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Levante Sistemas de
Automatización y Control S.L.

LSA Control S.L. - Bosch Rexroth Sales Partner

Ronda Narciso Monturiol y Estarriol, 7-9
Edificio TecnoParQ Planta 1ª Derecha, Oficina 14
(Parque Tecnológico de Paterna)
46980 Paterna (Valencia)
Telf. (+34) 960 62 43 01
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www.lsa-control.com
www.lsa-control.com
www.boschrexroth.es
Distribuidor oficial Bosch Rexroth, Indramat, Bosch y Aventics.
 engineering
mannesmann
Rexroth

ECODRIVE03
NC Controller
with Parallel Interface
Functional Description: FLP-01VRS (Preliminary Version)

Rexroth
DOK-ECODR3-FLP-01VRS**-FK01-AE-P Indramat
LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01
About this Documentation ECODRIVE03 FLP-01VRS

ECODRIVE03
Title NC Controller
with Parallel Interface
Type of Documentation Functional Description

Document Typecode DOK-ECODR3-FLP-01VRS**-FK01-AE-P

Record of Revisions Description Release Notes

Date

Copyright  2000 Rexroth Indramat GmbH

Copying this document, giving it to others and the use or communication
of the contents thereof without express authority, are forbidden. Offenders
are liable for the payment of damages. All rights are reserved in the event
of the grant of a patent or the registration of a utility model or design (DIN
34-1).

Validity All rights are reserved with respect to the content of this documentation
and the availability of the product.

Published by Rexroth Indramat GmbH

Bgm.-Dr.-Nebel-Str. 2 • D-97816 Lohr a. Main
Telephone 09352/40-0 • Tx 689421 • Fax 09352/40-4885
http://www.rexroth.com/indramat
Dept. ESV (JB/HK)

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ECODRIVE03 FLP-01VRS Contents I

Contents
1 System Overview 1-1
1.1 ECODRIVE03 - The Universal Drive Solution for Automation....................................................... 1-1
1.2 ECODRIVE03 – A Family of Drives ............................................................................................... 1-1
1.3 Drive Controllers and Motors ......................................................................................................... 1-2
1.4 Function Overview: FWA-ECODR3-FLP-01VRS-MS.................................................................... 1-3
Command Communications Interface ..................................................................................... 1-3
Supported Motor Types ........................................................................................................... 1-3
Supported Measuring Systems................................................................................................ 1-3
Firmware Functions ................................................................................................................. 1-4

2 Safety Instructions for Electric Servo Drives and Controls 2-1

2.1 Introduction..................................................................................................................................... 2-1
2.2 Explanations................................................................................................................................... 2-1
2.3 Hazards Due to Incorrect Use........................................................................................................ 2-2
2.4 General Information ....................................................................................................................... 2-3
2.5 Protection Against Contact with Electrical Parts ............................................................................ 2-4
2.6 Protection Against Electrical Shock by Protective Extra-Low Voltage (PELV) .............................. 2-5
2.7 Protection Against Dangerous Movements.................................................................................... 2-6
2.8 Protection Against Magnetic and Electromagnetic Fields During Operation and Mounting .......... 2-8
2.9 Protection Against Contact with Hot Parts ..................................................................................... 2-8
2.10 Protection During Handling and Installation................................................................................... 2-9
2.11 Battery Safety................................................................................................................................. 2-9
2.12 Safeguards with Pressurized Lines................................................................................................ 2-9

3 General Instructions for Start-Up 3-1

3.1 Explanation of Terms ..................................................................................................................... 3-1
Communication ........................................................................................................................ 3-1
Data Storage ............................................................................................................................ 3-3
Operating Modes ..................................................................................................................... 3-3
Inputs / Outputs / Marker Flags ............................................................................................... 3-4
Warning.................................................................................................................................... 3-4
Errors ....................................................................................................................................... 3-5
Basic Parameter/Basic Load.................................................................................................... 3-6
3.2 Initial Startup Guidelines ................................................................................................................ 3-7
Downloading the Firmware ...................................................................................................... 3-7
3.3 Diagnostic Message Options ......................................................................................................... 3-7
Overview of Diagnostic Message Options ............................................................................... 3-7
Drive-internal Diagnostic Message Generation ....................................................................... 3-8

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II Contents ECODRIVE03 FLP-01VRS

Diagnostic Message Composition ........................................................................................... 3-8

3.4 Language Selection ....................................................................................................................... 3-9
3.5 Firmware Update using the DOLFI Program ................................................................................. 3-9
Error Message in the Firmware Loader ................................................................................... 3-9
Additional Problems when Loading Firmware ....................................................................... 3-13
3.6 Firmware Update of ECODRIVE.................................................................................................. 3-15
3.7 Firmware Update in BTV04/05..................................................................................................... 3-15

4 Motor Configuration 4-1

4.1 Characteristics of the Different Motor Types.................................................................................. 4-1
Motor-Feedback Data Memory ................................................................................................ 4-1
Temperature Monitoring........................................................................................................... 4-2
Load Default............................................................................................................................. 4-2
4.2 Setting the Motor Type................................................................................................................... 4-2
Automatic Setting of the Motor Type for Motors with Feedback Memory................................ 4-2
4.3 Synchronous Motors ...................................................................................................................... 4-3
4.4 Motor Holding Brake ...................................................................................................................... 4-3
Pertinent Parameters ............................................................................................................... 4-3
Setting the Motor Holding Brake Type..................................................................................... 4-4
Setting Maximum Decel Time.................................................................................................. 4-6
Connecting the Motor Holding Brake to the ECO03................................................................ 4-6

5 Programming the User Program 5-1

6 Overview of All User Commands ................................................................................................... 5-1
General Information................................................................................................................................. 5-3
Loading the Program............................................................................................................................... 5-4
Starting the User Program....................................................................................................................... 5-4
Stopping the User Program..................................................................................................................... 5-4
Variables.................................................................................................................................................. 5-6
Available Variables .................................................................................................................. 5-7
System Variables ..................................................................................................................... 5-7
Axis Variables .......................................................................................................................... 5-7
Description of Commands ....................................................................................................................... 5-9
ACC - Acceleration Change..................................................................................................... 5-9
AEA – Bit set/clear ................................................................................................................. 5-10
AKN – Compare bit ................................................................................................................ 5-10
AKP – Compare byte ............................................................................................................. 5-11
APE – Byte set/clear .............................................................................................................. 5-12
BAC – Branch conditional on count ....................................................................................... 5-13
BCE – Branch Conditional on bit ........................................................................................... 5-14
BIC – Branch Conditional on bitfield value ............................................................................ 5-14
BIO – Branch conditional on byte compare ........................................................................... 5-15
BPA – Branch conditional on byte ......................................................................................... 5-16
CIO – Copy bitfields ............................................................................................................... 5-17
CLC – Clear counter .............................................................................................................. 5-17
CON – Steady state speed .................................................................................................... 5-18

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ECODRIVE03 FLP-01VRS Contents III

COU - Counter ....................................................................................................................... 5-18

CPJ – Compare and jump...................................................................................................... 5-20
CPL – Clear position error ..................................................................................................... 5-20
CPS – Compare and set a bit ................................................................................................ 5-21
CST – Change Subroutine stack level................................................................................... 5-21
CVT – Convert Variable <- -> Marker .................................................................................... 5-22
FAK – Length scaling factor................................................................................................... 5-24
FOL – Slave axis.................................................................................................................... 5-25
HOM – Home Axis ................................................................................................................. 5-26
JMP – Jump Unconditional .................................................................................................... 5-26
JSR – Jump to Subroutine ..................................................................................................... 5-27
JST – Jump and Halt ............................................................................................................. 5-28
JTK – Program jump in parallel Task..................................................................................... 5-28
MAT - Mathematics................................................................................................................ 5-29
MOM – Torque Reduction...................................................................................................... 5-29
MOM – Torque Reduction...................................................................................................... 5-29
NOP – No Operation.............................................................................................................. 5-30
PBK – Stop motion................................................................................................................. 5-31
PFA – Position absolute against............................................................................................ 5-32
PSI – Position incremental against ........................................................................................ 5-32
POA – Position absolute ........................................................................................................ 5-33
POI – Position Incremental .................................................................................................... 5-34
PSA – Position absolute with in-position ............................................................................... 5-34
PSI – Position incremental with in-position............................................................................ 5-35
REP – Jump on max. search limit reached............................................................................ 5-36
RTM – Round table-Modus.................................................................................................... 5-36
RTS – Return from Subroutine .............................................................................................. 5-37
SAC - Set Abs. position Counter ........................................................................................... 5-38
SET – Set variable ................................................................................................................. 5-39
SRM – Drive to registration mark........................................................................................... 5-39
VCC – Velocity change command ......................................................................................... 5-41
VEO – Velocity Override Command ...................................................................................... 5-43
WAI – Wait (Time Delay) ....................................................................................................... 5-46

6 The Logic Task (In preparation) 6-1

7 Functions (In preparation) 7-1

8 Parameters 8-1
8.1 Basic Information ........................................................................................................................... 8-3
8.2 System Parameters........................................................................................................................ 8-4
A100 Type of application ....................................................................................................... 8-4
A101 Feed constant............................................................................................................... 8-5
A102 Gear.............................................................................................................................. 8-5
A103 Negative travel limit ...................................................................................................... 8-6
A104 Positive travel limit........................................................................................................ 8-6

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IV Contents ECODRIVE03 FLP-01VRS

A105 Modulo value ................................................................................................................ 8-6

A106 Maximum velocity ......................................................................................................... 8-7
A107 Manual velocity............................................................................................................. 8-7
A108 Bipolar acceleration ...................................................................................................... 8-8
A109 Acceleration / Deceleration .......................................................................................... 8-8
A110 Bipolar jerk limiting time constant................................................................................. 8-8
A111 Switching threshold ...................................................................................................... 8-9
A112 Reserved Stop window............................................................................................... 8-10
A113 In position window ...................................................................................................... 8-10
A114 Presignaling................................................................................................................ 8-11
A115 Monitoring................................................................................................................... 8-11
A116 Feed angle monitoring / Feed interrupt ...................................................................... 8-12
A117 Encoder difference monitoring ................................................................................... 8-13
A118 Absolute encoder monitoring window......................................................................... 8-13
A119 Best possible deceleration ......................................................................................... 8-14
8.3 Function Parameters.................................................................................................................... 8-15
AA00 Tasks 2 & 3 ................................................................................................................ 8-15
AA01 Manual vector............................................................................................................. 8-15
AA02 Interrupt vector ........................................................................................................... 8-16
AA03 Reserved Restart ...................................................................................................... 8-16
AA04 Override ..................................................................................................................... 8-16
AA05 Reserved Electr....................................................................................................... 8-17
AA06 Reserved Motorbremse ........................................................................................... 8-17
AA07 Measuring wheel mode.............................................................................................. 8-17
AA08 Other .......................................................................................................................... 8-18
8.4 General Parameters..................................................................................................................... 8-19
B000 Display........................................................................................................................ 8-19
B001 Interface Parameters .................................................................................................. 8-19
B002 Interface Parameters .................................................................................................. 8-19
B003 Analog output 1, signal selection................................................................................ 8-20
B004 Analog output 1, expanded signal selection............................................................... 8-21
B005 Analog output 1, scaling per 10V full scale ................................................................ 8-23
B006 Analog output 2, signal selection................................................................................ 8-23
B007 Analog output 2, expanded signal selection............................................................... 8-24
B008 Analog output 2, scaling per 10V full scale ................................................................ 8-26
B009 Serial inputs and outputs ........................................................................................... 8-26
B010 System control........................................................................................................... 8-27
B011 Fieldbus Cycle Time [ ms ] ........................................................................................ 8-27
B012 Fieldbus Baudrate [ kBaud ] ..................................................................................... 8-29
B013 Fieldbus Format......................................................................................................... 8-29
8.5 Encoder Parameters .................................................................................................................... 8-30
C000 Working polarity.......................................................................................................... 8-30
C001 Interface, encoder 1 (motor)....................................................................................... 8-30
C002 Position encoder, type 1............................................................................................. 8-31
C003 Resolution, position encoder 1 (motor) ...................................................................... 8-31
C004 Interface, encoder 2 ................................................................................................... 8-32

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ECODRIVE03 FLP-01VRS Contents V

C005 Position encoder, type 2............................................................................................. 8-33

C006 Resolution, encoder 2 ................................................................................................ 8-33
C007 Feed constant 2.......................................................................................................... 8-34
C008 Reserved .................................................................................................................... 8-34
C009 Homing configuration ................................................................................................. 8-34
C010 Homing ....................................................................................................................... 8-35
C011 Reference distance .................................................................................................... 8-35
C012 Home switch offset ..................................................................................................... 8-35
C013 Distance-coded reference distances.......................................................................... 8-36
C014 Encoder emulation type.............................................................................................. 8-36
C015 Encoder emulation resolution..................................................................................... 8-37
C016 Marker pulse offset..................................................................................................... 8-37
8.6 Control Parameters ...................................................................................................................... 8-38
CR00 Current loop proportional gain 1 ................................................................................ 8-38
CR00 Current loop integral action time 1............................................................................. 8-38
CR02 Velocity loop proportional gain .................................................................................. 8-39
CR03 Velocity loop integral action time ............................................................................... 8-39
CR04 Velocity loop smoothing time constant ...................................................................... 8-40
CR05 Rejection frequency of velocity loop .......................................................................... 8-41
CR06 Velocity loop bandwidth rejection filter ...................................................................... 8-41
CR07 Kv Factor ................................................................................................................... 8-42
CR08 Acceleration feedforward gain ................................................................................... 8-42
CR09 Switching frequency................................................................................................... 8-44
CR10 Actual position smoothing time constant in measuring wheel mode......................... 8-44
8.7 Motor Parameters ........................................................................................................................ 8-45
CM00 Motor type ................................................................................................................. 8-45
CM01 Bipolar torque/force limit value.................................................................................. 8-45
CM02 Motor peak current / current at standstill................................................................... 8-45
CM03 Maximum velocity of motor ....................................................................................... 8-46
CM04 Number of pole pairs/pole pair distance.................................................................... 8-47
CM05 Torque/force constant ............................................................................................... 8-47
CM06 Rotor moment of inertia............................................................................................. 8-47
CM07 Holding brake type .................................................................................................... 8-48
CM08 Holding brake current ................................................................................................ 8-48
CM09 Motor temperature..................................................................................................... 8-48
8.8 Asynchronous Motor Parameters ................................................................................................ 8-49
CA00 Magnetization current ................................................................................................ 8-49
CA01 Pre-magnetization factor............................................................................................ 8-49
CA02 Slip factor ................................................................................................................... 8-50
CA03 Slip increase .............................................................................................................. 8-50
CA04 Stall current limit ........................................................................................................ 8-50
CA05 Flux loop proportional gain ........................................................................................ 8-51
CA06 Flux loop integral action time ..................................................................................... 8-51
CA07 Motor voltage at no load ............................................................................................ 8-51
CA08 Motor voltage max. .................................................................................................... 8-51
8.9 List of FLP Parameters ................................................................................................................ 8-53

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VI Contents ECODRIVE03 FLP-01VRS

9 Interface 9-1
9.1 Inputs / Outputs / Marker Flags...................................................................................................... 9-1
System Inputs .......................................................................................................................... 9-2
System Outputs ....................................................................................................................... 9-4
DKC21.3 Programmable Inputs/Outputs ................................................................................. 9-5
DKC3.3 Programmable Inputs/Outputs ................................................................................... 9-5
BTV04 Programmable Inputs/Outputs..................................................................................... 9-5
Marker Flags ............................................................................................................................ 9-7
9.2 Serial Interface ............................................................................................................................. 9-10
Overview ................................................................................................................................ 9-10
Communications via RS232 Interface ................................................................................... 9-11
Communications via RS485 Interface ................................................................................... 9-12
Transmission Protocols.......................................................................................................... 9-13
ASCII Protocol ....................................................................................................................... 9-13
SIS Protocol ........................................................................................................................... 9-30

10 Command Communications (In preparation) 10-1

11 Diagnostic Message Descriptions 11-1

11.1 Overview of the Diagnostic Message Descriptions...................................................................... 11-1
Diagnostic Message Types.................................................................................................... 11-1
Composition of a Diagnostic Message .................................................................................. 11-1
11.1 Diagnostic Error Messages .......................................................................................................... 11-4
F208 UL The motor type has changed .................................................................................. 11-4
F209 PL Load parameter default values................................................................................ 11-4
F218 Amplifier overtemp. shutdown ...................................................................................... 11-5
F219 Motor overtemp. shutdown ........................................................................................... 11-5
F220 Bleeder overload shutdown .......................................................................................... 11-6
F221 Motor temp. surveillance defective ............................................................................... 11-7
F226 Undervoltage in power section ..................................................................................... 11-7
F228 Excessive deviation ...................................................................................................... 11-7
F229 Encoder 1 failure: Quadrant error................................................................................. 11-8
F230 Max. Signal frequency of encoder 1 exceeded ............................................................ 11-8
F234 Emergency-Stop ........................................................................................................... 11-9
F236 Excessive position feedback difference........................................................................ 11-9
F237 Excessive position command difference .................................................................... 11-10
F242 Encoder 2 failure: Signal amplitude wrong ................................................................. 11-10
F245 Encoder 2 failure: Quadrant error............................................................................... 11-11
F246 Max. signal frequency of encoder 2 exceeded........................................................... 11-12
F248 Low battery voltage..................................................................................................... 11-12
F253 Incr. encoder emulator: Frequency too high............................................................... 11-13
F267 Erroneous internal hardware synchronization ............................................................ 11-14
F276 Absolute encoder out of allowed window ................................................................... 11-14
F277 Current measurement trim wrong............................................................................... 11-15
F281 Mains fault .................................................................................................................. 11-15
F386 No ready signal from supply module .......................................................................... 11-15

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ECODRIVE03 FLP-01VRS Contents VII

F407 Error during initialization of master communication.................................................... 11-15

F408 Fatal error of the interface card .................................................................................. 11-16
F434 Emergency-Stop ......................................................................................................... 11-16
F629 Positive travel limit exceeded ..................................................................................... 11-17
F630 Negative travel limit exceeded.................................................................................... 11-17
F634 Emergency-Stop ......................................................................................................... 11-18
F643 Positive travel limit switch detected ............................................................................ 11-18
F644 Negative travel limit switch detected .......................................................................... 11-19
F822 Encoder 1 failure: Signal amplitude wrong ................................................................. 11-19
F860 Overcurrent: short in power stage .............................................................................. 11-21
F870 +24Volt DC error......................................................................................................... 11-21
F873 Power supply driver stages fault................................................................................. 11-22
F878 Velocity loop error....................................................................................................... 11-22
F895 4-kHz signal wrong .................................................................................................... 11-23
11.2 Diagnostic Warning Messages .................................................................................................. 11-23
E221 Warning, Motor temp. surveillance defective ............................................................. 11-23
E225 Motor overload............................................................................................................ 11-24
E250 Drive overtemp. prewarning ....................................................................................... 11-24
E251 Motor overtemp. prewarning ...................................................................................... 11-25
E252 Bleeder overload prewarning ..................................................................................... 11-25
E256 Torque limit = 0........................................................................................................... 11-26
E257 Continuous current limit active ................................................................................... 11-26
E259 Command velocity limit active .................................................................................... 11-27
E261 Continuous current limit prewarning........................................................................... 11-27
E263 Velocity command value > limit A106 ........................................................................ 11-27
E300 Processor watchdog timer .......................................................................................... 11-28
E825 Overvoltage in power stage........................................................................................ 11-28
E826 Undervoltage in power section ................................................................................... 11-29
11.3 Command Diagnostic Messages ............................................................................................... 11-29
C100 Communication phase 3 transition check .................................................................. 11-29
C200 Communication phase 4 transition check .................................................................. 11-29
C201 Parametersatz unvollständig...................................................................................... 11-30
C202 Parameter limit error................................................................................................... 11-30
C203 Parameter calculation error ........................................................................................ 11-30
C204 Motor type P-0-4014 incorrect.................................................................................... 11-31
C207 Load error LCA........................................................................................................... 11-31
C210 Feedback 2 required .................................................................................................. 11-31
C211 Invalid feedback data ................................................................................................. 11-32
C212 Invalid amplifier data .................................................................................................. 11-32
C213 Wichtung der Lagedaten fehlerhaft ............................................................................ 11-32
{C214 Wichtung der Geschwindigkeitsdaten fehlerhaft ...................................................... 11-33
C215 Wichtung der Beschleunigungsdaten fehlerhaft ........................................................ 11-33
C216 Wichtung der Drehmoment/Kraftdaten fehlerhaft ...................................................... 11-33
C217 Feedback 1 data reading error................................................................................... 11-34
C218 Feedback 2 data reading error................................................................................... 11-34
C220 Feedback 1 initializing error ....................................................................................... 11-35

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VIII Contents ECODRIVE03 FLP-01VRS

C221 Feedback 2 initializing error ....................................................................................... 11-36

C223 Input value for max. range too high............................................................................ 11-36
C227 Modulo range error..................................................................................................... 11-37
C228 Wrong controller type ................................................................................................. 11-37
C234 Encoder combination not possible ............................................................................. 11-37
C235 Load-side motor encoder with inductance motor only ............................................... 11-37
C236 Feedback 1 required .................................................................................................. 11-38
C300 Command set absolute measuring ............................................................................ 11-38
C301 Setting absolute encoder not possible when RF set.................................................. 11-38
C302 Absolute measuring system not installed................................................................... 11-39
C400 Switching to Parameter Mode .................................................................................... 11-39
C500 Reset class 1 diagnostic, error reset.......................................................................... 11-39
C600 Drive-controlled homing procedure command ........................................................... 11-40
C601 Homing only possible with drive enable ..................................................................... 11-40
C602 Distance home switch – reference mark erroneous................................................... 11-40
C604 Homing of absolute encoder not possible .................................................................. 11-40
C605 Homing velocity too high ............................................................................................ 11-41
C700 Basic load................................................................................................................... 11-41
C701 Basic load not possible with drive enable .................................................................. 11-42
C702 Default parameters not available ............................................................................... 11-42
C703 Default parameters invalid ......................................................................................... 11-42
C704 Parameters not copyable ........................................................................................... 11-43
C705 Locked with password ................................................................................................ 11-43
C800 Default parameter load............................................................................................... 11-43
C801 Parameter default value erroneous............................................................................ 11-44
C802 Locked with password ................................................................................................ 11-44
D300 Command adjust commutation .................................................................................. 11-44
D301 Drive not ready for commutation command ............................................................... 11-44
D302 Drehmoment/Kraft zu klein für Bewegung ................................................................. 11-45
D500 Kommando Markerposition erfassen ......................................................................... 11-45
D501 Kein inkrementelles Meßsystem ................................................................................ 11-46
11.4 Diagnostic Status Messages...................................................................................................... 11-46
A002 Communication phase 2............................................................................................. 11-46
A003 Communication phase 3............................................................................................. 11-46
A010 Drive HALT. ................................................................................................................ 11-46
A012 Control and power sections ready for operation. ....................................................... 11-47
A013 Ready for power on .................................................................................................... 11-47
A102 Position mode with encoder 1 .................................................................................... 11-47
A103 Position mode with encoder 2 .................................................................................... 11-47
A104 Position mode without position lag (following error), encoder 1................................. 11-48
A105 Position mode without lag, encoder 2 ........................................................................ 11-48
A800 Unknown operating mode .......................................................................................... 11-48
11.5 Diagnostic Messages for Basic Initialization and Fatal System Errors ...................................... 11-48
Diagnostic Message Display: -0........................................................................................... 11-48
Diagnostic Message Display: -1........................................................................................... 11-48
Diagnostic Message Display: -2........................................................................................... 11-49

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ECODRIVE03 FLP-01VRS Contents IX

Diagnostic Message Display: -3........................................................................................... 11-49

Diagnostic Message Display: -4........................................................................................... 11-49
Diagnostic Message Display: -5........................................................................................... 11-49
Diagnostic Message Display: -6........................................................................................... 11-49
Diagnostic Message Display: Diagnostic Message Display: E1.......................................... 11-49
Diagnostic Message Display: Diagnostic Message Display: E2.......................................... 11-49
Diagnostic Message Display: E3 ........................................................................................ 11-49
Diagnostic Message Display: E4 ........................................................................................ 11-50
Diagnostic Message Display: E5 ........................................................................................ 11-50
11.6 Operation Status ........................................................................................................................ 11-51
bb ......................................................................................................................................... 11-51
Ab......................................................................................................................................... 11-51
AF......................................................................................................................................... 11-51
AH ........................................................................................................................................ 11-51
AU ........................................................................................................................................ 11-51
HA ........................................................................................................................................ 11-51
PA ........................................................................................................................................ 11-51
Jb ......................................................................................................................................... 11-51
JF ......................................................................................................................................... 11-51
P2......................................................................................................................................... 11-52
P3......................................................................................................................................... 11-52
P4......................................................................................................................................... 11-52
PL......................................................................................................................................... 11-52
UL......................................................................................................................................... 11-52
F- 0300 Invalid I/O number in command instruction........................................................... 11-52
F- 0301 Wrong I/O status in command............................................................................... 11-52
F- 0302 Command instruction number too large ................................................................ 11-52
F- 0304 Unknown command............................................................................................... 11-52
F- 0305 Drive not homed to absolute value........................................................................ 11-52
F- 0306 Feed distance overrun........................................................................................... 11-53
F- 0307 Data loss parameter .............................................................................................. 11-53
F- 0308 Drive message not sent......................................................................................... 11-53
F- 0309 Master data message not processed .................................................................... 11-53
F- 0310 Input error in parameter......................................................................................... 11-53
F- 0311 Stack correction value > 9 ..................................................................................... 11-53
F- 0312 Acknowledgement of an initialization error and not in Parameter-Mode............... 11-53
F- 0313 Interval too great, BCB/BCD command ................................................................ 11-53
F- 0314 Instruction offset too large for BIC command........................................................ 11-53
F- 0315 BCB command: Wrong selection .......................................................................... 11-53
F- 0316 Field bus real-time communication interrupted ..................................................... 11-53
F- 0317 Field bus cyclic communication interrupted ........................................................... 11-53
F- 0318 Wrong axis number in NC command ..................................................................... 11-54
F- 0319 NC cycle time exceeded......................................................................................... 11-54
F- 0320 System error (firmware error) ................................................................................. 11-54
F- 0321 Wrong axis number in NC command ..................................................................... 11-54
F-0200 Parameter and automatic input simultaneously ..................................................... 11-54

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X Contents ECODRIVE03 FLP-01VRS

F-0201 Wrong phase transition........................................................................................... 11-54

F-0203 Target position < negative position limit ................................................................. 11-54
F- 0204 Target position > positive position limit ................................................................. 11-54
F- 0205 Stack overflow with JSR command ....................................................................... 11-54
F- 0206 Stack overflow with RTS command....................................................................... 11-54
F- 0207 Invalid destination task number............................................................................. 11-54
F- 0208 Per mille value in ACC command > 999 .............................................................. 11-54
F- 0209 Invalid value in FAK command.............................................................................. 11-55
F- 0210 Feed monitoring..................................................................................................... 11-55
F- 0211 Torque > 500%...................................................................................................... 11-55
F- 0212 Program run without power ................................................................................... 11-55
E- 0213 Max. difference between motor and measuring wheel encoder too large ............ 11-55
F- 0214 Wrong BCD information ........................................................................................ 11-55
F- 0215 Wrong slave factor input ....................................................................................... 11-55
F- 0216 Per mille value in command > 999 ....................................................................... 11-55
F- 0217 HOM command not allowed .................................................................................. 11-55
F- 0218 RTM command not allowed................................................................................... 11-55
F- 0219 Variable in NC command > permissible input value ............................................. 11-55
F- 0220 Constant in NC command > permissible input value ............................................ 11-56
F- 0221 Logic Task Program error...................................................................................... 11-56
E- 0100 Velocity = 0............................................................................................................ 11-56
E- 0102 Both jog inputs read simultaneously ..................................................................... 11-56
E- 0103 Hardware outputs overloaded ............................................................................... 11-56
E- 0104 System control using BTV interrupted................................................................... 11-56
E- 0105 Real-time communication with BTV interrupted.................................................... 11-56
E- 0106 Jog reverse not possible ....................................................................................... 11-56
E- 0107 Jog forward not possible ....................................................................................... 11-56
E- 0108 IDS-01 timeout ....................................................................................................... 11-56
A- 0007 Stop is active ......................................................................................................... 11-56
A- 0008 Manual vector program is active ........................................................................... 11-56
A- 0009 Function interrupt is active .................................................................................... 11-57

12 Connectors 12-1
12.1 DKC21.3....................................................................................................................................... 12-1
12.2 DKC21.3 and DKC3.3 .................................................................................................................. 12-2

13 Display 13-1
13.1 BTV04 .......................................................................................................................................... 13-1
BTV04 Key Descriptions ........................................................................................................ 13-2
BTV04 Display Menu ............................................................................................................. 13-5
Main Menu ............................................................................................................................. 13-6
Machine Menu ....................................................................................................................... 13-7
Setup Menu............................................................................................................................ 13-9
Diagnostic Messages.......................................................................................................... 13-11
Special Displays................................................................................................................... 13-14

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ECODRIVE03 FLP-01VRS Contents XI

14 Index 14-1

15 Service & Support 15-1

15.1 Helpdesk ...................................................................................................................................... 15-1
15.2 Service-Hotline............................................................................................................................. 15-1
15.3 Internet ......................................................................................................................................... 15-1
15.4 Vor der Kontaktaufnahme... - Before contacting us..................................................................... 15-1
15.5 Kundenbetreuungsstellen - Sales & Service Facilities ................................................................ 15-2

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XII Contents ECODRIVE03 FLP-01VRS

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1 System Overview

1.1 ECODRIVE03 - The Universal Drive Solution for

Automation
The ECODRIVE03 universal automation system is an especially cost-
effective solution for open- and closed-loop control tasks.

The ECODRIVE03 servo drive system features:

• a very broad range of applications
• many different integrated functions
• a highly favorable price/performance ratio

The ECODRIVE03 also features ease of assembly and installation, high

system availability, and a reduced number of system components.

The ECODRIVE03 can be used to implement many different kinds of

functions in a number of applications.

Typical applications are:

• metalworking
• printing and paper processing machines
• automatic handling systems
• packaging and food processing machines
• handling and assembly systems

1.2 ECODRIVE03 – A Family of Drives

FWA-ECODR3-FLP-0xVRS-MS In addition to the firmware documented here (FWA-ECODR3-FLP-0xVRS-
MS, Drive with integrated NC control and Profibus / parallel
interface), three other application-specific firmware versions exist:

FWA-ECODR3-SMT-0xVRS-MS • drive for machine tool applications with SERCOS, analog and parallel
interfaces
FWA-ECODR3-SGP-0xVRS-MS • drive for general automation tasks with SERCOS, analog and parallel
interfaces
FWA-ECODR3-FGP-0xVRS-MS • drive for general automation tasks with field bus interfaces

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1.3 Drive Controllers and Motors

Available controllers The ECODRIVE03 family of drives is at present made up of eight different
units. They differ primarily in terms of which interface is used for machine
control (e.g. SPS, CNC). The drive controllers are available in three
different rating classes with peak currents of 40A, 100A and 200A.
For the FLP, two different interfaces are supported:
• DKC21.3 Parallel interface 2
• DKC03.3 Profibus-DP interface
For other application-specific firmware versions:
• DKC11.3 Analog interface
• DKC01.3 Parallel interface
• DKC02.3 SERCOS interface
• DKC03.3 Profibus-DP interface
• DKC04.3 InterBus interface
• DKC05.3 CANopen interface
• DKC06.3 DeviceNet interface

Supported Motor Types The following motor types can be operated using ECODRIVE03
firmware:
• synchronous motors for standard applications up to 48 Nm.
• synchronous motors for more stringent demands up to 64 Nm.

Fig. 1-1: The ECODRIVE03 Family of Drives and the Motors Supported

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1.4 Function Overview: FWA-ECODR3-FLP-01VRS-MS

Command Communications Interface

The following interfaces are supported:
• Profibus-DP ( DKC 3,3 )
• Parallel interface 2 ( DKC 21.3 )

Supported Motor Types

• MKD • MHD
• 2AD • ADF
• 1MB • MBW
• LAF • LAR
• MKE
• MBS (rotary synchronous kit • LSF (linear synchronous kit
motor) motor)

Supported Measuring Systems

• HSF/LSF
• resolver
• sine encoder with 1Vp-p signals
• encoder with EnDat interface
• resolver without feedback data memory
• Resolver without feedback data memory, with incremental sine
encoder
• gearwheel encoder with 1Vp-p signals
• Hall encoder with square-wave encoder
• Hall encoder with sine encoder
• ECI encoder
Parameters C001 and C004 describe which combinations are possible.

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Firmware Functions

Data • 1 NC axis
• units can be defined in mm, inches and degrees
• dimensions can be programmed as incremental or absolute
• preselection of velocity in ‰ of Vmax

Operating Modes • Parameter

• Manual
• Automatic

Program Data NC
• 1000-line sequential program
• 3 NC tasks (quasi parallel)
• processing of subroutines
• System variables
• 400 variables
• 224 marker flags

Logic task
• 1000 assignments
• Processing speed: 5000 assignments/sec
• Cycle time 4ms
• System flags
• 320 marker flags

RS Interface RS 232 C / RS 485 serial interface

Programing via this interface is possible using the following:
• ASCII protocol
• SIS protocol
• IDS connection ( Indramat Decade switch )

Data Security The user programs and parameters are stored in a NOVRAM (non-
volatile memory).

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Functions
• extensive diagnostics options
• basic parameters that can be called up to set the parameters to their
default settings
• dual language support for parameter and command names, as well as
for diagnostic messages
• German
• English
• evaluation of optional (load-side) encoder for position and/or velocity
control
• evaluation of absolute measurement systems
• modulo function
• torque/force limit can be set via parameters
• current limiting
• travel limiting:
via travel limit switch and/or
position limit values
• drive-side error responses:
best possible deceleration "velocity
command value set to zero"
best possible deceleration "torque free"
best possible deceleration "velocity"
command value set to zero with ramp and filter"
power shutdown in the event of a fault
E-Stop function
• control loop settings
base load function (feedback memory readout)
acceleration precontrol
velocity precontrol
• velocity control loop monitoring
• position control loop monitoring
• drive halt

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• homing
• set absolute distance
• analog output
• analog inputs
• oscilloscope function
• probe input function
• detect marker position
• encoder emulation
absolute encoder emulation (SSI format)
incremental encoder emulation

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2 Safety Instructions for Electric Servo Drives and

Controls

2.1 Introduction
Read these instructions before the equipment is used in order to prevent
bodily injury and/or property damage. Follow these safety instructions at
all times.
Do not attempt to install, use or service this equipment without first
carefully reading all documentation provided with the product. Read these
safety instructions and all user documentation prior to working with the
equipment at any time. If you do not have user instructions for the
equipment, contact your Rexroth Indramat sales representative. Request
that this documentation be sent immediately to the person or persons
responsible for safe operation of the equipment.
If the product is resold, rented and transferred to others, then these safety
instructions must be delivered with the product.

Inappropriate use of this equipment, failure to

follow the safety instructions in this document
or tampering with the product, including
WARNING disabling of safety devices, may result in
product damage, bodily injury, severe electric
shock or even death!

2.2 Explanations
The safety warnings in this documentation describe individual degrees of
hazard seriousness in compliance with ANSI:

Warning symbol with signal Degree of hazard seriousness per ANSI

word The degree of hazard seriousness describes
the consequences resulting from non-
compliance with the safety instructions:

Death or serious bodily injury will occur.

DANGER

Death or serious bodily injury may occur.

WARNING

Bodily injury or equipment damage may

occur.
CAUTION
Fig. 2-1: Degree of hazard seriousness (per ANSI)

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2.3 Hazards Due to Incorrect Use

High electrical voltage and high discharge

current! Risk of death or serious bodily injury
by electric shock!
DANGER

Dangerous movements! Risk of death, serious

bodily injury or equipment damage due to
unintentional motor movements!
DANGER

High electrical voltage due to wrong

connections! Risk of death or bodily injury by
electric shock!
WARNING

Health hazard for persons with heart

pacemakers, metal implants and hearing aids in
proximity to electrical equipment!
WARNING

Housing surfaces could be extremely hot!

Danger of injury! Danger of burns!

CAUTION

Risk of injury due to improper handling! Bodily

injury caused by crushing, shearing, cutting
and mechanical shock or improper handling of
CAUTION pressurized lines!

Risk of injury due to improper handling of

batteries!

CAUTION

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2.4 General Information

• Rexroth Indramat GmbH is not liable for damage resulting from failure
to observe the warnings given in this documentation.
• Read the operating, maintenance and safety instructions before
starting up the machine. If you find that you can not completely
understand the documentation for your product in the language
provided, please ask your supplier to clarify.
• Proper and correct transport, storage, assembly and installation, as
well as due care in operation and maintenance, are prerequisites for
optimal and safe operation of this equipment.
• The handling of electrical equipment requires trained and qualified
personnel:
Only trained and qualified personnel may work on this equipment or
within its proximity. Personnel are qualified if they have sufficient
knowledge of the assembly, installation and operation of the product,
as well as an understanding of all warnings and precautionary
measures noted in these instructions.
Furthermore, they should be trained, instructed or qualified to switch
electrical circuits and equipment on and off, to ground them and to
label them according to the requirements of safe work practices and
common sense. They must have adequate safety equipment and be
trained in first aid.
• Use only spare parts and accessories approved by the manufacturer.
• Follow all safety regulations and requirements for the specific
application as practiced in the country of use.
• The equipment is designed for installation in commercial machinery.
European countries: see directive 89/392/EEC (machine guideline).
• The ambient conditions stipulated in the product documentation must
be complied with.
• Applications relevant to safety are not permitted unless expressly and
specifically stipulated in the project planning specifications.
For example, the following uses and applications are not permitted:
Cranes, passenger and freight elevators, facilities and vehicles for
passenger transport, the medical industry, refineries, transport of
hazardous substances, the nuclear sector, areas sensitive to high
frequencies, mining, processing of foodstuffs, control of safety devices
(even within machines).
• Start-up is permitted only after it has been determined that the
machine in which the product is installed complies with the national
requirements and safety regulations pertinent to the application.
• Operation is only permitted if the national EMC regulations are
complied with for the application in question.
The instructions for installation in accordance with EMC requirements
can be found in the INDRAMAT document "EMC in Drive and Control
Systems”.
The manufacturer of the machine or system is responsible for
compliance with the limit values as prescribed in the national
regulations and specific EMC regulations for the application.

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European countries: see Directive 89/336/EEC (EMC Guideline).

U.S.: See National Electrical Codes (NEC), National Electrical
Manufacturers Association (NEMA), and local building codes. The user of
this equipment must comply with the above noted items at all times.

• Technical data, connections and installation conditions are specified in

the product documentation and must be followed at all times.

2.5 Protection Against Contact with Electrical Parts

Note: This section refers only to equipment and drive components

with voltages above 50 volts.

Making contact with parts conducting voltages above 50 volts can be

dangerous to personnel and can cause electric shock. When operating
electrical equipment, it is unavoidable that some parts of the unit conduct
dangerous voltages.

High electrical voltage! Risk of death or injury

by electric shock, or serious bodily injury!
⇒ Only personnel trained and qualified to work with or on
DANGER electrical equipment are permitted to operate,
maintain or repair this equipment.
⇒ Observe general construction and safety regulations
when working on electrical power installations.
⇒ Before the power is switched on, the ground wire must
be permanently connected to all electrical units in
accordance with the connection diagram.
⇒ Do not operate electrical equipment at any time if the
ground wire is not permanently connected, even for
brief measurements or tests.
⇒ Before working with electrical parts with voltages
higher than 50 V, the equipment must be
disconnected from the grid or power supply. Make
sure it isn’t switched back on.
⇒ With electrical drive and filter components, do the
following:
Wait five (5) minutes after switching off power to
allow capacitors to discharge before beginning work.
Measure the voltage on the capacitors before
beginning work to make sure that the equipment is
safe to touch.
⇒ Never touch the electrical connection points of a
component while power is turned on.

⇒ Properly install the covers and guards provided with

the equipment before switching the equipment on.
Prevent contact with live parts at all times. ⇒ A
residual-current-operated protective device (r.c.d.)
must not be used on an electric drive! Indirect
contact must be prevented by other means, for

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example, by an overcurrent protective device in

accordance with the relevant standards.
⇒ Equipment that is built into machines must be secured
against direct contact. Use appropriate housings
such as a control cabinet, for example.
European countries: according to EN 50178/1998,
section 5.3.2.3.
U.S.: See National Electrical Codes (NEC), National
Electrical Manufacturers Association (NEMA), and local
building codes. The user of this equipment must comply
with the above noted items at all times.

With electrical drive and filter components, do the following:

High electrical voltage on housing and high

leakage current! Risk of death or injury by
electric shock!
DANGER ⇒ Before switching on power for electrical units, all
housings and motors must be permanently grounded
according to the connection diagram. This applies
even for brief tests.
⇒ Therefore, the protective conductor of the electrical
equipment and units must always be securely
connected to the supply network. Leakage current
exceeds 3.5 mA.
⇒ Use a copper conductor with at least 10 mm² cross
section over its entire length for this protective
conductor connection!
⇒ Prior to startup, even for brief tests, always connect
the protective conductor or connect with ground wire.
Otherwise, high voltage levels can occur on the
housing that could lead to severe electric shock.
European countries: EN 50178/1998, section 5.3.2.1.
U.S.: See National Electrical Codes (NEC), National
Electrical Manufacturers Association (NEMA), and local
building codes. The user of this equipment must comply
with the above noted items at all times.

2.6 Protection Against Electrical Shock by Protective Extra-

Low Voltage (PELV)
All connections and terminals with voltages between 5 and 50 volts on
INDRAMAT products are rated for protective extra-low voltages in
accordance with the following standards on contact safety:
• International: IEC 60364-4-41
• EU countries: EN 50178/1998, section 5.2.8.1.

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High electrical voltage due to wrong

connections! Risk of death or injury by electric
shock!
WARNING ⇒ Only equipment, electrical components and cables of
the protective extra-low voltage type (PELV) may be
connected to all connectors and terminals with 0 to
50 volts.
⇒ Only safely isolated voltages and electrical circuits
may be connected. Safe isolation is achieved, for
example, with an isolating transformer, an opto-
electronic coupler or when battery-operated.

