Parameter manual b maXX BM3000

Transcription

Parameter manual
Language
English
Translation
Document No. 5.12001.06
Part No.
442290
Status
01.08.2016


b maXX BM3000
Parameter manual
Version 01.10
E
5.12001.06
Read the Operating Manual before starting any work!
Copyright
The owner may produce an unrestricted number of copies of this Parameter manual solely
for internal use. This Parameter manual may not be copied or reproduced, even in extract
form, for any other purpose.
Use and disclosure of the contents of this Parameter manual are not permitted.
Names or company symbols in this Parameter manual can be trademarks, the use of which
by third parties for their own purposes may infringe the rights of the owners.
Preliminary informationCaution: The following applies if this document is identified as preliminary information:
This version contains preliminary technical information which the users of the devices and
functions described are intended to receive in advance, in order to be able to make arrangements for any changes or functional enhancements that may be required. 
This information should be considered to be provisional, as it has not yet been subjected to
the final Baumüller internal review process. In particular this information is still subject to
change, so that no legal obligation can be deduced on the basis of this preliminary information. Baumüller accepts no liability for damages that may arise from this possibly erroneous
or incomplete version. 
Should you detect or suspect errors of content and/or serious technical errors in this preliminary information, we ask you to contact the Baumüller support person responsible for you
and inform us of your findings and comments so that they might be considered and possibly
incorporated when the preliminary information becomes finalized (reviewed by Baumüller). 
The conditions noted in the following section under "Liability" do not apply in the case of preliminary information.
Obligation
This Parameter manual is a part of the device/machine. This Parameter manual must be accessible to the operator at all times and be in a legible condition. When the device/machine
is sold/relocated, this Parameter manual must be passed on together with the device/machine by the owner.
After the device/machine is sold, this original and all copies must be handed over to the purchaser. After disposal or other end of service life, this original and all copies must be destroyed.
When this Parameter manual is handed over, the corresponding Operating Manuals with earlier issue dates become invalid. 
Please note that specifications/data/information are the current values on the date of printing. These specifications are not legally binding for measuring, computation and costing.
Baumüller Nürnberg GmbH reserves the right to change the technical data and operation of
Baumüller products within the framework of its own further development of the products.
However no guarantee can be provided regarding the freedom from errors of this Parameter
manual, unless otherwise described in the General Conditions for Sales and Supply.

Baumüller Nürnberg GmbH
Ostendstr. 80 - 90
90482 Nürnberg
Deutschland
Tel. +49 9 11 54 32 - 0 
Fax: +49 9 11 54 32 - 1 30
E-Mail: [email protected]
Internet: www.baumueller.de
Table of Contents
1
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
Information about the Parameter Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Explanation of Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Limitation of Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Copyright . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Other Applicable Documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Guarantee Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Customer service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terms used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
12
13
13
14
14
14
14
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
2
2.1
2.2
2.3
2.4
2.4.1
2.4.2
2.5
2.6
3
Safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Voltage test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Requirements for the electrical supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Preparations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communication via the service cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communication via EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Switch-on sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Performing the commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16
17
17
18
21
22
27
28
Description of the Software Modules and Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . .
47
3.1
3.2
3.3
3.3.1
3.3.1.1
3.3.1.2
3.3.2
3.3.2.1
3.3.2.2
3.4
3.4.1
3.4.1.1
3.4.1.2
3.4.1.3
3.4.2
3.4.2.1
3.4.2.2
3.4.2.3
3.4.2.4
3.4.2.5
3.4.2.6
3.4.2.7
3.4.2.8
3.4.2.9
3.4.3
3.4.3.1
3.4.3.2
Cycle times of the software modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Structure of the parameter overviews . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
System control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Power unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
ProDrive Power Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Motor Identification Plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Motor Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Torque limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Torque monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Torque Threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Maximum permissible speed (electrical conditioned) . . . . . . . . . . . . . . . . . . . . . . . 83
ProDrive Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Parameter overview motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Asynchronous Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
ProDrive Asynchronous Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Lh-characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
3
Document no.: 5.12001.06
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Table of Contents
3.4.3.3
3.4.3.4
3.4.4
3.4.4.1
3.4.4.2
3.4.4.3
3.4.4.4
3.4.4.5
3.4.5
3.4.5.1
3.4.5.2
3.4.5.3
3.4.5.4
3.4.5.5
3.4.5.6
3.4.5.7
3.4.5.8
3.4.6
3.4.6.1
3.4.6.2
3.4.6.3
3.4.7
3.4.7.1
3.4.7.2
3.4.8
3.4.8.1
3.4.8.2
3.4.8.3
3.4.9
3.4.9.1
3.4.9.2
3.4.9.3
3.4.10
3.4.10.1
3.4.10.2
3.4.10.3
3.4.10.4
3.4.11
3.4.11.1
3.4.11.2
3.4.11.3
3.4.11.4
3.4.12
3.4.12.1
3.4.12.2
3.4.12.3
3.4.12.4
3.4.13
3.4.13.1
3.4.13.2
3.4.13.3
3.4.13.4
3.4.14
Parameter overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description of the Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Synchronous motor with interior permanent magnet . . . . . . . . . . . . . . . . . . . . . . . .
Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Identification of the nonlinear parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Field weakening at IPMSM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Encoder monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProDrive Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Encoder optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Encoder correction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Excentricity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Resolver synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Autotuning of Current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProDrive Autotuning of the Current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ks Measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProDrive Digital Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProDrive Digital Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description of the Analog Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProDrive analog input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Description of the Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProDrive Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProDrive filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProDrive Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fieldbus communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter IDs for the Real Time Lists . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Access Counter for each Real Time List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Measuring encoder function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
of 724
110
110
113
113
113
114
115
116
120
121
124
124
125
128
128
129
132
155
156
156
157
163
163
164
168
168
169
169
174
174
174
175
178
178
180
180
180
182
182
182
183
184
188
188
191
191
192
196
199
199
199
200
207
Table of Contents
3.4.14.1
ProDrive Measuring Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.14.2
3.4.14.3
3.4.15
Freely programmable PID controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.15.1
3.4.15.2
3.4.16
Master-Slave Torque Coupling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.16.1
3.4.16.2
3.4.17
Friction compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.17.1
Description of the friction compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.17.2
Identification of the friction torque curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.17.3
3.4.17.4
3.4.18
Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.18.1
3.4.18.2
3.4.19
Configurable status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.19.1
3.4.19.2
3.4.20
SoftDrivePLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.20.1
Overview SoftDrivePLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.20.2
Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.20.3
Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.20.4
Tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.20.5
Programming interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.20.6
3.4.20.7
3.4.21
DS402 Factor Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.21.1
General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.21.2
ProDrive DS402 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.21.3
3.4.21.4
Description of the Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5
Management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1
Drive management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1.1
3.5.1.2
3.5.2
Data Set Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2.1
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2.2
Command interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2.3
Organization of the parameters in the data sets. . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2.4
Delivered state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2.5
Switch-On behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2.6
Changing, loading, copying and storing parameters . . . . . . . . . . . . . . . . . . . . . . .
3.5.2.7
Identification of parameter set and data sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2.8
Functions of the Data Set Management System . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2.9
Data Set Commands and Possible Error Messages . . . . . . . . . . . . . . . . . . . . . . .
3.5.2.10
Changeover to Data Set 1 to 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2.11
Overview of the Data Set Management Commands . . . . . . . . . . . . . . . . . . . . . . .
3.5.2.12
3.5.2.13
3.5.3
Brake management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.3.1
Description of the Brake Management System . . . . . . . . . . . . . . . . . . . . . . . . . . .
209
209
210
221
222
224
231
235
236
242
242
245
245
246
249
249
249
252
253
254
258
258
258
259
260
260
261
262
269
269
274
274
276
281
281
291
292
313
313
313
314
315
315
315
315
316
317
319
319
320
321
325
325
5
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Table of Contents
3.5.3.2
3.5.3.3
3.5.3.4
3.5.4
3.5.4.1
3.5.4.2
3.5.5
3.5.5.1
3.5.5.2
3.5.5.3
3.5.5.4
3.5.5.5
3.5.5.6
3.5.6
3.5.6.1
3.5.6.2
3.6
3.6.1
3.6.1.1
3.6.1.2
3.6.1.3
3.6.1.4
3.6.2
3.6.2.1
3.6.2.2
3.6.3
3.6.4
3.6.4.1
3.6.4.2
3.6.5
3.6.5.1
3.6.5.2
3.6.5.3
3.6.5.4
3.6.5.5
3.6.5.6
3.6.5.7
3.6.5.8
3.6.5.9
3.6.6
3.6.6.1
3.6.6.2
3.7
3.7.1
3.7.1.1
3.7.1.2
3.7.1.3
3.7.2
3.7.2.1
3.7.2.2
3.7.3
3.7.3.1
3.7.3.2
ProDrive Brake Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signal Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Messages on the Signal Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Supply Ready for use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chopper Resistor On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProDrive Signal bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set Value Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set Value Generators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ramp function generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Optional interpolation of the ramp function generator input set value . . . . . . . . . .
ProDrive Ramp Function Generator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Set Value Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error reaction controlled stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error Reaction Return Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cam generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Time control via the table index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Time control with virtual master axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter-controlled processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting options of cam generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
State machine of the cam generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Limiting of output value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Handling the cam data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor potentiometer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Position / Speed Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProDrive Position / Speed Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter Overview of Position / Speed Controller. . . . . . . . . . . . . . . . . . . . . . . .
Controller adaption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current Prediction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dead Time Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
of 724
330
330
331
336
336
337
341
341
341
341
342
342
342
344
344
345
349
349
353
355
356
357
366
366
367
370
371
371
372
375
375
375
376
377
380
381
381
382
382
386
386
387
390
390
396
398
399
412
413
413
417
417
417
Table of Contents
3.7.3.3
3.7.3.4
3.7.3.5
3.7.3.6
3.7.3.7
3.7.3.8
3.7.3.9
3.7.4
3.7.4.1
3.7.4.2
3.7.4.3
3.7.4.4
3.7.4.5
3.7.4.6
3.7.5
3.7.5.1
3.7.5.2
3.7.6
3.7.6.1
3.7.6.2
3.7.6.3
3.7.6.4
3.7.6.5
3.7.6.6
3.7.6.7
3.7.6.8
3.7.6.9
Limiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418
Feedforward. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420
Current controller adaption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
Pulse Width Modulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
ProDrive Current Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422
Overview of Current Controller Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422
Description of Current Controller Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424
DC link controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
Description of the DC link controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
ProDrive DC link controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
Reactive current brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
Short circuit brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432
Parameter Overview of the DC link controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432
Description of the DC link controller parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . 433
Field weakening . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435
Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438
Description of the Field Weakening Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . 439
Two-level controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
Two-level controller with absolute thresholds . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
Two-level controller with relative thresholds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444
Combination of the operating modes absolute and relative thresholds. . . . . . . . . 444
Sign-independent monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446
Linking of the controller output with the target parameter . . . . . . . . . . . . . . . . . . . 446
Parameter Overview of the Two-level Controller . . . . . . . . . . . . . . . . . . . . . . . . . . 447
Description of the Two-level Controller Parameter with absolute Thresholds . . . . 448
Description of the Two-level Controller Parameter with relative and absolute Thresholds
450
3.7.7
Flux controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8
Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.1
Operating Modes general . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.1.1
Moving to positive stop command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.1.2
ProDrive general parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.1.3
Parameter overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.1.4
3.8.2
Target Position Setting (Positioning) Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2.1
Controlling the Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2.2
Positioning Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2.3
Bits in the Control Word / Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2.4
Actions on the Rising Edge of "New Set Value" . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2.5
Sequence of Events for Positioning Handshake with "Single Set Value" . . . . . . .
3.8.2.6
Sequence of Events for Handshake with “Set of Set Values” . . . . . . . . . . . . . . . .
3.8.2.7
Hardware limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2.8
Software Limit Switches. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2.9
Target Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2.10
Change of Operating Mode to Positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2.11
Halting a Running Positioning Task. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2.12
Aborting a Running Positioning Task. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2.13
Set Value Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2.14
Comparison of Motion Profiles for Positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2.15
Control by Means of the "Start Positioning" Method . . . . . . . . . . . . . . . . . . . . . . .
3.8.2.16
3.8.2.17
3.8.3
Operating mode Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
454
455
455
456
459
459
460
472
472
473
474
475
475
477
478
480
480
481
481
482
482
483
485
489
490
506
7
of 724
Table of Contents
3.8.3.1
3.8.3.2
3.8.3.3
3.8.3.4
3.8.3.5
3.8.3.6
3.8.3.7
3.8.3.8
3.8.3.9
3.8.3.10
3.8.3.11
3.8.3.12
3.8.3.13
3.8.3.14
3.8.3.15
3.8.3.16
3.8.3.17
3.8.3.18
3.8.3.19
3.8.3.20
3.8.3.21
3.8.4
3.8.4.1
3.8.4.2
3.8.5
3.8.5.1
3.8.5.2
3.8.6
3.8.6.1
3.8.6.2
3.8.7
3.8.7.1
3.8.7.2
3.8.8
3.8.8.1
3.8.8.2
3.8.8.3
3.8.9
3.8.9.1
3.8.9.2
3.8.10
3.8.10.1
3.8.10.2
3.8.10.3
3.8.10.4
3.8.10.5
3.8.10.6
3.8.11
3.8.11.1
3.8.11.2
3.8.11.3
3.8.11.4
3.8.12
3.8.12.1
Procedure of a homing under consideration of Zero pulse or Zero angle . . . . . . .
Shifting the zero angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Maximum distance for zero pulse detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Procedure of a Homing to switch only . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing without setting the home position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Automatic setting of the absolute value offset at homing . . . . . . . . . . . . . . . . . . . .
Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing Method 1 (neg. limit switch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing Method 2 (pos. limit switch) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing Methods 3 and 4 (pos. zero point changeover switch) . . . . . . . . . . . . . . .
Homing Methods 5 and 6 (neg. zero point changeover switch) . . . . . . . . . . . . . . .
Homing Methods 7 to 14 (Reference Switch). . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing Methods 15 and 16 (reserved) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing Methods 17 to 30 (without zero pulse or zero angle) . . . . . . . . . . . . . . . .
Homing Methods 31 and 32 (reserved) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing Methods 33 and 34 (zero pulse only) . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Homing Method 35 (set home position only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Manufacturer specific homing methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Command set home position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Manual drive operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operation mode spindle positioning (M19 command) . . . . . . . . . . . . . . . . . . . . . . .
Position control with synchronous set value specification . . . . . . . . . . . . . . . . . . . .
Operating mode synchronous operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating mode Notch position search . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ProDrive Notch Position Search. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Notch position search with the injection method . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter survey and parameter description . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error response at notch position search 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sensorless control for synchronous machines . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General constraints of sensorless control with the injection procedure . . . . . . . . .
Commissioning at the sensorless operation of the synchronous machine. . . . . . .
Vibration damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sensorless control for asynchronous motors (open loop) . . . . . . . . . . . . . . . . . . . .
Sensorless control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Catch on Fly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating Mode U-f Characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Compensating controller for acceleration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
of 724
506
507
507
507
508
509
509
510
510
511
512
513
514
514
515
515
516
516
517
517
518
526
527
527
530
534
535
539
540
541
548
550
551
560
562
562
563
566
566
566
567
568
568
569
569
570
571
576
576
577
578
579
581
582
Table of Contents
3.8.12.2
Current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.12.3
3.8.12.4
3.8.13
Operation mode Coupled mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.13.1
Transmission of master axis position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.13.2
Transmission of the curve data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.13.3
Changing the chaining sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.13.4
Definition of the starting segment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.13.5
Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.13.6
Use of the output-sided gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.13.7
Overlaying using an additional movement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.13.8
Intermediate buffering of curve segments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.13.9
3.8.13.10
Description of the Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.9
Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.9.1
Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.9.1.1
3.9.1.2
3.9.2
Oscilloscope function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.9.2.1
3.9.3
Software function FFT analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.9.3.1
3.9.3.2
3.10
Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.10.1
Automatic controller and filter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.10.2
Torque ripple compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.10.2.1
3.10.2.2
3.11
Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.11.1
Field angle monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.11.1.1
3.11.1.2
3.11.2
Position Error monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.11.2.1
3.11.2.2
3.11.3
Overload monitoring of the power unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.11.3.1
Ixt model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.11.3.2
Temperature model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
583
583
585
590
592
592
593
595
595
596
597
598
599
600
606
606
606
607
615
615
622
622
623
629
629
630
630
631
632
632
632
632
634
634
635
638
638
642
4
647
Error messages and troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1
4.2
4.2.1
4.3
4.4
4.4.1
4.5
5
Behavior in case of errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Monitoring functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Monitoring function - explanations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
647
648
650
652
652
652
653
Summary of all Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
677
Anhang A - Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 713
Table of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
715
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
719
Overview of Revisions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
723
9
of 724
10
of 724
GENERAL
1
1.1
Information about the Parameter Manual
The Operating Manual for the b maXX 3000 (5.11018) provides important information regarding handling the device. A prerequisite for safe working is compliance with all specified safety information and handling instructions.
Furthermore, the local accident prevention regulations and general safety requirements
applicable to the area of application of the device must be observed.
Before starting any work on the device, completely read through the Operating Manual,
in particular the chapter on safety information. The Operating Manual is an integral part
of the product and must be kept in the immediate vicinity of the device in order to be accessible to personnel at all times.
The Parameter Manual provides information about the parameters for the b maXX 3000,
for 
controller firmware from Version 01.10
The parameters are used to influence the behavior of the drive controller.
The controller controls the behavior of the power unit and the connected motor.
11
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1.2
1.2
Explanation of Symbols
Explanation of Symbols
Warnings
Warnings are identified by symbols in this Parameter Manual. The notices are introduced
by signal words which express the magnitude of the danger.
Observe the notices without exception and exercise caution to prevent accidents, personal injury and damage to property.
DANGER!
....warns of an imminently dangerous situation which will result in death or serious injury if not avoided.
WARNING!
....warns of a potentially dangerous situation which may result in death or serious injury if not avoided.
CAUTION!
....warns of a potentially dangerous situation which may result in minor or slight injury
if not avoided.
NOTICE!
....warns of a potentially dangerous situation which may result in material damage if
not avoided.
Recommendations
NOTE!
....points out useful tips and recommendations, as well as information for efficient,
trouble-free operation.
12
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General
1.3
1
Limitation of Liability
All specifications and information have been compiled taking account of the applicable
standards and regulations, the state of the art and also our many years of expertise and
experience.
The manufacturer accepts no liability for damage resulting from:
m Non-compliance with the Operating Manual
m Non-compliance with the Parameter Manual
m Non-intended use
m Use of untrained personnel
The product actually supplied may deviate from the versions and illustrations described
here in the case of special versions, the use of additional ordering options or as a result
of the latest technical changes.
The user is responsible for carrying out servicing and maintenance in accordance with the
safety regulations in the applicable standards and all other relevant national or local regulations concerning conductor dimensioning and protection, grounding, isolation switches, overcurrent protection, etc.
The person who carried out the assembly or installation is liable for damage arising during
assembly or upon connection.
1.4
Copyright
Treat the Parameter Manual confidentially. It is intended exclusively for persons involved
with the device. It must not be made available to third parties without the written permission of the manufacturer.
NOTE!
The details, text, drawings, pictures and other illustrations contained within are copyright protected and are subject to industrial property rights. Any improper exploitation
is liable to prosecution.
CiA® and
CANopen®
is a registered trademark of CAN in Automation e.V.
90429 Nürnberg, Germany
EnDat®
is a registered trademark of Dr. Johannes Heidenhain GmbH,
83301 Traunreut, Germany
EtherCAT®
is a registered trademark of Beckhoff Automation GmbH, 
33415 Verl, Germany
Hiperface®
is a registered trademark of SICK STEGMANN GmbH, 
78166 Donaueschingen, Germany
PROFINET®
is a registered trademark of PROFIBUS International
Sercos®
is a registered trademark of Sercos international e.V.
SinCos®
is a registered trademark of SICK STEGMANN GmbH, 
78166 Donaueschingen, Germany
Windows®
is a registered trademark of Microsoft Corporation, USA
b maXX
is a registered trademark of Baumüller Nürnberg GmbH, 
90482 Nürnberg, Germany
13
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1.5
Other Applicable Documents
NOTE!
Please note, that BAUMÜLLER is not responsible to examine whether any (industrial
property) rights of third parties are infringed by the application-specific use of the
BAUMÜLLER products/components or the execution.
1.5
Other Applicable Documents
Name
Operating Manual for b maXX
BM3000 (5.11018)
Contents
Description, installation and safety information
Components from other manufacturers are installed in the device. Hazard assessments
for these purchased parts have been performed by the respective manufacturers. The
compliance of the designs with the applicable European and national regulations has
been declared by the respective manufacturers of the components.
1.6
Guarantee Conditions
The guarantee conditions are located as a separate document in the sales documents.
Operation of the devices described here in accordance with the stated methods/ procedures / requirements is permissible. Anything else, e.g. even the operation of devices in
installed positions that are not shown here, is not permissible and must be checked with
the factory in each individual case. If the devices are operated differently than described
here, any guarantee will be invalidated.
1.7
Customer service
Our customer service department is available for technical information.
Information concerning the responsible contact person can be obtained at any time by
telephone, fax, e-mail or over the internet.
1.8
Terms used
In this documentation, the term "device" is also used for the "b maXX" Baumüller product.
For abbreviations used, see ZAppendix A - Abbreviations– from Page 713.
14
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COMMISSIONING
2
This chapter describes a specimen commissioning of a b maXX® axis unit BM3xxx in
conjunction with a Baumüller DS56-S motor.
Perform the commissioning to satisfy yourself that the supplied device is functioning properly.
This commissioning does not constitute a complete set-up of the device for your application.
Before the commissioning, make sure that the technical requirements are met:
1
All points, including the installation, in the b maXX® 3000 Operating Manual
(5.11018) have been followed.
2
Check of the requirements for the electrical supply.
3
Check of the requirements for the electrical cables and provision of appropriate cables.
4
Check of the characteristics of the connections and manufacture of the appropriate
cables.
15
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2.1
2.1
Safety information
Safety information
NOTE!
The installation and initial commissioning are carried out exclusively by the manufacturer's employees or by qualified personnel.
Qualified personnel are persons who, due to their training, experience, instruction
and knowledge of the relevant standards and specifications, accident prevention regulations and operating conditions of the person responsible for the safety of the installation have been authorized to carry out the activities required in each case and
in so doing are able to recognize and avoid potential dangers. The qualifications required for working on the unit are, for example:
m Training or instruction or authorization to commission, ground and characterize
power circuits and devices in accordance with safety engineering standards.
m Training or instruction in accordance with safety engineering standards in the care
and use of appropriate safety equipment.
WARNING!
Danger due to incorrect installation and initial commissioning!
Installation and initial commissioning require qualified personnel with adequate experience. Errors during installation can lead to life-threatening situations or result in significant material damage.
Therefore:
m Have the installation and initial commissioning carried out exclusively by the manufacturer's employees or by qualified personnel.
16
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Commissioning
2
DANGER!
Danger to life from electric current!
When this electrical unit is operated, certain parts of the unit are of necessity at a hazardous voltage.
Therefore:
3300_0009_rev01_int.cdr
m Pay attention to the areas on the device that could be dangerous during the electrical installation.
Figure 1:
2.2
Danger areas during electrical installation
Voltage test
DANGER!
Risk of fatal injury from electrical current!
During the routine test of these devices, a voltage test is performed by Baumüller
Nürnberg GmbH in accordance with EN 61800-5-1, Section 5.2.3.2. It is thus unnecessary for the customer to do this.
Therefore:
m Subsequent tests of the devices using high voltages may only be performed by
Baumüller Nürnberg GmbH.
m Disconnect the converter from the system during high-voltage testing!
2.3
Requirements for the electrical supply
For all important data, see the Operating Manual for the b maXX 3300.
Small deviations in the electrical supply from the requirements can result in malfunctions
of the device. If the supply deviates greatly from the requirements, the device could be
destroyed.
17
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2.4
Preparations
The device may only be operated in environments of the second type (industrial environment).
The destruction of the device can cause personal injury.
DANGER!
Danger to life from electric current!
If the requirements for the electrical supply are not complied with, the device may be
damaged/destroyed and consequently present a significant danger to persons.
Therefore:
m Before installation, make sure that the requirements for the electrical supply are
met.
2.4
Preparations
Specimen installation of a BM3xxx axis unit with a Baumüller Motor DS 56-S motor
(SRS50 encoder, sine-cosine with Hiperface®).
The prerequisite for the commissioning is that assembly and installation have been carried out correctly.
1
Make sure that the assembly is carried out correctly and, in particular, that all safety
regulations have been observed (see Assembly in the Operating Manual for the
b maXX® 3000 basic unit).
NOTE
Pictures for the next work steps can be found in the Operating Manual for the
b maXX® 3000 basic unit and in the ZInstallation plan– on page 19.
2
Make sure that the installation is carried out correctly and, in particular, that all safety
regulations have been observed (see Installation in the Operating Manual for the
b maXX® 3000 basic unit).
18
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Commissioning
UVW
2
PE
F1
K1
X300
X200
1C1
1D1 1U1 1V1
X205
X200-1
1W1
X202
-2
F2
4V
4V
X1
ProDrive
BM5-K-USB-XXX
L (off)
H (on)
X2
Entladezeit 15 Minuten
Discharge time 15 minutes
Betriebsanleitung beachten
Observe the user manual
X2:10
BM3X0X
310045678
00500141
X7
M
3
ENC
1U2
1V2
1W2
PE
26
3300_0020_rev01_int.cdr
2:5
X2:1
X2:5
X107
Motor
temp.
Figure 2:
1U2
1V2 1W2
X102
Installation plan
3
ProDrive must be installed on the PC/Laptop. 
During commissioning you can, among other things, enter motor and encoder data in
the operating software or correct incorrect values. So that you can perform the commissioning efficiently, it is advantageous to have all the data at hand for the commissioning. Data for Baumüller motors are available in the form of a "Motor Database"
within the operating software.
4
Make sure that all the necessary data are at hand.
19
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2.4
Preparations
Motor data 
(Identification
plate)
These data can be found, e.g., on the identification plate for the motor that you are using
for the commissioning.
Name
Value, e.g.
Used for entering in the parameter list /parameter
Motor type, designation
DS 56-M
Parameter list/Motor configuration
Z107.2– Motor type
Nominal voltage UN
330 V
Z107.8– Motor nominal voltage
Nominal current IN
4,0 A
Z107.9– Motor nominal current
Nominal speed nN
3000 rpm
Z107.7– Motor nominal speed
The motor database is used in this example; the values in the table are provided only for
checking purposes.
Motor data 
(Data sheet)
These data can be found on the data sheet for the motor that you are using for the commissioning.
Name
Value, e.g.
Max. current Imot,max
14,3 A
Z107.21– Maximum drive current
Number of pole pairs
3
Z107.19– Pole pairs
Max. speed nmax.
6000
Z107.26– Maximum speed mechanical
Notch angle, if specified1)
240°
Z127.8– Encoder Offset el.
1)
Encoder data
(Data sheet)
You can also have ProDrive determine the notch angle (see ZSearching for the notch position– on page 41).
These data can be found on the data sheet for the encoder that you are using for the commissioning.
Name
Value, e.g.
Encoder type
Stegmann SRS
50/60 SinCos
encoder
With sine-cosine encoders with HIPERFACE® interface, the encoder type is read in automatically via
the HIPERFACE® interface
Number of pulses
1024
Parameter list/Encoder configuration/
Z137.1– Number of pulses
5
Make sure that the motor meets the following conditions:
m provided with a suitable encoder, in this example: SRS50 SinCos encoder
m connected to b maXX® 3000
m ready for operation
m properly secured
m can rotate freely during commissioning
6
Make sure that switching elements for pulse enabling are connected to the b maXX®
3000 (e.g. in a patch panel) and are functioning. Make sure that the switch is in the
rest position (inactive).
20
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Commissioning
2.4.1
2
7
Make sure that all safety devices are connected on the supply and motor sides and
are ready for operation.
8
Make sure that the encoder for motor control (sine-cosine encoder) is connected to
the encoder evaluation module with the appropriate encoder cable.
9
Make sure that the PC/Laptop is connected to the controller.
Communication via the service cable
The service interface transmits controller parameters from a PC/laptop to the controller
via the parameterizing software ProDrive.
h Connect free USB-port of the PC/laptop with the controller
NOTE
The service cable BM5-K-USB-XXX must be used for the service interface X1, only.
The driver connection was installed on the PC/laptop with ProDrive, already. The settings
of the connection (baudrate etc.) are made in ProDrive. Refer to the online-help of
ProDrive.
21
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2.4
Preparations
2.4.2
Communication via EtherCAT
BM3000 with EtherCAT® with the following type code is required:
BM3XXX-XXXX-XXXXX[-X]-1XXXX[-S0X]-XX[-XX][-EXX][-#XX]
For the communication via EtherCAT the following is required:
m EtherCAT Master
BMC-M-ECT-02
m Controller
BMC-M-PLC-02
m Power supply unit
BMC-M-PSB-01
m Engineering Framework
ProMaster
n Leave the base address on the EtherCAT Master unchanged (192.168.1.1).
n Set the desired IP address on the BM3000 controller (here 192.168.1.2).
You will find further information about this in the b maXX BM3000, 5.11018 Operating
Manual, Art. No. 441839.
n Set a fixed IP address on the PC or use a second network card:
System Control  Network Connections  LAN Connection  Properties 
 Internet Protocol (TCP/IP)  Properties  Assign fixed IP addess 
from the same address space (here, e.g. 192.168.1.254).
Figure 3:
Setting fixed IP addresses
n Start ProMaster.
n Select b maXX controller PLC with EtherCAT Master from the catalog.
n Select b maXX 3300 Drive from the catalog.
n Open/activate the Workspace window.
22
of 724
Commissioning
2
n Click the Controller PLC in ProMaster.
n Click EtherCAT Master  Configure Master Bus (ProEtherCAT) in the Workspace window.
n The window will open:
Figure 4:
ProEtherCAT
n Click on Connect.
n Select the tab Download  Update list  Download
Figure 5:
ProEtherCAT Download
n Click on Close.
n Select the tab Bus control  click on Operational.
23
of 724
2.4
Preparations
n Start ProDrive and select "Find device".
Figure 6:
ProDrive: Find device
n The PLC will appear here with 192.168.1.1 and the controller with 192.168.1.2.
n Click on OK
24
of 724
Commissioning
2
n Select the device: Button SELECT DEVICE
n Select the device type for which parameters are to be set: Button TYPE
(here: bmaXX52_TwoAxis_EtherCAT_Slave)
n Select the communication: Button TYPE (here: TCP/IP)
Figure 7:
ProDrive: Device select with EtherCAT communication
10 Start the graphical user interface by clicking on "OK".
25
of 724
2.4
Preparations
11 Wait until the ProDrive start window appears.
Figure 8:
ProDrive: Start window
12 Then press
"Connect".
13 This concludes the preparations. The remainder of the commissioning is described in
ZPerforming the commissioning– on page 28.
26
of 724
Commissioning
2.5
2
Switch-on sequence
The following overview shows the commissioning schematically. You will find the individual steps of the commissioning described in detail in ZPerforming the commissioning–
from page 28.
Figure 9:
Switch-on sequence
27
of 724
2.6
2.6
Performing the commissioning
Begin the commissioning after you have completed the preparations.
1
Connect the power supplies to the b maXX® 
(main power supply + control voltage).
The device then starts up and indicates that it is ready for operation by lighting the
orange 'Power ON' LED H12.
m LED H12 must light up orange; this signifies Power ON and the device is ready for
operation.
m LED H12 must not light up green: when LED H12 lights up green, it means "Operation enabled"! The motor is supplied with current and can rotate! Override this immediately with the pulse enable switching element!
m LED H13; a red LED means that the current limit has been reached. Reduce the
loading on the motor. Continue with the parameter setting.
m LED H14; a red LED indicates a error condition. Rectify the error later using the
ProDrive operating program. Continue with the parameter setting.
2
Establish communication as described in ZPreparations– on page 18.
3
Start the ProDrive program (if it is not already running).
4
Then click on auf "Drive Manager" in ProDrive
Figure 10:
Acknowledging
warnings/errors
5
ProDrive: Navigation Drive manager
"Acknowledge" any warnings/errors that may be present in the "Drive manager" window (press the "Reset errors" button several times if necessary).
NOTE
Any queued error messages may result from the as yet incomplete parameter setting.
These errors cannot be acknowledged.
28
of 724
Commissioning
2
.
Figure 11:
ProDrive: Drive Manager
NOTE
Due to the numerous possible combinations of motors and encoders, it is only possible to give an example here. Enter your own motor and encoder data!
29
of 724
2.6
6
Click on "Power unit".
Figure 12:
7
ProDrive: Navigation for Power unit
In the "Maximum drive current" box, enter the current required for your application, at
most the limiting current of the motor (according to the data sheet): 2.5 A, at which
you wish to operate the motor and the power unit.
30
of 724
Commissioning
Figure 13:
2
ProDrive: Power unit
31
of 724
2.6
Setting encoder
parameters
The parameters for the encoder still have to be entered.
8
Go back to the navigation.
9
Click on „Scaling“
Figure 14:
ProDrive: Navigation Scaling
The „Scaling“ window opens:
Figure 15:
ProDrive: Scaling
10 Click on % at speed
32
of 724
Commissioning
2
11 Go back to the navigation.
12 Click on "Encoder 1".
Figure 16:
ProDrive: Navigation Encoder
33
of 724
2.6
The "Encoder 1 Configuration" window opens.
Figure 17:
ProDrive: Encoder 1 configuration
13 Enter data when using a sine-cosine encoder without a HIPERFACE® interface. With
a sine-cosine encoder with a HIPERFACE® interface, the data are transferred automatically over the HIPERFACE® interface - do not alter the data.
m Sine-cosine without HIPERFACE® e.g. Number of Pulses = 512
m Sine-cosine without HIPERFACE® e.g. Revolutions = 1
14 Enter the overspeed limit manually in the parameter list in the diagnostic block
[FB:006]:
Parameter number 006.005 and 006.007: enter the value 115%,
Parameter number 006.006 and 006.008: enter the value -115%
34
of 724
Commissioning
2
15 Change back to the navigation and click on "Motor general".
Figure 18:
Using the motor
database
ProDrive: Navigation Motor general
16 Click on the "Motor database" button in the icon bar in the Motor window.
Figure 19:
ProDrive: Motor database
17 The following window appears.
35
of 724
2.6
Figure 20:
ProDrive: Selecting the motor
18 Select the synchron motor "DS 56-S" with the following parameter in this window:
m the nominal voltage for the motor DC link: "540 V"
m the nominal speed: "6000 rpm"
m the maximum speed is automatically taken from the value for the nominal speed
NOTE
The values for nominal speed and maximum speed are the same for synchronous
motors and are thus adopted for the maximum speed when selecting the nominal
speed.
With asynchronous motors, the two values must be selected separately. Software for
asynchronous motors: in preparation.
19 Click on the OK button.
At this point all the data will be transferred from the motor database to the corresponding
parameters and display fields.
20 Check all the values for the motor using the motor data sheets (This is only for checking purposes if you are using the Baumüller motor database. If you are employing motors from third-party manufacturers, you must do this in any case).
NOTE
If you are using motors from third-party manufacturers, you can also include their
data in the motor database.
Altering motor 
data
When using the Baumüller motor database, you will not find any discrepancies between
the motor data sheet and the data taken automatically from the database.
21 Click on "Motor" in the navigation.
36
of 724
Commissioning
Checking motor
data
2
22 You will find all the important motor data or parameters displayed in the Motor window
and the Synchronous Motor sub-window. 
Check all data.
Figure 21:
ProDrive: Motor general
37
of 724
2.6
Figure 22:
ProDrive: Motor synchronous
Using the parame- If you are not using the Baumüller motor database, you can also enter all the motor pater list
rameters using the "Parameter list".
23 Click on the "Parameter list" in the navigation.
24 In der parameter list, click on "Motor Id".
Figure 23:
ProDrive: Parameterlist - Motor Id
The following motor parameters must be specified:
m Maximum speed, mech.(Z107.26– Maximum speed, mechanical)
m Number of pole pairs (Z107.19– Pole pairs)
38
of 724
Commissioning
2
m Phase sequence (Z107.38– Motor flags, Bit 0 = 0: counter-clockwise, Bit 0 = 1: clockwise)
Now save the entered data.
25 Click on "Dataset management" in the navigation
Figure 24:
ProDrive Navigation Dataset management
26 Click on the "Save All" button in the Dataset management.
Figure 25:
ProDrive: Dataset management
27 Wait until "Successful" is displayed under "Data Set Status"
28 At this point the data set is saved in Flash memory.
29 Disconnect the device from the main power and control voltage supplies.
30 Reconnect the power supplies to the b maXX® 
(main power supply + control voltage).
39
of 724
2.6
By switching off and on again, you can check whether the settings you have made will
result in warnings or errors.
No errors may be present.
Autotuning of the
current controller
Now perform the autotuning of the current controller.
31 Go to the navigation and click on "Configuration", then click on "Autotuning Current
controller".
Figure 26:
ProDrive: Navigation Autotuning Current controller
32 Activate pulse enable
33 Click on „Start“
34 Wait until „Self-optimization completed“ appears in field „Status“.
40
of 724
Commissioning
Figure 27:
Searching for the
notch position
2
ProDrive: Autotuning Current controller
It is now necessary to search for the notch position.
35 Go to the navigation and click on "Operating Modes", then click on "Find Notch Position".
41
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2.6
Figure 28:
ProDrive Navigation - Find notch position
36 Click on the "Drive Manager" icon.
42
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Commissioning
2
The "Drive Manager" window will also appear
Figure 29:
ProDrive: Rastlage suchen, Antriebsmanager
37 For the method, select "fix currentangle and rotating shaft".
38 Select "Find notch position" in the Drive Manager-Axis 1 window.
43
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2.6
WARNING!
Risk of injury due to moving components!
Rotating and/or linearly moving components can cause serious injuries.
If the motor is not rotating freely, the motor and parts connected to it may be damaged/destroyed.
Therefore:
m Make sure that the motor can rotate freely during commissioning.
m Do not interfere with moving components during operation.
m Do not open covers during operation.
m The residual mechanical energy depends on the application. Driven components
will continue to rotate/move for a certain time, even after the energy supply has
been switched off. Provide appropriate safety devices.
39 Switch the pulse enabling to the active state.
40 Click on "Start".
41 Wait until "Successful" appears in the Status field.
42 Next click on "Stop/Off".
43 Check that the measured value corresponds to the value expected
(With Baumüller motors: resolver: 330° + 5°, sine-cosine: 240° ± 5°).
44 Switch the pulse enabling to the inactive state.
This completes all the parameter setting work for the specimen commissioning. You can
now satisfy yourself that the device is functioning correctly by having the motor rotate
briefly.
Initial rotation of
the motor
45 Go back to the navigation.
46 Click on: "Set value generators".
47 Click on: "Ramp function generator".
Figure 30:
ProDrive: Navigation Ramp function generator
44
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Commissioning
Figure 31:
2
ProDrive: Ramp function generator
48 Enter values in the following input fields:
m (Ramp function generator) Input
h Enter the value "10". Confirm with Enter.
49 Open the Drive manager dialog
Figure 32:
ProDrive: Drive manager
45
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2.6
50 Select the "Speed control mode“ from the scroll list in the Drive Manager dialog.
51 Switch the pulse enabling to the active state.
52 Click on the "Start" button in the Drive Manager dialog.
53 The motor should now rotate at 10% of the maximum speed.
54 Click on the "Stop/Off" button in the Drive manager dialog.
55 The motor will then stop.
56 Switch the pulse enabling off.
Saving the data
set 
This data set should now be saved.
57 Click on the "Dataset management" icon in the icon bar.
58 Click on the "Save All" button in the Dataset management.
Figure 33:
ProDrive: Dataset management
59 Wait until "OK" is displayed under "Data Set State"
At this point the data set is saved in Flash memory.
Switching off the
drive 
To conclude the commissioning, the drive is switched off.
60 Disconnect the device from the main power supply and the control voltage using the
appropriate switching elements.
This successfully completes the commissioning for Axis 1.
46
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DESCRIPTION OF THE SOFTWARE
MODULES AND PARAMETERS
3
In this chapter, the parameters are described according to their use in the software modules. The structure of this chapter corresponds to the structure of ProDrive. Individual parameters which are used on various screens of ProDrive are described in their functional
blocks and are linked.
3.1
Cycle times of the software modules
Software module
Cycle time
Current controller
62,5 µs to 250 µs; depending on the preset PWM Frequency
Z130.15–; effective cycle time readable in Z47.65–
Speed controller, position controller
62.5 µs to 1000 µs; adjustable in RT0-Cycle time Z1.8–
Two-level controller
1 ms
Operation modes of the
task RT1 *
1 ms
Operation modes of the
fieldbus task *
Adjustable in fieldbus cycle time Z131.18–
Drive manager
1 ms
Ramp function generator 1 ms
Set value generator
1 ms
Analogous inputs
125 µs, 250 µs, 500 µs or RT1-Cycle time
Analogous outputs
Adjustable values: 62,5 µs, RT0-Cycle time or RT1-Cycle
time
Digital inputs
1 ms
Digital outputs
Remaining time
Configurable status word 1 ms
Oscilloscope function
Adjustable from 62,5 µs to 100 s.
47
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3.2
Structure of the parameter overviews
*) this means the cycle of the set value generation, the cycle of the monitorings,
the cycle of the management and the cycle of the other functions of the preset
operation mode Z109.1–.
Z109.1– Operation mode
3.2
Task
-7
Autotuning
Remaining time (management)
-6
Spindle positioning
RT1
-5
Synchronous operation with virtual master axis RT1
Synchronous operation with real master axis
RT0 (set value), RT1
(Management)
-4
Position control with synchronous set of setpoints
Fieldbus
-3
Speed control with ramp function generator
RT1
-2
Current control
RT0
-1
Notch position search
RT1
1
Target position setting
RT1
2
Speed setting 1 with ramp function generator
RT1
5
Manual drive operation
RT1
6
Reference run operation
RT1
Structure of the parameter overviews
Type
Min
Max
Default Value Unit
Factor
1.1
System clock
FLOAT
0
1000000000
0
1:1
X
1.2
System ticks RT1
UDINT
0
0xFFFFFFFF 0
1:1
X
sec
Cyclic Write
Name
DS Support
Number
Storage
Read only
All parameter overviews are structured according to the following pattern:
Number = Number of the parameter consisting of ID of the functional block (FB) and the
numbering within the FB
Name =
Common parameter name for ProDrive and Parameter Manual
Type =
Data type
INT
DINT
UINT
UDINT
WORD
DWORD
Integer 16 bit 
Integer 32 bit 
Unsigned Integer 16 bit 
Unsigned Integer 32 bit 
Word 16 bit 
Double Word 32 bit 
48
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3
Description of the Software Modules and Parameters
FLOAT
STRING
RECORD
Float 32 bit 
String (characters) 
Composite data type (Struct, Array, etc.)
Min =
Range of values of the parameter, minimum value at internal standardization
Max =
Range of values of the parameter, maximum value at internal standardization
Default Value = Default value at internal standardization
Unit =
Unit of the parameter for display in ProDrive
Factor =
Conversion factor between display ProDrive and internal standardization
X in column „Read only“ =
Parameter is read-only
X in column „Storage“ =
Parameter will be stored in Flash
X in column „DS support“ =
Parameter will be stored in data sets of the 
Flash
X in column „Cyclic Write“ =
Parameter may be written cyclic, e.g. using 
process data of the fieldbus
Min
Max
Default Value Unit
Factor
110.5
Input 16 bit
INT
-16384
16384
0
4000hex:
100%
%
X
Number
Z110.5–
Functional block ramp function generator, parameter 5
Name
Input 16 bit
Name of parameter, display ProDrive english
Type
INT
Integer 16 bit
X
Cyclic Write
Type
DS Support
Name
Storage
Number
Read only
Example:
X
Min ... Max
-16384 to 16384
Range of values
Default Value
0
Default value 0 at internal standardization
Unit
%
Unit % for ProDrive
Factor
4000hex : 100%
100% in ProDrive correspond to 16384 internal
The parameter is writable, cyclic writable, it will be stored namely in all data sets.
49
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3.3
System
3.3
System
3.3.1
System control
3.3.1.1 Parameter overview
Type
Min
Max
1.1
System clock
UDINT
0
0xFFFFFFFF 0
1.2
System ticks RT1
UDINT
0
0xFFFFFFFF 0
1.3
System ticks RT2
UDINT
0
0xFFFFFFFF 0
1.8
RT0-cycle time
FLOAT
62.50
1000.00
250.00
µs
1:1
1.10
Task fieldbus cycle time
UDINT
125
8000
1000
µs
1:1
X
102.1
Firmware number
UDINT
0
0xFFFFFFFF 0
1:1
X
102.2
Firmware version
UDINT
0
0xFFFFFFFF 0
1:1
X
102.3
Firmware type
UDINT
0
5
0
1:1
X
102.4
Firmware build number
UDINT
0
0xFFFFFFFF 0
1:1
X
102.5
Firmware name
STRING
1:1
X
102.6
Firmware version information STRING
1:1
X
102.7
Firmware time stamp
STRING
1:1
X
102.8
Bootloader0 version
STRING
1:1
X
102.9
Bootloader1 version
STRING
1:1
X
102.10
Fpga Id
UDINT
0
0xFFFFFFFF 0
1:1
X
102.11
Bootloader flags
UDINT
0
0xFFFFFFFF 0
1:1
X
102.13
Expected system Fpga Id
UDINT
0
0xFFFFFFFF 0
1:1
X
102.14
FPGA version
UDINT
0
0xFFFFFFFF 0
1:1
X
102.15
FPGA firmware number
UDINT
0
0xFFFFFFFF 0
1:1
X
102.18
Fieldbus controller firmware
number
UDINT
0
0xFFFFFFFF 0
1:1
X
102.19
version
UDINT
0
0xFFFFFFFF 0
1:1
X
102.20
version time stamp
STRING
1:1
X
102.21
type
UDINT
0
0xFFFFFFFF 0
1:1
X
102.22
build number
UDINT
0
0xFFFFFFFF 0
1:1
X
102.23
Board data command
UINT
0
0x1000
1:1
50
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Default Value Unit
0
s
Factor
1:1
X
1:1
X
1:1
X
Cyclic Write
Name
DS Support
Number
Storage
System control 1 [1]
System control 2 [2]
FbVersion [102]
FbSystem [139]
FbSysPerformance[158]
Read only
Functional blocks:
X
102.24
Board data status
102.25
Hardware board identification STRING
UDINT
0
0xFFFF
0
1:1
1:1
102.26
Circuit board assembly
STRING
1:1
102.28
Hardware date
STRING
1:1
102.30
Controller serial number
UDINT
0
0xFFFFFFFF 0
1:1
102.31
Controller article number
UDINT
0
0xFFFFFFFF 0
1:1
102.32
Device serial number
UDINT
0
0xFFFFFFFF 0
1:1
102.33
Device article number
UDINT
0
0xFFFFFFFF 0
1:1
102.35
Device type Code
STRING
139.1
Password
UINT
0
0xFFFF
0
1:1
139.2
Baudrate
UDINT
9600
921600
38400
1:1
139.25
Switch-on time
UDINT
0
0xFFFFFFFF 0
s
1:1
X
158.1
Real time load
FLOAT
0
1
0
%
1:1
X
158.2
Real time load average
FLOAT
0
1
0
%
1:1
X
158.3
Max real time load
FLOAT
0
1
0
%
1:1
X
158.4
Interrupt load
FLOAT
0
1
0
%
1:1
X
158.5
Interrupt load average
FLOAT
0
1
0
%
1:1
X
158.6
Interrupt load max
FLOAT
0
1
0
%
1:1
X
3
X
1:1
X
3.3.1.2 Description of the Parameters
1.1
System clock
Operation time of the controller in seconds. System clock continues to count after voltage
(24 V) was turned on and off.
1.2
System ticks RT1
Display of the value of a counter which is incremented in TASK_RT1.
1.3
System ticks RT2
Display of the value of a counter which is incremented in TASK_RT2 by the ratio
TASK_RT2/TASK_RT1, so that System Ticks RT2 and System Ticks RT1 have approximately the same value.
51
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3.3
1.8
System
RT0-cycle time
The parameter for the cycle time for the RT0 time slice (for position and speed controllers
and motor control) can be set here.
The value must be between 62.5 µs and 1 ms; the standard value is 250 µs.
The RT0-cycle time can be changed only when the drive is inhibited.
The RT0-cycle time must not fall below the preset current controller cycle time 
Z47.65–. This is monitored and as the case may be the error 501 will be triggered which
inhibits enabling of the drive.
1.10
Task fieldbus cycle time
The parameter displays the cycle time for the task fieldbus.
The task fieldbus cycle time must not fall below the RT0-Cycle time. In this case the task
fieldbus cycle time is limited to the RT0-Cycle time, the error 505 will be triggered and thus
the enabling of the drive will be inhibited.
102.1
Firmware number
Internal Baumüller firmware number
102.2
Firmware version
Display of the firmware version with accordingly 2 digits for main version (incompatible
version), sub-version (compatible version) and bugfix version.
102.3
Firmware type
Classification of the Firmware
Value
Meaning
0
Production
1
Beta versio
2
Prototype
3
Nightly Build
4
Developer Build
5
Customers version
52
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102.4
3
Firmware build number
Internal build number.
102.5
Firmware name
Firmware term
102.6
Firmware version information
Summarized text information of the firmware version.
102.7
Firmware time stamp
Time stamp for the firmware generation.
102.8
Bootloader0 version
Version of Bootloader 0.
102.9
Bootloader1 version
Version of Bootloader 1.
102.10
Fpga version
Version of the FPGA.
53
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3.3
System
102.11
Bootloader flags
Flags from the Bootloader / Bootfile Management:
Bit #
102.13
Meaning
0
Current BL1 was faulty, fallback used
1
Current firmware was faulty, fallback used
2
Current FPGA was faulty, fallback used
3
Current communication firmware was faulty, fallback used
4
New BL1 file has been saved in Flash
5
New firmware file has been saved in Flash
6
New FPGA file has been saved in Flash
7
New communication firmware file has been saved in Flash
8
Fallback of the communication firmware was faulty, communication firmware has not been downloaded
9
Error at download communication firmware (timeout), communication
firmware has not been downloaded
Expected system Fpga version
Expected version of the system FPGA.
102.14
FPGA version
Display of the FPGA version in the format Major[2] . Minor[2] . Fix[2]
102.15
FPGA firmware number
Baumüller internal FPGA Firmware number
102.18
Fieldbus controller firmware number
Baumüller internal fieldbus firmware number
54
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102.19
3
Fieldbus controller firmware version
Display of the Fieldbus controller firmware version in the format: 
Major[2] . Minor[2] . Fix[2]
102.20
Fieldbus controller firmware version time stamp
102.21
Fieldbus controller firmware type
Firmware type:
102.22
0: Production
1: Beta
2: Prototype
Fieldbus controller firmware build number
Number for counting beta states, prototypes or even nightly builds.
102.23
Board data command
Value/
Command
Meaning
0
No command or STOP command
1
Write current data set from the parameters to the serial EEPROM
2
Read data set from the serial EEPROM
3
Initialize serial EEPROM
Command 3 is provided with a key.
55
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3.3
System
102.24
Board data status
Status code:
Value
Meaning
0
No error
1
Busy – command being executed
3
Done – command has completed without errors
All other values are error codes
102.25
Hardware board identification
The HW board identifier has the following format: 33.YY.NN.BB.AA.D1 where:
102.26
YY:
Year of development
NN:
Sequential number
BB:
Assembly variant
AA:
Revision number
D1:
Technical status
Format of HW board identifier:
16-byte string
e.g.
33.JJ.NN.AA
"33.0707B", i.e. format:
Circuit board assembly
Format: 16-byte string
102.28
e.g. "01: Safe"
Hardware date
Format: 16-byte string e.g.: "01.04.2009"
102.30
Controller serial number
Serial number of the controller-PCB as a 32 bit numerical value.
56
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102.31
3
Controller article number
Article number of the controller-PCB as a 32 bit numerical value.
102.32
Device serial number
Serial number of the device as a 32 bit numerical value.
102.33
Device article number
Article number of the device as a 32 bit numerical value.
102.35
Device type code
Complete BM device type code including safety level of the form:
BM3XXX-XXXX-XXXXX[-X]-XXXXX[-S0X]-XX[-XX][-EXX][-#XX]
139.1
Password
Password for protecting access to system parameters. The value displayed corresponds
to the password level.
NOTE!
The controller has several possible interfaces for accessing parameters (serial interface as well as up to three EOE channels).
The handling of the password-protected levels is not interface-oriented. If an interface channel switches to a password level, the corresponding access permission
also applies to all the other channels.
139.2
Baudrate
Baud rate for serial communication
Valid baud rates: 9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600 Baud
Each time the controller is switched on, the baud rate is set to 38400.
57
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3.3
System
139.25
Switch-on time
The value of the system clock parameter Z1.1– is saved with this parameter after the system was started.
158.1
Real time load
Real computing time load by the real time tasks.
158.2
Real time load average
Average value of the computing time load by the real time tasks. The parameter is refreshed every second and shows the mean computing time load since the last update.
158.3
Max real time load
Maximum value of the computing time load by the real time tasks. The parameter can be
reset by writing a value.
158.4
Interrupt load
Computing time load by the interrupt routine.
158.5
Interrupt load average
Average value of the computing time load by the interrupt routine. The parameter is refreshed every second and shows the mean computing time load since the last update.
158.6
Interrupt load max
Maximum value of the computing time load by the interrupt routine. The parameter can
be reset by writing a value.
58
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3
3.3.2
Display
Type
Min
Max
Default Value Unit
135.1
Mode error display
UDINT
0
0xFFFFFFFF 0x1010000
Factor
1:1
Cyclic Write
Name
DS Support
Number
Storage
FbDisplay [135]
Read only
Functional block:
X
135.1
Mode Error Display
Bit
Value
15 ... 0
23 ... 16
Meaning
Reserved
0
Only errors (with a response set in the parameters) are displayed:
the error-LED H14 (axis 1) or H24 (axis 2) is on in case of error.
If only warnings or errors without a response set in the parameters
are triggered, the error-LED flashes
1
24
31 ... 25
All errors and warnings are displayed; the error-LED is on permanently in case of error or warning.
Activation of LED Power On (H12 (axis 1) or H22 (axis 2), if power
on
0
LED is on permanently
1
LED flashes (life signs)
Reserved
59
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3.4
Configuration
3.4
Configuration
3.4.1
Power unit
All the power unit related data are divided into two groups. The first group includes the
so-named power unit data which is shown in parameter group 129 and cannot be written
to.
The power unit has a non-volatile memory which holds the power unit data. When the
controller is initialized, these data are read out and transferred to the corresponding parameters in group 129.
The second group, parameter group 130, contains all the other power unit working data.
These parameters represent either constantly changing physical quantities or certain settings which generally can be altered.
Detection of a mains failure
The detection of mains failure at external supply is possibly not fast enough for specific
applications. Therefore a mains failure detection is optionally possible via the DC link voltage (see Z130.35–).
Behavior at mains failure
The drive can be configured that operation is possible at a mains failure for a set time
(Z130.25–). Different kinds of behavior can be set (see Z130.10–):
– Disable only motor operation (generator operation is enabled, field current is further
supplied). This behavior is only possible at external supply.
– Normal operation (motor and generator operation): Normally this option makes only
sense at a DC link combination if another axis feeds back power to the DC link. This
behavior is only possible at external supply.
– Disabling and automatic restart: The pulses are inhibited in case of detected mains
failure. The drive changes to "Switch-on inhibit (1)" state and coasts down. If the time
of the mains failure is shorter than the set Mains failure delay (Z130.25–), the drive
restarts automatically. The drive changes automatically in the "Operation enabled"
state again.
60
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3
3.4.1.1 ProDrive Power Unit
Figure 34:
ProDrive Power unit
Functional blocks:
FbPsChars [129]
FbPower_Section [130]
FbPuTempModell [175]
129.3
Hardware id
STRING
129.4
Hardware name
STRING
129.5
Current scaling gain
FLOAT
0
10000
1.1862
1:1
129.6
DC scaling gain
FLOAT
0
10000
1.03885
1:1
129.7
Main voltage scaling gain
FLOAT
0
10000
0
1:1
129.8
Current converter configura- UDINT
tion
0
0xFFFFFFFF 0
1:1
129.9
IGBT dead time
2.0
10.0
FLOAT
Min
Max
Default Value Unit
Factor
Cyclic Write
Type
DS Support
Name
Storage
Number
Read only
For Parameter 6.27 seeZDiagnosis– from page 606
For Parameters 19.6 and 107.9 see ZMotor– from page 80
For Parameters 175.1, 175.2 and 175.15 see ZDiagnosis– from page 606
1:1
1:1
4.0
µs
1:1
61
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3.4
Configuration
129.10
Min pulse suppression
0
10
2
129.11
Current sampling time offset UINT
FLOAT
0
0xFFFF
250
129.12
Nominal current 2 kHz
FLOAT
0
1000.0
4.0
A
1:1
129.13
FLOAT
0
1000.0
3
A
1:1
129.14
FLOAT
0
1000.0
2.1
A
1:1
129.15
FLOAT
0
1000.0
1.5
A
1:1
129.16
Peak current 2 kHz
FLOAT
0
1000.0
10.0
A
1:1
129.17
Peak current 4 kHz
FLOAT
9
1000.0
9.0
A
1:1
129.18
Peak current 8 kHz
FLOAT
0
1000.0
6.3
A
1:1
129.19
Peak current 16 kHz
FLOAT
0
1000.0
4.0
A
1:1
129.20
Overcurrent threshold
FLOAT
0
2000.0
16.6
A
1:1
129.21
Max. DC-link voltage
FLOAT
10
1000.0
835.0
V
1:1
129.22
Max peak current time
UINT
0
0xFFFF
10,00
s
100:1
129.24
Max phase error delay time
UINT
0
0xFFFF
0
ms
1:1
129.25
Current phase error
FLOAT
0
1000.0
0
A
1:1
129.26
Max heat sink temperature
UINT
0
0xFFFF
85
Grad
C
1:1
129.27
Max interior temperature
UINT
0
0xFFFF
65
Grad
C
1:1
129.41
Max. ground current
FLOAT
0.16
33.0
3.0
A
1:1
129.42
Min. DC link voltage
FLOAT
10
1000.0
10.0
V
1:1
129.49
Amp article number
UDINT
0
0xFFFFFFFF 0
129.50
Chopper resistance
FLOAT
0
0xFFFFFFFF 100
Ohm
1:1
129.51
Chopper peak power
FLOAT
0
0xFFFFFFFF 1200
W
1:1
129.52
Chopper PT1 model gain
FLOAT
0
0xFFFFFFFF 1.4
1:1
129.53
Chopper PT1 model time
constant
FLOAT
0
0xFFFFFFFF 7.5
1:1
129.55
Chopper maximum tempera- FLOAT
ture
0
0xFFFFFFFF 180
°C
1:1
129.85
Charging blocking time
UINT
0
0xFFFF
10
s
1:1
129.86
Peak current 2 kHz TM
FLOAT
0
1000.00
10.00
A
1:1
129.87
FLOAT
0
1000.00
10.00
A
1:1
129.88
FLOAT
0
1000.00
10.00
A
1:1
130.1
Heat sink temperature
FLOAT
0
1000
0
°C
1:1
X
130.2
Interior temperature
FLOAT
0
1000
0
°C
1:1
X
130.3
DC link voltage
FLOAT
10
1000
10
V
1:1
X
130.8
Mains voltage
FLOAT
0.0e+0
1000
0.0e+0
V
1:1
X
130.9
Fan mode
UINT
0x0000
0x0003
0x0001
1:1
X
130.10
Mode
UINT
0x0000
0xFFFF
0x0000
1:1
X
130.12
Heatsink temperature warning threshold
UINT
0
0xFFFF
75
°C
1:1
X
130.13
Interior temperature warning UINT
threshold
0
0xFFFF
55
°C
1:1
X
130.15
PWM frequency
UINT
2
16
8
kHz
1:1
X
130.18
I offset phase U
FLOAT
-2.56e+02
2.56e+02
0.0
A
1:1.414 X
130.19
I offset phase V
FLOAT
-2.56e+02
2.56e+02
0.0
A
1:1.414 X
130.20
I offset phase W
FLOAT
-2.56e+02
2.56e+02
0.0
A
1:1.414 X
130.24
Phase error delay time
UINT
0
65535
0
ms
1:1
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µs
1:1
1:1
1:1
X
X
130.25
Mains failure delay
UINT
0
6000
0
ms
1:1
X
130.29
Chopper threshold
FLOAT
400
780
780
V
1:1
X
130.34
Status STO module
UINT
0
0xFFFF
0
1:1
130.35
Mains failure detection mode UDINT
0
0xFFFFFFFF 0
1:1
X
130.36
Relative Udc threshold for
mains failure
FLOAT
10
90
80
%
1:1
X
130.37
Udc threshold for mains fail- FLOAT
ure
10
1000
450
V
1:1
X
130.38
Udc hysteresis for mains fail- FLOAT
ure
10
500
50
V
1:1
X
130.39
Udc autodetect
FLOAT
0
1000
0
V
1:1
X
130.41
Actual PWM frequency
UINT
2
16
8
kHz
1:1
X
175.3
Max. device control cabin
temperature
UINT
0
55
40
Grad
C
1:1
X
175.4
Max. device altitude
UINT
0
5000
1000
m
1:1
X
175.5
Max. device mains voltage
UINT
0
530
400
V
1:1
X
175.6
Max. device DC link voltage
UINT
0
760
540
V
1:1
X
175.7
PU max.continuous current
actual value
FLOAT
0
1000
4
A
1:1
X
175.8
PU I2t max. continuous current actual value
FLOAT
0
1000
4
A
1:1
X
3
X
129.3
Hardware Id
The hardware identifier has the format:
33.YYNN.[S]BB.A.01
Example: 33.1110.S01.C.01
Abbreviation
Meaning
YY
Year
Example: 2011
NN
Sequential number
Example: 10
S
STO module available
BB
Assembly variant
Example: 01
A
Revision number
Example: C
01
Technical status
Example: 01
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3.4
Configuration
129.4
Hardware name
Abbreviation
129.5
Meaning
BM3201
BG0, without STO module
BM3211
BG1, without STO module
BM3301
BG0, with STO module
BM3311
BG1, with STO module
Current scaling gain
Standardization factor for current measurement, depends on the power unit.
129.6
DC scaling gain
Standardization factor for the DC link voltage, depends on the power unit.
129.7
Main voltage scaling gain
Standardization factor for the supply voltages, depends on the power unit.
129.8
Current converter configuration
Factory settings for the configuration
129.9
IGBT dead time
Dead time for the power unit transistors.
129.10
Min. pulse suppression
Minimum pulse suppression is used to prevent extremely short duty cycles for pulse width
modulation, such as may occur when outputting large voltages. Instead of generating extremely short On/Off switching pulses, the switching state of the IGBTs is extended to the
next PWM period. This will further increase the maximum possible voltage setting. PWM
voltage pulses that are shorter than the parameter value will be suppressed.
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129.11
3
Current sampling time offset
This parameter determines the starting time of the current measurement. For current control, the fundamental of the motor currents should be measured if possible. The harmonics, which result from, among other things, the switching edges of the PWM, can distort
the measurement. The parameter can be used to take account of time-related influences
such as, e.g., the time constant of the analog current filter.
129.12
129.13
129.14
129.15
Nominal current of converter at the corresponding PWM switching frequency Z130.15–.
The value in this parameter applies to the required operating conditions. See chapter
"Technical data" of the device's operating manual.
The instantaneous nominal current of the power unit dependent of the PWM frequency
entry Z130.15– is displayed in parameter Z6.25–.
If operating conditions are changed and after current derating, the continuous current is
displayed in parameter Z175.7– provided that the PU-overload monitoring is executed
via temperature model. See "Status PU temperature model" Z175.2–.
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3.4
Configuration
129.16
Peak current 2 kHz
129.17
Peak current 4 kHz
129.18
Peak current 8 kHz
129.19
Peak current 16 kHz
The maximum accepted current of the power unit at the corresponding PWM switching
frequency Z130.15–. 
From firmware version 01.10 onwards the parameter is applicable only if the lxt model for
the PU overload monitoring is used (see status PU temperature model Z175.2– Bit 0).
The value in this parameter applies to the required operating conditions: See chapter
The valid PU peak current dependent of the entered PWM frequency Z130.15–, is displayed in the parameter Z6.25–.
The value of the peak current (Z129.16– to Z129.19–, or parameter Z6.25–) corresponds to the maximum current by which the device may be operated at peak current processing time Z129.22– corresponding to the specifications in chapter "Technical data" of
the device's operating manual.
129.20
Overcurrent threshold
Monitoring the maximum converter current
129.21
Max DC-link voltage
Maximum DC link voltage
129.22
Max peak current time
The maximum time period, within the converter may be operated at peak current
Z129.16– to Z129.19–, or Z6.25– complying with the specifications in the chapter
If the PU overload monitoring model is operated by the temperature model (see status PU
temperature model Z175.2–), this parameter is not important.
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129.24
3
Time phase error
Maximum time for which the drive can be operated at nominal current with a phase failure.
See also Z130.24–.
129.25
Current phase error
If Bit 2 of the Supply Mode parameter (Z130.10–) is not set:
Maximum current at which the drive can be operated with a phase failure.
129.26
Max. heat sink temperature
Switch-off threshold for heat sink temperature
129.27
Max interior temperature
Switch-off threshold for the internal temperature of the power unit
129.41
Max. ground current
Monitoring the maximum ground current
129.42
Min. DC link voltage
Monitoring the minimum DC-Link Voltage
129.49
Amp article number
Article number of the power unit, not of the complete unit.
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3.4
Configuration
129.85
129.86
129.87
129.88
From controller firmware version V01.10 and up:
Maximum admitted current of the power unit at the accordant PWM frequency Z130.15–
The parameter is valid only if the temperature model for the PU overload monitoring is
used (see PU temperature model state Z175.2– Bit 0)
The value in this parameter is valid for the required operating requirements. See chapter
"Technical data" in the Instruction Handbook.
The currently valid power unit peak current dependent of the entered PWM frequency
Z130.15–, is shown in parameter Z6.25–.
There is no connection between the peak current (>129.85< to >129.88<) and the peak
current time Z129.22–. The maximum permitted time for the peak current is specified in
chapter "Technical data" of the Instruction Handbook of the device.
130.1
Power Unit Heat Sink Temperature
130.2
Interior temperature
Internal temperature of the device
130.3
DC link voltage
Actual value of the DC link voltage
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130.9
Fan mode
Bit 1...0
130.10
3
Meaning
00
Fan control dependent on heat sink and ambient temperature
01
Fan control dependent on the presence of main supply voltage
10
Fan is always switched off
11
Fan is always switched on
Mode
Settings for the mains rectifier unit.
The parameter is changeable only in locked status.
Bit no.
Meaning
0
0: Supply from the mains via X202
1: Supply via X205
1
Behavior at mains failure:
0: The motorized operation is inhibited at mains failure
1: Motorized operation is possible if there is a mains failure
This setting is only permitted at external supply. A motorized operation is
not possible at internal supply.
2
0: Limitation of the motor current to Z129.25– Current phase error; no
shutdown
1: Limitation of the motor current to Z107.9– Nominal current, shutdown
of the drive after the duration in Z130.24– Phase error delay time
3
Reserved
4
0: Three-phase supply to X202
1: Single-phase supply to X202
If this bit is set, the message 1047 „Warning Phase Failure“ is suppressed. Bit 2 may not be set at the same time!
5
Automatic restart after mains failure:
0: At mains failure the drive remains enabled for the time set in Z130.25–
Mains failure delay. According to the setting of bit 1 the motor operation
is disabled internallly.
1: At mains failure the pulses are inhibited at once and the drive changes
in the "Switch-on inhibit" state. If mains is available again within the set
time in Z130.25–, the drive is enabled automatically (automatic restart).
It is essential generally: If the mains failure is longer than the set time in
Z130.25– an error message is generated.
15 ... 6
Reserved
Bit 1:
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3.4
Configuration
At mains failure a motorized operation is advisable, if there is enough energy in the DC
link or if several axes are coupled via the DC link and simultaneously at the other axis
energy is supplied to the DC link.
NOTICE!
It must be ensured that the mains is not activated during motorized operation (for example by switching off the main contactor), if motorized operation is activated at
mains failure. Otherwise the charging circuit of the DC link can be damaged!
The setting for the behavior at mains failure effects only in the set time in Z130.25–. If the
time is set to 0, the drive is inhibited at once at mains failure and an accordant error message is generated (error 1016 Mains failure or error 1032 Supply not operational).
Bit 2:
If Bit 2 of parameter Z130.10– Mode is set, the controller activates a time monitor
when a phase failure is detected. The drive reports warning/error 1047 „Phase failure“.
The motor current is restricted to nominal current.
The further behavior is determined by the response which is set in warning/error 1047.
m Response is „No response“
The drive remains enabled.
After the phase error delay time has elapsed, if the phase failure condition still exists
the drive generates Error 1015 "Phase error timeout" and inhibits the pulses to the
power unit. 
If the phase error is cleared during phase error delay time, the controller deletes the
warning and switches back to the non-reduced current operation.
m Active braking („Return motion“, „Stop (Ramp-down time)“, „Stop (Quick stop time)“,
„Stop at current limit“, „Controlled stop“, „SS1 stop“)
The drive effects an active error response, changes to „failure“ state upon completion and inhibits the pulses to the power unit.
If the error response will be not finished up to the phase error delay time has
elapsed, the drive generates Error 1015 "Phase error timeout" and inhibits the pulses to the power unit.
Also if the phase error is cleared during phase error delay time, the pulses to the
power unit will be inhibited finally.
m Pulse block
This response is not permitted. In order that the pulses are inhibited fast as possible,
the parameter Z130.24– is set to 0.
If Bit 2 of parameter Z130.10– Mode is not set, the phase error delay time doesn’t act.
130.12
Heat sink temperature warning threshold
Warning threshold for heat sink temperature. If the temperature exceeds this threshold,
the corresponding warning is generated.
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130.13
3
Interior temperature warning threshold
Warning threshold for the internal temperature of the device. If the temperature exceeds
this threshold, the corresponding warning is generated.
130.15
PWM frequency
The PWM Frequency of the drive controller and the cycle time of the current controller are
set in this parameter.
Valid values: 
PWM Frequency
Current controller cycle time
2 kHz
250 µs
4 kHz
125 µs
8 kHz
62,5 µs
16 kHz
62,5 µs
NOTE!
If it is intended to operate a PWM frequency of 2 kHz at an axis unit, it first must be
checked if the operation of the drive is permitted (e.g. if the related values of the motor, or of the motor filter if one is at use, still are valid for this PWM frequency). At a
switching frequency of 2 kHz the current controller cycle time is 250 µs - so the adjusting range of the output frequency is 0 to 225 Hz (see the electrical data in the instruction handbook of the device).
Generally:
m The band width of the current controller is inversely proportional to the current controller cycle time.
m The noise of the motor caused by the voltage signals in pulse form, drops with an increasing PWM frequency.
m The thermal loading in the IGBT model decreases along with falling PWM frequency.
Therefore the attainable peak current length increases with falling PWM frequency at
constant peak current while the nominal current of the device increases during continuous operation.
m The adjusting range of the output frequency increases if the current controller cycle
time sinks. This adjusting range refers to the stationary operation and to the linear
range of the PWM - that means without an overmodulation and provides frequencies
that generate excellent output voltages.
n The quality of the generated output voltages is given by how close they are to the
effects of ideal sine voltages and depends on the ratio current controller frequency
fI-R (fI-R = 1/current controller cycle time) to the maximum output frequency fmax:
fmax = fI-R / Kpf. The greater the proportional factor Kpf the better the quality is which
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3.4
Configuration
is reached. A multiple of 6 is preferred for Kpf because of the 60° symmetry of the
three-phase system or of the voltage in the voltage space vector. Typically the
Kpf = 18 is selected to provide a good quality.
n The adjusting range is determined as follows (see chapter "Electrical data" in the instruction handbook of the device.
Current controller cycle time Output frequency adjusting range
250 µs
0 - 225 Hz
125 µs
0 - 450 Hz
62,5 µs
0 - 599 Hz (900 Hz) *)
*) 900 Hz are technically (from the control point if view) possible
n The controller specifies an upper limit for the output frequency of 599 Hz so that the
900 Hz, which are technically possible, may not be reached (for details over this limit
refer to the relevant Baumüller sales department. Key word: Export limitation).
n The converter can generate output voltages with frequencies between fmax and
599 Hz and the controller permits them. The quality of these voltages can't be guaranteed.
Change of the PWM frequency during operation
Up to Firmware version V01.08 the parameter can be changed only when the drive is inhibited. From firmware version V01.09 the parameter >130.15< can be changed during
continuous operation by the user. However, there are a few limitations:
m For applications with high demands on the performance (e.g. synchronous operation)
the complexity of the controller setting with variable current controller band width would
be too high. For this reason the PWM switching in enabled operation is restricted to the
speed control and current control operating modes (see Z109.2–).
m The current controller cycle time may not exceed the RT0 cycle time Z1.8–. The value
will not be accepted if this condition is violated by writing a PWM frequency during the
continuous operation.
m The power unit peak current Z6.25–, depending on the PWM frequency, limits the
maximum drive current Z19.6–. If a higher PWM frequency is entered at continuous
operation, it could happen that Z19.6– should be reduced. In this case the change of
the PWM frequency is rejected. However, the change is allowed in the inhibited state
and Z19.6– is limited automatically.
m If the PWM frequency is changed in continuous operation with activated dead time
compensation (Dead time compensation factor Z47.50– > 0%) the adaption of the
dead time compensation must be activated after the PWM frequency Z123.1– bit 3 = 1
and therefore the values of the dead time correction table Z123.15– should be measured in this mode.
m The switching of the PWM frequency in continuous operation isn't permitted for the
sensorless synchronous motor.
m The PWM frequency should not be changed during the flying restart of the sensorless
asynchronous motor.
The failures at the implementation of the PWM switching during the continuous operation
in the controller were minimized - however, with reference to control engineering, they
72
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3
can't be excluded completely. Therefore this option is adequate for simple (not critical)
applications, only.
The instantaneous PWM frequency is displayed in the parameter "Instantaneous PWM
frequency" (Z130.41–). It can deviate from the set PWM frequency >130.15<, if the safety function of the PU temperature mode "PWM reduction" is operated (see ZOverload
monitoring of the power unit– from page 638).
When switching into a lower PWM frequency it must be regarded that the adjusting range
of the output frequency possibly may be reduced.
A change of the set PWM frequency >130.15< during the continuous operation is not accepted as long as the PWM reduction, warning 216 is triggered.
The display parameter Z47.65– specifies the directly acting current controller cycle time.
130.18
I offset U
Measured current offset of phase U in [A].
130.19
I offset V
Measured current offset of phase V in [A].
130.20
I offset W
Measured current offset of phase W in [A].
130.21
PWM enable
Display of the impulse enable for the power unit.
130.24
Phase error delay time
Settable timeout for phase error (Error 1015 „Phase error timeout“). The maximum possible value is specified by Parameter Z129.24– Time phase error (a constant of the power unit specifications).
If Bit 2 of parameter Z130.10– Mode is set, the controller activates a time monitor when
a phase failure is detected. The drive reports warning/error 1047 „Phase failure“. The motor current is restricted to nominal current.
The further behavior is determined by the response which is set in warning/error 1047.
m Response is „No response“
The drive remains enabled.
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3.4
Configuration
After the phase error delay time has elapsed, if the phase failure condition still exists
the drive generates Error 1015 "Phase error timeout" and inhibits the pulses to the
power unit. 
If the phase error is cleared during phase error delay time, the controller deletes the
warning and switches back to the non-reduced current operation.
m Active braking („Return motion“, „Stop (Ramp-down time)“, „Stop (Quick stop time)“,
„Stop at current limit“, „Controlled stop“, „SS1 stop“)
The drive effects an active error response, changes to „failure“ state upon completion and inhibits the pulses to the power unit.
If the error response will be not finished up to the phase error delay time has
elapsed, the drive generates Error 1015 "Phase error timeout" and inhibits the pulses to the power unit.
Also if the phase error is cleared during phase error delay time, the pulses to the
power unit will be inhibited finally.
m Pulse block
This response is not permitted. In order that the pulses are inhibited fast as possible,
the parameter >130.24< is set to 0.
If Bit 2 of parameter Z130.10– Mode is not set, the phase error delay time doesn’t act.
This parameter is not available at BM2500.
130.25
Mains failure delay
A mains failure is ignored within this time.
Warning 1046 Mains failure is generated in general if a mains failure is detected. If the
mains failure is longer than the Mains failure delay and if the drive was enabled at the beginning, an error message is generated (error 1016 Mains failure or error 1032 Supply not
operational).
Different options are possible for the behavior during the Mains failure delay. This options
are defined in parameter Z130.10– Mode.
If the mains is available again within the set Mains failure delay, no error message is generated. The warning is deleted and normal operation is continued.
130.29
Chopper threshold
The chopper resistor is switched on if the DC-link voltage reaches the parameterized
chopper threshold. The chopper resistor is switched off if the DC-link voltage decreases
to at least 20 V.
130.34
Status STO module
This parameter indicates the status of the STO module. If STO is triggered, the error bits
indicate the cause for the triggering.
The parameter should only be requested at disabled drive, because timeout errors (see
bit 0) could occur at enabled drive.
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Bit no.
0: No error
1: Timeout.
No update of the status word within the last two seconds.
Bits 5 ... 7 and bits 13 ... 15 are not valid
1
1: CRC error at latest transfer of the status word
Reserved
5
0: No error
1: Error at internal communication in STO module
6
0: No error
1: Internal diagnosis channel 2 has triggered STO
7
0: No error
1: Internal diagnosis channel 1 has triggered STO
12 ... 8
130.35
Meaning
0
4 ... 2
3
Reserved
13
0: No error
1: Initialization error in STO module
14
0: Input terminal channel 2 is powered with 24 V
1: No 24 V power supply at input terminal of channel 2
15
0: Input terminal channel 1 is powered with 24 V
1: No 24 V power supply at input terminal of channel 1
Mains failure detection mode
A mains failure is normally detected by the supply unit.
This detection is not fast enough for specific applications. Therefore the DC link voltage
can be additionally used to determine a mains failure.
Value
Meaning
Remark
0
Mains failure detection via
the supply unit
A mains failure is detected in the supply unit by
means of the mains.
1
Mains failure detection
The nominal value of the DC link voltage is
additionally via DC link volt- determined after switch on of mains. The
adjustable threshold (Z130.36–) is related to
age (relative threshold).
this value.
As soon as the DC link voltage falls below this
threshold, this is regarded as mains failure.
2
Mains failure detection
As soon as the DC link voltage falls below the
additionally via DC link volt- threshold set in Z130.37–, this is regarded as
age (absolute threshold).
mains failure.
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3.4
Configuration
130.36
Relative Udc threshold for mains failure
Relative threshold for the mains failure detection. The threshold is related to the automatically determined nominal voltage of the DC link displayed in Z130.39–.
As soon as the DC link voltage falls below this threshold, this is regarded as mains failure.
This threshold is only active if mode 1 is selected in Z130.35– Mains failure detection
mode.
130.37
Udc threshold for mains failure
Absolute threshold for the mains failure detection.
As soon as the DC link voltage falls below this threshold, this is regarded as mains failure.
This threshold is only active if mode 2 is selected in Z130.35– Mains failure detection
mode.
130.38
Udc hysteresis for mains failure
Hysteresis for the mains failure detection by means of the DC link voltage.
130.39
Udc autodetect
Automatically determined nominal voltage of the DC link.
130.41
Instantaneous PWM frequency
From controller version V01.09. onwards.
Display parameter of the instantaneous (operating) PWM frequency.
The instantaneous PWM frequency deviates from the set PWM frequency Z130.15–, if
the safety function of the PU temperature model "PWM reduction" has responded (warning 216 is triggered). In this case the PWM frequency referring to the set PWM frequency
(Z130.15–) is halved.
The corresponding instantaneous (operating) cycle time of the current controller is displayed in parameter Z47.65–.
Of importance for devices, which support the PU temperature model, only (see status PU
temperature model Z175.2–).
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175.3
3
Max. device control cabin temperature
From controller version V01.09. onwards. The parameter is used in the PU temperature
model, only.
Maximally provided or expected temperature change within the control cabinet (for aircooled devices) or change of surface temperature of the device (for devices with cold
plate cooling) in °C.
Important for devices, which support the PU temperature model (see status of PU temperature model Z175.2–), only.
The parameter effects the value of the I2t max. continuous current Z175.8– and the value
of the maximum continuous current of the device Z175.7–.
There is no reduction of the output current at the default value of the parameter. This
means that the default value remains if there is no change of the required operating conditions to be expected.
The parameter can be changed during the inhibited drive status, only.
175.4
Max. device altitude
From controller version V01.09. onwards. The parameter is used in the PU temperature
model, only.
Maximally provided or expected installation altitude in m above sea level.
Important for devices, which support the PU temperature model (see status PU temperature model Z175.2–), only.
The parameter effects the value of the I2t max. continuous current Z175.8– and the value
of the maximum continuous current of the device Z175.7–.
The parameter can be changed during the inhibited drive status, only
175.5
Max. device mains voltage
From controller version V01.09 onwards. The parameter is used in the PU temperature
model, only.
Maximally provided or expected effective value of power supply in V.
The parameter effects the value of the maximum continuous current of the device
Z175.7–, only.
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3.4
Configuration
The maximum mains voltage >175.5< is important for the mains rectifier unit, the active
mains rectifier unit and internally supplied mono devices, only. For other devices (including externally supplied mono devices) the maximum DC link voltage Z175.6– is important, only.
The parameter can be changed in the inhibited drive status, only.
175.6
Max. device DC link voltage
From controller version V01.09 onwards. The parameter is used in the PU temperature
model, only.
Maximally provided or expected DC link voltage in V.
The parameter effects the value of the maximum continuous current of the device
Z175.7–, only.
The maximum mains voltage Z175.5– is important for the mains rectifier unit, the active
mains rectifier unit and internally supplied mono devices, only. For other devices (including externally supplied mono devices) the maximum DC link voltage >175.6< is important, only.
The parameter can be changed in the inhibited drive status, only.
175.7
PU max. continuous current actual value
From controller version V01.09 onwards.
The parameter displays the instantaneous value of the maximum accepted continuous
current of the power unit.
Important for devices, which support the PU temperature model, only (see status PU temperature model Z175.2–).
The parameter >175.7< is generated from the PU's nominal current Z6.26–, whereat the
correction factors are considered, which are described in chapter "Operating conditions"
of the operating manual of the device.
m Correction factor of the device's control cabinet temperature (ambient temperature
or surface temperature). The required temperature can be entered in parameter
Z175.3–.
m Correction factor of installation altitude. The required installation altitude can be entered in parameter Z175.4–.
m Correction factor of voltage supply, PU mains voltage or PU DC link voltage. The required voltage can be entered in parameter Z175.5– or Z175.6–.
Furthermore the maximum accepted continuous current in dependence of the output frequency Z47.49– can be reduced, as described in chapter "Output frequency dependent
current derating" in the operating manual of the device.
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3
If the current limit safety function of the overload monitoring PU temperature model has
responded, the maximum current of the drive Z19.6– is limited to the max. PU instantaneous value of continuous current >175.7<. See ZOverload monitoring of the power
unit– from page 638.
175.8
From controller version V01.09 onwards.
The parameter displays the instantaneous value of the maximum accepted continuous
current of the conductors and capacitors.
Important for devices, which support the PU temperature model (see status PU temperature model Z175.2–).
The parameter is generated from the nominal current 2 kHz (Z129.12–), whereat the following correction factors are considered, which are described in "Operating conditions"
of the operating manual of the device.
m Correction factor of the device's control cabinet temperature (ambient temperature
or surface temperature). The required temperature can be entered in parameter
Z175.3–.
m Correction factor of installation altitude. The required installation altitude can be entered in parameter Z175.4–.
The parameter displays the scaling factor of the I2t-sub-model (part of the PU temperature model).See ZOverload monitoring of the power unit– from page 638.
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3.4
Configuration
3.4.2
Motor
3.4.2.1 Motor Identification Plate
Stegmann and Heidenhain encoders provide the option of storing OEM data in their
EEPROM. This memory is used to store the following information in the encoders:
m Notch angle offset
m Machine characteristics
m Encoder characteristics
m Motor ordering code
The data structure of the OEM memory follows the Baumüller standard, as already implemented on the b maXX 4400 and 5200/5300. Thus identification plates can also be read
from encoders which were previously used in b maXX 4400 and 5200/5300 drives and
conversely.
3.4.2.2 Motor Temperature
Three different encoder types can be utilized:
m KTY84/130 (PTC with an almost linear characteristic for precise evaluation of the temperature)
m Temperature switch (motor protection thermistor (PTC) conforming to DIN 44080-082)
m PT1000 (PTC with linear characteristic)
The selection is made using Parameter Z107.37– Temperature Sensor Type. On motors
which have an encoder with an electronic identification plate, the appropriate value is entered at switch-on. On motors without an electronic identification plate, the encoder type
must be entered.
With the KTY84/130 and PT1000 temperature encoders, the current motor temperature
in °C is ascertained and then checked against the two temperature warning thresholds
(Z128.4– and Z128.5–) and if they are exceeded, Warning 710 or 711 is issued. If the
switch-off threshold is exceeded, Error 709 "Motor Overtemperature Detected" is generated. The switch-off threshold in effect is displayed in Parameter Z107.27–. On motors
with an electronic identification plate, the appropriate value is entered at switch-on. The
standard value for Baumüller motors is normally 150°C.
With the temperature switch, the temperature value determined is compared to an internal permanently set switch-off threshold. This switch-off threshold corresponds to a resistance value of 1100 ohms. If it is exceeded, Error 714 "Motor Overtemperature Detected
by Temperature Switch" is generated.
The temperature encoder can be connected either to the encoder input or to the connector X101 provided on the power unit. The setting for the connection is made in Parameter
Z128.2– Temperature acquisition system.
80
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3
3.4.2.3 Torque limits
NOTE!
If the Nominal Kt Z107.44– is set to zero, then the torque limit is suspended. This
state is achieved by setting the Nominal power Z107.6– to 0 kW. If the Kt correction
factor Z138.23– is set to zero, then the torque limit limits the cross current to 0 A.
The maximum available torque
The maximum torque of the machine is proportional to the available torque-generating
current Z19.8–. This current is calculated by subtracting the magnetizing current set value Z19.9– with the maximum drive current of the drive Z19.6–.
I sq_max =
2
I max – I sd_set
2
Usually, the maximum drive current of the drive Z19.6– is the same the peak current of
the power unit Z6.25–. This current can be reduced by PU overload monitoring.
Additionally, in the field weakening range the torque is limited by the maximum power.
Therefore, the maximum available torque Z138.20– is constant in the base speed range.
In the field weakening range it decreases inversely proportional to the speed.
The symmetric torque limit influences the set value of the cross current controller, which
controls the torque-generating current. However, the generated torque must be limited
and not the torque-generating current. Therefore, the limit for the torque-generating current must be fit to the following equational format.
Torque limit (P138.22)  100
I sq_limit_torque = -------------------------------------------------------------------------------------------------------------------------Kt corr (138.23)  Kt nom (P107.44)  flux (P146.14)
MMax (P138.20)
MMax (P138.20)
M Lim (P138.22)
M
[Nm]
M
[Nm]
MLim=f(IsqLim);
min(P138.6,P138.7,P138.14,
P138.15)
MLim (P138.22)
effective
limits
base speed
range
a)
base speed
range
field weakening
nnom
P107.7
Figure 35:
n [min-1]
nmax mech
P107.26
b)
nnom
P107.7
field weakening
n [min-1]
nmax mech
P107.26
a) Asynchronous motor: Torque limit above Z138.22– 
b) Asynchronous motor: Overlap of several limits
81
of 724
3.4
Configuration
If several limits simultaneously (Z138.6–, Z138.7–, Z138.14–, Z138.15– or Z138.22–)
influence the torque-generating current set value, the lowest one is the decisive value
(see ZFig. 35– (b)).
Particular case synchronous motor with interior permanent magnet (IPMSM)
The torque is calculated from the characteristic map of the IPMSM and from the currents
according to the following formula:
3
T = --- p   PM I q +  L d – L q I d I q 
2
If a torque limit is entered, the maximum Iq current is recalculated from this equitation,
where the torque limit (Z138.22–) corresponds to the torque T.
3.4.2.4 Torque monitoring
Torque indicator Z138.21– displays the internal machine torque. The actual possible machine torque is displayed by the maximum available torque Z138.20–. In order to reach
this maximum available torque, the torque-generating current must not be limited via the
parameters Z138.6–, Z138.7–, Z138.14–, Z138.15– or Z138.22–. See ZFig. 36– for
the coherences between the torque-generating current and the torque display.
Max. available
torque current P19.8
P138.20
Torque
available [mNm]
*) Mn = Pn [P107.6] / ( Nn [107.7] * 2p/60 )
Mn *)
Isqn
Isq act. value
filtered P47.5
Figure 36:
ASM:
Isqn = In [P107.9] - Isdn [P107.14]
SM:
Isqn = In [107.9]
2
2
Kt correction factor Actual flux P146.14
P138.23
100
P138.21
Torque
display [mNm]
Defining the torque
Particular Case: Synchronous Machine
If the nominal machine working point (rated torque at rated speed) is only reached, if magnetizing current is applied to the machine, the following must be considered:
If the magnetizing current in the nominal working point is lower than 10% of the rated motor current, then the effects on the torque indicator is about 0.5% of the displayed value.
With magnetizing currents of about 20% of the rated current or above, these effects are
significant (deviation is about 2%).
If the required accuracy of torque indicator Z138.21– is critical due to this influence, it is
recommended, to define the rated data of the synchronous motor at the threshold speed
of field weakening (ID nominal = 0) for unmodified nominal motor current and to enter in
Pnom Z107.6– and nnom Z107.7–.
82
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3
3.4.2.5 Torque Threshold
It is possible to define a simple torque threshold. If the absolute value of the effective
torque exceeds this threshold, a status bit is set in parameter Z138.25– Status current
limitation. The relationship between the effective torque of the machine, the set torque
threshold and the status bit is shown in ZFig. 37–.
|Mact (P138.21)|
M Threshold (P138.24)
|M|
[Nm]
Status bit
(P138.25 bit 0)
1
0
t [sec ]
Figure 37:
Torque threshold
3.4.2.6 Maximum permissible speed (electrical conditioned)
The overvoltage limit at the converter (Uzk,max) sets the following limit to the maximum
permissible speed of the synchronous machine.
1000 U zk max
n emax = ------------------  -----------------K e  cold 
2
with
Uzk,max = 780 V for BM3200 and BM3300 (depending on Z130.29–)
Ke (cold):
Ke factor for the cold machine in idle speed in V / 1000 min-1 (independent 
of the value noted in parameter Z107.20–)
Without additional safety precautions the operating of the motor with speed greater than
nemax is not permitted.
DANGER!
The overvoltage limit at converter is passed over.
Therefore:
m Never operate the motor without additional safety precautions over the electrical
conditioned maximum permissible speed.
83
of 724
3.4
Configuration
3.4.2.7 ProDrive Motor
Figure 38:
ProDrive Motor general
3.4.2.8 Parameter overview motor
Functional block:
Motor management [19]
Motor identification plate [107]
FbMotTemp [128]
FbCurrLim [138]
FbFieldweak [142]
For parameter 137.3, see ZEncoder– from page 120
For parameter 6.5, 6.6, 6.28, 6.29 and 6.30, see ZDiagnosis– from page 606
84
of 724
Type
Min
Max
Default Value Unit
Factor
19.3
Motormanager status
UINT
0
60
0
1:1
X
19.5
Max. drive current available
FLOAT
0
10000
0
A
1:1
X
19.6
Max. drive current
FLOAT
0.0
10000
1.5
A
1:1
19.7
Max. field current amplitude
FLOAT
0
10000
0
A
1:1
X
19.8
Max. torque current available FLOAT
0
10000
0
A
1:1
X
19.9
Field current reference value FLOAT
-10000
10000
0
A
1:1
19.10
Motor nominal torque current FLOAT
0.1
10000
3.5
A
1:1
X
19.11
Back-EMF feed forward
0
1000
0
V/Nnen 1:1
X
FLOAT
DS Support
Name
Storage
Read only
Number
Cyclic Write
3
X
X
n
19.12
Frequency current filter
FLOAT
0.0
3000
0.0
Hz
1:1
19.17
Isq additive set value
FLOAT
-300
300
0.0
A
1:1
19.18
Phi electric
UINT
0
0xFFFF
0
1:1
X
19.30
Motor actual slip frequency
FLOAT
0.0
100
2,384615
Hz
1:1
X
19.32
Rotor time constant
FLOAT
0.0
20
20
s
1:1
X
19.50
Notch position valid
UINT
0x0
0xF
0x1
1:1
X
19.51
Current ref. for notch position FLOAT
detection
0.0
100
50
19.52
Modus motor operating
mode
UINT
0
2
107.1
Version
UINT
0
0xFFFF
107.2
Motor type
STRING
107.3
Article number
UDINT
0
107.4
Serial number
UDINT
0
107.5
Nominal operation mode
UINT
0
0xFFFF
0
107.6
Nominal power
FLOAT
0
655.35
5
kW
107.7
Nominal speed
UINT
1
65535
107.8
Nominal voltage
FLOAT
0
6553.5
107.9
Nominal current
FLOAT
0
107.10
Standstill current
FLOAT
0
107.11
Standstill torque
FLOAT
107.12
Power factor
FLOAT
107.13
Nominal frequency
107.14
Magnetic current
107.15
107.16
%
X
X
1:1
X
0
1:1
X
0
1:1
X
1:1
X
0xFFFFFFFF 0
1:1
X
0xFFFFFFFF 0
1:1
X
1:1
X
1:1
X
3000
U/min 1:1
X
0
V
1:1
X
6553.5
3.5
A
1:1
X
6553.5
0
A
1:1
X
0
42949672.95
0
Nm
1:1
X
0
1.000
0.9
-
1:1
X
FLOAT
0
6553.5
0
Hz
1:1
X
FLOAT
0
6553.5
0.1
A
1:1
X
Slip frequency cold
FLOAT
0
655.35
2
Hz
1:1
X
Slip frequency warm
FLOAT
0
655.35
3
Hz
1:1
X
107.17
Slip temperature cold
UINT
0
655
0
Grad
C
1:1
X
107.18
Slip temperature warm
UINT
0
655
100
Grad
C
1:1
X
107.19
Pole pairs
UINT
1
65535
3
1:1
X
107.20
Ke factor
FLOAT
0
6553.5
20
V/1000 1:1
U/min
X
107.21
Max current
FLOAT
0
6553.5
0
A
1:1
X
107.22
Peak torque
FLOAT
0
42949672.95
0
Nm
1:1
X
85
of 724
3.4
Configuration
107.23
Friction moment
FLOAT
0
655.35
0
Nm
1:1
X
107.24
Attenuation factor
FLOAT
0
655.35
0
Nm/
1:1
1000U
/min
X
107.25
Max speed electr.
UINT
0
65535
0
U/min 1:1
X
107.26
Max speed mech.
UINT
0
65535
0
U/min 1:1
X
107.27
Max temperature
UINT
0
65535
250
Grad
C
1:1
X
107.28
Time constant i2t
UINT
0
65535
100
s
1:1
X
107.29
Stator resistance
FLOAT
0
1000.000
0.5
Ohm
1:1
X
107.30
Stator leakage inductance
FLOAT
0
655.35
0
mH
1:1
X
107.31
Rotor resistance
FLOAT
0
4294967.295
0
Ohm
1:1
X
107.32
Rotor leakage inductance
FLOAT
0
655.35
0
mH
1:1
X
107.33
Magnetizing inductance
FLOAT
0
655.35
40
mH
1:1
X
107.34
Inductance Lq
FLOAT
0
655.35
2.5
mH
1:1
X
107.35
Inductance Ld
FLOAT
0
655.35
1.7
mH
1:1
X
107.36
Inertia of motor
FLOAT
0
42949672.95
0
kgcm* 1:1
cm
X
107.37
Temperture sensor type
UINT
0
0xFFFF
0
1:1
X
107.38
Motor flags
UINT
0
0xFFFF
1
1:1
X
107.39
Encoder gear gain
UINT
0
0xFFFF
0x0101
1:1
X
107.40
Brake nominal voltage
FLOAT
0
6553.5
0
V
1:1
X
107.41
Brake torque
FLOAT
0
6553.5
0
Nm
1:1
X
107.42
Inertia of Brake
FLOAT
0
42949672.95
0
kgcm* 1:1
cm
X
107.43
Nominal torque
FLOAT
0
90000.00
0
Nm
1:1
X
107.44
Nominal Kt
FLOAT
0
1000.00
0
Nm/A
1:1
X
128.1
Motor temperature status
UINT
0
0xFFFF
0
1:1
128.2
Temperature acquisition sys- UINT
tem
0
0xFFFF
0
1:1
128.3
Motor temperature
DINT
-50
300
0
°C
1:1
128.4
Warning Threshold 1
UINT
0
185
130
°C
1:1
X
128.5
Warning Threshold 2
UINT
10
185
140
°C
1:1
X
128.7
Motor Temperature Hystere- INT
sis
0
5
5
°C
1:1
X
138.1
Mode of Iq limit
UINT
0
0xffff
0
1:1
X
138.2
Iq limit motor/TD1
FLOAT
0
100
100
%
1:1
X
X
138.3
Iq limit generator/TD2
FLOAT
0
100
100
%
1:1
X
X
138.4
Iq limit quadrant hysteresis
FLOAT
0
100
5
%
1:1
X
138.5
Motor quadrant
UINT
0
4
0
1:1
X
138.6
Iq upper limit
FLOAT
0
10000
1.5
A
1:1
X
138.7
Iq lower limit
FLOAT
-10000
0
-1.5
A
1:1
X
138.8
Bitmask of external current
limit
UINT
0
0xFF
0
Bit
1:1
X
138.9
External limiting max. drive
current
FLOAT
0
10000
10000
A
1:1
X
138.10
External limiting max field
current amplitude
FLOAT
0
10000
10000
A
1:1
X
86
of 724
X
X
X
138.11
Iq set value before notch filter
138.12
FLOAT
-10000
10000
0
A
1:1
Center frequency Iq set value FLOAT
notch filter
0
8000
0
Hz
1:1
X
138.13
Bandwidth Iq set value notch FLOAT
filter
0
4000
50
Hz
1:1
X
138.14
Iq cyclic bipolar limit
UINT
0
16384
16384
%
4000hex:
100%
138.15
Iq limit motor symmetric
FLOAT
0
100
100
%
1:1
138.16
Speed threshold for breakdown torque
FLOAT
0
1e9
0
U/min 1:1
138.17
Factor for breakdown torque FLOAT
0
1.41
0.9
138.18
IqMax for breakdown torque FLOAT
0
1e9
0
A
1:1
X
138.20
Max. torque available
UDINT
0
0xFFFFFFFF 0
Nm
1000:1
X
138.21
Torque display
DINT
-2147483648
2147483647
0
Nm
1000:1
X
138.22
Torque limit symmetric
UDINT
0
2147483647
2147483647
Nm
1000:1
X
138.23
Kt correction factor
FLOAT
0
100
1
1:1
X
138.24
Indication threshold torque
UDINT
0
2147483647
2147483647
X
1000:1
X
138.25
Status current limitation
UDINT
0
0xFFFFFFFF 0
1:1
X
138.26
Limitation max current of
IPMSM
FLOAT
0
1e9
0
A
1:1
X
138.28
Hysteresis for Iq limit flag
FLOAT
0
50
2
%
1:1
X
138.29
Time constant torque display FLOAT
0
1000
3
ms
1:1
X
X
X
X
1:1
Nm
3
X
X
19.3
Motor manager status
The status of the motor manager is displayed in this parameter. It shows the status of the
internal state machine.
Value
Meaning
0
Motor manager switched off
1
Motor manager switched on
2
Pole position search completed successfully
3
Error during pole position search
9 ... 4
Reserved
10
Init. pole position search method 0
11
Pole position search method 0 active
19 ... 12
Reserved
20
Init. pole position search method 1
21
Pole position search method 1 active
87
of 724
3.4
Configuration
Value
39 ... 22
Meaning
Reserved
40
Pole position offset will be entered in Parameter Z127.8–
41
Pole position offset will be stored in the encoder
42
Slow reduction of current after completion of the pole position search
43
Pole position search completed successfully
Remark:
Values 2 to 43 are only displayed when a pole position search is active (Actual Operating
Mode Z109.2– = -1).
For the other drive operating modes, the status is either 0 or 1.
19.5
Max. drive current available
Shows the currently effective limit of the apparent current. It influences the limit of the current torque as well as of the field current. The parameter accords to the minimum value
between the "maximum total current of the drive" Z19.6– and the "External limitation of
the maximum total current" Z138.9–.
19.6
Max. drive current
Settable limitation of the apparent current of the drive influences the limitation from the
current torque as well as from the field current.
The maximum total current of the drive is limited by the "Power unit peak current" Z6.25–:
"Max. drive current" [>19.6<]  "Power unit peak current" [Z6.25–].
NOTE!
m The apparent current limit of the drive can automatically be reduced furthermore,
for example by the PU overload monitoring or the phase fail (see "bit bar of external
current limit" Z138.8– and "External limiting max. drive current" Z138.9–.9 and the
value of the parameter >19.6< is not changed. The current acting limit of the apparent current is displayed in the " Maximum available total current" Z19.5–.
m The "Max. drive current" >19.6< is the scaling size of the standardized current parameter Z166.3– / Z166.4– (current threshold motoric/generator; operation mode
U-f characteristic).
88
of 724
19.7
3
Max. field current amplitude
Display of the maximum amplitude of the field current. The maximum field current for synchronous motors is set via the absolute value of the field current set value (Z19.9–). The
maximum field current for asynchronous motors is set via the limitation of flux controller
(Z146.12–).
The maximum field current amplitude is limited by the maximum total current of the drive
(Z19.6–):
Max. field current amplitude [>19.7<]  0,95 * Max. drive current [Z19.6–]
NOTE!
The amplitude of the field current can be reduced automatically e. g. by the PU overload monitoring or phase fail (see "Bit bar of external current limit" Z138.8– and "External limiting max. field current amplitude" Z138.10–), without the parameter value
>19.7< being changed. The currently effective present limit of the field current is the
minimum value between "Max. field current amplitude" >19.7< and "External limiting
max. field current amplitude" Z138.10–.
19.8
Max. torque current available
Display of the maximum available current torque Isq max actual results from the "Max. drive
current available" Z19.5–, Imax actual and the subtraction of the field current Isd aux.
I sq max Ist =
2
I max Ist – I sd aux
2
The field current Isd aux depends on the motor type as well as at the ASM additionally of
the ASM-Iq limit mode: Z138.1– bit 1:
m At the SM or ASM with Z138.1– bit 1 = 0 (standard setting): 
Isd aux = "Isd set value" Z47.2–.
m At the ASM with Z138.1– bit 1 = 1: 
Isd aux = "Max. field current amplitude" Z19.7–.
NOTE!
The "Max. available torque current" >19.8< is the scaling size of the standardized
current torque parameters Z18.50–, Z19.51–, Z138.2–, Z138.3–, Z138.14– and
Z138.15–.
89
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3.4
19.9
Configuration
Field current reference value
At an asynchronous machine and if the "Permanent field current" field weakening type is
set (Z142.1– bit 0 = 1) then any field current is permanently applied (lsd set value
Z47.2– = Field current reference value >19.9<). This way the field weakening controllers
and flux controllers are deactivated. For example here the magnetizing current of the
ASM at the measuring point can be entered.
However, the required field current can differ or be lower at field weakening as well as
greater when magnetizing. If the field weakening type was set "at the voltage limit"
(Z142.1– bit 0 = 0) the parameter >19.9< has no meaning for the ASM.
If a synchronous machine is operated in field weakening here a negative current value
must be entered. At a synchronous machine and if the field weakening type "permanent
field current " is set ((Z142.1– bit 0 = 1) here any negative field current can permanently
be applied (Isd-set value Z47.2– = Field current reference value >19.9<). This way the
field weakening controller is deactivated. For example here the required field current at
maximum speed and torque can be entered. The required field current amplitude however can differ from that value if the speed and torques are lower than the maximum values.
If the field weakening type "at the voltage limit" is set (Z142.1– bit 0 = 0) then the parameter >19.9< imposes a field current limit to the field weakening controller and the controlled field weakening characteristic.
19.10
Motor nominal torque current
Display of the nominal instantaneous current, comprised of the nominal current (Parameter Z107.9–) and the magnetic current (Parameter Z107.14–).
19.11
Back-EMF feedforward
Display of the EMF factor or the rms-value of the phase-to-phase induced voltage at the
nominal speed. It results from the parameters Z107.7–, Nominal Speed, and Z107.20–
Ke factor.
19.12
Frequency of the current filter
Cut-off frequency of the iq set value filter. The filter is switched off by setting this parameter to 0.
19.17
Isq additive set value
Additional set value for current.
90
of 724
19.18
3
Phi electric
Visualization of the electrical angle (360 degrees = 0xFFFF).
19.30
Motor actual slip frequency
This parameter displays for asynchronous motors the slip frequency currently calculated
from the characteristic curve (temperature tracking).
Has no significance for synchronous motors.
19.32
Rotor time constant
Display of the rotor time constant for the asynchronous motor; required for flux control.
The value is calculated from the magnetic current Z107.14–, the nominal current
Z107.9– and the slip frequency cold Z107.15–.
Has no significance for synchronous motors.
19.50
Notch position O.K.
Bit
0
Plausibility O.K. (Absolute encoder present)
1
Notch position search active
2
Notch position search ended
3
Notch position search failed or plausibility error
15 ... 4
19.51
Meaning
Reserved
Current ref. for notch position detection
Current for the notch position detection with respect to Parameter Z19.8–, Max. available
torque current.
Standardization: 
100% = Max. torque current available Z19.8–
91
of 724
3.4
19.52
Configuration
Modus motor operating mode
Value
107.1
Meaning
0
With encoder, observer off
1
With encoder, observer on
2
Motor model for the motor control (sensorless)
Version
Version of the data structure.
107.2
Motor type
Motor type as a character string, e.g.: "DS 71-K".
107.3
Article number
Article number of the motor on motors with an electronic identification plate. The value
displayed is read from motors with an electronic identification plate and is for information
only.
107.4
Serial number
Serial number of the motor. The value displayed is read from motors with an electronic
identification plate and is for information only.
107.5
Nominal operation mode
At Baumüller, the operating mode of the motor is specified in the form Sx-yy%.
The high byte of the mode is designated by the number in front of the dash, the low byte
encodes the percentage value.
Using the example of S3-40%:
High byte = 3 decimal,
Low byte = 40 decimal.
92
of 724
107.6
3
Nominal power
Nominal output of the motor. The value displayed is read from motors with an electronic
identification plate and is used to calculate the nominal torque.
107.7
Nominal speed
Nominal speed of the motor. 
If the motor has no electronic identification plate, the nominal speed must be entered.
107.8
Nominal voltage
Nominal voltage of the motor. The value displayed is read from motors with an electronic
identification plate and is used for motor control at the sensorless asynchronous motor.
107.9
Nominal current
Nominal current of the motor; required for I2t monitoring and for controlling asynchronous
motors. If the motor has no electronic identification plate, the nominal current must be entered.
107.10
Standstill current
Display of the motor standstill current. The value displayed is read from motors with an
electronic identification plate and is for information only.
107.11
Standstill torque
Display of the motor standstill torque. The value displayed is read from motors with an
107.12
Power factor
Power factor (cos ) of the motor. The value displayed is read from motors with an electronic identification plate and is for information only.
93
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3.4
Configuration
107.13
Nominal frequency
Display of the motor nominal frequency in Hz. This value is required for the control system. If the motor has no electronic identification plate, the nominal frequency must be entered.
107.14
Magnetic current
Magnetizing current Id for asynchronous motors. If the motor has no electronic identification plate, the magnetizing current must be entered. If the motor type is not known, Id can
be found from the identification plate / motor data sheet. 
If Id is not known, it can be calculated approximately:
I d = I  1 –  k  cos  n 
2
Where:
|I| = Motor nominal current (Z107.9–)
cos n = Power factor (Z107.12–)

