Lexium 28 A And BCH2 Servo Drive System User Guide

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Lexium 28 A and BCH2 Servo Drive System
EIO0000002305 04/2017

Lexium 28 A and BCH2 Servo
Drive System
User Guide

(Original Document)

EIO0000002305.00

04/2017

www.schneider-electric.com

The information provided in this documentation contains general descriptions and/or technical characteristics of the performance of the products contained herein. This documentation is not intended as a
substitute for and is not to be used for determining suitability or reliability of these products for specific user
applications. It is the duty of any such user or integrator to perform the appropriate and complete risk
analysis, evaluation and testing of the products with respect to the relevant specific application or use
thereof. Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for
misuse of the information contained herein. If you have any suggestions for improvements or amendments
or have found errors in this publication, please notify us.
No part of this document may be reproduced in any form or by any means, electronic or mechanical,
including photocopying, without express written permission of Schneider Electric.
All pertinent state, regional, and local safety regulations must be observed when installing and using this
product. For reasons of safety and to help ensure compliance with documented system data, only the
manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant instructions must
be followed.
Failure to use Schneider Electric software or approved software with our hardware products may result in
injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2017 Schneider Electric. All Rights Reserved.

EIO0000002305 04/2017

Table of Contents
Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part I Servo Drive System Planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 1 General Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Servo Drive Device Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive / Motor References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 2 Document Navigator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Document Navigator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part II Servo Drive System Technical Data . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 3 Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Conditions for UL 508C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Conditions for CSA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 4 Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 General Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servo Drive Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servo Drive Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servo Drive Type Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Drive Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Single-Phase Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Three-Phase Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Inputs / Outputs Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional Safety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 5 Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 General Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Components and Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servo Motor Nameplate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Servo Motor Type Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Motor Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tightening Torque and Property Class of Screws . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overload Characteristics Curves. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Encoder Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 BCH2MB Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2MB Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2MB Characteristics Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2MB Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 BCH2LD Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2LD Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2LD Characteristics Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2LD Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 BCH2∙F Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2∙F Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2∙F Characteristics Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2∙F Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6 BCH2LH Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2LH Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2LH Characteristics Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2LH Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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5.7 BCH2∙M Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2∙M Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2∙M Characteristics Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2∙M Curves. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8 BCH2∙R Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2∙R Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2∙R Characteristics Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
BCH2∙R Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 6 Accessories and Spare Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Commissioning Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connectors and Adapters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
External Mains Filters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DC Bus Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Application Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen Connectors, Distributors, Terminating Resistors . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen Cables with Open Cable Ends. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Encoder Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signal Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signal Cable for Safety Function STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
External Braking Resistors and Holding Brake Controller . . . . . . . . . . . . . . . . . . . . . . . . . . .
Circuit Breakers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor Protection Switches and Power Contactors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part III Engineering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 7 Engineering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 Electromagnetic Compatibility (EMC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electromagnetic Compatibility (EMC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
External Mains Filters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 Residual Current Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Residual Current Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4 Common DC Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Common DC Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5 Safety Function STO (“Safe Torque Off”) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Process Minimizing Risks Associated with the Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functional Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Requirements for Using the Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Application Examples STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.6 Rating the Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Rating the Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Internal Braking Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
External Braking Resistors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.7 Monitoring Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Monitoring Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.8 Configurable Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Configurable Inputs and Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.9 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I/O Wiring Example With Modicon M221 Logic Controller . . . . . . . . . . . . . . . . . . . . . . . . . . .

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Part IV Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 8 Before Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Inspecting the Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scope of Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 9 Drive Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Mechanical Installation Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Electrical Installation Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection Grounding Screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection I/O Interface (CN1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting the Motor Encoder (CN2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection PC (CN3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection CAN (CN4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection Logic Supply and Power Stage Supply (CN5) . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection DC Bus (CN6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection Braking Resistor (CN7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting the Motor Phases (CN8). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Holding Brake Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection STO (CN9) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 10 Motor Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Mechanical Installation Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connections and Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection of Motor and Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Holding Brake Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 11 Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part V Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 12 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Commissioning Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 13 Integrated HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Integrated HMI Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7-Segment Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Status Information Via the HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 14 Commissioning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Commissioning Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting the Device Address, Baud Rate and Connection Settings . . . . . . . . . . . . . . . . . . . .
Verifying the Direction of Movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Test Operation in Operating Mode Velocity (V) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Verifying the Safety Function STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 15 Tuning the Control Loops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Tuning the Control Loops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Easy Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Comfort Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Manual Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part VI Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 16 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Representation of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
P0 - Status Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
P1 - Basic Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
P2 - Extended Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
P3 - Communication Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
P4 - Diagnostics Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
P5 - Motion Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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135
136
137
139
140
142
144
145
156
158
160
163
166
167
169
171
172
175
176
178
181
183
185
185
187
189
190
192
193
194
195
196
198
201
202
203
205
207
208
209
210
211
212
217
229
231
232
233
238
250
257
260
264

P6 - Position Sequence Data Sets Group 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
P7 - Position Sequence Data Sets Group 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
P8 - Control Loops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
P9 - DTM Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part VII Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 17 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Access Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting the Digital Signal Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting the Digital Signal Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Functions for Target Value Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting a Signal Output Via Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Forcing the Digital Signal Inputs and Signal Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 18 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.1 Setting the Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting the Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.2 Jog Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Jog Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.3 Operating Mode Pulse Train (PT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating mode Pulse Train (PT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Pulse Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear Ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Acceleration and Deceleration Limitation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.4 Operating Mode Position Sequence (PS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating mode Position Sequence (PS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Structure of a Data Set. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Running Data Sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing Data Set for Absolute Movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.5 Operating Modes Velocity (V) and Velocity Zero (Vz) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating Modes Velocity (V) and Velocity Zero (Vz) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Acceleration and Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.6 Operating Modes Torque (T) and Torque Zero (Tz) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating Modes Torque (T) and Torque Zero (Tz) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.7 Operating Mode CANopen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Indication of the Operating State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Changing the Operating State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Starting and Changing a CANopen Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen Operating Mode Profile Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen Operating Mode Profile Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen Operating Mode Profile Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen Operating Mode Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen Operating Mode Interpolated Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen Operating Mode Cyclic Synchronous Position . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen Operating Mode Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen Operating Mode Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen Operating Mode Analog Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CANopen Operating Mode Analog Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part VIII Diagnostics and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 19 Diagnostics and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics Via the Fieldbus Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics Via the Integrated HMI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics Via the Signal Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

269
276
282
288
295
297
298
299
300
306
310
311
312
315
316
317
319
321
321
322
323
324
326
328
329
330
331
333
337
338
365
366
369
370
370
372
373
375
376
377
380
382
384
386
388
389
390
392
394
397
399
400
401
402

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Diagnostics Via the Commissioning Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics Via the Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection for Fieldbus Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Alert Codes and Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part IX Service, Maintenance and Disposal . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 20 Service, Maintenance, and Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Maintenance of the Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Replacement of Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Maintenance of the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Changing the Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Shipping, Storage, Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Part X CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 21 CANopen Basics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Communication Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Service Data Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Process Data Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting the Process Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 22 CANopen Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

22.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Specifications for the Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Object Dictionary Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22.2 1000h…1FFFh Standard Communication Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1Axxh Object Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22.3 4000h … 4FFFh Vendor-specific Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
40xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
41xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
42xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
43xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
44xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
46xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
47xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
48xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
49xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4Bxxh Object Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4Fxxh Object Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22.4 6000h … 6FFFh Device-Specific Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
60xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
65xxh Object Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Glossary
Index

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407
415
417
418
419
420
421
422
423
424
425
427
428
429
430
432
435
436
437
439
440
441
444
445
447
449
451
453
454
456
460
462
464
466
468
472
476
479
481
483
484
485
491
493
497

EIO0000002305 04/2017

Safety Information
Important Information
NOTICE
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.

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.
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.

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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.

EIO0000002305 04/2017

About the Book
At a Glance
Document Scope
This document describes the functions of the Servo Drive LXM28A and the BCH2 motor.
Validity Note
This document has been updated with the firmware release of the Lexium 28 A V1.50
The technical characteristics of the devices described in this document also appear online. To access this
information online:
Step

Action

Go to the Schneider Electric home page www.schneider-electric.com.

In the Search box type the reference of a product or the name of a product range.
 Do not include blank spaces in the reference or product range.
 To get information on grouping similar modules, use asterisks (*).

If you entered a reference, go to the Product Datasheets search results and click on the reference that
interests you.
If you entered the name of a product range, go to the Product Ranges search results and click on the product
range that interests you.

If more than one reference appears in the Products search results, click on the reference that interests you.

Depending on the size of your screen, you may need to scroll down to see the data sheet.

To save or print a data sheet as a .pdf file, click Download XXX product datasheet.

The characteristics that are presented in this manual 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 manual and online information, use the online
information as your reference.
For product compliance and environmental information (RoHS, REACH, PEP, EOLI, etc.), go to

www.schneider-electric.com/green-premium.
Related Documents
Title of documentation

Reference number

Lexium 28 A and BCH2 Servo Drive System - User Guide (This document)

EIO0000002305 (ENG)

Lexium 28 A DTM Commissioning software - User Guide

EIO0000002317 (ENG)

LXM28 - Common DC bus - Application note

EIO0000002323 (ENG)
EIO0000002325 (FRA)

HBC Holding Brake Controller -Product Manual

0198441113316 (ENG)

You can download these technical publications and other technical information from our website at
http://www.schneider-electric.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, 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.

EIO0000002305 04/2017

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 nonenergized position.
Wait 15 minutes to allow the residual energy of the DC bus capacitors to discharge.
Measure the voltage on the DC bus with a properly rated voltage sensing device and verify that the
voltage is less than 42.4 Vdc.
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.

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.

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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.
DC Bus Voltage Measurement
The DC bus voltage can exceed 400 Vdc. The DC bus LED is not an indicator of the absence of DC bus
voltage.

DANGER
ELECTRIC SHOCK, EXPLOSION OR ARC FLASH









Disconnect the voltage supply to all connections.
Wait 15 minutes to allow the DC bus capacitors to discharge.
Use a properly rated voltage-sensing device for measuring (greater than 400 Vdc).
Measure the DC bus voltage between the DC bus terminals (PA/+ and PC/-) to verify that the voltage
is less than 42 Vdc
Contact your local Schneider Electric representative if the DC bus capacitors do not discharge to less
than 42 Vdc within a period of 15 minutes.
Do not operate the product if the DC bus capacitors do not discharge properly.
Do not attempt to repair the product if the DC bus capacitors do not discharge properly.
Do not assume that the DC bus is voltage-free when the DC bus LED is off.

Failure to follow these instructions will result in death or serious injury.
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:

EIO0000002305 04/2017

Standard

Description

EN 61131-2:2007

Programmable controllers, part 2: Equipment requirements and tests.

ISO 13849-1:2008

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

Standard

Description

EN 1088:2008
ISO 14119:2013

Safety of machinery - Interlocking devices associated with guards - Principles
for design and selection

ISO 13850:2006

Safety of machinery - Emergency stop - Principles for design

EN/IEC 62061:2005

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 safetyrelated systems: General requirements.

IEC 61508-2:2010

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

IEC 61508-3:2010

Functional safety of electrical/electronic/programmable electronic safetyrelated systems: Software requirements.

IEC 61784-3:2008

Digital data communication for measurement and control: Functional safety
field buses.

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.

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Lexium 28 A and BCH2 Servo Drive System
Servo Drive System Planning
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Part I
Servo Drive System Planning

Servo Drive System Planning
What Is in This Part?
This part contains the following chapters:
Chapter

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Chapter Name

Page

General Overview

Document Navigator

Servo Drive System Planning

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Lexium 28 A and BCH2 Servo Drive System
General Overview
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Chapter 1
General Overview

General Overview
What Is in This Chapter?
This chapter contains the following topics:
Topic

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Page

Servo Drive Device Overview

Drive / Motor References

General Overview

Servo Drive Device Overview
Presentation
The servo drive system includes:
 the drive (see page 29) and the motor (see page 47):



the accessories and spare parts (see page 85):

Item

Description

Commissioning tools (see page 86)

Connectors and adapters (see page 87)

External mains filters (see page 88)

DC Bus accessories (see page 89)

Application nameplate (see page 90)

Fieldbus accessories (see page 91)

Motor cables (see page 93)

Encoder cables (see page 94)

Signal cables (see page 95)

Signal cables for safety function STO (see page 96)

External braking resistors (see page 97)

Circuit breakers (see page 98)

Motor protection switches and power contractors (see page 99)

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General Overview

Drive / Motor References
Introduction
The present user guide provides information about the following Drives and Motors reference tables.
The Lexium 28A range is defined by AC-servo drives Lexium 28A 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 (see page 20).
Lexium 28A Drive References List
Drive references

Nominal power

Supply mains

LXM28AUA5M3X

50 W

single phase or 3-phase, 230 Vac

LXM28AU01M3X

100 W

single phase or 3-phase, 230 Vac

LXM28AU02M3X

200 W

single phase or 3-phase, 230 Vac

LXM28AU04M3X

400 W

single phase or 3-phase, 230 Vac

LXM28AU07M3X

750 W

single phase or 3-phase, 230 Vac

LXM28AU10M3X

1000 W

single phase or 3-phase, 230 Vac

LXM28AU15M3X

1500 W

3-phase, 230 Vac

LXM28AU20M3X

2000 W

3-phase, 230 Vac

LXM28AU30M3X

3000 W

3-phase, 230 Vac

LXM28AU45M3X

4500 W

3-phase, 230 Vac

For further information, refer to the servo drive general overview (see page 30).
BCH2 Motor References List

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Motor references

Nominal power

BCH2MBA53•C•5C

50 W

BCH2MB013•C•5C

100 W

BCH2LD023•C•5C

200 W

BCH2MM031•C•6C

300 W

BCH2LD043•C•5C

400 W

BCH2LF043•C•5C

400 W

BCH2MM052•C•6C

500 W

BCH2MM061•C•6C

600 W

BCH2HF073•C•5C

750 W

BCH2LF073•C•5C

750 W

BCH2MM081•C•6C

850 W

BCH2MM091•C•6C

900 W

BCH2MM102•C•6C

1000 W

BCH2HM102•C•6C

1000 W

BCH2LH103•C•6C

1000 W

BCH2MM152•C•6C

1500 W

BCH2MM202•C•6C

2000 W

BCH2MR202•C•6C

2000 W

BCH2HR202•C•6C

2000 W

BCH2LH203•C•6C

2000 W

BCH2MR301•C•6C

3000 W

BCH2MR302•C•6C

3000 W

General Overview
Motor references

Nominal power

BCH2MR352•C•6C

3500 W

BCH2MR451•C•6C

4500 W

For further information, refer to Servo Motor Type Code (see page 52).
Drive / Motor Combinations
The permissible Drive / Motor Combinations are detailed in the following table:
Drive

Motor

Nominal
power

Nominal Nominal
speed of torque
rotation

Peak
torque

Rotor
inertia
without
holding
brake

Moment
of inertia

rpm

kg.cm2

Devices 220 Vac that can be connected via a single phase or three phases
LXM28AUA5M3X

BCH2MBA53∙∙∙5C

3000

0.16

0.48

0.054

Medium

LXM28AU01M3X

BCH2MB013∙∙∙5C

100

3000

0.32

0.96

0.075

Medium

LXM28AU02M3X

BCH2LD023∙∙∙5C

200

3000

0.64

1.92

0.16

Low

BCH2MM031∙∙∙6C

300

1000

2.86

8.59

6.63

Medium

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

LXM28AU04M3X

LXM28AU07M3X

LXM28AU10M3X

LXM28AU15M3X

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

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

BCH2MM152∙∙∙6C

1500

2000

7.16

21.48

9.7

Medium

Devices 220 Vac that can be connected via three phases

LXM28AU20M3X

LXM28AU30M3X
LXM28AU45M3X

BCH2LH203∙∙∙6C

2000

3000

6.37

19.11

4.28

Low

BCH2MM202∙∙∙6C

2000

9.55

28.65

13.5

Medium

BCH2MR202∙∙∙6C

2000

9.55

28.65

26.5

Medium

BCH2HR202∙∙∙6C

2000

9.55

28.65

34.68

High

BCH2MR301∙∙∙6C

3000

1500

19.1

57.29

53.56

Medium

BCH2MR302∙∙∙6C

3000

2000

14.32

42.97

53.56

Medium

BCH2MR352∙∙∙6C

3500

2000

16.7

50.3

53.56

Medium

BCH2MR451∙∙∙6C

4500

1500

28.65

71.62

73.32

Medium

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Lexium 28 A and BCH2 Servo Drive System
Document Navigator
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Chapter 2
Document Navigator

Document Navigator
Document Navigator
Document Content
This user guide contains following data:
 Technical data (see page 23)
 Conditions for UL 508C and CSA (see page 25)
 Drive (see page 29)
 Motor (see page 47)
 Accessories and spare parts (see page 85)












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Engineering (see page 101)
Installation (see page 133)
 Before mounting (see page 135)
 Drive installation (see page 139)
 Motor installation (see page 175)
 Verifying installation (see page 185)
Commissioning (see page 187)
 Overview (see page 189)
 Integrated HMI (see page 193)
 Commissioning procedure (see page 201)
 Tuning the control loop (see page 209)
Parameters (see page 229)
Operation (see page 295)
 Operation (see page 297)
 Operating modes (see page 315)
Diagnostics and troubleshooting (see page 397)
Service, maintenance and disposal (see page 415)
CANopen (see page 425)
 CANopen basics (see page 427)
 CANopen object dictionary (see page 435)

Document Navigator

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Lexium 28 A and BCH2 Servo Drive System
Servo Drive System Technical Data
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Part II
Servo Drive System Technical Data

Servo Drive System Technical Data
What Is in This Part?
This part contains the following chapters:
Chapter

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Chapter Name

Page

Certifications

Drive

Motor

Accessories and Spare Parts

Servo Drive System Technical Data

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Lexium 28 A and BCH2 Servo Drive System
Certifications
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Chapter 3
Certifications

Certifications
Download links
Item

Link

UL certification status

UL_InfoBY01

CSA certificate

CSA_70022260

EU Declaration of conformity

NHA3487100

TÜV certificate

TUEV_0120554010014

KC certificate Size 1

KC_1333-B797-B43E-FC6C

KC certificate Size 2

KC_8812-6AC0-ECBC-1757

KC certificate Size 3

KC_AE96-6B40-C214-7A18

KC certificate Size 4

KC_A1BB-480B-E156-0EF1

What Is in This Chapter?
This chapter contains the following topics:
Topic

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Page

Conditions for UL 508C

Conditions for CSA

Certifications

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.
LXM28A

UA5, U01, U02,
U04, U07, U10,
U15

U20, U30, U45

Maximum fuse rating of fuse to be connected upstream

25 A

32 A

Class if fuses are used

Class if circuit breakers are used

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.

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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 following table), this product is suitable for use on a circuit capable
of delivering not more than 200 kA RMS symmetrical amperes and 230 Vac maximum, when protected by
Listed Class J, CC or RK5 fuses as indicated in this instruction manual and the Fuse Type 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 following 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 maximum, when protected by
Listed Class J or CC fuses as indicated in the instruction manual and the following 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 following 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 40 V may remain for up to 15 minutes after power is removed from the drive.

DANGER
ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH










Failure to follow these instructions will result in death or serious injury.

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Certifications

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 CN5, CN7 and CN8 for drive reference group 3 and 4(see
following table): 0.7 … 0.8 Nm (6.2 … 7 lb.in)
Fuse Types
Reference Group

Reference

Class

Maximum Current

LXM28AUA5M3X

CC or J

25 A

LXM28AU01M3X

CC or J

25 A

LXM28AU02M3X

CC or J

25 A

LXM28AU04M3X

CC or J

25 A

LXM28AU07M3X

CC or J

25 A

LXM28AU10M3X

RK5 or CC or J

25 A

LXM28AU15M3X

RK5 or CC or J

25 A

LXM28AU20M3X

RK5 or J

45 A

LXM28AU30M3X

RK5 or J

50 A

LXM28AU45M3X

RK5 or J

50 A

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Lexium 28 A and BCH2 Servo Drive System
Drive
EIO0000002305 04/2017

Chapter 4
Drive

Drive
What Is in This Chapter?

This chapter contains the following sections:
Section

EIO0000002305 04/2017

Topic

Page

4.1

General Overview

4.2

Drive Technical Data

Drive

Section 4.1
General Overview

General Overview
What Is in This Section?
This section contains the following topics:
Topic

Page

Servo Drive Description

Servo Drive Nameplate

Servo Drive Type Code

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Drive

Servo Drive Description
Presentation

Item

Description

Connector

Connector for safety function STO

CN9 (see page 172)

Slot for application name plate (VW3M2501)

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

Removable terminal (provided) for motor connection

CN8 (see page 169)

Removable terminal (provided) for braking resistor connection

CN7 (see page 167)

DC-bus connector with status LED

CN6 (see page 166)

Removable terminal (provided) for connecting the power supply

CN5 (see page 163)

Screw terminal for protective ground (protective earth)

QR code for access to technical data

RJ45 connector for Modbus serial link (commissioning interface)

CN3 (see page 158)

Connector for the encoder of the motor

CN2 (see page 156)

2 x RJ45 connectors for integrated CANopen connection

CN4 (see page 160)

Device Reference

Input/output connector

CN1 (see page 145)

Integrated Fieldbus
The Lexium 28 A Servo Drive embeds a dual port CANopen adapter that can be used in a CANopen
industrial fieldbus.
Parameters Access
Servo drive parameters (see page 231) may be accessed using:
 The integrated HMI
 The Device Type Manager (DTM)
 Directly using the fieldbus address of the device to read and write to parameters using the object
dictionary
Object Dictionary
The CANopen objects may be accessed through the fieldbus, using their address.
The objects that are also drive parameters are identified by their name in the Parameter column in the
object dictionary table.
Three groups of objects are available in the object dictionary.
1000h - 1FFFh: Standard communication Object Group (see page 440)
 4000h - 4FFFh: Vendor-specific Object Group (see page 453)
 6000h - 6FFFh: Device profile Object Group (see page 484)


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Servo Drive Nameplate
Presentation
The nameplate contains the following data:

Item

Description

Drive reference (see page 33)

Logic supply

Cable specifications

Certifications

Barcode

Serial number

Output power

Degree of protection

Hardware version

Date of manufacture

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Drive

Servo Drive Type Code
Servo Drive Type Code
Item

Type code (example)

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LXM

2
28

3
A

Item

Meaning

Product designation
LXM = Lexium

Product type
28 = AC servo drive for one axis

Interfaces
A = CAN, PTI, I/O interface, commissioning via Modbus RTU

Continuous power
UA5 = 0.05 kW
U02 = 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

Power stage supply [Vac]
M3X = single phase or 3-phase, 200/230 Vac

4
U07

5
M3X

Drive

Section 4.2
Drive Technical Data

Drive Technical Data
What Is in This Section?
This section contains the following topics:
Topic

Page

Environmental Conditions

Dimensions

Electrical Data

Single-Phase Connection

Three-Phase Connection

Inputs / Outputs Characteristics

Functional Safety

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Drive

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
(see page 140).
Description

Unit

Value

Ambient temperature without current derating (no icing, non-condensing

°C (°F)

0…40 (32…104)

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:
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

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Description

Value

Pollution degree

Degree of protection

IP20

Drive

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.

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

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

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Dimensions
Lexium 28A Dimensions
LXM28AUA5, LXM28AU01, LXM28AU02, LXM28AU04, LXM28AU07, LXM28AU10, LXM28AU15,
LXM28AU20

LXM28A

Unit

UA5, U01, U02,
U04, U07

U10, U15

U20

mm (in)

55 (2.17)

62 (2.44)

mm (in)

173.2 (6.82)

173.5 (6.83)

194.5 (7.66)

mm (in)

150 (5.91)

170 (6.69)

mm (in)

164 (6.46)

185 (7.28)

mm (in)

146 (5.75)

170 (6.69)

184 (7.24)

mm (in)

152.7 (6.01)

176.3 (6.94)

197 (7.76)

LXM28AU30, LXM28AU45

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LXM28A

Unit

U30, U45

mm (in)

116 (4.57)

mm (in)

245 (9.65)

mm (in)

234 (9.21)

mm (in)

235 (9.25)

mm (in)

186 (7.32)

mm (in)

199 (7.83)

Drive

Electrical Data
Introduction
The products are intended for industrial use and may only be operated with a permanently installed
connection.
Mains Voltage: Range and Tolerance
Description

Unit

Value

220 Vac single-phase/three-phase

Vac

200 -15 % ... 230 +10 %

Frequency

50 -5 % ... 60 +5 %

Transient overvoltages

–

Overvoltage category III(1)

Rated voltage to ground

Vac

230

(1) Depends on installation altitude, see Environmental Conditions (see page 35)

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)

<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.
LXM28A

UA5, U01, U02, U04,
U07, U10, U15

U20, U30, U45

PWM frequency power stage

16 kHz

8 kHz

Type of Cooling
LXM28A

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 28A drive range.
Compatibility between Drive and Motor is defined in the Drive / Motor combinations table (see page 20).

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Drive

Single-Phase Connection
Electrical Data for Drive Connected Via a Single-Phase
LXM28A∙M3X

Unit

Nominal voltage

UA5

U01

U02

U04

Inrush current limitation

Maximum fuse to be connected
upstream(1)

U07

U10

U15

230 (single-phase)

Short-circuit current rating (SCCR)

Continuous output current

Arms

0.64

0.9

1.5

2.6

5
4.5

Peak output current

Arms

2.7

4.5

7.8

13.5

Nominal power(2)

100

200

400

750

1000

1500

Input current(2)(3)

Arms

0.8

1.2

2.4

3.8

8.5

THD (total harmonic distortion)(2)(4)

262.8

239.2

226.8

211.6

181.8

176.3

166.6

Power dissipation(5)

Maximum inrush current(6)

175

235

Time for maximum inrush current

0.5

0.6

(1) As per IEC 60269; Circuit breakers with C characteristic; See Conditions for UL 508C (see page 25) 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

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LXM28A∙M3X

Unit

Nominal voltage (single-phase)

Vac

UA5

U01

U02

U04
230

Nominal voltage DC bus

Vdc

322

Undervoltage limit

Vdc

160

U07

U10

U15

Overvoltage limit

Vdc

Maximum continuous power via DC bus

100

200

400

420
750

1000

1500

Maximum continuous power via DC bus

0.2

0.3

0.6

1.2

2.3

3.1

4.6

Drive

Three-Phase Connection
Electrical Data for Drive Connected Via Three-Phase
LXM28A∙M3X

Unit

Nominal voltage

Inrush current limitation

UA5

U01

U02

U04

U07

U10

230 (3-phase)

Short-circuit current rating (SCCR)

Continuous output current

Arms

0.64

0.9

1.5

2.6

4.5

Peak output current

Arms

2.7

4.5

7.8

13.5

100

200

400

750

1000

Arms

0.42

0.74

1.25

2.2

3.9

227.8

212.7

200.7

183.7

160.8

155.5

Maximum fuse to be connected upstream

Nominal power
Input current

(1)

(2)

(2)(3)

THD (total harmonic distortion)
Power dissipation

(2)(4)

(5)

Maximum inrush current

(6)

Time for maximum inrush current

175

235

0.5

0.6

(1) As per IEC 60269; Circuit breakers with C characteristic; See Conditions for UL 508C (see page 25) 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

LXM28A∙M3X

Unit

Nominal voltage

Inrush current limitation
Maximum fuse to be connected upstream

(1)

U15

U20

U30

U45

230 (3-phase)

19.2

17
32

Short-circuit current rating (SCCR)

Continuous output current

Arms

19.8

22.8

Peak output current

Arms

1500

2000

3000

4500

Arms

5.9

8.7

12.9

THD (total harmonic distortion)(2)(4)

144.8

137.1

155.8

147.1

Power dissipation(5)

Maximum inrush current(6)

235

Time for maximum inrush current

0.6

Nominal power
Input current

(2)

(2)(3)

295

300
1.0

(1) As per IEC 60269; Circuit breakers with C characteristic; See Conditions for UL 508C
(see page 25) 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

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DC bus data for drives connected via three-phase
LXM28A∙M3X

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Unit

UA5

U01

U02

U04

Nominal voltage (three phases)

Vac

230

Nominal voltage DC bus

Vdc

322

U07

U10

Undervoltage limit

Vdc

160

Overvoltage limit

Vdc

420

Maximum continuous power via DC bus

100

200

400

750

1000

Maximum continuous power via DC bus

0.2

0.3

0.6

1.2

2.3

3.1

LXM28A∙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

Maximum continuous power via DC bus

1500

2000

420
3000

4500

Maximum continuous power via DC bus

4.6

6.2

9.2

13.8

Drive

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)
Debounce time

(1)

0...20

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

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

Maximum switching current

100

Voltage drop at 100 mA load

Vdc

Description

Unit

Value

Voltage range

Vdc

-10...10

Analog Input Signals

Input resistance, typical

kΩ

Resolution

Bit

Sampling period

µs

32.25

Description

Unit

Value

Voltage range

Vdc

-8...8

Output current

Analog Output Signals

Minimum load resistance (voltage source)l

kΩ

Resolution

Bit

Sampling period

Time constant

µs

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Drive

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)
Debounce time

(1)

Jitter Capture

µs

0...100

µs

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

Safety Function STO
The signal inputs STO_0V and STO_24V (CN9) are protected against reverse polarity.

Description

Unit

Value

Nominal voltage

Vdc

PELV power supply unit

–

Required

(1)

Vdc

“1” signal voltage (1)

Vdc

15...30

Input current (typical)
LXM28AUA5, U01, U02, U04, U07
LXM28AU10, U15
LXM28AU20
LXM28AU30, U45

Maximum peak current

Maximum frequency for OSSD (Output Signal
Switching Device) test pulses

475

Debounce time

Response time of safety function STO

< 40

“0” signal voltage

110
120
130
160

(1) Voltage level according to IEC 61131-2 type 2 with the exception of the operation with 15 Vdc instead of
11 Vdc. The condition between 5 Vdc and 15 Vdc is undefined and not permissible.

24 Vdc Power Supply (Pin 17):
24 Vdc power supply (pin 17):
Description

Unit

Value

Output voltage

Vdc

Maximum output current

200

CAN Bus Signals:
The CAN bus signals comply with the CAN standard and are short-circuit protected.
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 evaluation)

kHz

3200

(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.

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Drive

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).
Intervals (minimum)

HPULSE / HSIGN with
RS422

PULSE / SIGN with
RS422

PULSE / SIGN with Open
Collector

4 MHz

500 kHz

200 kHz

0.125 μs

0.1 μs

2.5 μs

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

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Drive

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 with
RS422

PULSE / SIGN with
RS422

PULSE / SIGN with Open
Collector

4 MHz

500 kHz

200 kHz

0.125 μs

0.1 μs

2.5 μs

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

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)

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HPULSE / HSIGN with
RS422

PULSE / SIGN with
RS422

PULSE / SIGN with Open
Collector

4 MHz

500 kHz

200 kHz

0.125 μs

0.1 μs

2.5 μs

0.0625 μs

0.5 μs

1.25 μs

0.0625 μs

0.5 μs

1.25 μs

Drive

Functional Safety
Data for Maintenance Plan and the Calculations for the Safety Function
The safety function must be tested at regular intervals. The interval depends on the hazard and risk
analysis of the total system. The minimum interval is 1 year (high demand mode as per IEC 61508).
Use the following data of the safety function STO for your maintenance plan and the calculations for the
safety function:
Description

Unit

Value

Years

SFF (IEC 61508)
Safe Failure Fraction

98.9

Safety integrity level
IEC 61508
IEC 62061
IEC 61800-5-2

–

SIL CL 2

PFH (IEC 61508)
Probability of Dangerous Hardware Failure per Hour

1/h

STO_A(2): 1.7 x 10-9
STO_B(3): 1.5 x 10-9

Lifetime of the safety function STO (IEC 61508)

(1)

PFDavg (IEC 61508)
–
Probability of Failure on Demand, calculated as one demand per year

STO_A(2): 1.5 x 10-4
STO_B(3): 1.3 x 10-4

PL (ISO 13849-1)
Performance Level

–

d (category 3)

MTTFd (ISO 13849-1)
Mean Time to Dangerous Failure

Years

STO_A(2): 66757
STO_B(3): 78457

DCavg (ISO 13849-1)
Diagnostic Coverage

≥90

(1) See chapter Lifetime Safety Function STO (see page 420)
(2) STO_A:LXM28AUA5, U01, U02, U04, U07, U10, U15, U20
(3) STO_B:LXM28AU30, U45

If two non-adjacent IGBTs have a short circuit, a movement of a maximum of 120 degrees (electrical) can
occur even if the safety function STO is active. Include in your risk analysis the probability of IGBT short
circuits, and make a determination whether it is acceptable as it relates to your application.

WARNING
UNINTENTIONAL MOVEMENT DURING STO FUNCTION
Use appropriate safety interlocks (such as a service brake) where personnel and/or equipment hazards
exist.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
The probability of such a condition is 1.5 x 10-15 per hour (without common cause error). Include this in
your calculations for the safety function.
Contact your local sales office for additional data, if required.

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Lexium 28 A and BCH2 Servo Drive System
Motor
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Chapter 5
Motor

Motor
What Is in This Chapter?

This chapter contains the following sections:
Section

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Topic

Page

5.1

General Overview

5.2

Motor Technical Data

5.3

BCH2MB Motor

5.4

BCH2LD Motor

5.5

BCH2∙F Motor

5.6

BCH2LH Motor

5.7

BCH2∙M Motor

5.8

BCH2∙R Motor

Motor

Section 5.1
General Overview

General Overview
What Is in This Section?
This section contains the following topics:
Topic

Page

Components and Interfaces

Servo Motor Nameplate

Servo Motor Type Code

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Motor

Components and Interfaces
Presentation

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

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Item

Description

Connector of the motor cable (see page 93)

Connector of the encoder cable (see page 94)

Housing

Smooth or keyed shaft end, depending on the motor reference

4-point axial mounting flange

Motor

Servo Motor Nameplate
BCH2∙B
The nameplate contains the following data:

Item

Description

Item

Description

Motor reference (see page 52)

Country of manufacture

Nominal voltage

Nominal voltage of the holding brake
(optional)

Continuous stall current

Nominal power of the holding brake
(optional)

Continuous stall torque

Nominal torque of the holding brake
(optional)

Maximum current

Mass

Barcode

Date of manufacture DOM

Serial number

Number of motor phases, temperature
class, degree of protection

QR code

Certifications

Nominal power

Applied standard

Nominal current

Peak torque

Nominal torque

Maximum permissible speed of rotation

Nominal speed of rotation

Hardware version

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Motor

BCH2∙D, BCH2∙F, BCH2∙H, BCH2∙M, and BCH2∙R
The nameplate contains the following data:

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Item

Description

Item

Description

Motor reference (see page 52)

Nominal speed of rotation

Nominal voltage

Mass

Continuous stall current

Nominal voltage of the holding brake
(optional)

Continuous stall torque

Nominal power of the holding brake
(optional)

Maximum current

Nominal torque of the holding brake
(optional)

Peak torque

Certifications

Maximum permissible speed of rotation 19

Applied standard

Number of motor phases, temperature
class, degree of protection

Country of manufacture

Hardware version

Date of manufacture DOM

Nominal current

Barcode

Nominal power

Serial number

Nominal torque

QR code

Motor

Servo Motor Type Code
Servo Motor Type Code
Item

Type code (example)

BCH2 M

3
B

4
01

5
3

6
3

7
C

Item

Meaning

Product family
BCH2 = Brushless servo motors - second generation

Moment of inertia
L = Low
M = Medium
H = High

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

Nominal power
A5 = 50 W
01 = 100 W
02 = 200 W
03 = 300 W
04 = 400 W
05 = 500 W
06 = 600 W
07 = 750 W
08 = 850 W
09 = 900 W

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)

Shaft and degree of protection(1)
0 = Smooth shaft; degree of protection: shaft IP 54, housing IP 65
1 = Parallel key; degree of protection: shaft IP 54, housing IP 65
2 = Smooth shaft; degree of protection: shaft and housing IP 65
3 = Parallel key; degree of protection: shaft and housing IP 65

Encoder system
C = High-resolution encoder single turn

Holding brake
A = Without holding brake
F = With holding brake

Connection version
5 = Flying leads (for BCH2∙B, BCH2∙D, BCH2∙F)
6 = MIL connector (for BCH2∙H, BCH2∙M, BCH2∙R)

Mechanical interface - mounting
C = Asian style

8
A

9
5

10
C

10 = 1.0 kW
13 = 1.3 kW
15 = 1.5 kW
20 = 2.0 kW
30 = 3.0 kW
35 = 3.5 kW
45 = 4.5 kW

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

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Motor

Section 5.2
Motor Technical Data

Motor Technical Data
What Is in This Section?
This section contains the following topics:
Topic

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Page

Environmental Conditions

Tightening Torque and Property Class of Screws

Overload Characteristics Curves

Encoder Technical Data

Motor

Unit

Value

Ambient temperature(1) for motors without holding brake (no icing,
non-condensing).

°C (°F)

-20...40 (-4...104)

Ambient temperature for motors with holding brake (no icing, noncondensing).

°C (°F)

0...40 (32...104)

Ambient temperature with current derating of 1% per °C (per 1.8 °F)

°C (°F)

40...60 (104...140)

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 current derating

m (ft)

<1000 (<3281)

Installation altitude above mean sea level with current derating of 1%
per 100 m at altitudes higher than 1000 m

m (ft)

1000...3000 (3281...9843)

(1) Limit values with flanged motor, see Flange Sizes for Limit Values (see page 54)
(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

Flange Sizes for Limit Values
Limit values referring to this table relate to flanged motors with the following flange sizes:
Motor

Flange material

Flange size in [mm (in)]

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.

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Motor

Tightening Torque and Property Class of Screws

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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

8.8

Motor

Overload Characteristics Curves

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Motor

Encoder Technical Data

The drive can access the electronic nameplate via the electronic interface of the encoder for easy
commissioning.
The signals meet the PELV requirements.

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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

Motor

Section 5.3
BCH2MB Motor

BCH2MB Motor
What Is in This Section?
This section contains the following topics:
Topic

Page

BCH2MB Dimensions

BCH2MB Characteristics Table

BCH2MB Curves

EIO0000002305 04/2017

Motor

BCH2MB Dimensions

BCH2MB

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Unit

L (without holding brake)

mm (in)

82 (3.23)

100 (3.94)

L (with holding brake)

mm (in)

112 (4.41)

130 (5.12)

mm (in)

43.5 (1.71)

61.5 (2.42)

Motor

BCH2MB Characteristics Table

BCH2MB(1)

A53

013

Technical data - general
Continuous stall torque(2)

0.16

0.32

Peak torque

Mmax

0.48

0.96

Nominal speed of rotation

rpm

3000

Nominal torque

0.16

0.32

Nominal Current

Arms

0.59

0.89

Nominal power

0.05

0.10

Maximum winding voltage

Umax

Vac

255

Maximum winding voltage

Umax

Vdc

360

Maximum voltage to ground

–

Vac

255

Maximum Current

Imax

Arms

1.8

2.7

Continuous stall current

Arms

0.54

0.81

kEu-v

Vrms

Nm/A

0.30

0.40

R20u-v Ω

31.0

23.4

Winding inductance

Lqu-v

26.4

21.5

Winding inductance

Ldu-v

24.7

20.6

Maximum permissible speed of rotation

nmax

rpm

Rotor inertia without brake

With supply voltage Un = 230 Vac

Technical data - electrical

Voltage

constant(3)

Torque constant

(4)

Winding resistance

Technical data - mechanical
5000

5000

kgcm

0.054

0.075

Rotor inertia with brake

kgcm2

0.055

0.076

Mass without brake

0.40

0.56

Mass with brake

0.60

0.77

Degree of protection of the shaft

–

IP 65

Degree of protection of the housing

–

IP 65

Holding torque

–

0.32

Nominal voltage

–

Vdc

24 +/-10% 24 +/-10%

Nominal power (electrical pull-in power)

–

4.4

Technical data - holding brake

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).

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Motor

BCH2MB Curves

BCH2MBA53 + LXM28AUA5
Without shaft sealing ring

With shaft sealing ring

(1) Peak torque
(2) Continuous torque

BCH2MB013 + LXM28AU01
Without shaft sealing ring

With shaft sealing ring

(1) Peak torque
(2) Continuous torque

EIO0000002305 04/2017

Motor

Section 5.4
BCH2LD Motor

BCH2LD Motor
What Is in This Section?
This section contains the following topics:
Topic

Page

BCH2LD Dimensions

BCH2LD Characteristics Table

BCH2LD Curves

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Motor

BCH2LD Dimensions

BCH2LD

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Unit

L (without holding brake)

mm (in)

104 (4.09)

129 (5.08)

L (with holding brake)

mm (in)

140 (5.51)

165 (6.5)

mm (in)

57 (2.24)

82 (3.23)

Motor

BCH2LD Characteristics Table

BCH2LD(1)

023

043

Technical data - general
Continuous stall torque(2)

0.64

1.27

Peak torque

Mmax

1.92

3.81

Nominal speed of rotation

rpm

3000

Nominal torque

0.64

1.27

Nominal Current

Arms

1.30

2.50

Nominal power

0.20

0.40

Maximum winding voltage

Umax

Vac

255

Maximum winding voltage

Umax

Vdc

360

Maximum voltage to ground

–

Vac

255

Maximum Current

Imax

Arms

4.5

7.8

Continuous stall current

Arms

1.11

2.19

kEu-v

Vrms

Nm/A

0.58

R20u-v Ω

12.2

5.2

Winding inductance

Lqu-v

24.8

12.5

Winding inductance

Ldu-v

22.7

12.0

Maximum permissible speed of rotation

nmax

rpm

Rotor inertia without brake
Rotor inertia with brake

With supply voltage Un = 230 Vac

Technical data - electrical

Voltage

constant(3)

Torque constant

(4)

Winding resistance

Technical data - mechanical
5000

5000

kgcm

0.16

0.27

kgcm2

0.17

0.28

Mass without brake

1.02

1.45

Mass with brake

1.50

2.00

Degree of protection of the shaft

–

IP 65

Degree of protection of the housing

–

IP 65

–

1.3

Technical data - holding brake
Holding torque
Nominal voltage

–

Vdc

24 +/-10% 24 +/-10%

Nominal power (electrical pull-in power)

–

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).

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Motor

BCH2LD Curves

BCH2LD023 + LXM28AU02

BCH2LD043 + LXM28AU04

(1) Peak torque
(2) Continuous torque

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Motor

Section 5.5
BCH2∙F Motor

BCH2∙F Motor
What Is in This Section?
This section contains the following topics:
Topic

Page

BCH2∙F Dimensions

BCH2∙F Characteristics Table

BCH2∙F Curves

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Motor

BCH2∙F Dimensions

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BCH2

Unit

LF04

HF07

LF07

L (without holding brake)

mm (in)

112 (4.41)

138 (5.43)

L (with holding brake)

mm (in)

152 (5.98)

178 (7.01)

mm (in)

30 (1.18)

35 (1.38)

mm (in)

24.5 (0.96)

29.5 (1.16)

mm (in)

14 (0.55)

19 (0.75)

mm (in)

20 (0.79)

25 (0.98)

mm (in)

12 (0.47)

16 (0.63)

mm (in)

11 (0.43)

15.5 (0.61)

mm (in)

5 (0.2)

6 (0.24)

mm (in)

5 (0.2)

6 (0.24)

mm (in)

5 (0.2)

6 (0.24)

mm (in)

68 (2.68)

93 (3.66)

Motor

BCH2∙F Characteristics Table

BCH2(1)

LF043

HF073

LF073

Technical data - general
Continuous stall torque(2)

1.27

2.39

Peak torque

Mmax

3.81

7.16

Nominal speed of rotation

rpm

3000

Nominal torque

1.27

2.39

Nominal Current

Arms

2.52

4.29

Nominal power

0.40

0.75

Maximum winding voltage

Umax

Vac

255

Maximum winding voltage

Umax

Vdc

360

Maximum voltage to ground

–

Vac

255

Maximum Current

Imax

Arms

7.8

13.5

Continuous stall current

Arms

2.29

4.01

kEu-v

Vrms

33.5

Nm/A

0.55

0.60

Winding resistance

R20u-v

3.20

1.50

Winding inductance

Lqu-v

12.0

6.6

Winding inductance

Ldu-v

11.3

6.1

Maximum permissible speed of rotation

nmax

rpm

Rotor inertia without brake

With supply voltage Un = 230 Vac

Technical data - electrical

Voltage

constant(3)

Torque constant

(4)

Technical data - mechanical
5000

5000

kgcm

0.67

1.54

1.19

Rotor inertia with brake

kgcm2

0.72

1.59

1.24

Mass without brake

2.00

2.90

2.80

Mass with brake

2.80

3.70

3.60

Degree of protection of the shaft

–

IP 65

Degree of protection of the housing

–

IP 65

Holding torque

–

2.5

Nominal voltage

–

Vdc

24 +/-10% 24 +/-10% 24 +/-10%

Nominal power (electrical pull-in power)

–

10.2

Technical data - holding brake

10.2

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Motor

BCH2∙F Curves

BCH2LF043 + LXM28AU04

(1) Peak torque
(2) Continuous torque

BCH2HF073 + LXM28AU07

BCH2LF073 + LXM28AU07

(1) Peak torque
(2) Continuous torque

EIO0000002305 04/2017

Motor

Section 5.6
BCH2LH Motor

BCH2LH Motor
What Is in This Section?
This section contains the following topics:
Topic

Page

BCH2LH Dimensions

BCH2LH Characteristics Table

BCH2LH Curves

EIO0000002305 04/2017

Motor

BCH2LH Dimensions

BCH2LH

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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)

mm (in)

96 (3.78)

141 (5.55)

Motor

BCH2LH Characteristics Table

BCH2LH(1)

103

203

Technical data - general
Continuous stall torque(2)

3.18

6.37

Peak torque

Mmax

9.54

19.11

Nominal speed of rotation

rpm

3000

Nominal torque

3.18

6.37

Nominal Current

Arms

6.64

10.27

Nominal power

1.00

2.00

Maximum winding voltage

Umax

Vac

255

Maximum winding voltage

Umax

Vdc

360

Maximum voltage to ground

–

Vac

255

Maximum Current

Imax

Arms

20.0

35.0

Continuous stall current

Arms

5.83

9.87

kEu-v

Vrms

Nm/A

0.55

0.65

R20u-v

0.67

0.36

With supply voltage Un = 230 Vac

Technical data - electrical

Voltage

constant(3)

Torque constant

(4)

Winding resistance
Winding inductance

Lqu-v

4.3

2.6

Winding inductance

Ldu-v

4.20

2.59

Maximum permissible speed of rotation

nmax

rpm

Rotor inertia without brake
Rotor inertia with brake

Technical data - mechanical
5000

5000

kgcm

2.40

4.28

kgcm2

2.45

4.35

Mass without brake

4.60

6.70

Mass with brake

5.10

7.20

Degree of protection of the shaft

–

IP 65

Degree of protection of the housing

–

IP 65

–

6.5

Technical data - holding brake
Holding torque
Nominal voltage

–

Vdc

24 +/-10% 24 +/-10%

Nominal power (electrical pull-in power)

–

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).

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Motor

BCH2LH Curves

BCH2LH103 + LXM28AU10

BCH2LH203 + LXM28AU20

(1) Peak torque
(2) Continuous torque

EIO0000002305 04/2017

Motor

Section 5.7
BCH2∙M Motor

BCH2∙M Motor
What Is in This Section?
This section contains the following topics:
Topic

Page

BCH2∙M Dimensions

BCH2∙M Characteristics Table

BCH2∙M Curves

EIO0000002305 04/2017

Motor

BCH2∙M Dimensions

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BCH2∙M

Unit

03, 05, 06, 10 09, 15

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)

mm (in)

48 (1.89)

55 (2.17)

mm (in)

40 (1.57)

47 (1.85)

mm (in)

19 (0.75)

22 (0.87)

mm (in)

25 (0.98)

36 (1.42)

mm (in)

16 (0.63)

19 (0.75)

mm (in)

15.5 (0.61)

18 (0.71)

mm (in)

6 (0.24)

7 (0.28)

mm (in)

6 (0.24)

8 (0.31)

mm (in)

6 (0.24)

8 (0.31)

mm (in)

134.5 (5.30)

94.5 (3.72)

110.5 (4.35)

134.5 (5.30)

Motor

BCH2∙M Characteristics Table

BCH2(1)

MM052

MM031

MM102

HM102

MM081

Technical data - general
Continuous stall torque(2)

2.39

2.86

4.77

5.39

Peak torque

Mmax

7.16

8.59

14.30

13.80

Nominal speed of rotation

rpm

2000

1000

2000

1500

Nominal torque

2.39

2.86

4.77

5.39

Nominal Current

Arms

3.24

2.09

6.29

Nominal power

0.50

0.30

1.00

0.85

Maximum winding voltage

Umax

Vac

255

Maximum winding voltage

Umax

Vdc

360

Maximum voltage to ground

–

Vac

255

Maximum Current

Imax

Arms

9.5

6.0

20.0

15.0

Continuous stall current

Arms

2.89

1.88

5.77

5.62

kEu-v

Vrms

Nm/A

0.83

1.52

0.83

0.96

R20u-v

0.74

2.08

0.74

0.42

Winding inductance

Lqu-v

7.84

26.25

7.84

4.70

Winding inductance

Ldu-v

7.14

23.91

7.14

4.30

With supply voltage Un = 230 Vac

Technical data - electrical

Voltage

constant(3)

Torque constant

(4)

Winding resistance

Technical data - mechanical
Maximum permissible speed of rotation nmax

rpm

3000

2000

3000

Rotor inertia without brake

kgcm

6.63

8.41

13.5

Rotor inertia with brake

kgcm2

6.91

8.54

14.1

Mass without brake

7.00

7.10

9.60

Mass with brake

8.20

8.30

10.90

Degree of protection of the shaft

–

IP 65

IP 54

IP 65

IP 54

Degree of protection of the housing

–

IP 65

Holding torque

–

9.6

Nominal voltage

–

Vdc

24 +/-10% 24 +/-10% 24 +/-10% 24 +/-10% 24 +/-10%

19.7

Technical data - holding brake

Nominal power (electrical pull-in power) –

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).

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Motor

BCH2(1)

MM061

MM091

MM152

MM202

Technical data - general
Continuous stall torque(2)

5.73

8.59

7.16

9.55

Peak torque

Mmax

17.19

25.77

21.48

28.65

Nominal speed of rotation

rpm

1000

2000

Nominal torque

5.73

8.59

7.16

9.55

Nominal Current

Arms

4.10

6.15

6.74

11.25

Nominal power

0.60

0.90

1.50

2.00

Maximum winding voltage

Umax

Vac

255

Maximum winding voltage

Umax

Vdc

360

With supply voltage Un = 230 Vac

Technical data - electrical

Maximum voltage to ground

–

Vac

255

Maximum Current

Imax

Arms

13.5

20.0

21.0

33.0

Continuous stall current

Arms

3.77

5.64

6.18

9.95

Voltage constant(3)

kEu-v

Vrms

Torque constant(4)

Nm/A

1.52

1.16

0.96

Winding resistance

R20u-v

2.08

1.22

0.64

0.42

Winding inductance

Lqu-v

26.25

16.40

7.20

4.70

Winding inductance

Ldu-v

23.91

14.90

6.40

4.30

Maximum permissible speed of rotation

nmax

rpm

2000

3000

Rotor inertia without brake

kgcm2 6.63

9.70

13.50

Rotor inertia with brake

kgcm2 6.91

10.00

14.10

Mass without brake

7.00

7.60

9.70

Mass with brake

8.20

8.80

11.00

9.6

Technical data - mechanical

Technical data - holding brake
Holding torque

–

9.6

Nominal voltage

–

Vdc

24 +/-10% 24 +/-10% 24 +/-10% 24 +/-10%

Nominal power (electrical pull-in power)

–

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).

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Motor

BCH2∙M Curves

BCH2MM052 + LXM28AU07

BCH2MM031 + LXM28AU04

(1) Peak torque
(2) Continuous torque

BCH2MM102 + LXM28AU10

BCH2HM102 + LXM28AU10

(1) Peak torque
(2) Continuous torque

BCH2MM081 + LXM28AU10

BCH2MM061 + LXM28AU07

(1) Peak torque
(2) Continuous torque

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Motor

BCH2MM091 + LXM28AU10

BCH2MM152 + LXM28AU15

(1) Peak torque
(2) Continuous torque

BCH2MM202 + LXM28AU20

(1) Peak torque
(2) Continuous torque

EIO0000002305 04/2017

Motor

Section 5.8
BCH2∙R Motor

BCH2∙R Motor
What Is in This Section?
This section contains the following topics:
Topic

Page

BCH2∙R Dimensions

BCH2∙R Characteristics Table

BCH2∙R Curves

EIO0000002305 04/2017

Motor

BCH2∙R Dimensions

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BCH2∙R

Unit

30, 35

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)

mm (in)

79 (3.11)

mm (in)

73 (2.87)

mm (in)

35 (1.38)

mm (in)

63 (2.48)

M12

mm (in)

28 (1.10)

mm (in)

30 (1.18)

mm (in)

10 (0.39)

mm (in)

10 (0.39)

mm (in)

103 (4.06)

136 (5.35)

169 (6.65)

Motor

BCH2∙R Characteristics Table

BCH2MR202/301/302, BCH2HR202 technical data
BCH2(1)

MR202

HR202

MR302

MR301

Technical data - general
Continuous stall torque(2)

9.55

14.32

19.10

Peak torque

Mmax

28.65

42.97

57.29

Nominal speed of rotation

rpm

2000

1500

Nominal torque

9.55

14.32

19.10

Nominal Current

Arms

9.6

18.8

Nominal power

2.00

3.00

Maximum winding voltage

Umax

Vac

255

Maximum winding voltage

Umax

Vdc

360

Maximum voltage to ground

–

Vac

255

With supply voltage Un = 230 Vac

Technical data - electrical

Maximum Current

Imax

Arms

35.5

56.0

61.0

Continuous stall current

Arms

8.75

16.33

16.49

Voltage constant(3)

kEu-v

Vrms

Torque constant(4)

Nm/A

1.09

0.88

1.16

Winding resistance

R20u-v Ω

0.572

0.168

0.234

Winding inductance

Lqu-v

6.70

2.88

3.78

Winding inductance

Ldu-v

6.10

2.71

3.45

Maximum permissible speed of rotation

nmax

rpm

3000

Technical data - mechanical
Rotor inertia without brake

kgcm2

26.50

34.68

53.56

Rotor inertia with brake

kgcm2

27.0

35.13

54.1

Mass without brake

13.00

14.30

18.50

Mass with brake

18.00

19.30

23.00

Degree of protection of the shaft

–

IP 65

IP 54

Degree of protection of the housing

–

IP 65

Holding torque

–

Nominal voltage

–

Vdc

24 +/-10% 24 +/-10% 24 +/-10% 24 +/-10%

Nominal power (electrical pull-in power)

–

49.6

Technical data - holding brake

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).