2.7 Protection Against Dangerous Movements

Dangerous movements can be caused by faulty control of the connected
motors. The causes can be as follows:
• unclean or faulty wiring or cable connections
• improper or incorrect operation of equipment
• malfunction of sensors, encoders and monitoring circuits
• defective components
• software errors
Dangerous movements can occur immediately after equipment is
switched on or even after an unspecified period of trouble-free operation.
The monitoring systems in the drive components make malfunctions in
the connected drives very unlikely. With regard to personnel safety,
especially the risk of bodily injury and/or equipment damage, reliance on
these systems alone is not enough. Until the built-in monitoring systems
become active and effective, it must always be assumed that some faulty
drive movements will occur. The extent of these faulty drive movements
depends upon the type of control and the operating state.

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Dangerous movements! Risk of death or injury,

serious bodily injury or equipment damage!
⇒ For the above reasons, personnel safety must be
DANGER ensured by means of monitoring or measures
implemented at the facility in which the drives are
used.
These monitoring systems or measures undergo a
risk and fault analysis by the builder of the facility in
accordance with the specific conditions of the facility.
All the safety regulations that apply to this facility are
included therein. Random machine movements or
other types of faults can occur when safety devices
are deactivated, circumvented or not activated in the
first place.
Prevention of accidents, bodily injury and/or
equipment damage:

⇒ Keep free and clear of the machine’s range of motion

and moving parts. Prevent people from accidentally
entering the machine’s range of movement:
- use protective fences
- use protective screens
- install protective coverings
- install light curtains or light barriers
⇒ Fences must be strong enough to withstand maximum
possible momentum.
⇒ Mount the emergency stop switch (E-stop) within the
immediate reach of the operator. Verify that the
emergency stop works before startup. Don’t operate
the machine if the emergency stop is not working.
⇒ Isolate the drive power connection by means of an
emergency stop circuit or use a start-inhibit system
to prevent unintentional start-up.
⇒ Make sure that the drives are brought to standstill
before accessing or entering the danger zone.
⇒ Provide additional safeguards to prevent vertical axes
from dropping or descending after shutdown, e.g.,
using:
- a mechanical interlock on the vertical axis
- an external braking/capture/clamping element or
- a sufficient axis counterweight
By itself, the standard holding brake supplied with
the motor or an external motor holding brake
controlled by the drive controller is not suitable for
personnel protection!
⇒ Disconnect electrical power to the equipment using a
master switch and provide safeguards to prevent
unintentional restarts when:
- performing maintenance and repair work
- cleaning the equipment
- there are long periods of discontinued equipment
use

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⇒ Avoid operating high-frequency, remote control and

radio equipment near electronic circuits and supply
leads. If use of such equipment cannot be avoided,
check the system and the facility in which it is
installed for possible malfunctions at all possible
positions of normal use before the first start-up. If
necessary, perform a special electromagnetic
compatibility (EMC) test on the facility.

2.8 Protection Against Magnetic and Electromagnetic Fields

During Operation and Mounting
Magnetic and electromagnetic fields generated by current-carrying
conductors and permanent magnets in motors represent a serious health
hazard to persons with heart pacemakers, metal implants and hearing
aids.

Health hazard for persons with heart

pacemakers, metal implants and hearing aids in
proximity to electrical equipment!
WARNING ⇒ Persons with heart pacemakers, metal implants and
hearing aids are not permitted to enter the following
areas:
- Areas in which electrical equipment and parts are
being mounted, are in operation or are being
started up.
- Areas in which motor parts containing permanent
magnets are being stored, repaired or mounted.
⇒ If it is necessary for a person with a pacemaker to
enter such an area, then a physician must be
consulted prior to doing so. Pacemakers that are
already implanted or will be implanted in the future
vary greatly in terms of their resistance to
interference, and thus there are no generally valid
rules regarding their use.
⇒ Persons with hearing aids, metal implants or
embedded metal fragments must consult a doctor
before they enter the areas described above, since
health hazards are present.

2.9 Protection Against Contact with Hot Parts

Housing surfaces could be extremely hot!

Danger of injury! Danger of burns!
⇒ Do not touch housing surface near sources of heat!
CAUTION Danger of burns!
⇒ Wait ten (10) minutes before you access any hot unit.
Allow the unit to cool down.
⇒ Do not touch hot parts of the equipment, such as
equipment housings containing heatsinks or
resistors. Danger of burns!

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2.10 Protection During Handling and Installation

Under unfavorable conditions, improper handling and installation of parts
and components may cause injuries.

Risk of injury due to improper handling! Bodily

injury caused by crushing, shearing, cutting
and mechanical shock!
CAUTION ⇒ Observe general instructions and safety regulations
regarding handling and installation.
⇒ Use only appropriate lifting or moving equipment.
⇒ Take precautions to avoid pinching and crushing.
⇒ Use only appropriate tools. If specified by the product
documentation, special tools must be used.
⇒ Use lifting devices and tools correctly and safely.
⇒ Wear appropriate protective gear, e.g. safety glasses,
safety shoes and safety gloves.
⇒ Never linger under suspended loads.
⇒ Clean up liquids from the floor immediately to prevent
the risk of slipping.

2.11 Battery Safety

Batteries contain reactive chemicals in a solid housing. Improper handling
may result in injuries or equipment damage.

Risk of injury due to improper handling!

⇒ Do not attempt to reactivate discharged batteries by
heating or other methods (danger of explosion and
release of corrosive substances).
CAUTION
⇒ Never charge batteries (danger from leakage and
explosion).
⇒ Never throw batteries into a fire.
⇒ Do not dismantle batteries.
⇒ Do not damage electrical components installed in the
devices.

Note: Environmental protection and waste disposal! In terms of the

legal requirements, the batteries contained in the product must
be considered a hazardous material for land, air and sea
transport (danger of explosion). Dispose of batteries
separately from other refuse. Observe the legal requirements
in the country of installation.

2.12 Safeguards with Pressurized Lines

Depending on what is specified in the project planning specifications,
certain motors (ADS, ADM, 1MB, etc.) and drive controllers can
sometimes be supplied externally with pressurized media, such as
compressed air, hydraulic oil, liquid coolants and cooling lubricants. In

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such cases, improper handling of external supply systems, supply lines or

connections can lead to injury or equipment damage.

Risk of injury due to improper handling of

pressurized lines!
⇒ Do not attempt to disconnect, open or cut pressurized
CAUTION lines (danger of explosion).
⇒ Follow the operating instructions provided by the
respective manufacturers.
⇒ Before lines are disconnected, the pressure must be
relieved and the medium (air or liquid) must be
drained.
⇒ Wear appropriate protective gear, e.g. safety glasses,
safety shoes and safety gloves.
⇒ Immediately clean up spilled liquids from the floor.

Note: Environmental protection and waste disposal! Under certain

circumstances, the media used to operate the product may not
be environmentally compatible. Dispose of environmentally
harmful media separately from other refuse. Observe the legal
requirements in the country of installation.

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Notes

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3 General Instructions for Start-Up

3.1 Explanation of Terms

So that the terms used in this document will be better understood, some
explanations are provided below.

Communication
Display
The 2-digit, 7-segment H1 display on the programming module indicates
the current status. Distinctions are made between:
• operating mode
• warnings
• errors
Errors can be acknowledged using the S1 key located next to the display
on the programming module.

Serial Interface
Parameters and programs must be entered into the control in order for it
to conform to the system-specific requirements. This input is handled
exclusively via the serial interface ( X2).
Rexroth Indramat has two options available:
• PC programming using MotionManager
• BTV04 display unit

Fieldbus
The following can be transmitted via the fieldbus:
• cyclic I/O
• variables

S1 Key on Programming Module

The S1 key and the address switch located below it can be used to
control various basic settings.
The subsequent function is enabled by pressing the S1 key with the
address set to 00. The function enable signal is present for 1 minute. This
is indicated by “Ad” on the display. After selecting the function number
and confirming it with the S1 key, the display disappears if the function
was completed.

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1 stop bit applies for all

Address 90 ASCII protocol 9600 Baud NO parity
(MotionManager)
Address 91 SIS protocol 9600 Baud EVEN Parity
Address 92 RS at drive 9600 Baud No Parity
Address 93 SIS protocol 9600 Baud No Parity
(BTV04)
Address 94 SIS protocol 9600 Baud EVEN
(BTV04 with BTV keys and BTV I/O)
only change to Parameter Mode possible
Address 95 SIS protocol 9600 Baud No Parity
(BTV04 with BTV keys and BTV I/O)
only change to Parameter Mode possibleAddress 98 Load
parameter with default values (Basic parameter load)
ASCII protocol 9600 Baud NO Parity
Address 99 Load parameter with default values (Basic parameter load)

The resulting RS interface parameter setting is not retained.

It is again set to the parameter values (B001/B002/B009/B010) after a
fault is cleared or after parameter mode is exited.
The invoked settings correspond to the following parameter settings:
Address 90 B001 09600 1
B002 1 1 0 1 0 004
B009 0 200
B010 0
Address 91
B001 09600 2
B002 0 1 0 0 0 000
B009 0 200
B010 0
Address 92
Cannot be entered in the parameters
Address 93
B001 09600 1
B002 0 1 0 0 0 000
B009 0 200
B010 0
Address 94
B001 09600 2
B002 0 1 0 0 0 000
B009 1 200
B010 1
Address 95
B001 09600 1
B002 0 1 0 0 0 000
B009 1 200
B010 1
Address 98
B001 09600 1
B002 1 1 0 1 0 004
B009 B010: -
Address 99
The default interface values are the same as for Address 93

Note: When the basic parameters are set, any parameters that have
already been entered are overwritten.

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Data Storage
Non-volatile Memory
Various non-volatile data storage registers are contained in the drive.
The following operating data are stored there
• The configuration setting
• Parameters
• Programs
• Stored marker flags and variables.

The data are stored to the corresponding operating data after each
instance of write access.
The following modules contain non-volatile memory:
• Drive controller
• Motor encoder (optional)
• Programming module
• Plug-in module (Profibus Card, DIO Card)

Operating Modes
There are three operating modes:
• Manual
• Automatic
• Parameter
They are specified via system inputs for DKC21.3, via the fieldbus for
DKC3.3, or via the BTV04.

Parameter
The drive displays "PA" on the H1 display.
You must switch to parameter mode to change parameters and to
operate the Logic Task program. When you exit parameter mode, the
parameters and the Logic Task program are checked, and for any errors,
an error message is displayed.

Manual
The drive displays "HA" on the H1 display.
In manual mode and with the drive enabled, the following functions are in
operation:
• Task 3
• Logic Task
The following functions are possible:
• Jog forward
• Jog reverse
• Manual Vector
• Homing via programmable input
( Parameter C010 )

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Automatic
The drive displays "AU" on the H1 display.
In automatic mode and with the drive enabled, the following functions are
in operation:
• Task 1
• Task 2
• Task 3
• Logic Task
The following function is possible:
• Interrupt vector

Inputs / Outputs / Marker Flags

Designation:
Die designation of the inputs, outputs and marker flags.

M2.02.0

M = Marker Flag Bit

I = Input Byte
Q = Output
Source

Fig. 3-1: Structure of the Inputs / Outputs / Marker Flags

e.g.
I0.00.6
Input:
I0 Input, Connector X210
I0.00 Input, Connector X210, Group 0 (Byte)
I0.00.6 Input, Connector X210, Group 0, Bit 0
First user-programmable input

See also: “Inputs, outputs, marker flags,” Section 9.1.

Warning
A number of monitoring functions are performed depending on the
Warnings do not lead to an operating modes and parameter settings. If a state is detected which
automatic shutdown allows proper operation for the time being, but eventually generates
an error and leads to a shutdown of the drive, a warning will be
generated if this state continues.

Warning Classes
Warning Class: Diagnostic Drive Reaction:
Message:
Without drive reaction E2xx --
E- 01xx
Fig. 3-2: Warning Classes

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Warnings can not be externally cleared.

Errors
A number of monitoring functions are performed depending on the
operating modes and parameter settings. An error message is generated
if a condition is discovered which no longer allows proper operation.

Error Classes
Errors can be divided into four error classes. The error class
The error class is apparent from
determines the drive error reaction.
the diagnostic error message.
Error Class: Diagnostic Drive Reaction:
Message:
Fatal F8xx Switch to torque-free state
Travel range F6xx Velocity Command Value Set
F- 03xx to Zero
Interface F4xx per setting for “Best possible
deceleration,” Parameter A119
Non-fatal F2xx per setting for “Best possible
F- 02xx deceleration,” Parameter A119
Fig. 3-3: Error Classes

Drive Error Reaction

If an error condition is detected in the drive, execution of the drive's error
reaction starts automatically as long as the drive is ready. The H1 display
flashes Fx / xx. The drive's reaction to interface and non-fatal errors can
be set in Parameter A119, Best possible deceleration. The drive switches
to torque-free operation at the end of each error reaction.

Clear Errors
Errors are not cleared automatically; they must be cleared externally
Errors must be cleared externally
via:
Input X3/7
or
by pressing the "S1" key.
or
via the fieldbus
If the error condition is still present, the error will be
immediately detected again.
The positive edge of a controller enable signal is required to
restart the drive.

Clearing Errors When Controller Enable Is Set

If a drive error is discovered while operating with the controller enable set,
the drive will execute an error reaction. The drive automatically
deactivates itself at the end of each error reaction; in other words, the
power stage is switched off and the drive switches from an energized to a
de-energized state.
To reenable the drive:
• the error must be cleared

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Basic Parameter/Basic Load

Basic Parameter
When the drive is ready for delivery, the factory-set basic values are
written to the parameters. The load basic parameters function can be
invoked using the S1 key and the address setting 99.
The basic parameter set is structured such that
• all optional functions are deactivated
• limit values for position are deactivated
• limit values for torque/force are set to high values
• and limit values for velocity and acceleration are set to low values
• SIS protocol 9600 Baud No parity

Note: If machine parameters have already been set prior to invoking

this function, they will be overwritten.

Note: The basic parameter load does not guarantee that the drive
will be matched to the machine, and only in certain instances
will it be matched to the connected motors and measuring
systems. The relevant settings must be made when first
starting up the axis.

Automatic execution of the "Load basic parameter "

function
The drive firmware is on the programming module. If the firmware is
replaced with a different, non-compatible version of the firmware, the
drive controller will detect this the next time the control voltage is switched
on. In this case, the message "PL" appears on the 7-segment display.
The basic parameter block is activated by pressing the "S1" key.

Note: Any previous parameter settings are lost upon replacement of

the firmware followed by "Load basic parameter." To prevent
the loss of these settings when a new version is loaded, save
the parameters prior to replacement and then reload them
following the replacement of the firmware and loading of the
basic parameter block.

Note: As long as the drive displays "PL" and the command is active,
no communication is possible via the serial interface.

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3.2 Initial Startup Guidelines

During initial startup, the drive should be disconnected from the
mechanical system.
• Check to see that devices and cables are of the correct type
• The power supply, the control voltage and the drive with its encoder
must be connected according to the information provided in the
documentation:
Project Planning Manual DOK-ECODR3-DKC**.****-PRxx-EN-P.
• Hardwire inputs X3 and
DKC21.3 X210
DKC3.3 Profibus Interface
• Match the interface parameter using the S1 key
• Hardwire the interface to the operator panel (PC or BTV )
• Match the parameters to the equipment
• Turn on the power
• Use ‘Jog’ to move the axis in manual mode
• Check the safety devices
(emergency STOP, travel limit switches, etc.)
If the drive works as expected, the power can be turned off and the motor
can be connected to the machine. After that, the following work must be
performed if required by the application in question:
• Set the absolute distance or home the drive
• Set the position-limit parameters
• Load the programs
• Test the dynamic motion reaction and match up the control
parameters (CRxx) if necessary.
• Save parameters and program.

Downloading the Firmware

The firmware is already included in a new unit when it is delivered.
The firmware version which the unit contains can be read sequentially via
Status Message 19.
If the unit contains the wrong firmware version, the correct firmware can
be downloaded using DOLFI software.
Once a new firmware version has been downloaded, the H1 display will
indicate PL the next time the control voltage is turned on. The basic
parameter load is activated by pressing the "S1" key.

3.3 Diagnostic Message Options

Overview of Diagnostic Message Options

The diagnostic message options are divided into 2 groups:

• Options for generating priority-based, drive-internal diagnostic

messages for identifying the current operating state
• Collective messages for diverse status messages

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Additionally, there are parameters for all important operating data that can
be transmitted via both the command communications hardware
(Profibus, ...) and the parameter-entry interface (RS-232/485 using the
ASCII protocol or SIS [serial Indramat protocol]).

Drive-internal Diagnostic Message Generation

The actual operating state of the drive is determined from the presence of
any errors, warnings, commands and controller enable signals, as well as
the active operating mode. It can be ascertained from
• the 2-part seven-segment display (H1 display)
• status message 53
• system outputs

Diagnostic Message Composition

Each operating state is identified by a diagnostic message which consists
of

• a diagnostic message number and a

• diagnostic message text

For example, the diagnostic message for the non-fatal error

"Excessive Deviation" is displayed as follows.

F228 Excessive Deviation

Diagnostic Text
Diagnostic Number

Fig. 3-4: Composition of Diagnostic Message with Diagnostic Message Number

and Text

In this example, "F2" and "28" appear alternately on the H1 display.

H1 Display
The diagnostic message number appears in the two-digit seven-segment
display. The display format is shown in the graphic "Priority-Based Display
of the Diagnostic Message".
With the help of this display, it is possible to quickly determine the current
operating state without using a communication interface.
The operating mode is not shown on the H1 display. If the drive complies
with the operating mode and no command was activated, "AF" appears
on the display.

Plain Text Diagnostic Message, Status Message 53

The plain-text diagnostic message contains the diagnostic message
number followed by the diagnostic message text, as shown in the

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“Excessive Deviation” example.

It can be read out via the status message and is used for direct display of
the drive status at a user interface.
The language of the plain-text diagnostic message can be changed.

3.4 Language Selection

The language for the following items can be changed using Parameter
B000, Language selection :
• Parameter names
• Description of commands
• Diagnostic message texts

Currently, the following languages are implemented:

Value of B000: Language:
0 German
1 English
Fig. 3-5: Language Selection

3.5 Firmware Update using the DOLFI Program

With the help of the DOLFI program it has become possible to update the
firmware for a drive controller via the serial interface.
This program can be ordered from Indramat with the designation:
-SWA-DOL*PC-INB-01VRS-MS-C1,44-COPY
or with the Material Number: 279804
A detailed description of the program is also included.

Error Message in the Firmware Loader

If a firmware update is performed via the serial interface (using the SIS
protocol), it is possible that the drive will generate error messages.
These messages are displayed both by DOLFI, as shown in the figure
below, and by the drive on its 7-segment display:

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Need English Screen Capture

Fig. 3-6: Example: An illustration of a “Firmware was cleared” error

The table below lists the error messages:

SIS error 7 segment
message display Error message:
number
0x9002 dL / 00 Firmware was cleared
0x9003 - Loading not allowed in phase 3.

0x9004 - Loading not allowed in phase 4

0x9102 dL / 03 Firmware was cleared

0x9103 - Restart not allowed in phase 3
0x9104 - Restart not allowed in phase 4
0x9200 dL / 06 Read error
0x9400 dL / 07 Timeout during delete
0x9402 dL / 0F Address range not in flash memory
0x940A dL / 08 Deletion possible only in loader
0x960A - Programming possible only in loader
0x96E0 dL / 0b Error during flash memory verification
0x96E1 dL / 0C Timeout when programming flash memory
0x96FF dL / 09 Error when writing to RAM
0x9701 dL / 0d Wrong checksum
0x9702 dL / 0E Wrong CRC32 checksum
Fig. 3-7: SIS errors in the firmware loader

Note: While the firmware is being updated, the 7-segment display of

the drive reads "dL".

0x9002 (dL / 00) Firmware was cleared

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Description: a) The FBC boot kernel module or FIL firmware loader is to be

programmed.
The FIL firmware is running, and it or the boot kernel must be
replaced. To do so, the command "Drive firmware shutdown“
must be sent, i.e., the controller must changeover from the FIL
module to the ELC (FLP), FGP, SGP or SMT module. During the
transition, a check is made to see whether the checksum of the
ELC (FLP), FGP, SGP or SMT module is correct in order to
ensure that the module was correctly programmed and that the
program can be executed. This checksum validation went wrong.
b) The ELC (FLP), FGP, SGP or SMT module must be programmed.
The ELC (FLP), FGP, SGP or SMT firmware is running and must
be replaced. To do so, the command "Shutdown, Loader“ must
be sent. This means that the controller must change over from
module ELC (FLP), FGP, SGP or SMT to module FIL: During the
transition, a check is made to see whether the checksum of the
FIL module is correct in order to ensure that the module was
correctly programmed and that the program can be executed.
This checksum validation went wrong.
Clearing Errors: For a)
The ELC (FLP), FGP, SGP or SMT module must be programmed
prior to programming the FIL module.
For b)
The FIL module must be programmed prior to programming the
ELC (FLP), FGP, SGP or SMT module.

0x9003 Loading not allowed in phase 3

Description: The drive is in manual or automatic mode and switchover to the firmware
loader for replacement of the firmware is required. This operation is
possible only in parameter mode.
Clearing the Error: Switch the drive to parameter mode.

0x9004 Loading not allowed in phase 4

Description: The drive is in manual or automatic mode and switchover to the firmware
loader for replacement of the firmware is required. This operation is
possible only in parameter mode.
Clearing the Error: Switch the drive to parameter mode.

0x9102 (dL / 03) Firmware was cleared

Description: The drive firmware is to be restarted after replacement of the firmware.

The programming of the ELC (FLP), FGP, SGP or SMT module was
incomplete (checksum validation went wrong).
Clearing the Error: The ELC (FLP), FGP, SGP or SMT module must be reprogrammed.

0x9103 Restart not allowed in phase 3

Description: The drive is in phase 3 and the drive firmware must be restarted. This
operation is possible only in parameter mode.
Clearing the Error: Switch the drive to parameter mode.

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0x9104 Restart not allowed in phase 4

Description: The drive is in phase 4 (manual/automatic) and the drive firmware must
be restarted. This operation is possible only in parameter mode.
Clearing the Error: Switch the drive to parameter mode.

0x9200 (dL / 06) Read error

Description: A memory module is to be read. An error occurred while making the

attempt.
Clearing the Error: Check address range in the *.ibf file. If the address range is in order, i.e.,
a memory module is actually present at that address, then the error can
be cleared only by replacing the ESF02.1 firmware module.

0x9400 (dL / 07) Timeout during reset

Description: An error occurred while trying to delete a flash memory.

Clearing the Error: Repeat the delete command. If the error continues to appear, it can only
be cleared by replacing the ESF02.1 firmware module.

0x9402 (dL / 0F) Address range not in flash memory

Description: An address range not in the flash memory must be cleared.

Clearing the Error: Correct the address range in the SIS service or check the address range
in the *.ibf file.

0x940A Reset only possible in loader

Description: Drive firmware is running and a flash memory is to be cleared.

Clearing the Error: Change over to the firmware loader.

0x96E0 (dL / 0b) Error verifying the flash memory

Description: An error occurred during programming. Write access to a memory cell in

the flash memory was unsuccessful.
Clearing the Error: The flash memory must be deleted prior to the programming command. If
the error continues to appear, it can only be cleared by replacing the
ESF02.1 firmware module.

0x96E1 (dL / 0C) Timeout programming the flash

memory

Description: A timeout occurred during programming. Write access to a memory cell in

the flash memory was unsuccessful.
Clearing the Error: Programming command repeated. If the error continues to appear, it can
only be cleared by replacing the ESF02.1 firmware module.

0x96FF (dL / 09) Error during write access to RAM

Description: An error occurred during programming. Write access to a memory cell in

the RAM was unsuccessful.

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Clearing the Error: Check whether the target address is actually in the RAM. If the error
continues to appear, it can only be cleared by replacing the ESF02.1
firmware module.

0x9701 (dL / 0d) Wrong checksum

Description: The programmed checksum is validated once the firmware module has
finished updating. This validation check went wrong.
Clearing the Error: Reprogram the module; validate the checksum of the source file (*.ibf).

0x9702 (dL / 0e) Wrong CRC32 checksum

Description: The programmed CRC32 checksum is validated once the firmware

module has finished updating. This validation check went wrong.
Clearing the Error: Reprogram the module; validate the checksum of the source file (*.ibf).

Additional Problems when Loading Firmware

The programming of a module was terminated

Problems on the serial interface can lead to the termination of a

transmission.
If the loading procedure for the FBC module was terminated, the unit
must not be switched off. This module is responsible for starting the
firmware and is therefore absolutely necessary.
A module that has not been completely programmed can simply be
reprogrammed (open *.ibf file, press transmit key, select Modules, single
in the "Send" window, and then press the "Skip" key to find the right
module. After that, press the send key).

After switching the unit on, the display reads dL

The last programming procedure with DOLFI was not completed

correctly.
To exit the firmware loader, one or all of the modules of an *.ibf file must
be programmed with DOLFI. The drive firmware is then started by
pressing the "Abort" key.

DOLFI Cannot Establish a Connection

a)
a) A baud rate other than that in DOLFI was set in Parameter B001.
B001, Baud rate RS-232/485
Baud rates possible [baud]
09600
19200
It is recommended that Parameter B001 be set to 09600 baud for the
"Connect” process. The baud rate for the download can be set to a
different value in DOLFI.
If the programming of a module was terminated, (e.g., due to interference
at a serial interface), the baud rate for the download still remains set in
the DKC. For DOLFI to be able to re-establish a connection, it is
necessary to set the connect baud rate to the same value used for the
most recent download.

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If the unit has been switched back on and the display reads dL, then a
baud rate of 9600 is always set.

b) The receiver and unit addresses are not identical to the addresses set
at the controller via switches S2 and S3.

c) Parity check in Parameter B001: Parity must be set to NO or EVEN.

DOLFI Cannot Open the *.ibf File

DOLFI signals "Wrong *.ibf format“ when opening the *.ibf file.
The *.ibf file was generated using a different release and the *.ibf format
has changed from that used in the DOLFI version.
To open the file, the correct DOLFI version must be used. This version
can be obtained from the manufacturer.

DOLFI Signals Timeout

Timeout messages appear while the *.ibf file is being transmitted.

Interference at the serial connections could be the problem or a
deactivated COM interface FIFO buffer.
This function can be activated as follows:
Windows 95:
Start Settings → Control Panel → System → Device Manager
Ports (COM and LPT) → COM port (COMx) → Port Settings →
Advanced
Activate FIFO buffer using standard setting
Windows NT:
Start → Settings → Control Panel → Ports → COMx → Settings →
Advanced
Activate FIFO buffer

Select the Download Baud Rate

Depending on the length of the serial interface cable, there is a physical

limit to the maximum baud rate at which serial communications will
proceed without errors.
The factory recommends a maximum download baud rate of 19.2 kBd.
The baud rate can be increased considerably in some applications,
however, which helps achieve a reduction in the time needed for a
firmware update.
The following baud rates can be implemented at the specified cable
lengths.
Cable length / m max. baud rate / kBd
2 115,2
5 57,6
10 57,6
15 38,4
Fig. 3-8: Maximum Baud Rate Depending on Cable Length

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3.6 Firmware Update of ECODRIVE

The previous description also applies to the downloading of new firmware
to the ECODRIVE.
Serial transmission to X2 takes place via the RS 232 port.
The communications parameters of the DOLFI program must be set as
follows:
Settings ? Interface Connect baud rate 9600
Download baud rate 115200
Settings ? Addresses Receiver x

3.7 Firmware Update in BTV04/05

The previous description also applies to the transmission of new firmware
to the BTV04/05 display unit.
Serial transmission to X3 takes place via the RS 232 port.
The communications parameters of the DOLFI program must be set as
follows:
Settings ? Interface Connect baud rate 9600
Download baud rate 38400
Settings ? Addresses Receiver 3

Caution: The BTV04*-DOL-01Vxx module must never be overwritten.

Setup Menu in the BTV

Enter the Setup Menu by
• pressing the F2 key while the BTV is in the initialization phase.
• pressing Shift + F6

Enter the Setup Menu for Port 2 by pressing F1 (Serial Port Parameter)
and then F3 (Serial Port 2)
Set to
Address: 3
Baud rate: 9600
Parity: off
Protocol: ASCII +SIS
Answer Delay: 1 4
Timeout (ms): 400
Retry: 2
Group No.: 0
Max Unit: 0

Once these data are set, exit this input level by pressing ESC. These
data are stored by pressing F3 (Save Values and Reboot).

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ECODRIVE03 FLP-01VRS 4-1

4 Motor Configuration

4.1 Characteristics of the Different Motor Types

The following motor types can be used.
MKD MHD
2AD ADF
1MB MBW
MKE LAR
MBS LSF
LAF

The individual motor types all have one characteristic in common.

• The presence of data memory in the motor encoder for all motor-
specific parameters

The individual motor types have the following characteristics

Motor Motor-
Feedback Encoder Temp.
Motor type Data Sync./Async. Temp. Interface ”Basic Sensor
Memory Check Load”
MHD/MKD/MKE yes synchronous fixed fixed (1) possible PTC
2AD/ADF no asynchronous param. param. no NTC
1MB no asynchronous param. param. no NTC
LAF/LAR no asynchronous param. param. no PTC
LSF no synchronous param. param. no PTC
2AD with PTC no asynchronous param. param. no PTC
MBS no synchronous param. param. no PTC
Fig. 4-1: Characteristics of Motor Types, Part 1

Motor-Feedback Data Memory

MHD, MKD and MKE motors have a motor feedback data memory in
The motor-feedback data memory
which all motor-specific parameters are stored. The drive controller
contains all motor-specific automatically detects this data memory and reads the parameters
parameters from it following power up and exiting of parameter mode.

The data memory contains values for the following parameters:

• CM00, Motor type
• CM01, Motor peak current
• CM02, Motor current at standstill
• CM03, Maximum velocity of motor
• CM04, Number of pole pairs/pole pair distance
• CM05, Torque/force constant
• CM06, Rotor moment of inertia
• CM08, Holding brake current

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Temperature Monitoring
The following parameters are used to monitor the motor temperature
The power-off threshold of the
:
motor-temperature monitoring
system is fixed for MHD, MKD, Motor warning temperature
MKE motors. Motor shutdown temperature

For MHD, MKD and MKE motors, the parameter default values are
fixed at the following values:
Motor warning temperature = 145.0°C
Motor shutdown temperature = 155.0°C

The drive controller checks for proper functioning of the motor

temperature monitoring system. If discrepancies occur (temperature
drops below –10° Celsius), the warning E221 Warning, Motor temp.
surveillance defective will be displayed for 30 seconds. After that, the
error message F221 Error, Motor temp. surveillance defective is
generated.

Load Default
MHD, MKD and MKE motors have data memory circuits in their encoders.
The memory contains a set of default control parameters in addition to all
motor-dependent parameters.
These parameters are activated with “load default.”

4.2 Setting the Motor Type

The setting of the motor type is either:
• dependent on the motor type used or
• performed automatically by reading the motor feedback memory
The motor type should be set before start-up because the motor type
affects the drive functions:

Automatic Setting of the Motor Type for Motors with Feedback Memory
MHD, MKD and MKE motors have a motor feedback data memory in
which the motor type is stored (along with other information). The drive
controller recognizes these motor types automatically, and the following
actions are taken:
• The value of parameter CM00, Motor type is set to its proper value
and is write-protected.
• The value of parameter C001, Interface, encoder 1 is set to the
defined value for the corresponding motor type.
• All motor-specific parameters are read from the motor feedback
memory.
• The value for Motor warning temperature is set to 145.0°C and for
Motor shutdown temperature is set to 155.0°C.
• The value of Parameter CM07, Holding brake type is set to "0". The
value for the Holding brake delay period is set to 150 msec.
This process is executed immediately after the unit is switched on. The
command error message, C204 Motor type incorrect, will be generated

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if an MHD, MKD and MKE motor is selected in parameter CM00, Motor

type, but the corresponding character string cannot be found in the motor
feedback data memory.

4.3 Synchronous Motors

This drive firmware can be used to run the following Rexroth Indramat
housing motors
• MHD
• MKD and MKE motors
plus rotary and linear synchronous kit motors, types MBS and LSF.
Indramat housing motors have the stator, rotor, bearings and encoder
factory-installed in the housing. They are equipped with a motor feedback
data memory containing
• motor parameters
• motor feedback parameters
• synchronous motor-specific parameters and
• default control parameters
Automatic Detection and These motors are recognized by the firmware and the correct
Parameter Loading of settings for them are made automatically. In these motors, the adjustment
INDRAMAT Housing Motors between the physical rotor position and the position supplied by the
(MHD and MKD Motors) encoder has already been performed at the factory. The resulting offset is
stored in the Commutation offset parameter in the motor feedback data
memory (synchronous-motor-specific parameter). INDRAMAT housing
motors are configured ready for operation at the factory, meaning that
they can be placed in service without having to make any additional
motor-specific settings.

4.4 Motor Holding Brake

A motor holding brake can be mounted via a potential-free contact built
into the drive controller . It prevents unwanted axis movements when the
drive enable signal is off. (e.g. for vertical axes without counterweights)

Note: The holding brake for Rexroth Indramat motor types MHD and
MKD is not designed to halt operation of the drive. After about
20,000 motor revolutions with the brake applied, it is worn
down.

Pertinent Parameters
To set the motor holding brake, use the following parameters
• A119, Best possible decel time
• CM07, Holding brake type
• Holding brake delay time (always 150 ms)

With MHD, MKD and MKE motors, Parameter CM07 is set

The parameters for the motor
automatically.
holding brake are automatically
set in motors with motor
feedback data memory

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Setting the Motor Holding Brake Type

The motor holding brake type can be set using Parameter CM07,
Holding brake type.
The following are stipulated:
• self-releasing or self-holding brake
• Spindle brake or servo brake

0 0
0 = self-holding brake
0V at the brake, brake applied
1 = self-releasing brake
24V at the brake, brake applied
0 = Servo brake
brake is applied after reaching the max. braking
time.
1 = Main spindle brake
Brake is applied only at < 10 RPM

Behavior with Spindle Brake The motor holding brake is always activated when the actual velocity of
CM07 Holding brake type the motor is less than 10 RPM.

Fig. 4-2: Timing Diagram for Command Value Reset and CM07, Holding Brake
Type (Spindle Brake)

Callouts for Fig. 4-2:

Beginn der Fehlerreaktion = beginning of error response
Geschwindigkeits-Sollwert = velocity command value
Motorhaltebremse gelöst = motor holding brake released
Motorhaltebremse aktiviert = motor holding brake activated
Endstufe freigegeben = power stage enabled
Endstufe gesperrt = power stage disabled
Haltebremseverzugszeit = holding brake delay time

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Behavior with Servo Brake Activation of the brake takes place

CM07, Holding brake type • as soon as the velocity drops below 10 RPM during the error reaction
Braking time < A119 or
• after the maximum deceleration time has elapsed at the latest.
Correctly set braking time

Fig. 4-3: Timing Diagram for Command Value Set to Zero and CM07, Holding
Brake Type (Servo Brake) and Actual Braking Time < A119

Callouts for Fig. 4-3:

Beginn der Fehlerreaktion = beginning of error response
Geschwindigkeits-Sollwert = velocity command value
A119, Maximale Bremszeit = A119, Maximum braking time
Motorhaltebremse gelöst = motor holding brake released
Motorhaltebremse aktiviert = motor holding brake activated
Endstufe freigegeben = power stage enabled
Endstufe gesperrt = power stage disabled
Haltebremseverzugszeit = holding brake delay time

Incorrectly set braking time

Behavior with Servo Brake
CM07, Holding brake type
Braking time > A119

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Fig. 4-4: Timing Diagram for Command Value Set to Zero and CM07, Holding
Brake Type (Servo Brake) and Actual Braking Time > A119

Callouts for Fig. 4-4:

Beginn der Fehlerreaktion = beginning of error response
Geschwindigkeits-Sollwert = velocity command value
Abbruch der Fehlerreaktion durch zu kleinen Wert in P-0-0126 =
error response aborted because value in P-0-0126 too small
A119, Maximale Bremszeit = A119, Maximum braking time
Motorhaltebremse gelöst = motor holding brake released
Motorhaltebremse aktiviert = motor holding brake activated
Endstufe freigegeben = power stage enabled
Endstufe gesperrt = power stage disabled
Haltebremseverzugszeit = holding brake delay time

Setting Maximum Decel Time

The Best possible decel time parameter is used to monitor the braking
time and activate the motor holding brake if the theoretical braking time is
exceeded due to an error.
The motor holding brake is activated once the time (set in A119, Best
possible decel time) since the start of the error reaction has elapsed.

Note: The value in A119, Best possible decel time must be set so
that the drive can come safely to a standstill from the
maximum speed at the maximum moment of inertia and
greatest load forces.

If the value in A119, Best possible decel time is set too

low, then the error reaction is terminated and the motor
holding brake is activated at a speed greater than 10
RPM. Over time, this will damage the brake !
CAUTION

Connecting the Motor Holding Brake to the ECO03

See also Project Planning Specifications

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ECODRIVE03 FLP-01VRS 5-1

5 Programming the User Program

5.1 Overview of All User Commands

Command code and its meaning Page number

A ACC - Acceleration change 5-9

AEA - Bit set / clear 5-9
AKN - Compare bit 5-10
AKP - Compare byte 5-11
APE - Byte set / clear 5-12

B BAC - Branch conditional on count 5-13

BCE - Branch Conditional on bit 5-14
BIC - Branch conditional on bit field value 5-14
BIO - Branch conditional on byte compare 5-15
BPA - Branch conditional on byte 5-16

C CIO - Copy bitfields 5-17

CLC - Clear counter 5-17
CON - Steady state speed 5-18
COU - Count 5-18
CPJ - Compare and jump 5-20
CPL - Clear position error 5-20
CPS - Compare and set a bit 5-21
CST - Change Subroutine stack level 5-21
CVT - Convert Variable <- -> Marker

F FAK - Length scaling factor 5-24

FOL - Slave axis 5-25

H HOM - Home Axis 5-26

J JMP - Jump Unconditional 5-26

JSR - Jump to Subroutine 5-27
JST - Jump and Halt 5-28
JTK - Program jump in parallel Task 5-28

M MAT - Mathematics 5-29

MOM - Torque Reduction 5-29

N NOP - No Operation (Blank Block) 5-30

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P PBK - Stop motion 5-31

PFA - Pos. absolute against 5-32
PFI - Pos. incremental against 5-32
POA - Position absolute 5-33
POI - Position Incremental 5-34
PSA - Position absolute with in-Position 5-34
PSI - Position incremental with in-Position 5-34

R REP - Jump on max. search limit reached 5-36

RTM - Round table-Modus 5-36
RTS - Return from Subroutine 5-37

S SAC - Set Abs. position Counter 5-38

SET -.Set variable 5-39
SRM - Drive to registration mark 5-39

V VCC - Velocity change command 5-41

VEO - Velocity Override Command 5-43

W WAI - Wait 5-46

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General Information
The basic programming is fixed, and the user has no external access to it.

The programming language for the user program is a code similar to the
BASIC programming language and was developed especially for use with
this program.

The user program can have a maximum size of 1000 instructions or lines.
Only one command is stored within each program instruction.

In programming, any four-digit program number between 0000 and 0999

is allowed.

The user program can be loaded via the serial port.

Program input can take place in any operating mode. A running program
should not be interrupted.

With most commands, the processing time for an instruction is exactly the
same as the CPU cycle time of 2 ms.
After that, the instruction with the next higher sequence number is
processed (unless a jump instruction is given). In the descriptions that
follow, this action is called ‘proceed immediately to next instruction.’

In the case of commands involving wait states for receipt of an outcome,

the process time is always extended by the CPU cycle time required for
the outcome to arrive.

In most commands, both constants and variables can be used. For

clearer understanding, command examples are shown with variables and
with constants. If both example lines contain a variable or a constant in
the same location, only this type of value is allowed.

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Loading the Program

The program can be loaded via the serial port of any computer having an
RS232C or RS485 interface.

Parameters B001 and B002 control the activation and setting of the serial
interface. The programming module can be used to provide a default
setting to ensure establishment of a reliable communications link.
Handling of the interface and the transmission format used are described
in Section 9.2.

Starting the User Program

The user program can be started only in the ‘Automatic’ operating mode.
One exception is the ‘manual vector’

The program start address for Task 1 is reset to '0000' after each change
of operating mode or system restart. The start addresses for Task 2 and
Task 3 is set in Parameter AA00.
In Task 3, the program runs as a higher-level program in every operating
mode (except parameter mode) and is not affected by the ‘Start’ or
‘Immediate Stop’ input variables.

The program start command is received via the ‘Start’ input.

Stopping the User Program

The running program can be stopped again at any time. There are two
ways to accomplish this:
1) Stop the program externally using the ‘Immediate Stop’ input
2) Stop the program using the JST user command
If the operating mode was not changed after such a stop, the program
continues from the point of interruption once the start command is
received.

There are also two ways to interrupt the user program. Unlike a program
stop, no start command is required once the cause of the interrupt is
removed, i.e., the program continues from the point of the interrupt.

1) Program interrupt caused by signal at input 'Interrupt'

2) Program interrupt caused by signal at input 'Feed angle
monitoring'

See also Section 8, Parameter A116

In the event of an error message, the user program is always stopped in

Tasks 1, 2. Continuation of the program following correction of the

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problem is possible only at instruction 0000 for Tasks 1, 2 for the

instruction defined in Parameter AA00.

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Variables
The commands contain data which are contained in the instruction.
These constants can also be changed on-line via the serial interface, but
not from the user program.
Using variables is an alternative. They can be programmed in place of the
constants, so that this data can also be edited from the user program.
The variables are retained and all have the same format:
+12345678.123456
If a variable is used in a command, only the size of the constant that has
been placed here is used. If the content of the variable is greater or less
than the size of the constant, an error message is generated.

Note: The variable's operational sign is always taken into account!

e.g.
For a travel command POI, several inputs are shown.
With Constants:
POI 1 +123456.123 111
Velocity in ‰
Feed length in IUs
Axis 1

For feed length, the following data size is assigned min.: -200000,000
max: +200000.000
For velocity, the following data size is assigned min.: 000
max: 999

V600 = +00123456.123456
V601 = +999.9999
V602 = +01234567.123456
V603 = -999.99999
V604 = -1234.123456

POI 1 +V600 V601

The value +123456.123 is picked up from the variable V600.
The value 999 is picked up from the variable V603.

POI 1 +V602 V603

The value of variable V602 is too large. An error message is
generated.
The value of variable V603 is negative. An error message is
generated.