k = 1.0 to 1.3
It corresponds to the nominal current Id at IPMSM (see ZSynchronous motor with interior
permanent magnet– on page 113). The Motor constant K (Z171.12–) used for adjustment of the MTPA characteristic can be calculated from the Nominal current I (Z107.9–)
and the nominal current Id.
107.15
Slip frequency (cold)
The parameter is only relevant to asynchronous motors. The slip frequency of asynchronous motors is temperature-dependent. The following parameter is merely a data point
on the characteristic curve. This characteristic curve is reproduced in the controller; only
the first two data points are used for this (slip frequency when cold at the cold temperature
and slip frequency when warm at the warm temperature). This parameter defines the slip
frequency of the motor at the nominal torque and cold slip temperature (e.g. a cold motor).
The slip frequency when cold must be lower than the slip frequency when warm. If the
asynchronous motor has no electronic identification plate, the slip frequency when cold
must be entered.
107.16
Slip frequency (warm)
For description, see Z107.15–.
This parameter is only relevant to asynchronous motors and defines the slip frequency of
the motor at the nominal torque and warm slip temperature. The slip frequency when
warm must be higher than the slip frequency when cold. If the asynchronous motor has
no electronic identification plate, the slip frequency when warm must be entered.
94
of 724
107.17
3
Slip temperature (cold)
For asynchronous motors:
Temperature specification for which the motor slip frequency when cold applies. For a description, see also Z107.15–. If the asynchronous motor has no electronic identification
plate, the cold slip temperature must be entered.
107.18
Slip temperature (warm)
For asynchronous motors:
Temperature specification for which the motor slip frequency when warm applies. For a
description, see also Z107.15–. If the asynchronous motor has no electronic identification plate, the warm slip temperature must be entered.
107.19
Pole pairs
Number of pole pairs in the motor. If the motor has no electronic identification plate, the
number of pole pairs must be entered.
107.20
Ke factor
Motor EMF, referred to 1000 rpm (voltage constant) of the synchronous or asynchronous
machine. If the motor has no electronic identification plate, the Ke factor must be entered.
If no value for the Ke factor is available, the following procedure is possible:
m Define the speed set value according to the nominal speed of the motor
m Enable the drive and operate it no-load
m By altering the Ke, bring the Iq controller output to approx. 0%
107.21
Max. current
Peak current of the motor. The value displayed is read from motors with an electronic
identification plate and is used for the injection procedure.
107.22
Peak torque
Peak torque of the motor. The value displayed is read from motors with an electronic identification plate and is for information only.
95
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3.4
Configuration
107.23
Friction moment
Display of the motor friction moment. The value displayed is read from motors with an
107.24
Attenuation factor
Display of the motor attenuation factor, Kd. The value displayed is read from motors with
an electronic identification plate and is for information only.
107.25
Max speed electr.
The maximum speed of the motor, regardless of the mechanical configuration. The value
displayed is read from motors with an electronic identification plate and is for information
only.
107.26
Max speed mech.
Setting of the maximum speed of the motor that is permissible in the mechanical configuration used. The mechanical maximum speed can at most equal the electrical maximum
speed.
CAUTION!
If the motor operates with higher speed than the maximum speed, the motor may be
damaged mechanically.
The smaller value of max. speed mech. Z107.26– and of speed limit Z121.11– acts as
limitation in the operating modes 1, 5, 6 and -4. For details, refer to Z121.11–.
Additionally it limits the settings of the standardization for the ramp function generator in
operating modes 2 and -3. For details, refer to Z110.13–.
107.27
Max temperature
Switch-off threshold of the motor temperature monitor.
107.28
Time constant I2t
Thermal Time Constant of the motor, Tt [s].
96
of 724
107.29
3
Stator resistance
The value displayed is read from motors with an electronic identification plate and is used
for motor control as a function of parameter Z123.10–.
107.30
Stator leakage inductance
Leakage inductance of the single phase equivalent circuit of the asynchronous machine.
The value displayed is read from motors with an electronic identification plate and is used
for motor control as a function of parameter Z123.10–.
107.31
Rotor resistance
Rotor resistance of the single phase equivalent circuit of the asynchronous machine. The
value displayed is read from motors with an electronic identification plate and is used for
motor control as a function of parameter Z123.10–.
107.32
Rotor leakage inductance
Rotor leakage inductance of the single phase equivalent circuit of the asynchronous machine. The value displayed is read from motors with an electronic identification plate and
is used for motor control as a function of parameter Z123.10–.
107.33
Magnetizing inductance
Magnetizing inductance of the single phase equivalent circuit of the asynchronous machine. The value displayed is read from motors with an electronic identification plate and
is for information only.
107.34
Inductance Lq
Lq inductance of a synchronous machine. The value displayed is read from motors with
an electronic identification plate and is used for motor control as a function of parameter
Z123.10–.
97
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3.4
Configuration
107.35
Inductance Ld
Ld inductance of a synchronous machine. The value displayed is read from motors with
an electronic identification plate and is used for motor control as a function of parameter
Z123.10–.
107.36
Inertia of motor
Moment of inertia of the motor. The value displayed is read from motors with an electronic
107.37
Temperature sensor type
Two different types of temperature sensor are available for use. If the motor has no electronic identification plate, the temperature sensor type must be entered.
Value
0
KTY 84
1
Temperature switch or motor protection thermistor (MSKL)
2
PT1000
15 ... 3
107.38
Meaning
Reserved
Motor flags
Bit
Meaning
0
0: Motor phase sequence counter-clockwise
1: Phase sequence clockwise
1
0: Synchronous motor
1: Asynchronous motor
15 ... 2
Reserved 
preconfigured with 0
The value of this parameter can be changed, if the drive controller isn’t on *).
*) Switched on means that in the Status word parameter Z108.3–, the bit 1 = 1.
98
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3
DANGER!
If the value is changed, the drive automatically loses the notch position search for the
synchronous motor. After change the user must execute notch position search again,
in order to operate a synchronous motor with encoder without danger.
If the synchronous motor is operated sensorless, it can be operated with the new parameter value immediately. As with the sensorless synchronous machines, the parameter
value for asynchronous machines is effective immediately. If the same value is written to
the parameter, which already is in the parameter, then this writing procedure has no effects.
107.39
Encoder gear gain
High byte: Numerator of the gear
(1 ... 255)
Low byte:
(1 ... 255)
Denominator of the gear
If the value is 0x0101, there is no gearing between the motor shaft and the encoder.
The value 0 is not defined and can be returned as an error message
or treated internally like the value 0x0101 (no gearing, hence 1:1 transmission).
107.40
Brake nominal voltage
Voltage for the motor brake. The value displayed is read from motors with an electronic
107.41
Brake torque
Holding torque of the motor brake. The value displayed is read from motors with an electronic identification plate and is for information only.
107.42
Inertia of brake
Moment of inertia of the motor brake. The value displayed is read from motors with an
99
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3.4
Configuration
107.43
Nominal torque
Display of nominal torque; calculated from nominal output and nominal speed.
107.44
Nominal Kt
Display of torsional constant; calculated from nominal torque and nominal instantaneous
current.
128.1
Motor temperature status
Status of the motor temperature measurement and monitoring:
Bit
0
3 ... 1
0: Motor temperature monitoring switched off
1: Motor temperature monitoring switched on
Reserved
4
1: Warning threshold 1 exceeded
5
1: Warning threshold 2 exceeded
6
1: Switch-off temperature reached
7
1: Overtemperature detected by temperature switch
8
1: Short circuit detected on temperature encoder
9
1: Temperature encoder is not connected
15 ... 10
128.2
Meaning
Reserved
Temperature acquisition system
This parameter is used to switch the motor temperature detection and monitoring on and
off, and also the determine the connection to the device.
Bit
7 ... 0
Meaning
Selection of the connection for the motor temperature encoder:
0:
No encoder, or motor temperature monitoring off
1:
Connection to encoder input or X101
2 … 255 reserved
15 ... 8
Reserved
100
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128.3
3
Motor temperature
Display of the measured motor temperature in °C
128.4
Warning threshold 1
Motor temperature threshold 1. If the motor temperature exceeds this value, Warning 710
is generated.
128.5
Warning threshold 2
Motor temperature threshold 2. If the motor temperature exceeds this value, Warning 711
is generated.
128.7
Motor temperature hysteresis
Hysteresis for canceling Warnings 710 and 711 initiated by Z128.4– Warning Threshold
1 and Z128.5– Warning Threshold 2.
138.1
Mode Iq limit
The mode of the torque current limit will be set with this parameter.
Bit no.
Meaning
0
0: for motor/generator (default)
1: for instantaneous direction 1 / instantaneous direction 2
1
Iq max. mode:
Influences the calculation of the "Max. torque current available" Z19.8–
(for the ASM, only).
Increase of the "Max. torque current available" Z19.8– at field weakening
by calculation of the parameter with the "Isd set value" Z47.2– instead of
"Max. field current amplitude" Z19.7–:
0: activated
1: deactivated
2
15 ... 3
Breakdown torque limit:
0: deactivated
1: activated (at asynchronous machines always)
Reserved
101
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3.4
Configuration
Speed actual value
Speed actual value
Q2
Q2
Q1
Limit mot
Limit TD2
Iq set value
Limit gen
Q4
Q3
Q1
Q3
Iq set value
Limit TD1
Q4
5000_0203_rev01_int.cdr
Figure 39:
138.2
Torque current limit
Iq limit motor/TD1
This parameter limits the torque current set value for the motor operation or in the torque
direction 1 (depending on setting in Z138.1–).
Furthermore the symmetrical acting current limit Z138.15– is available. The less of either
limits is always effective.
138.3
Iq limit generator/TD2
This parameter limits the torque current set value for the generator operation or in the
torque direction 2 (depending on setting in Z138.1–).
Furthermore the symmetrical acting current limit Z138.15– is available. The less of either
limits is always effective.
138.4
Iq limit quadrant hysteresis
Hysteresis for current and speed for assessing the operating quadrants.
100% = Motor nominal torque current Z19.10–
or
100% = (Motor) Nominal speed Z107.7–
102
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138.5
3
Motor quadrant
Display of the currently determined quadrant, using the current speed, the instantaneous
current and the set hysteresis. 
The following diagram illustrates the definition:
Figure 40:
138.6
Definition of the quadrants
Iq upper limit
Display of the currently determined upper limit for the instantaneous current [in A].
138.7
Iq lower limit
Display of the currently determined lower limit for the instantaneous current [in A].
138.8
Bitbar of external current limit
Display of external sources of the present current limit as a bit string.
A 1 in the corresponding bit position means that the limit is active.
If several bits are set, the smallest limit takes effect.
Meaning of the bits and the external source of the limiting:
Bit
Current limit from
0
Main power error; phase failore
1
Reserved
2
PU overload monitoring
3
Reserved
4
Moving to positive stop command
5
Homing to a mechanical stop
15 ...6.
Reserved
103
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3.4
Configuration
138.9
External limiting max. drive current
Display of the total current [in A] which has been reduced by an external limit. See Bitbar
of external current limit Z138.8–.
It the external limit is not active:
External limiting max drive current >138.9< = Maximum value (10000 A)
138.10
External limiting max. field current amplitude
Display of the amplitude (amount) of the field current (in ampere) reduced by an external
limit. See "Bit mask of external drive current limit" Z138.8–.
If there is no external limit active:
External limiting max field current amplitude >138.10< = Maximum value (10000 A)
138.11
Iq set value before notch filter
The Iq set value at the input of the notch filter is shown in this parameter.
138.12
Center frequency Iq set value notch filter
Setting of the center frequency of the Iq set value of the notch filter. The filter is switched
off, when the value is less than 2 Hz.
138.13
Bandwidth Iq set value notch filter
The bandwith of the Iq set value of the notch filter is set here.
138.14
Iq cyclic bipolar limit
The parameter enables a symmetric torque current limit for a fast cyclic access, e.g. via
analogous input or fieldbus process data. The Z18.45– Isq set value unlimited from the
speed controller is limited with this parameter additionally to the limits dependent on
quadrants via parameter Z138.2– and Z138.3–.
Changes in Z138.14– are resumed in the preset cycle of the speed controller (= RT0-Cycle time Z1.8–). Parameter Z138.14– is not storable in contrast to the limits dependent
on quadrants.
104
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138.15
3
Iq limit motor symmetric
The torque current can be limited symmetrically with this limit, i.e. equal in both torque
directions.
The parameter must be seen in connection with the limits at the torque direction or the
motor and generator operation respectively (Z138.2– and Z138.3–). The less of the set
limits is always effective (symmetrical or mot./gen. and MR1/MR2 respectively).
In contrast to the also symmetrical cyclic torque current limit (Z138.14–) this parameter
is not cyclic writable. Instead it is storable, has the identical standardization as Z138.2–
and Z138.3– and is subject to the hysteresis (Z138.4–) at the determination of the quadrant.
138.16
Speed threshold for breakdown torque
Speed threshold nK, where the maximum torque current is limited as follows:
n act
I K Max = ---------  I q Max
nK
138.17
Factor for breakdown torque
The breakdown torque is specified as follows:
The speed is calculated with the cross-current inductance (DS-motor) or the stator leakage inductance (AS-motor) and the maximum torque current IqMax. The voltage Ud reaches 1/2-times the voltage, which is available. The voltage phasor resulting from this has
an angle of 45° at IqSet = IqMax and nK (threshold speed breakdown torque). At asynchronous machines there is no torque increase anymore when increasing. The torque must
be limited.
U Ph,Max
60
n K = f  P133.17   --------------------------------------------  -----2
2pL I
q
q Max
1
U Ph,Max = -------  Min  P142.6, P142.8 
3
The factor for the breakdown torque is multiplied with the voltage. The maximum angle of
the voltage phasor is decreased by doing this. A safe distance towards the breakdown
torque is met by doing this.
105
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3.4
Configuration
138.18
IqMax for breakdown torque
The maximum current torque at the active electrical frequency, which is permitted due to
the breakdown torque limit.
138.20
Max. torque available
This parameter displays the maximum available internal torque of the motor, Mmax Ist.
This value is calculated from the maximum torque current available Z19.8–, Isq max Ist. If
the maximum motor current is limited by monitoring (e.g. PU overload monitoring, see Bitbar of external current limit Z138.8–), this is taken into account in this parameter.
138.21
Torque display
This parameter displays the torque, acting within the motor. This is the torque in the air
gap of the motor, which is calculated as follows:
Kt nom [Nm/A]  Kt corr  Isq[A]  [%]
M innen = -------------------------------------------------------------------------------------------100
138.22
Torque limit symmetric
The internal torque of the motor is limited via this parameter. The symmetric torque limit
limits the amount of the internal torque in both torque directions.
138.23
Kt correction factor
A factor is defined via this parameter. This factor influences the coherence between
torque-generating current and the displayed torque in Z138.21–. The precise coherences
are defined in ZFig. 36– on page 82.
138.24
Indication threshold torque
If the absolute value of the effective torque (Z138.21–) exceeds the value of the torque
threshold, bit 0 in parameter Status current limitation (Z138.25–) is set.
106
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138.25
3
Status current limitation
Status parameter for the functional block current limitation 
Bit no.
0
31 ... 1
138.26
Meaning
Indicates whether the absolute value of the effective torque (Z138.21–) is
greater or less than the set torque threshold (Z138.24–)
0: The torque is less than the torque threshold
1: Torque threshold exceeded
Reserved
Limitation max current of IPMSM
This parameter shows the limitation of the maximum current at IPMSM during field weakening.
138.28
Hysteresis for Iq limit flag
Hysteresis for the "Torque current set value is limited (hysteresis)" message in Speed
controller status (Z18.20–, bit 26). The torque current set value must fall below the effective limit (Z138.6– or Z138.7–) by this hysteresis to cancel the limit flag.
This parameter effects the detection of a blocked motor, because the limit flag with hysteresis is used for the blockage monitoring.
138.29
Time constant torque display
Time constant for the torque display (Z138.21–).
107
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3.4
Configuration
3.4.3
Asynchronous Motor
The asynchronous motor is operated with a temperature adapter and a slip set point. The
flux set value is sent from the field weakening controller to the flux controller. The flux controller determines the Id-current set value for the current controller. If the proportional gain
Kp of the flux controller is 0, the current set value is directly specified via the flux-currentcharacteristic.
The slip is calculated from the temperature-independent slip frequency, the Id-current actual value and the flux actual value.
3.4.3.1 ProDrive Asynchronous Motor
Figure 41:
ProDrive Asynchronous Motor
3.4.3.2 Lh-characteristic
BM3300 can consider a non-linear Lh-characteristic for motor control. This can be entered manually or can be identified in idle mode:
m Lh dependent on magnetizing current
108
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3
m Flux dependent on magnetizing current
Figure 42:
ProDrive Lh-characteristic
The automatic identification of the Lh-characteristic is started via bit 10 of the parameter
Z146.1– (mode asynchronous machine). At the same time the status Current presetting
of the drive is checked. Nominal speed, speed for Lh identification, nominal magnetizing
current and ramp-up time must be preset. Then it is accelerated to the desired speed
(Z123.39–) with nominal magnetizing current. Thereby a linear ramp calculated from the
ramp-up time is used. Then the motor successively is supplied with a step size of 1/20 of
the nominal magnetizing current at this speed. Thereby the required voltage is measured.
As it is estimated that the drive is in idle state, the inductance can be calculated with the
acceptability that the slip = 0.
109
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3.4
Configuration
It is decelerated and the inductances are standardized to nominal inductance and entered
in the table.
Name
Type
Min
Max
Default Value Unit
Factor
146.1
Induction motor mode
UINT
0
0xFFFF
0
1:1
X
146.10
Kp flux controller
FLOAT
0
1e9
0
1/s
1:1
X
146.11
Tn flux controller
FLOAT
0
10000
1000
ms
1:1
X
146.12
Saturation magnetizing current
FLOAT
0
1e9
10
A
1:1
X
146.13
Flux set value
FLOAT
-1e9
1e9
1
%
100:1
X
146.14
Actual flux
FLOAT
-1e9
1e9
0
%
100:1
X
146.15
Actual flux current
FLOAT
-1e9
1e9
0
A
1:1
X
146.16
Slip
DINT
0x80000000
0x7FFFFFFF 0
Inc
/Tab
1:1
X
146.17
State Lh identification
UINT
0
10
0
1:1
X
146.18
Integral term flux controller
FLOAT
-1e9
1e9
0
A
1:1
X
146.19
Rising time nominal speed
FLOAT
1
1000
10
s
1:1
Cyclic Write
Number
DS Support
Storage
FbAsynchronous machine [146]
Read only
Functional block:
X
146.1
Asynchronous motor mode
Bit string to select the control mode of an asynchronous motor
Bit no.
7 ... 0
Meaning
Reserved
8
Build-up of the flux before the transition in state 4 (Z108.6–):
1: on
0: off
9
Reserved
10
Command start of the Lh-identification
15 ... 11
Reserved
110
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146.10
3
Kp flux controller
Proportional gain of the flux controller.
146.11
Tn flux controller
Reset time of the flux controller [ms]
146.12
Saturation flux controller
Limitation of the flux controller’s output [A]
146.13
Flux set value
Set value of the flux in percent
146.14
Actual flux
Actual value of the flux in percent
146.15
Actual flux current
Flux current [A]
Display of the actual value of the rotor magnetizing current. The value is evaluated from
the actual flux value and the flux-current characteristic.
146.16
Slip
Slip between electrical and mechanical frequency [Inc/Tab]
111
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3.4
Configuration
146.17
State Lh identification
Value
146.18
Description
0
Inactive
1
Initialization
2
Acceleration of nominal speed with 1.1 * magnetizing current
3
To build up
4
Wait until current and voltage are constant
5
Measuring the voltages
6
Braking to 0
7
Calculating the inductance
8
Motor control entry in table
9
Completed
10
Completed
Integral term flux controller
Integral term of the flux controller
146.19
Ramp-up time nominal speed
Ramp-up time for controlled acceleration/deceleration to nominal speed/speed = 0 due to
determine the main inductivity characteristic.
112
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3.4.4
3
Synchronous motor with interior permanent magnet
Interior Permanent Magnet Synchronous Motors (IPMSM)
The b maXX 3300 can operate synchronous motors with interior permanent magnet
(IPMSM). The IPMSM has nonlinear inductances. Generally the cross-inductance is
greater than the direct axis inductance. These inductances are depending on Id as well
as Iq.
For operation in an optimum way the current controller must be adapted to the inductances, because the gain of the current controller is directly proportional to the inductances.
The active inductances were gathered directly from the table depending on the current
set values and the current controllers were adapted to these values.
Additionally to the torque of the Lorentz force a reluctance torque exists at the IPMSM
based on the different inductances (T~(Lq-Ld)*Id*Iq). In order to get the maximum torque
for the impressed current (MTPA), also an Id current must be impressed depending on
this torque. The currents were split automatically during controlling, so that always the
highest torque is reached depending on the total current.
3.4.4.1 Commissioning
In order to ensure an optimum in dynamic when operating a IPMSM, the following notes
for setting are mandatory:
– Using a Baumueller motor the data can be loaded from a motor data base. All settings are carried out automatically with ProDrive.
– If no Baumueller motor is used, at first an autotuning (see ZAutotuning of Current
controller– from page 155) must be executed to set the current controller roughly.
– The notch position must be set next.
– The field current can be limited via parameter limit magnetizing current (Z146.12–).
This is important in order to prevent the demagnetization of the motor.
– After this the speed controller must be set. A good setting can be determined with a
control loop analysis.
– Subsequently Lq, Ld and the magnetic flux must be mapped in the controller. Therefore are two options:
n If the parameters are known, they can be loaded via a csv-file.
n If they are not known, an automatic identification can be executed with ProDrive
(see chapter Z3.4.4.2–).
– In conclusion the current controllers must be optimized again. The optimization is
executed according to the table values of Lq(0,0) and Ld(0,0).
3.4.4.2 Identification of the nonlinear parameters
The identification of the nonlinear parameters Lq, Ld and the magnetic flux is executed in
speed control operation. ProDrive executes this automatically. The inductance is measured during ramp-up, in which both currents Iq and Id were kept constant. Therefore the
corresponding inductances can be found for each current combination Iq and Id.
The following settings may be entered:
– Standardization current for the curve family
113
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3.4
Configuration
n This is the maximum current as far as the identification is executed. From 0 A up
to this value the currents were varied in ten equal distances and the measurements were executed. 
– Ramp function generator
n The ramp-up time must be set to 0 seconds, so that the speed controller is directly
limited at a speed jump.
– Set value generator
n The set value generator should alternately generate values from 0 up to a sufficient high speed in order to get enough measuring values during the ramp-up.
3.4.4.3 Field weakening at IPMSM
If a voltage limit is reached at the controller, the field weakening controller interferes at
the BM3300. In contrast to synchronous and asynchronous motors a higher torque can
be reached with field weakening at IPMSM, because the additional Id current effects a
reluctance torque.
The required curves of an IPMSM are shown in ZFig. 43–. Without field weakening the
motor works on the MTPA curve (red). If an additional Id current is supplied, the state
shifts left (greater Id current). The Id current can be increased up to the MTPF curve (maximum torque per flux) at field weakening. The maximum torque is reached here at an
available flux. At a greater Id current the motor needs higher voltage to reach the desired
torque. If the available flux reduces further, the maximum Iq current is reduced and the
current pointer always positions itself along the MTPF curve up to the zero point of the
flux. So it is secured that always the maximum torque can be reached.
Figure 43:
Characteristic curve of the IPMSM
114
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3
The field weakening of the IPMSM is implemented via a state machine in the BM3300
(see ZFig. 44–). The state machine changes in the "Flux reduction by Id current" state at
first reaching of the voltage limit. The field weakening controller is initialized to the actual
Id current value, because an Id current is always supplied at operation of IPMSM. The Id
current is here increased up to the Id current of the MTPF curve. If the Id current reaches
the MTPF curve, the state switches in the "Flux reduction by Iq limitation" state. The maximum Iq current is reduced here proportionally to field weakening factor. If the needed Iq
current is less than the half maximum of the Iq current, the state machine switches back
to the previous state.
Figure 44:
State machine of field weakening at IPMSM
Name
Type
Min
Max
Default Value Unit
Factor
171.1
Control word reluctance
UINT
0
0xFFFF
0
1:1
171.3
Ld curve family
FLOAT
1e-5
1e9
1e-3
mH
1:1000
X
171.4
Lq curve family
FLOAT
1e-5
1e9
1e-3
mH
1:1000
X
171.5
Norm current for inductance FLOAT
chart familiy
0.01
1e9
10
A
1:1
X
171.10
Minimum Id Current
-1e9
0
0
A
1:1
FLOAT
Cyclic Write
Number
DS Support
Storage
FbReluctance [171]
Read only
Functional block:
X
115
of 724
3.4
Configuration
171.11
Id Current of MTPF characteristic
FLOAT
-100
0
-100
A
1:1
171.12
Motor constant K
FLOAT
-1
1e9
-1
A
1:1
X
171.13
MTPF Table
FLOAT
-100
0
-100
%
1:1
X
171.14
Nominal flux
FLOAT
0.0001
1e9
1
Vs
1:1
171.15
State field weakening of
IPMSM
DINT
0
10
0
171.20
Magnetic flux
FLOAT
0.0001
1e9
0.1
171.21
State identification nonlinear- UINT
ity
0
0xFFFF
0
1:1
Vs
X
X
X
1:1
1:1
X
X
171.1
Control word reluctance
Bit no.
0
Motor constant determined via Idnom and Inom
1
Calculate motor constant via Lq, Ld and magnetic flux
4…2
Reserved
5
Start identification of Lq, Ld and magnetic flux
6
Start identification of the magnetic flux
8 ... 7
9
13 ... 10
171.3
Meaning
Reserved
Recalculation of the tables
Reserved
14
Transfer of the inductances from autotuning and of the Ke factor from
motor type plate as constant values
15
Calculate MTPF table
Ld curve family
Nonlinear direct axis inductance depending on the currents Isd and Isq. The first index
shows the dependence of Id, the second of Iq.
171.4
Lq curve family
Nonlinear cross inductance depending on the currents Isd and Isq. The first index shows
the dependence of Id, the second of Iq.
116
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171.5
3
Standardized current for inductance curve family
Maximum current for the set of characteristic curves. The curve families Z171.3– and
Z171.4– are standardized to this current.
171.10
Minimum Id Current
Minimum Id current determined by the field weakening controller. This is needed to reduce the flux at high speed and less torque request and to enable a higher torque at high
speed.
171.11
Id Current of MTPF characteristic
Maximum Id current which can be still supplied at a fixed flux. The maximum Id current is
taken from the MTPF characteristic. A higher Id current would not yield a higher torque at
constant flux.
171.12
Motor constant K
Factor
 PM
K = ------------------------------4   Lq – Ld 
The current set values Id and Iq are calculated with this factor.
The motor factor can be calculated automatically via Bit 0 and 1 of parameter Control
word reluctance (Z171.1–). The factor K is calculated via the nominal current and the
nominal Id current at bit 0 and from the mean values of Lq, Ld and the magnetic flux table
(Z171.3–, Z171.4– and Z171.20–) at bit 1.
171.13
MTPF Table
MTPF table according to the flux. 
The table is standardized to the maximum Id current (Z146.12– corresponds to 100%)
and the nominal flux (Z171.14–). The available flux is calculated from the maximum available voltage and the electrical speed. The MTPF table can be calculated automatically
via bit 15 of parameter Control word reluctance (Z171.1–).
117
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3.4
Configuration
171.14
Nominal flux
Standardization for MTPF table. The nominal flux can be calculated automatically with the
MTPF table from the nominal voltage and the nominal speed.
171.15
State field weakening of IPMSM
State of the field weakening
Value
171.20
Meaning
0
No field weakening
1
Reducing of the flux by increasing of the Id current
2
Reducing of the flux by limitation of the Iq current
Magnetic flux
Nonlinear magnetic flux depending on the current.
171.21
State identification nonlinearity
Status of the identification of the Lq, Ld and Ke curve families 
Value
Meaning
0
Inactive
1
Initialization
2
Determination of the maximum speed for the identification
3
Variation of Id
4
Variation of Iq
5
Wait until speed is equal zero
6
Acceleration and switching to measurement, if speed greater than 10%
and speed controller is limited
7 ... 8
9
Reserved
Measurement of Uq, Ud and speed
10 ... 15
Calculation of the magnetic flux
16 ... 17
Determination of the sampling time
18
Reset of the parameters used for the measurement
19
Calculation of the inductance, if the needed current is too high
118
of 724
Value
3
Meaning
20
End
21
Error
22
Timeout
23
Calculation of Ld
24
Recalculation of the tables
119
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3.4
Configuration
3.4.5
Encoder
This software module manages the evaluation and monitoring of the encoder signals.
The following encoder types can be evaluated:
Encoder type
Supply
Signal
Maximum input
frequency
Resolver
Excitation freTransmission ratio
quency 7.8125 kHz 0.5
-
Square-wave incremental encoder
5V
RS422 (TTL)
250 kHz
Sine-Cosine encoder
5V
~ 1 Vpp
250 kHz
Sine-Cosine encoder
with Hiperface®
10 V
~ 1 Vpp
250 kHz
Sine-Cosine encoder
with EnDat®
5V
~ 1 Vpp
250 kHz
Sine-Cosine encoder
with SSI interface
5V
~ 1 Vpp
250 kHz
Maximum input frequency and maximum speed
The maximum input frequency is related to the electrical input signal. This value has effect on the maximum evaluatable speed of the drive, which is possible depending on the
number of pulses.
Incremental encoder:
f input  60
-1
n max,theoretical  min  = -----------------------------------------Number of pulses
Example: Sine-Cosine encoder with a number of pulses 1024:
250 kHz  60
-1
-1
n max,theoretical  min  = ------------------------------- = 14648 min
1024
Resolver
The theoretical maximum speed is limited due to the excitation frequency (7.8125 kHz)
and the number of pole pairs at a resolver.
f excitation  60
7,8125 kHz  60
-1
n max,theoretical  min  = ------------------------------------------------------------------------------------ = -----------------------------------------------------------------------------------20  Number of pole pairs Resolver
20  Number of pole pairs Resolver
Example: Resolver with 1 pole pair
7,8125 kHz  60
-1
-1
n max,theoretical  min  = -------------------------------------- = 23437 min
20  1
120
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3
3.4.5.1 Encoder monitoring
Monitoring of signal amplitude Sin² + Cos²
The controller evaluates the present total amplitude from the sine and cosine traces of the
encoder (Am in ZFig. 45–). At error free operation the sum of the quadrants of the sine
and cosine measuring values is nearly constant. However the signal level is not always
constant, in particular there is a dependence of the angle speed and consequently from
the speed.
The levels for the monitoring of the sin² +cos² value can be set in the parameter Z14.1–
and Z14.2–.
Figure 45:
Sine/Cosine traces and instantaneous amplitude of the encoder signal
Sector monitoring
The sector sequence at the sampling of the encoder traces (sine or cosine signal) is analyzed at this monitoring. Here it is assumed that the sampling rate is at least 4 times the
signal frequency and therefore each quadrant of a signal period is at least sampled once.
Monitoring of square-wave incremental encoder
The levels of the encoder signal are monitored separately at a square-wave incremental
encoder, because a monitoring of the amplitude using sin² +cos² is only restricted possible. The zero trace (zero pulse) is not monitored.
121
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3.4
Configuration
NOTE!
m The amplitude monitoring does not monitor for cable breaks and is only in a limited
position to detect any cable breaks that might be present.
It is not guaranteed that an individual break in one of the sin+/sin- or cos+/coslines will be detected by the form of amplitude monitoring implemented.
m It is not possible, if the machine is stationary, to detect a cable break using the indirect method of amplitude monitoring. If might be possible to detect that a cable
break is present using amplitude monitoring, but the machine must first be started
up.
m The amplitude monitoring and the display in the encoder diagnosis of ProDrive is
only possible up to approximately 18 kHz signal frequency (is equivalent to
n [min-1] = 18 kHz * 60 / number of pulses) at a square-wave incremental encoder. Above this frequency only the special square-wave incremental encoder monitoring is effective.
Monitoring of the position actual value
This monitoring is available at Sine-Cosine encoders with digital interface. The absolute
position, which the encoder calculates, is read out at the digital interface (Hiperface,
EnDat, SSI). This value is compared with the position calculated from sine and cosine
traces and is written in parameter Z14.22– Position monitoring error. If this value exceeds the set error threshold Z14.21–, error 428 is initiated:
428 Encoder monitoring: difference between analog and digital position too high
The response time is max. 5 s. Please consider the setting notes for parameter Z14.21–.
Restrictions:
– Monitoring of Hiperface encoder and EnDat 2.1 is possible from firmware version
1.08.
– Monitoring of SSI encoder is currently not possible.
Field Angle Monitoring on Synchronous Machines
The controller determines the pole wheel direction of the rotor with the aid of the motor
model. This is then compared with the pole wheel direction which is calculated from the
encoder used for motor control. When the monitoring is enabled (i.e. the field angle speed
threshhold Z143.8– is not equal to 0), if there is an angle error greater than 45° (electrical), Bit 8 of Parameter Z143.1– is set and the error message
211 Error While Monitoring the Field Angle
is initiated. The pulse enabling is blocked as a result.
Additionally, the field angle monitoring can be switched on and off by setting the field angle speed threshhold (Z143.8–) as a function of the speed set value. If the speed is less
than the field angle speed threshhold (Z143.8–), the monitoring remains disabled.
Field angle monitoring only functions for the encoder which is set for motor control.
122
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Figure 46:
3
Sin2cos2 Monitoring and Field Angle Monitoring of a Synchronous Machine
123
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3.4
Configuration
3.4.5.2 ProDrive Encoder
Figure 47:
ProDrive Encoder
3.4.5.3 Encoder optimization
The signals of the encoder or of the encoder's attachment are not always correct. The encoder signals can be optimized with different methods. This way correct positioning information and speed information is obtained.
124
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Figure 48:
3
ProDrive encoder optimization
3.4.5.4 Encoder correction
Offset- and amplitude error corrections must be done at all encoders. However, the static
encoder error corrections at the sine incremental, the SinCos Hiperface, the SinCos Endat 2.1 and the SSI encoders are advisable upon completion of first correction.
1. Offset and amplitude error correction
Amplitude and offset of the sinusoidal and cosine tracks are measured here. This way is
optimized, that the unit circle of the sine value and the cosine value is centered and has
a 90% amplitude. On the ProDrive page Encoder diagnosis the measured values can be
included for checking. If the measured points are on the predefined green circle, the angle
and speed measuring have been processed correctly.
125
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3.4
Configuration
Figure 49:
ProDrive Encoder diagnosis
2. Statical encoder error correction
The encoder signals are subject to tolerances. Therefore, the sinusoidal signals and the
cosine signals are not always conform with an exact sinusoidal function. These tolerances can cause speed vibrations with a frequency of speed*PPR (pulses per revolution).
These tolerances are suppressed by using the automatic statical encoder error correction. The offset values of the encoder tracks are fit, so that the speed vibrations are minimized.
Calculation takes place in speed control. Thereby, the setpoint frequency of speed * PPR
(pulses per revolution) must be constant and they must lie between 30 and 500 Hz.
Measuring checks are made with the circular buffer speed (Z18.22–) and the sinusoidal
track (Z106.24–). The measurement at a SinCos Hiperface encoder with 1024 PPR
count in speed control with a set speed of 10 rpm is shown in the following. The relevant
frequency is 
f = 10 rpm * 1024 = 170 Hz.
126
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Figure 50:
Speed and sinus track before statical encoder error correction
Figure 51:
Speed and sinus track after statical encoder error correction
3
127
of 724
3.4
Configuration
3.4.5.5 Excentricity
Vibrations may occur in the speed, with the frequency of the present speed, if the encoder
is not exactly aligned centrically towards the motor shaft. The position error, which was
caused by an encoder eccentricity, cannot be corrected by the positioning controller or by
the speed controller. The position error can be approximated by a sinusoidal function.
Thus, the control error is suppressed on the encoder angle by adding an additional angle
with a sinusoidal function. The amplitude and the phase of this sinusoidal function are automatically determined in ProDrive.
Position deviation
angle 18.61
2p
Encoder excentricity
Phase shifting 106.70
amplitude 106.71
0
2p
Position actual
value 106.10
(angle)
2p
0
Position actual
value 106.10
(angle)
Approximation
a)
0
t
5000_0231_rev02
t
b)
a) Error of encoder excentricity and its approach
b) Variation of the position value angle
Figure 52:
Determination is carried out in current control. The setpoint frequency (speed) must be
constant. It must lie between 0.1 and 500 Hz.
3.4.5.6 Resolver synchronization
The resolver can be operated with two different excitation frequencies, 7.8125 kHz and
8 kHz. By using the 8 kHz thereby the resolver excitation can be synchronized on the
fieldbus. Additionally the phase of the resolver excitation can be set to set the resulting
sine and cosine tracks to a certain time.
128
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Figure 53:
3
Synchronization of the resolver
In ZFig. 53– the synchronization of the resolver is represented. Via bit 4 of parameter
Z106.43– the excitation frequency can be set to 8 kHz and activates the synchronization.
The Dsp interrupt is synchronized to the fieldbus and the resolver tracks (blue) are synchronized to the first Dsp interrupt. The excitation (green) is shifted so that the maximum
of the resulting sine and cosine track is synchronous to the Dsp interrupt. The phase shift
between the Dsp interrupt and the accordant maximums are set via the parameter
Z106.52– and accepts values between 0 and 124 µs. Thereby, the excitation voltages of
the amplitude and the phase towards one another can deviate depending on the impedance of the resolver.
Functional block:
Encoder monitoring [14]
FbEncoder [106]
FbEncoderId [137]
129
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14.1
Type
Min
Max
Default Value Unit
Factor
Min value amplitude SinCos FLOAT
0
141.42
30
%
1:1
14.2
Max value amplitude SinCos FLOAT
0
141.42
125
%
1:1
14.3
Actual value amplitude SinCos
FLOAT
0
141.42
0
%
1:1
X
14.4
Variance of sin²+cos²
FLOAT
0
141.42
0
%
1:1
X
14.5
Average sin²+cos²
FLOAT
0
2896
0
Inc
1:1
X
14.6
Max sin²+cos² variance
FLOAT
0
141.42
100
%
1:1
14.7
Variance quality factor
FLOAT
0
141.42
0
1:1
X
14.8
Absolute range of fluctuation FLOAT
0
141.42
0
%
1:1
X
14.9
Tolerance
FLOAT
0
141.42
50
%
14.10
Max error count amplitude
UINT
0
0x001F
1
14.11
Error count lower limit
UINT
0
0x001F
0
1:1
X
14.12
Error count upper limit
UINT
0
0x001F
0
1:1
X
14.13
Max error count sector
UINT
0
0x001F
1
1:1
14.14
Error count sector
UINT
0
0x001F
0
1:1
14.15
Max error count incremental UINT
encoder
0
0x001F
1
1:1
14.16
Error count incremental
encoder
UINT
0
0x001F
0
1:1
14.17
Encoder error mask
UDINT
0
0x7F
0x1F
14.19
Cycle time variance calcula- UDINT
tion
0
0x7FFFFFFF 10000
14.20
Status variance calculation
UDINT
0
0xFFFF
0
14.21
Position monitoring error
threshold
FLOAT
0.0
360.0
45.0
Grad
1:1
14.22
FLOAT
-360.0
360.0
0
Grad
1:1
106.1
Encoder type
INT
0
8
0
1:1
106.2
Status
UINT
0
0xFFFF
0
1:1
106.3
Encoder options
UDINT
0
0xFFFFFFFF 0
1:1
106.4
Oversampling factor
UINT
0
8
0
Bit
1:1
106.5
Encoder actual angle
UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
106.6
Encoder actual revolutions
UDINT
0
0xFFFFFFFF 0
1:1
X
106.7
Speed
DINT
0x80000000
0x7FFFFFFF 0
Inc/ms 1:1
X
106.8
Time constant speed display FLOAT
0
1000
ms
106.9
Speed filtered
FLOAT
-1.000000e+09 1.000000e+09 0
Grad/s 1:1
X
106.10
Position actual angle 32 bit
UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
106.11
Position actual revolutions
UDINT
0
0xFFFFFFFF 0
1:1
X
106.12
Position actual value
UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
106.13
Motor angle
UDINT
0
4294967295
0
Inc
1:1
X
106.14
Motor angle SI
FLOAT
0
360
0
Grad
1:1
X
106.15
Revolution overflow counter
DINT
0
2147483647
0
1:1
106.16
max value
DINT
0
2147483647
0
1:1
X
106.20
Offset sinus
INT
-2048
2047
0
1:1
X
130
of 724
10
ms
Cyclic Write
Name
DS Support
Number
Storage
Configuration
Read only
3.4
X
X
X
X
1:1
X
X
1:1
X
X
X
X
X
1:1
X
1:1
X
1:1
X
X
X
X
X
X
X
1:1
X
106.21
Offset cosinus
INT
-2048
2047
0
1:1
X
106.22
Gain sinus
UINT
0
2047
1024
1:1
X
106.23
Gain cosinus
UINT
0
2047
1024
1:1
106.24
Sinus signal
INT
-32768
32767
0
1:1
X
106.25
Cosinus signal
INT
-32768
32767
0
1:1
X
106.43
Resolver mode
WORD
0x0
0xFFFF
0x3
1:1
X
106.44
Resolver excitation set ampli- UINT
tude
0
100
55
%
1:1
X
106.45
Resolver excitation act ampli- UINT
tude
0
100
0
%
1:1
106.46
Resolver set phase offset
UINT
0
0xFFFF
20
µs
1:1
106.47
Resolver actual phase offset UINT
0
0xFFFF
0
µs
1:1
106.52
Resolver phase synchroniza- UINT
tion
0
124
0
µs
1:1
106.60
SSI mode
UDINT
0
1:1
106.61
SSI status
UDINT
0
0xFFFFFFFF 0
1:1
106.62
SSI bits angle
UINT
0
31
12
1:1
X
106.63
SSI bits revolutions
UINT
0
31
12
1:1
X
106.64
SSI angle
UDINT
0
0xFFFFFFFF 0
106.65
SSI revolutions
UDINT
0
0xFFFFFFFF 0
106.70
Encoder excentricity angular UDINT
phase shift
0
0xFFFFFFFF 0
Inc
1:1
X
106.71
Encoder excentricity angular UDINT
amplitude
0
0xFFFFFFFF 0
Inc
1:1
X
106.72
State of encoder optimization DINT
0
0xFF
0
1:1
137.1
Number of pulses
UDINT
0
524288
1024
1:1
X
137.2
Number of revolutions
UINT
0
0xFFFF
1
1:1
X
137.3
Encoder data selection
UINT
0
0xFFFF
4
1:1
X
137.4
Notch position offset
UINT
0
0xFFFF
0
1:1
137.5
M0-Offset angle
UDINT
0
0xFFFFFFFF 0
1:1
X
137.6
M0-Offset revolution
UDINT
0
0xFFFFFFFF 0
1:1
X
137.7
M0-Sector position initiator
DINT
-2147483648
2147483647
0
1:1
137.8
Encoder operation time
UDINT
0
0xFFFFFFFF 0
1:1
137.9
Time first commissioning
UDINT
0
0xFFFFFFFF 0
1:1
137.10
Time last refresh
UDINT
0
0xFFFFFFFF 0
1:1
137.20
Type name
STRING
1:1
X
137.21
Serial number
STRING
1:1
X
137.22
Firmware version
STRING
1:1
X
137.23
Firmware date
STRING
1:1
X
137.24
Eprom capacity
UINT
0
0xFFFF
0
Byte
1:1
X
137.25
Data storage capacity
UINT
0
0xFFFF
0
Byte
1:1
X
137.26
Defined fields
UINT
0
128
0
1:1
X
137.27
Datafield status
UINT
0
0xFFFF
0
1:1
X
137.28
Digital resolution
UINT
0
65535
0
Bit
1:1
X
137.29
Position format
UINT
0
65535
0
Bit
1:1
X
137.30
Instruction set
UINT
0
0xFFFF
0
1:1
X
137.31
Resolution of revolutions
UINT
0
65535
0
Bit
1:1
X
137.32
Angle resolution
UINT
0
65535
0
Bit
1:1
X
Inc
Inc
3
X
X
X
X
X
X
X
1:1
X
1:1
X
X
131
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3.4
Configuration
137.33
Signal length
UDINT
0
4294967595
0
nm
1:1
X
137.34
Measure step
UDINT
0
0xFFFFFFFF 0
nm
1:1
X
137.36
Alarm mask
UINT
0
0xFFFF
0
1:1
X
137.37
Alarm buffer
UINT
0
0xFFFF
0
1:1
X
137.38
Warning mask
UINT
0
0xFFFF
0
1:1
X
137.39
Warning buffer
UINT
0
0xFFFF
0
1:1
X
137.42
Parameter of OEM 1, 2
UINT
0
0xFFFF
0
1:1
X
137.43
UINT
0
0xFFFF
0
1:1
X
14.1
Min value sin²+cos²
Minimum threshold value for (sin²+cos²) monitoring of the encoder signals in percent.
14.2
Max value sin²+cos²
Maximum threshold value for (sin²+cos²) monitoring of the encoder signals in percent.
14.3
Actual value sin²+cos²
The value is calculated from the encoder track for (sin²+cos²) monitoring.
14.4
Variance of sin²+cos²
Standardized variance of the (sin²+cos²) actual value.
14.5
Average sin²+cos²
Calculated average value to the normal distribution of the encoder track signals from the
(sin²+cos²) monitoring. The value corresponds to the radius, thus the square root of
(sin²+cos²) and is displayed in the resolution of the A/D converter (2048 is equivalent to
1.0).
132
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14.6
3
Max sin²+cos² variance
Error threshold for the variance monitoring of the (sin²+cos²) value. If the variance exceeds this threshold an error message is set off.
14.7
Variance quality factor
This parameter indicates the quality of the calculated signal variance (Z14.4–) of the
(sin²+cos²) value of the encoder signals. The variance is calculated using the least errors
squared method. The sum of all errors squared is a measure of the quality of the calculated variance and should be as small as possible.
14.8
Absolute range of fluctuation
The absolute range of fluctuation of the (sin²+cos²) measured value in percent.
14.9
Tolerance
14.10
Max error count amplitude
Set value for (sin²+cos²) amplitude monitoring of the encoder signals. At activated monitoring an error message is generated corresponding to the preset numbers of exceedings
or under-runs of monitoring threshold.
14.11
Error count lower limit
Display of how often the minimum threshold (sin²+cos²) has been under-run.
14.12
Error count upper limit
Display of how often the maximum threshold (sin²+cos²) has been exceeded.
133
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3.4
14.13
Configuration
Max error count sector
Set value for the sector monitoring of the encoder signals. At activated monitoring an error
message is generated corresponding to the preset numbers of sector errors.
14.14
Error count sector
Display of how often a sector error has been detected.
14.15
Max error count incremental encoder
Set value for the incremental encoder monitoring. At activated monitoring an error message is generated corresponding to the preset numbers of incremental encoder errors.
14.16
Error count incremental encoder
Display of how often an incremental encoder error has been detected.
14.17
Encoder error mask
Bit field for selecting the active encoder monitors.
When Bit 0 = 1 the encoder monitoring is activated. With Bits 1 to 6 it must be set which
of the several monitorings operate.
When Bit 0 = 0, the encoder monitoring is disabled completely.
Bit no.
Meaning
0
0: Encoder monitoring switched off
1: Encoder monitoring switched on
1
Monitoring of maximum signal amplitude active
2
Monitoring of minimum signal amplitude active
3
Monitoring of sectors active
4
Monitoring of the square-wave incremental encoder active
5
Monitoring of the position initialization active
6
Variance monitoring active
7
Monitoring of the position actual value.
This monitoring must not be enabled at length measuring devices (linear
encoders).
134
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14.19
3
Cycle time variance calculation
Cycle time of the variance calculation in ms.
14.20
Status variance calculation
Internal status of the variance calculation.
14.21
Position monitoring error threshold
Error threshold for position actual value monitoring, see Z14.17– bit 7. Mechanical angle
in degrees.
An electrical angle less than 45° is recommended using synchronous machines. Thus a
positive feedback in the current closed loop can be avoided at a slowly growing position
actual value error. Recommendation for setting:
45°
Error threshold 14.21  ----------------------------------------Pole pairs 107.19
14.22
Present difference between the digital position and the analog position from the sine-cosine traces. Updating interval approx. 500 ms. Mechanical angle in degrees.
Error 14.22 = Digital position – Analog position
The digital resolution Z137.28– and the number of pulses Z137.1– restrict the possible
resolution of the encoder.
106.1
Encoder Type
Selection of encoder type and thus the type of encoder evaluation.
Value
Encoder type
0
No encoder
1
Resolver
Remark
Excitation frequency 7.8125 kHz; 
transmission ratio 0.5;
135
of 724
3.4
Configuration
Value
Encoder type
Remark
2
Square-wave incremental encoder
5V with sensing line; 
signal RS422 (TTL)
3
Sine-Cosine incremental encoder
5V with sensing line, signal ~1 Vpp
4
with Hiperface®
Absolute value encoder of SICKStegmann GmbH; 
incremental signal ~1 Vpp
5
with EnDat®
Absolute value encoder of Dr. Joh.
Heidenhain GmbH with incremental signal ~1 Vpp 
 recognizable by the designation
of order EnDat 01 or EnDat 02 
see Z137.20–
6
Sine-Cosine encoder with SSI inter- Absolute value encoder with increface
mental signal ~1 Vpp
NOTE!
SSI length measuring devices are not supported at the time!
106.2
Status
Status of the encoder
Bit
Description
0
0: Encoder not active
1: Encoder active
1
0: Automatic resolver setting not active
1: Automatic resolver setting active
2
0: Encoder initialization not active
1: Encoder initialization active
15 ... 3
Reserved
136
of 724
106.3
3
Encoder options
Options for encoder evaluation.
Bit
Meaning
Remark
0
Inversion of the encoder
evaluation
1
Automatic signal correction 0: Switched off
1: Activated. An automatic correction of
amplitude and offset of the sine-cosine
signals is carried out.
2
Inversion of the serial read 0: Not inverted
position
1: Inverted (the serial read out absolute position will be inverted)
3
Initialization of HIPERFACE®-encoder with
assignment to analog signal
4
Start of the automatic static
encoder error correction
5
Identification of unbalance
6
Activation of unbalance
compensation
7
Consideration of the
0: The M0 Offset will be added without conencoder’s range at addition
sideration of the range which is clearly disof the M0 Offset
tinguishable by the encoder
1: The range which is clearly distinguishable
by the encoder will be considered at the
addition of the M0 Offset (e. g. overflow at
4096 revolutions)
31 ... 8
0: Not inverted
1: Inverted (mounted with different direction
of revolution)
0: Initialization with the digitally read position
only
1: Initialization with digitally read position and
analog signals (better initialization accuracy, assignment of digital position referring to analog tracks must be available)
Reserved
NOTE!
The automatic signal correction should be used only during commissioning. As soon
as the values for the gain and for the offset correction are determined, the automatic
signal correction should be deactivated and the correction values should be saved
with the parameter set.
At square-wave incremental encoders this function can only be used up to a 18 kHz
signal frequency.
Bit 3
Initialization of HIPERFACE®-encoder assigned to the analog signal
137
of 724
3.4
Configuration
If the bit is set, the analog tracks at initialization of absolute encoders with HIPERFACE®-interface are used. This achieves a higher initialization accuracy. The precondition must be an assignment of the digital position information to the analog tracks
according to the HIPERFACE®-specification. The delivery status of encoders have this
assignment. However, this status can be changed by overwriting the digital position of
the encoder.
If this option is set and the assignment is not specified, error 402 occurs at initialization
of the encoder.
This bit is set to zero at all other encoder types.
106.4
Oversampling factor
Oversampling factor for encoder evaluation.
Meaning of the values:
Value
106.5
Meaning
0
no oversampling
1
2-fold oversampling
2
4-fold oversampling
3
8-fold oversampling
4
16-fold oversampling
5
6
7
8
Encoder actual angle
Current actual value of encoder angle (without offset adjustment) with a fixed resolution
of 32 bits per revolution.
106.6
Encoder actual revolutions
Present actual value of encoder revolutions (without offset adjustment).
The overflow occurs at the number of revolutions, which is set in parameter Z137.2–.
At Sine-Cosine encoder with EnDat® or Hiperface® the read out value will be entered in
Z137.2– automatically.
At other encoder types the overflow for the parameter >106.6< can be defined by the
user via the parameter Z137.2–.
138
of 724
106.7
3
Speed
Display of the actual speed in increments per ms. The resolution is 32 bit increments per
revolution.
106.8
Time constant speed display
Smoothing time constant for the smoothed speed set value (Z106.9–).
106.9
Speed filtered
Filtered value of the speed (only for display, smoothing time constant can be set in
Z106.8–).
106.10
Position actual angle 32 Bit
The parameter shows the angle of the encoder position actual value in 32 bit resolution.
If the encoder is selected for position control, it corresponds with parameter Z18.55–.
106.11
Position actual revolutions
The parameter shows the number of revolutions of the encoder’s actual value position in
32 bit resolution. If the encoder is selected for position control, it corresponds with parameter Z18.54–.
106.12
Combined actual value position of the encoder in position resolution (fixed at 16 bits per
revolution at present). Includes revolutions and angles.
If the encoder is selected for position control, it corresponds with parameter Z18.56–.
106.13
Motor angle
Motor angle in internal resolution.
139
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3.4
Configuration
106.14
Motor angle SI
Motor angle in degrees.
106.15
This parameter counts the overflows of parameter "Encoder actual revolutions"
(Z106.6–) from 0 up to the (maximum value -1). The maximum value is specified in parameter "Revolution overflow counter max value" (Z106.16–).
The counter value is saved retentive after the controller was switched off and on again.
In the off-state position changes of multiturn encoders are detected up to a maximum of
¼ of the position revolution range "Number of revolutions" (Z137.2–). The value of "Revolution overflow counter" (>106.15<) is corrected correspondingly.
The parameter is writable. The controller rejects an input value, which is greater or equal
than the value "Revolutions overflow counter maximum value" (Z106.16–).
106.16
Revolution overflow counter max value
This parameter specifies the maximum counter limit for the encoder revolution overflow
counter (Z106.15–) from which the overflow counter starts with 0 again.
If the value of the parameter is equal to 0 or 1, the parameter Z106.15– does not count.
The parameter is writable. The value Z106.15– is adapted to the new counting range according to a modulo calculation, if a smaller value than the present value of Z106.15– is
written.
106.20
Offset sine
Offset correction for the sine signal. Automatically adjusted when optimization activated.
Can also be set as a fixed parameter.
106.21
Offset cosine
Offset correction for the cosine signal. Automatically adjusted when optimization activated.
140
of 724
3
106.22
Gain sine
Amplification of the sine signal. Automatically adjusted when optimization activated.
106.23
Gain cosine
Amplification of the cosine signal. Automatically adjusted when optimization activated.

106.24
Sine signal
Analog value of sine trace (after correction).
At square-wave incremental encoders the measuring value of the B trace is shown. However the displayed value is only usable up to approximately 18 kHz signal frequency.
106.25
Cosine signal
Analog value of cosine trace (after correction).
At square-wave incremental encoders the measuring value of the A trace is shown. However the displayed value is only usable up to approximately 18 kHz signal frequency.
106.43
Resolver mode
Via this mode the amplitude and the phase adjustment of the resolver can be automated
and the resolver frequency and the evaluation procedure can be set.
Bit
Meaning
0
0: manual setting
1: automatically amplitude setting
1
0: manual setting
1: automatically phase setting
3 ... 2
4
Reserved
Resolver frequency
0: 7.8125 kHz without synchronization on the fieldbus
1: 8 kHz with synchronization on the fieldbus
141
of 724
3.4
Configuration
Bit
Meaning
6 ... 5
Reserved
7
15 ... 8
106.44
0: Standard evaluation
1: Reevaluation
Reserved
Resolver excitation set amplitude
Amplitude set value of the resolver excitation is overwritten after the activation of the
Z106.43– bit 0, and no longer can be set manually. At the automatic setting the excitation
amplitude is increased until the maximum complies with 90% of the AD conversion range.
106.45
Resolver excitation act amplitude
Actual value of the amplitude of the resolver excitation.
106.46
Resolver set phase offset
Set value of resolver excitation phase is overwritten after Z106.43– bit 1 was activated
and cannot be set manually anymore. This phase marks the shifting of the excitation frequency to the evaluation. At an automatic setting the phase is set in such a way that the
evaluation is always carried out at the maximum of the sine and cosine track.
106.47
Resolver actual phase offset
Actual phase value of the resolver excitation.
106.52
Resolver phase synchronization
Setting of the phase shifting of the resolver tracks dependent on the DSP interrupt. Then
bit 4 of Z106.43– still must be activated.
Configuration examples:
– Z106.43– = 0x0003: Resolver standard setting, resolver frequency = 7.8125 kHz
without synchronization on the fieldbus with automatic amplitude and phase setting
– Z106.43– = 0x0083: Resolver reevaluation, resolver frequency = = 7.8125 kHz
without synchronization on the fieldbus with automatic amplitude and phase setting 
142
of 724
3
_________________________________________________________________
– Z106.43– = 0x0093: Resolver reevaluation, resolver frequency = 8 kHz with synchronization on the fieldbus and automatic amplitude and phase setting

