residual charge in the DC link.
m Bit 5: Quick discharge active

This bit is low when the active mains rectifier unit is in the active quick discharge state.
It is set to high, if the active mains rectifier unit leaves the quick discharge state again.
However the bit can be low although the DC link was discharged, but the discharging
request was not canceled yet. This bit is coupled actively to the quick discharge state,
and not to the switching state of the discharge transistor.
m Bit 7: Warning
This bit is set, if a warning or an error without error response is triggered in the control-
ler. By the flashing of the error LED this state is visible (this functionality can be set).
m Bit 9:
This bit is not supported at present.
m Bit 10: DC link set value reached

If operation is enabled and the preset DC link voltage was reached then this bit will be
set. This bit will be reset as soon as operation is no longer enabled.
m Bit 11: Internal current limit active

This bit is set if the positive current limit (Z141.27–) or the negative current limit
(Z141.28–) is reached. The bit will be reset if these limits are left.
108.4 Status word 1 Sercos
Display of the Sercos drive state S-0-0135. The parameter is operated acyclically by the
fieldbus controller, if the profile type Sercos is set (see Z131.22–). The chart regarding
this can be found in ProDrive under diagnosis/Sercos.
A valid and current value is displayed in the OPERATIONAL bus state, only.

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4.5 Management
108.5 Status word 2
This parameter is only relevant for axis units.

Status Word 2 of the Drive Manager is allocated as follows:
Bit # Meaning at axis units

0 0: Operating mode changeover is enabled
1: Operating mode changeover is inhibited
1 0: Not active
1: Activated by SAF module
2 Reserved
3 1: Warning: Deactivation through safety tech-
nology; corresponds to drive warning 1046
31…4 Reserved
108.6 Drive status
This parameter displays the instantaneous state of the drive and the active mains rectifier
unit.
Value Meaning at axis units Meaning at active mains rectifier unit

0 Not ready to switch on Not ready to switch on
1 Switch on inhibit Switch on inhibit
2 Ready to switch on Ready to switch on
3 Switched on Switched on
4 Operation enabled Operation enabled
5 Operation inhibit active Operation inhibited
6 Shut-down active -
7 Quick Stop active Quick Discharge active
14 Error response active -
15 Error Error

108.7 Comm. source
This parameter controls the access rights to Control Word 1.

Selection of the communication source at axis units:
Bit # Meaning at axis units

0 1: Motor control via ProDrive/ Fieldbus
15 ... 1 Reserved
The drive will only be controlled by the Pulse enable (IF), Quick Stop (SH) and Controller
Enable (RF) hardware signals if all the bits for motor control are cleared. Digital inputs
must be configured for these signals to do this (see Digital Inputs Parameter DIx_MODE
Z116.1– ff).
Regardless of the communications source:
m The Pulse enable (IF) hardware signal must always be wired up.
m If no inputs have been configured for Quick Stop or Controller Enable, the signals will
be interpreted as inactive or active so that the drive can be enabled (see also Param-
eter Z108.8– DI_StatusDrvControl (Status digital inputs drive manager) in this regard)
Selection of the communication source at active mains rectifier unit:
Bit # Meaning at active mains rectifier unit

0 1: Device control via ProDrive / Fieldbus
0: Device control via Hardware signals
15 ... 1 Reserved
The device will only be controlled by the Pulse enable (IF) and Quick Discharge (SE)
hardware signals if all the bits for device management are cleared.
Regardless of the communications source:
m The Pulse enable (IF) hardware signal must always be wired up.
m The Quick Discharge (SE) hardware signal and Error reset (FR) hardware signal are
always defined and activated at the active mains rectifier unit. Their functionality is al-
ways available independent of the communication source.

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4.5 Management

If the active mains rectifier unit is controlled via ProDrive, ProDrive expects that the
pulse enable always is applied to the device. This is not provided in the wiring pro-
posals of the Instruction Handbook. It is recommended, at the control via ProDrive,
to connect the pulse enable directly and not in connection with the "Ready for Pulse
Enable" to the device.
+24 V
3
S1
5000_0221_rev01_int.cdr
Hardware pulse enable

digital input 8
Figure 98: Circuit proposal of the pulse enable at control via ProDrive
This measure is limited to the control with ProDrive. For the device control via the
control word (for example by a SPS), this measure is not necessary.
108.8 Status dig. inputs drive manager
Display of the state of the digital inputs for drive control.

The same parameter is used for the axis units and active mains rectifier unit. The mean-
ing of several bits is different however:
Bit # Meaning at axis units Meaning at active mains rectifier unit

0 Pulse enable (IF) Pulse enable (IF)
0: Pulse enable input is inactive 0: Pulse enable input is inactive (pulses
(pulses are inhibited at digital are inhibited at digital inputs (IF=0))
inputs (IF=0))
1: Pulse enable input is active 1: Pulse enable input is active (pulses
(pulses are enabled at digital are enabled at digital inputs (IF=1))
inputs (IF=1))
1 Quick Stop (SH) Quick discharge (SE)
0: Quick Stop input is active (Quick 0: Quick Discharge input is inactive
Stop request present, (SH=0)) (Quick Discharge request not pres-
ent)
1: Quick Stop input is inactive 1: Quick Discharge input is active
(Quick Stop request not present, (Quick Discharge request present)
(SH=1))

Bit # Meaning at axis units Meaning at active mains rectifier unit
2 Controller Enable (RF) Controller Enable (RF)
0: Controller Enable not set (RF=0) 0: Controller Enable not set (RF=0)
1: Controller Enable set (RF=1) 1: Controller Enable set (RF=1)
3 Error reset by digital input (edge Error reset by digital input (edge con-
controlled) trolled)
0, 1->0: No requirement for error 0, 1->0: No requirement for error reset
reset
0->1: Errors should be reset 0->1: Errors should be reset
4 Drop-out delayed Quick Stop signal Reserved
(see also delay time for Quick Stop
input Z108.18–)
1: Quick Stop input is inactive or
delay time is still running
0: Quick Stop input is active and
delay time has elapsed
5…15 Reserved Reserved
Axis units:
If the corresponding inputs in Parameters Z116.1– ff DIy_Mode are not configured for
Pulse enable (IF)/Quick Stop (SH)/Controller enable (RF), the bits in DI_StatusDrv-
Control will always be shown HIGH.
Exception for Pulse enable (PE):
Since for hardware reasons the Pulse enable inputs for the axes also act directly on
the power unit, the actual state of the Pulse enable inputs is always shown in DI_Sta-
tusDrvControl, regardless of DIy_Mode.
The present logic state of the Quick Discharge (SE) and Error reset (FR) hardware sig-
nals are always displayed because these signals are always defined at the active
Exception for Pulse enable (IF):
The real state of the Pulse enable input is always displayed because the Pulse enable
input cannot be inverted.
Exception for Controller enable (RF):
This bit is permanently set to 1 because the definition of a Controller enable signal is
not possible at the active mains rectifier unit. Thus the device can be controlled with
the Pulse enable only.
108.9 Parameter selection status bit 14

Selection of the parameter for the freely definable Status Bit 14 in the drive manager Sta-
tus Word Z108.3–.
If at least one bit from the mask Z108.10– is set in the selected parameter, Bit 14 in the
Status Word will be set.
When StatusB14_IdSelect = 0, the mapping for Bit 14 is switched off.

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4.5 Management
108.10 Bit pattern status bit 14

Mask for the freely definable Status Bit 14 in the drive manager Status Word Z108.3–.
If at least one bit from the mask is set in the selected parameter Z108.9–, Bit 14 in the
Status Word will be set.
108.11 Parameter selection status bit 15

Selection of the parameter for the freely definable Status Bit 15 in the drive manager Sta-
tus Word Z108.3–.
If at least one bit from the mask 108.12 is set in the selected parameter, Bit 15 in the Sta-
tus Word will be set.
When StatusB15_IdSelect = 0, the mapping for Bit 15 is switched off.
108.12 Bit pattern status bit 15

Mask for the freely definable Status Bit 15 in the drive manager Status Word Z108.3–.
If at least one bit from the mask is set in the selected parameter 108.11, Bit 15 in the Sta-
tus Word will be set.
108.13 QUICK STOP reaction code
Value Meaning
0 Inhibit drive immediately
1 Return to ramp-down ramp
2 Return to Quick Stop ramp
3 Return to current limit
4 Return to voltage limit (acts like current limit)
5 Return to ramp-down ramp and remain in Quick Stop active mode (renewed
enabling possible)
6 Return to Quick Stop ramp and remain in Quick Stop active mode (renewed
enabling possible)

Value Meaning
7 Return to current limit and remain in Quick Stop active mode (renewed
enabling possible)
8 Return to voltage limit and remain in Quick Stop active mode (renewed
enabling possible)
See also ZDrive management– from page 399

This parameter defines the response of the drive to a Quick Stop request (by control word
command or hardware control input).
For correct functioning of the braking procedures on the Quick Stop or Ramp-down
ramps, the speed controller must be adequately configured.
NOTICE!
Do not use return to current limit or return to voltage limit during U/f operation
108.14 SHUTDOWN reaction code
Value Meaning

This parameter defines the response of the drive during the transition from the OPERA-
TION ENABLED to the READY TO SWITCH ON state in the state machine for the device
controller.
NOTICE!
Do not use return to current limit during U/f operation

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4.5 Management
108.15 DISABLE OPERATION reaction code
Value Meaning

This parameter defines the response of the drive during the transition from the OPERA-
TION ENABLED to the SWITCHED ON state in the state machine for the device control-
ler.
NOTICE!
Do not use return to current limit during U/f operation
108.16 Status internal limits

Status bit string for internal limits
Bit # Meaning
0 1: Current/torque limited
1 1: Speed set value limited at speed controller input
2 1: Speed limited during set value generation
3 Reserved
4 1: Negative HW limit switch is set (even if not limited)
5 1: Positive HW limit switch is set (even if not limited)
6 1: Negative SW limit switch is set (target position was outside, now limited)
7 1: Positive SW limit switch is set (target position was outside, now limited)
8…31 Reserved

108.17 Mask for status internal limit

Mask for the status bit string for internal limits (InternalLimitStatus)
This parameter is used to select which internal limits will be reported in Status Word 1,
Bit 11.
Bit in mask = 1: Limit is shown in Status Word 1
108.18 Delay for quick stop input

Settable delay for the response to the activation of Quick Stop by the Quick Stop digital
input (has no effect if the "Quick Stop" command was issued by Control Word 1 (Param-
eter Z108.1–)).
The initiation of the Quick Stop response is delayed by the preset time; the drive remains
enabled during this time.
108.19 Time for reducing torque

This parameter can be set to provide smooth torque reduction using controlled braking
procedures. After the drive has been braked to Speed 0, the internal torque current limit
is reduced linearly to 0 over the set time and the drive is then inhibited. This smooth re-
duction of torque is effective for all braking procedures controlled by the drive manager,
i.e., for the "Inhibit Operation", "Shut Down Drive" and "Quick Stop" commands, provided
a braking procedure with subsequent transition to an inhibited state is set as a response
to the corresponding command. Furthermore the smooth reduction of torque also oper-
ates for error reactions where a braking procedure is initiated.
108.20 Parking shaft Control Word

This parameter is used to issue the commands for the "Parking shaft" display state.
Value Meaning
0 Reserved
1 Activate "Parking shaft"
No action
2 Deactivate "Parking shaft"
3 … 32767 Reserved

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4.5 Management
108.21 Parking shaft status word

This parameter displays the status of the "Parking shaft".
Bit # Meaning
0 0: "Parking shaft" is not active
1: "Parking shaft" is active
1 1: Activation of "Parking shaft" is not possible
2 1: Deactivation of "Parking shaft" is not possible
15 … 3 Reserved
109.1 Operation mode set
Value Meaning
-12 Coupled operation
-11 Reserved
-10 U-f operation
-9 Voltage setting (for development purposes only)
-8 Current setting (for development purposes only)
-7 Autotuning
-6 Spindle positioning
-5 Synchronous operation with electronic gearbox
-4 Position control
-3 Speed control
-2 Current control
-1 Notch position search
1 Target position setting
2 Speed setting
5 Manual drive operation
6 Reference run operation
109.2 Operation mode Act

For the meaning of the values, see Parameter 109.1.


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4.5 Management
4.5.2 Data Set Management

The data record management is available both, at the axis and also at the active
mains rectifier unit. Only the loading of the parameter set from a SAF-XXX-module is
not supported by the active mains rectifier unit. Further information can be obtained
in the parameter description of the parameter Z105.10–.
The device data set management is described in this chapter. You will learn how to create
and change over data sets without ProDrive.
All the parameters which are assigned to the data set management system can be found
at ZParameter overview– from page 450.
4.5.2.1 General
The total configuration, thus all storable parameters, of the device is referred to as Pa-
rameter set. The parameter set includes the axis independent parameter and the axis
dependent parameter of all axes.
The data set dependent parameter of an axis are referred to as Data set.
The parameters for configuring the device are stored in its Flash memory.
Some of these parameters are implemented as data set parameters, i.e., up to 7 different
configurations can be stored. It is also possible to switch between these data sets during
operation.
4.5.2.2 Command Interface
The data set management system can be accessed via ProDrive or via Fieldbus.
The following actions are possible:
m Storing parameter set
m Loading parameter set
m Creating and deleting data sets
m Initializing data sets
m Switching between (already created) data sets
m Copying data sets
m Storing data sets
m Loading data sets
A command is activated either by ProDrive or by writing a command code to the Com-

mand parameter Z105.1–. Additional auxiliary parameters supplement the command in-
terface.

When operating with ProDrive, data set command codes and data set auxiliary parame-
ters must be ignored as they automatically take over the user interface.
The parameter Z105.2– Status displays the instantaneous processing state of the com-
mand interface and also any error messages from the previous command.
4.5.2.3 Organization of the Parameters in the Data Sets
Within the device there are seven separate memory areas for parameters that have the
"Data Set" attribute (DS 1 to DS 7).
In addition there is a "window" which represents the current active data set (DS 0). One
of these seven data sets is always selected active. By writing to Parameter Z105.6– Ac-
tive Data Set Number, Data Set 1, 2, 3, 4, 5, 6 or 7 can be selected to be active, hence it
is possible to switch between the data sets. In so doing, the window moves from DS 0 to
the memory area of the activated data set.
Example:
Data Set 3 is activated.
The "window" for the active data set addresses Data Set 3.
Figure 99: Active data set
Basically, only data from the active data set (DS 0) can be accessed via external option
modules or fieldbuses.

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4.5 Management
4.5.2.4 Delivered State
When delivered, only Data Set 1 is created. The other data sets DS 2 to DS 7 are deleted.
The active data set (DS 0) is Data Set 1. All parameters have their standard values.
Switching to another data set is not possible.
After the device is configured, the parameters in the device should be saved. If an error
occurs while saving (e.g. as a result of switching off the device during the programming
procedure), the device writes the standard values (default setting) to the parameters
when switched on again.
4.5.2.5 Switch-On Behavior
After the b maXX is switched on, all parameters are loaded with the stored data. The
device activates Data Set 1. Unconfigured data sets are set to default values.
4.5.2.6 Changing, Loading, Copying and Storing Parameters
Changes to parameter values (e.g. by ProDrive or via a Fieldbus) only affect the device's
working memory. If changes are also to be preserved after the next switch-on of the de-
vice, the parameters must be explicitly stored in the device. All the parameters in all the
created data sets are always stored.
With the aid of data set commands, the values of parameters in created data sets can be
loaded individually or completely into the working memory.
The data set copy function permits copying of the parameter values from a created source
data set to a different target data set. If the target data set has not been created yet, it will
be automatically created by the device. If the target data set has already been created,
the original parameter values will be overwritten.
Using the ProDrive Up/Download function on the "Data Set Management" page, param-
eters can also be saved to a PC data storage medium or written back to the device.
4.5.2.7 Identification of Parameter Set and Data Sets
There is the parameter Z105.11– for identifying of the complete parameter set for a de-
vice.
For identifying individual data sets the following parameter are available:
Parameter Data Type Meaning

Z105.4– STRING Freely selectable text name for the data set
Data Set Name
Z105.5– UDINT You can assign each data set (DS 1 to DS 7)
Data Set a unique number from 0 to 4294967295
Identification Number here

4.5.2.8 Functions of the Data Set Management System
NOTE!
The drive must be switched inactive during loading of the data sets.
Data Set Manage- The Data Set Management System has the following functions
ment (can be set in Z105.1– Command):
Commands m Reset the Data Set Management System
m Write parameter set to Flash memory
m Read parameter set from Flash memory
m Delete parameter set in Flash memory
m Set standard values for the active data set
m Set standard values for the axis specific parameters of an axis
m Set standard values for all savable parameters
m Create Data Set <n>
m Delete Data Set <n>
m Copy Data Set <x> to Data Set <y> (from RAM to RAM)
m Load Data Set <x> from Flash memory
Status of the Data The status parameter Z105.2– Data Set Management Status is used to display the result:
Set Management m Error while writing (incorrect value, parameter write-protected, invalid parameter num-
System ber)
m Error while reading
m Command processing running
m Error code
Some commands for data set management require additional parameters, which are list-
ed as follows:
m Z105.8– Source Data Set
Source data set for certain commands such as "Copy" or "Reload".
m Z105.9– Target Data Set
Target data set for certain commands such as "Create" or "Delete".
m Z105.6– Active Data Set Number
The number of the active data set is shown here. Writing to this parameter effects an
immediate change of data set.
m Z105.3– Message Text
Array with 20 entries
Displays the number of the parameter for which an error occurred with the last data set
command. If an error occurs during command processing, the command does not in-
terrupt the transfer procedure but instead continues the transfer procedure with the
next parameter.
m Z105.5– Data Set Identification Number
Unique ID number for the data set stored in Flash memory
m Z105.4– Data Set Name
The name of the active data set (string) can be freely assigned by the user.

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4.5 Management
4.5.2.9 Data Set Commands and Possible Error Messages
m Reset the Data Set Management System

This command results in a reset of the message list and the status word of the Data Set
Management System.
n Possible error messages:
None
m Write all parameters to Flash memory

This data set command saves all the parameters in the created data sets from RAM to
Flash.
m Load parameters from Flash

This command reads all the parameters from Flash into the RAM of the device. This com-
mand is only possible when the device is locked.
During the copying procedure, any changeover of the data sets is inhibited.
Possible error messages:
n Device is not inhibited
n Value less than minimum value
n Value greater than maximum value
n Parameter is read-only
n Due to operating state, parameter cannot be changed
n Parameter value is invalid
n Check yielded faulty checksum
m Delete parameters in Flash

This data set command deletes the parameters saved in Flash.
n Error writing to Flash
m Set standard values for all savable parameters

All savable parameters of the device are set to their standard values. This command is
only possible when the device is locked.
m Set standard values for axis specific parameters of an axis

All savable, axis specific parameters (so not for all axis) are set to their standard values.
This command is only possible when the device is locked.
m Create Data Set <n>

When a device is delivered, initially only a single data set (Data Set 1) is activated. The
user cannot switch to other data sets, therefore. Only after the user has created a further
data set (2 to 7) using this command will the device allow switching to this data set. This
measure is intended to guarantee that the user cannot switch unintentionally to an as yet

unmodified data set. He is thus compelled to consciously enable a data set for the
changeover.
This data set command creates a data set which is selected with Z105.9– Target Data
Set. The parameter values for this data set (the data set parameter only) are set to their
standard values in the process.
The operation only takes place in the device RAM.
n Data set has already been created
n Incorrect data set number (not in range 1 to 7)
m Delete Data Set <n>

This data set command deactivates a data set. The data set specified by Z105.9– Target
Data Set may not be the immediately active data set. The deactivation has the effect of
preventing the device from switching to the specified data set any more. The parameters
of the deleted data set (the data set parameter only) are set to default values.
n Incorrect data set number (not in range 1 to 7, active data set)
m Copy Data Set <x> to Data Set <y> (from RAM to RAM)
This data set command copies in RAM the parameters from Data Set x (Z105.8– Source
Data Set) to the parameters of Data Set y (Z105.9– Target Data Set). The copying pro-
cedure takes a few milliseconds - for that reason the command is only permitted when the
device is inhibited.
Only source data sets that are already created may be specified. If a target data set that
has not yet been created is specified, it will be created automatically.
n Incorrect source data set number
n Incorrect target data set number
m Load Data Set <x> from Flash

This data set command loads all the parameters in Data Set x (Z105.8– Source Data Set)
from Flash memory to the device's working memory. The target data set corresponds to
the source data set. The data set must have been created. In Online mode (operation en-
abled), the data set must not be the immediately active data set. During the copying pro-
cedure, any changeover of the data sets is inhibited.
n Incorrect source data set number
n Value less than minimum value
n Value greater than maximum value
n Parameter is read-only
n Due to operating state, parameter cannot be changed
n Parameter value is invalid
n Check yielded faulty checksum

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4.5 Management
m Set Standard Values for an Individual Data Set

This data set command resets all parameter of the target data set (the data set parameter
only) to the default values.
4.5.2.10 Changeover to Data Set 1 to 7
Changing data sets is possible both with the device inhibited and with the controller run-
ning.
Due to the mechanical inertia of the systems being controlled and the high sampling rate
of the drive, a changeover free of mechanical shocks can be assumed.
NOTE!
No consideration can be given to inconsistent set values and monitored values during
the changeover of data sets. During the changeover, the possibility cannot be ruled
out that, e.g., a monitored value in the new data set is smaller than the associated
instantaneous actual value of the previously active data set. In this case a monitoring
function which, e.g., initiates a pulse inhibit could respond.
The data set changeover is effected by writing to the Parameter Z105.6– Active Data Set
Number.
Before the changeover, a check is made to ensure that the data set has been created.
4.5.2.11 Overview of the Data Set Management Commands
Z105.1– Valu Z105.8– Z105.9–

Data Set Management e Source data set Target Data Set
Command
Reset the Data Set Management Sys- 0
tem
Write all parameters from the created 1
data sets into Flash memory
Read Flash completely 2
Clear Flash completely 3
Set standard values for the target data 4 Data set which is to
set be set to standard
values
Set standard values for all writable 5
parameters

Z105.1– Valu Z105.8– Z105.9–
Data Set Management e Source data set Target Data Set
Command
Create Data Set <n> 6 Data set to be cre-
ated
Delete Data Set <n> 7 Data set to be
deleted
Copy Data Set <x> to Data Set <y> 8 Source data set Target data set
Load Data Set <x> from Flash 9 Data set in Flash
Set standard values for all axis spe- 10
cific parameters of an axis
Functional block: FbDsv [105]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
105.1 Command DINT 0 10 0 1:1

105.2 Status UDINT 0 0xFFFFFFFF 0 1:1 X
105.3 Message RE- X
CORD
105.4 Record name STRING 1:1 X
105.5 Record Id UDINT 0 0xFFFFFFFF 0 1:1 X
105.6 Dataset index UINT 1 7 1 1:1
105.7 ValidDatasets BIT- 1 0x7F 1 1:1 X
FIELD
105.8 DatasetSource UINT 0 7 0 1:1
105.9 DatasetDest UINT 0 7 0 1:1
105.10 Boot Mode SAF-XXX WORD 0 0xFFFF 1 1:1 X X
105.11 Name of complete STRING 1:1 X X
parameter set
105.12 Error count UINT 0 0xFFFF 0 1:1 X
105.13 Config Ident number UDINT 0 0xFFFFFFFF 0 1:1 X X

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4.5 Management
105.1 Command
Commands for data set management:
Value Meaning
0 Resets the DSM; the message list is deleted
1 Saves the parameter set in Flash
2 Loads the parameter set from Flash
3 Deletes the parameter set in Flash
4 Set all parameters in the target data set to the default value
5 Sets all savable parameters to the default value
6 Create Data Set X (target data set)
7 Delete Data Set X (target data set)
8 Copy the source data set to the target data set
9 Read the source data set from Flash again
10 Set standard values for all axis specific parameters of an axis
The commands Save (1), Load (2), Delete (3) and Set Default Values (5) act on all axes.
The other commands act on the selected axis only.
105.2 Status
Displays the status of the data set management system.

While the command is being processed, the value 1 (RC_BUSY) is displayed.
After the command has completed the value 3, for RC_DONE, is displayed or possibly
the code for any error that occurred during processing.
List of the most frequent status messages (RC codes):
Value RC Code Meaning

0 RC_NO_ERROR No command executed yet or else Reset
command executed.
1 RC_BUSY A command is being executed.
3 RC_DONE A command has completed successfully
1400 RC_ERR_DSV Error while loading or saving the parame-
ter set (see Message parameters)

1401 RC_DSV_NO_VALID_PARAFILE No valid parameter file found
1402 RC_ERR_DSV_PARAFILE_CRC CRC in parameter file not correct
1403 RC_ERR_INVALID_DS Invalid data set number specified for
DSM command (copying of non-created
DS, deletion of active DS)
105.3 Message
Messages from the DSM resulting from command execution.

Parameter with 20 array elements. Each element has the following structure:
ParaId Parameter Id, value 0 if no message

Index0 Index for Index Level 0
RC RC code of this message
This parameter displays the first 20 error messages that occurred with a DSM command.
If no further messages occurred, "0.0.0.0" is displayed as the parameter number.
Parameter Z105.12– displays the number of messages.
List of the most important RC codes for DSM messages:

0 RC_NO_ERROR No command executed yet or else Reset
command executed.
2 RC_ERROR General error. In most cases the parameter
still exists in the new description, but no lon-
ger in the code (old parameter which has
been removed but is still in the xml files or in
the Zx files).
160 RC_ERR_ID Id found in the parameter file does not exist
161 RC_ERR_INDEX Index in parameter file invalid
162 RC_NOT_WRITABLE Parameter is not writable
164 RC_ERR_MIN Value is less than the minimum value
165 RC_ERR_MAX Value is greater than the maximum value

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4.5 Management

166 RC_ERR_BAD_VALUE Value is invalid
169 RC_ERR_NO_CHANGE Value cannot be changed
172 RC_ERR_FORMAT Byte length in the parameter set does not
agree with the byte length in the description
(parameter format changed?)
105.4 Record name
Freely usable string for naming the data set.
105.5 Record Id
Freely usable 32-bit value for identifying the data set.
105.6 Dataset Index
The number of the active data set is shown here. A write operation to this parameter re-
sults in switching the data set to the new data set.
The data set to which it is intended to switch must already be created, otherwise the value
will be rejected. Certain additional conditions must be satisfied in order to switch over
when the device is enabled.
105.7 Valid Datasets
Bit string to show which data sets are created. A set bit indicates a created data set.
Bit Meaning
0 0: Data Set 1 deleted
1: Data Set 1 created

Bit Meaning
15 ... 7 Reserved
105.8 Dataset Source
Designation of the source data set number for data set operations such as, e.g., copying.
105.9 Dataset Dest
Designation of the target data set number for data set operations such as, e.g., creating
or deleting data sets.
105.10 Boot mode SAF-XXX
This parameter applies only in connection with SAF-xxx modules, which provide a param-
eter memory. Herewith it can be adjusted whether the parameter set should be written
from the SAF-xxx module to the drive FLASH at switch on of the drive.
Bit Meaning
0 Automatically load from SAF-xxx module
0: No automatically load from SAF-xxx module
1: Automatically load of the parameter from SAF-xxx module is activated.
The parameter set will be read from SAF-xxx module and written to the
flash of the drive, if the parameter set is different.
15 ... 1 Reserved
This parameter and the specific function related to this, is not provided for the active
mains rectifier unit, because there is no possibility to plug SAF modules into the active
105.11 Name of complete parameter set
Denomination for the complete parameter set of the drive.

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4.5 Management
105.12 Error count
Number of valid messages in array parameter Z105.3– Message.
105.13 Config Ident number
User-definable identification number for the complete parameter set of the drive.

4.5.3 Brake management

tifier unit doesn’t support the brake management function.
4.5.3.1 Description of the Brake Management System
On drives with a motor holding brake, the brake can be operated manually or automati-
cally depending on the state of the drive.
The triggering is effected by means of a separate digital output. A separate digital input
is available to detect the brake state. The outputs and inputs are located on terminal X202
(axis 1) or X203 (axis 2). The brake state can be monitored. When monitoring is active,
an error message is transmitted in the event of an error (brake could not be enabled/ap-
plied).
Adaptation to the differing reaction times of holding brakes is possible by means of con-
figurable response times and delay times.
Manual Brake Triggering (Z134.1– Bit 0 = 0)
The brake can be applied and enabled independently of the state of the drive.(Z134.4–
Bit 0).
Automatic Brake Triggering (Z134.1– Bit 0 = 1)
In the Automatic mode, the brake is actuated depending on the state of the device con-
troller (see ZDrive management– from page 399). In states 0 ("Not Ready to Switch On")
to 3 ("Switched On"), the brake is applied. The brake is enabled on the transition to State
4 ("Operation Enabled").
For commissioning purposes (Z134.4– Bit 1 = 1), the brake can also be applied and en-
abled manually in the Automatic mode (Service mode).
Enabling the When the drive is started, power is applied to the motor in state transition 3  4
Brake ("Switched On"  "Operation Enabled") before the brake is enabled. This prevents a sus-
pended axis from sagging. The requirement for this is at least a speed-controlled operat-
ing mode.
NOTE!
A suspended axis will NOT be prevented from sagging in the following cases:
m The drive is working in one of the modes "Find Notch Position", "Autotuning",
"Current Control", "Current Setting" or "Voltage Setting".
m The drive is being operated without encoders.

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4.5 Management
Three different modes can be selected for enabling the brake, see also Torque Charac-
teristics ZFig. 100– on page 458.
m Without holding torque preset

The torque for holding the load is built up after the brake is enabled. As a result of the
error value required for this, there is negligible sagging of the load.
If the outer load torque for a suspended axis is known, a compensating holding torque
can be applied before the brake is enabled:
m With holding torque preset; brake enabled when drive torque = holding torque
The torque for holding the load is built up before the brake is enabled. When the torque
is reached, the "Enable Brake" command is sent. If the holding torque corresponds ex-
actly to the load torque, the drive does not sag. Any difference between the load torque
and the holding torque set in the parameters results in a negligible movement and is cor-
rected. If the holding torque set in the parameters cannot be achieved, the brake will not
be enabled and the drive will go into the "Error" state.
m With holding torque preset: brake enabled when waiting time elapsed
The torque for holding the load is built up before the brake is enabled. Regardless of
whether the torque has been reached, the "Enable Brake" command is executed after a
preset time Z134.10–. If the holding torque corresponds exactly to the load torque, the
drive does not sag. Any difference between the load torque and the holding torque set in
the parameters results in a negligible sag and is corrected.

Figure 100: Starting the drive in the "Automatic" brake control mode

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4.5 Management
The following recommendation applies for setting the delay to the start of the movement,
TB (Z134.9–):
1 If the state monitoring is switched off (Z134.1– Bit 1 = 0):
TB > T1)SignalCom + T2)mech
2 If the state monitoring is switched on (Z134.1– Bit 1 = 1) and the response signal is
reporting the state of the current through the brake:
TB > Tmech – T3)SignalFB
reporting the mechanical state of the brake:
TB = 0
1)
Processing time for the command in the controller, max. 2 ms
2)
Operating time of holding brakes depends on type, approx. 75-350 ms
3)
Duration of current buildup in brake coil (depends on type, approx. 30 ms) + processing time for response in
controller: max. approx. 32 ms.
The following must apply for a correct error reaction:
Z134.7– timeout check-back signal > TSignalCom + TSignalFB
Applying the When applying the brake, account is taken of whether the drive is still under torque or
brake whether the pulses are inhibited.
Pulses are enabled (drive is under torque)
If the drive is being actively braked (response to QUICK STOP/SHUT-DOWN/INHIB-

IT/drive error) and if the torque is to be reduced after the end of the braking procedure
(pulse inhibit), the brake is applied when a presettable speed threshold is reached. The
subsequent pulse inhibit can also be delayed if this is required to compensate for a me-
chanical dead time.
If the activated state monitoring detects that the brake could not be applied, the drive re-
mains under torque in the "Quick Stop active/drive shut-down active/inhibit operation ac-
tive" state in order to prevent sagging of a suspended axis. Error messages 1102/1103
indicate this state. The user can still move the drive into a torque-free position and then
shut off the drive torque (pulse inhibit or inhibit voltage). The conditions and events re-
quired for the transition to the "Enabled" state can be found in the description of the state
transitions in the device control system (Zpage 400– ff).
NOTE!
The following must be observed to prevent a suspended axis from sagging after an
active braking procedure at the end of which the brake could not be applied:
The responses to Errors 1102/1103 must be set to "No response" and Errors
1102/1103 may only be reset after the enable is repeated, otherwise the drive will be
without torque before it can be enabled.
In the "Error response active" state, this check is not carried out, i.e. even with the state
monitoring activated and the brake not applied, the transition to the "Error" state takes
place. The drive will consequently be without torque.

Pulses are inhibited (drive is without torque)
If the drive is suddenly without torque due to a pulse inhibit (HW input or response to
QUICK STOP/SHUT-DOWN/INHIBIT/drive error), the brake could be applied immediate-
ly or when the speed threshold (see above) is reached. With a suspended load, it is rec-
ommended that the brake be allowed to be applied immediately in this case (Z134.3–
Bit 2 = 0) as the drive could be accelerated by the externally acting torque, with the result
that the speed threshold is not reached and the brake is not applied.
Figure 101: Braking procedure in the "Automatic" brake control mode

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4.5 Management
The following recommendation applies for setting the delay for the pulse inhibit, TA
(Z134.8–):
1 If the state monitoring is switched off (Z134.1– Bit 1 = 0):
TA> T1)SignalCom + T 2)mech
reporting the state of the current through the brake:
TA > Tmech – T 3)SignalFB
reporting the mechanical state of the brake:
TA = 0
1)
Processing time for the command in the controller, max. 2 ms
2)
Drop-out time of holding brakes depends on type, approx. 125-400 ms
3)
Duration of current reduction in brake coil (depends on type, approx. 30 ms) + processing time for response
in controller: max. approx. 32 ms.
The following must apply for a correct error reaction:
Z134.7– timeout check-back signal > TSignalCom + TSignalFB
4.5.3.2 Brake watchdog
From firmware version 01.11 a hardware watchdog can be activated by the parameter
Z134.1– bit 11 for the brake. This watchdog responds at an opened brake as soon as the
controller firmware does not execute a triggering anymore due to internal errors. The re-
sponding time of the watchdog is 1 ms. The watchdog causes an automatic closing of the
brake.
The monitoring function operates inversely if the logic is inverted to the brake control.
Bit 9 of Z134.2– specifies if the current firmware provides the watchdog functionality.

4.5.3.3 ProDrive Brake Management
Figure 102: ProDrive brake management
Functional block: FbBrakeMgr [134]
Axis-independent
Cyclic Write
DS Support
Read only
Storage

134.3 Control automatic DWORD 0 0xFFFFFFFF 0 1:1 X
134.4 Command WORD 0 0xFFFF 0 1:1 X
134.5 Torque limit FLOAT -1.00E+06 1.00E+06 0 Nm 1:1 X O
134.6 Speed limit FLOAT 0 1.00E+06 90 Grad/s 1:1 X
134.7 Timeout check-back sig- UINT 0 1000 1000 ms 1:1 X
nal
134.8 Pulse inhibit delay UINT 0 1000 500 ms 1:1 X
134.9 Start of motion delay UINT 0 1000 500 ms 1:1 X
134.10 Opening delay UINT 0 1000 0 ms 1:1 X

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134.1 Mode
Triggering the motor holding brake
Bit Meaning
0 Operating mode
0: Manual operation
1: Automatic
1 Polarity of brake actuation signal
0: Enable brake with control input = low
1: Enable brake with control input = high
2 Control signal:
0: Standard
(BM5200/5300: Controller output X207/X208)
(BM5400/5500: Power unit output X101)
1: Alternative
(BM5200/5300: Digital output X2)
(BM5400/5500: Digital output X2)
If a digital output is needed, the special function „Triggering holding brake“
must be selected at the digital outputs.
3 Reserved
4 Brake state monitoring
0: Switch off
1: Switch on
5 Polarity of brake state signal
0: Brake is enabled when response signal = low
1: Brake is enabled when response signal = high
6 Feedback signal brake status:
0: Standard
(BM5200/5300: Controller input X207/X208)
(BM5400/5500: Power unit output X101)
1: Digital input
(BM5200/5300: Digital input X2)
(BM5400/5500: Digital input X2)
If a digital input is needed, the special function „Feedback holding brake“

must be selected at the digital inputs.
10 ... 7 Reserved
11 Watchdog for brake monitoring at an opened brake
0: Switch off
1: Switch on
31 ... 12 Reserved

134.2 Status
State of the motor holding brake
Bit Meaning
1 ... 0 00: Brake triggering is switched off
01: Brake triggering is being initialized
10: Reserved
11: Brake triggering is switched on
3 ... 2 Reserved
4 Brake state
0: Brake is applied
1: Brake is enabled
5 Preset brake triggering mode
0: Manual
1: Automatic
6 Service operation
0: Switched off
1: Switched on
7 Reserved
8 Error state
0: No error
1: Error
9 Watchdog for brake monitoring:
0: Is not provided
1: Is provided
10 1: Delay enabling the brake + start drive active
11 1: Delay applying the brake + inhibit drive active
31 ... 12 Reserved
134.3 Control automatic
Triggering the motor holding brake in Automatic mode (134.1; Bit 0 = 1).
Bit Meaning
0 Brake enabling mode
0: Without holding torque preset1
1: With holding torque preset (before the brake is enabled, the holding
torque is built up from Z134.5–)2
1 Behavior when enabling the brake with holding torque preset (Bit 0 = 1):
enable brake if
0: Drive torque = Holding torque (Z134.5–)
1: Time in Z134.10– elapsed

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4.5 Management
Bit Meaning
2 Applying the brake while pulses are inhibited (i.e. pulses are already inhib-
ited when the brake is to be applied):
0: Brake is applied immediately while pulses are inhibited
1: Brake is applied while pulses are inhibited as soon as the magnitude of
the actual speed has fallen below the speed limit (Z134.6–).
31 ... 3 Reserved
1)
If there is a "suspended load" and at least a speed-controlled operating mode, the torque required to hold the
load is built up AFTER the brake is enabled by the error value
2)
The torque required to hold a load is built up BEFORE the brake is enabled. If the parameters for the holding
torque are correctly set, the load therefore sags significantly less after the brake is enabled than in 1).
134.4 Command
Command to the motor holding brake

In the triggering mode (Z134.1– "Automatic"), 134.4 Bit 0 of the device control state ma-
chine is activated. However, if the brake is to be triggered in the "Automatic" mode for ser-
vice purposes by writing directly to 134.4 Bit 0, 134.4 Bit 1 must be set. After the service
mode is switched off, the brake remains in its current state, i.e., the original state before
the service mode was activated is not re-established.
If the motor holding brake is to be actuated manually (Z134.1– "Manual"), the command
must be transmitted to the brake directly via 134.4.
Bit Meaning
0 Command to brake
0: Apply brake
1: Enable brake
1 Activation of service operation in "Automatic" mode (Z134.1– Bit 0 = 1):
0: Switch off service operation
1: Switch on service operation
15 ... 2 Reserved
134.5 Torque limit
Torque limit for torque-controlled enabling of the motor holding brake in the Automatic
mode (Z134.1– Bit 0 = 1). This torque is built up before the brake is enabled if the appro-
priate mode is selected (Z134.3– Bit 0 = 1).
See also ZEnabling the Brake– from page 456

134.6 Speed limit
Threshold value for speed-dependent engagement of the motor holding brake in the Au-
tomatic mode (Z134.1– Bit 0 = 1). The brake is applied in the following cases as soon as
the magnitude of the instantaneous speed has fallen below the threshold value:
m Drive is actively braking (hold on ramp)
m Drive is without torque (pulses are inhibited, Z134.3– Bit 2 must be 1)
134.7 Timeout check-back signal
Timeout for evaluating the state response signal. If the expected brake state (enabled/en-
gaged) is not detected within the timeout period, an error reaction is initiated.
134.8 Pulse inhibit delay
Delay to allow for the brake engagement time and, where necessary, the dead time due
to a relay in the Automatic mode (Z134.1– Bit 0 = 1). After the brake is applied during an
active braking procedure (e.g. Quick Stop on ramp) the pulses are inhibited at the earliest
after the time set in 134.8 has elapsed. Hence it can be ensured that the drive will only
be without torque once the holding brake has built up the full mechanical braking force:
m The evaluation of the brake state is switched off (Z134.1– Bit 4 = 0):
The pulse inhibit occurs at the earliest after the time set in 134.8 has elapsed following
the issue of the engage command by the drive manager.
m The evaluation of the brake state is switched on (Z134.1– Bit 4 = 1):
The drive is without torque at the earliest after the time set in 134.8 has elapsed follow-
ing reception of the "Brake is engaged" confirmation.
See also ZApplying the brake– from page 459
134.9 Start of motion delay
Delay to allow for the brake enable time and, where necessary, the dead time due to a
relay in the Automatic mode (Z134.1– Bit 0 = 1). After the brake is enabled an accelera-
tion takes place at the earliest after the "Start of motion Delay" time set in Automatic mode
(Z134.1– Bit 0 = 1). Hence it can be ensured that the drive is not working against the
holding brake which is possibly not yet fully enabled:
m The evaluation of the brake state is switched off (Z134.1– Bit 4 = 0):
The acceleration occurs at the earliest after the time set in 134.9 has elapsed following
the issue of the enable command.
m The evaluation of the brake state is switched on (Z134.1– Bit 4 = 1):
The drive is without torque at the earliest after the time set in 134.9 has elapsed follow-
ing reception of the "Brake is enabled" confirmation.

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134.10 Opening delay
Delay between the start of the buildup of holding torque and the "Enable brake" command
in Automatic mode (Z134.1– Bit 0 = 1).
134.10 is only evaluated if a holding torque is to be built up before the brake is enabled
and the brake is to be enabled after a presettable time (Z134.3– Bit 1...0 = 3). The "En-
able brake" command is issued [134.10] ms after the start of the buildup of the holding
torque.

4.5.4 Error Management

The functionality of this function block is extensively identical at the axis units and at
the active mains rectifier unit. The differences between both devices are specified in
the respective description of the parameter.
The error messages and warnings of the drive are displayed in a central error memory
(Z100.3– Error Information). This parameter is an array with 20 elements. Both error
messages and warnings are displayed in this array parameter.
Certain additional information is displayed at any error as e.g. the timestamp when the
error was messaged and reset.
The drive response to an error is configurable. Though the response to each error can be
set separately (see parameter Z100.4–). The following responses are possible:
Error response Description

No error message The error will not be messaged.
No error response The error is messaged but there is no response of the drive
(e.g. pulse block).
Pulse block The pulses are locked and the drive goes in the failure state.
Stop at current limit The drive is stopped at current limit. Afterwards the pulses
are locked and the drive goes in the failure state.
Stop (RFG-Quickstop The drive is stopped at the quick stop ramp. Afterwards the
time) pulses are locked and the drive goes in the failure state.
Stop (RFG-Ramp-down The drive is stopped at ramp down of the ramp function gen-
time) erator (Parameter 110.x). Afterwards the pulses are locked
and the drive goes in the failure state.
Return motion The drive positions to an adjustable position. Afterwards the
pulses are locked and the drive goes in the failure state.
Controlled stop The drive is braked at the ramp for the controlled stop. After-
wards the pulses are locked and the drive goes in the failure
state.
SS1 stop The drive is braked at the ramp for the SS1 stop. Afterwards
the pulses are locked and the drive goes in the failure state.
According to the error code not all error responses are possible. For example the pulses
are blocked at certain errors at once. Another response is not adjustable for such errors.

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Functional block: FbInfoMgr [100]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
100.1 Error command UINT 0 65535 0 1:1 O

100.2 Error count UINT 0 20 0 1:1 X
100.3 Error information RE- X
CORD
100.4 Error reaction RE- X
CORD
100.5 First error UDINT 0 5000 0 1:1 X
100.7 Error communication UINT 0 0xFFFF 0 1:1 X
mode
100.8 Error reaction actual INT -5 3 -1 1:1 O
value
100.9 Error reaction set value INT -5 3 -1 1:1 O
100.11 Launch application error UDINT 0 0xFFFFFFFF 0 1:1 O
100.12 Error count RAM log UINT 0 0xFFFF 0 1:1 X

100.1 Error command
Command for the Info Manager.
Value Meaning
0 Reserved
1 Reset all errors
Parameter is supported for compatibility reasons, use instead of that
Z108.1– Control word 1 bit 7 as far as possible
2 Reset all error responses to the default values
4 Reset all errors
Parameter is supported for compatibility reasons, use instead of that
Z108.1– Control word 1 bit 7 as far as possible
5 Trigger application error no. 169
6 Reset error memory (Flash)
7 Reset error memory (RAM, see Z100.12–)
Remain- Reserved
der
100.2 Error count
Returns the number of errors present in the error memory since the last switch-on or since
the last error reset.
100.3 Error information
Parameter displays the errors and warnings.

The parameter is an array with 20 entries. Each entry contents the error number as well
as the additional information as e.g. the time of the occurrence and the time of reset (rel-
ative time since switch-on).
If errors are reset then these are shifted to the end of the array. By reading out the array
completely, it is possible to access error messages prior to the last reset.
The number of the relevant entries (i.e. the not yet acknowledged messages) is displayed
in parameter Z100.2– Error count.

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4.5 Management
Each array entry is a structure with the following data elements:
Name Meaning
RC Error code (see ZError descriptions– from page 56)
FB Type Functional block type
FB Instance Instance number of the FB
Set Time Timestamp of when the error was reported
Reset Time Timestamp of when the error was reset
Error Response Error response code (see Z100.4– table)
Info1 Additional error information1 (depends on the error message).
Info2 Additional error information2 (depends on the error message).
100.4 Error reaction
Parameter for adjustment of the error response for the different errors.
The parameter is defined as a structure of arrays. The number of elements in the upper-
level structure and the number of array elements is equivalent to the number of error
groups and the number of errors in the group (see ZError descriptions– from page 56).
Each array element is a structure with the following data elements:
Name Meaning
RC Error code
Error Response Error response code
The following values are possible for the error response:
Code Error reaction

-5 SS1 Stop
-4 Controlled Stop
-3 Return motion
-2 No error message
-1 No error reaction
0 Pulse inhibit
1 Stop (ramp function generator - ramp-down time)
2 Stop (ramp function generator - quick stop time)
3 Stop at current limit
The error responses „Return motion“, „Stop (ramp function generator - ramp-down time)“,
„Stop (ramp function generator - quick stop time)“, „Stop at current limit“, "Controlled stop"
and "SS1 stop" make no sense for the active mains rectifier unit. If one of these error

responses is parameterized at an error at the active mains rectifier unit, the active mains
rectifier unit responses to this error with the error response „Pulse inhibit“.
The error responses „Return motion“ and „Controlled stop" are described in the chapters
Z 4.6.3– and Z 4.6.4–.
100.5 First error
The parameter shows the error number of the first error, which leads to a drive reaction.
When acknowledging the error, the parameter is deleted again.
100.7 Error communication mode
Configuration of the error communication between two drives.

By means of the error communication two drives could respond to the errors of the other
in each case if an error reaction was parameterized, i.e. Z100.4– of the correspondent
error  -1, -2.
Default: 0
Bit Meaning
0 0: Switch off error communication
1: Switch on error communication
1 Transmission path
0: external
Error reactions are transferred via fieldbus
1: internal
Values are transferred from axis to axis without external connection. This
is only possible at double axes.
CAUTION:
At double axes the value of bit 1 must be the same for BOTH axes!
15 … 2 Reserved
This parameter is not available at the active mains rectifier unit.
100.8 Error reaction actual value
Error code sent to the other drive in the event of an error if Z100.7– bit 0 = 1 and bit 1 = 1.
At external transmission (fieldbus) the parameter must be mapped cyclically so that it ap-
pears as an actual value on the sending drive and as a set value on the receiving drive.
I.e. the control must copy Z100.8– of drive 1 to Z100.9– of drive 2.
At internal transmission this parameter is displayed for diagnostics.

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4.5 Management
100.9 Error reaction set value
This error code is sent from the other drive. The receiving drive should execute this reac-
tion, if Z100.7– bit 0 = 1 and bit 1 = 1.
At external transmission (fieldbus) the parameter must be mapped cyclically so that it ap-
pears as an actual value on the sending drive and as a set value on the receiving drive.
I.e. the control must copy Z100.8– of drive 1 to Z100.9– of drive 2.
Function Drive 1 Control Drive 2

Z100.7– = 1 Z100.9– (Drive 2) = Z100.7– = 1
Transmission exter- Z100.8– (Drive 1)
nal
Z100.9– (Drive 1) =
Z100.8– (Drive 2)
Transmission inter- Z100.7– = 3 - Z100.7– = 3
nal (within a double
axis)
100.11 Launch application error
The application errors 1 to 5 are set by writing this parameter.
Value Error, which is set

0 Noneffective
1 175 - Application error 1
100.12 Error count RAM log
This parameter is only relevant in connection with the PLC function blocks BM_GetError-
Info (at VARAN) and BM_GetDriveError (at EtherCAT) and is evaluated by these function
blocks (see the Online-help of these function blocks).

4.5.5 Signal Bus
The signal bus is a connection between the supply unit and the connected axes in the DC
link network. The ready for use signal of the supply is signalized to the connected axes
via this connection. Furthermore the signal bus can be used to signalize an error or a
warning to the other connected devices.
4.5.5.1 Messages on the Signal Bus
Signal NGR NWR NAT Mono BM33xx

unit
Supply ready for use Out Out In In + Out In + Out
Supply not ready for use ./. Out In In + Out ./.
Phase failure Out Out In In + Out ./.
Chopper resistor on In ./. Out Out In + Out
Error ./. ./. In + Out In + Out ./.
Signal bus warning ./. ./. In + Out In + Out ./.
Key:
NGR mains rectifier unit (BM50xx)
NWR active mains rectifier unit (BM51xx)
NAT Add-on unit (BM52xx, BM53xx)
Mono unit Device with integrated supply unit (BM55xx, BM56xx, BM57xx)
BM33xx b maXX 3300
Out The unit can set the signal
In The unit must evaluate the signal
./. Signal is not evaluated
The signals are active HIGH. A disjunction is implemented via the cabling. This means
the signal is set to HIGH as soon as at least one connected device has set the signal to
HIGH.
The signals are evaluated with a 1 ms cycle.
4.5.5.2 Supply ready for use
The mains rectifier unit, the active mains rectifier unit and mono units generate this signal.
The connected axes evaluate this signal.
The signal indicates that the supply unit is in the ready for use state and the DC link is
supplied. In the event of supply errors (e.g. power supply failure), the output of the ready
fur use signal is stopped. If the signal is not available, an error is generated at the con-
nected axes units.

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4.5 Management
4.5.5.3 Supply not ready for use
This signal indicates also the state of the supply. It is required, if axes units will be oper-
ated in a DC link network with several mono units.
In this case it can only be evaluated by the Supply ready for use signals whether at least
one supplying device is ready, because the signal is a disjunction of the states of all sup-
plying devices. It can not be recognized whether all supplying devices are ready.
In order to recognize that at least one supply unit is in state not ready for use, the signal
Supply not ready for use is generated. The evaluation of this signal can be disabled for
special applications.
4.5.5.4 Phase Failure
The mains rectifier unit, the active mains rectifier unit and mono units generate this signal,
if a phase failure is recognized.
The axes can operate at phase failure only at the mains rectifier unit and at mono units.
Several options are selectable for further operations, see parameter Z130.10– Mode.
4.5.5.5 Chopper Resistor On
This signal activates the chopper resistors of several supplying devices simultaneously.
Both mains rectifier unit and mono units provide a chopper resistor connection and an
own monitoring of the DC link voltage. If the DC link voltage exceeds a fixed threshold,
the chopper resistor is switched on.
The axis units monitor also the DC link voltage and can be configured to generate the
Chopper Resistor On signal. If this signal is set, the chopper resistor is switched on at
the mains rectifier unit.
This signal is not evaluated at the active mains rectifier unit and/or at the mono units.
4.5.5.6 Error
The axis units and the mono units can be configured to set the Error signal on the signal
bus as soon as the device is no longer in state ready for use.
Furthermore each axis unit or each mono unit can be configured to generate an error
message when detecting an Error signal. A simple error reaction for all axes is possible,
using this function.
This signal is neither evaluated nor set at the active mains rectifier unit and at the mains
rectifier unit.

4.5.5.7 Warning
Connected devices can exchange warning states among each other with this signal. The
signal is evaluated or set only at axis units and mono units. It is neither evaluated nor set
at the active mains rectifier unit and at the mains rectifier unit.
m Initiating axis:
Certain events can be set as parameters to initiate this signal. Activation by Mode Pa-
rameter (Z140.1–) Bit 3.
There is a selection array (Z140.3–) available, in which a maximum of 5 events (error
or warning codes) could be entered. If one of these events occurs, the warning signal
is set. Only when all the events have been acknowledged or no longer apply (e.g. only
after an error reset) will the signal be canceled.
m Evaluating axis:
If the warning signal from the Signal bus is detected, the axis can generate an error
(Error code 1033) with a presettable error reaction. Activation by Mode Parameter
(Z140.1–) Bit 9.
The following initiating events could thus be set as parameters by way of exam-
ple:
m Heat Sink temperature too high
m Internal temperature too high
m Motor temperature warning threshold 2 exceeded
m Speed threshold exceeded
Functional block: FbSignalbus [140]

Axis-independent
Cyclic Write
DS Support
Read only
Storage

140.2 Status WORD 0 0xFFFF 0 1:1 X
140.3 Warning Events UDINT 0 0xFFFFFFFF 0 1:1 X

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4.5 Management
140.1 Mode

The mode can not be set at the active mains rectifier unit. The signal bus is always acti-
vated (parameter 140.1 = 0) and the output signals Supply ready for use, Supply not
ready for use and Phase Failure are provided. The other signals are not evaluated or
generated.
Axis units and Mono units:
Bit no. Meaning

0 0: Activate Signal bus
1: Completely deactivate Signal bus
1 0: Signal Chopper Resistor On is not generated
1: Set Chopper Resistor On signal, if the DC link voltage exceeds the
chopper switch on threshold.
2 0: Error signal is not generated
1: Set Error signal, if the device is not ready for use (= in error state)
3 0: Warning signal is not generated
1: Set Warning signal if at least one of the warnings stored in P140.3 is acti-
vated.
4..7 Reserved
8 0: Error signal is not evaluated
1: Evaluate Error signal. If the signal is set on the Signal bus, error 1034 is
generated.
9 0: Warning signal is not evaluated
1: Evaluate Warning signal. If the signal is set on the Signal bus, error 1033
is generated.
10 0: Evaluate Supply ready for use signal
1: Ignore Supply ready for use signal
11 Reserved
12 0: Evaluate Supply not ready for use signal
1: Ignore Supply not ready for use signal

NOTE!
The Signal bus must be always activated and the Supply ready for use signal must
always be evaluated at axis units (Mode bit 0 and bit 10 to 0).
The switch off of the Signal bus is provided only for special applications, e.g. if the
supply does not support a Signal bus. If the Signal bus or the evaluation of the Sup-
ply ready for use signal is deactivated, it must be ensured via the control, that the
drive is only enabled, if the supply is ready. Otherwise the supply unit can be dam-
aged in this case.
140.2 Status
States of the Signal bus lines:
Bit # Meaning
0 Reserved
1 Reserved
2 Supply not ready for use
3 Warning (cause can be set as parameter)
4 Error
5 Chopper resistor on
Note: This signal is only connected as input at mains rectifier unit. The dis-
played state does not correspond with the signal on the Signal bus at axis
units and at mono units.
6 Phase failure or supply asymmetry
7 Supply operationally ready
140.3 Warning events
Array with 5 elements for entering error codes. If Bit 3 of the Mode parameter is set and
at least one of the error codes stored in the array has been reported by the drive, the
"Warning" Signal bus line will be activated.
The "Warning" Signal bus line is deactivated again when errors are reset or after warn-
ings are canceled.
Activation only takes place if Mode Parameter (Z140.1–) Bit 3 is set.
If the Warning line in the axis has been activated and if Bit 3 in the Mode Parameter is
cleared, the "Warning" Signal bus line will be deactivated.
This parameter does not exist at the active mains rectifier unit, because the Signal bus
line Warning is not evaluated and not set.

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4.5 Management
4.5.6 Set Value Manager

tifier unit doesn’t support the set value manager function.
The set value manager manages the set value sources, meaning the set value generators
such as the ramp function generator or the positioning via the fieldbus and operates the
set value interface to the position and speed controller. Furthermore, can be selected via
Z111.6– Interpolation mode between interpolating and extrapolating behavior of speed
and position. In dependence of the controller options Z18.9– bits 1,2,3 and 16 different
feedforward modes can be selected. Hereby, the parameter Z111.7– (external speed
feedforward) and Z111.8– external acceleration feedforward are made available for the
options directly referring to the external feedforward. Also refer to ZFig. 112– on page
532.
The display parameters Z111.2– to Z111.5– are updated in the set value manager cycle.
The cycle depends on the active operating mode (Z109.2–).
For the operating modes which work in the so-named RT1 Task, the cycle time is always
1 ms. An active RT1 operating mode can be recognized by Z111.1– Status Bit 4 = 1. RT1
operating modes are all position and speed controlled modes for which the speed profile
is produced internally to the controller.
Examples for RT1 operating modes are the are the setting of the target positions
(Z109.2– = 1) or the speed control (Z109.2– = -3), if the ramp function generator is con-
figured in the RT1 (Z110.2– Mode bit 16 = 0)
The cycle time of the operating modes operating in the fieldbus task always corresponds
to the Z1.10– fieldbus task cycle time which results from the Z131.18– fieldbus cycle
time divided by Z131.20– division ratio fieldbus task.
Examples with regard to the fieldbus task operating modes are the cyclical position set
value setting (Z109.2– = -4) or the speed control (Z109.2– = -3) if the ramp function gen-
erator is configured in the fieldbus task (Z110.2– Mode bit 16 = 1).
An active Fieldbus Task operating mode can be recognized by Z111.1– Status Bit 5 = 1.
Figure 103: ProDrive Set value manager

Functional block: SwgManager [111]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
111.1 Status WORD 0x0000 0xFFFF 0x0000 1:1 X

111.2 Position set value rev UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
SetValMgr
111.3 Position set value angle UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
SetValMgr
111.4 Speed set value Set- DINT 0x80000000 0x7FFFFFFF 0 Inc/ms 1:1 X
ValMgr
111.5 Acceleration set value DINT 0x80000000 0x7FFFFFFF 0 Inc/ 1:1 X
SetValMgr ms²
111.6 Interpolation mode UINT 0 4 1 1:1 X O
111.7 External speed feedfor- FLOAT -180000 180000 0 Grad/s 1:1 X
ward
111.8 External acceleration FLOAT -2147483647 2147483647 0 Grad/ 1:1 X
feedforward s2
111.9 Jerk set value Set- DINT 0x80000000 0x7FFFFFFF 0 Inc/ 1:1 X
ValMgr ms3
111.1 Status
Bit # Meaning
0 0: Set value manager is switched off
1: Set value manager is switched on; the set value sources provide set val-
ues to the set value manager
3…1 Reserved
4 1: Set value setting by RT1 Task active; fixed cycle time of 1 ms
5 1: Set value setting by fieldbus task active; configurable cycle time
15 … 6 Reserved
For all speed and position controlled operating modes in the OPERATION ENABLED
state, the set value manager is switched on.
In operating modes such as, e.g., current control it thus remains switched off.

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4.5 Management
111.2 Position set value rev SetValMgr
The parameter indicates the number of revolutions in the position set value or position set
value source in 32-bit resolution.
111.3 Position set value angle SetValMgr
The parameter indicates the angular term of the position set value or position set value
source in 32-bit resolution per revolution.
111.4 Speed set value SetValMgr
This parameter indicates the speed set value in the set value manager:
m at speed controlled operating modes: speed set value source
m at position controlled operating modes: from the derivative of the position set value
source
Resolution is 32-bit-increments/revolutions every ms
111.5 Acceleration set value SetValMgr
This parameter indicates the intended acceleration in the set value manager:
m at speed controlled operating modes: from the derivative of the speed set value source
m at position controlled operating modes: from the second derivative of the position set
value source
Resolution is 32-bit-increments/revolutions every ms2.
111.6 Interpolation mode
Using this parameter, the mode for the interpolation at the set value manager to controller
interface can be set.
The interpolator receives new set value data in the set value manager cycle, which it in-
terpolates or extrapolates according to the mode. The set value data consist of accelera-
tion, speed and position. An interpolating or extrapolating behavior can be set separately
for speed and position by means of the interpolation mode.
Any change in the mode only takes effect after a controller inhibit.
Value Meaning
0 Mode 0: Linear extrapolation of the position and the speed
1 Mode 1: Linear interpolation of the position and the speed

Value Meaning
2 Mode 2: Linear extrapolation of the position and linear interpolation of the
speed
3 Mode 3: Quadratic interpolation of the position and linear interpolation of the
speed
4 Mode 4: Cubic interpolation of the position and quadratic interpolation of the
speed
Remarks:
m Mode 0:
As a result of the linear extrapolation of speed and position, feedforward of the two val-
ues is achieved. The dead time between the input set value to the set value manager
and the set value to the controller input is consequently reduced. The procedure is only
recommended for very small changes in acceleration, since the extrapolation is no lon-
ger exact for each change in acceleration. This can lead to overshooting of the intend-
ed position and intended speed at the controller input.
m Mode 1:
As a result of the linear interpolation of speed and position, Mode 1 avoids the negative
effect described under Mode 0 for changes in acceleration. A dead time is generated
about one set value manager cycle for the speed and about two cycles for the position
instead.
m Mode 2:
This mode is a mixture of Modes 0 and 1. The position is linear extrapolated, the speed
linear interpolated. As a result of the interpolation of the speed, overshoots in the speed
set value or speed feedforward value are avoided. At the same time, due to the linear
extrapolation of the position the position controller receives a dead-time-optimized po-
sition set value.
m Mode 3:
The mode 3 carries out a linear interpolation speed and a quadratic interpolation of the
position. As in mode 1 the position is delayed by two set value manager cycles and the
speed by one cycle.
m Mode 4:
Mode 4 carries out a quadratic interpolation speed and a cubic interpolation of the po-
sition. Here the position and the speed is delayed by two set value manager cycles.
NOTE!
If several axes are to be operated collectively, the same interpolation mode should
be set on each axis.

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4.5 Management
111.7 External speed feedforward
This parameter permits the presetting of an external speed feedforward by a fieldbus.

This parameter takes effect in operating mode Position control (Z109.1– = -4) only. The
function is activated by Z18.9– Controller options bit 3 = 1.
NOTE!
The parameter Z111.6– Interpolation mode must be set to mode 0 (extrapolation) at
the external feedforward. The fieldbus cycle time (Z131.18–) must correspond to the
controller cycle (Z1.8–) in order to achieve an optimum result.
NOTICE!
The following functions are not applicable at an activated, external feedforward con-
trol value in the operating mode Position control (Z109.1– = -4) because the domi-
nating, external speed control value Z111.7– is superimposing its reaction:
m Hardware and software limit switch monitoring, if the error reaction does not result
in a pulse block,
m the speed limit Z121.11–,
m the stop by parameter Z108.1– Control word bit 8,
m actual speed value synchronization after switching on.
111.8 External acceleration feedforward
This parameter permits the presetting of an external acceleration feedforward by a field-

bus.
This parameter takes effect in the operating mode Position control (Z109.1– = -4) only.
The function is activated by Z18.9– Controller options bit 2 = 1.
NOTE!
The feedforward is activated via the bit 2 in Z18.9–, assumed that bit 1 in Z18.9–
was set to 0! Refer to table Feedforward modes in position controlled operating
modes on page 556. The same notes and warnings apply as described in Z111.7–.

111.9 Jerk set value SetValMgr
This parameter displays the jerk set value in the set value manager:
m at speed controlled operating modes: from the second derivative of the speed set value
source
m at position controlled operating modes: from the third derivative of the position set val-
ue source
Its resolution is 32 bit increments/revolution per ms3.

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4.6 Set Value Generators
4.6.1 Ramp function generator

The active mains rectifier unit does not use the ramp function generator.
The increase of the Udc set value is specified by the parameter Z141.16– DC voltage
slope at the active mains rectifier unit.
The ramp function generator is used to generate rising or falling ramps in the Speed pre-
set (Z109.1– = 2) and Speed control (Z109.1– = -3) speed-controlled operating modes.
Additionally, it is used for controlling braking procedures (Quick Stop, Drive Shut-down,
Inhibit Drive).
The ramp function generator has an input with separately adjustable ramp-up and ramp-
down times. Furthermore the ramp-down time for the Quick Stop function is separately
adjustable.
The input and output values for the ramp function generator are relative quantities
(±100 %) and are referred to the Maximum drive speed parameter (Z110.13–).
The ramp slope for the acceleration and braking procedures is defined by the ramp-up
and ramp-down times. The times correspond to a 100 % change in the set value.
For additional rounding of the ramp-up or ramp-down ramps, a PT1 element (smoothing)
with adjustable time constant is connected after the ramp function generator.
The ramp function generator provides the following control options via the control word
(Z108.1–):
m Inhibit ramp generator (set output permanently to 0, ramp-down at the current limit)
m Stop ramp generator (freeze output value)
m Inhibit ramp generator set value (set input internally to 0, ramp-down on the ramp-down
ramp)
The following options can additionally be selected via Ramp generator mode Z110.2–:
m Selection between a 16-bit parameter (Z110.5–) or a 32-bit parameter (Z110.4–) as
input value for the ramp function generator.
m Blocking of positive or negative set values.
m Reversal of set value sign. The internal processing sequence is inhibit before sign re-
versal.
m Switch-off of speed set value synchronization when activating the ramp function gen-
erator.
m Adjustment of ramp shape:
n Trapezoidal speed profile; stepped acceleration.
There is a possibility of smoothing the speed by means of a PT1 element.
n S-Curve with quadratic speed profile; trapezoidal acceleration.
m Task selection to process the set values:
The set values of the ramp function generator can either be calculated in the RT1 task

(1 ms; default) or in the fieldbus task. The setting is made by bit 16 of the Z110.2–
mode.
m Speed profile in zero-crossing at change of direction with or without rounding-off.
m The set quick stop time Z110.8– applies to
n change of set value from 100% to 0%
n change of set value from effective set value at ramp function generator output
Z110.3– to 0%. This causes a constant braking time from all speeds at ramp func-
tion generator output.
m The set SS1 stop time Z110.21– applies to
n change of set value from effective speed to 0%. This causes a constant braking time
from all speeds.
n change of set value from 100% to 0% (braking deceleration independent of the in-
stantaneous speed).
More functions:
m Input value limited by Z110.15– and Z110.16–.
m Monitoring of the hardware limit switch. The behavior at an active hardware limit switch
can be chosen via Z110.2– bit 8 and 9. The limit switch monitoring is switched on via
Z121.1– bit 1 = 1.
m Additional additive input Z110.17– with format of the 32 bit input Z110.4–.
m Transparency mode: Switch off ramp generator (output = input)
m Optional interpolation of the ramp function generator set value input (see chapter Z
4.6.1.1– on Zpage 490–)
Trapezoidal Pro- The ramp-up and ramp-down times refer to a change in the input set value of +100% or
file -100%.
The resulting times for other set value changes are calculated as follows:
TResRamp-up = TRamp-up * Set value change / 100 %
TResRamp-down = TRamp-down * Set value change / 100 %

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TRamp up= Ramp-up time Z110.6–

TRamp down= Ramp-down time Z110.7–
Figure 104: Trapezoidal Profile of Ramp Function Generator
S-Curve Profile Acceleration and braking are introduced more smoothly with the S-Curve profile.
The time to reach maximum acceleration or deceleration is set using the S-Curve time.
The maximum value of the accelerations is determined by the ramp-up time or the ramp-
down time. The S-Curve time can be set separately for the ramp-up and the ramp-down.
The ramp-up or ramp-down time resulting from a change to the input set value of 100 %
can be found from
TRamp-upTotalTime = TRamp-upTime + TSCRamp-upTime

or
TRamp-downTotalTime = TRamp-downTime + TSCRamp-downTime

TRamp up = Ramp-up time Z110.6–

THSK = S-Curve ramp-up time Z110.9–
TRamp down= Ramp-down time Z110.7–
THSK = S-Curve ramp-down time Z110.10–
Figure 105: Ramp Function Generator S-Curve Profile
The equations apply only to a set value change from standstill (Set value = 0%; Acceler-
ation = 0).
For set value changes less than 100%, two cases for determining the resulting ramp-up
and ramp-down times must be distinguished:
n the maximum acceleration or deceleration is achieved
n the maximum acceleration or deceleration is not achieved
In the following, the calculation of the resulting ramp-up time for the two cases is ex-
plained by means of examples for the ramp-up.

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The calculation of a resulting ramp-down time would be performed in the same way using
the parameters Z110.7– Ramp-down Time and Z110.10– S-Curve Ramp-down Time.
The times are set identically for the examples:
Z110.6– Ramp-up time = 800 ms = TRamp-up
Z110.9– S-Curve ramp-up time = 200 ms = TScurve
Example 1: Set value changed by +50 %

Total set value change dVtotal = 50%
Calculate proportion of "S-Curve phase" in the acceleration process:
dVScurve = TScurve / TRamp-up * 100 % = 200 ms / 800 ms * 100 % = 25 %
dVScurve < dVtotal
maximum acceleration is achieved.
Calculate proportion of phase at maximum acceleration:

dVamax = dVtotal - dVScurve = 50 % - 25 % = 25 %
Duration of phase at maximum acceleration:

tamax = dVamax / 100 %* TRamp-up = 25 % / 100 % * 800 ms = 200 ms
Now determine the resulting ramp-up time:

ttotal = 2 * TScurve + tamax = 2 * 200 ms + 200 ms = 600 ms
Example 2: Set value changed by +12.5 %

Total set value change dVtotal = 12.5%
Calculate proportion of "S-Curve phase" in the acceleration process:

dVScurve = TScurve / TRamp-up * 100 % = 200 ms / 800 ms * 100 % = 25 %
dVScurve > dVtotal
maximum acceleration is not achieved.
only "S-Curve phase" present
Now determine the resulting ramp-up time:

tScurve = (dVtotal / dVScurve) * 2 * TScurve = (12.5 % / 25 %) * 2 * 200 ms = 283 ms
ttotal = tScurve

4.6.1.1 Optional interpolation of the ramp function generator input set value
A cyclical and synchronous transferred speed set value which is mapped to the input set
value (Z110.4– or Z110.5–), can be interpolated optionally to the ramp function genera-
tor (RFG) cycle (Z110.22– Active cycle time ramp generator). The speed profile is calcu-
lated by the controller and is transferred in the adjusted set value cycle. The interpolation
is switched on by setting bit 11 in Z110.2– Mode. The ramp function generator is usually
switched off at active interpolation.
Here, is recommended to configure the set value processing of the ramp function gener-
ator in the fieldbus task. This is made by Z110.2– Mode bit 16 = 1 and after this setting
was made the controller must be restarted.
The controller interpolates from set value cycle to the ramp function generator cycle
(Z110.22–). For this the set value cycle in parameter Z145.11– must be set and the in-
terpolation must be activated. Both must take place before enabling the operation mode
speed control or speed setting. A change at active ramp function generator is invalid!
The ramp function generator interpolates if the set value cycle time (Z145.11–) is greater
than the active cycle time of the ramp function generator (Z110.22–).
Example 1: Fieldbus cycle = 1 ms, set value cycle = 6 ms and ramp function generator cycle = 1 ms
 A new calculated set value is transferred only in every sixth fieldbus cycle
 The ramp function can be configured in the fieldbus task as well as in the RT1
task.
 Z131.18– Fieldbus cycle time = 1 ms and Z131.20– Division ratio fieldbus
task = 1
 Z145.11– Virt. master set value cycle time = Interpolation interval = 6 ms
 6 ms / 1 ms - 1 = 5
 Interpolator generates 5 interpolated set values in the ramp function genera-
tor.
Example 2: Fieldbus cycle = set value cycle = 2 ms and ramp function generator cycle = 1 ms
 A new set value is transferred in each fieldbus cycle.
 The ramp function can be configured in the fieldbus task as well as in the RT1
task.
task = 1
 2 ms / 1 ms - 1 = 1
 Interpolator generates 1 interpolated set value in the ramp function generator.
Example 3: Fieldbus cycle = set value cycle = 1 ms and ramp function generator cycle = 250 µs
 A new calculated set value is transferred in each fieldbus cycle.
 The ramp function generator is configured in the fieldbus task. It has a cycle
time of 250 µs.

Document No.: 5.09022.17 of 978

task = 4
 1 ms / 250 µs - 1 = 3
 Interpolator generates 3 interpolated set value in the ramp function generator.
Always the sum of main and additional set value will be interpolated, i.e. the value of
Z110.17– Input 32 bit additive is also effective at interpolation. Every change of the total
set value is immediately effective and interrupts a running interpolation if necessary.
The interpolator is implemented before the ramp function generator controller and the
ramp generator. Thus the functions of the ramp function generator remain also at active
interpolator, as e. g. limitation and polarity reversal of the input value, directional block,
ramp function generator block, ramp function generator stop, quick stop function and
ramp generator.
This interpolator must not be confused with the interpolator of the ramp function generator
cycle to controller cycle. This interpolator is specified in chapter ZSet Value Manager–
from page 479.
Interpolator active and ramp generator switched off
The ramp generator can be switched off either via Z110.2– Mode bit 10 (transparency
mode) or via setting ramp times to zero (Z110.6– and Z110.7–). The ramp function gen-
erator operates in both cases in the "transparency mode" (output = input), i. e. the cyclical
input set values are immediately effective at ramp output.
m Switch off via ramp times (= 0 s)
This means a stop at current limit, because the ramp-down time can be used also for
quick stop or error response ("Stop at deceleration ramp"). If this is not desired, the
stop at deceleration ramp and the quick stop time in Z110.8– must be set or the trans-
parency mode via bit 10 must be used.
m Switch off via Mode bit 10 of parameter Z110.2–
The ramp-up and ramp-down times can be set here as required. In case of a stop at
the deceleration ramp, it will be broken at the deceleration ramp.
The bits 8 (Ramp-up is active) and bit 9 (Ramp-down is active) in Z110.1– are not
changed.
Interpolator and ramp generator active
The ramp generator is switched on, if ramp times greater than 0 s are parameterized and
if no transparency mode via bit 10 is activated. The set times limit the maximum acceler-
ation or the deceleration of the cyclic input set values. If the S-Curve profile is activated,
the acceleration change (jerk) is limited via the S-Curve times.
If the limitation is effective, the speed profile of the cyclical speed set values will be
changed.

NOTE!
m The input set value will be delayed by one set value cycle when using the interpo-
lation.
m The following ramp function generator smoothing (Z110.11–) must be set to 0 ms,
if it should not effect.
m At set value failure the last speed set value remains valid. An extrapolation does
not take place using the last acceleration value.
m If the control functions of the ramp function generator (block, stop, zero, ...) will be
used or after a stop triggered by hardware limit switch, the input set value must be
corrected by the control before the function is canceled.
4.6.1.2 ProDrive Ramp Function Generator
Control of the ramp function generator using the drive manager control word:
FG INHIBIT: Parameter Z108.1– Control word 1 Bit 4
FG STOP: Parameter Z108.1– Control word 1 Bit 5
FG ZERO: Parameter Z108.1– Control word 1 Bit 6
Display "Set value reached":

Parameter Z108.3– Status word 1 Bit 10

Document No.: 5.09022.17 of 978
Figure 106: Ramp function generator page in ProDrive
Functional block: FbRampGenerator [110]

Axis-independent
Cyclic Write
DS Support
Read only
Storage

110.2 Mode DWORD 0 0xFFFFFFFF 0x20 1:1 X X X
110.3 Output DINT -1073741824 1073741824 0 % 400000 X
00hex:
100%
110.4 Input 32 bit DINT -1073741824 1073741824 0 % 400000 X X X
00hex:
100%

100%
110.6 Ramp-up time UDINT 0 650000 0 ms 1:1 X X X
110.7 Ramp-down time UDINT 0 650000 0 ms 1:1 X X X
110.8 Quick stop time UDINT 0 650000 0 ms 1:1 X X O
110.9 S-curve ramp-up time UDINT 0 650000 0 ms 1:1 X X X
110.10 S-curve ramp-down time UDINT 0 650000 0 ms 1:1 X X X
110.11 Smoothing UINT 0 32767 0 ms 1:1 X X
110.12 Set value zone UDINT 0x0 0x80000000 0 % 400000 X X
00hex:
100%
110.13 Maximum drive speed FLOAT 1 1.000000e+06 3000 U/min 1:1 X
110.14 Output acceleration FLOAT -5000000000 5000000000 0 Inc/ms 1:1 X
²
110.15 Input max. amount UDINT 0 1073741824 1073741824 % 400000 X X X
00hex:
100%
110.16 Input min. amount UDINT 0 1073741824 0 % 400000 X X X
00hex:
100%
110.17 Input 32 bit additive DINT -1073741823 1073741823 0 % 400000 X X X
00hex:
100%
110.20 Controlled stop time UDINT 0 65000 1000 ms 1:1 X X O
110.21 SS1 stop time UDINT 0 650000 0 ms 1:1 X X O
110.22 Active cycle time ramp FLOAT 0 8.0 1 ms 1:1 X
generator
110.1 Status
Status of the ramp function generator
Bit Meaning
0 1: Ramp generator is switched on
3…1 Reserved
4 1: FG output is set internally to 0 (FG INHIBIT)
5 1: FG has been halted on the ramp (FG STOP)
6 1: FG input is set internally to set value 0 (FG ZERO)
7 1: Quick Stop ramp is active (FG QSTOP)
8 1: Ramp-up is active
9 1: Ramp-down is active

Document No.: 5.09022.17 of 978
Bit Meaning
10 1: Braking ramp ended
11 Reserved
12 1: FG output = FG input (set value reached)
13 Status input set value
0: Input set value is constant
1: Input set value is interpolated
14 1: Controlled stop is active
15 1: SS1 stop is active
16 1: Set Value inhibit has blocked negative set value (see 110.2 Mode Bit 0)
17 1: Set Value inhibit has blocked positive set value (see 110.2 Mode Bit 1)
18 1: Run in negative direction with hardware limit switch prevented
19 1: Run in positive direction with hardware limit switch prevented
20 Absolute value limitation of the input set value to an allowed minimum
value Z110.16–
21 Absolute value limitation of the input set value to an allowed maximum
value Z110.15–
31 … 22 Reserved
Comments:
m Bit 13:
This bit is changed, if the interpolator set value cycle ramp function generator cycle
is active. The bit is deleted at constant input set value or set value failure. The ramp
function generator input set value is interpolated from the set value cycle to the ramp
function generator cycle (1 ms).
110.2 Mode
Bit Meaning
0 1: Negative set values are blocked
1 1: Positive set values are blocked
2 1: Polarity reversal of current set value
3 Processing sequence for set value inhibit and polarity reversal:
0: Set Value inhibit before polarity reversal
1: Polarity reversal before set value inhibit
4 0: Trapezoidal speed profile with ramp generator smoothing (PT1 ele-
ment)
1: S-Curve with quadratic speed profile

Bit Meaning
5 Selection of input parameter
0: 110.4 input 32-bit resolution (100% = 40000000hex)
1: 110.5 input 16-bit resolution (100% = 4000hex)
6 1: Actual speed value synchronization switched off
7 Z110.8– Quick stop time applies to:
0: Change of set value from 100% 0%
1: Change of set value from effective set value at ramp function generator
output Z110.3–  0%
9 ... 8 Behavior at run over hardware limit switch at active limit switch monitor-
ing:
0: Error message
1: Error message; stop at deceleration ramp, if error reaction = „no reac-
tion“
2: No error message; no stop
3: No error message; stop at deceleration ramp
10 1: Transparency mode on
11 1: Input set value interpolator on
12 Speed profile in zero-crossing at change of direction
0: No rounding-off of the speed, i.e. maximum permissible acceleration at
speed = 0
1: Rounding-off of the speed at zero-crossing, i.e. acceleration = 0 at
speed = 0
13 Z110.21– SS1 stop time applies to:
0: Change of set value from effective set value to 0%
1: Change of set value from 100% to 0%
14 1: Quick stop is always with a trapezoidal speed profile
15 Reserved
16 Selection of the set value processing task:
0: RT1 task with a cycle time of 1 ms
1: Fieldbus task with a settable cycle time
31 … 17 Reserved
Comments:
m Bits 0 to 2:
The internal processing sequence of the bits is as follows:
1. Blocking of positive or negative set values (bit 0 or 1)
2. Polarity reversal of current set value (bit 2)
m Bit 6:
The speed synchronization is activated as standard by Z110.2– Mode bit 6 = 0.
It acts when the ramp function generator is activated, e.g., by changing over or activat-
ing operating mode -3 (speed control), so that no jump in speed occurs.
When it is activated, the ramp function generator initializes its output to the current ac-
tual speed and controls the output to its input value according to the preset ramp.

Document No.: 5.09022.17 of 978
If bit 6 is set, the ramp generator output will not be synchronized to the current actual
speed when the ramp generator is activated.
m Bit 7:
If the bit is set, the ramp function generator output Z110.3– decelerates to 0% in the
quick stop time Z110.8–, which was set.
If the trapezoidal speed profile (Z110.2– Mode bit 4 = 0) is set, the set quick stop time
is only valid for the non smoothed curve. The braking time is delayed with smoothing
(Z110.11– Smoothing > 0) depending on the value of the set smoothing
If the S-Curve profile (Z110.2– Mode bit 4 = 1) is set, it is decelerated with trapezoidal
speed profile at quick stop. A set smoothing is not effected.
m Bit 8:
If bit 8 is set, a stop at the deceleration ramp is set at active hardware limit switch and
at active limit switch monitoring (Z121.1– bit 1 = 1). This requires that either the error
message is deactivated via Z110.2– bit 9 = 1 or the error reaction „no reaction“ is set.
The following description is true for the activated error message (Z110.2– bit 9 = 0.
At crossing of a hardware limit switch the error code 906 „Negative hardware limit
switch active“ or 907 „Positive hardware limit switch active“ is set. The following behav-
ior of the drive corresponds to the preset error reaction for the respective error code.
The default value for this error is „no reaction“.
– „No reaction“ and bit 8 = 0:
Only the respective error is set. New set values from the ramp function generator
input are accepted furthermore. The correspondent reaction must be carried
through the controller. The error can be reset not before a velocity in the „free“ di-
rection is existent at the ramp function generator output Z110.3–. If the hardware
limit switch is still active and it will be stopped again or driven in the blocked direction
the error message will be sent again.
– „No reaction“ and bit 8 = 1:
Among the error message a stop is set additionally. The deceleration occurs with the
delay set in Z110.7– ramp-down time. Set values over the ramp function generator
input are ignored. After the termination of the stop (velocity set value at Z110.3– out-
put of the ramp function generator = 0) the errors of the limit switch may be reset.
After this it may be driven in the „free“ direction. If the hardware limit switch is still
active and it will be driven in the blocked direction again the error message will be
sent again. The blocked direction is displayed in Z110.1– Status bits 18 and 19.
m Bit 9:
With bit 9 the error message and error reaction at run over hardware limit switch can
be switched off. This setting is true for both hardware limit switches.
If a stop at the deceleration ramp should be set at reaching the hardware limit switch
in spite of switched off error message, bit 8 in Z110.2– must be set.
m Bit 10:
The ramp function generator can be switched off without changing the ramp-up and
ramp-down time with this bit. Details see ZOptional interpolation of the ramp function
generator input set value– from page 490.

m Bit 11:
The bit activates the input set value interpolator for cyclical speed set values. The func-
tion of the ramp function generator input set value is described in ZOptional interpola-
tion of the ramp function generator input set value– from page 490.
m Bit 12:
With this bit the rounding-off of the speed in zero-crossing at change of direction can
be switched on. Rounding-off in zero-crossing means acceleration = 0 at speed = 0.
Thus the period will be extended up to the reaching of the new input set point. The ad-
vantage of this setting is the reduced loading of computing time if the S-Curve profile
is activated and the application needs a flying change of direction. This mode has no
advantage for the trapezoidal profile and should be switched off.
Figure 107: Change of direction without rounding-off of the speed at zero-crossing

Document No.: 5.09022.17 of 978
Figure 108: Change of direction with rounding-off of the speed at zero-crossing
m Bit 14:
If the bit is set it is always braked by trapezoidal profile at quick stop independent of
the set speed profile (Z110.2– Mode bit 4)
The state transitions where "Return flow at the quick stop ramp" was set are affected
by this (see Z108.13–, Z108.14– and Z108.15–).
Furthermore, the setting affects errors that have the "Stop (RFG.Quickstop time)" re-
action (see Z100.4–)
m Bit 16:
The set value processing task for the operating modes with ramp function generator
are set by this bit. The configuration in the fieldbus task is recommended for the cyclical
speed demand by fieldbus. Configuration examples are described in the chapter ZOp-
tional interpolation of the ramp function generator input set value– on page 490.
In Z110.22– the current cycle time of the set value processing of the ramp function
generator is displayed. In which task the operating modes with ramp function generator
are processed is displayed at an enabled operating type in the set value manager state
(Z111.1– bit 4 and 5).
Independent of the task configuration the ramp times which were changed (Z110.7–
to Z110.10–) or changes due to a data set switchover are always processed in the RT1
cycle.
NOTE!
A change of bit 16 is efficiently not before the data set is saved and the controller is
restarted.

110.3 Output
Output value of the ramp function generator.

Standardization:
100% = Maximum drive speed (Z110.13–, [rpm])
The output value of the ramp function generator is written to the input of the set value
manager (chapter Z 4.5.6–). For this purpose the value must be converted from the 100%
standardization to 32-bit increments/revolution per sensing.
The permitted range of the set value manager input is ± (231 -1) increments per sensing.
If the converted ramp function generator exceeds this range it is limited and the error 910
"Overspeed detected at the set value input".
At the standard sensing time of the ramp function generator of 1 ms the permitted set val-
ue range ± 29999 rpm. If the ramp function generator is operating in the fieldbus task
(Z110.2– Mode bit 16 = 1), its cycle time is set by means of the Z131.18– Fieldbus cycle
time and the Z131.20– Division ratio fieldbus task.
Example:
Z110.22– Active cycle time ramp generator = 500 µs  Set value range ± 59999 rpm
Z110.22– Active cycle time ramp generator = 2000 µs  Set value range ± 14999 rpm
110.4 Input 32-bit
Ramp generator input value with 32-bit resolution. This input is activated instead of the
16-bit input by means of Z110.2– Ramp function generator mode bit 5 = 0.
Standardization:
110.5 Input 16-bit
Ramp generator input value with 16-bit resolution. This input is activated instead of the
32-bit input by means of Z110.2– Ramp function generator mode bit 5 = 1.
Standardization:
110.6 Ramp-up time
Acceleration ramp for the speed-controlled operating modes.

The time selected here applies to a 100% set value change

Document No.: 5.09022.17 of 978
110.7 Ramp-down time
Deceleration ramp for the speed-controlled operating modes.

110.8 Quick stop time
The Quick stop ramp operates during all Quick stop procedures, not only in the speed-
controlled operating modes.
Depending on bit 7 of the parameter Z110.2– Mode the quick stop time applies to
m change of set value from 100% to 0%  Z110.2– bit 7 = 0,
m change of set value from actual set value at ramp function generator output Z110.3–
to 0%. This causes a constant braking time from all speeds at ramp function generator
output.
For correct functioning of the braking procedures on the Quick stop or Ramp-down
110.9 S-Curve ramp-up time
Rounding of the ramp corners on ramp-up for the speed-controlled operating modes. The
time selected here applies to a 100% set value change.
The set S-Curve ramp-up time must be less than the set ramp-up time.
Total ramp-down time for a 100% set value change:
TTotalRamp-upTime = TRamp-upTime + TSCRamp-upTime
110.10 S-Curve ramp-down time
Rounding of the ramp corners on ramp-down for the speed-controlled operating modes.
The set S-Curve ramp-down time must be less than the set ramp-down time.
Total ramp-down time for a 100% set value change:
TTotalRamp-downTime = TRamp-downTime + TSCRamp-downTime
110.11 Smoothing
A PT1 element is implemented to achieve rounding of the ramp corners. The time con-
stant of the PT1 element can be adjusted using this parameter.
The smoothing is only effective if a trapezoidal profile is set for the ramp shape.

The smoothing is also active if the ramp times (Z110.6– Ramp-up time and Z110.7–
Ramp-down time) are set to zero.
110.12 Set value zone
This parameter defines the reporting threshold for the ramp function generator status
Z110.1– (bit 12) "Set value reached".
The "Set value reached" status bit is set if the following is valid:
FGOutput - HLGInput  Set value zone
110.13 Maximum drive speed
This parameter defines the speed standardization for the ramp generator inputs, the ramp
generator output and the input value limits.
100% (Z110.4– Input 32-bit) = Maximum drive speed [rpm]
100% (Z110.5– Input 16-bit) = Maximum drive speed [rpm]
A change of this parameter affects only if the ramp function generator is activated again
or a ramp function generator command is set via Z108.1– Control word bits 4, 5 or 6.
CAUTION!
If Maximum drive speed is greater than Z107.26– Max speed mech., error 212 is set
at drive enabling in the operating modes 2 and -3. Maximum drive speed must set so
that the maximum speed mechanical of the motor cannot be exceeded. If the error is
ignored the speed set value can exceed the maximum speed mechanical and can
lead to damaging the motor or the mechanical setup!
This check of the parameterization doesn’t proceed if in Z107.26– the value 0 rpm is
set.
110.15 Input max. amount
Absolute value of upper limit of the active ramp generator input (Z110.4– or Z110.5–).
Parameter value with 32-bit resolution.
Standardization:

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110.16 Input min. amount
Absolute value of lower limit of the active ramp generator input (Z110.4– or Z110.5–).
If the input value is exactly 0%, the limit is set to the positive value of Z110.16–.
Parameter value with 32-bit resolution.
Standardization:
The result of this limiting forms the effective input value for the ramp generator.
If the standard values of Parameters Z110.15– and Z110.16– remain set, no limiting
takes place and the ramp input receives values between -100% and +100%.
Figure 109: Absolute value of min. / max. input
110.17 Input 32 bit additive
Additional ramp function generator input value with 32 bit resolution.

The additional set value is used independent of the input selection in parameter Z110.2–
bit 5. This additional set value is always added to the defined main set value (Z110.4– or
Z110.5–), to a total set value. Subsequent to this, checking is made using the input value
limitation (Z110.16–).
Standardization:
110.20 Controlled stop time
Delay ramp for the controlled stop.

The set time in this parameter applies to a 100% change of the set value.

110.21 SS1 stop time
The SS1 stop ramp brakes the drive speed-controlled to 0.

The set time in this parameter applies to a 100% change of the set value (braking decel-
eration independent of the instantaneous speed) or applies to the instantaneous speed
(braking time to 0 independent of the instantaneous speed). The behavior is set in param-
eter Z110.2– bit 13.
The SS1 stop ramp is available only for error reactions.
110.22 Active cycle time ramp generator
Displaying the cycle time of the set value processing of the ramp function generator.

Document No.: 5.09022.17 of 978
4.6.2 Set Value Generator

The set value generator is available to the same extent for the active mains rectifier
unit as for the axis.
Function
The set value generator generates a constant set value for each of 4 time zones. The set
value and the time for each zone are adjustable.
The set value generator can write to all cyclic writable parameters. With the time, the is-
sue time for the respective set value is set.
If the set value generator switches over the current positioning set of the axis
(132.4 = 118.6), the time specifies the length of time spent in the target position.
If the set value generator specifies the Udc set value for the active mains rectifier unit
(132.4 = 141.8), it must be noted, that the Udc set value is not specified depending on the
mains voltage (see parameter Z141.24–) at the same time.
Furthermore it is possible to determine whether the set value generator will start again
with the first time zone after the last time zone has elapsed (looped operation), or whether
only one cycle is run through and the last set value is preserved.
Thus the following speed set value sequence can be produced, for example:
rev
min
Set value 1 Set value 1
Set value 2
Time 1 Time 2 Time 3 Time 4
t
Set value 3
Set value 4
Figure 110: Speed set value sequence for set value generator
The set value generator has a cycle time of 1 ms. It can always be switched on or only
when the drive is enabled. Starting always takes place with the first set value in the preset
profile.

Functional block: FbSwg [132]
Axis-independent
Cyclic Write
DS Support
Read only
Storage

132.3 Output FLOAT -5000000000 5000000000 0 1:1 X
132.4 Target number output UDINT 0 0xFFFFFFFF 0 1:1 X
132.10 Set value 1 FLOAT -5000000000 5000000000 0 1:1 X
132.11 Duration zone 1 UDINT 1 4294967295 1000 ms 1:1 X
132.12 Set value 2 FLOAT -5000000000 5000000000 0 1:1 X
132.14 Set value 3 FLOAT -5000000000 5000000000 0 1:1 X
132.16 Set value 4 FLOAT -5000000000 5000000000 0 1:1 X
132.1 Mode
Control of the set value generator
Bit # Meaning
0 0: Deactivate set value generation
1: Activate set value generation
1 Processing only when set value generation activated (bit 0 = 1):
0: Switch on set value generation only when drive enableda)
1: Always switch on set value generation
2 0: Looped operation: the set value generator starts again with the first set
value after the last phase has elapsed.
1: Single cycle: the generator runs through only one cycle of the preset set
value profile. At the end, the last set value is held.
31…3 Reserved
a)
Drive state P108.6 = 4 ("Operation Enabled")

Document No.: 5.09022.17 of 978
132.2 Status
Status of the set value generator
Bit # Meaning
1…0 00: Set value generation is switched off
01: Set value generation is being initialized
10: Set value generation is suspended, awaiting (renewed) enabling of the
drive
11: Set value generation is switched on
3…2 Reserved
4 0: No error
1: Error
31…5 Reserved
132.3 Output
Output of the set value generator

The output value is written to the preset target parameter 132.4.
132.4 Target number output
Selection of the target parameter to which the set value generator writes. All cyclic writ-
able parameters are allowed.
132.10 Set value 1
Set value in Time zone 1 of the set value generator.

When the set value generator is started, a check is made to make sure that the set value
lies within the range of values in the target parameter and if necessary an error message
is issued.
132.11 Duration zone 1
Duration of Time zone 1 for the set value generator in ms. The associated set value is
applied to the output of the generator for this duration.

132.12 Set value 2

is issued.
132.14 Set value 3

is issued.
132.16 Set value 4

is issued.