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Motor

BCH2MR352/451/551/751 technical data
BCH2(1)

MR352

MR451

MR551

MR751

Technical data - general
Continuous stall torque(2)

16.70

28.65

35.01

47.75

Peak torque

Mmax

50.30

71.62

87.53

119.37

With supply voltage Un = 230 Vac
Nominal speed of rotation

rpm

2000

1500

Nominal torque

16.70

28.65

35.01

47.75

Nominal Current

Arms

19.3

22.8

28.8

41.5

Nominal power

3.50

4.50

5.50

7.50

Maximum winding voltage

Umax

Vac

255

Maximum winding voltage

Umax

Vdc

360

Technical data - electrical

Maximum voltage to ground

–

Vac

255

Maximum Current

Imax

Arms

61.0

74.2

106.9

Continuous stall current

Arms

16.83

19.68

25.05

36.08

Voltage constant(3)

kEu-v

Vrms

84.5

Torque constant(4)

Nm/A

0.99

1.46

1.40

1.32

Winding resistance

R20u-v Ω

0.168

0.199

0.104

0.062

Winding inductance

Lqu-v

2.80

4.00

2.25

1.30

Winding inductance

Ldu-v

2.57

3.80

2.07

1.22

Maximum permissible speed of rotation

nmax

rpm

3000

2700

Rotor inertia without brake

kgcm2 53.56

73.32

103.34

142.7

Rotor inertia with brake

kgcm2 54.1

73.0

120.2

158.7

Mass without brake

18.50

23.64

41.7

Mass with brake

23.00

28.00

36.5

46.2

–

Technical data - mechanical

Technical data - holding brake
Holding torque
Nominal voltage

–

Vdc

24 +/-10% 24 +/-10% 24 +/-10% 24 +/-10%

Nominal power (electrical pull-in power)

–

49.6

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Motor

BCH2∙R Curves

BCH2MR202 + LXM28AU20

BCH2HR202 + LXM28AU20

(1) Peak torque
(2) Continuous torque

BCH2MR302 + LXM28AU30

BCH2MR301 + LXM28AU30

(1) Peak torque
(2) Continuous torque

BCH2MR352 + LXM28AU45

BCH2MR451 + LXM28AU45

(1) Peak torque
(2) Continuous torque

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Lexium 28 A and BCH2 Servo Drive System
Accessories and Spare Parts
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Chapter 6
Accessories and Spare Parts

Accessories and Spare Parts
What Is in This Chapter?
This chapter contains the following topics:
Topic

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Page

Commissioning Tools

Connectors and Adapters

External Mains Filters

DC Bus Accessories

Application Nameplate

CANopen Connectors, Distributors, Terminating Resistors

CANopen Cables with Open Cable Ends

Motor Cables

Encoder Cables

Signal Cables

Signal Cable for Safety Function STO

External Braking Resistors and Holding Brake Controller

Circuit Breakers

Motor Protection Switches and Power Contactors

Accessories and Spare Parts

Commissioning Tools

Description

Reference

Commissioning software LXM28 DTM Library, can be downloaded at: www.schneider-

PC connection kit, serial connection between drive and PC, USB-A to RJ45

TCSMCNAM3M002P

electric.com

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

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Accessories and Spare Parts

Connectors and Adapters

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Description

Reference

Connector kit for logic supply and power stage supply (CN5), braking resistor (CN7), and
motor (CN8); suitable for LXM28AUA5, LXM28AU01, LXM28AU02, LXM28AU04,
LXM28AU07, LXM28AU10, and LXM28AU15

VW3M4C21

Connector kit for logic supply and power stage supply (CN5), braking resistor (CN7), and
motor (CN8); suitable for LXM28AU20

VW3M4C23

Connector kit for logic supply and power stage supply (CN5), braking resistor (CN7), and
motor (CN8); suitable for LXM28AU30 and LXM28AU45

VW3M4C24

Cable shield connection plate, clamps, and screws; suitable for LXM28AUA5, LXM28AU01,
LXM28AU02, LXM28AU04, LXM28AU07, LXM28AU10, and LXM28AU15

VW3M2C31

Cable shield connection plate, clamps, and screws; suitable for LXM28AU20

VW3M2C33

Cable shield connection plate, clamps, and screws; suitable for LXM28AU30 and
LXM28AU45

VW3M2C34

Interface connector for CN1, 50-pin, 3 pieces

VW3M1C12

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

VW3M1C13

Connector kit for motor; motor end plastic connector without holding brake

VW3M5D1A

Connector kit for motor; motor end plastic connector with holding brake

VW3M5D1F

Connector kit for motor; motor end MIL connector with holding brake, size 100 ... 130

VW3M5D2A

Connector kit for motor; motor end MIL connector with holding brake, size 180

VW3M5D2B

Connector kit for encoder; motor end flying leads; device end IEEE1394 connector

VW3M8D1A

Connector kit for encoder; motor end MIL connector; device end IEEE1394 connector

VW3M8D2A

Accessories and Spare Parts

External Mains Filters

Description

Reference

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

VW3A4420

Mains filter single-phase; 16 A; 115/230 Vac

VW3A4421

Mains filter single-phase; 23 A; 115/230 Vac

VW3A4426

Mains filter three-phase; 15 A; 208/400/480 Vac

VW3A4422

Mains filter three-phase; 25 A; 208/400/480 Vac

VW3A4423

Mains filter three-phase; 47 A; 208/400/480 Vac

VW3A4424

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Accessories and Spare Parts

DC Bus Accessories

Description

Reference

DC bus connection cable, 2 x 6 mm (2 x AWG 10), pre-assembled, 0.1 m (0.33 ft), 5 pieces VW3M7101R01
2

DC bus connection cable, 2 x 6 mm2 (2 x AWG 10), Twisted Pair, shielded, 15 m (49.2 ft)

VW3M7102R150

DC bus connector kit, connector housing, and crimp contacts for 3 ... 6 mm2 (AWG 12 ... 10), VW3M2207
10 pieces

A crimping tool is required for the crimp contacts of the connector kit.
Manufacturer: Tyco Electronics, Heavy Head Hand Tool, Tool Pt. No 180250

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Accessories and Spare Parts

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 VW3M2501
(0.51 in), 50 pieces

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Accessories and Spare Parts

CANopen Connectors, Distributors, Terminating Resistors

Description

Reference

CANopen terminating resistor, 120 Ohm, integrated in RJ45 connector

TCSCAR013M120

CANopen cable, 0.3 m (0.98 ft), 2 x RJ45

VW3CANCARR03

CANopen cable, 1 m (3.28 ft), 2 x RJ45

VW3CANCARR1

CANopen cable, 1 m (3.28 ft), D9-SUB (female) with integrated terminating resistor to RJ45 VW3M3805R010
CANopen cable, 3 m (9.84 ft), D9-SUB (female) with integrated terminating resistor to RJ45 VW3M3805R030

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Accessories and Spare Parts

CANopen Cables with Open Cable Ends

Cables with open cable ends are suitable for connection of D-SUB connectors. Observe the cable cross
section and the connection cross section of the required connector.
Description

Reference

CANopen cable, 50 m (164 ft), [(2 x AWG 22) + (2 x AWG 24)], LSZH standard cable (lowsmoke, zero halogen, flame-retardant, tested as per IEC 60332-1), both cable ends open

TSXCANCA50

CANopen cable, 100 m (328 ft), [(2 x AWG 22) + (2 x AWG 24)], LSZH standard cable (low- TSXCANCA100
smoke, zero halogen, flame-retardant, tested as per IEC 60332-1), both cable ends open
CANopen cable, 300 m (984 ft), [(2 x AWG 22) + (2 x AWG 24)], LSZH standard cable (low- TSXCANCA300
smoke, zero halogen, flame-retardant, tested as per IEC 60332-1), both cable ends open
CANopen cable, 50 m (164 ft), [(2 x AWG 22) + (2 x AWG 24)], flame-retardant, tested as per TSXCANCB50
IEC 60332-2, UL certification, both cable ends open
CANopen cable, 100 m (328 ft), [(2 x AWG 22) + (2 x AWG 24)], flame-retardant, tested as
per IEC 60332-2, UL certification, both cable ends open

TSXCANCB100

CANopen cable, 300 m (984 ft), [(2 x AWG 22) + (2 x AWG 24)], flame-retardant, tested as
per IEC 60332-2, UL certification, both cable ends open

TSXCANCB300

CANopen cable, 50 m (164 ft), [(2 x AWG 22) + (2 x AWG 24)], flexible LSZH HD standard TSXCANCD50
cable (low-smoke, zero halogen, flame-retardant, tested as per IEC 60332-1), for heavy-duty
or flexible installation, oil-resistant, both cable ends open
CANopen cable, 100 m (328 ft), [(2 x AWG 22) + (2 x AWG 24)], flexible LSZH HD standard TSXCANCD100
cable (low-smoke, zero halogen, flame-retardant, tested as per IEC 60332-1), for heavy-duty
or flexible installation, oil-resistant, both cable ends open
CANopen cable, 300 m (984 ft), [(2 x AWG 22) + (2 x AWG 24)], flexible LSZH HD standard TSXCANCD300
cable (low-smoke, zero halogen, flame-retardant, tested as per IEC 60332-1), for heavy-duty
or flexible installation, oil-resistant, both cable ends open

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Accessories and Spare Parts

Motor Cables

Description

Reference
2

Motor cable without holding brake 1.5 m (4.92 ft), 4 x 0.82 mm (AWG 18) shielded; motor
end plastic connector, other cable end flying leads

VW3M5D1AR15

Motor cable without holding brake 3 m (9.84 ft), 4 x 0.82 mm2 (AWG 18) shielded; motor end VW3M5D1AR30
plastic connector, other cable end flying leads
Motor cable without holding brake 5 m (16.4 ft), 4 x 0.82 mm2 (AWG 18) shielded; motor end VW3M5D1AR50
plastic connector, other cable end flying leads
Motor cable with holding brake 3 m (9.84 ft), 6 x 0.82 mm2 (AWG 18) shielded; motor end
plastic connector, other cable end flying leads

VW3M5D1FR30

Motor cable with holding brake 5 m (16.4 ft), 6 x 0.82 mm2 (AWG 18) shielded; motor end
plastic connector, other cable end flying leads

VW3M5D1FR50

Motor cable without holding brake 3 m (9.84 ft), 4 x 1.3 mm2 (AWG 16) shielded; motor end
MIL connector, other cable end flying leads

VW3M5D2AR30

Motor cable without holding brake 5 m (16.4 ft), 4 x 1.3 mm2 (AWG 16) shielded; motor end
MIL connector, other cable end flying leads

VW3M5D2AR50

Motor cable with holding brake 3 m (9.84 ft), 6 x 1.3 mm2 (AWG 16) shielded; motor end MIL
connector, other cable end flying leads

VW3M5D2FR30

Motor cable with holding brake 5 m (16.4 ft), 6 x 1.3 mm2 (AWG 16) shielded; motor end MIL
connector, other cable end flying leads

VW3M5D2FR50

Motor cable without holding brake 3 m (9.84 ft), 4 x 3.3 mm2 (AWG 12) shielded; motor end
MIL connector, other cable end flying leads

VW3M5D4AR30

Motor cable without holding brake 5 m (16.4 ft), 4 x 3.3 mm2 (AWG 12) shielded; motor end
MIL connector, other cable end flying leads

VW3M5D4AR50

Motor cable with holding brake 3 m (9.84 ft), 6 x 3.3 mm2 (AWG 12) shielded; motor end MIL
connector, other cable end flying leads

VW3M5D4FR30

Motor cable with holding brake 5 m (16.4 ft), 6 x 3.3 mm2 (AWG 12) shielded; motor end MIL
connector, other cable end flying leads

VW3M5D4FR50

Motor cable without holding brake 3 m (9.84 ft), 4 x 6 mm2 (AWG 10) shielded; motor end MIL VW3M5D6AR30
connector, other cable end flying leads
Motor cable without holding brake 5 m (16.4 ft), 4 x 6 mm2 (AWG 10) shielded; motor end MIL VW3M5D6AR50
connector, other cable end flying leads

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Motor cable with holding brake 3 m (9.84 ft), 6 x 6 mm2 (AWG 10) shielded; motor end MIL
connector, other cable end flying leads

VW3M5D6FR30

Motor cable with holding brake 5 m (16.4 ft), 6 x 6 mm2 (AWG 10) shielded; motor end MIL
connector, other cable end flying leads

VW3M5D6FR50

Accessories and Spare Parts

Encoder Cables

Description

Reference

Encoder cable 1.5 m (4.92 ft), 10 x 0.13 mm (AWG 26) shielded; motor end and device end VW3M8D1AR15
plastic connector
2

Encoder cable 3 m (9.84 ft), 10 x 0.13 mm2 (AWG 26) shielded; motor end and device end
plastic connector

VW3M8D1AR30

Encoder cable 5 m (16.4 ft), 10 x 0.13 mm2 (AWG 26) shielded; motor end and device end
plastic connector

VW3M8D1AR50

Encoder cable 3 m (9.84 ft), 10 x 0.13 mm2 (AWG 26) shielded; motor end MIL connector,
other cable end plastic connector

VW3M8D2AR30

Encoder cable 5 m (16.4 ft), 10 x 0.13 mm2 (AWG 26) shielded; motor end MIL connector,
other cable end plastic connector

VW3M8D2AR50

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Accessories and Spare Parts

Signal Cables

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Description

Reference

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

VW3M1C10R10

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

VW3M1C10R20

Signal cable 3 m (9.84 ft) for signal interface CN1, device end 50-pin connector, other cable
end flying leads

VW3M1C10R30

Accessories and Spare Parts

Signal Cable for Safety Function STO

Description

Reference

Signal cable 1 m (3.28 ft) for safety function STO CN9

VW3M1C20R10

Signal cable 2 m (6.56 ft) for safety function STO CN9

VW3M1C20R20

Signal cable 3 m (9.84 ft) for safety function STO CN9

VW3M1C20R30

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Accessories and Spare Parts

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 power 400 W; 0.75 m (2.46 ft) connection VW3A7601R07
cable, 2.1 mm2 (AWG 14)
Braking resistor IP 65; 10 Ω; maximum continuous power 400 W; 2 m (6.56 ft) connection
cable, 2.1 mm2 (AWG 14)

VW3A7601R20

Braking resistor IP 65; 10 Ω; maximum continuous power 400 W; 3 m (9.84 ft) connection
cable, 2.1 mm2 (AWG 14)

VW3A7601R30

Braking resistor IP 65; 27 Ω; maximum continuous power 100 W; 0.75 m (2.46 ft) connection VW3A7602R07
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP 65; 27 Ω; maximum continuous power 100 W; 2 m (6.56 ft) connection
cable, 2.1 mm2 (AWG 14), UL

VW3A7602R20

Braking resistor IP 65; 27 Ω; maximum continuous power 100 W; 3 m (9.84 ft) connection
cable, 2.1 mm2 (AWG 14), UL

VW3A7602R30

Braking resistor IP 65; 27 Ω; maximum continuous power 200 W; 0.75 m (2.46 ft) connection VW3A7603R07
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP 65; 27 Ω; maximum continuous power 200 W; 2 m (6.56 ft) connection
cable, 2.1 mm2 (AWG 14), UL

VW3A7603R20

Braking resistor IP 65; 27 Ω; maximum continuous power 200 W; 3 m (9.84 ft) connection
cable, 2.1 mm2 (AWG 14), UL

VW3A7603R30

Braking resistor IP 65; 27 Ω; maximum continuous power 400 W; 0.75 m (2.46 ft) connection VW3A7604R07
cable, 2.1 mm2 (AWG 14)
Braking resistor IP 65; 27 Ω; maximum continuous power 400 W; 2 m (6.56 ft) connection
cable, 2.1 mm2 (AWG 14)

VW3A7604R20

Braking resistor IP 65; 27 Ω; maximum continuous power 400 W; 3 m (9.84 ft) connection
cable, 2.1 mm2 (AWG 14)

VW3A7604R30

Braking resistor IP 65; 72 Ω; maximum continuous power 200 W; 0.75 m (2.46 ft) connection VW3A7606R07
cable, 2.1 mm2 (AWG 14), UL
Braking resistor IP 65; 72 Ω; maximum continuous power 200 W; 2 m (6.56 ft) connection
cable, 2.1 mm2 (AWG 14), UL

VW3A7606R20

Braking resistor IP 65; 72 Ω; maximum continuous power 200 W; 3 m (9.84 ft) connection
cable, 2.1 mm2 (AWG 14), UL

VW3A7606R30

Braking resistor IP 65; 72 Ω; maximum continuous power 400 W; 0.75 m (2.46 ft) connection VW3A7607R07
cable

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Braking resistor IP 65; 72 Ω; maximum continuous power 400 W; 2 m (6.56 ft) connection
cable

VW3A7607R20

Braking resistor IP 65; 72 Ω; maximum continuous power 400 W; 3 m (9.84 ft) connection
cable

VW3A7607R30

Braking resistor IP20; 15 Ω; maximum continuous power 1000 W; M6 terminals, UL

VW3A7704

Braking resistor IP20; 10 Ω; maximum continuous power 1000 W; M6 terminals, UL

VW3A7705

Accessories and Spare Parts

Circuit Breakers

Description

Reference

Circuit breaker - thermal magnetic - 4 … 6.3 A - screw terminals

GV2P10

Circuit breaker - thermal magnetic - 6 … 10 A - screw terminals

GV2P14

Circuit breaker - thermal magnetic - 9 … 14 A - screw terminals

GV2P16

Circuit breaker - thermal magnetic - 13 … 18 A - screw terminals

GV2P20

Circuit breaker - thermal magnetic - 17 … 23 A - screw terminals

GV2P21

Circuit breaker - thermal magnetic - 20 … 25 A - screw terminals

GV2P22

Circuit breaker - thermal magnetic - 24 … 32 A - screw terminals

GV2P32

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Accessories and Spare Parts

Motor Protection Switches and Power Contactors

Drive

Nominal power

Order no. motor
protection switch

Rated continuous current
motor protection switch

Order no. power
contactor

LXM28AUA5

50 W

GV2L10

6.3 A

LC1K0610••

LXM28AU01

100 W

GV2L10

6.3 A

LC1K0610••

LXM28AU02

200 W

GV2L14

10 A

LC1D09••

LXM28AU04

400 W

GV2L14

10 A

LC1D09••

LXM28AU07

750 W

GV2L16

14 A

LC1D12••

LXM28AU15

1500 W

GV2L22

25 A

LC1D18••

LXM28AU20

2000 W

GV2L32

30 A

LC1D32••

LXM28AU30

3000 W

GV2L32

30 A

LC1D32••

Control voltage power contactor

24 V

48 V

110 V

220 V

230 V

240 V

LC1K••••

24 V

48 V

110 V

220/230 V 230

50/60 Hz

Control voltage power contactor
LC1D••••

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230/240 V

50 Hz

60 Hz

50/60 Hz

Accessories and Spare Parts

100

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Lexium 28 A and BCH2 Servo Drive System
Engineering
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Part III
Engineering

Engineering

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101

Engineering

102

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Lexium 28 A and BCH2 Servo Drive System
Engineering
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Chapter 7
Engineering

Engineering

This chapter contains information on the application of the Servo Drive system for the engineering phase.
What Is in This Chapter?
This chapter contains the following sections:
Section

EIO0000002305 04/2017

Topic

Page

7.1

Electromagnetic Compatibility (EMC)

104

7.2

Cables

108

7.3

Residual Current Device

110

7.4

Common DC Bus

111

7.5

Safety Function STO (“Safe Torque Off”)

112

7.6

Rating the Braking Resistor

123

7.7

Monitoring Functions

127

7.8

Configurable Inputs and Outputs

128

7.9

Wiring

129

103

Engineering

Section 7.1
Electromagnetic Compatibility (EMC)

Electromagnetic Compatibility (EMC)
What Is in This Section?
This section contains the following topics:
Topic

104

Page

Electromagnetic Compatibility (EMC)

105

External Mains Filters

107

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Engineering

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.
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 Conductor
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.

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105

Engineering

The equipotential bonding conductor must be rated for the maximum current. The following conductor
cross sections can be used:
2
 16 mm (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 conductivity, Good conductivity due to large surface contact.
connect large surface areas of metal parts, remove
paint from contact areas.
Ground the control cabinet, the control cabinet door,
and the mounting plate with ground straps or ground
wires. The conductor cross section must be at least
10 mm2 (AWG 6).

Reduces emissions.

Install switching devices such as power contactors,
relays, or solenoid valves with interference
suppression units or arc suppressors (for example,
diodes, varistors, RC circuits).

Reduces mutual interference

Do not install power components and control
components adjacent to one another.

Reduces mutual interference

Additional Measures for EMC Improvement
Depending on the application, the following measures can improve the EMC-dependent values:

106

EMC measures

Objective

Use mains reactors.

Reduces mains harmonics, prolongs product service
life.

Mount in a closed control cabinet with shielded
attenuation of radiated interference

Improves the EMC limit values.

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Engineering

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) (see page 104).
LXM28A

Mains filter for single-phase
connection

Mains filter for three-phase
connection

UA5 = 0.05 kW
U01 = 0.1 kW
U02 = 0.2 kW
U04 = 0.4 kW
U07 = 0.75 kW
U10 = 1 kW

VW3A4420

VW3A4422

U15 = 1.5 kW

VW3A4421

VW3A4422

U20 = 2 kW

VW3A4423

U30 = 3 kW
U45 = 4.5 kW

VW3A4424

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 28A

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Radiated emission

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Section 7.2
Cables

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.

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)(1)

Current-carrying capacity with

Current carrying capacity with

method of installation B2 in A(2)

method of installation E in A(2)

0.75 (18)

8.5

10.4

1 (16)

10.1

12.4

1.5 (14)

13.1

16.1

2.5 (12)

17.4

4 (10)

6 (8)

10 (6)

(1) See chapter “Accessories and spare parts” (see page 85) 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.

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Cross section in mm2 (AWG)(1)

Current-carrying capacity with

Current carrying capacity with

method of installation B2 in A(2)

method of installation E in A(2)

16 (4)

25 (2)

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.

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Section 7.3
Residual Current Device

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 singlephase 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.
Conditions for Use of Residual Current Device



110

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.

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Section 7.4
Common DC Bus

Common DC Bus
Common DC Bus
Function Principle
The DC buses of several devices can be connected so that energy can be used efficiently. If on device
decelerates, a different device connected to the common DC bus can use the generated braking energy.
Without a common DC bus, the braking energy would be converted to heat by the braking resistor while
the other device would have to be supplied with energy from mains.
Another advantage of having a common DC bus is that several devices can share one external braking
resistor. The number of the individual external braking resistors can be reduced to a single braking resistor
if the braking resistor is properly rated.
This and other important information can be found in the Common DC bus Application Note for the drive.
If you wish to take advantage of DC bus sharing, you must first consult the Common DC bus Application
Note for important safety-related information.
Requirements for Use
The requirements and limit values for parallel connection of multiple devices via the DC bus are described
in the Common DC bus Application Note for the drive that can be found on http://www.schneiderelectric.com. If there are any issues or questions related to obtaining the Common DC bus Application
Note, consult your local Schneider-Electric representative.

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Section 7.5
Safety Function STO (“Safe Torque Off”)

Safety Function STO (“Safe Torque Off”)

For information on using the IEC 61508 standard, refer to Functional Safety (see page 114).
What Is in This Section?
This section contains the following topics:
Topic

112

Page

Process Minimizing Risks Associated with the Machine

113

Functional Safety

114

Definitions

116

Function

117

Requirements for Using the Safety Function

118

Application Examples STO

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Process Minimizing Risks Associated with the Machine
General
The goal of designing machines safely is to protect people. The risk associated with machines with
electrically controlled drives comes chiefly from moving machine parts and electricity itself.
Only you, the user, machine builder, or system integrator can be aware of all the conditions and factors
realized in the design of your application for the machine. Therefore, only you can determine the
automation equipment and the related safeties and interlocks which can be properly used, and validate
such usage.
Hazard and Risk Analysis
Based on the system configuration and utilization, a hazard and risk analysis must be carried out for the
system (for example, according to EN ISO 12100 or EN ISO 13849-1). The results of this analysis must be
considered when designing the machine, and subsequently applying safety-related equipment and safetyrelated functions. The results of your analysis may deviate from any application examples contained in the
present or related documentation. For example, additional safety components may be required. In
principle, the results from the hazard and risk analysis have priority.

WARNING
NON-CONFORMANCE TO SAFETY FUNCTION REQUIREMENTS






Specify the requirements and/or measures to be implemented in the risk analysis you perform.
Verify that your safety-related application complies to applicable safety regulations and standards.
Make certain that appropriate procedures and measures (according to applicable sector standards)
have been established to help avoid hazardous situations when operating the machine.
Use appropriate safety interlocks where personnel and/or equipment hazards exist.
Validate the overall safety-related function and thoroughly test the application.

Failure to follow these instructions can result in death, serious injury, or equipment damage.
The EN ISO 13849-1 Safety of machinery - Safety-related parts of control systems - Part 1: General
principles for design describe an iterative process for the selection and design of safety-related parts of
controllers to reduce the risk to the machine to a reasonable degree:
To perform risk assessment and risk minimization according to EN ISO 12100, proceed as follows:
1. Defining the boundary of the machine.
2. Identifying risks associated with the machine.
3. Assessing risks.
4. Evaluating risks.
5. Minimizing risks by:
 Intrinsically safe design
 Protective devices
 User information (see EN ISO 12100)
6. Designing safety-related controller parts (SRP/CS, Safety-Related Parts of the Control System) in an
interactive process.
To design the safety-related controller parts in an interactive process, proceed as follows:
Step

Action

Identify necessary safety functions that are executed via SRP/CS (Safety-Related Parts of the
Control System).

Determine required properties for each safety function.

Determine the required performance level PLr.

Identify safety-related parts executing the safety function.

Determine the performance level PL of the afore-mentioned safety-related parts.

Verify the performance level PL for the safety function (PL ≥ PLr).

Verify if all requirements have been met (validation).

Additional information is available on www.schneider-electric.com.

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Functional Safety
Overview
Automation and safety engineering are closely related. Engineering, installation, and operation of complex
automation solutions are greatly simplified by integrated safety-related functions and modules.
Usually, the safety-related engineering requirements depend on the application. The level of the
requirements results from, among other things, the risk, and the hazard potential arising from the specific
application and from the applicable standards and regulations.
IEC 61508 and IEC 61800-5-2
The standard IEC 61508 “Functional safety of electrical/electronic/programmable electronic safety-related
systems” defines the safety-related aspects of systems. Instead of a single functional unit of a safetyrelated system, the standard treats all elements of a function chain as a unit. These elements must meet
the requirements of the specific safety integrity level as a whole.
The standard IEC 61800-5-2 “Adjustable speed electrical power drive systems – Safety requirements –
Functional” is a product standard that defines the safety-related requirements regarding drives. Among
other things, this standard defines the safety functions for drives.
Safety Integrity Level (SIL)
The standard IEC 61508 defines 4 safety integrity levels (Safety Integrity Level (SIL)). Safety integrity level
SIL1 is the lowest level, safety integrity level SIL4 is the highest level. The safety integrity level required for
a given application is determined on the basis of the hazard potential resulting from the hazard and risk
analysis. This is used to decide whether the relevant function chain is to be considered as a safety-related
function chain and which hazard potential it must cover.
Average Frequency of a Dangerous Failure Per Hour (PFH)
To maintain the function of the safety-related system, the IEC 61508 standard requires various levels of
measures for avoiding and controlling faults, depending on the required safety integrity level (Safety
Integrity Level (SIL)). All components must be subjected to a probability assessment to evaluate the
effectiveness of the measures implemented for controlling faults. This assessment determines the
probability of a dangerous failure per hour PFH (Average Frequency of a Dangerous Failure per Hour
(PFH)) for a safety-related system. This is the frequency per hour with which a safety-related system fails
in a hazardous manner so that it can no longer perform its function correctly. Depending on the SIL, the
average frequency of a dangerous failure per hour must not exceed certain values for the entire safetyrelated system. The individual PFH values of a function chain are added. The result must not exceed the
maximum value specified in the standard.
SIL

PFH at high demand or continuous demand

≥10-9 … <10-8

≥10-8 … <10-7

≥10-7 … <10-6

≥10-6 … <10-5

Hardware Fault Tolerance (HFT) and Safe Failure Fraction (SFF)
Depending on the safety integrity level (Safety Integrity Level (SIL)) for the safety-related system, the
IEC 61508 standard requires a specific hardware fault tolerance (Hardware Fault Tolerance (HFT)) in
connection with a specific safe failure fraction (Safe Failure Fraction (SFF)). The hardware fault tolerance
is the ability of a safety-related system to execute the required function even if one or more hardware faults
are present. The safe failure fraction of a safety-related system is defined as the ratio of the rate of safe
failures to the total failure rate of the safety-related system. As per IEC 61508, the maximum achievable
safety integrity level of a safety-related system is partly determined by the hardware fault tolerance and the
safe failure fraction of the safety-related system.
IEC 61800-5-2 distinguishes two types of subsystems (type A subsystem, type B subsystem). These types
are specified on the basis of criteria which the standard defines for the safety-related components.

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SFF

HFT type A subsystem

HFT type B subsystem

<60 %

SIL1

SIL2

SIL3

---

SIL1

SIL2

60 … <90 %

SIL2

SIL3

SIL4

SIL1

SIL2

SIL3

90 … <99 %

SIL3

SIL4

SIL2

SIL3

SIL4

≥99 %

SIL3

SIL4

SIL3

SIL4

Fault Avoidance Measures
Systematic errors in the specifications, in the hardware and the software, incorrect usage and maintenance
of the safety-related system must be avoided to the maximum degree possible. To meet these
requirements, IEC 61508 specifies a number of measures for fault avoidance that must be implemented
depending on the required safety integrity level (Safety Integrity Level (SIL)). These measures for fault
avoidance must cover the entire life cycle of the safety-related system, i.e. from design to decommissioning
of the system.
Data for Maintenance Plan and the Calculations for the Safety Function
The safety function must be tested at regular intervals. The interval depends on the hazard and risk
analysis of the total system. The minimum interval is 1 year (high demand mode as per IEC 61508).
Use the following data of the safety function STO for your maintenance plan and the calculations for the
safety function:
Lifetime of the safety function STO (IEC 61508)(1)

Years

SFF (IEC 61508)Safe Failure Fraction

98.9

Safety integrity level
IEC 61508
IEC 62061
IEC 61800-5-2

–

SIL CL 2

PFH (IEC 61508)
Probability of Dangerous Hardware Failure per Hour

1/h

STO_A(2): 1.7 x 10-9
STO_B(3): 1.5 x 10-9

PFDavg (IEC 61508)
–
Probability of Failure on Demand, calculated as one demand per year

STO_A(2): 1.5 x 10-4
STO_B(3): 1.3 x 10-4

PL (ISO 13849-1)
Performance Level

–

d (category 3)

MTTFd (ISO 13849-1)
Mean Time to Dangerous Failure

Years

STO_A(2): 66757
STO_B(3): 78457

DC avg(ISO 13849-1)
Diagnostic Coverage

≥90

(1) See chapter Lifetime Safety Function STO (see page 420)
(2) STO_A:LXM28AUA5,LXM28AU01, LXM28AU02, LXM28AU04, LXM28AU07, LXM28AU10,LXM28AU15,
LXM28AU20
(3) STO_B: LXM28AU30, LXM28AU45

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Definitions
Integrated Safety Function "Safe Torque Off" STO
The integrated safety function STO (IEC 61800-5-2) allows for a category 0 stop as per IEC 60204-1
without external power contactors. It is not necessary to interrupt the supply voltage for a category 0 stop.
This reduces the system costs and the response times.
Category 0 Stop (IEC 60204-1)
In stop category 0 (Safe Torque Off, STO), the drive coasts to a stop (provided there are no external forces
operating to the contrary). The STO safety-related function is intended to help prevent an unintended startup, not stop a motor, and therefore corresponds to an unassisted stop in accordance with IEC 60204-1.
In circumstances where external influences are present, the coast down time depends on physical
properties of the components used (such as weight, torque, friction, etc.), and additional measures such
as mechanical brakes may be necessary to help prevent any hazard from materializing. That is to say, if
this means a hazard to your personnel or equipment, you must take appropriate measures.

WARNING
UNINTENDED EQUIPMENT OPERATION





Make certain that no hazards can arise for persons or material during the coast down period of the
axis/machine.
Do not enter the zone of operation during the coast down period.
Ensure that no other persons can access the zone of operation during the coast down period.
Use appropriate safety interlocks where personnel and/or equipment hazards exist.

Failure to follow these instructions can result in death, serious injury, or equipment damage.
Category 1 Stop (IEC 60204-1)
For stops of category 1 (Safe Stop 1, SS1), you can initiate a controlled stop via the control system, or
through the use of specific functional safety-related devices. A Category 1 Stop is a controlled stop with
power available to the machine actuators to achieve the stop.
The controlled stop by the control/safety-related system is not safety-relevant, nor monitored, and does not
perform as defined in the case of a power outage or if an error is detected. This has to be implemented by
means of an external safety-related switching device with safety-related delay.

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Function

The safety function STO integrated into the product can be used to implement an “EMERGENCY STOP”
(IEC 60204-1) for category 0 stops. With an additional, approved EMERGENCY STOP safety relay
module, it is also possible to implement category 1 stops.
The safety function STO switches the supply voltage of the IGBT drivers so that PWM signals cannot
switch the IGBTs. The following diagram illustrates the concept:

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Requirements for Using the Safety Function

The safety function STO (Safe Torque Off) does not remove power from the DC bus. The safety function
STO only removes power to the motor. The DC bus voltage and the mains voltage to the drive are still
present.

DANGER
ELECTRIC SHOCK



Do not use the safety function STO for any other purposes than its intended function.
Use an appropriate switch, that is not part of the circuit of the safety function STO, to disconnect the
drive from the mains power.

Failure to follow these instructions will result in death or serious injury.
After the safety function STO is triggered, the motor can no longer generate torque and coasts down
without braking in the case of motors without a holding brake. In the case of motors with holding brake, the
holding brake is not a safety-related function, and may not be sufficient to hold the axis at a standstill.

WARNING
UNINTENDED EQUIPMENT OPERATION
Install a dedicated service brake if coasting does not meet the deceleration requirements of your
application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
The safety function STO is factory-deactivated by means of the jumper for CN9. If you want to use the
safety function STO, you must remove the jumper for CN9. You may only use the safety function STO with
an external PELV 24 Vdc power supply unit.

WARNING
UNINTENDED EQUIPMENT OPERATION



Remove the jumpers connected to the STO power connector (CN9) only if you intend to use the STO
safety-related function for your application.
Use only an external PELV 24 Vdc power supply unit when applying the safety-related STO function.

Failure to follow these instructions can result in death, serious injury, or equipment damage.
For additional information on deactivating the safety function STO, refer to Connection STO (CN9)
(see page 172).
Holding Brake and Safety Function STO
When the safety function STO is triggered, the power stage is immediately disabled. In the case of vertical
axes or external forces acting on the load, you may have to take additional measures to bring the load to
a standstill and to keep it at a standstill when the safety function STO is used, for example, by using a
service brake.

WARNING
FALLING LOAD
Ensure that all loads come to a secure standstill when the safety function STO is used.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
If the suspension of hanging / pulling loads is a safety objective for the machine, then you can only achieve
this objective by using an appropriate external brake as a safety-related measure.

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WARNING
UNINTENDED AXIS MOVEMENT



Do not use the internal holding brake as a safety-related measure.
Only use certified external brakes as safety-related measures.

Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: The drive does not provide its own safety-related output to connect an external brake to use as a
safety-related measure.
Unintended Restart
To help avoid unintended restart of the motor after restoration of power (for example, after power outage),
the parameter P2-68 must be set to “X=0”. A controlled restart must be managed externally from the drive,
note that the external management itself must not trigger an unintended restart.

WARNING
UNINTENDED EQUIPMENT OPERATION
Set parameter P2-68 setting X to 0 (zero) if the automatic enabling of the power stage presents hazards
in your application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
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.
Protected Cable Installation
If short circuits or other wiring errors such as a cross fault between STO inputs can be expected in
connection with safety-related signals, and if these short circuits or other wiring errors are not detected by
upstream devices, protected cable installation as per ISO 13849-2 is required.
ISO 13849-2 describes protected cable installation for cables for safety-related signals. The cables for the
safety function STO must be protected against external voltage. A shield with ground connection helps to
keep external voltage away from the cables for the signals of the safety function STO.
 Use shielded cables for the signals of the safety function STO.
 Do not use the cable for the signals of the safety function STO for other signals.
 Connect one end of the shield.
 When daisychaining the signals of the safety function STO, connect the shield to the equipotential
grounding plane associated to the drives.

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Hazard and Risk Analysis
You must conduct, or ensure that your OEM, system integrator, or anyone responsible for the development
of the application containing the equipment indicated in the present document conducts a hazard and risk
analysis of the entire system. The results of the analysis must be taken into account in the application of
the safety function.
The type of circuit resulting from the analysis may differ from any application examples provided in the
present document or any supplementary documents concerning this equipment. Additional safety
components may be required. The results of the hazard and risk analysis have priority over any other
design considerations. Pay particular attention in conforming to any safety information, different electrical
requirements, and normative standards that would apply to your system.

WARNING
UNINTENDED EQUIPMENT OPERATION



Perform a hazard and risk analysis to determine the appropriate safety integrity level, and any other
safety requirements, for your specific application based on all the applicable standards.
Ensure that the hazard and risk analysis is conducted and respected according to EN/ISO 12100
during the design of your machine.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

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Application Examples STO
Example of Category 0 Stop
Use without EMERGENCY STOP safety relay module, category 0 stop.

1
2

If the maximum output current of the 24 V power supply exceeds 4 A, a 4 A slow-blow fuse is required.
Grounded shielded cable for wiring out of the control cabinet.

For more information on STO wiring, see chapter Connection of STO (CN9) (see page 172)
NOTE: The internal DC power supply of the drive is only to be used to deactivate the safety function STO
via the jumper supplied with the drive.

WARNING
UNINTENDED EQUIPMENT OPERATION



Failure to follow these instructions can result in death, serious injury, or equipment damage.
In this example, when an EMERGENCY STOP is activated, it leads to a category 0 stop:
The power stage is immediately disabled via the inputs STO_24V and STO_0V of the safety function STO.
Power can no longer be supplied to the motor. If the motor is not already at a standstill when the STO is
triggered, it decelerates under the salient physical forces (gravity, friction, etc.) active at the time until
presumably coasting to a standstill.

WARNING
UNINTENDED EQUIPMENT OPERATION
Install a dedicated service brake if coasting does not meet the deceleration requirements of your
application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
If the coasting of the motor and its potential load is unsatisfactory as determined by your risk and hazard
analysis, an external service brake may also be required. Refer to Holding Brake and Safety Function STO
(see page 118).

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Example of Category 1 Stop
Use with EMERGENCY STOP safety relay module, category 1 stop. Example of category 1 stop with
external Preventa XPS-AV EMERGENCY STOP safety relay module.

If the maximum output current of the 24 V power supply exceeds 4 A, a 4 A slow-blow fuse is required.

For more information on STO wiring, see chapter Connection of STO (CN9) (see page 172)
In this example, when an EMERGENCY STOP is activated, it leads to a category 1 stop:
 The safety relay module requests an immediate stop (undelayed) of the drive via the logic controller
(Halt). The logic controller takes the configured or programmed action to instruct the drive to make a
decelerated stop.
 The power stage is disabled via the inputs STO_24V and STO_0V of the safety function STO after the
delay time set in the EMERGENCY STOP safety relay module has elapsed. Power can no longer be
supplied to the motor. If the motor is not already at a standstill when safety function STO is triggered
when the delay time has elapsed, it decelerates under the salient physical forces (gravity, friction, etc.)
active at the time until presumably coasting to a standstill.
If the coasting of the motor and its potential load is unsatisfactory as determined by your risk and hazard
analysis, an external service brake may also be required. Refer to Holding Brake and Safety Function STO
(see page 118).

WARNING
UNINTENDED EQUIPMENT OPERATION
Install a dedicated service brake if coasting does not meet the deceleration requirements of your
application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
NOTE: The specified minimum current and the permissible maximum current of the relay outputs of the
EMERGENCY STOP safety relay module must be respected.

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Section 7.6
Rating the Braking Resistor

Rating the Braking Resistor
What Is in This Section?
This section contains the following topics:
Topic

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Rating the Braking Resistor

124

Internal Braking Resistor

125

External Braking Resistors

126

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Engineering

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.
If multiple drives are connected via a common DC bus, this affects all motors. See chapter Common DC
bus (see page 111) for additional information.
An external braking resistor (see page 97) is required for applications in which the motor must be
decelerated quickly and the internal braking resistor cannot absorb the excess braking energy.

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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.
LXM28A

Unit

UA5

U01

U02

U04

U07

Resistance value of internal braking resistor

100

Continuous power internal braking resistor PPR

152

380

Maximum continuous power external braking
resistor

640

Switch-on voltage braking resistor

390

Capacitance of the internal capacitors

μF

820

Energy absorption of internal capacitors Evar at
nominal voltage 230 V +10%

8.87

Peak energy ECR

(1)

External braking resistor minimum
External braking resistor maximum

(2)

(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.

LXM28A

Unit

U10

U15

U20

U30

U45

Resistance value of internal braking resistor

Continuous power internal braking resistor PPR

100

Peak energy ECR(1)

380

691

Maximum continuous power external braking
resistor

1000

1500

2500

Switch-on voltage braking resistor

390

Capacitance of the internal capacitors

μF

1640

2110

3280

Energy absorption of internal capacitors Evar at
nominal voltage 230 V +10%

17.76

22.82

35.51

External braking resistor minimum
External braking resistor maximum

(2)

(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.

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125

Engineering

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)

Resistance

Continuous power

2R••

3R••

4R•• (1)

5R••

6R••

7R•• (1)

400

100

200

400

100

200

400

Maximum time in
s
braking at 115 V / 230 V

0.72

0.552

1.08

2.64

1.44

3.72

9.6

Peak power at 115 V /
230 V

18.5

Maximum peak energy
at 115 V / 230 V

13300

Degree of protection

6.8
3800

7400

2.6
18100

3700

9600

24700

Unit

Resistance

Continuous power

Maximum time in braking at 115 V / 230 V

3.5

1.98

Peak power at 115 V / 230 V

12.3

18.5

Maximum peak energy at 115 V / 230 V

43100

Degree of protection

IP 65

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

VW3A77•

126

10
1000

36500
IP20

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Engineering

Section 7.7
Monitoring Functions

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:

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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.

127

Engineering

Section 7.8
Configurable Inputs and Outputs

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 (see page 297).

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Section 7.9
Wiring

Wiring
What Is in This Section?

This section contains the following topics:
Topic

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Page

General Wiring

130

I/O Wiring Example With Modicon M221 Logic Controller

131

129

Engineering

General Wiring

130

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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).

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Engineering

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Installation
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Part IV
Installation

Installation
Introduction
An engineering phase is mandatory prior to mechanical and electrical installation. For basic information,
refer to Engineering (see page 103).

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.

WARNING
LOSS OF CONTROL







Failure to follow these instructions can result in death, serious injury, or equipment damage.
1

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Installation

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.

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.
What Is in This Part?
This part contains the following chapters:
Chapter

134

Chapter Name

Page

Before Mounting

135

Drive Installation

139

Motor Installation

175

Verifying Installation

185

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Before Mounting
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Chapter 8
Before Mounting

Before Mounting
What Is in This Chapter?
This chapter contains the following topics:
Topic

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Page

Inspecting the Product

136

Scope of Supply

137

135

Before Mounting

Inspecting the Product
Inspecting the Product



Verify the product version by means of the type code on the nameplate. Refer to chapter Nameplate
(see page 32) and chapter Type Code (see page 33).
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.

136

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Before Mounting

Scope of Supply
Drive








Drive Lexium 28A
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)
4-pin connector for deactivating the safety function STO (CN9)
Adhesive hazard labels in 5 languages (German, French, Italian, Spanish, Chinese)
Instruction sheet for the product

Motor




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

137

Before Mounting

138

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Drive Installation
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Chapter 9
Drive Installation

Drive Installation
What Is in This Chapter?
This chapter contains the following topics:
Topic

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Page

Mechanical Installation Drive

140

Electrical Installation Drive

142

Connection Grounding Screw

144

Connection I/O Interface (CN1)

145

Connecting the Motor Encoder (CN2)

156

Connection PC (CN3)

158

Connection CAN (CN4)

160

Connection Logic Supply and Power Stage Supply (CN5)

163

Connection DC Bus (CN6)

166

Connection Braking Resistor (CN7)

167

Connecting the Motor Phases (CN8)

169

Holding Brake Connection

171

Connection STO (CN9)

172

139

Drive Installation

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
HOT SURFACES




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 German, French, Italian, Spanish, and
Chinese languages. 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:



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:






140

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.

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Drive Installation

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

Distance

Unit

Value

Free space a
above the device

mm
(in)

≥50
(≥1.97)

Free space b
below the device

mm
(in)

≥50
(≥1.97)

Free space c
in front of the device(1)

mm
(in)

≥60
(≥2.36)

Free space d
between devices

mm
(in)

≥15
(≥0.59)

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

Mounting the Drive
See chapter Dimensions (see page 37) for the dimensions of the mounting holes.
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.



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Respect the ambient conditions in chapter Environmental Conditions (see page 35).
Mount the device in a vertical position (±10°).

141

Drive Installation

Electrical Installation Drive
Introduction

DANGER
INSUFFICIENT GROUNDING








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:

WARNING
DIRECT CURRENT CAN BE INTRODUCED INTO THE PROTECTIVE GROUND 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.

Overview of interfaces

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Item

Description

Refer to

CN1

Signal interface
For connecting master controller or I/O signals.

(see page 145)

CN2

Connection for motor encoder

CN3

Modbus (commissioning interface)
For connecting PC via converter TCSMCNAM3M002P

Connection PC (CN3) (see page 158)

CN4

2 connections for fieldbus CANopen
For connecting master controller or I/O signals.

Connection CAN (CN4) (see page 160)

CN5

Power stage supply (R,S,T) and logic supply (L1, L2)

Connection Logic Supply and Power Stage
Supply (CN5) (see page 163)

CN6

DC bus connection

Connection DC bus (CN6) (see page 166)

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.

CN7

Connection for external braking resistor

Connection braking resistor (CN7)

CN8

Motor phases connection (U, V, W, PE)

Connecting the motor phases (CN8)

CN9

Connection for safety function STO

Connection STO (CN9) (see page 172)

Connection I/O Interface (CN1)
Connecting the Motor Encoder (CN2)

(see page 156)

(see page 167)

(see page 169)

143

Drive Installation

Connection Grounding Screw

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

DANGER
INSUFFICIENT GROUNDING








Failure to follow these instructions will result in death or serious injury.
The central grounding screw of the product is located at the bottom of the front side.

144



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.

Tightening torque of grounding
screw

Nm
(lb.in)

1.5
(13.28)

Screw type

M4 x 8 socket button head
screw

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Drive Installation

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

Signal

Meaning

DO4+

Digital output 4

DO3-

Digital output 3

DO3+

Digital output 3

DO2-

Digital output 2

DO2+

Digital output 2

DO1-

Digital output 1

DO1+

Digital output 1

DI4-

Digital input 4

DI1-

Digital input 1

DI2-

Digital input 2

COM

Reference potential to DI1 ... DI8

GND

Reference potential analog input

GND

Reference potential for analog input

Reserved

MON2

Analog output 2

MON1

Analog output 1

VDD

24 Vdc power supply (for external
I/O)

T_REF

Analog input for reference torque

GND

Analog input signal ground

VCC

Output power supply 12 Vdc (for
analog reference values)

ESIM channel A

/OA

ESIM channel A, inverted

/OB

ESIM channel B, inverted

/OZ

ESIM index pulse, inverted

ESIM channel B

DO4-

Digital output 4

DO5-

Digital output 5

DO5+

Digital output 5

/HPULSE

High-speed pulses, inverted

DI8-

Digital input 8

DI7-

Digital input 7

DI6-

Digital input 6

DI5-

Digital input 5

DI3-

Digital input 3

PULL HI_S
(SIGN)

Pulse applied Power (SIGN)

/SIGN

Direction signal, inverted

SIGN

Direction signal

HPULSE

High-speed pulses

PULL HI_P
(PULSE)

Pulse applied Power (PULSE)

/HSIGN

Direction signal for high-speed
pulses, inverted

PULSE

Pulse input

V_REF

Analog input for reference velocity

/PULSE

Pulse input

GND

Analog input signal ground

COM-

Reference potential to VDD and
DO6(OCZ)

HSIGN

Direction signal for high-speed
pulses

COM-

Reference potential to VDD and
DO6(OCZ)

DO6(OCZ)

ESIM index pulse
Open collector output

COM-

Reference potential to VDD and
DO6(OCZ)

ESIM index pulse
Line driver output

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Drive Installation

Prefabricated Cable VW3M1C10R••
Color assignments of the prefabricated cable connected to the I/O interface (CN1):

VW3M1C10R•• Pinout
Group A

Group B

Group C

Signal

Color

Signal

Color

Signal

Color

DI1-

DO1-

DO4+

SIGN

DO1+

DO3-

COM

COM-

DO3+

PULL HI_S
(SIGN)

COM

PULL HI_P
(PULSE)

DO4-

PULSE

DI8-

DI7-

DI6-

DI5-

COM-

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 (see page 147)
 Pulse input (open collector, negative logic (see page 147))
 Pulse input (open collector, positive logic (see page 148))
 Pulse input (line driver) (see page 149)
 High-speed pulse input (line driver) (see page 149)
 Digital outputs (negative logic) (see page 150)
 Digital outputs (positive logic) (see page 152)
 Digital inputs (negative logic) (see page 153)
 Digital inputs (positive logic) (see page 154)
 Encoder output signal) (see page 155)


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

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Drive Installation

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

Pulse Input (Open Collector, Positive Logic)

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

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Pulse Input (Line Driver)
Example of pulse input (line driver).

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.

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Drive Installation

Wiring of the Digital Outputs (Negative Logic)
Example of digital outputs DO1 ... DO5 with internal power supply (negative logic):

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

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

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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.

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

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Drive Installation

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.

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

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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:

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

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Drive Installation

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):

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

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Encoder Output Signal
Example of encoder output signal Line Driver.

Example of encoder output signal, high-speed optocoupler.

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Drive Installation

Connecting the Motor Encoder (CN2)
Function and Encoder Type
The motor encoder is an integrated, high-resolution singleturn 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 (see page 20).
Cable Specifications
For further information, refer to chapter Cables (see page 108).
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.



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)

T+

Blue (BU)

T-

Blue/Black (BU/BK)

+5 V

Red, red/white (RD,
RD/WH)

GND

3, 4

N.C.

Meaning

Motor military
connector

Motor plastic
connector

5 V encoder supply

Black, black/white
(BK, BK/WH)

Reference potential for
encoder supply

Reserved

Serial communication

I/O

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

156

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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) (see page 104). Use
equipotential bonding conductors for equipotential bonding.
Connect the connector to CN2 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 preassembled connectors, this direction is often faster and easier.

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Drive Installation

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-tomultipoint 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.

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 LXM28 DTM Library can be connected for commissioning. The PC
is connected via a bidirectional USB/RS485 converter, refer to Accessories and Spare Parts
(see page 86).
Cable Specifications
For further information, refer to chapter Cables (see page 108).
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

1 ... 3

Meaning

I/O

Reserved

Bidirectional transmit/receive signal

MOD_D1

MOD_D0(1)

Bidirectional transmit/receive signal, inverted

RS-485
level

6 ... 7

Reserved

8 and
connector
housing

SHLD

Functional ground / shield - internally connected to ground
potential of the drive

(1)

(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.

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Drive Installation

Connection CAN (CN4)
Function
The device is suitable for connection to CANopen and CANmotion.
A CAN bus connects multiple devices via a bus cable. Each network device can transmit and receive
messages. Data between network devices is transmitted serially.
Each network device must be configured before it can be operated on the network. The device is assigned
a unique 7-bit node address (node ID) between 1 (01h) and 127 (7Fh). The address is set during
commissioning.
The baud rate must be the same for all devices in the fieldbus.
Cable Specifications
For further information, refer to chapter Cables (see page 108).
Shield:

Required, both ends grounded

Twisted Pair:

Required

PELV:

Required

Cable composition for cables with RJ45
connectors(1):

8 x 0.14 mm2 (AWG 24)

Cable composition with D-SUB connectors:

2 x 0.25 mm2, 2 x 0.20 mm2 (2 x AWG 22, 2 x AWG 24)
Cross section 0.20 mm2 (AWG 24) for CAN level, cross
section 0.25 mm2 (AWG 22) for reference potential.

(1) Cables with RJ45 connectors may only be used inside of control cabinets.



Use equipotential bonding conductors.
Use pre-assembled cables to reduce the risk of wiring errors.

Connectors D-SUB and RJ45
Usually, a cable with D-Sub connectors is used for CAN fieldbus connection in the field. Inside control
cabinets, connections with RJ45 cables have the benefit of easier and faster wiring. In the case of CAN
cables with RJ45 connectors, the maximum permissible bus length is reduced by 50%.
Multiple-port taps can be used to connect an RJ45 system inside the control cabinet to a D-Sub system in
the field, see the figure below. The trunk line is connected to the multiple-port tap by means of screw
terminals; the devices are connected by means of pre-assembled cables. See chapter CANopen
Connectors, Distributors, Terminating Resistors (see page 91).
Connection of RJ45 CAN in the control cabinet to the field

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Item

Description

Devices with RJ45 CAN connection in the control cabinet

CANopen cables with RJ45 connectors

Connection cables between device and tap, for example TCSCCN4F3M3T for tap TSXCANTDM4

Tap in the control cabinet, for example TSXCANTDM4 as D-SUB four-port tap or VW3CANTAP2
as RJ45 tap

Fieldbus cable (trunk line) to the bus devices outside of the control cabinet, connected to the tap by
means of screw terminals. Cross section 0.20 mm2 (AWG 24) for CAN level, cross section
0.25 mm2 (AWG 22) for reference potential

Terminating resistor 120 Ω RJ45 (TCSCAR013M120)

Maximum Bus Length CAN
The maximum bus length depends on the selected baud rate. The following table shows the maximum
overall length of the CAN bus in the case of cables with D-SUB connectors.
Baud rate

Maximum bus length

125 kbit/s

500 m (1640 ft)

250 kbit/s

250 m (820 ft)

500 kbit/s

100 m (328 ft)

1000 kbit/s

20 m (65.6 ft)(1)

(1) According to the CANopen specification, the maximum bus length is 40 m. However, in practice, limiting
the length to 20 m reduces communication errors caused by external interference.

