BAUMÜLLER

Compact Unit
BUM 618/619

Technical description and

operation manual

E 5.93025.17 Edition January 1997

 BAUMÜLLER

COMPACT UNIT
BUM 618/619

Technical description and operation manual

Edition January 1997

5.93025.17

READ AND COMPLY WITH THE OPERATION MANUAL AND

THE SAFETY NOTES BEFORE COMMISSIONING

This manual contains the necessary information for normal opteration of the products described
therein. The drives may only be used, maintained and repaired by personnel familiar with the operation
manual and the applicable regulations on working safety and accident prevention. The devices are
manufactured to a high technical specification and are operationally safe. Provided that all safety
instructions habe been adhered to, there will be no personal danger during the installation and
commissioning stages.

The commisioning is prohibited until it has been positively determined that the machine, into which
these components are to be incorporated, complies with EC machine regulations.

This technical description replaces and nullifies all provious description. In order to provide the best
possible service, we reserve the right to alter information without notice.

Manufacturer and Baumüller Nürnberg GmbH

Supplier's address: Ostendstr. 80
90482 Nürnberg
Germany
Tel. (++49-911) 5432 - 0 Fax (++49-911) 5432 - 130
Copyright: The technical description and the operation manual may not be copied or
duplicated without our permission.
Country of origin: Made in Germany
Date of manufacture: Determined from the serial number on the machine/motor.
 Table of contents

TABLE OF CONTENTS

1 Safety notes ....................................................................................................... 1

2 Technical data ................................................................................................... 5

2.1 General....................................................................................................................... 5
2.2 Electrical Data ............................................................................................................ 7
2.3 Type code................................................................................................................... 8

3 Transport, removal of the packaging .............................................................. 9

4 Assembly ........................................................................................................... 11
4.1 Dimensions.................................................................................................................12
4.2 Assembly notes........................................................................................................... 14

5 Installation ......................................................................................................... 15
5.1 Hazard notes .............................................................................................................. 15
5.2 EMC Information......................................................................................................... 16
5.3 Checks prior to installation .......................................................................................... 22
5.4 LED displays............................................................................................................... 23
5.5 Terminal diagram........................................................................................................ 24
5.6 Connector pin assignment........................................................................................... 30
5.6.1 Power terminals........................................................................................... 30
5.6.2 BUM 618 control terminals........................................................................... 32
5.6.3 BUM 619 control terminals BUM 619 ........................................................... 41
5.7 Connection cable ........................................................................................................ 44
5.7.1 Connection cables for the resolver/incremental encoder .............................. 44
5.7.2 Serial PC connection cable.......................................................................... 45
5.7.3 Connection cable RS485 ............................................................................. 46
5.8 Mains transformer technical data ................................................................................ 47
5.9 Line reactor technical data .......................................................................................... 48
5.10 Accessories............................................................................................................... 49

6 Commissioning ................................................................................................. 51
6.1 Initial commissioning of the drive system .................................................................... 53
6.2 Commissioning the set value generator ...................................................................... 56

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Table of contents

7 Parameters......................................................................................................... 57
7.1 Function diagram ........................................................................................................ 57
7.2 Ramp function generator (ID no. 1 - 17)...................................................................... 59
7.3 Resolver evaluation (ID no. 20 - 29)............................................................................ 63
7.4 Field angle calculation (ID no. 30 - 36)........................................................................ 65
7.5 Transformation of coordinates (ID no. 39 - 46) ............................................................ 67
7.6 Speed controller (ID no. 50 - 62) ................................................................................. 69
7.7 Current controller (ID no. 70 - 87) ............................................................................... 73
7.8 Overload monitoring (ID no. 88 - 93)........................................................................... 76
7.9 Extended current monitoring (ID no. 94 - 99) .............................................................. 79
7.10 Pulse Width Modulation (ID no. 100 - 103)................................................................ 81
7.11 Power supply (ID no. 110 - 112) ................................................................................ 83
7.12 Power unit (ID no. 115 - 117) .................................................................................... 84
7.13 Drive manager (ID no. 120 - 133).............................................................................. 85
7.14 Set value generator (ID no. 140 - 150) ...................................................................... 102
7.15 Motor temperature monitoring (ID no. 151 - 152)....................................................... 104
7.16 Operating system (ID no. 160 - 163) ......................................................................... 105
7.17 Service interface (ID no. 170 - 171) .......................................................................... 106
7.18 Link to USS protocol (ID no. 180 - 186)..................................................................... 107
7.19 Data set management (ID no. 190 - 196) .................................................................. 112
7.20 Position controller (ID no. 200 - 213)......................................................................... 117
7.21 Incremental encoder (ID no. 240 - 248)..................................................................... 124
7.22 Motor potentiometer (ID no. 270 - 276) ..................................................................... 128
7.23 Analog inputs (ID no. 277 - 304)................................................................................ 130
7.24 Option: Analog outputs (ID no. 330 - 341) ................................................................. 137
7.25 Digital inputs (ID no. 370 - 382)................................................................................. 139
7.26 Relay output (ID no. 393 - 396) ................................................................................. 143

8 Maintenance....................................................................................................... 145
8.1 Maintenance notes...................................................................................................... 145
8.2 Error messages........................................................................................................... 146
8.3 Disposal...................................................................................................................... 150

9 Appendix ............................................................................................................ 151

9.1 Suitable 3-phase servo-motors ................................................................................... 151
9.2 Manufacturer Declaration............................................................................................ 154
9.3 Declaration of Conformity ........................................................................................... 155
9.4 Conditions of Business and Delivery ........................................................................... 156
9.5 Index .......................................................................................................................... 157

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 Abbreviations

ABBREVIATIONS
AC Alternation current Ink Graduation mark number inkremental encoder
AI Function module analog inputs M Function module drive manager
AM Asynchronous motor Mot Function module motor temp. monitoring
AO Function module analog outputs MT Motor temperature
BASS Baumüller drive serial interface N Function module speed controller
BSA Analog reference potential OS Function module operating system
BSD Digital reference potential PC Function module position controller
BUM Baumüller converter mono unit PD Process data
CPU Central prozessing unit PIV Parameter information value
CT Function module coordinate transformation PU Function module power unit
DA Digital/analog PWM Function module pulse width modulation
DC Direct current Res Function module resolver evaluation
DI Function module digital inputs RF Pulse enabling
DO Function module digital outputs RFG Function module ramp function generator
DSM Function module data set management RO Function module relay output
EA Function module motor potentiometer S Function module service interface
EMC Elektromagnetic compatibility SM Synchronous motor
Ext Function module current monitoring SWG Function module specified value generator
FI Function module feed in TM Temperature motor
I Function module current controller USS Function module USS protocol
I2t Function module overload monitoring ZK Intermediate circuit
ID no. Identification number
IE Function module incremental encoder
Inc Position counter

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 Safety notes

1 SAFETY NOTES

Preliminary Remarks
During operation, the principles on which the power converter and the motor work lead to leakage
currents to earth that may be dissipated via the specified protective earths and may result in a cur-
rent-operated e.l.c.b. on the input side blowing prematurely.
In the case of a short-circuit to frame or to ground, a direct proportion may arise in the leakage cur-
rent that makes triggering a higher-level current-operated e.l.c.b. either more difficult or totally im-
possible.
This means that connecting the power converter to the mains using only the current-operated e.l.c.b.
is prohibited (preliminary standard EN 50178/VDE 0160/11.94, Sections 5.2.11 and 5.3.2.1).

The units are protected from direct contact by being installed in commercially available switching
cabinets that meet the minimum protection requirements of preliminary standard EN 50178/VDE
0160/11.94, Section 5.2.4.

Sheets of plastic covering the equipment connection act as additional guards preventing accidental
contact at commissioning and in the case of casual use of control elements located close to the
equipment (DIN VDE 0106 Part 100, Accident Prevention Regulation VBG4 "Electrical Systems and
Equipment").

At routine testing of this equipment, a high-voltage test is carried out that conforms with preliminary
standard EN 50178/VDE 0160/11.94, Section. 9.4.5.

The protective measures and safety regulations according to DIN/VDE are binding for personal se-
curity.

Neglecting to fit PE connections on the equipment or the motor will result in serious personal injury
and/or considerable damage to property.

The equipment may only be run on grounded supply networks.

Sections carrying current take more than one minute to discharge.

The equipment is conditionally shortcircuit-proof.

General Information
These operating instructions contain all the information necessary for correct operation of the prod-
ucts described. The document is intended for specially trained, technically qualified personnel who
are well-versed in all warnings and commissioning activities.

The equipment/system is manufactured using state-of-the-art technology and is safe in operation. It

can safely be installed and commissioned and functions without problems if the safety information
below is followed.

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Safety notes

WARNING
When operating electrical equipment, some parts of the equipment always carry dangerous voltages.

Ignoring these safety instructions and warnings may result in serious personal injury and/or damage to
property.

Only qualified personnel who are familiar with the safety information, assembly, operation and main-
tenance instructions may carry out work on this equipment.

Danger Information
On the one hand, the information below is for your own personal safety and on the other to prevent
damage to the described products or to other connected equipment.

In the context of the operating instructions and the information on the products themselves, the terms
used have the following meanings:

DANGER
This means that death, severe personal injury, or damage to property will occur unless appropriate
safety measures are taken.

WARNING

This means that death, severe personal injury, or considerable damage to property may occur unless
appropriate safety measures are taken.

NOTE

This draws your attention to important information about the product, handling of the product or to a
particular section of the documentation.

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 Safety notes

Qualified Personnel
In the context of the safety-specific information in this document or on the products themselves,
qualified personnel are considered to be persons who are familiar with setting up, assembling, com-
missioning and operating the product and who have qualifications appropriate to their activities.

Trained or instructed or authorized to commission, ground and mark circuits and equipment in accor-
dance with recognized safety standards.

Trained or instructed in accordance with recognized safety standards in the care and use of appropri-
ate safety equipment.

Appropriate Use

WARNING

You may only use the equipment/system for the purposes specified in the operating instructions and
in conjunction with the third-party equipment and components recommended or authorized by
BAUMÜLLER NÜRNBERG GmbH.

For safety reasons, you must not change or add components on/to the equipment/system.

The machine minder must report immediately any changes that occur which adversely affect the
safety of the equipment/system.

Appropriate use also includes observing the operating instructions and complying with the conditions
of inspection and maintenance.

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Technical data

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General Technical data

2 TECHNICAL DATA
2.1 General

BUM 618 and BUM 619 are digital single-axis controllers for the operation of 0.5 kW, 0.75 kW or
1.5 kW servo motors.

Special attention has been given to ergonomics, compact size and simple assembly in the develop-
ment of these units. It goes without saying that they have all the advantages of digital controllers,
such as smoothness and speed exactness, drift resistance, communications facilities and high-quality
control capability.

Features
The single-axis controllers are supplied in 2 different housings:

BUM 619 as a slide-in unit for the 19" system and BUM 618 as a compact unit in its own housing.

Feed in / power supply

• Connection via transformer 3 x 230 V secondary, or single-phase via line reactor, to the
230 V mains

• Main contactor and and charging circuit are integrated into the unit and are administered by
the controller

• Starting current peaks are prevented by the charging circuit

• The power unit is protected against short-circuit, short to earth and overvoltage

• 4-quadrant operation with internal (optional) or external ballast resistance

• The control electronics are isolated from the power unit

• Integrated switched-mode power supply for the controller

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Technical data General

Control

• Synchronous motor control

• Controller structure is set out for speed control with subordinated current control and
master position control or synchronisation control (optional)

• Digital control via 16 bit microprocessor

• The digital controller

drift-free operation

excellent smoothness characteristics

good control response and rigidity throughout the speed range

control range 1 : 500 in respect to nominal speed with digital value selection
1 : 250 in respect to nominal speed with analog value selection

• According to requirements, the controller can be operated via

analog specified value selection and switching inputs

serial interface RS 485 for drive networking via USS protocol

serial interface RS 232 for PC operation, parameter assignment, commissioning
and servicing, as well as archiving the control parameters on disk

• Outputs:

relay contacts "ready for use" message
programmable functions

• Inputs:

enable main contactor

enable pulse

3 programmable function inputs

analog inputs (0 .... ± 10 V)

RS 232 with potential-free voltage supply

RS 485 with potential-free voltage supply

• Service- and operation software PCBASS

Options

• Either internal or external ballast restistor

• Incremental encoder input
• Incremental encoder emulation
• 2 additional analog output
• Positioning software
• Synchronisation control software

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Electrical data Technical data

2.2 Electrical Data

BUM 618/619 BUM 618/619 - 6 / 9 BUM 618/619 - 12 / 18

-4/6
Connection voltage 1 x 230 V bzw. 3 x 230 V 3 x 230 V
+ 6 % / - 10 % + 6 % / - 10 %
50 / 60 Hz 50 / 60 Hz
Fusing 10 A slow fuse
Nominal intermediate circuit 310 V DC
voltage
Output voltage 0 ... connection voltage
Output performance 1.1 kVA 1.7 kVA 3.4 kVA
4 A ( 2.8 Aeff ) 6 A ( 4.2 Aeff ) 12 A ( 8.5 Aeff )
Output nominal current
IN (Ieff)
when TK = 45 °C
6 A ( 4.2 Aeff ) 9 A ( 6.4 Aeff ) 18 A ( 12.7 Aeff )
Output peak current
IS (Ieff)
(t < 1s) when TK = 45 °C
Permitted transistor clock frequency 8 kHz
Typical motor performance 0.5 kW 0.75 kW 1.5 kW
External reactance (with 1 x 230 V) 4 % uk 4 % uk -
Low voltage supply connection voltage 230 V ~
Connection to L1 and L3 before main contactor K1
Main contactor K1 3 x 12 A / 250 V AC
Coil 15 V 80 mA (minimum life span > 800 000 switching cycles)
Integrated earth leakage circuit- hesitation approx. 1 s minimum pause time approx. 5 s
breaker
Earth fault monitoring set to 2 A
Ballast resistance, internal RB = 47 Ω / 50 W peak performance (t ≤ 1s) 3 kW
Ballast resistance, external RB > 47 Ω
Initialising time max. 20 s
Power loss PV, without ballast in nominal use 100 W in stand-by 40 W
Operating ambient single 0 ... 45 °C (with a power reduction of 2 0 ... 45 °C
temp. TB phase %/°C, up to 55 °C) (with a power reduction
3 phase 0 ... 55 °C of 2 %/°C, up to 55 °C)
Use > 1000 m above sea level power reduction by 1 % per 100 m over 1000 m above sea level
Relative air humidity 15 % ...95 % no dew
Storage temperature range - 30 °C ... + 70 °C
Weight 1 kg

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Technical data Type code

2.3 Type code

NOTE
In models 0000, 0001, 0010 and 0011 (all types, which neither allow installation via icremental en-
coder nor analog outputs) only one analog input is available.
All other types allow installation via 2 analog inputs.

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 Transport, removal of the packaging

3 TRANSPORT, REMOVAL OF THE PACKAGING

The devices are packed in the manufacturer´s works in accordance with ordering instructions.

Severe vibrations during transport are to be avoided.

Once packaging is removed and the devices are checked for their completeness, assembly can fol-
low.

Packaging material consists of cardboard, corrugated caroboard and/or wood. It can be disposed of in
accordance with local disposal regulations.

Any transport damage should be reported.

DANGER
In the event of damage being sustained in transit, the device should no be connected to a supply
without prior (high voltage) testing trained personnel.

Death, serious injury or considerable damage to equipment may result should this warning fail to be
heeded.

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Assembly

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 Assembly

4 ASSEMBLY

WARNING

The user is responsible for the assembly of the converter power unit, the motor, the transformer and
the other components according to applicable safety standards (e.g. DIN, VDE) and all other relevant
national or local regulations regarding conductor dimensions and fusing, earthing, circuit breakers,
overcurrent protection etc.

It must be ascertained that unrestricted cooling air access and outlet is available. There must be free
space between units of 150 mm above and at least 200 mm below. Otherwise they can overheat.

In operation, the apparatus is protected against direct touching in such a way that it is suitable for
installation in enclosed electrical operating areas (DIN VDE 0558 part 1, sect. 5.4.3.2.4).

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Assembly Dimensions

4.1 Dimensions

BUM 618

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Dimensions Assembly

BUM 619

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Assembly Assembly notes

4.2 Assembly notes

The units are to be mounted vertically in a control cabinet, and are suitable for connection to an in-
dustrial mains circuit. Ensure unrestricted air access.

Free room of 150 mm above and 200 mm below the unit must be available.

The units can be mounted alongside each other.

NOTE
The drive address must be set via the DIP switch, S40, before installation (for its location, see
"dimensions" diagram).

Ventilation must be in the specified direction, i.e. from bottom to top. Coolant temperature 50 mm
under the units, up to 45 °C.

In the event of temperatures over 45°C (up to max. 55 °C) the unit's power must be reduced by 2 %
per °C. Additional ventilators in the switching cabinet are only required if heat concentration arises,
caused by sources of heat near the unit, or if the units are installed too close together.

VDE 0160 soiling grades 3 and 4 must be prevented.

The units are suitable for use in enclosed working areas (VDE 0558 part 1a), as long as they are pro-
tected from indirect touch during use.

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Hazard notes Installation

5 INSTALLATION
5.1 Hazard notes

WARNING
This unit carries dangerous voltage and contains dangerous rotating machine parts (ventilators). This
means that death, serious injury or considerable material damage can occur if the safety and warning
notes are not heeded.

The user is responsible for the assembly of the converter power unit, the motor, the transformer and
the other components according to applicable safety standards (e.g. DIN, VDE) and all other relevant
national or local regulations regarding conductor dimensions and fusing, earthing, circuit breakers,
overcurrent protection etc.

Relatively high leakage to earth occurs in the converter and the motor, i.e. the drive may be incom-
patible with residual current protective devices (corresponding to DIN VDE 0160, sect. 5.5.3.4 and
sect. 6.5.2.1).

The intermediate circuit carries electrical potential: it is imperative that the provided cover is used.

Variable-speed drives may only be used if they conform to valid VDE regulations.

With equipment where speed is of critical importance, speed monitoring in the unit must be supple-
mented by autarchic monitoring of the motor. This speed check, independent from the control, can be
carried out by inductive, optical or yield force-dependant encoders. See the operation and mainte-
nance manual for the applicable motor.

Special care is needed when touching the drive shaft, directly or indirectly (by hand). This should only
be done in a voltage-free state and whilst the drive is stationary.

Safety equipment must under no circumstances be shut down.

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Installation EMC Information

5.2 EMC Information

General Information about Converters

Modern semiconductor technologies such as MCTs and IGBTs are intended to minimize the power
loss in the converter by switching more quickly and, with this, to continually reduce the size of the
power section. As a result, when running converters you must meet specific conditions to avoid elec-
tromagnetic influences caused by switching operations.

Disturbances can occur due to:

• capacitive fault currents caused by high rates of voltage rise when bipolar transistors and IGBTs
switch.

1 Feed
2 Power section
3 Switching power supply
4 Motor

• high currents and high rates of current rise in the motor lines. The disturbance energy bound in
magnetic fields reaches frequencies of between a few Hertz and about 30 MHz. Due to the high
rates of current rise, additional electromagnetic fields occur with frequencies of up to approximately 600
MHz.

• high clock rates and fast logic circuits (electromagnetic field/16 MHz...1 GHz).

• system perturbation and harmonics caused by commutations and non-sinusoidal network loading,
in particular with line-commutated converters (100 Hz ... 20 kHz).

German EMC Law (EMVG)

This converter complies with Paragraph 5, Section 5, Sentence 3 of the German EMC Law (EMVG)
dated 09.11.92.

"Devices that are exclusively manufactured or stocked as vendor parts or spare parts for further processing
by industrial companies or craftsmen or by other specialists in the field of electromagnetic compatibility do
not need to comply with the protective requirements of Paragraph 4, Section 1, nor do they need EU con-
formity certification and marking, assuming that the devices in question cannot be run automatically."
This does justice to the fact that EMC is heavily dependent on the individual subassemblies and
components in the switching cabinet. With regard to the total costs of the machine, it is preferable to
troubleshoot an entire system rather than each of its individual components.

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EMC Information Installation

The information on the next few pages is intended to allow you to configure your system on the basis
of the latest knowledge in the field of EMC and to comply with legal regulations.

Measures for Ensuring EMC

To ensure EMC, you must observe the configuration information below.

Cabling

• To suppress radiated noise outside the converter, you should screen all the connected cabling.
Also observe the topics in the section entitled "Screening".

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Installation EMC Information

• You achieve the lowest possible effective antenna height by routing the cable directly on the
ground of the metallic rack.

Wrong Right

• You should route all lines as close as possible to the conductors of the ground system to reduce
the effective loop area for magnetic coupling.

Wrong Right

• When parallel-routing signal and control lines across power cables, the conductors must be at
least 20 cm apart.

• Lines of different EMC categories should only cross at an angle of 90°.

• In the case of symmetrical signal transfer (e.g. differential amplifier inputs for the speed specified
value), twist the conductors of each pair of wires together and twist the pairs of wires together.

• The converter to ground plate earth connection should be as short as possible (less than 30 cm).
Use large cross-sections (more than 10 mm²).

• Sources of interference such as fuses, transformers and chokes and modules that are sensitive to
interference like µPs, bus systems, etc. should be located at least 20 cm away from the converter
and its cabling.

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EMC Information Installation

• Avoid reserve loops on overlong cables.

• You must ground reserve lines at both ends (this has an additional screening effect, avoids ca-
pacitively coupled, dangerous touch voltages).

Grounding

• From an EMC point of view, classical star grounding is no longer adequate for reducing the influ-
ence of disturbances at relatively high frequencies that occur as a result of converter operation.
Better results can be achieved by a reference surface that must be linked to the devices' frame
grounds over a wide area (e.g. a bare, metallic mounting plate and parts of the housing).
If it is not possible to use a broad reference place, it is sensible to mount the main equipotential
busbar directly next to the converter, since this device generates the greatest potential jumps,
compared with the other components in the switching cabinet, due to the steep switching edges
(the ground connection should be less than 30 cm long if possible).

• Route all earth conductors and screens as closely as possible above the frame ground to prevent earth
circuits.

• If it is possible to earth the controller reference voltage, make this connection with cabling that has
as large a cross-section as possible and is less than 30 cm long.

