Lexium 26D and BCH2 Servo Drive System

User Guide
Original instructions

EIO0000002299.05
04/2022

www.se.com
Legal Information
The Schneider Electric brand and any trademarks of Schneider Electric SE and its
subsidiaries referred to in this guide are the property of Schneider Electric SE or its
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This guide and its content are protected under applicable copyright laws and
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Schneider Electric.
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or its content, except for a non-exclusive and personal license to consult it on an "as
is" basis. Schneider Electric products and equipment should be installed, operated,
serviced, and maintained only by qualified personnel.
As standards, specifications, and designs change from time to time, information
contained in this guide may be subject to change without notice.
To the extent permitted by applicable law, no responsibility or liability is assumed by
Schneider Electric and its subsidiaries for any errors or omissions in the informational
content of this material or consequences arising out of or resulting from the use of the
information contained herein.
© 2022 Schneider Electric. All rights reserved.
Table of Contents
Safety Information ......................................................................................7
QUALIFICATION OF PERSONNEL .......................................................7
INTENDED USE ...................................................................................8
About the Book...........................................................................................9
Servo Drive System Planning .................................................................13
General Overview.....................................................................................14
Servo Drive Device Overview...............................................................14
Drive / Motor References.....................................................................15
Document Navigator .................................................................................18
Document Navigator ...........................................................................18
Servo Drive System Technical Data .......................................................19
Certifications ............................................................................................20
Conditions for UL 508C .......................................................................20
Conditions for CSA .............................................................................21
Drive........................................................................................................23
General Overview ...............................................................................23
Servo Drive Description .................................................................23
Servo Drive Nameplate..................................................................24
Servo Drive Type Code..................................................................24
Drive Technical Data ...........................................................................25
Environmental Conditions ..............................................................25
Dimensions ..................................................................................27
Electrical Data...............................................................................28
Single-Phase Connection ..............................................................30
Three-Phase Connection ...............................................................30
Inputs / Outputs Characteristics......................................................32
Motor.......................................................................................................37
General Overview ...............................................................................37
Components and Interfaces ...........................................................37
Servo Motor Nameplate .................................................................38
Servo Motor Type Code .................................................................39
Motor Technical Data ..........................................................................41
Environmental Conditions ..............................................................41
Tightening Torque and Property Class of Screws .............................42
Overload Characteristics Curves ....................................................43
Encoder Technical Data .................................................................43
BCH2MB Motor ..................................................................................44
BCH2MB Dimensions....................................................................44
BCH2MB Characteristics Table ......................................................45
BCH2MB Curves...........................................................................46
BCH2LD Motor ...................................................................................47
BCH2LD Dimensions ....................................................................47
BCH2LD Characteristics Table .......................................................47
BCH2LD Curves ...........................................................................48
BCH2∙F Motor ....................................................................................49
BCH2∙F Dimensions......................................................................49
BCH2∙F Characteristics Table ........................................................49
BCH2∙F Curves.............................................................................51

EIO0000002299.05 3
 BCH2LH Motor ...................................................................................52
BCH2LH Dimensions ....................................................................52
BCH2LH Characteristics Table .......................................................52
BCH2LH Curves ...........................................................................53
BCH2∙M Motor....................................................................................54
BCH2∙M Dimensions .....................................................................54
BCH2∙M Characteristics Table........................................................54
BCH2∙M Curves ............................................................................56
BCH2∙R Motor ....................................................................................58
BCH2∙R Dimensions .....................................................................58
BCH2∙R Characteristics Table ........................................................59
BCH2∙R Curves ............................................................................61
Accessories and Spare Parts.....................................................................63
Commissioning Tools ..........................................................................63
Connectors and Adapters ....................................................................63
External Mains Filters..........................................................................64
Application Nameplate ........................................................................64
Motor Cables ......................................................................................64
Encoder Cables and Accessories.........................................................64
Signal Cables .....................................................................................65
External Braking Resistors and Holding Brake Controller .......................65
Circuit Breakers ..................................................................................66
Motor Protection Switches and Power Contactors .................................66
Engineering ................................................................................................67
Engineering .............................................................................................68
Electromagnetic Compatibility (EMC) ...................................................68
Electromagnetic Compatibility (EMC)..............................................68
External Mains Filters ....................................................................70
Cables ...............................................................................................71
Cables..........................................................................................71
Residual Current Device......................................................................72
Residual Current Device ................................................................72
Rating the Braking Resistor .................................................................73
Rating the Braking Resistor............................................................73
Internal Braking Resistor................................................................73
External Braking Resistors.............................................................74
Monitoring Functions...........................................................................75
Monitoring Functions .....................................................................75
Configurable Inputs and Outputs ..........................................................76
Configurable Inputs and Outputs ....................................................76
Wiring ................................................................................................76
General Wiring..............................................................................76
I/O Wiring Example With Modicon M221 Logic Controller .................77
Installation ..................................................................................................79
Before Mounting .......................................................................................81
Inspecting the Product.........................................................................81
Scope of Supply .................................................................................81
Drive Installation.......................................................................................82
Mechanical Installation Drive ...............................................................82
Electrical Installation Drive...................................................................84
Connection Grounding Screw ..............................................................85
4 EIO0000002299.05
 Connection I/O Interface (CN1) ............................................................86
Connecting the Motor Encoder (CN2) ...................................................98
Connection PC (CN3)..........................................................................99
Connection Logic Supply and Power Stage Supply (~220V) ................. 101
Connection Braking Resistor (Resistor) .............................................. 104
Connecting the Motor Phases (Motor) ................................................ 106
Holding Brake Connection ................................................................. 109
Motor Installation .................................................................................... 111
Mechanical Installation Motor............................................................. 111
Connections and Pin Assignments ..................................................... 114
Connection of Motor and Encoder ...................................................... 116
Holding Brake Connection ................................................................. 118
Verifying Installation................................................................................ 120
Verifying Installation .......................................................................... 120
Commissioning ........................................................................................ 121
Overview ............................................................................................... 122
General............................................................................................ 122
Commissioning Tools ........................................................................ 124
Integrated HMI ....................................................................................... 125
Overview.......................................................................................... 125
Integrated HMI Structure ................................................................... 126
7-Segment Display............................................................................ 126
Status Information Via the HMI........................................................... 128
Commissioning Procedure ...................................................................... 130
Commissioning Software................................................................... 130
Setting the Device Address, Baud Rate and Connection
Settings............................................................................................ 130
Verifying the Direction of Movement ................................................... 133
Test Operation in Operating Mode Velocity (V) .................................... 134
Tuning the Control Loops ........................................................................ 136
Tuning the Control Loops................................................................... 136
Easy Tuning ..................................................................................... 136
Comfort Tuning................................................................................. 137
Manual Tuning.................................................................................. 143
Parameters .............................................................................................. 157
Parameters ............................................................................................ 158
Representation of the Parameters ...................................................... 158
P0 - Status Parameters ..................................................................... 159
P1 - Basic Parameters....................................................................... 165
P2 - Extended Parameters................................................................. 178
P3 - Communication Parameters........................................................ 187
P4 - Diagnostics Parameters ............................................................. 188
P5 - Motion Settings .......................................................................... 193
P6 - Position Sequence Data Sets Group 1 ......................................... 199
P7 - Position Sequence Data Sets Group 2 ......................................... 208
P8 - Control Loops ............................................................................ 217
P9 - DTM Data.................................................................................. 229
Operation ................................................................................................. 236
Operation............................................................................................... 237
Access Channels .............................................................................. 237

EIO0000002299.05 5
 Operating States............................................................................... 238
Setting the Digital Signal Inputs.......................................................... 239
Setting the Digital Signal Outputs ....................................................... 244
Functions for Target Value Processing ................................................ 247
Setting a Signal Output Via Parameter................................................ 248
Forcing the Digital Signal Inputs and Signal Outputs ............................ 248
Operating Modes.................................................................................... 252
Setting the Operating Mode ............................................................... 252
Setting the Operating Mode ......................................................... 252
Jog Operation................................................................................... 253
Jog Operation ............................................................................. 253
Operating Mode Pulse Train (PT) ....................................................... 254
Operating mode Pulse Train (PT) ................................................. 254
Pulse Settings............................................................................. 255
Gear Ratio .................................................................................. 256
Acceleration and Deceleration Limitation....................................... 258
Operating Mode Position Sequence (PS)............................................ 259
Operating mode Position Sequence (PS) ...................................... 259
Structure of a Data Set ................................................................ 259
Scaling ....................................................................................... 261
Homing Data Set for Absolute Movements .................................... 262
Operating Modes Velocity (V) and Velocity Zero (Vz) ........................... 290
Operating Modes Velocity (V) and Velocity Zero (Vz) ..................... 290
Acceleration and Deceleration...................................................... 293
Operating Modes Torque (T) and Torque Zero (Tz) .............................. 293
Operating Modes Torque (T) and Torque Zero (Tz) ........................ 293
Diagnostics and Troubleshooting ......................................................... 297
Diagnostics and Troubleshooting ............................................................. 298
Diagnostics Via the Integrated HMI .................................................... 298
Diagnostics Via the Signal Outputs..................................................... 298
Diagnostics Via the Commissioning Software...................................... 299
Alert Codes and Error Codes ............................................................. 299
Service, Maintenance and Disposal..................................................... 306
Service, Maintenance, and Disposal ........................................................ 307
General............................................................................................ 307
Service Address ............................................................................... 308
Maintenance of the Drive................................................................... 308
Replacement of Drive........................................................................ 308
Maintenance of the Motor .................................................................. 309
Lexium 26/28 Multi-Turn Encoder....................................................... 311
Introduction ................................................................................ 311
Operation ................................................................................... 313
Changing the Motor .......................................................................... 317
Shipping, Storage, Disposal............................................................... 317
Glossary ................................................................................................... 319
Index ......................................................................................................... 324

6 EIO0000002299.05
Safety Information

Safety Information
Important Information
Read these instructions carefully, and look at the equipment to become familiar
with the device before trying to install, operate, service, or maintain it. The
following special messages may appear throughout this documentation or on the
equipment to warn of potential hazards or to call attention to information that
clarifies or simplifies a procedure.

The addition of this symbol to a “Danger” or “Warning” safety label indicates that an
electrical hazard exists which will result in personal injury if the instructions are not
followed.

This is the safety alert symbol. It is used to alert you to potential personal injury
hazards. Obey all safety messages that follow this symbol to avoid possible injury or
death.

! DANGER
DANGER indicates a hazardous situation which, if not avoided, will result in death or serious
injury.

! WARNING
WARNING indicates a hazardous situation which, if not avoided, could result in death or
serious injury.

! CAUTION
CAUTION indicates a hazardous situation which, if not avoided, could result in minor or
moderate injury.

NOTICE
NOTICE is used to address practices not related to physical injury.

Please Note
Electrical equipment should be installed, operated, serviced, and maintained only
by qualified personnel. No responsibility is assumed by Schneider Electric for any
consequences arising out of the use of this material.
A qualified person is one who has skills and knowledge related to the construction
and operation of electrical equipment and its installation, and has received safety
training to recognize and avoid the hazards involved.

QUALIFICATION OF PERSONNEL
Only appropriately trained persons who are familiar with and understand the
contents of this manual and all other pertinent product documentation are
authorized to work on and with this product. These persons must have sufficient
technical training, knowledge and experience and be able to foresee and detect
potential hazards that may be caused by using the product, by modifying the
settings and by the mechanical, electrical and electronic equipment of the entire
system in which the product is used.

EIO0000002299.05 7
 Safety Information

All persons working on and with the product must be fully familiar with all
applicable standards, directives, and accident prevention regulations when
performing such work.

INTENDED USE
The products described or affected by this document are, along with software,
accessories and options, servo drive systems for servo motors and intended for
industrial use according to the instructions, directions, examples and safety
information contained in the present document and other supporting
documentation.
The products may only be used in compliance with all applicable safety
regulations and directives, the specified requirements and the technical data.
Prior to using the products, you must perform a risk assessment in view of the
planned application. Based on the results, the appropriate safety-related
measures must be implemented.
Since the products are used as components in an entire system, you must ensure
the safety of persons by means of the design of this entire system.
Operate the products only with the specified cables and accessories. Use only
genuine accessories and spare parts.
Any use other than the use explicitly permitted is prohibited and can result in
hazards.

8 EIO0000002299.05
About the Book

About the Book

Document Scope
This document describes the functions of the Servo Drive LXM26D and the BCH2
motor.

Validity Note
This document has been updated with the firmware release of the Lexium 26D
V1.78.
The technical characteristics of the devices described in the present document
also appear online. To access the information online, go to the Schneider Electric
home page www.se.com/ww/en/download/.
The characteristics that are described in the present document should be the
same as those characteristics that appear online. In line with our policy of constant
improvement, we may revise content over time to improve clarity and accuracy. If
you see a difference between the document and online information, use the online
information as your reference.
For product compliance and environmental information (RoHS, REACH, PEP,
EOLI, etc.), go to www.se.com/ww/en/work/support/green-premium/.

Related Documents
Use your tablet or your PC to quickly access detailed and comprehensive
information on all our products on www.se.com.
The internet site provides the information you need for products and solutions:
• The whole catalog for detailed characteristics and selection guides,
• The CAD files to help design your installation,
• All software and firmware to maintain your installation up to date,
• And finally all the User Guides related to your drive, listed below:

Title of documentation Reference number

Lexium 26D and BCH2 Servo Drive System - User Guide (This EIO0000002299 (English)
document)

Lexium 26D DTM Commissioning software - User Guide EIO0000002311 (English)

HBC Holding Brake Controller -Product Manual 0198441113316 (English)

Multi-loader - User Manual BBV48778 (English)

BBV48777 (French)

You can download these technical publications, the present document and other
technical information from our website www.se.com/en/download/.

Product Related Information

The use and application of the information contained herein require expertise in
the design and programming of automated control systems.
Only you, the user, machine builder or integrator, can be aware of all the
conditions and factors present during installation and setup, operation, repair and
maintenance of the machine or process.
You must also consider any applicable standards and/or regulations with respect
to grounding of all equipment. Verify compliance with any safety information,

EIO0000002299.05 9
 About the Book

different electrical requirements, and normative standards that apply to your

machine or process in the use of this equipment.
Many components of the equipment, including the printed circuit board, operate
with mains voltage, or present transformed high currents, and/or high voltages.
The motor itself generates voltage when the motor shaft is rotated.

DANGER
ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
• Disconnect all power from all equipment including connected devices prior to
removing any covers or doors, or installing or removing any accessories,
hardware, cables, or wires.
• Place a "Do Not Turn On" or equivalent hazard label on all power switches
and lock them in the non-energized position.
• Wait 15 minutes to allow the residual energy of the DC bus capacitors to
discharge.
• Do not assume that the DC bus is voltage-free when the DC bus LED is off.
• Block the motor shaft to prevent rotation prior to performing any type of work
on the drive system.
• Do not create a short-circuit across the DC bus terminals or the DC bus
capacitors.
• Replace and secure all covers, accessories, hardware, cables, and wires
and confirm that a proper ground connection exists before applying power to
the unit.
• Use only the specified voltage when operating this equipment and any
associated products.
Failure to follow these instructions will result in death or serious injury.

This equipment has been designed to operate outside of any hazardous location.
Only install this equipment in zones known to be free of a hazardous atmosphere.

DANGER
POTENTIAL FOR EXPLOSION
Install and use this equipment in non-hazardous locations only.
Failure to follow these instructions will result in death or serious injury.

If the power stage is disabled unintentionally, for example as a result of power

outage, errors or functions, the motor is no longer decelerated in a controlled way.
Overload, errors or incorrect use may cause the holding brake to no longer
operate properly and may result in premature wear.

WARNING
UNINTENDED EQUIPMENT OPERATION
• Verify that movements without braking effect cannot cause injuries or
equipment damage.
• Verify the function of the holding brake at regular intervals.
• Do not use the holding brake as a service brake.
• Do not use the holding brake for safety-related purposes.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Drive systems may perform unanticipated movements because of incorrect wiring,

incorrect settings, incorrect data or other errors.

10 EIO0000002299.05
About the Book

WARNING
UNINTENDED MOVEMENT OR MACHINE OPERATION
• Carefully install the wiring in accordance with the EMC requirements.
• Do not operate the product with undetermined settings and data.
• Perform comprehensive commissioning tests that include verification of
configuration settings and data that determine position and movement.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

WARNING
LOSS OF CONTROL
• The designer of any control scheme must consider the potential failure
modes of control paths and, for certain critical control functions, provide a
means to achieve a safe state during and after a path failure. Examples of
critical control functions are emergency stop and overtravel stop, power
outage and restart.
• Separate or redundant control paths must be provided for critical control
functions.
• System control paths may include communication links. Consideration must
be given to the implications of unanticipated transmission delays or failures
of the link.
• Observe all accident prevention regulations and local safety guidelines.1
• Each implementation of this equipment must be individually and thoroughly
tested for proper operation before being placed into service.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

1For additional information, refer to NEMA ICS 1.1 (latest edition), “Safety
Guidelines for the Application, Installation, and Maintenance of Solid State
Control” and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction
and Guide for Selection, Installation and Operation of Adjustable-Speed Drive
Systems” or their equivalent governing your particular location.

Terminology Derived from Standards

The technical terms, terminology, symbols and the corresponding descriptions in
this manual, or that appear in or on the products themselves, are generally
derived from the terms or definitions of international standards.
In the area of functional safety systems, drives and general automation, this may
include, but is not limited to, terms such as safety, safety function, safe state, fault,
fault reset, malfunction, failure, error, error message, dangerous, etc.
Among others, these standards include:

Standard Description

IEC 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.

ISO 13849-1:2015 Safety of machinery: Safety related parts of control systems.

General principles for design.

EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.

Part 1: General requirements and tests.

ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment
and risk reduction
EN 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part 1: General
requirements

EIO0000002299.05 11
 About the Book

Standard Description

ISO 14119:2013 Safety of machinery - Interlocking devices associated with guards -

Principles for design and selection

ISO 13850:2015 Safety of machinery - Emergency stop - Principles for design

IEC 62061:2015 Safety of machinery - Functional safety of safety-related electrical,

electronic, and electronic programmable control systems

IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-

related systems: General requirements.

IEC 61508-2:2010 Functional safety of electrical/electronic/programmable electronic safety-

related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.

IEC 61508-3:2010 Functional safety of electrical/electronic/programmable electronic safety-

related systems: Software requirements.

IEC 61784-3:2016 Industrial communication networks - Profiles - Part 3: Functional safety

fieldbuses - General rules and profile definitions.

2006/42/EC Machinery Directive

2014/30/EU Electromagnetic Compatibility Directive

2014/35/EU Low Voltage Directive

In addition, terms used in the present document may tangentially be used as they
are derived from other standards such as:

Standard Description

IEC 60034 series Rotating electrical machines

IEC 61800 series Adjustable speed electrical power drive systems

IEC 61158 series Digital data communications for measurement and control – Fieldbus for
use in industrial control systems

Finally, the term zone of operation may be used in conjunction with the description
of specific hazards, and is defined as it is for a hazard zone or danger zone in the
Machinery Directive (2006/42/EC) and ISO 12100:2010.
NOTE: The aforementioned standards may or may not apply to the specific
products cited in the present documentation. For more information concerning
the individual standards applicable to the products described herein, see the
characteristics tables for those product references.

12 EIO0000002299.05
Servo Drive System Planning
What’s in This Part
General Overview ..........................................................................................14
Document Navigator.......................................................................................18

EIO0000002299.05 13
 General Overview

General Overview
What’s in This Chapter
Servo Drive Device Overview .........................................................................14
Drive / Motor References ...............................................................................15

Servo Drive Device Overview

Presentation
The servo drive system includes:
• the drive, page 23 and the motor, page 37:

• the accessories and spare parts, page 63:

14 EIO0000002299.05
General Overview

Item Description

1 Commissioning tools, page 63

2 Connectors and adapters, page 63

3 External mains filters, page 64

4 Not used
5 Application nameplate, page 64

6 Not used
7 Motor cables, page 64

8 Encoder cables, page 64

9 Signal cables, page 65

10 Not used
11 External braking resistors, page 65

12 Circuit breakers, page 66

13 Motor protection switches and power contractors, page 66

Drive / Motor References

Introduction
The present user guide provides information about the following Drives and
Motors reference tables.
The Lexium 26D range is defined by AC-servo drives Lexium 26D for combination
with AC-servo motors BCH2.
• The combinations of servo motors with servo drives are based on the power
class: both servo motor and servo drive must have the same power class.
• The bundle of a servo drive with its related servo motor is designed to cover a
nominal power from:
◦ 0.05 kW up to 4.5 kW (0.067 up to 6.03 hp) with 200…240 V mains supply
voltage.
Compatibility between Drive and Motor is defined in the Drive / Motor
combinations table, page 17.

EIO0000002299.05 15
 General Overview

Lexium 26D Drive References List

Drive references Nominal power Supply mains

LXM26DUA5M3X 50 W single phase or 3-phase, 230 Vac

LXM26DU01M3X 100 W single phase or 3-phase, 230 Vac

LXM26DU02M3X 200 W single phase or 3-phase, 230 Vac

LXM26DU04M3X 400 W single phase or 3-phase, 230 Vac

LXM26DU07M3X 750 W single phase or 3-phase, 230 Vac

LXM26DU10M3X 1000 W single phase or 3-phase, 230 Vac

LXM26DU15M3X 1500 W single phase or 3-phase, 230 Vac

LXM26DU20M3X 2000 W 3-phase, 230 Vac

LXM26DU30M3X 3000 W 3-phase, 230 Vac

LXM26DU45M3X 4500 W 3-phase, 230 Vac

For further information, refer to the servo drive general overview, page 23.

BCH2 Motor References List

Motor references Nominal power

BCH2MBA53•••5C 50 W
BCH2MB013•••5C 100 W
BCH2LD023•••5C 200 W
BCH2MM031•••6C 300 W
BCH2LD043•••5C 400 W
BCH2LF043•••5C 400 W
BCH2MM052•••6C 500 W
BCH2MM061•••6C 600 W
BCH2HF073•••5C 750 W
BCH2LF073•••5C 750 W
BCH2MM081•••6C 850 W
BCH2MM091•••6C 900 W
BCH2MM102•••6C 1000 W
BCH2HM102•••6C 1000 W
BCH2LH103•••6C 1000 W
BCH2MM152•••6C 1500 W
BCH2MM202•••6C 2000 W
BCH2HM202•••6C 2000 W
BCH2MR202•••6C 2000 W
BCH2HR202•••6C 2000 W
BCH2LH203•••6C 2000 W
BCH2MR301•••6C 3000 W
BCH2MR302•••6C 3000 W
BCH2MR352•••6C 3500 W
BCH2MR451•••6C 4500 W

For further information, refer to Servo Motor Type Code, page 39.

16 EIO0000002299.05
General Overview

Drive / Motor Combinations

The permissible Drive / Motor Combinations are detailed in the following table:

Drive Motor Nomi- Nominal Nominal Peak Rotor Moment of

nal speed torque torque inertia inertia
power of without
rotation holding
brake
W rpm Nm Nm kg.cm2 -

Devices 220 Vac that can be connected via a single phase or three phases

LXM26DUA5M3X BCH2MBA53∙∙∙5C 50 3000 0.16 0.48 0.054 Medium

Hardware version RS 01 or RS
02
BCH2MBA53∙∙∙5C 0.044

Hardware version RS 03
LXM26DU01M3X BCH2MB013∙∙∙5C 100 3000 0.32 0.96 0.075 Medium

Hardware version RS 01 or RS
02
BCH2MB013∙∙∙5C 0.065

Hardware version RS 03
LXM26DU02M3X BCH2LD023∙∙∙5C 200 3000 0.64 1.92 0.16 Low
BCH2MM031∙∙∙6C 300 1000 2.86 8.59 6.63 Medium
LXM26DU04M3X BCH2LD043∙∙∙5C 400 3000 1.27 3.81 0.27 Low
BCH2LF043∙∙∙5C 400 3000 1.27 3.81 0.67 Low
BCH2MM052∙∙∙6C 500 2000 2.39 7.16 6.63 Medium
BCH2MM061∙∙∙6C 600 1000 5.73 17.19 6.63 Medium
LXM26DU07M3X
BCH2LF073∙∙∙5C 750 3000 2.39 7.16 1.19 Low
BCH2HF073∙∙∙5C 750 3000 2.39 7.16 1.54 High

BCH2MM081∙∙∙6C 850 1500 5.39 13.8 13.5 Medium

BCH2MM091∙∙∙6C 900 1000 8.59 25.77 9.7 Medium

LXM26DU10M3X BCH2LH103∙∙∙6C 1000 3000 3.18 9.54 2.4 Low

BCH2MM102∙∙∙6C 1000 2000 4.77 14.3 6.63 Medium
BCH2HM102∙∙∙6C 1000 2000 4.77 14.3 8.41 High

LXM26DU15M3X BCH2MM152∙∙∙6C 1500 2000 7.16 21.48 9.7 Medium

Devices 220 Vac that can be connected via three phases

BCH2LH203∙∙∙6C 2000 3000 6.37 19.11 4.28 Low

BCH2MM202∙∙∙6C 2000 2000 9.55 28.65 13.5 Medium
LXM26DU20M3X
BCH2MR202∙∙∙6C 2000 2000 9.55 28.65 26.5 Medium
BCH2HR202∙∙∙6C 2000 2000 9.55 28.65 34.68 High

BCH2MR301∙∙∙6C 3000 1500 19.1 57.29 53.56 Medium

LXM26DU30M3X
BCH2MR302∙∙∙6C 3000 2000 14.32 42.97 53.56 Medium
BCH2MR352∙∙∙6C 3500 2000 16.7 50.3 53.56 Medium
LXM26DU45M3X
BCH2MR451∙∙∙6C 4500 1500 28.65 71.62 73.32 Medium

EIO0000002299.05 17
 Document Navigator

Document Navigator
What’s in This Chapter
Document Navigator......................................................................................18

Document Navigator
Document Content
This user guide contains following data:
• Technical data, page 19
◦ Conditions for UL 508C and CSA, page 20
◦ Drive, page 23
◦ Motor, page 37
◦ Accessories and spare parts, page 63
• Engineering, page 67
• Installation, page 79
◦ Before mounting, page 81
◦ Drive installation, page 82
◦ Motor installation, page 111
◦ Verifying installation, page 120
• Commissioning, page 121
◦ Overview, page 122
◦ Integrated HMI, page 125
◦ Commissioning procedure, page 130
◦ Tuning the control loop, page 136
• Parameters, page 157
• Operation, page 236
◦ Operation, page 237
◦ Operating modes, page 252
• Diagnostics and troubleshooting, page 297
• Service, maintenance and disposal, page 306

18 EIO0000002299.05
Servo Drive System Technical Data
What’s in This Part
Certifications..................................................................................................20
Drive .............................................................................................................23
Motor ............................................................................................................37
Accessories and Spare Parts ..........................................................................63

EIO0000002299.05 19
 Certifications

Certifications
What’s in This Chapter
Conditions for UL 508C..................................................................................20
Conditions for CSA ........................................................................................21

Download links
Item Link
EC Declaration of conformity LXM26 EC CERTIFICATE

KC certificate - Reference group 1 KC_1333-B797-B43E-FC6C

KC certificate - Reference group 2 KC_8812-6AC0-ECBC-1757

KC certificate - Reference group 3 KC_AE96-6B40-C214-7A18

KC certificate - Reference group 4 KC_A1BB-480B-E156-0EF1

Conditions for UL 508C

Introduction
The UL certification status can be downloaded on the Schneider Electric website.
If the product is used to comply with UL 508C, the following conditions must also
be met.

Wiring
Use at least 75 °C (167 °F) copper conductors.

Fuses
Use fuses as per UL 248 or circuit breaker as per UL 489.

LXM26D UA5, U01, U20, U30, U45

U02, U04,
U07, U10, U15

Maximum fuse rating of fuse to be connected upstream 25 A 32 A

Class if fuses are used J J

Class if circuit breakers are used D D

Overvoltage Category
Use only in overvoltage category III or where the maximum available Rated
Impulse Withstand Voltage Peak is equal or less than 4000 Volts, or equivalent as
defined in UL 840 and its equivalent defined in IEC 60664-1.

20 EIO0000002299.05
Certifications

Conditions for CSA

The CSA certificate can be downloaded on the Schneider Electric website.
If the product is used to comply with CSA, the following conditions must also be
met.
Integral solid-state short circuit protection in these drives does not provide branch
circuit protection.

DANGER
ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
Provide branch circuit protection in accordance with the manual instructions,
National Electrical Code and any additional local codes of the type and size
specified in the present document.
Failure to follow these instructions will result in death or serious injury.

For reference groups 1, 2, 3, and 4 (see Fuse Types table), this product is suitable
for use on a circuit capable of delivering not more than 200 kA RMS symmetrical
amperes and 230 Vac (LXM26D•••M3X) maximum, when protected by Listed
Class J, CC or RK5 fuses as indicated in this instruction manual and the Fuse
Types table. Instead of fuses, protection may be provided by circuit breakers of
type C60 by Schneider Electric with the maximum current ratings specified in the
Fuse Types table.
For reference group 1 only, this product is suitable for motor group installation on a
circuit capable of delivering not more than 5 kA RMS symmetrical amperes and
230 Vac (LXM26D•••M3X) maximum, when protected by Listed Class J or CC
fuses as indicated in the instruction manual and the Fuse Types table. Instead of
fuses, protection may be provided by circuit breakers of type C60 by Schneider
Electric with the maximum current ratings specified in the Fuse Types table.
The opening of the branch-circuit protective device may be an indication that an
electrical interruption has been detected.

DANGER
ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
• Examine all current carrying parts and other components of the drive
controller for damage and replace if necessary before replacing fuses or
engaging circuit breakers.
• Completely replace overload relays if burnout of the current element occurs.
Failure to follow these instructions will result in death or serious injury.

Capacitive voltages above 42.4 V may remain for up to 15 minutes after power is
removed from the drive.

EIO0000002299.05 21
 Certifications

DANGER
ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
• Disconnect all power from all equipment including connected devices prior to
removing any covers or doors, or installing or removing any accessories,
hardware, cables, or wires.
• Place a "Do Not Turn On" or equivalent hazard label on all power switches
and lock them in the non-energized position.
• Wait 15 minutes to allow the residual energy of the DC bus capacitors to
discharge.
• Do not assume that the DC bus is voltage-free when the DC bus LED is off.
• Block the motor shaft to prevent rotation prior to performing any type of work
on the drive system.
• Do not create a short-circuit across the DC bus terminals or the DC bus
capacitors.
• Replace and secure all covers, accessories, hardware, cables, and wires
and confirm that a proper ground connection exists before applying power to
the unit.
• Use only the specified voltage when operating this equipment and any
associated products.
Failure to follow these instructions will result in death or serious injury.

These drives are provided with load and speed adjustable motor overload and
short circuit protection. Adjust the parameter P1-78 ‘User-Defined maximal
current’ in the drive which protects the motor by limiting the maximum current
according to the required degree of protection of the motors as indicated on the
name plate.

Other Characteristics
Maximum surrounding Air Temperature: 40…55 °C (104…131 °F) with current
derating of 1% per °C (per 1.8 °F).
Tightening torque for the connectors labelled ̃~220V,
̃ Resistor and Motor for drive
reference group:
• 3 and 4: 0.7 … 0.8 Nm (6.2 … 7 lb.in)

Fuse Types
Reference Group Reference Class Maximum Current

1 LXM26DUA5M3X
LXM26DU01M3X
LXM26DU02M3X CC or J 25 A
LXM26DU04M3X
LXM26DU07M3X
2 LXM26DU10M3X
RK5 or CC or J 25 A
LXM26DU15M3X
3 LXM26DU20M3X RK5 or J 45 A
4 LXM26DU30M3X
RK5 or J 50 A
LXM26DU45M3X

22 EIO0000002299.05
Drive

Drive
What’s in This Chapter
General Overview .........................................................................................23
Drive Technical Data......................................................................................25

General Overview
Servo Drive Description
Presentation

Item Description Connector

1 Slot for application name plate (VW3M2501) -

2 HMI: 7-segment display, 5 buttons, and 2 status LED -

3 Terminal for motor connection Motor, page 106

4 Terminal for braking resistor connection Resistor, page

104
5 Terminal for connecting the power supply ~220 V, page 101

6 QR code for access to technical data -

7 RJ45 connector for Modbus serial link CN3, page 99

8 Connector for the encoder of the motor CN2, page 98

9 Input/output connector CN1, page 86

10 Device Reference -

11 Screw terminal for protective ground (protective earth) -

Parameters Access
Servo drive parameters, page 158 may be accessed using:
• The integrated HMI
• The Device Type Manager (DTM)

EIO0000002299.05 23
 Drive

Servo Drive Nameplate

Presentation
The nameplate contains the following data:

Item Description

1 Drive reference, page 24

2 Logic supply

3 Cable specifications

4 Certifications
5 Barcode
6 Serial number
7 Output power

8 Degree of protection

9 Hardware version
10 Date of manufacture

Servo Drive Type Code

Servo Drive Type Code
Item 1 2 3 4 5
Type code (example) LXM 26 D U07 M3X

Item Meaning

1 Product designation

LXM = Lexium
2 Product type

26 = AC servo drive for one axis

3 Interfaces

24 EIO0000002299.05
Drive

Item Meaning

D = Modbus RTU, PTI, I/O interface, commissioning via Modbus RTU

4 Continuous power

UA5 = 0.05 kW

U01 = 0.1 kW

U02 = 0.2 kW

U04 = 0.4 kW

U07 = 0.75 kW

U10 = 1 kW

U15 = 1.5 kW

U20 = 2 kW

U30 = 3 kW

U45 = 4.5 kW
5 Power stage supply [Vac]

M3X = single phase or 3-phase, 200/230 Vac

Drive Technical Data

Environmental Conditions
Ambient Conditions During Operation
The maximum permissible ambient temperature during operation depends on the
mounting distances between the devices and on the required power. Observe the
instructions in the chapter Installation, page 82.

Description Unit Value

Ambient temperature without current derating (no icing, non- °C (°F) 0…40 (32…104)
condensing

Ambient temperature with current derating of 1% per 1 °C (1.8 °F) °C (°F) 40…55 (104…131)

The following relative humidity is permissible during operation:

Description Unit Value

Relative humidity (non-condensing) % <95

Description Unit Value

Installation altitude above mean sea level without current derating m (ft) <2000 (<6561)

Ambient Conditions During Transportation and Storage

The environment during transportation and storage must be dry and free from
dust.

Description Unit Value

Temperature °C (°F) -25…65 (-4…149)

The following relative humidity is permissible during transportation and storage:

EIO0000002299.05 25
 Drive

Description Unit Value

Relative humidity (non-condensing) % <95

Installation Site and Connection

For operation, the device must be mounted in a closed control cabinet with a
degree of protection of at least IP 54. The device may only be operated with a
permanently installed connection.

DANGER
ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
Install the drive in a control cabinet or housing with a minimum IP 54 rating.
Failure to follow these instructions will result in death or serious injury.

Pollution Degree and Degree of Protection

Description Value

Pollution degree 2

Degree of protection IP20

Degree of Protection When the Safety Function Is Used

You must ensure that conductive substances cannot get into the product (pollution
degree 2). Conductive substances may cause the safety function to become
inoperative.

WARNING
INOPERABLE SAFETY FUNCTION
Ensure that conductive substances (water, contaminated or impregnated oils,
metal shavings, etc.) cannot get into the drive.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Vibration and Shock During Operation

Description Value

Class as per IEC 60721-3-3 3M4 3 mm from 9…200 Hz

Maximum shock 98.1 m/s2 (10 g) Type I

26 EIO0000002299.05
Drive

Vibration and Shock During Transportation and Storage

Description Value

Class as per IEC 60721-3-2 2M2

3.5 mm (2…9 Hz)

9.81 m/s2 (1 g) from 9…200 Hz

14.715 m/s2 (1.5 g) from 200…500 Hz

34.335 m/s2 (3.5 g) from 2…9 Hz

Maximum shock 294.3 m/s2 (30 g) Type II

Dimensions
Lexium 26D Dimensions
LXM26DUA5, LXM26DU01, LXM26DU02, LXM26DU04, LXM26DU07,
LXM26DU10, LXM26DU15, LXM26DU20

LXM26D UA5M3X, U01M3X, U10M3X, U15M3X U20M3X

U02M3X, U04M3X,
Unit U07M3X
B mm (in) 55 (2.17) 55 (2.17) 62 (2.44)

H mm (in) 173.2 (6.82) 173.5 (6.83) 194.5 (7.66)

h mm (in) 150 (5.91) 150 (5.91) 170 (6.69)

F mm (in) 164 (6.46) 164 (6.46) 185 (7.28)

T mm (in) 146 (5.75) 170 (6.69) 184 (7.24)

t mm (in) 152.7 (6.01) 176.3 (6.94) 197 (7.76)

EIO0000002299.05 27
 Drive

LXM26DU30, LXM26DU45

LXM26D Unit U30M3X, U45M3X

B mm (in) 116 (4.57)

H mm (in) 245 (9.65)

h mm (in) 234 (9.21)

F mm (in) 235 (9.25)

T mm (in) 186 (7.32)

t mm (in) 199 (7.83)

Electrical Data
Introduction
The products are intended for industrial use and may only be operated with a
permanently installed connection.

220 Vac Mains Voltage: Range and Tolerance

LXM26D•••M3X

Description Unit Value

220 Vac single-phase/three-phase (LXM26D•••M3X) Vac 200 -15 % ... 230 +10 %

Frequency Hz 50 -5 % ... 60 +5 %

Transient overvoltages – Overvoltage category III(1)

Rated voltage to ground Vac 230

(1) Depends on installation altitude, see Environmental Conditions, page 25

28 EIO0000002299.05
Drive

Type of Grounding
Description Value

TT grounding system, TN grounding system Approved

IT mains Not approved

Mains with grounded line conductor Not approved

Leakage Current
Description Unit Value

Leakage current (as per IEC 60990, figure 3) mA <30(1)

(1) Measured on mains with grounded neutral point and without external
mains filter. Take into account that a 30 mA RCD can already trigger at
15 mA. In addition, there is a high-frequency leakage current which is
not considered in the measurement. The response to this depends on
the type of residual current device.

Monitoring of the Continuous Output Power

The continuous output power is monitored by the device. If the continuous output
power is exceeded, the device reduces the output current.

PWM Frequency Power Stage

PWM frequency power stage The PWM frequency of the power stage is set to a
fixed value.

LXM26D UA5, U01, U02, U04, U20, U30, U45

U07, U10, U15

PWM frequency power stage 16 kHz 8 kHz

Type of Cooling
LXM26D UA5, U01, U02 U04, U07, U10, U15,
U20, U30, U45

Type of cooling Convection Fan

Permissible Drive / Motor Combinations

The BCH2 motors can be connected to the Lexium 26D drive range.
Compatibility between Drive and Motor is defined in the Drive / Motor
combinations table, page 17.

EIO0000002299.05 29
 Drive

Single-Phase Connection
Electrical Data for LXM26D∙∙∙M3X Drive Connected Via a Single-Phase 220
Vac
LXM26D∙∙∙M3X Unit UA5 U01 U02 U04 U07 U10 U15
Nominal voltage V 230 (single-phase)

Inrush current limitation A 8

Maximum fuse to be connected upstream(1) A 25

Short-circuit current rating (SCCR) kA 5

Continuous output current Arms 0.64 0.9 1.5 2.6 4.5 7 7

Peak output current Arms 2 2.7 4.5 7.8 13.5 21 21

Nominal power(2) W 50 100 200 400 750 1000 1500

Input current(2)(3) Arms 0.8 1.2 2.4 3.8 6 8.5 10

THD (total harmonic distortion)(2)(4) % 262.8 239.2 226.8 211.6 181.8 176.3 166.6

Power dissipation(5) W 8 10 14 22 38 36 41

Maximum inrush current(6) A 175 235

Time for maximum inrush current ms 0.5 0.6

(1) As per IEC 60269; Circuit breakers with C characteristic; See Conditions for UL 508C, page 20 for UL
and CSA; Lower ratings are permissible; The fuse must be rated in such a way that the fuse does not
trip at the specified input current.

(2) At a mains impedance corresponding to the short-circuit current rating (SCCR)

(3) At nominal power and nominal voltage

(4) With reference to the input current

(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage, and nominal
power; value approximately proportional with output current

(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum
time

DC bus data for drives connected via a single-phase 220 Vac

LXM26D∙∙∙M3X Unit UA5 U01 U02 U04 U07 U10 U15

Nominal voltage (single-phase) Vac 230

Nominal voltage DC bus Vdc 322

Undervoltage limit Vdc 160

Overvoltage limit Vdc 420

Maximum continuous power via DC bus W 50 100 200 400 750 1000 1500

Maximum continuous power via DC bus A 0.2 0.3 0.6 1.2 2.3 3.1 4.6

Three-Phase Connection
Electrical Data for LXM26D∙∙∙M3X Drive Connected Via Three-Phase 220
Vac
LXM26D∙∙∙M3X Unit UA5 U01 U02 U04 U07 U10
Nominal voltage V 230 (3-phase)

Inrush current limitation A 8

30 EIO0000002299.05
Drive

LXM26D∙∙∙M3X Unit UA5 U01 U02 U04 U07 U10

Maximum fuse to be connected upstream(1) A 25

Short-circuit current rating (SCCR) kA 5

Continuous output current Arms 0.64 0.9 1.5 2.6 4.5 7

Peak output current Arms 2 2.7 4.5 7.8 13.5 21

Nominal power(2) W 50 100 200 400 750 1000

Input current(2)(3) Arms 0.42 0.74 1.25 2.2 3.9 5

THD (total harmonic distortion)(2)(4) % 227.8 212.7 200.7 183.7 160.8 155.5

Power dissipation(5) W 8 10 14 22 38 36

Maximum inrush current(6) A 175 235

Time for maximum inrush current ms 0.5 0.6

(1) As per IEC 60269; Circuit breakers with C characteristic; See Conditions for UL 508C, page 20 for UL
and CSA; Lower ratings are permissible; The fuse must be rated in such a way that the fuse does not
trip at the specified input current.

(2) At a mains impedance corresponding to the short-circuit current rating (SCCR)

(3) At nominal power and nominal voltage

(4) With reference to the input current

(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage, and nominal
power; value approximately proportional with output current

(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum
time

LXM26D∙∙∙M3X Unit U15 U20 U30 U45

Nominal voltage V 230 (3-phase)

Inrush current limitation A 8 19.2 17

Maximum fuse to be connected upstream(1) A 25 32

Short-circuit current rating (SCCR) kA 5 22

Continuous output current Arms 7 12 19.8 22.8

Peak output current Arms 21 36 60 61

Nominal power(2) W 1500 2000 3000 4500

Input current(2)(3) Arms 5.9 8.7 12.9 18

THD (total harmonic distortion)(2)(4) % 144.8 137.1 155.8 147.1

Power dissipation(5) W 41 97

Maximum inrush current(6) A 235 295 300

Time for maximum inrush current ms 0.6 1.0

(1) As per IEC 60269; Circuit breakers with C characteristic; See Conditions for UL 508C, page 20 for UL
and CSA; Lower ratings are permissible; The fuse must be rated in such a way that the fuse does not
trip at the specified input current.

(2) At a mains impedance corresponding to the short-circuit current rating (SCCR)

(3) At nominal power and nominal voltage

(4) With reference to the input current

(5) Condition: internal braking resistor not active; value at nominal current, nominal voltage, and nominal
power; value approximately proportional with output current

(6) Extreme case, off/on pulse before the inrush current limitation responds, see next line for maximum
time

EIO0000002299.05 31
 Drive

DC bus data for drives connected via three-phase 220 Vac

LXM26D∙∙∙M3X Unit UA5 U01 U02 U04 U07 U10

Nominal voltage (three phases) Vac 230

Nominal voltage DC bus Vdc 322

Undervoltage limit Vdc 160

Overvoltage limit Vdc 420

Maximum continuous power via DC bus W 50 100 200 400 750 1000

Maximum continuous power via DC bus A 0.2 0.3 0.6 1.2 2.3 3.1

LXM26D∙∙∙M3X Unit U15 U20 U30 U45

Nominal voltage (three phases) Vac 230

Nominal voltage DC bus Vdc 322

Undervoltage limit Vdc 160

Overvoltage limit Vdc 420

Maximum continuous power via DC bus W 1500 2000 3000 4500

Maximum continuous power via DC bus A 4.6 6.2 9.2 13.8

Inputs / Outputs Characteristics

Logic Type
The outputs are short-circuit protected. The inputs and outputs are galvanically
isolated.
The digital inputs and outputs of this product can be wired for positive or negative
logic.

Logic type Active state

Positive logic Output supplies current (source output)

Current flows to the input (sink input)

Negative logic Output draws current (sink output)

Current flows from the input (source input)

Digital Input Signals 24 V

When wired as positive logic, the levels of the opto-isolated inputs DI1...DI5 and
DI8 comply with IEC 61131-2, type 1. The electrical characteristics are also valid
when wired as negative logic.

Description Unit Value

“0” signal voltage Vdc ≤5

“1” signal voltage Vdc ≥11

Input current (typical) mA 6

Debounce time(1) mA 0...20

(1) Adjustable via parameter P2-09 in increments of 1 ms.

32 EIO0000002299.05
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Digital Output Signals 24 V

The levels of the digital 24 V output signals DO∙ comply with IEC 61131-2.

Description Unit Value

Switching voltage Vdc 24

Maximum switching current mA 100

Voltage drop at 100 mA load Vdc <3

Analog Input Signals

Description Unit Value

Voltage range Vdc -10...10

Input resistance, typical kΩ 10

Resolution Bit 12
Sampling period µs 32.25

Analog Output Signals

Description Unit Value

Voltage range Vdc -8...8

Output current mA 10

Minimum load resistance (voltage source)l kΩ 1

Resolution Bit 12
Sampling period ms 1

Time constant µs 10

Touch Probe Input Signals 24 V

When wired as positive logic, the levels of the opto-isolated inputs DI6 and DI7
comply with IEC 61131-2, type 1. The electrical characteristics are also valid when
wired as negative logic.

Description Unit Value

“0” signal voltage Vdc ≤5

“1” signal voltage Vdc ≥11

Input current (typical) mA 7

Debounce time(1) µs 0...20000

Jitter Capture µs 1

(1) Adjustable via parameter P2-24 in increments of 1 µs.

EIO0000002299.05 33
 Drive

24 Vdc Power Supply (Pin 17):

24 Vdc power supply (pin 17):

Description Unit Value

Output voltage Vdc 24

Maximum output current mA 200

ESIM Output Signals

The ESIM output signals comply with the RS422 interface specification.

Description Unit Value

Logic level – As per RS422(1)

Output frequency per signal kHz 800

Maximum output frequency (quadruple kHz 3200

evaluation)

(1) Due to the input current of the optocoupler in the input circuit, a parallel
connection of a driver output to several devices is not permitted.

Function A/B Signals

External A/B signals can be supplied via the PTI input as reference values in
operating mode Pulse Train (Pt).

Signal Function

Signal SIGN before signal PULSE Movement in positive direction

Signal PULSE before signal SIGN Movement in negative direction

Time chart with A/B signal, counting forwards and backwards

The signal shape shown relates to the factory setting (P1-00 C=0). The direction
of movement shown relates to the factory setting (P1-01 C=0).

34 EIO0000002299.05
Drive

Intervals (minimum) HPULSE / HSIGN PULSE / SIGN with PULSE / SIGN with
with RS422 RS422 Open Collector

1 4 MHz 500 kHz 200 kHz

2 0.125 μs 0.1 μs 2.5 μs

3 0.0625 μs 0.5 μs 1.25 μs

Function CW/CCW
External CW/CCW signals can be supplied via the PTI input as reference values.

Signal Function

Signal PULSE (CCW) Movement in positive direction

Signal SIGN (CW) Movement in negative direction

Time chart with "CW/CCW"

The signal shape shown relates to the factory setting (P1-00 C=0). The direction
of movement shown relates to the factory setting (P1-01 C=0).

Intervals (minimum) HPULSE / HSIGN PULSE / SIGN with PULSE / SIGN with
with RS422 RS422 Open Collector

1 4 MHz 500 kHz 200 kHz

2 0.125 μs 0.1 μs 2.5 μs

3 0.0625 μs 0.5 μs 1.25 μs

Function P/D
External P/D signals can be supplied via the PTI input as reference values.

Signal Function

Signal PULSE Motor movement

Signal SIGN Direction of movement

EIO0000002299.05 35
 Drive

Time chart with pulse/direction signal

The signal shape shown relates to the factory setting (P1-00 C=0). The direction
of movement shown relates to the factory setting (P1-01 C=0).

Intervals (minimum) HPULSE / HSIGN PULSE / SIGN with PULSE / SIGN with
with RS422 RS422 Open Collector

1 4 MHz 500 kHz 200 kHz

2 0.125 μs 0.1 μs 2.5 μs

3 0.0625 μs 0.5 μs 1.25 μs

4 0.0625 μs 0.5 μs 1.25 μs

36 EIO0000002299.05
Motor

Motor
What’s in This Chapter
General Overview .........................................................................................37
Motor Technical Data .....................................................................................41
BCH2MB Motor.............................................................................................44
BCH2LD Motor..............................................................................................47
BCH2∙F Motor...............................................................................................49
BCH2LH Motor..............................................................................................52
BCH2∙M Motor ..............................................................................................54
BCH2∙R Motor ..............................................................................................58

General Overview
Components and Interfaces
Presentation

BCH2 servo motors, with a 3-phase stator and rotor with rare earth-based
permanent magnets, consist of:

Item Description

1 Connector of the motor cable, page 64

2 Connector of the encoder cable, page 64

3 Housing

4 Smooth or keyed shaft end, depending on the motor reference

5 4-point axial mounting flange

EIO0000002299.05 37
 Motor

Servo Motor Nameplate

BCH2∙B
The nameplate contains the following data:

Item Description Item Description

1 Motor reference, page 39 13 Country of manufacture

2 Nominal voltage 14 Nominal voltage of the holding brake

(optional)

3 Continuous stall current 15 Nominal power of the holding brake

(optional)

4 Continuous stall torque 16 Nominal torque of the holding brake

(optional)

5 Maximum current 17 Mass

6 Barcode 18 Date of manufacture DOM
7 Serial number 19 Number of motor phases,
temperature class, degree of
protection

8 QR code 20 Certifications

9 Nominal power 21 Applied standard

10 Nominal current 22 Peak torque

11 Nominal torque 23 Maximum permissible speed of

rotation
12 Nominal speed of rotation 24 Hardware version

38 EIO0000002299.05
Motor

BCH2∙D, BCH2∙F, BCH2∙H, BCH2∙M, and BCH2∙R

The nameplate contains the following data:

Item Description Item Description

1 Motor reference, page 39 13 Nominal speed of rotation

2 Nominal voltage 14 Mass

3 Continuous stall current 15 Nominal voltage of the holding brake

(optional)

4 Continuous stall torque 16 Nominal power of the holding brake

(optional)

5 Maximum current 17 Nominal torque of the holding brake

(optional)

6 Peak torque 18 Certifications

7 Maximum permissible speed of 19 Applied standard

rotation
8 Number of motor phases, 20 Country of manufacture
temperature class, degree of
protection

9 Hardware version 21 Date of manufacture DOM

10 Nominal current 22 Barcode
11 Nominal power 23 Serial number

12 Nominal torque 24 QR code

Servo Motor Type Code

Servo Motor Type Code
Item 1 2 3 4 5 6 7 8 9 10
Type code (example) BC- M B 01 3 3 C A 5 C
H2

EIO0000002299.05 39
 Motor

Item Meaning

1 Product family

BCH2 = Brushless servo motors - second generation

2 Moment of inertia

L = Low

M = Medium

H = High

3 Size (housing)

B = 40 mm flange

D = 60 mm flange

F = 80 mm flange

H = 100 mm flange

M = 130 mm flange

R = 180 mm flange

4 Nominal power
10 = 1.0 kW
A5 = 50 W
13 = 1.3 kW
01 = 100 W
15 = 1.5 kW
02 = 200 W
20 = 2.0 kW
03 = 300 W
30 = 3.0 kW
04 = 400 W
35 = 3.5 kW
05 = 500 W
45 = 4.5 kW
06 = 600 W

07 = 750 W

08 = 850 W

09 = 900 W
5 Winding

1 = Optimized in terms of torque (1000 rpm/1500 rpm)

2 = Optimized in terms of torque and speed of rotation (2000 rpm)

3 = Optimized in terms of speed of rotation (3000 rpm)

6 Shaft and degree of protection(1)

3 = Parallel key; degree of protection: shaft and housing IP 65

7 Encoder system

C = High-resolution encoder single turn

M = High-resolution encoder multi turn(3)

8 Holding brake

A = Without holding brake

F = With holding brake

9 Connection version

5 = Flying leads (for BCH2∙B, BCH2∙D, BCH2∙F)

6 = MIL connector (for BCH2∙H, BCH2∙M, BCH2∙R)

40 EIO0000002299.05
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Item Meaning

10 Mechanical interface - mounting

C = Asian style

(1) In the case of mounting position IM V3 (drive shaft vertical, shaft end
up), the motor has degree of protection IP 50.

(2) Only available with single turn encoder, up to 4.5 kW.

(3) Planned marketing end of 2020.

Motor Technical Data

Environmental Conditions
Ambient Conditions During Operation
The maximum permissible ambient temperature during operation depends on the
mounting distances between the devices and on the required power. Observe the
instructions in the chapter Installation, page 111.

Description Unit Value

Ambient temperature(1) for motors without holding °C (°F) -20...40 (-4...104)

brake (no icing, non-condensing).

Ambient temperature for motors with holding brake °C (°F) 0...40 (32...104)
(no icing, non-condensing).

Ambient temperature with current derating of 1% per ° °C (°F) 40...60 (104...140)

C (per 1.8 °F)

Relative humidity (non-condensing) % 5...85

Class as per IEC 60721-3-3 - 3K3, 3Z12, 3Z2, 3B2, 3C1,

3M6(2)

Installation altitude above mean sea level without m (ft) <1000 (<3281)
current derating

Installation altitude above mean sea level with current m (ft) 1000...3000 (3281...9843)
derating of 1% per 100 m at altitudes higher than
1000 m

(1) Limit values with flanged motor, see Flange Sizes for Limit Values, page
42
(2) Tested as per IEC 60068-2-6 and IEC 60068-2-27

Ambient Conditions During Transportation and Storage

The environment during transportation and storage must be dry and free from
dust.

Description Unit Value

Temperature °C (°F) -40...70 (-40...158)

Relative humidity (non-condensing) % ≤75

Set of class combinations as per IEC 60721-3-2 – IE 21

EIO0000002299.05 41
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Flange Sizes for Limit Values

Limit values referring to this table relate to flanged motors with the following flange
sizes:

Motor Flange Flange size in [mm (in)]

material
BCH2MB Aluminum 185 x 185 x 8 (7.28 x 7.28 x 0.31)

BCH2LD Aluminum 250 x 250 x 12 (9.84 x 9.84 x 0.47)

BCH2∙F Aluminum 250 x 250 x 12 (9.84 x 9.84 x 0.47)

BCH2LH Steel 300 x 300 x 20 (11.8 x 11.8 x 0.79)

BCH2∙M Steel 400 x 400 x 20 (15.7 x 15.7 x 0.79)

BCH2∙R Steel 550 x 550 x 20 (21.7 x 21.7 x 0.79)

Compatibility with Foreign Substances

The motor has been tested for compatibility with many known substances and with
the latest available knowledge at the moment of the design. Nonetheless, you
must perform a compatibility test before using a foreign substance.

Tightening Torque and Property Class of Screws

Housing screws Unit Tightening torque

M3 x 0.50 Nm (lb.in) 1 (8.85)

M4 x 0.70 Nm (lb.in) 2.9 (25.67)

M5 x 0.80 Nm (lb.in) 5.9 (52.22)

M6 x 1.00 Nm (lb.in) 9.9 (87.62)

M7 x 1.25 Nm (lb.in) 24 (212.40)

M8 x 1.50 Nm (lb.in) 49 (433.65)

Property class of the screws H 8.8

42 EIO0000002299.05
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Overload Characteristics Curves

In order to make old MFOLD and new MFOLD be compatible, add new P
parameter P2-71 to active new fold back algorithm. If you want to increase the
overload capacity, you can set MFOLD level by new parameter P2-73 (1~4),
default value is 1. The corresponding MFOLDT value is displayed in P2-72 (see
New Motor Fold Back Characteristics and Parameter Setting, page 304).

Encoder Technical Data

Overview
The drive can access the electronic nameplate via the electronic interface of the
encoder for easy commissioning.
The signals meet the PELV requirements.
Depending on the motor reference, the motor are delivered with a single turn
encoder or a multi turn encoder.