At a baud rate of 1 Mbit/s, the drop lines are limited to 0.3 m (0.98 ft).
Terminating Resistors
Both ends of a CAN bus line must be terminated. A 120 Ω terminating resistor between CAN_L and CAN_H
is used for this purpose.
Connectors with integrated terminating resistors are available as accessories, refer to chapter CANopen
Connectors, Distributors, Terminating Resistors (see page 91).
Wiring Diagram
Wiring diagram CN4 CANopen

The CAN interface (CN4) consists of 2 RJ45 connectors. The following table describes the contacts of the
connectors:

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Signal

Meaning

I/O

CAN_H

CAN_L

CAN interface

CAN level

CAN_0V

Reference potential CAN

4…5

Reserved

6 and connector
housing

SHLD

Functional ground / shield - internally connected to ground
potential of the drive

CAN_0V

Reference potential CAN

Reserved

161

Drive Installation

Connect the CANopen cable to CN4 (pins 1, 2, and 3) with an RJ45 connector. Note the information on
using cables with RJ45 connectors.
Verify that the connector locks snap in properly at the housing.

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.

Terminating Resistors
Both ends of a CAN bus line must be terminated. A 120 Ω terminating resistor between CAN_L and CAN_H
is used for this purpose.

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Connection Logic Supply and Power Stage Supply (CN5)

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

DANGER
INSUFFICIENT GROUNDING








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.
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

(see page 38).
Cable Specifications

Respect the required cable properties in chapter Cables (see page 108) and in chapter Electromagnetic
Compatibility (EMC) (see page 104).

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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:

163

Drive Installation

Properties of the Terminals
The terminals are approved for stranded conductors and solid conductors. Use cable ends (ferrules), if
possible.
LXM28A

Unit

UA5, U01, U02, U04, U07, U10, U15

U20, U30, U45

Connection cross section

mm2
(AWG)

0.75 ... 2.5
(20 ... 14)

0.75 ... 6
(20 ... 10)

Stripping length

mm
(in)

8 ... 9
(0.31 ... 0.35)

15
(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 (see page 38).
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 (see page 25).

Connection Logic Supply
Wiring diagram logic supply

Connection

Meaning

R, S, T

Power stage supply

L1, L2

Logic supply





164

Verify the type of mains. For the approved types of mains, refer to chapter Electrical Data Drive
(see page 38).
Connect the mains cable.
Verify that the connector locks snap in properly at the housing.

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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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Drive Installation

Connection DC Bus (CN6)

Incorrect use of the DC bus may permanently damage the drives either immediately or over time.

WARNING
INOPERABLE SYSTEM COMPONENTS AND LOSS OF CONTROL
Verify that all requirements for using the DC bus are met.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
This and other important information can be found in the “LXM28 - Common DC bus - Application note
(see page 11)”. If you wish to take advantage of DC bus sharing, you must first consult the LXM28 Common DC bus - Application note for important safety-related information.
Requirements for Use
The requirements and limit values for parallel connection of multiple devices via the DC bus can be found
on www.schneider-electric.com in the form of an application note (see chapter Related Documents
(see page 11)). If there are any issues or questions related to obtaining the Common DC bus Application
Note, consult your local Schneider-Electric representative.

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Connection Braking Resistor (CN7)

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

(see page 123). For suitable braking resistors, refer to chapter Accessories and Spare Parts
(see page 97).
Cable Specifications
For further information, refer to chapter Cables (see page 108).
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 (see page 97) have a 3-wire,
temperature-resistant cable with a length of 0.75 m (2.46 ft) to 3 m (9.84 ft).
Properties of the Terminals (CN7)
The terminals are approved for stranded conductors and solid conductors. Use cable ends (ferrules), if
possible.
LXM28A

UA5, U01, U02, U04, U07, U10, U15

U20, U30, U45

Connection cross section mm2
(AWG)

Unit

0.75 ... 2.5
(20 ... 14)

0.75 ... 6
(20 ... 10)

Stripping length

8 ... 9
(0.31 ... 0.35)

15
(0.59)

mm
(in)

The 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.

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Wiring Diagram
Wiring diagram internal or external braking resistor

Item

Description

Internal braking resistor activated

Connection external braking resistor

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.

DANGER
ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH










Failure to follow these instructions will result in death or serious injury.

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Connecting the Motor Phases (CN8)

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.

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 (see page 20).
Route the cables from the motor and the encoder to the device (starting from the motor). Due to the preassembled connectors, this direction is often faster and easier.
Cable Specifications
For further information, refer to chapter Cables (see page 108).

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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.

169

Drive Installation
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).



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



Properties of the Terminals (CN8)
The terminals are approved for stranded conductors and solid conductors. Use cable ends (ferrules), if
possible.
LXM28A

Unit

Connection cross section
Stripping length

UA5, U01, U02, U04, U07, U10, U15

U20, U30, U45

mm
(AWG)

0.75 ... 2.5
(20 ... 14)

0.75 ... 6
(20 ... 10)

mm
(in)

8 ... 9
(0.31 ... 0.35)

15
(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 LXM28AUA5 … U07)

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
Wiring diagram motor

Connection

Meaning

Color(1)
(IEC 757)
RD

Motor phase

WH
BK

Protective ground conductor

GN/YE

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

Connecting the Motor Cable




170

Note the information on EMC, refer to chapter Electromagnetic Compatibility (EMC) (see page 104).
Connect the motor phases and protective ground conductor to CN8. Verify that the connections U, V,
W, and PE (ground) match at the motor and the device.
Verify that the connector locks snap in properly at the housing.

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Drive Installation

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 (see page 306). 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 VT, 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.
Example (negative logic) of wiring the holding brake

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Item

Description

Triggering an EMERGENCY STOP should apply the holding brake

Flyback diode

171

Drive Installation

Connection STO (CN9)

For important safety information, refer to the chapter Safety Function STO (Safe Torque Off)
(see page 112) for the requirements for using the safety function STO.
Cable Specifications - Cables Outside of Control Cabinet
Shield:

Yes

Twisted Pair:

Yes

PELV:

Required

Minimum conductor cross section:

2 x 0.34 mm2 (AWG 22)

Maximum cable length:

30 m (98.4 ft)

Fuse:

Cable Specifications - Cables Inside Control Cabinet
Shield:

Twisted Pair:

PELV:

Required

Minimum conductor cross section:

2 x 0.25 mm2 (AWG 24)

Maximum cable length:

3 m (9.84 ft)

Fuse:

Properties of the Connection
Connectors housing
Connectors crimp contact

Molex 436450400(1)
Molex 430300001(1)

Connection cross section

mm2
(AWG)

0.25 ... 0.34
(24 ... 22)

(1) Or corresponding equivalent.

Wiring Diagram
Wiring diagram safety function STO

The STO interface (CN9) is a 4-pin female connector. The following table describes the contacts of the
connector:
Pin

Signal

Meaning

JMPC_1

Jumper connector 1 to be connected to STO_24V if the safety function STO
is not used in your application

JMPC_2

Jumper connector 2 to be connected to STO_0V if the safety function STO
is not used in your application

STO_0V

Safety function STO 0 Vdc input(1)

STO_24V

Safety function STO 24 Vdc input(1)

(1) PELV power supply is required.

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Connecting the Safety Function STO



Verify that wiring, cables, and connected interfaces meet the PELV requirements.
Connect the safety function STO in accordance with the specifications in chapter Safety Function STO
(Safe Torque Off) (see page 112).

Deactivating the Safety Function STO
If the safety function STO is not to be used, it must be deactivated. Plug in the jumper for CN9 to bridge
pin 1 and pin 4 as well as pin 2 and pin 3 to deactivate the safety function STO. The jumper for CN9 is
factory-fitted.
Deactivating the safety function STO

WARNING
UNINTENDED EQUIPMENT OPERATION



Failure to follow these instructions can result in death, serious injury, or equipment damage.

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Lexium 28 A and BCH2 Servo Drive System
Motor Installation
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Chapter 10
Motor Installation

Motor Installation
What Is in This Chapter?
This chapter contains the following topics:
Topic

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Page

Mechanical Installation Motor

176

Connections and Pin Assignments

178

Connection of Motor and Encoder

181

Holding Brake Connection

183

175

Motor Installation

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




Failure to follow these instructions can result in death, serious injury, or equipment damage.

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:

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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 (see page 47).
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.
Special Characteristics BCH2•H, BCH2•M, BCH2•R
Rear side of motor

Item

Description

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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Motor Installation

Connections and Pin Assignments

Connection overview

Item

Description

Encoder connection

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
Type A

Pin
Type B

Pin
Signal
Type C and D

Meaning

Color(1)
(IEC 757)

Motor phase U

Motor phase V

Motor phase W

Protective ground (protective earth)

GN/YE

–

BRAKE_24V

Supply voltage holding brake 24 Vdc BU

–

BRAKE_0V

Reference potential holding brake
0 Vdc

–

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.
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
Type A

Pin
Type B

Signal

Meaning

T+

Data

–

Reserved

–

Reserved

–

T-

Data

BU/BK

–

Reserved

–

Reserved

–

DC+5 V

Supply voltage

RD/WH

GND

Reference potential

BK/WH

Shield

–

Reserved

–

Reserved

–

Reserved

–

Reserved

–

Reserved

–

Reserved

–

Reserved

–

Reserved

–

Color(1)
(IEC 757)

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

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Motor Installation

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 (see page 87).

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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 (see page 20).
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









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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.

181

Motor Installation

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.

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.



182

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 (see page 183).

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Motor Installation

Holding Brake Connection

DANGER
ELECTRICAL 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.
Cable Specifications
For further information on cable specifications, refer to chapter Cables (see page 108).

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183

Motor Installation

184

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Verifying Installation
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Chapter 11
Verifying Installation

Verifying Installation
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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185

Verifying Installation

186

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Lexium 28 A and BCH2 Servo Drive System
Commissioning
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Part V
Commissioning

Commissioning
What Is in This Part?
This part contains the following chapters:
Chapter

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Chapter Name

Page

Overview

189

Integrated HMI

193

Commissioning Procedure

201

Tuning the Control Loops

209

187

Commissioning

188

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Lexium 28 A and BCH2 Servo Drive System
Overview
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Chapter 12
Overview

Overview
What Is in This Chapter?

This chapter contains the following topics:
Topic

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Page

General

190

Commissioning Tools

192

189

Overview

General

You must recommission an already configured device if you want to use it under changed operating
conditions.
The safety function STO (Safe Torque Off) does not remove power from the DC bus. The safety function
STO only removes power to the motor. The DC bus voltage and the mains voltage to the drive are still
present.

DANGER
ELECTRIC SHOCK



Failure to follow these instructions will result in death or serious injury.
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.

190

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Overview

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

WARNING
HOT SURFACES




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






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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191

Overview

Commissioning Tools
Overview
The following tools (see page 86) can be used for commissioning, parameterization, and diagnostics:

Item

Description

Integrated HMI

PC with commissioning software LXM28 DTM Library

Fieldbus

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.

192

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Lexium 28 A and BCH2 Servo Drive System
Integrated HMI
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Chapter 13
Integrated HMI

Integrated HMI
What Is in This Chapter?
This chapter contains the following topics:
Topic

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Page

Overview

194

Integrated HMI Structure

195

7-Segment Display

196

Status Information Via the HMI

198

193

Integrated HMI

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

5-digit 7-segment display

OK key

Arrow keys

M key

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






Failure to follow these instructions will result in death or serious injury.

194

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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.

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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.

195

Integrated HMI

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 display Description
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

(see page 298).

Out-r

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

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

196

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Integrated HMI

Example of representation of hexadecimal values

Changing the Sign Via the 7-Segment Display
7-segment display Description
24680
24.680
?343E
?CbC2

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

Alert Messages and Error Messages on the 7-Segment Display
7-segment display Description

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?nnnn

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. See chapter Alert Codes
and Error Codes (see page 407) for a list of alerts.

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 (see page 407).

S?OP

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
(see page 298).

197

Integrated HMI

Status Information Via the HMI

After you have powered on the drive, status information is displayed via the HMI. Use the parameter P002 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 P0-02 Description

198

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

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

Deviation between actual position and target position (with gear ratio applied) in the unit PUU

Actual position in motor increments (1280000 pulses/revolution)

Target position in motor increments (1280000 pulses/revolution)

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

Reference value in kilopulses per second (kpps)

Actual velocity in rpm

Voltage for target velocity in V

Target velocity in rpm

Voltage for target torque in V

Target torque in percent of continuous motor current

Available current overhead used in percent of continuous motor current

Peak current overhead consumed 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)

Mains voltage in V

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

Power stage temperature in degrees Celsius (°C)

Resonance frequency in Hz

Absolute pulse number relative to encoder

Mapping parameter 1: Content of parameter P0-25 (mapping target is specified via
parameter P0-35)

Mapping parameter 2: Content of parameter P0-26 (mapping target is specified via
parameter P0-36)

Mapping parameter 3: Content of parameter P0-27 (mapping target is specified via
parameter P0-37)

Mapping parameter 4: Content of parameter P0-28 (mapping target is specified via
parameter P0-38)

Status indication 1: Content of parameter P0-09 (the status information to be displayed is
specified by parameter P0-17)

Status indication 2: Content of parameter P0-10 (the status information to be displayed is
specified by parameter P0-18)

Status indication 3: Content of parameter P0-11 (the status information to be displayed is
specified by parameter P0-19)

Status indication 4: Content of parameter P0-12 (the status information to be displayed is
specified by parameter P0-20)

Reserved

Status of digital inputs (content of P4-07)

Status of digital outputs (content of P4-09)

Drive status (content of P0-46)

Operating mode (content of P1-01)

Actual position encoder (content of P5-18)

Target velocity in rpm

Target torque in 0.1 percent of the nominal torque

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Integrated HMI
Setting P0-02 Description

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Actual torque in 0.1 percent of the nominal torque

Actual torque in 0.01 A

Target velocity in rpm in operating modes PT and PS

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

111

Number of detected errors

199

Integrated HMI

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Lexium 28 A and BCH2 Servo Drive System
Commissioning Procedure
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Chapter 14
Commissioning Procedure

Commissioning Procedure
What Is in This Chapter?
This chapter contains the following topics:
Topic

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Page

Commissioning Software

202

Setting the Device Address, Baud Rate and Connection Settings

203

Verifying the Direction of Movement

205

Test Operation in Operating Mode Velocity (V)

207

Verifying the Safety Function STO

208

201

Commissioning Procedure

Commissioning Software

The commissioning software LXM28 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 Topics or by
pressing the F1 key.
Source of Commissioning Software
The latest version of the commissioning software LXM28 DTM Library is available for download from the
Internet.

http://www.schneider-electric.com

202

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Commissioning Procedure

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 P3-05 to set the CANopen device address.
Use the parameter P3-01 to set the baud rate.
Use the parameter P3-02 to set the connection settings.
Setting the baud rate:

Modbus Connection Settings

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203

Commissioning Procedure

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.

204

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P3-00
ADR

Device Address Modbus
Applicable operating mode: PT, PS, V, T
The device address must be unique.
Changed settings become active the next
time the product is powered on.

1
127
247
Decimal

u16
RW
per.

Modbus 400h
CANopen 4300h

P3-01
BRT

Transmission Rate
Applicable operating mode: PT, PS, V, T
This parameter is used to set the data
transmission rate.
If this parameter is set via CANopen, only
the CANopen transmission rate can be set.
Changed settings become active the next
time the product is powered on.

0h
102h
405h
Hexadecimal

u16
RW
per.

Modbus 402h
CANopen 4301h

P3-02
PTL

Modbus Connection Settings
Applicable operating mode: PT, PS, V, T
This parameter specifies the Modbus
connection settings.
Changed settings become active the next
time the product is powered on.

6h
7h
9h
Hexadecimal

u16
RW
per.

Modbus 404h
CANopen 4302h

P3-03
FLT

Detected Modbus Communication Errors Handling
Applicable operating mode: PT, PS, V, T
This parameter specifies the response of
the drive to a detected communication
error.
Value 0: Detected alert
Value 1: Detected error

0h
0h
1h
Hexadecimal

u16
RW
per.

Modbus 406h
CANopen 4303h

P3-04
CWD

Modbus Connection Monitoring
Applicable operating mode: PT, PS, V, T
This parameter specifies the maximum
permissible duration for communication
timeout. When this time has elapsed, the
communication timeout is treated as a
detected error.
Setting this parameter to 0 to disables
connection monitoring.

ms
0
0
20000
Decimal

u16
RW
per.

Modbus 408h
CANopen 4304h

P3-05
CMM

Device Address CANopen
Applicable operating mode: PT, PS, V, T
This parameter specifies the CANopen
address of the drive in decimal format.
The device address must be unique.
Change to this parameter becomes
effective only after a restart of the drive.
Changed settings become active the next
time the product is powered on.

0
0
127
Decimal

u16
RW
per.

Modbus 40 Ah
CANopen 4305h

P3-07
CDT

Modbus Response Delay Time
Applicable operating mode: PT, PS, V, T
This parameter specifies the time delay
with which the drive responds to the
Modbus master.

0.5 ms
0
0
1000
Decimal

u16
RW
per.

Modbus 40Eh
CANopen 4307h

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Commissioning Procedure

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: P4-05)
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 J0G.

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.



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Inversion of direction of movement is not activated:
Movements are made in positive direction with positive target values.
Inversion of direction of movement is activated:
Movements are made in positive direction with negative target values.

205

Commissioning Procedure

The parameter P1-01 C = 1 allows you to invert the direction of movement.
Changing the direction of movement

206

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Commissioning Procedure

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 (see page 316).
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

DI2

P2-11

0109h

TRQLM

Activate Torque Limitation

DI3

P2-12

0114h

SPD0

Velocity Reference Value Bit 0

DI4

P2-13

0115h

SPD1

Velocity Reference Value Bit 1

DI5

P2-14

0102h

FAULT_RESET

Fault Reset

DI6

P2-15

DI7

P2-16

DI8

P2-17

For further information on the settings, refer to Setting the Digital Signal Inputs (see page 300).
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).
For further information on error messages, refer to Diagnostics and Troubleshooting (see page 407).
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
signal inputs
SPD1

SPD0

External analog
signal

Voltage between V_REF -10 ... 10 Vdc
(pin 42) and GND (pin 44)

Internal
parameters

P1-10



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Target velocity via:

Range

P1-09

-60000 ... 60000 x 0.1 rpm

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.

207

Commissioning Procedure

Verifying the Safety Function STO

The safety function STO must be tested at least once per year.
Procedure:









208

Operate the system with the nominal voltage at the STO inputs as described in the chapter Inputs /
Outputs Characteristics (see page 42).
Enable the power stage (operating state 6 Operation Enabled).
Trigger the safety function STO by switching off the voltage (for example, via an emergency stop pushbutton).
The power stage is disabled and the error message AL501 is displayed.
Verify that drive is in the operating state Fault.
Check whether the drive can be set to the operating state 6 Operation Enabled.
The drive remains in the operating state Fault.
Restore the STO voltage at the signal inputs of the safety function STO and trigger a Fault Reset.
Verify that the drive can be set to the operating state 6 Operation Enabled.
The drive is set to the operating state 6 Operation Enabled. Movements are possible again.

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Tuning the Control Loops
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Chapter 15
Tuning the Control Loops

Tuning the Control Loops
What Is in This Chapter?
This chapter contains the following topics:
Topic

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Page

Tuning the Control Loops

210

Easy Tuning

211

Comfort Tuning

212

Manual Tuning

217

209

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:




210

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.

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Tuning the Control Loops

Easy Tuning

Easy Tuning is started via the HMI or the commissioning software LXM28 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. Comfort Tuning allows
you to set the movement range and the direction of movement manually.
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.

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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
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

Optimization for minimum overshoot

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.

212

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P9-20
LTNCYCLE

Autotuning - Direction of Movement
Applicable operating mode: PT, PS, V
This parameter sets the direction of
movement for autotuning.
Value 0: Both directions of movement
Value 2: One direction of movement

0
0
3
Decimal

s16
RW
-

Modbus A28h
CANopen 4914h

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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
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P9-29
LTNVCRUISE

Autotuning - Velocity
Applicable operating mode: PT, PS, V
Bits 0 … 15: Velocity for positive direction
of movement
Bits 16 … 31: Velocity for negative
direction of movement

0.1rpm|0.1rpm
Decimal

u32
RW
-

Modbus A3Ah
CANopen 491Dh

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

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Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P9-31
PTACCDEC

Autotuning - Acceleration and Deceleration
Applicable operating mode: PT, PS, V
Bits 0 … 15: Acceleration for Autotuning
Bits 16 … 31: Deceleration for Autotuning

ms|ms
6| 6
6000| 6000
65500| 65500
Decimal

u32
RW
-

Modbus A3Eh
CANopen 491Fh

213

Tuning the Control Loops

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.
Parameter Description
name

Unit
Data type
Minimum value R/W
Factory setting Persistent
Maximum
value
HMI Format

Parameter
address via
fieldbus

P9-26
PTPOS

Autotuning - Movement Range in Direction 1
Applicable operating mode: PS
This parameter specifies the movement range for
autotuning in direction of movement 1.
The sign of the value determines the direction of
movement:
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.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
-

Modbus A34h
CANopen 491 Ah

P9-27
PTNEG

Autotuning - Movement Range in Direction 2
Applicable operating mode: PS
This parameter specifies the movement range for
autotuning in direction of movement 2.
The sign of the value determines the direction of
movement:
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.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
-

Modbus A36h
CANopen 491Bh

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:




214

No smoothing
Smoothing via low-pass filter with a fixed value
Smoothing via S-curve with a fixed value

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P9-23
LTNSTIFF

Defines which values are used for the
position command filters.
Applicable operating mode: PT, PS, V
Value 0: Automatic smoothing via Scurve optimization of the value
Value 1: Manual smoothing

0
0
1
Decimal

u16
RW
-

Modbus A2Eh
CANopen 4917h

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Parameter name

Description

P8-34
Smoothing Filter for Operating modes
MOVESMOOTHMODE PT and PS - Type
Applicable operating mode: PT, PS
Value 0: No smoothing
Value 1: LPF smoothing
Value 2: S-curve smoothing
Setting can only be changed if power
stage is disabled.

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

0
2
2
Decimal

u16
RW
per.

Modbus 944h
CANopen 4822h

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
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P8-33
MOVESMOOTHLPFHZ

Low Pass Filter Setting
Applicable operating mode: PT, PS

Hz
1
5000
5000
Decimal

u16
RW
per.

Modbus 942h
CANopen 4821h

The illustration below shows the movement during Comfort Tuning if smoothing via an S-curve is used:
Comfort Tuning with smoothing via S-curve

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Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P8-32
MOVESMOOTHAVG

S-Curve Setting
Applicable operating mode: PT, PS
Setting can only be changed if
power stage is disabled.

0.01 ms
25
1500
25600
Decimal

u32
RW
per.

Modbus 940h
CANopen 4820h

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Tuning the Control Loops

Performing Comfort Tuning
Start Comfort Tuning by selecting the required method via the parameter P2-32.
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P2-32
ATMODE

Autotuning
Applicable operating mode: PT, PS, V
This parameter is used to start autotuning
with the selected autotuning method.
Value 0: Stop Autotuning
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]

0
0
56
Decimal

u16
RW
-

Modbus 340h
CANopen 4220h

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.
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 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 don?.
Press the OK key of the HMI to save the control loop parameters. The display of the HMI briefly shows the
message ????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??O?. 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.

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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.
Procedure for Manual Tuning
The control loop parameters are tuned in the following sequence:
Step

Item

Parameters

Derivative gain

P8-00 (LTND)

Low-pass filter

P8-14 (NLFILTDAMPING)
P8-15 (NLFILTT1)

Retuning of the derivative gain

P8-00 (LTND)

Proportional gain

P8-03 (LTNP)

Derivative-integral gain

P8-02 (LTNIV)

Integral gain

P8-01 (LTNI)

Compensation of the flexibility of the mechanical
system

P8-05(NLAFFLPFHZ)
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 LXM28 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).


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Example P8-00 (LTND) set to 1340 (134 Hz)

Example P8-00 (LTND) set too high at 2000 (200 Hz)

Example P8-00 (LTND) OK at 1500 (150 Hz)

218

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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.
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 lowpass filter parameters is to suppress high-frequency resonance and reduce the response time of the
control loops to a minimum.
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.
The low-pass filter is set via parameters P8-14 (NLFILTDAMPING) and P8-15 (NLFILTT1).
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 changed 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.



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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)

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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)

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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.



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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)

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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.
Example P8-01 (LTNI) value too high - oscillation at standstill, overshoot of position deviation (50 Hz)

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Tuning the Control Loops

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.
 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)

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Example P8-20 (NLPEAFF) maximum position deviation decreased (300 Hz)

Example P8-20 (NLPEAFF) maximum position deviation further decreased (220 Hz)

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)

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Lexium 28 A and BCH2 Servo Drive System
Parameters
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Part VI
Parameters

Parameters

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Parameters

230

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Lexium 28 A and BCH2 Servo Drive System
Parameters
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Chapter 16
Parameters

Parameters
What Is in This Chapter?

This chapter contains the following topics:
Topic

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Page

Representation of the Parameters

232

P0 - Status Parameters

233

P1 - Basic Parameters

238

P2 - Extended Parameters

250

P3 - Communication Parameters

257

P4 - Diagnostics Parameters

260

P5 - Motion Settings

264

P6 - Position Sequence Data Sets Group 1

269

P7 - Position Sequence Data Sets Group 2

276

P8 - Control Loops

282

P9 - DTM Data

288

231

Parameters

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







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.

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Parameters

P0 - Status Parameters

P0 - Status Parameters
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P0-00
VER

Firmware Version
Applicable operating mode: PT, PS, V, T

0h
0h
FFFFh
Hexadecimal

u16
RO
-

Modbus 100h
CANopen 4000h

P0-01
ALE

Error code of detected error
Applicable operating mode: PT, PS, V, T
This parameter contains the error number
of the most recently detected error.
For a list of the detected error codes, refer
to Error Codes (see page 407).

0h
0h
FFFFh
Hexadecimal

u16
RW
-

Modbus 102h
CANopen 4001h

P0-02
STS

Drive Status Displayed by HMI
Applicable operating mode: PT, PS, V, T
This parameter selects the type of status
information to be displayed on the HMI.
Example: If the setting is 7, the HMI
displays the speed of rotation of the motor.
For further information, refer to chapter
Status Information via the HMI
(see page 198).

0
0
123
Decimal

u16
RW
per.

Modbus 104h
CANopen 4002h

P0-03
MON

Function of Analog Outputs
Applicable operating mode: PT, PS, V, T
This parameter specifies the functions of
the analog outputs.

0h
0h
77h
Hexadecimal

u16
RW
per.

Modbus 106h
CANopen 4003h

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
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.

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Parameters

234

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P0-08
TSON

Operating Hour Meter in Seconds
Applicable operating mode: PT, PS, V, T

s
0
4294967295
Decimal

u32
RO
-

Modbus 110h
CANopen 4008h

P0-09
CM1

Status Value 1
Applicable operating mode: PT, PS, V, T
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.
Examples:
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)

-2147483647
2147483647
Decimal

s32
RO
-

Modbus 112h
CANopen 4009h

P0-10
CM2

Status Value 2
Applicable operating mode: PT, PS, V, T
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.
See P0-09 for details.

-2147483647
2147483647
Decimal

s32
RO
-

Modbus 114h
CANopen 400 Ah

P0-11
CM3

Status Value 3
Applicable operating mode: PT, PS, V, T
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.
See P0-09 for details.

-2147483647
2147483647
Decimal

s32
RO
-

Modbus 116h
CANopen 400Bh

P0-12
CM4

Status Value 4
Applicable operating mode: PT, PS, V, T
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.
See P0-09 for details.

-2147483647
2147483647
Decimal

s32
RO
-

Modbus 118h
CANopen 400Ch

P0-13
CM5

Status Value 5
Applicable operating mode: PT, PS, V, T
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.
See P0-09 for details.

-2147483647
2147483647
Decimal

s32
RO
-

Modbus 11 Ah
CANopen 400Dh

P0-17
CMA1

Indicate status value 1
Applicable operating mode: PT, PS, V, T
This parameter is used to select a drive
status provided in P0-02. The selected
status is indicated via P0-09.
Example:
If the setting of P0-17 is 7, reading P0-09
returns the speed of rotation of the motor in
rpm.

0
0
123
Decimal

u16
RW
per.

Modbus 122h
CANopen 4011h

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P0-18
CMA2

Indicate status value 2
Applicable operating mode: PT, PS, V, T
This parameter is used to select a drive
status provided in P0-02. The selected
status is indicated via P0-10. See P0-17 for
details.

0
0
123
Decimal

u16
RW
per.

Modbus 124h
CANopen 4012h

P0-19
CMA3

Indicate status value 3
Applicable operating mode: PT, PS, V, T
This parameter is used to select a drive
status provided in P0-02. The selected
status is indicated via P0-11. See P0-17 for
details.

0
0
123
Decimal

u16
RW
per.

Modbus 126h
CANopen 4013h

P0-20
CMA4

Indicate status value 4
Applicable operating mode: PT, PS, V, T
This parameter is used to select a drive
status provided in P0-02. The selected
status is indicated via P0-12. See P0-17 for
details.

0
0
123
Decimal

u16
RW
per.

Modbus 128h
CANopen 4014h

P0-21
CMA5

Indicate status value 5
Applicable operating mode: PT, PS, V, T
This parameter is used to select a drive
status provided in P0-02. The selected
status is indicated via P0-13. See P0-17 for
details.

0
0
123
Decimal

u16
RW
per.

Modbus 12 Ah
CANopen 4015h

P0-25
MAP1

Parameter Mapping 1
Applicable operating mode: PT, PS, V, T
The parameters from P0-25 ... P0-32 are
used to read and write the values of
parameters with non-consecutive
communication addresses. You can set
P0-35 ... P0-42 as the required read and
write mapping parameter numbers. When
P0-25 ... P0-32 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.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
-

Modbus 132h
CANopen 4019h

P0-26
MAP2

Parameter Mapping 2
Applicable operating mode: PT, PS, V, T
See P0-25 and P0-36 for details.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
-

Modbus 134h
CANopen 401 Ah

P0-27
MAP3

Parameter Mapping 3
Applicable operating mode: PT, PS, V, T
See P0-25 and P0-37 for details.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
-

Modbus 136h
CANopen 401Bh

P0-28
MAP4

Parameter Mapping 4
Applicable operating mode: PT, PS, V, T
See P0-25 and P0-38 for details.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
-

Modbus 138h
CANopen 401Ch

P0-29
MAP5

Parameter Mapping 5
Applicable operating mode: PT, PS, V, T
See P0-25 and P0-39 for details.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
-

Modbus 13 Ah
CANopen 401Dh

235

Parameters
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P0-30
MAP6

Parameter Mapping 6
Applicable operating mode: PT, PS, V, T
See P0-25 and P0-40 for details.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
-

Modbus 13Ch
CANopen 401Eh

P0-31
MAP7

Parameter Mapping 7
Applicable operating mode: PT, PS, V, T
See P0-25 and P0-41 for details.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
-

Modbus 13Eh
CANopen 401Fh

P0-32
MAP8

Parameter Mapping 8
Applicable operating mode: PT, PS, V, T
See P0-25 and P0-42 for details.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
-

Modbus 140h
CANopen 4020h

P0-35
MAPA1

Block Data Read/Write P0-35…P0-42 1
Applicable operating mode: PT, PS, V, T
The parameters P0-35 ... P0-42 specify the
required read and write parameter
numbers for P0-25 ... P0-32. They read
and write the values of the parameters
whose communication addresses are not
consecutive.
The read/write parameter can be a single
32-bit parameter or two 16-bit parameters.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
per.

Modbus 146h
CANopen 4023h

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 P035 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.

236

P0-36
MAPA2

Block Data Read/Write P0-35…P0-42 2
Applicable operating mode: PT, PS, V, T
See P0-35 for details.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
per.

Modbus 148h
CANopen 4024h

P0-37
MAPA3

Block Data Read/Write P0-35…P0-42 3
Applicable operating mode: PT, PS, V, T
See P0-35 for details.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
per.

Modbus 14 Ah
CANopen 4025h

P0-38
MAPA4

Block Data Read/Write P0-35…P0-42 4
Applicable operating mode: PT, PS, V, T
See P0-35 for details.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
per.

Modbus 14Ch
CANopen 4026h

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P0-39
MAPA5

Block Data Read/Write P0-35…P0-42 5
Applicable operating mode: PT, PS, V, T
See P0-35 for details.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
per.

Modbus 14Eh
CANopen 4027h

P0-40
MAPA6

Block Data Read/Write P0-35…P0-42 6
Applicable operating mode: PT, PS, V, T
See P0-35 for details.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
per.

Modbus 150h
CANopen 4028h

P0-41
MAPA7

Block Data Read/Write P0-35…P0-42 7
Applicable operating mode: PT, PS, V, T
See P0-35 for details.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
per.

Modbus 152h
CANopen 4029h

P0-42
MAPA8

Block Data Read/Write P0-35…P0-42 8
Applicable operating mode: PT, PS, V, T
See P0-35 for details.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
per.

Modbus 154h
CANopen 402 Ah

P0-46
SVSTS

State of Signal Output Functions
Applicable operating mode: PT, PS, V, T
This parameter is used to indicate the state
of the signal output function of the drive in
hexadecimal format. If the function is
assigned to a digital output, it would
represent the state of the output given no
forcing on the output.
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.

0h
0h
FFFFh
Hexadecimal

u16
RO
-

Modbus 15Ch
CANopen 402Eh

P0-47
LAST_WRN

Number of Last Alert
Applicable operating mode: PT, PS, V, T
This parameter contains the number of the
last detected alert. After a Fault Reset, the
number is cleared.

0h
0h
FFFFh
Hexadecimal

u16
RO
-

Modbus 15Eh
CANopen 402Fh

237

Parameters

P1 - Basic Parameters
P1 - Basic Parameters
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-00
PTT

Reference Value Signal - Pulse Settings
Applicable operating mode: PT

0h
2h
1132h
Hexadecimal

u16
RW
per.

Modbus 200h
CANopen
4100h

0h
Bh
110Bh
Hexadecimal

u16
RW
per.

Modbus 202h
CANopen
4101h

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 changed if power stage
is disabled.
P1-01
CTL

Operating Mode and Direction of Rotation
Applicable operating mode: PT, PS, V, T

A: Operating mode
Refer to chapter Setting the Operating
Mode (see page 316).
C: Direction of movement
Refer to chapter Verifying the Direction of
Movement (see page 205).
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 of the
Signal Inputs (see page 300) and Default
Presets of the Signal Outputs
(see page 306).
Changed settings become active the next
time the product is powered on.

238

EIO0000002305 04/2017

Parameters
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-02
PSTL

Velocity and Torque Limitations
Activation/Deactivation
Applicable operating mode: PT, PS, V, T
This parameter activates/deactivates
velocity limitation and torque limitation.
It can also be activated via the signal input
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 P112 to P1-14.

0h
0h
11h
Hexadecimal

u16
RW
per.

Modbus 204h
CANopen
4102h

A: Velocity limitation
0: Deactivate
1: Activate (in operating mode T, and
CANopen T (refer to P1-82))

B: Torque limitation
0: Deactivate
1: Activate (operating modes PT, PS,
CANopenV (refer to P1-85), and V))

EIO0000002305 04/2017

239

Parameters
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-03
AOUT

Polarity of Analog Outputs / Polarity of
Pulse Outputs
Applicable operating mode: PT, PS, V, T

0h
0h
13h
Hexadecimal

u16
RW
per.

Modbus 206h
CANopen
4103h

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

240

P1-04
MON1

Scaling Factor Analog Output 1
Applicable operating mode: PT, PS, V, T

%
1
100
100
Decimal

u16
RW
per.

Modbus 208h
CANopen
4104h

P1-05
MON2

Scaling Factor Analog Output 2
Applicable operating mode: PT, PS, V, T

%
1
100
100
Decimal

u16
RW
per.

Modbus 20 Ah
CANopen
4105h

P1-09
SP1

Target Velocity/Velocity Limitation 1
Applicable operating mode: V, T
Target velocity 1
In the operating mode V, this parameter
specifies the first target velocity.
Velocity limitation 1
In the operating mode T, this parameter
specifies the first velocity limitation.

0.1rpm
-60000
10000
60000
Decimal

s32
RW
per.

Modbus 212h
CANopen
4109h

P1-10
SP2

Target Velocity/Velocity Limitation 2
Applicable operating mode: V, T
Target velocity 2
In the operating mode V, this parameter
specifies the second target velocity.
Velocity limitation 2
In the operating mode T, this parameter
specifies the second velocity limitation.

0.1rpm
-60000
20000
60000
Decimal

s32
RW
per.

Modbus 214h
CANopen
410 Ah

P1-11
SP3

Target Velocity/Velocity Limitation 3
Applicable operating mode: V, T
Target velocity 3
In the operating mode V, this parameter
specifies the third target velocity.
Velocity limitation 3
In the operating mode T, this parameter
specifies the third velocity limitation.

0.1rpm
-60000
30000
60000
Decimal

s32
RW
per.

Modbus 216h
CANopen
410Bh

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-12
TQ1

Target Torque/Torque Limitation 1
Applicable operating mode: PT, PS, V, T
Target torque 1 in percent of nominal
current
In the operating mode T, this parameter
specifies the first target torque.
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.

%
-300
100
300
Decimal

s16
RW
per.

Modbus 218h
CANopen
410Ch

P1-13
TQ2

Target Torque/Torque Limitation 2
Applicable operating mode: PT, PS, V, T
Target torque 2 in percent of nominal
current
In the operating mode T, this parameter
specifies the second target torque.
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.

%
-300
100
300
Decimal

s16
RW
per.

Modbus 21 Ah
CANopen
410Dh

P1-14
TQ3

Target Torque/Torque Limitation 3
Applicable operating mode: PT, PS, V, T
Target torque 3 in percent of nominal
current
In the operating mode T, this parameter
specifies the third target torque.
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.

%
-300
100
300
Decimal

s16
RW
per.

Modbus 21Ch
CANopen
410Eh

P1-15
LINELOSSMODE

Mains Phase Monitoring - Response to
Missing Mains Phase
Applicable operating mode: PT, PS, V, T
This parameter specifies the response of
the drive if the mains phase monitoring
function detects an error.
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

0
0
2
Decimal

u16
RW
per.

Modbus 21Eh
CANopen
410Fh

P1-16
LINELOSSRECOVER

Mains Phase Monitoring - Fault Reset
Applicable operating mode: PT, PS, V, T
This parameter specifies the type of Fault
Reset after a detected mains phase error
has been removed.
Value 0: No automatic Fault Reset
Value 1: Automatic Fault Reset

0
0
1
Decimal

u16
RW
per.

Modbus 220h
CANopen
4110h

241

Parameters

242

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-17
LINELOSSTYPE

Mains Phase Monitoring - Type
Applicable operating mode: PT, PS, V, T
This parameter specifies the type of mains
phase monitoring
Value 0: No mains phase monitoring
Value 1: Mains phase monitoring singlephase connection
Value 2: Mains phase monitoring threephase connection

0
0
2
Decimal

u16
RW
per.

Modbus 222h
CANopen
4111h

P1-18

Reserved

–

P1-19
DISTIME

Active Disable - Delay Time Power Stage
Applicable operating mode: PT, PS, V, T
This parameter specifies the delay time
between standstill of the motor and
disabling the power stage.

ms
0
0
6500
Decimal

u16
RW
per.

Modbus 226h
CANopen
4113h

P1-20
ESTOPILIM

Current Limit During Quick Stop
Applicable operating mode: PT, PS, V
This parameter specifies the maximum
current during a Quick Stop (expressed as
factor of P1-78).

0.001
1
1000
1000
Decimal

s16
RW
per.

Modbus 228h
CANopen
4114h

P1-21
FOLD

Status of Foldback Current Drive
Applicable operating mode: PT, PS, V, T
This parameter indicates whether the
foldback current limit is greater than or less
than the maximum current of the drive (see
P1-78).
Value 0: Foldback current limit greater than
P1-78
Value 1: Foldback current limit is less than
P1-78

0
1
Decimal

u16
RO
-

Modbus 22 Ah
CANopen
4115h

P1-22
IFOLD

Foldback Current Limit - Drive
Applicable operating mode: PT, PS, V, T
Drive foldback current limit

0.01 A
0
30000
Decimal

u32
RO
-

Modbus 22Ch
CANopen
4116h

P1-23
IFOLDFTHRESH

Current Monitoring Drive - Detected Error
Threshold Foldback Current
Applicable operating mode: PT, PS, V, T
This parameter specifies the threshold
value used by the drive current monitoring
function to detect a drive foldback current
error.

0.01 A
0
30000
Decimal

u32
RW
per.

Modbus 22Eh
CANopen
4117h

P1-24
IFOLDWTHRESH

Current Monitoring Drive - Alert Threshold
Foldback Current
Applicable operating mode: PT, PS, V, T
This parameter specifies the threshold
value used by the drive current monitoring
function to trigger a drive foldback current
alert.

0.01 A
0
30000
Decimal

u32
RW
per.

Modbus 230h
CANopen
4118h

P1-25

Reserved

–

P1-26
MIFOLD

Foldback Current Limit - Motor
Applicable operating mode: PT, PS, V, T
Motor foldback current limit

0.01 A
0
30000
Decimal

u32
RO
-

Modbus 234h
CANopen
411 Ah

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-27
MIFOLDFTHRESH

Motor Current Monitoring - Detected Error
Threshold Foldback Current
Applicable operating mode: PT, PS, V, T
This parameter specifies the threshold
value used by the motor current monitoring
function to detect a motor foldback current
error.

0.01 A
0
30000
Decimal

u32
RW
per.

Modbus 236h
CANopen
411Bh

P1-28
MIFOLDWTHRESH

Motor Current Monitoring - Alert Threshold
Foldback Current
Applicable operating mode: PT, PS, V, T
This parameter specifies the threshold
value used by the motor current monitoring
function to trigger a motor foldback current
alert.

0.01 A
0
30000
Decimal

u32
RW
per.

Modbus 238h
CANopen
411Ch

P1-29
OVTHRESH

DC Bus Overvoltage Monitoring Threshold
Applicable operating mode: PT, PS, V, T
This parameter specifies the threshold
value used by the DC bus overvoltage
monitoring function.

V
Decimal

u16
RO
-

Modbus 23 Ah
CANopen
411Dh

P1-30
COMMERRMAXCNT

Commutation Monitoring - Maximum
Counter Value
Applicable operating mode: PT, PS, V, T

ms
0
0
0
Decimal

u16
RW
-

Modbus 23Ch
CANopen
411Eh

P1-32
LSTP

Stop Method
Applicable operating mode: PT, PS, V
This parameter specifies how the motor is
stopped if the power stage is to be disabled
(includes signal input function OPST) or if
an error is detected.
Value 0h: Deceleration ramp
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.

0h
0h
20h
Hexadecimal

u16
RW
per.

Modbus 240h
CANopen
4120h

243

Parameters

244

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-34
TACC

Acceleration Period
Applicable operating mode: PT, V
The acceleration period is the time in
milliseconds required to accelerate from
motor standstill to 6000 rpm.
For operating mode V, this parameter
specifies the acceleration.
For operating mode PT, this parameter
specifies an acceleration limitation for the
pulses at the PTI interface.

ms
6
30
65500
Decimal

u16
RW
per.

Modbus 244h
CANopen
4122h

P1-35
TDEC

Deceleration Period
Applicable operating mode: PT, V
The deceleration period is the time in
milliseconds required to decelerate from
6000 rpm to motor standstill.
For operating mode V, this parameter
specifies the deceleration.
For operating mode PT, this parameter
specifies a deceleration limitation for the
pulses at the PTI interface.

ms
6
30
65500
Decimal

u16
RW
per.

Modbus 246h
CANopen
4123h

P1-37
LMJR

Ratio of Load Inertia to Motor Inertia
Applicable operating mode: PT, PS, V, T
This parameter specifies the ratio of load
inertia to motor inertia (J_load / J_motor).
J_load: Total moment of inertia of external
mechanical load
J_motor: Moment of inertia of motor

0.1
0
10
20000
Decimal

u32
RW
per.

Modbus 24 Ah
CANopen
4125h

P1-38
ZSPD

Signal Output Function ZSPD / Signal Input
Function ZCLAMP - Velocity
Applicable operating mode: PT, PS, V, T
This parameter specifies the velocity for the
signal output function ZSPD. The signal
output function ZSPD indicates that the
velocity of the motor is less than the
velocity value set via this parameter.
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.

0.1rpm
0
100
2000
Decimal

s32
RW
per.

Modbus 24Ch
CANopen
4126h

P1-39
SSPD

Signal Output Function TSPD - Velocity
Applicable operating mode: PT, PS, V, T
This parameter specifies the velocity for the
signal output function TSPD. The signal
output function TSPD indicates that the
velocity of the motor is greater than the
velocity value set via this parameter.

rpm
0
3000
5000
Decimal

u32
RW
per.

Modbus 24Eh
CANopen
4127h

P1-40
VCM

Velocity Target Value and Velocity
Limitation 10 V
Applicable operating mode: PT, PS, V, T
In the operating mode V, this parameter
specifies the target velocity that
corresponds to the maximum input voltage
of 10 V.
In the operating mode T, this parameter
specifies 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.

rpm
0
10001
Decimal

s32
RW
per.

Modbus 250h
CANopen
4128h

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-41
TCM

Torque Target Value and Torque Limitation
10 V
Applicable operating mode: PT, PS, V, T
In the operating mode T, this parameter
specifies the target torque that
corresponds to the maximum input voltage
of 10 V.
In the operating modes PT, PS and V, this
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 changed if power stage
is disabled.

%
0
100
1000
Decimal

u16
RW
per.

Modbus 252h
CANopen
4129h

P1-42
MBT1

Delay Time of Holding Brake
Applicable operating mode: PT, PS, V, T
This parameter specifies the time between
enabling the power stage and starting a
movement (opening time for the holding
brake).

ms
0
0
1000
Decimal

u16
RW
per.

Modbus 254h
CANopen
412 Ah

P1-44
GR1

Electronic Gear Ratio - Numerator 1
Applicable operating mode: PT, PS
This parameter is used to set the
numerator of the gear ratio. The
denominator of the gear ratio is set via P145.
In the operating mode PS, the value of this
parameter can only be changed when the
power stage is disabled.

1
128
536870911
Decimal

u32
RW
per.

Modbus 258h
CANopen
412Ch

P1-45
GR2

Electronic Gear Ratio - Denominator
Applicable operating mode: PT, PS
This parameter is used to set the
denominator of the gear ratio. The
numerator of the gear ratio is set via P1-44.
Setting can only be changed if power stage
is disabled.

1
10
2147483647
Decimal

u32
RW
per.

Modbus 25 Ah
CANopen
412Dh

P1-46
ENCOUTRES

Encoder Simulation Resolution
Applicable operating mode: PT, PS, V, T
This parameter specifies the number of
increments (AB signal) per revolution.
The calculation of the range of this
parameter depends on the value of P1-55.
Setting can only be changed if power stage
is disabled.

LPR
2048
Decimal

s32
RW
per.

Modbus 25Ch
CANopen
412Eh

P1-47
SPOK

Signal Output Function SP_OK - Velocity
Applicable operating mode: V
This parameter specifies the velocity
deviation window for the signal output
function SP_OK. The signal output function
SP_OK indicates that actual velocity is
within the velocity deviation window.

rpm
0
10
300
Decimal

u32
RW
per.

Modbus 25Eh
CANopen
412Fh

245

Parameters
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-48
MCOK

Signal Output Function MC_OK - Settings
Applicable operating mode: PS
This parameter specifies the behavior of
the signal output function MC_OK after it
has been activated. The signal output
function MC_OK indicates that both the
signal output functions CMD_OK and
TPOS have been activated. In addition,
you can specify whether a detected
position deviation is to trigger a detected
error.

0h
0h
21h
Hexadecimal

u16
RW
per.

Modbus 260h
CANopen
4130h

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
Value 2: Detected error

246

P1-52
REGENRES

Braking Resistor - Resistance
Applicable operating mode: PT, PS, V, T
This parameter is used to set the
resistance of the braking resistor.
Value -1: No braking resistor

Ohm
-1
32767
Decimal

s16
RW
per.

Modbus 268h
CANopen
4134h

P1-53
REGENPOW

Braking Resistor - Power
Applicable operating mode: PT, PS, V, T
This parameter is used to set the power of
the braking resistor.
Value -1: No braking resistor

W
-1
32767
Decimal

s16
RW
per.

Modbus 26 Ah
CANopen
4135h

P1-54
PER

Signal Output Function TPOS - Trigger
Value
Applicable operating mode: PT, PS
This parameter specifies the position
deviation value used to activate the signal
output function TPOS.
Operating mode PT: The signal output
function 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.

PUU
0
12800
1280000
Decimal

u32
RW
per.

Modbus 26Ch
CANopen
4136h

P1-55
VLIM

Maximum Velocity - User-Defined
Applicable operating mode: PT, PS, V, T
This parameter specifies the maximum
velocity. Factory setting: maximum motor
speed.
Setting can only be changed if power stage
is disabled.

rpm
10
6000
Decimal

u32
RW
per.

Modbus 26Eh
CANopen
4137h

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-57
CRSHA

Torque Monitoring - Torque Value
Applicable operating mode: PT, PS, V, T
This parameter is used to configure the
torque monitoring function. The torque
monitoring function detects an error
(AL030) if the torque value set via this
parameter is exceeded for a period of time
set via P1-58.

%
0
0
300
Decimal

u16
RW
per.

Modbus 272h
CANopen
4139h

P1-58
CRSHT

Torque Monitoring - Time Value
Applicable operating mode: PT, PS, V, T
This parameter is used to configure the
torque monitoring function. The torque
monitoring function detects an error
(AL030) if the torque value set via P1-57 is
exceeded for a period of time set via this
parameter.

ms
1
1
1000
Decimal

u16
RW
per.

Modbus 274h
CANopen
413 Ah

P1-59
VELCMDMOVEAVG

S Curve Filter for Operating Mode Velocity
Applicable operating mode: V
This parameter specifies the moving
average time in [us] for the S curve filter in
the operating mode Velocity. The value of
this parameter must be a multiple of 125.
This filter changes a linear acceleration into
an S curve.
Setting can only be changed if power stage
is disabled.

us
0
0
255875
Decimal

u32
RW
per.

Modbus 276h
CANopen
413Bh

P1-60
COMMERRTTHRESH

Commutation Monitoring - Time Threshold ms
Applicable operating mode: PT, PS, V, T
0
0
3000
Decimal

u16
RW
per.

Modbus 278h
CANopen
413Ch

P1-61
COMMERRVTHRESH

Commutation Monitoring - Velocity
Threshold
Applicable operating mode: PT, PS, V, T

0.1rpm
0
600
60000
Decimal

u32
RW
per.

Modbus 27 Ah
CANopen
413Dh

P1-62
THERMODE

Motor Overtemperature Monitoring Response
Applicable operating mode: PT, PS, V, T
This parameter specifies the response of
the drive if the temperature monitoring
function detects motor overtemperature.
Value 0: Disable power stage immediately
Value 3: Ignore overtemperature
Value 4: Alert
Value 5: Alert first, then detected error if
condition persists after P1-63

0
0
5
Decimal

u16
RW
per.

Modbus 27Ch
CANopen
413Eh

P1-63
THERMTIME

Motor Overtemperature Monitoring - Delay
Time
Applicable operating mode: PT, PS, V, T
This parameter specifies the delay time
between the detection of motor
overtemperature and the transition to the
operating state Fault (see P1-62).

s
0
30
300
Decimal

u16
RW
per.

Modbus 27Eh
CANopen
413Fh

247

Parameters

248

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-64
UVMODE

Undervoltage Monitoring - Response
Applicable operating mode: PT, PS, V, T
This parameter specifies the response of
the drive if the undervoltage monitoring
function detects undervoltage.
Value 0: Detected error
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)

0
0
3
Decimal

u16
RW
per.

Modbus 280h
CANopen
4140h

P1-65

Reserved

–

P1-66
MFOLD

Status of Foldback Current Motor
Applicable operating mode: PT, PS, V, T
This parameter indicates whether the
foldback current limit is greater than or less
than the maximum current of the motor
(see P1-78).
Value 0: Foldback current limit greater than
P1-78
Value 1: Foldback current limit is less than
P1-78

0
1
Decimal

u16
RO
-

Modbus 284h
CANopen
4142h

P1-67
UVTIME

Undervoltage Monitoring - Delay Time
Applicable operating mode: PT, PS, V, T
This parameter specifies the delay time
between the detection of an undervoltage
condition (displayed as "u")and the
response of the drive to this condition as
specified in P1-64.

s
0
30
300
Decimal

u16
RW
per.

Modbus 286h
CANopen
4143h

P1-68
DECSTOP

Active Disable - Deceleration Ramp
Applicable operating mode: PT, PS, V
This parameter specifies the deceleration
ramp for a power stage Disable request,
see P1-32.

ms
6
30
65500
Decimal

u16
RW
per.

Modbus 288h
CANopen
4144h

P1-69
DECSTOPTIME

Disable - Deceleration Time
Applicable operating mode: PT, PS, V
This parameter specifies the deceleration
ramp for a power stage Disable request,
see P1-32. If the value of this parameter is
not 0, this parameter overrides P1-68.
Setting can only be changed if power stage
is disabled.

ms
0
0
6500
Decimal

u16
RW
per.

Modbus 28 Ah
CANopen
4145h

P1-70
IMAXHALT

Signal Input Function HALT - Maximum
Current
Applicable operating mode: T
This parameter specifies the maximum
current for the signal input function Halt.
The maximum value for this parameter is
the value of P1-79.

0.01 A
0
Decimal

u32
RW
per.

Modbus 28Ch
CANopen
4146h

P1-71
REGENMAXONTIME

Braking Resistor - Maximum Time in
Braking
Applicable operating mode: PT, PS, V, T
This parameter specifies the maximum
time in braking for the braking resistor. The
maximum time in braking is the maximum
period of time during which the braking
resistor may be activated.

ms
10
40
100
Decimal

u16
RW
per.