• Remove insulating layers, such as varnish, adhesives, etc., from the frame ground connections. If nec-
essary, use DIN 6798 serrated lock washers or similar to ensure a permanent, conductive contact. To
prevent corrosion of frame ground connections, use suitable pairs of metals (electrochemical displace-
ment series), and keep conductive electrolytes away from the connection by means of a protective
coating (e.g. grease).

• Always connect screens at both ends to the frame ground; the connection should be over a wide
area and conductive. This is the only way to suppress the effects of magnetic or high-frequency
noise interference fields. If there are problems with earth circuits (e.g. double earth fault of the
specified value conductor screen), the receive side should be galvanically connected and the
transmit side capacitively connected.
• When routing cable screens through panels that separate different EMC areas, the cables must be
in contact with the panel.
Cables that are routed through the outer panels of screening housings without special measures
(e.g. filtering), can have an adverse effect on the screening capability of the housing. For this rea-
son, you must make a conductive connection of the cable screens to the screening outer panel at
the point at which the cable enters the housing.
The distance of the last screen contact point to the exit from the cabinet must be as short as possible.

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Installation EMC Information

Screening
• The screen is effective against magnetic fields if it is connected to frame ground at both ends.

With electrical fields, the screen is effective when it is connected to frame ground at one end.

However, in the case of (electrical or magnetic) fields with high frequencies (depending on the
length of the line), you must always connect the screen at both ends due to the linkage
(electromagnetic field).

Connecting the screen to frame ground at both ends ensures that the conductor does not leave the
screening "system housing".

• Frame-grounding of conductor screens on both sides does not entirely rule out the influence of
earth circuits (potential differences on the frame ground system). However, this is very rare if you
carry out the measures described in the previous sections entitled "Cabling" and "Grounding".
You can also make a capacitive RF connection of a screen to frame ground. This prevents low-
frequency interference due to earth circuits.
Screened cables that pass through different EMC areas must not be separated at terminals, since
screen damping would otherwise be considerably reduced. The cables should be routed to the next
module without interruption.

• Make the screen connection low-impedance and over a wide surface area. Cable tails that are only
three centimetres long (1 cm of wire = 10 nH) reduce the screening effect in the megahertz range
by up to 30 dB!

NOTE
The braided screen must have a coverage of at least 85%.

The following lines have particularly high levels of interference potential:

− the motor line

− the line to the external ballast resistors

− the line between the mains filter and the converter

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EMC Information Installation

• Suggestion for screen connection:

Filtering

No filters are needed for the converter to function. However, under some circumstances, filters may
be needed on the input or the output side to comply with EMC regulations.

If you have any queries about filter design, please ask for the description entitled Baumüller Filters for
Network Applications, BFN.

Filter Assembly

• Mount the filter directly next to the converter. With lines that are more than 30 cm long, you must
screen the mains line between the converter and the filter (frame-ground on both sides).

• Physically separate the filter's input and output lines by more than 30 cm.

• Make a broad connection between the filter housing and frame ground.

Discharge Currents

Due to the principle of operation, parasitic capacities in the filter, the mains unit, the motor cable and
the motor winding cause discharge currents of around 100 mA and higher.

This means that converters with earth leakage circuit-breakers may be incompatible!

In this context, you should observe the safety information in provisional standard EN 50178:1994 Section
5.2.11.2.

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Installation Checks prior to installation

5.3 Checks prior to installation

• Note down the type and no. of the unit and motor

• Check the terminals by means of the terminal diagram, in particular the motor windings terminal

• Check the mains lead connection:

• PC connection via RS 232

Setting of the drive address in binary code via DIP-switch on front plate.

NOTE
DIP swicht cann´t be set from outside!

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LED displays Installation

5.4 LED displays

Located on the front of the device are 2 LEDs which display its operating condition.

LED green
• Supply on
• LED is directly connected to the 5 V supply of the power module.

LED yellow
• flashing rapidly: Initialisation stage
• flashing slowly: normal operation
• Perpetually lit: fault

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Installation Terminal diagram

5.5 Terminal diagram

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Terminal diagram Installation

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Baumüller Nürnberg GmbH 5.930 25.17
Installation Terminal diagram

Terminal notes

Earth leakage circuit- Relatively high leakage to earth occurs in the converter and the motor,
breaker i.e. the drive may be incompatible with residual current protective de-
vices.
Reference should be made to VDE 0160, sect. 5.5.3.4 and sect. 6.5.2.1
before configuration.

K1 Line contactor (internal) with auxiliary contact for controller enabling.

HSE1 "Main contactor on" message (contact closed)

HSE2 Contact can be loaded to a minimum of 50 mA, and a maximum of 1 A

HSF1 Main contactor enabling by closing an external make contact;

HSF2 Loading, approx. 80 mA.
After enabling the main contactor, the intermediate circuit is charged
via a charging circuit. Charging contactor K2 picks up after approx. 1 s.
The power unit, or drive, is ready for use after this hesitation.

K2,R1 The charging circuit prevents the permitted non-repetitive peak current
ION of the supply from being exceeded. After approx. 1 second, charg-
ing contactor K2 bridges charging resistor R1. The power unit, or drive,
is ready for use after this hesitation.

RB+, RB- External ballast resistor connection. The value of the external ballast
resistance is RB > 47Ω. The ballast resistor rating complies with the
expected braking energy and the cycle time.

RB Internal ballast resistor RB is only fitted to the

BUM619-12/18-31-R-XXX version (option 3.9226).
An additional external ballast resistor can not be connected to units
with internal ballast.

Switched-mode power The switched-mode power supply supplies the controller with 5 V and
supply 15 V, and is not designed for external loading. The switched-mode
power supply is protected by a miniature 2A/medium time-lag/250V
fuse. This fuse can only be accessed after dismounting the unit.

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Terminal diagram Installation

ZK+, ZK- The terminals may not be connected to the intermediate circuits of
other units. They are for checking the intermediate circuit voltage or for
earthing if an isolating transformer is used, or for rapid discharging of
the intermediate circuit.

Specified value of the intermediate circuit: UZK = 310 V ± 10 %

Discharging the intermediate circuit in t > 1 minute.

Rapid discharge of the intermediate circuit via resistor R = 22Ω / 50W,

if necessary.

DANGER
The intermediate circuit is potential-charged when using auto-
transformers.
The intermediate circuit is to be earthed to ZK- when using isolating
transformers.

U, V, W Motor terminals profile, according to VDE 0113/0298.

The cables are to be twisted and laid separately from the signal and
control cables.
They need only be shielded if it is not possible to keep them separated
from the signal cables, or when faults in the communication equipment
are to be expected. In these cases, the motor cables are to be laid out
shielded on both sides, and with low impedance. See EMC notes

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Installation Terminal diagram

3-phase terminal

F3 Cable protection according to VDE 0100.

Slow fuse, 2..3 x transformer nominal current or motor circuit breaker
(advantage: switch-off of all phases is always guaranteed)

F2 10 A slow fuses are provided for cable protection and protection of the
input diodes.

T1 Transformer YNO or isolating transformer YNyO.

On connection via transformer it should be noted that the intermediate
circuit must not be earthed, and that potential is to be found in both the
intermediate circuit and the motor.
Connection voltage BUM 618/619: 230 V, + 6% ... -10%, 50/60Hz.
Do not connect the star-point of the transformer to the mains neutral
conductor "N".
Short circuit voltage: auto-transformer uk ≥ 2 %
isolating transformer uk ≥ 4 %

L1, L2, L3, Connections to transformer T1.

Profile according to VDE 0113/0298
To be laid separate from signal and control cables.

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Terminal diagram Installation

1-phase terminal

F3 Cable protection according to VDE 0100.

Slow fuse, 2..3 x transformer nominal current or motor circuit breaker

F2 10 A slow fuses are provided for cable protection and protection of the
input diodes.

L1 The transformer is not used when working with a single phase, thus a
line reactance must be implemented as a filter.

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Installation Connector pin assignment

5.6 Connector pin assignment

5.6.1 Power terminals

Isolated 6,3 mm tab connector.

• L1, L2, L3, PE

L1 X15:6
L2 X15:10
L3 X15:14
PE X15:32

Transformer connections. The controller supply (switched-mode power supply) is connected di-
rectly to terminals L1 and L3 before the main contactor K1.

• ZK+, ZK-

ZK+ X15:18
ZK- X15:22

These terminals are for checking the intermediate circuit voltage or for earthing if an isolating
transformer is used, or for rapid discharging of the intermediate circuit.

- These terminals may not be connected to the intermediate circuits of other units.

- Rapid discharging of the intermediate circuits is only permissible via R ³ 22 Ω / 50 W.

- Discharge time of the intermediate circuit without rapid discharge t > 1 minute.

- The intermediate circuit is potential-charged when using auto-transformers.

The intermediate circuit is to be earthed to ZK- when using isolating transformers.

Specified value of the intermediate circuit voltage: UZK = 310 V ± 10 %

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Connector pin assignment Installation

• U, V, W

U X15:30
V X15:28
W X15:26

The cables are twisted and laid separately from the signal and control cables.
See EMC notes.

• RB+, RB-

RB+ X15:20
RB- X15:24

External ballast resistor connection. The ballast resistance value must be RB > 47 Ω. The ballast
resistance rating complies with the expected braking energy.
An additional external ballast resistor can not be connected to units with internal ballast.

• HSF 1 and HSF 2

HSF 1 X15:16
HSF 2 X15:12

Main contactor enable: contact load 15 V 80 mA

ON: close external contact for enable
OFF: open external contact

• HSE 1 and HSE 2

HSE 1 X15:4
HSE 2 X15:8

Main contactor ON message: contact load 250 VAC 125 VDC 1 A (min. 50 mA)

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Installation Connector pin assignment

5.6.2 BUM 618 control terminals

NOTE
The insulation of the control terminals against power terminals is implemented according prEN 50178
and compies in the complete path with the demands of basic insulation.

The connection of SELV- and PELV-circiuts isn’t allowed without an additional potential separation
(basic insulation e.g. transformer, interface converter).

The control panels of connected potentiometers, switches etc. must have at least basic insulation
against the electrical function parts.

• RS 232 interface

X3 SUB-D socket 9-pin

Pin no. Assignment

1 not assigned
2 TxD RS232
3 RxD RS232
4 not assigned
5 earth RS232
6 +5 V RS232
7 reserved*
8 not assigned
9 not assigned

* do not assign

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Connector pin assignment Installation

• RS 485 interface

X2 A SUB-D socket 9-pin X2 B SUB-D plug 9-pin

Pin no. Assignment

1 -TxD RS485
2 +5V RS485
3 earth RS485
4 earth RS485
5 -RxD RS485
6 +RxD RS485
7 earth RS485
8 earth RS485
9 +TxD RS485

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Installation Connector pin assignment

• Resolver

X4 SUB-D socket 15-pin

Pin no. Assignment

1 resolver ref+
2 resolver ref-
3 not assigned
4 not assigned
5 resolver cos-
6 not assigned
7 resolver sin+
8 resolver sin-
9 resolver cos+
10 reserved*
11 reserved*
12 not assigned
13 not assigned
14 motor temperature TM1
15 motor temperature TM2

* do not assign !

NOTE
Connection for motor temperature (Pin no. 14, 15) see plug X8 motor temperature.

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Connector pin assignment Installation

• Incremental encoder

X5 SUB-D socket 15-pin

Pin no. Assignment

1 earth incremental encoder

2 +5V encoder voltage
3 RS422 incremental encoder +U0
4 RS422 incremental encoder -U0
5 RS422 incremental encoder +U2
6 not assigned
7 RS422 incremental encoder -U1
8 RS422 incremental encoder +U1
9 RS422 incremental encoder -U2
10 reserved*
11 reserved*
12 reserved*
13 reserved*
14 motor temperature TM1
15 motor temperature TM2

* do not assign !

NOTE
Connection for motor temperature (Pin no. 14, 15) see plug X8 motor temperature.

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Baumüller Nürnberg GmbH 5.930 25.17
Installation Connector pin assignment

• Analog/digital interface analog/digital

X6 SUB-D socket 37-pin

Pin no. Assignment

1 BSA analog reference potential

2 BSA analog reference potential
3 supply voltage + 5 V
4 supply voltage + 15 V
5 analog input 0 (pos)
6 reserved*
7 analog input 2 (pos)
8 BSA analog reference potential
9 BSA analog reference potential
10 BSA analog reference potential
11 analog output 2
12 pulse enable (pos)
13 digital input 0 (pos)
14 digital input 1 (pos)
15 digital input 2 (pos)
16 not assigned
17 bbo change-over relay contact, ready for use
18 bbk make relay contact, ready for use
19 bbs break relay contact, ready for use

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Connector pin assignment Installation

Pin no. Assignment

20 BSD digital reference potential

21 BSD digital reference potential
22 BSD digital reference potential
23 analog input 0 (neg)
24 reserved*
25 analog input 2 (neg)
26 BSA analog reference potential
27 reserved*
28 BSA analog reference potential
29 analog output 1
30 pulse enable (neg)
31 digital input 0 (neg)
32 digital input 1 (neg)
33 digital input 2 (neg)
34 not assigned
35 mo change-over relay contact message 1
36 mk make relay contact message 1
37 ms break relay contact message 1

* do not assign !

• 1 or 2 analog inputs (depend on model, see type code)

Voltage range - 10 V ... + 10 V
Type differential input
Input resistance approx. 60 kΩ
Resolution 10 bit

• 4 potential-free digital inputs

Low-level 0 V ( 0V ... +5V )
High-level + 24 V ( +11V ... +35V )
Input resistance > 5 kΩ
Max. potential to electronic earth 50 V

• 2 analog output (optional)

Voltage range - 10 V ... + 10 V
max. output current 1 mA
Resolution 12 bit

• Ready for use relay and programmable relay

Contact can be loaded with 24 V DC / 1 A
Max. potential to electronic earth 50 V

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Installation Connector pin assignment

• Incremental encoder emulation -optional-

X7 SUB-D plug 15-pin

Pin no. Assignment

1 earth inc. emulation

2 + 5 V inc. emulation
3 inc. emulation 0
4 inc. emulation 0
5 inc. emulation B
6 not assigned
7 inc. emulation A
8 inc. emulation A
9 inc. emulation B
10 not assigned
11 not assigned
12 + 5 V inc. emulation
13 earth inc. emulation
14 not assigned
15 not assigned

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Connector pin assignment Installation

Supply voltage 5V±5%

Output signals Generated via 1024 increments per revolution
Incremental encoder signals TTL rectangle impulses, A, B and theirs inverted impulses A , B di-
rection right impulse interval a ≥ 0.45 µs
Reference signal
1 rectangle impulse 0 per revolution and its inverted impulse 0 impulse
0 is delayed to signal A and B
td ≤ 40 ns
Signal level UHigh ≥ 2.5 V if -IHigh = 20 mA
ULow ≤ 0.5 V if ILow = 20 mA
Maximum load -I High ≤ 20 mA
ILow ≤ 20 mA
CLast ≤ 1000 pF
Switching times Rise time t+ ≤ 100 ns
Delay time t- ≤ 100 ns

Output signal

NOTE
Signals are valid after ready for use signal!

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Installation Connector pin assignment

• Motor temperature

X8 Phoenix sub-unit terminal 3-pin RM 5

Pin no. Assignment

1 motor temperature TM1

2 motor temperature TM2 (BSA)
3 BSA analog reference potential

The motor temperature connector X8 pin no. 1/2 is internally connected witch pin no. 14/15 of the
encoder connectors X4/X5.

It is possible to use for the temperature monitoring 3 inputs (plug X4, X5 or X8). Only one input is
allowed to be connected. The other inputs must be in any case not connected. The temperature sen-
sor´s signals cann´t be used for an additional, external monitoring. This would be lead to a incorrect
measurement or to the damage of internal components.

Check the temperature sensor:

The cable of the motor temperature monitoring must be disconnected. If the motor is cold (winding
temperature < 80 °C) the resistance between the 2 connections must be lower than 1 kΩ.

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Connector pin assignment Installation

5.6.3 BUM 619 control terminals BUM 619

NOTE
The insulation of the control terminals against power terminals is implemented according prEN 50178
and compies in the complete path with the demands of basic insulation.

The connection of SELV- and PELV-circiuts isn’t allowed without an additional potential separation
(basic insulation e.g. transformer, interface converter).

The control panels of connected potentiometers, switches etc. must have at least basic insulation
against the electrical function parts.

• X1 push-on terminal strip 96-pin

Pin no. Assignment Pin no. Assignment Pin no. Assignment

A1 mk make relay contact B1 ms break relay contact C1 mo change-over relay con-

message 1 message 1 tract message 1
A2 bbk make relay contact rea- B2 bbs break relay contact C2 bbo change-over relay ready
dy for use ready for use for use
A3 inc.-emulation B B3 inc.-emulation 0 C3 inc.-emulation B
A4 earth RS232 B4 TxD RS232 C4 RxD RS232
A5 +5 V RS232 B5 +TxD RS485 C5 +RxD RS485
A6 earth RS485 B6 -TxD RS485 C6 -RxD RS485
A7 +5 V RS485 B7 digital input 2 (pos) C7 digital input 2 (neg)
A8 digital input 1 (pos) B8 digital input 1 (neg) C8 digital input 0 (pos)
A9 digital input 0 (neg) B9 pulse enable (pos) C9 pulse enable (neg)

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Installation Connector pin assignment

Pin no. Assignment Pin no. Assignment Pin no. Assignment

A10 inc. emulation A B10 inc. emulation A C10 inc. emulation 0

A11 not assigned B11 reserved* C11 reserved*
A12 not assigned B12 RS422 incremental encoder C12 RS422 incremental encoder -U1
+U1
A13 not assigned B13 RS422 incremental encoder C13 RS422 incremental encoder -U2
+U2
A14 not assigned B14 RS422 incremental encoder C14 RS422 incremental encoder -U0
+U0
A15 not assigned B15 BSD digital reference potential C15 +5V supply voltage
A16 not assigned B16 +5V inc. emulation C16 reserved*
A17 not assigned B17 reserved* C17 earth inc. emulation
A18 not assigned B18 BSD digital reference potential C18 reserved*
A19 not assigned B19 reserved* C19 reserved*
A20 not assigned B20 resolver ref- C20 resolver ref+
A21 not assigned B21 resolver cos+ C21 resolver cos-
A22 not assigned B22 resolver sin+ C22 resolver sin-
A23 not assigned B23 reserved* C23 reserved*
A24 not assigned B24 reserved* C24 reserved*
A25 not assigned B25 temperature motor TM1 C25 reserved*
A26 BSA analog reference potential B26 analog input 2 (pos) C26 analog input 2 (neg)
A27 BSD digital reference potential B27 reserved* C27 reserved*
A28 BSA analog reference potential B28 BSA analog reference potential C28 analog input 0 (pos)
A29 supply voltage +15 V B29 supply voltage +15 V C29 analog input 0 (neg)
A30 supply voltage +5 V B30 BSD digital reference potential C30 reserved*
A31 supply voltage +5 V B31 BSD digital reference potential C31 analog output 2
A32 supply voltage +5 V B32 BSD digital reference potential C32 analog output 1

* do not assign!

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Connector pin assignment Installation

• RS 232 interface

X6 SUB-D socket 9-pin

Pin no. Assignment

1 not assigned
2 TxD RS232
3 RxD RS232
4 not assigned
5 earth RS232
6 +5 V RS232
7 reserved*
8 not assigned
9 not assigned

* do not assign!

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Installation Connection cable

5.7 Connection cable

5.7.1 Connection cables for the resolver/incremental encoder

Prepared cables are available for the connection of the resolver and the incremental encoder.
Item no. 1901 8001 (lengths on request).

Unit Motor

View of mating side View of mating side

SUB-D plug connector, 15-pin Metal round plug, 12-pin,

socket contact (manufacturer: Interconnectron)

Cable: LiYCY 5x(2x0.14)+2x0.5mm²; cores twisted in pairs, total shielding via copper braiding.

The cable shielding is connected to the casing of the round connector and with the shielding
of the SUB-D plug connector.

Pin no. Connection Pin no.

1 blue Æ 0.5mm² 10
2 red Æ 0.5mm² 12
3 violet 3
4 grey/pink 4
5 brown 8
6
7 grey 6
8 yellow 5
9 green 1
10
11
12 pink 2
13 blue 11
14 red 9
15 black 7

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Connection cable Installation

5.7.2 Serial PC connection cable

NOTE
Connect PC in cabinet or on isolation transformer.
Description of operation software see operation manual operation software.
Description of transmission protocol see operation manual communication software.

• 9-pin PC connection (Part no. 1901 8006)

• 25-pin PC connection (not available)

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Installation Connection cable

5.7.3 Connection cable RS485

Connection cable and protocol see technical description and operation manual communication soft-
ware.

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Main transformer technical data Installation

5.8 Mains transformer technical data

Following transformers are recommended for the 3-phase operation on 400 V main.

Unit Auto-transf. Power Length L Breadth B Height H Weight W Attachment/hole

BUM 618/619 - part no. (kVA) (mm) (mm) (mm) (kg) a x b / c x d (mm)

4/6 19007159 0,4 150 75 130 4,2 113x48 5,8x11

6/9 19007160 1,0 180 110 175 7,5 136x56 7,0x14

12 / 18 19007161 2,5 204 140 200 15,0 175x85 7,0x14

Unit Auto-transf. Power Length L Breadth B Height H Weight W Attachment/hole

BUM 618/619 - part no. (kVA) (mm) (mm) (mm) (kg) a x b / c x d (mm)

4/6 19007154 0,4 180 110 155 7,5 136x55 7x14

6/9 19007155 1,0 204 140 175 15,0 175x85 Æ 8,5

12 / 18 19007156 2,5 240 160 205 22,5 200x100 Æ 8,5

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Installation Line reactor technical data

5.9 Line reactor technical data

For the single phase operation of the units BUM 618/619 - 4 / 6 und BUM 618/619 - 6 / 9 the following
reactance is recommended.