Document No.: 5.09022.17 of 978
4.6.3 Error reaction controlled stop

The error reaction controlled stop is not available at the active mains rectifier unit.
Another error reaction is the controlled stop. This is required if the motor must be stopped
quickly, but the error reactions "Stop at current limit", "RFG Quickstop ramp" and "RFG
Ramp-down" are not possible, e.g. because of an encoder error.
There are two versions of the controlled stop, braking in I/f operation and braking in U/f
operation, which can be selected in parameter Z18.9– bit 6.
In I/f operation a constant current is preset by parameter Z133.22– and then the ramp of
the RFG is started at the last effective speed set value. Subsequently the frequency is
reduced linearly to frequency 0. If the speed set value is not available the last speed ac-
tual value is used as start value.
At braking in U/f operation the current set values are controlled to 0 A at the frequency of
the last effective speed set value for a short time. The voltages adjust themselves accord-
ing to the EMF of the motor. Subsequently the voltages are reduced linearly to standstill.
A soft torque reduction (see Z108.19–) is possible for both error reactions. At braking in
U/f operation the voltage at speed 0 is reduced only to zero voltage (Z166.5–). Subse-
quently the residual voltage is reduced linearly to the time for torque reduction.
NOTE!
If the error reaction controlled stop is selected for an encoder error, other errors must
set to this error reaction, which can occur subsequently to a faulty encoder evalua-
tion. This includes the following errors 203 and 204 (overspeed), 201 (speed error
value) and 211 (field angle monitoring).

4.6.4 Error Reaction Return Motion

The error reaction return motion is not available at the active mains rectifier unit.
In addition to the error reactions „Stop“ and „Pulse inhibit“ the reaction „Return motion“ is
settable for some errors. It concerns an easy positioning with trapezoid profile, whose tar-
get position can be set absolutely or relatively to the current position.
For many errors, e.g. error no. 1016 „Mains failure (Mono unit)“ in addition to the standard
error reaction as „Pulse inhibit“ and „Stop“ also the error reaction „Return motion“ is set-
table. At initiation of an error with the „Return motion“ reaction the drive goes to a therefor
parameterized target position. The speed profile during the positioning to the return mo-
tion target is preset by a parameterized trapezoid (maximum speed, maximum accelera-
tion). The maximum speed must not be greater than the maximum speed of the drive.
The return motion target can be preset absolute or relatively in relation to the Z106.12–
Position actual value. If the return motion target is not reached, then this will be registered
in Z148.2– Status and the corresponding error message no. 2703 is transmitted. For this
purpose the position error of return motion is monitored. The return motion target is con-
sidered as not reached, if a position error is recognized according to the limit in Z148.6–
Position Error Limit and Z148.7– Position Error Time.
The return motion positioning is not an operating mode of its own. During positioning to
the return motion target the drive remains in the „error reaction active“ status (see ZState
Machine for the Device Controller of the axis units BM52xx, BM53xx– on page 404).
NOTE!
If the error reaction „Reset“ is set for the error mains failure, then also the motor-driv-
en operation at mains failure must be set (Z130.10– Supply mode bit 1 = 1).
4.6.4.1 Parameter Overview
Functional block: Return Motion[148]

Axis-independent
Cyclic Write
DS Support
Read only
Storage

148.3 Target position UDINT 0 0xFFFFFFFF 0 Inc 1:1 X O
148.4 Speed limit UDINT 0 13200 1000 Inc/ms 1:1 X
148.5 Acceleration limit UDINT 25 45000 200 Inc/ 1:100 X
ms2

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148.6 Position error limit UDINT 0 0xFFFFFFFF 0xFFFFFFFF Inc 1:1 X

148.7 Position error time UINT 0 65535 65535 ms 1:1 X
148.8 Output position set UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
value
148.9 Output speed set value DINT -65535 65535 0 Inc/ms 1:1 X
148.10 Output acceleration set DINT -65535 65535 0 Inc/ 1:100 X
value ms2
148.1 Mode
Configuration of error reaction return motion.

A change of the bit 0 mode during a continuous return motion positioning does not affect
the present return motion positioning.
Bit Meaning
0 Interpretation of the return motion target position (related to Z106.12– Posi-
tion actual value):
0: Absolute (short distance)
1: Relative to the current position
1 Enabling of return motion function:
0: Return motion enable
1: Return motion inhibit
The return motion is not be started at all or is canceled (drive stops) if bit is
set. A corresponding error message is displayed.
31 ... 2 Reserved
148.2 Status
Status of error reaction return motion
Bit Meaning
0 0: Return motion positioning is not active
1: Return motion positioning is active
1 0: Target position is not reached
1: Target position is reached, the return motion positioning was stopped cor-
rectly.
This bit will be deleted when upcoming error is reset.
3 ... 2 Reserved

Bit Meaning
4 1: Return motion positioning can/could not be started or is canceled.
Accumulative bit, for details see bit 8 to 11
7 ... 5 Reserved
8 If bit 4 = 1:
1: Inhibit / abort with Z148.1– bit 1 = 1
9 If bit 4 = 1:
1: Abort on the hardware end with pulse inhibit (digital input) or with a more
significant error reaction (pulse inhibit or stop at ramp).
10 If bit 4 = 1:
1: Abort with position error monitoring of return motion (see Z148.6– and
Z148.7–)
The drive can’t follow the set value (e.g. the residual energy of the DC link
can be insufficient at mains failure to reach the return motion target posi-
tion).
11 Reserved
12 1: Speed is limited to maximum speed (Z121.11–)
31 ... 13 Reserved
Target position of error reaction return motion.

A change of the target position during a continuous return motion positioning does not af-
fect the present return motion positioning.
148.4 Speed limit
Bipolar limit of the maximum speed during a return motion positioning.

A change of the maximum speed during a continuous return motion positioning does not
affect the present return motion positioning.
148.5 Acceleration limit
Magnitude of the maximum acceleration during a return motion positioning.

True for acceleration phase and deceleration phase.
A change of the maximum acceleration during a continuous return motion positioning
does not affect the present return motion positioning.

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148.6 Position error limit
Limit for the position error monitoring of error reaction return motion.
If the position error exceeds this value for the time period Z148.7– Position error time,
the return motion is canceled and a corresponding error message is displayed.
The position error monitoring is needed to cancel the return motion in a controlled man-
ner, e.g. if the DC link is discharged completely at mains failure, so that no more motion
is possible.
148.7 Position error time
Timeout for position error monitoring of error reaction return motion.

Full particulars see Z148.6–.
148.8 Output position set value
Display of the present position set value of return motion positioning.
148.9 Output speed set value
Display of the present speed set value of return motion positioning.
148.10 Output acceleration set value
Display of the present acceleration set value of return motion positioning.

4.6.5 Cam generator

This function block is not available at the active mains rectifier unit.
A cam generator is integrated in the controller firmware. The cam generator reads a value
from a configured table (cam). The cam generator writes this value to a target parameter.
The cams are generated with the program ProCam and are loaded into the device with
ProDrive.
The cam generator supports the modes for table request
1 Time control via the table index
2 Time control with virtual master axis
3 Parameter controlled processing
The index of the cam is recalculated by the cam generator in the fieldbus task cycle. The
operation of the fieldbus task allows the use of "Synchronous set value setting". Here, the
set values are available in the fieldbus cycle. It is interpolated and extrapolated between
the single set values, in order to operate the closed loops, which are running quicker.
NOTE!
According to application, the homing of the drive must be executed, before the cam
generator is started.
4.6.5.1 Time control via the table index
At time controlled processing, the table index is increased by one with each cycle.
4.6.5.2 Time control with virtual master axis
The index from the position of the virtual master axis Z159.10– results, if it is controlled
via a virtual master axis. The speed is set via Z159.9–. Interpolation between the single
cam supporting points can be processed in 256 steps. The following cam interpolation ta-
ble with the following supporting point count is generated:
Count_Interpolation points = 256  Count_Supporting points
The position of the virtual master axis is set, referring to the interpolation table. This
means, that the virtual master axis is positioned exactly on the supporting point with table
index Z159.4– = 2 (whereat the table index starts with 0), if the virtual master axis posi-
tioning is specified with Z159.10– = 512. The virtual master axis speed is set as a posi-
tioning change per cycle within the interpolation table. Therefore, the progress per cycle
on the interpolation table is exact one supporting point, if the virtual master axis speed is
256.

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Processing time of the cam using the virtual master axis is calculated by:
Count_Supporting points  256

Processing time = --------------------------------------------------------------------------  Cycle time of fieldbus task
Virtual master axis speed
If a negative virtual master axis speed Z159.9– is selected, the cam is processed re-
versely.
Example for the calculation time of processing with a virtual master axis:
Count supporting points Z159.5– = 512
Virtual master axis speed Z159.9– = 216
Fieldbus task cycle time Z1.10– = 1 ms
512  256
Processing time = ----------------------  1 ms = 0.60 s
216
In order to obtain the required speed, in order to process the cam in 0.4 sec,
the following is required:
Cycle time of fieldbus task

Virtual master axis speed = Count_Supporting points  256  ----------------------------------------------------------------
Processing time
1 ms
Virtual master axis speed = 512  256  ----------------- = 328
400 ms
4.6.5.3 Parameter-controlled processing
With parameter-controlled processing, the table index is specified by an input parameter

and is adjusted by an accordant parameterization.
Index calculation is made as follows:
m Input parameters - type "Float":
Index = Parameter value – Base value (P159.14)
m Input parameters - type "Integer":

n Processing is executed once, only (Z159.2– bit 5 = 0):
Index =  Parameter value – Base value (P159.14)  >> Shift factor (P159.15)
n Processing is executed cyclical (Z159.2– bit 5 = 0):
Mask = 0xFFFFFFFF >>  32 –  log 2 (Count_Supporting points  
Index =   Parameter value – Base value (P159.14)  >> Shift factor  & Mask
In order to process the bitwise AND in this case, the supporting point count
must comply with a power of 2 (for example 256 or 512).

4.6.5.4 Setting options of cam generator
Cyclical processing
1 Time controlled processing modes

If cyclical processing is selected in parameter Z159.2–, the cam generator jumps back
to the first table index after reaching the maximum table index Z159.4–. The cam gen-
erator then restarts processing. For more information, referring to the cyclical curve off-
set at a table index jump see chapter ZCyclical curve offset– on page 517.
2 Parameter-controlled processing mode

If the input parameters are float parameters, then the selection of the cyclical process-
ing does not effectuate the behavior of float parameters as described in chapter ZPa-
rameter-controlled processing– on page 515.
Additionally to the base value Z159.14– and to the shift factor Z159.15– at the input
parameters of an integer data type, a mask is generated to specify the index. This acts
on the input parameters. This mask operates after subtraction of the base value and
after shift operation. Referring to mask operation only those bits are used to specify the
index, which are required to activate the curve index.
Example:
Initial situation: Value input parameter = 0x0075AB39
Base value Z159.14– = 0xA000
Shift factor Z159.15– = 7
The following index results after subtraction of base value and after shift operation:
Index =  0x0075AB39 – 0xA000  >> 7 = 0xEA16
Having 512 supporting points applies to 512 = 29. Therefore, 9 bits are required to re-
spond to the 512 supporting points of the cam. This mask, which contains 9 bits is gen-
erated by the controller. If there were 256 supporting points, then accordingly the mask
will have 8 bits.
Example:
Index = 0xEA16 & 0x1FF = 0x16 = 22
Index 22 is the active table index.
If the cyclical processing is not selected, the active table index is the index 0xEA16 =
59926. This index is greater than the maximum index of (count supporting points - 1)
= 511. The active table index is limited to a maximum index of 511 at non-cyclical pro-
cessing.

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Cyclical curve offset
A curve offset is added to the output value of the cam. This offset is reset to 0 at the start
of processing (transmission from active to run). Each complete cam cycle increases the
curve offset by the cyclical curve offset in parameter Z159.6–.
This results in the following behavior:
1. Cam cycle: Output = Original curve
2. Cam cycle: Output = Original curve + 1 * cyclical offset
3. Cam cycle: Output = Original curve + 2 * cyclical offset
and so on.
If an offset cam is used (inequality of starting and end point), this offset is imported in a
cam file by ProCam and is transmitted to the controller during download. If the generation
of the cyclical offset is selected in the settings of the cam generator Z159.2–, then the
cam offset is loaded in parameter Z159.6– at state transition of the cam generator from
init to active.
m Time control with virtual master axis

Beginning with the greatest table index, the cam can be processed in processing mode
"Time control with virtual master axis" (reverse processing, if Z159.9– is negative).
Now, the cyclical curve offset is subtracted from the total curve offset after processing
is started.
m Parameter-controlled processing mode

The cyclical curve offset Z159.6– is added to the total curve offset, if the table index
overflows. This means, that a jump is made from a great table index to a small table
index. The cam generator recognizes this as an index overflow. The total curve offset
is increased by the cyclical curve offset. If there is a jump from a small table index to a
great table index, then the total curve offset is reduced by the cyclical curve offset.
Example:
Count supporting points = 32
Action: Jump from table index 25 to table index 7
Consequence:
The jump is detected as a positive overflow. This leads to an
increase of the total curve offset around the cyclical curve offset.
NOTE!
The jump of index 25 to index 7 is interpreted as a jump above table index 31 and not
as a jump within the cam of table index 25 above index 16 and after index 7. This is
the case, because the jump width is greater than or equal to half the count of the sup-
porting points. In this example the jump width (25 - 7) = 18 table indices is half of the
count of the supporting points (32 / 2) = 16 indices.

Relative mode
m Relative mode
If the relative mode is active, the value of the reference parameter is frozen, after the
cam generator is started. This frozen value is added to the output of the cam generator
output. This has no effects, if the reference parameter changes during the cam pro-
cessing at an active cam generator. At the activation of the cam generator, the refer-
ence parameter value remains, until the cam generator freezes the new present value
of the reference parameter at the next transmission from the state "active" into "run".
m No relative mode
If the relative mode is not active, the present parameter value, which is selected in
Z159.7–, is added to the output of the cam generator. The starting of the cam gener-
ator does not freeze the parameter value.
Automatic offset
If the setting AutoOffset is made in parameter Z159.2–, the value of the input parameter
is frozen in the parameter-controlled processing mode, after the cam generator is started
and is subtracted from the input parameters during the processing period. It is ensured,
that the cam is processed with the first index by starting at the beginning.
Interpolation
If processing is parameter-controlled and if there is a time control with a virtual master

axis, then interpolation can be executed between the table entries. It is possible to select
between a linear and a square interpolation. These settings are made in Z159.2–.
Interpolation is not possible in mode "Time control" via the table index.
Interpolation can be executed in 256 steps between two supporting points.
m Time control with a virtual master axis

Interpolation between the single table entries is executed at time control via the virtual
master axis with the actual position of the virtual master axis Z159.10–. The table in-
dices, between which the virtual master axis is positioned, are defined from the virtual
master and are interpolated between both of these table entries, accordingly.
m Parameter-controlled processing
n Input parameters "float"
At an active interpolation, the integer components of the input parameters define the
valid table index. The decimal position components define the interpolation point be-
tween the valid and the next table entry.
Example:
Base value Z159.14– = 0
Input parameter value = 29.8

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At an active interpolation is interpolated between the table index 29 and 30. It

can be interpolated in 256 steps between these points. The interpolation point
is defined as follows:
Interpolation point = Decimal position component  256 = 0.8  256 = 204
n The input parameters are an integer data type

The lost information (due to shift operation) is used for interpolation with integer data
types.
Example referring to chapter ZCyclical processing– on page 516.
After subtraction of base value, the index is 0x750B39.
Hexadecimal Binary
0x750N39 = 0111 0101 0000 10110 011 1001
Index calculation Interpolation component
The value of the 7 lost bits (due to shift operation) is 57.

The interpolation point is calculated as follows:
256 -
Interpolation point = Interpolation component  -----------------
P159.15
= 114
2
Interpolation must be operated in 256 intermediate steps. If the shift factor
Z159.15– is to be greater than 8, the highest 8 bits of the interpolation com-
ponent would be taken into account for interpolation.
4.6.5.5 State machine of the cam generator
"init" state
The cam generator is in "init" state, if bit 0 = 0 and bit 1 = 0 in Z159.3– State.
If the cam generator is in "init" state, changes can be made at the parameter settings.
It is checked, if a valid cam was loaded and if an output parameter was selected, during
the transmission from "init" to "active". If the parameter-controlled processing mode is
configured, the cam checks, if an input parameter was configured. It also checks, if the
count of the supporting points complies with power 2 during a cyclical processing within
this operating mode. If the cyclical offset is generated from the cam data, then this is ex-
ecuted during the transmission from "init" to "active". It also checks, if the reference pa-
rameter was selected at the preselected relative mode.
"active" state
The cam generator is in "active" state, if bit 0 = 0 and bit 1 = 0 in Z159.3– State.

The cam is waiting for the final command to start processing, if it is in the "active" state.
If the active relative mode is activated, the reference value is frozen during transmission
from "active" to "run", in order to use this value at the next processing.
"run" state
The cam is in the "run" state, if bit 0 = 1 and bit 1 = 1 in Z159.3– State. The cam gener-
ator processes the loaded cam in "run" state.
4.6.5.6 Limiting of output value
Because the cam is intended for the generation of the positioning set values for an axis,
the output value is available in the value range of an unsigned 32 bit value. If the output
value exceeds the maximum value of 0xFFFFFFFF, then the output overflows and the
output value starts at 0 again. The cam generator can write to a target parameter of an-
other data type, as well. However, in the range of 0x0 to 0xFFFFFFFF, only.
If the value, which is to be written on the parameter, is greater than the maximum value
or lower than the minimum value of the target parameter, then the output of the cam gen-
erator is limited. Bit 7 in the Z159.3– is set, if the output is limited. Then the processing
of the cam is exited. Now, the cam generator is in the "active" state.
Behavior of signed integer parameters:
– If the maximum value of the parameter is negative, the maximum value is written on
this parameter.
– If the output of the cam is greater than the positive maximum value of the parameter,
then this maximum value is written on the parameter.
– If the output of the cam generator is smaller than the positive minimum value of the
parameter, then this minimum value is written on the parameter.
Behavior of float parameters and of unsigned, integer parameters:
– If the output value is greater than the maximum value of the parameter, then the out-
put is limited and this maximum value is written on the parameter.
– If the output value is lower than the minimum value of the parameter, then it is limited
and the minimum value is written on the output parameter.
Additionally, the bits of the output value are the same length as the parameter
(uint16  16 bits; uint8  8 bits) at unsigned and integer parameter. Thus, the cam
can write uint16 parameters and uint8 parameters cyclical endlessly. These parameters
can overflow.
4.6.5.7 Handling the cam data
The cam data is filed in the parameter set file. Therefore, the cams are accepted easily,
if operated in another device.
A single cam is always loaded into the RAM of a controller. The cam must be written into
the flash, if it shall be available after a restarting. This is executed, by saving the complete
parameter set in the flash. Therewith, the cam is saved in the flash, also. If the device is
booted, an available cam in the flash is loaded with the parameters and now is available
in the cam generator.

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Function block: FbKurvengenerator[159]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
159.1 Mode WORD 0 0x00FF 0 1:1

159.2 Cam options WORD 0 0xFFFF 0 1:1 X
curve generator options
159.4 List index UINT 0 0xFFFF 0 1:1 X
159.5 List entries UINT 0 0xFFFF 512 1:1 X
159.6 Cyclic curve offset UDINT 0 0xFFFFFFFF 0 1:1 X
159.7 Reference parameter UDINT 0 0xFFFFFFFF 0 1:1 X
159.8 Reference axis UINT 0 1 0 1:1 X
159.9 Speed virtual master INT -32768 32767 256 1:1 X
159.10 Position virtual master DINT 0 0x7FFFFFFF 0 1:1 X
159.11 Input parameter UDINT 0 0xFFFFFFFF 0 1:1 X
159.12 Axis index input param- UINT 0 1 0 1:1 X
eter
159.14 Basic value index calcu- UDINT 0 0xFFFFFFFF 0 1:1 X
lation
159.15 Shift factor index calcu- UINT 0 32 0 1:1 X
lation
159.16 Output parameter UDINT 0 0xFFFFFFFF 0 1:1 X
159.17 Target axis UINT 0 255 0 1:1 X

159.1 Mode
Control of cam generator
Bit no. Meaning

0 Activation of the cam generator
Request of state change in state machine of cam generator from "init" to
"active".
0  1: Activation of the cam generator
1 Starting the cam generator
The processing of the cam is initiated with a rising edge in this bit. This
causes a state change of the state machine of the cam generator from
"active" to "run".
0  1: Start the processing of the cam
2 The processing of the cam generator is stopped. The table index is reset.
0: Cam generator can be started and operated
1: Cam generator is stopped and is reset
3 Stops the processing at time-controlled processing. As soon as the bit is
reset, processing is started again at the same point (interrupt function).
0: Time-controlled processing is running

1: Time-controlled processing is stopped
4…6 Reserved
7 The actual valid cam is invalidated. There is no valid cam available in the
RAM of the controller.
0 1: The actual cam is deleted in the RAM
159.2 Cam options
Settings of the different operating modes and functions of the cam generator.
Bit no. Meaning

0 0: time-controlled processing
1: parameter-controlled processing
1 Time-controlled processing, only
0: time control via the table index
1: time control with virtual master axis
2 Time control with virtual master axis and parameter-controlled processing,
only
0: no interpolation
1: active interpolation

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Bit no. Meaning

3 Time control with virtual master axis and parameter-controlled processing,
only
0: linear interpolation
1: square interpolation
4 0: specify cyclical offset manually
1: generate cyclical offset from the cam
5 0: processing one-time only
1: cyclical processing
6 0: real time mode
1: relative mode
7 Parameter-controlled processing, only
0: no auto offset
1: active auto offset
159.3 Status
Displays the actual state of cam generator.
Bit no. Meaning

0…1 00: "init" state (parameterization is possible)
01: "active" state (parameterization completed and advisable)
11: "run" state (cam processing is running)
2…5 Reserved
6 0: no valid cam in the RAM
1: valid cam in the RAM
7 0: the output is between the minimum and the maximum value of the tar-
get parameter
1: the output was limited
159.4 List index
The instantaneously active table entry is displayed.

This index starts at 0 and ends at (count supporting points - 1).
159.5 List entries
Total count of supporting points of the active cam.

159.6 Cyclic curve offset
Cyclical curve offset see chapter ZCyclical curve offset– on page 517.
159.7 Reference Parameter
Reference parameter, which is used for the relative mode or for the real time offset. Infor-
mation see chapter ZRelative mode– on page 518.
159.8 Reference axis
Axis index for reference parameter.

The reference parameter at a double axis can originate from the other axis. This way the
motions of both axes can be combined.
Value Meaning
0 The reference axis originates from axis 1
1 The input parameter originates from axis 2
159.9 Speed virtual master axis
Speed of the virtual master axis. Speed of 256 accords to a processing of a table index
per work cycle. At a negative speed the cam will run the opposite direction.
159.10 Position virtual master axis
Specifies the position of the virtual master in the cam. It must be considered, that the max-
imum position of the virtual master axis is (supporting points - 1) * 256, because interpo-
lation is executed between the supporting points with 256. If the virtual master axis is
exactly on position 512, then the virtual master axis is positioned exactly on the 3rd sup-
porting point. If the virtual master axis is on position 105, then the virtual axis is positioned
between the 1st and the 2nd supporting point.
159.11 Input parameter
Input parameters for the parameter-controlled processing.

This parameter is combined with the reference value and amounts to the active table in-
dex. If the parameter is an integer data type, then additionally the shift factor is combined,
in order to amount to the active table index.

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159.12 Axis Index input parameter
Axis index of the master axis.

The input parameter of a double axis can originate from the other axis, as well. Therefore,
both axes motion can be combined.
Value Meaning
159.14 Basic value index calculation
At parameter-controlled processing the base value is subtracted from the input parame-
ter.
159.15 Shift factor index calculation
After the base value was subtracted from the input parameter, the resulting value is shift-
ed to the right by the shift factor, if the input parameters are integer data types.
159.16 Output parameter
The cam generator writes on this output parameter. All cyclic writable parameters can be
used as output parameters.
159.17 Target axis
The own axis or all axes can be selected at a double axis as a target axis. The selection
of the other axis only is not possible.
Value Meaning
0 The cam generator writes to the output parameter of the own axis
255 The cam generator writes to the output parameter of all axes

4.6.6 Motor potentiometer

This function block is not available at the active mains rectifier unit.
Changes of the speed set value can be forced by the motor potentiometer depending on
two control bits (Motor potentiometer+ and Motor potentiometer-). The motor potentiom-
eter writes directly on the ramp function parameter Z110.5– Input 16 bit.
The motor potentiometer is activated via the control parameter Z168.2– Mode.
The motor potentiometer parameter Z168.6– Increment indicates the amount of the in-
crease/decrease of the motor potentiometer output Z168.3–.
Parameter Z168.2– bit 4 sets whether the motor potentiometer function operates edge
sensitive or level sensitive:
m edge sensitive
At increasing edge of Z168.2– bit 1 Motor potentiometer+ or Z168.2– bit 2 Motor
potentiometer-, Z168.6– Increment is added or subtracted once.
m level sensitive
At increasing edge of Z168.2– bit 1 Motor potentiometer+ or Z168.2– bit 2 Motor
potentiometer-, Z168.6– Increment is added or subtracted every 32 ms.
The output of the Motor potentiometer is limited by an upper and a lower limit.
The output of the Motor potentiometer is set to 0 or is synchronized with the ramp function
generator parameter Z110.5– Input 16 bit depending on parameterization of Z168.2–
Mode bit 3 at activation of the Motor potentiometer.
The output of the motor potentiometer Z168.3– is checked for limits and if necessary ad-
justed in case of Motor potentiometer +/- is activated. If the upper limit is changed so that
the output of the Motor potentiometer is greater than this limit, the output is adjusted
downwards with an activated Motor potentiometer+ function. The modification occurs di-
rectly without transient.

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Function block: FbMotorpotentiometer[168]
Axis-independent
Cyclic Write
DS Support
Read only
Storage

168.3 Output INT -16384 16384 0 % 16384: X
100
168.4 Upper Limit INT -16384 16384 16384 % 16384: X
100
168.5 Lower Limit INT -16384 16384 -16384 % 16384: X
100
168.6 Increment INT 0 2000 100 % 100:1 X
168.1 Status
Status of the Motor potentiometer
Bit no. Meaning

0 1: Motor potentiometer active
3…1 Reserved
4 1: Ramp-up final value at Motor potentiometer+ reached
5 1: Ramp-down final value at Motor potentiometer- reached
6 1: Button Motor potentiometer+ depressed
7 1: Button Motor potentiometer- depressed
8 1: Motor potentiometer+ active
9 1: Motor potentiometer- active
10 1: Error at writing on the target parameter (e.g. value greater than maxi-
mum value)
15 ... 11 Reserved

168.2 Mode
Operating mode of the Motor potentiometer
Bit no. Meaning

0 0: Disable Motor potentiometer
1: Enable Motor potentiometer
1 0: Motor potentiometer+ off
1: Motor potentiometer+ on
2 0: Motor potentiometer- off
1: Motor potentiometer- on
3 Synchronization of the Motor potentiometer- output at activation
0: Output is synchronized to the ramp function generator parameter
Z110.5– Input 16 bit
1: Output is set to 0
4 Evaluation of the Motor potentiometer +/-
0: Edge sensitive
1: Level sensitive
15 … 5 Reserved
168.3 Output
Output value of the Motor potentiometer.

This value is written directly to the ramp function generator parameter Z110.5– Input
16 bit at activation of the Motor potentiometer.
168.4 Upper limit
Maximum value which is not exceeded in spite of activating the "Motor potentiometer+"
button.
This value must be greater than the value set in parameter Z168.5– Motor potentiometer
lower limit. If this condition is not fulfilled, the input value is rejected.
NOTE!
If this limit is changed and the actual output value Z168.3– is out of the area of the
limit value, at first activation of the "Motor potentiometer+" button (bit 1 of the param-
eter Motor potentiometer mode) the output value is set to the limit value (reduction of
speed).

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168.5 Lower limit
Minimum value which is not fallen below in spite of activating the "Motor potentiometer-"
button.
This value must be less than the value set in parameter Z168.4– Motor potentiometer up-
per limit. If this condition is not fulfilled, the input value is rejected.
NOTE!
If this limit is changed and the actual output value Z168.3– is out of the area of the
limit value, at first activation of the "Motor potentiometer-" button (bit 2 of the param-
eter Motor potentiometer mode) the output value is set to the limit value (increase of
speed).
168.6 Increment
Setting the amount of output value change.

If e.g. the value 1% is set, the ramp function generator parameter Z110.5– Input 16 bit
increases by 1% at each clicking of the "Motor potentiometer+" button up to the maximum
upper limit Z168.4– in the edge sensitive mode.
Incrementint = Increment Z168.6– [%] / 100% * Max Z110.5–

where Max Z110.5– = 16384 = internal standardization of 100% of the ramp function
generator parameter Z110.5– Input 16 bit
Incrementint = Increment Z168.6– [%] / 100% * 16384

4.7 Controllers
With the position controlled operating modes, the target position generated by the set val-
ue manager and the actual position measured by the encoder system are compared and
evaluated in the P-controller ((Z18.14–) Kv). In conjunction with the secondary speed
controller, a requirement for torque current is generated and then passed to the motor
manager. The position controller contains a speed feedforward adjustable via factor
Z18.15–.
With the speed controlled operating modes with speed set value specification, the target
speed generated by the set value manager and the actual speed measured by the encod-
er system are compared and evaluated in the PI controller ((Z18.24–) Kp, (Z18.25–) Tn).
A requirement for torque current is calculated and then passed to the motor manager. The
speed controller contains a further PT1 element for smoothing the actual speed, a notch
filter for speed actual value and a acceleration feedforward adjustable via the factors
Z18.36– and Z18.37–.
At the current control operating mode either a torque current set value or a torque set val-
ue (from FW version 1.14 onward if Z18.9– bit 10 = 1) can be directly defined. The torque
current set value can be written in the writable parameter lsq set value for OM current con-
trol (Z18.50–) in % (standardization: 100% accord to lsq max Z19.8–). The torque set val-
ue can be entered in the writable parameter "Torque set value for OM current control
(Z18.78–) in % (standardization: 100% = Mbase Z138.34–). Accordantly the torque cur-
rent set value is converted in A or the torque set value is at first re-scaled in Nm and is
converted by Kt current (Z155.24–) and the flux set value (Z146.13–) in a torque current
in A. Then the result is passed on to the motor manager in the RT0 cycle (lsq set value
unlimited Z18.45–).
If the synchronized drive operating mode (Z109.1– = -5) is activated and at the same time
the synchronized operating mode (Z145.2–) "Synchronized operation on a real master
axis“ is set, the set values from the set value manager are overwritten. Instead, the set
value is calculated from the position actual value of the master encoder or from the set
value of the master axis (only possible at double axis units). The electronic gearbox
(Z145.3– and Z145.4–) is then computed. The set values for the controller are then cal-
culated from the set value at the gearbox output.
In the "Synchronized operation on a virtual master axis" mode the set values, including
the electronic gearbox, are calculated in the Synchronized Operation module and for-
warded to the position and speed controllers via the set value manager.

Document No.: 5.09022.17 of 978
4.7 Controllers
Figure 111: Overview of the controller in the drive

Set value manager
The set value manager manages the set value sources, the output values of the set value
generators, such as the ramp function generator or the positioning or the positioning set
value feedforward via the fieldbus and operates the set value interface to the position and
speed controller. Also, refer to the chapter ZSet Value Manager– from page 479.
5000_0082_rev02.cdr
Acceleration set value SetValMgr 111.5 111.9 Jerk set value SetValMgr
Speed set value SetValMgr 111.4

111.2 Position set value SetValMgr
111.3
Set value source

cycle
Updating
Set value source cycle

Feedforward
modes
RT1 or 18.9 bits 1,2,3,16
fieldbus cycle RT0 cycle
Position Acceleration
controlled Feedforward
operating modes Speed set value Speed feedforward
output (position controlled op. m.)
Position SetValMgr (18.69)
set value source * S
Speed set value
(speed controlled op. m.)
Feedforward
Speed
controlled Position set value
operating modes (18.58,18.59)
Speed
set value source Interpolation mode
(111.6)
External speed
feedforward (111.7)
External acceleration
feedforward (111.8)
Conversion:
* /s : Inc/s Degree/s
Figure 112: Block diagram of the set value manager

Document No.: 5.09022.17 of 978
4.7 Controllers
Controller options (18.9) bit 2 = 1 and

operating mode position control 109.2 = - 4
External acceleration Smoothing time
feedforward (111.8) (18.39)
* S2
Controller options (18.9) bit 16 = 1, bit 2 = 0 and
operating mode not position control 109.2 - 4
(111.7) External speed feedforward
Operating mode
position control
109.2 = -4 and Smoothing time
controller options (18.70)
18.9 bit 3 = 1
* S
109.2 -4 or
18.9 bit 3 = 0
(18.9 bit 2 = 0 (18.9 bit 2 = 1
and 109.2 = -4)
or 109.2 = -4)
and or
Speed set value Feedforward bit 16 = 1
output bit 16 = 0
factor
SetValMgr (18.15)
(18.69) Gear factor w3 acceleration
(18.16) feedfwd. from
w1 position w2 speed feedfwd. position controller
set value act. value (18.52)
(18.17)
Position
* 18.11
e1
Position
Position
controller Position controller Isq set value
set value eror value Kv (18.14) output output total unlimited
(18.59:18.58) (18.13) (18.31) (18.51) (18.45)
- Position
error
* Speed contoller
Position
(18.62:18.61)
controller
18.12
* * : Inc Degree
x1 position
actual value
Position actual value
(18.56:18.55)
Conversion:
* /s : Inc/s
/s2 : Inc/s
Degree/s
Degree/s2
* 5000_0084_rev09.cdr
Figure 113: Block diagram of the position controller
NOTE!
The gear factor Z18.16– is active at single axis and mono devices with two encoder
inputs only. The gear factor is not evaluated at double axis units.

Speed additional value
Position controlled (18.68)
operating mode Speed limitation
Position controller w2 speed
(18.71, 18.72)
output total (18.51) set value total
(18.21)
Speed set value
output SetValMgr Speed controlled
(18.69) operating mode
w3 acceleration feedfwd. from position controller (18.52) w3 Feedforward w3 Feedforward

factor factor
Position controlled pos accel. neg. accel.
operating mode (18.36) (18.37)
Smoothing time and controller options
(18.39) 18.9 bit 1 = 0 w3 Feedforward act. factor (18.38)
Speed controlled operating mode

or
Acceleration
controller options
Kp speed filter (18.9 bit 18)
18.9 bit 1 = 1
controller (18.24)
Smoothing w3 acceleration feedfwd.
time Kp act. value
(18.33) (18.35)
Anti-Windup from
current limit
(18.41) (138.6, 138.7) Ks actual
Tn speed and Ks actual value value
e2 controller (18.25) (155.10) Isq set value
speed error value (155.10) unlimited
(18.23) (18.45)
Kp/Tn Integral term
1/Ks
Speed
- x2 speed actual
value filtered
speed controller
(18.29)
controller
output Speed
(18.22) Td speed (18.32) controller
controller (18.26) Derivate term output
Center frequency speed controller total
(18.42) (18.30)
Kp Td (18.75)
Bandwidth 1/J
(18.43)
Friction compensation
Smoothing time actual output value (154.8)
(18.27)
x2 speed actual value unfiltered

(18.44) 5000_0083_rev09.cdr
Figure 114: Block diagram of the speed controller

Document No.: 5.09022.17 of 978
4.7 Controllers
Isq set value for

OM current control
[%]
(18.50)
(19.8) Isq set value
unlimited
[A]
Max. torque =0
current Controller options (18.45)
[A] (18.9) bit 5
Torque set value for =1
OM current control
[%]
(18.78) N
(138.34)
N D
Kt actual
D value .Flux set value
Torque
base value [Nm] [%]
5000_0086_rev02_int.cdr [Nm] (155.24) (146.13)
Figure 115: Block diagram of the position/speed controller module when in current control
Master speed set value additive 1

+ Scaling
Master speed set value additive 2
*
+
Master angle offset (145.18)
Electronic gearing
145.2 Mode (145.3 and 145.4)
Position actual value of the master axis Position set value
bit 13 (18.58 and 18.59) Position controller
(106.10 and 106.11 of the master encoder) 0 +
see block diagram
1 at position control
Position actual value of the master axis Master axis in drive block or torque control
(106.10 and 106.11 of the master encoder) (18.14 = 10 or 14)
Position set value of the master axis Master axise in position controlled operating mode
(18.58 and 18.59 of the master axis) (18.14 = 12)
Speed set value of the master axis Master axis in speed controlled operating mode
(18.21 of the master axis) (18.14 = 13)
This function is only available 5000_0145_rev04_int.cdr

at double axes devices!
Figure 116: Block diagram of the position/speed controller when in synchronous

operation with a real master shaft

Physical units in the control circuit
Speed controller
Position controller Kp (18.24)
Kp
w1 Position e1 Position e2 Speed [1/s]
set value controller error error
[Grad] [Grad] Kv (18.14) [Grad/s] Tn (18.25) Ks (18.40)
(18.11) (18.13) (18.23) Ki =
Kv [s] 1/Ks
Kp/Tn 2
[1/s] 2 [As /Grad]
[1/s ]
- -x2 Speed Isq set value
actual value [1/s] Kd = unlimited
x1 Position [Grad/s] Kp Td [A]
actual value (18.22) (18.45)
[Grad]
(18.12) (18.27) Time constant speed actual value filter
[ms]
(106.38) speed for controller Isq set value

[INC/TAB] [A]
[1/s] (47.1)
Load torque Strom-

[Nm] regler
S&H Isq actual value

Acceleration torque [A]
Controlled system 2
[Nm] or [m kg/s ]
2
(47.3)
x2 x3
2
-
[s] [1/s] [s] [1/s ] 1/J
2
Kt
[1/kg m ] [Nm/A]
Motor
torque
[Nm]
5000_0085_rev02_int.cdr
Figure 117: Physical units in the control circuit
4.7.1 Position / Speed Controller

tifier unit has neither a speed controller nor a position controller.
4.7.1.1 The factor Ks
The factor Ks accords to the "system gain" and is determined by the total inertia of the
drive J in [kg m2], the motor torque constant Kt in [Nm/A], and the magnetic flux in %. The
following specifications were made:
o
180 Kt
Ks = -----------  Flux[%]  ------
 J
Ks is [(degree/s2)/A] or acceleration/A. Therefore, the parameter Ks is a measure for the
accelerating capability per ampere of the drive.

Document No.: 5.09022.17 of 978
4.7 Controllers
The parameter Z18.40– "Ks factor" is the value of the "system gain" at the nominal point
(magnetic flux = FluxN = 100% and a "warm" motor).
The Ks factor Z18.40– is the base of the parameter "Ks actual value" Z155.10– at which
an operation is considered that deviates from the nominal operation.
In the controller the inverse value of the "Ks actual value" Z155.10– (1/Ksact) serves as
a standardization constant between the acceleration value (speed controller output) and
the torque current set value (isq). The P gain factor of the speed control loop Z18.24– is
[1/s] and is independent of the controlled system.
An incorrect value in the standardization constant 1/Ks in the speed controller causes that
the conversion of the accelerating control in the torque current as well as the speed con-
troller parameterization are incorrect. Kp is not [1/s] nor is it comparable with the other
applications in the controller settings.
The evaluation of the Ks factor Z18.40– is described in the chapter ZKs determination–
from page 255.
The Ks adaption according to conditions deviating of the nominal point (result: Ks actual
value Z155.10–) is described in the chapter ZKs adaption– from page 652.
4.7.1.2 Position / speed controller adaption

The position / speed controller adaption is not available for the active mains rectifier
unit.
Adaption of the position controller and speed controller that can be programmed
freely
At low speed the error value is very low and these deviations can not be compensated
fast enough. Therefore often a stronger controller is required for low speed.
The parameters Kp and Tn of the speed controller and Kv of the position controller are
adapted depending on the speed with the speed controller adaption. Two or three inter-
polation points can be specified for the adaption. If the mean speed threshold (Z155.15–
) is set to 0, the adaption is executed with two interpolation points.
The specified factors will be multiplied by the regular values of Kp (Z18.24–), Tn
(Z18.25–)and Kv (Z18.14–). Kp and Ki will be interpolated linearly between the both
speed limits, where Ki is calculated from Kp and Tn. The Ki is reduced linearly to the value
0 if 0 ms is entered at the adaption of Tn.
NOTE!
The I-term of the speed controller is deleted at Tn = 0 ms!
The resulting adapted value of Tn is calculated from the adapted values for Kp and Ki.
This calculation of Tn is executed with low priority, because Tn is only for display.

The adaption can be calculated alternatively depending on the speed actual value or on
the speed set value or on a free usable parameter (Z155.18–). In position control the
adaption can additionally be calculated depending on the speed feedforward.
Kp * Kpadapt1
Kp * Kpadapt2
Kp [18.24]
Tn [18.25]
Tn * Tnadapt2
Tn * Tnadapt1
n1 n2 n3 Speed
Figure 118: Characteristics of Kp (Kv is analog) and Tn depending on the speed
In ZFig. 118– the characteristics of Kp and Tn is shown due to the speed controller adap-
tion. While Kp and Kv are linear, Tn mostly has a hyperbolic shape.
The position/speed controller adaption can be activated by the (controller adaption-)
mode Z155.1–.
If the middle speed threshold is parameterized to 0, the middle interpolation point is not
applicable and the adaption is executed between the upper and lower threshold.
4.7.1.3 Cyclical Ks adaption
Adaption of the Ks factor that can be programmed freely.

The torque of inertia changes at some applications. This requires a cyclical change of the
Ks factor and can be adapted via the control and parameter Z155.14–.
The Ks value is updated in RT1 cycle.
The cyclical Ks adaption can be activated by (controller adaption) mode Z155.1–.

Document No.: 5.09022.17 of 978
4.7 Controllers
4.7.1.4 Acceleration feedforward
There are four different types of acceleration feedforward:

– From the speed feedforward change
– From the entire speed set value
– From the set value manager
– External acceleration feedforward
By the option "from the speed feedforward change" the acceleration feedforward is ob-
tained from the speed feedforward differentiation in the RT0 cycle. When selecting "from
the entire speed set value" the sum of position controller output and speed feedforward
is differentiated in the RT0 cycle. Therewith, the acceleration feedforward runs synchro-
nous to the speed feedforward during both procedures. In order to reach precedence over
the speed, the speed set value must be smoothed via Z18.33–.
If the acceleration feedforward is selected from the set value manager a constant accel-
eration value is feedforwarded per fieldbus cycle. Accordant to the interpolation proce-
dure this can come temporally before the position and/or speed (refer to Z111.6–).
With position-controlled drives having a cyclic position set value an external acceleration
can be specified additionally (refer to Z111.8–).
To unburden the speed and position controllers, the feedforward must be timely before
the position and/or speed set values. Accordant to the interpolation procedure this is al-
ready executed by the set value manager. Additionally, the time can be specified with
which the acceleration is supposed to arrive before the position, directly via Z18.93–.
This is possible, only for specified combinations of the feedforward and the interpolation
method (Z111.6–):
– Feedforward of the set value manager and the interpolation method 4
– Feedforward of the entire speed set value and the interpolation method 3 and 4
This option is activated by bit 19 of Z18.9–.
4.7.1.5 Friction compensation

The active mains rectifier unit doesn’t use this module. The active mains rectifier unit
doesn’t support the friction compensation.
This compensation consists of an additive additional torque set value (friction precontrol)
and an adaption of the P and I-parts of the speed controller (stick-slip effect countermea-
sure).
3.7.1.5.1 Description of the friction compensation
The dynamic of a feed axis is influenced negatively from static friction (dry friction) at start
or inversion of the direction. The friction compensation enables the compensation of the

static friction by connecting an additional torque set value which is dependent on the mov-
ing direction and speed.
Functionality
In principle the friction compensation is, that the known static friction part is compensated
via an additional torque set value and must not be balanced by the speed controller.
Thus an improvement of the controller behavior (lower position error) can be obtained es-
pecially at reversal of the moving direction. This causes an increase of the drive control’s
accuracy.
A certain compensation of the friction is achieved with the connection of a correction sig-
nal to the internal speed set value.
NOTE!
A speed controlled or position controlled operating mode must be activated (see
Z109.1–) for friction compensation.
A correction signal with selectable progression is connected depending on the set value
or actual value speed of the drive.
Three-point with hysteresis and dead zone:
Output
5000_0209_rev02_int.cdr
>154.7<
>154.6<
>154.3< >154.3< >154.4< >154.4< Speed

- >154.9< + >154.9<
>154.5<
Figure 119: Three-point with hysteresis and dead zone
Three different values will be connected. A hysteresis Z154.9– can be taken into account
to avoid unintentional switching operations at the speed threshold if the speed signal is
noisy.

Document No.: 5.09022.17 of 978
4.7 Controllers
Three-point with ramp
Output
5000_0210_rev01_int.cdr
>154.7<
>154.3<
>154.4< Speed
>154.5<
Figure 120: Three-point with ramp
A ramp function value is set between the constant connection values below the lower
speed threshold and above the upper speed threshold. Faults at the switching edges are
avoided by the continuous run.
Two-point with hysteresis
Output
5000_0211_rev01_int.cdr
>154.7<
>154.3< >154.4< Speed
>154.5<
Figure 121: Two-point with hysteresis
Two different values are connected. The effective hysteresis results from the speed
thresholds Z154.3– and Z154.4–.

Ramp with PT1 filter and response
Figure 122: ProDrive Friction torque compensation with PT1 filter and response
The friction torque compensation is described by a symmetrical compensation. By the

friction torque value Z154.7– and the speed threshold Z154.4– the friction torque com-
pensation increase is calculated. Additionally, the friction torque is smoothed by a PT1 el-
ement. The friction torque is precontrolled till such time as the set values of the position
and the speed precede the actual values.
Compensation characteristic
The compensation characteristic is defined by the interpolation of six parameterized sup-

porting points P1-P6 (refer to ZFig. 123–). The individual supporting points include com-
pensation torques regarding the accordant speed Z154.15–. The compensation
characteristic is symmetric to central point of the origin (n = 0, MFriction = 0), being firmly
defined and thereby is not parameterizable.
If the speed exceeds the speed value of P6, the compensation torque remains consistent-
ly on the value of P6.

Document No.: 5.09022.17 of 978
4.7 Controllers
Figure 123: Exemplary presentation of the parameterizable friction torque-compensation characteristic
3.7.1.5.2 Reduction of the friction torque at 0 speed
If 0 speed is approached at motors with a high friction torque then in a lot of cases the
current is not reduced and remains at the torque current, which is required to overcome
the sliding friction. The friction torque reduction is switched on at speed 0 by bit 11 of
Z154.1–. The friction torque is reduced till such time as the current reaches 0. By the
waiting time Z154.13– can be set how long is waited after recognizing speed 0, until the
friction torque reduction is initiated.
3.7.1.5.3 Parameter overview
Functional block: FbReibmoment[154]

Axis-independent
Cyclic Write
DS Support
Read only
Storage

154.3 Lower speed threshold FLOAT -50000000 50000000 -1 Grad/s 1:1 X
154.4 Upper speed threshold FLOAT -50000000 50000000 1 Grad/s 1:1 X
154.5 Output value 1 FLOAT -50000000 50000000 0 Nm 1:1 X

154.8 Friction compensation FLOAT -50000000 50000000 0 Nm 1:1 X
actual output value
154.9 Hysteresis speed FLOAT 0 1000 0 Grad/s 1:1 X
threshold
154.10 Time constant friction FLOAT 0 1000 0 ms 1:1 X
torque
154.11 Stick slip controller FLOAT 1 100 1 1:1 X
adaption
154.12 State identification fric- DINT 0 10 0 1:1 X
tion torque
154.13 Wait time friction torque UINT 0 10000 1000 ms 1:1 X
reduction
154.14 Compensation charac- FLOAT 0 100000 0 Nm 1:1 X
teristic - torque
154.15 Compensation charac- FLOAT 0 1200000 0 rpm 6:1 X
teristic - speed
3.7.1.5.4 Description of the Parameters
154.1 Mode
Configuration of the friction compensation function
Bit Meaning
0 0: Friction compensation function is switched off
1: Friction compensation function is switched on
2 ... 1 Connection
00:Three-point with hysteresis and dead zone
Output Value 1 ... 3, hysteresis speed threshold effective
01: Three-point with ramp
Output Value 1, 2 effective, in between continuous with ramp
10: Two-point with hysteresis
Output Value 1, 3 effective, hysteresis is due to the speed thresholds
11: Ramp with PT1 filter and response
7 ... 3 Reserved
9 ... 8 Speed thresholds are related to
00: Speed set value
01: Speed actual value
10: Speed feedforward (position control)
10 Reserved
11 Friction reduction at speed 0
31 ... 12 Reserved

Document No.: 5.09022.17 of 978
4.7 Controllers
NOTE!
The friction compensation must not used in combination with the torque coupling
function.
154.3 Lower speed threshold
Lower speed limit (speed limit for the left-hand sided switching threshold)
154.4 Upper speed threshold
Upper speed limit (speed limit for the right-hand sided switching threshold)
154.5 Output value 1
Connected friction compensation value for

Speed < Lower speed limit
For connection „Three-point with hysteresis and dead zone“ (Z154.1– bit 2 ... 1 = 00) see
ZFig. 119– on page 540.

Lower speed limit  Speed < Upper speed limit
Effective only if connection „Three-point with hysteresis and dead zone“ (Z154.1–
bit 2 ... 1 = 00), see ZFig. 119– on page 540.

Speed > Upper speed limit
For connection „Three-point with hysteresis and dead zone“ (Z154.1– bit 2 ... 1 = 00) see
ZFig. 119– on page 540.

154.8 Friction compensation actual output value
Connected friction compensation value at the moment .
154.9 Hysteresis speed threshold
Hysteresis for connection „Three-point with hysteresis and dead zone“ (Z154.1–
bit 2 ... 1 = 00), otherwise not effective, see ZFig. 119– on page 540.
154.10 Time constant friction torque
Time constant of the friction torque filter at the friction compensation ramp with PT1 filter
and response.
154.11 Stick-slip controller adaption
Factor for the P term and the integral term of the speed controller, when a stick-slip effect
is detected.
154.12 State identification friction torque
Value Meaning
0 Deactivated
1 Init
2 Wait until there is negative speed
3 Measurement of Iq before acceleration
4 Wait until acceleration
5 Measurement
6 Identification control
7 Calculation
8 End
9 Error Time-out

Document No.: 5.09022.17 of 978
4.7 Controllers
154.13 Wait time friction torque reduction
Waiting time in ms after recognition of the set speed 0 until friction torque reduction is ini-
tiated.
154.14 Compensation characteristic - torque
Parameter array with the elements [0] to [5] of the torque values of the compensation sup-
porting points P1 - P6 (refer to ZDescription of the friction compensation– from page 539).
154.15 Compensation characteristic - speed
Parameter array with the elements [0] to [5] of the speed values of the compensation sup-
porting points P1-P6 (refer to ZDescription of the friction compensation– from page 539).
4.7.1.6 Compensation of the torque ripple
If the torque ripples are dependent of the electric angle they can be compensated in the
controller by additional torque current. This is described in detail in ZTorque ripple com-
pensation– from page 174.

4.7.1.7 ProDrive Position / Speed Controller
Figure 124: ProDrive position controller with detailed settings

Document No.: 5.09022.17 of 978
4.7 Controllers
Figure 125: ProDrive speed controller with detailed settings

Figure 126: ProDrive Position speed controller adaption
4.7.1.8 Parameter Overview of Position / Speed Controller

Axis-independent
Cyclic Write
DS Support
Read only
Storage
18.7 Adaptation time param- UDINT 0 10000 1950 ms 1:1 X X

eter
18.9 Controller options DWORD 0 0xFFFFFFFF 0 1:1 X
18.10 Position controller status DWORD 0 0xFFFFFFFF 0 1:1 X
18.11 w1 position set value FLOAT -1000000 1000000 0 Grad 1:1 X
18.12 x1 position actual value FLOAT -1000000 1000000 0 Grad 1:1 X
18.13 e1 Position error value FLOAT -1000000 1000000 0 Grad 1:1 X
18.14 Kv position controller FLOAT 0 1000000 20 1/s 1:1 X X

Document No.: 5.09022.17 of 978
4.7 Controllers
18.15 w2-Feedforward factor FLOAT 0 10 1 1:1 X X X

18.16 Gear factor motor:load- FLOAT 0.0001 1000 1.0000 1:1 X X O
encoder
18.17 w2 speed feedfwd. act. FLOAT -1000000 1000000 0 Grad/s 1:1 X
value
18.18 Time constant position FLOAT 0 1000 0 ms 1:1 X
error display filter
18.20 Speed controller status DWORD 0 0xFFFFFFFF 0 1:1 X
18.21 w2 speed set value total FLOAT -1000000 1000000 0 Grad/s 1:1 X
18.22 x2 speed actual value FLOAT -1000000 1000000 0 Grad/s 1:1 X
filtered
18.23 e2 speed error value FLOAT -1000000 1000000 0 Grad/s 1:1 X
18.24 Kp speed controller FLOAT 0 1000000 10 1/s 1:1 X X
18.25 Tn speed controller FLOAT 0 1000000 1 s 1:1 X X
18.26 Td speed controller FLOAT 0 0,1 0 s 1:1 X X
18.27 Filter time constant x2 FLOAT 0 50 0 ms 1:1 X
speed act. value
18.29 Integral term speed con- FLOAT -3.4028234e38 3.4028234e38 0 Grad/ 1:1 X
troller s2
18.30 Derivate term speed FLOAT -3.4028234e38 3.4028234e38 0 Grad/ 1:1 X
controller s2
18.31 Position controller out- FLOAT -1000000 1000000 0 Grad/s 1:1 X
put
18.32 Speed controller output FLOAT -3.4028234e38 3.4028234e38 Grad/ 1:1 X
s2
18.33 Time constant speed set FLOAT 0 50 0 ms 1:1 X
value filter
18.35 w3 acceleration feed- FLOAT -3.4028234e38 3.4028234e38 0 Grad/ 1:1 X
fwd. act. value s2
pos accel.
neg. accel.
18.38 w3-Feedforward act. FLOAT 0 10 1 1:1 X
factor
18.39 w3-Feedforward time FLOAT 0 50 0 ms 1:1 X
constant
18.40 Ks factor FLOAT 0.01 1.000000e+09 1.000000e+04 Grad/ 1:1 X X
s²/A
18.41 w2 speed set value fil- FLOAT -1000000 1000000 0 Grad/s 1:1 X
tered
18.42 Center frequency x2 FLOAT 0 8000 0 Hz 1:1 X
speed act value notch
filter
18.43 Bandwidth x2 speed act FLOAT 0 4000 0 Hz 1:1 X
value notch filter
unfiltered
18.45 Isq set value unlimited FLOAT -3.4028234e38 3.4028234e38 0 A 1:1 X
18.50 isq set value for OM cur- INT -16384 16384 0 % 4000hex: X
rent control 100%
put total

fwd. from position con- s2
troller
18.54 Position actual value UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
18.55 Position act value angle UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
18.56 Position act value revo- UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
lutions
18.57 Position set value UDINT 0 0xFFFFFFFF 0 INC 1:1 X
rev+angle
18.58 Position set value angle UDINT 0 0xFFFFFFFF 0 INC 1:1 X
18.59 Position set value revo- UDINT 0 0xFFFFFFFF 0 INC 1:1 X
lutions
18.60 Position error rev+angle DINT -2147483648 2147483648 0 INC 1:1 X
18.61 Position error angle DINT -2147483648 2147483648 0 INC 1:1 X
18.62 Position error revolu- DINT -2147483648 2147483648 0 INC 1:1 X
tions
18.68 Speed additional value FLOAT -150000 150000 0 Grad/s 1:1 X
18.69 Speed set value output FLOAT -1000000 1000000 0 Grad/s 1:1 X
SetValMgr
constant
18.71 Speed set value positive FLOAT 0 1000000 18000 Grad/s 1:1 X X O
limit
18.72 Speed set value nega- FLOAT -1000000 0 -18000 Grad/s 1:1 X X O
tive limit
18.73 x3 acceleration actual FLOAT -3.4028234e38 3.4028234e38 0 Grad/ 1:1 X
value s2
18.74 x3 acceleration time FLOAT 0 10000 0 ms 1:1 X
constant
18.75 Speed controller output FLOAT -3.4028234e38 3.4028234e38 0 Grad/s 1:1 X
total
18.76 Position actual angle for UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
fieldbus
18.77 Position actual revolu- UDINT 0 0xFFFFFFFF 0 1:1 X
tions for fieldbus
18.78 Torque set value for OM INT -16384 16384 0 % 4000hex: X
current control 100%
18.84 w3 Filter frequency FLOAT 0 10000 0 Hz 1:1 X
nominator
18.85 w3 filter damping nomi- FLOAT 0 100 0 1:1 X
nator
denominator
18.87 w3 filter damping FLOAT 0 100 0 1:1 X
denominator
18.88 Set value filter fre- FLOAT 0 10000 0 Hz 1:1 X
quency nominator
18.89 Set value filter damping FLOAT 0 100 0 1:1 X
nominator
quency denominator
denominator

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18.92 Command filter calcula- UINT 0 0xFFFF 0 1:1

tion
18.93 Time feedforward w3 FLOAT 0 2 0 ms 1:1 X
18.94 w2 filter frequency nomi- FLOAT 0 10000 0 Hz 1:1 X
nator
nator
18.96 w2 filter frequency FLOAT 0 10000 0 Hz 1:1 X
denominator
denominator
155.3 Lower adaption thresh- FLOAT 0 1e9 10 1:1 X

old for speed controller
155.4 Upper adaption thresh- FLOAT 0 1e9 1000 1:1 X
155.5 Factor Kp adaption FLOAT 0.01 100 1 1:1 X
155.6 Factor Tn adaption FLOAT 0 100 1 1:1 X
155.7 Actual Kp speed control- FLOAT 0 100000 10 1/s 1:1 X
ler
155.8 Actual Tn speed control- FLOAT 0 1000 1 s 1:1 X
ler
155.9 Actual Ki speed control- FLOAT 0 100000 0 1:1 X
ler
155.15 Middle adaption thresh- FLOAT 0 1e9 0 1:1 X

155.16 Factor Kp for middle FLOAT 0.01 100 1.0 1:1 X
speed threshold
155.17 Factor Tn middle speed FLOAT 0 100 1.0 1:1 X
threshold
155.18 Source controller adap- UDINT 0 0xFFFFFFFF 0 1:1 X
tion
155.19 Factor Kv adaption FLOAT 0.01 100 1 1:1 X
155.20 Factor Kv middle speed FLOAT 0.01 100 1 1:1 X
threshold
155.21 Actual Kv factor FLOAT 0 1000000 0 Grad/s 1:1 X

18.7 Adaptation time parameter
To prevent excitation, any change to the Gain parameters Kv (Z18.14–) or Kp (Z18.24–

) when the position or speed controller is switched on is made in stages. I.e., during any
change to the controller parameter Kv and Kp, the newly entered value only becomes fully
effective after the time registered here [ms].
The step time is fixed at 50 ms for this.
Example:
Z18.7– = 1950 ms
A change of Kp or Kv from the old value to the new one is performed in 39 steps
(1950 ms/50 ms).
18.9 Controller options
In particular, this parameter specifies variants of the acceleration feedforward of position-

controlled operating modes.
There are two main modes:
1. From the position controller and
2. in the speed controller from differentiation of the speed set value.
The first mode is divided into 3 sub-modes (1.a to 1.c). Refer to table table Feedforward
modes in position controlled operating modes on page 556.
Bit Meaning
0 Selection of the encoder for position control
0: Position actual value of encoder 1, which is used for the motor control
1: Position actual value of encoder 2
The bit is only relevant at single axis and mono devices with two encoder
inputs! It will be not evaluated at double axis units.
1 Main modes of the acceleration feedforward:
0: Mode 1: Feedforward from the position controller
(different modes accordant to 18.9 to 2 and 16).
1: Mode 2: In the speed controller from differentiation of the entire speed
set value
See table Feedforward modes in position controlled operating modes on
page 556.
A change of bit 1 is only effective at drive block and again enabling.
2 1: External cyclic acceleration feedforward via Z111.8–; effective only in
operating mode Position control (-4)
page 556.

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Bit Meaning
3 The speed feedforward mode:
0: From the set value manger (differentiation of second order of the posi-
tion set value)
1: From external cyclical speed feedforward via Z111.7–; in operating
mode Position control (-4) effective, only
page 556.
4 0: Single PT1 filter for speed actual value
1: Bilinear PT1 filter for speed actual value
5 Specification at current control operating mode (Z109.1– = -2)
0: By isq set value for OM current control Z18.50–
1: By torque set value for OM current control Z18.78– (from FW 01.14)
6 0: I/f operation at controlled stop
1: U/f operation at controlled stop
8 ... 7 Reserved
9 Reversal of rotation:
This bit internally changes the rotary field, encoder evaluation and the
notch position and changes the direction if the set value setting is the
same.
Notice! With incremental encoders the notch position search must be
executed once more!
10 Reserved
11 Position filter
0: Not active
1: Active
15 ... 12 Reserved
16 1: Acceleration feedforward from the set value manager (second deriva-
tive of the position set value)
page 556.
17 Reserved
18 Acceleration filter
0: Not active
1: Active
19 1: Timing acceleration feedforward / speed feedforward via Z18.93–
20 Speed set value filter
0: Not active
1: Active
21 Current delay with Z19.61– > 0
0: with sample-hold
1: without sample-hold
Common practice at master of multiple winding motors.
A sample-hold element is used when transferring the encoder angle via
fieldbus, digital SSI encoders need no sample hold element.
31 … 22 Reserved

The feedforward modes are summarized in the following table:
Feedforward modes in position controlled operating modes

Acceleration feedforward
Controller Options Operat- Interpo-
Modes >18.9< bit ing mode lation
Z109.2– Mode
Z111.6–
Description No. 1 2 3 16
from derivative 1.a 0 0 -- 0 -- --
the position controller
Feedforward from
speed feedforward
from external acceleration 1.b 0 1 -- -- -4 0
feedforward (Z111.8–)
from acceleration feedfor- 1.c 0 0 -- 1 -- --
ward of the set value man-
ager
Feedforward in the speed controller 2 1 -- -- -- -- --
(from derivative speed
set value total Z18.21–)
Speed feedforward
from derivative position set value 1 -- -- 0 -- -- --

(set value manager)
from external speed 2 -- -- 1 -- -4 0
feedforward (Z111.7–)
18.10 Position controller status
Status of the position controller.
Bit Meaning
9…0 Reserved
10 Position encoder is referenced
11 Reserved
12 Position controller has reached the set value
31 … 13 Reserved
18.11 w1 position set value
Display of the current position set value in degrees, corresponds to parameter Z18.57–
Position set value rev+angle in 32 bit resolution.

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18.12 x1 position actual value
Display of the current actual position in degrees.
18.13 e1 position error value
Current position error in degrees.

The position error is the difference between the position set value and the actual position.
The display of the parameter e1 Position deviation can be smoothed with a PT1 filter. The
time constant of the filter is set in Z18.18–. This filtering doesn't influence the position
control! At the position controller input the unfiltered position deviation is evaluated.
18.14 Kv position controller
Proportional gain of the position controller, units s-1.

The position controller is implemented as a P-controller.
It follows from this that with a Kv = 0 the position controller makes no contribution to the
speed set value, as any error value (e1 position controller error) is multiplied by the Kv
factor.
18.15 w2-Feedforward factor
Weighting factor for the speed feedforward at position control.

The speed feedforward is implemented as DT1 element. All changes to the position set
value are differentiated with respect to time, multiplied by the parameter w2-Feedforward
factor and smoothed subsequently with the Z18.70– w2-Feedforward time constant.
From this it follows that at speed feedforward of 0 the speed feedforward makes no con-
tribution to the Z18.21– speed set value total.
With speed feedforward of 1 and constant change per unit time of the position set value,
the speed feedforward provides exactly the required speed set value. In this case the po-
sition controller provides only the correction set value for tracking the angle.
A value of 1 corresponds to 100%.
18.16 Gear factor, motor: load-encoder
If a gear is available between motor and load, the gear ratio motor : load must be set in
this parameter. Two encoders must be used for this purpose. One for the motor con-
trol/speed control and one for the load-side position sensing for position control. For this
option bit 0 = 1 must be set in Z18.9–.

By inverting the evaluation of the encoder the sign is taken into account, if the ratio is neg-
ative. Bit 0 of the load side encoder must be set in Z106.3– Encoder options.
The gear factor is also considered at the calculation of the efficient speed limit for posi-
tioning operating modes. For more details see the description of the parameter Z121.11–
Speed limit.
NOTE!
The gear factor is active at single axis and mono devices with two encoder inputs on-
ly. The gear factor is not evaluated at double axis units.
18.17 w2 speed feedfwd. act. value
The parameter shows the actual value of the speed feedforward in degrees/s, i.e. the val-
ue after the w2 feedforward factor Z18.15–, the gear factor Z18.16– and the w2 feedfor-
ward time constant Z18.70–.
18.18 Time constant position error display filter
Time constant for the PT1 filter to smooth the position deviation display in parameter
Z18.13– e1 position controller error. The filtering doesn't influence the position control!
18.20 Speed controller status
Status of the speed controller.
Bit Meaning
3…0 Reserved
4 1: Drive is blocked, is set in case of blocked drive after blocking time 1 or 2
5 1: Speed set value is limited
6 Speed=0 message
7 Reserved
8 Status of the "Free adaptable speed threshold with hysteresis" function
0  1: |Speed actual value| exceeds the speed threshold Z6.12–
1  0: |Speed actual value| fall below the speed threshold Z6.13–
9 Status of the "Free adaptable speed threshold with hysteresis" function
with inverted logic compared with bit 8.
10 0: Operation as motor
1: Operation as generator
11 0: Torque direction 1 is active
1: Torque direction 2 is active

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Bit Meaning
12 1: Actual speed is equal to speed set value (= set value reached)
13 1: Torque current set value is limited
14 1: Torque reduction according to braking procedure ended
15 1: Torque reduction according to braking procedure active
16 1: Torque reduction by means of DC link controller
17 Reserved
18 1: Torque reduction by mains failure
19 1: Integral term Speed Controller is limited
20 1: Torque current limiting after the notch filter
21 1: Torque current limiting after the polynomial filter
22 1: Holding torque buildup by brake manager active
25 … 23 Reserved
26 1: Torque current set value is limited (hysteresis)
Compared to bit 13 this bit is reset not before the torque current set value
is fallen below the effective limit by the adjustable hysteresis Z138.28–.
31 … 27 Reserved
Remark:
Bit 12: 1: Actual speed is equal to speed set value (= set value reached)
The following conditions must be satisfied for "Set Value Reached" to be set:
Z18.23– e2 speed error  Z6.7– Max. pos. speed difference
and
Z18.23– e2 speed error  Z6.8– Max. neg. speed difference
and (optional)
Z18.23– e2 speed error Z18.21– Speed set value total *
* Z6.14– Velocity window percentage
18.21 w2 speed set value total
Display of the total currently effective speed set value in degrees/s.

With speed control:
Z18.21– w2 Speed set value total = Z18.69– Speed set value output SetValMgr +
+ Z18.68– Speed set value add
With absolute position control:
Z18.21– w2 Speed set value total = (Z18.69– Speed set value output SetValMgr *
* Z18.15– w2-feedforward factor)
+ Z18.68– Speed set value add +
+ (Z18.13– e1 position controller error *
* Z18.14– Kv position controller)

18.22 x2 speed actual value filtered
Display of the current actual speed after smoothing by PT1 filter with time constant
Z18.27–.
Units: degrees/s.
18.23 e2 speed error value
Display of the current error signal at the input to the speed controller,
Units: degrees/s.
18.24 Kp speed controller
Proportional gain of the speed controller,

Units: s-1.
18.25 Tn speed controller
Reset time of the speed controller,

Units: s.
If the value is 0, the integral term is set to 0 and the control operates without
an integral term.
18.26 Td speed controller
Rate time for the D term in the speed controller.

Units: s.
18.27 Filter time constant x2 speed act. value
Time constant for the PT1 filter in the response for the speed control circuit.
1 ms corresponds to a corner frequency of 159 Hz.
The PT1 filter type can be set with bit of Z18.9– Controller options.
18.29 Integral term speed controller
Display of the I-term in the speed controller.

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18.30 Derivate term speed controller
Display of the D-term in the speed controller.
18.31 Position controller output
Speed set value from the position controller without the part of the speed feedforward.
18.32 Speed controller output
Acceleration set value from the position controller without the part of the acceleration
feedforward.
18.33 Time constant speed set value filter
Time constant of the PT1 filter to smooth the w2 Speed set value total Z18.21– and to
calculate the e2 speed error value Z18.23–.
18.35 w3 acceleration feedfwd. act. value
The parameter displays the current value of the acceleration feedforward in degrees/ s²,
i.e. the value after the parameter w3-Feedforward act. factor Z18.38–.
18.36 w3-Feedforward factor pos accel.
Weighting factor for acceleration feedforward

Factor for acceleration feedforward during the acceleration phase (positive change of
speed). See also Z18.38–.
18.37 w3-Feedforward factor neg. accel.
Weighting factor for acceleration feedforward

Factor for acceleration feedforward during the braking phase (negative change of speed).
See also Z18.38–.
Friction assists during braking, so a reduced feedforward during braking can make sense.

18.38 w3-Feedforward act. factor
The currently effective weighting factor for acceleration feedforward from Z18.36– or
Z18.37– is displayed here.
18.39 w3-Feedforward time constant
Time constant of the acceleration feedforward for the speed controlled operating modes.
The w3-feedforward is implemented as DT1 element. All changes to the speed set value
are differentiated with respect to time, smoothed with the time constant >18.39< and mul-
tiplied subsequently with Z18.38– w3-Feedforward actual factor.
The smoothing via >18.39< does not affect at position controlled operating modes. Here
an already smoothed acceleration set value is available, whose smoothing occurs via pa-
rameter Z18.70– w2-Feedforward time constant.
18.40 Ks scaling factor
The entered value must comply with the "system gain" at the nominal point (magnetic flux
= 100% and motor "warm").
The Ks factor >18.40< provides the basis of the parameter "Ks actual value" Z155.10–,
at which a deviating operation from the nominal point must be considered.
The inverse value of the "Ks actual value" Z155.10– (1/Ksact) serves in the controller as
standardization constant between the acceleration set value (speed controller output)
and the torque current set value (isq).
See ZThe factor Ks– on page 536 and ZKs determination– on page 255.
18.41 w2 speed set value filtered
Speed set value after speed set value filter.

This speed set value is used in the speed controller as a set value and is compared with
the speed actual value (Z18.22–).
18.42 Center frequency x2 speed act value notch filter
Center frequency of the speed actual value notch filter in Hz.

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18.43 Bandwidth x2 speed act value notch filter
Bandwidth of the speed actual value notch filter in Hz.
18.44 x2 speed actual value unfiltered
Unfiltered speed actual value
18.45 Isq set value unlimited
Display of the current set value [in A] at the output of the speed controller or with torque
control.
18.50 isq set value for OM current control
At the current control operating mode (Z109.2– = -2 and from FW version 1.14 if the op-
tion "Specification by torque set value" is not active: Z18.9– bit 5 = 0) the controller re-
ceives the torque current set value from this writable parameter.
The parameter value for the torque current can be entered for example by parameter in-
terface (ProDrive), analog inputs or by Fieldbus.
Standardization:
18.51 Position controller output total
Speed set value from the position controller including the speed feedforward term, in de-
grees.
18.52 w3 acceleration feedfwd. from position controller
Display parameter.
Acceleration feedforward from the position controller and before the parameter "w3-Feed-
forward act. factor" Z18.38–, in degrees/s2.
This feedforward acts independently of the controller option Z18.9– bit 0.

18.54 Position actual value
The parameter displays the actual „mixed“ position actual value in 32 bit resolution. The
lower 16 bits correspond to the angle and the upper 16 bits to the revolutions.
Revolutions Angle
31 ........................ 16 15 .......................... 0
Z18.54–
 
Revolutions Angle
31 ............................................................... 0 31 ............................................................... 0
Z18.56– Z18.55–
The position actual value will be initialized to the position actual value of the selected en-
coder (Z106.12–) of the position control (not motor control) and will be permanently up-
dated independent of the present operating mode and of the device control’s status from
this time on.
18.55 Position act value angle
The parameter displays the angle of the position actual value in 32 bit resolution per rev-
olution. It corresponds with the position actual value angle 32 bit (Z106.10–) of the se-
lected encoder for position control.
18.56 Position act value revolutions
The parameter displays the number of revolutions in the position actual value in 32 bit res-
olution. It corresponds with the position actual value revolutions (Z106.11–) of the select-
ed encoder for position control.
18.57 Position set value rev+angle
Display of the current position set value in 16 bit (revolution), 16 bit (angle) resolution, ac-
cords to the parameter Z18.11– w1 position set value in degrees.
The parameter displays the "mixed" position set value in 32-bit resolution. The lower 16
bits correspond to the angle and the upper 16 bits to the revolutions.
One revolution of the motor corresponds to 65536 increments. The angular resolution
here is approx. 0.0055 degrees.

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Revolutions Angle
31 ........................ 16 15 .......................... 0
Z18.57–
 
Revolutions Angle
31 ............................................................... 0 31 ............................................................... 0
Z18.59– Z18.58–
18.58 Position set value angle
The parameter displays the angle in the position set value in 32-bit resolution per revolu-
tion. The current position set value is displayed in the parameter Z18.11– in degrees and
in Z18.57– in 32 bit resolution.
18.59 Position set value revolutions
The parameter displays the number of revolutions in the position set value in 32-bit reso-
lution. The current position set value is displayed in the parameter Z18.11– in degrees
and in Z18.57– in 32 bit resolution.
18.60 Position error rev+angle
Display of the position error in 32-bit integer format. The lower 16 bits correspond to the
angle and the upper 16 bits to the revolutions.
The angular resolution here is approx. 0.0055 degrees.
Revolutions Angle
31 ........................ 16 15 .......................... 0
Z18.60–
 
Revolutions Angle
31 ............................................................... 0 31 ............................................................... 0
Z18.62– Z18.61–

18.61 Position error angle
Display of the position error in 32-bit integer format.

The resolution is 32 bits per revolution.
18.62 Position error revolutions
Display of the position error in revolutions in 32 bit integer format.

A 0 or -1 signifies no position error in the revolution.
18.68 Speed additional value
Additional speed set value.

Units: degrees/s
18.69 Speed set value output SetValMgr
Display of the speed set value from the set value manager in degrees/s.
With speed control:
Z18.21– w2 Speed set value total = Z18.69– Speed set value output SetValMgr +
With absolute position control:

Z18.21– w2 Speed set value total = (Z18.69– Speed set value output SetValMgr *
* Z18.15– w2-Feedforward factor)
+ (Z18.13– e1 Position controller error *
* Z18.14– Kv position controller)
18.70 w2-Feedforward time constant
Time constant of the speed feedforward.

The speed feedforward is implemented as DT1 element. All changes to the position set
value are differentiated with respect to time, smoothed with the >18.70< feedforward time
constant and multiplied subsequently by the parameter Z18.15– w2-Feedforward factor.
Due to minimize the position error e1, it is recommended that the w2-Feedforward time
constant is set to Time constant speed act. value filter Z18.27–.
For synchronous operation on actual master axis (= encoder) the parameter for smooth-
ing the master axis set value (w2-feedforward part) can be used.

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18.71 Speed set value positive limit
The set value at the speed controller input is limited to this value in the positive range. If
limitation is active, Bit 1 is set in Z108.16– status internal limits.
18.72 Speed set value negative limit
The set value at the speed controller input is limited to this value in the negative range. If
limitation is active, Bit 1 is set in Z108.16– status internal limits.
18.73 x3 acceleration actual value
Effective acceleration actual value in degrees/s2.
18.74 x3 acceleration time constant
Time constant of the PT1 filter to smooth the x3 acceleration actual value (Z18.73–).
18.75 Speed controller output total
Speed controller output (or the entire acceleration set value) from the speed controller in-
cluding the acceleration feedforward term and an additional feedforward (friction compen-
sation, torque coupling etc.) in degrees/s.
18.76 Position actual angle for fieldbus
This parameter displays the angle of the actual position value in a 32 bit resolution and is
updated in the fieldbus cycle.
This parameter corresponds to Z18.55–; however is latched in the controller at the fitting
transfer time of the actual position value. Therefore, it is primarily intended to be an actual
fieldbus value, for the fieldbus especially if an own position error monitoring shall be cal-
culated on the control.

18.77 Position actual revolutions for fieldbus
The parameter displays the revolution number of the actual position value and is updated
in the fieldbus cycle.
This parameter corresponds to Z18.56–; however is latched in the controller at the fitting
transfer time of the actual position value. Therefore, it is primarily intended to be an actual
fieldbus value, for the fieldbus especially if an own position error monitoring shall be cal-
culated on the control.
18.78 Torque set value for OM current control
(from FW version 1.14)

At the current control operating mode (Z109.2– = -2 and if the option "Specification by
torque set value" is active: Z18.9– bit 5 = 1, the controller receives the torque input from
this writable parameter. The parameter value referring to the torque setting can be en-
tered by the parameter interface (ProDrive), the analog inputs or by the fieldbus.
Standardization: 100% accord to the "Torque reference value" Z138.34–.
18.84 w3 Filter frequency numerator
Numerator frequency of the filter for the acceleration feedforward.
18.85 w3 Filter damping numerator
Numerator damping of the filter for the acceleration feedforward.
18.86 w3 Filter frequency denominator
Denominator frequency of the filter for the acceleration feedforward.
18.87 w3 Filter damping denominator
Denominator damping of the filter for the acceleration feedforward.
18.88 Set value filter frequency numerator
Numerator frequency of the set value filter

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18.89 Set value filter damping numerator
Numerator damping of the set value filter
18.90 Set value filter frequency denominator
Denominator frequency of the set value filter
18.91 Set value filter damping denominator
Denominator damping of the set value filter
18.92 Command filter calculation
The settings of the individual filter are accepted by this command.
Command Meaning
0 No command
1 Calculation of the set value filters
2 Calculation of the filter for acceleration feedforward
3 Calculation of the speed set value filter
The value 7 displays a successful acceptance of the filter parameters.
18.93 Time feedforward w3
With this parameter the time, with which the acceleration feedforward is supposed to
come before the position set value, can be precisely specified. This is possible for spec-
ified settings only; also refer to ZAcceleration feedforward– on page 539. In order to ac-
tivate Z18.93– bit 19 of Z18.9– must be set.
18.94 w2 Filter frequency numerator
Numerator frequency of the speed set value filter

18.95 w2 Filter damping numerator
Numerator damping of the speed set value filter
18.96 w2 Filter frequency denominator
Denominator frequency of the speed set value filter
18.97 w2 Filter damping denominator
Denominator damping of the speed set value filter
155.3 Lower adaption threshold for speed controller
Lower speed limit for adaption of the speed controller.
155.4 Upper adaption threshold for speed controller
Upper speed limit for adaption of the speed controller.
155.5 Factor Kp adaption
Factor for the adaption of the gain Kp of the speed controller.
155.6 Factor Tn adaption
Factor for the adaption of the integral action time Tn of the speed controller.
155.7 Actual Kp speed controller
Actual value of the gain Kp.

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155.8 Actual Tn speed controller
Actual value of the integral action time of the speed controller. This value is only displayed
and is therefore updated with low priority (remaining time).
155.9 Actual Ki speed controller
Actual value of the gain Ki.
155.15 Middle adaption threshold for speed controller
Defines the middle speed threshold for the speed controller adaption. If value is set 0, the
middle adaption threshold is not effective. The speed controller adaption works only with
two interpolation points.
155.16 Factor Kp for middle speed threshold
Factor for the adaption of the gain Kp of the speed controller at the middle speed thresh-
old. Factor is only effective, if middle speed threshold  0.
155.17 Factor Tn middle speed threshold
Factor for the adaption of the integral action time Tn of the speed controller at the middle
speed threshold. Factor is only effective, if middle speed threshold  0.
155.18 Source controller adaption
Free parameter which adapts speed and position controller. It is activated by bit 6 and 7
of the mode parameter (Z155.1–).
155.19 Factor Kv adaption
Factor to adapt the gain Kv of the position controller.

155.20 Factor Kv middle speed threshold
Factor to adapt the gain Kv of the position controller at the average speed threshold. Is
activated only, if the average speed threshold is parameterized unequal to zero.
155.21 Actual Kv factor
Currently active Kv factor

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4.7.2 Filter of the torque current set value
The torque current set value is available of a PT1 filter, a notch filter and a freely param-
eterizable polynomial filter.
4.7.2.1 PT1 filter and notch filter
The PT1 filter can be set by the corner frequency parameter (Z19.12–). The notch filter
is set by the blocking frequency (Z138.12–) and the bandwidth (Z138.13–).
4.7.2.2 Polynomial filter

The polynomial filter is identical at the axis unit and at the active mains rectifier unit.
The filter serves as an actuating variable filter (Isq-set-filter) for the current controller
of the active mains rectifier unit.
The polynomial filter contains a general digital IIR filter function (IIR = Infinite Impulse Re-
sponse) which is typically used as an actuating variable filter (Isq-set-filter). The order
(Z29.8–) of the filter (maximum 7) and the filter coefficients (Z29.9– to Z29.23–) can be
freely set as parameters. The transfer function in the z-domain is:
Figure 127: Equation for filter order
where the z -k are the lag elements about the k-cycle.

The polynomial filter works at the axis units between the speed controller and the current
controller and at the active mains rectifier unit between the DC link controller and the cur-
rent controller as a torque current set value filter. It can be switched on and off using the
Module command (Z29.1–).
The polynomial filter can be used at the axes at two positions - either after the torque cur-
rent set value limit or directly after the speed PI controller output. The difference is, that
with the last-mentioned, the acceleration feedforward, the Isq additional set value
(Z19.17–) and the operation mode current control of the Isq set value Z18.50– or torque
set value Z18.78– are not filtered. At the active mains inverter the polynomial filter always
is active after the current limits.

Via Z29.1– bits 0, 1 the polynomial filter either can be activated after the torque current
set value limit or directly after the speed PI controller or it can be completely deactivated.
The polynomial filter is set by the individual filter coefficients. Hereby there are two op-
tions:
m The filter coefficients can be set individually via the parameters (Z29.9– to Z29.23–)
m The filter coefficients can be calculated by the filter parameters (Z29.30– to
Z29.51–). Hereby bit 2 of Z29.1– must be active. Via the bit 3 the filter coefficients
are calculated again.
NOTE!
If bit 2 of Z29.1– was not set, the filter coefficients must be set again when changing
the RT0 cycle time!
4.7.2.3 Setting options of the polynomial filter
The polynomial filter can be combined from several single filters; available are the PT1
filter, the notch filter, the PT2 filter and the biquad filter. In total a filter can be used up to
the seventh order. The PT1 filter is first order whereas the other filters are second order.
Consequently, for instance a PT1 filter can be combined with three notch filters or three
PT1 filters with on PT2 filters and a biquad filter. The single filters are activated or deacti-
vated via the bits 4 to 13.
The PT1 filters can be parameterized via the accordant limit frequency and the notch fil-
ters via the blocking frequency and the bandwidth. The three biquad filters can parame-
terize any filter type, such as notch filters with a defined notch depth and/or a defined
lowering. Also the PT2 filter can be parameterized with this, hereby the numerator fre-
quency must be set to 0 Hz. Internally, the entire numerator is set to 1 this way.
The biquad filter is calculated with the following function:
1 2D
------------------  s 2 + ----------Z-  s + 1
2 2f Z
 2f Z 
F  s  = ---------------------------------------------------------------
1 - 2 ----------- 2D N
------------------
2
 s + s+1
 2f  2f N
N
The following terms apply:

n The filter amplitude increases from the cutoff frequency numerator fZ onwards.
n The filter amplitude decreases from the cutoff frequency denominator fN onwards.
n The slope is set via the damping DZ and DN.

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Refer to the following parameterization examples:
Notch filter with defined notch depth
f Z = Center frequency
f N = Center frequency
Bandwidth
D N = ------------------------------------------------
-
2  Center frequency
Notch depth-
----------------------------
Bandwidth 20
D Z = -------------------------------------------------  10
2  Center frequency
Figure 128: Notch filter with defined notch depth

Center frequency 200 Hz
Bandwidth 200 Hz
Notch depth -20 dB
fZ 200 Hz
fN 200 Hz
DZ 0.05
DN 0.5

Notchfilter with defined reduction
f Z = Center frequency
Reduction
------------------------
40
f N = 10  fZ
DN = 0
D Z = 0,7
Center frequency 200 Hz

Reduction -12 dB
fZ 200 Hz
fN 100 Hz
DZ 0
DN 0.7
Figure 129: Notchfilter with defined reduction
4.7.2.4 Other filters
Besides the filters in the torque current set value, filters can be set on other position as
well. In detail these are the following:
– Notch- and PT1 filters in the speed actual value
– Biquad filter in the set value
– PT1-filters or biquad filter in the speed set value
– Biquad filter in the acceleration feedforward
Speed actual value filter
The speed actual value can be smoothed by a PT1 filter. If vibrations occur at the motor
at a fixed frequency, these can be filtered by the notch filter, also.
Set value filter
The set value filter filters the set value, which the set value manager receives from the
active set value generator (refer to chapter ZSet Value Manager– on page 479). This way
position as well as speed and acceleration are filtered. This filter can be used if individual
resonance frequencies should be excited. The settings of the filter are made via the pa-
rameters Z18.88– to Z18.91–. The calculation of the filter constants is made via the com-
mand 1 of parameter Z18.92–. The filter is activated via bit 11 of Z18.9–.

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Filter for the acceleration feedforward
This filter filters the acceleration feedforward. With this filter at oscillatory systems the
feedforward can be adapted, so that the system shows the requested behavior. The set-
tings of the filter are made via the parameters Z18.84– to Z18.87–. The calculation of the
filter constants are made via the command 2 of parameter Z18.92–. The filter is activated
via the bit 18 of Z18.9–.
Filter for speed set value
The speed set value can be filtered via a PT1 filter as well as via a biquad filter. The bi-
quad filter can be used if a specified resonance frequency is not supposed to be excited.
A plain smoothing (Z18.33–) can be used at the acceleration feedforward via the entire
speed set value (Z18.9–, bit 1), which should approximately accord to the additional time
constant of the speed closed loop.
The calculation of the filter constants of the biquad filter is made via the command 3 of
the parameter Z18.92–. The filter is activated via the bit 20 of Z18.9–, otherwise the PT1
element is effective.
Functional block: Filter [29]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
29.1 Command UINT 0 0xffff 0 1:1 X

29.2 Status UINT 0 2 0 1:1 X
29.6 Input value FLOAT -5000000000 5000000000 0.0 1:1 X
29.7 Output Value FLOAT -5000000000 5000000000 0.0 1:1 X
29.8 Filter Order UINT 0 7 1 1:1 X
29.9 Coefficient a0 FLOAT -1000000 1000000 1.0 1:1 X
29.17 Coefficient b1 FLOAT -1000000 1000000 0.0 1:1 X

29.29 Filter cycle time FLOAT 62.5 1000 250 µs 1:1 X
29.30 Biquad filter 1 nominator FLOAT 0 10000 0 Hz 1:1 X
frequency
29.31 Biquad filter 1 damping FLOAT 0 10 0 1:1 X
nominator
29.32 Biquad filter 1 denomi- FLOAT 0 10000 0 Hz 1:1 X
nator frequency
denominator
frequency
nominator
nator frequency
denominator
frequency
nominator
nator frequency
denominator
29.42 Notch filter 1 center fre- FLOAT 0 10000 0 Hz 1:1 X
quency
29.43 Notch filter 1 bandwidth FLOAT 0 10000 0 Hz 1:1 X
quency
quency
29.48 Pt1 filter 1 cut-off fre- FLOAT 0 10000 0 Hz 1:1 X
quency
quency
quency
quency

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29.1 Command
Switching the filter on/off.
Bit Meaning
1 ... 0 0: Switch off filter
1: Filter as a current set value filter
(Active mains rectifier unit: Switch on filter)
2: Filter directly following the speed controller
2 Filter parameterization as a biquad filter
3 Recalculate filter (if bit 2 = 1)
7 ... 4 Switch on/switch off PT1 filter 1 to 4
10 ... 8 Switch on/switch off biquad filter 1 to 3
13 ... 11 Switch on/switch off notch filter 1 to 3
If the filter parameterization is active as a biquad filter, then the filter coefficients cannot
be calculated / changed individually, but are connected to the parameters Z29.30– to
Z29.41–. Furthermore, the coefficients are automatically calculated again during a
change of the RT0 cycle time (Z1.8–).
29.2 Status
Display of filter status (on / off)
Value Meaning
0 Filter is switched off
1 Filter is switched on
29.6 Input value
Displays the input to the filter.
29.7 Output value
Displays the output of the filter.

29.8 Filter order
The filter order can be entered here.

In order to change the parameters the filter either must be deactivated (Z29.1– = 0) or
the pulses must be inhibited.
29.9 Coefficient a0
Using this parameter, the filter coefficients for the particular axis (ZFig. 127– on page
573) can be entered accordingly (in the numerator polynomial).
In order to change the parameter the filter either must be deactivated (Z29.1– = 0) or the
pulses must be inhibited.
29.10 Coefficient a1
For description, see parameter Z29.9–.

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29.17 Coefficient b1
Using this parameter, the filter coefficients for the particular axis (ZFig. 127– on page
573) can be entered accordingly (in the denominator polynomial).
In order to change the parameter the filter either must be deactivated (Z29.1– = 0) or the
pulses must be inhibited.

29.29 Filter cycle time
Displays the current cycle time of the filter. When the filter coefficients are calculated this
parameter value must be considered.
29.30 Biquad filter 1 numerator frequency
Numerator frequency of the first biquad filter.
29.31 Biquad filter 1 damping numerator
Numerator damping of the first biquad filter.
29.32 Biquad filter 1 denominator frequency
Denominator frequency of the first biquad filter.
29.33 Biquad filter 1 damping denominator
Denominator damping of the first biquad filter.
Numerator frequency of the second biquad filter.
Numerator damping of the second biquad filter.

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Denominator frequency of the second biquad filter.
Denominator damping of the second biquad filter.
Numerator frequency of the third biquad filter.
Numerator damping of the third biquad filter.
Denominator frequency of the third biquad filter.
Denominator damping of the third biquad filter.
29.42 Notch filter 1 center frequency
Center frequency of the first notch filter.
29.43 Notch filter 1 bandwidth
Bandwidth of the first notch filter.

Center frequency of the second notch filter.
Bandwidth of the second notch filter.
Center frequency of the third notch filter.
Bandwidth of the third notch filter.
29.48 PT1 filter 1 cut-off frequency
Cutoff frequency of the first PT1 filter
Cutoff frequency of the second PT1 filter
Cutoff frequency of the third PT1 filter
Cutoff frequency of the fourth PT1 filter

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4.7.3 Current Controller
The "Current Controller" module incorporates the measurement of the phase currents
and DC link voltages, current control including prediction, dead time compensation and
PWM.

The module current controller is used by the axes as well as of the active mains rec-
tifier unit. Thereby the motor current of the axis corresponds to the mains current of
the active mains rectifier unit. The differences in the function range are specified in
the parameter description of the corresponding parameters.
For the sign of the transformed active current (Isq) referring to the directional power the
following is valid:
Sign of Isq Axis Active Mains Rectifier Unit

- Current is flowing from the motor to Current is flowing from the mains to
the axis, the motor is braked the active mains rectifier unit; the
active mains rectifier unit takes
power from the mains.
+ Current is flowing from the axis to Current is flowing from the active
the motor, the motor is powered mains rectifier unit into the mains,
the active mains rectifier unit sup-
plies power back into the mains.

I offset_V I offset_W
130.19 130.20
Current sensing
Iw_actual (47.34)
U, V, W
Iv_actual (47.33)
Iu_actual (47.32)
d, q

I offset_U (130.18)
Interface between motor manager and current controller
Additional feedforward
(dq decoupling, IxR)
Isd Tn (47.10) Usd 2 . Umax (142.6)

actual Kp (47.9) 3
control
Isd set value value output
(47.2) (47.4) (47.25)
Isq actual Usq Additional -1

value control feedvorward
Isq set value (47.3) output
(47.1) (47.24)
-1
Back-EMF Tn (47.8)
feed forward Kp (47.7)
(47.26) Usq set Usd set
valuel value
Rho (47.20) (47.21)
electrical
(47.47) d, q

U-set U-set
value value
(47.27) (47.28)
Nominal deadtime voltage Deadtime voltage (47.70)
Nominal deadtime voltage Deadtime voltage (47.71)
Dead time compensation factor Space Vector PWM

(47.50)
5000_0080_rev02.cdr PWM_U PWM_V PWM_W

47.29 47.30 47.31
Figure 130: Current controller
The interface between the motor manager and the current controller corresponds at the
active mains rectifier unit to that of the interface between the DC link controller and the
current controller.

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Nominal deadtime voltage Nominal deadtime voltage
Dead time compensation factor (47.50)
Deadtime voltage (47.71) Deadtime voltage (47.70)

Current controller
PWM_U
(47.29)
Usd set value (47.21) U-set value (47.27)
PWM_V
PWM (47.30)
Usq set value (47.20) U-set value (47.28)
d, q
PWM_W
(47.31)
Rho electrical (47.47)
Ud after PWM (47.44) U after PWM (47.41) PWM

U, V, W
Uq after PWM (47.43) U after PWM (47.42)
U
d, q
Deadtime
Rho electrical (47.47) voltage
DC link
(47.70)
actual voltage
(130.3)
Motor- Motor-
Usd Us

Motor Motor- d, q Motor-

model Usq Us
Deadtime
voltage
(47.71)
U, (47.27,47.28)
PWM 0
3/2 .
total voltage 2 2
smoothed U + U
(142.7) 142.1 1
Smoothing time bit 2
(142.10)
Display
motor-Usd Nominal
Motor
deadtime voltage
total voltage . 2 2
smoothed 3 Ud + Uq Motor-Usq
Nominal
(6.38)
d, q deadtime voltage
Smoothing time
1,25 ms
Motor power display
Rho electrical (47.47) 5000_0407_rev02.cdr
Figure 131: Overviewing the voltages before and after the PWM

4.7.3.1 Current Prediction

The current prediction is not available for the active mains rectifier unit.
The current prediction can be switched off. The voltage equations for the machine form
the starting point for the current prediction.
4.7.3.2 Dead Time Compensation
Since real semiconductor components do not behave ideally, it must be ensured that the
two transistors in a half bridge are never conducting current at the same time, i.e., are
switched on. For this reason, both IGBTs in a half bridge must be switched off for a certain
time, giving rise to dead times which are different for the individual output sections and
furthermore depend on the switching frequency of the power transistors. Due to these
dead times, a part of the theoretical nominal voltage for the PWM is lost. The dead time
effect produces a non-linear distortion in the voltage space vector. The dead time com-
pensation factor Z47.50– is intended to compensate for the lost voltage.
The required voltages for the dead time compensation are determined from the sign of
the separate phase currents, the Udc actual value and current depending correction table
Z123.15–.
The table Z123.15– can be determined by autotuning (dead time measurement Z123.1–
bit 1 = 1). The measured values are valid for the parameters which are available at the
moment of the measurement: Udc actual value, PWM frequency and locking time (IGBT
dead time Z129.9–). If the dead time measurement is not executed, the table Z123.15–
has default values defined for Udc = 540 V, PWM frequency = 8 kHz, and locking time =
4 µs.
The effective voltage of the dead time compensation is corrected according to the Udc
actual value (regardless whether the table includes default values or measured values).
Basically the correction table is only valid for the device which carried out the dead time
measurement. However the values of the table can be transferred from one device to an-
other one with the parameter set. In all probability, the dead time compensation will oper-
ate satisfactorily if the device is of an identical type. However, this must be checked by
the user. It is recommended to measure the dead time at each device, which requires
dead time compensation.
NOTE!
The dead time measurement must be repeated, if the IGBT dead time (Z129.9–) was
changed.