Here the required phase shift to the DSP interrupt with >106.52< can be set.
– Z106.43– = 0x0092: Resolver reevaluation = 8 kHz with synchronization on the
fieldbus. However, with an automatic phase setting and an manual amplitude setting. Here the following procedure shall be complied with:
106.60
1.
Setting of Z106.20– (Z106.21–) = 0 and Z106.22– (Z106.23–) = 1024.
2.
Set the excitation set-amplitude manually by Z106.44–, until the value is 
displayed at Z14.3– by about 85%.
3.
Set the required phase shifting to the DSP interrupt by >106.52<.
SSI mode
Setting of transmission and the data format: 
Bit
Meaning
9 ... 0
Reserved
13 - 10
Baud rate
Value
Meaning
0
100 kHz
1
199 kHz
2
399 kHz
3
1,014 MHz
4
1,974 MHz
5 ... 15
Reserved
14
Binary code / Gray code
0: Transmitted in binary code
1: Transmitted in Gray code
15
Reserved
16
Parity
0: Transmitted without parity bit
1: Transmitted with parity bit
17
Even parity / odd parity
0: Even parity (bit 16 is set)
1: Odd parity (bit 16 is set)
31 ... 18
Reserved
143
of 724
3.4
Configuration
106.61
SSI status
Status of SSI transmission: 
Bit
0
Transmission activity
0: Transmission is not active
1: Transmission is active
1
Validity of data
0: The encoder data is invalid (parity error)
1: The output data is valid
2
Reserved
3
Parity error
0: No parity error
1: Parity error
31 … 4
106.62
Meaning
Reserved
SSI bits angle
Setting of bit numbers to transmit the angle (0 to 31).
106.63
SSI bits revolutions
Setting of bit numbers to transmit revolutions (0 to 31).
106.64
SSI angle
There is a 32 bit value for the SSI angle (singleturn) in increments, which is directly read
by the encoder.
106.65
SSI revolutions
There is a 32 bit value for the SSI revolutions (multiturn), which is directly read by the encoder.
106.70
Encoder excentricity angular phase shift
The phase of the sinusoidal additional angle in order to compensate excentricity.
144
of 724
106.71
3
Encoder excentricity angular amplitude
The amplitude of the sinusoidal additional angle in order to compensate excentricity.
106.72
State of encoder optimization
Status
Meaning
0
Inactive
1
Initialization
2
Measuring for static encoder error correction
3
Measuring for the determination of eccentricity
4
Calculation of amplitude and phase of the measured value
5
Offset correction at static encoder error correction
6
Calculation of amplitude and phase of eccentricity
7
End
8
Error, setpoint frequency not constant
9
Error, setpoint frequency too low
10
Error, setpoint frequency too high
11
Offset error and amplitude error correction active
145
of 724
3.4
137.1
Configuration
Number of pulses
Displays the number of pulses or the number of pole pairs of the encoder or serves for
the setting of the encoder.
Type of encoder
Meaning
Resolver
Number of pole pairs of the
resolver
Square-wave incremental
encoder
Number of pulses of the
incremental encoder
Sine-Cosine encoder
SSI encoder
Remark
Data must be entered using
the data sheet and saved in
Number of sine periods per the data set
revolution
Number of sine periods per
revolution
Sine-Cosine encoder with  Number of sine periods per Rotary encoder: The value
will be read out automatically
EnDat® 2.1 or Hiperface® revolution
from the encoder
Length measuring devices:
The user must enter the
value
The PPR count in the parameter >137.1< must be entered and saved at length measuring devices with sinusoidal tracks.
m If the length measuring device is used to operate a linear motor the PPR count is
calculated as follows:
2  Pole pair number  Pole pitch [mm]
PPR count = -------------------------------------------------------------------------------------------Length of the signal period [mm]
In parameter Z137.33– the read length of the signal period is shown at EnDat 2.1
or Hiperface.
The pole pitch ("length of a magnet") is described in the motor data sheet.
It is recommended to use the value 1 for the pole pair number. If the PPR count
doesn't amount to an integer, then the pole pair number must be increased until an
integer is reached.
Alternatively the PPR count calculation can be performed in ProDrive under "ConfigurationMotor\Linear-Motor".
Hereby, >107.67< Pole pitch, Z107.19– Pole pair number >106.28< Division distance measuring system (accords to the length of the signal period) must be entered
and "Calculate rotary parameters" must be pressed. The PPR count in the parameter >137.1< is entered.
m If the length measuring device is used to control the position only (Z18.9– Controller
options bit 0 = 1) the user must set the PPR count accordant to the existing mechanical structure.
146
of 724
137.2
3
Number of revolutions
The full revolution number of the connected encoder is specified. The read absolute position is clear within this revolution number.
At rotary encoders with EnDat or Hiperface protocol the value is read from the encoder
and is written into this parameter.
At length measuring devices with EnDat - or Hiperface protocol the value is calculated
with the read encoder data (Z137.29– Position format, Z137.33– Signal length,
Z137.34– Measure step) and the set PPR count is calculated, the result is rounded up
and is entered in this parameter.
Position format
2
 Measure step [mm]
Revolutions = ---------------------------------------------------------------------------------PPR count  Signal length [mm]
At encoders with SSI protocol the parameter is set by means of the setting in Z106.63–
SSI bits multiturn.
137.3
Encoder data selection
Specifies which data will be read automatically from the encoder identification plate after
switch-on.
Bit
0
Read motor identification plate (motor data) from encoder
1
Read absolute value offset (M0 offset) from encoder
2
Read notch position offset from encoder
3
Read variable operating data from encoder
15 ... 4
137.4
Meaning
Reserved
Notch position offset
Displays the value of the mechanical angle for the notch position.
137.5
M0-offset angle
Absolute distance (angle fraction, only). Offset between the encoder coordinate system
and the machine coordinate system.
Concerning details, see Z137.6– M0-Offset Revolutions
147
of 724
3.4
137.6
Configuration
M0-offset revolutions
Absolute distance (revolution fraction, only). Offset between the encoder coordinate system and the machine coordinate system.
The absolute distance is the offset between the encoder coordinate system (of the encoder actual value as it is read from the absolute value encoder Z106.5– and Z106.6–) and
the position coordinate system (Z106.10– / Z106.11– / Z106.12–). The M0-Offset is
added to the read encoder actual value at each initialization. Due to this, the requested
position coordinate system (machine coordinate system) results directly.
Encoder
coordinates
0
Position
coordinates
0
Reference point
M0 offset
Figure 54:
Absolute value offset
Homing sets the M0-Offset automatically (see ZAutomatic setting of the absolute value
offset at homing– on page 509).
It only makes sense to use an M0-Offset with absolute value encoders. Furthermore, the
encoder's range must cover the total traversing range of the drive.
It can be selected at addition of the M0-Offset, whether the range (Z137.2– Number of
Revolutions) which is clearly represented by the encoder should be taken into account or
not. This is defined in parameter Z106.3– Encoder options bit 7.
If the represented range should be taken into account, an overflow occurs at addition of
the M0-Offset at Z137.2– Number of Revolutions. In this case the parameter Z137.6–
M0-Offset Revolutions is ineffective at singleturn encoders.
A change of the M0-Offset takes effect after switching on or after an encoder initialization.
The M0-Offset is not influenced when writing the parameters.
137.7
M0-sector position initiator
Offset of the position zero proximity switch for the machine zero position.
137.8
Encoder operating hours
Encoder Operating Hours
148
of 724
137.9
3
Time first commissioning
Time of the first commissioning of the machine or the encoder
137.10
Time last refresh
Time of the last time update of the encoder. Time stamps are written periodically to the
encoder (not yet implemented).
137.20
Type name
Model name of the encoder.
The following strings are displayed for encoder without communication (without serial
data interface):
m Resolver
„
Resolver“
m Square-wave incremental encoder (5 V; TTL): „ Incremental encoder“
m Sine incremental encoder (~1 Vpp):
„
Sine incr. encoder“
Encoder with communication:
m Sine-Cosine encoder with SSI interface: „SSI encoder“
m Sine-Cosine encoder with Hiperface®:
The identification is displayed depending on the read type identification:
e.g.:
SRM 60 with identification 27hex: „SRM 50/60 / SCM-Kit 101“ 
SKS 36 with identification 32hex: „SKS 36“
unknown identification:
„unknown“
m Sine-Cosine encoder with EnDat®
The specified name is composed as follows:
Type of encoder + designation of order + EnDat version + EnDat instruction set
e.g.:
Multiturn encoder EQN1325
designation of order 01; EnDat version 02; instruction set 2.2;
Z137.20– = „MultiRotaryED01-2.2“
Singleturn encoder ECN1313
designation of order is not in electronic type plate; EnDat version 02; 
instruction set 2.1;
Z137.20– = „SingleRotaryEDxx-2.1“
137.21
Serial number
Serial number of the encoder.
149
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3.4
Configuration
137.22
Firmware version
Firmware version of the encoder.
The version of the EnDat® interface is displayed at EnDat® encoder. Only the incompatible part of the version will be displayed. The compatible part (to the right of the decimal
point) is missing.
137.23
Firmware date
Date of the encoder firmware version.
137.24
Eprom capacity
Size of the usable OEM memory
137.25
Data storage capacity
Total storage capacity of the encoder
137.26
Defined fields
Only for Stegmann encoders: number of defined OEM memory data fields
137.27
Data field status
Only for Stegmann encoders: status of the defined data fields. See Stegmann manual for
meaning
137.28
Digital resolution
The parameter shows the resolution oft he the digital position in bits per revolution. It is
operated only with rotary encoder with EnDat - or Hiperface -encoders.
150
of 724
137.29
3
Position format
The parameter is set at EnDat - and Hiperface -encoders only.
It displays the resolution of the digital position value, which is read out of the encoder. The
parameter corresponds to the angle resolution at singleturn encoders. The sum of the
resolution of angle and revolutions is displayed at multiturn encoders.
The total resolution of the position value is displayed at length measuring systems.
137.30
Instruction set
The parameter is only valid for EnDat® encoders.
It displays the supported instruction set as well as type specific information of the connected encoder.
Bit
Meaning
1 ... 0
01: Instruction set type 2.2 is supported
3 ... 2
01: safety relevant applications are supported
5 ... 4
01: Mode command "Measuring device receives comm. command" is 
supported
7 ... 6
01: Shutdown of instruction set type 2.2 is supported
Residual
Reserved
Only measuring devices with Bit 0 = 1 and Bit 1 = 0 support the functions of EnDat® version greater or equal 2.2.
137.31
Number of bits revolution counter
It displays the resolution of the digital position value (number of bits) in the area of revolution of multiturn encoders.
The parameter displays 0 at singleturn encoders and length measuring devices.
137.32
Angle bits
It displays the resolution of the digital position value (number of bits) in the area of angle
at encoders or angle measuring devices.
151
of 724
3.4
Configuration
137.33
Signal length
The parameter is set at EnDat - and Hiperface -length measuring device ("linear encoders") only.
It displays the length of a signal period in the unit nm.
137.34
Measure step 1
The parameter is set at EnDat - and Hiperface -length measuring device ("linear encoders") only.
The parameter displays the measuring step which will be output from the measuring intrument at the serial transfer of the position value. The unit is nm.
137.36
Alarm mask
The supported error messages of the connected encoder type are shown here.
Bit
0
1: Illumination failure
1
1: Signal amplitude
2
1: Position value
3
1: Overvoltage
4
1: Undervoltage
5
1: Overcurrent
6
1: Battery defect
Residual
137.37
Supported error messages
Reserved
Alarm buffer
The error messages of the connected encoder type are displayed in this parameter. The
encoder sends an error message if the malfunction can result in wrong position values.
152
of 724
3
The cause of error will be displayed in this parameter.
Bit
Monitoring according to
0
1: Illumination failure
1
1: Signal amplitude faulty
2
1: Position value faulty
3
1: Overvoltage occurred
4
1: Undervoltage supply
5
1: Overcurrent occurred
6
1: Battery change needed
Residual
Reserved
Not generally all error messages were supported (see Z137.36– Alarm mask).
The controller responds to a set error bit with a corresponding error (error numbers 406
to 412).
137.38
Warning mask
The supported warnings of the connected encoder type are shown.
Bit
0
1: Collision of frequency
1
1: Excess temperature
2
1: Lighting controller reserve
3
1: Battery load
4
1: Reference point crossed
Residual
137.39
Supported warnings
Reserved
Warning buffer
The warnings of the connected encoder type are displayed in this parameter. The exceeded requirements of tolerance for specific encoder internal values are displayed.
It is not assumed that position value are wrong at warnings contrary to error messages.
153
of 724
3.4
Configuration
Bit
Description
0
1: Collision of frequency
1
1: Excess temperature
2
1: Lighting controller reserve reached
3
1: Battery load to small
4
1: "Reference point crossed" will be supported
Residual
Reserved
Not generally all warnings were supported (see Z137.38– Warning mask).
The controller responds to a set warning with a corresponding error (error numbers 417
to 421). These can be always acknowledged.
137.42
137.43
Parameter of OEM 1, 2
These two parameters are only valid for EnDat® encoder.
The available OEM memories are displayed.
The controller uses these areas for the Baumueller motor type plate.
154
of 724
3.4.6
3
Autotuning of Current controller
At present, the following three measurements have been implemented for the autotuning
function:
m Stator resistance measurement,
m Leakage inductance measurement (stator inductance measurement on synchronous
machines)
m Dead time measurement on the power inverter
After the measurements have been performed successfully, the current control circuit can
be self-optimized on command. In ProDrive you can decide whether the modeling parameters used for motor control should be set to the values of inductance and resistance from
the motor data sheet or from the results of the autotuning. The dead time compensation
can also be activated via ProDrive.
NOTE!
With the function "Self-optimization" additional parameters cannot be determined for
the motor model of the connected electrical machine!
BM3000 is not an intelligent measuring device for electrical machines!
With the function "Self-optimization" the control engineering characteristics are determined only. This includes the electrical machine, the cable as well as additional filters
between inverter output of motor and the motor connection terminals.
Dead time compensation is not absolutely necessary when operating with encoder response. Dead time measurement need only be carried out for open loop operation and
the dead time compensation then activated.
Starting autotuning:
m The resistance and inductance measurements can only be started together.
m The dead time measurement can only be started if the resistance and inductance measurements are also activated at the same time.
m After change of switch frequency (Z130.15–) the dead time measurement must be executed again depending on the controller version (see ZDead Time Compensation–
from page 417)!
If desired, the calculation and adoption of the measured resistance and inductance must
be activated in the current regulator parameters (Z123.10– bit 3 = 1) before the measurement. The measured resistance is standardized to 20°C, if a temperature sensor is
connected to measure the motor temperature. If the measurement results are not satisfactory, these parameters can be recalculated from the motor data sheet or be set directly
with other values.
The adoption of the measured motor parameters into the motor control system and the
activation of the dead time compensation is only allowed if the corresponding measurements have been carried out successfully. Otherwise the motor control system uses the
values from the motor data sheet.
The autotuning only has an effect on the current data set.
155
of 724
3.4
Configuration
3.4.6.1 ProDrive Autotuning of the Current controller
Figure 55:
ProDrive Autotuning of the Current Controller
Name
Type
Min
Max
Default Value Unit
Factor
123.1
Mode
UDINT
0
0xffffffff
1
1:1
123.2
Status
UDINT
0
22
0
1:1
X
123.4
Display max. current
FLOAT
0.00
100.00
0.000000e+00 A
1:1
X
123.6
Result Rs
FLOAT
0.000
0.100
0.0017
Ohm
1:1
X
123.7
Result inductance
FLOAT
0.00
100.00
0.064
mH
1:1
X
123.8
Result current controller Kp
FLOAT
0.00
10.00
0.00
V/A
1:1
X
156
of 724
Cyclic Write
Number
DS Support
Storage
Autotuning of the Current Controller [123]
Read only
Functional block:
X
123.9
Result current controller Tn
FLOAT
0.00
10.00
0.00
123.10
Parameters takeover
DINT
0
15
0
123.12
Time constant of step
response
FLOAT
0,00
100,00
0,00
123.14
Normalized error
FLOAT
0.00
1.00
123.15
Dead time compensation
table
FLOAT
-100
100
123.33
Magnetization inductance
look up table
FLOAT
0.0
100.0
1
123.35
Result Rr
FLOAT
0
100
0
123.39
Speed for Lh identification
FLOAT
0
0xFFFFFFFF 30
ms
1:1
X
1:1
X
ms
1:1
X
0.00
%
1:1
0
V
1:1
X
1:1
X
Ohm
1:1
%
1:1
3
X
X
X
123.1
Mode
The contents of the identification can be set with this parameter .
Bit
Meaning
0
Mode motor resistance and inductance measurement
0: No measurement
1: Measurement
1
Mode dead time measurement
0: No measurement
1: Measurement
2
Reserved
3
Mode of the adaption of the dead time compensation after the PWM frequency:
0: Not activated
1: Activated
4
Motor diagnosis:
0: Not activated
1: Activated
The motor diagnosis will be initiated if only bit 4 is activated and all other
bits were deactivated.
To bit 3: Mode of the adaption of the dead time compensation after the PWM frequency:
– If the adaption is requested, the bit must be set before the measurement and then
must remain the same.
– If the bit is changed, the dead time voltage measurement must be repeated.
– If the adaption is activated, the dead time measurement values are converted to values corresponding to a PWM frequency of 8 kHz and subsequently stored in the
dead time correction table Z123.15–. The effective dead time voltage for the dead
time compensation is adapted according to the presently used switch frequency.
157
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3.4
Configuration
This can be different to the switch frequency at the moment of the measurement.
Better dead time compensation is reached if the used switch frequency and switch
frequency at the time of measurement are equal.
NOTE!
There is no way proving, if dead time measurement was executed by "Adaption according to PWM frequency", successfully.
123.2
Status
This parameter shows the current status of the identification.
Value
Meaning
0
Identification inactive or completed
1
Preparation for identification
2
Identification starting
3
Switch on voltage setting
4
Voltage setting
5
Starts identification of the resistance
6
Identification of resistance or inductance
7
Error during identification of resistance or inductance
8
9
Identification of dead time in progress
10
11
12
13
Error during identification of dead time
14
Identification ready
15
Identification switched off
16
Identification cannot be switched on
17
Identification error: Set Value voltage too great.
18
Identification error: Voltage limit accessed
19
Identification error: Timeout (60 seconds) while measuring the resistance
20
Identification interrupted
21
Identification finished successfully
22
Identification switched off / aborted
30
Motor diagnosis active
158
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123.4
3
Display max. current
This parameter shows the maximum current during the identification. The value arises
from the lowest value of either the nominal current (Z107.9–) or 70% of the "Power unit
peak current" (Z6.25–), or 70% of the "Power unit nominal current" (Z6.26–) if the overload time (Z129.22– Max. peak current duration) is less than 3 seconds or if the PU overload monitoring occurs via temperature model (see Status PU temperature model
Z175.2–).
123.6
Result Rs
This parameter shows the identified stator resistance, including the resistance of the
IGBT and the motor cable. In the case of asynchronous motors, the rotor resistance is not
included.
123.7
Result inductance
This parameter shows the identified inductance of the motors. Conversion from motor data:
SM:
sig_Ls = Lm + Ls ;
ASM:
sig_Ls = Ls + Lr .
The following pictures show the equivalent circuits for the asynchronous machine (ASM)
and the synchronous machine (SM) at standstill.
rs:
rr :
Ls :
Lr :
Lm :
Stator resistance
Rotor resistance (on the stator side)
Leakage inductance of stator
Leakage inductance of rotor (on stator side)
Magnetizing inductance (main inductance = LH)
Figure 56:
Equivalent circuits of ASM (left) and SM (right) at standstill
159
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3.4
Configuration
123.8
Result current controller Kp
This parameter shows the calculated current controller Kp value at a PWM frequency of
4 kHz.
123.9
Result current controller Tn
This parameter shows the identified reset time for the current controller.
123.10
Parameters takeover
Bit no.
Meaning
0
Reserved
1
Accept identified Lh-characteristic
2
Smooth the dead time table
3
Parameter for motor control from:
0: Motor type plate
1: Identification
The identified parameters are used internally for the motor control, if bit 3 is active.
NOTE!
There is no way to prove, if autotuning was successful.
The following parameters are written to:
1
Z47.7– P-gain Iq = Z47.9– P-gain Id 
The P-gains entered always refer to 4 kHz PWM. The adjustment of the PWM frequency to other frequencies takes place internally, automatically.
2
Z47.8– Reset time Iq = Z47.10– Reset time Id
3 Motor parameters that are relevant to decoupling feedforward, IxR feedforward and
current prediction in the current controller:
– Synchronous motor
Z107.29– Stator resistance
Z107.34– Inductance Lq
Z107.35– Inductance Ld (with Parameter 107.35 = Parameter 107.34)
– Asynchronous motor
Z107.29– Stator resistance
Z107.30– Stator leakage inductance
160
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3
Z107.31– Rotor resistance
Z107.32– Rotor leakage inductance
A total of 4 parameters are entered in the current controller module and 3 or 4 parameters
in the motor identification plate module. Additionally, it is possible to calculate the current
controller with the identified parameters in ProDrive.
123.12
Time constant of step response
This parameter displays the identified time constant for asynchronous motors. The current level for this is approx. 80% (current rise from 75% to 85%) of the maximum current
(Z123.4–). For synchronous motors the current level is 85% (current rise from 75% to
95%) of the maximum current and from that the value can be compared with the Result
Current Controller Tn (Z123.9–) in order to assess the saturation effects. A clear saturation effect is present if the step response time constant is clearly less than the value of
the Result Current Controller Tn (Z123.9–) parameter. The parameter Z123.9– has in
effect been measured with a current of 50% of the maximum current (Z123.4–).
123.14
Normalized error
This parameter shows the normalized error that has been established while determining
the step response time constant (Z123.12–). The quality of the evaluation can be assessed from the value and a value of less than 5% can be considered good.
123.15
Dead time compensation table
Table of the current-dependent correction of the voltage setting based on the measured
IGBT dead time.
The table is displayed graphical in ProDrive on page "Autotuning current controller" by
clicking on button "Dead time compensation".
NOTE!
Up to Firmware version V01.08: The table is valid for the set operating frequency of
the power unit at time of measurement, only. Measurement for the dead time compensation must be made again if the operating frequency (Z130.15–) was changed!
From Firmware version V01.09: If the correction table (dead time) is measured during
the adaption of the dead time compensation according to the PWM frequency is active (Z123.1– bit 3 = 1), the effective voltage of the dead time compensation is corrected according to the effective PWM frequency. Therefore, a dead time
measurement after a change of the PWM frequency is not necessary anymore. However, the best results are generally reached if the used PWM frequency corresponds
to the PWM frequency at the moment of the dead time measurement.
161
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3.4
Configuration
NOTE!
The dead time measurement must be repeated, if the IGBT dead time (Z129.9–) was
changed.
123.33
Magnetization inductance look up table
Table for Lh-Im-characteristic. Standardized to the nominal inductance.
123.35
Result Rr
This parameter shows the identified rotor resistance of an asynchronous motor.
123.39
Speed for Lh identification
Speed (in % of the nominal speed), at which the Lh identification is executed.
162
of 724
3.4.7
3
Ks Measurement
The Ks factor measures the accelerating power and is made up of the entire inertia torque
J and of the speed constant Kt of the motor:
Kt
Ks = -----J
Two option to measure the Ks factor are in the BM3300. On the one hand via an acceleration and braking procedure and on the other hand via the FFT module. The speed controller as well as the Ks must be preset. Recommended values are Kp = 60 1/s for the
gain and Tn = 0.3 s for the reset time, whereas the parameter Ks can be preset by about
twice the estimated value or by an empirical value.
During the first measuring procedure the following measuring model is used:
isq   t  = a  d  + b   + c
dt
where:
0  N1    N2
and
1
Ks = --a
in this model. Ks has units of [degreesA/s²] and  is the speed in [degrees/s]. The factor
b is the coefficient of friction (see Z52.9– Load Friction factor). For the determined friction
c at standstill, see Z52.10– Load Friction.
An incorrect Ks factor in the speed controller results in the acceleration feedforward being
incorrect (converted to current) and the controller parameter Kp not being correctly normalized.
The prerequisites for the Ks measurement are:
1
Current controller and motor control have correctly set parameters,
2
Set Value generator and ramp function generator have parameters set,
3
Drive is running with speed control (or position control) with set value generator and
with provisionally set control parameters.
The second option mainly is used if the motor already was included in the application and
may cover a specific distance only. Additionally the erasing and resonant frequency as
well as load inertia and spring and damping constant can be determined at the two mass
oscillating system. Information about this in the ZAutomatic controller and filter setting–
from page 629.
Functional block:
KsMeasurement [52]
163
of 724
Type
Min
Max
Default Value Unit
Factor
52.1
Command status
UINT
0
100
0
1:1
52.2
Mean speed 1
FLOAT
-1000000
1000000
0
Grad/s 1:1
X
52.3
Mean speed 2
FLOAT
-1000000
1000000
0
Grad/s 1:1
X
52.4
Mean Isq 1
FLOAT
-10000
10000
0.000000e+00 A
1:1
X
52.5
Mean Isq 2
FLOAT
-10000
10000
0.000000e+00 A
1:1
X
52.6
Ks result accel.
FLOAT
-1.000000e+00 1,00E+09
0.000000e+00 Grad/
s2/A
1:1
X
52.7
Ks result deceleration
FLOAT
-1.000000e+00 1,00E+09
0.000000e+00 Grad/
s2/A
1:1
X
52.8
Ks result mean value
FLOAT
-1.000000e+00 1,00E+09
0.000000e+00 Grad/
s2/A
1:1
X
52.9
Load friction factor
FLOAT
-10000
10000
0
A/
1:1
Grad/s
X
52.10
Load friction
FLOAT
-10000
10000
0
A
X
52.12
Amplitude for FFT
FLOAT
-1e9
1e9
0
52.15
Kp identification
FLOAT
0
1000000
0
1/s
1:1
X
52.16
Tn identification
FLOAT
0
1000000
0
s
1:1
X
52.17
Phase margin
FLOAT
0
89
60
Grad
1:1
1:1
Cyclic Write
Name
DS Support
Number
Storage
Configuration
Read only
3.4
1:1
52.1
Command status
Value 1 starts the Ks measurement via the acceleration and braking procedure and via
the value 40 the FFT module is started. If the Ks measurement starts both axes via the
FFT module then the axis remains in the waiting state until the other axis has finished and
then starts automatically because the FFT module exists once only. Additionally the
speed controller parameter in dependence of the phase reserve, the PWM frequency, the
sampling time and encoder smoothing can be calculated.
The current status is also displayed here.
Meaning of the parameter:
Value
Meaning
0
Inactive
1
1: The Ks measurement will be started
2
Initialization
3
Field buildup with asynchronous motor
4
Wait for constant set speed Speed_1 (Parameters Z132.10– and 
Z132.14–) 1)
164
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Value
3
Meaning
5
Settling to constant speed Speed_1 1)
6
Constant speed Speed_1 1)
7
Acceleration
8
Settling to constant speed Speed_2 (Parameters Z132.12– and 
Z132.16–) 2)
9
Constant speed Speed_2 2)
10
Braking
11
Calculating Ks
12
Not used
13
Calculation complete
14
End
15
Not used
16
Error: Time for speed Speed_1 1) less than 2 seconds
17
Error: Time for speed Speed_2 2) less than 2 seconds
18
Error: Time for acceleration less than 0.1 seconds
19
Error: Time for braking less than 0.1 seconds
20
Error: Time for Speed_1 1) or Speed_2 2) or acceleration or braking phases
greater than 120 seconds
21
Error: Set speed Speed_1 or Speed_2 too low, < 10 degrees/s
22
Error: Determined value of Ks would be negative because acceleration value
too low
23
Error: Determined value of Ks would be negative because acceleration value
too low during braking
24
Error: Speed deviation too great (>5%)
25
Error: Incorrect acceleration sign during acceleration or braking
26
Error: Set acceleration not equal to ZERO at constant speed
27
Error at the Ks measurement with FFT module
40
Start Ks measurement with FFT module
41
Wait until the FFT module is available
42
Measurement using the FFT module is active
43
Calculation of the speed controller parameters
1)
2)
Speed_1  Z132.10– = Z132.14–
Speed_2  Z132.12– = Z132.16–
165
of 724
3.4
52.2
Configuration
Mean speed 1
Display of the determined speeds while the drive is being operated at constant speed
Speed_1.
52.3
Mean speed 2
Display of the determined speeds while the drive is being operated at constant speed
Speed_2.
52.4
Mean Isq 1
Display of the determined torque-producing currents while the drive is being operated at
constant speed Speed_1.
52.5
Mean Isq 2
Display of the determined torque-producing currents while the drive is being operated at
constant speed Speed_2.
52.6
Ks result acceleration
Display of the Ks results determined during an acceleration procedure. The two values
(52.6 and 52.7) should not differ too greatly (+/-10%). A negative value means that the
measurement was unsuccessful.
52.7
Ks result deceleration
Display of the Ks results determined during a braking procedure. The two values (52.6
and 52.7) should not differ too much (+/-10%). A negative value means that the measurement was unsuccessful.
52.8
Ks result mean value
Display of the Ks value determined. The value is the result of averaging Parameters 52.6
and 52.7. A negative value means that the measurement was unsuccessful.
166
of 724
52.9
3
Load friction factor
The determined coefficient of friction, b, is displayed here in units of [As/degree].
52.10
Load friction
The determined friction at standstill, c, is displayed here in units of [A]. The determined
friction at standstill can have a different sign for different directions of revolution.
52.12
Amplitude for FFT
Axis-dependent amplitude for the starting signal of the Ks measurement. When starting
the Ks measurement with FFT this signal is put on the parameter Z104.12– and starts
the distance via the lsq additional set value (Z19.17–).
52.15
Kp identification
Optimized gain of speed controller form the identification.
52.16
Tn identification
Optimized reset time of the speed controller from the identification.
52.17
Phase margin
Setting of the required phase margin which the speed controller was designed to.
167
of 724
3.4
Configuration
3.4.8
Digital Inputs
The controller has four digital inputs. The inputs DI1 and DI2 are quick and are suitable
for the touch probes.
Any function can be selected for the inputs DI1 to DI3.
The function "Pulse enable" is on digital input DI4. DI4 cannot be inverted.
When using the quick stop, the assignment "Quick stop - DI1" is recommended.
Only ONE FUNCTION per input may be selected. With one function, one input linking per
input can be used at the same time (see also Operating Mode for Digital Input 1,
Z116.2–).
Normally the inputs are invertible. An inversion of the input does not effect on the "Pulse
enable" function and "Measuring probe" function. Only the hardware status of the respective input is significant for these functions (for this see Z116.1– Status Digital Inputs).
Function
DI1
DI2
DI3
Pulse enable
Measuring probe
DI4
HW
HW
HW
Error reset
X
X
X
Quick stop
X
X
X
Controller enable
X
X
X
Neg. HW limit switch
X
X
X
Pos. HW limit switch
X
X
X
Zero-point-sw
X
X
X
Reset time stamp
X
X
X
Brake feedback
X
X
X
X
3.4.8.1 ProDrive Digital Inputs
Figure 57:
ProDrive Digital inputs
168
of 724
3
Name
Type
Max
Default Value Unit
Factor
116.1
Status digital inputs
DWORD 0
0xFFFFFFFF 0
1:1
116.2
Mode digital input 1
WORD
0
0xFFFF
0
1:1
X
116.4
Target number digital input 1 UDINT
0
0xFFFFFFFF 0
1:1
X
116.5
Bit selection digital input 1
DWORD 0
0xFFFFFFFF 0
1:1
X
116.6
Set bit pattern for LOW state DWORD 0
digital input 1
0xFFFFFFFF 0
1:1
X
116.7
Set bit pattern for HIGH state DWORD 0
digital input 1
0xFFFFFFFF 0
1:1
X
116.8
WORD
0
0xFFFF
0
1:1
X
116.10
0
0xFFFFFFFF 0
1:1
X
116.11
DWORD 0
0xFFFFFFFF 0
1:1
X
116.12
digital input 2
0xFFFFFFFF 0
1:1
X
116.13
digital input 2
0xFFFFFFFF 0
1:1
X
116.14
WORD
0
0xFFFF
0
1:1
X
116.16
0
0xFFFFFFFF 0
1:1
X
116.17
DWORD 0
0xFFFFFFFF 0
1:1
X
116.18
digital input 3
0xFFFFFFFF 0
1:1
X
116.19
digital input 3
0xFFFFFFFF 0
1:1
X
116.20
WORD
0
0xFFFF
0
1:1
X
116.22
0
0xFFFFFFFF 0
1:1
X
116.23
DWORD 0
0xFFFFFFFF 0
1:1
X
116.24
digital input 4
0xFFFFFFFF 0
1:1
X
116.25
digital input 4
0xFFFFFFFF 0
1:1
X
Cyclic Write
Number
DS Support
Min
Storage
DigInputs [116]
Read only
Functional block:
X
3.4.8.3 Parameter description
116.1
Status digital inputs
Status of the digital inputs. Bits 19 ... 16 display the hardware status, i.e., whether the input has been set active. Bits 3 ... 0 show the logical states of the inputs according to their
configured inversion (see Bit 15 in each case in the Mode Digital Input 1 Z116.2–, Mode
Digital Input 2 Z116.8–, etc. parameters).
169
of 724
3.4
Configuration
Bit-Nr.
0
Logical status of Input 1
0 = inactive
1 = active
1
0 = inactive
1 = active
2
0 = inactive
1 = active
3
0 = inactive
1 = active
15 ... 4
Reserved
16
HW status of Input 1
0 = inactive
1 = active
17
0 = inactive
1 = active
18
0 = inactive
1 = active
19
0 = inactive
1 = active
31 ... 20
116.2
Bedeutung
Reserved
Operating mode of digital input 1.
Bit 15 can be used to define whether the input linking for the functions for which parameters can be set via Bits 0...5 should operate with inversion or directly.
If the input is permanently linked to the "Pulse enable" function, the logical inversion has
no effect on the function.
The user can only set the inversion of bit 15 and the evaluation of bit 14.
Bit no.
Meaning
5…0
Function of the input:
Value: Function
0:
No special function
1:
Quick stop
2:
Controller enable
3:
Error reset
4:
Negative hardware limit switch 
5:
Positive hardware-limit switch 
6:
Zero point reference switch
7:
Reset time stamp for ring buffer recording
8:
Feedback of motor holding brake
9…63 reserved
13 ... 6
Reserved
170
of 724
Bit no.
3
Meaning
14
0:
1:
Input is edge triggered
Input is level triggered
15
0:
1:
Input is not inverted
Input is inverted
NOTE!
The following inputs are permanently linked to the "Pulse enable" function: DI4
DI1: Digital input measuring probe 1
DI2: Digital input measuring probe 2
NOTE!
The states of the "Quick stop", "Controller enable" and "Error reset" special functions
can be observed in the "Status digital inputs drive manager" Z108.8– parameter.
The states of the "Negative hardware limit switch", "Positive hardware limit switch"
and "Zero point reference switch" special functions can be observed in the "Status
limit switch" Z121.2– parameter.
116.4
Target number digital input 1
Number of the parameter to be changed by Digital Input 1.
116.5
This parameter specifies which bits of the target parameter will be modified with the bit
pattern Low/High.
If the data of the target parameter is of type Float, no bit selection can be made; all the
bits written to the target parameter will always be of the bit pattern Low or High.
116.6
Set bit pattern for LOW state digital input 1
Bit pattern for logic LOW on Digital Input 1
171
of 724
3.4
Configuration
116.7
Set bit pattern for HIGH state digital input 1
Bit pattern for logic HIGH on Digital Input 1
116.8
116.10
116.11
116.12
116.13
116.14
116.16
172
of 724
116.17
3
116.18
116.19
116.20
116.22
116.23
116.24
116.25
173
of 724
3.4
Configuration
3.4.9
Digital Outputs
The special function „Triggering holding brake“ is available in addition to the free connections to parameters.
Function
DO1 DO2
Triggering holding brake
X
X
3.4.9.1 ProDrive Digital Outputs
Figure 58:
ProDrive Digital outputs
Name
Type
117.1
Status digital outputs
DWORD 0
0xFFFFFFFF 0
1:1
117.2
Mode digital output 1
WORD
0
0xFFFF
0
1:1
X
117.4
Source number digital output UDINT
1
0
0xFFFFFFFF 0
1:1
X
117.5
Bit selection digital output 1
DWORD 0
0xFFFFFFFF 0
1:1
X
117.6
Compare bit pattern digital
output 1
DWORD 0
0xFFFFFFFF 0
1:1
X
117.7
WORD
0
0xFFFF
0
1:1
X
117.9
Source number digital output UDINT
2
0
0xFFFFFFFF 0
1:1
X
117.10
DWORD 0
0xFFFFFFFF 0
1:1
X
117.11
Compare bit pattern digital
output 2
DWORD 0
0xFFFFFFFF 0
1:1
X
117.22
Mode
DWORD 0
0xFFFFFFFF 0
1:1
X
117.23
Bit mask digital outputs
WORD
0xF
1:1
0
174
of 724
Max
Default Value Unit
0
Factor
Cyclic Write
Number
DS Support
Min
Storage
DigOutputs [117]
Read only
Functional block:
X
X
X
3
117.1
Status digital outputs
Status of the digital outputs. Bits 1 … 0 display the hardware status, i.e., whether the particular output has been set active.
Bit no.
0
Status of Output 1
0 = inactive
1 = active
1
Status of Output 2
0 = inactive
1 = active
31 ... 4
117.2
Meaning
Reserved
Operating mode of digital output 1. Bits 3 ... 0 are used for setting the comparison operator to the bit pattern which was set as a parameter.
Bit
3 ... 0
0000: Channel is deactivated
0001: ([Data] AND [Bit selection]) is equal to the [Bit pattern]
0010: ([Data] AND [Bit selection]) is not equal to the [Bit pattern]
0011: ([Data] AND [Bit selection]) is equal to ONE, i.e., [Data] has
at least one bit of the [Bit selection] set
0100: ([Data] AND [Bit selection]) is equal to ZERO, i.e., [Data] has
no bits of the [Bit selection] set
0101: ([Data] AND [Bit selection]) is greater than the [Bit pattern]
0110: ([Data] AND [Bit selection]) is less than the [Bit pattern]
0111 … 1111 reserved
7 ... 4
0: No special function
1: Triggering of the motor holding brake
15 … 8
117.4
Meaning
Reserved
Source number digital output 1
Number of the parameter to be compared which is to activate Digital Output 1.
175
of 724
3.4
Configuration
117.5
Bit selection for digital output 1. The bit selection also applies to Float parameters. It
therefore makes sense to fix the bit selection to FFFFFFFFhex for parameters of data type
Float.
117.6
Compare bit pattern digital output 1
Bit pattern that will be compared with the bit pattern of the source parameter for Digital
Output 1
117.7
117.9
Source number digital output 2
117.10
117.11
Compare bit pattern digital output 2
117.22
Mode
This parameter is used to set the behavior for the triggering of the digital outputs.
Bit #
0
31 ... 1
Meaning
0: Transparency mode off: The outputs are triggered via connections. 
1: Transparency mode active: The outputs are triggered via Z117.23–.
Reserved
176
of 724
3
NOTE!
If the transparency mode is switched off (the outputs are triggered by the output connections), the states of the digital outputs remain as long as the respective output
state is updated with a new connection.
117.23
Bit mask digital outputs
The value of the four lower bits of the bit mask is written to the digital outputs 1 to 2 in the
transparency mode.
177
of 724
3.4
Configuration
3.4.10 Analog Inputs
3.4.10.1 Description of the Analog Inputs
The b maXX 3300 functionality for reading the analog inputs is shown in the diagram below.
Figure 59:
Structure of the analog inputs on the b maXX 3000
KS1,KS2:
Scaling factors which can be set by the user.
(Parameter Z144.2–)
PGain:
Conversion factors 1 and 2
Max:
Maximum value of the target parameter
Remarks concerning the amplitude of the input signal:
10 V corresponds to 100%
The hardware is designed so that the analog inputs can cope with a signal level of 12.3
V. These remaining, unexploited 2.3 V are kept in reserve. Regarding the size of the 12bit input register, the following applies:
-12.3 V…+12.3 V corresponds to 0…4095
178
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3
Input signal: 
Figure 60:
Signal at analog input
After A/D conversion (non-quantized representation): 
Figure 61:
Signal after A/D conversion
After restandardization: 
Figure 62:
Signal after restandardization
179
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3.4
Configuration
3.4.10.2 ProDrive analog input
Figure 63:
ProDrive analog input
Name
Type
Min
Max
Default Value Unit
Factor
144.1
Time constant PT1 analog
input 1
FLOAT
0
0.060
0.001
ms
1000:1
X
144.2
Scaling factor analog input 1 FLOAT
-1000000000
1000000000
1
1/V
1:1
X
144.3
Offset analog input 1
FLOAT
-10
10
0
V
1:1
X
144.4
Treshold analog input 1
FLOAT
-10
10
0
V
1:1
X
144.5
Value analog input 1
FLOAT
-23
23
0
V
1:1
144.6
Target number analog input 1 UDINT
0
0xFFFFFFFF 0
144.20
Time slot analog inputs
0
3
UINT
0
1/2/3
Cyclic Write
Number
DS Support
Storage
FbAnalogInput [144]
Read only
Functional block:
X
1:1
X
1:1
X
144.1
Time constant PT1 analog input 1
Time constant of the PT1 filter for smoothing the analog input signal on Channel 1
180
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144.2
3
Scaling factor analog input 1
Scaling factor for Analog Input 1
144.3
Offset analog input 1
Offset for Analog Input 1
144.4
Threshold analog input 1
Threshold value of Analog Input Signal 1 for setting the response sensitivity
144.5
Value analog input 1
Input value of analog input signal on Channel 1
The input signal after PT1 smoothing and offset correction is displayed.
144.6
Target number analog input 1
Number of the parameter to be changed by Analog Input 1. All cyclic writable parameters
are permitted.
144.20
Time slot analog inputs
This parameter specifies the sampling interval in which the analog input is read.
Setting the parameters to the values 0, 1, 2, 3 corresponds to the relationship n= 0, 1, 2, 3
Value
Sampling interval [µs]
0
125
1
250
2
500
3
1000
181
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3.4
Configuration
3.4.11 Analog Outputs
3.4.11.1 Description of the Analog Outputs
Using the analog outputs, any drive parameters such as, e.g., actual current, actual
speed or position errors can be output.
Both floating point and integer parameters can be output.
A total of two channels are available for the analog outputs. Thus a maximum of 2 drive
parameters can be output at the same time.
The cycle of the visualization is presettable. 1000 µs, the RT0-Cycle time Z1.8– or
62.5 µs can be set as cycle time.
3.4.11.2 ProDrive Analog Outputs
Figure 64:
ProDrive Analog outputs
The check box "Test input on/off" has no direct reference to any parameter. When the
"Test input on/off" check box (see below) is activated, the ID number Z125.22– (from the
Test signal parameter) should be entered in the parameter
"Visu Channel 1 Source Parameter Id (Z125.1–) or
"Visu Channel 2 Source Parameter Id (Z125.2–)
in the corresponding "Source Parameter Number" box.
182
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3
Deactivation of the "Test input" is done in two ways:
m by deactivating the "Test input on/off" check box; Parameter 125.1 or 125.2 should
then be set to 0. As a result, the value 0 appears in the corresponding "Source Parameter Number" box.
m by directly writing a different ID in the "Source Parameter Number" box. The corresponding check box must also be automatically deactivated.
Name
Type
Min
Max
Default Value Unit
Factor
125.1
Visu Channel 1 source
parameter id
UDINT
0
4294967295
0
1:1
X
125.2
Visu Channel 2 source
parameter id
UDINT
0
4294967295
0
1:1
X
125.3
Visu command
UINT
0
1
0
1:1
X
125.4
Visu status
UINT
0
1
0
1:1
125.7
Visu task no
UINT
0
3
3
1:1
X
125.8
General scaling
FLOAT
-5000000000
5000000000
1.000000e+00 Unit/V 1:1
X
125.9
Force scaling
FLOAT
0
2147483648
1.000000e+00 N/V
1:1
X
125.10
Current scaling
FLOAT
-5000000000
5000000000
1.000000e+00 A/V
1:1
X
125.11
Voltage scaling
FLOAT
-5000000000
5000000000
1.0
1:1
X
125.12
Position scaling
FLOAT
-5000000000
5000000000
3.600000e+01 Unit/V 1:1
X
125.13
Speed scaling
FLOAT
-5000000000
5000000000
1.000000e+03 Unit/V 1:1
X
125.14
Acceleration scaling
FLOAT
-5000000000
5000000000
4
Unit/V 1:1
X
125.15
Torque scaling
FLOAT
-5000000000
5000000000
1
Nm/V
1:1
X
125.17
Test Signal amplitude
FLOAT
0
5000000000
0
V
1:1
125.18
Correction gain channel 1
FLOAT
0
5000000
1.000
125.19
Correction gain channel 2
FLOAT
0
5000000
1.000
125.20
Offset channel 1
FLOAT
-10.0
10.0
0
V
125.21
Offset channel 2
FLOAT
-10.0
10.0
0
125.22
Test signal
FLOAT
-5000000000
5000000000
0
V/V
Cyclic Write
Number
DS Support
Storage
FbVisu [125]
Read only
Functional block:
X
1:1
X
1:1
X
1:1
X
V
1:1
X
V
1:1
183
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3.4
Configuration
125.1
Visu Channel 1 source parameter Id
125.2
Visu Channel 2 source parameter Id
The ID number of the parameter to be visualized is entered with these parameters.
125.3
Visu command
Run command for the visualization
Value
125.4
Meaning
0
Stop (deactivate visualization)
1
Run (activate visualization)
Visu status
Display of the internal visualization status
Value
125.7
Meaning
0
Stop (visualization inactive)
1
Run (visualization active)
Visu task no
This parameter is used to specify the cycle time of the output for visualizing the data.
Value
Meaning
0
Reserved
1
Visu cycle = 62.5 µs
2
Visu cycle = RT0-Cycle time Z1.8–; the RT0-Cycle time is set to 250 µs
by default
3
Visu cycle = 1000 µs
184
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125.8
3
General scaling
Standardization for all parameters for which no other suitable standardization exists. The
units of the value to be visualized will provide an indication of this (Z125.1–, Z125.2–).
I.e. this standardization will be used also for related quantities with the unit [%].
125.9
Force scaling
Parameters with the units [N] will be normalized to [N / V] with this factor.
125.10
Current scaling
Parameters with the units [A] will be normalized to [A / V] with this factor.
125.11
Voltage scaling
Parameters with the units [V] will be normalized to [V / V] with this factor.
125.12
Position scaling
This standardization is used for parameter with the units [Inc], [degree], [mm] and [nm].
125.13
Speed scaling
This standardization is used for parameter with the units [degree/s], [Rev/min], [Inc/ms],
[mm/s], [degree/mm] and [Inc/tab].
125.14
Acceleration scaling
This standardization is used for parameter with the units [Inc/ms2], [degree/s2] and
[Inc/tab2].
125.15
Torque scaling
Parameters with the units [Nm] will be normalized to [Nm / V] with this factor.
185
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3.4
Configuration
125.17
Test signal amplitude
This parameter is used to set the amplitude of the test signal, Parameter Z125.22–, in
volts or to disable its generation.
Parameter 125.17
0V
>0 V…10 V
Signal
No signal generated.
If Parameter 125.22 is selected in Parameter 125.1/2, the
(constant) value of Parameter 125.22 will be written to the
analog output.
Generation of a sine wave signal of amplitude >0 V…10 V
and frequency (see below) with output in Parameter 125.22.
If Parameter 125.22 is selected in Parameter 125.1/2, the
value of Parameter 125.22 will be written to the analog output.
The frequency of the sine wave oscillation is dependent on Parameter Z125.7–.
Value in Z125.7–  Output cycle time Oscillation freVisu Task No
[µs]
quency [Hz]
1
62,5
16
2
250 *
4
3
1000
1
*) see also parameter Z125.7–
125.18
Correction gain Channel 1
Additional standardization on Channel 1
125.19
Correction gain Channel 2
Additional standardization on Channel 2
Parameter which are using the same standardization factor, but generally have different
dimensions can be rescaled channel-dependent with both correction gains.
Example: Z18.58– Position set value angle on channel 1
Z18.60– Position error rev+angle on channel 2
both use Z125.12– Position scaling
186
of 724
125.20
3
Offset Channel 1
Offset correction for Channel 1
125.21
Offset Channel 2
Offset correction for Channel 2
125.22
Test signal
If this parameter is entered as Source ID in Parameter Z125.1– or Z125.2–, a sine wave
test signal can be generated for the output. The amplitude is defined by Parameter
Z125.17–. The cycle time is equal to the 1000-fold of the set output cycle time of parameter Z125.7–.
187
of 724
3.4
Configuration
3.4.12 Filter
The filter module contains a general digital IIR filter function (IIR = Infinite Impulse Response) which is typically used as an actuating variable filter (Isq filter). The order
(Z29.8–) of the filter (maximum 7) and the filter coefficients (Z29.9– to Z29.23–) can be
freely set as parameters. The transfer function in the z-domain is:
Figure 65:
Equation for filter order
where the z -k are the lag elements about the k-cycle.
The filter module works between the speed controller and the current controller. It can be
switched on and off using the Module command (Z29.1–).
3.4.12.1 ProDrive filter
The filter is set via the individual coefficients. In addition to this ProDrive provides an operating support by which single filters can be parameterized. There are five different filters
under the window Controller  Control structure  Polynominal, which are supported at
parameterization:
– PT1 filter (single or bilinear)
n Low-pass filter with damping from the cutoff frequency which was set, onwards.
n
1
F  s  = --------------Ts + 1
n The bilinear filter offers better damping of higher frequencies
– Notch filters
n Single notch filter with settable blocking frequency and bandwidth
– Biquad filters
n Filter function
2
z
s + 2d z   z +  z
F  s  = --------------------------------------------2
2
s + 2d x   x +  x
n The filter amplitude increases from the cutoff frequency counter onwards.
188
of 724
3
n The filter amplitude decreases from the cutoff denominator onwards.
n The slope is set via the damping. 
– Elliptical filters
n Low-pass filter with steep transition between passband and stopband from the set
cutoff frequency onwards.
n Stopband damping corresponds to the amplitude in the stopband ripple (negative
setting [db])
n Passband ripple corresponds to the amplitude's fluctuation of the passband
The filters are exemplified in the following table. The following settings were selected for
the individual filters:
Pt1 bilinear
Notch filter
Biquad filter
Elliptical filter
Cutoff frequency
100 Hz
Cutoff frequency
200 Hz
Band width
100 Hz
Cutoff frequency numerator
200 Hz
Cutoff frequency denominator
100 Hz
Damping numerator
0.1
Damping denominator
0.7
Order
4
Cutoff frequency
200 Hz
Block damping
-40 dB
Passband ripple
3 dB
189
of 724
3.4
Configuration
Figure 66:
Filter representation clockwise: PT1 bilinear, notch filter, elliptical filter, biquad filter
190
of 724
3
3.4.12.2 ProDrive Filter
Figure 67:
ProDrive Control structure: The window Filter synthesis will be opened with a click on „Polynom“
on the control structure page
Functional block:
Filter [29]
191
of 724
Name
Type
Min
Max
Default Value Unit
Factor
29.1
Command
UINT
0
1
0
1:1
29.2
Status
UINT
0
1
0
1:1
X
29.6
Input value
FLOAT
-5000000000
5000000000
0.000000e+00
1:1
X
29.7
Output value
FLOAT
-5000000000
5000000000
0.000000e+00
1:1
X
29.8
Filter order
UINT
0
7
1
1:1
X
29.9
Coefficient a0
FLOAT
-1000000
1000000
1.0
1:1
X
29.10
Coefficient a1
FLOAT
-1000000
1000000
0.0
1:1
X
29.11
Coefficient a2
FLOAT
-1000000
1000000
0.0
1:1
X
29.12
Coefficient a3
FLOAT
-1000000
1000000
0.0
1:1
X
29.13
Coefficient a4
FLOAT
-1000000
1000000
0.0
1:1
X
29.14
Coefficient a5
FLOAT
-1000000
1000000
0.0
1:1
X
29.15
Coefficient a6
FLOAT
-1000000
1000000
0.0
1:1
X
29.16
Coefficient a7
FLOAT
-1000000
1000000
0.0
1:1
X
29.17
Coefficient b1
FLOAT
-1000000
1000000
0.0
1:1
X
29.18
Coefficient b2
FLOAT
-1000000
1000000
0.0
1:1
X
29.19
Coefficient b3
FLOAT
-1000000
1000000
0.0
1:1
X
29.20
Coefficient b4
FLOAT
-1000000
1000000
0.0
1:1
X
29.21
Coefficient b5
FLOAT
-1000000
1000000
0.0
1:1
X
29.22
Coefficient b6
FLOAT
-1000000
1000000
0.0
1:1
X
29.23
Coefficient b7
FLOAT
-1000000
1000000
0.0
29.29
Filter cycle time
FLOAT
62.5
1000
250
X
1:1
µs
1:1
Cyclic Write
Number
DS Support
Storage
Configuration
Read only
3.4
X
X
29.1
Command
Switching the filter on/off:
Value
Meaning
0
Switch off filter
1
Switch on filter
192
of 724
29.2
3
Status
Display of filter status (on / off):
Value
29.6
Meaning
0
Filter is switched off
1
Filter is switched on
Input value
Displays the input to the filter.
29.7
Output value
Displays the output of the filter.
29.8
Filter order
The filter order can be entered here.
In order to change the parameters the filter either must be deactivated (Z29.1– = 0) or
the pulses must be inhibited.
29.9
Coefficient a0
Using this parameter, the filter coefficients for the particular axis (ZFig. 65– on page 188)
can be entered accordingly (in the numerator polynomial).
In order to change the parameter the filter either must be deactivated (Z29.1– = 0) or the
pulses must be inhibited.
29.10
Coefficient a1
For description, see Parameter Z29.9–.
29.11
Coefficient a2
193
of 724
3.4
29.12
Configuration
Coefficient a3
29.13
Coefficient a4
29.14
Coefficient a5
29.15
Coefficient a6
29.16
Coefficient a7
29.17
Coefficient b1
Using this parameter, the filter coefficients for the particular axis (ZFig. 65– on page 188)
can be entered accordingly (in the denominator polynomial).
In order to change the parameter the filter either must be deactivated (Z29.1– = 0) or the
pulses must be inhibited.
29.18
Coefficient b2
29.19
Coefficient b3
194
of 724
29.20
3
Coefficient b4
29.21
Coefficient b5
29.22
Coefficient b6
29.23
Coefficient b7
29.29
Filter cycle time
Displays the current cycle time of the filter. If the filter coefficients are calculated this parameter value must be considered.
195
of 724
3.4
Configuration
3.4.13 Fieldbus communication
The fieldbus communication is realized via a separate processor. The basic configuration
is carried out by the fieldbus processor or by the fieldbus master, as well. Therefore, most
parameters within this range are provided for display and diagnostics. Specific settings
must be made in the controller.
It is necessary and also helpful to understand the communication timing in specific cases.
Basic sequence of the different software components in the controller
Figure 68:
Basic sequence of the fieldbus task (fieldbus cycle 1ms, RT0 cycle 250 µs)
The basic sequence of the relevant software components for the fieldbus communication
is shown in ZFig. 68–. The current controller responds every 62.5 µs. The position and
speed controller responds every 250 µs right before the current controller responds. The
fieldbus communication takes place in an own task, which can be interrupted by the current controller or by the position and speed controller.
The beginning of the fieldbus task or of the controller interrupt (after this the fieldbus task
starts) is synchronized to the sync signal of the fieldbus. Hence, the fieldbus task starts
at a sync offset of 0 µs with a time delay of about 30 µs shortly after the sync signal. This
is due to the computing time of the controller interrupt.
In a fieldbus task the set values are read, the actual values are written and then the interpolation for the cyclical position set value specification is calculated. The interpolated position set values are transferred to the position controller with the next position/speed
controller cycle (RT0 cycle).
196
of 724
3
Transferring the set values from the fieldbus task into the position/speed
controller.
At 250 µs cycle time or greater the set values are transferred in the next RT0 cycle after
the fieldbus task was started.
At 125 µs cycle time the set values are transferred in the RT0 cycle after next one, so that
the fieldbus task is available of more computing time.
Via the parameter Z131.23– Fieldbus options bit 1 can be set that the acceptance of the
set values in the position/speed controller takes place in the beginning of the next fieldbus
cycle only.
Transmission sequence from the fieldbus to the controller
The basic sequence from fieldbus transmission (here EtherCAT) up to the processing in
the controller is shown in the following figure.
Figure 69:
Set value and actual value transfer from the fieldbus to the controller. The configuration fieldbus
cycle 1 ms, RT0 cycle 250 µs, sync offset 0 µs is shown in the example.
In the controller the set value as well as the actual value transmission takes place in the
fieldbus task. The set values (at a sync offset of 0 µs) must reach the controller before the
sync signal takes place. As the fieldbus processor requires time to receive the data from
the fieldbus and then to provide it to the controller, this data must be provided to the fieldbus in time. Alternatively the fieldbus task start and resultant the transmission in the controller can be delayed via the sync offset.
During data exchange between the controller and the fieldbus processor the set values
and the actual values are exchanged back to back. The same applies for data exchange
to the fieldbus (default behavior at EtherCAT: common frame for set values and actual
values).Consequential the actual values are delayed by about two fieldbus cycles.
197
of 724
3.4
Configuration
Separated transmission of set values and actual values
Figure 70:
Separated transmission of set values and actual values.
The actual values in the controller can be transmitted separately from the set values.
However, transmission isn't carried out in the fieldbus task anymore, but at the end of a
controller interrupt. The actual values are immediately transferred by the fieldbus processor and provided in the EtherCAT buffer. Thus the dead time for the actual values is reduced.
Hereby, the timing for the fieldbus transmission must be considered exactly in order to
avoid access conflicts when responding to the actual values on the fieldbus.
Time setting of actual value transfer
Figure 71:
Optional separated transmission of set values and actual values.
The transmission time of the actual values to the fieldbus processor can be determined
in the parameter Fieldbus options (Z131.23–), separately. Now transmission takes place
at the end of a controller interrupt and not in the fieldbus task anymore. It is possible to
set the controller interrupt carrying out the transmission. Thereby, the controller interrupt
starts to count where the fieldbus task is carried out, too. A setting of 0 controller cycles
means that the actual values are transmitted in the interrupt, where the fieldbus task will
198
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3
be started after that. This means that with this setting the actual values are transmitted
right before the set values are read.
The exact time for actual value transmission to the fieldbus processor alternates because
of the controller interrupt's computing time. Therefore, a time frame of 62.5 µs is set. In
the example shown a controller cycle of 5 was set. Therewith, transmission is carried out
within a time frame of 312.5 µs to 375 µs after the sync event has taken place (at sync
offset 0 µs). Additional time must be calculated for the transmission to the fieldbus, as the
fieldbus processor requires time to receive the data from the controller and to transmit it
onto the fieldbus buffer.
3.4.13.1 Parameter IDs for the Real Time Lists
The contents of the real time lists in the controller are configured at system commissioning by means of a service channel. These are then exchanged in real time. For each direction (Consumer and Producer) there exist two lists in which the values of a maximum
of 16 parameter Ids can be transferred in each case.
The IDs of the Producer and Consumer lists are represented in ProDrive as a two-dimensional array[2][16] in each case. The lists can then be opened simultaneously in ProDrive.
All the data can thus be visualized in a clearly laid-out manner.
3.4.13.2 Access Counter for each Real Time List
The number of accesses to the Producer and Consumer lists is represented in each case
as a one-dimensional array[2]. The lists can then be opened simultaneously in ProDrive.
All the accesses can thus be visualized on-line in a clearly laid-out manner. The access
counters are writable parameters, so that the counter statuses can be set externally, e.g.
to 0.
Using a further two parameters it is possible to display separately for Producer and Consumer, which list was last accessed in each case.
Type
Min
Max
Default Value Unit
Factor
131.1
Mode
WORD
0
0xFFFF
0
1:1
131.2
State
WORD
0
0xFFFF
0
1:1
131.3
Producer list
UDINT
0
0xFFFFFFFF 0
1:1
X
131.4
Consumer list
UDINT
0
0xFFFFFFFF 0
1:1
X
131.5
Producer counter
UDINT
0
0xFFFFFFFF 0
1:1
131.6
Consumer counter
UDINT
0
0xFFFFFFFF 0
1:1
131.7
Last producer index
UINT
0
0xFFFF
1:1
0
Cyclic Write
Name
DS Support
Number
Storage
FbFieldbus [131]
Read only
Functional block:
199
of 724
3.4
Configuration
131.8
Last consumer index
UINT
0
1:1
131.9
Slave settings
DWORD 0
0
0xFFFFFFFF 0
1:1
131.10
Slave info
UDINT
0xFFFFFFFF 0
1:1
131.11
MAC address
STRING
131.12
Base Ip address
UDINT
0
0xFFFFFFFF 0xC0A80000
1:1
131.13
DIP switch settings
UDINT
0
0xFFFFFFFF 0
1:1
131.14
Software IP address
UDINT
0
0xFFFFFFFF 0
1:1
131.15
Actual IP address
UDINT
0
0xFFFFFFFF 0
1:1
131.16
Gateway
UDINT
0
0xFFFFFFFF 0
1:1
X
131.17
Subnet mask
UDINT
0
0xFFFFFFFF 0xffff0000
1:1
X
131.18
Fieldbus cycle time
UDINT
125000
8000000
131.19
Slave error code
UDINT
0
0xFFFFFFFF 0
1:1
131.21
Configuration profile 1
DWORD 0
0xFFFFFFFF 0x0
1:1
131.22
Fieldbus type
WORD
0xFFFF
0
1:1
131.23
Options
DWORD 0
0xFFFFFFFF 0
1:1
X
131.24
Profinet device name
UINT
0
0xFF
0
1:1
X
131.52
Error counter fieldbus actual UDINT
values
0
0xFFFFFFFF 0
1:1
X
131.53
Error counter fieldbus set val- UDINT
ues
0
0xFFFFFFFF 0
1:1
X
131.55
Max error count fieldbus
actual values
UDINT
0
0xFFFFFFFF 2
1:1
X
131.56
Max error count fieldbus set
values
UDINT
0
0xFFFFFFFF 2
1:1
X
0
0xFFFF
X
X
1:1
0
1000000
ns
X
X
X
X
1:1
X
X
X
131.1
Mode
By setting the appropriate bits, the following channels can be switched off independently
of one another:
Bit
Channel
4 ... 0
Reserved
Description
5:
HPI_CHANNEL_RT_CYCLIC_ECAT
6:
HPI_CHANNEL_RT_SERVICE_ECAT Slow service channel for managing
the real-time GDP lists
7:
HPI_CHANNEL_GDP_MB
200
of 724
Cyclic real-time channel for
EtherCAT
Slow parameter channel for Microblaze GDP protocol
131.2
3
State
Displays the Fieldbus status.
No bits defined yet.
131.3
Producer list
The parameter Ids configured by the Fieldbus computer are displayed in the real-time
lists. The parameters are two-dimensional arrays.
Figure 72:
131.4
Producer list and consumer list
Consumer list
see Z131.3–
201
of 724
3.4
131.5
Configuration
Producer counter
The number of accesses to the Producer and Consumer lists is represented in each case
as a one-dimensional array. The access counters are writable parameters, so that the
counter statuses can be set externally, e.g. to 0.
Using the two parameters Last Producer Index (Z131.7–) and Last Consumer index
(Z131.8–) it is possible to display separately for Producer and Consumer, which list was
last accessed in each case.
The index corresponds to the number of the accessed real-time list. At present, a maximum of only 2 lists is possible.
131.6
Consumer counter
see Z131.5–
131.7
Last producer index
The index of the list that was last accessed is displayed.
131.8
Last consumer index
The index of the list that was last accessed is displayed.
131.9
Slave settings
The settings for the communications software (MicroBlaze) can be altered by setting bits.
Bit no. Description
0
1: Read network settings for the EoE (Ethernet over EtherCAT) of Parameters 131.14, 131.16, 131.17
0: IP address = base IP address + DIP-switch value (131.12 + 131.13),
Gateway = 0.0.0.0, Subnet mask = 255.255.0.0
1
Select a language online at CoE object directory
1: English
0: German
13 ... 2
14
Reserved
0: Do not activate Factor Group
1: Activate Factor Group
202
of 724
3
Bit no. Description
15
Reserved
16
1: Switch off of the offset calculation for the objects 0x6062, 0x6064,
0x607A, 0x607C, 0x607D (UNSIGNED = SIGNED + 0x80000000)
31 ... 17 Reserved
131.10
Slave info
Current Slave Information.
Bit no. Description
0 ... 1
Fieldbus status:
0 – Init
1 – PreOperational
2 – SafeOperational
3 – Operational
In SafeOperational, the actual values are applicable. In Operational, the set
value and actual values are applicable.
7 ... 2
Reserved
23 ... 8
Fieldbus status code:
The current AL Status Code is displayed at EtherCAT
31 ... 24 Reserved
131.11
MAC address
Display of the MAC address for all Ethernet based fieldbuses supported by Baumueller
as: EtherCAT, POWERLINK, VARAN, Profinet-IRT.
131.12
Base IP address
If Slave Settings Z131.9– Bit 0 = 1, the IP address is determined from:
Base IP address + DIP-switch settings (Z131.13–)
131.13
DIP-switch settings
Setting on the DIP-switch used as an offset to the base IP address when Slave Settings
Z131.9– Bit 0 = 0.
203
of 724
3.4
Configuration
131.14
Software IP address
Using Slave Options, it is possible to define whether the IP address is determined from
this parameter or from the DIP switches.
131.15
Actual IP address
Display of the current IP address (depends on Z131.9–, Z131.12– to Z131.14–)
131.16
Gateway
Gateway IP address
131.17
Subnet mask
Subnet mask associated with the IP address.
Recommended value: 255.255.0.0
131.18
Fieldbus cycle time
Setting for the Fieldbus cycle time in ns.
The controller must be rebooted after a change to this parameter.
131.19
Slave error code
Error code for the EtherCAT slave.
131.21
Configuration profile 1
This parameter configures the used drive profile in the fieldbus slave.
The definition of the parameter depends on the fieldbus slave type. The description is to
be found in the corresponding technical documentation.
The controller must be rebooted after changing a parameter.
For other specific settings corresponding to the fieldbus, see parameter Z131.9– Slave
settings.
204
of 724
131.22
3
Fieldbus type
The parameter displays the active fieldbus type. The fieldbus types defined in
IEC 61800-7 form the basis. If the parameter is set to 0, the fieldbus firmware version
does not support this function.
131.23
Bit #
Description
7 ... 0
Profile type (IEC 61800-7-200):
0 = No IEC profile type
1 = CiA® 402
2 = CIP Motion
3 = PROFIdrive
4 = Sercos
Rest is reserved
15 ... 8
Network technology:
1 = EtherCAT
2 = VARAN
3 = CANopen
4 = Ethernet Powerlink
5 = PROFINET-IRT
6 = Sercos III
Rest is reserved
Options
Options for the fieldbus communication
Bit #
Description
0
Activate separated set value and actual value transmission
0: Transmission of the set values and the actual values at the same time and
at the beginning of the fieldbus task
1: Reading out the set values at the beginning of the fieldbus task, writing of
the actual values in a controller interrupt. The time in controller cycles is
settable via bit 8 to bit 15
1
Takeover date of the set values from the fieldbus task into the position/speed
controller.
0: Takeover to the next RT0
1: Takeover in the beginning of the next fieldbus cycle
7 ... 2
Reserved
15 ... 8
The time (in controller cycles) to transmit the actual values to the fieldbus
processor
The transmission of the set values and the actual values from/to the fieldbus processor
normally takes place in the fieldbus task. For special applications individual time settings
can be configured for actual value transmissions.
205
of 724
3.4
Configuration
The transmission occurs in line with a controller interrupt. The time is set in a grid of controller cycles (62.5 µs).
A setting of 0 controller cycles means that the actual values are transmitted in the interrupt in which the fieldbus task is started in the following. In this way the reading of the set
values follow close upon the transmission of the actual values due to this setting.
131.24
Profinet device name
This parameter contains the Profinet device name (max. 240 characters). ProDrive displays this parameter as text on the Configuration / Fieldbus slave page, if the fieldbus of
the connected controller is a Profinet type.
131.52
Error counter fieldbus actual values
Error counter for access conflicts at actual values.
The counter is incremented, if the fieldbus firmware did not retrieve the actual values. If
the fieldbus is in operational state and the drive is synchronous with the fieldbus, the error
1937 is set at exceeding of threshold Z131.55–.
131.53
Error counter fieldbus set values
Error counter for set value failures.
The counter is incremented at every set value failure. If the fieldbus is in operational state
and the drive is synchronous with the fieldbus, the error 1938 is set at exceeding of
threshold Z131.56–.
131.55
Max error count fieldbus actual values
Error threshold for access conflicts at actual values.
This parameter configures how many access conflicts (actual values have been not retrieved) are necessary to set the error 1937.
131.56
Max error count fieldbus set values
Error threshold for set value failures.
This parameter configures how many set value failures (set values have been not written)
are necessary to set the error 1938.
206
of 724
3
3.4.14 Measuring encoder function
The Measuring encoder function can be used to store the position actual values of Encoder 1 to different external signals.
Different settings may be selected as trigger signals for measuring encoders. When the
trigger signal occurs, the current position actual value of the corresponding encoder will
be stored and shown in the assigned measuring encoder display parameters.
The accuracy of the measuring encoder is the accuracy of the encoder system that is
used:
m With rectangular incremental encoders, the resolution per revolution corresponds with
the quadruple of the line number.
m With SinCos® encoders and sine incremental encoders, the analog information from
the sine and cosine tracks is also evaluated.
m Only the information from the analogous evaluation exists for tilt encoders.
The following events may trigger the storage:
m Rising and / or falling edge at digital input TP1
m Rising and / or falling edge at digital input TP2
m Zero pulse of a encoder. This function is only possible with rectangular or sine incremental encoders.
m Zero pulse of a encoder in connection with an additional qualification signal (High or
Low level) at digital input TP1 or TP2.
A one-time or continuous storage is possible for each trigger event (e.g. rising edge at
digital input TP1). If a trigger should be issued for a rising or falling edge of a digital input,
a minimum edge distance of at least 4 µs must be observed due to the limitations of the
digital I/O evaluation. The minimum edge distance is extended up to 500 µs, if the filter
for suppression of bounce influences is switched on.
Only the first measurement will be displayed for single measurements ("one-time triggering"). Triggering will then be deactivated and additional trigger events will therefore be ignored. The availability of the measured values will be shown in Parameter 124.3 (Status).
124.2 (Measuring Encoder ActCmd) can be used to reactivate an already configured
(124.1 Measuring Encoder ConfMode) single measurement and the existing measured
values for the applicable trigger event will thereby be deleted.
With continuous triggering, the first measurement within the sampling cycle (1 ms) is always displayed. If additional trigger events follow within the same sampling cycle, they
will be ignored. The first measurement within the next sampling cycle will overwrite the
values of the previous one. The availability of new measured values will be displayed in
parameters 124.3 (Status, after initial measurement) and 124.4 (Status 2, Toggle Bit after
each new measurement).
With triggering from a digital input, the allocation positive/negative edge is dependent on
the direction of revolution. The measured values of the positive edge at positive direction
of revolution are equal to the measured values of the negative edge at negative direction
of revolution. The measured values of the negative edge at positive direction of revolution
are equal to the measured values of the positive edge at negative direction of revolution,
and where necessary adding the measuring inaccuracy due to the encoder’s resolution.
207
of 724
3.4
Configuration
With triggering from zero pulse, the measured value of the positive edge is independent
of the direction of revolution, the measured value of the negative edge differs depending
on the direction of revolution by maximum ± ¼ number of pulses.
So only the positive edge should be analyzed by triggering from zero pulse.
Positive direction of revolution
Zero pulse
High
Low
J
Positive
(rising)
edge
Zero pulse
Negative
(falling)
edge
Negative direction of revolution
High
Low
J
Positive
(rising)
edge
Negative
(falling)
edge
Digital input
Positive direction of revolution
High
Low
Positive
(rising)
edge
Digital input
J
Negative
(falling)
edge
Negative direction of revolution
High
Low
J
Negative
(falling)
edge
Figure 73:
Positive
(rising)
edge
Direction of revolution
208
of 724
3
3.4.14.1 ProDrive Measuring Encoder
Figure 74:
ProDrive Measuring Encoder
Type
Min
124.1
Configuration mode
DWORD 0
0xFFFFFFFF 0
1:1
124.2
Activation command
WORD
0xFFFF
0
1:1
124.3
Status
DWORD 0
0xFFFFFFFF 0
1:1
X
124.4
Status 2
DWORD 0
0xFFFFFFFF 0
1:1
X
124.5
Encoder 1 trigger digital input UDINT
TP1 pos. edge revolutions
0
0xFFFFFFFF 0
1:1
X
124.6
TP1 pos. edge angle
0
0xFFFFFFFF 0
1:1
X
124.7
TP1 neg. edge revolutions
0
0xFFFFFFFF 0
1:1
X
124.8
TP1 neg. edge angle
0
0xFFFFFFFF 0
1:1
X
124.9
TP2 pos. edge revolutions
0
0xFFFFFFFF 0
1:1
X
124.10
TP2 pos. edge angle
0
0xFFFFFFFF 0
1:1
X
0
Max
Default Value Unit
Factor
Cyclic Write
Name
DS Support
Number
Storage
FbTouchProbe [124]
Read only
Functional block:
X
209
of 724
3.4
Configuration
124.11
TP2 neg. edge revolutions
0
0xFFFFFFFF 0
1:1
X
124.12
TP2 neg. edge angle
0
0xFFFFFFFF 0
1:1
X
124.13
Encoder 1 trigger zero pulse UDINT
pos. edge revolutions
0
0xFFFFFFFF 0
1:1
X
124.14
pos. edge angle
0
0xFFFFFFFF 0
1:1
X
124.15
neg. edge revolutions
0
0xFFFFFFFF 0
1:1
X
124.16
neg. edge angle
0
0xFFFFFFFF 0
1:1
X
124.30
DS402 mode
UDINT
0
124.31
DS402 touch probe 1 pos.
value
UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
124.32
DS402 touch probe 1 neg.
value
UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
124.33
DS402 touch probe 2 pos.
value
UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
124.34
DS402 touch probe 2 neg.
value
UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
1:1
X
124.1
Configuration mode
Configuration of the measuring encoder
NOTE!
All measurements are inactive during the change of the configuration!
Bit
Meaning
Encoder 1
0…2 Measurement "Encoder 1 with Trigger digital input TP1"
0
Activation channel measurement positive edge
(Enc1TrDi1PosValRev/Enc1TrDi1PosValPhi)
0: switch off
1: switch on
1
Activation channel measurement negative edge
(Enc1TrDi1NegValRev/Enc1TrDi1NegValPhi)
0: switch off
1: switch on
210
of 724
Bit
3
Meaning
2
Trigger frequency
0: one-time trigger
a new measure does not occur until measuring encoder has been reactivated with P124.2
1: Continuous triggering 
Measurements always occur; however, within a sampling cycle of the
module (1 ms), only the first event will be triggered.
3…5 Measurement "Encoder 1 with Trigger digital input TP2"
6…
12
3
(Enc1TrDi2PosValRev/Enc1TrDi2PosValPhi)
0: switch off
1: switch on
4
(Enc1TrDi2NegValRev/Enc1TrDi2NegValPhi)
0: switch off
1: switch on
5
Trigger frequency
Measurement "Encoder 1 with Trigger Zero Pulse"
6
(Enc1TrZpPosValRev/Enc1TrZpPosValPhi)
0: switch off
1: switch on
7
(Enc1TrZpNegValRev/Enc1TrZpNegValPhi)
0: switch off
1: switch on
8
Reserved
9
Activation Qualification with digital input
0: Qualification off
1: Qualification on
10
Selection digital input for qualification
0: Qualification zero pulse with digital input TP1
1: Qualification zero pulse with digital input TP2
11
Selection Signal Level for qualification
0: Zero pulse trigger active when digital input = low
1: Zero pulse trigger active when digital input = high
211
of 724
3.4
Configuration
Bit
Meaning
12
124.2
Trigger frequency
13…14
Reserved
15
Activation filter 500 µs for measuring encoder digital input TP1 (effects
only for measuring encoder, to all encoder)
1: Filtering with 500 µs
0: No filtering (-> 4 µs)
16… 29
Reserved
30
For all channels:
0: Delete measuring values, if channel is switched on
1: Delete measuring values, if channel is switched off
31
Reserved
Activation command
Command to delete one or more measurements. The following actions will be performed
for the corresponding channel:
m Deleting the associated status bit (measurement occurred / not occurred) in status
m Setting measured values of individual channels to zero
m Reactivation of an already (through Parameter 124.1) activated channel
Toggling the corresponding bit will trigger the command.
The parameter can be used to delete the indexes / latched values of the measuring encoder during active operation, but the application is not necessary
Bit
Meaning
Encoder 1
0
0->1, 1->0:
Measurement Channel "Delete / reactivate Encoder 1 with Trigger digital
input TP1 positive edge
1
0->1, 1->0:
input TP1 negative edge
2
0->1, 1->0:
input TP2 positive edge
212
of 724
Bit
Meaning
3
0->1, 1->0:
input TP2 negative edge
4
0->1, 1->0:
Measurement Channel "Delete / reactivate Encoder 1 with Trigger Zero
Pulse positive edge
5
0->1, 1->0:
Measurement Channel "Delete / reactivate Encoder 1 with Trigger Zero
Pulse negative edge
6 ... 15
124.3
3
Reserved
Status
Status of the measuring encoder.
Bit
Meaning
0
Measured value storage Measurement Channel "Encoder 1 with Trigger
digital input TP1 positive edge":
0: Switched off
1: Switched on
1
digital input TP1 negative edge":
0: Switched off
1: Switched on
2
digital input TP2 positive edge":
0: Switched off
1: Switched on
3
digital input TP2 negative edge":
0: Switched off
1: Switched on
4
Zero Pulse positive edge":
0: Switched off
1: Switched on
5
Zero Pulse negative edge":
0: Switched off
1: Switched on
11 ... 6
Reserved
213
of 724
3.4
Configuration
Bit
Meaning
12
Status of the measured value storage Channel "Encoder 1 with Trigger digital input TP1" ("or" linked Bits 20,21):
0: No measured value stored yet
1: Measured value stored
13
Status of the measured value storage Channel "Encoder 1 with Trigger digital input TP2" ("or" linked Bits 22,23):
14
Status of the measured value storage Channel "Encoder 1 with Trigger Zero
Pulse " ("or" linked Bits 24,25):
19…15
Reserved
21…20
Status of measured value storage Measurement Channel "Encoder 1 with
Trigger digital input TP1":
01: Measured value positive edge stored
10: Measured value negative edge stored
11: Measured value positive + negative edge stored
23…22
Status of measured value storage Measurement Channel "Encoder 1 with
Trigger digital input TP2":
25…24
Status of measured value storage channel "Encoder 1 with Zero Pulse":
31…25
Reserved
Attention:
The status bits 12…17 and 20…21 remain set with continuous triggering of the corresponding channel (P124.1) after the first measurement. For signaling, the additional use
of P124.4 is recommended where new measured values of the channels are signaled
through toggle bits.
124.4
Status 2
Extended status of the measuring encoder.
Toggle bits to signal new measurements with continuous triggering (refer to Z124.1–).
The corresponding bit changes its status with each new measurement.
214
of 724
Bit
Meaning
0
Toggle bit to signal "New measured value in channel "Encoder 1 with Trigger digital input TP1 positive edge" exists.
0->1, 1->0: new measured value exists
1
Toggle bit to signal "New measured value in channel "Encoder 1 with Trigger digital input TP1 negative edge" exists.
2
Toggle bit to signal "New measured value in channel "Encoder 1 with Trigger digital input TP2 positive edge" exists.
3
Toggle bit to signal "New measured value in channel "Encoder 1 with Trigger digital input TP2 negative edge" exists.
4
Toggle bit to signal "New measured value in channel "Encoder 1 with Trigger Zero Pulse positive edge" exists.
5
Toggle bit to signal "New measured value in channel "Encoder 1 with Trigger Zero Pulse negative edge" exists.
6…31
124.5
3
Reserved
Encoder 1 trigger digital input TP1 pos. edge revolutions
Revolutions Encoder 1 with triggering of measurement through rising edge at digital input
TP1.
124.6
Encoder 1 trigger digital input TP1 pos. edge angle
Angle Encoder 1 with triggering of measurement through rising edge at digital input TP1.
124.7
Encoder 1 trigger digital input TP1 neg. edge revolutions
Revolutions Encoder 1 with triggering of measurement through falling edge at digital input
TP1.
124.8
Encoder 1 trigger digital input TP1 neg. edge angle
Angle Encoder 1 with triggering of measurement through falling edge at digital input TP1.
215
of 724
3.4
Configuration
124.9
Encoder 1 trigger digital input TP2 pos. edge revolutions
Revolutions Encoder 1 with triggering of measurement through rising edge at digital input
TP2.
124.10
Encoder 1 trigger digital input TP2 pos. edge angle
Angle Encoder 1 with triggering of measurement through rising edge at digital input TP2.
124.11
Encoder 1 trigger digital input TP2 neg. edge revolutions
Revolutions Encoder 1 with triggering of measurement through falling edge at digital input
TP2.
124.12
Encoder 1 trigger digital input TP2 neg. edge angle
Angle Encoder 1 with triggering of measurement through falling edge at digital input TP2.
124.13
Encoder 1 trigger zero pulse pos. edge revolutions
Revolutions Encoder 1 with triggering of measurement through rising edge of Zero Pulse
of Encoder 1.
124.14
Encoder 1 trigger zero pulse pos. edge angle
Angle Encoder 1 with triggering of measurement through rising edge of Zero Pulse of Encoder 1.
124.15
Encoder 1 trigger zero pulse neg. edge revolutions
Revolutions Encoder 1 with triggering of measurement through falling edge of Zero Pulse
of Encoder 1.
216
of 724
124.16
3
Encoder 1 trigger zero pulse neg. edge angle
Angle Encoder 1 with triggering of measurement through falling edge of Zero Pulse of Encoder 1.
124.30
DS402 mode
Settings for Z124.31– to Z124.34–.
Source and division of revolutions and angle.
NOTE!
for the DS402 touch probe 1 and 2 must not set the same source
Bit
0
Meaning
1: Switch on DS402 touch probe 
Start calculation of the combined measured values Z124.31– to
Z124.34– and if necessary Z179.16– to Z179.19–.
The respective source is selected in bits 16 … 23.
The configuration/scaling of the combined measured values is set in
bits 4 … 9 (bit 1 = 0) or Z179.2– to Z179.9– (bit 1 = 1).
Attention:
The respective channel in Z124.1– Configuration mode must be activated!
0: Switch off
1
2…3
Configuration/scaling of the combined measured values Z124.31– to
Z124.34–:
0: Configuration corresponding to bits 4 … 9
1: Calculation with Factor Group (>179.x<)
Reserved
217
of 724
3.4
Configuration
Bit
9…4
Meaning
Configuration setting of the combined measured values (if bit 1 = 0)
x bits revolutions + (32 - x) bits angle:
Value:
0:
32 bits angle
1:
1 bit revolutions + 31 bits angle
2:
2 bits revolutions + 30 bits angle
3:
4:
5:
6:
7:
8:
9:
10: 10 bits revolutions + 22 bits angle
11:
31: 31 bits revolutions + 1 bit angle
32: 32 bits revolutions
10 … 15 Reserved
19 … 16 Source for DS402 touch probe 1 (TP1)
(Z124.31– / Z124.32–, object 60BA / 60BB)
Value:
0:
Encoder 1 trigger digital input TP1
1:
2:
Encoder 1 trigger zero pulse
3: … 15: Reserved
218
of 724
Bit
3
Meaning
23 … 20 Source for DS402 touch probe 2 (TP2)
(Z124.33– / Z124.34–, object 60BC / 60BD)
Value:
0:
1:
2:
Encoder 1 trigger zero pulse
3: … 15: Reserved
31 … 24 Reserved
124.31
DS402 touch probe 1 pos. value
DS402 touch probe object 0x60BA
The source is selected in Z124.30–.
The configuration/scaling occurs with the Factor Group weightings from Z179.2– to
Z179.9– (Z124.30– bit 1 = 1) or with Z124.30– bits 4 ... 9.
124.32
DS402 touch probe 1 neg. value
DS402 touch probe object 0x60BB
124.33
DS402 touch probe 2 pos. value
DS402 touch probe object 0x60BC
124.34
DS402 touch probe 2 neg. value
DS402 touch probe object 0x60BD
219
of 724
3.4
Configuration
3.4.15 Freely programmable PID controller
These two freely programmable PID controller can be used for realization of user-specific
feedback control problems.
m The cycle time is 250 µs.
m The single controllers (P, I, D) can be switched on and switched off separately by
selection of the corresponding bits in the PID controller mode.
m The PID controller can be synchronized with current, speed or position controller, i.e.
the controller is only then activated, when current, speed or position controller are
active.
m Set value, actual value and output can be freely selected via freely configurable
source or target parameters.
Set value and actual value can be specified alternatively via open-loop control +
fieldbus or analogous inputs. The output can be read out via open-loop control +
fieldbus or analogous output.
The freely programmable controller can be configured as P, PI, PD, PID, I, ID and D controller by selection of the corresponding bits in the PID controller mode. The activation of
the PID controller can be synchronized with current, speed or position controller by selection of the bits in PID controller mode.
Algorithm
The following transfer function is true for the PID controller:
Kp
Ys
G  s  = ----------- = Kp + ------------- + Kp  Tv  s
Us
Tn  s
Kp = P - gain
Tv = Derivative time
Tn = Integral action time
With
Kp
Ki = ------Tn
and
Kd = Kp  Tv
we obtain:
Ki
G  s  = Kp + ------ + Kd  s
s
This means that Kp is effective for the D and I controller even then if the P controller is
inactive.
The functional diagram is described below:
220
of 724
3
Mode PID controller
P150.1/17, Bit 4
5000_0185_rev01_int.cdr
0x0000
P controller
P-gain
P150.7/23
Source number set value PID controller
P150.4/20 = 0
PID controller
upper limit
I controllerPID controller
Integral term P150.11/27
P150.16/32
Set value
PID controller
P150.13/29
Set value
Pxxxx
0x0000
I-gain
P/Tn = P150.7/23 /
P150.8/24
Source number
actual value PID controller
P150.5/21 = 0
Actual value
Pxxxx
Target number
P150.6/22 = 0
PID controller
output
P150.15/31
Target
Pxxxx
PID controller
lower limit
P150.12/28
Mode PID controller
P150.1/17, Bit 6
PID controller
lower limit
P150.12/28
P150.6/22 = Target number
PID controller
activated
0x0000
Actual value
PID controller
P150.14/30
P150.5/21 = Parameter number
PID controller 0x0000
upper limit
P150.11/27
+
+
P150.4/20 = Parameter number
PID controller
deactivated
Mode PID controller
P150.1, Bit 5
D controller
D-gain:
Pt1 time constant
P*Tn = P150.7/23 *
PID controller
P150.9/25
P150.10/26
PID controller mode
P150.1/17( Bit 2, 1, 0 ) = 0
PID controller deactivated
= 1 and current controller active
PID controller activated
= 2 and speed controller active
PID controller activated
= 3 and position controller active PID controller activated
= 4
PID active always
PID controller deactivated:
PID controller output (P150.15/31),PID controller integral term (P150.16/32) will be set to 0
Figure 75:
PID controller functional diagram
Name
Type
Min
Max
Default Value Unit
Factor
150.1
Mode PID controller 1
WORD
0
0xFFFF
0
1:1
150.2
Status PID controller 1
WORD
0
0xFFFF
0
1:1
150.4
Source number set value PID UDINT
controller 1
0
0xFFFFFFFF 0
1:1
X
150.5
Source number actual value UDINT
PID controller 1
0
0xFFFFFFFF 0
1:1
X
150.6
Target number output PID
controller 1
UDINT
0
0xFFFFFFFF 0
1:1
X
150.7
P-gain PID controller 1
FLOAT
0
100000
0
1:1
X
150.8
Integral action time PID con- FLOAT
troller 1
0.000001
100000
0.01
s
1:1
X
150.9
Derivative time PID controller FLOAT
1
0
100000
0
s
1:1
X
150.10
Pt1 time constant PID controller 1
FLOAT
0
20
0
s
1:1
X
150.11
Output upper limit PID controller 1
FLOAT
-5000000000
5000000000
0
1:1
X
Cyclic Write
Number
DS Support
Storage
FbPidCtrl[150]
Read only
Functional block:
X
X
X
221
of 724
3.4
Configuration
150.12
Output lower limit PID controller 1
FLOAT
-5000000000
5000000000
0
1:1
150.13
Set value PID controller 1
FLOAT
-5000000000
5000000000
0
1:1
X
150.14
Actual value PID controller 1 FLOAT
-5000000000
5000000000
0
1:1
X
150.15
Output PID controller 1
FLOAT
-5000000000
5000000000
0
1:1
150.16
Integral term PID controller 1 FLOAT
-5000000000
5000000000
0
1:1
150.17
WORD
0
0xFFFF
0
1:1
150.18
WORD
0
0xFFFF
0
1:1
150.20
Source number set value PID UDINT
controller 2
0
0xFFFFFFFF 0
1:1
X
150.21
Source number actual value UDINT
PID controller 2
0
0xFFFFFFFF 0
1:1
X
150.22
Target number output PID
controller 2
UDINT
0
0xFFFFFFFF 0
1:1
X
150.23
FLOAT
0
100000
0
1:1
X
150.24
Integral action time PID con- FLOAT
troller 2
0.000001
100000
0.01
s
1:1
X
150.25
Derivative time PID controller FLOAT
2
0
100000
0
s
1:1
X
150.26
Pt1 time constant PID controller 2
FLOAT
0
20
0
s
1:1
X
150.27
FLOAT
-5000000000
5000000000
0
1:1
X
150.28
FLOAT
-5000000000
5000000000
0
1:1
X
150.29
FLOAT
-5000000000
5000000000
0
1:1
150.30
Actual value PID controller 2 FLOAT
-5000000000
5000000000
0
1:1
150.31
FLOAT
-5000000000
5000000000
0
1:1
150.32
Integral term PID controller 2 FLOAT
-5000000000
5000000000
0
1:1
222
of 724
X
X
X
X
X
X
X
X
3
150.1
Configuration of the PID controller
Bit
Meaning
2 ... 0
Activate the PID controller:
000: Deactivate PID controller
001: Activate PID controller, if current controller is active
010: Activate PID controller, if speed controller is active
011: Activate PID controller, if position controller is active
100: Activate PID controller always
3
Reserved
4
If PID controller active (bit 2 ... 0  000):
0: Deactivate P controller
1: Activate P controller
5
0: Deactivate I controller
1: Activate I controller
6
0: Deactivate D controller
1: Activate D controller
15 ... 7
150.2
Reserved
Status of the PID controller:
Bit
0
3 ... 1
4
7 ... 5
8
Meaning
0: PID controller is deactivated
1: PID controller is activated
Reserved
1: PID controller output is limited
Reserved
If PID controller output is linked only (Z150.6–  0):
1: PID controller output greater than maximum value or less than minimum
value of the target parameter. PID controller output is limited to target
parameter at writing.
223
of 724
3.4
Configuration
Bit
9
Meaning
If PID controller input is linked only (Z150.4–  0 or Z150.5–  0):
1: PID controller source number set value or actual value is greater than
maximum value or less than minimum value of the set value or actual
value. PID controller source number set value or actual value is limited to
set value or actual value at writing.
15 ... 10 Reserved
150.4
Source number set value PID controller 1
Selection of the source of the PID controller set value. At source number = 0 the value
can be specified directly, e.g. via a fieldbus or an analogous input.
150.5
Source number actual value PID controller 1
Selection of the source of the PID controller actual value. At source number = 0 the value
150.6
Target number output PID controller 1
Selection of the target of the PID controller output.
All cyclic writable parameters are permitted.
150.7
Proportional gain (Kp) of the PID controller.
150.8
Integral action time PID controller 1
Integral action time (Tn) of the PID controller.
150.9
Derivative time PID controller 1
Derivative time (Td) of the PID controller.
224
of 724
150.10
3
PT1 time constant PID controller 1
Time constant of the PT1 filter in the D leg of the PID controller. If the value „0“ is specified,
the signal will be transmitted unfiltrated.
150.11
Upper limit of the PID controller output.
If the output is limited with this limit, it will be signalized in Z150.2– bit 4.
NOTE!
If the upper limit is greater than the maximum value of the linked target parameter,
then the output is limited at writing on the target parameter to the maximum value of
the linked target parameter if necessary. This will be signalized in Z150.2– bit 8.
150.12
Lower limit of the PID controller output.
NOTE!
If the lower limit is less than the minimum value of the linked target parameter, then
the output is limited at writing on the target parameter to the minimum value of the
linked target parameter if necessary. This will be signalized in Z150.2– bit 8.
150.13
Value of the set value of the PID controller.
The source of this set value can be selected in Z150.4– „Source number set value PID
controller 1“.
If the source is not selected (Z150.4– = 0) the set value can be written via fieldbus or an
analogous input.
If the source is selected (Z150.4–  0) and the value of the source parameter is less than
the minimum value or greater than the maximum value of the set value, the set value is
limited to its minimum or maximum value. This will be signalized in Z150.2– bit 9.
225
of 724
3.4
Configuration
150.14
Actual value PID controller 1
Value of the actual value of the PID controller.
The source of this actual value can be selected in Z150.5– „Axis index PID controller 1“.
If the source is not selected (Z150.5– = 0) the actual value can be written via fieldbus or
an analogous input.
If the source is selected (Z150.5–  0) and the value of the source parameter is less than
the minimum value or greater than the maximum value of the actual value, the actual value is limited to its minimum or maximum value. This will be signalized in Z150.2– bit 9.
150.15
Value of the output of the PID controller.
The target of the output can be selected in Z150.6– „Target number output PID controller
1“.
The output is set to 0 at deactivated PID controller.
150.16
Integral term PID controller 1
Display of the unlimited integral term of the PID controller.
The integral term is set to 0 permanently at deactivated PID controller or switched off integral controller.
150.17
Configuration of the PID controller 2 see Z150.1– table.
150.18
Status of the PID controller:
Bit
0
3 ... 1
4
7 ... 5
Meaning
0: PID controller is deactivated
1: PID controller is activated
Reserved
1: PID controller output is limited
Reserved
226
of 724
Bit
3
Meaning
8
If PID controller output is linked only (Z150.22–  0):
1: PID controller output greater than maximum value or less than minimum
value of the target parameter. PID controller output is limited to target
parameter at writing.
9
If PID controller input is linked only (Z150.20–  0 or Z150.21–  0):
1: PID controller source number set value or actual value is greater than
maximum value or less than minimum value of the set value or actual
value. PID controller source number set value or actual value is limited to
set value or actual value at writing.
15 ... 10 Reserved
150.20
Source number set value PID controller 2
Selection of the source of the PID controller set value. At source number = 0 the value
150.21
Source number actual value PID controller 2
Selection of the source of the PID controller actual value. At source number = 0 the value
150.22
Target number output PID controller 2
Selection of the target of the PID controller output.
All cyclic writable parameters are permitted.
150.23
Proportional gain (Kp) of the PID controller.
150.24
Integral action time PID controller 2
Integral action time (Tn) of the PID controller.
227
of 724
3.4
Configuration
150.25
Derivative time PID controller 2
Derivative time (Td) of the PID controller.
150.26
PT1 time constant PID controller 2
Time constant of the PT1 filter in the D leg of the PID controller. If the value „0“ is specified,
the signal will be transmitted unfiltrated.
150.27
Upper limit of the PID controller output.
NOTE!
If the upper limit is greater than the maximum value of the linked target parameter,
then the output is limited at writing on the target parameter to the maximum value of
the linked target parameter if necessary. This will be signalized in Z150.18– bit 8.
150.28
Lower limit of the PID controller output.
NOTE!
If the lower limit is less than the minimum value of the linked target parameter, then
the output is limited at writing on the target parameter to the minimum value of the
linked target parameter if necessary. This will be signalized in Z150.18– bit 8.
150.29
Value of the set value of the PID controller.
The source of this set value can be selected in Z150.20– „Source number set value PID
controller 2“.
If the source is not selected (Z150.20– = 0) the set value can be written via fieldbus or
an analogous input.
228
of 724
3
If the source is selected (Z150.20–  0) and the value of the source parameter is less
than the minimum value or greater than the maximum value of the set value, the set value
is limited to its minimum or maximum value. This will be signalized in Z150.18– bit 9.
150.30
Actual value PID controller 2
Value of the actual value of the PID controller.
The source of this actual value can be selected in Z150.21– „Axis index PID controller 2“.
If the source is not selected (Z150.21– = 0) the actual value can be written via fieldbus
or an analogous input.
If the source is selected (Z150.21–  0) and the value of the source parameter is less
than the minimum value or greater than the maximum value of the actual value, the actual
value is limited to its minimum or maximum value. This will be signalized in Z150.18–
bit 9.
150.31
Value of the output of the PID controller.
The target of the output can be selected in Z150.22– „Target number output PID controller 2“.
The output is set to 0 at deactivated PID controller.
150.32
Integral term PID controller 2
Display of the unlimited integral term of the PID controller.
The integral term is set to 0 permanently at deactivated PID controller or switched off integral controller.
229
of 724
3.4
Configuration
3.4.16 Master-Slave Torque Coupling
By means of the function „Master-Slave Torque Coupling“ the loading of two drives, which
carry load together, can be divided in a defined ratio.
Structure of the control
A direct communication between the axes is necessary for this function via a fieldbus
(cross communication between the axes or via a controller). In any case a controller is
required which sends the same speed set value to the involved axes.
Requirements:
The following requirements must be fulfilled for the torque coupling:
m Drives are rigidly coupled
m Master and slave are in speed control
m Master and slave get the same speed set value, e.g. over EtherCAT
m Cross communication between master and slave is possible
A compensating controller on the slave drive calculates an additional speed set value
from the torque set value of the master (receiving over cross communication) and the
torque set value of the slave corresponding to the torque weighting. Over a rigid coupling
the torque are set corresponding to the torque weighting (see ZFig. 76– on page 232 or
ZFig. 77– on page 233).
The coupling is activated on the master (Z147.1– Bit 8), slave-side this setting is efficiently not before master and slave are enabled (Z147.3– Bit 4 = 1), because the servo loops
are closed then.
NOTE!
The slave can accelerate possibly up to the overspeed limit (Z6.5– or Z6.6–), if the
mechanical coupling is removed during the torque coupling is active (Z147.3–
Bit 4 = 1).
For stressing the drives in standstill and if applicable also during the motion an additional
torque init stress can be connected.
Two options are available for the connection of the torque init stress:
230
of 724
3
Torque init stress only on slave-side via compensating controller
The torque init stress is parameterized and calculated on the slave axis and is connected
to the input of the speed controller via the compensating controller as speed additional
set value.
Compensating controller
nSet
Stress
P147.13
P147.9
Torque init
stress Mv
-
P147.10
P147.7
P147.8
P147.18
Coupling
factor
slave
P147.6
P147.4 Bit 0
1
0
x
x
Coupling
factor
master
P147.5
5000_0179_rev01_int.cdr
Thus the torque init stress acts upon the slave axis only.
mSet,slave
-
Slave
nact
-
Figure 76:
P147.19
mSet,master
Cross communication
Coupling command
P147.4
nact
Master
mSet,master
Structure of the control of the torque coupling at connecting the torque coupling via compensating controller
231
of 724
3.4
Configuration
Torque init stress on master and slave-side as torque additional set value
The torque init stress is parameterized and calculated on the master axis and is connected to the output of the speed controller. In addition it will be sent via cross communication
to the slave on which it is connected to the output of the speed controller also.
The torque init stress acts symmetrically on the master and the slave axis.
nset
P147.9
-
P147.10
P147.13
P147.7
P147.8
P147.4 Bit 0
1
0
Coupling
factor
slave
0
x
x
Coupling
factor
master
P147.5
P147.6
mset,slave
-
nact
0,5
Slave
Torque init stress
actual value
P147.20
Coupling command
P147.4
mset,master
P147.19
Cross communication
Stress
Torque init
stress Mv
0,5
nact
-
Master
mset,master
Figure 77:
P147.18
-
Structure of the control of the torque coupling at connecting the torque coupling as torque additional set value
232
of 724
3
Speed dependent torque init stress
5000_0180_rev01_int.cdr
The torque init stress can be set also speed dependent (see the following figure) as needed, if e.g. a high torque init stress is needed at standstill, otherwise the drives should support one another as possible.
Mv
(efficient torque
init stress)
P147.15
P147.16
P147.17
|n|
|n| < P147.17: Mv = P147.16 * n/P147.17 + P147.15 * (1 - n/P147.17)
|n| >= P147.17: Mv = P147.16
Figure 78:
Torque init stress of the torque coupling
Cross communication
The following parameters must be sent cyclic:
m Z147.4– Coupling command master
m Z147.19– Torque set value master
m Z147.21– Torque init stress actual value master
(only if torque init stress is connected directly (Z147.1– Bit 16 = 1))
The cross communication can take place via fieldbus (e.g. EtherCAT).
Cross communication via fieldbus
The parameter to be transferred cyclic (coupling command master, torque set value master, torque init stress actual value master (optional)) must be mapped correspondingly
controller-side and EtherCAT-side. Set Z147.1– Bit 4 = 0 at the slave axis.
233
of 724
Configuration
5000_0181_rev02_int.cdr
3.4
Control
EtherCAT master
EtherCAT
EtherCAT
Drive slave
EtherCAT slave 2
Drive master
EtherCAT slave 1
Actual values
P147.4 Coupling command master
P147.19 Torque set value master
(P147.21 Torque init stress
actual value master)
EtherCAT
cross communication
Set values
P147.4 Coupling command master
P147.19 Torque set value master
(P147.21 Torque init stress
actual value master)
Transfer P147.21 at direct torque init stress only (P147.1 Bit 16 = 1)
Figure 79:
Cross communication via EtherCAT
The drive master writes its actual values (coupling command master, torque set value
master, torque init stress actual value master (optional)) in the telegram received from the
control and sends up the telegram to the drive slave. The drive slave reads this values in
the same bus cycle as its set values. Therefore
m the drive master must be located physically in the EtherCAT cycle in front of the drive
slave in order that the drive slave gets the actual values.
m the coupling command master, the torque set value master and torque init stress actual value master (optional) must be mapped in the drive master and the drive slave
in the same address area.
Type
Min
Max
147.1
Mode
UDINT
0
0xFFFFFFFF 0
1:1
147.2
Status master
UINT
0
0xFFFF
0
1:1
X
147.3
Status slave
UINT
0
0xFFFF
0
1:1
X
147.4
Coupling command master
UINT
0
1
0
1:1
147.5
Torque coupling factor master
FLOAT
0
1
0
1:1
X
147.6
Torque coupling factor slave FLOAT
0
1
0
1:1
X
147.7
Compensating controller Pgain
FLOAT
0
10000
2
Grad/
Nms
1:1
X
147.8
integral action time
FLOAT
0
100000
10
ms
1:1
X
147.9
Compensating controller out- FLOAT
put upper limit
0
180000
18000
Grad/s 1:1
X
of 724
Factor
Cyclic Write
Name
DS Support
Number
234
Default Value Unit
Storage
FbTrqCoupling[147]
Read only
Functional block:
X
X
147.10
put lower limit
-180000
0
-18000
Grad/s 1:1
147.11
Compensating controller set FLOAT
value
-10000
10000
0
Nm
1:1
X
147.12
actual value
-10000
10000
0
Nm
1:1
X
147.13
put
-180000
180000
0
Grad/s 1:1
X
147.14
integral term
FLOAT
-2000000
2000000
0
Nm/s
1:1
X
147.15
Torque init stress 0
FLOAT
-10000
10000
0
Nm
1:1
X
147.16
FLOAT
-10000
10000
0
Nm
1:1
X
147.17
Speed limit torque init stress FLOAT
1
1
180000
1
Grad/s 1:1
X
147.18
Torque init stress pt1 time
constant
FLOAT
0
5000
0
ms
1:1
X
147.19
Torque set value master
DINT
-10000000
10000000
0
mNm
1:1
147.20
Torque init stress actual
value
FLOAT
-10000
10000
0
Nm
1:1
147.21
Torque init stress actual
value master
DINT
-10000000
10000000
0
mNm
1:1
FLOAT
3
X
X
X
X
147.1
Mode
Configuration of the torque coupling.
Bit
Meaning
1…0
Specification of the configuration:
00: No torque coupling
01: Drive assumes the master functionality 
10: Drive assumes the slave functionality 
11: Reserved
3…2
Reserved
4
7…5
8
Master-slave communication (at slave functionality only, i.e. Bit 1...0 = 10)
Transfer of the values / commands between master and slave:
0: external
1: Reserved
Reserved
Coupling standby switch on / switch off (possible only at master functionality, i.e. Bit 1...0 = 01). Slave-side the coupling is efficiently not before master
and slave are enabled:
0: Coupling standby switch off
1: Coupling standby switch on
235
of 724
3.4
Configuration
Bit
Meaning
11…9
12
15…13
16
31…17
a)
Activate/deactivate the speed dependent torque init stress (at slave functionality only, i.e. Bit 1...0 = 10)
0: Torque init stress is independent from the speed (only Z147.15– Torque
init stress 0 is efficient)
1: Torque init stress is connected speed dependent (ramp is efficient corresponding to ZFig. 78– on page 234)
Reserved
Switching on and generating the torque init stress
0: Torque init stress acts via compensating controller a)
1: Torque init stress acts directly on the torque set values b)
Reserved
Torque init stress must be parameterized to slave
Torque init stress must be parameterized to master, transfer via cross communication is needed, if master slave communication is externally (see Bit 4)
b)
147.2
Reserved
Status master
Status of the master in torque coupling (at master functionality only, i.e. Z147.1–
Bit 1…0 = 01).
Bit
0
15 ... 1
147.3
Meaning
0: Master functionality is switched off
1: Master functionality is switched on
Reserved
Status slave
Status of the slave in torque coupling (at slave functionality only, i.e. Z147.1–
Bit 1…0 = 10).
Bit
0
3 ... 1
4
15 ... 5
Meaning
0: Slave functionality is switched off
1: Slave functionality is switched on
Reserved
Torque coupling between master and slave
0: Coupling is switched off
1: Coupling is switched on
Reserved
236
of 724
147.4
3
Coupling command master
Coupling command from the master to the slave at torque coupling.
This parameter must be sent cyclic from the master to the slave.
At external master-slave communication this parameter must be sent via cross communication (fieldbus) or digital inputs/outputs. See also ZCross communication– from page
234.
At internal master-slave communication an external transmission is not required.
The master transmits the command „Switch on torque coupling“, when the coupling is activated basically (Z147.2– Bit 0 = 1) and the master drive is enabled.
Bit
0
15 ... 1
147.5
Meaning
0: Torque coupling is switched off
1: Torque coupling is switched on
Reserved
Torque coupling factor master
Weighting of the master torque at torque coupling (at slave functionality only, i.e. Z147.1–
Bit 1…0 = 10, see ZFig. 76– on page 232).
NOTE!
The parameterized torque init stress (Z147.15–, Z147.16–) is set only at the time
when both the speed coupling factor master and slave are 1.
147.6
Torque coupling factor slave
Weighting of the slave torque at torque coupling (at slave functionality only, i.e. Z147.1–
Bit 1…0 = 10, see ZFig. 76– on page 232).
NOTE!
The parameterized torque init stress (Z147.15–, Z147.16–) is set only at the time
when both the speed coupling factor master and slave are 1.
147.7
Compensating controller P-gain
Proportional gain (Kp) of compensating controller at torque coupling (at slave functionality
only, i.e. Z147.1– Bit 1…0 = 10, see ZFig. 76– on page 232).
237
of 724
3.4
Configuration
147.8
Compensating controller integral action time
Integral action time (Tn) of the compensating controller (at slave functionality only, i.e.
Z147.1– Bit 1…0 = 10, see ZFig. 76– on page 232).
147.9
Compensating controller output upper limit
Upper limit of the compensating controller at torque coupling (at slave functionality only,
i.e. Z147.1– Bit 1…0 = 10, see ZFig. 76– on page 232).
147.10
Compensating controller output lower limit
Lower limit of the compensating controller at torque coupling (at slave functionality only,
i.e. Z147.1– Bit 1…0 = 10, see ZFig. 76– on page 232).
147.11
Compensating controller set value
Set value (set torque of the master) of the compensating controller in Nm at torque coupling.
147.12
Compensating controller actual value
Actual value (set torque of the slave) of the compensating controller in Nm at torque coupling.
147.13
Compensating controller output
Display of the limited compensating controller output at torque coupling (at slave functionality only, i.e. Z147.1– Bit 1…0 = 10, see ZFig. 76– on page 232).
147.14
Compensating controller integral term
Display of the unlimited, integral part of the compensating controller output at torque coupling (at slave functionality only, i.e. Z147.1– Bit 1…0 = 10, see ZFig. 76– on page 232).
238
of 724
147.15
3
Torque init stress of the slave drive at torque coupling at standstill (at slave functionality
only, i.e. Z147.1– Bit 1…0 = 10, see ZFig. 76– on page 232). If parameter Z147.1–
Bit 12 is set, this additional torque takes effect correspondingly (see ZFig. 78– on page
234).
NOTE!
The parameterized torque init stress is set only at the time when both the speed coupling factor master and slave (Z147.5–, Z147.6–) are 1.
147.16
Torque init stress of the slave drive at torque coupling at speed limit torque init stress
Z147.17– (at slave functionality only, i.e. Z147.1– Bit 1…0 = 10, see ZFig. 76– on page
232). If parameter Z147.1– Bit 12 is set, this additional torque takes effect correspondingly (see ZFig. 78– on page 234).
NOTE!
The parameterized torque init stress is set only at the time when both the speed coupling factor master and slave (Z147.5–, Z147.6–) are 1.
147.17
Speed limit torque init stress 1
Speed limit for the torque init stress 1 Z147.16– at torque coupling (at slave functionality
only, i.e. Z147.1– Bit 1…0 = 10, see ZFig. 76– on page 232). If parameter Z147.1–
Bit 12 is set, this additional torque takes effect correspondingly (see ZFig. 78– on page
234). The limit effects bipolar, thus means in both directions of revolution.
147.18
Torque init stress PT1 time constant
Time constant of PT1 element to connect the torque init stress to the slave at torque coupling (at slave functionality only, i.e. Z147.1– Bit 1…0 = 10, see ZFig. 76– on page 232).
147.19
Torque set value master
Display of the torque set value of the master at torque coupling in the dimensions for
transmission via fieldbus.
239
of 724
3.4
Configuration
This parameter must be sent cyclic from the master to the slave.
At external master-slave communication this parameter must be sent via cross communication (fieldbus) or analog inputs/outputs. See also ZCross communication– on page
234.
147.20
Torque init stress actual value
Display of the present torque init stress. It is dependent on place and connection of the
torque init stress.
1
Torque init stress acts via compensating controller (Z147.1– Bit 16 = 0)
m Master: 
No Meaning
m Slave: 
Display of the present torque init stress which is parameterized and generated of the
slave.
2
Torque init stress acts directly on the torque set values (Z147.1– Bit 16 = 1)
m Master: 
master.
m Slave: 
master and sent to the slave.
147.21
Torque init stress actual value master
Display of the present torque init stress of the master at torque coupling in the format for
transmission via fieldbus. It is dependent on place and connection of the torque init stress.
1
2
Torque init stress acts via compensating controller (Z147.1– Bit 16 = 0) 
No Meaning
Torque init stress acts directly on the torque set values (Z147.1– Bit 16 = 1)
m Master:
master.
This parameter must be sent cyclic from the master to the slave.
At external master-slave communication this parameter must be sent via cross communication (fieldbus) or analog inputs/outputs. See also ZCross communication–
on page 234.
m Slave: 
master and sent to the slave.
240
of 724
3
3.4.17 Friction compensation
3.4.17.1 Description of the friction compensation
The dynamic of a feed axis is influenced negatively from static friction (dry friction) at start
or inversion of the direction. The friction compensation enables the compensation of the
static friction by connecting an additional torque set value which is dependent on the moving direction and speed.
Functionality
In principle the friction compensation is, that the known static friction part is compensated
via an additional torque set value and must not be balanced by the speed controller.
Thus an improvement of the controller behavior (lower position error) can be obtained especially at reversal of the moving direction. This causes an increase of the drive control’s
accuracy.
A certain compensation of the friction is achieved with the connection of a correction signal to the internal speed set value.
HINWEIS!
A speed controlled or position controlled operating mode must be activated (see
Z109.1–) for friction compensation.
A correction signal with selectable progression is connected depending on the set value
or actual value speed of the drive.
Three-point with hysteresis and dead zone:
5000_0209_rev02_int.cdr
Output
>154.7<
>154.6<
>154.3<
- >154.9<
>154.3<
>154.4<
>154.4<
+ >154.9<
Speed
>154.5<
Figure 80:
Three-point with hysteresis and dead zone
241
of 724
3.4
Configuration
Three different values will be connected. A hysteresis Z154.9– can be taken into account
to avoid unintentional switching operations at the speed threshold if the speed signal is
noisy.
Three-point with ramp
5000_0210_rev01_int.cdr
Output
>154.7<
>154.3<
>154.4<
Speed
>154.5<
Figure 81:
Three-point with ramp
A ramp function value is set between the constant connection values below the lower
speed threshold and above the upper speed threshold. Faults at the switching edges are
avoided by the continuous run.
Two-point with hysteresis
5000_0211_rev01_int.cdr
Output
>154.7<
>154.3<
>154.4<
Speed
>154.5<
Figure 82:
Two-point with hysteresis
Two different values are connected. The effective hysteresis results from the speed
thresholds Z154.3– and Z154.4–.
242
of 724
3
Ramp with PT1 filter and response
Figure 83:
Friction torque compensation with PT1 filter and response
This friction torque compensation is symmetrical to speed 0 and is executed with the
speed set value only. A difference is made between three cases:
– Starting the control: Actual current value is 0 and no default setting of direction.
n Setting via output value 1 (Z154.5–)
– Start-stop: Actual current value doesn't reach 0. The values, which are added are
lower. The curve is flatter than the previous one; the friction torque compensation is
lower. Friction torque compensation often isn't necessary.
– Reversal: Actual current value is negative. The static friction torque as well as the
dynamic friction torque (from the other direction) must be compensated.
The slope of the friction torque curve is calculated via the lower speed threshold
(Z154.3–). Additionally to the slope a PT1 filter is effective with the time constant of parameter Z154.10– and the speed deviation is feedbacked and it is responded to the deviation. If the speed actual value is greater than the speed set value, the compensation is
stopped. The compensation is continued not until the speed deviation drops again.
If the speed decreases to 0 rpm, the actual compensation value is added to the integral
term of the speed controller and is reset to 0 subsequently. The result is no change of the
torque set value and the friction compensation function can be started again.
243
of 724
3.4
Configuration
Figure 84:
Speed controller gain at stick-slip effect
In addition the controller responds to the stick-slip effect, i.e. if the friction moment drops
abruptly at exceeding of the static friction. This adaption is switched on not before at least
80% of the friction torque is reached and responds, if the actual speed increases faster
than the set speed over several cycles. The speed controller is adapted and the compensation falls via the PT1 filter to the output value 2 (Z154.6–), if the direction of revolution
is reversed.
At the speed controller the P term as well as the integral term are amplified shortly by the
same factor (Z154.11–), in which the factor drops down linearly to the speed set value.
3.4.17.2 Identification of the friction torque curve
The friction torque compensation with PT1 filter and ramp can be identified automatically.
For this the motor must move between a positive and a negative speed with a slowly increasing ramp. The settings and the identification can be done automatically in ProDrive.
The identification is started via bit 9 of parameter Z154.1– and their status is displayed
in parameter Z154.12–.
Name
Type
Min
Max
Default Value Unit
Factor
154.1
Mode
WORD
0
0xFFFF
0
1:1
X
154.3
Lower speed threshold
FLOAT
-50000000
50000000
0
Grad/s 1:1
X
154.4
Upper speed threshold
FLOAT
-50000000
50000000
0
Grad/s 1:1
X
244
of 724
Cyclic Write
Number
DS Support
Storage
FbReibmoment[154]
Read only
Functional block:
154.5
Output value 1
FLOAT
-50000000
50000000
0
Nm
1:1
X
154.6
Output value 2
FLOAT
-50000000
50000000
0
Nm
1:1
X
154.7
Output value 3
FLOAT
-50000000
50000000
0
Nm
1:1
154.8
Friction compensation actual FLOAT
output value
-50000000
50000000
0
Nm
1:1
154.9
Hysteresis speed threshold
FLOAT
0
1000
0
Grad/s 1:1
X
154.10
Time constant friction torque FLOAT
0
1000
15
ms
1:1
X
154.11
Stick slip controller adaption FLOAT
1
100
1
1:1
X
154.12
State identification friction
torque
0
10
0
1:1
DINT
3
X
X
X
154.1
Mode
Configuration of the friction compensation function
Bit
0
Meaning
0: Friction compensation function is switched off
1: Friction compensation function is switched on
2 ... 1
Connection
00: Three-point with hysteresis and dead zone 
Output Value 1 ... 3, hysteresis speed threshold effective
01: Three-point with ramp 
Output Value 1, 2 effective, in between continuous with ramp
10: Two-point with hysteresis 
Output Value 1, 3 effective, hysteresis is due to the speed thresholds
11:
Ramp with PT1 filter and response
7 ... 3
Reserved
8
Speed thresholds are related to
0: Speed set value
1: Speed actual value
9
Start identification of the friction torque curve
31 ... 10 Reserved
NOTE!
The friction compensation must not used in combination with the torque coupling
function.
245
of 724
3.4
154.3
Configuration
Lower speed threshold
Lower speed limit (speed limit for the left-hand sided switching threshold)
154.4
Upper speed threshold
Upper speed limit (speed limit for the right-hand sided switching threshold)
154.5
Output value 1
Connected friction compensation value for
Speed < Lower speed limit
154.6
Output value 2
Lower speed limit  Speed < Upper speed limit
Effective only if connection „Three-point with hysteresis and dead zone“ (Z154.1–
Bit 2…1 = 00).
154.7
Output value 3
Speed > Upper speed limit
154.8
Friction compensation actual output value
Connected friction compensation value at the moment.
154.9
Hysteresis speed threshold
Hysteresis for connection „Three-point with hysteresis and dead zone“ (Z154.1–
Bit 2…1 = 00), otherwise not effective.
246
of 724
154.10
3
Time constant friction torque
Time constant of the friction torque filter at the friction compensation ramp with PT1 filter
and response.
154.11
Stick-slip controller adaption
Factor for the P term and the integral term of the speed controller, when a stick-slip effect
is detected.
154.12
State identification friction torque
Value
Meaning
0
Deactivated
1
Init
2
Wait until there is negative speed
3
Measurement of Iq before acceleration
4
Wait until acceleration
5
Measurement
6
Identification control
7
Calculation
8
End
9
Error Time-out
247
of 724
3.4
Configuration
3.4.18 Synchronization
Name
Type
Min
Max
Default Value Unit
Factor
156.1
Mode
UINT
0
1
0
1:1
156.2
Status
UINT
0
0xFFFF
0
1:1
156.3
Sync tolerance
UINT
0
0x1FFF
1000
µs
20:1000
X
156.4
Sync offset
DINT
-2147483648
2147483647
0
µs
20:1000
X
156.5
Fieldbus cycle
UDINT
0
4294967295
0
µs
20:1000 X
156.6
Fieldbus jitter
DINT
-2147483648
2147483647
0
µs
20:1000 X
156.7
Sync error
DINT
-2147483648
2147483647
0
µs
20:1000 X
156.8
Max. jitter positive
DINT
0
262144
0
µs
20:1000
156.9
Max. jitter negative
DINT
-262144
0
0
µs
20:1000
156.15
Time fieldbus write access
DINT
-500000
500000
0
µs
20:1000 X
156.16
Time DSP read access
DINT
-500000
500000
0
µs
20:1000 X
156.17
Time DSP write access
DINT
-500000
500000
0
µs
20:1000 X
156.18
Time fieldbus read access
DINT
-500000
500000
0
µs
20:1000 X
156.19
Time fieldbus read to DSP
read
DINT
-500000
500000
0
µs
20:1000 X
Cyclic Write
Number
DS Support
Storage
FbSynchronisation[156]
Read only
Functional block:
X
X
156.1
Mode
Switch on or switch off synchronization to fieldbus signal.
Bit
Meaning
0
0: Synchronization is switched off
1: Synchronization is switched on
1
0: Automatic adjustment of the Sync offset Z156.4–
1: Manual adjustment of the Sync offset Z156.4–
248
of 724
156.2
3
Status
Status of synchronization 
Bit-No. Meaning
0
156.3
0: Not synchronous
1: Synchronous
Sync tolerance
Tolerance range for the synchronization signal. These values set the maximum permitted
jitter for the synchronization signal. It also sets the range within the drive synchronously
to the fieldbus.
156.4
Sync offset
Offset between the fieldbus synchronization signal and the controller cycle. Positive values generate an offset of the controller cycle.
This parameter is set automatically. Manual setting is possible, if manual setting is activated in the parameter „Synchronization Mode“ (Z156.1–).
According to fieldbus cycle time and configuration of the EtherCAT master, a manual setting may be necessary, in order to exchange data between the drive controller and the
fieldbus connection without problems.
The Sync Offset must be set, so that no access conflicts occur on the internal DPRAM.
This can be controlled via the parameters Z156.15– to Z156.19–. Write access fieldbus
and read access DSP must be at least 50 µs apart. The same applies to write access
DSP and read access fieldbus.
156.5
Fieldbus cycle
Measured interval-length of the synchronization signal.
156.6
Fieldbus jitter
Measured jitter of the fieldbus synchronization signal (deviation of the set interval-length).
156.7
Sync error
Current phase error between synchronization signal and the controller cycle.
249
of 724
3.4
Configuration
156.8
Max. jitter positive
Maximum jitter of the synchronization signal in positive direction (measured interval
greater than the set interval).
156.9
Max. jitter negative
Maximum jitter of the synchronization signal in negative direction (measured interval lower than the set interval).
Display of the maximum jitter can be reset by a write access with any value.
156.15
Time fieldbus write access
Instant of time of write access of the fieldbus processor on the DPRAM referring to the
Sync signal.
156.16
Time DSP read access
Instant of time of read access of the controller processor on the DPRAM referring to the
Sync signal.
156.17
Time DSP write access
Instant of time of write access of the controller processor on the DPRAM referring to the
Sync signal.
156.18
Time fieldbus read access
Instant of time of read access of the fieldbus processor on the DPRAM referring to the
Sync signal.
156.19
Time fieldbus read to DSP read
Period between the read accesses of the controller processor and the fieldbus processor.
250
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3
3.4.19 Configurable status word
With this function single bit information with up to 16 parameters can be copied into a
common status word (Z165.2–).
The following settings are possible for each status bit ("channel")
m Parameter number of source
m Bit number
m Logical bit
Via the parameter Z165.6– Latch the state of short-time bits of the parameter Z165.2–
is specified (OR function).
NOTE!
The cycle time of function is 1 ms. States, which occur for a short time interval will not
be detected reliably by the configurable status word or the latch. The configurable
status word is generated at the end of task RT1. That means that all other operations
of this task have been processed.
Furthermore adjacent bit pairs of the parameter Z165.2– can be combined with logic operations. The structure of the operations is predefined (see ZFig. 85–).
The following boolean operators are available: AND, OR, XOR, NAND, NOR and XNOR.
The operation results can also be mapped to the configurable bits 14 and 15 of the
Z108.3– Status word 1 of the drive manager. Here the information is available with a delay of 1 ms. This function is described in the parameters Z108.9– to Z108.12–.
251
of 724
3.4
Configuration
Figure 85:
Boolean operation of the configurable status bits Z165.2– via the operators of Z165.5–.
Functional block:
FbGPState[165]
252
of 724
Name
Type
Default Value Unit
Factor
165.1
Mode
DWORD 0
0xFFFFFFFF 0
1:1
165.2
Configurable status
DWORD 0
0xFFFFFFFF 0x0
1:1
165.3
Source numbers
RECORD
0
0xFFFFFFFF 0
1:1
X
165.4
Bit mode
RECORD
0
0xFFFF
0
1:1
X
165.5
Logic functions
RECORD
0
6
0
1:1
X
165.6
Latch
DWORD 0
0xFFFFFFFF 0
1:1
X
DS Support
Max
Storage
Min
Read only
Number
Cyclic Write
3
X
X
X
165.1
Mode
Mode for the function - configurable status word.
Bit No.
165.2
Meaning
0
Control of the entire function “configurable status word”
0: Configurable Status including the links is switched off; the status of all
status bits of the Z165.2– is frozen.
1: Activation of “configurable status”.
1
Control of the logic operations
0: All operating functions are switched off; the status of the status bits 16
to 30 of the Z165.2– is frozen.
1: Activation of the parameterized operations
Configurable status
This parameter shows the status of the parameterized bits of the source parameters. This
parameter shows the results from the logic operations.
The particular status bit is deleted, if the following occurs:
m The associated channel (source parameter to >0.0<) is switched off
m The associated logic operation (Z165.1– to 0) is switched off
If the function of the logic operations is switched off completely via the Z165.1– Mode
bit 0 = 0, the state of the completely configurable status is frozen at the shut-off time.
If only the function of all logic operations is switched off via the Z165.1– Mode bit 1 = 0,
the status of the logic operation outputs (bit no. 16 to 30) is frozen only.
253
of 724
3.4
Configuration
Bit No.
15 ... 0
Status of bits from the source parameters
Bit 0: Status Bit Source 0  Z165.3– Index 0
….
30 ... 16
Results from the logic operations of the status bits:
Bit 16 Result from Bit 0 and 1
31
165.3
Meaning
Reserved
Source numbers
This is a RECORD type parameter (array). This parameter contains the numbers of all 16
source parameters. As soon as a valid parameter number is parameterized, the channel
for the relevant status bit of Z165.2– is released.
Index
Meaning
0
Source parameter for status bit 0 of Z165.2–
1
…
…
15
254
of 724
165.4
3
Bit mode
The bit logic and the bit number of the source parameter are set in this parameter.
Bit No.
Meaning
4…0
Bit number
7…5
Reserved
8
15 … 9
Bit Logic:
0 = positive logic; 
selected bit is copied unchanged into the configured status
1 = negative logic; 
selected bit is copied inverted into the configured status
Reserved
This is a RECORD type parameter (array).
Index
165.5
Meaning
0
Bit number and bit logic for status bit 0 of Z165.2–
1
…
…
15
Logic functions
The status bits of Z165.2– are combined using logic functions via these parameters. Binary logic functions of adjacent bits of the configured status can be processed.
Refer to the appropriate bit of Z165.2– for the results of logic function.
The logic structure is described in chapter ZConfigurable status word– from page 252.
The logic function is activated by entering a value between 1 and 6.
Value
Meaning
0
Logic function is switched off.
1
AND operation
2
OR operation
3
XOR operation (exclusive OR operation)
4
NAND operation (NOT – AND)
5
NOR operation (NOT – OR)
6
XNOR operation (exclusive NOT – OR)
255
of 724
3.4
Configuration
This is a RECORD type parameter (array).
Index
0
Logic Operator (OP0 a)) for status bit 16 of Z165.2–
1
…
…
14
a)
165.6
Meaning
This abbreviation is used for the logic operations in the logic structure
Latch
The result of a bitwise OR operation with a configurable status Z165.2– is indicated at
the end of each cycle.
Here one-time statuses in the status bits are saved.
This parameter can be written to, in order to reset single bits or the complete latch.
Switching off single channels or the complete function has no effect on its value.
256
of 724
3
3.4.20 SoftDrivePLC
3.4.20.1 Overview SoftDrivePLC
For controller version V01.07 and higher a restricted PLC functionality exists in the firmware. Herewith programmable operations and accesses to controller parameters can be
executed.
The SoftDrivePLC enables simple assignments directly on the drive (without needing a
PLC option module).
The SoftDrivePLC of the b maXX drive is provided in two variations
m Standard version (free)
m Full version (extra charge)
Limitations of the standard version compared with the full version
m Only one event task and the default task is possible
m Fastest event task RT0 is not possible
m Length of the executable code within the task is reduced
The program ProProg 5 is used for operation of the full version. The standard version can
be operated with ProDrive as well as with ProProg5.
NOTE!
Controllers with full version of the SoftDrivePLC must be ordered explicitly. The Baumueller type code shows whether this functionality is integrated or not.
If the full version is available, an identifier "-Exx-" exists in the device type code at which
xx must be an odd number.
Example:
BM3XXX - XXXX - XXXXX[-X] - XXXXX [-S0X] - XX [-XX] [-E01] [-#XX]
The full functionality of the SoftDrivePLC is available at a controller with this type code.
The SoftDrivePLC is programmed with the ProProg V5.x software in the IEC-61131 language Structured Text (ST).
3.4.20.2 Function
With the SoftDrivePLC parameter accesses links can be executed directly at the controller without using a PLC option module.
Typical applications for the SoftDrivePLC:
m Computing of scalar controller parameters
m Access to digital, analog inputs / outputs
m Weighting of controller values
m Error management, etc.
257
of 724
3.4
Configuration
The following direct access is possible to controller parameters via the SoftDrivePLC:
m Read access to all 16 bit and 32 bit scalar controller parameters including floating
point parameters,
m write access to all 16 bit and 32 bit writable scalar controller parameters,
m access to data set parameters depending on active data set,
m access to instantiated parameters
3.4.20.3 Limitations
The following limitations apply for the SoftDrivePLC:
m Supported data types: BOOL, WORD, DWORD, SINT, INT, DINT, USINT, UINT,
UDINT, REAL
m Access to scalar parameters only
m At present no function calls or function block calls possible
m It follows that there were no standard function blocks defined in IEC-61131 available, e.g. edge detection (R_TRIG, F_TRIG), timer (TP, TON, TOF), counter (CUT,
CDT, ...) etc.
m No motion function blocks or other technology functions available
m No fieldbus master control
m In Program Organization Units (POU) called by interrupt events there are no back
loops allowed (i.e. no loop instructions e.g. FOR, WHILE, REPEAT applicable)
m The memory size for local variables is 500 bytes. In this memory operands of the
types bool, byte, word or double word can be set arbitrarily, as long as the sum of
the memory requirement of the operands does not exceed 500 bytes.
Operand
IEC data type
Memory requirements in
bytes
Bool
Bool
1
Byte
SINT, USINT
1
Word
INT, UINT, WORD
2
Double word
DINT, UDINT, DWORD
4
Float
REAL
4
m Data memory for global variables: 500 bytes
m Program memory size: for each POU: approx. 12 kByte instruction list commands
(depending on the length of the orders). Maximum size of a project file: 128 kByte.
m Number and characteristics of tasks are fixed.
m No retain data
m No breakpoints, single step operation, single cycle operation, no forcing of I/Os possible.
m The controller PLC saves a correct translated project always in the flash memory. It
is not possible to keep a boot project in the flash while working with another project
in RAM.
258
of 724
3
3.4.20.4 Tasks
The SoftDrivePLC features from V01.07 the following tasks which one or more POUs
could be assigned:
m default task (lowest priority in real time operating system of the controller),
m RT0, RT1, RT2, fieldbus task, write events to parameter.
The required calculating time of the default task can be read in parameter Z170.5–.
All tasks can be activated or deactivated separately via controller parameter.
Parameter Z170.1– configures, whether the SoftDrivePLC should execute a cold start at
once when switching on the controller.
3.4.20.5 Programming interface
The Windows program ProProg Version 5.x or ProDrive are the programming interfaces
for the SoftDrivePLC.
These programs are able to
m write and administrate PLC projects
m load projects in the controller and run projects
m control the PLC (cold start and hot start)
m display controller variables during run-time in appropriate debug windows
Programming via ProDrive
ProDrive provides a framework for a PLC project. Such a project is part of the ProDrive
project and is saved automatically in a sub-directory associated on the b maXX drive within the ProDrive project. The PLC project file (*.plcprojx) is compatible to ProProg5. The
PLC project files are included in case of copying or zipping a ProDrive project.
The Build process generates a PLC program file (*.pro) which is saved in a sub-directory
associated with the b maXX drive within the ProDrive project. This file is then transmitted
to the drive and activated. When executing an upload or download of a parameter set via
ProDrive, the PLC program file is transmitted also and saved using the same file name
but another file extension (*.pro)
NOTE!
The parameter module, the SAF modules and the Control Panel do not support the
PLC program file.
Worksheets
For programming the SoftDrivePLC ProDrive provides a variables worksheet and two
code worksheets .
The variables of the PLC project can be defined with an ST editor in the variable worksheet. The drive parameters which can be inserted in the variables data sheet by double
click or drag & drop are to be found in the toolbox at the right window frame. The toolbox
also provides filtering drive parameters by name or by number.
259
of 724
3.4
Configuration
For programming the two tasks ProDrive provides a separate code worksheet. The programming is done with the help of an ST editor. The toolbox at the code worksheet contains beside the list of defined variables, the keywords and functions as well as the
commands for possible type changes. The entries can be inserted in the code worksheet
by double click or drag & drop. Each entry provides a context menu for opening e.g. help
or other functions.
Error handling in the controller
Overview of the PLC relevant errors, which must be considered by the controller:
m Static errors:
n Load error of the PLC project file (boot file)
n Compile error of the neutral intermediate codes