Single Turn Encoder

Technical data

Description Value

Measuring range absolute 1 revolution

Resolution in increments Depending on evaluation

Accuracy of position ±0.044°

Supply voltage 4.1...5.25 Vdc

Maximum supply current 100 mA

Maximum permissible speed of rotation 6000 rpm

Maximum angular acceleration 100,000 rad/s2

Multi Turn Encoder

Technical data

EIO0000002299.05 43
 Motor

Description Value

Measuring range absolute 1 revolution

Resolution in increments Depending on evaluation

Accuracy of position ±0.044°

Supply voltage 4.1...5.25 Vdc

Maximum supply current 40 μA

Maximum permissible speed of rotation 6000 rpm

Maximum angular acceleration 100,000 rad/s2

Battery nominal voltage 3.6 Vdc

Battery nominal current consumption while the encoder is not 20 μA at standstill

powered by the drive
40 μA with rotating shaft

Battery life time (at 25 °C) 3 years

The multi turn counting is preserved through power down by an external battery.
• For further information on the battery compartment connection, refer to the
motor encoder connection, page 99.
• For further information on the battery replacement, refer to the maintenance
of the motor, page 310.

BCH2MB Motor
BCH2MB Dimensions

BCH2MB Unit A5 01
L (without holding brake) mm (in) 82 (3.23) 100 (3.94)

L (with holding brake) mm (in) 112 (4.41) 130 (5.12)

Z mm (in) 43.5 (1.71) 61.5 (2.42)

44 EIO0000002299.05
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BCH2MB Characteristics Table

BCH2MB(1) A53 013

Technical data - general

Continuous stall torque(2) M0 Nm 0.16 0.32

Peak torque Mmax Nm 0.48 0.96

With supply voltage Un = 230 Vac

Nominal speed of rotation nN rpm 3000 3000

Nominal torque MN Nm 0.16 0.32

Nominal Current IN Arms 0.59 0.89

Nominal power PN kW 0.05 0.10

Technical data - electrical

Maximum winding voltage Umax Vac 255 255

Maximum winding voltage Umax Vdc 360 360

Maximum voltage to ground – Vac 255 255

Maximum Current Imax Arms 1.8 2.7

Continuous stall current I0 Arms 0.54 0.81
Voltage constant(3) kEu-v Vrms 18 24

Torque constant(4) kt Nm/A 0.30 0.40

Winding resistance R20u-v Ω 31.0 23.4

Winding inductance Lqu-v mH 26.4 21.5

Winding inductance Ldu-v mH 24.7 20.6

Technical data - mechanical

Maximum permissible speed of rotation nmax rpm 5000 5000

Rotor inertia without brake Hardware version RS 01 or RS 2 JM kgcm2 0.054 0.075

Hardware version RS 03 0.044 0.065
Rotor inertia with brake Hardware version RS 01 or RS 2 JM kgcm2 0.055 0.076
Hardware version RS 03 0.045 0.066
Mass without brake m kg 0.40 0.56

Mass with brake m kg 0.60 0.77

Degree of protection of the shaft – – IP 65 IP 65

Degree of protection of the housing – – IP 65 IP 65

Technical data - holding brake

Holding torque – Nm 0.32 0.32

Nominal voltage – Vdc 24 +/-10% 24 +/-10%

Nominal power (electrical pull-in power) – W 4.4 4.4

(1) Limit values with flanged motor:

• Flange material: Aluminum
• Flange size in mm (in): 185 x 185 x 8 (7.28 x 7.28 x 0.31)

(2) M0 = Continuous stall torque at 20 rpm and 100 % duty cycle; at speeds of rotation of <20 rpm the
continuous stall torque is reduced to 87 %.

(3) RMS value at 1000 rpm and 20 °C (68 °F).

(4) At n = 20 rpm and 20 °C (68 °F).

EIO0000002299.05 45
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BCH2MB Curves

BCH2MBA53 + LXM26DUA5

Without shaft sealing ring With shaft sealing ring

(1) Peak torque

(2) Continuous torque

BCH2MB013 + LXM26DU01

Without shaft sealing ring With shaft sealing ring

(1) Peak torque

(2) Continuous torque

46 EIO0000002299.05
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BCH2LD Motor
BCH2LD Dimensions

BCH2LD Unit 02 04
L (without holding brake) mm (in) 104 (4.09) 129 (5.08)

L (with holding brake) mm (in) 140 (5.51) 165 (6.5)

Z mm (in) 57 (2.24) 82 (3.23)

BCH2LD Characteristics Table

BCH2LD(1) 023 043

Technical data - general

Continuous stall torque(2) M0 Nm 0.64 1.27

Peak torque Mmax Nm 1.92 3.81

With supply voltage Un = 230 Vac

Nominal speed of rotation nN rpm 3000 3000

Nominal torque MN Nm 0.64 1.27

Nominal Current IN Arms 1.30 2.50

Nominal power PN kW 0.20 0.40

Technical data - electrical

Maximum winding voltage Umax Vac 255 255

Maximum winding voltage Umax Vdc 360 360

Maximum voltage to ground – Vac 255 255

Maximum Current Imax Arms 4.5 7.8

Continuous stall current I0 Arms 1.11 2.19

EIO0000002299.05 47
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BCH2LD(1) 023 043

Voltage constant(3) kEu-v Vrms 35 35

Torque constant(4) kt Nm/A 0.58 0.58

Winding resistance R20u-v Ω 12.2 5.2

Winding inductance Lqu-v mH 24.8 12.5

Winding inductance Ldu-v mH 22.7 12.0

Technical data - mechanical

Maximum permissible speed of rotation nmax rpm 5000 5000

Rotor inertia without brake JM kgcm2 0.15 0.26

Rotor inertia with brake JM kgcm2 0.16 0.27

Mass without brake m kg 1.02 1.45

Mass with brake m kg 1.50 2.00

Degree of protection of the shaft – – IP 65 IP 65

Degree of protection of the housing – – IP 65 IP 65

Technical data - holding brake

Holding torque – Nm 1.3 1.3

Nominal voltage – Vdc 24 +/-10% 24 +/-10%

Nominal power (electrical pull-in power) – W 11.2 11.2

(1) Limit values with flanged motor:

• Flange material: Aluminum
• Flange size in mm (in): 250 x 250 x 12 (9.84 x 9.84 x 0.47)

(2) M0=Continuous stall torque at 20 rpm and 100 % duty cycle; at speeds of rotation of <20 rpm the
continuous stall torque is reduced to 87 %

(3) RMS value at 1000 rpm and 20 °C (68 °F).

(4) At n = 20 rpm and 20 °C (68 °F).

BCH2LD Curves

BCH2LD023 + LXM26DU02 BCH2LD043 + LXM26DU04

(1) Peak torque

(2) Continuous torque

48 EIO0000002299.05
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BCH2∙F Motor
BCH2∙F Dimensions

BCH2 Unit LF04 HF07 LF07

L (without holding brake) mm (in) 112 (4.41) 138 (5.43) 138 (5.43)

L (with holding brake) mm (in) 152 (5.98) 178 (7.01) 178 (7.01)

A mm (in) 30 (1.18) 35 (1.38) 35 (1.38)

C mm (in) 24.5 (0.96) 29.5 (1.16) 29.5 (1.16)

D mm (in) 14 (0.55) 19 (0.75) 19 (0.75)

F mm (in) 20 (0.79) 25 (0.98) 25 (0.98)

M - M5 M6 M6
N mm (in) 12 (0.47) 16 (0.63) 16 (0.63)

R mm (in) 11 (0.43) 15.5 (0.61) 15.5 (0.61)

T mm (in) 5 (0.2) 6 (0.24) 6 (0.24)

V mm (in) 5 (0.2) 6 (0.24) 6 (0.24)

W mm (in) 5 (0.2) 6 (0.24) 6 (0.24)

Z mm (in) 68 (2.68) 93 (3.66) 93 (3.66)

BCH2∙F Characteristics Table

BCH2(1) LF043 HF073 LF073

Technical data - general

Continuous stall torque(2) M0 Nm 1.27 2.39 2.39

Peak torque Mmax Nm 3.81 7.16 7.16

With supply voltage Un = 230 Vac

Nominal speed of rotation nN rpm 3000 3000 3000

EIO0000002299.05 49
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BCH2(1) LF043 HF073 LF073

Nominal torque MN Nm 1.27 2.39 2.39

Nominal Current IN Arms 2.52 4.29 4.29

Nominal power PN kW 0.40 0.75 0.75

Technical data - electrical

Maximum winding voltage Umax Vac 255 255 255

Maximum winding voltage Umax Vdc 360 360 360

Maximum voltage to ground – Vac 255 255 255

Maximum Current Imax Arms 7.8 13.5 13.5

Continuous stall current I0 Arms 2.29 4.01 4.01
Voltage constant(3) kEu-v Vrms 33.5 36 36

Torque constant(4) kt Nm/A 0.55 0.60 0.60

Winding resistance R20u-v Ω 3.20 1.50 1.50

Winding inductance Lqu-v mH 12.0 6.6 6.6

Winding inductance Ldu-v mH 11.3 6.1 6.1

Technical data - mechanical

Maximum permissible speed of rotation nmax rpm 5000 5000 5000

Rotor inertia without brake JM kgcm2 0.66 1.53 1.18

Rotor inertia with brake JM kgcm2 0.71 1.58 1.23

Mass without brake m kg 2.00 2.90 2.80

Mass with brake m kg 2.80 3.70 3.60

Degree of protection of the shaft – – IP 65 IP 65 IP 65

Degree of protection of the housing – – IP 65 IP 65 IP 65

Technical data - holding brake

Holding torque – Nm 2.5 2.5 2.5

Nominal voltage – Vdc 24 +/-10% 24 +/-10% 24 +/-10%

Nominal power (electrical pull-in power) – W 10.2 10.2 10.2

(1) Limit values with flanged motor:

• Flange material: Aluminum
• Flange size in mm (in): 250 x 250 x 12 (9.84 x 9.84 x 0.47)

(2) M0=Continuous stall torque at 20 rpm and 100 % duty cycle; at speeds of rotation of <20 rpm the
continuous stall torque is reduced to 87 %

(3) RMS value at 1000 rpm and 20 °C (68 °F).

(4) At n = 20 rpm and 20 °C (68 °F).

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BCH2∙F Curves

BCH2LF043 + LXM26DU04

(1) Peak torque

(2) Continuous torque

BCH2HF073 + LXM26DU07 BCH2LF073 + LXM26DU07

(1) Peak torque

(2) Continuous torque

EIO0000002299.05 51
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BCH2LH Motor
BCH2LH Dimensions

BCH2LH Unit 103 203

L (without holding brake) mm (in) 153.5 (6.04) 198.5 (7.81)

L (with holding brake) mm (in) 180.5 (7.11) 225.5 (8.88)

Z mm (in) 96 (3.78) 141 (5.55)

BCH2LH Characteristics Table

BCH2LH(1) 103 203

Technical data - general

Continuous stall torque(2) M0 Nm 3.18 6.37

Peak torque Mmax Nm 9.54 19.11

With supply voltage Un = 230 Vac

Nominal speed of rotation nN rpm 3000 3000

Nominal torque MN Nm 3.18 6.37

Nominal Current IN Arms 6.64 10.27

Nominal power PN kW 1.00 2.00

Technical data - electrical

Maximum winding voltage Umax Vac 255 255

Maximum winding voltage Umax Vdc 360 360

Maximum voltage to ground – Vac 255 255

Maximum Current Imax Arms 20.0 35.0

Continuous stall current I0 Arms 5.83 9.87

52 EIO0000002299.05
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BCH2LH(1) 103 203

Voltage constant(3) kEu-v Vrms 33 39

Torque constant(4) kt Nm/A 0.55 0.65

Winding resistance R20u-v Ω 0.67 0.36

Winding inductance Lqu-v mH 4.3 2.6

Winding inductance Ldu-v mH 4.20 2.59

Technical data - mechanical

Maximum permissible speed of rotation nmax rpm 5000 5000

Rotor inertia without brake JM kgcm2 2.39 4.27

Rotor inertia with brake JM kgcm2 2.44 4.34

Mass without brake m kg 4.60 6.70

Mass with brake m kg 5.10 7.20

Degree of protection of the shaft – – IP 65 IP 65

Degree of protection of the housing – – IP 65 IP 65

Technical data - holding brake

Holding torque – Nm 6.5 6.5

Nominal voltage – Vdc 24 +/-10% 24 +/-10%

Nominal power (electrical pull-in power) – W 10.4 10.4

(1) Limit values with flanged motor:

• Flange material: Steel
• Flange size in mm (in): 300 x 300 x 20 (11.8 x 11.8 x 0.79)

(2) M0=Continuous stall torque at 20 rpm and 100 % duty cycle; at speeds of rotation of <20 rpm the
continuous stall torque is reduced to 87 %

(3) RMS value at 1000 rpm and 20 °C (68 °F).

(4) At n = 20 rpm and 20 °C (68 °F).

BCH2LH Curves
BCH2LH103 + LXM26DU10 BCH2LH203 + LXM26DU20

(1) Peak torque

(2) Continuous torque

EIO0000002299.05 53
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BCH2∙M Motor
BCH2∙M Dimensions

BCH2∙M Unit 08 03, 05, 06, 10 09, 15 20

L (without holding brake) mm (in) 187 (7.36) 147 (5.79) 163 (6.42) 187 (7.36)

L (with holding brake) mm (in) 216 (8.5) 176 (6.93) 192 (7.56) 216 (8.5)

A mm (in) 48 (1.89) 55 (2.17) 55 (2.17) 55 (2.17)

C mm (in) 40 (1.57) 47 (1.85) 47 (1.85) 47 (1.85)

D mm (in) 19 (0.75) 22 (0.87) 22 (0.87) 22 (0.87)

F mm (in) 25 (0.98) 36 (1.42) 36 (1.42) 36 (1.42)

M - M6 M8 M8 M8
N mm (in) 16 (0.63) 19 (0.75) 19 (0.75) 19 (0.75)

R mm (in) 15.5 (0.61) 18 (0.71) 18 (0.71) 18 (0.71)

T mm (in) 6 (0.24) 7 (0.28) 7 (0.28) 7 (0.28)

V mm (in) 6 (0.24) 8 (0.31) 8 (0.31) 8 (0.31)

W mm (in) 6 (0.24) 8 (0.31) 8 (0.31) 8 (0.31)

Z mm (in) 134.5 (5.30) 94.5 (3.72) 110.5 (4.35) 134.5 (5.30)

BCH2∙M Characteristics Table

BCH2(1) MM052 MM031 MM102 HM102 MM081

Technical data - general

Continuous stall torque(2) M0 Nm 2.39 2.86 4.77 4.77 5.39

Peak torque Mmax Nm 7.16 8.59 14.30 14.30 13.80

With supply voltage Un = 230 Vac

Nominal speed of rotation nN rpm 2000 1000 2000 2000 1500

Nominal torque MN Nm 2.39 2.86 4.77 4.77 5.39

Nominal Current IN Arms 3.24 2.09 6.29 6.29 6.29

54 EIO0000002299.05
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BCH2(1) MM052 MM031 MM102 HM102 MM081

Nominal power PN kW 0.50 0.30 1.00 1.00 0.85

Technical data - electrical

Maximum winding voltage Umax Vac 255 255 255 255 255

Maximum winding voltage Umax Vdc 360 360 360 360 360

Maximum voltage to ground – Vac 255 255 255 255 255

Maximum Current Imax Arms 9.5 6.0 20.0 20.0 15.0

Continuous stall current I0 Arms 2.89 1.88 5.77 5.77 5.62
Voltage constant(3) kEu-v Vrms 50 92 50 50 58

Torque constant(4) kt Nm/A 0.83 1.52 0.83 0.83 0.96

Winding resistance R20u-v Ω 0.74 2.08 0.74 0.74 0.42

Winding inductance Lqu-v mH 7.84 26.25 7.84 7.84 4.70

Winding inductance Ldu-v mH 7.14 23.91 7.14 7.14 4.30

Technical data - mechanical

Maximum permissible speed of nmax rpm 3000 2000 3000 3000 3000
rotation
Rotor inertia without brake JM kgcm2 6.62 6.62 6.62 8.40 13.49

Rotor inertia with brake JM kgcm2 6.90 6.90 6.90 8.79 14.09

Mass without brake m kg 7.00 7.00 7.00 7.10 9.60

Mass with brake m kg 8.20 8.20 8.20 8.30 10.90

Degree of protection of the shaft – – IP 65 IP 54 IP 65 IP 65 IP 54

Degree of protection of the housing – – IP 65 IP 65 IP 65 IP 65 IP 65

Technical data - holding brake

Holding torque – Nm 9.6 9.6 9.6 9.6 9.6

Nominal voltage – Vdc 24 +/-10% 24 +/-10% 24 +/-10% 24 +/-10% 24 +/-10%

Nominal power (electrical pull-in – W 19.7 19.7 19.7 19.7 19.7

power)

(1) Limit values with flanged motor:

• Flange material: Steel
• Flange size in mm (in): 400 x 400 x 20 (15.7 x 15.7 x 0.79)

(2) M0=Continuous stall torque at 20 rpm and 100 % duty cycle; at speeds of rotation of <20 rpm the
continuous stall torque is reduced to 87 %

(3) RMS value at 1000 rpm and 20 °C (68 °F).

(4) At n = 20 rpm and 20 °C (68 °F).

BCH2(1) MM061 MM091 MM152 MM202

Technical data - general

Continuous stall torque(2) M0 Nm 5.73 8.59 7.16 9.55

Peak torque Mmax Nm 17.19 25.77 21.48 28.65

With supply voltage Un = 230 Vac

Nominal speed of rotation nN rpm 1000 1000 2000 2000

Nominal torque MN Nm 5.73 8.59 7.16 9.55

Nominal Current IN Arms 4.10 6.15 6.74 11.25

Nominal power PN kW 0.60 0.90 1.50 2.00

Technical data - electrical

EIO0000002299.05 55
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BCH2(1) MM061 MM091 MM152 MM202

Maximum winding voltage Umax Vac 255 255 255 255

Maximum winding voltage Umax Vdc 360 360 360 360

Maximum voltage to ground – Vac 255 255 255 255

Maximum Current Imax Arms 13.5 20.0 21.0 33.0

Continuous stall current I0 Arms 3.77 5.64 6.18 9.95
Voltage constant(3) kEu-v Vrms 92 92 70 58

Torque constant(4) kt Nm/A 1.52 1.52 1.16 0.96

Winding resistance R20u-v Ω 2.08 1.22 0.64 0.42

Winding inductance Lqu-v mH 26.25 16.40 7.20 4.70

Winding inductance Ldu-v mH 23.91 14.90 6.40 4.30

Technical data - mechanical

Maximum permissible speed of rotation nmax rpm 2000 2000 3000 3000

Rotor inertia without brake JM kgcm2 6.62 9.69 9.69 13.49

Rotor inertia with brake JM kgcm2 6.90 9.99 9.99 14.09

Mass without brake m kg 7.00 7.60 7.60 9.70

Mass with brake m kg 8.20 8.80 8.80 11.00

Technical data - holding brake

Holding torque – Nm 9.6 9.6 9.6 9.6

Nominal voltage – Vdc 24 +/-10% 24 +/-10% 24 +/-10% 24 +/-10%

Nominal power (electrical pull-in power) – W 19.7 19.7 19.7 19.7

(1) Limit values with flanged motor:

• Flange material: Steel
• Flange size in mm (in): 400 x 400 x 20 (15.7 x 15.7 x 0.79)

(2) M0=Continuous stall torque at 20 rpm and 100 % duty cycle; at speeds of rotation of <20 rpm the
continuous stall torque is reduced to 87 %

(3) RMS value at 1000 rpm and 20 °C (68 °F).

(4) At n = 20 rpm and 20 °C (68 °F).

BCH2∙M Curves
BCH2MM052 + LXM26DU07 BCH2MM031 + LXM26DU04

(1) Peak torque

(2) Continuous torque

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BCH2MM102 + LXM26DU10 BCH2HM102 + LXM26DU10

(1) Peak torque

(2) Continuous torque

BCH2MM081 + LXM26DU10 BCH2MM061 + LXM26DU07

(1) Peak torque

(2) Continuous torque

BCH2MM091 + LXM26DU10 BCH2MM152 + LXM26DU15

(1) Peak torque

(2) Continuous torque

EIO0000002299.05 57
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BCH2MM202 + LXM26DU20

(1) Peak torque

(2) Continuous torque

BCH2∙R Motor
BCH2∙R Dimensions

BCH2∙R Unit 20 30, 35 45

L (without holding brake) mm (in) 168 (6.61) 201 (7.91) 234 (9.21)

L (with holding brake) mm (in) 203 (7.99) 236 (9.29) 269 (10.59)

A mm (in) 79 (3.11)

C mm (in) 73 (2.87)

D mm (in) 35 (1.38)

F mm (in) 63 (2.48)

M - M12
N mm (in) 28 (1.10)

R mm (in) 30 (1.18)

V mm (in) 10 (0.39)

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BCH2∙R Unit 20 30, 35 45

W mm (in) 10 (0.39)

Z mm (in) 103 (4.06) 136 (5.35) 169 (6.65)

BCH2∙R Characteristics Table

BCH2MR202/301/302, BCH2HR202 technical data

BCH2(1) MR202 HR202 MR302 MR301

Technical data - general

Continuous stall torque(2) M0 Nm 9.55 9.55 14.32 19.10

Peak torque Mmax Nm 28.65 28.65 42.97 57.29

With supply voltage Un = 230 Vac

Nominal speed of rotation nN rpm 2000 2000 2000 1500

Nominal torque MN Nm 9.55 9.55 14.32 19.10

Nominal Current IN Arms 9.6 9.6 18.8 18.8

Nominal power PN kW 2.00 2.00 3.00 3.00

Technical data - electrical

Maximum winding voltage Umax Vac 255 255 255 255

Maximum winding voltage Umax Vdc 360 360 360 360

Maximum voltage to ground – Vac 255 255 255 255

Maximum Current Imax Arms 35.5 35.5 56.0 61.0

Continuous stall current I0 Arms 8.75 8.75 16.33 16.49
Voltage constant(3) kEu-v Vrms 66 66 53 70

Torque constant(4) kt Nm/A 1.09 1.09 0.88 1.16

Winding resistance R20u-v Ω 0.572 0.572 0.168 0.234

Winding inductance Lqu-v mH 6.70 6.70 2.88 3.78

Winding inductance Ldu-v mH 6.10 6.10 2.71 3.45

Technical data - mechanical

Maximum permissible speed of rotation nmax rpm 3000 3000 3000 3000

Rotor inertia without brake JM kgcm2 26.49 34.67 53.55 53.55

Rotor inertia with brake JM kgcm2 26.99 36.17 54.09 54.09

Mass without brake m kg 13.00 14.30 18.50 18.50

Mass with brake m kg 18.00 19.30 23.00 23.00

Degree of protection of the shaft – – IP 65 IP 65 IP 65 IP 54

Degree of protection of the housing – – IP 65 IP 65 IP 65 IP 65

Technical data - holding brake

Holding torque – Nm 48 48 48 48

Nominal voltage – Vdc 24 +/-10% 24 +/-10% 24 +/-10% 24 +/-10%

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BCH2(1) MR202 HR202 MR302 MR301

Nominal power (electrical pull-in power) – W 49.6 49.6 49.6 49.6

(1) Limit values with flanged motor:

• Flange material: Steel
• Flange size in mm (in): 550 x 550 x 20 (21.7 x 21.7 x 0.79)

(2) M0=Continuous stall torque at 20 rpm and 100 % duty cycle; at speeds of rotation of <20 rpm the
continuous stall torque is reduced to 87 %

(3) RMS value at 1000 rpm and 20 °C (68 °F).

(4) At n = 20 rpm and 20 °C (68 °F).

BCH2MR352/451 technical data

BCH2(1) MR352 MR451

Technical data - general

Continuous stall torque(2) M0 Nm 16.70 28.65

Peak torque Mmax Nm 50.30 71.62

With supply voltage Un = 230 Vac

Nominal speed of rotation nN rpm 2000 1500

Nominal torque MN Nm 16.70 28.65

Nominal Current IN Arms 19.3 22.8

Nominal power PN kW 3.50 4.50

Technical data - electrical

Maximum winding voltage Umax Vac 255 255

Maximum winding voltage Umax Vdc 360 360

Maximum voltage to ground – Vac 255 255

Maximum Current Imax Arms 61.0 61.0

Continuous stall current I0 Arms 16.83 19.68
Voltage constant(3) kEu-v Vrms 60 88

Torque constant(4) kt Nm/A 0.99 1.46

Winding resistance R20u- Ω 0.168 0.199

v
Winding inductance Lqu-v mH 2.80 4.00

Winding inductance Ldu-v mH 2.57 3.80

Technical data - mechanical

Maximum permissible speed of rotation nmax rpm 3000 3000

Rotor inertia without brake JM kgc- 53.55 73.31

m2
Rotor inertia with brake JM kgc- 54.09 72.99
m2
Mass without brake m kg 18.50 23.64

Mass with brake m kg 23.00 28.00

Technical data - holding brake

Holding torque – Nm 48 48

Nominal voltage – Vdc 24 24

+/-10% +/-10%

60 EIO0000002299.05
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BCH2(1) MR352 MR451

Nominal power (electrical pull-in power) – W 49.6 49.6

(1) Limit values with flanged motor:

• Flange material: Steel
• Flange size in mm (in): 550 x 550 x 20 (21.7 x 21.7 x 0.79)

(2) M0=Continuous stall torque at 20 rpm and 100 % duty cycle; at speeds
of rotation of <20 rpm the continuous stall torque is reduced to 87 %

(3) RMS value at 1000 rpm and 20 °C (68 °F).

(4) At n = 20 rpm and 20 °C (68 °F).

BCH2∙R Curves

BCH2MR202 + LXM26DU20 BCH2HR202 + LXM26DU20

(1) Peak torque

(2) Continuous torque

BCH2MR302 + LXM26DU30 BCH2MR301 + LXM26DU30

(1) Peak torque

(2) Continuous torque

EIO0000002299.05 61
 Motor

BCH2MR352 + LXM26DU45 BCH2MR451 + LXM26DU45

(1) Peak torque

(2) Continuous torque

62 EIO0000002299.05
Accessories and Spare Parts

Accessories and Spare Parts

What’s in This Chapter
Commissioning Tools.....................................................................................63
Connectors and Adapters ..............................................................................63
External Mains Filters ....................................................................................64
Application Nameplate...................................................................................64
Motor Cables ................................................................................................64
Encoder Cables and Accessories ...................................................................64
Signal Cables................................................................................................65
External Braking Resistors and Holding Brake Controller..................................65
Circuit Breakers ............................................................................................66
Motor Protection Switches and Power Contactors ............................................66

Commissioning Tools
Description Reference

Commissioning software LXM26 DTM Library, can be downloaded at: -

www.se.com
PC connection kit, serial connection between drive and PC, USB-A to RJ45 TCSMCNAM3M002P

Multi-Loader, device for copying the parameter settings to a PC or to another drive VW3A8121

Connection cable for Multi-Loader VW3A8126

Modbus cable, 1 m (3.28 ft), 2 x RJ45 VW3A8306R10

Connectors and Adapters

Description Drive Type Reference

Connector kit for logic supply and power stage supply (~220V), LXM26DUA5, LXM26DU01, VW3M4C21
braking resistor (Resistor), and motor (Motor) LXM26DU02, LXM26DU04,
LXM26DU07, LXM26DU10,
LXM26DU15
LXM26DU20 VW3M4C23
LXM26DU30, LXM26DU45 VW3M4C24

Interface adapter for CN1, connector with 0.5 m (1.64 ft) cable and connection module with screw terminals VW3M1C13
for DIN rail mounting

Connector kit for motor Motor end plastic connector Without holding brake VW3M5D1A

With holding brake VW3M5D1F

Motor end MIL connector With holding brake, size 100 … 130 VW3M5D2A

With holding brake, size 180 VW3M5D2B

For 8 mm2 (AWG8) up to 16 mm2 VW3M5D2C

(AWG16) with holding brake, size 180

Device end IEEE1394 connector VW3M8D2A

Motor end flying leads Device end IEEE1394 connector VW3M8D1A

EIO0000002299.05 63
 Accessories and Spare Parts

External Mains Filters

Description Reference

Mains filter single-phase;115/230 Vac 9A VW3A4420

16 A VW3A4421
23 A VW3A4426
Mains filter three-phase; 208/400/480 Vac 15 A VW3A4422
25 A VW3A4423
47 A VW3A4424

Application Nameplate
Description Reference

Application nameplate to be clipped onto the top of the drive, size 38.5 mm (1.52 in) x 13 mm (0.51 in), 50 VW3M2501
pieces

Motor Cables
Description Reference

Shielded motor Motor end plastic 4 x 0.82 mm² (AWG 18) 1.5 m (4.92 ft) VW3M5D1AR15
cable without holding connector, other
brake cable end flying 3 m (9.84 ft) VW3M5D1AR30
leads
5 m (16.4 ft) VW3M5D1AR50

Motor end MIL 4 x 1.3 mm² (AWG 16) 3 m (9.84 ft) VW3M5D2AR30
connector, other
cable end flying 5 m (16.4 ft) VW3M5D2AR50
leads
4 x 3.3 mm² (AWG 12) 3 m (9.84 ft) VW3M5D4AR30

5 m (16.4 ft) VW3M5D4AR50

4 x 6 mm² (AWG 10) 3 m (9.84 ft) VW3M5D6AR30

5 m (16.4 ft) VW3M5D6AR50

Shielded motor Motor end plastic 6 x 0.82 mm² (AWG 18) 3 m (9.84 ft) VW3M5D1FR30
cable with holding connector, other
brake cable end flying 5 m (16.4 ft) VW3M5D1FR50
leads
Motor end MIL 6 x 1.3 mm² (AWG 16) 3 m (9.84 ft) VW3M5D2FR30
connector, other
cable end flying 5 m (16.4 ft) VW3M5D2FR50
leads
6 x 3.3 mm² (AWG 12) 3 m (9.84 ft) VW3M5D4FR30

5 m (16.4 ft) VW3M5D4FR50

6 x 6 mm² (AWG 10) 3 m (9.84 ft) VW3M5D6FR30

5 m (16.4 ft) VW3M5D6FR50

Encoder Cables and Accessories

Description Reference

Encoder cable, 10 x 0.13 mm2 (AWG 26) Motor end and device end plastic 1.5 m (4.92 ft) VW3M8D1AR15
shielded connector

64 EIO0000002299.05
Accessories and Spare Parts

Description Reference

3 m (9.84 ft) VW3M8D1AR30

5 m (16.4 ft) VW3M8D1AR50

Motor end MIL connector, other cable end 3 m (9.84 ft) VW3M8D2AR30
plastic connector
5 m (16.4 ft) VW3M8D2AR50

Battery compartment for multi turn encoder, cable 0.45 m (1.47 ft) VW3M8BATC

Battery 3.6 Vdc for multi turn encoder VW3M9BATT

NOTE: The battery compartment and the battery are not provided with motor
equipped with a multi turn encoder and must be ordered separately.

Signal Cables
Description Reference

Signal cable for signal interface CN1, device end 50-pin connector, other cable end flying 1 m (3.28 ft) VW3M1C10R10
leads
2 m (6.56 ft) VW3M1C10R20

3 m (9.84 ft) VW3M1C10R30

External Braking Resistors and Holding Brake Controller

Description Reference

Holding brake controller HBC with automatic voltage reduction; 24 V - 1.6 A VW3M3103

Braking resistor IP 65 10 Ω Maximum continuous 0.75 m (2.46 ft) VW3A7601R07

power 400 W
connection cable 2.1 mm2 (AWG 14) 2 m (6.56 ft) VW3A7601R20

3 m (9.84 ft) VW3A7601R30

Braking resistor IP 65, UL 27 Ω Maximum continuous 0.75 m (2.46 ft) VW3A7602R07

power 100 W
connection cable 2.1 mm2 (AWG 14) 2 m (6.56 ft) VW3A7602R20

3 m (9.84 ft) VW3A7602R30

Maximum continuous 0.75 m (2.46 ft) VW3A7603R07

power 200 W
2 m (6.56 ft) VW3A7603R20

3 m (9.84 ft) VW3A7603R30

Maximum continuous 0.75 m (2.46 ft) VW3A7604R07

power 400 W
2 m (6.56 ft) VW3A7604R20

3 m (9.84 ft) VW3A7604R30

72 Ω Maximum continuous 0.75 m (2.46 ft) VW3A7606R07

power 200 W
2 m (6.56 ft) VW3A7606R20

3 m (9.84 ft) VW3A7606R30

Maximum continuous 0.75 m (2.46 ft) VW3A7607R07

power 400 W
2 m (6.56 ft) VW3A7607R20

3 m (9.84 ft) VW3A7607R30

Braking resistor IP20, UL 16 Ω Maximum continuous VW3A7733

power 956 W -
screw terminals M6 10 Ω VW3A7734

EIO0000002299.05 65
 Accessories and Spare Parts

Circuit Breakers
Description Reference

Circuit breaker - thermal magnetic -screw terminals 4 ... 6.3 A GV2P10

6 ... 10 A GV2P14
9 ... 14 A GV2P16
13 ... 18 A GV2P20
17 ... 23 A GV2P21
20 ... 25 A GV2P22
24 ... 32 A GV2P32

Motor Protection Switches and Power Contactors

Drive Nominal power Order no. motor Rated continuous current Order no. power
protection switch motor protection switch contactor

LXM26DUA5 50 W GV2L10 6.3 A LC1K0610••

LXM26DU01 100 W GV2L10 6.3 A LC1K0610••
LXM26DU02 200 W GV2L14 10 A LC1D09••
LXM26DU04 400 W GV2L14 10 A LC1D09••
LXM26DU07 750 W GV2L16 14 A LC1D12••
LXM26DU15 1500 W GV2L22 25 A LC1D18••
LXM26DU20 2000 W GV2L32 30 A LC1D32••
LXM26DU30 3000 W GV2L32 30 A LC1D32••

Control voltage power contactor 24 V 48 V 110 V 220 V 230 V 240 V

LC1K•••• 50/60 Hz B7 E7 F7 M7 P7 U7

Control voltage power contactor 24 V 48 V 110 V 220/230 V 230 230/240 V

LC1D•••• 50 Hz B5 E5 F5 M5 P5 U5
60 Hz B6 E& F6 M6 - U6

50/60 Hz B7 E7 F7 M7 P7 U7

66 EIO0000002299.05
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What’s in This Part
Engineering ...................................................................................................68

EIO0000002299.05 67
 Engineering

Engineering
What’s in This Chapter
Electromagnetic Compatibility (EMC)..............................................................68
Cables..........................................................................................................71
Residual Current Device ................................................................................72
Rating the Braking Resistor............................................................................73
Monitoring Functions .....................................................................................75
Configurable Inputs and Outputs ....................................................................76
Wiring...........................................................................................................76

This chapter contains information on the application of the Servo Drive system for
the engineering phase.

Electromagnetic Compatibility (EMC)

Electromagnetic Compatibility (EMC)
Signal interference can cause unexpected responses of the drive and of other
equipment in the vicinity of the drive.

WARNING
SIGNAL AND EQUIPMENT INTERFERENCE
• Only operate the drive with the specified external mains filter.
• Install the wiring in accordance with the EMC requirements described in the
present document.
• Verify compliance with the EMC requirements described in the present
document.
• Verify compliance with all EMC regulations and requirements applicable in
the country in which the product is to be operated and with all EMC
regulations and requirements applicable at the installation site.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Limit Values
This product meets the EMC requirements according to the standard IEC 61800-3
if the measures described in this manual, and in particular the installation of the
mains filters, are implemented during installation.

WARNING
ELECTROMAGNETIC DISTURBANCES OF SIGNALS AND DEVICES
Use proper EMC shielding techniques to help prevent unintended device
operation in accordance with the standard IEC 61800-3.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

68 EIO0000002299.05
Engineering

These types of devices are not intended to be used on a low-voltage public

network which supplies domestic premises. Radio frequency interference is
expected if used in such a network.

WARNING
RADIO INTERFERENCE
Do not use these products in domestic electrical networks.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

As a system provider, you may have to include this information in the

documentation to your customer.

Equipotential Bonding Conductors

Potential differences can result in excessive currents on the cable shields. Use
equipotential bonding conductors to reduce currents on the cable shields.

WARNING
UNINTENDED EQUIPMENT OPERATION
• Ground cable shields for all fast I/O, analog I/O, and communication signals
at a single point. 1)
• Route communications and I/O cables separately from power cables.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

1)Multipoint grounding is permissible if connections are made to an equipotential

ground plane dimensioned to help avoid cable shield damage in the event of
power system short-circuit currents.
The equipotential bonding conductors must be rated for the maximum current.
The following conductors cross sections can be used:
• 16 mm2 (AWG 4) for equipotential bonding conductors up to a length of 200 m
(656 ft)
• 20 mm2 (AWG 4) for equipotential bonding conductors with a length of more
than 200 m (656 ft)

EMC Requirements for the Control Cabinet

EMC measures Objective

Use mounting plates with good electrical Good conductivity due to large surface contact.
conductivity, connect large surface areas of
metal parts, remove paint from contact areas.

Ground the control cabinet, the control cabinet Reduces emissions.

door, and the mounting plate with ground straps
or ground wires. The conductor cross section
must be at least 10 mm2 (AWG 6).

Install switching devices such as power Reduces mutual interference

contactors, relays, or solenoid valves with
interference suppression units or arc
suppressors (for example, diodes, varistors, RC
circuits).

Do not install power components and control Reduces mutual interference

components adjacent to one another.

EIO0000002299.05 69
 Engineering

Additional Measures for EMC Improvement

Depending on the application, the following measures can improve the EMC-
dependent values:

EMC measures Objective

Use mains reactors. Reduces mains harmonics, prolongs product

service life.
Mount in a closed control cabinet with shielded Improves the EMC limit values.
attenuation of radiated interference

External Mains Filters

Filter/Drive Combinations
You can obtain EMC conformance by following the wiring standards and practices
in the present document and installing, for each drive, the following filter/drive
combination:
For further information, refer to Electromagnetic compatibility (EMC), page 68.

LXM26D Mains filter for single-phase Mains filter for three-phase

connection connection
UA5 = 0.05 kW VW3A4420 VW3A4422

U01 = 0.1 kW

U02 = 0.2 kW

U04 = 0.4 kW

U07 = 0.75 kW

U10 = 1 kW
U15 = 1.5 kW VW3A4421 VW3A4422
U20 = 2 kW - VW3A4422
U30 = 3 kW - VW3A4422
U45 = 4.5 kW - VW3A4423

If you use mains filters of other manufacturers, these mains filters must have the
same technical data as specified mains filters.

Emission
The specified limit values are complied with if the external mains filters available
as accessories are used.
The following limit values for emission are complied with if the installation is EMC-
compliant and if the cables offered as accessories are used.

Lexium 26D Category

Conducted interference C3
Radiated emission C3

70 EIO0000002299.05
Engineering

Cables
Cables
Suitability of the Cables
Cables must not be twisted, stretched, crushed, or bent. Use only cables that
comply with the cable specification. Consider the following in determining
suitability of the cables:
• Suitable for drag chain applications
• Temperature range
• Chemical resistance
• Outdoor installation
• Underground installation

Equipotential Bonding Conductors

Potential differences can result in excessive currents on the cable shields. Use
equipotential bonding conductors to reduce currents on the cable shields

WARNING
UNINTENDED EQUIPMENT OPERATION
• Ground cable shields for all fast I/O, analog I/O, and communication signals
at a single point. 1)
• Route communications and I/O cables separately from power cables.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

1)Multipoint grounding is permissible if connections are made to an equipotential

ground plane dimensioned to help avoid cable shield damage in the event of
power system short-circuit currents.
The equipotential bonding conductor must be rated for the maximum current. The
following conductor cross sections can be used:
• 16 mm2 (AWG 4) for equipotential bonding conductors up to a length of 200 m
(656 ft)
• 20 mm2 (AWG 4) for equipotential bonding conductors with a length of more
than 200 m (656 ft)

Conductor Cross Sections According to Method of Installation

The following sections describe the conductor cross sections for two methods of
installation:
• Method of installation B2:
Cables in conduits or cable trunking systems
• Method of installation E:
Cables on open cable trays

Cross section in mm2 (AWG) Current-carrying capacity Current carrying capacity

(1)
with method of installation with method of installation E
B2 in A(2) in A(2)

0.75 (18) 8.5 10.4

1 (16) 10.1 12.4

EIO0000002299.05 71
 Engineering

Cross section in mm2 (AWG) Current-carrying capacity Current carrying capacity

(1)
with method of installation with method of installation E
B2 in A(2) in A(2)

1.5 (14) 13.1 16.1

2.5 (12) 17.4 22

4 (10) 23 30

6 (8) 30 37

10 (6) 40 52

16 (4) 54 70

25 (2) 70 88

(1) See chapter “Accessories and spare parts”, page 63 for available
cables.
(2) Values as per IEC 60204-1 for continuous operation, copper
conductors, and ambient air temperature 40 °C (104 °F); see IEC
60204-1 for additional information.

Note the derating factors for grouping of cables and correction factors for other
ambient conditions (IEC 60204-1).
The conductors must have a sufficiently large cross section so that the upstream
fuse can trip.
In the case of longer cables, it may be necessary to use a greater conductor cross
section to reduce the energy losses.
For conformance to UL requirements, use 75 °C (167 °F) copper conductors.

Residual Current Device

Residual Current Device

Direct current can be introduced in the protective ground conductor of this drive. If
a residual current device (RCD / GFCI) or a residual current monitor (RCM) is
used for protection against direct or indirect contact, the following specific types
must be used:

WARNING
DIRECT CURRENT CAN BE INTRODUCED INTO THE PROTECTIVE
GROUND CONDUCTOR
• Use a Type A Residual Current Device (RCD / GFCI) or a Residual Current
Monitor (RCM) for single-phase drives connected to a phase and to the
neutral conductor.
• Use a Type B Residual Current Device (RCD / GFCI) or a Residual Current
Monitor (RCM) that has approval for use with frequency inverters and is
sensitive to all types of current for three-phase drives and for single-phase
drives not connected to a phase and the neutral conductor.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

72 EIO0000002299.05
Engineering

Conditions for Use of Residual Current Device

• The drive has an increased leakage current at the moment power is applied.
Use residual current devices with a response delay.
• High-frequency currents must be filtered.

Rating the Braking Resistor

Rating the Braking Resistor
Braking resistors are required for dynamic applications. During deceleration, the
kinetic energy is transformed into electrical energy in the motor. The electrical
energy increases the DC bus voltage. The braking resistor is activated when the
defined threshold value is exceeded. The braking resistor transforms electrical
energy into heat. If highly dynamic deceleration is required, the braking resistor
must be well adapted to the system. External driving forces acting on the motor
can cause high currents to be regenerated and supplied back to the drive.

DANGER
FIRE DUE TO EXTERNAL DRIVING FORCES ACTING ON MOTOR
Verify that no external forces can act on the motor that will exceeded the
capacity of the braking resistor.
Failure to follow these instructions will result in death or serious injury.

An insufficiently rated braking resistor can cause overvoltage on the DC bus.

Overvoltage on the DC bus causes the power stage to be disabled. The motor is
no longer actively decelerated.

WARNING
UNINTENDED EQUIPMENT OPERATION
• Verify that the braking resistor has a sufficient rating by performing a test run
under maximum load conditions.
• Verify that the parameter settings for the braking resistor are correct.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

An external braking resistor, page 65 is required for applications in which the

motor must be decelerated quickly and the internal braking resistor cannot absorb
the excess braking energy.

Internal Braking Resistor

Introduction
The drive has an internal braking resistor. If the internal braking resistor is
insufficient for the dynamics of the application, one or more external braking
resistors must be used.
The resistance values for external braking resistors must not be below the
specified minimum resistance. If an external braking resistor is activated by using
the appropriate parameter, the internal braking resistor is deactivated.

EIO0000002299.05 73
 Engineering

LXM26D•••M3X UA5, U01, U07 U10, U15 U20 U30, U45

Unit U02, U04

Resistance value of internal braking resistor Ω 100 40 22

Continuous power internal braking resistor PPR W 60 60 100

Peak energy ECR(1) Ws 152 380 691

External braking resistor minimum Ω 25 15 8

External braking resistor maximum(2) Ω 50 25

Maximum continuous power external braking resistor W 640 1000 1500 2500

Switch-on voltage braking resistor V 390

Capacitance of the internal capacitors μF 820 1640 2110 3280

Energy absorption of internal capacitors Evar at nominal Ws 8.87 17.76 22.82 35.51
voltage 230 V +10%

(1) Parameter P1-71 is set to 100 ms.

(2) The maximum specified braking resistor can derate the peak power of the device. Depending on the
application, it is possible to use a greater ohm resistor.

External Braking Resistors

Introduction
An external braking resistor is required for applications in which the motor must be
decelerated quickly and the internal braking resistor cannot absorb the excess
braking energy. The temperature of the braking resistor may exceed 250 °C (482 °
F) during operation.

WARNING
HOT SURFACES
• Ensure that it is not possible to make any contact with a hot braking resistor.
• Do not allow flammable or heat-sensitive parts in the immediate vicinity of
the braking resistor.
• Verify that the heat dissipation is sufficient by performing a test run under
maximum load conditions.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

VW3A760• Unit 1R•• (1) 2R•• 3R•• 4R•• (1) 5R•• 6R•• 7R•• (1)

Resistance Ω 10 27 72
Continuous power W 400 100 200 400 100 200 400

Maximum time in braking at s 0.72 0.552 1.08 2.64 1.44 3.72 9.6
115 V / 230 V
Peak power at 115 V / 230 kW 18.5 6.8 2.6
V
Maximum peak energy at Ws 13300 3800 7400 18100 3700 9600 24700
115 V / 230 V

74 EIO0000002299.05
Engineering

VW3A760• Unit 1R•• (1) 2R•• 3R•• 4R•• (1) 5R•• 6R•• 7R•• (1)

Degree of protection - IP 65

(1) Resistors with a continuous power of 400 W are not UL/CSA-approved.

VW3A77• Unit 04 05
Resistance Ω 15 10
Continuous power W 1000

Maximum time in braking at 115 V / 230 V s 3.5 1.98

Peak power at 115 V / 230 V kW 12.3 18.5

Maximum peak energy at 115 V / 230 V Ws 43100 36500

Degree of protection - IP20

Monitoring Functions
Monitoring Functions
Overview
The monitoring functions of the drive can be used to monitor movements and to
monitor internal signals. These monitoring functions are not safety-related
functions.
The following monitoring functions are available:

Monitoring function Task

Data connection Monitors data connection for interruption

Limit switch signals Monitors for permissible movement range

Position deviation Monitors for difference between actual position

and reference position

Motor overload Monitors for excessively high current in the

motor phases

Overvoltage and undervoltage Monitors for overvoltage and undervoltage of

the power stage supply and the DC bus

Overtemperature Monitors the drive for overtemperature

Encoder overtemperature Monitors the encoder for overtemperature

Overvoltage and undervoltage Monitors the logic supply and power stage
supply for permissible voltage range

Overvoltage at digital inputs Monitors the digital inputs for overvoltage

Wire break HPULSE inputs Monitors the HPULSE inputs for wire break

Power supply encoder Monitors the encoder supply for short circuit and
permissible voltage range

Current limitation (Foldback) Power limitation in the case of overloads for the
motor, the output current, the output power, and
the braking resistor.

EIO0000002299.05 75
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Configurable Inputs and Outputs

Configurable Inputs and Outputs
Presentation
This drive has digital inputs and outputs that can be configured. The inputs and
outputs have a defined default assignment depending on the operating mode.
This assignment can be adapted to the requirements of the customer's
installation.
For further details, refer to chapter Operation, page 237.

Wiring
General Wiring

76 EIO0000002299.05
Engineering

I/O Wiring Example With Modicon M221 Logic Controller

Positive Logic
Wiring example with Modicon M221 Logic Controller (positive logic).

Negative Logic
Wiring example with Modicon M221 Logic Controller (negative logic).

EIO0000002299.05 77
 Engineering

78 EIO0000002299.05
Installation
What’s in This Part
Before Mounting.............................................................................................81
Drive Installation ............................................................................................82
Motor Installation.......................................................................................... 111
Verifying Installation ..................................................................................... 120

Introduction
An engineering phase is mandatory prior to mechanical and electrical installation.
For basic information, refer to Engineering, page 68.

DANGER
INSUFFICIENT GROUNDING
• Use a protective ground conductor with at least 10 mm2 (AWG 6) or two
protective ground conductors with the cross section of the conductors
supplying the power terminals.
• Verify compliance with all local and national electrical code requirements as
well as all other applicable regulations with respect to grounding of the entire
drive system.
• Ground the drive system before applying voltage.
• Do not use conduits as protective ground conductors; use a protective
ground conductor inside the conduit.
• Do not use cable shields as protective ground conductors.
• Keep foreign objects from getting into the product.
• Verify the correct seating of seals and cable entries in order to avoid
contamination such as deposits and humidity.
Failure to follow these instructions will result in death or serious injury.

In the case of a ground error, the maximum permissible current in the motor
phases may be exceeded.

DANGER
FIRE CAUSED BY INCORRECT INSTALLATION
Use upstream, external ground error detection equipment (Residual Current
Device / Ground Fault Circuit Interrupter).
Failure to follow these instructions will result in death or serious injury.

EIO0000002299.05 79
 WARNING
LOSS OF CONTROL
• The designer of any control scheme must consider the potential failure
modes of control paths and, for certain critical control functions, provide a
means to achieve a safe state during and after a path failure. Examples of
critical control functions are emergency stop and overtravel stop, power
outage and restart.
• Separate or redundant control paths must be provided for critical control
functions.
• System control paths may include communication links. Consideration must
be given to the implications of unanticipated transmission delays or failures of
the link.
• Observe all accident prevention regulations and local safety guidelines.1
• Each implementation of this equipment must be individually and thoroughly
tested for proper operation before being placed into service.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

1 For additional information, refer to NEMA ICS 1.1 (latest edition), “Safety
Guidelines for the Application, Installation, and Maintenance of Solid State Control”
and to NEMA ICS 7.1 (latest edition), “Safety Standards for Construction and
Guide for Selection, Installation and Operation of Adjustable-Speed Drive
Systems” or their equivalent governing your particular location.
Conductive foreign objects, dust or liquids may cause safety functions to become
inoperative.

WARNING
LOSS OF SAFETY FUNCTION CAUSED BY FOREIGN OBJECTS
Protect the system against contamination by conductive substances.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

The metal surfaces of the product may exceed 65 °C (149 °F) (for bare metal)
during operation.

WARNING
HOT SURFACES
• Avoid unprotected contact with hot surfaces.
• Do not allow flammable or heat-sensitive parts in the immediate vicinity of hot
surfaces.
• Verify that the heat dissipation is sufficient by performing a test run under
maximum load conditions.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

CAUTION
INOPERABLE EQUIPMENT DUE TO INCORRECT MAINS VOLTAGE
CONNECTION
• Verify that you use the correct mains voltage; install a transformer, if
necessary.
• Do not connect mains voltage to the output terminals (U, V, W).
Failure to follow these instructions can result in injury or equipment
damage.

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Before Mounting
What’s in This Chapter
Inspecting the Product ...................................................................................81
Scope of Supply ............................................................................................81

Inspecting the Product

Inspecting the Product
• Verify the product version by means of the type code on the nameplate. Refer
to chapter Nameplate, page 24 and chapter Type Code, page 24.
• Prior to mounting, inspect the product for visible damage.
Damaged products may cause electric shock or unintended equipment operation.

DANGER
ELECTRIC SHOCK OR UNINTENDED EQUIPMENT OPERATION
• Do not use damaged products.
• Keep foreign objects (such as chips, screws or wire clippings) from getting
into the product.
Failure to follow these instructions will result in death or serious injury.

Contact your local Schneider Electric representative if you detect any damage
whatsoever to the products.

Scope of Supply
Drive
• Drive Lexium 26D
• Connector kit with 3 connectors for:
◦ Power stage supply and logic supply
◦ Braking resistor
Including jumper between PBi and PBe
◦ Motor
• Plastic tool for opening the spring terminals (available for devices from 50 W
to 1.5 kW)
• Adhesive hazard label (Chinese)
• Instruction sheet for the product

Motor
• BCH2 servo motor
• BCH2•R: 2 eyebolts
• Information sheet for the product

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Drive Installation
What’s in This Chapter
Mechanical Installation Drive..........................................................................82
Electrical Installation Drive .............................................................................84
Connection Grounding Screw.........................................................................85
Connection I/O Interface (CN1) ......................................................................86
Connecting the Motor Encoder (CN2) .............................................................98
Connection PC (CN3) ....................................................................................99
Connection Logic Supply and Power Stage Supply (~220V) ........................... 101
Connection Braking Resistor (Resistor)......................................................... 104
Connecting the Motor Phases (Motor)........................................................... 106
Holding Brake Connection ........................................................................... 109

Mechanical Installation Drive

DANGER
ELECTRIC SHOCK OR UNINTENDED EQUIPMENT OPERATION
• Keep foreign objects from getting into the product.
• Verify the correct seating of seals and cable entries in order to avoid
contamination such as deposits and humidity.
Failure to follow these instructions will result in death or serious injury.

Conductive foreign objects, dust or liquids may cause safety functions to become
inoperative.

WARNING
LOSS OF SAFETY FUNCTION CAUSED BY FOREIGN OBJECTS
Protect the system against contamination by conductive substances.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

The metal surfaces of the product may exceed 70 °C (158 °F) during operation.

WARNING
HOT SURFACES
• Avoid unprotected contact with hot surfaces.
• Do not allow flammable or heat-sensitive parts in the immediate vicinity of
hot surfaces.
• Verify that the heat dissipation is sufficient by performing a test run under
maximum load conditions.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Attaching a Hazard Label with Safety Instructions

Included in the packaging of the drive are adhesive hazard labels in Chinese
language. The English version is affixed to the drive by the factory. If the country to
which your final machine or process is to be delivered is other than English
speaking:

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• Select the hazard label suitable for the target country.

Respect the safety regulations in the target country.
• Attach the hazard label to the front of the device so that it is clearly visible.

Control Cabinet
The control cabinet (enclosure) must have a sufficient size so that all devices and
components can be permanently installed and wired in compliance with the EMC
requirements.
The ventilation of the control cabinet must be sufficient to comply with the
specified ambient conditions for the devices and components operated in the
control cabinet.
Install and operate this equipment in a control cabinet rated for its intended
environment and secured by a keyed or tooled locking mechanism.

Mounting Distances, Ventilation

When selecting the position of the device in the control cabinet, note the following:
• Mount the device in a vertical position (±10°). This is required for cooling the
device.
• Adhere to the minimum installation distances for required cooling. Avoid heat
accumulations.
• Do not mount the device close to heat sources.
• Do not mount the device on or near flammable materials.
• The heated airflow from other devices and components must not heat up the
air used for cooling the device.
The connection cables of the devices are routed to the top and to the bottom. The
minimum distances must be adhered to for air circulation and cable installation.
Mounting distances and air circulation

LXM26DUA5, U01, U02, U04, U07, U10, U15, U20, U30, U45

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Distance Unit Value

Free space a mm ≥50

above the device (in) (≥1.97)

Free space b mm ≥50

below the device (in) (≥1.97)

Free space c mm ≥60

in front of the device(1) (in) (≥2.36)

Free space d mm ≥15

between devices (in) (≥0.59)

(1) The free space is strictly for observing proper ventilation and may not be
sufficient for your wiring requirements.

Mounting the Drive

For further information on the dimensions of the mounting holes, refer to chapter
Dimensions, page 27.
Painted surfaces may create electrical resistance or isolation. Before mounting the
device to a painted mounting plate, remove all paint across a large area of the
mounting points.
• Respect the ambient conditions in chapter Environmental Conditions, page
25.
• Mount the device in a vertical position (±10°).

Electrical Installation Drive

Introduction

DANGER
INSUFFICIENT GROUNDING
• Use a protective ground conductor with at least 10 mm2 (AWG 6) or two
protective ground conductors with the cross section of the conductors
supplying the power terminals.
• Verify compliance with all local and national electrical code requirements as
well as all other applicable regulations with respect to grounding of the entire
drive system.
• Ground the drive system before applying voltage.
• Do not use conduits as protective ground conductors; use a protective
ground conductor inside the conduit.
• Do not use cable shields as protective ground conductors.
• Keep foreign objects from getting into the product.
• Verify the correct seating of seals and cable entries in order to avoid
contamination such as deposits and humidity.
Failure to follow these instructions will result in death or serious injury.

Direct current can be introduced in the protective ground conductor of this drive. If
a residual current device (RCD / GFCI) or a residual current monitor (RCM) is
used for protection against direct or indirect contact, the following specific types
must be used:

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WARNING
DIRECT CURRENT CAN BE INTRODUCED INTO THE PROTECTIVE
GROUND CONDUCTOR
• Use a Type A Residual Current Device (RCD / GFCI) or a Residual Current
Monitor (RCM) for single-phase drives connected to a phase and to the
neutral conductor.
• Use a Type B Residual Current Device (RCD / GFCI) or a Residual Current
Monitor (RCM) that has approval for use with frequency inverters and is
sensitive to all types of current for three-phase drives and for single-phase
drives not connected to a phase and the neutral conductor.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

The entire installation procedure must be performed without voltage present.