Modbus 28Eh
CANopen
4147h

EIO0000002305 04/2017

Parameters
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-72
REGENFLTMODE

Braking Resistor Overload Monitoring Response
Applicable operating mode: PT, PS, V, T
This parameter specifies the response of
the drive if the braking resistor overload
monitoring function detects braking resistor
overload.
Value 0: Alert
Value 1: Detected error

0
0
1
Decimal

u16
RW
per.

Modbus 290h
CANopen
4148h

P1-78
ILIM

User-Defined Maximum Current
Applicable operating mode: PT, PS, V, T
This parameter is specifies a user-defined
maximum current for the drive. The
maximum value of this parameter is the
value of P1-79.

0.01 A
Decimal

u32
RW
per.

Modbus 29Ch
CANopen
414Eh

P1-79
IMAX

Maximum Current
Applicable operating mode: PT, PS, V, T
This parameter indicates the maximum
current for a drive / motor combination.

0.01 A
Decimal

u32
RO
-

Modbus 29Eh
CANopen
414Fh

P1-80
DIPEAK

Maximum Peak Current
Applicable operating mode: PT, PS, V, T
This parameter indicates the maximum
peak current of the drive.

0.01 A
Decimal

u32
RO
-

Modbus 2A0h
CANopen
4150h

P1-81
DICONT

Nominal Current
Applicable operating mode: PT, PS, V, T
This parameter indicates the nominal
current of the drive.

0.01 A
Decimal

u32
RO
-

Modbus 2A2h
CANopen
4151h

P1-82
CANOPEN_VEL_LIMIT

Velocity limitation for CANopen operating
mode Profile Torque
Applicable operating mode: Fieldbus mode
The limitation is effective only if P1-02 is set
to 0x0001.
Value 0: Limitation via analog input
Value 1: Limitation via P1-09
Value 2: Limitation via P1-10
Value 3: Limitation via P1-11

0
0
3
Decimal

u16
RW
per.

Modbus 2A4h
CANopen
4152h

P1-84
CFG_MOTOR

Configured motor type
Applicable operating mode: PT, PS, V, T

0
2147483647
Decimal

u32
RW
per.

Modbus 2A8h
CANopen
4154h

0
0
3
Decimal

u16
RW
per.

Modbus 2AAh
CANopen
4155h

P1-85
Torque Limit For CANopen Modes
CANOPEN_TRQ_LIMIT Applicable operating mode: Fieldbus mode
The limitation is effective only if P1-02 is set
to 0x0010.
Value 0: Limitation via analog input
Value 1: Limitation via P1-12
Value 2: Limitation via P1-13
Value 3: Limitation via P1-14

EIO0000002305 04/2017

249

Parameters

P2 - Extended Parameters
P2 - Extended Parameters
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P2-01
PPR

Gain Switching - Rate for Position Loop
Applicable operating mode: PT, PS
This parameter specifies the gain switching
rate for the position loop. The gain
switching function is configured via this
parameter and parameters P2-05, P2-27
and P2-29.

%
10
100
500
Decimal

u16
RW
per.

Modbus 302h
CANopen 4201h

P2-05
SPR

Gain Switching - Rate for Velocity Loop
Applicable operating mode: PT, PS, V, T
This parameter specifies the gain switching
rate for the velocity loop. The gain
switching function is configured via this
parameter and parameters P2-01, P2-27
and P2-29.

%
10
100
500
Decimal

u16
RW
per.

Modbus 30 Ah
CANopen 4205h

P2-08
PCTL

Factory Reset / Save Parameters
Applicable operating mode: PT, PS, V, T
This parameter provides the following
functions:
- Reset the parameters to the factory
settings
- Save the current parameter values

0
0
406
Decimal

u16
RW
-

Modbus 310h
CANopen 4208h

Changes to this parameter are only
possible when the power stage is disabled.
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

250

P2-09
DRT

Debounce Time - Inputs
Applicable operating mode: PT, PS, V, T
This parameter specifies the debounce
time for the digital inputs DI1 ... DI5 and
DI8. See P2-24 for the debounce time for
the fast digital inputs DI6 and DI7.

ms
0
2
20
Decimal

u16
RW
per.

Modbus 312h
CANopen 4209h

P2-10
DITF1

Signal Input Function for DI1
Applicable operating mode: PT, PS, V, T
The parameters P2-10 ... P2-17 are used
to assign signal input functions to the digital
inputs DI1 ... DI8 and to configure the type
of digital input (normally closed, normally
open).
A: Signal input functions:
For the values, refer to chapter Setting the
Digital Signal Inputs (see page 300).
B: Type:
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 changed.
Forcing of digital inputs is configured via
P3-06 and activated via P4-07.
Setting can only be changed if power stage
is disabled.

0h
100h
146h
Hexadecimal

u16
RW
per.

Modbus 314h
CANopen 420 Ah

EIO0000002305 04/2017

Parameters
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P2-11
DITF2

Signal Input Function for DI2
Applicable operating mode: PT, PS, V, T
See P2-10 for details.
Setting can only be changed if power stage
is disabled.

0h
100h
146h
Hexadecimal

u16
RW
per.

Modbus 316h
CANopen 420Bh

P2-12
DITF3

Signal Input Function for DI3
Applicable operating mode: PT, PS, V, T
See P2-10 for details.
Setting can only be changed if power stage
is disabled.

0h
100h
146h
Hexadecimal

u16
RW
per.

Modbus 318h
CANopen 420Ch

P2-13
DITF4

Signal Input Function for DI4
Applicable operating mode: PT, PS, V, T
See P2-10 for details.
Setting can only be changed if power stage
is disabled.

0h
100h
146h
Hexadecimal

u16
RW
per.

Modbus 31 Ah
CANopen 420Dh

P2-14
DITF5

Signal Input Function for DI5
Applicable operating mode: PT, PS, V, T
See P2-10 for details.
Setting can only be changed if power stage
is disabled.

0h
24h
146h
Hexadecimal

u16
RW
per.

Modbus 31Ch
CANopen 420Eh

P2-15
DITF6

Signal Input Function for DI6
Applicable operating mode: PT, PS, V, T
See P2-10 for details.
Setting can only be changed if power stage
is disabled.

0h
22h
146h
Hexadecimal

u16
RW
per.

Modbus 31Eh
CANopen 420Fh

P2-16
DITF7

Signal Input Function for DI7
Applicable operating mode: PT, PS, V, T
See P2-10 for details.
Setting can only be changed if power stage
is disabled.

0h
23h
146h
Hexadecimal

u16
RW
per.

Modbus 320h
CANopen 4210h

P2-17
DITF8

Signal Input Function for DI8
Applicable operating mode: PT, PS, V, T
See P2-10 for details.
Setting can only be changed if power stage
is disabled.

0h
21h
146h
Hexadecimal

u16
RW
per.

Modbus 322h
CANopen 4211h

P2-18
DOTF1

Signal Output Function for DO1
Applicable operating mode: PT, PS, V, T
The parameters P2-18 ... P2-22 are used
to assign signal output functions to the
digital outputs DO1 ... DO5 and to
configure the type of digital output
(normally closed, normally open).

0h
101h
137h
Hexadecimal

u16
RW
per.

Modbus 324h
CANopen 4212h

A: Signal output functions:
For the values, refer to chapter Setting the
Digital Signal Outputs (see page 306).
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.

EIO0000002305 04/2017

251

Parameters

252

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P2-19
DOTF2

Signal Output Function for DO2
Applicable operating mode: PT, PS, V, T
See P2-18 for details.

0h
100h
137h
Hexadecimal

u16
RW
per.

Modbus 326h
CANopen 4213h

P2-20
DOTF3

Signal Output Function for DO3
Applicable operating mode: PT, PS, V, T
See P2-18 for details.

0h
100h
137h
Hexadecimal

u16
RW
per.

Modbus 328h
CANopen 4214h

P2-21
DOTF4

Signal Output Function for DO4
Applicable operating mode: PT, PS, V, T
See P2-18 for details.

0h
100h
137h
Hexadecimal

u16
RW
per.

Modbus 32 Ah
CANopen 4215h

P2-22
DOTF5

Signal Output Function for DO5
Applicable operating mode: PT, PS, V, T
See P2-18 for details.

0h
7h
137h
Hexadecimal

u16
RW
per.

Modbus 32Ch
CANopen 4216h

P2-23
DOTF6

Signal Output Function for DO6(OCZ)
Applicable operating mode: PT, PS, V, T
Only the signal output function ESIM can
be assigned to the digital output
DO6(OCZ). Use P2-18 … P2-22 for
assigning other signal output functions to
the other digital outputs DO1 … DO5.
See P2-18 for details.

0h
40h
137h
Hexadecimal

u16
RW
per.

Modbus 32Eh
CANopen 4217h

P2-24
FDRT

Debounce Time - Fast Inputs
Applicable operating mode: PT, PS, V, T
This parameter specifies the debounce
time for the digital inputs DI6 and DI7. See
P2-09 for the debounce time for the digital
inputs DI1 ... DI5 and DI8.

us
0
50
100
Decimal

u16
RW
per.

Modbus 330h
CANopen 4218h

EIO0000002305 04/2017

Parameters
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P2-27
GCC

Gain Switching - Conditions and Type
Applicable operating mode: PT, PS, V, T
This parameter specifies the conditions for
and the type of gain switching. The gain
switching function is configured via this
parameter and parameters P2-01, P2-05
and P2-29.

0h
0h
18h
Hexadecimal

u16
RW
per.

Modbus 336h
CANopen 421Bh

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 P229
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

EIO0000002305 04/2017

P2-29
GPE

Gain Switching - Comparison Value
Applicable operating mode: PT, PS, V, T
This parameter specifies the comparison
value used for the conditions for gain
switching. Depending on the selected
condition, the value entered represents the
number of pulses (position 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.

0h
138800h
3A9800h
Hexadecimal

u32
RW
per.

Modbus 33 Ah
CANopen 421Dh

P2-30
INH

Auxiliary Functions
Applicable operating mode: PT, PS, V, T
Value 0: Disabled
Value 1: Enable the power stage

-8
0
8
Decimal

s16
RW
-

Modbus 33Ch
CANopen 421Eh

P2-31
LTNEFFORT

Autotuning Optimization Value Threshold 0.001
100
Applicable operating mode: PT, PS, V
This parameter is used to change the gain. 1000
10000
Decimal

u32
RW
-

Modbus 33Eh
CANopen 421Fh

253

Parameters
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P2-32
ATMODE

0
0
56
Decimal

u16
RW
-

Modbus 340h
CANopen 4220h

P2-34
VEMAX

Velocity Monitoring - Threshold Value
Applicable operating mode: V
This parameter specifies the velocity
threshold for the velocity monitoring
function. If this value is exceeded, error
AL555 is detected.

0.1rpm
0
50000
60000
Decimal

u32
RW
per.

Modbus 344h
CANopen 4222h

P2-35
PDEV

Position Deviation Monitoring - Threshold
Value
Applicable operating mode: PT, PS
This parameter specifies the position
deviation threshold for the position
deviation monitoring function. If this value
is exceeded, error AL009 is detected.

PUU
1
100000
128000000
Decimal

u32
RW
per.

Modbus 346h
CANopen 4223h

P2-36
PT_PULSE_FLTR

PTI Interface Debounce Time - Pulse
Applicable operating mode: PT, PS, V, T
This parameter specifies the debounce
time of the pulse input of the PTI interface.

16.6666*ns
0
30
511
Decimal

u16
RO
-

Modbus 348h
CANopen 4224h

16.6666*ns
0
30
511
Decimal

u16
RO
-

Modbus 34 Ah
CANopen 4225h

P2-37
PTI Interface Debounce Time - Direction
PT_DIRECT_FLTR Applicable operating mode: PT, PS, V, T
This parameter specifies the debounce
time of the direction input of the PTI
interface.

254

P2-44
AUTOR_DOMS

Status of Data Set Sequences in Operating
Mode PS
Applicable operating mode: PS
This parameter provides information on the
status of the sequence of data sets
processed with the signal input functions.
Value 0: The functions assigned to the
digital outputs DO1 … DO6 via the
parameters P2-18 … P2-23 are active.
Value 1: 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
(see page 335) for details.

0h
0h
1h
Hexadecimal

u16
RW
per.

Modbus 358h
CANopen 422Ch

P2-50
DCLR

Signal Input Function CLRPOS - Trigger
Applicable operating mode: PT, PS
This parameter specifies how the signal
input function CLRPOSDEV is triggered.
The signal input function CLRPOSDEV
resets the position deviation to zero.
Value 0: Rising edge
Value 1: Level

0h
0h
1h
Hexadecimal

u16
RW
per.

Modbus 364h
CANopen 4232h

EIO0000002305 04/2017

Parameters
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P2-60
GR2

Electronic Gear Ratio - Numerator 2
Applicable operating mode: PT, PS
This parameter can be used to set an
additional gear ratio. The additional gear
ratio can be selected via the signal input
functions GNUM0 and GNUM1.
See P1-44 for details.

1
128
536870911
Decimal

u32
RW
per.

Modbus 378h
CANopen 423Ch

P2-61
GR3

Electronic Gear Ratio - Numerator 3
Applicable operating mode: PT, PS
See P2-60 for details.

1
128
536870911
Decimal

u32
RW
per.

Modbus 37 Ah
CANopen 423Dh

P2-62
GR4

Electronic Gear Ratio - Numerator 4
Applicable operating mode: PT, PS
See P2-60 for details.

1
128
536870911
Decimal

u32
RW
per.

Modbus 37Ch
CANopen 423Eh

P2-65
GBIT

Special Function 1
Applicable operating mode: PT, PS, V
Bits 0 … 5: Reserved (must be set to 0).
Bit 6: Reference pulse monitoring
 0: Function activated
 1: Function deactivated

0h
200h
3FC0h
Hexadecimal

u16
RW
per.

Modbus 382h
CANopen 4241h

Bits 7 … 8: Reserved (must be set to 0).
Bit 9: Motor phase monitoring
 0: Function deactivated
 1: Function activated
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.
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.
P2-65(continued)

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
Bits 14 … 15: Reserved (must be set to 0).

EIO0000002305 04/2017

255

Parameters
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P2-66
GBIT2

Special Function 2
Applicable operating mode: PT, PS, V, T
Bits 0 … 1: Reserved (must be set to 0).
Bit 2: This bit specifies the type of Fault
Reset after a detected undervoltage error
has been removed.
0: No automatic Fault Reset
1: Automatic Fault Reset
Bits 3 … 7: Reserved (must be set to 0).

0
0
4
Decimal

u16
RW
per.

Modbus 384h
CANopen 4242h

P2-68
AEAL

Auto-Enable and Automatic Hardware
Limit Switch Fault Reset
Applicable operating mode: PT, PS, V, T

0h
0h
111h
Hexadecimal

u16
RW
per.

Modbus 388h
CANopen 4244h

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: Repeated attempt to overtravel limit
switch (CANopen only)
0: No detected error
1: Detected error, Fault Reset required
Changed settings become active the next
time the product is powered on.

256

EIO0000002305 04/2017

Parameters

P3 - Communication Parameters
P3 - Communication Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P3-00
ADR

Device Address Modbus
Applicable operating mode: PT, PS, V, T
The device address must be unique.
Changed settings become active the next
time the product is powered on.

1
127
247
Decimal

u16
RW
per.

Modbus 400h
CANopen 4300h

P3-01
BRT

Transmission Rate
Applicable operating mode: PT, PS, V, T
This parameter is used to set the data
transmission rate.
For further information, refer to chapter
Setting the Device Address, Baud Rate and
Connection Settings (see page 203).
If this parameter is set via CANopen, only
the CANopen transmission rate can be set.
Changed settings become active the next
time the product is powered on.

0h
102h
405h
Hexadecimal

u16
RW
per.

Modbus 402h
CANopen 4301h

P3-02
PTL

Modbus Connection Settings
Applicable operating mode: PT, PS, V, T
This parameter specifies the Modbus
connection settings.
For further information, refer to chapter
Setting the Device Address, Baud Rate and
Connection Settings (see page 203).
Changed settings become active the next
time the product is powered on.

6h
7h
9h
Hexadecimal

u16
RW
per.

Modbus 404h
CANopen 4302h

P3-03
FLT

0h
0h
1h
Hexadecimal

u16
RW
per.

Modbus 406h
CANopen 4303h

P3-04
CWD

ms
0
0
20000
Decimal

u16
RW
per.

Modbus 408h
CANopen 4304h

P3-05
CMM

Device Address CANopen
Applicable operating mode: PT, PS, V, T
This parameter specifies the CANopen
address of the drive in decimal format.
The device address must be unique.
Changes to this parameter become
effective only after a restart of the drive.
Changed settings become active the next
time the product is powered on.

0
0
127
Decimal

u16
RW
per.

Modbus 40 Ah
CANopen 4305h

257

Parameters

258

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P3-06
SDI

Digital Inputs - Forcing Settings
Applicable operating mode: PT, PS, V, T
This parameter determines whether or not
a digital input can be forced.
Bits 0 ... 7: Digital input DI1 ... digital input
DI8
Bit settings:
Value 0: Digital input cannot be forced
Value 1: Digital input can be forced
To actually start forcing, you must write P407.
See P2-10 ... P2-17 for the assignment of
signal input functions to the digital inputs.

0h
0h
7FFh
Hexadecimal

u16
RW
-

Modbus 40Ch
CANopen 4306h

P3-07
CDT

Modbus Response Delay Time
Applicable operating mode: PT, PS, V, T
This parameter specifies the time delay
with which the drive responds to the
Modbus master.

0.5ms
0
0
1000
Decimal

u16
RW
per.

Modbus 40Eh
CANopen 4307h

P3-09
SYC

CANopen Master/Slave Synchronization
Applicable operating mode: Fieldbus mode
This parameter specifies synchronization
settings of the CANopen slave and the
CANopen master via the synchronization
signal.
Setting can only be changed if power stage
is disabled.

1001h
5055h
9FFFh
Hexadecimal

u16
RW
per.

Modbus 412h
CANopen 4309h

P3-10
LXM_PLC_EN

Drive Profile Lexium - Activation
Applicable operating mode: Fieldbus mode
0: Deactivate Drive Profile Lexium
1: Activate Drive Profile Lexium

0h
0h
1h
Hexadecimal

u16
RW
per.

Modbus 414h
CANopen
430 Ah

P3-11
DRIVE_INPUT

Drive Profile Lexium - State of Digital Inputs Applicable operating mode: Fieldbus mode 0h
0h
FFFFh
Hexadecimal

u16
RO
-

Modbus 416h
CANopen 430Bh

P3-12
DRIVE_MODE_CTRL

Drive Profile Lexium - Control Word
Applicable operating mode: Fieldbus mode 0h
0h
FFFFh
Hexadecimal

u16
RW
-

Modbus 418h
CANopen 430Ch

P3-13
REFA16

Drive Profile Lexium - RefA 16 Bit
8000h
Parameter
Applicable operating mode: Fieldbus mode 0h
7FFFh
Hexadecimal

s16
RW
-

Modbus 41 Ah
CANopen 430Dh

P3-14
REFB32

Drive Profile Lexium - RefB 32 Bit
80000000h
Parameter
Applicable operating mode: Fieldbus mode 0h
7FFFFFFFh
Hexadecimal

s32
RW
-

Modbus 41Ch
CANopen 430Eh

P3-15
DRIVE_STAT

Drive Profile Lexium - Drive Status
Applicable operating mode: Fieldbus mode 0h
0h
FFFFh
Hexadecimal

u16
RO
-

Modbus 41Eh
CANopen 430Fh

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

P3-16
MF_STAT

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

Drive Profile Lexium - Operating Mode
0h
Status
Applicable operating mode: Fieldbus mode 0h
FFFFh
Hexadecimal

u16
RO
-

Modbus 420h
CANopen 4310h

P3-17
MOTION_STAT

Drive Profile Lexium - Motion Status
Applicable operating mode: Fieldbus mode 0h
0h
FFFFh
Hexadecimal

u16
RO
-

Modbus 422h
CANopen 4311h

P3-18
PEVM1

PDO Event Mask 1
Applicable operating mode: Fieldbus mode
Changes of values in the object trigger an
event:
Bit 0: First PDO object
Bit 1: Second PDO object
Bit 2: Third PDO object
Bit 3: Fourth PDO object

0h
1h
Fh
Hexadecimal

u16
RW
per.

Modbus 424h
CANopen 4312h

P3-19
PEVM2

PDO Event Mask 2
Applicable operating mode: Fieldbus mode 0h
See P3-18 for details.
1h
Fh
Hexadecimal

u16
RW
per.

Modbus 426h
CANopen 4313h

P3-20
PEVM3

PDO Event Mask 3
Applicable operating mode: Fieldbus mode 0h
See P3-18 for details.
1h
Fh
Hexadecimal

u16
RW
per.

Modbus 428h
CANopen 4314h

P3-21
PEVM4

PDO Event Mask 4
Applicable operating mode: Fieldbus mode 0h
See P3-18 for details.
Fh
Fh
Hexadecimal

u16
RW
per.

Modbus 42 Ah
CANopen 4315h

P3-30
INTRN_LIM_SRC

Setting for Bit 11 of parameter
Statusword 6041h
Applicable operating mode: PT, PS, V, T
This parameter assigns a status
information to bit 11 (internal limit active) of
the parameter Statusword 6041h.
Value 0: None: Not used (reserved)
Value 1: Current Below Threshold: Current
threshold value
Value 2: Velocity Below Threshold:
Velocity threshold value
Value 3: In Position Deviation Window:
Position deviation window
Value 4: In Velocity Deviation Window:
Velocity deviation window
Value 9: Hardware Limit Switch: Hardware
limit switch
Value 11: Position Window: Position
window

0
0
11
Decimal

u16
RW
per.

Modbus 43Ch
CANopen 431Eh

P3-32
SOD2RTSO

Automatic operating state transition from
Switch On Disabled to Ready To Switch On
Applicable operating mode: PT, PS, V, T
Value 0: Automatic transition
Value 1: Transition according to value of
CANopen control word

0h
0h
1h
Hexadecimal

u16
RW
per.

Modbus 440h
CANopen 4320h

259

Parameters

P4 - Diagnostics Parameters
P4 - Diagnostics Parameters

260

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P4-00
ASH1

Error History - Error Code of Most
Recent Detected Error n
Applicable operating mode: PT, PS, V,
T
This parameter indicates the error code
of the most recent detected error.
Writing 0 to this parameter clears the
error history.

0h
0h
0h
Hexadecimal

u16
RW
-

Modbus 500h
CANopen 4400h

P4-01
ASH2

Error History - Error Code of Most
Recent Detected Error n - 1
Applicable operating mode: PT, PS, V,
T
This parameter indicates the error code
of the detected error n-1, n being the
most recent detected error.

0h
0h
0h
Hexadecimal

u16
RO
-

Modbus 502h
CANopen 4401h

P4-02
ASH3

Error History - Error Code of Most
Recent Detected Error n - 2
Applicable operating mode: PT, PS, V,
T
This parameter indicates the error code
of the detected error n-2, n being the
most recent detected error.

0h
0h
0h
Hexadecimal

u16
RO
-

Modbus 504h
CANopen 4402h

P4-03
ASH4

Error History - Error Code of Most
Recent Detected Error n - 3
Applicable operating mode: PT, PS, V,
T
This parameter indicates the error code
of the detected error n-3, n being the
most recent detected error.

0h
0h
0h
Hexadecimal

u16
RO
-

Modbus 506h
CANopen 4403h

P4-04
ASH5

Error History - Error Code of Most
Recent Detected Error n - 4
Applicable operating mode: PT, PS, V,
T
This parameter indicates the error code
of the detected error n-4, n being the
most recent detected error.

0h
0h
0h
Hexadecimal

u16
RO
-

Modbus 508h
CANopen 4404h

P4-05
JOG

Jog Velocity
Applicable operating mode: PT, PS, V,
T
For further information, refer to chapter
Jog Operation (see page 321).

rpm
0
20
5000
Decimal

u32
RW
per.

Modbus 50 Ah
CANopen 4405h

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P4-06
FOT

Setting a signal output via parameter
Applicable operating mode: PT, PS, V,
T
This parameter lets you set those signal
outputs whose signal output functions
have been set to SDO_0 ... SDO_5.
Bit 0 = 1 sets those signal outputs
whose signal 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.

0h
0h
FFh
Hexadecimal

u16
RW
-

Modbus 50Ch
CANopen 4406h

P4-07
ITST

State of Digital Inputs / Activate Forcing
Applicable operating mode: PT, PS, V,
T
A read access to this parameter
indicates the state of the digital inputs in
the form of a bit pattern.
Example:
Read value 0x0011: Digital inputs 1 and
5 are logical 1
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 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.

0h
0h
FFh
Hexadecimal

u16
RW
-

Modbus 50Eh
CANopen 4407h

261

Parameters
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P4-08
PKEY

Status of HMI Keypad
Applicable operating mode: PT, PS, V,
T
This parameter is used to verify proper
operation of the keys on the HMI
keypad of the drive
As a bitwise:
 "1" - key is pressed,
 "0" - key is released.

0h
0h
FFh
Hexadecimal

u16
RO
-

Modbus 510h
CANopen 4408h

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

262

P4-09
MOT

State of Digital Outputs
Applicable operating mode: PT, PS, V,
T
This parameter indicates the state of
the digital outputs DO1…DO6.
Bit 0 = 1: DO1 is activated
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

0h
0h
3Fh
Hexadecimal

u16
RO
-

Modbus 512h
CANopen 4409h

P4-10
FLTHISTCLR

Clear Error History
Applicable operating mode: PT, PS, V,
T
Writing 0 to this parameter clears the
error history.

0
0
0
Decimal

u16
RW
-

Modbus 514h
CANopen 440 Ah

P4-22
ANIN1OFFSET

Analog Input 1 Offset
Applicable operating mode: V
This parameter specifies an offset for
the analog input used in operating
mode V.

mV
-10000
0
10000
Decimal

s16
RW
per.

Modbus 52Ch
CANopen 4416h

P4-23
ANIN2OFFSET

Analog Input 2 Offset
Applicable operating mode: T
This parameter specifies an offset for
the analog input used in operating
mode T.

mV
-10000
0
10000
Decimal

s16
RW
per.

Modbus 52Eh
CANopen 4417h

P4-24
LVL

Undervoltage Monitoring - Threshold
Value
Applicable operating mode: PT, PS, V,
T
This parameter specifies the threshold
value for DC bus undervoltage
monitoring. If the DC Bus voltage is less
than the value of P4-24 x 2, the error
AL003 is detected.

V
140
160
190
Decimal

u16
RW
per.

Modbus 530h
CANopen 4418h

P4-25
STO

Safety Function STO - Status
Applicable operating mode: PT, PS, V,
T
This parameter indicates the status of
the safety function STO.
Bit 0 = 0: Safety function STO triggered
Bit 0 = 1: Safety function STO not
triggered or deactivated via jumper at
CN9

0
1
Decimal

u16
RO
-

Modbus 532h
CANopen 4419h

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P4-26
DO_FORCEABLE

Digital Outputs - Forcing Information
Applicable operating mode: PT, PS, V,
T
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

1Fh
1Fh
1Fh
Hexadecimal

u16
RO
-

Modbus 534h
CANopen 441 Ah

P4-27
DO_FORCE_MASK

Digital Outputs - Forcing Settings
Applicable operating mode: PT, PS, V,
T
This parameter determines 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
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.

0h
0h
1Fh
Hexadecimal

u16
RW
-

Modbus 536h
CANopen 441Bh

P4-28
DO_FORCE_VALUE

State of Digital Outputs / Activate
Forcing
Applicable operating mode: PT, PS, V,
T
A read access to this parameter
indicates the state of the digital outputs
in the form of a bit pattern.
Example:
Read value 0x0011: Digital outputs 1
and 5 are logical 1
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 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.

0h
0h
1Fh
Hexadecimal

u16
RW
-

Modbus 538h
CANopen 441Ch

263

Parameters

P5 - Motion Settings
P5- Motion Settings

264

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P5-00
REV

Firmware Revision
Applicable operating mode: PT, PS, V,
T
This parameter contains the revision
number of the firmware.

0h
0h
FFFFh
Hexadecimal

u16
RO
-

Modbus 600h
CANopen 4500h

P5-04
HMOV

Homing - Homing Method Selection
Applicable operating mode: PS
This parameter is used to select the
homing method and configure the
behavior of the index pulse and the
limit switches.
For further information, refer to chapter
Operating Mode Position Sequence
(PS) (see page 329).
Setting can only be changed if power
stage is disabled.

0h
0h
128h
Hexadecimal

u16
RW
per.

Modbus 608h
CANopen 4504h

P5-05
HOMESPEED1

Homing - Fast Velocity for Reference
Movement
Applicable operating mode: PS

0.1rpm
10
1000
60000
Decimal

u32
RW
per.

Modbus 60 Ah
CANopen 4505h

P5-06
HOMESPEED2

Homing - Slow Velocity for Reference
Movement
Applicable operating mode: PS

0.1rpm
10
200
60000
Decimal

u32
RW
per.

Modbus 60Ch
CANopen 4506h

P5-07
PRCM

Operating Mode PS via Parameter
Applicable operating mode: PS
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
1000: 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)
(see page 329).

0
0
20032
Decimal

u16
RW
-

Modbus 60Eh
CANopen 4507h

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P5-08
POSLIMPOS

Positive Software Limit Switch Position
Applicable operating mode: PS
Prerequisite: Software limit switches
only work with a valid zero point.
Setting can only be changed if power
stage is disabled.

PUU
-2147483647
134217727
2147483647
Decimal

s32
RW
per.

Modbus 610h
CANopen 4508h

P5-09
POSLIMNEG

Negative Software Limit Switch Position
Applicable operating mode: PS
Prerequisite: Software limit switches
only work with a valid zero point.
Setting can only be changed if power
stage is disabled.

PUU
-2147483647
-134217727
2147483647
Decimal

s32
RW
per.

Modbus 612h
CANopen 4509h

P5-10
GEARACCTHRESH

Operating mode Pulse Train Maximum Acceleration
Applicable operating mode: PT
This parameter is used to reduce the
acceleration noise.

ms
6
6
65500
Decimal

u16
RW
per.

Modbus 614h
CANopen 450 Ah

P5-11
POSLIMHYST

Software Limit Switches - Hysteresis
Value
Applicable operating mode: PS
This parameter specifies a hysteresis
value for the software limit switches.
Setting can only be changed if power
stage is disabled.

PULSE
0
3556
35555
Decimal

u16
RW
per.

Modbus 616h
CANopen 450Bh

P5-12
PROBE_1_LVL_PRD

Touch Probe Input 1 - Stable Level
Duration
Applicable operating mode: PT, PS
This parameter specifies the period of
time for which the level at Touch Probe
input 1 must be stable.

31.25 μs
2
5
32
Decimal

u16
RW
per.

Modbus 618h
CANopen 450Ch

P5-13
POSLIMMODE

Software Limit Switches - Activation
Applicable operating mode: PS
This parameter activates/deactivates
the software limit switches configured
via P5-08 and P5-09.
Prerequisite: Software limit switches
only work with a valid zero point.
Value 0: Deactivate software limit
switches
Value 1: Activate software limit
switches
Value 2…3: Reserved

0
0
1
Decimal

u16
RW
per.

Modbus 61 Ah
CANopen 450Dh

P5-14
ICMDSLOPE

Motion Profile for Torque - Slope
Applicable operating mode: T
This parameter specifies the slope of
the motion profile for torque.

mA/s
1
100000
30000000
Decimal

u32
RW
per.

Modbus 61Ch
CANopen 450Eh

P5-15
ICMDSLOPEEN

Motion Profile for Torque - Activation
Applicable operating mode: T
This parameter activates the motion
profile for torque.
Value 0: Deactivate
Value 1: Activate
Setting can only be changed if power
stage is disabled.

0
0
1
Decimal

u16
RW
per.

Modbus 61Eh
CANopen 450Fh

265

Parameters

266

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P5-16
AXEN

Encoder Increments in PUU
Applicable operating mode: PT, PS, V,
T
Setting can only be changed if power
stage is disabled.
This parameter specifies an offset to
the encoder position.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
-

Modbus 620h
CANopen 4510h

P5-18
AXPC

External Encoder (Pulses)
Applicable operating mode: PT, PS, V,
T
This parameter contains the
cumulated pluses counted at the PTI
input since the drive has been
switched on.

-2147483648
2147483647
Decimal

s32
RO
-

Modbus 624h
CANopen 4512h

P5-20
STP

Deceleration Ramp - Signal Input
Function STOP
Applicable operating mode: PT, PS, V
This parameter specifies the
deceleration ramp for a stop triggered
via the signal input function STOP.
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.

ms
6
50
65500
Decimal

u16
RW
per.

Modbus 628h
CANopen 4514h

P5-21
CTO

Deceleration Ramp - Detected
Transmission Error
Applicable operating mode: PT, PS, V
This parameter specifies the
deceleration ramp for a stop triggered
if a transmission error is detected.
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.

ms
6
50
65500
Decimal

u16
RW
per.

Modbus 62 Ah
CANopen 4515h

P5-22
OVF

Deceleration Ramp - Position
Overflow
Applicable operating mode: PT, PS, V
This parameter specifies the
deceleration ramp for a stop triggered
if a position overflow is detected.
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.

ms
6
30
65500
Decimal

u16
RW
per.

Modbus 62Ch
CANopen 4516h

P5-23
SNL

Deceleration Ramp - Triggering of
Negative Software Limit Switch
Applicable operating mode: PS
This parameter specifies the
deceleration ramp for a stop triggered
if the negative software limit switch is
activated.
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.

ms
6
50
65500
Decimal

u16
RW
per.

Modbus 62Eh
CANopen 4517h

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P5-24
SPL

Deceleration Ramp - Triggering of
Positive Software Limit Switch
Applicable operating mode: PS
This parameter specifies the
deceleration ramp for a stop triggered
if the positive software limit switch is
activated.
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.

ms
6
50
65500
Decimal

u16
RW
per.

Modbus 630h
CANopen 4518h

P5-25
NL

Deceleration Ramp - Triggering of
Negative Hardware Limit Switch
Applicable operating mode: PT, PS, V
This parameter specifies the
deceleration ramp for a stop triggered
if the negative hardware limit switch is
activated.
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.

ms
6
30
65500
Decimal

u16
RW
per.

Modbus 632h
CANopen 4519h

P5-26
PL

Deceleration Ramp - Triggering of
Positive Hardware Limit Switch
Applicable operating mode: PT, PS, V
This parameter specifies the
deceleration ramp for a stop triggered
if the positive hardware limit switch is
activated.
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.

ms
6
30
65500
Decimal

u16
RW
per.

Modbus 634h
CANopen 451 Ah

P5-35
PROBES_POLARITY

Touch Probes Polarity
Applicable operating mode: PT, PS, V,
T
This parameter specifies the touch
probes polarity.

0
3
Decimal

u16
RO
per.

Modbus 646h
CANopen 4523h

P5-36
CAAX_CANOPEN

Touch Probe Input 1 - Captured
Position CANopen Units
Applicable operating mode: PT, PS, V,
T
This parameter contains the position
captured at Touch Probe input 1.

CANopen PU
-2147483647
2147483647
Decimal

s32
RO
per.

Modbus 648h
CANopen 4524h

P5-37
CAAX

Touch Probe Input 1 - Captured
Position
Applicable operating mode: PT, PS, V,
T
This parameter contains the position
captured at Touch Probe input 1.

PUU
-2147483647
0
2147483647
Decimal

s32
RO
-

Modbus 64 Ah
CANopen 4525h

P5-38
PROBE1_CNTR

Touch Probe Input 1 - Event Counter
Applicable operating mode: PT, PS, V,
T
The value is increased by 1 each time
a position has been captured at Touch
Probe input 1.

0
0
65535
Decimal

u16
RO
-

Modbus 64Ch
CANopen 4526h

267

Parameters
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P5-39
CACT

Touch Probe Input 1 - Configuration
Applicable operating mode: PT, PS, V,
T
X: Activate/deactivate position capture
0: Deactivate
1: Activate (is reset to 0 when the
counter in P5-38 is incremented)
Y: Reserved
U: Reserved
Z: Polarity of Touch Probe input
0: Normally open
1: Normally closed
Where X is the least significant halfbyte and U is the most significant halfbyte of the X/Y/U/Z Integer.

0h
0h
101h
Hexadecimal

u16
RW
-

Modbus 64Eh
CANopen 4527h

P5-56
CAAX2_CANOPEN

Touch Probe Input 2 - Captured
Position CANopen Units
Applicable operating mode: PT, PS, V,
T
This parameter contains the position
captured at Touch Probe input 2.

CANopen PU
-2147483647
2147483647
Decimal

s32
RO
per.

Modbus 670h
CANopen 4538h

P5-57
CAAX2

Touch Probe Input 2 - Captured
Position
Applicable operating mode: PT, PS, V,
T
This parameter contains the position
captured at Touch Probe input 2.

PUU
-2147483647
0
2147483647
Decimal

s32
RO
-

Modbus 672h
CANopen 4539h

P5-58
PROBE2_CNTR

Touch Probe Input 2 - Event Counter
Applicable operating mode: PT, PS, V,
T
The value is increased by 1 each time
a position has been captured at Touch
Probe input 2.

0
0
65535
Decimal

u16
RO
-

Modbus 674h
CANopen 453 Ah

P5-59
CACT2

Touch Probe Input 2 - Configuration
Applicable operating mode: PT, PS, V,
T
X: Activate/deactivate position capture
0: Deactivate
1: Activate (is reset to 0 when the
counter in P5-58 is incremented)
Y: Reserved
Z: Polarity of Touch Probe input
0: Normally open
1: Normally closed
U: Reserved

0h
0h
101h
Hexadecimal

u16
RW
-

Modbus 676h
CANopen 453Bh

0
0
1
Decimal

u16
RW
per.

Modbus 698h
CANopen 454Ch

31.25 μs
2
5
32
Decimal

u16
RW
per.

Modbus 69 Ah
CANopen 454Dh

P5-76
Move Home Offset When Homing
HOME_OFFSET_MOVE input is found
Applicable operating mode: Fieldbus
mode
P5-77
PROBE_2_LVL_PRD

268

Touch Probe Input 2 - Stable Level
Duration
Applicable operating mode: PT, PS
This parameter specifies the period of
time for which the level at Touch Probe
input 2 must be stable.

EIO0000002305 04/2017

Parameters

P6 - Position Sequence Data Sets Group 1
P6 - PS Data Sets Group 1

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P6-00
ODAT

Position of Homing Data Set
Applicable operating mode: PS
After a successful reference movement,
this position is automatically set at the
reference point.
Bits 0…31: Position

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 700h
CANopen 4600h

P6-01
ODEF

Subsequent Data Set and Auto-start of
Homing Data Set
Applicable operating mode: PS
Bit 0:
0 = Do not start Homing after first power
stage enable
1 = Start Homing after first power stage
enable
Bits 1…7: Reserved
Bits 8…15: Number of the subsequent data
set

0h
0h
2001h
Hexadecimal

u32
RW
per.

Modbus 702h
CANopen 4601h

P6-02
PATHPOS1

Target Position of Data Set 1
Applicable operating mode: PS
Bits 0…31: Target position

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 704h
CANopen 4602h

P6-03
PATHCTRL1

Configuration of Data Set 1
Applicable operating mode: PS
Bits 0…3: Reserved
Bit 4:
0 = Wait for preceding data set to complete,
then start this data set
1 = Start this data set immediately
Bits 5…6: Reserved
Bit 7:
0 = Absolute position
1 = Relative (incremental) position
Bits 8…15: Reserved

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 706h
CANopen 4603h

P6-04
PATHPOS2

Target Position of Data Set 2
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 708h
CANopen 4604h

P6-05
PATHCTRL2

Configuration of Data Set 2
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 70 Ah
CANopen 4605h

P6-06
PATHPOS3

Target Position of Data Set 3
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 70Ch
CANopen 4606h

P6-07
PATHCTRL3

Configuration of Data Set 3
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 70Eh
CANopen 4607h

269

Parameters

270

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P6-08
PATHPOS4

Target Position of Data Set 4
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 710h
CANopen 4608h

P6-09
PATHCTRL4

Configuration of Data Set 4
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 712h
CANopen 4609h

P6-10
PATHPOS5

Target Position of Data Set 5
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 714h
CANopen 460 Ah

P6-11
PATHCTRL5

Configuration of Data Set 5
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 716h
CANopen 460Bh

P6-12
PATHPOS6

Target Position of Data Set 6
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 718h
CANopen 460Ch

P6-13
PATHCTRL6

Configuration of Data Set 6
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 71 Ah
CANopen 460Dh

P6-14
PATHPOS7

Target Position of Data Set 7
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 71Ch
CANopen 460Eh

P6-15
PATHCTRL7

Configuration of Data Set 7
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 71Eh
CANopen 460Fh

P6-16
PATHPOS8

Target Position of Data Set 8
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 720h
CANopen 4610h

P6-17
PATHCTRL8

Configuration of Data Set 8
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 722h
CANopen 4611h

P6-18
PATHPOS9

Target Position of Data Set 9
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 724h
CANopen 4612h

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P6-19
PATHCTRL9

Configuration of Data Set 9
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 726h
CANopen 4613h

P6-20
PATHPOS10

Target Position of Data Set 10
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 728h
CANopen 4614h

P6-21
PATHCTRL10

Configuration of Data Set 10
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 72 Ah
CANopen 4615h

P6-22
PATHPOS11

Target Position of Data Set 11
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 72Ch
CANopen 4616h

P6-23
PATHCTRL11

Configuration of Data Set 11
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 72Eh
CANopen 4617h

P6-24
PATHPOS12

Target Position of Data Set 12
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 730h
CANopen 4618h

P6-25
PATHCTRL12

Configuration of Data Set 12
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 732h
CANopen 4619h

P6-26
PATHPOS13

Target Position of Data Set 13
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 734h
CANopen 461 Ah

P6-27
PATHCTRL13

Configuration of Data Set 13
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 736h
CANopen 461Bh

P6-28
PATHPOS14

Target Position of Data Set 14
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 738h
CANopen 461Ch

P6-29
PATHCTRL14

Configuration of Data Set 14
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 73 Ah
CANopen 461Dh

271

Parameters

272

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P6-30
PATHPOS15

Target Position of Data Set 15
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 73Ch
CANopen 461Eh

P6-31
PATHCTRL15

Configuration of Data Set 15
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 73Eh
CANopen 461Fh

P6-32
PATHPOS16

Target Position of Data Set 16
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 740h
CANopen 4620h

P6-33
PATHCTRL16

Configuration of Data Set 16
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 742h
CANopen 4621h

P6-34
PATHPOS17

Target Position of Data Set 17
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 744h
CANopen 4622h

P6-35
PATHCTRL17

Configuration of Data Set 17
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 746h
CANopen 4623h

P6-36
PATHPOS18

Target Position of Data Set 18
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 748h
CANopen 4624h

P6-37
PATHCTRL18

Configuration of Data Set 18
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 74 Ah
CANopen 4625h

P6-38
PATHPOS19

Target Position of Data Set 19
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 74Ch
CANopen 4626h

P6-39
PATHCTRL19

Configuration of Data Set 19
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 74Eh
CANopen 4627h

P6-40
PATHPOS20

Target Position of Data Set 20
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 750h
CANopen 4628h

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P6-41
PATHCTRL20

Configuration of Data Set 20
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 752h
CANopen 4629h

P6-42
PATHPOS21

Target Position of Data Set 21
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 754h
CANopen 462 Ah

P6-43
PATHCTRL21

Configuration of Data Set 21
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 756h
CANopen 462Bh

P6-44
PATHPOS22

Target Position of Data Set 22
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 758h
CANopen 462Ch

P6-45
PATHCTRL22

Configuration of Data Set 22
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 75 Ah
CANopen 462Dh

P6-46
PATHPOS23

Target Position of Data Set 23
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 75Ch
CANopen 462Eh

P6-47
PATHCTRL23

Configuration of Data Set 23
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 75Eh
CANopen 462Fh

P6-48
PATHPOS24

Target Position of Data Set 24
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 760h
CANopen 4630h

P6-49
PATHCTRL24

Configuration of Data Set 24
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 762h
CANopen 4631h

P6-50
PATHPOS25

Target Position of Data Set 25
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 764h
CANopen 4632h

P6-51
PATHCTRL25

Configuration of Data Set 25
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 766h
CANopen 4633h

273

Parameters

274

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P6-52
PATHPOS26

Target Position of Data Set 26
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 768h
CANopen 4634h

P6-53
PATHCTRL26

Configuration of Data Set 26
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 76 Ah
CANopen 4635h

P6-54
PATHPOS27

Target Position of Data Set 27
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 76Ch
CANopen 4636h

P6-55
PATHCTRL27

Configuration of Data Set 27
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 76Eh
CANopen 4637h

P6-56
PATHPOS28

Target Position of Data Set 28
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 770h
CANopen 4638h

P6-57
PATHCTRL28

Configuration of Data Set 28
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 772h
CANopen 4639h

P6-58
PATHPOS29

Target Position of Data Set 29
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 774h
CANopen 463 Ah

P6-59
PATHCTRL29

Configuration of Data Set 29
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 776h
CANopen 463Bh

P6-60
PATHPOS30

Target Position of Data Set 30
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 778h
CANopen 463Ch

P6-61
PATHCTRL30

Configuration of Data Set 30
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 77 Ah
CANopen 463Dh

P6-62
PATHPOS31

Target Position of Data Set 31
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 77Ch
CANopen 463Eh

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P6-63
PATHCTRL31

Configuration of Data Set 31
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 77Eh
CANopen 463Fh

P6-64
PATHPOS32

Target Position of Data Set 32
Applicable operating mode: PS
See P6-02 for details.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 780h
CANopen 4640h

P6-65
PATHCTRL32

Configuration of Data Set 32
Applicable operating mode: PS
See P6-03 for details.

0h
0h
D0h
Hexadecimal

u16
RW
per.

Modbus 782h
CANopen 4641h

275

Parameters

P7 - Position Sequence Data Sets Group 2
P7 - PS Data Sets Group 2
Parameter name

Description

P7-00
Deceleration and Acceleration of Homing
HOME_ACC_DEC Data Set
Applicable operating mode: PS
Bits 0 ... 15: Deceleration
Bits 16 ... 31: Acceleration

276

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 800h
CANopen 4700h

P7-01
HOME_DLY

Waiting Time of Homing Data Set
Applicable operating mode: PS
Bits 0 ... 15: Waiting time until next dataset
is started
Bits 16 ... 31: Reserved

ms
0
0
32767
Decimal

u32
RW
per.

Modbus 802h
CANopen 4701h

P7-02
ACC_DEC1

Deceleration and Acceleration of Data Set
1
Applicable operating mode: PS
Bits 0 ... 15: Deceleration
Bits 16 ... 31: Acceleration

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 804h
CANopen 4702h

P7-03
SPD_DLY1

Waiting Time and Target Velocity of Data
Set 1
Applicable operating mode: PS
Bits 0 ... 15: Waiting time until next dataset
is started (in ms)
Bits 16 ... 31: Target velocity (in rpm)

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 806h
CANopen 4703h

P7-04
ACC_DEC2

Deceleration and Acceleration of Data Set
2
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 808h
CANopen 4704h

P7-05
SPD_DLY2

Waiting Time and Target Velocity of Data
Set 2
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 80 Ah
CANopen 4705h

P7-06
ACC_DEC3

Deceleration and Acceleration of Data Set
3
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 80Ch
CANopen 4706h

P7-07
SPD_DLY3

Waiting Time and Target Velocity of Data
Set 3
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 80Eh
CANopen 4707h

P7-08
ACC_DEC4

Deceleration and Acceleration of Data Set
4
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 810h
CANopen 4708h

P7-09
SPD_DLY4

Waiting Time and Target Velocity of Data
Set 4
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 812h
CANopen 4709h

P7-10
ACC_DEC5

Deceleration and Acceleration of Data Set
5
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 814h
CANopen 470 Ah

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P7-11
SPD_DLY5

Waiting Time and Target Velocity of Data
Set 5
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 816h
CANopen 470Bh

P7-12
ACC_DEC6

Deceleration and Acceleration of Data Set
6
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 818h
CANopen 470Ch

P7-13
SPD_DLY6

Waiting Time and Target Velocity of Data
Set 6
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 81 Ah
CANopen 470Dh

P7-14
ACC_DEC7

Deceleration and Acceleration of Data Set
7
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 81Ch
CANopen 470Eh

P7-15
SPD_DLY7

Waiting Time and Target Velocity of Data
Set 7
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 81Eh
CANopen 470Fh

P7-16
ACC_DEC8

Deceleration and Acceleration of Data Set
8
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 820h
CANopen 4710h

P7-17
SPD_DLY8

Waiting Time and Target Velocity of Data
Set 8
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 822h
CANopen 4711h

P7-18
ACC_DEC9

Deceleration and Acceleration of Data Set
9
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 824h
CANopen 4712h

P7-19
SPD_DLY9

Waiting Time and Target Velocity of Data
Set 9
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 826h
CANopen 4713h

P7-20
ACC_DEC10

Deceleration and Acceleration of Data Set
10
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 828h
CANopen 4714h

P7-21
SPD_DLY10

Waiting Time and Target Velocity of Data
Set 10
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 82 Ah
CANopen 4715h

P7-22
ACC_DEC11

Deceleration and Acceleration of Data Set
11
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 82Ch
CANopen 4716h

277

Parameters

278

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P7-23
SPD_DLY11

Waiting Time and Target Velocity of Data
Set 11
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 82Eh
CANopen 4717h

P7-24
ACC_DEC12

Deceleration and Acceleration of Data Set
12
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 830h
CANopen 4718h

P7-25
SPD_DLY12

Waiting Time and Target Velocity of Data
Set 12
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 832h
CANopen 4719h

P7-26
ACC_DEC13

Deceleration and Acceleration of Data Set
13
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 834h
CANopen 471 Ah

P7-27
SPD_DLY13

Waiting Time and Target Velocity of Data
Set 13
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 836h
CANopen 471Bh

P7-28
ACC_DEC14

Deceleration and Acceleration of Data Set
14
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 838h
CANopen 471Ch

P7-29
SPD_DLY14

Waiting Time and Target Velocity of Data
Set 14
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 83 Ah
CANopen 471Dh

P7-30
ACC_DEC15

Deceleration and Acceleration of Data Set
15
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 83Ch
CANopen 471Eh

P7-31
SPD_DLY15

Waiting Time and Target Velocity of Data
Set 15
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 83Eh
CANopen 471Fh

P7-32
ACC_DEC16

Deceleration and Acceleration of Data Set
16
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 840h
CANopen 4720h

P7-33
SPD_DLY16

Waiting Time and Target Velocity of Data
Set 16
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 842h
CANopen 4721h

P7-34
ACC_DEC17

Deceleration and Acceleration of Data Set
17
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 844h
CANopen 4722h

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P7-35
SPD_DLY17

Waiting Time and Target Velocity of Data
Set 17
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 846h
CANopen 4723h

P7-36
ACC_DEC18

Deceleration and Acceleration of Data Set
18
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 848h
CANopen 4724h

P7-37
SPD_DLY18

Waiting Time and Target Velocity of Data
Set 18
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 84 Ah
CANopen 4725h

P7-38
ACC_DEC19

Deceleration and Acceleration of Data Set
19
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 84Ch
CANopen 4726h

P7-39
SPD_DLY19

Waiting Time and Target Velocity of Data
Set 19
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 84Eh
CANopen 4727h

P7-40
ACC_DEC20

Deceleration and Acceleration of Data Set
20
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 850h
CANopen 4728h

P7-41
SPD_DLY20

Waiting Time and Target Velocity of Data
Set 20
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 852h
CANopen 4729h

P7-42
ACC_DEC21

Deceleration and Acceleration of Data Set
21
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 854h
CANopen 472 Ah

P7-43
SPD_DLY21

Waiting Time and Target Velocity of Data
Set 21
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 856h
CANopen 472Bh

P7-44
ACC_DEC22

Deceleration and Acceleration of Data Set
22
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 858h
CANopen 472Ch

P7-45
SPD_DLY22

Waiting Time and Target Velocity of Data
Set 22
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 85 Ah
CANopen 472Dh

P7-46
ACC_DEC23

Deceleration and Acceleration of Data Set
23
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 85Ch
CANopen 472Eh

279

Parameters

280

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P7-47
SPD_DLY23

Waiting Time and Target Velocity of Data
Set 23
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 85Eh
CANopen 472Fh

P7-48
ACC_DEC24

Deceleration and Acceleration of Data Set
24
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 860h
CANopen 4730h

P7-49
SPD_DLY24

Waiting Time and Target Velocity of Data
Set 24
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 862h
CANopen 4731h

P7-50
ACC_DEC25

Deceleration and Acceleration of Data Set
25
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 864h
CANopen 4732h

P7-51
SPD_DLY25

Waiting Time and Target Velocity of Data
Set 25
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 866h
CANopen 4733h

P7-52
ACC_DEC26

Deceleration and Acceleration of Data Set
26
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 868h
CANopen 4734h

P7-53
SPD_DLY26

Waiting Time and Target Velocity of Data
Set 26
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 86 Ah
CANopen 4735h

P7-54
ACC_DEC27

Deceleration and Acceleration of Data Set
27
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 86Ch
CANopen 4736h

P7-55
SPD_DLY27

Waiting Time and Target Velocity of Data
Set 27
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 86Eh
CANopen 4737h

P7-56
ACC_DEC28

Deceleration and Acceleration of Data Set
28
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 870h
CANopen 4738h

P7-57
SPD_DLY28

Waiting Time and Target Velocity of Data
Set 28
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 872h
CANopen 4739h

P7-58
ACC_DEC29

Deceleration and Acceleration of Data Set
29
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 874h
CANopen 473 Ah

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P7-59
SPD_DLY29

Waiting Time and Target Velocity of Data
Set 29
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 876h
CANopen 473Bh

P7-60
ACC_DEC30

Deceleration and Acceleration of Data Set
30
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 878h
CANopen 473Ch

P7-61
SPD_DLY30

Waiting Time and Target Velocity of Data
Set 30
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 87 Ah
CANopen 473Dh

P7-62
ACC_DEC31

Deceleration and Acceleration of Data Set
31
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 87Ch
CANopen 473Eh

P7-63
SPD_DLY31

Waiting Time and Target Velocity of Data
Set 31
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 87Eh
CANopen 473Fh

P7-64
ACC_DEC32

Deceleration and Acceleration of Data Set
32
Applicable operating mode: PS
See P7-02 for details.

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 880h
CANopen 4740h

P7-65
SPD_DLY32

Waiting Time and Target Velocity of Data
Set 32
Applicable operating mode: PS
See P7-03 for details.