Error in the intermediate code or not supported command sequence

Violation of restrictions as returns in real time tasks
m Run-time errors
n Task timeout (watchdog error)
n Array boundary check errors
n Division by zero - is not evaluated currently - the result of division by zero is zero
n Errors according to return values of the executing parameter access functions
n Bracket errors
n and so on
Type
Min
Max
Default Value Unit
Factor
170.1
PLC control word
UINT
0
0xFFFF
0
1:1
170.2
PLC status
UINT
0
0xFFFF
0
1:1
170.3
Task control word
UDINT
0
0xFFFFFFFF 0xFFFFFFFF
1:1
170.4
Task status
UDINT
0
0xFFFFFFFF 0
1:1
170.5
Run time default task
FLOAT
0
5000000000
0
170.6
Translation control
WORD
0
0xFFFF
0
170.7
Cycle time default task
FLOAT
0
5000000000
0
170.10
Project name
STRING
170.11
Project time stamp
STRING
170.12
Free memory
UDINT
0
0xFFFFFFFF 0
170.13
POU count
UINT
0
0xFFFF
170.14
Task count
UINT
0
0xFFFF
170.15
Project CRC
UDINT
170.16
MetaData CRC
UDINT
µs
1:1
X
X
X
X
X
1:1
X
1:1
X
1:1
X
0
1:1
X
0
1:1
X
0
0xFFFFFFFF 0
1:1
X
0
0xFFFFFFFF 0
1:1
X
of 724
X
1:1
1:1
260
Cyclic Write
Name
DS Support
Number
Storage
FbSoftDrivePlc [170]
Read only
Funktional block:
ms
3
170.20
Write event parameter UINT UINT
0
0xFFFF
0
1:1
X
170.21
Write event parameter
UDINT
UDINT
0
0xFFFFFFFF 0
1:1
X
170.22
Write event parameter REAL FLOAT
0
0xFFFFFFFF 0
1:1
X
170.30
Error code
UDINT
0
0xFFFFFFFF 0
1:1
X
170.31
Error module number
UINT
0
0xFFFF
0
1:1
X
170.32
Error line number
UINT
0
0xFFFF
0
1:1
X
170.33
Error POU Code type
UINT
0
0xFFFF
0
1:1
X
170.34
Error module name
STRING
1:1
X
170.50
Run time task RT0
FLOAT
0
5000000000
0
µs
1:1
X
170.51
Run time task RT1
FLOAT
0
5000000000
0
µs
1:1
X
170.52
Run time task RT2
FLOAT
0
5000000000
0
µs
1:1
X
170.53
Run time fieldbus task
FLOAT
0
5000000000
0
µs
1:1
X
170.54
Run time write event task
FLOAT
0
5000000000
0
µs
1:1
X
170.1
PLC control word
Controls the start-up behavior and start/stop behavior (stop, cold start, warm start, hot
start) for the SoftDrivePLC.
Value
Meaning
0
PLC stop
1
PLC cold start
All variables will be initialized with default values
2
PLC warm start (behavior as cold start)
3
PLC hot start
No variables are initialized.
4 ... 65535 Reserved
170.2
PLC Status
Status of the SoftDrivePlc
261
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3.4
Configuration
Bit no.
0
2 ... 1
Effective status
1: PLC is stopped
1: PLC is started
Start option
00: Stop
01: PLC has been started with cold start
10: PLC has been started with warm start
11: PLC has been started with hot start
3
Error status
0: No error
1: Error (PLC in RUN mode or STOP mode, depending on error)
4
Translation status
0: Translation active
1: Translation completed
5
Translation error status
0: No translation error
1: Translation error
15 ... 6
170.3
Meaning
Reserved
Task control word
From controller firmware version V01.08 the controller PLC supports several tasks in different time levels, which can be run simultaneously. A task, which can be activated/deactivated separately, is assigned to each bit of this parameter.
Bit value = 0: Task is deactivated
Bit value = 1: Task is activated
Bit no.
Meaning
0
Default task
1
Task RT0
2
Task RT1
3
Task RT2
4
Task fieldbus
5
Write to parameter PlcEventWrUint
6
Write to parameter PlcEventWrUdint
7
Write to parameter PlcEventWrReal
15 ... 8
Reserved
262
of 724
170.4
3
Task status
This parameter shows which task(s) of the controller PLC are active or which task was
active since the last start command. So it can be recognized that write accesses took
place and the correspondent POU was executed.
Mapping from bit to controller PLC task see parameter Task control word (Z170.3–).
Specified bits can be set to 0 by writing a new mask.
The correspondent bit is set cyclically at cyclic tasks
When writing the parameter the value is not written directly to the parameter, following is
valid:
New parameter value = logical AND operation of 
previous parameter value AND input value
170.5
Run time default task
This parameter shows the execution time of the default task in µs.
170.6
Translation control
Control word to translate the PLC intermediate code to executable code. By default, this
parameter is handled by ProProg V5. After loading the PLC project in the controller a "1"
must be written in this parameter to start the internal translation of the project.
Bit no.
0
A rising edge starts the translation of the loaded project.
1
A rising edge effects that the project in the controller is deleted.
15 ... 2
170.7
Meaning
Reserved
Cycle time default task
Execution time of the default task including interrupts from other tasks with higher priority
in the controller.
170.10
Project name
This parameter shows the name of the active project in the controller.
263
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3.4
Configuration
170.11
Project time stamp
This parameter shows the creation date and the creation time of the active project.
170.12
Free memory
This parameter shows the free code memory in the controller.
170.13
POU count
This parameter shows the number of the existing POUs (Program Organization Units) in
the project.
170.14
Task count
This parameter shows the number of tasks in the project.
170.15
Project CRC
CRC32 of the project file. The programming system uses this parameter to compare the
project loaded in the programming interface with the project saved in the controller.
170.16
MetaData CRC
CRC of the meta data. The programming system uses this parameter to compare the
project loaded in the programming interface with the project saved in the controller.
170.20
Write event parameter UINT
Writing on this UINT parameter leads to a call of the "Event write UINT" task, if the POU
is enabled via Z170.3–.
170.21
Write event parameter UDINT
Writing on this UDINT parameter leads to a call of the "Event write UDINT" task, if the
POU is enabled via Z170.3–.
264
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3
170.22
Write event parameter REAL
Writing on this REAL parameter leads to a call of the "Event write REAL" task, if the POU
is enabled via Z170.3–.
170.30
Error code
This parameter shows the PLC specific error code, if an error has occurred during translation or at the run-time.
Error code Meaning
3000
Error in project – maximum count of tasks exceeded
3001
Error in project – maximum count of program organization units (POU)
exceeded.
3002
Error in project – unknown data type in intermediate code
3003
Error in project – unknown insert mode (assembler header of instruction)
3004
Error in project – bad operator code
3005
Error in project – bad operator code length
3006
Error in project – bad operand. Operand does not match operator
3007
Error in project – data type is not supported for the current operator code
3008
Error in project – bad asm table entry
3009
Error in project – bad parameter id
3010
Error in project – the used parameter is not of scalar type. Arrays and
structures are not supported yet.
3011
Error in project – bracket close instruction without bracket open
3012
Error in project – unknown label in jump instruction
3013
Error in project – unknown POU number in CAL instruction
3014
Error in project – back jump found within a POU which is called from an
interrupt service POU (RT0, RT1, RT2, fieldbus task, etc.).
3015
Code memory overflow
3016
Buffer overflow intermediate code
3017
Invalid accumulator data type
3018
Watchdog error default task
3019
Check operator error (see CHK_ACC or CHK_OPD)
3020
Watchdog error event task
3021
Error in project – not supported task type in project file
3022
The loaded PLC project is not valid for the PLC extension stage of the
controller. The controller is not activated for the full version of the PLC.
265
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3.4
Configuration
170.31
Error module number
This parameter shows at module related errors the number of the module or the POU
where the error has occurred.
170.32
Error line number
This parameter shows at module related errors the number of the faulty intermediate code
instruction.
170.33
Error POU code type
At module related errors this parameter shows the type of the POU, which caused the error.
It is defined: 
170.34
Value
Meaning
0
Reserved
1
Initialization code
2
Regular process code
Error module name
This parameter shows at module related errors the name of the POU, where an error has
occurred.
170.50
Run time task RT0
This parameter shows the execution time of the PLC code in the RT0 time slice.
170.51
Run time task RT1
266
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170.52
3
Run time task RT2
170.53
Run time fieldbus task
This parameter shows the execution time of the PLC code in the fieldbus task.
170.54
Run time write event task
This parameter shows the execution time of the PLC code in the last processed event
task. The event task runs when writing to parameter Z170.20–, Z170.21– or Z170.22–.
267
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3.4
Configuration
3.4.21 DS402 Factor Group
3.4.21.1 General information
The DS402 Factor Group (CiA CANopen Drives and motion control profile Part 2: Operation modes and application data) is supported in order to adapt to user-specific units.
Position, speed and acceleration weightings can calculate or recalculate the most important drive parameters.
A conversion and a write access to the accordant drive parameter are executed by each
write access to the writable parameters. Read only parameters are updated cyclically.
The Factor Group is activated for all axes available in the device by setting bit 14 = 1 in
parameter Z131.9– (Fieldbus slave settings). Scaling can be adjusted separately for
each axis.
The DS402 scalings are calculated as follows (the corresponding DS402 object number
is in brackets):
Position resolution encoder increments P179.2
Position resolution (0x608F) = ----------------------------------------------------------------------------------------------------------------Position resolution motor revolutions P179.3
Speed resolution encder increments P179.4
Speed resolution (0x6090) = --------------------------------------------------------------------------------------------------------Speed resolution motor revolutions P179.5
Gear ratio motor shaft revolutions P179.6
Gear ratio (0x6091) = ----------------------------------------------------------------------------------------------------Gear ratio drive shaft revolutions P179.7
Feed constant feed P179.8
Feed constant (0x6092) = -----------------------------------------------------------------------------------------------------------Feed constant drive shaft revolutions P179.9
Polarity P179.1 (0x607E)
Bit 7:
Bit 6:
1: Multiply position with (-1) 1 Multiply speed with (-1)
268
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3
Position resolution (0x608F) * Gear ratio (0x6091)
Position weighting without sign = -------------------------------------------------------------------------------------------------------------------------Feed constant (0x6092)
Position weighting with sign = Position weighting without sign * Polarity (0x607E)
Speed resolution (0x6090) * Gear ratio (0x6091)
Speed weighting without sign = --------------------------------------------------------------------------------------------------------------------Feed constant (0x6092)
Speed weighting with sign = Speed weighting without sign * Polarity (0x607E)
d
Acceleration weighting = ----- Speed weighting without sign
dt
269
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3.4
Configuration
Conversion between Factor Group parameters and controller parameters:
Position weighting unsigned
Position window P179.11
(0x6067)
X
Positioning positioning window (P121.5)
Position weighting signed
Target position P179.12
(0x607A)
X
Positioning relative target position (P118.16)
Cyclic position set value specification
target position (P136.3)
Position weighting unsigned
Home offset P179.13
(0x607C)
X
Home position (P120.3)
Minimal software position limit
P179.14
(0x607D.01)
X
Negative software limit switch (P121.3)
Maximal software position limit
P179.15
(0x607D.02)
X
Positive software limit switch (P121.4)
1/ Position weighting unsigned
Position actual value P179.10
(0x6064)
X
Positioning position actual value (P121.9)
Touch probe 1 pos. value P179.16
(0x60BA)
Touch probe 1 neg. value P179.17
(0x60BB)
Touch probe 2 pos. value P179.18
(0x60BC)
Touch probe 2 neg. value P179.19
(0x60BD)
X
Touch probe revolutions+angle
(selection with P124.30
from P124.5 ... 124.16 or 124.18)
Position error actual value P179.20
(0x60F4)
X
Figure 86:
Position error rev+angle (P18.60)
Factor Group effect of position weighting
270
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3
Speed weighting unsigned
Profile speed P179.22
(0x6081)
X
Positioning speed (P118.11)
Speed weighting unsigned
Homing speed search for switch
P179.23
(0x6099.01)
X
Homing speed (P120.5)
Speed weighting signed
Speed offset P179.25
(0x6081)
Speed additional value (P18.68)
X
Speed weighting signed
Target speed P179.26
(0x60FF)
Ramp function generator input 32 bit (P110.4)
X
Speed actual value P179.21
(0x606C)
x2 speed actual value (P121.4)
X
Acceleration weighting
Homing acceleration P179.27
(0x6064)
Homing acceleration (P120.7)
X
Homing deceleration (P120.8)
Profile acceleration P179.28
(0x6083)
Positioning acceleration (P118.12)
X
Profile deceleration P179.29
(0x6084)
Positioning deceleration (P118.13)
X
Quick stop deceleration P179.30
(0x6085)
Figure 87:
X
Quick stop time (P110.8)
Factor Group effect of the speed and acceleration weighting
271
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3.4
Configuration
NOTES!
m Factor Group total resolutions (position weighting, speed weighting)  16 bit
inc/rev or 16 bit (inc/s)/(rev/s) are permitted only.
m The accuracy in the controller remains at 16 bit inc/rev even though the Factor
Group position total resolutions were set to > 16 bit inc/rev.
m Touch probe
The following settings must be set / considered if touch probe objects with a Factor
Group standardization are used:
– Activate channels in parameter Z124.1–
– Map activated channels on the Factor Group objects, DS402 touch probe
– Switch on and select scaling with Factor Group
m Operating mode "Target Position Setting"
Only the relative target modes 4, 7, 9, 12 (see Z118.16–) are supported
Example:
The position should be resolved in 0.1° increments and the speed in 0.1°/s increments,
without negation.
P 179.2 = 65536
P 179.3 = 1
P 179.4 = 65536
P 179.5 = 1
P 179.6 = 1
P 179.7 = 1
P 179.8 = 3600
P 179.9 = 1
272
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3
3.4.21.2 ProDrive DS402
Figure 88:
ProDrive Factor Group and touch probe DS402
Functional block:
FbFactorGroup [179]
273
of 724
Cyclic Write
DS Support
Storage
Configuration
Read only
3.4
Number
Name
Type
Min
Max
Default Value Unit
Factor
179.1
Polarity
UINT8
0
0xFF
0
1:1
X
179.2
Position resolution encoder
increments
UDINT
1
4294967295
65536
1:1
X
179.3
Position resolution motor rev- UDINT
olutions
1
4294967295
1
1:1
X
179.4
Velocity resolution encoder
increments/s
UDINT
1
4294967295
65536
Inc/s
1:1
X
179.5
Velocity resolution motor rev- UDINT
olutions/s
1
4294967295
1
1/s
1:1
X
179.6
Gear ratio drive shaft revolu- UDINT
tions
1
4294967295
1
1:1
X
179.7
Gear ratio drive shaft revolu- UDINT
tions
1
4294967295
1
1:1
X
179.8
Feed constant feed
UDINT
1
4294967295
65536
1:1
X
179.9
Feed constant drive shaft
revolutions
UDINT
1
4294967295
1
1:1
X
179.10
DINT
0x80000000
0x7FFFFFFF 0
Inc
1:1
X
179.11
Position window
UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
179.12
Target position
DINT
0x80000000
0x7FFFFFFF 0
Inc
1:1
179.13
Home offset
DINT
0x80000000
0x7FFFFFFF 0
Inc
1:1
X
179.14
Minimum software position
limit
DINT
0x80000000
0x7FFFFFFF 0
Inc
1:1
X
179.15
Maximum software position
limit
DINT
0x80000000
0x7FFFFFFF 0
Inc
1:1
X
179.16
Touch probe pos1 pos value DINT
0x80000000
0x7FFFFFFF 0
Inc
1:1
X
179.17
Touch probe pos1 neg value DINT
0x80000000
0x7FFFFFFF 0
Inc
1:1
X
179.18
Touch probe pos2 pos value DINT
0x80000000
0x7FFFFFFF 0
Inc
1:1
X
179.19
Touch probe pos2 neg value DINT
0x80000000
0x7FFFFFFF 0
Inc
1:1
X
179.20
Position error actual value
DINT
0x80000000
0x7FFFFFFF 0
Inc
1:1
X
179.21
Speed actual value
DINT
0x80000000
0x7FFFFFFF 0
Inc/s
1:1
X
179.22
Profile speed
UDINT
0
0xFFFFFFFF 0
Inc/s
1:1
179.23
Homing speed search for
switch
UDINT
0
0xFFFFFFFF 0
Inc/s
1:1
X
179.24
Homing speed search for
zero
UDINT
0
0xFFFFFFFF 0
Inc/s
1:1
X
179.25
Speed offset
DINT
0x80000000
0x7FFFFFFF 0
Inc/s
1:1
X
179.26
Target speed
DINT
0x80000000
0x7FFFFFFF 0
Inc/s
1:1
X
Inc
2
179.27
Homing acceleration
UDINT
0
0xFFFFFFFF 0
Inc/s
1:1
179.28
Profile acceleration
UDINT
0
0xFFFFFFFF 0
Inc/s2
1:1
2
179.29
Profile deceleration
UDINT
0
0xFFFFFFFF 0
Inc/s
1:1
179.30
Quick stop deceleration
UDINT
0
0xFFFFFFFF 0
Inc/s2
1:1
274
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X
X
X
X
X
X
3
3.4.21.4 Description of the Parameter
179.1
Polarity
DS402 Factor Group object 0x607E for the polarity inversion of position and speed.
179.2
Bit
Meaning
0…5
Reserved
6
1: Multiply speed with (-1)
7
1: Multiply position with (-1)
Position resolution encoder increments
DS402 Factor Group object 0x608F.01 (numerator of the position weighting).
179.3
Position resolution motor revolutions
DS402 Factor Group object 0x608F.02 (denominator of the position weighting).
179.4
Speed resolution encoder increments/s
DS402 Factor Group object 0x6090.01 (numerator of the speed weighting).
179.5
Speed resolution motor revolutions/s
DS402 Factor Group object 0x6090.02 (denominator of the speed weighting).
179.6
Gear ratio motor shaft revolutions
DS402 Factor Group object 0x6091.01 (numerator of the gear ratio).
275
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3.4
Configuration
179.7
Gear ratio drive shaft revolutions
DS402 Factor Group object 0x6091.02 (denominator of the gear ratio).
179.8
Feed constant feed
DS402 Factor Group object 0x6092.01 (numerator of the feed constant).
179.9
Feed constant drive shaft revolutions
DS402 Factor Group object 0x6092.02 (denominator of the feed constant).
179.10
DS402 Factor Group object 0x6064 (position actual value with position weighting corresponding to ZGeneral information– from page 269).
179.11
Position window
DS402 Factor Group object 0x6067 (positioning window for the operating mode "Position
target setting" with position weighting corresponding to ZGeneral information– from page
269).
179.12
Target position
DS402 Factor Group object 0x607A (target position for the operating modes "Position target setting" (only modes with relative target position) and "Cyclical set value setting" with
position weighting corresponding to ZGeneral information– from page 269).
179.13
Home offset
DS402 Factor Group object 0x607C (home offset for the operating mode "Homing" with
position weighting corresponding to ZGeneral information– from page 269).
276
of 724
179.14
3
Minimum software position limit
DS402 Factor Group object 0x607D.01 (negative limit switch for all position controlled operating modes with position weighting corresponding to ZGeneral information– from
page 269).
179.15
Maximum software position limit
DS402 Factor Group object 0x607D.02 (positive limit switch for all position controlled operating modes with position weighting corresponding to ZGeneral information– from
page 269).
179.16
Touch probe pos1 pos value
DS402 Factor Group object 0x60BA (touch probe value from revolutions and angle
scaled with position weighting corresponding to ZGeneral information– from page 269).
Notice: The touch probe must be parameterized adequately, see notes on Zpage 273–.
179.17
Touch probe pos1 neg value
DS402 Factor Group object 0x60BB (touch probe value from revolutions and angle
179.18
Touch probe pos2 pos value
DS402 Factor Group object 0x60BC (touch probe value from revolutions and angle
179.19
Touch probe pos2 neg value
DS402 Factor Group object 0x60BD (touch probe value from revolutions and angle
277
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3.4
Configuration
179.20
Position error actual value
DS402 Factor Group object 0x60F4 (position error with position weighting corresponding
to ZGeneral information– from page 269).
179.21
Speed actual value
DS402 Factor Group object 0x606C (speed actual value with speed weighting corresponding to ZGeneral information– from page 269).
179.22
Profile speed
DS402 Factor Group object 0x6081 (profile speed with speed weighting corresponding to
ZGeneral information– from page 269).
179.23
Homing speed search for switch
DS402 Factor Group object 0x6099.01 (homing speed search for switch with speed
weighting corresponding to ZGeneral information– from page 269).
179.24
Homing speed search for zero
DS402 Factor Group object 0x6099.02 (homing speed search for zero with speed weighting corresponding to ZGeneral information– from page 269).
179.25
Speed offset
DS402 Factor Group object 0x60B1 (speed offset with speed weighting corresponding to
179.26
Target speed
DS402 Factor Group object 0x60FF (target speed with speed weighting corresponding to
278
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179.27
3
Homing acceleration
DS402 Factor Group object 0x609A (homing acceleration with acceleration weighting
corresponding to ZGeneral information– from page 269).
179.28
Profile acceleration
DS402 Factor Group object 0x6083 (profile acceleration with acceleration weighting corresponding to ZGeneral information– from page 269).
179.29
Profile deceleration
DS402 Factor Group object 0x6084 (profile deceleration with acceleration weighting corresponding to ZGeneral information– from page 269).
179.30
Quick stop deceleration
DS402 Factor Group object 0x6085 (quick stop deceleration with acceleration weighting
corresponding to ZGeneral information– from page 269).
279
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3.5
Management
3.5
Management
3.5.1
Drive management
The drive manager manages the important system resources of the drive. These include,
among other things, the complete control of the device in the various operating modes,
switching between modes, error handling, the management of all communications interfaces, etc.
The control of the drive is effected by means of a state machine which is operated via the
control word Z108.1– and hardware control inputs. At the same time, control is also possible using only the hardware inputs, i.e., without activating the control word. To do this,
the bits for motor control in the Communications Source parameter Z108.7– must be appropriately cleared.
The state machine for device control (see ZFig. 90– on page 285) and the commands in
the control word conform to the Drivecom/CANopen standard. The control word Z108.1–
and the corresponding commands are explained in detail in the parameter description.
The following hardware control inputs are present:
m Quick stop input (SH):
n Terminal: X2 Digital Inputs 
Using Parameters 116.2/116.8/116.14/116.20, any chosen digital input can be selected as the input for the Quick Stop. For normal operation, a High level (if input is
not inverted) is required. If no input is selected, the signal will always be seen internally as set (High). A Zero level on this input (if input is not inverted) initiates the
Quick Stop response.
m Pulse enable (IF):
n Terminal: X2 Digital Inputs Pin 5 
Enables the pulses for PWM. This input acts directly on the power unit driver. If a
Zero level is applied here, no pulses can be output by the power unit.
m Controller Enable (RF):
n Terminal: X2 Digital Inputs 
Using Parameters 116.2/116.8/116.14/116.20, any chosen digital input can be selected as the input for the Controller Enable. If no input is selected, the signal will
always be seen internally as set (High). The Controller Enable takes place together
with the Pulse enable or via the control word command.
m Input error reset (FR):
n Using Parameters 116.2/116.8/116.14/116.20 any chosen digital input can be selected as the input for error reset. A rising edge on this input (if input is not inverted)
initiates an error reset.
280
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3
m States of the Device Control System
n NOT READY TO SWITCH ON
m The electronics are supplied with power
m Initialization is running
m The drive function is inhibited
m The operationally ready relay is OFF (drive is not operationally ready)
n SWITCH-ON INHIBIT
m Software/hardware initialization is complete
m The parameters for the application can be changed
m Switch-on is inhibited
m The operationally ready relay is ON (drive is operationally ready)
n READY TO SWITCH ON
m Switch-on is enabled
n SWITCHED ON
m Power unit is operationally ready, DC link voltage / mains voltage is present (depending on the parameterization)
n OPERATION ENABLED
m Drive function is enabled
n OPERATION INHIBIT ACTIVE
m "Inhibit Operation" command is executed
281
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3.5
Management
n DRIVE SHUT-DOWN ACTIVE
m "Shut-down" command is executed
n QUICK STOP ACTIVE
m "Quick Stop" command is executed
n ERROR RESPONSE ACTIVE
m An error-dependent action is carried out
m Drive function can be enabled
n ERROR
m The operationally ready relay is OFF (drive is not operationally ready)
282
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3
Introduction to the Description of the Device Control System
Figure 89:
Introduction to the Device Control System
Within the states (see ZFig. 89–), Bits 7...0 of Status Word 1 Z108.3– are represented
in binary form as XXXX XXXX.
At the state transitions (arrowed, see ZFig. 89–), Bits 7...0 of the Control Word Z108.1–
are represented in binary form as xxxx xxxx.
None of the bits labeled X (i.e. the bits of the status word) or x (i.e. the bits of the control
word) have any significance for the control of the state machine or the representation of
the current state.
283
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3.5
Management
m State Machine of the Device Controller
From every
condition
13
ERROR REACTION ACTIVE
X0XX 1111
BB
14
Drive messages “not ready
for switching power on”
NOT READY FOR START
X0X0 0000
BB
BB
ERROR
X0XX 1000
Reset-error
0xxx xxxx
1
1xxx xxxx
or ERASE
ERROR MEMORY
0 ®1
INHIBIT START
X1XX 0000
BB
Close down xxxx x110
and IF=0 1)
and SH=1 7)
and PA = 0
2
Inhibit voltage xxxx xx0x
7 Quickstop7) xxxx x01x
or SH=0
READY FOR SWITCH-ON
X01X 0001
BB
3
10
BB
12
Switch-on
xxxx x111
und IF=1
Shut down
6 xxxx x110
SWITCHED ON
X011 0011
1): Only
if controlling is
done exclusively by
HW-inputs
(see 108.7).
5a
2):Only
if QUICKSTOP
reaction (108.13)
is set to 5 up to 8.
DISABLE OPERATION ACTIVE
X011 0111
BB
Enable
4 operation
xxxx 1111
Inhibit voltage
9
xxxx xx0x
and RF=1
Disable operation
5 xxxx 0111
or RF=0
4)
3): Only
if QUICKSTOP
reaction (108.13)
is set to 0 up to 4.
4)
BB OPERATION ENABLED
X011 0111
4):Only
Enable
operation
xxxx 1111
BB
if a digital input
is selected for
controller enable.
(see 116.2 etc.)
8 Shut down
xxxx x110 or IF = 0
SHUT DOWN ACTIVE
X011 0111
8a
7):Only
if a digital
input is selected
for quick stop
(see 116.2 et seqq.)
OPERATION ENABLED
Quickstop
xxxx x01x
or SH=0 7)
2)
11
(1 = high)
(0= low)
SH = 1: Quick stop at level 1 (inactive) (1 = high) (*)
SH = 0: Quick stop at level 0 (active) (0 = low )
PA = 0: Axis not parked
PA = 0: Axis parked
Figure 90:
Operation enabled
16 xxxx 1111 & SH = 1 7) & RF = 4)1
BB
IF = 1: Pulse enable at level 1
F = 0: Pulse enable at level 0
Inhibit voltage
xxxx xx0x
or IR=0
or n=0 3)
QUICK STOP ACTIVE
X001 0111
RF = 1: CONTROLLER ENABLE at level 1
(*)
RF = 0: CONTROLLER ENABLE at level 0
BB = ready-for-use relay
(*) Inputs not inverted
3300_0071_rev01_int.cdr
Inhibit voltage
xxxx xx0x
quickstop
xxxx x01x
or SH=0 7)
15
State Machine of the Device Controller
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3
m State Transitions of the Device Controller
0 Input to the State Machine  NOT READY TO SWITCH ON
n Event:
m Switch on supply to electronics
m Hardware reset or
m Software reset
n Action:
m Switch off the operationally ready relay
m Start initialization and self test
1 NOT READY TO SWITCH ON  SWITCH-ON INHIBIT
n Event:
m Initialization and self test completed without error
n Action:
m Switch on operationally ready relay
2 SWITCH-ON INHIBIT  READY TO SWITCH ON
n Event:
– Drive activation by control word:
m "Shut-down" command
– Drive activation by hardware control inputs:
m Pulse enable input = Low
n Condition:
m axis not parked
m Quick Stop input = High (only if Quick Stop (QS) hardware control input is used)
n Action:
m None
3 READY TO SWITCH ON  SWITCHED ON
n Event:
m "Switch On" command
m Pulse enable input = High
n Condition:
m Power supply reports operational readiness / main supply voltage applied and
m Pulse enable input = High
n Action:
m None
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Management
4 SWITCHED ON  OPERATION ENABLED
n Event:
m "Enable Operation" command
m Controller Enable input = High (only if Controller Enable (RF) hardware control input is used)
n Condition:
n Action:
5 OPERATION ENABLED  OPERATION INHIBIT ACTIVE
n Event:
m "Inhibit Operation" command or
m Controller Enable input = Low (transition only possible if Controller Enable (RF)
hardware control input is used)
n Action:
m Operation Inhibit is initiated (braked or coast-down, depending on setting)
5a OPERATION INHIBIT ACTIVE  SWITCHED ON
n Event:
m INHIBIT response (P108.15) is set to "Inhibit Drive Function" (Pulse Inhibit, value
0) or
m Operation Inhibit has ended (speed 0 reached)
n Action:
m Drive function is inhibited
6 SWITCHED ON  READY TO SWITCH ON
n Event:
m "Shut Down" command or
n Action:
m None
7 READY TO SWITCH ON  SWITCH-ON INHIBIT
n Event:
m "Quick Stop" command or
m "Inhibit Voltage" command or
m Quick Stop input = Low (only if Quick Stop (SH) hardware control input is used)
286
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3
n Action:
m None
8 OPERATION ENABLED  DRIVE SHUT-DOWN ACTIVE
n Event:
m "Shut Down" command or
n Action:
m Drive shut-down is initiated (braked or coast-down, depending on setting, or coast
down if Pulse enable input = Low)
8a DRIVE SHUT-DOWN ACTIVE  READY TO SWITCH ON
n Event:
m SHUT-DOWN response (Z108.14–) is set to "Inhibit Drive Function" (Pulse Inhibit, value 0) or
m Drive Shut-down has ended (speed 0 reached)
n Action:
9 OPERATION ENABLED  SWITCH-ON INHIBIT
n Event:
m "Inhibit Voltage" command
n Action:
10 SWITCHED ON  SWITCH-ON INHIBIT
n Event:
m Quick Stop input = Low (only if Quick Stop (QS) hardware control input is used)
n Action:
11 OPERATION ENABLED  QUICK STOP ACTIVE
n Event:
m Quick Stop input = Low (only if Quick Stop (SH) hardware control input is used)
n Action:
m Quick Stop is initiated (braked or coast-down, depending on setting)
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Management
12 QUICK STOP ACTIVE  SWITCH ON INHIBIT
n Event:
m QUICK STOP response (Z108.13–) is set to "Inhibit Drive Function" (Pulse Inhibit, value 0) or
m Quick Stop has ended (speed 0 reached) or
n Action:
16 QUICK STOP ACTIVE  OPERATION ENABLED
n Event:
m "Enable Operation" command
n Condition:
m Quick Stop input = High (only if Quick Stop (QS) hardware control input is used)
and
m Pulse enable input = High and
m QUICK STOP response (Z108.13–) is set to "Remain in Quick Stop" (value 5 to
8)
n Drive activation by control word:
n Action:
13 All states  ERROR RESPONSE ACTIVE
n Event:
m Drive error is detected, i.e., an error to which a response should follow has been
triggered
n Action:
m Error-dependent error response is initiated
14 ERROR RESPONSE ACTIVE  ERROR
n Event:
m Error response is complete
n Action:
m Switch off the operationally ready relay
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3
15 ERROR  SWITCH ON INHIBIT
n Event:
m "Reset Error" command or
m Error Reset input = Low -> High (only if Error Reset hardware control input is
used)
n Condition:
m Error is no longer present
n Action:
m Reset of error is carried out
m Switch on the operationally ready relay
The change of state only takes place if the actions have been fully carried out. The sequence of actions corresponds to their execution during the change of state. The next
state is reached after complete processing of the actions and new commands are accepted.
m Activation of the operationally ready relay
The switching state of the operationally ready relay is only changed at the following state
transitions.
Transition
Switching Action on the
operationally ready Relay
Comment
0
Switch off
Start of the drive initialization
1
Switch on
Drive initialization complete
13
Switch off
Errors have occurred in the drive.
15
Switch on
All errors have been reset and the drive is error-free
The result of this is that for each state of the drive manager there is a well-defined switching state for the operationally ready relay.
State
Switching State of the operationally ready Relay
NOT READY TO SWITCH ON
OFF
SWITCH ON INHIBIT
ON
READY TO SWITCH ON
ON
SWITCHED ON
ON
OPERATION ENABLED
ON
OPERATION INHIBIT ACTIVE
ON
DRIVE SHUT-DOWN ACTIVE
ON
QUICK STOP ACTIVE
ON
ERROR RESPONSE ACTIVE
ON
ERROR
OFF
m Smooth torque reduction
This parameter can be set to provide smooth torque reduction using controlled braking
procedures.
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Management
m Parking shaft
If a controller in the Fieldbus network is operated without a motor or encoder, the output
of errors (display, error LED) can be suppressed by activating the "Parking shaft" display
state.
In the "Parking shaft" display state, a "P" is displayed and the error LED remains off. This
is also the case when errors occur. However errors and the drive state continue to be signaled as usual by means of the status word and the error parameters. The transition to
other drive states as State 1 (Switch-on Inhibit) or State F (Error) is not possible.
After the "Parking shaft" display state is exited, the actual drive state (1 or F) will be displayed again. Error and warning messages will be transmitted and displayed as usual
(display, error LED). Changing to other states will be possible again.
The "Activate Parking shaft" and "Cancel Parking shaft" requests are transmitted using
the Parking shaft Control Word parameter Z108.20–. The state and errors for the requests are signaled by the Parking shaft Status Word parameter Z108.21–.
The controller will only accept the "Activate Parking shaft" command if the following conditions have been satisfied:
n Controller is in Drive State 1 (Switch-on Inhibit) or Drive State F (Error)
n Drive is at a standstill (N=0 threshold under-run)
The "Cancel Parking shaft" command will be accepted if the controller is in the "Parking
shaft" display state.
If the controller is switched off in the "Parking shaft" display state, this state will be re-established at the next switch-on.
Cyclic Write
DS Support
Storage
FbDriveMgr [108]
FbBaMgr [109]
Read only
Functional block:
Number
Name
Type
Min
Max
Default Value Unit
Factor
108.1
Control word 1
WORD
0
0xFFFF
0
1:1
X
108.2
Control word 1 SERCOS
WORD
0
0xFFFF
0
1:1
X
108.3
Status word 1
WORD
0
0xFFFF
0x0020
1:1
X
108.4
Status word 1 SERCOS
WORD
0
0xFFFF
0
1:1
X
108.5
Status word 2
DWORD 0
0xFFFFFFFF 0
1:1
X
108.6
Drive status
UINT
0
15
0
1:1
X
108.7
Comm. source
WORD
0
0x7F
1
1:1
108.8
Status dig. inputs drive man- WORD
ager
0
0xFFFF
0
1:1
108.9
Parameter selection statusbit 14
UDINT
0
0xFFFFFFFF 0
1:1
X
X
108.10
Bit pattern status bit 14
UDINT
0
0xFFFFFFFF 0
1:1
X
X
108.11
Parameter selection statusbit 15
UDINT
0
0xFFFFFFFF 0
1:1
X
X
290
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X
X
X
3
108.12
0
0xFFFFFFFF 0
1:1
X
X
108.13
QUICK STOP reaction code INT
UDINT
0
8
0
1:1
X
X
108.14
SHUTDOWN reaction code
INT
0
3
0
1:1
X
X
108.15
DISABLE OPERATION reac- INT
tion code
0
3
0
1:1
X
X
108.16
Status internal limits
0xFFFFFFFF 0
1:1
108.17
Mask for status internal limit DWORD 0
0xFFFFFFFF 0x000000FF
1:1
X
X
108.18
Delay for quickstop input
UINT
0
65535
0
ms
1:1
X
108.19
Time for reducing torque
FLOAT
0
8
0
s
1:1
X
108.20
Parking shaft control word
UINT
0
2
0
-
1:1
108.21
Parking shaft status word
WORD
0
0xFFFF
0
1:1
109.1
Operation mode set
INT
-12
6
-3
1:1
109.2
Operation mode act
INT
-12
6
-3
1:1
DWORD 0
X
X
X
X
X
X
108.1
Control word 1
This parameter is the input word to the state machine for the device controller.
Bit no.
0
Meaning
1: "Switch On" command
0: "Shut-down" command
1a)
1: "Do Not Inhibit Any Voltage" command (operating condition)
0: "Inhibit Voltage" command
2b)
1: "No Quick Stop" command (operating condition)
0: "Quick Stop" command
3
1: "Enable Operation" command
0: "Inhibit Operation" command
4
Depends on operating mode:
Ramp FG inhibit, start reference run, new set value
5
Ramp FG stop,
Change set immediately
6
Ramp FG zero,
Absolute / relative target specification
7
0 -> 1 Error reset
8
Hold
9
Change of set value
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Management
Bit no.
Meaning
10
Reserved
11
Jog forwards,
Start Positioning,
Start sequential positioning,
Inhibit set value
12
Jog backwards,
Interrupt positioning
13
0: Enable mode changeover
1: Inhibit mode changeover
15 ... 14 Reserved
a)
b)
Bit active low
Bit active low
m Bit 0 to 3:
Control of the state machine for the drive. The device control commands are defined by
the following bit combinations:
Adapting transitions to the state machine
Command
Bit 7
Reset
Error
Bit 3
Bit 2
Enable
Quick
Operation Stop a)
Bit 1
Bit 0
TransiInhibit
Switch on tions
Voltage b)
Shut Down
X
X
1
1
0
2, 6, 8
Switch On
X
X
1
1
1
3
Inhibit Voltage
X
X
X
0
X
7, 9, 10,
12
Quick Stop
X
X
0
1
X
7, 10, 11
Inhibit Operation
X
0
1
1
1
5
Enable Operation
X
1
1
1
1
4, 5b, 8b,
16
Reset Error
01
X
X
X
X
15
a)
b)
These bits are active low.
These bits are active low.
The bits labeled X have no significance for the corresponding command.
m Bit 4 - Ramp FG inhibit / New set value / Start reference run
n Speed Setting 1 (Operating mode 2)
1: Enable ramp function generator
0: Inhibit ramp function generator (set output to 0)
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3
n Speed Control (Operating mode -3)
Sense of the bits inverted with respect to the Speed Setting 1 mode (Operating
mode 2)
1: Inhibit ramp function generator (set output to 0)
0: Enable ramp function generator (enable output)
n Target Position Setting (Operating mode 1)
1: Start positioning if control of positioning is via "New Set Value"
n Reference run mode (Operating mode 6)
1: Start reference run
n Coupled operation (operation mode -12) 
0->1 Activate switchover to a reloaded curve
m Bit 5 - Ramp FG Stop / Change set immediately:
n Target Position Setting (Operating mode 1) 
Change set immediately
This bit is dependent on the setting in Parameter 118.2, Positioning 
Mode bit 11 active low or active high. 
118.2 Positioning mode Bit 11 = 0:
0: Single set value: Procedure of individual positioning records 
1: Set-of-set values: Procedure with a speed profile.