LXM26DUA5 … U15 LXM26DU20 LXM26DU30, U45

Item Description Refer to

CN1 Signal interface Connection I/O Interface (CN1), page 86

For connecting master controller or I/O signals.

CN2 Connection for motor encoder Connecting the Motor Encoder (CN2), page 98

CN3 Modbus (commissioning interface) Connection PC (CN3), page 99

For connecting PC via converter TCSMCNAM3M002P

~220V Power stage supply (R,S,T) and logic supply (L1, L2) Connection Logic Supply and Power Stage
Supply (~220V), page 101

LED DC bus LED -

The LED is illuminated when mains voltage or internal charge are

present. The DC bus LED is not an indicator of the absence of DC bus
voltage.

Resistor Connection for external braking resistor Connection braking resistor (Resistor), page 104

Motor Motor phases connection (U, V, W, PE) Connecting the motor phases (Motor), page 106

Connection Grounding Screw

This product has a leakage (touch) current greater than 3.5 mA. If the protective
ground connection is interrupted, a hazardous leakage (touch) current may flow if
the housing is touched.

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DANGER
INSUFFICIENT GROUNDING
• Use a protective ground conductor with at least 10 mm2 (AWG 6) or two
protective ground conductors with the cross section of the conductors
supplying the power terminals.
• Verify compliance with all local and national electrical code requirements as
well as all other applicable regulations with respect to grounding of the entire
drive system.
• Ground the drive system before applying voltage.
• Do not use conduits as protective ground conductors; use a protective
ground conductor inside the conduit.
• Do not use cable shields as protective ground conductors.
• Keep foreign objects from getting into the product.
• Verify the correct seating of seals and cable entries in order to avoid
contamination such as deposits and humidity.
Failure to follow these instructions will result in death or serious injury.

The central grounding screws of the product are located at the front side.

LXM26DUA5…U15 LXM26DU20 LXM26DU30, U45

• Use ring-type cable lugs or fork-type cable lugs.

• Connect the ground connection of the device to the equipotential ground
plane of your system.

LXM26D UA5, U01, U02, U04, U07, U10,

Unit U15, U20, U30, U45

Tightening torque of grounding screw Nm 1.3

(lb.in) (11.5)

Screw type - M4 x 8 socket button head screw

Connection I/O Interface (CN1)

The I/O Interface (CN1) is a D-Sub 50-pin female connector. The following table
describes the contacts of the connector:

Pin Signal Meaning Pin Signal Meaning

1 DO4+ Digital output 4 2 DO3- Digital output 3

3 DO3+ Digital output 3 4 DO2- Digital output 2

5 DO2+ Digital output 2 6 DO1- Digital output 1

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Pin Signal Meaning Pin Signal Meaning

7 DO1+ Digital output 1 8 DI4- Digital input 4

9 DI1- Digital input 1 10 DI2- Digital input 2

11 COM+ Reference potential to DI1 ... DI8 12 GND Reference potential analog input

13 GND Reference potential for analog input 14 - Reserved

15 MON2 Analog output 2 16 MON1 Analog output 1

17 VDD 24 Vdc power supply (for external I/O) 18 T_REF Analog input for reference torque

19 GND Analog input signal ground 20 VCC Output power supply 12 Vdc (for analog
reference values)

21 OA ESIM channel A 22 /OA ESIM channel A, inverted

23 /OB ESIM channel B, inverted 24 /OZ ESIM index pulse, inverted

25 OB ESIM channel B 26 DO4- Digital output 4

27 DO5- Digital output 5 28 DO5+ Digital output 5

29 /HPULSE High-speed pulses, inverted 30 DI8- Digital input 8

31 DI7- Digital input 7 32 DI6- Digital input 6

33 DI5- Digital input 5 34 DI3- Digital input 3

35 PULL HI_S Pulse applied Power (SIGN) 36 /SIGN Direction signal, inverted
(SIGN)

37 SIGN Direction signal 38 HPULSE High-speed pulses

39 PULL HI_P Pulse applied Power (PULSE) 40 /HSIGN Direction signal for high-speed pulses,
(PULSE) inverted

41 PULSE Pulse input 42 V_REF Analog input for reference velocity

43 /PULSE Pulse input 44 GND Analog input signal ground

45 COM- Reference potential to VDD and DO6 46 HSIGN Direction signal for high-speed pulses
(OCZ)

47 COM- Reference potential to VDD and DO6 48 DO6(OCZ) ESIM index pulse
(OCZ)
Open collector output

49 COM- Reference potential to VDD and DO6 50 OZ ESIM index pulse

(OCZ)
Line driver output

WARNING
UNINTENDED EQUIPMENT OPERATION
Do not connect any wiring to reserved, unused connections, or to connections
designated as No Connection (N.C.).
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

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Prefabricated Cable VW3M1C10R••

Color assignments of the prefabricated cable connected to the I/O interface
(CN1):

VW3M1C10R•• Pinout

Group A Group B Group C

Pin Signal Color Pin Signal Color Pin Signal Color

9 DI1- OG 6 DO1- WH 1 DO4+ OG

37 BN 7 DO1+ GN 2 DO3- BN
11 COM BK 45 COM- BK 3 DO3+ BU
35 WH 11 COM BK
39 GN 26 DO4- YE
41 BU 30 DI8- RD
- 31 DI7- PK
32 DI6- GN
-
33 DI5- VT
45 COM- BY

NOTE: For the CN1 mating connector, use a clip-on (latching) type, such as
Schneider Electric reference VW3M1C12 CN1 Connector Kit.

Inputs and Outputs Signals

The following inputs and outputs signals are available:
• Analog inputs and outputs, page 89
• Pulse input (open collector, negative logic), page 89
• Pulse input (open collector, positive logic), page 90
• Pulse input (line driver), page 91
• High-speed pulse input (line driver), page 92
• Digital outputs (negative logic), page 92
• Digital outputs (positive logic), page 94
• Digital inputs (negative logic), page 95
• Digital inputs (positive logic), page 96
• Encoder output (signal), page 97

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Analog Inputs and Outputs

Example of reference value via analog input:

Example of analog output:

Pulse Input (Open Collector, Negative Logic)

WARNING
UNINTENDED EQUIPMENT OPERATION
Do not connect an external, 24 Vdc power supply to the VDD connection of the
I/O interface (CN1) connector.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

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Example of pulse input (open collector) with internal power supply (negative logic).

Example of pulse input (open collector) with external power supply (negative
logic).

Pulse Input (Open Collector, Positive Logic)

WARNING
UNINTENDED EQUIPMENT OPERATION
Do not connect an external, 24 Vdc power supply to the VDD connection of the
I/O interface (CN1) connector.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

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Example of pulse input (open collector) with internal power supply (positive logic).

Example of pulse input (open collector) with external power supply (positive logic).

Pulse Input (Line Driver)

Example of pulse input (line driver).

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High-Speed Pulses
Example of high-speed pulse input (line driver).

Connect the cable shield to the equipotential ground of your controller/drive

electrical system.

Wiring of the Digital Outputs (Negative Logic)

Example of digital outputs DO1 ... DO5 with internal power supply (negative logic):

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Example of digital outputs DO1 ... DO5 with external power supply (negative
logic):

Example of digital output DO6 (OCZ) with internal power supply (negative logic):

Example of digital output DO6 (OCZ) with external power supply (negative logic):

Inductive loads using DC voltages may damage the signal outputs. A protection
circuit is required to protect the signal outputs against inductive loads.

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CAUTION
OUTPUT CIRCUIT DAMAGE DUE TO INDUCTIVE LOADS
Use an appropriate external protective circuit or device to reduce the inductive
direct current load damage.
Failure to follow these instructions can result in injury or equipment
damage.

A diode can be used to protect the signal outputs against inductive loads.
Use a diode with the following ratings:
• Reverse withstand voltage: voltage of signal output times 10
• Forward current: greater than the load current

Wiring of the Digital Outputs (Positive Logic)

Example of digital outputs DO1 ... DO5 with internal power supply (positive logic):

Example of digital outputs DO1 ... DO5 with external power supply (positive logic):

Inductive loads using DC voltages may damage the signal outputs. A protection
circuit is required to protect the signal outputs against inductive loads.

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CAUTION
OUTPUT CIRCUIT DAMAGE DUE TO INDUCTIVE LOADS
Use an appropriate external protective circuit or device to reduce the inductive
direct current load damage.
Failure to follow these instructions can result in injury or equipment
damage.

A diode can be used to protect the signal outputs against inductive loads. Use a
diode with the following ratings:
Reverse withstand voltage: voltage of signal output times 10
Forward current: greater than the load current

Wiring of the Digital Inputs (Negative Logic)

WARNING
UNINTENDED EQUIPMENT OPERATION
Do not connect an external, 24 Vdc power supply to the VDD connection of the
I/O interface (CN1) connector.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Use a relay or an open collector output (NPN transistor) for the input signal.
Example of digital input (negative logic) with internal power supply:

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 Drive Installation

Example of digital input (negative logic) with external power supply:

Wiring of the Digital Inputs (Positive Logic)

WARNING
UNINTENDED EQUIPMENT OPERATION
Do not connect an external, 24 Vdc power supply to the VDD connection of the
I/O interface (CN1) connector.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Use a relay or an open collector output (PNP transistor) for the input signal.
Example of digital input with internal power supply (positive logic):

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Example of digital input with external power supply (positive logic):

Encoder Output Signal

Example of encoder output signal Line Driver.

Example of encoder output signal, high-speed optocoupler.

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Connecting the Motor Encoder (CN2)

Function and Encoder Type
The motor encoder is an integrated, high-resolution absolute encoder. It provides
the device with information on the motor position (analog and digital).
Compatibility between Drive and Motor is defined in the Drive / Motor
combinations table, page 17.

Cable Specifications
For further information, refer to chapter Cables, page 71.

Shield: Required, both ends grounded

Twisted Pair: Required

PELV: Required

Cable composition: 10 x 0.13 mm2

(10 x AWG 24)

Maximum cable length: 20 m (65.6 ft)

Special characteristics: Fieldbus cables are not suitable for connecting

encoders.

NOTE: Use pre-assembled cables to reduce the risk of wiring errors.

Wiring Diagram
Connection assignment motor encoder (CN2)

The motor encoder interface (CN2) is a 6-pin connector. The following table
describes the contacts of the connector:

Pin Signal Color(1) Meaning Motor military Motor plastic I/O

connector connector
5 T+ Blue (BU) A 1
Serial communication I/O
6 T- Blue/Black (BU/BK) B 4

1 +5 V Red, red/white (RD, RD/ 5 V encoder supply S 7 I

WH)

2 GND Black, black/white (BK, Reference potential for R 8 O

BK/WH) encoder supply

3, 4 N.C. Reserved - - - -

(1) Color information relates to the cables available as accessories.

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WARNING
UNINTENDED EQUIPMENT OPERATION
Do not connect any wiring to reserved, unused connections, or to connections
designated as No Connection (N.C.).
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Connecting the Motor Encoder

• Verify that wiring, cables, and connected interface meet the PELV
requirements.
• Note the information on EMC, see chapter Electromagnetic Compatibility
(EMC), page 68. Use equipotential bonding conductors for equipotential
bonding.
• Connect the connector to
◦ CN2 Encoder if using a motor equipped with a single turn encoder.
◦ the battery compartment if using a motor equipped with a multi turn
encoder.
• Verify that the connector locks snap in properly at the housing.
Route the cables from the motor and the encoder to the device (starting from the
motor). Due to the pre-assembled connectors, this direction is often faster and
easier.

Connecting the Battery Compartment When Using a Motor

Equipped With a Multi Turn Encoder
The battery compartment is connected to CN2 Encoder, between the drive and
the motor encoder cable.
NOTE: The multi turn counting is preserved through power down by the
external battery located into the battery compartment.
For further information on the battery replacement, refer to the maintenance of
the motor, page 310.
For LXM26D∙∙∙UA5 …U45, the battery compartment should be installed on a
baseplate near the drive

Connection PC (CN3)
Function
The commissioning interface (CN3) is an RS-485 connection, supported on an
RJ45 connector. If the PC used to connect to the commissioning interface has an
RS-485 port, typically supported on a DB9 connector, you can connect it to this
connector (RJ45 / DB9 cable). Otherwise, you can use the USB port of the PC
with a USB to RS-485 converter.
The commissioning interface may only be used for a point-to-point connection, but
not for a point-to-multipoint connection (RS-485 network).
If the commissioning interface at the product is directly connected to an Ethernet
interface at the PC, the PC interface may be damaged and rendered inoperable.

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NOTICE
INOPERABLE EQUIPMENT
Do not directly connect an Ethernet interface to the commissioning interface of
this product.
Failure to follow these instructions can result in equipment damage.

Connecting a PC
A PC with the commissioning software LXM26 DTM Library can be connected for
commissioning. The PC is connected via a bidirectional USB/RS485 converter,
refer to Accessories and Spare Parts, page 63.

Cable Specifications
For further information, refer to chapter Cables, page 71.

Shield: Required, both ends grounded

Twisted Pair: Required

PELV: Required

Cable composition: 8 x 0.25 mm2 (8 x AWG 22)

Maximum cable length: 100 m (328 ft)

Special characteristics: -

Wiring Diagram
Wiring diagram PC with commissioning software

The commissioning interface (CN3) is an RJ45 connector. The following table

describes the contacts of the connector:

Pin Signal Meaning I/O

1 ... 3 - Reserved -

4 MOD_D1(1) Bidirectional transmit/receive signal

RS-485 level
5 MOD_D0(1) Bidirectional transmit/receive signal, inverted

6 ... 7 - Reserved -

8 and SHLD Functional ground / shield - internally connected to ground potential of -

connector the drive
housing

(1) No polarization.

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WARNING
UNINTENDED EQUIPMENT OPERATION
Do not connect any wiring to reserved, unused connections, or to connections
designated as No Connection (N.C.).
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

NOTE: Verify that the connector locks snap in properly at the housing.

Connection Logic Supply and Power Stage Supply

(~220V)
This product has a leakage (touch) current greater than 3.5 mA. If the protective
ground connection is interrupted, a hazardous leakage (touch) current may flow if
the housing is touched.

DANGER
INSUFFICIENT GROUNDING
• Use a protective ground conductor with at least 10 mm2 (AWG 6) or two
protective ground conductors with the cross section of the conductors
supplying the power terminals.
• Verify compliance with all local and national electrical code requirements as
well as all other applicable regulations with respect to grounding of the entire
drive system.
• Ground the drive system before applying voltage.
• Do not use conduits as protective ground conductors; use a protective
ground conductor inside the conduit.
• Do not use cable shields as protective ground conductors.
• Keep foreign objects from getting into the product.
• Verify the correct seating of seals and cable entries in order to avoid
contamination such as deposits and humidity.
Failure to follow these instructions will result in death or serious injury.

WARNING
INSUFFICIENT PROTECTION AGAINST OVERCURRENT
• Use the external fuses specified in chapter “Technical Data”.
• Do not connect the product to a supply mains whose short-circuit current
rating (SCCR) exceeds the value specified in the chapter “Technical Data”.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

WARNING
INCORRECT MAINS VOLTAGE
Verify that the product is approved for the mains voltage before applying power
and configuring the product.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

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The equipment, drives and motors, are intended for industrial use and may only
be operated with a permanently installed connection.
Prior to connecting the equipment, verify the approved mains types, see chapter
Electrical Data Drive, page 28.

Cable Specifications
Respect the required cable properties in chapter Cables, page 71 and in chapter
Electromagnetic Compatibility (EMC), page 68.

Shield: -

Twisted Pair: -

PELV: -

Cable composition: The conductors must have a sufficiently large cross section so
that the fuse at the mains connection can trip if required.

Maximum cable length: 3 m (9.84 ft)

Special characteristics: -

Properties of the Terminals

The terminals are approved for stranded conductors and solid conductors. Use
cable ends (ferrules), if possible.

LXM26D UA5, U01, U02, U04, U20, U30, U45

Unit U07, U10, U15

Connection cross section mm2 0.75 ... 2.5 0.75 ... 6

(AWG) (20 ... 14) (20 ... 10)

Stripping length mm 8 ... 9 15

(in) (0.31 ... 0.35) (0.59)

Prerequisites for Connecting the Logic Supply

Note the following information:
• Use upstream mains fuses. For further information about fuse types and fuse
ratings, refer to chapter Electrical Data Drive, page 28.
• Note the EMC requirements. Where required, use surge arresters and mains
reactors.
• If the length of the mains cable between the external mains filter and the drive
exceeds 200 mm (7.87 in), it must be shielded and grounded at both ends.
• For a UL-compliant design, refer to chapter Conditions for UL 508C, page 20.

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Connection Logic Supply

UA5, U01, U02, U04, U07, U10, U15, U20, U30,
U45

Connection Meaning

R, S, (T) Power stage supply

L1, L2 Logic supply

• Verify the type of mains. For the approved types of mains, refer to chapter
Electrical Data Drive, page 28.
• Connect the mains cable.
• Verify that the connector locks snap in properly at the housing.

Wiring Diagram for Devices That Can Be Connected Via a Single-

Phase or Three Phases
Drives with a continuous power from 50 W to 1500 W can be connected via a
single-phase or via three phases. Drives with a continuous power of more than
1500 W must be connected via three phases.
Wiring diagram for devices that can be connected via a single-phase or three-phases

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Connection Braking Resistor (Resistor)

An insufficiently rated braking resistor can cause overvoltage on the DC bus.
Overvoltage on the DC bus causes the power stage to be disabled. The motor is
no longer actively decelerated.

WARNING
UNINTENDED EQUIPMENT OPERATION
• Verify that the braking resistor has a sufficient rating by performing a test run
under maximum load conditions.
• Verify that the parameter settings for the braking resistor are correct.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Internal Braking Resistor

A braking resistor is integrated in the device to absorb braking energy. The drive is
shipped with the internal braking resistor active.

External Braking Resistor

An external braking resistor is required for applications in which the motor must be
decelerated quickly and the internal braking resistor cannot absorb the excess
braking energy.
Selection and rating of the external braking resistor are described in chapter
Rating the Braking Resistor, page 73. For suitable braking resistors, refer to
chapter Accessories and Spare Parts, page 65.

Cable Specifications
For further information, refer to chapter Cables, page 71.

Shield: Required, both ends grounded

Twisted Pair: -

PELV: -

Cable composition: Minimum conductor cross section: Same cross section as logic
supply.

The conductors must have a sufficiently large cross section so

that the fuse at the mains connection can trip if required.

Maximum cable length: 3 m (9.84 ft)

Special characteristics: Temperature resistance

The braking resistors listed in chapter Accessories and Spare Parts, page 65 have
a 3-wire, temperature-resistant cable with a length of 0.75 m (2.46 ft) to 3 m (9.84
ft).

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Properties of the Terminals (Resistor) LXM26DUA5, U01, U02,

U04, U07, U10, U15, U20, U30, U45
The terminals are approved for stranded conductors and solid conductors. Use
cable ends (ferrules), if possible.

LXM26D UA5, U01, U02, U04, U20, U30, U45

Unit U07, U10, U15

Connection cross section mm2 0.75 ... 2.5 0.75 ... 6

(AWG) (20 ... 14) (20 ... 10)

Stripping length mm 8 ... 9 15

(in) (0.31 ... 0.35) (0.59)

The removable terminals are approved for fine-stranded conductors and solid
conductors. Respect the maximum permissible connection cross section. Take
into account the fact that cable ends (ferrules) increase the conductor cross
section.
NOTE: If you use cable ends (ferrules), use only cable ends (ferrules) with
collars for these terminals.

Wiring Diagram
Wiring diagram internal braking resistor activated

LXM26DUA5…U45

Wiring diagram external braking resistor

LXM26DUA5…U45

Connecting the External Braking Resistor

• Remove power from all supply voltages. Respect the safety instructions
concerning electrical installation.
• Verify that no voltages are present.
• Ground the ground connection (PE) of the braking resistor.
• Connect the external braking resistor to the device.
• Connect a large surface area of the cable shield to the central grounding point
of your system.

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DANGER
ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
• Disconnect all power from all equipment including connected devices prior to
removing any covers or doors, or installing or removing any accessories,
hardware, cables, or wires.
• Place a "Do Not Turn On" or equivalent hazard label on all power switches
and lock them in the non-energized position.
• Wait 15 minutes to allow the residual energy of the DC bus capacitors to
discharge.
• Do not assume that the DC bus is voltage-free when the DC bus LED is off.
• Block the motor shaft to prevent rotation prior to performing any type of work
on the drive system.
• Do not create a short-circuit across the DC bus terminals or the DC bus
capacitors.
• Replace and secure all covers, accessories, hardware, cables, and wires
and confirm that a proper ground connection exists before applying power to
the unit.
• Use only the specified voltage when operating this equipment and any
associated products.
Failure to follow these instructions will result in death or serious injury.

Connecting the Motor Phases (Motor)

High voltages may be present at the motor connection. The motor itself generates
voltage when the motor shaft is rotated. AC voltage can couple voltage to unused
conductors in the motor cable.

DANGER
ELECTRIC SHOCK
• Verify that no voltage is present prior to performing any type of work on the
drive system.
• Block the motor shaft to prevent rotation prior to performing any type of work
on the drive system.
• Insulate both ends of unused conductors of the motor cable.
• Supplement the motor cable grounding conductor with an additional
protective ground conductor to the motor housing.
• Verify compliance with all local and national electrical code requirements as
well as all other applicable regulations with respect to grounding of all
equipment.
Failure to follow these instructions will result in death or serious injury.

Incorrect wiring of the motor connection may cause live wires to be exposed
outside of the motor connector below the HMI.

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DANGER
ELECTRIC SHOCK CAUSED BY INCORRECT WIRING
• Verify that the protective ground connection (PE) of the device is connected
to ground.
• Do not remove the cable end (ferrule) from the protective ground terminal
(PE) of the motor connector until you are prepared to wire the protective
ground conductor of the motor to the protective ground terminal (PE) of the
motor connector.
• Verify that no bare metal of the wires is exposed outside of the motor
connector housing when wiring the motor connector.
• Regularly, as part of a maintenance plan, assure that the motor wires are
secured in the terminals of the motor connector due to vibration or other
influences.
Failure to follow these instructions will result in death or serious injury.

Drive systems may perform unintended movements if unapproved combinations

of drive and motor are used. Even if motors are similar, different adjustment of the
encoder system may be a source of hazards. Even if the connectors for motor
connection and encoder connection match mechanically, this does not imply that
the motor is approved for use.

WARNING
UNINTENDED MOVEMENT
Only use approved combinations of drive and motor.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Compatibility between Drive and Motor is defined in the Drive / Motor

combinations table, page 17.
Route the cables from the motor and the encoder to the device (starting from the
motor). Due to the pre-assembled connectors, this direction is often faster and
easier.

Cable Specifications
For further information, refer to chapter Cables, page 71.

Shield: Required, both ends grounded

Twisted Pair: -

PELV: The wires for the holding brake must be PELV-compliant.

Cable composition: 3 wires for motor phases

The conductors must have a sufficiently large cross section so

that the fuse at the mains connection can trip if required.

Maximum cable length: Depends on the required limit values for conducted
interference.

Category C3: 20 m (65.6 ft)

Special characteristics: Contains wires for the temperature sensor

Note the following information:

• You may only connect the original motor cable.
• If you do not connect the wires at the motor end, you must isolate each wire
individually (inductive voltages).

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• Use pre-assembled cables to reduce the risk of wiring errors.

Properties of the Terminals (Motor)

The terminals are approved for stranded conductors and solid conductors. Use
cable ends (ferrules), if possible.

LXM26D UA5, U01, U02, U04, U20, U30, U45

Unit U07, U10, U15

Connection cross section mm2 0.75 ... 2.5 0.75 ... 6

(AWG) (20 ... 14) (20 ... 10)

Stripping length mm 8 ... 9 15

(in) (0.31 ... 0.35) (0.59)

Monitoring
The drive monitors the motor phases for:
• Short circuit between the motor phases
• Short circuit between the motor phases and ground (Not applicable for
LXM26DUA5 … U07 M3X.)
Short circuits between the motor phases and the DC bus, the braking resistor, or
the holding brake wires are not detected.
When a short-circuit is detected, power is removed by disabling the power stage.
The firmware reports error AL001. Once you have resolved the issue of the over-
current, you can re-enable the power stage of the drive.
NOTE: After three successive unsuccessful retries of resetting the power
stage, the reset will be blocked for a minimum of one minute.

Wiring Diagram Motor

LXM26DUA5…U45

Connection Meaning Color(1)

(IEC 757)

U Red (RD)

V Motor phase White (WH)

W Black (BK)

PE Protective ground conductor Green/Yellow (GN/YE)

(1) Color information relates to the cables available as accessories.

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Connecting the Motor Cable

• Note the information on EMC, refer to chapter Electromagnetic Compatibility
(EMC), page 68.
• Connect the motor phases and protective ground conductor to the connector
labelled Motor. Verify that the connections U, V, W, and PE (ground) match at
the motor and the device.
• If the product is equipped with removable connectors, Verify that the
connector locks snap in properly at the housing.

Holding Brake Connection

The holding brake in the motor has the task of holding the motor position when the
power stage is disabled. The holding brake is not a safety function and not a
service brake.
A motor with a holding brake requires a suitable holding brake controller which
releases the brake when the power stage is enabled and locks the motor shaft
when the power stage is disabled.
The holding brake is connected to one of the digital outputs DO1…DO5. The
signal output function BRKR must be assigned to the digital output to which the
holding brake is connected. The signal output function BRKR releases the holding
brake when the power stage is enabled. When the power stage is disabled, the
holding brake is reapplied.
The factory settings for the signal outputs depend on the operating mode, see
chapter Setting the Digital Signal Outputs, page 244. Depending on the operating
mode, the signal output function is either assigned to the digital output DO4 or not
assigned at all. When you reset the drive to the factory settings with P2-08 = 10,
the assignments of the signal output functions are also reset to the factory
settings.
When you switch the operating mode using the parameter P1-01 or the signal
input functions V-Px and V-T, the signal output functions may also be reset to the
factory settings for the new operating mode. If you use the setting D = 0 of
parameter P1-01, the assignment of the signal output functions remains the same
in the new operating mode.
Resetting the drive to the factory settings or switching the operating mode can
modify the assignment of the signal output functions in such a way that the holding
brake is released unintentionally.

WARNING
UNINTENDED EQUIPMENT OPERATION
• Verify that the digital output to which you have assigned the signal output
function BRKR has been properly wired and configured.
• Before switching to a different operating mode, verify that the signal output
function BRKR for the holding brake will not be assigned to an incorrect
digital output in the new operating mode.
• Before resetting the drive to the factory settings, verify that the signal output
function BRKR for the holding brake will be assigned to the correct digital
output or reassign the signal output function BRKR after the factory reset
according to the requirements of your application prior to starting the system.
• In all cases, take all necessary measures to prevent unintended movements
of the load caused by a release of the holding brake.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

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Example (negative logic) of wiring the holding brake

Item Description

1 Triggering an EMERGENCY STOP should apply the holding brake

2 Flyback diode

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Motor Installation
What’s in This Chapter
Mechanical Installation Motor ....................................................................... 111
Connections and Pin Assignments................................................................ 114
Connection of Motor and Encoder................................................................. 116
Holding Brake Connection ........................................................................... 118

Mechanical Installation Motor

Motors are very heavy relative to their size. The mass of the motor can cause
injuries and damage.

WARNING
HEAVY AND/OR FALLING PARTS
• Use a suitable crane or other suitable lifting gear for mounting the motor if
this is required by the weight of the motor.
• Use the necessary personal protective equipment (for example, protective
shoes, protective glasses and protective gloves).
• Mount the motor so that it cannot come loose (use of securing screws with
appropriate tightening torque), especially in cases of fast acceleration or
continuous vibration.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Motors can generate strong local electrical and magnetic fields. This can cause
interference in sensitive devices.

WARNING
ELECTROMAGNETIC FIELDS
• Keep persons with electronic medical implants, such as pacemakers, away
from the motor.
• Do not place electromagnetically sensitive devices in the vicinity of the
motor.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

The metal surfaces of the product may exceed 70 °C (158 °F) during operation.

WARNING
HOT SURFACES
• Avoid unprotected contact with hot surfaces.
• Do not allow flammable or heat-sensitive parts in the immediate vicinity of
hot surfaces.
• Verify that the heat dissipation is sufficient by performing a test run under
maximum load conditions.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

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CAUTION
IMPROPER APPLICATION OF FORCES
• Do not use the motor as a step to climb into or onto the machine.
• Do not use the motor as a load-bearing part.
• Use hazard labels and guards on your machine to help prevent the improper
application of forces on the motor.
Failure to follow these instructions can result in injury or equipment
damage.

Mounting Position
The following mounting positions are defined and permissible as per IEC 60034-7:

Mounting
When the motor is mounted to the mounting surface, it must be accurately aligned
axially and radially and make even contact with the mounting surface. All
mounting screws must be tightened with the specified tightening torque. No
uneven mechanical load may be applied while the mounting screws are tightened.
For data, dimensions, and degrees of protection (IP), refer to chapter Motor, page
37.

Mounting Situation

NOTICE
FORCES APPLIED TO THE REAR SIDE OF THE MOTOR
• Do not place the motor on the rear side.
• Protect the rear side of the motor from impact.
• Do not lift motors via the rear side.
• Only lift motors equipped with eyebolts via the eyebolts.
Failure to follow these instructions can result in equipment damage.

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Special Characteristics BCH2•H, BCH2•M, BCH2•R

Rear side of motor

Item Description

1 Protect the rear side of the motor from application of forces.

Eyebolts BCH2•R
Consider the mass of the product when mounting the motor. It may be necessary
to use suitable lifting gear.

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Connections and Pin Assignments

Connection overview

Item Description

1 Encoder connection
2 Motor connection

Pin Assignment Motor Connection

Pin assignments of motor phases and holding brake
Motor connection plastic connector (type A and type B), drive side:

Motor connection MIL connector (type C and type D), motor side:

Pin Pin Pin Signal Meaning Color(1)

Type A Type B Type C (IEC 757)

and D
Plastic connector ML connector
1 1 E U Motor phase U Grey (GY) White (WH)

2 2 G V Motor phase V Black (BK) Black (BK)

3 4 B W Motor phase W Brown (BN) Red (RD)

4 5 D PE Protective ground (protective Green/Yellow (GN/YE) Green/Yellow (GN/YE)

earth)

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– 3 F BRAKE_24V Supply voltage holding brake 24 Brown (BN) Red (RD)

Vdc
– 6 A BRAKE_0V Reference potential holding brake White (WH) Black (BK)
0 Vdc
– – C – Reserved – –
(1) Color information relates to the cables available as accessories.

WARNING
UNINTENDED EQUIPMENT OPERATION
Do not connect any wiring to reserved, unused connections, or to connections
designated as No Connection (N.C.).
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Pin Assignment Encoder Connection

Pin assignment of the encoder.
Encoder connection plastic connector (Type A), drive side:

Encoder connection MIL connector (Type B), motor side:

Pin Pin Signal Meaning Color(1)

Type A Type B (IEC 757)

1 A T+ Data Blue (BU)

2 C – Reserved –

3 D – Reserved –

4 B T- Data Blue/Black (BU/BK)

5 F Battery + Battery +(2) Red (RD)

6 G Battery - Battery -(2) Black (BK)

7 S DC+5 V Supply voltage Red/White (RD/WH)

8 R GND Reference potential Black/White (BK/WH)

9 L Shield Shield Black (BK)

– E – Reserved –

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Pin Pin Signal Meaning Color(1)

Type A Type B (IEC 757)

– H – Reserved –
– J – Reserved –
– K – Reserved –
– M – Reserved –
– N – Reserved –
– P – Reserved –
– T – Reserved –
(1) Color information relates to the cables available as accessories.
(2) Used with multi turn encoders.

WARNING
UNINTENDED EQUIPMENT OPERATION
Do not connect any wiring to reserved, unused connections, or to connections
designated as No Connection (N.C.).
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Mating Connector
For suitable mating connectors, refer to chapter Connectors and Adapters, page
63.

Connection of Motor and Encoder

The motor is designed for operation via a drive. Connecting the motor directly to
line voltage will damage the motor and can cause fires.

DANGER
FIRE HAZARD DUE TO INCORRECT CONNECTION
Only connect the motor to a matching, approved drive.
Failure to follow these instructions will result in death or serious injury.

Compatibility between Drive and Motor is defined in the Drive / Motor

combinations table, page 17.
High voltages may be present at the motor connection. The motor itself generates
voltage when the motor shaft is rotated. AC voltage can couple voltage to unused
conductors in the motor cable.

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DANGER
ELECTRIC SHOCK
• Verify that no voltage is present prior to performing any type of work on the
drive system.
• Block the motor shaft to prevent rotation prior to performing any type of work
on the drive system.
• Insulate both ends of unused conductors of the motor cable.
• Supplement the motor cable grounding conductor with an additional
protective ground conductor to the motor housing.
• Verify compliance with all local and national electrical code requirements as
well as all other applicable regulations with respect to grounding of all
equipment.
Failure to follow these instructions will result in death or serious injury.

Drive systems may perform unintended movements if unapproved combinations

of drive and motor are used. Even if motors are similar, different adjustment of the
encoder system may be a source of hazards. Even if the connectors for motor
connection and encoder connection match mechanically, this does not imply that
the motor is approved for use.

WARNING
UNINTENDED MOVEMENT
Only use approved combinations of drive and motor.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Compatibility between Drive and Motor is defined in the Drive / Motor

combinations table, page 17.

Protective Ground Conductor Connection

• Ground the motor via a grounding screw if grounding via the flange and the
protective ground conductor of the motor cable is not sufficient.
• Use parts with suitable corrosion protection.

Connecting the Cables

Incorrect installation of the cable may destroy the insulation. Broken conductors in
the cable or improperly connected connectors may be melted by arcs.

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DANGER
ELECTRIC SHOCK, ARC FLASH AND FIRE CAUSED BY INCORRECT
INSTALLATION OF THE CABLE
• Disconnect all power before plugging in or unplugging the connectors.
• Verify correct pin assignment of the connectors according to the
specifications in this chapter before connecting the cables.
• Verify that the connectors are properly inserted and locked before applying
power.
• Avoid forces or movements of the cable at the cable entries.
Failure to follow these instructions will result in death or serious injury.

• Connect the motor cable and the encoder cable to the drive according to the
wiring diagram of the drive.
• If your motor is equipped with a holding brake, follow the instructions in
chapter Holding Brake Connection, page 118.

Holding Brake Connection

The holding brake in the motor has the task of holding the motor position when the
power stage is disabled. The holding brake is not a safety function and not a
service brake.
A motor with a holding brake requires a suitable holding brake controller which
releases the brake when the power stage is enabled and locks the motor shaft
when the power stage is disabled.
See chapter Holding Brake Connection, page 109 for additional information.
As a result of damage to the insulation of the motor cable, mains voltage may get
to the wires for the holding brake.

DANGER
ELECTRIC SHOCK CAUSED BY DAMAGE TO THE MOTOR CABLE
• Use a PELV power supply for the holding brake.
• Insulate both ends of unused conductors of the motor cable.
Failure to follow these instructions will result in death or serious injury.

When the product is operated for the first time, there is a risk of unanticipated
movements caused by, for example, incorrect wiring or unsuitable parameter
settings. Releasing the holding brake can cause an unintended movement, for
example, lowering of the load in the case of vertical axes.

WARNING
UNINTENDED MOVEMENT
• Verify that there are no persons or obstacles in the zone of operation when
performing a test of the holding brake.
• Take appropriate measures to avoid damage caused by falling or lowering
loads or other unintended movements.
• Run initial tests without coupled loads.
• Verify that a functioning emergency stop push-button is within reach of all
persons involved in running tests.
• Anticipate movements in unintended directions or oscillations of the motor.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

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Cable Specifications
For further information on cable specifications, refer to chapter Cables, page 71.

EIO0000002299.05 119
 Verifying Installation

Verifying Installation
What’s in This Chapter
Verifying Installation .................................................................................... 120

Verifying Installation
Verify the mechanical installation of the entire drive system:
• Does the installation meet the specified distance requirements?
• Did you tighten all fastening screws with the specified tightening torque?
Verify the electrical connections and the wiring:
• Did you connect all protective ground conductors?
• Do all fuses have the correct rating; are the fuses of the specified type?
• Did you connect all wires of the cables or insulate them?
• Did you properly connect and install all cables and connectors?
• Are the mechanical locks of the connectors correct and effective?
• Did you properly connect the signal wires?
• Are the required shield connections EMC-compliant?
• Did you take all measures for EMC compliance?
• Does the drive installation conform to all local, regional, and national electrical
safety codes for the eventual placement of the equipment?
Verify that all covers and seals of the control cabinet are properly installed to meet
the required degree of protection.

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What’s in This Part
Overview ..................................................................................................... 122
Integrated HMI ............................................................................................. 125
Commissioning Procedure ............................................................................ 130
Tuning the Control Loops .............................................................................. 136

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 Overview

Overview
What’s in This Chapter
General ...................................................................................................... 122
Commissioning Tools................................................................................... 124

General
You must recommission an already configured device if you want to use it under
different operating conditions.
Unsuitable settings or unsuitable data may trigger unintended movements, trigger
signals, damage parts and disable monitoring functions. Some parameters and
other operational data do not become active until after a restart.

WARNING
UNINTENDED EQUIPMENT OPERATION
• Only start the system if there are no persons or obstructions in the zone of
operation.
• Do not operate the drive system with undetermined parameter values.
• Never modify a parameter value unless you fully understand the parameter
and all effects of the modification.
• Restart the drive and verify the saved operational data and/or parameter
values after modification.
• Carefully run tests for all operating states and potential error situations when
commissioning, upgrading or otherwise modifying the operation of the drive.
• Verify the functions after replacing the product and also after making
modifications to the parameter values and/or other operational data.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

If the power stage is disabled unintentionally, for example as a result of a power

outage, errors or functions, the motor is no longer decelerated in a controlled way.

WARNING
UNINTENDED EQUIPMENT OPERATION
Verify that movements without braking effect cannot cause injuries or equipment
damage.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Applying the holding brake while the motor is running will cause excessive wear
and loss of the braking force.

WARNING
LOSS OF BRAKING FORCE DUE TO WEAR OR HIGH TEMPERATURE
• Do not use the holding brake as a service brake.
• Do not exceed the maximum number of brake applications and the kinetic
energy during braking of moving loads.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

122 EIO0000002299.05
Overview

The metal surfaces of the product may exceed 70 °C (158 °F) during operation.

WARNING
HOT SURFACES
• Avoid unprotected contact with hot surfaces.
• Do not allow flammable or heat-sensitive parts in the immediate vicinity of
hot surfaces.
• Verify that the heat dissipation is sufficient by performing a test run under
maximum load conditions.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Rotating parts may cause injuries and may catch clothing or hair. Loose parts or
parts that are out of balance may be ejected.

WARNING
MOVING, UNGUARDED EQUIPMENT
Verify that rotating parts cannot cause injuries or equipment damage.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

When the product is operated for the first time, there is a risk of unanticipated
movements caused by, for example, incorrect wiring or unsuitable parameter
settings. Releasing the holding brake can cause an unintended movement, for
example, lowering of the load in the case of vertical axes.

WARNING
UNINTENDED MOVEMENT
• Verify that there are no persons or obstacles in the zone of operation when
performing a test of the holding brake.
• Take appropriate measures to avoid damage caused by falling or lowering
loads or other unintended movements.
• Run initial tests without coupled loads.
• Verify that a functioning emergency stop push-button is within reach of all
persons involved in running tests.
• Anticipate movements in unintended directions or oscillations of the motor.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

The product can be accessed via different types of access channels.

Simultaneous access via multiple access channels or the use of exclusive access
may cause unintended equipment operation.

WARNING
UNINTENDED EQUIPMENT OPERATION
• Verify that simultaneous access via multiple access channels cannot cause
unintended triggering or blocking of commands.
• Verify that the use of exclusive access cannot cause unintended triggering or
blocking of commands.
• Verify that the required access channels are available.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

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 Overview

Commissioning Tools
Overview
The following tools, page 63 can be used for commissioning, parameterization,
and diagnostics:

Item Description

1 Integrated HMI

2 PC with commissioning software LXM26 DTM Library

Device settings can be duplicated. Stored device settings can be transferred to a

device of the same type. Duplicating the device settings can be used if multiple
devices are to have the same settings, for example, when devices are replaced.

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Integrated HMI
What’s in This Chapter
Overview .................................................................................................... 125
Integrated HMI Structure.............................................................................. 126
7-Segment Display ...................................................................................... 126
Status Information Via the HMI ..................................................................... 128

Overview
The integrated HMI allows you to edit parameters, start the operating mode Jog or
perform autotuning via the integrated Human-Machine Interface (HMI).
Diagnostics information (such as parameter values or error codes) can also be
displayed. The individual sections on commissioning and operation include
information on whether a function can be carried out via the integrated HMI or
whether the commissioning software must be used.

Item Description

1 5-digit 7-segment display

2 OK key

3 Arrow keys

4 M key

5 S key

Incorrect wiring of the motor connection may cause live wires to be exposed
outside of the motor connector below the HMI.

DANGER
ELECTRIC SHOCK CAUSED BY INCORRECT WIRING
• Verify that the protective ground connection (PE) of the device is connected
to ground.
• Do not remove the cable end (ferrule) from the protective ground terminal
(PE) of the motor connector until you are prepared to wire the protective
ground conductor of the motor to the protective ground terminal (PE) of the
motor connector.
• Verify that no bare metal of the wires is exposed outside of the motor
connector housing when wiring the motor connector.
• Regularly, as part of a maintenance plan, assure that the motor wires are
secured in the terminals of the motor connector due to vibration or other
influences.
Failure to follow these instructions will result in death or serious injury.

EIO0000002299.05 125
 Integrated HMI

Integrated HMI Structure

When the drive is powered on, the display shows the name of the selected status
information function for approximately one second; after that, it displays the
corresponding actual value or status value.

Element Function
HMI display The 5-digit 7-segment display shows actual values, parameter settings, status
information, and error codes.

M key The M key lets you switch between the type of information displayed: status
information/actual values, error codes, and parameters.

If an error is detected, the display shows the error code. If you press the M while the
error is active, you can display other information; however, after approximately 20
seconds without interaction, the error code is displayed again.

S key The S lets you scroll through the parameter groups.

After you have selected a parameter and its value is displayed, you can use the S
key to move the cursor to the left. The digit at the current cursor position flashes. The
arrow keys let you change the value at the current cursor position.

Arrow keys The arrow keys let you scroll through the actual values/status information and the
parameters within a parameter group. Use the arrow keys to increase or decrease
values.
OK key After you have selected a parameter, press the OK key to display the current
parameter value. The arrow keys let you change the displayed value. Pressing the
OK key again saves the value.

7-Segment Display
Saving Settings
If you set a new parameter value and press the OK key, a message is displayed
for approximately one second to provide feedback.

7-segment Description
display

SAuEd The new parameter value was successfully saved.

r-OLY The parameter value is a read-only value and cannot be saved (Read-Only).

Prot Changing a parameter value requires exclusive access. See chapter Access
Channels, page 237.

Out-r The new parameter value is outside the permissible value range (Out of range).

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7-segment Description
display

SruOn The new parameter value can only be saved when the power stage is disabled
(Servo On).

po-0n The new parameter value becomes active the next time the product is powered
on (Power On).

Error Displayed whenever a value you have entered for a parameter is, for various
reasons, rejected by the drive.

Representation of Numerical Values on the 7-Segment Display

The illustration below shows the decimal representation of a 16-bit value and a 32-
bit value as a positive value and as a negative value each.
Example of representation of decimal values

Example of representation of hexadecimal values

EIO0000002299.05 127
 Integrated HMI

Changing the Sign Via the 7-Segment Display

7-segment Description
display

24680 You can change the sign of a value by holding down the S key for a period of
more than 2 seconds.
24.680
Negative decimal values are represented with a dot between the second and the
x343E third position. Negative hexadecimal values are represented as a two's
complement.
xCbC2

Alert Messages and Error Messages on the 7-Segment Display

7-segment Description
display

Wnnnn If an alert condition is detected, Wnnnn is displayed. Win identifies the code as
an alert. The subsequent 3 digit nnn represent the number of the alert. For a list
of alert codes, refer to Alert Codes and Error Codes, page 299.

ALnnn If an error is detected ALnnn is displayed. AL identifies the code as a detected

error. The subsequent 3 digit nnn represent the error number. For a list of error
codes, refer to Alert Codes and Error Codes, page 299.

STOP The display shows STOP if exclusive access is enableds while the power stage
is still enabled. For further information on access channels, refer to Access
Channels, page 237.

----- The display shows - - - - - means drive boot failure it may FW lost or HW broken
cause it, return drive to factory.

Status Information Via the HMI

After you have powered on the drive, status information is displayed via the HMI.
Use the parameter P0-02 to select the type of status information to be displayed.
For example, if you set the parameter P0-02 to the value 7, the speed of rotation
of the motor after is displayed after you have powered on the drive.

Setting P0- Description

02
0 Actual position (with gear ratio applied) in the unit PUU

1 Target position (with gear ratio applied) in the unit PUU

2 Deviation between actual position and target position (with gear ratio applied) in the
unit PUU
3 Actual position in motor increments (1280000 pulses/revolution)

4 Target position in motor increments (1280000 pulses/revolution)

5 Deviation between actual position and target position in motor increments (1280000
pulses/revolution)

6 Reference value in kilopulses per second (kpps)

7 Actual velocity in rpm

8 Voltage for target velocity in V

9 Target velocity in rpm

10 Voltage for target torque in V

11 Target torque in percent of continuous motor current

12 Average load of the motor in percent of continuous motor current (The sampling
window duration is specified via parameter P4-29)

128 EIO0000002299.05
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Setting P0- Description

02
13 Peak load of the motor since the last power cycle of the drive in percent of
continuous motor current (maximum value of occurring in setting 12 since last power
cycle)

14 Mains voltage in V

15 Ratio of load inertia and motor inertia (divided by 10)

16 Power stage temperature in degrees Celsius (°C)

17 Resonance frequency in Hz

18 Absolute pulse number relative to encoder

19 Mapping parameter 1: Content of parameter P0-25 (mapping target is specified via

parameter P0-35)

20 Mapping parameter 2: Content of parameter P0-26 (mapping target is specified via

parameter P0-36)

21 Mapping parameter 3: Content of parameter P0-27 (mapping target is specified via

parameter P0-37)

22 Mapping parameter 4: Content of parameter P0-28 (mapping target is specified via

parameter P0-38)

23 Status indication 1: Content of parameter P0-09 (the status information to be

displayed is specified by parameter P0-17)

24 Status indication 2: Content of parameter P0-10 (the status information to be

displayed is specified by parameter P0-18)

25 Status indication 3: Content of parameter P0-11 (the status information to be

displayed is specified by parameter P0-19)

26 Status indication 4: Content of parameter P0-12 (the status information to be

displayed is specified by parameter P0-20)

27 Reserved
39 Status of digital inputs (content of P4-07)

40 Status of digital outputs (content of P4-09)

41 Drive status (content of P0-46)

42 Operating mode (content of P1-01)

49 Actual position encoder (content of P5-18)

50 Target velocity in rpm

53 Target torque in 0.1 percent of the nominal torque

54 Actual torque in 0.1 percent of the nominal torque

55 Actual torque in 0.01 A

77 Target velocity in rpm in operating modes PT and PS

96 Firmware version and firmware revision of drive (P0-00 and P5-00)

111 Number of detected errors

EIO0000002299.05 129
 Commissioning Procedure

Commissioning Procedure
What’s in This Chapter
Commissioning Software ............................................................................. 130
Setting the Device Address, Baud Rate and Connection Settings.................... 130
Verifying the Direction of Movement.............................................................. 133
Test Operation in Operating Mode Velocity (V)............................................... 134

Commissioning Software
The commissioning software LXM26 DTM Library has a graphic user interface
and is used for commissioning, diagnostics, and testing settings.

Online Help
The commissioning software offers help functions, which can be accessed via
help menu or by pressing the F1 key.

Source of Commissioning Software

The latest version of the commissioning software LXM26 DTM Library is available
for download from the Internet.
www.se.com

Setting the Device Address, Baud Rate and Connection

Settings
Each device is identified by a unique address. Each device must have its own
unique node address, which may only be assigned once in the network. The
transmission rate (baud rate) must be the same for all devices in the network.
Use the parameter P3-00 to set the Modbus device address.
Use the parameter P3-01 to set the baud rate.
Use the parameter P3-02 to set the connection settings.

130 EIO0000002299.05
Commissioning Procedure

Setting the baud rate:

Modbus Connection Settings

WARNING
UNINTENDED EQUIPMENT OPERATION
• Verify that there is only one master controller configured on the network or
remote link.
• Verify that all devices have unique addresses.
• Confirm that the device address is unique before placing the system into
service.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

EIO0000002299.05 131
 Commissioning Procedure

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P3-00 Device Address Modbus - u16 Modbus 400h

ADR Applicable operating mode: PT, PS, V, T 1 RW

The device address must be unique. 127 per.

Modified settings become active the next time the 247

product is powered on.
Decimal
P3-01 Transmission Rate - u16 Modbus 402h

BRT Applicable operating mode: PT, PS, V, T 0h RW

This parameter is used to set the data 102h per.

transmission rate.
405h
Modified settings become active the next time the
product is powered on. Hexadecimal

P3-02 Modbus Connection Settings - u16 Modbus 404h

PTL Applicable operating mode: PT, PS, V, T 6h RW

This parameter specifies the Modbus connection 7h per.

settings.
9h
Modified settings become active the next time the
product is powered on. Hexadecimal

P3-03 Detected Modbus Communication Errors - - u16 Modbus 406h

Handling
FLT 0h RW
Applicable operating mode: PT, PS, V, T
0h per.
This parameter specifies the response of the drive
to a detected communication error. 1h

Value 0: Detected alert Hexadecimal

Value 1: Detected error

P3-04 Modbus Connection Monitoring ms u16 Modbus 408h

CWD Applicable operating mode: PT, PS, V, T 0 RW

This parameter specifies the maximum 0 per.

permissible duration for communication timeout.
When this time has elapsed, the communication 20000
timeout is treated as a detected error.
Decimal
Setting this parameter to 0 to disables connection
monitoring.

P3-07 Modbus Response Delay Time 0.5 ms u16 Modbus 40Eh

CDT Applicable operating mode: PT, PS, V, T 0 RW

This parameter specifies the time delay with which 0 per.

the drive responds to the Modbus master.
1000

Decimal

132 EIO0000002299.05
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Verifying the Direction of Movement

Direction of Movement

WARNING
UNINTENDED MOVEMENT CAUSED BY INTERCHANGED MOTOR
PHASES
Do not interchange the motor phases.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

If your application requires an inversion of the direction of movement, you may

parameterize the direction of movement.
Movements are made in positive or in negative directions.
Definition of the direction of movement: Positive direction of movement is when
the motor shaft rotates counterclockwise as you look at the end of the protruding
motor shaft.
Direction of movement with factory settings

Verifying the Direction of Movement

• Start the operating mode Jog. (HMI: P 4 - 0 5 )
The HMI displays the velocity in the unit rpm for the operating mode JOG.
• Set a velocity suitable for your application and conform with the OK key.
The HMI displays J 0 G .
Movement in positive direction:
• Press the Up Arrow key.
A movement is made in positive direction.
Movement in negative direction:
• Press the Down Arrow key.
A movement is made in negative direction.
Press the M key to terminate the operating mode Jog.

Changing the Direction of Movement

If the expected direction of movement and the actual direction of movement are
not identical, you can invert the direction of movement.
• Inversion of direction of movement is not activated:
Movements are made in positive direction with positive target values.

EIO0000002299.05 133
 Commissioning Procedure

• Inversion of direction of movement is activated:

Movements are made in positive direction with negative target values.
The parameter P1-01 C = 1 allows you to invert the direction of movement.
Changing the direction of movement

Test Operation in Operating Mode Velocity (V)

• Select the operating mode Velocity (V) via the parameter P1-01: = 2. Refer to
Setting the Operating Mode, page 252.
• Set the parameter P1-01 to D=1. This assigns defaults to the signal input
functions for the operating mode Velocity (V), DI6…DI8 presets must be
modified for this test.
New settings for the parameter P1-01 do not become active until the drive is
powered on the next time.
• Restart the drive.
• Select the following signal input functions via the parameters P2-10 to P2-17:

Digital input Parameter Setting Signal Function Pin at CN1

DI1 P2-10 0101h SON Enable power stage 9

DI2 P2-11 0109h TRQLM Activate Torque Limitation 10

DI3 P2-12 0114h SPD0 Velocity Reference Value Bit 0 34

DI4 P2-13 0115h SPD1 Velocity Reference Value Bit 1 8

DI5 P2-14 0102h FAULT_RESET Fault Reset 33

DI6 P2-15 0h - - 32
DI7 P2-16 0h - - 31
DI8 P2-17 0h - - 30

For further information on the settings, refer to Setting the Digital Signal Inputs,
page 239.

Error Messages HMI

If the default presets of the signal inputs OPST, CWL(NL), and CCWL(PL/LIMP)
are still present, the following error codes can be displayed:
• AL013: Parameter P2-17 not set to 0 (deactivated).
• AL014: Parameter P2-15 not set to 0 (deactivated).
• AL015: Parameter P2-16 not set to 0 (deactivated).

134 EIO0000002299.05
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For further information on error messages, refer to Diagnostics and

Troubleshooting, page 299.

Target Velocity
The target velocity is selected via the signal input functions SPD0 (least significant
bit) and SPD (most significant bit):

- Signal state of the digital Target velocity via: Range

signal inputs

SPD1 SPD0
S1 0 0 External analog Voltage between V_REF (pin -10 ... 10 Vdc
signal 42) and GND (pin 44)

S2 0 1 Internal parameters P1-09 -60000 ... 60000 x 0.1 rpm

S3 1 0 P1-10
S4 1 1 P1-11

• Enable the power stage via DI1 (SON).

If DI3 (SPD0) and DI4 (SPD1) are deactivated, the target velocity is supplied
via the analog input V_REF.
• Activate DI3 (SPD0).
The target velocity is supplied via the parameter P1-09. The factory setting for
the target velocity is 1000 rpm.

EIO0000002299.05 135
 Tuning the Control Loops

Tuning the Control Loops

What’s in This Chapter
Tuning the Control Loops ............................................................................. 136
Easy Tuning................................................................................................ 136
Comfort Tuning ........................................................................................... 137
Manual Tuning ............................................................................................ 143

Tuning the Control Loops

Autotuning and manual tuning move the motor in order to tune the control loops.
Incorrect parameters may cause unintended movements or the loss of monitoring
functions.

WARNING
UNINTENDED MOVEMENT
• Only start the system if there are no persons or obstructions in the zone of
operation.
• Verify that the values for the parameters P9-26 and P9-27 do not exceed the
available movement range.
• Verify that the parameterized movement ranges are available.
• In determining the available movement range, consider the additional
distance for the deceleration ramp in the case of an EMERGENCY STOP.
• Verify that the parameter settings for a Quick Stop are correct.
• Verify correct operation of the limit switches.
• Verify that a functioning emergency stop push-button is within reach of all
persons involved in the operation.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Autotuning adapts the control performance of the drive to the mechanical system
used and optimizes the control loop settings appropriately. External factors such
as a load at the motor are considered. The control loop settings can also be
optimized by using manual tuning.
Two autotuning methods and manual tuning are provided for control loop
optimization:
• Easy Tuning: This type of autotuning is performed without user intervention.
For most applications, Easy Tuning yields good, highly dynamic results.
• Comfort Tuning: This type of autotuning is performed with user intervention.
You can select optimization criteria and set parameters for movement,
direction, and velocity.
• Manual Tuning: This type of tuning allows you to perform test movements and
optimize the control loop settings using the Scope function.

Easy Tuning
Easy Tuning is started via the HMI or the commissioning software LXM26 DTM
Library.
Easy Tuning requires an available movement range of 5 revolutions. During Easy
Tuning, movements of 2.5 revolutions are performed in positive direction of
movement and 2.5 revolutions in negative direction of movement. If this
movement range is not available, you must use Comfort Tuning.

136 EIO0000002299.05
Tuning the Control Loops

Easy Tuning can be used for a ratio of motor inertia to load inertia of up to 1:50.

Performing Easy Tuning

Set the parameter P2-32 to 1 to perform Easy Tuning.

After you have started Easy Tuning via P2-32, the display of the HMI shows the
progress as a percentage from tn000 to tn100.
Press the M button of the HMI to cancel autotuning.
If autotuning completes successfully, the display of the HMI shows the message
done.
Press the OK key of the HMI to save the control loop parameters. The display of
the HMI briefly shows the message saved.
Press the M key of the HMI to discard the autotuning results.
If autotuning does not complete successfully, the display of the HMI shows the
message ERROR. The cause can be read with the parameter P9-30.
The parameter P9-37 provides additional information on the last event that
occurred during autotuning.

Comfort Tuning
Comfort Tuning allows you to select optimization criteria and set values for the
movement.