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POI 1 -V604 V601

The content of variable V604 is negative. With the operational
sign from the command, the feed length becomes positive.

Available Variables

The following variables are available for NC user programs:

V600 to V999

System Variables
The system variables can only be read.

No. Definition
V000 Cycle counter 1 Data size 0 - 99999999

V001 Cycle counter 2 only in Automatic Mode 0 - 9999999

V002 Actual instruction, Task1
V003 Actual instruction, Task2
V004 Actual instruction, Task3
V007 Analog input 1 +/- 1
V011 Actual velocity of measuring wheel in IU/sec
V013 Strokes per minute
V014 Feed angle load
V015 IDS01: Length of IDS 00000.0
V016 IDS01: Length of IDS 0000.00
V017 IDS01: Length of IDS 000.000
V018 IDS01: Velocity ‰

Fig. 5-1: System Variables

Axis Variables
The axis variables can only be read.

No. Definition
V100 Absolute position value of motor encoder
V101 Position command value
V102 Reserved
V103 Lag distance
Fig. 5-3: Axis System Variables

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Description of Commands

ACC - Acceleration Change

ACC 1 V600 V601 or

ACC 1 999 999

Deceleration in ‰ of the value programmed in Parameter A109

Acceleration in ‰ of the value programmed in Parameter A109

Axis: 1

Acceptance of the new acceleration and deceleration value is immediate.

The new acceleration and deceleration value is retained until changed by
a new ACC command.
After switching from Automatic to Manual Mode, following an error or
start-up, the valid acceleration and deceleration value is always the value
programmed in Parameter A109.
If the value 000 is input, it represents 1000‰
Example of how to change the acceleration value:
0000 ACC 1 999 999 - Set acceleration to 100%
0001 POI 1 +000200.000 - Position, then proceed immediately
999 to next instruction
0002 AKN MX.xx.x - Wait until position is reached
0003 ACC 1 500 999 - Reduce acceleration to 50%
0004 WAI 00.100 - Wait (time delay)
0005 PSI 1 +000300.000 - Positioning at 50% acceleration
999 without proceeding to next
instruction
0006 WAI 02.000 - Wait 2 seconds
0007 JST 0000 - Program end in instruction 0000

Fig. 5-5: Example of Programming an Acceleration Change

Acc_elc.WMF

Fig. 5-7: Example Showing Acceleration Change

The program proceeds to the next instruction following one CPU cycle.

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AEA – Bit set/clear

AEA Q1.02.3 V600 or

AEA Q1.02.3 1

0 = Off - Clear bit ( for variables, the variable value must be 0 )

1 = On - Set bit ( for variables, the variable value must be <> 0 )
Bit: M2, M3, M4
DKC21.3 : Q0.00.4-Q0.01.3
DKC 3.3 : Q2.02.0-Q2.05.7

This command affects the status of the bit.

The program proceeds to the next instruction following one CPU cycle.

AKN – Compare bit

AKN M2.02.2 V600 or

AKN M2.02.2 1

0 = Off - Wait until status of the bit is at '0'

1 = On - Wait until status of the bit is at '1'
Bit: M0 – M5
I0 - I4
Q0 - Q2

This is where the status of the programmed bits is verified. The program
proceeds to the next instruction as soon as the bit assumes the desired
status.
For inputs not present in the hardware, the signal level is always set to '0.'

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AKP – Compare byte

AKP M2.02 11022001

Bit field
Byte: M0 – M5
I0 - I4
Q0 - Q2

This command represents an extension of the 'AKN' command. It can be

used to verify that conditions have been for a particular byte. The program
proceeds to the next instruction if all bytes have met their conditions
simultaneously. If not, the program waits at this instruction until all
conditions for proceeding on to the next instruction have been met.

Three different conditions are possible:

0 = The bit is checked to see if it is set to '0'
1 = The bit is checked to see if it is set to '1'
2 = The bit is not checked

Example:
0008_AKP_M_0_._0_5_ _2 1 0 0 1 2 2 0
7 6 5 4 3 2 1 0

Bits 0, 4 and 5 are checked to see if they are set to '0.'

Bits 3 and 6 are checked to see if they are set to '1.'
Bits 1, 2 and 7 are not checked.

The program proceeds to the next instruction once all bits are in the
correct state.

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APE – Byte set/clear

APE M2.02 21022001

Bit field
Byte: M2, M3, M4
DKC21.3 : Q0.00.4-Q0.01.3
DKC 3.3 : Q2.02.0-Q2.05.7

This command represents an extension of the 'AEA' command. It can be

used to switch the bits in a byte. At the same time, each of the bits can be
controlled independently.

Three different conditions are possible:

0= The bit is set to `0´
1= The bit is set to `1´
2= The status of the bits remains unchanged

Example: a)
0008_APE_M2.02 _2 1 0 0 2 2 1 0
7 6 5 4 3 2 1 0

Bits 0, 4 and 5 are set to `0.´

Bits 1 and 6 are set to `1.´
Bits 2, 3 and 7 are not changed.

Example: b)
0008_APE_M2.02 _2 1 1 1 0 0 0 2
7 6 5 4 3 2 1 0

Bits 1, 2 and 3 are set to `0.´

Bits 4, 5 and 6 are set to `1.´
Bits 0 and 07 are not changed.

The program proceeds to the next instruction following one CPU cycle.

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BAC – Branch conditional on count

BAC V600 +1234 V603 or

BAC 0345 +1234 12345

Preset count
Counter offset
Target location
Like the COU command, this command allows the program to count
events, process cycles, quantities, etc.
First the quantity is incremented. Then the actual quantity is compared
with the target quantity. If the programmed target quantity is not reached,
the program jumps to the target location. If the target quantity is reached,
the actual quantity is reset to zero and the program proceeds to the next
instruction.

Examples: a) Count following the event

0000 WAI 01.000
0001 PSI 1 +000050.000 250
0002 BAC 0000 +0000 00010
0003 JST 0000

Positioning is executed 10 times, and then the program waits for a new
start signal.

Examples: b) Count prior to the event

0000 BAC 0002 +0000 00010
0001 JST 0000
0002 PSI 1 +000050.000 250
0003 WAI 01.000
0004 JMP 0000

Positioning is executed 9 times, and then the program waits for a new
start signal.

For additional information on this command, see the explanation below

under the COU command.

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BCE – Branch Conditional on bit

BCE V602 M0.02.3 V600 or

BCE 0100 M0.02.3 1

0 = Low - Jump when status is '0'

1 = High - Jump when status is '1'
Bit: M0 – M5
I0 - I4
Q0 - Q2
Target location

The jump is executed if the programmed bit has met the preselected
condition.
If the condition is not met, the program continues at the instruction with
the next higher number.

The program continues after one CPU cycle.

BIC – Branch Conditional on bitfield value

BIC V600 V601 M2.02.3 2 1 or

BIC 0234 10 M2.02.3 2 1

Mode
0 = Evaluate as binary (input values 2 through 9 for future
expansions, e.g., BCD, Gray code, etc.)
1 = evaluate BCD
Number of bits: 1 to 8
Starting bit : M0 – M5, I0 - I4, Q0 - Q2
Jump length : Maximum value = 99
Jump offset

This command executes a jump to a calculated target location. The

destination depends on the state of the programmed bits. Up to 8 bits are
considered. If a target location of >0999 is produced, the error message
‘illegal instruction’ is generated.

The target location is calculated as follows:

Target location= JumpOffset +(Overall Evaluation × Jump Length )

Fig. 5-9: Calculation of Target Location with Binary Input Logic

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Examples:
M2.03 M2.02
Starting bit : : 2 1 0 7 6 5 4 3 2 1 0
Current status : 0 1 1 0 1 1 0 1 0 1 1

1) Input : BIC 0500 11 M2.02.4 5 0

4
Selected bits: 1 0 1 1 Binary value : 2
3 12 0
2 2 2 2
corresponds to
decimal value : 16 8 4 2 1
Target location : (16 + 0 + 4 + 2 + 0) = 22
22 * 11 + 500 = 0742

2) Input : BIC 0300 02 M2.02.2 8 0

Selected bits: 1 1 0 1 1 0 1 0
7 6 5 4 3 2 1 0
Binary value : 2 2 2 2 2 2 2 2
corresponds to
decimal value : 128 64 32 16 8 4 2 1
Target location : (128 + 64 + 0 + 16 + 8 + 0 + 2 + 0) = 218
218 * 02 + 300 = 0736

The program proceeds to the target location following one CPU cycle.

BIO – Branch conditional on byte compare

BIO V600 M0.02 Q1.01 01201201 or

BIO 0123 M0.12 Q1.01 01201201

Assigned bit field

Compare byte 2 : M0 – M5, I0 - I4, Q0 - Q2
Compare byte 1 : M0 – M5, I0 - I4, Q0 - Q2
Target location

In assigned bit field is to designate which bits of the two compare bytes
are to be checked for which states.
0 = The bit is checked to see if it is set to `0´.
1 = The bit is checked to see if it is set to '1'
2 = The bit is not checked
The condition is met when the state of all selected bits in both compare
bytes matches the state of the assigned bit field.
The jump is executed when all conditions are met.

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Example:
0032_BIO_0123_M2.02_Q1.00 1 1 1 1 0 0 0 0
Compare byte 1 1 1 1 0 0 0 1 0
Compare byte 2 1 1 0 0 0 0 1 1
Result 1 1 X X 0 0 X X
7 6 5 4 3 2 1 0

For results places with a content of 0 or 1, the condition is met. For results
places with a content of X, the conditions are not met, and therefore the
overall condition is not met.
The program continues after one CPU cycle.

BPA – Branch conditional on byte

BPA V600 M2.02 21112212 or

BPA 0123 M2.02 21112212

Assigned bit field

Compare byte : M0 – M5, I0 - I4, Q0 - Q2
Target location

Here, the byte is checked for a met condition. At the same time, the
condition can be stipulated separately for each bit. The jump to the target
location is executed only if all programmed conditions are met. Otherwise,
the program proceeds to the next instruction.

Three different conditions are possible:

0 = The condition is true if the bit is set to `0.´
1 = The condition is true if the bit is set to `1.´
2 = The bit is not checked.

The program continues after one CPU cycle.

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CIO – Copy bitfields

CIO M2.02.3 Q0.01.3 V123 or

CIO M2.02.3 Q0.01.3 07

Quantity (Number of bits to be copied): ( 0 – 16 )

Copy target : Starting bit : M2, M3, M4
DKC21.3 : Q0.00.4-Q0.01.3
DKC 3.3 : Q2.02.0-Q2.05.7
Copy source : Starting bit : M0 – M5, I0 - I4, Q0 - Q2

This command can be used to copy bit states. This command is

particularly important for security programs. Regularly saving the data
ensures that it may be possible to continue the program with the proper
state settings following a fault.

Example:
0456 CIO I1.01.0 M2.02.0 5

The status of inputs I1.01.0 to I1.01.4 is copied to markers M2.02.0 to

M2.02.4.

Status of the Input Bits = 7 6 5 4 3 2 1 0

1 0 1 0 1 0 1 1

Status of the Marker Bits = 7 6 5 4 3 2 1 0

before = 1 1 0 1 0

after = 0 0 1 0 1

The program proceeds to the next instruction following one CPU cycle.

CLC – Clear counter

CLC V661 or
CLC 0123

Block number of the counter to be set to zero

At the specified instruction number, this command resets the current

value of a counter to zero. If the specified instruction contains no BAC or
COU count command, this instruction is skipped.

The program proceeds to the next instruction following one CPU cycle.

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CON – Steady state speed

CON 1 V601 +V602 or

CON 1 1 + 999

Speed in ‰ (001 to 999) of the programmed maximum speed (parameter

AX00)
Direction: + = forward / - = back (variable value with operational sign)
0 = Inactive - continuous operation OFF
1 = Active - continuous operation ON
Axis: 1

The CON command can also be used in the ‘Homed’ state. In that case,
however, the position limit values (Parameters A113 and A114) must be
noted.
Within the program, continuous operation can be switched off only using
the commands CON, JST or PBK.
A change in the operating mode (e.g., from automatic to manual)
switches continuous operation off.
Acceleration and deceleration are always executed using the current
values.
The program proceeds to the next instruction following one CPU cycle.

COU - Counter

COU +12345 Q0.01.3 V601 or

COU +12345 Q0.01.3 123456

Preset count
‘Preset count reached’ bit : M2, M3, M4
DKC21.3 : Q0.00.4-Q0.01.3
DKC 3.3 : Q2.02.0-Q2.05.7
Counter value offset

In the same way as the BAC command, this command allows the
program to count events, process cycles, quantities, etc.
The quantity is incremented each time the instruction is processed with
the COU command. Then, the actual quantity is compared with the
desired target quantity. Once the target quantity is reached, the
programmed output is activated and the actual quantity is set to zero.
The programmed bit is only enabled here. If it is necessary for this bit to
be disabled, this action must take place at another location within the user
program.
Counters can be set at any digit position as often as desired within the
user program.

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Example:
0000 CLC 0002
0001 AEA Q0.00.4 0
0002 COU +00000 Q0.00.4 000010
0003 PSI 1 +000050.000 999
0004 WAI 01.000
0005 BCE 0001 Q0.00.4 0
0006 JST 0001

Positioning is executed ten times. Then, output Q0.00.4 is set and the
system waits for a new start signal.

Note on actual count offset for COU (Count) and BAC (Branch and
count):
The counter display on the BTV04 or Status 4 via the serial interface can
be used to check the counter status. The actual quantity is not apparent
within the command itself. Once a COU command (BAC command) has
been read in, the actual quantity can be manipulated. To accomplish this,
the actual quantity offset must be entered. With the BAC command, the
offset has one less digit.

Actual quantity Effect

offset
+00000 No effect on the actual quantity
or
-00000
+02345 The actual quantity offset, with its operational sign,
or is added to the actual quantity

-02345
000000 When the operational sign is a ‘0,’ the actual
quantity is set to zero

The actual quantity offset is significant only if the COU command (BAC
command) has been read in (even via the RS interface). When the
program is running, the offset has no meaning. In the user program, the
actual quantity can be reset to zero using the CLC command.

During a production cycle, it may be necessary to change the desired

target quantity. This can be accomplished by overwriting the quantity
within the command and then resaving.
In order to prevent unintentional repetition of a one-time correction every
time the program is read in, the offset within the command itself is reset to
‘+00000’ once the actual quantity offset has been accepted. This prevents
unintentional changes from being made to the actual quantity.

Note: The current actual quantity of every counter is retained even in

the event of a fault, emergency stop, change of operating
mode or shutdown!

The program proceeds to the next instruction following one CPU cycle.

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CPJ – Compare and jump

CPJ V600 >= + 601 V602 V603 or

CPJ V600 >= +12345.123 1234.12 0400

Target location
Tolerance window
Operand 2
Operational sign of Operand 2
Compare condition
= equal to (with tolerance field)
> greater than
< less than
>= greater than or equal to
<= less than or equal to
<> not equal to (with tolerance field)
Operand 1

The jump to the target location is executed when the comparison has
been made.
If the condition is not met, the program continues at the instruction with
the next higher number.
The program continues after one CPU cycle.

Example: CPJ V600 >= +V601 0000.00 0400

V600 = 100.000
V601 = 090.000
The command branches to instruction 400

CPL – Clear position error

CPL 1

Axis nr.: 1

The position lag of the axis is set to zero on a one-time basis. Normally,
this action is useful only for special tasks such as moving to a positive
stop. When this task is performed, buildup of a substantial position lag is
possible because the monitoring systems are deactivated and the
performance of the drive has been affected.

The program proceeds to the next instruction following one CPU cycle.

Note: This command directly accesses the position control circuit. It

is therefore possible for unauthorized changes to be made in
the values for length, position and acceleration.

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CPS – Compare and set a bit

CPS V600 >= + V601 V602 M2.02.0 or

CPS V600 >= +12345.123 1234.12 M2.02.0

Result bit M2, M3, M4

DKC21.3 : Q0.00.4-Q0.01.3
DKC 3.3 : Q2.02.0-Q2.05.7
Tolerance field
Compare operand 2
Operational sign of compare operand 2
Compare conditions
= equal to (with tolerance field)
> greater than
< less than
>= greater than or equal to
<= less than or equal to
<> not equal to (with tolerance field)
Compare operand 1

The result bit is set when the comparison has been made.

The program continues after one CPU cycle.

CST – Change Subroutine stack level

CST 1 1

0 = Clear the subroutine stack

1 = Correct the subroutine stack by 1 level
2 = Correct the subroutine stack by 2 levels
and so on until
9 = Correct the subroutine stack by 9 levels
0 = Task 1 and Task 2
1 = Task 1
2 = Task 2

This command can be used to correct the subroutine stack.

If several subroutines are opened within one program cycle, a direct
return over several levels is not possible with the RTS command. If the
subroutine stack has been corrected using the CST command, a

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subsequent RTS command will execute a direct return over several

levels.

Note: If all subroutine stacks have been cleared, issuing an RTS

command after the CST X 0 command will result in an RTS
nesting ‘error.’

Example:

Fig. 5-11: Example Overview of Subroutine Stack Levels

CVT – Convert Variable <- -> Marker

CVT V601 M2.02 1 1

0 = Convert from a variable to a bit pattern

1 = Convert from a bit pattern to a variable
0 = BCD conversion
1 = Binary conversion
Lowest byte of the bit pattern : M2.00 – M2.12
Starting with this byte, the 8 following bytes are always converted.

Variables

This command converts a binary or BCD bit pattern to a variable or

converts a variable to a binary or BCD bit pattern.
Binary : 1 x operational sign bit ( 1 = negative 0 = positive )
highest bit in the highest byte before the decimal point
4 x bytes before the decimal point
4 x bytes after the decimal point
BCD : 1 x byte before the decimal point ( 1-FF = negative 0=
positive )
4 x bytes before the decimal point ( 8 decimal
places)
3 x bytes after the decimal point ( 6 decimal places)

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The program proceeds to the next instruction following one CPU cycle.

Example:
Convert the content of a variable to a BCD bit pattern
V600 = -87654321.654321
CVT V600 M2.00 0 0

Marker Bit Number Valu Comment

Flags 7654 3210 e
M2.00 0010 0001 2 1 After decimal point
M2.01 0100 0011 4 3 After decimal point
M2.02 0110 0101 6 5 After decimal point

M2.03 0010.0001 2 1 Before decimal point M2.03.0 indicates if

value is even or odd.
M2.04 0100 0011 4 3 Before decimal point
M2.05 0110 0101 6 5 Before decimal point
M2.06 1000 0111 8 7 Before decimal point
M2.07 1111 1111 Operational sign
Fig. 5-13: Marker Use According to CVT Command

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FAK – Length scaling factor

FAK 1 V601 or
FAK 1 1.234567

Multiplication factor
Input: from 0.000000 to 1.999999
Axis: 1

Positioning travel of the POA, POI, PSI and PSA commands is always
the result of a preselected linear value or position and a multiplication
factor.
The formula below applies for incremental positioning:

Positioning Path = Preselected Length × Multiplication Factor

Fig. 5-15: Calculation of Incremental Positioning

The formula below applies for absolute positioning:

Target Position = Preselected Abs. Pos. × Multiplication Factor

Fig. 5-17: Calculation of Absolute Positioning

Each change in the factor applies to all subsequent positioning motions. A

positioning motion already in progress is no longer affected by changes in
this factor.
To make a change in the operating mode (homing/automatic), the
multiplication factor is preset to a value of 1.000000.

0000 PSI 1 +000100.000 999 - Positioning = 100

0001 JSR 0100
0002 FAK 1 1.234500
0003 PSI 1 +000100.000 999 - Positioning = 123.45
0004 JSR 0100
0005 FAK 1 1.000300
0006 PSI 1 +000100.000 999 - Positioning = 100.03
Fig. 5-19: Example of Multiplication Factor for Positioning Motions

The program proceeds to the next instruction following one CPU cycle.

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FOL – Slave axis

FOL 1 V600 – V601 or

FOL 1 1 –01.123456

Slave factor
Input of 0.000000 to 99.999999
Direction, with reference to master axis
+ or ` ´= in the same direction
- = in the opposite direction
Status of the slave axis - in preparation !
0 = slave axis OFF
1 = slave axis ON
Axis: 1

This command assigns the parameter for the axis to be used as a slave
axis. The master is Encoder 2
The FOL command can be used to enable or disable the slave axis
function. The behavior of the slave axis can also be changed by using a
multiplication factor.

The positioning travel of the slave axis in IUs is calculated as follows:

Pos.Travel Master Axis in IU × Multiplication Factor

L: IUs = input units
Fig. 5-21: Calculation of Positioning Travel of Slave Axis

In calculating the positioning travel in IUs for the slave and master axes,
the IUs shall be considered in terms of the feed constant for the relevant
axis (slave or master). Any differences in the values calculated for the
input units shall also be taken into account.
An additional positioning motion (e.g., using the POI or PSI commands) is
additive to the positioning of the slave axis.
When the operating mode is changed from Homing to Automatic, or vice
versa, the status (enabled or disabled) and the current value of the
multiplication factor are retained.
Each time the operating mode is changed from Parameter Mode to
Manual or Automatic mode, the slave axis defaults to a multiplication
factor of 1.000000.

Note: Currently, deactivating operation of the slave axis in Slave or

Synchronous Mode is possible only by setting the
multiplication factor to zero!

See also Section 7.8, Slave Axis

The program proceeds to the next instruction following one CPU cycle.

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HOM – Home Axis

HOM 1

Axis 1

This command produces an absolute measurement reference. What

occurs basically corresponds to homing in Manual Mode. To accomplish
this, Parameters C009 through C012 must be programmed accordingly.
This command is not needed when the position is detected using multi-
turn encoders, since they already generate an absolute measurement
reference.
Otherwise, the error message ‘Illegal command’ is generated.

Significance of entries:
During homing, make sure that no command is processed which
executes a drive motion.
A query within the program to determine whether homing has been
successfully completed is accomplished by polling the ‘Homed’ output in
Parameter C010.

Note: In general, completion of the homing routine following each

HOM command should be verified using an AKN command.

Example:
Entry in Parameter C010 = 00.00.0 M2.02.0 00
0011 HOM 1 - Home Axis 1
0012 AKN M2.02.0 1 - Wait until homing is completed
0013 POA 1 +000010.000 999 - Positioning absolute

A detailed description of the homing function is provided in Section 7.3.

The program proceeds to the next instruction following one CPU cycle.

JMP – Jump Unconditional

JMP V601 or
JMP 0123

Target location

When it reaches this user command the program jumps to the specified
target location.

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This allows the programmer to jump directly to another part of the

program. This enables the main program to be divided up into fixed
program blocks, which can be of great help when making changes or
additions.

An unconditional jump from the end of the program to the beginning

produces an endless loop. Such a program continues to run without
interruption.
A valid command must be present in the target location, otherwise the
error message ‘Illegal command’ will be generated.

The program proceeds to the target location following one CPU cycle.

JSR – Jump to Subroutine

JSR V601 or
JSR 0123

Start instruction of the subroutine

In programs containing several identical functions, the programming can

be simplified by entering repeat functions into a subroutine.
A program structure is thus clearer and shorter.

The return from a subroutine is always automatically to the instruction with

the next sequential number following the instruction which initiated the
jump to the subroutine.
A maximum of 127 subroutine levels are possible. At more than 127
levels, the error message ‘JSR nesting’ is generated.

Note: The last instruction in each subroutine must be an RTS

(Return From Subroutine) command. If this command is
invoked without first jumping to a subroutine, the error
message ‘RTS nesting’ is generated.

The program proceeds to the start instruction following one CPU cycle.

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JST – Jump and Halt

JST V611 or
JST 0123

Target location

With this command, the program jumps to the specified target location.
However, program execution stops there. The program continues only
when the voltage changes from 0 to 1 at the system input ‘Start.’ With the
new start signal, the program continues at the target location.

This command is used frequently to end a machining cycle.

If the drive is in motion, it is brought to a standstill by the programmed
acceleration/deceleration values. The remaining travel distance is stored
and executed after the next start. There is no loss of dimensions.
Continuous operation using the CON command is disabled!
The output states are not changed by a JST command. In multitasking
(see Section 7.7), a JST command results in a programmed stop in all
running tasks. Task 3 is not affected.
This corresponds to the system input: Stop.

JTK – Program jump in parallel Task

JTK V611 1 or
JTK 0123 1

1 = Task 1
2 = Task 2
3 = Task 3
Target location

This command can be used to influence program execution in one of the

other tasks. Program execution within the programmed task is aborted
and the task jumps to the specified target location.

• The command JTK_0100_2 in Task 1 causes execution of the Task 2

program to continue at instruction 100.
• The JTK command can also be programmed in Task 3.
• The command JTK_0100_1 in Task 1 does the same thing as the
JMP_0100 command

The program proceeds to the next instruction following one CPU cycle.

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MAT - Mathematics

MAT V600 = V601 - + V602 or

MAT V600 = V601 - +123456.987654

Computed value 2
Operational sign of the computed value 2
Computing rule : - Subtract
+ Add
* Multiply
/ Divide
Computed value 1 (is always a variable)
Result (is always a variable)

The calculation is transferred to a calculating unit.This unit functions

independently from the cycle time. Furthermore, this calculating unit can
be used by the other tasks. Therefore, this command can endure over
multiple CPU cycles.

The program proceeds to the next instruction when the calculation is

completed.

MOM – Torque Reduction

MOM – Torque Reduction

MOM 1 V600 V601 M2.02.3 V602 or

MOM 1 123 456 M2.02.3 100

Continuous torque limiting in %. (100% corresponds to continuous current

level with motor at idle) input range of 000%…400%
Warning: The Parameter A115 monitoring function remains active.
500% = torque limiting is turned off.
Bit: Torque limiting is only active when the selected bit is set to 1. M0 –
M5, I0 - I4, Q0 - Q2
00.00.0 = torque limiting is always active
Maximum torque at positive stop in % (only valid with an active PFA/PFI
command)
Maximum torque during movement to positive stop in % (only valid with
an active PFA/PFI command)
Axis 1

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This command is used to preselect the maximum torque values in % for

the drive unit.
Torque limiting remains in effect until the next MOM command is invoked
or as long as automatic mode is activated. When reactivating Automatic
Mode, the limit is set to 400 percent.

It is also possible to overwrite the torque limiting command while the drive
is running.
The program proceeds to the next instruction following one CPU cycle.

Note: When the MOM command is used, error messages may be

generated if the torque limit is set too low (F228, F878). To
prevent these error messages, position control circuit
monitoring in Parameter A115 can be deactivated.
Caution: If this monitoring function is disabled, a malfunction
may result in unmonitored acceleration of the drive unit!

Note: Parameter CM01, Bipolar torque/force limit value, limits all

previous settings using the MOM command. The smaller of
the two limit values in the MOM command and in Parameter
CM01 is active.
Please make appropriate data selections!.
When using continuous torque limiting via the MOM
command, 100% corresponds with the motor current at
standstill. The peak current, which can reach four times the
continuous current level depending on the motor type, is also
limited to this value.

NOP – No Operation

NOP

This command has no function and functions like a blank block. While
executing the program in Automatic Mode, this command is processed
like any other command.
The program proceeds to the next instruction following one CPU cycle.

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PBK – Stop motion

PBK 1

Axis 1

This command can be used to interrupt positioning motions in progress.

The relevant axis is brought to a standstill using the current deceleration
value. Following deceleration, any remaining positioning travel is ignored.
If continuous operation has been enabled using CON, it is disabled.

After the PBK command has been executed, other positioning commands
can follow immediately.
Example:
0000 CON 1 1 +999
0001 WAI 02.00
0002 PBK 1
0003 POI 1 +000050.000 100

After the PBK command has been read in, the axis still moves over the
deceleration distance from V = 99.9% to V = 0 plus 50 IUs. There is,
however, a continuous transition from V = 99.9% to V = 10%.

Pbk_bef.wmf

Fig. 5-23: Example of Positioning Break

The program proceeds to the next instruction following one CPU cycle.

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PFA – Position absolute against

PFA 1 +V600 V601 010

PFA 1 +123456.789 123 010

Feedrate in ‰ (001 to 999) of the maximum velocity (Parameter A106)

Feedrate in ‰ (001 to 999) of the maximum velocity.
Absolute position given in IUs

Axis (1).
see also PFI command and Chapter 7

PSI – Position incremental against

PFI 1 +V600 V601 010

PFI 1 +123456.789 123 010

Feedrate in ‰ (001 to 999) of the maximum velocity (Parameter A106).

Feedrate in ‰ (001 to 999) of the maximum velocity.
Feed length in IUs

Axis (1).

Using the PFA/PFI commands, movement to a positive stop occurs.

The positive stop must be between the position limit values (A103, A104).
The programmed distance to a positive stop must always be larger than
the exact travel distance to the positive stop, otherwise the positive stop
may not be reached.

Proceeding to the next program instruction occurs immediately after

fulfilling one of the following two conditions:
• Proceeding to the next program instruction if the positive stop is not
reached.
• Skipping the next program instruction and proceeding to the following
one if the positive stop is reached.

If the positive stop is not reached, Continuous Torque Reduction (MOM

command) becomes active again.
For movement to a positive stop and standstill at the positive stop, the
torque limits in the MOM command are active (see MOM command).
So that no motor overload occurs, torque settings should always be set
via the MOM command. The start of a positioning movement usually
occurs 150 ms after reading in the command.

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POA – Position absolute

POA 1 + V600 V601 or

POA 1 +123456.789 999

Feedrate in ‰ (001 to 999) of the maximum velocity in the assigned

parameter A106
Absolute position given in IUs (input units)
Operational sign of the position (+/-)
Axis 1

From its current position, the drive is moved to the programmed absolute
position referenced to the zero point.
Example: 1) current position = -100.00
0000 POA 1 +000200.000 999
The drive unit is moved 300 mm forward to the +200 position.
Example: 2) current position = +400 mm
0011 POA 1 +000200.000 999
The drive unit is moved 200 mm backward to the +200 position.

Poa_bef.wmf

Fig. 5-25: Example of Positioning Absolute

This command may be used only if an absolute measurement reference

is present. This is the case when an absolute multi-turn encoder is used
for position detection or for position detection following a return to zero
(homing), (see also Chapter 7.3, Homing). Otherwise the error message
‘Not homed’ is generated.
Example:
0000 POA 1 +00010.005 999
0001 JSR 0100
0002 POA 1 +000020.003 999
0003 JSR 0100
0004 POA 1 +000030.000 500
0005 JSR 0100

The program proceeds to the next instruction following one CPU cycle.

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POI – Position Incremental

POI 1 + V600 V601 or

POI 1 +123456.789 999

Feedrate in ‰ (001 to 999) of the maximum velocity given in the

parameter (Parameter A106)
Feed length in IUs (input units)
Direction of movement (+ = forward / - = back)
Axis 1

The position setpoint is incremented or decremented by the amount of the

programmed value.
This feed length is adjusted to account for any remaining travel distance.
Example: The drive unit traverses the distance: -100 +200 = +100
0000 POI 1 -000100.000 999
0001 PSI 1 +000200.000 999
0002 JSR 0555
0003 JMP 0000

The program proceeds to the next instruction following one CPU cycle.

PSA – Position absolute with in-position

PSA 1 + V600 V601 or

PSA 1 +123456.789 999

Feedrate in ‰ (001 to 999) of the maximum velocity in the assigned

parameter A106
Absolute position given in IUs (input units)
Operational sign of the position (+/-)
Axis 1

This command corresponds to the POA command. However, the program

proceeds to the next instruction only if the programmed absolute position
has been reached.
The drive unit is considered to have reached the correct position as soon
as it reaches the ‘Position window’ (see Parameter A111 ‘Switching
threshold’) for the programmed position.
Example:
+ 100,00 = current position
0,20 = switching threshold, Parameter A111
± 0,20 = position window
0000 PSA 1 +000200.000 999

The program proceeds to the next instruction when the drive unit has
reached position +199.80 to +200.20.

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Note: Adjustment for the highest accuracy naturally takes place even
after the program has gone on to the next instruction. The
adjustment accuracy is therefore not dependent on the size of
the position window.

PSI – Position incremental with in-position

PSI 1 + V600 V601 or

PSI 1 +123456.789 999

Feedrate in ‰ (001 to 999) of the maximum velocity in the assigned

parameter A106
Feed length in IUs (input units)
Direction of movement (+ = forward / - = back)
Axis 1

This command corresponds to the POI command. However, the program

proceeds to the next instruction only after the positioning procedure has
been completed (position acknowledgement). This procedure is
completed as soon as the drive unit has traversed the programmed feed
length within the ‘Switching threshold’ (A111). Adjustment for the highest
accuracy takes place even after the program has gone on to the next
instruction.
The size of the ‘Positioning window’ is stipulated in parameter A111
(Switching threshold).

Example:
0000 PSI 1 +000100.000 999
0001 WAI 00.500
0002 AEA Q0.00.6 1
0003 JSR 0666
0004 JMP 0000

First, Axis 1 is started up. Once the final position has been reached and
an additional waiting time of 0.5 seconds has elapsed, output 02 is
activated.

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REP – Jump on max. search limit reached

REP V600 1 V601 or

REP 0100 1 123456.789

Max. search distance for SRM command in IUs

Axis 1
Jump to target location if search distance is exceeded

This command is a supplement to the SRM command. It permits limits to

be placed on the search distance needed to find a reference marker.
If the maximum search distance entered here is exceeded without finding
a reference marker, the program executes a jump to the specified target
location. At the same time, the drive unit decelerates to a complete stop.
The REP command must be executed immediately after the SRM
command. A REP command alone will result in the error message ‘Illegal
command’ when the program is executed.

The following command combinations are permissible:

1) Moving to a reference point without search distance limitation.
0020 SRM 1 +000000.000 +050 I0.01.0

2) Moving to the reference point is programmed in the SRM

command.
A limit of max. 500 IUs is programmed in theREP command.
0030 SRM 1 +000000.000 +050 I0.01.0
0031 REP 0900 1 000500.000

RTM – Round table-Modus

RTM 1 V600 or
RTM 1 0

Rotary table mode:

0 = mode is accepted from Parameter A105
1 = shortest distance
2 = programmed direction
>2 = no change in mode
Axis 1

Rotary table must be preselected under the type of motion in Parameter

A100 and the axis must be homed.
The parameter setting A105 is active after each restart or error
acknowledgement, or after termination of Parameter Mode. Changing
between Manual and Automatic Modes does not change the current
Rotary Table Mode.

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RTS – Return from Subroutine

RTS

As already described for the JSR command, a subroutine must be

concluded with an RTS return command.
If several subroutine levels have been opened in one program cycle, a
return from a higher subroutine level leads first to the next lower
subroutine level rather than directly back to the main program.

Example:

Rts_bef.wmf

Fig. 5-27: Example of Return from Subroutine Levels

The program proceeds to the next instruction following one CPU cycle.

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SAC - Set Abs. position Counter

SAC 1 V601 + V601 or

SAC 1 1 + 123456.789

Absolute position or offset in IUs

Operational sign
0 = Absolute zero offset relative to the zero position after
homing
1 = Set new absolute position relative to the target position
9 = Clear 'Homed‘ (only for Parameter A100 = 0 x )

Axis 1

The command is executed correctly only when the axis signals ‘Position
reached’.

Example for incremental encoders:

Min. travel limit = - 400 IU (Parameter A103)
Max. travel limit: = +900 IU (Parameter A104)

Sac1_elc.WMF

Fig. 5-29: SAC Command

For motion types 1 and 2 (Parameter A100), the coordinate system in the
user program can be shifted using the SAC command.

For motion type 0 (Parameter A100), an absolute reference can be

established using the SAC command. Parameters A103, Negative travel
limit and A104, Positive travel limit) are also valid in this case. The first
time this command is used, the actual axis position is set to the offset
value of the SAC command. For further uses of the SAC command while
the drive is homed, the offset is processed as shown in the figure. The
absolute reference can be cleared using SAC 1 0 +000000.000.

The program proceeds to the next instruction following one CPU cycle.

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SET – Set variable

SET V600 = + V601 or

SET V600 = +12345678.123456

Value
Operational sign
Variables

Using this command, variables can be set from the program or copied
from another variable.

The program proceeds to the next instruction following one CPU cycle.

SRM – Drive to registration mark

SRM 1 + V600 +V601 I0.01.0 or

SRM 1 +123456.123 + 123 I0.01.0

Input Reference mark (Input:Probe1 when 00.00.0 is input)

M0...M5 , I0 I4, Q0 Q2
Feedrate in ‰ (001 to 999) of the maximum velocity in the assigned
parameter (A106)
Search direction (0 = forward / 1 = back) (Operational sign of variable
helps determine the direction)
Offset in IUs
Axis 1

This command can be used to search for a reference marker at any time.
The axes, the search direction, the search velocity and the reference
signal input can be freely selected. Once the command is invoked, the
search for the reference marker proceeds at the preselected velocity. The
reference marker is detected by means of the rising edge of a pulse (from
0V to 24V) at the programmed input.
As soon as the reference marker is detected, the program proceeds to
the next instruction.
(The command did not wait for the offset to be executed.)

If a value of 00.00.0 is programmed for the reference marker input, then

that input (probe 1, connector X3 / pin 4) is selected as the reference
marker input. This input has no hardware debouncing. This input can also
initiate an interrupt. This input is therefore able to detect the reference
marker substantially more accurately (within a time frame of approx. 100
microseconds).

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Offset dimension:
The move to an offset dimension (referenced to the reference point) is
accomplished by means of an incremental positioning command
immediately following the SRM command.
It is also possible to limit and monitor the search travel until the reference
marker is found (see also the REP command).

Note: No new absolute measurement reference (zero point) is

created using the SRM command. This is possible only
through the homing function. (see also Section 7.3).

Detection of the reference point occurs within a time frame of 2 to 4 ms

(controller cycle time). If a highly accurate reference point is required, the
search velocity must be reduced. The achievable accuracy is determined
as follows:
SearchVelocity in IU / s ∗2 ∗ CycleTime [s]
L: IUs = Input Units
s = seconds
Fig. 5-31: Calculation of the Search Velocity

Example: The maximum velocity is 200 IUs/s. The

cycle time is 2 ms. A normal input with a
debouncing time of a cycle time is
selected.
0000 SRM 1 +000000.000 +500 I0.01.0

The search velocity is 200 IUs/s * 500 ‰ = 100 IUs/s. The accuracy is >
0.4 mm.
With the system input Probe1, Connector X3 / Pin 4, there is no
debouncing time and the detection time is approx. 0.1 ms. The accuracy
is > 0.01 IU

Ref1_bef.wmf

Legende Fig. 5-33: Example of Movement to a Reference Mark

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Example of moving to a reference mark with offset programming:

0000 SRM 1 +000200.000 +050 I0.01.0

Ref2_bef.wmf

Fig. 5-35: Example of Moving to a Reference Mark with Offset Programming

VCC – Velocity change command

VCC 1 + V600 V601 0 V602 or

VCC 1 +123456.789 999 0 1

Assignment
0 = Start of the velocity change
1 = Velocity reached
0 = Distance traveled (incremental measurement input)
1 = Absolute switching point (axis must be homed)
New velocity in ‰ (001 to 999) of the maximum velocity in the assigned
parameter (A106)
Distance traveled in IUs up to switching point

Axis 1

Assignment 0 : Start of velocity change

Velocity changes are always referenced to the most recently initiated

positioning function.
The program proceeds to the next instruction immediately after the
distance programmed in the VCC command, referenced to the start
position of the most recent positioning function, has been traversed.
A change in velocity can take place only when the positioning functions do
not include position acknowledgement (POI, POA).

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The position portion in the last VCC value must be smaller than the
previously started positioning function, otherwise that VCC command is
not executed and the program proceeds to the next instruction.

Example:
The actual start position is 0 mm.
0000 POI 1 +000100.000 999 - Move 100 IUs, then proceed to next
instruction
0001 VCC 1 000050.000 250 0 0 - after 50 IUs, change to 25%
velocity
0002 VCC 1 000075.000 500 0 0 - after 75 IUs, change to 50%
velocity
0003 VCC 1 000090.000 100 0 0 - after 90 IUs, change to 10%
velocity
0004 AKN M3.00.0 1 - Wait until target position is reached
0005 WAI 01.000 - End of cycle, wait 1 second
0006 JMP 0000 - Repeat program

Vcc_bef.wmf

Fig. 5-37: Change Velocity

Assignment 0 : Start of velocity change

New velocity in ‰ (001 to 999) of the maximum velocity in the assigned

parameter (A106)
Absolute position in IUs at which the new velocity is achieved

This command changes the velocity of a positioning move in progress

such that the desired velocity is reached at the specified absolute
position.
The program proceeds to the next instruction immediately after the drive
unit begins changing its velocity. This point depends on the acceleration,
the difference in velocity and the position lag.
If this point has already been reached or exceeded when the VCC
command arrives, the program proceeds immediately to the next
instruction, accepting the new velocity.
The axis must be homed to zero.

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Example:
The actual start position is 0 mm.
0000 POA 1 +000200.000 999 - Move to absolute position +200 IUs
0001 VCC 1 +000100.000 500 1 1 - at position +100 IUs, V = 50%
0002 VCC 1 +000180.000 100 1 1 - at position +180 IUs, V = 10%
0003 AKN M3.00.1 1 - Wait until target position is reached
0004 WAI 01.00 - End of cycle, wait 1 second
0005 JMP 0000 - Repeat program

Vca_bef.wmf

Fig. 5-39: Change Velocity (Absolute Position)

VEO – Velocity Override Command

VEO 1 1 0 V600 1 or
VEO 1 1 0 500 1

Function
0 = Override as factor
1 = Override as limit
This value is significant only in modes 4 and 6
Override value in ‰ (from 001 to 999)
0 = Read in new override value in each controller cycle (2 to 4
milliseconds)
read in
1 = Read override value only once when command is invoked
Override mode defaults
0 = Override disabled, or as programmed in Parameter AA04
1 = Analog value of 0...+10 volts at the corresponding analog input
2 = Binary value at inputs (weighted value, see Chp. 7)
3 = Gray code at inputs (weighted value, see Chp. 7)
4 = Override value from VEO command (see above)
5 = Default value via measuring wheel encoder (in preparation)
6 = Analog input 1 * Override value from the VEO command
Axis 1

This command produces a reduction in the velocity of all of the

programmed traversing commands.

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With the ‘Override as factor’ function, the override value is multiplied by

the programmed velocity from the commands.
With the ‘Override as limit' function, the override value is multiplied by the
programmed velocity from the parameter Vmax (Param. A106), and
therefore limits the velocity. Activation of an override function using the
VEO command has priority over activation of any function within
Parameter AA04.
Once a VEO command has been invoked, it applies to all subsequent
motions until it is canceled. See also the examples on the following
pages.
Any change in operating mode between ‘Automatic’ and ‘Homing’ cancels
the override function invoked by the VEO command. The values can be
changed again in Task 3.