Single-phase line reactor

Part no. 1900 7461 DR1-22-3-0008

Mains voltage 230 V

Nominal current 8.8 A

Frequency 50 / 60 Hz

Nominal voltage uN 3 / 3.6 %

Max. Ambient temperature 55 °C

Weight 0.75 kg

Terminal type terminal blocks

Dimensions a = 67 mm
b = 55 mm
c = 81 mm
d = 55 mm
e = 41 mm
f = 6 mm
g = 4.5 mm

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Accessories Installation

5.10 Accessories

Part no.

• Encoder cable 12/15-pin (other lengths on request)

X4 / X5 Resolver / incremental encoder 1901 8001

• PC cable (3 mtr.)
X3 RS 232 1901 8006

• Bus cable
X2 RS 485 1901 8026

• Plug set 1900 5512

containing:

X6 SUB-D plug Socket connector 37-pin

Housing

X15 15 flat terminal sockets DIN 46247-6.3-2.5

• Phoenix sub-unit terminal

X8 Motor temperature recording 3-pin RM 5 1901 7596

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Commissioning

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 Commissioning

6 COMMISSIONING

DANGER

Due to the nature of electrical equipment, certain parts of this unit carry dangerous voltage during
operation. Serious injury and/or damage to property can result from non-compliance with these safety
notes and warnings.

Only qualified personnel familiar with the safety instructions, and instructions regarding assembly,
maintenance and operation are to work on this unit.

The user is responsible for the assembly of the converter power unit, the motor, the transformer and
the other components according th applicable safety standards (e.g. VDE, DIN) and all other relevant
national or local regulations regarding conductor dimensions and fusing, earthing, circuit breakers,
overcurrent protection etc.

Relatively high leakage to earth occurs in the converter and the motor, i.e. the drive may be incom-
patible with residual current protective devices.
In operation, the unit is protected against direct handling in such a way that it is suitable for installa-
tion in enclosed electrical operating areas (DIN VDE 0558 part 1a, sect. 5.4.3.2.1 and 5.4.3.2.2).

Behaviour of the drive in the event of error

Faulty or uncontrolled drive and machine element movement can not be ruled out during initial
commissioning. Hence special care must be taken.
Prior to activation of the drive, all safety features should be checked through in order to avoid per-
sonal injury. Particular care should be taken with direct or indirect handling of the drive-shaft. This is
only permissible if the shaft is perfectly static and the current converter is in a voltage-free condition.
Freelyy-accessible machine parts (shafts, blowert etc.) must be covered once in operation.

Whilst in use, electrical potential is present in the power circuit, the intermediate circuit and in the
motor windings. Do not touch these components during operation. Only connect measuring equip-
ment when no voltage or current is present.

Handling protection according to §4 Para. 4 VBG 4

Protection against direct handling encompasses all measures against hazards which can result from
the handling of active electrical parts. It is essential that such acitve parts are protected against direct
handling via insulation, type of construction, position and arrangement, or via sturdy reinforcement.
This refers to the fact that covers, seals and procedure should ensure that personnel are not able to
handle parts subjected to voltage.

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Commissioning

WARNING
Control cabinets must be furnished with emergency stop buttons by which all potentially dangerous
voltages may be de-activated. Excluded from this are operating media, through whose de-activation a
new hazard may arise. The trigger for the emergency stop should be incorporated in such a way that,
in the event of an emergency, it may be reached as soon as possible. Procedures involving a con-
derably greater danger necessitate the precence of an additional person.

The user is to ensure that no unauthorised persons work on the machine.

The user is obliged to immediately report any changes which may affect the safety of the machine.

On dismantling safety equipment during commissioning, repair and maintenance, the machine is to
be shut down exactly according to instructions. After completion of commissioning, repair and main-
tenance work the safety equipment is to be reinstalled immediately.

This list does not cover all necessary measures for the safe operation of the unit. If further informati-
on is required or if special problems arise, please contact BAUMÜLLER NÜRNBERG ar a retail out-
let.

Comply with the warning notes in chapter 1 of the operational manual.

NOTE
The operator must be electrostatically discharged directly before handling the modules, to protect
them from high voltages which result from electrostatic charge. This can be achieved by simply
touching a conductive, earthed object.

Equipment with components or modules likely to be damaged by electrostatic charge are marked by a
sticker in a visible spot.

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Initial commissioning Commissioning

6.1 Initial commissioning of the drive system

NOTE
Pay attention to following note before initial commissioning:
• Note down the type and no. of the unit and motor
• Check the terminals by means of the terminal diagram, in particular the motor windings terminal
• Setting of the drive address in binary code via DIP-switch on front plate.

Before the drive can be started with a specified speed value, activation of the external pulse enabling
is required.

For this reason, it should be ascertained before commencing initial commissioning that the external
pulse enabling is inhibited, and avoid uncontrolled starting of the motor.
It is assumed that the factory controller parameter settings are sufficiently accurate to give controlled,
if not optimum, motor operation. Optimisation of these parameters will not be covered here.

Parameter settings can be made with a PC via the user program PCBASS.
A description of the user program PCBASS can be found in the separate operation manual operation
software, the protocol is explained in the manual communication software.

To connect the PC and drive use the serial connection cable for PC (see accessories).

NOTE
Initialisation time of the controller is 20 s.

The following parameters are to be set, or checked:

1. Set M communication source to BASS protocol.

M communication source = 1 ID no. 126

2. Match the number of motor pole pairs to the motor (see technical data motor).
Mot no. of pole pairs ID no. 33

3. Match the motor nominal speed to the motor (see type code motor).
Res nom. Speed parameter [ rpm ] ID no. 19
or INC encoder nominal speed [rpm ] ID no. 247

NOTE
Resolver pole pair number of the applied resolver must be 1.

4. Match the speed controller modulation limits to the motor nominal current
(see type code motor).
N M limiter parameters ID no. 53 bzw.
[% of nominal current] ID no. 54, 55

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Commissioning Set value generator

5. If not known, set locating angle deviation (ID no. 35),

taking heed of the "parameters" description, ID no. 122:

- M control word = 0 ("inhibit voltage" command) ID no. 120

- M spec. mode = -1 (locating angle reference point setting) ID no. 122
- M control word = 6 ("shutdown" command) ID no. 120
- M control word = 7 ("switch on" command) ID no. 120
- M control word = 15 ("enable operation" command) ID no. 120

If the external pulse enable is given at this point, the rotor sets itself to the locating position and
the locating angle deviation is set automatically.

NOTE
The motor must be able to attain its locating position mechnanically free!

Locating angle deviation setting is quit via:

- M control word = 0 ("inhibit voltage" command) ID no. 120
- M spec. mode = -3 (speed control) ID no. 122
External pulse disable.
In addition, save the determined locating angle - see data set administration.

6. Match EMF factor to the nominal speed

CT EMF factor parameter ID no. 39.


kE 
V 
[
 • nnom 1000 rpm
 1000 rpm 
] • 1.21 • 100 %
ID − Nr. 39 =
Uzk [ V ]

 V 
kE   = to 1000 rpm refered EMF (see data of the motor)
 1000 rpm 
ID no. 19
nnom = (see data of the motor)
1000
UZK = 310 V

EMF factor can be checked with the help of parameter ID no. 52 (N M specified value).

If the motor is driven with nominal speed and with no load, then:

a) the polarity of ID no. 52 and ID no. 51 (N actual value) should be the same
(otherwise reduce ID no. 39) and

b) do not exceed the value of ID no. 52 5 % ± 3 %

(otherwise adjust ID no. 39).

7. Current controller setting :

- I P gain = 1 ID no. 80
- I integral action time = 1.5 ms ID no. 81

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Initial commissioning Commissioning

8. Parameter assignment to the ramp function generator:

- RFG input selection = 0 ID no. 13
- RFG ramp-up time 1 e.g. set to 1 s ID no. 3
- RFG ramp-down time 1 e.g. set to 1 s ID no. 10

9. Set the set speed value to 0:

- RFG Input 1 = 0 ID no. 2

10. Enable drive manager:

- M control word = 0 ("inhibit voltage" command) ID no. 120
- M spec. mode = -3 (speed control) ID no. 122
- M control word = 6 ("shutdown" command) ID no. 120
- M control word = 15 ("release mode" command) ID no. 120

13. Switch on external pulse enable and set speed value:

- RFG input 1 e.g. 10 % nominal speed ID no. 2

14. Correct communication source

- M communication source ID no. 126
The communication source must be set to the active communication source. If there is no
communication (stand-alone mode), the parameter must be set to "= 0".

15. Save parameter settings (data set management)

- DSM command = 0 ID no. 190
- DSM command = 5 ID no. 190

After external pulse enabling and input of a set speed value the motor runs according to the set ac-
celeration slope.

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Commissioning Set value generator

6.2 Commissioning the set value generator

The set value generator creates a specified speed value for each of 4 time intervals. Both time and
speed can be selected.
After expiry of the last time zone the first one starts again.

Apart from the external enabling of the main contactor and pulse enabling, corresponding parameter
assignment of the unit with the help of the operation software is required for commissioning the set
value generator. This setting can be saved in the unit.

1. Parameter assignment to the drive manager:

- M control word = 0 ("inhibit voltage" command) ID no. 120
- M spec. mode = -3 (speed control) ID no. 122
- M control word = 6 ("shutdown" command) ID no. 120
- M control word = 15 ("enable operation" command) ID no. 120

2. Parameter assignment to the set value generator:

- Enter SVG target ID no. ID no. 140

- Enter SVG amplitudes ID no. 142 - 145
- Enter SVG times ID no. 146 - 149

3. Match input selection:

- Match the SVG input selection with the input set to ID no. 140 ID no. 13

4. Save parameter settings (data set management)

- DSM command = 0 ID no. 190
- DSM command = 5 ID no. 190

If the controller is enabled, it begins to process the specified speed values and their corresponding
times cyclically.

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Function diagram Parameters

7 PARAMETERS

NOTE
All important parameters for commissioning are to be located in grey boxes of the parameter
overview section. Parameters, which are stored during an Init auto (see additional description
operation software) and are not refered to here, serve only internal functions.

7.1 Function diagram

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Parameters Function diagram

Overview of the individual function modules

Ramp function generator RFG ID no. 1 - 17 Resolver evaluation Res ID no. 19 - 29

Field angle calculation Mot ID no. 30 - 36 Transformation of coordinates CT ID no. 39 - 46
Speed controller N ID no. 50 - 62 Current control I ID no. 70 - 87
Overlaod monitoring I2t ID no. 88 - 93 Current monitoring Ext ID no. 94 - 99
Pulse width modulation PWM ID no. 100 - 103 Power supply PS ID no. 110
Power unit PU ID no. 115 - 117 Drive manager M ID no. 120 - 133
Specified value generator SVG ID no. 140 - 150 Motor temperature MT ID no. 151 - 152
Operation system OS ID no. 160 - 163 Service interface S ID no. 170 - 171
Link to USS protocol USS ID no. 180 - 186 Data set management DSM ID no. 190 - 196
Position control L ID no. 200 - 213 Incremental encoder IE ID no. 240 - 248
Analog inputs AI ID no. 277 - 304 Analog outputs AO ID no. 330 - 341
Digital inputs DI ID no. 370 - 382 Relay output RO ID no. 393 - 396

Explanation of the module state

The status (bit no. 0 ... 2) displays the operational mode of the function modules

STOP Function module swiched off

RUN Function module swiched on

LINE Function module switched through

(i.e. the input is written directly to the output)

STAND_BY Function module is ready to use

(e.g. calibrations active, internal specified values of the function module are only actualized
but not operated with)

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Ramp function generator Parameters

7.2 Ramp function generator (ID no. 1 - 17)

Function:

The ramp function generator manages the 4 set value inputs, which can alternatively be switched to
the output. The ramp-up and ramp-down times can be set separately for each input.
All inputs and the ramp function generator output are standardised to the nominal speed as relative
variables (± 100 %), where the nominal speed is set via ID no. 19.
The ramp steepness for the acceleration and braking procedures are determined by the ramp-up and
ramp-down times. The times thus refer to 100 % set value alteration.
With the exception of the fourth set speed value, which is programmed to zero, every input can have
a speed value between -100 % and + 100 %. 100 % corresponds to the nominal speed.

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Parameters Ramp function generator

Parameter overview:

ID no. Name Range Unit Standard Display

min. ... max. value only

1 RFG output -100.00 ... 100.00 % 5

2 RFG input 1 -100.00 ... 100.00 % 0.00
3 RFG ramp-up time 1 0.001 ... 60.000 s 0.001
4 RFG input 2 -100.00 ... 100.00 % 0.00
5 RFG ramp-up time 2 0.001 ... 60.000 s 0.001
6 RFG input 3 -100.00 ... 100.00 % 0.00
7 RFG ramp-up time 3 0.001 ... 60.000 s 0.001
8 RFG input halt 0.00 % 0.00 5
9 RFG time halt 0.001 ... 60.000 s 2.000
10 RFG ramp-down time 1 0.001 ... 60.000 s 0.001
11 RFG ramp-down time 2 0.001 ... 60.000 s 0.001
12 RFG ramp-down time 3 0.001 ... 60.000 s 0.001
13 RFG input selection 0000 ... 001C 0000
14 RFG status 0000 ... FFFF 5
15 RFG halt 0 ... 1 0
16 RFG rounding 0 ... 60000 ms 0
17 RFG polarity 0 ... 1 0

Parameter description

RFG output
The parameter "RFG output" displays the current output value of the ramp function
generator.

 RFG input 1
 RFG input 2
 RFG input 3
All 3 inputs are balanced and can be written via the serial interface, position controller and
the set value generator as well as the analog set value input.

 RFG input halt

Input 4 has the special function HALT, i.e. its value is always 0 %. This input is used to
control the function HALT (i.e. speed = 0). Hence only the ramp-down time can be set.

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Ramp function generator Parameters

 RFG ramp up time 1

 RFG ramp up time 2
 RFG ramp up time 3
The acceleration assigned to the inputs can be set via the ramp-up times. The time selected
here corresponds to a set value alteration of 100 %.

RFG ramp-down time 1

RFG ramp-down time 2

 RFG ramp-down time 3

RFG time halt
The deceleration assigned to the inputs can be set via the ramp-down times. The time
selected here corresponds to a set value alteration of 100 %.

 RFG input selection

One of the four inputs of the ramp function generator can be selected via input selection.
Additionally a set value limitation is possible.

Bit no. Meaning

0 ... 2 000: input 1

001: input 2
010: input 3
011: halt
100: input 1 + input 2
3 1: negative set values not permitted
4 1: positve set values not permitted
5 ... 15 reserved

 RFG status
Displays the internal function module state.

Bit no. Meaning

0 ... 2 000: STOP 001: RUN 010: LINE 011: STAND_BY

3 1: error in function module, error code see M error code (ID no. 124)
4 1: RFG output is set internally to 0 (RFG_LOCKED)
5 1: RFG was stopped on the ramp (RFG_STOP)
6 1: RFG input is set internally to set value 0 (RFG_ZERO)
7 1: rapid-halt ramp is active (RFG_RHALT)
8 1: ramp-up procedure is active
9 1: ramp-down procedure is active
10 See bit no. 5
11 See bit no. 7
12 1: RFG output = RFG input (set value reached)
13 ... 15 reserved

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Parameters Ramp function generator

 RFG halt
On activation of "halt", the motor decelerates to speed 0 according to the ramp set for the
input "halt".

Value Meaning

0 inactive
1 active

 RFG rounding
A first-order time delay element is implemented in order to round off ramp corners.
The time constants of the PT1 device can be set by this parameter.

 RFG polarity
A polarity reversal of the set value can be set via this parameter.

Value Meaning

0 no polarity reversal
1 polarity reversal

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Resolver evaluation Parameters

7.3 Resolver evaluation (ID no. 20 - 29)

Function

This module calculates the current speed and the rotor angle of the motor from the resolver input
signals.

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

19 Res nominal speed 1000 ... 4000 rpm 3000

20 Res sine - 1.0000 ... + 1.0000 5
21 Res cosine - 1.0000 ... + 1.0000 5
22 Res phi mechanical 0.0 ... 360.0 degrees 5
23 Res N actual value -4000 ... 4000 rpm 5
24 Res no. of pole pairs 1 ... 1 1 5
25 Res status 0000 ... FFFF 5
26 Res offset sine - 10000 ... 10000 5
27 Res offset cosine - 10000 ... 10000 5
28 Res phase reference - 45.0 ... 45.0 degrees 5
29 Res compensation status 0000 ... FFFF 5
107 Res N = 0 0.5 ... 20.0 % 0.5
108 Res N > Nx ON 0.00 ... 200.00 % 0.00
109 Res N > Nx OFF 0.00 ... 200.00 % 0.00

Parameter description

Res nominal speed
The nominal speed of the motor is set via this parameter. The value entered here
corresponds of 100 % speed. This parameter cannot be changed in the state OPERATION
ENABLED.

 Res sine

Res cosine
These parameters display the current sine/cosine trace values of the resolver.

 Res phi mechanical

 Res N actual value
The current mechanical rotor angle and the motor speed are calculated from the resolver
signals.

 Res no. of pole pairs

The number of resolver pole pairs are set here.

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Parameters Resolver evaluation

 Res status
This parameter shows the internal status of the module.

Bit no. Meaning

0 ... 2 000: STOP 001: RUN 010: LINE 011: STAND_BY

3 1: error in module, for error code see M error code (ID no. 124)
4 ... 9 reserved
10 0: | N acutal value | ≠ 0
1: | N acutal value | = 0 (speed lower than ID no. 107)
11 0 → 1: | N acutal value |>Nx ON (ID no. 108)
1 → 0: | N acutal value |<Nx OFF (ID no. 109)
12 reserved
13 Limit value reached
14, 15 reserved

 Res offset sine

 Res offset cosine
An asymmetry in the recording of resolver output signals can be compensated for by these
values.
They are calculated automatically on switching on the unit.

 Res phase reference

The phase shift between the resolver oscillator frequency and the sampling time for the
resolver outputs can be set via this parameter.
The measured value transfer must always be maximum. Compensation takes place
automatically during use.


Res compensation status
The internal status of the resolver compensation is displayed via this parameter.

Bit no. Meaning

0 ... 2 000: STOP 001: RUN 010: LINE 011: STAND_BY

3 1: error in module
3 ... 15 reserved

 Res N = 0
Bit no. 10 at function module status is set if the N actual value is lower than limitation N = 0
(ID no. 7), independent of rotational direction.

 Res N > Nx ON


Res N < Nx OFF
If the |actual value of N| (ID no. 51) is greater than ID no. 108, bit 11 in the Res status
(ID no. 25) is set and only erased when the actual value of N becomes smaller than
ID no. 109 (independent of rotational direction).

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Field angle calculation Parameters

7.4 Field angle calculation (ID no. 30 - 36)

Function

The electrical field angle is calculated in this module from the no. of motor pole pairs and the angle
precontrol as well as the mechanical rotor angle (see resolver evaluation).

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

30 Mot phi mechanical 0.0 ... 360.0 degrees 5

32 Mot phi electrical 0.0 ... 360.0 degrees 5
33 Mot no. of pole pairs 1 ... 3 3
34 Mot rotating field 0 ... 1 1
35 Mot locating angle 0.0 ... 360.0 degrees 330
36 Mot status 0000 ... FFFF 5

Parameter description

 Mot Phi-mechanisch
Displays the mechanical rotor angle determined from the resolver evaluation module.

 Mot phi electrical

Displays the calculated electrical field angle.

 Mot no. of pole pairs

Setting of the no. of pole pairs of the applied motor.

 Mot rotating field

This parameter matches the control to the rotating field of the motor.

Value Meaning

0 motor with anti-clockwise rotating field

1 motor with clockwise rotating field

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Parameters Field angle calculation

 Mot locating angle

This parameter displays the locating angle deviation calculated in the locating position
reference point setting mode.
This correction value is included in the calculation so that an angle of 90 degrees results
electrically in the locating position.

 Mot status
This parameter displays the module status.

Bit no. Meaning

0 ... 2 000: STOP 001: RUN 010: LINE 011: STAND_BY

3 ... 15 reserved

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Transformation of coordinates Parameters

7.5 Transformation of coordinates (ID no. 39 - 46)

Function

Transformation of a current vector into a three-phase system.

Depending on the value and angle input data, three phase-current set values, shifted by 120 degrees,
are created.

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

39 CT EMF factor 0.00 ... 100.00 % 65.00

40 CT M set value - 100.00 ... + 100.00 % 5
41 CT phi electrical 0.0 ... 360.0 degrees 5
42 CT I set value U - 2048 ... + 2048 5
43 CT I set value V - 2048 ... + 2048 5
44 CT I set value W - 2048 ... + 2048 5
45 CT I controller adaptation 1.00 ... 1.30 1.00
46 CT status 0000 ... FFFF 5

Parameter description


CT EMF factor
This parameter displays the EMF value of the motor.
 
• nnom [1000 rpm] •
V
kE  2 • 100 %
 1000 rpm 
ID no. 39 =
Uzk [ V ]

 V 
kE   = to 1000 rpm related EMF (see technical data of the motor)
 1000 rpm 
ID no. 19
nnom = (see technical data of the motor)
1000
UZK = 310 V

EMF factor can be checked with the help of parameter ID no. 52 (N M set value).

If the motor is driven with nominal speed and with no load, then:

a) the polarity of ID no. 52 and ID no. 51 (N actual value) should be the same
(otherwise reduce ID no. 39) and

b) do not exceed the value of ID no. 52 5%±3%

(otherwise adjust ID no. 39).

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Parameters Transformation of coordinates

Example

Motor DS45S-3000 (Data see appendix 9.1 Suitable 3-phase servo motors)
 V   V 
kE   = 45.0  1000 rpm 
 1000 rpm   
nnom = 3 [1000 rpm]
UZK = 310 V
 
 • 3 [1000 rpm] • 1.21 • 100 %
V
45.0 
ID − Nr. 39 =  1000 rpm  = 52.7 %
310 [ V ]

 CT M set value
The parameter displays the amplitude of the set torque value (speed controller output).


CT phi electrical
The parameter displays the electrical field angle of the rotating field determined from the
field angle calculation module.

 CT I set value U
 CT I set value V
 CT I set value W
These parameters display the calculated present set current values of the respective
phases.

 CT I controller adaption
These parameters can be used for optimizing the tarque constant.

 CT status
This parameter displays the internal function module status.