Optimization Criteria for Comfort Tuning

Comfort Tuning allows you to select an optimization criterion for autotuning. The
following optimization criteria are available:
• Optimization of the control loop parameters for minimum settling time with
vibration suppression
• Optimization of the control loop parameters for minimum overshoot with
vibration suppression
• Optimization of the control loop parameters for minimum settling time without
vibration suppression

EIO0000002299.05 137
 Tuning the Control Loops

• Optimization of the control loop parameters for minimum overshoot without

vibration suppression
The illustration below shows optimization for minimum overshoot and optimization
for minimum settling time.

Item Description

1 Optimization for minimum overshoot

2 Optimization for minimum settling time

Vibration suppression compensates resonance frequencies of the mechanical

system. The option Vibration Suppression is available for both optimization
criteria.

Parameters for the Movement for Comfort Tuning

The following settings must be made for Comfort Tuning:
• Direction of movement
• Velocity
• Acceleration and deceleration
• Movement range
• Smoothing
These values must be as close as possible to the values used in the actual
application. If you enter implausible values, Comfort Tuning is canceled.

Setting the Direction of Movement

Set the direction of movement via the parameter P9-20.

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P9-20 Autotuning - Direction of Movement - s16 Modbus A28h

LTNCYCLE Applicable operating mode: PT, PS, V 0 RW

This parameter sets the direction of movement for 0 -

autotuning.
3
Value 0: Both directions of movement
Decimal
Value 2: One direction of movement

138 EIO0000002299.05
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Setting the Velocity

Set the velocity via the parameter P9-29.
The velocity must be between 10 ... 100 % of the nominal velocity nN.

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P9-29 Autotuning - Velocity 0.1rpm|0.1rpm u32 Modbus A3Ah

LTNVCRUISE Applicable operating mode: PT, PS, V - RW

Bits 0 … 15: Velocity for positive direction of - -

movement
-
Bits 16 … 31: Velocity for negative direction of
movement Decimal

Setting Acceleration and Deceleration

Set the acceleration and the deceleration with the P9-31 parameter.
The value for the acceleration and the value for the deceleration must be between
tmin and tmax:

JM = Moment of inertia of the motor in kg cm2

Jload = Moment of inertia of the load in kg cm2
Mmax = Peak torque in Nm
MN = Nominal torque in Nm

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P9-31 Autotuning - Acceleration and Deceleration ms|ms u32 Modbus A3Eh

PTACCDEC Applicable operating mode: PT, PS, V 6| 6 RW

Bits 0 … 15: Acceleration for Autotuning 6000| 6000 -

Bits 16 … 31: Deceleration for Autotuning 65500| 65500

Decimal

Setting the Movement Range

Set the movement range via parameters P9-26 and P9-27.
The movement range must be sufficiently large to allow for a constant movement
at the set speed in addition to the acceleration phase and the deceleration phase.

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 Tuning the Control Loops

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P9-26 Autotuning - Movement Range in Direction 1 PUU s32 Modbus A34h

PTPOS Applicable operating mode: PS -2147483647 RW

This parameter specifies the movement range for 0 -

autotuning in direction of movement 1.
2147483647
The sign of the value determines the direction of
movement: Decimal

Positive value: Positive direction of movement as

set via parameter P1-01

Negative value: Negative direction of movement

as set via parameter P1-01

See parameter P9-20 to select one direction of

movement or both directions of movement for
Comfort Tuning.

P9-27 Autotuning - Movement Range in Direction 2 PUU s32 Modbus A36h

PTNEG Applicable operating mode: PS -2147483647 RW

This parameter specifies the movement range for 0 -

autotuning in direction of movement 2.
2147483647
The sign of the value determines the direction of
movement: Decimal

Positive value: Positive direction of movement as

set via parameter P1-01

Negative value: Negative direction of movement

as set via parameter P1-01

See parameter P9-20 for Comfort Tuning in a

single or in both directions of movement.

See parameter P9-20 to select one direction of

movement or both directions of movement for
Comfort Tuning.

Setting Smoothing
Comfort Tuning uses S-curve smoothing by default. The value for smoothing via
the S-curve is optimized during Comfort Tunings.
The parameter P9-23 allows you to change from automatic smoothing to manual
smoothing.
The following options are available for manual smoothing:
• No smoothing
• Smoothing via low-pass filter with a fixed value
• Smoothing via S-curve with a fixed value

140 EIO0000002299.05
Tuning the Control Loops

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P9-23 Defines which values are used for the position - u16 Modbus A2Eh
command filters.
LTNSTIFF 0 RW
Applicable operating mode: PT, PS, V
0 -
Value 0: Automatic smoothing via S-curve
optimization of the value 1

Value 1: Manual smoothing Decimal

P8-34 Smoothing Filter for Operating modes PT and PS - - u16 Modbus 944h
Type
MOVESMOOTH- 0 RW
MODE Applicable operating mode: PT, PS
2 per.
Value 0: No smoothing
2
Value 1: LPF smoothing
Decimal
Value 2: S-curve smoothing

Setting can only be modified if power stage is

disabled.

The illustration below shows the movement during Comfort Tuning if smoothing
via the low-pass filter is used:
Comfort Tuning with smoothing via low-pass filter

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P8-33 Low Pass Filter Setting Hz u32 Modbus 942h

MOVE- Applicable operating mode: PT, PS 1 RW

SMOOTHLPFHZ
5000 per.

500000

Decimal

The illustration below shows the movement during Comfort Tuning if smoothing
via an S-curve is used:

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 Tuning the Control Loops

Comfort Tuning with smoothing via S-curve

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P8-32 S-Curve Setting 0.01 ms u32 Modbus 940h

MOVESMOOTHAVG Applicable operating mode: PT, PS 25 RW

Setting can only be modified if power stage is 400 per.

disabled.
25600
The maximum value is reduced to 12800 if P8-35
CONTROLMODE (high byte) is set to 5. Decimal

Performing Comfort Tuning

Start Comfort Tuning by selecting the required method via the parameter P2-32.

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P2-32 Autotuning - u16 Modbus 340h

ATMODE Applicable operating mode: PT, PS, V 0 RW

This parameter is used to start autotuning with the 0 -

selected autotuning method.
56
Value 0: Stop Autotuning
Decimal
Value 1: Easy Tuning

Value 2: Comfort Tuning [minimum settling time,

vibration suppression]

Value 3: Comfort Tuning [minimum overshoot,

vibration suppression]

Value 52: Comfort Tuning [minimum settling time,

no vibration suppression]

Value 53: Comfort Tuning [minimum overshoot, no

vibration suppression]

If you want Comfort Tuning in both directions, set parameter P9-20 to 0. Then set
the parameters P9-26 and P9-27 to the same values, but with different signs (for
example, P9-26 = -20000 and P9-27 = +20000). The value determines the
movement range in both directions.

142 EIO0000002299.05
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If you want Comfort Tuning in a single direction, set parameter P9-20 to 2. Then
set the parameters P9-26 and P9-27 to the same values. The sign of the value
determines the direction for Comfort Tuning. For example, if you set P9-26 =
-20000 and P9-27 = -20000, Comfort Tuning is performed in negative direction of
movement with a movement range of 20000 PUU.
NOTE: If you do not enter consistent values for parameters P9-26 and P9-27, the
autotuning is unsuccessful. Parameter P9-30 contains the information on the
unsuccessful autotuning attempt.
After you have started the required Comfort Tuning method via P2-32, the display
of the HMI shows the progress as a percentage from t n 0 0 0 to t n 1 0 0 .
Press the M button of the HMI to cancel autotuning.
If autotuning completes successfully, the display of the HMI shows the message
done.
Press the OK key of the HMI to save the control loop parameters. The display of
the HMI briefly shows the message s a v e d .
Press the M key of the HMI to discard the autotuning results.
If autotuning does not complete successfully, the display of the HMI shows the
message E R R O R . The cause can be read with the parameter P9-30.
The parameter P9-37 provides additional information on the last event that
occurred during autotuning.

Manual Tuning
Manual tuning is performed in the operating mode Internal Profile. Manual tuning
allows you to perform test movements and optimize the control loop settings using
the Scope function.
NOTE: Manual tuning should only be attempted by trained persons who are
familiar with and understand the contents of this manual and all other pertinent
product documentation. These persons must have sufficient technical training,
knowledge, and experience and be able to foresee and detect potential hazards
and issues that may be caused by manual tuning, by changing the settings and by
the mechanical, electrical, and electronic equipment of the entire system in which
the product is used. No responsibility is assumed by Schneider Electric for any
consequences arising out of the use of manual tuning.
In addition to the low-pass filter, electronic gear filter function can be used in the
following cases:
• Pulse and direction command has a low resolution
• Low rigidity of the coupling between motor and load
• Movement is too short
• Motor is noisy after tuning
• Current is unstable during tuning
• Motor temperature is unusually high

Procedure for Manual Tuning

The control loop parameters are tuned in the following sequence:

Step Item Parameters

1 Derivative gain, page 144 P8-00 (LTND)

2 Low-pass filter, page 146 P8-14 (NLFILTDAMPING)

P8-15 (NLFILTT1)

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Step Item Parameters

3 Retuning of the derivative gain, page 148 P8-00 (LTND)

4 Proportional gain, page 148 P8-03 (LTNP)

5 Derivative-integral gain, page 151 P8-02 (LTNIV)

6 Integral gain, page 153 P8-01 (LTNI)

7 Compensation of the flexibility of the mechanical P8-05 (NLAFFLPFHZ)

system, page 154
P8-20 (NLPEAFF)

Depending on the requirements concerning the control performance, steps 2 and

3 can be omitted. Perform a movement in both directions after each of the steps
below to check the recorded parameter values on the Scope tab of the
commissioning software LXM26 DTM Library.

Step 1: Setting the Derivative Gain

The objective of tuning the derivative gain is to achieve a current ripple that is as
low as possible. The optimum value primarily depends on the load.
Criteria for a well-tuned derivative gain include:
• For loads less than twice the rotor inertia: 5 % of the nominal current may be
acceptable
• For greater loads: 10 % of the nominal current may be acceptable
The derivative gain is set via parameter P8-00 (LTND).
Procedure:
• Set the value of parameter P8-03 (LTNP) to 150 (corresponds to 15 Hz).
• Set the value of parameter P8-01 (LTNI) to 0.
• Set the value of parameter P8-02 (LTNIV) to 0.
• Progressively increase the value of parameter P8-00 (LTND) until the
oscilloscope shows oscillation of the reference current, P11-11 (TCMD).
Example P8-00 (LTND) set to 1340 (134 Hz)

144 EIO0000002299.05
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Example P8-00 (LTND) set too high at 2000 (200 Hz)

Example P8-00 (LTND) OK at 1500 (150 Hz)

Example P8-00 (LTND) set too low at 100 (10 Hz)

NOTE: The process of tuning requires trials of successive approximations.

Values that are too high or too low relative to the other relevant values might
cause instability. If it is necessary to have a low or high value of the parameter
in the preceding example, you may need to adjust the values of the other
relevant parameters to compensate and achieve a stable system.

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Step 2: Setting the Low-Pass Filter

Setting the low-pass filter is an optional step in manual tuning of the control loop
parameters. The low-pass filter parameters are optimized after you have tuned the
derivative gain. The objective of tuning the low-pass filter parameters is to
suppress high-frequency resonance and reduce the response time of the control
loops to a minimum.
The low-pass filter is set via parameters P8-14 (NLFILTDAMPING) and P8-15
(NLFILTT1).
The parameter P8-14 (NLFILTDAMPING) maintains the bandwidth of the low-
pass filter up to the cutoff frequency. The parameter value is expressed as a
percentage. The parameter P8-15 (NLFILTT1) sets the inverse frequency of the
cutoff frequency. The parameter P8-14 (NLFILTDAMPING) can also be used
independently to allow for a certain degree of compensation of system-related
bandwidth limits.
Criteria for a well-tuned low-pass filter include:
• The value of parameter P8-14 (NLFILTDAMPING) is as high as possible.
• The value of parameter P8-15 (NLFILTT1) is as low as possible.
When P8-35 (CONTROLMODE) (high byte) is set to 5, the following table
presents the values for 10 % overshoot. Set the filter parameter values P8-14
(NLFILTDAMPING) and P8-15 (NLFILTT1) accordingly:

Frequency (Hz) P8-14 (NLFILTDAMPING) (%) P8-15 (NLFILTT1) (ms)

100 98.27 122.86

200 29.3 96.5
300 14.3 95
400 7.9 93.32
500 5.05 91.677
600 3.5 90.03
700 2.566 88.4
800 2 86.934
900 1.6056 85.457
1000 1.31 83.98
1100 1.09 82.45
1200 0.928694 81.1
1300 0.815 79.9
1400 0.7 78.4
1500 0.62 77
1600 0.555 75.97
1700 0.496 74.6
1800 0.439 73
1900 0.406 72.19
2000 0.365 70.5

Electronic gear filter example 1:

146 EIO0000002299.05
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Increasing P8-27 (GEARFILTT1) smooths the input command, but adds a delay.
Electronic gear filter example 2:

Increasing P8-28 (GEARFILTT2) and P8-29 (GEARFILTVELFF) compensate the

delay, but adds overshoots.
If P8-29 (GEARFILTVELFF) has the same value as P8-28 (GEARFILTT2), there is
no delay.
Usual values:
• P8-27 (GEARFILTT1) is usually around 2 times the input step width
• P8-28 (GEARFILTT2) is usually 2 times P8-27 (GEARFILTT1)
NOTE: When a system has multiple axes, gear filter values must be the same
for all axes.
Procedure:
• Progressively increase the value of parameter P8-14 (NLFILTDAMPING) until
the oscilloscope shows noise and/or oscillation of the reference current, P11-
11 (TCMD).
• Progressively decrease the value of parameter P8-15 (NLFILTT1) until the
oscilloscope shows noise and/or oscillation of the reference current P11-11
(TCMD).
• Increase the value of parameter P8-15 (NLFILTT1) by 20 %, however, by at
least 0.05 ms.
Example P8-14 (NLFILTDAMPING) OK (75 %)

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 Tuning the Control Loops

Example P8-15 (NLFILTT1) too low (0.5 ms)

Example P8-15 (NLFILTT1) OK (1.2 ms)

Step 3: Re-Tuning of the Derivative Gain

If you have modified the low-pass filter values in parameters P8-14
(NLFILTDAMPING) and P8-15 (NLFILTT1), the derivative gain can be set to a
greater value via parameter P8-00 (LTND). Follow the procedure described in step
1.
The objective of tuning the proportional gain is to get a constant and low position
deviation in the acceleration phase, the constant velocity phase, and the
deceleration phase and to have no oscillations during the transitions between
these phases. In the oscilloscope, this is indicated by a shape that is as square
and as flat as possible.
Criteria for a well-tuned proportional gain include:
• No or minimum overshoot of position deviation
• No or minimum current ripple
• No or minimum oscillations at standstill

Step 4: Setting the Proportional Gain

The proportional gain is set via parameter P8-03 (LTNP).
Procedure:
• Progressively increase the value of parameter P8-03 (LTNP) to find the
optimum value. The figures below show examples of the plot as the value
approaches the optimum value.

148 EIO0000002299.05
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Example P8-03 (LTNP) starting value (13 Hz)

Example P8-03 (LTNP) position deviation decreased (25 Hz)

Example P8-03 (LTNP) position deviation further decreased (35 Hz)

EIO0000002299.05 149
 Tuning the Control Loops

Example P8-03 (LTNP) position deviation further decreased (45 Hz)

Example P8-03 (LTNP) value too high - oscillation at standstill (65 Hz)

Example P8-03 (LTNP) value too high - oscillation at standstill (75 Hz)

150 EIO0000002299.05
Tuning the Control Loops

Example P8-03 (LTNP) value too high - oscillation at standstill, overshoot of

position deviation (100 Hz)

Example P8-03 (LTNP) OK (65 Hz)

Step 5: Setting the Derivative-Integral Gain

The objective of tuning the derivative-integral gain is to reduce the position
deviation. As a general rule, the value for the derivative-integral gain (P8-
02LTNIV) is within the following range:
P8-03 (LTNP) / 2 < P8-02 (LTNIV) < 2 x P8-03 (LTNP)
Progressively increasing the value of the derivative-integral gain progressively
decreases the position deviation during the acceleration phase, the constant
velocity phase, and the deceleration phase.
Criteria for a well-tuned derivative-integral gain include:
• Position deviation decreases rapidly after each transition of the movement
phases (jerk)
• No or minimum overshoot of position deviation
• No or minimum oscillations during transitions between the movement phases
• Oscillations at standstill as low as possible (+/- 1 encoder increment)
The derivative-integral gain is set via parameter P8-02 (LTNIV).
Procedure:
• Progressively increase the value of parameter P8-02 (LTNIV) to find the
optimum value. The figures below show examples of the plot as the value
approaches the optimum value.

EIO0000002299.05 151
 Tuning the Control Loops

Example P8-02 (LTNIV) starting value (30 Hz)

Example P8-02 (LTNIV) position deviation decreased (60 Hz)

Example P8-02 (LTNIV) position deviation decreases rapidly when target velocity
is reached (90 Hz)

152 EIO0000002299.05
Tuning the Control Loops

Example P8-02 (LTNIV) value too high - oscillation at standstill, overshoot of

position deviation (120 Hz)

Example P8-02 (LTNIV) OK (90 Hz)

Step 6: Setting the Integral Gain

The objective of tuning the integral gain is to reduce the position deviation during
movements and at standstill.
Criteria for a well-tuned integral gain include:
• Position deviation further reduced
• No or minimum overshoot of position deviation at the end of the deceleration
phase
• Oscillations at standstill as low as possible (+/- 1 encoder increment)
The integral gain is set via parameter P8-01 (LTNI).
Procedure:
• Progressively increase the value of parameter P8-01 (LTNI) until the
oscilloscope shows overshoot or oscillations. The figures below show
examples of the plot as the value approaches the optimum value.

EIO0000002299.05 153
 Tuning the Control Loops

Example P8-01 (LTNI) value too high - oscillation at standstill, overshoot of

position deviation (50 Hz)

Example P8-01 (LTNI) OK (25 Hz)

Step 7: Compensation of the Flexibility of the Mechanical System

The parameters for compensation of the system flexibility reduce the vibrations
caused by abrupt changes in the acceleration (jerk). The parameters can also be
used to further minimize overshoot or settling time.
The value of parameter P8-20 (NLPEAFF) reflects the oscillation frequency of the
mechanical system, i.e. the coupling between the motor and the load. The
coupling can be very rigid (for example, a direct drive or a low-backlash coupling)
and less rigid (for example, a belt drive or an elastic coupling). Systems with a
high rigidity require a high value. Systems with high load inertia and less rigid
couplings require lower values. The less rigid the coupling, the lower this
frequency. Depending on the application, the typical value range is 400 … 30 Hz.
The parameter P8-05 (NLAFFLPFHZ) sets a low-pass filter for the acceleration
profile. If the target value has a relatively low resolution as, for example, in the
case of a pulse train input, the calculated acceleration may be subject to noise.
The low-pass filter set via this parameter can be used to smooth the acceleration
profile. The parameter can be used if the flexibility compensation set via
parameter P8-20 (NLPEAFF) results in noise.
The compensation of the flexibility of the mechanical system is set via parameters
P8-05 (NLAFFLPFHZ) and P8-20 (NLPEAFF).
Procedure:
• Set the value of parameter P8-05 (NLAFFLPFHZ) to a value three times as
high as that of parameter P8-20 (NLPEAFF). With this value, the bandwidth of
this low-pass filter is sufficiently higher than the response time of the system.

154 EIO0000002299.05
Tuning the Control Loops

• Progressively decrease the value of parameter P8-20 (NLPEAFF) to find the

optimum value. The optimum value depends on your optimization criterion:
either short settling time or low position deviation.
Start with a high frequency of 400 Hz. Decrease the value and compare the
amplitudes for the position deviation and the settling time. Select the most
suitable value according to your optimization criterion. The figures below
show examples of the plot as the value approaches the optimum value.
Example P8-20 (NLPEAFF) without compensation of the flexibility (5000 Hz)

Example P8-20 (NLPEAFF) maximum position deviation decreased (300 Hz)

Example P8-20 (NLPEAFF) maximum position deviation further decreased (220

Hz)

EIO0000002299.05 155
 Tuning the Control Loops

Example P8-20 (NLPEAFF) minimum position deviation, short settling time,

oscillation at standstill (120 Hz)

Example P8-20 (NLPEAFF) negative position deviation during acceleration phase

(100 Hz)

Manual turning steps within cascade mode

Step Action

1 Increase the speed loop gain P8-57 to decrease the speed deviation. After increasing
the gain value each time, the motor moves in a positive and negative direction at high
and low speed respectively. If the motor does not vibrate or scream, the gain can be
increased continuously.

If the motor vibrates or scream, reduce the current value by 20%.

2 Increase the gain of position loop P8-53 decrease the position deviation. After
increasing the gain value each time, the motor moves in a positive and negative
direction at high and low speed respectively. If the motor does not vibrate or scream,
the gain can be increased continuously.

Slow to reach target position, increase the gain. Shaking near the target position,
reduce the gain. If the motor vibrates or scream, reduce the current value by 20%.

3 To further reduce the steady-state error, increase the speed integral P8-58.

4 To further reduce the dynamic position error, feed-forward P8-54 is used.

5 Set the S-curve smoothing time constant P8-32 appropriately.

6 Use low-pass filtering and notch filter P8-60, P8-61, P8-62 as appropriate.

156 EIO0000002299.05
Parameters
What’s in This Part
Parameters.................................................................................................. 158

EIO0000002299.05 157
 Parameters

Parameters
What’s in This Chapter
Representation of the Parameters ................................................................ 158
P0 - Status Parameters................................................................................ 159
P1 - Basic Parameters ................................................................................. 165
P2 - Extended Parameters ........................................................................... 178
P3 - Communication Parameters .................................................................. 187
P4 - Diagnostics Parameters ........................................................................ 188
P5 - Motion Settings .................................................................................... 193
P6 - Position Sequence Data Sets Group 1 ................................................... 199
P7 - Position Sequence Data Sets Group 2 ................................................... 208
P8 - Control Loops....................................................................................... 217
P9 - DTM Data ............................................................................................ 229

Representation of the Parameters

This chapter provides an overview of the parameters which can be used for
operating the product.
Unsuitable settings or unsuitable data may trigger unintended movements, trigger
signals, damage parts and disable monitoring functions. Some parameters and
other operational data do not become active until after a restart.

WARNING
UNINTENDED EQUIPMENT OPERATION
• Only start the system if there are no persons or obstructions in the zone of
operation.
• Do not operate the drive system with undetermined parameter values.
• Never modify a parameter value unless you fully understand the parameter
and all effects of the modification.
• Restart the drive and verify the saved operational data and/or parameter
values after modification.
• Carefully run tests for all operating states and potential error situations when
commissioning, upgrading or otherwise modifying the operation of the drive.
• Verify the functions after replacing the product and also after making
modifications to the parameter values and/or other operational data.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

NOTE: Possible values of a parameter that are not described are considered
as reserved and must not be used.

Parameter Name
The parameter name uniquely identifies a parameter.

Unit
The unit of the value.

158 EIO0000002299.05
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P0 - Status Parameters
P0 - Status Parameters
Parameter name Description Unit Data type Parameter address
via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P0-00 Firmware Version - u16 Modbus 100h

VER Applicable operating mode: PT, PS, V, T 0h RO

0h -

FFFFh

Hexadecimal
P0-01 Error code of detected error - u16 Modbus 102h

ALE Applicable operating mode: PT, PS, V, T 0h RW

This parameter contains the error number of the 0h -

most recently detected error.
FFFFh
For a list of the detected error codes, refer to Error
Codes, page 299. Hexadecimal

P0-02 Drive Status Displayed by HMI - u16 Modbus 104h

STS Applicable operating mode: PT, PS, V, T 0 RW

This parameter selects the type of status 0 per.

information to be displayed on the HMI.
123
Example: If the setting is 7, the HMI displays the
speed of rotation of the motor. Decimal

For further information, refer to chapter Status

Information via the HMI, page 128.

P0-03 Function of Analog Outputs - u16 Modbus 106h

MON Applicable operating mode: PT, PS, V, T 0h RW

This parameter specifies the functions of the 0h per.

analog outputs.
77h

Hexadecimal

XY: (X: MON1; Y: MON2)

0: Actual velocity (+/-8 V correspond to maximum

velocity)

1: Actual torque (+/-8 V correspond to maximum

torque)

2: Reference value in kilopulses per second (+8 V

correspond to 4.5 Mpps)

3: Target velocity (+/-8 V correspond to maximum

target velocity)

4: Target torque (+/-8 V correspond to maximum

target torque)

5: DC bus voltage (+/-8 V correspond to 450 V)

6: Reserved

7: Reserved

EIO0000002299.05 159
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

See P1-04 and P1-05 for setting a voltage

percentage (scaling).

Example:

P0-03 = 01: Voltage value at analog output

indicates the actual velocity.

Velocity = (maximum velocity x V1 / 8) x P1-04 /

100 if the output voltage value of MON2 is V1.

P0-04 FPGA Version - u16 Modbus 108h

FPGAVER Applicable operating mode: PT, PS, V, T 0h RO

-h -

0000FFFFh

Hexadecimal
P0-08 Operating Hour Meter in Seconds s u32 Modbus 110h

TSON Applicable operating mode: PT, PS, V, T 0 RO

- -

4294967295

Decimal
P0-09 Status Value 1 - s32 Modbus 112h

CM1 Applicable operating mode: PT, PS, V, T -2147483647 RO

This parameter is used to provide the value of one - -

of the status indications in P0-02. The value of this
parameter is determined via P0-17. 2147483647

Examples: Decimal

If the status of the drive is read via the HMI and if

P0-02 is set to 23, VAR-1 is displayed for
approximately two seconds by the HMI, followed
by the value of this parameter.

If the setting of P0-17 is 3, reading this parameter

displays the actual position in pulses.

For reading the status via Modbus, read two 16-bit

data stored in the addresses of 0012H and 0013H
to generate 32-bit data.

(0013H : 0012H) = (high byte : low byte)

P0-10 Status Value 2 - s32 Modbus 114h

CM2 Applicable operating mode: PT, PS, V, T -2147483647 RO

This parameter is used to provide the value of one - -

of the status indications in P0-02. The value of this
parameter is determined via P0-18. 2147483647

See P0-09 for details. Decimal

P0-11 Status Value 3 - s32 Modbus 116h

CM3 Applicable operating mode: PT, PS, V, T -2147483647 RO

This parameter is used to provide the value of one - -

of the status indications in P0-02. The value of this
parameter is determined via P0-19. 2147483647

See P0-09 for details. Decimal

P0-12 Status Value 4 - s32 Modbus 118h

CM4 Applicable operating mode: PT, PS, V, T -2147483647 RO

160 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

This parameter is used to provide the value of one - -

of the status indications in P0-02. The value of this
parameter is determined via P0-20. 2147483647

See P0-09 for details. Decimal

P0-13 Status Value 5 - s32 Modbus 11Ah

CM5 Applicable operating mode: PT, PS, V, T -2147483647 RO

This parameter is used to provide the value of one - -

of the status indications in P0-02. The value of this
parameter is determined via P0-21. 2147483647

See P0-09 for details. Decimal

P0-17 Indicate status value 1 - u16 Modbus 122h

CMA1 Applicable operating mode: PT, PS, V, T 0 RW

This parameter is used to select a drive status 0 per.

provided in P0-02. The selected status is indicated
via P0-09. 123

Example: Decimal

If the setting of P0-17 is 7, reading P0-09 returns

the speed of rotation of the motor in rpm.

P0-18 Indicate status value 2 - u16 Modbus 124h

CMA2 Applicable operating mode: PT, PS, V, T 0 RW

This parameter is used to select a drive status 0 per.

provided in P0-02. The selected status is indicated
via P0-10. See P0-17 for details. 123

Decimal
P0-19 Indicate status value 3 - u16 Modbus 126h

CMA3 Applicable operating mode: PT, PS, V, T 0 RW

This parameter is used to select a drive status 0 per.

provided in P0-02. The selected status is indicated
via P0-11. See P0-17 for details. 123

Decimal
P0-20 Indicate status value 4 - u16 Modbus 128h

CMA4 Applicable operating mode: PT, PS, V, T 0 RW

This parameter is used to select a drive status 0 per.

provided in P0-02. The selected status is indicated
via P0-12. See P0-17 for details. 123

Decimal
P0-21 Indicate status value 5 - u16 Modbus 12Ah

CMA5 Applicable operating mode: PT, PS, V, T 0 RW

This parameter is used to select a drive status 0 per.

provided in P0-02. The selected status is indicated
via P0-13. See P0-17 for details. 123

Decimal
P0-25 Parameter Mapping 1 - u32 Modbus 132h

MAP1 Applicable operating mode: PT, PS, V, T 0h RW

The parameters from P0-25 ... P0-32 are used to 0h -

read and write the values of parameters with non-
consecutive communication addresses. You can FFFFFFFFh
set P0-35 ... P0-42 as the required read and write
mapping parameter numbers. When P0-25 ... P0- Hexadecimal

EIO0000002299.05 161
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
32 are read, the read or write values are
equivalent to the values of the parameters
specified via P0-35 ... P0-42, and vice versa. See
P0-35 for details.
P0-26 Parameter Mapping 2 - u32 Modbus 134h

MAP2 Applicable operating mode: PT, PS, V, T 0h RW

See P0-25 and P0-36 for details. 0h -

FFFFFFFFh

Hexadecimal
P0-27 Parameter Mapping 3 - u32 Modbus 136h

MAP3 Applicable operating mode: PT, PS, V, T 0h RW

See P0-25 and P0-37 for details. 0h -

FFFFFFFFh

Hexadecimal
P0-28 Parameter Mapping 4 - u32 Modbus 138h

MAP4 Applicable operating mode: PT, PS, V, T 0h RW

See P0-25 and P0-38 for details. 0h -

FFFFFFFFh

Hexadecimal
P0-29 Parameter Mapping 5 - u32 Modbus 13Ah

MAP5 Applicable operating mode: PT, PS, V, T 0h RW

See P0-25 and P0-39 for details. 0h -

FFFFFFFFh

Hexadecimal
P0-30 Parameter Mapping 6 - u32 Modbus 13Ch

MAP6 Applicable operating mode: PT, PS, V, T 0h RW

See P0-25 and P0-40 for details. 0h -

FFFFFFFFh

Hexadecimal
P0-31 Parameter Mapping 7 - u32 Modbus 13Eh

MAP7 Applicable operating mode: PT, PS, V, T 0h RW

See P0-25 and P0-41 for details. 0h -

FFFFFFFFh

Hexadecimal
P0-32 Parameter Mapping 8 - u32 Modbus 140h

MAP8 Applicable operating mode: PT, PS, V, T 0h RW

See P0-25 and P0-42 for details. 0h -

FFFFFFFFh

Hexadecimal
P0-35 Block Data Read/Write P0-35…P0-42 1 - u32 Modbus 146h

MAPA1 Applicable operating mode: PT, PS, V, T 0h RW

0h per.

162 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

The parameters P0-35 ... P0-42 specify the FFFFFFFFh

required read and write parameter numbers for
P0-25 ... P0-32. They read and write the values of Hexadecimal
the parameters whose communication addresses
are not consecutive.

The read/write parameter can be a single 32-bit

parameter or two 16-bit parameters.

A: Parameter group code in hexadecimal format

B: Parameter number in hexadecimal format

Example:

If you want to read and write the value of P1-44

(32-bit parameter) via P0-25, set P0-35 to
012C012Ch.

If you want to read and write the values of P2-02

(16-bit parameter) and P2-04 (16-bit parameter)
via P0-25, set P0-35 to 02040202h.

P0-36 Block Data Read/Write P0-35…P0-42 2 - u32 Modbus 148h

MAPA2 Applicable operating mode: PT, PS, V, T 0h RW

See P0-35 for details. 0h per.

FFFFFFFFh

Hexadecimal
P0-37 Block Data Read/Write P0-35…P0-42 3 - u32 Modbus 14Ah

MAPA3 Applicable operating mode: PT, PS, V, T 0h RW

See P0-35 for details. 0h per.

FFFFFFFFh

Hexadecimal
P0-38 Block Data Read/Write P0-35…P0-42 4 - u32 Modbus 14Ch

MAPA4 Applicable operating mode: PT, PS, V, T 0h RW

See P0-35 for details. 0h per.

FFFFFFFFh

Hexadecimal
P0-39 Block Data Read/Write P0-35…P0-42 5 - u32 Modbus 14Eh

MAPA5 Applicable operating mode: PT, PS, V, T 0h RW

See P0-35 for details. 0h per.

FFFFFFFFh

Hexadecimal
P0-40 Block Data Read/Write P0-35…P0-42 6 - u32 Modbus 150h

MAPA6 Applicable operating mode: PT, PS, V, T 0h RW

See P0-35 for details. 0h per.

FFFFFFFFh

EIO0000002299.05 163
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Hexadecimal
P0-41 Block Data Read/Write P0-35…P0-42 7 - u32 Modbus 152h

MAPA7 Applicable operating mode: PT, PS, V, T 0h RW

See P0-35 for details. 0h per.

FFFFFFFFh

Hexadecimal
P0-42 Block Data Read/Write P0-35…P0-42 8 - u32 Modbus 154h

MAPA8 Applicable operating mode: PT, PS, V, T 0h RW

See P0-35 for details. 0h per.

FFFFFFFFh

Hexadecimal
P0-46 State of Signal Output Functions - u16 Modbus 15Ch

SVSTS Applicable operating mode: PT, PS, V, T 0h RO

This parameter is used to indicate the state of the 0h -

signal output function of the drive in hexadecimal
format. If the function is assigned to a digital FFFFh
output, it would represent the state of the output
given no forcing on the output. Hexadecimal

Bit 0: SRDY (Servo ready)

Bit 1: SON (Servo On)

Bit 2: ZSPD (Zero speed)

Bit 3: TSPD (Speed reached)

Bit 4: TPOS (Movement completed)

Bit 5: TQL (Torque Limit Reached)

Bit 6: ERR (Error Detected)

Bit 7: BRKR (Holding brake control)

Bit 8: HOMED_OK (Homing completed)

Bit 9: OLW (Motor Overload Alert)

Bit 10: WARN (indicates that one of the following

conditions has been detected: Hardware limit
switch triggered, undervoltage, Nodeguard alert,
Operational Stop (OPST))

Bits 11 ... 15: Reserved

The parameter can also be read via the fieldbus.

P0-47 Number of Last Alert - u16 Modbus 15Eh

LAST_WRN Applicable operating mode: PT, PS, V, T 0h RO

This parameter contains the number of the last 0h -

detected alert. After a Fault Reset, the number is
cleared. FFFFh

Hexadecimal

164 EIO0000002299.05
Parameters

P1 - Basic Parameters
P1 - Basic Parameters
Parameter name Description Unit Data type Parameter address
via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P1-00 Reference Value Signal - Pulse Settings - u16 Modbus 200h

PTT Applicable operating mode: PT 0h RW

2h per.

1132h

Hexadecimal

This parameter is used to configure the reference

value signals for the operating mode PT.

A: Type of reference value signals

B: Signal frequency

C: Input polarity

D: Source of reference value signals

Setting can only be modified if power stage is

disabled.
P1-01 Operating Mode and Direction of Rotation - u16 Modbus 202h

CTL Applicable operating mode: PT, PS, V, T 0h RW

0h per.

110Ah

Hexadecimal

A: Operating mode

Refer to chapter Setting the Operating Mode,

page 252.

C: Direction of movement

Refer to chapter Verifying the Direction of

Movement, page 133.

D: Signal input functions and signal output

functions after operating mode switching

Value 0: The assignments of the signal input

functions and the signal output functions (P2-10 ...
P2-22) remain identical for the new operating
mode.

Value 1: The assignments of the signal input

functions and the signal output functions (P2-10 ...
P2-22)) are set to the default presets of the new
operating mode. Refer to chapters Default Presets

EIO0000002299.05 165
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
of the Signal Inputs, page 239 and Default Presets
of the Signal Outputs, page 244.

Modified settings become active the next time the

product is powered on.

P1-02 Velocity and Torque Limitations Activation/ - u16 Modbus 204h

Deactivation
PSTL 0h RW
Applicable operating mode: PT, PS, V, T
0h per.
This parameter activates/deactivates velocity
limitation and torque limitation. 11h

It can also be activated via the signal input Hexadecimal

functions SPDLM and TRQLM.

The signal input functions SPD0 and SPD1 are

used to select velocity values set via P1-09 to P1-
11.

The signal input functions TCM0 and TCM1 are

used to select torque values set via P1-12 to P1-
14.

A: Velocity limitation

0: Deactivate

1: Activate (in operating mode T))

B: Torque limitation

0: Deactivate

1: Activate (operating modes PT, PS, and V)

P1-03 Polarity of Analog Outputs / - u16 Modbus 206h

AOUT Polarity of Pulse Outputs 0h RW

Applicable operating mode: PT, PS, V, T 0h per.

13h

Hexadecimal

166 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

This parameter is used to specify the polarity of

analog outputs MON1 and MON2 and the polarity
of pulse outputs.

A: Polarity of analog outputs MON1 and MON2

0: MON1(+), MON2(+)

1: MON1(+), MON2(-)

2: MON1(-), MON2(+)

3: MON1(-), MON2(-)

B: Polarity of pulse outputs

0: Not inverted

1: Inverted
P1-04 Scaling Factor Analog Output 1 % u16 Modbus 208h

MON1 Applicable operating mode: PT, PS, V, T 1 RW

100 per.

100

Decimal
P1-05 Scaling Factor Analog Output 2 % u16 Modbus 20Ah

MON2 Applicable operating mode: PT, PS, V, T 1 RW

100 per.

100

Decimal
P1-07 Limit Switch Fault Reaction - u16 Modbus 20Eh

ReactLimSw Applicable operating mode: PT, PS, V, T 0 RW

Fault Reaction selection after a limit switch is at 0 per.

active state while the power stage is disabled
1
1: The drive does not trigger an error
Decimal
0: The drive triggers an error

P1-09 Target Velocity/Velocity Limitation 1 0.1rpm s32 Modbus 212h

SP1 Applicable operating mode: V, T -60000 RW

Target velocity 1 10000 per.

In the operating mode V, this parameter specifies 60000

the first target velocity.
Decimal
Velocity limitation 1

In the operating mode T, this parameter specifies

the first velocity limitation.

P1-10 Target Velocity/Velocity Limitation 2 0.1rpm s32 Modbus 214h

SP2 Applicable operating mode: V, T -60000 RW

Target velocity 2 20000 per.

In the operating mode V, this parameter specifies 60000

the second target velocity.
Decimal
Velocity limitation 2

In the operating mode T, this parameter specifies

the second velocity limitation.

EIO0000002299.05 167
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P1-11 Target Velocity/Velocity Limitation 3 0.1rpm s32 Modbus 216h

SP3 Applicable operating mode: V, T -60000 RW

Target velocity 3 30000 per.

In the operating mode V, this parameter specifies 60000

the third target velocity.
Decimal
Velocity limitation 3

In the operating mode T, this parameter specifies

the third velocity limitation.

P1-12 Target Torque/Torque Limitation 1 % s16 Modbus 218h

TQ1 Applicable operating mode: PT, PS, V, T -300 RW

Target torque 1 in percent of nominal current 100 per.

In the operating mode T, this parameter specifies 300

the first target torque.
Decimal
Torque limitation 1 in percent of nominal current

In the operating modes PT, PS and V, this

parameter specifies the first torque limitation.

The signal output function TQL is activated if the

torque reaches the torque limitations set via the
parameters P1-12 ... P1-14 or via an analog input.

P1-13 Target Torque/Torque Limitation 2 % s16 Modbus 21Ah

TQ2 Applicable operating mode: PT, PS, V, T -300 RW

Target torque 2 in percent of nominal current 100 per.

In the operating mode T, this parameter specifies 300

the second target torque.
Decimal
Torque limitation 2 in percent of nominal current

In the operating modes PT, PS and V, this

parameter specifies the second torque limitation.

The signal output function TQL is activated if the

torque reaches the torque limitations set via the
parameters P1-12 ... P1-14 or via an analog input.

P1-14 Target Torque/Torque Limitation 3 % s16 Modbus 21Ch

TQ3 Applicable operating mode: PT, PS, V, T -300 RW

Target torque 3 in percent of nominal current 100 per.

In the operating mode T, this parameter specifies 300

the third target torque.
Decimal
Torque limitation 3 in percent of nominal current

In the operating modes PT, PS and V, this

parameter specifies the third torque limitation.

The signal output function TQL is activated if the

torque reaches the torque limitations set via the
parameters P1-12 ... P1-14 or via an analog input.

P1-15 Mains Phase Monitoring - Response to Missing - u16 Modbus 21Eh

Mains Phase
LINELOSSMODE 0 RW
Applicable operating mode: PT, PS, V, T
0 per.
This parameter specifies the response of the drive
if the mains phase monitoring function detects an 2
error.
Decimal

168 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Value 0: Detected error if power stage is enabled

or disabled

Value 1: Detected error if power stage is enabled,

alert if power stage is disabled

Value 2: Alert if power stage is enabled or

disabled
P1-16 Mains Phase Monitoring - Fault Reset - u16 Modbus 220h

LINELOSSRECOV- Applicable operating mode: PT, PS, V, T 0 RW

ER
This parameter specifies the type of Fault Reset 0 per.
after a detected mains phase error has been
removed. 1

Value 0: No automatic Fault Reset Decimal

Value 1: Automatic Fault Reset

P1-17 Mains Phase Monitoring - Type - u16 Modbus 222h

LINELOSSTYPE Applicable operating mode: PT, PS, V, T 0 RW

This parameter specifies the type of mains phase 0 per.

monitoring
2
Value 0: No mains phase monitoring
Decimal
Value 1: Mains phase monitoring single-phase
connection

Value 2: Mains phase monitoring three-phase

connection
P1-18 Reserved – – –

P1-19 Active Disable - Delay Time Power Stage ms u16 Modbus 226h

DISTIME Applicable operating mode: PT, PS, V, T 0 RW

This parameter specifies the delay time between 0 per.

standstill of the motor and disabling the power
stage. 6500

Decimal
P1-20 Current Limit During Quick Stop 0.001 s16 Modbus 228h

ESTOPILIM Applicable operating mode: PT, PS, V 1 RW

This parameter specifies the maximum current 1000 per.

during a Quick Stop (expressed as factor of P1-
78). 1000

Decimal
P1-21 Status of Foldback Current Drive - u16 Modbus 22Ah

FOLD Applicable operating mode: PT, PS, V, T 0 RO

This parameter indicates whether the foldback - -

current limit is greater than or less than the
maximum current of the drive (see P1-78). 1

Value 0: Foldback current limit greater than P1-78 Decimal

Value 1: Foldback current limit is less than P1-78

P1-22 Foldback Current Limit - Drive 0.01A u32 Modbus 22Ch

IFOLD Applicable operating mode: PT, PS, V, T 0 RO

Drive foldback current limit - -

30000

Decimal

EIO0000002299.05 169
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P1-23 Current Monitoring Drive - Detected Error 0.01A u32 Modbus 22Eh
Threshold Foldback Current
IFOLDFTHRESH 0 RW
Applicable operating mode: PT, PS, V, T
- per.
This parameter specifies the threshold value used
by the drive current monitoring function to detect a 30000
drive foldback current error.
Decimal
P1-24 Current Monitoring Drive - Alert Threshold 0.01A u32 Modbus 230h
Foldback Current
IFOLDWTHRESH 0 RW
Applicable operating mode: PT, PS, V, T
- per.
This parameter specifies the threshold value used
by the drive current monitoring function to trigger a 30000
drive foldback current alert.
Decimal
P1-25 Reserved – – –

P1-26 Foldback Current Limit - Motor 0.01A u32 Modbus 234h

MIFOLD Applicable operating mode: PT, PS, V, T 0 RO

Motor foldback current limit - -

30000

Decimal
P1-27 Motor Current Monitoring - Detected Error 0.01A u32 Modbus 236h
Threshold Foldback Current
MIFOLDFTHRESH 0 RW
Applicable operating mode: PT, PS, V, T
- per.
This parameter specifies the threshold value used
by the motor current monitoring function to detect 30000
a motor foldback current error.
Decimal
P1-28 Motor Current Monitoring - Alert Threshold 0.01A u32 Modbus 238h
Foldback Current
MIFOLDWTHRESH 0 RW
Applicable operating mode: PT, PS, V, T
- per.
This parameter specifies the threshold value used
by the motor current monitoring function to trigger 30000
a motor foldback current alert.
Decimal
P1-29 DC Bus Overvoltage Monitoring - Threshold V u16 Modbus 23Ah

OVTHRESH Applicable operating mode: PT, PS, V, T - RO

This parameter specifies the threshold value used - -

by the DC bus overvoltage monitoring function.
-

Decimal
P1-30 Commutation Monitoring - Maximum Counter ms u16 Modbus 23Ch
Value
COMMERRMAXCNT 0 RW
Applicable operating mode: PT, PS, V, T
0 -

Decimal
P1-32 Stop Method - u16 Modbus 240h

LSTP Applicable operating mode: PT, PS, V 0h RW

This parameter specifies how the motor is stopped 0h per.

if the power stage is to be disabled (includes
signal input function OPST) or if an error is 20h
detected.

170 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Value 0h: Deceleration ramp Hexadecimal

Value 10h: Coast to stop

Value 20h: Deceleration ramp to velocity P1-38,

then coast to stop (actual velocity must be less
than the value of P1-38 for 50 ms before coasting
to stop starts)

In the operating mode Torque (T), the deceleration

ramp is not used. Instead, the current is set to
zero.

Depending on the event that triggered the stop,

the following deceleration ramps are used:

- Signal input function STOP: P5-20

- Transmission error detected: P5-21

- Position overflow: P5-22

- Triggering of negative software limit switch: P5-

23

- Triggering of positive software limit switch: P5-24

- Triggering of negative hardware limit switch: P5-

25

- Triggering of positive hardware limit switch: P5-

26

- Any other event: P1-68

The delay time between standstill of the motor and

disabling the power stage is set via P1-19.

P1-34 Acceleration Period ms u16 Modbus 244h

TACC Applicable operating mode: PT, V 6 RW

The acceleration period is the time in milliseconds 30 per.

required to accelerate from motor standstill to
6000 rpm. 65500

For operating mode V, this parameter specifies the Decimal

acceleration.

For operating mode PT, this parameter specifies

an acceleration limitation for the pulses at the PTI
interface.
P1-35 Deceleration Period ms u16 Modbus 246h

TDEC Applicable operating mode: PT, V 6 RW

The deceleration period is the time in milliseconds 30 per.

required to decelerate from 6000 rpm to motor
standstill. 65500

For operating mode V, this parameter specifies the Decimal

deceleration.

For operating mode PT, this parameter specifies a

deceleration limitation for the pulses at the PTI
interface.
P1-37 Ratio of Load Inertia to Motor Inertia 0.1 u32 Modbus 24Ah

LMJR Applicable operating mode: PT, PS, V, T 0 RW

This parameter specifies the ratio of load inertia to 10 per.

motor inertia (J_load / J_motor).
20000
J_load: Total moment of inertia of external
mechanical load Decimal

EIO0000002299.05 171
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

J_motor: Moment of inertia of motor

P1-38 Signal Output Function ZSPD / Signal Input 0.1rpm s32 Modbus 24Ch
Function ZCLAMP - Velocity
ZSPD 0 RW
Applicable operating mode: PT, PS, V, T
100 per.
This parameter specifies the velocity for the signal
output function ZSPD. The signal output function 2000
ZSPD indicates that the velocity of the motor is
less than the velocity value set via this parameter. Decimal

This parameter specifies the velocity for the signal

input function ZCLAMP. The signal input function
ZCLAMP stops the motor. The velocity of the
motor must be below the velocity value set via this
parameter.

P1-39 Signal Output Function TSPD - Velocity rpm u32 Modbus 24Eh

SSPD Applicable operating mode: PT, PS, V, T 0 RW

This parameter specifies the velocity for the signal 3000 per.
output function TSPD. The signal output function
TSPD indicates that the velocity of the motor is 5000
greater than the velocity value set via this
parameter. Decimal

P1-40 Velocity Target Value and Velocity Limitation 10 V rpm s32 Modbus 250h

VCM Applicable operating mode: PT, PS, V, T 0 RW

In the operating mode V, this parameter specifies - per.

the target velocity that corresponds to the
maximum input voltage of 10 V. 10001

In the operating mode T, this parameter specifies Decimal

the velocity limitation that corresponds to the
maximum input voltage of 10 V.

Example: If the value of this parameter is 3000 in

the operating mode V and if the input voltage is 10
V, the target velocity is 3000 rpm.

P1-41 Torque Target Value and Torque Limitation 10 V % u16 Modbus 252h

TCM Applicable operating mode: PT, PS, V, T 0 RW

In the operating mode T, this parameter specifies 100 per.

the target torque that corresponds to the
maximum input voltage of 10 V. 1000

In the operating modes PT, PS and V, this Decimal

parameter specifies the torque limitation that
corresponds to the maximum input voltage of 10
V.

Example: If the value of this parameter is 100 in

the operating mode T and if the input voltage is 10
V, the target torque is 100 % of the nominal
torque.

Setting can only be modified if power stage is

disabled.
P1-42 ON Delay Time of Holding Brake ms u16 Modbus 254h

MBT1 Applicable operating mode: PT, PS, V, T 0 RW

This parameter specifies the time between 0 per.

enabling the power stage and starting a
movement (opening time for the holding brake). 1000

Decimal
P1-44 Electronic Gear Ratio - Numerator 1 - u32 Modbus 258h

172 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

GR1 Applicable operating mode: PT, PS 1 RW

This parameter is used to set the numerator of the 128 per.

gear ratio. The denominator of the gear ratio is set
via P1-45. 536870911

In the operating mode PS, the value of this Decimal

parameter can only be modified when the power
stage is disabled.

P1-45 Electronic Gear Ratio - Denominator - u32 Modbus 25Ah

GR2 Applicable operating mode: PT, PS 1 RW

This parameter is used to set the denominator of 10 per.

the gear ratio. The numerator of the gear ratio is
set via P1-44. 2147483647

Setting can only be modified if power stage is Decimal

disabled.
P1-46 Number of encoder simulation increments (AB LPR s32 Modbus 25Ch
signal) per revolution
ENCOUTRES - RW
Applicable operating mode: PT, PS, V, T
2048 per.
The calculation of the range of this parameter
depends on the value of P1-55. -

Setting can only be modified if power stage is Decimal

disabled.
P1-47 Signal Output Function SP_OK - Velocity rpm u32 Modbus 25Eh

SPOK Applicable operating mode: V 0 RW

This parameter specifies the velocity deviation 10 per.

window for the signal output function SP_OK. The
signal output function SP_OK indicates that actual 300
velocity is within the velocity deviation window.
Decimal
P1-48 Signal Output Function MC_OK - Settings - u16 Modbus 260h

MCOK Applicable operating mode: PS 0h RW

This parameter specifies the behavior of the signal 0h per.

output function MC_OK after it has been
activated. The signal output function MC_OK 21h
indicates that both the signal output functions
CMD_OK and TPOS have been activated. In Hexadecimal
addition, you can specify whether a detected
position deviation is to trigger a detected error.

A: Behavior of MC_OK after deactivation of TPOS

Value 0: When TPOS is deactivated, MC_OK is

deactivated.

Value 1: When TPOS is deactivated, MC_OK

remains activated.

B: Response to detected position deviation via

TPOS if A is set to 0

Value 0: No response

Value 1: Detected alert

EIO0000002299.05 173
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Value 2: Detected error

P1-52 Braking Resistor - Resistance Ohm s16 Modbus 268h

REGENRES Applicable operating mode: PT, PS, V, T -1 RW

This parameter is used to set the resistance of the - per.

braking resistor.
32767
Value -1: No braking resistor
Decimal
P1-53 Braking Resistor - Power W s16 Modbus 26Ah

REGENPOW Applicable operating mode: PT, PS, V, T -1 RW

This parameter is used to set the power of the - per.

braking resistor.
32767
Value -1: No braking resistor
Decimal
P1-54 Signal Output Function TPOS - Trigger Value PUU u32 Modbus 26Ch

PER Applicable operating mode: PT, PS 0 RW

This parameter specifies the position deviation 1311 per.

value used to activate the signal output function
TPOS. 1280000

Operating mode PT: The signal output function Decimal

TPOS indicates that the position deviation is
within the tolerance set via this parameter.

Operating mode PS: The signal output function

TPOS indicates that the position deviation at the
target position is within the tolerance set via this
parameter.

P1-55 Maximum Velocity - User-Defined rpm u32 Modbus 26Eh

VLIM Applicable operating mode: PT, PS, V, T 10 RW

This parameter specifies the maximum velocity. - per.

Factory setting: maximum motor speed.
6000
Setting can only be modified if power stage is
disabled. Decimal

P1-57 Torque Monitoring - Torque Value % u16 Modbus 272h

CRSHA Applicable operating mode: PT, PS, V, T 0 RW

This parameter is used to configure the torque 0 per.

monitoring function. The torque monitoring
function detects an error (AL030) if the torque 300
value set via this parameter is exceeded for a
period of time set via P1-58. Decimal

P1-58 Torque Monitoring - Time Value ms u16 Modbus 274h

CRSHT Applicable operating mode: PT, PS, V, T 1 RW

This parameter is used to configure the torque 1 per.

monitoring function. The torque monitoring
function detects an error (AL030) if the torque 1000
value set via P1-57 is exceeded for a period of
time set via this parameter. Decimal

P1-59 S Curve Filter for Operating Mode Velocity us u32 Modbus 276h

VELCMDMOVEAVG Applicable operating mode: V 0 RW

This parameter specifies the moving average time 0 per.

in [us] for the S curve filter in the operating mode
Velocity. The value of this parameter must be a 255875

Decimal

174 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
multiple of 125. This filter changes a linear
acceleration into an S curve.

Setting can only be modified if power stage is

disabled.
P1-60 Commutation Monitoring - Time Threshold ms u16 Modbus 278h

COMMERRT- Applicable operating mode: PT, PS, V, T 0 RW

THRESH
0 per.

3000

Decimal
P1-61 Commutation Monitoring - Velocity Threshold 0.1rpm u32 Modbus 27Ah

COMMERRV- Applicable operating mode: PT, PS, V, T 0 RW

THRESH
600 per.

60000

Decimal
P1-62 Motor Overtemperature Monitoring - Response - u16 Modbus 27Ch

THERMODE Applicable operating mode: PT, PS, V, T 0 RW

This parameter specifies the response of the drive 0 per.

if the temperature monitoring function detects
motor overtemperature. 5

Value 0: Disable power stage immediately Decimal

Value 3: Ignore overtemperature

Value 4: Alert

Value 5: Alert first, then detected error if condition

persists after P1-63

P1-63 Motor Overtemperature Monitoring - Delay Time s u16 Modbus 27Eh

THERMTIME Applicable operating mode: PT, PS, V, T 0 RW

This parameter specifies the delay time between 30 per.

the detection of motor overtemperature and the
transition to the operating state Fault (see P1-62). 300

Decimal
P1-64 Undervoltage Monitoring - Response - u16 Modbus 280h

UVMODE Applicable operating mode: PT, PS, V, T 0 RW

This parameter specifies the response of the drive 0 per.

if the undervoltage monitoring function detects
undervoltage. 3

Value 0: Detected error Decimal

Value 1: Alert (if power stage is enabled)

Value 2: Alert first, then detected error if condition

persists after P1-67 (if power stage is enabled)

Value 3: Detected error (if power stage is enabled)

P1-65 Reserved – – –

P1-66 Status of Foldback Current Motor - u16 Modbus 284h

MFOLD Applicable operating mode: PT, PS, V, T 0 RO

This parameter indicates whether the foldback - -

current limit is greater than or less than the
maximum current of the motor (see P1-78). 1

EIO0000002299.05 175
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Value 0: Foldback current limit greater than P1-78 Decimal

Value 1: Foldback current limit is less than P1-78

P1-67 Undervoltage Monitoring - Delay Time s u16 Modbus 286h

UVTIME Applicable operating mode: PT, PS, V, T 0 RW

This parameter specifies the delay time between 30 per.

the detection of an undervoltage condition
(displayed as "u")and the response of the drive to 300
this condition as specified in P1-64.
Decimal
P1-68 Active Disable - Deceleration Ramp ms u16 Modbus 288h

DECSTOP Applicable operating mode: PT, PS, V 6 RW

This parameter specifies the deceleration ramp for 30 per.

a power stage Disable request, see P1-32.
65500

Decimal
P1-69 Disable - Deceleration Time ms u16 Modbus 28Ah

DECSTOPTIME Applicable operating mode: PT, PS, V 0 RW

This parameter specifies the deceleration ramp for 0 per.

a power stage Disable request, see P1-32. If the
value of this parameter is not 0, this parameter 6500
overrides P1-68.
Decimal
Setting can only be modified if power stage is
disabled.
P1-70 Signal Input Function HALT - Maximum Current 0.01A u32 Modbus 28Ch

IMAXHALT Applicable operating mode: T - RW

This parameter specifies the maximum current for 0 per.

the signal input function Halt. The maximum value
for this parameter is the value of P1-79. -

Decimal
P1-71 Braking Resistor - Maximum Time in Braking ms u16 Modbus 28Eh

REGENMAXONTIME Applicable operating mode: PT, PS, V, T 10 RW

This parameter specifies the maximum time in 40 per.

braking for the braking resistor. The maximum
time in braking is the maximum period of time 100
during which the braking resistor may be
activated. Decimal

P1-72 Braking Resistor Overload Monitoring - Response - u16 Modbus 290h

REGENFLTMODE Applicable operating mode: PT, PS, V, T 0 RW

This parameter specifies the response of the drive 0 per.

if the braking resistor overload monitoring function
detects braking resistor overload. 1

Value 0: Alert Decimal

Value 1: Detected error

P1-78 User-Defined Maximum Current 0.01A u32 Modbus 29Ch

ILIM Applicable operating mode: PT, PS, V, T - RW

This parameter is specifies a user-defined - per.

maximum current for the drive. The maximum
value of this parameter is the value of P1-79. -

Decimal
P1-79 Maximum Current 0.01A u32 Modbus 29Eh

176 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

IMAX Applicable operating mode: PT, PS, V, T - RO

This parameter indicates the maximum current for - -

a drive / motor combination.
-

Decimal
P1-80 Maximum Peak Current 0.01A u32 Modbus 2A0h

DIPEAK Applicable operating mode: PT, PS, V, T - RO

This parameter indicates the maximum peak - -

current of the drive.
-

Decimal
P1-81 Nominal Current 0.01A u32 Modbus 2A2h

DICONT Applicable operating mode: PT, PS, V, T - RO

This parameter indicates the nominal current of - -

the drive.
-

Decimal
P1-84 Configured motor type - u32 Modbus 2A8h

CFG_MOTOR Applicable operating mode: PT, PS, V, T 0 RW

- per.