The program proceeds to the next instruction following one CPU cycle.

Description of Override Mode 5 ( in Preparation)

This function can only be activated using the VEO command if Encoder 2
is designated as a Slave Axis in Parameter A100. Additionally, Encoder 2
must be set up correctly in the parameters (Parameter B016, B017 and
B018). Otherwise, the program proceeds to the following instruction
immediately.
The following relationship applies:

MeasureWhe elVel [IUs MeasureWhe el / Sec.]

Override Value = ×Multiplier
Max.Vel .[IUs Motor / Sec.]

L: IUs - Input Units

Fig. 5-41:Formula for Default Values via Measuring Wheel Encoder

The maximum velocity is taken from Parameter A106.

The multiplier is always equal to 1 after a change in operating mode (from
Manual to Automatic or from Automatic to Manual). Using the FOL
command, the multiplier can be changed and this value remains until
another change in operating mode or changed input using the FOL
command is executed.
If the axis reaches a velocity of more than 1.25 times Vmax (Parameter
A106), because of a programming error or excessive velocity of the
measuring wheel encoder, the error message `Störung max. Override Ax´
is issued.
However, the velocity of the drive is limited to Vmax in any case, for
measuring wheel encoder speeds > Vmax.

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Examples: VEO – Velocity Override

0000 BPA 0004 M2.02 21022222 - Input 1 selected; jump to program
A
0001 BPA 0006 M2.02 20122222 - Input 2 selected; jump to program
B
0002 BPA 0008 M2.02 21122222 - Input 3 selected; jump to program
C
0003 JMP 0000 - Input 0 selected; wait loop

0004 VEO 1 4 1 999 1 - Progr. A; velocity unchanged

0005 JMP 0009 - Execute positioning function

0006 VEO 1 4 1 700 1 - Progr. B; velocity limited

0007 JMP 0009 - Execute positioning function

0008 VEO 1 4 1 500 0 - Progr. C; reduce velocity

- Execute positioning function
0009 POI 1 +000100.000 999 - Move 100 mm and proceed to
next instruction
0010 VCC 1 +000035.000 800 0 0 - after 35mm, change to 80%
velocity
0011 VCC 1 +000050.000 600 0 0 - after 50mm, change to 60%
velocity
0012 VCC 1 +000065.000 400 0 0 - after 65mm, change to 40%
velocity
0013 VCC 1 +000080.000 200 0 0 - after 80 mm, change to 20%
velocity
0014 AKN M02.02.4 1 - Wait until switching threshold is
reached
0015 WAI 01.000 - At end of cycle, wait 1 second
0016 JMP 0000 - Jump to program selection

The above example from the program generates the following velocity
profiles:

1) Program A – unaffected velocity profile

Veo1_bef.wmf

Fig. 5-43: VEO Command – Change Velocity

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2) Program B – velocity limited to 70% from

instruction number 0006

Veo2_bef.wmf

Fig. 5-45: VEO Command – Limit Velocity to 70%

3) Program C - Multiplication by factor of 500 from instruction number

0008

Veo3_bef.wmf

Fig. 5-47: VEO Command - Multiplication by a Factor

WAI – Wait (Time Delay)

WAI V600 or
WAI 00.500

Waiting time in seconds

Execution of the next instruction is delayed until the programmed time has
elapsed, i.e., the program proceeds to the next instruction after the
waiting time has elapsed. Execution of the next instruction is delayed until
the programmed time has elapsed, i.e., the program proceeds to the next
instruction after the waiting time has elapsed.

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6 The Logic Task (In preparation)

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7 Functions (In preparation)

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ECODRIVE03 FLP-01VRS 8-1

8 Parameters
8 PARAMETERS....................................................................................... 8-1
8.1 BASIC INFORMATION .......................................................................... 8-3
8.2 SYSTEM PARAMETERS ....................................................................... 8-4
A100 Type of application ........................................................................ 8-4
A101 Feed constant................................................................................. 8-5
A102 Gear ............................................................................................... 8-5
A103 Negative travel limit....................................................................... 8-6
A104 Positive travel limit........................................................................ 8-6
A105 Modulo value ................................................................................. 8-6
A106 Maximum velocity .......................................................................... 8-7
A107 Manual velocity ............................................................................. 8-7
A108 Bipolar acceleration ...................................................................... 8-8
A109 Acceleration / Deceleration ........................................................... 8-8
A110 Bipolar jerk limiting time constant ................................................ 8-8
A111 Switching threshold ....................................................................... 8-9
A112 Reserved Stop window ................................................................. 8-10
A113 In position window....................................................................... 8-10
A114 Presignaling................................................................................. 8-11
A115 Monitoring ................................................................................... 8-11
A116 Feed angle monitoring / Feed interrupt....................................... 8-12
A117 Encoder difference monitoring .................................................... 8-13
A118 Absolute encoder monitoring window ......................................... 8-13
A119 Best possible deceleration ........................................................... 8-14
8.3 FUNCTION PARAMETERS .................................................................. 8-15
AA00 Tasks 2 & 3.................................................................................. 8-15
AA01 Manual vector ............................................................................. 8-15
AA02 Interrupt vector ........................................................................... 8-16
AA03 Reserved Restart......................................................................... 8-16
AA04 Override ...................................................................................... 8-16
AA05 Reserved Electr......................................................................... 8-17
AA06 Reserved Motorbremse.............................................................. 8-17
AA07 Measuring wheel mode................................................................ 8-17
AA08 Other ........................................................................................... 8-18
8.4 GENERAL PARAMETERS ................................................................... 8-19
B000 Display......................................................................................... 8-19
B001 Interface Parameters ................................................................... 8-19
B002 Interface Parameters ................................................................... 8-19
B003 Analog output 1, signal selection................................................. 8-20
B004 Analog output 1, expanded signal selection ................................ 8-21
B005 Analog output 1, scaling per 10V full scale................................. 8-23
B006 Analog output 2, signal selection................................................. 8-23
B007 Analog output 2, expanded signal selection ................................ 8-24
B008 Analog output 2, scaling per 10V full scale................................. 8-26
B009 Serial inputs and outputs ............................................................ 8-26
B010 System control............................................................................. 8-27
B011 Fieldbus Cycle Time [ ms ]......................................................... 8-27
B012 Fieldbus Baudrate [ kBaud ] ..................................................... 8-29
B013 Fieldbus Format ......................................................................... 8-29
8.5 ENCODER PARAMETERS ................................................................... 8-30
C000 Working polarity.......................................................................... 8-30
C001 Interface, encoder 1 (motor)........................................................ 8-30
C002 Position encoder, type 1 .............................................................. 8-31
C003 Resolution, position encoder 1 (motor) ....................................... 8-31
C004 Interface, encoder 2..................................................................... 8-32
C005 Position encoder, type 2 .............................................................. 8-33
C006 Resolution, encoder 2 .................................................................. 8-33
C007 Feed constant 2............................................................................ 8-34

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C008 Reserved ...................................................................................... 8-34

C009 Homing configuration ................................................................. 8-34
C010 Homing ........................................................................................ 8-35
C011 Reference distance....................................................................... 8-35
C012 Home switch offset....................................................................... 8-35
C013 Distance-coded reference distances ............................................ 8-36
C014 Encoder emulation type ............................................................... 8-36
C015 Encoder emulation resolution ..................................................... 8-37
C016 Marker pulse offset ...................................................................... 8-37
8.6 CONTROL PARAMETERS ................................................................... 8-38
CR00 Current loop proportional gain 1 ............................................... 8-38
CR00 Current loop integral action time 1............................................. 8-38
CR02 Velocity loop proportional gain .................................................. 8-39
CR03 Velocity loop integral action time ............................................... 8-39
CR04 Velocity loop smoothing time constant........................................ 8-40
CR05 Rejection frequency of velocity loop ........................................... 8-41
CR06 Velocity loop bandwidth rejection filter...................................... 8-41
CR07 Kv Factor .................................................................................... 8-42
CR08 Acceleration feedforward gain.................................................... 8-42
CR09 Switching frequency .................................................................... 8-44
CR10 Actual position smoothing time constant in measuring wheel mode8-
44
8.7 MOTOR PARAMETERS ...................................................................... 8-45
CM00 Motor type .................................................................................. 8-45
CM01 Bipolar torque/force limit value ................................................. 8-45
CM02 Motor peak current / current at standstill .................................. 8-45
CM03 Maximum velocity of motor........................................................ 8-46
CM04 Number of pole pairs/pole pair distance .................................... 8-47
CM05 Torque/force constant ................................................................ 8-47
CM06 Rotor moment of inertia ............................................................. 8-47
CM07 Holding brake type ..................................................................... 8-48
CM08 Holding brake current................................................................ 8-48
CM09 Motor temperature ..................................................................... 8-48
8.8 ASYNCHRONOUS MOTOR PARAMETERS ........................................... 8-49
CA00 Magnetization current................................................................. 8-49
CA01 Pre-magnetization factor ............................................................ 8-49
CA02 Slip factor.................................................................................... 8-50
CA03 Slip increase................................................................................ 8-50
CA04 Stall current limit ........................................................................ 8-50
CA05 Flux loop proportional gain........................................................ 8-51
CA06 Flux loop integral action time..................................................... 8-51
CA07 Motor voltage at no load............................................................. 8-51
CA08 Motor voltage max. ..................................................................... 8-51
8.9 LIST OF FLP PARAMETERS ............................................................... 8-53

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8.1 Basic Information

In this chapter, the parameters are described. They are used to define
and adjust the system components and to activate hard-coded
operations. Except for the CR parameters, they can only be modified in
parameter mode via the serial interface. Once the system is no longer in
Parameter Mode, the parameters are monitored and a diagnostic
message is issued if incorrect parameters are found.

To provide a better overview, the parameters are divided into 7 groups:

Parameter Group Group Identifier Parameter Number

System Parameters A1 00 to 19
Function Parameters AA 00 to 08
General Parameters B0 00 to 13
Encoder Parameters C0 00 to 16
Controller Parameters CR 00 to 10
Motor Parameters CM 00 to 09
Asynchronous Motor CA 00 to 08
Parameters
Fig. 8-1: Parameter Groups

Controller Parameters (CR)

These parameters can be changed via the serial interface, both in Manual
and Automatic Mode.

Motor Parameters (CM)

In motors with feedback memory, these parameters are set when the
program is initially loaded.

Asynchronous Motor Parameters (CA)

In motors with feedback memory, these parameters are meaningless.

Input Units

The input unit is defined in Parameter A101 Feed constant. The feed
constant is defined as the linear displacement of the load during one
revolution of the gear drive shaft. Input can be in any desired dimension
and is referred to below as the input unit (IU).
It is important that all other measurements entered be referenced to this
same unit.
e.g. IUs [mm]
In this case, the velocity is entered or shown as IUs/sec., hence mm/sec.
IUs [inch]
In this case, the velocity in entered or shown as IUs/sec, hence
inches/sec.

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8.2 System Parameters

A100 Type of application

1 1

Function, encoder 2 (optional):

0 = none
1 = direct measurement
2 = master/slave axis
3 = measuring wheel

Type of motion:
0 = rotary (continuous rotating)
1 = linear (finite travel)
2 = rotary table

Type of motion: With rotary motion, the drive unit normally turns
continuously in one direction. The product is brought to its
relative position using rollers and is then processed. Roll
feed mechanisms are typically used. There
are no travel limit switches.

With linear motion, the drive unit moves a mechanical

system only a specified distance. Normally, absolute
positioning is performed and travel limit switches monitor
the distance traversed.

The rotary table normally turns continuously.

Positioning is absolute within one revolution (modulo
value). There are no travel limit switches.

Function, encoder 2:
none: There is no second encoder

Direct measurement: In addition to the motor encoder,

an externally mounted encoder provides position
detection.

Master/slave axis: Encoder signals are transferred from

a master axis. Depending on the task definition, these are
interpreted in the parameters or in the user program.

Measuring wheel: In this function, an external encoder

at times detects the position. It is possible to switch back
and forth between the motor encoder and the measuring
wheel encoder. Only relative distances are traversed.

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A101 Feed constant

1234.5678
Feed constant in IUs

Note: This is where the IU is defined

IU = input unit

This parameter describes the conversion from rotary to linear motion. It is

defined as the linear displacement of the load during one revolution of the
gear drive shaft.

Input min.: 0.1000 IUs

Input max.: 5000.0000 IUs

A102 Gear
1000 2000
Output revolutions of load gear
Input revolutions of load gear

A mechanical gear is often employed between the motor and the load.
The gear ratio is defined as:
Load Gear − Input Revolutions
i =
Load Gear − Output Revolutions
Fig. 8-2: Gear Ratio

See also function description for: "Gear Ratio" and "Modulo Function"

Example:
5 turns of the motor shaft produce 2 turns of the output gear shaft.
⇒ Input revolutions: 5
Output revolutions: 2

Input min.: 1
Input max.: 9999

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A103 Negative travel limit

±123456.789
Negative travel limit in IUs

The negative travel limit defines the maximum travel distance in the
negative direction whenever the type of motion is 1 (“linear motion,”
Parameter A100) and all position data have been referenced to the home
position, i.e., the drive unit has been homed.
If a target position beyond the negative travel limit is stipulated for the
drive, error message E-0203 (target position < negative travel limit) is
generated.

If this programmed position is exceeded in automatic mode, the F629

error message (positive travel limit exceeded) is generated.

Input min.: -200000.000

Input max.: +200000.000

A104 Positive travel limit

±123456.789
Positive travel limit in IUs

The positive travel limit defines the maximum travel distance in the
positive direction.
The position limit is only active when the type of motion is 1 (“linear
motion,” Parameter A100) and all position data have been referenced to
the home position, i.e., the drive unit has been homed.
If a target position beyond the positive travel limit is stipulated for the
drive, error message E-0204 (target position > positive travel limit) is
generated.

If this programmed position is exceeded in automatic mode, the following

error message is generated: F630 (Negative travel limit exceeded)

Input min.: -200000.000

Input max.: +200000.000

A105 Modulo value

123456.789 0

0 = direction programmed within command

1 = shortest distance

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modulo value in IUs

When the modulo format is set, the modulo value determines the
numerical value at which the position data overflow to 0.
This parameter is used only with motion type 2 (rotary table, Parameter
A100) and normally indicates the circumference of the table.

Input min.: 0.000 IUs

Input max.: 200000.000 IUs

A106 Maximum velocity

123456.789
Maximum velocity of the axis in IUs/sec

The maximum velocity defines the maximum permissible velocity and

applies symmetrically in both directions.
The maximum value that can be entered is limited by Parameter CM03
“Maximum velocity of motor” and by the amplifier output.

For rotary encoders :

Max. possible velocity × VK (A101)
A106 max =
60 × i
For linear motors :
A106 max = CM 03
L: FC = feed constant
i = gear ratio
Fig. 8-3: Calculation of Maximum Velocity

The velocity given in per mille in the feed commands is referenced to this
value.

Input min.: 0.010

Input max.: depending on the drive and the amplifier output
200000.000

A107 Manual velocity

123456.789
Jog velocity in IUs/sec.

With the velocity entered here, the drive motion is

‘Jog forward‘ or ‘Jog reverse'.
Additionally: A107 =< A106

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Input min.: 0.001

Input max.: depending on the drive and the amplifier output
200000.000

A108 Bipolar acceleration

123456
2
Acceleration in IUs/sec

The maximum possible bipolar acceleration defines the maximum

permissible acceleration symmetrically in both directions (acceleration
and deceleration) and is stipulated in this parameter.
Acceleration or deceleration limits are possible in Parameter A109 and/or
using the ACC/DEC command.
Input min.: 1
Input max.: 200000

A109 Acceleration / Deceleration

123 456
Deceleration in ‰
Acceleration in ‰

In both of these values, the ‰ indication refers to the maximum

acceleration in Parameter A108. If 000 is entered, the program retrieves
the acceleration value from Parameter A108.

Acceleration and deceleration can be set to different values using this

parameter. These values are always valid following a restart, after error
messages are received, and after parameter mode is exited. The ‰
indications given in the ACC and DEC commands are referenced to this
parameter.

Input min.: 0 ‰
Input max.: 999 ‰

A110 Bipolar jerk limiting time constant

In preparation

1.024
Time constant for acceleration [in sec]

Min. = 0 (no jerk)

Max. = 1.024 s

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Fig. 8-4: Jerk

Callouts for Fig. 8-4:

Beschleunigung = Acceleration
Zeitkonstante für Beschleunigung = Time constant for acceleration
Zeit = Time
Geschwindigkeit = Velocity

A111 Switching threshold

M2.02.2 123.456
Switching threshold in IUs
Output: Position reached
M2, M3, M4
DKC21.3 Q0.00.4-Q0.01.3
DKC 3.3 : Q2.02.0-Q2.05.7

Output: This parameter is set when the current distance to travel from
the last feed command is less than the switching threshold. If the motor
does not remain within this ± switching threshold range or if a new feed
command is detected, the output is canceled. If 00.00.0 is entered, the
function is not enabled.

Switching threshold: How close the approach must be to the stipulated

target position for the ‘Position reached’ message to be generated is
entered here. In response to feed commands, this message also tells the
program to proceed to the next instruction.
When the stop function is executed, the “Position reached” message is no
longer referenced to the previously stipulated target position.
In case of an interrupt, the target position is retained.

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| Current distance to travel | + | position lag | < switching threshold ?

Output = 1
| Current distance to travel | + | position lag | < switching threshold ?
Output = 0

Switching threshold input min.: 0.001

Switching threshold input max: 999.999

A112 Reserved Stop window

A113 In position window

M2.02.2 1234.567
“In Position” – window in IUs
Output: Axis in last programmed target position
00.00.0 = function not enabled
M2, M3, M4
DKC21.3 : Q0.00.4-Q0.01.3
DKC 3.3 : Q2.02.0-Q2.05.7

The last target position specified by means of a feed command or by

homing is stored and then continually compared with the actual position
value. If the actual position value is within this window, the output is set.
| Target position – actual position | < positioning window ? Output = 1
| Target position – actual position | < positioning window ? Output = 0

This function is enabled in Manual and Automatic Mode.

Position input min.: 0,001

Position input max.: 9999.999

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A114 Presignaling
M2.02.2 1.5 0050
Distance from the target position in IUs,
Min: 1 Max: 9999
Time in sec. (pulse)
0.0 = Output as continuous signal
Presignaling output
00.00.0 = Presignaling function not
enabled
M2, M3, M4
DKC21.3 : Q0.00.4-Q0.01.3
DKC 3.3 : Q2.02.0-Q2.05.7

The presignaling function programmed in this parameter applies for every

positioning command ( POI, PSI, POA, PSA ).
As soon as the distance from the target position becomes less than the
programmed presignaling distance, the output is enabled. The output
remains enabled continuously or for the programmed time period. The
output is disabled each time a new feed instruction is received.

A115 Monitoring
1 100 M2.02.2
Output:
Position lag > max. position deviation
M2, M3, M4
DKC21.3 : Q0.00.4-Q0.01.3
DKC 3.3 : Q2.02.0-Q2.05.7
00.00.0 Function not active
max. position deviation [ % ] max. = 300
8 = position control circuit monitoring =
OFF
<> 8 = position control circuit monitoring =
ON

The position control circuit is continuously monitored. This is done by

calculating an actual position value model and comparing it with the actual
position value.
The maximum deviation tolerated between the measured and calculated
actual positions is set using Parameter A115, Monitoring. At maximum
velocity, the position lag is assumed to be at 100%. If the position
deviation exceeds this monitoring window, the error message F228,
Excessive deviation is issued.

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A106 60 max . Position Deviation

max . Deviation [ EGE ] = × ×
CR 07 1000 100

L: A106 Maximum velocity

CR07 Kv factor
Fig. 8-5: Monitoring Window

A116 Feed angle monitoring / Feed interrupt

M2.02.2 M2.02.3

Input: Interrupt
M0 – M5 ; I0 - I2 ; Q0 - Q2
Input: Feed Angle Monitoring
M0 – M5 ; I0 - I2 ; Q0 - Q2

Feed angle monitoring

Whether or not the feed is to be monitored is entered at this point. If

00.00.0 is entered, there is no monitoring.
If no signal is present at the specified input, no feed takes place. Then all
of the NC instructions which do not contain feed distances are executed.
As soon as the NC encounters an instruction containing a feed distance, it
stops at this instruction until a signal is applied at the input.
If the signal drops out during feed, feed is aborted and the following error
message is generated. E-0210 (Feed angle monitoring)

Interrupt:
Whether or not a positioning function in progress can be interrupted is
entered at this point. If 00.00.0 is entered, there is no interruption.
If the signal at the specified input is lost, any initiated positioning functions
are not executed, or those already in progress are stopped. All
instructions containing no feed distances continue to be processed as
usual.
As soon as an instruction containing a feed distance is invoked, the
program waits to process the instruction until a signal is present at the
input.
If the other operating conditions have been retained, execution or
continuation of the positioning function takes place as soon as the signal
is present.

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A117 Encoder difference monitoring

123

000 = no monitoring
Monitoring window in ‰ referencing C007
( only for measuring wheel applications)

A118 Absolute encoder monitoring window

1234.567
Window size in IUs

Following a restart or after exiting Parameter Mode, the actual position

stored the last time the control voltage was switched off is compared with
the current initialized actual position of the absolute measuring system by
the absolute encoder monitoring function.
If the difference is greater than the value given in Parameter A118
(absolute encoder monitoring window parameter input), the error
message F276, ‘Absolute encoder error’ is generated. This can happen
when the axis has been moved with the power off, or after a motor has
been replaced.
If the parameter entered in A118, ‘Absolute encoder monitoring window’ is
a 0, the absolute encoder monitoring function is disabled. As a standard
value, 0.1 motor revolutions (= 36 degrees in reference to the motor shaft)
can be programmed if the axis has a holding brake or is self-locking.
Window size: Conversion of motor shaft data (in degrees) to load-referenced window size
(in IUs)

Degrees ( Motor shaft ) ×VK ( A101)

Window size [ IU ] =
i (Gear ratio) × 360
Fig. 8-6: Absolute Encoder Monitoring Window

Input min.: 0 [IUs]

Input max.: 9999.999 [IUs]

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A119 Best possible deceleration

0 0 000 Reserved P-0-0256
Maximum braking time in sec
0 = 5 s (Default value)
0 = zero the speed command value
1 = Switch to torque-free state
2 = zero the velocity command value

This parameter specifies how the drive will be stopped by setpoint zeroing
in the event of
• a non-fatal error
• an interface error
• a phase regression
• clearing the drive enable signal
A119: Reaction type:
0 Velocity command value set to zero
The motor decelerates, allowing for the torque limit. The
max. braking time is 5 sec.. The holding brake is
activated 100 ms prior to expiration of the braking time.
If the velocity has previously fallen below 10 RPM
(rotary motors) or below 10 mm/min (linear motors),
then the motor holding brake will be engaged
immediately. The motor is torque free 100 ms after the
mechanical brake is engaged.
1 Switch to torque-free state
2 Velocity command value to zero with command ramp
and filter
The ramp value, i.e., the maximum acceleration, is set
via Parameter A108, the jerk filter via Parameter A110.
Fig. 8-7: Deceleration Mode for the Drive

The drive enable signal can be applied only after the drive has finished its
error reaction.

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8.3 Function Parameters

AA00 Tasks 2 & 3

0100 0200 1
Number of commands in Task 3 per NC cycle
only 1 is possible
Task 3 _ Start instruction
If 0000 appears here, Task 3 is not enabled
max: 0999
Task 2 – Start instruction
If 0000 appears here, Task 2 is not enabled
max: 0999

For further details, see Section 7.7, Multitasking.

AA01 Manual vector

M2.02.2 1 0 0100
Start instruction of the manual vector program
reserved
0 = start only via input
1 = jump to vector program even when changing
from automatic to manual mode
Input number, program start at leading edge of
pulse
00.00.0 = no input selected
M0 – M5 ; I0 - I2 ; Q0 - Q2

For further information, see Section 7.6 `Vector Programming.´

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AA02 Interrupt vector

M2.02.2 1 0 0100
Start instruction for the interrupt program
0 = a positioning motion in progress is not
interrupted
1 = a positioning motion in progress is interrupted
(the drive decelerates to a complete stop)
0 = the vector is inhibited during a subroutine
(JSR). (leading edge of pulse)
1 = the vector is always enabled (leading edge of
pulse)
2 = the vector is inhibited during a subroutine
(JSR). (falling edge of pulse)
3 = the vector is always active (falling edge of
pulse)
Input, Activate interrupt function
00.00.0 = Interrupt function inhibited
M0 – M5 ; I0 - I2 ; Q0 - Q2

For further information, see Section 7.6 `Vector Programming.´

AA03 Reserved Restart

AA04 Override

1
0 = override is off
1 = inputs I0.00.6...I0.01.4 in binary format
2 = inputs I0.01.1...I0.01.4 in Gray code
3 = analog input 0-10V E1 (X3/12 X3/13 )

For further information, see Section 7.4, `Override.´

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AA05 Reserved Electr.

05 06
Output: Electrical release enabled

Input: Electrical release enabled

For further information, see Section 5.6 `electrical release.´

AA06 Reserved Motorbremse

08 08
Output: Motor brake released

Input: Release motor brake

For further information, see Section 5.6 `Vector Programming.´

AA07 Measuring wheel mode

Only in Automatic Mode

M2.02.3
“Activate measuring wheel” input
Input status = 0 : Control using motor encoder
Input status = 1 : Control using measuring wheel encoder
00.00.0 = no input programmed.
The measuring wheel function is always active in Automatic
Mode if programmed in Parameter A100.
M0 – M5 ; I0 - I2 ; Q0 - Q2

This parameter applies only if Measuring Wheel Mode has been

preselected in Parameter A100. The measuring wheel function is always
active in Automatic Mode or can be disabled using the programmed input.

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AA08 Other
M2.02.2 M2.02.3
Output: Parameter enabled
Output: Programmed velocity reached
M0 – M5 ; I0 - I2 ; Q0 - Q2
00.00.0 = no output programmed

This output indicates whether Parameter Mode is enabled.

If 00.00.0 is entered here, no output is selected.

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8.4 General Parameters

B000 Display
1 0
Reserved Einspeicherverbot für Programme
0 = Einspeichern erlaubt
1 = Einspeichern nicht erlaubt
Language
0 = German
1 = English

B001 Interface Parameters

09600 1
Parity check
1 = no parity
2 = even
3 = odd
Baud rate: 02400 baud rate
04800 baud rate
09600 baud rate
19200 baud rate

For further details, see Section 9.2, `Serial Interface.´

B002 Interface Parameters

0 0 0 0 0 000

response delay in ms in RS485 Mode

000 = no delay (0...200)
1 = in the event of a fault, an error message is sent
automatically via the interface.
0 = function disabled
0 = SIS protocol
St 1 = ASCII protocol
0 = no checksum error message
1 = checksum error message
interface confirmation ( Y CR LF )
0 = off
1 = on
checksum
0 = checksum validation on
1 = checksum validation off

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Explanation of the term ‘Response Delay’ (0...200ms)

In RS485 Mode, once the serial interface receives the last character of a
request (an LF or “Linefeed”: ASCII Code 10), it immediately switches
over to Send Mode. With various RS 485 PC driver cards, this leads to
problems if the cards are unable switch to Receive Mode fast enough.
The interface can delay the switch from Receive to Send Mode by a
defined amount of time (response delay).
The PC driver should be able to switch reliably from Send to Receive
Mode within this time limit.

B003 Analog output 1, signal selection

S 0 0001

Signal number
S 0 0000 = unassigned

The B003 parameter can be used to assign a signal number to the analog
AK1 output channel of the drive controller.
The content of these signals can be viewed using an oscilloscope.

Input: Definition B005 Input Value at 10V

Value
S0 Command Velocity Contents of Contents of
0036 Parameter Parameter A106
A106 x 6
S0 Actual Velocity Contents of Contents of
0040 Parameter Parameter A106
A106 x 6
S0 Command Position
0047
S0 Actual Position, Encoder 1
0051
S0 Actual Position, Encoder 2
0053
S0 Command torque/force 0.500 = 500% Current at
0080 standstill,
Parameter CM02
S0 Actual torque/force 0.500 = 500% Current at
0084 standstill,
Parameter CM02
S0 Lag distance
0189
S0 Velocity control deviation
0347
S0 Motor temperature
0383
P0 Max. model deviation
0098

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P0 thermal controller load

0141
Fig. 8-8: Signal selection

B004 Analog output 1, expanded signal selection

12345678

Hex value

Expanded signal selection is possible for also representing signals as an

analog voltage, which is not included in the B003 list. This function is
enabled if no parameter is assigned to the analog output via B003,
Analog output 1, signal selection.

The following expanded signal selection options are defined:

• Expanded signal selection with:
• permanently defined signals
• byte output
• bit output

1) Expanded signal selection with permanently defined

signals
Internal signals are assigned numbers. These signals have fixed
reference units so that they can be scaled via B005, Analog output 1,
scaling per 10V full scale. A scaling factor of 1.0 equals the fixed
reference unit.

The following permanently defined signals are possible:

Signal number Reference unit:
B004 Output signal Scaling factor = 1.0
0x00000001 motor encoder sine signal 0.5V/10V
0x00000002 motor encoder cosine 0.5V/10V
signal
0x00000003 opt. sine signal Encoder 0.5V/10V
0x00000004 opt. cosine signal 0.5V/10V
Encoder
0x00000005 position loop command rot. => 1000 RPM/10V
value difference lin. => 100 m/min/10V
0x00000006 DC bus power 1kW/10V
0x00000007 absolute DC bus power 1kW/10V
amount
0x00000008 effective current (lq) peak current amplifier/10V
0x00000009 relative current (Id) peak current amplifier/10V
0x0000000a thermal load 100%/10V
no scaling possible
0x0000000b motor temperature 150°C/10V
0x0000000c magnetizing current peak current amplifier/10V
0x0000000d velocity loop command rot. => 1000 RPM/10V
value lin. => 100 m/min/10V

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Fig. 8-9: Signal Selection List with Predefined Signal Selection

The outputs are not scaling dependent and are always referenced to the
motor shaft for the position and velocity data.

2) Byte output
With this option, it is possible to directly output data memory storage
locations as an analog voltage. It is only useful, however, if the data
storage structure is known. Since this structure differs from version to
version, this function can only be used by the respective developer. The
function is activated by setting bit 28 in parameter B004, Analog output
1, expanded signal selection. The address of the storage location is
defined in the 24 least significant bits of the expanded signal selection.
31 30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1 0

Bit 0..23
24-bit address

Bit 28 :
Byte output

Fig. 8-10: Definition of B004, Analog output 1, expanded signal selection with
Byte Output
3) Bit output
With this option, individual bits of the data memory can be represented as
an analog voltage. If the bit in question is set, 10 volts are output at the
analog output. In response to a reset bit, -10 volts are output. The
function is activated by setting bit 29 and inputting the desired memory
address in Parameter B004, Analog output 1, expanded signal
selection.
31 30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1 0

Bit 0..23
24-bit address

Bit 29 :
Bit output

Fig. 8-11: Definition of B004, Analog output 1, expanded signal selection with
Bit Output

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B005 Analog output 1, scaling per 10V full scale

0001.0000

Scaling /bitnumber

The resolution of the selected signal can be varied using parameter B005,
Analog output 1 scaling per 10V full scale. If a number is assigned via
B003, Analog output 1, signal selection, scaling always uses the same
unit as the parameter with the assigned ID number. When pre-defined
signals are output, scaling is defined as a factor having 4 decimal places.
It has a permanent reference with fixed unit. Scaling defines the least
significant bit for bit and byte output. The input is an integer value without
decimal places.

B006 Analog output 2, signal selection

S 0 0001

Signal number
S 0 0000 = unassigned

The B006 parameter can be used to assign a signal number to the analog AK2 output
channel of the drive controller.
The content of these signals can be viewed using an oscilloscope.

Input: Definition B008 Input Value at 10V

Value
S0 Command Velocity Contents of Contents of
0036 Parameter Parameter A106
A106 x 6
S0 Actual Velocity Contents of Contents of
0040 Parameter Parameter A106
A106 x 6
S0 Command Position
0047
S0 Actual Position, Encoder 1
0051
S0 Actual Position, Encoder 2
0053
S0 Command torque/force 0.500 = 500% Current at
0080 standstill,
Parameter CM02
S0 Actual torque/force 0.500 = 500% Current at
0084 standstill,
Parameter CM02
S0 Lag distance
0189

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S0 Velocity control deviation

0347
S0 Motor temperature
0383
P0 Max. model deviation
0098
P0 thermal controller load
0141
Fig. 8-12: Signal selection

B007 Analog output 2, expanded signal selection

12345678

Hex value

Expanded signal selection is possible for also representing signals as an

analog voltage, which is not included in the B006 list. This function is
enabled if no parameter is assigned to the analog output via B006,
Analog output 2, signal selection.

The following expanded signal selection options are defined:

• expanded signal selection with permanently defined signals
• byte output
• bit output
1) Expanded signal selection with permanently defined
signals
Internal signals are assigned numbers. These signals have fixed
reference units so that they can be scaled via B007, Analog output 2,
scaling per 10V full scale. A scaling factor of 1.0 equals the fixed
reference unit.

The following permanently defined signals are possible:

Signal number Reference unit:
B007 Output signal Scaling factor = 1.0
0x00000001 motor encoder sine signal 0.5V/10V
0x00000002 motor encoder cosine 0.5V/10V
signal
0x00000003 opt. sine signal Encoder 0.5V/10V
0x00000004 opt. cosine signal 0.5V/10V
Encoder
0x00000005 position loop command rot. => 1000 RPM/10V
value difference lin. => 100 m/min/10V
0x00000006 DC bus power 1kW/10V
0x00000007 absolute DC bus power 1kW/10V

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amount
0x00000008 effective current (lq) peak current amplifier/10V
0x00000009 relative current (Id) peak current amplifier/10V
0x0000000a thermal load 100%/10V
no scaling possible
0x0000000b motor temperature 150°C/10V
0x0000000c magnetizing current peak current amplifier/10V
0x0000000d velocity loop command rot. => 1000 RPM/10V
value lin. => 100 m/min/10V
Fig. 8-13: Signal Selection List with Predefined Signal Selection

The outputs are not scaling dependent and are always referenced to the
motor shaft for the position and velocity data.

2) Byte output
With this option, it is possible to directly output data memory storage
locations as an analog voltage. It is only useful, however, if the data
storage structure is known. Since this structure differs from version to
version, this function can only be used by the respective developer. The
function is activated by setting bit 28 in parameter B007, Analog output
2, expanded signal selection. The address of the storage location is
defined in the 24 least significant bits of the expanded signal selection.
31 30 29 282726 252423 2221 2019 1817 1615 1413 1211 10 9 8 7 6 5 4 3 2 1 0

Bit 0..23
24-bit address

Bit 28 :
Byte output

Fig. 8-14: Definition of B007, Analog output 1, expanded signal selection with
Byte Output
3) Bit output
With this option, individual bits of the data memory can be represented as
an analog voltage. If the bit in question is set, 10 volts are output at the
analog output. In response to a reset bit, -10 volts are output. The
function is activated by setting bit 29 and inputting the desired memory
address in Parameter B007, Analog output 2, expanded signal
selection.

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

Bit 0..23
24-bit address

Bit 29 :
Bit output

Fig. 8-15: Definition of B007, Analog output 1, expanded signal selection with
Bit Output

B008 Analog output 2, scaling per 10V full scale

0001.0000

Scaling /bit number

The resolution of the selected signal can be varied using parameter B008,
Analog output 2 scaling per 10V full scale. If a signal number is
assigned via B006, Analog output 1, signal selection, scaling always
uses the same unit as the parameter with the assigned ID number.
When pre-defined signals are output, scaling is defined as a factor having
4 decimal places. It has a permanent reference with fixed unit. The
scaling defines the least significant bit for bit and byte output. The input is
an integer value without decimal places.

B009 Serial inputs and outputs

0 123
maximum cycle time [ ms ] (200-500 ms)
0 – no serial inputs/outputs active
1 – serial inputs/outputs active

The system reads the X4 inputs and writes to the X5 outputs on the
BTV04 via the serial interface. The transmission rate depends on the type
of transmission and the baud rate. Cyclic transmission is monitored by the
control unit. If no new message is received within the maximum cycle
time, the control unit generates a warning or error message:

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• E-0105 Serial I/O offline

• F-0317 User I/O error

The following can be transmitted: 11 inputs, I1.03.0 to I1.04.1

12 outputs, Q1.03.0 to Q1.04.2

The keys can be read when the inputs/outputs are activated.

B010 System control

1
0 – Standard system control
1 – serial system control

System control can also be handled via the serial interface. Cyclic
transmission of the system inputs and outputs via the serial interface is
then monitored. If no new message is received within the maximum cycle
time, the following warning or error message is generated:

• E-0104 Systemctrl. offline

• F-0316 Systemctrl. Error

The E-0104 warning is generated whenever system control takes place

via the serial interface and the control unit is in Parameter Mode. The F-
0316 warning is generated whenever system control takes place via the
serial interface and the control unit is in Manual or Automatic Mode.

B011 Fieldbus Cycle Time [ ms ]

Valid only for DKC3.3 with Profibus

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12345

maximum cycle time

Cyclic transmission of the process data via the fieldbus is monitored. If no

new message is received within the maximum cycle time, the control unit
generates one of the following warning or error messages:

• E-0104 Systemctrl. offline

• F-0316 Systemctrl. Error
• F-0317 User I/O Error

The E-0104 warning is generated whenever communication takes place

via the fieldbus and the control unit is in Parameter Mode. The F-0316
error message is generated whenever communication takes place via the
fieldbus and the control unit is in Manual or Automatic Mode. The F-0317
error message is generated whenever communication does not take
place via the fieldbus and the control unit is in Automatic Mode.
If the cycle time is predetermined by the fieldbus master, the actually used
value is written to this parameter and can be read out for diagnostic
purposes.

Note: A value of 0 means that monitoring is turned off!

For further information, see Section 10.2 `Vector Programming.´

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B012 Fieldbus Baudrate [ kBaud ]

Valid only for DKC3.3 with Profibus

123456.7

Baud rate

Here, the desired baud rate in increments of 1 kBaud can be set, if the
fieldbus does not automatically detect the baud rate.If the set baud rate is
not allowed, a default baud rate for the particular fieldbus is used. The
actually used value is written to this parameter and can be read out for
diagnostic purposes.

For further information, see Section 10.2 `Vector Programming.´

B013 Fieldbus Format

Valid only for DKC3.3 with Profibus

01 0
0 = Word evaluation
1 = Byte evaluation (in preparation)
0 = Intel
1 = Motorola
0 = Process Data Channel with I/O , Diagnostic and Variable
Channel
1 = Process Data Channel with I/O and Diagnostic

For further information, see Section 10.2 `Vector Programming´.

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8.5 Encoder Parameters

C000 Working polarity

1
0 = motor turns in clockwise direction
1 = motor turns in counterclockwise direction

‘Right-hand motor rotation = motor turns in clockwise direction‘

(viewed facing the motor shaft end)

C001 Interface, encoder 1 (motor)

01

Measurement System
In motors with feedback memory, this parameter is written automatically.

This parameter determines the encoder interface to which the motor

encoder is connected. The number of the corresponding interface module
should be entered in this parameter.

C000: Interface Measurement System

1 X4 Digital servo feedback or resolver
2 X8 Incremental encoder with sine signals, by
Heidenhain; 1V signals
5 X8 Incremental encoder with square wave
signals, by Heidenhain
8 X8 Encoder with EnDat interface
9 X8 Gearwheel encoder with 1Vp-p signals
10 X4 Resolver encoder without feedback
memory
11 X4+X8 Resolver without feedback memory plus
incremental encoder with sine signals
12 X4+X8 Hall encoder with square-wave encoder
13 X4 ECI encoder
14 X4+X8 Hall encoder with sine encoder
Table 8-16 Measurement System Ports

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C002 Position encoder, type 1

01 0 0 0
Encoder type
0 = rotary
1 = linear

Distance-coded measuring system:

0 = no distance-coded measuring system
1 = distance-coded reference marks
Direction of movement:
0 = not inverted
1 = inverted
Absolute readout:
x0 = no absolute readout possible
01 = absolute readout possible and active
>encoder is treated as absolute
11 = Absolute readout possible, but not active

This parameter is used to stipulate the most important properties of the

motor encoder (position encoder 1).

Remark:
In absolute measuring systems with memory, absolute readout is
automatically set.
For MHD, MKD and MKE motors, the encoder type, distance-coded
measuring system, and direction of movement are set by the drive and
are write-protected.

Note: Only the bits listed here are supported by the software.

C003 Resolution, position encoder 1 (motor)

00005000

Pulses/revolution (rotary encoders)

00005000

mm / Graduation marks (linear encoders)

Input is in 0.00001 mm

In motors with feedback memory, these parameters are written

automatically.

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Depending on parameter CM00, Motor type (rotary or linear motors),

C003, Resolution, position encoder 1 stipulates the motor encoder
resolution.
For rotary motors, this value reflects the number of pulses (number of
graduation marks) or cycles per motor revolution, and with linear motors,
the number of graduation marks per mm.
For motors with a resolver feedback, the number of pole pairs is stored
here.

C004 Interface, encoder 2

Applicable for
• master axis encoders
• measuring wheel encoders
• direct measurement

01

Measurement System:
00 = no optional encoder

This parameter determines the encoder interface to which the optional

encoder is connected. The number of the corresponding interface module
should be entered in this parameter.

C004: Interface Measurement System

1 X4 Digital servo feedback or resolver
2 X8 Incremental encoder with sine signals by
Heidenhain; 1V signals
5 X8 Incremental encoder with square wave
signals, by Heidenhain
8 X8 Encoder with EnDat interface
9 X8 gearwheel encoder with 1Vp-p signals
Fig. 8-17: Measurement System Connections

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C005 Position encoder, type 2

01 0 0 0
Encoder type
0 = rotary
1 = linear

Distance-coded measuring system:

0 = no distance-coded measuring system
1 = distance-coded reference markers
Direction of movement:
0 = not inverted
1 = inverted
Absolute readout:
x0 = no absolute readout possible
01 = absolute readout possible and active
>encoder is treated as absolute
11 = Absolute readout possible, but not active

This parameter is used to stipulate the most important properties of the

interface encoder (position encoder 2).