118.2 Positioning mode Bit 11 = 1:
0: Set-of-set values
1: Single set value
n Speed Setting 1 (Operating mode 2)
1: Enable ramp function generator ramp-up
0: Inhibit ramp function generator ramp-up.Output is frozen
mode 2)
1: Inhibit ramp function generator ramp-up. Output is frozen
0: Enable ramp function generator ramp up
0->1 Perform sequence change
m Bit 6 - Ramp FG zero / absolute / relative target specification
0: Absolute target specification 
1: Relative target specification
n Speed Setting 1 (Operating mode 2) 
1: Enable ramp FG input 
0: Set ramp FG input to zero (braking with ramp)
mode 2)
1: Set ramp function generator input to zero (braking with ramp)
0: Enable ramp function generator input
0->1 Activate additional movement
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Management
m Bit 7: Device control command "Error reset" 
A change to this bit from 0 to 1 is required for the command.
m Bit 8: Hold
n Synchronous operation (Operating mode -5) 
0: Continue synchronous operation 
1: Disconnect slave axis from master axis and hold
n Position control (Operating mode -4): 
0: Continue position control 
1: Hold axis with Z121.8– stop delay (FbPosCommonData)
n Target Position Setting (Operating mode 1):
0: Continue positioning 
1: Hold axis with positioning delay
n Reference run operation (Operating mode 6): 
0: Continue reference run
1: Hold axis with Z121.8– stop delay (FbPosCommonData)
0->1 Takeover of gear factor
m Bit 9: Change of set value
Change of set value with "set-of-set values" 
0: Ongoing positioning operation is ended (target speed = 0; "Set Value reached" is 
set) before the next operation is started.
1: Positioning with the current profile speed up to the current target and a running 
start to the next positioning operation from this target.
m Bit 11:
n Manual drive operation (Operating mode 5):
1: Jog forwards
n Target Position Setting (Operating mode 1)
1: Start positioning if control of positioning is via "Start positioning"
1: Inhibit set values (Position set values which are written to P136.3/5 or P136.4/6 
are not adopted)
n Spindle positioning
Start of a sequential positioning
m Bit 12:
n Manual drive operation (Operating mode 5):
1: Jog backwards
n Target Position Setting (Operating mode 1): 
1: Interrupt positioning with Z121.8– stop delay (FbPosCommonData)
1: Inhibit set values (Position set values which are written to 136.3/136.5 or
136.4/136.6 are not adopted)
294
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3
m Bit 13:
For all operating modes: inhibit operating mode changeover
To avoid inconsistencies between the set operating mode and the mode-dependent bits,
the mode changeover can be inhibited selectively. When the bit is set, the set operating
mode remains active. Any intended change to the operating mode will only be adopted
when the bit is cleared. A new operating mode can thus be activated synchronously with
the control word. The instantaneous state of the mode changeover is indicated in
Z108.5– Status Word 2.
0: Enable mode changeover 
1: Inhibit mode changeover
295
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3.5
Management
0
Switch On (State machine device control)
1
Inhibit Voltage (State machine device control) 1)
2
Quick Stop (State machine device control) 1)
3
Enable Operation (State machine device control)
4
Activate
curve
X
X
X
X
X
X
X
Inhibit
ramp FG
X
X
Start Positioning
3)
("New Set
Value")
Reference Run Operation (6)
Manual Drive Operation (5)
Speed Setting 1 (2)
Target Position Setting (1)
Notch Position Search (-1)
Current Control (-2)
Speed Control (-3) 2)
Position 
Control (-4)
Synchronous Operation (-5)
Spindle positioning (-6)
Autotuning (-7)
Current Setting (-8)
Voltage Setting (-9)
U-f operation (-10)
Bit
Coupled mode (-12)
Control Word 1: General Overview of All Operating Modes
Inhibit
ramp
FG1)
X
Start
reference
run
5
Sequence
change
X
X
X
X
X
X
X
Stop
ramp FG
X
X
Change set
immediately 3) 5)
Stop
ramp
FG 1)
X
X
6
Activate
additional
movement
X
X
X
X
X
X
X
Ramp
FG zero
X
X
Absolute / rela- Ramp
tive target specifi- FG
cation
zero 1)
X
X
7
Reset Error (State machine device control)
8
Takeover
of gear
factor
X
X
X
X
X
Hold
Hold
X
X
X
Hold
X
X
Hold
9
X
X
X
X
X
X
X
X
X
X
X
Change of set
value 3)
X
X
X
10
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
11
X
X
X
X
X
Start
sequential positioning
X
Inhibit set
values
X
X
X
Start positioning
X
Jog forwards
X
12
X
X
X
X
X
X
X
X
X
X
X
Interrupt positioning
X
Jog
backwards
X
13
4)
Inhibit operating mode changeover
14
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
15
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
The bits labeled X are reserved and must be set to 0 by the controller.
1)
These bits are active low
2) In Operating Modes -3 and 2, Bits 4, 5 and 6 are prioritized as follows: Bit 4
before Bit 5 before Bit 6
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3
3)
If control of the positioning is by "New Set Value"
If control of the positioning is by "Start Positioning"
5) This bit is dependent on the setting in Parameter Z118.2– Positioning mode
Bit 11 active low or active high
4)
108.2
Control word 1 Sercos
Display of the Sercos® master control word S-0-0134. The parameter is operated acyclically by the fieldbus controller if it is operating with profile type Sercos® (see Z131.22–).
The chart is to be found in ProDrive under Diagnosis/Sercos.
A valid and current value is displayed in OPERATIONAL bus status, only.
Writing to the parameters does not have any effect on the state machine of the device
controller.
108.3
Status word 1
This parameter is the output word from the state machine for the device controller.
Bit no.
a)
Meaning
0
1: Ready to switch on
0: Not ready to switch on
1b)
1: Switched on
0: Not operationally ready
2c)
1: Operation enabled
0: Operation inhibited
3d)
1: Error
0: No error
4
1: Main supply voltage / DC link voltage present
0: Main supply voltage / DC link voltage not present
5e)
1: No request for Quick Stop
0: Quick Stop (or request for Quick Stop present)
6f)
1: Switch-on inhibit
0: No switch-on inhibit
7
1: Warning
0: No warning
8
Depends on operating mode
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3.5
Management
Bit no.
9
Meaning
Remote state
0: Drive control only by means of Pulse enable (IF), Quick Stop (SH) and
Controller Enableg) HW signals or via ProDrive
1: Drive control via Fieldbus
(not yet implemented; drive control via Fieldbus and ProDrive possible if
P108.7 = 1)
The communications source is set via the CommSource (Z108.7–) parameter
10h)
1: Set value reached
0: Set value not reached
11
1: Internal limits active
0: No internal limits active
12
13
14
Real-time bits, can be set as parameters
See Parameters 108.9…108.12
15
Real-time bits, can be set as parameters
See Parameters 108.9…108.12
a)
b)
c)
d)
e)
f)
g)
h)
Display of drive manager operating state
Bit active low
Digital inputs must be configured for these signals to do this (see Z108.7–
CommSource (Communications source))
Meaning dependent on Control Word Bit 8: 
If Hold=0: 0: Set Value not reached/1: Set Value reached
If hold=1: 0: axis braking/1: axis held
m Bits 0 to 6:
These bits indicate the state of the state machine for the device.
Bit in the Status Word
Device Controller State
Bit 6
Bit 5
Switch-on Quick
Inhibit
Stop a)
Bit 3
Error
Bit 2
Bit 1
Operation Switched
Enabled
on
Bit 0
Ready to
switch on
NOT READY TO SWITCH ON 0
X
0
0
0
0
SWITCH-ON INHIBIT
1
X
0
0
0
0
READY TO SWITCH ON
0
1
0
0
0
1
SWITCHED ON
0
1
0
0
1
1
298
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3
Bit in the Status Word
Device Controller State
Bit 6
Bit 5
Switch-on Quick
Inhibit
Stop a)
Bit 3
Error
Bit 2
Bit 1
Operation Switched
Enabled
on
Bit 0
Ready to
switch on
OPERATION ENABLED
0
1
0
1
1
1
QUICK STOP ACTIVE
0
0
0
1
1
1
ERROR RESPONSE ACTIVE 0
X
1
1
1
1
ERROR
1
1
0
0
0
a)
0
This bit is active low
The bits labeled X are not defined.
Bit 3: Error
The controller sets this bit as soon as an error (Parameter 100.2 > 0) which triggers an
error reaction from the drive appears. The bit remains set during the error reaction and
in the error state, and is only cleared when the error is successfully reset. The error
LED lights as soon as this bit is set.
Bit 4: Main supply voltage / DC link voltage present
Mono unit with its own power supply:
The bit is set when the main supply voltage is present on the power unit and the DC
link is loaded. It is cleared if the main supply fails. This bit is always updated independently to the device state.
Bus axis (without its own supply; DC link is generated externally by a mains rectifier
unit): 
If the evaluation of the "Operationally ready" signal is switched on (Parameter 140.1
Bit 0 = 0 and Bit 10 = 0) and if the supply and the bus axis are linked together via the
signal bus, the following applies:
If the DC link of the mains rectifier unit is loaded and the mains rectifier unit is operationally ready, the mains rectifier unit reports "Operationally ready" over the signal bus.
Then Bit 4 is set; otherwise it is cleared. This bit is always updated independently to
the device state.
If the evaluation of the "Operationally ready" signal is switched off (Parameter 140.1
Bit 0 = 1) or (140.1 Bit 0 = 0 and Bit 10 = 1), Bit 4 is always set.
Bit 5: Quick Stop or request for Quick Stop active
The bit is active low and is cleared as soon as a Quick Stop response is initiated via
the "Quick Stop" control word command or via a hardware input configured for "Quick
Stop" (see Parameter Z108.8– DI_StatusDrvControl (Status digital inputs drive manager)). When the "Ready to Switch On" state is reached, the bit is set. If "Remain in
Quick Stop" is selected as the behavior for the Quick Stop response (Parameter
Z108.13– QuickstopCode (QUICK STOP reaction code) Values 5 to 8), this bit remains cleared for as long as the drive is in Quick Stop. The bit is set once more as soon
as the drive is enabled again or the "Ready to Switch On" state is reached as a result
of a command.
299
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Management
Bit 7: Warning
This bit indicates when a warning or an error which does not result in any error reaction
is present in the controller. This state can be recognized externally by the flashing of
the error LED.
Bit 8: Status of ramp function generator is Stop
m Speed control (Operating mode -3) and speed setting (Operating mode 2): 
This bit indicates that the ramp function generator has been stopped and its output is
therefore frozen.
m Coupled operation (operation mode -12) 
1: A reloaded curve is ready to be activated. 
0: A reloaded curve was activated and there is no curve available anymore
Bit 9: Remote
This bit is not yet supported at present.
Bit 10: Set Value reached
This bit is cleared in the inhibited state in all operating modes
m Position control (Operating mode -4) and synchronous operation (Operating mode -5): 
The bit is set immediately if neither of the two position contouring error monitors has
detected an overshoot of the set limits (Parameter Z143.1– Monitoring status, Bits 0
and 4 are both 0).
m Speed control (Operating mode -3) and speed setting (Operating mode 2): 
The bit is set if
– the output value of the ramp function generator is equal to the input value and
– the speed controller deviation is less than the preset limit and the ramp function generator is reporting "Set Value reached". During active braking procedures (Quick
Stop, Inhibit Operation) the bit is set as soon as the drive is at standstill (Parameter
Z6.1– "Speed=0 message").
m Manual drive operation (Operating mode 5): 
The bit is set if the output speed set value (Parameter Z119.8–) has reached the specified jogging speed (Parameter Z119.4–).
m Reference run operation (Operating mode 6): 
The bit is set in the following cases:
– Reference run has completed successfully (bit 12 is set additionally)
– Reference run is not yet started or interrupted (command hold) and the drive is at
standstill (then bit 12 is deleted)
– Error at reference run and drive is at standstill (bit 13 is set additionally)
An overview of the bit combinations for the reference run is located subsequent to the
table „General Overview of All Operating Modes“.
m Spindle positioning (Operating mode -6):
The bit is set as soon as the position actual value is in the set position window for the
set position window time. The bit will be deleted when the drive is not any longer in the
positioning window.
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3
1: The drive follows the polynomial curve 
0: The polynomial curve is overlaid by the synchronization or additional movement
For the following operating modes, the meaning of this bit depends on the state of Control
Word 1 Bit 8, Hold:
m Target Position Setting (Operating mode 1):
– If Hold = 0: 
The bit is set as soon as the actual position value is in the preset positioning window
for the preset positioning window time. The bit is cleared when the drive is no longer
in the positioning window.
– If Hold = 1: 
The bit is set as soon as the axis has come to a stop. For this, the set value setting
and the drive must be at a standstill (Parameter Z6.1– "Speed-0 Message"). The
Hold function is only implemented in the Target Position Setting mode (Operating
mode 1).
Bit 11: Internal limits active
The bit is set if an internal limit is active, for example current limit, speed limit, hardware
and software limit switches. This bit is always updated independently to the device state.
Parameter Z108.17– "Mask for Status of Internal Limits" can be used to define which internal limits should be displayed.
Bit 12:
m Speed control (-3) and speed setting (2): 
The bit is set if the n=0 threshold is under-run. This bit is always updated independently
to the device state.
m Target Position Setting (Operating mode 1): 
The bit is set to acknowledge a new set value if the control of the positioning is effected
by means of "New Set Value".
m Reference run operation (Operating mode 6):
The bit is set if the reference run has completed successfully with the home position
being set. 
The bit is deleted if the start bit in the control word (bit 4) is canceled.
m Spindle positioning (Operating mode -6)
1: Start-Command-Acknowledge 
The start of a sequential positioning will be acknowledged when the controller has recognized the command and positions. For this purpose the preceding spindle positioning must be completed and then an increasing edge must be recognized in the startbit. This handshake is made only at sequential positioning and at start after spindle positioning error.
m Position control (operating mode -4): 
1: Target posiiton effective 
The bit is set, if the drive follows the set value (target posiiton) from the cyclic transmission, i. e. the set value is written to the input of the position controller. The bit is deleted,
if the drive ignores the cyclic set value. 
This is the case at
- a stop via the Z108.1– control word bit 8
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- a set value lock via control word bit 12 
- a stop triggered by the end switch monitoring
m Coupled operation (operation mode -12)
0->1 The sequence was changed successfully (check-back for bit 5 Z108.1–)
Bit 13:
m Reference run operation (Operating mode 6): 
The bit is set if the reference run has been interrupted by an internal error.
The bit is deleted if the error is reset.
0->1 Change of gear factor was made (check-back for Bit 8 Z108.1–)
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3
1
Switched on (State machine device control)
2
Operation enabled (State machine device control)
3
Error (State machine device control)
4
Voltage inhibited (State machine device control) a))
5
Quick Stop active (State machine device control) a)
6
Switch-on inhibit (State machine device control)
7
Warning
8
Curve
ready
X
X
X
X
X
X
X
X
Ramp
FG
stop
9
Remote
10
Set value reached
Drive fol- X
lows curve
X
X
X
Auto- in posi- Posi- Posi- Speed
tuning
tion
tion tion set set
comset
value value
plete
value
11
X
X
Ramp
FG
stop
Reference Run Operation (6)
Ready to switch on (State machine device control)
Manual Drive Operation (5)
0
Speed Setting 1 (2)
Target Position Setting (1)
Notch Position Search (-1)
Speed Control (-3) a)
Position 
Control (-4)
spindle positioning (-6)
Autotuning (-7)
Current Setting (-8)
Voltage Setting (-9)
U-f operation (-10)
Bit
Coupled mode (-12)
Status Word 1: General Overview of All Operating Modes
X
X
Notch Target Speed Jogposition position set
ging
detervalue speed
mined
Internal limits active
12 Sequence X
X
X
changed
X
StartCommandAckno
wledge
X
Target Speed
posi=0
tion
effective
X
X
Set Speed
Value
=0
acknowl
edgment
X
13 Gear fac-
Reference
run
complete
Reference
run
error
tor receipt
14
Can be set via Parameter 108.9, 108.10
15
Can be set via Parameter 108.11, 108.12
a)
Reference
run
complete
These bits are active low
The bits labeled X are reserved and must not be evaluated by the controller.
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Operating mode specific bits for reference run operation (Operating mode 6): 
108.4
Bit 13
Error reference
run
Bit 12
Reference run
has completed
Bit 10
Set value
reached
Meaning
0
0
0
Reference run in operation or speed not equal
zero (e.g. braking procedure at stop command)
0
0
1
Reference run interrupted (stop command) or
not yet started, speed = 0.
0
1
0
Reserved
0
1
1
Reference run has completed successfully,
speed = 0.
1
0
0
Error at reference run, speed  0.
1
0
1
Error at reference run, speed = 0.
1
1
X
Reserved
Status word 1 Sercos
Display of the Sercos® drive state S-0-0135. The parameter is operated acyclically by the
fieldbus controller, if the profile type Sercos® is set (see Z131.22–). The chart regarding
this can be found in ProDrive under diagnosis/Sercos.
A valid and current value is displayed in the OPERATIONAL bus state, only.
108.5
Status word 2
Status Word 2 of the Drive Manager is allocated as follows:
Bit no.
0
2 ... 1
3
31…4
Meaning
0: Operating mode changeover is enabled
1: Operating mode changeover is inhibited
Reserved
1: Warning: Deactivation through safety technology; 
corresponds to drive warning 1046
Reserved
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108.6
3
Drive status
This parameter displays the instantaneous state of the drive.
Value
108.7
Meaning
0
Not ready to switch on
1
Switch on inhibit
2
Ready to switch on
3
Switched on
4
Operation enabled
5
Operation inhibit active
6
Shut-down active
7
Quick Stop active
14
Error response active
15
Error
Comm. source
This parameter controls the access rights to Control Word 1.
Bit no.
0
15 ... 1
Meaning
1: Motor control via ProDrive/ Fieldbus
Reserved
The drive will only be controlled by the Pulse enable (IF), Quick Stop (SH) and Controller
Enable (RF) hardware signals if all the bits for motor control are cleared. Digital inputs
must be configured for these signals to do this (see Digital Inputs Parameter DIx_MODE
Z116.1– ff).
Regardless of the communications source:
m The Pulse enable (IF) hardware signal must always be wired up.
m If no inputs have been configured for Quick Stop or Controller Enable, the signals will
be interpreted as inactive or active so that the drive can be enabled (see also Parameter Z108.8– DI_StatusDrvControl (Status digital inputs drive manager) in this regard)
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108.8
Status dig. inputs drive manager
Display of the state of the digital inputs for drive control.
Bit no.
Meaning
0
Pulse enable (IF)
0: Pulse enable input is inactive (pulses are inhibited at digital inputs (IF=0))
1: Pulse enable input is active (pulses are enabled at digital inputs (IF=1))
1
Quick Stop (SH)
0: Quick Stop input is active (Quick Stop request present, (SH=0))
1: Quick Stop input is inactive (Quick Stop request not present, (SH=1))
2
Controller Enable (RF)
0: Controller Enable not set (RF=0)
1: Controller Enable set (RF=1)
3
Error reset by digital input (edge controlled)
0, 1->0: No requirement for error reset
0->1: Errors should be reset
4
Drop-out delayed Quick Stop signal (see also delay time for Quick Stop
input Z108.18–)
1: Quick Stop input is inactive or delay time is still running
0: Quick Stop input is active and delay time has elapsed
5…15
Reserved
If the corresponding inputs in Parameters Z116.1– ff DIy_Mode are not configured for
Ppulse enable (IF)/Quick Stop (SH)/Controller enable (RF), the bits in DI_StatusDrvControl will always be shown HIGH.
Exception for Pulse enable (PE): 
Since for hardware reasons the Pulse enable inputs for the axes also act directly on the
power unit, the actual state of the Pulse enable inputs is always shown in DI_StatusDrvControl, regardless of DIy_Mode.
108.9
Parameter selection status bit 14
Selection of the parameter for the freely definable Status Bit 14 in the drive manager Status Word Z108.3–.
If at least one bit from the mask Z108.10– is set in the selected parameter, Bit 14 in the
Status Word will be set.
When StatusB14_IdSelect = 0, the mapping for Bit 14 is switched off.
108.10
Mask for the freely definable Status Bit 14 in the drive manager Status Word Z108.3–.
If at least one bit from the mask is set in the selected parameter Z108.9–, Bit 14 in the
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108.11
3
Parameter selection status bit 15
Selection of the parameter for the freely definable Status Bit 15 in the drive manager Status Word Z108.3–.
If at least one bit from the mask Z108.12– is set in the selected parameter, Bit 15 in the
When StatusB15_IdSelect = 0, the mapping for Bit 15 is switched off.
108.12
Mask for the freely definable Status Bit 15 in the drive manager Status Word Z108.3–.
If at least one bit from the mask is set in the selected parameter Z108.11–, Bit 15 in the
108.13
QUICK STOP reaction code
Value
Meaning
0
Inhibit drive immediately
1
Return to ramp-down ramp
2
Return to Quick Stop ramp
3
Return to current limit
4
Return to voltage limit (acts like current limit)
5
Return to ramp-down ramp and remain in Quick Stop active mode (renewed
enabling possible)
6
Return to Quick Stop ramp and remain in Quick Stop active mode (renewed
enabling possible)
7
Return to current limit and remain in Quick Stop active mode (renewed
enabling possible)
8
Return to voltage limit and remain in Quick Stop active mode (renewed
enabling possible)
See also ZDrive management– from page 281
This parameter defines the response of the drive to a Quick Stop request (by control word
command or hardware control input).
For correct functioning of the braking procedures on the Quick Stop or Ramp-down
ramps, the speed controller must be adequately configured.
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108.14
SHUTDOWN reaction code
Value
Meaning
0
1
2
3
This parameter defines the response of the drive during the transition from the OPERATION ENABLED to the READY TO SWITCH ON state in the state machine for the device
controller.
108.15
DISABLE OPERATION reaction code
Value
Meaning
0
1
2
3
This parameter defines the response of the drive during the transition from the OPERATION ENABLED to the SWITCHED ON state in the state machine for the device controller.
108.16
Status internal limits
Status bit string for internal limits 
Bit no.
Meaning
0
1: Current/torque limited
1
1: Speed set value limited at speed controller input
2
1: Speed limited during set value generation
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Bit no.
Meaning
3
Reserved
4
1: Negative HW limit switch is set (even if not limited)
5
1: Positive HW limit switch is set (even if not limited)
6
1: Negative SW limit switch is set (target position was outside, now limited)
7
1: Positive SW limit switch is set (target position was outside, now limited)
8…31
108.17
3
Reserved
Mask for status internal limit
Mask for the status bit string for internal limits (InternalLimitStatus)
This parameter is used to select which internal limits will be reported in Status Word 1,
Bit 11.
Bit in mask = 1: Limit is shown in Status Word 1
108.18
Delay for Quick Stop input
Settable delay for the response to the activation of Quick Stop by the Quick Stop digital
input (has no effect if the "Quick Stop" command was issued by Control Word 1 (Parameter Z108.1–)).
The initiation of the Quick Stop response is delayed by the preset time; the drive remains
enabled during this time.
108.19
Time for reducing torque
This parameter can be set to provide smooth torque reduction using controlled braking
procedures. After the drive has been braked to Speed 0, the internal torque limit is reduced linearly to 0 over the set time and the drive is then inhibited. This smooth reduction
of torque is effective for all braking procedures controlled by the drive manager, i.e., for
the "Inhibit Operation", "Shut Down Drive" and "Quick Stop" commands, provided a braking procedure with subsequent transition to an inhibited state is set as a response to the
corresponding command. Furthermore the smooth reduction of torque also operates for
error reactions where a braking procedure is initiated.
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108.20
Parking shaft control word
This parameter is used to issue the commands for the "Parking shaft" display state. 
Value
Meaning
0
Reserved
1
Activate "Parking shaft"
No action
2
Deactivate "Parking shaft"
3 … 32767 Reserved
108.21
Parking shaft status word
This parameter displays the status of the "Parking shaft".
Bit no.
0
0: "Parking shaft" is not active
1: "Parking shaft" is active
1
1: Activation of "Parking shaft" was not possible
2
1: Deactivation of "Parking shaft" was not possible
15…3
109.1
Meaning
Reserved
Operation mode set
Value
Meaning
-12
Coupled mode
-11
Reserved
-10
U-f operation
-9
Voltage setting (for development purposes only)
-8
Current setting (for development purposes only)
-7
Autotuning
-6
Spindle positioning
-5
Synchronous operation with electronic gearbox
-4
Position control
-3
Speed control
-2
Current control
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Value
109.2
3
Meaning
-1
Notch position search
1
Target position setting
2
Speed setting 1
5
6
Reference run operation
Operation mode act
For the meaning of the values, see Parameter 109.1.
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3.5.2
Data Set Management
The device data set management is described in this chapter. You will learn how to create
and change over data sets without ProDrive.
All the parameters which are assigned to the data set management system can be found
at ZParameter overview– from page 320.
3.5.2.1 General
The total configuration, thus all storable parameters, of the device is referred to as Parameter set. The parameter set includes the axis independent parameter and the axis
dependent parameter of all axes.
Tha data set dependent parameter of an axis are referred to as Data set.
The parameters for configuring the device are stored in its Flash memory.
Some of these parameters are implemented as data set parameters, i.e., up to 7 different
configurations can be stored. It is also possible to switch between these data sets during
operation.
3.5.2.2 Command interface
The data set management system can be accessed via ProDrive or via Fieldbus.
The following actions are possible:
m Storing parameter set
m Loading parameter set
m Creating and deleting data sets
m Initializing data sets
m Switching between (already created) data sets
m Copying data sets
m Storing data sets
m Loading data sets
A command is activated either by ProDrive or by writing a command code to the Command parameter Z105.1–. Additional auxiliary parameters supplement the command interface.
When operating with ProDrive, data set command codes and data set auxiliary parameters must be ignored as they automatically take over the user interface.
The parameter Z105.2– Status displays the instantaneous processing state of the command interface and also any error messages from the previous command.
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3.5.2.3 Organization of the parameters in the data sets
Within the device there are seven separate memory areas for parameters that have the
"Data Set" attribute (DS 1 to DS 7).
In addition there is a "window" which represents the current active data set (DS 0). One
of these seven data sets is always selected active. By writing to Parameter Z105.6– Active Data Set Number, Data Set 1, 2, 3, 4, 5, 6 or 7 can be selected to be active, hence it
is possible to switch between the data sets. In so doing, the window moves from DS 0 to
the memory area of the activated data set.
Example: 
Data Set 3 is activated. 
The "window" for the active data set addresses Data Set 3.
Figure 91:
Active data set
Basically, only data from the active data set (DS 0) can be accessed via external option
modules or Fieldbuses.
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3.5.2.4 Delivered state
When delivered, only Data Set 1 is created. The other data sets DS 2 to DS 7 are deleted.
The active data set (DS 0) is Data Set 1. All parameters have their standard values.
Switching to another data set is not possible.
After the device is configured, the parameters in the device should be saved. If an error
occurs while saving (e.g. as a result of switching off the device during the programming
procedure), the device writes the standard values (default setting) to the parameters
when switched on again.
3.5.2.5 Switch-On behavior
After the b maXX® is switched on, all parameters are loaded with the stored data. The
device activates Data Set 1. Unconfigured data sets are set to default values.
3.5.2.6 Changing, loading, copying and storing parameters
Changes to parameter values (e.g. by ProDrive or via a Fieldbus) only affect the device's
working memory. If changes are also to be preserved after the next switch-on of the device, the parameters must be explicitly stored in the device. All the parameters in all the
created data sets are always stored.
With the aid of data set commands, the values of parameters in created data sets can be
loaded individually or completely into the working memory.
The data set copy function permits copying of the parameter values from a created source
data set to a different target data set. If the target data set has not been created yet, it will
be automatically created by the device. If the target data set has already been created,
the original parameter values will be overwritten.
Using the ProDrive Up/Download function on the "Data Set Management" page, parameters can also be saved to a PC data storage medium or written back to the device.
3.5.2.7 Identification of parameter set and data sets
There is the parameter Z105.11– for identifying of the complete parameter set for a device.
For identifying individual data sets the following parameter are available:
Parameter
Data Type
Meaning
Z105.4–
Data Set Name
STRING
Freely selectable text name for the data set
Z105.5–
Data Set 
Identification Number
UDINT
You can assign each data set (DS 1 to DS 7)
a unique number from 0 to 4294967295
here
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3.5.2.8 Functions of the Data Set Management System
NOTE!
The drive must be switched inactive during loading of the data sets.
Data Set Management 
Commands
The Data Set Management System has the following functions 
(can be set in Z105.1– Command):
m Reset the Data Set Management System
m Write parameter set to Flash memory
m Read parameter set from Flash memory
m Delete parameter set in Flash memory
m Set standard values for the active data set
m Set standard values for all savable parameters
m Create Data Set <n>
m Delete Data Set <n>
m Copy Data Set <x> to Data Set <y> (from RAM to RAM)
m Load Data Set <x> from Flash memory
Status of the Data The status parameter Z105.2– Data Set Management Status is used to display the result:
Set Management m Error while writing (incorrect value, parameter write-protected, invalid parameter numSystem
ber)
m Error while reading
m Command processing running
m Error code
Some commands for data set management require additional parameters, which are listed as follows:
m Z105.8– Source Data Set
Source data set for certain commands such as "Copy" or "Reload".
m Z105.9– Target Data Set
Target data set for certain commands such as "Create" or "Delete".
m Z105.6– Active Data Set Number
The number of the active data set is shown here. Writing to this parameter effects an
immediate change of data set.
m Z105.3– Message Text 
Array with 20 entries
Displays the number of the parameter for which an error occurred with the last data set
command. If an error occurs during command processing, the command does not interrupt the transfer procedure but instead continues the transfer procedure with the
next parameter.
m Z105.5– Data Set Identification Number
Unique ID number for the data set stored in Flash memory
m Z105.4– Data Set Name
The name of the active data set (string) can be freely assigned by the user.
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3.5.2.9 Data Set Commands and Possible Error Messages
m Reset the Data Set Management System
This command results in a reset of the message list and the status word of the Data Set
Management System.
n Possible error messages:
None
m Write all parameters to Flash memory
This data set command saves all the parameters in the created data sets from RAM to
Flash.
m Load parameters from Flash
This command reads all the parameters from Flash into the RAM of the device. This command is only possible when the device is locked.
During the copying procedure, any changeover of the data sets is inhibited.
Possible error messages:
n Device is not inhibited
n Value less than minimum value
n Value greater than maximum value
n Parameter is read-only
n Due to operating state, parameter cannot be changed
n Parameter value is invalid
n Check yielded faulty checksum
m Delete parameters in Flash
This data set command deletes the parameters saved in Flash.
n Error writing to Flash
m Set standard values for all savable parameters
All savable parameters of the device are set to their standard values. This command is
only possible when the device is locked.
m Create Data Set <n>
When a device is delivered, initially only a single data set (Data Set 1) is activated. The
user cannot switch to other data sets, therefore. Only after the user has created a further
data set (2 to 7) using this command will the device allow switching to this data set. This
measure is intended to guarantee that the user cannot switch unintentionally to an as yet
unmodified data set. He is thus compelled to consciously enable a data set for the
changeover.
This data set command creates a data set which is selected with Z105.9– Target Data
Set. The parameter values for this data set (the data set parameter only) are set to their
standard values in the process.
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3
The operation only takes place in the device RAM.
n Data set has already been created
n Incorrect data set number (not in range 1 to 7)
m Delete Data Set <n>
This data set command deactivates a data set. The data set specified by Z105.9– Target
Data Set may not be the immediately active data set. The deactivation has the effect of
preventing the device from switching to the specified data set any more. The parameters
of the deleted data set (the data set parameter only) are set to default values.
n Incorrect data set number (not in range 1 to 7, active data set)
m Copy Data Set <x> to Data Set <y> (from RAM to RAM)
This data set command copies in RAM the parameters from Data Set x (Z105.8– Source
Data Set) to the parameters of Data Set y (Z105.9– Target Data Set). The copying procedure takes a few milliseconds - for that reason the command is only permitted when the
device is inhibited.
Only source data sets that are already created may be specified. If a target data set that
has not yet been created is specified, it will be created automatically.
n Incorrect source data set number
n Incorrect target data set number
m Load Data Set <x> from Flash
This data set command loads all the parameters in Data Set x (Z105.8– Source Data Set)
from Flash memory to the device's working memory. The target data set corresponds to
the source data set. The data set must have been created. In Online mode (operation enabled), the data set must not be the immediately active data set. During the copying procedure, any changeover of the data sets is inhibited.
n Incorrect source data set number
n Value less than minimum value
n Value greater than maximum value
n Parameter is read-only
n Due to operating state, parameter cannot be changed
n Parameter value is invalid
n Check yielded faulty checksum
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m Set Standard Values for an Individual Data Set
This data set command resets all parameter of the target data set (the data set parameter
only) to the default values.
3.5.2.10 Changeover to Data Set 1 to 7
Changing data sets is possible both with the device inhibited and with the controller running.
Due to the mechanical inertia of the systems being controlled and the high sampling rate
of the drive, a changeover free of mechanical shocks can be assumed.
NOTE!
No consideration can be given to inconsistent set values and monitored values during
the changeover of data sets. During the changeover, the possibility cannot be ruled
out that, e.g., a monitored value in the new data set is smaller than the associated
instantaneous actual value of the previously active data set. In this case a monitoring
function which, e.g., initiates a pulse inhibit could respond.
The data set changeover is effected by writing to the Parameter Z105.6– Active Data Set
Number.
Before the changeover, a check is made to ensure that the data set has been created.
3.5.2.11 Overview of the Data Set Management Commands
Z105.1–
Data Set Management
Command
Value
Reset the Data Set Management
System
0
Write all parameters from the created
data sets into Flash memory
1
Read Flash completely
2
Clear Flash completely
3
Set standard values for the target
data set
4
Set standard values for all writable
parameters
5
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Z105.8–
Source data set
Z105.9–
Target Data Set
Data set which is to
be set to standard
values
3
Z105.1–
Data Set Management
Command
Z105.8–
Source data set
Value
Z105.9–
Target Data Set
Create Data Set <n>
6
Data set to be created
Delete Data Set <n>
7
Data set to be
deleted
Copy Data Set <x> to Data Set <y>
8
Source data set
Load Data Set <x> from Flash
9
Data set in Flash
Reserved
10
Target data set
Number
Name
Type
Min
Max
Default Value Unit
Factor
105.1
Command
DINT
0
10
0
1:1
105.2
Status
UDINT
0
0xFFFFFFFF 0
1:1
105.3
Message
RECORD
105.4
Record name
STRING
1:1
X
X
105.5
Record id
UDINT
0
0xFFFFFFFF 0
1:1
X
X
105.6
Dataset index
UINT
1
7
1
1:1
105.7
Valid data sets
WORD
1
0x7F
1
1:1
105.8
Data set source
UINT
0
7
0
1:1
105.9
Data set dest
UINT
0
7
0
1:1
105.11
Name of complete parameter STRING
set
105.12
Error count
UINT
0
0xFFFF
0
1:1
105.13
Config Ident number
UDINT
0
0xFFFFFFFF 0
1:1
Cyclic Write
DS Support
Storage
FbDsv [105]
Read only
Functional block:
X
X
X
1:1
X
X
X
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105.1
Command
Commands for data set management:
Value
105.2
Meaning
0
Resets the DSM; the message list is deleted
1
Saves the parameter set in Flash
2
Loads the parameter set from Flash
3
Deletes the parameter set in Flash
4
Set all parameters in the target data set to the default value
5
Sets all savable parameters to the default value
6
Create Data Set X (target data set)
7
Delete Data Set X (target data set)
8
Copy the source data set to the target data set
9
Read the source data set from Flash again
10
Reserved
Status
Displays the status of the data set management system.
While the command is being processed, the value 1 (RC_BUSY) is displayed.
After the command has completed the value 3, for RC_DONE, is displayed or possibly
the code for any error that occurred during processing.
List of the most frequent status messages (RC codes):
Value
RC Code
Meaning
0
RC_NO_ERROR
No command executed yet or else Reset
command executed.
1
RC_BUSY
A command is being executed.
3
RC_DONE
A command has completed successfully
RC_ERR_DSV
Error while loading or saving the parameter set (see Message parameters)
1400
320
of 724
Value
105.3
RC Code
3
Meaning
1401
RC_DSV_NO_VALID_PARAFILE No valid parameter file found
1402
RC_ERR_DSV_PARAFILE_CRC CRC in parameter file not correct
1403
RC_ERR_INVALID_DS
Invalid data set number specified for
DSM command (copying of non-created
DS, deletion of active DS)
Message
Messages from the DSM resulting from command execution.
Parameter with 20 array elements. Each element has the following structure:
ParaId
Parameter Id, value 0 if no message
Index0
Index for Index Level 0
Index1
Index2
Index3
RC
RC code of this message
This parameter displays the first 20 error messages that occurred with a DSM command.
If no further messages occurred, "0.0.0.0" is displayed as the parameter number.
Parameter Z105.12– displays the number of messages.
List of the most important RC codes for DSM messages:
Value
RC Code
Meaning
0
RC_NO_ERROR
No command executed yet or else Reset command executed.
2
RC_ERROR
General error. In most cases the parameter still
exists in the new description, but no longer in
the code (old parameter which has been
removed but is still in the xml files or in the Zx
files).
160
RC_ERR_ID
Id found in the parameter file does not exist
161
RC_ERR_INDEX
Index in parameter file invalid
162
RC_NOT_WRITABLE
Parameter is not writable
164
RC_ERR_MIN
Value is less than the minimum value
165
RC_ERR_MAX
Value is greater than the maximum value
321
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3.5
Management
Value
105.4
RC Code
Meaning
166
RC_ERR_BAD_VALUE
Value is invalid
169
RC_ERR_NO_CHANGE
Value cannot be changed
172
RC_ERR_FORMAT
Byte length in the parameter set does not agree
with the byte length in the description (parameter format changed?)
Record name
Freely usable string for naming the data set.
105.5
Record Id
Freely usable 32-bit value for identifying the data set.
105.6
Dataset index
The number of the active data set is shown here. A write operation to this parameter results in switching the data set to the new data set.
The data set to which it is intended to switch must already be created, otherwise the value
will be rejected. Certain additional conditions must be satisfied in order to switch over
when the device is enabled.
105.7
Valid datasets
Bit string to show which data sets are created. A set bit indicates a created data set.
Bit
Meaning
0
0: Data Set 1 deleted
1: Data Set 1 created
1
2
3
4
322
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Bit
105.8
Meaning
5
6
15 ... 7
3
Reserved
Dataset source
Designation of the source data set number for data set operations such as, e.g., copying.
105.9
Dataset dest
Designation of the target data set number for data set operations such as, e.g., creating
or deleting data sets.
105.11
Name of complete parameter set
Denomination for the complete parameter set of the drive.
105.12
Error count
Number of valid messages in array parameter Z105.3– Message.
105.13
Config Ident number
User-definable identification number for the complete parameter set of the drive.
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3.5
Management
3.5.3
Brake management
3.5.3.1 Description of the Brake Management System
On drives with a motor holding brake, the brake can be operated manually or automatically depending on the state of the drive.
The triggering is effected by means of a selectable digital output. A digital input must be
selected to detect the brake state. The outputs and inputs are located on terminal X2. The
brake state can be monitored. When monitoring is active, an error message is transmitted
in the event of an error (brake could not be enabled/applied).
Adaptation to the differing reaction times of holding brakes is possible by means of configurable response times and delay times.
Manual Brake Triggering (Z134.1– Bit 0 = 0)
The brake can be applied and enabled independently of the state of the drive.(Z134.4–
Bit 0).
Automatic Brake Triggering (Z134.1– Bit 0 = 1)
In the Automatic mode, the brake is actuated depending on the state of the device controller (see ZDrive management– from page 281). In states 0 ("Not Ready to Switch On")
to 3 ("Switched On"), the brake is applied. The brake is enabled on the transition to State
4 ("Operation Enabled").
For commissioning purposes (Z134.4– Bit 1 = 1), the brake can also be applied and enabled manually in the Automatic mode (service mode).
Enabling the 
Brake
When the drive is started, power is applied to the motor in state transition 3  4
("Switched On"  "Operation Enabled") before the brake is enabled. This prevents a suspended axis from sagging. The requirement for this is at least a speed-controlled operating mode.
NOTE!
A suspended axis will NOT be prevented from sagging in the following cases:
m The drive is working in one of the modes "Find Notch Position", "Autotuning", "Current Control", "Current Setting" or "Voltage Setting".
m The drive is being operated without encoders.
324
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3
Three different modes can be selected for enabling the brake, see also Torque Characteristics ZFig. 92– on page 327.
m Without holding torque preset
The torque for holding the load is built up after the brake is enabled. As a result of the
control deviation required for this, there is negligible sagging of the load.
If the outer load torque for a suspended axis is known, a compensating holding torque
can be applied before the brake is enabled:
m With holding torque preset; brake enabled when drive torque = holding torque
The torque for holding the load is built up before the brake is enabled. When the torque
is reached, the "Enable Brake" command is sent. If the holding torque corresponds exactly to the load torque, the drive does not sag. Any difference between the load torque
and the holding torque set in the parameters results in a negligible movement and is corrected. If the holding torque set in the parameters cannot be achieved, the brake will not
be enabled and the drive will go into the "Error" state.
m With holding torque preset: brake enabled when waiting time elapsed
The torque for holding the load is built up before the brake is enabled. Regardless of
whether the torque has been reached, the "Enable Brake" command is executed after a
preset time Z134.10–. If the holding torque corresponds exactly to the load torque, the
drive does not sag. Any difference between the load torque and the holding torque set in
the parameters results in a negligible sag and is corrected.
325
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3.5
Management
Figure 92:
Starting the drive in the "Automatic" brake control mode
326
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3
The following recommendation applies for setting the delay to the start of the movement,
TB (Z134.9–):
1
If the state monitoring is switched off (Z134.1– Bit 1 = 0):
TB > T1)SignalCom + T2)mech
2
If the state monitoring is switched on (Z134.1– Bit 1 = 1) and the response signal is
reporting the state of the current through the brake:
TB > Tmech – T3)SignalFB
3
reporting the mechanical state of the brake:
TB = 0
Applying the
brake
1)
Processing time for the command in the controller, max. 2 ms
2)
Operating time of holding brakes depends on type, approx. 75-350 ms
3)
Duration of current buildup in brake coil (depends on type, approx. 30 ms) + processing time for response in
controller: max. approx. 32 ms. 
The following must apply for a correct error reaction:
Z134.7– timeout check-back signal > TSignalCom + TSignalFB
When applying the brake, account is taken of whether the drive is still under torque or
whether the pulses are inhibited.
Pulses are enabled (drive is under torque)
If the drive is being actively braked (response to QUICK STOP/SHUT-DOWN/INHIBIT/drive error) and if the torque is to be reduced after the end of the braking procedure
(pulse inhibit), the brake is applied when a presettable speed threshold is reached. The
subsequent pulse inhibit can also be delayed if this is required to compensate for a mechanical dead time.
If the activated state monitoring detects that the brake could not be applied, the drive remains under torque in the "Quick Stop active/drive shut-down active/inhibit operation active" state in order to prevent sagging of a suspended axis. Error messages 1102/1103
indicate this state. The user can still move the drive into a torque-free position and then
shut off the drive torque (pulse inhibit or inhibit voltage). The conditions and events required for the transition to the "Enabled" state can be found in the description of the state
transitions in the device control system (Zpage 282– ff).
NOTE!
The following must be observed to prevent a suspended axis from sagging after an
active braking procedure at the end of which the brake could not be applied:
The responses to Errors 1102/1103 must be set to "No response" and Errors
1102/1103 may only be reset after the enable is repeated, otherwise the drive will be
without torque before it can be enabled.
In the "Error response active" state, this check is not carried out, i.e. even with the state
monitoring activated and the brake not applied, the transition to the "Error" state takes
place. The drive will consequently be without torque.
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Management
Pulses are inhibited (drive is without torque)
If the drive is suddenly without torque due to a pulse inhibit (HW input or response to
QUICK STOP/SHUT-DOWN/INHIBIT/drive error), the brake could be applied immediately or when the speed threshold (see above) is reached. With a suspended load, it is recommended that the brake be allowed to be applied immediately in this case (Z134.3–
Bit 2 = 0) as the drive could be accelerated by the externally acting torque, with the result
that the speed threshold is not reached and the brake is not applied.
Figure 93:
Braking procedure in the "Automatic" brake control mode
328
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3
The following recommendation applies for setting the delay for the pulse inhibit, TA
(Z134.8–):
1
If the state monitoring is switched off (Z134.1– Bit 1 = 0):
TA> T1)SignalCom + T 2)mech
2
reporting the state of the current through the brake:
TA > Tmech – T 3)SignalFB
3
reporting the mechanical state of the brake:
TA = 0
1)
Processing time for the command in the controller, max. 2 ms
2)
Drop-out time of holding brakes depends on type, approx. 125-400 ms
3)
Duration of current reduction in brake coil (depends on type, approx. 30 ms) + processing time for response
in controller: max. approx. 32 ms. 
The following must apply for a correct error reaction:
Z134.7– timeout check-back signal > TSignalCom + TSignalFB
3.5.3.2 ProDrive Brake Management
Figure 94:
ProDrive Brake management
Functional block:
FbBrakeMgr [134]
329
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Name
Type
Max
Default Value Unit
Factor
134.1
Mode
DWORD 0
0xFFFFFFFF 0x22
1:1
134.2
Status
DWORD 0
0xFFFFFFFF 0
1:1
134.3
Control automatic
DWORD 0
0xFFFFFFFF 0
1:1
134.4
Command
WORD
0
0xFFFF
0
134.5
Torque limit
FLOAT
-1.00E+06
1.00E+06
0
Nm
1:1
X
134.6
Speed limit
FLOAT
0
1.00E+06
90
Grad/s 1:1
X
134.7
Timeout check-back signal
UINT
0
1000
1000
ms
1:1
X
134.8
Pulse inhibit delay
UINT
0
1000
500
ms
1:1
X
134.9
Start of motion delay
UINT
0
1000
500
ms
1:1
X
134.10
Opening delay
UINT
0
1000
0
ms
1:1
X
Cyclic Write
Number
DS Support
Min
Storage
Management
Read only
3.5
X
X
X
1:1
X
X
134.1
Mode
Triggering the motor holding brake 
Bit
Meaning
0
Operating mode
0:
Manual operation
1:
Automatic
1
Polarity of brake triggering signal
0:
Enable brake with control input = low
1:
Enable brake with control input = high
3 ... 2
Reserved
4
Brake state monitoring
0:
Switch off
1:
Switch on
5
Polarity of brake state signal
0:
Brake is enabled when response signal = low
1:
Brake is enabled when response signal = high
31 ... 6
Reserved
330
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3
NOTE!
m In order to trigger the brake a digital output must be assigned with the special function „Triggering holding brake“
m For the feedback of the brake state a digital input with the special function „Feedback holding brake“ must be assigned.
134.2
Status
State of the motor holding brake 
Bit
Meaning
1 ... 0
00:
01:
10:
11:
Brake triggering is switched off
Brake triggering is being initialized
Reserved
Brake triggering is switched on
3 ... 2
Reserved
4
Brake state
0:
Brake is applied
1:
Brake is enabled
5
Preset brake triggering mode
0:
Manual
1:
Automatic
6
Service operation
0:
Switched off
1:
Switched on
7
Reserved
8
Error state
0:
No error
1:
Error
31 ... 9
Reserved
331
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3.5
134.3
Management
Control automatic
Triggering the motor holding brake in Automatic mode (134.1; Bit 0 = 1).
Bit
0
Brake enabling mode
0: Without holding torque preset1
1: With holding torque preset (before the brake is enabled, the holding
torque is built up from Z134.5–)2
1
Behavior when enabling the brake with holding torque preset (Bit 0 = 1):
enable brake if
0: Drive torque = Holding torque (Z134.5–)
1: Time in Z134.10– elapsed
2
Applying the brake while pulses are inhibited (i.e. pulses are already inhibited when the brake is to be applied):
0: Brake is applied immediately while pulses are inhibited
1: Brake is applied while pulses are inhibited as soon as the magnitude of
the actual speed has fallen below the speed limit (Z134.6–).
31 ... 3
134.4
Meaning
Reserved
1)
If there is a "suspended load" and at least a speed-controlled operating mode, the torque required to hold the
load is built up AFTER the brake is enabled by the control deviation
2)
The torque required to hold a load is built up BEFORE the brake is enabled. If the parameters for the holding
torque are correctly set, the load therefore sags significantly less after the brake is enabled than in 1).
Command
Command to the motor holding brake
In the triggering mode (Z134.1– "Automatic"), 134.4 Bit 0 of the device control state machine is activated. However, if the brake is to be triggered in the "Automatic" mode for service purposes by writing directly to 134.4 Bit 0, 134.4 Bit 1 must be set. After the service
mode is switched off, the brake remains in its current state, i.e., the original state before
the service mode was activated is not re-established.
If the motor holding brake is to be actuated manually (Z134.1– "Manual"), the command
must be transmitted to the brake directly via 134.4.
Bit
Meaning
0
Command to brake
0:
Apply brake
1:
Enable brake
1
Activation of service operation in "Automatic" mode (Z134.1– Bit 0 = 1):
0:
Switch off service operation
1:
Switch on service operation
15 ... 2
Reserved
332
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134.5
3
Torque limit
Torque limit for torque-controlled enabling of the motor holding brake in the Automatic
mode (Z134.1– Bit 0 = 1). This torque is built up before the brake is enabled if the appropriate mode is selected (Z134.3– Bit 0 = 1).
See also ZEnabling the Brake– from page 325
134.6
Speed limit
Threshold value for speed-dependent engagement of the motor holding brake in the Automatic mode (Z134.1– Bit 0 = 1). The brake is applied in the following cases as soon as
the magnitude of the instantaneous speed has fallen below the threshold value:
m Drive is actively braking (hold on ramp)
m Drive is without torque (pulses are inhibited, Z134.3– Bit 2 must be 1)
134.7
Timeout check-back signal
Timeout for evaluating the state response signal. If the expected brake state (enabled/engaged) is not detected within the timeout period, an error reaction is initiated.
134.8
Pulse inhibit delay
Delay to allow for the brake engagement time and, where necessary, the dead time due
to a relay in the Automatic mode (Z134.1– Bit 0 = 1). After the brake is applied during an
active braking procedure (e.g. Quick Stop on ramp) the pulses are inhibited at the earliest
after the time set in 134.8 has elapsed. Hence it can be ensured that the drive will only
be without torque once the holding brake has built up the full mechanical braking force:
m The evaluation of the brake state is switched off (Z134.1– Bit 4 = 0):
The pulse inhibit occurs at the earliest after the time set in 134.8 has elapsed following
the issue of the engage command by the drive manager.
m The evaluation of the brake state is switched on (Z134.1– Bit 4 = 1):
The drive is without torque at the earliest after the time set in 134.8 has elapsed following reception of the "Brake is engaged" confirmation.
See also ZApplying the brake– from page 328
134.9
Start of motion delay
Delay to allow for the brake enable time and, where necessary, the dead time due to a
relay in the Automatic mode (Z134.1– Bit 0 = 1). After the brake is enabled an acceleration takes place at the earliest after the "Start of motion Delay" time set in Automatic mode
(Z134.1– Bit 0 = 1). Hence it can be ensured that the drive is not working against the
holding brake which is possibly not yet fully enabled:
333
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3.5
Management
m The evaluation of the brake state is switched off (Z134.1– Bit 4 = 0):
The acceleration occurs at the earliest after the time set in 134.9 has elapsed following
the issue of the enable command.
m The evaluation of the brake state is switched on (Z134.1– Bit 4 = 1):
The drive is without torque at the earliest after the time set in 134.9 has elapsed following reception of the "Brake is enabled" confirmation.
See also ZEnabling the Brake– from page 325
134.10
Opening delay
Delay between the start of the buildup of holding torque and the "Enable brake" command
in Automatic mode (Z134.1– Bit 0 = 1). 
134.10 is only evaluated if a holding torque is to be built up before the brake is enabled
and the brake is to be enabled after a presettable time (Z134.3– Bit 1...0 = 3). The "Enable brake" command is issued [134.10] ms after the start of the buildup of the holding
torque.
See also ZEnabling the Brake– from page 325.
334
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3.5.4
3
Error Management
The error messages and warnings of the drive are displayed in a central error memory
(Z100.3– Error Information). This parameter is an array with 20 elements. Both error
messages and warnings are displayed in this array parameter.
Certain additional information is displayed at any error as e.g. the timestamp when the
error was messaged and reset.
The drive response to an error is configurable. Though the response to each error can be
set separately (see parameter Z100.4–). The following responses are possible:
Error response
Description
No error message
The error will not be messaged.
No error response
The error is messaged but there is no response of the drive
(e.g. pulse block).
Pulse block
The pulses are locked and the drive goes in the failure state.
Stop at current limit
The drive is stopped at current limit. Afterwards the pulses
are locked and the drive goes in the failure state.
Stop (RFG-Quickstop
time)
The drive is stopped at the quick stop ramp. Afterwards the
pulses are locked and the drive goes in the failure state.
Stop (RFG-Ramp-down The drive is stopped at ramp down of the ramp function gentime)
erator (Parameter 110.x). Afterwards the pulses are locked
and the drive goes in the failure state.
Return motion
The drive positions to an adjustable position. Afterwards the
pulses are locked and the drive goes in the failure state.
Controlled stop
The drive is braked at the ramp for the controlled stop. Afterwards the pulses are locked and the drive goes in the failure
state.
SS1 stop
The drive is braked at the ramp for the SS1 stop. Afterwards
the pulses are locked and the drive goes in the failure state.
According to the error code not all error responses are possible. For example the pulses
are blocked at certain errors at once. Another response is not adjustable for such errors.
Function block:
FbInfoMgr [100]
335
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Cyclic Write
DS Support
Storage
Management
Read only
3.5
Number
Name
Type
Min
Max
Default Value Unit
Factor
100.1
Error command
UINT
0
65535
0
1:1
100.2
Error count
UINT
0
20
0
1:1
100.3
Error information
RECORD
100.4
Error reaction
RECORD
100.5
First error
UDINT
0
5000
0
1:1
100.7
Error communication mode
UINT
0
0xFFFF
0
1:1
100.8
Error reaction actual value
INT
-4
3
-1
1:1
X
100.9
Error reaction set value
INT
-4
3
-1
1:1
X
100.11
Launch application error
UDINT
0
0xFFFFFFFF 0
1:1
X
X
X
X
X
X
X
100.1
Error Command
Command for the Info Manager.
Value
Meaning
0
Reserved
1
Reset all errors
Parameter is supported for compatibility reasons, use instead of that
Z108.1– Control Word 1 bit 7 as far as possible
2
Reset all error responses to the default values
4
Reset all errors
Parameter is supported for compatibility reasons, use instead of that
Z108.1– Control Word 1 bit 7 as far as possible
5
Trigger application error no. 169
6
Reset error memory
Remain- Reserved
der
100.2
Error Count
Returns the number of errors present in the error memory since the last switch-on or since
the last error reset.
336
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100.3
3
Error Information
Parameter displays the errors and warnings.
The parameter is an array with 20 entries. Each entry contents the error number as well
as the additional information as e.g. the time of the occurrence and the time of reset (relative time since switch-on).
If errors are reset then these are shifted to the end of the array. By reading out the array
completely, it is possible to access error messages prior to the last reset.
The number of the relevant entries (i.e. the not yet acknowledged messages) is displayed
in parameter Z100.2– Error Count.
Each array entry is a structure with the following data elements:
100.4
Name
Meaning
RC
Error code (see ZError descriptions– from page 653)
FB Type
Functional block type
FB Instance
Instance number of the FB
Set Time
Timestamp of when the error was reported
Reset Time
Timestamp of when the error was reset
Error Response
Error response code (see Z100.4– table)
Info1
Additional error information1 (depends on the error message).
Info2
Additional error information2 (depends on the error message).
Error Reaction
Parameter for adjustment of the error response for the different errors.
The parameter is defined as a structure of arrays. The number of elements in the upperlevel structure and the number of array elements is equivalent to the number of error
groups and the number of errors in the group (see ZError descriptions– from page 653).
Each array element is a structure with the following data elements:
Name
Meaning
RC
Error code
Error Response
Error response code
The following values are possible for the error response:
Code
Error reaction
-5
SS1 stop
-4
Controlled stop
-3
Return motion
-2
No error message
337
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3.5
Management
Code
Error reaction
-1
No error reaction
0
Pulse inhibit
1
Stop (ramp function generator - ramp-down time)
2
Stop (ramp function generator - quick stop time)
3
Stop at current limit
The error responses „Return motion“ and "Controlled stop" are described in the chapters
Z3.6.3– and Z3.6.4–.
100.5
First error
The parameter shows the error number of the first error, which leads to a drive reaction.
When acknowledging the error, the parameter is deleted again.
100.7
Error communication mode
Configuration of the error communication between two drives.
By means of the error communication two drives could respond to the errors of the other
in each case if an error reaction was parameterized, i.e. Z100.4– of the correspondent
error  -1, -2.
Default: 0 
Bit
0
0: Switch off error communication
1: Switch on error communication
1
Transmission path
0: external 
Error reactions are transferred via fieldbus
1: internal 
Values are transferred from axis to axis without external connection. This
is only possible at double axes.
15 … 2
100.8
Meaning
Reserved
Error reaction actual value
Error code sent to the other drive in the event of an error if Z100.7– bit 0 = 1 and bit 1 = 1.
At external transmission (fieldbus) the parameter must be mapped cyclically so that it appears as an actual value on the sending drive and as a set value on the receiving drive.
I.e. the control must copy Z100.8– of drive 1 to Z100.9– of drive 2.
338
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3
At internal transmission this parameter is displayed for diagnostics.
100.9
Error reaction set value
This error code is sent from the other drive. The receiving drive should execute this reaction, if Z100.7– bit 0 = 1 and bit 1 = 1.
At external transmission (fieldbus) the parameter must be mapped cyclically so that it appears as an actual value on the sending drive and as a set value on the receiving drive.
I.e. the control must copy Z100.8– of drive 1 to Z100.9– of drive 2.
Function
Drive 1
Control
Drive 2
Z100.7– = 1
Z100.9– (Drive 2) =
Z100.8– (Drive 1)
Z100.7– = 1
Transmission external
Transmission internal (within a double
axis)
100.11
Z100.9– (Drive 1) =
Z100.8– (Drive 2)
Z100.7– = 3
-
Z100.7– = 3
Launch application error
The application errors 1 to 5 are set by writing this parameter. 
Value
Error, which is set
0
Noneffective
1
175 - Application error 1
2
3
4
5
339
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3.5
Management
3.5.5
Signal Bus
The signal bus is a connection between the supply unit and the connected axes in the DC
link network. The ready for use signal of the supply is signalized to the connected axes
via this connection.
3.5.5.1 Messages on the Signal Bus
The following matrix shows which signals can be reported and evaluated by which type
of device.
Signal
Pin
NGR
NAT
BM3300
Supply ready for use
1
Out
In
In / Out
Chopper resistor on
3
In
Out
In / Out
Key:
NGR
Mains rectifier unit
NAT
Add-on unit with DC link supply only
BM33xx
b maXX 3300
Out
The unit can set the signal
In
The unit must evaluate the signal
The signals are active HIGH. A disjunction is implemented via the cabling. This means
the signal is set to HIGH as soon as at least one connected device has set the signal to
HIGH.
The signals in the devices are monitored at 1 ms intervals.
3.5.5.2 Supply Ready for use
This signal is generated by external supplies. The connected axes evaluate this signal.
The signal indicates that the supply unit is in the ready for use state and the DC link is
supplied. In the event of supply errors (e.g. power supply failure), the output of the ready
fur use signal is stopped. If the signal is not available, an error is generated at the connected axes units.
3.5.5.3 Chopper Resistor On
This signal activates the chopper resistors of several supplying devices simultaneously.
Both mains rectifier unit and mono units provide a chopper resistor connection and an
own monitoring of the DC link voltage. If the DC link voltage exceeds a fixed threshold,
the chopper resistor is switched on.
The axis units monitor also the DC link voltage and can be configured to generate the
Chopper Resistor On signal. If this signal is set, the chopper resistor is switched on at
the mains rectifier unit.
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3
3.5.5.4 ProDrive Signal bus
Figure 95:
ProDrive Signal bus
Type
Min
Max
Default Value Unit
Factor
140.1
Mode
WORD
0
0xFFFF
0
1:1
140.2
Status
WORD
0
0xFFFF
0
1:1
Cyclic Write
Name
DS Support
Number
Storage
FbSignalbus [140]
Read only
Functional block:
X
X
140.1
Mode
Specifies how the Signal bus in the drive is evaluated and actuated.
Bit no.
Meaning
0
0: Activate Signal bus
1: Completely deactivate Signal bus
1
0: Signal Chopper Resistor On is not generated
1: Set Chopper Resistor On signal, if the DC link voltage exceeds the ballast switch on threshold.
9 .. 2
10
Reserved
0: Evaluate Supply ready for use signal
1: Ignore Supply ready for use signal
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3.5
Management
Bit no.
11
Meaning
Evaluation of the signal "Chopper Resistor on":
0: Signal is evaluated
1: Signal is not evaluated
15 ... 12 Reserved
NOTE!
The Signal bus must be always activated and the Supply ready for use signal must
always be evaluated at external supply (Mode bit 0 and bit 10 to 0).
The switch off of the Signal bus is provided only for special applications, e.g. if the
supply does not support a Signal bus. If the Signal bus or the evaluation of the Supply ready for use signal is deactivated, it must be ensured via the control, that the
drive is only enabled, if the supply is ready. Otherwise the supply unit can be damaged in this case.
140.2
Status
States of the Signal bus lines:
Bit no.
Meaning
4 ... 0
Reserved
5
Chopper resistor on
6
Reserved
7
Supply operationally ready
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3.5.6
3
Set Value Manager
The set value manager manages the initial values of set value generators such as, for
example, ramp function generators or positioning and operates the set value interface to
position and speed controllers. Furthermore, using Z111.6– Interpolation Mode it is possible to select between interpolating and extrapolated characteristics of speed and position.
The display parameters Z111.2– to Z111.5– are updated in the set value manager cycle.
The cycle depends on the active operating mode (Z109.2–).
For the operating modes which work in the so-named RT1 Task, the cycle time is always
1 ms. An active RT1 operating mode can be recognized by Z111.1– Status Bit 4 = 1. RT1
operating modes are all position and speed controlled modes for which the speed profile
is produced internally to the controller. Examples of RT1 operating modes are target position setting (Z109.2– = 1) or speed control (Z109.2– = -3).
The operating modes which work in the Fieldbus Task (e.g. cyclic position set value specification), the cycle time always corresponds to the fieldbus cycle time (Z131.18–). An active Fieldbus Task operating mode can be recognized by Z111.1– Status Bit 5 = 1.
Figure 96:
ProDrive Set Value Manager
Functional block:
SwgManager [111]
343
of 724
Cyclic Write
Storage
DS Support
Management
Read only
3.5
Number
Name
Type
Min
Max
Default Value Unit
Factor
111.1
Status
WORD
0x0000
0xFFFF
0x0000
1:1
X
111.2
Position set value rev
UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
111.3
Position set value angle
UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
111.4
Speed set value
DINT
0x80000000
0x7FFFFFFF 0
Inc/ms 1:1
X
111.5
Acceleration set value
DINT
0x80000000
0x7FFFFFFF 0
Inc/
ms²
X
111.6
Interpolation mode
UINT
0
4
1
1:1
111.7
External speed feedforward
FLOAT
-180000
180000
0
Grad/s 1:1
X
111.8
External acceleration feedforward
FLOAT
-2147483647
2147483647
0
Grad/
s2
1:1
X
111.9
Jerk set value
DINT
0x80000000
0x7FFFFFFF 0
Inc/
ms3
1:1
1:1
X
X
X
111.1
Status
Bit no.
0
3…1
Meaning
0: Set Value manager is switched off
1: Set Value manager is switched on; the set value sources provide set values to the set value manager
Reserved
4
1: Set Value setting by RT1 Task active; fixed cycle time of 1 ms
5
1: Set Value setting by Fieldbus Task active; configurable cycle time
15 … 6
Reserved
For all speed and position controlled operating modes in the OPERATION ENABLED
state, the set value manager is switched on.
In operating modes such as, e.g., current control it thus remains switched off.
111.2
Position set value rev
The parameter indicates the number of revolutions in the position set value in 32-bit resolution after the addition of all set values.
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111.3
3
The parameter indicates the angular term of the position set value in 32-bit resolution after the addition of all set values.
111.4
Speed set value
This parameter indicates the intended speed after the addition of all set values.
Resolution is 32-bit-increments/revolutions every ms.
111.5
Acceleration set value
This parameter indicates the intended acceleration after the addition of all set values.
Resolution is 32-bit-increments/revolutions every ms2.
111.6
Interpolation mode
Using this parameter, the mode for the interpolation at the set value manager to controller
interface can be set.
The interpolator receives new set value data in the set value manager cycle, which it interpolates or extrapolates according to the mode. The set value data consist of acceleration, speed and position. An interpolating or extrapolating behavior can be set separately
for speed and position by means of the interpolation mode.
Any change in the mode only takes effect after a controller inhibit.
Value
Meaning
0
Mode 0: Linear extrapolation of the position and the speed
1
Mode 1: Linear interpolation of the position and the speed
2
Mode 2: Linear extrapolation of the position and linear interpolation of the
speed
3
Mode 3: Quadratic interpolation of the position and linear interpolation of the
speed
4
Mode 4: Cubic interpolation of the position and quadratic interpolation of the
speed
Remarks:
m Mode 0:
As a result of the linear extrapolation of speed and position, feedforward of the two values is achieved. The dead time between the input set value to the set value manager
and the set value to the controller input is consequently reduced. The procedure is only
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3.5
Management
recommended for very small changes in acceleration, since the extrapolation is no longer exact for each change in acceleration. This can lead to overshooting of the intended position and intended speed at the controller input.
m Mode 1:
As a result of the linear interpolation of speed and position, Mode 1 avoids the negative
effect described under Mode 0 for changes in acceleration. A dead time is generated
about one set value manager cycle for the speed and about two cycles for the position
instead.
m Mode 2:
This mode is a mixture of Modes 0 and 1. The position is linear extrapolated, the speed
linear interpolated. As a result of the interpolation of the speed, overshoots in the speed
set value or speed feedforward value are avoided. At the same time, due to the linear
extrapolation of the position the position controller receives a deadtime-optimized position set value.
m Mode 3:
The mode 3 carries out a linear interpolation speed and a quadratic interpolation of the
position. As in mode 1 the position is delayed by two set value manager cycles and the
speed by one cycle.
m Mode 4:
Mode 4 carries out a quadratic interpolation speed and a cubic interpolation of the position. Here the position and the speed is delayed by two set value manager cycles.
NOTE!
If several axes are to be operated collectively, the same interpolation mode should
be set on each axis.
111.7
External speed feedforward
This parameter permits the presetting of an external speed feedforward by a fieldbus.
This parameter takes effect in operating mode Position control with synchronous set value specification (Z109.1– = -4) only. The function is activated by Z18.9– Controller options bit 3 = 1.
NOTE!
The parameter Z111.6– Interpolation mode must be set to mode 0 (extrapolation) at
the external feedforward. The fieldbus cycle time (Z131.18–) must correspond to the
controller cycle (Z1.8–) in order to achieve an optimum result.
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111.8
3
External acceleration feedforward
This parameter permits the presetting of an external acceleration feedforward by a fieldbus. This parameter takes effect in the operating mode Position control with synchronous
set value specification (Z109.1– = -4) only. The function is activated by Z18.9– Controller options bit 2 = 1.
NOTE!
Bit 1 in the Z18.9– takes priority over bit 2! In parameter Z111.8– the same notes
apply as described in parameter Z111.7–.
NOTICE!
The following functions are not applicable at an activated, external feedforward control value in the operating mode Position control with a synchronous set value specification because the dominating, external speed control value Z111.7– is
superimposing its reaction:
m Hardware and software limit switch monitoring, if the error reaction does not result
in a pulse block,
m the speed limit Z121.11–,
m the stop by parameter Z108.1– Control word bit 8,
m actual speed value synchronization after switching on.
111.9
Jerk set value
This parameter displays the jerk set value after the addition of all set values. Its resolution
is 32 bit increments/revolution per ms3.
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3.6
Set Value Generators
3.6
3.6.1
Ramp function generator
The ramp function generator is used to generate rising or falling ramps in the Speed Preset 1 (Z109.1– = 2) and Speed Control (Z109.1– = -3) speed-controlled operating
modes. Additionally, it is used for controlling braking procedures (Quick Stop, Drive Shutdown, Inhibit Drive).
The ramp function generator has an input with separately adjustable ramp-up and rampdown times. Furthermore the ramp-down time for the Quick Stop function is separately
adjustable.
The input and output values for the ramp function generator are relative quantities
(±100 %) and are referred to the Maximum drive speed parameter (Z110.13–).
The ramp slope for the acceleration and braking procedures is defined by the ramp-up
and ramp-down times. The times correspond to a 100 % change in the set value.
For additional rounding of the ramp-up or ramp-down ramps, a PT1 element (smoothing)
with adjustable time constant is connected after the ramp function generator.
The ramp function generator provides the following control options via the control word
(Z108.1–):
m Inhibit ramp generator (set output permanently to 0, ramp-down at the current limit)
m Stop ramp generator (freeze output value)
m Inhibit ramp generator set value (set input internally to 0, ramp-down on the ramp-down
ramp)
The following options can additionally be selected via Ramp Generator Mode Z110.2–:
m Selection between a 16-bit parameter (Z110.5–) or a 32-bit parameter (Z110.4–) as
input value for the ramp function generator.
m Blocking of positive or negative set values.
m Reversal of set value sign. The internal processing sequence is inhibit before sign reversal.
m Switch-off of speed set value synchronization when activating the ramp function generator.
m Adjustment of ramp shape:
n Trapezoidal speed profile; stepped acceleration. 
There is a possibility of smoothing the speed by means of a PT1 element.
n S-Curve with quadratic speed profile; trapezoidal acceleration.
m Speed profile in zero-crossing at change of direction with or without rounding-off.
m The set quick stop time Z110.8– applies to
n change of set value from 100% to 0%
n change of set value from actual set value at ramp function generator output Z110.3–
to 0%. This causes a constant braking time from all speeds at ramp function generator output.
m The set SS1 stop time Z110.21– applies to
n change of set value from effective speed to 0%. This causes a constant braking time
from all speeds.
n change of set value from 100% to 0% (braking deceleration independent of the instantaneous speed).
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3
More functions:
m Input value limited by Z110.15– and Z110.16–.
m Monitoring of the hardware limit switch. The behavior at an active hardware limit switch
can be chosen via Z110.2– bit 8 and 9. The limit switch monitoring is switched on via
Z121.1– bit 1 = 1.
m Additional additive input Z110.17– with format of the 32 bit input Z110.4–.
m Transparency mode: Switch off ramp generator (output = input)
m Optional interpolation of the ramp function generator set value input (see chapter
Z3.6.1.1– on Zpage 353–)
Trapezoidal Profile
The ramp-up and ramp-down times refer to a change in the input set value of +100% or
-100%.
The resulting times for other set value changes are calculated as follows:
TResRamp-up = TRamp-up * Set Value change / 100 %
TResRamp-down = TRamp-down * Set Value change / 100 %
TRamp up= Ramp-up time Z110.6–
TRamp down= Ramp-down time Z110.7–
Figure 97:
Trapezoidal Profile of Ramp Function Generator
349
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3.6
S-Curve Profile
Acceleration and braking are introduced more smoothly with the S-Curve profile.
The time to reach maximum acceleration or deceleration is set using the S-Curve time.
The maximum value of the accelerations is determined by the ramp-up time or the rampdown time. The S-Curve time can be set separately for the ramp-up and the ramp-down.
The ramp-up or ramp-down time resulting from a change to the input set value of 100 %
can be found from
TRamp-upTotalTime = TRamp-upTime + TSCRamp-upTime
or
TRamp-downTotalTime = TRamp-downTime + TSCRamp-downTime
TRamp up = Ramp-up time Z110.6–
THSK = S-Curve ramp-up time Z110.9–
TRamp down= Ramp-down time Z110.7–
THSK = S-Curve ramp-down time Z110.10–
Figure 98:
Ramp Function Generator S-Curve Profile
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3
The equations apply only to a set value change from standstill (Set Value = 0%; Acceleration = 0).
For set value changes less than 100%, two cases for determining the resulting ramp-up
and ramp-down times must be distinguished:
n the maximum acceleration or deceleration is achieved
n the maximum acceleration or deceleration is not achieved
In the following, the calculation of the resulting ramp-up time for the two cases is explained by means of examples for the ramp-up.
The calculation of a resulting ramp-down time would be performed in the same way using
the parameters Z110.7– Ramp-down Time and Z110.10– S-Curve Ramp-down Time.
The times are set identically for the examples:
Z110.6– Ramp-up time = 800 ms = TRamp-up
Z110.9– S-S-Curve ramp-up time = 200 ms = TScurve
Example 1:
Set Value changed by +50 %
Total set value change dVtotal = 50%
Calculate proportion of "S-Curve phase" in the acceleration process:
dVScurve = TScurve / TRamp-up * 100 % = 200 ms / 800 ms * 100 % = 25 %
dVScurve < dVtotal
maximum acceleration is achieved.
Calculate proportion of phase at maximum acceleration:
dVamax = dVtotal - dVScurve = 50 % - 25 % = 25 %
Duration of phase at maximum acceleration:
tamax = dVamax / 100 %* TRamp-up = 25 % / 100 % * 800 ms = 200 ms
Now determine the resulting ramp-up time:
ttotal = 2 * TScurve + tamax = 2 * 200 ms + 200 ms = 600 ms
Example 2:
Set Value changed by +12.5 %
Total set value change dVtotal = 12.5%
Calculate proportion of "S-Curve phase" in the acceleration process:
dVScurve = TScurve / TRamp-up * 100 % = 200 ms / 800 ms * 100 % = 25 %
dVScurve > dVtotal
maximum acceleration is not achieved.
only "S-Curve phase" present
Now determine the resulting ramp-up time:
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3.6
tScurve = (dVtotal / dVScurve) * 2 * TScurve = (12.5 % / 25 %) * 2 * 200 ms = 283 ms
ttotal = tScurve
3.6.1.1 Optional interpolation of the ramp function generator input set value
A cyclical and synchronous transferred speed set value which is mapped to the input set
value (Z110.4– or Z110.5–), can be interpolated optionally to the ramp function generator (RFG) cycle (= 1 ms). The speed profile is calculated by the controller and is transferred in the adjusted set value cycle. The interpolation is switched on by setting bit 11 in
Z110.2– Mode. The ramp function generator is usually switched off at active interpolation.
The controller interpolates from set value cycle to the ramp function generator cycle
(1 ms). For this the set value cycle in parameter Z145.11– must be set and the interpolation must be activated. Both must take place before enabling the operation mode speed
control or speed setting 1. A change at active ramp function generator is invalid!
The ramp function generator interpolates from a set value cycle of 2 ms.
Example 1:
Example 2:
Fieldbus cycle = 1 ms, set value cycle = 6 ms und ramp function generator cycle = 1 ms

A new calculated set value is transferred only in every sixth fieldbus cycle

Z131.18– Fieldbus cycle time = 1 ms

Z145.11– Virt. master set value cycle time = Interpolation interval = 6 ms

6 ms / 1 ms - 1 = 5

Interpolator generates 5 interpolated set values in the ramp function 
generator.
Fieldbus cycle = set value cycle = 2 ms and ramp function generator cycle = 1 ms

A new set value is transferred in each fieldbus cycle.

Z131.18– Fieldbus cycle time = 2 ms

Z145.11– Virt. master set value cycle time = Interpolation interval = 2 ms

2 ms / 1 ms - 1 = 1

Interpolator generates 1 interpolated set value in the ramp function generator.
Always the sum of main and additional set value will be interpolated, i.e. the value of
Z110.17– Input 32 bit additive is also effective at interpolation. Every change of the total
set value is immediately effective and interrupts a running interpolation if necessary.
The interpolator is implemented before the ramp function generator controller and the
ramp generator. Thus the functions of the ramp function generator remain also at active
interpolator, as e. g. limitation and polarity reversal of the input value, directional block,
ramp function generator block, ramp function generator stop, quick stop function and
ramp generator.
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3
This interpolator must not be confused with the interpolator of the ramp function generator
cycle to controller cycle. This interpolator is specified in chapter ZSet Value Manager–
from page 344.
Interpolator active and ramp generator switched off
The ramp generator can be switched off either via Z110.2– Mode bit 10 (transparency
mode) or via setting ramp times to zero (Z110.6– and Z110.7–). The ramp function generator operates in both cases in the "transparency mode" (output = input), i. e. the cyclical
input set values are immediately effective at ramp output.
m Switch off via ramp times (= 0 s)
This means a stop at current limit, because the ramp-down time can be used also for
quick stop or error response ("stop at deceleration ramp"). If this is not desired, the stop
at deceleration ramp and the quick stop time in Z110.8– must be set or the transparency mode via bit 10 must be used.
m Switch off via Mode bit 10 of parameter Z110.2– 
The ramp-up and ramp-down times can be set here as required. In case of a stop at
the deceleration ramp, it will be broken at the deceleration ramp.
The bits 8 (Ramp-up is active) and bit 9 (Ramp-down is active) in Z110.1– are not
changed.
Interpolator and ramp generator active
The ramp generator is switched on, if ramp times greater than 0 s are parameterized and
if no transparency mode via bit 10 is activated. The set times limit the maximum acceleration or the deceleration of the cyclic input set values. If the S-Curve profile is activated,
the acceleration change (jerk) is limitied via the S-Curve times.
If the limitation is effective, the speed profile of the cyclical speed set values will be
changed.
NOTE!
m The input set value will be delayed by one set value cycle when using the interpolation.
m The following ramp function generator smoothing (Z110.11–) must be set to 0 ms,
if it should not effect.
m At set value failure the last speed set value remains valid. An extrapolation does
not take place using the last acceleration value.
m If the control functions of the ramp function generator (block, stop, zero, ...) will be
used or after a stop triggered by hardware limit switch, the input set value must be
corrected by the control before the function is canceled.
353
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3.6
3.6.1.2 ProDrive Ramp Function Generator
Control of the ramp function generator using the drive manager control word:
FG INHIBIT: Parameter Z108.1– Control Word 1 Bit 4
FG STOP: Parameter Z108.1– Control Word 1 Bit 5
FG ZERO: Parameter Z108.1– Control Word 1 Bit 6
Display "Set Value reached":
Parameter Z108.3– Status Word 1 Bit 10
Figure 99:
Ramp function generator page in ProDrive
354
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3
Type
Min
Max
Default Value Unit
Factor
110.1
Status
DWORD 0
0xFFFFFFFF 0
1:1
110.2
Mode
DWORD 0
0xFFFFFFFF 0x20
1:1
110.3
Output
DINT
-1073741824
1073741824
0
%
400000 X
00hex:
100%
110.4
Input 32 bit
DINT
-1073741824
1073741824
0
%
110.5
Input 16 bit
INT
-16384
16384
0
110.6
Ramp-up time
UDINT
0
650000
110.7
Ramp-down time
UDINT
0
650000
110.8
Quick stop time
UDINT
0
110.9
S-curve ramp-up time
UDINT
0
110.10
S-curve ramp-down time
UDINT
110.11
Smoothing
UINT
110.12
Set value zone
110.13
Cyclic Write
Name
DS Support
Number
Storage
FbRampGenerator [110]
Read only
Functional block:
X
X
X
X
400000
00hex:
100%
X
X
X
%
4000hex:
100%
X
X
X
0
ms
1:1
X
X
X
0
ms
1:1
X
X
X
650000
0
ms
1:1
X
X
X
650000
0
ms
1:1
X
X
X
0
650000
0
ms
1:1
X
X
X
0
32767
0
ms
1:1
X
X
UDINT
0x0
0x80000000
0
%
400000
00hex:
100%
X
X
Maximum drive speed
FLOAT
1
1.000000e+06 3000
U/min 1:1
110.14
Output acceleration
FLOAT
-5000000000
5000000000
0
Inc/
ms²
1:1
110.15
Input max. amount
UDINT
0
1073741824
1073741824
%
400000
00hex:
100%
X
X
X
110.16
Input min. amount
UDINT
0
1073741824
0
%
400000
00hex:
100%
X
X
X
110.17
Input 32 bit additive
DINT
-1073741823
1073741823
0
%
400000
00hex:
100%
X
X
X
110.20
Controlled stop time
UDINT
0
65000
1000
ms
1:1
X
X
X
110.21
SS1 stop time
UDINT
0
650000
0
ms
1:1
X
X
X
X
X
355
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3.6
110.1
Status
Status of the ramp function generator
Bit
0
3…1
Meaning
1: Ramp generator is switched on
Reserved
4
1: FG output is set internally to 0 (FG INHIBIT)
5
1: FG has been halted on the ramp (FG STOP)
6
1: FG input is set internally to set value 0 (FG ZERO)
7
1: Quick Stop ramp is active (FG QSTOP)
8
1: Ramp-up is active
9
1: Ramp-down is active
10
1: Braking ramp ended
11
Reserved
12
1: FG output = FG input (set value reached)
13
Status input set value
0: Input set value is constant
1: Input set value is interpolated
14
1: Controlled stop is active
15
1: SS1 stop is active
16
1: Set Value inhibit has blocked negative set value (see 110.2 Mode Bit 0)
17
1: Set Value inhibit has blocked positive set value (see 110.2 Mode Bit 1)
18
1: Run in negative direction with hardware limit switch prevented
19
1: Run in positive direction with hardware limit switch prevented
20
Absolute value limitation of the input set value to an allowed minimum
value Z110.16–
21
Absolute value limitation of the input set value to an allowed maximum
value Z110.15–
31 … 22
Reserved
Comments:
m Bit 13:
This bit is changed, if the interpolator set value cycle ramp function generator cycle
is active. The bit is deleted at constant input set value or set value failure. The ramp
function generator input set value is interpolated from the set value cycle to the ramp
function generator cycle (1 ms).
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110.2
3
Mode
Bit
Meaning
0
1: Negative set values are blocked
1
1: Positive set values are blocked
2
1: Polarity reversal of current set value
3
Processing sequence for set value inhibit and polarity reversal:
0: Set Value inhibit before polarity reversal
1: Polarity reversal before set value inhibit
4
0: Trapezoidal speed profile with ramp generator smoothing (PT1 element)
1: S-Curve with quadratic speed profile
5
Selection of input parameter
0: 110.4 input 32-bit resolution (100% = 40000000hex)
1: 110.5 input 16-bit resolution (100% = 4000hex)
6
1: Actual speed value synchronization switched off
7
Z110.8– Quick stop time applies to:
0: Change of set value from 100% 0%
1: Change of set value from actual set value at ramp function generator
output Z110.3–  0%
9 ... 8
Behavior at run over hardware limit switch at active limit switch monitoring:
0: Error message
1: Error message; stop at deceleration ramp, if error reaction = „no reaction“
2: No error message; no stop
3: No error message; stop at deceleration ramp
10
1: Transparency mode on
11
1: Input set value interpolator on
12
Speed profile in zero-crossing at change of direction
0: No rounding-off of the speed, i.e. maximum permissible acceleration at
speed = 0
1: Rounding-off of the speed at zero-crossing, i.e. acceleration = 0 at
speed = 0
13
Z110.21– SS1 stop time applies to:
0: Change of set value from effective set value to 0%
1: Change of set value from 100% to 0%
31 … 14
Reserved
Comments:
m Bits 0 to 2:
The internal processing sequence of the bits is as follows:
1. Blocking of positive or negative set values (Bit 0 or 1)
2. Polarity reversal of current set value (Bit 2)
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3.6
m Bit 6:
The speed synchronization is activated as standard by Z110.2– Mode Bit 6 = 0.
It acts when the ramp function generator is activated, e.g., by changing over or activating operating mode -3 (speed control), so that no jump in speed occurs.
When it is activated, the ramp function generator initializes its output to the current actual speed and controls the output to its input value according to the preset ramp.
If Bit 6 is set, the ramp generator output will not be synchronized to the current actual
speed when the ramp generator is activated. 
m Bit 7:
If the bit is set, the ramp function generator output Z110.3– decelerates to 0% in the
quick stop time Z110.8–, which was set.
If the trapezoidal speed profile (Z110.2– Mode bit 4 = 0) is set, the set quick stop time
is only valid for the non smoothed curve. The braking time is delayed with smoothing
(Z110.11– Smoothing > 0) depending on the value of the set smoothing
If the S-Curve profile (Z110.2– Mode bit 4 = 1) is set, it is decelerated with trapezoidal
speed profile at quick stop. A set smoothing is not effected. 
m Bit 8:
If bit 8 is set, a stop at the deceleration ramp is set at active hardware limit switch and
at active limit switch monitoring (Z121.1– bit 1 = 1). This requires that either the error
message is deactivated via Z110.2– bit 9 = 1 or the error reaction „no reaction“ is set.
The following description is true for the activated error message (Z110.2– bit 9 = 0.
At crossing of a hardware limit switch the error code 906 „Negative hardware limit
switch active“ or 907 „Positive hardware limit switch active“ is set. The following behavior of the drive corresponds to the preset error reaction for the respective error code.
The default value for this error is „no reaction“.
n „No reaction“ and Bit 8 = 0:
Only the respective error is set. New set values from the ramp function generator
input are accepted furthermore. The correspondent reaction must be carried
through the controller. The error can be reset not before a velocity in the „free“ direction is existent at the ramp function generator output Z110.3–. If the hardware
limit switch is still active and it will be stopped again or driven in the blocked direction
the error message will be sent again.
n „No reaction“ and Bit 8 = 1: 
Among the error message a stop is set additionally. The deceleration occurs with the
delay set in Z110.7– ramp-down time. Set values over the ramp function generator
input are ignored. After the termination of the stop (velocity set value at Z110.3– output of the ramp function generator = 0) the errors of the limit switch may be reset.
After this it may be driven in the „free“ direction. If the hardware limit switch is still
active and it will be driven in the blocked direction again the error message will be
sent again. The blocked direction is displayed in Z110.1– Status Bits 18 and 19. 