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NOTE!
Up to firmware version V01.08: The dead time measurement must be repeated if the
PWM frequency is changed.
From Firmware version V01.09: If the correction table Z123.15– is measured from
firmware version V01.09 onwards and the adaption of the dead time compensation
according to the PWM frequency is active (Z123.1– bit 3 = 1), the effective voltage
of the dead time compensation is corrected according to the effective PWM frequen-
cy. A new dead time measurement after a change of the PWM frequency is therefore
not necessary. However the best results are generally reached if the used PWM fre-
quency corresponds to the PWM frequency at the moment of the dead time measure-
ment.
The dead time compensation is not provided for the active mains rectifier unit.

4.7.3.3 Torque Current Limiting
Axis units:
The torque current limiting acts on the integral term of the speed controller and on the out-
put of the motor manager before the current is forwarded to the current controller.
There is no limiting at the output of the speed controller because a digital filter can be in-
serted between the speed controller and the motor manager, or an Isq can additionally
be fed into the motor manager.
The torque current limiting can be set separately for motor or generator operation
(Z138.2–, Z138.3–). By adapting the "Mode of Iq limit " Z138.1– bit 0, the separate lim-
iting can alternatively be applied to Torque Direction 1 or Torque Direction 2. For "asym-
metric" limiting, operating quadrants 1 to 4 are evaluated using the present speed and
torque current. Hysteresis Z138.4– can be set when determining the operating quad-
rants.
Two symmetrical limits Z138.14– and Z138.15– are available in addition to the limit de-
pendent on quadrants. The limiting Z138.14– is intended for a fast cyclic access via anal-
ogous input or fieldbus process data. Other limits of the torque current are the breakdown
limit (Z138.18–, also refer to ZBreakdown torque– on page 621), the derating of the peak
current devices (Z138.32–, also refer to ZPower unit– from page 107) or external limits
(refer to Z138.8–).
A torque current limit is set by the torque limit Z138.22– as well.
Furthermore, the torque current can be disabled due to a power failure (refer to Z130.10–
bit 1).
Always the less value of these limits is effective! The effective limit values are displayed
in Z138.6– Iq upper limit and Z138.7– Iq lower limit.
The settable torque current limits Z138.2–, Z138.3–, Z138.14– and Z138.15– were
standardized by the "Max. torque current" Z19.8–. The reference value could change due
to field weakening or to external total current limit. Refer to the parameter Z19.8– and
Z138.1–.
Standardization modes of the torque current

Dependent of the standardization modes (parameter "Mode lq limit" Z138.1– bit 1 and
bit 3) the calculation of the parameter Z19.8– can be changed. Consequently, the follow-
ing standardization or limit modes accordant to the motor type are available: Load mode
Standard, Load mode ASM-lsdMax and the current mode.
At the load modes the parameter Z19.8– shows the possible torque current in depen-
dence of the available total current Z19.6– by subtracting the field current. Consequently
the ASM is available of more torque current while having the same total current and an
increased field weakening (less field current).
In contrast less torque current is available to the SM in the field weakening as in the basic
speed range.
Independently of the motor type the available torque current reduces if the total current of
the device is reduced (e.g. because overload monitoring has responded).
The Z19.8– standardized torque current limits are a part of the possible torque current
and therefore load limits. The ampere value of these limits will change at field weakening
and external total current limit.
At the current mode the parameter Z19.8– is set by the maximum total current of the drive
Z19.5– and is independent of external total current limit or field weakening. The value in
ampere of these limits will not change at field weakening and external total current limit.

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The operation of the standardization and the limit modes are described from ZFig. 132–
on page 591 to ZFig. 136– on page 595, whereat lsqLim stands for one of the torque cur-
rent limits Z138.2–, Z138.3–, Z138.14– or Z138.15–.
Isq isq 100 Isq 5000_0351_rev01_int
loading loading
[%] isqMax [%]
19.8
IsqLim IsqLim
100% 100%
NN n [min-1] t
isq isq
[A] [A]
isqMax 19.8 =
2 2 isqMax 19.8
LT-Imax-act isd-set
LT-Imax LT-Imax
19.6 19.6
IsqLim IsqLim
NN n [min-1] t
isd-set
[A]
i drive
NN 107.7 [A]
LT-Imax-act 19.5
0
n [min-1] LT-Imax
19.6
external
drive current limit
a) b)
t
Figure 132: Torque current limit "lsqLim" at the "Standard load mode" of the synchronous motor
(138.1 bit 3 = 0).
a) Dependent of the field current (an external total current limit is not assumed).
b) Dependent of external total current limit (field weakening is not assumed)

isq isq 5000_0352_rev01_int
[A] [A]
isqMax 19.8 isqMax 19.8
LT-Imax LT-Imax
19.6 19.6
IsqLim IsqLim
NN n [min-1] t
isd-set
i drive
[A] NN 107.7 LT-Imax-Act 19.5
[A]
0
n [min-1] LT-Imax
19.6
external
drive current limit
a) b)
t
Figure 133: Torque current limit "lsq" at the "Current mode" of the synchronous motor (138.1 bit 3 = 1).
a) Dependent of the field current (the external total current limit is assumed).
b) Dependent of the external total current limit (field weakening is not assumed).

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loading loading
[%] isqMax [%]
19.8
IsqLim IsqLim
100% 100%
NN n [min-1] t
isq isq
[A] 2 2 [A]
isqMax 19.8 = LT-Imax-act isd-set
isqMax 19.8
IsqLim
IsqLim
NN n [min-1] t
isd-set
[A] i drive
LT-Imax-act 19.5
[A]
Isd-nom
LT-Imax
19.6
external
drive current limit
0
a) 0 b)
NN 107.7 n [min-1] t
Figure 134: Torque current limit "lsqLim" at "Standard load mode" of the asynchronous motor
(138.1 bit 1 = 0, bit 3 = 0).
a) Dependent of the field current (external total current limit is not assumed).
b) Dependent of external total current limit (field weakening is not assumed).

loading loading
[%] isqMax [%]
19.8
IsqLim IsqLim
100% 100%
NN n [min-1] t
isq isq
[A] [A]
2 2
isqMax 19.8 = LT-Imax-act Isd-Lim isqMax 19.8
IsqLim
IsqLim
NN n [min-1] t
isd-set
[A]
i drive
Isd-Lim 146.12 LT-Imax-Act 19.5
[A]
Isd-nom
LT-Imax
19.6
external
drive current limit
0
a) 0 b)
NN 107.7 n [min-1] t
Figure 135: Example. Torque current limit "lsqLim" at the "Load mode ASM-lsdMax "
(138.1 bit 1 = 1, bit 3 = 0).
a) Dependent of the field current (external total current limit is not assumed).
b) Dependent of external total current limit (field weakening not assumed).

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isq isq 5000_0355_rev01_int

[A] [A]
isqMax 19.8 isqMax 19.8
LT-Imax LT-Imax
19.6 19.6
IsqLim IsqLim
NN n [min-1] t
isd-set
[A]
i drive
LT-Imax-act 19.5
[A]
Isd-nom
LT-Imax
19.6
external
drive current limit
0
a) 0
N -1 b)
107.7
Figure 136: Example. Torque current limit "lsqLim" at the "Current mode" for the asynchronous motor (138.1
bit 3 = 1).
a) Dependent of the field current (external total current limit is assumed).
b) Dependent of the external total current limit (field weakening is not assumed)
Speed-dependent torque current limit
A speed-dependent torque current limit correlating with the voltage limit is described in
detail in chapter ZBreakdown torque– from page 621.
Particular case synchronous motor with interior permanent magnet (IPMSM)
The Iq current is not limited, but the total current is limited at IPMSM, because both cur-
rents contribute to the torque production. This limit current can be referred in Z138.26–.
The active current limit acts at the output of the DC link controller before the current is
transferred to the digital filter between the DC link controller and the current controller.
The active current limit can be set separately for the active current limit supply mode (pa-
rameter Z141.27–) as well as for the active current limit regenerative braking mode (pa-
rameter Z141.28–).

4.7.3.4 Feedforward
Decoupling feedforward
The decoupling feedforward compensates the influences on the field forming current to
the torque of the machine. Vice versa the influence of the torque forming current on the
field of the machine is compensated.
This feedforward is not active at the active mains rectifier unit.
Electromagnetic force feedforward
Axis units:
There is the possibility to feedforward the electromagnetic force for the current controller
of the torque forming current component. This feedforward can be switched off by enter-
ing the value 0 in Z107.20– Ke factor. The actual Ke factor of the machine must be en-
tered in Z107.20– for a correct feedforward of the electromagnetic force.
The phase voltage of the mains is feedforwarded for the current controller of the active
current component at the active mains rectifier unit. This feedforward can not be switched
off or parameterized.
IxR feedforward
The IxR feedforward compensates the voltage drop at the ohmic resistance of the stator
winding for both the field forming and the torque forming current controller. This feedfor-
ward is generally deactivated and can be activated via parameter Z47.51–, if required.
Additionally it is possible to execute the feedforward based on the actual current values
or based on the current set values. This must be also set in parameter Z47.51–.
For the used stator resistance the decisive factor can be either the parameter value
Z107.29– (Motor data) or the parameter value Z123.6– (measured resistance). It de-
pends on the parameterization of parameter Z123.10–.
This feedforward is not available at the active mains rectifier unit.
4.7.3.5 Current controller adaption

The current controller adaption is not available for the active mains rectifier unit.
Adaption of the current controller that can be programmed freely.

The current controller may become instable at motors with strong saturation. The current
controller adaption can be used to reach a constant control also at high currents.

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4.7 Controllers
Kp [%]
100%
KpAdapt
5000_0229_rev01_int.cdr
Iq1 Iq2 Iq [A]
Figure 137: Current controller adaption
The P-gain for the Iq- and Id controller is reduced from the lower adaption threshold for
the current controller Z155.11– up to the upper adaption threshold Z155.12–. There the
P-gain reaches a limited percentage KpAdapt Z155.13– of the original P-gain. The adap-
tion results from the current set value Z47.1–.
The current controller adaption can be activated by (controller adaption) mode Z155.1–.
4.7.3.6 Pulse Width Modulation
Switching between Space Vector Modulation (SVM) and Modified Space Vector
Modulation (MSVM).
With MSVM it is possible to reduce the average switching frequency of the IGBTs by a
third, with the result that the average switching losses are also reduced by a third. With a
high duty cycle, it is particularly advantageous to use the modified SVM process (MSVM).
With a smaller duty cycle it is certainly also possible to reduce the switching losses by a
third, but the switching current ripple can be up to twice as great as with normal SVM.
The lower the stator frequency becomes, the more slowly the current space vector ro-
tates. In the extreme case it can even be stationary. For the IGBTs in the three half bridg-
es, the concept of average thermal loading can no longer be used here as for a higher
stator frequency. For certain IGBTs it is then also no longer possible to reduce the losses
with this procedure.
Parameter Z47.40– PWM MSVM Threshold is used to select the PWM duty cycle from
which MSVM is activated.
This parameter can be set from 0.00% to 100%. A value of 0.00% corresponds to zero
voltage at the inverter output; 100% corresponds to 100% PWM duty cycle. From a duty
cycle of 80% the switching losses are reduced by a third with MSVM, without increasing
the switching current ripple compared to SVM.
The active mains rectifier unit works always with the Modified Space Vector Modulation
(MSVM).

4.7.3.7 ProDrive Current Controller
Figure 138: ProDrive current controller

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4.7 Controllers
Figure 139: ProDrive Current controller details

Figure 140: ProDrive Current controller adaption
4.7.3.8 Overview of current controller parameters
Functional block: Current Controller [47]

For parameter number 18.45, see ZPosition / Speed Controller– from page 536
For parameter numbers 107.20 and 138.ff, see ZMotor– from page 132
Axis-independent
Cyclic Write
DS Support
Read only
Storage
47.1 Isq set value FLOAT -10000 10000 0 A 1:1 X

47.2 Isd set value FLOAT -10000 10000 0 A 1:1 X
47.3 Isq actual value FLOAT -10000 10000 0.0 A 1:1 X
47.4 Isd actual value FLOAT -10000 10000 0.0 A 1:1 X
47.5 Isq Act value filtered FLOAT -10000 10000 0.0 A 1:1 X
47.6 Isd Act value filtered FLOAT 110000 10000 0.0 A 1:1 X
47.7 Kp q-current controller FLOAT 0.0 1.0e+04 10.0 V/A 1:1 X X
4kHz
47.8 Tn q-current controller FLOAT 0.0 1.0e+04 5.0 ms 1:1 X X
47.9 Kp d-current controller FLOAT 0.0 1.0e+04 10.0 V/A 1:1 X X
4kHz
47.10 Tn d-current controller FLOAT 0.0 1.0e+04 5.0 ms 1:1 X X
47.20 Usq set value FLOAT -440 440 0.0 V 1:1 X
47.21 Usd set value FLOAT -440 440 0.0 V 1:1 X
47.22 Integral term Usq FLOAT -440 440 0.0 V 1:1 X
47.23 Integral term Usd FLOAT -440 440 0.0 V 1:1 X

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47.24 Usq control output FLOAT -440 440 0 V 1:1 X

47.25 Usd control output FLOAT -440 440 0 V 1:1 X
47.26 Back-EMF feed forward FLOAT -440 440 0.0 V 1:1 X
47.27 U Alpha set value FLOAT -440 440 0.0 V 1:1 X
47.28 U Beta set value FLOAT -440 440 0.0 V 1:1 X
47.29 Control value U FLOAT 0.0 1.0 5.0e-01 1:1 X
47.30 Control value V FLOAT 0.0 1.0 5.0e-01 1:1 X
47.31 Control value W FLOAT 0.0 1.0 5.0e-01 1:1 X
47.32 Iu actual value FLOAT -10000 10000 0.0 A 1:1,414 X
47.33 Iv actual value FLOAT -10000 10000 0.0 A 1:1,414 X
47.34 Iw actual value FLOAT -10000 10000 0.0 A 1:1,414 X
47.40 PWM MSVM threshold UINT 0 100 100 % 1:1 X
47.41 Ualpha after PWM FLOAT -440 440 0 V 1:1 X
47.42 Ubeta after PWM FLOAT -440 440 0 V 1:1 X
47.43 Uq after PWM FLOAT -440 440 0 V 1:1 X
47.44 Ud after PWM FLOAT -440 440 0 V 1:1 X
47.47 Rho electrical UINT 0 65535 0 1:1
47.49 Output frequency fil- FLOAT -1e9 1e9 0 Hz 2:1 X
tered
47.50 Dead time compensa- FLOAT 0.0 2.0e+02 0.0 % 1:1 X
tion factor
47.51 Current controller mode UINT 0 65535 0 1:1 X
47.52 Iq predicted FLOAT -10000 10000 0 A 1:1 X
47.53 Id predicted FLOAT -10000 10000 0.0 A 1:1 X
47.54 back emf estimated FLOAT -440 440 0 V 1:1 X
47.55 SM Phi error FLOAT -180 180 0 Grad 1:1 X
47.65 Current controller cycle FLOAT 6.25e+01 2.5e+02 6.25e+01 µs 1:1 X
time
47.70 Alpha voltage of dead FLOAT -440 440 0 V 1:1 X
time compensation
47.71 Beta voltage of dead FLOAT -440 440 0 V 1:1 X
time compensation
155.11 Low adaption threshold FLOAT 0 10000 0 A 1:1 X

for current controller
155.12 High adaption threshold FLOAT 0 10000 0 A 1:1 X
155.13 Kp current controller FLOAT 0 100 100 % 1:1 X
adaption
4.7.3.9 Description of current controller parameters
47.1 Isq set value
Display of the limited Isq set value which is passed directly to the current controller.

47.2 Isd set value
Display of the limited Isd set value which is passed directly to the current controller.
47.3 Isq actual value
Display of actual value of Isq.
47.4 Isd actual value
Display of actual value of Isd.
47.5 Isq actual value filtered
Filtered actual value of Isq (time constant = 1.25ms).
47.6 Isd actual value filtered
Filtered actual value of Isd (time constant = 1.25ms).
47.7 Kp q-current controller 4kHz
Proportional gain of the q-current controller at 4 kHz PWM frequency,

Units: V/A
The proportional gain (Kp) of the Iq current controller is set with this parameter. Corre-
spondingly, the reset time (Tn) of the Iq current controller is set with the Tn q-current con-
troller parameter (Z47.8–).
According to the optimum magnitude and taking account of the internal standardizations,
Kp and Tn for the Iq current controller at 4 kHz PWM frequency can be set as follows:
Tn = Le / Re (ms)
Kp = Le / (3*Tab) = Le / (3 * 0.125) = 2,667 * Le (V/A)
With: Le in mH
Re in 
Tab sample time in ms
For synchronous motors:
Le = Lq inductanceZ107.34–

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Re = Stator resistance Z107.29–

For asynchronous motors:
Le = Total leakage inductance = Z107.30– + Z107.32–
Re = Total resistance = Z107.29– + Z107.31–
Tn = Lsq / rs (ms)
where rs = Stator resistance in ohms, cold
kp = Lsq /(3*Tab) = Lsq /(3*0.125) = 2.667* Lsq (Lsq in mH)

For asynchronous motors, the total leakage inductance Lsigma must be used instead of
Lsq.
At the active mains rectifier unit the default value of this parameter is 3 V/A.
47.8 Tn q-current controller
Integral action time of the q-current controller,

Units: ms
At the active mains rectifier unit the default value of this parameter is 10 ms.
47.9 Kp d-current controller 4kHz
Proportional gain of the d-current controller at 4 kHz PWM frequency,

Units: V/A
The proportional gain (Kp) of the Id current controller is set with this parameter. Corre-
spondingly, the reset time (Tn) of the Iq current controller is set with the Tn d-current con-
troller parameter (Z47.10–).
According to the optimum magnitude and taking account of the internal standardizations,
Kp and Tn for the Iq current controller at 4 kHz PWM frequency can be set as follows:
T n = L e / Re (ms)
Kp = Le / (3*Tab) = Le / (3 * 0.125) = 2,667 * Le (V/A)
With: Le in mH
Re in 
Tab sample time in ms
For synchronous motors:
Le = Lq inductanceZ107.35–
Re = Stator resistance Z107.29–

For asynchronous motors:
Le = Total leakage inductance = Z107.30– + Z107.32–
Re = Total resistance = Z107.29– + Z107.31–
At the active mains rectifier unit the default value of this parameter is 3 V/A.
47.10 Tn d-current controller
Integral action time of the d-current controller,

Units: ms
At the active mains rectifier unit the default value of this parameter is 10 ms.
47.20 Usq set value
Displays the control variable for the iq controller, taking account of the feedforward.
47.21 Usd set value
Displays the control variable for the id controller, taking account of the feedforward.
47.22 Integral term Usq
Displays the integration terms of the control variable for the iq controller.
47.23 Integral term Usd
Displays the integration terms of the control variable for the id controller.
47.24 Usq control output
Output value of the PI current controller.

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47.25 Usd Control Output
Output value of the PI current controller.
47.26 Back-EMF feedforward
Displays the voltage set value from the BACK-EMF feedforward.

This results from the speed actual value (Z18.22–), the motor voltage constant ("Ke fac-
tor" Z107.20–) and the flux set value Z146.13–.
The exact correlation between the speed actual value and the EMF feedforward is shown
in adaption EMF feedforward (ZFig. 153– on page 651).
At the stator flux-oriented sensorless control of the asynchronous motor this parameter
has no effect on the EMC-feedforward and has an informative purpose, only.
47.27 U Alpha set value
Real part of the control variable for the current controller in stator frame coordinates be-
fore dead time compensation.
The unit of the parameter is [V], phase-to-phase voltage effective.
47.28 U Beta set value
Imaginary part of the control variable for the current controller in stator frame coordinates
before dead time compensation.
47.29 Control value U
Modulation level of the IGBTs in Phase U. A value of 0 or 1 means full modulation.
47.30 Control value V
Modulation level of the IGBTs in Phase V. A value of 0 or 1 means full modulation.

47.31 Control value W
Modulation level of the IGBTs in Phase W. A value of 0 or 1 means full modulation.
47.32 Iu actual value
Measured value of the phase current.
47.33 Iv actual value
Measured value of the phase current.
47.34 Iw actual value
Value of the phase current calculated from the condition "Sum of all currents is equal to
0".
47.40 PWM MSVM threshold
The limiting value for modified modulation can be set in this parameter. The standard val-
ue is 100%, i.e. no modified modulation.
MSVM stands for "Modified Space Vector Modulation" and is used to improve the voltage
efficiency. However this results in increased current ripple.
The default value of this parameter is 0% at the active mains rectifier unit. This means
that the active mains rectifier unit operates with the modified space vector modulation
(MSVM). This is necessary so that the active mains rectifier unit is not thermally overload-
ed in the nominal and overload range.
47.41 Ualpha after PWM
Alpha voltage after calculating the modulation levels.

If the dead time voltage completely is compensated, this parameter accords to the alpha
voltage at the motor.

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47.42 Ubeta after PWM
Beta voltage after calculating the modulation levels.

If the dead time voltage completely is compensated, this parameter accords to the beta
voltage at the motor.
47.43 Uq after PWM
q-voltage after calculating the modulation levels.

If the dead time voltage completely is compensated, this parameter accords to the q-volt-
age at the motor.
47.44 Ud after PWM
d-voltage after calculating the modulation levels.

If the dead time voltage completely is compensated, this parameter accords to the d-volt-
age at the motor.
47.47 Rho electrical
Displays the current position (electric angle actual value) of the magnetic rotor flux, used
for the field-oriented control. The parameter value is determined in the current controller
cycle time (Z47.65–).
Range of values: 0 to 360 degrees
Standardization: 65535 for 360 degrees.
m During the operation with the encoder (Z19.52– = 0 or 1) Rho electric depends on the
encoder angle actual value as described in the following:
Rho el =  phi el + phi Z  mod 360°
phi el = Zp  phi
Rhoel Rho electrical >47.47<
phi2 Angle dependent on motor type
phiel Encoder angle actual value electrical
phi Encoder angle actual value (mechanical) Z106.5–

Zp Pole pairs Z107.19–
n In general, the following is valid for the synchronous motors (Z107.38–,

bits 2,1 = 00) or IPMSM
phi2 = Notch position electrical Z127.8–,
or
phi2 = Notch position mechanical Z137.4– * Zp
When having synchronous motors Rho electric complies with the pole posi-
tion actual value or actual value of the commutation angle and the notch po-
sition complies with the pole position offset or commutation angle offset.
n The following applies to the asynchronous motors (Z107.38–, bits 2,1 = 01):
phi 2 =  360°   f 2 dt 
mod 360°
with f2 Slip frequency actual value in Hz
m During the sensorless operation of the synchronous motor the parameter Rho electric
>47.47< is generated from a motor model with current actual values, voltage set val-
ues and motor parameters.
m The sensorless asynchronous motor ASM (Z107.38– bits 2,1 = 01; Z19.52– = 2) be-
ing oriented towards the stator flux, the parameter >47.47< Rho electric has no mean-
ing.
47.49 Output frequency filtered
Frequency (actual value) of the output voltage smoothed with 4 ms.

This parameter is not provided at the active mains rectifier unit.
47.50 Dead time compensation factor
Dead time compensation factor: 100% means that exactly the determined voltages have
been pilot controlled. The standard value is 0%, i.e., no compensation.
Compensation can be carried out using measured values or with default values (if dead
time measurement wasn't executed). See dead time correction table Z123.15–.
This parameter is not provided at the active mains rectifier unit, because the active
mains rectifier unit does not support dead time compensation.

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47.51 Current controller mode
Switches the current prediction for the current controller on/off.

mains rectifier unit does not support current prediction.
Bit Meaning
0 Switches the current prediction for the current controller on/off:
0: Current prediction deactivated
1: Current prediction active
1 Feedforward of the ohmic voltage drop at the stator winding (IxR feedfor-
ward):
0: IxR feedforward deactivated
1: IxR feedforward active
2 Selection of the actual current or set value current for the feedforward of
the ohmic voltage drop:
0: Using the actual current value for IxR feedforward
1: Using the current set value for IxR feedforward
3 Reserved
4 0: Udc-Id controller off
1: Udc-Id controller on
5 0: Short circuit brake off
1: Short circuit brake on
6 Reaction when exceeding the threshold for the reactive current brake.
0: Id target = Id max
1: Increase of Id via Udc link-Id controller
15 ... 7 Reserved
47.52 Iq predicted
This parameter displays the predictive current Iq determined by the current prediction pro-
cedure, if the current prediction procedure is switched on.
47.53 Id predicted
This parameter displays the predictive current Id determined by the current prediction pro-
cedure, if the current prediction procedure is switched on.

47.54 Back EMF estimated
EMF acting in the q-direction. Required for field angle monitoring of PMSM.
mains rectifier unit does not have a field angle monitoring.
47.55 SM Phi error
Display of the identified field angle deviation of the PMSM.

mains rectifier unit does not have a field angle monitoring.
47.65 Current controller cycle time
Display parameter for the cycle time of the current controller. The cycle time results from
the setting of Z130.15– PWM Frequency.
The current controller cycle time must not exceed the Z1.8– RT0-Cycle time. This is mon-
itored and as the case may be the error 501 will be triggered which inhibits enabling of
the drive.
47.70 Alpha voltage of dead time compensation
Alpha component of the dead time compensation

Because of the current actual values, the PWM frequency (according to setting Z123.1–
bit 3) and of the UDC-link actual value evaluated dead time voltage (this means the nom-
inal dead time voltage), affected by the dead time compensation factor (Z47.50–).
47.71 Beta voltage of dead time compensation
Beta component of the dead time compensation

Because of the current actual values, the PWM frequency (according to setting Z123.1–
bit 3) and of the UDC-link actual value evaluated dead time voltage (this means the nom-
inal dead time voltage), affected by the dead time compensation factor (Z47.50–).

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155.11 Low adaption threshold for current controller
Current Iq, from which the current controller adaption starts.
155.12 High adaption threshold for current controller
Current Iq, from which the minimum current controller gain acts.
155.13 Kp current controller adaption
This percentaged value describes the real acting part of the proportional gain of both cur-
rent controllers at a current Iq above the high adaption threshold for the current controller
Z155.12–.
Interpolation between the lower and the upper adaption threshold is linear.

4.7.4 DC link controller

The active mains rectifier unit doesn’t use this module, because the functional range
of the DC link controller of the active mains rectifier unit differs from this module. The
DC link controller of the active mains rectifier unit is parameterized in the module
ZActive mains rectifier unit– from page 657.
4.7.4.1 Description of the DC link controller
The controller for the DC link voltage, the DC link controller in short, is a PI controller
which acts on the current limit.
The controller does this by limiting the generator current, because in generator operation
(while braking the drive) the DC link voltage rises as a result of the current that is fed back.
Depending on the direction of revolution, either the upper or the lower limit of the Iq cur-
rent is adjusted.
4.7.4.2 ProDrive DC link controller
Figure 141: ProDrive DC link controller
4.7.4.3 Reactive current brakes
The dynamic at a braking process drops if there is no brake resistor, because the energy
of the motor must be reduced. Additional energy in the motor can be reduced by applying
reactive current.
The Udc link-ld controller operates with the same controller parameters as the Udc link
controller. The threshold (set value) can be set separately by a factor (Z114.10–) in de-
pendence of the maximum DC-link voltage (Z114.1–). If the DC-link voltage exceeds the
threshold, then the maximum Id current can either be applied immediately or the Id cur-

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4.7 Controllers
rent is continuously (bit 6 of Z47.51–) The Udc link-ld controller is switched on by bit 4 of
Z47.51–. The output of the UDC-link-Id controller (Z114.11–) is between 0 and 1 and can
be limited by Z114.12–.
Synchronous motor
The set field current preset value (Z19.9–) is supplied at a synchronous motor. The cur-
rent should be supplied negatively at high speed as otherwise the required voltage could
get too high.
Asynchronous motor
The maximum Id current (Saturation magnetizing current Z146.12–) is supplied at an

asynchronous motor. The motor flux increases with the Id current and thereby the re-
quired voltage. The field weakening controller counteracts the Udc link controller and the
maximum Id current cannot be supplied, if the required voltage exceeds the available volt-
age.
At high speeds it is possible to supply block-shaped Id current with the output of the Udc
link-ld controller. At this process the flux increases and decreases dependent of the ld
current signs. The sign of the ld current changes, if the actual flux value (Z146.14–) ex-
ceeds the limits, which are between 100% of the flux set value and the adjustable thresh-
old (Z114.8–).The block-shaped ld current is supplied above the adjustable threshold
(Z114.7–) - below the threshold positive ld current is supplied, only.
4.7.4.4 Short circuit brake
Synchronous motors are able to be braked using a short circuit brake, additionally. If the
DC link voltage exceeds a set threshold, the motor phases are shorted and the current
no longer flows into the DC link. The motor is decelerated by the resulting current.
4.7.4.5 Parameter Overview of the DC link controller
Functional block: FbUzkcontroller [114]

For Parameter 130.3, see ZPower unit– from page 107.
Axis-independent
Cyclic Write
DS Support
Read only
Storage
114.1 DC link controller set FLOAT 10 850 850 V 1:1 X

value
114.2 Kp DC link controller FLOAT 0.001 256 0.01 1/V 1:1 X
114.3 Tn of DC link controller FLOAT 0 1000 0.2 ms 1:1 X
114.5 Iq upper limit DC link ctrl FLOAT 0 10000 10000 A 1:1 X

114.6 Iq lower limit DC link ctrl FLOAT -10000 0 -10000 A 1:1 X
114.7 Speed threshold for FLOAT 0 1e9 600000 Grad/s 1:1 X
block shape current
114.8 Flux threshold FLOAT 0 1 0.5 % 1:100 X O
114.9 DC link voltage hystere- FLOAT 0 100 0 V 1:1 X
sis
114.10 Factor maximum volt- FLOAT 0 1 0.99 1:1 X O
age for Id-brake
114.11 Reactive current control- FLOAT 0 1 1 1:1 X
ler output
114.12 Minimal value reactive FLOAT 0 1 0 1:1 X O
current
4.7.4.6 Description of the DC Link Controller Parameter
114.1 DC link controller set value
Maximum value for the DC link voltage.

During braking procedures, energy is fed back from the motor into the DC link, which is
further charged as a result.
On devices that do not have regenerative capability, the energy can only be dissipated
via a chopper resistor.
To prevent the DC link voltage from rising too far, it is limited to the maximum value set
here by means of a control arrangement. To this end, the deceleration torque in the drive
is reduced if necessary, so that the DC link voltage does not rise any further.
114.2 Kp DC link controller
Proportional gain of the DC link controller,

Units: 1/V.
The controller output of the DC link controller limits the permissible Iq current in the gen-
erator mode. Output = 0.5 means Iq should be a maximum of 0.5 * Z138.6– or Z138.7–.
114.3 Tn of DC link controller
Reset time of the DC link controller

Units: ms

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114.5 Iq upper limit DC link ctrl
Upper torque current limit in the regenerative direction in ampere executed by the DC link
controller.
114.6 Iq lower limit DC link ctrl
Lower torque current limit in the regenerative direction in ampere executed by the DC link
controller.
114.7 Speed threshold for block shape current
If the Udc link-ld controller is switched on block-shaped ld current is supplied above this
threshold.
Below this threshold the current is increased only in order to reduce the braking energy.
Braking with block-shaped ld current can be switched off, if the value of the speed thresh-
old is set above the maximum speed.
114.8 Flux threshold
The flux is minimal with block-shaped ld current. If the actual flux drops below this thresh-
old the sign of the ld current is changed.
114.9 DC link voltage hysteresis
If the DC link voltage drops below the maximum value (Z114.1–) by this value, the torque
current is no longer limited.
114.10 Factor maximum voltage for Id-brake
Factor for the threshold and set value of the reactive current brake. Therefore, the actual
Udc link set value for the reactive current brake results from the product of >114.10< and
Z114.1–.
114.11 Reactive current controller output
Output of the reactive current controller. It is located between 0 and 1 whereby 0 means
the maximum ld current and 1 means no ld current.

114.12 Minimal value reactive current
The output of the reactive current brake (Z114.11–) can accept values between 0 and 1
and be limited by this parameter. With the value 0 the complete field current (Z19.9–) can
be specified by the reactive current brake at synchronous machines; the reactive current
brake cannot apply any reactive current at value 1.

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4.7.5 Field weakening controller

The active mains rectifier unit doesn’t use this module.
At an asynchronous machine as well as at a synchronous machine regarding the operat-

ing range it is commonly distinguished between the basic speed range (typically below
the rated speed of the motor) and the field weakening range (typically above the rated
speed).
In the base speed range the flux remains constantly. In the field weakening range the flux
is reduced (ASM) or negative lsd current is applied to make greater speed possible at an
insufficient DC-link voltage
Field weakening factor
The field weakening at the voltage limit (Z142.1– bit 0 = 1) at b maXX 5000 is structured
accordant to the field weakening factor (see diagram in figure 125). The field weakening
factor represents the current level of the field weakening. The field weakening factor (pa-
rameter Z142.2–) is a factor without units, value range is between 0 … 1.
ZFig. 142– shows that the field weakening is made via two channels. The first channel is
an open-loop controlled and the second channel is a closed-loop controlled field weaken-
ing.
Open-loop controlled field weakening
If the speed exceeds a specified speed threshold the flux is reduced after a characteristic
(see ZFig. 142–) inversely proportional to the speed. As a speed threshold either the pa-
rameter Speed threshold field weakening (Z142.9–) acts, if bit 1 was set by the field
weakening mode Z142.1– or the rated speed (Z142.7–) if this bit was not set. The output
of the open-loop controlled field weakening is the field weakening factor after the speed
Z142.12–.
Closed-loop controlled field weakening
The second channel contains a voltage controller that evaluates the difference between
the specified limit (Z142.23–) and the filtered actual value of the required PWM total volt-
age (Z142.7– see also bit 2 of Field weakening mode Z142.1–) and accordingly weak-
ens the flux (ASM) or applies a negative field current, so that the required voltage at the
PWM doesn't increase anymore. The time constant of the filter for the actual value of the
PWM total voltage can be parameterized with Z142.10–.
The limit is the lower one of two values of the voltage threshold specified via the param-
eter Z142.8– and of the maximum total PWM voltage (Z142.6–), which can be adjusted
with a factor (Z142.15–). The final threshold to activate the field weakening controller is
displayed in the parameter Z142.23–. The maximum total PWM voltage is continually
calculated from the current DC-link voltage provided that there is a 100% PWM control.
The output of the closed-loop controlled field weakening is the field weakening output
Z142.13–.

Total field weakening factor
The present degree of the field weakening (Field weakening factor Z142.2–) is given by
the lowest value of two channels (minimum value between Z142.12– and Z142.13–).
This is additionally limited, so that it never falls below the specified limit of the parameter
Minimum field weak factor (Z142.5–).
Special case: Permanent field current
The field weakening mode "permanent field current" (Z142.1– bit 0 = 1) makes it possible
to apply the field current preset value Z19.9– permanently (lsd set value Z47.2– = Field
current preset value Z19.9–). In this case the field weakening factor is without effects.
Therefore, the flux controller is deactivated at the ASM. The targeted flux is calculated
from the magnetization identification as follows:
Flux set [%] = Lh  Imr   Isd set  Flux nom
with:
Fluxset Flux set value in % Z146.13–
Lh(Imr) Lh-characteristic (see ZLh-characteristic– on page 178)
Imr Magnetizing current. Imr = Isd set value is defined in this case.
Isdset Field current preset value Z19.9–
Fluxnom Nominal value of the magnetic flux in Vs
Mode of operation of the field weakening factor
The field weakening factor at the ASM directly influences the current flux set value and at
the SM the field current set value as follows (also see diagram in ZFig. 143–):
m Asynchronous machine (Z142.1– bit 0 = 0):
Flux set value in % Z146.13– = Field weakening factor Z142.2– * 100
 Considering the extreme cases:

Field weakening factor = 0 means that a flux will not be applied.
Field weakening factor = 1 means that a flux set value of 100%
will be applied.
For the range 0 < Field weakening factor < 1, the following applies: The flux set
value will be applied proportionally.
m Synchronous machine (Z142.1– bit 0 = 0):

Isd set value Z47.2– =
Field current preset value Z19.9– * (1 - Field weakening factor Z142.2–)
 Considering the extreme cases:
Field weakening factor = 0 means that the value set for the field current
reference value will be applied.
Field weakening factor = 1 means that the value set for the field current
reference value will not be applied.

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4.7 Controllers
For the range 0 < Field weakening factor < 1, the following applies: The value set
for the field current reference value will be
applied proportionally.
m Special case "permanent field current" (Z142.1– bit 0 = 1):

Isd set value Z47.2– = Field current preset value Z19.9–
 independent of field weakening factor.
m IPMSM:
see ZField weakening at IPMSM– from page 184.
x2 speed
1
actual value
filtered
18.22
Speed threshold
(107.7, 142.9) Field weak
Voltage MIN factor
threshold 142.2
142.8
Field weakening controller
Voltage limit field
weakening controller Minimum field weak
142.23 factor 142.5
MIN
5000_0227_rev02.cdr
Factor
field weak
threshold
142.15 PWM total voltage
smoothed 142.7
u after PWM 47.41
Max. total PWM 3/2 . u2 + u2
voltage 142.6 u after PWM 47.42
Smoothing time
(142.10)
Figure 142: Block diagram of the field weakening factor

Field weakening at voltage limit (142.1 Bit 0 = 0):
External limiting max field

ASM: current amplitude,138.10
100% Limit magnetizing current
Flux set value Flux controller 146.12
Field weak factor [%] Isd set value
142.2 146.13 47.2
X

Actual flx -1
[%]
Permanent field current (142.1 Bit 0 = 1):

1/Flux nom [Vs]
Flux set value
[%] External limit max field
146.13 current amplitude,138.10
X Limit magnetizing current
146.12
Isd set value
Lh characteristic 47.2
Field current preset value 19.9
5000_0320_rev03_int.cdr
-1
Figure 143: Block diagram: Effect of field weakening factor ASM
Field weakening at voltage limit (142.1 bit 0 = 0):

Field current
SM: preset value
19.9 External limiting max field
1 current amplitude 138.10
Field weak factor Isd set value
142.2 47.2
X
-1
Permanent field weakening current (142.1 bit 0 = 1):
External limiting max field

current amplitude 138.10
Isd set value
47.2
Field current preset value 19.9
5000_0345_rev01.cdr
-1
Figure 144: Block diagram: Effect of field weakening factor SM

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4.7 Controllers
4.7.5.1 Breakdown torque
The voltage is not only a limit for the q-component of the motor-voltage that is sustained
by the weakening of the magnetic flux (ASM) or the negative d-current injection, but also
for the d-component of the motor -voltage that can be kept by limiting a speed-dependent
torque current (breakdown torque limit).
Two limits of the breakdown torque are possible:
m Breakdown torque limit: A feedforward controller limiting the maximum torque cur-
rent in dependence of the voltage and the speed.
m Breakdown torque controller: A feedback controller readjusting the maximum torque
current on the basic of the available voltage.
Figure 145: ProDrive Breakdown torque
Breakdown torque limit (feedforward controller)
There is a speed-dependent torque current limit Isq,K,limit in the BM5000 so that the de-
manded Ud voltage can be limited to a defined limit Ud,Max as follows:
U d,Max
I sq,K,limit = -----------------
 el  L q

Thereby, the inductance Lq accords to the inductance selected for the motor control: In-
ductance of measuring values (Z123.7–) or of motor data (Z107.34– and Z107.30– +
Z107.32–) according to the setting of bit 3 in Z123.10–.
The Ud voltage should not be more than the phase voltage Uph,Max. However, it is rec-
ommended to limit the voltage to the 1/2-fold Uph,Max.
1
U d,Max = -------  U ph,Max
2
Thereby the 100% PWM control and the present DC link voltage are considered to calcu-
late Uph,Max. This is the reason that at instantaneous reductions of the DC link voltage the
voltage limit and the torque current limit drops.
A limit speed nE, is implemented, as display parameter, from which the speed-dependent
torque current limit stronger than the set max. torque current Z19.8– Iq,Max the torque
current limits.
60 el 60  U d,Max
n E = -------------
- = -------------------------------------------
-
2  p 2  p  L q  I q Max
The resulting voltage phasor has by Iq,set = lq,Max and nact = nE an angle of 45° (assuming
the Usq voltage of the field weakening is reduced to (1/2) * Uph,Max). If this angle is
reached by the increase of the lq current there is no increase of the torque at the asyn-
chronous machine anymore and therefore must be limited.
Factor of breakdown torque

Additionally, the operating speed still can be adjusted by the parameter Z138.17– (factor
at the breakdown torque Sk). The smaller the factor the smaller the Ud voltage limit and
the greater the distance to the breakdown torque.
1
U d.Max = S k  -------  U ph,Max
2
At the ASM Sk may not be greater than 1. At the SM Sk may be set >1 (but 2). This
way more torque current can be applied but the distance to the breakdown torque is re-
duced.
The resulting speed-dependent torque current limit of the entered breakdown torque fac-
tor is displayed in parameter Z138.18– "Isq limit breakdown torque". The resulting limit
speed is displayed in "Breakdown torque limit" (Z138.16–).
The available phase voltage

The existent voltage, Uph,Max dependent of the field weakening controller mode is deter-
mined as follows:
m Field weakening at the voltage limit
1
U ph,Max = -------  min  u max, u lim 
3

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4.7 Controllers
umax, Maximum output voltage RMS, Z142.6–

ulim, Voltage threshold for field weakening, Z142.8–
m Permanent field weakening
1
U ph,Max = -------  u max
3
umax, Maximum output voltage RMS, Z142.6–
The output voltage effective Umax is calculated by the 100% PWM control and the present
DC link voltage.
Activation
The breakdown torque can be activated by Z138.1– bit 2. If the breakdown torque limit
is not activated and if breakdown torque controller is not active then
lsq k limit 138.18 = lsq Max Z19.8–.
Breakdown torque adaption

To compensate moderate discrepancies in the motor parameters or compensate negligi-
ble effects to calculate the breakdown torque limit an adaption with an easy parallel com-
parison model (MRAS, Model Reference Adaptive System) can be activated (Z138.1–
bit 5 to 1). Due to compatibility causes the adaption is not active as default. It is recom-
mended to activate the adaption at the activated breakdown torque, as well. The operat-
ing principle of the adaption is presented in ZFig. 146–.
V A V A V A
isq,K,limit
isq,K,limit isq,K,limit
138.18
138.18 138.18
isq-act 47.3 isq-act 47.3 isq-act 47.3
0 0 0
0 0 0
t t t
usd-set 47.21 usd-set 47.21 usd-set 47.21
Ud,Max
a) b) c)
5000_0365_rev01
Figure 146: Examples in regard to constant speed and moderate discrepancies in the motor parameters:
a) Too low without adaption and breakdown limit: Voltage limit Value is lower than expected;
b) Including adaption although there are discrepancies, Value of the voltage limit as expected: Breakdown limit
okay.;
c) Without adaption and breakdown limit is too high: Value of the voltage limit is higher than expected.

Problems and proceedings
If the values of speed, output frequency, torque current, motor inductances are high it
should be checked if the d-,q-currents still are properly controlled. If this is not the case it
could be that there is not enough voltage available for the controller.
With regard to the set voltage "PWM total voltage smoothed" Z142.7– the "Maximum to-
tal PWM voltage" Z142.6– can be controlled (by means of the oscilloscope function for
example). The controller is not provided enough voltage if Z142.7– is higher than
Z142.6–. The current cannot be compensated. Furthermore, a wind-up effect occurs in
the current controller (the I-component of the controller steadily increases without the cor-
recting variables increasing). Amongst others this is due to the coupling between d- and
q-current components. If the current deviation is lower an unintentional delay of the cor-
recting variables occurs. This can cause a strong overshoot.
Roughly the voltage at the motor is determined by two variables. On the one side is the
speed via the Back-EMF voltage (in the q-component of the motor voltage), on the other
side the torque via the torque current and the available impedance Lq*e (L*e at the
ASM) in the d-component of the motor voltage.
1 If the value of the Usd voltage Z47.21– is below the (1/2)-fold of the available phase
voltage Uph,Max it should be checked if the field weakening controller applies the re-
quired field weakening current (and at the ASM - if the magnetic flux weakening is suf-
ficient). If the latter is not the case it could be that the field weakening controller does
not apply the field weakening current quickly enough. However, the field weakening
controller can be adjusted more dynamically or the controller can be supported by the
use of the field weakening characteristic. Another cause of an insufficient field weak-
ening is that the field current reached its limit (field current specification at the SM
Z19.9–). In general, the field current specification value can be set at half the motor-
nominal current (if higher values are required contact the motor manufacturer).
2 If the value of the Usd voltage Z47.21– is above the (1/2)-fold Uph,Max it is recom-
mended to activate the breakdown torque limit (Z138.1– bit 2 to 1) by the default set-
ting of the breakdown torque factor Z138.17–. If the Usd voltage is not limited to the
assumed value Ud,Max it is recommended to activate the adaption for the breakdown
torque limit (Z138.1– bit 5 to 1). If the Usd voltage is limited and the issue with the con-
trolled current remains then the field weakening should be controlled as described in
point 1 otherwise carry on with point 3.
3 If the d-,q-currents are now properly controlled the breakdown torque factor at the SM
can be gradually increased to achieve more torque current. However, this leads to a
higher field current amplitude (lower power factor). Thereby, should be checked if the
field weakening controller is operating sufficiently and if the field current amplitude is
adequate (refer to point 1).
Breakdown torque controller (feedback controller)
At the controlled processing the maximum torque current is limited by a PI controller and
provides the maximum possible torque current to the available voltage. Because the max-
imum torque current is adjusted this process is independent to the set motor parameters.
The breakdown torque controller is activated at bit 4 of parameter Z138.1– and at the
same time deactivates the breakdown torque parameters. The input values are the same
as at the field weakening controller except that there is an own factor (Z142.21–) for the
breakdown torque control to adapt the available voltage. As soon as the required voltage
increases the set voltage the torque current is limited by the PI controller and the control-
ler is immediately initialized to the present torque current. It is recommended to parame-

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4.7 Controllers
terize this factor higher than the field weakening limit factor (Z142.15–), so that the field
weakening controller always starts at first. The higher the present field current the lower
the present Uq voltage and due to this a higher torque is available and a higher torque
can be reached.
4.7.5.2 Parameter overview field weakening
Functional block: FbFieldweak [142]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
142.1 Field weakening mode UINT 0 0xFFFF 0 1:1 X

142.2 Field weakening factor FLOAT 0 1 1 1:1 X
142.3 Kp field weakening con- FLOAT 0 1000 0.002 1/V 1:1 X
troller
142.4 Tn Field weakening con- FLOAT 0 10000 3000 ms 1:1 X
troller
142.5 Minimum field weak fac- FLOAT 0 1 0 1:1 X X
tor
142.6 Max. total PWM voltage FLOAT 0 1000 0 V 1:1 X
actual value
142.7 PWM total voltage FLOAT 0 1000 0 V 1:1 X
smoothed
142.8 Voltage threshold for FLOAT 50 600 600 V 1:1 X
field weakening
142.9 Speed threshold for field FLOAT 10 500000 3000 U/min 1:1 X
weakening
142.10 Smoothing time PWM FLOAT 0 20 10 ms 1:1 X
total voltage
142.12 Field controller due to FLOAT 0 1 1 1:1 X
speed
142.13 Field weakening control- FLOAT 0 1 1 1:1 X
ler output
142.15 Factor field weak FLOAT 0 1 1 1:1 X O
threshold
142.19 Kp breakdown torque FLOAT 0 1000 0.001 1/V 1:1 X
controller
142.20 Tn breakdown torque FLOAT 0.01 10000 20 ms 1:1 X
controller
142.21 Factor breakdown FLOAT 0 1.15 1.02 1:1 X
torque threshold
142.22 Breakdown torque con- FLOAT 0 1 1 1:1 X
trol output
142.23 Voltage limit field weak- FLOAT 0 600 0 V 1:1 X
ening controller

4.7.5.3 Description of the Field Weakening parameters
142.1 Field weakening mode
Bit Meaning
0 Field weakening type:
0: "At the voltage limit": Field weakening via the field weakening factor
Z142.2–.
1: "Permanent field current": Isd set value (Z47.2–) = Field current preset
value (Z19.9–)
Other details see ZField weakening controller– from page 617.

For sensorless control of the asynchronous machine SFOC irrelevant.
1 Threshold speed of the controlled field weakening characteristic:
0: Motor nominal speed (Z107.7–).

1: Speed threshold field weakening Z142.9–
2 From FW version 01.15:
Correction of the PWM voltage Z142.7– in the over modulation range
(relevant to breakdown torque controller):
0: Not active
1: Active
See note to bit 2
15 ... 3 Reserved
m Bit 2
During the continuous operation of the field weakening controller the PWM control is lim-
ited to the linear range (i.e. no overmodulation) (factor field weakening threshold
Z142.15– less than or equal to 1). In contrast, during the transient response the range of
the overmodulation can be reached.
The breakdown torque controller (from FW version 1.14 on) however can allow the con-
tinuous operation in the overmodulation range (factor breakdown torque threshold
Z142.21– greater than1).
In the linear range of the PWM control the set voltage (before the PWM module) accords
to the actually modulated voltages (after the PWM). In contrast and due to technical rea-
sons, in the overmodulation the set voltages becomes disproportionately greater with in-
creasing modulation level than the actually modulated voltage (after the PWM).
The PWM voltage (Z142.7–), to be limited by the field weakening controller or breakdown
torque controller is calculated up to FW version 1.14 with the set voltage before the PWM.
This way, values are presented in the overmodulation range, which are too high. From
FW version 1.15 the voltage can be calculated via the actually modulated voltage. The
use of the corrected voltage values is optional and in general not active (parameter Field
weakening mode Z142.1– bit 2). When using the corrected voltage it could be that the
parameterization of the breakdown torque controller must be adapted.

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4.7 Controllers
The special use of this parameter is described at ZSensorless control, at stator flux ori-
ented– from page 833.
142.2 Field weakening factor
The field weakening factor represents the current level of the field weakening.
The field weakening factor is without units. The range of values extends from 0 to 1.
The field weakening factor accords to the minimum value between field weakening output
Z142.13– and the field weakening factor after the speed Z142.12–.
Furthermore, the field weakening factor of the parameter Z142.5– "Minimum field weak
factor" is limited:
Field weakening factor [Z142.2–]  Minimum field weak factor [Z142.5–].
Further details see chapter ZField weakening controller– from page 617.
142.3 Kp field weakening controller
Proportional gain of field weakening controller.

With a SM, the field weakening controller can be set more finely than with an ASM, as no
delay in the reduction of the field due to the rotor time constant occurs.
A P-gain of 0 switches off the field weakening controller.
142.4 Tn Field weakening controller
Reset time of the field weakening controller.

At value 0 the integral part is set to 0 and the field weakening controller works without in-
tegral part.
142.5 Minimum field weak factor
The parameter is without unit and serves as a limit of the field weakening factor Z142.2–
The range of values extends from 0 to 1.
Field weakening factor [Z142.2–]  Minimum field weak factor [>142.5<].
Of importance only if the field weakening type at the voltage limit is set (Z142.1–
bit 0 = 0).
See chapter ZField weakening controller– from page 617.

Considering the extreme cases:
Minimum field weak factor = 0For SM: The parameterized field current
preset value Z19.9– can be reached.
For ASM: The flux set value Z146.13– can
be reduced to 0%
Minimum field weak factor > 0 For SM the parameterized field current
preset value Z19.9– can not be reached.
For ASM the flux set value in % can only be
reduced to 100 * "Minimum field weak
factor".
142.6 Max. total PWM voltage actual value
Display of the maximum total voltage available, that can be generated at an amplitude of
100% PWM (limit of the linear range) from the current DC link voltage Z130.3–. The max-
imum available total voltage at the motor is smaller due to the dead time voltages.
The field weakening controller requires this parameter.
The unit of the parameter is [V], line-to-line voltage effective.
142.7 PWM total voltage smoothed
Display of the actual required total voltage at PWM (see also Z142.6– and bit 2 of param-
eter Z142.1–). The time constant can be parameterized with Z142.10–.
The parameter is required by the field weakening controller as well as of the breakdown
torque controller.
The unit of the parameter is [V], line-to-line voltage effective.
142.8 Voltage threshold for field weakening
Set point of the voltage threshold from which the field weakening controller can be acti-
vated.
The final threshold to activate the field weakening controller also depends of other param-
eters (Z142.15– and Z142.6–) and is displayed in the parameter Z142.23–.
The parameter unit is [V], line-to-line voltage effective.
142.9 Speed threshold for field weakening
Set point of the speed threshold from which the field weakening begins, if bit 1 of param-
eter Z142.1– Field weakening mode is set.

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4.7 Controllers
142.10 Smoothing time PWM total voltage
Time constant of the PT1 filter for parameter Z142.7–.

If the time constant is less than 800 µs the filter is deactivated.
142.12 Field controller due to speed
The field weakening factor after the speed is the ratio of threshold speed / actual speed
value whereat the field is reduced if the actual speed value > threshold speed, whereat
Threshold speed = "Rated speed" Z107.7–; (Z142.1– bit 1 = 0)
Threshold speed = "Speed threshold field weakening" Z142.9–; (Z142.1– bit 1 = 1)
The range of values is between 0 and 1.
Of importance only if the field weakening type was set at the voltage limit (Z142.1–
bit 0 = 0).
142.13 Field weakening controller output
Output after the field weakening controller.

The range of values is between 0 and 1.
Of importance only if the field weakening type was set at the voltage limit (Z142.1–
bit 0 = 0).
142.15 Factor field weak threshold
This factor defines the set voltage from which the field weakening can be started. The pro-
vided voltage is (Z142.6–) multiplied with this factor and this way a relative setting of the
set voltage is possible. This factor should be lower than Z142.21–.
The final threshold to activate the field weakening controller also depends on parameter
Z142.8– and is displayed in the parameter Z142.23–.
142.19 Kp breakdown torque controller
Proportional gain of the breakdown torque controller.

142.20 Tn breakdown torque controller
Integral action time of the breakdown torque controller.
142.21 Factor breakdown torque threshold
This factor defines the set voltage from which the breakdown torque controller starts. The
provided voltage is multiplied with this factor and therefore a relative setting of the set volt-
age is possible. This factor should be higher than Z142.15–.
142.22 Breakdown torque control output
The output from the breakdown torque controller is dimensionless and is between 0 and
1. The limit level is determined. The output is multiplied by the maximum total current
(Z19.6–) and leads to Z138.18–.
142.23 Voltage limit field weakening controller
The voltage limit as of the field weakening controller is activated.

This limit is calculated as the minimum value between the "Voltage threshold field weak-
ening (Z142.8–) and the product from the "Factor field weakening threshold" (Z142.15–
) and the "Maximum nominal voltage" (Z142.6–).
The parameter unit is [V], line-to-line voltage effective.

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4.7 Controllers
4.7.6 Two-level controller

The module two-level controller is provided at the active mains rectifier unit in a com-
parable range as at the single axis. See the differences in the description of the re-
spective parameter.
4.7.6.1 General
For each axis the b maXX controller has 2 two-level controller, which independently are
operating and which are freely configurable. With the two-level controller 1 fixed and vari-
able switching thresholds can be monitored. At the two-level controller 2 there are no rel-
ative switching thresholds. The operating mode of the according two-level controller is
configurable.
Depending on the data type of the input parameter the corresponding parameter for the
lower and upper switching threshold must be selected.
For the two-level controller with absolute thresholds (function block 151) only is valid:
Data type IEC data Parameter for Parameter for

type lower threshold upper threshold
float REAL Z151.5– Z151.6–
int16 INT
unsigned int16 UINT
int32 DINT
Z151.14– Z151.15–
unsigned int32 UDINT
Bitfield16 WORD
Bitfield32 DWORD
For the two-level controller with absolute and relative thresholds (function block 152) is
valid:
Data type IEC data Parameter Parameter Parameter Parameter

type for absolute for absolute for relative for relative
lower upper lower upper
threshold threshold threshold threshold
float REAL Z152.5– Z152.6– Z152.7– Z152.8–
int16 INT
unsigned int16 UINT
int32 DINT
Z152.14– Z152.15– Z152.16– Z152.17–
unsigned int32 UDINT
Bitfield16 WORD
Bitfield32 DWORD

4.7.6.2 Two-level controller with absolute thresholds
This operation mode is the classical application of two-level controllers.
Lower Upper
Source number absolute threshold absolute threshold
2-point-controller 151.6
input 151.5
151.3 Status word 3,
bit 0
1
151.2
5000_0204_rev01_int.cdr
0
Absolute threshold
Absolute value
mode, bit 2
151.1
Figure 147: Two-level-controller with absolute thresholds
The following is valid for the two-level controller with absolute thresholds:
m Both parameters, lower threshold Z151.5– and upper threshold Z151.6– determine
the hysteresis. The lower switching threshold always must be smaller than the upper
switching threshold - the controller internally does not check the ratio of these values.
m The two-level controller with absolute thresholds is activated by bit 0 = 1 in parameter
Mode Z152.1–.
m The two-level controller switches off, if the following is valid:
Two-level controller input  Two-level controller upper switching threshold
m The two-level controller switches on, if the following is valid:
Two-level controller input  Two-level controller lower switching threshold
Usage e. g. for temperature monitoring, speed monitoring a. s. o.
h(t)
Upper threshold
Lower threshold
t
5000_0206_rev01_int.cdr
t
Figure 148: Two-level-controller with absolute thresholds

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4.7 Controllers
4.7.6.3 Two-level controller with relative thresholds
In this operating mode the actual value two-level controller is compared with an upper and
lower switching threshold, which is calculated from the present value of the parameter
number Z152.4– Relative compare value. Therefore the switching point is not a definite
value, but follows the present value, which parameter number is specified in Z152.4–
Relative compare value.
h(t)
rel. upper threshold
rel. lower threshold

rel. compare value
5000_0207_rev01_int.cdr
t
Figure 149: Two-level controller with relative thresholds
m The switching hysteresis arises from the difference between the lower and upper
switching threshold.
m The two-level-controller with relative thresholds is activated by bit 1 = 1 in parameter
Z152.1– mode two-level controller.
m The two-level controller switches off, if the following is valid:
Two-level-controller input  Two-level-controller relative upper switching threshold
m The two-level controller switches on, if the following is valid:
Two-level-controller input  Two-level-controller lower switching threshold
4.7.6.4 Combination of the operating modes absolute and relative thresholds.
Both threshold types can be activated commonly, in order to limit and monitor the behav-
ior of the relative threshold by a constant, absolute threshold controller.

Lower Upper
absolute threshold absolute threshold
152.5 152.6
Mode bit 0
152.1
Source number
2-point-controller
input
Absolute threshold Status word 3,
bit 0
152.2
1 Lower Upper 1
relative threshold relative threshold
152.7 152.8
0
Absolute value
5000_0205_rev01_int.cdr
mode, bit 2
152.1 - Mode bit 1
152.1
Relative threshold
Relative comparison value

152.4
Figure 150: Combination absolute and relative thresholds
The output of the two-level controller is activated if the actual value remains under the rel-
ative and absolute lower threshold and is deactivated, if the actual value exceeds the rel-
ative or absolute upper threshold (NOR logic).
h(t)
abs. upper threshold

rel. on
abs. lower threshold
rel. upper threshold
rel. compare value rel. lower threshold
t
5000_0208_rev01_int.cdr
t
Figure 151: Combination absolute and relative thresholds

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4.7 Controllers
4.7.6.5 Sign-independent monitoring
By setting mode bit 2 the controller generates the absolute value of the actual value and
compares this with the thresholds which accordingly must be positive. Application for this
purpose e. g. speed monitoring (independent of positive and negative rotational direc-
tion).
4.7.6.6 Linking of the controller output with the target parameter
The output of the two-level controller can directly be used to change a writable controller
parameter. This method is related to that of the digital inputs. All cyclic writable parame-
ters can be used as a target parameter.
When switching off a two-level controller the bit pattern at the output is not changed.
A change of the bit masks or values affects at next switching of the two-level controller.
Meaning of the linking parameters:
Parameter name Meaning

Target parameter number Target parameter number
output
Axis selection output With this parameter can be set whether the target param-
parameter eter in the own axis or in the other axis is addressed at
double axis:
0: Own axis
1: Alternative axis at double axis
Bit selection Selection of the bits in the target parameter, which have to
be changed
Bit pattern at LOW output Bit pattern, which is written in the target parameter at con-
troller output LOW.
Bit pattern at HIGH output Bit pattern, which is written to target parameter at control-
ler output HIGH
At a positive edge of the two-level controller output the target parameter is changed as
follows:
Target parameter = (target parameter and not (bit_selection))
OR (bit pattern at high AND bit_selection)
At a negative edge of the two-level controller output the target parameter is changed as
follows:
Target parameter = (target parameter and not (bit_selection))
OR (bit pattern at low AND bit_selection )
If an error occurs at writing to the target parameter (e. g. value greater than the maximum
value or smaller than the minimum value), by the controller an according error message
occurs.

4.7.6.7 Parameter Overview of the Two-level Controller
Functional blocks: Fb2LevelCtrlAbs [151]

Fb2LevelCtrlRel [152]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
151.1 Mode WORD 0 0x3F 0 1:1 X

151.3 Input UDINT 0 0xFFFFFFFF 0 1:1 X
151.5 Lower threshold abso- FLOAT -5000000000 5000000000 0 1:1 X
lute
151.6 Upper threshold abso- FLOAT -5000000000 5000000000 0 1:1 X
lute
151.9 Axis selection output UINT 0 1 0 1:1 X
parameter
151.10 Target number UDINT 0 0xFFFFFFFF 0 1:1 X
151.11 Bit selection DWORD 0 0xFFFFFFFF 0 1:1 X
151.12 Bit pattern LOW DWORD 0 0xFFFFFFFF 0 1:1 X
151.13 Bit pattern HIGH DWORD 0 0xFFFFFFFF 0 1:1 X
151.14 Lower threshold abso- UDINT 0 0xFFFFFFFF 0 1:1 X
lute UDINT
151.15 Upper threshold abso- UDINT 0 0xFFFFFFFF 0 1:1 X
lute UDINT
152.1 Mode WORD 0 0x7 0 1:1 X
152.4 Relative compare value UDINT 0 0xFFFFFFFF 0 1:1 X
lute
lute
152.7 Lower threshold relative FLOAT -5000000000 5000000000 0 1:1 X
152.8 Upper threshold relative FLOAT -5000000000 5000000000 0 1:1 X
parameter
lute UDINT

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4.7 Controllers

lute UDINT
152.16 Lower threshold relative UDINT 0 0xFFFFFFFF 0 1:1 X
UDINT
152.17 Upper threshold relative UDINT 0 0xFFFFFFFF 0 1:1 X
UDINT
4.7.6.8 Description of the Two-level Controller Parameter with absolute Thresholds
151.1 Mode
Configuration of the absolute two-level controller
Bit Meaning
0 0: Inactive
1: Active
1 Reserved
2 0: No absolute-value generation at actual value (comparison signed)
1: Absolute-value generation at actual value (symmetrical monitoring)
4 ... 3 Performance two-level-controller output
00: Standard performance (switch on accordant hysteresis)
01: Set output only once
10: Reset output only once
11: Reserved
5 0: No automatic reset by status word bit 15
1: Automatic reset by status word bit 15
15 … 6 Reserved

The reset of the two-level controller with bit 15 of the status word is not possible at
the active mains rectifier unit, because bit 15 of the status word of the active mains
rectifier unit can not be parameterized freely.

151.2 Status
State of the absolute two-level controller
Bit Meaning
0 0: Inactive
1: Active
15 … 1 Reserved
151.3 Input
Parameter number of the input of the two-level controller. With value 0 no comparison to
absolute thresholds operates.
151.5 Lower threshold absolute
If the data type of the parameter selected with Z151.3– is FLOAT, then this parameter
forces the lower absolute switching threshold.
The absolute two-level controller switches on, if the following is valid:
Parameter number actual value  lower absolute switching threshold
151.6 Upper threshold absolute
forces the upper absolute switching threshold.
The absolute two-level controller switches off, if the following is valid:
Parameter number actual value  upper absolute switching threshold
151.9 Axis selection output parameter
This parameter indicates whether the target parameter should be triggered at the own
axis or (only at double axis controller) at the alternative axis.
Bit Meaning
0 0: Target parameter to own axis
1: Target parameter to alternative axis (at double axis controller only)
15 … 1 Reserved

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4.7 Controllers
151.10 Target number
Selection of the target parameter of the absolute two-level controller output.
151.11 Bit selection
Selection of the bits to be changed of the target parameter for the absolute two-level con-
troller output.
151.12 Bit pattern LOW
Bit pattern which is written in the target parameter at absolute two-level controller output
LOW (negative edge).
151.13 Bit pattern HIGH
Bit pattern which is written to the target parameter at absolute two-level controller output
HIGH (positive edge).
151.14 Lower threshold absolute UDINT
If the data type of the parameter selected with Z151.3– is INT, DINT, UINT, UDINT,
WORD or DWORD, then this parameter forces the lower absolute switching threshold.
Parameter number actual value  lower absolute switching threshold
151.15 Upper threshold absolute UDINT
WORD or DWORD, then this parameter forces the upper absolute switching threshold.
Parameter number actual value  upper absolute switching threshold

4.7.6.9 Description of the two-level controller parameter with relative/absolute thresholds
152.1 Mode
Configuration of the relative two-level controller
Bit Meaning
0 0: Comparison actual value to absolute thresholds inactive
1: Comparison actual value to absolute thresholds active
1 0: Comparison actual value to relative thresholds inactive
1: Comparison actual value to relative thresholds active
2 0: No absolute-value generation at actual value (comparison signed)
1: Absolute-value generation at actual value (symmetrical monitoring)
15 … 3 Reserved
152.2 Status
State of the relative two-level controller
Bit Meaning
0 Status indication of the entire two-level controller
0: Output inactive
1: Output active
1 Status indication of the absolute two-level controller
0: Output absolute two-level controller inactive
1: Output absolute two-level controller active
2 Status indication of the relative two-level controller
0: Output relative two-level controller inactive
1: Output relative two-level controller active
15 … 3 Reserved
152.3 Input
Parameter number of the input of the two-level controller. With value 0 no comparison to
absolute thresholds operates.

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4.7 Controllers
152.4 Relative compare value
Parameter number of the relative compare value. With value 0 no comparison to relative
thresholds operates.
152.5 Lower threshold absolute
forces the lower absolute switching threshold.
Parameter number actual value  lower absolute switch threshold
152.6 Upper threshold absolute
forces the upper absolute switching threshold.
Parameter number actual value  upper absolute switch threshold
152.7 Lower threshold relative
forces the lower relative switching threshold.
The relative two-level controller switches on, if the following is valid:
Parameter number actual value  parameter number relative compare value +
lower relative switch threshold
152.8 Upper threshold relative
forces the upper relative switching threshold.
The relative two-level controller switches off, if the following is valid:
Parameter number actual value  parameter number relative compare value +
upper relative switch threshold

152.9 Axis selection output parameter
This parameter indicates whether the target parameter should be triggered at the own
axis or (only at double axis controller) at the alternative axis.
Bit Meaning
0 0: Target parameter to own axis
1: Target parameter to alternative axis (at double axis controller only)
15 … 1 Reserved
152.10 Target number
Selection of the target parameter of the relative two-level controller output.
152.11 Bit selection
Selection of the bits to be changed of the target parameter for the relative two-level con-
troller output.
152.12 Bit pattern LOW
Bit pattern which is written in the target parameter at two-level controller output LOW
(negative edge).
152.13 Bit pattern HIGH
Bit pattern which is written to the target parameter at two-level controller output HIGH
(positive edge).
152.14 Lower threshold absolute UDINT
WORD or DWORD, then this parameter forces the lower absolute switching threshold.
Parameter number actual value  lower absolute switch threshold

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4.7 Controllers
152.15 Upper threshold absolute UDINT
WORD or DWORD, then this parameter forces the upper absolute switching threshold.
Parameter number actual value  upper absolute switch threshold
152.16 Lower threshold relative UDINT
WORD or DWORD, then this parameter forces the lower relative switching threshold.
The relative two-level controller switches on, if the following is valid:
Parameter number actual value  parameter number relative compare value +
lower relative switch threshold
152.17 Upper threshold relative UDINT
WORD or DWORD, then this parameter forces the upper relative switching threshold.
The relative two-level controller switches off, if the following is valid:
Parameter number actual value  parameter number relative compare value +
upper relative switch threshold

4.7.7 Flux controller

The active mains rectifier unit doesn’t use this module.
The output of the field weakening controller is the set value of the flux controller at asyn-
chronous machines. The flux controller is a simple PI-controller with proportional gain Kp,
integral time Tn and limitation. The Isd-set value is at the output of the flux controller.
The actual flux value is calculated from an asynchronous machine value. If the Kp of the
flux controller is set to 0, the inverse of the Imr-flux-characteristic is set for the Isd-set val-
ue.
4.7.7.1 ProDrive Flux controller
Figure 152: ProDrive Flux controller

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4.7 Controllers
4.7.7.2 Parameter Overview of the Flux Controller
Functional blocks: FbAsynchronmaschine [146]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
146.10 Kp flux controller FLOAT 0 1e9 0 1/s 1:1 X

146.11 Tn flux controller FLOAT 0 10000 1000 ms 1:1 X
146.12 Limit magnetizing cur- FLOAT 0 1e9 10 A 1:1 X
rent
146.15 Actual flux current FLOAT -1e9 1e9 0 A 1:1 X
146.18 Integral term flux con- FLOAT -1e9 1e9 0 A 1:1 X
troller
4.7.7.3 Description of the Flux Controller parameters
146.10 Kp flux controller
Proportional gain of the flux controller.

The flux controller is switched off, if the proportional gain is less or equal to 0.1.
146.11 Tn flux controller
Reset time of the flux controller [ms]
146.12 Limit magnetizing current
Settable limitation of the flux controller’s output (field current) in [A] (see also parameter
"Max. field current amplitude" Z19.7–).
The field current can be also limited by other parameters.
The special use of this parameter is described at ZSensorless control, at stator flux ori-
ented– from page 833.

146.15 Actual flux current
Flux current [A]. This parameter is irrelevant for asynchronous motors without encoder.
146.18 Integral term flux controller
Integral term of the flux controller
4.7.8 Controller adaptations

The controller adaptations are not available for the active mains rectifier unit.
Several adaptations and compensations are available to the controller. Some can be set
in the parameter (controller adaptations-) mode Z155.1–. The status of the controller ad-
aptations are shown in the parameter (controller adaptations-) status Z155.2–.
In general the controller can operate without adaption (compensation) from the deviating
operating conditions relative to nominal operation or from values deviating from the data
sheet. An adaption makes the manual setting of the controller parameters easier and
more reliable. On the other hand the adaption can improve the accuracy of some second-
ary variable display parameters (such as the motor voltage) and the sensorless model-
based processes.
Linear functions are preferred.
Refer to the following listing of factors that effect the controller.
Field weakening effects
At asynchronous motors in the field weakening the "system gain" Ks and the electro-mo-
toric force (EMF) of the motor drop when the magnetic flux falls (in contrast to the nominal
point).
Temperature effects
If the motor temperature rises the electric resistance value in the motor increases.
At synchronous machines with permanent magnets an increase of the motor temperature
causes a reversible weakening of the magnetic force. This produces a reversible drop of
the Kt-, Ke- and the Ks factors with the increasing motor temperature.
Saturation effects
In order to profit of the asynchronous motor normally the main inductance is brought to
the saturation point at the nominal point. In the field weakening with falling field current

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4.7 Controllers
the main inductance departs from the saturation. Due to this the value of the main induc-
tance increases and therewith the ratio of magnetic flux and the magnetizing current.
Generally, synchronous motors operate until standstill current lo in the linear range of the
torque current characteristic (or in the linear range of the Lq inductance, which means that
Lq is constant). In case of heavily loaded motors the Lq inductance is led to the saturation
limit. The torque per torque current and the Lq inductance drop similarly.
Load changing effects
If the load inertia changes considerably, then the actual "system gain" will strongly differ
from the used system gain (Ks factor Z18.40–) in the controller. At some applications the
changes can be preassigned. The controller can be adjusted during operation.
Fabrication tolerances
The motor data can differ in contrast to the data sheet with regard to the fabrication. For
instance the Kt factor of the synchronous motor can differ about ±8% (contact the motor
manufacturer concerning this matter).
Dead time voltages
Dead time voltages are non-linear occurrences in the output voltage of the converter. This
can have several causes such as the locking time when switching the IGBTs, differences
of on and off times of the IGBTs and diodes and the threshold voltages of the IGBTs and
diodes. These non-linear voltages distort the voltage output of the PWM modulator. They
are considerably low compared to the nominal motor voltage. However, the sensorless
procedures and the accuracy of power displays that are based on the motor voltage - in
particular at lower speeds - can be affected.
Friction effects
Friction is a contrary-focused force which is non-linear to the motor movement (torque).

It is dependent of the moving direction as well as the condition (motor moves or stops). It
is compensated by the integral component of the speed controller. The friction can be pre-
controlled by an additive additional torque set value by the controller so that it does not
have to be compensated by the integral component, especially if the direction is changed.
This results in a lower tracking error.
The stick-slip phenomenon is a jerking motion due to alternation between sticking and
sliding. The phenomenon can be compensated by an adaption of the P and I components
of the speed controller.
This is described in detail in ZFriction compensation– from page 539.
Torque ripples
Synchronous motors provide torque ripples; these are the forces between the magnet
and the teeth that cause an irregular running. If the torque ripples are dependent of an
electrical angle they can be compensated by an additional torque current in the controller.
This is described in detail in ZTorque ripple compensation– from page 174.

4.7.8.1 Parameter Overview of the Controller Adaptations
Functional blocks: FbStromBegr [138]

Functional blocks: FbReglerAdaption [155]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
138.23 Kt correction factor FLOAT 0,750 1,250 1 1:1 X
155.1 Mode UINT 0 0xFFFF 0 1:1 X

155.2 State UINT 0 0xFFFF 0 1:1 X
155.10 Ks actual value FLOAT 0.01 1e9 1e4 Grad/ 1:1 X

s2/A
155.14 Ks adaption cyclic UDINT UDINT 0xFFFFFFFF 65536 % 655.36: X X
1
155.24 Kt actual value FLOAT 0.0 1000.00 0.00 Nm/A 1:1 X
4.7.8.2 Description of the Controller Adaptations parameters
138.23 Kt correction factor
The factor (Ktcorr) can be specified by this parameter which effects the dependence of the
torque-generating current and the displayed torque as well as the entered torque
("Torque display" Z138.21–, "Max. torque actual value" Z138.20–, "Torque limit symmet-
ric" Z138.22–).
The factor effects the controller only if it reaches the Torque limit symmetric Z138.22–;
the present values of Ks (or 1/Ksact) and Kt are not effected.
The exact collaboration between the torque current and the torque is shown in ZAdaption
torque monitoring– on page 651 (ZFig. 154–).
155.1 Mode
Configuration of the controller adaption function:

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4.7 Controllers
The mode can only be changed if the controller is not enabled.
Bit Meaning
0 Direct speed controller adaption (switch)
0: Switch off
1. Switch on
2…1 Direct speed controller adaption (D-term mode)
00: Td is not adapted
01: Td is 0 for n > n1 (lower threshold)
10: Td is 0 for n > n3 (upper threshold)
11: Reserved
3 Direct current controller adaption
0: Switch off
1: Switch on
4 Ks adaption cyclic
0: Switch off
1: Switch on
5 Reserved
7 ... 6 Direct speed controller adaption
Speed controller adaption according to:
00: Actual value
01: Set value
10: Speed feedforward
11: Parameter for free use
15 … 8 Reserved
155.2 State
State of the controller adaption function.
Bit no. Meaning

0 Direct speed controller adaption:
0: inactive
1: active
2 ... 1 Direct speed controller adaption (D-term mode)
00: Td is not adapted
01: Td is 0 for n > n1 (lower threshold)
10: Td is 0 for n > n3 (upper threshold)
11: Reserved
3 Direct current controller adaption
0: inactive
1: active
4 Ks adaption cyclic
0: inactive
1: active

Bit no. Meaning
5 Kd is set to 0 (direct speed controller adaption)
7 ... 6 Adaption according to (direct speed controller adaption):
00: Actual value
01: Set value
10: Speed feedforward
11: Free usable parameter
15 … 8 Reserved
155.10 Ks actual value
Display of the presently operating Ks value in [(degree/s2)/A].

The parameter 155.10 "Ks actual value" takes as basis the Ks factor Z18.40– (Ks value
at the nominal point) and considers the following operating conditions deviating from the
nominal point.
m Field weakening at the ASM
m Variable inertia of the drive (cyclical Ks adaption)
The inverse value of the parameter 155.10: (1/Ksact) serves as a standardization constant
in the controller of the acceleration value (speed controller output) and torque current set
value (isq).
Refer to ZThe factor Ks– on page 536 and ZKs adaption– on page 652.
155.14 Ks adaption cyclic
Factor for the cyclical Ks adaption.

Standardization: 0x10000 = 100%
155.24 Kt actual value
The parameter shows the actual value of the motor Kt and was calculated as follows.
Kt upd = Kt corr  Kt factor
with:
Ktupd Kt updated, in Nm/A
Ktcorr Kt correction factor, Z138.23–
Kt factor Motor Kt in Nm/A: "Kt factor", Z107.44–

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4.7 Controllers
4.7.8.3 Adaption EMF feedforward
As shown in ZFig. 153– the EMF feedforward in the torque current controller is depen-
dent of the flux set value and of the motor voltage constant.
Motor Ke Flux set value [%]145.13
5000_0346_rev02
Speed Back-EMF
actual value feed forward
18.22 47.26
Figure 153: EMF feedforward
with: Motor Ke Ke factor Z107.20–

The ASM is dependent of the magnetic flux of the saturation influence (refer to ZAdaption
to the Saturation– on page 653).
4.7.8.4 Adaption torque monitoring
As shown in ZFig. 154– the torque monitoring is dependent of the flux actual value, set
value and the motor torque constant.
Flux act [%]

146.14 Isq act, 47.5
138.21 M act
Kt act Isq max

155.24
Flux set [%] 138.20 M max

145.13
M lim,138.22 Isq set lim

N
N
D D
5000_0347_rev02
-1
Figure 154: Torque monitoring

with: Flux set Flux set value in %. Z146.13–
Flux act Flux actual value in %. Z146.14–
Kt Kt = Ktcorr · Kt factor, in Nm/A
Kt corr Kt correction factor Z138.23–
Kt factor Motor Kt in Nm/A Z107.44–
Isq max Max. torque current Z19.8– (to controller FW 01.12) or
Max. torque current actual value Z138.30– from FW 01.13
Isq act Isq act value filtered Z47.5–, in A
M max Max. torque actual value Z138.20–, in Nm
M act Torque display Z138.21–, in Nm
M lim Torque limit symmetric Z138.22–, in Nm
Isq set lim From Z138.22– internally calculated torque current set value
limit in A
At the ASM the magnetic flux is dependent of the saturation influence (refer to ZAdaption
to the Saturation– on page 653).
Kt correction factor
Production-technical deviations of the motor Kt can be corrected by a comparison mea-

surement (dynamo electric machine) by the correction factor, Ktcorr Z138.23–, without
having to adjust the nominal data of the motor.
4.7.8.5 Ks adaption
The "system gain" can deviate from the nominal point value (e.g. ASM field weakening
or, independent of the motor type, changing load inertia). This can be considered in the
parameter "Ks actual" Z155.10– i.e. starting from the Ks factor Z18.40– (Ks at the nom-
inal point) the Ks value can be adapted as follows accordant to the flux actual value and
the change in the inertia of the drive:
Ks cycl adapt
Ks act = Ks factor  Flux set [%]  ------------------------
16
-
2
with: Ks act Ks actual value Z155.10–
Ks factor Ks at rating point Z18.40–
Fluxset Set value of the magnetic Flux in % Z146.13–
Kscycl adapt Factor of the cyclic Ks adaption Z155.14–, in Q16
(i.e. 216 = 1=100%).
The Ks adaption is significant to the following:
m Standardization constant (1/Ksact) of the speed controller output and the torque cur-
rent set value.
The magnetic flux is dependent of the saturation influence at the ASM (see ZAdaption to
the Saturation– on page 653).

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4.7 Controllers
Cyclic Ks adaption
The torque of inertia changes at some applications. This requires a cyclical change of the
Ks factor and can be adapted via the control and parameter Z155.14–.
The cyclic Ks adaption is not active by default. It is activated by (controller adaption) mode
Z155.1– bit 4.
The Ks value is updated in RT1 cycle.
Refer to ZThe factor Ks– on page 536 and ZKs determination– on page 255.
4.7.8.6 Adaption to the Saturation
Asynchronous motors
During the operation of the asynchronous motors with encoder the current model is used.
This motor generates the flux actual value from the field current with the rotor time con-
stant and the main inductance (Lh). To consider the non-linearity of the main inductance
in the field weakening a Lh characteristic is used.
Tr
Im act N N
Id act D Flux act
D
[%]
Lh char.
Flux nom 100
Lh act [Vs]
5000_0348_rev02_int.cdr
Figure 155: Flux actual value with encoder, current model with Lh characteristic
with: Flux act Actual value of the magnetic Flux in % Z146.14–

Tr Rotor time constant, in s
Lh act Magnetizing inductance, actual value, in H
Flux nom Magnetic flux nominal value in Vs
Id act Field current actual value in A
Im act Magnetizing current actual value in A
The Lh characteristic can be entered manually. It can be detected in the idle state of the
motor (see chapter ZLh-characteristic– on page 178) as well.
The adaption of the flux actual value applies to the following:

m Standardization constant (1/Ksact) of the speed controller output and the torque cur-
rent set value
m Torque monitoring ("Max. torque actual value" Z138.20–, "Torque display"
Z138.21– and "Torque limit symmetric " Z138.22–)

m Slip specification (ASM with encoder, refer to ZTemperature adaption slip frequen-
cy– on page 655)
m EMF feedforward
Synchronous motors
The synchronous motors operate generally in the linear range of the torque current char-
acteristic until standstill current lo (or in the linear range of the Lq inductance i.e. Lq = con-
stant).
If the motor is heavily loaded the motor reaches the non-linear range of the characteristic.
The Lq inductance saturates. In this case the Kp gain of the current controller dependent
on the torque current can be adapted directly. Refer to details in ZCurrent controller adap-
tion– on page 596.
4.7.8.7 Compensation dead time voltages
Refer to ZDead Time Compensation– on page 588.
4.7.8.8 Temperature adaption motor resistances
The temperature influence in the stator resistance can be modeled as follows:
 Cu
R actual = R cold  1 – ---------   T M act – T M cold 
100
with: Rcold Motor resistance at cold motor (20°C) in ,

Z107.29–/Z123.6–
Cu Copper temperature coefficient  0,38 %/°C
TM act Measured motor temperature in °C, Z128.3–
TM cold Motor temperature "cold" (20°C)
Ractual Instantaneous value, internally used in the controller, in 
The temperature adaption applies to the following:

m Current prediction (current controller)
m IxR-feedforward (current controller)
m sensorless operation
m Field angle monitoring (synchronous motors)

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4.7 Controllers
The adaption is made automatically if the motor temperature monitoring is activated.

(Z128.2– bits 0 to 7).
4.7.8.9 Temperature adaption slip frequency
At asynchronous motors with an encoder the output frequency related to the rotor fre-
quency (slip frequency) is determined by the slip frequency specification, f2 set. The f2 set
is directly proportional to the torque current set value. It is inversely proportional to the
magnetic flux set value. It is calculated by the slip frequency at the motor nominal torque
current and the nominal flux, F2 Tm act (Z19.30–) as follows:
i sq set Flux nom

F 2 set = -----------------   --------------------  F 2Tm act
Flux set I sq nom
with
F2 set Slip frequency preset value in Hz (displayed in [Inc/Tab] in
parameter Z146.16–)
isq set Torque current set value in A
Fluxset Set value of the magnetic flux in % Z146.13–
Fluxnom Nominal flux = 100%
Isq nom Motor nominal torque current in A Z19.10–
F2 Tm act Slip frequency at Motor nominal torque current and nominal
flux according to the temperature actual value, in Hz Z19.30–.
The slip frequency at the motor nominal torque current and nominal flux according to the
temperature actual value (Z19.30–) is obtained from a temperature compensation char-
acteristic.
Temperature compensation characteristic
If the motor temperature increases, by constant torque current and magnetic flux, the slip
frequency rises.
The temperature compensation of the slip frequency is made roughly by means of a linear
characteristic using slip frequency/temperature support points at the warm as well as the
cold motor (Z107.15– to Z107.18–). The actual slip frequency F2 Tm act accordant to the
motor temperature actual value (Z128.3–) is shown in the parameter Z19.30– and is
evaluated as follows:
F 2 warm – F 2 cold
F 2 Tm act = F 2 cold +  T m act – T m cold   ----------------------------------------
T m warm – T m cold
with:
F2 Tm act Slip frequency at nominal torque current and nominal flux
according to temperature actual value, Z19.30–
Tm act Motor temperature actual value Z128.3–

F2 cold Slip frequency at nominal torque current and nominal flux
according to motor cold Z107.15–
F2 warm Slip frequency at nominal torque current and nominal flux
according to motor warm Z107.16–
Tm cold Slip temperature motor cold Z107.17–
Tm warm Slip temperature motor warm Z107.18–
The temperature compensation is made automatically if the motor temperature monitor-

ing is activated (Z128.2– bits 0 to 7). The following applies if the temperature monitoring
is deactivated:
F 2 Tm act = F 2 warm
The displayed value in the parameter Z19.32– "Rotor time constant" is not changed by
the temperature compensation.
The temperature compensation applies to the following:

m Field orientation of the ASM with an encoder

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4.8 Active mains rectifier unit

This function block is active only at devices of the type active mains rectifier unit
(BM51xx). This function block and its parameter do not exist at axis units.
This function module contains special setting possibilities for the operation of mains
rectifier units and offers possibilities to read out detailed the device's state of an active

4
659
of 978
Display Display Display Display
141.13, 141.14, 141.1, 141.2, 141.31, 141.32, 141.34, 141.35 Display
141.15 141.3 141.33 141.36 Display
Description of the Software Modules and Parameters
141.10
Sync angle
Clarke transformation
UU UUV
Offset revision
component
Mains voltage
measurement
Parameter manual b maXX BM5000

Document No.: 5.09022.17
Filtering
Mains rotating field

UV UVW
Block diagram of the controller structure of the active mains rectifier unit
component Mains synchronization Display
UW UWU 141.11
Display Mains frequency fN
Display 141.4
Display Display
UDCsetval Setting 141.12
141.8 47.26 Mains angle
141.24 Umains_eff
U DCsetval Automatic Back-EMF Current
Umains Generation of UDCsetval
Feed Forward controller
Ramp module
Power
Setting
UDCsetval
generator 141.29 Display Iq controller Kp 47.7 unit
Setting Iq controller Tn 47.8
Udc slope 141.16 47.2
141.8
Reactive current
no load operation Idsetval
Active Display
Display Display Display Display current limit Display Iqsetval 47.1
130.3 141.5 141.30 141.25 supply mode 29.6
5000_0215_rev04_int.cdr
141.27
UDCact UDCsetval Filter
DC link voltage Iqsetval input
Figure 156:
DC link U controller
DCact
voltage PT1 filter Udc controller Filter
measurement Kp 141.6
Active current limit regenerative
braking mode 141.28
4.8.1 The Charging Circuit of the Active Mains Rectifier Unit (BM51xx)
The charging procedure of the active mains rectifier unit is made over two phase-angle-
controlled thyristors in the mains supply cable. If the DC link is discharged, the power re-
lays, which bridge the load thyristors, are opened. The DC link is charged via the thyris-
tors. Thereby the maximum peak current is set in parameter Z129.62– Maximum
charging current peak. The active mains rectifier unit adapts the timing angle accordingly.
The charging current can be limited in percent of the maximum value (Z129.62–). The
state of the power relay and of each thyristor can be accessed to by reading the status
word of the active mains rectifier unit Z141.17–. The principle of the charging is similar
at all active mains rectifier units. However there are differences in the arrangement of the
components. ZFig. 157– shows the charging circuit of the BM517x and ZFig. 158–
shows the charging circuit of the BM519x.
Setting
Display 141.9
141.17
UU
Display
Active 130.3
UDCact
UV mains
rectifier
unit
5000_0216_rev01_int.cdr
UW
Figure 157: Block diagram of the charge circuit of the BM517x
Setting
141.9
Display
141.17
UU
Active Display
130.3
UDCact
UV mains
rectifier
unit
UW
5000_0280_rev01_int.cdr
Figure 158: Block diagram of the charge circuit of the BM519x

4.8.2 The mains synchronization of the active mains rectifier unit (BM51xx)
The active mains rectifier unit's grid angle is determined from the line voltage, which was
measured. It is necessary to filter the line voltage via the hardware, because the active
mains rectifier unit measures the line voltage within the device. If this does not happen,
the active mains rectifier unit measures the pulsed voltage of the converter. Then the
mains offset is subtracted from the measured line voltage. After that, the voltage drop
over the choke is calculated. The actual line voltage is generated from the voltage over
the choke and the measured line voltage. The actual line voltage is filtered via a software
filter and then is directed to the Clarke transformation. The grid angle is calculated from
the resulting alpha- and beta-components. As the filtering causes a phase offset, which
is dependent of the frequency, the calculated grid angle must be corrected by this offset.
The active mains rectifier unit now can be synchronized to the synchronous angle.
Mains current measurement Mains voltage measurement
Software filter Hardware filter
Calculation choke voltage Offset revision
Mains voltage formation
Software filter
Grid angle calculation

5000_0217_rev02_int.cdr
Phase correction
Mains synchronization
Figure 159: Flow-chart of the mains synchronization
4.8.3 Back-EMF Feedforward at the active mains rectifier unit (BM51xx)
As the active mains rectifier unit uses the same current controller module as the axis
units, the RMS of the phase voltage is assigned to the current controller of the active
mains rectifier unit as a Back-EMF Feedforward.

Document No.: 5.09022.17 of 978
4.8.4 DC link voltage controller (Udc controller)
For the control of the DC link voltage a PI-controller is used, which can be set via the pa-
rameters Z141.6– (proportional gain Kp) and Z141.7– (reset time Tn).
4.8.5 Parameter overview
Functional block: FBNWR[141]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
141.1 Line voltage UV FLOAT -1.000000e+10 1.000000e+10 0.000000e+00 V 1:1 X X

141.2 Line voltage VW FLOAT -1.000000e+10 1.000000e+10 0.000000e+00 V 1:1 X X
141.3 Line voltage WU FLOAT -1.000000e+10 1.000000e+10 0.000000e+00 V 1:1 X X
141.4 Mains angle FLOAT 0.0 10000.0 0.0 Grad 65535: X X
360
141.5 DC link voltage control- FLOAT 0.0 5000.0 0.0 V 1:1 X X
ler input
141.6 Udc controller Kp FLOAT 0.0 10000.0 3 A/V 1:1 X X X
141.7 Udc controller Tn FLOAT 0.0 10000.0 15 ms 1:1 X X X
141.8 Udc set value FLOAT 300.0 760.0 640.0 V 1:1 X X O X
141.9 Charging current limit FLOAT 0.25 1.00 1.0 % 1:100 X X X
141.10 Mains rotating field UINT 0 2 0 1:1 X X
141.11 Mains frequency UINT 40 70 50 Hz 1:1 X X
141.12 Line voltage RMS FLOAT -1.000000e+10 1.000000e+10 0.0 V 1:1 X X
141.13 Voltage offset UV FLOAT -1.000000e+10 1.000000e+10 0.000000e+00 V 1:1 X X
141.14 Voltage offset VW FLOAT -1.000000e+10 1.000000e+10 0.000000e+00 V 1:1 X X
141.15 Voltage offset WU FLOAT -1.000000e+10 1.000000e+10 0.000000e+00 V 1:1 X X
141.16 DC voltage slope FLOAT 1.000000e+01 1.000000e+05 1.000000e+02 V/s 1:1 X X X
141.17 Status word active UINT 0 0xFFFF 0 1:1 X X
mains rectifier unit
141.22 Choke inductance FLOAT 0.0 10.0 0.6 mH 1:1 X X X
141.23 DC voltage filter time FLOAT 0.0 100.0 0.0 ms 1:1 X X X
constant
141.24 Automatic generation UINT 0 1 1 1:1 X X X
set value Udc
141.25 Isq set value not filtered FLOAT -1.000000e+10 1.000000e+10 0.0 A 1:1 X X
141.27 Active current limit sup- FLOAT 0.0 10000.0 150.0 A 1:1 X X X
ply mode
141.28 Active current limit FLOAT 0.0 10000.0 150.0 A 1:1 X X X
regenerative braking
mode
141.29 Max. reactive current no FLOAT -100.0 100.0 10.0 A 1:1 X X O X
load operation

141.30 Udc set value controller FLOAT 0 1000 0 V 1:1 X X
input
141.31 Sync voltage 1 FLOAT -1.000000e+10 1.000000e+10 0 V 1:1 X X
141.34 U sync alpha FLOAT -1.000000e+10 1.000000e+10 0 V 1:1 X X
141.35 U sync beta FLOAT -1.000000e+10 1.000000e+10 0 V 1:1 X X
141.36 Sync angle FLOAT 0.0 100000.0 0.0 Grad 65535: X X
360
141.38 Mains active power FLOAT -1.0e+10 1.0e+10 0 kW 1:1 X X
141.40 Warning level mains FLOAT 0 1.0e+10 105 kW 1:1 X X X
active power
141.41 Warning level mains FLOAT 340 530 340 V 1:1 X X X
undervoltage
overvoltage
141.44 Iq upper limit FLOAT 0.0 1.0e+10 150.0 A 1:1 X
141.45 Iq lower limit FLOAT -1.0e+10 0.0 -150.0 A 1:1 X
141.46 Maximum DC link FLOAT 0 10 0.025 mF 1:1000 X
capacity
141.1 Line voltage UV
Indicates the instantaneous value of the linked line voltage between the terminal U and V
of the device. Compared with the actual line voltage UV, this voltage differs by the voltage
drop over the choke and the filtering with a hardware filter.
141.2 Line voltage VW
Indicates the instantaneous value of the linked line voltage between the terminal V and
W of the device. Compared with the actual line voltage VW, this voltage differs by the volt-
age drop over the choke and the filtering with a hardware filter.
141.3 Line voltage WU
Indicates the instantaneous value of the linked line voltage between the terminal W and
U of the device. Compared with the actual line voltage WU, this voltage differs by the volt-
age drop over the choke and the filtering with a hardware filter.