Remark:
In absolute measuring systems with memory, absolute readout is
automatically set to x1.

C006 Resolution, encoder 2

00005000

Pulses/revolution (rotary encoders)

00005000

mm / Graduation mark (linear encoders)

Input is in 0.0000001 mm

See C003.

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C007 Feed constant 2

1234.5678
Feed constant in IUs

Encoder 2 is used as an optional encoder, measuring wheel axis or

master axis.

This parameter is read out only with rotary encoders.

This parameter describes the conversion from rotary to linear motion. It is

defined as the linear displacement of the load during one revolution of the
encoder shaft.

Input min.: 0.1000 IUs

Input max.: 5000.0000 IUs

C008 Reserved

C009 Homing configuration

1 0 0 12 34
Homing acceleration in % of amax (A108)
Homing velocity in % of Vmax (A106)
Reference marker readout:
0 = yes
1 = no
Home position switch readout:
0 = yes
1 = no
Homing direction
0 = positive
1 = negative

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C010 Homing

I0.01.1 Q0.00.6 00

76 = Set absolute encoder

The command is executed after Parameter
Mode is exited.
Output: Homed
Input: Start homing in Manual Mode
00.00.0 = no input or output set
set absolute distance If 76 is entered in this parameter, the absolute
value is set to the value stored in Reference distance, Parameter C011,
upon exiting Parameter Mode. After that, the 76 is cleared. If a parameter
error occurs, the 76 is cleared automatically, and the function must be
reprogrammed.

C011 Reference distance

±123456.678

Reference distance in IUs

Input min.: -200000.000

Input max.: +200000.000

C012 Home switch offset

±123.456

Offset in IUs

Input min.: -999.999

Input max.: +999.999

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C013 Distance-coded reference distances

1234 4567

Distance-coded reference distance 1

the smaller distance between 2 reference markers
Distance-coded reference distance 2
the larger distance between 2 reference markers

With this parameter, the smaller distance between two

reference marks is programmed if a measuring system with
distance-coded reference marks is used.
See also functional description for: "Homing"

C014 Encoder emulation type

0 0 0
Selection of emulation type
0 = no output
1 = incremental encoder emulation
2 = absolute encoder emulation
Dead-time compensation
0 = is deactivated
1 = is activated
Selection of the position to be emulated
0 = position output of motor encoder
1 = position output of optional encoder
2 = output of position command value

Selection between incremental/absolute encoder emulation.

Selection of the source of the signal to emulate.

See also functional description for: "Encoder emulation."

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C015 Encoder emulation resolution

02500
Resolution: For incremental encoder emulation up to
65536
For absolute encoder emulation 8 ... 24
bits

If incremental encoder emulation is selected as the actual position output,

the number of graduation marks used by the emulated incremental
encoder must be entered here.
See also function description for: "Encoder emulation."
Input min.: 1 or 8
Input max.: 65536 or 24

C016 Marker pulse offset

000.0
Shift in degrees

For the emulated incremental encoder, this parameter can shift the
position of the marker pulse (zero pulse) within one (electrical or
mechanical) revolution.
See also functional description for: "Encoder emulation."
Input min.: 0
Input max.: 359.9

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8.6 Control Parameters

CR00 Current loop proportional gain 1

655.35
V/A

The current loop proportional gain is fixed for every motor-drive

combination. It depends on the type of motor and should not be changed.
It is loaded from the motor feedback memory when the initial connection
is made (UL is displayed) or when the "Basic load" command is issued.
Note: The values set at the factory should not be changed!
See also functional description for: Setting the current loop
Input min.: 0 V/A
Input max.: 655.35 V/A

CR00 Current loop integral action time 1

6553.5
[ms]

The current loop integral action time is fixed for every motor-drive
combination. It depends on the type of the motor. The factory setting may
not be changed. The basic setup for all loops is loaded after the initial
connection is made (UL is displayed) or with the command "Basic load.“
For motors without feedback memory, the value can be found in the
motor data sheet.
See also functional description for: Setting the current loop
Input min.: 0 ms

Input max.: 6553.5 ms

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CR02 Velocity loop proportional gain

6553.5
A sec/rad (A min/m)

This parameter contains the value for the velocity loop proportional gain of
the velocity loop.

The proportional gain unit depends on the motor type of the connected
motor.
Unit:

Motor type: Unit:

Rotary motor: A•sec/rad
Linear motor: A•min/m
Fig. 8-18: Units for the Veloc. Loop Prop. Gain Depending on Motor Type

It is possible to load a default value for this parameter using the "Basic
load" command if the current motor has a feedback memory. ( CM00,
motor type: 1 or 5).

See also functional description for: “Setting the velocity loop.”

Input min.: 0 A sec/rad (A min/m)

Input max.: 6553.5 A sec/rad (A min/m)

CR03 Velocity loop integral action time

6553.5
[ms]

The velocity loop forms a current command value from the difference
between the velocity command value and the velocity feedback value (=
speed regulation deviation).
This current command value consists of a proportional component and an
integral component. The Velocity Loop Integral Action Time corresponds
to the time in which the integral component of the current command value
is increasing on the value of the proportional component.
Definition of the Integral Action Time:

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Fig. 8-19: Integral Action Time

Callouts for Figure 8-19:

iSoll = i(command)
Integralanteil = integral component
Proportionalanteil = proportional component
Nachstellzeit = integral action time
mit: = where:
Tn: Drehzahl, Nachstellzeit [ms] = Tn: velocity, integral action
time [in ms]
KP: Drehzahlr.Porport.verst. [A’sec/rac] = KP: veloc. contr. prop.
gain [A’sec/rac]
KI: Integralverst. [A/rad] = KI: integral gain [A/rad]
isoll: Stromsolwert = i(command): command current value
G& 'UHK]DKOUHJHODEZHLFKXQJ G& speed regulation deviation

The integral action time is defined as that value on the time base at which
the integral component is equal to the proportional component. This
represents the time that a pure I-controller would need until the controller
output variable y is equal to the output variable of a P-controller at time
t=0.
Entering a value of 0 deactivates the integral component. See also
functional description for: “Setting the velocity loop”

Input min.: 0 ms
Input max.: 6553.5 ms

CR04 Velocity loop smoothing time constant

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00500
[µs]
00000 = function disabled

The time constant that can be activated in this parameter affects the
output of the velocity loop. It can be used to suppress quantization effects
and limit the bandwidth of the velocity loop. The limit frequency is derived
from smoothing time constant T resulting from the relationship

1
fg =
2 ⋅π ⋅Τ

Inputting the minimum input value or ‘0’ turns the filter off.
See also functional description for: “Setting the velocity loop”
Input min.: 0 µs
Input max: 65500 µs

CR05 Rejection frequency of velocity loop

900
Frequency [Hz]

To suppress the mechanical resonance frequency, a band-pass filter can

be activated at the output of the velocity loop.
It can be set using the following parameters:
CR05, Rejection frequency of velocity loop and CR06, Rejection
bandwidth velocity loop
Velocity loop parameter set.
In CR05, Rejection frequency of velocity loop,
the most attenuated frequency is set.
See also functional description for: “Filtering oscillations from mechanical
resonance.”

Input min.: 50 Hz
Input max.: 950 Hz

CR06 Velocity loop bandwidth rejection filter

±000
Bandwidth [Hz]

To suppress the mechanical resonance frequency, a band-pass filter can

be activated at the output of the velocity loop. The parameters for this

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function are CR05, Velocity loop rejection frequency and CR06,

Velocity loop bandwidth rejection filter.
CR06, Velocity loop rejection bandwidth sets the frequency range on
either side of the rejection frequency in which the attenuation is less than -
3dB.
Example:
CR06 = 500 Hz,
CR06 = 200 Hz;
then: attenuation < -3dB in range of 400..600 Hz.
Parameter value Action of CR06
-1 VZ1 filter with CR04 time constant
0 filter is off
>0 bandwidth for rejection filter
Fig. 8-20: CR06, Velocity Loop Bandwidth Rejection Filter

See also functional description for: “Filtering oscillations from mechanical

resonance.”

Input min.: 50 Hz
Input max.: 950 Hz

CR07 Kv Factor
056.78
Kv factor

This parameter contains the value for the proportional gain of the position
loop. The Kv factor must be matched to the given mechanical conditions.
Input min.: 00.01
Input max.: 30.00

CR08 Acceleration feedforward gain

6553.5
2
[ mA/rad/s ]

The acceleration feedforward helps to reduce the following error during

the acceleration in operation modes without following error. To do this, the
current acceleration command value is multiplied by the "acceleration
feedforward gain" and added to the current command value of the velocity
loop.

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CR08, Acceleration feedforward gain

Position Velocity Current controller

Command position controller controller

Fig. 8-21: Acceleration precontrol

Activation:
Writing a value greater than 0 to the parameter activates the acceleration
feedforward.

Note: The loop also functions without feedforward! (The standard

value equals 0.) Acceleration feedforward is only possible in
modes without following error.

Comparison between the different types of feedforward

The velocity feedforward is activated by selecting an operating mode
with no position lag (following error). This creates (from the standpoint of
the position loop) a feedforward of the 1st order (prop. to velocity). This
means that at constant speed, the position deviation is 0. A lag results,
nevertheless, during acceleration (and deceleration).
The acceleration feedforward is activated by entering more than 0 for
this parameter. It creates (from the standpoint of the position loop), a
feedforward of the 2nd order (prop. to acceleration). The position
deviation is 0, as long as the correct gain is set and the acceleration is
constant.
Recommended input value:

CR08 =
Moment of Inertia kgm 2 (
* 1000
)
Torque Constant (Nm/A )
The moment of inertia is the total sum of the rotor and the reflected load
inertia.
The factor 1000 is needed because of the unit mA.
Fig. 8-22: Acceleration feedforward proportional gain

See also functional description for: "Setting the Acceleration

Feedforward."

2
Input min.: 0 mA/rad/s
2
Input max: 6553.5 mA/rad/s

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CR09 Switching frequency

4
[kHz]

This parameter is used to set the switching frequency of the pulse width
modulation controller to 4 kHz or 8 kHz.
This parameter cannot be changed online.
Input min.: 4 kHz
Input max.: 8 kHz

CR10 Actual position smoothing time constant in measuring wheel

mode
056.78
Smoothing time constant in ms
•
When measuring wheel mode is active, the position control loop is closed
using the sum of
• actual position 1 (motor encoder) and the
• filtered difference between actual position 2 and actual position 1
This parameter stipulates the time constant of the filter used.
The differences in actual position are attenuated in order to mitigate any
negative effects caused by poor coupling between encoder 2 and the
motor shaft (e.g., due to the measuring wheel becoming disengaged from
the material).
Actual position 2 by itself stipulates the end position.
See also functional description for: Measuring wheel operating mode.
If the input value = 0, only the measuring wheel is operable.
Input min.: 000.00
Input max.: 327.67

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8.7 Motor Parameters

CM00 Motor type

1
Motor type

The motor type can be selected with this parameter. The following motor
types are supported:
• 1: MHD
• 2: 2AD / 1MB with NTC temperature sensor
• 3: LSF
• 4: LAR / LAF
• 5: MKD / MKE
• 6: 2AD /1MB with PTC temperature sensor
• 7: synchronous kit motor

Input min.: 1
Input max.: 7

CM01 Bipolar torque/force limit value

100
[%]

This parameter specifies the maximum permissible torque and applies

symmetrically in both directions. It ensures that the maximum permissible
peak torque for the given application is not exceeded, regardless of how
high the torque/force is set in the MOM command.
The evaluation is based on the percentage of the motor current at
standstill:

Input min.: 1 %
Input max.: 500 %

CM02 Motor peak current / current at standstill

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0010.0 0010.0
Current at standstill [A]
Peak current [A]

The “Motor peak current” specifies the maximum current which may flow
through the motor for a short period without damaging it.
If the motor's peak current is less than the amplifier's peak current, the
maximum output current will be automatically limited to the motor's peak
current.
This value is stored in the motor feedback memory of MHD, MKD and
MKE motors and is loaded from there when the drive controller is turned
on for the first time. For other motor types, the value must be taken from
the data sheet.
Input min.: 0.1 A
Input max.: 500.0 A

The “continuous motor current at standstill” is the current at which the

motor continuously generates standstill torque according to the motor
data sheet. This value is stored in the motor feedback memory for MHD,
MKD and MKE motors and is loaded from there when the drive controller
is turned on for the first time. For other motor types, the value must be
taken from the data sheet.
All torque/force data are based on this motor current at standstill
being equal to 100% .

Input min.: 0.1 A

Input max.: 500.0 A

CM03 Maximum velocity of motor

10500.000
in RPM for rotary motors
m/min for linear motors

The maximum velocity of the motor must not be exceeded. It also limits
the A106, Bipolar velocity limit parameter.
This value is stored in the motor feedback memory of MHD, MKD and
MKE motors and is loaded from there when the drive controller is turned
on for the first time. For other motor types, the value must be taken from
the data sheet.
In torque regulation, the drive will be switched into a torque-free state and
the error message F879 Velocity limit exceeded will be issued if the
maximum motor speed is exceeded by more than 12.5%.

Input min.: 0
Input max.: 99999.999

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CM04 Number of pole pairs/pole pair distance

0003
Number of pole pairs

With rotary motors, the number of pole pairs per motor revolution is
specified here. For linear motors, the length of a pole pair must be
indicated here. In motors with motor feedback memory, e.g., MKD
motors, this value is stored in memory and need not be specified. See
also functional description for: "Motor feedback memory”

CM05 Torque/force constant

000.20
[Nm/A]

The torque/force constant indicates how much torque or force the motor
delivers at a certain effective current. For synchronous motors, this value
depends entirely on the design of the motor.
In asynchronous motors, this value is valid as long as the motor is not
operated in the field-weakening range.
For MHD, MKD and MKE motors, this value is stored in the feedback
memory and cannot be changed.

Input min.: 0,01 Nm/A

Input max: 655,35 Nm/A

CM06 Rotor moment of inertia

0.00003
2
[Kgm ]

This parameter indicates the moment of inertia of the rotor without load.
For motors with feedback memory (e.g. MKD), it is saved in the feedback
memory.

Input min.: 0.00001

Input max.: 1.00000

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CM07 Holding brake type

0 0
0 = self-holding brake
0V at the brake, brake applied
1 = self-releasing brake
24V at the brake, brake applied
0 = Servo brake
brake is applied after reaching the max. braking
time.
1 = Main spindle brake
Brake is applied only at < 10 RPM

If a holding brake is used, this parameter specifies whether it is a self-

holding or self-releasing brake. If an MHD or MKD motor is used, the
holding brake, if there is one, is a self-holding one. Bit 0 is automatically
set to 0. Bei Verwendung von anderen Motorarten muss dieses Bit bei der
Inbetriebnahme eingegeben werden.

CM08 Holding brake current

010.000
[A]

This parameter indicates how much current is drawn by the holding brake
in the in-circuit motor.

Input min.: 0
Input max.: 500.000

CM09 Motor temperature

145 155

Motor shutdown temperature

Motor warning temperature

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8.8 Asynchronous Motor Parameters

CA00 Magnetization current

010.000
[A]

This parameter indicates the nominal or servo-magnetization current set

by Indramat for asynchronous motors. The magnetizing current actually
flowing is also dependent on the pre-magnetization factor.
In synchronous motors, e.g., MKD motors, this parameter is automatically
set to 0.

Input min.: 0 A
Input max.: 500,000 A (maximum, but peak, current amplifier)

CA01 Pre-magnetization factor

100
[%]

The pre-magnetization factor is used for application-dependent decreases

in the servo magnetization current. Together with parameter CA00,
Magnetization current, it determines the magnetization current of the
motor.

Effective magnetization current =

magnetization current • pre-magnetization factor

With a pre-magnetization factor of 100%, the servo magnetization current

flowing in the motor in the base speed range produces a torque
proportional to the torque-producing current.

Input min.: 25 Input max.: 100 %

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CA02 Slip factor

010.00
[Hz/100A]

The slip factor is the most important parameter for asynchronous motors.
It indicates the rotor frequency as a function of the torque-producing
current. The lower the rotor time constant, the higher the slip factor.
This parameter is set differently by Indramat for each motor.
Input min.: 1 Hz/100A
Input max.: 500,00 Hz/100A

CA03 Slip increase

1.50
[1/100K]

In an asynchronous motor, the rotor resistance and, consequently, the

rotor time constant changes with the temperature. The slip increase
compensates for this change.
The slip increase per 100K(elvin) is motor-specific and is specified by
Indramat for each individual motor.

Input min.: 1.00 1/100K

Input max.: 3.00 1/100K

CA04 Stall current limit

01000
[A/Vmin]

The stall current limit is used to limit the peak current of the motor to
reasonable values when operating at high velocities. Higher currents lead
only to higher losses, not to more shaft output power.
The stall current limit is set by Indramat. If 0 is entered, the limit is
inactive.

Input min.: 0 A/Vmin

Input max.: 65535 A/Vmin

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CA05 Flux loop proportional gain

00.500
[A/V]

The flux loop controls the magnetization current in the field-weakening

range.
The parameter value is set by Indramat.
Input min.: 0.100 A/V
Input max.: 65.535 A/V

CA06 Flux loop integral action time

0600.0
[ms]

The flux loop controls the magnetization current in the field-weakening

range.
The parameter value is set by Indramat.

Input min.: 0 ms
Input max.: 6553.5 ms

CA07 Motor voltage at no load

080.0
[% DC bus voltage]

The motor voltage in the field-weakening range is set so that it reaches a

value less than or equal to the DC bus voltage.
Under load, the motor voltage will be raised to the maximum motor
voltage.

Input min.: 50.0 % DC bus voltage

Input max.: 100.0 % DC bus voltage

CA08 Motor voltage max.

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090.0
[% DC bus voltage]

The motor voltage in the field-weakening range is set so that it reaches a

value less than or equal to the DC bus voltage.
At full load, the motor voltage will rise to the maximum motor voltage. The
output voltage will remain sinusoidal up to a value of 90% .

Input min.: 50,0 % DC bus voltage

Input max.: 100,0 % DC bus voltage

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8.9 List of FLP Parameters

Software :___________ Com. No. :___________

Date :___________ Client/end c.: _ _ _ _ _ _ _ _ _ _ _
Prep. by :___________ Serial No. :___________

Designation Parameter Data

Application type A100
Feed Constant A101
Gear A102
Travel limit switch, negative A103
Travel limit switch, positive A104
Modulo value A105
Maximum velocity A106
Jog velocity A107
Bipolar acceleration A108
Acceleration / deceleration A109
Jerk limiting time constant, bipolar A110
Switching threshold, positioning window A111
reserved A112
Positioning window A113
Presignalling A114
Monitoring A115
Feed angle monitoring A116
Slave axis, measuring wheel mode A117
Absolute encoder monitoring window A118
Best possible deceleration A119

Task 2 & 3 AA00

Manual vector AA01
Interrupt vector AA02
Restart AA03
Override AA04
Electrical release AA05
Motor brake AA06
Measuring wheel mode AA07
Other AA08

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Display B000
Interface parameter B001
Interface parameter B002
Analog output 1 signal selection B003
Analog output 1, expanded signal selection B004
Analog output 1, scaling per 10V full scale B005
Analog output 2 signal selection B006
Analog output 2, expanded signal selection B007
Analog output 2, scaling per 10V full scale B008
Serial inputs and outputs B009
System control B010
Fieldbus Cycle Time (ms) B011
Fieldbus Baudrate [kBaud] B012
Fieldbus Format B013

Working polarity C000

Interface encoder 1 C001
Position encoder type 1 C002
Resolution, position encoder 1 (motor) C003
Interface encoder 2 C004
Position encoder type 2 C005
Resolution 2 C006
Feed constant 2 C007
reserved C008
Homing configuration C009
Homing C010
Reference distance C011
Home switch offset C012
Distance-coded reference distance C013
Encoder emulation type C014
Encoder emulation, resolution C015
Marker pulse offset C016

Current loop proportional gain 1 CR00

Current loop integral action time 1 CR01
Velocity loop proportional gain CR02
Velocity loop integral action time CR03
Velocity loop smoothing time constant CR04
Rejection frequency velocity loop CR05
Velocity loop bandwidth rejection filter CR06
Kv factor CR07
Acceleration feedforward gain CR08
Switching frequency CR09
Actual position smoothing time constant in measuring CR10
wheel mode

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Motor type CM00

Bipolar torque/force limit value CM01
Motor peak current / current at standstill CM02
Maximum velocity of motor CM03
Number of pole pairs/pole pair distance CM04
Torque/force constant CM05
Rotor moment of inertia CM06
Holding brake type CM07
Holding brake current CM08
Motor temperature CM09

Magnetization current CA00

Pre-magnetization factor CA01
Slip factor CA02
Slip increase CA03
Stall current limit CA04
Flux loop prop. gain CA05
Flux loop integral action time CA06
Motor voltage at no load CA07
Motor voltage max. CA08

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9 Interface

9.1 Inputs / Outputs / Marker Flags

Designation
Die designation of the inputs, outputs and marker flags.

M2.02.0

M = Merker Bit
I = Eingang Byte
Q = Ausgang Quelle

Fig. 9-1: Structure of the Inputs / Outputs / Marker Flags

e.g.
I0.00.6
I Input:
I0 Input, Connector X210
I0.00 Input, Connector X210, Group 0 (Byte)
I0.00.6 Input, Connector X210, Group 0, Bit 0
First user-programmable input

Inputs
The inputs are designated with 'I.' They can be programmed and
processed in the parameters, commands, and in the Logic Task. They
are read at the beginning of each cycle (every 2 ms) or at the start of the
Logic Task.

Outputs
The outputs are designated with 'Q.' They can be programmed and
processed in the parameters, commands, and in the Logic Task. They
are processed at the beginning of each cycle (every 2 ms) or at the start
of the Logic Task. If an output is designated in the Logic Task, this output
can no longer be processed in one of the NC Tasks or via the functions
activated in the parameters.

Marker Flags
The marker flags are designated with 'M.' They can be programmed and
processed in the parameters, commands, and in the Logic Task. They
are processed at the beginning of each cycle (every 2 ms) or at the start
of the Logic Task. To avoid confusion, the NC Task and the Logic Task
have different marker flags. Transfer flags handle the exchange of
information between the NC Task and the Logic Task.

Source
Origin or category

Byte
8 inputs, outputs or marker flags are grouped together (to form bytes).

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BIT
The bit designates an input, output or marker flag. Numbering is from 0 to
7.

System Inputs

Parameter DKC21.3 X210 / 1 (I0.00.6)

DKC3.3 Control Word (I2.00.0)
In this mode, users can program the parameters .
When calling up this mode, power is shut down.

Manual/Automatic DKC21.3 X210 / 2 (I0.00.1)

DKC3.3 Control Word (I2.00.1)

Manual Mode is possible if neither of the other two operating modes is

active and all other preconditions have been met.
The following inputs are acceptable: RF
Stop
Jog
Other functions can be assigned to inputs via programming:
Homing
Manual vector

Automatic Mode is possible when a signal is present at this input, no

error is present, and the RF signal is present.
The following inputs are acceptable: Stop
Start
Other functions can be assigned to inputs via programming:
Homing
Interrupt vector

Start DKC21.3 X210 / 3 (I0.00.2)

DKC3.3 Control Word (I2.00.2)
When the leading edge of this input is detected, the start instructions for
tasks 1 and 2 initiate these two tasks. If both tasks have already been
started, the input is ignored.
Stop DKC21.3 X210 / 4 (I1.00.3)
DKC3.3 Control Word (I2.00.3)
If the signal at the STOP input is lost , execution of both tasks 1 and 2
stops immediately. If the drive is in motion, it immediately decelerates to a
standstill via the programmed acceleration command. The remaining
distance to travel is stored.
If the system remains in automatic mode, the remaining distance to travel
is executed following a new START input, and the program continues to
execute the task from the stopping point.

Jog forward DKC21.3 X210 / 5 (I0.00.4)

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DKC3.3 Control Word (I2.00.4)

If a signal is present at the “Jog forward” input, the drive moves forward at
the velocity entered in Parameter A107.
Position limit monitoring is active only if the axis has been homed.

Note: There is no movement if a STOP, interrupt or feed monitoring

signal is active.

Jog reverse DKC21.3 X210 / 6 (I0.00.5)

DKC3.3 Control Word (I0.00.5)
If a signal is present at the “Jog reverse” input‘ , the drive moves in
reverse at the velocity entered in Parameter A107.
Position limit monitoring is active only if the axis has been homed.

Note: There is no movement if a STOP, interrupt or feed monitoring

signal is active.

Connector X1
RF (Drive Enable) X1 / 4 (I4.00.0)
The RF (Drive Enable) input RF activates the drive via a 0-1 (rising)
signal edge. If the signal drops out, the “Best possible deceleration
mode” (Parameter A119) is activated. The BB contact remains closed.
AH (Drive Stop) X1 / 3 (I4.00.1)
A signal must always be present
Ref X3 / 1 (I4.00.6)
Home position switch
The rising edge of the home position switch signal is always read.

Connector X3
Limit + X3 / 2 (I4.00.7)
Travel limit switch + .
This limit switch must always be a normally-closed contact.
Limit - X3 / 3 (I4.01.0)
Travel limit switch - .
This limit switch must always be a normally-closed contact.

Probe 1 X3 / 4 (I4.00.3)
Measurement of positions using the SRM command

Probe 2 X3 / 5 (I4.00.4)

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No function

E-Stop X3 / 6 (I4.01.1)
In the operating state, +24V must be present at this input. If this signal is
not present, contact Bb opens. The axis is stopped via the “Best possible
deceleration mode” (Parameter A119).
Clear errors X3 / 7 or (I4.00.2)
DKC3.3 Control Word ( I2.00.6 )
When the rising edge of the pulse is present at the “Clear errors” input, all
existing errors are cleared. Pressing the S1 button (on the firmware
module) clears the currently displayed error and shows the next one.
S1 Button (I4.01.2)

System Outputs

Manual DKC21.3 X210 / 17 (Q0.00.0)

DKC3.3 Status Word (Q2.00.0)
If manual mode is preselected and there are no faults, this output is set.

Automatic DKC21.3 X210 / 18 (Q0.00.1)

DKC3.3 Status Word (Q2.00.1)
If automatic mode is preselected and there are no faults, this output is
set.

Fault DKC21.3 X210 / 19 (Q0.00.2)

DKC3.3 Status Word (Q2.00.2)

In the event of a fault , the output is immediately deactivated. The fault

can be cleared using the “Clear errors” input‚ X3 / 7.

Run DKC21.3 X210 / 20 (Q0.00.3)

DKC3.3 Status Word (Q2.00.3)
If automatic mode is selected and the tasks have been started, this output
is set.

Ready DKC21.3 X3 / 8
DKC3.3 Status Word (Q2.00.4)
When the unit is ready to receive the drive enable signal, the “Ready”
output is set.
The output is turned off:
• if an error is present
• if DC bus voltage is <80.75 X line voltage
• if control voltage is not present

Warning DKC21.3 X3 / 10
DKC3.3 Status Word (Q2.00.5)

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Many types of monitoring are performed depending on the operating

mode and parameter settings. If a state is detected which still permits
proper operation but leads to generation of an error message as the
program continues, the warning output is set to 1.

UD Message X3 / 11
When a minimum voltage is reached in the DC bus, the UD_output is set
to [missing value].
See also Project Planning information: X3, digital inputs/outputs

DKC21.3 Programmable Inputs/Outputs

Inputs
Inputs I0.06.0 through I0.01.7 Connector X210 / Pin No.: 07 to 16
There are, therefore, 10 available inputs.
The inputs are user-definable.
Moreover, these programmable inputs can be used for various functions
which have been activated in the parameters.

Outputs
Outputs Q0.00.6 to Q0.01.7 Connector X210 / Pin No.: 21 to 28
There are 8 available outputs.
All outputs are user-programmable within all NC Tasks and in the Logic
Task.

Note: If an output is used by the Logic Task, an error message is

generated as soon as the same output is also used by an NC
Task.
F-0300 Invalid I/O number in command instruction

Moreover, these user-programmable outputs can be used for different

functions.

DKC3.3 Programmable Inputs/Outputs

Profibus Inputs
32 inputs, I2.02.0 through I2.05.7, are available.

Profibus Outputs
32 outputs, Q2.02.0 through Q2.05.7 are available.
See also Section 10.2 Profibus

BTV04 Programmable Inputs/Outputs

These I/Os are only available if a BTV04 is being used as an operator

console. The parameters must be designated as:
• B002 0 1 0 0 0 000
• B009 1 xxx ( xxx = 200 – 500)
The I/Os are transferred serially to the BTV04. The transfer time can take
up to 500ms.

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BTV04 X4 Inputs
11 inputs, I1.03.0 through I1.04.1 are available.

BTV04 X5 Outputs
12 outputs, Q1.03.0 through Q1.04.2, are available.

Some keys can be queried from the user programs.

I1.01.4 I1.01.5

I1.01.3 I1.01.6

I1.01.2 I1.00.1

I1.01.1 I1.01.7

I1.01.0 I1.00.0

Fig. 9-2: BTV04 Key Inputs

Accessing System Inputs and Outputs from the BTV04

If Parameter B010 is set to 1 the operating modes and jog buttons are
valid.

Caution: The system outputs on the DKC21.3 no longer execute the

functions!

The system inputs and outputs of the DKC21.3 on connector X210

are no longer queried or set. They can be used freely from the user
programs.
If a fault output or the operating modes are to be assigned to a hardware
output, this can be programmed in the Logic Task.
The following keys are now active:
PARA
START
AUTO
STOP
JOG+
JOG-

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Marker Flags
The marker flags can be distinguished as follows:

Source Byte Function

0 00...05 System Flags (Inputs)
1 00...03 System Flags (Outputs)
2 00...19 NC Marker Flags
3 00...07 Saved NC Marker Flags
4 00. .09 NC ? Transfer Flags Logic Task
5 00...09 Logic Task Transfer Flags NC
6 00...19 Saved Logic Task Marker Flags
6 20...39 Logic Task Marker Flags
Fig. 9-3: Marker Flag Categories

System Flags (Inputs)

Here, the requirements are mirrored.
These marker flags can only be read by the programs.

M0.00

Bit Function Source

0 Parameter Inputs or Fieldbus
1 Manual/Automatic Inputs or Fieldbus
2 Start Inputs or Fieldbus
3 Stop Inputs or Fieldbus
4 Jog forward Inputs or Fieldbus
5 Jog reverse Inputs or Fieldbus
6 Clear errors Inputs or Fieldbus
7 reserved
Fig. 9-4: Marker Flag System Inputs

M0.01
All bits in this byte are reserved.

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M0.02
These marker flags are only valid if the function is activated in the
designated parameter.

Bit Function Source

0 Interrupt Parameter A116
1 Feed angle monitoring Parameter A116
2 Manual Vector Parameter AA01
3 Interrupt vector Parameter AA02
4 reserved Restart Parameter AA03
5 reserved elektrisches Lüften Parameter AA05
6 reserved Motorbremse lüften Parameter AA06

7 Control using measuring wheel Parameter AA07

Fig. 9-5: Marker Flags - Programmable System Inputs

M0.03
All bits in this byte are reserved.

M0.04

Bit Function Source

0 reserved
1 reserved
2 reserved
3 reserved
4 reserved Parameter AA03
5 reserved Parameter AA05
6 reserved Parameter AA06
7 reserved
Fig. 9-6: Marker Flags - Programmable System Inputs

M0.05
All bits in this byte are reserved.

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System Flags (Outputs)

M1.00

Bit Function Source

0 Manual Mode Status
1 Automatic Status
2 Fault Status
3 Run Status
4 Ready Status
5 Warning
6 In Position
7 reserved
Fig. 9-7: Marker Flags - System Outputs

M1.01
All bits in this byte are reserved.

M1.02
These marker flags are only valid if the function is activated in the
designated parameter.

Bit Function Source

0 Axis is in the last position Parameter A113
1 Presignalling Parameter A114
2 Position lag monitoring Parameter A115
3 reserved Restart Parameter AA03
4 reserved elektrisches Lüften Parameter AA05
5 reserved Motorbremse lüften Parameter AA06

6 Parameter Mode Parameter AA08

7 Programmed Velocity reached Parameter AA08
Fig. 9-8: Marker Flags - Programmable System Status

M1.03
All bits in this byte are reserved.

NC Marker Flags
M2.00 - M2.19
These marker flags can be read and written via NC commands. These
marker flags are cleared when exiting Automatic Mode, losing power or
when a fault occurs.

Saved NC Marker Flags

M3.00...M3.07

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These marker flags can be read and written via NC commands. They are
not cleared, even when power is lost.

NC ? Transfer Flags
Logic Task M4.00...M4.09
These marker flags are only for signal transfers between the NC Tasks
and the Logic Task. They can be read and written by the NC Tasks. The
Logic Task can only read these marker flags.
These marker flags are cleared when power is lost.
Logic Task Transfer
Flags NC M5.00...M5.09
These marker flags are only for signal transfers between the Logic Task
and the NC Tasks. They can be read and written by the Logic Task. The
NC Tasks can only read these marker flags.
These marker flags are cleared when entering Parameter Mode, when a
fault occurs in the Logic Task, or when power is lost.

Saved Logic Task Marker Flags

M6.00...M6.19
These marker flags can be read and written by the Logic Task. They are
not cleared, even when power is lost.

Logic Task Marker Flags

M6.20 M6.39
These marker flags can be read and written by the Logic Task. These
marker flags are cleared when entering Parameter Mode, when a fault
occurs in the Logic Task, or when power is lost.

9.2 Serial Interface

Overview
The drive controller is equipped with a serial interface. This interface is
used to program the drive. The following can be exchanged via this
interface:
• Parameters
• Programs
• the Logic Task
• Status information
• Commands

These data are numbers-oriented and a single transfer occurs.

Interface Mode The interface can operate optionally in either

• RS232 Mode or
• RS485 Mode

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Interface Protocol Three different protocols are supported:

• Indramat SIS Protocol
user data transmitted in INTEL format
• ASCII Protocol
Their precise structure is outlined in the following section.
• IDS protocol (RS232)
transmission from the Indramat decade switch

Setting the Drive Address Setting the drive address using the S2 button and the S3 button is only
required when communicating via the RS485 bus (e.g. BTV04).
The addresses can be set from 1 to 36, and for Profibus from 2 to 36.

Fig. 9-9: Setting the Address via the Address Switch on the Programming Module

Callouts: Schalter = Switch

Eingestellte Antriebsadresse = Drive address set

RS232 Mode In this mode, it is not necessary to set the drive address, since only
one user is connected (peer-to-peer connection).

Communications via RS232 Interface

Features:
The RS232 interface is intended for use when connecting a PC with the
MotionManager startup program.
• Transmission rates of: 2400 baud ASCII
4800 baud ASCII
9600 baud ASCII / SIS
19200 baud ASCII / SIS
• Maximum transmission path: 15m
• 8-bit ASCII protocol or 8-bit SIS protocol
• Parity bit: none, even, odd

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• one stop bit

RS232

PC ( z.B. mit MotionManger )

Führungskommunikation
SPS
(z.B. Parallel I/O bzw.
Feldbus)

Regel- Regel- Regel- Regel-

gerät gerät gerät gerät
n n+1 n+2 n+3
FS0004dj.fh7

Fig. 9-10: Communications via RS232 Interface

Callouts: z.B. mit MotionManager = e.g., with MotionManager

Führungskommunikation = Command Interface Card
(z.B. Parallel I/O bzw. Feldbus) = (e.g., parallel I/O or fieldbus)
Regelgerät = Controller

Communications via RS485 Interface

Features
Communication via the RS485 interface makes it possible to implement a
serial bus with the following data:

• Up to 8 drives can be connected to one bus master.

• Transmission rates of: 2400 baud ASCII
4800 baud ASCII
9600 baud ASCII / SIS
19200 baud ASCII / SIS

• Maximum transmission path: 500m

• Half duplex mode over a 2-wire line
• 8-bit ASCII protocol or 8-bit SIS protocol
• Parity bit: none, even, odd
• one stop bit

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RS485-Bus

Bedieneinheit

Führungskommunikation
SPS
(z.B. Parallel I/O bzw.
Feldbus)

Regel- Regel- Regel- Regel-

gerät gerät gerät gerät
n n+1 n+2 n+3
FS0007d2.fh7

Fig. 9-11: Data Exchange of Drive Groups from an Operator Console

Callouts: Bedieneinheit = Operator console

Führungskommunikation = Command Interface Card
(z.B. Parallel I/O bzw. Feldbus) = (e.g., parallel I/O or fieldbus)
Regelgerät = Controller

Transmission Protocols
When the 24V supply voltage is switched on, the data set in Parameters
B001, B002, B009 and B010 are used as the communications
parameters. If these settings do not correspond to the data in the
programming unit, the S1 button on the programming module can be
used to set the default transmission parameters. See also: Chapter 7, S1
Button.

ASCII Protocol

First Control Character in the The first control character indicates the beginning of a data transmission:
Data String:
1) ? hexadecimal 3F / character for data query
If the control receives a `?´, requested information (program instruction,
parameter, status message) is output.

2) # hexadecimal 23 / character for transmission of instruction

NC, Parameters, Logic Task, Variables
If the control receives a `#´, the following characters are read into the
corresponding instruction number of the program memory.

3) ! hexadecimal 21
If the control receives a `!´, the following characters are picked up as the
control command.

4) : hexadecimal 3A
Colon for polling query.

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Second Control Character in the

Data String: s This character identifies the station number. The `s´ is
replaced by an appropriate character depending on the operating mode.

1) In RS232C operating mode, the `s´ is replaced by a blank space.

No other character is accepted.

2) In RS485 mode, the `s´ is replaced by the respective station number

(1 ... 9; A ...W). If this number does not correspond to the
number set in the programming module, there is no response to the
received data.
If `s´ is a blank space, this information is relevant for all users on the
bus.

Third Control Character: The third character identifies the information type:

1) N hexadecimal 4E / character for instruction number

The information following the `N´ is interpreted as a program instruction.

2) K hexadecimal 4B / character for parameter

The information following the `K´ is interpreted as a parameter.

3) X hexadecimal 58 / character for status

4) P hexadecimal 50 / character for Logic Task

The information following the `P´ is interpreted as a Logic Task
instruction.

5) V hexadecimal 56 / character for variable

The information following the `V´ is interpreted as a variable.

6) C hexadecimal 43 / character for commands

The information following the `C´ is interpreted as a command.

Other Control Characters:

1) $ hexadecimal 24 / character for checksum

2) hh hexadecimal value / checksum

These two characters represent the result of the checksum for a piece of
information. The checksum is sent along with each type of information.
When data is received, the checksum can be disregarded (see Parameter
B002).

3) CR hexadecimal 0D / character for carriage return

LF hexadecimal 0A / character for linefeed

The characters `CR´ and `LF´ together form the end of each
transmission. (transmission of instruction)

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lnformation Characters: All information characters are coded in hexadecimal format in accordance
with the ASCII code table. The following characters are used to exchange
information:

1) 0 through 9 hexadecimal 30 through 39

A through Z hexadecimal 41 through 5A

The numerals `0´ through `9´ and the letters `A´ through `Z´ are available
for command and data input.

2) _ hexadecimal 20 / space (space bar)

To produce the desired format, the space is used at various points within
the data string.

3) + hexadecimal 2B / operational sign for data

- hexadecimal 2D / operational sign for data

4) . hexadecimal 2E

, hexadecimal 2C
When numerical values are received, both a period and a comma are
accepted. Both are recognized as the decimal point. When numerical
values are sent, a decimal point is always used.

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9_pruef.WMF

Fig. 9-12: Using the Two’s Complement to Generate the Checksum

Callout: Das 2er Komplement von B7 = 49 = The two’s complement of

B7 = 49

Transmit Program Instructions: A new instruction is read in as shown in the example below.
The character sequence `# s N´ always comes first.
An entry must always be concluded with `CR LF´.

Format:
#sNbbbb_ccc_dddddddddddddddd_$hh CR LF

Meaning of the characters used:

s = blank space for RS232C or station number for RS485
b = instruction number
c = command code
h = checksum
d = instruction information (data field with 16 characters)

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Examples of data transmissions to the FLP:

#5N0100_POI_1_+123456.786_123_$30 CR LF
#5N0101_AEA_Q0.00.3_1____$C9 CR LF
#5N0102_BPA_0123_M2.02_21112212_$1C CR LF

The data formats are stipulated for each command and must be complied
with!