Bit no. Meaning

0 ... 2 000: STOP 001: RUN 010: LINE 011: STAND_BY

3 ... 15 reserved

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Speed controller Parameters

7.6 Speed controller (ID no. 50 - 62)

Function

The speed controller takes the form of a PI-controller. The control variable limits and a configurable
filter for the actual speed value are contained in the function module.

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Parameters Speed controller

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

38 N M limiter type 0 ... 1 0

50 N set value -100.00 ... +100.00 % 0.00
51 N actual value -200.00 ... +200.00 % 5
52 N M set value -150.00 ... +150.00 % 5
53 N M limiter bipolar 0.00 ... +150.00 % 70.00
54 N M limiter Mot/MR1 0.00 ... +150.00 % 100.00
55 N M limiter Gen/MR2 0.00 ... +150.00 % 100.00
56 N cycle time 125 ... 6000 µs
57 N P-Gain 1 ... 127 5
58 N integral action time 1.0 ... 250.0 ms 50.0
59 N status 0000 ... FFFF 5
60 N control deviation -200.00 ... +200.00 % 5
61 N limiter control deviation 0.00 ... 200.00 % 100.00
62 N actual value smoothing 0 ... 20 ms 1

Parameter description

 N M limiter type
The type of torque limiter can be switched between motor/generator and torque direction
MR1/MR2 via this parameter.

Value Meaning

0 torque limiter mot/gen

1 torque limiter MR1/MR2

Torque limiter mot/gen Torque limiter MR1/MR2

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Speed controller Parameters

 N set value
This parameter displays the standardised set speed value of the motor, in rpm, which was
calculated by the ramp module. Alternatively, a set speed value can be entered directly.


N actual value
The speed controller actual value is the filtered speed signal from the resolver evaluation
module. The filter is assigned parameters via the parameter "filter for the actual speed
value".

 N M set value
The torque set value displays the speed controller output (+100 % ⇔ output nominal
current
IN ).

 N M limiter bipolar
 N M limiter mot/MR1
 N M limiter gen/MR2
The control value is symmetrically limited with the bipolar limiter. From the bipolar,
mot/MR1 and gen/MR2 limiters, the respective smaller value is valid. If the I²t power unit
monitoring operates, the torque limiters are internally restricted to 100 %. During the
limitation bit no. 13 in N status is set.

 N cycle time
This parameter displays the cycle time of the speed controller.

 N P-gain
This parameter sets the proportional gain (Kp) of the speed controller.

 N integral action time

These parameters set the integral action time (TN) of the speed controller.


N status
This parameter displays the speed controller status.

Bit no. Meaning

0 ... 2 000: STOP 001: RUN 010: LINE 011: STAND_BY

3 1: error in module, error code see ID no. 124
4 ... 9 reserved
10 0: motor mode
1: generator mode
11 0: torque direction MR1
1: torque direction MR2
12 1: set value reached (control deviation < limiter control deviation (ID no. 61))
13 1: control value reached
14 ... 15 reserved

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Parameters Speed controller

 N control deviation
This parameter displays the present speed control deviation.


N limiter control deviation

If the value falls below the maximum control deviation set by this parameter, the module
transmits a message (set in bit no. 12 in N status, ID no. 59).

 N actual value smoothing

To prevent disturbance of the actual speed value, a smoothing feature can be introduced
via this parameter.

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Current controller Parameters

7.7 Current controller (ID no. 70 - 87)

Function

The current controller sets the predetermined coordinate transformation current by controlling the
Pulse Width Modulation.

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Parameters Current controller

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

70 I set value U - 2048 ... + 2048 5

71 I set value V - 2048 ... + 2048 5
72 I set value W - 2048 ... + 2048 5
73 I actual value U - 4096 ... + 4096 5
74 I actual value V - 4096 ... + 4096 5
75 I actual value W - 4096 ... + 4096 5
76 I control value U - 2048 ... + 2048 5
77 I control value V - 2048 ... + 2048 5
78 I control value W - 2048 ... + 2048 5
79 I status 0000 ... FFFF 5
80 I P gain 0.1 ... 13.8 0.5
81 I integral action time 0.3 ... 890.0 ms 3.0
82 I control limiter 0.0 ... 100.0 % 100.0
83 I offset U - 256 ... + 256 5
84 I offset V - 256 ... + 256 5
85 I EMF offering U - 2048 ... + 2048 5
86 I EMF offering V - 2048 ... + 2048 5
87 I EMF offering W - 2048 ... + 2048 5

Parameter description

 I set value U

I set value V
 I set value W
I set value U and I set value V display the set current values calculated by coordinate
transformation. I set value W results from the sum of all current equal to 0.
Iset value w = - (Iset value U + Iset value V).

Calibration: +2048 ⇔ 100 % nominal output current
IN

0 ⇔ 0 % nominal output current
IN
-2048 ⇔ -100 % nominal output current
IN

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Current controller Parameters

 I actual value U
 I actual value V
 I actual value W
I actual value U and I actual value V display current recorded by the current converters.
I set value W results from the sum of all current equal to 0,
Iset value w = - (Iset value U + Iset value V). Calibration see set value calibration.

 I control value U
 I control value V
 I control value W
I control value U and I control value V display the current controller output of phases U and
V. I control value W is calculated from Iw = - (Iu + Iv ).


I status
This parameter displays the internal module status.

Bit no. Meaning

0 ... 2 000: STOP 001: RUN 010: LINE 011: STAND_BY

3 ... 15 reserved

 I P gain
The proportional gain (kp) of the current controllers is set by this parameter.


I integral action time

This parameter sets the integral action time (TN) of the current controllers.

 I control limiter
The parameter displays the maximum modulation of the Pulse Width Modulation.

 I offset U
 I offset V
In order to compensate for the offset of the applied current converter, the current converter
is balanced to zero after every pulse inhibit and the offset value is displayed under this
parameter.

 I EMF offering U
 I EMF offering V
 I EMF offering W
These parameters display the set voltage value under consideration of an EMF factor (see
parameter ID no. 39).

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Parameters Overload monitoring

7.8 Overload monitoring (ID no. 88 - 93)

Function

The overload monitor protects the power unit/motor from thermal overloading. The temperature of the
power unit/motor is imitated and monitored by an I²t model.

Motor model:

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

88 I2t motor warning limit 0.00 ... 100.00 % 100.00

89 I2t motor time constant 0 ... 1800 s 300
90 I2t I_motor/I_nominal 0.25 ... 1.0 1.00
91 I2t value motor 0.00 ... 150.00 % 5
92 I2t PU control 0 ... 1 1
93 I2t status 0000 ... FFFF 5

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Overload monitoring Parameters

Parameter description

 I2t motor warning limit

If this value is exceeded the bit "motor overload warning" (bit no. 4, ID no. 93) is set.


I2t motor time constant
The thermal time constant of the motor Tt [s] (see technical data motor) must be entered in
sec..
If motor time constant = 0 the overload monitoring is turned off.

I2t I_motor/I_nominal
This parameter displays the overload factor between nominal motor current and nominal
unit current.
Inom (motor)
ID - Nr 90 =
Inom (power unit)

I2t value motor

The output of the PT1 element unit is displayed here (100 % ⇔ 155 °C).

 I2t PU control
This parameter switches the power unit overload monitoring on and off .

Value Meaning

0 overload monitoring off

1 overload monitoring on

I²t power unit monitoring is set so that the power unit in use cannot be overloaded. The
magnitude and the duration of the overload depends on the power unit.
The current limiter is limited to 100 % if the overload monitoring responds.

 I2t status
The status shows the function module status..

Bit no. Meaning

0 ... 2 000: STOP 001: RUN 010: LINE 011: STAND_BY

3 1: error in module, for error code see Merror code (ID no. 124)
4 1: warning: motor I²t value > motor limiter value (ID no. 88)
5 1: warning: power unit I²t value > 110% (current limiter reduced to 100%)
6 ... 10 reserved
11 1: motor I²t value error > 100 %
12 ... 15 reserved

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Parameters Overload monitoring

• Example

Unit: BUM 61x - 12 / 18: Inom. = 8.5 Aeff

Motor: DS 56 L - 3000; Inom. = 5.1 Aeff;
Tt = 26 min = 1560 s (see 9.1 Suitable servo motors)

ID no. 88: 80 % (warning limitation)

ID no. 89: 1560 s
Inom. (motor) 5.1 A
ID no. 90: ID - Nr 90 = = = 0.6
Inom. (power unit) 8.5 A

ID no. 99: 0 % to 100 % Inom. of power unit

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Extended current monitoring Parameters

7.9 Extended current monitoring (ID no. 94 - 99)

Function

By means of extended current monitoring the actual current value of the motor can be compared with
various limiters. Depending on the type of limiter, a message is shown in the current monitoring status
display either on exceeding a limit or after having exceeded a set time length.

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

94 Ext I > I_x2 0.00 ... 150.00 %

95 Ext time I > I_x2 0.0 ... 1000.0 s
96 Ext I > I_x1 0.00 ... 150.00 %
97 Ext time I > I_x1 0.00 ... 1000.00 s
98 Ext status 0000 ... FFFF 5
99 Ext current actual value 0.00 ... 150.00 % 5

Parameter description

 Ext status
This parameter displays the function module status.

Bit no. Meaning

0 ... 2 000: STOP 001: RUN 010: LINE 011: STAND_BY

3 ... 7 reserved
4 Warning I_x1 for time I_x1 exceeded
5 Warning I_x1 exceeded
6 Warning I_x2 for time I_x2 exceeded
11 ... 15 reserved

Ext current actual value

This parameter shows the total actual value as a percentage of nominal unit current.
Calibration: +100.00 % ⇔ output nominal current
IN .

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Parameters Extended current monitoring

 Ext I > I_x2

 Ext time I > I_x2

 Ext I > I_x1

 Ext time I > I_x1

These parameters define the characteristic curve of the extended current monitoring .
I_x2 must be above I_x1. Hysteresis is ± 3 % for each parameter.

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Pulse width modulation Parameters

7.10 Pulse Width Modulation (ID no. 100 - 103)

Function

The parameters of the Pulse Width Modulation module only serve to display the values supplied by
the current controller.

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

100 PWM phase U - 2048 ... + 2048 5

101 PWM phase V - 2048 ... + 2048 5
102 PWM phase W - 2048 ... + 2048 5
103 PWM frequency 1000 ... 20000 Hz 8012 5

Parameter description

PWM phase U


PWM phase V

 PWM phase W
These parameters display the angle of regulation α of the relative power transistors for the
individual phases. The sum of these 3 parameters is always 0.
This means: +2048 to a regulation angle of α = +100 %
0 to a regulation angle of α= 0%
-2048 to a regulation angle of α = -100 %
The resultant voltage (middle values) at the power supply terminals ca be calculated as
follows.
PWM phase U - PWM phase V ID no. 100 - ID no. 101
Uuv = UZK • = ID no. 111 •
4096 4096

PWM phase V - PWM phase W ID no. 101 - ID no. 102

UVW = UZK • = ID no. 111 •
4096 4096

PWM phase W - PWM phase U ID no. 102 - ID no. 100

UWU = UZK • = ID no. 111 •
4096 4096

Whereby UZK is the intermediate circuit voltage which is indicated via ID no. 111. Due to the
underlying cycle frequency this voltage cannot be measured on universal devices.

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Parameters Pulse width modulation

DANGER
Even with an output voltage close to zero, the pulsed intermediate circuit voltage is
detectable at the terminals. In addition a potential of > 300 V to earth may be detected at
the terminals.

 PWM frequency
The frequency of the power unit is 8012 Hz. This parameter has a display-only function.

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Power supply Parameters

7.11 Power supply (ID no. 110 - 112)

Function

The function module power supply indicates the status of the power supply unit and the intermediate
circuit.

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

110 ES status 0000 ... FFFF 5

Parameter description

ES status
This parameter indicates the present power supply status.

Bit no. Meaning

0 ... 2 000 : STOP 001 : RUN

3 1 :error in funktion module, error code see M error code (ID no. 124)
4 1 : main contactor switched on
5 1: charging contactor switched on
6 ... 7 reserved
8 ... 11 0000 : ready for use: main contactor off, charging resistor cold
0001 : ready for use: main contactor on, charging resistor cold
0010 : error occurred
0011 : ready for use: main contactor off, charging resistor cooling off
0100 : ready for use: main contactor on, charging resistor cooling off
0101 : charging the intermediate circuit
0110 : undervoltage Uzk (charging resistor overloading)
12 ... 15 reserved

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Parameters Power unit

7.12 Power unit (ID no. 115 - 117)

Function

The power unit module indicates the status the power unit.

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

115 PU status 0000 ... FFFF 5

117 PU version 0 ... 65535 5

Parameter description

 PU status
This parameter shows the status of the power unit.

Bit no. Meaning

0 ... 2 000 : STOP 001 : RUN

3 1 : error in function module, error code see M error code (ID no. 124)
4 1 : power unit reset active
5 1 : pulses enabled, power unit active
6 ... 15 reserved

 PU version
The power unit type is given.

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Drive manager Parameters

7.13 Drive manager (ID no. 120 - 133)

Function

The drive manager administrates the essential system resources of the drive. These include among
others complete unit control in various modes, switching between the different modes, the manage-
ment of all communication interfaces, error treatment etc.

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

120 M control word 0000 ... FFFF 0000

121 M status word 0000 ... FFFF 5
122 M desired operating mode -5 ... 6 -3
123 M actual operating mode -5 ... 6 5
124 M error code 0000 ... FFFF 5
125 M error index 0 ... 31 5
126 M communication source 0000 ... 000F 0000
127 M communication monitoring 0000 ... 000F 0000
128 M monitoring time 0 ... 60 000 ms 0
129 M monitoring code -2 ... 3 0
130 M HALT code 0 ... 4 1
131 M RAPID HALT code 0 ... 4 1
132 M INHIBIT code 0 ... 1 1
133 M SHUTDOWN code 0 ... 1 1

• Introduction to the representation of unit control

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Parameters Drive manager

• Unit control state machine

The binary bits 7 ... 0 of the static drive status (ID no. 121) are figured XXXX XXXX. The status
transition bit pattern of the control word (ID no. 120) is figured xxxx xxxx (bit no. 7 ... 0).

The bits designated with X or x have no effect on the unit status.

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Drive manager Parameters

• Unit control statuses

NOT READY TO START

- electronics supplied with voltage
- self-test running
- initialisation running
- drive function inhibited
- relay „ready for use“ is off (drive not ready for use)

 INHIBIT START
- software/hardware initialisation completed
- parameter assignment completed
- drive function inhibited
- switch-on inhibited
- relay „ready for use“ is on (drive ready for use)

 READY TO START
- application parameters can be redefined
- drive function inhibited
- switch-on enabled
- relay „ready for use“ is on (drive ready for use)

 SWITCHED ON
- application parameters can be redefined
- drive function inhibited
- power unit ready for use
- relay „ready for use“ is on (drive ready for use)

 ENABLE OPERATION
- application parameters can be redefined
- drive function enabled
- relay „ready for use“ is on (drive ready for use)

 RAPID HALT ACTIVE

- application parameters can be redefined
- rapid halt function is carried out (parameter assignment via M rapid halt Code, ID no. 131)
- drive function enabled
- relay „ready for use“ is on (drive ready for use)

 FAULT REACTION ACTIVE

- application parameters can be redefined
- an fault-dependant action is carried out
- drive function may be enabled
- relay „ready for use“ is off (drive not ready for use)

 FAULT
- application parameters can be redefined
- drive function inhibited
- relay „ready for use“ is off (drive not ready for use)

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Parameters Drive manager

• Unit control status transition

0 State machine input
NOT READY TO START

event: - hardware reset
or - software reset
or - switch on operating voltage
action: - switch off relay „read for use“
- start self-test
- start initialisation

1 NOT READY TO START

INHIBIT START 

event: - error-free self-test
- error-free completion of initialisation
action: - activate communication monitoring and process
data monitoring
- switch on relay „ready for use“

2 INHIBIT START 
READY TO START 

event: - command "shutdown"
action: - none

3 READY TO START 
SWITCHED ON 

event: - command "switch on"
action: - switch on power unit if not on yet

4 SWITCHED ON 
OPERATION ENABLED 

event: - command "enable operation"
action: - enable drive function

5 OPERATION ENABLED 
SWITCHED ON 

event: - command "inhibit operation"
action: - inhibit drive function

6 SWITCHED ON 
READY TO START 

event: - command "shutdown"
action: - the power unit can be switched off

7 READY TO START 
INHIBIT START 

event: - command "rapid halt"
or - command "inhibit voltage"
action: - none

8 OPERATION ENABLED 
READY TO START 

event: - command "shutdown"
action: - inhibit drive function (parameter assignment via M shutdown
Code ID no. 133)
- the power unit can be switched off

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Drive manager Parameters

9 OPERATION ENABLED 
INHIBIT START 

event: - command "inhibit voltage"
action: - inhibit drive function
- power unit can be switched off

10 SWITCHED ON 
INHIBIT START 

event: - command "inhibit voltage"
or - command "rapid halt"
action: - the power unit can be switched off

11 OPERATION ENABLED 
RAPID HALT ACTIVE 

event: - command "rapid halt"
action: - trigger rapid halt function

12 RAPID HALT ACTIVE 
INHIBIT START 

event: - command "inhibit voltage"
or - rapid halt completed
action: - inhibit drive function
- the power unit can be switched off

13 all status types
FAULT REACTION ACTIVE 

event: - drive fault detected
action: - switch off „ready for use“ relay
- trigger error-dependant fault reaction

14 FAULT REACTION ACTIVE 
FAULT 

event: - fault reaction completed
action: - inhibit drive function
- the power unit can be switched off

15 FAULT 
INHIBIT START 

event: - command "error reset"
condition: - error no longer present
action: - fault reset is carried out
- switch on „ready for use“ relay

The status only changes if all the actions have been carried out. The sequence of actions
corresponds to the sequence of processing during status change. After carrying out all the actions the
next status is reached, and new commands are accepted.

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Parameters Drive manager

• „Ready for use“ relay

The state of the relay „ready for use“ changes on the following control transitions.

Transition Action „ready for use“ relay Comment

0 switch off start of drive initialisation

1 switch on end of drive initialisation
13 switch off error occured
15 switch on all errors are acknowledged, drive without faults

State „Ready for use“ relay

NOT READY TO START OFF

INHIBIT START ON
READY TO START ON
SWITCHED ON ON
OPERATION ENABLED ON
RAPID HALT ACTIVE ON
FAULT REACTION ACTIVE OFF
FAULT OFF

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Drive manager Parameters

Parameter description

 M control word
This parameter corresponds to DRIVECOM object 6040hex and is the input word of the
control unit state machine.

Bit no. Name Comments

0 switch on unit control state machine

1 inhibit voltage unit control state machine
2 rapid halt unit control state machine
3 enable operation unit control state machine
4, 5, 6 mode-dependant see table "total overview of control words"
7 fault reset unit control state machine
8, 9, 10 spare must always be set = 0
11, 12, 13, 14, mode-dependant see table "total overview for all modes"
15 write protection

The drive managers control word is write protected if the write protection bit (bit no. 15) is
set in the control word. After the processing of the write protected control word the drive
manager resets the write protection bit to 0.

NOTE
The write protection must be used if the control word is manipulated by digital inputs and a
communication source writes simultanously on the control word.

The unit control commands are defined in the control word via the following bit combi-
nations:

Command Bit no. 15 Bit no. 7 Bit no. 3 Bit no. 2 * Bit no. 1 * Bit no. 0 Tran-
write reset error enable rapid halt inhibit switch on sitions
protection operation voltage
Shut down 5 5 5 1 1 0 2,6,8
Switch on 5 5 5 1 1 1 3
Inhibit voltage 5 5 5 5 0 5 7,9,10,12
Rapid halt 5 5 5 0 1 5 7,10,11
Inhibit operation 5 5 0 1 1 1 5
Enable operation 5 5 1 1 1 1 4
Error reset 5 0∏1 5 5 5 5 15
Enable operation 1 5 1 1 1 1 2
straight

The bits designated with 5 have no effect on the unit control status.

* low active

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Parameters Drive manager

NOTE
The command „enable operation straighly“ has only in state INHIBIT OPERATION an effect. This
command does not correspond to the DRIVECOM specification because the function INHIBIT
OPERATION is disabled temporarily.
After this command is taken in state INHIBIT OPERATION the drive manager run through the
transitions 2, 3 and 4, if the hardware signals (pulse enabling and main contactor) are given. The
manager remains in state „OPERATION ENABLED.

Control word: total overview for all modes

Bit no. Speed Current Speed Speed Position Manual Synchroni- Reference Target
specifica- control control specifica- control mode sation run mode position
tion tion 1 control specifica-
tion
1 -3 -2 2 -4 5 -5 6 1

0 switch-on (unit control state machine)

1 inhibit voltage (unit control state machine) *
2 rapid halt (unit control state machine) *
3 enable operation (unit control state machine)
4 5 5 RFG RFG * 5 5 5 starting new set
inhibit inhibit reference value
run
5 5 5 RFG stop RFG * stop 5 5 5 5 5
6 5 5 RFG zero RFG * zero 5 5 5 5 5
7 errror reset (unit control state machine)
8 5 5 5 5 5 5 5 5 5
9 5 5 5 5 5 5 5 5 5
10 5 5 5 5 5 5 5 5 5
11 5 5 5 5 5 inching 5 5 start of
forwards positioning
12 5 5 5 5 5 inching 5 5 5
backwards
13 5 5 5 5 5 5 5 5 5
14 5 5 5 5 5 5 5 5 5
15 write protection

The bits designated with 5 have no effect on the unit control status.

* low active

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Drive manager Parameters


M status word

This parameter corresponds to DRIVECOM object 6041hex and is the output word of the
unit control state machine.