2147483647

Decimal
P1-88 Simulated Enc Index Pulse Duration - u16 Modbus 2B0h

INDEXDURATE 0 RW

0 per.

100

Decimal

EIO0000002299.05 177
 Parameters

P2 - Extended Parameters
P2 - Extended Parameters
Parameter name Description Unit Data type Parameter address
via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P2-01 Gain Switching - Rate for Position Loop % u16 Modbus 302h

PPR Applicable operating mode: PT, PS 10 RW

This parameter specifies the gain switching rate 100 per.

for the position loop. The gain switching function is
configured via this parameter and parameters P2- 500
05, P2-27 and P2-29.
Decimal
P2-05 Gain Switching - Rate for Velocity Loop % u16 Modbus 30Ah

SPR Applicable operating mode: PT, PS, V, T 10 RW

This parameter specifies the gain switching rate 100 per.

for the velocity loop. The gain switching function is
configured via this parameter and parameters P2- 500
01, P2-27 and P2-29.
Decimal
P2-08 Factory Reset / Save Parameters - u16 Modbus 310h

PCTL Applicable operating mode: PT, PS, V, T 0 RW

This parameter provides the following functions: 0 -

- Reset the parameters to the factory settings 406

- Save the current parameter values Decimal

The factory settings do not become effective until

after you have powered the drive off and on again.

Value 10: Reset the parameter values to the

factory settings

Value 11: Save the parameter values

Value 400: Normal digital output control operation

mode

Value 406: Force output control operation mode

NOTE: Value 999 is displayed when the
parameter values are successfully saved.

P2-09 Debounce Time - Inputs ms u16 Modbus 312h

DRT Applicable operating mode: PT, PS, V, T 0 RW

This parameter specifies the debounce time for 2 per.

the digital inputs DI1 ... DI5 and DI8. See P2-24
for the debounce time for the fast digital inputs DI6 20
and DI7.
Decimal
P2-10 Signal Input Function for DI1 - u16 Modbus 314h

DITF1 Applicable operating mode: PT, PS, V, T 0h RW

The parameters P2-10 ... P2-17 are used to 101h per.

assign signal input functions to the digital inputs
DI1 ... DI8 and to configure the type of digital input 146h
(normally closed, normally open).
Hexadecimal
A: Signal input functions:

For the values, refer to chapter Setting the Digital

Signal Inputs, page 239.

B: Type:

178 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

0: Normally closed (contact b)

1: Normally open (contact a)

Example: If the setting of P2-10 is 101, the signal

input function assigned to digital input 1 is SON
(0x01) and the type of contact is a normally open
contact.

The drive must be restarted after the parameters

have been modified.

Forcing of digital inputs is configured via P3-06

and activated via P4-07.

Setting can only be modified if power stage is

disabled.
P2-11 Signal Input Function for DI2 - u16 Modbus 316h

DITF2 Applicable operating mode: PT, PS, V, T 0h RW

See P2-10 for details. 104h per.

Setting can only be modified if power stage is 146h

disabled.
Hexadecimal
P2-12 Signal Input Function for DI3 - u16 Modbus 318h

DITF3 Applicable operating mode: PT, PS, V, T 0h RW

See P2-10 for details. 116h per.

Setting can only be modified if power stage is 146h

disabled.
Hexadecimal
P2-13 Signal Input Function for DI4 - u16 Modbus 31Ah

DITF4 Applicable operating mode: PT, PS, V, T 0h RW

See P2-10 for details. 117h per.

Setting can only be modified if power stage is 146h

disabled.
Hexadecimal
P2-14 Signal Input Function for DI5 - u16 Modbus 31Ch

DITF5 Applicable operating mode: PT, PS, V, T 0h RW

See P2-10 for details. 102h per.

Setting can only be modified if power stage is 146h

disabled.
Hexadecimal
P2-15 Signal Input Function for DI6 - u16 Modbus 31Eh

DITF6 Applicable operating mode: PT, PS, V, T 0h RW

See P2-10 for details. 22h per.

Setting can only be modified if power stage is 146h

disabled.
Hexadecimal
P2-16 Signal Input Function for DI7 - u16 Modbus 320h

DITF7 Applicable operating mode: PT, PS, V, T 0h RW

See P2-10 for details. 23h per.

Setting can only be modified if power stage is 146h

disabled.
Hexadecimal
P2-17 Signal Input Function for DI8 - u16 Modbus 322h

EIO0000002299.05 179
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

DITF8 Applicable operating mode: PT, PS, V, T 0h RW

See P2-10 for details. 21h per.

Setting can only be modified if power stage is 146h

disabled.
Hexadecimal
P2-18 Signal Output Function for DO1 - u16 Modbus 324h

DOTF1 Applicable operating mode: PT, PS, V, T 0h RW

The parameters P2-18 ... P2-22 are used to 101h per.

assign signal output functions to the digital outputs
DO1 ... DO5 and to configure the type of digital 137h
output (normally closed, normally open).
Hexadecimal

A: Signal output functions:

For the values, refer to chapter Setting the Digital

Signal Outputs, page 244.

B: Type:

0: Normally closed (contact b)

1: Normally open (contact a)

Example: If the setting of P2-18 is 101, the signal

output function assigned to digital output 1 is
SRDY (0x01) and the type of contact is a normally
open contact.

P2-19 Signal Output Function for DO2 - u16 Modbus 326h

DOTF2 Applicable operating mode: PT, PS, V, T 0h RW

See P2-18 for details. 103h per.

137h

Hexadecimal
P2-20 Signal Output Function for DO3 - u16 Modbus 328h

DOTF3 Applicable operating mode: PT, PS, V, T 0h RW

See P2-18 for details. 109h per.

137h

Hexadecimal
P2-21 Signal Output Function for DO4 - u16 Modbus 32Ah

DOTF4 Applicable operating mode: PT, PS, V, T 0h RW

See P2-18 for details. 105h per.

137h

Hexadecimal
P2-22 Signal Output Function for DO5 - u16 Modbus 32Ch

DOTF5 Applicable operating mode: PT, PS, V, T 0h RW

See P2-18 for details. 7h per.

137h

180 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Hexadecimal
P2-23 Signal Output Function for DO6(OCZ) - u16 Modbus 32Eh

DOTF6 Applicable operating mode: PT, PS, V, T 0h RW

Only the signal output function ESIM can be 40h per.

assigned to the digital output DO6(OCZ).
137h
Value 0: Encoder simulation function disabled
Hexadecimal
Value 40(h): Encoder simulation function enabled

Use P2-18 … P2-22 for assigning other signal

output functions to the other digital outputs DO1
… DO5.

See P2-18 for details.

P2-24 Debounce Time - Fast Inputs us u16 Modbus 330h

FDRT Applicable operating mode: PT, PS, V, T 0 RW

This parameter specifies the debounce time for 50 per.

the digital inputs DI6 and DI7. See P2-09 for the
debounce time for the digital inputs DI1 … DI5 and 20000
DI8.
Decimal
P2-27 Gain Switching - Conditions and Type - u16 Modbus 336h

GCC Applicable operating mode: PT, PS, V, T 0h RW

This parameter specifies the conditions for and 0h per.

the type of gain switching. The gain switching
function is configured via this parameter and 18h
parameters P2-01, P2-05 and P2-29.
Hexadecimal

A: Conditions for gain switching:

0: Disabled

1: Signal input function GAINUP is active

2: In operating modes PT and PS, the position

deviation is greater than the value of P2-29

3: Pulse frequency is greater than the value of P2-

29

4: Velocity is greater than the value of P2-29

5: Signal input function GAINUP is not active

6: In operating modes PT and PS, the position

deviation is less than the value of P2-29

7: Pulse frequency is less than the value of P2-29

8: Velocity is less than the value of P2-29

P2-29 Gain Switching - Comparison Value - u32 Modbus 33Ah

GPE Applicable operating mode: PT, PS, V, T 0h RW

This parameter specifies the comparison value 138800h per.

used for the conditions for gain switching.
Depending on the selected condition, the value 3A9800h
entered represents the number of pulses (position
Hexadecimal

EIO0000002299.05 181
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
deviation), the pulse frequency or the velocity. The
gain switching function is configured via this
parameter and parameters P2-01, P2-05 and P2-
27.
P2-30 Auxiliary Functions - s16 Modbus 33Ch

INH Applicable operating mode: PT, PS, V, T -8 RW

Value 0: Disabled 0 -

Value 1: Enable the power stage 8

Decimal
P2-31 Autotuning Optimization Value Threshold 0.001 u32 Modbus 33Eh

LTNEFFORT Applicable operating mode: PT, PS, V 100 RW

This parameter is used to modify the gain. 1000 -

10000

Decimal
P2-32 Autotuning - u16 Modbus 340h

ATMODE Applicable operating mode: PT, PS, V 0 RW

This parameter is used to start autotuning with the 0 -

selected autotuning method.
56
Value 0: Stop Autotuning
Decimal
Value 1: Easy Tuning

Value 2: Comfort Tuning [minimum settling time,

vibration suppression]

Value 3: Comfort Tuning [minimum overshoot,

vibration suppression]

Value 52: Comfort Tuning [minimum settling time,

no vibration suppression]

Value 53: Comfort Tuning [minimum overshoot, no

vibration suppression]

P2-34 Velocity Monitoring - Threshold Value 0.1rpm u32 Modbus 344h

VEMAX Applicable operating mode: V 0 RW

This parameter specifies the velocity threshold for 50000 per.

the velocity monitoring function. If this value is
exceeded, error AL555 is detected. 60000

Decimal
P2-35 Position Deviation Monitoring - Threshold Value 10*pulse u32 Modbus 346h

PDEV Applicable operating mode: PT, PS 1 RW

This parameter specifies the position deviation 384000 per.

threshold for the position deviation monitoring
function. If this value is exceeded, error AL009 is 12800000
detected.
Decimal
P2-36 PTI Interface Debounce Time - Pulse 16.6666*ns u16 Modbus 348h

PT_PULSE_FLTR Applicable operating mode: PT, PS, V, T 0 RO

This parameter specifies the debounce time of the 30 -

pulse input of the PTI interface.
511

Decimal
P2-37 PTI Interface Debounce Time - Direction 16.6666*ns u16 Modbus 34Ah

182 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

PT_DIRECT_FLTR Applicable operating mode: PT, PS, V, T 0 RO

This parameter specifies the debounce time of the 30 -

direction input of the PTI interface.
511

Decimal
P2-44 Set the AUTOR feature digital out mode - u16 Modbus 358h

AUTOR_DOMS Applicable operating mode: PS 0h RW

This parameter provides information on the status 0h per.

of the sequence of data sets processed with the
signal input functions. 1h

Value 0: General output mode. The functions Hexadecimal

assigned to the digital outputs DO1 … DO6 via the
parameters P2-18 … P2-23 are active.

Value 1: Combination output mode. The digital

outputs provide information on the status of the
sequence of data sets.

When this parameter is reset to 0, the previous

assignments and configurations of the digital
outputs as set via the parameters P2-18 … P2-23
are restored.

See Status of Data Set Sequences for details.

P2-50 Signal Input Function CLRPOS - Trigger - u16 Modbus 364h

DCLR Applicable operating mode: PT 0h RW

This function is only supported in linear control 0h per.

mode (P8-35=0x4001)
1h
This parameter specifies how the signal input
function CLRPOSDEV is triggered. The signal Hexadecimal
input function CLRPOSDEV resets the position
deviation to zero.

Value 0: Rising edge

Value 1: Level
P2-60 Electronic Gear Ratio - Numerator 2 - u32 Modbus 378h

GR2 Applicable operating mode: PT, PS 1 RW

This parameter can be used to set an additional 128 per.

gear ratio. The additional gear ratio can be
selected via the signal input functions GNUM0 536870911
and GNUM1.
Decimal
See P1-44 for details.
P2-61 Electronic Gear Ratio - Numerator 3 - u32 Modbus 37Ah

GR3 Applicable operating mode: PT, PS 1 RW

See P2-60 for details. 128 per.

536870911

Decimal
P2-62 Electronic Gear Ratio - Numerator 4 - u32 Modbus 37Ch

GR4 Applicable operating mode: PT, PS 1 RW

See P2-60 for details. 128 per.

536870911

Decimal

EIO0000002299.05 183
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P2-65 Special Function 1 - u16 Modbus 382h

GBIT Applicable operating mode: PT, PS, V 0h RW

Bits 0 … 1: Reserved (must be set to 0). 200h per.

Bit 2: Activate/ deactivate the fault AL560 FFFCh

• 0: The alarm can be triggered Hexadecimal
• 1: The alarm cannot be triggered
Bit 4: Target position rejected monitoring
• 0: Function activated (AL520)
• 1: Function deactivated
Bit 5: Current limitation in torque mode
• 0: Function activated
• 1: Function deactivated
Bit 6: Reference pulse monitoring
• 0: Function activated
• 1: Function deactivated
Bit 7: Pulse signal monitoring
• 0: Function activated (AL534)
• 1: Function deactivated
Bit 8: Motor overload monitoring
• 0: Function activated (AL006)
• 1: Function deactivated
Bit 9: Motor phase monitoring
• 0: Function deactivated
• 1: Function activated
Bit 10: Acceleration and deceleration for ZCLAMP:
• 0: Immediate stop. Motor is locked at the
position where it was when ZCLAMP
became active.
• 1: Motor is decelerated with deceleration
ramp setting. Motor is locked at the position
where standstill is reached.
P2-65(continued) Bit 11: NL(CWL)/PL(CCWL) pulse input inhibit
function
• 0: Function activated
• 1: Function deactivated
If P8-31 is set to 1 or 3 and if a hardware limit
switch is triggered, a Fault Reset clears the
missing master pulses. Only use the pulse inhibit
function with settings 1 or 3 of P8-31 if you do not
need a Fault Reset after a detected hardware limit
switch error. To achieve this, set the Automatic
Fault Reset function of P2-68 to 1.

Bit 12: Mains phase monitoring

• 0: Function activated (AL022)
• 1: Function deactivated
Bit 13: Encoder simulation output monitoring
• 0: Function activated (AL018)
• 1: Function deactivated
Bit 14: Unit of P8-23, P8-24 and P8-33
• 0: Unit is in Hz
• 1: Unit is in 0.01Hz
Bit 15: Check if phases are connected by current
injection
• 0: Function activated

184 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
• 1: Function deactivated
P2-66 Special Function 2 - u16 Modbus 384h

GBIT2 Applicable operating mode: PT, PS, V, T 0 RW

Bits 0 … 1: Reserved (must be set to 0). 0 per.

Bit 2: This bit specifies the type of Fault Reset 4

after a detected undervoltage error has been
removed. Decimal

0: No automatic Fault Reset

1: Automatic Fault Reset

Bits 3 … 7: Reserved (must be set to 0).

P2-68 Auto-Enable and Automatic Hardware Limit - u16 Modbus 388h

Switch Fault Reset
AEAL 0h RW
Applicable operating mode: PT, PS, V, T
0h per.
Bit12 of P2-68 to switch Error Or Warning when
trigger limit switch for IO output function 1111h
• 0: Digital Output (0x11) WARN Warning Hexadecimal
Signal Activated = “true”
• 1: Digital Output(0x07) ERROR Detected =
“true”

X: Automatic power stage enabling

0: Trigger SON to enable power stage

1: Enable power stage automatically if SON is

active after drive has been powered on

Y: Automatic Fault Reset for limit switches

0: Detected hardware limit switch error (AL014

and AL015) requires Fault Reset

1: Detected hardware limit switch error (AL014

and AL015) can be reset without Fault Reset

Z: Reserved

0: No detected error

1: Detected error, Fault Reset required

Modified settings become active the next time the

product is powered on.

P2-69 Analog Input 1 Value mV s16 Modbus 38Ah

EIO0000002299.05 185
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

ANIN1 Applicable operating mode: PT, PS, V, T -12500 RO

This parameter Indicates the value of analog input - per.

1.
12500

Decimal
P2-70 Analog Input 2 Value mV s16 Modbus 38Ch

ANIN2 Applicable operating mode: PT, PS, V, T -12500 RO

This parameter Indicates the value of analog input - per.

2.
12500

Decimal
P2-71 FOLDBACK_FAULT_TRIG_IMM - u16 Modbus 38Eh

FOLDBACK_FAULT_ Applicable operating mode: PT, PS, V, T 0 RW

TRIG_IMM
This parameter Active the fault as the fold back 1 per.
limit is equal to current
1

Decimal
P2-72 Motor Foldback Time Constant - u32 Modbus 390h

MFOLDT_DISPLY Applicable operating mode: PT, PS, V, T - RO

This parameter Indicates the value of MFOLDT_ 0 per.

INDEX according to P2-73 (see Overload
Characteristics Curves, page 43). 4294967295

Decimal
P2-73 Motor Foldback level - u16 Modbus 392h

MFOLDT_INDEX Applicable operating mode: PT, PS, V, T 1 RW

This parameter define the level of MFOLDT. The 1 per.

corresponding MFOLDT value is displayed in P2-
72. 4

Decimal

186 EIO0000002299.05
Parameters

P3 - Communication Parameters
P3 - Communication Parameters
Parameter name Description Unit Data type Parameter address
via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P3-00 Device Address Modbus - u16 Modbus 400h

ADR Applicable operating mode: PT, PS, V, T 1 RW

The device address must be unique. 127 per.

Modified settings become active the next time the 247

product is powered on.
Decimal
P3-01 Transmission Rate - u16 Modbus 402h

BRT Applicable operating mode: PT, PS, V, T 0h RW

This parameter is used to set the data 102h per.

transmission rate.
405h
For further information, refer to chapter Setting the
Device Address, Baud Rate and Connection Hexadecimal
Settings, page 130.

Modified settings become active the next time the

product is powered on.

P3-02 Modbus Connection Settings - u16 Modbus 404h

PTL Applicable operating mode: PT, PS, V, T 6h RW

This parameter specifies the Modbus connection 7h per.

settings.
9h
For further information, refer to chapter Setting the
Device Address, Baud Rate and Connection Hexadecimal
Settings, page 130.

Modified settings become active the next time the

product is powered on.

P3-03 Detected Modbus Communication Errors - - u16 Modbus 406h

Handling
FLT 0h RW
Applicable operating mode: PT, PS, V, T
0h per.
This parameter specifies the response of the drive
to a detected communication error. 1h

Value 0: Detected alert Hexadecimal

Value 1: Detected error

P3-04 Modbus Connection Monitoring ms u16 Modbus 408h

CWD Applicable operating mode: PT, PS, V, T 0 RW

This parameter specifies the maximum 0 per.

permissible duration for communication timeout.
When this time has elapsed, the communication 20000
timeout is treated as a detected error.
Decimal
Setting this parameter to 0 to disables connection
monitoring.

EIO0000002299.05 187
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P3-06 Digital Inputs - Forcing Settings - u16 Modbus 40Ch

SDI Applicable operating mode: PT, PS, V, T 0h RW

This parameter determines whether or not a digital 0h -

input can be forced.
7FFh
Bits 0 ... 7: Digital input DI1 ... digital input DI8
Hexadecimal
Bit settings:

Value 0: Digital input cannot be forced

Value 1: Digital input can be forced

To actually start forcing, you must write P4-07.

See P2-10 ... P2-17 for the assignment of signal

input functions to the digital inputs.

P3-07 Modbus Response Delay Time 0.5ms u16 Modbus 40Eh

CDT Applicable operating mode: PT, PS, V, T 0 RW

This parameter specifies the time delay with which 0 per.

the drive responds to the Modbus master.
1000

Decimal

P4 - Diagnostics Parameters
P4 - Diagnostics Parameters
Parameter name Description Unit Data type Parameter address
via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P4-00 Error History - Error Code of Most Recent - u16 Modbus 500h
Detected Error n
ASH1 0h RW
Applicable operating mode: PT, PS, V, T
0h -
This parameter indicates the error code of the
most recent detected error. FFFFh

Writing 0 to this parameter clears the error history. Hexadecimal

P4-01 Error History - Error Code of Most Recent - u16 Modbus 502h
Detected Error n - 1
ASH2 0h RO
Applicable operating mode: PT, PS, V, T
0h -
This parameter indicates the error code of the
detected error n-1, n being the most recent FFFFh
detected error.
Hexadecimal
P4-02 Error History - Error Code of Most Recent - u16 Modbus 504h
Detected Error n - 2
ASH3 0h RO
Applicable operating mode: PT, PS, V, T
0h -

FFFFh

188 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

This parameter indicates the error code of the Hexadecimal

detected error n-2, n being the most recent
detected error.
P4-03 Error History - Error Code of Most Recent - u16 Modbus 506h
Detected Error n - 3
ASH4 0h RO
Applicable operating mode: PT, PS, V, T
0h -
This parameter indicates the error code of the
detected error n-3, n being the most recent FFFFh
detected error.
Hexadecimal
P4-04 Error History - Error Code of Most Recent - u16 Modbus 508h
Detected Error n - 4
ASH5 0h RO
Applicable operating mode: PT, PS, V, T
0h -
This parameter indicates the error code of the
detected error n-4, n being the most recent FFFFh
detected error.
Hexadecimal
P4-05 Jog Velocity rpm u32 Modbus 50Ah

JOG Applicable operating mode: PT, PS, V, T 0 RW

For further information, refer to chapter Jog 20 per.

Operation, page 253.
5000

Decimal
P4-06 Forcing Matrix of Digital Outputs - u16 Modbus 50Ch

FOT Applicable operating mode: PT, PS, V, T 0h RW

This parameter lets you set those signal outputs 0h -

whose signal output functions have been set to
SDO_0 … SDO_5. FFh

Bit 0 = 1 sets those signal outputs whose signal Hexadecimal

output function has been set to SDO_0.

Bit 1 = 1 sets those signal outputs whose signal

output function has been set to SDO_1.

Bit 2 = 1 sets those signal outputs whose signal

output function has been set to SDO_2.

Bit 3 = 1 sets those signal outputs whose signal

output function has been set to SDO_3.

Bit 4 = 1 sets those signal outputs whose signal

output function has been set to SDO_4.

Bit 5 = 1 sets those signal outputs whose signal

output function has been set to SDO_5.

Bit 6 = 1 sets those signal outputs whose signal

output function has been set to SDO_6.

Bit 7 = 1 sets those signal outputs whose signal

output function has been set to SDO_7.

See P2-18 ... P2-22 for assigning the functions to

the digital outputs.

P4-07 State of Digital Inputs / Activate Forcing - u16 Modbus 50Eh

ITST Applicable operating mode: PT, PS, V, T 0h RW

A read access to this parameter indicates the 0h -

state of the digital inputs in the form of a bit
pattern. FFh

Example: Hexadecimal

EIO0000002299.05 189
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Read value 0x0011: Digital inputs 1 and 5 are

logical 1

By writing this parameter, you can modify the state

of the inputs provided that the setting for the
corresponding input in P3-06 allows for forcing
(value 1 for the bit corresponding to the input).

Example:

Write value 0x0011: Digital inputs 1 and 5 are set

to logical 1, regardless of the previous state

See P3-06 for permitting forcing of individual

digital inputs.

See P2-10 ... P2-17 for the assignment of signal

input functions to the digital inputs.

P4-08 Status of HMI Keypad - u16 Modbus 510h

PKEY Applicable operating mode: PT, PS, V, T 0h RO

This parameter is used to verify proper operation 0h -

of the keys on the HMI keypad of the drive
FFh
As a bitwise:
Hexadecimal
• "1" - key is pressed,
• "0" - key is released.
When:
• S key is indicated by bit0
• M key is indicated by bit1
• UP key is indicated by bit2
• DOWN key is indicated by bit3
• ENT key is indicated by bit4

P4-09 State of Digital Outputs - u16 Modbus 512h

MOT Applicable operating mode: PT, PS, V, T 0h RO

This parameter indicates the state of the digital 0h -

outputs DO1…DO6.
3Fh
Bit 0 = 1: DO1 is activated
Hexadecimal
Bit 1 = 1: DO2 is activated

Bit 2 = 1: DO3 is activated

Bit 3 = 1: DO4 is activated

Bit 4 = 1: DO5 is activated

Bit 5 = 1: DO6 is activated

P4-10 Clear Error History - u16 Modbus 514h

FLTHISTCLR Applicable operating mode: PT, PS, V, T 0 RW

Writing 0 to this parameter clears the error history. 0 -

Decimal
P4-20 Analog Input 1 Dead Band mV s16 Modbus 528h

ANIN1DB Applicable operating mode: PT, PS, V, T 0 RW

This parameter gets/sets the dead band of analog 0 per.

input 1.
10000

Decimal

190 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

If the absolute value of the analog input signal is

less than this value, no analog command signal is
generated.

This function helps to prevent the drive from

responding to voltage noise near the zero point of
the analog input.

P4-21 Analog Input 2 Dead Band mV s16 Modbus 52Ah

ANIN2DB Applicable operating mode: PT, PS, V, T 0 RW

This parameter gets/sets the dead band of analog 0 per.

input 2.
10000
If the absolute value of the analog input signal is
less than this value, no analog command signal is Decimal
generated.

This function helps to prevent the drive from

responding to voltage noise near the zero point of
the analog input.

P4-22 Analog Input 1 Offset mV s16 Modbus 52Ch

ANIN1OFFSET Applicable operating mode: V -10000 RW

This parameter specifies an offset for the analog 0 per.

input used in operating mode V.
10000

Decimal
P4-23 Analog Input 2 Offset mV s16 Modbus 52Eh

ANIN2OFFSET Applicable operating mode: T -10000 RW

This parameter specifies an offset for the analog 0 per.

input used in operating mode T.
10000

Decimal
P4-24 Undervoltage Monitoring - Threshold Value V u16 Modbus 530h

LVL Applicable operating mode: PT, PS, V, T 140 RW

This parameter specifies the threshold value for 160 per.

DC bus undervoltage monitoring. If the DC Bus
voltage is less than the value of P4-24 x √2, the 190
error AL003 is detected.
Decimal
P4-26 Forceable digital outputs - u16 Modbus 534h

DO_FORCEABLE Applicable operating mode: PT, PS, V, T Hexadecimal RO

This parameter shows whether or not a digital -

output can be forced.

Bits 0 … 4: Digital output DO1 … digital output

DO5

Bit settings:

Value 0: Digital output cannot be forced

Value 1: Digital output can be forced

P4-27 Digital output force mask - u16 Modbus 536h

DO_FORCE_MASK Applicable operating mode: PT, PS, V, T 0h RW

This parameter contains a mask that determines 0h -

whether or not a digital output can be forced.
Hexadecimal
Bits 0 … 4: Digital output DO1 … digital output
DO5

EIO0000002299.05 191
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Bit settings:

Value 0: Digital output cannot be forced

Value 1: Digital output can be forced

To actually start forcing, you must write P4-28.

See P2-18 … P2-22 for the assignment of signal

output functions to the digital outputs.

P4-28 Digital output force value - u16 Modbus 538h

DO_FORCE_VALUE Applicable operating mode: PT, PS, V, T 0h RW

A read access to this parameter indicates the 0h -

state of the digital outputs in the form of a bit
pattern. Hexadecimal

Example:

Read value 0x0011: Digital outputs 1 and 5 are

logical 1

By writing this parameter, you can modify the state

of the outputs provided that the setting for the
corresponding output in P4-27 allows for forcing
(value 1 for the bit corresponding to the output).

Example:

Write value 0x0011: Digital outputs 1 and 5 are set

to logical 1, regardless of the previous state

See P4-27 for permitting forcing of individual

digital outputs.

See P2-18 … P2-22 for the assignment of signal

output functions to the digital outputs.

P4-29 Motor Load Period Time ms u32 Modbus 53Ah

LOAD_PERIOD_ Applicable operating mode: PT, PS, V, T 1 RW

TIME
This parameter specifies the time period in which 5000 per.
the average load will be calculated.
100000
Modified settings become active the next time the
product is powered on. Decimal

192 EIO0000002299.05
Parameters

P5 - Motion Settings
P5- Motion Settings
Parameter name Description Unit Data type Parameter address
via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P5-00 Firmware Revision - u16 Modbus 600h

REV Applicable operating mode: PT, PS, V, T 0h RO

This parameter contains the revision number of 0h -

the firmware.
FFFFh

Hexadecimal
P5-04 Homing - Homing Method Selection - u16 Modbus 608h

HMOV Applicable operating mode: PS 0h RW

This parameter is used to select the homing 0h per.

method and configure the behavior of the index
pulse and the limit switches. 128h

For further information, refer to chapter Operating Hexadecimal

Mode Position Sequence (PS), page 259.

Setting can only be modified if power stage is

disabled.
P5-05 Homing - Fast Velocity for Reference Movement 0.1rpm u32 Modbus 60Ah

HOMESPEED1 Applicable operating mode: PS 10 RW

1000 per.

60000

Decimal
P5-06 Homing - Slow Velocity for Reference Movement 0.1rpm u32 Modbus 60Ch

HOMESPEED2 Applicable operating mode: PS 10 RW

200 per.

60000

Decimal
P5-07 LXM26 is controlled by Modbus and it needs to - u16 Modbus 60Eh
activate the access P10-32 = 1 (Modbus address
PRCM 0xb40) before it can be operated by P5-07 0 RW

Operating Mode PS via Parameter 0 -

Applicable operating mode: PS 20032

The power stage must be enabled by using the Decimal

parameter P2-30 prior to use this function.

The power stage must be disabled by using the

parameter P2-30 after using this function.

The operating mode Position Sequence (PS)

provides 32 data sets that can be executed via the
signal input functions POS0 ... POS4 and CTRG
or via of this parameter.

0: Start operating mode Homing (Homing data set)

1 ... 32: Trigger data set (equivalent to the signal

input functions CTRG and POSn).

33 ... 9999: Not permitted

EIO0000002299.05 193
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

10000: Stop movement (equivalent to the signal

input function STOP)

Values displayed via this parameter:

If a data set is active, but not yet completed, the

value displayed is the value of this parameter plus
10000.

If a data set has been completed, the value

displayed is the value of this parameter plus
20000.

Example:

Displayed value 10003: Data set 3 has been

started, but is not yet completed.

Displayed value 20003: Data set 3 has been

completed.

Refer to chapter Operating Mode Position

Sequence (PS), page 259.

P5-08 Positive Software Limit Switch - Position PUU s32 Modbus 610h

POSLIMPOS Applicable operating mode: PS -2147483647 RW

Prerequisite: Software limit switches only work 134217727 per.

with a valid zero point.
2147483647
Setting can only be modified if power stage is
disabled. Decimal

P5-09 Negative Software Limit Switch - Position PUU s32 Modbus 612h

POSLIMNEG Applicable operating mode: PS -2147483647 RW

Prerequisite: Software limit switches only work -134217727 per.

with a valid zero point.
2147483647
Setting can only be modified if power stage is
disabled. Decimal

P5-10 Operating mode Pulse Train - Maximum ms u16 Modbus 614h

Acceleration
GEARACCTHRESH 6 RW
Applicable operating mode: PT
6 per.
This parameter is used to reduce the acceleration
noise. 65500

Decimal
P5-11 Software Limit Switches - Hysteresis Value PULSE u16 Modbus 616h

POSLIMHYST Applicable operating mode: PS 0 RW

This parameter specifies a hysteresis value for the 3556 per.

software limit switches.
35555
Setting can only be modified if power stage is
disabled. Decimal

P5-12 Touch Probe Input 1 - Stable Level Duration 31.25 μs u16 Modbus 618h

PROBE_1_LVL_PRD Applicable operating mode: PT, PS 2 RW

This parameter specifies the period of time for 5 per.

which the level at Touch Probe input 1 must be
stable. 32

Decimal
P5-13 Position Limiting Mode - u16 Modbus 61Ah

POSLIMMODE Applicable operating mode: PS 0 RW

194 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

This parameter activates/deactivates the software 2 per.

limit switches and the homing transient limits.
3
Value 0:
Decimal
• Deactivate software limit switches.
• Activate homing transient limits.
Value 1:
• Activate software limit switches.
• Activate homing transient limits.
Value 2:
• Deactivate software limit switches.
• Deactivate homing transient limits.
Value 3:
• Activate software limit switches.
• Deactivate homing transient limits.
NOTE: Software limit switches only work with
a valid zero point.

P5-14 Motion Profile for Torque - Slope mA/s u32 Modbus 61Ch

ICMDSLOPE Applicable operating mode: T 1 RW

This parameter specifies the slope of the motion 100000 per.

profile for torque.
30000000

Decimal
P5-15 Motion Profile for Torque - Activation - u16 Modbus 61Eh

ICMDSLOPEEN Applicable operating mode: T 0 RW

This parameter activates the motion profile for 0 per.

torque.
1
Value 0: Deactivate
Decimal
Value 1: Activate

Setting can only be modified if power stage is

disabled.
P5-16 Encoder Increments in PUU PUU s32 Modbus 620h

AXEN Applicable operating mode: PT, PS, V, T -2147483647 RW

Setting can only be modified if power stage is 0 -

disabled.
2147483647
This parameter specifies an offset to the encoder
position. Decimal

P5-18 External Encoder (Pulses) - s32 Modbus 624h

AXPC Applicable operating mode: PT, PS, V, T -2147483648 RO

This parameter contains the cumulated pluses - -

counted at the PTI input multiplied by 16 since the
drive has been switched on. 2147483647

Decimal
P5-20 Deceleration Ramp - Signal Input Function STOP ms u16 Modbus 628h

STP Applicable operating mode: PT, PS, V 6 RW

This parameter specifies the deceleration ramp for 50 per.

a stop triggered via the signal input function STOP.
65500

Decimal

EIO0000002299.05 195
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

The deceleration period is the time in milliseconds

required to decelerate from 6000 rpm to motor
standstill. It is used to set the deceleration ramp.

P5-21 Deceleration Ramp - Detected Transmission Error ms u16 Modbus 62Ah

CTO Applicable operating mode: PT, PS, V 6 RW

This parameter specifies the deceleration ramp for 50 per.

a stop triggered if a transmission error is detected.
65500
The deceleration period is the time in milliseconds
required to decelerate from 6000 rpm to motor Decimal
standstill. It is used to set the deceleration ramp.

P5-22 Deceleration Ramp - Position Overflow ms u16 Modbus 62Ch

OVF Applicable operating mode: PT, PS, V 6 RW

This parameter specifies the deceleration ramp for 30 per.

a stop triggered if a position overflow is detected.
65500
The deceleration period is the time in milliseconds
required to decelerate from 6000 rpm to motor Decimal
standstill. It is used to set the deceleration ramp.

P5-23 Deceleration Ramp - Triggering of Negative ms u16 Modbus 62Eh

Software Limit Switch
SNL 6 RW
Applicable operating mode: PS
50 per.
This parameter specifies the deceleration ramp for
a stop triggered if the negative software limit 65500
switch is activated.
Decimal
The deceleration period is the time in milliseconds
required to decelerate from 6000 rpm to motor
standstill. It is used to set the deceleration ramp.

P5-24 Deceleration Ramp - Triggering of Positive ms u16 Modbus 630h

Software Limit Switch
SPL 6 RW
Applicable operating mode: PS
50 per.
This parameter specifies the deceleration ramp for
a stop triggered if the positive software limit switch 65500
is activated.
Decimal
The deceleration period is the time in milliseconds
required to decelerate from 6000 rpm to motor
standstill. It is used to set the deceleration ramp.

P5-25 Deceleration Ramp - Triggering of Negative ms u16 Modbus 632h

Hardware Limit Switch
NL 6 RW
Applicable operating mode: PT, PS, V
30 per.
This parameter specifies the deceleration ramp for
a stop triggered if the negative hardware limit 65500
switch is activated.
Decimal
The deceleration period is the time in milliseconds
required to decelerate from 6000 rpm to motor
standstill. It is used to set the deceleration ramp.

P5-26 Deceleration Ramp - Triggering of Positive ms u16 Modbus 634h

Hardware Limit Switch
PL 6 RW
Applicable operating mode: PT, PS, V
30 per.
This parameter specifies the deceleration ramp for
a stop triggered if the positive hardware limit 65500
switch is activated.
Decimal

196 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

The deceleration period is the time in milliseconds

required to decelerate from 6000 rpm to motor
standstill. It is used to set the deceleration ramp.

P5-35 Touch Probes Polarity - u16 Modbus 646h

PROBES_POLARITY Applicable operating mode: PT, PS, V, T 0 RO

This parameter specifies the touch probes polarity. - per.

Decimal
P5-37 Touch Probe Input 1 - Captured Position PUU s32 Modbus 64Ah

CAAX Applicable operating mode: PT, PS, V, T -2147483647 RO

This parameter contains the position captured at 0 -

Touch Probe input 1.
2147483647

Decimal
P5-38 Touch Probe Input 1 - Event Counter - u16 Modbus 64Ch

PROBE1_CNTR Applicable operating mode: PT, PS, V, T 0 RO

The value is increased by 1 each time a position 0 -

has been captured at Touch Probe input 1.
65535

Decimal
P5-39 Touch Probe Input 1 - Configuration - u16 Modbus 64Eh

CACT Applicable operating mode: PT, PS, V, T 0h RW

X: Activate/deactivate position capture 0h -

0: Deactivate 101h

1: Activate (is reset to 0 when the counter in P5-38 Hexadecimal

is incremented)

Y: Reserved

U: Reserved

Z: Polarity of Touch Probe input

0: Normally open

1: Normally closed

Where X is the least significant half-byte and U is

the most significant half-byte of the X/Y/U/Z
Integer.

P5-57 Touch Probe Input 2 - Captured Position PUU s32 Modbus 672h

CAAX2 Applicable operating mode: PT, PS, V, T -2147483647 RO

This parameter contains the position captured at 0 -

Touch Probe input 2.
2147483647

Decimal
P5-58 Touch Probe Input 2 - Event Counter - u16 Modbus 674h

PROBE2_CNTR Applicable operating mode: PT, PS, V, T 0 RO

The value is increased by 1 each time a position 0 -

has been captured at Touch Probe input 2.
65535

Decimal

EIO0000002299.05 197
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P5-59 Touch Probe Input 2 - Configuration - u16 Modbus 676h

CACT2 Applicable operating mode: PT, PS, V, T 0h RW

X: Activate/deactivate position capture 0h -

0: Deactivate 101h

1: Activate (is reset to 0 when the counter in P5-58 Hexadecimal

is incremented)

Y: Reserved

Z: Polarity of Touch Probe input

0: Normally open

1: Normally closed

U: Reserved
P5-76 Move Home Offset When Homing - u16 Modbus 698h

HOME_OFFSET_ Applicable operating mode: Fieldbus mode 0 RW

MOVE
This parameter activate/deactivate a movement to 0 per.
a configured home offset position when the
homing position is reached. 1

Decimal
P5-77 Touch Probe Input 2 - Stable Level Duration 31.25 μs u16 Modbus 69Ah

PROBE_2_LVL_PRD Applicable operating mode: PT, PS 2 RW

This parameter specifies the period of time for 5 per.

which the level at Touch Probe input 2 must be
stable. 32

Decimal
P5-78 MULTI_TURN_REF_POSITION PUU s32 Modbus 69Ch

MT_Ref_P After a successful reference set (P8-44=2), this -2147483647 RW

P5-78 position is automatically set at the reference
point. 0 per

2147483647

Decimal
P5-79 Defines whether the drive is to ignore the multi- - u16 Modbus 69Eh
turn error AL576:
IGNORE_BATTERY_ 0 RW
FAULTS • 0: The masking of the multi-turn error AL576
is inactive. 0 per
• 1: The masking of the multi-turn error AL576
is active. 1
When set P5-79=1, multi-turn encoder can be Decimal
used as single-turn (even with single-turn cable).

P5-80 Defines whether the drive to ignore the multi-turn - u16 Modbus 6A0h
alert Wn750.
IGNORE_ENCODER 0 RW
_WARNINGS • 0: The masking of the Wn750 is inactive.
• 1: The masking of the Wn750 is active. 0 per
For some applications which will rotate motor in 1
one direction, the alert Wn750 for checking turns
number within -32767 ... 32768 can be turned off Decimal
by parameter P5-80=1.

198 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P5-81 Defines whether absolute positioning is allowed - u16 Modbus 6A2h
without homing/Reference Position Set.
IgnorHome 0 RW
• 0: Not allowed
• 1: Allowed 0 per
When set P5-81=1, absolute positioning is allowed 1
without homing/ set Reference Point.
Decimal
P5-82 Current position in revolutions of multi-turn. Rev s32 Modbus 6A4h

MT_C_P This parameter is used to monitor the revolutions -32767 RO

of multi-turn.
0 per

32768

Decimal

P6 - Position Sequence Data Sets Group 1

P6 - PS Data Sets Group 1
Parameter name Description Unit Data type Parameter address
via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P6-00 Position of Homing Data Set PUU s32 Modbus 700h

ODAT Applicable operating mode: PS -2147483647 RW

After a successful reference movement, this 0 per.

position is automatically set at the reference point.
2147483647
Bits 0…31: Position
Decimal
P6-01 Subsequent Data Set and Auto-start of Homing - u32 Modbus 702h
Data Set
ODEF 0h RW
Applicable operating mode: PS
0h per.
Bit 0:
2001h
0 = Do not start Homing after first power stage
enable Hexadecimal

1 = Start Homing after first power stage enable

Bits 1…7: Reserved

Bits 8…15: Number of the subsequent data set

P6-02 Target Position of Data Set 1 PUU s32 Modbus 704h

PATHPOS1 Applicable operating mode: PS -2147483647 RW

Bits 0…31: Target position 0 per.

2147483647

Decimal
P6-03 Configuration of Data Set 1 - u16 Modbus 706h

EIO0000002299.05 199
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

PATHCTRL1 Applicable operating mode: PS 0h RW

Bits 0…3: Reserved 80h per.

Bit 4: D0h

0 = Wait for preceding data set to complete, then Hexadecimal

start this data set

1 = Start this data set immediately

Bit 5: Reserved

Bit 6:

0 = Path Overlap

1 = Path interrupt, start this data set immediately

from actual trigger position

Bit 7:

0 = Absolute position

1 = Relative (incremental) position

Bits 8…15: Reserved

P6-04 Target Position of Data Set 2 PUU s32 Modbus 708h

PATHPOS2 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-05 Configuration of Data Set 2 - u16 Modbus 70Ah

PATHCTRL2 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-06 Target Position of Data Set 3 PUU s32 Modbus 70Ch

PATHPOS3 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-07 Configuration of Data Set 3 - u16 Modbus 70Eh

PATHCTRL3 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-08 Target Position of Data Set 4 PUU s32 Modbus 710h

PATHPOS4 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-09 Configuration of Data Set 4 - u16 Modbus 712h

200 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

PATHCTRL4 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-10 Target Position of Data Set 5 PUU s32 Modbus 714h

PATHPOS5 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-11 Configuration of Data Set 5 - u16 Modbus 716h

PATHCTRL5 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-12 Target Position of Data Set 6 PUU s32 Modbus 718h

PATHPOS6 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-13 Configuration of Data Set 6 - u16 Modbus 71Ah

PATHCTRL6 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-14 Target Position of Data Set 7 PUU s32 Modbus 71Ch

PATHPOS7 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-15 Configuration of Data Set 7 - u16 Modbus 71Eh

PATHCTRL7 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-16 Target Position of Data Set 8 PUU s32 Modbus 720h

PATHPOS8 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-17 Configuration of Data Set 8 - u16 Modbus 722h

EIO0000002299.05 201
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

PATHCTRL8 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-18 Target Position of Data Set 9 PUU s32 Modbus 724h

PATHPOS9 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-19 Configuration of Data Set 9 - u16 Modbus 726h

PATHCTRL9 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-20 Target Position of Data Set 10 PUU s32 Modbus 728h

PATHPOS10 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-21 Configuration of Data Set 10 - u16 Modbus 72Ah

PATHCTRL10 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-22 Target Position of Data Set 11 PUU s32 Modbus 72Ch

PATHPOS11 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-23 Configuration of Data Set 11 - u16 Modbus 72Eh

PATHCTRL11 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-24 Target Position of Data Set 12 PUU s32 Modbus 730h

PATHPOS12 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-25 Configuration of Data Set 12 - u16 Modbus 732h

202 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

PATHCTRL12 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-26 Target Position of Data Set 13 PUU s32 Modbus 734h

PATHPOS13 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-27 Configuration of Data Set 13 - u16 Modbus 736h

PATHCTRL13 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-28 Target Position of Data Set 14 PUU s32 Modbus 738h

PATHPOS14 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-29 Configuration of Data Set 14 - u16 Modbus 73Ah

PATHCTRL14 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-30 Target Position of Data Set 15 PUU s32 Modbus 73Ch

PATHPOS15 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-31 Configuration of Data Set 15 - u16 Modbus 73Eh

PATHCTRL15 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-32 Target Position of Data Set 16 PUU s32 Modbus 740h

PATHPOS16 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-33 Configuration of Data Set 16 - u16 Modbus 742h

EIO0000002299.05 203
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

PATHCTRL16 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-34 Target Position of Data Set 17 PUU s32 Modbus 744h

PATHPOS17 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-35 Configuration of Data Set 17 - u16 Modbus 746h

PATHCTRL17 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-36 Target Position of Data Set 18 PUU s32 Modbus 748h

PATHPOS18 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-37 Configuration of Data Set 18 - u16 Modbus 74Ah

PATHCTRL18 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-38 Target Position of Data Set 19 PUU s32 Modbus 74Ch

PATHPOS19 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-39 Configuration of Data Set 19 - u16 Modbus 74Eh

PATHCTRL19 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-40 Target Position of Data Set 20 PUU s32 Modbus 750h

PATHPOS20 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-41 Configuration of Data Set 20 - u16 Modbus 752h

204 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

PATHCTRL20 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-42 Target Position of Data Set 21 PUU s32 Modbus 754h

PATHPOS21 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-43 Configuration of Data Set 21 - u16 Modbus 756h

PATHCTRL21 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-44 Target Position of Data Set 22 PUU s32 Modbus 758h

PATHPOS22 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-45 Configuration of Data Set 22 - u16 Modbus 75Ah

PATHCTRL22 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-46 Target Position of Data Set 23 PUU s32 Modbus 75Ch

PATHPOS23 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-47 Configuration of Data Set 23 - u16 Modbus 75Eh

PATHCTRL23 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-48 Target Position of Data Set 24 PUU s32 Modbus 760h

PATHPOS24 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-49 Configuration of Data Set 24 - u16 Modbus 762h

EIO0000002299.05 205
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

PATHCTRL24 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-50 Target Position of Data Set 25 PUU s32 Modbus 764h

PATHPOS25 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-51 Configuration of Data Set 25 - u16 Modbus 766h

PATHCTRL25 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-52 Target Position of Data Set 26 PUU s32 Modbus 768h

PATHPOS26 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-53 Configuration of Data Set 26 - u16 Modbus 76Ah

PATHCTRL26 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-54 Target Position of Data Set 27 PUU s32 Modbus 76Ch

PATHPOS27 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-55 Configuration of Data Set 27 - u16 Modbus 76Eh

PATHCTRL27 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-56 Target Position of Data Set 28 PUU s32 Modbus 770h

PATHPOS28 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-57 Configuration of Data Set 28 - u16 Modbus 772h

206 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

PATHCTRL28 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-58 Target Position of Data Set 29 PUU s32 Modbus 774h

PATHPOS29 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-59 Configuration of Data Set 29 - u16 Modbus 776h

PATHCTRL29 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-60 Target Position of Data Set 30 PUU s32 Modbus 778h

PATHPOS30 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-61 Configuration of Data Set 30 - u16 Modbus 77Ah

PATHCTRL30 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal
P6-62 Target Position of Data Set 31 PUU s32 Modbus 77Ch

PATHPOS31 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-63 Configuration of Data Set 31 - u16 Modbus 77Eh

PATHCTRL31 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal

EIO0000002299.05 207
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P6-64 Target Position of Data Set 32 PUU s32 Modbus 780h

PATHPOS32 Applicable operating mode: PS -2147483647 RW

See P6-02 for details. 0 per.

2147483647

Decimal
P6-65 Configuration of Data Set 32 - u16 Modbus 782h

PATHCTRL32 Applicable operating mode: PS 0h RW

See P6-03 for details. 80h per.

D0h

Hexadecimal

P7 - Position Sequence Data Sets Group 2

P7 - PS Data Sets Group 2
Parameter name Description Unit Data type Parameter address
via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P7-00 Deceleration and Acceleration of Homing Data Set ms|ms u32 Modbus 800h

HOME_ACC_DEC Applicable operating mode: PS 6| 6 RW

Bits 0 ... 15: Deceleration 200| 200 per.

Bits 16 ... 31: Acceleration 65500| 65500

Decimal
P7-01 Waiting Time of Homing Data Set ms u32 Modbus 802h

HOME_DLY Applicable operating mode: PS 0 RW

Bits 0 ... 15: Waiting time until next dataset is 0 per.

started
32767
Bits 16 ... 31: Reserved
Decimal
P7-02 Deceleration and Acceleration of Data Set 1 ms|ms u32 Modbus 804h

ACC_DEC1 Applicable operating mode: PS 6| 6 RW

Bits 0 ... 15: Deceleration 200| 200 per.

Bits 16 ... 31: Acceleration 65500| 65500

Decimal
P7-03 Waiting Time and Target Velocity of Data Set 1 0.1rpm|ms u32 Modbus 806h

SPD_DLY1 Applicable operating mode: PS 0| 0 RW

Bits 0 ... 15: Waiting time until next dataset is 200| 0 per.
started (in ms)
60000| 32767
Bits 16 ... 31: Target velocity (in rpm)

208 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Decimal
P7-04 Deceleration and Acceleration of Data Set 2 ms|ms u32 Modbus 808h

ACC_DEC2 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-05 Waiting Time and Target Velocity of Data Set 2 0.1rpm|ms u32 Modbus 80Ah

SPD_DLY2 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-06 Deceleration and Acceleration of Data Set 3 ms|ms u32 Modbus 80Ch

ACC_DEC3 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-07 Waiting Time and Target Velocity of Data Set 3 0.1rpm|ms u32 Modbus 80Eh

SPD_DLY3 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-08 Deceleration and Acceleration of Data Set 4 ms|ms u32 Modbus 810h

ACC_DEC4 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-09 Waiting Time and Target Velocity of Data Set 4 0.1rpm|ms u32 Modbus 812h

SPD_DLY4 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-10 Deceleration and Acceleration of Data Set 5 ms|ms u32 Modbus 814h

ACC_DEC5 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-11 Waiting Time and Target Velocity of Data Set 5 0.1rpm|ms u32 Modbus 816h

SPD_DLY5 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

EIO0000002299.05 209
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Decimal
P7-12 Deceleration and Acceleration of Data Set 6 ms|ms u32 Modbus 818h

ACC_DEC6 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-13 Waiting Time and Target Velocity of Data Set 6 0.1rpm|ms u32 Modbus 81Ah

SPD_DLY6 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-14 Deceleration and Acceleration of Data Set 7 ms|ms u32 Modbus 81Ch

ACC_DEC7 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-15 Waiting Time and Target Velocity of Data Set 7 0.1rpm|ms u32 Modbus 81Eh

SPD_DLY7 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-16 Deceleration and Acceleration of Data Set 8 ms|ms u32 Modbus 820h

ACC_DEC8 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-17 Waiting Time and Target Velocity of Data Set 8 0.1rpm|ms u32 Modbus 822h

SPD_DLY8 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-18 Deceleration and Acceleration of Data Set 9 ms|ms u32 Modbus 824h

ACC_DEC9 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-19 Waiting Time and Target Velocity of Data Set 9 0.1rpm|ms u32 Modbus 826h

SPD_DLY9 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

210 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Decimal
P7-20 Deceleration and Acceleration of Data Set 10 ms|ms u32 Modbus 828h

ACC_DEC10 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-21 Waiting Time and Target Velocity of Data Set 10 0.1rpm|ms u32 Modbus 82Ah

SPD_DLY10 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-22 Deceleration and Acceleration of Data Set 11 ms|ms u32 Modbus 82Ch

ACC_DEC11 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-23 Waiting Time and Target Velocity of Data Set 11 0.1rpm|ms u32 Modbus 82Eh

SPD_DLY11 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-24 Deceleration and Acceleration of Data Set 12 ms|ms u32 Modbus 830h

ACC_DEC12 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-25 Waiting Time and Target Velocity of Data Set 12 0.1rpm|ms u32 Modbus 832h

SPD_DLY12 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-26 Deceleration and Acceleration of Data Set 13 ms|ms u32 Modbus 834h

ACC_DEC13 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-27 Waiting Time and Target Velocity of Data Set 13 0.1rpm|ms u32 Modbus 836h

SPD_DLY13 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

EIO0000002299.05 211
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Decimal
P7-28 Deceleration and Acceleration of Data Set 14 ms|ms u32 Modbus 838h

ACC_DEC14 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-29 Waiting Time and Target Velocity of Data Set 14 0.1rpm|ms u32 Modbus 83Ah

SPD_DLY14 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-30 Deceleration and Acceleration of Data Set 15 ms|ms u32 Modbus 83Ch

ACC_DEC15 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-31 Waiting Time and Target Velocity of Data Set 15 0.1rpm|ms u32 Modbus 83Eh

SPD_DLY15 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-32 Deceleration and Acceleration of Data Set 16 ms|ms u32 Modbus 840h

ACC_DEC16 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-33 Waiting Time and Target Velocity of Data Set 16 0.1rpm|ms u32 Modbus 842h

SPD_DLY16 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-34 Deceleration and Acceleration of Data Set 17 ms|ms u32 Modbus 844h

ACC_DEC17 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-35 Waiting Time and Target Velocity of Data Set 17 0.1rpm|ms u32 Modbus 846h

SPD_DLY17 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

212 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Decimal
P7-36 Deceleration and Acceleration of Data Set 18 ms|ms u32 Modbus 848h

ACC_DEC18 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-37 Waiting Time and Target Velocity of Data Set 18 0.1rpm|ms u32 Modbus 84Ah

SPD_DLY18 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-38 Deceleration and Acceleration of Data Set 19 ms|ms u32 Modbus 84Ch

ACC_DEC19 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-39 Waiting Time and Target Velocity of Data Set 19 0.1rpm|ms u32 Modbus 84Eh

SPD_DLY19 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-40 Deceleration and Acceleration of Data Set 20 ms|ms u32 Modbus 850h

ACC_DEC20 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-41 Waiting Time and Target Velocity of Data Set 20 0.1rpm|ms u32 Modbus 852h

SPD_DLY20 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-42 Deceleration and Acceleration of Data Set 21 ms|ms u32 Modbus 854h

ACC_DEC21 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-43 Waiting Time and Target Velocity of Data Set 21 0.1rpm|ms u32 Modbus 856h

SPD_DLY21 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

EIO0000002299.05 213
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Decimal
P7-44 Deceleration and Acceleration of Data Set 22 ms|ms u32 Modbus 858h

ACC_DEC22 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-45 Waiting Time and Target Velocity of Data Set 22 0.1rpm|ms u32 Modbus 85Ah

SPD_DLY22 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-46 Deceleration and Acceleration of Data Set 23 ms|ms u32 Modbus 85Ch

ACC_DEC23 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-47 Waiting Time and Target Velocity of Data Set 23 0.1rpm|ms u32 Modbus 85Eh

SPD_DLY23 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-48 Deceleration and Acceleration of Data Set 24 ms|ms u32 Modbus 860h

ACC_DEC24 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-49 Waiting Time and Target Velocity of Data Set 24 0.1rpm|ms u32 Modbus 862h

SPD_DLY24 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-50 Deceleration and Acceleration of Data Set 25 ms|ms u32 Modbus 864h

ACC_DEC25 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-51 Waiting Time and Target Velocity of Data Set 25 0.1rpm|ms u32 Modbus 866h

SPD_DLY25 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

214 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Decimal
P7-52 Deceleration and Acceleration of Data Set 26 ms|ms u32 Modbus 868h

ACC_DEC26 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-53 Waiting Time and Target Velocity of Data Set 26 0.1rpm|ms u32 Modbus 86Ah

SPD_DLY26 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-54 Deceleration and Acceleration of Data Set 27 ms|ms u32 Modbus 86Ch

ACC_DEC27 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-55 Waiting Time and Target Velocity of Data Set 27 0.1rpm|ms u32 Modbus 86Eh

SPD_DLY27 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-56 Deceleration and Acceleration of Data Set 28 ms|ms u32 Modbus 870h

ACC_DEC28 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-57 Waiting Time and Target Velocity of Data Set 28 0.1rpm|ms u32 Modbus 872h

SPD_DLY28 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-58 Deceleration and Acceleration of Data Set 29 ms|ms u32 Modbus 874h

ACC_DEC29 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-59 Waiting Time and Target Velocity of Data Set 29 0.1rpm|ms u32 Modbus 876h

SPD_DLY29 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

EIO0000002299.05 215
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Decimal
P7-60 Deceleration and Acceleration of Data Set 30 ms|ms u32 Modbus 878h

ACC_DEC30 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-61 Waiting Time and Target Velocity of Data Set 30 0.1rpm|ms u32 Modbus 87Ah

SPD_DLY30 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-62 Deceleration and Acceleration of Data Set 31 ms|ms u32 Modbus 87Ch

ACC_DEC31 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-63 Waiting Time and Target Velocity of Data Set 31 0.1rpm|ms u32 Modbus 87Eh

SPD_DLY31 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal
P7-64 Deceleration and Acceleration of Data Set 32 ms|ms u32 Modbus 880h

ACC_DEC32 Applicable operating mode: PS 6| 6 RW

See P7-02 for details. 200| 200 per.