0.1rpm|ms
0| 0
200| 0
60000| 32767
Decimal

u32
RW
per.

Modbus 882h
CANopen 4741h

281

Parameters

P8 - Control Loops
P8 - Control Loops

282

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P8-00
LTND

Derivative Gain
Applicable operating mode: PT, PS, V
This parameter is used to adjust the
derivative gain. Refer to chapter
Manual Tuning (see page 217).

0.1Hz
0
800
20000
Decimal

u32
RW
per.

Modbus
900h
CANopen
4800h

P8-01
LTNI

Integral Gain
Applicable operating mode: PT, PS, V
This parameter is used to adjust the
integral gain. Refer to chapter Manual
Tuning (see page 217).

0.1Hz
0
100
2000
Decimal

u32
RW
per.

Modbus
902h
CANopen
4801h

P8-02
LTNIV

Derivative-Integral Gain
Applicable operating mode: PT, PS, V
This parameter is used to adjust the
derivative-integral gain. Refer to
chapter Manual Tuning (see page 217).

0.1Hz
0
400
4000
Decimal

u32
RW
per.

Modbus
904h
CANopen
4802h

P8-03
LTNP

Proportional Gain
Applicable operating mode: PT, PS, V
This parameter is used to adjust the
proportional gain. Refer to chapter
Manual Tuning (see page 217).

0.1Hz
0
300
4000
Decimal

u32
RW
per.

Modbus
906h
CANopen
4803h

P8-04
LTNUSERGAIN

Global Gain
Applicable operating mode: PT, PS, V

0.001
100
500
3000
Decimal

u32
RW
per.

Modbus
908h
CANopen
4804h

P8-05
NLAFFLPFHZ

HD Spring Filter
Applicable operating mode: PT, PS, V
This parameter is used to set a lowpass filter for the acceleration profile
during tuning. Refer to chapter Manual
Tuning (see page 217).

Hz
10
7000
7000
Decimal

u16
RW
per.

Modbus
90 Ah
CANopen
4805h

P8-06
NLANTIVIBGAIN

Anti-Vibration Gain
Applicable operating mode: PT, PS, V

Rad*10-3/N
0
0
10000
Decimal

u32
RW
per.

Modbus
90Ch
CANopen
4806h

P8-07
NLANTIVIBGAIN2

Pe filter 2
Applicable operating mode: PT, PS, V
This parameter is used to set the gain of
the Pe filter 2.

0.001
0
0
99000
Decimal

u32
RW
per.

Modbus
90Eh
CANopen
4807h

P8-08
NLANTIVIBHZ

Anti-Vibration Filter
Applicable operating mode: PT, PS, V
This parameter is used to set the
frequency to remove while using the
anti-vibration filter.

0.1Hz
50
4000
4000
Decimal

u32
RW
per.

Modbus
910h
CANopen
4808h

P8-09
NLANTIVIBHZ2

Pe filter 2
Applicable operating mode: PT, PS, V
This parameter is used to set the
frequency to remove with the Pe filter 2.

0.1Hz
50
4000
4000
Decimal

u32
RW
per.

Modbus
912h
CANopen
4809h

P8-10
NLANTIVIBLMJR

Ratio of Load Inertia to Motor Inertia for
Anti-Vibration
Applicable operating mode: PT, PS, V
Expert parameter for the internal control
loop.

0.1
0
0
6000
Decimal

u32
RW
per.

Modbus
914h
CANopen
480 Ah

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P8-11
NLANTIVIBN

NL Anti-Resonance Filter Divider
Applicable operating mode: PT, PS, V
Expert parameter for the internal control
loop.

0.01
1
200
10000
Decimal

u32
RW
per.

Modbus
916h
CANopen
480Bh

P8-12
NLANTIVIBSHARP

Anti-Resonance Sharpness
Applicable operating mode: PT, PS, V
Expert parameter for the internal control
loop.

0.001
10
500
10000
Decimal

u16
RW
per.

Modbus
918h
CANopen
480Ch

P8-13
NLANTIVIBSHARP2

Pe Sharpness
Applicable operating mode: PT, PS, V
This parameter is used to optimize the
Pe filter action.

0.001
10
500
10000
Decimal

u16
RW
per.

Modbus
91 Ah
CANopen
480Dh

P8-14
NLFILTDAMPING

Current Filter Damping
Applicable operating mode: PT, PS, V
For further details, refer to Manual
Tuning (see page 217).

%
0
0
100
Decimal

u16
RW
per.

Modbus
91Ch
CANopen
480Eh

P8-15
NLFILTT1

Current Filter Low Pass Filter Rise Time
Applicable operating mode: PT, PS, V
For further details, refer to Manual
Tuning (see page 217).

0.01ms
0
300
3000
Decimal

u16
RW
per.

Modbus
91Eh
CANopen
480Fh

P8-16
NLNOTCH2BW

Current Filter - Second Notch Filter
Bandwidth
Applicable operating mode: PT, PS, V

Hz
0
0
500
Decimal

u16
RW
per.

Modbus
920h
CANopen
4810h

P8-17
NLNOTCH2CENTER

Current Filter - Second Notch Filter
Center
Applicable operating mode: PT, PS, V

Hz
5
100
1800
Decimal

u16
RW
per.

Modbus
922h
CANopen
4811h

P8-18
NLNOTCHBW

Current Filter - Notch Filter Bandwidth
Applicable operating mode: PT, PS, V

Hz
0
0
500
Decimal

u16
RW
per.

Modbus
924h
CANopen
4812h

P8-19
NLNOTCHCENTER

Current Filter - Notch Filter Center
Applicable operating mode: PT, PS, V
For further details, refer to Manual
Tuning (see page 217).

Hz
5
100
1800
Decimal

u16
RW
per.

Modbus
926h
CANopen
4813h

P8-20
NLPEAFF

Elasticity Compensation
Applicable operating mode: PT, PS, V
This parameter is used in the
compensation of the elasticity of the
mechanical system.
For further details, refer to Manual
Tuning (see page 217).

0.1Hz
0
50000
50000
Decimal

u32
RW
per.

Modbus
928h
CANopen
4814h

P8-21
NLPEDFFRATIO

Spring Deceleration Ratio
Applicable operating mode: PT, PS, V
This parameter is used in the
compensation of the elasticity of the
mechanical system.
For further details, refer to Manual
Tuning (see page 217).

0.001
0
1000
2000
Decimal

u16
RW
per.

Modbus
92 Ah
CANopen
4815h

283

Parameters

284

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P8-22
NLVELLIM

Analog NCT standstill
Applicable operating mode: PT, PS, V
If the target value is supplied as an
analog voltage signal, this parameter
can be used to improve the standstill
stability. If the voltage drops below the
value specified via this parameter, the
integral gain set via parameter P8-01
and the derivative-integral gain set via
parameter P8-02 are reduced by one
half.

mV
-3815
0
3815
Decimal

s16
RW
per.

Modbus
92Ch
CANopen
4816h

P8-24
ANIN2LPFHZ

Analog Input 2 - Filter
Applicable operating mode: PT, PS, V,
T
This parameter specifies the cut-off
frequency for the first order low-pass
filter of analog input 2.

Hz
10
1000
10000
Decimal

u16
RW
per.

Modbus
930h
CANopen
4818h

P8-25
GEARFILTAFF

Electronic Gear Filter - Acceleration
Feedforward
Applicable operating mode: PT
This parameter specifies the
acceleration feed-forward for the
electronic gear filter.
Setting can only be changed if power
stage is disabled.

0.001
-2000
0
2000
Decimal

s16
RW
per.

Modbus
932h
CANopen
4819h

P8-26
GEARFILTMODE

Electronic Gear Filter - Activation
Applicable operating mode: PT
This parameter activates/deactivates
the electronic gear filter.
Value 0: Deactivate electronic gear filter
Value 1: Activate electronic gear filter
Setting can only be changed if power
stage is disabled.

0
0
1
Decimal

u16
RW
per.

Modbus
934h
CANopen
481 Ah

P8-27
GEARFILTT1

Electronic Gear Filter - Depth
Applicable operating mode: PT

0.01ms
75
200
3200
Decimal

u32
RW
per.

Modbus
936h
CANopen
481Bh

P8-28
GEARFILTT2

Electronic Gear Filter - Velocity and
Acceleration Depth
Applicable operating mode: PT

0.01ms
0
400
6000
Decimal

u16
RW
per.

Modbus
938h
CANopen
481Ch

P8-29
GEARFILTVELFF

Electronic Gear Filter - Velocity
Feedforward
Applicable operating mode: PT
This parameter specifies the velocity
feed-forward for the electronic gear
filter.
Setting can only be changed if power
stage is disabled.

0.01ms
-20000
0
20000
Decimal

s32
RW
per.

Modbus
93 Ah
CANopen
481Dh

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P8-30
GEARINMODE

Interpolation of Input Signal for
Electronic Gear - Activation
Applicable operating mode: PT
This parameter allows for interpolation
of the input signal for electronic gear
and increases the resolution by a factor
of 16.
Value 0: Deactivate interpolation of
input signal for electronic gear
Value 1: Activate interpolation of input
signal for electronic gear
Setting can only be changed if power
stage is disabled.

0
1
1
Decimal

u16
RW
per.

Modbus
93Ch
CANopen
481Eh

P8-31
GEARING_MODE

Method for Operating Mode Pulse Train
(PT)
Applicable operating mode: PT
Value 0: Synchronization deactivated
Value 1: Position synchronization
without compensation movement
Value 2: Position synchronization with
compensation movement
Value 3: Velocity synchronization
The parameters for acceleration (P134), deceleration (P1-35) and velocity
(P1-55) act as limitations for the
synchronization.

0
1
3
Decimal

u16
RW
per.

Modbus
93Eh
CANopen
481Fh

P8-32
MOVESMOOTHAVG

S-Curve Setting
Applicable operating mode: PT, PS

0.01ms
25
400
25600
Decimal

u32
RW
per.

Modbus
940h
CANopen
4820h

P8-33
MOVESMOOTHLPFHZ

Low Pass Filter Setting
Applicable operating mode: PT, PS

Hz
1
5000
5000
Decimal

u16
RW
per.

Modbus
942h
CANopen
4821h

P8-34
MOVESMOOTHMODE

Smoothing Filter for Operating modes
PT and PS - Type
Applicable operating mode: PT, PS
Value 0: No smoothing
Value 1: LPF smoothing
Value 2: S-curve smoothing
Setting can only be changed if power
stage is disabled.

0
2
2
Decimal

u16
RW
per.

Modbus
944h
CANopen
4822h

P8-35
CONTROLMODE

Type of Control
Applicable operating mode: PT, PS, V
This parameter specifies the type of
velocity and position 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 changed if power
stage is disabled.

5
519
519
Hexadecimal

u16
RW
per.

Modbus
946h
CANopen
4823h

P8-36
NLANTIVIBGAIN3

Pe filter 3
Applicable operating mode: PT, PS, V
This parameter is used to set the gain of
the Pe filter 3

0.001
0
0
6000
Decimal

u32
RW
per.

Modbus
948h
CANopen
4824h

285

Parameters

286

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P8-37
NLANTIVIBHZ3

Pe filter 3
Applicable operating mode: PT, PS, V
This parameter is used to set the
frequency to remove with the Pe filter 3.

0.1Hz
50
4000
8000
Decimal

u32
RW
per.

Modbus
94 Ah
CANopen
4825h

P8-38
NLANTIVIBQ3

Pe filter 3
Applicable operating mode: PT, PS, V
This parameter is used to set the zeropole alignment with the Pe filter 3.

0.001
200
1000
10000
Decimal

u32
RW
per.

Modbus
94Ch
CANopen
4826h

P8-39
IGRAV

Gravity Compensation
Applicable operating mode: PT, PS, V,
T
This parameter is used to set the gravity
compensation current for unbalanced
systems.

0.01 A
0
Decimal

s16
RW
per.

Modbus
94Eh
CANopen
4827h

P8-40
LTNAFRC

HD AFF
Applicable operating mode: PT, PS, V
This parameter is used to set the feed
forward term for the current command.

0
0
200
Decimal

u16
RW
per.

Modbus
950h
CANopen
4828h

P8-41
NLANTIVIBSHARP3

Pe Sharpness
Applicable operating mode: PT, PS, V
This parameter is used to optimize the
Pe filter 3 action.

10
200
10000
Decimal

u16
RW
per.

Modbus
952h
CANopen
4829h

P8-42
HOME_FAILURE_IND

Homing Error Information
Applicable operating mode: PT, PS, V,
T
This parameter provides information in
case of the homing is not successful.

0
FFFFFFFFh
Hexadecimal

u32
RO
-

Modbus
954h
CANopen
482 Ah

P8-43
ZSPDLPFHZ

ZSPD Low Pass Filter Value
Applicable operating mode: PT, PS, V,
T
This parameter sets the low pass filter
value for ZSPD output in order to
reduce jitters when the motor speed is
around the Zero speed Threshold (P138) value.

Hz
10
1000
1000
Decimal

u16
RW
per.

Modbus
956h
CANopen
482Bh

P8-45
FEEDBACKTYPE

Feedback type
Applicable operating mode: PT, PS, V,
T
Value 0: No feedback connected or
undetermined feedback connected.
Value 1: single turn encoder.

0
2
Decimal

u16
RO
-

Modbus
95 Ah
CANopen
482Dh

P8-46
SRVSNS_TEMPERATURE

Encoder temperature
Applicable operating mode: PT, PS, V,
T

Deg.
Decimal

s16
RO
-

Modbus
95Ch
CANopen
482Eh

P8-47
SRVSNS_VER

Encoder firmware and hardware
versions
Applicable operating mode: PT, PS, V,
T
The format is: ZZaabbcc
 aa.bb.cc: firmware version.
 ZZ: hardware version.

4294967295
Decimal

u32
RO
-

Modbus
95Eh
CANopen
482Fh

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P8-48
SRVSNS_FLTS

Encoder errors
Applicable operating mode: PT, PS, V,
T
 Bit 0: The returned position values
are no longer considered as reliable.
 Bit 1: The device temperature is too
high.
 Bit 2: The device temperature is too
low.
 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 16…23: Internal Error detected.
 Bit 24: The FW cannot operate on
the provided HW.
 Bit 25…31: Reserved.

4294967295
Hexadecimal

u32
RO
-

Modbus
960h
CANopen
4830h

P8-49
SRVSNS_WRNS

Encoder alerts
Applicable operating mode: PT, PS, V,
T
 Bit 0: The device temperature is too
high.
 Bit 1: The device temperature is too
low.
 Bit 2: Over speed.
 Bit 3: Over acceleration.
 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…31: Reserved.

4294967295
Hexadecimal

u32
RO
-

Modbus
962h
CANopen
4831h

P8-99
LTNUSERVCMDGAIN

Adaptive Velocity Reference Value
Gain
Applicable operating mode: PT, PS

0.001
0
1000
3000
Decimal

u32
RW
per.

Modbus
9C6h
CANopen
4863h

287

Parameters

P9 - DTM Data
P9 - DTM Data

288

Parameter name

Description

P9-00
PRGNR

P9-01
DATE

Firmware Version Date
Applicable operating mode: PT, PS, V, T
This parameter contains the date of the
firmware version.

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

Lexium program number
Applicable operating mode: PT, PS, V, T 0h
Reads the program number
0h
FFFFFFFFh
Hexadecimal

u32
RO
-

Modbus A00h
CANopen 4900h

0h
0h
FFFFFFFFh
Hexadecimal

u32
RO
-

Modbus A02h
CANopen 4901h

P9-02
MTP_ID

MTP Identification Code
Applicable operating mode: PT, PS, V, T 0h
FFFFFFFFh
Hexadecimal

u16
RO
-

Modbus A04h
CANopen 4902h

P9-06
UNAME1

User-Defined Application Name 1
Applicable operating mode: PT, PS, V, T
This parameter is provided for a userdefined application name.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
per.

Modbus A0Ch
CANopen 4906h

P9-07
UNAME2

User-Defined Application Name 2
Applicable operating mode: PT, PS, V, T
This parameter is provided for a userdefined application name.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
per.

Modbus A0Eh
CANopen 4907h

P9-08
UNAME3

User-Defined Application Name 3
Applicable operating mode: PT, PS, V, T
This parameter is provided for a userdefined application name.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
per.

Modbus A10h
CANopen 4908h

P9-09
UNAME4

User-Defined Application Name 4
Applicable operating mode: PT, PS, V, T
This parameter is provided for a userdefined application name.

0h
0h
FFFFFFFFh
Hexadecimal

u32
RW
per.

Modbus A12h
CANopen 4909h

P9-10
MBWORD

Modbus Word Order
Applicable operating mode: PT, PS, V, T
This parameter sets the word order for
Modbus.
Value 0: Order of the bytes: 0 1 2 3
Value 1: Order of the bytes: 2 3 0 1

0
0
1
Decimal

u16
RW
per.

Modbus A14h
CANopen 490 Ah

P9-11
SERNUM1

Serial Number Part 1
Applicable operating mode: PT, PS, V, T 0h
0h
FFFFFFFFh
Hexadecimal

u32
RO
-

Modbus A16h
CANopen 490Bh

P9-12
SERNUM2

Serial Number Part 2
Applicable operating mode: PT, PS, V, T 0h
0h
FFFFFFFFh
Hexadecimal

u32
RO
-

Modbus A18h
CANopen 490Ch

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

P9-13
SERNUM3

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

Serial Number Part 3
Applicable operating mode: PT, PS, V, T 0h
0h
FFFFFFFFh
Hexadecimal

u32
RO
-

Modbus A1Ah
CANopen 490Dh

P9-14
SERNUM4

Serial Number Part 4
Applicable operating mode: PT, PS, V, T 0h
0h
FFFFFFFFh
Hexadecimal

u32
RO
-

Modbus A1Ch
CANopen 490Eh

P9-15
LTN

Autotuning Method
Applicable operating mode: PT, PS, V, T 0
0
6
Decimal

u16
RW
-

Modbus A1Eh
CANopen 490Fh

P9-16
LTNREFERENCE

Autotuning Motion Profile - Type
Applicable operating mode: PT, PS, V

0
0
2
Decimal

u16
RW
-

Modbus A20h
CANopen 4910h

P9-17
LTNAVMODE

Anti-vibration tuning mode.
Applicable operating mode: PT, PS, V

0
0
6
Decimal

u16
RW
-

Modbus A22h
CANopen 4911h

P9-18
LTNSAVEMODE

Autotuning Results - Save/Discard
Applicable operating mode: PT, PS, V

0
0
3
Decimal

u16
RW
-

Modbus A24h
CANopen 4912h

P9-19
LTNNLPEAFF

Autotuning - Elasticity Compensation
Filters
Applicable operating mode: PT, PS, V

0
1
1
Decimal

s16
RW
-

Modbus A26h
CANopen 4913h

P9-20
LTNCYCLE

0
0
3
Decimal

s16
RW
-

Modbus A28h
CANopen 4914h

P9-21
LTNDWELLTIME

Minimum Dwell Time for Detection of
Movement Cycle
Applicable operating mode: PT, PS, V

100
200
1000
Decimal

u16
RW
-

Modbus A2Ah
CANopen 4915h

P9-22
LTNLMJR

Autotuning - Automatic Estimation of
Ratio of Load Inertia and Motor Inertia
Applicable operating mode: PT, PS, V

0
0
1
Decimal

u16
RW
-

Modbus A2Ch
CANopen 4916h

P9-23
LTNSTIFF

Defines which values will be used for the
position command filters.
Applicable operating mode: PT, PS, V
Value 0: Automatic smoothing via Scurve optimization of the value
Value 1: Manual smoothing

0
0
1
Decimal

u16
RW
-

Modbus A2Eh
CANopen 4917h

289

Parameters

290

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P9-25
LTNREFEN

Autotuning Motion Profile - Activation
Applicable operating mode: PT, PS, V

0
0
1
Decimal

u16
RW
-

Modbus A32h
CANopen 4919h

P9-26
PTPOS

Autotuning - Movement Range in
Direction 1
Applicable operating mode: PS
This parameter specifies the movement
range for autotuning in direction of
movement 1.
The sign of the value determines the
direction of movement:
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.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
-

Modbus A34h
CANopen 491 Ah

P9-27
PTNEG

Autotuning - Movement Range in
Direction 2
Applicable operating mode: PS
This parameter specifies the movement
range for autotuning in direction of
movement 2.
The sign of the value determines the
direction of movement:
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.

PUU
-2147483647
0
2147483647
Decimal

s32
RW
-

Modbus A36h
CANopen 491Bh

P9-28
LTNACTIVE

Autotuning Active
Applicable operating mode: PT, PS, V
This parameter indicates whether
autotuning is active.
Value 0: Autotuning inactive
Value 1: Autotuning active

0
1
Decimal

s16
RO
-

Modbus A38h
CANopen 491Ch

P9-29
LTNVCRUISE

Autotuning - Velocity
Applicable operating mode: PT, PS, V
Bits 0 ... 15: Velocity for positive
direction of movement
Bits 16 ... 31: Velocity for negative
direction of movement

0.1rpm|0.1rpm
Decimal

u32
RW
-

Modbus A3Ah
CANopen 491Dh

EIO0000002305 04/2017

Parameters

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Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P9-30
LTNST

Autotuning - Status
Applicable operating mode: PT, PS, V
Value 0: Inactive
Value 1: Active
Value 2: Successfully completed
Values 3 … 9: Reserved
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: LTNIV verify
Value 38: ICMD Sat

0
65535
Decimal

u32
RO
-

Modbus A3Ch
CANopen 491Eh

291

Parameters

292

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P9-30
Continued

Value 39: Insufficient velocity (less than
10 % of nominal velocity)
Value 40: Insufficient
acceleration/deceleration (less than 33
% of nominal acc/dec)
Value 41: Excessive
acceleration/deceleration (more than 90
% of nominal acc/dec)
Value 42: Need gravity compensation
Values 43 … 45: Reserved
Value 46: Ratio of load inertia to motor
inertia is too high (>30)
Values 47 … 49: Reserved
Value 50: P9-15 set to 0
Value 51: Power stage disabled during
autotuning
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
Values 61 … 69: Reserved

P9-31
PTACCDEC

Autotuning - Acceleration and
Deceleration
Applicable operating mode: PT, PS, V
Bits 0 ... 15: Acceleration for Autotuning
Bits 16 ... 31: Deceleration for
Autotuning

ms|ms
6| 6
6000| 6000
65500| 65500
Decimal

u32
RW
-

Modbus A3Eh
CANopen 491Fh

P9-32
LTNADVMODE

Autotune advance mode.
Applicable operating mode: PT, PS, V

0
1
2
Decimal

u16
RW
-

Modbus A40h
CANopen 4920h

P9-33
LTNEFFORTMAX

Maximum Autotuning Optimization
Value
Applicable operating mode: PT, PS, V
Setting can only be changed if power
stage is disabled.

0.001
0
1000
Decimal

u32
RO
-

Modbus A42h
CANopen 4921h

P9-34
LTNBAR

Autotuning Progress Bar
Applicable operating mode: PT, PS, V

0
0
100
Decimal

u16
RO
-

Modbus A44h
CANopen 4922h

P9-35
LTNIGRAV

Autotuning - Gravity Estimation
Applicable operating mode: PT, PS, V

0
0
1
Decimal

u16
RW
-

Modbus A46h
CANopen 4923h

P9-36
LTNNLAFRC

Set LTNAFRC in Autotune
Applicable operating mode: PT, PS, V

0
0
2
Decimal

s16
RW
-

Modbus A48h
CANopen 4924h

EIO0000002305 04/2017

Parameters

EIO0000002305 04/2017

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P9-37
LTNWARNING

Autotuning - Last Stored Event
Applicable operating mode: PT, PS, V

0
0
65535
Decimal

u32
RO
-

Modbus A4Ah
CANopen 4925h

P9-38
LTNIMPROVEMENT

Mode 2 AT improvement
Applicable operating mode: PT, PS, V, T 0
0
100
Decimal

u16
RO
-

Modbus A4Ch
CANopen 4926h

P9-39
LTNCYCLEIDENT

Cycle Identification status
Applicable operating mode: PT, PS, V, T 0
0
9
Decimal

u16
RO
-

Modbus A4Eh
CANopen 4927h

P9-40
LTNDEFAULTS

LTN Autotuning Using Defaults
Applicable operating mode: PT, PS, V

u16
RW
-

Modbus A50h
CANopen 4928h

0
0
65535
Decimal

293

Parameters

294

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Lexium 28 A and BCH2 Servo Drive System
Operation
EIO0000002305 04/2017

Part VII
Operation

Operation
What Is in This Part?
This part contains the following chapters:
Chapter

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Chapter Name

Page

Operation

297

Operating Modes

315

295

Operation

296

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Lexium 28 A and BCH2 Servo Drive System
Operation
EIO0000002305 04/2017

Chapter 17
Operation

Operation
What Is in This Chapter?

This chapter contains the following topics:
Topic

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Page

Access Channels

298

Operating States

299

Setting the Digital Signal Inputs

300

Setting the Digital Signal Outputs

306

Functions for Target Value Processing

310

Setting a Signal Output Via Parameter

311

Forcing the Digital Signal Inputs and Signal Outputs

312

297

Operation

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




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
 Fieldbus
 Commissioning software LXM28 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 a fieldbus:
Exclusive access is provided to a fieldbus by blocking the other access channels with the parameter
AccessLock.
 Via the commissioning software LXM28 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 inputs of the safety function STO and the signal input functions HALT, FAULT_RESET, SON
(falling edge), CWL(NL) and CCWL(PL) are always effective during exclusive access.

298

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Operation

Operating States
State Diagram
When the product is powered on and when an operating mode is started (see page 315), 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.

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

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:




EIO0000002305 04/2017

With a rising edge of the signal input function FAULT_RESET
With a rising edge of the signal input function SON
By setting parameter P0-01 to the value 0

299

Operation

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
P2-

Name

PT
V

PT
T

PS
V

PS
T

V
T

CAN
open

Servo ON

DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 -

10 ... P217

300

01h

SON

02h

FAULT_RESET Fault Reset

03h

GAINUP

Increase Gain

04h

CLRPOSDEV

Clear Position
Deviation

05h

ZCLAMP

Zero Clamp

06h

INVDIRROT

Inverse Direction
Of Rotation

07h

HALT

Halt

08h

CTRG

Start Data Set

09h

TRQLM

Activate Torque
Limit

10h

SPDLM

Activate Speed
Limit

11h

POS0

Data Set Bit 0

DI3

DI3 DI3

12h

POS1

Data Set Bit 1

DI4

DI4 DI4

13h

POS2

Data Set Bit 2

14h

SPD0

Speed
Reference Value
Bit 0

DI3 -

DI5 -

DI3 -

15h

SPD1

Speed
Reference Value
Bit 1

DI4 -

DI6 -

DI4 -

16h

TCM0

DI3
Torque
Reference Value
Bit 0

DI3 -

DI5 DI5 -

17h

TCM1

DI4
Torque
Reference Value
Bit 1

DI4 -

DI6 DI6 -

18h

V-Px

Velocity Position

19h

V-T

Velocity - Torque

DI5 DI5 DI5 DI5 DI5 DI5

DI2

DI2 DI2

DI2

DI2 -

DI2 DI2

DI2

DI2 -

DI2

DI7 -

DI7

DI7 -

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Operation
Setting A for Short name
P2-

Name

PT
V

PT
T

PS
V

PS
T

V
T

CAN
open

10 ... P217

EIO0000002305 04/2017

1 Ah

POS3

Data Set Bit 3

1Bh

POS4

Data Set Bit 4

1Ch

TPROB1

Touch Probe 1

1Dh

TPROB2

Touch Probe 2

20h

T-Px

Torque - Position

21h

OPST

Stop and Disable DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8
Power Stage

22h

CWL(NL)

Negative Limit
Switch
(NL/LIMN)

DI6 DI6 DI6 DI6 DI6 DI6

DI6

23h

CCWL(PL)

Positive Limit
Switch
(PL/LIMP)

DI7 DI7 DI7 DI7 DI7 DI7

DI7

24h

ORGP

Reference
Switch

27h

GOTOHOME

Move To Home
Position

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)

DI7 -

DI5

301

Operation

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.

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
for P2-

Short name

Name

Description

Signal
inputs

01h

SON

Servo ON

The signal input function SON enables the power stage
(operating state Operation Enabled). The signal input
function SON is only available if no detected errors are
present.

DI1 … DI8

02h

FAULT_RESE Fault Reset
T

The signal input function FAULT_RESET performs a Fault
Reset. The cause of the error must have been removed
before a Fault Reset is performed.

DI1 … DI8

03h

GAINUP

Increase Gain

The signal input function GAINUP increases the control
gain according to the values and conditions set via
parameter P2-27.

DI1 … DI8

04h

CLRPOSDEV

Clear Position
Deviation

The signal input function CLRPOSDEV resets the position
deviation to zero as set via parameter P2-50.

DI1 … DI8

05h

ZCLAMP

Zero Clamp

In the operating mode V, the signal input function ZCLAMP DI1 … DI8
can be used 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.

10 ... P217

302

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Operation
Setting A
for P2-

Short name

Name

Description

Signal
inputs

06h

INVDIRROT

Inverse
Direction Of
Rotation

The signal input function INVDIRROT inverts the direction
of rotation of the motor. The signal input function
INVDIRROT is available in the operating modes Velocity
(V) and Torque (T).

DI1 … DI8

07h

HALT

Halt

The signal input function HALT interrupts the movement
with the deceleration ramp set via the parameter P1-68.
The movement is resumed when the signal input function
is no longer active.

DI1 … DI8

08h

CTRG

Start Data Set

The signal input function CTRG starts the selected data set DI1 … DI8
in the operating mode Position Sequence (PS). For further
information, refer to Operating Mode Position Sequence
(PS) (see page 329).

09h

TRQLM

Activate
Torque Limit

The signal input function TRQLM activates the torque
limitations set via 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.

DI1 … DI8

10h

SPDLM

Activate Speed The signal input function SPDLM activates the velocity
Limit
limitations set via 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.

DI1 … DI8

11h

POS0

Data Set Bit 0

The signal input functions POS0 ... POS4 represent bits
DI1 … DI8
0 … 4 required 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) (see page 329).

12h

POS1

Data Set Bit 1

13h

POS2

Data Set Bit 2

14h

SPD0

Speed
Reference
Value Bit 0

The signal input functions SPD0 and SPD1 represent bits DI1 … DI8
0 and 1 to 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) (see page 365).

15h

SPD1

Speed
Reference
Value Bit 1

16h

TCM0

Torque
Reference
Value Bit 0

The signal input functions TCM0 and TCM1 represent bits
0 and 1 to select one of the three torque reference values
available in the operating mode Torque (T). For further
information, refer to Operating Modes Torque (T) and
Torque Zero (Tz) (see page 370).

DI1 … DI8

17h

TCM1

Torque
Reference
Value Bit 1

DI1 … DI8

18h

V-Px

Velocity Position

Operating mode switching between Velocity (V) and Pulse DI1 … DI8
Train (PT) or between Velocity (V) and Position Sequence
(PS) . For further information, refer to Setting the Operating
Mode (see page 316).
(OFF: Velocity (V), ON: Pulse Train (PT) or Position
Sequence (PS), depending on P1-01)

10 ... P217

EIO0000002305 04/2017

303

Operation
Setting A
for P2-

Short name

Name

Description

Signal
inputs

19h

V-T

Velocity Torque

Operating mode switching between Velocity (V) and
Torque (T). For further information, refer to Setting the
Operating Mode (see page 316).
(OFF: Velocity (V), ON: Pulse Torque (T))

DI1 … DI8

1 Ah

POS3

Data Set Bit 3

1Bh

POS4

Data Set Bit 4

1Ch

TPROB1

Touch Probe 1

The signal input function TPROB1 is used to trigger the
Position Capture function. See the sections on the
parameters P5-37 … P5-39 for additional information.

DI7

1Dh

TPROB2

Touch Probe 2

The signal input function TPROB2 is used to trigger the
Position Capture function. See the sections on the
parameters P5-37 … P5-39 for additional information.

DI6

20h

T-Px

Torque Position

Operating mode switching between Torque (T) and Pulse DI1 … DI8
Train (PT) or between Torque (T) and Position Sequence
(PS) . For further information, refer to Setting the Operating
Mode (see page 316).
(OFF: Torque (T), ON: Pulse Train (PT) or Position
Sequence (PS), depending on P1-01)

21h

OPST

Stop and
Disable Power
Stage

The signal input function OPST stops the motor with the
deceleration ramp set via the parameter P1-68 and then
disables the power stage.

DI1 … DI8

22h

CWL(NL)

Negative Limit
Switch
(NL/LIMN)

Negative limit switch (NL/LIMN). When the signal input is
activated, an alert is triggered. The deceleration ramp is
specified via parameter P5-25.

DI1 … DI8

23h

CCWL(PL)

Positive Limit
Switch
(PL/LIMP)

Positive limit switch (PL/LIMP). When the signal input is
activated, an alert is triggered. The deceleration ramp is
specified via parameter P5-26.

DI1 … DI8

24h

ORGP

Reference
Switch

The signal input function ORGP is used for the reference
switch. For further information, refer to Operating Mode
Position Sequence (PS) (see page 329).

DI1 … DI8

27h

GOTOHOME

Move To Home The signal input function GOTOHOME triggers a
DI1 … DI8
Position
movement to the Home position set via the parameter P504.

2Ch

PTCMS

Type of pulses
for operating
mode Pulse
Train (PT)
(OFF: Lowspeed pulses,
ON: HighSpeed pulses)

The signal input function PTCMS selects the type of pulses DI1 … DI8
for the operating mode Pulse Train PT (OFF: Low-speed
pulses, ON: High-speed pulses). You can also use the
parameter P1-00 to select the type of pulses.

37h

JOGP

Jog Positive

The signal input function JOGP triggers a Jog movement in DI1 … DI8
positive 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 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 DI1 … DI8
the operating mode Position Sequence (PS).

10 ... P217

304

DI1 … DI8

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Operation
Setting A
for P2-

Short name

Name

Description

Signal
inputs

40h

STEPD

Previous Data
Set

The signal input function STEPD starts the previous data
set in the operating mode Position Sequence (PS).

DI1 … DI8

41h

STEPB

First Data Set

The signal input function STEPB starts the first data set in
the operating mode Position Sequence (PS).

DI1 … DI8

42h

AUTOR

Automatic
Position
Sequence:
Start with first
data set, repeat
sequence

The signal input function AUTOR starts a sequence of data DI1 … DI8
sets from the first data set in the operating mode Position
Sequence (PS). The sequence is repeated as long as the
signal input function AUTOR is active.

43h

GNUM0

Numerator Bit 0 The signal input functions GNUM0 and GNUM1 represent DI1 … DI8
Electronic Gear bits 0 and 1 to select one of the four numerators set via the
parameters P1-44, P2-60 … P2-62. The denominator is
Ratio
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
(see page 326) and Scaling (see page 337).

44h

GNUM1

Numerator Bit 1 The signal input functions GNUM0 and GNUM1 represent DI1 … DI8
Electronic Gear bits 0 and 1 to select one of the four numerators set via the
parameters P1-44, P2-60 … P2-62. The denominator is
Ratio
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
(see page 326) and Scaling (see page 337).

45h

INHP

Pulse Inhibit

DI1 … DI8
The signal input function INHP is used in the operating
mode Pulse 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
(operating
mode PS only)

The signal input function STOP stops the motor with the
DI1 … DI8
deceleration ramp set via the parameter P5-20. The power
stage remains enabled. The signal input function STOP is
available in the operating mode Position Sequence (PS).

10 ... P217

EIO0000002305 04/2017

305

Operation

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




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
P2-18 ... P222

Short name

Name

PT
V

PT
T

PS
V

PS
T

V
T

CANopen

01h

SRDY

Servo Ready

DO1

02h

SON

Servo On

03h

ZSPD

Zero Speed

04h

TSPD

Speed
Reached

05h

TPOS

Movement
Completed

06h

TQL

Torque Limit
Reached

07h

ERROR

Error Detected DO5

08h

BRKR

Holding Brake
Control

09h

HOMED_OK

Homing
Completed

10h

OLW

Motor
Overload Alert

11h

WARN

Alert Signal
activated

12h

OVF

Position
command
overflow

13h

SCWL(SNL)

Negative
Software Limit
Switch
Reached

14h

SCCWL(SPL) Positive
Software Limit
Switch
Reached

15h

CMD_OK

Data set
completed

16h

CAP1_OK

Capture 1
completed

306

DO2

DO2
-

DO4

DO2

DO3

DO4

DO5

DO4

DO5
DO3

DO5

DO4

DO5

DO3

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Operation
Setting A for
P2-18 ... P222

Short name

Name

PT
V

17h

MC_OK

Motion control
completed
output

19h

SP_OK

Speed
reached
output

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.

PT
T

PS
V

PS
T

V
T

CANopen

Parameterization of the Signal Output Functions
The signal output functions for the outputs DO1 ... DO5 are configured via the parameters P2-18 ... P222.

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Operation

The following table provides an overview of the possible signal output functions:
Setting A for P2-

Short name

Name

Description

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
Completed

Operating mode Pulse Train (PT): The signal output function
TPOS indicates 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 set via the parameter P1-54 and
the reference velocity is below the value set via the parameter P138.

06h

TQL

Torque Limit
Reached

The signal output function TQL indicates that the torque of the
motor has 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 (see page 399).

08h

BRKR

Holding
The signal output function BRKR is used to control the holding
Brake Control brake with the 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 (see page 171).

09h

HOMED_OK

Homing
Completed

The signal output function HOMED_OK indicates that the homing
procedure has 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)
(see page 329).

10h

OLW

Motor
Overload
Alert

The signal output function OLW indicates a motor overload
condition. A threshold for the signal output function OLW can be
set via parameter P1-28.

11h

WARN

Alert Signal
activated

The signal output function indicates that one of the following
conditions has been detected: Hardware limit switch triggered,
undervoltage, Nodeguard alert, Operational Stop (OPST). For
further information, refer to Diagnostics and Troubleshooting
(see page 399).

12h

Reserved

13h

SCWL(SNL)

Negative
Software
Limit Switch
Reached

The signal output function SCWL(SNL) indicates that the negative
software limit switch set via parameter P5-09 has been reached.
When the software limit switch is reached, an alert is triggered. The
deceleration ramp is specified via parameter P5-23.

14h

SCCWL(SPL) Positive
Software
Limit Switch
Reached

The signal output function SCCWL(SPL) indicates that the positive
software limit switch set via parameter P5-08 has been reached.
When the software limit switch is reached, an alert is triggered. The
deceleration ramp is specified via parameter P5-24.

15h

CMD_OK

Data set
completed

The signal output function CMD_OK indicates that the data set
including the waiting time has been successfully completed.

16h

CAP1_OK

Capture 1
completed

The signal output function CAP1_OK indicates that a position
capture (Touch Probe) has been successfully completed. The
settings for position capture (Touch Probe) are specified via
parameters P5-37 … P5-39.

18 ... P2-22

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Setting A for P2-

Short name

Name

Description

17h

MC_OK

Motion
control
completed
output

The signal output function MC_OK indicates that both the signal
output functions CMD_OK and TPOS have been activated.

19h

SP_OK

Speed
reached
output

The signal output function SP_OK indicates that the target velocity
has been reached. The velocity range for activating this signal
output function is set via parameter P1-47.

30h

SDO_0

Output the
status of bit 0
of P4-06.

The signal output functions SDO_0 ... SDO_7 provide the bit
pattern (bits 0 ... 7) required to determine the setting of the
parameter P4-06.

31h

SDO_1

Output the
status of bit 1
of P4-06.

The signal output functions SDO_0 ... SDO_7 provide the bit
pattern (bits 0 ... 7) required to determine the setting of the
parameter P4-06.

32h

SDO_2

Output the
status of bit 2
of P4-06.

The signal output functions SDO_0 ... SDO_7 provide the bit
pattern (bits 0 ... 7) required to determine the setting of the
parameter P4-06.

33h

SDO_3

Output the
status of bit 3
of P4-06.

The signal output functions SDO_0 ... SDO_7 provide the bit
pattern (bits 0 ... 7) required to determine the setting of the
parameter P4-06.

34h

SDO_4

Output the
status of bit 4
of P4-06.

The signal output functions SDO_0 ... SDO_7 provide the bit
pattern (bits 0 ... 7) required to determine the setting of the
parameter P4-06.

35h

SDO_5

Output the
status of bit 5
of P4-06.

The signal output functions SDO_0 ... SDO_7 provide the bit
pattern (bits 0 ... 7) required to determine the setting of the
parameter P4-06.

36h

SDO_6

Output the
status of bit 6
of P4-06.

The signal output functions SDO_0 ... SDO_7 provide the bit
pattern (bits 0 ... 7) required to determine the setting of the
parameter P4-06.

37h

SDO_7

Output the
status of bit 7
of P4-06.

The signal output functions SDO_0 ... SDO_7 provide the bit
pattern (bits 0 ... 7) required to determine the setting of the
parameter P4-06.

18 ... P2-22

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Operation

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 (see page 300).
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 (see page 300).
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




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.
After the OPST function is enabled, you must disable it and re-enable the power stage for continued
operation.

310

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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 (see page 306).
The parameter P4-06 lets you set the digital signal outputs.

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Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P4-06
FOT

Setting a signal output via parameter
Applicable operating mode: PT, PS, V, T
This parameter lets you set those signal
outputs whose signal output functions have
been defined by SDO_0 ... SDO_5.
Bit 0 = 1 sets those signal outputs whose
signal 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.

0h
0h
FFh
Hexadecimal

u16
RW
-

Modbus 50Ch
CANopen 4406h

311

Operation

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.

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.

312

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P3-06
SDI

Digital Inputs - Forcing Settings
Applicable operating mode: PT, PS, V, T
This parameter determines whether a
digital input can be forced.
Bits 0 … 7: Digital input DI1 … Digital input
DI8
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.

0h
0h
7FFh
Hexadecimal

u16
RW
-

Modbus 40Ch
CANopen 4306h

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Operation

Use parameter P4-07 to activate forcing of the digital signal inputs.
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P4-07
ITST

State of Digital Inputs / Activate Forcing
Applicable operating mode: PT, PS, V, T
A read access to this parameter indicates
the state of the digital inputs in the form of
a bit pattern.
Example:
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.

0h
0h
FFh
Hexadecimal

u16
RW
-

Modbus 50Eh
CANopen 4407h

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

P4-27
Digital Outputs - Forcing Settings
DO_FORCE_MASK Applicable operating mode: PT, PS, V, T
This parameter determines whether 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
To start forcing, you must write P4-28.
See P2-18 … P2-22 for the assignment of
signal output functions to the digital
outputs.

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Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

0h
0h
1Fh
Hexadecimal

u16
RW
-

Modbus 536h
CANopen 441Bh

313

Operation

Use parameter P4-28 to activate forcing of the digital signal outputs.
Parameter name

Description

P4-28
State of Digital Outputs / Activate Forcing
DO_FORCE_VALUE Applicable operating mode: PT, PS, V, T
A read access to this parameter indicates
the state of the digital outputs in the form of
a bit pattern.
Example:
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 P427 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.

314

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

0h
0h
1Fh
Hexadecimal

u16
RW
-

Modbus 538h
CANopen 441Ch

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Lexium 28 A and BCH2 Servo Drive System
Operating Modes
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Chapter 18
Operating Modes

Operating Modes
What Is in This Chapter?
This chapter contains the following sections:
Section
18.1

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Topic

Page

Setting the Operating Mode

316

18.2

Jog Operation

321

18.3

Operating Mode Pulse Train (PT)

322

18.4

Operating Mode Position Sequence (PS)

329

18.5

Operating Modes Velocity (V) and Velocity Zero (Vz)

365

18.6

Operating Modes Torque (T) and Torque Zero (Tz)

370

18.7

Operating Mode CANopen

372

315

Operating Modes

Section 18.1
Setting the Operating Mode

Setting the Operating Mode
What Is in This Section?
This section contains the following topics:
Topic

316

Page

Setting the Operating Mode

317

Object units

319

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Operating Modes

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







Failure to follow these instructions can result in death, serious injury, or equipment damage.

The drive has the following types of operating modes:


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.



CANopen Mode operating mode
 The drive operates in the operating mode CANopen.

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Operating Modes

WARNING
UNINTENDED EQUIPMENT OPERATION




Failure to follow these instructions can result in death, serious injury, or equipment damage.

318

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Object units
Overview
CANopen has two objects for setting the gear ratio and the feed constant conversion factors, each of which
has two subindex.
These objects have four equivalent variables:
Item

CANopen Object

Feed
constant

6092:1h

Feed
Unit conversion numerator

6092:2h

Shaft revolutions
Unit conversion denominator

6091:1h

Motor revolutions
Motor shaft scaling for the
fieldbus gear ratio

Conversion factor of the motor shaft revolution.

6091:2h

Shaft revolutions
Drive shaft scaling for the
fieldbus gear ratio

Conversion factor of the drive shaft revolution.

Gear ratio

Description
Conversion factors of the user-defined position unit.
Used to multiply the motor revolution (rotary motors) or
the motor pitch (linear motors), according to the
configured motor type.

It is possible to modify the subindex of both objects, but it is usually sufficient to modify only the feed
constant value, as shown in the following example:
Resolution = (6092:1h / 6092:2h) x (6091:1h / 6091:2h)
Example by unit dimensions:
Unit dimension
Position units

Examples
Assuming:

 6091:1h = 360
 6091:2h = 1
 6092:1h = 1
 6092:2h = 1


The actual position reading = 720

Then:
720 / [(360 / 1) x (1 / 1)] = 2 revolutions
Velocity units

Assuming:

 6091:1h = 360
 6091:2h = 1
 6092:1h = 1
 6092:2h = 1

 The actual velocity reading = 720

Then:
720 / [(360 / 1) x (1 / 1)] = 2 revolutions per second
Acceleration units

Assuming:
 6091:1h = 360
 6091:2h = 1
 6092:1h = 1
 6092:2h = 1
 The actual acceleration reading = 720
Then:
720 / [(360 / 1) x (1 / 1)] = 2 revolutions per second2

Current units

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The units are derived from object 6075h (Motor Rated Current)
The value of this object is user-defined, in mA.
After setting a value for 6075h, all other current objects must receive values defined
in 1/1000 (one-thousandth) of 6075h.
For example:
Assuming 6075h has a value of 20000 mA, then to set a value of 15000 mA for 6073h
(Maximum Current), write 750 for 6073h.
The calculation is:
(750 / 1000) × 20000 = 15000 mA

319

Operating Modes

Examples of Rotary Motor with Gear or Rotary to Linear Motion Translation Device
When using a gear or rotary-to-linear motion translation device, set values for the translation ratio of the
gear in order to define the unit variables.
Using a ball screw that converts

Object values to set

100 motor revolutions to 1 mm

6091:1h = 100
6091:2h = 1
6092:1h = 1
6092:2h = 1

3600 rotary degrees to 1 mm

6091:1h = 10
6091:2h = 1
6092:1h = 360
6092:2h = 1

360 rotary degrees to 10 mm

6091:1h = 1
6091:2h = 10
6092:1h = 360
6092:2h = 1

This units will be as follows:
Position in mm
 Velocity in mm/sec




320

Acceleration in mm.sec2

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Operating Modes

Section 18.2
Jog Operation

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 (see page 300).
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.
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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Operating Modes

Section 18.3
Operating Mode Pulse Train (PT)

Operating Mode Pulse Train (PT)
What Is in This Section?
This section contains the following topics:
Topic

322

Page

Operating mode Pulse Train (PT)

323

Pulse Settings

324

Gear Ratio

326

Acceleration and Deceleration Limitation

328

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Operating Modes

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:




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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.

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P8-31
GEARING_MODE

Method for Operating Mode Pulse Train
(PT)
Applicable operating mode: PT
Value 0: Synchronization deactivated
Value 1: Position synchronization without
compensation movement
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.

0
1
3
Decimal

u16
RW
per.

Modbus 93Eh
CANopen 481Fh

323

Operating Modes

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
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-00
PTT

Reference Value Signal - Pulse Settings
Applicable operating mode: PT

0h
2h
1132h
Hexadecimal

u16
RW
per.

Modbus 200h
CANopen 4100h

Settings A and C
Type of reference value signals and input polarity
–

C=0
Positive input polarity
Positive direction of
movement

C=1
Negative input polarity
Negative direction of Positive direction of
movement
movement

Negative direction of
movement

A=0
A/B signals

A=1
CW/CCW signals

A=2
P/D signals

324

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Setting B
Maximum signal frequency:
–

Low-speed pulses
PULSE, SIGN

High-speed pulses
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.

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Operating Modes

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.

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 (see page 300).
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.

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Operating Modes

Acceleration and Deceleration Limitation

The parameters P1-34 and P1-35 allow you to set a limitation for the acceleration and deceleration.

328

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-34
TACC

ms
6
30
65500
Decimal

u16
RW
per.

Modbus 244h
CANopen 4122h

P1-35
TDEC

ms
6
30
65500
Decimal

u16
RW
per.

Modbus 246h
CANopen 4123h

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Section 18.4
Operating Mode Position Sequence (PS)

Operating Mode Position Sequence (PS)
What Is in This Section?
This section contains the following topics:
Topic

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Page

Operating mode Position Sequence (PS)

330

Structure of a Data Set

331

Running Data Sets

333

Scaling

337

Homing Data Set for Absolute Movements

338

329

Operating Modes

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 LXM28 DTM Library.

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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 userdefined units per revolution.
For further information on scaling, refer to chapter Scaling (see page 337).
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.
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.

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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:

332

Data set

Target position

Type / transition

Acceleration /
deceleration

Waiting time / target
velocity

P6-02

P6-03

P7-02

P7-03

P6-04

P6-05

P7-04

P7-05

P6-06

P6-07

P7-06

P7-07

P6-08

P6-09

P7-08

P7-09

P6-10

P6-11

P7-10

P7-11

P6-12

P6-13

P7-12

P7-13

P6-14

P6-15

P7-14

P7-15

P6-16

P6-17

P7-16

P7-17

P6-18

P6-19

P7-18

P7-19

P6-20

P6-21

P7-20

P7-21

P6-22

P6-23

P7-22

P7-23

P6-24

P6-25

P7-24

P7-25

P6-26

P6-27

P7-26

P7-27

P6-28

P6-29

P7-28

P7-29

P6-30

P6-31

P7-30

P7-31

P6-32

P6-33

P7-32

P7-33

P6-34

P6-35

P7-34

P7-35

P6-36

P6-37

P7-36

P7-37

P6-38

P6-39

P7-38

P7-39

P6-40

P6-41

P7-40

P7-41

P6-42

P6-43

P7-42

P7-43

P6-44

P6-45

P7-44

P7-45

P6-46

P6-47

P7-46

P7-47

P6-48

P6-49

P7-48

P7-49

P6-50

P6-51

P7-50

P7-51

P6-52

P6-53

P7-52

P7-53

P6-54

P6-55

P7-54

P7-55

P6-56

P6-57

P7-56

P7-57

P6-58

P6-59

P7-58

P7-59

P6-60

P6-61

P7-60

P7-61

P6-62

P6-63

P7-62

P7-63

P6-64

P6-65

P7-64

P7-65

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Running Data Sets
Running Individual Data Sets
Individual data sets are selected via the signal input functions POS0 … POS4.
The following table shows the bit pattern used to select the data sets.
Data set

POS4

POS3

POS2

POS1

POS0

…

The selected data set is executed and the movement started via the signal input function CTRG, rising
edge, or via the parameter P5-07.
For further information on parameterizing the signal input functions, refer to Setting the Digital Signal Inputs
(see page 300).
Example of Running Individual Data Sets
The illustration below shows how the data sets are started and terminated via the signal input functions
and the signal output functions CMD_OK, TPOS and MC_OK:
Operating mode Position Sequence (PS)

For further information, refer to Setting the Digital Signal Inputs (see page 300).

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Operating Modes

Running Sequences of Data Sets via the Signal Input Functions AUTOR and STEPB
The signal input function AUTOR allows you to automatically execute a sequence of the 32 available data
sets. When this signal input function is activated, data sets 1 to 32 are executed one after the other with
the values set via the appropriate parameters for each data set (P6-02 … P6-65 and P7-02 … P7-65).
After the last data is completed, the sequence restarts with the first data set. This loop continues as long
as the signal input function AUTOR is active.
If any of the 32 data sets contains an absolute movement, successful homing is required before the signal
input function AUTOR can be used.
The signal input function AUTOR is level-triggered.
If the execution of a data set is interrupted and AUTOR is active again, the data set is resumed where it
was interrupted.
If the signal input function AUTOR is deactivated, the currently active data set is completed. You can use
the signal input function STEPB to return to the first of the 32 data sets.
The parameter P2-44 can be used to provide information on the running sequence of data sets via the
digital outputs. For further information, refer to Status of Data Set Sequences - Parameter P2-44
(see page 335).
For further information on assigning signal input functions to the digital inputs, refer to Setting the Digital
Signal Inputs (see page 300).
Running Sequences of Data Sets via the Signal Input Functions STEPU, STEPD, and STEPB
The signal input functions STEPU and STEPD allow you to run data sets in ascending or descending order.
Successful homing is required before the signal input function STEPU and STEPD can be used.
When the signal input function STEPU is activated via a rising edge at the digital input to which the signal
input function STEPU is assigned, the first of the 32 data sets is executed with the values set via the
parameters (P6-02 … P6-03 and P7-02 … P7-03).
Each subsequent rising edge at the digital input to which the signal input function STEPU is assigned starts
the next data set in the sequence. A falling edge at the digital input has no effect. If a rising edge is detected
at the digital input, the next data set is started immediately if the target position has been reached, even if
the waiting time set for the data set currently being executed has not yet elapsed.
When the last data set (data set 32) is reached with the signal input function STEPU, a further rising edge
at the corresponding input has no effect. Use the signal input functions STEPB to return to the first data
set (data set 1).
The signal input function STEPD works like the signal input function STEPU, but instead of the next data
set, it starts the preceding data set.
You can use the signal input function STEPB to return to the first of the 32 data sets.
The parameter P2-44 can be used to provide information on the running sequence of data sets via the
digital outputs. For further information, refer to Status of Data Set Sequences - Parameter P2-44
(see page 335).
For further information on assigning signal input functions to the digital inputs, refer to Setting the Digital
Signal Inputs (see page 300).

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Status of Data Set Sequences
Parameter P2-44 allows you to output information on the status of the sequence of data sets processed
with the signal input functions AUTOR, STEPB, STEPU, and STEPD.
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P2-44
AUTOR_DOMS

Status of Data Set Sequences in Operating
Mode PS
Applicable operating mode: PS
This parameter provides information on the
status of the sequence of data sets.
Value 0: The functions assigned to the
digital outputs DO1 … DO6 via the
parameters P2-18 … P2-23 are active.
Value 1: 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.