Document No.: 5.09022.17 of 978
141.4 Mains angle
This is the angle, which is assigned to the current controller after line synchronization. On
the basis of this angle value the current is injected to the line. This grid angle is synchro-
nized from the device to the synchronization angle (parameter Z141.36–) and is correct-
ed, if necessary.
141.5 DC link voltage controller input
This is the instantaneous value of the DC link voltage, which is used by the DC link con-
troller. This value differs from the actually measured DC link voltage by filtering with the
DC link voltage filter (parameter Z141.23–).
141.6 Udc controller Kp
This is the proportional gain of the DC link controller.
141.7 Udc controller Tn
This is the integral time of the integral term of the DC link controller. If this parameter is
assigned the value 0, then the integral term of the DC link controller is off. The controller
now operates as a pure P-controller.
141.8 Udc set value
The functionality of this parameter is dependent of the value of the parameter Z141.24–
„Automatic generation set value Udc"
m Automatic generation of the DC link set value is active:
Parameter >141.8< indicates the automatically generated DC link voltage set value.
The DC link voltage set value can neither be overwritten cyclically nor manually.
m Automatic generation of the DC link voltage set value is not active:
The DC link voltage set value is defined via the parameter >141.8<.
If a defined value is lower than 10 V above the current supply peak value, the active
mains rectifier unit ignores this value. In this case the supply peak value +10 V is the
effective DC link set value.

If the voltage set value is specified manually, it is recommended to force the DC link volt-
age set value according to the following table:
available mains voltage DC link voltage set value

Uline_effective(Phase-Phase) UDC_set
400 V 640 V
480 V 760 V
If a mains voltage is used which is unlisted, it is recommended to determine the DC link

voltage set value manually as described below:
U DC_set = 1 35  U line_effective(Phase - Phase) + 100 V
Uline_effective (Phase - Phase) is the RMS of the line to line voltage.
141.9 Charging current limit
For the loading of the DC link via the thyristors of the charging circuit the maximum peak
current is set in Z129.62– Maximum charging current peak. The device monitors the
charging circuit and adapts the timing angle of the thyristors accordingly. If the power sup-
ply system is very "soft", the pulse-shaped charging current is able to distort the system
voltage in such a way, that the active mains rectifier unit loses the power supply system
synchronizing. This parameter limits the charging current to the value of Z129.62– Max-
imum charging current peak providing a charging of devices connected to "soft" power
supply systems.
The charging current is decreased via a window, whose limits are shifted by percentage
P141.9 = 1.0 P141.9 = 0.5

i Increase firing angle i
40 A
Firing angle constant Increase firing angle
30 A 20 A
Decrease firing angle Firing angle constant
15 A
Decrease firing angle
Increase firing angle = Charging current is reduced

Firing angle constant = Charging current remains approximately constant
Decrease firing angle = Charging current is increased
Figure 160: Reduction of the charging current

Document No.: 5.09022.17 of 978
141.10 Mains rotating field
This Parameter specifies the rotating field, which the device detected at its input termi-
nals.
m Parameter value = 0: There is no rotating field
m Parameter value = 1: Detection of clockwise rotating field (possible phase sequence
L1->U; L2->V; L3->W)
m Parameter value = 2: Detection of counterclockwise rotating field (possible phase
sequence L1->U; L2->W; L3->V)
141.11 Mains frequency
This parameter specifies the mains frequency, which was determined from the device.
141.12 Line voltage RMS
This parameter specifies the line voltage RMS, which was determined from the device.
141.13 Voltage offset UV
This parameter specifies the voltage offset of the linked voltage UV, which was deter-
mined from the device.
It must be regarded, that the line voltage must not necessarily be subject to offset. Indeed
it is possible that it also can be an offset of the measuring circuit, which is displayed here.
141.14 Voltage offset VW
This parameter specifies the voltage offset of the linked voltage VW, which was deter-
It must be regarded, that the voltage must not necessarily be subject to offset. Indeed it
is possible that it also can be an offset of the measuring circuit, which is displayed here.
141.15 Voltage offset WU
This parameter specifies the voltage offset of the linked voltage WU, which was deter-
It must be regarded, that the voltage must not necessarily be subject to offset. Indeed it
is possible that it also can be an offset of the measuring circuit, which is displayed here.

141.16 DC voltage slope
The set value of the DC link voltage is transferred via a ramp function generator to the DC
link controller. With this parameter the rate of rise of the used ramp can be set.
Figure 161: Slope of the set value ramp at the active mains rectifier unit
141.17 Status word active mains rectifier unit
The users can read out information relating to the device's condition with this parameter.
Bit Meaning
0 1: Thyristor in phase U is triggered
0: Thyristor in phase U is not triggered
1 1: Thyristor in phase W is triggered
0: Thyristor in phase W is not triggered
2 1: Power relays are triggered
0: Power relays are not triggered
3 1: Discharging transistor is triggered
0: Discharging transistor is not triggered
4 1: Quick discharge requirement about hardware is available
0: Quick discharge requirement about hardware is not available
5 1: Quick discharge requirement about the control word is available
0: Quick discharge requirement about the control word is not available
6 1: The contact "Ready for main contactor ON" is closed
0: The contact "Ready for main contactor ON" is open
7 1: The contact "Ready for pulse enable" is closed
0: The contact "Ready for pulse enable" is open

Document No.: 5.09022.17 of 978
Bit Meaning
8 1: The active mains rectifier unit has detected a 3-phase line at its input ter-
minals
0: The active mains rectifier unit has not detected a 3-phase line at its input
terminals
9 1: The active mains rectifier unit has determined the mains offset success-
fully
0: The active mains rectifier unit has not determined a valid mains offset yet
10 1: The active mains rectifier unit has synchronized with the mains
0: The active mains rectifier unit has not synchronized with the mains
11 Reserved
12 1: The active mains rectifier unit has detected a phase failure
0: The active mains rectifier unit has not detected a phase failure
13 Limit of the max. torque current from PU overload monitoring has
1: responded
0: not responded
15 … 14 Reserved
141.22 Choke inductance
With this parameter the active mains rectifier unit is informed about the inductance of the
used choke. This information is used for the calculation of the voltage drop over the
choke. If this value was entered incorrectly, this causes an angle error in the mains syn-
chronization. The current controller parameters are independent of this value. If the choke
now is replaced and thereby the inductance of the choke changes, then the current con-
troller must be parameterized again.
141.23 DC voltage filter time constant
With this parameter the time constant of the PT1 element is specified, where the DC link
voltage is filtered before it is transferred to the DC link controller, which generates the de-
viation. The filter is off, if this parameter is set to 0.
141.24 Automatic generation set value Udc
With this parameter the automatic generation of the set value for the DC link (parameter
value = 1) is activated. Therewith the set value of the DC link voltage, dependent of the
determined mains voltage, is generated by the device.
At parameter value = 0 the user must indicate the set value via parameter Z141.8–.

UDCLink [V]
760
700
640
580
520
460
400
340
300
170 180 210 220 250 260 290 300 330 340 370 380 410 420 450 460 Umains [V]
Figure 162: Automatic generation of the set value for the DC link voltage
141.25 Isq set value not filtered
This parameter informs about the active current set value at the output of the DC link volt-
age controller. The value which is shown here is limited but not filtered.
141.27 Active current limit supply mode
During supply this parameter limits the maximum active current.

If the user enters an higher value as defined in Z129.18– Peak Current 8 kHz, then the
device returns an error and doesn’t accept this value.
141.28 Active current limit regenerative braking mode
During feedback this parameter limits the maximum active current.

If the user enters an higher value as defined in Z129.18– Peak Current 8 kHz, then the
device returns an error and doesn’t accept this value.
141.29 Max. reactive current no load operation
The reactive current in the no load operation is necessary, so as to the active mains rec-
tifier unit detects a possible phase fail in the no load operation. The active mains rectifier
unit is not able to detect a phase failure if it is not loaded in the enabled status. This is,
because the active mains rectifier unit detects its own mains voltage. The reason is, that
the mains filter is operating as a buffer between the mains voltage, which is not available
anymore and also between the mains voltage, which was generated by the active mains

Document No.: 5.09022.17 of 978
rectifier unit. If the mains filter is loaded and it does not matter if by reactive current or by
active current, the capacities in the mains filter then are recharged and the buffer function
is dropped. In this way the phase failure can be detected.
If the active mains rectifier unit is loaded, the reactive current rate is reduced with the in-
creasing active current, until there is positive current injected into the mains only. The re-
duction of the reactive current occurs as follows:
Assumption: Reactive current in the no load operation of Isdset_no load operation = 10 A
was set.
As long as the active current set value Isqset is smaller than 10 A, the reactive current rate
is calculated as follows:
2 2
Isd set = Isd set_no load operation – Isq set
If the active current set value is greater than 10A then the following is valid:
Isd set = 0
The navigation of the reactive current is due to as follows:
Sign of parameter clockwise rotating field anti-clockwise rotating field

>141.29<
+ capacitive reactive current inductive reactive current
- inductive reactive current capacitive reactive current
If overload monitoring of active mains rectifier unit is triggered, then the following is valid
for reactive current set value:
Isd set = 0
This action is taken, so that the reduced device current is completely available for the
active current. Thus limited current completely is used to maintain the DC link voltage.
141.30 Udc set value controller input
This parameter specifies the DC link set value directly at the DC link controller input. Here
the difference between the specified DC link set value and the output of the ramp gener-
ator can be seen.
141.31 Sync voltage 1
With this parameter the instantaneous values of the filtered mains voltage can be read
out. This voltage is used for the generation of the mains angle. The sync voltage 1 always
accords to the filtered voltage between the terminals UV of the device.

out. This voltage is used for the generation of the mains angle. The sync voltage 2 either
accords to the linked voltage between the terminals VW (clockwise rotary field) or the
linked voltage between the terminals WU (counterclockwise rotary field), dependent on
the applied rotating field. This adjustment is necessary, because the mains synchroniza-
tion expects a clockwise rotary field, to which it can synchronize. This adjustment is taken
into account at the transfer of the mains angle to the current controller.
out. This voltage is used for the generation of the mains angle. The sync voltage 3 either
accords to the linked voltage between the terminals WU (clockwise rotary field) or the
linked voltage between the terminals VW (counterclockwise rotary field), dependent on
the applied rotating field. This adjustment is necessary, because the mains synchroniza-
tion expects a clockwise rotary field, to which it can synchronize. This adjustment is taken
into account at the transfer of the mains angle to the current controller.
141.34 U sync alpha
This parameter specifies the alpha components of the three filtered mains voltages sync
voltage 1 and sync voltage 2 and sync voltage 3, which were generated by the Clarke
transformation. These parameters are instantaneous values also.
141.35 U sync beta
This parameter specifies the alpha components of the three filtered mains voltages sync
voltage 1 and sync voltage 2 and sync voltage 3, which were generated by the Clarke
transformation. These parameters are instantaneous values also.
141.36 Sync angle
This parameter describes the mains angle, which is calculated from the alpha- and the
beta-component.
In this parameter, all occurring phase angles, which were caused by the filters have been
taken into consideration in the device already, before they are displayed. Thus the dis-
played Sync angle is the measured mains angle. The Sync angle is used by the mains
synchronization to synchronize the device. The mains angle (parameter Z141.4–) used
by the current controller is congruent with the measured Sync angle (parameter
>141.36<) after a successful mains synchronization.

Document No.: 5.09022.17 of 978
141.38 Mains active power
The parameter shows the actual value of the power which the active mains rectifier unit
feeds back to mains or supplies to the drive system.
The sign of this parameter is based on the sign of the current controller. The following sign
results from this:
Sign of parameter Power direction

+ The active mains rectifier unit supplies power to mains
- The active mains rectifier unit draws power from mains
141.40 Warning level mains active power
With this parameter the mains active power is specified. With these settings, the active
mains rectifier is able to enable error 2025 "Exceeding the Mains Power Level“ now.
141.41 Warning level mains undervoltage
The voltage threshold is specified with this parameter. The error 2026 "Warning - Mains
voltage lower than the set threshold“ is enabled. Now the undervoltage protection of the
mains voltage can be adjusted to the connected nominal mains voltage.
141.42 Warning level mains overvoltage
The voltage threshold is specified with this parameter. The error 2027 "Warning - Mains
voltage greater than the set threshold" is enabled, if the actual value of mains voltage ex-
ceeds this voltage threshold. Now the overvoltage protection of mains voltage is adjusted
to the nominal mains voltage.
141.44 Iq upper limit
This parameter displays the effective current limit, if the device feeds back form DC link
to mains. The current is limited either by the Ixt monitoring of the power unit or by the max-
imum current specified by the user.

141.45 Iq lower limit
This parameter displays the effective current limit, if the device supplies the DC link. The
current is limited either by the Ixt monitoring of the power unit or by the maximum current
specified by the user.
141.46 Maximum DC link capacity
This parameter monitors the loading. During the loading is checked if the voltage is in-
creasing properly and if the DC link was loaded within a defined time. For example a pos-
sible short circuit is recognized in the DC link this way.

Document No.: 5.09022.17 of 978
4.9 Operating Modes
4.9 Operating Modes

tifier unit can not change the operating mode. The active mains rectifier unit can op-
erate only in the Uzk control operating mode. This is shown in ProDrive.
4.9.1 Operating Modes general
In this chapter the functions and parameter will be described, which are valid for several
operating modes.
m Hardware limit switch monitoring
m Software limit switch monitoring
m Positioning window monitoring with parameters Z121.5– and Z121.6–
m Override factor for set value speed via parameter Z121.7–
m Setting of the delay value at stop request, e.g. from the control word or through a
limit switch via parameter Z121.8–
m Bipolar limit to limit the output speed set value of the active operating mode via
Z121.11–
m Parameter to set the load gear, the drive-ended positioning resolution and of the
modulo value
m Calculation of the Modulo position actual value
m Command Moving to positive stop
Overview of the using in the operating modes:
Operating mode Hardware Software Position- Speed Stop Speed Modulo Moving
(Z109.1–) *) limit limit ing win- override delay limit position to posi-
switch switch dow Z121.7– Z121.8– Z121.11– actual tive stop
monitoring monitoring monitoring value
Spindle position- X X X
ing (-6)
Position control X X X X X X
(-4)
Speed control (-3) X X
Target position X X X X X X X
setting (1)
Speed setting (2) X X
Manual drive X X X X X X
operation (5)
Homing (6) X X X X
*) This functions are not effective in the unlisted operating modes.

4.9.1.1 Moving to positive stop command
With this function it is possible to move with an adjustable torque against a mechanical
stop without an error message or an error switch off by the controller. The function can
be used to fix a component for instance.
Requirements:
m The command is only available in the "Position control with synchronous position set
value specification (-4)" operating mode. The command is ignored at all other operating
modes.
m The command cannot be used with master-slave torque coupling or gantry axes.
m The "N=0" message must operate correctly. Therefore the parameter Z6.1– Standstill
threshold must be greater than the noise of the speed actual value at standstill always.
m The specified speed set value during the command must be greater than the standstill
threshold.
m The parameters Z120.11– Homing blocking time and Z120.12– Homing torque limit
must be set properly. On the one hand the reduced torque limit must be selected great
enough in order to decide safely the reaching of the torque limit, on the other hand the
reduced torque limit must be selected small enough in order to exclude a damage of
the positive stop.
Options:
The options can be adjusted in parameter Z121.23– Mode positive stop drive.
m Monitoring of the positive stop
The stop at the positive stop can be monitored by a symmetrical monitoring window. A
new drive error is generated if the position actual value is out of this window.
The n=0 message can be monitored instead of using the monitoring window.
The error reaction can be set on demand. Default reaction = pulse inhibit.
m The reduction of the torque limit can be switched off via Z120.12–.
Process:
The command is enabled by setting bit 0 in Z121.21–. The controller acknowledges this
by setting bit 0 in Z121.22– Status positive stop drive. The controller reduces at once the
torque limits by means of the set values in Z120.12– Homing torque limit, i.e. moving
against the positive stop occurs with reduced torque limits. The master control provides
the speed profile in the position control operating mode and must therefore consider the
available reduced torque in the set value profile. The blocking monitoring, position error
monitoring and the speed control deviation monitoring are switched off in the controller
when starting the command.
The messages "N=0" (Z6.2–) and "Torque current set value is limited" (Z18.20– bit 13)
are used to detect the positive stop. Copies of these messages are available in the bits 8
and 9 of the Z121.22– Status positive stop drive. The copies are available only during on
active command.
The controller sets the message "Positive stop reached" when both conditions are fulfilled
during Z120.11– Homing blocking time. Simultaneously with the setting of the message
the effective position actual value at the stop position is stored in parameter Z121.4–, the

Document No.: 5.09022.17 of 978
4.9 Operating Modes
optional positive stop monitoring is activated and the cyclic set values from the master
control are ignored.
The monitoring of the stop at the positive stop is enabled until the command is disabled.
The master control must now synchronize its position set value with the effective position
actual value and can then transmit the new set value to the controller.
The disabling of the command is done via bit 0 = 0 in Z121.21–. The positive stop mon-
itoring is disabled, the three switched off monitoring functions are enabled again, the
torque reducing is disabled and the set values of the master control are effective in the
controller after disabling the command.
NOTICE!
1 The motor can be destroyed at active command, because the blocking monitoring
of the controller is switched off during the command and therefore a blocking,
which is not caused from a positive stop, does not result in a switch off.
2 The device can be damaged at active command. The user must avoid this by a
proper set value profile (maximum acceleration, maximum speed) and by enough
reduced torque limits.

Figure 163: Sequence of the Moving to positive stop command in the

Position control (-4) operating mode

Document No.: 5.09022.17 of 978
4.9 Operating Modes
4.9.1.2 ProDrive Positioning
Figure 164: ProDrive Positioning, general parameters
Functional block: FbPosCommonData [121]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
121.1 Positioning general WORD 0x0 0xFFFF 0x0 1:1 X

mode
121.2 Staus limit switch WORD 0x0 0xFFFF 0x0 1:1 X
121.3 Negative SW limit UDINT 0 0xFFFFFFFF 0x00010000 Inc 1:1 X
Switch
121.4 Positive SW limit switch UDINT 0 0xFFFFFFFF 0xFFFF0000 Inc 1:1 X
121.5 Positioning window UDINT 0 0xFFFFFFFF 0x1000 Inc 1:1 X
121.6 Positioning window time UINT 0 65535 10 ms 1:1 X
121.7 Feedrate override UINT 0 65535 10000 % 100:1 X X
121.8 Stop Delay UDINT 7 65535 200 Inc/ 100:1 X
ms²
121.9 Positioning position UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
actual value
121.10 Maximum Position UDINT 0x0 0xFFFFFFFF 0xFFFFFFFF Inc 1:1 X
Value
121.11 Speed limit UDINT 1 65535 3276 Inc/ms 1:1 X O

121.12 Position actual value UDINT 0 0xFFFFFFFF 0 Inc 1:1
revolutions with over-
flows
121.13 Input revolutions of load UDINT 1 0x7FFFFFFF 1 1.1 X
gear
121.14 Output revolutions of UDINT 1 0x7FFFFFFF 1 1:1 X
load gear
121.15 Modulo revolutions UDINT 0 0x7FFFFFFF 1 1:1 X
121.16 Rotation position resolu- UDINT 0 0x7FFFFFFF 3600000 1:1 X
tion
121.17 Modulo position actual UDINT 0 0xFFFFFFFF 0 1:1 X
value
121.18 Status DWORD 0x0 0xFFFFFFFF 0x0 1:1 X
121.19 Speed actual value load FLOAT -2147483648 2147483647 0 Grad/s 1:1 X
basis
121.20 Coarse position window UDINT 0 0xFFFFFFFF 0x2000 Inc 1:1 X
121.21 Command positive stop WORD 0x0 0x1 0x0 1:1 X
drive
121.22 Status positive stop WORD 0x0 0xFFFF 0x0 1:1 X
drive
121.23 Mode positive stop drive WORD 0 0xFFFF 0 1:1 X
121.24 Positive stop position UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
121.25 Monitoring window posi- UDINT 0x0 0x7FFFFFFF 0x1000 Inc 1:1 X
tive stop drive
121.26 Offset modulo position DINT 0x80000000 0x7FFFFFFF 0x0 1:1 X
actual value
121.27 Command value mode WORD 0 0xFFFF 0x0002 1:1 X
121.30 Position error load basis DINT -2147483648 2147483647 0 1:1 X
121.1 Positioning general mode
Bit Meaning
0 1: Software limit switch monitoring ON
1 1: Hardware limit switch monitoring ON
3 ... 2 Reserved
4 1: Calculation of Modulo position actual value ON
5 1: The revolution overflows of the encoder in parameter Z106.15– are
ignored at initialization of Modulo position actual value.

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4.9 Operating Modes
Bit Meaning
6 1: The position actual value (Z121.9–) is set to the value of the calculated
modulo position actual value (Z121.17–); the setting is relevant at an
active calculation of the modulo position actual value!
7 1: If bit 5 = 1 and bit 7 = 1, the available revolutions in the position actual
value above Z137.2– encoder number of revolutions are not used to ini-
tialize the modulo position actual value (Z121.17–).
15 … 8 Reserved
Remark:
m Bit 0: Software limit switch monitoring
Bit 0 is used to switch on monitoring for software limit switches.
Bit 0 = 0: Monitoring of software limit switches is deactivated.
Bit 0 = 1: Monitoring of software limit switches is activated.
Response with active monitoring in the different operating modes:
n Position target entry: Response depends on the setting in Z118.2– Mode bit 4. For
details, refer to Z118.2–.
n Manual operation: The drive is decelerated to speed 0 when a software limit switch
is reached. A error message will not be generated. Depending on the limit switch,
the corresponding direction will be blocked.
n Position control:
The behavior is set in Z136.2– Mode bits 4 and 5.
m Bit 1: Hardware limit switch monitoring

Bit 1 is used to switch on monitoring for hardware limit switches.
Bit 1 = 0: Monitoring of hardware limit switches is deactivated.
Bit 1 = 1: Monitoring of hardware limit switches is active.
Response with active monitoring in the different operating modes:
n Position target entry: Response depends on the setting in Z118.2– Mode bit 5. For
details, refer to Z118.2–.
n Manual operation: The drive is decelerated to speed 0 when a hardware limit switch
is reached. A error message will not be generated. Depending on the limit switch,
the corresponding direction will be blocked.
n Position control:
n Speed control and speed setting:
NOTE!
The activation of limit switch monitoring is of no importance for the reference run op-
erating mode.

121.2 Status limit switch
This parameter shows the conditions of hardware and software switches.
Bit Meaning
0 1: negative hardware limit switch active
1 1: positive hardware limit switch active
2 1: Zero point changeover switch (home position switch) active
3 Reserved
4 1: negative software limit switch active
5 1: positive software limit switch active
7 ... 6 Reserved
8 1: At least one hardware limit switch is active
9 1: At least one software limit switch is active
15 … 10 Reserved
The conditions of the limit switches are checked for plausibility. If the limit switch statuses
return an overall status that is not logical, the error 905 "Error Limit Switch Monitoring" will
be generated.
The causes for that could be:
n Both hardware limit switches are active at the same time.
n Positive software limit switch and negative hardware limit switch are active at the
same time.
n Negative software limit switch and positive hardware limit switch are active at the
same time.
Possible causes:
n Software limit switches are set incorrectly, e.g. values for positive and negative limit
switches are switched.
n Hardware limit switches are wired incorrectly.
n Errors on the wiring for hardware limit switches.
Effect of Error 905 "Error Limit Switch Monitoring":

A parameterized error action is carried out. If the entry for error response is "no re-
sponse", the response will occur depending on the operating mode and without pulse
block, which means the current operating mode will remain active.
– Position target entry: Always stop including error message 905.
– Manual operation: Always stop including error message 905.
– Position control:
In the case of an error the error message 905 is only generated, if Z136.2– Mode
bit 4 = 1 (drive internal stop) or bit 5 = 0 (error message is activated). For further de-
tails, refer to Z136.2–.
– Speed control and speed setting:
In the case of an error the error message 905 is only generated, if Z110.2– Mode
bit 9 = 0 (error message is activated). For further details, refer to Z110.2–.

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4.9 Operating Modes
However, before the error is reset, the wiring of the hardware limit switches and parame-
terization of the software limit switches must be checked.
121.3 Negative SW limit switch
This parameter limits the permitted traversing range with active software limit switch mon-
itoring in the negative direction (= negative output speed).
It indicates the lowest target position that can be approached in operating mode position
target entry.
In operating modes manual operation and position control, a stop occurs immediately if
there is a drop below the value with the adjusted stop delay (Z121.8–).
121.4 Positive SW limit switch
This parameter limits the permitted traversing range with active software limit switch mon-
itoring in the positive direction (= positive output speed).
It indicates the greatest target position that can be approached in operating mode position
target entry.
In operating modes manual operation and position control, a stop occurs immediately if
the value is exceeded with the adjusted stop delay (Z121.8–).
121.5 Positioning window
Operating mode position target specification (= 1) and spindle positioning (= -6): If the
drive reaches a window around the new target position, the "Position target reached" bit
will be set in the status word. The positioning window is symmetrical surrounding the tar-
get position and is determined with this parameter.
Operating mode reference run (= 6): The positioning window for standstill recognition is
used with Set Home Position.
Additionally the parameter is used in all position controlled operating modes for generat-
ing the "In Position" message (bit 6 in Z121.18– Status). If the absolute value of Z18.60–
Position error rev+angle is less than the positioning window, the drive generates the mes-
sage "In Postion".

121.6 Positioning window time
This parameter is used to prevent that the "Position target reached" bit is set when the
briefly moving across the positioning window. The time during which the drive must be
located in the positioning window before "Position target reached" is set must be deter-
mined.
If the drive is pushed out of the positioning window again, such as through the load, "Po-
sitioning target reached" will be deleted again. The next dip into the positioning window
will restart time monitoring.
121.7 Feedrate override
This parameter can be used to adjust a previously adjusted target speed "online" (during
movement). The factor affects the following speeds:
n Max. positioning speed of the active positioning set in the operating mode position
target specification (= 1)
Vmax = Vpos * Feedrate Override / 100%
n Tipping speed 119.3 in the operating mode manual operation (= 5)
Vmax = Vtipp * Feedrate Override / 100%
Limiting to the maximum speed of the drive occurs according to the multiplication with the
Feed rate Override.
Special cases:
n When the multiplication with the feed rate override results in a maximum speed of
0 Inc/ms, a stop will occur.
121.8 Stop delay
The stop delay describes the maximum permitted deceleration of the drive with the stop
request through a limit switch or command through the control word.
121.9 Positioning position actual value
This parameter shows the current position actual value. The parameter is updated with
the cycle time of the fieldbus task Z1.10–.
At an active modulo position actual value calculation (Z121.1– positioning general mode
bit 4 = 1) the calculated modulo position actual value can be set to the position actual val-
ue by Z121.1– bit 6 = 1.

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4.9 Operating Modes
121.10 Maximum position value
This parameter shows the maximum possible position value with the set position resolu-
tion.
It is calculated as follows:
Maximum revolution = whole-number result from FFFFFFFFhex / position resolution
When the position resolution is a squaring, then the maximum revolution must be in-
creased by one.
Maximum position value = (Maximum revolution * position resolution) - 1
NOTE!
For MotionControl applications, the position resolution is permanently set to 65536
Inc/revolution!
The result is a maximum position value of FFFFFFFFhex.
121.11 Speed limit
Bipolar limit to limit the output speed of the positioning operating modes.
Additionally the Z107.26– Maximum mechanical speed of the motor for determination of
the effective speed limit in the below-mentioned operating modes is used for the protec-
tion of the motor and the mechanical setup.The lesser value of the parameter Z121.11–
and Z107.26– is effective.
The maximum possible speed on the load side results from Z107.26– divided by the ac-
tive gear ratio Z18.16–. As soon as the operating modes are activated the calculation of
the limit is started. The limit is not adjusted if Z18.16– Gear ratio is changed in the status
„operation enabled“!
The lower value of Z121.11– and Z107.26– / Z18.16– is activated for limitation.
If the value 0 rpm is entered in Z107.26–, the value is ignored at the determination of the
speed limit, i.e. Z121.11– is effective.
Reference run (Operating mode 6):

If the set Z120.5– Homing speed exceeds the effective speed limit (Z121.11– and
Z107.26– respectively), the speed will be reduced to the value of the limit and bit 6 is set
in the Z120.1– Status.
Position target specification (Operating mode 1) and manual operation (Operating

mode 5):
If the set Z118.11– Speed or Z119.3– Jogging speed multiplied with the Z121.7– Feed
rate override exceeds the effective speed limit (Z121.11– and Z107.26– respectively),
the speed will be reduced to the value of the limit and bit 6 is set in the corresponding
operating mode status (Z118.1– or Z119.1–).

Position control (Operating mode -4):
The input position values including offset parameters (Z136.3– to Z136.7–) are moni-
tored for overspeed. If the resulting set value speed exceeds the effective speed limit
(Z121.11– and Z107.26– respectively), the speed will be reduced to the value of the lim-
it, the error 910 "Overspeed detected at the set value input" will be triggered and bit 6 will
be set in the Z136.1– Status.
The following applies especially to the input set values Z136.3– Target position and
Z136.4– Target offset:
The limit value monitors the set speed in the drive-sided standardization i.e. after the con-
version of the input set value by weighting (Z121.16–) and the gear (Z121.13– and
Z121.14–).
Spindle positioning (Operating mode -6):

If the set spindle positioning speed Z149.4– exceeds the effective speed limit (Z121.11–
and Z107.26– respectively), the speed will be reduced to the value of the limit and bit 6
will be set in the Z149.1– Status.
121.12 Position actual value revolutions with overflows
This parameter shows the current revolutions of the position actual values including the
revolution overflows Z106.15–.
The function of this parameter is activated with bit 4 of Z121.1– Positioning general
mode.
The parameter is initialized at each encoder initialization, considering the sum of revolu-
tions of the encoder actual value (encoder for position controlling; see Z18.9–), the
M0-Offset (Z137.5–, Z137.6–) and the number of revolution overflows. If the overflows
of Z106.15– should be ignored, bit 5 in Z121.1– must be set.
The parameter has the further characteristics:
m Update with the cycle time of the fieldbus task Z1.10–.
m The parameter counts to the maximum value of [(Z137.2– * Z106.16–) - 1];
(Z106.16– Revolution overflow counter max value and
Z137.2– Number of revolutions (= "Multiturn area" of the encoder))
m No control-specific use in the controller.
m Writable in order to be set externally
m A homing in the mode " Referencing without setting the home position" has no influ-
ence on the parameter.
m A homing in the mode " Referencing with setting the home position" (Z120.2– Mode
bit 4 = 0) sets the parameter to the revolutions of Z120.3– Home position. The rev-
olution overflow counter is excluded!
121.13 Input revolutions of load gear
Input revolutions of load gear ("motor side")

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4.9 Operating Modes
121.14 Output revolutions of load gear
Output revolutions of load gear ("load side")

The parameters Z121.13– and Z121.14– are used for the calculation of Z121.17– Mod-
ulo position actual value only. The ratio motor/load is set via Z18.16– Gear ratio for the
control.
Changes in the parameters Z121.14– and Z121.13– become only then effective after
switching off and on again the modulo position actual value calculation (Z121.1– bit 4) in
Z121.17– Modulo position actual value!
If the load gear is used as well for weighting the Z136.3– Target position in the operation
mode Position control (Z109.1– set operation type = 4), the changed gear values are ac-
cepted only at an inhibit and of a new enable of the operation type -4.
121.15 Modulo revolutions
Modulo value in complete revolutions.

This parameter defines the point in which the revolutions of the Modulo position should
overflow ("turnover") to 0.
The parameter is used at the calculation of the Z121.17– Modulo position actual value
as well as at the back calculation of the Modulo position set value (Z136.3– target posi-
tion) in the internal standardization at an active weighting (Z136.2– mode bit 6 = 1).
Modulo value = 1:
The revolutions at the gear output are irrelevant for the Modulo position actual value.
Modulo value = 0:
The revolutions at the gear output will be added to the Modulo position actual value with-
out modulo division. With it the Modulo function is switched off for the position actual val-
ue (Z121.17–) and the position set value (Z136.3– Target position).
The parameter Modulo revolution will be effective only if the following condition is com-
plied with:
Modulo revolutions < (232-1) * Output revolutions Z121.14– / Input revolutions Z121.13–
121.16 Rotation position resolution
This parameter contains the value of the rotation position resolution and defines the value
of the rotation weighting. A value of 3600000 corresponds with a LSB value of
0.0001 degrees.
Rotation resolution = 0: Only the angle of the gear output will be transferred 1:1 in Modulo
position actual value! The revolutions at the gear output are not used and the modulo cal-
culation is not executed.
The Modulo function and the weighting for the position set value (Z136.3– Target posi-
tion) is also switched off at value 0.

An exorbitant value in the rotation position resolution can cause an unrequested overflow
in Z121.17– Modulo position actual value. Therefore the following condition applies:
Modulo revolutions * Rotation position resolution < 232
121.17 Modulo position actual value
The Modulo position actual value is the result of the conversion of the position actual val-
ue (actual value of the encoder for position control; see Z18.9–) using the parameters
Z121.12– to Z121.16–.
The function of this parameter is activated with bit 4 of Z121.1– Positioning general
mode.
The initialization of the Modulo position actual value is executed at each encoder initial-
ization. The input value of the gear is set. based on parameter Z121.12–. This value is
multiplied with the gear factor (Z121.13– and Z121.14–) and results in the start value for
the position at encoder output. The value at the gear output is multiplied with Z121.16–
Rotation position resolution in consideration of Z121.15– Modulo revolutions.
Tho Modulo position actual value can be shifted with the Z121.26– Offset modulo posi-
tion actual value.
The parameter has the following characteristics:
m No control-specific use in the controller.
m A homing in the mode "Referencing without setting the home position" has no influ-
ence on the parameter.
m A homing in the mode "Referencing with setting the home position" (Z120.2–- Mode
bit 4 = 0) enables a reinitialization of Modulo position actual value. The base refer-
ring to the calculation into the new modulo position actual value and of the M0 offset
are not considered!
NOTE!
At the use of the modulo position actual value the Z106.3– Encoder options bit 7
"Consideration of the value range of the encoder at addition of the M0 offset" and
Bit 10 "Addition of the revolutions of the overflow counter to the position actual value
at encoder initialization" must be switched off!

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4.9 Operating Modes
Figure 165: Simplified presentation of the calculation of the Modulo position actual value
121.18 Status
Status display of the functional block:
Bit Meaning
0 1: Function Modulo position actual value is switched on
1 Reserved
2 Warning: It is not possible to operate the actual positioning value of the
modulo continuously, if parameterization was set.
3 Error at initialization of the Modulo position actual value caused by improper
parameterization
4 Reserved
5 1: Rough in position; Position error < Position window rough
6 1: In position; Position error < Position window
7 1: Position set value has reached active target position  function finished
9 ... 8 Reserved
10 1: Position actual value = active target position  Set value reached
11 Reserved
12 1: Set value acknowledgment
31 … 13 Reserved

121.19 Speed actual value load basis
Display of the Speed actual value of load basis (= Speed actual value Z18.22–) in load
standardization.
Output revolution 1
Speed actual value load basis = Speed actual value  ------------------------------------------  ---------------------------
Input revolution Gear factor
= Z18.22– * Z121.14– / Z121.13– * (1 / Z18.16–)
The parameter has the further characteristics:

m Z18.22– means the smoothed speed actual value of the motor encoder is used!
m The gear factor Z18.16– is used only at single axis units and mono devices with two
encoder inputs for calculation of Z121.19–. The gear factor is not used at double
axis units.
121.20 Coarse position window
If the absolute value of Z18.60– Position error rev+angle is less than Z121.20– Coarse
position window, the drive messages in Z121.18– Status bit 5 "Coarse in position".
121.21 Command positive stop drive
Command parameter to start and stop the command "Moving to positive stop"
Bit Meaning
0 0: Switch off command "Moving to positive stop"
1: Activate command "Moving to positive stop"
15 … 1 Reserved

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4.9 Operating Modes
121.22 Status positive stop drive
Status of the command "Moving to positive stop"
Bit Meaning
0 1: Moving to positive stop active
3 ... 1 Reserved
4 1: Error – monitoring of the positive stop generates error message
5 1: Error – command "Moving to positive stop" not possible
6 1: Error – command aborted at positive stop
7 Reserved
8 1: N=0-message
9 1: Message "Clamping torque reached"
10 1: Message "Positive stop reached"
15 ... 11 Reserved
Notes:
Bit 0:
The bit is set as soon as the command is recognized by the drive and activated.
Bit 4: Monitoring of the positive stop generates error message
The bit is set in case the positive stop was reached (bit 10 = 1) and the position actual
value of the drive is out of the symmetric monitoring window Z121.25– of the positive
stop position Z121.24– or the N=0 message is not available. The selection between
both monitoring possibilities "monitoring window" or "N=0 message" is set in Z121.23–
in bit 0-1.
Bit 5: Error - Moving to positive stop not possible
The bit is set in case the command cannot be started because of the current operation
state. The error is also generated if the master-slave torque coupling or the gantry func-
tion is active.
The bit 0 "Positive stop drive active" of Z121.22– remains 0 in this case.
Bit 6: Error - Command aborted at positive stop
The error is generated if the command is aborted at following states:
– the N=0 message is generated and
– the clamping moment is reached,
– but the message "Positive stop reached" was not generated by the controller yet
(Z121.22– Status bit 10 = 0).
Bit 8:
Copy of the standstill message (Z6.2–) of the motor encoder, the bit is updated at ac-
tive command only.

Bit 9:
The bit is set if the torque actual value has reached the clamping torque. The bit is up-
dated independently on the n=0 message as far as the command is active.
Bit 10:
Message "Positive stop reached" is set if the n=0 message and the message "Clamp-
ing torque reached" are present constantly during the Blocking time (Z120.11–).
121.23 Mode positive stop drive
Bit Meaning
0 -1 Monitoring positive stop
00: no monitoring
01: via monitoring window positive stop Z121.25–
10: via N=0 message
11: Reserved
2 0: torque reduction via Z120.12– active
1: torque reduction via Z120.12– disabled
15 ... 3 Reserved
Note:
Bit 2:
If the bit is set, the parameter Z120.12– Homing torque limit [%] related to the maxi-
mum available torque current Z19.8– is not evaluated during the command.
121.24 Positive stop position
When reaching the positive stop (Z121.22– bit 10 = 1 "Positive stop reached") the con-
troller stores the current position actual value (Z121.9–) in this parameter.
This value is the base for positive stop monitoring via monitoring window.
121.25 Monitoring window positive stop
The stop at the positive stop is monitored with the monitoring window. The reference is
the stored value in Z121.24– Positive stop position.
The drive generates an error if the position actual value is outside of this positive stop win-
dow. The parameter setting should not disturb the correct positive stop procedure. The
monitoring should detect a break or deformation of the positive stop.
The monitoring can be enabled via Z121.23– Mode positive stop drive bit 0-1 = 01.

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4.9 Operating Modes
121.26 Offset modulo position actual value
By this offset the parameter Z121.17– modulo position-actual value can be moved.
121.27 Command value mode
This parameter determines the rotational direction of the modulo function.
Bit Meaning
0 ...1 Rotation direction at Modulo function
00: Positive rotational direction
01: Negative rotational direction
10: Shortest way (path optimized)
11: Normal (just as linear, not exceeding the modulo range)
15 ... 2 Reserved
NOTE!
This setting is for the rotational direction of the modulo function in the operating mode
"Position control" (-4) relevant.
The setting Z118.10– target mode is effective in the target position setting (1) oper-
ation mode!
The values in the bits 0 and 1 in the Z149.2– mode is effective in the spindle posi-
tioning (-6) operation mode.

Examples referring to the effect of the rotational setting at a modulo range of 0° to 360°:
Figure 166:
121.30 Position error load basis
The parameter displays the actual position error in the load standardization
Output rev.
Position error load basis = Pos. controller error  ---------------------------  Rotation pos. resolution
Input rev.
>121.30< = Z18.13– * Z121.14– / Z121.13– * Z121.16–
The parameter is updated with the cycle time of the fieldbus task Z1.10–, if the function
modulo position actual value was activated via Z121.1– Positioning general mode bit 4.

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4.9 Operating Modes
4.9.2 Operating Mode Target Position Setting
The target position setting mode is a drive-controlled positioning mode. Based on the tar-
get position specification, the motion profile is calculated in the drive and the drive is
moved to the target position. The drive can only ever calculate the profile for its own axis.
The positioning operation can be used to implement

m route positioning or
m rotary table positioning
A trapezoidal profile (optimum time) or an S-curve (jerk-free) can be selected for the
speed profile.
The drive has 16 positioning records (1 ... 16) and one active positioning set (0), in which
the positioning data (e.g. position set value, positioning speed, positioning acceleration,
etc.) are stored.
The positioning data can be changed

m statically (i.e., before the positioning starts) or
m dynamically (during an active traversing process)
In the case of dynamic changes, the traverse profile is automatically adapted to the new
positioning data.
The target position can be specified

m absolutely
m relative to the target position or
m relative to the instantaneous actual position ("positioning on the fly")
During positioning the travel of the drive can be restricted by hardware limit switches and
by freely settable software limit switches. If the drive reaches such a limit switch it will be
braked and a corresponding status message or error message will be generated.
To determine the actual position, one of the supported encoder systems can be used.
Various possibilities for the reference run are given to establish an absolute reference
from the drive position to the travel route for encoder systems that do not provide any ab-
solute position information (e.g., incremental encoders) or for single-turn encoders (e.g.,
resolvers). These are implemented in their own operating mode and will be described in
a separate section.

4.9.2.1 Controlling the Positioning
Two handshake procedures are implemented for controlling the positioning. The selec-
tion is defined by bit 8 in Parameter 118.2 Mode.
m Bit 8 = 0: "New Set Value" method (standard method)
Bit 4 "New Set Value" in the drive manager control word is used here. The positioning
set data are copied on each rising edge of this bit (Set X to Set 0), adopted internally
and the positioning procedure started.
m Bit 8 = 1: "Start Positioning" method
The start of positioning takes place with bit 11 "Start Positioning" of the drive manager
control word.
The following chapters are all based on the "New Set Value" method. The "Start Position-
ing" method is documented in a separate chapter (see ZControl by Means of the "Start
Positioning" Method– on page 706).
4.9.2.2 Positioning Data
The controller has 16 positioning records (1..16) and one active positioning set (0).
The Record number actual parameter Z118.6– defines the positioning set from which the
data will be taken at the next start command (rising edge of "New Set Value" control bit,
control word bit 4). The data will be copied from the specified positioning set into Position-
ing Set 0.
It is also possible to set a mode (see also Z118.2–, bit 10) in which the positioning data
are transferred and the positioning is started when the current positioning set Z118.6– is
changed. In this case the edge of the "New Set Value" control bit is not required, however
the bit must be set.
There are two different positioning procedures:

m Set specification ("Single set value"): Procedure using individual positioning records:
With this procedure, a positioning set is started and the drive positions at the target and
holds there. It is possible to activate a new task, even during positioning (edge of New
Set Value). This is then taken up immediately; the drive thus changes directly to the
new positioning data.
The selection of Set Specification depends on the setting in Z118.2– Mode bit 11.
Bit 11 = 0: Interpretation of bit 5 is compatible with b maXX 4400. Set specification is
selected when bit 5 is cleared.
Bit 11 = 1: Interpretation of bit 5 in accordance with IEC61800-7-201. Set specification
is selected when bit 5 is set.
m Set Value specification ("set of set values"): Procedure using a speed profile.
With this procedure, several positioning data are activated in sequence. The drive is
not intended to remain at the first target, but rather to activate the next data from the
first target position.
The selection of Set Value Specification depends on the setting in Z118.2– Mode
bit 11.
Bit 11 = 0: Interpretation of bit 5 is compatible with b maXX 4400. Set Value Specifica-
tion is selected when bit 5 is set.
Bit 11 = 1: Interpretation of bit 5 in accordance with IEC61800-7-201. Set Value Spec-
ification is selected when bit 5 is cleared.

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4.9 Operating Modes
The state of the "Change Set Immediately" bit in the control word is evaluated in conjunc-
tion with the activation of a motion task, i.e., always on the rising edge of "New Set Value".
4.9.2.3 Bits in the Control Word / Status Word
The following bits in the Control Word are used for controlling positioning:
Bit Name Meaning

4 New set value Signal for transferring data and starting the positioning procedure.
Used in the handshake process.
Rising edge activates a positioning procedure
5 Change set immedi- Flag for deciding between Set Specification and Set Value Specifica-
ately tion.
The logic depends on the interpretation set in Parameter Z118.2–
Mode bit 11. *)
Set Specification: The drive should hold at the target. New motion tasks
during the positioning procedure are taken up immediately.
Set Value Specification: The drive only accepts the next motion task
once the target position is reached. It is not held in the target position.
6 Absolute / Relative Flag for deciding between absolute and relative target specification
(only if a special target mode is selected).
0: Absolute target specification
1: Relative target specification
*) Z118.2– Mode bit 11: Interpretation of control word when control is by "New Set
Value"
0: Compatible with b maXX 4400: If bit 5 = 0, then Set Specification
1: In accordance with IEC61800-7-201: If bit 5 = 0; then Set Value Specification
The drive sets the following mode-specific bits in the status word as response:
Bit Name Meaning

10 Target position Report that the target position has been reached.
reached 0: Target position not reached
1: Target position reached
12 Set Value Handshake signal, response from the drive regarding the acceptance
handshaking of the positioning data:
0: Drive is ready to receive new set values.
1: Confirmation by the drive of acceptance of the set values.
Remarks:
m Target position reached
The Target Position Reached message indicates that the positioning target has been
reached. It is only displayed if the "New Set Value" control word bit is cleared. Due to
the handshake procedure, this message is not displayed if the "New Set Value" bit is
set.
An exception is the "Automatic Start after Change of Positioning Set" option (bit 10 in
Z118.2– Mode). In this case the Set Value Reached message is not suppressed, even
with the "New Set Value" control bit set.
m Set Value handshaking:
Set Value handshaking is the controller's response to a new start command. The drive
sets this bit when the positioning data have been transferred and the positioning has

been started.
The drive clears the bit as soon as it is ready to accept new set values. The controller
may not start any new positioning tasks while this bit is set. In contrast, the data in the
positioning records can be changed.
4.9.2.4 Actions on the Rising Edge of "New Set Value"
m The selected positioning set (Z118.6–) is copied to active Positioning Set 0. If Posi-
tioning Set 0 was selected, no data will be copied. In this case, the data will be used
directly from Positioning Set 0.
m With relative positioning, the target position is calculated.
m If the software limit switches are activated, the target position is checked for the per-
missible traversing range and, depending on the setting (Z118.2–, bit 4), an error is
generated or the target position is limited.
m The "Target Position Reached" status flag in the status word (bit 10) is cleared.
m The "Set Value Handshake" status flag in the status word (bit 12) is set to indicate that
the positioning data have been accepted.
m In the "Single Set Value" mode, the positioning data are accepted immediately (even
if the drive is still positioning) and the positioning is carried out with the new data.
m In the "Set of Set Values" mode, the data only take effect when the previous target is
reached.
4.9.2.5 Sequence of Events for Positioning Handshake with "Single Set Value"
For "Single set value", Control Word bits 4 (New Set Value) and 5 (Change Set Immedi-
ately) are used.
The interpretation of the two bits is compatible with devices in the b maXX 4400 series, if
Z118.2– Mode bit 11 = 0.
"Single set value" conforming to IEC61800-7-201 is activated by Z118.2– Mode
bit 11 = 1. Control Word bit 5 has inverted logic here compared to the b maxx 4400 inter-
pretation, and must therefore be set for "Single set value" positioning.
The handshake according to the b maxx 4400 interpretation is described in the following
diagrams.

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4.9 Operating Modes
Figure 167: Positioning handshake (Single Set Value)
1 The controller has transmitted the positioning data to the drive. The data only take ef-
fect on an edge of the "New Set Value" bit.
2 The controller sets the "New Set Value" bit in the control word. The rising edge is the
request to start positioning. Since the "Single Positioning Records" mode is to be
used, the "Change Set Immediately " bit (bit 5 of the control word) must be cleared on
the edge.
3 The drive signals that it has detected the start request by setting the set value hand-
shake. The set values have been accepted and the positioning procedure started.
The "Target Position Reached" message is canceled; likewise the Status parameter
Z118.1– indicates by clearing the "Function Ended" bit that the ramp generator is is-
suing new values.
4 The controller cancels "New Set Value".
5 In response to the cleared "New Set Value" bit, the drive also clears the "Set Value
Handshake" bit in the status word. From this point onwards the "Set Value Reached"
message is also displayed again. It is suppressed while "New Set Value" is set.
6 The drive reaches the target position. The ramp generator reports "Function Ended",
however values can still be specified by the smoothing generator.
7 The drive reports Target Position Reached. This occurs depending on the Positioning
Window (Z121.5–) and the Positioning Window Time (Z121.6–) that have been set.
8 New positioning data are sent while a positioning operation is active. These data are
not taken into account until an edge of "New Set Value" has been detected.
9 The controller sets "New Set Value" even though the last positioning operation has not
ended yet. Nevertheless the data are accepted and take effect immediately.
10The drive signals that it has detected the start request by setting the set value hand-
shake. The new set values have been accepted and were effective immediately, even
if the preceding positioning operation had not ended yet.

4.9.2.6 Sequence of Events for Handshake with “Set of Set Values”
For "Set of Set Values", Control Word bits 4 (New Set Value) and 5 (Change Set Imme-
diately) are used.
The interpretation of the two bits is compatible with devices in the b maXX 4400 series, if
Z118.2– Mode bit 11 = 0.
"Set of Set Values" conforming to IEC61800-7-201 is activated by Z118.2– Mode
bit 11 = 1. Control Word bit 5 has inverted logic here compared to the b maXX 4400 in-
terpretation, and must therefore be cleared for "Set of Set Values" positioning.
The handshake according to the b maXX 4400 interpretation is described in the following
diagrams.
Figure 168: Handshake for "Set of Set Values"
1 The controller has transmitted the positioning data to the drive. The data only take ef-
fect on an edge of the "New Set Value" bit.
2 The controller sets the "New Set Value" bit in the control word. The rising edge is the
request to start positioning. Since the "Set Value Specification" mode is to be used,
the "Change Set Immediately " bit (bit 5 of the control word) must be set on the edge.
3 The drive signals that it has detected the start request by setting the set value hand-
shake. The set values have been accepted and the positioning procedure started.
The "Target Position Reached" message is canceled; likewise the Status parameter
Z118.1– indicates by clearing the "Function Ended" bit that the ramp generator is is-
suing new values.
4 The controller cancels "New Set Value".
5 In response to the cleared "New Set Value" bit, the drive also clears the "Set Value
Handshake" bit in the status word.

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4.9 Operating Modes
6 The controller has sent new data and sets the New Set Value bit again, so that the data
will be accepted. At this point, the drive has not yet reached the first target position.
7 The drive signals that it has accepted the new data by setting the set value handshake.
As the old target still has not been reached, the data will not be effective yet. The new
positioning data will only become effective the moment the first target position is tra-
versed.
8 The controller cancels "New Set Value" again.
9 The drive has reached the first target position and now activates the new positioning
data. From this point the drive is ready to receive new set values; the drive signals
this by clearing the Set Value Handshake.
10The controller has sent new data and sets the New Set Value bit again, so that the data
will be accepted. The positioning data are to be the last data in this setting sequence;
the drive should thus hold at the target. Therefore the "Change Set Immediately" bit
must be cleared.
11The drive signals that it has accepted the new data by setting the set value handshake.
As the old target still has not been reached, the data will not be effective yet. The new
positioning data will only become effective the moment the first target position is tra-
versed.
12The drive has reached the second target position and now activates the new position-
ing data. From this point the drive is ready to receive new set values; the drive signals
this by clearing the Set Value Handshake.
13The ramp generator reports "Function Ended", however values can still be specified by
the smoothing generator.
14The drive reports Target Position Reached. This occurs depending on the Positioning
Window and the Positioning Window Time that have been set.
At the set value specification the controller monitors whether it has got the next set value
in time. If the next set value is not in time, error 911 is messaged. The error reaction is
according to the set reaction for this error.
Special treatment of the error response „No response“:
„No response“ is the preset reaction of error 911. „No response“ means here that the drive
will not be locked due to the error and the reaction is done in the operating mode „Target
Position Setting“. In case of error the ongoing positioning will be aborted, the error will be
messaged and the drive will be decelerated to a standstill with the adjusted deceleration
(Z118.13–).
4.9.2.7 Hardware limit switches
Hardware limit switches can be set to restrict the traversing range. These hardware limit
switches only act in the Target Position Setting, Jog, and Position Control modes. Addi-
tionally they can be used for reference runs. In this case they are used as reference
marks, not for restricting travel.
The limit switch monitoring is controlled via bit 1 of Parameter Z121.1– Positioning gen-
eral mode. Basically the monitoring is activated or deactivated with bit 1; bit 5 of Param-
eter Z118.2– can be used to define whether an error message should be displayed to
supplement the braking procedure.
The status of the limit switches is always displayed in Parameter Z121.2– State of limit
switches, regardless of the operating mode and the other settings.
Selecting the Inputs for HW Limit Switches

The selection of the inputs for the limit switches is performed with the aid of the parameter
"Operating Mode of Digital Inputs 1 to 8" (see Parameter 116.2 ff. in chapter ZDigital In-
puts– from page 269).
Limit Switch Monitoring
If the Target Position Setting mode is active and the drive is enabled and one of the hard-
ware limit switches is set, the following response takes place:
m In Parameter Z121.2– State of limit switches, the corresponding bit for the HW Limit
switch is set.
m The drive is braked immediately to Speed = 0 with the ramp set in Parameter Z121.8–
Stop delay.
m Movement further into the switch is inhibited.
m If the "Error message"
response is selected, an error is generated.
Error 906: Negative hardware limit switch active
Error 907: Positive hardware limit switch active
The error generated does not result in the inhibition of pulses; the drive thus continues
to be position controlled. This error must be reset before a new motion task is execut-
ed.
Driving Out from the Limit Switch
If a new positioning task is now started, a check is made of the direction of travel:
New data set drives in blocked direction of revolution:

m The data set is not executed.
m The blocked direction of revolution remains blocked.
m In error generation mode, the error message is generated again.
New data set drives in open direction of revolution:

m The data set is executed.
m The blocked direction of revolution continues to be blocked for as long as the corre-
sponding HW limit switch is set.
The HW limit switches cannot be used to hold (interrupt) a running positioning operation,
as in any case the new target position must drive into the open direction of revolution.
Special case - both limit switches active
If both hardware limit switches are active, both directions of travel will be blocked. A limit
switch must be free again before a motion task can be executed.
4.9.2.8 Software Limit Switches
Software limit switches can be activated in the Positioning, Jog and Position Control
modes to restrict the permissible travel range. The software limit switches have no effect
in any of the other modes.

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4.9 Operating Modes
The following should apply for setting the software limit switches:
HW Limit Switch 1 < SW Limit Switch 1 < SW Limit Switch 2 < HW Limit Switch 2
The behavior of the limit switch monitoring can be set. There are two different modes:
Automatic Limiting Mode
When the automatic limiting mode is set for the software limit switches, target positions
which lie beyond the limit switch are restricted to the respective limit switch. Thus the
drive stops at the software limit switch. Furthermore, the status flag for the particular soft-
ware limit switch is set and the Set Value Reached message is not displayed.
Error Message Mode

If the Error Message mode is selected for the software limit switches, the drive issues Er-
ror Message 908 or 909, "Software Limit Switch 1 or 2 Active" when the target position
lies beyond the limit switch.
The drive remains position-controlled and does not execute the erroneous task. The af-
fected limit switch is indicated in Parameter Z121.2– State of Limit Switches.
No new positioning tasks will be executed while the error message is present. The error
message must be acknowledged beforehand. The Target Position Reached status mes-
sage is also not displayed.
If a positioning task with an invalid target position is activated while the drive is still mov-
ing, the positioning procedure which is still running will be executed to completion.
4.9.2.9 Target Specifications
The numerical range for positioning comprises 32 bits.

The position values are unsigned. There are two exceptions, the CANopen modes 9 and
12. In these modes a computed range offset of 231 is made between the target position
and the actual position. In this respect, the target should be regarded as a signed value.
There are various possible ways of specifying the target position:

m Absolute target specification
m Relative target specification in a positive or negative direction relative to the last target
position
m Relative target specification in a positive or negative direction relative to the actual po-
sition at the time when the task was activated.
m Relative target specification with sign relative to the last target position.
m Absolute / relative target specification:
In this case, bit 6 of the control word determines whether the target is absolute or rel-
ative (relative to the last target). If bit 6 is set while the edge of "New Set Value" is ris-
ing, the target specification is relative. If the bit is cleared, the target specification is
absolute. A relative target specification is signed, however the same parameter,
Z118.9– Target Position, is used.
m CANopen mode with range offset:
In this special mode, the distinction between absolute or relative target specification is
also made via bit 6 of the control word, but for absolute specifications a range offset is

included in the calculation of the target position. In this mode the numerical range for
positioning should be regarded as signed. The target specification is carried out using
Parameter Z118.16– Relative target position.
m CANopen mode without range offset:

In this case there is no range offset calculated in the target position for absolute target
specification. Otherwise, this mode is identically with the CANopen mode with range
offset.
m Absolute positioning to angle in positive and negative direction respectively or shortest
way:
In this case only the angle of the target position is used and this angle will be ap-
proached in the next possible position.
m Positioning to absolute angle with selectable number of revolutions
In this case it will be positioned to the denoted angle. Thereby the number of revolu-
tions is calculated relatively.
m Absolute modulo positioning with direction select or shortest way
This type of positioning can be applied at axes on which an endless moving (rotational
axis application) is desired and the target position should be preset in modulo format.
The translation of a between connected transfer element (e.g. gear) is taken into ac-
count via the definition of the range of modulo values (Z118.20– Modulo value).
4.9.2.10 Change of Operating Mode to Positioning
When changing to the Positioning mode, a changeover with speed matching is possible.
To do this, the drive maintains the previous speed for 16 ms (starting from the mode
changeover). Within this time a new positioning task can be started and will then be ac-
cepted directly. After the 16 ms have elapsed, the drive is braked to Speed 0 with the pre-
set hold deceleration (Parameter Z121.8– Hold deceleration).
The speed matching is activated via Parameter Z118.2– Mode, bit 0.
4.9.2.11 Halting a Running Positioning Task
A running positioning task can be halted by setting the Halt bit (Control word Z108.1–,
bit 8). The data from the current positioning set are used for the deceleration ramp. The
execution of the Halt command is indicated immediately in Status Z118.1–, bit 9. When
the set speed = 0 (Status Z118.1–, bit 4) and the Speed Zero message (Z6.2–) is pres-
ent at the same time, the axis is considered to be halted and Set Value Reached (Status
Word Z108.3–, bit 10) is set.
When the Halt bit is reset, the remaining travel is automatically completed and the status
bits Set Value Reached (Status Word Z108.3–, bit 10) and Status Z118.1–, bit 9 are
cleared.
The interrupted positioning task can be resumed at the earliest when Set Speed = 0 is set.
If the Halt bit is already set when a start command is set, the positioning task will not be
started. It will only be started when the Halt bit is cleared.
The profile data, including the target position, can also be changed in the Halt state. A
rising edge on the Start bit (Control Word Z108.1–, bit 4 "New Set Value" or bit 11 "Start
Positioning") is required for this. However the motion profile cannot be changed.

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4.9 Operating Modes
4.9.2.12 Aborting a Running Positioning Task
A running positioning task can be aborted by setting the Abort bit (Control Word Z108.1–
bit 12). The data from the current positioning set are used for the deceleration ramp. The
execution of the Abort command is indicated immediately in Status Z118.1–, bit 9. The
end of the abort process is indicated with the Set Value Reached bit (Status Word
Z108.3–, bit 10).
A new positioning task can be started at the earliest when Set Speed = 0 (Status Z118.1–
bit 4) is set. The Abort bit must not be set for this.
In contrast to halting a running positioning task using the Halt bit (Control Word Z108.1–
bit 8), the positioning is not resumed when the Abort bit is cleared!
4.9.2.13 Set Value Profiles
There are two different speed profiles implemented for positioning: Trapezoidal and S-
Curve.
m With the trapezoidal profile (optimum time), a constant acceleration is assumed; the
change in acceleration is therefore abrupt. In order to attenuate the resulting jerk, it is
possible to smooth the generated profile with a filter element. Any change to the
smoothing - for example due to the activation of a different positioning set - should only
be carried out after a positioning procedure has ended. The action of a change while a
positioning set is running will be prevented by the profile algorithm. This prevents un-
wanted creeping or overrunning the target.
m With the S-Curve profile (jerk-free), the acceleration is not changed abruptly but rather
follows a trapezoidal shape. The maximum jerk (change in acceleration) can be set.
The positioning time under otherwise equal boundary conditions (same route, same max-
imum speed and accelerations) is always longer with the S-Curve profile than with the
trapezoidal profile.
4.9.2.14 Comparison of Motion Profiles for Positioning
Trapezoidal profile S-Curve profile

Speed profile Trapezoidal-shaped S-shaped
(quadratic)
Acceleration profile Block-shaped Trapezoidal-shaped
Impulse 1) Shock-free Shock-free
Jerk 2) 3 or 4 jerks Jerk-free
Online change of positioning data Yes Yes
possible
Single Set Value mode possible Yes Yes
Set of Set Values mode possible Yes Yes
1)
Impulse = Jump in speed = a  
2)
Jerk = Jump in acceleration = da/dt  
The following shows the profiles and the effect of the smoothing generator on the trape-
zoidal profile by means of an example.

Basic positioning data for the example:
n Travel path = 5 Motor revolutions = 50000hex Inc
n Positioning speed = 1000 Inc/ms
n Positioning acceleration = 20 Inc/ms²
n Positioning deceleration = 20 Inc/ms²
Time-Optimized Positioning (Trapezoidal Speed Profile)
1200
1000
800
v
600
400
200
0
1 23 45 67 89 111 133 155 177 Sampling steps
Figure 169: Time-optimized positioning
Time-Optimized Positioning with Smoothing = 10 ms (filter element)
1200
1000
v 800
600
400
200
0
1 21 41 61 81 101 121 141 161 181 201 221 Sampling steps
Figure 170: Time-optimized positioning with smoothing

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4.9 Operating Modes
Figure 171: Jerk-free positioning (S-Curve speed profile) with jerk = 0.12 Inc/ms3
Figure 172: Jerk-free positioning (S-Curve speed profile) with jerk = 0.63 Inc/ms3
Sampling rate
Figure 173: Comparison of the curves (trapezoidal profile and S-Curve profile)

Trapezoidal profile Trapezoidal profile S-Curve profile
optimum time with smoothing (jerk-free)
Duration [sampling 188 230 207 or 257

steps]
Commissioning behav- - o +
ior
Driving into the target - + +
Acceleration profile Rectangular Filter characteristic Trapezoidal-shaped
Tendency to vibration - o +
4.9.2.15 Control by Means of the "Start Positioning" Method
Positioning control by means of the "Start Positioning" method is described in the follow-
ing.
This mode can be activated via Z118.2– Mode bit 8 = 1.
Sequence of events
The controller has 16 positioning records (1..16) and one active positioning set (0).
At the start of the positioning task, one of the 16 positioning records (1...16) is selected
with Z118.6– Record number actual or a positioning set is transferred e.g. via a Fieldbus.
The positioning task is started with the Start Positioning command (bit 11 of the Control
word).
The Start bit must always be set to start a positioning task. The positioning task then runs
to the end regardless of the Start bit.
The following differences for this Start bit arise depending on the Target mode parameter
(Parameters Z118.10– Target mode for positioning Set 0, Z118.19– Target mode for po-
sitioning records 1 to 16):
m With absolute limited target setting (Target mode = 0, limited to maximum travel ampli-
tude), the start bit can remain permanently set; positioning is then always based on the
current, absolute target position. This means that when the start bit is set, only further
new (absolute) target positions need to be written.
m Normal relative target setting, in contrast, depends on the positive edge of the start bit.
A new target position is generated relative to the old position when the positive edge
of the start bit occurs.
m On-the-fly relative target setting also depends on the positive edge of the start bit. A
new target position is generated relative to the instantaneous actual position when the
positive edge of the start bit occurs.
m With absolute unlimited target setting (Target mode = 3, not limited to maximum travel
amplitude) positioning is carried out in the direction of the shorter path to the target.
The maximum traversing range can be exceeded if the software limit switch function is
off.
With the trapezoidal and S-Curve profiles, new positioning data (target position, position-
ing speed, positioning acceleration, etc.) can also be activated while in motion.

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4.9 Operating Modes
If Positioning Set 0 (Parameters Z118.9– to Z118.16–) is selected in Z118.6– Record

Number Actual, on-line changes must also be made here. The changes take effect imme-
diately if
m the start bit is set and
m no positioning error (e.g. hardware limit switches active) is present.
If one of the positioning records 1 to 16 is selected in the current set number, on-line
changes can be made in the selected set. The data from the selected positioning set are
copied completely into Positioning Set 0 and take effect when, in addition to the two con-
ditions above,
m a rising edge on the Start bit has been detected
or
m Z118.6– Record number actual has changed and at the same time
m is activated via bit 10 "Automatic Start on Change of Positioning Set" in Z118.2– Mode.
Alternatively, Positioning Set 0 can be written to directly. The basic values of the ad-
dressed positioning set then remain unchanged during the on-line changes. Thus only the
speed can be changed at a relative positioning, too. The effective target position remains
unchanged.
m Sequence of events for an absolute positioning task (Target Mode = 0)
Data
108.1
Start positioning
Controlword bit no. 11
118.1
Function completed
Positioning status bit no. 1
108.3
Target position reached
Statusword bit no. 10
5000_0151_rev02_int.cdr
Speed profile of drive
12 3 4 12 5 6 34 t
Figure 174: Sequence of events for absolute positioning
Description of the transitions:
Transition Meaning Comment

1 Start positioning L  H Positioning data valid; start request transmitted to control word.
2 Function ended H  L and Positioning is started. Start Positioning can be reset.
target position reached H  L Between (1) and (2) there is a delay of up to 1 ms!
3 Function ended L  H Set Value setting by the ramp generator ended.
Caution: Position set values may continue to be issued via the smoothing generator;
see Positioning Status Bit 1

4 Target position reached L  H Is set correspondingly later than the function ends, depending on settings for Position-
ing Window and Positioning Window Time.
5 New target position valid Start bit is set; new target position transmitted or the positioning set has been changed
(a reversal of the direction of revolution takes place in the example for this reason).
6 New positioning speed valid Start bit is set; a new positioning speed has been transmitted to positioning set 0.
NOTE!
To alter the current positioning speed or the current acceleration values during the
procedure, Bit 11 of the control word must be set.
m Sequence of events for a normal relative positioning task (Target mode = 1 or -1)
v
Data
108.1
Start positioning
Controlword bit no. 11
118.1
Function completed
Positioning status bit no. 1
108.3
Target position reached
Statusword bit no. 10
5000_0152_rev02_int.cdr
Speed profile of drive
t
12 3 4 12 5 6 34
Figure 175: Sequence for normal relative positioning
Description of the transitions:

1 Start positioning L  H Positioning data valid; start request transmitted to control word.
2 Function ended H  L and Starting edge of Bit 11 in the control word detected. Positioning is started. Start Posi-
Target position reached H  L tioning can be reset.
Between (1) and (2) there is a delay of up to 1 ms!
3 Function ended L  H Set Value setting by the ramp generator ended.
Caution: Position set values may continue to be issued via the smoothing generator;
see Positioning Status Bit 1
4 Target position reached L  H Is set correspondingly later than the function ends, depending on settings for Position-
ing Window and Positioning Window Time.
5 New target position valid New target position transmitted, target specification altered or the positioning set has
been changed. Start bit is set again. New travel route is added to the previous one (in
the example, a reversal of the direction of revolution takes place, as e.g. Target Mode
has changed from +1 to -1).
6 New positioning speed valid Start bit is set; a new positioning speed has been transmitted to positioning set 0.

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4.9 Operating Modes
m Handshake procedure for the "Start Positioning" method

A handshake procedure is implemented to guarantee a clean, time-independent mecha-
nism for controlling the positioning.
Figure 176: Handshake procedure for positioning
Description of the individual points  to :

 Controller writes new positioning data.
 Controller sets "New Set Value" in the control word to identify the data as valid.
 The controller acknowledges the new set values by setting "Set Value Acknowledged"
in the status word. At the same time, the "Target Position Reached" signal in the status
word is cleared. This ensures that the Target Position Reached signal from the previous
positioning task is no longer present for the following sequence. The signal will only be
set again when the newly transmitted positioning procedure has been carried out.
 Controller starts the positioning procedure by setting the "Start Positioning" bit in the
control word. Only after receiving this command will the positioning be started.
 The controller resets the bit for "New Set Value" again. This can also occur before the
start of positioning.
 The controller acknowledges the falling edge of the "New Set Value" control bit by re-
setting Set Value Acknowledged.
 The controller resets the "Start Positioning" bit again. This can take place during the
still running positioning operation or also only after it has completed.
 As soon as the controller has ended the positioning task and the target has been
reached, it sets the "Target Position Reached" signal.
Time-independent control of the positioning is possible with the aid of the handshake pro-
cedure. However it is not absolutely necessary to use the handshake procedure. Posi-
tioning data can also be transmitted to the controller without the "New Set Value"
command. These then take effect immediately with the "Start Positioning" command. The
handshake procedure merely makes sure that the "Target Position Reached" signal is
guaranteed to be reset before the "Start Positioning" command is transmitted.

Functional block: FbPositioning [118]
Axis-independent
Cyclic Write
DS Support
Read only
Storage

118.2 Mode DWORD 0x0 0xFFFFFFFF 0x0 1:1 X O
118.3 Output position set UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
value
118.5 Output acceleration set DINT -65535 65535 0 Inc/ms 100:1 X
value ²
118.6 Record number actual UINT 0 16 0 1:1 X X
118.7 Clip environment 1 UDINT 0x1 0xFFFFFFFF 0x00010000 Inc 1:1 X
118.9 Target position UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X X
118.10 Target mode INT -2 17 0 1:1 X X
118.11 Speed UDINT 1 65535 100 Inc/ms 1:1 X X
118.12 Acceleration UDINT 7 65535 200 Inc/ms 100:1 X X
²
118.13 Deceleration UDINT 7 65535 200 Inc/ms 100:1 X X
²
118.14 Jerk UDINT 7 65535 25 Inc/ms 100:1 X X
³
118.15 Smoothing time UINT 0 8191 0 ms 1:1 X X
118.16 Relative target position DINT -2147483648 2147483647 0 Inc 1:1 X X
118.17 Remaining distance UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
118.18 Timeout UINT 0 65535 1000 ms 1:1 X
118.19 Positioning Records RE- X
CORD
118.20 Modulo value UDINT 0x00010000 0xFFFFFFFF 0xFFFFFFFF Inc 1:1 X
118.21 Positioning duration UDINT 0 0xFFFFFFFF 0 ms 1:1 X

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4.9 Operating Modes
118.1 Status
This parameter shows the state of positioning (Position Set Value Specification operating
mode).
Bit # Meaning
0 1: Positioning is switched on
1 1: Function ended
2 1: Braking procedure active
3 Reserved
4 1: Set value speed = 0
5 1: Set value speed is set to zero
6 1: Target speed > maximum speed; refer to Z121.11– Speed limit and
Z107.26– Max speed mech.
7 1: Actual position value was or is within the positioning window (once is suffi-
cient)
8 1: New position data cannot be transferred
9 1: Running positioning stopped
10 1: Set value reached (position destination reached; copy of 108.3 Status
word bit 10)
11 Reserved
12 1: Set value acknowledgment (copy of 108.3 Status word bit 12)
15 … 13 Reserved
16 1: Clip environment 1 reached
17 1: Clip environment 2 reached
18 1: Actual position value >= Clip environment 1
19 1: Actual position value >= Clip environment 2
20 1: Switch position ON (cam ON);
Clip environment 1 <= Act. Pos. value <= Clip environment 2
23 … 21 Reserved
24 1: Drive into negative direction was prevented by revolution direction block
25 1: Drive into positive direction was prevented by revolution direction block
26 1: Drive into negative direction was prevented by hardware position switch
27 1: Drive into positive direction was prevented by hardware position switch
29 … 28 Reserved

Bit # Meaning
30 Positive overrun: Overrunning of maximum position value (= Parameter
Z121.10–) during remaining travel to the destination.
31 Negative overrun: Overrunning of smallest position value (= 0) during
remaining travel to the destination.
Remark:
m Bit 1 (Function ended)
The bit is set when the ramp generator has ended its function. Set Values can be out-
put through the signal routing creator (PT1 link of the trapezoidal cross section).
m Bit 4 (set value speed = 0)

This bit is set when the set value speed = 0, which means the Positioning module can-
not output new position values. This means, the signal routing creator (PT1) must also
be set.
m Bit 6 (Set Value speed limited to maximum speed)

This bit will be set when positioning is started and its maximum set value speed ex-
ceeds the specified speed limit (Z121.11–) or the maximum speed mech. (Z107.26–
). It will then be automatically limited to the maximum value to prevent a position error
from developing.
m Bit 8 (transfer of new position data is not possible)

This bit is set when new data can currently not be transferred during an ongoing posi-
tioning process. The operation of this bit depends on the driving profile:
Trapezoidal profile:
The transfer of the date is possible here at any time.
S-Curve profile:
Bit 8 will be set when there is a running driving set in the brake phase. The new data
is then not transferred until the brake phase (= "Target position reached" set) is com-
pleted.
m All bits, except bit 1 "Function finished" and bit 10 "Set value reached" will be deleted
with drive block.
118.2 Mode
Mode of positioning (operating type Position Target Specification). This parameter is

used to switch specific functions on and off.
A change of the following bits is valid at an enabled position set mode ("Online")
m Bit 1 ... 2: Speed profile

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4.9 Operating Modes
m Bit 12: Negative directional disable

m Bit 13: Positive directional disable
m Bit 16: Braking response of the trapezoidal profile
For this purpose, a preceding positioning must have been completed, i.e. the following
conditions must be complied with:
m The position set value is fixed (Z118.1– bit 4 = 1 speed set value = 0)
m No stop command (Z108.1– bit 8 = 0)
m No abort command (Z108.1– bit 12 = 0)
A change of the remaining bits will only work, if the operating mode ("Offline") is activated
again.
Bit # Meaning Online

change
0 Synchronization set to actual speed with Changeover operating
mode:
0: No synchronization
1: Synchronization ON
1…2 Adjusting the speed profile: X
00: Trapezoidal
01: S-Curve
10: Reserved
11: Reserved
3 Reserved
4 Adjustable response when the new target position is outside of the
software end switch
0: Move to software end switch position
1: Do not report movements and errors
5 Adjustable response with movement in hardware end switch:
0: Braking to N=0
1: Braking to N=0 and report error
6 Starting response with controller activation for relative positioning:
0: After activation, a positive edge is required in the start bit
1: After activation, a start will occur immediately with set start bit
7 0: No homing required for positioning
1: Homing required before positioning can occur
8 Controlling the Positioning through
0: "New set value" (Z108.1– Control word bit 4 New set value)
1: "Start Positioning" (Z108.1– Control word bit 11 Start Position-
ing)
9 Reserved
10 Automatic start when changing the positioning record
0: No automatic start with set change
1: With the Change positioning set, the new set will automatically
transferred and started when the Start bit is set (Z108.1– Con-
trol word bit 4 or 11).

Bit # Meaning Online
change
11 Interpretation of the control word with control through "New set
value"
0: Compatible with b maXX 4400
1: According to IEC61800-7-201
12 Negative directional block X
1: Block negative direction
13 Positive directional block X
1: Block positive direction
14 Positioning time monitoring ON
0: OFF
1: Active (monitoring time is adjusted in Parameter Z118.18– Tim-
eout ON)
15 Reserved
16 Response of the trapezoidal profile while braking: X
0: Optimized braking ramp
1: Simple braking ramp (activate with computing time shortage
only)
31 … 17 Reserved
Remark:
m Bit 0 (Synchronization is set to actual speed with Changeover operating mode)
When the function is activated, it is possible to smoothly switch from another speed or
position controlled operating mode to the position target specification. To do this, the
drive maintains the previous speed for 16 ms (starting from the mode changeover). A
new positioning task may be started during this period of time. Braking to speed 0 will
occur after 16 ms have elapsed with the adjusted stop delay.
Limitation: The bit only applies to the trapezoidal or S-Curve profile.
m Bit 4 (Adjustable response when the new target position is outside of the software end
switch)
This bit can be used to adjust the response during a start of positioning when the new
target position is outside of the software end switch range and this monitoring function
is active.
Bit 4 = 0:
n When the new target position is out of range: Move to next software end switch.
n When current position is already out of range and the new target position is within
range: Move to target position.
n When current position is already out of range and the new target position is out of
range: Move to next software end switch.
Bit 4 = 1:
n When the new target position is out of range: No movement; Error 908 or 909.
n When current position is already out of range and the new target position is within
range: Move to target position.

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4.9 Operating Modes
n When the current position is already out of range and the new target position is out
of range: no movement's; Error 908 or 909.
Errors 908 "Negative Software end switch active" or 909 "Positive software end switch
active" will not result in a pulse block when the standard response is set. They must be
acknowledged before a new drive request start is accepted. A new software end switch
check will occur for each start.
m Bit 5 (Adjustable response when driving in hardware end switch)

This bit is used to adjust whether the drive should trigger a error when a hardware end
switch is reached. The bit is only meaningful when hardware end switch monitoring is
activated.
Bit 5 = 0:
Hardware end switch monitoring will not trigger a error. The drive will brake to speed
0. New drive requests will only be carried out when the direction of travel from the
end switch leads away to the permitted range.
Bit 5 = 1:
When the hardware end switch is overridden, braking to speed 0 will occur and a
error will be triggered. Errors 906 "Negative hardware end switch active" or 907
"Positive hardware end switch active" will not result in a pulse block when the stan-
dard response is set. They must be acknowledged before a new drive request start
is accepted. New drive requests will only be carried out when the direction of travel
from the end switch leads away to the permitted range.
m Bit 6 (starting response with controller enable for relative positioning)

Bit 6 = 0:
A positive edge will be required in the start bit after the controller is enabled so that
the values from the positioning set X are transferred to positioning set 0 and relative
positioning will start.
Bit 6 = 1:
If the start bit is set at the time of controller activation, the data will be transferred
immediately during the controller enable and relative positioning will start immedi-
ately.
m Bit 7 (homing required)

This bit defines whether the drive will allow positioning prior to successful homing.
Bit 7 = 1:
Error message 900 is set and the drive stops position-controlled at the present po-
sition, if the drive was enabled in operating mode Target position mode and homing
wasn't executed prior to that. Positioning tasks are not executed.
Positioning tasks are executed not until homing was completed successfully
(Z120.1– State bit 1).
m Bit 8 (controlling positioning)

This bit is used to adjust the handshake procedure for positioning.

Bit 8 = 0: Method "New set value" (standard method after CANopen)
Here, bit 4 "New set value" is used in the control word of the drive manager. The po-
sitioning set data are copied on each rising edge of this bit (Set X to Set 0), adopted
internally and the positioning procedure started.
Bit 8 = 1: Method "Start positioning"
Positioning is started with bit 11 "Start Positioning" of the drive manager control
word. "Change set immediately" ("Set of set values") cannot be used with this meth-
od.
m Bit 11 (interpretation of the control word with control through "New set value")
This bit is effective when the method "New set value" (bit 8 = 0) is set.
Bit 11 = 0: Method is compatible with b maXX 4400
Control word bits 4 (New Set Value) and 5 (Change Set Immediately) are used. The
interpretation of the two control word bits is compatible with b maXX 4400.
Bit 11 = 1: Method according to IEC61800-7-201
Control word bits 4 (New set value), 5 (Change set immediately) and 9 (Change of
set value) are used. The interpretation of these three control word bits corresponds
with IEC 61800-7-201.
m Bit 12 (Negative directional block) and 13 (Positive directional block)

If one of the two bits is set it will be checked whether the target position to be reached
is located in the blocked direction. If this is the case, a start will not occur and a error
message will be displayed.
If a new target position is to be reached during ongoing positioning, which is located in
the blocked direction, the current target position is started and a error message is dis-
played.
The block check occurs through a comparison of the old target position to the new tar-
get position. The current desired position is meaningless for the test.
Display of the output position set value in the position target specification in Inc.
The high-word represents the revolutions and the low-word represents the angle at rota-
tive systems without gear (see Z18.16–).
Display of the output speed set value in the position target specification in Inc/ms.

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4.9 Operating Modes
Display of the output acceleration set value in the position target specification in Inc/ms².
118.6 Record number actual
This parameter is used to select the current positioning set. Whether it will be started au-
tomatically when changing the active positioning set or a start edge is required in the con-
trol word (Z108.1–) can be adjusted using Parameter Z118.2– Mode bit 10.
118.7 Clip environment 1
If the actual value of the position reaches a window in the surrounding area of the target
position, the bit "Clip environment 1 reached" is set in the Z118.1– Status (bit 16). This
window is located symmetrical in the surrounding area of the target position. This param-
eter defines its size.
The setting of the parameter also influences the bit 18 "Position actual value  Clip en-
vironment 1" in the Z118.1– status and bit 20 "Switch position ON".
118.8 Clip environment 2
If the actual value of the position reaches a window in the surrounding area of the target
position, the bit "Clip environment 2 reached" is set in the Z118.1– Status (bit 16). This
window is located symmetrical in the surrounding area of the target position. This param-
eter defines its size.
The setting of the parameter also influences the bit 19 "Position actual value  Clip en-
vironment 2" in the Z118.1– status and bit 20 "Switch position ON".
In this parameter, the target position is set for the positioning set 0 (Z118.6– Record num-
ber actual = 0).
The high-word represents the revolutions and the low-word represents the angle at rota-
tive systems without gear (see Z18.16–).
118.10 Target mode
The target mode for the positioning set 0 determines how the indicated positioning target
will be interpreted. Unless otherwise indicated, Parameter Z118.9– Target Position is
used as the target position.

Value Meaning
-2 Relative positioning in negative direction relative to the actual position ("fly-
ing").
-1 Relative positioning in negative direction relative to last target.
0 Absolute positioning; limited to max. traversing range.
1 Relative positioning in positive direction relative to last target.
2 Relative positioning in positive direction relative to the actual position ("fly-
ing").
3 Absolute positioning in the direction of the shortest path to the target, which
means maximum traversing range may be exceeded (Condition: software
end switch OFF!).
4 Relative positioning in positive or negative direction depending on the lead-
ing signs of the parameter Z118.16– Relative target position. Relation is the
last target.
5 Absolute positioning to the next defined angle in positive direction; only the
angle for the next target position is used from the target position parameter.
6 Absolute positioning to the next defined angle in negative direction; only the
angle for the next target position is used from the target position parameter.
7 Relative to the actual position ("flying") to defined angle; leading sign of
parameter Z118.16– Relative target position determines the direction.
8 Absolute positioning on the shortest path to the defined angle; only the angle
for the next target position will be used.
9 CANopen Mode:
Target input through Z118.16– Relative target position, differentiation abso-
lute / relative target mode through Z108.1– control word. Range offset by
231 Inc.
10 Target input through Z118.9– Target position, differentiation absolute / rela-
tive target mode through Z108.1– bit 6 Control word.
11 Absolute modulo positioning in direction of the shortest way
12 CANopen mode with shortest path to absolute target:
Target input through Z118.16– Relative target position, differentiation
whether absolute / relative target input through Z108.1– Control word, range
offset by 231 Inc, with absolute target, positioning occurs in direction of short-
est path to the target, which means the maximum traversing range may be
exceeded (Condition: software end switch OFF!).
13 Absolute / relative positioning with shortest path with absolute target:
Target input through Z118.9– Target position, differentiation whether abso-
lute / relative target mode through Z108.1– Control word, with absolute tar-
get, positioning occurs in direction of shortest path to the target, which
means the maximum traversing range may be exceeded (Condition: soft-
ware end switch OFF!).
14 Absolute modulo positioning in positive direction
15 Absolute modulo positioning in negative direction

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4.9 Operating Modes
Value Meaning
16 CANopen Mode:
whether absolute / relative target input through Z108.1– Control word, no
range offset by 231 Inc, with absolute target specification.
17 CANopen Mode:
whether absolute / relative target input through Z108.1– Control word, no
range offset by 231 Inc, with absolute target specification.
With absolute target, positioning occurs in direction of shortest path to the
target, which means the maximum adjusting range may be exceeded (Con-
dition: software end switch OFF!).
Remark:
Positive direction = in the direction of greater position set values
Negative direction = in the direction of lower position set values
Setting a reserve mode will generate a error message.
m Target mode 5:
Absolute positioning on defined angle in positive direction
Example:
Current target position = 1000 AAAAhex
Z118.9– Target position = 1234 5555hex  High Word not relevant
 The new absolute target position is 1001 5555hex
m Target mode 6:
Absolute positioning on defined angle in negative direction
Example:
Current target position = 3333 2222hex
Z118.9– Target position = 1234 5555hex  High Word not relevant
 The new absolute target position is 3332 5555hex
m Target mode 7:
The target input occurs in Parameter Z118.16– Relative target position. The maximum
adjusting range for each positioning procedure is ±0x7FFFFFFFhex.
The current actual position is used to calculate the new target position ( "flying" Po-
sitioning). The new target position is calculated as follows:
n The angle to be activated (absolute) is in the Low Word of the Relative target posi-
tion parameter.
n The revolutions to be adjusted (relative) are in the High Word of the Relative target
position parameter.
n The direction of positioning is determined using the leading sign of the "Relative Tar-
get Position" (Z118.16–) parameter.

Example:
Z121.9– Position actual value at start time = 1111 3333hex
Z118.16– Relative target position = -294912dez
 Leading sign negative; the value without leading sign is 48000hex
 4 revolutions relative in negative direction, absolute angle to be adjusted is
8000hex
 Revolutions of the new absolute target position = 1111hex - 4hex = 110Dhex
 The new absolute target position is 110D 8000hex
For example, this target mode can use speed control (-3) or speed setting (2) into the
position target specification (1) for the online switch from the operating mode if it is nec-
essary to position a defined angle without a stop. The revolution part of this target po-
sition must be without meaning. The actual speed value synchronization (Z118.2–
Mode bit 0 = 1) must be switched on and the revolutions to be run that are set must be
sufficiently large to avoid a reversal of direction.
m Target mode 8:
Absolute positioning on the shortest path to the defined angle
Example 1:
Z118.9– Target position = 5000 AAAAhex  High Word not relevant
AAAAhex - 5555hex = 5555hex  less than 8000hex
 shortest path in positive direction
 The new absolute target position is 1000 AAAAhex
Example 2:
Z118.9– Target position = 5000 FFFFhex  High Word not relevant
AAAAhex - FFFFhex = AAAAhex  greater than 8000hex
 shortest path in negative direction
 The new absolute target position is 0FFF FFFFhex
m Target mode 9:
CANopen Mode
The target indication occurs in Parameter Z118.16– Relative target position and the
differentiation whether this is an absolute or relative target entry occurs through bit 6
of the Z108.1– Control word.
With absolute target entries, a range offset of 231 increments is included in the calcu-
lation and the number range is interpreted with applied leading signs.
m Target mode 10:

The indication whether the target is absolute or relative (in relation to the last target) is
determined through Bit 6 of the control word. If bit 6 is set while the edge of "New Set

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4.9 Operating Modes
Value" is rising, the target specification is relative. If bit 6 is cleared, the target specifi-
cation is absolute.
The target is always determined through Parameter Z118.9– Target position, and with
a relative target entry the value is treated with applied leading signs.
m Target mode 11:

This mode can be applied at axes on which an endless moving (rotational axis appli-
cation) is desired and the target position should be preset in modulo format. The trans-
lation of a between connected transfer element (e.g. gear) is taken into account via the
definition of the range of modulo values (Z118.20– Modulo value).
In this mode the controller calculates the shortest way to the target position itself.
If in the target position a value is entered which is greater or equal than the modulo
value, the error 912 will be output at start and it will be not started.
The counting of the position set values (Z118.3–) and the position actual values
(Z121.9–) occurs furthermore in the „normal“ format.
The conversion of the actual position to the modulo format must occur controller exter-
nal.
In order to establish the relationship between the normal absolute position format and
the modulo format, either a homing is necessary after switching on the controller or an
absolute encoder must be used whose absolute information is greater than the modulo
position.
Example for target mode 11:

Z118.20– Modulo value = 00140000hex = 20 revolutions
Z118.3– Position set value = 00221111hex in normal absolute format
 Conversion of actual set position to modulo format:
SetPositionModulo = SetPositionAbsolute mod ModuloValue
= 00221111hex mod 00140000hex
= 000E1111hex
First positioning:
Z118.9– Target position = 00063333hex in modulo format
 New absolute target position calculates itself via the shorter way to modulo target
Way to "right" (greater position set values):
WayRight = ModuloValue - SetPpositionModulo + TargetPositionModulo
= 00140000hex - 000E1111hex + 00063333hex = 000C2222hex
Way to "left" (less position set values):
WayLeft = SetPositionModulo - NewTargetPosition
= 000E1111hex - 00063333hex = 0007DDDEhex
 WayLeft < WayRight
 Move left
 New target position in normal absolute format:
TargetPositionAbsolute = SetPositionAbsolute - WayLeft

= 00221111hex - 0007DDDEhex = 001A3333hex
Second positioning:
Z118.9– Target position = 00084444hex in modulo format
WayRight = 00084444hex - 00063333hex = 00021111hex
WayLeft = 00140000hex - 00084444hex + 00063333hex = 0011EEEFhex
 WayLeft > WayRight
 Move right
 New target position in normal absolute format:
TargetPositionAbsolute = SetPositionAbsolute + WayRight
= 001A3333hex + 00021111hex = 001C4444hex
m Target mode 12:

CANopen mode with shortest path to absolute target:
differentiation whether this is an absolute or relative target entry occurs through Pa-
rameter Z108.1– Control word bit 6. With absolute target entries, a range offset of 231
increments is included in the calculation and the number range is interpreted with ap-
plied leading signs.
In addition, positioning with an absolute target occurs in the direction of the shortest
distance to the target, which means the maximum traversing range may be exceeded
(Condition: software end switch OFF!).
m Target mode 13:

Absolute / relative positioning with shortest path with absolute target:
The differentiation between absolute / relative target entry occurs through Parameter
Z108.1– Control word bit 6. If bit 6 is set while the edge of "New Set Value" is rising,
the target specification is relative. If bit 6 is cleared, the target specification is absolute.
The target input occurs through Parameter Z118.9– Target position.
When the target entry is relative, the target position must be treated with applied lead-
ing sign.
Positioning with an absolute target entry occurs in the direction of the shortest distance
to the target, which means the maximum traversing range may be exceeded (Condi-
tion: software end switch OFF!).
m Target mode 14 and 15:

The preset of the target position in modulo format occurs here analogous to target
mode 11. The difference to mode 11 consists only in the preset of the moving direction
via the mode and not in the calculation of the shorter distance to the module target.
m Target mode 16:

CANopen mode without range offset:
The target indication occurs in Parameter Z118.16– Relative Target Position and the
rameter Z108.1– Control word bit 6.

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4.9 Operating Modes
With absolute target entries, a range offset of 231 increments is not included in the cal-
culation compared to CANopen mode 9 and the number range is interpreted unsigned.
m Target mode 17:

CANopen mode without range offset with shortest path to absolute target:
rameter Z108.1– Control word bit 6.
With absolute target entries, a range offset of 231 increments is not included in the cal-
culation compared to CANopen mode 12 and the number range is interpreted un-
signed.
In addition, positioning with an absolute target occurs in the direction of the shortest
distance to the target, which means the maximum traversing range may be exceeded
(Condition: software end switch OFF!).
118.11 Speed
The positioning speed describes the maximum permitted adjusting speed of the position-
ing module output during a positioning task.
It may be changed through Parameter Z121.7– Feedrate override during ongoing posi-
tioning.
Exception: The feedrate override no longer works during braking.
118.12 Acceleration
The parameter specifies the maximum acceleration for the positioning task.
118.13 Deceleration
The parameter specifies the maximum deceleration for the positioning task.
118.14 Jerk
This parameter is used to adjust the maximum jerk (change of acceleration) for the S-
curve profile (jerk limited positioning).
The parameter has no effect with other speed profiles.

118.15 Smoothing time
A PT1 element has been implemented to achieve a rounding of ramp corners in the trap-
ezoidal profile (Parameter Z118.2– Mode bit 2 and 3 = 00). The time constant of the PT1
element can be adjusted using this parameter.
Looping is deactivated with a setting of 0 ms.
The profile algorithm prevents the effect of an "Online" loop change (during an ongoing
positioning set). This prevents undesired occurrences or overrunning of a target position.
118.16 Relative target position
In this parameter, the relative target position with applied leading signs is set for the po-
sitioning set 0 (Z118.6– Record number actual = 0). This parameter works in target
modes: 4, 7, 9 and 12.
118.17 Remaining distance
This parameter shows the remainder of the target distance to be traveled to the destina-
tion during a positioning procedure.
NOTE!
The remaining distance is not calculated at set value setting ("Set of setpoints"). The
remaining distance calculation is active not until the finally positioning via data set
setting.
118.18 Timeout
Time monitoring is activated through Z118.2– Mode bit 14 = 1.

Monitoring can be used to check whether the destination is reached accurately or fast
enough through the actual value.
As soon as the set value entry is completed through positioning, a timer will be started.
The position actual value must be within the positioning window (Z121.5–) at least once
prior to expiration of the monitoring time. If this is the case, bit 7 will be set in the Z118.1–
status.
Otherwise, a timeout error will be generated.