Command Data Data

ACC ACC_1_ _ _ _234_ ACC_1_ _ _ _V600 _V601_
_567_
AEA AEA_Q1.01.1_1_ _ AEA_Q1.01.0_V600_
__
AKN AKN_M1.02.3_1_ _ AKN_M2.02.3_V600_
__
AKP AKP_M2.02_01201 AKP_M2.02_01201201_
201_
APE APE_Q0.01_01201 APE_Q0.01_01201201_
201_
BAC BAC_1234_- BAC_V600_-5678_V601_ _
5678_98765_
BCE BCE_0234_I0.12.3 BCE_V601_I1.01.3_ _ _ _ V600_
_ _ _ _ 1_ _ _ _
BIC BIC_0234_56_ _ _ BIC_V601_V600 _ _ _ _ _ _ _M0.12.3_0_1_
_____
_M0.12.3_0_1_
BIO BIO_0234_M2.03_ BIO_V600_M2.03_Q0.01_01201201_
Q0.56_01201201_
BPA BPA_0234_M2.02_ BPA_V600_M2.02_ _ _ _ _ _01201201_
_ _ _ _ _01201201_
CIO CIO_M2.02.3_Q0.0 CIO_M2.02.3_Q0.01.1_V600 _
1.1_45_ _ _
CLC CLC_0234_ CLC_V600_
CON CON_1_ _ _ _1_ _ CON_1_ _ _ _V600 _+V601_
_ _+234_ _
COU COU_+12345_Q0.0 COU_+12345_Q0.01.1_ _V600_ _ _
1.1_ _654321_
CPJ CPJ_V600>=+1234 CPJ_V604_=+V600_ _ _ _ _ _V601_ _ _ _V603_
5.678_1234.56_123
4_
CPL CPL_1_ _ _ _ CPL_1_ _ _ _
CPS CPS_V602<=+1234 CPS_V602_<+V600_ _ _ _ _ _V601_ _ _ _Q0.01.1_
5.678
1234.56_Q0.01.1_
CID CID_V600<=_1_ _ CID_V600<=_1_ _ _ _ _ _ _ _ _ _ +V601_
________
+12345.678_
CST CST_1_2_ CST_1_2_
CVT CVT_V600_M2.02_ CVT_V600_M2.02_3_1_
3_1_
FAK FAK_1_ _ _ FAK_1_ _ _ _V600_ _ _ _ _

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_1.654321_
FOL FOL_1_ _ _ _1_ _ _ FOL_1_ _ _ _1_ _ _ _ _ _ _ _ _ +V600 _ _ _ _ _ _
______
_+12.654321_
HOM HOM_1_ _ _ _ HOM_1_ _ _ _
JMP JMP_0234_ JMP_0234_
JSR JSR_0234_ JSR_0234_
JST JST_0234_ JST_0234_
JTK JTK_0234_3_ JTK_V600_3_
MAT MAT_V600_=_V656 MAT_V123_=_V456_-_ _ +V600 _ _ _ _ _ _ _ _ _
_-_ _
_+123456.987654_
MOM MOM_1_ _ _ _123_ MOM_1_ _ _ _V600_V601 _ _M2.02.3_V602_
_456_ _
_M0.12.3_789_ _
NOP NOP_ NOP_
PBK 1 PBK_1_ _ _ _ PBK_1_ _ _ _
PFA PFA_1_ _ _ PFA_1_ _ _ _+V600_ _ _ _ _ _ _V601_
_+123456.789_123
__
PFI PFI_1_ _ _ PFI_1_ _ _ _+V600_ _ _ _ _ _ _V601_
_+123456.789_123
__
POA POA_1_ _ _ POA_1_ _ _ _+V600_ _ _ _ _ _ V601_
_+123456.789_123
__
POI POI_1_ _ _ _- POI_1_ _ _ _- V600_ _ _ _ _ _ V601_
123456.789_123_ _
PSA PSA_1_ _ _ PSA_1_ _ _ _+ V600_ _ _ _ _ _ V601_
_+123456.789_123
__
PSI PSI_1_ _ _ PSI_1_ _ _ _+ V600_ _ _ _ _ _ V601_
_+123456.789_123
__
REP REP 0234 1_ _ _ _ REP 0234 1_ _ _ _ _ _ _ _ _ _V600_ _ _ _ _ _ _
_____
_123456.789_
RSV RSV_1_ _ _ RSV_1_ _ _ _V600_12345_
_0234_12345_
RTM RTM_1_ _ _ _1_ _ RTM_1_ _ _ _V600_
__
RTS RTS_ RTS_
SAC SAC_1_ _ _ _1_ _ SAC_1_ _ _ _V600 _ _ _ _ _ _ _+V601_ _ _ _ _ _ _
_______
_+123456.789_
SET SET_V600_ = _ _ _ SET V601_ = _ _ _ _ _ _ _ _ _ _ +V600_ _ _ _ _ _ _
_______ _____
+12345678.123456
_
SRM SRM_1_ _ _ SRM_1_ _ _ _+V600_ _ _ _ _ _ _+V601 _I0.00.6_
_+123456.123_+12
3_ _I0.00.6_
VCC VCC_1_ _ _ VCC_1_ _ _ _+V600_ _ _ _ _ _ _V601_0_V602_
_+123456.789_123
_ _0_1_ _ _ _

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VEO VEO_1_ _ _ VEO_1_ _ _ _1_1_V600 _1_

_1_1_123_ _1_
WAI WAI_ 1 2 . 3 4 _ _ _ WAI_V600_ _
_________$
Fig. 9-13: Transmission Formats of the Commands

Read Out Program Instructions: Example of querying an instruction:

Format:
?sNbbbb_$hh CR LF

The character sequence `? s N´ always comes first. An entry must always

be concluded with `CR LF´.
In response to this query, the contents stored in the queried program
instruction `bbbb´ is sent.

#sNbbbb_ccc_dddddddddddddddd_$hh CR LF

Meaning of the characters used:

s = blank space for RS232C or station number for RS485
b = instruction number
c = command code
d = instruction information (number dependent on command)

Read Out Parameters: Parameters can be read out in any operating mode.
Format:
?sK_xxyy_$hh CR LF

In response to this query, the contents stored in the queried parameter

`xxyy´ is sent.
Ksxxyy_dddddddd_$hh CR LF

Meaning of the characters used:

x = Parameter number
y = Block Identifier
d = Instruction information (number dependent on parameter)

Writing a parameter
!sKxxyy_dddddddd_$hh CR LF
Meaning of the characters used:
x = Parameter number
y = Block Identifier
d = Instruction information (number dependent on parameter)

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Parameter Block Block Identifier Parameter Number

System parameters A1 00 to 19
Function parameters AA 00 to 08
General parameters B0 00 to 13
Encoder parameters C0 00 to 16
Controller parameters CR 00 to 10
Motor parameters CM 00 to 09
Asynchronous motor CA 00 to 08
parameters
Fig. 9-14: Parameter Blocks

Parameter Data
A100 A100_1_1_
A101 A101_1234.5678_
A102 A102_1000_2000_
A103 A103_+123456.789_
A104 A104_+123456.789_
A105 A105_123456.789_0_
A106 A106_123456.789_
A107 A107_123456.789_
A108 A108_123456_
A109 A109_123_456_
A110 A110_1.024_
A111 A111_M2.02.2_123.456_
A112 Reserved
A113 A113_M2.02.0_1234.567_
A114 A114_M2.02.2_1.5_0050_
A115 A115_1_100_M2.02.0_
A116 A116_M2.02.0_M2.02.1_
A117 A117_123_
A118 A118_1234.567_
A119 A119_0_0_

AA00 AA00_0100_0200_1_
AA01 AA01_M2.02.0_1_0_0100_
AA02 AA02_M2.02.2_1_0_0100_
AA03 Reserved
AA04 AA04_1_
AA05 Reserved
AA06 Reserved
AA07 AA07_M2.02.0_
AA08 AA08_M2.02.0_M2.02.1_

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B000 B000_1_0_
B001 B001_09600_1_
B002 B002_0_0_0_0_0_000_
B003 B003_S_0_0001_
B004 B004_12345678_
B005 B005_0001.0000_
B006 B006_S_0_0001_
B007 B007_12345678_
B008 B008_0001.0000_
B009 B009_0_123_
B010 B010_0_
B011 B011_12345_
B012 B012_123456.7_
B013 B013_0_1_0_

C000 C000_1_
C001 C001_01_
C002 C002_01_0_0_0_
C003 C003_00005000_
C004 C004_01_
C005 C005_01_0_0_0_
C006 C006_00005000_
C007 C007_1234.5678_
C008 Reserved
C009 C009_1_0_0_12_34_
C010 C010_I0.00.6_Q0.00.6_03_
C011 C011_+123456.789_
C012 C012_+123.456_
C013 C013_1234_4567_
C014 C014_0_0_0_
C015 C015_02500_
C016 C016_000.0_

CR00 CR00_655.35_
CR01 CR01_6553.5_
CR02 CR02_6553.5_
CR03 CR03_6553.5_
CR04 CR04_00500_
CR05 CR05_900_
CR06 CR06_+000_
CR07 CR07_056.78_
CR08 CR08_6553.5_
CR09 CR09_4_
CR10 CR10_056.78_

CM00 CM00_1_
CM01 CM01_040_
CM02 CM02_0100.0_0070.0_
CM03 CM03_10500.000_
CM04 CM04_003_
CM05 CM05_000.20_

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CM06 CM06_0.00003_
CM07 CM07_0_0_
CM08 CM08_010.000_
CM09 CM09_123_123_

CA00 CA00_010.000_
CA01 CA01_100_
CA02 CA02_010.000_
CA03 CA03_1.50_
CA04 CA04_01000_
CA05 CA05_00.500_
CA06 CA06_0600.0_
CA07 CA07_080.0_
CA08 CA08_090.0_

Examples:
Query Response
?5K_B006_$hh CR LF K5B006_S_0_0001_$05 CR LF
?5K_A101_$hh CR LF K5A101_1234.5678_$B8 CR LF

Examples: Writing
!5K_A103_+123456.789_$11 CR LF
!5K_CR00_655.35_$F1 CR LF

If no checksum validation function has been programmed prior to entering

Parameter Mode, this function remains deactivated, even though
Parameter B002 has been overwritten, until Parameter Mode is exited.

Variables Readout of a Variable

Variables can be read out in any operating mode.
Format:
?sVxxx_$hh CR LF

In response to this query, the contents stored in the queried variable

`xxxx´ is sent.
Vsxxx_+12345678.123456_$hh CR LF

Meaning of the characters used:

x = Variable Number
h = checksum

Writing a Variable
#sVxxx_+dddddddd.dddddd _$hh CR LF
Meaning of the characters used:
x = Variable Number
h = checksum
d = Variable Information

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Logic Task: Logic Task instructions can be read out in any operating mode.
Format:
?sP_xxxx_$hh CR LF

In response to this query, the contents stored in the queried Logic Task
instruction `xxxx´ is sent.
Psxxxx_dddddddd_$hh CR LF

Meaning of the characters used:

x = Parameter Number
d = Instruction Information

Writing a Logic Task assignment

#sPxxyy_dddddddd_$hh CR LF
Meaning of the characters used:
x = Parameter Number
y = Block Identifier
d = Instruction information (number dependent on parameter)

Command Data
LD LD_ _ _ _M2.02.0_
LDN LDN _ _ _M2.02.0_
ST ST _ _ _ _M2.02.0_
STN STN _ _ _M2.02.0_
SET SET _ _ _M2.02.0_
SETC SETC _ _M2.02.0_
SETCN SETCN _M2.02.0_
RES RES_ _ _M2.02.0_
RESC RESC_ _M2.02.0_
RESCN RESCN _M2.02.0_
AND AND _ _ _M2.02.0_
ANDN ANDN _ _M2.02.0_
AND( AND( _ _M2.02.0_
ANDN( ANDN( _M2.02.0_
OR OR_ _ _ _M2.02.0_
ORN ORN_ _ _M2.02.0_
OR( OR( _ _ _M2.02.0_
ORN( ORN( _ _M2.02.0_
XOR XOR_ _ _M2.02.0_
XORN XORN_ _M2.02.0_
XOR( XOR( _ _M2.02.0_
XORN( XORN( _M2.02.0_
) )_
NOP NOP_
END END_

Examples:
Query Response
?_P_0006_$hh CR LF P_0006_ORN(__M2.02.0_$hh CR LF
?_P_0101_$hh CR LF P_0101_AND___M2.02.1_$hh CR LF

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Examples: Transmission
#_P_0103_SET___M2.02.3_$hh CR LF
#_P_0600_RESCN_M2.02.5_$hh CR LF

If no checksum validation function has been programmed prior to entering

Parameter Mode, this function remains deactivated, even though
Parameter B002 has been overwritten, until Parameter Mode is exited.

Readout of Status Information

The following status messages can be queried via the serial data
interface:

Status `00´ = Actual position of axis 1 in IUs

Status `01´ = Transmission error, interface

Status `04´ = Counter

Status `05´ = Firmware version

Status `08´ = Current instructions and return instruction

numbers of tasks 1 through 3
Status `09´ = Measuring wheel mode: Actual position of axis 1
and position of motor encoder
Status `10´ = Position lag (following error) of axis 1 in IUs

Status `19´ = Hardware and firmware version

Status `48´ = Actual velocity of axis 1 in RPM

Status `53´ = Fault indication

Status 60 = Output of first erroneous instruction number

(Parameter, Task, Logic Task)

Status 61 = Output of a byte M/I/Q

Status 00
Actual position of axis 1 in IUs
The status query:
?sX__00_ CR LF

produces the message:

Xs00_evmmmmmm.mmm__+000000.000$hh CR LF

Meaning of the characters used:

e = `_´ stands for relative position (not homed)
`A´ stands for absolute position ( axis homed)
v = Operational sign of the actual position
m = Actual position of axis 1 in IUs

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Status 01
Transmission errors
The control sends this status information automatically if an error occurs
in the transmission. Status 01 can not be queried.
In the event of a transmission error, the control delivers the following
message:
Xs01_ff_tttttttttttttttttttt_$hh CR LF

Meaning of the characters used:

f = Error number
t = Error text (always 20 characters)

Below is a list of the error numbers and their meanings:

Error Error Text Explanation
No.
01 RS instruction no. Incorrect character in the instruction number. The
incorrect transmitted instruction number is not a decimal
number.
02 RS format error The format of the transmitted data is incorrect
03 RS instruction data The transmitted instruction data are incorrect.
error
04 RS checksum error The transmitted checksum is incorrect.
05 Operating mode error Attempt was made to transmit parameter data. The
control was not in `Parameter´ operating mode at the
time.
06 RS parameter no. The transmitted parameter number is not a decimal
incorrect number.
07 Param. no. too large The transmitted parameter number is too large.
08 RS status no. The number given in a status request is not a decimal
incorrect number.
09 Status no. illegal An attempt was made to query status information that
was not present.
11 Invalid param. block Incorrect parameter instruction identifier.
12 Instr. no. too large The transmitted instruction number is greater than
2999.
13 Illegal command An illegal command was transmitted to the DKC.
16 Value too large One of the values is too large
See description for max. values
17 Value too small One of the values is too small
See description for min. values
18 Not accepted!
19 Group no. illegal
20 RS system error #1
21 RS system error #2
22 MF para. Read only Motor feedback parameter
23 Var. No. incorrect The variable number is not enabled.

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Status 04
Counter
The status query:
?sX__04_nnnn_CR LF

produces the message:

Xs04_nnnn_iiiiii_zzzzzz______$hh CR LF

Meaning of the characters used:

n = Block number
i = Actual quantity
z = Target quantity

If the requested instruction contains no counter, blank spaces `_´ are

output for `i´ and `z´.

Status 05
Firmware version
The status query:
?sX__05_CR LF

produces the message:

Xs05__vvvvvvvvvvvvvvvv_$hh CR LF

Meaning of the characters used:

v = firmware version (also appears on the display of the BTV)
e.g. ECODR3-FLP-01Vxx

Status 08
Current instruction number and return instruction number to the main
program of the 3 tasks
The status query:
?sX__08_CR LF

produces the message:

Xs08_aaaa_bbbb_cccc_dddd_eeee_ffff_$hh CR LF

Meaning of the characters used:

a = Task 1 - Current instruction number
b = Task 1 - Instruction number of the main program
c = Task 2 - Current instruction number
d = Task 2 - Instruction number of the main program
e = Task 3 - Current instruction number
f = Task 3 - Instruction number of the main program

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In the case of tasks that have not been activated, an appropriate number
of blank spaces is output.
If a task is not located in a subroutine, only the current instruction number
is output.

Status 09
Measuring wheel mode: Actual position of axis 1 and position of motor
encoder
The status query:
?sX__09_CR LF

produces the message:

Xs09__evmmmmmm.mmm_vnnnnnn.nnn$hh CR LF

Meaning of the characters used:

e = `_´ stands for relative position (not homed)
`A´ stands for absolute position ( axis homed)
v = Operational sign of the actual position
m = Actual position of axis 1 in IUs. The sums of all measuring
wheel encoder movements are added
n = Actual position of the motor encoder in IUs (incremental
encoder 1)

Status 10
Axis 1 Position Lag (Following Error)
The status query:
?sX__10_CR LF

produces the message:

Xs10_vmmmmmm.mmm__+000000.000$hh CR LF

Meaning of the characters used:

v = Operational sign for position lag (following error)
m = Position lag (following error) of axis 1 in IUs

Status 19
Hardware and software version
The status query:
?sX__19_CR LF

produces the following message, e.g.,:

Xs19DKC21.3_ _ _ _ _ _ _ _ _ ECODR3-FLP-xxVxx$hh CR LF

Firmware version
max. 16 characters
Hardware version
max. 16 characters

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Status 48
Actual velocity of axis 1
The status query:
?sX__48_CR LF

produces the message:

Xs48_g_vmmmm.mm_0_0000.00_$hh CR LF

Meaning of the characters used:

v = Operational sign
m = Velocity of axis 1 in RPM
g = 0 Axis deactivated
1 Axis activated

Status 53
Fault indication
The status query:
?sX__53_CR LF

produces the message:

Xs53_xxxxxx_tttttttttttttttttt $hh CR LF

t = fault description in plain text (max 40 characters)

x = error code / diagnostic number

For error texts and codes, see Chapter 11.

Status 60
Output of erroneous
• Parameter number
• NC instruction number
• Logic Task instruction number

The status query:

?sX__60_a_CR LF

produces the message:

Xs60_a_nnnn_$hh CR LF

a = source 0 = parameter
1 = NC
2 = Logic Task
nnnn = instruction number or parameter number
If no error is present, blank spaces are transmitted

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Status 61
Output of a byte M/I/Q

The status query:

?sX_61_mt.nn_CR LF

produces the message:

Xs61_mt.nn_bbbbbbbb_$hh CR LF
Bit 7 . . . . . 0
m = Source type I / Q / M
t = Source number
n = Byte number
b = Bits

Interface Commands For all commands, it is necessary for the checksum to transmitted
independently of Parameter B002!

Clear Fault
!sCLEAR_$hh CR LF
or
!sCCLEAR_$hh CR LF

Clears an error message

Clear Position Counter The position counter can be cleared via the interface.

!sCRPOS0_$hh CR LF

With this transmission, the relative position counter is set to 0. This

counter also represents the position that is transmitted with status 00
when the type of motion = 0 ( Parameter A100). If another type of motion
is activated, the command is followed by error message 18 “Not
accepted.”
This is possible only when the type of motion = 0 (Parameter A100). If the
control is not in manual or automatic mode, the interface responds with
error message 05 “Incorrect operating mode.”

Set Default Values Default parameters can be set via the interface.

!sCSETPA_$hh CR LF

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Note: All parameters are overwritten

Polling Query A query, in the shortest possible format, which cyclically polls all of the
controls connected to the RS485 bus.

The query:
:s CR LF

produces the DLC message:

:snnnn CR
LF

Meaning of the characters used:

nnnn = error code (hexadecimal)
error list

SIS Protocol
In preparation

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10 Command Communications (In preparation)

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10-2 ECODRIVE03 FLP-01VRS

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ECODRIVE03 FLP-01VRS 11-1

11 Diagnostic Message Descriptions

11.1 Overview of the Diagnostic Message Descriptions

Diagnostic Message Types

Each operating state of the drive controller is identified with a diagnostic
message.

Distinctions are made between:

• Diagnostic Error Messages

• Diagnostic Warning Messages
• Command Diagnostic Messages
• Diagnostic Status Messages
• Operation Status Messages

Composition of a Diagnostic Message

A diagnostic message consists of:
• a diagnostic message number and a
• diagnostic message text

F228 Excessive deviation

Diagnostic Message Text

Diagnostic Message Number

Fig. 11-1: Composition of Diagnostic Message with Diagnostic Message
Number and Text

For the example shown in the above graphic, "F2" and "28" alternate in
the H1 display.
Using status 53, the control can read the diagnostic message number
and the diagnostic message text as F228, Excessive deviation.

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H1 Display
The H1 display visually displays the diagnostic message on the drive
controllers.

1 2 3 4 5 6 7 8 9

1 2 3 4 5 6 7 8 9

11121314 1516 1718 5 6 7 8

1 2 3 4

1 2 3 4
Typenschild
H1-Display

Barcode

Barcode
H1

S1

S3 0 1
S2 0 1
9 9

2
8

8
3

3
7

7
4 4
6 5 6 5

1 2 3 4

1 2 3 4

5 6 7 8
DKC
FA5047f1.fh7

Fig. 11-3: H1 Display

The diagnostic message number appears in the two-digit seven-segment

display. See the "Diagnostic Message Priority Diagram" for the display
format.
This display quickly shows the current operating state without the use of a
communications interface.
The operating mode is not apparent from the H1-Display. If the drive
complies with the operating mode and no command was activated, then
"AF" appears on the display.

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Diagnostic Message Output Priority If more than one diagnostic message is active, then the message with the
highest priority will be displayed. If more than one diagnostic message is
active, then the message with the highest priority will be displayed.
The following graphic classifies the operating states in order of
importance.

P
Fehler
R
I
O Warnung

R
I Kommandofehler
T
Ä Kommando aktiv
T

Betriebsbereit ?

ja nein
Betriebs-
bereit
Antrieb Kommunikationsphase
bereit
Antrieb
Halt
Antrieb folgt
Betriebsart
Da0002f1.fh7

Fig. 11-5: Diagnostic Message Priority Diagram

Plain Text Diagnostic Message

The plain-text diagnostic message contains the diagnostic message
number followed by the diagnostic message text, as shown in the
example, "Excessive deviation" (Fig. 11-1).
It can be read out via Status 53, Diagnostic, and is used for direct display
of the drive status on a user interface.
The language of the plain-text diagnostic message can be changed.

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11.1 Diagnostic Error Messages

F208 UL The motor type has changed

This message is displayed when the unit is powered up for the first time
with a new motor.
The regulator settings for the current, velocity and position loops are
stored in the feedback memory on the motor. After powering up, the
controller compares the motor type stored in the parameter with the
connected motor type. If the two do not match, the basic control loop
setting must also be adjusted.
With the Basic Load command, the default control loop settings are
loaded from the feedback memory into the drive controller. The previous
control loop settings are overwritten. The Basic Load command is started
by pressing the S1 key on the controller.
Causes:
• The motor has been replaced.
• A parameter file was loaded in which the motor type is different from
the motor type present.
Remedy:
Press the S1 key.

F208 - Attributes
SS display: UL
Message no.: F208 (hex)
Error no.: 208
Class: Non-fatal

F209 PL Load parameter default values

After replacing the firmware version, the drive displays “PL” if the
parameters have been changed compared to the old firmware. Pressing
the S1 key on the controller clears all of the parameters and sets them to
the default values.

Cause:
The firmware has been replaced; the number of parameters in the new
firmware has changed compared to the old version.

Remedy:
Press the S1 key on the controller. All parameters will be cleared and
preset with the parameters assigned at the factory.

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Following acknowledgement of the S1 key, a save query

is also issued. The parameters can then be saved via the
CAUTION serial interface, or the function for presetting the
parameters can be suppressed.

F209 - Attributes
SS display: PL
Message no.: F209 (hex)
Error no.: 209
Class: Non-fatal

F218 Amplifier overtemp. shutdown

The temperature of the amplifier’s heatsink is monitored. If the heatsink is
too hot, the drive will power down in order to protect against damage.
Cause:
1. Ambient temperature is too high. The specified performance data
apply up to an ambient temperature of 45°C.
2. The amplifier’s heatsink is dirty.
3. Air flow is prevented by other assembly parts or the control
cabinet assembly.
4. Blower is defective
Remedy:
For 1. Reduce the ambient temperature, e.g. through cooling of the
control cabinet.
For 2. Clean heatsink.
For 3. Install the device vertically and clear a large enough area for
proper heatsink ventilation.
For 4. Replace drive.

F218 - Attributes
SS display: F2/18
Message no.: F218 (hex)
Error no.: 218
Class: Non-fatal

F219 Motor overtemp. shutdown

The motor temperature has risen to an unacceptable level.
As soon as the temperature error threshold of 155°C is exceeded, the
drive will immediately be brought to a standstill in accordance with the
type of error response selected (A119, Best possible deceleration).
The following applies:
temperature warning threshold < temperature error
threshold

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See also E251 Motor overtemperature prewarning.

Cause:
1. The motor is overloaded. The effective torque demanded by the
motor has been above its allowable continuous torque level for too
long.
2. Wire break, ground fault or short circuit in the motor temperature
monitoring line
3. Instability in the velocity loop
Remedy:
For 1. Check the motor rating. If the system has been in operation for a
long time, check to see if the operating conditions have changed.
(with regard to contamination, friction, moved components, etc.)
For 2. Check the motor temperature monitoring line for wire breaks,
ground faults and short circuits.
For 3. Check velocity loop parameter settings.

See also functional description for: "Temperature Monitoring."

F219 - Attributes
SS display: F2/19
Message no.: F219 (hex)
Error no.: 219
Class: Non-fatal

F220 Bleeder overload shutdown

The regenerative energy coming from the machine mechanism via the
motor has overloaded the braking resistor (bleeder). When the maximum
braking energy is exceeded, the drive shuts down after braking. The
bleeder is thus protected against destruction due to overheating.

Cause:
The regenerative energy coming from the machine mechanism via the
motor is too great.

Remedy:
If demand is too great Æ reduce the acceleration values.
If too much power is supplied Æ reduce the velocity.
Check the drive rating.
Install additional bleeder module if necessary.

F220 - Attributes
SS display: F2/20
Message no.: F220 (hex)
Error no.: 220
Class: Non-fatal

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F221 Motor temp. surveillance defective

Cause:
Wire break or improper connection in motor temperature monitoring line.
Remedy:
Check motor temperature monitoring line (signals MT(emp)+ and
MT(emp)-) for breaks/interruptions and short circuits.

See also functional description for: "Temperature Monitoring."

F221 - Attributes
SS display: F2/21
Message no.: F221 (hex)
Error no.: 221
Class: Non-fatal

F226 Undervoltage in power section

The level of the DC bus voltage is monitored by the drive controller. If the
DC bus voltage falls below a minimal threshold, the drive independently
shuts down according to the set error response.

Cause:
1. Power is turned off without first deactivating the drive using
the drive enable (RF) signal.
2. Disturbance in the power supply
Remedy:
For 1. Check the drive activation logic in the connected
controller.
For 2. Check the power supply.
The error disappears in the DKC03 when the drive enable signal is
cleared.

F226 - Attributes
SS display: F2/26
Message no.: F226 (hex)
Error no.: 226
Class: Non-fatal

F228 Excessive deviation

When the position loop is closed, the drive monitors whether it is able to
follow the specified command value. This is done by calculating a model
position value in the drive and comparing that value with the actual
feedback value. If the difference between the theoretical and actual
position values continually exceeds the value in Parameter A115,
Monitoring, the drive obviously cannot comply with the given command
value. This error is then generated.

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Cause:
1. The drive's acceleration capacity has been exceeded.
2. The axis is locked.
3. Incorrect parameter values set in the drive parameters.
4. Parameter A115, Monitoring set incorrectly.
Remedy:
For 1. Check program to see whether a value that is too low has been
entered in a MOM_command.
For 2. Check the mechanical system and eliminate jamming of the axis.
For 3. Check the drive parameters (control loop settings).
For 4. Set Parameter A115, Monitoring.
See also functional description for: "Position Control Loop Monitoring."

F228 - Attributes
SS display: F2/28
Message no.: F228 (hex)
Error no.: 228
Class: Non-fatal

F229 Encoder 1 failure: Quadrant error

On the basis of faulty signals detected during the encoder evaluation, a
hardware error has been discovered in the interface being used for
encoder 1.
Cause:
1. Defective encoder cable
2. Disruptive electro-magnetic interference on the encoder cable
3. Defective encoder interface
4. Defective drive controller
Remedy:
For 1. Replace the encoder cable.
For 2. Keep the encoder cable well away from power cables. Use
shielded motor and encoder cables.
For 3. Replace the encoder interface.
For 4. Replace the drive controller.

F229 - Attributes
SS display: F2/29
Message no.: F229 (hex)
Error no.: 229
Class: Non-fatal

F230 Max. Signal frequency of encoder 1 exceeded

The signal frequency of encoder 1 (motor encoder) is checked to see
whether the max. permissible frequency of the encoder interface has
been exceeded.
If the frequency is higher than allowed, error F230, Max. signal
frequency of encoder 1 exceeded is generated. The “homed” output in
Parameter C010 is turned off.

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F230 - Attributes
SS display: F2/30
Message no.: F230 (hex)
Error no.: 230
Class: Non-fatal

F234 Emergency-Stop
Cause:
The emergency stop function was initiated by switching off the +24V
present at the emergency stop input. The drive controller was brought to a
standstill according to the set error response.
Remedy:
1. Correct the problem that caused the +24V signal present at the
emergency stop input to be switched off.
2. Execute the “Reset class 1 diagnostics“ command, e.g., via the
control or the S1 key on the drive controller.

F234 - Attributes
SS display: F2/34
Message no.: F234 (hex)
Error no.: 234
Class: Non-fatal

F236 Excessive position feedback difference

Cause:
After the system is restarted, actual position values 1 and 2 are set to the
same value, and the cyclic evaluation of both encoders is started. In cyclic
mode, the difference in the actual position values of both encoders is
compared using Parameter A117, Monitor encoder difference. If the
amount of the difference is greater than the parameter value, the
diagnostic error message F236 Excessive position feedback
difference is generated, the error response set in the parameter is
executed and the reference bits (Parameter C010) of both encoders are
cleared.
The monitoring function is inactive if a value of 0 is entered in Parameter
A117, Monitor encoder difference.
Possible causes:
1. Wrong parameter for encoder 2
(Parameter C005, Position encoder type 2,
Parameter C006, Resolution, encoder 2)
2. Incorrect parameter setting of mechanical system between motor shaft
and encoder 2: (Parameter A102 Gear,

Parameter A101, Feed constant)

3. Mechanical system between motor shaft and encoder 2 is not rigid
(e.g., gear play).
4. Defective encoder cable
5. Maximum input frequency of the encoder interface exceeded
6. Encoder 2 is not mounted to the driven axis.
7. Reference point of an absolute encoder is incorrect

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Remedy:
For 1. Check Parameter C005, Position encoder type 2 and
Parameter C006, Resolution, encoder 2.
For 2. Check Parameter A102, Gear.
For 3. Increase A117, Monitor encoder difference.
For 4. Replace encoder cable.
For 5. Reduce the velocity.
For 6. Set Parameter A117, Monitor encoder difference to 0 (turn
monitoring off).
For 7. Execute Parameter C010, Set absolute encoder.

F236 - Attributes
SS display: F2/36
Message no.: F236 (hex)
Error no.: 236
Class: Non-fatal

F237 Excessive position command difference

Cause:
The position command values created by the position loop must be
monitored. If two position command values received in succession
request the drive to produce a velocity that is greater than or equal to the
value in Parameter A106, Maximum velocity, the position command
value monitoring function is activated.

F237 - Attributes
SS display: F2/37
Message no.: F237 (hex)
Error no.: 237
Class: Non-fatal

F242 Encoder 2 failure: Signal amplitude wrong

Cause:
The analog signals of an optional measurement system are used for high
resolution analysis of that measurement system. These signals are
monitored according to two criteria:

1. The pointer length, determined from the sine and cosine signals,
must be greater than 1 V.
2. The maximum pointer length resulting from the sine and cosine
signals must not exceed 11.8 V.

Pointer length = sin ² + cos ²

Fig. 11-7: Pointer Length

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DG5004A1.bmp

L: Legende
Fig. 11-9: Correct Signal Amplitude

Example:
Ucos = -6.5V
Usin = 6.5V

Zeigerlänge = (− 6,5V )2 + 6,5V 2 ≈ 9,2V

Remedy:
1. Check the measurement system cable.
2. Check the measurement system.

F242 - Attributes
SS display: F2/42
Message no.: F242 (hex)
Error no.: 242
Class: Non-fatal

F245 Encoder 2 failure: Quadrant error

The evaluation of the additional optional encoder (encoder 2) is active. In
the evaluation of the sinusoidal input signals of the optional encoder, a
plausibility check is performed between these signals and the counter fed
by these signals. In so doing, an error has been encountered.

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Cause:
1. Defective encoder cable
2. Electromagnetic interference on the encoder cable
3. Defective encoder interface
Remedy:
For 1. Replace the encoder cable
For 2. Keep the encoder cable well away from power cables.
For 3. Replace unit (ECODRIVE)

F245 - Attributes
SS display: F2/45
Message no.: F245 (hex)
Error no.: 245
Class: Non-fatal

F246 Max. signal frequency of encoder 2 exceeded

The signal frequency of encoder 2 (optional encoder) is checked to see
whether the allowed max. frequency of the encoder interface has been
exceeded.
If the frequency is higher than allowed, error F246, Max. signal
frequency of encoder 2 exceeded is generated. The “homed” output in
Parameter C010 is turned off.

F246 - Attributes
SS display: F2/46
Message no.: F246 (hex)
Error no.: 246
Class: Non-fatal

F248 Low battery voltage

Cause:
For model MKD and MKE motors, the absolute position information is
stored in the motor encoder electronics with battery backup. The battery
is rated for a 10-year service life. If the battery voltage goes below 2.8 V,
this message is displayed. Encoder functioning is ensured for
approximately another 2 weeks.

Malfunction in the control of motors and moving

elements
Equipment damage can occur.
Replace battery immediately.
CAUTION

Instructions for replacing batteries

Have the following tools and accessories ready:
• Torx screwdriver size 10
• Needle-nose pliers, torque wrench

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ECODRIVE03 FLP-01VRS 11-13

• New battery pack (Part No. 257101)

Malfunction in the control of motors and moving

elements
Equipment damage can occur.
Turn off the power supply. Make sure it isn’t switched
CAUTION back on. Replace the battery while the control voltage is
turned on.

If the control voltage is turned off while the battery is out, the absolute
reference point will be lost. Then, the reference point must be
reestablished using the "Set absolute encoder“ command.
Removing the Battery
• Unscrew Torx screws (1) using size 10 screwdriver.
• Pull out the resolver feedback (RSF) lid by hand.
• Remove battery connector (2)
• Undo battery clamp (3) and remove battery
• Place the battery pack in the housing and screw on the clamp.
Attention! Do not kink or crimp the battery cable.
• Attach battery connector (2)
Close the resolver feedback lid, screw in the 4 Torx screws (1) and
tighten to 1.8 Nm with the torque wrench.

F248 - Attributes
SS display: F2/48
Message no.: F248 (hex)
Error no.: 248
Class: Non-fatal

F253 Incr. encoder emulator: Frequency too high

Cause:
The incremental encoder emulator can process a maximum of 1023
graduation marks per 250-µs sampling period; this value was exceeded.
Remedy:
1. Decrease the number of lines to be used by the incremental
encoder emulator (Parameter C015).
or
2. Reduce the travel velocity.
See also functional description for: “Encoder emulation.”

F253 - Attributes
SS display: F2/53
Message no.: F253 (hex)
Error no.: 253
Class: Non-fatal

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F267 Erroneous internal hardware synchronization

Cause:
The drive control is synchronized to the bus interface (DIO, SERCOS,
Profibus, Interbus, ...). Synchronization is monitored to check for proper
functioning. If the average value of the deviation exceeds 5 µs, this error
message is generated.
Remedy:
Replace the drive controller.

F267 - Attributes
SS display: F2/67
Message no.: F267 (hex)
Error no.: 267
Class: Non-fatal

F276 Absolute encoder out of allowed window

When turning off the drive controller with an absolute encoder motor
(multiturn), the actual feedback position will be stored. When powered up,
the absolute position determined by the encoder evaluation is compared
with this stored position. If the deviation is greater than the value set in
parameter A118, Absolute encoder monitoring window, error F276 is
generated and the control is notified.

Cause:
1. Controller is turned on for the first time (stored position is invalid)
2. While the controller was turned off, the axis was moved further
than allowed by Parameter A118, Absolute encoder monitoring
window.
3. Incorrect position initialization
Remedy:
For 1. Clear error (establish absolute reference point).
For 2. The axis was moved with the motor turned off and is outside of its
permissible position. Check to see if the displayed position is
correct in relation to the machine zero point. Then clear the error.
For 3. Unintentional movement of the axis may cause accidents.
Check absolute reference point. If the absolute reference point is
incorrect, the encoder is defective. The motor should be replaced
and sent to Rexroth Indramat Customer Service.

F276 - Attributes
SS display: F2/76
Message no.: F276 (hex)
Error no.: 276
Class: Non-fatal

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F277 Current measurement trim wrong

This error can occur only when the drive controller is tested at the
INDRAMAT factory.
Measurement of the current within the drive controller is precisely
calibrated in the INDRAMAT test bay using a compensation current.
During this calibration, the correction values are found to be outside the
intended tolerances.
Cause:
1. Defective hardware in the drive controller.
2. The correct compensation current for this measurement is not flowing.
Remedy:
1. Repair the control card.
2. Check the compensation current.

F277 - Attributes
SS display: F2/77
Message no.: F277 (hex)
Error no.: 277
Class: No. 1

F281 Mains fault

Cause:
The power supply voltage was not present during operation for at least 3
power periods. As a result, the drive controller was brought to a standstill
according to the set error response (Parameter A119).
Remedy:
Check the power connections to ensure that they are as specified in the
project planning specifications.

F281 - Attributes
SS display: F2/81
Message no.: F281 (hex)
Error no.: 281
Class: Non-fatal

F386 No ready signal from supply module

Cause:
Input BbN "Power supply readyl“ on the drive controller is at 24V, i.e., the
connected power supply is not issuing a ready signal.

F386 - Attributes
SS display: F3/86
Message no.: F386 (hex)
Error no.: 386
Class: Non-fatal

F407 Error during initialization of master communication

An error has occurred during initialization and check testing of the
command communications card (DIO1.1).

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Cause:
• No command communications card is inserted
• Wrong command communications card is inserted
• Wrong firmware is loaded
Remedy:
• Insert correct command communications card
• Replace firmware

F407 - Attributes
SS display: F4/07
Message no.: F407 (hex)
Error no.: 407
Class: Interface

F408 Fatal error of the interface card

Communication with the DIO1.1 parallel interface card of the DKC21.3
has been disrupted.
Cause:
• DIO card not properly seated
• Impermissible memory access occurs.
Remedy:
• Check card seating
• Switch unit off and on. If error still pending, replace hardware.

F408 - Attributes
SS display: F4/08
Message no.: F408 (hex)
Error no.: 408
Class: Interface

F434 Emergency-Stop
Actuating the emergency stop switch has caused the drive to execute the
emergency stop function set via Parameter A119, Best possible
deceleration.
Cause:
The emergency stop switch was detected.
Remedy:
Eliminate the malfunction that has caused the emergency switch to be
activated, and clear the error.
See also functional description for: "Emergency stop function."

F434 - Attributes
SS display: F4/34
Message no.: F434 (hex)
Error no.: 434
Class: Interface

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F629 Positive travel limit exceeded

A command was executed which resulted in an axis position outside the
negative travel range. The axis has been brought to a standstill with the
error response "Set velocity command value to zero."

Cause:
Parameter A104, Positive travel limit exceeded.
Remedy:
1. Verify Parameter A104, Positive travel limit.
2. Check program.

Procedure:
• Clear error
• If the power supply was turned off, turn it back on.
• Move the axis into the permissible working range.

Note: Only those command values which lead back into the allowed
working range will be accepted. With other command values,
the drive will stop again.
Parameter A111, Switching threshold is used to implement
a hysteresis function.

F629 - Attributes
SS display: F6/29
Message no.: F629 (hex)
Error no.: 629
Class: No. 1

F630 Negative travel limit exceeded

A command was executed which resulted in an axis position outside the
negative travel range. The axis has been brought to a standstill with the
error response "Set velocity command value to zero."

Cause:
Parameter A103, Negative travel limit exceeded.
Remedy:
1. Verify Parameter A103, Negative travel limit.
2. Check program.

Procedure:
• Clear error
• If the power supply was turned off, turn it back on.
• Move the axis into the permissible working range.

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Note: Only those command values which lead back into the allowed
working range will be accepted. With other command values,
the drive will stop again.
Parameter A111, Switching threshold is used to implement
a hysteresis function.

F630 - Attributes
SS display: F6/30
Message no.: F630 (hex)
Error no.: 630
Class: Travel range

F634 Emergency-Stop
Actuating the emergency stop (E-Stop) switch has caused the drive to
stop by setting the velocity setpoint value to zero.
Cause:
The emergency stop switch was detected.
Remedy:
Eliminate the malfunction that has caused the emergency switch to be
activated, and clear the error.

F634 - Attributes
SS display: F6/34
Message no.: F634 (hex)
Error no.: 634
Class: Travel range

F643 Positive travel limit switch detected

The positive travel limit switch has been activated. The axis has been
brought to a standstill with the error response "Set velocity command
value to zero."
Cause:
The positive travel limit switch has been detected.
Remedy:
1. Reset the error.
2. Turn the power supply back on.
3. Move the axis into the permissible travel range.

Note: Command values which would move the axis outside the
permissible range are not accepted, and this error message is
generated again.

F643 - Attributes
SS display: F6/43
Message no.: F643 (hex)
Error no.: 643
Class: No. 1

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F644 Negative travel limit switch detected

The negative travel limit switch has been activated. The axis has been
brought to a standstill with the error response "Set velocity command
value to zero."
Cause:
The negative travel limit switch has been activated.
Remedy:
1. Reset the error.
2. Turn the power supply back on.
3. Move the axis into the permissible travel range.

Note: Command values which would move the axis outside the
permissible range are not accepted, and this error message is
generated again.

F644 - Attributes
SS display: F6/44
Message no.: F644 (hex)
Error no.: 644
Class: Travel range

F822 Encoder 1 failure: Signal amplitude wrong

The analog signals of a position measurement system are used for high-
resolution analysis of that measurement system. These signals are
monitored according to two criteria:
1. The pointer length, determined from the sine and cosine signals, must
be greater than 1 V.
2. The maximum pointer length resulting from the sine and cosine
signals must not exceed 11.8 V.

Pointer Length = sin ² + cos ²

Fig. 11-11: : Pointer Length

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DG5004A1.bmp

L: Legende
Fig. 11-13: Correct Signal Amplitude

Example:
Ucos = -6.5V
Usin = 6.5V

Pointer Length = (−6,5V )² + (6,5V )² =9,2V

Note: The error cannot be cleared in the (manual/automatic)
operating mode. Switch to parameter mode before clearing
the error.

Causes:
1. Defective encoder cable
2. Disruption of feedback signal transmission
3. Defective encoder
Remedy:
1. Check the measurement system cable.
2. Keep the cable well away from motor power cables . Shielding must be
placed on the drive controller.
3. Check the measurement system and replace if necessary.
F822 - Attributes
SS display: F8/22
Message no.: F822 (hex)
Error no.: 822
Class: Fatal

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F860 Overcurrent: short in power stage

The current in the power transistor bridge is more than twice as high as
the equipment’s peak current. The drive is immediately switched to a
torque-free state. An optional holding brake, if present, engages
immediately.
Cause:
1. Short circuit in motor cable
2. Defective power section of the drive controller
3. The current-loop parameters were set incorrectly.
Remedy:
For 1. Check motor cable for short circuit.
For 2. Replace the drive controller.
For 3. The current-loop parameters must not deviate from the initial
values received from the encoder.

F860 - Attributes
SS display: F8/60
Message no.: F860 (hex)
Error no.: 860
Class: Fatal

F870 +24Volt DC error

The drive controller requires a 24-V control voltage. The drive is
immediately switched to a torque-free state when the maximum
permissible tolerance of +-20% is exceeded. An optional holding brake, if
present, engages immediately.
Cause:
1. Defective cable for the control voltages.
2. 24-V power supply overload.
3. Defective power supply unit.
4. Short-circuit in the emergency stop circuit.
Remedy:
For 1. Check cables for control voltages and/or connections and replace if
necessary.
For 2. Check the 24-V supply voltage at the power supply unit.
For 3. Check the power supply unit.
For 4. Check the emergency stop circuit for a short-circuit.