Bit Name Comments

0 ready to start unit control state machine

1 switched on unit control state machine
2 operation enabled unit control state machine
3 fault unit control state machine
4 voltage inhibited 0: the "inhibit voltage" requirement is present
(command or main contactor contact)
5 rapid halt unit control state machine
6 inhibit start unit control state machine
7, 8 reserved reserved
9 remote bit 9 = 1: parameters can be assigned via the selected
communication source
10 set value reached bit 10 = 1: depending on the active mode
it is indicated whether the preset set value
is reached
11 reserved reserved
12, 13, 14, 15 mode-dependant see table
"total overview for all modes"

The unit status is represented by the following bit combinations in the status word:

Bit in status word

State of Bit no. 6 Bit no. 5 * Bit no. 3 Bit no. 2 Bit no. 1 Bit no. 0
the unit control inhibit start rapid halt error operation switched on ready to
enabled start

NOT READY TO
START
0 5 0 0 0 0

 INHIBIT START 1 5 0 0 0 0

 READY TO
START
0 1 0 0 0 1

 SWITCHED ON 0 1 0 0 1 1

 OPERATION
ENABLED
0 1 0 1 1 1

 FAULT 0 5 1 0 0 0

 FAULT
REACTION
0 5 1 1 1 1

ACTIVE

 RAPID HALT
ACTIVE
0 0 0 1 1 1

The bits designated with 5 have no effect on the unit control status.

* low active

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Parameters Drive manager

Status word: total overview for all modes

Bit no. Speed Current Speed Speed Position Manual Synchroni- Reference Target
specifica- control control specifica- control mode sation run mode position
tion tion 1 control specifica-
tion
1 -3 -2 2 -4 5 -5 6 1

0 ready to start (unit control state machine

1 switched on (unit control state machine)
2 enable operation (unit control state machine)
3 error (unit control state machine)
4 voltage inhibited (unit control state machine) *
5 rapid halt (unit control state machine) *
6 inhibit ready (unit control state machine)
7 5 5 5 5 5 5 5 5 5
8 5 5 5 5 5 5 5 5 5
9 remote
10 set value reached
speed set speed set position set position set reference set value
5 5 value value value 5 value speed acknow-
ledgement
11 5 5 5 5 5 5 5 5 5
12 reference set value
5 5 5 5 5 5 5 run finished acknow-
ledgement
13 5 5 5 5 5 5 5 reference 5
run error
14 5 5 5 5 5 5 5 5 5
15 5 5 5 5 5 5 5 5 5

The bits designated with 5 have no effect on the unit control status.

* low active

Bit no. 10: "Set value reached" is actualised only in state OPERATION ENABLED.

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Drive manager Parameters

 M desired operation mode

This parameter corresponds to DRIVECOM object 6060hex and specifies the mode for the
drive.

Selection code Mode Comments

-5 synchronisation control option

-4 position control standard
-3 speed control standard
-2 current control standard
-1 locating position reference point setting standard
1 target position specification option
2 speed specification 1 standard
5 manual mode option
6 reference run mode option

The modes can be switched when the controller is inhibited (offline), but sometimes also
when the controller is enabled (online). For further details see the table under ID no. 123
M actual mode.

For the below-mentioned modes it is imperative that the following parameter settings are
carried out:

Selection code Mode Ramp function generator input

selection
ID no. 13

-5 synchronisation control 1
-4 position control 1
-3 speed control any
-2 current control any
-1 locating position reference point setting any
1 target position specification 1
2 speed specification 1 any
5 manual mode 1
6 reference run mode 1

A separate description is available for the optional modes.

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Parameters Drive manager

 M actual mode

This parameter corresponds to DRIVECOM object 6061hex and indicates the currently
active drive mode (see also set mode table).
For switching from the current mode to the desired actual mode the following schematic
diagram applies

Mode switching

Mode from
switching -5 -4 -3 -2 -1 2 6 5 1

synchroni- position speed current locating speed reference manual target

to sation control control control position specificatio run mode mode position
control n1 specifi-
cation

synchroni-
5 2 2 2 1 2 2 2 2
sation control
position
2 5 2 2 1 2 2 2 2
control
speed control
2 2 5 2 1 2 2 2 2
current
2 2 2 5 1 2 2 2 2
control
locating
1 1 1 2 5 1 1 1 1
position
speed speci-
2 2 2 2 1 5 2 2 2
fication 1
reference run
2 2 2 2 1 2 5 2 2
mode
manual mode
2 2 2 2 1 2 2 5 2
target
2 2 2 2 1 2 2 2 5
position
specification

When 1:
mode switching is only possible offline in the INHIBIT READY, READY TO START and
SWITCHED ON status types.

When 2:
mode switching is possible offline in the INHIBIT READY, READY TO START and SWITCHED
ON status types as well as online in the OPERATION ENABLED status.

NOTE
Switching to possibly non-implemented optional modes is not prevented.

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Drive manager Parameters

 M error code

In case of error, the corresponding error code can be found here. This error is acknowledged
if the bit "error reset" in the control word (ID no. 120) is set from 0 to 1. If several errors are
present, the next error is displayed immediately after acknowledgement.
List of error codes:

Module Error code Error text

drive manager 0001h timeout BASS protocol

0002h timeout USS protocol
0003h timeout dual port RAM (cyclic data)
0004h timeout dual port-RAM (working data)
0005h system boot
0010h error switch (program error)
power supply 0102h error load contactor
0103h voltage too low UZK
010Ch ballast resistor current too high
power unit 0201h overvoltage Uzk
0202h overcurrent
0207h transistor error (group error)
resolver 0301h resolver cable open circuit
compensation
overload 0401h I²t monitoring motor
monitoring
motor 0501h temperature motor too high
temperature
position 0601h deviation dynamic
controller 0602h deviation static
0603h positive actual value is missing
0605h negative actual value is missing
0604h wrong sign positive actual value
0606h wrong sign negative actual value
speed 0701h set/actual value monitoring speed controller
controller
resolver 0801h speed too high
data set 0901h copy error EEPROM
management 0902h boot data set not available
0903h check sum error in boot data set
incremental 0A01h speed too high
encoder

For detailed error description and trouble-shooting see error notes in the chapter
"Maintenance".

 M error index

This parameter indicates the number of errors which are present. On acknowledgement of
each error the displayed value is decreased. The parameter contains the number 0 after
acknowledging all errors.

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Parameters Drive manager

 M communication source

The access rights of the various sources of communication are managed via this parameter.
Sources of communication are all program modules which exchange data with a master
control via a communication protocol. As several of these program modules can be
implemented in the drive, but not all modules can have simultaneous access to all
parameters (particularly the drive manager's status word (ID no. 120)), write-access must be
managed correspondingly.

Depending on the parameter "communication source" the drive manager activates and DI-
activates the various communication modules. Each communication module has a status
parameter where the current status (RUN/STOP) is displayed.
A communication module is only allowed to write-access drive parameters when in the RUN
status. In the STOP status no write-access is allowed. Reading the drive parameters is
possible in any status.
The BASS protocol is the only communication source which is allowed to write on these two
parameters even if it is not enabled. This is to ensure that changing the parameter
"communication source" (ID no. 126) and saving this alteration in the EEPROM via
parameter DSM command (ID no. 190) is always possible.
The reason for this exception is that the BASS protocol is always implemented in the drive.
According to the unit configuration, the following sources of communication are possible:

Bit no. Meaning

0 1: BASS protocol via RS 232 enabled

1 1: USS protocols via RS 485 enabled
2 1: dual port RAM (cyclic data)
3 1: dual port RAM (working data)
4 ... 15 reserved

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Drive manager Parameters

If the parameter "communication source" is set to 0, the drive can only be controlled via
pulse enabling. As no master control is available, the drive manager itself can set the
corresponding control commands. The following table shows the status transitions and their
relevant manipulations:

Transition Condition Action

2 pulse enabling = 0 command "shutdown" is given

3 main contactor = 1 command „switch on“ is given
4 pulse enabling = 1 command "enable operation" is given
5 pulse enabling = 0 command "inhibit operation" is given
9, 10, 12 main contactor = 0 command „inhibit voltage“ is given
15 pulse enabling = 0 command "fault reset" is given

Moreover, the drive manager's control word can also be manipulated via the freely
programmable digital inputs (see function module "digital inputs").

 M communication monitoring

Monitoring of the sources of communication can be activated via this parameter.

Bit no. Meaning

0 1: BASS protocol via RS 232 enabled

1 1: USS protocols via RS 485 enabled
2 1: dual port RAM (cyclic data)
3 1: dual port RAM (working data)
4 ... 15 reserved

Note: In general monitoring a communication source only makes sense if it has

been enabled via ID no. 126.
For test purposes, however, it is also possible to activate monitoring of
sources of communication which have not been enabled. Monitoring responds
immediately.

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Parameters Drive manager

 M monitoring time

This parameter sets the time constant of communication monitoring. It is valid for all
sources of communication.
If no information from the current communication source is received within the period set in
the parameter "monitoring time", e.g. as a result of an open circuit on an interface cable or
defective communication card, the action selected in the parameter "monitoring selection
code" is carried out. Monitoring time can be up to one minute with the representation unit
being 1 ms. If the time 0 ms is entered, monitoring is switched off.
If the controller is operated without communication (ID no. 126 = 0), monitoring time must
be set to 0 ms.


M monitoring code
This parameter corresponds to DRIVECOM object 6004hex and determines the drive
reaction in the event of the communication monitoring time being exceeded. It is not
important which communication source caused the timeout.

Selection code Function

-2 unit control command "shutdown" is updated

-1 unit control command "inhibit operation" is updated
0 no action
1 transition to fault status
2 unit control command "inhibit voltage" is updated
3 unit control command "rapid halt" is updated

 M HALT code
This parameter corresponds to DRIVECOM object 605Dhex and determines the drive
reaction in the unit control state machine in the OPERATION_ENABLED status. The HALT
function is only implemented in the speed control and speed specification 1 modes.
Depending on control bit no. 4 "inhibit RFG" the HALT function selected by the HALT code
is carried out.
Speed control mode: Inhibit RFG = 1: HALT function active
Inhibit RFG = 0: HALT function inactive
Speed specification 1 mode: Inhibit RFG = 1: HALT function inactive
Inhibit RFG = 0: HALT function active

Selection code Function

0 inhibit drive function

1 shutdown procedure at shutdown procedure ramp
2 shutdown procedure at rapid halt ramp
3 shutdown procedure at current limit
4 shutdown procedure at voltage limit

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Drive manager Parameters


M RAPID HALT code

This parameter corresponds to DRIVECOM object 605Ahex and determines the drive
reaction in the unit control state machine in the RAPID HALT ACTIVE status.

Selection code Function

0 inhibit drive function

1 shutdown procedure at shutdown procedure ramp
2 shutdown procedure at rapid halt ramp
3 shutdown procedure at current limit
4 shutdown procedure at voltage limit

 M INHIBIT code

This parameter corresponds to DRIVECOM object 605Chex and determines the drive
reaction in the unit control state machine during transition 5 and in the FAULT REACTION
ACTIVE status.

Selection code Function

0 inhibit drive function

1 shutdown procedure at shutdown procedure ramp,
then inhibit drive function

 M SHUTDOWN code

This parameter corresponds to DRIVECOM object 605Bhex and determines the drive
reaction in the unit control state machine during transition 8.

Selection code Function

0 inhibit drive function

1 shutdown procedure at shutdown procedure ramp,
then inhibit drive function

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Parameters Set value generator

7.14 Set value generator (ID no. 140 - 150)

Function

The module creates a plateau set value for each of the 4 time zones. Both the plateau amplitude and
the output time interval per zone can be allocated parameters. The amplitudes are relative and are
destandardised by means of the min./max. receiver values. On termination of the last time zone the
first time zone starts again. Each time the controller is enabled the set value generator is newly
started in zone 1. When leaving the status "operation enabled" (ID no. 121), the set value generator is
stopped.

Thus e.g. the following speed set value graph can be created:

rpm

Amplitude 1 Amplitude 1

Amplitude 2

Time 1 Time 2 Time 3 Time 4 t

Amplitude 3

Amplitude 4

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. Values only

140 SVG target ID no. 0 ... 500 0

141 SVG output - 100.00 ... + 100.00 % 5
142 SVG amplitude 1 - 100.00 ... + 100.00 % 30.00
143 SVG amplitude 2 - 100.00 ... + 100.00 % -60.00
144 SVG amplitude 3 - 100.00 ... + 100.00 % 100.00
145 SVG amplitude 4 - 100.00 ... + 100.00 % 0.00
146 SVG time 1 0.001 ... 60.000 s 1.000
147 SVG time 2 0.064 ... 60.000 s 1.000
148 SVG time 3 0.064 ... 60.000 s 1.000
149 SVG time 4 0.064 ... 60.000 s 1.000
150 SVG status 0000 ... FFFF 5

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Set value generator Parameters

Parameter description

 SVG target ID no.

This parameter contains the input parameter number of the receiver module (e.g. parameter
ID no. 2 of input 1 in the ramp function generator). The set value generator's output value is
written to the receiver with the corresponding address.


SVG output value

The current output value is displayed here.

 SVG amplitude 1

 SVG amplitude 2

 SVG amplitude 3

 SVG amplitude 4
Parameter values between -100 % and +100 % can be assigned to these 4-amplitude-
parameters. The amplitudes are connected to the output value according to the time
assigned to them.

 SVG time 1

 SVG time 2

 SVG time 3


SVG time 4
Values between 64 ms and 60 s can be assigned to these time parameters. The
corresponding amplitudes are switched to the output value during these time intervals.

 SVG status
The internal status of the set value generator is displayed here.

Bit no. Meaning

0 ... 2 000: STOP 001: RUN 010: LINE 011: STAND_BY

3 ... 15 reserved

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Parameters Motor temperature monitoring

7.15 Motor temperature monitoring (ID no. 151 - 152)

Function

This module protects the motor from thermal overloading.

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. Value only

151 MT status 0000 ... FFFF 5

152 MT recording system 0 ... 12 0

Parameter description


MT status
The module status is displayed here.

Bit no. Meaning

0 ... 2 000: STOP 001: RUN 010: LINE 011: STAND_BY

3 1:error in module, error code see M error Code (ID no. 124)
4 ... 6 reserved
7 1: shutdown: temperature switch response
8 ... 15 reserved

 MT recording system

This parameter sets the motor temperature recording type.

Value Meaning

0 motor temperatur recording disabled

1 reserved
2 temperature switch (normally closed) with error shutdown
3 ... 9 reserved
10 temperature switch (normally closed) without error shutdown
11 ... 12 reserved

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Operating system Parameters

7.16 Operating system (ID no. 160 - 163)

Function

The parameters of the operating system module are used for the display of the operating system
software version and its settings.

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

160 OS version 0.00 ... 99.99 4 / 94 5

161 OS sampling time 124.8 ... 4000.0 µs 5
162 OS message 0 ... 9999 5
163 Program version 0.00 ... 9999.99 5

Parameter description

 OS version
Shows the version number of the operating system software.


OS sampling time

The system clock shows the call interval of the shortest time segment.

 OS message
This parameter shows the number of operating system errors.

 Program version

This parameter shows the software version and the implemented technology functions of the
program.

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Parameters Service interface

7.17 Service interface (ID no. 170 - 171)

Function

The service interface allows communication with the PC operating program. The BASS protocol is
operated via the RS 232 interface. The address of each drive is set in binary code at the controller
front via DIP switch inside the unit´s housing. Bit no. 0 thus corresponds to switch 1, bit no. 1 to switch
2 etc.

NOTE
Communication between drive and PC via the RS 232 interface is described in more detail in the
communication software documentation.

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

170 S status 0000 ... FFFF 5

171 S baud rate 50 ... 19200 Baud 9600 5

Parameter description

 S status
Write-access to the drive parameters is managed via parameter M communication source
(ID no. 126) in the drive manager. The drive parameter can only be altered via the service
interface when bit no. 0 of this parameter is set to 0. If the bit is set to 0 write-access is
inhibited and only read-access to the parameter values granted.
See also M communication source (ID no. 126)

Bit no. Meaning

0 ... 3 status of function module

0001: RUN (all parameters can be read and write)
0000: STOP (all parameters can be read)
4 ... 11 drive address 0 ... 255 (representation of the DIP switch S20)
12 ... 15 reserved


S baud rate

The service baud rate can only be displayed and is set to a fixed value of 9600 baud.

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USS protocol Parameters

7.18 Link to USS protocol (ID no. 180 - 186)

Function

The module link to USS protocol allows the user to carry out communication between master and
slave with a fixed message length.

NOTE
Communication via the link to USS protocol is described in more detail in the communication
software documentation.

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

180 USS state 0000 ... FFFF 5

181 USS mode 0000 ... FFFF 0000
182 USS baud rate 150 ... 19200 baud 9600
183 USS PIV number 0 ... 4 words 3
184 USS PD number 0 ... 3 words 2
185 USS set value ID no. 0 ... 500 5
186 USS actual value ID no. 0 ... 500 5

Parameter description

 USS status
Displays the internal status of the module.
The module function is set via parameter M communication source (ID no.126) of the drive
manager. For further details, see the relevant chapter.

Bit Meaning

0-3 0000: module in status STOP. Incoming messages are not answered.
0001: module in status RUN. Message evaluation is active.
4 1: no message received at own address for longer than 1 s
5 1: no message traffic on the bus for longer than 5 s
6 reserved
7 1: faulty module initialisation
8 1: format error on actual value transfer (see ID no. 186)
9 1: format error on set value transfer (see ID no. 185)
10 1: error on reading actual value
11 1: error on writing set value
12 - 15 reserved

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Parameters USS protocol


USS mode

This parameter sets the USS protocol mode.

Bit no. Meaning

0 1: set/actual value standardisation active

0: set/actual value standardisation inactive
1 1: Broadcast coding activated
0: Broadcast coding not activated
2 1: answer delay active
0: answer delay inactive
3 ... 15 reserved, always 0

Set and actual value standardisation is selected with bit no. 0.

Apart from set and actual position values, all set and actual value parameters are
represented as relative sizes. With deactivated set/actual value standardisation these
parameters are represented in original standardisation in the message (±100.00%, ±2048
etc.), with active standardisation they are referred to 4000h.
Broadcast coding is activated by bit no. 1.
In normal circumstances all of the maximum 32 bus participants are addressed when the
broadcast-message is activated. By means of the Broadcast coding one can select for which
drive this Broadcast message is set; only those specific drives react to the control word
contained in the Broadcast message. The masking of this control word (with the masking of
this control word (with the mask transmitted in the PV1 (PIV-range)) remains effective.

• Following requirements must be satisfied for the use of Broadcast coding:

- USS PIV number (ID no. 183) must be set ≥ 3
- USS PD number (ID no. 184) must be set ≥ 3
- USS mode (ID no. 181) bit no. 1 must be set =1.
• The significance of the Broadcast coding is indicated by the following example:
Assuming: PD number = 3, PIV number = 3

The Broadcast code is set in PD2 (low-word) and PD3 (high-word) and signifies, in this
example, that the control word in PD1, masked with the value in PV1, must be accepted and
executed by the bus participants with the address 0, 9 and 23. All other bus participants
must disregard this information.

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USS protocol Parameters

The answer delay is selected via bit no. 2

According to the specification of the USS protocol the drive will transmit, after the reception
of the master message, ist answer message with a maximum delay of 2 ms. Within this
short time span a thorough processing of the information contained in the master message
will not always be possible (e.g. in PD range). Consequently a prepared answer message
(with an incomplete content) is sent back to the master. The correct return answer is only
then transmitted to the master in the next message-cycle.

In activating the answer-delay the information contained within processed, after the
reception of the master message (and straight after the answer message has been
transmitted back to the master (see arrow). A message-cycle is thus saved, however,
uncertainty occurs as to exactly when the answer message is transmitted. If the answer-
delay is activated then the message timing will o longer correspond to the specification.

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Parameters USS protocol

 USS baud rate

This parameter sets the baud rate for the RS485 interface.

 USS PIV number

This parameter sets the number of PIV elements available in the PIV range of the net data
block. The specification always refers to PIV elements of word length.

Value Meaning

0 0 words (no parameter assignment possible)

3 constantly 3 words (word parameters)
4 constantly 4 words (double word parameters)

 USS PD number

The amount of process data contained in the user data block can be influenced by this
parameters. The entry is always PD elements with word length.

Value Meaning

0 no process data
1 control word/status word is transmitted in PD1
2 control word/status word and 16 bit set/actual values
3 control word/status word and 32 bit set/actual values

 USS set value ID no.

This parameter allows the selection of that drive parameter whose value is to be transmitted
as the actual value in the reply message (PD2, PD3). The following stipulation applies to the
data exchange:

PD number Actual value parameter format Comments

0 16 / 32 bit set value channel switched off

1 16 / 32 bit set value channel switched off
3 16 bit set value transmitted in PD2
3 32 bit data transmission not possible,
bit 8 is set in USS status
4 16 bit set value transmitted in PD3
4 32 bit hi-word of the set value transmitted in PD2,
lo-word of the set value transmitted in PD3

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USS protocol Parameters

 USS actual value ID no.

This parameter allows the selection of that drive parameter which is to be written with the
set value from the master message (PD2, PD3). The following stipulation applies to the data
exchange:

PD number Actual value parameter format Comments

0 16 / 32 bit actual value channel switched off

1 16 / 32 bit actual value channel switched off
3 16 bit actual value transmitted in PD2
3 32 bit data transfer not possible
bit 9 is set in USS state
4 16 bit actual value transmitted in PD3
4 32 bit hi-word of the actual value transmitted in PD2
lo-word of the actual value transmitted in PD3

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Parameters Data set management

7.19 Data set management (ID no. 190 - 196)

Function

Data set management is a universal module for loading and saving parameters

Data sets can be loadad from the memory areas RAM and EEPROM, saving is possible in RAM and
EEPROM (non-volatile). Several data sets can be managed.

• After switching on
Directly after switching on the operating voltage supply the DSM (data set management)
automatically loads the boot data set (data set 0) into the drive's user memory.

After successful execution of this command the DSM stops in

status 0003: STAND_BY (ID no. 191)
message 0000: no error (ID no. 192).

If no boot data set has been created yet, the DSM is in

status 000B: STAND_BY with error (ID no. 191)
message 0002: data set not available (ID no. 192).

In addition to the drive managers state changes to fault and parameter M error code (ID no.
124) displays the error code 0902.

• Creating and updating a boot data set

NOTE
Prior to any new action the DSM must first be reset by the command 0: Reset (ID no. 190).

This measure sets all DSM parameters to value 0. This also refers to data set name (ID no. 193)
and data set version (ID no. 194), which in this status represent the boot data set.

It must now be set via the command 5: write data set into EEPROM (ID no. 190) how the boot
data set is to be created for the first time in EEPROM or how an existing boot data set is to be
updated.