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4.9 Operating Modes
NOTE!
This type of monitoring must not be mistaken for positioning window / time monitor-
ing.
Positioning window / time monitoring requires a stable actual value within the posi-
tioning window and controls the bit "Position Target Reached".
118.19 Positioning records
The parameter consists of 16 positioning records. The positioning records 1 to 16 cannot

be described cyclically! Each positioning set consists of the following elements:
Index Element Description of elements

0 Target position Refer to Z118.9– Target Position
1 Target mode Refer to Z118.10– Target mode
2 Speed Refer to Z118.11– Speed
3 Acceleration Refer to Z118.12– Acceleration
4 Deceleration Refer to Z118.13– Deceleration
5 Jerk Refer to Z118.14– Jerk
6 Smoothing time Refer to Z118.15– Smoothing Time
7 Relative target position Refer to Z118.16– Relative Target Position
118.20 Modulo value
The range of modulo values will be determined for the modulo positioning modes with this
parameter. A change of the parameter is only effective after a previous controller inhibit.
Details to module positioning see Z118.10– Target mode.
118.21 Positioning duration
In this parameter the duration of the last started positioning is shown. During a running
positioning the parameter indicates the actual positioning time.
The measurement starts with the start of the positioning. Measurement ends, if parameter
Z118.3– Output position set value reaches its target position. This is the case if param-
eter Z118.1– Status messages signals in bit 4 "Speed set value = 0". This means only
the duration of the set value setting is measured.

The additional time for the parameters Z121.9– Position actual value, Z121.5– Position-
ing window and Z121.6– Positioning window time to reach the target position is not con-
sidered.
The measurement is stopped with the Stop command as soon as parameter Z118.1–
Status messages in bit 4 "Speed set value = 0". The measurement is continued when the
stop command is cleared.
4.9.3 Operating mode Homing
An in depth knowledge of the absolute position of the drive is generally required to oper-
ate positioning drives. If an incremental encoder is used for position actual value record-
ing or if more than one motor revolution is necessary for the actual value recording with
tilt encoder for the entire traversing range, homing is required. Homing can also be used
to initialize the position actual value recording with absolute value encoders.
Drive guided referencing is addressed below. With drive guided homing runs, the process
control and movement of the motor is controlled by the drive itself and the reference
switch is thereby activated. This is implemented as a separate operating mode in the
b maXX.
The homing runs usually use a switch as a reference mark. For more accuracy, the zero
mark of the encoder is included; however, homing runs without consideration of the zero
mark are possible.
The zero pulse is used as the zero mark with incremental encoders. The mechanical zero
angle is used with tilt encoders and sine-cosine encoders. The mechanical zero angle
thereby means 0° in the parameter mechanical angle actual value Z106.5–.
Either one of the two end switches (negative or positive hardware end switch) or a sepa-
rate zero point switch may be used as the reference switch. The type of referencing
(switch, activation direction, etc.) is adjusted through parameter Z120.4– Reference ad-
justing mode. The different homing methods thereby correspond with the drive profile of
CANopen.
4.9.3.1 Procedure of a homing under consideration of Zero pulse or Zero angle
A sample procedure of the homing to the negative end switch under consideration of the
zero pulse / zero angle is described below. The procedure of the other homing runs cor-
responds with this procedure. There are differences especially in the direction of travel
and sought after switch edge.

Document No.: 5.09022.17 of 978
4.9 Operating Modes
Figure 177: Homing procedure to negative end switch with zero pulse
m Phase 1
In Phase 1, Homing speed (Z120.5–) is used until the Reference switch is reached.
The acceleration to reach the homing speed is adjusted with Z120.7– Homing accel-
eration.
Starting occurs directly with Phase 2 if the switch has already been set during commis-
sioning.
m Phase 2
After the reference switch has been reached, the drive is braked with Z120.8– Homing
deceleration and one eight of the homing speed (however, at least to the homing final
speed) in the reverse direction of travel. It will now be driven out of the switch again.
m Phase 3
The falling switch edge of the switch will trigger braking to the Z120.6– Homing final
speed. As soon as this speed has been reached, the zero mark will be evaluated. The
drive runs with the homing final speed until the zero pulse or zero angle of the encoder
is detected. When the zero pulse or zero angle is recognized, the drive will be stopped
and the home position will be set.
Maximum travel distance can be preset at encoders with zero pulse in this phase. If the
zero pulse is not detected within this distance, "Homing" error no. 901 is reported and
homing is interrupted.
4.9.3.2 Shifting the zero angle
When referencing under consideration of the Zero angle or Zero pulse, it may be near the
switch tolerances of the reference switch. This may result in the detection of two different
home positions with multiple homing runs that are one revolution apart. The zero angle
or zero pulse is then not always recognized in the same encoder revolution due to the
switch tolerances.
With Incremental encoders with zero pulse the encoder or switch must in this case be
mounted differently so that the zero pulse is no longer near the switch tolerances.

With absolute encoders, the encoder zero angle can be offset using Parameter Z120.10–
encoder offset for internal calculation so that it is outside of the tolerances of the switch.
The measured angle on the reference switch is indicated in Parameter Z120.15– me-
chanical angle on the Reference switch.
4.9.3.3 Maximum distance for zero pulse detection
A maximum distance can be preset at encoders with zero pulse, which may be moved
after the switching edge until the zero pulse is detected.
If the zero pulse is not detected within this distance, "Homing" error no. 901 homing is
reported and homing is interrupted.
4.9.3.4 Procedure of a Homing to switch only
The zero pulse or zero angle is not evaluated with homing runs to the switch only. There-
fore, the accuracy depends on the switch tolerances of the switch.
Figure 178: Procedure of homing to negative end switch without zero pulse
m Phase 1
In Phase 1, Homing speed (Z120.5–) is used until the Reference switch is reached.
The acceleration to reach the homing speed is adjusted with Z120.7– Homing accel-
eration.
m Phase 2
After the reference switch has been reached, the drive is braked with Z120.8– Homing
deceleration and one eight of the homing speed (however, at least to the homing final
speed) in the reverse direction of travel. It will now be driven out of the switch again.

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4.9 Operating Modes
m Phase 3
The falling switch edge of the switch will trigger another reversal of the direction of trav-
el. The drive will now approach the switch again, once again with an eight of the refer-
encing speed.
m Phase 4
Once the reference switch is reached, the drive is decelerated and accelerated in the
reverse direction of travel to the homing final speed, which means the drive will slowly
exit the switch.
m Phase 5
The drive is immediately braked to speed 0 at the falling switch edge of the switch and
the home position is entered.
4.9.3.5 Homing without setting the home position
Setting the home position can also be deactivated for special applications (Z120.2–,
bit 4). The position target and actual values will then not be changed. Instead, the drive
stops at the home position and the position values can be read out from the control.
4.9.3.6 Automatic setting of the absolute value offset at homing
Applications using absolute encoders, automatically copy the absolute value offset (M0-
Offset) to the corresponding parameters (Z137.5–, Z137.6–) at the end of homing. Pa-
rameter Z120.2– Homing mode, bit 6 activates this behavior. If bit 6 is active, the param-
eter Z106.15– Revolution overflow counter is deleted also.
The absolute value offset is the shift between the encoder coordinate system (the abso-
lute encoder actual value as read from absolute value encoder) and the position coordi-
nate system redefined by homing (machine coordinate system). This absolute value
offset is considered at initialization of the encoder. This way, a positioning coordinate sys-
tem occurs, which is the same, as it would be after homing.
Encoder
coordinates
0
Position
coordinates
0 Reference point
M0 offset
Figure 179: Absolute value offset

4.9.3.7 Notes
Switch wiring The end and reference switches can be wired as closers or openers. The type of wiring
can be adjusted in the drive using the configuration of the digital inputs. Wiring as an
opener is recommended for safety reasons (detection of wire breaks).
Limit switch The hardware or software limit switches do not limit the adjusting range during the homing
runs!
The limit switches must be designed so that they cannot be overridden. The option to
leave the switching mode "actuated" with the negative limit switch should only be avail-
able in positive direction and only in negative direction with positive limit switch.
Problem during If homing is not completed after the reference switch is reached (response through bit 10
Homing of Z108.3– Status word does not occur), this may be due to the settings for the position-
ing window (Z121.5–). The drive must be in the positioning window for the period of po-
sitioning window time that was set after the home position has been reached. The
positioning window may be adjusted too small so that this requirement cannot be met.
Reproducibility To reach identical home positions, the following conditions must be met:
m The homing speeds, acceleration, deceleration and encoder offset may not be
changed after the one-time adjustment.
m The homing speed must be reached in Phase 1.
4.9.3.8 Homing Method 1 (neg. limit switch)
Homing occurs to the negative limit switch. When the limit switch is not operated during
commissioning, travel occurs in the direction of the switch. The home position is the first
zero pulse or zero angle to the right of the switch (which means after the switch is inactive
again).
Figure 180: Homing method 1

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4.9 Operating Modes
4.9.3.9 Homing Method 2 (pos. limit switch)
Homing occurs to the positive limit switch. When the limit switch is not operated during
commissioning, travel occurs in the direction of the switch. The home position is the first
zero pulse or zero angle to the left of the switch (which means after the switch is inactive
again).
Figure 181: Homing method 2
4.9.3.10 Homing Methods 3 and 4 (pos. zero point changeover switch)
Homing occurs in the direction of the positive zero point changeover switch, which means
the switch may be anywhere in the traversing range and is continuously active from the
switch point in positive direction. The initial direction of travel depends on the switching
mode and applied method.
The home position is the first zero pulse on the left or right of the switch.

Figure 182: Homing method 3 and 4
4.9.3.11 Homing Methods 5 and 6 (neg. zero point changeover switch)
Homing occurs in the direction of the negative zero point changeover switch, which
means the switch may be anywhere in the traversing range and is continuously active
from the switch point in negative direction. The initial direction of travel depends on the
switching mode and applied method.
The home position is the first zero pulse or zero angle on the left or right of the switch.

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4.9 Operating Modes
4.9.3.12 Homing Methods 7 to 14 (Reference Switch)
These homing methods are intended for cases where the reference switch is only active
for a section of the traversing range.
Homing method With homing methods 7 to 10, the initial direction of travel is positive unless the reference
7 to 10 switch is operated at the beginning of homing. In this case, the direction of travel depends
on the desired switch edge. The direction of travel will be changed at the positive limit
switch when the initial direction of travel leads away from the switch.
The home position is one of the zero pulses or zero angles at the rising or falling edge of
the switch.

Figure 184: Homing methods 7 to 10
Homing method With homing methods 11 to 14, the initial direction of travel is negative unless the refer-
11 to 14 ence switch is operated at the beginning of homing. In this case, the direction of travel
depends on the desired switch edge. The direction of travel will be changed at the nega-
tive limit switch when the initial direction of travel leads away from the switch.
The home position is one of the zero pulses or zero angles at the rising or falling edge of
the switch.

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4.9 Operating Modes
Figure 185: Homing method 11 to 14
4.9.3.13 Homing Methods 15 and 16 (reserved)
These methods are reserved for future extensions according to the CANopen drive pro-
file.
4.9.3.14 Homing Methods 17 to 30 (without zero pulse or zero angle)
The homing methods 17 to 30 do not use zero pulse or zero angle as an additional refer-
ence mark. Only the switch is referenced. Otherwise, these methods correspond with
homing methods 1 to 14.
Only homing methods 19 and 20 are shown as an example.

Figure 186: Homing methods 19 and 20
4.9.3.15 Homing Methods 31 and 32 (reserved)
These methods are reserved for future extensions according to the CANopen drive pro-
file.
4.9.3.16 Homing Methods 33 and 34 (zero pulse only)
These homing methods do not use a switch but only the zero pulse or zero angle as ref-
erence mark.
The home position is the next zero pulse or zero angle in negative or positive direction.

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4.9 Operating Modes
4.9.3.17 Homing Method 35 (set home position only)
With this homing method the home position is set in the current position. The drive there-
by remains in the current position.
4.9.3.18 Manufacturer specific homing methods
Other manufacturer specific Homing Methods are available. Methods –1 to –5 are identi-
cal with some of the profile conforming homing methods. They only exist for reasons of
compatibility. The table below shows the assignment:
Manufacturer spe- Corre- Description

cific method sponds
with
method
-1 34 next Zero pulse or Zero angle, Right revolution
-2 33 next Zero pulse or Zero angle, Left revolution
-3 35 Set home position
-4 17 negative limit switch without zero pulse
-5 18 positive limit switch without zero pulse
Homing method –6:

This method is not part of the profile conforming homing methods. The next zero angle
(shortest direction) is applied and the home position is set there.
Homing methods -7 and -8:

These methods reference a mechanical limit position.
With Mode –7 the drive moves clockwise and with –8 counterclockwise toward the me-
chanical stop.
m Phase 1
Approaching the mechanical stop at the referencing speed. The torque will be limited
at the start of homing to Z120.12– Homing torque limit.
To recognize the mechanical stop, a test will be run to determine whether the drive is
present at the current limit (speed controller status Z18.20– bit 13 = 1) and, at the
same time, the speed zero message (Z6.2–). The mechanical stop is considered to be
recognized when both conditions have been met through Z120.11– Homing blocking
time.
m Phase 2
If the mechanical stop has been recognized, the home position will be set at this posi-
tion and the torque limit Z120.12– Homing torque limit will be canceled again.

Homing methods -9 and -10:
These methods are used to move to a mechanical stop and finally referenced to the en-
coder zero angle or zero pulse.
With Mode –9 the drive moves clockwise and with –10 counterclockwise toward the me-
chanical stop.
m Phase 1
Identical with homing methods –7 and –8
m Phase 2
When the mechanical stop is recognized, the torque limit Z120.12– Homing torque
limit is canceled again and referenced in the reverse direction of travel with Z120.6–
Homing final speed to the encoder zero angle or zero pulse.
During homing runs to a mechanical stop, specific monitoring procedures may trigger a
error due to the mechanical blocking. This includes the position error monitoring, moni-
toring of speed difference and block monitoring.
Activating the Z120.2– Mode bit 5 will prompt the controller to deactivate the three mon-
itoring procedures for the period of homing, which means from the start of homing to the
recognition of the mechanical stop after expiration of the Z120.11– Homing blocking
time.
CAUTION!
1 The controller cannot distinguish with homing methods –7, -8, -9 and –10 whether
the block is caused by the mechanical stop or otherwise! In the second case, the
drive is incorrectly referenced!
2 The machine may be damaged with homing methods against mechanical stops.
The user must prevent this through a sufficiently low setting of the homing speed
(Z120.5–) and the maximum drive torque during homing (Z120.12–).
4.9.3.19 Command set home position
Besides the homing it is possible to set the reference point in the inhibited state (pulse
inhibit). By writing the command "Set reference point" to the parameter Z120.17– the set
value of the reference point is taken over at the current position.
The drive acknowledges the setting of the reference point by setting the bit 2 in the pa-
rameter Homing status Z120.1–. By writing the command value 0 the bit 2 in the homing
status is reset again.
However the command is possible in the inhibited state only independent of the current
operation mode of the drive.

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4.9 Operating Modes
Functional block: FbHoming [120]
Axis-independent
Cyclic Write
DS Support
Read only
Storage

120.3 Home position UDINT 0x0 0xFFFFFFFF 0x00020000 Inc 1:1 X O
120.4 Homing method INT -10 35 1 1:1 X X
120.5 Homing speed UDINT 1 65535 500 Inc/ms 1:1 X
120.6 Homing final speed UDINT 1 65535 10 Inc/ms 1:1 X
120.7 Homing acceleration UDINT 7 65535 200 Inc/ms 100:1 X
²
120.8 Homing deceleration UDINT 7 65535 200 Inc/ms 100:1 X
²
120.9 Homing maximum Jerk UDINT 7 65535 25 Inc/ms 100:1 X
³
120.10 Homing encoder offset UINT 0x0 0xFFFF 0x0 Inc 1:1 X
120.11 Homing blocking time UINT 1 65535 100 s 100:1 X
120.12 Homing torque current UINT 0 10000 2500 % 100:1 X
limit
120.14 Output acceleration set DINT -65535 65535 0 Inc/ms 100:1 X
value ²
120.15 Encoder angle at refer- UDINT 0 0xFFFFFFFF 0 1:1 X
ence switch
120.16 Homing max. position DINT 0 0x7FFFFFFF 0 Inc 1:1 X O
delta to zero pulse
120.17 Command UDINT 0 1 0 1:1
120.1 Status
Status of the homing.
Bit # Meaning
0 1: Homing is switched on
1 1: Homing completed successfully

Bit # Meaning
2 Acknowledgment for the "Set home position" command
3 Reserved
4 1: Speed set value at the output is zero
5 Reserved
6 1: Speed is limited to maximum speed (refer to Z121.11– Speed limit and
Z107.26– Max speed mech.)
8 ... 7 Reserved
9 1: Homing interrupted (stopped)
10 1: Homing completed (set value reached)
11 Reserved
12 1: Home position reached
13 1: Error during homing
31 ... 14 Reserved
Remark:
Bit 1: Homing was successfully completed
After switching on the bit is set as soon as homing was completed successfully. At first,
the bit is deleted after switching on.
If homing was successfully the bit is set until the controller is switched off.
The bit is deleted only, if:
m a new homing is started,
m or if the position control encoder is switched off and on again via parameter
Z106.1–,
m or if an encoder error occurs at the position control encoder and this error is
cleared.
m or if the position control encoder is switched over via Z18.9–. Controller options
bit 0.
The status of the bit is evaluated after operating mode Target position mode was start-
ed, if in the Z118.2– Mode bit 7 "Homing required prior to positioning" was set.
120.2 Mode
Options for homing.
Bit # Meaning
0 1: Synchronization with speed actual value when activating the operating
mode
1 Reserved to select the adjusting profile (0: Trapezoidal, 1: S-Curve)
3 ... 2 Reserved

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4.9 Operating Modes
Bit # Meaning
4 1: Referencing without setting the home position
5 1: Deactivate monitoring with homing runs to mechanical stop
6 1: Automatical setting of the absolute value offset (M0 offset)
15 ... 7 Reserved
Remarks:
Bit 4: Referencing with or without setting the home position
By default, the position actual values and set values are set to the home position after the
home position is reached. For some applications, especially with multiturn absolute value
encoders it may be purposeful to determine the position actual value of the encoder at the
home position to take it into consideration automatically in a control.
Setting the home position can therefore be deactivated accordingly. The drive will com-
plete the homing; however, the position values are not set to the adjusted home position
but will remain unchanged. The control can now read out the position actual value at the
home position.
Bit 5: Deactivate monitoring with homing runs to mechanical stop

During homing runs to a mechanical stop, specific monitoring procedures may be trig-
gered due to the mechanical blocking. This includes the position error monitoring, moni-
toring of speed difference and block monitoring.
Three options are available to solve this problem:
– The user will adjust active monitoring suitable for homing. However, this may be too
weak for "normal operation".
– The user will deactivate monitoring for the duration of homing itself.
– Activating the Mode bit 5 will prompt the controller to deactivate the three monitoring
procedures for the period of homing, which means from the start of the homing to
the recognition of the mechanical stop after expiration of the Z121.11– Homing
blocking time.
Bit 6: Automatic setting of the absolute value offset (M0 offset)

The parameters of the absolute value offset are set at the end of homing after bit 6 was
set. Parameter Z106.15– Revolution overflow counter is deleted after bit 6 was set. The
absolute value offset is automatically saved in the encoder, if the parameter Z137.3– En-
coder data selection is set, so that the absolute value offset is read from the encoder
during initialization.
120.3 Home position
The home position is the position value that indicates the absolute position of the drive at
the home position. This value must be adjusted prior to the reference run. If the drive has
reached the home position after the reference run, the current position set value and po-
sition actual value will be wet to the home position value.

120.4 Homing method
Selection of the homing method.

This parameter determines the procedure for the reference run. This includes the start di-
rection of the home position and evaluation of the reference initiator.
Value Meaning
-10 Approaching the mechanical stop with zero pulse or encoder zero angle,
counterclockwise turn
-9 Approaching the mechanical stop with zero pulse or encoder zero angle,
clockwise turn
-8 Approaching the mechanical stop, counterclockwise turn
-7 Approaching the mechanical stop, clockwise turn
-6 Approaching the next encoder zero angle
-5 Approaching the positive limit switch (= 18)
-4 Approaching the negative limit switch (= 17)
-3 Setting the home position (= 35)
-2 Approaching the encoder zero angle or zero pulse with counterclockwise
turn (= 33)
-1 Approaching the encoder zero angle or zero pulse with clockwise turn (= 34)
0 Reserved
1 negative limit switch with zero pulse or encoder zero angle
2 positive limit switch with zero pulse or encoder zero angle
3 positive zero point changeover switch with zero pulse or encoder zero angle,
4 positive zero point changeover switch with zero pulse or encoder zero angle,
clockwise turn
5 negative zero point changeover switch with zero pulse or encoder zero
angle, clockwise turn
6 negative zero point changeover switch with zero pulse or encoder zero
angle, counterclockwise turn
7 Zero point switch, left of Edge A, with zero pulse or encoder zero angle,
clockwise turn
8 Zero point switch, right of Edge A, with zero pulse or encoder zero angle,
clockwise turn
9 Zero point switch, left of Edge B, with zero pulse or encoder zero angle,
clockwise turn
10 Zero point switch, right of Edge B, with zero pulse or encoder zero angle,
clockwise turn
11 Zero point switch, right of Edge B, with zero pulse or encoder zero angle,

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4.9 Operating Modes
Value Meaning
12 Zero point switch, left of Edge B, with zero pulse or encoder zero angle,
13 Zero point switch, right of Edge A, with zero pulse or encoder zero angle,
14 Zero point switch, left of Edge A, with zero pulse or encoder zero angle,
15 to 16 Reserved
17 negative limit switch
18 positive limit switch
19 positive zero point changeover switch, counterclockwise turn
20 positive zero point changeover switch, clockwise turn
21 negative zero point changeover switch, clockwise turn
22 negative zero point changeover switch, counterclockwise turn
23 Zero point switch, left of Edge A, clockwise turn
24 Zero point switch, right of Edge A, clockwise turn
25 Zero point switch, left of Edge B, clockwise turn
26 Zero point switch, right of Edge B, clockwise turn
27 Zero point switch, right of Edge B, counterclockwise turn
28 Zero point switch, left of Edge B, counterclockwise turn
29 Zero point switch, right of Edge A, counterclockwise turn
30 Zero point switch, left of Edge A, counterclockwise turn
31 to 32 Reserved
33 next zero pulse or encoder zero angle, counterclockwise turn
34 next zero pulse or encoder zero angle, clockwise turn
35 Set home position
With reference run modes with referencing to zero pulse or zero angle, the zero pulse is
always referenced when referencing on an incremental encoder and always the zero an-
gle with an absolute value encoder. The exception is the reference run mode -6, where
the zero angle is also referenced with an incremental encoder.
Remarks:
m The reference run modes -5 to -1 still exist for reasons of compatibility. They corre-
spond with the applicable indicated modes.
m The modes 1 to 14 use the zero pulse or zero angle as an additional signal. Zero angle
refers to the encoder zero angle, which means 0° in the encoder angle.
m The modes 17 to 30 correspond with modes 1 to 14 in principle, only that no zero angle
or zero pulse is used. Referencing in these modes only refers to the switch.
m Modes 33 to 35 do not use a switch.

120.5 Homing speed
The reference run speed indicates the maximum adjusting speed of the drive in the ref-
erence run operating mode. The reference switch is approached at this speed.
120.6 Homing final speed
The homing final speed indicates the adjusting speed that the drive uses to approach the
encoder zero angel or zero pulse. This parameter is only effective in the reference run
operating mode.
120.7 Homing acceleration
The homing acceleration indicates the maximum acceleration of the drive in the reference
run operating mode. The homing deceleration applies to braking the drive in the reference
run operating mode.
120.8 Homing deceleration
The homing deceleration indicates the maximum deceleration of the drive in the reference
run operating mode.
120.9 Homing maximum jerk
Setting the maximum jerk for the adjustment profile with the reference run (for S-Curve
profile).
120.10 Homing encoder offset
This offset is added to the current encoder angle when referencing to zero angle and en-
ables an offset of the zero angle signal. This permits setting the zero angle outside of the
switch tolerances of the reference switch.
Diagram: 65536 Increments correspond with 1 turn.

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4.9 Operating Modes
120.11 Homing blocking time
Adjustable blocking period for reference run modes to the mechanical stop only.
The parameter indicates the period of time after which the mechanical stop is recognized
when the drive is blocked. The conditions for blocking are "Drive at current limit" and, at
the same time, the speed zero message.
120.12 Homing torque current limit
Limiting the torque for reference run modes to the mechanical stop only.
The limiting begins with the start of the homing to a mechanical stop and will be canceled
when the mechanical stop is recognized.
The homing modes to the mechanical adjustable stop were implemented mainly at the
SM without field weakening. The limitation of the torque is made by the limitation of the
"Max. drive current actual value" Z19.5–. This means that the field current is assumed
zero so that the limit of the total current = torque current limit. When starting the homing
to the mechanical adjustable stop the total current limit is reported (Z138.8– bit 4).
Standardization:
Speed start value (Position Delta) of the reference run module.
Acceleration start value of the reference run module.
120.15 Encoder angle at reference switch
Encoder angle plus adjusted offset at the reference switch in 32 Bit increments per turn.
To check whether the zero angle of the encoder is in the range of switch tolerances of the
reference switch.

120.16 Homing max. position delta to zero pulse
This parameter determines the maximum distance, which is moved from the last switch-
ing edge until zero pulse is detected. If the zero pulse is not detected within this distance,
"Homing" error no. 901 is reported and homing is interrupted.
This function is deactivated, if the value is 0. There is no distance monitoring until to the
zero pulse.
Display: 65536 increments correspond to 1 revolution.
120.17 Command
Homing command. Via this parameter the setting of a reference point is possible in the
inhibited state.
Value Meaning
0 No command / reset
The acknowledgment bit of „Set reference point“ (Z120.1– bit 2) is deleted.
1 Set reference point
The positioning value at the current position is set to the reference point
value.

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4.9 Operating Modes
4.9.4 Manual drive operation
The Manual drive operation, also known as Tipping operation, serves to manually move
the drive. This is a position controlled operating mode.
The drive can also be moved without specification of a position set value with simple op-
eration of the buttons "Forward" or "Back" (Z108.1– Control word bit 11 and 12). This
serves to set up a machine or determine the position set values that are needed later.
The manual drive operation is set through the Z109.1– operating mode = 5.
The main functions in manual drive operation are:
m Separately adjustable acceleration for start and reverse.
m Selection between two speed profiles
"Trapezoidal" (block shaped acceleration)
"S-Curve" (trapezoidal acceleration)
m Online change (OPERATION ENABLED) of the profile data is possible at any time,
which means the tipping speed and acceleration can be changed while the drive is
moving.
m Evaluation of the software limit switches and hardware limit switches (activation, refer
to Z121.1–)
m Optional speed actual value synchronization with activation of manual drive operation.
m Use of the Z121.7– feed rate override.
m Bipolar limiting of output speed through Parameter Z121.11–.
Figure 188: Manual Drive Operation page in ProDrive

Functional block: FbJogging [119]
Axis-independent
Cyclic Write
DS Support
Read only
Storage

119.2 Mode UINT 0x0 0xFFFF 0 1:1 X
119.3 Jogging speed UDINT 0 65535 100 Inc/ms 1:1 X O
119.4 Jogging acceleration UDINT 7 65535 200 Inc/ 100:1 X O
ms²
119.5 Jogging deceleration UDINT 7 65535 200 Inc/ 100:1 X O
ms²
119.6 Jogging maximum jerk UDINT 7 65535 25 Inc/ 100:1 X
ms³
value
value ms²
119.1 Status
Bit Meaning
0 1: Manual drive operation is switched on
3…1 Reserved
4 1: Z119.8–: Speed set value at the output is zero
5 1: Total tipping speed at the input is set to zero
6 1: Total tipping speed > Maximum speed, limited to the lesser value of
Z121.11– Speed limit and Z107.26– Max speed mech. of the motor.
7 1: Number range limit exceeded
9…8 Reserved
10 1: Set value reached
13 … 11 Reserved

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4.9 Operating Modes
Bit Meaning
14 1: Drive into negative direction was prevented by limit switch
15 1: Drive into positive direction was prevented by limit switch
31 … 16 Reserved
Remark:
m Bit 5:
The bit shows whether the entire tipping speed at the input was set to zero.
Total tipping speed = Jogging speed (Z119.3–) * Feed rate override (Z121.7–)
119.2 Mode
Bit Meaning
0 1: Synchronization to speed actual value with activation of manual drive
operation
1 Speed profile
0: Trapezoidal profile
1: S-Curve
15 … 2 Reserved
119.3 Jogging speed
The tipping speed indicates the adjustment speed of the drive in manual drive operation.
The total tipping speed to be reached results from
Tipping speed * Feed rate override (Z121.7–).
119.4 Jogging acceleration
The jogging acceleration describes the maximum permitted acceleration of the drive in
manual drive operation.
119.5 Jogging deceleration
The jogging deceleration describes the maximum permitted deceleration of the drive in
manual drive operation.

119.6 Jogging maximum jerk
This parameter is used to adjust the maximum jerk (acceleration change) for the S-curve
profile.
It has no effect when using the trapezoid profile (Z119.2– Mode bit 1 = 0).
Example:
119.5 Max. Jerk = 2.0 Inc/ms³
119.3 Acceleration = 30.0 Inc/ms²
Time after which the acceleration is reached:

t = 30.0 Inc/ms² / 2.0 Inc/ms³ = 15 ms
119.7 Output Position Set Value
This parameter indicates the desired position calculated by the manual drive operation.
This parameter is used to show the output desired speed generated by manual drive op-
eration.
This parameter is used to show the output desired acceleration generated by manual
drive operation.

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4.9 Operating Modes
4.9.5 Operation mode spindle positioning (M19 command)
With activating of Z109.1– Operation mode set = -6 (spindle positioning) the drive switch-
es to position control (if not yet active), synchronizes thereby with the actual speed set-
point and begins to slow down to Z149.4– Spindle positioning speed. If this speed is
reached the drive positions to Z149.3– Spindle angle position considering Z149.2–
Mode.
The message „in position“ will be set from the drive in Z149.1– when
– the position setpoint reaches Z149.10– Active target position
and
– the position actual value is located in the Z121.5– Positioning window in the
Z121.6– Positioning window time.
The message „in position“ is also available in bit 10 of Z108.3– Status word 1.
From the following operation modes:
position control Z109.1– = -4
speed control Z109.1– = -3
position set mode Z109.1– = 1
speed setting Z109.1– = 2
jogging mode Z109.1– = 5
homing mode Z109.1– = 6
synchronous operation Z109.1– = -5
current control Z109.1– = -2
Online-switching at speed actual value  0in the operation mode spindle positioning is
synchronized (shock-free) possible.
The spindle positioning has the following functions:

m Selection of the speed profile: Trapezoidal or S-curve.
m Absolute and relative types of following positioning without change of the operation
mode is possible.
m Free definition of the direction, if the speed actual value = 0, i.e. speed = 0 message
is available. Positive or negative direction and shortest distance to the angle target
respectively.

Possible speed profiles after the reversing switch to the Operation mode spindle
positioning
Speed set value > spindle position speed
Switched to
operating mode -6 spindle positioning
Slow down with spindle acceleration bipolar
Spindle positioning speed
Setpoint value stands at target position

Figure 189: Speed profile Speed set value > spindle position speed
Speed actual value <= spindle position speed
Switched to

5000_0176_rev01_int.cdr
Speed setpoint value will be kept

Slow down with
spindle acceleration bipolar

Figure 190: Speed profile Speed actual value <= spindle position speed

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4.9 Operating Modes
Speed actual value = 0 (standstill message is set)
Switched to
Accelerate with spindle acceleration bipolar

Slow down with
spindle acceleration bipolar
t

Figure 191: Speed profile Speed actual value = 0 (standstill message is set)
"Spindle positioning to angle target" mode
In this mode it will be positioned to the preset spindle angle position after switching to the
operating mode spindle positioning and reaching the spindle positioning speed. To this
bit 2 and 3 in Z149.2– Mode must be parameterized to 0.
Exception is speed actual value = 0:
Here additionally the direction of revolution can be defined via the bits 0 and 1 in Z149.2–
mode. To this the speed actual value must be equal 0, i.e. the standstill message of the
motor bearing encoder must be set.
Bit 1 - 0: 00: Towards greater position set values
01: Towards smaller position set values
10: Shortest distance
11: Reserved
"Spindle positioning to trigger signal" mode
Not available at the time.
Sequential positioning via command bit 11 of the control word
A sequential positioning is a positioning after the first spindle positioning. The controller
is in operating mode spindle positioning.
Due to start a sequential positioning the bit 11 in Z108.1– Control word 1 must be set, i.e.
a positive edge is needed in this control bit. A running positioning must first be completed,
before a new positioning can be started. The controller acknowledges an identified and
accepted start command by setting bit 12 "Start-Command-Acknowledge" in Z108.3–
Status word 1. With the start bit 10 „Set value reached“ in Z108.3– Status word 1 will be

deleted. bit 12 „In position“ in Z149.1– Spindle positioning status is a copy of bit 10 "Set
value reached" in Z108.3– Status word 1.
NOTE!
Bit 11 of the control word is only used for the sequential positioning. The first posi-
tioning after switching to operating mode spindle positioning is always executed im-
mediately independent of the status of bit 11!
Operating sequence of a spindle positioning with a subsequent sequential

positioning
Switched to
Slow down with spindle acceleration bipolar
Spindle
positioning speed
Status word Bit 12

„Start-Command-
Acknowledge“
Status word Bit 10
„Setpoint reached“
Control word Bit 11

„Start sequential
positioning“ 1 23 4 5 67 89
Figure 192: Spindle positioning with sequential positioning
Instant of time 1: Switching to operating mode spindle positioning; deceleration to spin-

dle positioning speed.
Instant of time 2: Position setpoint has reached active target position Z149.10–.
Instant of time 3: Position actual value is in positioning window and positioning window
time is up  Controller sets "Setpoint reached".
Instant of time 4: „Start sequential positioning“ is set.
Instant of time 5: Controller has recognized a start command, resets „Setpoint reached“,
sets the „Start-Command-Acknowledge“ and begins with sequential positioning.
Instant of time 6: „Start sequential positioning“ is deleted.
Instant of time 7: Controller deletes „Start-Command-Acknowledge“.
Instant of time 8: Position setpoint has reached active target position.
Instant of time 9: The position actual value is in positioning window and positioning win-
dow time is up  Controller sets "Setpoint reached".

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4.9 Operating Modes
Types of sequential positioning
The setting, whether a sequential positioning shall occur "absolute/relative", will be set in
Z149.2– Mode bit 4.
Bit 4 = 0: Absolute sequential positioning
Bit 4 = 1: Relative sequential positioning
Absolute positioning using Z149.3– Spindle angle position
Only the Low-Word of the spindle angle position is copied in the Low-Word of the effective
target position. The High-Word is not used at the time.
In order to start an absolute subsequent positioning the control bit 11 must be set (positive
edge). The positioning direction is determined with bit 0 and 1 of the Z149.2– Mode.
00: Towards greater position set values
11: Reserved (value is incorrect and is not accepted)
Relative positioning using Z149.9– Spindle relative offset
Dependent on the preset direction the new target position is calculated from the last target
position plus or minus spindle relative offset. Only the Low-Word is used from Z149.9–.
A positive edge in the control bit 11 is necessary in order to start.
The positioning direction is determined only with bit 0 of the Z149.2– Mode.
0: Towards greater position set values:
NOTE!
The value of bit 4 (sequential positioning absolute/relative) in Z149.2– Mode is irrel-
evant at switching in the operating mode spindle positioning. At the first spindle posi-
tioning it will be positioned always absolute to the spindle angle position! The actual
direction of revolution remains thereby. A reversion is not possible.
If the motor is in standstill (standstill message is existent) at switching, bit 0 and 1 of
Z149.2– decide on the positioning direction.

Functional block: FbSpindlePos [149]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
149.1 Status DWORD 0 0xFFFFFFFF 0x0 1:1 X

149.2 Mode DWORD 0x0 0xFFFFFFFF 0x0 1:1 X
149.3 Spindle angle position UDINT 0 0x0000FFFF 0 Inc 1:1 X O
149.4 Spindle positioning UDINT 0.0625 32767.0000 100.0000 Inc/ms 10000:1 X
speed
149.5 Spindle acceleration UDINT 0.07 655.35 2.00 Inc/ 100:1 X
bipolar ms2
149.6 Spindle maximum jerk UDINT 0.07 655.35 0.25 Inc/ 100:1 X
ms3
149.9 Spindle relative offset UDINT 0 0x0000FFFF 0 Inc 1:1 X
149.10 Active target position UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
149.11 Output Position Set UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
Value
149.12 Output speed set value DINT -65535.0 65535.0 0 Inc/ms 1:1 X
149.13 Output acceleration set DINT -655.35 655.35 0 Inc/ 100:1 X
value ms2
149.1 Status
Status of the spindle positioning
Bit-no. Meaning
0 0: Spindle positioning switch off
1: Spindle positioning switch on
1 1: Position set value has reached active target position  function finished
3 …2 Reserved
4 1: Speed set value = 0
5 Reserved
6 1: Spindle positioning speed limited to maximum speed, see Z121.11–
Speed limit and Z107.26– Max speed mech.
9…7 Reserved

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4.9 Operating Modes
Bit-no. Meaning
10 1: In Position (set value reached)
11 Reserved
12 Start command acknowledge
15 … 13 Reserved
19 … 16 State of the actual positioning process:
0: Switched off
1: Initialization at activation
2: Reserved
3: Slow down to spindle positioning speed
4: Spindle positioning speed reached, calculation of the target position
5: Calculate the target position at standstill (speed actual value = 0)
6: Positioning to active target position
7: Set value assignment completed
8: Initialization of a sequential positioning
9 to 14: Reserved
15: Error status
31 … 20 Reserved
149.2 Mode
Mode of the spindle positioning
Bit-no. Meaning
1…0 Definition of the direction, if the speed actual value = 0:
If bit 4 = 0 „absolute positioning“
11: Reserved
If bit 4 = 1, „relative sequential positioning“; only bit 0 relevant
3…2 Setting to spindle angle position or trigger source:
00: Positioning to Z149.3– Spindle angle position
Residual: Reserved
4 Type of positioning for sequential positioning
0: absolute positioning
1: relative positioning
5 Speed profile
0: Trapezoidal
1: S-curve
31 … 6 Reserved

149.3 Spindle angle position
This is the absolute angle position which must be reached in relation to home position
Z120.3–, i.e to the position of the encoder for position sensing. The Low-Word of the pa-
rameter is entered in the lower 16-Bit (angle) of the active target position Z149.10–. The
High-Word of the parameter is not used at the time and must be set to zero.
64 Bit position setpoint

>18.59< >18.58<
63 31 0
Revolutions Angle
5000_0173_rev01_int.cdr
0000hex LowWord
>149.3<
31 16 0
Figure 193: Spindle angle position
149.4 Spindle positioning speed
If operating mode spindle positioning is activated, either the drive brakes up to the spindle
positioning speed or the drive keeps the preset speed. If operating mode spindle position-
ing is switched on from standstill, the drive accelerates with maximum acceleration to the
spindle positioning speed.
The internal resolution of the spindle positioning speed is 0.0625 Inc/ms. Therefore only
parameter values in multiples of the resolution make sense. Interim values will be round-
ed down.
149.5 Spindle acceleration bipolar
The maximum acceleration and deceleration of the drive in the operating mode spindle
positioning can be set here.
149.6 Spindle maximum jerk
The maximum jerk (change of acceleration) for the S-curve profile can be set in this pa-
rameter. When using the trapezoidal profile the parameter has no function.

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4.9 Operating Modes
149.9 Spindle relative offset
The parameter is used as distance which must be driven from standstill at relative se-
quential positioning (Z149.2– Mode bit 4 = 1). Only the Low-Word of the parameter is
used. The High-Word of the parameter is not used at the time and must be set to zero.
Format High-Word: Revolutions Low-Word: Angle
64 Bit position setpoint

>18.59< >18.58<
63 31 0
Revolutions Angle
5000_0174_rev01_int.cdr
Relative offset
31 16 0
Figure 194: Spindle relative offset
149.10 Active target position
This is the calculated target position, which must be reached in a 16 bit revolution and in
a 16 bit angle format.
The parameter is updated in the operating modes spindle positioning (-6) and target po-
sition setting (1).
149.11 Output Position Set Value
This parameter shows the actual position set value calculated from module spindle posi-
tioning.
This parameter shows the output speed set value generated from module spindle posi-
tioning.
This parameter shows the output acceleration set value generated from module spindle
positioning.

4.9.6 Operating Mode Position control
The cyclic synchronous position set value specification is activated through operating
mode Z109.1– = -4. In this operating mode, the position set value that is transferred in
every fieldbus cycle is interpolated in the control cycle. The interpolated set value is the
position set value for the position control.
The major functions are:
m Selection between two input channels for the position set value to be interpolated:
– Z136.3– Set value in the format 16 Bit revolutions and 16 Bit angle
– Z136.5– Set value in the format 32 Bit angle
m Each of the two input channels has one offset input additionally:
– Z136.4– Position offset in the format 16 Bit revolutions and 16 Bit angle
– Z136.6– Angle offset in the format 32 Bit angle
m The input set value Z136.3– and its positioning offset Z136.4– can pass an additional
function block (Z136.2– mode bit 6 = 1). In the following this function block refers to as
"Weighting" and contains these functions:
– Weighting function
The set value can be weighted by the Z121.16– Rotation position resolution.
– Load gear
Furthermore an available load gear can be regarded by the parameters Z121.13–
Input revolutions and Z121.14– Output revolutions.
– Modulo position set value
The set value can be used as modulo positioning set value. This function is activated
by Z121.15– Modulo revolutions > 0.
For details refer to Z136.2– Mode with bit 6 and ZFig. 195– on page 761.
m Additional input as offset speed Z136.7–. The function can thereby be tested without
cyclical set value specifications through the fieldbus.
m Optional speed actual value synchronization when activating the operating mode.
m Optional extrapolation during set value failure.
m Evaluation of software limit switches possible  Activation, refer to Z121.1–.
m Evaluation of hardware limit switches possible  Activation, refer to Z121.1–.
m Stop possible through control word bit 8 of the drive manager.
m Set values can be blocked through the control word bit 11 of the drive manager.
m Display of current output set values: Acceleration, speed and position.
m Bipolar limiting of output speed through Parameter Z121.11–.
m Interpolation of the fieldbus set value for the cycle of the position control (Z1.8– RT0
cycle time).
m The set fieldbus cycle time Z131.18– is used as the interpolation interval.
m The interpolation interval can be extended through the factor in Parameter Z136.2–
Mode in bit 12 and 13. The following applies:
Interpolation interval = Factor * Fieldbus cycle.
Factors 1, 2, 4 and 8 are possible. From the factor value 2 onward the Z131.20– divi-
sion ratio fieldbus task must have been set to 1!
m PT1 filter for smoothing the transferred position set value
m An external, cyclical specification of the speed and acceleration feedforward values
takes place. For details see Z111.7–, Z111.8– and Z18.9–.

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4.9 Operating Modes
NOTE!
Currently, the fastest permissible set value cycle (= Z1.10– Task fieldbus cycle time
= Z131.18– Fieldbus cycle time / Z131.20– Division ratio fieldbus task) for this op-
erating mode is 250 µs and thereby corresponds with the default setting for the cycle
of the position control. Especially with cycle rates of less than 1 ms, the computation
time capacity utilization of the controller must be observed when using a double axis
unit!
Modulo off
(121.16 Rotation position resolution = 0 Weighting off
or 121.15 Modulo revolutions = 0) (rotation position resolution = 0)
Modulo
Position offset handling Weighting Gear
% x x
136.4
1
Input selection
Target position 1 revolution 121.13 Input rev.
136.3 121.16 Rotation 121.14 Output rev.
position resolution
0
Target angle
136.5
Angle offset
136.6
Offset speed
136.7
136.2 Mode bit 7

Default values:
5000_1003_rev04.cdr
Configuration of position set value 136.8
1 0 angle set value 136.12
interpolation from SW clock
x
to clock of SW interface speed set value 16 bit 136.9
Gear speed set value 32 bit 136.15
acceleration set value 136.10
Smoothing time Actual
position set value values
136.13
Position
Inter- Inter-
Speed
polator polator
controller
121.11
Speed limit
136.14 Interpolation from clock of

Speed set value SW interface to controller clock
unlimited
Figure 195: SW = Set value; SW Cycle = effective interpolation interval;

cycle of the internal software interface = Fieldbus cycle

Functional block: FbCycSyncPos [136]
Axis-independent
Cyclic Write
DS Support
Read only
Storage

136.2 Mode WORD 0x0 0xFFFF 0x0004 1:1 X O
136.3 Target position UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
136.4 Position offset DINT 0x80000000 0x7FFFFFFF 0x0 Inc 1:1 O
136.5 Target angle UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
136.6 Angle offset DINT 0x80000000 0x7FFFFFFF 0x0 Inc 1:1 O
136.7 Offset speed DINT 0x80000000 0x7FFFFFFF 0 Inc/ms 1:1 O
value
value ms²
136.11 Active interpolation UINT 125 32000 1000 µs 1:1 X
interval
136.12 Output angle set value UDINT 0 0xFFFFFFFF 0x0 Inc 1:1 X
136.13 Smoothing time posi- FLOAT 0 32 0 ms 1:1 X
tion set value
136.14 Speed set value unlim- DINT 0x80000000 0x7FFFFFFF 0 Inc/ms 1:1 X
ited
136.15 Output speed set value DINT 0x80000000 0x7FFFFFFF 0 Inc/ms 1:1 X
32-bit
136.1 Status
Bit # Meaning
0 1: Synchronous position set value specification ON
1 1: Blocked set value specification through command "Block Set Values"
(108.1 Control word bit 11 = 1)
3…2 Reserved
4 1: Set value speed = 0
5 Reserved

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4.9 Operating Modes
Bit # Meaning
6 1: Speed is limited to maximum speed; refer to Z121.11– Speed limit and
Z107.26– Max speed mech.
7 1: Positioning range limit exceeded
8 1: Position set values will be extrapolated (extrapolation is activated)
9 1: Set value specification stopped; Stop triggered by control word bit 8 or
limit switch.
11 … 10 Reserved
12 0: Target position is ignored
1: Target position effective, drive follows the cyclic set value
13 Reserved
14 1: Drive into negative direction was prevented by limit switch
15 1: Drive into positive direction was prevented by limit switch
31 … 16 Reserved
Remarks:
m Bit 6: Speed limited to maximum speed:
The input set values are monitored for overspeed. If the set value speed exceeds the set
value in Z121.11– speed limit or Z107.26– Max speed mech. of the motor, the speed will
be reduced to the value of the limit, the error 910 "Overspeed detected at the set value
input" will be triggered and bit 6 will be set in the status.
136.2 Mode
The settings in the mode are transferred to the Operation Enabled status during transfer.
Changes may be made in this status but they will not take effect until blocking and re-en-
able is completed.
Bit # Meaning
0 1: Synchronization to speed actual value with activation
1 0: No extrapolation with set value failure; after the interpolation procedure,
the position set value will not be extrapolated with the last speed.
1: Extrapolation with set value failure; after the interpolation procedure, the
position set value will be extrapolated with the last speed.
2 Input selection:
0: Parameter Z136.3– Target position and Z136.4– Position offset are effec-
tive
1: Parameter Z136.5– Target angle and Z136.6– Angle offset are effective
3 Reserved

Bit # Meaning
5 ... 4 The behavior at an active limit switch monitoring, when moving over hard-
ware limit switch or software limit switch:
0: Error message; new set values will be accepted. A response by the con-
trol is necessary.
1: Error message; drive internal stop
2: No error message; no stop; new set values are accepted
3: No error message; drive internal stop
6 1: Activation of the Weighting function block for the input Z136.3– Target
position (Z136.2– bit 2 = 0)
7 1: Activation of the gear factor (Z121.13–, Z121.14–) for the Z136.7– Offset
speed
8 Interpolation procedure:
0: Linear interpolation
1: Square interpolation
10 … 9 Reserved
11 The effect of a new value in Z136.4– position offset or Z136.6– angle offset
0: Offset operates after writing the main set value (Z136.3– or Z136.5–)
1: Offset operates immediately and writing the main set value is not required.
13 … 12 Factor for interpolation interval (IP Interval = Factor * Fieldbus cycle time
Z131.18–)
00: Factor = 1
01: Factor = 2
10: Factor = 4
11: Factor = 8
15 … 14 Reserved
Remarks:
Bits 4 and 5: The behavior at active limit switch monitoring, when moving over
limit switch:
When overriding a hardware limit switch, a Error 906 "Negative hardware limit switch ac-
tive" or Error 907 "Positive hardware limit switch active" will be triggered.
When overriding a software limit switch, a Error 908 "Negative software limit switch ac-
tive" or Error 909 "Positive software limit switch active" will be triggered.
With setting of bit 5 the error message and error response can be switched off. In this
case only the set stop (bit 4 = 1) is executed and the drive direction is inhibited.
The subsequent behavior of the drive corresponds with the error response setting for the
corresponding error code.
The default value for these errors is "no response".
m "no response" and bit 4 = 0:
Only the corresponding error is settled. New set values through the fieldbus continue
to be accepted. The control must perform the corresponding response.
m "no response" and bit 4 = 1:
In addition to settling the error, a Stop is also triggered. Braking occurs drive internally
with Z121.8– Stop delay. New set values through the fieldbus will be ignored.

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4.9 Operating Modes
After ending the Stop (speed set value = 0), the end switch errors may be confirmed.
During confirmation, the drive control synchronizes the input parameters Z136.3– Tar-
get position and Z136.5– Target angle with the current Z136.8– Output position set
value. The higher level control must perform this as well and can then be assigned new
set values.
Bit 6: Activation of the "Weighting" function block

The function block is activated by Z136.2– Mode bit 6. It operates if the input Z136.3–
Target position and its Offset Z136.4– were selected (Z136.2– Mode bit 2 = 0) only.
At the same time the function "Modulo position actual value" must be switched on by
Z121.1– Positioning general mode bit 4. If this is not the case, at the enable of the oper-
ation mode "Position control" the error code 917 ("position set value setting could not be
initialized").
The function block contains the following functions:
m Weighting
The set value can be weighted by Z121.16– Rotational position resolution.
The weighting is off at a rotational position resolution of 0.
m Load gear
An available load gear can be regarded by the parameter Z121.13– Input revolutions
and Z121.14– Output revolutions.
m Modulo position set value
The set value can be used as modulo position set value.
This function is activated by Z121.15– Modulo revolutions > 0 and Z121.16– Rota-
tional position resolution > 0. If one of these parameters is 0 the modulo handling is
switched off.
By Z121.15– is determined when the revolutions of the modulo position shall invert to
0.
The Z121.27– Set value mode determines the rotational direction. The presetting is
"shortest path". The other direction modes at "position control" make sense only if the
rotational direction of the set values shall be monitored. A movement of the set value
towards the "inhibited" direction causes a very large position change in the "free" direc-
tion. Dependent on the Z121.11– Speed limit this leads to the error message 910
"Overspeed detected at the set value input". In general, the error reaction "Quickstop"
occurs. The error reaction can be adapted.
NOTE!
Changes in the rotational position resolution, in the modulo revolutions and of the
gear factors are accepted only after an inhibit and a new enable of the operation
mode -4!
The Z121.17– Modulo position actual value is used when switching on the operation
mode -4 to initialize the modulo position set value (Z136.3–). Thereby, when chang-
ing the above parameters the function "Modulo position actual value" (Z121.1– bit 4)
must be switched off and then on in order to initialize again. Then the operation mode
-4 can be enabled.

Bit 8: Interpolation procedure
This is where the procedure for the interpolation level "Set value cycle  Cycle internal
set value interface" is entered.
The interpolation level "Cycle internal set value interface  Controller cycle" is thereby
not influenced. This interpolation is defined through Parameter Z111.6– Interpolation
mode!
The cycle of the internal set value interface corresponds with the Z1.10– Task fieldbus
cycle time ( = Z131.18– Fieldbus cycle time / Z131.20– Division ratio fieldbus task. The
set value cycle can be increased through the factor for the interpolation interval against
the fieldbus cycle time. If the factor for the interpolation interval (Z136.2– bit 12 and 13)
is set to 1, the interpolation level "Set value cycle  Cycle internal set value interface" is
not needed and bit 8 is of no importance.
It must be interpolated and bit 8 is active, if a Z131.20– division ratio fieldbus task which
is greater than 1 was set.
Bits 12 and 13: Factor for interpolation interval

These two bits can be used to enter an increase of the cycle time of the new set values
compared to the fieldbus cycle time Z131.18–. The cycle time of the new set values cor-
responds with the displayed effective interpolation interval (Z136.11–)
Effective interpolation interval = Factor * Fieldbus cycle time
At active interpolation (factor IP interval > 1) and simultaneous using of parameter

Z136.5– as input a deviation can occur between the 32 bit input angle (Z136.5–) and the
32 bit output angle (Z136.12–) at fixed input set value. This difference is caused by the
interpolation and is internally saved and is considered in the input set value with the next
motion.
NOTE!
A factor regarding the interpolation interval which is greater than 1 together with a
Z131.20– division ratio fieldbus task which is greater than 1 is not permitted. In this
case the error 917 "Position set value setting could not be initialized" when enabling
the operating mode -4.
Example 1:
New set values are to be transferred under the following conditions:
n New set values are transferred during each fieldbus cycle:
The setting of the interpolation procedure is therefore irrelevant  Bit 8 = 0
Factor for IP interval = 1  Bit 13 = 0 and bit 12 = 0
n The hardware and software limit switches should only report errors  Bit 4 = 0
n The set values have the format 32 Bit angle
Input channel is thereby Z136.5– target angle  Bit 2 = 1
n The extrapolation with set value failure should be effective  Bit 1 = 1
n The synchronization at activation of the operating mode must be active  Bit 0 = 1
 Z136.2– Mode = 0007hex
Example 2:

Document No.: 5.09022.17 of 978
4.9 Operating Modes
New set values are to be transferred under the following conditions:

n New set values are transferred during every second fieldbus cycle:
The square interpolation procedure is recommended as the interpolation procedure
 Bit 8 = 1
Factor for IP interval = 2  Bit 13 = 0 and bit 12 = 1
n The hardware and software limit switches should only report errors  Bit 4 = 0
n The set values have the format 16 Bit angle and 16 Bit revolution
Input channel is thereby Z136.3– Target position  Bit 2 = 0
n The extrapolation with set value failure should be effective  Bit 1 = 1
n The synchronization at activation of the operating mode must be deactivated  Bit
0=0
 Z136.2– Mode = 1102hex
The parameter is a set value input for the position control (Operating mode -4). It is a po-
sition value in format 16 Bit revolution and 16 Bit angle.
This input is selected using parameter Z136.2– Mode bit 2 = 0.
The default setting for the cycle time for new set values is the fieldbus cycle time
(Z131.18–). The specified position set value is then interpolated by the cycle time of the
cycle time of the set values to the control cycle.
With the "Weighting" function block (Z136.2– Mode bit 6 = 1) a modulo process, a
weighting as well as a load gear can be switched on. The input set value of the function
block is the result of the addition of Z136.3– Target position and Z136.4– Position offset.
136.4 Position offset
The parameter only acts as an offset when the input Z136.3– Target position has been
selected.
The offset value is added to the target position. This is an absolute position value and it
is also set regardless of the number of communication transmissions and always as an
absolute offset value for the target position. This means that if, for example, the same off-
set value is set twice through communication it will not be added twice.
If the offset is not 0, then Z136.3– Target position and Z136.8– Output position set value
will deviate from each other by the offset value. When the offset is reset to 0, the output
position set value will correspond with the target position.
The format of the parameter is 16 Bit revolution and 16 Bit angle. However, in contrast to
Parameter Z136.3– it has applied leading signs!
Activation of a new offset value:
In default mode (Z136.2– Mode bit 11 = 0) a newly set offset operates after the writing of
the main set value Z136.3–. target position. This way the effect of the new offset is syn-
chronized with the cyclically mapped main set value.
If the main set value is not cyclically set and the offset input must operate, then in
Z136.2– Mode the bit 11 must have been set. Then the current offset value is accepted

in every cycle of the fieldbus task. This parameterization makes sense when writing the
offset by set value generator or curve generator without cyclical mapping of the main set
value, for example.
136.5 Target angle
The parameter is a set value input for the position control (Operating mode -4). It is a po-
sition value in the format 32 Bit angle.
This input is selected using parameter Z136.2– Mode bit 2 = 1.
The default setting for the cycle time for new set values is the fieldbus cycle time
(Z131.18–). The specified angle set value is then interpolated by the cycle time of the cy-
cle time of the set values to the control cycle.
136.6 Angle offset
The parameter only acts as an offset when the input Z136.5– Target angle has been se-
lected.
The offset value is added to the target angle. This is an absolute position value and it is
also set regardless of the number of communication transmissions and always as an ab-
solute offset value for the target angle. This means that if, for example, the same offset
value is set twice through communication the value will not be added twice.
If the offset is not 0, then Z136.5– Target angle and Z136.12– Output angle set value will
deviate from each other by the offset value. When the offset is reset to 0, the output angle
set value will correspond with the target angle.
The format of the parameter is 32 Bit angle. However, in contrast to Parameter Z136.5–
Target angle it has applied leading signs!
Activation of a new offset value:
In default mode (Z136.2– Mode bit 11 = 0) a new set offset operates after writing the
main set value Z136.5– target angle, only. This way the effect of the new offset is syn-
chronized with the cyclically mapped main set value.
If the main set value is not cyclically set and the offset input must operate, then in
Z136.2– Mode the bit 11 must be set. Then the current offset value is accepted in every
cycle of the fieldbus task. This parameterization makes sense when writing the offset by
set value generator or curve generator without cyclical mapping of the main set value.
136.7 Offset speed
The parameter acts as offset speed when the position control mode is active (Operating
mode -4). Regardless of the set value input setting (Z136.3– or Z136.5–) it is always ac-
tive and in format 16 Bit angle.
Its value is added to the interpolated set value as Delta position (= speed) during each
cycle of the set value interface.

Document No.: 5.09022.17 of 978
4.9 Operating Modes
With bit 7 of the Z136.2– mode a multiplication with the gear factor of Z121.13– Input
revolutions and Z121.14– Output revolutions can be activated.
When using the offset speed it must be observed that the input set value and position set
value (Z111.2– Position set value rev SetValMgr and Z111.3– Position set value angle
SetValMgr) must no longer match.
The parameter must be distinguished from the speed additional set value, which has a
direct effect on the speed control input!
This parameter shows the calculated target position after offset addition and is updated
during the cycle of the set value interface.
The displayed value is in format 16 Bit revolution + 16 Bit angle.
This parameter shows the generated output speed set value after offset addition and after
PT1 smoothing.
The displayed value is in format 16 bits increments/revolution per ms.
This parameter shows the generated output set value speed after offset addition and is
updated during the cycle of the set value interface.
The displayed value is in format 16 bits increments/revolution per ms².
136.11 Effective interpolation interval
Parameter to display the effective interpolation interval:

Interpolation interval = Factor * Fieldbus cycle time
The factor can be adjusted in Parameter Z136.2– Mode in bits 12 and 13.
The fieldbus cycle time is adjusted in Parameter Z131.18–.
136.12 Output angle set value
This parameter shows the calculated set value angle after offset addition and is updated
during the cycle of the set value interface.
The displayed value is in format 32 Bit angle.

136.13 Smoothing time position set value
In this parameter the time constant of the PT1 filter for smoothing the transferred position
set value is set in the operating mode "Position control".
The PT1 element is calculated after Parameter Z121.11– Speed limit, i.e. the already in-
terpolated and limited position set value delta is smoothed.
The value 0 indicates no smoothing.
NOTE!
m With the transfer in the "operation enable" state the change of smoothing time is
activated, i.e. not until pulse inhibit and a re-enabling.
m Depending on Parameter Z136.13– the output set value reaches the input set val-
ue delayed, due to the PT1 element. The implemented PT1 algorithm prevents a
constant deviation at a constant input set value. However, another time delay is
provided by the clearing mechanism until the input value is reached. A completed
transient is visible at bit 4 speed set value = 0 of parameter Z136.1– Status.
136.14 Speed set value unlimited
This parameter shows the current speed set value after speed offset addition (Z136.7–)
but before speed limit by parameter Z121.11–.
The displayed value is in format 32 bits increments/revolution per ms.
136.15 Output speed set value 32 bit
This parameter shows the generated output speed set value after offset addition and after
PT1 smoothing.
In contrast to parameter Z136.9– this parameter has a higher resolution of 32 bits incre-
ments/revolution per ms and therefore very low velocities are visible.

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4.9 Operating Modes
4.9.7 Operating mode synchronous operation
The software module synchronous operation moves a slave axis in a synchronous angle
to a master axis. The set value for the slave axis may come from one of the two encoder
inputs (actual master axis). In addition, there is an option to count a virtual master axis in
the drive itself. In this case, speed set values will be specified.
The set value of the master axis serves as the input value for the electronic transmission.
The output value of the transmission is the position set value for the position control.
The following synchronous operation modes (Z145.2– Mode; bit 0 to 3) are differentiated:
m Bit 0-3 = 0000: Actual master axis in relative synchronized angles
The set value for the slave axis is specified in this mode directly through an encoder
input. The axis is located in the position control.
The set value for the slave axis can be calculated alternatively from the set value of the
master axis only at double axis units. Details see Other functions on Zpage 772–.
When enabling the drive in the operating mode synchronous operation or switching to
this operating mode during active operation, the angle will be permanently positioned
between master and slave axis. This means that the master axis and slave axis will
have an angle relation to each other from this point on that is permanent but not de-
fined. The existing angle relation will be lost in the event of a control block, change to
another operating mode, change of transmission factor or a Stop command to the
slave axis.
When the speed synchronization is ON (Mode bit 8 = 1), the angle relation will not be
specified until the synchronization has been established.
The set value of the master axis can be smoothed with the Z18.70– w2-Feedforward
time constant. The differentiated required position (target speed) which yields the value
for the speed feedforward will be smoothed only. The required position for the position
controller remains unaffected thereof.
The acceleration feedforward (w3 acceleration feedfwd. act. value Z18.35–) is calcu-
lated from the smoothed speed set value (Z18.69–, Z18.70–) without the Z18.15–
w2-Feedforward factor as in the other position controlled operating modes. The accel-
eration feedforward can be switched off with Z18.36– and Z18.37– if required. See
block diagram of the position / speed controller when in position control in ZFig. 113–
on page 533.
m Bit 0-3 = 0010: Virtual master axis in relative synchronized angle

The set value for the slave axis is specified in this mode through Parameter Z145.10–
Virtual master speed set value. The axis is located in the position control.
A position set value for the virtual master axis is calculated in the drive from the speed
set value. The drive follows this virtual master axis synchronized.
This mechanism is purposeful when other axis are connected as slave axis. These
slave axes then receive the set value of the virtual master axis as input set value. Sub-
sequently, all other axes then follow the same set value including the axis that calcu-
lates the virtual master axis itself.
The input set value of the virtual master axis can be routed through a ramp generator
(ramp function generator) or have a direct effect. Refer to the related explanations of
bit 12 of the mode.

Electronic transmission
The electronic transmission extends the functionality of the software module synchronous
operation with an adjustable transmission ratio between slave axis and master axis. The
transmission ratio i is specified from 2147483647:1 to 1: 2147483647 as quotient from
two natural numbers and can also be changed in the enabled status ("Online"). The
counter may become negative. The function of a reverse transmission can thereby be im-
plemented.
The transmission factor settings are entered in the parameters Z145.3– Transmission
revolutions Slave axis and Z145.4– Transmission revolutions master axis.
An editing mode can be selected through Z145.2– Mode bit 4. The two transmission fac-
tors can be changed without changing the transmission ratio. The two factors will become
effective simultaneously when the bit 4 (1  0) is deleted.
Speed - synchronous operation

A Speed - synchronous operation can be implemented by switching off the reinforcement
of the position control circuit (Z18.14– Kv Position Control = 0). The speed feedforward
(Z18.15– w2 Feedforward factor = 1.00) must be set to 100% when the calculated slave
axis set value speed is to be transferred to the speed control 1:1. The speed feedforward
can be changed for corrections of the slave axis speed.
The smoothing of the speed feedforward Z18.70– can be used for smoothing the speed
set value of the master axis.
Other functions
m Optional speed synchronization of the slave axis with the master axis is possible when
the synchronous operation is activated. For details, refer to Parameter Z145.2– Mode
bit 8.
m Speed synchronization with Online operating mode changeover (Status Operation En-
abled) from synchronous operation to another position or speed controlled operating
mode. The speed synchronization must be activated for the operating mode.
m Stop command possible through control word bit 8. A speed synchronization with the
master speed may occur after the Stop has been canceled.
m Integrated Ramp generator with profile data in master axis resolution. The setting is en-
tered in Parameters Z145.7– to Z145.9–. A selection between speed profiles Trape-
zoidal or S-Curve is possible. The ramp generator becomes active during speed
synchronization, with a Stop command or with the virtual master axis.
m Virtual master axis without ramp generator (ramp function generator) with optional in-
terpolation of set value cycle to control cycle. This mode is activated in Parameter
Z145.2– Mode bit 12 = 1.
The interpolation cycle setting for the set value speed (Z145.10– Virtual master speed
set value) is entered in Z145.11–. Interpolation does not occur with a value of 1 ms
and the Z145.10– is directly (not interpolated) transferred to the transmission input).
The parameter may also be a multiple of the fieldbus cycle, such as Fieldbus cycle =
2 ms and set value cycle = 6 ms. In the example this means that the control must only
send a newly calculated speed set value to the controller every third fieldbus cycle.
m Monitoring of speed synchronization between master and slave axis.
Z145.1– Status bit 8 displays exiting the Z145.6– Synchronization Velocity window of
the slave axis.
m There are two additional inputs (Z145.15– and Z145.16–) besides the main set value
Z145.10– or the master axis position, if the master axis is virtual or real.

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4.9 Operating Modes
m The master axis position of the real master axis can be shifted with Z145.18– Angle of
master axis offset for the slave axis.
m Check whether encoder of the master axis is switched on at real master axis.
m Selection of the set value source with real master axis
The set value for the synchronous operation can be selected via Z145.2– Mode bit 13
only at double axis units. In addition to the position actual value the set value of the
master axis is possible.
Using of the set value of the master axis:
Depending on the drive state and the active operating mode at the master axis, their
position set value (Z18.58– and Z18.59–, if position controlled operating mode is ac-
tive) or their speed set value total (Z18.21–, if speed controlled operating mode is ac-
tive) or the position actual value of the master axis encoder (when drive is inhibited or
operating mode without active speed controller) is used.
If the master axis operates in a speed controlled operating mode (speed control or
speed setting) and their speed set value is used as master set value, an absolute angle
relation is not more assured.
Notes regarding the operation of an actual master axis in relative synchronized

angle:
m with single axis units and mono units
The following encoder assignment must occur:
– The motor encoder of the slave axis must be connected to encoder input 1.
– The master encoder must be connected to encoder input 2.
– The slave axis (parameter set axis 1) is operated in operating mode "Synchronous
operation" (Z109.1– = -5).
m with double axis units

The following encoder assignment must occur:
– Selection of the master axis, e.g. axis 1  Slave axis is then axis 2
 Position actual value of the motor encoder of axis 1 = Position set value for axis 2
– The operating mode setting for the master axis depends on the application, e.g. "Po-
sition Target Specification" (Z109.1– = 1).
– The operating mode of the slave axis must be set to "Synchronous operation"
(Z109.1– = -5).

Figure 196: Synchronous operation page in ProDrive
Functional block: FbSynchroOperation [145]

Axis-independent
Cyclic Write
DS Support
Read only
Storage
145.1 Status WORD 0 0xFFF 0x0 1:1 X

145.3 Gear slave shaft revolu- DINT -2147483647 2147483647 1 1:1 X
tions
145.4 Gear master shaft revo- DINT 1 2147483647 1 1:1 X
lutions

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4.9 Operating Modes
145.5 Speed limit master shaft UDINT 0 0x7FFFFFFF 0x7FFFFFFF Inc/ 1:1 X
Tab
145.6 Synchronization veloc- UDINT 1 2147483647 10000 Inc/ms 10000:1 X
ity window
145.7 Synchronization accel- UDINT 1 6553600 10000 Inc/ 10000:1 X O
eration ms²
145.8 Synchronization decel- UDINT 1 6553600 10000 Inc/ 10000:1 X O
eration ms²
145.9 Synchronization maxi- UDINT 1 6553600 1000 Inc/ 10000:1 X O
mum jerk ms³
145.10 Virtual master speed set DINT -2147483647 2147483647 0 Inc/ms 10000:1 X
value
145.11 Virt. master set value UINT 1 128 1 ms 1:1 X
cycle time
145.12 Master speed DINT -2147483647 2147483647 0 Inc/ms 10000:1 X
145.13 Master position revolu- UDINT 0 0xFFFFFFFF 0 Inc 1:1
tions
145.14 Master position angle UDINT 0 0xFFFFFFFF 0 Inc 1:1
145.15 Master speed set value DINT -2147483647 2147483647 0 Inc/ms 10000:1 X
additive 1
additive 2
145.18 Master angle offset DINT 0x80000000 0x7FFFFFFF 0x0 Inc 1:1 O
145.1 Status
Bit # Meaning
0 1: Synchronous operation is switched on
3…1 Reserved
4 1: Overspeed detected at the transmission input
5 1: Slave axis stopped
7…6 Reserved
8 0: Speed synchronization on master axis is completed
1: Speed synchronization on master axis is active
9 1: Slave axis is outside of the synchronization velocity window (Z145.6–)
15 … 10 Reserved
Remarks:
m Bit 5 Slave axis stopped

This bit is used when the slave axis was stopped using the Stop command of the con-
trol word (Z108.1– bit 8 = 1). The slave axis was disconnected from the master axis.
If the Stop command of the control word is canceled, the bit will be deleted again.
m Bit 8 Status of the speed synchronization on the master axis

The bit will only be operated when the speed synchronization (Z145.2– bit 8 = 1) is
switched on.
m Bit 9 Monitoring the speed synchronicity

This bit indicates leaving the Z145.6– Synchronization velocity window of the slave ax-
is. Monitoring is activated with completed speed synchronization (Z145.1– bit 8 = 0).
If the speed actual value of the slave axis enters the monitoring window again, bit 9 will
be deleted.
145.2 Mode
The settings in the mode are transferred to the enabled operation status during transfer.
Changes may be made in this status but they will not take effect until blocking and re-en-
able is completed. Bit 4 is the exception!
Bit # Meaning
3…0 Type of synchronous operation:
0000: Actual master axis in relative synchronized angle run
0001: Reserved
0010: Virtual master axis in relative synchronized angle run
Rest is reserved
4 0: Transparent mode: All changes in transmission factors become effective
immediately
1: Editing mode: The transmission factors may be changed. The transmis-
sion ratio remains unchanged at first. The factors are transferred at the
same time that bit 4 (1 0) is deleted.
7…5 Reserved
8 1: Activate speed synchronization on master axis
9 Speed profile of the ramp generator:
0: Trapezoidal profile
1: S-Curve
11 … 10 Reserved
12 Virtual master axis: Handling of the Z145.10– Virtual master speed set value
0: Speed set value is routed through ramp generator of the synchronous
operation
1: Speed set value with optional interpolation and without ramp generator

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4.9 Operating Modes
Bit # Meaning
13 Real master axis: Setting of the set value source
0: The set value for synchronous operation is the actual value of the master
axis encoder
1: The set value for synchronous operation is the set value of the other axis
(possible only at double axis units)
31 … 14 Reserved
Remarks:
m Bit 3 to 0: Synchronous operation
0000: Actual master axis in relative synchronized angle run
The set value for the slave axis is specified in this mode directly through a encoder in-
put. The axis is located in the position control.
When enabling the drive in the operating mode synchronous operation or switching to
this operating mode during active operation, the angle will be permanently positioned
between master and slave axis. This means that the master axis and slave axis will
have an angle relation to each other from this point on that is permanent but not de-
fined. The existing angle relation will be lost in the event of a control block, a different
operating mode or a Stop command to the slave axis.
When the speed synchronization is ON (Mode bit 8 = 1), the angle relation will not be
specified until the synchronization has been established.
0010: Virtual master axis in relative synchronized angle

The set value for the slave axis is specified in this mode through Parameter Z145.10–
Virtual master speed set value. The axis is located in the position control.
A position set value for the virtual master axis is calculated in the drive from the speed
set value. The drive follows this virtual master axis synchronized.
This mechanism is purposeful when other axis are connected as slave axis. These
slave axis then receive the set value of the virtual master axis as input set value. Sub-
sequently, all other axis then follow the same set value including the axis that calcu-
lates the virtual master axis itself.
The input set value of the virtual master axis can be routed through a ramp generator
(ramp function generator) or have a direct effect. Refer to the related explanations of
bit 12 of the mode.
m Bit 8: Activate speed synchronization on master axis

This bit activates the speed synchronization for the speed set value of the master axis
when activating the operating mode synchronous operation or following a Stop com-
mand through the control word (Z108.1– bit 8 = 1)
Procedure of synchronization after activation:
– Automatic activation of the internal ramp generator using Parameters Z145.7– to
Z145.9–.
– The speed set value of the master axis defines the target speed for the ramp gener-
ator.

– The speed actual value of the slave axis, under consideration of the inverse trans-
mission factor, corresponds with the start speed for the ramp generator. This en-
ables the activation of a moved slave axis on the fly.
– Synchronicity is considered to be established when the slave axis enters the
Z145.6– Synchronization velocity window for the first time around the speed set val-
ue of the master axis. From this point, the controller will independently switch from
the internal ramp generator to the set value of the master axis.
– If the master axis changes its speed during synchronization in progress, the target
speed for the ramp generator will be adjusted accordingly.
If the new target speed slows down, braking occurs with a deceleration value Z145.8–
to the new value.
In the case of the S-curve, the current acceleration value must first be reduced through
the jerk value setting Z145.9–, which means the speed will first be increased further.
Procedure with Stop through the control word and subsequent synchronization after
canceling the Stop:
– The Stop command is requested through the Z108.1– Control word bit 8 = 1.
– Automatic activation of the internal ramp generator using Parameters Z145.7– to
Z145.9–. Disconnect the slave axis from the main axis set value.
– The target speed for the ramp generator is set to 0.
– The speed actual value of the slave axis, under consideration of the inverse trans-
mission factor, corresponds with the start speed for the ramp generator.
– The Stop cannot be ended until the speed set value at the output of the ramp gen-
erator has reached 0.
– The stop is canceled by deleting the control word bit 8.
– After canceling the Stop, the target speed of the ramp generator is set to the current
speed set value of the master axis.
– Synchronicity is considered to be established when the slave axis enters the
Z145.6– Synchronization velocity window for the first time around the speed set val-
ue of the master axis. From this point, the controller will independently switch from
the internal ramp generator to the set value of the master axis.
– If the master axis changes its speed during synchronization in progress, the target
speed for the ramp generator will be adjusted accordingly.
If the new target speed slows down, braking occurs with a deceleration value Z145.8–
to the new value.
In the case of the S-curve, the current acceleration value must first be reduced through
the jerk value setting Z145.9–, which means the speed will first be increased further.
NOTE!
With deactivated speed synchronization (bit 8 = 0) the slave axis may not be added
to a moving master axis and a stop may not be ended. Because the master axis set
value is transferred immediately, an undesired fast acceleration may occur depend-
ing on the master speed. This may lead to damage to the mechanism and trigger a
error when position error monitoring is active.

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4.9 Operating Modes
m Bit 9: Speed profile of the ramp generator

This bit is used to set the speed profile for the ramp generator. The ramp generator is
active with the virtual master axis and speed synchronization processes.
m Bit 12: Virtual master axis - Handling the speed set value of the virtual master
axis
If bit 12 is set to 0, the value in Parameter Z145.10– Virtual master speed set value is
routed through the ramp generator of the synchronous operation to the transmission
input. Parameters Z145.7– to Z145.9– apply as profile data. The profile type is set in
the Z145.2– Mode bit 9.
If bit 12 is set, the speed set value is immediately routed to the transmission input with-
out ramp generator. Optionally, an interpolation can also be activated for the speed set
value. When the interpolation is active, the result will be a set value at the transmission
input that is delayed by an interpolation interval of - 1 ms.
The interpolation interval setting is entered in Z145.11– Virt. master set value cycle
time.
m Bit 13: Real master axis: Setting of the set value source
This bit only relevant a double axis units. The set value of the master axis is here avail-
able. The master axis must be at least in a speed controlled operating mode. If this is
not the case, the actual value of the master axis is used as set value. Although at a
single axis unit or a mono unit the actual value of the master axis is used as set value
for synchronous operation.
145.3 Gear slave axis revolutions
Counter in the transmission ratio i of the electronic transmission.

The input of 0 is rejected and the old value remains effective. The control word bit 8 must
be used to stop the slave axis.
145.4 Gear master axis revolutions
Denominator in the transmission ratio i of the electronic transmission.

The transmission ratio of the electronic transmission function is calculated according to
the equation:
revolutions slave shaft

i = ---------------------------------------------------------
revolutions master shaft
The denominator and counter of the transmission ratio consist of whole numbers without
decimal places. The counter may become negative. The function of a reverse transmis-
sion can thereby be implemented.
The table below shows some transmission ratios with associated parameter values:

i Z145.4– Rot. Master axis Z145.3– Rot. Slave axis
0.2 10 2
- 0.78 100 - 78
3.15 100 315
6.54321 100000 654321
0.3333 10000 3333
Example of a changeover of a transmission ratio from 0.8 to 1.15:

– Application of the Transparent Mode (Z145.2– Mode bit 4 = 0):
Rot. Master axis Rot. Slave axis Mode bit 4 Transmission

Ratio i
10 8 0 0,8
10  100 8 0 0.8  0.08
100 8  115 0 0.08  1.15
– or change slave axis revolutions first:

Ratio i
10 8 0 0,8
10 8  115 0 0.8  11.5
10  100 115 0 11.5  1.15
NOTE!
Undesired transmission ratios may occur in the Transparent Mode!
– Application of the Edit Mode (Z145.2– Mode bit 4 = 1):

Ratio i
10 8 0 0.8
10 8 01 0.8

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4.9 Operating Modes

Ratio i
10  100 8 1 0.8
100 8  115 1 0.8
100 115 10 0.08  1.15
 No undesired transmission ratios occur in Edit Mode!
145.5 Speed limit master axis
Display of maximum editable speed (= Position Change) at the transmission input (mas-
ter axis) to prevent overrun at the transmission output (slave axis). The value is calculated
based on the current transmission factors.
If the set value of the master axis exceeds this value, a error will be issued and the sub-
sequent drive will be blocked. Monitoring may occur with an incorrect setting of the trans-
mission factor or a faulty set value of the master axis. Normally, these high speeds cannot
occur.
The maximum possible value (= 2147483647 Inc/Tab) is displayed at the transmission in-
put for |Z145.3– Rot. slave axis| < Z145.4– Rot. master axis.
The sampling time Tab in the unit of Parameter Z145.5– corresponds with the effective
position controller cycle (refer to Z1.8– RT0 cycle time).
Example:
Position controller cycle = 250 µs  Inc/Tab = Inc/250µs
Z145.3– revolution of the slave axis = -55555
Z145.4– revolution of the master axis = 1000
 Z145.5– Speed limit
= (231 -1) * Rot. master axis / |Rot. slave axis|
= 2147483647 * 1000 / 55555
= 38655092 Inc/250µs
 The result converted to a rotative speed:
Speed limit = 38655092 * 4 Inc/ms = 1546220368 Inc/ms
= 1546220368 * 60000 / 232 rpm
2160 rpm
145.6 Synchronization velocity window
This parameter is used to set the monitoring window for the speed synchronicity. The
Synchronization Velocity window is symmetrically arranged around the speed set value
of the master axis.

If the speed actual value of the slave drive is outside of this window under consideration
of the electric transmission, bit 9 "Slave axis outside of synchronization velocity window"
will be set in the Z145.1– status. If the speed actual value of the slave axis enters the
monitoring window again, bit 9 will be deleted again.
Monitoring is not activated until speed synchronization is completed (Z145.1– Status
bit 8 = 0).
145.7 Synchronization acceleration
The maximum acceleration is set in the operating mode synchronous operation. The pa-
rameter determines the permitted acceleration on the master axis ("in front of the trans-
mission"). It is used as soon as the internal ramp generator for the synchronous operation
is activated. This is the case with speed synchronization, a Stop command or the virtual
master axis.
145.8 Synchronization deceleration
The maximum deceleration is set in the operating mode synchronous operation. The pa-
rameter determines the permitted deceleration on the master axis ("in front of the trans-
mission"). It is used as soon as the internal ramp generator for the synchronous operation
is activated. This is the case with speed synchronization, a Stop command or the virtual
master axis.
145.9 Synchronization maximum jerk
This parameter is used to set the maximum jerk (change of acceleration) in the Synchro-
nous operating mode. The parameter determines the maximum permitted jerk value on
the master axis ("in front of the transmission"). It is used as soon as the internal ramp gen-
erator for the synchronous operation is activated. The parameter is only effective when
the S-curve (Z145.2– Mode bit 9 = 1) is set as the speed profile.
Example:
Z145.9– Synchronization max. jerk = 0.1025 Inc/ms³
Z145.7– Synchronization acceleration = 1.3450 Inc/ms²
Time after which the acceleration is reached:
1.3450 Inc/ms²
t = ------------------------------------ = 13.1 ms
0.1025 Inc/ms³

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4.9 Operating Modes
145.10 Virtual master speed set value
This parameter is the set value input for the function "virtual master axis". It specifies the
set value speed on the master axis ("in front of the transmission").
The "virtual master axis" is activated through Parameter Z145.2– Mode bit 0-3 = 0010.
145.11 Virt. master set value cycle time
This parameter is only effective in the function "virtual master axis". Changes in the pa-
rameter only become effective when the controller is blocked.
The interpolation cycle setting for the set value speed (Z145.10– Virtual master speed
set value) is entered here. Bit 12 must also be set in Parameter Z145.2– Mode.
Interpolation does not occur with a value of 1 ms and the Z145.10– is directly (not inter-
polated) transferred to the transmission input).
The parameter may also be a multiple of the fieldbus cycle, such as Fieldbus cycle = 2 ms
and set value cycle = 6 ms. In the example this means that the control must only send a
newly calculated speed set value to the controller every third fieldbus cycle.
145.12 Master speed
This parameter indicates the effective set value speed in front of the transmission.
In the case of the actual master axis, the current speed of the master axis encoder will be
shown. This also applies to a Stop or speed synchronization, although the set value of the
ramp generator affects the transmission input here.
In the case of the virtual master axis, the set value speed at the output of the ramp gen-
erator or interpolated set value speed will be displayed.
145.13 Master position revolutions
The parameter shows the number of revolutions in the position set value of the master
axis ("in front of the transmission").
In the case of the actual master axis, the actual value of the master axis encoder will be
shown. The parameter will only be updated in the "Operation enabled" status.
In the event of the virtual master axis, the value is included through integration of the set
value speed and may be set to a blocked status.
145.14 Master position angle
The parameter shows the angle of the position set value of the master axis ("in front of
the transmission") in 32 Bit resolution.

In the case of the actual master axis, the actual value of the master axis encoder will be
shown. The parameter will only be updated in the "Operation enabled" status.
In the event of the virtual master axis, the value is included through integration of the set
value speed and may be set to a blocked status.
145.15 Master speed set value additive 1
145.16 Master speed set value additive 2
These parameters are two additional set value inputs. The resolution is
10000 * 16 bit increments/revolution per ms.
The sum of both additional speeds (ms) is added to the internally effective master axis
position as a change of position at the function "Real master axis". The displayed master
axis position in Z145.13– and Z145.14– continues to show the original master axis val-
ue.
At the "Virtual master axis" function the values are added to the main set value Z145.10–
prior to the set value interpolation and the ramp function generator.
For the "Virtual master axis with interpolation" mode the main set value must be written,
e.g. as a cyclical set value via the fieldbus. Only if this is done the interpolation will be
started and the total set value from the three input parameters will be used.
It is not necessary to write the main set value for mode "Virtual master axis with ramp gen-
erator". Each cycle calculates the total set value. This value is written to the input of the
ramp generator.
145.18 Master angle offset
The set value of the slave axis can be set in the "Real master axis" mode with this param-
eter. The offset immediately is active.
Set value slave axis = Master axis position + Angle of master axis offset
The offset operates as an absolute position set value. This means, if the same offset val-
ue is set twice, the value is not added twice. The change of the offset is always added. If
the offset is set to zero, the set value of the slave axis corresponds to set value of the
master axis.
The offset is a signed value in a 32 bit angle format. It has the resolution of the master
axis, is previously added to the gear and its sampling rate is 1 ms.
The resulting offset adjustment speed can be limited via Z145.10– Virtual master speed
set value. Therewith the entire offset adjustment can be distributed to several controller
cycles.
The parameter has no function at synchronous operation with a virtual master axis.

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4.9 Operating Modes
4.9.8 Operating mode Notch position search
The operating mode Reference notch position is used to determine the installation posi-
tion (notch angle) of the encoder with synchronous machines.
For Baumüller motors with absolute value encoder and electronic type plate the notch an-
gle is stored in the electronic type plate and therefore does not have to be determined.
For motors with absolute value encoder without electronic type plate the notch angle is
determined once and stored in the EEPROM of the controller.
For motors with relative encoder system the notch angle search must occur after each
commissioning and activation of the motor bearing encoder!
x
DANGER!
A motor that is operated with an incorrect notch position can move uninten-
tional with maximum power!
Dangerous movings can be caused from faulty triggering of connected motors. Caus-
es could be:
n Incorrect or faulty wiring or cabling
n Error at the operation of the components
n Incorrect input of parameters before commissioning
n Error at the sensor or signal encoder
n Defective components
n Error in the software
This error can appear immediately after switch on or after an undefined time period
during operation.
Therefore:
m Activate speed position error monitoring. This monitoring reliably avoids an uncon-
trolled running of the motor.
Three methods are available to determine the notch position (refer to Z127.1–).
A current set value is specified at the methods 0 and 1 by the controller. This set value is
limited to the set value, which was preset in parameter Z127.4–.
m Method 0
The motor must be movable by one pole pair in both directions in order to use this
method. This method is suitable for the dismounted motor, which is free of load.
During this procedure the Current set value is linearly (Z127.5– Rate of current rise)
increased to the Z127.4– Maximum current. The motor engages into a position, which
is shifted by a half pole pitch. The notch position is calculated from the relevant encoder
angle.
The determination of the notch position is made twice. Both results must be checked
for consistency. If both of the notch positions deviate by more than 22.5°, a third pole
position search must be completed. This result must be compared with the result of the
2nd calculation. If the deviation of both notch positions is out of tolerance, the error No.
716 is generated.

m Method 1
The motor must be able to move free of load in any direction with at least twice the val-
ue of Z127.9– Maximum angle. Reducing Z127.9– to values lower than 0.5° does not
result in a pole position search without motion. This is achieved with method 2.
The current set value is linearly (Z127.5– Current rise) increased to the Z127.4– Max-
imum current. The movement of the motor is minimized by adjusting the electric angle
(Z127.10– Angle rising) during this operation. Based on the starting position the me-
chanical movement is monitored via Z127.13–.
The determination of the notch position is made twice. Both results must be checked
for consistency. If both of the notch positions deviate, a third pole position search must
be done.
Reasons for error 716:
– No conformant notch positions after making three procedures of measuring.
– No conformance check, because of less than two successful measurements.
– The mechanical movement during the procedure is greater than the value of
Z127.11– Error limit mechanical angle change.
– Timeout of 2 minutes for pole position search was exceeded.
Method 1 affects the following factors:
– Notch positions of motor.
– Friction.
– Resolution and quality of encoder signals.
– Setting of current controller see ZAutotuning of current controller– from page
245.
– Setting of specific parameters for the operating mode Notch position search.
The default values of these parameters (Z127.5– to Z127.12–) are preset ro-
bust enough for the most drive configurations. Therefore, in general, the default
values must not be changed.
m Method 2
Here the injection procedure is provided.
This method is used for applications, where the motor shall not move or shall only
move a bit. However this method can be not used with all motors, as for example with
ironless motors.
The notch position search takes place in two steps:
n The motor is applied with high-frequency voltage, which also causes a clearly audi-
ble noise. The electrical angle is searched via the tracking controller. The voltages
and frequencies are set via the parameters Z133.3–, Z133.4–, Z133.6– and
Z133.7–.
n In the second step, the notch angle, which was found, is checked if it 180° next to it
or if it is not. The ratio from the 2nd harmonic to the fundamental frequency is
checked for this.
The parameters of the notch position search method 2 (injection method) are addition-
ally used for the sensorless control of the synchronous machines. Therefore, they are
shown in the ZParameter overview sensorless synchronous motor– from page 827
and are described under ZDescription of the sensorless synchronous motor parame-
ters– from page 828.

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4.9 Operating Modes
Error response at notch position search 2
The errors 600-602 can occur at notch position search with injection (method 2). The
causes and the possibilities for troubleshooting are listed in the following table:
Error no. Cause Reaction

600 Plausibility error in step 1. Increase the injected current in step 1:
The results of the notch posi- 1: Via a higher voltage (Z133.3–)
tion search do not agree 2. Via a less frequency (Z133.2–)
Or increase the gain of the compensating controller (Z133.5–).
Please note: better results are yielded at higher frequencies
601 Plausibility error in step 2. Increase the injected current in step 2:

The part of the second har- 1: Via a higher voltage (Z133.7–)
monic is too small. 2. Via a less frequency (Z133.6–)
Or decrease minimum rate of the 2nd Harmonic (Z133.10–)
(Only if it is secured, that the lesser minimum rate is enough.)
602 Overcurrent during notch posi- Decrease the injected current in step 2:
tion search method 2 1: Via a less voltage (Z133.7–)
2. Via a higher frequency (Z133.6–)
4.9.8.1 ProDrive Notch Position Search
Figure 197: ProDrive Find Notch Position

4.9.8.2 Parameter overview Notch Position Search
Axis-independent
Cyclic Write
DS Support
Read only
Storage
127.1 Init.Pos.Detection INT 0 3 0 1:1 X

Method
127.4 Max. current notch posi- FLOAT 0 20000 0 A 1:1 X
tion
127.5 Current rise FLOAT 0.001 1000 1 A/s 1:1 X
127.6 Current drop FLOAT 0.001 1000 5 A/s 1:1 X
127.7 Duration constant cur- FLOAT 0 10 1 s 1:1 X
rent
127.8 Notch position electrical UINT 0 0xFFFF 0 Grad 1:1 X
127.9 Maximum angle UINT 1 0xFFFF 0x005b Inc 1:1 X
127.10 Angle rising UINT 1 0xFFFF 1 Inc/ms 1:1 X
127.11 Error limit mech. delta UINT 1 0xFFFF 0x5B0 Inc 1:1 X
angle
127.12 Averaging zero speed UINT 1 1024 100 1:1 X
detection
127.13 Actual value mech. delta INT -32767 32767 0 Inc 1:1 X
angle
Description of the Notch Position Search Parameter
127.1 Init. Pos. Detection method
Parameter to set the method for the terminal position search:
Value Meaning
0 Method 0: Constant current feed angle and turning axis
1 Method 1: Nearly constant position of motor axis and variable current feed
angle
2 Method 2: Injection procedure
NOTE!
The requirements, which are described in the Danger note on Zpage 785– must be
complied with in order to operate correctly.
At first the drive components must be checked. This includes the wiring, the motor
encoder with its parameterization and the setting of the motor parameters (rotary
field, pole pair numbers …).

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4.9 Operating Modes
127.4 Max. current notch position
The maximum current, which is permitted at notch position search.

The value results from the lower value of:
– Current set value Notch position search (Z19.51–) * Motor rated torque current
(Z19.10–).
– 60 % of the power unit's rated current, if PWM frequency was set Z130.15–).
127.5 Current rise
Current increase in unit A/s for notch position methods 0 and 1
127.6 Current drop
Current drop in unit A/s for notch position methods 0 and 1
127.7 Duration constant current
Here the minimum length of time of the constant current phase at notch position search
method 0 and method 1 is set.
This time remains in the end position at maximum current (Z127.4–). Now Notch position
calculation (Z127.8–) can be initiated.
127.8 Notch position electrical
The notch position electric (or pole position offset, commutation angle offset) is the fixed
angular difference or offset between the pole position referring to the supplying coordi-
nate system and the encoder angle actual value (of the encoder, being responsible for
the motor control).
The parameter is required to calculate the Rho electric Z47.47– (or for synchronous mo-
tors to calculate the pole position actual value or the commutation angle actual value) be-
ing used for the field orientation.
The parameter >127.8< is in electric coordinates. The notch position mechanic (notch
position electric divided by motor pole pair number) is displayed in Z137.4–.
With motors with an electronic type plate automatically during the encoder initialization
the notch position is mechanically read stored in the electronic type plate and on the one
hand is stored in the "Notch position mechanic" parameter Z137.4– and on the other
hand is converted into an electric angle by means of the motor pole pair number
Z107.19– and is entered in the parameter >127.8<.

With motors without an electronic type plate the notch position must be evaluated via the
operation mode "Notch position search". After a successful search the result is entered
in the parameter >127.8<. Then the notch position electric must be stored in the EE-
PROM of the controller (store parameter set).
127.9 Maximum angle
Setting of window for permitted mechanic movement at notch position search method 1.
Now the adjusting of electric angle can be initiated.
65536 Inc correspond to 360 degrees.
127.10 Angle rising
The parameter specifies the change of the angle, by which the electric angle is adjusted
at notch position search method 1.
The value 1 Inc/ms is an electric angle modification of 5.49 degrees/s.
127.11 Error limit mech. delta angle
Window setting for permitted mechanic movement before an error is released.

The parameter is used at notch position search method 1, only.
127.12 Averaging zero speed detection
This parameter is used for the standstill detection at notch position search method 1. The
higher the value is, the lower the measured motor movement may be.
Condition for standstill Z127.12– * Phi / ms < Traversing angle (Z127.9–).
This parameter is used at notch position search method 1, only.
127.13 Actual value mech. delta angle
Display of the measured mechanic movement at notch position search method 1.