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3
m Bit 9:
With bit 9 the error message and error reaction at run over hardware limit switch can
be switched off. This setting is true for both hardware limit switches.
If a stop at the deceleration ramp should be set at reaching the hardware limit switch
in spite of switched off error message, bit 8 in Z110.2– must be set. 
m Bit 10:
The ramp function generator can be switched off without changing the ramp-up and
ramp-down time with this bit. Details see ZOptional interpolation of the ramp function
generator input set value– from page 353.
m Bit 11:
The bit activates the input set value interpolator for cyclical speed set values. The function of the ramp function generator input set value is described in ZOptional
interpolation of the ramp function generator input set value– from page 353.
m Bit 12:
With this bit the rounding-off of the speed in zero-crossing at change of direction can
be switched on. Rounding-off in zero-crossing means acceleration = 0 at speed = 0.
Thus the period will be extended up to the reaching of the new input set point. The advantage of this setting is the reduced loading of computing time if the S-Curve profile
is activated and the application needs a flying change of direction. This mode has no
advantage for the trapezoidal profile and should be switched off.
Figure 100:
Change of direction without rounding-off of the speed at zero-crossing
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3.6
Figure 101:
110.3
Change of direction with rounding-off of the speed at zero-crossing
Output
Output value of the ramp function generator.
Standardization:
100% = Maximum drive speed (Z110.13–, [rpm])
110.4
Input 32-bit
Ramp generator input value with 32-bit resolution. This input is activated instead of the
16-bit input by means of Z110.2– Ramp Function Generator Mode Bit 5 = 0.
Standardization:
110.5
Input 16-bit
Ramp generator input value with 16-bit resolution. This input is activated instead of the
32-bit input by means of Z110.2– Ramp Function Generator Mode Bit 5 = 1.
Standardization:
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110.6
3
Ramp-up time
Acceleration ramp for the speed-controlled operating modes.
The time selected here applies to a 100% set value change
110.7
Ramp-down time
Deceleration ramp for the speed-controlled operating modes.
110.8
Quick stop time
The Quick Stop ramp operates during all Quick Stop procedures, not only in the speedcontrolled operating modes.
Depending on bit 7 of the parameter Z110.2– Mode the quick stop time applies to
m change of set value from 100% to 0%  Z110.2– bit 7 = 0,
m change of set value from actual set value at ramp function generator output Z110.3–
to 0%. This causes a constant braking time from all speeds at ramp function generator
output.
110.9
S-Curve ramp-up time
Rounding of the ramp corners on ramp-up for the speed-controlled operating modes. The
time selected here applies to a 100% set value change
The set S-Curve ramp-up time must be less than the set ramp-up time.
Total ramp-down time for a 100% set value change:
TTotalRamp-upTime = TRamp-upTime + TSCRamp-upTime
110.10
S-Curve ramp-down time
Rounding of the ramp corners on ramp-down for the speed-controlled operating modes.
The set S-Curve ramp-down time must be less than the set ramp-down time.
Total ramp-down time for a 100% set value change:
TTotalRamp-downTime = TRamp-downTime + TSCRamp-downTime
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110.11
Smoothing
A PT1 element is implemented to achieve rounding of the ramp corners. The time constant of the PT1 element can be adjusted using this parameter.
The smoothing is only effective if a trapezoidal profile is set for the ramp shape.
The smoothing is also active if the ramp times (Z110.6– Ramp-up time and Z110.7–
Ramp-down time) are set to zero.
110.12
Set value zone
This parameter defines the reporting threshold for the Ramp Function Generator Status
Z110.1– (Bit 12) "Set Value Reached".
The "Set Value Reached" status bit is set if the following is valid:
FGOutput - HLGInput  Set value zone
110.13
Maximum drive speed
This parameter defines the speed standardization for the ramp generator inputs, the ramp
generator output and the input value limits.
100% (Z110.4– Input 32-bit) = Maximum drive speed [rpm]
100% (Z110.5– Input 16-bit) = Maximum drive speed [rpm]
A change of this parameter affects only if the ramp function generator is activated again
or a ramp function generator command is set via Z108.1– Control word bits 4, 5 or 6.
CAUTION!
If Maximum drive speed is greater than Z107.26– Max speed mech., error 212 is set
at drive enabling in the operating modes 2 and -3. Maximum drive speed must set so
that the maximum speed mechanical of the motor cannot be exceeded. If the error is
ignored the speed set value can exceed the maximum speed mechanical and can
lead to damaging the motor or the mechanical setup!
This check of the parameterization doesn’t proceed if in Z107.26– the value 0 rpm is
set.
110.15
Input max. amount
Absolute value of upper limit of the active ramp generator input (Z110.4– or Z110.5–).
Parameter value with 32-bit resolution.
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110.16
3
Input min. amount
Absolute value of lower limit of the active ramp generator input (Z110.4– or Z110.5–).
If the input value is exactly 0%, the limit is set to the positive value of Z110.16–.
Parameter value with 32-bit resolution.
The result of this limiting forms the effective input value for the ramp generator.
If the standard values of Parameters Z110.15– and Z110.16– remain set, no limiting
takes place and the ramp input receives values between -100% and +100%.
Figure 102:
110.17
Absolute value of min. / max. input
Input 32 bit additive
Additional ramp function generator input value with 32 bit resolution.
The additional set value is used independent of the input selection in parameter Z110.2–
bit 5. This additional set value is always added to the defined main set value (Z110.4– or
Z110.5–), to a total set value. Subsequent to this, checking is made using the input value
limitation (Z110.16–).
110.20
Controlled stop time
Delay ramp for the controlled stop.
The set time in this parameter applies to a 100% change of the set value.
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3.6
110.21
SS1 stop time
The SS1 stop ramp brakes the drive speed-controlled to 0.
The set time in this parameter applies to a 100% change of the set value (braking deceleration independent of the instantaneous speed) or applies to the instantaneous speed
(braking time to 0 independent of the instantaneous speed). The behavior is set in parameter Z110.2– bit 13.
The SS1 stop ramp is available only for error reactions.
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3
3.6.2
Set Value Generator
Function
The set value generator generates a constant set value for each of 4 time zones. The set
value and the time for each zone are adjustable.
The set value generator can write to all cyclic writable parameters. With the time, the issue time for the respective set value is set.
If the set value generator switches over the current positioning set of the axis
(132.4 = 118.6), the time specifies the length of time spent in the target position.
Furthermore it is possible to determine whether the set value generator will start again
with the first time zone after the last time zone has elapsed (looped operation), or whether
only one cycle is run through and the last set value is preserved.
Thus the following speed set value sequence can be produced, for example:
rev
min
Set value 1
Set value 1
Set value 2
Time 1
Time 2
Time 3
Time 4
t
Set value 3
Set value 4
Figure 103:
Speed set value sequence for set value generator
The set value generator has a cycle time of 1 ms. It can always be switched on or only
when the drive is enabled. Starting always takes place with the first set value in the preset
profile.
Type
Min
132.1
Mode
DWORD 0
0xFFFFFFFF 0
1:1
132.2
Status
DWORD 0
0xFFFFFFFF 0
1:1
X
132.3
Output
FLOAT
5000000000
1:1
X
-5000000000
Max
Default Value Unit
0
Factor
Cyclic Write
Name
DS Support
Number
Storage
FbSwg [132]
Read only
Functional block:
X
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3.6
132.4
Target number output
UDINT
0
0xFFFFFFFF 0
1:1
X
132.10
Set value 1
FLOAT
-5000000000
5000000000
0
1:1
X
132.11
Duration zone 1
UDINT
1
4294967295
1000
1:1
X
132.12
Set value 2
FLOAT
-5000000000
5000000000
0
1:1
X
132.13
Duration zone 2
UDINT
1
4294967295
1000
1:1
X
132.14
Set value 3
FLOAT
-5000000000
5000000000
0
1:1
X
132.15
Duration zone 3
UDINT
1
4294967295
1000
1:1
X
132.16
Set value 4
FLOAT
-5000000000
5000000000
0
1:1
X
132.17
Duration zone 4
UDINT
1
4294967295
1000
1:1
X
ms
ms
ms
ms
132.1
Mode
Control of the set value generator
Bit no.
0
0: Deactivate set value generation
1: Activate set value generation
1
Processing only when set value generation activated (Bit 0 = 1):
0: Switch on set value generation only when drive enableda)
1: Always switch on set value generation
2
0: Looped operation: the set value generator starts again with the first set
value after the last phase has elapsed.
1: Single cycle: the generator runs through only one cycle of the preset set
value profile. At the end, the last set value is held.
31…3
a)
132.2
Meaning
Reserved
Drive state P108.6 = 4 ("Operation Enabled")
Status
Status of the set value generator
Bit no.
Meaning
1…0
00: Set value generation is switched off
01: Set value generation is being initialized
10: Set value generation is suspended, awaiting (renewed) enabling of the
drive
11: Set value generation is switched on
3…2
Reserved
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Bit no.
132.3
3
Meaning
4
0: No error
1: Error
31…5
Reserved
Output
Output of the set value generator
The output value is written to the preset target parameter 132.4.
132.4
Target number output
Selection of the target parameter to which the set value generator writes. All cyclic writable parameters are allowed.
132.10
Set value 1
Set Value in Time Zone 1 of the set value generator.
When the set value generator is started, a check is made to make sure that the set value
lies within the range of values in the target parameter and if necessary an error message
is issued.
132.11
Duration zone 1
Duration of Time Zone 1 for the set value generator in ms. The associated set value is
applied to the output of the generator for this duration.
132.12
Set value 2
is issued.
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3.6
132.13
Duration zone 2
132.14
Set value 3
is issued.
132.15
Duration zone 3
132.16
Set value 4
is issued.
132.17
Duration zone 4
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3.6.3
3
Error reaction controlled stop
Another error reaction is the controlled stop. This is required if the motor must be stopped
quickly, but the error reactions "Stop at current limit", "RFG Quickstop ramp" and "RFG
Ramp-down" are not possible, e.g. because of an encoder error.
There are two versions of the controlled stop, braking in I/f operation and braking in U/f
operation, which can be selected in parameter Z18.9– bit 6.
In I/f operation a constant current is preset by parameter Z133.22– and then the ramp of
the RFG is started at the last effective speed set value. Subsequently the frequency is
reduced linearly to frequency 0. If the speed set value is not available the last speed actual value is used as start value.
At braking in U/f operation the current set values are controlled to 0 A at the frequency of
the last effective speed set value for a short time. The voltages adjust themself according
to the EMF of the motor. Subsequently the voltages are reduced linearly to standstill.
A soft torque reduction (see Z108.19–) is possible for both error reactions. At braking in
U/f operation the voltage at speed 0 is reduced only to zero voltage (Z166.5–). Subsequently the residual voltage is reduced linearly to the time for torque reduction.
NOTE!
If the error reaction controlled stop is selected for an encoder error, other errors must
set to this error reaction, which can occur subsequently to a faulty encoder evaluation. This includes the following errors 203 and 204 (overspeed), 201 (speed control
deviation) and 211 (field angle monitoring).
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3.6
3.6.4
Error Reaction Return Motion
In addition to the error reactions „Stop“ and „Pulse inhibit“ the reaction „Return motion“ is
settable for some errors. It concerns an easy positioning with trapezoid profile, whose target position can be set absolutely or relatively to the current position.
For many errors, e.g. error no. 1016 „Mains failure (Mono unit)“ in addition to the standard
error reaction as „Pulse inhibit“ and „Stop“ also the error reaction „Return motion“ is settable. At initiation of an error with the „Return motion“ reaction the drive goes to a therefor
parameterized target position. The speed profile during the positioning to the return motion target is preset by a parameterized trapezoid (maximum speed, maximum acceleration). The maximum speed must not be greater than the maximum speed of the drive.
The return motion target can be preset absolute or relatively in relation to the Z106.12–
Position actual value. If the return motion target is not reached, then this will be registered
in Z148.2– Status and the corresponding error message no. 2703 is transmitted. For this
purpose the position error of return motion is monitored. The return motion target is considered as not reached, if a position error is recognized according to the limit in Z148.6–
Position Error Limit and Z148.7– Position Error Time.
The return motion positioning is not an operating mode of its own. During positioning to
the return motion target the drive remains in the „error reaction active“ status (see ZState
Machine of the Device Controller– on page 285 in chapter Drive management).
NOTE!
If the error reaction „Return motion“ is set for the error mains failure, then also the
motor-driven operation at mains failure must be set (Z130.10– Supply mode
bit 1 = 1).
3.6.4.1 Parameter Overview
Name
Type
148.1
Mode
DWORD 0x0
0xFFFFFFFF 0x0
1:1
148.2
Status
UDINT
0
0xFFFFFFFF 0
1:1
148.3
Target position
UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
148.4
Speed limit
UDINT
0
13200
1000
Inc/ms 1:1
X
148.5
Acceleration limit
UDINT
25
45000
200
Inc/
ms2
100:1
X
148.6
Position Error Limit
UDINT
0
Inc
1:1
X
148.7
Position Error Time
UINT
0
65535
ms
1:1
X
148.8
Output position set value
UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
148.9
Output speed set value
DINT
-65535
65535
0
Inc/ms 1:1
X
148.10
Output acceleration set value DINT
-65535
65535
0
Inc/
ms2
X
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Max
Default Value Unit
65535
Factor
100:1
Cyclic Write
Number
DS Support
Min
Storage
Return Motion[148]
Read only
Functional block:
X
X
X
3
148.1
Mode
Configuration of error reaction return motion.
A change of the bit 0 mode during a continuous return motion positioning does not affect
the present return motion positioning.
Bit
0
Interpretation of the return motion target position (related to Z106.12– position actual value):
0:Absolute (short distance)
1:Relative to the current position
1
Enabling of return motion function:
0: Return motion enable 
1: Return motion inhibit
The return motion is not be started at all or is canceled (drive stops) if bit is
set. A corresponding error message is displayed.
31…2
148.2
Meaning
Reserved
Status
Status of error reaction return motion
Bit
Meaning
0
0: Return motion positioning is not active
1: Return motion positioning is active
1
0: Target position is not reached
1: Target position is reached, the return motion positioning was stopped correctly.
This bit will be deleted when upcoming error is reset.
3…2
4
7…5
Reserved
1: Return motion positioning can/could not be started or is canceled.
Accumulative bit, for details see bit 8 to 11
Reserved
8
If bit 4 = 1:
1: Inhibit / abort with Z148.1– Bit 1 = 1
9
If bit 4 = 1:
1: Abort on the hardware end with pulse inhibit (digital input) or with a more
significant error reaction (pulse inhibit or stop at ramp).
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3.6
Bit
10
If bit 4 = 1:
1: Abort with position error monitoring of return motion (see Z148.6– and
Z148.7–)
The drive can’t follow the set value (e.g. the residual energy of the DC link
can be insufficient at mains failure to reach the return motion target position).
11
Reserved
12
1: Speed is limited to maximum speed (Z121.11–)
31…13
148.3
Meaning
Reserved
Target position
Target position of error reaction return motion.
A change of the target position during a continuous return motion positioning does not affect the present return motion positioning.
148.4
Speed limit
Bipolar limit of the maximum speed during a return motion positioning.
A change of the maximum speed during a continuous return motion positioning does not
affect the present return motion positioning.
148.5
Acceleration limit
Magnitude of the maximum acceleration during a return motion positioning.
True for acceleration phase and deceleration phase.
A change of the maximum acceleration during a continuous return motion positioning
does not affect the present return motion positioning.
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148.6
3
Position Error Limit
Limit for the position error monitoring of error reaction return motion.
If the position error exceeds this value for the time period Z148.7– „Position Error Time“,
the return motion is canceled and a corresponding error message is displayed.
The position error monitoring is needed to cancel the return motion in a controlled manner, e.g. if the DC link is discharged completely at mains failure, so that no more motion
is possible.
Standardization: 16 bit revolutions, 16 bit angle. One motor revolution accords to 65536
increments.
148.7
Position Error Time
Timeout for position error monitoring of error reaction return motion.
Full particulars see Z148.6–.
148.8
Display of the present position set value of return motion positioning.
148.9
Display of the present speed set value of return motion positioning.
148.10
Output acceleration set value
Display of the present acceleration set value of return motion positioning.
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3.6
3.6.5
Cam generator
A cam generator is integrated in the controller firmware. The cam generator reads a value
from a configured table (cam). The cam generator writes this value to a target parameter.
The cams are generated with the program ProCam and are loaded into the device with
ProDrive.
The cam generator supports the modes for table request
1
Time control via the table index
2
Time control with virtual master axis
3
Parameter controlled processing
The index of the cam is recalculated by the cam generator in the fieldbus task cycle. The
operation of the fieldbus task allows the use of "Synchronous set value setting". Here, the
set values are available in the fieldbus cycle. It is interpolated and extrapolated between
the single set values, in order to operate the closed loops, which are running quicker.
NOTE!
According to application, the homing of the drive must be executed, before the cam
generator is started.
3.6.5.1 Time control via the table index
At time controlled processing, the table index is increased by one with each cycle.
3.6.5.2 Time control with virtual master axis
The index from the position of the virtual master axis Z159.10– results, if it is controlled
via a virtual master axis. The speed is set via Z159.9–. Interpolation between the single
cam supporting points can be processed in 256 steps. The following cam interpolation table with the following supporting point count is generated:
Count_Interpolation points = 256  Count_Supporting points
The position of the virtual master axis is set, referring to the interpolation table. This
means, that the virtual master axis is positioned exactly on the supporting point with table
index Z159.4– = 2 (whereat the table index starts with 0), if the virtual master axis positioning is specified with Z159.10– = 512. The virtual master axis speed is set as a positioning change per cycle within the interpolation table. Therefore, the progress per cycle
on the interpolation table is exact one supporting point, if the virtual master axis speed is
256.
Processing time of the cam using the virtual master axis is calculated by:
Count_Supporting points  256
Processing time = --------------------------------------------------------------------------  Cycle time of field bus task
Virtual master axis speed
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3
If a negative virtual master axis speed Z159.9– is selected, the cam is processed reversely.
Example for the calculation time of processing with a virtual master axis:
Count supporting points Z159.5– = 512
Virtual master axis speed Z159.9– = 216
Fieldbus task cycle time Z1.10– = 1 ms
512  256
Processing time = ----------------------  1 ms = 0.60 s
216
In order to obtain the required speed, in order to process the cam in 0.4 sec,
the following is required:
Cycle time of field bus task
Virtual master axis speed = Count_Supporting points  256  -----------------------------------------------------------------Processing time
1 ms
Virtual master axis speed = 512  256  ----------------- = 328
400 ms
3.6.5.3 Parameter-controlled processing
With parameter-controlled processing, the table index is specified by an input parameter
and is adjusted by an accordant parameterization.
Index calculation is made as follows:
m Input parameters - type "Float":
Index = Parameter value – Base value (P159.14)
m Input parameters - type "Integer":
n Processing is executed once, only (Z159.2– bit 5 = 0):
Index =  Parameter value – Base value (P159.14)  >> Shift factor (P159.15)
n Processing is executed cyclical (Z159.2– bit 5 = 0):
Mask = 0xFFFFFFFF >>  32 –  log 2 (Count_Supporting points  
Index =   Parameter value – Base value (P159.14)  >> Shift factor  & Mask
In order to process the AND operation in bit mode, the supporting point count
must comply with a power of 2 (for example 256 or 512).
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3.6
3.6.5.4 Setting options of cam generator
Cyclical processing
1 Time controlled processing modes
If cyclical processing is selected in parameter Z159.2–, the cam generator jumps back
to the first table index after reaching the maximum table index Z159.4–. The cam generator then restarts processing. For more information, referring to the cyclical curve offset at a table index jump see chapter ZCyclical curve offset– on page 378.
2 Parameter-controlled processing mode
If the input parameters are float parameters, then the selection of the cyclical processing does not effectuate the behavior of float parameters as described in chapter
ZParameter-controlled processing– on page 376.
Additionally to the base value Z159.14– and to the shift factor Z159.15– at the input
parameters of an integer data type, a mask is generated to specify the index. This acts
on the input parameters. This mask operates after subtraction of the base value and
after shift operation. Referring to mask operation only those bits are used to specify the
index, which are required to activate the curve index.
Example:
Initial situation:
Value input parameter = 0x0075AB39 
Base value Z159.14– = 0xA000 
Shift factor Z159.15– = 7 
The following index results after subtraction of base value and after shift operation:
Index =  0x0075AB39 – 0xA000  >> 7 = 0xEA16
Having 512 supporting points applies to 512 = 29. Therefore, 9 bits are required to respond to the 512 supporting points of the cam. This mask, which contains 9 bits is generated by the controller. If there were 256 supporting points, then in conclusion the
mask will have 8 bits.
Example:
Index = 0xEA16 & 0x1FF = 0x16 = 22
Index 22 is the active table index.
If the cyclical processing is not selected, the active table index is the index 0xEA16 =
59926. This index is greater than the maximum index of (count supporting points - 1)
= 511. The active table index is limited to a maximum index of 511 at non-cyclical processing.
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3
Cyclical curve offset
A curve offset is added to the output value of the cam. This offset is reset to 0 at the start
of processing (transmission from active to run). Each complete cam cycle increases the
curve offset by the cyclical curve offset in parameter Z159.6–.
This results in the following behavior:
1. Cam cycle: Output = Original curve
2. Cam cycle: Output = Original curve + 1 * cyclical offset
3. Cam cycle: Output = Original curve + 2 * cyclical offset
and so on.
If an offset cam is used (inequality of starting and end point), this offset is imported in a
cam file by ProCam and is transmitted to the controller during download. If the generation
of the cyclical offset is selected in the settings of the cam generator Z159.2–, then the
cam offset is loaded in parameter Z159.6– at state transition of the cam generator from
init to active.
m Time control with virtual master axis
Beginning with the greatest table index, the cam can be processed in processing mode
"Time control with virtual master axis" (reverse processing, if Z159.9– is negative).
Now, the cyclical curve offset is subtracted from the total curve offset after processing
is started.
m Parameter-controlled processing mode
The cyclical curve offset Z159.6– is added to the total curve offset, if the table index
overflows. This means, that a jump is made from a great table index to a small table
index. The cam generator recognizes this as an index overflow. The total curve offset
is increased by the cyclical curve offset. If there is a jump from a small table index to a
great table index, then the total curve offset is reduced by the cyclical curve offset.
Example:
Count supporting points = 32
Action:
Jump from table index 25 to table index 7
Consequence: 
The jump is detected as a positive overflow. This leads to an 
increase of the total curve offset around the cyclical curve offset.
NOTE!
The jump of index 25 to index 7 is interpreted as a jump above table index 31 and not
as a jump within the cam of table index 25 above index 16 and after index 7. This is
the case, because the jump width is greater than or equal to half the count of the supporting points. In this example the jump width (25 - 7) = 18 table indices is half of the
count of the supporting points (32 / 2) = 16 indices.
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3.6
Relative mode
m Relative mode
If the relative mode is active, the value of the reference parameter is frozen, after the
cam generator is started. This frozen value is added to the output of the cam generator
output. This has no effects, if the reference parameter changes during the cam processing at an active cam generator. At the activation of the cam generator, the reference parameter value remains, until the cam generator freezes the new actual value
of the reference parameter at the next transmission from the state "active" into "run".
m No relative mode
If the relative mode is not active, the actual parameter value, which is selected in
Z159.7–, is added to the output of the cam generator. The starting of the cam generator does not freeze the parameter value.
Automatic offset
If the setting AutoOffset is made in parameter Z159.2–, the value of the input parameter
is frozen in the parameter-controlled processing mode, after the cam generator is started
and is subtracted from the input parameters during the processing period. It is ensured,
that the cam is processed with the first index by starting at the beginning.
Interpolation
If processing is parameter-controlled and if there is a time control with a virtual master
axis, then interpolation can be executed between the table entries. It is possible to select
between a linear and a square interpolation. These settings are made in Z159.2–.
Interpolation is not possible in mode "Time control" via the table index.
Interpolation can be executed in 256 steps between two supporting points.
m Time control with a virtual master axis
Interpolation between the single table entries is executed at time control via the virtual
master axis with the actual position of the virtual master axis Z159.10–. The table indices, between which the virtual master axis is positioned, are defined from the virtual
master and are interpolated between both of these table entries, accordingly.
m Parameter-controlled processing
n Input parameters "float"
At an active interpolation, the integer components of the input parameters define the
valid table index. The decimal position components define the interpolation point between the valid and the next table entry.
Example:
Base value Z159.14– = 0
Input parameter value = 29.8
378
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3
At an active interpolation is interpolated between the table index 29 and 30. It
can be interpolated in 256 steps between these points. The interpolation point
is defined as follows:
Interpolation point = Decimal position component  256 = 0.8  256 = 204
n The input parameters are an integer data type
The lost information (due to shift operation) is used for interpolation with integer data
types.
Example referring to chapter ZCyclical processing– on page 377.
After subtraction of base value, the index is 0x750B39.
Hexadecimal
0x750N39
Binary
=
0111 0101 0000 10110 011 1001
Index calculation
Interpolation component
The value of the 7 lost bits (due to shift operation) is 57.
The interpolation point is calculated as follows:
256 Interpolation point = Interpolation component  ----------------= 114
P159.15
2
Interpolation must be operated in 256 intermediate steps. If the shift factor
Z159.15– is to be greater than 8, the highest 8 bits of the interpolation component would be taken into account for interpolation.
3.6.5.5 State machine of the cam generator
"init" state
The cam generator is in "init" state, if bit 0 = 0 and bit 1 = 0 in Z159.3– State.
If the cam generator is in "init" state, changes can be made at the parameter settings.
It is checked, if a valid cam was loaded and if an output parameter was selected, during
the transmission from "init" to "active". If the parameter-controlled processing mode is
configured, the cam checks, if an input parameter was configured. It also checks, if the
count of the supporting points complies with power 2 during a cyclical processing within
this operating mode. If the cyclical offset is generated from the cam data, then this is executed during the transmission from "init" to "active". It also checks, if the reference parameter was selected at the preselected relative mode.
"active" state
The cam generator is in "active" state, if bit 0 = 0 and bit 1 = 0 in Z159.3– State.
379
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3.6
The cam is waiting for the final command to start processing, if it is in the "active" state.
If the active relative mode is activated, the reference value is frozen during transmission
from "active" to "run", in order to use this value at the next processing.
"run" state
The cam is in the "run" state, if bit 0 = 1 and bit 1 = 1 in Z159.3– State. The cam generator processes the loaded cam in "run" state.
3.6.5.6 Limiting of output value
Because the cam is intended for the generation of the positioning set values for an axis,
the output value is available in the value range of an unsigned 32 bit value. If the output
value exceeds the maximum value of 0xFFFFFFFF, then the output overflows and the
output value starts at 0 again. The cam generator can write to a target parameter of another data type, as well. However, in the range of 0x0 to 0xFFFFFFFF, only.
If the value, which is to be written on the parameter, is greater than the maximum value
or lower than the minimum value of the target parameter, then the output of the cam generator is limited. Bit 7 in the Z159.3– is set, if the output is limited. Then the processing
of the cam is exited. Now, the cam generator is in the "active" state.
Behavior of signed integer parameters:
– If the maximum value of the parameter is negative, the maximum value is written on
this parameter.
– If the output of the cam is greater than the positive maximum value of the parameter,
then this maximum value is written on the parameter.
– If the output of the cam generator is smaller than the positive minimum value of the
parameter, then this minimum value is written on the parameter.
Behavior of float parameters and of unsigned, integer parameters:
– If the output value is greater than the maximum value of the parameter, then the output is limited and this maximum value is written on the parameter.
– If the output value is lower than the minimum value of the parameter, then it is limited
and the minimum value is written on the output parameter.
Additionally, the bits of the output value are the same length as the parameter
(uint16  16 bits; uint8  8 bits) at unsigned and integer parameter. Thus, the cam
can write uint16 parameters and uint8 parameters cyclical endlessly. These parameters
can overflow.
3.6.5.7 Handling the cam data
The cam data is filed in the parameter set file. Therefore, the cams are accepted easily,
if operated in another device.
A single cam is always loaded into the RAM of a controller. The cam must be written into
the flash, if it shall be available after a restarting. This is executed, by saving the complete
parameter set in the flash. Therewith, the cam is saved in the flash, also. If the device is
booted, an available cam in the flash is loaded with the parameters and now is available
in the cam generator.
380
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3
Name
Type
Min
Max
Default Value Unit
Factor
159.1
Mode
WORD
0
0x00FF
0
1:1
159.2
Cam options
WORD
0
0xFFFF
0
1:1
159.3
Status
UINT
0
0xFFFF
0
1:1
X
159.4
List index
UINT
0
0xFFFF
0
1:1
X
159.5
List entries
UINT
0
0xFFFF
512
1:1
X
159.6
Cyclic curve offset
UDINT
0
0xFFFFFFFF 0
1:1
X
159.7
Reference parameter
UDINT
0
0xFFFFFFFF 0
1:1
X
159.9
Speed virtual master
INT
-32768
32767
1:1
X
159.10
Position virtual master
DINT
0
0x7FFFFFFF 0
1:1
159.11
Input parameter
UDINT
0
0xFFFFFFFF 0
1:1
X
159.14
Basic value index calculation UDINT
0
0xFFFFFFFF 0
1:1
X
159.15
Shift factor index calculation UINT
0
32
0
1:1
X
159.16
Output parameter
0
0xFFFFFFFF 0
1:1
X
UDINT
256
Cyclic Write
Number
DS Support
Storage
FbKurvengenerator[159]
Read only
Function block:
X
X
159.1
Mode
Control of cam generator 
Bit no.
Meaning
0
Activation of the cam generator
Request of state change in state machine of cam generator from "init" to
"active".
0  1: Activation of the cam generator
1
Starting the cam generator
The processing of the cam is initiated with a rising edge in this bit. This
causes a state change of the state machine of the cam generator from
"active" to "run".
0  1: Start the processing of the cam
2
The processing of the cam generator is stopped. The table index is reset.
0: Cam generator can be started and operated
1: Cam generator is stopped and is reset
381
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3.6
Bit no.
3
Meaning
Stops the processing at time-controlled processing. As soon as the bit is
reset, processing is started again at the same point (interrupt function).
0: Time-controlled processing is running
1: Time-controlled processing is stopped
4…6
7
159.2
Reserved
The actual valid cam is invalidated. There is no valid cam available in the
RAM of the controller.
0 1: The actual cam is deleted in the RAM
Cam options
Settings of the different operating modes and functions of the cam generator.
Bit no.
Meaning
0
0: time-controlled processing
1: parameter-controlled processing
1
Time-controlled processing, only
0: time control via the table index
1: time control with virtual master axis
2
Time control with virtual master axis and parameter-controlled processing,
only
0: no interpolation
1: active interpolation
3
Time control with virtual master axis and parameter-controlled processing,
only
0: linear interpolation
1: square interpolation
4
0: specify cyclical offset manually
1: generate cyclical offset from the cam
5
0: processing one-time only
1: cyclical processing
6
0: real time mode
1: relative mode
7
Parameter-controlled processing, only
0: no auto offset
1: active auto offset
382
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159.3
3
Status
Displays the actual state of cam generator.
159.4
Bit no.
Meaning
0…1
00: "init" state (parameterization is possible)
01: "active" state (parameterization completed and advisable)
11: "run" state (cam processing is running)
2…5
Reserved
6
0: no valid cam in the RAM
1: valid cam in the RAM
7
0: the output is between the minimum and the maximum value of the target parameter
1: the output was limited
List index
The instantaneously active table entry is displayed.
This index starts at 0 and ends at (count supporting points - 1).
159.5
List entries
Total count of supporting points of the active cam.
159.6
Cyclic curve offset
Cyclical curve offset see chapter ZCyclical curve offset– on page 378.
159.7
Reference parameter
Reference parameter, which is used for the relative mode or for the real time offset. Information see chapter ZRelative mode– on page 379.
159.9
Speed virtual master axis
Speed of the virtual master axis. Speed of 256 accords to a processing of a table index
per work cycle. At a negative speed the cam will run the opposite direction.
383
of 724
3.6
159.10
Position virtual master axis
Specifies the position of the virtual master in the cam. It must be considered, that the maximum position of the virtual master axis is (supporting points - 1) * 256, because interpolation is executed between the supporting points with 256. If the virtual master axis is
exactly on position 512, then the virtual master axis is positioned exactly on the 3rd supporting point. If the virtual master axis is on position 105, then the virtual axis is positioned
between the 1st and the 2nd supporting point.
159.11
Input parameter
Input parameters for the parameter-controlled processing. 
This parameter is combined with the reference value and amounts to the active table index. If the parameter is an integer data type, then additionally the shift factor is combined,
in order to amount to the active table index.
159.14
Basic value index calculation
At parameter-controlled processing the base value is subtracted from the input parameter.
159.15
Shift factor index calculation
After the base value was subtracted from the input parameter, the resulting value is shifted to the right by the shift factor, if the input parameters are integer data types.
159.16
Output parameter
The cam generator writes on this output parameter. All cyclic writable parameters can be
used as output parameters.
384
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3
3.6.6
Motor potentiometer
Changes of the speed set value can be forced by the motor potentiometer depending on
two control bits (Motor potentiometer+ and Motor potentiometer-). The motor potentiometer writes directly on the ramp function parameter Z110.5– Input 16 bit.
The motor potentiometer is activated via the control parameter Z168.2– Mode.
The motor potentiometer parameter Z168.6– Increment indicates the amount of the increase/decrease of the motor potentiometer output Z168.3–.
Parameter Z168.2– bit 4 sets whether the motor potentiometer function operates edge
sensitive or level sensitive:
m edge sensitive
At increasing edge of Z168.2– bit 1 Motor potentiometer+ or Z168.2– bit 2 Motor
potentiometer-, Z168.6– Increment is added or subtracted once.
m level sensitive
At increasing edge of Z168.2– bit 1 Motor potentiometer+ or Z168.2– bit 2 Motor
potentiometer-, Z168.6– Increment is added or subtracted every 32 ms.
The output of the Motor potentiometer is limited by an upper and a lower limit.
The output of the Motor potentiometer is set to 0 or is synchronized with the ramp function
generator parameter Z110.5– Input 16 bit depending on parameterization of Z168.2–
Mode bit 3 at activation of the Motor potentiometer.
The output of the motor potentiometer Z168.3– is checked for limits and if necessary adjusted in case of Motor potentiometer +/- is activated. If the upper limit is changed so that
the output of the Motor potentiometer is greater than this limit, the output is adjusted
downwards with an activated Motor potentiometer+ function. The modification occurs directly without transient.
Name
Type
Min
Max
Default Value Unit
Factor
168.1
Status
WORD
0
0xFFFF
0
1:1
168.2
Mode
WORD
0
0xFFFF
0
1:1
168.3
Output
INT
-16384
16384
0
%
16384:
100
168.4
Upper Limit
INT
-16384
16384
16384
%
16384:
100
X
168.5
Lower Limit
INT
-16384
16384
-16384
%
16384:
100
X
168.6
Increment
INT
0
2000
100
%
100:1
X
Cyclic Write
Number
DS Support
Storage
FbMotorpotentiometer[168]
Read only
Function block:
X
X
X
X
385
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3.6
168.1
Status
Status of the Motor potentiometer 
Bit no.
0
3…1
1: Motor potentiometer active
Reserved
4
1: Ramp-up final value at Motor potentiometer+ reached
5
1: Ramp-down final value at Motor potentiometer- reached
6
1: Button Motor potentiometer+ depressed
7
1: Button Motor potentiometer- depressed
8
1: Motor potentiometer+ active
9
1: Motor potentiometer- active
10
1: Error at writing on the target parameter (e.g. value greater than maximum value)
15 ... 11
168.2
Meaning
Reserved
Mode
Operating mode of the Motor potentiometer 
Bit no.
Meaning
0
0: Disable Motor potentiometer
1: Enable Motor potentiometer
1
0: Motor potentiometer+ off
1: Motor potentiometer+ on
2
0: Motor potentiometer- off
1: Motor potentiometer- on
3
Synchronization of the Motor potentiometer- output at activation
0: Output is synchronized to the ramp function generator parameter
Z110.5– Input 16 bit
1: Output is set to 0
4
Evaluation of the Motor potentiometer +/0: Edge sensitive
1: Level sensitive
15 … 5
Reserved
386
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168.3
3
Output
Output value of the Motor potentiometer.
This value is written directly to the ramp function generator parameter Z110.5– Input
16 bit at activation of the Motor potentiometer.
168.4
Upper Limit
Maximum value which is not exceeded in spite of activating the "Motor potentiometer+"
button.
This value must be greater than the value set in parameter Z168.5– Motor potentiometer
lower limit. If this condition is not fulfilled, the input value is rejected.
NOTE!
If this limit is changed and the actual output value Z168.3– is out of the area of the
limit value, at first activation of the "Motor potentiometer+" button (bit 1 of the parameter Motor potentiometer mode) the output value is set to the limit value (reduction of
speed).
168.5
Lower Limit
Minimum value which is not fallen below in spite of activating the "Motor potentiometer-"
button.
This value must be less than the value set in parameter Z168.4– Motor potentiometer upper limit. If this condition is not fulfilled, the input value is rejected.
NOTE!
If this limit is changed and the actual output value Z168.3– is out of the area of the
limit value, at first activation of the "Motor potentiometer-" button (bit 2 of the parameter Motor potentiometer mode) the output value is set to the limit value (increase of
speed).
387
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3.6
168.6
Increment
Setting the amount of output value change.
If e.g. the value 1% is set, the ramp function generator parameter Z110.5– Input 16 bit
increases by 1% at each clicking of the "Motor potentiometer+" button up to the maximum
upper limit Z168.4– in the edge sensitive mode.
Incrementint = Increment Z168.6– [%] / 100% * Max Z110.5–
where Max Z110.5– = 16384 = internal standardization of 100% of the ramp function 
generator parameter Z110.5– Input 16 bit
Incrementint = Increment Z168.6– [%] / 100% * 16384
388
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3.7
Controllers
3.7.1
Position / Speed Controller
3
Overview of the Position / Speed controller module in the drive
Figure 104:
Overview of the Position / Speed controller in the drive
The Position / Speed controller has the task of controlling its output, the torque-producing
current, so that the control deviation is minimized, i.e. the actual value always follows the
set value.
The Position / Speed controller module incorporates the functions:
m Position controller
m Speed controller
m Torque control
m Gear function for synchronous operating mode
The functions are activated by the drive manager. They depend on the drive type set
(Z109.1–) and on the drive state (inhibited or enabled).
With the position controller, the target position generated by the set value manager and
the actual position measured by the encoder system are compared and evaluated in the
P-controller (Z18.14– Kv). In conjunction with the secondary speed controller, a requirement for torque current is generated and then passed to the motor manager. The position
controller contains an adjustable speed feedforward (Z18.15–).
With the speed controller, the target speed generated by the set value manager and the
actual speed measured by the encoder system are compared and evaluated in the PI
controller (Z18.24– Kp, Z18.25– Tn). A requirement for torque current is calculated and
then passed to the motor manager. The speed controller contains a further PT1 element
for smoothing the actual speed, a notch filter for speed actual value and an adjustable
acceleration feedforward (Z18.36–, Z18.37–).
389
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3.7
Controllers
With torque control, the controller receives the torque current from the writable parameter
Isq-set value for torque control (Z18.50–). The torque current is then passed to the motor
manager. The parameter value for the torque current can be specified from analog inputs,
for example, or from the Fieldbus.
If the synchronized drive operating mode (Z109.1– = -5) is activated and at the same time
the synchronized operating mode (Z145.2–) "Synchronized operation on a real master
shaft“ is set, the set values from the set value manager are overwritten. The electronic
gearbox (Z145.3– und Z145.4–) is then computed. The set values for the controller are
then calculated from the set value at the gearbox output.
In the "Synchronized operation on a virtual master shaft" mode the set values, including
the electronic gearbox, are calculated in the Synchronized Operation module and forwarded to the position and speed controllers via the set value manager.
The module incorporates a set value interpolator which converts and interpolates or extrapolates the set values from the set value manager in the controller cycle.
Block diagram of the fine interpolator in the position / speed controller
Figure 105:
Block diagram of the fine interpolator in the position / speed controller
ZFig. 106– to ZFig. 109– show the block diagrams for the position / speed controller in
the speed controller, position controller and torque control modes.
390
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3
Block diagram of the speed controller when in speed control:
Controller actual operating mode Z18.4– = 13
Speed
set value
additional
(18.68)
Speed
set value
(18.69)
+
Feedfwd. Acceleration
(18.36)
Speed
limit
(18.71, 18.72)
w3-Feedforward
time constant (18.39)
Speed
set value
(18.21)
Acceleration
set value
(18.35)
Feedforward brake
(18.37)
Actual
factor
(18.38)
Kp (18.24)
Kp
Time constant
speed set
value filter
(18.33)
Speed
error
(18.23)
-
Speed
actual value
(18.22)
Speed act. value
notch filter
(18.42, 18.43)
Time constant
speed act. value filter
(18.27)
Anti-Windup
upper / lower limit
(138.6, 138.7)
Tn (18.25)
Kp/Tn
Integral
term
(18.29)
Td (18.26)
Kp Td
Derivate
term
(18.30)
Ks (18.40)
1/Ks
Isq set value
unlimited
(18.45)
Speed
controller
output
(18.32)
Ks/Kt
Friction compensation
output value (154.8)
5000_0083_rev06_int.cdr
Speed
from encoder
(106.38)
Figure 106:
Block diagram of the speed controller when in speed control (18.4 = 13)
391
of 724
3.7
Controllers
Block diagram of the position /speed controller when in position control:
Controller actual operating mode Z18.4– = 12
Gear
factor
(18.16)
w3 Feedforward
time constant
(18.39)
w3 Feedforward external
w2 Feedforward
Controller
external
options
18.9
bit 3
w2 Speed
set value
(18.69)
1
Feedfwd.
Acceleration
(18.36)
Gear
factor
(18.16)
Feedforward
time constant
(18.70)
Controller
options (18.9)
1 bit 2
bit 1
0
0
1
0
*
(18.61)
Position
actual value
(18.12)
*
-
Actual
factor
(18.38)
w3 Feedforward
time constant (18.39)
Acceleration
set value
(18.35)
w2 speed feed forward
(18.17)
Position error
angle
Position
set value
(18.58 and
18.59)
Feedforward
(18.15)
factor
Position set value
(18.11)
Feedforward
brake
(18.37)
Position error
revolution
(18.62)
*
Kv (18.14)
Position
controller
output
(18.31)
*
e1
Position
controller error
(18.13)
: Conversion
Speed
set value
additional
(18.69)
Time constant
(18.33)
w2
Speed Speed
limit set value
(18.71, (18.21)
18.72)
(18.55 and 18.56)
3300_0061_rev03_int.cdr
Figure 107:
Speed error
(18.23)
Speed controller
output (18.32)
Ks (18.40)
Speed controller
1/Ks
Speed
actual value
(18.22)
(18.45)
Ks/Kt
Friction compensation
output value
(154.8)
Block diagram of the position /speed controller when in position control (18.4 = 12)
392
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3
Physical units in the control circuit:
Speed controller
Position controller
w1 Position
set value
[Grad]
(18.11)
e1 Position
controller error
[Grad] Kv (18.14)
(18.13)
Kv
[1/s]
x1 Position
actual value
[Grad]
(18.12)
Kp (18.24)
Kp
[1/s]
e2 Speed
error
[Grad/s]
(18.23)
Ks (18.40)
Tn (18.25)
Ki =
Kp/Tn
[1/s2]
-
x2 Speed
actual value
[Grad/s]
(18.22)
[s]
[1/s]
1/Ks
[As2/Grad]
Isq set va
unlimited
[A]
(18.45)
Kd =
Kp Td
(18.27) Time constant speed actual value filter
[ms]
(106.38) speed for controller
[INC/TAB]
Isq set va
[A]
(47.1)
[1/s]
Load torque
[Nm]
S&H
[s]
x2
[1/s]
[s]
Isq actual
[A]
(47.3)
Acceleration torque
2
2
[Nm] or [m kg/s ]
Controlled system
x3
2
[1/s ]
Stromregler
1/J
2
[1/kg m ]
Kt
[Nm/A]
Motor
torque
[Nm]
5000_0085_rev02_int.cdr
Figure 108:
Physical units in the control circuit
Block diagram of the position / speed controller module when in torque control:
Controller actual operating mode Z18.4– = 14
Figure 109:
Block diagram of the position / speed controller when in torque control
The Isq set value for torque control Z18.50– can be written via parameter interface, Fieldbus or analog input.
393
of 724
3.7
Controllers
Block diagram of the position / speed controller module when in synchronous operation
with a real master shaft:
Master speed set value additive 1
+
Scaling
*
+
Master angle offset (145.18)
Position actual value of the master axis
(106.10 and 106.11 of the master encoder)
Electronic gearing
(145.3 and 145.4)
+
Position set value
(18.58 and 18.59)
Position controller
see block diagram
at position control
3300_0076_rev02_int.cdr
Figure 110:
Block diagram of the position / speed controller module when in synchronous operation with a
real master shaft
394
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3
3.7.1.1 ProDrive Position / Speed Controller
Figure 111:
ProDrive position controller with detailed settings
395
of 724
3.7
Controllers
Figure 112:
ProDrive speed controller with detailed settings
396
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3
3.7.1.2 Parameter Overview of Position / Speed Controller
Number
Name
Type
Min
Max
Default Value Unit
Factor
18.4
Controller actual operation
mode
INT
10
18
10
1:1
18.7
Adaptation time parameter
UDINT
0
10000
1950
18.9
Controller options
DWORD 0
0xFFFFFFFF 0
18.10
Position controller status
DWORD 0
0xFFFFFFFF 0
1:1
X
18.11
w1 position set value
FLOAT
-1000000
1000000
0
Grad
1:1
X
18.12
x1 position actual value
FLOAT
-1000000
1000000
0
Grad
1:1
X
18.13
e1 Position controller error
FLOAT
-1000000
1000000
0
Grad
1:1
X
18.14
Kv position controller
FLOAT
0
1000000
20
1/s
1:1
X
X
18.15
w2-Feedforward factor
FLOAT
0
10
1
1:1
X
X
18.17
w2 speed feed forward
FLOAT
-1000000
1000000
0
Grad/s 1:1
18.18
Time constant position error
display filter
FLOAT
0
1000
0
ms
18.20
Speed controller status
DWORD 0
0xFFFFFFFF 0
18.21
w2 speed set value
FLOAT
-1000000
1000000
18.22
x2 speed actual value
FLOAT
-1000000
1000000
18.23
e2 speed error
FLOAT
-1000000
18.24
Kp speed controller
FLOAT
0
18.25
Tn speed controller
FLOAT
18.26
Derivative time speed controller
FLOAT
18.27
Time constant speed act.
value filter
FLOAT
18.29
ms
X
1:1
X
1:1
X
X
X
X
1:1
X
1:1
X
0
Grad/s 1:1
X
0
Grad/s 1:1
X
1000000
0
Grad/s 1:1
X
1000000
10
1/s
1:1
X
X
0
1000000
1
s
1:1
X
X
0
0.1
0
s
1:1
X
X
0
50
0
ms
1:1
X
Integral term speed controller FLOAT
-5000000000
5000000000
0
Grad/
s2
1:1
X
18.30
Derivate term speed control- FLOAT
ler
-5000000000
5000000000
0
Grad/
s2
1:1
X
18.31
Position controller output
FLOAT
-1000000
1000000
0
Grad/s 1:1
X
18.32
Speed controller output
FLOAT
-5000000000
5000000000
Grad/
s2
1:1
X
18.33
Time constant speed set
value filter
FLOAT
0
50
0
ms
1:1
18.35
w3 acceleration set value
FLOAT
-1.00e+09
1.00e+09
0
Grad/
s2
1:1
18.36
w3-Feedforward factor accel- FLOAT
eration
0
10
1
1:1
18.37
w3-Feedforward brake
FLOAT
0
10
1
1:1
18.38
w3-Feedforward act. factor
FLOAT
0
10
1
1:1
18.39
w3-Feedforward time constant
FLOAT
0
50
0
18.40
Ks scaling factor
FLOAT
0.01
1.000000e+09 1.000000e+04 Grad/
s²/A
ms
Cyclic Write
DS Support
Storage
Controller [18]
Read only
Functional block:
X
X
X
X
X
X
X
X
X
1:1
X
1:1
X
X
397
of 724
3.7
Controllers
18.42
Center frequency x2 act
value notch filter
FLOAT
0
8000
0
Hz
1:1
X
18.43
Bandwith x2 act value notch FLOAT
filter
0
4000
0
Hz
1:1
X
18.44
x2 speed actual value unfiltered
FLOAT
-1000000
1000000
0
Grad/s 1:1
X
18.45
Isq set value unlimited
FLOAT
-1000000
1000000
0
A
1:1
X
18.50
isq set value for torque control
INT
-16384
16384
0
%
4000hex:
100%
18.54
Position act value rev+angle UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
18.55
Position act value angle
UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
18.56
Position act value revolutions UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
18.57
Position set value rev+angle UDINT
0
0xFFFFFFFF 0
INC
1:1
X
18.58
UDINT
0
0xFFFFFFFF 0
INC
1:1
X
18.59
Position set value revolutions UDINT
0
0xFFFFFFFF 0
INC
1:1
X
18.60
Position error rev+angle
DINT
-2147483648
2147483647
0
INC
1:1
X
18.61
Position error angle
DINT
-2147483648
2147483647
0
INC
1:1
X
18.62
Position error revolutions
DINT
-2147483648
2147483647
0
INC
1:1
X
18.68
Speed additional value
FLOAT
-150000
150000
0
Grad/s 1:1
18.69
Speed set value
FLOAT
-1000000
1000000
0
Grad/s 1:1
18.70
FLOAT
0
50
0
ms
1:1
X
18.71
Speed set value positive limit FLOAT
0
1000000
18000
Grad/s 1:1
X
X
X
18.72
Speed set value negative
limit
FLOAT
-1000000
0
-18000
Grad/s 1:1
X
X
X
18.73
x3 acceleration actual value
FLOAT
-1e9
1e9
0
Grad/
s2
1:1
18.74
x3 acceleration time constant FLOAT
0
10000
0
ms
1:1
X
X
X
X
X
18.4
Controller actual operation mode
This parameter shows the currently effective operating mode of the Position/Speed Controller module. Depending on the drive state and operating mode, which are set by means
of Parameter Z109.1– the corresponding controller and functions are activated in this
module. When the drive is inhibited, the module is switched off (= 10 = Measure).
The parameter must not be confused with the Actual Operating Mode parameter
Z109.2–!
398
of 724
Value
18.7
Meaning
10
Measure
Remark
3
Examples of Drive Operating Mode
(Z109.1–)
Notch position search (-1) 
Autotuning (-7)
11
Reserved
12
Absolute position control
Controller structure, ZFig.
107– on page 393
Target position setting (1)
Reference run (6)
13
Speed control
106– on page 392
Speed control (-3) 
Speed setting 1 (2)
14
Torque control
109– on page 394
15
Reserved
16
Synchronous operation
110– on page 395
Adaptation time parameter
To prevent excitation, any change to the Gain parameters Kv (Z18.14–) or Kp (Z18.24–
) when the position or speed controller is switched on is made in stages. I.e., during any
change to the controller parameter Kv and Kp, the newly entered value only becomes fully
effective after the time registered here [ms]. 
The step time is fixed at 50ms for this.
Example:
Z18.7– = 1950 ms
A change of Kp or Kv from the old value to the new one is performed in 39 steps
(1950ms/50ms).
18.9
Controller options
Bit
Meaning
0
Reserved
1
Calculation of the acceleration feedforward for position controlled operating modes
0: from the set value of the speed feedforward
1: from the total speed set value
A change of bit 1 is only effective at drive block and again enabling.
2
1: External cyclic acceleration feedforward via Z111.8–; effective only in
operating mode Position control (-4)
3
1: External cyclic speed feedforward via Z111.7–; effective only in operating mode Position control (-4)
4
0: Single PT1 filter for speed actual value
1: Bilinear PT1 filter for speed actual value
399
of 724
3.7
Controllers
Bit
5
Reserved
6
0: I/f operation at controlled stop
1: U/f operation at controlled stop
31 … 7
18.10
Meaning
Reserved
Position controller status
Status of the position controller.
Bit
9…0
Reserved
10
Position encoder is referenced
11
Reserved
12
Position controller has reached the set value
31 … 13
18.11
Meaning
Reserved
w1 position set value
Display of the current position set value in degrees.
18.12
x1 position actual value
Display of the current actual position in degrees.
18.13
e1 position controller error
Current position error in degrees.
The position error is the difference between the position set value and the actual position.
The display of the parameter e1 Position deviation can be smoothed with a PT1 filter. The
time constant of the filter is set in Z18.18–. This filtering doesn't influence the position
control! At the position controller input the unfiltered position deviation is evaluated.
400
of 724
18.14
3
Kv position controller
Proportional gain of the position controller, units s-1.
The position controller is implemented as a P-controller.
It follows from this that with a Kv = 0 the position controller makes no contribution to the
speed set value, as any control deviation (e1 position controller error) is multiplied by the
Kv factor.
18.15
w2-Feedforward factor
Weighting factor for the speed feedforward at position control.
The speed feedforward is implemented as DT1 element. All changes to the position set
value are differentiated with respect to time, multiplied by the parameter w2-Feedforward
factor and smoothed subsequently with the Z18.70– w2-feedforward time constant. From
this it follows that at speed feedforward of 0 the speed feedforward makes no contribution
to the Z18.21– speed set value.
With speed feedforward of 1 (=100%) and constant change per unit time of the position
set value, the speed feedforward provides exactly the required speed set value. In this
case the position controller provides only the correction set value for tracking the angle.
18.17
w2 speed feedforward
The parameter shows the actual output value of the speed feedforward, i.e. the value after the w2-Feedforward factor Z18.15– and the w2-Feedforward time constant Z18.70–.
18.18
Time constant position error display filter
Time constant for the PT1 filter to smooth the position deviation display in parameter
Z18.13– e1 position controller error. The filtering doesn't influence the position control!
18.20
Speed controller status
Status of the speed controller.
Bit
3…0
Meaning
Reserved
4
1: Drive is blocked
5
1: Speed set value is limited
6
Speed=0 message
401
of 724
3.7
Controllers
Bit
Meaning
7
Reserved
8
Status of the "Free adaptable speed threshold with hysteresis" function
0  1: |Speed actual value| exceeds the speed threshold Z6.12–
1  0: |Speed actual value| fall below the speed threshold Z6.13–
9
Status of the "Free adaptable speed threshold with hysteresis" function
with inverted logic compared with bit 8.
10
0: Operation as motor
1: Operation as generator
11
0: Torque direction 1 is active
1: Torque direction 2 is active
12
1: Actual speed is equal to speed set value (= set value reached)
13
1: Torque current set value is limited
14
1: Torque reduction according to braking procedure ended
15
1: Torque reduction according to braking procedure active
16
1: Torque reduction by means of DC link controller
17
Reserved
18
1: Torque reduction by mains failure
19
1: Integral term Speed Controller is limited
20
1: Torque current limiting after the notch filter
21
1: Torque current limiting after the polynomial filter
22
1: Holding torque buildup by brake manager active
25 ... 23
26
31 … 27
Reserved
1: Torque current set value is limited (hysteresis)
Compared to bit 13 this bit is reset not before the torque current set value
is fallen below the effective limit by the adjustable hysteresis Z138.28–.
Reserved
Remark:
Bit 12:
1: Actual speed is equal to speed set value (= set value reached)
The following conditions must be satisfied for "Set Value Reached" to be set:
Z18.23– e2 Speed Error < Z6.7– Max. pos. speed difference 
and
Z18.23– e2 Speed Error > Z6.8– Max. neg. speed difference
and (optional) 
Z18.23– e2 Speed Error Z18.21– Speed Set Value * 
* Z6.14– Velocity window percentage
402
of 724
18.21
3
w2 speed set value
Display of the total currently effective speed set value in degrees/s.
With speed control (Z18.4– = 13):
Z18.21– w2 Speed set value = Z18.69– Speed set value + Z18.68– Speed set value add
With absolute position control (Z18.4– = 12):
Z18.21– w2 Speed set value = Z18.69– Speed set value * Z18.15– w2-feedforward Factor 
+ Z18.68– Speed set value add 
+ Z18.13– e1 Position Controller Error * Z18.14– Kv position controller
18.22
x2 speed actual value
Display of the current actual speed after smoothing by the actual speed filter Z18.27–. 
Units: degrees/s.
18.23
e2 speed error
Display of the current error signal at the input to the speed controller,
Units: degrees/s.
18.24
Kp speed controller
Proportional gain (Kp) of the speed controller, 
Units: s-1.
18.25
Tn speed controller
Reset time for the integral term for the speed controller, units s.
If the value is 0, the integral term is set to 0 and the control operates without an integral
term.
18.26
Derivative time speed controller
Td factor or rate time for the D term in the speed controller.
403
of 724
3.7
18.27
Controllers
Time constant speed act. value filter
Time constant for the PT1 filter in the response for the speed control circuit.
1 ms corresponds to a corner frequency of 159 Hz.
The PT1 filter type can be set with bit of Z18.9– Controller options.
18.29
Integral term speed controller
Display of the I-term in the speed controller.
18.30
Derivate term speed controller
Display of the D-term in the speed controller.
18.31
Position controller output
Speed set value from the position controller without the part of the speed feedforward.
18.32
Speed controller output
Acceleration set value from the position controller without the part of the acceleration
feedforward.
18.33
Time constant speed set value filter
Time constant of the PT1 filter to smooth the w2 Speed set value Z18.21–.
18.35
w3 acceleration set value
Current acceleration set value in degrees/s².
18.36
w3-Feedforward factor acceleration
Factor for acceleration feedforward during the acceleration phase.
A value of 1 corresponds to 100%.
404
of 724
18.37
3
w3-Feedforward factor brake
Factor for acceleration feedforward during the braking phase; a value of 1 corresponds to
100%.
Friction assists during braking, so a reduced feedforward during braking can make sense.
18.38
w3-Feedforward act. factor
The currently effective w3 factor for acceleration feedforward is displayed here.
18.39
Time constant of the acceleration feedforward for the speed controlled operating modes.
The w3-feedforward is implemented as DT1 element. All changes to the speed set value
are differentiated with respect to time, smoothed with the time constant >18.39< and multiplied subsequently with Z18.38– w3-Feedforward actual factor.
The smoothing via >18.39< does not affect at position controlled operating modes. Here
an already smoothed acceleration set value is available, whose smoothing occurs via parameter Z18.70– w2-Feedforward time constant.
18.40
Ks scaling factor
The value entered here should correspond to the "system gain" in [acceleration /A]. The
inverse value (1/Ks) is used in the controller as a standardization constant between the
acceleration set value (speed controller output) and the torque current set value (Isq).
Thus the parameter Ks is a measure of the acceleration capability.
If Ks has been correctly determined and entered, the Kp for the speed control circuit set
in the parameter has units of [s-1] and is thus independent of the present control process.
This also means that if Ks has not been correctly determined, then Kp does not have units
of [s-1] and is also not comparable with the controller settings in other applications.
m Calculation of Ks:
m Example - motor without load:
DS100M25 motor: Kt = 2.7 Nm/A, J = 141 kg cm² = 0.0141 kg m²
Ks = Kt/J = 2.7/0.0141 = 191.5 rad/s² /A = (from rads to degrees, *180/pi or 57.3)
Ks = 10973 degrees/s²/A
m Example DS100M25 motor with load via a gearbox, encoder on motor side:
Load moment of inertia 0.9 kg m², Gear factor GF = 3 to 1, 
motor turns faster
405
of 724
3.7
Controllers
Total moment of inertia, converted to encoder side (here, motor side):
J = JM + JL/GF² = 0.0141 + 0.9/9 = 0.1141 kg m²
Ks = Kt/J = (2.7/0.1141) *180/pi = 1356 degrees/s²/A
m Determination of Ks:
The Ks of the present system can be determined manually by means of an acceleration
test. To do this, the controller is subjected to such a large set value step change that the
torque current rises to the specified limit (i.e., large acceleration and not too low a torque
current limit).
By measuring the time for a measured change in speed with limited current, Ks can be
determined.
Ks = change in speed / (time * torque current)
in [degrees/s²/A]
So that the frictional forces present in the system do not distort the measurement, Ks
should represent the mean of 2 measurements (acceleration and braking):
Measurement 1: Final speed > Starting speed
Measurement 2: Final speed < Starting speed
Ks can also be determined by the FFT Analyzer module or the Ks measurement module.
18.42
Center frequency x2 act value notch filter
Center frequency of the speed actual value notch filter in Hz.
18.43
Bandwith x2 act value notch filter
Bandwith of the speed actual value notch filter in Hz.
18.44
x2 speed actual value unfiltered
Unfiltered speed actual value
18.45
Isq set value unlimited
Display of the current set value [in A] at the output of the speed controller or with torque
control.
406
of 724
18.50
3
Isq set value for torque control
During the current control operating mode (Z109.2– = -2), the controller receives the
torque current set value from this writable parameter. The parameter value for the torque
current can be entered for example by parameter interface (ProDrive), analog inputs or
by Fieldbus.
18.54
Position act value rev+angle
The parameter displays the actual „mixed“ position actual value in 32 bit resolution. The
lower 16 bits correspond to the angle and the upper 16 bits to the revolutions.
Revolutions
Angle
31 ........................ 16 15 .......................... 0
Z18.54–

Revolutions

Angle
31 ............................................................... 0 31 ............................................................... 0
Z18.56–
Z18.55–
The position actual value will be initialized to the position actual value of the selected encoder (Z106.12–) of the position control (not motor control) and will be permanently updated independent of the present operating mode and of the device control’s status from
this time on.
18.55
Position act value angle
The parameter displays the angle of the position actual value in 32 bit resolution per revolution. It corresponds with the position actual value angle 32 bit (Z106.10–) of the selected encoder for position control.
18.56
Position act value revolutions
The parameter displays the number of revolutions in the position actual value in 32 bit resolution. It corresponds with the position actual value revolutions (Z106.11–) of the selected encoder for position control.
407
of 724
3.7
18.57
Controllers
Position set value rev+angle
The parameter displays the "mixed" position set value in 32-bit resolution. The lower 16
bits correspond to the angle and the upper 16 bits to the revolutions.
One revolution of the motor corresponds to 65536 increments. The angular resolution
here is approx. 0.0055 degrees.
Revolutions
Angle
31 ........................ 16 15 .......................... 0
Z18.57–

Revolutions

Angle
31 ............................................................... 0 31 ............................................................... 0
Z18.59–
18.58
Z18.58–
The parameter displays the angle in the position set value in 32-bit resolution per revolution.
18.59
Position set value revolutions
The parameter displays the number of revolutions in the position set value in 32-bit resolution.
18.60
Position error rev+angle
Display of the position error in 32-bit integer format. The lower 16 bits correspond to the
angle and the upper 16 bits to the revolutions.
The angular resolution here is approx. 0.0055 degrees.
408
of 724
Revolutions
3
Angle
31 ........................ 16 15 .......................... 0
Z18.60–


Revolutions
Angle
31 ............................................................... 0 31 ............................................................... 0
Z18.62–
18.61
Z18.61–
Position error angle
Display of the position error in 32-bit integer format. 
The resolution is 32 bits per revolution.
18.62
Position error revolutions
Display of the position error in revolutions in 32 bit integer format. 
A 0 or -1 signifies no position error in the revolution.
18.68
Speed additional value
Additional speed set value.
Units: degrees/s
18.69
Speed set value
Display of the speed set value from the set value manager in degrees/s.
With speed control (Z18.4– = 13):
Z18.21– w2 Speed set value = Z18.69– Speed set value + Z18.68– Speed additional value
With absolute position control (Z18.4– = 12):
Z18.21– w2 Speed set value = Z18.69– Speed set value * Z18.15– w2-feedforward Factor 
+ Z18.68– Speed additional value 
+ Z18.13– e1 Position Controller Error * Z18.14– Kv position controller
409
of 724
3.7
18.70
Controllers
Time constant of the speed feedforward.
The speed feedforward is implemented as DT1 element. All changes to the position set
value are differentiated with respect to time, smoothed with the >18.70< feedforward time
constant and multiplied subsequently by the parameter Z18.15– w2-Feedforward factor.
Due to minimize the position error e1, it is recommended that the w2-Feedforward time
constant is set to Time constant speed act. value filter Z18.27–.
For synchronous operation on actual master axis (= encoder) the parameter for smoothing the master axis set value (w2-feedforward part) can be used.
18.71
Speed set value positive limit
The set value at the speed controller input is limited to this value in the positive range. If
limitation is active, Bit 1 is set in Z108.16– status internal limits.
18.72
Speed set value negative limit
The set value at the speed controller input is limited to this value in the negative range. If
limitation is active, Bit 1 is set in Z108.16– status internal limits.
18.73
x3 acceleration actual value
Effective acceleration actual value in degrees/s2.
18.74
x3 acceleration time constant
Time constant of the PT1 filter to smooth the x3 acceleration actual value (Z18.73–).
410
of 724
3.7.2
3
Controller adaption
Speed controller adaption
At low speed the control deviation is very low and these deviations can not be compensated fast enough. Therefore often a stronger controller is required for low speed.
The parameters Kp and Ki of the speed controller are adapted depending on the speed
with the speed controller adaption. Two or three interpolation points can be specified for
the adaption. If the mean speed threshold (Z155.15–) is set to 0, the adaption is executed
with two interpolation points.
The specified factors will be multiplied by the regular values of Kp (Z18.24–) and Tn
(Z18.25–). Kp and Ki will be interpolated linearly between the both speed limits, where Ki
is calculated from Kp and Tn.
The resulting adapted value of Tn is calculated from the adapted values for Kp and Ki.
This calculation of Tn is executed with low priority, because Tn is only for display.
The adaption can be calculated alternatively depending on the speed actual value or on
the speed set value. In position control the adaption can additionally be calculated depending on the speed feedforward.
Kp * Kpadapt1
Kp * Kpadapt2
Kp [18.24]
Tn [18.25]
Tn * Tnadapt2
Tn * Tnadapt1
n1
Figure 113:
n2
n3
Speed
Characteristics of Kp and Tn depending on the speed
In ZFig. 113– the characteristics of Kp and Tn is shown due to the speed controller adaption. While Kp is linear, Tn mostly has a hyperbolic shape.
If the middle speed threshold is parameterized to 0, the middle interpolation point is not
applicable and the adaption is executed between the upper and lower threshold.
Cyclical Ks adaption
The torque of inertia changes at some applications. This requires a cyclical change of the
Ks factor and can be adapted via the control and parameter Z155.14–.
The Ks value is updated in RT1 cycle.
411
of 724
3.7
Controllers
Name
Type
Min
Max
Default Value Unit
Factor
155.1
Mode
UINT
0
0xFFFF
0
1:1
155.2
State
UINT
0
0xFFFF
0
1:1
155.3
Lower adaption threshold for FLOAT
speed controller
0
1000000
10
Grad/s 1:1
X
155.4
Upper adaption threshold for FLOAT
speed controller
0
1000000
1000
Grad/s 1:1
X
155.5
Factor Kp adaption
FLOAT
0.01
100
1
1:1
X
155.6
Factor Tn adaption
FLOAT
0.01
100
1
1:1
X
155.7
Actual Kp speed controller
FLOAT
0
100000
10
1/s
1:1
X
155.8
Actual Tn speed controller
FLOAT
0
1000
1
ms
1:1
X
155.9
Actual Ki speed controller
FLOAT
0
1000
1
s
1:1
X
155.10
Actual Ks factor
FLOAT
0.01
1e9
1e4
Grad/
s2/A
1:1
X
155.14
Ks adaption
UDINT
1
0xFFFFFFFF 065536
%
655.36:
1
155.15
Middle adaption threshold for FLOAT
speed controller
0
1000000
0
Grad/s 1:1
X
155.16
Factor Kp for middle speed
threshold
FLOAT
0.01
100
1.0
1:1
X
155.17
Factor Tn middle speed
threshold
FLOAT
0.01
100
1.0
1:1
X
Cyclic Write
Number
DS Support
Storage
FbReglerAdaption [155]
Read only
Functional block:
X
X
X
155.1
Mode
Configuration of the controller adaption function:
Bit
0
2…1
Meaning
0: Switch off controller adaption
1. Switch on controller adaption
Adaption of the D-part of the speed controller
00: Td is not adapted
01: Td is 0 for n > n1 (lower threshold)
10: Td is 0 for n > n3 (upper threshold)
11: Reserved
412
of 724
Bit
0: Switch off current control adaption
1: Switch on current control adaption
4
0: Switch off Ks adaption
1: Switch on Ks adaption
5
Reserved
15 … 8
155.2
Meaning
3
7 ... 6
3
Speed controller adaption according to:
00: Actual value
01: Set value
10: Speed feedforward
11: Reserved
Reserved
State
State of the controller adaption function.
Bit no.
0
2 ... 1
Speed controller adaption active / inactive
Adaption of the D-part of the speed controller
00: Td is not adapted
01: Td is 0 for n > n1 (lower threshold)
10: Td is 0 for n > n3 (upper threshold)
11: Reserved
3
Current controller adaption active / inactive
4
Ks adaption active / inactive
5
Kd is set to 0
6
Adaption according to actual value / set value / speed feedforward
15 … 7
155.3
Meaning
Reserved
Lower adaption threshold for speed controller
Lower speed limit for adaption of the speed controller.
155.4
Upper adaption threshold for speed controller
Upper speed limit for adaption of the speed controller.
413
of 724
3.7
Controllers
155.5
Factor Kp adaption
Factor for the adaption of the gain Kp of the speed controller.
155.6
Factor Tn adaption
Factor for the adaption of the integral action time Tn of the speed controller.
155.7
Actual Kp speed controller
Actual value of the gain Kp.
155.8
Actual Tn speed controller
Actual value of the integral action time of the speed controller. This value is only displayed
and is therefore updated with low priority (remaining time).
155.9
Actual Ki speed controller
Actual value of the gain Ki.
155.10
Actual Ks factor
Effective Ks factor
155.14
Ks adaption
Factor for the cyclical Ks adaption.
Standardization:
155.15
0x10000 = 100%
Middle adaption threshold for speed controller
Defines the middle speed threshold for the speed controller adaption. If value is set 0, the
middle adaption threshold is not effective. The speed controller adaption works only with
two interpolation points.
414
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155.16
3
Factor Kp for middle speed threshold
Factor for the adaption of the gain Kp of the speed controller at the middle speed threshold. Factor is only effective, if middle speed threshold  0.
155.17
Factor Tn middle speed threshold
Factor for the adaption of the integral action time Tn of the speed controller at the middle
speed threshold. Factor is only effective, if middle speed threshold  0.
415
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3.7
Controllers
3.7.3
Current Controller
The "Current Controller" module incorporates the measurement of the phase currents
and DC link voltages, current control including prediction, dead time compensation and
PWM.
3.7.3.1 Current Prediction
The current prediction can be switched off. The voltage equations for the machine form
the starting point for the current prediction.
3.7.3.2 Dead Time Compensation
Since real semiconductor components do not behave ideally, it must be ensured that the
two transistors in a half bridge are never conducting current at the same time, i.e., are
switched on. For this reason, both IGBTs in a half bridge must be switched off for a certain
time, giving rise to dead times which are different for the individual output sections and
furthermore depend on the switching frequency of the power transistors. Due to these
dead times, a part of the theoretical nominal voltage for the PWM is lost. The dead time
effect produces a non-linear distortion in the voltage space vector. The dead time compensation Z47.50– is intended to compensate for the lost voltage.
The required voltages for the dead time compensation are determined from the sign of
the separate phase currents, the Udc actual value and current depending correction table
Z123.15–.
The table Z123.15– can be determined by autotuning (dead time measurement Z123.1–
bit 1 = 1). The measured values are valid for the parameters which are available at the
moment of the measurement: Udc actual value, PWM frequency and locking time (IGBT
dead time Z129.9–). If the dead time measurement is not executed, the table Z123.15–
has default values defined for Udc = 540 V, PWM frequency = 8 kHz, and locking time =
4 µs.
The effective voltage of the dead time compensation is corrected according to the Udc
actual value (regardless whether the table includes default values or measured values).
Basically the correction table is only valid for the device which carried out the dead time
measurement. However the values of the table can be transferred from one device to another one with the parameter set. In all probability, the dead time compensation will operate satisfactorily if the device is of an identical type. However, this must be checked by
the user. It is recommended to measure the dead time at each device, which requires
dead time compensation.
NOTE!
The dead time measurement must be repeated, if the IGBT dead time (Z129.9–) was
changed.
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3
NOTE!
Up to firmware version V01.08: The dead time measurement must be repeated if the
PWM frequency is changed.
From Firmware version V01.09: If the correction table Z123.15– is measured from
firmware version V01.09 onwards and the adaption of the dead time compensation
according to the PWM frequency is active (Z123.1– bit 3 = 1), the effective voltage
of the dead time compensation is corrected according to the effective PWM frequency. A new dead time measurement after a change of the PWM frequency is therefore
not necessary. However the best results are generally reached if the used PWM frequency corresponds to the PWM frequency at the moment of the dead time measurement.
3.7.3.3 Limiting
The torque current limiting acts on the integral term of the speed controller and on the output of the motor manager before the current is forwarded to the current controller.
There is no limiting at the output of the speed controller because a digital filter can be inserted between the speed controller and the motor manager, or an Isq can additionally
be fed into the motor manager.
The torque current limiting can be set separately for motor or generator operation. By
adapting the "Iq Limiting Mode" Z138.1–, the separate limiting can alternatively be applied to Torque Direction 1 or Torque Direction 2. For "asymmetric" limiting, operating
quadrants 1 to 4 are evaluated using the present speed and torque current. Hysteresis
Z138.4– can be set when determining the operating quadrants.
A symmetrical limiting Z138.14– s available in addition to the limit dependent on quadrants. This limiting is intended for a fast cyclic access via analogous input or fieldbus process data.
Always the less value of both limtis is effective! The effective limit values are displayed in
Z138.6– Iq Upper Limit and Z138.7– Iq Lower Limit.
Particular case synchronous motor with interior permanent magnet (IPMSM)
The Iq current is not limited, but the total current is limited at IPMSM, because both currents contribute to the torque production.
417
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3.7
Controllers
Figure 114:
Current controller
418
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3
Breakdown Torque
In BM3300 the current torque is limited by a speed limit. The Ud-voltage may not exceed
50% of the total voltage:
U Zk
U D,Max = ------------------ =  el  L q  i q max
6 2
The inception speed can be defined from this requirement:
60U Zk
60 el
n E = -------------- = -------------------------------------------------2p
2p 12  L q  i q Max
Additionally the inception speed is adjusted over the parameter Z138.17– (factor for
Breakdown torque). The actual inception speed (Z138.16–) is calculated with the above
mentioned formula multiplied with Z138.17–.
The inception speed is standardized to a DC-link voltage of 540 V. The inception speed
is adjusted to the present voltage.
3.7.3.4 Feedforward
Decoupling feedforward
The decoupling feedforward compensates the influences on the field forming current to
the torque of the machine. Vice versa the influence of the torque forming current on the
field of the machine is compensated.
Electromagnetic force feedforward
There is the possibility to feedforward the electromagnetic force for the current controller
of the torque forming current component. This feedforward can be switched off by entering the value 0 in Z107.20– Ke factor. The actual Ke factor of the machine must be entered in Z107.20– for a correct feedforward of the electromagnetic force.
IxR feedforward
The IxR feedforward compensates the voltage drop at the ohmic resistance of the stator
winding for both the field forming and the torque forming current controller. This feedforward is generally deactivated and can be activated via parameter Z47.51–, if required.
Additionally it is possible to execute the feedforward based on the actual current values
or based on the current set values. This must be also set in parameter Z47.51–.
For the used stator resistance the decisive factor can be either the parameter value
Z107.29– (Motor data) or the parameter value Z123.6– (measured resistance). It depends on the parameterization of parameter Z123.10–.
419
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3.7
Controllers
3.7.3.5 Current controller adaption
The current controller may become instable at motors with strong saturation. The current
controller adaption can be used to reach a constant control also at high currents.
Kp [%]
100%
5000_0229_rev01_int.cdr
KpAdapt
Iq1
Figure 115:
Iq2
Iq [A]
Current controller adaption
The P-gain for the Iq- and Id controller is reduced from the lower adaption threshold for
the current controller Z155.11– up to the upper adaption threshold Z155.12–. There the
P-gain reaches a limited percentage KpAdapt Z155.13– of the original P-gain. The adaption results from the current set value Z47.1–.
3.7.3.6 Pulse Width Modulation
Switching between Space Vector Modulation (SVM) and Modified Space Vector
Modulation (MSVM).
With MSVM it is possible to reduce the average switching frequency of the IGBTs by a
third, with the result that the average switching losses are also reduced by a third. With a
high duty cycle, it is particularly advantageous to use the modified SVM process (MSVM).
With a smaller duty cycle it is certainly also possible to reduce the switching losses by a
third, but the switching current ripple can be up to twice as great as with normal SVM.
The lower the stator frequency becomes, the more slowly the current space vector rotates. In the extreme case it can even be stationary. For the IGBTs in the three half bridges, the concept of average thermal loading can no longer be used here as for a higher
stator frequency. For certain IGBTs it is then also no longer possible to reduce the losses
with this procedure.
Parameter Z47.40– PWM MSVM Threshold is used to select the PWM duty cycle from
which MSVM is activated.
This parameter can be set from 0.00% to 100%. A value of 0.00% corresponds to zero
voltage at the inverter output; 100% corresponds to 100% PWM duty cycle. From a duty
cycle of 80% the switching losses are reduced by a third with MSVM, without increasing
the switching current ripple compared to SVM.
420
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3
3.7.3.7 ProDrive Current Controller
Figure 116:
ProDrive Current controller
3.7.3.8 Overview of Current Controller Parameters
Functional block:
Current Controller [47]
Type
Min
Max
Default Value Unit
Factor
47.1
Isq set value
FLOAT
-10000
10000
0
A
1:1
X
47.2
Isd set value
FLOAT
-10000
10000
0
A
1:1
X
47.3
Isq actual value
FLOAT
-10000
10000
0.0
A
1:1
X
Cyclic Write
Name
DS Support
Number
Storage
Read only
For parameter number 18.45, see ZPosition / Speed Controller– from page 390
For parameter numbers 107.20 and 138.ff, see ZMotor– from page 80
421
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3.7
Controllers
47.4
Isd actual value
FLOAT
-10000
10000
0.0
A
1:1
X
47.5
Isq act value filtered
FLOAT
-10000
10000
0.0
A
1:1
X
47.6
Isd act value filtered
FLOAT
110000
10000
0.0
A
1:1
X
47.7
P-Gain 4kHz Iq
FLOAT
0.0
1.0e+04
10.0
V/A
1:1
X
X
47.8
Integral action time Iq
FLOAT
0.0
1.0e+04
5.0
ms
1:1
X
X
47.9
P-Gain 4kHz Id
FLOAT
0.0
1.0e+04
10.0
V/A
1:1
X
X
47.10
Integral action time Id
FLOAT
0.0
1.0e+04
5.0
ms
1:1
X
X
47.20
Usq set value
FLOAT
-440
440
0.0
V
1:1
X
47.21
Usd set value
FLOAT
-440
440
0.0
V
1:1
X
47.22
Integral term Usq
FLOAT
-440
440
0.0
V
1:1
X
47.23
Integral term Usd
FLOAT
-440
440
0.0
V
1:1
X
47.24
Usq control output
FLOAT
-440
440
0
V
1:1
X
47.25
Usd control output
FLOAT
-440
440
0
V
1:1
X
47.26
Back-EMF feed forward
FLOAT
-440
440
0.0
V
1:1
X
47.27
U Alpha set value
FLOAT
-440
440
0.0
V
1:1
X
47.28
U Beta set value
FLOAT
-440
440
0.0
V
1:1
X
47.29
Control value U
FLOAT
0.0
1.0
5.0e-01
1:1
X
47.30
Control value V
FLOAT
0.0
1.0
5.0e-01
1:1
X
47.31
Control value W
FLOAT
0.0
1.0
5.0e-01
1:1
X
47.32
Iu actual value
FLOAT
-10000
10000
0.0
A
1:1.414 X
47.33
Iv actual value
FLOAT
-10000
10000
0.0
A
1:1.414 X
47.34
Iw actual value
FLOAT
-10000
10000
0.0
A
1:1.414 X
47.40
PWM MSVM threshold
UINT
0
100
100
%
1:1
47.41
Ualpha after PWM
FLOAT
-440
440
0
V
1:1
X
47.42
Ubeta after PWM
FLOAT
-440
440
0
V
1:1
X
47.43
Uq after PWM
FLOAT
-440
440
0
V
1:1
X
47.44
Ud after PWM
FLOAT
-440
440
0
V
1:1
X
47.45
Phi set value
UINT
0
0xFFFF
0
1:1
X
47.46
dPhi set value
INT
-32768
32767
0
1:1
X
47.47
Motor Rho
UINT
0
65535
0
1:1
47.49
Electrical frequency filtered
FLOAT
-1e9
1e9
0
Hz
1:2
47.50
FLOAT
0.0
2.0e+02
0.0
%
1:1
47.51
Enable I prediction
UINT
0
65535
0
47.52
Iq predicted
FLOAT
-10000
10000
0
A
1:1
X
47.53
Id predicted
FLOAT
-10000
10000
0.0
A
1:1
X
47.54
back emf estimated
FLOAT
-440
440
0
V
1:1
X
47.55
SM Phi error
FLOAT
-180
180
0
Grad
1:1
X
47.65
Current controller cycle time FLOAT
62.50
250.00
62.5
µs
1:1
X
47.70
deadtime voltage ualpha
FLOAT
-440
440
0
V
1:1
X
47.71
deadtime voltage uBeta
FLOAT
-440
440
0
V
1:1
X
155.11
Low adaption threshold for
current controller
FLOAT
0
10000
0
A
1:1
X
155.12
High adaption threshold for
current controller
FLOAT
0
10000
0
A
1:1
X
155.13
Kp current controller adaption
FLOAT
0
100
100
%
1:1
X
422
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X
X
X
1:1
X
3
3.7.3.9 Description of Current Controller Parameters
47.1
Isq set value
Display of the limited Isq set value which is passed directly to the current controller.
47.2
sd set value
Display of the limited Isd set value which is passed directly to the current controller.
47.3
Isq actual value
Display of actual value of Isq.
47.4
Isd actual value
Display of actual value of Isd.
47.5
Isq actual value filtered
Filtered actual value of Isq (time constant = 1.25 ms).
47.6
Isd actual value filtered
Filtered actual value of Isd (time constant = 1.25 ms).
47.7
P-Gain 4kHz Iq
The proportional gain (Kp) of the Iq current controller is set with the P-gain 4 kHz Iq parameter. Correspondingly, the reset time (Tn) of the Iq current controller is set with the
Integral Action Time Iq parameter (Z47.8–). According to the optimum magnitude and
taking account of the internal standardizations, Kp and Tn for the Iq current controller at
4 kHz PWM frequency can be set as follows:
Tn = Lsq / rs (msec)
where rs = Stator resistance in ohms, cold
423
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3.7
Controllers
kp = Lsq /(3*Tab) = Lsq /(3*0.125) = 2.667* Lsq (Lsq in mH)
For asynchronous motors, the total leakage inductance Lsigma must be used instead of
Lsq.
47.8
Integral action time Iq
47.9
P-Gain 4kHz Id
The proportional gain (Kp) of the Id current controller is set with the P-gain 4kHz Id parameter. Correspondingly, the reset time (Tn) of the Id current controller is set with the
Integral Action Time Id parameter (Z47.10–). According to the optimum magnitude and
taking account of the internal standardizations, Kp and Tn for the Id current controller at
4 kHz PWM frequency can be set as follows:
Tn = Lsd / rs (msec)
where rs = Stator resistance in ohms, cold
kp = Lsd /(3*Tab) = Lsd /(3*0.125) = 2.667* Lsd (Lsd in mH)
For asynchronous motors, the total leakage inductance Lsigma must be used instead of
Lsd.
47.10
Integral action time Id
47.20
Usq set value
Displays the control variable for the iq controller, taking account of the feedforward.
47.21
Usd set value
Displays the control variable for the id controller, taking account of the feedforward.
424
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47.22
3
Integral term Usq
Displays the integration terms of the control variable for the iq controller.
47.23
Integral term Usd
Displays the integration terms of the control variable for the id controller.
47.24
Usq control output
Output value of the PI current controller.
47.25
Usd control output
Output value of the PI current controller.
47.26
Back-EMF feedforward
Displays the voltage set value from the BACK-EMF feedforward.
47.27
U Alpha set value
Real part of the control variable for the current controller in stator frame coordinates.
47.28
U Beta set value
Imaginary part of the control variable for the current controller in stator frame coordinates.
47.29
Control value U
Modulation level of the IGBTs in Phase U. A value of 0 or 1 means full modulation.
425
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3.7
47.30
Controllers
Control value V
Modulation level of the IGBTs in Phase V. A value of 0 or 1 means full modulation.
47.31
Control value W
Modulation level of the IGBTs in Phase W. A value of 0 or 1 means full modulation.
47.32
Iu actual value
Measured value of the phase current.
47.33
Iv Actual Value
Measured value of the phase current.
47.34
Iw Actual Value
Value of the phase current calculated from the condition "Sum of all currents is equal to
0".
47.40
PWM MSVM threshold
The limiting value for modified modulation can be set in this parameter. The standard value is 100%, i.e. no modified modulation.
MSVM stands for "Modified Space Vector Modulation" and is used to improve the voltage
efficiency. However this results in increased current ripple.
47.41
Ualpha after PWM
Alpha voltage after calculating the modulation levels.
47.42
Ubeta after PWM
Beta voltage after calculating the modulation levels.
426
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47.43
3
Uq after PWM
q-voltage after calculating the modulation levels.
47.44
Ud after PWM
d-voltage after calculating the modulation levels.
47.45
Phi set value
Display of Phi Set Value which the controller receives.
47.46
dPhi set value
Display of delta_Phi Set Value which the controller receives.
47.47
Motor Rho
Displays the current motor angle for field-oriented control.
Standardization: 0xFFFF for 360 degrees.
47.49
Electrical frequency filtered
Frequency (actual value) of the output voltage smoothed with 4 ms.
47.50
Dead time compensation factor: 100% means that exactly the determined voltages have
been pilot controlled. The standard value is 0%, i.e., no compensation.
Compensation can be carried out using measured values or with default values (if dead
time measurement wasn't executed). See dead time correction table Z123.15–.
47.51
Enable I prediction
Switches the current prediction for the current controller on/off.
427
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3.7
Controllers
Bit
0
Switches the current prediction for the current controller on/off:
0: Current prediction deactivated
1: Current prediction active
1
Feedforward of the ohmic voltage drop at the stator winding (IxR feedforward):
0: IxR feedforward deactivated
1: IxR feedforward active
2
Selection of the actual current or set value current for the feedforward of
the ohmic voltage drop:
0: Using the actual current value for IxR feedforward
1: Using the current set value for IxR feedforward
3
Reserved
4
0: Udc-Id controller off
1: Udc-Id controller on
5
0: Short circuit brake off
1: Short circuit brake on
15 ... 6
47.52
Meaning
Reserved
Iq predicted
This parameter displays the predictive current Iq determined by the current prediction procedure, if the current prediction procedure is switched on.
47.53
Id predicted
This parameter displays the predictive current Id determined by the current prediction procedure, if the current prediction procedure is switched on.
47.54
Back EMF estimated
EMF acting in the q-direction. Required for field angle monitoring of PMSM.
47.55
SM Phi error
Display of the identified field angle deviation of the PMSM.
428
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47.65
3
Current controller cycle time
Display parameter for the cycle time of the current controller. The cycle time results from
the setting of Z130.15– PWM Frequency.
The current controller cycle time must not exceed the Z1.8– RT0-Cycle time. This is monitored and as the case may be the error 501 will be triggered which inhibits enabling of
the drive.
47.70
Deadtime voltage uAlpha
The deadtime voltage uAlpha, which is determined due to the current actual values.
47.71
Deadtime voltage uBeta
The deadtime voltage uBeta, which is determined due to the current actual values.
155.11
Low adaption threshold for current controller
Current Iq, from which the current controller adaption starts.
155.12
High adaption threshold for current controller
Current Iq, from which the minimum current controller gain acts.
155.13
Kp current controller adaption
This percentaged value describes the real acting part of the proportional gain of both current controllers at a current Iq above the high adaption threshold for the current controller
Z155.12–.
Interpolation between the lower and the upper adaption threshold is linear.
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3.7
Controllers
3.7.4
DC link controller
3.7.4.1 Description of the DC link controller
The controller for the DC link voltage, the DC link controller in short, is a PI controller
which acts on the current limit.
The controller does this by limiting the generator current, because in generator operation
(while braking the drive) the DC link voltage rises as a result of the current that is fed back.
Depending on the direction of revolution, either the upper or the lower limit of the Iq current is adjusted.
3.7.4.2 ProDrive DC link controller
Figure 117:
ProDrive DC link controller
3.7.4.3 Reactive current brakes
The dynamic at a braking process drops if there is no brake resistor, because the energy
of the motor must be reduced. Additional energy in the motor can be reduced by applying
reactive current.
The Udc link-ld controller uses the same controller parameter as the Udc link controller.
The maximum Id current is applied as soon as the DC link voltage exceeds the maximum
value (Z114.1–).The Udc link-ld controller operates with a 99% threshold of the maximum value. There is maximum reactive current during the braking process-reactive current is reduced if the Udc link controller isn't operating anymore. The Udc link-ld controller
is switched on via Z47.51– with bit 4.
430
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3
Synchronous motor
The set ld current set value (Z19.9–) is supplied at a synchronous motor. The current
should be supplied negatively at high speed as otherwise the required voltage could get
too high.
Asynchronous motor
The maximum Id current (Saturation magnetizing current Z146.12–) is supplied at an
asynchronous motor. The motor flux increases with the Id current and thereby the required voltage. The field weakening controller counteracts the Udc link controller and the
maximum Id current cannot be supplied, if the required voltage exceeds the available voltage.
At high speeds it is possible to supply block-shaped Id current with the output of the Udc
link-ld controller. At this process the flux increases and decreases dependent of the ld
current signs. The sign of the ld current changes, if the actual flux value (Z146.14–) exceeds the limits, which are between 100% of the flux set value and the adjustable threshold (Z114.8–).The block-shaped ld current is supplied above the adjustable threshold
(Z114.7–) - below the threshold positive ld current is supplied, only.
3.7.4.4 Short circuit brake
Synchronous motors are able to be braked using a short circuit brake, additionally. If the
DC link voltage exceeds a set threshold, the motor phases are shorted and the current
no longer flows into the DC link. The motor is decelerated by the resulting current.
3.7.4.5 Parameter Overview of the DC link controller
Functional block:
FbUzkcontroller [114]
Name
Type
Min
Max
Default Value Unit
Factor
114.1
DC link controller set value
FLOAT
10
850
850
V
1:1
X
114.2
P-gain of DC link controller
FLOAT
0.001
256
0.01
1/V
1:1
X
114.3
Tn of DC link controller
FLOAT
0.01
1000
0.2
ms
1:1
X
114.4
DC link controller output
FLOAT
0
1
1
-
1:1
X
114.5
Current positive limit
FLOAT
0
10000
10000
A
1:1
X
114.6
Current negative limit
FLOAT
-10000
0
-10000
A
1:1
X
114.7
Speed threshold for block
shape current
FLOAT
0
1e9
1e9
Grad/
s
1:1
X
114.8
Flux threshold
FLOAT
0
1
0.5
%
1:100
X
114.9
DC link voltage hysteresis
FLOAT
0
100
0
V
1:1
X
Cyclic Write
Number
DS Support
Storage
Read only
For Parameter 130.3, see ZPower unit– from page 60.
X
431
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3.7
Controllers
3.7.4.6 Description of the DC link controller parameter
114.1
DC Link controller set value
Maximum value for the DC link voltage.
During braking procedures, energy is fed back from the motor into the DC link, which is
further charged as a result.
On devices that do not have regenerative capability, the energy can only be dissipated
via a chopper resistor.
to prevent the DC link voltage from rising too far, it is limited to the maximum value set
here by means of a control arrangement. To this end, the deceleration torque in the drive
is reduced if necessary, so that the DC link voltage does not rise any further.
114.2
P-Gain of DC link controller
P-gain of the DC link controller.
Standardization: the controller output limits the permissible Iq current in the generator
mode. Output = 0.5 means Iq should be a maximum of 0.5 * Z138.6– or Z138.7–.
114.3
Tn of DC link controller
Reset time of the DC link controller
114.4
DC link controller output
The output of the DC link controller effects a current limit on Iq between 0 and the max.
available torque current (Parameter Z19.8–) in generator mode. The parameter displays
the present activated current limit: [0] positive limit or [1] negative limit.
114.5
Current positive limit
The output of the DC link controller effects a current limit on Iq between 0 and the upper
limit of the torque current (Parameter Z138.6–) in generator mode. The parameter displays the present positive current limit.
432
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114.6
3
Current negative limit
The output of the DC link controller effects a current limit on Iq between 0 and the lower
limit of the torque current (Parameter Z138.7–) in generator mode. The parameter displays the present negative current limit.
114.7
Speed threshold for block shape current
If the Udc link-ld controller is switched on block-shaped ld current is supplied above this
threshold.
Below this threshold the current is increased only in order to reduce the braking energy.
Braking with block-shaped ld current can be switched off, if the value of the speed threshold is set above the maximum speed.
114.8
Flux threshold
The flux is minimal with block-shaped ld current. If the actual flux drops below this threshold the sign of the ld current is changed.
114.9
DC link voltage hysteresis
If the DC link voltage drops below the maximum value (Z114.1–) by this value, the torque
current is no longer limited.
433
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3.7
Controllers
3.7.5
Field weakening
At an asynchronous machine as well as at a synchronous machine regarding the operating range it is commonly distinguished between the basic speed range (typically below
the rated speed of the motor) and the field weakening range (typically above the rated
speed).
In the base speed range the flux remains constantly. In the field weakening range the flux
is reduced (ASM) or negative lsd current is applied to make greater speed possible at an
insufficient DC-link voltage
Field weakening factor
The field weakening at the voltage limit (Z142.1– bit 0 = 1) at b maXX 5000 is structured
accordant to the field weakening factor (see diagram in figure 125). The field weakening
factor represents the current level of the field weakening. The field weakening factor (parameter Z142.2–) is a factor without units, value range is between 0 … 1.
ZFig. 118– shows that the field weakening is made via two channels. The first channel is
an open-loop controlled and the second channel is a closed-loop controlled field weakening.
Open-loop controlled field weakening
If the speed exceeds a specified speed threshold the flux is reduced after a characteristic
(see ZFig. 118–) inversely proportional to the speed. As a speed threshold either the parameter Speed threshold field weakening (Z142.9–) acts, if bit 1 was set by the field
weakening mode Z142.1– or the rated speed (Z142.7–) if this bit was not set. The output
of the open-loop controlled field weakening is the field weakening factor after the speed
Z142.12–.
Closed-loop controlled field weakening
The second channel contains a voltage controller that evaluates the difference between
the specified limit and the actual value of the motor voltage (parameter Z142.7–) and accordingly weakens the flux, so that the motor voltage doesn't increase anymore. The limit
is the lower one of two values of the voltage threshold specified via the parameter
Z142.8– and of the maximum output voltage (Z142.6–). The maximum output voltage is
continually calculated from the current DC-link voltage provided that there is a full PWM
control. The output of the closed-loop controlled field weakening is the field weakening
output Z142.13–.
Total field weakening factor
The a present degree of the field weakening (Field weakening factor Z142.2–) is given
by the lowest value of two channels (minimum value between Z142.12– and Z142.13–
). This is additionally limited, so that it never falls below the specified limit of the parameter
Minimum field weak factor (Z142.5–).
434
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3
Special case: Permanent field current
The field weakening mode "permanent field current" (Z142.1– bit 0 = 1) makes it possible
to apply the field current set value Z19.9– permanently (lsd set value Z142.2– = Field
current set value Z19.9–). In this case the field weakening factor is without effects. Therefore, the flux controller is deactivated at the ASM (flux set = flux actual).
Mode of operation of the field weakening factor
The field weakening factor at the ASM directly influences the current flux set value and at
the SM the field current set value as follows (also see diagram in ZFig. 119–):
m Asynchronous machine (Z142.1– bit 0 = 0):
Flux set value in % Z146.13– = Field weakening factor Z142.2– * 100
 Considering the extreme cases:
Field weakening factor = 0
means that a flux will not be 
applied.
means that a flux set value of 100% 
will be applied.
For the range 0 < Field weakening factor < 1, the following applies: 
the flux set value will be applied 
proportionally.
m Synchronous machine (Z142.1– bit 0 = 0):
Isd set value Z47.2– = Field current SM Z19.9– * (1 - Field weakening factor Z142.2–)
 Considering the extreme cases:
means that the value set for the field current 
reference value will be applied.
means that the value set for the field current 
reference value will not be applied.
For the range 0 < Field weakening factor < 1, the following applies: 
the value set for the field current reference
value will be applied proportionally.
m Special case "permanent field current" (Z142.1– bit 0 = 1):
Isd set value Z47.2– = Field current set valueZ19.9–