0h
0h
1h
Hexadecimal

u16
RW
per.

Modbus 358h
CANopen 422Ch

The following table shows the meanings of the bit patterns available via the digital outputs when the
parameter P2-44 is set to 1:

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Item

DO6

DO5

DO4

DO3

DO2

DO1

Meaning

Error detected

Operating state Operation Enabled

Homing in progress

Homing completed

Data set transition in progress

Data set 1 target position reached

Data set 2 target position reached

Data set 3 target position reached

Data set 4 target position reached

Data set 5 target position reached

Data set 6 target position reached

Data set 7 target position reached

Data set 8 target position reached

Data set 9 target position reached

Data set 10 target position reached

Data set 11 target position reached

Data set 12 target position reached

Data set 13 target position reached

Data set 14 target position reached

Data set 15 target position reached

Data set 16 target position reached

Data set 17 target position reached

Data set 18 target position reached

Data set 20 target position reached

Data set 21 target position reached

Data set 22 target position reached

Data set 23 target position reached

335

Operating Modes

336

Item

DO6

DO5

DO4

DO3

DO2

DO1

Meaning

Data set 24 target position reached

Data set 25 target position reached

Data set 26 target position reached

Data set 27 target position reached

Data set 28 target position reached

Data set 29 target position reached

Data set 30 target position reached

Data set 31 target position reached

Data set 32 target position reached

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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.

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:

Example 2
Calculation of the scaling factor if 10000 PUU are to effect 500 revolutions of the motor shaft:

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Operating Modes

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.
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
(see page 300).

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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
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P6-01
ODEF

Subsequent Data Set and Auto-start of
Homing Data Set
Applicable operating mode: PS
Bit 0:
0 = Do not start Homing after first power
stage enable
1 = Start Homing after first power stage
enable
Bits 1 … 7: Reserved
Bits 8 … 15: Subsequent data set

0h
0h
2001h
Hexadecimal

u32
RW
per.

Modbus 702h
CANopen 4601h

P7-01
HOME_DLY

Waiting Time of Homing Data Set
Applicable operating mode: PS
Bits 0 … 15: Waiting time until next dataset
is started
Bits 16 … 31: Reserved

ms
0
0
32767
Decimal

u32
RW
per.

Modbus 802h
CANopen 4701h

Setting Acceleration and Deceleration
The acceleration and deceleration for the Homing data set are set via the parameter P7-00.
Parameter name

Description

P7-00
Deceleration and Acceleration of Homing
HOME_ACC_DEC Data Set
Applicable operating mode: PS
Bits 0 … 15: Deceleration
Bits 16 … 31: Acceleration

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

ms|ms
6| 6
200| 200
65500| 65500
Decimal

u32
RW
per.

Modbus 800h
CANopen 4700h

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.

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Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P5-05
HOMESPEED1

Homing - Fast Velocity for Reference
Movement
Applicable operating mode: PS

0.1rpm
10
1000
60000
Decimal

u32
RW
per.

Modbus 60 Ah
CANopen 4505h

P5-06
HOMESPEED2

Homing - Slow Velocity for Reference
Movement
Applicable operating mode: PS

0.1rpm
10
200
60000
Decimal

u32
RW
per.

Modbus 60Ch
CANopen 4506h

339

Operating Modes

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.
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P6-00
ODAT

Position of Homing Data Set
Applicable operating mode: PS
After a successful reference movement,
this position is automatically set at the
reference point.
Bits 0 … 31: Position

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 700h
CANopen 4600h

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 pulse
Y=2: No movement to the index
pulse

Movement in positive direction to the
positive limit switch

Movement in negative direction to the
negative limit switch

Z=0: Stop after limit switch is
reached and trigger alert AL014
or AL015
Z=1: Move in opposite direction
after having reached the limit
switch, no alert

Y=0: Movement back to the last 2
index pulse
Y=1: Movement to the next index 3
pulse
Y=2: No movement to the index
pulse

Movement in positive direction to the
rising edge of the reference switch

Movement in positive direction to the
next index pulse

Movement in negative direction to the
next index pulse

Movement in negative direction to the
rising edge of the reference switch

Y=0: Movement back to the last 6
index pulse
Y=1: Movement to the next index 7
pulse
Y=2: No movement to the index
pulse

Movement in positive direction to the
falling edge of the reference switch

Position setting

Movement in negative direction to the
falling edge of the reference switch

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

Movement to rising edge at velocity P5-05

Movement to falling edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Reference movement (ZYX = -20)

Item

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Description

Movement to rising edge at velocity P5-05

Movement to falling edge at velocity P5-06

341

Operating Modes

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

Movement to rising edge at velocity P5-05

Movement to falling edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Reference movement (ZYX = -21)

Item

342

Description

Movement to rising edge at velocity P5-05

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)

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Item

Description

Movement to rising edge at velocity P5-05

Movement to falling edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Movement to the limit switch at velocity P5-05

343

Operating Modes

Reference movement (ZYX = 012)

Item

Description

Movement to rising edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Movement to falling edge at velocity P5-05

Movement to the limit switch at velocity P5-05

Reference movement (ZYX = 022)

344

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Operating Modes

Item

Description

Movement to rising edge at velocity P5-05

Movement to falling edge at velocity P5-06

Movement to the limit switch at velocity P5-05

Reference movement (ZYX = 102)

Item

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Description

Movement to rising edge at velocity P5-05

Movement to falling edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Movement to the limit switch at velocity P5-05

345

Operating Modes

Reference movement (ZYX = 112)

346

Item

Description

Movement to rising edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Movement to falling edge at velocity P5-05

Movement to the limit switch at velocity P5-05

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Operating Modes

Reference movement (ZYX = 122)

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Item

Description

Movement to rising edge at velocity P5-05

Movement to falling edge at velocity P5-06

Movement to the limit switch at velocity P5-05

347

Operating Modes

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.
Reference movement (ZYX = 003)

348

Item

Description

Movement to rising edge at velocity P5-05

Movement to falling edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Movement to the limit switch at velocity P5-05

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Operating Modes

Reference movement (ZYX = 013)

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Item

Description

Movement to rising edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Movement to falling edge at velocity P5-05

Movement to the limit switch at velocity P5-05

349

Operating Modes

Reference movement (ZYX = 023)

Item

350

Description

Movement to rising edge at velocity P5-05

Movement to falling edge at velocity P5-06

Movement to the limit switch at velocity P5-05

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Operating Modes

Reference movement (ZYX = 103)

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Item

Description

Movement to rising edge at velocity P5-05

Movement to falling edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Movement to the limit switch at velocity P5-05

351

Operating Modes

Reference movement (ZYX = 113)

352

Item

Description

Movement to rising edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Movement to falling edge at velocity P5-05

Movement to the limit switch at velocity P5-05

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Operating Modes

Reference movement (ZYX = 123)

Item

Description

Movement to rising edge at velocity P5-05

Movement to falling edge at velocity P5-06

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)

Item

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Description

Movement to the next index pulse at velocity P5-06

Movement to the limit switch at velocity P5-06

353

Operating Modes

Reference movement (ZYX = 1-4)

Item

Description

Movement to the next index pulse at velocity P5-06

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)

354

Item

Description

Movement to the next index pulse at velocity P5-06

Movement to the limit switch at velocity P5-06

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Operating Modes

Reference movement (ZYX = 1-5)

Item

Description

Movement to the next index pulse at velocity P5-06

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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Item

Description

Movement to falling edge at velocity P5-05

Movement to rising edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Movement to the limit switch at velocity P5-05

355

Operating Modes

Reference movement (ZYX = 016)

Item

Description

Movement to falling edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Movement to the limit switch at velocity P5-05

Reference movement (ZYX = 026)

356

Item

Description

Movement to rising edge at velocity P5-05

Movement to falling edge at velocity P5-06

Movement to the limit switch at velocity P5-05

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Operating Modes

Reference movement (ZYX = 106)

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Item

Description

Movement to falling edge at velocity P5-05

Movement to rising edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Movement to the limit switch at velocity P5-05

357

Operating Modes

Reference movement (ZYX = 116)

358

Item

Description

Movement to falling edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Movement to the limit switch at velocity P5-05

Movement to rising edge at velocity P5-05

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Operating Modes

Reference movement (ZYX = 126)

Item

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Description

Movement to rising edge at velocity P5-05

Movement to falling edge at velocity P5-06

Movement to the limit switch at velocity P5-05

359

Operating Modes

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.
Reference movement (ZYX = 007)

360

Item

Description

Movement to falling edge at velocity P5-05

Movement to rising edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Movement to the limit switch at velocity P5-05

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Reference movement (ZYX = 017)

Item

Description

Movement to falling edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Movement to the limit switch at velocity P5-05

Reference movement (ZYX = 027)

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Item

Description

Movement to rising edge at velocity P5-05

Movement to falling edge at velocity P5-06

Movement to the limit switch at velocity P5-05
361

Operating Modes

Reference movement (ZYX = 107)

362

Item

Description

Movement to falling edge at velocity P5-05

Movement to rising edge at velocity P5-05

Movement to the limit switch at velocity P5-06

Item

Description

Movement to falling edge at velocity P5-05

Movement to the index pulse at velocity P5-06

Movement to the limit switch at velocity P5-05

Movement to rising edge at velocity P5-05

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Reference movement (ZYX = 117)

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363

Operating Modes

Reference movement (ZYX = 127)

Item

Description

Movement to rising edge at velocity P5-05

Movement to falling edge at velocity P5-06

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.

364

Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P6-00
ODAT

Position of Homing Data Set
Applicable operating mode: PS
After a successful reference movement,
this position is automatically set at the
reference point.
Bits 0 … 31: Position

PUU
-2147483647
0
2147483647
Decimal

s32
RW
per.

Modbus 700h
CANopen 4600h

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Section 18.5
Operating Modes Velocity (V) and Velocity Zero (Vz)

Operating Modes Velocity (V) and Velocity Zero (Vz)
What Is in This Section?
This section contains the following topics:
Topic

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Operating Modes Velocity (V) and Velocity Zero (Vz)

366

Acceleration and Deceleration

369

365

Operating Modes

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 (see page 300).
-

Signal state of the digital
signal inputs
SPD1

Target velocity via:

Range

SPD0

S1
0

Operating mode
Velocity (Vz)

Voltage between V_REF -10V ... 10V
(Pin42) and GND (pin 44)

Operating mode
Velocity Zero (Vz)

0 rpm

Internal
parameters

P1-09

P1-10
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.

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Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-40
VCM

rpm
0
10001
Decimal

s32
RW
per.

Modbus 250h
CANopen 4128h

Example
The illustration below shows how the target velocities are switched by means of the signal input functions
SPD0,SPD1 and SON.
Operating modes Velocity (V) and Velocity Zero (Vz)

For further information, refer to Setting the Digital Signal Inputs (see page 300).

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Operating Modes

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 (see page 300).
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-38
ZSPD

0.1rpm
0
100
2000
Decimal

s32
RW
per.

Modbus 24Ch
CANopen 4126h

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.


368

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Operating Modes

Acceleration and Deceleration

The parameters P1-34 and P1-35 allow you to set the acceleration and deceleration.

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Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-34
TACC

ms
6
30
65500
Decimal

u16
RW
per.

Modbus 244h
CANopen 4122h

P1-35
TDEC

ms
6
30
65500
Decimal

u16
RW
per.

Modbus 246h
CANopen 4123h

369

Operating Modes

Section 18.6
Operating Modes Torque (T) and Torque Zero (Tz)

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
must install additional equipment such as a dedicated service brake if your application requires faster
deceleration of the load.

WARNING
UNINTENDED EQUIPMENT OPERATION




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 (see page 300).
-

Signal state of the digital
signal inputs
TCM1

Range

TCM0

370

Target torque is provided via:

Operating mode
Torque (T)

Voltage between T_REF -10V ... 10V
(pin 18) and GND (pin 19)

Operating mode
Torque Zero (Tz)

Internal
parameters

P1-12
P1-13

-300 ... 300%

P1-14

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Operating Modes

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.

Parameter
name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type Parameter
R/W
address via
Persistent fieldbus

P1-41
TCM

Torque Target Value and Torque Limitation 10 V
Applicable operating mode: PT, PS, V, T
In the operating mode T, this parameter specifies
the target torque that corresponds to the
maximum input voltage of 10 V.
In the operating modes PT, PS and V, this
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 changed if power stage is
disabled.

%
0
100
1000
Decimal

u16
RW
per.

Modbus 252h
CANopen 4129h

Example
The illustration below shows how the target torque is switched by means of the signal input functions
TCM0,TCM1 and SON.
Operating modes Torque (T) and Torque Zero (Tz)

For further information, refer to Setting the Digital Signal Inputs (see page 300).

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Operating Modes

Section 18.7
Operating Mode CANopen

Operating Mode CANopen
What Is in This Section?
This section contains the following topics:
Topic

372

Page

Indication of the Operating State

373

Changing the Operating State

375

Starting and Changing a CANopen Operating Mode

376

CANopen Operating Mode Profile Position

377

CANopen Operating Mode Profile Velocity

380

CANopen Operating Mode Profile Torque

382

CANopen Operating Mode Homing

384

CANopen Operating Mode Interpolated Position

386

CANopen Operating Mode Cyclic Synchronous Position

388

CANopen Operating Mode Jog

389

CANopen Operating Mode Electronic Gear

390

CANopen Operating Mode Analog Velocity

392

CANopen Operating Mode Analog Torque

394

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Indication of the Operating State

The parameter Statusword 6041h provides information on the operating state of the device and the
processing status of the operating mode.
Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory settings
Maximum value

6041h

Statusword
Bit assignments:
 Bits 0 … 3: Status bits
 Bit 4: Voltage Enabled
 Bits 5 … 6: Status bits
 Bit 7: Error detected
 Bit 8: Halt request active
 Bit 9: Remote
 Bit 10: Target Reached
 Bit 11: Internal Limit Active
 Bit 12: Operating mode-specific
 Bit 13: x_err
 Bit 14: x_end
 Bit 15: ref_ok

VAR
UINT16
ro

Yes

0
65535

Bits 0, 1, 2, 3, 5 and 6
Bits 0, 1, 2, 3, 5 and 6 of the parameter Statusword 6041h provide information on the operating state.
Operating state

Bit 6
Switch On
Disabled

Bit 5
Quick Stop

Bit 3
Fault

Bit 2
Operation
Enabled

Bit 1
Switch On

Bit 0
Ready To
Switch On

2 Not Ready To Switch On

3 Switch On Disabled

4 Ready To Switch On

5 Switched On

6 Operation Enabled

7 Quick Stop Active

8 Fault Reaction Active

9 Fault

Bit 4
Bit 4=1 indicates whether the DC bus voltage is correct. If the voltage is missing or is too low, the device
does not transition from operating state 3 to operating state 4.
Bit 7
Bit 7=1 indicates that an error has been detected.
Bit 8
Bit 8=1 indicates that a "Halt" is active.
Bit 9
If bit 9 is set, the device carries out commands via the fieldbus. If Bit 9 is reset, the device is controlled via
a different interface. In such a case, it is still possible to read or write parameters via the fieldbus.
Bit 10
Bit 10 is used for monitoring the current operating mode. Details can be found in the chapters on the
individual operating modes.

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Operating Modes

Bit 11
The assignment of bit 11 can be set via the parameter P3-30.
Bit 12
Bit 12 is used for monitoring the current operating mode. Details can be found in the chapters on the
individual operating modes.
Bit 13
Bit 13 only becomes "1" in the case of an error which needs to be remedied prior to further processing.
Bit 14
Bit 14 changes to "0" if an operating mode is started. When processing is terminated or interrupted, for
example by a "Halt", bit 14 toggles back to "1" once the motor has come to a standstill. The signal change
of bit 14 to "1" is suppressed if one process is followed immediately by a new process in a different
operating mode.
Bit 15
Bit 15 is "1" if the motor has a valid zero point, for example as a result of a reference movement. A valid
zero point remains valid even if the power stage is disabled.

374

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Operating Modes

Changing the Operating State

The parameter Controlword 6040h can be used to switch between the operating states.
Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory settings
Maximum value

6040h

Controlword
Bit assignments:
 Bit 0: Switch On
 Bit 1: Enable Voltage
 Bit 2: Quick Stop
 Bit 3: Enable Operation
 Bits 4 … 6: Operating mode-specific
 Bit 7: Fault Reset
 Bit 8: Halt
 Bit 9: Operating mode-specific
 Bits 10 … 15: Reserved

VAR
UINT16
rww

Yes

0
65535

Bits 0 … 3 and 7
Bits 0 … 3 and bit 7 of the parameter Controlword 6040h allow you to switch between the operating states.
Fieldbus
command

State
transitions

State transition to

Bit 7
Fault
Reset

Bit 3
Bit 2
Enable
Quick
Operation Stop

Bit 1
Enable
Voltage

Bit 0
Switch On

Shutdown

T2, T6, T8

4 Ready To Switch On

Switch On

5 Switched On

Disable
Voltage

T7, T9,
T10, T12

3 Switch On Disabled

Quick Stop

T7, T10
T11

3 Switch On Disabled
7 Quick Stop Active

Disable
Operation

5 Switched On

Enable
Operation

T4, T16

6 Operation Enabled

Fault Reset

3 Switch On Disabled

0->1

Bits 4 … 6 and 9
Bits 4 to 6 and bit 9 are used for the operating mode-specific settings. Details can be found in the
descriptions of the individual operating modes in this chapter.
Bit 8
A "Halt" can be triggered with bit 8=1.
Bits 10 … 15
Reserved.

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Operating Modes

Starting and Changing a CANopen Operating Mode
Overview of the CANopen Operating Modes
The following CANopen operating modes are available:
 CANopen operating modes as per CiA 402
 Profile Position
 Profile Velocity
 Profile Torque
 Homing
 Interpolated Position
 Cyclic Synchronous Position


CANopen vendor-specific operating modes
 Jog
 Electronic Gear
 Analog Velocity
 Analog Torque

Starting and Changing an Operating Mode
The parameter Modes of Operation 6060h is used to set the operating mode.
The parameter Modes of Operation Display 6061h can be used to read the current operating mode.
Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory settings
Maximum value

6060h

Modes of Operation

VAR
INT8
rww

Yes

-128
0
8

6061h

Modes of Operation Display

VAR
INT8
ro

Yes

-128
8

Values for the parameters Modes of Operation 6060h and Modes of Operation Display (6061h):
Value 1: Profile Position
 Value 3: Profile Velocity
 Value 4: Profile Torque
 Value 6: Homing
 Value 7: Interpolated Position
 Value 8: Cyclic Synchronous Position
 Value -1: Jog
 Value -2: Electronic Gear
 Value -3: Analog Velocity
 Value -4: Analog Torque


376

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Operating Modes

CANopen Operating Mode Profile Position
Description
In the operating mode Profile Position, a movement to a specified target position is performed.
A movement can be made using one of 2 methods:
 Relative movement
 Absolute 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.

Starting the Operating Mode
The operating mode must be set in the parameter Modes of Operation 6060h. Writing the parameter
value causes the operating mode to start.
The target position is set via the parameter Controlword 607 Ah and the target position is set via the
parameter Controlword 6081h.
Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory settings
Maximum value

607 Ah

Target Position
Unit: User-defined position unit

VAR
INT32
rww

Yes

-2147483648
0
2147483647

6081h

Profile Velocity in profile position mode
Unit: User-defined position unit/s

VAR
UINT32
rww

Yes

0
0
4294967295

The acceleration is set via the parameter Profile Acceleration 6083h and the deceleration is set via
the parameter Profile Deceleration 6084h.
Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory settings
Maximum value

6083h

Profile Acceleration
Unit: User-defined position unit/s2

VAR
UINT32
rww

Yes

1
4266666667
4294967295

6084h

Profile Deceleration
Unit: User-defined position unit/s2

VAR
UINT32
rww

Yes

1
4266666667
4294967295

The movement is started via the parameter Controlword 6040h.

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Operating Modes

Controlword
Bit 9
Change on
setpoint

Bit 5
Change setpoint
immediately

Bit 4
New setpoint

Meaning

0->1

Starts a movement to a target position.
Target values transmitted during a movement
become immediately effective and are executed
at the target. The movement is stopped at the
current target position.(1)

0->1

Starts a movement to a target position.
Target values transmitted during a movement
become immediately effective and are executed
at the target. The movement is not stopped at
the current target position.(1)

0->1

Starts a movement to a target position.
Target values transmitted during a movement
become immediately effective and are
immediately executed.(1)

(1) Target values include target position, target velocity, acceleration and deceleration.

Controlword

Meaning

Bit 2: Quick Stop

Triggers a Quick Stop

Bit 6: Absolute / relative

0: Absolute movement
1: Relative movement

Bit 7: Fault Reset

Triggers a Fault Reset

Bit 8: Halt

Triggers a Halt

Statusword

Meaning

Bit 8: Halt request active

0: A Halt request is active
1: A Halt request is active

Bit 10: Target Reached

0: Target position not reached
1: Target position reached

Bit 12: Target value acknowledge

0: New position possible
1: New target position accepted

Bit 13: x_err

0: An error has been detected
1: An error has been detected

Bit 14: x_end

0: Operating mode started
1: Operating mode terminated

Bit 15: ref_ok

0: Zero point is not valid
1: Zero point is valid

Statusword

Terminating the Operating Mode
The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:




378

Target position reached
Stop caused by "Halt" or "Quick Stop"
Stop caused by a detected error

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Parameterization
The maximum velocity can be adjusted via the parameter Max profile velocity 607Fh.
Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory settings
Maximum value

607Fh

Max Profile Velocity
Unit: User-defined position unit/s

VAR
UINT32
rw

1
4294967295

The reference for a relative movement can be set via the parameter Position option code 60F2h.

EIO0000002305 04/2017

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory settings
Maximum value

60F2h

Position option code
Value 0: Relative with reference to the
previous target position
Value 2: Relative with reference to the
actual position of the motor

VAR
UINT16
rw

0
0
65535

379

Operating Modes

CANopen Operating Mode Profile Velocity
Description
In the operating mode Profile Velocity, a movement is made with a specified target velocity.
Starting the Operating Mode
The operating mode must be set in the parameter Modes of Operation 6060h. Writing the parameter
value causes the operating mode to start.
The parameter Target velocity 60FFh starts the movement.
Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory settings
Maximum value

60FFh

Target Velocity
Unit: User-defined position unit/s

VAR
INT32
rww

Yes

-2147483648
0
2147483647

The acceleration is set via the parameter Profile Acceleration 6083h and the deceleration is set via
the parameter Profile Deceleration 6084h.
Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory settings
Maximum value

6083h

Profile Acceleration
Unit: User-defined position unit/s2

VAR
UINT32
rww

Yes

1
4266666667
4294967295

6084h

Profile Deceleration
Unit: User-defined position unit/s2

VAR
UINT32
rww

Yes

1
4266666667
4294967295

Controlword
Controlword

Meaning

Bit 2: Quick Stop

Triggers a Quick Stop

Bits 4 … 6: Operating mode-specific

Not relevant for this operating mode

Bit 7: Fault Reset

Triggers a Fault Reset

Bit 8: Halt

Triggers a Halt

Bit 9: Operating mode-specific

Not relevant for this operating mode

Statusword

380

Statusword

Meaning

Bit 8: Halt request active

0: A Halt request is active
1: A Halt request is active

Bit 10: Target Reached

0: Target velocity not reached
1: Target velocity reached

Bit 12: Operating mode-specific

0: Velocity = >0
1: Velocity = 0

Bit 13: x_err

0: An error has been detected
1: An error has been detected

Bit 14: x_end

0: Operating mode started
1: Operating mode terminated

Bit 15: ref_ok

0: Zero point is not valid
1: Zero point is valid

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Terminating the Operating Mode
The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:



Stop caused by "Halt" or "Quick Stop"
Stop caused by a detected error

Parameterization
The maximum velocity can be adjusted via the parameter Max profile velocity 607Fh.

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Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory settings
Maximum value

607Fh

Max Profile Velocity
Unit: User-defined position unit/s

VAR
UINT32
rw

1
4294967295

381

Operating Modes

CANopen Operating Mode Profile Torque
Description
In the operating mode Profile Torque, a movement is made with a specified target torque.
Starting the Operating Mode
The operating mode must be set in the parameter Modes of Operation 6060h. Writing the parameter
value causes the operating mode to start.
The parameter Target torque 6071h starts the movement.
Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory settings
Maximum value

6071h

Target Torque
Unit: 1/1000 of nominal torque

VAR
INT16
rww

Yes

-32768
0
32767

Controlword
Controlword

Meaning

Bit 2: Quick Stop

Triggers a Quick Stop

Bits 4 … 6: Operating mode-specific

Not relevant for this operating mode

Bit 7: Fault Reset

Triggers a Fault Reset

Bit 8: Halt

Triggers a Halt

Bit 9: Operating mode-specific

Not relevant for this operating mode

Statusword

Meaning

Bit 8: Halt request active

0: A Halt request is active
1: A Halt request is active

Bit 10: Target Reached

0: Target torque not reached
1: Target torque reached

Statusword

Bit 12: Operating mode-specific

Not relevant for this operating mode

Bit 13: x_err

0: An error has been detected
1: An error has been detected

Bit 14: x_end

0: Operating mode started
1: Operating mode terminated

Bit 15: ref_ok

0: Zero point is not valid
1: Zero point is valid

Terminating the Operating Mode
The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:



382

Stop caused by "Halt" or "Quick Stop"
Stop caused by a detected error

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Operating Modes

Parameterization
In the operating mode Profile Torque, the motion profile for torque can be adjusted via the parameter
Torque slope 6087h.

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Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory settings
Maximum value

6087h

Torque Slope
100% of the torque setting correspond to
the nominal torque.
Unit: 1/1000 of nominal torque/s
Example:
A ramp setting of 10000%/s results in a
torque change of 100% of the nominal
torque in 0.01s.

VAR
UINT32
rww

Yes

1
30000000

383

Operating Modes

CANopen Operating Mode Homing
Description
In the operating mode Homing, a reference is generated 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 and the zero point becomes valid.
The zero point is the point of reference for absolute movements in the CANopen operating mode Profile
Position.
A movement can be made using different methods:
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, a movement is made to the next index pulse of the motor or to a parameterizable distance from
the switching point. The position of the index pulse or the position of the parameterizable distance from
the switching 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, a
movement is made to the next index pulse of the motor or to a parameterizable distance from the
switching point. The position of the index pulse or the position of the parameterizable distance from the
switching 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 actual position of the motor is set to a specified position value.


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.
Procedure
Set Mode of operation 6060h to operating mode Homing (6).
 Set Home offset 607Ch.
 Set Home method 6098h, the value range is 1 to 35 and specifies the different homing methods.
 Set Home speeds 6099:1h to the value for velocity for the search for the limit switches (unit = rpm).
 Set Home speeds 6099:2h to the value for velocity for the search for the index pulse (unit = rpm).
 Set Home acceleration 6099:3h to the value for the acceleration ramp (unit = ms from 0 to 3000
rpm).


Starting the Operating Mode
The operating mode must be set in the parameter Modes of Operation 6060h. Writing the parameter
value causes the operating mode to start.
The movement is started via the Controlword 6040h.
Controlword
Bit 4 in the parameter Controlword 6040h starts a movement, bit 8 terminates the movement.

384

Controlword

Meaning

Bit 4: Homing operation start

Start homing

Bits 5 … 6: Operating mode-specific

Not relevant for this operating mode

Bit 8: Halt

Triggers a Halt

Bit 9: Operating mode-specific

Not relevant for this operating mode

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Operating Modes

Statusword
Statusword

Meaning

Bit 10: Target Reached

0: Homing not completed
1: Homing completed

Bit 12: Homing attained

Homing successfully completed

Bit 13: x_err

0: An error has been detected
1: An error has been detected

Bit 14: Operating mode-specific

Not relevant for this operating mode

Bit 15: Operating mode-specific

Not relevant for this operating mode

Terminating the Operating Mode
The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:




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Homing successful
Stop caused by "Halt" or "Quick Stop"
Stop caused by a detected error

385

Operating Modes

CANopen Operating Mode Interpolated Position
Description
In the operating mode Interpolated Position, the drive follows the position values transmitted on a cyclic
basis. The transmitted values are linearly interpolated within the drive.
This mode uses a buffer of position commands. The buffer size is always 1, thus it is not possible to give
a list of target position commands in advance
The monitoring functions Heartbeat and Node Guarding cannot be used in this operating mode.
Check cyclical reception of PDOs at the PLC in order to detect an interruption of the connection.
The reference positions are transmitted synchronously with each cycle. The cycle time of a cycle can be
set from 1 … 20 ms.
The movement to the reference positions starts with the SYNC signal.
The drive performs an internal fine interpolation with a raster of 250 μs.
The operating mode is selected by writing 7 in the object Mode of operation 6060h.
Starting and Terminating the Operating Mode
The bits movement is started via the Controlword 6040h.
The operating mode is terminated when the motor is at standstill and if one of the following conditions is
met:
 Target position reached
 Stop caused by Halt or Quick Stop
 Stop caused by a detected error
 Switch to another operating mode
Source of Reference Value Signals
The object Target position 60C1h provides the target position value.
The target position minimum and maximum values depends on
 Scaling factor
 Software limit switches if they are activated
The object Target velocity 6081h provides the target velocity value.
The object Profile acceleration 6083h provides the acceleration value.
The object Profile deceleration 6084h provides the deceleration value.
The target velocity is limited to the setting in Max Profile Velocity 607Fh.
Changed settings become active immediately.
Control Word
In the operating mode, the bit 4 and the bit 8 in the Controlword 6040h start a movement.

386

Bit

Name

Meaning

Bit 4

Enable IP mode

0: Interpolated position mode not active
1: Interpolated position mode active

Bit 8

Halt

0: No Halt command
1: Stop movement with Halt

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Operating Modes

Status Word
Information on the current movement is available via bits 10 and 12 … 15 in the Statusword 6041h.

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Bit

Name

Meaning

Bit 10

Target reached

0: Target position not reached
1: Target position reached

Bit 12

0: New position possible
1: New target position accepted

Bit 13

x_err

0: No error detected
1: A following error has been detected

Bit 14

x_end

0: Operating mode started
1: Operating mode terminated

Bit 15

ref_ok

1: Drive has valid reference point

387

Operating Modes

CANopen Operating Mode Cyclic Synchronous Position
Description
In the operating mode Cyclic Synchronous Position (CSP), the drive synchronously follows the position
values transmitted on a cyclic basis. The transmitted values are linearly interpolated within the drive.
The motion profile is generated by the master controller.
The possible applications for this operating mode are described in the manual of the master controller.
The operating mode is selected by writing 8 in the object Mode of operation 6060h.
Starting and Terminating the Operating Mode
A transition to the operating state 6 Operation Enabled starts the set operating mode.
The operating mode is terminated when a different operating mode is selected or when the operating state
6 Operation Enabled is left.
Source of Reference Value Signals
The object Target Position 607 Ah provides the target value.
The value is in pulses.
Changed settings become active immediately.
Control Word
In the operating mode, the operating mode-specific bits in the Controlword 6040h have no significance.
Status Word
Information on the current movement is available via bits 10 and 12 … 15 in the Statusword 6041h.

388

Bit

Name

Meaning

Bit 10

Reserved

Not relevant for this operating mode

Bit 12

0: Target position ignored
1: Target position used as input to position control loop

Bit 13

Reserved

Not relevant for this operating mode

Bit 14

x_end

0: Operating mode started
1: Operating mode terminated

Bit 15

ref_ok

1: Drive has valid reference point

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Operating Modes

CANopen Operating Mode Jog
Description
In the operating mode Jog, the drive performs a movement with the transmitted jog target value.
The motion profile is generated by the drive, taking into account the target values received from the master
controller.
The operating mode is selected by writing -1 in the object Mode of operation 6060h.
Starting and Terminating the Operating Mode
The bits movement is started via the Controlword 6040h.
The operating mode is terminated when the motor is at standstill and if one of the following conditions is
met:
 Stop caused by Halt or Quick Stop
 Stop caused by a detected error
 Switch to another operating mode
Source of Reference Value Signals
The jog method is set with the object Jog Method 4453h.
 0: jog operation at constant speed
 1: Move a distance during a time, and start a jog operation at constant speed
The fast speed is set with the object Jog Speed Fast 4450h.
The slow speed is set with the object Jog Speed Slow 4454h.
The distance is set with the object Jog Step 4452h.
The time is set with the object Jog Time 4451h.
The target velocity is limited to the setting in Max Profile Velocity 607Fh.
The object Profile acceleration 6083h provides the acceleration value.
The object Profile deceleration 6084h provides the deceleration value.
Changed settings become active immediately.
Control Word
In the operating mode, the bits 4 … 6 in the Controlword 6040h start a movement
Bit

Name

Meaning

Bit 4

Forward

Movement in positive direction

Bit 5

Reverse

Movement in negative direction

Bit 6

Speed

0: Slow speed
1: Fast speed

NOTE: If bit 4 and bit 5 are both at active state, it stops the movement.
Status Word
Information on the current movement is available via bits 10 and 12 … 15 in the Statusword 6041h.

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Bit

Name

Meaning

Bit 10

Reserved

Not relevant for this operating mode

Bit 12

Not relevant for this operating mode

Bit 13

x_err

0: No error detected
1: An error has been detected

Bit 14

x_end

0: Operating mode started
1: Operating mode terminated

Bit 15

ref_ok

1: Drive has valid reference point

389

Operating Modes

CANopen Operating Mode Electronic Gear
Description
In the operating mode Electronic Gear, 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 caused by Halt or by a detected error of error class 1 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 caused by Halt or by a detected error of error class 1 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.
Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P8-31
GEARING_MODE

Method for Operating Mode Pulse Train
(PT)
Applicable operating mode: PT
Value 0: Synchronization deactivated
Value 1: Position synchronization without
compensation movement
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.

0
1
3
Decimal

u16
RW
per.

Modbus 93Eh
CANopen 481Fh

Starting the Operating Mode
The operating mode must be set in the parameter Modes of Operation 6060h. Writing the parameter
value causes the operating mode to start.
Controlword
Controlword

390

Meaning

Bit 2: Quick Stop

Triggers a Quick Stop

Bits 4 … 6: Operating mode-specific

Not relevant for this operating mode

Bit 7: Fault Reset

Triggers a Fault Reset

Bit 8: Halt

Triggers a Halt

Bit 9: Operating mode-specific

Not relevant for this operating mode

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Operating Modes

Statusword
Statusword

Meaning

Bit 8: Halt request active

0: A Halt request is active
1: A Halt request is active

Bit 12: Operating mode-specific

Not relevant for this operating mode

Bit 13: x_err

0: An error has been detected
1: An error has been detected

Bit 14: x_end

0: Operating mode started
1: Operating mode terminated

Bit 15: ref_ok

0: Zero point is not valid
1: Zero point is valid

Terminating the Operating Mode
The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:



Stop caused by "Halt" or "Quick Stop"
Stop caused by a detected error

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.
For further information on the settings of the reference value signal, refer to chapter Pulse Setting
(see page 324).
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.

With the factory setting for the gear ratio, 100000 reference increments correspond to one revolution.
There are 1280000 motor increments per revolution.
The gear ratio can be adjusted via the objects 4FA5:1h and 4FA5:2h.
Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory settings
Maximum value

4FA5:1h

Electronic Gear Ratio (Numerator)

VAR
INT32
rww

Yes

1
128
536870911

4FA5:2h

Electronic Gear Ratio (Denominator)

VAR
INT32
rww

Yes

1
10
2147483647

The velocity window in gearing mode can be adjusted via the objects 4328h and 606Eh.

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Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory settings
Maximum value

4328h

Velocity Gearing Window

VAR
UINT32
rw

0
2100000
4294967295

606Eh

Velocity Window Time
Unit: ms

VAR
UINT16
rw

0
0
65535

391

Operating Modes

CANopen Operating Mode Analog Velocity
Description
In the operating mode Analog Velocity, a movement is made with a specified target velocity. The source
of the reference value signals is the analog input V_REF.
Starting the Operating Mode
The operating mode must be set in the parameter Modes of Operation 6060h. Writing the parameter
value causes the operating mode to start.
Controlword
Controlword

Meaning

Bit 2: Quick Stop

Triggers a Quick Stop

Bits 4 … 6: Operating mode-specific

Not relevant for this operating mode

Bit 7: Fault Reset

Triggers a Fault Reset

Bit 8: Halt

Triggers a Halt

Bit 9: Operating mode-specific

Not relevant for this operating mode

Statusword

Meaning

Bit 8: Halt request active

0: A Halt request is active
1: A Halt request is active

Bit 10: Target Reached

0: Target velocity not reached
1: Target velocity reached

Statusword

Bit 12: Operating mode-specific

Not relevant for this operating mode

Bit 13: x_err

0: An error has been detected
1: An error has been detected

Bit 14: x_end

0: Operating mode started
1: Operating mode terminated

Bit 15: ref_ok

0: Zero point is not valid
1: Zero point is valid

Terminating the Operating Mode
The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:



392

Stop caused by "Halt" or "Quick Stop"
Stop caused by a detected error

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Operating Modes

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.

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Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-40
VCM

rpm
0
10001
Decimal

s32
RW
per.

Modbus 250h
CANopen 4128h

393

Operating Modes

CANopen Operating Mode Analog Torque
Description
In the operating mode Analog Torque, a movement is made with a specified target torque. The target
torque is specified in percent of the nominal torque of the motor. The source of the reference value signals
is the analog input T_REF.
Starting the Operating Mode
The operating mode must be set in the parameter Modes of Operation 6060h. Writing the parameter
value causes the operating mode to start.
Controlword
Controlword

Meaning

Bit 2: Quick Stop

Triggers a Quick Stop

Bits 4 … 6: Operating mode-specific

Not relevant for this operating mode

Bit 7: Fault Reset

Triggers a Fault Reset

Bit 8: Halt

Triggers a Halt

Bit 9: Operating mode-specific

Not relevant for this operating mode

Statusword

Meaning

Bit 8: Halt request active

0: A Halt request is active
1: A Halt request is active

Bit 10: Target Reached

0: Target torque not reached
1: Target torque reached

Statusword

Bit 12: Operating mode-specific

Not relevant for this operating mode

Bit 13: x_err

0: An error has been detected
1: An error has been detected

Bit 14: x_end

0: Operating mode started
1: Operating mode terminated

Bit 15: ref_ok

0: Zero point is not valid
1: Zero point is valid

Terminating the Operating Mode
The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:



394

Stop caused by "Halt" or "Quick Stop"
Stop caused by a detected error

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Operating Modes

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.

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Parameter name

Description

Unit
Minimum value
Factory setting
Maximum value
HMI Format

Data type
R/W
Persistent

Parameter
address via
fieldbus

P1-41
TCM

%
0
100
1000
Decimal

u16
RW
per.

Modbus 252h
CANopen 4129h

395

Operating Modes

396

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Lexium 28 A and BCH2 Servo Drive System
Diagnostics and Troubleshooting
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Part VIII
Diagnostics and Troubleshooting

Diagnostics and Troubleshooting

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397

Diagnostics and Troubleshooting

398

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Lexium 28 A and BCH2 Servo Drive System
Diagnostics and Troubleshooting
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Chapter 19
Diagnostics and Troubleshooting

Diagnostics and Troubleshooting
What Is in This Chapter?
This chapter contains the following topics:
Topic

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Page

Diagnostics Via the Fieldbus Status LEDs

400

Diagnostics Via the Integrated HMI

401

Diagnostics Via the Signal Outputs

402

Diagnostics Via the Commissioning Software

402

Diagnostics Via the Fieldbus

403

Connection for Fieldbus Mode

406

Alert Codes and Error Codes

407

399

Diagnostics and Troubleshooting

Diagnostics Via the Fieldbus Status LEDs

The fieldbus status LEDs visualize the status of the fieldbus.

The illustration below shows the signals of the CAN bus status LEDs (Run=GN; Err=RD).

400

Item

Description

NMT state PRE-OPERATIONAL

NMT state STOPPED

NMT state OPERATIONAL

Incorrect settings, for example, invalid node address

Alert limit reached, for example after 16 incorrect transmission attempts

Node Guarding

CAN is BUS-OFF, for example after 32 incorrect transmission attempts.

Fieldbus communication without error message

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Diagnostics and Troubleshooting

Diagnostics Via the Integrated HMI

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.

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401

Diagnostics and Troubleshooting

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 (see page 306).
Setting A for
P2-18 ... P222

Short name Name of the
output function

Description

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.

SON

Servo On

The signal output function SON indicates that the drive is in the
operating state Operation Enabled.

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
(see page 399).

WARN

Advisory or
Alert Signal
activated

The signal output function indicates that one of the following
conditions has been 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 LXM28 DTM Library.

402

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Diagnostics and Troubleshooting

Diagnostics Via the Fieldbus
Reading Error Numbers
The object 603Fh contains the most recently detected error.
Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory settings
Maximum value

603Fh

Error Code

VAR
UINT16
ro

Yes

0
65535

The following table is sorted by CANopen error numbers and shows the corresponding error code (ALnnn).

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Value (hex)

Value (dec)

Error Code (see page 409)

2214h

8724

AL001

2310h

8976

AL006

2311h

8977

AL508

2380h

9088

AL532

2381h

9089

AL539

2382h

9090

AL570

3110h

12560

AL002

3120h

12576

AL003

3180h

12672

AL005

3181h

12673

AL501

3182h

12674

AL505

3183h

12675

AL022

3199h

12697

AL568

4080h

16512

AL528

4081h

16513

AL529

4096h

16534

AL561

4310h

17168

AL016

4410h

17424

AL514

5111h

20753

AL525
AL526

5530h

21808

AL504

5581h

21889

AL503

5582h

21890

AL522

5583h

21891

AL523

5585h

21893

AL017

5586h

21894

AL507

6380h

25472

AL520

6581h

25985

AL502

7081h

28801

AL533

7090h

28816

AL535

7091h

28817

AL013

7095h

28821

AL595

7121h

28961

AL547

7182h

29058

AL534

403

Diagnostics and Troubleshooting
Value (hex)

Value (dec)

Error Code (see page 409)

7198h

29080

AL563

7380h

29568

AL026

7386h

29574

AL3E1

7387h

29575

AL018

738Dh

29581

AL567

7393h

29587

AL517

7580h

30080

AL553

7581h

30081

AL554

7582h

30082

AL557

7583h

30083

AL020

7584h

30084

AL569

8130h

33072

AL180

8210h

33296

AL597

8311h

33553

AL030

8380h

33664

AL596

8481h

33921

AL007

8482h

33922

AL555

8611h

34321

AL009

8680h

34432

AL564

8689h

34441

AL572

F080h

61568

AL401

FF01h

65281

AL558

FF02h

65282

AL025

FF04h

65284

AL588

FF97h

65431

AL008

SDO Abort Codes

404

SDO Abort Code

Meaning

05040001h

Client/server command specifier not valid or undetermined

06010002h

Attempt to write a read-only object

06020000h

Object does not exist in the object dictionary

06040041h

Object cannot be mapped to the PDO

06040042h

The number and length of the objects to be mapped would exceed PDO length

06060000h

Access impossible due to a hardware error (store or restore error)

06070010h

Data type does not match, length of service parameter does not match

06090011h

Subindex does not exist

06090030h

Value range of parameter exceeded (only for write access)

08000000h

General error

080000a1h

Object error reading from non-volatile memory

080000a2h

Object error writing to non-volatile memory

080000a3h

Invalid Range accessing non-volatile memory

080000a4h

Checksum error accessing non-volatile memory

080000a5h

Password error writing encryption zone

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Diagnostics and Troubleshooting

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SDO Abort Code

Meaning

08000020h

Data cannot be transferred to or stored in the application (store or restore signature
error)

08000021h

Data cannot be transferred to or stored in the application because of the local control
(incorrect state)

405

Diagnostics and Troubleshooting

Connection for Fieldbus Mode
Description
If the product cannot be addressed via the fieldbus, check the following connections:
 Power connections to the device.
 Network cable and network wiring.
 Network connection to the device.

406

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Diagnostics and Troubleshooting

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.

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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 overload (foldback)

The foldback current of the motor
has dropped below the alert
threshold specified via the
parameter P1-28.

Verify correct settings of the
parameter P1-28 for the foldback
current of the motor.

Wn124

Data in PDO out of range

Verify that the minimum and
maximum limit values are not
exceeded.

Wn127

R_PDO data cannot be
written while the power stage
is enabled

Wn185

CANopen: A communication
error was detected.

Wn283

Target value will cause
movement to positive
software limit switch

Verify correct target positions.

Wn285

Target value will cause
movement to negative
software limit switch

Verify correct target positions.

Wn380

Position deviation via signal
output function MC_OK

After a movement has been
successfully completed, MC_OK
was active. Then TPOS became
inactive which caused MC_OK to
become inactive as well.

If you want this condition to cause a
detected error instead of an alert, set
the parameter P1-48 accordingly.

Wn700

Safety function Safe Torque
Off (STO) triggered while the
power stage was disabled

The safety function STO has been
triggered or the signal for the safety
function STO is not properly
connected. If this condition is
detected while the power stage is
enabled, the drive detects an error. If
this condition is detected while the
power stage is disabled, the drive
detects an alert.

Check whether the safety function
STO was triggered intentionally. If
not, verify correct connection of the
signal of the safety function STO.

Wn701

Alert threshold reached: Drive The foldback current of the drive has Verify correct settings of the
parameter P1-24 for the foldback
overload (foldback)
dropped below the alert threshold
current of the drive.
specified via the parameter P1-24.

Wn702

The DC bus voltage has
dropped below the alert
threshold.

Wn703

Alert threshold reached:
Ambient temperature is too high, fan Verify correct operation of the fan.
Power stage overtemperature is inoperative, dust.
Improve the heat dissipation in the
control cabinet. Remove pollution
and verify that dust cannot get into
the control cabinet or into the drive.

Power supply loss, poor power
supply.

Verify correct mains supply. Verify
that the undervoltage limit is set
correctly via the parameter P4-24.

407

Diagnostics and Troubleshooting

408

Number

Description

Cause

Remedy

Wn704

Alert threshold reached:
Motor overtemperature

The motor temperature is
excessively high.

Verify correct settings of the
parameters 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.

Wn707

Alert threshold reached: Drive Ambient temperature is too high, fan Verify correct operation of the fan.
overtemperature (controller) is inoperative, dust.
Improve the heat dissipation in the
control cabinet. Remove pollution
and verify that dust cannot get into
the control cabinet or into the drive.

Wn709

PLL not synchronized

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,
undervoltage mains supply

At least one mains phase is missing. Verify correct connection of mains
Mains voltage is out of range. Mains supply. Verify that the values of the
mains power supply network comply
frequency is out of range.
with the technical data.

Wn729

Modbus: Node Guarding
error detected

Incorrect Modbus connection,
incorrect data from Modbus master.

Verify correct Modbus connection.
Verify correct operation of Modbus
master.

Wn730

Alert threshold reached:
Braking resistor overload

The permissible braking resistor
power has been exceeded.

Verify correct rating of the braking
resistor 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 Verify correct operation of the fan.
overtemperature (IPM)
is inoperative, dust.
Improve the heat dissipation in the
control cabinet. Remove pollution
and verify that dust cannot get into
the control cabinet or into the drive.

Wn736

PDO packet too long

Wn737

Parameters have been reset to the factory settings, but are
not yet saved to the nonvolatile memory.

Wn738

No target values received via
the fieldbus

No target values have been received Verify that target values are
transmitted via the fieldbus. Verify
via the fieldbus three times in
that the fieldbus has exclusive
succession.
access.

Wn739

Temperature value for
monitoring function not
available

Wn740

Target value will cause
movement to positive
software limit switch

Wn741

Target value will cause
movement to negative
software limit switch

Verify correct PDO mapping.
Use parameter P2-08 = 11 to save
parameters reset to the factory
settings to the non-volatile memory
and restart the drive.

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Diagnostics and Troubleshooting
Number

Description

Cause

Remedy

Wn742

Motor type has changed.

The type of motor connected is
different from the previously
connected type of motor.

Reset the drive to the factory
settings.

Wn744

Excessive electronic noise

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.

EIO0000002305 04/2017

Number

Short description

Cause

AL001

Power stage overcurrent

An overcurrent has been detected at Verify correct connection of the
motor. Verify correct settings of the
the power stage which may be
parameters for the current loop.
caused by a short circuit or by
incorrect settings of the 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
maximum value.

Verify your application. Reduce the
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 a long period of time that its
overload capability has been
exceeded.

Verify your application. Reduce the
external load, the motor velocity, or
the deceleration. Use a braking
resistor with a greater rating, if
necessary.

AL006

Motor overload (foldback)

The foldback current of the motor
has dropped below the value
specified via the parameter P1-27.

Verify correct settings for the
parameter P1-27.

AL007

Actual motor velocity too
high.

The actual motor velocity exceeded
the velocity limitation by more than
20% (P1-55). The analog input
signal is not stable.

Verify that the velocity limitation set
via the parameter P1-55 matches the
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
signal is too high
(A/B, Pulse/Direction, CW/CCW)
exceeds the specified range.
Received pulses may be lost.

Adapt the output pulse frequency of
the external source to fit the input
specification of the drive. Adapt the
gear ratios to the application
requirements (parameters P1-44,
P1-45, P2-60, P2-61 and P2-62).

AL009

Position deviation too high
(following error)

Verify your application. Reduce the
external load. Increase the
permissible position deviation via the
parameter P2-35. Reduce the motor
velocity via the parameters P109 … P1-11 or the analog input
V_REF. Increase the torque
limitation via the parameters P112 … P1-14 or the analog input
T_REF.

The position deviation has exceeded
the maximum permissible position
deviation specified via the parameter
P2-35 and the drive has detected a
following error.

Remedy

409

Diagnostics and Troubleshooting

410

Number

Short description

AL013

The input to which the signal input function OPST is
assigned has been activated.

Cause

AL016

Power stage overtemperature Ambient temperature is too high, fan Verify correct operation of the fan.
is inoperative, dust.
Improve the heat dissipation in the
control cabinet. Remove pollution
and verify that dust cannot get into
the control cabinet or into the drive.

AL017

Error detected in non-volatile
memory

AL018

Encoder simulation frequency The computed equivalent encoder
exceeded 4 MHz
output frequency exceeds the
maximum limit of 4 MHz for this
signal.

Reduce the resolution of the encoder
simulation via the parameter P1-46
or reduce the maximum velocity.

AL020

Modbus: Node Guarding
error detected

Incorrect Modbus connection,
incorrect data from Modbus master.

Verify correct Modbus connection.
Verify correct operation of Modbus
master.

AL022

Missing mains supply,
undervoltage mains supply

AL025

Not possible to read data of
electronic motor nameplate

Incorrect or missing motor data.
Motor without electronic motor
nameplate has been connected.

Verify that the drive and the
connected motor are a permissible
product combination. Verify correct
connection of the encoder. Contact
Technical Support or replace the
motor.

AL026

Error detected in
communication with motor
encoder

Communication with the encoder
was not initialized correctly.

Verify correct connection of the
encoder. Contact Technical Support
or replace the motor.

AL030

Motor torque too high for an
excessive period of time

The motor torque has exceeded the
value specified via the parameter
P1-57 for a period of time exceeding
the value specified via the parameter
P1-58.

Verify your application. Verify that no
movements are made up to a
mechanical stop (for example, use
limit switches). Verify that the values
for the parameters P1-57 and P1-58
are suitable.

AL180

CANopen: Heartbeat error
detected

The bus cycle time of the CANopen
master is greater than the
programmed heartbeat or node
guard time. The connection between
the CANopen master and the drive is
lost.

Verify correct CANopen connection.
Check the CANopen master. Verify
correct CANopen configuration,
increase the Heartbeat or Node
Guarding time.

AL3E1

Drive is not synchronous with Operating mode has been activated
master cycle
but drive is not synchronized to
external synchronization signal.

Verify correct CANopen connection.
After having started the
synchronization mechanism, wait for
120 cycles before activating the
operating mode.

AL401

Fieldbus: Communication
error detected

The drive was reset to the factory
settings via parameter P2-08.

Remedy
Identify the cause which has
triggered the signal input function
OPST. Remove the cause. If your
application does not require the
signal input function OPST, disable
this signal input function.

Use parameter P2-08 = 11 to save
parameters reset to the factory
settings to the non-volatile memory
and restart the drive.
Contact technical support.

While the power stage was enabled, Verify that the master does not try to
a command was received requesting change the communication state
while the power stage of the drive is
a different communication state.
enabled.

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Number

Short description

Cause

Remedy

AL501

Safety function Safe Torque
Off (STO) triggered

Check whether the safety function
STO was triggered intentionally. If
not, verify correct connection of the
signal of the safety function STO.

AL502

System error detected
(FPGA)

Contact technical support.

AL503

System error detected (nonvolatile memory)

Contact technical support.

AL504

System error detected (nonvolatile memory)

Contact technical support.

AL505

DC bus voltage measurement An error was detected in the circuit
that measures the DC bus voltage.

Perform a Fault Reset. Restart the
drive. If the error persists, contact
Technical Support.

AL507

System error detected (NV
access)

Contact technical support.

AL508

Drive overload (foldback)

The foldback current of the drive has Verify correct settings for the
parameter P1-23.
dropped below the value specified
via the parameter P1-23.

AL514

Motor overtemperature

The motor temperature is
excessively high.

Verify correct settings of the
parameters 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
overcurrent

The current supplied by the drive for
the 5 V encoder supply has
exceeded the limit. This condition
may occur up to three times in
succession. After the third time, a
time delay of one second must pass
before the power stage can be
enabled again.

Verify correct connection of the
encoder (short circuits). Verify the
current consumption of the encoder.

AL520

Target position rejected

A target position was rejected
because it would have caused the
motor to exceed the maximum
velocity.

Verify that target positions do not
lead to excessive motor velocities.

AL522

System error detected (CAN
power supply)

The internal supply voltage for the
CAN bus is not correct.

Contact technical support.

AL523

System error detected (selftest)

The self-test has detected an error.

Contact technical support.

AL525

Reserved

–

AL526

Reserved

–

AL527

System error detected
(Watchdog)

The Watchdog function has detected Restart the drive. If the error persists,
a system error.
contact Technical Support.

AL528

Drive overtemperature (IPM)

Ambient temperature is too high, fan Verify correct operation of the fan.
is inoperative, dust.
Improve the heat dissipation in the
control cabinet. Remove pollution
and verify that dust cannot get into
the control cabinet or into the drive.