65536 Inc of the parameter accord to 360 degrees.

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4.9 Operating Modes
4.9.9 Operating Mode U-f Characteristic
The b maXX 5000 drive controller allows the operation of motors according to U-f speci-
fication. Thereby simple applications can be realized at which the motor must be run at a
set speed. No encoder is needed and several motors can be operated at the same con-
verter. The operation is intended for simple applications with asynchronous motors.
200
180
160
Umax(P166.13)
140
120
Voltage [V]
100
80
60
40
U0(P166.5) 20
0
0 20 40 60 80 100
Frequency [Hz] fUmax(P166.15)
Figure 198: U-f characteristic
With parameter maximum voltage (Z166.13–) and frequency Umax (Z166.12–) the
slope of the straight line can be parameterized. The voltage is kept constant at maximum
voltage (Z166.13–) from the maximum frequency on. Via the zero voltage (Z166.5–) a
voltage can be set at frequency 0 Hz.
The set value of the U/f characteristic (frequency of the characteristic) can be set via a
ramp function generator and "Input reference frequency" Z166.6– (bit 6 of Z166.1– = 0)
or via the general ramp generator and input "Input 32 bit"/"Input 16 bit" (Z110.4–
/Z110.5–) (Bit 6 of Z166.1– = 1). The output of the ramp function generator is converted
to a set frequency using the number of pole pairs Z107.19–. The used ramp function gen-
erator for U/f characteristic can be adjusted by parameters maximum frequency
(Z166.10–) and ramp up time (Z166.7–), also a linear or S-curve profile can be set (bit
5 of Z166.1–). The resulting actual at both ramp function generator is displayed in param-
eter Z166.22–, the resulting actual voltage from the characteristic curve can be read in
parameter "PWM total voltage smoothed" (Z142.7–).

In general there are three different operation modes possible (settable via Z166.1– bit 0):
m U/f characteristic without overcurrent protection
m U/f characteristic with (motor) overcurrent protection
m U/f characteristic with overcurrent protection and an operation with compensating con-
troller for acceleration (see chapter Z 4.9.9.1–).
At operation without overcurrent protection the controller is switched off when reaching
the overcurrent limit (power unit overcurrent monitoring), no other current limitation or pro-
tection is active.
At operation with overcurrent protection (or stalling protection) the ramp is stopped when
reaching the maximum current. Different current limits for motor or generator operation
are available (see chapter Z 4.9.9.1–).
At all operation modes are following additional options are possible.
m Frequency rise or adjustment via slip compensation (bit 4 of Z166.1– = 0) or in case
of connected encoder via an additional speed controller (bit 4 of Z166.1– = 1))
m A support at low frequencies of an apparent current controller, activated by bit 3 of
Z166.1–) (see chapter Z 4.9.9.2–)
Figure 199: Control loop of U-f operation
NOTE!
At operation without overcurrent protection a too high current can be impressed in the
motor.
The controller switches off automatically if the maximum current for the controller is
reached.

Document No.: 5.09022.17 of 978
4.9 Operating Modes
4.9.9.1 Compensating controller for acceleration
In order to reach a dynamic operation via the U-f control, the compensating controller is
the option for the acceleration (bit 0...1 = 2 of Z166.1–). Thereby, different current limits
dependent of the maximum current can be defined for the motoric as well as the regen-
erative operation. If the current exceeds the set limit then the compensating controller is
activated for acceleration. It reduces the acceleration insofar that the maximum current is
always applied and the motor is operated with the highest possible acceleration.
Hereby in the regenerative operation additionally an operation with a voltage controller is
possible so that the converter can be operated without braking resistors. If the DC link
exceeds the set threshold the maximum current is reduced and consequently the torque
as well that brakes the motor.
A block diagram for the control is presented in ZFig. 200–.
Figure 200: Compensating controller for acceleration
If the speed ramp was set too steep at a high load torque, it can happen that the drive
cannot be accelerated furthermore. In this case the frequency can be reduced at a con-
stant frequency (bit 7 of Z166.1–) to enable the drive acceleration.
4.9.9.2 Apparent current control at low frequencies
If a specified torque is required to operate at low frequencies the current control at low
frequencies (bit 3 of Z166.1–) is recommended. An additional voltage (Z166.20–) is ap-
plied at the set frequency threshold (Z166.17–) via a PI controller, so that at least the set
current (Z133.22–) or the current threshold (Z166.3– / Z166.4–) is applied to the motor.
The applied current is set via bit 8 of Z166.1–.

Figure 201: Current control
Functional block: FbUfChart [166]
Axis-independent
Cyclic Write
DS Support
Read only
Storage

166.3 Current threshold motor FLOAT 0 1 1 % 1:100 X
166.4 Current threshold gener- FLOAT 0 1 1 % 1:100 X
ator
166.5 Zero voltage FLOAT 0 100 1 V 1:1 X
166.6 Input reference fre- DINT -1073741824 1073741824 0 % 107374 X X
quency 1824:
100
166.7 Rising time FLOAT 0.01 100000 1 s 1:1 X
166.9 Slip compensation FLOAT 0 1000 0 Hz/A 1:1 X
166.10 Maximum frequency FLOAT 0 1000000 100 Hz 1:1 X
166.11 Time constant current FLOAT 0 100000 0 ms 1:1 X
filter
166.12 Frequency Umax FLOAT 1 1e9 50 Hz 1:1 X
166.13 Maximum voltage FLOAT 0 1000 380 V 1:1 X O
166.14 Kp acceleration control- FLOAT 0 1e9 0.1 Grad/s 1:1 X
ler

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4.9 Operating Modes
166.15 Tn acceleration control- FLOAT 0 1e9 20 ms 1:1 X

ler
166.17 Frequency threshold FLOAT 0 1e9 2 Hz 6.28318 X
53 : 1
166.18 State frequency reduc- UINT 0 0xFFFF 0 1:1 X
tion
166.19 Frequency reduction FLOAT -1e9 1e9 0 Hz 6.28318 X
53 : 1
166.20 Additional voltage FLOAT -1e9 1e9 0 V 1:1 X
166.21 Frequency f0 FLOAT 0 0xFFFFFFFF 0 Hz 6.28318 X
53 : 1
166.22 Reference frequency FLOAT -1e9 1e9 0 Hz 6.28318 X
53 : 1
166.23 Additional frequency FLOAT -1e9 1e9 0 Hz 6.28318 X
53 : 1
166.24 Frequency of ramp gen- FLOAT -1e9 1e9 0 Hz 360:1 X
erator
166.25 Kp speed correction FLOAT 0 1e9 0 1:1 X
controller
166.26 Tn speed correction FLOAT 0 1e9 0 ms 1:1 X
controller
166.27 Time constant slip filter FLOAT 0 100000 100 ms 1:1 X
166.1 Mode
The mode can only be changed if the controller is not enabled.
Bit no. Meaning

1 ... 0 Mode for U-f characteristic
0: Without overcurrent protection (without stalling protection)
1: With overcurrent protection (with stalling protection)
2: With overcurrent protection with compensating controller for acceleration
2 Reserved
3 Current control for low frequencies
0: Inactive
1: Active
4 Frequency increase or adaption:
0: Via slip compensation
1: Via compensating controller (connected encoder required)
5 Profile of the U-f characteristic of the used ramp function generator
(only if Z166.1– bit 6 = 0)
0: S-curve
1: Linear

Bit no. Meaning
6 Set values
0: Via ramp function generator used for U-f-characteristic and Z166.6–
(Input reference frequency)
1: Via general ramp function generator and Z110.4–/Z110.5– (Input 32
bit/36 bit)
7 Frequency reduction (at compensation controller for acceleration):
0: Inactive
1: Active
8 Current set value (at apparent current control only)
0: Current threshold motor/generator (Z166.3– / Z166.4–)
1: Current setting (Z133.22–)
15 ... 9 Reserved
166.2 State
Bit no. Meaning

0 Acceleration
0: negative direction of revolution
1: positive direction of revolution
1 Braking
2 Set value reached
3 Reserved
4 Positive limit of acceleration
5 Negative limit of acceleration
6 Acceleration from speed 0
7 Reserved
8 New reference frequency
9 Direction of acceleration inverted
15 ... 10 Reserved
166.3 Current threshold motor
Maximum total current for motor operation in percent of the Max. drive current Z19.6–.

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4.9 Operating Modes
166.4 Current threshold generator
Maximum total current for generator operation in percent of the Max. drive current Z19.6–
166.5 Zero voltage
DC voltage at an electrical frequency of 0 Hz
166.6 Input reference frequency
Electrical reference frequency in 32-bit resolution

Standardization: 100% = maximum frequency (Z166.10–)
166.7 Rising time
Ramp up time to 1000 rpm electrical
166.9 Slip compensation
Additional frequency depending on the current.

The slip compensation is only active if the speed control is switched off.
166.10 Maximum frequency
Maximum frequency for operation according to U-f characteristic. The reference frequen-
cy (Z166.6–) is standardized to this parameter.
166.11 Time constant current filter
Time constant for the current filter in ms.
166.12 Frequency Umax
Frequency at which the motor supplies the maximum voltage (Z166.13–).

This value can also be calculated from the Ke factor Z107.20– and the pole pair number
p Z107.19–:
U max 100
f Umax = p  ------------  ---------  Hz
Ke 6
166.13 Maximum voltage
Maximum linked voltage on the motor. The voltage should be less than the available DC
link voltage Uzk / 2 .
166.14 Kp acceleration controller
Proportionality factor for the compensating controller of acceleration in 1/s.
166.15 Tn acceleration controller
Reset time for the compensating controller of acceleration in ms.
166.17 Frequency threshold
The motor runs with current control below this frequency and above this frequency it runs
according to U-f characteristic.
166.18 State frequency reduction
Value Meaning
0 Inactive
1 Counter
2 Frequency reduction
3 Increase of frequency with compensating controller for acceleration
4 Voltage reduction
5 Increase of frequency with simple overcurrent protection

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4.9 Operating Modes
166.19 Frequency reduction
Decrease of the frequency in Hz without reduction of the voltage.
166.20 Additional voltage
Additional voltage due to the current control at low frequencies
166.21 Frequency f0
Threshold frequency [Hz] from which the slope of the voltage is linear. Between this fre-
quency and the standstill frequency (0 Hz) the slope of the voltage is quadratic.
166.22 Actual frequency
Actual frequency [Hz] = Additional frequency (Z166.23–)

+ Frequency of ramp generator (Z166.24–)
- Frequency reduction (Z166.19–)
166.23 Additional frequency
Additional frequency [Hz] from the compensating controller
166.24 Frequency of ramp generator
Set frequency [Hz] from the set value or directly from the ramp function generator
166.25 Kp speed correction controller
Reset time for the speed correction controller. Set value is equivalent to the reference fre-
quency (Z166.6–), actual value is equivalent to the velocity of the encoder.
At asynchronous motors a slip occurs between set frequency and actual speed. The set
frequency is increased so that the encoder’s speed is equivalent to the set frequency. The
number of pole pairs is taken into account.

166.26 Tn speed correction controller
Reset time for the speed correction controller.
166.27 Time constant slip filter
Time constant for the slip filter.

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4.9 Operating Modes
4.9.10 Operation mode coupled operation
The coupled operation is activated via the parameter Set operation mode Z109.1– = -12.
In this operation mode and based on the cyclical transferred master axis position the po-
sition set value of the drive is generated by using polynomial curves.
The operation mode has the following options and functions:
m The braking from the current speed to speed = 0 after the operating mode switcho-
ver
m The synchronization of the current position with the position set value from the
curve.
m The changing the sequence of the single polynomial segments.
m The reloading of curves or sub curves during operation
m The gear factor at the curve output
m The superpositioning of the curve movement by an additional movement
m The execution of curves towards the forward as well as the backward direction
m Automatic linear interpolation of the master axis position of Z131.18– fieldbus cycle
to the Z1.10– cycle of the fieldbus task, if Z131.20– division ration fieldbus task
greater than has been set.
m Optional linear extrapolation of the master axis position if a set value fail occurs.
m Real master axis at devices with two encoder inputs can be activated.
m The master as well as the slave travel paths for two selectable curve segments can
be changed during the movement by the function "flexible segments".
The entire set curve is combined with several curve segments. Thereby each curve seg-
ment is defined by a polynomial of the ninth order. ZFig. 202– describes the schematic
diagram. This curve consists of seven curve segments, which are linked up as a linked
list. Therefore, it must be specified which curve segment is to be the following and the
previous one when defining a segment.
Slave
position
Start cam segment
0 1 2 3 4 5 6
Start position
slave
Start position
0 Master position
master
5000_0314_rev02_int.cdr
Figure 202: Set value curve consisting of several curve segments

The specifications of the predecessor and the successor segment can be changed during
operation. This way branchings of the curve can be realized.
The following information is specified when defining a curve segment:
Attribute Description
Curve segment number The unique number of this segment in the curve. 65536
segments can be created at the maximum whereby each
segment may exist once, only.
Type of curve Currently there is one curve type permitted – the polyno-
mial of 9th order. If polynomials of lower order are used the
coefficients that are not required must be set to 0.
Coefficients These are the coefficients which define the polynomial
function.
Traversing – master axis The distance of the master axis for which the curve seg-
ment is defined, e.g. 135°.
Traversing - drive The distance of the drive for which the curve segment is
defined, e.g. 1 revolution and 32°.
Predecessor segment Here is the segment number of the curve segment which
precedes from this curve segment.
Following segment Here is the segment number of the curve segment which
follows this curve segment.
At this point it is important that a single segment isn't bound to a fixed position of the mas-
ter axis or of the drive due to its definition. A certain distance of the master axis and the
drive is defined by a segment. The starting point of a segment is the terminal point of the
prior segment and the terminal point of this segment is the starting point of the following
segment.
To establish a reference to the absolute position of the drive a starting segment must be
defined. This is segment 2 in ZFig. 202–. Additionally the position of the master axis and
of the drive must be specified at the starting point of segment 2. This is done by the pa-
rameters Z122.7– to Z122.11–.
The entire curve is created by ProCam and is transferred as a file to the controller.
The structure of the operation mode coupled operation is described in ZFig. 203–. Basi-
cally the position of the master axis is transferred cyclical to the drive. The positioning set
value is calculated by the drive from the master axis position and the existing segments
of the polynomial curves. Thereby the available options of this operation mode are con-
sidered. A gear factor is evaluated if required and overlaid by an additional movement be-
fore the position set value is transferred to the position controller.

Document No.: 5.09022.17 of 978
4.9 Operating Modes
Options
Additional motion
Polynominal curve
Master Gear
position calculation factor
Polynominal curve
segment
5000_0315_rev01_int.cdr
Figure 203: Structure of operation mode
4.9.10.1 Transmission of master axis position
The current position of the master axis is specified by the parameters Z122.3– and
Z122.4–. Thereby the parameter Z122.3– indicates the revolutions of the master axis
and the parameter Z122.4– the angle. Both parameters can be written cyclical by a PLC.
In the following the mode is referred to as a "virtual" master axis.
The revolution information oft he master axis is ignored by setting bit 4 in the parameter
Z122.2–. Now, only the angular specification of the master axis is important. If the syn-
chronization to the polynomial curve was selected after starting (Z122.2– bit 0), always
the position in the curve is synchronized, which is within the first master axis revolution.
It is possible to reduce the polynomial calculation cycle with regard to the fieldbus cycle.
This is applied by the parameter Z131.20– division ration fieldbus task. The examples as
well as the described limitations must be taken into consideration in Z131.20–.
If the division ratio was set greater than 1 the master axis position is automatically inter-
polated linearly with the last master axis position. A delay of the master axis position of a
Z131.18– fieldbus cycle occurs. The drive position is then calculated more frequently cor-
responding to the value of the division ratio.
Due to the linear interpolation of the master axis the option is recommended at constant
master axis speed applications, only!
In all the other cases shorter fieldbus cycle times and the use of cubic interpolation of the
drive position (Z111.6– interpolation mode = 4) are to be preferred.
By bit 10 of the Z122.2– mode a linear extrapolation of the master axis can be activated.
At a set value fail the master axis position is extrapolated with the last master axis speed.

4.9.10.2 Transmission of the curve data
The polynomial curve segments are transmitted as a file in the *.bmcam format. Such a
file can be created with ProCam.
The curve data file is always filed in the RAM of the controller at transmission. After re-
starting the device the curve data is not available anymore and therefore must be loaded
again.
There are two different modes for the downloading of curve data. Overwriting the present
file or reloading a second file.
Overwriting the curve data
When overwriting the curve data the present curve file is replaced by the new file, which
was loaded. The overwriting of the file is possible only if there is no polynomial curve
which is processed at the present time. The controller denies overwriting of the present
curve file during an active processing. Overwriting at file transmission is selected by the
file option = 0.
Reloading curve data
When reloading the curve data the file which already is on the drive is combined with the
downloaded file and then is activated. To reload curves at the data transmission the file
option is set to 1. There are two options to activate these reloaded files. The user either
activates the combined file via the control word or via the angular overflow of the master
axis. The selection is made by setting or resetting bit 5 in Z122.2–.
Bit 8 is set in Z122.1– and Z108.3– by the drive as soon as a combined curve available.
The drive deletes bit 8 if it was switched over to the combined curve.
The combined curve is not yet operating in the active segment if the switchover is applied
by the control word. The internal interim buffering is updated not until the next segment
change and the combined curve operates. Refer to details in the chapter ZIntermediate
buffering of curve segments– on page 809.
An intentional activation of reloaded files via the control word or the angular master axis
is required at an actively process curve, only. If the coupled operation isn't processed ac-
tively then the existing file is immediately combined with the reloaded file and if the oper-
ation mode is started the next time the combined curve file already will be processed.
If a curve is reloaded but not activated in the active operation the drive combines both of
the curves when inhibiting the drive so that the combined curve is available at the next
enable.
The sequence of the curves is the following:
– One curve is assumed, which exists of two segments with the segment numbers 1
and 2. The user reloads a curve having the segments 1 and 3.
– Segment 1 exists in both curves. The segment from the reloaded curve is taken into
the combined curve.
– Segment 2 exists in the original curve only - therefore it remains in the combined
curve.
– Segment 3 was defined in the reloaded curve only - therefore the combined curve is
extended with segment 3.
The following diagram shows this process:

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4.9 Operating Modes
Original curve Reloaded curve Combined curve

1 1 1
2 2
3 3
Deleting curve data
If bit 6 is set in Z122.2– the curve data is deleted. Since parameter Z122.2– can only be
written if the drive is disabled, the polynomial curve can only be deleted in this state.
4.9.10.3 Changing the chaining sequence
The sequence of the single segments can be changed during operation. Two parameters
(Z122.6– and Z122.41–) are available for this. Based on an example this procedure is
to be explained.
It is assumed that there are five curve segments on the drive controller. Segment 1 is to
be defined as the starting segment. The specified chaining is only processing three seg-
ments currently - these segments are shown in the following table.
Segment number 1 2 3 4 5
Predecessor / suc- 3 2 1 3 2 1 1 5 4 3
cessor
The segments 4 and 5 are not active at the current chaining. These shall be connected
as an alternative path to segment 2.
The parameters Z122.6– and Z122.41– are written to as follows:
P122.6 = 0x00010004 and P122.41 = 0x00050003 (see description of Z122.6– and
Z122.41–)
After initiating the chaining change by bit 5 in the control word Z108.1– the sequence is
as follows:
Segment number 1 4 5 3 2
Predecessor / suc- 3 4 1 5 4 3 5 1 1 3
cessor
The active curve now consists of four segments. Segment 2 was removed from process-
ing and the segments 4 and 5 are now actively processed.

NOTE!
It is necessary that the parameters Z122.6– and Z122.41– always are valid as the
controller always performs both operations (decoupling and coupling) - both param-
eters must have the same value.
If for example only one decoupling has to be performed, than the value of both pa-
rameters must be identical. Then this operation is executed twice but as they are
identical this is not relevant for the application.
Sequence of chaining change
In the following the sequence of chaining change is described. Thereby, the handshake
between the control and the controller has priority.
m The parameters Z122.6– and Z122.41– describe the chaining information.
m The control sets bit 5 in the control word Z108.1– to activate the chaining change.
m Bit 12 is set in the status word Z108.3– by the drive to signalize that the interlinking
changes were effectually applied. The switchover is not yet effective in the active
segment. At the next segment change the interim buffering is updated and the new
interlinking operates. Refer to chapter ZIntermediate buffering of curve segments–
on page 809.
m The PLC resets bit 5 in the control word Z108.1–.
m The drive cancels bit 12 in the status word Z108.3–.
4.9.10.4 Definition of the starting segment
The following parameters of the parameter structure determine the starting point:
Starting segment number UINT16

Starting position Master revolution UINT32
Starting position Master angle UINT32
Starting position Slave revolution UINT32
Starting position Slave angle UINT32
The correct positioning within the chained polynomial curves can be found by specifying
the starting point, as described in chapter Z 4.9.10–.

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4.9 Operating Modes
4.9.10.5 Synchronization
Synchronization to consisting motion
If switching online into the coupled operation while the drive is in motion then the current
speed and acceleration is applied and the drive is decelerated to speed = 0 by an S-curve
profile. For this the parameters to synchronize motion Z122.12– to Z122.15– are used.
This procedure can be switched on and off using bit 9 of parameter mode Z122.2–.
NOTE!
If synchronization is switched off velocity and acceleration jumps can occur!
Synchronization to the polynomial curve
Via the parameter mode (Z122.2–) a synchronization of the curve can be selected with
the current position of the master axis. The controller detects the current position set val-
ue from the polynomial curve by the start curve segment, master axis positioning and
drive positioning. If the momentary angle actual value of the drive doesn't correspond to
the set value from the polynomial curve then the controller is able to independently posi-
tion to the required angular position from the polynomial curve. This positioning operation
limits the maximum speed (Z122.12–), the maximum acceleration (Z122.13– and
Z122.14–) and the maximum jerk (Z122.15–).
The servo controller can be positioned either to the required angle or to the absolute po-
sition including the revolutions which result from the polynomial curve. When positioning
to the total positioning the servo controller catches up on all revolutions that are required
to reach the absolute set position in the curve. The direction of rotation of both positioning
modes can be specified.
If the rotational information for the master axis is ignored then the servo controller finds
its valid master position always within one revolution from the starting point of the starting
polynomial. The synchronization movement doesn't require parts of the polynomial curve,
it's a positioning operation using the settable profile data via the parameters Z122.12– to
Z122.15–.
Activate / deactivate synchronization
If synchronization was selected (Z122.2– bit 0 = 1) the drive checks after the enable of
operation mode coupled operation if the current position of the drive agrees with the set
position from the curve. If this is not the case the drive generates a compensating move-
ment with jerk limitation from the current position up to the set position from the curve.
The curve movement thereby is overlaid by the synchronization movement.
If synchronization is off (Z122.2– bit 0 = 0) the synchronization movement isn't per-
formed. In this case movement is started from the current position of the drive.

Synchronization modes
m Master axis stops during synchronization

By the setting of bit 1 in Z122.2– standstill monitoring is activated. This monitoring
checks if the master axis changes its position during synchronization to the polyno-
mial curve. This is the case if the master axis speed is above the speed threshold
which is determined in Z122.16– "Standstill limit master axis". During an active
monitoring the error 2744 “Master axis moves during synchronization“ is activated.
The user can freely select the error reaction.
m Positioning to the angle

The synchronization movement is executed on the angle if bit 2 in Z122.2– is se-
lected, only. Thereby, the position of the drive is evaluated in the polynomial curve
and for synchronization movement the revolution part of this information is ignored.
Thus, the drive positions to the angle only and doesn’t catch up on the revolutions.
m Specify rotational direction

If bit 3 in Z122.2– is set then a synchronization is executed towards the rotational
direction which was set in Z122.2– bit 7 (1: negative rotational direction; 0: positive
rotational direction). When synchronizing to the angle this isn’t decisive as one rev-
olution at most is executed as a synchronization movement. This option turns into
an issue if it is to be synchronized to the absolute position of the drive. The synchro-
nization can take very long if the rotational direction was selected unfavorably be-
cause the position is specified in 32 bit revolutions and 32 bit angle.
4.9.10.6 Use of the output-sided gear
At the output of the polynomial curve generator a scaling of the mean output values is
possible by means of a gear factor. This factor is specified by two parameters.
Gear factor = P122.42

-------------------
P122.43
The gear factor is either taken over when starting the operation mode or it can be changed
during the active operation.
When starting the parameter values of Z122.42– and Z122.43– are accepted as gear
factors. During the active operation the acceptance must be specifically initiated. This is
made via bit 8 in the control word Z108.1–. The sequence is the following:
1 The user sets the gear factor via Z122.42– and Z122.43–.
2 The user sets bit 8 in Z108.1– with a rising edge.
3 The drive changes the gear factor and accepts this by setting bit 13 in Z108.3– Status
word.
4 As soon as the user resets bit 8 in Z108.1–, the drive resets bit 13 in Z108.3–.
It must be considered that the gear factor causes an extension or reduction of the curve,
only. The synchronization always is performed on the original curve. If the extended or
reduced curve shall be the same reference point as the original curve, then it is important

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4.9 Operating Modes
that the master axis is in the starting point (this is defined in Z122.8– and Z122.9–) at
switchover of the gear factor.
4.9.10.7 Overlaying using an additional movement
The curve can be shifted in the Y-direction by overlaying the polynomial curve with an ad-
ditional movement.
The distance of this overlaid movement can be specified in the parameter Target position
offset (Z122.17–). This parameter is signed including the following information:
1 sign bit 15 bit revolutions 16 bit angle
Therewith, the overlaid movement of 32767 revolutions at maximum and 359.99° in the
positive and negative direction can be defined.
This movement can be initiated only, if the coupled operation is active and the drive sig-
nals that it is processing the curve by setting bit 10 in Z122.2–. The activation works the
following way:
1 The additional movement is defined by the parameters Z122.17– to Z122.21–.
2 The additional movement is activated via bit 6 in Z108.1– "Control word".
3 As soon as the additional movement is running the drive sets bit 2 and resets bit 10 in
Z122.1– Status.
4 After the additional movement was completed the drive resets bit 2 and sets bit 10 in
Z122.1– Status again.
During an ongoing additional movement changes of the profile data (Z122.18– to
Z122.21–) and the target position compensation are not taken into account. The rising
edges in the control word bit 6 are ignored till the additional motion is reported as com-
pleted by the status.
During the processing of the additional movement it is checked if the additional movement
and the polynomial curves exceed the limited positioning difference in the drive per field-
bus cycle. If this is the case the drive will stop operation due to the error 910. The user
must be aware that the speed and acceleration of polynomial curves add up. This has to
be possible in the application.
4.9.10.8 Intermediate buffering of curve segments
To process the curve segments efficiently in the firmware of the drive, from a great
amount of curve segments that belong to an entire curve, seven segments are loaded into
an intermediate buffer which can be accessed fast by the firmware.
Two segments in both master directions can be skipped due to the size of the interim buff-
ering. The skipping of segments can occur at very short segments or at high master axis
speed. The drive travel distances of the skipped segments are considered. There is no
calculation of the curve interpolation points using the coefficient of the skipped segments.
If more than two segments are skipped the controller signalizes the error 2743 "The inter-
im buffering of the polynomial curves is empty".
Due to the buffer handling delay times can occur when changing the segment sequence
and activating reloaded curves.

Slave
position
0 1 2 3 4 5 6 7
Point of Point of
changeover changeover
8 9 10 11 12 13
(1) (2) (3) (4) (5) (6)
0 Master position
Content of temporary memory
Content of temporary memory

5000_0316_rev03.cdr
Figure 204: Switchover of segments
Effects at sequence change
In ZFig. 204– two cases are described. The original curve is shown in black and exists
of the segments 0-7. The user tries to replace the segments 1-6 by means of a sequence
change of the segments 8-13 (red partial curve). In ZFig. 204– two different switching
times are shown for this switching procedure. The content of the intermediate buffer is
indicated by the colored bars below the coordinate system.
This means that the interim buffering contains the segments 5 to 7 and 0 to 3 if the seg-
ment 0 is active when switching over. The reason is that the active segment, the three
previous segments and the three following segments are provided.
At the switchover point the new interlinking is accepted including all of its curve segments.
The interim buffering still remains unchanged. The predecessors and the successors are
updated in the interim buffering after the next segment change.
In the example the active segment 0 is processed during a positive master direction and
then it jumps to segment 1. Then at the change in segment 1 the followers of segment 1
are updated in the interim buffering and an interlinking change comes into effect. As the
interlinking change applies to segment 0 (change of 0  1 to 0  8) and segment 1 now
is active the interlinking change is not made in this passage. Once more the black curve
is passed. At the next passage after segment 0 the branching to segment 8 is made and
the red curve is processed.
In the second case the switchover (red) is already initiated in segment 7.
During this point the segments 4 to 7 and 0 to 2 are in the interim buffering. At the next
segment change the interim buffering with its new interlinking data for segment 0 is load-
ed and segment 0 is activated. Therewith, the switchover to the red curve is made.
So that the switchover to other curve areas (such as branching) can be activated as quick
as possible the switchover must be made two segments before the branching point (in
this case it is segment 1  8).

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4.9 Operating Modes
This requirement applies only if the segment is not skipped before the branching (in this
case 0) was made. This means that the polynomial for the 0 segment must be calculated
at least once for each cycle even at a peak master axis speed.
Effects when reloading curves
Supposed the original curve corresponds to the black curve in ZFig. 204–. The user re-
loads a curve during the process, which is in accordance with the course of the red curve.
In contrast to the interlinking change mentioned above here the drive paths and segment
coefficients from 0 to 8 are changed. The interlinking data (successor, predecessor) re-
main identical and no other segment numbers are added to the interlinked curve.
Therefore, the segment 8 is accordant to the red curve in ZFig. 204– on page 810 after
it was reloaded and combined. The newly combined curve consists of 7 segments,
whereby the segments 1 to 6 were changed due to reloading.
The activating point of the curve is decisive. If the curve is activated in segment 0 then
the segments 5 to 7 and 0 to 3 of the original curves are in the interim buffering. Such as
presented by the interlinking change the active segment 0 is processed, then goes to seg-
ment 1 and during this change the three successors of the segment 1 in the interim buff-
ering are updated. Segment 1 is processed with the previous data before segment 2 of
the combined curve is activated. As the segments smoothly join next to each other the
segment 2 of the combined curved is added to the segment 1 of the original curve. An
offset occurs and therefore the required curve position is not achieved.
If the switching to the combined curve occurs in segment 7, the segments 4 to 7 and 0 to
2 are loaded in the intermediate buffer. Segment 0 follows segment 7. After segment 0
the segment 1 of the combined curve is loaded in the intermediate buffer and is pro-
cessed. In this case the required processing of the curve is achieved.
While reloading the curves the curve segment in which the combined curve is switched
and the following segment in both curves shall be identical in the original as well as in the
combined curve.
4.9.10.9 Real master axis
By the bit 12 of the Z122.2– mode the real master axis can be activated.
Therefore, the device must provide two encoder inputs!
The master axis position of the following axis is coupled to the actual position of the mas-
ter axis encoder at the second encoder input of the device. The parameter Z122.3– mas-
ter axis position revolutions and Z122.4– master axis position angle are carried along in
this mode by the actual value of the master axis encoder.
Options at the real master axis:
m Inverting the master axis position by bit 14 of the Z122.2– mode.
m Smoothing of the master axis position and compensation of the resulting delay by
bit 17 of the Z122.2– mode, details see Z122.26–.
The following applies especially in regard to double axis units:

m Here the master encoder of the following axis is the motor encoder of the master axis.

m In order to inform the following axis about master-axis-sided errors at double axis units
the internal error communication can be activated by Z100.7– error communication
mode.
m Therefore the Z100.7– of the following axis must be set to 2 and the Z100.7– of the
master axis to 3. The following axis then will react the same as the master axis when
master axis errors occur. The master axis is however not influenced by errors of the
following axis.
4.9.10.10Flexible segments
The master and slave distances to be traversed for two selectable curve segments can
be changed by the function "flexible segments".
The curve type, the polynomial coefficients, the predecessor as well as the successor
segment cannot be influenced! Here, the values from the curve file remain applicable for
the accordant segment.
The function is activated by the bit 11 of the Z122.2– Mode. The activation as well as the
deactivation is possible only at a switched off "coupled operation".
If the function is to become invalid during an activated "coupled operation" the parameters
for the selection of the flex. segment numbers Z122.30–- and Z122.35– can be set to a
curve segment that is not used.
Flex. data for two segments can be set:
m Flex. segment 1 from Z122.30– to Z122.34–
m Flex. segment 2 from Z122.35– to Z122.39–
The flex. data must be valid at the latest before changing into the "flex. segment"!
When starting the operation mode "flexible segments" the data of the flexible segments
replace the accordant data from the curve file. This way, the function has an immediate
effect on the starting positions of all segments in the interconnection to the determination
of the active segments by the master axis position and to an optionally following synchro-
nization movement.
4.9.10.11Parameter overview
Functional block: FbCoupledMode [122]

Axis-independent
Cyclic Write
DS Support
Read only
Storage

122.3 Master position revolu- UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
tions
122.4 Master position angle UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X

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4.9 Operating Modes
122.5 Active cam segment UINT 0x0 0xFFFF 0x0 1:1 X

122.6 Sequence change start UDINT 0x0 0xFFFFFFFF 0x0 1:1 X
122.7 Start cam segment UINT 0 0xFFFF 0 1:1 X
122.8 Start position master UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
revolution
angle
122.10 Start position slave rev- UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
olution
122.11 Start position slave UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
angle
122.12 Maximum speed syn- UDINT 1 65535 100 Inc/ms 1:1 X
chronization
122.13 Maximum acceleration UDINT 7 65535 200 Inc/ 100:1 X
synchronization ms2
122.14 Maximum deceleration UDINT 7 65535 200 Inc/ 100:1 X
synchronization ms2
122.15 Maximum jerk synchro- UDINT 7 65535 25 Inc/ 100:1 X
nization ms3
122.16 Master standstill thresh- FLOAT 0 1.000000e+06 10.0 1:1 X
old
122.17 Target position offset DINT 0x80000000 0x7FFFFFFF 0 Inc 1:1 X
122.18 Maximum speed offset UDINT 1 65535 100 Inc/ms 1:1 X
offset ms2
offset ms2
122.21 Maximum jerk offset UDINT 7 65535 25 Inc/ 100:1 X
ms3
122.22 Curve segments RE- 1:1 X X
CORD
122.23 Curve name STRING 1:1 X
122.24 Segment count UDINT 0 0xFFFFFFFF 0 1:1 X
122.25 Master speed DINT 0x80000000 0x7FFFFFFF 0 Inc/ms 1:1 X
122.26 Smoothing time con- FLOAT 0 500 0 ms 1:1 X
stant master position
122.30 Flex. segment no.1 UINT 0 0xFFFF 0xFFFF 1:1 X X
122.31 Flex. master distance UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X X
revolutions 1
angle 1
122.33 Flex. slave distance rev- UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X X
olutions 1
122.34 Flex. slave distance UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X X
angle 1
revolutions 2
angle 2
olutions 2

angle 2
122.41 Sequence change target UDINT 0x0 0xFFFFFFFF 0x0 1:1 O
122.42 Numerator gear factor INT -32768 32767 1 1:1 X X
122.43 Denominator gear factor UINT 1 0x7FFF 1 1:1 X
4.9.10.12Description of the Parameter
122.1 Status
Status of operation mode "Coupled operation" (synchronization, normal operation)
Bit Function
0 Initialization (reducing the speed or searching the active curve segment
from the entire linked curve)
1 Synchronize on the curve
2 Additional movement is in process
3 Total set speed is 0, whereby the following is valid
vSet,total = (vSet,polynomial * gear factor) + vSet,add.movement
with vSet,total: Total set speed

vSet,polynomial: Set speed from the polynomial calculation
vSet,add. movement: Set speed of the additional movement
4 Curve data are available
5 Reserved
6 Maximum total set speed was exceeded and was limited to maximum
7 Reserved
8 Switchover to reloaded curve possible (0->1); switchover was made (1->0),
see also bit 8 in Z108.3– Status word 1
9 Reserved
10 The curve is synchronous (set value reached), see also bit 10 in Z108.3–
Status word 1
11 Reserved
12 The curve sequence was changed, see also bit 12 in Z108.3– Status
word 1
15 … 13 Reserved

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4.9 Operating Modes
Bit Function
16 Display of the master axis direction
0: positive
1: negative
17 1: Master axis position is extrapolated
31 … 18 Reserved
122.2 Mode
Bit Function
0 Automatical synchronization when starting
0: No, the positioning to the starting point is ensured by the PLC
1: Yes, the drive automatically positions to the starting point
1 1: Standstill monitoring of the master axis during synchronization is active
2 Type of synchronization after starting
0: Absolutely to the position
1: Absolutely to the angle
3 Consider the rotational direction during synchronization
0: Ignore rotational direction; positioning is made accordant to the shortest
distance
1: Consider rotational direction
4 Ignore rotational information of the master axis
5 Activation of reloaded curve files
0: Via the control word
1: Via the master axis angle at 0° (=rotational angle)
6 Delete curve data
7 Rotational rotation at synchronization
0: positive
1: negative
8 Reserved
9 Braking after activation for the operating mode switchover
0: No brake
1: Brakes activated
10 1: Extrapolation of the master axis position when set value failure, relevant
at virtual master axis only
11 1: Activation of the function "flexible segments" to change the traversing dis-
tances for selected segments during the curve movement
12 0: Virtual master axis: the master axis position is transmitted cyclically per
fieldbus
1: Real master axis: the master axis position is the actual value of the mas-
ter axis encoder

Bit Function
15 ... 13 Reserved
16 Real master axis:
1: Inversion of the master axis position
17 Real master axis:
1: Smoothing of the master axis position and compensation of the delay,
see Z122.26–
31 ... 18 Reserved
122.3 Master position revolutions
Indication of the current revolution of the master axis in a 32 bit resolution.
122.4 Master position angle
Indication of the current angle of the master axis in a 32 bit resolution per revolution.
122.5 Active cam segment
This parameter can be read cyclically. It defines the curve segment which is currently pro-
cessed.
122.6 Sequence change at first
With this cyclically writable parameter the coupling/decoupling point of the sequence
change is specified. This parameter is used together with Z122.41–.
The parameter is split:
Sequence change >122.6<

16 bit segment responded to 16 bit segment following
The sequence change is indicated here. The change is carried out by a rising edge of bit 5
of Z108.1– "Control word 1".

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4.9 Operating Modes
122.7 Start cam segment
Number of the polynomial which represents the start position of the master axis and the
drive.
122.8 Start position master revolution
Revolution of the master axis at the beginning of the starting segment.
122.9 Start position master angle
Angle oft he master axis at the beginning of the start segment.
122.10 Start position slave revolution
Revolutions of the drive at the beginning of the start segment.
122.11 Start position slave angle
Angle of the drive at the beginning of the start segment.
122.12 Maximum speed synchronization
The parameter value specifies the maximum speed of the overlaid synchronization move-
ment after starting the operation mode by which the drive is synchronized to the set po-
sition from the curve.
The resolution is 16 bit increments/revolution per ms.
122.13 Maximum acceleration synchronization
This parameter specifies the maximum acceleration of the synchronization movement in

Inc/ms2 described in Z122.12–.
The resolution is 16 bit increments/revolution per ms2.

122.14 Maximum deceleration synchronization
This parameter specifies the maximum delay of the synchronization movement in

Inc/ms2 described in Z122.12–
122.15 Maximum jerk synchronization
This parameter specifies the maximum jerk of the synchronization movement of

Z122.12– in Inc /ms3.
122.16 Master standstill threshold
The standstill threshold is specified to monitor if the master axis stands still during the
synchronization phase.
122.17 Target position offset
The parameter specifies the target position for the overlaid compensating movement
during operation. The parameter has the following format:
1 bit 15 bit 16 bit

Sign Revolutions Angle
122.18 Maximum speed offset
The value of this parameter in Inc/ms specifies the maximum speed of the overlaid com-
pensating movement during the active operation, by which the drive overlays the polyno-
mial curve.
The resolution is 16 bit increments/revolution per ms.
122.19 Maximum acceleration offset
The value of this parameter in Inc./ms2 specifies the maximum acceleration of the over-
laid compensating movement during the active operation by which the drive overlays the
polynomial curve.

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4.9 Operating Modes
122.20 Maximum deceleration offset
The value of this parameter in Inc/ms2 specifies the maximum deceleration of the overlaid
compensating movement during the active operation by which the drive overlays the poly-
nomial curve.
122.21 Maximum jerk offset
The parameter value in Inc/ms3 specifies the maximum jerk of the overlaid compensating
movement during the active operation by which the drive overlays the polynomial curve.
122.23 Curve name
The polynomial curve name that was specified in the polynomial curve file is shown here.
122.24 Number of segments
The curve segment count of the curve which is being processed currently.
122.25 Master speed
The parameter shows the current master axis speed in the coupled operation.
It corresponds to the change of the master axis position (Z122.3– master axis positions
revolutions, Z122.4– Master axis position angle) per ms. Its resolution is 32 bit-incre-
ments/revolution per ms.
Speeds of up to an half master revolution per Z1.10– fieldbus task cycle can be dis-
played, only!
122.26 Smoothing time constant master position
Here the time constant for the PT1 element to smooth the master axis position is set.
Smoothing is provided at a real master axis, only and it must be activated by Z122.2–
mode bit 17 = 1.
It is suitable for rotating master axes which are nearly constantly and not for permanent
reversing procedures!

The delay of the smoothed master axis position due to the PT1 is automatically compen-
sated compared to the original position.
After acceleration procedures the compensation causes an increase of the master axis
speed compared with the original master axis speed with the compensation time. The fol-
lowing axis drive must be able to move continuously by an increased speed. It can be re-
duced by lower acceleration values when starting up.
The compensation time is dependent of the size of the time constant (low time constant
 low smoothing effect  quick compensation).
122.30 Flex. segment no.1
Segment number for the first flexible segment where the traversing distances were
changed during movement.
122.31 Flex. master distance revolutions 1
The revolution portion of the changed master axis travel for the segment with the number
from Z122.30–.
122.32 Flex. master distance angle 1
The angular portion of the changed master axis travel for the segment with the number
from Z122.30–.
122.33 Flex. slave distance revolutions 1
The revolution portion of the changed drive system travel for the segment with the number
from Z122.30–.
122.34 Flex. slave distance angle 1
The angular portion of the changed drive system travel for the segment with the number
from Z122.30–.
122.35 Flex. segment no.2
Segment number for the second flexible segment where the traversing distances were
changed during movement.

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4.9 Operating Modes
122.36 Flex. master distance revolutions 2
The revolution portion of the changed master axis travel for the segment with the number
from Z122.35–.
122.37 Flex. master distance angle 2
The angular portion of the changed master axis travel for the segment with the number
from Z122.35–.
122.38 Flex. slave distance revolutions 2
The revolution portion of the changed drive system travel for the segment with the number
from Z122.35–.
122.39 Flex. slave distance angle 2
The angular portion of the changed drive system travel for the segment with the number
from Z122.35–.
122.41 Sequence change at the end
With this parameter which is cyclical writable a coupling / decoupling point of the se-
quence change is specified. This parameter must be considered in combination with
Z122.6–.
The parameter is two-parted:
Sequence change >122.6<

16 bit accessed segment 16 bit following segment
The sequence change is specified here. The change is processed by a rising edge of bit 5
of Z108.1– "Control word".
122.42 Numerator gear factor
Numerator of the gear factor at the output of the polynomial curve generator.

122.43 Denominator gear factor
Denominator of the gear factor at the output of the polynomial curve generator.
4.9.11 Operating mode current control
At the current control operating mode (Z109.1– = -2) either the torque current set value
or a torque set value (as of FW version 1.14 and if Z18.9– bit 5 = 1) can be specified. In
this case the speed controller output has no effects.
The set field current is determined by the field weakening controller or from the flux con-
troller.
The torque current and the field current are controlled in the d-q-current controller.
The torque current set value can be written to the writable parameter "isq set value for
OM current control (Z18.50–) in % (standardization: 100%= Isq max Z19.8–)
The torque set value can be written in the writable parameter "Torque set value for OM
current control" (Z18.78–) in % (standardization: 100% = Mbase Z138.34–).
At the torque current specification (Z18.9– bit 5 = 0) the torque current set value in A is
converted. At the torque specification (Z18.9– bit 5 = 1) the torque set value at first is re-
scaled and then is converted with the current Kt factor (Kt-factor Z107.44– * Kt correction
factor Z138.23–) and the flux set value Z146.13– into a torque current in A. Then, the
result (torque current set value in A) is passed on to the motor manager in RT0 cycle (lsq
set value unlimited Z18.45–).
Furthermore, additional torque current Z19.7– can be added to the lsq set value unlimit-
ed. The result is checked upon limits and is transferred to the current controller (lsq set
value Z47.1–).

Document No.: 5.09022.17 of 978
4.9 Operating Modes
4.9.11.1 ProDrive OM current control
Figure 205: ProDrive OM current control

4.10 Motor Operating Mode
If the motor commutation operates with or without an encoder can be set by the motor
operation mode Z19.52– (at the present moment synchronous motors and the stator
field-oriented asynchronous motors, only).
4.10.1 Sensorless control for synchronous machines
CAUTION!
The motor can make unintentional movements at faulty parameterization, because
there is no encoder available.
The drive controller b maXX 5000 makes the operation of a synchronous machine in the
speed control (operation mode "speed control") without rotary encoder or position encod-
er (sensorless encoder) possible. A position-controlled operation (operating modes posi-
tion control, synchronous operation, positioning), is not implemented at the moment.
The sensorless control procedure accepts the measured currents and the specified volt-
age set values from the current controller. On this basis, it calculates the electrical angle
and the motor speed. This calculation is the basis of the voltage model of the synchro-
nous motor. The motor data must be exactly known for this or must be determined with
the help of the self-optimization, in order to do this.
In the range of low speed or of standstill or if the voltage is too low or even zero, which
was induced in the motor, the voltage model is expanded by the injection procedure or it
is replaced by the controlled procedure. The use of the magnetic anisotropy of the ma-
chine or the difference between the direct axis and of the cross-current axis is the basis
of the injection procedure (Ld and Lq). This is caused by the iron saturation due to the
field of permanent magnets. The orientation of this anisotropy is analyzed with the help
of high-frequent (HF) injection. The HF-voltage signal is injected in the motor, the HF-cur-
rent is filtered, and it is demodulated according to a certain algorithm and is routed to a
specifically tracking controller. It controls the orientation of the d-axis or the electrical an-
gle in such a way, that the estimated d-axis aligns to the physical axis of the permanent
magnet field.
A constant current is set in Id-direction at controlled operation. The rotor adjusts itself to
the load and splits the constant current in a torque current and a reactive current. This
partition is estimated via a special procedure. At the transition to the voltage model this
information is assumed in form of a electric angle shift, so that a jerk-free transition to the
voltage model is possible.
The constant current at controlled operation can be set in Z133.22–. The constant cur-
rent can be increased to maximum current at speed set value unequal 0 via bit 4 of
Z133.1–. The ramp-up time in the ramp function generator must be parameterized so
that the motor can follow the acceleration ramp. In order to improve the transition to the
voltage model, it is recommended to switch off the consideration of the dLi/dt terms (bit 8
of Z133.1–).

Document No.: 5.09022.17 of 978
CAUTION!
If there is a faulty parameterization, it cannot be guaranteed, that the motor reaches
the desired speed!
On principle the dead time compensation should be used at the sensorless control, so
that the non-linearity of the power unit can be compensated, in order to improve the ex-
actness of the voltage model. However the dead time compensation can affect the injec-
tion procedure. This must be tested in each case.
The torque display requires an exact dead time compensation at low speeds in the con-
trolled operation. In order to improve the accuracy of the torque, a fine adjustment of the
dead time compensation can be carried out at speed 0 via bit 9 of parameter Z133.1–.
4.10.1.1 General constraints of sensorless control with the injection procedure
The injection procedure for the sensorless control of the SM can only be operated, if
m the energy transducer possesses an iron-core magnetic with pronounced saturation ef-
fects (it cannot be used on rotating and linearly ironless machines) and
m the magnetic symmetry of the three phases is existent
Because of the constraints, which are listed above, the operation of sensorless control of
the SM, as well as the use of method 2 of notch position search is only then possible, if
the machines have been tested successfully.
Constraints of the sensorless control at very low speed
The operation is also possible at very low speed and at standstill. Because of the higher
torque ripple, however, the motor may run irregularly.
Switch on / Enable at rotating machine
At first there is no speed or position information available, when enabling the drive in the
sensorless operation. At each switching on of the drive the initial rotor position is deter-
mined on the basis of the HF-injection. Additionally there is the option to synchronize to
the moving motor.
4.10.1.2 Commissioning at the sensorless operation of the synchronous machine
1 Selection of the motor from the motor database of ProDrive or the setting of the data
with the help of the motor type plate. The following values are necessary: nominal cur-
rent, nominal speed, pole pair number, EMF-constant. The DC link nominal value also
must be conforming to the actual DC link value.
2 Execute measurement of stator resistance and Lq-inductance of the motor as well as
the dead time of the power unit with the help of the function self-optimization.

3 Calculate the current controller parameters with the measured values for stator resis-
tance and the Lq-inductance.
4 Accept the measured motor parameters and the dead time compensation for the motor
control in the self-optimization.
5 Setting of both compensating controllers (for HF injection and voltage model). A basic
setting can be made with ProDrive.
6 Setting of the smoothing time for the determined actual speed value, proposed value
range between 1 and 5 ms. The greater the inertia of the drive is, the greater the
smoothing time may be selected.
7 Set speed controller (at sensorless operation a torque inertia measurement is not pos-
sible).
8 Store data set.
4.10.1.3 Vibration damping
Vibrations can occur in the controlled operation during low speed. These vibrations can
be damped with an additional speed set value. Here the high-frequency component of the
Iq-I term is filtered and added to the speed set value.
Tfast (P133.58)
Iq-I part (P47.22)
-
Tslow (P133.59) d (P133.55)
nset (P18.21) + nact (P18.22)
Figure 206: Control diagram of the vibration damping
The I-term is guided through a slow filter (Z133.59–) and a fast filter (Z133.58–) and the
difference is then multiplied by a damping factor (Z133.55–). This value is added to the
speed set value.
4.10.1.4 Motor diagnosis
In general the motor diagnosis checks if the notch position search with injection, the set
frequency (Z133.2–), the amplitude (Z133.3–) and the bandwidth (Z133.4–) works and
therefore as well if a motor can be operated sensorless with injection. For this, the highly
frequent voltage is injected in the motor and thereby the electrical angle is slowly in-
creased by discrete steps. Then, the resulting demodulated signal is assigned to the an-
gle in ProDrive (see figure) and can be evaluated. The motor diagnosis is started via the
bit 4 of Z123.1–.

Document No.: 5.09022.17 of 978
Figure 207: ProDrive - Resulting signal of the motor diagnosis
If the resulting signal complies with the sine of about two cycles, then it can be assumed
that the notch position search operates reliable with the injection.
4.10.1.5 Parameter overview sensorless synchronous motor
Axis-independent
Cyclic Write
DS Support
Read only
Storage
133.1 Mode sensorless UINT 0 0xffff 0 1:1 X

133.2 Injection frequency 1 FLOAT 0 4000.0 1000.0 Hz 1:1 X
133.3 Injection amplitude 1 FLOAT 1 400.0 100.0 V 1:1 X
133.4 Bandpass bandwidth FLOAT 1 500.0 50.0 Hz 1:1 X
133.5 Injection Kp FLOAT -1.000000e+10 1.000000e+10 80 1/s 1:1 X
133.9 2nd Harmonic rate FLOAT 0 100.0 0 % 1:1 X
133.10 2nd Harmonic min.rate FLOAT 0 100 5 % 1:1 X
133.11 Carrier current Id FLOAT -1.000000e+10 1.000000e+10 0 A 1:1 X
133.12 Carrier current Iq FLOAT -1.000000e+10 1.000000e+10 0 A 1:1 X

133.15 Injection Tn FLOAT 0.1 1e10 4 ms 1:1 X
133.16 Voltage model Tn FLOAT 0.01 1e5 4 ms 1:1 X
133.17 Current dependent cor- FLOAT -1000 1000 1 1:1 X
rection
133.18 Estimated speed FLOAT -1e10 1e10 0 Grad/s 1:1 X
133.19 Speed threshold FLOAT 5 6000000 1200 Grad/s 1:1 X
133.20 Speed filter FLOAT 0 10000 2 ms 1:1 X
133.22 Current FLOAT 0 100000 0.5 A 1:1 X X
133.25 Time for notch psition FLOAT 0.1 5 3 s 1:1 X
133.28 Minimum speed torque FLOAT 0 10000 60 Grad/s 1:1 X
monitoring
133.30 Deviation voltage model FLOAT -10000 10000 0 1:1
133.31 Deviation injection FLOAT -10000 10000 0 1:1
133.41 Anisotropy FLOAT 0 50000000 0 A 1:1 X
133.51 Saliency ratio FLOAT 0 1 0.1 1:1 X
133.55 Damping factor FLOAT -1e6 1e6 0 1:1 X O
133.58 Time constant fast FLOAT 0 10000 1 ms 1:1 X
damping filter
133.59 Time constant slow FLOAT 0 100 1 s 1:1 X
damping filter
4.10.1.6 Description of the sensorless synchronous motor parameters
133.1 Mode sensorless
Here is set, if the motor shall be operated in the lower speed range with the injection pro-
cedure or if it shall be operated controlled. It also can be set, if, at first, a notch position
moving shall be executed and also if a synchronization shall take place.
Bit Meaning
1 ... 0 0: Injection procedure
1: Controlled with notch position
3: Controlled without notch position
2 1: Synchronize
3 Reserved
4 Constant current in controlled operation
0: Current is constant
1: Maximum current at acceleration
5 Reserved
6 1: No dead time compensation during notch position search
7 Reserved

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Bit Meaning
8 1: Switch off of the dLi/dt terms
9 Fine adjustment of the dead time compensation
15 ... 10 Reserved
133.2 Injection frequency 1
This parameter can set the frequency of the HF-voltage, which was injected in the motor
in step 1.
133.3 Injection amplitude 1
This parameter can set the amplitude of the HF-voltage, which was injected in the motor
in step 1.
133.4 Bandpass bandwidth
With this parameter the bandwidth of the filter can be set, which is used for the detection
of the HF-components of the motor current Id and Iq.
133.5 Injection Kp
With this parameter the proportional gain Kp and the reset time Tn of the PI-compensat-
ing controller, which belongs to the injection procedure, is set.
133.6 Injection frequency 2
With this parameter the voltage frequency is set, which, in the course of the pole position
determination is injected in the motor in step 2, in order to enable a 180°-indeterminate
status. This frequency has the following values only: 62.5 Hz, 125 Hz, 250 Hz, 500 Hz.
133.7 Injection amplitude 2
This parameter can set the amplitude of the HF-voltage, which was injected in the motor
in step 2.

133.9 2nd Harmonic rate
The percental content of the 2nd harmonic I2 of the injected HF-current referring to the
fundamental wave I1 in the 2nd step (minimum saturation level).
133.10 2nd Harmonic min. rate
The permitted percental content min of the 2nd harmonic I2 of the injected HF-current re-
ferring to the fundamental wave I1 in the 2nd step (minimum saturation level).
133.11 Carrier current Id
Filtered HF-current Id
133.12 Carrier current Iq
Filtered HF-current Iq
133.15 Injection Tn
Sets the reset time of the compensating controller at the injection (in ms).
133.16 Voltage model Tn
Sets the reset time of the compensating controller at the voltage model (in ms).
133.17 Current dependent correction
The factor that multiplies the current-dependent angle correction. If all parameters are
correct, then 1, otherwise adjust these at constant load, so that the deviation of the injec-
tion (Z133.31–) is 0 on average.
133.18 Estimated speed
Displays the estimated speed in degree/s.

Document No.: 5.09022.17 of 978
133.19 Speed threshold
Specifies the speed, when to change from the injection model or the controlled operation
into the voltage model (in degree/s).
133.20 Speed filter
Sets the time constant of the speed filter (in ms).
133.22 Current
Constant current settings for the controlled operation. This current shout not exceed the
nominal current of the motor and should be sufficient for the load moment, otherwise a
commutation error of the motor can occur.
133.25 Time for notch position
This parameter determines the time for notch position search 2 in ms.
133.28 Minimum speed torque monitoring
The torque is displayed in the controlled operation from this speed set value onwards and
the torque is monitored. In order to increase the torque accuracy a fine adjustment of the
dead time compensation can be made via bit 9 of parameter Z133.1–.
133.30 Deviation voltage model
Deviation of the angle speed because of the voltage model.
133.31 Deviation injection
Deviation of the angle speed because of the injection model.

133.41 Anisotropy
Display of the demodulated signal after the motor diagnosis via the electrical angle. The
increment accords to 360 degrees/256 values = 1.40625 degrees.
133.51 Saliency ratio
This parameter is necessary to set the commutation controller and it displays the ratio be-
tween Lq and Ld:
Saliency Ratio = -----------------------

Lq – Ld -
Lq
If the motor parameters are not known, the commutation controller can be set in the first
step with the default value 0.1.
133.55 Damping factor
Damping gain. The high-frequency component of the Iq-I term is multiplied by this factor
and is used as an additional speed set value.
133.58 Time constant fast damping filter
Fast time constant by which the Iq-I term is filtered.

The high-frequency component of the vibration damping is determined here.
133.59 Time constant slow damping filter
Slow time constant by which the Iq-I term is filtered.

The constant component is filtered with this.

Document No.: 5.09022.17 of 978
4.10.2 Sensorless control for asynchronous motors (open loop)
4.10.2.1 Sensorless control, at stator flux oriented
The drive controller b maXX 5000 permits an operation of an asynchronous motor in

speed control without a rotary encoder (open loop control). However, a position controlled
operation (operating modes position control, synchronous operation, positioning, etc.) or
a pure torque control is not possible.
The open loop control operation is based upon calculating the speed of an asynchronous
motor from its model. For this purpose, the motor data (as e. g. inductance and resis-
tance) must be exactly known. The motor commutation operates stator-field oriented here
in contrast to the operation of an asynchronous motor with an encoder whereby the elec-
trical variables of the motor is oriented towards the rotor field.
The motor voltages are not measured, but the voltage set values, which were calculated
from the motor control, are used instead. The dead time compensation must also be ac-
tivated, so that the nonlinearity of the power unit can be compensated.
The reliability of open loop operation at low frequencies below 2 Hz is compromised by
the accuracy of motor model parameters and compensation of power unit nonlinearity.
Therefore, for applications requiring persistent operation in this region, it is recommended
to use the closed loop control with an encoder.
m Motoring operation at very low speeds (output frequency below 2 Hz) should be avoid-
ed.
m Generating operation at very low speeds (output frequency below motor rated slip)
should be avoided.
m Change of speed direction without load is possible.
m Generating operation until standstill is possible.
m A longer lasting generator-based operation (1-2 s) at very low speeds is not possible.
m The persistent operation at zero frequency is not possible.
m Operation with motors connected parallel is not possible.
Contrary to the rotor flux oriented control, the d- and q-currents are not completely sepa-
rated in field current and torque generating components at the stator flux oriented control.
That means the d-current component does not represent the field current and the q-cur-
rent component is part of the field generation.
The sensorless method can not replace a sensor, this is particularly valid for the qualifi-
cation of motors in test facilities. It is recommended to mount a encoder for qualification
in case a motor is not equipped with a sensor.
Performance Frequency operation limits:

specifications m Minimum output operation frequency motoring mode fmin_m = 2.0 Hz
m Minimum output operation frequency regenerating mode fmin_r = motor rated slip
m Maximum output operation frequency fmax = 150 Hz

Performance of closed-loop speed control:
m Control range = 1:100
m Static accuracy = 30% of the maximum value between actual motor slip and motor
rated slip
m Maximum speed regulation bandwidth = 15 Hz
The value of motor rated slip is stored in parameter "Slip frequency warm" when using
Baumüller motors.
Motor parameters Type plate

needed for com- m Nominal power Z107.6–
missioning
m Nominal voltage Z107.8–
m Nominal current Z107.9–
m Nominal speed Z107.7–
m Nominal frequency Z107.13–
m Power factor Z107.12– (this parameter is for information only, with this parameter the
magnetizing current of motors from other manufacturers can be calculated).
Additional data
m No. of pole pairs Z107.19–
m Resistance (Z107.29–, Z107.31– or Z123.6–) and
leakage inductance(Z107.30–, Z107.32– or Z123.7–)
m Magnetizing current Z107.14–
m Slip frequency warm Z107.16–
m Main inductance Z107.33–; (Main inductance, Lh-Ident Z123.38– with controller FW
< FW 1.16)
Baumüller motors
All parameter values are available in the motor data bank (ProDrive).
Motors from other manufacturers

ProDrive provides a calculation tool (see ZProDrive tool motor type plate (asynchronous
motors)– from page 132) with the possibility to calculate or estimate additional data au-
tomatically from the data given at the type plate, e.g. No. of pole pairs (Z107.19–), Slip
frequency warm (Z107.16–), magnetizing current (Z107.14–) and main inductance
(Z107.33–, or. Z123.38–). The calculation tool estimates also a value for the motor iner-
tia (Z107.36–), this value can be user for parameterizing the speed controller.
It is recommended after using the calculation tool to check and change the calculated val-
ues if certain values are known.
If the motor resistance and leakage inductance is not known, the values can be measured
by the autotuning tool (see ZAutotuning of current controller– from page 245).

Document No.: 5.09022.17 of 978
Nominal value of the main inductance

This value is used by the sensorless method. This value can be either from the motor data
(main inductance Z107.33–) or the Lh value from the Lh characteristic corresponding
with the magnetizing current of the main inductance Z123.38–.
If the value of the main inductance should be taken from motor data (Z107.33–), the bit
1 of parameter "Parameters takeover" (Z123.10–) must be set to 1.
f the value of the main inductance should be taken from Lh characteristic (Z123.38–), the
bit 1 of parameter "Parameters takeover" (Z123.10–) must be set to 0.
NOTE!
Only a part of the Lh characteristic are used with ASM sensorless. Only the value of
the main inductance at the nominal point is used (Z123.38–) and only if the bit 1 of
parameter "Parameters takeover" (Z123.10–) must be set to 0.
Dead time com- The estimation of the flux angle and the speed depends on the parameters of the motor
pensation model and on the exact determination of the motor voltages. The estimation is based on
the PWM signals and the measured DC link voltages. The dead time compensation must
be activated and it is recommended to measure the "Table dead time correction"
(Z123.15–).
Speed monitoring Following messages and thresholds belonging to the encoder monitoring are also valid
for the sensorless operation of the asynchronous motors:
m Speed=0 message Z6.2–
m Standstill limit Z6.1–
m Positive overspeed limit Z6.5–
m Negative overspeed limit Z6.6–
Minimum speed/ The operation at extremely low output frequencies or speeds cannot be ensured perma-
locking nently.
If the absolute value of the speed set value is lower than the minimum speed threshold
Z161.1– for at least the delay time Z161.2–, the speed estimation is stopped and set to
0. The flux set value is set to 1.5 x nominal flux.
The standard value of the minimum speed threshold Z161.1– is 30 min-1. It is not neces-
sary to adapt this threshold for other nominal speeds. If a manual adaption is requested,
a value of 2 % of the nominal speed is recommended.
If the absolute value of the speed set value is higher than the minimum speed threshold
Z161.1–, the locking is stopped, the speed estimation, the field weakening controller and
the flux controller are activated and the locking time counter is reseted.
Start: After the field is generated, the operation starts in locked state.

NOTE!
The speed actual value and the braking time of brake operations should be checked
because the minimum speed locking is activated vie the speed set value. It must be
avoided, that the locking starts at a significant actual value, this can cause a too high
DC link voltage. In locking state the DC link voltage control is not active. The device
can generate error 2008 DC link overvoltage. It is recommended to use for braking a
ramp that allows the estimated speed actual value to follow the set value.
Modus and From FW 01.16 there is a modus word (Z162.12–) and a state word (Z162.13–) avail-
state parameter able.
For compatibility reasons new functions can be activated via modus word Z162.12–, bit
0. This functions are not active in standard setting, e.g. SFOC breakdown torque limit
Z162.10– and field weakening characteristic.
The state word Z162.13– displays the state of the sensorless operation.
Details, The torque current is enabled after the field is generated while starting. For the field gen-
special cases eration a set Isd ramp from zero to 2 x magnetizing current (Z107.14–) is fed forward.
Precondition is: the limit of the field current amplitude is not exceeded.
The settable limit of the magnetizing current (Z145.12–) is not evaluated with SAM
SFOC, the parameter is automatically set to the max. drive current (Z19.6–) of the drive
and cannot be changed. The field current is limited to the minimum value of 95 % "Max.
drive current" (Z19.6–) and "External limit max. field current amplitude" (Z138.10–).
This method uses own stator flux controller, field weakening controller and breakdown
torque limiter (additional to the breakdown torque limiting Z138.17–), which are internally
automatic parametrized and optimized.
The field weakening controller is set via "Voltage limit" Z162.5– and "Voltage threshold
field weakening ASM SFOC" Z162.6–. The setting of the field current via parameter
Z19.9– is not allowed, i. e. the field weakening mode Z142.1– bit 2 is irrelevant for ASM
sensorless SFOC. The field weakening can be monitored by parameters "Max. total PWM
voltage actual value" Z142.6–, "Motor total voltage smoothed" Z6.38– and also "Voltage
limit field weakening ASM SFOC" Z162.14–.
From FW 1.16 the field weakening controller supports a field weakening characteristic.
But the field weakening characteristic is only active in compatibility mode Z162.12– bit 1.
The field weakening characteristic can be set via "Field weakening mode" Z142.1– bit 0.
From FW 1.16 the breakdown torque limit Z138.18– is always activated for sensorless
operation of a asynchronous machines (i. e. for asynchronous motor always active, with
or without encoder, Z138.1– bit 2 = 1). The breakdown torque controller cannot be acti-
vated (Z138.1– bit 4 = 0). Additionally the adaption for breakdown torque limitation is also
always active (Z138.1– bit 5 = 1).
From above mentioned characteristic of the stator field orientation (d and q current com-
ponent is interacting) follows that the ratio between torque and slip frequency and be-
tween slip frequency and q current is not linearly dependent, and there is a maximum
torque dependent on flux and leakage inductance as characteristic of SFOC (for more in-
formation refer to technical literature).
Although this maximum torque is suitable in normal operation, it is monitored in "Isq limit

Document No.: 5.09022.17 of 978
breakdown torque ASM SFOC" Z162.10– to provide control stability. For compatibility
reasons the limit Z162.10– is only active when the mode bit Z162.12– bit 0 is set to 1.The
parameter Z162.10– is only available in ProDrive parameter list.
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Figure 208: Breakdown torque limitation, field weakening and flux control ASM SFOC, from FW 1.16
The optimization of field weakening and flux controller of the sensorless method is auto-
matically updated when reading the electronic type plate or
changing following parameters: Nominal frequency Z107.13–, magnetizing current
Z107.14–, leakage inductance (Z107.30–, Z107.32– or Z123.7–), main inductance
(Z107.33– or Z123.38–);
additionally the parameters of field weakening and flux controller are adapted to the active
PWM frequency while normal operation.
NOTE!
The exception of the automatic optimization of field weakening and flux controller is
the operation with mode bit Z162.12– bit 0 = 0 (default value) from FW version 1.16.
In this mode the field weakening and flux controller use the settings in the parameter
set only.
This mode is for compatibility of parameter sets generated with FW version lower
than 1.16 (for details please contact the central application department of Baumüller).

Hints to achieve 1 PWM switching frequencies recommended: 2 kHz and 4 kHz.
best possible per- 2 Activate updated version from FW 1.16, set compatibility mode Z162.12– bit 0 to 1.
formance
3 Set motor parameters for commissioning (e.g. from motor data base or motor type
plate)
4 The measurement of the dead time voltages of the power unit must be done via auto-
tuning of the current controller.
Next step compensation activation: Dead time compensation factor Z47.50–  0 %.
For example = 100% (For measurement of the dead time voltages the resistance and
inductance of the motor is measured, this values can be activated for motor control,
see Z123.10– bit 3)
5 Auto-tuning of the current controller via ProDrive.
6 Ks cannot be measured without sensor. The scaling factor Ks must be set manually,
either directly in parameter Z18.40– or with help of ProDrive via estimation of the load
inertia Z107.68–.
7 It is recommended to set the PT1 cut-off frequency at least Z19.12– = 160 Hz for
smoothing og the q set value. The frequency can be decreased if the set Isq value is
too noisy. The smoothing and parameter Z19.12– is evaluated for tuning of the speed
controller by ProDrive.
8 Auto-tuning of the speed controller via ProDrive (select "weak" or "medium" controller
settings).
9 Set a suitable ramp-down at the ramp-function-generator. It is necessary that the ac-
tual speed can follow the set value to avoid the activation of the minimum speed locking
at significant acutal speed.
Setting details Following parameters of sensorless motor asynchronous page are displayed by ProDrive
(on demand) in service level only:
m After enabling the controller the field current follows a ramp for flux built-up. Parameter
Magnetization time Z160.1– sets the ramp time.
m If necessary, parameter Z47.50– can be reduced in small steps of 1 % in the range
between 100 % and 90 % to reduce the speed ripple and improve the ramp-up perfor-
mance.
m Parameter Z163.1– flux estimator gain can be increased from 250 to 750 in order to
improve the run at lower speed and increase the ramp-up performance.
m Parameter Z161.1– minimum speed threshold sensorless can be decreased if a sen-
sorless operation at speed below the set threshold is required or if ramp-up with no
overshooting is necessary. The reliability and the replicability of the ramp-up can be
worsened.
m Parameter Z161.2– minimum speed locking delay can be reduced in order to lock the
flux estimation and to avoid the loss of motor control at standstill. In case the drive can-
not follow the braking ramp e.g. because of current limitation, this parameter can be
increased, to enable speed control to standstill. k
m The catch on fly function is described in chapter ZCatch on Fly– from page 839.

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NOTE!
The sensorless control of the asynchronous motors introduced here, oriented to-
wards the stator flux (SFOC) is a special case compared with the rotor flux oriented
control (RFOC). Additionally for this procedure internally own field weakening control-
ler, flux controller, coordinate transformation angles and EMC feedforward were im-
plemented, which are not available to the user. Furthermore the following parameters
have no meaning:
m Rho electrical Z47.47– (not used, always 0)
m Limitation of magnetizing current Z146.12– (not used, no effect)
m Actual flux current Z146.15– (not used, always 0)
m Ke factor Z107.20– for information only)
4.10.2.2 Catch on Fly
Catch on Fly for openloop asynchronous motors allows to engage the motor to an already
rotating shaft respectively load.
Features
m Maximum frequency: double nominal frequency

m Minimum frequency: is limited by load inertia and actual remaining flux
m High DC link voltage (> 560 V) and a low stator resistance can lead to wrong detection
of motor operation conditions
Adjustment aid
m For a successful catch on fly of the motor, the exact knowledge of the motor parame-
ters is inevitable, especially dead time compensation as well as rotor and stator resis-
tance. Make sure, that all steps described in chapter ZSensorless control, at stator flux
oriented– from page 833 have been completed during commissioning.
m If a DC link overvoltage error occurs during catch operation, parameterize Z167.3–
Catch demagnetization time
m If a overcurrent error occurs during catch operation, parameterize Z167.3– Catch de-
magnetization time
m During catch operation, the actual speed value Z18.22– settles to the actual rotor
speed. Overshoots of over 30% might occur. Take this into account to parameterize
the overspeed limits.
Required parameters
m Catch enable Z167.1–

4.10.2.3 Parameter overview sensorless asynchronous motor
Functional block: FbMagn [160]

Functional block: FbSzl [161]
Functional block: FbFluxEstimatorOL [163]
Functional block: FbCatchOL [167]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
160.1 Magnetization time UDINT 0 5000 200 ms 1:1 X

161.1 Minimum speed thresh- UDINT 0 1800 180 Grad/ 1:1 X X
old s
161.2 Minimum speed locking UDINT 0 10000 1000 ms 1:1 X X
delay
162.5 Voltage reserve UDINT 0 10 2 % 1:1 x x
162.6 Voltage threshold field UDINT 10 1000 400 V 1:1 x x
weakening ASM SFOC
162.10 Isq-limit breakdown tor- FLOAT 0.00 1e9 0.00 A 1:1 x
que ASM SFOC
162.12 Modus ASM SFOC UINT 0 0xFFFF 0 1:1 x x
sensorless
162.13 Status ASM SFOC sen- UINT 0 0xFFFF 0 1:1 x x
sorless
162.14 Voltage threshold field FLOAT 0.00 1000.00 0.00 V 1:1 x x
weakening controller
ASM SFOC
163.1 Flux estimator gain FLOAT 50.00 1000.00 250.00 1:1 X X
167.1 Catch enable UDINT 0 1 0 1:1 X

167.2 Catch flux estimator FLOAT 1.0 1000.00 25.00 1:1 X
gain
167.3 Catch demagnetization UINT 0 4000 0 ms 1:1 X
time
4.10.2.4 Description of the sensorless asynchronous motor parameters
160.1 Magnetization time
Ramp on field current during magnetization. Actual magnetization time depends on how
the actual flux rises in the motor.

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161.1 Minimum speed threshold
Speed reference below which speed estimation is suspended after locking delay
Z161.2– (locking to zero speed).
161.2 Minimum speed locking delay
Time which must elapse before speed estimation is suspended when speed is below the
threshold Z161.1– (locking to zero speed).
162.5 Voltage reserve ASM SFOC
Voltage reserve in % of the field weakening controller of the sensorless ASM SFOC. This
parameter represents a percentage of the "Max. actual PWM total voltage" (Z142.6–).
The final voltage limit of the field weakening is displayed in Z162.14–.
162.6 Voltage threshold field weakening ASM SFOC
Setting of the voltage threshold, above that the field weakening controller of the sensor-
less ASM SFOC can be activated.
The final threshold to activate the field weakening controller depends also from other pa-
rameters (Z162.14– and Z142.6– and is displayed in parameter Z162.14–.
The parameter unit is [V], RMS phase-to-phase voltage.
162.10 Isq limit breakdown torque ASM SFOC
The limit of the breakdown torque is characteristic for the stator field oriented sensorless
method of asynchronous motors. See ZSensorless control, at stator flux oriented– from
page 833.

162.12 Modus ASM SFOC sensorless
This parameter sets the sensorless operation of asynchronous motors SFOC.
Bit -No. Meaning

0 Compatibility mode
0: Mode according FW version lower than V1.16
(compatibility with FW lower than 1.16)
1: Extended functions FW V1.16 and higher,
e. g.: more robust method, see ZSensorless control for asynchronous
motors (open loop)– from page 833.
16 ... 1 Reserved
Note:
The modus Z162.12–, bit 0 = 0 is only available for compatibility reasons with parameter
sets created in FW versions lower than 1.16. The field weakening and flux control of sen-
sorless methods evaluate only the settings in the parameter set, the gains and delay
times of this controllers are not automatically adapted in case of motor parameter chang-
es e.g. rated speed (for details contact the application department of Baumüller).
162.13 Status ASM SFOC sensorless
General state of the sensorless asynchronous machine SFOC.
Bit -No. Value Meaning

2 ... 0 0 Off
1 Field generation: Magnetizing active
2 Locked: Flux approximation off; speed controller off; n-act=0
3 On: Controller with approximated flux and speed active
4 Catch: Synchronization active
16 ... 3 Reserved
162.14 Voltage limit field weakening controller ASM SFOC
Final voltage limit for the activation of the field weakening controller of the sensorless
ASM SFOC. This limit is calculated from the min. value between "Voltage threshold field
weakening ASM SFOC" (Z162.6–) and the product of (1 - "Voltage reserve" (Z162.5–)
/ 100) and "Max. PWM total voltage actual value" (Z142.6–):
The parameter’s unit is [V], phase-to-phase value RMS.

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163.1 Flux estimator gain
Gain of motor model flux estimator. Higher values favor smooth low speed operation. Low
values give better performance at higher speeds.
167.1 Catch enable
The Catch on Fly is active for the next pulse enable, if this parameter is set to 1.
167.2 Catch flux estimator gain
Proportional gain of the motor model flux estimator while catch operation is active.
167.3 Catch demagnetization time
For motors with a high rotor time constant, this parameter can be used to force a delay
between pulse disable and subsequent pulse enable. While the catch operation is active,
there might occur a short term regenerative operation of the motor due not known rotor
position. If the delay between pulse disable and pulse enable is short compared to the
rotor time constant and the rotor speed is high, the maximum DC link voltage might be
exceeded if a AMRU is not present. In this case parameter Z167.3– needs to be in-
creased respectively, to allow the flux to decay before a subsequent pulse enable. As a
reference value the double or triple rotor time constant Z19.32– can be used.

4.11 Diagnosis
4.11.1 Diagnosis
NOTE!
Active mains rectifier unit and axis units use this function block in a different scale.
The respective differences are specified in the description of the parameter.
4.11.1.1 Speed-zero-message
The speed-zero-message or standstill message (Z6.2–) is set if the absolute value of the
speed actual value is for a settable filter time (Z6.15–) below the standstill threshold
(Z6.1–).
The message is updated in a 1 ms cycle.
Example:
Speed actual value
Standstill threshold
<P6.1>
0
20 ms 20 ms
t
Standstill threshold
<P6.1>
Speed-zero-message
filter time = 0 ms
Speed-zero-message t
filter time = 20 ms
The filter time prevents a speed-zero-message if the speed actual value is below the
standstill threshold for a short period.
The speed-zero-message is also used for internal state transitions e. g. at the end of a
drive manager triggered braking or if referencing to a limit stop.

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4.11 Diagnosis
4.11.1.2 Parameter overview diagnosis
Axis-independent
Cyclic Write
DS Support
Read only
Storage
6.1 Standstill threshold FLOAT 0.0 1.000000e+06 10.0 Grad/s 1:1 X

6.2 Standstill status INT 0 1 0 1:1 X
6.3 Actual torque direction UINT 0 1 0 1:1 X
6.4 Torque relating to nomi- INT -1000 1000 0 % 1:1 X
nal torque
6.5 Positive overspeed limit FLOAT 0.0 1.000000e+06 0 Grad/s 1:1 X
6.6 Negative overspeed FLOAT -1.000000e+06 0.0 0 Grad/s 1:1 X
limit
6.7 Max. pos. speed error FLOAT 0.0 1.000000e+06 0 Grad/s 1:1 X
value
6.8 Max. neg. speed error FLOAT -1.000000e+06 0.0 0 Grad/s 1:1 X
value
6.11 Speed error value FLOAT 0.0 100 2.0 ms 1:1 X
response time
6.12 Speed actual value > FLOAT 0 1.000000e+06 18000 Grad/s 1:1 X O
Speed ON threshold
Speed OFF threshold
6.14 Velocity window per- UINT 0 65535 0 % 100:1 X O
centage
6.15 Filter time speed-zero- UDINT 0 1000000 0 ms 1:1 X
message
6.20 Blockade Speed Limit FLOAT 0 1000000 10 Grad/s 1:1 X
6.21 Blockade Time Limit 1 FLOAT 0 1000000 0.5 s 1:1 X
6.22 Blockade Time Limit 2 FLOAT 0 1000000 5 s 1:1 X
6.25 Power unit peak current FLOAT 0.0 1000 9.0 A 1:1 X
6.26 Power unit nominal cur- FLOAT 0.0 1000 4,5 A 1:1 X
rent
6.27 Power Unit Ixt actual FLOAT 0.0 1000 0.0 % 1:1 X
value
6.28 Motor I2t actual value FLOAT 0 1000 0.00 % 1:1 X
6.29 Motor I2t threshold FLOAT 0 1000 100 % 1:1 X
6.30 Motor total current FLOAT 0 10000 0 A 1:1 X
smoothed
6.32 Motor real power FLOAT -1000000 1000000 0 kW 1:0.001 X
smoothed
6.38 Motor total voltage FLOAT 0 1000 0 V 1:1 X
smoothed
6.39 Motor I2t warning FLOAT 0 1000 0 % 1:1 X
threshold

6.42 Smoothing time electr. FLOAT 0 1000 1.25 ms 1:1 X
motor power display
6.43 Motor I2t monitoring UINT 0 0xFFFF 0 1:1 X
mode
6.46 Motor I2t derating fac- FLOAT 10 100 100 % 1:1 X
tors
175.1 Mode PU temperature UINT 0x0 0xFFFF 0x0 1:1 X

model
175.2 Status PU temperature UINT 0 0xFFFF 0 1:1 X
model
175.15 Power unit thermal load FLOAT 0 1000 0 % 1:1 X
4.11.1.3 Description of the diagnosis parameter
6.1 Standstill threshold
This parameter does not exist at the active mains rectifier unit.
Speed threshold for speed-zero-message.
6.2 Standstill status
Value Meaning
0 Drive moves (standstill limit or speed 0 has not been reached)
1 Drive stands still (standstill limit or speed 0 is reached)
Refer to ZSpeed-zero-message– on page 844.
6.3 Actual torque direction
This parameter has a different meaning at the axis units and at the active mains rectifier
unit. Meaning at axis units:
The torque direction of the axis is shown in this parameter.
Value Meaning at axis units

0 Torque direction positive
1 Torque direction negative

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4.11 Diagnosis
Meaning at active mains rectifier unit:

This parameter specifies the power direction of the active mains rectifier unit.
Value Meaning at active mains rectifier unit

0 Feedback of power to mains
1 Power consumption from mains
The display is refreshed every 2 ms
6.4 Torque relating to nominal torque
Torque in percent of rated torque.
The value corresponds with the ratio of torque current to nominal torque current and is a
16 bit value (with leading signs, no decimal places).
The parameter value corresponds to the following equational format:
P47.5 Iq
P6.4 = ----------------  100% = ----------------------------------------  100%
P19.10 2 2
I nom – I d_nom
The display is refreshed every 2 ms
6.5 Positive overspeed limit
When the drive exceeds this positive maximum speed limit, the drive is immediately de-
energized by error message 203 "Positive overspeed limit exceeded".
The clock of the overspeed monitoring is 1 ms.
6.6 Negative overspeed limit
When the drive exceeds this negative maximum speed limit, the drive is immediately de-
energized by error message 204 "Negative overspeed limit exceeded".

6.7 Max. pos. speed error value
Speed error value limit.
The maximum permitted positive difference between set value and actual speed is set
here for each axis. Exceeding this limit through the response time set in Parameter
Z6.11– will lead to error message 201 "Exceeded limit pos. speed error value".
The clock of the monitoring of the speed error value is 1 ms.
The parameters Z6.7– Max. pos. speed difference, Z6.8– Max. neg. speed difference
and Z6.14– Velocity window percentage are used to generate the "Nact = Nset" message.
For details see the description of Z18.20– Speed controller status.
6.8 Max. neg. speed error value
The maximum permitted negative difference between set value and actual speed is set
here for each axis. Exceeding this limit through the response time set in Parameter
Z6.11– will lead to error message 202 "Exceeded limit neg. speed error value".
The parameters Z6.8– Max. neg. speed difference, Z6.7– Max. pos. speed difference
and Z6.14– Velocity window percentage are used to generate the "Nact = Nset" message.
For details see the description of Z18.20– Speed controller status.
6.11 Speed error value response time
The maximum time is specified here in ms for each axis in which the set limit values of
the speed error value (Parameter Z6.7–, Z6.8–) may be exceeded before a drive error
will be triggered.
The default value of the monitoring accords to the fourfold of the speed controller - cycle
time (RT0 cycle time).
6.12 Speed actual value > Speed ON threshold
The ON threshold of the free adaptable speed threshold with hysteresis is set here. If the
absolute value of the Z18.22– Speed actual value exceeds this threshold (Z6.12–), bit 8
in Z18.20– Speed controller status is set. The bit will be canceled again if the value falls
below the OFF threshold (Z6.13–).

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4.11 Diagnosis
6.13 Speed actual value > Speed OFF threshold
The OFF threshold of the free adaptable speed threshold with hysteresis is set here. If
the absolute value of the Z18.22– Speed actual value is fallen below this threshold
(Z6.12–), bit 8 in Z18.20– Speed controller status is canceled. The bit will be set again
if the value exceeds the ON threshold (Z6.13–).
6.14 Velocity window percentage
The percentage parameter relates to the current speed set value total (Z18.21–). It is
used for generation of the "Nact = Nset" message in Speed controller status (Z18.20–
bit 12).
Condition for "Nact = Nset" :
Z18.23– e2 Speed error  Z18.21– w2 speed set value total *
Z6.14– Velocity window percentage
In addition to Z6.14– both absolute limits (Z6.7– and Z6.8–) are used for generation of
"Nact = Nset"! For details see the description of Z18.20– Speed controller status.
At 0% the parameter Z6.14– Velocity window percentage is not used for generation of
"Nact = Nset" message.
6.15 Filter time speed-zero-message
Filter time of the speed-zero-message.

6.20 Blockade speed limit
Standstill threshold for blockage monitoring.
The blockage monitoring detects a block when the speed control is at the current limit and
the drive at the same time at standstill (|Nist| < Blockade Speed Limit).
The threshold for the actual speed under which the drive is assumed to be blocked can
be set under this parameter.
This speed threshold must be adapted depending on the motor or encoder system (es-
pecially at resolver). The threshold must be higher than the variation of the speed actual
value in standstill.
An adjustable hysteresis (Z138.28–) is used for the condition speed controller at current
limit. In particular at motors with resolver and at little speed set value it can be necessary

to adapt this hysteresis because the speed controller is possibly not permanently at the
current limit.
The clock of the blockage monitoring is 2 ms.
6.21 Blockade time limit 1
Warning threshold for the time of blockage monitoring.
If the conditions for blocking have been met, a warning (Code No. 209) will be triggered
upon expiration of the set blockade time limit 1 and bit No. 4 is set in parameter Z18.20–
If the conditions for blocking are no longer met, the warning 209 will be canceled by the
controller and bit No. 4 is reset in parameter Z18.20–.
6.22 Blockade time limit 2
Error threshold for the time of blockage monitoring.
If the conditions for blocking have been met, the error (Code No. 210) will be triggered
upon expiration of the set blockade time limit 2 and bit No. 4 is set in parameter Z18.20–.
After a error reset bit No. 4 is reset in parameter Z18.20–.
Blockage monitoring will be deactivated when this parameter is set to 0. The deactivation
of the is available with controller firmware V01.15.05 and newer only in service mode (see
parameter Z139.1–)
6.25 Power unit peak current
The meaning of this parameter is identical at the axis units and at the active mains rectifier
unit.
This parameter serves as a display of the peak current (Z129.16– to Z129.19–), if the Ixt
model for the PU overload monitoring is used or Z129.85– to Z129.88–, if the tempera-
ture model is used instead. See PU temperature model state (Z175.2– Bit 0) depending
on the PWM frequency Z130.15–.
6.26 Power unit nominal current
unit.
This parameter is used to display the nominal current of the power unit (Z129.12–,
Z129.13–, Z129.14– or Z129.15–) depending on the PWM frequency Z130.15–.

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4.11 Diagnosis
6.27 Power unit Ixt actual value
unit.
This parameter displays the current Ixt value of PU overload monitoring. The current will
be limited to the power unit nominal current with a value of 100%.
At nominal load devices (peak current = nominal current) the current is limited to nominal
current. Additional monitoring and limitation is not required.
The Ixt-actual value is not calculated at nominal load devices and there is no current re-
duction.
This parameter is important if the PU overload monitoring is not executed via the tem-
perature model (see "Status PU temperature model' Z175.2–, only.
6.28 Motor I2t actual value
The output of the I2t model (PT1 element) to monitor the overload monitoring of the motor.
Exceeding of Z6.29– will trigger Error 205 "I2t Overload".
Also see ZOverload monitoring of the motor (I2t)– from page 904. to the functionality of
the l2t motor.
Standardization: 100%  Maximum thermal load of the motor
6.29 Motor I2t threshold
This parameter does not exist for the active mains rectifier unit.
I2t warning limit at motor overload
See also ZOverload monitoring of the motor (I2t)– from page 904
6.30 Motor total current smoothed
The meaning of this parameter is comparable at the axis units and at the active mains
rectifier unit. At the active mains rectifier the effective value of the mains current is shown
and at the axis unit the effective value of the motor current is shown.
Total current actual value in 2 ms cycle calculated from filtered d and q current.
(Filter time constant 1.25 ms)

6.32 Motor real power smoothed
This parameter does not exist in active mains inverter.
From the motor-voltages and currents calculated and smoothed instantaneous value of
the electrical effective power in kW. The calculation of the real power is based on a sym-
metrical three-phase system.
 e real = 1000  3   u sd  i sd + u sq  i sq  in kW
whereat the following internal sizes are determined in the controller:

isd, isq Motor currents in dq-coordinates (in A, actual values).
usd, usq Calculated motor voltages in dq-coordinates (in V, phase voltage
actual values).
The parameter >6.32< accords to the smoothed value of pe real.

Filter time constant: adjustable in parameter Z6.42–.
NOTE!
m The usd-, usq-voltages are calculated of the DC link voltage, the PWM signals and
the estimated value of the dead time. Therefore 100 % of the dead time voltage is
considered, independent of the dead time compensation factor Z47.50–, i. e. in-
dependent if the dead time compensation is activated in motor controlling.
m The accuracy of the power displayed is not only dependent on current and voltage
measurement uncertainty (measurement of three-phase currents and DC link volt-
age) but also on the measurement accuracy of the motor voltages (particularly on
the estimation of the dead time voltage). Therefore it is recommended to carry out
the dead time measuring (see chapter ZAutotuning of current controller– from
page 245). Typically the uncertainty of the power displayed is at +/- 2% of the nom-
inal power of the device.
m The BM5XXX isn't a measuring device and may not replace a power measuring
device. The value shown in the parameter >6.32< is just a benchmark.
m If the power indication >6.32< is evaluated and PWM frequency changes are
made during operation, the adaption of the dead time compensation must be acti-
vated after the PWM frequency (see Z123.1– bit 3) independent of the dead time
compensation being active in the motor control or not (see Z47.50–).
6.34 Motor reactive power smoothed

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4.11 Diagnosis
From the motor-voltages and currents calculated and smoothed instantaneous value of
the electrical reactive power in kvar. The calculation of the reactive power is based on a
symmetrical three-phase system.
 e imag = 1000  3   u sq  i sd + u sd  i sq  in kvar
whereat the following internal sizes are determined in the controller:

isd, isq Motor currents in dq-coordinates (in A, actual values).
usd, usq Calculated motor voltages in dq-coordinates (in V, phase voltage
actual values).
The parameter >6.34< accords to the smoothed value of pe imag.

Filter time constant: adjustable in parameter Z6.42–.
NOTE!
Refer to the NOTE of parameter Z6.32–.
6.36 Motor apparent power smoothed
From the real power and reactive power calculated and smoothed instantaneous value of
the electrical apparent power in kVA. The calculation of the apparent power is based on
a symmetrical three-phase system.
2 2
 e imag = 1000  3  p e,real + p e,imag in kVA
See also Z6.32– and Z6.34–.
NOTE!
Refer to the NOTE of parameter Z6.32–.

6.38 Motor total voltage smoothed
Calculated total voltage smoothed at motor.

For the calculation the dead time voltages are compensated with 100%, independent of
the value of the dead time compensation factor Z47.50–, i.e. it doesn't matter if the dead
time compensation in the motor is active or not.
The parameter is smoothed with the time constant 1,25 ms.
6.39 Motor I2t warning threshold
This parameter does not exist for the active mains rectifier unit.
Settable warning threshold for the motor I2t monitoring (see Z6.28– Motor I2t actual val-
ue).
If the motor I2t actual value Z6.28– exceeds the warning threshold, the warning 219
"Warning threshold motor I2t exceeded" is generated. With a fixed hysteresis of 10% be-
low the warning threshold the warning is withdrawn again.
If the value for the warning threshold is 0, there is no warning.
See also ZOverload monitoring of the motor (I2t)– from page 904.
6.42 Smoothing time electr. motor power display
Smoothing time constant for the motor power display Z6.32–., Z6.34–, Z6.36–.
6.43 Motor I2t monitoring mode
The accordant implementation to calculate the l2t value of the motor must be selected.
Generally, the parameter is assigned to zero (speed-dependent monitoring is deactivated
and the monitoring of the total current is activated). See ZOverload monitoring of the mo-
tor (I2t)– from page 904.

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4.11 Diagnosis
Bit Meaning
2 ... 0 Value Speed dependent modes
0 Deactivated
1 Continuous current limit by means of supporting points and inter-
polation 1)
2 Continuous current limit by means of approximation of iron
losses 1)
3 Derating identification of machines having no separately ventila-
tion 1)
4 to 8 Reserved
3 Current monitoring type: 2)
0: Total current
1: Single phases
15 ....4 Reserved
1)
These methods require valid motor data. The parameter >6.43< does not accept the entered value if there
is no valid motor data.
2)
Combinable with all motor l2t modes
6.46 Motor I2t derating factors
Includes the derating factors in the elements 6.46[0] and 6.46[1] in percent relating to the
rated current to interpolate the current limit curve for standard asynchronous machines
without forced ventilation. Thereby, the element in 6.46 [0] defines the maximum contin-
uous current in the standstill operating point and 6.46 [1] defines the operating point at
the half rated speed.
By default, both derating factors have a value of 100% which accords to the speed-inde-
pendent standardized solution of the l2t monitoring (refer to ZTemperature monitoring of
the motor– from page 902). The minimum value corresponds to 10%.

175.1 Mode PU temperature model
Bit no. Meaning

0 PWM reduction mode
0: not enabled
1: enabled
1 From firmware version 01.10:
Selection of the PU overload monitoring model at availability of the tem-
perature model and the Ixt model:
0: Ixt model is activated
1: Temperature model is activated
15 ... 2 Reserved
Bit 0:
From controller version V01.09 onwards and important only for devices, which support
the overload monitoring model PU temperature model (see Status PU temperature model
Z175.2–).
If the PWM reduction is released the PWM frequency is halved, if the temperature moni-
toring of the power semiconductors exceed a certain threshold.
The setting of the PWM reduction mode has no effects on the active mains rectifier unit.
Bit 1:
Only of importance if both models of the overload monitoring are existent (availability tem-
perature model: Z175.2– bit 1 = 1, availability lxt model Z175.2– bit 2 = 1) and if it isn't a
continuous current device (whereat peak and rated current of the device are the same,
BM57xx).
Selection:
0: The lxt model is activated
1: The temperature model is activated
If the device supports both models the lxt model will be active in general (>175.1<
bit 1 = 0).
A change of the overload monitoring model (setting in the parameter list) is valid after the
device was switched on and off again.
NOTE!
Before the PWM reduction can be released the user must assure the following:
m The drive must operate correctly with the reduced switching frequency (e.g. mea-
suring data of the motor, control quality at reduced current controller bandwidth
a.s.o. must be checked).
m The drive components must tolerate the reduced switching frequency (e.g. check
motor filter, if it is existing). This is very important, if the PWM frequency is reduced
to 2 kHz.