65500| 65500

Decimal
P7-65 Waiting Time and Target Velocity of Data Set 32 0.1rpm|ms u32 Modbus 882h

SPD_DLY32 Applicable operating mode: PS 0| 0 RW

See P7-03 for details. 200| 0 per.

60000| 32767

Decimal

216 EIO0000002299.05
Parameters

P8 - Control Loops
P8 - Control Loops
Parameter name Description Unit Data type Parameter address
via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P8-00 Derivative Gain 0.1Hz u32 Modbus 900h

LTND Applicable operating mode: PT, PS, V 0 RW

This parameter is used to adjust the derivative 800 per.

gain. Refer to chapter Manual Tuning, page 143.
20000

Decimal
P8-01 Integral Gain 0.1Hz u32 Modbus 902h

LTNI Applicable operating mode: PT, PS, V 0 RW

This parameter is used to adjust the integral gain. 100 per.

Refer to chapter Manual Tuning, page 143.
2000

Decimal
P8-02 Derivative-Integral Gain 0.1Hz u32 Modbus 904h

LTNIV Applicable operating mode: PT, PS, V 0 RW

This parameter is used to adjust the derivative- 400 per.

integral gain. Refer to chapter Manual Tuning,
page 143. 4000

Decimal
P8-03 Proportional Gain 0.1Hz u32 Modbus 906h

LTNP Applicable operating mode: PT, PS, V 0 RW

This parameter is used to adjust the proportional 300 per.

gain. Refer to chapter Manual Tuning, page 143.
4000

Decimal
P8-04 Global Gain 0.001 u32 Modbus 908h

LTNUSERGAIN Applicable operating mode: PT, PS, V 100 RW

500 per.

3000

Decimal
P8-05 LTN Spring Filter Hz u16 Modbus 90Ah

NLAFFLPFHZ Applicable operating mode: PT, PS, V 10 RW

This parameter is used to set a low-pass filter for 7000 per.

the acceleration profile during tuning. Refer to
chapter Manual Tuning, page 143. 7000

Decimal
P8-06 Anti-Vibration Gain Rad*10-3/N u32 Modbus 90Ch

NLANTIVIBGAIN Applicable operating mode: PT, PS, V 0 RW

0 per.

10000

Decimal
P8-07 Pe filter 0.001 u32 Modbus 90Eh

EIO0000002299.05 217
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

NLANTIVIBGAIN2 Applicable operating mode: PT, PS, V 0 RW

This parameter is used to set the gain of the Pe 0 per.

filter.
99000

Decimal
P8-08 Anti-Vibration Filter 0.1Hz u32 Modbus 910h

NLANTIVIBHZ Applicable operating mode: PT, PS, V 50 RW

This parameter is used to set the frequency to 4000 per.

remove while using the anti-vibration filter.
4000

Decimal
P8-09 Pe filter 0.1Hz u32 Modbus 912h

NLANTIVIBHZ2 Applicable operating mode: PT, PS, V 50 RW

This parameter is used to set the frequency to 4000 per.

remove with the Pe filter.
8000

Decimal
P8-10 Ratio of Load Inertia to Motor Inertia for Anti- 0.1 u32 Modbus 914h
Vibration
NLANTIVIBLMJR 0 RW
Applicable operating mode: PT, PS, V
0 per.
Expert parameter for the internal control loop.
6000

Decimal
P8-11 NL Anti-Resonance Filter Divider 0.01 u32 Modbus 916h

NLANTIVIBN Applicable operating mode: PT, PS, V 1 RW

Expert parameter for the internal control loop. 200 per.

10000

Decimal
P8-12 Anti-Resonance Sharpness 0.001 u16 Modbus 918h

NLANTIVIBSHARP Applicable operating mode: PT, PS, V 10 RW

Expert parameter for the internal control loop. 500 per.

10000

Decimal
P8-13 Pe Sharpness 0.001 u16 Modbus 91Ah

NLANTIVIBSHARP2 Applicable operating mode: PT, PS, V 10 RW

This parameter is used to optimize the Pe filter 500 per.

action.
10000

Decimal
P8-14 Current Filter Damping % u16 Modbus 91Ch

NLFILTDAMPING Applicable operating mode: PT, PS, V 0 RW

For further details, refer to Manual Tuning, page 0 per.

143.
100

Decimal
P8-15 Current Filter Low Pass Filter Rise Time 0.01ms u16 Modbus 91Eh

218 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

NLFILTT1 Applicable operating mode: PT, PS, V 0 RW

For further details, refer to Manual Tuning, page 10 per.

143.
3000

Decimal
P8-16 Current Filter - Second Notch Filter Bandwidth Hz u16 Modbus 920h

NLNOTCH2BW Applicable operating mode: PT, PS, V 0 RW

0 per.

500

Decimal
P8-17 Current Filter - Second Notch Filter Center Hz u16 Modbus 922h

NLNOTCH2CENTER Applicable operating mode: PT, PS, V 5 RW

100 per.

1800

Decimal
P8-18 Current Filter - Notch Filter Bandwidth Hz u16 Modbus 924h

NLNOTCHBW Applicable operating mode: PT, PS, V 0 RW

0 per.

500

Decimal
P8-19 Current Filter - Notch Filter Center Hz u16 Modbus 926h

NLNOTCHCENTER Applicable operating mode: PT, PS, V 5 RW

For further details, refer to Manual Tuning, page 100 per.

143.
1800

Decimal
P8-20 Elasticity Compensation 0.1Hz u32 Modbus 928h

NLPEAFF Applicable operating mode: PT, PS, V 0 RW

This parameter is used in the compensation of the 50000 per.

elasticity of the mechanical system.
50000
For further details, refer to Manual Tuning, page
143. Decimal

P8-21 Spring Deceleration Ratio 0.001 u16 Modbus 92Ah

NLPEDFFRATIO Applicable operating mode: PT, PS, V 0 RW

This parameter is used in the compensation of the 1000 per.

elasticity of the mechanical system.
2000
For further details, refer to Manual Tuning, page
143. Decimal

P8-22 Analog NCT standstill mV s16 Modbus 92Ch

NLVELLIM Applicable operating mode: PT, PS, V -3815 RW

If the target value is supplied as an analog voltage 0 per.

signal, this parameter can be used to improve the
standstill stability. If the voltage drops below the 3815
value specified via this parameter, the integral
gain set via parameter P8-01 and the derivative- Decimal

EIO0000002299.05 219
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
integral gain set via parameter P8-02 are reduced
by one half.

P8-23 Analog Input 1 - Filter 0.01 HZ | HZ u32 Modbus 92Eh

ANIN1LPFHZ Applicable operating mode: PT, PS, V, T 100 | 1 RW

This parameter specifies the cut-off frequency for 100000 | 1000 per.
the first order low-pass filter of analog input 1.
1000000 | 10000
The unit is modified to 0.01 Hz if P2-65 GBIT Bit
14 is set to 1. Decimal

P8-24 Analog Input 2 - Filter 0.01 HZ | HZ u32 Modbus 930h

ANIN2LPFHZ Applicable operating mode: PT, PS, V, T 100 | 1 RW

This parameter specifies the cut-off frequency for 100000 | 1000 per.
the first order low-pass filter of analog input 2.
1000000 | 10000
The unit is modified to 0.01 Hz if P2-65 GBIT Bit
14 is set to 1. Decimal

P8-25 Electronic Gear Filter - Acceleration Feedforward 0.001 s16 Modbus 932h

GEARFILTAFF Applicable operating mode: PT -2000 RW

This parameter specifies the acceleration feed- 0 per.

forward for the electronic gear filter.
2000
Setting can only be modified if power stage is
disabled. Decimal

P8-26 Electronic Gear Filter - Activation - u16 Modbus 934h

GEARFILTMODE Applicable operating mode: PT 0 RW

This parameter activates/deactivates the 0 per.

electronic gear filter.
2
Value 0: Deactivate electronic gear filter
Decimal
Value 1: Activate electronic gear filter

Value 2: Activate enhanced electronic gear filter

Setting can only be modified if power stage is

disabled.
P8-27 Electronic Gear Filter - Depth 0.01ms u32 Modbus 936h

GEARFILTT1 Applicable operating mode: PT 75 RW

200 per.

3200

Decimal
P8-28 Electronic Gear Filter - Velocity and Acceleration 0.01ms u16 Modbus 938h
Depth
GEARFILTT2 0 RW
Applicable operating mode: PT
400 per.

6000

Decimal
P8-29 Electronic Gear Filter - Velocity Feedforward 0.01ms s32 Modbus 93Ah

GEARFILTVELFF Applicable operating mode: PT -20000 RW

This parameter specifies the velocity feed-forward 0 per.

for the electronic gear filter.
20000
Setting can only be modified if power stage is
disabled. Decimal

220 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P8-30 Interpolation of Input Signal for Electronic Gear - - u16 Modbus 93Ch
Activation
GEARINMODE 0 RW
Applicable operating mode: PT
1 per.
This parameter allows for interpolation of the input
signal for electronic gear and increases the 1
resolution by a factor of 16.
Decimal
Value 0: Deactivate interpolation of input signal for
electronic gear

Value 1: Activate interpolation of input signal for

electronic gear

Setting can only be modified if power stage is

disabled.
P8-31 Method for Operating Mode Pulse Train (PT) - u16 Modbus 93Eh

GEARING_MODE Applicable operating mode: PT 0 RW

Value 0: Synchronization deactivated 1 per.

Value 1: Position synchronization without 3

compensation movement
Decimal
Value 2: Position synchronization with
compensation movement

Value 3: Velocity synchronization

The parameters for acceleration (P1-34),

deceleration (P1-35) and velocity (P1-55) act as
limitations for the synchronization.

P8-32 S-Curve Setting 0.01ms u32 Modbus 940h

MOVESMOOTHAVG Applicable operating mode: PT, PS 25 RW

Setting can only be modified if power stage is 400 per.

disabled.
25600
The maximum value is reduced to 12800 if P8-35
CONTROLMODE (high byte) is set to 5. Decimal

P8-33 Low Pass Filter Setting 0.01 HZ | HZ u32 Modbus 942h

MOVE- Applicable operating mode: PT, PS 100 | 1 RW

SMOOTHLPFHZ
The unit is modified to 0.01Hz if P2-65 GBIT Bit 14 500000 | 5000 per.
is set to 1.
500000 | 5000

Decimal
P8-34 Smoothing Filter for Operating modes PT and PS - - u16 Modbus 944h
Type
MOVESMOOTH- 0 RW
MODE Applicable operating mode: PT, PS
2 per.
Value 0: No smoothing
2
Value 1: LPF smoothing
Decimal
Value 2: S-curve smoothing

Setting can only be modified if power stage is

disabled.
P8-35 Type of Velocity Control Type of Position Control - u16 Modbus 946h

CONTROLMODE Applicable operating mode: PT, PS, V 5h RW

This parameter specifies: 207h per.

4001h

Hexadecimal

EIO0000002299.05 221
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
• the position control mode (high byte)
◦ value 2: Position control mode 2
(Sample rate 4 kHz)
◦ value 5: Position control mode 5
(Sample rate 8 kHz)
◦ value 40: Linear position control
• the type of velocity (low byte)
◦ value 1: Linear velocity control
◦ value 5: Velocity control with integral
gain (P8-01, P8-02)
◦ value 6: Velocity control without integral
gain
◦ value 7: Velocity control with P8-00 =
P8-01, P8-02 = 0, P8-03 = 0
Setting can only be modified if power stage is
disabled.
P8-36 Pe filter 3 0.001 u32 Modbus 948h

NLANTIVIBGAIN3 Applicable operating mode: PT, PS, V 0 RW

This parameter is used to set the gain of the Pe 0 per.

filter 3
6000

Decimal
P8-37 Pe filter 3 0.1Hz u32 Modbus 94Ah

NLANTIVIBHZ3 Applicable operating mode: PT, PS, V 50 RW

This parameter is used to set the frequency to 4000 per.

remove with the Pe filter 3.
8000

Decimal
P8-38 Pe filter 3 0.001 u32 Modbus 94Ch

NLANTIVIBQ3 Applicable operating mode: PT, PS, V 200 RW

This parameter is used to set the zero-pole 1000 per.

alignment with the Pe filter 3.
10000

Decimal
P8-39 Gravity Compensation 0.01A s16 Modbus 94Eh

IGRAV Applicable operating mode: PT, PS, V, T - RW

This parameter is used to set the gravity 0 per.

compensation current for unbalanced systems.
-

Decimal
P8-40 LTN AFF - u16 Modbus 950h

LTNAFRC Applicable operating mode: PT, PS, V 0 RW

This parameter is used to set the feed-forward 0 per.

term for the current command.
200

Decimal
P8-41 Pe Sharpness - u16 Modbus 952h

NLANTIVIBSHARP3 Applicable operating mode: PT, PS, V 10 RW

This parameter is used to optimize the Pe filter 3 200 per.

action.
10000

222 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Decimal
P8-42 Homing Error Information - u32 Modbus 954h

HOME_FAILURE_ Applicable operating mode: PT, PS, V, T 0 RO

IND
This parameter provides information in case of the - -
homing is not successful.
FFFFFFFFh

Hexadecimal
P8-43 ZSPD Low Pass Filter Value Hz u16 Modbus 956h

ZSPDLPFHZ Applicable operating mode: PT, PS, V, T 10 RW

This parameter sets the low pass filter value for 1000 per.
ZSPD output in order to reduce jitters when the
motor speed is around the Zero speed Threshold 1000
(P1-38) value.
Decimal
P8-44 Send commands to multi turn encoder - u16 Modbus 958h

MT_COMMANDS Applicable operating mode: PT, PS, V, T 0 RW

Value 0: No command to send. - -

Value 1: Clear the battery detected error AL576 on 3

the encoder.
Decimal
Value 2: To set an encoder reference position.
Clear Wn753.This command can be performed in
both (enable and disable) drive states. excluding
CSP mode.

Value 3: Reset the number of accumulated

revolutions of the encoder to zero. Clear Wn750.
The drive must be disabled.
P8-45 Feedback type - u16 Modbus 95Ah

FEEDBACKTYPE Applicable operating mode: PT, PS, V, T 0 RO

Value 0: No feedback connected or undetermined - -

feedback connected.
2
Value 1: Single turn encoder.
Decimal
Value 2: Multi turn encoder.
P8-46 Encoder temperature Deg. s16 Modbus 95Ch

SRVSNS_ Applicable operating mode: PT, PS, V, T - RO

TEMPERATURE
- -

Decimal
P8-47 Encoder firmware and hardware versions - u32 Modbus 95Eh

SRVSNS_VER Applicable operating mode: PT, PS, V, T - RO

The format is: ZZaabbcc - -

• aa.bb.cc: firmware version. 4294967295
• ZZ: hardware version.
Decimal
P8-48 Encoder errors - u32 Modbus 960h

SRVSNS_FLTS Applicable operating mode: PT, PS, V, T - RO

• Bit 0: The returned position values are no - -
longer considered as reliable.
• Bit 1: The device temperature is too high. 4294967295

EIO0000002299.05 223
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
• Bit 2: The device temperature is too low.
Hexadecimal
• Bit 3: The device is not calibrated or the
calibration data is corrupted. The device is
not able to decode the position.
• Bit 4: The device supply voltage has
dropped under operational value.
• Bit 5: The multi turn encoder battery voltage
has dropped under 3 Vdc.
• Bit 6: The multi turn encoder requires an
explicit configuration command.
• Bit 7: Internal position synchronization error
detected between the multi turn and the
single turn modules.
• Bit 8:Generic error code of the multi turn
module is detected.
• Bit 16…23: Internal Error detected.
• Bit 24: The encoder firmware cannot operate
on the provided hardware.
• Bit 25…31: Reserved.
P8-49 Encoder alerts - u32 Modbus 962h

SRVSNS_WRNS Applicable operating mode: PT, PS, V, T - RO

• Bit 0: The device temperature is too high. - -
• Bit 1: The device temperature is too low.
4294967295
• Bit 2: Over speed.
• Bit 3: Over acceleration. Hexadecimal
• Bit 4: Invalid checksum value detected on
non-volatile memory initialization.
• Bit 5: non-volatile memory is empty.
• Bit 6: Internal Parameters area detected as
invalid, default values are used.
• Bit 7: Invalid decoding sequence detected.
• Bit 8: Encoder internal flash error detected.
• Bit 9: The device has detected unusual high
shaft displacement. Position error might be
greater than usual.
• Bit 10: The multi turn encoder battery
voltage is in the range 3000 … 3150 mVdc.
• Bit 11: Reserved.
• Bit 12: The multi turn encoder counter
exceeded the range of signed 16 bit value
(-32767 … 32768). The warning remains
active until MT_COMMANDS (P8-44) is set
to 2. The multi turn encoder counter
continues to count in the range 0 … 65535.
• Bit 13…31: Reserved.
P8-51 Speed Observer Mode - u16 Modbus 966h

SPDOBSRVRMODE Applicable operating mode: PT, PS, V, T 0 RW

Value 0: Speed feedback value is computed by 0 per.

the drive.
3
Value 3:Speed feedback value is measured by the
encoder. Decimal

P8-52 Electronic Gear Filter - Depth 0.01 ms u32 Modbus 968h

GEARFILTDEPTH Applicable operating mode: PT 75 RW

This parameter sets the value of the depth for the 200 per.
enhanced electronic gear filter (P8-26 set to the
value 2). 3200

224 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Decimal
P8-53 Position Linear Controller Proportional Gain 0.1 rps/rev u16 Modbus 96Ah

KPP Applicable operating mode: PT, PS 0 RW

This parameter sets the value of the proportional 300 per.

gain for the linear position controller.
12000
NOTE: After motor connection, the drive
automatically sets the optimized value, page Decimal
228.
P8-54 Position Velocity Feedforward 0.001 s32 Modbus 96Ch

KPVFR This parameter sets the value of the position -2000 RW

velocity feedforward to velocity command gain for
the linear position controller. This is used to 500 per.
reduce the position following error at constant
speed. 2000
NOTE: Value of 1000 is the nominal design Decimal
for zero position following error.

P8-55 Position Acceleration Feedforward 0.001 s32 Modbus 96Eh

KPAFVRV This parameter sets the value of the position -20000 RW

acceleration feedforward to velocity command
gain for the linear position controller. This is used 0 per.
to reduce the position following error at constant
acceleration. 20000
NOTE: Value of 1000 is the nominal design Decimal
for zero position following error.

P8-56 Position Acceleration Feedforward to Current 0.001 s32 Modbus 970h

Loop
KPAFRC -20000 RW
This parameter sets the value of the position
acceleration feedforward to current command gain 0 per.
for the linear position controller. This is used to
reduce the position following error at constant 20000
acceleration.
Decimal
NOTE: Value of 100 is the nominal design for
zero position following error. P1-37 value
must be correctly set.

P8-57 Velocity Proportional Gain 0.001 u32 Modbus 972h

KVP This parameter sets the value of the proportional 0 RW

gain for the linear velocity controller.
100 per.
NOTE: After motor connection, the drive
automatically sets the optimized value, page 1000000000
228.
Decimal
P8-58 Velocity Integral Gain 0.001 u32 Modbus 974h

KVI This parameter sets the value of the integral gain 0 RW

for the linear velocity controller.
30000 per.
NOTE: After motor connection, the drive
automatically sets the optimized value, page 200000000
228.
Decimal
P8-59 Velocity Feedforward Ratio 0.001 u16 Modbus 976h

KVFR This parameter sets the value of the feedforward 0 RW

ratio for the linear velocity controller.
900 per.
NOTE: Value of 1000 makes the control
close to a PI control. Higher values reduces 1000
the following error but introduces an
overshoot. Decimal
P8-60 Velocity Loop Output Filter Mode - u16 Modbus 978h

EIO0000002299.05 225
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

FILTMODE This parameter sets the value of the velocity loop 0 RW

output filter for the linear velocity controller.
2 per.
Value 0: No filtering.
3
Value 1: First order low pass filter; sets P8-61 as
corner frequency. Decimal

Value 2: Double first order low pass filter (sets P8-

61 and P8-62 as corner frequencies).

Value 3: Notch filter (sets P8-62 as notch center

frequency and P8-61 as notch frequency width).
NOTE: After motor connection, the drive
automatically sets the optimized value, page
228.
P8-61 Velocity Loop Output Filter Parameter 1 - u16 Modbus 97Ah

FILTHZ1 The function of this parameter depends on the 1 RW

velocity loop output filter mode (see P8-60).
500 per.
NOTE: After motor connection, the drive
automatically sets the optimized value, page 10000
228.
Decimal
P8-62 Velocity Loop Output Filter Parameter 2 - u16 Modbus 97Ch

FILTHZ2 The function of this parameter depends on the 1 RW

velocity loop output filter mode (see P8-60).
500 per.
NOTE: After motor connection, the drive
automatically sets the optimized value, page 10000
228.
Decimal
P8-63 Velocity Filter Mode - u32 Modbus 97Eh

VELFILTMODE This parameter sets the value of the type of filter 0 RW

that is used for extraction of a velocity signal from
the position feedback. 1 per.

Value 0: No filtering. Use derivative of feedback 2

position.
Decimal
Value 1: First order low pass filter; sets P8-64 as
corner frequency.

Value 2: Use of the velocity feedback provided by

the encoder.

Setting can only be modified if power stage is

disabled.
P8-64 Velocity Filter Pole Frequency - u16 Modbus 980h

VELFILTFRQ This parameter sets the value of the first order 20 RW

filter, which is applied to the velocity feedback
signal before applying the velocity controller. 440 per.
NOTE: This parameter value is used only if 2000
P8-63 is set to 1.
Setting can only be modified if power stage is Decimal
disabled.
P8-65 Current Feedforward Low Pass Filter - u16 Modbus 982h

IFFLPFHZ Applicable operating mode: PT, PS 10 RW

This parameter sets the value of the first order 1000 per.
filter of the linear controller which is applied to the
current feedforward before it is added to current 1000
command.
Decimal
P8-66 LTN Torque Filter Mode - u16 Modbus 984h

226 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

NLTFDESIGNMODE Applicable operating mode: PT, PS, V 0 RW

This parameter sets the value of the torque filter 0 per.

mode used in the LTN control loop.
1
Value 0: Manual set of P8-15 and P8-14 values.
Decimal
Value 1: P8-15 and P8-14 values are computed
based on P8-67 value.
P8-67 LTN Torque Filter Bandwidth Hz u16 Modbus 986h

NLTFBW Applicable operating mode: PT, PS, V 50 RW

This parameter sets the value of the filter 1000 per.

bandwidth used in LTN control loop to define P8-
15 and P8-14 values with 10% overshoot. 2000

Decimal
P8-68 Current Filter - Notch Filter Mode - u16 Modbus 988h

NLNOTCHMODE Applicable operating mode: PT, PS, V 0 RW

This parameter sets the value of the notch filter 0 per.

mode used in the LTN control loop.
1
Value 0: Original notch filter.
Decimal
Value 1: Advanced notch filter.
P8-69 Standstill Mode - u16 Modbus 98Ah

STANDSTILLMODE Applicable operating mode: PT, PS, V 0 RW

This parameter sets the value of the standstill 0 per.

mode used for variable gain.
1
The drive latches the variable gain when the motor
is at standstill. Decimal

Value 0: The drive revert to the original gain when

the motor is not at standstill.

Value 1: The drive revert to the original gain when

a new motion command is applied.
NOTE: The motor is at standstill when:
• the velocity command is less than the
velocity value set via the parameter P1-
38
• and the position deviation is within the
tolerance sets via the parameter P1-54.

P8-70 Standstill Gain - u16 Modbus 98Ch

STANDSTILLGAIN Applicable operating mode: PT, PS, V 128 RW

This parameter sets the value of the variable gain 1024 per.
used for the linear position controller.
1024
When the motor is at standstill, the velocity
proportional gain (P8-57 KVP) and the position Decimal
proportional gain (P8-53 KPP) are multiplied by
(P8-70/1024).When the motor is not at standstill,
the velocity proportional gain and the position
proportional gain revert to their original values.

P8-71 Encoder Filter Mode - s16 Modbus 98Eh

SFILTMODE Applicable operating mode: PT, PS, V 0 RW

This parameter activates/deactivates the encoder 0 per.

filter.
1
Value 0: Deactivate the encoder filter.
Decimal

EIO0000002299.05 227
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Value 1: Activate the encoder filter.

The encoder filter helps to reduce the feedback

jitter.

P8-72 HW Temperature failure threshold. - u16 Modbus 990h

HWTEMPTHRESH If HWTEMPTHRESH = 0, AL561 will be disabled. 0 RW

2000 per.

32767

Decimal
P8-99 Adaptive Velocity Reference Value Gain 0.001 u32 Modbus 9C6h

LTNUSERVCMDG- Applicable operating mode: PT, PS 0 RW

AIN
1000 per.

3000

Decimal

Linear Default Gains Values

The following table displays the optimized values set according to the connected
motor:

Motor references P8-53 P8-57 P8-58 P8-60 P8-61 P8-62

KPP KVP KVI FILTMODE FILTHZ1 FILTHZ2

BCH2MBA53•••5C 55 0.4 50 0 0 0

BCH2MB013•••5C 25 0.25 50 1 500 0

BCH2LD023•••5C 35 0.5 30 1 800 0
BCH2MM031•••6C 19 4.5 20 2 400 500
BCH2LD043•••5C 30 1.1 25 1 1000 0
BCH2LF043•••5C 35 2 50 1 700 0
BCH2MM052•••6C 18 8 30 2 500 500
BCH2MM061•••6C 20 5 30 1 400 0
BCH2HF073•••5C 25 4 30 1 400 0
BCH2LF073•••5C 30 3 50 1 500 0
BCH2MM081•••6C 23 12 35 2 400 400
BCH2MM091•••6C 25 7 35 1 300 0
BCH2MM102•••6C 16 8.5 50 1 200 0
BCH2HM102•••6C 16 8.5 50 1 200 0
BCH2LH103•••6C 23 7 40 1 700 0
BCH2MM152•••6C 25 8 50 2 500 500
BCH2MM202•••6C 17 11 15 2 400 400
BCH2HM202•••6C 17 11 15 2 400 400
BCH2MR202•••6C 13 21 25 1 200 0
BCH2HR202•••6C 13 21 25 1 200 0
BCH2LH203•••6C 21 9 40 1 700 0

228 EIO0000002299.05
Parameters

Motor references P8-53 P8-57 P8-58 P8-60 P8-61 P8-62

KPP KVP KVI FILTMODE FILTHZ1 FILTHZ2

BCH2MR301•••6C 20 30 25 2 400 400
BCH2MR302•••6C 15 33 30 2 300 300
BCH2MR352•••6C 22 50 30 1 300 0
BCH2MR451•••6C 22 35 30 2 300 400

P9 - DTM Data
P9 - DTM Data
Parameter name Description Unit Data type Parameter address
via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P9-00 Lexium program number - u32 Modbus A00h

PRGNR Applicable operating mode: PT, PS, V, T 0h RO

Reads the program number 0h -

FFFFFFFFh

Hexadecimal
P9-01 Firmware Version Date - u32 Modbus A02h

DATE Applicable operating mode: PT, PS, V, T 0h RO

This parameter contains the date of the firmware 0h -

version.
FFFFFFFFh

Hexadecimal
P9-02 MTP Identification Code - u16 Modbus A04h

MTP_ID Applicable operating mode: PT, PS, V, T 0h RO

- -

FFFFFFFFh

Hexadecimal
P9-06 User-Defined Application Name 1 - u32 Modbus A0Ch

UNAME1 Applicable operating mode: PT, PS, V, T 0h RW

This parameter is provided for a user-defined 0h per.

application name.
FFFFFFFFh

Hexadecimal
P9-07 User-Defined Application Name 2 - u32 Modbus A0Eh

UNAME2 Applicable operating mode: PT, PS, V, T 0h RW

This parameter is provided for a user-defined 0h per.

application name.
FFFFFFFFh

Hexadecimal
P9-08 User-Defined Application Name 3 - u32 Modbus A10h

UNAME3 Applicable operating mode: PT, PS, V, T 0h RW

This parameter is provided for a user-defined 0h per.

application name.
FFFFFFFFh

EIO0000002299.05 229
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Hexadecimal
P9-09 User-Defined Application Name 4 - u32 Modbus A12h

UNAME4 Applicable operating mode: PT, PS, V, T 0h RW

This parameter is provided for a user-defined 0h per.

application name.
FFFFFFFFh

Hexadecimal
P9-10 Modbus Word Order - u16 Modbus A14h

MBWORD Applicable operating mode: PT, PS, V, T 0 RW

This parameter sets the word order for Modbus. 0 per.

Value 0: Order of the bytes: 0 1 2 3 1

Value 1: Order of the bytes: 2 3 0 1 Decimal

P9-11 Serial Number Part 1 - u32 Modbus A16h

SERNUM1 Applicable operating mode: PT, PS, V, T 0h RO

0h -

FFFFFFFFh

Hexadecimal
P9-12 Serial Number Part 2 - u32 Modbus A18h

SERNUM2 Applicable operating mode: PT, PS, V, T 0h RO

0h -

FFFFFFFFh

Hexadecimal
P9-13 Serial Number Part 3 - u32 Modbus A1Ah

SERNUM3 Applicable operating mode: PT, PS, V, T 0h RO

0h -

FFFFFFFFh

Hexadecimal
P9-14 Serial Number Part 4 - u32 Modbus A1Ch

SERNUM4 Applicable operating mode: PT, PS, V, T 0h RO

0h -

FFFFFFFFh

Hexadecimal
P9-15 Autotuning Method - u16 Modbus A1Eh

LTN Applicable operating mode: PT, PS, V, T 0 RW

0 -

Decimal
P9-16 Autotuning Motion Profile - Type - u16 Modbus A20h

LTNREFERENCE Applicable operating mode: PT, PS, V 0 RW

0 -

230 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Decimal
P9-17 Anti-vibration tuning mode. - u16 Modbus A22h

LTNAVMODE Applicable operating mode: PT, PS, V 0 RW

0 -

Decimal
P9-18 Autotuning Results - Save/Discard - u16 Modbus A24h

LTNSAVEMODE Applicable operating mode: PT, PS, V 0 RW

0 -

Decimal
P9-19 Autotuning - Elasticity Compensation Filters - s16 Modbus A26h

LTNNLPEAFF Applicable operating mode: PT, PS, V 0 RW

1 -

Decimal
P9-20 Autotuning - Direction of Movement - s16 Modbus A28h

LTNCYCLE Applicable operating mode: PT, PS, V 0 RW

This parameter sets the direction of movement for 0 -

autotuning.
3
Value 0: Both directions of movement
Decimal
Value 2: One direction of movement
P9-21 Minimum Dwell Time for Detection of Movement - u16 Modbus A2Ah
Cycle
LTNDWELLTIME 100 RW
Applicable operating mode: PT, PS, V
200 -

1000

Decimal
P9-22 Autotuning - Automatic Estimation of Ratio of - u16 Modbus A2Ch
Load Inertia and Motor Inertia
LTNLMJR 0 RW
Applicable operating mode: PT, PS, V
0 -

Decimal
P9-23 Defines which values will be used for the position - u16 Modbus A2Eh
command filters.
LTNSTIFF 0 RW
Applicable operating mode: PT, PS, V
0 -
Value 0: Automatic smoothing via S-curve
optimization of the value 1

Value 1: Manual smoothing Decimal

P9-25 Autotuning Motion Profile - Activation - u16 Modbus A32h

LTNREFEN Applicable operating mode: PT, PS, V 0 RW

0 -

EIO0000002299.05 231
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Decimal
P9-26 Autotuning - Movement Range in Direction 1 PUU s32 Modbus A34h

PTPOS Applicable operating mode: PS -2147483647 RW

This parameter specifies the movement range for 0 -

autotuning in direction of movement 1.
2147483647
The sign of the value determines the direction of
movement: Decimal

Positive value: Positive direction of movement as

set via parameter P1-01

Negative value: Negative direction of movement

as set via parameter P1-01

See parameter P9-20 to select one direction of

movement or both directions of movement for
Comfort Tuning.

P9-27 Autotuning - Movement Range in Direction 2 PUU s32 Modbus A36h

PTNEG Applicable operating mode: PS -2147483647 RW

This parameter specifies the movement range for 0 -

autotuning in direction of movement 2.
2147483647
The sign of the value determines the direction of
movement: Decimal

Positive value: Positive direction of movement as

set via parameter P1-01

Negative value: Negative direction of movement

as set via parameter P1-01

See parameter P9-20 to select one direction of

movement or both directions of movement for
Comfort Tuning.

P9-28 Autotuning Active - s16 Modbus A38h

LTNACTIVE Applicable operating mode: PT, PS, V 0 RO

This parameter indicates whether autotuning is - -

active.
1
Value 0: Autotuning inactive
Decimal
Value 1: Autotuning active

P9-29 Autotuning - Velocity 0.1rpm|0.1rpm u32 Modbus A3Ah

LTNVCRUISE Applicable operating mode: PT, PS, V - RW

Bits 0 ... 15: Velocity for positive direction of - -

movement
-
Bits 16 ... 31: Velocity for negative direction of
movement Decimal

P9-30 Autotuning - Status - u32 Modbus A3Ch

LTNST Applicable operating mode: PT, PS, V 0 RO

Value 0: Inactive - -

Value 1: Active 65535

Value 2: Successfully completed Decimal

Values 3 … 9: Reserved

232 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Value 10: Impossible to set P9-15

Value 11: Impossible to set P9-16

Value 12: Impossible to set P9-17

Value 13: Impossible to set P9-18

Value 14: Impossible to set P9-19

Value 15: Impossible to set P9-21

Value 16: Impossible to set P9-22

Value 17: Impossible to set P9-23

Value 18: Impossible to set P9-24

Value 19: Impossible to set P9-25

Value 20: Impossible to set P9-32

Value 21: Impossible to enable the power stage

Value 22: Hold is active

Value 23: Undetermined motor

Values 24 … 26: Reserved

Value 27: Impossible to activate autotuning

Value 28: Autotuning did not run successfully

Value 29: Reserved

Value 30: Low Effort

Value 31: AVG Zero Init Value

Value 32: Cost factor error detected

Value 33: Pos tune user gain modified

Value 34: Motor Was Not Recognized

Value 35: LTNP Step Updated

Value 36: Movement too small

Value 37: ICMD Sat.

Value 38: Insufficient load estimation time.

Value 39: Insufficient acceleration/deceleration

(less than 33 % of nominal acc/dec)

Value 40: Excessive acceleration/deceleration

(more than 90 % of nominal acc/dec)

P9-30 Value 41: Need for gravity compensation (see P9-

35)
Continued
Value 42: Insufficient velocity (less than 10 % of
nominal velocity)

Value 43: Insufficient deceleration (less than

deceleration ramp DECSTOP)

Value 44: Autotuning timeout

Value 45: Invalid default values

Values 46 … 49: Reserved

Value 50: P9-15 set to 0

Value 51: Power stage disabled during autotuning

EIO0000002299.05 233
 Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Value 52: Current saturation

Value 53: Reserved

Value 54: Insufficient excitation for autotuning

(poor motion profile: short distance, low
acceleration/deceleration, etc.)

Value 55: Insufficient tuning effort

Value 56: Halt during autotuning

Value 57: Undetermined motor

Value 58: Motion profile exceeds limits

Value 59: Invalid gains during autotuning

Value 60: Insufficient movement

Value 61: Current limitation during autotuning

Value 62: Detected alert during autotuning

Values 63 … 69: Reserved

Value 70: Positive distance and negative distance

are not equal

Value 71: Velocity is too low

Value 72: Motion profile is not trapezoidal

Value 73: Same sign used for positive and

negative movement in bidirectional mode

Value 74: Different signs used for positive and

negative movement in unidirectional mode

Values 75 … 89: Reserved

P9-31 Autotuning - Acceleration and Deceleration ms|ms u32 Modbus A3Eh

PTACCDEC Applicable operating mode: PT, PS, V 6| 6 RW

Bits 0 ... 15: Acceleration for Autotuning 6000| 6000 -

Bits 16 ... 31: Deceleration for Autotuning 65500| 65500

Decimal
P9-32 Autotune advance mode. - u16 Modbus A40h

LTNADVMODE Applicable operating mode: PT, PS, V 0 RW

1 -

Decimal
P9-33 Maximum Autotuning Optimization Value 0.001 u32 Modbus A42h

LTNEFFORTMAX Applicable operating mode: PT, PS, V 0 RO

Setting can only be modified if power stage is - -

disabled.
1000

Decimal
P9-34 Autotuning Progress Bar - u16 Modbus A44h

LTNBAR Applicable operating mode: PT, PS, V 0 RO

0 -

100

234 EIO0000002299.05
Parameters

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format

Decimal
P9-35 Autotuning - Gravity Estimation - u16 Modbus A46h

LTNIGRAV Applicable operating mode: PT, PS, V 0 RW

0 -

Decimal
P9-36 Set LTNAFRC in Autotune - s16 Modbus A48h

LTNLAFRC Applicable operating mode: PT, PS, V 0 RW

0 -

Decimal
P9-37 Autotuning - Last Stored Event - u32 Modbus A4Ah

LTNWARNING Applicable operating mode: PT, PS, V 0 RO

0 -

65535

Decimal
P9-38 Mode 2 AT improvement - u16 Modbus A4Ch

LTNIMPROVEMENT Applicable operating mode: PT, PS, V, T 0 RO

0 -

100

Decimal
P9-39 Cycle Identification status - u16 Modbus A4Eh

LTNCYCLEIDENT Applicable operating mode: PT, PS, V, T 0 RO

0 -

Decimal
P9-40 LTN Autotuning Using Defaults - u16 Modbus A50h

LTNDEFAULTS Applicable operating mode: PT, PS, V 0 RW

0 -

Decimal

EIO0000002299.05 235
Operation
What’s in This Part
Operation .................................................................................................... 237
Operating Modes ......................................................................................... 252

236 EIO0000002299.05
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Operation
What’s in This Chapter
Access Channels ........................................................................................ 237
Operating States ......................................................................................... 238
Setting the Digital Signal Inputs .................................................................... 239
Setting the Digital Signal Outputs ................................................................. 244
Functions for Target Value Processing .......................................................... 247
Setting a Signal Output Via Parameter .......................................................... 248
Forcing the Digital Signal Inputs and Signal Outputs ...................................... 248

Access Channels
The product can be accessed via different types of access channels.
Simultaneous access via multiple access channels or the use of exclusive access
may cause unintended equipment operation.

WARNING
UNINTENDED EQUIPMENT OPERATION
• Verify that simultaneous access via multiple access channels cannot cause
unintended triggering or blocking of commands.
• Verify that the use of exclusive access cannot cause unintended triggering or
blocking of commands.
• Verify that the required access channels are available.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

The product can be addressed via different access channels.

Access channels are:
• Integrated HMI
• Digital and analog input signals
• Commissioning software LXM26 DTM Library
The product allows you to work with exclusive access which limits access to the
product via a single access channel.
Only one access channel can have exclusive access to the product.
Exclusive access can be provided via different access channels:
• Via the integrated HMI:
The operating mode Jog or Autotuning can be started via the HMI.
• Via the commissioning software LXM26 DTM Library:
The commissioning software receives exclusive access via the switch
Exclusive access in position On.
When the product is powered on, there is no exclusive access via an access
channel.
The reference values are effective at the analog inputs and at the pulse inputs
when the product is powered on. If exclusive access has been assigned to an
access channel, signal at the pulse inputs are ignored.
The signal input functions HALT, FAULT_RESET, SON (falling edge), CWL(NL)
and CCWL(PL) are always effective during exclusive access.

EIO0000002299.05 237
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Operating States
State Diagram
When the product is powered on and when an operating mode is started, page
252, the product goes through a number of operating states.
The state diagram (state machine) shows the relationships between the operating
states and the state transitions.
The operating states are internally monitored and influenced by monitoring
functions.
Motor without current
Apply power to the drive

1
Start

2
Not Ready To Switch On

3
Switch On Disabled

4
Ready To Switch On

5
Switched On 9
Fault

8
Fault Reaction Active
Operation Enabled 6 7
Quick Stop Active
RUN/HALT

Motor under current

Operating state State transition Error

Operating States
Operating state Description

1 Start Electronics are initialized

2 Not Ready To Switch On The power stage is not ready to switch on

3 Switch On Disabled Impossible to enable the power stage

4 Ready To Switch On The power stage is ready to switch on.

5 Switched On Power stage is switched on

6 Operation Enabled Power stage is enabled

Selected operating mode is active

7 Quick Stop Active Quick Stop is being executed

8 Fault Reaction Active Error response is active

9 Fault Error response terminated

Power stage is disabled

238 EIO0000002299.05
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Resetting an Error Message

After you have removed the cause of the error, you can reset the error message in
one of the following ways:
• With a rising edge of the signal input function FAULT_RESET
• With a rising edge of the signal input function SON
• By using the Fault Reset button in the SoMove commissioning software.

Setting the Digital Signal Inputs

Various signal functions can be assigned to the digital signal inputs.
The functions of the inputs and outputs depend on the selected operating mode
and the settings of the corresponding parameters.

WARNING
UNINTENDED EQUIPMENT OPERATION
• Only start the system if there are no persons or obstructions in the zone of
operation.
• Verify that the wiring is appropriate for the settings.
• Carefully run tests for all operating states and potential error situations when
commissioning, upgrading or otherwise modifying the operation of the drive.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Default Presets of the Signal Inputs

The following table shows the default presets of the digital signal inputs depending
on the selected operating mode:

Setting A for Short Name PT PS V T Vz Tz PT PT PS PS V

P2-10 ... P2- name
17 V T V T T

01h SON Servo ON DI1

02h FAULT_ Fault Reset DI5 -
RESET
03h GAINUP Increase Gain -

04h CLRPO- Clear Position Deviation DI2 - DI2 -

SDEV
05h ZCLAMP Zero Clamp -

06h INVDIR- Inverse Direction Of -

ROT Rotation
07h HALT Halt -

08h CTRG Start Data Set - DI2 - DI2 -

09h TRQLM Activate Torque Limit - DI2 - DI2 -

10h SPDLM Activate Speed Limit - DI2 - DI2 -

11h POS0 Data Set Bit 0 - DI3 - DI3 -

12h POS1 Data Set Bit 1 - DI4 - DI4 -

13h POS2 Data Set Bit 2 -

14h SPD0 Speed Reference Value - DI3 - DI3 - DI3 - DI5 - DI3
Bit 0

EIO0000002299.05 239
 Operation

Setting A for Short Name PT PS V T Vz Tz PT PT PS PS V

P2-10 ... P2- name
17 V T V T T

15h SPD1 Speed Reference Value - DI4 - DI4 - DI4 - DI6 - DI4
Bit 1
16h TCM0 Torque Reference Value DI3 - DI3 - DI3 - DI3 - DI5
Bit 0
17h TCM1 Torque Reference Value DI4 - DI4 - DI4 - DI4 - DI6
Bit 1
18h V-Px Velocity - Position - DI7 - DI7 -

19h V-T Velocity - Torque - DI7

1Ah POS3 Data Set Bit 3 -

1Bh POS4 Data Set Bit 4 -

1Ch TPROB1 Touch Probe 1 -

20h T-Px Torque - Position - DI7 - DI7 -

21h OPST Stop and Disable Power DI8

Stage

22h CWL(NL) Negative Limit Switch DI6 -

(NL/LIMN)

23h CCWL Positive Limit Switch (PL/ DI7 -

(PL) LIMP)

24h ORGP Reference Switch -

27h GOTO- Move To Home Position -

HOME
2Ch PTCMS Type of pulses for -
operating mode Pulse
Train (PT) (OFF: Low-
speed pulses, ON: High-
Speed pulses)

37h JOGP Jog Positive -

38h JOGN Jog Negative -

39h STEPU Next Data Set -

40h STEPD Previous Data Set -

41h STEPB First Data Set -

42h AUTOR Automatic Position -

Sequence: Start with first
data set, repeat sequence

43h GNUM0 Numerator Bit 0 -

Electronic Gear Ratio
44h GNUM1 Numerator Bit 1 -
Electronic Gear Ratio
45h INHP Pulse Inhibit -

46h STOP Stop Motor (operating -

mode PS only)

Parameterization of the Signal Input Functions

The signal input functions for the inputs DI1 ... DI8 are configured via the
parameters P2-10 ... P2-17.
A signal input function can only be assigned to one of the signal inputs.

240 EIO0000002299.05
Operation

The operating modes Torque (T) and Torque (Tz) and the dual operating modes
with Torque (T) and Torque (Tz) do not provide deceleration functionality in
response to a power stage disable request. In these operating modes, the motor
coasts down to a standstill in response to a power stage disable request. You
must install additional equipment such as a dedicated service brake if your
application requires faster deceleration of the load.

WARNING
UNINTENDED EQUIPMENT OPERATION
• During commissioning, trigger all signals and simulate all conditions that
cause a power stage disable request in order to verify that all loads come to
a secure standstill when the power stage is disabled under maximum load
conditions.
• Install a dedicated service brake if removal of power to the motor does not
meet the requirements of your application.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

The following table provides an overview of the possible signal input functions:

Setting A Short name Name Description Signal

for P2-10 inputs
... P2-17
01h SON Servo ON The signal input function SON enables the power stage (operating state DI1 … DI8
Operation Enabled). The signal input function SON is only available if no
detected errors are present.

02h FAULT_ Fault Reset The signal input function FAULT_RESET performs a Fault Reset. The DI1 … DI8
RESET cause of the error must have been removed before a Fault Reset is
performed.

03h GAINUP Increase Gain The signal input function GAINUP increases the control gain according DI1 … DI8
to the values and conditions set via parameter P2-27.

04h CLRPOS- Clear Position The signal input function CLRPOSDEV resets the position deviation to DI1 … DI8
DEV Deviation zero as set via parameter P2-50.

This function is only supported in linear control mode (P8-35=4001h)

05h ZCLAMP Zero Clamp In the operating mode V, the signal input function ZCLAMP can be used DI1 … DI8
to stop the motor if the velocity of the motor is below the velocity value
set via the parameter P1-38. The behavior of the signal input function
ZCLAMP is set via the parameter P2-65, bit 10.

06h INVDIRROT Inverse Direction The signal input function INVDIRROT inverts the direction of rotation of DI1 … DI8
Of Rotation the motor. The signal input function INVDIRROT is available in the
operating modes Velocity (V) and Torque (T).

07h HALT Halt The signal input function HALT interrupts the movement with the DI1 … DI8
deceleration ramp set via the parameter P1-68. The movement is
resumed when the signal input function is no longer active.

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Setting A Short name Name Description Signal

for P2-10 inputs
... P2-17
08h CTRG Start Data Set The signal input function CTRG starts the selected data set in the DI1 … DI8
operating mode Position Sequence (PS). For further information, refer to
Operating Mode Position Sequence (PS), page 259.

09h TRQLM Activate Torque The signal input function TRQLM activates the torque limitations set via DI1 … DI8
Limit parameters P1-12 … P1-14. You can also use the parameter P1-02 to
activate the torque limitations set via parameters P1-12 … P1-14.

10h SPDLM Activate Speed The signal input function SPDLM activates the velocity limitations set via DI1 … DI8
Limit parameters P1-09 … P1-11. You can also use the parameter P1-02 to
activate the velocity limitations set via parameters P1-09 … P1-11.

11h POS0 Data Set Bit 0 The signal input functions POS0 ... POS4 represent bits 0 … 4 required DI1 … DI8
to select one of the 32 data sets available in the operating mode
Position Sequence (PS). For further information, refer to Operating
Mode Position Sequence (PS), page 259.

12h POS1 Data Set Bit 1 The signal input functions POS0 ... POS4 represent bits 0 … 4 required DI1 … DI8
to select one of the 32 data sets available in the operating mode
Position Sequence (PS). For further information, refer to Operating
Mode Position Sequence (PS), page 259.

13h POS2 Data Set Bit 2 The signal input functions POS0 ... POS4 represent bits 0 … 4 required DI1 … DI8
to select one of the 32 data sets available in the operating mode
Position Sequence (PS). For further information, refer to Operating
Mode Position Sequence (PS), page 259.

14h SPD0 Speed Reference The signal input functions SPD0 and SPD1 represent bits 0 and 1 to DI1 … DI8
Value Bit 0 select one of the three velocity reference values available in the
operating mode Velocity (V). For further information, refer to Operating
Modes Velocity (V) and Velocity Zero (Vz), page 290.

15h SPD1 Speed Reference The signal input functions SPD0 and SPD1 represent bits 0 and 1 to DI1 … DI8
Value Bit 1 select one of the three velocity reference values available in the
operating mode Velocity (V). For further information, refer to Operating
Modes Velocity (V) and Velocity Zero (Vz), page 290.

16h TCM0 Torque The signal input functions TCM0 and TCM1 represent bits 0 and 1 to DI1 … DI8
Reference Value select one of the three torque reference values available in the operating
Bit 0 mode Torque (T). For further information, refer to Operating Modes
Torque (T) and Torque Zero (Tz), page 293.

17h TCM1 Torque The signal input functions TCM0 and TCM1 represent bits 0 and 1 to DI1 … DI8
Reference Value select one of the three torque reference values available in the operating
Bit 1 mode Torque (T). For further information, refer to Operating Modes
Torque (T) and Torque Zero (Tz), page 293.

18h V-Px Velocity - Position Operating mode switching between Velocity (V) and Pulse Train (PT) or DI1 … DI8
between Velocity (V) and Position Sequence (PS) . For further
information, refer to Setting the Operating Mode, page 252.

(OFF: Velocity (V), ON: Pulse Train (PT) or Position Sequence (PS),
depending on P1-01)

19h V-T Velocity - Torque Operating mode switching between Velocity (V) and Torque (T). For DI1 … DI8
further information, refer to Setting the Operating Mode, page 252.

(OFF: Velocity (V), ON: Pulse Torque (T))

1Ah POS3 Data Set Bit 3 The signal input functions POS0 ... POS4 represent bits 0 … 4 required DI1 … DI8
to select one of the 32 data sets available in the operating mode
Position Sequence (PS). For further information, refer to Operating
Mode Position Sequence (PS), page 259.

1Bh POS4 Data Set Bit 4 The signal input functions POS0 ... POS4 represent bits 0 … 4 required DI1 … DI8
to select one of the 32 data sets available in the operating mode
Position Sequence (PS). For further information, refer to Operating
Mode Position Sequence (PS), page 259.

1Ch TPROB1 Touch Probe 1 The signal input function TPROB1 is used to trigger the Position DI7
Capture function. See the sections on the parameters P5-37 … P5-39
for additional information.
1Dh TPROB2 Touch Probe 2 The signal input function TPROB2 is used to trigger the Position DI6
Capture function. See the sections on the parameters P5-57 … P5-59
for additional information.
20h T-Px Torque - Position Operating mode switching between Torque (T) and Pulse Train (PT) or DI1 … DI8
between Torque (T) and Position Sequence (PS) . For further
information, refer to Setting the Operating Mode, page 252.

242 EIO0000002299.05
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Setting A Short name Name Description Signal

for P2-10 inputs
... P2-17

(OFF: Torque (T), ON: Pulse Train (PT) or Position Sequence (PS),
depending on P1-01)

21h OPST Stop and Disable The signal input function OPST stops the motor with the deceleration DI1 … DI8
Power Stage ramp set via the parameter P1-68 and then disables the power stage.

22h CWL(NL) Negative Limit Negative limit switch (NL/LIMN). When the signal input is activated, an DI1 … DI8
Switch (NL/LIMN) alert is triggered. The deceleration ramp is specified via parameter P5-
25.
23h CCWL(PL) Positive Limit Positive limit switch (PL/LIMP). When the signal input is activated, an DI1 … DI8
Switch (PL/LIMP) alert is triggered. The deceleration ramp is specified via parameter P5-
26.
24h ORGP Reference Switch The signal input function ORGP is used for the reference switch. For DI1 … DI8
further information, refer to Operating Mode Position Sequence (PS),
page 259.

27h GOTOHOME Move To Home The signal input function GOTOHOME triggers a movement to the DI1 … DI8
Position Home position set via the parameter P5-04.

2Ch PTCMS Type of pulses for The signal input function PTCMS selects the type of pulses for the DI1 … DI8
operating mode operating mode Pulse Train PT (OFF: Low-speed pulses, ON: High-
Pulse Train (PT) speed pulses). You can also use the parameter P1-00 to select the type
(OFF: Low-speed of pulses.
pulses, ON: High-
Speed pulses)

37h JOGP Jog Positive The signal input function JOGP triggers a Jog movement in positive DI1 … DI8
direction if the value determining the direction of movement in the
parameter P1-01 is set to the default value.

38h JOGN Jog Negative The signal input function JOGN triggers a Jog movement in negative DI1 … DI8
direction if the value determining the direction of movement in the
parameter P1-01 is set to the default value.

39h STEPU Next Data Set The signal input function STEPU starts the next data set in the operating DI1 … DI8
mode Position Sequence (PS).

40h STEPD Previous Data The signal input function STEPD starts the previous data set in the DI1 … DI8
Set operating mode Position Sequence (PS).

41h STEPB First Data Set The signal input function STEPB starts the first data set in the operating DI1 … DI8
mode Position Sequence (PS).

42h AUTOR Automatic The signal input function AUTOR starts a sequence of data sets from DI1 … DI8
Position the first data set in the operating mode Position Sequence (PS). The
Sequence: Start sequence is repeated as long as the signal input function AUTOR is
with first data set, active.
repeat sequence

43h GNUM0 Numerator Bit 0 The signal input functions GNUM0 and GNUM1 represent bits 0 and 1 DI1 … DI8
Electronic Gear to select one of the four numerators set via the parameters P1-44, P2-
Ratio 60 … P2-62. The denominator is set via the parameter P1-45 . The
ratios are used as gear factors in the operating mode Pulse Train (PT)
and as scaling factors. For further information, refer to Gear Ratio, page
256 and Scaling, page 261.

44h GNUM1 Numerator Bit 1 The signal input functions GNUM0 and GNUM1 represent bits 0 and 1 DI1 … DI8
Electronic Gear to select one of the four numerators set via the parameters P1-44, P2-
Ratio 60 … P2-62. The denominator is set via the parameter P1-45. The ratios
are used as gear factors in the operating mode Pulse Train (PT) and as
scaling factors. For further information, refer to Gear Ratio, page 256
and Scaling, page 261.

45h INHP Pulse Inhibit The signal input function INHP is used in the operating mode Pulse DI1 … DI8
Train (PT) to block pulses received as reference signals. If the signal
input function is active, the pulses are no longer evaluated and the
motor coasts down.
46h STOP Stop Motor The signal input function STOP stops the motor with the deceleration DI1 … DI8
(operating mode ramp set via the parameter P5-20. The power stage remains enabled.
PS only) The signal input function STOP is available in the operating mode
Position Sequence (PS).

EIO0000002299.05 243
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Setting the Digital Signal Outputs

Various signal functions can be assigned to the digital signal outputs.
The functions of the inputs and outputs depend on the selected operating mode
and the settings of the corresponding parameters.