Only in the case of message 0000: no error (ID no. 192) and DSM status 0003: STAND_BY has
the data set been written correctly.

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Data set management Parameters

• Creating and updating other data sets

The procedure is identical to that of creating and updating a boot data set except that the
parameter data set name (ID no. 193) can now be selected from numbers 1 to 2.

The command 2: write data set into RAM (ID no. 190) is to be used for creating and updating
RAM data sets.

These data sets are lost if the unit is switched off. However they can be useful for commissioning.

Data sets can be transmitted to the working memory with

command 3: read data set from RAM ID no. 190)
command 5: read data set from EEPROM (ID no. 190).

Only in the case of DSM message 0000: no error (ID no. 192) and DSM status 0003: STAND_BY
has the data set been written correctly.

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

190 DSM command 0 ... 8 0 0

191 DSM status 0000 ... FFFF 5
192 DSM message 0000 ... FFFF 5
193 DSM data set name 0 ... 2 0
194 DSM data set version 00.00 ... 99.99 5
195 DSM message ID-no. 0 ... 500 5
196 DSM load data set 0 ... 2 0

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Parameters Data set management

Parameter description

DSM command
This command instructs the data set management to load, save or delete an existing data
set.

NOTE
This parameter is indepentent of the parameter M communication source (ID no. 126)
always changeable.

Command Meaning

0 reset of the data set management

The parameter ID no. 191 till 195 are set
automatically to 0.
2 save data set from user memory to RAM.
3 load data set from RAM to the user memory
5 save data set from user memory to EEPROM
6 load data set from EEPROM to the user
memory
7 delete EEROM data set

DSM status

Bit no.. Meaning

0 ... 2 000 : STOP data set management is ready for a command or for
changing data sets
001 : RUN data set management is processing a command
011 : STAND_BY data set management has finished a command
3 1 : an error has occured in the data set management.
Error code see ID no. 124, M error code
4 ... 15 reserved

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Data set management Parameters

 DSM message
If a message occurs during the implementation of a command it is displayed in this para-
meter.

Bit no. Meaning

0 1: undefined command
1 1: data set not available
2 1: wrong check sum
3 1: parameter not changeable
4 reserved
5 1: memory full
6 1: error in configuration list
7 1: undefined parameter format

 DSM data set name
A maximum of 3 data sets can be managed in each memory area. They are selcted via the
parameter „data set name“.
The boot data set is always EEPROM data set 0.

Value Memory area

EEPROM RAM
(non-volatile) (volatile)

0 boot data set data set 0

1 data set 1 data set 1
2 data set 2 data set 2

 DSM data set version
The verison indicates the data set management´s state of development.

 DSM message ID no.
In the case of a appearing message (ID no. 192 ≠ 0) this parameter displays the ID no. of
the involved parameter.

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Parameters Data set management

 DSM load data set
The data set with the corresponing number (0...3) can be loaded from the EEPROM into the
RAM via this parameter.
The following procedure should be adhered to:
• Firstly, ensure that the status of the data set management (ID no. 191) is either set to 0
(STOP) or to 0003 (STAND_BY).
• Next enter the number of the required data set in the parameter, ID no. 196 (DSM load
data set).
• All further steps follow independently:
- The number of the required data set is displayed in parameter ID no. 193.
- The command 6 „load data set from EEPROM into user memory“ is visible in the
parameter ID no. 191 (DSM command).
- The data set is loaded.
• The procedure is completed once the DSM status displays again state 0003
(STAND_BY).
(Incidentally entered numbers should be ignored.)

The time in which this procedure is carried out will differ according to the loading of the
microprocessor.

NOTE
This parameter may be employed to switch over data sets via the digital inputs.

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Position controller Parameters

7.20 Position controller (ID no. 200 - 213)

Function

The position controller module is a P-Controller for position control of the unit. The module contains
multi-turn evaluation of the motor position encoder, the set value interpolator, speed precontrol as
well as control variable limiting.

NOTE
The efficency of the position control is directly depentend upon the efficency of the speed control.

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Parameters Position controller

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

200 P status 0000 ... FFFF 5

201 P mode 0000 ... 0003 0001
202 P Kv factor 0 ... 500 1/s 10
203 P deviation limit dynamic 0 ... 2147483647 Inc 2000
204 P N limiter bipolar 0.00 ... + 100.00 % 100.00
205 P N limiter positive 0.00 ... + 100.00 % 100.00
206 P N limiter negative 0.00 ... + 100.00 % 100.00
207 P N precontrol 0.00 ... + 200.00 % 75.00
208 P set value 00000000 ... FFFFFFFF Inc
209 P actual value 00000000 ... FFFFFFFF Inc 5
210 P deviation -2147483647 ... +2147483647 Inc 5
211 P N set value -100.00 ... +100.00 % 5
212 P deviation limit static 0 ... 2147483647 Inc 200
213 P delta actual value -32767 ... +32767 Inc 0
214 L SF time 0.000 ... 60.000 s 1.000
215 L IW active 0.01 ... 20.00 % 1.00
216 L IW time 0.000 ... 60.000 s 1.000
217 L IW threshold 1 ... 30000 Inc/Ta 65

Parameter description

 P status
Indicates the position controller´s current operational status.

Bit no. Meaning

0 ... 2 000 : STOP 001 : RUN 010 : LINE 011 : STAND_BY

3 1 : error in position controller
4 1 : dynamic deviation limiter exceeded
5 1 : static deviation limiter exceeded
6 1 : timeout dynamic deviation
7 1 : timeout static deviation
8 1 : actual value monitoring expects positve change
9 1 : actual value monitoring expects negative change
10 1 : missing actual value
11 1 : wrong polarity of actual value change
12 1 : set value reached (bit no. 4 and 5 not set)
13 1 : position controller on limiter
14 ... 15 reserved

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Position controller Parameters


P mode
This parameter sets the position controller´s operational mode. (see ID no. 203 and 212)

Bit no. Meaning

0 1 : enabling error dynamic deviation

1 1 : enabling error static deviation
2 1 : incremental encoder for position control
0 :resolver for position control
3 ... 15 reserved

See P deviation limit dynamic (ID no. 203) and P deviation limit static (ID no. 212).
The change between incremental encoder and resolver (bit no. 2) is only possible before the
first pulse enabling of the controller. After that the bit is protected against change. A change
is only possible after the switching off and on of the controller´s power supply. For further
notes to the incremental encoder see function module incremental encoder.

  P set value
Set value input of the position controller. After the first pulse enabling of the controller the
position set value is initialisized on angle of resolver or incremental encoder. For further
pulse enabling the position actual value (ID no. 209) is taken over.


P actual value
This parameter displays the position actual value.

Past the first pulse enabling of the controller the position set value is initialisized on the
resolver or incremental encoder angle after that independent from the actual M desired
operation mode (ID no. 122) and independent from the status of the state machine
(ID no. 121) the actual value is permanent actualized
It is possible to write to the position actual value in every operation mode.

Calibration of position set and actual value:

One motor revolution corresponds with internal 65536 incrementens. The low word
represents the motor angle the high word counts the whole revolutions.


P deviation
The difference between position set value and actual value is termed deviation.
Because of the position control model (P controller) the deviation cannot be regulated
entirely. of. Reasons for large deviations could be: blocked motor, not achieveable set
speed or wrong inputs of controller parameters (e.g. speed controller).
The calibration corresponds to the position set/actual value calibration.

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Parameters Position controller

  P Kv factor
The position controller's gain is set here.
When Kv = 0 only speed precontrol is active, i.e. position control is switched off.

  L N precontrol
The speed precontrol is implemented as D element. The changes in position set value are
differentiated and multiplied with parameter N precontrol. Therefore if N precontrol = 0% no
value is added to the P N set value (ID no. 211).
With N precontrol = 100 % and constant changes in position set value per time unit the N
precontrol generates exactly the needed speed set value. In this case the position control
only generates the correcting set value for the angle adjustment.



P N set value

The speed set value contains the speed specifed value of the position control and of the
speed precontrol. The smallest respective value is valid for the bipolar, positive and
negative limiters (ID no. 204 - 206). As long the set value is limited the bit no. 13 in P status
is set
(ID no. 200). The N set value is written to the ramp function generator input 2 (ID no. 4).

  L N limiter bipolar
  L N limiter positive
  L N limiter negative
The bipolar limiter symmetrically limits the control variable (speed set value) of the position
controller. The smallest respective value is valid for the bipolar, positive and negative
limiters. Bit no. 13 is set in P status (ID no. 200) as long as the set value limiter is active.


 P delta actual value

This parameter shifts the position actual value up to ± 32767 increments per writing action
(internal calibration = ± 1/2 motor revolution).
The parameter P delta actual value is added exacly one time per writing action to the
position actual value (ID no. 209).
The relation to the reference point is lost through writing on this parameter.

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Position controller Parameters

Deviation monitoring


 P deviation limiter static

The static deviation limiter is active if the position controller within 100 ms no position set
value received or the position set value doesn´t change (see diagram ID no. 203).
The static deviation limiter symmetrically limits the set position value.
If the actual deviation is greater than the entered dynamic deviation limiter, bit no. 5 is set in
P status (ID no. 200).
After the monitoring time (SF time, ID no. 214) the bit no. 7 is additionally set and the error
code 0602h (see ID no. 124 M error code) is generated. The drive changes to the state
inhibit start if in parameter P mode (ID no. 201) the error dynamic deviation is enabled
(Bit no. 1 = 1).

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Parameters Position controller

  P deviation limiter dynamic

The dynamic deviation limiter symmetrically limits the set position value. If the actual
deviation greater than the entered dynamic deviation limiter, bit no. 4 is set in P status
(ID no. 200). After the monitoring time (SF time, ID no. 214) the bit no. 6 is additionally set
and the error code 0601h (see ID no. 124 M error code) is generated. The drive changes to
the state inhibit start if in parameter P mode (ID no. 201) the error dynamic deviation is
enabled (Bit no. 0 = 1).

  P SF time
This parameter sets the time window of the deviation monitoring.

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Position controller Parameters

Actual value monitoring

The set speed value from the position controller must change the position actual value after a set
time. Moreover the change of the actual value and the set speed value must have an identical sign.


 P IW active
This parameter specifies, at which N set value (ID no. 211) the actual value monitoring is
enabled.


 P IW time
This parameter sets the time window of the actual value monitoring.


 P IW threshold
This parameter sets the threshold of the actual value monitoring (unit increments per cycle).
Actual value changes below this threshold are ignored.

The monitoring is always active independent on the chosen encoder system (P mode, bit no. 2).

A response of this monitoring could except of adverse settings of ID no. 215, 216, 217 have various
causes, e.g.

- The position control system is open respectively the position actual value is missing because

1. the input selection of the ramp function generator is not set to RFG input 2
2. the encoder is not connected
3. the encoder is damaged electrically or mechanically
4. slip or interlock has happened

- The actual value change has the wrong sign because

1. the encoder is connected mechanically or electrically incorrectly
2. the parameter actual value polarity is set wrongly
3: the load sinks down before the torque is built up

Further notes see chapter maintenance.

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Parameters Incremental encoder

7.21 Incremental encoder (ID no. 240 - 248)

Function

The incremental encoder serves for position recording in synchronisation control.

Parameter description

ID no. Name Range Unit Standard Display

min. ... max. value only

240 IE status 0000 ... FFFF 5

242 IE graduation mark number 250 ... 5000 Ink 1024
243 IE N actual value - 3000 ... 3000 U/min 5
244 IE phi mechnical 0.0 ... 360.0 Grad 5
245 IE position actual value 00000000 ... FFFFFFFF Inc
246 IE polarity 0 ... 1 0
247 IE nominal speed 500 ... 4000 U/min
248 IE increment adding -32767 ... +32767 Inc 0
104 IE N = 0 0.5 ... 20.0 % 0.5
105 IE N > Nx on 0.00 ... 200.00 % 0.00
106 IE N > Nx off 0.00 ... 200.00 % 0.00

Parameter description

 IE status
Display of internal module status

Bit no. Meaning

0 ... 2 000: STOP 001: RUN 010: LINE 011: STAND_BY

3 1: error in function module, error code see M error code (ID no. 124)
4 logic level of zero trace
5 toggle bit of zero trace: changes at every zero impulse
6 ... 9 reserved
10 0: |n| ≠ 0
1: |n| = 0 speed lower than n = 0 (ID no. 104)
11 0 → 1: |n|>Nx on (ID no. 105)
1 → 0: |n|<Nx off (ID no. 106)
12 reserved
13 |n| > nominal speed (ID no. 247)
14 ... 15 reserved

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Incremental encoder Parameters

 IE graduation mark number

The number of encoder increments/revolution is entered here. Preferably encoders with
binary graduation mark numbers should be (e.g. 256, 512, 1024, 2048, 4096), because only
then can the encoder evaluation ensure a reliable angular relationship between the
incremental encoder and the internal calibration. The encoder´s graduation mark is
mulitplied via a 4-fold evaluation. The re-calibration of the increments from encoder to
internal calibration is clarified by means of the following illustrations:
e.g. incremental encoder with 1024 increments

Motor shaft turning clockwise (A-side) ⇔ positive angular alteration

graduation mark Factor Calibration factor Effective resolution per

number 4-fold-evaluation revolution
Ink k Inc
256 4 64 1024
512 4 32 2048
1024 4 16 4096
2048 4 8 8192
4096 4 4 16384
8192 4 2 32768
16384 4 1 65536

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Parameters Incremental encoder

The actual maximum speed multiplied with the number of encoder increments must be lower than
205 kHz. If the frequency is higher than 205 kHz the controller recognizes a stoped encoder!

number of encoder increments per revolution * speed

f= < 205 kHz
60

 IE N actual value

The motor speed is calculated from the incremental encoder signals. If the N actual speed
value is greater than 100 % of the nominal speed (ID no. 247) the bit no. 13 (ID no. 240) will
be set. If N actual speed is greater than 115 % of the nominal speed the overspeed monito-
ring generates an error and the bit no. 3 is set in IE status.

 IE Phi mechanical

The current mechanical rotor angle is calculated from the incremental encoder signals.

 IE position actual value

This parameter indicates the position actual value determined from the incremental encoder
signals in motor increments. Here 65536 increments are added for one incremental encoder
revolution (see also standardisation of set and actual position values in the position
controller).

NOTE
The position actual value can be changed always through writing on!

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Incremental encoder Parameters

 IE polarity
The incremental encoder output sign can be changed via this parameter.

Value Meaning

0 no polarity reversal:
encoder turning clockwise supplies positive N
actual value, changes in angle and position
1 polarity reversal:
encoder turning clockwise supplies negative N
actual value, changes in angle and position

 IE nominal speed

The nominal speed of the applied motor is set via this parameter. This speed corresponds to
100 % in all other speed specification. Moreover this parameter sets the speed of the
overspeed monitoring.
Example: nominal speed = 3000 rpm
⇒ overspeed monitoring speed = 1.15 x nominal speed = 3450 rpm

 IE increment adding

When write-accessing this parameter the set increments (±32767 inc. correspond to ± 1/2
revolution) are added to the position actual value (ID no. 245) once.

 IE N = 0
Bit no. 10 at function module status is set if the N actual value is lower than limitation N = 0
(independent of rotational direction).

 IE N > Nx ON

 IE N < Nx OFF
If the |actual value of N| (ID no. 243) is greater than ID no. 105, bit 11 in the Res status
(ID no. 25) is set and only erased when the actual value of N becomes smaller than
ID no. 106 (independent of rotational direction).

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Parameters Motor potentiometer

7.22 Motor potentiometer (ID no. 270 - 276)

Function

The motor potentiometer allows the alteration of all parameter values which can be written via the
function inputs. Therefore it is necessary to program two digital inputs on the parameter EA motor
potentiometer + (ID no. 271) and EA motor potentiometer - (ID no. 272). The cycle time of the
function module is 32 ms.

Parameter description

ID no. Name Range Unit Standard Display

min. ... max. value only

270 EA mode 0 ... 1 0

271 EA motor potentiometer + 0 ... 1 0
272 EA motor potentiometer - 0 ... 1 0
273 EA motor potentiometer ID no. 0 ... 500 2
274 EA motor potentiometer dynamics 0 ... 2 1
275 EA motor potentiometer increment 0.01 ...20.00 % 0.01
276 EA motor potentiometer value - 100.00 ... + 100.00 % 5

Parameter description

 EA mode

Value Meaning

0 no function
1 motor potentiometer function active


EA motor potentiometer +

Value Meaning

0 inching + off
1 inching + on ("motor potentiometer output value" is increased)

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Motor potentiometer Parameters

 EA Motorpoti - (EA motor potentiometer -)

Value Meaning

0 inching - off
1 inching - on ("motor potentiometer output value" is decreased)

 EA motor potentiometer ID no.

The inching function target no. serves to specify the receiver address ( = target parameter)
of the output value.

NOTE
No target parameter number check is carried out.

 EA motor potentiometer dynamics

The setting dynamics for key operation can be set here.

Value Meaning

0 step-by-step increment, on every LO/HI transition the output value is

changed by the value "increment" with the correct polarity
1 linear increment, during the HI signal the output value is changed by the
value "increment" at every cycle
2 square-law increment, during the HI signal the output value is changed with
the right polarity at every cycle with square-law "increment"

 EA motor potentiometer increment

The value by which the output value is altered on key operation can be set via this
parameter.

 EA motor potentiometer value

This parameter describes the inching key module output.

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Parameters Analog inputs

7.23 Analog inputs (ID no. 277 - 304)

Function

This module and the available 1 or 2 analog inputs enable parameters of 2 byte length to be
programmed.

NOTE
In case of the following models 0000, 0001, 0010 and 0011 is only one analog input channel available
(analog input 0).

Seven parameters are assigned to each input:

- AI input channel: input channel entry.
- AI smoothing: smoothing time constant [ms].
- AI scaling: scaling factor entry.
- AI offset: offset entry.
- AI threshold value: sensitivity of inputs.
- AI target ID no.: target parameter number entry.
- AI value: current output value.

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Analog inputs Parameters

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

277 AI 1 input channel 0 ... 3 0

278 AI 1 smoothing 1 ... 30 ms 1
279 AI 1 scaling -2.00 ... 2.00 1.00
280 AI 1 target ID no. 0 ... 500 0
281 AI 1 offset -100.00 ... +100.00 % 0.00
282 AI 1 threshold value 0.00 ... 100.00 % 0.00
283 AI 1 value -100.00 ... +100.00 % 5
284 AI 2 input channel 0 ... 3 0
285 AI 2 smoothing 2 ... 60 ms 2
286 AI 2 scaling -2.00 ... 2.00 1.00
287 AI 2 target ID no. 0 ... 500 0
288 AI 2 offset -100.00 ... +100.00 % 0.00
289 AI 2 threshold value 0.00 ... 100.00 % 0.00
290 AI 2 value -100.00 ... +100.00 % 5
291 AI 3 input channel 0 ... 3 0
292 AI 3 smoothing 4 ... 120 ms 4
293 AI 3 scaling -2.00 ... 2.00 1.00
294 AI 3 target ID no. 0 ... 500 0
295 AI 3 offset -100.00 ... +100.00 % 0.00
296 AI 3 threshold value 0.00 ... 100.00 % 0.00
297 AI 3 value -100.00 ... +100.00 % 5
298 AI 4 input channel 0 ... 3 0
299 AI 4 smoothing 4 ... 120 ms 4
300 AI 4 scaling -2.00 ... 2.00 1.00
301 AI 4 target ID no. 0 ... 500 0
302 AI 4 offset -100.00 ... +100.00 % 0.00
303 AI 4 threshold value 0.00 ... 100.00 % 0.00
304 AI 4 value -100.00 ... +100.00 % 5

NOTE:
The sequence of the parameter setting is irrelevant. Switching is carried out as soon as the target
parameter number has been set.
The target parameter number must be reset to zero in order to deactivate an input. However, the
target parameter still contains the last output value. If AI target ID no. is deactivated or newly set, the
parameter "AI offset" is additionally set to zero.

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Parameters Analog inputs

Cycle times of analog inputs:

Depending on the hardware used the analog inputs have the following cycle times:
AI 1 Input : 1 ms
AI 2 Input : 2 ms
AI 3 Input : 4 ms
AI 4 Input : 4 ms

Parameter description

 AI 1 input channel

 AI 2 input channel


AI 3 input channel

 AI 4 input channel
Entry of the analog input for respective channel.

 AI 1 smoothing
 AI 2 smoothing

 AI 3 smoothing


AI 4 smoothing
In order to smooth interference on the analog input signal a smoothing time constant can be
entered in ms. Smoothing is switched off if the respective parameter is set to its minimum
value.


AI 1 scaling
 AI 2 scaling

 AI 3 scaling
 AI 4 scaling
These parameters enable scaling of the analog input variable.
The output values (see parameters ID no. 283, 290, 297, 304) of unsigned parameters are 0
till +100% and of signed parameters are -100 bis +100%. Which analog input voltage this
maximum values achieved depends on the scaling factor.

 AI 1 target ID no.
 AI 2 target ID no.

 AI 3 target ID no.

AI 4 target ID no.
The receiver address for the output value can be set via this parameter.

NOTE
No target parameter number check is carried out.

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Analog inputs Parameters


AI 1 offset
 AI 2 offset

 AI 3 offset
  AI 4 offset
These parameters can compensate for a possibly existing input voltage offset.

 AI 1 threshold value


AI 2 threshold value

 AI 3 threshold value
  AI 4 threshold value
The sensitivity of the inputs can be set via the threshold values.

 AI 1 value

AI 2 value

 AI 3 value
  AI 4 value
The AI value displays the respective current output value taking scaling and offset compen-
sation into consideration.