independent of field weakening factor.
m IPMSM:
see ZField weakening at IPMSM– from page 114.
435
of 724
3.7
Controllers
Speed
actual value
18.22
1
Speed threshold
Field weak
factor
142.2
MIN
Voltage
threshold
142.8
Udc controller
Minimum field weak
factor 142.5
+
MIN
Maximum output
voltage 142.6
u
u
u2 + u2
Figure 118:
Actual output
voltage 142.7
5000_0227_rev01_int.cdr
Block diagram of the field weakening factor
436
of 724
3
Field weakening at voltage limit (142.1 bit 0 = 0):
current amplitude 138.10
ASM:
100
Flux controller
Flux set value
146.13
Field weak factor
142.2
X
max. field current amplitude
19.7
Isd set value
47.2
-1
Actual flux
SM:
Field current
reference value
19.9
1
Field weak factor
142.2
19.7
Isd set value
47.2
X
-1
Permanent field weakening current (142.1 bit 0 = 1):
SM,ASM:
19.7
Isd set value
47.2
Field current reference value
19.9
-1
5000_0320_rev01_int.cdr
Figure 119:
Block diagram: Effect of field weakening factor
Name
Type
Min
Max
Default Value Unit
Factor
142.1
Field weakening mode
UINT
0
0xFFFF
0
1:1
142.2
Field weakening faktor
FLOAT
0
1
1
142.3
P-Gain field weakening con- FLOAT
troller
0
1000
0.002
1/V
1:1
X
142.4
Field weakening controller
integral action time
FLOAT
0
10000
3000
ms
1:1
X
142.5
Minimum field weak factor
FLOAT
0
1
0
1:1
X
1:1
Cyclic Write
Number
DS Support
Storage
FbFieldweak [142]
Read only
Functional block:
X
X
437
of 724
3.7
Controllers
142.6
Maximum output voltage
RMS
FLOAT
0
1000
0
V
1:1
X
142.7
Actual filtered output voltage FLOAT
RMS
0
1000
0
V
1:1
X
142.8
Voltage threshold for field
weakening
FLOAT
50
600
600
V
1:1
X
142.9
Speed threshold for field
weakening
FLOAT
10
500000
3000
U/min 1:1
X
142.12
Field controller due to speed FLOAT
0
1
1
1:1
X
142.13
Field weakening controller
output
0
1
1
1:1
X
FLOAT
3.7.5.2 Description of the Field Weakening Parameter
142.1
Field Weakening Mode
Bit
0
Meaning
Field weakening type:
0: "At the voltage limit": Field weakening via the field weakening factor
Z142.2–.
1: "Permanent field current": Isd set value (Z47.2–) = Field current set
value (Z19.9–)
Other details see ZField weakening– from page 435.
1
Threshold speed of the controlled field weakening characteristic:
0: Motor nominal speed (Z107.7–).
1: Speed threshold field weakening Z142.9–
142.2
Field weakening factor
The field weakening factor represents the current level of the field weakening.
The field weakening factor is without units. The range of values extends from 0 to 1.
The field weakening factor accords to the minimum value between field weakening output
Z142.13– and the field weakening factor after the speed Z142.12–.
Furthermore, the field weakening factor of the parameter Z142.5– "Minimum field weak
factor" is limited:
Field weakening factor [Z142.2–]  Minimum field weak factor [Z142.5–].
Further details see chapter ZField weakening– from page 435.
438
of 724
142.3
3
P-Gain of field weakening controller
Proportional gain of field weakening controller.
With a SM, the field weakening controller can be set more finely than with an ASM, as no
delay in the reduction of the field due to the rotor time constant occurs.
A P-gain of 0 switches off the field weakening controller.
142.4
Field weakening controller integral action time
Reset time of the field weakening controller.
At value 0 the integral part is set to 0 and the field weakening controller works without integral part.
142.5
Minimum field weak factor
The parameter is without unit and serves as a limit of the field weakening factor Z142.2–
The range of values extends from 0 to 1.
Field weakening factor [Z142.2–]  Minimum field weak factor [>142.5<].
Of importance only if the field weakening type at the voltage limit is set (Z142.1–
bit 0 = 0).
See chapter ZField weakening– from page 435.
Considering the extreme cases:
Minimum field weak factor = 0
For SM: The parameterized field current set 
value Z19.9– can be reached.
For ASM: The flux set value Z146.13– can 
be reduced to 0%
Minimum field weak factor > 0
For SM the parameterized field current set 
value Z19.9– can not be reached.
For ASM the flux set value in % can only be 
reduced to 100 * "Minimum field weak 
factor".
142.6
Maximum output voltage RMS
Display of the maximum ac voltage which is generated from the actual DC link voltage at
the full PWM duty cycle.
439
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3.7
Controllers
142.7
Actual filtered output voltage RMS
Display of the actual motor voltage.
142.8
Voltage threshold for field weakening
Set point of the voltage threshold from which the field weakening controller is activated.
142.9
Speed threshold for field weakening
Set point of the speed threshold from which the field weakening begins, if bit 1 of parameter Z142.1– Field Weakening Mode is set.
142.12
Field controller due to speed
The field weakening factor after the speed is the ratio of threshold speed / actual speed
value whereat the field is reduced if the actual speed value > threshold speed, whereat
Threshold speed = "Rated speed" Z107.7–; (Z142.1– bit 1 = 0)
Threshold speed = "Speed threshold field weakening" Z142.9–; (Z142.1– bit 1 = 1)
The range of values is between 0 and 1.
Of importance only if the field weakening type was set at the voltage limit (Z142.1–
bit 0 = 0).
142.13
Field weakening controller output
Output after the field weakening controller.
The range of values is between 0 and 1.
Of importance only if the field weakening type was set at the voltage limit (Z142.1–
bit 0 = 0).
440
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3.7.6
3
Two-level controller
3.7.6.1 General
The b maXX® controller has 2 two-level controller, which independently are operating and
which are freely configurable. With the two-level controller 1 fixed and variable switching
thresholds can be monitored. At the two-level controller 2 there are no relative switching
thresholds. The operating mode of the according two-level controller is configurable.
Depending on the data type of the input parameter the corresponding parameter for the
lower and upper switching threshold must be selected.
For the two-level controller with absolute thresholds (function block 151) only is valid:
Data type
IEC data
type
Parameter for
lower threshold
Parameter for
upper threshold
float
REAL
Z151.5–
Z151.6–
int16
INT
Z151.14–
Z151.15–
unsigned int16 UINT
int32
DINT
unsigned int32 UDINT
Bitfield16
WORD
Bitfield32
DWORD
For the two-level controller with absolute and relative thresholds (function block 152) is
valid:
Data type
IEC data
type
Parameter
for absolute
lower
threshold
Parameter
for absolute
upper
threshold
Parameter
for relative
lower
threshold
Parameter
for relative
upper
threshold
float
REAL
Z152.5–
Z152.6–
Z152.7–
Z152.8–
int16
INT
Z152.14–
Z152.15–
Z152.16–
Z152.17–
unsigned int16 UINT
int32
DINT
unsigned int32 UDINT
Bitfield16
WORD
Bitfield32
DWORD
441
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3.7
Controllers
3.7.6.2 Two-level controller with absolute thresholds
This operation mode is the classical application of two-level controllers.
Source number
2-point-controller
input
151.3
Lower
absolute threshold
Upper
absolute threshold
151.6
151.5
Status word 3,
bit 0
151.2
5000_0204_rev01_int.cdr
1
0
Absolute threshold
Absolute value
mode, bit 2
151.1
Figure 120:
Two-level-controller with absolute thresholds
The following is valid for the two-level controller with absolute thresholds:
m Both parameters, lower threshold and upper threshold determine the hysteresis. The
lower switching threshold always must be smaller than the upper switching threshold the controller internally does not check the ratio of these values.
m The two-level controller with absolute thresholds is activated by bit 0 = 1 in parameter
Mode Z152.1–.
m The two-level controller switches off, if the following is valid: 
Two-level controller input  Two-level controller upper switching threshold
m The two-level controller switches on, if the following is valid: 
Two-level controller input  Two-level controller lower switching threshold
Usage e. g. for temperature monitoring, speed monitoring a. s. o.
h(t)
Upper threshold
Lower threshold
5000_0206_rev01_int.cdr
t
y
t
Figure 121:
Two-level-controller with absolute thresholds
442
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3
3.7.6.3 Two-level controller with relative thresholds
In this operating mode the actual value two-level controller is compared with an upper and
lower switching threshold, which is calculated from the momentary value of the parameter
number Z152.4– Relative compare value. Therefore the switching point is not a definite
value, but follows the momentary value, which parameter number is specified in Z152.4–
Relative compare value.
h(t)
rel. upper threshold
rel. lower threshold
rel. compare value
t
t
Figure 122:
5000_0207_rev01_int.cdr
y
Two-level controller with relative thresholds
m The switching hysteresis arises from the difference between the lower and upper
switching threshold.
m The two-level-controller with relative thresholds is activated by bit 1 = 1 in parameter
Z152.1– mode two-level controller.
m The two-level controller switches off, if the following is valid: 
Two-level-controller input  Two-level-controller relative upper switching threshold
m The two-level controller switches on, if the following is valid: 
Two-level-controller input  Two-level-controller lower switching threshold
3.7.6.4 Combination of the operating modes absolute and relative thresholds.
Both threshold types can be activated commonly, in order to limit and monitor the behavior of the relative threshold by a constant, absolute threshold controller.
443
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3.7
Controllers
Lower
absolute threshold
152.5
Upper
absolute threshold
152.6
Mode bit 0
152.1
Source number
2-point-controller
input
Status word 3,
bit 0
152.2
Absolute threshold
Lower
relative threshold
152.7
0
Absolute value
mode, bit 2
152.1
-
Upper
relative threshold
152.8
1
5000_0205_rev01_int.cdr
1
Mode bit 1
152.1
Relative threshold
Relative comparison value
152.4
Figure 123:
Combination absolute and relative thresholds
The output of the two-level controller is activated if the actual value remains under the relative and absolute lower threshold and is deactivated, if the actual value exceeds the relative or absolute upper threshold (NOR logic).
h(t)
abs. upper threshold
rel. on
abs. lower threshold
rel. upper threshold
rel. compare value
rel. lower threshold
5000_0208_rev01_int.cdr
t
y
t
Figure 124:
Combination absolute and relative thresholds
444
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3
3.7.6.5 Sign-independent monitoring
By setting Z151.1– Mode bit 2 the controller generates the absolute value of the actual
value and compares this with the thresholds which accordingly must be positive. Application for this purpose e. g. speed monitoring (independent of positive and negative rotational direction).
3.7.6.6 Linking of the controller output with the target parameter
The output of the two-level controller can directly be used to change a writable controller
parameter. This method is related to that of the digital inputs. All cyclic writable parameters can be used as a target parameter.
When switching off a two-level controller the bit pattern at the output is not changed.
A change of the bit masks or values affects at next switching of the two-level controller.
Meaning of the linking parameters:
Parameter name
Meaning
Target parameter number output
Target parameter number
Bit selection
Selection of the bits in the target parameter, which
have to be changed
Bit pattern at LOW output
Bit pattern, which is written in the target parameter at
controller output LOW.
Bit pattern at HIGH output
Bit pattern, which is written to target parameter at
controller output HIGH
At a positive edge of the two-level controller output the target parameter is changed as
follows:
Target parameter =
(target parameter and not (bit_selection))
OR (bit pattern at high AND bit_selection)
At a negative edge of the two-level controller output the target parameter is changed as
follows:
Target parameter =
(target parameter and not (bit_selection))
OR (bit pattern at low AND bit_selection )
If an error occurs at writing to the target parameter (e. g. value greater than the maximum
value or smaller than the minimum value), by the controller an according error message
occurs.
445
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3.7
Controllers
3.7.6.7 Parameter Overview of the Two-level Controller
Name
Type
Min
Max
Default Value Unit
Factor
151.1
Mode
WORD
0
0x3F
0
1:1
151.2
Status
WORD
0
0xFFFF
0
1:1
151.3
Input
UDINT
0
0xFFFFFFFF 0
1:1
X
151.5
Lower threshold absolute
FLOAT
-5000000000
5000000000
0
1:1
X
151.6
Upper threshold absolute
FLOAT
-5000000000
5000000000
0
1:1
X
151.9
Axis selection output param- UINT
eter
0
1
0
1:1
X
151.10
Target number
UDINT
0
0xFFFFFFFF 0
1:1
X
151.11
Bit selection
DWORD 0
0xFFFFFFFF 0
1:1
X
151.12
Bit pattern LOW
DWORD 0
0xFFFFFFFF 0
1:1
X
151.13
Bit pattern HIGH
DWORD 0
0xFFFFFFFF 0
1:1
X
151.14
UDINT
UDINT
0
0xFFFFFFFF 0
1:1
X
151.15
UDINT
UDINT
0
0xFFFFFFFF 0
1:1
152.1
Mode
WORD
0
0x7
0
1:1
152.2
Status
WORD
0
0xFFFF
0
1:1
152.3
Input
UDINT
0
0xFFFFFFFF 0
1:1
X
152.4
Relative compare value
UDINT
0
0xFFFFFFFF 0
1:1
X
152.5
FLOAT
-5000000000
5000000000
0
1:1
X
152.6
FLOAT
-5000000000
5000000000
0
1:1
X
152.7
Lower threshold relative
FLOAT
-5000000000
5000000000
0
1:1
X
152.8
Upper threshold relative
FLOAT
-5000000000
5000000000
0
1:1
X
152.9
Axis selection output param- UINT
eter
0
1
0
1:1
X
152.10
Target number
UDINT
0
0xFFFFFFFF 0
1:1
X
152.11
Bit selection
DWORD 0
0xFFFFFFFF 0
1:1
X
152.12
Bit pattern LOW
DWORD 0
0xFFFFFFFF 0
1:1
X
152.13
Bit pattern HIGH
DWORD 0
0xFFFFFFFF 0
1:1
X
152.14
UDINT
UDINT
0
0xFFFFFFFF 0
1:1
X
152.15
UDINT
UDINT
0
0xFFFFFFFF 0
1:1
X
152.16
UDINT
UDINT
0
0xFFFFFFFF 0
1:1
X
152.17
UDINT
UDINT
0
0xFFFFFFFF 0
1:1
X
446
of 724
Cyclic Write
Number
DS Support
Storage
Read only
Fb2LevelCtrlAbs [151] 
Fb2LevelCtrlRel [152]
Functional blocks:
X
X
X
X
3
3.7.6.8 Description of the Two-level Controller Parameter with absolute Thresholds
151.1
Mode
Configuration of the absolute two-level controller
Bit
Meaning
0
0: Inactive
1: Active
1
Reserved
2
0: No absolute-value generation at actual value (comparison signed)
1: Absolute-value generation at actual value (symmetrical monitoring)
4 ... 3
5
15 … 6
151.2
Performance two-level-controller output
00: Standard performance (switch on accordant hysteresis)
01: Set output only once
10: Reset output only once
11: Reserved
0: No automatic reset by status word bit 15
1: Automatic reset by status word bit 15
Reserved
Status
State of the absolute two-level controller
151.3
Bit
Meaning
0
0: Inactive
1: Active
15 … 1
Reserved
Input
Parameter number of the input of the two-level controller. With value 0 no comparison to
absolute thresholds operates.
447
of 724
3.7
Controllers
151.5
If the data type of the parameter selected with Z151.3– is FLOAT, then this parameter
forces the lower absolute switching threshold.
The absolute two-level controller switches on, if the following is valid:
Parameter number actual value  lower absolute switching threshold
151.6
forces the upper absolute switching threshold.
The absolute two-level controller switches off, if the following is valid:
Parameter number actual value  upper absolute switching threshold
151.10
Target number
Selection of the target parameter of the absolute two-level controller output.
151.11
Bit selection
Selection of the bits to be changed of the target parameter for the absolute two-level controller output.
151.12
Bit pattern LOW
Bit pattern which is written in the target parameter at absolute two-level controller output
LOW (negative edge).
151.13
Bit pattern HIGH
Bit pattern which is written to the target parameter at absolute two-level controller output
HIGH (positive edge).
151.14
Lower threshold absolute UDINT
If the data type of the parameter selected with Z151.3– is INT, DINT, UINT, UDINT,
WORD or DWORD, then this parameter forces the lower absolute switching threshold.
448
of 724
3
Parameter number actual value  lower absolute switching threshold
151.15
Upper threshold absolute UDINT
WORD or DWORD, then this parameter forces the upper absolute switching threshold.
Parameter number actual value  upper absolute switching threshold
3.7.6.9 Description of the Two-level Controller Parameter with relative and absolute Thresholds
152.1
Mode
Configuration of the relative two-level controller
Bit
0
0: Comparison actual value to absolute thresholds inactive
1: Comparison actual value to absolute thresholds active
1
0: Comparison actual value to relative thresholds inactive
1: Comparison actual value to relative thresholds active
2
0: No absolute-value generation at actual value (comparison signed)
1: Absolute-value generation at actual value (symmetrical monitoring)
15 … 3
152.2
Meaning
Reserved
Status
State of the relative two-level controller
Bit
Meaning
0
Status indication of the entire two-level controller
0: Output inactive
1: Output active
1
Status indication of the absolute two-level controller
0: Output absolute two-level controller inactive
1: Output absolute two-level controller active
449
of 724
3.7
Controllers
Bit
2
15 … 3
152.3
Meaning
Status indication of the relative two-level controller
0: Output relative two-level controller inactive
1: Output relative two-level controller active
Reserved
Input
Parameter number of the input of the two-level controller. With value 0 no comparison to
absolute thresholds operates.
152.4
Relative compare value
Parameter number of the relative compare value. With value 0 no comparison to relative
thresholds operates.
152.5
forces the lower absolute switching threshold.
Parameter number actual value  lower absolute switch threshold
152.6
forces the upper absolute switching threshold.
Parameter number actual value  upper absolute switch threshold
152.7
forces the lower relative switching threshold.
The relative two-level controller switches on, if the following is valid:
Parameter number actual value  parameter number relative compare value + 
lower relative switch threshold
450
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3
152.8
forces the upper relative switching threshold.
The relative two-level controller switches off, if the following is valid:
Parameter number actual value  parameter number relative compare value + 
upper relative switch threshold
152.10
Target number
Selection of the target parameter of the relative two-level controller output.
152.11
Bit selection
Selection of the bits to be changed of the target parameter for the relative two-level controller output.
152.12
Bit pattern LOW
Bit pattern which is written in the target parameter at two-level controller output LOW
(negative edge).
152.13
Bit pattern HIGH
Bit pattern which is written to the target parameter at two-level controller output HIGH
(positive edge).
152.14
Lower threshold absolute UDINT
WORD or DWORD, then this parameter forces the lower absolute switching threshold.
Parameter number actual value  lower absolute switch threshold
451
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3.7
Controllers
152.15
Upper threshold absolute UDINT
WORD or DWORD, then this parameter forces the upper absolute switching threshold.
Parameter number actual value  upper absolute switch threshold
152.16
Lower threshold relative UDINT
WORD or DWORD, then this parameter forces the lower relative switching threshold.
The relative two-level controller switches on, if the following is valid:
Parameter number actual value  parameter number relative compare value + 
lower relative switch threshold
152.17
Upper threshold relative UDINT
WORD or DWORD, then this parameter forces the upper relative switching threshold.
The relative two-level controller switches off, if the following is valid:
Parameter number actual value  parameter number relative compare value + 
upper relative switch threshold
452
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3.7.7
3
Flux controller
The output of the field weakening controller is the set value of the flux controller at asynchronous machines. The flux controller is a simple PI-controller with proportional gain Kp,
integral time Tn and limitation. The Isd-set value is at the output of the flux controller.
Figure 125:
ProDrive Flux controller
The actual flux value is calculated from an asynchronous machine value. If the Kp of the
flux controller is set to 0, the inverse of the Imr-flux-characteristic is set for the Isd-set value.
453
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3.8
Operating Modes
3.8
Operating Modes
3.8.1
Operating Modes general
In this chapter the functions and parameter will be described, which are valid for several
operating modes.
m Hardware limit switch monitoring
m Software limit switch monitoring
m Positioning window monitoring with parameters Z121.5– and Z121.6–.
m Override factor for set value speed via parameter Z121.7–.
m Setting of the delay value at stop request, e.g. from the control word or through a
limit switch via parameter Z121.8–.
m Bipolar limit to limit the output speed set value of the active operating mode via
Z121.11–.
m Command Moving to positive stop
Overview of the using in the operating modes:
Operating mode Hardware
limit
(Z109.1–) *)
switch
monitoring
Software
limit
switch
monitoring
Spindle positioning (-6)
Position- Speed
Stop
Speed
ing winoverride delay
limit
dow
Z121.7– Z121.8– Z121.11–
monitoring
X
Position control
with synchronous
position set value
specification (-4)
X
Speed control (-3)
X
Target position
setting (1)
X
Speed setting 1
(2)
X
Manual drive
operation (5)
X
X
X
Modulo Moving
position to posiactual
tive stop
value
X
X
X
X
X
X
X
X
X
X
X
X
X
X
Homing (6)
X
X
X
X
X
X
X
X
*) This functions are not effective in the unlisted operating modes.
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3
3.8.1.1 Moving to positive stop command
With this function it is possible to move with an adjustable torque against a mechanical
stop without an error message or an error switch off by the controller. The function can
be used to fix a component for instance.
Requirements:
m The command is only available in the "Position control with synchronous position set
value specification (-4)" operating mode. The command is ignored at all other operating
modes.
m The command cannot be used with master-slave torque coupling or gantry axes.
m The "N=0" message must operate correctly. Therefore the parameter Z6.1– Standstill
threshold must be greater than the noise of the speed actual value at standstill always.
m The specified speed set value during the command must be greater than the standstill
threshold.
m The parameters Z120.11– Homing blocking time and Z120.12– Homing torque limit
must be set properly. On the one hand the reduced torque limit must be selected great
enough in order to decide safely the reaching of the torque limit, on the other hand the
reduced torque limit must be selected small enough in order to exclude a damage of
the positive stop.
Options:
The options can be adjusted in parameter Z121.23– Mode positive stop drive.
m Monitoring of the positive stop
The stop at the positive stop can be monitored by a symmetrical monitoring window. A
new drive error is generated if the position actual value is out of this window.
The n=0 message can be monitored instead of using the monitoring window.
The error reaction can be set on demand. Default reaction = pulse inhibit.
m The reduction of the torque limit can be switched off via Z120.12–.
Process:
The command is enabled by setting bit 0 in Z121.21–. The controller acknowledges this
by setting bit 0 in Z121.22– Status positive stop drive. The controller reduces at once the
torque limits by means of the set values in Z120.12– Homing torque limit, i.e. moving
against the positive stop occurs with reduced torque limits. The master control provides
the speed profile in the position control operating mode and must therefore consider the
available reduced torque in the set value profile. The blocking monitoring, position error
monitoring and the speed control deviation monitoring are switched off in the controller
when starting the command.
The messages "N=0" (Z6.2–) and "Torque current set value is limited" (Z18.20– bit 13)
are used to detect the positive stop. Copies of these messages are available in the bits 8
and 9 of the Z121.22– Status positive stop drive. The copies are available only during on
active command.
The controller sets the message "Positive stop reached" when both conditions are fulfilled
during Z120.11– Homing blocking time. Simultaneously with the setting of the message 
the effective position actual value at the stop position is stored in parameter Z121.4–, the
optional positive stop monitoring is activated and the cyclic set values from the master
control are ignored.
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3.8
Operating Modes
The monitoring of the stop at the positive stop is enabled until the command is disabled.
The master control must now synchronize its position set value with the effective position
actual value and can then transmit the new set value to the controller.
The disabling of the command is done via bit 0 = 0 in Z121.21–. The positive stop monitoring is disabled, the three switched off monitorings are enabled again, the torque reducing is disabled and the set values of the master control are effective in the controller
after disabling the command.
NOTICE!
1
The motor can be destroyed at active command, because the blocking monitoring
of the controller is switched off during the command and therefore a blocking,
which is not caused from a positive stop, does not result in a switch off.
2
The device can be damaged at active command. The user must avoid this by a
proper set value profile (maximum acceleration, maximum speed) and by enough
reduced torque limits.
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Figure 126:
3
Sequence of the Moving to positive stop command in the Position control (-4) operating mode
457
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3.8
Operating Modes
3.8.1.2 ProDrive general parameters
Figure 127:
ProDrive Positioning, general parameters
Name
Type
Min
Max
Default Value Unit
Factor
121.1
Positioning general mode
WORD
0x0
0xFFFF
0x0
1:1
121.2
Status limit switch
WORD
0x0
0xFFFF
0x0
1:1
121.3
Negative software limit
switch
UDINT
0
Inc
1:1
X
121.4
Positive software limit switch UDINT
0
0xFFFFFFFF 0xFFFF0000
Inc
1:1
X
121.5
Positioning window
UDINT
0
0xFFFFFFFF 0x1000
Inc
1:1
X
121.6
Positioning window time
UINT
0
65535
10
ms
1:1
X
121.7
Feedrate override
UINT
0
65535
10000
%
100:1
X
121.8
Stop delay
UDINT
7
65535
200
Inc/
ms²
100:1
X
121.9
Positioning position actual
value
UDINT
0x0
0xFFFFFFFF 0x0
Inc
1:1
X
121.10
Maximum position value
UDINT
0x0
Inc
1:1
X
121.11
Speed limit
UDINT
1
65535
Inc/ms 1:1
121.12
Position actual value revolu- UDINT
tions with overflows
0
0xFFFFFFFF 0
121.13
Input revolutions of load gear UDINT
1
0x7FFFFFFF 1
1.1
X
121.14
Output revolutions of load
gear
1
0x7FFFFFFF 1
1:1
X
UDINT
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3276
Inc
Cyclic Write
Number
DS Support
Storage
FbPosCommonData [121]
Read only
Functional block:
X
X
X
X
1:1
121.15
Modulo revolutions
UDINT
0
0x7FFFFFFF 1
1:1
X
121.16
Rotation position resolution
UDINT
0
0x7FFFFFFF 3600000
1:1
X
121.17
Modulo position actual value UDINT
0
0xFFFFFFFF 0
1:1
X
121.18
Status
DWORD 0x0
0xFFFFFFFF 0x0
1:1
X
121.19
Speed actual value motor
encoder
FLOAT
-2147483647
2147483647
Grad/s 1:1
X
121.20
Coarse position window
UDINT
0
0xFFFFFFFF 0x2000
121.21
Command positive stop drive WORD
0x0
0x1
0x0
1:1
121.22
Status positive stop drive
WORD
0x0
0xFFFF
0x0
1:1
121.23
Mode positive stop drive
WORD
0
0xFFFF
0
1:1
121.24
Positive stop position
UDINT
0x0
0xFFFFFFFF 0x0
Inc
1:1
121.25
Monitoring window positive
stop drive
UDINT
0x0
0x7FFFFFFF 0x1000
Inc
1:1
0
Inc
1:1
3
X
X
X
X
X
X
121.1
Positioning general mode
Bit
Meaning
0
1: Software limit switch monitoring ON
1
1: Hardware limit switch monitoring ON
3…2
Reserved
4
1: Calculation of Modulo position actual value ON
5
1: The overflows of the encoder in parameter Z106.15– are ignored at initialization of Modulo position actual value.
15 ... 6
Reserved
Remark:
m Bit 0: Software limit switch monitoring
Bit 0 is used to switch on monitoring for software limit switches.
Bit 0 = 0: Monitoring of software limit switches is deactivated.
Bit 0 = 1: Monitoring of software limit switches is activated.
Response with active monitoring in the different operating modes:
n Position target entry: Response depends on the setting in Z118.2– Positioning
Mode Bit 4. For details, refer to Z118.2–.
n Manual operation: The drive is decelerated to speed 0 when a software limit switch
is reached. A error message will not be generated. Depending on the limit switch,
the corresponding direction will be blocked.
n Position control with synchr. position set value entry: 
The behavior is set in Z136.2– Mode bits 4 and 5.
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3.8
Operating Modes
m Bit 1: Hardware limit switch monitoring
Bit 1 is used to switch on monitoring for hardware limit switches.
Bit 1 = 0: Monitoring of hardware limit switches is deactivated.
Bit 1 = 1: Monitoring of hardware limit switches is active.
Response with active monitoring in the different operating modes:
n Position target entry: Response depends on the setting in Z118.2– Positioning
Mode Bit 5. For details, refer to Z118.2–.
n Manual operation: The drive is decelerated to speed 0 when a hardware limit switch
is reached. A error message will not be generated. Depending on the limit switch,
the corresponding direction will be blocked.
n Position control with synchr. position set value entry: 
n Speed control and speed set value 1: 
NOTE!
The activation of limit switch monitoring is of no importance for the reference run operating mode.
121.2
Status limit switch
This parameter shows the conditions of hardware and software switches.
Bit
Meaning
0
1: negative hardware limit switch active
1
1: positive hardware limit switch active
2
1: Zero point changeover switch (home position switch) active
3
Reserved
4
1: negative software limit switch active
5
1: positive software limit switch active
7 ... 6
Reserved
8
1: At least one hardware limit switch is active
9
1: At least one software limit switch is active
15 … 10 Reserved
The conditions of the limit switches are checked for plausibility. If the limit switch statuses
return an overall status that is not logical, the error 905 "Error Limit Switch Monitoring" will
be generated.
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3
The causes for that could be:
n Both hardware limit switches are active at the same time.
n Positive software limit switch and negative hardware limit switch are active at the
same time.
n Negative software limit switch and positive hardware limit switch are active at the
same time.
Possible causes:
n Software limit switches are set incorrectly, e.g. values for positive and negative limit
switches are switched.
n Hardware limit switches are wired incorrectly.
n Errors on the wiring for hardware limit switches.
Effect of Error 905 "Error Limit Switch Monitoring":
A parameterized error action is carried out. If the entry for error response is "no response", the response will occur depending on the operating mode and without pulse
block, which means the current operating mode will remain active.
– Position target entry: Always stop including error message 905.
– Manual operation: Always stop including error message 905.
– Position control with synchr. position set value entry: 
In the case of an error the error message 905 is only generated, if Z136.2– Mode
bit 4 = 1 (drive internal stop) or bit 5 = 0 (error message is activated). For further details, refer to Z136.2–.
– Speed control and speed set value 1: 
In the case of an error the error message 905 is only generated, if Z110.2– Mode
bit 9 = 0 (error message is activated) . For further details, refer to Z110.2–.
However, before the error is reset, the wiring of the hardware limit switches and parameterization of the software limit switches must be checked.
121.3
Negative SW limit switch
This parameter limits the permitted adjusting range with active software limit switch monitoring in the negative direction (= negative output speed).
It indicates the lowest target position that can be approached in operating mode position
target entry.
In operating modes manual operation and position control with synchronous position set
value specification, a stop occurs immediately if there is a drop below the value with the
adjusted stop delay (Z121.8–).
121.4
Positive SW limit switch
This parameter limits the permitted adjusting range with active software limit switch monitoring in the positive direction (= positive output speed).
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3.8
Operating Modes
It indicates the greatest target position that can be approached in operating mode position
target entry.
In operating modes manual operation and position control with synchronous position set
value specification, a stop occurs immediately if the value is exceeded with the adjusted
stop delay (Z121.8–).
121.5
Positioning window
Operating mode position target specification (= 1) and spindle positioning (= -6): If the
drive reaches a window around the new target position, the "Position target reached" bit
will be set in the status word. The positioning window is symmetrical surrounding the target position and is determined with this parameter.
Operating mode reference run (= 6): The positioning window for standstill recognition is
used with Set Home Position.
Additionally the parameter is used in all position controlled operating modes for generating the "In Position" message (bit 6 in Z121.18– Status). If the absolute value of Z18.60–
Position error rev+angle is less than the positioning window, the drive generates the message "In Postion".
121.6
Positioning window time
This parameter is used to prevent that the "Position target reached" bit is set when the
briefly moving across the positioning window. The time during which the drive must be
located in the positioning window before "Position target reached" is set must be determined.
If the drive is pushed out of the positioning window again, such as through the load, "Positioning target reached" will be deleted again. The next dip into the positioning window
will restart time monitoring.
121.7
Feedrate override
This parameter can be used to adjust a previously adjusted target speed "online" (during
movement). The factor affects the following speeds:
n Max. positioning speed of the active positioning set in the operating mode position
target specification (= 1)
Vmax = Vpos * Feedrate Override / 100%
n Tipping speed 119.3 in the operating mode manual operation (= 5)
Vmax = Vtipp * Feedrate Override / 100%
Limiting to the maximum speed of the drive occurs according to the multiplication with the
Feed rate Override.
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3
Special cases:
n When the multiplication with the feed rate override results in a maximum speed of
0 Inc/ms, a stop will occur.
121.8
Stop delay
The stop delay describes the maximum permitted deceleration of the drive with the stop
request through a limit switch or command through the control word.
121.9
Positioning position actual value
This parameter shows the current position actual value. The parameter is updated with
the cycle time of the fieldbus task Z1.10–.
121.10
Maximum position value
This parameter shows the maximum possible position value with the set position resolution.
It is calculated as follows:
Maximum revolution = whole-number result from FFFFFFFFhex / position resolution
When the position resolution is a squaring, then the maximum revolution must be increased by one.
Maximum position value = (Maximum revolution * position resolution) - 1
NOTE!
For Motion Control applications, the position resolution is permanently set to 65536
Inc/revolution!
The result is a maximum position value of FFFFFFFFhex.
121.11
Speed limit
Bipolar limit to limit the output speed of the positioning operating modes.
Additionally the Z107.26– maximum mechanical speed of the motor for determination of
the effective speed limit in the below-mentioned operating modes is used for the protection of the motor and the mechanical setup.The lesser value of the parameter Z121.11–
and Z107.26– is effective.
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3.8
Operating Modes
If the value 0 rpm is entered in Z107.26–, the value is ignored at the determination of the
speed limit, i.e. Z121.11– is effective.
Reference run (Operating mode 6):
If the set Z120.5– Homing speed exceeds the effective speed limit (Z121.11– and
Z107.26– respectively), the speed will be reduced to the value of the limit and Bit 6 is set
in the Z120.1– Status.
Position target specification (Operating mode 1) and manual operation (Operating
mode 5):
If the set Z118.11– positioning speed or Z119.3– tipping speed multiplied with the
Z121.7– Feed Rate Override exceeds the effective speed limit (Z121.11– and Z107.26–
respectively), the speed will be reduced to the value of the limit and Bit 6 is set in the corresponding operating mode status (Z118.1– or Z119.1–).
Position control with cyclic set value specification (Operating mode -4):
The input position values including offset parameters (Z136.3– to Z136.7–) are monitored for overspeed. If the resulting set value speed exceeds the effective speed limit
(Z121.11– and Z107.26– respectively), the speed will be reduced to the value of the limit, the error 910 "Overspeed detected at the set value input" will be triggered and Bit 6 will
be set in the Z136.1– Status.
Spindle positioning (Operating mode -6):
If the set spindle positioning speed Z149.4– exceeds the effective speed limit (Z121.11–
and Z107.26– respectively), the speed will be reduced to the value of the limit and Bit 6
will be set in the Z149.1– Status.
121.12
Position actual value revolutions with overflows
This parameter shows the current revolutions of the position actual values including the
revolution overflows Z106.15–.
The parameter is initialized at each encoder initialization, considering the sum of revolutions of the encoder actual value (encoder for position controlling; see Z18.9–) and the
number of revolution overflows. If the overflows of Z106.15– should be ignored, bit 5 in
Z121.1– must be set.
The parameter has the further characteristics:
m Update with the cycle time of the fieldbus task Z1.10–.
m Bit 4 in Z121.1– must be set for calculation.
m The parameter counts to the maximum value of Z137.2– * Z106.16– / 2 
(Z106.16– Revolution overflow counter max value and
Z137.2– Number of revolutions (= "Multiturn area" of the encoder))
m No control-specific use in the controller
m Writable in order to be set externally
m A homing has no influence on the parameter
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121.13
3
Input revolutions of load gear
Input revolutions of load gear ("motor side")
121.14
Output revolutions of load gear
Output revolutions of load gear ("load side")
The parameters Z121.13– and Z121.14– are used for the calculation of Z121.17– Modulo position actual value only.
Changes in the parameters Z121.14– and Z121.13– become effective not before a reboot of the controller.
121.15
Modulo revolutions
Modulo value in complete revolutions.
This parameter defines the point in which the revolutions of the Modulo position actual
value should overflow ("turnover") to 0.
Modulo value = 1: The revolutions at the gear output are irrelevant for the Modulo position
actual value.
Modulo value = 0: The revolutions at the gear output will be added to the Modulo position
actual value without modulo division.
The parameter Modulo revolution will be effective only if the following condition is complied with:
Modulo revolutions < (232-1) * Output revolutions Z121.14– / Input revolutions Z121.13–
121.16
Rotation position resolution
This parameter contains the value of the rotation position resolution and defines the value
of the rotation weighting. A value of 3600000 corresponds with a LSB value of
0.0001 degrees.
Rotation resolution = 0: Only the angle of the gear output will be transferred 1:1 in Modulo
position actual value! The revolutions at the gear output are not used and the modulo calculation is not executed.
An exorbitant value in the rotation position resolution can cause an unrequested overflow
in Z121.17– Modulo position actual value. Therefore the following condition applies:
Modulo revolutions * Rotation position resolution < 232
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3.8
Operating Modes
121.17
Modulo position actual value
The Modulo position actual value is the result of the conversion of the position actual value (actual value of the encoder for position control; see Z18.9–) using the parameters
Z121.12– to Z121.16–.
The initialization of the Modulo position actual value is executed at each encoder initialization. The input value of the gear is set. based on parameter Z121.12–. This value is
multiplied with the gear factor (Z121.13– and Z121.14–) and results in the start value for
the position at encoder output. The value at the gear output is multiplied with Z121.16–
Rotation position resolution in consideration of Z121.15– Modulo revolutions.
The parameter has the following characteristics:
m Bit 4 in Z121.1– must be set for calculation.
m No control-specific use in the controller.
m A homing has no influence on the parameter.
Figure 128:
121.18
Simplified presentation of the calculation of the Modulo position actual value
Status
Status display of the functional block: 
Bit
Meaning
0
1: Function Modulo position actual value is switched on
1
Reserved
2
Warning: It is not possible to operate the actual positioning value of the
modulo continuously, if parameterization was set.
3
Error at initialization of the Modulo position actual value caused by improper
parameterization
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3
Bit
Meaning
4
Reserved
5
1: Rough in position; Position error < Position window rough
6
1: In position; Position error < Position window
7
1: Position set value has reached active target position  function finished
9 ... 8
Reserved
10
1: Position actual value = active target position  Set value reached
11
Reserved
12
1: Set value acknowledgment
31 … 13 Reserved
121.19
Speed actual value motor encoder
Display of the Speed actual value of motor encoder (= Speed actual value Z18.22–) in
load standardization.
Output revolution
Speed actual value motor encoder = Speed actual value  -----------------------------------------Input revolution
= Z18.22– * Z121.14– / Z121.13–
The parameter has the further characteristics:
m Z18.22– means the smoothed speed actual value of the motor encoder is used!
121.20
Coarse position window
If the absolute value of Z18.60– Position error rev+angle is less than Z121.20– Coarse
position window, the drive messages in Z121.18– Status bit 5 "Coarse in position".
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3.8
Operating Modes
121.21
Command positive stop drive
Command parameter to start and stop the command "Moving to positive stop"
Bit
0
15 … 1
121.22
Meaning
0: Switch off command "Moving to positive stop"
1: Activate command "Moving to positive stop"
Reserved
Status positive stop drive
Status of the command "Moving to positive stop"
Bit
0
3 ... 1
Meaning
1: Moving to positive stop active
Reserved
4
1: Error – monitoring of the positive stop generates error message
5
1: Error – command "Moving to positive stop" not possible
6
1: Error – command aborted at positive stop
7
Reserved
8
1: N=0-message
9
1: Message "Clamping torque reached"
10
1: Message "Positive stop reached"
15 ... 11
Reserved
Notes:
Bit 0:
The bit is set as soon as the command is recognized by the drive and activated.
Bit 4:
Monitoring of the positive stop generates error message
The bit is set in case the positive stop was reached (bit 10 = 1) and the position actual
value of the drive is out of the symmetric monitoring window Z121.25– of the positive
stop position Z121.24– or the N=0 message is not available. The selection between
both monitoring possibilities "monitoring window" or "N=0 message" is set in Z121.23–
in bit 0-1.
Bit 5:
Error - Moving to positive stop not possible
The bit is set in case the command cannot be started because of the current operation
state. The error is also generated if the master-slave torque coupling or the gantry function is active.
The bit 0 "Positive stop drive active" of Z121.22– remains 0 in this case.
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Bit 6:
3
Error - Command aborted at positive stop
The error is generated if the command is aborted at following states:
– the N=0 message is generated and
– the clamping moment is reached,
– but the message "Positive stop reached" was not generated by the controller yet
(Z121.22– Status bit 10 = 0).
Bit 8:
Copy of the standstill message (Z6.2–) of the motor encoder, the bit is updated at active command only.
Bit 9:
The bit is set if the torque actual value has reached the clamping torque. The bit is updated independently on the n=0 message as far as the command is active.
Bit 10:
Message "Positive stop reached" is set if the n=0 message and the message "Clamping torque reached" are present constantly during the Blocking time (Z120.11–).
121.23
Mode positive stop drive
Bit
Meaning
0 -1
Monitoring positive stop
00: no monitoring
01: via monitoring window positive stop Z121.25–
10: via n=0 message
11: Reserved
2
15 ... 3
0: torque reduction via Z120.12– active
1: torque reduction via Z120.12– disabled
Reserved
Note:
Bit 2:
If the bit is set, the parameter Z120.12– Homing torque limit [%] related to the maximum available torque current Z19.8– is not evaluated during the command.
121.24
Positive stop position
When reaching the positive stop (Z121.22– bit 10 = 1 "Positive stop reached") the controller stores the current position actual value (Z121.9–) in this parameter.
This value is the base for positive stop monitoring via monitoring window.
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3.8
Operating Modes
121.25
Monitoring window positive stop
The stop at the positive stop is monitored with the monitoring window. The reference is
the stored value in Z121.24– Positive stop position.
The drive generates an error if the position actual value is outside of this positive stop window. The parameter setting should not disturb the correct positive stop procedure. The
monitoring should detect a break or deformation of the positive stop.
The monitoring can be enabled via Z121.23– Mode positive stop drive bit 0-1 = 01.
470
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3.8.2
3
Target Position Setting (Positioning) Mode
The target position setting mode is a drive-controlled positioning mode. Based on the target position specification, the motion profile is calculated in the drive and the drive is
moved to the target position. The drive can only ever calculate the profile for its own axis.
The positioning operation can be used to implement
m route positioning or
m rotary table positioning
may be implemented.
A trapezoidal profile (optimum time) or an S-curve (jerk-free) can be selected for the
speed profile.
The drive has 16 positioning records (1 ... 16) and one active positioning set (0), in which
the positioning data (e.g. position set value, positioning speed, positioning acceleration,
etc.) are stored.
The positioning data can be changed
m statically (i.e., before the positioning starts) or
m dynamically (during an active traversing process)
may be changed. In the case of dynamic changes, the traverse profile is automatically
adapted to the new positioning data.
The target position can be specified
m absolutely
m relative to the target position or
m relative to the instantaneous actual position ("positioning on the fly")
may be indicated.
During positioning the travel of the drive can be restricted by hardware limit switches and
by freely settable software limit switches. If the drive reaches such a limit switch it will be
braked and a corresponding status message or error message will be generated.
To determine the actual position, one of the supported encoder systems can be used.
Various possibilities for the reference run are given to establish an absolute reference
from the drive position to the travel route for encoder systems that do not provide any absolute position information (e.g., incremental encoders) or for single-turn encoders (e.g.,
resolvers). These are implemented in their own operating mode and will be described in
a separate section.
3.8.2.1 Controlling the Positioning
Two handshake procedures are implemented for controlling the positioning. The selection is defined by Bit 8 in Parameter Z118.2– Mode.
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3.8
Operating Modes
m Bit 8 = 0: "New Set Value" method (standard method)
Bit 4 "New Set Value" in the drive manager control word is used here. The positioning
set data are copied on each rising edge of this bit (Set X to Set 0), adopted internally
and the positioning procedure started.
m Bit 8 = 1: "Start Positioning" method
The start of positioning takes place with Bit 11 "Start Positioning" of the drive manager
control word.
The following chapters are all based on the "New Set Value" method. The "Start Positioning" method is documented in a separate chapter (see ZControl by Means of the "Start
Positioning" Method– on page 485).
3.8.2.2 Positioning Data
The controller has 16 positioning records (1..16) and one active positioning set (0).
The Current Positioning Set Number parameter Z118.6– defines the positioning set from
which the data will be taken at the next start command (rising edge of "New Set Value"
control bit, control word Bit 4). The data will be copied from the specified positioning set
into Positioning Set 0.
It is also possible to set a mode (see also Z118.2–, Bit 10) in which the positioning data
are transferred and the positioning is started when the current positioning set Z118.6– is
changed. In this case the edge of the "New Set Value" control bit is not required, however
the bit must be set.
There are two different positioning procedures:
m Set specification ("Single set value"): Procedure using individual positioning records: 
With this procedure, a positioning set is started and the drive positions at the target and
holds there. It is possible to activate a new task, even during positioning (edge of New
Set Value). This is then taken up immediately; the drive thus changes directly to the
new positioning data.
The selection of Set Specification depends on the setting in Z118.2– Mode Bit 11.
n Bit 11 = 0: Interpretation of Bit 5 is compatible with b maXX 4400. Set Specification
is selected when Bit 5 is cleared.
n Bit 11 = 1: Interpretation of Bit 5 in accordance with IEC61800-7-201. Set Specification is selected when Bit 5 is set.
m Set Value specification ("set of set values"): Procedure using a speed profile.
With this procedure, several positioning data are activated in sequence. The drive is
not intended to remain at the first target, but rather to activate the next data from the
first target position. 
The selection of Set Value Specification depends on the setting in Z118.2– Mode
Bit 11.
n Bit 11 = 0: Interpretation of Bit 5 is compatible with b maXX 4400. Set Value Specification is selected when Bit 5 is set.
n Bit 11 = 1: Interpretation of Bit 5 in accordance with IEC61800-7-201. Set Value
Specification is selected when Bit 5 is cleared.
The state of the "Change Set Immediately" bit in the control word is evaluated in conjunction with the activation of a motion task, i.e., always on the rising edge of "New Set Value".
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3.8.2.3 Bits in the Control Word / Status Word
The following bits in the Control Word are used for controlling positioning:
Bit
Name
4
New set value
5
6
Meaning
Signal for transferring data and starting the positioning procedure.
Used in the handshake process.
Rising edge activates a positioning procedure
Change set immedi- Flag for deciding between Set Specification and Set Value Specificaately
tion.
The logic depends on the interpretation set in Parameter Z118.2–
Mode Bit 11. *)
Set Specification: The drive should hold at the target. New motion tasks
during the positioning procedure are taken up immediately.
Set Value Specification: The drive only accepts the next motion task
once the target position is reached. It is not held in the target position.
Absolute / Relative
Flag for deciding between absolute and relative target specification
(only if a special target mode is selected).
0: Absolute target specification
1: Relative target specification
*) Z118.2– Mode Bit 11: Interpretation of control word when control is by "New Set
Value"
0: Compatible with b maXX 4400: If Bit 5 = 0, then Set Specification
1: In accordance with IEC61800-7-201: If Bit 5 = 0; then Set Value Specification
The drive sets the following mode-specific bits in the status word as response:
Bit
Name
10
Target position
reached
12
Set Value
handshaking
Meaning
Report that the target position has been reached.
0: Target position not reached
1: Target position reached
Handshake signal, response from the drive regarding the acceptance
of the positioning data:
0: Drive is ready to receive new set values.
1: Confirmation by the drive of acceptance of the set values.
Remarks:
m Target position reached
The Target Position Reached message indicates that the positioning target has been
reached. It is only displayed if the "New Set Value" control word bit is cleared. Due to
the handshake procedure, this message is not displayed if the "New Set Value" bit is
set.
An exception is the "Automatic Start after Change of Positioning Set" option (Bit 10 in
Z118.2– Mode). In this case the Set Value Reached message is not suppressed, even
with the "New Set Value" control bit set.
m Set Value handshaking:
Set Value handshaking is the controller's response to a new start command. The drive
sets this bit when the positioning data have been transferred and the positioning has
been started.
The drive clears the bit as soon as it is ready to accept new set values. The controller
may not start any new positioning tasks while this bit is set. In contrast, the data in the
positioning records can be changed.
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3.8.2.4 Actions on the Rising Edge of "New Set Value"
m The selected positioning set (Z118.6–) is copied to active Positioning Set 0. If Positioning Set 0 was selected, no data will be copied. In this case, the data will be used
directly from Positioning Set 0.
m With relative positioning, the target position is calculated.
m If the software limit switches are activated, the target position is checked for the permissible range of travel and, depending on the setting (Z118.2–, Bit 4), an error is generated or the target position is limited.
m The "Target Position Reached" status flag in the status word (Bit 10) is cleared.
m The "Set Value Handshake" status flag in the status word (Bit 12) is set to indicate that
the positioning data have been accepted.
m In the "Single Set Value" mode, the positioning data are accepted immediately (even
if the drive is still positioning) and the positioning is carried out with the new data.
m In the "Set of Set Values" mode, the data only take effect when the previous target is
reached.
3.8.2.5 Sequence of Events for Positioning Handshake with "Single Set Value"
For "Single set value", Control Word Bits 4 (New Set Value) and 5 (Change Set Immediately) are used.
The interpretation of the two bits is compatible with devices in the b maXX 4400 series, if
Z118.2– Mode Bit 11 = 0.
"Single set value" conforming to IEC61800-7-201 is activated by Z118.2– Mode
Bit 11 = 1. Control Word Bit 5 has inverted logic here compared to the b maxx 4400 interpretation, and must therefore be set for "Single set value" positioning.
The handshake according to the b maxx 4400 interpretation is described in the following
diagrams.
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Figure 129:
3
Positioning handshake (Single Set Value)
1
The controller has transmitted the positioning data to the drive. The data only take effect on an edge of the "New Set Value" bit.
2
The controller sets the "New Set Value" bit in the control word. The rising edge is the
request to start positioning. Since the "Single Positioning Records" mode is to be
used, the "Change Set Immediately " bit (Bit 5 of the control word) must be cleared
on the edge.
3
The drive signals that it has detected the start request by setting the set value handshake. The set values have been accepted and the positioning procedure started.
The "Target Position Reached" message is canceled; likewise the Positioning Status
parameter Z118.1– indicates by clearing the "Function Ended" bit that the ramp generator is issuing new values.
4
The controller cancels "New Set Value".
5
In response to the cleared "New Set Value" bit, the drive also clears the "Set Value
Handshake" bit in the status word. From this point onwards the "Set Value Reached"
message is also displayed again. It is suppressed while "New Set Value" is set.
6
The drive reaches the target position. The ramp generator reports "Function Ended",
however values can still be specified by the smoothing generator.
7
The drive reports Target Position Reached. This occurs depending on the Positioning
Window (Z121.5–) and the Positioning Window Time (Z121.6–) that have been set.
8
New positioning data are sent while a positioning operation is active. These data are
not taken into account until an edge of "New Set Value" has been detected.
9
The controller sets "New Set Value" even though the last positioning operation has
not ended yet. Nevertheless the data are accepted and take effect immediately.
10 The drive signals that it has detected the start request by setting the set value handshake. The new set values have been accepted and were effective immediately, even
if the preceding positioning operation had not ended yet.
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3.8.2.6 Sequence of Events for Handshake with “Set of Set Values”
For "Set of Set Values", Control Word Bits 4 (New Set Value) and 5 (Change Set Immediately) are used.
The interpretation of the two bits is compatible with devices in the b maXX 4400 series, if
Z118.2– Mode Bit 11 = 0.
"Set of Set Values" conforming to IEC61800-7-201 is activated by Z118.2– Mode
Bit 11 = 1. Control Word Bit 5 has inverted logic here compared to the b maxx 4400 interpretation, and must therefore be cleared for "Set of Set Values" positioning.
The handshake according to the b maxx 4400 interpretation is described in the following
diagrams.
Figure 130:
Handshake for “Set of set values”
1
The controller has transmitted the positioning data to the drive. The data only take effect on an edge of the "New Set Value" bit.
2
The controller sets the "New Set Value" bit in the control word. The rising edge is the
request to start positioning. Since the "Set Value Specification" mode is to be used,
the "Change Set Immediately " bit (Bit 5 of the control word) must be set on the edge.
3
The drive signals that it has detected the start request by setting the set value handshake. The set values have been accepted and the positioning procedure started.
The "Target Position Reached" message is canceled; likewise the Positioning Status
parameter Z118.1– indicates by clearing the "Function Ended" bit that the ramp generator is issuing new values.
4
The controller cancels "New Set Value".
5
In response to the cleared "New Set Value" bit, the drive also clears the "Set Value
Handshake" bit in the status word.
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6
The controller has sent new data and sets the New Set Value bit again, so that the
data will be accepted. At this point, the drive has not yet reached the first target position.
7
The drive signals that it has accepted the new data by setting the set value handshake. As the old target still has not been reached, the data will not be effective yet.
The new positioning data will only become effective the moment the first target position is traversed.
8
The controller cancels "New Set Value" again.
9
The drive has reached the first target position and now activates the new positioning
data. From this point the drive is ready to receive new set values; the drive signals
this by clearing the Set Value Handshake.
10 The controller has sent new data and sets the New Set Value bit again, so that the
data will be accepted. The positioning data are to be the last data in this setting sequence; the drive should thus hold at the target. Therefore the "Change Set Immediately" bit must be cleared.
11 The drive signals that it has accepted the new data by setting the set value handshake. As the old target still has not been reached, the data will not be effective yet.
The new positioning data will only become effective the moment the first target position is traversed.
12 The drive has reached the second target position and now activates the new positioning data. From this point the drive is ready to receive new set values; the drive signals
this by clearing the Set Value Handshake.
13 The ramp generator reports "Function Ended", however values can still be specified
by the smoothing generator.
14 The drive reports Target Position Reached. This occurs depending on the Positioning
Window and the Positioning Window Time that have been set.
At the set value specification the controller monitors whether it has got the next set value
in time. If the next set value is not in time, error 911 is messaged. The error reaction is
according to the set reaction for this error.
Special treatment of the error response „No response“:
„No response“ is the preset reaction of error 911. „No response“ means here that the drive
will not be locked due to the error and the reaction is done in the operating mode „Target
Position Setting“. In case of error the ongoing positioning will be aborted, the error will be
messaged and the drive will be decelerated to a standstill with the adjusted positioning
deceleration (Z118.13–).
3.8.2.7 Hardware limit switches
Hardware limit switches can be set to restrict the travel range. These hardware limit
switches only act in the Target Position Setting, Jog, and Position Control with Synchronized Set Value Specification modes. Additionally they can be used for reference runs. In
this case they are used as reference marks, not for restricting travel.
The limit switch monitoring is controlled via Bit 1 of Parameter Z121.1– Positioning General Mode. Basically the monitoring is activated or deactivated with Bit 1; Bit 5 of Parameter Z118.2– can be used to define whether an error message should be displayed to
supplement the braking procedure.
The status of the limit switches is always displayed in Parameter Z121.2– State of Limit
Switches, regardless of the operating mode and the other settings.
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Selecting the Inputs for HW Limit Switches
The selection of the inputs for the limit switches is performed with the aid of the parameter
"Operating Mode of Digital Inputs 1 to 8" (see Parameter 116.2 ff. in chapter ZDigital
Inputs– from page 168).
Limit Switch Monitoring
If the Target Position Setting mode is active and the drive is enabled and one of the hardware limit switches is set, the following response takes place:
m In Parameter Z121.2– State of Limit Switches, the corresponding bit for the HW Limit
Switch is set.
m The drive is braked immediately to Speed = 0 with the ramp set in Parameter Z121.8–
Stop Delay.
m Movement further into the switch is inhibited.
m If the "Error message"
response is selected, an error is generated. 
Error 906: Negative hardware limit switch active
Error 907: Positive hardware limit switch active
The error generated does not result in the inhibition of pulses; the drive thus continues
to be position controlled. This error must be reset before a new motion task is executed.
Driving Out from the Limit Switch
If a new positioning task is now started, a check is made of the direction of travel:
New data set drives in blocked direction of revolution:
m The data set is not executed.
m The blocked direction of revolution remains blocked.
m In error generation mode, the error message is generated again.
New data set drives in open direction of revolution:
m The data set is executed.
m The blocked direction of revolution continues to be blocked for as long as the corresponding HW limit switch is set.
The HW limit switches cannot be used to hold (interrupt) a running positioning operation,
as in any case the new target position must drive into the open direction of revolution.
Special case - both limit switches active
If both hardware limit switches are active, both directions of travel will be blocked. A limit
switch must be free again before a motion task can be executed.
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3.8.2.8 Software Limit Switches
Software limit switches can be activated in the Positioning, Jog and Position Control with
Synchronized Set Value Specification modes to restrict the permissible travel range. The
software limit switches have no effect in any of the other modes.
The following should apply for setting the software limit switches:
HW Limit Switch 1 < SW Limit Switch 1 < SW Limit Switch 2 < HW Limit Switch 2
The behavior of the limit switch monitoring can be set. There are two different modes:
Automatic Limiting Mode
When the automatic limiting mode is set for the software limit switches, target positions
which lie beyond the limit switch are restricted to the respective limit switch. Thus the
drive stops at the software limit switch. Furthermore, the status flag for the particular software limit switch is set and the Set Value Reached message is not displayed.
Error Message Mode
If the Error Message mode is selected for the software limit switches, the drive issues Error Message 908 or 909, "Software Limit Switch 1 or 2 Active" when the target position
lies beyond the limit switch.
The drive remains position-controlled and does not execute the erroneous task. The affected limit switch is indicated in Parameter Z121.2– State of Limit Switches.
No new positioning tasks will be executed while the error message is present. The error
message must be acknowledged beforehand. The Target Position Reached status message is also not displayed.
If a positioning task with an invalid target position is activated while the drive is still moving, the positioning procedure which is still running will be executed to completion.
3.8.2.9 Target Specifications
The numerical range for positioning comprises 32 bits.
The position values are unsigned. There are two exceptions, the CANopen modes 9 and
12. In these modes a computed range offset of 231 is made between the target position
and the actual position. In this respect, the target should be regarded as a signed value.
There are various possible ways of specifying the target position:
m Absolute target specification
m Relative target specification in a positive or negative direction relative to the last target
position
m Relative target specification in a positive or negative direction relative to the actual position at the time when the task was activated.
m Relative target specification with sign relative to the last target position.
m Absolute / relative target specification:
In this case, Bit 6 of the control word determines whether the target is absolute or relative (relative to the last target). If Bit 6 is set while the edge of "New Set Value" is rising, the target specification is relative. If the bit is cleared, the target specification is
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Operating Modes
absolute. A relative target specification is signed, however the same parameter,
Z118.9– Positioning Target Position, is used.
m CANopen mode with range offset: 
In this special mode, the distinction between absolute or relative target specification is
also made via Bit 6 of the control word, but for absolute specifications a range offset is
included in the calculation of the target position. In this mode the numerical range for
positioning should be regarded as signed. The target specification is carried out using
parameter Z118.16– Positioning Relative Target Position.
m CANopen mode without range offset:
In this case there is no range offset calculated in the target position for absolute target
specification. Otherwise, this mode is identically with the CANopen mode with range
offset.
m Absolute positioning to angle in positive and negative direction respectively or shortest
way:
In this case only the angle of the target position is used and this angle will be approached in the next possible position.
m Positioning to absolute angle with selectable number of revolutions
In this case it will be positioned to the denoted angle. Thereby the number of revolutions is calculated relatively.
m Absolute modulo positioning with direction select or shortest way 
This type of positioning can be applied at axes on which an endless moving (rotational
axis application) is desired and the target position should be preset in modulo format.
The translation of a between connected transfer element (e.g. gear) is taken into account via the definition of the range of modulo values (Z118.20– Modulo value).
3.8.2.10 Change of Operating Mode to Positioning
When changing to the Positioning mode, a changeover with speed matching is possible.
To do this, the drive maintains the previous speed for 16 ms (starting from the mode
changeover). Within this time a new positioning task can be started and will then be accepted directly. After the 16 ms have elapsed, the drive is braked to Speed 0 with the preset hold deceleration (Parameter Z121.8– Hold Deceleration).
The speed matching is activated via Parameter Z118.2– Positioning Mode, Bit 0.
3.8.2.11 Halting a Running Positioning Task
A running positioning task can be halted by setting the Halt bit (Control Word Z108.1–,
Bit 8). The data from the current positioning set are used for the deceleration ramp. The
execution of the Halt command is indicated immediately in Positioning Status Z118.1–,
Bit 9. When the set speed = 0 (Positioning Status Z118.1–, Bit 4) and the Speed Zero
message (Z6.2–) is present at the same time, the axis is considered to be halted and Set
Value Reached (Status Word Z108.3–, Bit 10) is set.
When the Halt bit is reset, the remaining travel is automatically completed and the status
bits Set Value Reached (Status Word Z108.3–, Bit 10) and Positioning Status Z118.1–,
Bit 9 are cleared.
The interrupted positioning task can be resumed at the earliest when Set Speed = 0 is
set. If the Halt bit is already set when a start command is set, the positioning task will not
be started. It will only be started when the Halt bit is cleared.
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The profile data, including the target position, can also be changed in the Halt state. A
rising edge on the Start bit (Control Word Z108.1–, Bit 4 "New Set Value" or Bit 11 "Start
Positioning") is required for this. However the motion profile cannot be changed.
3.8.2.12 Aborting a Running Positioning Task
A running positioning task can be aborted by setting the Abort bit (Control Word Z108.1–
Bit 12). The data from the current positioning set are used for the deceleration ramp. The
execution of the Abort command is indicated immediately in Positioning Status Z118.1–
Bit 9. The end of the abort process is indicated with the Set Value Reached bit (Status
Word Z108.3– Bit 10).
A new positioning task can be started at the earliest when Set Speed = 0 (Positioning Status Z118.1– Bit 4) is set. The Abort bit must not be set for this.
In contrast to halting a running positioning task using the Halt bit (Control Word Z108.1–
Bit 8), the positioning is not resumed when the Abort bit is cleared!
3.8.2.13 Set Value Profiles
There are two different speed profiles implemented for positioning: Trapezoidal and SCurve.
m With the trapezoidal profile (optimum time), a constant acceleration is assumed; the
change in acceleration is therefore abrupt. In order to attenuate the resulting jerk, it is
possible to smooth the generated profile with a filter element. Any change to the
smoothing - for example due to the activation of a different positioning set - should only
be carried out after a positioning procedure has ended. The action of a change while a
positioning set is running will be prevented by the profile algorithm. This prevents unwanted creeping or overrunning the target.
m With the S-Curve profile (jerk-free), the acceleration is not changed abruptly but rather
follows a trapezoidal shape. The maximum jerk (change in acceleration) can be set.
The positioning time under otherwise equal boundary conditions (same route, same maximum speed and accelerations) is always longer with the S-Curve profile than with the
trapezoidal profile.
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3.8.2.14 Comparison of Motion Profiles for Positioning
Speed profile
Trapezoidal profile
S-Curve profile
Trapezoidal-shaped
S-shaped
(quadratic)
Block-shaped
Trapezoidal-shaped
Acceleration profile
Impulse
1)
Shock-free
Shock-free
3 or 4 jerks
Jerk-free
Online change of positioning data
possible
Yes
Yes
Single Set Value mode possible
Yes
Yes
Set of Set Values mode possible
Yes
Yes
Jerk 2)
1)
Impulse = Jump in speed = a  
2)
Jerk = Jump in acceleration = da/dt  
The following shows the profiles and the effect of the smoothing generator on the trapezoidal profile by means of an example.
Basic positioning data for the example:
n Travel path = 5 Motor revolutions =
50000hex Inc
n Positioning speed =
1000 Inc/ms
n Positioning acceleration =
20 Inc/ms²
n Positioning deceleration =
20 Inc/ms²
Time-Optimized Positioning (Trapezoidal Speed Profile)
1200
1000
v
800
600
400
200
0
1
Figure 131:
23 45 67 89 111 133 155 177
Sampling steps
Time-optimized positioning
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3
Time-Optimized Positioning with Smoothing = 10 ms (filter element)
1200
1000
v
800
600
400
200
0
1
21 41 61 81 101 121 141 161 181 201 221
Figure 132:
Time-optimized positioning with smoothing
Figure 133:
Jerk-free positioning (S-Curve speed profile) with jerk = 0.12 Inc/ms3
Figure 134:
Jerk-free positioning (S-Curve speed profile) with jerk = 0.63 Inc/ms3
Sampling steps
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Operating Modes
Sampling rate
Figure 135:
Comparison of the curves (trapezoidal profile and S-Curve profile)
Trapezoidal profile Trapezoidal profile
with smoothing
optimum time
S-Curve profile
(jerk-free)
Duration [sampling steps] 188
230
207 or 257
Commissioning behavior
-
o
+
Driving into the target
-
+
+
Acceleration profile
Rectangular
Filter characteristic Trapezoidalshaped
Tendency to vibration
-
o
+
3.8.2.15 Control by Means of the "Start Positioning" Method
Positioning control by means of the "Start Positioning" method is described in the following.
This mode can be activated via Z118.2– Positioning Mode Bit 8 = 1.
Sequence of events
The controller has 16 positioning records (1..16) and one active positioning set (0).
At the start of the positioning task, one of the 16 positioning records (1...16) is selected
with Z118.6– Positioning Record Number Actual or a positioning set is transferred e.g.
via a Fieldbus. The positioning task is started with the Start Positioning command (Bit 11
of the Control Word).
The Start bit must always be set to start a positioning task. The positioning task then runs
to the end regardless of the Start bit.
The following differences for this Start bit arise depending on the Positioning Target Mode
parameter (Parameters Z118.10– Target Mode for Positioning Set 0, Z118.19– Target
Mode for Positioning Records 1 to 16):
m With absolute limited target setting (Target Mode = 0, limited to maximum travel amplitude), the Start bit can remain permanently set; positioning is then always based on the
current, absolute target position. This means that when the Start bit is set, only further
new (absolute) target positions need to be written.
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m Normal relative target setting, in contrast, depends on the positive edge of the Start bit.
A new target position is generated relative to the old position when the positive edge
of the Start bit occurs.
m On-the-fly relative target setting also depends on the positive edge of the Start bit. A
new target position is generated relative to the instantaneous actual position when the
positive edge of the Start bit occurs.
m With absolute unlimited target setting (Target Mode = 3, not limited to maximum travel
amplitude) positioning is carried out in the direction of the shorter path to the target.
The maximum travel range can be exceeded if the software limit switch function is off.
With the trapezoidal and S-Curve profiles, new positioning data (target position, positioning speed, positioning acceleration, etc.) can also be activated while in motion.
If Positioning Set 0 (Parameters Z118.9– to Z118.16–) is selected in Z118.6– Positioning Record Number Actual, on-line changes must also be made here. The changes take
effect immediately if
m the Start bit is set and
m no positioning error (e.g. hardware limit switches active) is present.
If one of the positioning records 1 to 16 is selected in the current set number, on-line
changes can be made in the selected set. The data from the selected positioning set are
copied completely into Positioning Set 0 and take effect when, in addition to the two conditions above,
m a rising edge on the Start bit has been detected
or
m Z118.6– Positioning Record Number Actual has changed and at the same time
m is activated via Bit 10 "Automatic Start on Change of Positioning Set" in Z118.2– Positioning Mode.
Alternatively, Positioning Set 0 can be written to directly. The basic values of the addressed positioning set then remain unchanged during the on-line changes. Thus only the
speed can be changed at a relative positioning, too. The effective target position remains
unchanged.
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Operating Modes
m Sequence of events for an absolute positioning task (Target Mode = 0)
v
Data
108.1
Start positioning
Controlword bit no. 11
118.1
Function completed
Positioning status bit no. 1
Speed profile of drive
12
Figure 136:
3 4
12
5
6
34
t
5000_0151_rev02_int.cdr
108.3
Target position reached
Statusword bit no. 10
Sequence of events for absolute positioning
Description of the transitions:
Transition
Meaning
Comment
1
Start positioning L  H
Positioning data valid; start request transmitted to control word.
2
Function ended H  L and 
target position reached H  L
Positioning is started. Start Positioning can be reset.
Between (1) and (2) there is a delay of up to 1 ms!
3
Function ended L  H
Set Value setting by the ramp generator ended.
Caution: Position set values may continue to be issued via the smoothing generator;
see Positioning Status Bit 1
4
Target position reached L  H
Is set correspondingly later than the function ends, depending on settings for Positioning Window and Positioning Window Time.
5
New target position valid
Start bit is set; new target position transmitted or the positioning set has been changed
(a reversal of the direction of revolution takes place in the example for this reason).
6
New positioning speed valid
Start bit is set; a new positioning speed has been transmitted to positioning set 0.
NOTE!
To alter the current positioning speed or the current acceleration values during the
procedure, Bit 11 of the control word must be set.
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3
m Sequence of events for a normal relative positioning task (Target Mode = 1 or -1)
v
Data
108.1
Start positioning
Controlword bit no. 11
118.1
Function completed
Positioning status bit no. 1
Speed profile of drive
12
Figure 137:
3 4
12
5
6
34
t
5000_0152_rev02_int.cdr
108.3
Target position reached
Statusword bit no. 10
Sequence for normal relative positioning
Description of the transitions:
Transition
Meaning
Comment
1
Start positioning L  H
Positioning data valid; start request transmitted to control word.
2
Function ended H  L and
Starting edge of Bit 11 in the control word detected. Positioning is started. Start PosiTarget position reached H  L tioning can be reset.
Between (1) and (2) there is a delay of up to 1 ms!
3
Function ended L  H
4
Target position reached L  H Is set correspondingly later than the function ends, depending on settings for Positioning Window and Positioning Window Time.
5
New target position valid
New target position transmitted, target specification altered or the positioning set has
been changed. Start bit is set again. New travel route is added to the previous one (in
the example, a reversal of the direction of revolution takes place, as e.g. Target Mode
has changed from +1 to -1).
6
New positioning speed valid
Start bit is set; a new positioning speed has been transmitted to positioning set 0.
Set Value setting by the ramp generator ended.
Caution: Position set values may continue to be issued via the smoothing generator;
see Positioning Status Bit 1
m Handshake procedure for the "Start Positioning" method
A handshake procedure is implemented to guarantee a clean, time-independent mechanism for controlling the positioning.
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Operating Modes
Figure 138:
Handshake procedure for positioning
Description of the individual points  to :
 Controller writes new positioning data.
 Controller sets "New Set Value" in the control word to identify the data as valid.
 The controller acknowledges the new set values by setting "Set Value Acknowledged"
in the status word. At the same time, the "Target Position Reached" signal in the status
word is cleared. This ensures that the Target Position Reached signal from the previous
positioning task is no longer present for the following sequence. The signal will only be
set again when the newly transmitted positioning procedure has been carried out.
 Controller starts the positioning procedure by setting the "Start Positioning" bit in the
control word. Only after receiving this command will the positioning be started.
 The controller resets the bit for "New Set Value" again. This can also occur before the
start of positioning.
 The controller acknowledges the falling edge of the "New Set Value" control bit by resetting Set Value Acknowledged.
 The controller resets the "Start Positioning" bit again. This can take place during the
still running positioning operation or also only after it has completed.
 As soon as the controller has ended the positioning task and the target has been
reached, it sets the "Target Position Reached" signal.
Time-independent control of the positioning is possible with the aid of the handshake procedure. However it is not absolutely necessary to use the handshake procedure. Positioning data can also be transmitted to the controller without the "New Set Value"
command. These then take effect immediately with the "Start Positioning" command. The
handshake procedure merely makes sure that the "Target Position Reached" signal is
guaranteed to be reset before the "Start Positioning" command is transmitted.
Functional block:
FbPositioning [118]
488
of 724
Type
Max
Default Value Unit
Factor
118.1
Status
DWORD 0x0
0xFFFFFFFF 0x0
118.2
Mode
DWORD 0x0
0xFFFFFFFF 0x0
118.3
UDINT
0x0
0xFFFFFFFF 0x0
Inc
1:1
X
118.4
DINT
-65535
65535
0
Inc/ms 1:1
X
118.5
-65535
65535
0
Inc/
ms²
X
118.6
Record number actual
UINT
0
16
0
118.7
Clip environment 1
UDINT
0x1
118.8
Clip environment 2
UDINT
0x1
118.9
Target position
UDINT
0x0
0xFFFFFFFF 0x0
118.10
Target mode
INT
-2
17
0
118.11
Speed
UDINT
1
65535
118.12
Acceleration
UDINT
7
65535
118.13
Deceleration
UDINT
7
118.14
Jerk
UDINT
118.15
Smoothing time
118.16
118.17
1:1
DS Support
Name
Storage
Min
Read only
Number
Cyclic Write
3
X
X
X
1:1
X
X
Inc
1:1
X
Inc
1:1
X
Inc
1:1
X
X
1:1
X
X
100
Inc/ms 1:1
X
X
200
Inc/
ms²
100:1
X
X
65535
200
Inc/
ms²
100:1
X
X
7
65535
25
Inc/
ms³
100:1
X
X
UINT
0
8191
0
ms
1:1
X
X
Relative target position
DINT
-2147483648
2147483647
0
Inc
1:1
X
X
Remaining distance
UDINT
0x0
0xFFFFFFFF 0x0
Inc
1:1
118.18
Timeout
UINT
0
65535
ms
1:1
118.19
Positioning records
RECORD
118.20
Modulo value
UDINT
0x00010000
Inc
1:1
118.21
Positioning duration
UDINT
0
0xFFFFFFFF 0
ms
1:1
1000
1:1
100:1
X
X
X
X
X
118.1
Status
This parameter shows the state of positioning (Position Set Value Specification operating
mode).
Bit no. Meaning
0
1: Positioning is switched on
1
1: Function ended
2
1: Braking procedure active
3
Reserved
489
of 724
3.8
Operating Modes
Bit no. Meaning
4
1: Set value speed = 0
5
1: Target speed is set to zero
6
1: Target speed > maximum speed; refer to Z121.11– Speed limit and
Z107.26– Max speed mech.
7
1: Actual position value was or is within the positioning window (once is sufficient)
8
1: New position data cannot be transferred
9
1: Running positioning stopped
10
1: Set value reached (position destination reached; copy of 108.3 Status
word bit 10)
11
Reserved
12
1: Set value acknowledgment (copy of 108.3 Status word bit 12)
15 … 13 Reserved
16
1: Clip environment 1 reached
17
1: Clip environment 2 reached
18
1: Actual position value >= Clip environment 1
19
1: Actual position value >= Clip environment 2
20
1: Switch position ON (cam ON); 
Clip environment 1 <= Act. Pos. value <= Clip environment 2
23 … 21 Reserved
24
1: Drive into negative direction was prevented by revolution direction block
25
1: Drive into positive direction was prevented by revolution direction block
26
1: Drive into negative direction was prevented by hardware position switch
27
1: Drive into positive direction was prevented by hardware position switch
29 … 28 Reserved
30
Positive overrun: Overrunning of maximum position value (= Parameter
Z121.10–) during remaining travel to the destination.
31
Negative overrun: Overrunning of smallest position value (= 0) during
remaining travel to the destination.
Remark:
m Bit 1 (Function ended)
The bit is set when the ramp generator has ended its function. Set Values can be output through the signal routing creator (PT1 link of the trapezoidal cross section).
m Bit 4 (set value speed = 0)
This bit is set when the set value speed = 0, which means the Positioning module cannot output new position values. This means, the signal routing creator (PT1) must also
be set.
490
of 724
3
m Bit 6 (Set Value speed limited to maximum speed)
This bit will be set when positioning is started and its maximum set value speed exceeds the specified speed limit (Z121.11–) or the maximum speed mech. (Z107.26–
). It will then be automatically limited to the maximum value to prevent a position error
from developing.
m Bit 8 (transfer of new position data is not possible)
This bit is set when new data can currently not be transferred during an ongoing positioning process. The operation of this bit depends on the driving profile:
Trapezoidal profile:
The transfer of the date is possible here at any time.
S-Curve profile:
Bit 8 will be set when there is a running driving set in the brake phase. The new data
is then not transferred until the brake phase (= "Target position reached" set) is completed.
m All bits, except Bit 1 "Function finished" and Bit 10 "Set value reached" will be deleted
with drive block.
118.2
Mode
Mode of positioning (operating type Position Target Specification). This parameter is
used to switch specific functions on and off.
A change of the following bits is valid at an enabled position set mode ("Online")
m Bit 1 ... 2: Speed profile
m Bit 12: Negative directional disable
m Bit 13: Positive directional disable
m Bit 16: Braking response of the trapezoidal profile
For this purpose, a preceding positioning must have been completed, i.e. the following
conditions must be complied with:
m The position set value is fixed (Z118.1– bit 4 = 1 speed set value = 0)
m No stop command (Z108.1– bit 8 = 0)
m No abort command (Z108.1– bit 12 = 0)
A change of the remaining bits will only work, if the operating mode ("Offline") is activated
again.
491
of 724
3.8
Operating Modes
Bit no. Meaning
0
1…2
Online
change
Synchronization set to actual speed with Changeover operating
mode:
0: No synchronization
1: Synchronization ON
Adjusting the speed profile:
00: Trapezoidal
01: S-Curve
10: Reserved
11: Reserved
X
3
Reserved
4
Adjustable response when the new target position is outside of the
software end switch
0: Move to software end switch position
1: Do not report movements and errors
5
Adjustable response with movement in hardware end switch:
0: Braking to N=0
1: Braking to N=0 and report error
6
Starting response with controller activation for relative positioning:
0: After activation, a positive edge is required in the Start bit
1: After activation, a start will occur immediately with set Start bit
7
0: No homing required for positioning
1: Homing required before positioning can occur
8
Controlling the Positioning through
0: "New set value" (Z108.1– Control word Bit 4 New set value)
1: "Start Positioning" (Z108.1– Control word Bit 11 Start Positioning
9
Reserved
10
Automatic start when changing the positioning record
0: No automatic start with set change
1: With the Change positioning set, the new set will automatically
transferred and started when the Start bit is set (Z108.1– Control word Bit 4 or 11).
11
Interpretation of the control word with control through "New set
value"
0: Compatible with b maXX 4400
1: According to IEC61800-7-201
12
Negative directional block
1: Block negative direction
X
13
Positive directional block
1: Block positive direction
X
14
Positioning time monitoring ON
0: OFF
1: Active (monitoring time is adjusted in Parameter Z118.18– Positioning timeout ON)
492
of 724
3
Bit no. Meaning
Online
change
15
Reserved
16
Response of the trapezoidal profile while braking:
0: Optimized braking ramp
1: Simple braking ramp (activate with computing time shortage
only)
X
31 … 17 Reserved
Remark:
m Bit 0 (Synchronization is set to actual speed with Changeover operating mode)
When the function is activated, it is possible to smoothly switch from another speed or
position controlled operating mode to the position target specification. To do this, the
drive maintains the previous speed for 16 ms (starting from the mode changeover). A
new positioning task may be started during this period of time. Braking to speed 0 will
occur after 16 ms have elapsed with the adjusted stop delay.
Limitation: The bit only applies to the trapezoidal or S-Curve profile.
m Bit 4 (Adjustable response when the new target position is outside of the software end
switch)
This bit can be used to adjust the response during a start of positioning when the new
target position is outside of the software end switch range and this monitoring function
is active.
Bit 4 = 0:
n When the new target position is out of range: Move to next software end switch.
n When current position is already out of range and the new target position is within
range: Move to target position.
n When current position is already out of range and the new target position is out of
range: Move to next software end switch.
Bit 4 = 1:
n When the new target position is out of range: No movement; Error 908 or 909.
n When current position is already out of range and the new target position is within
range: Move to target position.
n When the current position is already out of range and the new target position is out
of range: no movement's; Error 908 or 909.
Errors 908 "Negative Software end switch active" or 909 "Positive software end switch
active" will not result in a pulse block when the standard response is set. They must be
acknowledged before a new drive request start is accepted. A new software end switch
check will occur for each start.
m Bit 5 (Adjustable response when driving in hardware end switch)
This bit is used to adjust whether the drive should trigger a error when a hardware end
switch is reached. The bit is only meaningful when hardware end switch monitoring is
activated.
493
of 724
3.8
Operating Modes
Bit 5 = 0:
Hardware end switch monitoring will not trigger a error. The drive will brake to speed
0. New drive requests will only be carried out when the direction of travel from the
end switch leads away to the permitted range.
Bit 5 = 1:
When the hardware end switch is overridden, braking to speed 0 will occur and a
error will be triggered. Errors 906 "Negative hardware end switch active" or 907
"Positive hardware end switch active" will not result in a pulse block when the standard response is set. They must be acknowledged before a new drive request start
is accepted. New drive requests will only be carried out when the direction of travel
from the end switch leads away to the permitted range.
m Bit 6 (starting response with controller release for relative positioning)
Bit 6 = 0:
A positive edge will be required in the Start bit after the controller is enabled so that
the values from the positioning set X are transferred to positioning set 0 and relative
positioning will start.
Bit 6 = 1:
If the Start bit is set at the time of controller activation, the data will be transferred
immediately during the controller release and relative positioning will start immediately.
m Bit 7 (homing required)
This bit defines whether the drive will allow positioning prior to successful homing.
Bit 7 = 1:
Error message 900 is set and the drive stops position-controlled at the present position, if the drive was enabled in operating mode Target position mode and homing
wasn't executed prior to that. Positioning tasks are not executed. 
Positioning tasks are executed not until homing was completed successfully
(Z120.1– State bit 1).
m Bit 8 (controlling positioning)
This bit is used to adjust the handshake procedure for positioning.
Bit 8 = 0: Method "New set value" (standard method after CANopen)
Here, Bit 4 "New set value" is used in the control word of the drive manager. The
positioning set data are copied on each rising edge of this bit (Set X to Set 0), adopted internally and the positioning procedure started.
Bit 8 = 1: Method "Start positioning"
Positioning is started with Bit 11 "Start Positioning" of the drive manager control
word. "Change set immediately" ("Set of set values") cannot be used with this method.
m Bit 11 (interpretation of the control word with control through "New set value")
This bit is effective when the method "New set value" (Bit 8 = 0) is set.
494
of 724
3
Bit 11 = 0: Method is compatible with b maXX 4400
Control Word Bits 4 (New Set Value) and 5 (Change Set Immediately) are used. The
interpretation of the two control word bits is compatible with b maXX 4400.
Bit 11 = 1: Method according to IEC61800-7-201
Control word bits 4 (New set value), 5 (Change set immediately) and 9 (Change of
set value) are used. The interpretation of these three control word bits corresponds
with IEC 61800-7-201.
m Bit 12 (Negative directional block) and 13 (Positive directional block)
If one of the two bits is set it will be checked whether the target position to be reached
is located in the blocked direction. If this is the case, a start will not occur and a error
message will be displayed.
If a new target position is to be reached during ongoing positioning, which is located in
the blocked direction, the current target position is started and a error message is displayed.
The block check occurs through a comparison of the old target position to the new target position. The current desired position is meaningless for the test.
118.3
Display of the output position set value in the position target specification in Inc.
118.4
Display of the output speed set value in the position target specification in Inc/ms.
118.5
Display of the output acceleration set value in the position target specification in Inc/ms².
118.6
Positioning record number actual
This parameter is used to select the current positioning set. Whether it will be started automatically when changing the active positioning set or a start edge is required in the control word (Z108.1–) can be adjusted using Parameter Z118.2– Mode Bit 10.
495
of 724
3.8
Operating Modes
118.7
Clip environment 1
If the actual value of the position reaches a window in the surrounding area of the target
position, the Bit "Clip environment 1 reached" is set in the Z118.1– Status (Bit 16). This
window is located symmetrical in the surrounding area of the target position. This parameter defines its size.
The setting of the parameter also influences the Bit 18 "Position actual value >= Clip environment 1" in the Z118.1– status and Bit 20 "Switch position ON".
118.8
Clip environment 2
If the actual value of the position reaches a window in the surrounding area of the target
position, the Bit "Clip environment 2 reached" is set in the Z118.1– Status (Bit 16). This
window is located symmetrical in the surrounding area of the target position. This parameter defines its size.
The setting of the parameter also influences the Bit 19 "Position actual value >= Clip environment 2" in the Z118.1– status and Bit 20 "Switch position ON".
118.9
Positioning target position
In this parameter, the target position is set for the positioning set 0 (Z118.6– Positioning
record number actual = 0).
118.10
Positioning target mode
The target mode for the positioning set 0 determines how the indicated positioning target
will be interpreted. Unless otherwise indicated, Parameter Z118.9– Positioning Target
Position is used as the target position.
Value
Meaning
-2
Relative positioning in negative direction relative to the actual position ("flying").
-1
Relative positioning in negative direction relative to last target.
0
Absolute positioning; limited to max. adjusting range.
1
Relative positioning in positive direction relative to last target.
2
Relative positioning in positive direction relative to the actual position ("flying").
3
Absolute positioning in the direction of the shortest path to the target, which
means maximum adjusting range may be exceeded (Condition: software
end switch OFF!).
496
of 724
Value
3
Meaning
4
Relative positioning in positive or negative direction depending on the leading signs of the parameter Z118.16– Relative target position. Relation is the
last target.
5
Absolute positioning to the next defined angle in positive direction; only the
angle for the next target position is used from the target position parameter.
6
Absolute positioning to the next defined angle in negative direction; only the
angle for the next target position is used from the target position parameter.
7
Relative to the actual position ("flying") to defined angle; leading sign of
parameter Z118.16– Relative target position determines the direction.
8
Absolute positioning on the shortest path to the defined angle; only the
angle for the next target position will be used.
9
CANopen Mode:
Target input through Z118.16– Relative target position, differentiation absolute / relative target mode through Z108.1– control word. Range offset by
231 Inc.
10
Target input through Z118.9– Target position, differentiation absolute / relative target mode through Z108.1– Bit 6 control word.
11
Absolute modulo positioning in direction of the shortest way
12
CANopen mode with shortest path to absolute target:
Target input through Z118.16– Relative target position, differentiation
whether absolute / relative target input through Z108.1– control word, range
offset by 231 Inc, with absolute target, positioning occurs in direction of
shortest path to the target, which means the maximum adjusting range may
be exceeded (Condition: software end switch OFF!).
13
Absolute / relative positioning with shortest path with absolute target:
Target input through Z118.9– Target position, differentiation whether absolute / relative target mode through Z108.1– control word, with absolute target, positioning occurs in direction of shortest path to the target, which
means the maximum adjusting range may be exceeded (Condition: software end switch OFF!).
14
Absolute modulo positioning in positive direction
15
Absolute modulo positioning in negative direction
16
CANopen Mode:
whether absolute / relative target input through Z108.1– control word, no
range offset by 231 Inc, with absolute target specification.
17
CANopen Mode:
whether absolute / relative target input through Z108.1– control word, no
range offset by 231 Inc, with absolute target specification.
With absolute target, positioning occurs in direction of shortest path to the
target, which means the maximum adjusting range may be exceeded (Condition: software end switch OFF!).
497
of 724
3.8
Operating Modes
Remark:
Positive direction = in the direction of greater position set values
Negative direction = in the direction of lower position set values
Setting a reserve mode will generate a error message.
m Target mode 5:
Absolute positioning on defined angle in positive direction
Example:
Current target position = 1000 AAAAhex
Z118.9– Target position = 1234 5555hex  High Word not relevant
 The new absolute target position is 1001 5555hex
m Target mode 6:
Absolute positioning on defined angle in negative direction
Example:
Current target position = 3333 2222hex
Z118.9– Target position = 1234 5555hex  High Word not relevant
 The new absolute target position is 3332 5555hex
m Target mode 7:
The target input occurs in Parameter Z118.16– Relative target position. The maximum
adjusting range for each positioning procedure is ±0x7FFFFFFFhex.
The current actual position is used to calculate the new target position ( "flying" Positioning). The new target position is calculated as follows:
n The angle to be activated (absolute) is in the Low Word of the Relative Target Position parameter.
n The revolutions to be adjusted (relative) are in the High Word of the Relative Target
Position parameter.
n The direction of positioning is determined using the leading sign of the "Relative Target Position" (>118.16<) parameter.
Example:
Z121.9– Position Actual Value at start time = 1111 3333hex
Z118.16– Relative Target position = -294912dez
 Leading sign negative; the value without leading sign is 48000hex
 4 revolutions relative in negative direction, absolute angle to be adjusted is
8000hex
 Revolutions of the new absolute target position = 1111hex - 4hex = 110Dhex
 The new absolute target position is 110D 8000hex
For example, this target mode can use speed control (-3) or speed specification (2) into
the position target specification (1) for the online switch from the operating mode if it is
necessary to position a defined angle without a stop. The revolution part of this target
position must be without meaning. The actual speed value synchronization (Z118.2–
498
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3
Mode Bit 0 = 1) must be switched on and the revolutions to be run that are set must be
sufficiently large to avoid a reversal of direction.
m Target mode 8:
Absolute positioning on the shortest path to the defined angle
Example 1:
Z118.9– Target position = 5000 AAAAhex  High Word not relevant
AAAAhex - 5555hex = 5555hex
 less than 8000hex
 shortest path in positive direction
 The new absolute target position is 1000 AAAAhex
Example 2:
Z118.9– Target position = 5000 FFFFhex  High Word not relevant
AAAAhex - FFFFhex = AAAAhex
 greater than 8000hex
 shortest path in negative direction
 The new absolute target position is 0FFF FFFFhex
m Target mode 9:
CANopen Mode
The target indication occurs in Parameter Z118.16– Relative Target Position and the
differentiation whether this is an absolute or relative target entry occurs through Bit 6
of the Z108.1– control word.
With absolute target entries, a range offset of 231 increments is included in the calculation and the number range is interpreted with applied leading signs.
m Target mode 10:
The indication whether the target is absolute or relative (in relation to the last target) is
determined through Bit 6 of the control word. If Bit 6 is set while the edge of "New Set
Value" is rising, the target specification is relative. If Bit 6 is cleared, the target specification is absolute.
The target is always determined through Parameter Z118.9– Positioning Target Position, and with a relative target entry the value is treated with applied leading signs.
m Target mode 11:
This mode can be applied at axes on which an endless moving (rotational axis application) is desired and the target position should be preset in modulo format. The translation of a between connected transfer element (e.g. gear) is taken into account via the
definition of the range of modulo values (Z118.20– Modulo value).
In this mode the controller calculates the shortest way to the target position itself.
If in the target position a value is entered which is greater or equal than the modulo
value, the error 912 will be output at start and it will be not started.
499
of 724
3.8
Operating Modes
The counting of the position set values (Z118.3–) and the position actual values
(Z121.9–) occurs furthermore in the „normal“ format.
The conversion of the actual position to the modulo format must occur controller external.
In order to establish the relationship between the normal absolute position format and
the modulo format, either a homing is necessary after switching on the controller or an
absolute encoder must be used whose absolute information is greater than the modulo
position.
Example for target mode 11:
Z118.20– Modulo value = 00140000hex = 20 revolutions
Z118.3– Position set value = 00221111hex in normal absolute format
 Conversion of actual set position to modulo format:
SetPositionModulo = SetPositionAbsolute mod ModuloValue
= 00221111hex mod 00140000hex
= 000E1111hex
First positioning:
Z118.9– Target position = 00063333hex in modulo format
 New absolute target position calculates itself via the shorter way to modulo target
Way to "right" (greater position set values):
WayRight = ModuloValue - SetPpositionModulo + TargetPositionModulo
= 00140000hex - 000E1111hex + 00063333hex = 000C2222hex
Way to "left" (less position set values):
WayLeft = SetPositionModulo - NewTargetPosition
= 000E1111hex - 00063333hex = 0007DDDEhex
 WayLeft < WayRight
 Move left
 New target position in normal absolute format:
TargetPositionAbsolute = SetPositionAbsolute - WayLeft
= 00221111hex - 0007DDDEhex = 001A3333hex
Second positioning:
Z118.9– Target position = 00084444hex in modulo format
WayRight = 00084444hex - 00063333hex = 00021111hex
WayLeft = 00140000hex - 00084444hex + 00063333hex = 0011EEEFhex
 WayLeft > WayRight
 Move right

New target position in normal absolute format:
TargetPositionAbsolute = SetPositionAbsolute + WayRight
= 001A3333hex + 00021111hex = 001C4444hex
500
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3
m Target mode 12:
CANopen mode with shortest path to absolute target:
differentiation whether this is an absolute or relative target entry occurs through Parameter Z108.1– Control word Bit 6. With absolute target entries, a range offset of 231
increments is included in the calculation and the number range is interpreted with applied leading signs.
In addition, positioning with an absolute target occurs in the direction of the shortest
distance to the target, which means the maximum adjusting range may be exceeded
(Condition: software end switch OFF!).
m Target mode 13:
Absolute / relative positioning with shortest path with absolute target:
The differentiation between absolute / relative target entry occurs through Parameter
Z108.1– Control Word Bit 6. If Bit 6 is set while the edge of "New Set Value" is rising,
the target specification is relative. If Bit 6 is cleared, the target specification is absolute.
The target input occurs through Parameter Z118.9– Target position.
When the target entry is relative, the target position must be treated with applied leading sign.
Positioning with an absolute target entry occurs in the direction of the shortest distance
to the target, which means the maximum adjusting range may be exceeded (Condition:
software end switch OFF!).
m Target mode 14 and 15:
The preset of the target position in modulo format occurs here analogous to target
mode 11. The difference to mode 11 consists only in the preset of the moving direction
via the mode and not in the calculation of the shorter distance to the module target.
m Target mode 16:
CANopen mode without range offset:
differentiation whether this is an absolute or relative target entry occurs through Parameter Z108.1– Control word Bit 6.
With absolute target entries, a range offset of 231 increments is not included in the calculation compared to CANopen mode 9 and the number range is interpreted unsigned.
m Target mode 17:
CANopen mode without range offset with shortest path to absolute target:
differentiation whether this is an absolute or relative target entry occurs through Parameter Z108.1– Control word Bit 6.
With absolute target entries, a range offset of 231 increments is not included in the calculation compared to CANopen mode 12 and the number range is interpreted unsigned. 
In addition, positioning with an absolute target occurs in the direction of the shortest
distance to the target, which means the maximum adjusting range may be exceeded
(Condition: software end switch OFF!).
501
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3.8
Operating Modes
118.11
Positioning speed
The positioning speed describes the maximum permitted adjusting speed of the positioning module output during a positioning task.
It may be changed through Parameter Z121.7– Feedrate Override during ongoing positioning.
Exception: The feedrate override no longer works during braking.
118.12
Positioning acceleration
The parameter specifies the maximum acceleration for the positioning task.
118.13
Positioning deceleration
The parameter specifies the maximum deceleration for the positioning task.
118.14
Positioning jerk
This parameter is used to adjust the maximum jerk (change of acceleration) for the Scurve profile (jerk limited positioning).
The parameter has no effect with other speed profiles.
118.15
Positioning smoothing time
A PT1 element has been implemented to achieve a rounding of ramp corners in the trapezoidal profile (Parameter Z118.2– Mode Bit 2 and 3 = 00). The time constant of the PT1
element can be adjusted using this parameter.
Looping is deactivated with a setting of 0 ms.
The profile algorithm prevents the effect of an "Online" loop change (during an ongoing
positioning set). This prevents undesired occurrences or overrunning of a target position.
118.16
Positioning relative target position
In this parameter, the relative target position with applied leading signs is set for the positioning set 0 (Z118.6– Positioning record number actual = 0). This parameter works in
target modes: 4, 7, 9 and 12.
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3
118.17
Remaining distance
This parameter shows the remainder of the target distance to be traveled to the destination during a positioning procedure.
NOTE!
The remaining distance is not calculated at set value setting ("Set of setpoints"). The
remaining distance calculation is active not until the finally positioning via data set
setting.
118.18
Positioning timeout
Positioning time monitoring is activated through Z118.2– Mode Bit 14 = 1.
Monitoring can be used to check whether the destination is reached accurately or fast
enough through the actual value.
As soon as the set value entry is completed through positioning, a timer will be started.
The position actual value must be within the positioning window (Z121.5–) at least once
prior to expiration of the monitoring time. If this is the case, Bit 7 will be set in the Z118.1–
status.
Otherwise, a timeout error will be generated.
NOTE!
This type of monitoring must not be mistaken for positioning window / time monitoring.
Positioning window / time monitoring requires a stable actual value within the positioning window and controls the Bit "Position Target Reached".
118.19
Positioning records
The parameter consists of 16 positioning records. The positioning records 1 to 16 cannot
be described cyclically! Each positioning set consists of the following elements:
Index
Element
Description of elements
0
Target position
Refer to Z118.9– Positioning Target Position
1
Target mode
Refer to Z118.10– Positioning Target mode
2
Positioning speed
Refer to Z118.11– Positioning Speed
3
Positioning acceleration
Refer to Z118.12– Positioning Acceleration
4
Positioning deceleration
Refer to Z118.13– Positioning Deceleration
503
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3.8
Operating Modes
Index
118.20
Element
Description of elements
5
Positioning jerk
Refer to Z118.14– Positioning Jerk
6
Looping time
Refer to Z118.15– Positioning Smoothing Time
7
Relative target position
Refer to Z118.16– Positioning Relative Target
Position
Modulo value
The range of modulo values will be determined for the modulo positioning modes with this
parameter. A change of the parameter is only effective after a previous controller inhibit.
Details to module positioning see Z118.10– Positioning target mode.
118.21
Positioning duration
In this parameter the duration of the last started positioning is shown. During a running
positioning the parameter indicates the actual positioning time.
The measurement starts with the start of the positioning. Measurement ends, if parameter
Z118.3– Output position set value reaches its target position. This is the case if parameter Z118.1– Status messages signals in bit 4 "Speed set value = 0". This means only
the duration of the set value setting is measured.
The additional time for the parameters Z121.9– Position actual value, Z121.5– Positioning window and Z121.6– Positioning window time to reach the target position is not considered.
The measurement is stopped with the Stop command as soon as parameter Z118.1–
Status messages in bit 4 "Speed set value = 0". The measurement is continued when the
stop command is cleared.
504
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3.8.3
3
Operating mode Homing
An in depth knowledge of the absolute position of the drive is generally required to operate positioning drives. If an incremental encoder is used for position actual value recording or if more than one motor revolution is necessary for the actual value recording with
tilt encoder for the entire adjusting range, homing is required. Homing can also be used
to initialize the position actual value recording with absolute value encoders.
Drive guided referencing is addressed below. With drive guided homings, the process
control and movement of the motor is controlled by the drive itself and the reference
switch is thereby activated. This is implemented as a separate operating mode in the
b maXX®.
The homings usually use a switch as a reference mark. For more accuracy, the zero mark
of the encoder is included; however, homings without consideration of the zero mark are
possible.
The zero pulse is used as the zero mark with incremental encoders. The mechanical zero
angle is used with tilt encoders and sine-cosine encoders. The mechanical zero angle
thereby means 0° in the parameter mechanical angle actual value Z106.5–.
Either one of the two end switches (negative or positive hardware end switch) or a separate zero point switch may be used as the reference switch. The type of referencing
(switch, activation direction, etc.) is adjusted through Parameter Z120.4– Reference adjusting mode. The different homing methods thereby correspond with the drive profile of
CANopen.
3.8.3.1 Procedure of a homing under consideration of Zero pulse or Zero angle
A sample procedure of the homing to the negative end switch under consideration of the
zero pulse / zero angle is described below. The procedure of the other homings corresponds with this procedure. There are differences especially in the direction of travel and
sought after switch edge.
Figure 139:
Homing procedure to negative end switch with zero pulse
505
of 724
3.8
Operating Modes
m Phase 1
In Phase 1, Homing speed (Z120.5–) is used until the Reference switch is reached.
The acceleration to reach the homing speed is adjusted with Z120.7– Homing acceleration.
Starting occurs directly with Phase 2 if the switch has already been set during commissioning.
m Phase 2
After the reference switch has been reached, the drive is braked with Z120.8– Homing
deceleration and one eight of the homing speed (however, at least to the homing final
speed) in the reverse direction of travel. It will now be driven out of the switch again.
m Phase 3
The falling switch edge of the switch will trigger braking to the Z120.6– Homing final
speed. As soon as this speed has been reached, the zero mark will be evaluated. The
drive runs with the homing final speed until the zero pulse or zero angle of the encoder
is detected. When the zero pulse or zero angle is recognized, the drive will be stopped
and the home position will be set.
Maximum travel distance can be preset at encoders with zero pulse in this phase. If the
zero pulse is not detected within this distance, "Homing" error no. 901 is reported and
homing is interrupted.
3.8.3.2 Shifting the zero angle
When referencing under consideration of the Zero angle or Zero pulse, it may be near the
switch tolerances of the reference switch. This may result in the detection of two different
home positions with multiple homings that are one revolution apart. The zero angle or
zero pulse is then not always recognized in the same encoder revolution due to the switch
tolerances.
With Incremental encoders with zero pulse the encoder or switch must in this case be
mounted differently so that the zero pulse is no longer near the switch tolerances.
With absolute encoders, the encoder zero angle can be offset using Parameter Z120.10–
encoder offset for internal calculation so that it is outside of the tolerances of the switch.
The measured angle on the reference switch is indicated in Parameter Z120.15– mechanical angle on the Reference switch.
3.8.3.3 Maximum distance for zero pulse detection
A maximum distance can be preset at encoders with zero pulse, which may be moved
after the switching edge until the zero pulse is detected.
If the zero pulse is not detected within this distance, "Homing" error no. 901 homing is
reported and homing is interrupted.
3.8.3.4 Procedure of a Homing to switch only
The zero pulse or zero angle is not evaluated with homings to the switch only. Therefore,
the accuracy depends on the switch tolerances of the switch.
506
of 724
Figure 140:
3
Procedure of homing to negative end switch without zero pulse
m Phase 1
In Phase 1, Homing speed (Z120.5–) is used until the Reference switch is reached.
The acceleration to reach the homing speed is adjusted with Z120.7– Homing acceleration.
m Phase 2
After the reference switch has been reached, the drive is braked with Z120.8– Homing
deceleration and one eight of the homing speed (however, at least to the homing final
speed) in the reverse direction of travel. It will now be driven out of the switch again.
m Phase 3
The falling switch edge of the switch will trigger another reversal of the direction of travel. The drive will now approach the switch again, once again with an eight of the referencing speed.
m Phase 4
Once the reference switch is reached, the drive is decelerated and accelerated in the
reverse direction of travel to the homing final speed, which means the drive will slowly
exit the switch.
m Phase 5
The drive is immediately braked to speed 0 at the falling switch edge of the switch and
the home position is entered.
3.8.3.5 Homing without setting the home position
Setting the home position can also be deactivated for special applications (Z120.2–,
Bit 4). The position target and actual values will then not be changed. Instead, the drive
stops at the home position and the position values can be read out from the control.
507
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3.8
Operating Modes
3.8.3.6 Automatic setting of the absolute value offset at homing
Applications using absolute encoders, automatically copy the absolute value offset (M0Offset) to the corresponding parameters (Z137.5–, Z137.6–) at the end of homing. Parameter Z120.2– Homing Mode, bit 6 activates this behavior.
The absolute value offset is the shift between the encoder coordinate system (the absolute encoder actual value as read from absolute value encoder) and the position coordinate system redefined by homing (machine coordinate system). This absolute value
offset is considered at initialization of the encoder. This way, a positioning coordinate system occurs, which is the same, as it would be after homing.
Encoder
coordinates
0
Position
coordinates
0
Reference point
M0 offset
Figure 141:
Absolute value offset
3.8.3.7 Notes
Switch wiring
The end and reference switches can be wired as closers or openers. The type of wiring
can be adjusted in the drive using the configuration of the digital inputs. Wiring as an
opener is recommended for safety reasons (detection of wire breaks).
Limit switch
The hardware or software limit switches do not limit the adjusting range during the homings!
The limit switches must be designed so that they cannot be overridden. The option to
leave the switching mode "actuated" with the negative limit switch should only be available in positive direction and only in negative direction with positive limit switch.
Problem during
Homing
If homing is not completed after the reference switch is reached (response through Bit 10
of Z108.3– Status word does not occur), this may be due to the settings for the positioning window (Z121.5–). The drive must be in the positioning window for the period of positioning window time that was set after the home position has been reached. The
positioning window may be adjusted too small so that this requirement cannot be met.
Reproducibility
To reach identical home positions, the following conditions must be met:
m The homing speeds, acceleration, deceleration and encoder offset may not be
changed after the one-time adjustment.
m The homing speed must be reached in Phase 1.
508
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3
3.8.3.8 Homing Method 1 (neg. limit switch)
Homing occurs to the negative limit switch. When the limit switch is not operated during
commissioning, travel occurs in the direction of the switch. The home position is the first
zero pulse or zero angle to the right of the switch (which means after the switch is inactive
again).
Figure 142:
Homing method 1
3.8.3.9 Homing Method 2 (pos. limit switch)
Homing occurs to the positive limit switch. When the limit switch is not operated during
commissioning, travel occurs in the direction of the switch. The home position is the first
zero pulse or zero angle to the left of the switch (which means after the switch is inactive
again).
Figure 143:
Homing method 2
509
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3.8
Operating Modes
3.8.3.10 Homing Methods 3 and 4 (pos. zero point changeover switch)
Homing occurs in the direction of the positive zero point changeover switch, which means
the switch may be anywhere in the adjusting range and is continuously active from the
switch point in positive direction. The initial direction of travel depends on the switching
mode and applied method.
The home position is the first zero pulse on the left or right of the switch.
Figure 144:
Homing methods 3 and 4
510
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3
3.8.3.11 Homing Methods 5 and 6 (neg. zero point changeover switch)
Homing occurs in the direction of the negative zero point changeover switch, which
means the switch may be anywhere in the adjusting range and is continuously active from
the switch point in negative direction. The initial direction of travel depends on the switching mode and applied method.
The home position is the first zero pulse or zero angle on the left or right of the switch.
Figure 145:
Homing methods 5 and 6
511
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3.8
Operating Modes
3.8.3.12 Homing Methods 7 to 14 (Reference Switch)
These homing methods are intended for cases where the reference switch is only active
for a section of the adjustment range.
Homing method
7 to 10
With homing methods 7 to 10, the initial direction of travel is positive unless the reference
switch is operated at the beginning of homing. In this case, the direction of travel depends
on the desired switch edge. The direction of travel will be changed at the positive limit
switch when the initial direction of travel leads away from the switch.
The home position is one of the zero pulses or zero angles at the rising or falling edge of
the switch.
Figure 146:
Homing method
11 to 14
Homing methods 7 to 10
With homing methods 11 to 14, the initial direction of travel is negative unless the reference switch is operated at the beginning of homing. In this case, the direction of travel
depends on the desired switch edge. The direction of travel will be changed at the negative limit switch when the initial direction of travel leads away from the switch.
The home position is one of the zero pulses or zero angles at the rising or falling edge of
the switch.
512
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Figure 147:
3
Homing Method 11 to 14
3.8.3.13 Homing Methods 15 and 16 (reserved)
These methods are reserved for future extensions according to the CANopen drive profile.
3.8.3.14 Homing Methods 17 to 30 (without zero pulse or zero angle)
The homing methods 17 to 30 do not use zero pulse or zero angle as an additional reference mark. Only the switch is referenced. Otherwise, these methods correspond with
homings 1 to 14.
Only homings 19 and 20 are shown as an example.
513
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3.8
Operating Modes
Figure 148:
Homing Methods 19 and 20
3.8.3.15 Homing Methods 31 and 32 (reserved)
These methods are reserved for future extensions according to the CANopen drive profile.
3.8.3.16 Homing Methods 33 and 34 (zero pulse only)
These homing methods do not use a switch but only the zero pulse or zero angle as reference mark.
The home position is the next zero pulse or zero angle in negative or positive direction.
Figure 149:
Homing Method 33 and 34
514
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3
3.8.3.17 Homing Method 35 (set home position only)
With this homing method the home position is set in the current position. The drive thereby remains in the current position.
3.8.3.18 Manufacturer specific homing methods
Other manufacturer specific Homing Methods are available. Methods –1 to –5 are identical with some of the profile conforming homing methods. They only exist for reasons of
compatibility. The table below shows the assignment:
Manufacturer
specific method
corresponds
with Method
Description
-1
34
next Zero pulse or Zero angle, Right revolution
-2
33
next Zero pulse or Zero angle, Left revolution
-3
35
Set home position
-4
17
negative limit switch without zero pulse
-5
18
positive limit switch without zero pulse
Homing method –6:
This method is not part of the profile conforming homings. The next zero angle (shortest
direction) is applied and the home position is set there.
Homing methods -7 and -8:
These methods reference a mechanical limit position.
With Mode –7 the drive moves clockwise and with –8 counterclockwise toward the mechanical stop.
m Phase 1
Approaching the mechanical stop at the referencing speed. The torque will be limited
at the start of homing to Z120.12– Homing torque limit.
To recognize the mechanical stop, a test will be run to determine whether the drive is
present at the current limit (speed controller status Z18.20– Bit 13 = 1) and, at the
same time, the speed zero message (Z6.2–). The mechanical stop is considered to be
recognized when both conditions have been met through Z120.11– Homing blocking
time.
m Phase 2
If the mechanical stop has been recognized, the home position will be set at this position and the torque limit Z120.12– Homing torque limit will be canceled again.
515
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3.8
Operating Modes
Homing methods -9 and -10:
These methods are used to move to a mechanical stop and finally referenced to the encoder zero angle or zero pulse.
With Mode –9 the drive moves clockwise and with –10 counterclockwise toward the mechanical stop.
m Phase 1
Identical with homings –7 and –8
m Phase 2
When the mechanical stop is recognized, the torque limit Z120.12– Homing torque
limit is canceled again and referenced in the reverse direction of travel with Z120.6–
Homing final speed to the encoder zero angle or zero pulse.
During homings to a mechanical stop, specific monitoring procedures may trigger a error
due to the mechanical blocking. This includes the position error monitoring, monitoring of
speed difference and block monitoring.
Activating the Z120.2– Mode Bit 5 will prompt the controller to deactivate the three monitoring procedures for the period of homing, which means from the start of homing to the
recognition of the mechanical stop after expiration of the Z120.11– Homing blocking
time.
CAUTION!
1
The controller cannot distinguish with homing methods –7, -8, -9 and –10 whether
the block is caused by the mechanical stop or otherwise! In the second case, the
drive is incorrectly referenced!
2
The machine may be damaged with homing methods against mechanical stops.
The user must prevent this through a sufficiently low setting of the homing speed
(Z120.5–) and the maximum drive torque during homing (Z120.12–).
3.8.3.19 Command set home position
Besides the homing it is possible to set the reference point in the inhibited state (pulse
inhibit). By writing the command "Set reference point" to the parameter Z120.17– the set
value of the reference point is taken over at the current position.
The drive acknowledges the setting of the reference point by setting the bit 2 in the parameter Homing status Z120.1–. By writing the command value 0 the bit 2 in the homing
status is reset again.
However the command is possible in the inhibited state only independent of the current
operation mode of the drive.
Functional block:
FbHoming [120]
516
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Name
Type
Default Value Unit
120.1
Status
DWORD 0x0
0xFFFFFFFF 0x0
120.2
Mode
UINT
0x0
0xFFFF
120.3
Home position
UDINT
0x0
120.4
Homing method
INT
-10
35
1
120.5
Homing speed
UDINT
1
65535
500
120.6
Homing final speed
UDINT
1
65535
10
Inc/ms 1:1
X
120.7
Homing acceleration
UDINT
7
65535
200
Inc/
ms²
100:1
X
120.8
Homing deceleration
UDINT
7
65535
200
Inc/
ms²
100:1
X
120.9
Homing maximum jerk
UDINT
7
65535
25
Inc/
ms³
100:1
X
120.10
Homing encoder offset
UINT
0x0
0xFFFF
0x0
Inc
1:1
X
120.11
Homing blocking time
UINT
1
65535
100
s
100:1
X
120.12
Homing torque limit
UINT
0
10000
2500
%
100:1
X
120.13
DINT
-65535
65535
0
Inc/ms 1:1
X
120.14
-65535
65535
0
Inc/
ms²
100:1
X
120.15
Encoder angle at reference
switch
UDINT
0
0xFFFFFFFF 0
1:1
X
120.16
Homing max. position delta
to zero pulse
DINT
0
0x7FFFFFFF 0
120.17
Command
UDINT
0
1
1:1
0x0
0
Factor
X
1:1
X
1:1
X
1:1
X
Inc/ms 1:1
X
Inc
Inc
1:1
DS Support
Max
Storage
Min
Read only
Number
Cyclic Write
3
X
X
1:1
120.1
Status
Status of the homing.
Bit-no.
Meaning
0
1: Homing is switched on
1
1: Homing completed successfully
2
Acknowledgment for the "Set home position" command
3
Reserved
4
1: Speed set value at the output is zero
5
Reserved
6
1: Speed is limited to maximum speed (refer to Z121.11– Speed limit and
Z107.26– Max speed mech.)
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3.8
Operating Modes
Bit-no.
8 ... 7
Meaning
Reserved
9
1: Homing interrupted (stopped)
10
1: Homing completed (set value reached)
11
Reserved
12
1: Home position reached
13
1: Error during homing
31 ... 14 Reserved
Remark:
Bit 1: Homing was successfully completed
After switching on the bit is set as soon as homing was completed successfully. At first,
the bit is deleted after switching on.
If homing was successfully the bit is set until the controller is switched off.
The bit is deleted only, if:
m a new homing is started,
m or if the position control encoder is switched off and on again via parameter
Z106.1–,
m or if an encoder error occurs at the position control encoder and this error is
cleared.
m or if the position control encoder is switched over via Z18.9–. Controller options
bit 0.
The status of the bit is evaluated after operating mode Target position mode was started, if in the Z118.2– Mode bit 7 "Homing required prior to positioning" was set.
120.2
Mode
Options for homing.
Bit-no.
Meaning
0
1: Synchronization with speed actual value when activating the operating
mode
1
Reserved to select the adjusting profile (0: Trapezoidal, 1: S-Curve)
3 ... 2
Reserved
4
1: Referencing without setting the home position
5
1: Deactivate monitoring with homings to mechanical stop
6
1: Automatical setting of the absolute value offset (M0 offset)
15 ... 7
Reserved
Remarks:
518
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3
Bit 4: Referencing with or without setting the home position
By default, the position actual values and set values are set to the home position after the
home position is reached. For some applications, especially with multiturn absolute value
encoders it may be purposeful to determine the position actual value of the encoder at the
home position to take it into consideration automatically in a control.
Setting the home position can therefore be deactivated accordingly. The drive will complete the homing; however, the position values are not set to the adjusted home position
but will remain unchanged. The control can now read out the position actual value at the
home position.
Bit 5: Deactivate monitoring with homings to mechanical stop
During homings to a mechanical stop, specific monitoring procedures may be triggered
due to the mechanical blocking. This includes the position error monitoring, monitoring of
speed difference and block monitoring.
Three options are available to solve this problem:
– The user will adjust active monitoring suitable for homing. However, this may be too
weak for "normal operation".
– The user will deactivate monitoring for the duration of homing itself.
– Activating the Mode Bit 5 will prompt the controller to deactivate the three monitoring
procedures for the period of homing, which means from the start of the homing to
the recognition of the mechanical stop after expiration of the Z121.11– Homing
blocking time.
Bit 6: Automatic setting of the absolute value offset (M0 offset)
The parameters of the absolute value offset are set at the end of homing after bit 6 was
set. The absolute value offset is automatically saved in the encoder, if the parameter
Z137.3– Encoder Data Selection is set, so that the absolute value offset is read from the
encoder during initialization.
120.3
Home position
The home position is the position value that indicates the absolute position of the drive at
the home position. This value must be adjusted prior to the reference run. If the drive has
reached the home position after the reference run, the current position set value and position actual value will be wet to the home position value.
120.4
Homing method
Selection of the homing method.
This parameter determines the procedure for the reference run. This includes the start direction of the home position and evaluation of the reference initiator.
519
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3.8
Operating Modes
Value
Meaning
-10
Approaching the mechanical stop with zero pulse or encoder zero angle,
counterclockwise turn
-9
Approaching the mechanical stop with zero pulse or encoder zero angle,
clockwise turn
-8
Approaching the mechanical stop, counterclockwise turn
-7
Approaching the mechanical stop, clockwise turn
-6
Approaching the next encoder zero angle
-5
Approaching the positive limit switch (= 18)
-4
Approaching the negative limit switch (= 17)
-3
Setting the home position (= 35)
-2
Approaching the encoder zero angle or zero pulse with counterclockwise
turn (= 33)
-1
Approaching the encoder zero angle or zero pulse with clockwise turn (= 34)
0
Reserved
1
negative limit switch with zero pulse or encoder zero angle
2
positive limit switch with zero pulse or encoder zero angle
3
positive zero point changeover switch with zero pulse or encoder zero angle,
4
positive zero point changeover switch with zero pulse or encoder zero angle,
clockwise turn
5
negative zero point changeover switch with zero pulse or encoder zero
angle, clockwise turn
6
negative zero point changeover switch with zero pulse or encoder zero
angle, counterclockwise turn
7
Zero point switch, left of Edge A, with zero pulse or encoder zero angle,
clockwise turn
8
Zero point switch, right of Edge A, with zero pulse or encoder zero angle,
clockwise turn
9
Zero point switch, left of Edge B, with zero pulse or encoder zero angle,
clockwise turn
10
Zero point switch, right of Edge B, with zero pulse or encoder zero angle,
clockwise turn
11
Zero point switch, right of Edge B, with zero pulse or encoder zero angle,
12
Zero point switch, left of Edge B, with zero pulse or encoder zero angle,
13
Zero point switch, right of Edge A, with zero pulse or encoder zero angle,
520
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3
Value
14
Meaning
Zero point switch, left of Edge A, with zero pulse or encoder zero angle,
15 to 16 Reserved
17
Negative limit switch
18
Positive limit switch
19
Positive zero point changeover switch, counterclockwise turn
20
Positive zero point changeover switch, clockwise turn
21
Negative zero point changeover switch, clockwise turn
22
Negative zero point changeover switch, counterclockwise turn
23
Zero point switch, left of Edge A, clockwise turn
24
Zero point switch, right of Edge A, clockwise turn
25
Zero point switch, left of Edge B, clockwise turn
26
Zero point switch, right of Edge B, clockwise turn
27
Zero point switch, right of Edge B, counterclockwise turn
28
Zero point switch, left of Edge B, counterclockwise turn
29
Zero point switch, right of Edge A, counterclockwise turn
30
Zero point switch, left of Edge A, counterclockwise turn
31 to 32 Reserved
33
Next zero pulse or encoder zero angle, counterclockwise turn
34
Next zero pulse or encoder zero angle, clockwise turn
35
Set home position
With reference run modes with referencing to zero pulse or zero angle, the zero pulse is
always referenced when referencing on an incremental encoder and always the zero angle with an absolute value encoder. The exception is the reference run mode -6, where
the zero angle is also referenced with an incremental encoder.
Remarks:
m The reference run modes -5 to -1 still exist for reasons of compatibility. They correspond with the applicable indicated modes.
m The modes 1 to 14 use the zero pulse or zero angle as an additional signal. Zero angle
refers to the encoder zero angle, which means 0° in the encoder angle.
m The modes 17 to 30 correspond with modes 1 to 14 in principle, only that no zero angle
or zero pulse is used. Referencing in these modes only refers to the switch.
m Modes 33 to 35 do not use a switch.
521
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3.8
Operating Modes
120.5
Homing speed
The reference run speed indicates the maximum adjusting speed of the drive in the reference run operating mode. The reference switch is approached at this speed.
120.6
Homing final speed
The homing final speed indicates the adjusting speed that the drive uses to approach the
encoder zero angel or zero pulse. This parameter is only effective in the reference run
operating mode.
120.7
Homing acceleration
The homing acceleration indicates the maximum acceleration of the drive in the reference
run operating mode. The homing deceleration applies to braking the drive in the reference
run operating mode.
120.8
Homing deceleration
The homing deceleration indicates the maximum deceleration of the drive in the reference
run operating mode.
120.9
Homing maximum jerk
Setting the maximum jerk for the adjustment profile with the reference run (for S-Curve
profile).
120.10
Homing encoder offset
This offset is added to the current encoder angle when referencing to zero angle and enables an offset of the zero angle signal. This permits setting the zero angle outside of the
switch tolerances of the reference switch.
Diagram: 65536 Increments correspond with 1 turn.
522
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120.11
3
Homing blocking time
Adjustable blocking period for reference run modes to the mechanical stop only.
The parameter indicates the period of time after which the mechanical stop is recognized
when the drive is blocked. The conditions for blocking are "Drive at current limit" and, at
the same time, the speed zero message.
120.12
Homing torque limit
Limiting the torque for reference run modes to the mechanical stop only.
The limiting begins with the start of the reference run and will be canceled when the mechanical stop is recognized.
120.13
Speed start value (Position Delta) of the reference run module.
120.14
Acceleration start value of the reference run module.
120.15
Encoder angle at reference switch
Encoder angle plus adjusted offset at the reference switch in 32 Bit increments per turn.
To check whether the zero angle of the encoder is in the range of switch tolerances of the
reference switch.
120.16
Homing max. position delta to zero pulse
This parameter determines the maximum distance, which is moved from the last switching edge until zero pulse is detected. If the zero pulse is not detected within this distance,
"Homing" error no. 901 is reported and homing is interrupted.
This function is deactivated, if the value is 0. There is no distance monitoring until to the
zero pulse.
Display: 65536 increments correspond to 1 revolution.
523
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3.8
Operating Modes
120.17
Command
Homing command. Via this parameter the setting of a reference point is possible in the
inhibited state.
Value
Meaning
0
No command / reset
The acknowledgment bit of „Set reference point“ (Z120.1– bit 2) is deleted.
1
Set reference point
The positioning value at the current position is set to the reference point
value.
524
of 724
3.8.4
3
The Manual drive operation, also known as Tipping operation, serves to manually move
the drive. This is a position controlled operating mode.
The drive can also be moved without specification of a position set value with simple operation of the buttons "Forward" or "Back" (Z108.1– Control word Bit 11 and 12). This
serves to set up a machine or determine the position set values that are needed later.
The manual drive operation is set through the Z109.1– operating mode = 5.
The main functions in manual drive operation are:
m Separately adjustable acceleration for start and reverse.
m Selection between two speed profiles 
"Trapezoidal" (block shaped acceleration) 
"S-Curve" (trapezoidal acceleration)
m Online change (OPERATION ENABLED) of the profile data is possible at any time,
which means the tipping speed and acceleration can be changed while the drive is
moving.
m Evaluation of the software limit switches and hardware limit switches (activation, refer
to Z121.1–)
m Optional speed actual value synchronization with activation of manual drive operation.
m Use of the Z121.7– feed rate override.
m Bipolar limiting of output speed through Parameter Z121.11–.
Figure 150:
Manual Drive Operation page in ProDrive
525
of 724
3.8
Operating Modes
Default Value Unit
Factor
Cyclic Write
Max
DS Support
Min
Storage
FbJogging [119]
Read only
Functional block:
Number
Name
Type
119.1
Status
DWORD 0
0xFFFFFFFF 0
119.2
Mode
UINT
0x0
0xFFFF
0
1:1
X
119.3
Jogging speed
UDINT
0
65535
100
Inc/ms 1:1
X
X
119.4
Jogging acceleration
UDINT
7
65535
200
Inc/
ms²
100:1
X
X
119.5
Jogging deceleration
UDINT
7
65535
200
Inc/
ms²
100:1
X
X
119.6
Jogging maximum jerk
UDINT
7
65535
25
Inc/
ms³
100:1
X
119.7
UDINT
0x0
0xFFFFFFFF 0x0
Inc
1:1
X
119.8
DINT
-65535
65535
0
Inc/ms 1:1
X
119.9
-65535
65535
0
Inc/
ms²
X
1:1
100:1
X
119.1
Status
Bit
0
3…1
Meaning
1: Manual drive operation is switched on
Reserved
4
1: Z119.8–: Speed set value at the output is zero
5
1: Total tipping speed at the input is set to zero
6
1: Total tipping speed > Maximum speed, limited to the lesser value of
Z121.11– Speed limit and Z107.26– Max speed mech. of the motor.
7
1: Number range limit exceeded
9…8
10
Reserved
1: Set Value reached
13 … 11 Reserved
14
1: Drive into negative direction was prevented by limit switch
15
1: Drive into positive direction was prevented by limit switch
31 … 16 Reserved
526
of 724
3
Remark:
m Bit 5:
The bit shows whether the entire tipping speed at the input was set to zero.
Total tipping speed = Tipping speed (119.3) * feed rate override (121.7)
119.2
Mode
Bit
Meaning
0
1: Synchronization to speed actual value with activation of manual drive
operation
1
Speed profile
0: Trapezoidal profile
1: S-Curve
15 … 2 Reserved
119.3
Jogging speed
The tipping speed indicates the adjustment speed of the drive in manual drive operation.
The total tipping speed to be reached results from 
Tipping speed * feed rate override (Z121.7–).
119.4
Jogging acceleration
The jogging acceleration describes the maximum permitted acceleration of the drive in
manual drive operation.
119.5
Jogging deceleration
The jogging deceleration describes the maximum permitted deceleration of the drive in
manual drive operation.
119.6
Jogging maximum jerk
This parameter is used to adjust the maximum jerk (acceleration change) for the S-curve
profile.
It has no effect when using the trapezoid profile (Z119.2– Mode bit 1 = 0).
527
of 724
3.8
Operating Modes
Example:
Z119.5– Max. Jerk = 2.0 Inc/ms³
Z119.3– Acceleration = 30.0 Inc/ms²