Note: The error can be reset only in Parameter Mode. As a

result of this error, the encoder emulation is switched off.

F870 - Attributes
SS display: F8/70
Message no.: F870 (hex)
Error no.: 870
Class: Fatal

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F873 Power supply driver stages fault

The power supply for the driver stages is monitored. If the voltage is too
low, the drive is turned off.
Cause:
The voltage supplied to the driver stages is too low.
Remedy:
Replace drive controller.

F873 - Attributes
SS display: F8/73
Message no.: F873 (hex)
Error no.: 873
Class: Fatal

F878 Velocity loop error

The velocity loop monitoring function is activated when the following
conditions occur simultaneously:
• The current command value is at the peak current limit.
• The difference between the actual velocity and the target velocity is
more than 10% of the maximum motor velocity.
• Actual velocity > 1.25% of the maximum velocity
• Target and actual acceleration values have different operational (+/-)
signs.

Cause:
1. Motor cable is connected incorrectly.
2. Power circuit of the drive controller defective.
3. Defective encoder.
4. Velocity loop parameters set incorrectly.
5. Incorrect commutation offset.
Remedy:
For 1. Check motor cable connection.
For 2. Replace the drive controller.
For 3. Replace the motor.
For 4. Check the velocity loop to see whether it is within operational
parameters.
For 5. Replace the motor.

F878 - Attributes
SS display: F8/78
Message no.: F878 (hex)
Error no.: 878
Class: Fatal

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F895 4-kHz signal wrong

The 4-kHz signal for generating the resolver signals is synchronized with
the processing of the software. This error message is generated if there is
a lack of synchronization.
Cause:
1. The error can be caused by an electrostatic discharge.
2. Synchronization between the resolver excitation voltage and the
software is not correct.
Remedy:
For 1. Turn everything off and then on again. If this does not solve the
problem: Replace the drive controller and send the old one in for
inspection
For 2. Replace the drive controller and send the old one in for
inspection.

F895 - Attributes
SS display: F8/95
Message no.: F895 (hex)
Error no.: 895
Class: Fatal

11.2 Diagnostic Warning Messages

E221 Warning, Motor temp. surveillance defective

The temperature monitoring system checks to see if the measured motor
temperature is within reasonable bounds. If it finds that the temperature is
lower than -10°C, then it is assumed that the measuring unit is defective.
The warning message E221 Warning, Motor temp. surveillance
defective will appear for 30 seconds. Afterwards the drive is brought to a
standstill according to the selected error response and message F221
Error, motor temp. surveillance defective will be generated.
Cause:
1. Motor temperature sensor not connected.
2. Broken cable.
3. Defective sensor.
4. Broken cable in drive controller.
Remedy:
For 1. Connect the sensor to the drive controller and to the motor (see
project planning specifications for the motor).
For 2. Replace the lead between the drive controller and the motor.
For 3. Replace the motor.
For 4. Replace the drive controller.

E221 - Attributes
SS display: E2/21
Message no.: E221 (hex)
Class: Non-fatal

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E225 Motor overload

The maximum possible motor current is reduced in order to prevent
damage to the motor.
If the current flowing in the motor is more than 2.2 times the Motor
current at standstill, Parameter CM02, the maximum possible motor
current (Motor peak current, Parameter CM02) is reduced. The
reduction begins after 400 ms at 4 times the motor current at standstill. At
5 times the current, it begins earlier; at 3 times the current, later.
If the limitation causes the motor peak current to be reduced, the E225
Motor overload warning is issued.

E225 - Attributes
SS display: E2/25
Message no.: E225 (hex)
Class: Non-fatal

E250 Drive overtemp. prewarning

The temperature of the heatsink in the drive controller has reached the
maximum permissible temperature. The drive controller complies with the
command value input for a period of 30 seconds. This makes it possible
to bring the axis to a standstill via the control system without disruption of
the process (e.g., close the operation, leave the collision area, etc.).
After 30 seconds, the response set in parameter Parameter A119, Best
possible deceleration will be performed by the drive controller.

Cause:
1. Failure of the drive's internal blower.
2. Failure of the control cabinet's climate control.
3. Incorrect control cabinet sizing in regards to heat dissipation.
Remedy:
For 1. If the blower fails, replace the drive controller.
For 2. Restore climate control feature in the cabinet.
For 3. Check the sizing of the control cabinet.

E250 - Attributes
SS display: E2/50
Message no.: E250 (hex)
Class: Non-fatal

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E251 Motor overtemp. prewarning

As soon as the temperature warning threshold (145°C) is exceeded, the
E251 warning is output, and the drive continues to follow the setpoint
specification.
This state can last for a long time without the drive powering down. Only
when the temperature error threshold is exceeded, will the drive
immediately power down.
See also F219 Motor overtemp. shutdown.

Cause:
The motor is overloaded. The effective torque required by the motor has
been above its allowable continuous torque level at standstill for too long.

Remedy:
Check the motor rating. For systems which have been in use for a long
time, check to see if the drive conditions have changed (in regards to
contamination, friction, moving components, etc).

E251 - Attributes
SS display: E2/51
Message no.: E251 (hex)
Class: Non-fatal

E252 Bleeder overload prewarning

Cause:
The braking resistor (bleeder) in the drive controller is charged with
regenerative energy from the motor by about 90%. The bleeder overload
prewarning indicates that an overload of the bleeder is expected if the
regenerative energy continues to increase.
Remedy:
Reduce the acceleration values or velocity and check the drive rating if
necessary.

E252 - Attributes
SS display: E2/52
Message no.: E252 (hex)
Class: Non-fatal

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E256 Torque limit = 0

Cause:
1. For protection against mechanical overloading, the MOM
command can be used to limit the maximum torque. If the current
value is equal to 0, the motor does not develop torque and does
not comply with the stipulated command values.
2. Torque reduction is set via an analog channel, and the applied
voltage amounts to 10 V.

Remedy:
For 1. Set the torque limit to a value greater than 0.
For 2. Apply an analog voltage of less than 10 V.

E256 - Attributes
SS display: E2/56
Message no.: E256 (hex)
Class: Non-fatal

E257 Continuous current limit active

The drive controller supplies peak current for 400 ms. Afterward, the
continuous current limit becomes active and dynamically limits the peak
current until it reaches the value of the continuous current.

Cause:
More continuous torque was required than was available.

Remedy:
1. Check the drive rating.
2. For systems which have been in use for a long time, check to see
whether the drive conditions have changed with regard to
• contamination
• friction
• moved mass

E257 - Attributes
SS display: E2/57
Message no.: E257 (hex)
Class: Non-fatal

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E259 Command velocity limit active

The velocity command value is limited to the value present in Parameter
A106, Maximum velocity.
Cause:
Parameter A106, Maximum velocity set too low.
Remedy:
Check parameter and program.

E259 - Attributes
SS display: E2/59
Message no.: E259 (hex)
Class: Non-fatal

E261 Continuous current limit prewarning

Digital drives are monitored via a continually operating temperature
model. Continuous current limiting is activated shortly after the thermal
load capacity reaches 100%.
At 90%, the continuous-current-limiting prewarning is issued prior to this
torque reduction.
Cause:
The drive controller was overloaded.
Remedy:
1. Check the amplifier rating.
2. Reduce acceleration.
3. With systems which have been in use for long periods of time,
check to see if drive controller conditions have changed in regards
to:
- friction
- moved mass
- feed during processing.

E261 - Attributes
SS display: E2/61
Message no.: E261 (hex)
Class: Non-fatal

E263 Velocity command value > limit A106

Cause:
The maximum velocity stipulated was greater than the permissible
value.
Remedy:
The value is limited to that given in Parameter A106, Maximum velocity.

E263 - Attributes
SS display: E2/63
Message no.: E263 (hex)
Class: Non-fatal

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11-28 ECODRIVE03 FLP-01VRS

E300 Processor watchdog timer

The processor in the drive controller is equipped with a watchdog timer.
The processor must regularly signal it internally.

What has happened?

The watchdog timer has timed out without receiving a signal from the
processor. Reliable running of the firmware program is no longer assured.
Cause:
An overload or a serious error in the firmware has caused the processor
to no longer service interrupts.
Remedy:
Please contact Rexroth-INDRAMAT Customer Service. Explain precisely
under what circumstances the error occurred. The firmware should be
replaced.

E300 - Attributes
SS display: E3
Message no.: E300 (hex)
Class: Fatal

E825 Overvoltage in power stage

The DC bus voltage is too high.
Cause:
1. During braking (decelerating): the regenerative energy received from
the machine mechanism via the motor was briefly so high that the
bleeder resistor was unable to convert enough of it to heat. The
regenerative current could not be bled off and therefore charged the
DC bus, causing the voltage on the bus to get too high.
2. The supply voltage (AC voltage input) is too high.

Result:
If an overvoltage is present, the motor is switched to a torque-free state.
Once the DC bus voltage again drops below the maximum allowable
value, the controller will again be switched on.

Remedy:
For 1. Reduce the acceleration values. Check the drive rating if
necessary.
Install an additional bleeder if necessary.
For 2. Check the supply voltage (AC voltage/3phase).

Danger! High voltage!

Protect against accidental contact.

WARNING

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E825 - Attributes
SS display: E8/25
Message no.: E825 (hex)
Class: Fatal

E826 Undervoltage in power section

Undervoltage is handled as a "fatal warning“ and the motor is switched
off. If the drive enable signal is present and the DC bus voltage status
signal is lost, the drive displays this warning.
Cause:
Power supply unit is switched off or power grid failure occurs when the
drive enable signal is set.
Remedy:
Switch off the drive enable signal before switching off the power supply
unit.

E826 - Attributes
SS display: E8/26
Message no.: E826 (hex)
Class: Fatal

11.3 Command Diagnostic Messages

C100 Communication phase 3 transition check

The C100 Communication phase 3 transition check command has
been activated.

C100 - Attributes
SS display: C1
Message no.: C100 (hex)

C200 Communication phase 4 transition check

Definition
The C200 Communication phase 4 transition check command has
been activated.

C200 - Attributes
SS display: C2
Message no.: C200 (hex)

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C201 Parametersatz unvollständig

Cause:
Parameters needed to operate the drive in communications phase 4
(operating mode) are invalid.
Remedy:
• Check parameters and make corrections
• Turn unit off and on
• Check for correct firmware

C201 - Attributes
SS display: C2/01
Message no.: C201 (hex)
Class: Command error

C202 Parameter limit error

Cause:
Parameters needed to operate the drive in communications phase 4
mode (manual/automatic) exceed the minimum or maximum input values,
or the entered value cannot be processed.
Remedy:
• Check parameters and make corrections
• Check for correct firmware
• Turn off and then on again. If this does not solve the problem:
• Replace the unit.

C202 - Attributes
SS display: C2/02
Message no.: C202 (hex)
Class: Command error

C203 Parameter calculation error

Cause:
Parameters needed for phase 4 (operating mode) cannot be processed
as they are.
Remedy:
• Check parameters and make corrections
• Check for correct firmware
• Turn off and then on again. If this does not solve the problem:
• Replace the unit.

C203 - Attributes
SS display: C2/03
Message no.: C203 (hex)
Class: Command error

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C204 Motor type P-0-4014 incorrect

An MHD, MKD or MKE motor is installed, however the corresponding
abbreviation ("MHD," "MKD" or "MKE") was not found in the motor
feedback memory.
Cause:
1. Incorrect parameter set for type of motor.
2. The motor feedback memory cannot be read.
Remedy:
For 1. Enter the correct motor type in Parameter CM00, Motor type.
For 2. Check encoder feedback connection. If encoder is defective,
replace motor.

C204 - Attributes
SS display: C2/04
Message no.: C204 (hex)
Class: Command error

C207 Load error LCA

Cause:
Defective unit.
Remedy:
1. Turn off and then on again. If this does not solve the problem:
2. Replace the unit.

C207 - Attributes
SS display: C2/07
Message no.: C207 (hex)
Class: Command error

C210 Feedback 2 required

Cause:
Values were entered in Parameter A100, Type of application which
make an optional encoder necessary. However, a 0 (for not available) is
entered in Parameter C004, Interface, encoder 2.
Remedy:
• Correct Parameter A100, Type of application
• Correct Parameter C004, Interface, encoder 2

C210 - Attributes
SS display: C2/10
Message no.: C210 (hex)
Class: Command error

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C211 Invalid feedback data

Invalid data have been encountered when the parameters stored in the
motor feedback memory were read, or an error has occurred when the
data were read.
Causes:
1. Motor feedback cable not connected or defective
2. Motor encoder defective
3. Drive controller defective
Remedy:
For 1. Check motor feedback cable; connect both ends
For 2. Replace the motor.
For 3. Replace amplifier

C211 - Attributes
SS display: C2/11
Message no.: C211 (hex)
Class: Command error

C212 Invalid amplifier data

During drive initialization, the operating software accesses data from an
EEPROM in the drive controller. This error message is generated if the
attempt to read the data has failed.
Cause:
Defective hardware in the drive controller.
Remedy:
Replace the drive controller.

C212 - Attributes
SS display: C2/12
Message no.: C212 (hex)
Class: Command error

C213 Wichtung der Lagedaten fehlerhaft

Cause:
The drive-internal format of the position data is dependent on the motor
encoder and the encoder resolution. The factor for converting the position
data from the drive-internal format to the display format and vice versa is
outside of the possible range, because one of the following is true:
• linear motor and rotary position scaling with respect to the motor, or
• rotary motor and linear position scaling with respect to the motor, or
• linear motor and modulo scaling is set, OR
• the detected factor for converting the position data from display
format to internal format or vice versa is not displayable.
Remedy:
• Check parameters and make corrections.
• Check for correct firmware.

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• Turn off and then on again. If this does not solve the problem:
• Replace the unit.

C213 - Attributes
SS display: C2/13
Message no.: C213 (hex)
Class: Command error

{C214 Wichtung der Geschwindigkeitsdaten fehlerhaft

Cause:
The drive-internal format of the velocity data is dependent on the motor
encoder and the encoder resolution. The factor for converting the velocity
data from the drive-internal format to the display format and vice versa is
outside of the possible range.

Remedy:
• Check parameters and make corrections.
• Check for correct firmware.
• Turn off and then on again. If this does not solve the problem:
• Replace the unit.

C214 - Attributes
SS display: C2/14
Message no.: C214 (hex)
Class: Command error

C215 Wichtung der Beschleunigungsdaten fehlerhaft

Cause:
The drive-internal format of the acceleration data is dependent on the
motor encoder and the encoder resolution. The factor for converting the
acceleration data from the drive-internal format to the display format and
vice versa is outside of the possible range.
Remedy:
• Check parameters and make corrections.
• Check for correct firmware.
• Turn off and then on again. If this does not solve the problem:
• Replace the unit.

C215 - Attributes
SS display: C2/15
Message no.: C215 (hex)
Class: Command error

C216 Wichtung der Drehmoment/Kraftdaten fehlerhaft

Cause:

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The factor for converting the torque/force data from the drive-internal
format to the display format and vice versa is outside of the possible
range.

Remedy:
• Check parameters and make corrections.
• Check for correct firmware.
• Turn off and then on again. If this does not solve the problem:
• Replace the unit.

C216 - Attributes
SS display: C2/16
Message no.: C216 (hex)
Class: Command error

C217 Feedback 1 data reading error

All MKD and MHD motors have a feedback memory. From this memory,
the settings for the encoder are read.

Cause:
An error has occurred while the values from the feedback memory were
being read.

Remedy:
Check feedback cable.
Replace the motor.

C217 - Attributes
SS display: C2/17
Message no.: C217 (hex)
Class: Command error

C218 Feedback 2 data reading error

If the measurement system to be initialized has an intrinsic memory, this
memory is read when the manual/automatic operating mode is switched
on. The C218 Feedback 2 data reading error error message is
generated if an additional optional encoder (encoder 2) is present and
being evaluated (Parameter C004, Interface, encoder 2 is not set to 0),
and if an error is discovered while reading the data.
Measurement systems with intrinsic data memory are :
• DSF/HSF/LSF and resolvers, as well as
• measurement systems with the EnDat interface (from Heidenhain)

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Cause:
1. Defective measurement system cable.
2. Defective measurement system.
Remedy:
For 1. Check the measurement system cable.
For 2. Replace the measurement system.

C218 - Attributes
SS display: C2/18
Message no.: C218 (hex)
Class: Command error

C220 Feedback 1 initializing error

A number of tests are performed when the motor encoder is initialized. An
error was detected during this process. This error may be:
• an error reading the angle rectification data
• an error copying the angle rectification data
• interruption of communications with the encoder
• an assembly error regarding the position of an initialization track
• an error reading the analog signals of an initialization track
• an error in the pointer length for the analog signals of an initialization
track
• an invalid offset between the high- and low-resolution tracks
• an error in the measurement system micro-controller

Cause:
1. Defective motor feedback cable.
2. Motor encoder defective.
3. Defective measurement system interface.

Remedy:
For 1. Check the motor feedback cable.
For 2. Replace the motor.
For 3. Replace the measurement system interface if it is a module, or
else the complete drive controller.

C220 - Attributes
Message no.: C220 (hex)
Class: Command error

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C221 Feedback 2 initializing error

Several checks are performed during the initialization of an optional
encoder. An error was detected during this process. This error may be:
• an error reading the angle rectification data
• an error copying the angle rectification data
• interruption of communications with the encoder
• an assembly error regarding the position of an initialization track
• an error reading the analog signals of an initialization track
• an error in the pointer length for the analog signals of an initialization
track
• an invalid offset between the high- and low-resolution tracks
• an error in the measurement system micro-controller
• with DAG 1.2: error, external 24V set for SSI interface

Cause:
1. opt. Defective encoder cable
2. Defective encoder
3. Defective measurement system interface
Remedy:
For 1. opt. Check encoder cable.
For 2. Replace encoder.
For 3. Replace the measurement system interface (module).

C221 - Attributes
SS display: C2/21
Message no.: C221 (hex)
Class: Command error

C223 Input value for max. range too high

Cause:
An internal position resolution was set which no longer ensures correct
commutation of the motor.
Remedy:
• Check parameters and make corrections.
• Check for correct firmware.
• Turn off and then on again. If this does not solve the problem:
• Replace the unit.

C223 - Attributes
SS display: C2/23
Message no.: C223 (hex)
Class: Command error

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C227 Modulo range error

Cause:
The modulo value entered is larger than half of the position display range
of the drive.
Remedy:
Select a smaller modulo value, Parameter A105.

C227 - Attributes
SS display: C2/27
Message no.: C227 (hex)
Class: Command error

C228 Wrong controller type

In preparing for the communications phase 4 transition check, first check
whether the heat-sink temperature model data stored in the resident
memory of the amplifier are valid. If an error is detected, the drive
responds with the error message C228 Wrong controller type.

Cause:
Amplifier EEPROM defective.
Remedy:
Replace/repair controller.

C228 - Attributes
SS display: C2/28
Message no.: C228 (hex)
Class: Command error

C234 Encoder combination not possible

Cause:
The encoder interface that has been selected in Parameter C004,
Optional encoder interface cannot be supported by the drive; since it
has already been allocated to the motor encoder.
Remedy:
Select another optional encoder.

C234 - Attributes
SS display: C2/34
Message no.: C234 (hex)
Class: Command error

C235 Load-side motor encoder with inductance motor only

Cause:
The functionality of the optional encoder can be defined in Parameter
A100, Type of application. If 'load-side motor encoder' has been

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selected as the function of the optional encoder, that function will be

supported only for asynchronous motors.
Remedy:
Set Parameter CM00, Motor type in accordance with the type of motor
used.
Check Parameter A100, Type of application.

C235 - Attributes
SS display: C2/35
Message no.: C235 (hex)
Class: Command error

C236 Feedback 1 required

Cause:
If a load-side motor encoder was set in Parameter A100, Type of
application, no motor encoder is required (Parameter C001 = 0).
However, values have been entered in the Homing parameter which do
require a motor encoder.
Remedy:
Change Homing parameter to reflect use of the optional encoder.
Activate the motor encoder by entering a value other than 0 in Parameter
C001, Interface, Encoder 1.

C236 - Attributes
SS display: C2/36
Message no.: C236 (hex)
Class: Command error

C300 Command set absolute measuring

The Set absolute encoder function was activated via Parameter C010,
Homing.

C300 - Attributes
SS display: C3
Message no.: C300 (hex)

C301 Setting absolute encoder not possible when RF set

Cause:
The “C3 Command, set absolute encoder emulator“ was initiated in
response to the current drive enable signal.
Remedy:
Terminate the command and deactivate the drive enable signal.

C301 - Attributes
SS display: C3/01
Message no.: C301 (hex)
Class: Command error

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C302 Absolute measuring system not installed

The command in Parameter C010, Homing “Set absolute encoder”
was initiated with no absolute measurement system installed.
The command can be executed only if an absolute measurement system
is installed.
Cause:
1. The command should not have been activated.
2. The connected motor or the optional measurement system is not
implemented as an absolute encoder.
Remedy:
For 1. Stop execution of the command.
For 2. Equip the motor or optional measurement system with an
absolute encoder function.

C302 - Attributes
SS display: C3/02
Message no.: C302 (hex)
Class: Command error

C400 Switching to Parameter Mode

Parameters can be written only in Parameter Mode, so switch to
Parameter Mode prior to editing parameters.

C400 - Attributes
SS display: C4
Message no.: C400 (hex)

C500 Reset class 1 diagnostic, error reset

The input for clearing the errors was activated. All drive internal errors are
cleared. However, the cause of the errors must first have been
eliminated.

C500 - Attributes
SS display: C5
Message no.: C500 (hex)

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C600 Drive-controlled homing procedure command

The homing command is activated via a command or an input.

See also functional description for: "Homing"

C600 - Attributes
SS display: C6
Message no.: C600 (hex)

C601 Homing only possible with drive enable

Cause:
The drive enable signal was not active when the drive-controlled
homing command was initiated. This is not permitted.
Remedy:
1. Switch on the drive enable signal.
2. Initiate the command again.

See also functional description for: "Homing"

C601 - Attributes
SS display: C6/01
Message no.: C601 (hex)
Class: Command error

C602 Distance home switch – reference mark erroneous

Cause:
Evaluation of the home switch signal has been activated. The distance
between the positive edge of the home-switch signal and the reference
mark to be interpreted is outside the valid range.
Remedy:
Change the value in Parameter C012, Home switch offset.
See also functional description for: "Configuration of the home switch"

C602 - Attributes
SS display: C6/02
Message no.: C602 (hex)
Class: Command error

C604 Homing of absolute encoder not possible

Cause:
With the absolute encoder, this error cancels the homing command if it
was invoked without having first executed the command in Parameter
C010, Set absolute encoder.

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If the encoder was homed using the "Set absolute encoder" command,
the homing command can be used to initiate a return to the reference
point.
Remedy:
Home the absolute encoder using the "Set absolute encoder”
command.
See also functional description for: "Possible error messages with drive-
controlled homing."

C604 - Attributes
SS display: C6/04
Message no.: C604 (hex)
Class: Command error

C605 Homing velocity too high

Cause:
If the velocity is too high, it is not possible to achieve precise coordination
between a reference mark and the zero switch because the zero switch is
only evaluated every 2 ms.
Remedy:
Reduce Parameter C009, Homing velocity.
See also functional description for: "Homing"

C605 - Attributes
SS display: C6/05
Message no.: C605 (hex)
Class: Command error

C700 Basic load

With motors of the MHD, MKD and MKE series, activating the controller
parameters stored in the motor feedback memory sets the default
parameters in the controller for the connected motor. The C7 message
signals the drive controller that the C700 “Basic load” command has been
activated.
Cause:
The C700 Basic load command has been activated.

C700 - Attributes
SS display: C7
Message no.: C700 (hex)

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C701 Basic load not possible with drive enable

Cause:
Basic load cannot be executed if the drive enable function is set.
Remedy:
1. Turn off drive enable.
2. Reinitiate command.
See also functional description for: "Causes of error in executing the
‘Basic load’ function"

C701 - Attributes
SS display: C7/01
Message no.: C701 (hex)
Class: Command error

C702 Default parameters not available

With motors of the MHD, MKD and MKE series, the control loops are
adapted to the connected digital drive by activating the speed controller
parameters stored in the motor feedback memory. Via message C702,
the drive controller signals that “Basic load” has been activated;
however, no data memory is present in the connected motor.
Remedy:
Order the parameter sheet for the motor from REXROTH INDRAMAT
Customer Service, and enter the parameters.

C702 - Attributes
SS display: C7/02
Message no.: C702 (hex)
Class: Command error

C703 Default parameters invalid

Cause:
The default parameters are read from the motor feedback memory. At
least one of these parameters is invalid.

Remedy:
Check the connection to the motor feedback memory. Replace the motor
if necessary.

C703 - Attributes
SS display: C7/03
Message no.: C703 (hex)
Class: Command error

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C704 Parameters not copyable

Cause:
The existing default parameters are not compatible with this software
version.
Remedy:
Please contact Indramat. Explain which software version, which device
and which motor type you have.

C704 - Attributes
SS display: C7/04
Message no.: C704 (hex)
Class: Command error

C705 Locked with password

Set default parameters.

C705 - Attributes
SS display: C7/05
Message no.: C705 (hex)
Class: Command error

C800 Default parameter load

Initiating the command:
This command can be initiated in 2 ways:
1. By pressing the S1 key when "PL" is displayed on the drive controller
(appears after a change in firmware version).
2. By initiating the C8 Load basic parameters command via the serial
interface

Result:
All the parameters are cleared and preset with their respective default
(initial) values. Positioning blocks and control loop settings are also
overwritten.

See also functional description for: "Basic parameter load."

C800 - Attributes
SS display: C8
Message no.: C800 (hex)

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C801 Parameter default value erroneous

Cause:
During execution of the C800 Command, Load basic parameters, a
default value stored in the drive was recognized as incorrect.

C801 - Attributes
SS display: C8/01
Message no.: C801 (hex)
Class: Command error

C802 Locked with password

Remedy:
Load basic parameters.

See also Section 3: "System Startup"

C802 - Attributes
SS display: C8/02
Message no.: C802 (hex)
Class: Command error

D300 Command adjust commutation

A correctly adjusted commutation offset is mandatory for the operation of
synchronous motors. The "D3“ message indicates that the command for
determining the commutation offset has been activated.
Cause:
The adjust commutation command has been activated.

D300 - Attributes
SS display: d3
Message no.: D300 (hex)

D301 Drive not ready for commutation command

Cause in linear motors:
No drive enable signal can be present when the command is initiated,
however, it must be present in communications phase 4 mode ("bb“ or
"Ab“ is displayed).
Cause in rotary synchronous motors:
The drive must be in torque mode when the "D3“ command is initiated.
If these conditions are not met, this error message is generated.
Remedy for linear motors:
Depending on the motor type, turn off the drive enable signal and initiate
the command again.
Remedy for rotary synchronous motors:
Activate torque mode and initiate the command again.

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D301 - Attributes
SS display: d3/01
Message no.: D301 (hex)
Class: Command error

D302 Drehmoment/Kraft zu klein für Bewegung

Das Kommando D3 Kommutierungs-Einstellung wurde gestartet. For
this to occur, the motor must be moving. However, it is not moving.
Cause:
1. The torque is too small to overcome the mechanical resistance
(friction or weight load).
2. The motor is mechanically locked.
Remedy:
1. Raise the value of S-0-0092, Bipolar torque/force limit value until
the motor can overcome the mechanical resistance and turn. Also
check P-0-0109, Spitzendrehmoment-/Kraft-Begrenzung; this
parameter value should be at least as large as S-0-0092.
2. Release pinched cables/wires. If necessary, also check the brake.

Note: For units with analog inputs, the torque can be limited by
an analog torque reduction.

D302 - Attributes
SS display: d3/02
Message no.: D302 (hex)
Class: Command error

D500 Kommando Markerposition erfassen

An unknown command was invoked.
Cause:
Firmware malfunction.

D500 - Attributes
SS display: d5
Message no.: D500 (hex)

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D501 Kein inkrementelles Meßsystem

Cause:
The command was initialized for a measuring system that does not have
any real reference marks. These are, for example:measuring systems like
DSF, EnDat, SSI or resolver measuring systems.

Remedy:
Check if the correct encoder is set in Parameter C009, Reference-move
configure.
Implement an encoder system with real reference marks.

D501 - Attributes
SS display: d5/01
Message no.: D501 (hex)
Class: Command error

11.4 Diagnostic Status Messages

A002 Communication phase 2

Parameter Mode.

A002 - Attributes
SS display: P2
Message no.: A002 (hex)

A003 Communication phase 3

Preparation for communications phase 4 (manual/automatic)

A003 - Attributes
SS display: P3
Message no.: A003 (hex)

A010 Drive HALT.

The input Drive HALT is for stopping an axis using a defined acceleration
and a defined jerk.

A010 - Attributes
SS display: AH
Message no.: A010 (hex)

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A012 Control and power sections ready for operation.

The drive is supplied with control voltage, and the power is on. The drive
is ready to have the power turned on.

A012 - Attributes
SS display: Ab
Message no.: A012 (hex)

A013 Ready for power on

The drive is supplied with control voltage, and there are no errors on the
drive. The drive is ready to have the power turned on.

See also functional description for: "Parameter Mode - Operating Mode."

A013 - Attributes
SS display: bb
Message no.: A013 (hex)

A102 Position mode with encoder 1

The drive is in position control mode. Within the drive, the position
control loop is closed via a position encoder. The control system only sets
the position command value sequence; the drive complies with the
command value with a systematic lag (following error).
Encoder 1 indicates that the position encoder is installed on the motor
shaft (indirect measurement of the axis position).

See also functional description for: “Position control."

A102 - Attributes
SS display: AF
Message no.: A102 (hex)

A103 Position mode with encoder 2

The drive is in position control mode. Within the drive, the position
control loop is closed via a position encoder. The control system only sets
the position command value sequence; the drive complies with the
command value with a systematic lag (following error).
Encoder 2 indicates that the position encoder is installed on the machine
axis (direct axis position measurement).

A103 - Attributes
SS display: Diag. mess. name: AF
Message no.: A103 (hex)

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A104 Position mode without position lag (following error), encoder 1

The drive is in position control mode. Within the drive, the position
control loop is closed via a position encoder. The control system only sets
the position command value sequence; the drive complies with the
command value without a systematic lag (following error).
Encoder 1 indicates that the position encoder is installed on the motor
shaft (indirect measurement of the axis position).

A104 - Attributes
SS display: AF
Message no.: A104 (hex)

A105 Position mode without lag, encoder 2

The drive is in position control mode. Within the drive, the position
control loop is closed via a position encoder. The control system only sets
the position command value sequence; the drive complies with the
command value without a systematic lag (following error).
Encoder 2 indicates that the position encoder is installed on the machine
axis (direct axis position measurement).

A105 - Attributes
SS display: AF
Message no.: A105 (hex)

A800 Unknown operating mode

No diagnostic messages exist for the active operating mode.

A800 - Attributes
SS display: AF
Message no.: A800 (hex)

11.5 Diagnostic Messages for Basic Initialization and Fatal

System Errors

Diagnostic Message Display: -0

The writable data storage area of the drive controller is tested for
functionality.

Diagnostic Message Display: -1

• The hardware of the amplifier is being initialized.

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Diagnostic Message Display: -2

Cause:
The control voltage of the encoder power supply is not present.
Remedy:
Replace the hardware.

Diagnostic Message Display: -3

Initialization of the parameters retrieved from NovRam and calculation of
the relevant data depending on the parameter content.

Diagnostic Message Display: -4

Initializing and testing of command communications.

Diagnostic Message Display: -5

Initializing the system control.

Diagnostic Message Display: -6

Starting the system controls.

Diagnostic Message Display: Diagnostic Message Display: E1

Cause:
Processor fault caused by voltage surge, programming error or hardware
fault. More information available via a terminal connected to the RS232
port.

Remedy:
Turn amplifier on and off. If error persists, replace hardware. In any case,
inform Customer Service.

Diagnostic Message Display: Diagnostic Message Display: E2

Cause:
Test of the RAM on the programming module has shown an error.
RAM defective or programming module not properly seated.
Remedy:
Turn off, check connector and turn on again.
If the error message appears again, replace the firmware module.

Diagnostic Message Display: E3

Cause:
st
The 1 watchdog timer of the amplifier has been triggered in response to
a hardware fault or a high-voltage discharge.

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Remedy:
Turn amplifier off and then on again. If E3 recurs, replace amplifier. In any
case, inform Customer Service.

Diagnostic Message Display: E4

Cause:
nd
The 2 watchdog timer of the amplifier has been triggered in response to
a hardware fault or a high-voltage discharge.
Remedy:
Turn amplifier off and then on again. If E4 recurs, replace amplifier. In any
case, inform Customer Service.

Diagnostic Message Display: E5

Cause:
Testing of the dual-port RAM for command communications has shown
an error.
The command communications hardware may not be properly seated.
Remedy:
Check the connector; if OK, replace the amplifier.

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ECODRIVE03 FLP-01VRS 11-51

11.6 Operation Status

The possible operating states are listed alphabetically below. These
states are displayed on the H1 display of the unit.

bb
"Ready for operation"
See also: A013 Ready for power on

Ab
"Drive is ready"
See also diagnostic message: A012 Control and power sections ready
for operation

AF
"Drive enable"
Depending on the operating state used, you will find a more exact
description of the "AF" display under the respective diagnostic status
message (A101 - A800).

AH
"Drive Halt"
See also: A010 Drive HALT

AU
“Automatic”
See also: Automatic
Diagnostic number : 0004

HA
“Manual”
See also: Manual
Diagnostic number : 0003

PA
"Drive Halt"
See also: Parameter
Diagnostic number : 0002

Jb
"Jog reverse"
See also:
A218 Jog negative
Diagnostic number :
0006

JF
"Jog forward"

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11-52 ECODRIVE03 FLP-01VRS

See also: A208 Jog positive

Diagnostic number : 0005

P2
"Phase 2"
The control is in parameter mode and is checking the parameter data.
The power cannot be switched on. See also status message A002.

P3
"Phase 3"
The control is transitioning from Phase 2 to Phase 4 (manual or automatic
mode). See also status message A003.

P4
"Phase 4"
The control is in manual or automatic mode.
Normally, this display appears only very briefly.

PL
"Basic Parameter Load"
See also: F209 PL Load parameter default values

UL
"Basic Load"
See also: F208 UL The motor type has changed

F- 0300 Invalid I/O number in command instruction

F- 0301 Wrong I/O status in command

F- 0302 Command instruction number too large

F- 0304 Unknown command

F- 0305 Drive not homed to absolute value

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F- 0306 Feed distance overrun

F- 0307 Data loss parameter

F- 0308 Drive message not sent

F- 0309 Master data message not processed

F- 0310 Input error in parameter

F- 0311 Stack correction value > 9

F- 0312 Acknowledgement of an initialization error and not in

Parameter-Mode

F- 0313 Interval too great, BCB/BCD command

F- 0314 Instruction offset too large for BIC command

F- 0315 BCB command: Wrong selection

F- 0316 Field bus real-time communication interrupted

F- 0317 Field bus cyclic communication interrupted

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11-54 ECODRIVE03 FLP-01VRS

F- 0318 Wrong axis number in NC command

F- 0319 NC cycle time exceeded

F- 0320 System error (firmware error)

F- 0321 Wrong axis number in NC command

F-0200 Parameter and automatic input simultaneously

F-0201 Wrong phase transition

F-0203 Target position < negative position limit

F- 0204 Target position > positive position limit

F- 0205 Stack overflow with JSR command

F- 0206 Stack overflow with RTS command

F- 0207 Invalid destination task number

F- 0208 Per mille value in ACC command > 999

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ECODRIVE03 FLP-01VRS 11-55

F- 0209 Invalid value in FAK command

F- 0210 Feed monitoring

F- 0211 Torque > 500%

F- 0212 Program run without power

E- 0213 Max. difference between motor and measuring wheel encoder

too large

F- 0214 Wrong BCD information

F- 0215 Wrong slave factor input

F- 0216 Per mille value in command > 999

F- 0217 HOM command not allowed

F- 0218 RTM command not allowed

F- 0219 Variable in NC command > permissible input value

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11-56 ECODRIVE03 FLP-01VRS

F- 0220 Constant in NC command > permissible input value

F- 0221 Logic Task Program error

E- 0100 Velocity = 0

E- 0102 Both jog inputs read simultaneously

E- 0103 Hardware outputs overloaded

E- 0104 System control using BTV interrupted

E- 0105 Real-time communication with BTV interrupted

E- 0106 Jog reverse not possible

Negative position limit value exceeded

E- 0107 Jog forward not possible

Positive position limit value exceeded

E- 0108 IDS-01 timeout

A- 0007 Stop is active

A- 0008 Manual vector program is active

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A- 0009 Function interrupt is active

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11-58 ECODRIVE03 FLP-01VRS

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ECODRIVE03 FLP-01VRS 12-1

12 Connectors

12.1 DKC21.3

Ap5164fp.WMF

Fig. 12-1: X210 Connector for DKC21.3 with Cable Colors

Pin Inputs: Pin Outputs

1 I0.00.0 Parameter 17 Q0.00.0 Manual
2 I0.00.1 Manual/Automatic 18 Q0.00.1 Automatic

3 I0.00.2 Start 19 Q0.00.2 Fault

4 I0.00.3 Stop 20 Q0.00.3 Run

5 I0.00.4 Jog forward 21 Q0.00.4 Output 1

6 I0.00.5 Jog reverse 22 Q0.00.5 Output 2

7 I0.00.6 Input 1 23 Q0.00.6 Output 3
8 I0.00.7 Input 2 24 Q0.00.7 Output 4

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12-2 ECODRIVE03 FLP-01VRS

9 I0.01.0 Input 3 25 Q0.01.0 Output 5

10 I0.01.1 Input 4 26 Q0.01.1 Output 6
11 I0.01.2 Input 5 27 Q0.01.2 Output 7
12 I0.01.3 Input 6 28 Q0.01.3 Output 8
13 I0.01.4 Input 7
14 I0.01.5 Input 8
15 I0.01.6 Input 9
16 I0.01.7 Input 10

12.2 DKC21.3 and DKC3.3

elc1_x3.WMF

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ECODRIVE03 FLP-01VRS 13-1

13 Display

13.1 BTV04

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13-2 ECODRIVE03 FLP-01VRS

BTV04 Key Descriptions

Store when programming NC or parameters

Scroll:
When this key is pressed, the instruction or parameter
number which appears in the NC and parameter
programming windows is incremented by one.
Next:
When this key is pressed, the next display block is
flagged in the NC and parameter programming windows.

The program jumps immediately to the main menu.

Jog forward

Jog reverse

Parameter help

If data are changed, the changes can be canceled by

pressing the ESC key.
Otherwise, the program jumps back one level in the
menu.

Second key level (hold key down)

Scroll:

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When this key is pressed, the instruction or parameter

number which appears in the NC and parameter
programming windows is decremented by one.
DEL:
No function

+ BTV04 Parameter Setup

+ Resetting the BTV04

This function is equivalent to switching
the BTV on again. The BTV04
parameters are not changed.

Move cursor down

The cursor moves to the left block by block and into a
new line. If the entry block has a border around it, the
cursor moves to the left character by character.

Cursor movement
Parameters:
If the cursor is positioned on the parameter block
identifier, the preceding parameter block is invoked.
NC programming:
If the cursor is positioned on the command, the user can
scroll through the commands. If the cursor is positioned
at a position that can contain Q,M,I, the user can scroll
through these letters.
In all other cases, the cursor jumps to the preceding line.

Cursor movement
The cursor moves to the right, character by character. A
block which contains multiple characters is surrounded by
a border.

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13-4 ECODRIVE03 FLP-01VRS

Move cursor down

Parameters:
If the cursor is positioned on the parameter block
identifier, the next parameter block is invoked.
NC programming:
If the cursor is positioned on the command, the user can
scroll through the commands. If the cursor is positioned
at a position that can contain Q,M,I, the user can scroll
through these letters.
In all other cases the cursor jumps to the preceding line.

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ECODRIVE03 FLP-01VRS 13-5

BTV04 Display Menu

OK Hauptmenue F1 Maschinenmenue F1 Position

I/O Menu The following inputs are
acceptable:
F2 Ausgänge
F3 Zaehler

F2 Eingabemenue F1 NC Program
F2 Parameter
2 = Logic Task
400 variables

Diagnostic
Message: I/O Menu The following inputs are acceptable:
F2 Ausgänge
Output /Marker Flag:

F2 Programmstatus
F3 Vermischtes Position lag monitoring

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13-6 ECODRIVE03 FLP-01VRS

Main Menu

BTV04 ESA xxVxx

ELC ADDRESS

MAIN MENU (OK)

The BTV04 uses an English interface when it is switched on. If either F1

or F2 is pressed, display specifications and texts in different languages
are read from the DKC21.3 or DKC3.3.
The program then branches to the preselected function.
If the user moves back to the initial screen, it is displayed in the
preselected language.

Initial screen in English

BTV04 ESA xxVxx

ELC ADDRESS

SETUP- MENU (OK)

The software version number of the BTV04 is displayed in the status

message.

The ELC address must agree with the address on the DKC programming
module.

00 Einrichten status line

SETUP- MENU
DKC21.3 or DKC3.3
ECODR3–ELC–xxVxx or ECODR3-FLP

MASCHINENMENUE (F1)
I/O/F MENU (F2)
MISCELLANEOUS (F3)

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ECODRIVE03 FLP-01VRS 13-7

Machine Menu

00 Einrichten status line

MASCHINENMENUE selected menu

POSITION (F1)
I/O/F MENU (F2)
ZAEHLER (F3)

Position

00 Einrichten

Axis position
+084225.090

DREHZAHL:
+0000.09

I/O Menu

00 Einrichten
I/O/F MENU

EINGAENGE (F1)
AUSGAENGE (F2)

00 Einrichten

SYSTEM-EINGAENGE
Ascending
000100
bit sequence from
left
EINGAENGE 01–10
to right
1000000000

System inputs: Parameters, Automatic, Start, Stop, Jog+, Jog-

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13-8 ECODRIVE03 FLP-01VRS

00 Einrichten

SYSTEM INPUT
1010

AUSGAENGE 01–08
00000001

System outputs: Manual Mode, Automatic, Error, Run

Counter

00 Einrichten
ZAEHLER

STATUS-MENU : 0

SOLLSTUECK :
ISTSTUECK :

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ECODRIVE03 FLP-01VRS 13-9

Setup Menu

00 Einrichten
I/O/F MENU

NC-PROGRAM (F1)
PARAMETER (F2)
NC-PROGRAM (F3)
VARIABLE (F4)

NC Program

00 Einrichten
NC-PROGRAM
0 NOP

LEERZEICHEN

or

00 Einrichten
NC-PROGRAM
999 PSA
1 +000500.000
999

Vorschub absolut mit

Position absolut

If the cursor is positioned on

• the command, the “up” and “down” arrow keys scroll through the
command list. In addition, the description of the command
function is shown in the last two lines.
• on the first space of the input fields, depending on the meaning of
the command input field, the user can scroll through 'M'=marker
flag, 'I'=input, 'Q'=output, or '0'=no meaning using the "up" and
"down" arrow keys. In addition, the description of this input field
is shown in the last two lines.