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Parameters Analog inputs

Basics of equation:
Maximum target parameter value: MAX
Analog input voltage: Uin { -10.......+10 V };
Uinmax = +10V;

Equation: Unsigned parameters:

Uin [ V ] + 10 V
AE_ value [%] = * scaling ∗ 100 % + offset [%]
2 * Uinmax [ V ]
if AE_ value > 100% ⇒ AE_ value = 100%

Signed parameters:
Uin [ V]
AE_ value [%] = * scaling ∗ 100 % + offset [%]
Uinmax [ V ]
if AE_ value > 100% ⇒ AE_ value = 100%
AE_ value < −100% ⇒ AE_ value = −100%

Both for signed and unsigned parameters:

AE_ value [%] < threshold [%]

AE_ value = 0%
Written to the target parameter:
AE_ value [%]
Value target = * MAX
100 %

Examples:
Input voltage Û AI-value [%] * MAX
Þ Value target

Scaling = 1; offset = 0%; threshold = 0%;

Unsigned target parameter:
10 V Û 100 % * MAX
5V Û 75 % * MAX
0V Û 50 % * MAX
-5V Û 25 % * MAX
- 10 V Û 0 % * MAX
Signed target parameter:
10 V Û 100 % * MAX
5V Û 50 % * MAX
0V Û 0 % * MAX
-5V Û -50 % * MAX
- 10 V Û -100 % * MAX

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Analog inputs Parameters

Scaling = 2; offset = -100%; threshold = 0%;

Unsigned target parameter:
10 V Û 100 % * MAX
5V Û 50 % * MAX
0V Û 0 % * MAX
-5V Û 0 % * MAX (limitation !)
- 10 V Û 0 % * MAX (limitation!)
Signed target parameter:
10 V Û 100 % * MAX
5V Û 0 % * MAX
0V Û -100 % * MAX
-5V Û -100 % * MAX (limitation !)
- 10 V Û -100 % * MAX (limitation!)

Scaling = 1; offset = 0; threshold = 10.1%;

Unsigned target parameter:
10 V Û 100 % * MAX
5V Û 75 % * MAX
0V Û 50 % * MAX
-5 V Û 25 % * MAX
-9V Û 0 % * MAX (threshold !)
- 10 V Û 0 % * MAX
Signed target parameter:
10 V Û 100 % * MAX
5V Û 50 % * MAX
1V Û 0 % * MAX (threshold !)
-1V Û 0 % * MAX (threshold!)
-5V Û -50 % * MAX
- 10 V Û -100 % * MAX

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Parameters Analog inputs

Examples of characteristic curves:

Unsigned target parameter:

Offset = 0%; scaling = 1;
AE value [%]

100

50

Threshold

Uin[V]
-10 0 10

Signed target parameter:

AE value [%]
Offset = 0%; scaling = 1;
100

Threshold
-10
Uin[V]
-Threshold 10

-100

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Analog outputs Parameters

7.24 Option: Analog outputs (ID no. 330 - 341)

Function

The module "analog outputs" transmits freely selectable (and scalable) parameter values to an analog
output, within the range ± 10 V, via a 12-bit digital-to-analog converter. The output current should not
exceed 1 mA.

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

330 AO ID no. channel 1 0 ... 500 0

331 AO offset C 1 -100000 ... +100000 Dig 0
332 AO scaling C 1 -25000 ... +25000 Dig/V 0
334 AO ID no. channel 2 0 ... 500 0
335 AO offset C 2 -100000 ... +100000 Dig 0
336 AO scaling C 2 -25000 ... +25000 Dig/V 0
337 AO test value -10.000 ... +10.000 V
338 AO status 0 ... FFFF - 5

Parameter description

 AO ID no. channel 1
 AO ID no. channel 2
The output parameter numbers are entered here.
The respective channel is switched off, if this parameter is equal 0.


AO offset channel 1

 AO offset channel 2
Corresponding parameter offset is set via these parameters.

 AO scaling channel 1

 AO scaling channel 2
A scaling factor can also be selected for optimum parameter output.
The respective channel is switched off, if this parameter is equal 0.

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Parameters Analog outputs

 AO test value

The analog output (DA converter) can be tested via this parameter..
z.B. AO ID no. channel 1 ID no. 330 = 337
AO test value ID no. 337 = +10
⇒ analog output 1 = + 10 V
AO scaling C 1 ID no. 332 = -2000
⇒ analog output 1 = - 5 V
AO offset channel 1 ID no. 331 = 14000
⇒ analog output 1 = + 2 V

 AO status
Display of internal module status

Bit no. Meaning

0 0: STOP 1: RUN Analog output 1

1 ... 3 reserved
4 Analog output 1 at negative threshold (-10V)
5 Analog output 1 at positive threshold (+10V)
8 0: STOP 1: RUN Analog output 2
9...11 reserved
12 Analog output 2 at negative threshold (-10V)
13 Analog output 2 at positive threshold (+10V)
14 ... 15 reserved

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Digital inputs Parameters

7.25 Digital inputs (ID no. 370 - 382)

The module and the three available digital inputs enable parameter programming.

Four parameters are assigned to each input:

- DI input ID no.: Input of target parameter number.
- DI bit selection: Selection of the target parameter bits which are to be altered.
- DI LOW pattern: Bit pattern which is written into the target parameter if switch is OFF.
- DI HIGH pattern: Bit pattern which is written into the target parameter if switch is ON.

The inputs only evaluate the transitions.

Hence it is possible to manipulate the same parameter via several inputs.

Example: Two inputs act on the same parameter bit

Digital input 0

Digita input 1

Parameter bit

The three inputs are sampled every 2 ms at an interval of approx. 20 µs. In the event of simultaneous
status change of two signals the signal with the higher weight is taken over (digital input 0 has the
lowest weight, digital input 2 the highest).

NOTE
The sequence of the parameter setting is irrelevant. Switching takes place only after all parameters of
one input have been set.
Um die Durchschaltung zu erreichen, ist auch bei einem DI LOW- und DI HIGH-Muster von 0000 die
Eingabe erforderlich!
In order to deactivate an input either the DI input ID no. or the DI bit selection must be set to 0. The
input can be re-activated by setting the relevant parameter again.

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Parameters Digital inputs

Example of programming procedure:

1) Enter target parameter number in DI input ID no. of the desired input.

⇒ Has no effect on the target parameter yet.

2) Enter DI LOW and HIGH patterns of the above-mentioned input.

⇒ Has no effect on the target parameter yet.

3) Enter DI bit selection:

⇒ all bits which have not been selected are set to 0 in the LOW and HIGH patterns;
the selected bits are set to 0 in the target parameter and are replaced by the corresponding
bit pattern (according to switch position).

Examples:

1) Switch 1 low ⇔ parameter ID no. 13 = 0,

Switch 1 high ⇔ parameter ID no. 13 = 1

Set
DI ID no. input 0 (ID-Nr. 370) to 13,
DI LOW pattern 0 (ID-Nr. 372) to 0000,
DI HIGH pattern 0 (ID-Nr. 373) to 0001,
DI bit selection 0 (ID-Nr. 371) to FFFF

2) Through programming of a further input the values 2 and 3 should adjusted in parameter ID
no. 13. Following sequence is necessary:

Set
DI ID no. input 0 (ID-Nr. 370) to 13,
DI LOW pattern 0 (ID-Nr. 372) to 0000,
DI HIGH pattern 0 (ID-Nr. 373) to 0001,
DI bit selection 0 (ID-Nr. 371) to FFFD

DI ID no. input 1 (ID-Nr. 374) to 13,

DI LOW pattern 1 (ID-Nr. 376) to 0000,
DI HIGH pattern 1 (ID-Nr. 377) to 0002,
DI bit selection 1 (ID-Nr. 375) to FFFE.

⇒ The digital input 0 effects bit no. 0 and 2 till 15;

the digital input 1 effects bit nol 1 till 15.
Bit no. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Example for start value 1 1 1 1 0 0 0 0 1 1 1 1 0 1 0 1
ID no. 13
Input 0 ⇒ HIGH 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
Input 1 ⇒ HIGH 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1
Input 0 ⇒ LOW 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0
Input 1 ⇒ LOW 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

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Digital inputs Parameters

3) The digital input 2 should effect bit no. 4 and 11 of parameter ID no. 120.

Set
DI ID no. input 2 (ID-Nr. 378) to 120,
DI LOW pattern 2 (ID-Nr. 380) to 0800,
DI HIGH pattern 2 (ID-Nr. 381) to 0010,
DI bit selection 2 (ID-Nr. 379) to 0810
Bit no.. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Start value ID no. 120 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1
Input 2 ⇒ HIGH 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1
Input 2 ⇒ LOW 0 0 0 0 1 0 0 0 0 0 0 0 1 1 1 1

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

370 DI ID no. input 0 0 ... 500 0

371 DI bit selection 0 0000 ... FFFF 0000
372 DI LOW pattern 0 0000 ... FFFF 0000
373 DI HIGH pattern 0 0000 ... FFFF 0000
374 DI ID no. input 1 0 ... 500 0
375 DI bit selection 1 0000 ... FFFF 0000
376 DI LOW pattern 1 0000 ... FFFF 0000
377 DI HIGH pattern 1 0000 ... FFFF 0000
378 DI ID no. input 2 0 ... 500 0
379 DI bit selection 2 0000 ... FFFF 0000
380 DI LOW pattern 2 0000 ... FFFF 0000
381 DI HIGH pattern 2 0000 ... FFFF 0000
382 DI status 0000 ... FFFF 5

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Parameters Digital inputs

Parameter description

 DI ID no. input 0
 DI ID no. input 1
 DI ID no. input 2
This parameter indicates the ID no. of the target parameter for inputs 1, 2 or 3..


DI bit selection 0

 DI bit selection 1

DI bit selection 2
The bits to be altered are selected in the target parameter.

 DI LOW pattern 0

 DI LOW pattern 1
 DI LOW pattern 2
Bit pattern which is written into the selected target parameter bits when digital input is LOW.

 DI HIGH pattern 0

 DI HIGH pattern 1

DI HIGH pattern 2
Bit pattern which is written into the selected target parameter bits when digital input is HIGH.

 DI Status
This parameter indicates the status of input programming

Bit no. Meaning Note

0 1: ID no. input 0 active If bit no. 0 till 3 is set

1 1: bit selection 0 active input 0 is active
2 1: LOW pattern 0 active
3 1: HIGH pattern 0 active
4 1: input ID no. active If bit no. 4 till 7 is set
5 1: bit selection 1 active input 0 is active
6 1: LOW pattern 1 active
7 1: HIGH pattern 1 active
8 1: input ID no. active If bit no. 8 till 11 is set
9 1: bit selection 2 active input 0 is active
10 1: LOW pattern 2 active
11 1: HIGH pattern 2 active
12 1 : state input 0 active The actual state of the three.
13 1 : state input 1 active inputs and the pulse enabling is
14 1 : state input 2 active displayed here
15 1 : state pulse enabling active

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Relay output Parameters

7.26 Relay output (ID no. 393 - 396)

Function

The module enables programming of the available relay output. Three parameters are assigned to the
output:

- RO output ID no.: Input of source parameter number (only 2-byte parameters are admissible).

- RO bit selection: Selection of source parameter bits to which bit pattern must correspond.

- RO bit pattern: If this bit pattern and the selected parameter bit pattern correspond to
each other, the output is switched to HIGH.

NOTE
The sequence in which the parameters are set is irrelevant. Switching takes place only after all three
have been set.
In order to deactivate the output either RO output ID no. or RO bit selection must be set to 0. The last
switch status, however, remains stored in the output. The output can be programmed again by setting
the relevant parameter again.

Example of programming procedure:

1) Enter source parameter number in RO output ID no. of the output of your choice.
⇒ has no effect on the output yet.

2) Enter RO bit pattern of the above-mentioned output.

⇒ has no effect on the output yet.

3) Enter RO bit selection:

⇒ all bits which have not been selected are set to 0 in the RO bit pattern;
the selected source parameter bits are compared to the RO bit pattern.
If the pattern corresponds to the source parameter number the output is set to HIGH.

Example:

- First set RO output ID no. 0 to 13,

- RO bit pattern 0 to 0001,

- and RO bit selection 0 to 0003.

⇒ If bit no. 1 and bit no. 2 of parameter 13 result in "1" the relay output is switched to HIGH.
Bit no. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
RO bit selection 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1
RO bit pattern 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
ID no. 13 x x x x x x x x x x x x x x 0 1

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Parameters Relay output

Parameter overview

ID no. Name Range Unit Standard Display

min. ... max. value only

393 RO output ID no. 0 ... 500 0

394 RO bit selection 0000.....FFFF 0000
395 RO bit pattern 0000.....FFFF 0000
396 RO status 0000 ... FFFF 5

Parameter description


 RO output ID no.
This parameter indicates the source parameter ID no.


 RO bit selection
The bits to be compared are selected in the source parameter.


 RO bit pattern
Bit pattern which corresponds to the source parameter bit pattern.


 RO status
This parameter indicates the status of output programming.

Bit no. Meaning Note

0 1: RO output active ID no. Only if bit no. 0 and 2 is set

1 1: RO bit selection active the output is active
2 1: RO bit pattern active
3 ... 15 reserved

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Maintenance notes Maintenance

8 MAINTENANCE

DANGER
This unit carries dangerous voltage and contains dangerous rotating machine parts (ventilators). This
means that death, serious injury or considerable material damage can occur if the safety and warning
notes are not heeded.

Maintenance work on the equipment may only be carried out in a voltage-free state.

Work on the power unit, intermediate circuit and motor terminals may only be undertaken when it is
ascertained that there is neither potential nor voltage (remainder) present.

Wait at least 2 minutes after switching off until the intermediate circuit is completely discharged.

On dismantling safety equipment during commissioning, repair and maintenance, the machine is to
be shut down exactly according to instructions. After completion of commissioning, repair and
maintenance work the safety equipment is to be reinstalled immediately.

After all work on the drive, the machine operator must inspect the machine and document all work in
the machine log chronologically, irrespective of whether it was on the motor, actual value recording or
converter. In cases of non-compliance the operator carries full legal responsibility for the
consequences.

Motors or devices may have components which contain dangerous substances for technical reasons.

Only manufacturer-approved spare parts may be used.

8.1 Maintenance notes

The delivered equipment is maintenance-free.

Prohibition of unauthorised conversion

Unauthorised conversion and alteration of the drive are prohibited for safety reasons. In cases of
doubt, contact the manufacturer.

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Maintenance Error messages

8.2 Error messages

If an error occurs the parameter "M error code" (ID no. 124) displays the corresponding error code.
This error is acknowledged if the bit "error reset" in the M control word (ID no. 120) is set from 0 to 1.
If several errors are present, the next error is displayed immediately after acknowledgement.

• Function module drive manager (error code 00xx)

Error Error text Meaning Remedy

identification

0001h timeout BASS protocol The communication source set in ID no. 124 Check communication (cables,
has not responded for a period exceeding the supplementary card etc.)
one set in ID no. 128
0002h timeout USS protocol
0003h timeout dual port RAM
(cyclic data)
0004h timeout dual port RAM
(working data)
0005h system boot Reading the boot data set form the EEPROM Check the data set in user
has generated an error. Further information to memory and additionally
the error see parameter DSM message (ID program it as boot data set to
no. 192). This error mostly appears if the the EEPROM.
controller firmware was exchanged with an
incompatible controller firmware.
0010h error switch (program Only relevant to the software developer
error)

• Function module power supply (error code 01xx)

Error Error text Meaning Remedy

identification

0110h error load contactor Discharging the intermediate circuit capacitor Remove additional
lasts too long intermediate circuit capacitors
0103h UZK too low The intermediate circuit voltage is lower than Check main power supply
a minimum value
010Ch current at ballast resistor Check ballast resistor
too high (minimum value 47 Ω)

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Error messages Maintenance

• Function module power unit (error code 02xx)

Error Error text Meaning Remedy

identification

0201h overvoltage Uzk The intermediate voltage UZK is greater than Check ballast restistance
800 V ± 1 % .
0202h excess current, fault At least one of three phase currents has Check the adjustment of the
current exceeded current controller
2 ⋅
I = 2 ⋅ maximum current power unit
0207h transistor error (group The UCE monitoring of at least one power Check motor connections,
error) transistor occurs, e.g. because of a short leave power unit to cool down,
circuit, earth circuit or a transistor defect change power unit if error does
not disappear
0210h undefined error The power unit´s ready for use signal is
missing although no error message is
generated.

• Function module resolver compensation (error code 03xx)

Error Error text Meaning Remedy

identification

0301h open circuit Resolver The resolver's measurement signals cannot Check encoder cable at motor
be used for evaluation and unit end

• Funktion module overload monitoring (error code 04xx)

Error Error text Meaning Remedy

identification

0401h I²t motor monitoring Calculated I²t actual motor value exceeds Leave drive in inhibited status
100 %. until I²t actual value (ID no. 91)
has fallen below 100 %.

• Function module motor temperature (error code 05xx)

Error Error text Meaning Remedy

identification

0501h temperature motor too high ID no. 152 = 3 (NTC) Leave motor to cool down until
Motor temperature has risen so mach that the motor temperature has sunk
resistance have reached a high ohmic below the limiting value
condition.
ID no. 152 = 1 (Sensor)
The motor temperature has exceeded the
switch off threshold (ID no. 156).
This fault can arise if, during operation, the
motor temperature monitoring is interrupted

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Maintenance Error messages

• Function module position controller (error code 06xx)

Error Error text Meaning Remedy

identification

0601h deviation dynamic The deviation (ID no. 210) has exceeded the Check the settings of the
dynamic deviation limiter (ID no. 203) during dynamic deviation. Disable
movement (e.g. positioning, synchronisation error for dynamic deviation in
control) Während der Fahrt mode parameter ID no. 201
(bit no. 0).
0602h deviation static The deviation (ID no. 210) has exceeded the Check the settings of the
static deviation limiter (ID no. 212) during dynamic deviation. Disable
stop (e.g. target position reached, n=0) error for dynamic deviation in
mode parameter ID no. 201
(bit no. 1).
0603h positive actual value A change of the actual value with a positive Check the ramp function
missing sign hasn´t happend, the position control generator´s input selection (ID
system is open no. 13 = 2)
0605h negative actual value A change of the actual value with a negative Check connection of the
missing sign hasn´t happend, the position control encoder and exclude
system is open mechanically and electrically
defect
Check setting of the monitoring
0604h sign error positive actual A change of the actual value which was Check connection of the
value expected with positive sign has a negative encoder and exclude mecha-
sign nically and electrically defect
0606h sign error negative actual A change of the actual value which was Check the parameter ID no.
value expected with negative sign has a positive 246 IE polarity.
sign Check setting of the monitoring

• Function module speed controller (error code 07xx)

Error Error text Meaning Remedy

identification

0701h monitoring set/actual value The controller deviation (ID no. 60) has Check threshold and enlarge if
exceeded the set threshold (ID no. 61) for need be. Check settings of the
more than 200 ms. speed controller.

• Function module resolver (error code 08xx)

Error Error text Meaning Remedy

identification

0801 speed too high The resolver evaluation has a speed actual Check resolver lead. Check
value (ID no. 23) greater than 115 % of the settings of speed controller.
preset nominal speed (ID no. 19).
This fault can also occur if during operation
the resolver lead is interrupted.

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Error messages Maintenance

• Function module data set management (error code 09xx)

Error Error text Meaning Remedy

identification

0901h copy error EEPROM During the EEPROM´s initialisation copy the This error cann´t be
data set management has detected an error. acknowledged. Switch the
electronic power supply off and
on again. Appears this error
more frequently could this
caused through a defect in
controller hardware.
0902h boot data set missing No boot data set (DS no. 0) is available in the The boot data set has to be
EEPROM. generated and after that stored
in the EEPROM.
0903h check sum error in boot The boot data set is available but because of The boot data set has to be
data set a data fault not valid. generated and after that stored
in the EEPROM.

• Function module incremental encoder (error code 0Axx)

Error Error text Meaning Remedy

identification

0A01h speed too high The incremental encoder evaluation has a Check incremental encoder
speed actual value (ID no. 243) greater then lead. Check settings of speed
115 % of the preset nominal speed (ID no. controller
247). This fault can also accur if, during
operation, the resolver lead is interrupted.

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Maintenance Disposal

8.3 Disposal

The units consist essentially of the following components and materials

Components Material

Housing, various intermediate plates, fan coil, support plates Steel plate
Heat sinics in power unit Aluminium
Various distance bolts Steel
Various distance bolts, current converter hausing and fan Plastic
housing
Power unit rails Copper
Cable looms PVC insulated calbe leads
Power electronics Metal base plate: Semiconductor chip, plastic
housing, various insulation material.
Cunductor plates, accomodating the complete control and Base material: EPOXY resin (filled with GRP).
regulation electronic Copperplated on both sides and with
interconnected channels. Various electronic
components such as capacitors, resistors,
relays and semi-conductor components, etc.

The electronic components can, on account of technical demands, contain dangerous materials.

In normal use the various components da not represent a danger to humans or environment.

In the event of fire dangerous materials may be released

The electrical components should not be opened since, for the purpose of internal insulation, (e.g. on
various power semi-conductor) beryllium oxide has been used. The beryllium dust caused by opening
represents a health hazard.

The disposal of the units should conform to the recycling regulations of the country und region in
which they are disposed.

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 Appendix

9 APPENDIX
9.1 Suitable 3-phase servo-motors

Servo-motors with 3-phase supply can be driven via BUM 6 single-axle controllers with nominal
current up to 12 A (peak) in the S1 range. The single-axle controller BUM 618/619 can briefly deliver
current up to 18 A for dynamic procedures, e.g. acceleration and braking.
As a result of their design and development - in relation to the intermediate circuit voltage (310 V),
50 % overloading is possible at the nominal point, i.e. at nominal torque and maximum speed.
The stated current values are peak values.