WARNING
UNINTENDED EQUIPMENT OPERATION
• Only start the system if there are no persons or obstructions in the zone of
operation.
• Verify that the wiring is appropriate for the settings.
• Carefully run tests for all operating states and potential error situations when
commissioning, upgrading or otherwise modifying the operation of the drive.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Default Presets of the Signal Outputs

The following table shows the default presets of the digital signal outputs
depending on the selected operating mode:

Setting A for Short Name PT PS V T Vz Tz PT PT PS PS V

P2-18 ... P2- name
22 V T V T T

01h SRDY Servo Ready DO1

02h SON Servo On -

03h ZSPD Zero Speed DO2

04h TSPD Speed Reached - DO3

05h TPOS Movement Completed DO4 - DO4 -

06h TQL Torque Limit Reached -

07h ERROR Error Detected DO5

08h BRKR Holding Brake Control - DO4 -

09h HOME- Homing Completed DO3 -

D_OK

10h OLW Motor Overload Alert -

11h WARN Alert Signal activated -

12h OVF Position command overflow -

13h SCWL Negative Software Limit -

(SNL) Switch Reached

14h SCCWL Positive Software Limit -

(SPL) Switch Reached

15h CMD_ Data set completed -

OK
16h CAP1_ Capture 1 completed -
OK
17h MC_OK Motion control completed -
output

18h - - -

19h SP_OK Speed reached output -

1Ah…2Fh - - -

244 EIO0000002299.05
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Setting A for Short Name PT PS V T Vz Tz PT PT PS PS V

P2-18 ... P2- name
22 V T V T T

30h SDO_0 Output the status of bit 0 of -

P4-06.
31h SDO_1 Output the status of bit 1 of -
P4-06.
32h SDO_2 Output the status of bit 2 of -
P4-06.
33h SDO_3 Output the status of bit 3 of -
P4-06.
34h SDO_4 Output the status of bit 4 of -
P4-06.
35h SDO_5 Output the status of bit 5 of -
P4-06.
36h SDO_6 Output the status of bit 6 of -
P4-06.
37h SDO_7 Output the status of bit 7 of -
P4-06.
38h ... 3Fh - - -

Parameterization of the Signal Output Functions

The signal output functions for the outputs DO1 ... DO5 are configured via the
parameters P2-18 ... P2-22.

The following table provides an overview of the possible signal output functions:

Setting A for P2- Short name Name Description

18 ... P2-22
01h SRDY Servo Ready The signal output function SRDY indicates that no errors are detected, i.e., the
drive is not in the operating state Fault.

02h SON Servo On The signal output function SON indicates that the drive is in the operating state
Operation Enabled .

03h ZSPD Zero Speed The signal output function ZSPD indicates that the velocity of the motor is less
than the velocity value set via parameter P1-38 .

04h TSPD Speed Reached The signal output function TSPD indicates that the velocity of the motor is
greater than the velocity value set via parameter P1-39 .

05h TPOS Movement Operating mode Pulse Train (PT): The signal output function TPOS indicates
Completed that the position deviation is within the tolerance set via the parameter P1-54
and the motor has come to a standstill.

Operating mode Position Sequence (PS): The signal output function TPOS
indicates that the position deviation at the target position is within the tolerance

EIO0000002299.05 245
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Setting A for P2- Short name Name Description

18 ... P2-22
set via the parameter P1-54 and the reference velocity is below the value set via
the parameter P1-38.

06h TQL Torque Limit The signal output function TQL indicates that the torque of the motor has
Reached reached the value set via parameters P1-12 ... P1-14 or an analog input.

07h ERROR Error Detected The signal output function ERROR indicates that an error has been detected
and that the drive has switched to the operating state Fault. For further
information, refer to Diagnostics and Troubleshooting, page 298.

08h BRKR Holding Brake The signal output function BRKR is used to control the holding brake with the
Control settings made via parameters P1-42 and P1-19. The holding brake must be
connected to the output to which the signal output function BRKR is assigned.
For further information, refer to Holding Brake Connection, page 109.

09h HOMED_OK Homing The signal output function HOMED_OK indicates that the homing procedure has
Completed been successfully completed. The settings for Homing are specified via
parameters P5-04 … P5-06. For further information, refer to Operating Mode
Position Sequence (PS), page 259.

10h OLW Motor Overload The signal output function OLW indicates a motor overload condition. A
Alert threshold for the signal output function OLW can be set via parameter P1-28.

11h WARN Alert Signal The signal output function indicates that one of the following conditions has been
activated detected: Hardware limit switch triggered, undervoltage, Nodeguard alert,
Operational Stop (OPST). For further information, refer to Diagnostics and
Troubleshooting, page 298.

12h - - Reserved
13h SCWL(SNL) Negative The signal output function SCWL(SNL) indicates that the negative software limit
Software Limit switch set via parameter P5-09 has been reached. When the software limit
Switch Reached switch is reached, an alert is triggered. The deceleration ramp is specified via
parameter P5-23.

14h SCCWL Positive Software The signal output function SCCWL(SPL) indicates that the positive software limit
(SPL) Limit Switch switch set via parameter P5-08 has been reached. When the software limit
Reached switch is reached, an alert is triggered. The deceleration ramp is specified via
parameter P5-24.

15h CMD_OK Data set The signal output function CMD_OK indicates that the data set including the
completed waiting time has been successfully completed.

16h CAP1_OK Capture 1 The signal output function CAP1_OK indicates that a position capture (Touch
completed Probe) has been successfully completed. The settings for position capture
(Touch Probe) are specified via parameters P5-37 … P5-39.

17h MC_OK Motion control The signal output function MC_OK indicates that both the signal output functions
completed output CMD_OK and TPOS have been activated.

18h - - Reserved
19h SP_OK Speed reached The signal output function SP_OK indicates that the target velocity has been
output reached. The velocity range for activating this signal output function is set via
parameter P1-47.

1Ah…2Fh - - Reserved
30h SDO_0 Output the status The signal output functions SDO_0 ... SDO_7 provide the bit pattern (bits 0 ... 7)
of bit 0 of P4-06. required to determine the setting of the parameter P4-06.

31h SDO_1 Output the status The signal output functions SDO_0 ... SDO_7 provide the bit pattern (bits 0 ... 7)
of bit 1 of P4-06. required to determine the setting of the parameter P4-06.

32h SDO_2 Output the status The signal output functions SDO_0 ... SDO_7 provide the bit pattern (bits 0 ... 7)
of bit 2 of P4-06. required to determine the setting of the parameter P4-06.

33h SDO_3 Output the status The signal output functions SDO_0 ... SDO_7 provide the bit pattern (bits 0 ... 7)
of bit 3 of P4-06. required to determine the setting of the parameter P4-06.

34h SDO_4 Output the status The signal output functions SDO_0 ... SDO_7 provide the bit pattern (bits 0 ... 7)
of bit 4 of P4-06. required to determine the setting of the parameter P4-06.

35h SDO_5 Output the status The signal output functions SDO_0 ... SDO_7 provide the bit pattern (bits 0 ... 7)
of bit 5 of P4-06. required to determine the setting of the parameter P4-06.

36h SDO_6 Output the status The signal output functions SDO_0 ... SDO_7 provide the bit pattern (bits 0 ... 7)
of bit 6 of P4-06. required to determine the setting of the parameter P4-06.

37h SDO_7 Output the status The signal output functions SDO_0 ... SDO_7 provide the bit pattern (bits 0 ... 7)
of bit 7 of P4-06. required to determine the setting of the parameter P4-06.

38h…3Fh - - Reserved

246 EIO0000002299.05
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Functions for Target Value Processing

Interrupting a Movement with HALT
The HALT signal input function is available in the operating mode PT only.
With the signal input function HALT, the ongoing movement is interrupted. When
the signal input function HALT is no longer active, the movement is resumed from
the point where it was interrupted.
The movement is interrupted via a deceleration ramp. The deceleration ramp is
specified via parameter P1-68.
In order to interrupt a movement via a signal input, you must first parameterize the
signal input function HALT, refer to Setting the Digital Signal Inputs, page 239.
NOTE: The pulses received while the HALT function is active are ignored. When
the HALT is no longer active, the drive accepts any on-going pulse stream and
start movement according to that stream.

WARNING
UNINTENDED EQUIPMENT OPERATION
• Do not deactivate the HALT function prior to the deceleration of the motor.
• If the deactivation of the HALT function prior to the deceleration of the motor
is unavoidable, be sure to include these circumstances in your hazard and
risk analysis of your application.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

If there is uncertainty of the effect of the movement generated by an ongoing pulse

stream at the time of HALT deactivation, you must rehome the application.

Stopping a Movement with OPST

With the signal input function OPST (Operational Stop), the ongoing movement is
stopped.
In order to stop a movement via a signal input, you must first parameterize the
signal input function OPST, refer to Setting the Digital Signal Inputs, page 239.
The movement is interrupted via a deceleration ramp to the point of the defined
standstill. After that, the power stage is disabled once the drive has determined
that the motor is at standstill, and if so configured, the holding brake is applied.

WARNING
UNINTENDED EQUIPMENT OPERATION
• During commissioning, trigger all signals and simulate all conditions that
cause a power stage disable request in order to verify that all loads come to
a secure standstill when the power stage is disabled under maximum load
conditions.
• Install a dedicated service brake if removal of power to the motor does not
meet the requirements of your application.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

An error, AL013, is detected and presented.

The deceleration ramp is specified via parameter P1-68.

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After the OPST function is enabled, you must disable it and re-enable the power
stage for continued operation.

Setting a Signal Output Via Parameter

The digital signal outputs can be set via a parameter.
In order to set a digital signal output via the parameter, you must first parameterize
the signal output functions SDO_0 … SDO_7, refer to Setting the Digital Signal
Outputs, page 244.
The parameter P4-06 lets you set the digital signal outputs.

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P4-06 Setting a signal output via parameter - u16 Modbus 50Ch

FOT Applicable operating mode: PT, PS, V, T 0h RW

This parameter lets you set those signal outputs 0h -

whose signal output functions have been defined
by SDO_0 … SDO_7. FFh

Bit 0 = 1 sets those signal outputs whose signal Hexadecimal

output function has been set to SDO_0.

Bit 1 = 1 sets those signal outputs whose signal

output function has been set to SDO_1.

Bit 2 = 1 sets those signal outputs whose signal

output function has been set to SDO_2.

Bit 3 = 1 sets those signal outputs whose signal

output function has been set to SDO_3.

Bit 4 = 1 sets those signal outputs whose signal

output function has been set to SDO_4.

Bit 5 = 1 sets those signal outputs whose signal

output function has been set to SDO_5.

Bit 6 = 1 sets those signal outputs whose signal

output function has been set to SDO_6.

Bit 7 = 1 sets those signal outputs whose signal

output function has been set to SDO_7.

See P2-18 ... P2-22 for assigning the functions to

the digital outputs.

Forcing the Digital Signal Inputs and Signal Outputs

Forcing of signals means that the digital inputs and outputs are set manually.
Forcing input and output values can have serious consequences on the operation
of a machine or process.

248 EIO0000002299.05
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WARNING
UNINTENDED EQUIPMENT OPERATION CAUSED BY FORCING
• Only force I/O if there are no persons or obstructions in the zone of
operation.
• Only force I/O if you are fully familiar with the effects of the signals.
• Only force I/O for test purposes, maintenance or other short-term tasks.
• Do not use forcing for regular, long-term or in-service operation.
• Always remove forcing when the task (testing, maintenance or other short-
term operation) is completed.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Forcing the Digital Inputs

Forcing of the digital inputs is set via the parameters P3-06 and P4-07.
The parameter P3-06 lets you specify which digital signal inputs are allowed to be
forced.

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P3-06 Digital Inputs - Forcing Settings - u16 Modbus 40Ch

SDI Applicable operating mode: PT, PS, V, T 0h RW

This parameter determines whether a digital input 0h -

can be forced.
7FFh
Bits 0 … 7: Digital input DI1 … Digital input DI8
Hexadecimal
Bit settings:

Value 0: Digital input cannot be forced

Value 1: Digital input can be forced

To start forcing, you must write P4-07.

See P2-10 … P2-17 for the assignment of signal

input functions to the digital inputs.

Use parameter P4-07 to activate forcing of the digital signal inputs.

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Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P4-07 State of Digital Inputs / Activate Forcing - u16 Modbus 50Eh

ITST Applicable operating mode: PT, PS, V, T 0h RW

A read access to this parameter indicates the 0h -

state of the digital inputs in the form of a bit
pattern. FFh

Example: Hexadecimal

Read value 0x0011: Digital inputs 1 and 5 are

activated

By writing this parameter, you can change the

state of the inputs provided that the setting for the
corresponding input in P3-06 allows for forcing
(value 1 for the bit corresponding to the input).

Example:

Write value 0x0011: Digital inputs 1 and 5 are

activated

Read value 0x0011: Digital inputs 1 and 5 are

activated

See P3-06 for permitting forcing of individual

digital inputs.

See P2-10 … P2-17 for the assignment of signal

input functions to the digital inputs.

Forcing the Digital Outputs

Forcing of the digital outputs is set via the parameters P4-27 and P4-28.
The parameter P4-27 lets you specify which digital signal outputs are allowed to
be forced.

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P4-27 Digital Outputs - Forcing Settings - u16 Modbus 536h

DO_FORCE_MASK Applicable operating mode: PT, PS, V, T 0h RW

This parameter determines whether a digital 0h -

output can be forced.
1Fh
Bits 0 … 4: Digital output DO1 … Digital output
DO5 Hexadecimal

Bit settings:

Value 0: Digital output cannot be forced

Value 1: Digital output can be forced

To start forcing, you must write P4-28.

See P2-18 … P2-22 for the assignment of signal

output functions to the digital outputs.

Use parameter P4-28 to activate forcing of the digital signal outputs.

250 EIO0000002299.05
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Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P4-28 State of Digital Outputs / Activate Forcing - u16 Modbus 538h

DO_FORCE_VALUE Applicable operating mode: PT, PS, V, T 0h RW

A read access to this parameter indicates the 0h -

state of the digital outputs in the form of a bit
pattern. 1Fh

Example: Hexadecimal

Read value 0x0011: Digital outputs 1 and 5 are

activated

By writing this parameter, you can change the

state of the outputs provided that the setting for
the corresponding output in P4-27 allows for
forcing (value 1 for the bit corresponding to the
output).

Example:

Write value 0x0011: Digital outputs 1 and 5 are

activated

Read value 0x0011: Digital outputs 1 and 5 are

activated

See P4-27 for permitting forcing of individual

digital outputs.

See P2-18 … P2-22 for the assignment of signal

output functions to the digital outputs.

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Operating Modes
What’s in This Chapter
Setting the Operating Mode.......................................................................... 252
Jog Operation ............................................................................................. 253
Operating Mode Pulse Train (PT) ................................................................. 254
Operating Mode Position Sequence (PS) ...................................................... 259
Operating Modes Velocity (V) and Velocity Zero (Vz)...................................... 290
Operating Modes Torque (T) and Torque Zero (Tz)......................................... 293

Setting the Operating Mode

Setting the Operating Mode
Unsuitable settings or unsuitable data may trigger unintended movements, trigger
signals, damage parts and disable monitoring functions. Some parameters and
other operational data do not become active until after a restart.

WARNING
UNINTENDED EQUIPMENT OPERATION
• Only start the system if there are no persons or obstructions in the zone of
operation.
• Do not operate the drive system with undetermined parameter values.
• Never modify a parameter value unless you fully understand the parameter
and all effects of the modification.
• Restart the drive and verify the saved operational data and/or parameter
values after modification.
• Carefully run tests for all operating states and potential error situations when
commissioning, upgrading or otherwise modifying the operation of the drive.
• Verify the functions after replacing the product and also after making
modifications to the parameter values and/or other operational data.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

The drive has the following types of operating modes:

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• Single Mode operating modes

◦ The drive operates in a single operating mode.
• Dual Mode operating modes
◦ The drive operates using 2 operating modes alternately. The signal input
functions are used to switch between the operating modes.
The operating modes Torque (T) and Torque (Tz) and the dual operating modes
with Torque (T) and Torque (Tz) do not provide deceleration functionality in
response to a power stage disable request. In these operating modes, the motor
coasts down to a standstill in response to a power stage disable request. You
must install additional equipment such as a dedicated service brake if your
application requires faster deceleration of the load.

WARNING
UNINTENDED EQUIPMENT OPERATION
• During commissioning, trigger all signals and simulate all conditions that
cause a power stage disable request in order to verify that all loads come to
a secure standstill when the power stage is disabled under maximum load
conditions.
• Install a dedicated service brake if removal of power to the motor does not
meet the requirements of your application.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Jog Operation
Jog Operation
Description
In the Jog operation, a movement is made from the actual motor position in the
specified direction.
The parameter P4-05 is used to set the velocity for the movement in the unit rpm.
The movement can be performed via the arrow keys at the HMI or via the signal
input functions JOGP and JOGN.
For further information on the parameterizable signal input functions, refer to
Setting the Digital Signal Inputs, page 239.

Jog Via HMI

If the HMI is used, the movements are performed via the arrow keys. The
operating mode is terminated via the M key.

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If the HMI is used, the movements are performed via the arrow keys. The
operating mode is terminated via the M key.

Operating Mode Pulse Train (PT)

Operating mode Pulse Train (PT)
Description
In the operating mode Pulse Train (PT), movements are carried out according to
externally supplied reference value signals. A position reference value is
calculated on the basis of these external reference values plus an adjustable gear
ratio. The reference value signals can be A/B signals, P/D signals or CW/CCW
signals.

Method
A movement can be made using one of 3 methods:
• Position synchronization without compensation movement
In the case of position synchronization without compensation movement, the
movement is made synchronously (position synchronicity) with the supplied
reference value signals. Reference value signals supplied during an
interruption are not taken into account.
• Position synchronization with compensation movement
In the case of position synchronization with compensation movement, the
movement is made synchronously (position synchronicity) with the supplied
reference value signals. Reference value signals supplied during an
interruption are taken into account and compensated for.
• Velocity synchronization
In the case of velocity synchronization, the movement is made synchronously
(velocity synchronicity) with the supplied reference value signals.

254 EIO0000002299.05
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Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P8-31 Method for Operating Mode Pulse Train (PT) - u16 Modbus 93Eh

GEARING_MODE Applicable operating mode: PT 0 RW

Value 0: Synchronization deactivated 1 per.

Value 1: Position synchronization without 3

compensation movement
Decimal
Value 2: Position synchronization with
compensation movement

Value 3: Velocity synchronization

The parameters for acceleration (P1-34),

deceleration (P1-35) and velocity (P1-55) act as
limitations for the synchronization.

Pulse Settings
The parameter P1-00 lets you specify the type of reference value signals, the
input polarity, the maximum signal frequency and the source of the pulses.

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P1-00 Reference Value Signal - Pulse Settings - u16 Modbus 200h

PTT Applicable operating mode: PT 0h RW

2h per.

1132h

Hexadecimal

This parameter is used to configure the reference

value signals for the operating mode PT.

A: Type of reference value signals

B: Signal frequency

C: Input polarity

D: Source of reference value signals

Setting can only be modified if power stage is

disabled.

Settings A and C
Type of reference value signals and input polarity

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– C=0 C=1

Positive input polarity Negative input polarity

Positive direction Negative Positive direction Negative

of movement direction of of movement direction of
movement movement
A=0

A/B signals

A=1

CW/CCW
signals

A=2

P/D signals

Setting B
Maximum signal frequency:

– Low-speed pulses High-speed pulses

PULSE, SIGN HPULSE, HSIGN

B=0 500 Kpps(1) 4 Mpps

B=1 200 Kpps 2 Mpps

B=2 100 Kpps 1 Mpps

B=3 50 Kpps 500 Kpps

(1) Only possible with RS422.

Parameter P2-65 bit 6 allows you to set an error response for frequencies
exceeding the maximum signal frequency by more than 10 %.

Setting D
Source of the pulses:

D=0 Low-speed pulses CN1 Terminal: PULSE, SIGN

D=1 High-speed pulses CN1 Terminal: HPULSE, HSIGN

The source of the pulses can also be set via the signal input function PTCMS. The
settings of the signal input function take priority over the settings of the parameter
P1-00.

Gear Ratio
The gear ratio is the ratio of the number of motor increments and the number of
reference increments.
The reference increments are supplied as reference value signals via the signal
inputs.

256 EIO0000002299.05
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Motor increments Gear factor numerator

Gear factor = =
Reference increments Gear factor denominator

With the factory setting for the gear ratio, 100000 reference increments
correspond to one revolution.
There are 1280000 motor increments per revolution.

Parameterization
You can set up 4 gear ratios. It is possible to switch between these gear ratios via
the signal inputs.
The gear ratios are set via parameters P1-44, P1-45, P2-60, P2-61, and P2-62.
You can switch between the gear ratios with the signal input functions GNUM0
and GNUM1.

In order to switch between the gear ratios via the signal inputs, you must first
parameterize the signal input functions GNUM0 and GNUM1, refer to Setting the
Digital Signal Inputs, page 239.

Example 1
Calculation of number of motor revolutions corresponding to 30000 PUU:

Example 2
Calculation of gear ratio if 10000 PUU are to effect 500 revolutions of the motor
shaft:

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Example 3
A machine encoder with 1024 lines per revolution is to effect one revolution of the
motor shaft with one revolution.

Acceleration and Deceleration Limitation

The parameters P1-34 and P1-35 allow you to set a limitation for the acceleration
and deceleration.

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P1-34 Acceleration Period ms u16 Modbus 244h

TACC Applicable operating mode: PT, V 6 RW

The acceleration period is the time in milliseconds 30 per.

required to accelerate from motor standstill to
6000 rpm. 65500

For operating mode V, this parameter specifies the Decimal

acceleration.

For operating mode PT, this parameter specifies

an acceleration limitation for the pulses at the PTI
interface.
P1-35 Deceleration Period ms u16 Modbus 246h

TDEC Applicable operating mode: PT, V 6 RW

The deceleration period is the time in milliseconds 30 per.

required to decelerate from 6000 rpm to motor
standstill. 65500

For operating mode V, this parameter specifies the Decimal

deceleration.

For operating mode PT, this parameter specifies a

deceleration limitation for the pulses at the PTI
interface.

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Operating Mode Position Sequence (PS)

Operating mode Position Sequence (PS)
Description
The operating mode Position Sequence (PS) allows you to set and execute 32
motion profiles in any sequence. The motion profiles are defined via 32 data sets.
The following values can be set for each data set:
• Target position
• Type of movement: Absolute or relative
• Type of transition between data sets
• Acceleration
• Target velocity
• Deceleration
• Waiting time after completion of the data set
In addition, a Homing data set is provided. This Homing data set is used to set a
reference point for absolute movements.

Configuration
The data sets are configured by means of the commissioning software LXM26
DTM Library.

Structure of a Data Set

Target Position
The target position is set in the user-defined unit. With the factory scaling, the
resolution is 100000 user-defined units per revolution.
For further information on scaling, refer to chapter Scaling, page 261.

Type of Movement
In the case of a relative movement, the movement is relative with reference to the
previous target position or the current motor position.

In the case of an absolute movement, the movement is absolute with reference to

the zero point.

Homing or position setting is required before the first absolute movement can be
performed.

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Transition Between Data Sets

There are two types of transitions:
• The subsequent data set is only started after the preceding data set has been
completed.
• The subsequent data set is started as soon as it is triggered via the signal
input function CTRG or the parameter P5-07.

Acceleration Period
The acceleration period is the time in milliseconds required to accelerate from
motor standstill to 6000 rpm. It is used to set the acceleration ramp.

Target Velocity
The target velocity is reached after the time required for acceleration has passed.

Deceleration Period
The deceleration period is the time in milliseconds required to decelerate from
6000 rpm to motor standstill. It is used to set the deceleration ramp.

Waiting Time
The waiting time is the period of time that must pass after the target position has
been reached for the data set to be considered completed.

Parameters for the Data Sets

The data set are configured via parameters P6-02 ... P6-65 and P7-02 ... P7-65.
The following table provides an overview:

Data set Target position Type / transition Acceleration / Waiting time /

deceleration target velocity

1 P6-02 P6-03 P7-02 P7-03

2 P6-04 P6-05 P7-04 P7-05
3 P6-06 P6-07 P7-06 P7-07
4 P6-08 P6-09 P7-08 P7-09
5 P6-10 P6-11 P7-10 P7-11
6 P6-12 P6-13 P7-12 P7-13
7 P6-14 P6-15 P7-14 P7-15
8 P6-16 P6-17 P7-16 P7-17
9 P6-18 P6-19 P7-18 P7-19
10 P6-20 P6-21 P7-20 P7-21
11 P6-22 P6-23 P7-22 P7-23
12 P6-24 P6-25 P7-24 P7-25
13 P6-26 P6-27 P7-26 P7-27
14 P6-28 P6-29 P7-28 P7-29
15 P6-30 P6-31 P7-30 P7-31
16 P6-32 P6-33 P7-32 P7-33
17 P6-34 P6-35 P7-34 P7-35

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Data set Target position Type / transition Acceleration / Waiting time /

deceleration target velocity

18 P6-36 P6-37 P7-36 P7-37

19 P6-38 P6-39 P7-38 P7-39
20 P6-40 P6-41 P7-40 P7-41
21 P6-42 P6-43 P7-42 P7-43
22 P6-44 P6-45 P7-44 P7-45
23 P6-46 P6-47 P7-46 P7-47
24 P6-48 P6-49 P7-48 P7-49
25 P6-50 P6-51 P7-50 P7-51
26 P6-52 P6-53 P7-52 P7-53
27 P6-54 P6-55 P7-54 P7-55
28 P6-56 P6-57 P7-56 P7-57
29 P6-58 P6-59 P7-58 P7-59
30 P6-60 P6-61 P7-60 P7-61
31 P6-62 P6-63 P7-62 P7-63
32 P6-64 P6-65 P7-64 P7-65

Scaling
Scaling is the ratio of the number of user-defined units and the number of internal
units.
The user-defined units are supplied as parameter values in the unit PUU.

Internal units Gear factor numerator

Scaling factor = =
User-defined units Gear factor denominator

With the factory setting for the scaling factor, 100000 user-defined units
correspond to one revolution.
The internal units are 1280000 increments per revolution.

Parameterization
The scaling factor is set using the parameters P1-44 and P1-45.

Example 1
Calculation of number of motor revolutions corresponding to 30000 PUU:

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Example 2
Calculation of the scaling factor if 10000 PUU are to effect 500 revolutions of the
motor shaft:

Homing Data Set for Absolute Movements

The Homing data set is used to establish a reference between a mechanical
position and the actual position of the motor.
A reference between a mechanical position and the actual position of the motor is
generated by means of a reference movement or by means of position setting.
A successful reference movement, or position setting, homes the motor.
Homing establishes the zero point for absolute movements.

Methods
The following methods are available:
• Reference movement to a limit switch
In the case of a reference movement to a limit switch, a movement to the
negative limit switch or the positive limit switch is performed.
When the limit switch is reached, the motor is stopped and a movement is
made back to the switching point of the limit switch.
From the switching point of the limit switch, an additional movement can be
made to the next index pulse of the motor.
The switching point of the limit switch or the position of the index pulse point
is the reference point.
• Reference movement to the reference switch
In the case of a reference movement to the reference switch, a movement to
the reference switch is performed.
When the reference switch is reached, the motor is stopped and a movement
is made back to the switching point of the reference switch.
From the switching point of the reference switch, an additional movement can
be made to the next index pulse of the motor.
The switching point of the reference switch or the position of the index pulse
point is the reference point.
• Reference movement to the index pulse
In the case of a reference movement to the index pulse, a movement is made
from the actual position to the next index pulse. The position of the index
pulse is the reference point.
• Position setting
In the case of position setting, the current motor position is set to a desired
position value.

262 EIO0000002299.05
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A reference movement must be terminated without interruption for the new zero
point to be valid. If the reference movement is interrupted, it must be started again.

Starting the Homing Data Set

The Homing data set can be started in the following ways:
• Automatic start when the power stage is enabled for the first time
The automatic start can be set with the parameter P6-01.
• Start via the signal input function GOTOHOME
The signal input function must have been parameterized, refer to Setting the
Digital Signal Inputs, page 239.

Setting Automatic Start and the Subsequent Data Set

The parameter P6-01 is used to set the automatic start and select a data set to be
executed after completion of the Homing data set.
The parameter P7-01 is used to set a waiting time for the subsequent data set.
The subsequent data set is started after the waiting time has elapsed.

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P6-01 Subsequent Data Set and Auto-start of Homing - u32 Modbus 702h
Data Set
ODEF 0h RW
Applicable operating mode: PS
0h per.
Bit 0:
2001h
0 = Do not start Homing after first power stage
enable Hexadecimal

1 = Start Homing after first power stage enable

Bits 1 … 7: Reserved

Bits 8 … 15: Subsequent data set

P7-01 Waiting Time of Homing Data Set ms u32 Modbus 802h

HOME_DLY Applicable operating mode: PS 0 RW

Bits 0 … 15: Waiting time until next dataset is 0 per.

started
32767
Bits 16 … 31: Reserved
Decimal

Setting Acceleration and Deceleration

The acceleration and deceleration for the Homing data set are set via the
parameter P7-00.

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Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P7-00 Deceleration and Acceleration of Homing Data Set ms|ms u32 Modbus 800h

HOME_ACC_DEC Applicable operating mode: PS 6| 6 RW

Bits 0 … 15: Deceleration 200| 200 per.

Bits 16 … 31: Acceleration 65500| 65500

Decimal

Setting Velocities
The parameters P5-05 and P5-06 are used to set the velocities for searching the
switch and for moving away from the switch.

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P5-05 Homing - Fast Velocity for Reference Movement 0.1rpm u32 Modbus 60Ah

HOMESPEED1 Applicable operating mode: PS 10 RW

1000 per.

60000

Decimal
P5-06 Homing - Slow Velocity for Reference Movement 0.1rpm u32 Modbus 60Ch

HOMESPEED2 Applicable operating mode: PS 10 RW

200 per.

60000

Decimal

Defining the Zero Point

The parameter P6-00 is used to specify a position value, which is set at the
reference point after a successful reference movement or after position setting.
This position value defines the zero point.

264 EIO0000002299.05
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Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P6-00 Position of Homing Data Set PUU s32 Modbus 700h

ODAT Applicable operating mode: PS -2147483647 RW

After a successful reference movement, this 0 per.

position is automatically set at the reference point.
2147483647
Bits 0 … 31: Position
Decimal

Selecting the Homing Method

The parameter P5-04 is used to set the Homing method.

Setting Z - limit switch Setting Y - index pulse Settings X - Homing method

- Y=0: Movement back to the last index 0 Movement in positive direction to the positive
pulse limit switch
- Y=2: No movement to the index pulse 1 Movement in negative direction to the negative
limit switch
Z=0: Stop after limit switch is reached Y=0: Movement back to the last index 2 Movement in positive direction to the rising
and trigger alert AL014 or AL015 pulse edge of the reference switch

Z=1: Move in opposite direction after Y=1: Movement to the next index 3 Movement in negative direction to the rising
having reached the limit switch, no pulse edge of the reference switch
alert
Y=2: No movement to the index pulse

- 4 Movement in positive direction to the next

index pulse

- 5 Movement in negative direction to the next

index pulse

Y=0: Movement back to the last index 6 Movement in positive direction to the falling
pulse edge of the reference switch

Y=1: Movement to the next index 7 Movement in negative direction to the falling
pulse edge of the reference switch

Y=2: No movement to the index pulse

- - 8 Position setting

The illustrations below show the Homing methods.

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Reference Movement to the Positive Limit Switch

The following illustrations show reference movements to the positive limit switch
from different starting positions.
Reference movement (ZYX = -00)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to falling edge at velocity P5-05

3 Movement to the index pulse at velocity P5-06

Reference movement (ZYX = -20)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to falling edge at velocity P5-06

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Reference Movement to the Negative Limit Switch

The following illustrations show reference movements to the negative limit switch
from different starting positions.
Reference movement (ZYX = -01)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to falling edge at velocity P5-05

3 Movement to the index pulse at velocity P5-06

Reference movement (ZYX = -21)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to falling edge at velocity P5-06

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Reference Movement in Positive Direction to the Rising Edge of the

Reference Switch
The following illustrations show reference movements to the rising edge of the
reference switch in positive direction from different starting positions.
Reference movement (ZYX = 002)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to falling edge at velocity P5-05

3 Movement to the index pulse at velocity P5-06

4 Movement to the limit switch at velocity P5-05

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Reference movement (ZYX = 012)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to the index pulse at velocity P5-06

3 Movement to falling edge at velocity P5-05

4 Movement to the limit switch at velocity P5-05

Reference movement (ZYX = 022)

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 Operating Modes

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to falling edge at velocity P5-06

3 Movement to the limit switch at velocity P5-05

Reference movement (ZYX = 102)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to falling edge at velocity P5-05

3 Movement to the index pulse at velocity P5-06

4 Movement to the limit switch at velocity P5-05

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Reference movement (ZYX = 112)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to the index pulse at velocity P5-06

3 Movement to falling edge at velocity P5-05

4 Movement to the limit switch at velocity P5-05

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Reference movement (ZYX = 122)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to falling edge at velocity P5-06

3 Movement to the limit switch at velocity P5-05

Reference Movement in Negative Direction to the Rising Edge of the

Reference Switch
The following illustrations show reference movements to the rising edge of the
reference switch in negative direction from different starting positions.

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Reference movement (ZYX = 003)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to falling edge at velocity P5-05

3 Movement to the index pulse at velocity P5-06

4 Movement to the limit switch at velocity P5-05

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Reference movement (ZYX = 013)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to the index pulse at velocity P5-06

3 Movement to falling edge at velocity P5-05

4 Movement to the limit switch at velocity P5-05

Reference movement (ZYX = 023)

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Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to falling edge at velocity P5-06

3 Movement to the limit switch at velocity P5-05

Reference movement (ZYX = 103)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to falling edge at velocity P5-05

3 Movement to the index pulse at velocity P5-06

4 Movement to the limit switch at velocity P5-05

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Reference movement (ZYX = 113)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to the index pulse at velocity P5-06

3 Movement to falling edge at velocity P5-05

4 Movement to the limit switch at velocity P5-05

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Reference movement (ZYX = 123)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to falling edge at velocity P5-06

3 Movement to the limit switch at velocity P5-05

Reference Movement to the Index Pulse in Positive Direction

The following illustrations show reference movements to the index pulse in
positive direction from different starting positions.
Reference movement (ZYX = 0-4)

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 Operating Modes

Item Description

1 Movement to the next index pulse at velocity P5-06

2 Movement to the limit switch at velocity P5-06

Reference movement (ZYX = 1-4)

Item Description

1 Movement to the next index pulse at velocity P5-06

2 Movement to the limit switch at velocity P5-06

Reference Movement to the Index Pulse in Negative Direction

The following illustrations show reference movements to the index pulse in
negative direction from different starting positions.
Reference movement (ZYX = 0-5)

Item Description

1 Movement to the next index pulse at velocity P5-06

2 Movement to the limit switch at velocity P5-06

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Reference movement (ZYX = 1-5)

Item Description

1 Movement to the next index pulse at velocity P5-06

2 Movement to the limit switch at velocity P5-06

Reference Movement in Positive Direction to the Falling Edge of the

Reference Switch
The following illustrations show reference movements to the falling edge of the
reference switch in positive direction from different starting positions.
Reference movement (ZYX = 006)

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 Operating Modes

Item Description

1 Movement to falling edge at velocity P5-05

2 Movement to rising edge at velocity P5-05

3 Movement to the index pulse at velocity P5-06

4 Movement to the limit switch at velocity P5-05

Reference movement (ZYX = 016)

Item Description

1 Movement to falling edge at velocity P5-05

2 Movement to the index pulse at velocity P5-06

3 Movement to the limit switch at velocity P5-05

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Reference movement (ZYX = 026)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to falling edge at velocity P5-06

3 Movement to the limit switch at velocity P5-05

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Reference movement (ZYX = 106)

Item Description

1 Movement to falling edge at velocity P5-05

2 Movement to rising edge at velocity P5-05

3 Movement to the index pulse at velocity P5-06

4 Movement to the limit switch at velocity P5-05

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Reference movement (ZYX = 116)

Item Description

1 Movement to falling edge at velocity P5-05

2 Movement to the index pulse at velocity P5-06

3 Movement to the limit switch at velocity P5-05

4 Movement to rising edge at velocity P5-05

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Reference movement (ZYX = 126)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to falling edge at velocity P5-06

3 Movement to the limit switch at velocity P5-05

Reference Movement in Negative Direction to the Falling Edge of the

Reference Switch
The following illustrations show reference movements to the falling edge of the
reference switch in negative direction from different starting positions.

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Reference movement (ZYX = 007)

Item Description

1 Movement to falling edge at velocity P5-05

2 Movement to rising edge at velocity P5-05

3 Movement to the index pulse at velocity P5-06

4 Movement to the limit switch at velocity P5-05

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Reference movement (ZYX = 017)

Item Description

1 Movement to falling edge at velocity P5-05

2 Movement to the index pulse at velocity P5-06

3 Movement to the limit switch at velocity P5-05

Reference movement (ZYX = 027)

286 EIO0000002299.05
Operating Modes

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to falling edge at velocity P5-06

3 Movement to the limit switch at velocity P5-05

Reference movement (ZYX = 107)

Item Description

1 Movement to falling edge at velocity P5-05

2 Movement to rising edge at velocity P5-05

3 Movement to the limit switch at velocity P5-06

Item Description

1 Movement to falling edge at velocity P5-05

2 Movement to the index pulse at velocity P5-06

3 Movement to the limit switch at velocity P5-05

4 Movement to rising edge at velocity P5-05

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Reference movement (ZYX = 117)

288 EIO0000002299.05
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Reference movement (ZYX = 127)

Item Description

1 Movement to rising edge at velocity P5-05

2 Movement to falling edge at velocity P5-06

3 Movement to the limit switch at velocity P5-05

Position Setting
By means of position setting, the current motor position is set to the position value
in parameter P6-00. This also defines the zero point.
Position setting is only possible when the motor is at a standstill. Any active
position deviation remains active and can still be compensated for by the position
controller after position setting.

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P6-00 Position of Homing Data Set PUU s32 Modbus 700h

ODAT Applicable operating mode: PS -2147483647 RW

After a successful reference movement, this 0 per.

position is automatically set at the reference point.
2147483647
Bits 0 … 31: Position
Decimal

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Operating Modes Velocity (V) and Velocity Zero (Vz)

Operating Modes Velocity (V) and Velocity Zero (Vz)
Description
In the operating mode Velocity (V), a movement is made with a specified target
velocity.

Source of Reference Value Signals

In the operating mode Velocity (V), the source of the reference value signals is
one of the three values set via the parameters P1-09 to P1-11.
In the operating mode Velocity Zero (Vz), the source of the reference value signals
is either one of the three values set via the parameters P1-09 to P1-11 or the fixed
target velocity 0.
The values of the parameters P1-09 to P1-11 can be selected via the signal input
functions SPD0 and SPD1.
The signal input functions SPD0 and SPD1 take priority over the reference value
signal at the analog input V_REF.
The target velocity is selected via the signal input functions SPD0 (LSB) and
SPD1 (MSB) (bit-coded):
For additional information on the parameterizable signal input functions, refer to
Setting the Digital Signal Inputs, page 239.

- Signal state of the digital Target velocity via: Range

signal inputs

SPD1 SPD0
S1 Operating mode Voltage between V_REF -10V ... 10V
Velocity (Vz) (Pin42) and GND (pin 44)
0 0
Operating mode 0 rpm
Velocity Zero (Vz)

S2 0 1 P1-09 -
S3 1 0 Internal parameters P1-10
S4 1 1 P1-11

Scaling of the Analog Input V_REF

The parameter P1-40 lets you set the velocity corresponding to 10 V. This results
in a linear scaling for the analog input V_REF.

290 EIO0000002299.05
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Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P1-40 Velocity Target Value and Velocity Limitation 10 V rpm s32 Modbus 250h

VCM Applicable operating mode: PT, PS, V, T 0 RW

In the operating mode V, this parameter specifies - per.

the target velocity that corresponds to the
maximum input voltage of 10 V. 10001

In the operating mode T, this parameter specifies Decimal

the velocity limitation that corresponds to the
maximum input voltage of 10 V.

Example: If the value of this parameter is 3000 in

the operating mode V and if the input voltage is 10
V, the target velocity is 3000 rpm.

Example
The illustration below shows how the target velocities are switched by means of
the signal input functions SPD0,SPD1 and SON.

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Operating modes Velocity (V) and Velocity Zero (Vz)

For further information, refer to Setting the Digital Signal Inputs, page 239.

Stopping the Movement via Signal Input Function ZCLAMP

The movement can be stopped via the digital signal input function ZCLAMP.
Conditions for stopping the movement:
• The reference velocity must be below the velocity value defined in parameter
P1-38.
• The signal input function ZCLAMP must be assigned and the signal input
must be triggered.
For assigning the signal input function, refer to Setting the Digital Signal Inputs,
page 239.

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P1-38 Signal Output Function ZSPD / Signal Input 0.1rpm s32 Modbus 24Ch
Function ZCLAMP - Velocity
ZSPD 0 RW
Applicable operating mode: PT, PS, V, T
100 per.
This parameter specifies the velocity for the signal
output function ZSPD. The signal output function 2000
ZSPD indicates that the velocity of the motor is
less than the velocity value set via this parameter. Decimal

This parameter specifies the velocity for the signal

input function ZCLAMP. The signal input function
ZCLAMP stops the motor. The velocity of the
motor must be below the velocity value set via this
parameter.

Additionally the behavior for ZCLAMP can be set via parameter P2-65 bit 10.
Setting of parameter P2-65 bit 10:
• Bit 10 = 0: Immediate stop. Motor is locked at the position where it was when
ZCLAMP became active.
• Bit 10 = 1: Motor is decelerated with deceleration ramp setting. Motor is
locked at the position where standstill is reached.

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Acceleration and Deceleration

The parameters P1-34 and P1-35 allow you to set the acceleration and
deceleration.

Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P1-34 Acceleration Period ms u16 Modbus 244h

TACC Applicable operating mode: PT, V 6 RW

The acceleration period is the time in milliseconds 30 per.

required to accelerate from motor standstill to
6000 rpm. 65500

For operating mode V, this parameter specifies the Decimal

acceleration.

For operating mode PT, this parameter specifies

an acceleration limitation for the pulses at the PTI
interface.
P1-35 Deceleration Period ms u16 Modbus 246h

TDEC Applicable operating mode: PT, V 6 RW

The deceleration period is the time in milliseconds 30 per.

required to decelerate from 6000 rpm to motor
standstill. 65500

For operating mode V, this parameter specifies the Decimal

deceleration.

For operating mode PT, this parameter specifies a

deceleration limitation for the pulses at the PTI
interface.

Operating Modes Torque (T) and Torque Zero (Tz)

Operating Modes Torque (T) and Torque Zero (Tz)
Description
In the operating mode Torque (T), a movement is made with a specified target
torque. The target torque is specified in percent of the nominal torque of the motor.
The operating modes Torque (T) and Torque (Tz) and the dual operating modes
with Torque (T) and Torque (Tz) do not provide deceleration functionality in
response to a power stage disable request. In these operating modes, the motor
coasts down to a standstill in response to a power stage disable request. You

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 Operating Modes

must install additional equipment such as a dedicated service brake if your

application requires faster deceleration of the load.

WARNING
UNINTENDED EQUIPMENT OPERATION
• During commissioning, trigger all signals and simulate all conditions that
cause a power stage disable request in order to verify that all loads come to
a secure standstill when the power stage is disabled under maximum load
conditions.
• Install a dedicated service brake if removal of power to the motor does not
meet the requirements of your application.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Source of Reference Value Signals

In the operating mode Torque (T), the source of the reference value signals is
either the analog input T_REF or one of the three values set via the parameters
P1-12 to P1-14.
In the operating mode Torque Zero (Tz), the source of the reference value signals
is either one of the three values set via the parameters P1-12 to P1-14 or the fixed
target torque 0 %.
The values of the parameters P1-12 to P1-14 can be selected via the signal input
functions TCM0 and TCM1.
The signal input functions TCM0 and TCM1 take priority over the reference value
signal of the analog input T_REF.
The target torque is selected via the signal input functions TCM0 (LSB) and TCM1
(MSB) (bit-coded):
For further information on the parameterizable signal input functions, refer to
Setting the Digital Signal Inputs, page 239.

- Signal state of the digital Target torque is provided via: Range

signal inputs

TCM1 TCM0
T1 Operating mode Voltage between T_REF (pin -10V ... 10V
Torque (T) 18) and GND (pin 19)
0 0
Operating mode 0% -
Torque Zero (Tz)

T2 0 1 P1-12
T3 1 0 Internal parameters P1-13 -300 ... 300%
T4 1 1 P1-14

Scaling of the Analog Input T_REF

The parameter P1-41 lets you set the torque corresponding to 10 V. This results in
a linear scaling for the analog input T_REF.

294 EIO0000002299.05
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Parameter name Description Unit Data type Parameter address

via fieldbus
Minimum value R/W

Factory setting Persistent

Maximum value

HMI Format
P1-41 Torque Target Value and Torque Limitation 10 V % u16 Modbus 252h

TCM Applicable operating mode: PT, PS, V, T 0 RW

In the operating mode T, this parameter specifies 100 per.

the target torque that corresponds to the
maximum input voltage of 10 V. 1000

In the operating modes PT, PS and V, this Decimal

parameter specifies the torque limitation that
corresponds to the maximum input voltage of 10
V.

Example: If the value of this parameter is 100 in

the operating mode T and if the input voltage is 10
V, the target torque is 100 % of the nominal
torque.

Setting can only be modified if power stage is

disabled.

Example
The illustration below shows how the target torque is switched by means of the
signal input functions TCM0,TCM1 and SON.

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Operating modes Torque (T) and Torque Zero (Tz)

For further information, refer to Setting the Digital Signal Inputs, page 239.

296 EIO0000002299.05
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What’s in This Part
Diagnostics and Troubleshooting................................................................... 298

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 Diagnostics and Troubleshooting

Diagnostics and Troubleshooting

What’s in This Chapter
Diagnostics Via the Integrated HMI ............................................................... 298
Diagnostics Via the Signal Outputs ............................................................... 298
Diagnostics Via the Commissioning Software ................................................ 299
Alert Codes and Error Codes........................................................................ 299

Diagnostics Via the Integrated HMI

Modbus Activity
The left most decimal point in the integrated HMI indicates Modbus activity by
flashing.

Error Memory
Parameters P4-00 to P4-04 allow you to read the error memory.
The error memory also contains a history of the last 5 detected errors.

Parameter Description

P4-00 Error number of the most recently detected error

… …
P4-04 Error number of the oldest detected error

The parameter P0-47 allows you to read the last detected alert.

Diagnostics Via the Signal Outputs

The signal outputs allow you to indicate, among other things, operating states and
detected errors. The following list is an excerpt of the parameterizable signal
output functions. For additional signal output functions, refer to Setting the Digital
Signal Outputs, page 244.

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Setting A for P2- Short name Name of the Description

18 ... P2-22 output function

1 SRDY Servo Ready The signal output function SRDY indicates that no errors are presently detected,
i.e. the drive is not in the operating state Fault.

2 SON Servo On The signal output function SON indicates that the drive is in the operating state
Operation Enabled.

7 ERROR Error Detected The signal output function ERROR indicates that an error has been detected
and that the drive has switched to the operating state Fault. For further
information, refer to Diagnostics and Troubleshooting, page 298.

11 WARN Advisory or Alert The signal output function indicates that one of the following conditions has been
Signal activated detected: Hardware limit switch triggered, undervoltage, Nodeguard alert,
Operational Stop (OPST).

Diagnostics Via the Commissioning Software

See the information provided with the commissioning software for details on how
to display the device state via the commissioning software LXM26 DTM Library.

Alert Codes and Error Codes

Meaning of an Alert
An alert indicates a potential issue that was detected by a monitoring function. An
alert does not trigger a transition of the operating state.

Number Description Cause Remedy

AL014 Negative hardware limit switch - -

triggered

AL015 Positive hardware limit switch - -

triggered

AL283 Positive software limit switch - -

triggered

AL285 Negative software limit switch - -

triggered

Wn023 Alert threshold reached: Motor The foldback current of the motor has Verify correct settings of the parameter P1-
overload (foldback) dropped below the alert threshold 28 for the foldback current of the motor.
specified via the parameter P1-28.

Wn701 Alert threshold reached: Drive The foldback current of the drive has Verify correct settings of the parameter P1-
overload (foldback) dropped below the alert threshold 24 for the foldback current of the drive.
specified via the parameter P1-24.

Wn702 The DC bus voltage has dropped Power supply loss, poor power supply. Verify correct mains supply. Verify that the
below the alert threshold. undervoltage limit is set correctly via the
parameter P4-24.

Wn703 Alert threshold reached: Power Ambient temperature is too high, fan is Verify correct operation of the fan. Improve
stage overtemperature inoperative, dust. the heat dissipation in the control cabinet.
Remove pollution and verify that dust
cannot get into the control cabinet or into
the drive.
Wn704 Alert threshold reached: Motor The motor temperature is excessively Verify correct settings of the parameters
overtemperature high. for temperature monitoring. Verify proper
ventilation and heat dissipation of the
motor. Clean off pollutants such as dust.
Verify that the motor is evenly mounted to
the flange plate. Increase the size of the
flange plate to which the motor is mounted
to improve heat dissipation. Verify that the
motor is properly sized for the application.

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 Diagnostics and Troubleshooting

Number Description Cause Remedy

Wn707 Alert threshold reached: Drive Ambient temperature is too high, fan is Verify correct operation of the fan. Improve
overtemperature (controller) inoperative, dust. the heat dissipation in the control cabinet.
Remove pollution and verify that dust
cannot get into the control cabinet or into
the drive.
Wn713 Positive hardware limit switch and - -
negative hardware limit triggered

Wn716 Positive software limit switch and - -

negative software limit triggered

Wn728 Alert: Missing mains supply, At least one mains phase is missing. Verify correct connection of mains supply.
undervoltage mains supply Mains voltage is out of range. Mains Verify that the values of the mains power
frequency is out of range. supply network comply with the technical
data.
Wn729 Modbus: Node Guarding error Incorrect Modbus connection, incorrect Verify correct Modbus connection. Verify
detected data from Modbus master. correct operation of Modbus master.

Wn730 Alert threshold reached: Braking The permissible braking resistor power Verify correct rating of the braking resistor
resistor overload has been exceeded. used. Verify your application.

Wn731 Encoder error detected Refer to parameter P8-49 for details. -

Wn732 Alert threshold reached: - -

Processing time too long

Wn734 Alert threshold reached: Drive Ambient temperature is too high, fan is Verify correct operation of the fan. Improve
overtemperature (IPM) inoperative, dust. the heat dissipation in the control cabinet.
Remove pollution and verify that dust
cannot get into the control cabinet or into
the drive.
Wn737 Parameters have been reset to - Use parameter P2-08 = 11 to save
the factory settings, but are not yet parameters reset to the factory settings to
saved to the non-volatile memory. the non-volatile memory and restart the
drive.
Wn739 Temperature value for monitoring - -
function not available
Wn742 Motor type has changed The type of motor connected is different Reset the drive to the factory settings.
from the previously connected type of
motor.
Wn743 Fan circuit warning The fan circuit is either overloaded or Check for fan short circuit or
disconnected. disconnection.
Wn744 Excessive electronic noise - Check proper grounding and shielding.
Use line filter.
Wn745 Configured feedbacktype and The connected encoder does not Check that configured feedback type and
actual connected encoder correspond to configured feedback type. connected encoder match.
mismatch
Wn746 Encoder overtemperature - -

Wn747 Encoder internal flash memory - -

error detected
Wn748 Encoderfeedback error detected The device has detected unusually high -
shaft displacement. The device can still
operate correctly; but position error might
be higher than usual.

Wn749 The multi turn battery voltage is - Replace encoder battery.

within the following range: 3 V <
VBAT < 3.15V.

Battery voltage has started to

drop; but the multi turn information
is still reliable.
Wn750 The multi turn counter exceeded - Execute multi turn Config/Reset (Set
the range of 16 bit signed value. Reference Point) by command P8-44=3/2.

Multi turn Counter < -32768 For some applications which will rotate
motor in one direction, the warning Wn750
Or multi turn Counter > 32767 for checking turns number within -32768 ...
32767 can be turned off by parameter P5-
80=1.
Wn751 The last save operation was The last save operation was interrupted by Set the new parameter configuration and
interrupted. power cycle. The old set of parameters are perform save command.
active.

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Number Description Cause Remedy

Wn752 Stop filter command cannot be set SensAR Encoder Filter Mode is not Set P8-71 to 0 ignore the warning.
supported on the connected Motor.
OR: Upgrade Motor Hardware version.

Wn753 Reference position lost AL576 or homing procedure failure or the Execute multi turnConfig/Reset (Set
multi turn roll over will cause this warning. Reference Point) by command P8-44 = 2

Or Execute a homing procedure.

Or set P5-80 to 1.

Meaning of an Error
An error is a discrepancy between a computed, measured, or signaled value or
condition and the specified or theoretically correct value or condition detected by a
monitoring function. An error triggers a transition of the operating state.

Number Short description Cause Remedy

AL001 Power stage overcurrent An overcurrent has been detected at the Verify correct connection of the motor.
power stage which may be caused by a Verify correct settings of the parameters
short circuit or by incorrect settings of the for the current loop.
current loop parameters. This condition
may occur up to three times in succession.
After the third time, a time delay of one
minute must pass before the power stage
can be enabled again.

AL002 DC bus overvoltage The DC bus voltage exceeded the Verify your application. Reduce the
maximum value. external load, the motor velocity, or the
deceleration. Use an appropriately rated
braking resistor, if necessary.

AL003 DC bus undervoltage Power supply loss, poor power supply. Verify correct mains supply. Verify that the
undervoltage limitation is set correctly via
the parameter P4-24.

AL005 Braking resistor overload The braking resistor has been on for such Verify your application. Reduce the
a long period of time that its overload external load, the motor velocity, or the
capability has been exceeded. deceleration. Use a braking resistor with a
greater rating, if necessary.

AL006 Motor overload (foldback) The foldback current of the motor has Verify correct settings for the parameter
dropped below the value specified via the P1-27.
parameter P1-27.

AL007 Actual motor velocity too high. The actual motor velocity exceeded the Verify that the velocity limitation set via the
velocity limitation by more than 20% (P1- parameter P1-55 matches the
55). The analog input signal is not stable. requirements of the application. Verify that
the values for the tuning parameters are
suitable. Verify that the frequency of the
analog input signal is stable using a signal
detector. Use a filter function.
AL008 Frequency of reference value The frequency of the pulse signal (A/B, Adapt the output pulse frequency of the
signal is too high Pulse/Direction, CW/CCW) exceeds the external source to fit the input specification
specified range. Received pulses may be of the drive. Adapt the gear ratios to the
lost. application requirements (parameters P1-
44, P1-45, P2-60, P2-61 and P2-62).

AL009 Position deviation too high The position deviation has exceeded the Verify your application. Reduce the
(following error) maximum permissible position deviation external load. Increase the permissible
specified via the parameter P2-35 and the position deviation via the parameter P2-35.
drive has detected a following error. Reduce the motor velocity via the
parameters P1-09 … P1-11 or the analog
input V_REF. Increase the torque limitation
via the parameters P1-12 … P1-14 or the
analog input T_REF.

AL013 The input to which the signal input - Identify the cause which has triggered the
function OPST is assigned has signal input function OPST. Remove the
been activated. cause. If your application does not require
the signal input function OPST, disable this
signal input function.

AL016 Power stage overtemperature Ambient temperature is too high, fan is Verify correct operation of the fan. Improve
inoperative, dust. the heat dissipation in the control cabinet.
Remove pollution and verify that dust

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 Diagnostics and Troubleshooting

Number Short description Cause Remedy

cannot get into the control cabinet or into

the drive.
AL017 Error detected in non-volatile The drive was reset to the factory settings Use parameter P2-08 = 11 to save
memory via parameter P2-08. parameters reset to the factory settings to
the non-volatile memory and restart the
drive.

Contact technical support.

AL018 Encoder simulation frequency The computed equivalent encoder output Reduce the resolution of the encoder
exceeded 4 MHz frequency exceeds the maximum limit of 4 simulation via the parameter P1-46 or
MHz for this signal. reduce the maximum velocity.

AL020 Modbus: Node Guarding error Incorrect Modbus connection, incorrect Verify correct Modbus connection. Verify
detected data from Modbus master. correct operation of Modbus master.

AL022 Missing mains supply, At least one mains phase is missing. Verify correct connection of mains supply.
undervoltage mains supply Mains voltage is out of range. Mains Verify that the values of the mains power
frequency is out of range. supply network comply with the technical
data.
AL025 Not possible to read data of Incorrect or missing motor data. Motor Verify that the drive and the connected
electronic motor nameplate without electronic motor nameplate has motor are a permissible product
been connected. combination. Verify correct connection of
the encoder. Contact Technical Support or
replace the motor.