411

Diagnostics and Troubleshooting

412

Number

Short description

Cause

AL529

Drive overtemperature
(controller)

Remedy

AL532

Calculated offsets for current
sensors out of range

The calculated offsets for the current Perform a Fault Reset. Restart the
sensors are out of range.
drive. If 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
does not match firmware)
for the drive.

Update the firmware of the drive.
Contact 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 example, by a
mechanical stop or by the load.

Remove condition causing the
mechanical blocking. Verify your
application.

AL553

No connection between
master and drive

Connect master and drive.

AL554

Target position rejected

A target position was rejected
because it would have caused the
motor to exceed the maximum
acceleration/deceleration.

Verify that target positions do not
lead to excessive
acceleration/deceleration.

AL555

Velocity deviation too high

The deviation between actual
velocity and reference velocity has
exceeded the maximum velocity
deviation specified via the parameter
P2-34.

Verify your application. Verify that
the values for the tuning parameters
are suitable. Increase the value for
the maximum velocity deviation in
the parameter P2-34.

AL557

No target values received via
the fieldbus

No target values have been received Perform a Fault Reset. Verify that
target values are transmitted via the
via the fieldbus three times in
fieldbus.
succession.

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.

AL564

Position deviation via signal
output function MC_OK

After a movement has been
successfully completed, MC_OK
was active. Then TPOS became
inactive which caused MC_OK to
become inactive as well.

Use the signal input function
FAULT_RESET to perform a Fault
Reset and set the parameter P0-01
to 0. If you want this condition to
cause an alert instead of a detected
error, set the parameter P1-48
accordingly.

AL567

System error detected
(encoder)

Refer to parameter P8-48 for details. Contact technical support.

AL568

Braking resistor overload

The permissible braking resistor
power has been exceeded.

Verify correct rating of the braking
resistor used. Verify your
application.

AL569

Configuration not correctly
transferred via Modbus

Verify correct connection. Verify that
configuration file and drive are
compatible.

AL570

Overcurrent detected at one
of the digital outputs

Verify correct wiring of the digital
outputs. Verify that there are no short
circuits.

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Diagnostics and Troubleshooting

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Number

Short description

Cause

Remedy

AL572

Position deviation too high
(following error)

The position deviation has exceeded
the maximum permissible position
deviation specified via the parameter
P2-35 and the drive has detected a
following error.

AL585

CANopen device in state bus- Too many error frames have been
off
detected. CANopen devices have
different baud rates.

Verify correct baud rates. Verify
CANopen bus installation.

AL588

Reserved

–

AL595

Impermissible combination of drive and motor

AL596

Unstable current loop

Excessive overshoot in current loop. Verify correct settings of the
parameters for the current loop.

AL597

R_PDO is too short

–

Use an approved drive/motor
combination.

Verify correct PDO settings for drive
and master.

413

Diagnostics and Troubleshooting

414

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Lexium 28 A and BCH2 Servo Drive System
Service, Maintenance and Disposal
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Part IX
Service, Maintenance and Disposal

Service, Maintenance and Disposal

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415

Service, Maintenance and Disposal

416

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Lexium 28 A and BCH2 Servo Drive System
Service, Maintenance, and Disposal
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Chapter 20
Service, Maintenance, and Disposal

Service, Maintenance, and Disposal
What Is in This Chapter?
This chapter contains the following topics:
Topic

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Page

General

418

Service Address

419

Maintenance of the Drive

420

Replacement of Drive

421

Maintenance of the Motor

422

Changing the Motor

423

Shipping, Storage, Disposal

424

417

Service, Maintenance, and Disposal

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










Failure to follow these instructions will result in death or serious injury.

418

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Service, Maintenance, and Disposal

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.

http://www.schneider-electric.com

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419

Service, Maintenance, and Disposal

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.
Lifetime of the Safety Function STO
The STO safety function is designed for a lifetime of 20 years. After this period, the data of the safety
function are no longer valid. The expiry date is determined by adding 20 years to the DOM shown on the
nameplate of the product.


This date must be included in the maintenance plan of the system.
Do not use the safety function after this date.

Example:
The DOM on the nameplate of the product is shown in the format DD.MM.YY, for example 31.12.08. (31
December 2008). This means: Do not use the safety function after December 31, 2028.

420

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Service, Maintenance, and Disposal

Replacement of Drive

WARNING
UNINTENDED EQUIPMENT OPERATION







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
1

EIO0000002305 04/2017

Action
Save all parameter settings. Save the data to your PC using the commissioning software, refer
to chapter Commissioning Software (see page 202).

Power off all supply voltages. Verify that no voltages are present.

Label all connections and remove all connection cables (unlock connector locks).

Uninstall the product.

Note the identification number and the serial number shown on the product nameplate for later
identification.

Install the new product as per chapter Installation (see page 139).

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.

Commission the product as per chapter Commissioning (see page 187).

421

Service, Maintenance, and Disposal

Maintenance of the Motor

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.

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.

422

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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.

Action

Switch off all supply voltages. Verify that no voltages are present.

Label all connections and uninstall the product.

Note the identification number and the serial number shown on the product nameplate for later
identification.

Install the new product as per chapter Installation (see page 175).

Commission the product as per chapter Commissioning (see page 187).

If the connected motor is replaced by another approved motor, the new motor is automatically recognized
by the drive.

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423

Service, Maintenance, and Disposal

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 http://www.schneider-electric.com/green-premium for information and documents on environmental
protection as per ISO 14025 such as:



424

EoLi (Product End-of-Life Instructions)
PEP (Product Environmental Profile)

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Lexium 28 A and BCH2 Servo Drive System
CANopen
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Part X
CANopen

CANopen
What Is in This Part?
This part contains the following chapters:
Chapter

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Chapter Name

Page

CANopen Basics

427

CANopen Object Dictionary

435

425

CANopen

426

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Lexium 28 A and BCH2 Servo Drive System
CANopen Basics
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Chapter 21
CANopen Basics

CANopen Basics
What Is in This Chapter?
This chapter contains the following topics:
Topic

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Page

Communication Objects

428

Service Data Communication

429

Process Data Communication

430

Setting the Process Data

432

427

CANopen Basics

Communication Objects
Overview
CANopen manages communication between the network devices with object dictionaries and objects. A
network device can use process data objects (PDO) and service data objects (SDO) to request the object
data from the object dictionary of another device and, if permissible, write back modified values.






428

PDOs (process data objects) for real-time transmission of process data.
SDOs (service data object) for read and write access to the object dictionary.
Objects for controlling CAN messages:
 SYNC object (synchronization object) for synchronization of network devices.
 EMCY object (emergency object), for signaling detected errors of a device or its peripherals.
Network management services:
 NMT services for initialization and network control (NMT: network management).
 NMT node guarding for monitoring the network devices.
 NMT heartbeat for monitoring the network devices.

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CANopen Basics

Service Data Communication
SDO Description
Service Data Objects (SDO) can be used to access the entries of an object dictionary using index and
subindex. The values of the objects can be read and, if permissible, also written.
Every network device has at least one SDO server to be able to respond to read and write requests from
a different device.
The TxSDO of a SDO client is used to send the request for data exchange; the RxSDO is used to receive.

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429

CANopen Basics

Process Data Communication
PDO Mapping
Up to 10 parameters from different areas of the object dictionary can be transmitted with a PDO message.
Mapping of data to a PDO message is referred to as PDO mapping.
Objects that can be used in PDO mapping are identified in the PDO mapping object column in the object
dictionary table.
The groups of objects that are involved in PDO mapping are:
 Vendor-specific Object Group 4000h (see page 453)
 Device Profile Object Group 6000h (see page 484)
The picture below shows the data exchange between PDOs and object dictionary based on two examples
of objects in TxPDO4 and RxPDO4 of the PDOs.

Dynamic PDO Mapping
The device uses dynamic PDO mapping. Dynamic PDO mapping means that objects can be mapped to
the corresponding PDO using adjustable settings.
The settings for PDO mapping are defined in an assigned communication object for each PDO.

430

Object

PDO mapping for

Type

1st receive PDO mapping (1600h)

RxPDO1

Dynamic

2nd receive PDO mapping (1601h)

RxPDO2

Dynamic

3rd receive PDO mapping (1602h)

RxPDO3

Dynamic

4th receive PDO mapping (1603h)

RxPDO4

Dynamic

1st transmit PDO mapping (1A00h)

TxPDO1

Dynamic

2nd transmit PDO mapping (1A01h)

TxPDO2

Dynamic

3rd transmit PDO mapping (1A02h)

TxPDO3

Dynamic

4th transmit PDO mapping (1A03h)

TxPDO4

Dynamic

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CANopen Basics

Structure of the Entries
Up to 10 parameters can be mapped in a PDO. Each communication object for setting the PDO mapping
provides four subindex entries. A subindex entry contains three pieces of information on the object: the
index, the subindex, and the number of bits that the object uses in the PDO.

Subindex 00h of the communication object contains the number of valid subindex entries.

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Object length

Bit value

08h

8 bits

10h

16 bits

20h

32 bits

431

CANopen Basics

Setting the Process Data
Overview
4 predefined RxPDOs and 4 predefined TxPDOs are available.
Depending on the selected operating mode, one of the predefined RxPDOs and one of the predefined
TxPDOs can be used:
Operating mode

Suitable PDO

Position

First predefined PDO (see page 432)

Velocity

Second predefined PDO (see page 432)

Torque

Third predefined PDO (see page 433)

Any type of switch between:
 Position
 Velocity
 Torque

Fourth predefined PDO (see page 433)

Only a single predefined RxPDO and only a single predefined TxPDO can be used simultaneously. The
PDOs can be adapted as required.
A maximum of 10 parameters are possible per RxPDO and TxPDO.
First Predefined PDO
The first predefined PDO is suitable for the operating mode Position.
Structure RxPDO1 (1600h)
Index

Object name

6040h

Control word

607 Ah

Target position

60FE:1h

Digital outputs

Structure TxPDO1 (1A00h)
Index

Object name

6041h

Status word

6064h

Position actual value

603Fh

Error code

60FDh

Digital inputs

Second Predefined PDO
The second predefined PDO is suitable for the operating mode Velocity.
Structure RxPDO2 (1601h)
Index

Object name

6040h

Control word

60FFh

Target velocity

60FE:1h

Digital outputs

Structure TxPDO2 (1A01h)

432

Index

Object name

6041h

Status word

6064h

Position actual value

603Fh

Error code

60FDh

Digital inputs

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CANopen Basics

Third Predefined PDO
The third predefined PDO is suitable for the operating mode Torque.
Structure RxPDO3 (1602h)
Index

Object name

6040h

Control word

6071h

Target torque

60FE:1h

Digital outputs

Structure TxPDO3 (1A02h)
Index

Object name

6041h

Status word

6064h

Position actual value

6077h

Torque actual value

603Fh

Error code

60FDh

Digital inputs

Fourth Predefined PDO
The fourth predefined PDO is suitable for the operating modes Position, Velocity, and Torque. It is possible
to switch between the operating modes as required.
Structure RxPDO4 (1603h)
Index

Object name

6040h

Control word

6060h

Mode of operation

607 Ah

Target position

60FFh

Target velocity

6071h

Target torque

60FE:1h

Digital outputs

Structure TxPDO4 (1A03h)

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Index

Object name

6041h

Status word

6061h

Mode of operation display

6064h

Position actual value

60F4h

Following error actual value

6077h

Torque actual value

603Fh

Error code

60FDh

Digital inputs

433

CANopen Basics

434

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Lexium 28 A and BCH2 Servo Drive System
CANopen Object Dictionary
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Chapter 22
CANopen Object Dictionary

CANopen Object Dictionary
What Is in This Chapter?
This chapter contains the following sections:
Section

EIO0000002305 04/2017

Topic

Page

22.1

Overview

436

22.2

1000h…1FFFh Standard Communication Object Group

440

22.3

4000h … 4FFFh Vendor-specific Object Group

453

22.4

6000h … 6FFFh Device-Specific Object Group

484

435

CANopen Object Dictionary

Section 22.1
Overview

Overview
What Is in This Section?

This section contains the following topics:
Topic

436

Page

Specifications for the Objects

437

Object Dictionary Overview

439

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CANopen Object Dictionary

Specifications for the Objects
Overview
The object dictionary table contains the following information:
Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

The symbol (-) means that the value is not significant.
Index
The index specifies the position of the object in the object dictionary. The index value is specified as a
hexadecimal value. The subindex is also available in this cell if it is relevant
Name
Name of the object.
Object Type
The object type specifies the data structure of the object:
Object type

Description

DS306
Coding

VAR

A simple value, for example of the type Integer8, Unsigned32 or Visible
String8.

ARRAY

A data field in which the entries have the same data type.

RECORD

A data field that contains entries that are a combination of simple data
types.

Data Type
The data type specifies the type of the object:
Data type

Description

Value range

Data length

DS301 coding

BOOL

Boolean

0 = false, 1 = true

1 byte

0001h

INT8

Integer 8 bits

-128 ... +127

1 byte

0002h

INT16

Integer 16 bits

-32768 ... +32767

2 bytes

0003h

INT32

Integer 32 bits

-2147483648 ... 2147483647

4 bytes

0004h

UINT8

Unsigned Integer
8 bits

0 ... 255

1 byte

0005h

UINT16

Unsigned Integer
16 bits

0 ... 65535

2 bytes

0006h

UINT32

Unsigned Integer
32 bits

0 ... 4294967295

4 bytes

0007h

VISIBLE_STRING

Visible String
8 bytes

ASCII characters

8 bytes

0009h

Access
Indicates the access type for the object:
Access type

EIO0000002305 04/2017

Description

Read only

Read and write

rww

Read and write on process output

const

Constant value

437

CANopen Object Dictionary

PDO Mapping Object
Indicates if the object can be mapped in a PDO:
PDO mapping object

Description

The object cannot be mapped in a PDO

Yes

The object can be mapped in a PDO

Minimum Value
The minimum value which can be set.
Factory Setting
The value of the object when the product is shipped from the factory.
Maximum Value
The maximum value which can be set.

438

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CANopen Object Dictionary

Object Dictionary Overview
Description
Each CANopen device manages an object dictionary which contains the objects for communication.
Index and Subindex
The objects are addressed in the object dictionary via a 16 bits index.
One or more 8 bits subindex entries for each object specify individual data fields in the object. Index and
subindex are shown in hexadecimal notation.
Description Object Dictionary
The description object dictionary is made of several object groups:
Index (hex)

Object

0000

Unused

0001…001F

Static data types

0020…003F

Complex data types

0040…005F

Unused (Manufacturer-specific complex data types)

0060…007F

Device profile-specific static data types

0080…009F

Device profile-specific complex data types

00A0…0FFF

Reserved

1000…1FFF

Communication profile area

2000…5FFF

Vendor-specific profile area

6000…9FFF

Standardized device profile area

A000…FFFF

Reserved

Object Groups Implemented
Three groups of objects are available in the object dictionary.
 1000h - 1FFFh: Standard communication Object Group (see page 440)
 4000h - 4FFFh: Vendor-specific Object Group (see page 453)
 6000h - 6FFFh: Device profile Object Group (see page 484)

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439

CANopen Object Dictionary

Section 22.2
1000h…1FFFh Standard Communication Object Group

1000h…1FFFh Standard Communication Object Group
What Is in This Section?
This section contains the following topics:
Topic

440

Page

10xxh Object Group

441

12xxh Object Group

444

14xxh Object Group

445

16xxh Object Group

447

18xxh Object Group

449

1Axxh Object Group

451

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CANopen Object Dictionary

10xxh Object Group
10xxh Standard Communication Object Group

EIO0000002305 04/2017

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

1000h

Device Type

VAR
UINT32
ro

4325778
-

1001h

Error Register

VAR
UINT8
ro

1002h

Manufacturer Status Register

VAR
UINT32
ro

1003h

Pre-defined Error Field
History of the errors detected by the drive
and notified via the Emergency Object.

ARRAY
-

1003:0h

VAR
Number of Errors
The history of error codes can be cleared by UINT8
rw
writing value 0 to this sub index.

0
-

1003:1h

Standard Error Field
Error code of most recent detected error n

VAR
UINT32
ro

1003:2h

Standard Error Field
VAR
Error code of most recent detected error n-1 UINT32
ro

1003:3h

Standard Error Field
VAR
Error code of most recent detected error n-2 UINT32
ro

1003:4h

Standard Error Field
VAR
Error code of most recent detected error n-3 UINT32
ro

1003:5h

Standard Error Field
VAR
Error code of most recent detected error n-4 UINT32
ro

1003:6h

Standard Error Field
VAR
Error code of most recent detected error n-5 UINT32
ro

1003:7h

Standard Error Field
VAR
Error code of most recent detected error n-6 UINT32
ro

1003:8h

Standard Error Field
VAR
Error code of most recent detected error n-7 UINT32
ro

1003:9h

Standard Error Field
VAR
Error code of most recent detected error n-8 UINT32
ro

1003:Ah

Standard Error Field
VAR
Error code of most recent detected error n-9 UINT32
ro

1005h

COB-ID SYNC

VAR
UINT32
rw

128
-

1006h

Communication Cycle Period

VAR
UINT32
rw

0
-

1007h

Synchronous Window Length

VAR
UINT32
rw

0
-

441

CANopen Object Dictionary

442

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

1008h

Manufacturer Device Name

VAR
VISIBLE_STRING
const

1009h

Manufacturer Hardware Version

VAR
VISIBLE_STRING
const

100 Ah

Manufacturer Software Version

VAR
VISIBLE_STRING
const

100Ch

Guard Time

VAR
UINT16
rw

0
-

100Dh

Life Time Factor

VAR
UINT8
rw

0
-

1010h

Store Parameter Field

ARRAY
-

1010:0h

Number of Entries

VAR
UINT8
ro

3
-

1010:1h

Save all Parameters

VAR
UINT32
rw

1014h

COB-ID EMCY

VAR
UINT32
rw

$NODEID+0x80
-

1015h

Inhibit Time Emergency

VAR
UINT16
rw

0
-

1016h

Heartbeat Consumer Entries

ARRAY
-

1016:0h

Number of Entries

VAR
UINT8
ro

3
-

1016:1h

Consumer Heartbeat Time 1

VAR
UINT32
rw

0
0
8388607

1016:2h

Consumer Heartbeat Time 2

VAR
UINT32
rw

0
0
8388607

1016:3h

Consumer Heartbeat Time 3

VAR
UINT32
rw

0
0
8388607

1017h

Producer Heartbeat Time

VAR
UINT16
rw

0
-

1018h

Identity Object

RECORD
-

1018:0h

number of entries

VAR
UINT8
ro

1
4
4

1018:1h

Vendor ID

VAR
UINT32
ro

134217818
-

1018:2h

Product Code

VAR
UINT32
ro

614416
-

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CANopen Object Dictionary

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Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

1018:3h

Revision number

VAR
UINT32
ro

1018:4h

Serial number

VAR
UINT32
ro

1019h

Synchronous counter overflow value

VAR
UINT8
rw

0
-

1029h

Error Behavior

ARRAY
-

1029:0h

Number of Entries

VAR
UINT8
ro

1
1
254

1029:1h

Communication Error

VAR
UINT8
rw

0
0
-

443

CANopen Object Dictionary

12xxh Object Group
12xxh Standard Communication Object Group

444

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

1200h

Server SDO Parameter 1

RECORD
-

1200:0h

Number of Entries

VAR
UINT8
ro

2
2
2

1200:1h

COB-ID Client -> Server

VAR
UINT32
ro

$NODEID+0x600
$NODEID+0x600
$NODEID+0xBFF
FFFFF

1200:2h

COB-ID Server -> Client

VAR
UINT32
ro

$NODEID+0x580
$NODEID+0x580
$NODEID+0xBFF
FFFFF

1201h

Server SDO Parameter 2

RECORD
-

1201:0h

Number of Entries

VAR
UINT8
ro

2
3
3

1201:1h

COB-ID Client -> Server

VAR
UINT32
rw

4294967295

1201:2h

COB-ID Server -> Client

VAR
UINT32
rw

4294967295

1201:3h

Node ID of the SDO Client

VAR
UINT8
rw

127

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CANopen Object Dictionary

14xxh Object Group
Objects 14xxh Standard Communication Object Group

EIO0000002305 04/2017

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

1400h

Receive PDO Communication
Parameter 1

RECORD
-

1400:0h

Number of Entries

VAR
UINT8
ro

2
3
5

1400:1h

COB-ID

VAR
UINT32
rw

$NODEID+0x200
$NODEID+0xFFFFFFFF

1400:2h

Transmission Type

VAR
UINT8
rw

0
255
255

1400:3h

Inhibit Time

VAR
UINT16
rw

0
0
65535

1401h

Receive PDO Communication
Parameter 2

RECORD
-

1401:0h

Number of Entries

VAR
UINT8
ro

2
3
5

1401:1h

COB-ID

VAR
UINT32
rw

$NODEID+0x80000300
$NODEID+0xFFFFFFFF

1401:2h

Transmission Type

VAR
UINT8
rw

0
255
255

1401:3h

Inhibit Time

VAR
UINT16
rw

0
0
65535

1402h

Receive PDO Communication
Parameter 3

RECORD
-

1402:0h

Number of Entries

VAR
UINT8
ro

2
3
5

1402:1h

COB-ID

VAR
UINT32
rw

$NODEID+0x80000400
$NODEID+0xFFFFFFFF

1402:2h

Transmission Type

VAR
UINT8
rw

0
255
255

1402:3h

Inhibit Time

VAR
UINT16
rw

0
0
65535

1403h

Receive PDO Communication
Parameter 4

RECORD
-

1403:0h

Number of Entries

VAR
UINT8
ro

2
3
5

1403:1h

COB-ID

VAR
UINT32
rw

$NODEID+0x80000500
$NODEID+0xFFFFFFFF

445

CANopen Object Dictionary

446

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

1403:2h

Transmission Type

VAR
UINT8
rw

0
255
255

1403:3h

Inhibit Time

VAR
UINT16
rw

0
0
65535

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16xxh Object Group
16xxh Standard Communication Object Group

EIO0000002305 04/2017

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

1600h

Receive PDO Mapping Parameter 1

RECORD
-

1600:0h

Number of Entries

VAR
UINT8
rw

0
1
64

1600:1h

Mapping Entry 1

VAR
UINT32
rw

0
1614807056
4294967295

1600:2h

Mapping Entry 2

VAR
UINT32
rw

0
0
4294967295

1600:3h

Mapping Entry 3

VAR
UINT32
rw

0
0
4294967295

1600:4h

Mapping Entry 4

VAR
UINT32
rw

0
0
4294967295

1601h

Receive PDO Mapping Parameter 2

RECORD
-

1601:0h

Number of Entries

VAR
UINT8
rw

0
2
64

1601:1h

Mapping Entry 1

VAR
UINT32
rw

0
1614807056
4294967295

1601:2h

Mapping Entry 2

VAR
UINT32
rw

0
1618608160
4294967295

1601:3h

Mapping Entry 3

VAR
UINT32
rw

0
0
4294967295

1601:4h

Mapping Entry 4

VAR
UINT32
rw

0
0
4294967295

1602h

Receive PDO Mapping Parameter 3

RECORD
-

1602:0h

Number of Entries

VAR
UINT8
rw

0
2
64

1602:1h

Mapping Entry 1

VAR
UINT32
rw

0
1614807056
4294967295

1602:2h

Mapping Entry 2

VAR
UINT32
rw

0
1627324448
4294967295

1602:3h

Mapping Entry 3

VAR
UINT32
rw

0
0
4294967295

1602:4h

Mapping Entry 4

VAR
UINT32
rw

0
0
4294967295

447

CANopen Object Dictionary

448

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

1603h

Receive PDO Mapping Parameter 4

RECORD
-

1603:0h

Number of Entries

VAR
UINT8
rw

0
0
64

1603:1h

Mapping Entry 1

VAR
UINT32
rw

0
0
4294967295

1603:2h

Mapping Entry 2

VAR
UINT32
rw

0
0
4294967295

1603:3h

Mapping Entry 3

VAR
UINT32
rw

0
0
4294967295

1603:4h

Mapping Entry 4

VAR
UINT32
rw

0
0
4294967295

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CANopen Object Dictionary

18xxh Object Group
18xxh Standard Communication Object Group

EIO0000002305 04/2017

Index

Name

1800h

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

Transmit PDO Communication Parameter 1 RECORD
-

1800:0h

Number of Entries

VAR
UINT8
ro

2
5
6

1800:1h

COB-ID

VAR
UINT32
rw

$NODEID+0x4000
0180
$NODEID+0xFFF
FFFFF

1800:2h

Transmission Type

VAR
UINT8
rw

0
255
255

1800:3h

Inhibit Time

VAR
UINT16
rw

0
0
65535

1800:4h

Compatibility Entry

VAR
UINT8
rw

0
0
255

1800:5h

Event Timer

VAR
UINT16
rw

0
0
65535

1801h

Transmit PDO Communication Parameter 2 RECORD
-

1801:0h

Number of Entries

VAR
UINT8
ro

2
5
6

1801:1h

COB-ID

VAR
UINT32
rw

$NODEID+0xC00
00280
$NODEID+0xFFF
FFFFF

1801:2h

Transmission Type

VAR
UINT8
rw

0
255
255

1801:3h

Inhibit Time

VAR
UINT16
rw

0
0
65535

1801:4h

Compatibility Entry

VAR
UINT8
rw

0
0
255

1801:5h

Event Timer

VAR
UINT16
rw

0
100
65535

1802h

Transmit PDO Communication Parameter 3 RECORD
-

1802:0h

Number of Entries

2
5
6

VAR
UINT8
ro

449

CANopen Object Dictionary

450

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

1802:1h

COB-ID

VAR
UINT32
rw

$NODEID+0xC00
00380
$NODEID+0xFFF
FFFFF

1802:2h

Transmission Type

VAR
UINT8
rw

0
255
255

1802:3h

Inhibit Time

VAR
UINT16
rw

0
0
65535

1802:4h

Compatibility Entry

VAR
UINT8
rw

0
0
255

1802:5h

Event Timer

VAR
UINT16
rw

0
100
65535

1803h

Transmit PDO Communication Parameter 4 RECORD
-

1803:0h

Number of Entries

VAR
UINT8
ro

2
5
6

1803:1h

COB-ID

VAR
UINT32
rw

$NODEID+0xC00
00480
$NODEID+0xFFF
FFFFF

1803:2h

Transmission Type

VAR
UINT8
rw

0
254
255

1803:3h

Inhibit Time

VAR
UINT16
rw

0
0
65535

1803:4h

Compatibility Entry

VAR
UINT8
rw

0
0
255

1803:5h

Event Timer

VAR
UINT16
rw

0
0
65535

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CANopen Object Dictionary

1Axxh Object Group
1Axxh Standard Communication Object Group

EIO0000002305 04/2017

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

1A00h

Transmit PDO Mapping Parameter 1

RECORD
-

1A00:0h

Number of Entries

VAR
UINT8
rw

0
1
255

1A00:1h

Mapping Entry 1

VAR
UINT32
rw

0
1614872592
4294967295

1A00:2h

Mapping Entry 2

VAR
UINT32
rw

0
0
4294967295

1A00:3h

Mapping Entry 3

VAR
UINT32
rw

0
0
4294967295

1A00:4h

Mapping Entry 4

VAR
UINT32
rw

0
0
4294967295

1A01h

Transmit PDO Mapping Parameter 2

RECORD
-

1A01:0h

Number of Entries

VAR
UINT8
rw

0
2
255

1A01:1h

Mapping Entry 1

VAR
UINT32
rw

0
1614872592
4294967295

1A01:2h

Mapping Entry 2

VAR
UINT32
rw

0
1617166368
4294967295

1A01:3h

Mapping Entry 3

VAR
UINT32
rw

0
0
4294967295

1A01:4h

Mapping Entry 4

VAR
UINT32
rw

0
0
4294967295

1A02h

Transmit PDO Mapping Parameter 3

RECORD
-

1A02:0h

Number of Entries

VAR
UINT8
rw

0
2
255

1A02:1h

Mapping Entry 1

VAR
UINT32
rw

0
1614872592
4294967295

1A02:2h

Mapping Entry 2

VAR
UINT32
rw

0
1617690656
4294967295

1A02:3h

Mapping Entry 3

VAR
UINT32
rw

0
0
4294967295

1A02:4h

Mapping Entry 4

VAR
UINT32
rw

0
0
4294967295

451

CANopen Object Dictionary

452

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

1A03h

Transmit PDO Mapping Parameter 4

RECORD
-

1A03:0h

Number of Entries

VAR
UINT8
rw

0
0
255

1A03:1h

Mapping Entry 1

VAR
UINT32
rw

0
0
4294967295

1A03:2h

Mapping Entry 2

VAR
UINT32
rw

0
0
4294967295

1A03:3h

Mapping Entry 3

VAR
UINT32
rw

0
0
4294967295

1A03:4h

Mapping Entry 4

VAR
UINT32
rw

0
0
4294967295

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CANopen Object Dictionary

Section 22.3
4000h … 4FFFh Vendor-specific Object Group

4000h … 4FFFh Vendor-specific Object Group
What Is in This Section?
This section contains the following topics:
Topic

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Page

40xxh Object Group

454

41xxh Object Group

456

42xxh Object Group

460

43xxh Object Group

462

44xxh Object Group

464

45xxh Object Group

466

46xxh Object Group

468

47xxh Object Group

472

48xxh Object Group

476

49xxh Object Group

479

4Bxxh Object Group

481

4Fxxh Object Group

483

453

CANopen Object Dictionary

40xxh Object Group
40xxh Vendor-specific Object Group
This objects list is also available in P0 - Status parameters (see page 233)

454

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4000h

Firmware Version

P0-00

VAR
UINT16
ro

0
65535

4001h

Error code of detected
error

P0-01

VAR
UINT16
rw

0
65535

4002h

Drive Status Displayed by P0-02
HMI

VAR
UINT16
rw

0
0
123

4003h

Function of Analog
Outputs

P0-03

VAR
UINT16
rw

0
0
119

4008h

Operating Hour Meter in
Seconds

P0-08

VAR
UINT32
ro

0
4294967295

4009h

Status Value 1

P0-09

VAR
INT32
ro

-2147483647
2147483647

400 Ah

Status Value 2

P0-10

VAR
INT32
ro

-2147483647
2147483647

400Bh

Status Value 3

P0-11

VAR
INT32
ro

-2147483647
2147483647

400Ch

Status Value 4

P0-12

VAR
INT32
ro

-2147483647
2147483647

400Dh

Status Value 5

P0-13

VAR
INT32
ro

-2147483647
2147483647

4011h

Indicate status value 1

P0-17

VAR
UINT16
rw

0
0
123

4012h

Indicate status value 2

P0-18

VAR
UINT16
rw

0
0
123

4013h

Indicate status value 3

P0-19

VAR
UINT16
rw

0
0
123

4014h

Indicate status value 4

P0-20

VAR
UINT16
rw

0
0
123

4015h

Indicate status value 5

P0-21

VAR
UINT16
rw

0
0
123

4019h

Parameter Mapping 1

P0-25

VAR
UINT32
rw

0
4294967295

401 Ah

Parameter Mapping 2

P0-26

VAR
UINT32
rw

0
4294967295

401Bh

Parameter Mapping 3

P0-27

VAR
UINT32
rw

0
4294967295

EIO0000002305 04/2017

CANopen Object Dictionary

EIO0000002305 04/2017

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

401Ch

Parameter Mapping 4

P0-28

VAR
UINT32
rw

0
4294967295

401Dh

Parameter Mapping 5

P0-29

VAR
UINT32
rw

0
4294967295

401Eh

Parameter Mapping 6

P0-30

VAR
UINT32
rw

0
4294967295

401Fh

Parameter Mapping 7

P0-31

VAR
UINT32
rw

0
4294967295

4020h

Parameter Mapping 8

P0-32

VAR
UINT32
rw

0
4294967295

4023h

Block Data Read/Write
P0-35…P0-42 1

P0-35

VAR
UINT32
rw

0
0
4294967295

4024h

Block Data Read/Write
P0-35…P0-42 2

P0-36

VAR
UINT32
rw

0
0
4294967295

4025h

Block Data Read/Write
P0-35…P0-42 3

P0-37

VAR
UINT32
rw

0
0
4294967295

4026h

Block Data Read/Write
P0-35…P0-42 4

P0-38

VAR
UINT32
rw

0
0
4294967295

4027h

Block Data Read/Write
P0-35…P0-42 5

P0-39

VAR
UINT32
rw

0
0
4294967295

4028h

Block Data Read/Write
P0-35…P0-42 6

P0-40

VAR
UINT32
rw

0
0
4294967295

4029h

Block Data Read/Write
P0-35…P0-42 7

P0-41

VAR
UINT32
rw

0
0
4294967295

402 Ah

Block Data Read/Write
P0-35…P0-42 8

P0-42

VAR
UINT32
rw

0
0
4294967295

402Eh

State of Signal Output
Functions

P0-46

VAR
UINT16
ro

0
65535

402Fh

Number of Last Alert

P0-47

VAR
UINT16
ro

0
65535

455

CANopen Object Dictionary

41xxh Object Group
41xxh Vendor-specific Object Group
This objects list is also available in P1 - Basic parameters (see page 238)

456

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4100h

Reference Value Signal - Pulse
Settings

P1-00

VAR
UINT16
rw

0
2
4402

4101h

Operating Mode and Direction
of Rotation

P1-01

VAR
UINT16
rw

0
11
4363

4102h

Velocity and Torque Limitations P1-02
Activation/Deactivation

VAR
UINT16
rw

0
0
17

4103h

Polarity of Analog Outputs /
Polarity of Pulse Outputs

P1-03

VAR
UINT16
rw

0
0
19

4104h

Scaling Factor Analog Output 1 P1-04

VAR
UINT16
rw

1
100
100

4105h

Scaling Factor Analog Output 2 P1-05

VAR
UINT16
rw

1
100
100

4106h

CAN Opmode

P1-06

VAR
INT16
ro

-32768
0
32767

4109h

Target Velocity/Velocity
Limitation 1

P1-09

VAR
INT32
rw

-60000
10000
60000

410 Ah

Target Velocity/Velocity
Limitation 2

P1-10

VAR
INT32
rw

-60000
20000
60000

410Bh

Target Velocity/Velocity
Limitation 3

P1-11

VAR
INT32
rw

-60000
30000
60000

410Ch

Target Torque/Torque
Limitation 1

P1-12

VAR
INT16
rw

-300
100
300

410Dh

Target Torque/Torque
Limitation 2

P1-13

VAR
INT16
rw

-300
100
300

410Eh

Target Torque/Torque
Limitation 3

P1-14

VAR
INT16
rw

-300
100
300

410Fh

Mains Phase Monitoring Response to Missing Mains
Phase

P1-15

VAR
UINT16
rw

0
0
2

4110h

Mains Phase Monitoring - Fault
Reset

P1-16

VAR
UINT16
rw

0
0
1

4111h

Mains Phase Monitoring - Type P1-17

VAR
UINT16
rw

0
0
2

4112h

Reserved

P1-18

VAR
UINT16
rw

0
3
5

4113h

Active Disable - Delay Time
Power Stage

P1-19

VAR
UINT16
rw

0
0
6500

EIO0000002305 04/2017

CANopen Object Dictionary

EIO0000002305 04/2017

Index

Name

4114h

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

Current Limit During Quick Stop P1-20

VAR
INT16
rw

1
1000
1000

4115h

Status of Foldback Current
Drive

P1-21

VAR
UINT16
ro

0
1

4116h

Foldback Current Limit - Drive

P1-22

VAR
UINT32
ro

0
30000

4117h

Current Monitoring Drive Detected Error Threshold
Foldback Current

P1-23

VAR
UINT32
rw

0
30000

4118h

Current Monitoring Drive - Alert
Threshold Foldback Current

P1-24

VAR
UINT32
rw

0
30000

4119h

Reserved

P1-25

VAR
UINT32
rw

411 Ah

Foldback Current Limit - Motor

P1-26

VAR
UINT32
ro

0
30000

411Bh

Motor Current Monitoring Detected Error Threshold
Foldback Current

P1-27

VAR
UINT32
rw

0
30000

411Ch

Motor Current Monitoring - Alert P1-28
Threshold Foldback Current

VAR
UINT32
rw

0
30000

411Dh

DC Bus Overvoltage Monitoring P1-29
- Threshold

VAR
UINT16
ro

411Eh

Commutation Monitoring Maximum Counter Value

P1-30

VAR
UINT16
rw

0
0
0

4120h

Stop Method

P1-32

VAR
UINT16
rw

0
0
32

4122h

Acceleration Period

P1-34

VAR
UINT16
rw

6
30
65500

4123h

Deceleration Period

P1-35

VAR
UINT16
rw

6
30
65500

4125h

Ratio of Load Inertia to Motor
Inertia

P1-37

VAR
UINT32
rw

0
10
20000

4126h

Signal Output Function ZSPD / P1-38
Signal Input Function ZCLAMP Velocity

VAR
INT32
rw

0
100
2000

4127h

Signal Output Function TSPD Velocity

P1-39

VAR
UINT32
rw

0
3000
5000

4128h

Velocity Target Value and
Velocity Limitation 10 V

P1-40

VAR
INT32
rw

0
10001

4129h

Torque Target Value and
Torque Limitation 10 V

P1-41

VAR
UINT16
rw

0
100
1000

412 Ah

ON Delay Time of Holding
Brake

P1-42

VAR
UINT16
rw

0
0
1000

457

CANopen Object Dictionary

458

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

412Ch

Electronic Gear Ratio Numerator 1

P1-44

VAR
UINT32
rw

1
128
536870911

412Dh

Electronic Gear Ratio Denominator

P1-45

VAR
UINT32
rw

1
10
2147483647

412Eh

Encoder Simulation Resolution

P1-46

VAR
INT32
rw

2048
-

412Fh

Signal Output Function SP_OK - P1-47
Velocity

VAR
UINT32
rw

0
10
300

4130h

Signal Output Function MC_OK P1-48
- Settings

VAR
UINT16
rw

0
0
33

4134h

Braking Resistor - Resistance

P1-52

VAR
INT16
rw

-1
32767

4135h

Braking Resistor - Power

P1-53

VAR
INT16
rw

-1
32767

4136h

Signal Output Function TPOS Trigger Value

P1-54

VAR
UINT32
rw

0
12800
1280000

4137h

Maximum Velocity - UserDefined

P1-55

VAR
UINT32
rw

10
6000

4139h

Torque Monitoring - Torque
Value

P1-57

VAR
UINT16
rw

0
0
300

413 Ah

Torque Monitoring - Time Value P1-58

VAR
UINT16
rw

1
1
1000

413Bh

S Curve Filter for Operating
Mode Velocity

P1-59

VAR
UINT32
rw

0
0
255875

413Ch

Commutation Monitoring - Time P1-60
Threshold

VAR
UINT16
rw

0
0
3000

413Dh

Commutation Monitoring Velocity Threshold

P1-61

VAR
UINT32
rw

0
600
60000

413Eh

Motor Overtemperature
Monitoring - Response

P1-62

VAR
UINT16
rw

0
0
5

413Fh

Motor Overtemperature
Monitoring - Delay Time

P1-63

VAR
UINT16
rw

0
30
300

4140h

Undervoltage Monitoring Response

P1-64

VAR
UINT16
rw

0
0
3

4141h

Reserved

P1-65

VAR
UINT16
rw

0
0
1

4142h

Status of Foldback Current
Motor

P1-66

VAR
UINT16
ro

0
1

4143h

Undervoltage Monitoring Delay Time

P1-67

VAR
UINT16
rw

0
30
300

EIO0000002305 04/2017

CANopen Object Dictionary

EIO0000002305 04/2017

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4144h

Active Disable - Deceleration
Ramp

P1-68

VAR
UINT16
rw

6
30
65500

4145h

Disable - Deceleration Time

P1-69

VAR
UINT16
rw

0
0
6500

4146h

Signal Input Function HALT Maximum Current

P1-70

VAR
UINT32
rw

0
-

4147h

Braking Resistor - Maximum
Time in Braking

P1-71

VAR
UINT16
rw

10
40
100

4148h

Braking Resistor Overload
Monitoring - Response

P1-72

VAR
UINT16
rw

0
0
1

414Eh

User-Defined Maximum Current P1-78

VAR
UINT32
rw

414Fh

Maximum Current

P1-79

VAR
UINT32
ro

4150h

Maximum Peak Current

P1-80

VAR
UINT32
ro

4151h

Nominal Current

P1-81

VAR
UINT32
ro

4152h

Velocity limitation for CANopen
operating mode Profile Torque

P1-82

VAR
UINT16
rw

0
0
3

4154h

Configured motor type

P1-84

VAR
UINT32
rw

0
2147483647

4155h

Torque Limit For CANopen
Modes

P1-85

VAR
UINT16
rw

0
0
3

459

CANopen Object Dictionary

42xxh Object Group
42xxh Vendor-specific Object Group
This objects list is also available in P2 - Extended parameters (see page 250)

460

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4201h

Gain Switching - Rate for
Position Loop

P2-01

VAR
UINT16
rw

10
100
500

4205h

Gain Switching - Rate for
Velocity Loop

P2-05

VAR
UINT16
rw

10
100
500

4208h

Factory Reset / Save
Parameters / Activation of
Forcing of Outputs

P2-08

VAR
UINT16
rw

0
0
406

4209h

Debounce Time - Inputs

P2-09

VAR
UINT16
rw

0
2
20

420 Ah

Signal Input Function for DI1

P2-10

VAR
UINT16
rw

0
256
326

420Bh

Signal Input Function for DI2

P2-11

VAR
UINT16
rw

0
256
326

420Ch

Signal Input Function for DI3

P2-12

VAR
UINT16
rw

0
256
326

420Dh

Signal Input Function for DI4

P2-13

VAR
UINT16
rw

0
256
326

420Eh

Signal Input Function for DI5

P2-14

VAR
UINT16
rw

0
36
326

420Fh

Signal Input Function for DI6

P2-15

VAR
UINT16
rw

0
34
326

4210h

Signal Input Function for DI7

P2-16

VAR
UINT16
rw

0
35
326

4211h

Signal Input Function for DI8

P2-17

VAR
UINT16
rw

0
33
326

4212h

Signal Output Function for
DO1

P2-18

VAR
UINT16
rw

0
257
319

4213h

Signal Output Function for
DO2

P2-19

VAR
UINT16
rw

0
256
319

4214h

Signal Output Function for
DO3

P2-20

VAR
UINT16
rw

0
256
319

4215h

Signal Output Function for
DO4

P2-21

VAR
UINT16
rw

0
256
319

4216h

Signal Output Function for
DO5

P2-22

VAR
UINT16
rw

0
7
319

4217h

Signal Output Function for
DO6(OCZ)

P2-23

VAR
UINT16
rw

0
64
319

EIO0000002305 04/2017

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EIO0000002305 04/2017

Index

Name

4218h

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

Debounce Time - Fast Inputs P2-24

VAR
UINT16
rw

0
50
100

421Bh

Gain Switching - Conditions
and Type

P2-27

VAR
UINT16
rw

0
0
24

421Dh

Gain Switching - Comparison P2-29
Value

VAR
UINT32
rw

0
1280000
3840000

421Eh

Auxiliary Functions

P2-30

VAR
INT16
rw

-8
0
8

421Fh

Autotuning Optimization
Value Threshold

P2-31

VAR
UINT32
rw

100
1000
10000

4220h

Autotuning

P2-32

VAR
UINT16
rw

0
0
56

4222h

Velocity Monitoring Threshold Value

P2-34

VAR
UINT32
rw

0
50000
60000

4223h

Position Deviation Monitoring P2-35
- Threshold Value

VAR
UINT32
rw

1
100000
128000000

4224h

PTI Interface Debounce Time P2-36
- Pulse

VAR
UINT16
ro

0
30
511

4225h

PTI Interface Debounce Time P2-37
- Direction

VAR
UINT16
ro

0
30
511

4232h

Signal Input Function
CLRPOS - Trigger

P2-50

VAR
UINT16
rw

0
0
1

423Ch

Electronic Gear Ratio Numerator 2

P2-60

VAR
UINT32
rw

1
128
536870911

423Dh

Electronic Gear Ratio Numerator 3

P2-61

VAR
UINT32
rw

1
128
536870911

423Eh

Electronic Gear Ratio Numerator 4

P2-62

VAR
UINT32
rw

1
128
536870911

4241h

Special Function 1

P2-65

VAR
UINT16
rw

0
512
16320

4242h

Special Function 2

P2-66

VAR
UINT16
rw

0
0
4

4244h

Auto-Enable and Automatic
Hardware Limit Switch Fault
Reset

P2-68

VAR
UINT16
rw

0
0
273

461

CANopen Object Dictionary

43xxh Object Group
43xxh Vendor-specific Object Group
Part of this objects list is also available in P3 - Communication parameters (see page 257)

462

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4300h

Device Address Modbus

P3-00

VAR
UINT16
rw

1
127
247

4301h

Transmission Rate for
Integrated Fieldbus and
Modbus

P3-01

VAR
UINT16
rw

0
258
1029

4302h

Modbus Connection Settings

P3-02

VAR
UINT16
rw

6
7
9

4303h

Detected Modbus
Communication Errors Handling

P3-03

VAR
UINT16
rw

0
0
1

4304h

Modbus Connection
Monitoring

P3-04

VAR
UINT16
rw

0
0
20000

4305h

Device Address Integrated
Fieldbus

P3-05

VAR
UINT16
rw

0
0
127

4306h

Digital Inputs - Forcing
Settings

P3-06

VAR
UINT16
rw

0
0
2047

4307h

Modbus Response Delay
Time

P3-07

VAR
UINT16
rw

0
0
1000

4309h

CANopen Master/Slave
Synchronization

P3-09

VAR
UINT16
rw

4097
20565
40959

430 Ah

Drive Profile Lexium Activation

P3-10

VAR
UINT16
rw

0
0
1

430Bh

Drive Profile Lexium - State of P3-11
Digital Inputs

VAR
UINT16
ro

Yes

0
65535

430Ch

Drive Profile Lexium - Control P3-12
Word

VAR
UINT16
rww

Yes

0
0
65535

430Dh

Drive Profile Lexium - RefA
16 Bit Parameter

P3-13

VAR
INT16
rww

Yes

-32768
0
32767

430Eh

Drive Profile Lexium - RefB
32 Bit Parameter

P3-14

VAR
INT32
rww

Yes

-2147483648
0
2147483647

430Fh

Drive Profile Lexium - Drive
Status

P3-15

VAR
UINT16
ro

Yes

0
65535

4310h

Drive Profile Lexium Operating Mode Status

P3-16

VAR
UINT16
ro

Yes

0
65535

4311h

Drive Profile Lexium - Motion
Status

P3-17

VAR
UINT16
ro

Yes

0
65535

4312h

PDO Event Mask 1

P3-18

VAR
UINT16
rw

0
1
15

EIO0000002305 04/2017

CANopen Object Dictionary

EIO0000002305 04/2017

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4313h

PDO Event Mask 2

P3-19

VAR
UINT16
rw

0
1
15

4314h

PDO Event Mask 3

P3-20

VAR
UINT16
rw

0
1
15

4315h

PDO Event Mask 4

P3-21

VAR
UINT16
rw

0
15
15

431Eh

Internal Limit for Bit 11
DriveCom Statusword 6041h

P3-30

VAR
UINT16
rw

0
0
11

4320h

Automatic operating state
transition from Switch On
Disabled to Ready To Switch
On

P3-32

VAR
UINT16
rw

0
0
1

4328h

Velocity Gearing Window

VAR
UINT32
rw

0
2100000
4294967295

4329h

Velocity Threshold

VAR
UINT32
rw

0
2100000
4294967295

463

CANopen Object Dictionary

44xxh Object Group
44xxh Vendor-specific Object Group
Part of this objects list is also available in P4 - Diagnostics parameters (see page 260)

464

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4400h

Error History - Error Number
of the Most Recently
Detected Error n

P4-00

VAR
UINT16
rw

0
0

4401h

Error History - Error Number
of the Most Recently
Detected Error n - 1

P4-01

VAR
UINT16
ro

0
0

4402h

Error History -Error Number
of the Most Recently
Detected Error n - 2

P4-02

VAR
UINT16
ro

0
0

4403h

Error History - Error Number
of the Most Recently
Detected Error n - 3

P4-03

VAR
UINT16
ro

0
0

4404h

Error History - Error Number
of the Most Recently
Detected Error n - 4

P4-04

VAR
UINT16
ro

0
0

4405h

Jog Velocity

P4-05

VAR
UINT32
rw

0
20
5000

4406h

Setting a signal output via
parameter

P4-06

VAR
UINT16
rw

0
0
255

4407h

State of Digital Inputs /
Activate Forcing

P4-07

VAR
UINT16
rw

0
255

4408h

Status of HMI Keypad

P4-08

VAR
UINT16
ro

0
0
255

4409h

State of Digital Outputs

P4-09

VAR
UINT16
ro

0
63

440 Ah

Clear Error History

P4-10

VAR
UINT16
rw

0
0
0

4416h

Analog Input 1 Offset

P4-22

VAR
INT16
rw

-10000
0
10000

4417h

Analog Input 2 Offset

P4-23

VAR
INT16
rw

-10000
0
10000

4418h

Undervoltage Monitoring Threshold Value

P4-24

VAR
UINT16
rw

140
160
190

4419h

Safety Function STO - Status P4-25

VAR
UINT16
ro

0
1

441 Ah

Digital Outputs - Forcing
Information

P4-26

VAR
UINT16
ro

0
31

441Bh

Digital Outputs - Forcing
Settings

P4-27

VAR
UINT16
rw

0
0
31

441Ch

State of Digital Outputs /
Activate Forcing

P4-28

VAR
UINT16
rw

0
0
31

EIO0000002305 04/2017

CANopen Object Dictionary

EIO0000002305 04/2017

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4450h

Jog Speed Fast

VAR
UINT32
rw

0
426674
4294967295

4451h

Jog Time

VAR
UINT32
rw

0
0
4294967295

4452h

Jog Step

VAR
UINT32
rw

0
0
2147483647

4453h

Jog Method

VAR
UINT16
rw

0
0
1

4454h

Jog Speed Slow

VAR
UINT32
rw

0
426674
4294967295

465

CANopen Object Dictionary

45xxh Object Group
45xxh Vendor-specific Object Group
This objects list is also available in P5 - Motion settings parameters (see page 264)

466

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4500h

Firmware Revision

P5-00

VAR
UINT16
ro

0
65535

4504h

Homing - Homing Method
Selection

P5-04

VAR
UINT16
rw

0
0
296

4505h

Homing - Fast Velocity for
Reference Movement

P5-05

VAR
UINT32
rw

10
1000
60000

4506h

Homing - Slow Velocity for
Reference Movement

P5-06

VAR
UINT32
rw

10
200
60000

4507h

Operating Mode PS via
Parameter

P5-07

VAR
UINT16
rw

0
0
1000

4508h

Positive Software Limit
Switch - Position

P5-08

VAR
INT32
rw

-2147483647
134217727
2147483647

4509h

Negative Software Limit
Switch - Position

P5-09

VAR
INT32
rw

-2147483647
-134217727
2147483647

450 Ah

Operating mode Pulse Train - P5-10
Maximum Acceleration

VAR
UINT16
rw

6
6
65500

450Bh

Software Limit Switches Hysteresis Value

P5-11

VAR
UINT16
rw

0
3556
35555

450Ch

Touch Probe Input 1 - Stable
Level Duration

P5-12

VAR
UINT16
rw

2
5
32

450Dh

Software Limit Switches Activation

P5-13

VAR
UINT16
rw

0
0
1

450Eh

Motion Profile for Torque Slope

P5-14

VAR
UINT32
rw

1
100000
30000000

450Fh

Motion Profile for Torque Activation

P5-15

VAR
UINT16
rw

0
0
1

4510h

Encoder Increments in PUU

P5-16

VAR
INT32
rw

-2147483647
0
2147483647

4512h

External Encoder (Pulses)

P5-18

VAR
INT32
ro

-2147483648
2147483647

4514h

Deceleration Ramp - Signal
Input Function STOP

P5-20

VAR
UINT16
rw

6
50
65500

4515h

Deceleration Ramp Detected Transmission Error

P5-21

VAR
UINT16
rw

6
50
65500

4516h

Deceleration Ramp - Position P5-22
Overflow

VAR
UINT16
rw

6
30
65500

EIO0000002305 04/2017

CANopen Object Dictionary

EIO0000002305 04/2017

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4517h

Deceleration Ramp Triggering of Negative
Software Limit Switch

P5-23

VAR
UINT16
rw

6
50
65500

4518h

Deceleration Ramp Triggering of Positive
Software Limit Switch

P5-24

VAR
UINT16
rw

6
50
65500

4519h

Deceleration Ramp Triggering of Negative
Hardware Limit Switch

P5-25

VAR
UINT16
rw

6
30
65500

451 Ah

Deceleration Ramp Triggering of Positive
Hardware Limit Switch

P5-26

VAR
UINT16
rw

6
30
65500

4523h

Touch Probes Polarity

P5-35

VAR
UINT16
ro

0
3

4524h

Touch Probe Input 1 Captured Position CANopen
Units

P5-36

VAR
INT32
ro

-2147483647
0
2147483647

4525h

Touch Probe Input 1 Captured Position

P5-37

VAR
INT32
ro

-2147483647
0
2147483647

4526h

Touch Probe Input 1 - Event
Counter

P5-38

VAR
UINT16
ro

0
0
65535

4527h

Touch Probe Input 1 Configuration

P5-39

VAR
UINT16
rw

0
0
257

4538h

Touch Probe Input 2 Captured Position CANopen
Units

P5-56

VAR
INT32
ro

-2147483647
0
2147483647

4539h

Touch Probe Input 2 Captured Position

P5-57

VAR
INT32
ro

-2147483647
0
2147483647

453 Ah

Touch Probe Input 2 - Event
Counter

P5-58

VAR
UINT16
ro

0
0
65535

453Bh

Touch Probe Input 2 Configuration

P5-59

VAR
UINT16
rw

0
0
257

454Ch

Move Offset When Homing

P5-76

VAR
UINT16
rw

0
0
1

454Dh

Touch Probe Input 2 - Stable
Level Duration

P5-77

VAR
UINT16
rw

2
5
32

467

CANopen Object Dictionary

46xxh Object Group
46xxh Vendor-specific Object Group
This objects list is also available in P6 - Data sets group 1 parameters (see page 269)