Parameters

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00 Einrichten
PARAMETER H
A1 00
0 0

Bewegungsart

00 Einrichten
PARAMETER H
A1 01
0 1

Funktion Geber 2

If the cursor is positioned on

• the parameter block (A1,AA,B0;C0,CR,CM,CA), the “up” and
“down” arrow keys scroll through the block.
• the parameter number, the “up” and “down” arrow keys increment
or decrement the number. In addition, the description of the
parameter function is shown in the last two lines.
• on the first space of the input fields, depending on the meaning of
the command input field, the user can scroll through 'M'=marker
flag, 'I'=input, 'Q'=output, or '0'=no meaning using the "up" and
"down" arrow keys. In addition, the description of this input field
is shown in the last two lines.

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Diagnostic
Messages

00 Einrichten
MISCELLANEOUS

I/O/F MENU (F1)

PROGRAM-STATUS (F2)
VERMISCHTES (F3)

I / O / F - Menu

00 Einrichten
I/O/F MENU

EINGAENGE (F1)
AUSGAENGE (F2)
MERKER (F3)

00 Einrichten

SYSTEM-EINGAENGE
000100

EINGAENGE 01–10
1000000000

System inputs: Parameters, Automatic, Start, Stop, Jog+, Jog-

Ascending bit sequence from left to right

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00 Einrichten

SYSTEM INPUT
1010

AUSGAENGE 01–08
00000001

System outputs: Manual Mode, Automatic, Error, Run

Ascending bit sequence from left to right

00 Einrichten

Marker Flags

System outputs: Manual Mode, Automatic, Error, Run

Program Status

00 Einrichten
PROGRAM-STATUS

TASK1: 0000 NOP

TASK2: 0100 POI
TASK3: 0300 AKN

Other

00 Einrichten
VERMISCHTES

PARAMETER–HELP (F1)

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00 Einrichten

PARAMETER–HELP
+000000.001

+084225.089

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13-14 ECODRIVE03 FLP-01VRS

Special Displays

00 Einrichten
PARAMETER–HELP

PAR.–FEHLER (F1)
STANDARD-WERT (F2)

Pressing F1 displays the incorrect parameter number.

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ECODRIVE03 ELC-01VRS 14-1

14 Index

+
+24Volt DC error, 11-21
+24Volt-Fehler, 11-21

0
0x9002 (dL / 00) Firmware was cleared, 3-10
0x9003 Loading not allowed in phase 3, 3-11
0x9004 Loading not allowed in phase 4, 3-11
0x9102 (dL / 03) Firmware was cleared, 3-11
0x9103 Restart not allowed in phase 3, 3-11
0x9104 Restart not allowed in phase 4, 3-12
0x9200 (dL / 06) Read error, 3-12
0x9400 (dL / 07) Timeout during reset, 3-12
0x9402 (dL / 0F) Address range not in flash memory, 3-12
0x940A Reset only possible in loader, 3-12
0x96E0 (dL / 0b) Error verifying the flash memory, 3-12
0x96E1 (dL / 0C) Timeout programming the flash memory, 3-12
0x96FF (dL / 09) Error during write access to RAM, 3-12
0x9701 (dL / 0d) Wrong checksum, 3-13
0x9702 (dL / 0e) Wrong CRC32 checksum, 3-13

1
1MB, 4-1

2
2AD, 4-1

4
4kHz Signal fehlerhaft, 11-23
4-kHz signal wrong, 11-23

7
7-Segment display
Diagnostic message number, 3-8

A
Ab, 11-51
Abschaltung wegen Bleederüberlast, 11-6
Absolute encoder out of allowed window, 11-14
Absolute measuring system not installed, 11-39
Absolutgeber außerhalb des Überwachungsfensters, 11-14
Absolutmaß setzen, 11-38
Absolutmaß setzen bei gesetzter RF nicht möglich, 11-38
Abstand Referenzschalter-Referenzmarke fehlerhaft, 11-40
Achs-Variable, 5-7
Additional Problems when Loading Firmware, 3-13
Address, 9-11
Address range not in flash memory, 3-10
AF, 11-51
After switching the unit on, the display reads dL, 3-13
AH, 9-3, 11-51
Amplifer overtemp. shutdown, 11-5
Antrieb für Komm.einstellung nicht bereit, 11-44
Antrieb HALT, 11-46
ASCII Protocol, 9-11
AU, 11-51
Automatic execution of the "Load basic parameter " function, 3-6

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14-2 ECODRIVE03 ELC-01VRS

Automatic input, 9-2

Automatic Setting of the Motor Type for Motors with Feedback Memory, 4-2
Available Variables, 5-7
Axis Variables, 5-7

B
Basic load, 11-41
Basic load not possible with drive enable, 11-42
Basic parameter, 3-6
basic settings, 3-1
Batterie-Unterspannung, 11-12
Baud rate, 3-14
bb, 11-51
Bereit zur Leistungszuschaltung, 11-47
Best Possible Deceleration
Drive Error Reaction, 3-5
Bleeder overload prewarning, 11-25
Bleeder overload shutdown, 11-6
Bleeder-Vorwarnung, 11-25
Brückensicherung, 11-21
BTV04, 13-1
BTV04 Display Menu, 13-5
BTV04 Key Descriptions, 13-2
BTV04 X4 Inputs, 9-6
BTV04 X5 Outputs, 9-6
BTV04-Anzeigemenue, 13-5
BTV04-Tastenbeschreibung, 13-2

C
C201 Parametersatz unvollständig, 11-30
C202 Parameter Grenzwertfehler, 11-30
C202 Parameter limit error, 11-30
C203 Parameter calculation error, 11-30
C203 Parameter Umrechnungsfehler, 11-30
C204 Motor type P-0-4014 incorrect, 11-31
C204 Motorart Parameter CM00 fehlerhaft, 11-31
C210 Feedback 2 required, 11-31
C210 Geber 2 erforderlich, 11-31
C211 Invalid feedback data, 11-32
C211 Ungültige Feedbackdaten, 11-32
C212 Invalid amplifier data, 11-32
C212 Ungültige Verstärkerdaten, 11-32
C236 Feedback 1 required, 11-38
C236 Geber 1 erforderlich, 11-38
C500 Reset class 1 diagnostic, error reset, 11-39
C500 Reset, Fehler rücksetzen, 11-39
C801 Parameter default value erroneous, 11-44
C801 Parameter-Defaultwert fehlerhaft, 11-44
Clear errors, 3-5, 9-4
Clear errors with controller enable set, 3-5
Command adjust commutation, 11-44
Command communications interface, 1-3
Command set absolute measuring, 11-38
Command velocity limit active, 11-27
Communication phase 2, 11-46
Communication phase 3, 11-46
Communication phase 3 transition check, 11-29
Communication phase 4 transition check, 11-29
Communications via RS232 interface, 9-11
Communications via RS232 Interface, 9-11
Communications via RS485 Interface, 9-12
Connecting the motor holding brake, 4-6
Continuous current limit active, 11-26
Continuous current limit prewarning, 11-27
Control and power sections ready for operation, 11-47
Current measurement trim wrong, 11-15

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ECODRIVE03 ELC-01VRS 14-3

D
Data Storage, 3-3
Dauerstrombegrenzung aktiv, 11-26
Dauerstrombegrenzung Vorwarnung, 11-27
Default parameter load, 11-43
Default parameters invalid, 11-42
Default parameters not available, 11-42
Default-Parameter laden, 11-43
Default-Parameter ungültig, 11-42
Diagnoseanzeige
-0, 11-48
-1, 11-48
-2, 11-49
-3, 11-49
-5, 11-49
-6, 11-49
Watchdog , 11-49, 11-50
Diagnostic message
Composition of the diagnostic message, 3-8
Diagnostic message number, 3-8
Diagnostic Message Display
-0, 11-48
-1, 11-48
-2, 11-49
-3, 11-49
-5, 11-49
-6, 11-49
Watchdog , 11-49, 11-50
Distance home switch – reference mark erroneous, 11-40
DOLFI, 3-9
DOLFI Cannot Establish a Connection, 3-13
DOLFI Cannot Open the *.ibf File, 3-14
DOLFI Signals Timeout, 3-14
Drehmoment/Kraft zu klein für Bewegung, 11-45
Drive address, 9-11
Drive Controllers and Motors, 1-2
Drive enable, 9-3
Drive Error Reaction, 3-5
Drive HALT, 11-46
Drive not ready for commutation command, 11-44
Drive overtemp. prewarning, 11-24
Drive Stop, 9-3
Drive-controlled homing procedure command, 11-40

E
E263 Geschwindigkeitssollwert > Grenzwert A106, 11-27
E263 Velocity command value > limit A106, 11-27
ECODRIVE03 – A Family of Drives, 1-1
ECODRIVE03 - The Universal Drive Solution for Automation, 1-1
Eingabewert max. Verfahrbereich zu groß, 11-36
Emergency-Stop, 11-9, 11-16, 11-18
Encoder 1 failure
Quadrant error, 11-8
signal amplitude wrong, 11-19
Encoder 2 failure
Quadrant error, 11-11
Encoder combination not possible, 11-37
Erroneous internal hardware synchronization, 11-14
Error
Drive Error Reaction, 3-5
Error during flash memory verification, 3-10
Error during initialization of master communication, 11-15
Error Message in the Firmware Loader, 3-9
Error Reaction
Drive Error Reaction, 3-5
Error when writing to RAM, 3-10
Errors, 3-5
Clear errors, 3-5
E-Stop, 9-4

DOK-ECODR3-FLP-01VRS**-FK02-AE-P PRELIMINARY VERSION

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01

14-4 ECODRIVE03 ELC-01VRS

E-Stop aktiviert, 11-9, 11-16, 11-18

Excessive deviation, 11-7
Excessive position command difference, 11-10
Excessive position feedback difference, 11-9
Explanation of Terms, 3-1
Exzessive Lageistwertdifferenz, 11-9
Exzessive Lagesollwertdifferenz, 11-10
Exzessive Regelabweichung, 11-7

F
Fahrbereichsendschalter negativ betätigt, 11-19
Fahrbereichsendschalter positiv betätigt, 11-18
Fatal error of the interface card, 11-16
Fataler Fehler der DIO1.1-Karte, 11-16
Features, 9-11, 9-12
Feedback 1 data reading error, 11-34
Feedback 1 initializing error, 11-35
Feedback 2 data reading error, 11-34
Feedback 2 initializing error, 11-36
Fehler bei der Initialisierung, 11-15
Fehler bei der Initialisierung Geber 1, 11-35
Fehler bei Initialisierung Geber 2, 11-36
Fehler beim Lesen der Daten Geber 1, 11-34
Fehler beim Lesen der Daten Geber 2, 11-34
Fehler Geber 1
Quadrantenfehler, 11-8
Signalamplitude fehlerhaft, 11-19
Fehler Geber 2
Quadrantenfehler, 11-11
Signalamplitude fehlerhaft, 11-10
Fehler im Drehzahlregelkreis, 11-22
Firmware Functions, 1-4
Firmware loader, 3-9
Firmware Update in BTV04/05, 3-15
Firmware Update of ECODRIVE, 3-15
Firmware Update using the DOLFI Program, 3-9
Firmware was cleared, 3-10
Freie Variablen, 5-7
Function Overview:, 1-3

G
Geberkombination nicht möglich, 11-37
Geschwindigkeitssollwertbegrenzung aktiv, 11-27

H
H1 Display, 3-1, 3-8
HA, 11-51
Hardware-Synchronisation fehlerhaft, 11-14
Home position switch, 9-3
Homing of absolute encoder not possible, 11-40
Homing only possible with drive enable, 11-40
Homing velocity too high, 11-41

I
Incr. encoder emulator: pulse frequency too high, 11-13
Inkrementalgeberemulator: Frequenz zu hoch, 11-13
Input value for max. range too high, 11-36
Inputs, 9-5
Interface Mode, 9-10
Interface Protocol, 9-11

J
Jb, 11-51
JF, 11-51

PRELIMINARY VERSION DOK-ECODR3-FLP-01VRS**-FK02-AE-P

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01

ECODRIVE03 ELC-01VRS 14-5

Jog -, 9-3
Jog +, 9-3
Jog forward, 9-3
Jog reverse, 9-3

K
Kein absolutes Meßsystem vorhanden, 11-39
Kein Betriebsbereit vom Netzteil, 11-15
Kein inkrementelles Meßsystem, 11-46
Keine Defaultparameter vorhanden, 11-42
Kommando Antriebsgeführtes Referenzieren, 11-40
Kommando Kommutierungseinstellung, 11-44
Kommando Markerposition erfassen, 11-45
Kommunikationsphase 2, 11-46
Kommunikationsphase 3, 11-46

L
Ladefehler LCA, 11-31
Laden not allowed in phase 3, 3-10
LAF, 4-1
Lagegrenzwert negativ überschritten, 11-17
Lagegrenzwert positiv überschritten, 11-17
Lageregelung mit Geber 1, 11-47
Lageregelung mit Geber 2, 11-47
Lageregelung schleppabstandsfrei, Geber 1, 11-48
Lageregelung schleppabstandsfrei, Geber 2, 11-48
Language selection, 3-9
LAR, 4-1
Limit-, 9-3
Limit+, 9-3
Load error LCA, 11-31
Loading not allowed in phase 4, 3-10
Locked with password, 11-43, 11-44
Low battery voltage, 11-12
LSF, 4-1

M
Mains fault, 11-15
Manual input, 9-2
Max. signal frequency of encoder 1 exceeded, 11-8
Max. signal frequency of encoder 2 exceeded, 11-12
Max. Signalfrequenz für Geber 1 überschritten, 11-8
max. Signalfrequenz für Geber 2 überschritten, 11-12
MHD, 4-1
Motor feedback data memory, 4-1
Temperature Monitoring, 4-2
MKD, 4-1
Automatic Setting of the Motor Type, 4-2
Temperature Monitoring, 4-2
MKE, 4-1
Motor feedback data memory, 4-1
Modulo range error, 11-37
Modulo-Bereichs-Fehler, 11-37
Momenten-Grenzwert = 0, 11-26
Motor feedback
Saved parameters, 4-1
Motor holding brake, 4-3
Motor holding brake type, 4-4
Motor holding brake connection, 4-6
Motor overload, 11-24
Motor overtemp. prewarning, 11-25
Motor overtemp. shutdown, 11-5
Motor temp. surveillance defective, 11-7
Motor Types
Motor Characteristics, 4-1
Setting of the Motor Type, 4-2
Supported Motor Types, 4-1

DOK-ECODR3-FLP-01VRS**-FK02-AE-P PRELIMINARY VERSION

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01

14-6 ECODRIVE03 ELC-01VRS

Motor Übertemp.-Vorwarnung, 11-25

Motor-Temp.überwachung defekt, 11-7
Motor-Überlast, 11-24
Motor-Übertemp.-Abschaltung, 11-5

N
Negative travel limit exceeded, 11-17
Negative travel limit switch detected, 11-19
Netzausfall, 11-15
No ready signal from supply module, 11-15
NTC, 4-1

O
Output Automatic Mode, 9-4
Output Fault, 9-4
Output Manual Mode, 9-4
Output Ready, 9-4
Output Warning, 9-5
Outputs, 9-5
Overcurrent
short in power stage, 11-21
Overvoltage in power stage, 11-28

P
P2, 11-52
P3, 11-52
P4, 11-52
PA, 11-51
Parallel interface 2, 1-3
Parameter input, 9-2
Parameter nicht kopierbar, 11-43
Parameters not copyable, 11-43
Peak current
Saving in the motor feedback memory, 4-1
Pertinent Parameters for the motor holding brake, 4-3
Phase 2, 11-52
Phase 3, 11-52
Phase 4, 11-52
PL, 11-52
PL Defaultwerte der Parameter laden, 11-4
PL Load parameter default values, 11-4
Plain Text Diagnostic Message, 3-8
Position mode with encoder 1, 11-47
Position mode with encoder 2, 11-47
Position mode without lag, encoder 2, 11-48
Position mode without position lag (following error), encoder 1, 11-48
Positive travel limit exceeded, 11-17
Positive travel limit switch detected, 11-18
Power supply driver stages fault, 11-22
Probe, 9-3
Processor watchdog timer, 11-28
Profibus Inputs, 9-5
Profibus Outputs, 9-5
Profibus-DP interface, 1-3
Programming possible only in loader, 3-10
Prozessor-Watchdog, 11-28
PTC, 4-1

R
Rated current
Saving in the motor feedback memory, 4-1
Read error, 3-10
Ready for power on, 11-47
Referenzieren mit Absolutmaßgeber nicht möglich, 11-40
Referenzieren nur mit Reglerfreigabe möglich, 11-40

PRELIMINARY VERSION DOK-ECODR3-FLP-01VRS**-FK02-AE-P

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01

ECODRIVE03 ELC-01VRS 14-7

Referenziergeschwindigkeit zu groß, 11-41

Reset possible only in loader, 3-10
Restart not allowed in phase 3, 3-10
Restart not allowed in phase 4, 3-10
RF, 9-3
RS232 Mode, 9-10
RS485 Mode, 9-10

S
S1 key, 3-1
S2, 9-11
S2 button, 9-11
Safety Instructions for Electric Servo Drives and Controls, 2-1
Select the Download Baud Rate, 3-14
Serial Communication, 9-10
Setting absolute encoder not possible when RF set, 11-38
Setting the Motor Type, 4-2
Signal amplitude wrong, 11-10
SIS, 3-8
Spannung der Treiberstufen gestört, 11-22
Start input, 9-2
Status classes
Reset status class 1, 3-5
Steuer- und Leistungsteil betriebsbereit, 11-47
Stop input, 9-2
Strommessabgleich fehlerhaft, 11-15
Supported measuring systems, 1-3
Supported motor types, 1-2
Synchronous Motors, 4-3
System Inputs, 9-2
System Outputs, 9-4

T
Temperature Monitoring
Motor Temperature, 4-2
The programming of a module was terminated, 3-13
Timeout during delete, 3-10
Timeout when programming flash memory, 3-10
Torque limit = 0, 11-26
Travel limit switch -, 9-3
Travel limit switch +, 9-3

Ü
Überspannung im Leistungsteil, 11-28
UD_output, 9-5
UL, 11-52
UL Der Motortyp hat sich geändert, 11-4
UL The motor type has changed, 11-4
Umschaltvorbereitung Phase 2 nach 3, 11-29
Umschaltvorbereitung Phase 3 nach 4, 11-29
Unbekannte Betriebsart, 11-48
Undervoltage in power section, 11-7, 11-29
Unknown operating mode, 11-48
Unterspannung im Leistungsteil, 11-7, 11-29
Urladen, 11-41
Urladen bei Reglerfreigabe nicht möglich, 11-42

V
Variable, 5-6
Variables, 5-6
Variables-System, 5-7
Variable-System, 5-7
Velocity loop error, 11-22
Verriegelt mit Passwort, 11-43, 11-44
Verstärker Übertemp.-Vorwarnung, 11-24

DOK-ECODR3-FLP-01VRS**-FK02-AE-P PRELIMINARY VERSION

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01

14-8 ECODRIVE03 ELC-01VRS

Verstärker-Übertemp.-Abschaltung, 11-5

W
Warning Classes, 3-4
Warning, Motor temp. surveillance defective, 11-23
Warnung Motor-Temp.überwachung defekt, 11-23
Wichtung der Beschleunigungsdaten fehlerhaft, 11-33
Wichtung der Drehmoment/Kraftdaten fehlerhaft, 11-33
Wichtung der Geschwindigkeitsdaten fehlerhaft, 11-33
Wichtung der Lagedaten fehlerhaft, 11-32
Write access, 3-3
Wrong checksum, 3-10
Wrong CRC32 checksum, 3-10

PRELIMINARY VERSION DOK-ECODR3-FLP-01VRS**-FK02-AE-P

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01

ECODRIVE03 FLP-01VRS 15-1

15 Service & Support

15.1 Helpdesk
Unser Kundendienst-Helpdesk im Hauptwerk Lohr Our service helpdesk at our headquarters in Lohr am
am Main steht Ihnen mit Rat und Tat zur Seite. Main, Germany can assist you in all kinds of inquiries.
Sie erreichen uns Contact us

- telefonisch: +49 (0) 9352 40 50 60 - by phone: +49 (0) 9352 40 50 60

über Service-Call Entry Center Mo-Fr 07:00-18:00 via Service-Call Entry Center Mo-Fr 07:00 am -6:00 pm

- per Fax: +49 (0) 9352 40 49 41 - by fax: +49 (0) 9352 40 49 41

- per e-Mail: [email protected] - by e-mail: [email protected]

15.2 Service-Hotline
Außerhalb der Helpdesk-Zeiten ist der Service After helpdesk hours, contact our service
direkt ansprechbar unter department directly at

+49 (0) 171 333 88 26 +49 (0) 171 333 88 26

oder +49 (0) 172 660 04 06 or +49 (0) 172 660 04 06

15.3 Internet
Weitere Hinweise zu Service, Reparatur und Additional notes about service, repairs and training
Training finden Sie im Internet unter are available on the Internet at

www.indramat.de www.indramat.de

Außerhalb Deutschlands nehmen Sie bitte zuerst Please contact the sales & service offices in your
Kontakt mit Ihrem lokalen Ansprechpartner auf. Die area first. Refer to the addresses on the following
Adressen sind im Anhang aufgeführt. pages.

15.4 Vor der Kontaktaufnahme... - Before contacting us...

Wir können Ihnen schnell und effizient helfen wenn For quick and efficient help, please have the
Sie folgende Informationen bereithalten: following information ready:
1. detaillierte Beschreibung der Störung und der 1. Detailed description of the failure and
Umstände. circumstances.
2. Angaben auf dem Typenschild der 2. Information on the type plate of the affected
betreffenden Produkte, insbesondere products, especially type codes and serial
Typenschlüssel und Seriennummern. numbers.
3. Telefon-/Faxnummern und e-Mail-Adresse, 3. Your phone/fax numbers and e-mail address,
unter denen Sie für Rückfragen zu erreichen so we can contact you in case of questions.
sind.

DOK-ECODR3-FLP-01VRS**-FK02-AE-P PRELIMINARY VERSION

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01

15-2 ECODRIVE03 FLP-01VRS

15.5 Kundenbetreuungsstellen - Sales & Service Facilities

Verkaufsniederlassungen sales agencies
Niederlassungen mit Kundendienst offices providing service

Deutschland – Germany vom Ausland: (0) nach Landeskennziffer weglassen!

from abroad: don’t dial (0) after country code!

Vertriebsgebiet Mitte
Germany Centre SERVICE SERVICE SERVICE
Rexroth Indramat GmbH CALL ENTRY CENTER HOTLINE ERSATZTEILE / SPARES
Bgm.-Dr.-Nebel-Str. 2 MO – FR MO – FR verlängerte Ansprechzeit
97816 Lohr am Main von 07:00 - 18:00 Uhr von 17:00 - 07:00 Uhr - extended office time -
from 5 pm - 7 am ♦ nur an Werktagen
Kompetenz-Zentrum Europa from 7 am – 6 pm + SA / SO - only on working days -
Telefon: +49 (0)9352 40-0 ♦ von 07:00 - 18:00 Uhr
Tel. +49 (0) 9352 40 50 60 Tel.: +49 (0)172 660 04 06
Telefax: +49 (0)9352 40-4885 - from 7 am - 6 pm -
[email protected] oder / or
Tel.: +49 (0)171 333 88 26 Tel. +49 (0) 9352 40 42 22

Vertriebsgebiet Süd Gebiet Südwest Vertriebsgebiet Ost Vertriebsgebiet Nord

Germany South Germany South-West Germany East Germany North
Rexroth Indramat GmbH Mannesmann Rexroth AG Rexroth Indramat GmbH Mannesmann Rexroth AG
Ridlerstraße 75 Vertrieb Deutschland – VD-BI Beckerstraße 31 Vertriebsniederlassung Region Nord
80339 München Geschäftsbereich Rexroth Indramat 09120 Chemnitz Gesch.ber. Rexroth Indramat
Regionalzentrum Südwest Walsroder Str. 93
Ringstrasse 70 / Postfach 1144 30853 Langenhagen
70736 Fellbach / 70701 Fellbach
Telefon: +49 (0)89 540138-30
Telefax: +49 (0)89 540138-10 Tel.: +49 (0)711 57 61–100 Telefon: +49 (0)371 35 55-0 Telefon: +49 (0) 511 72 66 57-0
[email protected] Fax: +49 (0)711 57 61–125 Telefax: +49 (0)371 35 55-333 Telefax: +49 (0) 511 72 66 57-95

Vertriebsgebiet West Vertriebsgebiet Mitte Vertriebsgebiet Ost Vertriebsgebiet Nord

Germany West Germany Centre Germany East Germany North
Mannesmann Rexroth AG Mannesmann Rexroth AG Mannesmann Rexroth AG Rexroth Indramat GmbH
Vertrieb Deutschland Gesch.ber. Rexroth Indramat GB Rexroth Indramat GmbH Kieler Straße 212
Regionalzentrum West Lilistraße 14-18 Holzhäuser Str. 122 22525 Hamburg
Borsigstrasse 15 63067 Offenbach 04299 Leipzig
40880 Ratingen
Telefon: +49 (0)2102 409-0 Telefon: +49 (0) 69 82 00 90-0 Telefon: +49 (0)341 86 77-0 Telefon: +49 (0) 40 81 955 966
Telefax: +49 (0)2102 409-406 Telefax: +49 (0) 69 82 00 90-80 Telefax: +49 (0)341 86 77-219 Telefax: +49 (0) 40 85 418 978

PRELIMINARY VERSION DOK-ECODR3-FLP-01VRS**-FK02-AE-P

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01

ECODRIVE03 FLP-01VRS 15-3

Europa – Europe vom Ausland: (0) nach Landeskennziffer weglassen, Italien: 0 nach Landeskennziffer mitwählen
from abroad: don’t dial (0) after country code, Italy: dial 0 after country code

Austria - Österreich Austria - Österreich Belgium - Belgien Denmark - Dänemark

Mannesmann Rexroth Ges.m.b.H. Mannesmann Rexroth G.m.b.H. Mannesmann Rexroth N.V.-S.A. BEC AS
Gesch.ber. Rexroth Indramat Gesch.ber. Rexroth Indramat Gesch.ber. Rexroth Indramat Zinkvej 6
Hägelingasse 3 Industriepark 18 Industrielaan 8 8900 Randers
1140 Wien 4061 Pasching 1740 Ternat
Telefon: +43 (0)1 9852540-400 Telefon: +43 (0)7221 605-0 Telefon: +32 (0)2 5830719 Telefon: +45 (0)87 11 90 60
Telefax: +43 (0)1 9852540-93 Telefax: +43 (0)7221 605-21 Telefax: +32 (0)2 5830731 Telefax: +45 (0)87 11 90 61
[email protected]

Czech Republic - Tschechien England Finland - Finnland France - Frankreich

Mannesmann-Rexroth, spol.s.r.o. Mannesmann Rexroth Ltd. Rexroth Mecman Oy Mannesmann Rexroth S.A.
Hviezdoslavova 5 Rexroth Indramat Division Rexroth Indramat division Division Rexroth Indramat
627 00 Brno Broadway Lane, South Cerney Ansatie 6 Parc des Barbanniers
Cirencester, Glos GL7 5UH 017 40 Vantaa 4, Place du Village
92632 Gennevilliers Cedex
Telefon: +420 (0)5 48 126 358 Telefon: +44 (0)1285 863000 Telefon: +358 (0)9 84 91-11 Telefon: +33 (0)141 47 54 30
Telefax: +420 (0)5 48 126 112 Telefax: +44 (0)1285 863030 Telefax: +358 (0)9 84 91-13 60 Telefax: +33 (0)147 94 69 41
Hotline: +33 (0)608 33 43 28

France - Frankreich France - Frankreich Hungary - Ungarn Italy - Italien

Mannesmann Rexroth S.A. Mannesmann Rexroth S.A. Mannesmann Rexroth Kft. Mannesmann Rexroth S.p.A.
Division Rexroth Indramat Division Rexroth Indramat Angol utca 34 Divisione Rexroth Indramat
270, Avenue de Lardenne 91, Bd. Irène Joliot-Curie 1149 Budapest Via G. Di Vittoria, 1
31100 Toulouse 69634 Vénissieux – Cedex 20063 Cernusco S/N.MI
Telefon: +33 (0)5 61 49 95 19 Telefon: +33 (0)4 78 78 53 65 Telefon: +36 (1) 364 00 02 Telefon: +39 02 2 365 270
Telefax: +33 (0)5 61 31 00 41 Telefax: +33 (0)4 78 78 53 62 Telefax: +36 (1) 383 19 80 Telefax: +39 02 700 408 252378

Italy - Italien Italy - Italien Italy - Italien Italy - Italien

Mannesmann Rexroth S.p.A. Mannesmann Rexroth S.p.A. Mannesmann Rexroth S.p.A. Mannesmann Rexroth S.p.A.
Divisione Rexroth Indramat Divisione Rexroth Indramat Divisione Rexroth Indramat Divisione Rexroth Indramat
Via Borgomanero, 11 Via del Progresso, 16 (Zona Ind.) Via Mascia, 1 Viale Oriani, 38/A
10145 Torino 35020 Padova 80053 Castellamare di Stabia NA 40137 Bologna
Telefon: +39 011 7 50 38 11 Telefon: +39 049 8 70 13 70 Telefon: +39 081 8 71 57 00 Telefon: +39 051 34 14 14
Telefax: +39 011 7 71 01 90 Telefax: +39 049 8 70 13 77 Telefax: +39 081 8 71 68 85 Telefax: +39 051 34 14 22

Netherlands - Niederlande/Holland Netherlands - Niederlande/Holland Norway - Norwegen Poland - Polen

Rexroth B.V. Rexroth Hydrocare B.V. Rexroth Mecman AS Mannesmann Rexroth Sp.zo.o.
Kruisbroeksestraat 1 Kruisbroeksestraat 1 Rexroth Indramat Division Biuro Poznan
(P.O. Box 32) (P.O. Box 32) Berghagan 1 or: Box 3007 ul. Dabrowskiego 81/85
5281 RV Boxtel 5281 RV Boxtel 1405 Ski-Langhus 1402 Ski 60-529 Poznan
Telefon: +31 (0)411 65 19 51 Telefon: +31 (0)411 65 19 51 Telefon: +47 (0)64 86 41 00 Telefon: +48 061 847 67 99
Telefax: +31 (0)411 65 14 83 Telefax: +31 (0)411 67 78 14 Telefax: +47 (0)64 86 90 62 Telefax: +48 061 847 64 02
[email protected]

Rumania - Rumänien Russia - Russland Spain - Spanien Spain - Spanien

Mannesmann Rexroth Sp.zo.o. Tschudnenko E.B. Mannesmann Rexroth S.A. Goimendi S.A.
Str. Drobety nr. 4-10, app. 14 Arsenia 22 Divisiòn Rexroth Indramat División Rexroth Indramat
70258 Bucuresti, Sector 2 153000 Ivanovo Centro Industrial Santiga Parque Empresarial Zuatzu
Obradors s/n C/ Francisco Montagne no.2
08130 Santa Perpetua de Mogoda 20018 San Sebastian
Barcelona
Telefon: +40 (0)1 210 48 25 Telefon: +7 093 223 96 33 Telefon: +34 9 37 47 94 00 Telefon: +34 9 43 31 84 21
+40 (0)1 210 29 50 oder/or +7 093 223 95 48 Telefax: +34 9 37 47 94 01 - service: +34 9 43 31 84 56
Telefax: +40 (0)1 210 29 52 Telefax: +7 093 223 46 01 Telefax: +34 9 43 31 84 27
- service: +34 9 43 31 84 60
[email protected]

Sweden - Schweden Slowenia - Slowenien Switzerland East - Schweiz Ost Switzerland West - Schweiz West
Rexroth Mecman Svenska AB Rexroth Indramat Mannesmann Rexroth Schweiz AG Mannesmann Rexroth Suisse SA
Rexroth Indramat Division elektromotorji d.o.o. Gesch.ber. Rexroth Indramat Département Rexroth Indramat
Varuvägen 7 Otoki 21 Gewerbestraße 3 Rue du village 1
125 81 Stockholm 64 228 Zelezniki 8500 Frauenfeld 1020 Renens
Telefon: +46 (0)8 727 92 00 Telefon: +386 64 61 73 32 Telefon: +41 (0)52 720 21 00 Telefon: +41 (0)21 632 84 20
Telefax: +46 (0)8 647 32 77 Telefax: +386 64 64 71 50 Telefax: +41 (0)52 720 21 11 Telefax: +41 (0)21 632 84 21

Turkey - Türkei
Mannesmann Rexroth Hidropar A..S.
Fevzi Cakmak Cad No. 3
34630 Sefaköy Istanbul
Telefon: +90 212 541 60 70
Telefax: +90 212 599 34 07

DOK-ECODR3-FLP-01VRS**-FK02-AE-P PRELIMINARY VERSION

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01

15-4 ECODRIVE03 FLP-01VRS

Africa, Asia, Australia – incl. Pacific Rim

vom Ausland: (x) nach Landeskennziffer weglassen!
from abroad: don’t dial (x) after country code!

Australia - Australien Australia - Australien China China

AIMS - Australian Industrial Mannesmann Rexroth Pty. Ltd. Shanghai Mannesmann Rexroth Mannesmann Rexroth (China) Ldt.
Machinery Services Pty. Ltd. No. 7, Endeavour Way Hydraulics & Automation Ltd. 15/F China World Trade Center
Unit 3/45 Horne ST Braeside Victoria, 31 95 Wai Gaoqiao Free Trade Zone 1, Jianguomenwai Avenue
Campbellfield , VIC 3061 Melbourne No.122, Fu Te Dong Yi Road Beijing 100004, P.R.China
Melbourne Shanghai 200131 - P.R.China

Telefon: +61 (0)3 93 59 02 28 Telefon: +61 (0)3 95 80 39 33 Telefon: +86 21 58 66 30 30 Telefon: +86 10 65 05 03 80
Telefax: +61 (0)3 93 59 02 86 Telefax: +61 (0)3 95 80 17 33 Telefax: +86 21 58 66 55 23 Telefax: +86 10 65 05 03 79
[email protected]

China China Hongkong India - Indien

Mannesmann Rexroth (China) Ldt. Mannesmann Rexroth (China) Ldt. Rexroth (China) Ldt. Mannesmann Rexroth (India) Ltd.
A-5F., 123 Lian Shan Street Guangzhou Repres. Office 1/F., 19 Cheung Shun Street Rexroth Indramat Division
Sha He Kou District Room 1014-1016, Metro Plaza, Cheung Sha Wan, Plot. A-58, TTC Industrial Area
Dalian 116 023, P.R.China Tian He District, 183 Tian He Bei Rd Kowloon, Hongkong Thane Turbhe Midc Road
Guangzhou 510075, P.R.China Mahape Village
Navi Mumbai - 400 701
Telefon: +86 411 46 78 930 Telefon: +86 20 8755-0030 Telefon: +852 22 62 51 00
Telefax: +86 411 46 78 932 +86 20 8755-0011 Telefax: +852 27 41 33 44 Telefon: +91 (0)22 7 61 46 22
Telefax: +86 20 8755-2387 Telefax: +91 (0)22 7 68 15 31

India - Indien Indonesia - Indonesien Japan Japan

Mannesmann Rexroth (India) Ltd. PT. Rexroth Wijayakusuma Rexroth Automation Co., Ltd. Rexroth Automation Co., Ltd.
Rexroth Indramat Division Jl. Raya Bekasi Km 21 Service Center Japan Rexroth Indramat Division
Plot. 96, Phase III Pulogadung Yutakagaoka 1810, Meito-ku, 1F, I.R. Building
Peenya Industrial Area Jakarta Timur 13920 NAGOYA 465-0035, Japan Nakamachidai 4-26-44, Tsuzuki-ku
Bangalore - 560058 YOKOHAMA 224-0041, Japan
Telefon: +81 (0)52 777 88 41
Telefon: +91 (0)80 8 39 73 74 Telefon: +62 21 4 61 04 87 +81 (0)52 777 88 53 Telefon: +81 (0)45 942 72 10
Telefax: +91 (0)80 8 39 43 45 +62 21 4 61 04 88 +81 (0)52 777 88 79 Telefax: +81 (0)45 942 03 41
Telefax: +62 21 4 60 01 52 Telefax: +81 (0)52 777 89 01

Korea South Africa - Südafrika Taiwan Thailand

Mannesmann Rexroth-Korea Ltd. TECTRA Automation (Pty) Ltd. Rexroth Uchida Co., Ltd. NC Advance Technologies Co. Ltd.
Rexroth Indramat Division 28 Banfield Road,Industria North No.17, Lane 136, Cheng Bei 1 Rd., 59/76 Moo 9
1500-12 Dadae-Dong- Saha-Ku RSA - Maraisburg 1700 Yungkang, Tainan Hsien Soi Ramintra 34
Pusan, 604-050 Taiwan, R.O.C. Ramintra Road, Tharang, Bangkhen
Telefon: +27 (0)11 673 20 80
Republic of South Korea Bangkok 10220
Telefax: +27 (0)11 673 72 69 Telefon: +886 (0)6 25 36 565
Telefon: +82 (0)51 26 00 741 Telefax: +886 (0)6 25 34 754 Telefon: +66 2 943 70 62
Telefax: +82 (0)51 26 00 747 +66 2 943 71 21
[email protected] Telefax: +66 2 509 23 62
[email protected]

PRELIMINARY VERSION DOK-ECODR3-FLP-01VRS**-FK02-AE-P

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01

ECODRIVE03 FLP-01VRS 15-5

Nordamerika – North America

USA USA Central Region - Mitte USA Southeast Region - Südwest USA SERVICE-HOTLINE
Hauptniederlassung - Headquarters
Mannesmann Rexroth Corporation Mannesmann Rexroth Corporation
Mannesmann Rexroth Corporation Rexroth Indramat Division Rexroth Indramat Division
- 7 days x 24hrs -
Rexroth Indramat Division Central Region Technical Center Southeastern Technical Center
5150 Prairie Stone Parkway Auburn Hills, MI 48326 3625 Swiftwater Park Drive
Hoffman Estates, IL 60192-3707 Suwanee, Georgia 30174
+1-800-860-1055
Competence Centre America
Telefon: +1 248 3 93 33 30 Telefon: +1 770 9 32 32 00
Telefon: +1 847 6 45 36 00 Telefax: +1 770 9 32 19 03
Telefax: +1 248 3 93 29 06
Telefax: +1 847 6 45 62 01
[email protected]

USA Northeast Region – Nordost USA Northeast Region – Nordost Canada East - Kanada Ost Canada West - Kanada West
Mannesmann Rexroth Corporation Mannesmann Rexroth Corporation Basic Technologies Corporation Basic Automation Burnaby
Rexroth Indramat Division Rexroth Indramat Division Burlington Division 5345 Goring St.
Charlotte Regional Sales Office Northeastern Technical Center 3426 Mainway Drive Burnaby, British Columbia
14001 South Lakes Drive 99 Rainbow Road Burlington, Ontario Canada V7J 1R1
Charlotte, North Carolina 28273 East Granby, Connecticut 06026 Canada L7M 1A8
Telefon: +1 704 5 83 97 62 Telefon: +1 905 335 55 11 Tel. +1 604 205-5777
+1 704 5 83 14 86 Telefon: +1 860 8 44 83 77 Telefax: +1 905 335-41 84 Fax +1 604 205-6944
Telefax: +1 860 8 44 85 95 [email protected]

Südamerika – South America

Argentina - Argentinien Argentina - Argentinien Brazil - Brasilien Brazil - Brasilien
Mannesmann Rexroth S.A.I.C. NAKASE Mannesmann Rexroth Mannesmann Rexroth
Division Rexroth Indramat Servicio Tecnico CNC Automação Ltda. Automação Ltda.
Acassusso 48 41/7 Calle 49, No. 5764/66 Divisão Rexroth Indramat Divisão Rexroth Indramat
RA - 1605 Munro (Buenos Aires) RA - 1653 Villa Balester Rua Georg Rexroth, 609 R. Dr.Humberto Pinheiro Vieira, 100
Prov. - Buenos Aires Vila Padre Anchieta Distrito Industrial
Telefon: +54 (0)11 4756 01 40
BR - 09951-270 Diadema-SP BR - 89220-390 Joinville - SC
Telefax: +54 (0)11 4762 6862 Telefon: +54 (0) 11 4768 36 43
[email protected]
[ Caixa Postal 377 ] [ Caixa Postal 1273 ]
Telefax: +54 (0) 11 4768 24 13 [ BR-09901-970 Diadema-SP ]
[email protected] Tel./Fax: +55 (0)47 473 58 33
[email protected] Telefon: +55 (0)11 4075 90 60 Mobil: +55 (0)47 974 66 45
+55 (0)11 4075 90 70 [email protected]
Telefax: +55 (0)11 4075 35 52
[email protected]

Mexico
Mannesmann Rexroth Mexico S.A.
de C.V.
Calle Neptuno 72
Unidad Ind. Vallejo
MEX - 07700 Mexico, D.F.
Telefon: +52 5 754 17 11
+52 5 754 36 84
+52 5 754 12 60
Telefax: +52 5 754 50 73
+52 5 752 59 43

DOK-ECODR3-FLP-01VRS**-FK02-AE-P PRELIMINARY VERSION

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01

15-6 ECODRIVE03 FLP-01VRS

Notizen - Notes

PRELIMINARY VERSION DOK-ECODR3-FLP-01VRS**-FK02-AE-P

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01

LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01
LSA Control S.L. www.lsa-control.com [email protected] (+34) 960 62 43 01