AL026 Error detected in communication Communication with the encoder was not Verify correct connection of the encoder.
with motor encoder initialized correctly. Contact Technical Support or replace the
motor.
AL030 Motor torque too high for an The motor torque has exceeded the value Verify your application. Verify that no
excessive period of time specified via the parameter P1-57 for a movements are made up to a mechanical
period of time exceeding the value stop (for example, use limit switches).
specified via the parameter P1-58. Verify that the values for the parameters
P1-57 and P1-58 are suitable.
AL502 System error detected (FPGA) - Contact technical support.

AL503 System error detected (non- - Contact technical support.

volatile memory)

AL504 System error detected (non- - Contact technical support.

volatile memory)

AL505 DC bus voltage measurement An error was detected in the circuit that Perform a Fault Reset. Restart the drive. If
measures the DC bus voltage. the error persists, contact Technical
Support.

AL507 System error detected (NV - Contact technical support.

access)

AL508 Drive overload (foldback) The foldback current of the drive has Verify correct settings for the parameter
dropped below the value specified via the P1-23.
parameter P1-23.

AL514 Motor overtemperature The motor temperature is excessively Verify correct settings of the parameters
high. P1-62 and P1-63 for temperature
monitoring. Verify proper ventilation and
heat dissipation of the motor. Clean off
pollutants such as dust. Verify that the
motor is evenly mounted to the flange
plate. Increase the size of the flange plate
to which the motor is mounted to improve
heat dissipation. Verify that the motor is
properly sized for the application.

AL517 Encoder overvoltage or The current supplied by the drive for the 5 Verify correct connection of the encoder
overcurrent V encoder supply has exceeded the limit. (short circuits). Verify the current
This condition may occur up to three times consumption of the encoder.
in succession. After the third time, a time
delay of one second must pass before the
power stage can be enabled again.

AL523 System error detected (self-test) The self-test has detected an error. Contact technical support.

AL525 Reserved – –

AL526 Reserved – –

AL527 System error detected (Watchdog) The Watchdog function has detected a Restart the drive. If the error persists,
system error. contact Technical Support.

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Number Short description Cause Remedy

AL528 Drive overtemperature (IPM) Ambient temperature is too high, fan is Verify correct operation of the fan. Improve
inoperative, dust. the heat dissipation in the control cabinet.
Remove pollution and verify that dust
cannot get into the control cabinet or into
the drive.
AL529 Drive overtemperature (controller) Ambient temperature is too high, fan is Verify correct operation of the fan. Improve
inoperative, dust. the heat dissipation in the control cabinet.
Remove pollution and verify that dust
cannot get into the control cabinet or into
the drive.
AL532 Calculated offsets for current The calculated offsets for the current Perform a Fault Reset. Restart the drive. If
sensors out of range sensors are out of range. the error persists, contact Technical
Support.

AL533 Reserved – –

AL534 Pulse signal missing One of the pulse signals is not connected. Verify correct connection of the pulse
inputs.

AL535 System error detected (FPGA The firmware version is not suitable for the Update the firmware of the drive. Contact
does not match firmware) drive. technical support.

AL539 Motor phase missing One of the motor phases is not connected. Verify correct connection of the motor
phases. Contact technical support.

AL547 Motor blocked The motor was blocked mechanically, for Remove condition causing the mechanical
example, by a mechanical stop or by the blocking. Verify your application.
load.
AL555 Velocity deviation too high The deviation between actual velocity and Verify your application. Verify that the
reference velocity has exceeded the values for the tuning parameters are
maximum velocity deviation specified via suitable. Increase the value for the
the parameter P2-34. maximum velocity deviation in the
parameter P2-34.

AL558 System error detected - Contact technical support.

AL560 Power stage supply off - Power on the power stage supply.

AL561 Temperature sensor inoperative - Restart the drive. If the error persists,
contact Technical Support.

AL563 Commutation error detected Motor phases have been interchanged. Verify correct connection of the motor
phases.

AL567 System error detected (encoder) Refer to parameter P8-48 for details. Contact technical support.

AL568 Braking resistor overload The permissible braking resistor power Verify correct rating of the braking resistor
has been exceeded. used. Verify your application.

AL569 Configuration not correctly - Verify correct connection. Verify that

transferred via Modbus configuration file and drive are compatible.

AL570 Overcurrent detected at one of the - Verify correct wiring of the digital outputs.
digital outputs Verify that there are no short circuits.

AL571 Reference position operation If user direct perform Homing/P8-44 2 after Power-cycle the drive and then perform
rejected change P1-01 C without power-cycle the Homing/P8-44 to 2
drive, then AL571 will report.

AL572 Position deviation too high The position deviation has exceeded the Verify your application. Reduce the
(following error) maximum permissible position deviation external load. Increase the permissible
specified via the parameter P2-35 and the position deviation via the parameter P2-35.
drive has detected a following error. Reduce the motor velocity via the
parameters P1-09 … P1-11 or the analog
input V_REF. Increase the torque limitation
via the parameters P1-12 … P1-14 or the
analog input T_REF.

AL573 The returned position values are Usually caused by bad encoder hardware Replace new motor.
no longer considered valid or bad encoder assembly. For example:
damaged hall sensors, damaged encoder
rotor, displacement between motor shaft
and encoder is too big, corrupted encoder
FLASH memory - corrupts calibration
tables, SW bug.

AL574 The encoder temperature is too Caused when temperature on encoder is Reduce temperature applied on encoder
high too high relative to what was configured. replace new motor.

AL575 The encoder supply voltage has The device supply voltage has dropped Make sure power supplied to encoder is
dropped under operational value under operational value. according to specifications.

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Number Short description Cause Remedy

Replace new driver.

AL576 The multi turn encoder battery The multi turn encoder battery voltage has Check battery box cable.
voltage has dropped under 3 Vdc dropped under 3 Vdc; battery box cable
disconnect from motor encoder side. Check battery voltage.

Replace encoder battery.

Clear AL576 by command P8-44=1.

AL577 The multi turn encoder requires an – Execute multi turn Config/Reset (Set
explicit configuration command Reference Point) by command P8-44=3/2.

AL578 Internal position synchronization Possible likely reasons: bad multi turn Replace new motor.
error detected between the multi calibration, corrupted multi turn calibration
turn and the single turn modules data on FLASH, Internal multi turn chip
failure, bad multi turn chip magnetic screw,
SW Bug.

AL579 Generic error code of the multi Encoder is damaged or that a magnetic Reconnect battery to encoder and execute
turn module is detected screw is missing or multi turn calibration is multi turn Config /Reset (Set Reference
either missing or corrupt or battery Point) by command P8-44=3/2. Then,
disconnect form encoder for a long time or power cycle the drive. If error happen
the FW version of encoder is below again, replace motor.
13020023.
AL580 The encoder firmware cannot – –
operate on the provided hardware

AL581 The drive firmware cannot operate – –

with the provided encoder version

AL582 Unsupported HW (110V/Multi Turn – –

Encoder/Size 5 power stage)

AL588 RT Overload Fault Real time execution time is more than Too much load on the real time loop- such
31.25 us as: too much PDO (RX/TX) are mapped/
sync-position/record/touch probe are tasks
Mapping large amount of PDO with large impact to the CPU.

AL595 Impermissible combination of - Use an approved drive/motor combination.

drive and motor
AL596 Unstable current loop Excessive overshoot in current loop. Verify correct settings of the parameters
for the current loop.

AL5A0 Drive Locked HW issue causing problem to access the Return drive to factory check HW
EEprom

AL5A1 Drive is not configure – Implement factory restore

New Motor Fold Back Characteristics and Parameter Setting

P2-72: value P2-72: value P2-72: value

BCH2 LB - LD BCH2 LF - HF - LH BCH2 MM - MR

P2-73: value 1 (default) MFOLDT=450 MFOLDT=2450 MFOLDT=3400

P2-73: value 2 MFOLDT=750 MFOLDT=7700 MFOLDT=4500

P2-73: value 3 MFOLDT=980 MFOLDT=7700 MFOLDT=5640
P2-73: value 4 MFOLDT=1670 MFOLDT=27340 MFOLDT=6840

Current BCH2 LB - MFOLDT=1670 MFOLDT=980 MFOLDT=750 MFOLDT=450

[%] LD
Deviation Deviation Deviation Deviation
BQ 04 - 06 Overload from MPC Overload from MPC Overload from MPC Overload from MPC
time [s] [%] time [s] [%] time [s] [%] time [s] [%]

120 21 21 0.00 14.8 -29.52 12.7 -39.52 10 -52.38

140 6.9 9.6 39.13 6.9 0.00 6 -13.04 4.8 -30.43
160 4 5.8 45.00 4.2 5.00 3.7 -7.50 3 -25.00
180 2.6 4 53.85 2.9 11.54 2.6 0.00 2.1 -19.23

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200 1.8 2.8 55.56 2.1 16.67 1.95 8.33 1.65 -8.33
220 1.3 2.16 1.54 1.65 26.92 1.5 15.38 1.3 0.00
240 1 1.57 57.00 1.27 27.00 1.17 17.00 1.05 5.00
0.93
260 0.8 1.16 45.00 0.99 23.75 0.93 16.25 0.86 7.50
280 0.7 0.85 21.43 0.77 10.00 0.75 7.14 0.71 1.43
300 0.6 0.6 0.00 0.6 0.00 0.6 0.00 0.6 0.00

Current BCH2 LF - MFOLDT=27340 MFOLDT=19500 MFOLDT=7700 MFOLDT=2450

[%] HF - LH
Deviation Deviation Deviation Deviation
BQ08-10 Overload from MPC Overload from MPC Overload from MPC Overload from MPC
time [s] [%] time [s] [%] time [s] [%] time [s] [%]

120 270 270 0.00 199.5 -26.11 93.3 -65.44 46 -82.96

140 90 121.3 34.78 90 0.00 42.8 -52.44 21.8 -75.78
160 36 71.7 99.17 53.5 48.61 25.9 -28.06 13.7 -61.94
180 17.5 47 168.57 35.2 101.14 17.5 0.00 9.6 -45.14
200 8.4 32.1 282.14 24.3 189.29 12.5 48.81 7.2 -14.29
220 5.6 22.2 296.43 17 203.57 9.1 62.50 5.6 0.00
240 4.2 15.1 259.52 11.7 178.57 6.7 59.52 4.4 4.76
260 3.3 9.8 196.97 7.8 136.36 4.9 48.48 3.6 9.09
280 2.5 5.7 128.00 4.8 92.00 3.5 40.00 2.9 16.00
300 2.4 2.4 0.00 2.4 0.00 2.4 0.00 2.4 0.00

Current BCH2 MM MFOLDT=6840 MFOLDT=5640 MFOLDT=4500 MFOLDT=3400

[%] - MR
Deviation Deviation Deviation Deviation
BQ13-18 Overload from MPC Overload from MPC Overload from MPC Overload from MPC
time [s] [%] time [s] [%] time [s] [%] time [s] [%]

120 82.5 82.5 0.00 71.7 -13.09 61.5 -25.45 51.6 -37.45
140 33 37.8 14.55 33 0.00 28.5 -13.64 24.1 -26.97
160 18.6 22.9 23.12 20.1 8.06 17.5 -5.91 14.9 -19.89
180 12 15.5 29.17 13.7 14.17 12 0.00 10.3 -14.17
200 8.1 11 35.80 9.8 20.99 8.7 7.41 7.6 -6.17
220 5.7 8 40.35 7.2 26.32 6.5 14.04 5.7 0.00
240 4.2 5.9 40.48 5.4 28.57 4.9 16.67 4.4 4.76
260 3.3 4.3 30.30 4 21.21 3.7 12.12 3.4 3.03
280 2.7 3 11.11 2.9 7.41 2.8 3.70 2.7 0.00
300 2.1 2.1 0.00 2.1 0.00 2.1 0.00 2.1 0.00

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What’s in This Part
Service, Maintenance, and Disposal .............................................................. 307

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Service, Maintenance, and Disposal

What’s in This Chapter
General ...................................................................................................... 307
Service Address .......................................................................................... 308
Maintenance of the Drive ............................................................................. 308
Replacement of Drive .................................................................................. 308
Maintenance of the Motor............................................................................. 309
Lexium 26/28 Multi-Turn Encoder ................................................................. 311
Changing the Motor ..................................................................................... 317
Shipping, Storage, Disposal ......................................................................... 317

General
The product may only be repaired by a Schneider Electric customer service
center.
The use and application of the information contained herein require expertise in
the design and programming of automated control systems.
Only you, the user, machine builder or integrator, can be aware of all the
conditions and factors present during installation and setup, operation, repair and
maintenance of the machine or process.
You must also consider any applicable standards and/or regulations with respect
to grounding of all equipment. Verify compliance with any safety information,
different electrical requirements, and normative standards that apply to your
machine or process in the use of this equipment.
Many components of the equipment, including the printed circuit board, operate
with mains voltage, or present transformed high currents, and/or high voltages.
The motor itself generates voltage when the motor shaft is rotated.

DANGER
ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
• Disconnect all power from all equipment including connected devices prior to
removing any covers or doors, or installing or removing any accessories,
hardware, cables, or wires.
• Place a "Do Not Turn On" or equivalent hazard label on all power switches
and lock them in the non-energized position.
• Wait 15 minutes to allow the residual energy of the DC bus capacitors to
discharge.
• Do not assume that the DC bus is voltage-free when the DC bus LED is off.
• Block the motor shaft to prevent rotation prior to performing any type of work
on the drive system.
• Do not create a short-circuit across the DC bus terminals or the DC bus
capacitors.
• Replace and secure all covers, accessories, hardware, cables, and wires
and confirm that a proper ground connection exists before applying power to
the unit.
• Use only the specified voltage when operating this equipment and any
associated products.
Failure to follow these instructions will result in death or serious injury.

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Service Address
If you cannot resolve an error yourself, contact your sales office.
Have the following data available:
• Nameplate (type, identification number, serial number, DOM, ...)
• Type of error (with LED flash code or error code)
• Previous and concomitant circumstances
• Your own assumptions concerning the cause of the error
Also include this information if you return the product for inspection or repair.
If you have any questions, contact your sales office. Your sales office staff will
provide you the name of a customer service office in your area.
www.se.com

Maintenance of the Drive

Prior to any type of work on the drive system, consult the chapters on Installation
and Commissioning for information to be observed.
Repairs cannot be made with the device installed.
Include the following points in the maintenance plan of your machine.

Connections and Fastening

• Check all connection cables and connectors regularly for damage. Replace
damaged cables immediately.
• Tighten all mechanical and electrical threaded connections to the specified
torque.

Cleaning
Clean dust and dirt off the product at regular intervals. Insufficient heat dissipation
to the ambient air may excessively increase the temperature.

Replacement of Drive
Unsuitable settings or unsuitable data may trigger unintended movements, trigger
signals, damage parts and disable monitoring functions. Some parameters and
other operational data do not become active until after a restart.

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WARNING
UNINTENDED EQUIPMENT OPERATION
• Only start the system if there are no persons or obstructions in the zone of
operation.
• Do not operate the drive system with undetermined parameter values.
• Never modify a parameter value unless you fully understand the parameter
and all effects of the modification.
• Restart the drive and verify the saved operational data and/or parameter
values after modification.
• Carefully run tests for all operating states and potential error situations when
commissioning, upgrading or otherwise modifying the operation of the drive.
• Verify the functions after replacing the product and also after making
modifications to the parameter values and/or other operational data.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Prepare a list with the parameters required for the functions used.
Observe the following procedure when replacing devices:

Step Action

1 Save all parameter settings. Save the data to your PC using the commissioning
software, refer to chapter Commissioning Software, page 130.

2 Power off all supply voltages. Verify that no voltages are present.

3 Label all connections and remove all connection cables (unlock connector locks).

4 Uninstall the product.

5 Note the identification number and the serial number shown on the product nameplate
for later identification.
6 Install the new product as per chapter Installation, page 82.

7 If the product to be installed has previously been used in a different system or

application, you must restore the factory settings before commissioning the product.

8 Commission the product as per chapter Commissioning, page 121.

Maintenance of the Motor

Prior to any type of work on the drive system, consult the chapters on Installation
and Commissioning for information to be observed.
Repairs cannot be made with the device installed.
Include the following points in the maintenance plan of your machine.

Connections and Fastening

• Inspect all connection cables and connectors regularly for damage. Replace
damaged cables immediately.
• Verify that all output elements are firmly seated.
• Tighten all mechanical and electrical threaded connections to the specified
torque.

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Lubricating the Shaft Sealing Ring

In the case of motors with shaft sealing ring, lubricant must be applied to the
space between the sealing lip of the shaft sealing ring and the shaft with a suitable
non-metallic tool. If the shaft sealing rings are allowed to run dry, the service life of
the shaft sealing rings will be significantly reduced.

Cleaning
If the permissible ambient conditions are not respected, external substances from
the environment may penetrate the product and cause unintended movement or
equipment damage.

WARNING
UNINTENDED MOVEMENT
• Verify that the ambient conditions are respected.
• Do not allow seals to run dry.
• Keep liquids from getting to the shaft bushing (for example, in mounting
position IM V3).
• Do not expose the shaft sealing rings and cable entries of the motor to the
direct spray of a pressure washer.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Clean dust and dirt off the product at regular intervals. Insufficient heat dissipation
to the ambient air may excessively increase the temperature.
Motors are not suitable for cleaning with a pressure washer. The high pressure
may force water into the motor.
When using solvents or cleaning agents, verify that the cables, cable entry seals,
O-rings, and motor paint are not damaged.

Replacing the Rolling Bearing

When the rolling bearing is replaced, the motor is partially demagnetized and
loses power.

NOTICE
INOPERABLE EQUIPMENT
Do not replace the rolling bearing.
Failure to follow these instructions can result in equipment damage.

Replacing the Battery for the Multi Turn Encoder

The multi turn counting is preserved through power down by the external battery
located into the battery compartment.
• Do not disconnect the encoder cable from the battery compartment or the
multi turn information is lost.
• Replace the battery while the encoder is powered by the drive or the multi
turn information is lost.

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The battery has its manufacturing date printing on it in MMYY format. The
expiration date for the battery is 3 years after the manufacturing date.
On the following example, the manufacturing date of the battery is June 2016
(0616). The expiration date is June 2019.

The battery voltage is monitored by the encoder at each power on of the drive.
• An alert Wn749 related to P8-49 Bit 10 is triggered when the measured
voltage is in the range 3 … 3.15 Vdc.
• An error AL576 related to P8-48 Bit 5 is triggered when the measured voltage
is under 3 Vdc.
NOTE: After replacing the battery, the detected error is cleared the next
time the drive is powered on (next battery voltage measurement), or when
an explicit command is sent to the encoder by setting P8-44 to the value
1.

Lexium 26/28 Multi-Turn Encoder

The purpose of this part is to help you understand the interface between the multi-
turn encoder and Lexium 26/28 servo drives in order to be able to operate the
system with multi-turn encoder.

Introduction
Overview
An absolute system is used in an application which must preserve the motor
position even when the power to the servo system is interrupted.
Lexium 26/28 absolute system includes a Lexium 26/28 series servo drive, an
absolute type BCH2 series servo motor, a battery compartment VW3M8BATC,
and a battery VW3M9BATT. An absolute encoder in an BCH2 series servo motor
will constantly record the actual positions at all times.
When power is removed from the system, the encoder will keep operating
because the power will be supplied from battery. Therefore, when the motor shaft
is rotated during main power off, the system can still calculate its position to its
data memory inside encoder.
Lexium 26/28 multi-turn encoder is a digital, single-turn or multi-turn absolute
feedback device. Its major output is the absolute position of the motor shaft in a
turn, represented digitally as a 22-bit word, and number of total revolutions in a 16-
bit word, for the multi-turn one.

Single-Turn versus Multi-Turn

A single-turn absolute encoder is capable of encoding a shaft position of the motor
within one revolution (or turn). After each power up of the servo system with a
single-turn encoder, the absolute position of the shaft in a turn can be obtained.

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During run-time, both the drive and the single-turn encoder are capable of
counting the number of motor revolutions (the multi-turn counter). However, after
power cycle, the revolutions counter is reset for a single-turn system. For
example, the multi-turn counter is volatile in a single-turn system.
Single-turn systems are used in machines that do not have a requirement for
maintaining position data after a power cycle. In terms of application, it means that
homing of the machine after power cycle is acceptable or the system is not
required to be homed during operation.
Contrary to single-turn, the multi-turn system has full absolute position
information, including the revolutions counter, even if the power is removed. This
is used in machines where positioning of the load in a multi-dimensional space is
required. In those systems, the homing (or motion calibration) is only acceptable
during initial machine calibration and not acceptable after each power cycle. For
such systems, the multi-turn encoder is typically used.
In conclusion, the advantage of the multi-turn over a single-turn system is the
absence of the need for homing procedure after each system power cycle. The
multi-turn system has the absolute position information including the number of
revolutions at any time, even after power cycle.
There are two major types of multi-turn encoders: battery backed up and battery-
less.
Lexium 26/28 multi-turn encoder is battery backed, meaning the battery is used to
maintain the non-volatility of the revolutions counter. As long as the battery is
connected and has enough voltage (> 3 V), the multi-turn counter and revolutions
counter will remain during the absence of mains power.

Architecture Single-Turn
Motor with a single-turn encoder is connected to the drive according to the
following diagram:
5V
0
Motor FeedbackCable DATA+
Motor
DATA-
Feedback

DRIVE

Encoder Motor

Single-turn encoder is connected to the servo drive over a motor feedback cable.
The power to the encoder is supplied over the 5V output of the servo drive. As
long as the servo drive is powered, the encoder is powered too, responding with
an absolute position in a single revolution.
The servo drive can move the motor and count the number of revolutions.
However, right after the 5V output is removed, the multi-turn information is reset.
After the power is back again, the encoder will return the information inside one
revolution, but the multi-turn counter will be zero.

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Architecture Multi-Turn with Battery

Motor with a multi-turn encoder is connected to the drive according to the following
diagram:

3.6V
Battery 0V

5V <3.15V=Alert (Multi-turn is NOT lost)

Motor 0V
Feedback DATA+ <3V=Error (Multi-turn is LOST)

DATA-
After Error:
1. Replace the battery.
2. Power Cycle.
3. Batt Ack.
DRIVE Multi-turn cable – Multi-turn encoder: 4. Multi-turn Config / Reset
If drive power is OFF, Multi-turn position is NOT lost

Single-turn cable – Multi-turn encoder:

Normal operation is OK.
If drive power is removed, Multi-turn position is LOST.
Motor
After power cycle, it will cause Battery error.
Multi-turn Config Required error
Multi-turn cable – Single-turn encoder:
Normal operation like Single-turn System Multi-turn encoder

The multi-turn encoder is connected to the servo drive over a battery

compartment, which is responsible to supply battery to the multi-turn subsystem in
the encoder while power (5V) is off. The battery compartment contains circuitry
which controls the switching between the power (5V) and the battery supply
automatically.
Since both the battery and the power supply are connected to the same wires in
the cable, Lexium 26/28 multi-turn encoder can measure the battery only during
power up.
The battery backup is designed to work for at least 3 years. After this period, the
battery voltage is expected to drop exponentially. The drop period might take less
than a month or maybe more, depending on how much of battery charge has been
consumed.
The battery is consumed only when the power supply of 5V is removed, meaning
when the servo system mains power is removed. If the motor is at standstill, the
power consumption off the battery is relatively low. It grows, however, with rotation
velocity. Typically, the motor is not rotated when the servo system is without
power. However, the multi-turn system is capable to count the revolutions when
powered by battery, while consuming more charge from the battery.

Operation
Functionalities

Reference Position Set

The Reference Position Set command is performed in multi-turn motor, only
while in the multi-turn mode.
This command can be performed in both (enable and disable) drive states by
command (P8-44=2).
The Reference Position Set command configures multi-turn encoder and sets
new reference position according to the value of P5-78 parameter.
If you implement P8-44=2, then the position equals the reference position as
determined by P5-78.
If you implement Homing, then the position equals the home-offset as determined
by HOMEOFFSET- (P-0-4020.0.7, usually equals 0).

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While a drive is in enable state, this command is performed for all operational
modes, excluding CYCLIC SYNCHRONOUS POSITION mode.
During the execution of this command, the encoder serial number is read. This
serial number is used to check the replacement of the motor or encoder, when a
power cycle is performed.
Such as P8-47 ServoSense firmware and hardware versions, P8-45 encoder
Feedback type.
When the Reference Position Set command is successful, the alert - reference
position not established (WN753) is cleared, and bit 5 of S-0-0135 in the
Statusword is set to 1.

Multi-Turn Battery Acknowledge

The battery error (AL576) is set in the drive, when battery disconnection from the
multi-turn encoder is detected after power cycle.
This error automatically produces the reference position not established
(WN753) alert.
Multi-turn battery Acknowledge command is used to clear battery voltage is
below allowed threshold error in the multi-turn encoder after battery
replacement, and to reset battery error (AL576) in the drive.
This command can be performed by command P8-44=1.

Ignore Multi-Turn Encoder Errors

This feature allows multi-turn encoder work in multi-turn or single-turn mode.
When P5-79 is set to 0, encoder works as multi-turn, when the parameter is set to
1 – as single-turn.
This feature performs the following procedure:
• Get multi-turn encoder error mask by reading special error mask address
from the encoder.
• Set new error mask according to the entered value and send command to
write updated mask into error mask address in the encoder.
When encoder is set to the single-turn mode, multi-turn errors and alerts are
cleared.

Ignore Multi-Turn Encoder Alerts

When encoder is in multi-turn mode, this feature allows to enable or disable multi-
turn encoder alerts. Parameter P5-80=1 disables multi-turn encoder alerts.
The alert MT Encoder rollover (WN750) is disabled even if the encoder exceeds
the counting range. Multi-turn Counter ≤ -32768 or multi-turn Counter ≥ 32767.
This feature performs the following procedure:
• Get multi-turn encoder alert mask by reading special alert mask address from
encoder.
• Set new alert mask according to the parameter value and send command to
write updated mask into alert mask address in encoder.

Ignore Homing and Reference Position

This feature allows absolute moving with or without homing for both single-turn
and multi-turn encoder and without Reference Position Set command for multi-
turn encoder. Parameter P5-81=1 blocks the multi-turn encoder alerts and sets the

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Bit 15 Statusword to 1, when the reference position is not set. The ‘isHomed’
signal automatic set to on if parameter P5-81=1

Multi-Turn Encoder Position Counter

This feature is used to indicate multi-turn encoder current revolutions.
Special command is sent in the init feedback communication procedure to get
encoder’s position. An encoder revolutions value can be received by reading the
P5-82.
When the encoder is single-turn or is in single-turn mode, the value of position
counter always is 0.

Homing Procedure For Multi-Turn Encoder

To set position, drive with multi-turn encoder can independently perform ether
homing or reference position set command.
Two main differences for multi-turn encoder:
• Write position to the multi-turn encoder.
• Save homing parameters in NVRAM to reproduce after power cycle.
The homing procedure for multi-turn encoder needs more execution time than for
single-turn encoder.

Commands and Parameters

Multi-turn encoder has several commands, which allows managing the errors,
multi-turn functionality and battery issues. These commands are encapsulated on
the drive side as Parameters. The following table gives a short description of the
commands:

Name Parameters Description Use Cases

Battery Acknowledge P8 – 44 –> 1 Acknowledges the battery event: This command is used to clear
the following events:
• Battery Down error - AL576.
• Battery Down error - AL576
• Low Battery alert - Wn749.
• Low Battery alert - Wn749

MT Set Reference Point P8 – 44 –> 2 This command performs the following: This command can be
performed in both (enable and
• Set reference point.
disable) drive states, excluding
CSP mode When alert Wn753 is
indicated.
MT Config /Reset P8 – 44 –> 3 This command performs the following: This command only can be
performed in disable drive
• Initialize the multi-turn system.
states.
• Reset multi-turn revolution counter to 0.
When the multi-turn Config/
Reset required error AL577 or
Wn750 is indicated.
MULTI_TURN_REF_ P5-78 Multi-turn reference position in PUU. After a successful reference set
POSITION (P8-44=2), this P5-78 position is
automatically set at the
reference point.

IGNORE_BATTERY_ P5-79 Defines whether the drive is to ignore the multi-turn When set P5-79=1, multi-turn
FAULTS error AL576: encoder can be used as single-
turn (even with single-turn
• Value 0: The masking of the multi-turn error
cable).
AL576 is inactive.
• Value 1: The masking of the multi-turn error
AL576 is active.
IGNORE_ENCODER_ P5-80 Defines whether the drive is to ignore the multi-turn For some applications which will
WARNINGS alert Wn750. rotate motor in one direction, the
alert Wn750 for checking turns
Multi-turn counter exceeded the range of 16-bit signed number within -32768 ... 32767
value:

EIO0000002299.05 315
 Service, Maintenance, and Disposal

Name Parameters Description Use Cases

• Multi-turn Counter ≤ -32768 or; can be turned off by parameter
• Multi-turn Counter ≥ 32767 P5-80=1.

• Value 0: The masking of Wn750 is inactive.

• Value 1: The masking of Wn750 is active.

IGNORE_HOMING_ P5-81 Ignore homing and reference position set. When set P5-81=1, absolute
REF_POS positioning is allowed without
Defines whether absolute positioning is allowed without homing/ set Reference Point.
homing/Reference Position Set.
• Value 0: Not allowed.
• Value 1: Allowed.
MT_ENCODER_ P5-82 Current position in revolutions. This parameter is used to
POSITION monitor the current revolutions of
multi-turn.

Errors and Alerts

Error Codes Description Remedy

AL571 Reference position operation rejected. Power-cycle the drive and then perform Homing/
P8-44 = 2.
AL576 The multi-turn encoder battery voltage has dropped under 3 Replace encoder battery.
Vdc.
Clear AL576 by command P8-44=1.

AL577 The multi-turn encoder requires an Config/Reset command. Execute multi-turn Config /Reset (Set Reference
Point) by command P8-44=3/2.

AL578 Internal position synchronization error detected between the Restart Drive.
multi-turn and the single-turn modules.

AL579 Encoder is damaged or that a magnetic screw is missing. Implement factory restore if error happen again
replace motor.

Wn749 The multi-turn battery voltage is within the following range: 3 Replace encoder battery.
V < VBAT < 3.15V. Battery voltage has started to drop; but
the multi-turn information is still reliable. Clear Wn749 by command P8-44=1.

Wn750 The multi-turn counter exceeded the range of 16bit signed Execute multi-turn Config /Reset (Set Reference
value. Multi-turn Counter < -32768 Or multi-turn Counter > Point) by command P8-44=3/2.
32767.
For some applications which will rotate motor in one
direction, the alert Wn750 for checking turns
number within -32768 ... 32767 can be turned off by
parameter P5-80=1.

Wn753 Reference position reset. Execute multi-turn Config /Reset (Set Reference
Point) by command P8-44=2

Or Execute a homing procedure.

Initialization Procedure
At the very first time to operate absolute system, there will be an error code AL576
and an alert code Wn753 shown when power on because the initialization
procedure has not been done yet. The error and alert will be kept until the
initialization procedure is finished. Besides, the AL576 and Wn753 will be
displayed when the power from the servo and battery cell box is discontinued that
will lead to the coordinate system being reset.
Parameter Settings for first operation:
1. P8-44=1, the AL576 will be cleared.
2. P8-44=3, initialize the multi-turn system.
3. P8-44=2, or execute a homing procedure, the Wn753 will be cleared.

316 EIO0000002299.05
Service, Maintenance, and Disposal

Changing the Motor

Drive systems may perform unintended movements if unapproved combinations
of drive and motor are used. Even if motors are similar, different adjustment of the
encoder system may be a source of hazards. Even if the connectors for motor
connection and encoder connection match mechanically, this does not imply that
the motor is approved for use.

WARNING
UNINTENDED MOVEMENT
Only use approved combinations of drive and motor.
Failure to follow these instructions can result in death, serious injury, or
equipment damage.

Compatibility between Drive and Motor is defined in the Drive / Motor

combinations table, page 17.
Observe the following procedure when changing motors:

Step Action

1 Switch off all supply voltages. Verify that no voltages are present.

2 Label all connections and uninstall the product.

3 Note the identification number and the serial number shown on the product nameplate
for later identification.
4 Install the new product as per chapter Installation, page 111.

5 Commission the product as per chapter Commissioning, page 121.

If the connected motor is replaced by another approved motor, the new motor is
automatically recognized by the drive.

Shipping, Storage, Disposal

Shipping
The product must be protected against shocks during transportation. If possible,
use the original packaging for shipping.

Storage
The product may only be stored in spaces where the specified permissible
ambient conditions are met.
Protect the product from dust and dirt.

Disposal
The product consists of various materials that can be recycled. Dispose of the
product in accordance with local regulations.
Visit www.se.com/green-premium for information and documents on
environmental protection as per ISO 14025 such as:
• EoLi (Product End-of-Life Instructions)

EIO0000002299.05 317
 Service, Maintenance, and Disposal

• PEP (Product Environmental Profile)

318 EIO0000002299.05
Glossary
A
absolute movement:
A movement to a position defined from a reference point.

analog input:
Converts received voltage or current levels into numerical values. You can store
and process these values within the logic controller.

analog output:
Converts numerical values within the logic controller and sends out proportional
voltage or current levels.

AWG:
(American wire gauge) The standard that specifies wire section sizes in North
America.

C
CAN:
(controller area network) A protocol (ISO 11898) for serial bus networks, designed
for the interconnection of smart devices (from multiple manufacturers) in smart
systems and for real-time industrial applications. Originally developed for use in
automobiles, CAN is now used in a variety of industrial automation control
environments.

CANopen:
An open industry-standard communication protocol and device profile
specification (EN 50325-4).

CCW:
Counter ClockWise

CSA:
(Canadian standards association) The Canadian standard for industrial electronic
equipment in hazardous environments.

CW:
ClockWise

D
Degree of Protection:
The degree of protection is a standardized specification for electrical equipment
that describes the protection against the ingress of foreign objects and water (for
example: IP 20).

DIN:
(Deutsches Institut für Normung) A German institution that sets engineering and
dimensional standards.

DOM:
Date of manufacturing: The nameplate of the product shows the date of
manufacture in the format DD.MM.YY or in the format DD.MM.YYYY. For
example: 31.12.11 corresponds to December 31, 2011; 31.12.2011 corresponds
to December 31, 2011

EIO0000002299.05 319
 DTM:
(device type manager) Classified into 2 categories:
• Device DTMs connect to the field device configuration components.
• CommDTMs connect to the software communication components.
The DTM provides a unified structure for accessing device parameters and
configuring, operating, and diagnosing the devices. DTMs can range from a
simple graphical user interface for setting device parameters to a highly
sophisticated application capable of performing complex real-time calculations for
diagnosis and maintenance purposes.

E
EMC:
Electromagnetic compatibility

Encoder :
Sensor that converts a measured distance or angle into an electrical signal. This
signal is evaluated by the drive to determine the actual position of a shaft (rotor)
or a driving unit.

F
Factory Settings:
Settings when the product is shipped.

Fault :
Fault is an operating state. If the monitoring functions detect an error, a transition
to this operating state is triggered, depending on the error class. A "Fault Reset"
or a power cycle are required to exit this operating state. Prior to this, the cause of
the detected error must be removed. Further information can be found in the
pertinent standards such as IEC 61800-7, ODVA Common Industrial Protocol
(CIP).

Fault Reset:
Function used to exit the operating state Fault. Before the function is used, the
cause of the detected error must be removed.

firmware:
Represents the BIOS, data parameters, and programming instructions that
constitute the operating system on a controller. The firmware is stored in non-
volatile memory within the controller.

flash memory:
A non-volatile memory that can be overwritten. It is stored on a special EEPROM
that can be erased and reprogrammed.

H
HMI:
(human machine interface) An operator interface (usually graphical) for human
control over industrial equipment.

homing:
The method used to establish the reference point for absolute movement.

320 EIO0000002299.05
 I
IEC:
(international electrotechnical commission) A non-profit and non-governmental
international standards organization that prepares and publishes international
standards for electrical, electronic, and related technologies.

I/O:
(input/output)

Internal Units:
Resolution of the power stage at which the motor can be positioned. Internal units
are specified in increments.

IT Mains:
Mains in which all active components are isolated from ground or are grounded
by a high impedance. IT: isolé terre (French), isolated ground. Opposite:
Grounded mains, see TT/TN mains

L
LED:
(light emitting diode) An indicator that illuminates under a low-level electrical
charge.

Limit Switch:
Switches that signal overtravel of the permissible range of travel.

LSB:
(least significant bit/byte) The part of a number, address, or field that is written as
the right-most single value in conventional hexadecimal or binary notation.

M
Modbus:
The protocol that allows communications between many devices connected to the
same network.

Monitoring Function:
Monitoring functions acquire a value continuously or cyclically (for example, by
measuring) in order to check whether it is within permissible limits. Monitoring
functions are used for error detection.

MSB:
(most significant bit/byte The part of a number, address, or field that is written as
the left-most single value in conventional hexadecimal or binary notation.

ms:
(millisecond)

N
network:
A system of interconnected devices that share a common data path and protocol
for communications.

node:
An addressable device on a communication network.

EIO0000002299.05 321
 non-volatile memory:
A memory that can be overwritten. It is stored on a special EEPROM that can be
erased and reprogrammed.

P
Parameter :
Device data and values that can be read and set (to a certain extent) by the user.

PELV:
Protective Extra Low Voltage, low voltage with isolation. For more information:
IEC 60364-4-41

PE:
(Protective Earth) A common grounding connection to help avoid the hazard of
electric shock by keeping any exposed conductive surface of a device at earth
potential. To avoid possible voltage drop, no current is allowed to flow in this
conductor (also referred to as protective ground in North America or as an
equipment grounding conductor in the US national electrical code).

Position Deviation:
The position deviation is the difference between reference position and actual
position. The current position deviation consists of the load-dependent position
deviation and the dynamic position deviation.

Power Stage :
The power stage controls the motor. The power stage generates current for
controlling the motor on the basis of the motion signals from the controller.

PWM:
(pulse width modulation) A fast output that oscillates between off and on in an
adjustable duty cycle, producing a rectangular wave form (though you can adjust
it to produce a square wave). The PTO is well adapted to simulate or approximate
an analog output in that it regulates the voltage of the output over its period
making it useful in light dimming or speed control applications, among others.

Q
Quick Stop:
The quick Stop function can be used for fast deceleration of a movement as a
response to a detected error or via a command.

R
relative movement:
Movement by a specified distance from the current position.

RJ45:
A standard type of 8-pin connector for network cables defined for Ethernet.

rms:
"Root Mean Square" value of a voltage (Vrms) or a current (Arms)

RPM:
(revolutions per minute)

322 EIO0000002299.05
 S
Safety Function:
Safety functions are defined in the standard IEC 61800-5-2 (for example, Safe
Torque Off (STO), Safe Operating Stop (SOS) or Safe Stop 1 (SS1)). If the safety
functions are wired properly, they meet the requirements specified in IEC 61800-
5-2.

STO:
(Safe Torque Off) The Safety Function STO (IEC 61800-5-2) (“Safe Torque Off”)
removes power to the motor thereby relieving the torque applied by the motor.
There is no monitoring for standstill..

T
TN Mains:
Grounded mains, differ in terms of the ground connection (PE conductor
connection). Opposite: Ungrounded mains, see IT mains.

touchprobe input:
Touchprobe inputs are advanced digital inputs. These inputs are used for
measuring functions, which accurately detect positions relative to a measure
input. Once a touchprobe function has been activated, it runs independently in the
system, independent of the IEC program. The IEC program can use parameters
to detect the state of the measuring function. This function is supported by
hardware and software.

TP:
(touch probe) A position capture that is triggered by a fast input signal (quick
sensor). On the rising edge of the touch probe input, the position of an encoder is
captured.
For example, this is used for packaging machines to capture the position of a
printmark on a film to cut on the same position.

TT Mains:
Grounded mains, differ in terms of the ground connection (PE conductor
connection). Opposite: Ungrounded mains, see IT mains.

U
UL:
(underwriters laboratories) A US organization for product testing and safety
certification.

EIO0000002299.05 323
Index N
nameplate ...................................................... 24, 38

A
access channels ................................................. 237
O
accessories online help .......................................................... 130
external braking resistors....................................74 operating states .................................................. 238
external mains filters ..........................................70 overvoltage category UL ........................................20

B P
braking resistor P0-00 ................................................................. 159
rating ................................................................73 P0-01 ................................................................. 159
P0-02 ................................................................. 159
P0-03 ................................................................. 159
C P0-04 ................................................................. 160
P0-08 ................................................................. 160
cables ..................................................................71 P0-09 ................................................................. 160
comfort tuning ..................................................... 137 P0-10 ................................................................. 160
commissioning software....................................... 130 P0-11 ................................................................. 160
components and interfaces ....................................37 P0-12 ................................................................. 160
control cabinet ......................................................83 P0-13 ................................................................. 161
P0-17 ................................................................. 161
P0-18 ................................................................. 161
D P0-19 ................................................................. 161
degree of protection...............................................26 P0-20 ................................................................. 161
dimensions P0-21 ................................................................. 161
drive .................................................................27 P0-25 ................................................................. 161
disposal.............................................................. 317 P0-26 ................................................................. 162
drive:mounting ......................................................84 P0-27 ................................................................. 162
P0-28 ................................................................. 162
P0-29 ................................................................. 162
E P0-30 ................................................................. 162
P0-31 ................................................................. 162
easy tuning ......................................................... 136 P0-32 ................................................................. 162
Electrical Installation Drive .....................................84 P0-35 ................................................................. 162
electromagnetic compatibility (EMC) .......................68 P0-36 ................................................................. 163
EMC.....................................................................68 P0-37 ................................................................. 163
improvement of EMC..........................................70 P0-38 ................................................................. 163
environmental conditions P0-39 ................................................................. 163
drive .................................................................25 P0-40 ................................................................. 163
motor ................................................................41 P0-41 ................................................................. 164
equipotential bonding conductors ..................... 69, 71 P0-42 ................................................................. 164
P0-46 ................................................................. 164
P0-47 ................................................................. 164
F P1-00 ................................................................. 165
Fault Reset ......................................................... 239 P1-01 ................................................................. 165
functions P1-02 ................................................................. 166
CW/CCW ..........................................................35 P1-03 ................................................................. 166
P/D ...................................................................35 P1-04 ................................................................. 167
signals A/B ........................................................34 P1-05 ................................................................. 167
fuses UL ...............................................................20 P1-07 ................................................................. 167
P1-09 ................................................................. 167
P1-10 ................................................................. 167
I P1-11 ................................................................. 168
P1-12 ................................................................. 168
improvement of EMC .............................................70 P1-13 ................................................................. 168
installation site and connection ...............................26 P1-14 ................................................................. 168
Intended Use ..........................................................8 P1-15 ................................................................. 168
internal braking resistor..........................................73 P1-16 ................................................................. 169
P1-17 ................................................................. 169
P1-18 ................................................................. 169
M P1-19 ................................................................. 169
P1-20 ................................................................. 169
manual tuning ..................................................... 143
P1-21 ................................................................. 169
monitoring functions ..............................................75
P1-22 ................................................................. 169
mounting distances;ventilation ...............................83
P1-23 ................................................................. 170
mounting position ................................................ 112
P1-24 ................................................................. 170
324 EIO0000002299.05
P1-25 ................................................................. 170 P2-32 ................................................................. 182
P1-26 ................................................................. 170 P2-34 ................................................................. 182
P1-27 ................................................................. 170 P2-35 ................................................................. 182
P1-28 ................................................................. 170 P2-36 ................................................................. 182
P1-29 ................................................................. 170 P2-37 ................................................................. 182
P1-30 ................................................................. 170 P2-44 ................................................................. 183
P1-32 ................................................................. 170 P2-50 ................................................................. 183
P1-34 ................................................................. 171 P2-60 ................................................................. 183
P1-35 ................................................................. 171 P2-61 ................................................................. 183
P1-37 ................................................................. 171 P2-62 ................................................................. 183
P1-38 ................................................................. 172 P2-65 ................................................................. 184
P1-39 ................................................................. 172 P2-66 ................................................................. 185
P1-40 ................................................................. 172 P2-68 ................................................................. 185
P1-41 ................................................................. 172 P2-69 ................................................................. 185
P1-42 ................................................................. 172 P2-70 ................................................................. 186
P1-44 ................................................................. 172 P2-71 ................................................................. 186
P1-45 ................................................................. 173 P2-72 ................................................................. 186
P1-46 ................................................................. 173 P2-73 ................................................................. 186
P1-47 ................................................................. 173 P3-00 ................................................................. 187
P1-48 ................................................................. 173 P3-01 ................................................................. 187
P1-52 ................................................................. 174 P3-02 ................................................................. 187
P1-53 ................................................................. 174 P3-03 ................................................................. 187
P1-54 ................................................................. 174 P3-04 ................................................................. 187
P1-55 ................................................................. 174 P3-06 ................................................................. 188
P1-57 ................................................................. 174 P3-07 ................................................................. 188
P1-58 ................................................................. 174 P4-00 ................................................................. 188
P1-59 ................................................................. 174 P4-01 ................................................................. 188
P1-60 ................................................................. 175 P4-02 ................................................................. 188
P1-61 ................................................................. 175 P4-03 ................................................................. 189
P1-62 ................................................................. 175 P4-04 ................................................................. 189
P1-63 ................................................................. 175 P4-05 ................................................................. 189
P1-64 ................................................................. 175 P4-06 ................................................................. 189
P1-65 ................................................................. 175 P4-07 ................................................................. 189
P1-66 ................................................................. 175 P4-08 ................................................................. 190
P1-67 ................................................................. 176 P4-09 ................................................................. 190
P1-68 ................................................................. 176 P4-10 ................................................................. 190
P1-69 ................................................................. 176 P4-20 ................................................................. 190
P1-70 ................................................................. 176 P4-21 ................................................................. 191
P1-71 ................................................................. 176 P4-22 ................................................................. 191
P1-72 ................................................................. 176 P4-23 ................................................................. 191
P1-78 ................................................................. 176 P4-24 ................................................................. 191
P1-79 ................................................................. 176 P4-26 ................................................................. 191
P1-80 ................................................................. 177 P4-27 ................................................................. 191
P1-81 ................................................................. 177 P4-28 ................................................................. 192
P1-84 ................................................................. 177 P4-29 ................................................................. 192
P1-88 ................................................................. 177 P5-00 ................................................................. 193
P2-01 ................................................................. 178 P5-04 ................................................................. 193
P2-05 ................................................................. 178 P5-05 ................................................................. 193
P2-08 ................................................................. 178 P5-06 ................................................................. 193
P2-09 ................................................................. 178 P5-07 ................................................................. 193
P2-10 ................................................................. 178 P5-08 ................................................................. 194
P2-11 ................................................................. 179 P5-09 ................................................................. 194
P2-12 ................................................................. 179 P5-10 ................................................................. 194
P2-13 ................................................................. 179 P5-11 ................................................................. 194
P2-14 ................................................................. 179 P5-12 ................................................................. 194
P2-15 ................................................................. 179 P5-13 ................................................................. 194
P2-16 ................................................................. 179 P5-14 ................................................................. 195
P2-17 ................................................................. 179 P5-15 ................................................................. 195
P2-18 ................................................................. 180 P5-16 ................................................................. 195
P2-19 ................................................................. 180 P5-18 ................................................................. 195
P2-20 ................................................................. 180 P5-20 ................................................................. 195
P2-21 ................................................................. 180 P5-21 ................................................................. 196
P2-22 ................................................................. 180 P5-22 ................................................................. 196
P2-23 ................................................................. 181 P5-23 ................................................................. 196
P2-24 ................................................................. 181 P5-24 ................................................................. 196
P2-27 ................................................................. 181 P5-25 ................................................................. 196
P2-29 ................................................................. 181 P5-26 ................................................................. 196
P2-30 ................................................................. 182 P5-35 ................................................................. 197
P2-31 ................................................................. 182 P5-37 ................................................................. 197

EIO0000002299.05 325
P5-38 ................................................................. 197 P6-57 ................................................................. 206
P5-39 ................................................................. 197 P6-58 ................................................................. 207
P5-57 ................................................................. 197 P6-59 ................................................................. 207
P5-58 ................................................................. 197 P6-60 ................................................................. 207
P5-59 ................................................................. 198 P6-61 ................................................................. 207
P5-76 ................................................................. 198 P6-62 ................................................................. 207
P5-77 ................................................................. 198 P6-63 ................................................................. 207
P5-78 ................................................................. 198 P6-64 ................................................................. 208
P5-79 ................................................................. 198 P6-65 ................................................................. 208
P5-80 ................................................................. 198 P7-00 ................................................................. 208
P5-81 ................................................................. 199 P7-01 ................................................................. 208
P5-82 ................................................................. 199 P7-02 ................................................................. 208
P6-00 ................................................................. 199 P7-03 ................................................................. 208
P6-01 ................................................................. 199 P7-04 ................................................................. 209
P6-02 ................................................................. 199 P7-05 ................................................................. 209
P6-03 ................................................................. 199 P7-06 ................................................................. 209
P6-04 ................................................................. 200 P7-07 ................................................................. 209
P6-05 ................................................................. 200 P7-08 ................................................................. 209
P6-06 ................................................................. 200 P7-09 ................................................................. 209
P6-07 ................................................................. 200 P7-10 ................................................................. 209
P6-08 ................................................................. 200 P7-11 ................................................................. 209
P6-09 ................................................................. 200 P7-12 ................................................................. 210
P6-10 ................................................................. 201 P7-13 ................................................................. 210
P6-11 ................................................................. 201 P7-14 ................................................................. 210
P6-12 ................................................................. 201 P7-15 ................................................................. 210
P6-13 ................................................................. 201 P7-16 ................................................................. 210
P6-14 ................................................................. 201 P7-17 ................................................................. 210
P6-15 ................................................................. 201 P7-18 ................................................................. 210
P6-16 ................................................................. 201 P7-19 ................................................................. 210
P6-17 ................................................................. 201 P7-20 ................................................................. 211
P6-18 ................................................................. 202 P7-21 ................................................................. 211
P6-19 ................................................................. 202 P7-22 ................................................................. 211
P6-20 ................................................................. 202 P7-23 ................................................................. 211
P6-21 ................................................................. 202 P7-24 ................................................................. 211
P6-22 ................................................................. 202 P7-25 ................................................................. 211
P6-23 ................................................................. 202 P7-26 ................................................................. 211
P6-24 ................................................................. 202 P7-27 ................................................................. 211
P6-25 ................................................................. 202 P7-28 ................................................................. 212
P6-26 ................................................................. 203 P7-29 ................................................................. 212
P6-27 ................................................................. 203 P7-30 ................................................................. 212
P6-28 ................................................................. 203 P7-31 ................................................................. 212
P6-29 ................................................................. 203 P7-32 ................................................................. 212
P6-30 ................................................................. 203 P7-33 ................................................................. 212
P6-31 ................................................................. 203 P7-34 ................................................................. 212
P6-32 ................................................................. 203 P7-35 ................................................................. 212
P6-33 ................................................................. 203 P7-36 ................................................................. 213
P6-34 ................................................................. 204 P7-37 ................................................................. 213
P6-35 ................................................................. 204 P7-38 ................................................................. 213
P6-36 ................................................................. 204 P7-39 ................................................................. 213
P6-37 ................................................................. 204 P7-40 ................................................................. 213
P6-38 ................................................................. 204 P7-41 ................................................................. 213
P6-39 ................................................................. 204 P7-42 ................................................................. 213
P6-40 ................................................................. 204 P7-43 ................................................................. 213
P6-41 ................................................................. 204 P7-44 ................................................................. 214
P6-42 ................................................................. 205 P7-45 ................................................................. 214
P6-43 ................................................................. 205 P7-46 ................................................................. 214
P6-44 ................................................................. 205 P7-47 ................................................................. 214
P6-45 ................................................................. 205 P7-48 ................................................................. 214
P6-46 ................................................................. 205 P7-49 ................................................................. 214
P6-47 ................................................................. 205 P7-50 ................................................................. 214
P6-48 ................................................................. 205 P7-51 ................................................................. 214
P6-49 ................................................................. 205 P7-52 ................................................................. 215
P6-50 ................................................................. 206 P7-53 ................................................................. 215
P6-51 ................................................................. 206 P7-54 ................................................................. 215
P6-52 ................................................................. 206 P7-55 ................................................................. 215
P6-53 ................................................................. 206 P7-56 ................................................................. 215
P6-54 ................................................................. 206 P7-57 ................................................................. 215
P6-55 ................................................................. 206 P7-58 ................................................................. 215
P6-56 ................................................................. 206 P7-59 ................................................................. 215

326 EIO0000002299.05
P7-60 ................................................................. 216 P8-64 ................................................................. 226
P7-61 ................................................................. 216 P8-65 ................................................................. 226
P7-62 ................................................................. 216 P8-66 ................................................................. 226
P7-63 ................................................................. 216 P8-67 ................................................................. 227
P7-64 ................................................................. 216 P8-68 ................................................................. 227
P7-65 ................................................................. 216 P8-69 ................................................................. 227
P8-00 ................................................................. 217 P8-70 ................................................................. 227
P8-01 ................................................................. 217 P8-71 ................................................................. 227
P8-02 ................................................................. 217 P8-72 ................................................................. 228
P8-03 ................................................................. 217 P8-99 ................................................................. 228
P8-04 ................................................................. 217 P9-00 ................................................................. 229
P8-05 ................................................................. 217 P9-01 ................................................................. 229
P8-06 ................................................................. 217 P9-02 ................................................................. 229
P8-07 ................................................................. 217 P9-06 ................................................................. 229
P8-08 ................................................................. 218 P9-07 ................................................................. 229
P8-09 ................................................................. 218 P9-08 ................................................................. 229
P8-10 ................................................................. 218 P9-09 ................................................................. 230
P8-11 ................................................................. 218 P9-10 ................................................................. 230
P8-12 ................................................................. 218 P9-11 ................................................................. 230
P8-13 ................................................................. 218 P9-12 ................................................................. 230
P8-14 ................................................................. 218 P9-13 ................................................................. 230
P8-15 ................................................................. 218 P9-14 ................................................................. 230
P8-16 ................................................................. 219 P9-15 ................................................................. 230
P8-17 ................................................................. 219 P9-16 ................................................................. 230
P8-18 ................................................................. 219 P9-17 ................................................................. 231
P8-19 ................................................................. 219 P9-18 ................................................................. 231
P8-20 ................................................................. 219 P9-19 ................................................................. 231
P8-21 ................................................................. 219 P9-20 ................................................................. 231
P8-22 ................................................................. 219 P9-21 ................................................................. 231
P8-23 ................................................................. 220 P9-22 ................................................................. 231
P8-24 ................................................................. 220 P9-23 ................................................................. 231
P8-25 ................................................................. 220 P9-25 ................................................................. 231
P8-26 ................................................................. 220 P9-26 ................................................................. 232
P8-27 ................................................................. 220 P9-27 ................................................................. 232
P8-28 ................................................................. 220 P9-28 ................................................................. 232
P8-29 ................................................................. 220 P9-29 ................................................................. 232
P8-30 ................................................................. 221 P9-30 ..........................................................232–233
P8-31 ................................................................. 221 P9-31 ................................................................. 234
P8-32 ................................................................. 221 P9-32 ................................................................. 234
P8-33 ................................................................. 221 P9-33 ................................................................. 234
P8-34 ................................................................. 221 P9-34 ................................................................. 234
P8-35 ................................................................. 221 P9-35 ................................................................. 235
P8-36 ................................................................. 222 P9-36 ................................................................. 235
P8-37 ................................................................. 222 P9-37 ................................................................. 235
P8-38 ................................................................. 222 P9-38 ................................................................. 235
P8-39 ................................................................. 222 P9-39 ................................................................. 235
P8-40 ................................................................. 222 P9-40 ................................................................. 235
P8-41 ................................................................. 222 permissible product combinations...........................29
P8-42 ................................................................. 223 pollution degree ....................................................26
P8-43 ................................................................. 223 PWM frequency power stage..................................29
P8-44 ................................................................. 223
P8-45 ................................................................. 223
P8-46 ................................................................. 223 Q
P8-47 ................................................................. 223
P8-48 ................................................................. 223 Qualification of Personnel ........................................7
P8-49 ................................................................. 224
P8-51 ................................................................. 224
P8-52 ................................................................. 224 R
P8-53 ................................................................. 225 rating of braking resistor.........................................73
P8-54 ................................................................. 225 Representation of the Parameters ........................ 158
P8-55 ................................................................. 225 resetting error message ....................................... 239
P8-56 ................................................................. 225
P8-57 ................................................................. 225
P8-58 ................................................................. 225 S
P8-59 ................................................................. 225
P8-60 ................................................................. 225 scope of supply .....................................................81
P8-61 ................................................................. 226 shipping.............................................................. 317
P8-62 ................................................................. 226 signals
P8-63 ................................................................. 226 A/B ...................................................................34

EIO0000002299.05 327
state diagram ...................................................... 238
storage ............................................................... 317

T
tuning the control loops ........................................ 136
type code........................................................ 24, 39
drive .................................................................24
motor ................................................................39
type of cooling.......................................................29

U
UL
conditions for wiring ...........................................20
fuses.................................................................20
overvoltage category ..........................................20

W
wiring UL ..............................................................20

328 EIO0000002299.05
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France
+ 33 (0) 1 41 29 70 00
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EIO0000002299.05