DS-Servo type Torque Current

nN M0 MN MS3 40% M0max I0 IN IS3 40% I0max m JM
(rpm) (Nm) (Nm) (Nm) (Nm) (A) (A) (A) (A) (kg) (kgcm2)
DS36S 6000 0.4 0.33 0.5 1.9 1.7 2.4 0.35
DS36M 6000 0.7 0.6 0.9 3.3 3.0 4.1 0.6
DS36L 6000 1.0 0.88 1.2 4.7 4.2 5.8 0.9
DS45S - 3000 0.85 0.65 0.95 3.4 2.3 2.1 2.8 9.2 4.9 1.5
DS45S - 4000 0.6 0.9 3.1 2.8 3.7 12.0
DS45M - 3000 1.7 1.5 2.3 6.8 3.7 3.7 5.3 19.2 5.9 2.1
DS45M - 4000 1.4 2.2 5.1 4.9 7.1 20.4
DS45L - 3000 3.2 2.6 4.1 12.8 6.1 5.5 8.2 24.4 6.9 3.4
DS45L - 4000 2.4 3.8 8.6 7.4 11.0 34.0
DS56S - 2000 3.8 3.6 4.1 19.0 4.9 4.7 5.4 23.5 6.6 4.9
DS56S - 3000 3.4 4.5 7.3 6.8 8.8 35.5
DS56S - 4000 3.2 5.1 10.2 9.0 13.8 49.5
DS56M - 2000 7.0 6.2 9.1 35.0 8.5 7.7 11.2 41.5 8.5 8.7
DS56M - 3000 5.6 9.0 13.0 10.8 17.0 63.0
DS56M - 4000 4.8 8.6 16.6 12.2 21.0 81.0
DS56L - 2000 10.0 8.4 13.0 50.0 12.4 10.6 16.2 61.0 10.8 12.5
DS56L - 3000 7.2 12.2 17.2 12.8 21.5 84.0
DS71K - 2000 10.5 9.3 13.5 47.0 13.4 12.2 17.4 59.0 12.2 17.5
DSO56S - 2000 4.8 4.1 4.1 19.0 6.1 5.3 5.3 23.5 8.3 4.9
DSO56S - 3000 4.4 4.4 9.2 8.6 8.6 35.5
DSO56S - 4000 4.5 5.1 12.8 12.2 14.0 49.5
DSO56M - 2000 9.2 8.7 8.8 35.0 11.2 10.8 10.8 41.5 10.2 8.7
DS56A - 2000 1.9 1.8 2.6 9.5 3.1 3.1 4.3 15.0 5.5 2.4
DS56A - 3000 1.8 2.5 4.5 4.3 6.0 21.0
DS56A - 4000 1.7 2.4 5.6 5.4 7.1 26.5
DS56B - 2000 3.7 3.5 4.1 19.0 4.8 4.5 5.4 23.5 6.7 4.3
DS56B - 3000 3.3 4.5 7.1 6.5 8.9 35.5
DS56B - 4000 3.0 4.9 9.9 8.6 13.4 49.5
DS71B - 2000 7.0 6.4 9.6 31.5 10.2 9.6 14.2 45.0 10.3 10.9
DS71B - 3000 5.9 9.5 14.4 12.6 19.6 63.0
DS71C - 2000 10.0 8.7 13.3 47.0 12.8 11.4 17.2 59.0 12.4 16.0
DS100B - 1200 12.5 12.0 17.7 50.0 12.8 12.4 18.2 50.0 18.9 36.5

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Appendix

DS-Servo type Motor constants Windings Time constants

nN KE KT KD MR Ld R1 tH Tt
rpm V/1000 rpm Nm/A Nm/1000 rpm Nm mH W ms rpm
DS36S 6000 19.6 0.31 0.003 0.016
DS36M 6000 19.9 0.31 0.005 0.019
DS36L 6000 19.7 0.31 0.008 0.021
DS45S - 3000 45.0 0.430 0.040 0.127 17.9 7.800 18 21
DS45S - 4000 33.7 0.320 10.1 4.400 26
DS45M - 3000 51.1 0.490 0.060 0.131 10.6 3.400 12.3 24
DS45M - 4000 37.8 0.360 5.8 1.850 17
DS45L - 3000 57.2 0.550 0.090 0.140 5.1 1.440 11 26
DS45L - 4000 41.2 0.390 3.3 0.820 15
DS56S - 2000 84.7 0.809 0.030 0.154 16.5 2.631 8.3 21
DS56S - 3000 56.5 0.540 7.3 1.169 13
DS56S - 4000 40.6 0.388 3.8 0.604 17
DS56M - 2000 88.3 0.843 0.062 0.181 8.2 0.984 8.2 24
DS56M - 3000 59.1 0.555 0.180 3.6 0.426 13
DS56M - 4000 45.3 0.433 0.181 2.2 0.259 18
DS56L - 2000 86.7 0.828 0.094 0.208 5.1 0.543 8.4 26
DS56L - 3000 62.4 0.596 0.207 2.7 0.277 13
DS71K - 2000 83.5 0.797 0.082 0.231 6.1 0.483 11 27
DSO56S - 2000 84.7 0.809 0.030 0.154 16.5 2.631 8.3 14
DSO56S - 3000 56.5 0.540 7.3 1.169 13
DSO56S - 4000 40.6 0.388 3.8 0.604 17
DSO56M - 2000 88.3 0.843 0.062 0.181 8.2 0.984 8.2 15
DS56A - 2000 67.7 0.646 0.014 0.141 24.4 5.323 8.1 22
DS56A - 3000 47.9 0.457 0.140 12.2 2.658 12
DS56A - 4000 37.9 0.362 0.141 7.6 1.669 16.3
DS56B - 2000 84.7 0.809 0.030 0.154 16.5 2.631 7.5 23
DS56B - 3000 56.5 0.540 7.3 1.169 12
DS56B - 4000 40.6 0.388 3.8 0.604 16
DS71B - 2000 73.6 0.703 0.054 0.206 7.4 0.710 10 26
DS71B - 3000 52.4 0.500 3.8 0.359 16
DS71C - 2000 83.5 0.797 0.082 0.231 6.1 0.483 11 27
DS100B - 1200 104.8 1.001 0.094 0.310 10.8 0.591 11 37

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 Appendix

Characteristics of 3-phase motors

• Maintenance-free

• Well-protected

• Can be briefly overloaded

• High power density, therefore low motor capacity

• Good acceleration due to low inertia and high torque

• Nominal torque from 0.6 Nm to 6 Nm with single-axle controller BUM 6

• Normal, short and ventilated models

Options

• Hand brake built into drive-end shield in closed-circuit connection (24 V=)

• Incremental encoder integrated or built-on

• Plug terminals instead of terminal box

• Shaft seal at drive-end

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Appendix

9.2 Manufacturer Declaration

Manufacturer Declaration in Accordance with

the EC-Machine Guidelines 89/392/EEC, Appendix II B

We herewith declare that this delivery includes the following specified machine component and that its
putting into operation is prohibited until the declaration is made that the machine, in which this
component is built in, complies with the regulations of the EC-machine guideline 89/392/EWG,
appendix II B.

Specification of the machine component: Type:

Compact Unit BUM 618 - 4 / 6 - 31 - E - .... - ....- SM

BUM 619 - 4 / 6 - 31 - E - .... - ....- SM
BUM 618 - 6 / 9 - 31 - E - .... - ....- SM
BUM 619 - 6 / 9 - 31 - E - .... - ....- SM
BUM 618 - 12 / 18 - 31 - E - .... - ....- SM
BUM 619 - 12 / 18 - 31 - E - .... - ....- SM

Date/Signature of the Manufacturer:

Information regarding the Undersigned: Head Division Electronics

154 Compact unit BUM 618/619

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 Appendix

9.3 Declaration of Conformity

EG Declaration of conformity
of equipment regarding
low voltage directive 73/23/EWG

Specification of the machine component: Type:

Compact Unit BUM 618 - 4 / 6 - 31 - E - .... - ....- SM

BUM 619 - 4 / 6 - 31 - E - .... - ....- SM
BUM 618 - 6 / 9 - 31 - E - .... - ....- SM
BUM 619 - 6 / 9 - 31 - E - .... - ....- SM
BUM 618 - 12 / 18 - 31 - E - .... - ....- SM
BUM 619 - 12 / 18 - 31 - E - .... - ....- SM

Conformity of the significated product with the guidelines will be proved by following rules:

pr EN 50178: 1994 (VDE 0160/11.94)

"Equipment of power installation concerned electronic operating materials"

Nürnberg, 8. January 1997

Signature of the Manufacturer

Dr.–Ing. P. Kreisfeld Dipl.–Ing. (FH) R.–A. Geller

Head Division Electronics CE–Agent Electronic

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Appendix

9.4 Conditions of Business and Delivery

1. Scope
1.1 Deliveries and performance provided by Baumüller and offers made by Baumüller are 6.2 Any goods delivered remain property of Baumüller until payment has been made in full (=
exclusively and completely subject to these general terms and conditions (from now on delivery under proviso). Goods delivered under proviso are processed or reconfigured at
referred to as ''these terms"). Unless a mutual agreement has been made which differs the purchaser's for Baumüller as the manufacturer but without additional obligations. If
from this statement, these terms also apply to future business relationships. Baumüller ownership rights are nullified because the goods are integrated into or
1.2 If a customer places an order with Baumüller, this implies that these terms are accepted. assembled to other objects, a portion of the ownership rights of the purchaser to that
Any counterconfirmations made by persons or legal persons placing an order with object covering the amount in question is transferred to Baumüller. The purchaser keeps
Baumüller with reference to their own general terms and conditions or their terms and the property of Baumüller in custody for no charges.
conditions of purchase are thereby objected to. 6.3 The purchaser has - unless he is in delay of payment - the right to process and sell the
1.3 Supplements or modifications to these terms require written consent from Baumüller in goods delivered under proviso in normal business. However, he must not distress or
order to take effect. transfer ownership of the goods delivered under proviso by way of security. The
2. Offer and Copyright purchaser transfers any receivables arising from the selling of the goods or from another
2.1 Offers made by Baumüller are subject to confirmation and not binding. Supplements, legal reason completely to Baumüller when the goods are received. Baumüller revocably
modifications or ancillary agreements require written consent from Baumüller in order to entitles the purchaser to collect the receivables transferred to Baumüller on the account
take effect. of Baumüller under his own name. Upon request by Baumüller, the purchaser will reveal
2.2 Any pictures, drawings, measures, weights or other performance specifications are only the transfer.
binding if this is explicitly stipulated in writing. Drawings, dimensional drawings and 6.4 If third parties access the goods delivered under proviso, the purchaser will inform them
descriptions of projects are subject to the copyright of Baumüller and must neither be about the ownership rights of Baumüller and will immediately inform Baumüller. Any
copied nor revealed to third parties without prior written consent from Baumüller. expenses and damages are paid for by the purchaser.
Baumüller reserves the right to demand that these objects are immediately returned to 6.5 If the purchaser violates any of the terms of the contract - in particular if he is in delay of
Baumüller if they are not used for orders to Baumüller. payment - Baumüller has the right to reposes the goods delivered under proviso at the
2.3 The purchaser must not use any process engineering knowledge revealed to him in his cost of the purchaser or Baumüller has the right to require transfer of the restitution title
business relationship with Baumüller for his own purposes and must not reveal that the purchaser has against third parties. If Baumüller repossesses or distresses the
knowledge to third parties. Any violation of this condition makes the purchaser (violator) goods delivered under proviso, this does not mean that Baumüller withdraws from the
liable for damages of an amount of DM 70,000. contract. The right to receive payment for damages remains unaffected by this.
3. Scope and Term of Delivery 7. Warranty
3.1 The deadlines and terms specified by Baumüller are not binding unless explicitly 7.1 If the delivered products are faulty or fail to have properties guaranteed by Baumüller or
specified otherwise in a written agreement. if the products become defective during the warranty period because of faults which
3.2 The delivery term begins at one of the points in time listed below: occurred or were caused during the process of manufacturing or in case of material
− Date of confirmation of order defects Baumüller supplies - excluding any other warranty claims by the purchaser, in
− Date on which the purchaser meets all of the technical, commercial or other particular excluding any direct or indirect secondary claims for damages from the
prerequisites he is obliged to meet purchaser - replacement parts of their own choice or rectifies defects. Multiple
− Date on which a downpayment or security required prior to delivery of the rectification is permitted. For essential products and parts not manufactured by
merchandise is furnished by the purchaser Baumüller - in particular if the purchaser has made specifications - the liability of
− If the stipulated downpayments to Baumüller are made delayed, the delivery term Baumüller is limited to the transfer of the claims for damages Baumüller has against the
is extended proportionally. supplier of these products or parts.
3.3 Baumüller has the right to make partial deliveries and provide partial performance and to 7.2 The warranty period is 12 months and starts on the day the goods are shipped to the
issue partial invoices for these deliveries or performance at any time of their choice. purchaser or - if the delivery scope is installed and assembled by Baumüller - the
Excess volume or short deliveries up to 5% of the delivery quantity are permitted. The warranty period starts on the day the installation is complete.
amount charged is calculated according to the delivery quantity. 7.3 The purchaser is obliged to inspect the delivered goods for damages or defects
3.4 Baumüller is not responsible for delayed delivery or performance or the inability to deliver immediately or at least within two weeks after receiving the goods or - if the product is
or perform due to acts of god or force majeure or other events which make it impossible installed - within two weeks after completion of the installation process. In addition, he is
or more difficult for Baumüller to deliver - e.g. war, problems in the provision of materials obliged to inform Baumüller of any damages, defects or losses immediately by sending a
which arise after the time the offer has been made, malfunctions, strike, lockout, report created by the carrier or a corresponding report in the form of a statement in lieu
personnel shortage, shortages of means of transportation, instructions issued by the of an oath which must have been signed by two witnesses and by the purchaser. In
authorities etc. which occur at suppliers of Baumüller or their sub-suppliers. Therefore, addition, Baumüller must be informed in writing of obvious defects or shortcomings
Baumüller has the right to postpone deliveries or performance by the duration of the immediately or at least within two weeks after delivery. If shortcomings and defects
problem plus an appropriate startup time and Baumüller also has the right to withdraw cannot be detected in thorough tests within two weeks and are found at a later time,
from the contract partially or completely. If the problems persist for more than 3 months Baumüller must be informed of these problems immediately after they are detected.
the purchaser has the right to withdraw from that part of the contract which has not yet Defective products must be submitted to Baumüller for testing on request in the condition
been fulfilled after having fixed an appropriate extension of the time limit. in which the defect was detected. Defective products must not be returned to Baumüller
3.5 The deadline is considered to have been met if the object to be delivered leaves the unless Baumüller requests in writing that the products are returned. Failure to observe
storage facility on the fixed date or if the purchaser is informed of its availability for any of the regulations specified above nullifies all warranty claims against Baumüller.
shipment on the fixed date. 7.4 If rectification or replacements are not successful within an appropriate period of time,
3.6 Baumüller or subcontractors of Baumüller will install and assemble the delivered objects the purchaser may either request reduction of the purchase price or cancellation of the
exclusively subject to conditions and terms separately agreed upon not later than 4 delivery contract.
weeks before delivery. 7.5 If Baumüller manufactures a product based on design specifications, drawings, models
4. Passage of risk, acceptance, packing or other specifications provided by the purchaser, Baumüller is responsible only for the
4.1 Delivery is made free carrier (FRC, lNCOTERM 1980). The goods are packed at the fact that the manufactured product meets the specifications. Baumüller is not
discretion of Baumüller at the costs of the customer. The risk is passed to the customer responsible for the usability of the product for the purposes the purchaser intends to use
as soon as the consignment has been handed over to the person carrying out the it for.
transport or has left the store. 7.6 Excluded from warranty are shortcomings or defects caused by instructions/and or
4.2 If the shipment is delayed or becomes impossible due to reasons for which Baumüller is assembly not effected by Baumüller, insufficient equipment of the customer, overload of
not responsible, the risk is passed to the customer with the notification of readiness for the components exceeding the capacity specified by Baumüller, negligent and improper
shipment if the delivery is stipulated to be carried out upon call-forward notice, the goods treatment and utilization of unsuitable operating materials at the customer. This also
are regarded as called off at the latest one year after the date of order. applies to shortcomings or defects arising due to material provided by the customer. The
4.3 Special acceptance conditions must be defined at conclusion of the contract at the warranty does not apply to damages caused by third parties, atmospheric discharges,
latest. The acceptance test has to take place in the works of Baumüller. The costs for overvoltages and chemical influences or to the replacement of parts which are exposed
the acceptance test will be charged to the customer. If the customer omits the to natural wear.
acceptance test, the goods are regarded as delivered as stipulated when they leave our The warranty is void if the customer or a third party changes or repairs the units
works. delivered without written permit by Baumüller.
5. Prices and terms of payment 7.7 In case of guarantee and/or warranty claims, the motor, the spare part or the unit shall
51 The prices stipulated by Baumüller in the order confirmation plus the respective legal be shipped free of duty and with free packing after prior agreement with Baumüller.
value added tax apply. Additional deliveries and services will be separately invoiced. The Baumüller is freed of any warranty, if the customer returns the defective products
prices are valid ex works or store excluding packing. without prior agreement or without observing the arrangements.
52 If not otherwise agreed upon, the prices stipulated in the order confirmation are binding 7.8 Baumüller is entitled to install spare parts and units into the plants of the customer for
for 30 days only. warranties to be fulfilled within the warranty period, in order to replace the defective
53 Payments shall be made in cash without any deductions free paying office of the vendor products so that the efficiency of the customer's parts is affected as little as possible.
in the currency agreed upon. Bills of exchange and checks are only accepted on account The warranty period for installed spare parts and units is 6 months from the date of
of payment. The customer has to bear any costs and bank charges arising thereof. replacement at the customer. Taking into account the service time for the delivered
products, the warranty period of 12 months from date of delivery acc. to item 7.2
A payment is regarded as made only, if the amount is available to Baumüller. In case of remains unchanged.
payment by check, the payment is regarded as made when the check has been 8. Liability
irrevocably cashed. 8.1 Baumüller is liable for information and consulting activities on the utilization of the
54 Invoices are to be paid without deductions within 30 days from the date of issue. ordered and delivered products only with written confirmation in accordance with the
Baumüller is entitled to enter payments of the customer on older open invoices in spite of below regulations. Verbal statements and information are not binding.
deviating instructions by the customer. If costs and interests have ahead arisen. 8.2 Claims for damages due to impossibility of performance, nondelivery, positive breach of
Baumüller is entitled to enter the payment first on the costs, then on the interests and obligations, culpa in contrahendo and unlawful act to Baumüller as well as to the persons
last on the main service. employed in performing an obligation are excluded, if the damage has
5.5 The customer is entitled to offset, to retain or reduce the payment - independent of not been caused deliberately or grossly negligent or Baumüller is liable according to the
notices of complaint or possible counterclaims - only, if Baumüller has explicitly agreed or product liability law.
if the counterclaims have been legally verified. 9. Lump-sum damages in case of withdrawal
5.6 If payments are delayed, Baumüller is entitled to charge interest on arrears at a rate If the customer withdraws from the written order due to reasons for which Baumüller is
corresponding to the interest rate for open credits in current account, however, at least not responsible, Baumüller is entitled to charge lump-sum damages of 50% of the net
corresponding to the current discount rate of the Deutsche Bundesbank. order amount. This applies also, if Baumüller withdraws from the contract due to reasons
This does not affect the assertion of another damage caused by delayed payment. for which the customer is responsible.
57 If the customer fails to meet his payment obligations, especially if he does not cash a 10. Miscellaneous
check or stops his payment or if Baumüller is informed of other circumstances making the 10.1 Place of fulfilment and jurisdiction is Nuremberg. However, Baumüller is entitled to
credit worthiness of the customer uncertain. Baumüller is entitled to demand advance advance claims at the legal place of jurisdiction of the customer.
payments or securities before delivery or to invoice the total remaining amount in the 10.2 The legal regulations applicable in the Federal Republic of Germany are applicable to
case that instalments had been previously agreed upon. these conditions and terms of sales and delivery. The regulations or the UN law of sales
6. Retention of ownership are excluded.
10.3 If one or several regulations of these conditions and terms of sales and delivery are or
61 Until all claims for present or future relations have been satisfied, Baumüller can at any become ineffective or if any arising situation and circumstances are not covered by this
time demand securities from the customer. Baumüller will arbitrarily release provided contract text, jurisdiction will replace or supplement the ineffective or incomplete
securities if the value of the securities continuously exceeds the claims by more than stipulations by appropriate regulations corresponding to the economic purpose of the
20%. intended regulation to the largest possible extent. The validity of the other regulations
remains unchanged.

156 Compact unit BUM 618/619

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 Appendix

9.5 Index

A F
Accessories • 49 Features • 5
Analog inputs • 130 Field angle calculation • 65
Analog outputs • 137 Filter Assembly • 21
Appendix • 151 Filtering • 21
Assembly • 11 Function diagram • 57
Assembly notes • 14 Function modules • 58
Fusing • 7

C
Cable screens • 19
G
Calibration • 74 Grounding • 19
Checks prior to installation • 22
Commissioning • 51
I
Connection cable • 44
Connection cable RS485 • 46 Incremental encoder • 124
Connection voltage • 7 Incremental encoder • 35
Connector pin assignment • 30 Incremental encoder emulation • 38
Control • 6 Index • 154
Control state machine • 86 Initial commissioning • 53
Control terminals • 32 Initialising time • 7
Control word • 85; 91 Input selection • 61
Current controller • 73 Installation • 15
Current monitoring • 79 integral action time • 75
Interface, analog/digital • 36

D
K
DANGER • 2
Danger Information • 2 Kv factor • 118
Data set management • 112
Desired operation mode • 95 L
Digital inputs • 139
Dimensions • 12 LED displays • 23

Discharge Currents • 21 Line reactor • 48

Disposal • 150
Drive address • 53 M
Drive manager • 85
Mains transformer • 47
Maintenance • 145
E Manufacturer´s declaration • 154

Earth circuits • 19 Module state • 58

Electrical Data • 7 Mot • 65

EMC information • 16 Motor potentiometer • 128

Error code • 97; 146 Motor temperature • 40

Error messages • 146 Motor temperature monitoring • 104

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Appendix

N S
No. of pole pairs • 63; 65 Safety notes • 1
nominal speed • 127 Screening • 20
NOTE • 2 Serial PC connection cable • 45
Service interface • 106

O Set value generator • 102

Speed controller • 69
Operating system • 105 Status word • 85; 93
Options • 6
Output voltage • 7
Overload monitoring • 76
T
Technical data • 5

P Terminal diagram • 24
Terminal notes • 26
P gain • 75 Timeout • 97
Personnel, qualified • 3 Transformation of coordinates • 67
Position controller • 117 Transport • 9
Power supply • 83 Type code • 8
Power terminals • 30
Power unit • 84
Program version • 105
U
Pulse Width Modulation • 81 Use, appropriate • 3
USS protocol • 107

R
Ramp function generator • 59
W
Relay output • 143 WARNING • 2
removal of the packaging • 9 Weight • 7
Res • 63
Resolver • 34
Resolver evaluation • 63
RFG • 60
RS 232 interface • 32; 43
RS 485 interface • 33

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