468

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4600h

Position of Homing Data Set

P6-00

VAR
INT32
rw

-2147483647
0
2147483647

4601h

Subsequent Data Set and
Auto-start of Homing Data
Set

P6-01

VAR
UINT32
rw

0
0
8193

4602h

Target Position of Data Set 1 P6-02

VAR
INT32
rw

-2147483647
0
2147483647

4603h

Configuration of Data Set 1

VAR
UINT16
rw

0
0
208

4604h

Target Position of Data Set 2 P6-04

VAR
INT32
rw

-2147483647
0
2147483647

4605h

Configuration of Data Set 2

VAR
UINT16
rw

0
0
208

4606h

Target Position of Data Set 3 P6-06

VAR
INT32
rw

-2147483647
0
2147483647

4607h

Configuration of Data Set 3

VAR
UINT16
rw

0
0
208

4608h

Target Position of Data Set 4 P6-08

VAR
INT32
rw

-2147483647
0
2147483647

4609h

Configuration of Data Set 4

VAR
UINT16
rw

0
0
208

460 Ah

Target Position of Data Set 5 P6-10

VAR
INT32
rw

-2147483647
0
2147483647

460Bh

Configuration of Data Set 5

VAR
UINT16
rw

0
0
208

460Ch

Target Position of Data Set 6 P6-12

VAR
INT32
rw

-2147483647
0
2147483647

460Dh

Configuration of Data Set 6

VAR
UINT16
rw

0
0
208

460Eh

Target Position of Data Set 7 P6-14

VAR
INT32
rw

-2147483647
0
2147483647

460Fh

Configuration of Data Set 7

VAR
UINT16
rw

0
0
208

4610h

Target Position of Data Set 8 P6-16

VAR
INT32
rw

-2147483647
0
2147483647

4611h

Configuration of Data Set 8

VAR
UINT16
rw

0
0
208

P6-03

P6-05

P6-07

P6-09

P6-11

P6-13

P6-15

P6-17

EIO0000002305 04/2017

CANopen Object Dictionary

EIO0000002305 04/2017

Index

Name

4612h

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

Target Position of Data Set 9 P6-18

VAR
INT32
rw

-2147483647
0
2147483647

4613h

Configuration of Data Set 9

P6-19

VAR
UINT16
rw

0
0
208

4614h

Target Position of Data Set
10

P6-20

VAR
INT32
rw

-2147483647
0
2147483647

4615h

Configuration of Data Set 10

P6-21

VAR
UINT16
rw

0
0
208

4616h

Target Position of Data Set
11

P6-22

VAR
INT32
rw

-2147483647
0
2147483647

4617h

Configuration of Data Set 11

P6-23

VAR
UINT16
rw

0
0
208

4618h

Target Position of Data Set
12

P6-24

VAR
INT32
rw

-2147483647
0
2147483647

4619h

Configuration of Data Set 12

P6-25

VAR
UINT16
rw

0
0
208

461 Ah

Target Position of Data Set
13

P6-26

VAR
INT32
rw

-2147483647
0
2147483647

461Bh

Configuration of Data Set 13

P6-27

VAR
UINT16
rw

0
0
208

461Ch

Target Position of Data Set
14

P6-28

VAR
INT32
rw

-2147483647
0
2147483647

461Dh

Configuration of Data Set 14

P6-29

VAR
UINT16
rw

0
0
208

461Eh

Target Position of Data Set
15

P6-30

VAR
INT32
rw

-2147483647
0
2147483647

461Fh

Configuration of Data Set 15

P6-31

VAR
UINT16
rw

0
0
208

4620h

Target Position of Data Set
16

P6-32

VAR
INT32
rw

-2147483647
0
2147483647

4621h

Configuration of Data Set 16

P6-33

VAR
UINT16
rw

0
0
208

4622h

Target Position of Data Set
17

P6-34

VAR
INT32
rw

-2147483647
0
2147483647

4623h

Configuration of Data Set 17

P6-35

VAR
UINT16
rw

0
0
208

4624h

Target Position of Data Set
18

P6-36

VAR
INT32
rw

-2147483647
0
2147483647

4625h

Configuration of Data Set 18

P6-37

VAR
UINT16
rw

0
0
208

469

CANopen Object Dictionary

470

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4626h

Target Position of Data Set
19

P6-38

VAR
INT32
rw

-2147483647
0
2147483647

4627h

Configuration of Data Set 19

P6-39

VAR
UINT16
rw

0
0
208

4628h

Target Position of Data Set
20

P6-40

VAR
INT32
rw

-2147483647
0
2147483647

4629h

Configuration of Data Set 20

P6-41

VAR
UINT16
rw

0
0
208

462 Ah

Target Position of Data Set
21

P6-42

VAR
INT32
rw

-2147483647
0
2147483647

462Bh

Configuration of Data Set 21

P6-43

VAR
UINT16
rw

0
0
208

462Ch

Target Position of Data Set
22

P6-44

VAR
INT32
rw

-2147483647
0
2147483647

462Dh

Configuration of Data Set 22

P6-45

VAR
UINT16
rw

0
0
208

462Eh

Target Position of Data Set
23

P6-46

VAR
INT32
rw

-2147483647
0
2147483647

462Fh

Configuration of Data Set 23

P6-47

VAR
UINT16
rw

0
0
208

4630h

Target Position of Data Set
24

P6-48

VAR
INT32
rw

-2147483647
0
2147483647

4631h

Configuration of Data Set 24

P6-49

VAR
UINT16
rw

0
0
208

4632h

Target Position of Data Set
25

P6-50

VAR
INT32
rw

-2147483647
0
2147483647

4633h

Configuration of Data Set 25

P6-51

VAR
UINT16
rw

0
0
208

4634h

Target Position of Data Set
26

P6-52

VAR
INT32
rw

-2147483647
0
2147483647

4635h

Configuration of Data Set 26

P6-53

VAR
UINT16
rw

0
0
208

4636h

Target Position of Data Set
27

P6-54

VAR
INT32
rw

-2147483647
0
2147483647

4637h

Configuration of Data Set 27

P6-55

VAR
UINT16
rw

0
0
208

4638h

Target Position of Data Set
28

P6-56

VAR
INT32
rw

-2147483647
0
2147483647

4639h

Configuration of Data Set 28

P6-57

VAR
UINT16
rw

0
0
208

EIO0000002305 04/2017

CANopen Object Dictionary

EIO0000002305 04/2017

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

463 Ah

Target Position of Data Set
29

P6-58

VAR
INT32
rw

-2147483647
0
2147483647

463Bh

Configuration of Data Set 29

P6-59

VAR
UINT16
rw

0
0
208

463Ch

Target Position of Data Set
30

P6-60

VAR
INT32
rw

-2147483647
0
2147483647

463Dh

Configuration of Data Set 30

P6-61

VAR
UINT16
rw

0
0
208

463Eh

Target Position of Data Set
31

P6-62

VAR
INT32
rw

-2147483647
0
2147483647

463Fh

Configuration of Data Set 31

P6-63

VAR
UINT16
rw

0
0
208

4640h

Target Position of Data Set
32

P6-64

VAR
INT32
rw

-2147483647
0
2147483647

4641h

Configuration of Data Set 32

P6-65

VAR
UINT16
rw

0
0
208

471

CANopen Object Dictionary

47xxh Object Group
47xxh Vendor-specific Object Group
Part of this objects list is also available in P7 - Data sets group 2 parameters (see page 276)

472

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4700h

Deceleration and
Acceleration of Homing Data
Set

P7-00

VAR
UINT32
rw

393222
13107400
4292673500

4701h

Waiting Time of Homing Data P7-01
Set

VAR
UINT32
rw

0
0
32767

4702h

Deceleration and
Acceleration of Data Set 1

P7-02

VAR
UINT32
rw

393222
13107400
4292673500

4703h

Waiting Time and Target
Velocity of Data Set 1

P7-03

VAR
UINT32
rw

0
13107200
3932192767

4704h

Deceleration and
Acceleration of Data Set 2

P7-04

VAR
UINT32
rw

393222
13107400
4292673500

4705h

Waiting Time and Target
Velocity of Data Set 2

P7-05

VAR
UINT32
rw

0
13107200
3932192767

4706h

Deceleration and
Acceleration of Data Set 3

P7-06

VAR
UINT32
rw

393222
13107400
4292673500

4707h

Waiting Time and Target
Velocity of Data Set 3

P7-07

VAR
UINT32
rw

0
13107200
3932192767

4708h

Deceleration and
Acceleration of Data Set 4

P7-08

VAR
UINT32
rw

393222
13107400
4292673500

4709h

Waiting Time and Target
Velocity of Data Set 4

P7-09

VAR
UINT32
rw

0
13107200
3932192767

470 Ah

Deceleration and
Acceleration of Data Set 5

P7-10

VAR
UINT32
rw

393222
13107400
4292673500

470Bh

Waiting Time and Target
Velocity of Data Set 5

P7-11

VAR
UINT32
rw

0
13107200
3932192767

470Ch

Deceleration and
Acceleration of Data Set 6

P7-12

VAR
UINT32
rw

393222
13107400
4292673500

470Dh

Waiting Time and Target
Velocity of Data Set 6

P7-13

VAR
UINT32
rw

0
13107200
3932192767

470Eh

Deceleration and
Acceleration of Data Set 7

P7-14

VAR
UINT32
rw

393222
13107400
4292673500

470Fh

Waiting Time and Target
Velocity of Data Set 7

P7-15

VAR
UINT32
rw

0
13107200
3932192767

4710h

Deceleration and
Acceleration of Data Set 8

P7-16

VAR
UINT32
rw

393222
13107400
4292673500

4711h

Waiting Time and Target
Velocity of Data Set 8

P7-17

VAR
UINT32
rw

0
13107200
3932192767

EIO0000002305 04/2017

CANopen Object Dictionary

EIO0000002305 04/2017

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4712h

Deceleration and
Acceleration of Data Set 9

P7-18

VAR
UINT32
rw

393222
13107400
4292673500

4713h

Waiting Time and Target
Velocity of Data Set 9

P7-19

VAR
UINT32
rw

0
13107200
3932192767

4714h

Deceleration and
Acceleration of Data Set 10

P7-20

VAR
UINT32
rw

393222
13107400
4292673500

4715h

Waiting Time and Target
Velocity of Data Set 10

P7-21

VAR
UINT32
rw

0
13107200
3932192767

4716h

Deceleration and
Acceleration of Data Set 11

P7-22

VAR
UINT32
rw

393222
13107400
4292673500

4717h

Waiting Time and Target
Velocity of Data Set 11

P7-23

VAR
UINT32
rw

0
13107200
3932192767

4718h

Deceleration and
Acceleration of Data Set 12

P7-24

VAR
UINT32
rw

393222
13107400
4292673500

4719h

Waiting Time and Target
Velocity of Data Set 12

P7-25

VAR
UINT32
rw

0
13107200
3932192767

471 Ah

Deceleration and
Acceleration of Data Set 13

P7-26

VAR
UINT32
rw

393222
13107400
4292673500

471Bh

Waiting Time and Target
Velocity of Data Set 13

P7-27

VAR
UINT32
rw

0
13107200
3932192767

471Ch

Deceleration and
Acceleration of Data Set 14

P7-28

VAR
UINT32
rw

393222
13107400
4292673500

471Dh

Waiting Time and Target
Velocity of Data Set 14

P7-29

VAR
UINT32
rw

0
13107200
3932192767

471Eh

Deceleration and
Acceleration of Data Set 15

P7-30

VAR
UINT32
rw

393222
13107400
4292673500

471Fh

Waiting Time and Target
Velocity of Data Set 15

P7-31

VAR
UINT32
rw

0
13107200
3932192767

4720h

Deceleration and
Acceleration of Data Set 16

P7-32

VAR
UINT32
rw

393222
13107400
4292673500

4721h

Waiting Time and Target
Velocity of Data Set 16

P7-33

VAR
UINT32
rw

0
13107200
3932192767

4722h

Deceleration and
Acceleration of Data Set 17

P7-34

VAR
UINT32
rw

393222
13107400
4292673500

4723h

Waiting Time and Target
Velocity of Data Set 17

P7-35

VAR
UINT32
rw

0
13107200
3932192767

4724h

Deceleration and
Acceleration of Data Set 18

P7-36

VAR
UINT32
rw

393222
13107400
4292673500

4725h

Waiting Time and Target
Velocity of Data Set 18

P7-37

VAR
UINT32
rw

0
13107200
3932192767

473

CANopen Object Dictionary

474

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4726h

Deceleration and
Acceleration of Data Set 19

P7-38

VAR
UINT32
rw

393222
13107400
4292673500

4727h

Waiting Time and Target
Velocity of Data Set 19

P7-39

VAR
UINT32
rw

0
13107200
3932192767

4728h

Deceleration and
Acceleration of Data Set 20

P7-40

VAR
UINT32
rw

393222
13107400
4292673500

4729h

Waiting Time and Target
Velocity of Data Set 20

P7-41

VAR
UINT32
rw

0
13107200
3932192767

472 Ah

Deceleration and
Acceleration of Data Set 21

P7-42

VAR
UINT32
rw

393222
13107400
4292673500

472Bh

Waiting Time and Target
Velocity of Data Set 21

P7-43

VAR
UINT32
rw

0
13107200
3932192767

472Ch

Deceleration and
Acceleration of Data Set 22

P7-44

VAR
UINT32
rw

393222
13107400
4292673500

472Dh

Waiting Time and Target
Velocity of Data Set 22

P7-45

VAR
UINT32
rw

0
13107200
3932192767

472Eh

Deceleration and
Acceleration of Data Set 23

P7-46

VAR
UINT32
rw

393222
13107400
4292673500

472Fh

Waiting Time and Target
Velocity of Data Set 23

P7-47

VAR
UINT32
rw

0
13107200
3932192767

4730h

Deceleration and
Acceleration of Data Set 24

P7-48

VAR
UINT32
rw

393222
13107400
4292673500

4731h

Waiting Time and Target
Velocity of Data Set 24

P7-49

VAR
UINT32
rw

0
13107200
3932192767

4732h

Deceleration and
Acceleration of Data Set 25

P7-50

VAR
UINT32
rw

393222
13107400
4292673500

4733h

Waiting Time and Target
Velocity of Data Set 25

P7-51

VAR
UINT32
rw

0
13107200
3932192767

4734h

Deceleration and
Acceleration of Data Set 26

P7-52

VAR
UINT32
rw

393222
13107400
4292673500

4735h

Waiting Time and Target
Velocity of Data Set 26

P7-53

VAR
UINT32
rw

0
13107200
3932192767

4736h

Deceleration and
Acceleration of Data Set 27

P7-54

VAR
UINT32
rw

393222
13107400
4292673500

4737h

Waiting Time and Target
Velocity of Data Set 27

P7-55

VAR
UINT32
rw

0
13107200
3932192767

4738h

Deceleration and
Acceleration of Data Set 28

P7-56

VAR
UINT32
rw

393222
13107400
4292673500

4739h

Waiting Time and Target
Velocity of Data Set 28

P7-57

VAR
UINT32
rw

0
13107200
3932192767

EIO0000002305 04/2017

CANopen Object Dictionary

EIO0000002305 04/2017

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

473 Ah

Deceleration and
Acceleration of Data Set 29

P7-58

VAR
UINT32
rw

393222
13107400
4292673500

473Bh

Waiting Time and Target
Velocity of Data Set 29

P7-59

VAR
UINT32
rw

0
13107200
3932192767

473Ch

Deceleration and
Acceleration of Data Set 30

P7-60

VAR
UINT32
rw

393222
13107400
4292673500

473Dh

Waiting Time and Target
Velocity of Data Set 30

P7-61

VAR
UINT32
rw

0
13107200
3932192767

473Eh

Deceleration and
Acceleration of Data Set 31

P7-62

VAR
UINT32
rw

393222
13107400
4292673500

473Fh

Waiting Time and Target
Velocity of Data Set 31

P7-63

VAR
UINT32
rw

0
13107200
3932192767

4740h

Deceleration and
Acceleration of Data Set 32

P7-64

VAR
UINT32
rw

393222
13107400
4292673500

4741h

Waiting Time and Target
Velocity of Data Set 32

P7-65

VAR
UINT32
rw

0
13107200
3932192767

475

CANopen Object Dictionary

48xxh Object Group
48xxh Vendor-specific Object Group
This objects list is also available in P8 - Control loops parameters (see page 282)

476

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4800h

Derivative Gain

P8-00

VAR
UINT32
rw

0
800
20000

4801h

Integral Gain

P8-01

VAR
UINT32
rw

0
100
2000

4802h

Derivative-Integral Gain

P8-02

VAR
UINT32
rw

0
400
4000

4803h

Proportional Gain

P8-03

VAR
UINT32
rw

0
300
4000

4804h

Global Gain

P8-04

VAR
UINT32
rw

100
500
3000

4805h

HD Spring Filter

P8-05

VAR
UINT16
rw

10
7000
7000

4806h

Anti-Vibration Gain

P8-06

VAR
UINT32
rw

0
0
10000

4807h

Pe filter 2

P8-07

VAR
UINT32
rw

0
0
99000

4808h

Anti-Vibration Filter 2

P8-08

VAR
UINT32
rw

50
4000
8000

4809h

Pe filter

P8-09

VAR
UINT32
rw

50
4000
4000

480 Ah

Ratio of Load Inertia to Motor
Inertia for Anti-Vibration

P8-10

VAR
UINT32
rw

0
0
6000

480Bh

NL Anti-Resonance Filter
Divider

P8-11

VAR
UINT32
rw

1
200
10000

480Ch

Anti-Resonance Sharpness

P8-12

VAR
UINT16
rw

10
500
10000

480Dh

Pe Sharpness 2

P8-13

VAR
UINT16
rw

10
500
10000

480Eh

Current Filter Damping

P8-14

VAR
UINT16
rw

0
0
100

480Fh

Current Filter Low Pass Filter
Rise Time

P8-15

VAR
UINT16
rw

0
300
3000

4810h

Current Filter - Second Notch P8-16
Filter Bandwidth

VAR
UINT16
rw

0
0
500

4811h

Current Filter - Second Notch P8-17
Filter Center

VAR
UINT16
rw

5
100
1800

EIO0000002305 04/2017

CANopen Object Dictionary

EIO0000002305 04/2017

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4812h

Current Filter - Notch Filter
Bandwidth

P8-18

VAR
UINT16
rw

0
0
500

4813h

Current Filter - Notch Filter
Center

P8-19

VAR
UINT16
rw

5
100
1800

4814h

Elasticity Compensation

P8-20

VAR
UINT32
rw

0
50000
50000

4815h

Spring Deceleration Ratio

P8-21

VAR
UINT16
rw

0
1000
2000

4816h

Analog NCT standstill

P8-22

VAR
INT16
rw

-3815
0
3815

4817h

Analog Input 1 Filter

P8-23

VAR
UINT16
rw

10
1000
10000

4818h

Analog Input 2 - Filter

P8-24

VAR
UINT16
rw

10
1000
10000

4819h

Electronic Gear Filter Acceleration Feedforward

P8-25

VAR
INT16
rw

-2000
0
2000

481 Ah

Electronic Gear Filter Activation

P8-26

VAR
UINT16
rw

0
0
1

481Bh

Electronic Gear Filter - Depth P8-27

VAR
UINT32
rw

75
200
3200

481Ch

Electronic Gear Filter Velocity and Acceleration
Depth

P8-28

VAR
UINT16
rw

0
400
6000

481Dh

Electronic Gear Filter Velocity Feedforward

P8-29

VAR
INT32
rw

-20000
0
20000

481Eh

Interpolation of Input Signal
for Electronic Gear Activation

P8-30

VAR
UINT16
rw

0
1
1

481Fh

Method for Operating Mode
Pulse Train (PT)

P8-31

VAR
UINT16
rw

0
1
3

4820h

S-Curve Setting

P8-32

VAR
UINT32
rw

25
400
25600

4821h

Low Pass Filter Setting

P8-33

VAR
UINT16
rw

1
5000
5000

4822h

Smoothing Filter for
Operating modes PT and PS
- Type

P8-34

VAR
UINT16
rw

0
2
2

4823h

Type of Control

P8-35

VAR
UINT16
rw

5
519
519

4824h

Pe filter 3

P8-36

VAR
UINT32
rw

0
0
6000

4825h

Pe filter 3

P8-37

VAR
UINT32
rw

50
4000
8000

477

CANopen Object Dictionary

478

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4826h

Pe filter 3

P8-38

VAR
UINT32
rw

200
1000
10000

4827h

Gravity Compensation

P8-39

VAR
INT16
rw

0
-

4828h

HD AFF

P8-40

VAR
UINT16
rw

0
0
200

4829h

Pe Sharpness

P8-41

VAR
UINT16
rw

10
200
10000

482 Ah

Homing Incorrect Information P8-42

VAR
UINT32
ro

0
1000000

482Bh

ZSPD Low Pass Filter Value

P8-43

VAR
UINT16
rw

10
1000
1000

482Dh

Feedback type

P8-45

VAR
UINT16
ro

0
2

482Eh

Encoder temperature

P8-46

VAR
INT16
ro

482Fh

Encoder firmware and
hardware versions

P8-47

VAR
UINT32
ro

0
4294967295

4831h

Encoder active errors

P8-48

VAR
UINT32
ro

0
4294967295

4832h

Encoder active alerts

P8-49

VAR
UINT32
ro

0
4294967295

4863h

Adaptive Velocity Reference
Value Gain

P8-99

VAR
UINT32
rw

0
1000
3000

EIO0000002305 04/2017

CANopen Object Dictionary

49xxh Object Group
49xxh Vendor-specific Object Group
Part of this objects list is also available in P9 - DTM data parameters (see page 288)

EIO0000002305 04/2017

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4900h

Lexium program number

P9-00

VAR
UINT32
ro

0
4294967295

4901h

Firmware Version Date

P9-01

VAR
UINT32
ro

0
4294967295

4902h

MTP Identification Code

P9-02

VAR
UINT16
ro

0
65535

4906h

User-Defined Application
Name 1

P9-06

VAR
UINT32
rw

0
0
4294967295

4907h

User-Defined Application
Name 2

P9-07

VAR
UINT32
rw

0
0
4294967295

4908h

User-Defined Application
Name 3

P9-08

VAR
UINT32
rw

0
0
4294967295

4909h

User-Defined Application
Name 4

P9-09

VAR
UINT32
rw

0
0
4294967295

490 Ah

Modbus Word Order

P9-10

VAR
UINT16
rw

0
0
1

490Bh

Serial Number Part 1

P9-11

VAR
UINT32
ro

0
4294967295

490Ch

Serial Number Part 2

P9-12

VAR
UINT32
ro

0
4294967295

490Dh

Serial Number Part 3

P9-13

VAR
UINT32
ro

0
4294967295

490Eh

Serial Number Part 4

P9-14

VAR
UINT32
ro

0
4294967295

490Fh

Autotuning Method

P9-15

VAR
UINT16
rw

0
0
6

4910h

Autotuning Motion Profile Type

P9-16

VAR
UINT16
rw

0
0
2

4911h

Anti-vibration tuning mode.

P9-17

VAR
UINT16
rw

0
0
6

4912h

Autotuning Results Save/Discard

P9-18

VAR
UINT16
rw

0
0
3

4913h

Autotuning - Elasticity
Compensation Filters

P9-19

VAR
INT16
rw

0
1
1

4914h

Autotuning - Direction of
Movement

P9-20

VAR
INT16
rw

0
0
3

479

CANopen Object Dictionary

480

Index

Name

4915h

4916h

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

Minimum Dwell Time for
P9-21
Detection of Movement Cycle

VAR
UINT16
rw

100
200
1000

Autotuning - Automatic
Estimation of Ratio of Load
Inertia and Motor Inertia

P9-22

VAR
UINT16
rw

0
0
1

4917h

Defines which values will be
used for the position
command filters.

P9-23

VAR
UINT16
rw

0
0
1

4919h

Autotuning Motion Profile Activation

P9-25

VAR
UINT16
rw

0
0
1

491 Ah

Autotuning - Movement
Range in Direction1

P9-26

VAR
INT32
rw

-2147483647
0
2147483647

491Bh

Autotuning - Movement
Range in Direction2

P9-27

VAR
INT32
rw

-2147483647
0
2147483647

491Ch

Autotuning Active

P9-28

VAR
INT16
ro

0
1

491Dh

Autotuning - Velocity

P9-29

VAR
UINT32
rw

491Eh

Autotuning - Status

P9-30

VAR
UINT32
ro

0
65535

491Fh

Autotuning - Acceleration and P9-31
Deceleration

VAR
UINT32
rw

393222
393222000
4292673500

4920h

Autotune advance mode.

P9-32

VAR
UINT16
rw

0
1
2

4921h

Maximum Autotuning
Optimization Value

P9-33

VAR
UINT32
ro

0
1000

4922h

Autotuning Progress Bar

P9-34

VAR
UINT16
ro

0
0
100

4923h

Autotuning - Gravity
Estimation

P9-35

VAR
UINT16
rw

0
0
1

4924h

Set LTNAFRC in Autotune

P9-36

VAR
INT16
rw

0
0
2

4925h

Autotuning - Last Stored
Event

P9-37

VAR
UINT32
ro

0
0
65535

4926h

Mode 2 AT improvment

P9-38

VAR
UINT16
ro

0
0
100

4927h

Cycle Identification status

P9-39

VAR
UINT16
ro

0
0
9

4928h

LTN Autotuning Using
Defaults

P9-40

VAR
UINT16
rw

0
0
1

EIO0000002305 04/2017

CANopen Object Dictionary

4Bxxh Object Group
4Bxxh Vendor-specific Object Group

EIO0000002305 04/2017

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4B00h

Position

VAR
INT32
ro

4B01h

Target Position in PUU

VAR
INT32
ro

4B02h

Position Deviation in PUU

VAR
INT32
ro

4B03h

Actual Position in Pulses

VAR
INT32
ro

4B04h

Target Position in Pulses

VAR
INT32
ro

4B05h

Position Deviation in Pulses

VAR
INT32
ro

4B06h

Input Frequency

VAR
INT32
ro

4B07h

Actual Velocity in rpm

VAR
INT32
ro

4B08h

Target Velocity in V

VAR
INT32
ro

4B09h

Target Velocity in rpm

VAR
INT32
ro

4B0Ah

Target Torque in V

VAR
INT32
ro

4B0Bh

Target Torque in Percent of
Nominal Current

VAR
INT32
ro

4B0Eh

DC Bus Voltage

VAR
INT32
ro

4B0Fh

Ratio of Load Inertia and
Motor Inertia

VAR
INT32
ro

4B10h

Drive Temperature - Power
Stage

VAR
INT32
ro

4B13h

Map P0-25

VAR
INT32
ro

4B14h

Map P0-26

VAR
INT32
ro

4B15h

Map P0-27

VAR
INT32
ro

481

CANopen Object Dictionary

482

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4B16h

Map P0-28

VAR
INT32
ro

4B17h

Indicate P0-09

VAR
INT32
ro

4B18h

Indicate P0-10

VAR
INT32
ro

4B19h

Indicate P0-11

VAR
INT32
ro

4B1Ah

Indicate P0-12

VAR
INT32
ro

4B1Bh

Drive Temperature Controller

VAR
INT32
ro

4B27h

Digital Inputs

VAR
INT32
ro

4B28h

Digital Outputs

VAR
INT32
ro

4B29h

Drive Status

VAR
INT32
ro

4B2Ah

Operating Mode

VAR
INT32
ro

4B31h

External Encoder

VAR
INT32
ro

4B32h

Target Velocity in rpm

VAR
INT32
ro

4B35h

Target Torque

VAR
INT32
ro

4B36h

Actual Torque in Percent

VAR
INT32
ro

4B37h

Actual Torque in A

VAR
INT32
ro

4B4Dh

Target Velocity in Operating
Modes PT / PS

VAR
INT32
ro

EIO0000002305 04/2017

CANopen Object Dictionary

4Fxxh Object Group
4Fxxh Vendor-specific Object Group

EIO0000002305 04/2017

Index

Name

Parameter

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

4FA0h

Drive Profile Lexium Control

RECORD
-

4FA0:0h

NumOfEntries

VAR
UINT8
ro

0
9
9

4FA0:1h

ShiftRefA

VAR
UINT16
ro

0
0
65535

4FA0:2h

ModeError

VAR
UINT16
ro

0
0
65535

4FA0:3h

ModeErrorInfo

VAR
UINT16
ro

0
0
65535

4FA0:4h

Dpl_int_Lim

VAR
UINT16
rw

0
0
65535

4FA0:5h

Ds402intLim

VAR
UINT16
rw

0
0
65535

4FA0:6h

MON_V_Threshold

VAR
UINT32
rw

0
0
4294967295

4FA0:7h

MON_I_Threshold

VAR
UINT16
rw

4FA0:8h

DataError

VAR
UINT16
ro

4FA0:9h

DataErrorInfo

VAR
UINT16
ro

4FA3h

Save/Load Status

VAR
UINT8
ro

0
0
255

4FA4h

Commanded velocity

VAR
INT32
ro

-2147483648
0
2147483647

4FA5h

Electronic Gear Ratio

ARRAY
-

4FA5:0h

Number of Entries

VAR
UINT8
ro

2
2
2

4FA5:1h

Electronic Gear Ratio
(Numerator)

VAR
INT32
rww

Yes

1
128
536870911

4FA5:2h

Electronic Gear Ratio
(Denominator)

VAR
INT32
rww

Yes

1
10
2147483647

4FA6h

CANopen Manufacturer
Specific SDO Abort Code

VAR
UINT32
ro

0
4294967295

483

CANopen Object Dictionary

Section 22.4
6000h … 6FFFh Device-Specific Object Group

6000h … 6FFFh Device-Specific Object Group
What Is in This Section?
This section contains the following topics:
Topic

484

Page

60xxh Object Group

485

65xxh Object Group

491

EIO0000002305 04/2017

CANopen Object Dictionary

60xxh Object Group
60xxh Device-Specific Object Group

EIO0000002305 04/2017

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

603Fh

Error Code

VAR
UINT16
ro

Yes

0
65535

6040h

Controlword

VAR
UINT16
rww

Yes

0
65535

6041h

Statusword

VAR
UINT16
ro

Yes

0
65535

605Dh

Halt Option Code

VAR
INT16
rw

1
1
3

6060h

Modes of Operation

VAR
INT8
rww

Yes

-128
0
10

6061h

Modes of Operation Display

VAR
INT8
ro

Yes

-128
10

6062h

Position Demand Value
Unit: User-defined position unit

VAR
INT32
ro

-2147483648
2147483647

6063h

Position Actual Internal Value
Unit: Increments

VAR
INT32
ro

Yes

-2147483648
2147483647

6064h

Position Actual Value
Unit: User-defined position unit

VAR
INT32
ro

Yes

-2147483648
2147483647

6065h

Following Error Window
Unit: User-defined position unit

VAR
UINT32
rww

Yes

0
1280000
4294967295

6066h

Following Error Time Out
Unit: ms

VAR
UINT16
rw

0
0
65535

6067h

Position Window
Unit: User-defined position unit

VAR
UINT32
rww

Yes

0
163840
4294967295

6068h

Position Window Time
Unit: ms

VAR
UINT16
rw

0
1
65535

606Bh

Velocity Demand Value
Unit: User-defined position unit/s

VAR
INT32
ro

-2147483648
2147483647

606Ch

Velocity Actual Value
Unit: User-defined position unit/s

VAR
INT32
ro

Yes

-2147483648
2147483647

606Eh

Velocity Window Time
Unit: ms

VAR
UINT16
rw

0
0
65535

6070h

Velocity Threshold Time
Unit: ms

VAR
UINT16
rw

0
0
65535

6071h

Target Torque
Unit: 1/1000 of nominal torque

VAR
INT16
rww

Yes

-32768
0
32767

485

CANopen Object Dictionary

486

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

6073h

Maximum Current
Unit: 1/1000 of nominal current

VAR
UINT16
rww

Yes

0
65535

6074h

Torque Demand Value
Unit: 1/1000 of nominal torque

VAR
INT16
ro

Yes

-32768
32767

6075h

Motor Rated Current
Unit: mA

VAR
UINT32
ro

0
150

6076h

Motor Rated Torque
Unit: mNm

VAR
UINT32
rw

0
0
4294967295

6077h

Torque Actual Value
Unit: 1/1000 of nominal torque

VAR
INT16
ro

Yes

-32768
32767

6078h

Current Actual Value
Unit: 1/1000 of nominal current

VAR
INT16
ro

Yes

-32768
32767

6079h

DC Link Circuit Voltage
Unit: mV

VAR
UINT32
ro

0
4294967295

607 Ah

Target Position
Unit: User-defined position unit

VAR
INT32
rww

Yes

-2147483648
0
2147483647

607Ch

Home Offset
Unit: User-defined position unit

VAR
INT32
rw

-2147483648
0
2147483647

607Dh

Software Position Limit

ARRAY
-

607D:0h

Highest Subindex Supported

VAR
UINT8
ro

2
2
2

607D:1h

Minimum Software Position Limit
Unit: User-defined position unit

VAR
INT32
rw

-2147483648
-1717986906
2147483647

607D:2h

Maximum Software Position Limit
Unit: User-defined position unit

VAR
INT32
rw

-2147483648
1717986906
2147483647

607Eh

Polarity

VAR
UINT8
rw

0
0
192

607Fh

Maximum Profile Velocity
Unit: User-defined position unit/s

VAR
UINT32
rw

1
4294967295

6080h

Maximum Motor Speed
Unit: User-defined position unit/s

VAR
UINT32
ro

0
4294967295

6081h

Profile Velocity in profile position mode
Unit: User-defined position unit/s

VAR
UINT32
rww

Yes

0
0
4294967295

6083h

Profile Acceleration
Unit: User-defined position unit/s2

VAR
UINT32
rww

Yes

1
4266666667
4294967295

6084h

Profile Deceleration
Unit: User-defined position unit/s2

VAR
UINT32
rww

Yes

1
4266666667
4294967295

6085h

Quick Stop Deceleration
Unit: User-defined position unit/s2

VAR
UINT32
rw

1
4266666667
4294967295

EIO0000002305 04/2017

CANopen Object Dictionary

EIO0000002305 04/2017

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

6087h

Torque Slope
Unit: 1/1000 of nominal torque/s

VAR
UINT32
rww

Yes

1
30000000

608Fh

Position Encoder Resolution

ARRAY
-

608F:0h

Highest subindex supported

VAR
UINT8
ro

2
2
2

608F:1h

Encoder Increments
Unit: Increments

VAR
UINT32
ro

16
1048576
10000000

608F:2h

Motor Revolutions
Unit: Revolutions

VAR
UINT32
ro

1
1
1

6091h

Gear Ratio

ARRAY
-

6091:0h

Highest subindex supported

VAR
UINT8
ro

2
2
2

6091:1h

Motor Revolutions

VAR
UINT32
rw

1
1
4294967295

6091:2h

Shaft Revolutions

VAR
UINT32
rw

1
1
4294967295

6092h

Feed Constant
User-defined position unit

ARRAY
-

6092:0h

Highest subindex supported

VAR
UINT8
ro

2
2
2

6092:1h

Feed

VAR
UINT32
rw

1
1280000
4294967295

6092:2h

Shaft Revolutions

VAR
UINT32
rw

1
1
4294967295

6098h

Homing Method

VAR
INT8
rw

1
2
35

6099h

Homing Speeds

ARRAY
-

6099:0h

Highest subindex supported

VAR
UINT8
ro

2
2
2

6099:1h

Fast Homing Speed
Unit: User-defined position unit/s

VAR
UINT32
rw

1
2133333
4294967295

6099:2h

Slow Homing Speed
Unit: User-defined position unit/s

VAR
UINT32
rw

1
426667
4294967295

609 Ah

Homing Acceleration
Unit: User-defined position unit/s2

VAR
UINT32
rw

1
640000000
4294967295

60B0h

Position Offset
Unit: User-defined position unit

VAR
INT32
rw

-2147483648
0
2147483647

487

CANopen Object Dictionary

488

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

60B1h

Velocity Offset
Unit: User-defined position unit/s

VAR
INT32
rww

Yes

-2147483648
0
2147483647

60B2h

Torque Offset
Unit: 1/1000 of nominal torque

VAR
INT16
rww

Yes

-32768
0
32767

60B8h

Touch Probe Function

VAR
UINT16
rww

Yes

0
65535

60B9h

Touch Probe Status

VAR
UINT16
ro

Yes

0
0
65535

60BAh

Touch Probe 1 Position Positive Value
Unit: User-defined position unit

VAR
INT32
ro

Yes

-2147483648
0
2147483647

60BBh

Touch Probe 1 Position Negative Value
Unit: User-defined position unit

VAR
INT32
ro

Yes

-2147483648
0
2147483647

60BCh

Touch Probe 2 Position Positive Value
Unit: User-defined position unit

VAR
INT32
ro

Yes

-2147483648
2147483647

60BDh

Touch Probe 2 Position Negative Value
Unit: User-defined position unit

VAR
INT32
ro

Yes

-2147483648
2147483647

60C1h

Interpolation Data Record

ARRAY
-

60C1:0h

Highest subindex supported

VAR
UINT8
ro

1
4
254

60C1:1h

Data Record 1

VAR
INT32
rww

Yes

-2147483648
0
2147483647

60C1:2h

Data Record 2

VAR
INT32
rww

Yes

-2147483648
0
2147483647

60C1:3h

Data Record 3

VAR
INT32
rww

Yes

-2147483648
0
2147483647

60C1:4h

Data Record 4

VAR
INT32
rww

Yes

-2147483648
0
2147483647

60C2h

Interpolation Time Period

RECORD
-

60C2:0h

Highest subindex supported

VAR
UINT8
ro

2
2
2

60C2:1h

Interpolation time period value
Unit: 10(interpolation time index) seconds

VAR
UINT8
rw

1
2
255

60C2:2h

Interpolation time index

VAR
INT8
rw

-128
-3
63

60C4h

Interpolation Data Configuration

RECORD
-

60C4:0h

Highest subindex supported

VAR
UINT8
ro

6
6
6

EIO0000002305 04/2017

CANopen Object Dictionary

EIO0000002305 04/2017

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

60C4:1h

Maximum buffer size
Unit: Number of data records

VAR
UINT32
ro

1
1
1

60C4:2h

Actual buffer size
Unit: Number of data records

VAR
UINT32
rw

1
1

60C4:3h

Buffer organization

VAR
UINT8
rw

0
0
1

60C4:4h

Buffer position

VAR
UINT16
rw

0
0

60C4:5h

Size of data record
Unit: Bytes

VAR
UINT8
wo

4
4

60C4:6h

Buffer clear

VAR
UINT8
wo

0
1

60C5h

Maximum Acceleration
Unit: User-defined position unit/s2

VAR
UINT32
rw

1
4153464149
4294967295

60C6h

Maximum Deceleration
Unit: User-defined position unit/s2

VAR
UINT32
rw

1
4153464149
4294967295

60D5h

Touch probe 1 positive edge counter

VAR
UINT16
ro

Yes

0
0
65535

60D6h

Touch probe 1 negative edge counter

VAR
UINT16
ro

Yes

0
0
65535

60D7h

Touch probe 2 positive edge counter

VAR
UINT16
ro

Yes

0
0
65535

60D8h

Touch probe 2 negative edge counter

VAR
UINT16
ro

Yes

0
0
65535

60F2h

Position option code

VAR
UINT16
rw

0
0
65535

60F4h

Following Error Actual Value
Unit: User-defined position unit

VAR
INT32
ro

Yes

-2147483648
2147483647

60FCh

Position Demand Internal Value
Unit: Increments

VAR
INT32
ro

-2147483648
2147483647

60FDh

Digital Inputs

VAR
UINT32
ro

Yes

0
4294967295

60FEh

Digital Outputs

ARRAY
-

60FE:0h

Highest subindex supported

VAR
UINT8
ro

2
2
2

60FE:1h

Physical Outputs

VAR
UINT32
rww

Yes

0
4294967295

489

CANopen Object Dictionary

490

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

60FE:2h

Output Mask

VAR
UINT32
rw

0
0
4294967295

60FFh

Target Velocity
Unit: User-defined position unit/s

VAR
INT32
rww

Yes

-2147483648
0
2147483647

EIO0000002305 04/2017

CANopen Object Dictionary

65xxh Object Group
65xxh Device Profile Object Group

EIO0000002305 04/2017

Index

Name

Object type
Data type
Access

PDO mapping
object

Minimum value
Factory setting
Maximum value

6502h

Supported Drive Modes

VAR
UINT32
ro

237
237

491

CANopen Object Dictionary

492

EIO0000002305 04/2017

Lexium 28 A and BCH2 Servo Drive System
Glossary
EIO0000002305 04/2017

Glossary
A
ASCII

(American standard code for Information Interchange) A protocol for representing alphanumeric characters
(letters, numbers, certain graphics, and control characters).

B
BOOL

byte

(boolean) A basic data type in computing. A BOOL variable can have one of these values: 0 (FALSE), 1
(TRUE). A bit that is extracted from a word is of type BOOL; for example, %MW10.4 is a fifth bit of memory
word number 10.
A type that is encoded in an 8-bit format, ranging from 00 hex to FF hex.

C
CANopen
COB

COB ID

An open industry-standard communication protocol and device profile specification (EN 50325-4).
(communications object) CANopen refers to a CAN frame as a communications object. Within the CAN
frame is the COB-ID, which is normally an 11-bit identifier and defines the designated device (node) for the
frame and a function code.
Each COB is uniquely identified in a CAN network by a number called the COB Identifier (COB-ID).

D
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
EMCY

(emergency) The object that enables devices to indicate internal errors detected in and by the device.
When the devices receive this signal, other network participants can evaluate the received information and
start appropriate manufacturer-specific counter actions.

H
HMI

EIO0000002305 04/2017

(human machine interface) An operator interface (usually graphical) for human control over industrial
equipment.

493

Glossary

I
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

N
NMT state machine

node

(network management state machine) The communication behavior of any CANopen device. The
CANopen NMT state machine consists of an initialization state, a pre-operational state, an operational
state, and a stopped state. After power-on or reset, the device enters the initialization state. After the device
initialization is finished, the device automatically enters the pre-operational state and announces the state
transition by sending the boot-up message. In this manner, the device indicates that it is ready to work. A
device that stays in pre-operational state may start to transmit SYNC-, Time Stamp-, or Heartbeat
message. In this state, the device cannot communicate through a PDO; it communicates with an SDO. In
the operational state, the device can use supported communication objects.
An addressable device on a communication network.

P
Parameter
PDO

Device data and values that can be read and set (to a certain extent) by the user.
(process data object) An unconfirmed broadcast message or sent from a producer device to a consumer
device in a CAN-based network. The transmit PDO from the producer device has a specific identifier that
corresponds to the receive PDO of the consumer devices.

R
RPDO

RSDO

(receive process data object An unconfirmed broadcast message or sent from a producer device to a
consumer device in a CAN-based network. The transmit PDO from the producer device has a specific
identifier that corresponds to the receive PDO of the consumer devices.
(receive service data object) A message received from a producer device to a consumer device in a CANbased network.

S
SDO

SYNC

(service data object) A message used by the field bus master to access (read/write) the object directories
of network nodes in CAN-based networks. SDO types include service SDOs (SSDOs) and client SDOs
(CSDOs).
Synchronization Object

T
TN Mains

TPDO

494

Grounded mains, differ in terms of the ground connection (PE conductor connection). Opposite:
Ungrounded mains, see IT mains.
(transmit process data object) An unconfirmed broadcast message or sent from a producer device to a
consumer device in a CAN-based network. The transmit PDO from the producer device has a specific
identifier that corresponds to the receive PDO of the consumer devices.

EIO0000002305 04/2017

Glossary

TSDO

TT Mains

EIO0000002305 04/2017

(transmit service data object) A message sent from a producer device to a consumer device in a CANbased network.
Grounded mains, differ in terms of the ground connection (PE conductor connection). Opposite:
Ungrounded mains, see IT mains.

495

Glossary

496

EIO0000002305 04/2017

Lexium 28 A and BCH2 Servo Drive System
Index
EIO0000002305 04/2017

Index
A

access channels, 298
accessories
external braking resistors, 126
external mains filters, 107

braking resistor
rating, 123

cable specifications
protected cable installation, 119
cables, 108
comfort tuning, 212
commissioning software, 202
common DC bus, 111
communication objects, 428
components and interfaces, 49
control cabinet, 140

DC bus, 111
degree of protection, 35
dimensions
drive, 37
disposal, 424, 424
drive:mounting, 141

easy tuning, 211
Electrical Installation Drive, 142
electromagnetic compatibility (EMC), 104, 105
EMC, 104, 105
improvement of EMC, 106
environmental conditions
drive, 35
motor, 54
equipotential bonding conductor, 105
equipotential bonding conductors, 108, 162

Fault Reset, 299
function
safety function, 117
functional safety, 46, 114
functions
CW/CCW, 44
P/D, 45
signals A/B, 44
fuses UL, 26

EIO0000002305 04/2017

hazard and risk analysis, 113

improvement of EMC, 106
installation site and connection, 35
Intended Use, 9, 10
internal braking resistor, 125

manual tuning, 217
monitoring functions, 127
mounting distances;ventilation, 140
mounting position, 176

nameplate, 32, 50

online help, 202
operating states, 299
overvoltage category UL, 26

P0-00, 233
P0-01, 233
P0-02, 233
P0-03, 233
P0-08, 234
P0-09, 234
P0-10, 234
P0-11, 234
P0-12, 234
P0-13, 234
P0-17, 234
P0-18, 235
P0-19, 235
P0-20, 235
P0-21, 235
P0-25, 235
P0-26, 235
P0-27, 235
P0-28, 235
P0-29, 235
P0-30, 236
P0-31, 236
P0-32, 236
P0-35, 236
P0-36, 236
P0-37, 236
P0-38, 236
P0-39, 237
P0-40, 237
P0-41, 237

497

Index

P0-42, 237
P0-46, 237
P0-47, 237
P1-00, 238
P1-01, 238
P1-02, 239
P1-03, 240
P1-04, 240
P1-05, 240
P1-09, 240
P1-10, 240
P1-11, 240
P1-12, 241
P1-13, 241
P1-14, 241
P1-15, 241
P1-16, 241
P1-17, 242
P1-18, 242
P1-19, 242
P1-20, 242
P1-21, 242
P1-22, 242
P1-23, 242
P1-24, 242
P1-25, 242
P1-26, 242
P1-27, 243
P1-28, 243
P1-29, 243
P1-30, 243
P1-32, 243
P1-34, 244
P1-35, 244
P1-37, 244
P1-38, 244
P1-39, 244
P1-40, 244
P1-41, 245
P1-42, 245
P1-44, 245
P1-45, 245
P1-46, 245
P1-47, 245
P1-48, 246
P1-52, 246
P1-53, 246
P1-54, 246
P1-55, 246
P1-57, 247
P1-58, 247
P1-59, 247
P1-60, 247
P1-61, 247
P1-62, 247
P1-63, 247
P1-64, 248
P1-65, 248
P1-66, 248
P1-67, 248
P1-68, 248
P1-69, 248
P1-70, 248
P1-71, 248
P1-72, 249

498

P1-78, 249
P1-79, 249
P1-80, 249
P1-81, 249
P1-82, 249
P1-84, 249
P1-85, 249
P2-01, 250
P2-05, 250
P2-08, 250
P2-09, 250
P2-10, 250
P2-11, 251
P2-12, 251
P2-13, 251
P2-14, 251
P2-15, 251
P2-16, 251
P2-17, 251
P2-18, 251
P2-19, 252
P2-20, 252
P2-21, 252
P2-22, 252
P2-23, 252
P2-24, 252
P2-27, 253
P2-29, 253
P2-30, 253
P2-31, 253
P2-32, 254
P2-34, 254
P2-35, 254
P2-36, 254
P2-37, 254
P2-44, 254
P2-50, 254
P2-60, 255
P2-61, 255
P2-62, 255
P2-65, 255
P2-66, 256
P2-68, 256
P3-00, 257
P3-01, 257
P3-02, 257
P3-03, 257
P3-04, 257
P3-05, 257
P3-06, 258
P3-07, 258
P3-09, 258
P3-10, 258
P3-11, 258
P3-12, 258
P3-13, 258
P3-14, 258
P3-15, 258
P3-16, 259
P3-17, 259
P3-18, 259
P3-19, 259
P3-20, 259
P3-21, 259
P3-30, 259

EIO0000002305 04/2017

Index

P3-32, 259
P4-00, 260
P4-01, 260
P4-02, 260
P4-03, 260
P4-04, 260
P4-05, 260
P4-06, 261
P4-07, 261
P4-08, 262
P4-09, 262
P4-10, 262
P4-22, 262
P4-23, 262
P4-24, 262
P4-25, 262
P4-26, 263
P4-27, 263
P4-28, 263
P5-00, 264
P5-04, 264
P5-05, 264
P5-06, 264
P5-07, 264
P5-08, 265
P5-09, 265
P5-10, 265
P5-11, 265
P5-12, 265
P5-13, 265
P5-14, 265
P5-15, 265
P5-16, 266
P5-18, 266
P5-20, 266
P5-21, 266
P5-22, 266
P5-23, 266
P5-24, 267
P5-25, 267
P5-26, 267
P5-35, 267
P5-36, 267
P5-37, 267
P5-38, 267
P5-39, 268
P5-56, 268
P5-57, 268
P5-58, 268
P5-59, 268
P5-76, 268
P5-77, 268
P6-00, 269
P6-01, 269
P6-02, 269
P6-03, 269
P6-04, 269
P6-05, 269
P6-06, 269
P6-07, 269
P6-08, 270
P6-09, 270
P6-10, 270
P6-11, 270
P6-12, 270

EIO0000002305 04/2017

P6-13, 270
P6-14, 270
P6-15, 270
P6-16, 270
P6-17, 270
P6-18, 270
P6-19, 271
P6-20, 271
P6-21, 271
P6-22, 271
P6-23, 271
P6-24, 271
P6-25, 271
P6-26, 271
P6-27, 271
P6-28, 271
P6-29, 271
P6-30, 272
P6-31, 272
P6-32, 272
P6-33, 272
P6-34, 272
P6-35, 272
P6-36, 272
P6-37, 272
P6-38, 272
P6-39, 272
P6-40, 272
P6-41, 273
P6-42, 273
P6-43, 273
P6-44, 273
P6-45, 273
P6-46, 273
P6-47, 273
P6-48, 273
P6-49, 273
P6-50, 273
P6-51, 273
P6-52, 274
P6-53, 274
P6-54, 274
P6-55, 274
P6-56, 274
P6-57, 274
P6-58, 274
P6-59, 274
P6-60, 274
P6-61, 274
P6-62, 274
P6-63, 275
P6-64, 275
P6-65, 275
P7-00, 276
P7-01, 276
P7-02, 276
P7-03, 276
P7-04, 276
P7-05, 276
P7-06, 276
P7-07, 276
P7-08, 276
P7-09, 276
P7-10, 276
P7-11, 277

499

Index

P7-12, 277
P7-13, 277
P7-14, 277
P7-15, 277
P7-16, 277
P7-17, 277
P7-18, 277
P7-19, 277
P7-20, 277
P7-21, 277
P7-22, 277
P7-23, 278
P7-24, 278
P7-25, 278
P7-26, 278
P7-27, 278
P7-28, 278
P7-29, 278
P7-30, 278
P7-31, 278
P7-32, 278
P7-33, 278
P7-34, 278
P7-35, 279
P7-36, 279
P7-37, 279
P7-38, 279
P7-39, 279
P7-40, 279
P7-41, 279
P7-42, 279
P7-43, 279
P7-44, 279
P7-45, 279
P7-46, 279
P7-47, 280
P7-48, 280
P7-49, 280
P7-50, 280
P7-51, 280
P7-52, 280
P7-53, 280
P7-54, 280
P7-55, 280
P7-56, 280
P7-57, 280
P7-58, 280
P7-59, 281
P7-60, 281
P7-61, 281
P7-62, 281
P7-63, 281
P7-64, 281
P7-65, 281
P8-00, 282
P8-01, 282
P8-02, 282
P8-03, 282
P8-04, 282
P8-05, 282
P8-06, 282
P8-07, 282
P8-08, 282
P8-09, 282
P8-10, 282

500

P8-11, 283
P8-12, 283
P8-13, 283
P8-14, 283
P8-15, 283
P8-16, 283
P8-17, 283
P8-18, 283
P8-19, 283
P8-20, 283
P8-21, 283
P8-22, 284
P8-24, 284
P8-25, 284
P8-26, 284
P8-27, 284
P8-28, 284
P8-29, 284
P8-30, 285
P8-31, 285
P8-32, 285
P8-33, 285
P8-34, 285
P8-35, 285
P8-36, 285
P8-37, 286
P8-38, 286
P8-39, 286
P8-40, 286
P8-41, 286
P8-42, 286
P8-43, 286
P8-45, 286
P8-46, 286
P8-47, 286
P8-48, 287
P8-49, 287
P8-99, 287
P9-00, 288
P9-01, 288
P9-02, 288
P9-06, 288
P9-07, 288
P9-08, 288
P9-09, 288
P9-10, 288
P9-11, 288
P9-12, 288
P9-13, 289
P9-14, 289
P9-15, 289
P9-16, 289
P9-17, 289
P9-18, 289
P9-19, 289
P9-20, 289
P9-21, 289
P9-22, 289
P9-23, 289
P9-25, 290
P9-26, 290
P9-27, 290
P9-28, 290
P9-29, 290
P9-30, 291, 292

EIO0000002305 04/2017

Index

P9-31, 292
P9-32, 292
P9-33, 292
P9-34, 292
P9-35, 292
P9-36, 292
P9-37, 293
P9-38, 293
P9-39, 293
P9-40, 293
parallel connection DC bus, 111
PDO mapping:dynamic, 430
PDO mapping:structure of entries, 431
permissible product combinations, 38
pollution degree, 35
protected cable installation, 119
PWM frequency power stage, 38

Qualification of Personnel, 9, 9

rating of braking resistor, 123
Representation of the Parameters, 232
requirements
safety function, 118
resetting error message, 299

safe torque off, 112
safety function, 46
function, 117
requirements, 118
safety function STO, 112
scope of supply, 137
shipping, 424
signals
A/B, 44
state diagram, 299
STO, 112
function, 117
requirements, 118
storage, 424

tuning the control loops, 210
type code, 33, 52
drive, 33
motor, 52
type of cooling, 38

conditions for wiring, 26
fuses, 26
overvoltage category, 26

wiring UL, 26
EIO0000002305 04/2017

501

Index

502

EIO0000002305 04/2017

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Modify Date                     : 2017:04:21 17:26:29+05:30
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Producer                        : Acrobat Distiller 9.0.0 (Windows)
Format                          : application/pdf
Title                           : Lexium 28 A and BCH2 Servo Drive System - User Guide
Creator                         : Schneider Electric
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Page Count                      : 502
Author                          : Schneider Electric
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