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4.11 Diagnosis
175.2 Status PU temperature model
In this parameter the user can read out information regarding the status of the overload
monitoring of the device.
Bit Meaning
0 Display of the active PU overload monitoring model
0: Ixt model active
1: Temperature model active
1 From controller version V1.10:
Availability of the temperature model
(complete data set of the temperature model)
0: not available
1: available
2 From controller version V1.10:
Availability of the lxt model:
0: Ixt model may not be activated. The device may be operated with the
temperature model only.
1: Ixt model may be activated. (only of importance if the data sets of the
temperature model are available >175.2< bit 1 = 1)
3 Reserved
4 Current limit because of PU-I2t sub-model
0: not active
1: active
5 Current limit because of power electronic sub-model
0: not active
1: active
6 Reserved
8, 7 Reduction level of the PWM frequency
0,0 Level 1
0,1 Level 2
1,0 Level 3
Refer to table below.
15 ... 9 Reserved
Bits 4 and 5: Important, if the PU temperature model is activated >175.2< bit 0 = 1, only.
Bits 7 and 8:
Reduced PWM frequency

PWM frequency 2 kHz 4 kHz 8 kHz 16 kHz
Z130.15–
Level 1 - 2 kHz 4 kHz 8 kHz

175.15 Power unit thermal load
This parameter displays the instantaneous thermal load of the device (ThL actual value),
which is evaluated from the PU overload monitoring via the temperature model.
The current is limited at 105% to the PU max. actual value of continuous current Z175.7–.
If PU overload monitoring via the temperature model is not active, this parameter isn't im-
portant (see status PU temperature model Z175.2–).
This parameter is identical at the axis as well as at the active mains rectifier unit.
175.18 Time delay of PWM frequency reduction
Time delay before the PWM reduction caused by overload monitoring of the power unit
temperature model is reseted.

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4.11 Diagnosis
4.11.2 Oscilloscope function
NOTE!
The oscilloscope function is available in the same functional scale at the axis units
and at the active mains rectifier unit.
The b maXX controllers offers an integrated oscilloscope function for quick and easy
commissioning.
Range of oscilloscope function:
Number of channels: 8
Sampling time: 2n * 125 µs (n = 0....65535)
Recording: triggered or not triggered
Triggering: m through internal status changes,
m Size change or
m external digital or analog inputs
Number of Triggers: 1
Trigger time in relation to Recording after-running period parameterizable
memory depth: (which means recording with or without prior
history related to the trigger event)
Trigger sources: m Digital signals (selection of relevant bits
through bit masks is possible) e. g.:
n Status change
n Error or warning events
n external digital inputs
m analog signals
n Target or actual values
n Analog inputs
Functional block: FbRsp [101]

Axis-independent
Cyclic Write
DS Support
Read only
Storage
101.1 Status INT 0 5 0 1:1 X X

101.2 Command INT 0 7 0 1:1 X X
101.3 Channel 0 source UDINT 0 4294967295 0 ID 1:1 X
parameter Id

parameter Id
parameter Id
parameter Id
parameter Id
parameter Id
parameter Id
101.10. Channel 7 source UDINT 0 4294967295 0 ID 1:1 X
parameter Id
101.11 Trigger source parame- UDINT 0 4294967295 0 ID 1:1 X X
ter Id
101.12 Trigger mode UDINT 0 0x00000077 0 1:1 X X
101.13 Trigger axis mask UINT 0x1 0x3 0x1 1:1 X X
101.14 Trigger condition UDINT 0 0x0000003F 0 1:1 X X
101.15 Trigger compare value FLOAT -5.000000e+9 5.000000e+9 0.000000e+00 1:1 X X
101.16 Trigger compare mask UDINT 0 0xFFFFFFFF 0 1:1 X X
101.17 Trigger cause UINT 0 1999 0 1:1 X X
101.18 Sample time FLOAT 0.0000625 100 0.001 s 1:1 X X
101.19 After-Run time FLOAT 3.000000e-01 3.000000e+06 1.000000e+00 s 1:1 X X
101.20 Recording time FLOAT 1.000000e+01 3.000000e+06 1.000000e+01 s 1:1 X X
101.21 Buffer size UDINT 10000 504000 10000 DW 1:1 X X
101.22 Measure time FLOAT 0 10000 0 µs 1:1 X X
101.23 Scope buffer FLOAT -1.000000e+37 1.000000e+37 0.000000e+00 1:1 X X
101.24 Task number UINT 1 2 2 1:1 X X
101.1 Status
Value Meaning
0 Recording stopped
1 Recording in progress
current status:
Waiting for trigger event

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4.11 Diagnosis
Value Meaning
2 No significance
3 Trigger has occurred
Recording still in progress
Ring buffer in after-running period
4 Ring buffer can be read out
101.2 Command
Value Meaning
0 Recording Stop
1 Recording Start
2 Activate trigger
3 Reset, deletes error, redistributes memory
If it is not possible to start the recording, the available memory is insufficient.

If the ring buffer is in Status 4 (Waiting for Read Out), the recording can also be restarted
without read-out.
NOTE!
Before a trigger event bit is accepted, the trigger ID and trigger axis mask must be
entered! In addition, the trigger ID for all axis indicated in the trigger axis mask must
be entered in the channels for the corresponding axis.
101.3 Channel 0 source parameter Id
Specification of the parameter ID of the signal to be recorded.

Only parameters with scalar data types can be recorded (no array elements, no structure
elements).
Only real-time capable parameters can be recorded for which the access function does
not exceed a specific minimum time. The controller checks the ID and reports a corre-
sponding error message to the operating system if the parameters are not real-time ca-
pable.

See Z101.3–
See Z101.3–
See Z101.3–
See Z101.3–
See Z101.3–
See Z101.3–
See Z101.3–
101.11 Trigger source parameter Id
Parameter ID for trigger events that are freely programmable:

The value of RSP Trigger Source Pxxx (axis indicated through trigger axis mask, refer to
Z101.13–) is compared with the trigger comparison value (Z101.15–) and a trigger is ac-
tivated when the trigger condition (Z101.14–) is met.

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4.11 Diagnosis
101.12 Trigger mode
Setting the corresponding bit will trigger the ring buffer for the associated event.
NOTE!
Trigger data changes must always be made in Status 0 (Recording Stop) only.
Bit # Value Trigger event

0 0x0001 Reserved
1 0x0002 Reserved
2 0x0004 Freely programmable trigger event
3 0x0008 Reserved
4 0x0010 Trigger on positive edge
5 0x0020 Trigger on negative edge
15 ... 6 Reserved
101.13 Trigger axis mask
Axis mask for Trigger Source Pxxx.
Bit # Trigger event

0 Axis 0
1 Axis 1
15 ... 2 Reserved
101.14 Trigger condition
Trigger condition
Value Trigger condition

0 No condition
1 Value greater than comparison value
2 Value equal to comparison value
3 Reserved
4 Value less than comparison value

101.15 Trigger compare value
The value of RSP Trigger Source Pxxx (axis indicated through trigger axis mask is com-
pared with the trigger compare value (101.15) and a trigger is activated when the trigger
condition (101.14) is met.
101.16 Trigger compare mask
The value of RSP Trigger Source Pxxx is "rounded" with the compare mask and a trigger
is activated when the condition is met.
101.17 Trigger cause
Indicates the cause of the current trigger.

The 1000th place shows the axis index on which the trigger was activated.
Value Trigger Cause

0 Reserved
1 Reserved
2 Trigger activated through command in Parameter Z101.2–
3 Trigger activated through drive error
4 Reserved
5 Trigger activated through programmable trigger value greater than compari-
son value
6 Trigger activated through programmable trigger value equal to comparison
value
7 Trigger activated through programmable trigger value less than comparison
value
8 Trigger activated because programmable trigger value and comparison
mask different than 0
mask equal to comparison mask
mask equal to 0
101.18 Sample time
The sampling time can be entered for all channels. Internal rounding occurs to a whole
number multiple of the control cycle.

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4.11 Diagnosis
101.19 After-run time
The after-running period can be entered for all channels. This is the time during which re-
cording continues after the trigger pulse. This is internally rounded to a whole number
multiple of the sampling time.
It will be ensured that the after-running period is never longer than the recording time.
NOTE!
The after-running period must be at least 300 milliseconds.
101.20 Recording time
Total recording time including after-running period. It is calculated from the sampling time,
available memory and number of active channels.
101.21 Buffer size
Display of memory size that is utilized by the ring buffer.
101.22 Measure time
Display of the time used by the Scope Buffer module in real time (Interrupt). This time de-
pends on the number of channels and axes.
101.23 Scope buffer
Two-dimensional array for Type FLOAT32 scope buffer data.

The 1st dimension corresponds with the channels,
Channel 0 is reserved,
Channel 1 … Channel 8 correspond with the recording channels,
Channel 9 corresponds with the trigger channel
The 2nd dimension corresponds with the discrete distance intervals. The array is indicat-
ed with 200 elements; however, this limit is dynamic depending on the number of active
recorded channels.
The data type of the array is FLOAT32. Depending on the data type of the recorded chan-
nel, the raw data is stored in the memory in the format of the source data type (always
stored in 4 bytes).

The corresponding axis can be addressed through the SubDevice Index. The internal
controller ring buffer is organized 3-dimensional accordingly.
If no data is present in the ring buffer, the Read command response with error code:
RC_ERR_RSP_NODATA (1305)
If an attempt is made to read data from the buffer during recording, the Read command
responds with error code: RC_ERR_RSP_NOREAD (1304)
Index 0 of the 2nd dimension points to the most current value.
101.24 Task number
Display in which the ring buffer recording is carried out:

1: 62.5 µs time dials
2: 1 ms RT1

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4.11 Diagnosis
4.11.3 Function FFT analyzer

The function FFT analyzer is not available for the active mains rectifier unit.
The FFT analyzer function is used to enable the display of the signal in the frequency
range through FFT (Fast Fourier Transformation). Two channels may be operated simul-
taneously. Window functions and average determination are also provided in this module.
A signal generator is also integrated for system analysis, which can be fed into the system
by broadband signals, such as white noise, or sine signal generated and through the pa-
rameter interface.
The measurement of the signals and the excitation of the system is done in RT0 cycle
time Z1.8–. The data processing (FFT algorithm) is done in the remaining time.
Up to 1024 element (each with spectrum, coherence, frequency response) are available
by ProDrive. Up to 500 elements of the FFT analysis are available for the user as array
parameter (see Z104.21–).
Block diagram of the FFT analyzer function:
Figure 209: Block diagram FFT analyzer function

The data length, i. e. the number of spectra lines in case of spectral analysis or the num-
ber of amplitude and phase elements in case of the frequency analysis of a response
function as well as the coherence information is half of the FFT length (Z104.9–).
Data length= FFT length/ 2
The sampling frequency fab of the measured signals (corresponds with the excitation fre-
quency of the system) is determined by RT0 cycle time Z1.8–.
fab = 1/RT0 cycle time.
The frequency resolution Z104.20– of the analysis depends on the sampling frequency
(or on RT0 cycle time Z1.8–) and FFT length (Z104.9–).
Frequency resolution= fab / FFT length
The frequency resolution is reduced by windowing to a certain degree.

The maximum frequency of the analysis (Z104.19–) is half of the sampling frequency
Fmax = fab / 2 = 1/(2×RT0 cycle time)
Example:
Sampling time 4 kHz (means RT0 cycle time Z1.8– = 250 ms),
i. e.. the max. frequency Z104.19– = sampling frequency/2 = 2000 Hz.
The FFT evaluation has got 2048 elements (data length) with a FFt length of 4096. The
frequency resolution Z104.20– is 2000 Hz / 2048 = 0,9765 Hz.

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4.11 Diagnosis
Application example: Analysis of an unknown linear system
5000_0409_rev01.cdr Measurement noise/disturbance
Linear system
Known Unknown
system system H()
Generator
signal Signal 1 Signal 2
Signal
generator FFT analysis
Results:
- Spectrum signal 1, signal 2
- Amplitude phase response signal 2/signal 1
- Coherence
Figure 210: Application example: Analysis of an unknown linear system
Functional block: FbFft [104]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
104.1 FFT command UDINT 0 4 0 1:1 O X

104.2 FFT status UDINT 0 41 0 1:1 X X
104.3 Signal 1 source Pxxx UDINT 0 0xFFFFFFFF 0 1:1 X X
104.5 Axis configuration UINT 0 0x11 0 1:1 X X
104.6 Signal generator target UDINT 0 0xFFFFFFFF 0 ID 1:1 X X
Pxxx
104.7 Modus signal generator UDINT 0 0xFFFF 0 1:1 X O X
104.8 FFT error info DINT 0 12 0 1:1 X
104.9 FFT length DINT 64 4096 4096 1:1 X X
104.10 FFT windowing UINT 0 5 1 1:1 X X
104.11 No of average values DINT 0 20000 16 1:1 X X
104.12 Amplitude signal gener- FLOAT -1e+9 1e+9 0 1:1 X X
ator

104.13 Offset signal generator FLOAT -1e+9 1e+9 0.000000e+00 1:1 X X
104.14 Sine frequency signal FLOAT 0 8000 0 Hz 1:1 X X
generator
104.15 Generator signal FLOAT -1e+9 1e+9 0 1:1 X X
104.16 Display signal 1 FLOAT -1e+9 1e+9 0.000000e+00 1:1 X X
104.18 Average DINT 0 20000 0 1:1 X X
104.19 Display max. frequency FLOAT 0.000000e+00 8000 2000 Hz 1:1 X X
104.20 Display frequency reso- FLOAT 0.000000e+00 62.5 9.765625e-01 Hz 1:1 X X
lution
104.21 FFT results FLOAT 0 0 0 1:1 X X
104.22 Prbs register length UINT 0 19 19 1:1
104.23 Prbs register clock UINT 1 0xFFFF 1 1:1
104.1 FFT command
This parameter can be used to switch the FFT analyzer function on or off.
Value Meaining
0 Off
1 On
3 ... 2 Reserved
4 Reset (reset errors)
Other values Reserved
104.2 FFT status
This parameter shows the status of the FFT analyzer state machine.
Value Meaning
0 Idle
1 Initialization Memory
3 Initialization Window Function
5 Start Average
8 Get Signal Initialization
9 Get Signal

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4.11 Diagnosis
Value Meaning
11,12 Windowing Signal Ch1, Ch2
13,15 FFT Ch1, Ch2
17 Standardization
20,22 Auto, Cross Spectrum
24, 25, 26 ÜTF, PHI, Coherence Calculation
28 Check Average
40 FFT result is available in ProDrive for readout. Wait for FFT command Off
104.3 Signal 1 source Pxxx
The parameter number for the signal source of channel 1 can be entered here.
Entries are only possible when FFT command Z104.1– is Off or FFT status Z104.2– is
Idle.
104.4 Signal 2 source Pxxx
The parameter number for the signal source of channel 2 can be entered here.
Entries are only possible when FFT command Z104.1– is Off or FFT status Z104.2– is
Idle.
104.5 Axes configuration
The axis number two input signals 1, 2 and the output signal of the signal generator can
be configured here. The generator signal is thereby always assigned together with signal
1.
Entries are only possible when the FFT command Z104.1– is Off or FFT status Z104.2–
is Idle.
Definition:

Bit Bit meaning
0 Assignment signal 2
0: Axis 1
1: Axis 2
4 Assignment signal 1 and generator signal
0: Axis 1
1: Axis 2
Value Meaning
0x00 Signal 1, 2 and generator signal to axis 1. This is the default setting.
0x01 Reserved
0x10 Reserved
0x11 Signal 1, 2 and generator signal to axis 2 (for double axis units only, other-
wise this value is not accepted)
Others Not assigned, value is not accepted
104.6 Signal generator target Pxxx
The parameter for a target parameter can be entered here. The output signal from the
signal generator is thereby routed through the system as an excitation signal.
is Idle.
104.7 Mode signal generator
This parameter is used to set the FFT mode. The mode is used to configure the internal
signal generator.
Value Meaning
Value 0 Signal generator not active, default setting
Bit 1 set (0x02) Hissing noise signal generator (15 Bit) active
Bit 3 ... 2 Reserved
Bit 4 set (0x10) Sine generator active
Bit 5 set (0x20) PRBS signal generator active
Bit 6 set (0x40) Hissing noise signal generator (31 Bit) active
Other values Reserved
is Idle.

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4.11 Diagnosis
104.8 FFT error info
This parameter shows the current information/error of the module.
Value Meaning
0 No error
1 Internal memory for Vector 1 could not be allocated, e.g. due to configured
ring buffer
ring buffer
ring buffer
4 Error wrong command or FFT was interrupted
5 The input parameter configured in Parameter Z104.3– "Signal 1 source
Pxxx" cannot be read.
6 The input parameter configured in Parameter Z104.4– "Signal 2 source
Pxxx" cannot be read.
10 Error while reading out the determined curve through Parameter Z104.21–
12 The number of measured values Z104.9– was indicated outside of the per-
mitted range.
Other Reserved
values
104.9 FFT length
This parameter can be used to enter the length of the time window for FFT evaluation.
The length applies to the two signals and may only be as Radix 2 (power of 2).
The length is decisive for the frequency resolution Z104.20–.
is Idle.
104.10 FFT windowing
This parameter chooses the type of windowing.
Type Meaning
0 Without time window
1 Hann window (used most often)
2 Hamming window

Type Meaning
3 Blackman-Harris window
4 Flat Top window
Since the FFT always works with a time frame (finite time record), the use of windowing
usually makes sense. The windowing reduces the leakage effect but causes a certain re-
duction of frequency resolution also.
is Idle.
104.11 Average number setup
This parameter is used to enter the number of mean values. Average determination can
improve the quality of the analysis.
is Idle.
104.12 Amplitude signal generator
Here, the amplitude of the signal output of the signal generator (such as noise) can be
entered in the accordant units of the selected target parameter of the signal generator
(Z104.6–).
is Idle.
104.13 Offset signal generator
Here, the offset of the signal output of the signal generator (such as noise) can be entered
in the accordant units of the selected target parameter of the signal generator (Z104.6–).
is Idle.
104.14 Sinus frequency signal generator
The frequency for the sine signal generator (e.g. hissing noise) can be entered here. The
sine signal generator can be activated through Z104.7– FFT mode (bit 4 = 1).
The sine frequency that can be set here, must be lower than the maximum frequency of
Z104.19–.

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4.11 Diagnosis
is Idle.
104.15 Generator signal
The value of the output signal of the signal generator (e.g. the hissing noise signal) is dis-
played here. This parameter can also be used as the signal source of another software
modules.
104.16 Display signal 1
This parameter shows the actual value of the input signal for channel 1.
104.17 Display signal 2
This parameter shows the actual value of the input signal for channel 2.
104.18 Actual average
This parameter shows the current number of average determinations that have been car-
ried out.
104.19 Display max. frequency
Display of the maximum frequency of the FFT analyzer function. The maximum frequency
is always one half of the sampling frequency.
The value of this parameter is only updated if the FFT analyer is started (FFT command
Z104.1– is On).
104.20 Display frequency resolution
Display of the current frequency resolution of the FFT analyzer function. The frequency
resolution is dependent upon the sampling frequency and "FFT length".
The parameter value is immediately updated in case of a change of parameter FFT length
Z104.9–. The parameter value is updated after the FFT analyzer is started (FFT com-
mand Z104.1– is On) if the sample time (or RT0 cycle time Z1.8–) has been changed.

104.21 FFT results
The result of the analysis can be found here as an Array parameter (dimension: 7 x 500).
The data is assigned as follows:
FFT Data[0]: Amplitude process in the dB
FFT Data[1]: Phase process in the degree
FFT Data[2]: Coherence
FFT Data[3]: Spectrum signal 1, in the dB
FFT Data[4]: Spectrum signal 2, in the dB
FFT Data[5]: Cross spectrum, real
FFT Data[6]: Cross spectrum, imaginary
The data accordingly contains the first 500 elements of the entire FFT-evaluation (starting
with the lowest frequency). Thus the FFT results (104.21) include data up to a maximum
frequency of:
500 * Frequency resolution [Z104.20–]
104.22 Prbs register length
Length of the Prbs register.
104.23 Prbs register clock
Clock frequency of the Prbs register. Value corresponds to a whole multiple of the RT0
cycle.

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4.11 Diagnosis
4.11.4 Diagnosis SAF Module

Safety modules SAF-xxx are not available for the active mains rectifier unit.
Detailed description of safety modules is to be found in:

"Operation Manual Safety Module for b maXX 5000 BM5-O-SAF-000/-001" (5.09013)
and "Operation Manual Safety Module for b maXX 5000 BM5-O-SAF-002/-003"
(5.11016).
The following three function blocks display and diagnose the operational state of the con-
nected Safety Module:
m FB Safety Module Info (FB number 200)
m FB Safety Module Status (FB number 201)
m FB Safety Module Real Time (FB number 202)
4.11.4.1 Parameter overview FB Safety Module Info
Functional block: FbAismInfo [200]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
200.1 Module version UINT 0 0xFFFF 0 1:1 X X

200.2 Firmware version mod- UINT 0 0xFFFF 0 1:1 X X
ule
200.3 Hardware version mod- UINT 0 0xFFFF 0 1:1 X X
ule
200.4 Serial number UDINT 0 0xFFFFFFFF 0xFFFFFFFF 1:1 X X
200.5 FSoE address UINT 0 0xFFFF 0 1:1 X X
200.6 Safety level UINT 0 0xFFFF 0 1:1 X X
200.7 Version of parameter UINT 0 0xFFFF 0 1:1 X X
data set
200.8 Last modul version UINT 0 0xFFFF 0 1:1 X X
200.9 Build number UDINT 0 0xFFFFFFFF 0 1:1 X X
200.20 Reset code UDINT 0 0xFFFFFFFF 0 1:1 X

4.11.4.2 Parameter overview FB Safety Module Status
Functional block: FbAismStatus [201]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
201.1 Refresh count UINT 0 0xFFFF 0 1:1 X X

201.2 Status physical inputs DWORD 0 0xFFFFFFFF 0 1:1 X X
201.3 Status physical outputs DWORD 0 0xFFFFFFFF 0 1:1 X X
201.4 Actual FSoE enable WORD 0 0xFFFF 0 1:1 X X
mask axis 1
201.5 Actual FSoE parameter WORD 0 0xFFFF 0 1:1 X X
switch axis 1
201.6 Status FSoE outputs WORD 0 0xFFFF 0 1:1 X X
axis 1
201.7 Status FSoE errors axis WORD 0 0xFFFF 0 1:1 X X
1
mask axis 2
switch axis 2
axis 2
2
201.12 Module status UINT 0 0xFFFF 0 1:1 X X
201.13 Module status info UINT 0 0xFFFF 0 1:1 X X
201.15 Count of entries in error UINT 0 0xFFFF 0 1:1 X X
file
201.19 Module error 1 UDINT 0 0xFFFFFFFF 0 1:1 X X

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4.11 Diagnosis
4.11.4.3 Parameter overview FB Safety Module Real Time
Functional block: FbAismRt [202]
Axis-independent
Cyclic Write
DS Support
Read only
Storage
202.1 FSoE telegram from USINT 0 0xFF 0 1:1 X X

FSoE master to SAF-
xxx axis 1
FSoE master to SAF-
xxx axis 2
SAF-xxx axis 1 to FSoE
master
master
4.11.4.4 Parameter Description
200.1 Module version
This parameter displays the type of the used SAF module:
Value Meaning
0 No module connected
1 SAF-100 Reset module
2 SAF-000 Parameter module
25 SAF-001-000-002
STO module without restart inhibit and without short circuit detection
27 SAF-001-001-000
STO module without restart inhibit and with short circuit detection
28 SAF-001-001-001
STO module SS1 with restart inhibit and with fixed 200 ms SS1 time
3 SAF-001-000-000 STO module
4 SAF-002
5 SAF-003

200.2 Firmware version module
Display of firmware version of the SAF module in the format: Major [2]. Minor [2].
Major = Value of >200.2< / 100
Minor = Value of >200.2< MODULO 100
200.3 Hardware version module
The hardware version of the SAF module is displayed in the format: Major [2]. Minor [2].
Major = Value of >200.3< / 100
Minor = Value of >200.3< MODULO 100
200.4 Serial number
The serial number of the SAF module is displayed.
NOTE!
Information about production year is on 3rd and 4th position of serial number.
Example: Serial number "S310045208" corresponds to production year 2010.
200.5 FSoE address
Displays FSoE address, which is set via DIP switch from SAF-002 or above.
200.6 Safety level
The safety level of SAF module is displayed. Safety level of controller must be greater or
equal the safety level of SAF module. The safety level of controller is coded in parameter
Z102.35– in the device type code:
Complete BM device type code including safety level of form:
BM5XXX-XXXX-XXXX-XXXX-XX- XX[XX]-EXX- #XX XXXXX-X-XXX-XXX
The two positions behind the ,#' character display the safety level of the controller.

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4.11 Diagnosis
200.7 Version of the parameter set
Display of version number of the safe parameter set, which is prepared with ProSafePara
and is loaded in the SAF module.
200.8 Previous module version
The module type (see Z200.1–) of the previously used SAF module is displayed. This pa-
rameter can determine a module change to a higher or to a lower safety level. Procedure
at a module change is described in the corresponding Instruction handbook for safety
modules.
200.9 Build number
The firmware build number of the SAF module is displayed.
200.20 Reset code
This parameter can reset the saved safety level in the controller without using a reset
module.
Procedure is as follows:
1 Creation of a connection with controller via ProDrive
2 Activation of "Reset Safety Level" button in ProDrive (from version V1.13 or above) on
diagnosis/SAF module.
3 ProDrive transmits a reset requirement to the controller (Z139.23– := 0x1000).
4 The controller generates a four-digit random code at the 7-segment display. A prefixed
C identifies the reset code. The display of random code starts by displaying "C" for
about 1.5 s. Then the four digits of random code are displayed. The individual digits are
displayed for about 0.8 s interrupted by a short break. This procedure is repeated till
the correct code is entered or timeout runs for 60 seconds.
5 The value of this code must be entered in ProDrive. (>200.20<):
Figure 211: Input of the reset code in ProDrive

6 If the reset code is correct, the controller terminates display of random code and sets
parameter Module Version (Z200.1–) and the last module version (Z200.8–) to 0.
201.1 Number of updates
This parameter continuously counts upwards if SAF module is available and displays that
SAF module is ready.
201.2 Status inputs (physical I/O)
The status of the digital inputs of the SAF module is displayed.

The status inputs are high active.
SAF-001:
Bit Meaning
0 Acceptance input axis 1
1 STO input 1 axis 1 secondary side
3 STO input 1 axis 1 primary side
5 Axis 1 enabled
7 ... 6 Reserved
8 Acceptance input axis 2
13 Axis 2 enabled
SAF-002/-003:
Bit Meaning
0 STO input axis 1
1 Input 1 axis 1
2 Input 2 axis 1
3 Input 3 axis 1
4 Daisy chain axis 1

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4.11 Diagnosis
Bit Meaning
7 ... 5 Reserved
8 STO input axis 2
9 Input 1 axis 2
10 Input 2 axis 2
11 Input 3 axis 2
201.3 Status outputs (physical I/O)
The status of the digital outputs of the SAF module is displayed.

The status outputs are high active.
SAF-002/-003:
Bit Meaning
0 Pulse enable low-side axis 1
1 Pulse enable high-side axis 1
2 Output A axis 1
3 Output B axis 1
4 Brake supplies axis 1 with current
6 Cycle output axis 1
7 Request for transition to STO axis 1 (SS1)
8 Pulse enable low-side axis 2
9 Pulse enable high-side axis 2
10 Output A axis 2
11 Output B axis 2
12 Brake supplies axis 2 with current
14 Cycle output axis 2
15 Request for transition to STO axis 2 (SS1)
201.4 Current FSoE activation mask axis 1
This parameter displays the value of S_ControlWord0 of axis 1 (see Operation Manual
BM5-O-SAF-002/-003).

201.5 Current FSoE parameter switchover axis 1
BM5-O-SAF-002/-003).
201.6 Status output (FSoE) axis 1
This parameter displays the value of S_StatusWord0 of axis 1 (see Operation Manual
BM5-O-SAF-002/-003).
201.7 Current FSoE error status axis 1
BM5-O-SAF-002/-003).
201.8 Current FSoE activation mask axis 2
BM5-O-SAF-002/-003).
201.9 Current FSoE parameter switchover axis 2
BM5-O-SAF-002/-003).
201.10 Status outputs (FSoE) axis 2
BM5-O-SAF-002/-003).
201.11 Current FSoE error status axis 2
BM5-O-SAF-002/-003).

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4.11 Diagnosis
201.12 Module status
Display of Module Status corresponding to the following table:
Value Meaning
0 Reserved
1 Initialization
2 Basic position
3 Parameterization
4 Reloading
5 Module change
6 Error
7 Safety function is active
8 Encoder failure: Waiting for acknowledgment
201.13 Module status info
The status display of the SAF module (SAF-002/-003) is shown in the following:
Display Status Description

status
0 Request synchronization telegram with another controller
1 Acknowledgment synchronization telegram with another controller
2 Request from session ID for FSoE
3 Acknowledgment of session ID for FSoE
1 4 Switch on both LEDs
5 Switch on waiting time
6 Switch off waiting time
7 Wait for acknowledgment of test manager and online test
8 Wait for end of initialization of the GDP protocol

Display Status Description
status
0 Evaluation of ID of frequency converter
1 CRC of parameter container and version adjustment of module
and parameter container
2 Read parameter container in object index
3 Read Stand Alone configuration in object index
4 Configure inputs and outputs
2 5 Entry log book

6 Configure encoder
7 Set start value for parameter sets
8 Initialize real time GDP connection
9 Wait for encoder values
10 Wait for FSoE connection
11 Wait for end of GDP transmission
Bit 0 Save controller file in the controller
Bit 1 Save parameter container in the controller
3
Bit 2 Delete controller file on the controller
Bit 3 Delete parameter container on the controller
4 - -
5 - -
6 - -
Bit 0 STO by limit exceeded at axis 1
7 Bit 1 STO by limit exceeded at axis 2
Bit 8 Stand Alone configuration active
201.15 Number of inputs in error file
The number of error inputs in the error file is displayed in this parameter. The error file
can be read and evaluated via ProSafePara.
201.19 Module error 1
Additional information on the error states in SAF module. An evaluation and textual dis-
play of error information is found in ProDrive "Diagnosis/SAF module".

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4.11 Diagnosis
202.1 FSoE telegram from FSoE master to SAF-xxx axis 1
This array parameter displays the current FSoE telegram, which is transmitted from the
FSoE master to the SAF module (SAF-002 or above) for Axis 1.
202.2 FSoE telegram from FSoE master to SAF-xxx axis 2
FSoE master to the SAF module (SAF-002 or above) for Axis 2.
202.20 FSoE telegram from SAF-xxx axis 1 to the FSoE master
SAF module (SAF-002 or above) of axis 1 to the FSoE master.
202.21 FSoE telegram from SAF-xxx axis 2 to the FSoE master
SAF module (SAF-002 or above) of axis 2 to the FSoE master.

4.12 Monitoring
4.12.1 Field angle monitoring

This module is not active at the active mains rectifier unit (BM51xx), because the
active mains rectifier unit does not perform a field angle monitoring.
Field Angle Monitoring on Synchronous Machines

The controller determines the pole wheel direction of the rotor with the aid of the motor
model. This is then compared with the pole wheel direction which is calculated from the
encoder used for motor control. When the monitoring is enabled (i.e. the monitoring
threshold 143.8 is not equal to 0), if there is an angle error greater than 45° (electrical),
Bit 8 of Parameter 143.1 is set and the error message
211 Error While Monitoring the Field Angle
is initiated. The pulse enable is blocked as a result.
The cycle time of the monitoring part for error triggering is 1 ms.
Additionally, the field angle monitoring can be switched on and off by setting the field an-
gle speed threshold (143.8) as a function of the speed set value. If the speed is less than
the field angle speed threshold (143.8), the monitoring remains disabled.
Field angle monitoring only functions for the encoder which is set for motor control.
Functional block: FbMonitoring [143]

For Parameter 47.55, see ZCurrent Controller– from page 585.
Axis-independent
Cyclic Write
DS Support
Read only
Storage
143.8 Field angle speed UINT 0 100 10 % 1:1 X

threshold
143.9 Field angle counter UINT 0 0xFFFF 0 1:1

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4.12 Monitoring
143.8 Field angle speed threshold
Speed threshold from which field angle monitoring becomes active. Field angle monitor-
ing is not carried out below the threshold.
Value 0 will completely switch off field angle monitoring.
143.9 Field angle counter
Shows the current status of the field angle error counter.

The field angle error is determined in the current controller cycle.
The message "Error While Monitoring the Field Angle" must recognize a field angle error
not less than in every other current controller cycle between two monitoring (1 ms) cycles.

4.12.2 Position Error monitoring

This module is not active at the active mains rectifier unit (BM51xx), because the
active mains rectifier unit does not perform a position error monitoring.
The position error is the difference between the position set value and the actual position.
It can be monitored statically or dynamically.
The dynamic position error limit will become effective as soon as a new position set value
is available for each sampling time of the position controller.
The static position error limit becomes effective when the position controller either does
not receive a new position set value or it continues to receive the same position set value
repeatedly.
Two separate limits (thresholds) are available for position error monitoring. The following
property settings may be entered for each limit:
m Size of the window (position error limit)
m Response time (position error time)
m Type of monitoring - static, dynamic or both (see Mode 1 Z143.2– and Mode 2
Z143.5–)
Two bits are assigned to each threshold in the Parameter Z143.1– Status. If the actual
position error exceeds one of the two thresholds, the bit "Position Error Limit Exceeded"
will be set in the Z143.1– Status. If the position error remains longer than the position
error time that was entered, another bit is set in the Status and the error
207 Position error limit 1 exceeded or
208 Position error limit 2 exceeded
will be reported.
If the position error falls below the threshold setting, the status bit "Position error limit ex-
ceeded" will be deleted again.
The cycle of the position error monitoring is 1 ms.
Functional block: FbMonitoring [143]

For Parameter 47.55, see ZCurrent Controller– from page 585.
Axis-independent
Cyclic Write
DS Support
Read only
Storage

143.2 Mode 1 UINT 0 2 0 1:1 X
143.3 Position error limit 1 UDINT 0 0xFFFFFFFF 0xFFFFFFFF 1:1 X

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4.12 Monitoring
143.4 Position error monitoring UINT 0 0xFFFF 0xFFFF ms 1:1 X

time 1
143.5 Mode 2 UINT 0 2 0 1:1 X
time 2
143.1 Status
Status of position error monitoring.
Bit # Meaning
0 1: Position error limit 1 exceeded
1 1: Timeout while monitoring position error limit 1
2 ... 3 Reserved
4 1: Position error limit 2 exceeded
5 1: Timeout while monitoring position error limit 2
6…7 Reserved
8 Field angle error occurred
9 … 11 Reserved
12 1: Position error monitoring in progress
13 1: Field angle monitoring in progress
14 … 15 Reserved
Remarks:
m Bit12: Position error monitoring in progress.
If bit 12 is set, position error monitoring is in progress. Position error monitoring only
works with activated position controller and only when it is permitted by the operating
mode. For example, The controller can optionally and temporarily deactivate position
error monitoring for reference runs to the mechanical stop.
m Bit 13 Field angle monitoring in progress:

Field angle monitoring only works with synchronous machines and when this is permit-
ted by the operating mode. For example, it is activated in the speed control operating
mode and deactivated during notch position search.

143.2 Mode 1
Mode for position error monitoring regarding position error limit 1.

Position error monitoring is only active when a position controlled operating mode is ac-
tive. If the controller is blocked, position error monitoring is deactivated.
Value Meaning
0 Static and dynamic monitoring
1 Static monitoring
2 Dynamic monitoring
Static monitoring:
The static position error monitoring becomes effective when the position controller either
does not receive a new position set value or it continues to receive the same position set
value repeatedly.
Dynamic monitoring:
The dynamic position error monitoring will become effective as soon as a new position
set value is available for each sampling time of the position controller.
Static and dynamic monitoring:

Position error monitoring combines the two settings above and is thereby always active.
143.3 Position error limit 1
Limit 1 for position error monitoring.

If the current position error (error value) is greater than the position error limit 1 setting,
this will be immediately displayed in Z143.1– Status with bit 0 = 1.
In addition, the position error limits 1 and 2 determine the status message "Set value
reached" in the position controller status (bit 12 in Z18.10–) and in the drive status (bit 10
in the Z108.3– Status word 1, only in operating modes position control (Z109.2– = -4)
and synchronous operation (Z109.2– = -5)).
If the position error is within both position error limits (Z143.1– Status bits both 0), then
the message "Set value reached" will be displayed immediately. If the position error is
even outside one of the position error limits and this position error limit is active at the
same time (static and/or dynamic) (Z143.1– Status bit 0 or 4 are 1), "Set value reached"
will be deleted immediately.
Standardization: 16 Bit revolutions, 16 Bit angle. One motor revolution also corresponds
with 65536 increments.

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4.12 Monitoring
143.4 Position error monitoring time 1
Time frame for monitoring the position error limit 1.

This time frame influences the status bit 1 and settling the error "Position error limit 1 ex-
ceeded". Contrary, status bit 0 reports an exceedance of the position error limit 1 imme-
diately regardless of the position error time.
143.5 Mode 2
Position error monitoring mode regarding position error limit 2. For the meaning of the
bits, see Parameter Z143.2–.
143.6 Position error limit 2
Limit 2 for position error monitoring.

If the current position error (error value) is greater than the position error limit 2 setting,
this will be immediately displayed in Z143.1– Status with bit 4 = 1.
In addition, the position error limits 1 and 2 determine the status message "Set value
reached" in the position controller status (bit 12 in Z18.10–) and in the drive status (bit 10
in the Z108.3– Status word 1, only in operating modes position control (Z109.2– = -4)
and synchronous operation (Z109.2– = -5)).
If the position error is within both position error limits (Z143.1– Status bits both 0), then
the message "Set value reached" will be displayed immediately. If the position error is
even outside one of the position error limits and this position error limit is active at the
same time (static and/or dynamic) (Z143.1– Status bit 0 or 4 are 1), "Set value reached"
will be deleted immediately.
Standardization as Parameter Z143.3–.
143.7 Position error monitoring time 2
Time frame for monitoring the position error limit 2.

This time frame influences the status bit 5 and settling the error "Position error limit 2 ex-
ceeded". Contrary, status bit 4 reports an exceedance of the lag error limit immediately
regardless of the position error time.

4.12.3 Overload monitoring of the power unit
NOTE!
The power unit monitoring is done according to the same model at the axis units and
at the active mains rectifier unit. Only the display of the state of the current limit by
overload monitoring is different. If the device current is limited by overload monitoring,
this can be recognized at the axis units via parameter Z138.8– and at the active
mains rectifier unit via parameter Z141.17–.
PWM reduction can not take place at active mains rectifier unit.
At nominal load devices (peak current = nominal current) the current is limited to nom-
inal current. Additional monitoring and limitation is not required.
The thermal load factor (Ixt actual value Z6.27– or the thermal load Z175.15–) is not
calculated at nominal load devices and there is neither current limit nor PWM reduc-
tion.
Overload monitoring protects the power unit against thermal monitoring. Thereby thermal
load is emulated and monitored by a model. There are two methods for this:
m Temperature model (enabled, if complete thermal data set is available in the de-
vice's characteristics (Z175.2– bit 3 = 1) and if the temperature model is selected
(Z175.1– bit 1 = 1, from V10.10 onwards)).
m Ixt model (is operated, if the temperature model is not enabled).
Parameter Status PU temperature model Z175.2– bit 0 displays, which method is en-
abled.
When having continuous current devices whereat the peak and rated current of the de-
vice are the same (BM5700), then overload monitoring isn't performed.
4.12.3.1 Ixt model
The thermal load of the complete device is emulated on the basis of total current and peak
current time.
Current controller
Iq actual value filtered PT1
47.5
I actual Limitation on
2 2
x+y
Warning 206
LT monitoring
Current controller activated
Id actual value filtered
47.6
1 Ixt
Power unit offset Display
6.27 It value [%]
nominal current
(6.26)

Power actual
unit temperature actual value
130.1
5000_1004_rev02_int.cdr
Figure 212: Overload monitoring of the power unit (Ixt model)

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4.12 Monitoring
Current controller Iq actual value fil- 47.5

tered
Current controller Id actual value fil- 47.6
tered
2 2
Total current actual value (Iist) [Aeff] 47.5 + 47.6
LT nominal current 4 kHz / 8 kHz (Inenn) [Aeff] 6.26

LT maximum current 4 kHz / 8 kHz (Imax) [Aeff] 6.25
Maximum drive current (Igrenz) [Aeff] 19.6
LT Overload time (tu) [s] 129.22
LT Heat sink temperature actual value (ist) [°C] 130.1
LT Ixt value (Ixt) [%] 6.27
LT Overload factor max (umax) [%]

LT Overload factor current (u) [%]
LT Thermal time constant (LT) [s]
LT Activation time (taus) [s] Time to limit to Inenn
LT Ixt Offset (Ixt Offset) [%]
I max
u max = -----------  100 [%]
I nenn
I ist
u = -----------  100 [%]
I nenn
tu
 LT = – ------------------------------------
- [s]
 u max – 100
ln --------------------------
 u max 
– for power unit temperature > 45°C

o
 ist – 45 C
-  100 [%]
IxtOffset = ------------------------------
o o
85 C – 45 C
– otherwise
IxtOffset = 0 %
– Activation time
t aus =  LT  ln  -----------------------------------------------
u
 u – 100 + IxtOffset

Example:
Inenn = 10 Aeff
Imax = 15 Aeff
tu = 1 [s]
Igrenz = 12 Aeff
ist = 35°C
u
max
15
= ------  100 = 150
10
[%]
12
u = ------  100 = 120
10
[%]

LT
1
- = 0 91
= – ---------------------------------- [s]
ln ------------------------
 150 – 100
 150 
t aus = 0 91  ln  ------------------------ = 1 63 [s]

120
 120 – 100

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4.12 Monitoring
Figure 213: Curve overload monitoring
This characteristic curve assumes a cold power unit (Ixt Offset = 0;

ist < 45 °C)

4.12.3.2 Temperature model
The PU temperature model separately emulates and monitors the thermal load of the dif-
ferent device components on the basis of motor currents, the peak current time, the
mains- and DC link voltage as well as the thermal data of the semiconductors. The PU
temperature model is divided into two sub-models. The I2t-sub-model, which protects
conductors/capacitors and the power electronics sub-model, which protects the power
electronics.
no PWM reduction
Power electronic submodel
=0 PWM reduction on
Main voltage, 130.8, 141.12
t >30s =1 Warning 216
dc link voltage, 130.3 Power unit
Mode responded
LimPwmRed PU temperature model PWM reduced
Heat Sink temperature, 175.1. bit 0
130.1, Ist
therm.
Therm. Status PU temperature model
el N
175.2 bit 5
model N t >30s
semicon-
semi- 100
D
ductors
conductor 105%
D
Lim Current limited to

Iu, Iv, Iw actual values PU max. continuous current
47.32, 47.33, 47.34 actual value, 175.7, on
max(.,.) 175.15 OR
Warning 206
Initialization
Power unit
ThL-Act [%] responded maximal
LT-I2t-Ini PU-I2t-Act [%]
PT1 torque current limited
N
N
I2t max 100
D 95% 105% Status PU temperature model
175.2 bit 4
D
PU I2t max. continuous current actual value, 175.8 I2t submodel 5000_0298_rev02_int.cdr
Figure 214: Overload monitoring of the power unit (temperature model)
Phase current Iu, Iv, Iw [A] 47.32, 47.33, 47.34

Voltage Udc [V] 130.3
Mains voltage [Veff] 130.8
PU heat sink temperature actual value (ist) [°C] 130.1
PU power electronic temperature actual value (el) [°C]
PU thermal load (ThL-Istwert) [%] 175.15
Output value of the I 2t sub model (LT-I2t-Istwert) [%]
Temperature threshold as current limit (lLim) [°C]
Temperature threshold as PWM reduction (Lim) [°C]
PU time constant I2t model (LT-I2t) [s]
PU max. continuous current actual value [Aeff] 175.7
PU I2t max. continuous current actual value [Aeff] 175.8
Correction factors and current derating
The maximum continuous current of the I2t-sub-model Z175.8– and also the maximum
continuous current of the device Z175.7– is emulated for the safety function "Current lim-
it" of the temperature model (as displayed in ZFig. 215–).

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4.12 Monitoring
Max. device Max. device Output frequency Max. device

control cabine temperature, altitude, filtered, mains voltage, 175.5
175.3 175.4 47.49 dc link volrage, 175.6
1 1 1 1
PWM
frequency,
T H fs U 130.15
Power unit
nominal current,
6.26
PU max. continuous current actual value, 175.7
Power unit
Nominal current PU I2t max. continuous current actual value, 175.8
2 kHz,
129.12
5000_0299_rev01_int.cdr
Figure 215: Current derating at changed operating conditions
For the following operating conditions correction factors are used during the current der-
ating at changed operating conditions:
m Control cabinet temperature of device (ambient temperature or surface tempera-
ture): Required temperature can be entered in Z175.3–.
m Installation altitude: Required installation altitude can be entered in Z175.4–.
m Voltage supply (mains voltage/DC link voltage): Required mains voltage or DC link
voltage can be entered in Z175.5– or Z175.6–.
m Current derating dependent of the output frequency Z47.49–.
This is described in the chapter "Correction factors at changed operating conditions" and
"Electrical data" in the operating manual.
Initialization I2t sub-model
The I2t-sub-model is set or initialized to the following value, if the heatsink temperature
exceeds 45 °C during the operating enable.
100°C    act – 45°C 

-----------------------------------------------------
40°C
Protective function current limit
I2t-sub-model:
This model was implemented for components of the device, whose thermal load isn't de-
pendent of the switching frequency. The input value is standardized using the actual val-
ue of the PU-I2t max. continuous current Z175.8–.

If the output value of the I2t-sub-model (PU-I2t-actual value) reaches 105% of Z175.8–
the warning 206 is set and the total current is limited to the maximum PU continuous cur-
rent Z175.7–.
If the PU-I2t actual value reaches 95%, the current limit is canceled on the part of the I2t-
sub-model.
If a current limit is additionally activated by the power electronics sub-model, the warning
206 remains. The warning and the limit is disabled not before the current limit is canceled
from both sub-models.
Power electronics sub-model:

The temperature of power electronics is emulated and is standardized using the tempera-
ture threshold Sem pu (temperature actual value = Sem pu corresponds to 105% load),
which was defined in the characteristics of the device. Thus, the load value is compatible
to the I2t-sub-model.
If the value reaches 105%, warning 206 is set and the total current is limited to the max-
imum PU continuous current Z175.7–.
The power electronics sub-model cancels the current limit after Sem pu falls below the
value 105% within 30 s. The 30 s time slice is an empirical value, which is great enough
so that all devices can recover thermally.
However, the current limit still can be activated by I2t-sub-model.
NOTE!
m As long as the safety function current limit is active and the output frequency is
Z47.49– < 15 Hz (current derating dependent of the output frequency is effec-
tive), the total current is limited to the smallest existing value of the maximum PU
continuous current Z175.7– and will remain on this value. This means, that during
this time Z175.7– and the active current limit can decrease, if the output frequency
drops. The active current limit however cannot get larger, if the output frequency
Z175.7– increases. The active current limit remains on the smallest existing value.
m At the protective function current limit the "Max. drive current available" Z19.5– is
reduced, whereat the settable limit of the total current "Max. drive current" Z19.6–
isn't changed. The reduction of the total current takes place via the current torque,
i. e. via the "Max. available torque current" Z19.8–.

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4.12 Monitoring
Protective function PWM reduction
In order to avoid current limiting, the switching frequency can be automatically reduced
(related to the set PWM frequency Z130.15–). Thereby, the switching losses in the
IGBTs are reduced.
The reduced PWM frequency depends on the set PWM frequency Z130.15– and PWM
frequency reduction level Z175.2– bits 7 and 8:
Reduced PWM frequency

PWM frequency 2 kHz 4 kHz 8 kHz 16 kHz
Z130.15–
If the temperature of the power electronics exceeds the temperature threshold

Sem LimRed , the PWM frequency is halved and warning 216 is triggered. The tempera-
ture threshold Sem LimRed is lower than the threshold Sem pu , which triggers the cur-
rent limit.
The PWM reduction doesn't change the value of the PWM frequency Z130.15–, which
was set.
The instantaneous (operating) PWM frequency is displayed in parameter Z130.41–. At
the same time the corresponding instantaneous (operating) cycle time of current control-
ler is displayed in parameter Z47.65–.
In some circumstances the switching frequency reduction isn't enough, to avoid a current
limit.
If PWM reduction was activated, the device returns to the PWM frequency Z130.15–,
which was set.
m not until after time delay Z175.18– the calculated temperature is below the thresh-
old Sem LimRed and,
m if there is no current limit existent.
In general, the PWM reduction is not active. It may be enabled in Bit 0 of the PU tempera-
ture model mode Z175.1–. It can be enabled in the inhibited drive status, only.
Active mains rectifier units aren't influenced by the PWM reduction function.
PWM-reduction is subject to the same limitations as at switchover to the set PWM-fre-
quency during the continuous operation (see Z130.15–). They are available for the oper-
ating modes speed control and current control - they aren't available for SM sensorless.
The failures in the controller were minimized during the implementation of the PWM
changes in the continuous operation. However, they cannot be excluded. Therefore, this
option is applicable to simple (not critical) applications, where the drive tolerates possible
failures.
If the PWM frequency Z130.15– is set to 2 kHz or if the precondition "Current cycle <
RT0" wasn't considered during the reduction, PWM reduction cannot be processed.

NOTE!
m The user must assure that the drive with the reduced switching frequency can op-
erate correctly (e. g. check rated motor data, control quality at the reduced current
controller-bandwidth etc.) before the PWM reduction is enabled. (Bit 0 of the PU
temperature model Z175.1– must be set). Furthermore, the drive components
must be checked, if they tolerate the reduced switching frequency (e.g. check mo-
tor filter if existing). This is particularly important, if PWM frequency was reduced
to 2 kHz.
m At the PWM reduction must be considered that the adjusting range of the output
frequency is reduced. The adjusting range is reduced from 450 Hz to 225 Hz if a
switchover from 4 kHz to 2 kHz is made (see chapter "Technical Data" in the in-
struction handbook of the device).
4.12.4 Temperature monitoring of the motor
Three different encoder types can be utilized:

m KTY84/130 (PTC with an almost linear characteristic for precise evaluation of the tem-
perature)
m Temperature switch (motor protection thermistor (PTC) conforming to DIN 44080-082)
m PT1000 (PTC with linear characteristic)
The selection is made using Parameter Z107.37–, Temperature sensor type. On motors
which have an encoder with an electronic identification plate, the appropriate value is en-
tered at switch-on. On motors without an electronic identification plate, the encoder type
must be entered.
With the KTY84/130 and PT1000 temperature encoders, the current motor temperature
in °C is ascertained (displayed in parameter Z128.3–) and then checked against the two
temperature warning thresholds (Z128.4– and Z128.5–) and if they are exceeded, Warn-
ing 710 or 711 is issued. If the switch-off threshold is exceeded, Error 709 "Motor Over-
temperature Detected" is generated. The switch-off threshold in effect is displayed in
Parameter Z107.27–. On motors with an electronic identification plate, the appropriate
value is entered at switch-on. The standard value for Baumüller motors is normally 150°C.
With the temperature switch, the temperature value determined is compared to an inter-
nal permanently set switch-off threshold. This switch-off threshold corresponds to a resis-
tance value of 1100 ohms. If it is exceeded, Error 714 "Motor Overtemperature Detected
by Temperature Switch" is generated.
The temperature encoder can be connected either to the encoder input or to the connec-
tor provided on the power unit. The setting for the connection is made in Parameter
Z128.2– Temperature acquisition system.
The temperature evaluation can also be switched off via Z128.2– Temperature acquisi-
tion system.

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4.12 Monitoring
The following device types must be distinguished with regard to the connection setting:
m Single or double axis units of Series b maXX 5200 and b maXX 5300
m Mono units of Series b maXX 5400 and b maXX 5500
Connection Meaning of connection type for

type Z128.2–
Value of Mono units Single axis units Double axis units
Bit 0 … 7
Axis 1 Axis 2
0 = No encoder Monitoring off Monitoring off Monitoring off Monitoring off
1 = Standard Encoder input 1 (X7) Encoder input 1 (X7) Encoder input 1 (X7) Encoder input 2 (X8)
(= motor encoder) (= motor encoder) or or power unit 1 or power unit 2
power unit (X207) (X207) (X208)
2 = Non-stan- Encoder input 2 (X8) Encoder input 2 (X8) Encoder input 2 (X8) Encoder input 1 (X7)
dard or power unit (X208) or power unit 2 or power unit 1
(X208) (X207)
3 = Power unit Input on power unit not applicable not applicable
See device descrip-
tion for mono units
(X101)
NOTE!
The connection type (value of parameter Z128.2–) of both axes must not be com-
bined between "standard" and "non-standard" at double axis units.
NOTE!
On Series b maXX 5200 and 5300 devices, only the power unit connection or alter-
natively the encoder connection may be wired for motor temperature measurement!

4.12.5 Overload monitoring of the motor (I2t)
4.12.5.1 General information
I2t model
The overload monitoring protects the motor from thermal overload. Thereby, the thermal
load of the motor is emulated and monitored by an l2t model.
l2t monitoring is no replacement for the motor temperature monitoring
6.28
max. = 100 %
thermal load
63.2 %
40°C = 0 %
Tt t
|IMotor| 107.28
[A]
5000_0087_rev03.cdr
IN
t
2
Figure 216: Time curve of the motor l t actual value in the nominal operating point
The time curve of the l2t model during nominal current is presented in ZFig. 216–. The
standardization of the l2t model corresponds to 40°C  0% (maximum value of the en-
vironmental temperature) and the maximum thermal load of the motor  100%. The
maximum thermal load of the motor corresponds to the maximum continuous load of the
motor (e.g. motor nominal current at motor nominal speed).
NOTE!
The overload monitoring applies to motors used for continuous operation (S1) at a
maximum environmental temperature of 40°C and set up under 1000 m altitude. If
these motors should be used within an environmental temperature of more than 40°C
or in heights over 1000 m altitude, then the motor nominal power Z107.6– and the
motor nominal current Z107.9– must be accordingly reduced. For this purpose the
motor manufacturers provide the accordant derating factors.

Document No.: 5.09022.17 of 978
4.12 Monitoring
The maximum thermal load of the motor and motor operating temperature
In general the maximum thermal load corresponds to the maximum permissible continu-
ous temperature of the winding. The maximum load however can be limited by other fac-
tors.
The maximum permissible continuous temperature of the winding depends on the insu-
lation class of the motor. It results from the permissible temperature increase plus a
hotspot safety margin and refers to a specified maximum environmental temperature of
40°C. The maximum continuous temperature NEMA motor insulation class F is specified
with 155°C, for example.
The steady-state temperature of the motor at a maximum admitted continuous current
load (such as the acquired motor temperature) cannot be predetermined. The continuous
current load of the motor can determine the environmental temperature, insulation class,
production tolerances and the cooling type etc. Therefore, the error 205 "Motor I2t-over-
load" can occur even though a motor temperature actual value is lower than the permitted
continuous temperature of the winding. Refer to the motor manufacturer for details (such
as the temperature measurement).
I2t-Monitoring
1 / (155°C-40°C)
Motor temperature
Tm 128.3
Motor I2t actual value
+ 0
-
40°C Initialization 6.28
Drive status = 0,
0%
or activation: 107.28 from 0 to = 0
PT1 =0
I act
I2 values
N
Tt
Motor total current N D =0
smoothed, Iact 10% hysteresis
6.30 D Motor Motor Warnung no. 219
IRef I2t time constant I2t time constant I2t warning
107.28 107.28 threshold
exceeded
Motor nominal current 6.39
IN ,107.9 I2t warning threshold
5000_0356_rev03_e
Error no. 205

I2t overload
6.29
I2t threshold
Figure 217: Motor I2t overload monitoring (standard solution)
The motor overload monitoring is active if the motor l2t time constant Z107.28– is differ-
ent from zero.
If the motor l2t actual value at activated motor overload monitoring reaches the l2t warning
limit Z6.39–, the motor warning number 219 "l2t warning limit exceeded" is displayed.
The warning is withdrawn by a fixed hysteresis of 10% under the warning threshold. If the
warning threshold is 0 no warning occurs.
As soon as the l2t actual value reaches the threshold Z6.29– the pulse inhibit is activated
and the motor error 205 "l2t overload" is displayed.

Initialization of the PT1 element
If a temperature sensor is existing the motor temperature acquisition can be activated in

the "Acquisition system" Z128.2–. The motor temperature actual value Z128.3– is
smoothed with the smoothing time constant 1 s.
If the acquisition of the motor temperature is active in the motor-I2t-time constant
Z107.28– = 0 or in the "NOT READY TO START" status the PT1 element is set to the
motor temperature actual value or is initialized. Thereby, 40° accord to C  0% and ap-
proximately (for easier use) 155° C 100%. For this reason the error number 205 "Motor
I2t-overload" can occur in spite of a low current or when switching on. If the motor tem-
perature acquisition is not existent or is not activated then the PT1 element is initialized
to 0%.
NOTE!
If there is no motor temperature sensor available or activated then after an interrup-
tion and restarting of the l2t model again it cannot recognize a warm motor. In this
case the l2t model assumes a cold motor if it is started.
Standard solution and extended options
Within the total motor speed range the nominal current value is used as reference to cal-
culate the l2t actual value. Refer to chapter ZSpeed variable l2t overload monitoring– on
page 907 for implementations of a speed-dependent l2t monitoring.
By default, the total current of the motor is monitored. However, at low speeds the 3
phases are unequally loaded. Refer to chapter ZMonitoring of the single phases– on
page 911 for information about monitoring each phase separately.
Example
In the following function example (refer to ZFig. 218– on page 907) a calculation of the
l2t actual value is introduced with consideration to the single warning /error thresholds by
using the standard solution (rated current of the total speed range).
Power unit: b maXX® BM 5xxx Ilimit = 8 Aeff

Motor: DS 56 L - 3000 IMotor = 5,1 Aeff
2
Motor I t time constant Tt = 10 min = 600 s
Power unit S1 maximum current Ilimit Z175.8– 8A
Motor nominal current IN Z107.9– 5,1 A
Motor I2t warning threshold Z6.39– 80% (Warning threshold)
2
I t-Motor monitoring mode Z6.43– 0
Motor I2t -time constant Tt Z107.28– 600 s
Total current actual value I'act Z6.30– A jump from 0 to 100% llimit of
the power unit

Document No.: 5.09022.17 of 978
4.12 Monitoring
I'act Motor I2t actual value 2 2 2 2

I Limit 8 A
6.30 6.28 (I'act *
IN
) = I'act * ( 5,1 A)
= I'act * 2,46
5000_0357_rev03
Motor total
current smoothed
246 %
6.30
Motor I2t actual value

100 % (theoretically: w/o error shut-down)
( 8 A)
100 % Motor I2t actual value:
After error shut-down
80 % from drive manager
6.39
0 Motor I2t time constant (107.28) = 600 s t

Motor warning
Warnung no. 34
Motor error t
error no. 99
As long as error is acknowledged in controlword 108.1
t
Figure 218: Function example of the motor l2t overload monitoring
NOTE!
If you have to consider UL 508 C:
If motor temperature is not monitored by a motor temperature sensor, motor overload
monitoring is to be activated. Among other things nominal current Z107.9– and time
constant Z107.28– of the motor have to be specified correctly.
4.12.5.2 Speed variable l2t overload monitoring
The standard solution referring to the constant maximum continuous current throughout
the total speed range is inadequate to many applications with synchronous and asynchro-
nous machines. Therefore, in the following implementation solutions are introduced con-
sidering the speed-dependence of the maximum continuous current of the l2t motor
model.

Speed variable I2t overload monitoring of synchronous machines
In general higher current (as rated current) can be applied at synchronous machines in
the speed range lower than the rated speed due to the reduced iron losses. In contrast,
in general the maximum continuous current sinks if the speed is greater than the rated
speed due to increased iron losses.
5000_0358_rev01.cdr
Motor current
Nominal
current
107.9
0
0
Nominal speed Motor speed
107.7
Figure 219: Typical continuous current limit identification of synchronous motors
The l2t model speed dependence is provided by two solutions selectable via the param-
eter Z6.43–. Thereby must be considered that each method requires valid data from the
electronic type plate. If these values are not available the parameter Z6.43– will not ac-
cept the method.
Continuous current with current support points and interpolation
This option (activatable by speed-dependent modes Z6.43– bits 0 to 2, value = 1) re-

quires that support points are provided for the continuous current limit characteristic (S1
characteristic or S1 current limit curve) over the speed curve so that the calculation of an
interpolated current limit curve can be made. By means of the interpolated current limit
curve and the effective speed the maximum permissible continuous current can be cal-
culated. The number of current supporting points includes 11 points whereat the first point
should be equal to the standstill current (Z107.10–). The 10 current values remaining are
entered by a fixed delta of the maximum mechanical speed (Z107.26–) divided by 10.
The values of the current support points can be entered by the single elements of the pa-
rameters Z107.72– (107.72[0] to 107.72[10]) manually or can be called up and loaded in
case of Baumüller machines as a pre-manufactured set via the motor data base in Pro-
Drive. In case there is no complete set available or at least one supporting point is zero,
this option cannot be activated.

Document No.: 5.09022.17 of 978
4.12 Monitoring
' 2
Iact I value
N
N D
D
IRef
107.72[0] ... 107.72[10]
Speed act. value

18.22
n
5000_0359_rev01.cdr
Continuous current limit curve
Figure 220: Continuous current limit characteristic by current supporting points and
interpolation (see ZFig. 217– on page 905)
Continuous current limit characteristic by approximation of the iron losses
This option serves as an alternative by the current supporting points and interpolation
method if the information of the maximum continuous current as function of the speed is
not available. It can be activated by speed-dependent modes Z6.43– bits 0 to 2, value =
2 and contains the approximation of the iron losses in dependence of the speed to calcu-
late the l2 value. Thereby the iron losses are calculated using the standstill current
(Z107.10–), the nominal current (Z107.9–), the nominal speed (Z107.7–) and the
smoothed effective speed (Z18.22–) and are added to the effective l2 value. The stand-
still current is used as a reference for the continuous current, as well (the iron losses are
assumed zero at standstill). In case one of these values is not available (value equals ze-
ro) the option cannot be activated. This option is specific to the motor standstill current >
motor rated current only. Between standstill and rated speed this method applies to the
continuous current characteristic quite accurate (within motor manufacturing tolerances);
from speeds greater than the rated speed the accuracy decreases steadily with increas-
ing speed but in a conservative manner (a rather small continuous current is permitted
than permitted depending on the motor data).
Iact N I2 value
D
{
N
2 2
D Io IN
, if I o I N
2
IRef Io
0 , if I o I N
max( I o , I N )
I N 107.9 Nominal current
I o 107.10 Standstill current
Nominal speed N
NN
107.7 D
D
N
Speed actual value
5000_0360_rev01.cdr 18.22
Figure 221: Continuous current limit characteristic by approximation of the iron losses
(see ZFig. 217– on page 905)

Derating characteristic of asynchronous machines without forced ventilation
Standard asynchronous machines without forced ventilation normally require a derating

of the maximum continuous current at speeds lower than the rated speed.
100
Df %
80
60 6.46[1]
(Self ventilated)
40
20 6.46[0]
25 50 75 100 125 150

Motor speed / Nominal speed, % 5000_0361_rev01.cdr
Figure 222: Typical derating of standard asynchronous machines (without forced ventilation)
Two derating factors are provided which proportionally to the rated speed lower the max-
imum continuous current at the standstill point and at half the rated speed. Based on this
a current limit curve is interpolated from the available current values again and is used for
the calculation of the l2t actual value (see ZFig. 222–). The maximum continuous current
is fixed to the rated current if it is above the rated speed.
I´act N I2 values
N D
D
IRef
Nominal current
107.9
Df
1
Speed actual value 6.46[1]
18.22 6.46[0]
NN
6.46[0], 6.46[1] 5000_0362_rev01.cdr

Motor I2t derating factors
Figure 223: Speed-dependent l2t overload monitoring of asynchronous machines without forced ventilation

Document No.: 5.09022.17 of 978
4.12 Monitoring
4.12.5.3 Monitoring of the single phases
The introduced standard solution referring to the monitoring of the total current is insuffi-
cient for a lot of applications, during low speed and with zero speed. Therefore, an imple-
mentation solution is introduced considering the effect of an output frequency having a
period not significantly smaller than the thermal time constant of the motor.
It must be considered that in the motor data sheets neither the specification of the stand-
still current nor the current characteristics are not to be interpreted literally. A minimum
speed for the standstill current can be mentioned in the data sheets. Please, contact the
motor manufacturer for more detailed information if the output frequencies are as low as
described above.
The output frequencies described above load the three phases unequally. By l2t monitor-
ing mode Z6.43– bit 3 set to 1 instead of the l2 values of the total current the l2 values
can be evaluated separately for every phase (Z47.32– to Z47.34–). The "Motor l2t actual
value" Z6.28– includes the value of the most strongly loaded phase. By default this option
is not activated.
Initialization
PT1 Motor I2t actual value

Iu-,Iv-,Iw Actual values 6.28
47.32, 47.33, 47.34 N
N
Tt max
D
D
5000_0363_rev01.cdr IRef
Figure 224: Motor-I2t, monitoring of the single phases

5SUMMARY OF ALL PARAMETERS
Axis-independent
Cyclic Write
DS Support
Read only
Storage
1.1 System Clock UDINT 0 0xFFFFFFFF 0 s 1:1 X X

1.8 RT0-Cycle time FLOAT 62.50 1000.00 250.00 µs 1:1 X X
1.10 Task fieldbus cycle time UDINT 125 8000 1000 µs 1:1 X X
6.1 Standstill threshold FLOAT 0.0 1.000000e+06 10.0 Grad/s 1:1 X

6.2 Standstill status INT 0 1 0 1:1 X
6.3 Actual torque direction UINT 0 1 0 1:1 X
6.4 Torque relating to nomi- INT -1000 1000 0 % 1:1 X
nal torque
6.5 Positive overspeed limit FLOAT 0.0 1.000000e+06 0 Grad/s 1:1 X
6.6 Negative overspeed FLOAT -1.000000e+06 0.0 0 Grad/s 1:1 X
limit
6.7 Max. pos. speed error FLOAT 0.0 1.000000e+06 0 Grad/s 1:1 X
value
6.8 Max. neg. speed error FLOAT -1.000000e+06 0.0 0 Grad/s 1:1 X
value
6.11 Speed error value FLOAT 0.0 100 2.0 ms 1:1 X
response time
Speed ON threshold
Speed OFF threshold
6.14 Velocity window per- UINT 0 65535 0 % 100:1 X O
centage
6.15 Filter time speed-zero- UDINT 0 1000000 0 ms 1:1 X
message
6.20 Blockade Speed Limit FLOAT 0 1000000 10 Grad/s 1:1 X
6.21 Blockade Time Limit 1 FLOAT 0 1000000 0.5 s 1:1 X
6.22 Blockade Time Limit 2 FLOAT 0 1000000 5 s 1:1 X

Document No.: 5.09022.17 of 978
5 Summary of all Parameters
Axis-independent
Cyclic Write
DS Support
Read only
Storage
6.25 Power unit peak current FLOAT 0.0 1000 9.0 A 1:1 X
6.26 Power unit nominal cur- FLOAT 0.0 1000 4,5 A 1:1 X
rent
6.27 Power Unit Ixt actual FLOAT 0.0 1000 0.0 % 1:1 X
value
6.28 Motor I2t actual value FLOAT 0 1000 0.00 % 1:1 X
6.29 Motor I2t threshold FLOAT 0 1000 100 % 1:1 X
6.30 Motor total current FLOAT 0 10000 0 A 1:1 X
smoothed
6.32 Motor real power FLOAT -1000000 1000000 0 kW 1:0.001 X
smoothed
6.38 Motor total voltage FLOAT 0 1000 0 V 1:1 X
smoothed
6.39 Motor I2t warning FLOAT 0 1000 0 % 1:1 X
threshold
6.42 Smoothing time electr. FLOAT 0 1000 1.25 ms 1:1 X
motor power display
6.43 Motor I2t monitoring UINT 0 0xFFFF 0 1:1 X
mode
6.46 Motor I2t derating fac- FLOAT 10 100 100 % 1:1 X
tors

ation
tude
mental encoder
encoder
culation

Summary of all Parameters 5
Axis-independent
Cyclic Write
DS Support
Read only
Storage

tion
threshold

ation
tude
mental encoder
encoder
culation
tion
threshold
18.7 Adaptation time param- UDINT 0 10000 1950 ms 1:1 X X

eter
18.9 Controller options DWORD 0 0xFFFFFFFF 0 1:1 X
18.10 Position controller status DWORD 0 0xFFFFFFFF 0 1:1 X
18.11 w1 position set value FLOAT -1000000 1000000 0 Grad 1:1 X
18.12 x1 position actual value FLOAT -1000000 1000000 0 Grad 1:1 X
18.13 e1 Position error value FLOAT -1000000 1000000 0 Grad 1:1 X
18.14 Kv position controller FLOAT 0 1000000 20 1/s 1:1 X X
18.16 Gear factor motor:load- FLOAT 0.0001 1000 1.0000 1:1 X X O
encoder

Document No.: 5.09022.17 of 978
Axis-independent
Cyclic Write
DS Support
Read only
Storage
18.17 w2 speed feedfwd. act. FLOAT -1000000 1000000 0 Grad/s 1:1 X

value
18.18 Time constant position FLOAT 0 1000 0 ms 1:1 X
error display filter
18.20 Speed controller status DWORD 0 0xFFFFFFFF 0 1:1 X
18.21 w2 speed set value total FLOAT -1000000 1000000 0 Grad/s 1:1 X
filtered
18.23 e2 speed error value FLOAT -1000000 1000000 0 Grad/s 1:1 X
18.24 Kp speed controller FLOAT 0 1000000 10 1/s 1:1 X X
18.25 Tn speed controller FLOAT 0 1000000 1 s 1:1 X X
18.26 Td speed controller FLOAT 0 0,1 0 s 1:1 X X
18.27 Filter time constant x2 FLOAT 0 50 0 ms 1:1 X
speed act. value
18.29 Integral term speed con- FLOAT -3.4028234e38 3.4028234e38 0 Grad/ 1:1 X
troller s2
18.30 Derivate term speed FLOAT -3.4028234e38 3.4028234e38 0 Grad/ 1:1 X
controller s2
put
18.32 Speed controller output FLOAT -3.4028234e38 3.4028234e38 Grad/ 1:1 X
s2
18.33 Time constant speed set FLOAT 0 50 0 ms 1:1 X
value filter
fwd. act. value s2
pos accel.
neg. accel.
18.38 w3-Feedforward act. FLOAT 0 10 1 1:1 X
factor
constant
18.40 Ks factor FLOAT 0.01 1.000000e+09 1.000000e+04 Grad/ 1:1 X X
s²/A
18.41 w2 speed set value fil- FLOAT -1000000 1000000 0 Grad/s 1:1 X
tered
18.42 Center frequency x2 FLOAT 0 8000 0 Hz 1:1 X
speed act value notch
filter
18.43 Bandwidth x2 speed act FLOAT 0 4000 0 Hz 1:1 X
value notch filter
unfiltered
18.45 Isq set value unlimited FLOAT -3.4028234e38 3.4028234e38 0 A 1:1 X

Axis-independent
Cyclic Write
DS Support
Read only
Storage
18.50 isq set value for OM cur- INT -16384 16384 0 % 4000hex: X
rent control 100%
put total
fwd. from position con- s2
troller
18.54 Position actual value UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
18.55 Position act value angle UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
18.56 Position act value revo- UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
lutions
18.57 Position set value UDINT 0 0xFFFFFFFF 0 INC 1:1 X
rev+angle
18.58 Position set value angle UDINT 0 0xFFFFFFFF 0 INC 1:1 X
18.59 Position set value revo- UDINT 0 0xFFFFFFFF 0 INC 1:1 X
lutions
18.60 Position error rev+angle DINT -2147483648 2147483648 0 INC 1:1 X
18.61 Position error angle DINT -2147483648 2147483648 0 INC 1:1 X
18.62 Position error revolu- DINT -2147483648 2147483648 0 INC 1:1 X
tions
18.68 Speed additional value FLOAT -150000 150000 0 Grad/s 1:1 X
18.69 Speed set value output FLOAT -1000000 1000000 0 Grad/s 1:1 X
SetValMgr
constant
18.71 Speed set value positive FLOAT 0 1000000 18000 Grad/s 1:1 X X O
limit
18.72 Speed set value nega- FLOAT -1000000 0 -18000 Grad/s 1:1 X X O
tive limit
18.73 x3 acceleration actual FLOAT -3.4028234e38 3.4028234e38 0 Grad/ 1:1 X
value s2
18.74 x3 acceleration time FLOAT 0 10000 0 ms 1:1 X
constant
18.75 Speed controller output FLOAT -3.4028234e38 3.4028234e38 0 Grad/s 1:1 X
total
18.76 Position actual angle for UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
fieldbus
18.77 Position actual revolu- UDINT 0 0xFFFFFFFF 0 1:1 X
tions for fieldbus
18.78 Torque set value for OM INT -16384 16384 0 % 4000hex: X
current control 100%
nominator
nator
denominator

Document No.: 5.09022.17 of 978
Axis-independent
Cyclic Write
DS Support
Read only
Storage

denominator
quency nominator
nominator
quency denominator
denominator
18.92 Command filter calcula- UINT 0 0xFFFF 0 1:1
tion
18.93 Time feedforward w3 FLOAT 0 2 0 ms 1:1 X
18.94 w2 filter frequency nomi- FLOAT 0 10000 0 Hz 1:1 X
nator
nator
18.96 w2 filter frequency FLOAT 0 10000 0 Hz 1:1 X
denominator
denominator
19.1 Number of motors UDINT 1 2 2 1:1 X X

19.3 Motormanager status UINT 0 60 0 1:1 X
19.5 Max. drive current FLOAT 0 10000 0 A 1:1 X
actual value
19.6 Max. drive current FLOAT 0.0 10000 1.5 A 1:1 X
19.7 Max. field current ampli- FLOAT 0 10000 0 A 1:1 X
tude
19.9 Field current preset FLOAT -10000 10000 0 A 1:1 X
value
19.10 Motor nominal torque FLOAT 0.1 10000 3.5 A 1:1 X
current
19.11 Ke factor in V/Nnom FLOAT 0 1000 0 V/ 1:1 X
Nnenn
19.12 Cut-off frequency PT1- FLOAT 0.0 3000 0.0 Hz 1:1 X
filter Isq set value
19.17 Isq additive set value FLOAT -10000 10000 0.0 A 1:1 X
19.21 Isq additive set value 2 FLOAT -10000 10000 0.0 A 1:1 X
19.30 Slip frequency actual FLOAT 0.0 100 2,384615 Hz 1:1 X
temperature
19.32 Rotor time constant FLOAT 0.0 20 20 s 1:1 X
19.50 Notch position O.K. UINT 0x0 0xF 0x1 1:1 X
19.51 Current ref. for notch FLOAT 0.0 100 50 % 1:1 X
position detection

Axis-independent
Cyclic Write
DS Support
Read only
Storage
19.52 Modus motor operating UINT 0 2 0 1:1 X

mode
19.61 Delay reference current FLOAT 0 5 0 ms 1:1 X
29.1 Command UINT 0 0xffff 0 1:1 X

29.2 Status UINT 0 2 0 1:1 X
29.6 Input value FLOAT -5000000000 5000000000 0.0 1:1 X
29.7 Output Value FLOAT -5000000000 5000000000 0.0 1:1 X
29.8 Filter Order UINT 0 7 1 1:1 X
29.29 Filter cycle time FLOAT 62.5 1000 250 µs 1:1 X
frequency
nominator
nator frequency
denominator
frequency
nominator
nator frequency
denominator
frequency
nominator

Document No.: 5.09022.17 of 978
Axis-independent
Cyclic Write
DS Support
Read only
Storage

nator frequency
denominator
quency
quency
quency
quency
quency
quency
quency
47.1 Isq set value FLOAT -10000 10000 0 A 1:1 X

47.2 Isd set value FLOAT -10000 10000 0 A 1:1 X
47.3 Isq actual value FLOAT -10000 10000 0.0 A 1:1 X
47.4 Isd actual value FLOAT -10000 10000 0.0 A 1:1 X
47.5 Isq Act value filtered FLOAT -10000 10000 0.0 A 1:1 X
47.6 Isd Act value filtered FLOAT 110000 10000 0.0 A 1:1 X
47.7 Kp q-current controller FLOAT 0.0 1.0e+04 10.0 V/A 1:1 X X
4kHz
47.8 Tn q-current controller FLOAT 0.0 1.0e+04 5.0 ms 1:1 X X
47.9 Kp d-current controller FLOAT 0.0 1.0e+04 10.0 V/A 1:1 X X
4kHz
47.10 Tn d-current controller FLOAT 0.0 1.0e+04 5.0 ms 1:1 X X
47.20 Usq set value FLOAT -440 440 0.0 V 1:1 X
47.21 Usd set value FLOAT -440 440 0.0 V 1:1 X
47.22 Integral term Usq FLOAT -440 440 0.0 V 1:1 X
47.23 Integral term Usd FLOAT -440 440 0.0 V 1:1 X
47.24 Usq control output FLOAT -440 440 0 V 1:1 X
47.25 Usd control output FLOAT -440 440 0 V 1:1 X
47.26 Back-EMF feed forward FLOAT -440 440 0.0 V 1:1 X
47.27 U Alpha set value FLOAT -440 440 0.0 V 1:1 X
47.28 U Beta set value FLOAT -440 440 0.0 V 1:1 X
47.29 Control value U FLOAT 0.0 1.0 5.0e-01 1:1 X
47.30 Control value V FLOAT 0.0 1.0 5.0e-01 1:1 X

Axis-independent
Cyclic Write
DS Support
Read only
Storage
47.31 Control value W FLOAT 0.0 1.0 5.0e-01 1:1 X

47.32 Iu actual value FLOAT -10000 10000 0.0 A 1:1,414 X
47.33 Iv actual value FLOAT -10000 10000 0.0 A 1:1,414 X
47.34 Iw actual value FLOAT -10000 10000 0.0 A 1:1,414 X
47.40 PWM MSVM threshold UINT 0 100 100 % 1:1 X
47.41 Ualpha after PWM FLOAT -440 440 0 V 1:1 X
47.42 Ubeta after PWM FLOAT -440 440 0 V 1:1 X
47.43 Uq after PWM FLOAT -440 440 0 V 1:1 X
47.44 Ud after PWM FLOAT -440 440 0 V 1:1 X
47.47 Rho electrical UINT 0 65535 0 1:1
47.49 Output frequency fil- FLOAT -1e9 1e9 0 Hz 2:1 X
tered
47.50 Dead time compensa- FLOAT 0.0 2.0e+02 0.0 % 1:1 X
tion factor
47.51 Current controller mode UINT 0 65535 0 1:1 X
47.52 Iq predicted FLOAT -10000 10000 0 A 1:1 X
47.53 Id predicted FLOAT -10000 10000 0.0 A 1:1 X
47.54 back emf estimated FLOAT -440 440 0 V 1:1 X
47.55 SM Phi error FLOAT -180 180 0 Grad 1:1 X
47.65 Current controller cycle FLOAT 6.25e+01 2.5e+02 6.25e+01 µs 1:1 X
time
47.70 Alpha voltage of dead FLOAT -440 440 0 V 1:1 X
time compensation
47.71 Beta voltage of dead FLOAT -440 440 0 V 1:1 X
time compensation
52.1 Command status UINT 0 100 0 1:1

52.6 Ks result acceleration FLOAT -1.000000e+00 1,00E+09 0.000000e+00 Grad/ 1:1 X
s2/A
52.7 Ks result deceleration FLOAT -1.000000e+00 1,00E+09 0.000000e+00 Grad/ 1:1 X
s2/A
52.8 Ks measured FLOAT -1.0 1e+9 0 Grad/ 1:1 X
s2/A
52.9 Load friction factor FLOAT -10000 10000 0 A/ 1:1 X
Grad/s
52.10 Load friction FLOAT -10000 10000 0 A 1:1 X
2
52.11 Inertia measured FLOAT 0 1e+9 0 kg cm 1:1 X
52.12 Amplitude for FFT FLOAT -1e9 1e9 0 1:1
52.15 Kp identification FLOAT 0 1000000 0 1/s 1:1 X
52.16 Tn identification FLOAT 0 1000000 0 s 1:1 X

Document No.: 5.09022.17 of 978
Axis-independent
Cyclic Write
DS Support
Read only
Storage
52.17 Phase margin FLOAT 0 89 60 Grad 1:1

52.18 Angle amplitude for Ks UINT 0 0xFFFF 0 Grad 1:1
identification
52.19 Period for Ks identifica- FLOAT 0.01 100 1 s 1:1
tion
100.1 Error command UINT 0 65535 0 1:1 O

100.2 Error count UINT 0 20 0 1:1 X
100.3 Error information RE- X
CORD
100.4 Error reaction RE- X
CORD
100.5 First error UDINT 0 5000 0 1:1 X
100.7 Error communication UINT 0 0xFFFF 0 1:1 X
mode
100.8 Error reaction actual INT -5 3 -1 1:1 O
value
100.9 Error reaction set value INT -5 3 -1 1:1 O
100.11 Launch application error UDINT 0 0xFFFFFFFF 0 1:1 O
100.12 Error count RAM log UINT 0 0xFFFF 0 1:1 X
101.1 Status INT 0 5 0 1:1 X X

101.2 Command INT 0 7 0 1:1 X X
parameter Id
parameter Id
parameter Id
parameter Id
parameter Id
parameter Id
parameter Id
101.10. Channel 7 source UDINT 0 4294967295 0 ID 1:1 X
parameter Id
101.11 Trigger source parame- UDINT 0 4294967295 0 ID 1:1 X X
ter Id
101.12 Trigger mode UDINT 0 0x00000077 0 1:1 X X
101.13 Trigger axis mask UINT 0x1 0x3 0x1 1:1 X X
101.14 Trigger condition UDINT 0 0x0000003F 0 1:1 X X
101.15 Trigger compare value FLOAT -5.000000e+9 5.000000e+9 0.000000e+00 1:1 X X
101.16 Trigger compare mask UDINT 0 0xFFFFFFFF 0 1:1 X X
101.17 Trigger cause UINT 0 1999 0 1:1 X X

Axis-independent
Cyclic Write
DS Support
Read only
Storage
101.18 Sample time FLOAT 0.0000625 100 0.001 s 1:1 X X

101.19 After-Run time FLOAT 3.000000e-01 3.000000e+06 1.000000e+00 s 1:1 X X
101.20 Recording time FLOAT 1.000000e+01 3.000000e+06 1.000000e+01 s 1:1 X X
101.21 Buffer size UDINT 10000 504000 10000 DW 1:1 X X
101.22 Measure time FLOAT 0 10000 0 µs 1:1 X X
101.23 Scope buffer FLOAT -1.000000e+37 1.000000e+37 0.000000e+00 1:1 X X
101.24 Task number UINT 1 2 2 1:1 X X
102.1 Firmware number UDINT 0 0xFFFFFFFF 0 1:1 X X

102.2 Firmware version UDINT 0 0xFFFFFFFF 0 1:1 X X
102.3 Firmware type UDINT 0 4 0 1:1 X X
102.4 Firmware build number UDINT 0 0xFFFFFFFF 0 1:1 X X
102.5 Firmware name STRING 1:1 X X
102.6 Firmware version info STRING 1:1 X X
102.7 Firmware time stamp STRING 1:1 X X
102.10 System Fpga Id UDINT 0 0xFFFFFFFF 0 1:1 X X
102.11 Bootloader flags UDINT 0 0xFFFFFFFF 0 1:1 X X
102.13 Expected System Fpga UDINT 0 0xFFFFFFFF 0 1:1 X X
Id
102.14 FPGA version UDINT 0 0xFFFFFFFF 0 1:1 X X
102.15 FPGA firmware number UDINT 0 0xFFFFFFFF 0 1:1 X X
ware number
ware version
102.20 Fieldbus controller firm- STRING 1:1 X X
ware version time stamp
ware type
ware build number
102.23 Board data command UINT 0 0x1000 0 1:1 X
102.24 Board data status UDINT 0 0xFFFF 0 1:1 X X
cation
102.26 Circuit board assembly STRING 1:1 X
102.30 Controller serial number UDINT 0 0xFFFFFFFF 0 1:1 X
102.31 Controller article num- UDINT 0 0xFFFFFFFF 0 1:1 X
ber
102.32 Device serial number UDINT 0 0xFFFFFFFF 0 1:1 X

Document No.: 5.09022.17 of 978
Axis-independent
Cyclic Write
DS Support
Read only
Storage
102.33 Device article number UDINT 0 0xFFFFFFFF 0 1:1 X

102.35 Device type code STRING 1:1 X
103.1 FPGA Data DINT 0 0 0 1:1 X X
104.1 FFT command UDINT 0 4 0 1:1 O X

104.2 FFT status UDINT 0 41 0 1:1 X X
104.5 Axis configuration UINT 0 0x11 0 1:1 X X
104.6 Signal generator target UDINT 0 0xFFFFFFFF 0 ID 1:1 X X
Pxxx
104.7 Modus signal generator UDINT 0 0xFFFF 0 1:1 X O X
104.8 FFT error info DINT 0 12 0 1:1 X
104.9 FFT length DINT 64 4096 4096 1:1 X X
104.10 FFT windowing UINT 0 5 1 1:1 X X
104.11 No of average values DINT 0 20000 16 1:1 X X
104.12 Amplitude signal gener- FLOAT -1e+9 1e+9 0 1:1 X X
ator
104.13 Offset signal generator FLOAT -1e+9 1e+9 0.000000e+00 1:1 X X
104.14 Sine frequency signal FLOAT 0 8000 0 Hz 1:1 X X
generator
104.15 Generator signal FLOAT -1e+9 1e+9 0 1:1 X X
104.18 Average DINT 0 20000 0 1:1 X X
104.19 Display max. frequency FLOAT 0.000000e+00 8000 2000 Hz 1:1 X X
104.20 Display frequency reso- FLOAT 0.000000e+00 62.5 9.765625e-01 Hz 1:1 X X
lution
104.21 FFT results FLOAT 0 0 0 1:1 X X
104.22 Prbs register length UINT 0 19 19 1:1
104.23 Prbs register clock UINT 1 0xFFFF 1 1:1
105.1 Command DINT 0 10 0 1:1

105.3 Message RECOR X
D
105.4 Record name STRING 1:1 X
105.5 Record Id UDINT 0 0xFFFFFFFF 0 1:1 X
105.6 Dataset index UINT 1 7 1 1:1
105.7 ValidDatasets BIT- 1 0x7F 1 1:1 X
FIELD
105.8 DatasetSource UINT 0 7 0 1:1
105.9 DatasetDest UINT 0 7 0 1:1
105.10 Boot Mode SAF-XXX WORD 0 0xFFFF 1 1:1 X X

Axis-independent
Cyclic Write
DS Support
Read only
Storage
105.11 Name of complete STRING 1:1 X X

parameter set
105.12 Error count UINT 0 0xFFFF 0 1:1 X
105.13 Config Ident number UDINT 0 0xFFFFFFFF 0 1:1 X X
106.1 Encoder type INT 0 11 0 1:1 X

106.3 Encoder options UDINT 0 0xFFFFFFFF 0 1:1 X
106.4 Oversampling factor UINT 0 8 0 Bit 1:1 X
106.5 Encoder actual angle UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
106.6 Encoder actual revolu- UDINT 0 0xFFFFFFFF 0 1:1 X
tions
106.7 Speed display DINT 0x80000000 0x7FFFFFFF 0 Inc/ms 1:1 X
106.8 Filter time constant FLOAT 0 1000 10 ms 1:1 X
speed display
106.9 Speed display filtered FLOAT -1.000000e+09 1.000000e+09 0 Grad/s 1:1 X
angle
106.11 Encoder position actual UDINT 0 0xFFFFFFFF 0 1:1 X
revolutions
value
106.15 Revolution overflow UDINT 0 2147483647 0 1:1
counter
106.16 Revolution overflow UDINT 0 2147483647 0 1:1 X
counter max value
106.20 Offset sinus INT -2048 2047 0 1:1 X
106.21 Offset cosine INT -2048 2047 0 1:1 X
106.22 Gain sinus UINT 0 2047 1024 1:1 X
106.23 Gain cosine UINT 0 2047 1024 1:1 X
106.24 Sinus signal INT -32768 32767 0 1:1 X
106.25 Cosinus signal INT -32768 32767 0 1:1 X
106.43 Resolver mode WORD 0x0 0xFFFF 0x3 1:1 X
106.44 Resolver excitation set UINT 0 100 55 % 1:1 X
amplitude
106.45 Resolver excitation act UINT 0 100 0 % 1:1 X
amplitude
106.46 Resolver set phase off- UINT 0 0xFFFF 20 µs 1:1 X
set
106.47 Resolver actual phase UINT 0 0xFFFF 0 µs 1:1 X
offset
106.52 Resolver phase syn- UINT 0 124 0 µs 1:1 X
chronization
106.60 SSI mode UDINT 0 0xFFFFFFFF 0x00004000 1:1 X
106.61 SSI status UDINT 0 0xFFFFFFFF 0 1:1 X

Document No.: 5.09022.17 of 978
Axis-independent
Cyclic Write
DS Support
Read only
Storage
106.62 SSI bits angle UINT 0 31 12 1:1 X

106.63 SSI bits revolutions UINT 0 31 12 1:1 X
106.64 SSI angle UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
106.65 SSI revolutions UDINT 0 0xFFFFFFFF 0 1:1 X
angular phase shift
angular amplitude
106.72 State of encoder optimi- DINT 0 0xFF 0 1:1 X
zation
106.75 Maximum harmonic UINT 0 3 0 1:1 X
106.76 Amplitudes of the har- UDINT 0 0xFFFFFFFF 0 Grad 1:1 X
monics
106.77 Phases of the harmon- UDINT 0 0xFFFFFFFF 0 Grad 1:1 X
ics
106.78 Correction angle DINT 0x80000000 0x7FFFFFFF 0 Grad 1:1
106.79 Speed for calculation of FLOAT 0 3000 600 Grad/s 1:1
excentricity
106.81 DSL communication UDINT 0 0xFFFFFFFF 0 1:1 X
error counter
106.90 Encoder angle fieldbus UDINT 0 0xFFFFFFFF 0 Grad 1:1 X X
106.91 Encoder speed fieldbus FLOAT -1000000 1000000 0 Grad/s 1:1 X X
106.92 Fieldbus deadtime FLOAT 0 5 2 ms 1:1 X
106.98 SSI bits extra data MSB UINT8 0 32 0 Bit 1:1 X
106.99 SSI bits extra data LSB UINT8 0 32 0 Bit 1:1 X
parameter MSB
parameter LSB
107.1 Version UINT 0 0xFFFF 0 1:1 X

107.2 Motor type STRING 1:1 X
107.5 Nominal operation mode UINT 0 0xFFFF 0 1:1 X
107.6 Nominal power FLOAT 0 655.35 5 kW 1:1 X
107.7 Nominal speed UINT 1 65535 3000 U/min 1:1 X
107.8 Nominal voltage FLOAT 0 6553.5 0 V 1:1 X
107.9 Nominal current FLOAT 0 6553.5 3.5 A 1:1 X
107.10 Standstill current FLOAT 0 6553.5 0 A 1:1 X
107.11 Standstill torque FLOAT 0 42949672.95 0 Nm 1:1 X
107.12 Power factor FLOAT 0 1.000 0,9 1:1 X
107.13 Nominal frequency FLOAT 0 6553.5 0 Hz 1:1 X
107.14 Magnetic current FLOAT 0 6553.5 0.01 A 1:1 X

Axis-independent
Cyclic Write
DS Support
Read only
Storage
107.15 Slip frequency cold FLOAT 0 655.35 2 Hz 1:1 X

107.16 Slip frequency warm FLOAT 0 655.35 3 Hz 1:1 X
107.17 Slip temperature cold UINT 0 655 0 Grad 1:1 X
C
107.18 Slip temperature warm UINT 0 655 100 Grad 1:1 X
C
107.19 Pole pairs UINT 1 65535 3 1:1 X
107.20 Ke factor FLOAT 0 6553.5 20 V/ 1:1 X
1000U
/min
107.21 Max current FLOAT 0 6553.5 0 A 1:1 X
107.22 Peak torque FLOAT 0 42949672.95 0 Nm 1:1 X
107.23 Friction moment FLOAT 0 655.35 0 Nm 1:1 X
107.24 Attenuation factor FLOAT 0 655.35 0 Nm/ 1:1 X
1000U
/min
107.25 Max speed electr. UINT 0 65535 0 U/min 1:1 X
107.26 Max speed mech. UINT 0 65535 0 U/min 1:1 X
107.27 Max temperature UINT 0 250 150 Grad 1:1 X
C
107.28 Time constant i2t UINT 0 65535 100 s 1:1 X
107.29 Stator resistance FLOAT 0 1000.000 0.5 Ohm 1:1 X
107.30 Stator leakage induc- FLOAT 0 655.35 0 mH 1:1 X
tance
107.31 Rotor resistance FLOAT 0 4294967.295 0 Ohm 1:1 X
107.32 Rotor leakage induc- FLOAT 0 655.35 0 mH 1:1 X
tance
107.33 Magnetizing inductance FLOAT 0 655.35 40 mH 1:1 X
107.34 Lq inductance FLOAT 0 655.35 2.5 mH 1:1 X
107.35 Ld inductance FLOAT 0 655.35 1.7 mH 1:1 X
107.36 Inertia of motor FLOAT 0 42949672.95 0 kg* 1:1 X
cm2
107.37 Temperture sensor type UINT 0 0xFFFF 0 1:1 X
107.38 Motor flags UINT 0 0xFFFF 1 1:1 X
107.39 Gear factor UINT 0 0xFFFF 0x0101 1:1 X
motor:encoder
107.40 Brake nominal voltage FLOAT 0 6553.5 0 V 1:1 X
107.41 Brake torque FLOAT 0 6553.5 0 Nm 1:1 X
107.42 Inertia of brake FLOAT 0 42949672.95 0 kg* 1:1 X
cm2
107.43 Nominal torque FLOAT 0 90000.00 0 Nm 1:1 X
107.44 Kt factor FLOAT 0 1000.00 0 Nm/A 1:1 X
107.67 Pole pitch UDINT 1 0xFFFFFFFF 16 mm 1:1 X

Document No.: 5.09022.17 of 978
Axis-independent
Cyclic Write
DS Support
Read only
Storage
107.68 Load inertia FLOAT 0 42949672.95 0 kg* 1:1 X

cm2
107.72 Continuous current limit FLOAT 0 0xFFFFFFFF 0 A 1:1 X
curve
108.1 Control word 1 WORD 0 0xFFFF 0 1:1 X

108.2 Control word 1 SER- WORD 0 0xFFFF 0 1:1 X
COS
108.3 Status word 1 WORD 0 0xFFFF 0x0020 1:1 X
108.4 Status word 1 SERCOS WORD 0 0xFFFF 0 1:1 X
108.5 Status word 2 DWORD 0 0xFFFFFFFF 0 1:1 X
108.6 Drive status UINT 0 15 0 1:1 X
108.7 Comm. source WORD 0 0x7F 1 1:1 X O
108.8 Status dig. inputs drive WORD 0 0xFFFF 0 1:1 X
manager
tusbit 14
tusbit 15
108.13 QUICK STOP reaction INT 0 8 0 1:1 X X
code
108.14 SHUTDOWN reaction INT 0 3 0 1:1 X X
code
108.15 DISABLE OPERATION INT 0 3 0 1:1 X X
reaction code
108.16 Status internal limits DWORD 0 0xFFFFFFFF 0 1:1 X
108.17 Mask for status internal DWORD 0 0xFFFFFFFF 0x000000FF 1:1 X X
limit
108.18 Delay for quickstop UINT 0 65535 0 ms 1:1 X
input
108.19 Time for reducing torque FLOAT 0 8 0 s 1:1 X
108.20 Parking Shaft Control UINT 0 2 0 - 1:1 O
Word
108.21 Parking Shaft Status WORD 0 0xFFFF 0 1:1 X
Word
109.1 Operation Mode Set INT -13 6 -3 1:1 X X
109.2 Operation Mode Act INT -13 6 -3 1:1 X

110.2 Mode DWORD 0 0xFFFFFFFF 0x20 1:1 X X X
110.3 Output DINT -1073741824 1073741824 0 % 400000 X
00hex:
100%

Axis-independent
Cyclic Write
DS Support
Read only
Storage
110.4 Input 32 bit DINT -1073741824 1073741824 0 % 400000 X X X

00hex:
100%
100%
110.6 Ramp-up time UDINT 0 650000 0 ms 1:1 X X X
110.7 Ramp-down time UDINT 0 650000 0 ms 1:1 X X X
110.8 Quick stop time UDINT 0 650000 0 ms 1:1 X X O
110.9 S-curve ramp-up time UDINT 0 650000 0 ms 1:1 X X X
110.10 S-curve ramp-down time UDINT 0 650000 0 ms 1:1 X X X
110.11 Smoothing UINT 0 32767 0 ms 1:1 X X
110.12 Set value zone UDINT 0x0 0x80000000 0 % 400000 X X
00hex:
100%
110.13 Maximum drive speed FLOAT 1 1.000000e+06 3000 U/min 1:1 X
110.14 Output acceleration FLOAT -5000000000 5000000000 0 Inc/ 1:1 X
ms²
110.15 Input max. amount UDINT 0 1073741824 1073741824 % 400000 X X X
00hex:
100%
110.16 Input min. amount UDINT 0 1073741824 0 % 400000 X X X
00hex:
100%
110.17 Input 32 bit additive DINT -1073741823 1073741823 0 % 400000 X X X
00hex:
100%
110.20 Controlled stop time UDINT 0 65000 1000 ms 1:1 X X O
110.21 SS1 stop time UDINT 0 650000 0 ms 1:1 X X O
110.22 Active cycle time ramp FLOAT 0 8.0 1 ms 1:1 X
generator
111.1 Status WORD 0x0000 0xFFFF 0x0000 1:1 X

111.2 Position set value rev UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
SetValMgr
111.3 Position set value angle UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
SetValMgr
111.4 Speed set value Set- DINT 0x80000000 0x7FFFFFFF 0 Inc/ms 1:1 X
ValMgr
111.5 Acceleration set value DINT 0x80000000 0x7FFFFFFF 0 Inc/ 1:1 X
SetValMgr ms²
111.6 Interpolation mode UINT 0 4 1 1:1 X O
111.7 External speed feedfor- FLOAT -180000 180000 0 Grad/s 1:1 X
ward
111.8 External acceleration FLOAT -2147483647 2147483647 0 Grad/ 1:1 X
feedforward s2
111.9 Jerk set value Set- DINT 0x80000000 0x7FFFFFFF 0 Inc/ 1:1 X
ValMgr ms3

Document No.: 5.09022.17 of 978
Axis-independent
Cyclic Write
DS Support
Read only
Storage
114.1 DC link controller set FLOAT 10 850 850 V 1:1 X

value
114.2 Kp DC link controller FLOAT 0.001 256 0.01 1/V 1:1 X
114.3 Tn of DC link controller FLOAT 0 1000 0.2 ms 1:1 X
114.5 Iq upper limit DC link ctrl FLOAT 0 10000 10000 A 1:1 X
114.6 Iq lower limit DC link ctrl FLOAT -10000 0 -10000 A 1:1 X
114.7 Speed threshold for FLOAT 0 1e9 600000 Grad/s 1:1 X
block shape current
114.8 Flux threshold FLOAT 0 1 0.5 % 1:100 X O
114.9 DC link voltage hystere- FLOAT 0 100 0 V 1:1 X
sis
114.10 Factor maximum volt- FLOAT 0 1 0.99 1:1 X O
age for Id-brake
114.11 Reactive current control- FLOAT 0 1 1 1:1 X
ler output
114.12 Minimal value reactive FLOAT 0 1 0 1:1 X O
current
116.1 Status digital inputs DWORD 0 0xFFFFFFFF 0 1:1 X X

input 1
1
input 2
2
input 3
3

Axis-independent
Cyclic Write
DS Support
Read only
Storage

input 4
4
input 5
5
input 6
6
input 7
7

Document No.: 5.09022.17 of 978
Axis-independent
Cyclic Write
DS Support
Read only
Storage

input 8
8
117.1 Status digital outputs DWORD 0 0xFFFFFFFF 0 1:1 X X

output 1
put 1
ital output 1
output 2
put 2
ital output 2
output 3
put 3
ital output 3
117.17 Mode digital output 4 UINT 0 0xFFFF 0 1:1 X X
output 4
put 4
ital output 4
117.22 Mode DWORD 0 0xFFFFFFFF 0 1:1 X X X
117.23 Bit mask digital outputs WORD 0 0xF 0 1:1 X X

118.2 Mode DWORD 0x0 0xFFFFFFFF 0x0 1:1 X O

Axis-independent
Cyclic Write
DS Support
Read only
Storage
value
value ms²
118.6 Record number actual UINT 0 16 0 1:1 X X
118.9 Target position UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X X
118.10 Target mode INT -2 17 0 1:1 X X
118.11 Speed UDINT 1 65535 100 Inc/ms 1:1 X X
118.12 Acceleration UDINT 7 65535 200 Inc/ 100:1 X X
ms²
118.13 Deceleration UDINT 7 65535 200 Inc/ 100:1 X X
ms²
118.14 Jerk UDINT 7 65535 25 Inc/ 100:1 X X
ms³
118.15 Smoothing time UINT 0 8191 0 ms 1:1 X X
118.16 Relative target position DINT -2147483648 2147483647 0 Inc 1:1 X X
118.17 Remaining distance UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
118.18 Timeout UINT 0 65535 1000 ms 1:1 X
118.19 Positioning Records RE- X
CORD
118.20 Modulo value UDINT 0x00010000 0xFFFFFFFF 0xFFFFFFFF Inc 1:1 X
118.21 Positioning duration UDINT 0 0xFFFFFFFF 0 ms 1:1 X

119.2 Mode UINT 0x0 0xFFFF 0 1:1 X
119.3 Jogging speed UDINT 0 65535 100 Inc/ms 1:1 X O
119.4 Jogging acceleration UDINT 7 65535 200 Inc/ 100:1 X O
ms²
119.5 Jogging deceleration UDINT 7 65535 200 Inc/ 100:1 X O
ms²
119.6 Jogging maximum jerk UDINT 7 65535 25 Inc/ 100:1 X
ms³
value
value ms²

120.3 Home position UDINT 0x0 0xFFFFFFFF 0x00020000 Inc 1:1 X O
120.4 Homing method INT -10 35 1 1:1 X X
120.5 Homing speed UDINT 1 65535 500 Inc/ms 1:1 X

Document No.: 5.09022.17 of 978
Axis-independent
Cyclic Write
DS Support
Read only
Storage
120.6 Homing final speed UDINT 1 65535 10 Inc/ms 1:1 X

120.7 Homing acceleration UDINT 7 65535 200 Inc/ 100:1 X
ms²
120.8 Homing deceleration UDINT 7 65535 200 Inc/ 100:1 X
ms²
120.9 Homing maximum Jerk UDINT 7 65535 25 Inc/ 100:1 X
ms³
120.10 Homing encoder offset UINT 0x0 0xFFFF 0x0 Inc 1:1 X
120.11 Homing blocking time UINT 1 65535 100 s 100:1 X
120.12 Homing torque current UINT 0 10000 2500 % 100:1 X
limit
value ms²
120.15 Encoder angle at refer- UDINT 0 0xFFFFFFFF 0 1:1 X
ence switch
120.16 Homing max. position DINT 0 0x7FFFFFFF 0 Inc 1:1 X O
delta to zero pulse
120.17 Command UDINT 0 1 0 1:1
121.1 Positioning general WORD 0x0 0xFFFF 0x0 1:1 X

mode
121.2 Staus limit switch WORD 0x0 0xFFFF 0x0 1:1 X
121.3 Negative SW limit UDINT 0 0xFFFFFFFF 0x00010000 Inc 1:1 X
Switch
121.4 Positive SW limit switch UDINT 0 0xFFFFFFFF 0xFFFF0000 Inc 1:1 X
121.5 Positioning window UDINT 0 0xFFFFFFFF 0x1000 Inc 1:1 X
121.6 Positioning window time UINT 0 65535 10 ms 1:1 X
121.7 Feedrate override UINT 0 65535 10000 % 100:1 X X
121.8 Stop Delay UDINT 7 65535 200 Inc/ 100:1 X
ms²
121.9 Positioning position UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
actual value
121.10 Maximum Position UDINT 0x0 0xFFFFFFFF 0xFFFFFFFF Inc 1:1 X
Value
121.11 Speed limit UDINT 1 65535 3276 Inc/ms 1:1 X O
121.12 Position actual value UDINT 0 0xFFFFFFFF 0 Inc 1:1
revolutions with over-
flows
121.13 Input revolutions of load UDINT 1 0x7FFFFFFF 1 1.1 X
gear
121.14 Output revolutions of UDINT 1 0x7FFFFFFF 1 1:1 X
load gear
121.15 Modulo revolutions UDINT 0 0x7FFFFFFF 1 1:1 X
121.16 Rotation position resolu- UDINT 0 0x7FFFFFFF 3600000 1:1 X
tion

Axis-independent
Cyclic Write
DS Support
Read only
Storage
121.17 Modulo position actual UDINT 0 0xFFFFFFFF 0 1:1 X

value
121.19 Speed actual value load FLOAT -2147483648 2147483647 0 Grad/s 1:1 X
basis
121.20 Coarse position window UDINT 0 0xFFFFFFFF 0x2000 Inc 1:1 X
121.21 Command positive stop WORD 0x0 0x1 0x0 1:1 X
drive
121.22 Status positive stop WORD 0x0 0xFFFF 0x0 1:1 X
drive
121.23 Mode positive stop drive WORD 0 0xFFFF 0 1:1 X
121.24 Positive stop position UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
121.25 Monitoring window posi- UDINT 0x0 0x7FFFFFFF 0x1000 Inc 1:1 X
tive stop drive
121.26 Offset modulo position DINT 0x80000000 0x7FFFFFFF 0x0 1:1 X
actual value
121.27 Command value mode WORD 0 0xFFFF 0x0002 1:1 X
121.30 Position error load basis DINT -2147483648 2147483647 0 1:1 X

122.3 Master position revolu- UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
tions
122.4 Master position angle UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
122.5 Active cam segment UINT 0x0 0xFFFF 0x0 1:1 X
122.6 Sequence change start UDINT 0x0 0xFFFFFFFF 0x0 1:1 X
122.7 Start cam segment UINT 0 0xFFFF 0 1:1 X
revolution
angle
122.10 Start position slave rev- UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
olution
122.11 Start position slave UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
angle
122.12 Maximum speed syn- UDINT 1 65535 100 Inc/ms 1:1 X
chronization
synchronization ms2
synchronization ms2
122.15 Maximum jerk synchro- UDINT 7 65535 25 Inc/ 100:1 X
nization ms3
122.16 Master standstill thresh- FLOAT 0 1.000000e+06 10.0 1:1 X
old
122.17 Target position offset DINT 0x80000000 0x7FFFFFFF 0 Inc 1:1 X

Document No.: 5.09022.17 of 978
Axis-independent
Cyclic Write
DS Support
Read only
Storage
122.18 Maximum speed offset UDINT 1 65535 100 Inc/ms 1:1 X

offset ms2
offset ms2
122.21 Maximum jerk offset UDINT 7 65535 25 Inc/ 100:1 X
ms3
122.22 Curve segments RE- 1:1 X X
CORD
122.23 Curve name STRING 1:1 X
122.24 Segment count UDINT 0 0xFFFFFFFF 0 1:1 X
122.25 Master speed DINT 0x80000000 0x7FFFFFFF 0 Inc/ms 1:1 X
122.26 Smoothing time con- FLOAT 0 500 0 ms 1:1 X
stant master position
revolutions 1
angle 1
olutions 1
angle 1
revolutions 2
angle 2
olutions 2
angle 2
122.41 Sequence change target UDINT 0x0 0xFFFFFFFF 0x0 1:1 O
122.42 Numerator gear factor INT -32768 32767 1 1:1 X X
122.43 Denominator gear factor UINT 1 0x7FFF 1 1:1 X
123.1 Mode UDINT 0 0xffffffff 1 1:1 X

123.2 Status UDINT 0 22 0 1:1 X
123.4 Display max. current FLOAT 0 10000 0.000000e+00 A 1:1 X
123.6 Stator resistance mea- FLOAT 0.0 100 1.7 Ohm 1:1 X
sured
123.7 Inductance measured FLOAT 0.0 10000 6.4 mH 1:1 X
123.8 Result current controller FLOAT 0.0 1000 0.0 V/A 1:1 X
Kp
123.9 Result current controller FLOAT 0.0 1000 0.0 ms 1:1 X
Tn

Axis-independent
Cyclic Write
DS Support
Read only
Storage
123.10 Parameters takeover DINT 0 15 0 1:1 X

123.12 Time constant of step FLOAT 0 10000 0 ms 1:1 X
response
123.14 Normalized Error FLOAT 0 100 0 % 1:1 X
123.15 Dead time compensa- FLOAT -100 100 0 V 1:1 X
tion table
123.33 Magnetization induc- FLOAT 0.0 100.0 1 1:1 X

tance look up table
123.35 Result Rr FLOAT 0 100 0 Ohm 1:1 X
123.39 Speed for Lh identifica- FLOAT 0 0xFFFFFFFF 30 % 1:1 X

tion
124.1 Configuration mode DWORD 0 0xFFFFFFFF 0 1:1 X X

124.2 Activation command WORD 0 0xFFFF 0 1:1 O X
124.3 Status DWORD 0 0xFFFFFFFF 0 1:1 X X
124.4 Status 2 DWORD 0 0xFFFFFFFF 0 1:1 X X
olutions
input TP1 pos. edge
angle
input TP1 neg. edge
revolutions
input TP1 neg. edge
angle
olutions
input TP2 pos. edge
angle
input TP2 neg. edge
revolutions
input TP2 neg. edge
angle
tions
tions

Document No.: 5.09022.17 of 978
Axis-independent
Cyclic Write
DS Support
Read only
Storage

olutions
input TP1 pos. edge
angle
input TP1 neg. edge
revolutions
input TP1 neg. edge
angle
olutions
input TP2 pos. edge
angle
input TP2 neg. edge
revolutions
input TP2 neg. edge
angle
tions
tions
124.30 DS402 mode UDINT 0 0xFFFFFFFF 0x00100100 1:1 X
pos. value
neg. value
pos. value
neg. value

parameter Id
parameter Id

Axis-independent
Cyclic Write
DS Support
Read only
Storage
125.3 Visu command UINT 0 1 0 1:1 X X

125.4 Visu status UINT 0 1 0 1:1 X X
125.5 Channel axis UINT 0 0xF 0 1:1 X X
125.7 Visu task No UINT 0 3 3 1:1 X X
125.8 General scaling FLOAT -5000000000 5000000000 1.000000e+00 Unit/V 1:1 X X
125.9 Force scaling FLOAT 0 2147483648 1.000000e+00 N/V 1:1 X X
125.10 Current scaling FLOAT -5000000000 5000000000 1.000000e+00 A/V 1:1 X X
125.11 Voltage scaling FLOAT -5000000000 5000000000 1.0 V/V 1:1 X X
125.12 Position scaling FLOAT -5000000000 5000000000 3.600000e+01 Unit/V 1:1 X X
125.13 Speed scaling FLOAT -5000000000 5000000000 1.000000e+03 Unit/V 1:1 X X
125.14 Acceleration scaling FLOAT -5000000000 5000000000 4 Unit/V 1:1 X X
125.15 Torque scaling FLOAT -5000000000 5000000000 1 Nm/V 1:1 X X
125.16 Visu FPGA UDINT 0x00000000 0xFFFFFFFF 0 1:1 X
125.17 Test signal amplitude FLOAT 0 5000000000 0 V 1:1 X
1
2
125.22 Test signal FLOAT -5000000000 5000000000 0 V 1:1 X
125.29 Calibration configuration UDINT 0 4294967295 0 1:1 X X
126.1 Parameter Int16_1 INT -32768 32767 0 1:1 X X

126.21 Parameter Uint16_1 UINT 0 0xFFFF 0 1:1 X X
126.41 Parameter Int32_1 DINT -2147483647 2147483647 0 1:1 X X
126.61 Parameter Uint32_1 UDINT 0 0xFFFFFFFF 0 1:1 X X

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Axis-independent
Cyclic Write
DS Support
Read only
Storage

126.81 Parameter Float_1 FLOAT -5000000000 5000000000 0 1:1 X X
127.1 Init.Pos.Detection INT 0 3 0 1:1 X

Method
127.4 Max. current notch posi- FLOAT 0 20000 0 A 1:1 X
tion
127.5 Current rise FLOAT 0.001 1000 1 A/s 1:1 X
127.6 Current drop FLOAT 0.001 1000 5 A/s 1:1 X
127.7 Duration constant cur- FLOAT 0 10 1 s 1:1 X
rent
127.8 Notch position electrical UINT 0 0xFFFF 0 Grad 1:1 X
127.9 Maximum angle UINT 1 0xFFFF 0x005b Inc 1:1 X
127.10 Angle rising UINT 1 0xFFFF 1 Inc/ms 1:1 X
127.11 Error limit mech. delta UINT 1 0xFFFF 0x5B0 Inc 1:1 X
angle
127.12 Averaging zero speed UINT 1 1024 100 1:1 X
detection
127.13 Actual value mech. delta INT -32767 32767 0 Inc 1:1 X
angle
128.1 Motor temperature sta- UINT 0 0xFFFF 0 1:1 X

tus
128.2 Temperature acquisition UINT 0 0xFFFF 0 1:1 X
system
128.3 Motor temperature DINT -50 300 0 °C 1:1 X
128.7 Motor temperature hys- INT 0 5 5 °C 1:1 X
teresis
129.3 Hardware id STRING 1:1 X

129.5 Current scaling gain FLOAT 0 10000 1,1862 1:1 X
129.6 DC scaling gain FLOAT 0 10000 1,03885 1:1 X
129.7 Main voltage scaling FLOAT 0 10000 0 1:1 X
gain
129.8 Current converter con- UDINT 0 0xFFFFFFFF 0 1:1 X
figuration
129.9 IGBT dead time FLOAT 2.0 10.0 4.0 µs 1:1 X
129.10 Min pulse suppression FLOAT 0 10 2 µs 1:1 X
129.11 Current sampling time UINT 0 0xFFFF 250 1:1 X
offset

Axis-independent
Cyclic Write
DS Support
Read only
Storage

129.13 Nominal current 4 kHz FLOAT 0 1000.0 3 A 1:1 X
129.20 Overcurrent threshold FLOAT 0 2000.0 16.6 A 1:1 X
129.21 Max. DC-link voltage FLOAT 10 1000.0 835.0 V 1:1 X
129.22 Max peak current time UINT 0 0xFFFF 10.00 s 100:1 X
129.24 Time phase error UINT 0 0xFFFF 0 ms 1:1 X
129.25 Current phase error FLOAT 0 1000.0 0 A 1:1 X
129.26 Max heat sink tempera- UINT 0 0xFFFF 85 Grad 1:1 X
ture C
129.27 Max ambience tempera- UINT 0 0xFFFF 65 Grad 1:1 X
ture C
129.41 Max. ground current FLOAT 0.16 450.0 3.0 A 1:1 X
129.42 Min. DC-link voltage FLOAT 10 1000.0 10.0 V 1:1 X
129.44 Firmware version UINT 0x0000 0xFFFF 0 1:1 X X
129.45 Power factor UINT 0x0000 0xFFFF 0x0013 1:1 X X
129.46 PU Serial number UDINT 0 0xFFFFFFFF 0 1:1 X
129.47 Amp type code STRING 1:1 X
129.48 Data configuration UINT 0 0xFF 0 1:1 X
129.49 Amp article number UDINT 0 0xFFFFFFFF 0 1:1 X
129.62 Maximum charging cur- UINT 0 1000 40 A 1:1
rent peak
129.64 Charging blocking time UINT 0 0xFFFF 10 s 1:1 X
129.92 Fan configuration UINT 0 0xFFFF 0 1:1 X
130.1 Heat sink temperature FLOAT 0 1000 0 °C 1:1 X

130.2 Interior temperature FLOAT 0 1000 0 °C 1:1 X
130.3 DC link actual voltage FLOAT 10 1000 10 V 1:1 X
130.8 Mains voltage FLOAT 0.0e+0 1000 0.0e+0 V 1:1 X
130.9 Fan mode UINT 0x0000 0x3 0x0001 1:1 X
130.12 Heatsink temperature UINT 0 0xFFFF 75 °C 1:1 X
warning threshold

Document No.: 5.09022.17 of 978
Axis-independent
Cyclic Write
DS Support
Read only
Storage
130.13 Interior temperature UINT 0 0xFFFF 55 °C 1:1 X

warning threshold
130.15 PWM frequency UINT 2 16 8 kHz 1:1 X O
130.18 I offset phase U FLOAT -2.56e+02 2.56e+02 0.0 A 1:1.414 X
130.19 I offset phase V FLOAT -2.56e+02 2.56e+02 0.0 A 1:1.414 X
130.20 I offset phase W FLOAT -2.56e+02 2.56e+02 0.0 A 1:1.414 X
130.24 Phase error delay time UINT 0 65535 0 ms 1:1 X
130.25 Mains failure delay UINT 0 6000 0 ms 1:1 X
130.29 Chopper threshold FLOAT 300 780 780 V 1:1 X X
130.34 Status STO module UINT 0 0xFFFF 0 1:1 X
130.35 Mains failure detection UDINT 0 0xFFFFFFFF 0 1:1 X X
mode
130.36 Relative Udc threshold FLOAT 10 90 80 % 1:1 X X
for mains failure
130.37 Udc threshold for mains FLOAT 10 1000 450 V 1:1 X X
failure
130.38 Udc hysteresis for FLOAT 10 500 50 V 1:1 X X
mains failure
130.39 Udc autodetect FLOAT 0 1000 0 V 1:1 X X
130.40 Operation time UDINT 0 0xFFFFFFFF 0 s 1:1 X
130.41 Actual PWM frequency UINT 2 16 8 kHz 1:1 X

131.2 State WORD 0 0xFFFF 0 1:1 X
131.3 Producer List UDINT 0 0xFFFFFFFF 0 1:1 X X
131.4 Consumer List UDINT 0 0xFFFFFFFF 0 1:1 X X
131.5 Producer Counter UDINT 0 0xFFFFFFFF 0 1:1 X
131.6 Consumer Counter UDINT 0 0xFFFFFFFF 0 1:1 X
131.7 Last Producer Index UINT 0 0xFFFF 0 1:1 X
131.8 Last Consumer Index UINT 0 0xFFFF 0 1:1 X
131.9 Slave Settings DWORD 0 0xFFFFFFFF 0 1:1 X X
131.10 Slave info UDINT 0 0xFFFFFFFF 0 1:1 X X
131.11 MAC Address STRING 1:1 X
131.12 Base IP address UDINT 0 0xFFFFFFFF 0xC0A80000 1:1 X X
131.13 DIP switch settings UDINT 0 0xFFFFFFFF 0 1:1 X X
131.14 Software IP address UDINT 0 0xFFFFFFFF 0 1:1 X X
131.15 Actual IP address UDINT 0 0xFFFFFFFF 0 1:1 X X
131.16 Gateway UDINT 0 0xFFFFFFFF 0 1:1 X X
131.17 Subnet mask UDINT 0 0xFFFFFFFF 0xffff0000 1:1 X X
131.18 Fieldbus cycle time UDINT 125000 8000000 1000000 ns 1:1 X X
131.19 Slave error code UDINT 0 0xFFFFFFFF 0 1:1 X X
131.20 Division ratio fieldbus UINT 1 32 1 X X
task

Axis-independent
Cyclic Write
DS Support
Read only
Storage
131.21 Configuration profile 1 DWORD 0 0xFFFFFFFF 0x0 1:1 X X

131.22 Fieldbus type WORD 0 0xFFFF 0 1:1 X
131.23 Options DWORD 0 0xFFFFFFFF 0 1:1 X X
131.24 Profinet device name UINT 0 0xFF 0 1:1 X X
actual values
set values
bus actual values
bus set values

132.3 Output FLOAT -5000000000 5000000000 0 1:1 X
132.4 Target number output UDINT 0 0xFFFFFFFF 0 1:1 X
132.10 Set value 1 FLOAT -5000000000 5000000000 0 1:1 X
132.12 Set value 2 FLOAT -5000000000 5000000000 0 1:1 X
132.14 Set value 3 FLOAT -5000000000 5000000000 0 1:1 X
132.16 Set value 4 FLOAT -5000000000 5000000000 0 1:1 X
133.1 Mode sensorless UINT 0 0xffff 0 1:1 X

133.4 Bandpass bandwidth FLOAT 1 500.0 50.0 Hz 1:1 X
133.5 Injection Kp FLOAT -1.000000e+10 1.000000e+10 80 1/s 1:1 X
133.9 2nd Harmonic rate FLOAT 0 100.0 0 % 1:1 X
133.10 2nd Harmonic min.rate FLOAT 0 100 5 % 1:1 X
133.11 Carrier current Id FLOAT -1.000000e+10 1.000000e+10 0 A 1:1 X
133.12 Carrier current Iq FLOAT -1.000000e+10 1.000000e+10 0 A 1:1 X
133.14 Status motor operating DINT 0 10 0 1:1 X

mode
133.15 Injection Tn FLOAT 0.1 1e10 4 ms 1:1 X

133.16 Voltage model Tn FLOAT 0.01 1e5 4 ms 1:1 X
133.17 Current dependent cor- FLOAT -1000 1000 1 1:1 X
rection
133.18 Estimated speed FLOAT -1e10 1e10 0 Grad/s 1:1 X

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Axis-independent
Cyclic Write
DS Support
Read only
Storage
133.19 Speed threshold FLOAT 5 6000000 1200 Grad/s 1:1 X

133.20 Speed filter FLOAT 0 10000 2 ms 1:1 X
133.22 Current FLOAT 0 100000 0.5 A 1:1 X X
133.25 Time for notch psition FLOAT 0.1 5 3 s 1:1 X
133.28 Minimum speed torque FLOAT 0 10000 60 Grad/s 1:1 X
monitoring
133.30 Deviation voltage model FLOAT -10000 10000 0 1:1
133.31 Deviation injection FLOAT -10000 10000 0 1:1
133.41 Anisotropy FLOAT 0 50000000 0 A 1:1 X
133.51 Saliency ratio FLOAT 0 1 0.1 1:1 X
133.55 Damping factor FLOAT -1e6 1e6 0 1:1 X O
133.58 Time constant fast FLOAT 0 10000 1 ms 1:1 X
damping filter
133.59 Time constant slow FLOAT 0 100 1 s 1:1 X
damping filter

134.3 Control automatic DWORD 0 0xFFFFFFFF 0 1:1 X
134.4 Command WORD 0 0xFFFF 0 1:1 X
134.5 Torque limit FLOAT -1.00E+06 1.00E+06 0 Nm 1:1 X O
134.6 Speed limit FLOAT 0 1.00E+06 90 Grad/s 1:1 X
134.7 Timeout check-back sig- UINT 0 1000 1000 ms 1:1 X
nal
134.8 Pulse inhibit delay UINT 0 1000 500 ms 1:1 X
134.9 Start of motion delay UINT 0 1000 500 ms 1:1 X
134.10 Opening delay UINT 0 1000 0 ms 1:1 X
135.1 Mode Error Display UDINT 0 0xFFFFFFFF 0x1010000 1:1 X

136.2 Mode WORD 0x0 0xFFFF 0x0004 1:1 X O
136.3 Target position UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
136.4 Position offset DINT 0x80000000 0x7FFFFFFF 0x0 Inc 1:1 O
136.5 Target angle UDINT 0x0 0xFFFFFFFF 0x0 Inc 1:1 X
136.6 Angle offset DINT 0x80000000 0x7FFFFFFF 0x0 Inc 1:1 O
136.7 Offset speed DINT 0x80000000 0x7FFFFFFF 0 Inc/ms 1:1 O
value
value ms²
136.11 Active interpolation UINT 125 32000 1000 µs 1:1 X
interval
136.12 Output angle set value UDINT 0 0xFFFFFFFF 0x0 Inc 1:1 X

Axis-independent
Cyclic Write
DS Support
Read only
Storage
136.13 Smoothing time posi- FLOAT 0 32 0 ms 1:1 X

tion set value
136.14 Speed set value unlim- DINT 0x80000000 0x7FFFFFFF 0 Inc/ms 1:1 X
ited
136.15 Output speed set value DINT 0x80000000 0x7FFFFFFF 0 Inc/ms 1:1 X
32-bit
137.1 Number of pulses UDINT 0 524288 1024 1:1 X

137.2 Number of revolutions UINT 0 0xFFFF 1 1:1 X
137.3 Encoder data selection UINT 0 0xFFFF 4 1:1 X
137.4 BM-OEM notch position UINT 0 0xFFFF 0 1:1
mechanical
137.5 M0-Offset angle UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
137.6 M0-Offset revolution UDINT 0 0xFFFFFFFF 0 1:1 X
137.7 M0-Sector position initi- DINT -2147483648 2147483647 0 1:1
ator
137.8 Encoder operation time UDINT 0 0xFFFFFFFF 0 1:1
137.9 Time first commission- UDINT 0 0xFFFFFFFF 0 1:1
ing
137.10 Time last refresh UDINT 0 0xFFFFFFFF 0 1:1
137.20 Type name STRING 1:1 X
137.21 Serial number STRING 1:1 X
137.22 Firmware version STRING 1:1 X
137.23 Firmware date STRING 1:1 X
137.24 Eprom capacity UINT 0 0xFFFF 0 Byte 1:1 X
137.25 Data storage capacity UINT 0 0xFFFF 0 Byte 1:1 X
137.26 Defined fields UINT 0 128 0 1:1 X
137.27 Data field status UINT 0 0xFFFF 0 1:1 X
137.28 Digital resolution UINT 0 0xFFFF 0 Bit 1:1 X
137.29 Position format UINT 0 0xFFFF 0 Bit 1:1 X
137.30 Instruction set UINT 0 0xFFFF 0 1:1 X
137.31 Resolution of revolu- UINT 0 0xFFFF 0 Bit 1:1 X
tions
137.32 Angle resolution UINT 0 0xFFFF 0 Bit 1:1 X
137.33 Signal length UDINT 0 0xFFFFFFFF 0 nm 1:1 X
137.34 Measure step UDINT 0 0xFFFFFFFF 0 nm 1:1 X
137.36 Alarm mask UINT 0 0xFFFF 0 1:1 X
137.37 Alarm buffer UINT 0 0xFFFF 0 1:1 X
137.38 Warning mask UINT 0 0xFFFF 0 1:1 X
137.39 Warning buffer UINT 0 0xFFFF 0 1:1 X

Document No.: 5.09022.17 of 978
Axis-independent
Cyclic Write
DS Support
Read only
Storage
138.1 Mode of Iq limit UINT 0 0xffff 0 1:1 X

138.2 Iq limit motor/TD1 FLOAT 0 100 100 % 1:1 X O
138.3 Iq limit generator/TD2 FLOAT 0 100 100 % 1:1 X O
138.4 Quadrant hysteresis Iq FLOAT 0 100 5 % 1:1 X
limit
138.5 Motor quadrant UINT 0 4 0 1:1 X
138.6 Iq upper limit FLOAT 0 10000 1.5 A 1:1 X
138.7 Iq lower limit FLOAT -10000 0 -1.5 A 1:1 X
138.8 Bitmask of external UINT 0 0xFF 0 Bits 1:1 X
drive current limit
drive current
field current amplitude
138.11 Iq set value before notch FLOAT -10000 10000 0 A 1:1 X
filter
138.12 Center frequency Iq set FLOAT 0 8000 0 Hz 1:1 X
value notch filter
138.13 Bandwidth Iq set value FLOAT 0 4000 50 Hz 1:1 X
notch filter
138.14 Iq limit bipolar cyclic UINT 0 16384 16384 % 4000hex O
:100%
138.15 Iq limit bipolar FLOAT 0 100 100 % 1:1 X
138.16 Speed threshold for FLOAT 0 1e9 0 U/min 1:1 X
breakdown torque limit
138.17 Factor for breakdown FLOAT 0 1.41 0.9 1:1 X
torque
138.18 Iq limit breakdown FLOAT 0 1e9 0 A 1:1 X
torque
138.20 Max. torque actual value UDINT 0 0xFFFFFFFF 0 Nm 1000:1 X
138.21 Torque display DINT 0x80000000 0x7FFFFFFF 0 Nm 1000:1 X
138.22 Torque limit symmetric UDINT 0 2147483647 2147483647 Nm 1000:1 X X
138.23 Kt correction factor FLOAT 0,750 1,250 1 1:1 X
138.24 Indication threshold UDINT 0 2147483647 2147483647 Nm 1000:1 X O

torque
138.25 Status current limitation UDINT 0 0xFFFFFFFF 0 1:1 X
138.26 Limitation max current of FLOAT 0 1e9 0 A 1:1 X
IPMSM
138.28 Hysteresis for Iq limit FLOAT 0 50 5 % 1:1 X
flag
138.29 Time constant torque FLOAT 0 1000 3 ms 1:1 X
display

Axis-independent
Cyclic Write
DS Support
Read only
Storage

actual value
138.32 Peak current derating FLOAT 0 10000 0 A 1:1 X
138.34 Torque base value FLOAT 0.001 1.0e6 0.001 Nm 1:1 X
139.1 Password UINT 0 0xFFFF 0 1:1

139.2 Baudrate UDINT 9600 115200 38400 1:1 X
139.4 Number of axes UDINT 1 2 2 1:1 X X
139.23 System command UDINT 0 0xFFFFFFFF 0 1:1
139.25 Switch-on time UDINT 0 0xFFFFFFFF 0 s 1:1 X X

140.3 Warning Events UDINT 0 0xFFFFFFFF 0 1:1 X
141.1 Line voltage UV FLOAT -1.000000e+10 1.000000e+10 0.000000e+00 V 1:1 X X

141.2 Line voltage VW FLOAT -1.000000e+10 1.000000e+10 0.000000e+00 V 1:1 X X
141.3 Line voltage WU FLOAT -1.000000e+10 1.000000e+10 0.000000e+00 V 1:1 X X
141.4 Mains angle FLOAT 0.0 10000.0 0.0 Grad 65535: X X
360
141.5 DC link voltage control- FLOAT 0.0 5000.0 0.0 V 1:1 X X
ler input
141.6 Udc controller Kp FLOAT 0.0 10000.0 3 A/V 1:1 X X X
141.7 Udc controller Tn FLOAT 0.0 10000.0 15 ms 1:1 X X X
141.8 Udc set value FLOAT 300.0 760.0 640.0 V 1:1 X X O X
141.9 Charging current limit FLOAT 0.25 1.00 1.0 % 1:100 X X X
141.10 Mains rotating field UINT 0 2 0 1:1 X X
141.11 Mains frequency UINT 40 70 50 Hz 1:1 X X
141.12 Line voltage RMS FLOAT -1.000000e+10 1.000000e+10 0.0 V 1:1 X X
141.13 Voltage offset UV FLOAT -1.000000e+10 1.000000e+10 0.000000e+00 V 1:1 X X
141.14 Voltage offset VW FLOAT -1.000000e+10 1.000000e+10 0.000000e+00 V 1:1 X X
141.15 Voltage offset WU FLOAT -1.000000e+10 1.000000e+10 0.000000e+00 V 1:1 X X
141.16 DC voltage slope FLOAT 1.000000e+01 1.000000e+05 1.000000e+02 V/s 1:1 X X X
141.17 Status word active UINT 0 0xFFFF 0 1:1 X X
mains rectifier unit
141.22 Choke inductance FLOAT 0.0 10.0 0.6 mH 1:1 X X X
141.23 DC voltage filter time FLOAT 0.0 100.0 0.0 ms 1:1 X X X
constant
141.24 Automatic generation UINT 0 1 1 1:1 X X X
set value Udc
141.25 Isq set value not filtered FLOAT -1.000000e+10 1.000000e+10 0.0 A 1:1 X X
141.27 Active current limit sup- FLOAT 0.0 10000.0 150.0 A 1:1 X X X
ply mode
141.28 Active current limit FLOAT 0.0 10000.0 150.0 A 1:1 X X X
regenerative braking
mode

Document No.: 5.09022.17 of 978
Axis-independent
Cyclic Write
DS Support
Read only
Storage
141.29 Max. reactive current no FLOAT -100.0 100.0 10.0 A 1:1 X X O X

load operation
141.30 Udc set value controller FLOAT 0 1000 0 V 1:1 X X
input
141.34 U sync alpha FLOAT -1.000000e+10 1.000000e+10 0 V 1:1 X X
141.35 U sync beta FLOAT -1.000000e+10 1.000000e+10 0 V 1:1 X X
141.36 Sync angle FLOAT 0.0 100000.0 0.0 Grad 65535: X X
360
141.38 Mains active power FLOAT -1.0e+10 1.0e+10 0 kW 1:1 X X
141.40 Warning level mains FLOAT 0 1.0e+10 105 kW 1:1 X X X
active power
undervoltage
overvoltage
141.44 Iq upper limit FLOAT 0.0 1.0e+10 150.0 A 1:1 X
141.45 Iq lower limit FLOAT -1.0e+10 0.0 -150.0 A 1:1 X
141.46 Maximum DC link FLOAT 0 10 0.025 mF 1:1000 X
capacity
142.1 Field weakening mode UINT 0 0xFFFF 0 1:1 X

142.2 Field weakening factor FLOAT 0 1 1 1:1 X
142.3 Kp field weakening con- FLOAT 0 1000 0.002 1/V 1:1 X
troller
142.4 Tn Field weakening con- FLOAT 0 10000 3000 ms 1:1 X
troller
142.5 Minimum field weak fac- FLOAT 0 1 0 1:1 X X
tor
142.6 Max. total PWM voltage FLOAT 0 1000 0 V 1:1 X
actual value
142.7 PWM total voltage FLOAT 0 1000 0 V 1:1 X
smoothed
142.8 Voltage threshold for FLOAT 50 600 600 V 1:1 X
field weakening
142.9 Speed threshold for field FLOAT 10 500000 3000 U/min 1:1 X
weakening
142.10 Smoothing time PWM FLOAT 0 20 10 ms 1:1 X
total voltage
142.12 Field controller due to FLOAT 0 1 1 1:1 X
speed
142.13 Field weakening control- FLOAT 0 1 1 1:1 X
ler output
142.15 Factor field weak FLOAT 0 1 1 1:1 X O
threshold

Axis-independent
Cyclic Write
DS Support
Read only
Storage
142.19 Kp breakdown torque FLOAT 0 1000 0.001 1/V 1:1 X

controller
142.20 Tn breakdown torque FLOAT 0.01 10000 20 ms 1:1 X
controller
142.21 Factor breakdown FLOAT 0 1.15 1.02 1:1 X
torque threshold
142.22 Breakdown torque con- FLOAT 0 1 1 1:1 X
trol output
142.23 Voltage limit field weak- FLOAT 0 600 0 V 1:1 X
ening controller

143.2 Mode 1 UINT 0 2 0 1:1 X
time 1
143.5 Mode 2 UINT 0 2 0 1:1 X
time 2
143.8 Field angle speed UINT 0 100 10 % 1:1 X

threshold
143.9 Field angle counter UINT 0 0xFFFF 0 1:1

log input 1
input 1
1
input 1
log input 2
input 2
2
input 2
144.20 Time slot analog inputs UINT 0 3 0 1/2/3 1:1 X

Document No.: 5.09022.17 of 978
Axis-independent
Cyclic Write
DS Support
Read only
Storage
145.1 Status WORD 0 0xFFF 0x0 1:1 X

145.3 Gear slave shaft revolu- DINT -2147483647 2147483647 1 1:1 X
tions
145.4 Gear master shaft revo- DINT 1 2147483647 1 1:1 X
lutions
145.5 Speed limit master shaft UDINT 0 0x7FFFFFFF 0x7FFFFFFF Inc/ 1:1 X
Tab
145.6 Synchronization veloc- UDINT 1 2147483647 10000 Inc/ms 10000:1 X
ity window
145.7 Synchronization accel- UDINT 1 6553600 10000 Inc/ 10000:1 X O
eration ms²
145.8 Synchronization decel- UDINT 1 6553600 10000 Inc/ 10000:1 X O
eration ms²
145.9 Synchronization maxi- UDINT 1 6553600 1000 Inc/ 10000:1 X O
mum jerk ms³
145.10 Virtual master speed set DINT -2147483647 2147483647 0 Inc/ms 10000:1 X
value
145.11 Virt. master set value UINT 1 128 1 ms 1:1 X
cycle time
145.12 Master speed DINT -2147483647 2147483647 0 Inc/ms 10000:1 X
145.13 Master position revolu- UDINT 0 0xFFFFFFFF 0 Inc 1:1
tions
145.14 Master position angle UDINT 0 0xFFFFFFFF 0 Inc 1:1
additive 1
additive 2
145.18 Master angle offset DINT 0x80000000 0x7FFFFFFF 0x0 Inc 1:1 O
146.1 Asynchronous Motor UINT 0 0xFFFF 0 1:1 X

Mode
146.13 Flux set value FLOAT -1e9 1e9 1 % 1:100 X
146.14 Actual flux FLOAT -1e9 1e9 0 % 1:100 X
146.16 Slip preset value DINT 0x80000000 0x7FFFFFFF 0 Inc/ 1:1 X
Tab
146.10 Kp flux controller FLOAT 0 1e9 0 1/s 1:1 X

146.11 Tn flux controller FLOAT 0 10000 1000 ms 1:1 X
146.12 Limit magnetizing cur- FLOAT 0 1e9 10 A 1:1 X
rent
146.15 Actual flux current FLOAT -1e9 1e9 0 A 1:1 X
146.18 Integral term flux con- FLOAT -1e9 1e9 0 A 1:1 X
troller
146.17 State Lh identification UINT 0 10 0 1:1 X

146.19 Ramp-up time nominal FLOAT 1 1000 10 s 1:1 X
speed

Axis-independent
Cyclic Write
DS Support
Read only
Storage

147.2 Status master UINT 0 0xFFFF 0 1:1 X
147.3 Status slave UINT 0 0xFFFF 0 1:1 X
147.4 Coupling command UINT 0 1 0 1:1 O
master
master
slave
147.7 Kp compensating con- FLOAT 0 10000 2 Grad/ 1:1 X
troller Nms
147.8 Tn compensating con- FLOAT 0 100000 10 ms 1:1 X
troller
147.9 Compensating controller FLOAT 0 180000 18000 Grad/s 1:1 X
output upper limit
147.10 Compensating controller FLOAT -180000 0 -18000 Grad/s 1:1 X
output lower limit
set value
actual value
147.13 Compensating controller FLOAT -180000 180000 0 Grad/s 1:1 X
output
147.14 Compensating controller FLOAT -2000000 2000000 0 Nm/s 1:1 X
integral term
147.17 Speed limit torque init FLOAT 1 180000 1 Grad/s 1:1 X
stress 1
147.18 Torque init stress pt1 FLOAT 0 5000 0 ms 1:1 X
time constant
147.19 Torque set value master DINT -10000000 10000000 0 mNm 1:1 O
147.21 Torque init stress actual DINT -10000000 10000000 0 mNm 1:1 O
value master

148.3 Target position UDINT 0 0xFFFFFFFF 0 Inc 1:1 X O
148.4 Speed limit UDINT 0 13200 1000 Inc/ms 1:1 X
148.5 Acceleration limit UDINT 25 45000 200 Inc/ 1:100 X
ms2
148.6 Position error limit UDINT 0 0xFFFFFFFF 0xFFFFFFFF Inc 1:1 X
148.7 Position error time UINT 0 65535 65535 ms 1:1 X
148.8 Output position set UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
value

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Read only
Storage
value ms2
149.1 Status DWORD 0 0xFFFFFFFF 0x0 1:1 X

149.3 Spindle angle position UDINT 0 0x0000FFFF 0 Inc 1:1 X O
149.4 Spindle positioning UDINT 0.0625 32767.0000 100.0000 Inc/ms 10000:1 X
speed
149.5 Spindle acceleration UDINT 0.07 655.35 2.00 Inc/ 100:1 X
bipolar ms2
149.6 Spindle maximum jerk UDINT 0.07 655.35 0.25 Inc/ 100:1 X
ms3
149.9 Spindle relative offset UDINT 0 0x0000FFFF 0 Inc 1:1 X
149.10 Active target position UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
149.11 Output Position Set UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
Value
149.12 Output speed set value DINT -65535.0 65535.0 0 Inc/ms 1:1 X
149.13 Output acceleration set DINT -655.35 655.35 0 Inc/ 100:1 X
value ms2
1
PID controller 1
controller 1
controller 1
controller 1
1
troller 1
troller 1

Axis-independent
Cyclic Write
DS Support
Read only
Storage

2
PID controller 2
controller 2
controller 2
controller 2
2
troller 2
troller 2
151.1 Mode WORD 0 0x3F 0 1:1 X

lute
lute
parameter
lute UDINT
lute UDINT
152.1 Mode WORD 0 0x7 0 1:1 X

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Read only
Storage

152.4 Relative compare value UDINT 0 0xFFFFFFFF 0 1:1 X
lute
lute
152.7 Lower threshold relative FLOAT -5000000000 5000000000 0 1:1 X
152.8 Upper threshold relative FLOAT -5000000000 5000000000 0 1:1 X
parameter
lute UDINT
lute UDINT
152.16 Lower threshold relative UDINT 0 0xFFFFFFFF 0 1:1 X
UDINT
152.17 Upper threshold relative UDINT 0 0xFFFFFFFF 0 1:1 X
UDINT

154.3 Lower speed threshold FLOAT -50000000 50000000 -1 Grad/s 1:1 X
154.4 Upper speed threshold FLOAT -50000000 50000000 1 Grad/s 1:1 X
154.8 Friction compensation FLOAT -50000000 50000000 0 Nm 1:1 X
actual output value
154.9 Hysteresis speed FLOAT 0 1000 0 Grad/s 1:1 X
threshold
154.10 Time constant friction FLOAT 0 1000 0 ms 1:1 X
torque
154.11 Stick slip controller FLOAT 1 100 1 1:1 X
adaption
154.12 State identification fric- DINT 0 10 0 1:1 X
tion torque
154.13 Wait time friction torque UINT 0 10000 1000 ms 1:1 X
reduction
154.14 Compensation charac- FLOAT 0 100000 0 Nm 1:1 X
teristic - torque
154.15 Compensation charac- FLOAT 0 1200000 0 rpm 6:1 X
teristic - speed

Axis-independent
Cyclic Write
DS Support
Read only
Storage

155.3 Lower adaption thresh- FLOAT 0 1e9 10 1:1 X

155.4 Upper adaption thresh- FLOAT 0 1e9 1000 1:1 X
155.5 Factor Kp adaption FLOAT 0.01 100 1 1:1 X
155.6 Factor Tn adaption FLOAT 0 100 1 1:1 X
155.7 Actual Kp speed control- FLOAT 0 100000 10 1/s 1:1 X
ler
155.8 Actual Tn speed control- FLOAT 0 1000 1 s 1:1 X
ler
155.9 Actual Ki speed control- FLOAT 0 100000 0 1:1 X
ler
155.11 Low adaption threshold FLOAT 0 10000 0 A 1:1 X

155.12 High adaption threshold FLOAT 0 10000 0 A 1:1 X
155.13 Kp current controller FLOAT 0 100 100 % 1:1 X
adaption
155.10 Ks actual value FLOAT 0.01 1e9 1e4 Grad/ 1:1 X

s2/A
155.14 Ks adaption cyclic UDINT UDINT 0xFFFFFFFF 65536 % 655.36: X X
1
155.15 Middle adaption thresh- FLOAT 0 1e9 0 1:1 X

155.16 Factor Kp for middle FLOAT 0.01 100 1.0 1:1 X
speed threshold
155.17 Factor Tn middle speed FLOAT 0 100 1.0 1:1 X
threshold
155.18 Source controller adap- UDINT 0 0xFFFFFFFF 0 1:1 X
tion
155.19 Factor Kv adaption FLOAT 0.01 100 1 1:1 X
155.20 Factor Kv middle speed FLOAT 0.01 100 1 1:1 X
threshold
155.21 Actual Kv factor FLOAT 0 1000000 0 Grad/s 1:1 X
155.24 Kt actual value FLOAT 0.0 1000.00 0.00 Nm/A 1:1 X
156.1 Mode UINT 0 1 0 1:1 X X

156.2 Status UINT 0 0xFFFF 0 1:1 X X
156.3 Sync tolerance UINT 0 0x1FFF 1000 µs 1000:20 X X
156.4 Sync offset DINT -2147483648 2147483647 0 µs 1000:20 X X
156.5 Fieldbus cycle UDINT 0 4294967295 0 µs 1000:20 X X
156.6 Fieldbus jitter DINT -2147483648 2147483647 0 µs 1000:20 X X
156.7 Sync error DINT -2147483648 2147483647 0 µs 1000:20 X X

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Read only
Storage
156.8 Max. jitter positive DINT 0 262144 0 µs 1000:20 X

156.9 Max. jitter negative DINT -262144 0 0 µs 1000:20 X
156.15 Time fieldbus write DINT -500000 500000 0 µs 1000:20 X X
access
156.16 Time DSP read access DINT -500000 500000 0 µs 1000:20 X X
156.17 Time DSP write access DINT -500000 500000 0 µs 1000:20 X X
156.18 Time fieldbus read DINT -500000 500000 0 µs 1000:20 X X
access
156.19 Time fieldbus read to DINT -500000 500000 0 µs 1000:20 X X
DSP read
157.1 Mode optimization UINT 0 0xFFFF 0 1:1 X

157.2 State Identification UINT 0 0xFFFF 0 1:1 X
torque ripple compensa-
tion
157.3 Table torque ripple cur- FLOAT -1000 1000 0 A 1:1 X
rent
157.6 Actual torque ripple cur- FLOAT -1000 1000 0 A 1:1 X
rent
158.1 Real time load FLOAT 0 1 0 % 1:1 X X

158.2 Real time load average FLOAT 0 1 0 % 1:1 X X
158.3 Max real time load FLOAT 0 1 0 % 1:1 X X
158.4 Interrupt load FLOAT 0 1 0 % 1:1 X X
158.5 Interrupt load average FLOAT 0 1 0 % 1:1 X X
158.6 Interrupt load max FLOAT 0 1 0 % 1:1 X X
159.1 Mode WORD 0 0x00FF 0 1:1

159.2 Cam options WORD 0 0xFFFF 0 1:1 X
curve generator options
159.4 List index UINT 0 0xFFFF 0 1:1 X
159.5 List entries UINT 0 0xFFFF 512 1:1 X
159.6 Cyclic curve offset UDINT 0 0xFFFFFFFF 0 1:1 X
159.7 Reference parameter UDINT 0 0xFFFFFFFF 0 1:1 X
159.8 Reference axis UINT 0 1 0 1:1 X
159.9 Speed virtual master INT -32768 32767 256 1:1 X
159.10 Position virtual master DINT 0 0x7FFFFFFF 0 1:1 X
159.11 Input parameter UDINT 0 0xFFFFFFFF 0 1:1 X
159.12 Axis index input param- UINT 0 1 0 1:1 X
eter
159.14 Basic value index calcu- UDINT 0 0xFFFFFFFF 0 1:1 X
lation
159.15 Shift factor index calcu- UINT 0 32 0 1:1 X
lation

Axis-independent
Cyclic Write
DS Support
Read only
Storage
159.16 Output parameter UDINT 0 0xFFFFFFFF 0 1:1 X

159.17 Target axis UINT 0 255 0 1:1 X
165.1 Mode DWORD 0 0xFFFFFFFF 0 1:1 X O

165.2 Configurable status DWORD 0 0xFFFFFFFF 0x0 1:1 X
165.3 Source numbers UDINT 0 0xFFFFFFFF 0 1:1 X
165.4 Bit mode WORD 0 0xFFFF 0 1:1 X
165.5 Logic functions UINT 0 6 0 1:1 X
165.6 Latch DWORD 0 0xFFFFFFFF 0x0 1:1 O

166.3 Current threshold motor FLOAT 0 1 1 % 1:100 X
166.4 Current threshold gener- FLOAT 0 1 1 % 1:100 X
ator
166.5 Zero voltage FLOAT 0 100 1 V 1:1 X
166.6 Input reference fre- DINT -1073741824 1073741824 0 % 107374 X X
quency 1824:
100
166.7 Rising time FLOAT 0.01 100000 1 s 1:1 X
166.9 Slip compensation FLOAT 0 1000 0 Hz/A 1:1 X
166.10 Maximum frequency FLOAT 0 1000000 100 Hz 1:1 X
166.11 Time constant current FLOAT 0 100000 0 ms 1:1 X
filter
166.12 Frequency Umax FLOAT 1 1e9 50 Hz 1:1 X
166.13 Maximum voltage FLOAT 0 1000 380 V 1:1 X O
166.14 Kp acceleration control- FLOAT 0 1e9 0.1 Grad/s 1:1 X
ler
166.15 Tn acceleration control- FLOAT 0 1e9 20 ms 1:1 X
ler
166.17 Frequency threshold FLOAT 0 1e9 2 Hz 6.28318 X
53 : 1
166.18 State frequency reduc- UINT 0 0xFFFF 0 1:1 X
tion
166.19 Frequency reduction FLOAT -1e9 1e9 0 Hz 6.28318 X
53 : 1
166.20 Additional voltage FLOAT -1e9 1e9 0 V 1:1 X
166.21 Frequency f0 FLOAT 0 0xFFFFFFFF 0 Hz 6.28318 X
53 : 1
166.22 Reference frequency FLOAT -1e9 1e9 0 Hz 6.28318 X
53 : 1
166.23 Additional frequency FLOAT -1e9 1e9 0 Hz 6.28318 X
53 : 1
166.24 Frequency of ramp gen- FLOAT -1e9 1e9 0 Hz 360:1 X
erator

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Storage
166.25 Kp speed correction FLOAT 0 1e9 0 1:1 X

controller
166.26 Tn speed correction FLOAT 0 1e9 0 ms 1:1 X
controller
166.27 Time constant slip filter FLOAT 0 100000 100 ms 1:1 X
167.1 Catch enable UDINT 0 1 0 1:1 X

167.2 Catch flux estimator FLOAT 1.0 1000.00 25.00 1:1 X
gain
167.3 Catch demagnetization UINT 0 4000 0 ms 1:1 X
time

168.3 Output INT -16384 16384 0 % 16384: X
100
168.4 Upper Limit INT -16384 16384 16384 % 16384: X
100
168.5 Lower Limit INT -16384 16384 -16384 % 16384: X
100
168.6 Increment INT 0 2000 100 % 100:1 X

169.2 Status UDINT 0 0xFFFFFFFF 0 1:1 X X
169.3 Position difference limit UDINT 0 0xFFFFFFFF 0x00010000 Inc 1:1 X X
169.4 Position difference time UINT 0 65535 1000 ms 1:1 X X
169.5 Actual position differ- DINT -2147483648 2147483647 0 Inc 1:1 X X
ence
169.6 Current difference limit FLOAT 0 10000 1.0 A 1:1 X X
169.7 Current difference time UINT 0 65535 1000 ms 1:1 X X
169.8 Actual current difference FLOAT -10000 10000 0 A 1:1 X X
170.1 PLC control word UINT 0 0xFFFF 0 1:1 X X

170.2 PLC status UINT 0 0xFFFF 0 1:1 X X
170.3 Task control word UDINT 0 0xFFFFFFFF 0xFFFFFFFF 1:1 X X X
170.4 Task status UDINT 0 0xFFFFFFFF 0 1:1 X
170.5 Run time default task FLOAT 0 5000000000 0 µs 1:1 X X
170.6 Translation control WORD 0 0xFFFF 0 1:1 X
170.7 Cycle time default task FLOAT 0 5000000000 0 ms 1:1 X X
170.10 Project name STRING 1:1 X X
170.11 Project time stamp STRING 1:1 X X
170.12 Free memory UDINT 0 0xFFFFFFFF 0 1:1 X X
170.13 POU count UINT 0 0xFFFF 0 1:1 X X
170.14 Task count UINT 0 0xFFFF 0 1:1 X X
170.15 Project CRC UDINT 0 0xFFFFFFFF 0 1:1 X
170.16 MetaData CRC UDINT 0 0xFFFFFFFF 0 1:1 X

Axis-independent
Cyclic Write
DS Support
Read only
Storage
170.20 Write event parameter UINT 0 0xFFFF 0 1:1 O X

UINT
170.21 Write event parameter UDINT 0 0xFFFFFFFF 0 1:1 O X
UDINT
170.22 Write event parameter FLOAT 0 0xFFFFFFFF 0 1:1 O X
REAL
170.30 Error code UDINT 0 0xFFFFFFFF 0 1:1 X X
170.31 Error module number UINT 0 0xFFFF 0 1:1 X X
170.32 Error line number UINT 0 0xFFFF 0 1:1 X X
170.33 Error POU Code type UINT 0 0xFFFF 0 1:1 X X
170.34 Error module name STRING 1:1 X X
170.53 Run time fieldbus task FLOAT 0 5000000000 0 µs 1:1 X X
170.54 Run time write event FLOAT 0 5000000000 0 µs 1:1 X X
task
171.1 Control word reluctance UINT 0 0xFFFF 0 1:1

171.3 Ld curve family FLOAT 1e-5 1e9 1e-3 mH 1:1000 X
171.4 Lq curve family FLOAT 1e-5 1e9 1e-3 mH 1:1000 X
171.5 Norm current for induc- FLOAT 0.01 1e9 10 A 1:1 X
tance chart familiy
171.10 Minimum Id Current FLOAT -1e9 0 0 A 1:1 X
171.11 Id Current of MTPF FLOAT -100 0 -100 A 1:1 X
characteristic
171.12 Motor constant K FLOAT -1 1e9 -1 A 1:1 X
171.13 MTPF Table FLOAT -100 0 -100 % 1:1 X
171.14 Nominal flux FLOAT 0.0001 1e9 1 Vs 1:1 X
171.15 State field weakening of DINT 0 10 0 1:1 X
IPMSM
171.16 Total reference current FLOAT -10000 10000 0 A 1:1 X
171.17 Maximal torque current FLOAT 0 10000 0 A 1:1 X
from flux
171.20 Magnetic flux FLOAT 0.0001 1e9 0.1 Vs 1:1 X
171.21 State identification non- UINT 0 0xFFFF 0 1:1 X
linearity

172.2 Status Block 1 DWORD 0 0xFFFFFFFF 0 1:1 X X
1
1

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Storage
172.11 Status block 2 DWORD 0 0xFFFFFFFF 0 1:1 X X

2
2

173.5 Extra data bits MSB UINT8 0 32 0 Bit 1:1 X
173.6 Extra data bits LSB UINT8 0 32 0 Bit 1:1 X
parameter MSB
parameter LSB
174.1 Command UINT 0 3 0 1:1 X

174.2 Status UINT 0 65535 0 1:1 X X
cation
174.5 Option module type STRING 1:1 X
code
174.10 FPGA id UDINT 0 0xFFFFFFFF 0 1:1 X X
174.11 FPGA version UDINT 0 4294967295 0 1:1 X X
174.12 FPGA firmware number UDINT 0 4294967295 0 1:1 X X
174.13 FPGA version build UDINT 0 4294967295 0 1:1 X X
174,14 Option module firmware STRING 1:1 X
name
174.15 Option module firmware STRING 1:1 X
version
175.1 Mode PU temperature UINT 0x0 0xFFFF 0x0 1:1 X

model
175.2 Status PU temperature UINT 0 0xFFFF 0 1:1 X
model
175.3 Max. device control UINT 0 55 40 Grad 1:1 X X

cabin temperature C
175.4 Max. device altitude UINT 0 5000 1000 m 1:1 X X
175.5 Max. device mains volt- UINT 0 530 400 V 1:1 X X
age

175.6 Max. device DC link UINT 0 760 540 V 1:1 X X
voltage
175.7 PU max.continuous cur- FLOAT 0 1000 4 A 1:1 X
rent actual value
175.8 PU I2t max. continuous FLOAT 0 1000 4 A 1:1 X
current actual value
175.15 Power unit thermal load FLOAT 0 1000 0 % 1:1 X

176.2 Mode analog inputs UDINT 0 0xFFFFFFFF 0 1:1 X X
176.6 Status digital inputs WORD 0 0xFFFF 0 1:1 X X
176.7 Status digital outputs WORD 0 0xFFFF 0 1:1 X X
179.1 Polarity UINT8 0 0xFF 0 1:1 X

179.2 Position resolution UDINT 1 4294967295 65536 Inc 1:1 X
encoder increments
179.3 Position resolution UDINT 1 4294967295 1 1:1 X
motor revolutions
179.4 Velocity resolution UDINT 1 4294967295 65536 Inc/s 1:1 X
encoder increments/s
179.5 Velocity resolution motor UDINT 1 4294967295 1 1/s 1:1 X
revolutions/s
revolutions
revolutions
179.8 Feed constant feed UDINT 1 4294967295 65536 1:1 X
179.9 Feed constant drive UDINT 1 4294967295 1 1:1 X
shaft revolutions
179.10 Position actual value DINT 0x80000000 0x7FFFFFFF 0 Inc 1:1 X
179.11 Position window UDINT 0 0xFFFFFFFF 0 Inc 1:1 X
179.12 Target position DINT 0x80000000 0x7FFFFFFF 0 Inc 1:1 X
179.13 Home offset DINT 0x80000000 0x7FFFFFFF 0 Inc 1:1 X
179.14 Minimum software posi- DINT 0x80000000 0x7FFFFFFF 0 Inc 1:1 X
tion limit
179.15 Maximum software posi- DINT 0x80000000 0x7FFFFFFF 0 Inc 1:1 X
tion limit
value
value
value

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DS Support
Read only
Storage
value
179.20 Position error actual DINT 0x80000000 0x7FFFFFFF 0 Inc 1:1 X
value
179.21 Speed actual value DINT 0x80000000 0x7FFFFFFF 0 Inc/s 1:1 X
179.22 Profile speed UDINT 0 0xFFFFFFFF 0 Inc/s 1:1 X
for switch
for zero
179.25 Speed offset DINT 0x80000000 0x7FFFFFFF 0 Inc/s 1:1 X
179.26 Target speed DINT 0x80000000 0x7FFFFFFF 0 Inc/s 1:1 X
179.27 Homing acceleration UDINT 0 0xFFFFFFFF 0 Inc/s2 1:1 X
179.28 Profile acceleration UDINT 0 0xFFFFFFFF 0 Inc/s2 1:1 X
179.29 Profile deceleration UDINT 0 0xFFFFFFFF 0 Inc/s2 1:1 X
179.30 Quick stop deceleration UDINT 0 0xFFFFFFFF 0 Inc/s2 1:1 X
200.1 Module version UINT 0 0xFFFF 0 1:1 X X

200.2 Firmware version mod- UINT 0 0xFFFF 0 1:1 X X
ule
200.3 Hardware version mod- UINT 0 0xFFFF 0 1:1 X X
ule
200.4 Serial number UDINT 0 0xFFFFFFFF 0xFFFFFFFF 1:1 X X
200.5 FSoE address UINT 0 0xFFFF 0 1:1 X X
200.6 Safety level UINT 0 0xFFFF 0 1:1 X X
200.7 Version of parameter UINT 0 0xFFFF 0 1:1 X X
data set
200.8 Last modul version UINT 0 0xFFFF 0 1:1 X X
200.9 Build number UDINT 0 0xFFFFFFFF 0 1:1 X X
200.20 Reset code UDINT 0 0xFFFFFFFF 0 1:1 X
201.1 Refresh count UINT 0 0xFFFF 0 1:1 X X

201.2 Status physical inputs DWORD 0 0xFFFFFFFF 0 1:1 X X
201.3 Status physical outputs DWORD 0 0xFFFFFFFF 0 1:1 X X
mask axis 1
switch axis 1
axis 1
1
mask axis 2
switch axis 2

Axis-independent
Cyclic Write
DS Support
Read only
Storage

axis 2
2
201.12 Module status UINT 0 0xFFFF 0 1:1 X X
201.13 Module status info UINT 0 0xFFFF 0 1:1 X X
201.15 Count of entries in error UINT 0 0xFFFF 0 1:1 X X
file

FSoE master to SAF-
xxx axis 1
FSoE master to SAF-
xxx axis 2
master
master

Document No.: 5.09022.17 of 978
APPENDIX A - ABBREVIATIONS
A Amps min Minute
AC Alternating current MSKL Motor protection thermistor
AMR Active Mains Rectifier unit n=0 revolutional speed = 0
Part No. Part Number nist revolutional speed actual value
BB Operationally ready nmax Maximum revolutional speed
CE Compliant with the directives of the nmin Minimum revolutional speed
European Union
MSL Height above mean sea level
DC Direct current
No. Number
DIN Deutsches Institut für Normung
e.V (German National Standards nsoll revolutional speed set value
Institute). NTC Negative temperature coefficient
EMC Electromagnetic compatibility thermistor
EMVG Germany EMC law PE Protected ground

conductor / ground conductor con-
EN European standard nection
ESD Electrostatic discharge PELV Protective extra-low voltage, with
ext external safe isolation, grounded
FFT Fast Fourier Transformation ppm Parts per million
FOC Field Oriented Control PTC Positive temperature coefficient

thermistor
GND Ground
RCD Residual current protective device
h Hour / ground fault circuit breaker
Î Peak current RFOC Rotor Flux Oriented Control
IAC Rms-value of alternating current SELV Safety extra-low voltage, with safe
isolation
IDC Rms-value of direct current
SFOC Stator Flux Oriented Control
IEC International Electrotechnical
Commission SH Quick stop
IP Ingress protection; protection rat- Tab. Table
ing
U Voltage
IS Pulse inhibit
Û Peak voltage
Chap. Chapter
UAC Rms-value, AC voltage
KG Cooling air requirement of device
UDC Rms-value, DC voltage
interior
KLK UL Underwriters Laboratories
Cooling air requirement of passive
cooling unit UZK DC link voltage

Document No.: 5.09022.17 of 978
A
V Volt
VA Stainless steel
VDE Verband der Elektrotechnik, Elek-
tronik und Informationstechnik
(German electrical engineering,
electronics and IT association)
ZK DC link

List of Illustrations
Table of Figures
Danger areas during electrical installation ................................................................................. 19
Installation plan .......................................................................................................................... 21
Setting fixed IP addresses ......................................................................................................... 24
ProEtherCAT.............................................................................................................................. 25
ProEtherCAT Download............................................................................................................. 25
ProDrive: Find device................................................................................................................. 26
ProDrive: Device selection with EtherCAT communication........................................................ 27
ProDrive: Start window............................................................................................................... 28
Switch-on sequence................................................................................................................... 29
ProDrive: Project tree for Drive Manager ................................................................................... 30
ProDrive: Drive Manager............................................................................................................ 31
ProDrive: Project Tree for Power unit ........................................................................................ 32
ProDrive: Power unit .................................................................................................................. 32
ProDrive: Project Tree for the Encoder ...................................................................................... 33
ProDrive: Encoder 1 Configuration ............................................................................................ 34
ProDrive: Project Tree for Motor - General ................................................................................ 35
ProDrive: Motor database .......................................................................................................... 35
ProDrive: Selecting the motor .................................................................................................... 36
ProDrive: Motor-General ............................................................................................................ 37
ProDrive: Motor-Synchronous.................................................................................................... 38
ProDrive: Parameter List - Motor Type ...................................................................................... 38
ProDrive: Project Tree for Dataset management ....................................................................... 39
ProDrive: Data Set Manager ...................................................................................................... 40
ProDrive: Project Tree - Autotuning-Current controller .............................................................. 41
ProDrive: Autotuning of the Current Controller .......................................................................... 42
ProDrive: Project Tree - Find notch position .............................................................................. 43
ProDrive: Find Notch Position, Drive Manager .......................................................................... 44
ProDrive: Project Tree - Ramp function generator..................................................................... 46
ProDrive: Ramp function generator............................................................................................ 47
ProDrive: Drive Manager for Axis 1............................................................................................ 47
ProDrive: Dataset management................................................................................................. 48
Output frequency dependent limit of the maximum drive current............................................. 108
ProDrive Power Unit - axis units .............................................................................................. 108
ProDrive Power Unit - active mains rectifier unit (BM51xx) ..................................................... 109
Torque limits............................................................................................................................. 134
Torque threshold ...................................................................................................................... 135
ProDrive Motor - General ......................................................................................................... 137
Modes of the "Max. torque current 19.8 at the synchronous motor ......................................... 144
"Max. torque current" modes 19.8 at the asynchronous motor ................................................ 145
Torque current limit .................................................................................................................. 162
Definition of the quadrants ....................................................................................................... 165
ProDrive Synchronous motor ................................................................................................... 174
Torque ripple compensation..................................................................................................... 175
ProDrive asynchronous motor.................................................................................................. 177
ProDrive Lh-characteristic........................................................................................................ 179
ProDrive control structure of the IPMSM.................................................................................. 183
Characteristic curve of the IPMSM........................................................................................... 185
ProDrive Breakdown torque controller at IPMSM .................................................................... 186
State machine of field weakening at IPMSM............................................................................ 187
Sine/Cosine traces and instantaneous amplitude of the encoder signal.................................. 195
Sin2cos2 Monitoring and Field Angle Monitoring of a Synchronous Machine .......................... 197
ProDrive Encoder..................................................................................................................... 198
ProDrive encoder optimization ................................................................................................. 199
ProDrive Encoder diagnosis..................................................................................................... 200

Document No.: 5.09022.17 of 978
Speed and sinus track before statical encoder error correction ............................................... 201
Speed and sinus track after statical encoder error correction .................................................. 201
Encoder excentricity ................................................................................................................. 202
SSI digital sample configuration ............................................................................................... 204
Synchronization of the resolver ................................................................................................ 204
Absolute value offset ................................................................................................................ 228
Pulse sequence of incremental encoder emulation .................................................................. 235
ProDrive Incremental encoder emulation ................................................................................. 236
Incremental encoder emulation zero pulse............................................................................... 239
ProDrive Autotuning of the current controller............................................................................ 247
Equivalent circuits of ASM (left) and SM (right) at standstill ..................................................... 251
ProDrive Ks measuring............................................................................................................. 259
Optimization.............................................................................................................................. 265
ProDrive Digital Inputs at double axis unit ................................................................................ 270
ProDrive Digital Inputs at active mains rectifier unit ................................................................. 271
ProDrive Digital outputs at axis units BM52xx and BM53xx ..................................................... 283
ProDrive Digital outputs at active mains rectifier unit (BM51xx) ............................................... 284
Structure of the analog inputs on the b maXX 5000 ................................................................. 290
Signal at analog input ............................................................................................................... 291
A/D conversion ......................................................................................................................... 291
After restandardization.............................................................................................................. 291
ProDrive analog inputs ............................................................................................................. 292
ProDrive analog outputs ........................................................................................................... 296
Basic sequence of the fieldbus task (fieldbus cycle 1ms, RT0 cycle 250 µs)........................... 307
Set value and actual value transfer from the fieldbus to the controller. The configuration fieldbus cycle
1 ms, RT0 cycle 250 µs, sync offset 0 µs is shown in the example.......................................... 308
Separated transmission of set values and actual values.......................................................... 309
Optional separated transmission of set values and actual values. ........................................... 309
Producer list and cunsumer list................................................................................................. 312
Direction of revolution ............................................................................................................... 320
ProDrive Measuring Encoder.................................................................................................... 321
PID controller functional diagram.............................................................................................. 340
Structure of the control of the torque coupling at connecting the torque coupling via compensating
controller ................................................................................................................................... 353
Structure of the control of the torque coupling at connecting the torque coupling as torque additional
set value ................................................................................................................................... 354
Torque init stress of the torque coupling................................................................................... 355
Cross communication via EtherCAT......................................................................................... 356
Axis internal cross communication ........................................................................................... 357
Boolean operation of the configurable status bits Z165.2– via the operators of Z165.5–....... 371
Factor Group effect of position weighting ................................................................................. 389
Factor Group effect of the speed and acceleration weighting .................................................. 390
ProDrive Factor Group and touch probe DS402....................................................................... 392
Introduction to the Device Control System ............................................................................... 403
State Machine for the Device Controller of the axis unit........................................................... 404
State Machine for the Device Controller of the active mains rectifier unit ................................ 412
Circuit proposal of the pulse enable at control via ProDrive ..................................................... 435
Active data set .......................................................................................................................... 444
Starting the drive in the "Automatic" brake control mode ......................................................... 458
Braking procedure in the "Automatic" brake control mode ....................................................... 460
ProDrive brake management.................................................................................................... 462
ProDrive Set value manager..................................................................................................... 479
Trapezoidal Profile of Ramp Function Generator ..................................................................... 487
Ramp Function Generator S-Curve Profile............................................................................... 488

Ramp function generator page in ProDrive.............................................................................. 493

Change of direction without rounding-off of the speed at zero-crossing .................................. 498
Change of direction with rounding-off of the speed at zero-crossing ....................................... 499
Absolute value of min. / max. input .......................................................................................... 503
Speed set value sequence for set value generator.................................................................. 505
Overview of the controller in the drive...................................................................................... 531
Block diagram of the set value manager.................................................................................. 532
Block diagram of the position controller ................................................................................... 533
Block diagram of the speed controller...................................................................................... 534
Block diagram of the position/speed controller module when in current control ...................... 535
Block diagram of the position/speed controller when in synchronous
operation with a real master shaft ............................................................................................ 535
Physical units in the control circuit ........................................................................................... 536
Characteristics of Kp (Kv is analog) and Tn depending on the speed ..................................... 538
Three-point with hysteresis and dead zone ............................................................................. 540
Three-point with ramp .............................................................................................................. 541
Two-point with hysteresis......................................................................................................... 541
ProDrive Friction torque compensation with PT1 filter and response....................................... 542
Exemplary presentation of the parameterizable friction torque-compensation characteristic .. 543
ProDrive position controller with detailed settings.................................................................... 548
ProDrive speed controller with detailed settings ...................................................................... 549
ProDrive Position speed controller adaption ............................................................................ 550
Equation for filter order............................................................................................................. 573
Notch filter with defined notch depth ........................................................................................ 575
Notchfilter with defined reduction ............................................................................................. 576
Current controller ..................................................................................................................... 586
Overviewing the voltages before and after the PWM............................................................... 587
Torque current limit "lsqLim" at the "Standard load mode" of the synchronous motor
(138.1 bit 3 = 0). ....................................................................................................................... 591
Torque current limit "lsq" at the "Current mode" of the synchronous motor (138.1 bit 3 = 1)... 592
Torque current limit "lsqLim" at "Standard load mode" of the asynchronous motor
(138.1 bit 1 = 0, bit 3 = 0). ........................................................................................................ 593
Example. Torque current limit "lsqLim" at the "Load mode ASM-lsdMax "
(138.1 bit 1 = 1, bit 3 = 0). ........................................................................................................ 594
Example. Torque current limit "lsqLim" at the "Current mode" for the asynchronous motor (138.1
bit 3 = 1).
a) Dependent of the field current (external total current limit is assumed).
b) Dependent of the external total current limit (field weakening is not assumed)................... 595
Current controller adaption....................................................................................................... 597
ProDrive current controller ....................................................................................................... 598
ProDrive Current controller details ........................................................................................... 599
ProDrive Current controller adaption........................................................................................ 600
ProDrive DC link controller....................................................................................................... 612
Block diagram of the field weakening factor............................................................................. 619
Block diagram: Effect of field weakening factor ASM............................................................... 620
Block diagram: Effect of field weakening factor SM ................................................................. 620
ProDrive Breakdown torque ..................................................................................................... 621
Examples in regard to constant speed and moderate discrepancies in the motor parameters: 623
Two-level-controller with absolute thresholds .......................................................................... 632
Two-level-controller with absolute thresholds .......................................................................... 632
Two-level controller with relative thresholds ............................................................................ 633
Combination absolute and relative thresholds ......................................................................... 634
Combination absolute and relative thresholds ......................................................................... 634
ProDrive Flux controller............................................................................................................ 644

Document No.: 5.09022.17 of 978
EMF feedforward ...................................................................................................................... 651

Torque monitoring..................................................................................................................... 651
Flux actual value with encoder, current model with Lh characteristic....................................... 653
Block diagram of the controller structure of the active mains rectifier unit................................ 658
Block diagram of the charge circuit of the BM517x .................................................................. 659
Block diagram of the charge circuit of the BM519x .................................................................. 659
Flow-chart of the mains synchronization .................................................................................. 660
Reduction of the charging current............................................................................................. 664
Slope of the set value ramp at the active mains rectifier unit ................................................... 666
Automatic generation of the set value for the DC link voltage .................................................. 668
Sequence of the Moving to positive stop command in the
Position control (-4) operating mode......................................................................................... 676
ProDrive Positioning, general parameters ................................................................................ 677
Simplified presentation of the calculation of the Modulo position actual value ......................... 687
.................................................................................................................................................. 692
Positioning handshake (Single Set Value)................................................................................ 697
Handshake for "Set of Set Values" ........................................................................................... 698
Time-optimized positioning ....................................................................................................... 704
Time-optimized positioning with smoothing .............................................................................. 704
Jerk-free positioning (S-Curve speed profile) with jerk = 0.12 Inc/ms3.............................................. 705
Jerk-free positioning (S-Curve speed profile) with jerk = 0.63 Inc/ms3.............................................. 705
Comparison of the curves (trapezoidal profile and S-Curve profile) ......................................... 705
Sequence of events for absolute positioning ............................................................................ 707
Sequence for normal relative positioning.................................................................................. 708
Handshake procedure for positioning ...................................................................................... 709
Homing procedure to negative end switch with zero pulse....................................................... 727
Procedure of homing to negative end switch without zero pulse.............................................. 728
Absolute value offset ................................................................................................................ 729
Homing method 1 ..................................................................................................................... 730
Homing method 2 ..................................................................................................................... 731
Homing method 3 and 4 ........................................................................................................... 732
Homing method 5 and 6 ........................................................................................................... 733
Homing methods 7 to 10........................................................................................................... 734
Homing method 11 to 14 .......................................................................................................... 735
Homing methods 19 and 20...................................................................................................... 736
Homing method 33 and 34 ....................................................................................................... 736
Manual Drive Operation page in ProDrive ................................................................................ 747
Speed profile Speed set value > spindle position speed .......................................................... 752
Speed profile Speed actual value <= spindle position speed ................................................... 752
Speed profile Speed actual value = 0 (standstill message is set) ............................................ 753
Spindle positioning with sequential positioning......................................................................... 754
Spindle angle position............................................................................................................... 758
Spindle relative offset ............................................................................................................... 759
SW = Set value; SW Cycle = effective interpolation interval;
cycle of the internal software interface = Fieldbus cycle .......................................................... 761
Synchronous operation page in ProDrive ................................................................................. 774
ProDrive Find Notch Position.................................................................................................... 787
U-f characteristic....................................................................................................................... 791
Control loop of U-f operation..................................................................................................... 792
Compensating controller for acceleration ................................................................................. 793
Current control .......................................................................................................................... 794
Set value curve consisting of several curve segments ............................................................. 801
Structure of operation mode ..................................................................................................... 803
Switchover of segments............................................................................................................ 810

ProDrive OM current control .................................................................................................... 823

Control diagram of the vibration damping ................................................................................ 826
ProDrive - Resulting signal of the motor diagnosis .................................................................. 827
Breakdown torque limitation, field weakening and flux control ASM SFOC, from FW 1.16 ..... 837
Block diagram FFT analyzer function....................................................................................... 867
Application example: Analysis of an unknown linear system ................................................... 869
Input of the reset code in ProDrive........................................................................................... 881
Overload monitoring of the power unit (Ixt model) ................................................................... 894
Curve overload monitoring ....................................................................................................... 897
Overload monitoring of the power unit (temperature model).................................................... 898
Current derating at changed operating conditions ................................................................... 899
Time curve of the motor l2t actual value in the nominal operating point .................................. 904
Motor I2t overload monitoring (standard solution) .................................................................... 905
Function example of the motor l2t overload monitoring............................................................ 907
Typical continuous current limit identification of synchronous motors ..................................... 908
Continuous current limit characteristic by current supporting points and
interpolation (see ZFig. 217– on page 905) ............................................................................ 909
Continuous current limit characteristic by approximation of the iron losses
(see ZFig. 217– on page 905) ................................................................................................. 909
Typical derating of standard asynchronous machines (without forced ventilation) .................. 910
Speed-dependent l2t overload monitoring of asynchronous machines without forced ventilation ......
910
Motor-I2t, monitoring of the single phases ............................................................................... 911

Document No.: 5.09022.17 of 978
Index
A Changeover 449
Abbreviations 965 Commands 449
Acknowledging errors 31 Copy 448, 450
Acknowledging warnings 31 Create 447, 450
Activation time 895 Delete 448, 450
Active data set 445 Identification 445
Active Data Set Number 444, 446, 449 Load from EEPROM 448
Actual lead shaft 771 Loading 448, 450
Actual positions 693 Parameter 444
Altering motor data 37 Reset 447
Analog inputs 290 saving 48
Analog outputs 296 Standard values 449
Assembly 20 Switch-on behavior 445
Asynchronous motor 36, 177 Data set command 447
Automatic brake actuation 456 Data Set Identification Number 446
Data Set Management 443, 446
B Data set management status 444, 446
Brake management 456 Data Set Manager 39
Data Set Name 445, 446
C Data Set Status 40
CANopen mode 701 Data sets 443
Catch on Fly 839 Data sheet 22
Caution 14 DC link controller 612
Change of operating mode 702 DC link voltage 612
Change set immediately 695 Dead time compensation 588
Channels 859 Delete parameters in Flash 447
Characteristic curve 897 Delivered state 445
Checking motor data 37 Device control system 403
Clear Flash completely 449 Diagnosis 844
Clockwise turn 737 Digital outputs 283
Cold power unit 897 Direction of revolution 700
Command code 443 Drive manager 399
Command interface 443 Drive position 693
Command processing 446 DRIVE SHUT-DOWN ACTIVE 401
Commissioning 17, 29 Dynamically 693
Communications interfaces 399
Consumer list 310, 312 E
Control bit 694 Electronic transmission 772
Control inputs 399 Encoder 33, 192, 727
Controller Encoder cable 23
Uzk 612 Encoder data (Data sheet) 22
Controller adaption 537 Encoder module 23
Controller Enable 399 Encoder monitoring 194, 206
Controller firmware 13 Encoder systems 693
Counterclockwise turn 737 Encoder type 22
Current controller 585 ERROR 401, 403
Autotuning 245 Error 50
Current prediction 588 Error acknowledgment 55
Customer service 16 Error code 446
Cycle time 87, 505 Error detection 55
Error handling 55, 399
D Error management 468
Danger 14 Error message 448
Data set Error reset 399, 400

Document No.: 5.09022.17 of 978
Subject Index
ERROR RESPONSE 401 M

Error while reading 446 Manual brake actuation 456
Error while writing 446 Manual drive operation 747
Errors, behavior 49 master shaft
Explanation of symbols 14 Actual 771
Virtual 771
F Maximum drive current 32
FFT Analyzer 867 Maximum speed 36, 38
Field angle monitoring 196, 197, 888 Measuring encoder 319
Field weakening factor 627 Measuring probe input 269
Fieldbus communication 307 Message text 446
Filter Monitoring functions 50
IIR filter function 573 Motion task 695
Flash 443 Motor
Data sheet 22
G Temperature monitoring 902
Gantry functions 364 Motor control 23
Guarantee conditions 16 Motor data (Data sheet) 22
Motor data (Identification plate) 22
H Motor data sheets 36
Hardware control inputs 399 Motor database 22, 35
Hardware limit switch 693 Motor identification plate 132
HIPERFACE 22, 34 Motor rated voltage 36
Home Position 737 Motor type 22, 36
Homing 726, 728, 730
Homing Acceleration 727 N
Homing method 730 New set value 695
Homing Method, manufacturer specific 737 New setpoint 694
Homing speed 727 Nominal speed 36
HW limit switch 701 NOT READY TO SWITCH ON 400, 401
Notch angle 22
I Note 14
Identification plate 22 Number of pole pairs 22, 39
IF 399, 400 Number of pulses 22
IIR filter function 573
Incremental encoder 693 O
Incremental encoders 727 Operating mode 693
Installation 20 Operating modes
Ixt model 894 general 673
OPERATION ENABLED 400, 402
J OPERATION INHIBIT ACTIVE 401, 402
Jerk-free 703 Operationally ready for control signal 417
Operationally ready relay 410
K
Oscilloscope function 859
Ks factor 255, 259
Overload factor 895
L Overload monitoring 894
LED 30
P
LED H11 30
Parameter
LED H13 30
changing 445
LED H14 30
Loading 445
Limit switch 700, 730, 737
Parameter group 100 469
Limit switch monitoring 700
Limitation of liability 15
Load parameters from Flash 447

Subject Index
Parameter group 105 450 Positioning set 696

Parameter group 106 206 Positioning time 703
Parameter group 108 417 Positioning window 699
Parameter group 109 417 Positioning window time 699
Parameter group 110 493 Power steering pump I/O 302
Parameter group 111 480 Power supply 30
Parameter group 114 613 Power unit 107
Parameter group 118 710 Characteristics 107
Parameter group 119 748 Working data 107
Parameter group 120 739 ProDrive 30
Parameter group 121 677 Producer list 310, 312
Parameter group 122 812 Pulse enable 399, 400
Parameter group 123 248 Pulse enable input 269
Parameter group 124 322 Pulse enabling 23, 45
Parameter group 125 297 Pulse width modulation 597
Parameter group 132 506 Q
Parameter group 134 462 Quick discharge input 399
Parameter group 136 762 Quick Stop 401, 402
Parameter group 138 648 Quick stop input 399
Parameter group 141 661 R
Parameter group 142 625 Ramp function generator 46, 485
Parameter group 146 645 Ramp generator 772
Parameter group 147 357 Read Flash completely 449
Parameter group 148 510 Ready for main contactor ON contact 416
Parameter group 149 756 Ready for pulse enable contact 416
Parameter group 151 636 READY TO SWITCH ON 400, 402
Parameter group 152 636 Reference switch 727, 728
Parameter group 154 543 Releasing brake 457
Parameter group 155 648 Reproducibility 730
Parameter group 156 367 Reset errors 31
Parameter group 157 175 Reset the Data Set Management System
Parameter group 160 840 449
Parameter group 165 372 RF 399
Parameter group 166 794 Rotary table positioning 693
Parameter group 167 840 Route positioning 693
Parameter group 175 109 Running positioning 702
Parameter group 200 877 S
Parameter group 29 577 Safety devices 23
Parameter group 52 259 Safety information 13
Parameter list 38 Sampling interval 859
Parametergruppe 159 521 Save All 39, 48
Parametergruppe 168 527 Saving the data set 48
Parametergruppe 170 379 S-Curve profile 487, 706
Parametergruppe 171 187 SE 399
Parametergruppe 179 392 Searching for the dwell position 42
Parking shaft 411 Searching for the notch position 785
Phase sequence 39 Set of set values 694, 698
Position controller 536, 548 Set specification 694
Positioning data 693, 694 Set value generator 505
Positioning procedure 694 Set value handshaking 695
Positioning records 693, 694 Set value manager 479

Document No.: 5.09022.17 of 978
Subject Index
Set value profiles 703 Thermal time constant 895

Set value specification 694 Time zones 505
SH 399 Time-optimized positioning 704
Signal Tipping operation 747
Chopper resistor on 475 Torque current limiting 590
Phase failure 475 Trapezoidal profile 486, 706
Supply operationally not ready 475 Travel 693
Supply operationally ready 474 Trigger 859
Signal bus 474 Trigger sources 859
Sine-cosine 34 Trigger time 859
Single set value 696 Triggering 859
Single setpoint 694 Troubleshooting 49
Single-turn encoder 693 Two-level controller 631
Smooth torque reduction 411 with absolute thresholds 632
SoftDrivePLC 376 with relative thresholds 633
Software limit switch 693, 696, 700, 701
Software modules 87 U
Source data set 445, 446, 448 Up/Download 445
Speed - synchronous operation 772
Speed control 485 V
Speed controller 536, 549 Virtual lead shaft 771
Speed preset 485 Voltage test 19
Speed profile 693
Speed profiles 703 W
Speed setpoint sequence 505 Warning 14, 50
Start 48 Warnings 14
Start command 694
State machine 404, 412 Z
Statically 693 Zero angle 726, 727, 737
Stop/Off 48 Zero pulse 726, 727, 737
SW limit switch 701
Switch wiring 730
SWITCHED ON 400, 402
Switching between modes 399
Switching elements 23
Switching off the drive 48
SWITCH-ON INHIBIT 400, 401
Symmetric torque limit 133
Synchronous motor 36
Synchronous operation 771
synchronous position setpoint value specifi-
cation 760
System control 91
T
Target data set 445, 446
Target position 693
Target position reached 695
Target position setting 693
Target specification 701
absolute 701
relative 701
Temperature 894
Thermal load 894

Overview of Revisions
Overview of Revisions
Version Status Changes

5.09022.01 03-Sep10 Initial creation
5.09022.02 09-Sep-10 Parameter 130.4, 130.5, 130.6, 130.7, 130.22, 130.23 and 130.26
removed
5.09022.03 08-Feb-11 Changes for firmware version V01.01
5.09022.04 01-Apr-11 Changes for firmware version V01.02
5.09022.05 19-Sep-11 Changes for firmware version V01.03
5.09022.06 10-Apr-12 Changes for firmware version V01.04
5.09022.07 19-Nov-12 Changes for firmware version V01.05
5.09022.08 17-May-13 Changes for firmware version V01.06
5.09022.09 27-Jan-13 Changes for firmware version V01.07
5.09022.11 29-Sep-15 Changes for firmware version V01.09
5.09022.12 01-Aug-16 Changes for firmware version V01.10
5.09022.14 09-Aug-17 Changes for firmware version V01.13
5.09022.16 27-May-19 Changes for firmware version V01.15
5.09022.17 08-Apr-2021 Changes for firmware version V01.16 und V01.17

Document No.: 5.09022.17 of 978
Notes:

Baumüller Nürnberg GmbH Ostendstraße 80-90 90482 Nuremberg Tel: +49(0)911-5432-0 Fax: +49(0)911-5432-130 www.baumueller.com
All the information in these Operating Instructions is non-binding customer information; it is subject to ongoing further development and is updated on a continuous basis
by our permanent change management system. Note that all the data/numbers/information that are quoted are current values at the time of printing.
This information is not legally binding for dimensioning, calculation and costing. Before using the information listed in these Operating Instructions as the basis for your own
calculations and/or applications, make sure that you have the latest most current information.
This means that we accept no resonsibility for the accuracy of the information.

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Parameter manual

E 5.09022.17 Read the Operating Manual before starting any work!

 Baumüller Nürnberg GmbH

Parameter manual b maXX BM5000 3

4.4.2.2 Motor database . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

4 Parameter manual b maXX BM5000

4.4.10.5 Control loop analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

Parameter manual b maXX BM5000 5

4.4.23.2 Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367

6 Parameter manual b maXX BM5000

4.5.5.3 Supply not ready for use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475

Parameter manual b maXX BM5000 7

4.7.3 Current Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585

8 Parameter manual b maXX BM5000

4.9.1.1 Moving to positive stop command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 674

Parameter manual b maXX BM5000 9

4.9.7.1 Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 774

10 Parameter manual b maXX BM5000

4.12 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 888

Parameter manual b maXX BM5000 11

Parameter manual b maXX BM5000 13

1.2 Explanation of Symbols

14 Parameter manual b maXX BM5000

CiA and CANopen is a registered trademark of CAN in Automation e.V.

EnDat is a registered trademark of Dr. Johannes Heidenhain GmbH,

EtherCAT is a registered trademark of Beckhoff Automation GmbH,

HIPERFACE and is a registered trademark of SICK STEGMANN GmbH,

PROFINET is a registered trademark of PROFIBUS International

Sercos is a registered trademark of Sercos international e.V.

SinCos is a registered trademark of SICK STEGMANN GmbH,

Windows is a registered trademark of Microsoft Corporation, USA

b maXX is a registered trademark of Baumüller Nürnberg GmbH,

Parameter manual b maXX BM5000 15

1.5 Other Applicable Documents

1.6 Guarantee Conditions

1.7 Customer service

Our customer service department is available for technical information.

1.8 Terms used

16 Parameter manual b maXX BM5000

Parameter manual b maXX BM5000 17

2.1 Safety information

18 Parameter manual b maXX BM5000

Figure 1: Danger areas during electrical installation

2.2 Voltage test

Parameter manual b maXX BM5000 19

2.3 Requirements for the electrical supply

20 Parameter manual b maXX BM5000

Figure 2: Installation plan

Parameter manual b maXX BM5000 21

3 ProDrive must be installed on the PC/Laptop.

5 Make sure that the motor meets the following conditions:

22 Parameter manual b maXX BM5000

2.4.1 Communication via EtherCAT

For communication via EtherCAT you will need:

n Leave the base address on the EtherCAT Master unchanged (192.168.1.1).

Parameter manual b maXX BM5000 23

Figure 3: Setting fixed IP addresses

24 Parameter manual b maXX BM5000

Figure 5: ProEtherCAT Download

Parameter manual b maXX BM5000 25

n Start ProDrive and select "Find device".

Figure 6: ProDrive: Find device

26 Parameter manual b maXX BM5000