Time after which the acceleration is reached:
t = 30.0 Inc/ms² / 2.0 Inc/ms³ = 15 ms
119.7
This parameter indicates the desired position calculated by the manual drive operation.
119.8
This parameter is used to show the output desired speed generated by manual drive operation.
119.9
This parameter is used to show the output desired acceleration generated by manual
drive operation.
528
of 724
3.8.5
3
Operation mode spindle positioning (M19 command)
With activating of Z109.1– Operation Mode Set = -6 (spindle positioning) the drive switches to position control (if not yet active), synchronizes thereby with the actual speed set
value and begins to slow down to Z149.4– Spindle positioning speed. If this speed is
reached the drive positions to Z149.3– Spindle angle position considering Z149.2–
Mode.
The message „in position“ will be set from the drive in Z149.1– when
– the position set value reaches Z149.10– Active target position
and
– the position actual value is located in the Z121.5– Positioning window in the
Z121.6– Positioning window time.
The message „in position“ is also available in bit 10 of Z108.3– Status word 1.
From the following operation modes:
position control Z109.1– = -4
speed control Z109.1– = -3
position set mode Z109.1– = 1
speed set value Z109.1– = 2
jogging mode Z109.1– = 5
homing mode Z109.1– = 6
synchronous operation Z109.1– = -5
current control Z109.1– = -2
online-switching at speed actual value  0in the operation mode spindle positioning is
synchronized (shock-free) possible.
The spindle positioning has the following functions:
m Selection of the speed profile: Trapezoidal or S-curve.
m Absolute and relative types of following positioning without change of the operation
mode is possible.
m Free definition of the direction, if the speed actual value = 0, i.e. speed = 0 message
is available. Positive or negative direction and shortest distance to the angle target
respectively.
529
of 724
3.8
Operating Modes
Possible speed profiles after the reversing switch to the Operation mode spindle
positioning
Speed set value > spindle position speed
Switched to
operating mode -6 spindle positioning
n
Slow down with spindle acceleration bipolar
Spindle positioning speed
t
Setpoint value stands at target position
Figure 151:
Speed profile Speed set value > spindle position speed
Speed actual value <= spindle position speed
Switched to
n
5000_0176_rev01_int.cdr
Speed setpoint value will be kept
Slow down with
spindle acceleration bipolar
t
Figure 152:
Speed profile Speed actual value <= spindle position speed
530
of 724
3
Speed actual value = 0 (standstill message is set)
Switched to
n
Accelerate with spindle acceleration bipolar
Slow down with
spindle acceleration bipolar
t
Figure 153:
Speed profile Speed actual value = 0 (standstill message is set)
"Spindle positioning to angle target" mode
In this mode it will be positioned to the preset spindle angle position after switching to the
operating mode spindle positioning and reaching the spindle positioning speed. To this
bit 2 and 3 in Z149.2– Mode must be parameterized to 0.
Exception is speed actual value = 0:
Here additionally the direction of revolution can be defined via the bits 0 and 1 in Z149.2–
mode. To this the speed actual value must be equal 0, i.e. the standstill message of the
motor bearing encoder must be set.
Bit 1 - 0:
00: Towards greater position set values
01: Towards smaller position set values
10: Shortest distance
11: Reserved
"Spindle positioning to trigger signal" mode
Not available at the time.
Sequential positioning via command bit 11 of the control word
A sequential positioning is a positioning after the first spindle positioning. The controller
is in operating mode spindle positioning.
Due to start a sequential positioning the bit 11 in Z108.1– Control word 1 must be set, i.e.
a positive edge is needed in this control bit. A running positioning must first be completed,
before a new positioning can be started. The controller acknowledges an identified and
accepted start command by setting bit 12 "Start-Command-Acknowledge" in Z108.3–
status word 1. With the start bit 10 „Set value reached“ in Z108.3– status word 1 will be
531
of 724
3.8
Operating Modes
deleted. Bit 12 „In position“ in Z149.1– spindle positioning status is a copy of bit 10 "Set
value reached" in Z108.3– status word 1.
NOTE!
Bit 11 of the control word is only used for the sequential positioning. The first positioning after switching to operating mode spindle positioning is always executed immediately independent of the status of bit 11!
Operating sequence of a spindle positioning with a subsequent sequential
positioning
Switched to
n
Slow down with spindle acceleration bipolar
Spindle
positioning speed
t
Status word Bit 12
„Start-CommandAcknowledge“
Status word Bit 10
„Setpoint reached“
Control word Bit 11
„Start sequential
positioning“
Figure 154:
1
23
4 5 67
89
Spindle positioning with sequential positioning
Instant of time 1: Switching to operating mode spindle positioning; deceleration to spindle positioning speed.
Instant of time 2: Position set value has reached active target position Z149.10–.
Instant of time 3: Position actual value is in positioning window and positioning window
time is up  Controller sets "set value reached".
Instant of time 4: „Start sequential positioning“ is set.
Instant of time 5: Controller has recognized a start command, resets „set value reached“,
sets the „Start-Command-Acknowledge“ and begins with sequential positioning.
Instant of time 6: „Start sequential positioning“ is deleted.
Instant of time 7: Controller deletes „Start-Command-Acknowledge“.
Instant of time 8: Position set value has reached active target position.
Instant of time 9: The position actual value is in positioning window and positioning window time is up  Controller sets "set value reached".
532
of 724
3
Types of sequential positioning
The setting, whether a sequential positioning shall occur "absolute/relative", will be set in
Z149.2– Mode bit 4.
Bit 4 = 0: Absolute sequential positioning
Bit 4 = 1: Relative sequential positioning
Absolute positioning using Z149.3– Spindle angle position
Only the Low-Word of the spindle angle position is copied in the Low-Word of the effective
target position. The High-Word is not used at the time.
In order to start an absolute sequential positioning the control bit 11 must be set (positive
edge). The positioning direction is determined with bit 0 and 1 of the Z149.2– Mode.
00: Towards greater position set values
10: Shortest distance
11: Reserved (value is incorrect and is not accepted)
Relative positioning using Z149.9– Spindle relative offset
Dependent on the preset direction the new target position is calculated from the last target
position plus or minus spindle relative offset. Only the Low-Word is used from Z149.9–.
A positive edge in the control bit 11 is necessary in order to start.
The positioning direction is determined only with bit 0 of the Z149.2– Mode.
0: Towards greater position set values:
NOTE!
The value of bit 4 (sequential positioning absolute/relative) in Z149.2– Mode is irrelevant at switching in the operating mode spindle positioning. At the first spindle positioning it will be positioned always absolute to the spindle angle position! The actual
direction of revolution remains thereby. A reversion is not possible.
If the motor is in standstill (standstill message is existent) at switching, bit 0 and 1 of
Z149.2– decide on the positioning direction.
Functional block:
FbSpindlePos [149]
533
of 724
Name
Type
Max
Default Value Unit
Factor
149.1
Status
DWORD 0x0
0xFFFFFFFF 0x0
149.2
Mode
DWORD 0x0
0xFFFFFFFF 0x0
149.3
Spindle angle position
UDINT
0
0x0000FFFF
0
Inc
149.4
UDINT
0.0625
32767.0000
100.0000
Inc/ms 10000:1
X
149.5
Spindle acceleration bipolar
UDINT
0.07
655.35
2.00
Inc/
ms2
100:1
X
149.6
Spindle maximum jerk
UDINT
0.07
655.35
0.25
Inc/
ms3
100:1
X
149.9
Spindle relative offset
UDINT
0
0x0000FFFF
0
Inc
1:1
X
149.10
Active target position
UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
149.11
UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
149.12
DINT
-65535.0000
65535.0000
0
Inc/ms 10000:1 X
149.13
-655.35
655.35
0
Inc/
ms2
1:1
X
1:1
X
1:1
X
100:1
Cyclic Write
Number
DS Support
Min
Storage
Operating Modes
Read only
3.8
X
X
149.1
Status
Status of the spindle positioning
Bit-no.
Meaning
0
0: Spindle positioning switch off
1: Spindle positioning switch on
1
1: Position set value has reached active target position  function finished
3…2
Reserved
4
1: Set value speed = 0
5
Reserved
6
1: Spindle positioning speed limited to maximum speed, see Z121.11–
Speed limit and Z107.26– Max speed mech.
9…7
Reserved
10
1: In Position (set value reached)
11
Reserved
12
Start command acknowledge
15 … 13 Reserved
534
of 724
Bit-no.
3
Meaning
19 … 16 State of the actual positioning process:
0: Switched off
1: Initialization at activation
2: Reserved
3: Slow down to spindle positioning speed
4: Spindle positioning speed reached, calculation of the target position
5: Calculate the target position at standstill (speed actual value = 0)
6: Positioning to active target position
7: Set value assignment completed
8: Initialization of a sequential positioning
9 to 14: Reserved
15: Error status
31 … 20 Reserved
149.2
Mode
Mode of the spindle positioning
Bit-no.
Meaning
1…0
Definition of the direction, if the speed actual value = 0:
If bit 4 = 0 „absolute positioning“
00: Towards greater position set values 
01: Towards smaller position set values 
10: Shortest distance 
11: Reserved
If bit 4 = 1, „relative sequential positioning“; only bit 0 relevant
0: Towards greater position set values
3…2
Setting to spindle angle position or trigger source:
00: Positioning to Z149.3– Spindle angle position
Residual: Reserved
4
Type of positioning for sequential positioning
0: absolute positioning
1: relative positioning
5
Speed profile
0: Trapezoidal 
1: S-curve
31 … 6
Reserved
535
of 724
3.8
149.3
Operating Modes
This is the absolute angle position which must be reached in relation to home position
Z120.3–, i.e to the position of the encoder for position sensing. The Low-Word of the parameter is entered in the lower 16-bit (angle) of the active target position Z149.10–. The
High-Word of the parameter is not used at the time and must be set to zero.
64 Bit position setpoint
31
>18.58<
Angle
Revolutions
LowWord
>149.3<
0000hex
31
Figure 155:
149.4
0
16
0
5000_0173_rev01_int.cdr
>18.59<
63
If operating mode spindle positioning is activated, either the drive brakes up to the spindle
positioning speed or the drive keeps the preset speed. If operating mode spindle positioning is switched on from standstill, the drive accelerates with maximum acceleration to the
spindle positioning speed.
The internal resolution of the spindle positioning speed is 0.0625 Inc/ms. Therefore only
parameter values in multiples of the resolution make sense. Interim values will be rounded down.
149.5
Spindle acceleration bipolar
The maximum acceleration and deceleration of the drive in the operating mode spindle
positioning can be set here.
149.6
Spindle maximum jerk
The maximum jerk (change of acceleration) for the S-curve profile can be set in this parameter. When using the trapezoidal profile the parameter has no function.
536
of 724
149.9
3
The parameter is used as distance which must be driven from standstill at relative sequential positioning (Z149.2– Mode bit 4 = 1). Only the Low-Word of the parameter is
used. The High-Word of the parameter is not used at the time and must be set to zero.
Format
High-Word: Revolutions
Low-Word: Angle
64 Bit position setpoint
>18.59<
31
>18.58<
Angle
Revolutions
Relative offset
31
Figure 156:
149.10
0
16
0
5000_0174_rev01_int.cdr
63
Active target position
This is the calculated target position, which must be reached in a 16 bit revolution and in
a 16 bit angle format.
The parameter is updated in the operating modes spindle positioning (-6) and target position setting (1).
149.11
This parameter shows the actual position set value calculated from module spindle positioning.
149.12
This parameter shows the output speed set value generated from module spindle positioning.
149.13
This parameter shows the output acceleration set value generated from module spindle
positioning.
537
of 724
3.8
Operating Modes
3.8.6
Position control with synchronous set value specification
The cyclic synchronous position set value specification is activated through operating
mode Z109.1– = -4. In this operating mode, the position set value that is transferred in
every fieldbus cycle is interpolated in the control cycle. The interpolated set value is the
position set value for the position control.
The major functions are:
m Interpolation of the fieldbus set value for the cycle of the position control.
m Selection between two input channels for the position set value to be interpolated:
– Z136.3– Set value in the format 16 bit revolutions and 16 bit angle
– Z136.5– Set value in the format 32 bit angle
m Each of the two input channels to one offset input additionally:
– Z136.4– Position offset in the format 16 bit revolutions and 16 bit angle
– Z136.6– Angle offset in the format 32 bit angle
m Additional input as offset speed Z136.7–. The function can thereby be tested without
cyclical set value specifications through the fieldbus.
m Optional speed actual value synchronization when activating the operating mode.
m Optional extrapolation during set value failure.
m Evaluation of software limit switches possible  Activation, refer to Z121.1–.
m Evaluation of hardware limit switches possible  Activation, refer to Z121.1–.
m Stop possible through control word Bit 8 of the drive manager.
m Set values can be blocked through the control word Bit 11 of the drive manager.
m Display of current output set values: Acceleration, speed and position.
m Bipolar limiting of output speed through Parameter Z121.11–.
m The set fieldbus cycle time Z131.18– is used as the interpolation interval.
m The interpolation interval can be extended through the factor in Parameter Z136.2–
Mode in Bit 12 and 13. The following applies: 
Interpolation interval = Factor * Fieldbus cycle. 
Factors 1, 2, 4 and 8 are possible.
m PT1 filter for smoothing the transferred position set value
m An external, cyclical specification of the speed and acceleration feedforward values
takes place. For details see Z111.7–, Z111.8– and Z18.9–.
NOTE!
Currently, the fastest adjustable set value cycle (= Fieldbus cycle) for this operating
mode is 250 µs and thereby corresponds with the default setting for the cycle of the
position control. Especially with cycle rates of less than 1 ms, the computation time
capacity utilization of the controller must be observed when using a double axis unit!
538
of 724
3
Default values:
position set value 136.8
angle set value 136.12
speed set value 16 bit 136.9
speed set value 32 bit 136.15
acceleration set value 136.10
Configuration of
interpolation from SW clock
to clock of SW interface
Position offset
136.4
Input selection
Offset speed
136.7
Target position
136.3
Smoothing time
position set value
136.13
Actual
values
Interpolator
Position
Speed
controller
Interpolator
Target angle
136.5
5000_1003_rev03_int.cdr
121.11
Speed limit
Angle offset
136.6
136.14
Speed set value
unlimited
Figure 157:
Interpolation from clock of
SW interface to controller clock
SW = Set value; SW Cycle = effective interpolation interval; cycle of the internal software
interface = Fieldbus cycle
Default Value Unit
Number
Name
Type
136.1
Status
DWORD 0x0
0xFFFFFFFF 0x0
1:1
136.2
Mode
WORD
0x0
0xFFFF
1:1
136.3
Target position
UDINT
0x0
0xFFFFFFFF 0x0
Inc
1:1
X
136.4
Position offset
DINT
0x80000000
0x7FFFFFFF 0x0
Inc
1:1
X
136.5
Target angle
UDINT
0x0
0xFFFFFFFF 0x0
Inc
1:1
X
136.6
Angle offset
DINT
0x80000000
0x7FFFFFFF 0x0
Inc
1:1
X
136.7
Offset speed
DINT
-65535
65535
Inc/ms 1:1
136.8
UDINT
0x0
0xFFFFFFFF 0x0
Inc
1:1
X
136.9
DINT
-65535
65535
0
Inc/ms 1:1
X
136.10
-65535
65535
0
Inc/
ms²
100:1
X
136.11
Active interpolation interval
UINT
125
32000
1000
µs
1:1
X
136.12
Output angle set value
UDINT
0
0xFFFFFFFF 0x0
Inc
1:1
X
136.13
Smoothing position set value FLOAT
0
32
ms
1:1
136.14
Speed set value unlimited
DINT
0x80000000
0x7FFFFFFF 0
Inc/ms 1:1
X
136.15
Output speed set value 32-bit DINT
0x80000000
0x7FFFFFFF 0
Inc/ms 1:1
X
0x0004
0
0
Factor
Cyclic Write
Max
DS Support
Min
Storage
FbCycSyncPos [136]
Read only
Functional block:
X
X
X
X
539
of 724
3.8
Operating Modes
136.1
Status
Bit no.
Meaning
0
1: Synchronous position set value specification ON
1
1: Blocked set value specification through command "Block Set Values"
(108.1 Control word Bit 11 = 1)
3…2
Reserved
4
1: Set Value speed = 0
5
Reserved
6
1: Speed is limited to maximum speed; refer to Z121.11– Speed limit and
Z107.26– Max speed mech.
7
1: Positioning range limit exceeded
8
1: Position set values will be extrapolated (extrapolation is activated)
9
1: Set value specification stopped; Stop triggered by control word Bit 8 or
limit switch.
11 … 10 Reserved
12
0: Target position is ignored
1: Target position effective, drive follows the cyclic set value
13
Reserved
14
1: Drive into negative direction was prevented by limit switch
15
1: Drive into positive direction was prevented by limit switch
31 … 16 Reserved
Remarks:
m Bit 6: Speed limited to maximum speed:
The input set values are monitored for overspeed. If the set value speed exceeds the set
value in Z121.11– speed limit or Z107.26– Max speed mech. of the motor, the speed will
be reduced to the value of the limit, the error 910 "Overspeed detected at the set value
input" will be triggered and Bit 6 will be set in the status.
136.2
Mode
The settings in the mode are transferred to the Operation Enabled status during transfer.
Changes may be made in this status but they will not take effect until blocking and re-release is completed.
540
of 724
Bit no.
3
Meaning
0
1: Synchronization to speed actual value with activation
1
0: No extrapolation with set value failure; after the interpolation procedure,
the position set value will not be extrapolated with the last speed.
1: Extrapolation with set value failure; after the interpolation procedure, the
position set value will be extrapolated with the last speed.
2
Input selection:
0: Parameter Z136.3– Target position and Z136.4– Position offset are effective
1: Parameter Z136.5– Target angle and Z136.6– Angle offset are effective
3
Reserved
5 ... 4
The behavior at an active limit switch monitoring, when moving over hardware limit switch or software limit switch:
0: Error message; new set values will be accepted. A response by the control is necessary.
1: Error message; drive internal stop
2: No error message; no stop; new set values are accepted
3: No error message; drive internal stop
7…6
Reserved
8
Interpolation procedure:
0: Linear interpolation
1: Square interpolation
11 … 9 Reserved
13 … 12 Factor for interpolation interval (IP Interval = Factor * Fieldbus cycle time
Z131.18–)
00: Factor = 1
01: Factor = 2
10: Factor = 4
11:
Factor = 8
15 … 14 Reserved
Remarks:
Bits 4 and 5: The behavior at active limit switch monitoring, when moving over
limit switch:
When overriding a hardware limit switch, a Error 906 "Negative hardware limit switch active" or Error 907 "Positive hardware limit switch active" will be triggered.
When overriding a software limit switch, a Error 908 "Negative software limit switch active" or Error 909 "Positive software limit switch active" will be triggered.
With setting of bit 5 the error message and error response can be switched off. In this
case only the set stop (bit 4 = 1) is executed and the drive direction is inhibited.
The subsequent behavior of the drive corresponds with the error response setting for the
corresponding error code.
The default value for these errors is "no response".
541
of 724
3.8
Operating Modes
m "no response" and Bit 4 = 0: 
Only the corresponding error is settled. New set values through the fieldbus continue
to be accepted. The control must perform the corresponding response.
m "no response" and Bit 4 = 1:
In addition to settling the error, a Stop is also triggered. Braking occurs drive internally
with Z121.8– Stop delay. New set values through the fieldbus will be ignored. 
After ending the Stop (speed set value = 0), the end switch errors may be confirmed.
During confirmation, the drive control synchronizes the input parameters Z136.3– Target position and Z136.5– Target angle with the current Z136.8– Output position set
value. The higher level control must perform this as well and can then be assigned new
set values.
Bit 8: Interpolation procedure
This is where the procedure for the interpolation level "Set value cycle  Cycle internal
set value interface" is entered.
The interpolation level "Cycle internal set value interface  Controller cycle" is thereby
not influenced. This interpolation is defined through Parameter Z111.6– Interpolation
mode!
The cycle of the internal set value interface corresponds with the fieldbus cycle time entered in Z131.18–. The set value cycle can be increased through the factor for the interpolation interval against the fieldbus cycle time. If the factor for the interpolation interval
(Z136.2– Bit 12 and 13) is set to 1, the interpolation level "Set value cycle  Cycle internal set value interface" is not needed and Bit 8 is of no importance.
Bits 12 and 13: Factor for interpolation interval
These two bits can be used to enter an increase of the cycle time of the new set values
compared to the fieldbus cycle time Z131.18–. The cycle time of the new set values corresponds with the displayed effective interpolation interval (Z136.11–)
Effective interpolation interval = Factor * Fieldbus cycle time
At active interpolation (factor IP interval > 1) and simultaneous using of parameter
Z136.5– as input a deviation can occur between the 32 bit input angle (Z136.5–) and the
32 bit output angle (Z136.12–) at fixed input set value. This difference is caused by the
interpolation and is internally saved and is considered in the input set value with the next
motion.
Example 1:
New set values are to be transferred under the following conditions:
n New set values are transferred during each fieldbus cycle: 
The setting of the interpolation procedure is therefore irrelevant  Bit 8 = 0
Factor for IP interval = 1  Bit 13 = 0 and Bit 12 = 0
n The hardware and software limit switches should only report errors  Bit 4 = 0
n The set values have the format 32 Bit angle
Input channel is thereby Z136.5– target angle  Bit 2 = 1
n The extrapolation with set value failure should be effective  Bit 1 = 1
n The synchronization at activation of the operating mode must be active  Bit 0 = 1
 Z136.2– Mode = 0007hex
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3
Example 2:
New set values are to be transferred under the following conditions:
n New set values are transferred during every second fieldbus cycle: 
The square interpolation procedure is recommended as the interpolation procedure
 Bit 8 = 1
Factor for IP interval = 2  Bit 13 = 0 and Bit 12 = 1
n The hardware and software limit switches should only report errors  Bit 4 = 0
n The set values have the format 16 Bit angle and 16 Bit revolution
Input channel is thereby Z136.3– Target position  Bit 2 = 0
n The extrapolation with set value failure should be effective  Bit 1 = 1
n The synchronization at activation of the operating mode must be deactivated  Bit
0=0
 Z136.2– Mode = 1102hex
136.3
Target position
The parameter is a set value input for the position control with cyclical synchronous position set value specification (Operating mode -4). It is a position value in format 16 Bit revolution and 16 Bit angle.
This input is selected using Parameter Z136.2– Mode Bit 2 = 0.
The default setting for the cycle time for new set values is the fieldbus cycle time
(Z131.18–). The specified position set value is then interpolated by the cycle time of the
cycle time of the set values to the control cycle.
136.4
Position offset
The parameter only acts as an offset when the input Z136.3– Target position has been
selected.
The offset value is added to the target position. This is an absolute position value and it
is also set regardless of the number of communication transmissions and always as an
absolute offset value for the target position. This means that if, for example, the same offset value is set twice through communication it will not be added twice.
If the offset is not 0, then Z136.3– Target position and Z136.8– Output position set value
will deviate from each other by the offset value. When the offset is reset to 0, the output
position set value will correspond with the target position.
The format of the parameter is 16 Bit revolution and 16 Bit angle. However, in contrast to
Parameter Z136.3– it has applied leading signs!
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3.8
136.5
Operating Modes
Target angle
The parameter is a set value input for the position control with cyclical synchronous position set value specification (Operating mode -4). It is a position value in the format 32 Bit
angle.
This input is selected using Parameter Z136.2– Mode Bit 2 = 1.
The default setting for the cycle time for new set values is the fieldbus cycle time
(Z131.18–). The specified angle set value is then interpolated by the cycle time of the cycle time of the set values to the control cycle.
136.6
Angle offset
The parameter only acts as an offset when the input Z136.5– Target angle has been selected.
The offset value is added to the target angle. This is an absolute position value and it is
also set regardless of the number of communication transmissions and always as an absolute offset value for the target angle. This means that if, for example, the same offset
value is set twice through communication the value will not be added twice.
If the offset is not 0, then Z136.5– Target angle and Z136.12– Output angle set value will
deviate from each other by the offset value. When the offset is reset to 0, the output angle
set value will correspond with the target angle.
The format of the parameter is 32 Bit angle. However, in contrast to Parameter Z136.5–
Target angle it has applied leading signs!
136.7
Offset speed
The parameter acts as offset speed when the position control is active with cyclical synchronous position set value specification (Operating mode -4). Regardless of the set value input setting (Z136.3– or Z136.5–) it is always active and in format 16 Bit angle.
Its value is added to the interpolated set value as Delta position (= speed) during each
cycle of the set value interface.
When using the offset speed it must be observed that the input set value and position set
value (Z111.2– Position set value revolutions and Z111.3– Position set value angle)
must no longer match.
The parameter must be distinguished from the speed additional set value, which has a
direct effect on the speed control input!
136.8
This parameter shows the calculated target position after offset addition and is updated
during the cycle of the set value interface.
The displayed value is in format 16 bit revolution + 16 bit angle.
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136.9
3
This parameter shows the generated output speed set value after offset addition and after
PT1 smoothing.
The displayed value is in format 16 bits increments/revolution per ms.
136.10
This parameter shows the generated output set value speed after offset addition and is
updated during the cycle of the set value interface.
The displayed value is in format 16 bits increments/revolution per ms².
136.11
Effective interpolation interval
Parameter to display the effective interpolation interval:
Interpolation interval = Factor * Fieldbus cycle time
The factor can be adjusted in Parameter Z136.2– Mode in Bits 12 and 13.
The fieldbus cycle time is adjusted in Parameter Z131.18–.
136.12
Output angle set value
This parameter shows the calculated set value angle after offset addition and is updated
during the cycle of the set value interface.
The displayed value is in format 32 bit angle.
136.13
Smoothing time position set value
In this parameter the time constant of the PT1 filter for smoothing the transferred position
set value is set in the operating mode "Position control with synchronous set of setpoints".
The PT1 element is calculated after Parameter Z121.11– Speed limit, i.e. the already interpolated and limited position set value delta is smoothed.
The value 0 indicates no smoothing.
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Operating Modes
NOTE!
m With the transfer in the "operation enable" state the change of smoothing time is
activated, i.e. not until pulse inhibit and a re-enabling.
m Depending on Parameter Z136.13– the output set value reaches the input set value delayed, due to the PT1 element. The implemented PT1 algorithm prevents a
constant deviation at a constant input set value. However, another time delay is
provided by the clearing mechanism until the input value is reached. A completed
transient is visible at bit 4 speed set value = 0 of parameter Z136.1– Status.
136.14
Speed set value unlimited
This parameter shows the current speed set value after speed offset addition (Z136.7–)
but before speed limit by parameter Z121.11–.
The displayed value is in format 32 bits increments/revolution per ms.
136.15
Output speed set value 32 bit
This parameter shows the generated output speed set value after offset addition and after
PT1 smoothing.
In contrast to parameter Z136.9– this parameter has a higher resolution of 32 bits increments/revolution per ms and therefore very low velocities are visible.
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3.8.7
3
Operating mode synchronous operation
The software module synchronous operation moves a slave axis in a synchronous angle
to a master axis.
A virtual master axis is calculated in the drive. The speed-set value must be specified.
The set value of the master axis serves as the input value for the electronic transmission.
The output value of the transmission is the position set value for the position control.
The following synchronous operation modes (Z145.2– Mode; Bit 0 to 3) are differentiated:
m Bit 0-3 = 0010: Virtual master axis in relative synchronized angle
The set value for the slave axis is specified in this mode through Parameter Z145.10–
Virt. lead speed set value. The axis is located in the position control.
A position set value for the virtual master axis is calculated in the drive from the speed
set value. The drive follows this virtual master axis synchronized.
This mechanism is purposeful when other axis are connected as slave axis. These
slave axis then receive the set value of the virtual master axis as input set value. Subsequently, all other axis then follow the same set value including the axis that calculates the virtual master axis itself.
The input set value of the virtual master axis can be routed through a ramp generator
(ramp function generator) or have a direct effect. Refer to the related explanations of
Bit 12 of the mode.
Electronic transmission
The electronic transmission extends the functionality of the software module synchronous
operation with an adjustable transmission ratio between slave axis and master axis. The
transmission ratio i is specified from 2147483647:1 to 1: 2147483647 as quotient from
two natural numbers and can also be changed in the released status ("Online"). The
counter may become negative. The function of a reverse transmission can thereby be implemented.
The transmission factor settings are entered in the parameters Z145.3– Transmission
revolutions slave axis and Z145.4– Transmission revolutions master axis.
An editing mode can be selected through Z145.2– Mode Bit 4. The two transmission factors can be changed without changing the transmission ratio. The two factors will become
effective simultaneously when the Bit 4 (1  0) is deleted.
Speed - synchronous operation
A Speed - synchronous operation can be implemented by switching off the reinforcement
of the position control circuit (Z18.14– Kv Position control = 0). The speed feedforward
(Z18.15– w2 Feedforward factor = 1.00) must be set to 100% when the calculated slave
axis set value speed is to be transferred to the speed control 1:1. The speed feedforward
can be changed for corrections of the slave axis speed.
The smoothing of the speed feedforward Z18.70– can be used for smoothing the speed
set value of the master axis.

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Operating Modes
Other functions:
m Optional speed synchronization of the slave axis with the master axis is possible when
the synchronous operation is activated. For details, refer to Parameter Z145.2– Mode
Bit 8.
m Speed synchronization with Online operating mode changeover (Status Operation Enabled) from synchronous operation to another position or speed controlled operating
mode. The speed synchronization must be activated for the operating mode.
m Stop command possible through control word Bit 8. A speed synchronization with the
master speed may occur after the Stop has been canceled.
m Integrated Ramp generator with profile data in master axis resolution. The setting is entered in Parameters Z145.7– to Z145.9–. A selection between speed profiles Trapezoidal or S-Curve is possible. The ramp generator becomes active during speed
synchronization, with a Stop command or with the virtual master axis.
m Virtual master axis without ramp generator (ramp function generator) with optional interpolation of set value cycle to control cycle. This mode is activated in Parameter
Z145.2– Mode Bit 12 = 1.
The interpolation cycle setting for the set value speed (Z145.10– Virt. lead speed set
value) is entered in Z145.11–. Interpolation does not occur with a value of 1 ms and
the Z145.10– is directly (not interpolated) transferred to the transmission input). The
parameter may also be a multiple of the fieldbus cycle, such as fieldbus cycle = 2 ms
and set value cycle = 6 ms. In the example this means that the control must only send
a newly calculated speed set value to the controller every third fieldbus cycle.
m Monitoring of speed synchronization between master and slave axis. 
Z145.1– Status Bit 8 displays exiting the Z145.6– Synchronization velocity window of
the slave axis.
m There are two additional inputs (Z145.15– and Z145.16–) besides the main set value
Z145.10– or the master axis position, if the master axis is virtual or real.
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Figure 158:
Synchronous operation page in ProDrive
Type
Min
Max
Default Value Unit
Factor
145.1
Status
WORD
0
0xFFF
145.2
Mode
DWORD 0x0
145.3
Gear slave shaft revolutions DINT
145.4
Gear master shaft revolutions
DINT
145.5
Speed limit master shaft
UDINT
0x0
1:1
0xFFFFFFFF 0x0
1:1
X
-2147483647
2147483647
1
1:1
X
1
2147483647
1
1:1
X
0
0x7FFFFFFF 0x7FFFFFFF
Inc/
Tab
1:1
Cyclic Write
Name
DS Support
Number
Storage
FbSynchroOperation [145]
Read only
Functional block:
X
X
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3.8
Operating Modes
145.6
Synchronization velocity win- UDINT
dow
1
2147483647
10000
Inc/ms 10000:1
X
145.7
Synchronization acceleration UDINT
1
6553600
10000
Inc/
ms²
10000:1
X
X
145.8
Synchronization deceleration UDINT
1
6553600
10000
Inc/
ms²
10000:1
X
X
145.9
Synchronization maximum
jerk
UDINT
1
6553600
1000
Inc/
ms³
10000:1
X
X
145.10
Virtual master speed set
value
DINT
-2147483647
2147483647
0
Inc/ms 10000:1
145.11
Virt. master set value cycle
time
UINT
1
128
1
ms
145.12
Master speed
DINT
-2147483647
2147483647
0
Inc/ms 10000:1 X
145.13
Master position revolutions
UDINT
0
0xFFFFFFFF 0
Inc
1:1
145.14
Master position angle
UDINT
0
0xFFFFFFFF 0
Inc
1:1
145.15
Master speed set value addi- DINT
tive 1
-2147483647
2147483647
0
Inc/ms 10000:1
X
145.16
Master speed set value addi- DINT
tive 2
-2147483647
2147483647
0
Inc/ms 10000:1
X
145.18
Master angle offset
0x80000000
0x7FFFFFFF 0x0
Inc
X
DINT
1:1
X
X
1:1
145.1
Status
Bit no.
0
3…1
Meaning
1: Synchronous operation is switched on
Reserved
4
1: Overspeed detected at the transmission input
5
1: Slave axis stopped
7…6
Reserved
8
0: Speed synchronization on master axis is completed
1: Speed synchronization on master axis is active
9
1: Slave axis is outside of the synchronization velocity window (Z145.6–)
15 … 10 Reserved
Remarks:
m Bit 5 Slave axis stopped
This bit is used when the slave axis was stopped using the Stop command of the control word (Z108.1– Bit 8 = 1). The slave axis was disconnected from the master axis.
If the Stop command of the control word is canceled, the Bit will be deleted again.
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m Bit 8 Status of the speed synchronization on the master axis
The bit will only be operated when the speed synchronization (Z145.2– Bit 8 = 1) is
switched on.
m Bit 9 Monitoring the speed synchronicity
This bit indicates leaving the Z145.6– Synchronization velocity window of the slave axis. Monitoring is activated with completed speed synchronization (Z145.1– Bit 8 = 0).
If the speed actual value of the slave axis enters the monitoring window again, Bit 9 will
be deleted.
145.2
Mode
The settings in the mode are transferred to the Operation Enabled status during transfer.
Changes may be made in this status but they will not take effect until blocking and re-release is completed. Bit 4 is the exception!
Bit no.
Meaning
3…0
Type of synchronous operation:
0010: Virtual master axis in relative synchronized angle run
Rest is reserved
4
7…5
0: Transparent mode: All changes in transmission factors become effective
immediately
1: Editing mode: The transmission factors may be changed. The transmission ratio remains unchanged at first. The factors are transferred at the
same time that Bit 4 (1 0) is deleted.
Reserved
8
1: Activate speed synchronization on master axis
9
Speed profile of the ramp generator:
0: Trapezoidal profile
1: S-Curve
11 … 10 Reserved
12
Virtual master axis: Handling of the Z145.10– Virt. master speed set value
0: Speed set value is routed through ramp generator of the synchronous
operation
1: Speed set value with optional interpolation and without ramp generator
31 … 13 Reserved
Remarks:
m Bit 3 to 0: Synchronous operation
0010: Virtual master axis in relative synchronized angle
The set value for the slave axis is specified in this mode through Parameter Z145.10–
Virt. lead speed set value. The axis is located in the position control.
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3.8
Operating Modes
A position set value for the virtual master axis is calculated in the drive from the speed
set value. The drive follows this virtual master axis synchronized.
This mechanism is purposeful when other axis are connected as slave axis. These
slave axis then receive the set value of the virtual master axis as input set value. Subsequently, all other axes then follow the same set value including the axis that calculates the virtual master axis itself.
The input set value of the virtual master axis can be routed through a ramp generator
(ramp function generator) or have a direct effect. Refer to the related explanations of
Bit 12 of the mode.
m Bit 8: Activate speed synchronization on master axis
This bit activates the speed synchronization for the speed set value of the master axis
when activating the operating mode synchronous operation or following a Stop command through the control word (Z108.1– Bit 8 = 1)
Procedure of synchronization after activation:
– Automatic activation of the internal ramp generator using Parameters Z145.7– to
Z145.9–.
– The speed set value of the master axis defines the target speed for the ramp generator.
– The speed actual value of the slave axis, under consideration of the inverse transmission factor, corresponds with the start speed for the ramp generator. This enables the activation of a moved slave axis on the fly.
– Synchronicity is considered to be established when the slave axis enters the
Z145.6– Synchronization velocity window for the first time around the speed set value of the master axis. From this point, the controller will independently switch from
the internal ramp generator to the set value of the master axis.
– If the master axis changes its speed during synchronization in progress, the target
speed for the ramp generator will be adjusted accordingly.
If the new target speed slows down, braking occurs with a deceleration value Z145.8–
to the new value.
In the case of the S-curve, the current acceleration value must first be reduced through
the jerk value setting Z145.9–, which means the speed will first be increased further.
Procedure with Stop through the control word and subsequent synchronization after
canceling the Stop:
– The Stop command is requested through the Z108.1– Control word Bit 8 = 1.
– Automatic activation of the internal ramp generator using Parameters Z145.7– to
Z145.9–. Disconnect the slave axis from the main axis set value.
– The target speed for the ramp generator is set to 0.
– The speed actual value of the slave axis, under consideration of the inverse transmission factor, corresponds with the start speed for the ramp generator.
– The Stop cannot be ended until the speed set value at the output of the ramp generator has reached 0.
– The stop is canceled by deleting the control word Bit 8.
– After canceling the Stop, the target speed of the ramp generator is set to the current
speed set value of the master axis.
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– Synchronicity is considered to be established when the slave axis enters the
Z145.6– Synchronization velocity window for the first time around the speed set value of the master axis. From this point, the controller will independently switch from
the internal ramp generator to the set value of the master axis.
– If the master axis changes its speed during synchronization in progress, the target
speed for the ramp generator will be adjusted accordingly.
If the new target speed slows down, braking occurs with a deceleration value Z145.8–
to the new value.
In the case of the S-curve, the current acceleration value must first be reduced through
the jerk value setting Z145.9–, which means the speed will first be increased further.
NOTE!
With deactivated speed synchronization (Bit 8 = 0) the slave axis may not be added
to a moving master axis and a stop may not be ended. Because the master axis set
value is transferred immediately, an undesired fast acceleration may occur depending on the master speed. This may lead to damage to the mechanism and trigger a
error when position error monitoring is active.
m Bit 9: Speed profile of the ramp generator
This bit is used to set the speed profile for the ramp generator. The ramp generator is
active with the virtual master axis and speed synchronization processes.
m Bit 12: Virtual master axis - Handling the speed set value of the virtual master
axis
If Bit 12 is set to 0, the value in Parameter Z145.10– Speed set value is routed through
the ramp generator of the synchronous operation to the transmission input. Parameters Z145.7– to Z145.9– apply as profile data. The profile type is set in the Z145.2–
Mode Bit 9.
If Bit 12 is set, the speed set value is immediately routed to the transmission input without ramp generator. Optionally, an interpolation can also be activated for the speed set
value. When the interpolation is active, the result will be a set value at the transmission
input that is delayed by an interpolation interval of - 1 ms.
The interpolation interval setting is entered in Z145.11– Virt. lead set value cycle.
145.3
Gear slave axis revolutions
Counter in the transmission ratio i of the electronic transmission.
The input of 0 is rejected and the old value remains effective. The control word Bit 8 must
be used to stop the slave axis.
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3.8
145.4
Operating Modes
Gear master axis revolutions
Denominator in the transmission ratio i of the electronic transmission.
The transmission ratio of the electronic transmission function is calculated according to
the equation:
revolutions slave shaft
i = --------------------------------------------------------revolutions master shaft
The denominator and counter of the transmission ratio consist of whole numbers without
decimal places. The counter may become negative. The function of a reverse transmission can thereby be implemented.
The table below shows some transmission ratios with associated parameter values:
i
Z145.4– Rot. Master axis
Z145.3– Rot. Slave axis
0,2
10
2
- 0,78
100
- 78
3,15
100
315
6,54321
100000
654321
0,3333
10000
3333
Example of a changeover of a transmission ratio from 0.8 to 1.15:
– Application of the Transparent Mode (Z145.2– Mode Bit 4 = 0):
Rot. Master axis
Rot. Slave axis
Mode Bit 4
Transmission
Ratio i
10
8
0
0,8
10  100
8
0
0.8  0.08
100
8  115
0
0.08  1.15
– or change slave axis revolutions first:
Rot. Master axis
Rot. Slave axis
Mode Bit 4
Transmission
Ratio i
10
8
0
0,8
10
8  115
0
0.8  11.5
10  100
115
0
11.5  1.15
NOTE!
Undesired transmission ratios may occur in the Transparent Mode!
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– Application of the Edit Mode (Z145.2– Mode Bit 4 = 1):
Rot. Master axis
Rot. Slave axis
Mode Bit 4
Transmission
Ratio i
10
8
0
0.8
10
8
01
0.8
10  100
8
1
0.8
100
8  115
1
0.8
100
115
10
0.08  1.15
 No undesired transmission ratios occur in Edit Mode!
145.5
Speed limit master axis
Display of maximum editable speed (= Position Change) at the transmission input (master axis) to prevent overrun at the transmission output (slave axis). The value is calculated
based on the current transmission factors.
If the set value of the master axis exceeds this value, a error will be issued and the subsequent drive will be blocked. Monitoring may occur with an incorrect setting of the transmission factor or a faulty set value of the master axis. Normally, these high speeds cannot
occur.
The maximum possible value (= 2147483647 Inc/Tab) is displayed at the transmission input for |Z145.3– Rot. Slave axis| < Z145.4– Rot. master axis.
The sampling time Tab in the unit of Parameter Z145.5– corresponds with the effective
position controller cycle (refer to Z1.8– RT0 cycle time).
Example:
Position controller cycle = 250 µs  Inc/Tab = Inc/250µs
Z145.3– revolution of the slave axis = -55555
Z145.4– revolution of the master axis = 1000
 Z145.5– Speed limit
= (231 -1) * Rot. master axis / |Rot. slave axis|
= 2147483647 * 1000 / 55555
= 38655092 Inc/250µs
 The result converted to a rotative speed:
Speed limit = 38655092 * 4 Inc/ms = 1546220368 Inc/ms
= 1546220368 * 60000 / 232 rpm
2160 rpm
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3.8
145.6
Operating Modes
Synchronization velocity window
This parameter is used to set the monitoring window for the speed synchronicity. The
Synchronization velocity window is symmetrically arranged around the speed set value of
the master axis.
If the speed actual value of the slave drive is outside of this window under consideration
of the electric transmission, Bit 9 "Slave axis outside of synchronization velocity window"
will be set in the Z145.1– Status. If the speed actual value of the slave axis enters the
monitoring window again, Bit 9 will be deleted again.
Monitoring is not activated until speed synchronization is completed (Z145.1– Status
Bit 8 = 0).
145.7
Synchronization acceleration
The maximum acceleration is set in the operating mode synchronous operation. The parameter determines the permitted acceleration on the master axis ("in front of the transmission"). It is used as soon as the internal ramp generator for the synchronous operation
is activated. This is the case with speed synchronization, a Stop command or the virtual
master axis.
145.8
Synchronization deceleration
The maximum deceleration is set in the operating mode synchronous operation. The parameter determines the permitted deceleration on the master axis ("in front of the transmission"). It is used as soon as the internal ramp generator for the synchronous operation
is activated. This is the case with speed synchronization, a Stop command or the virtual
master axis.
145.9
Synchronization maximum jerk
This parameter is used to set the maximum jerk (change of acceleration) in the Synchronous operating mode. The parameter determines the maximum permitted jerk value on
the master axis ("in front of the transmission"). It is used as soon as the internal ramp generator for the synchronous operation is activated. The parameter is only effective when
the S-curve (Z145.2– Mode Bit 9 = 1) is set as the speed profile.
Example:
Z145.9– Synchronization max. jerk = 0.1025 Inc/ms³
Z145.7– Synchronization acceleration = 1.3450 Inc/ms²
Time after which the acceleration is reached:
1,3450 Inc/ms²
t = ------------------------------------ = 13,1 ms
0,1025 Inc/ms³
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145.10
3
Virtual master speed set value
This parameter is the set value input for the function "virtual master axis". It specifies the
set value speed on the master axis ("in front of the transmission").
The "virtual master axis" is activated through Parameter Z145.2– Mode Bit 0-3 = 0010.
145.11
Virt. master set value cycle time
This parameter is only effective in the function "virtual master axis". Changes in the parameter only become effective when the controller is blocked.
The interpolation cycle setting for the set value speed (Z145.10– Virt. master speed set
value) is entered here. Bit 12 must also be set in Parameter Z145.2– Mode.
Interpolation does not occur with a value of 1 ms and the Z145.10– is directly (not interpolated) transferred to the transmission input).
The parameter may also be a multiple of the fieldbus cycle, such as Fieldbus cycle = 2 ms
and set value cycle = 6 ms. In the example this means that the control must only send a
newly calculated speed set value to the controller every third fieldbus cycle.
145.12
Master speed
This parameter indicates the effective set value speed in front of the transmission.
In the case of the actual master axis, the current speed of the master axis encoder will be
shown. This also applies to a Stop or speed synchronization, although the set value of the
ramp generator affects the transmission input here.
In the case of the virtual master axis, the set value speed at the output of the ramp generator or interpolated set value speed will be displayed.
145.13
The parameter shows the number of revolutions in the position set value of the master
axis ("in front of the transmission").
In the case of the actual master axis, the actual value of the master axis encoder will be
shown. The parameter will only be updated in the "Operation enabled" status.
In the event of the virtual master axis, the value is included through integration of the set
value speed and may be set to a blocked status.
145.14
The parameter shows the angle of the position set value of the master axis ("in front of
the transmission") in 32 bit resolution.
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3.8
Operating Modes
In the case of the actual master axis, the actual value of the master axis encoder will be
shown. The parameter will only be updated in the "Operation enabled" status.
In the event of the virtual master axis, the value is included through integration of the set
value speed and may be set to a blocked status.
145.15
145.16
These parameters are two additional set value inputs. The resolution is
10000 * 16 bit increments/revolution per ms.
The sum of both additional speeds (ms) is added to the internally effective master axis
position as a change of position at the function "Real master axis". The displayed master
axis position in Z145.13– and Z145.14– continues to show the original master axis value.
At the "Virtual master axis" function the values are added to the main set value Z145.10–
prior to the set value interpolation and the ramp function generator.
For the "Virtual master axis with interpolation" mode the main set value must be written,
e.g. as a cyclical set value via the fieldbus. Only if this is done the interpolation will be
started and the total set value from the three input parameters will be used.
It is not necessary to write the main set value for mode "Virtual master axis with ramp generator". Each cycle calculates the total set value. This value is written to the input of the
ramp generator.
145.18
Master angle offset
The set value of the slave axis can be set in the "Real master axis" mode with this parameter. The offset immediately is active.
Set value slave axis = Master axis position + Angle of master axis offset
The offset operates as an absolute position set value. This means, if the same offset value is set twice, the value is not added twice. The change of the offset is always added. If
the offset is set to zero, the set value of the slave axis corresponds to set value of the
master axis.
The offset is a signed value in a 32 bit angle format. It has the resolution of the master
axis, is previously added to the gear and its sampling rate is 1 ms.
The resulting offset adjustment speed can be limited via Z145.10– Virtual master set
speed value. Therewith the entire offset adjustment can be distributed to several controller cycles.
The parameter has no function at synchronous operation with a virtual master axis.
558
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3.8.8
3
Operating mode Notch position search
The operating mode Reference notch position is used to determine the installation position (notch angle) of the encoder with synchronous machines.
For Baumüller motors with absolute value encoder and electronic type plate the notch angle is stored in the electronic type plate and therefore does not have to be determined.
For motors with absolute value encoder without electronic type plate the notch angle is
determined once and stored in the EEPROM of the controller.
For motors with relative encoder system the notch angle search must occur after each
commissioning and activation of the motor bearing encoder!
x
DANGER!
A motor that is operated with an incorrect notch position can move unintentional with maximum power!
Dangerous movings can be caused from faulty triggering of connected motors. Causes could be:
n Incorrect or faulty wiring or cabling
n Error at the operation of the components
n Incorrect input of parameters before commissioning
n Error at the sensor or signal encoder
n Defective components
n Error in the software
This error can appear immediately after switch on or after an undefined time period
during operation.
Therefore:
m Activate position error speed monitoring. This monitoring reliably avoids an uncontrolled running of the motor.
Three methods are available to determine the notch position (refer to Z127.1–).
A current set value is specified at the methods 0 and 1 by the controller. This set value is
limited to the set value, which was preset in parameter Z127.4–.
m Method 0
The motor must be movable by one pole pair in both directions in order to use this
method. This method is suitable for the dismounted motor, which is free of load.
During this procedure the Current set value is linearly (Z127.5– Rate of current rise)
increased to the Z127.4– Maximum current. The motor engages into a position, which
is shifted by a half pole pitch. The notch position is calculated from the relevant encoder
angle.
The determination of the notch position is made twice. Both results must be checked
for consistency. If both of the notch positions deviate by more than 22.5°, a third pole
position search must be completed. This result must be compared with the result of the
2nd calculation. If the deviation of both notch positions is out of tolerance, the error No.
716 is generated..
559
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3.8
Operating Modes
m Method 1
The motor must be able to move free of load in any direction with at least twice the value of Z127.9– Maximum angle. Reducing Z127.9– to values lower than 0.5° does not
result in a pole position search without motion. This is achieved with method 2.
The current set value is linearly (Z127.5– Current rise) increased to the Z127.4– Maximum current. The movement of the motor is minimized by adjusting the electric angle
(Z127.10– Angle rising) during this operation. Based on the starting position the mechanical movement is monitored via Z127.13–.
The determination of the notch position is made twice. Both results must be checked
for consistency. If both of the notch positions deviate, a third pole position search must
be done.
Reasons for error 716:
– No conformant notch positions after making three procedures of measuring.
– No conformance check, because of less than two successful measuring.
– The mechanical movement during the procedure is greater than the value of
Z127.11– Error limit mechanical angle change.
– Timeout of 2 minutes for pole position search was exceeded.
Method 1 affects the following factors:
– Notch positions of motor.
– Friction.
– Resolution and quality of encoder signals.
– Setting of current controller see ZAutotuning of Current controller– from page
155.
– Setting of specific parameters for the operating mode Notch position search.
The default values of these parameters (Z127.5– to Z127.12–) are preset robust enough for the most drive configurations. Therefore, in general, the default
values must not be changed.
m Method 2
Here the injection procedure is provided. See chapter ZNotch position search with the
injection method– from page 566.
560
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3
3.8.8.1 ProDrive Notch Position Search
Figure 159:
ProDrive Find Notch Position
Functional block:
FbNotchPosition [127]
Name
Type
Min
Max
Default Value Unit
Factor
127.1
Init. pos. detection method
INT
0
3
0
1:1
127.4
Max. current notch position
FLOAT
0
20000
0
A
1:1
127.5
Current rise
FLOAT
0.001
100
1
A/s
1:1
X
127.6
Current drop
FLOAT
0.001
100
5
A/s
1:1
X
127.7
Duration constant current
FLOAT
0
10
1
s
1:1
X
127.8
Encoder offset el.
UINT
0
0xFFFF
0
Grad
1:1
X
127.9
Maximum angle
UINT
1
0xFFFF
0x005b
Inc
1:1
X
127.10
Angle rising
UINT
1
0xFFFF
1
Inc/ms 1:1
X
Cyclic Write
Number
DS Support
Storage
Read only
Parameters 19.50 and 19.51, refer to ZMotor– from page 80
X
X
561
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3.8
Operating Modes
127.11
Error limit mech. delta angle UINT
1
0xFFFF
0x5B0
127.12
Averaging zero speed detec- UINT
tion
1
1024
100
127.13
Actual value mech. delta
angle
-32767
32767
0
INT
Inc
Inc
1:1
X
1:1
X
1:1
X
127.1
Init. pos. detection method
Parameter to set the method for the terminal position search:
Value
Meaning
0
Method 0: Constant current feed angle and turning axis
1
Method 1: Nearly constant position of motor axis and variable current feed
angle
2
Method 2: Injection procedure
NOTE!
The requirements, which are described in the Danger note on Zpage 560– must be
complied with in order to operate correctly.
At first the drive components must be checked. This includes the wiring, the motor
encoder with its parameterization and the setting of the motor parameters (rotary
field, pole pair numbers …).
127.4
Max. current notch position
Maximum current that is permitted with the notch position search.
The value results from the lower value of:
– Current set value Notch position search (Z19.51–) * Motor rated torque current
(Z19.10–).
– 60% of the power unit's rated current, if PWM frequency was set Z130.15–).
127.5
Current rise
Current increase in unit A/s for notch position methods 0 and 1
562
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127.6
3
Current drop
Current drop in unit A/s for notch position methods 0 and 1
127.7
Duration constant current
Here the minimum length of time of the constant current phase at notch position search
method 0 and method 1 is set.
This time remains in the end position at maximum current (Z127.4–). Now Notch position
calculation (Z127.8–) can be initiated.
127.8
Encoder offset el.
Angle difference between current feed and flow angle as indicator for successful notch
position angle search. The parameter electrical must have the same value after performing the notch position search regardless of the selected method to determine the notch
position and regardless of the start position of the wave. This function does not contribute
to the actual notch position search.
127.9
Maximum angle
Setting of window for permitted mechanic movement at notch position search method 1.
Now the adjusting of electric angle can be initiated.
65536 Inc correspond to 360 degrees.
127.10
Angle rising
The parameter specifies the change of the angle, by which the electric angle is adjusted
at notch position search method 1.
The value 1 Inc/ms is an electric angle modification of 5.49 degrees/s.
127.11
Error limit mech. delta angle
Window setting for permitted mechanic movement before an error is released.
The parameter is used at notch position search method 1, only.
563
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3.8
Operating Modes
127.12
Averaging zero speed detection
This parameter is used for the standstill detection at notch position search method 1. The
higher the value is, the lower the measured motor movement may be.
Condition for standstill Z127.12– * Phi / ms < Traversing angle (Z127.9–).
This parameter is used at notch position search method 1, only.
127.13
Actual value mech. delta angle
Display of the measured mechanic movement at notch position search method 1.
65536 Inc of the parameter accord to 360 degrees.
564
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3.8.9
3
Notch position search with the injection method
This method is used for applications, where the motor shall not move or shall only move
a bit. However this method can be not used with all motors, as for example with ironless
motors.
The notch position search takes place in two steps:
m The motor is applied with high-frequency voltage, which also causes a clearly audible
noise. The electrical angle is searched via the tracking controller. The voltages and frequencies are set via the parameters Z133.3–, Z133.4–, Z133.6– and Z133.7–.
m In the second step, the notch angle, which was found, is checked if it 180° next to it or
if it is not. The ratio from the 2nd harmonic to the fundamental frequency is checked for
this.
3.8.9.1 Parameter survey and parameter description
Besides the notch position search method 2 (injection method), the parameters are additionally used for the sensorless control of the synchronous machines. Therefore, they are
shown in the ZParameter overview– from page 570 and are described under
ZDescription of the Parameters– from page 571.
3.8.9.2 Error response at notch position search 2
The errors 600-602 can occur at notch position search with injection (method 2). The
causes and the possibilities for troubleshooting are listed in the following table:
Error no.
Cause
Reaction
600
Plausibility error in step 1.
The results of the notch position search do not agree
Increase the injected current in step 1:
1: Via a higher voltage (Z133.3–)
2. Via a less frequency (Z133.2–)
Or increase the gain of the compensating controller (Z133.5–).
Please note: better results are yielded at higher frequencies
601
Plausibility error in step 2.
The part of the second harmonic is too small.
Increase the injected current in step 2:
1: Via a higher voltage (Z133.7–)
2. Via a less frequency (Z133.6–)
Or decrease minimum rate of the 2nd Harmonic (Z133.10–)
(Only if it is secured, that the lesser minimum rate is enough.)
602
Overcurrent during notch position search method 2
Decrease the injected current in step 2:
1: Via a less voltage (Z133.7–)
2. Via a higher frequency (Z133.6–)
565
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3.8
Operating Modes
3.8.10 Sensorless control for synchronous machines
NOTICE!
The motor can make unintentional movements at faulty parameterization, because
there is no encoder available.
The drive controller b maXX 3300 makes the operation of a synchronous machine in the
speed control (operation mode "speed control") without rotary encoder or position encoder (sensorless encoder) possible. A position-controlled operation (operating modes position control, synchronous operation, positioning), is not implemented at the moment.
The sensorless control procedure accepts the measured currents and the specified voltage set values from the current controller. On this basis, it calculates the electrical angle
and the motor speed. This calculation is the basis of the voltage model of the synchronous motor. The motor data must be exactly known for this or must be determined with
the help of the self-optimization, in order to do this.
In the range of low speed or of standstill or if the voltage is too low or even zero, which
was induced in the motor, the voltage model is expanded by the injection procedure or it
is replaced by the controlled procedure. The use of the magnetic anisotropy of the machine or the difference between the direct axis and of the cross-current axis is the basis
of the injection procedure (Ld and Lq). This is caused by the iron saturation due to the
field of permanent magnets. The orientation of this anisotropy is analyzed with the help
of high-frequent (HF) injection. The HF-voltage signal is injected in the motor, the HF-current is filtered, and it is demodulated according to a certain algorithm and is routed to a
specific tracking controller. It controls the orientation of the d-axis or the electrical angle
in such a way, that the estimated d-axis aligns to the physical axis of the permanent magnet field.
A constant current is set in Id-direction at controlled operation. The rotor adjusts itself to
the load and splits the constant current in a torque current and a reactive current. This
partition is estimated via a special procedure. At the transition to the voltage model this
information is assumed in form of a electric angle shift, so that a jerk-free transition to the
voltage model is possible.
The constant current at controlled operation can be set in Z133.22–. The constant current can be increased to maximum current at speed set value unequal 0 via bit 4 of
Z133.1–. The ramp-up time in the ramp function generator must be parameterized so
that the motor can follow the acceleration ramp. In order to improve the transition to the
voltage model, it is recommended to switch off the consideration of the dLi/dt terms (bit 8
of Z133.1–).
NOTICE!
If there is a faulty parameterization, it cannot be guaranteed, that the motor reaches
the desired speed!
On principle the dead time compensation should be used at the sensorless control, so
that the non-linearity of the power unit can be compensated, in order to improve the exactness of the voltage model. However the dead time compensation can affect the injection procedure. This must be tested in each case.
566
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3
The torque display requires an exact dead time compensation at low speeds in the controlled operation. In order to improve the accuracy of the torque, a fine adjustment of the
dead time compensation can be carried out at speed 0 via bit 9 of parameter Z133.1–.
3.8.10.1 General constraints of sensorless control with the injection procedure
The injection procedure for the sensorless control of the SM can only be operated, if
m the energy transducer possesses an iron-core magnetic with pronounced saturation effects (it cannot be used on rotating and linearly ironless machines) and
m the magnetic symmetry of the three phases is existent
Because of the constraints, which are listed above, the operation of sensorless control of
the SM, as well as the use of method 2 of notch position search is only then possible, if
the machines have been tested successfully.
Constraints of the sensorless control at very low speed
The operation is also possible at very low speed and at standstill. Because of the higher
torque ripple, however, the motor may run irregularly.
Switch on / Enable at rotating machine
At first there is no speed or position information available, when enabling the drive in the
sensorless operation. At each switching on of the drive the initial rotor position is determined on the basis of the HF-injection. Additionally there is the option to synchronize to
the moving motor.
3.8.10.2 Commissioning at the sensorless operation of the synchronous machine
1
Selection of the motor from the motor database of ProDrive or the setting of the data
with the help of the motor type plate. The following values are necessary: nominal current, nominal speed, pole pair number, EMF-constant. The DC-link nominal value
must conform with the actual DC-link value.
2
Execute measurement of stator resistance and Lq-inductance of the motor as well as
the dead time of the power unit with the help of the function self-optimization.
3
Calculate the current controller parameters with the measured values for stator resistance and the Lq-inductance.
4
Accept the measured motor parameters and the dead time compensation for the motor control in the self-optimization.
5
Setting of both compensating controllers (for HF injection and voltage model). A basic
setting can be made with ProDrive.
6
Setting of the smoothing time for the determined actual speed value, proposed value
range between 1 and 5 ms. The greater the inertia torque of the drive is, the greater
the smoothing time may be selected.
7
Set speed controller (at sensorless operation a torque inertia measurement is not
possible).
8
Store data set.
567
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3.8
Operating Modes
3.8.10.3 Vibration damping
Vibrations can occur in the controlled operation during low speed. These vibrations can
be damped with an additional speed set value. Here the high-frequency component of the
Iq-I term is filtered and added to the speed set value.
Tfast (P133.58)
Iq-I part (P47.22)
Tslow (P133.59)
nset (P18.21)
Figure 160:
d
+
(P133.55)
nact (P18.22)
Control diagram of the vibration damping
The I-term is guided through a slow filter (Z133.59–) and a fast filter (Z133.58–) and the
difference is then multiplied by a damping factor (Z133.55–). This value is added to the
speed set value.
3.8.10.4 Motor diagnosis
In general the motor diagnosis checks if the notch position search with injection, the set
frequency (Z133.2–), the amplitude (Z133.3–) and the band width (Z133.4–) works and
therefore as well if a motor can be operated encoderless with injection. For this, the highly
frequent voltage is injected in the motor and thereby the electrical angle is slowly increased by discrete steps. Then, the resulting demodulated signal is assigned to the angle in ProDrive (see figure) and can be evaluated. The motor diagnosis is started via the
bit 4 of Z123.1–.
568
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3
Figure 161:
ProDrive - Resulting signal of the motor diagnosis
If the resulting signal complies with the sine of about two cycles, then it can be assumed
that the notch position search operates reliable with the injection.
Functional block:
FbInjektion [133]
Name
Type
Min
Max
Default Value Unit
Factor
133.1
Mode sensorless
UINT
0
0xffff
0
1:1
X
133.2
Injection frequency 1
FLOAT
0
4000.0
1000.0
Hz
1:1
X
133.3
Injection amplitude 1
FLOAT
1
400.0
100.0
V
1:1
X
133.4
Bandpass bandwidth
FLOAT
1
500.0
50.0
Hz
1:1
X
133.5
Injection Kp
FLOAT
-1.000000e+10 1.000000e+10 80
1/s
1:1
X
133.6
FLOAT
0
1000.0
250.0
Hz
1:1
X
133.7
FLOAT
1
400.0
280.0
V
1:1
X
133.9
2nd harmonic rate
FLOAT
0
100.0
0
%
1:1
133.10
2nd harmonic min.rate
FLOAT
0
100
5
%
1:1
133.11
Carrier current Id
FLOAT
-1.000000e+10 1.000000e+10 0
A
1:1
X
133.12
Carrier current Iq
FLOAT
-1.000000e+10 1.000000e+10 0
A
1:1
X
133.14
Status motor observer
DINT
0
10
0
1:1
X
133.15
Injection Tn
FLOAT
0.1
1e10
4
ms
1:1
Cyclic Write
Number
DS Support
Storage
Read only
Parameter 19.52, refer to ZMotor– from page 80
X
X
X
569
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3.8
Operating Modes
133.16
Voltage model Tn
0.01
1e5
4
1:1
X
133.17
Current dependent correction FLOAT
FLOAT
-1000
1000
1
ms
1:1
X
133.18
Estimated speed
FLOAT
-1e10
1e10
0
Grad/s 1:1
133.19
Speed threshold
FLOAT
5
6000000
1200
Grad/s 1:1
X
133.20
Speed filter
FLOAT
0
10000
2
ms
1:1
X
133.22
Current
FLOAT
0
100000
0.5
A
1:1
X
133.25
Time for notch position
FLOAT
0.1
5
3
s
1:1
X
133.28
Minimum speed torque moni- FLOAT
toring
0
10000
60
Grad/s 1:1
X
133.30
Deviation voltage model
FLOAT
-10000
10000
0
133.31
Deviation injection
FLOAT
-10000
10000
0
133.41
Anisotropy
FLOAT
0
50000000
0
133.51
Saliency ratio
FLOAT
0
1
0.1
1:1
X
133.55
Damping factor
FLOAT
0
1e6
0
1:1
X
133.58
Time constant fast damping
filter
FLOAT
0
10000
1
ms
1:1
X
133.59
Time constant slow damping FLOAT
filter
0
100
1
s
1:1
X
X
X
1:1
1:1
A
1:1
X
X
133.1
Mode sensorless
Here is set, if the motor shall be operated in the lower speed range with the injection procedure or if it shall be operated controlled. It also can be set, if, at first, a notch position
moving shall be executed and also if a synchronization shall take place.
Bit
Meaning
1 ... 0
0: Injection procedure
1: Controlled with notch position
3: Controlled without notch position
2
1: Synchronize
3
Reserved
4
Constant current in controlled operation
0: Current is constant
1: Maximum current at acceleration
5
Reserved
6
1: No dead time compensation during notch position search
7
Reserved
8
1: Switch off of the dLi/dt terms
9
Fine adjustment of the dead time compensation
15 ... 10
Reserved
570
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133.2
3
This parameter can set the frequency of the HF-voltage, which was injected in the motor
in step 1.
133.3
This parameter can set the amplitude of the HF-voltage, which was injected in the motor
in step 1.
133.4
Bandpass bandwidth
With this parameter the bandwidth of the filter can be set, which is used for the detection
of the HF-components of the motor current Id and Iq.
133.5
Injection Kp
With this parameter the proportional gain Kp and the reset time Tn of the PI-compensating controller, which belongs to the injection procedure, is set.
133.6
With this parameter the voltage frequency is set, which, in the course of the pole position
determination is injected in the motor in step 2, in order to enable a 180°-indeterminate
status. This frequency has the following values only: 62.5 Hz, 125 Hz, 250 Hz, 500 Hz.
133.7
This parameter can set the amplitude of the HF-voltage, which was injected in the motor
in step 2.
133.9
2nd Harmonic rate
The percental content of the 2nd harmonic I2 of the injected HF-current referring to the
fundamental wave I1 in the 2nd step (minimum saturation level, see ZNotch position
search with the injection method– on page 566).
571
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3.8
Operating Modes
133.10
2nd Harmonic min. rate
The permitted percental content min of the 2nd harmonic I2 of the injected HF-current referring to the fundamental wave I1 in the 2nd step (minimum saturation level, see ZNotch
position search with the injection method– on page 566).
133.11
Carrier current Id
Filtered HF-current Id
133.12
Carrier current Iq
Filtered HF-current Iq
133.14
Status motor observer
Value
133.15
Meaning
0
Motor observer off
1
Motor observer on
2
Motor model for the motor control
Injection Tn
Sets the reset time of the compensating controller at the injection (in ms).
133.16
Voltage model Tn
Sets the reset time of the compensating controller at the voltage model (in ms).
133.17
Current dependent correction
The factor that multiplies the current-dependent angle correction. If all parameters are
correct, then 1, otherwise adjust these at constant load, so that the deviation of the injection (Z133.31–) is 0 on average.
572
of 724
133.18
3
Estimated speed
Displays the estimated speed in degree/s.
133.19
Speed threshold
Specifies the speed, when to change from the injection model or the controlled operation
into the voltage model (in degree/s).
133.20
Speed filter
Sets the time constant of the speed filter (in ms).
133.22
Current
Constant current settings for the controlled operation. This current shout not exceed the
nominal current of the motor and should be sufficient for the load moment, otherwise a
commutation error of the motor can occur.
133.25
Time for notch position
This parameter determines the time for notch position search 2 in ms.
133.28
Minimum speed torque monitoring
The torque is displayed in the controlled operation from this speed set value onwards and
the torque is monitored. In order to increase the torque accuracy a fine adjustment of the
dead time compensation can be made via bit 9 of parameter Z133.1–.
133.30
Deviation voltage model
Deviation of the angle speed because of the voltage model.
133.31
Deviation injection
Deviation of the angle speed because of the injection model.
573
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3.8
Operating Modes
133.41
Anisotropy
Display of the demodulated signal after the motor diagnosis via the electrical angle. The
increment accords to 360 degrees/256 values = 1.40625 degrees.
133.51
Saliency ratio
This parameter is necessary to set the commutation controller and it displays the ratio between Lq and Ld:
 Lq – Ld 
Saliency Ratio = -----------------------Lq
If the motor parameters are not known, the commutation controller can be set in the first
step with the default value 0.1.
133.55
Damping factor
Damping gain. The high-frequency component of the Iq-I term is multiplied by this factor
and is used as an additional speed set value.
133.58
Time constant fast damping filter
Fast time constant by which the Iq-I term is filtered.
The high-frequency component of the vibration damping is determined here.
133.59
Time constant slow damping filter
Slow time constant by which the Iq-I term is filtered.
The constant component is filtered with this.
574
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3
3.8.11 Sensorless control for asynchronous motors (open loop)
3.8.11.1 Sensorless control
The drive controller b maXX® 3300 permits an operation of an asynchronous motor in
speed control without a rotary encoder (open loop control). However, a position controlled
operation (operating modes position control, synchronous operation, positioning, etc.) or
pure torque control is not possible.
The open loop control operation is based upon calculating the speed of an asynchronous
motor from its model. For this purpose, the motor data (as e. g. inductance and resistance) must be exactly known.
The motor voltages are not measured, but the voltage set values, which were calculated
from the motor control, are used instead. The dead time compensation must also be activated, so that the nonlinearity of the power unit can be compensated.
The reliability of open loop operation at low frequencies below 2 Hz is compromised by
the accuracy of motor model parameters and compensation of power unit nonlinearity.
Therefore, for applications requiring persistent operation in this region, it is recommended
to use the closed loop control with an encoder.
m Motoring operation at very low speeds (output frequency below 2 Hz) should be avoided.
m Generating operation at very low speeds (output frequency below motor rated slip)
should be avoided.
m Change of speed direction without load is possible.
m Generating operation until standstill is possible.
m A longer lasting generator-based operation (1-2 sec) at very low speeds is not possible.
m The persistent operation at zero frequency is not possible.
m Operation with motors connected parallel is not possible.
Performance specifications
Frequency operation limits:
m Minimum output operation frequency motoring mode fmin_m = 2.0 Hz
m Minimum output operation frequency regenerating mode fmin_r = motor rated slip
m Maximum output operation frequency fmax = 150 Hz
Performance of closed-loop speed control:
m Control range = 1:100
m Static accuracy = 30% of motor rated slip
m Maximum speed regulation bandwidth = 15 Hz
575
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3.8
Operating Modes
Hints to achieve best possible performance
1 PWM switching frequencies recommended: 2 kHz and 4 kHz
2 The auto-tuning of the current regulator and the identification of the magnetizing curve
(Lh characteristic) must be executed to measure optimal parameters for motor model
and for compensation of the power unit nonlinearity.
3 Parameter Dead time compensation Z47.50– may be decreased in small steps of 1%
in the range 100% - 90% to reduce the speed ripple and to improve starting performance.
4 Parameter Flux estimator gain Z163.1– may be increased in range 250 - 750 to
achieve smooth operation at low speed and to improve starting performance.
5 Parameter Minimum speed threshold OL Z161.1– can be decreased, if the operation
with frequency bellow 1 Hz is required or if smooth starting is needed. But the reliability
and repeatability of starting may be affected.
6 Parameter Minimum speed delay OL Z161.2– may be decreased to lock the flux estimation and prevent the loss of motor control at stand still. 
If the drive does not follow a deceleration ramp, e.g. drive in current limit, the parameter
may be increased to allow speed control down to zero.
7 Auto-tuning of the speed regulator (closed loop analysis) is not possible at open loop
control. The Ks Scaling factor Z18.40– must be calculated accordingly to the following
equitation:
K t 360 o
K s = -----  ----------J 2
8 Adjust the parameter Slip frequency warm Z107.16– which corresponds to rated motor
slip at rated load to decrease speed estimation error.
9 At enabling of the regulator the field current follows a ramp to build the flux. With parameter Magnetization time Z160.1– the length of the ramp can be set.
Motor parameters needed for commissioning
Nominal voltage
Z107.8–
Nominal current
Z107.9–
Nominal speed
Z107.7–
Nominal frequency
Z107.13–
Pole pairs
Z107.19–
Magnetic current
Z107.14–
Slip frequency warm
Z107.16–
3.8.11.2 Catch on Fly
Catch on Fly for openloop asynchronous motors allows to engage the motor to an already
rotating axis respectively load.
576
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3
Features
m Maximum frequency: double nominal frequency
m Minimum frequency: is limited by load inertia and actual remaining flux
m High DC link voltage (> 560 V) and a low stator resistance can lead to wrong detection
of motor operation conditions
Adjustment aid
m For a successful catch on fly of the motor, the exact knowledge of the motor parameters is inevitable, especially deadtime compensation as well as rotor and stator resistance. Make sure, that all steps described in chapter ZSensorless control– from page
576 have been completed during commissioning.
m If a DC link overvoltage error occurs during catch operation, parameterize Z167.3–
Catch demagnetization time
m If a overcurrent error occurs during catch operation, parameterize Z167.3– Catch demagnetization time
m During catch operation, the actual speed value Z18.22– settles to the actual rotor
speed. Overshoots of over 30% might occur. Take this into account to parameterize
the overspeed limits.
Required parameters
m Catch enable Z167.1–
Number
Name
Type
Min
Max
Default Value Unit
Factor
160.1
Magnetization time
UDINT
0
5000
200
ms
1:1
X
161.1
Minimum speed threshold
OL
UDINT
0
1800
180
Grad/s 1:1
X
X
161.2
Minimum speed delay OL
UDINT
0
10000
1000
ms
1:1
X
X
163.1
Flux estimator gain
FLOAT
50.00
1000.00
250.00
1:1
X
X
167.1
Catch enable
UDINT
0
1
0
1:1
X
167.2
Catch flux estimator gain
FLOAT
1.0
1000.00
25.00
1:1
X
167.3
Catch demagnetization time UINT
0
4000
0
1:1
X
ms
Cyclic Write
DS Support
Storage
Read only
FbMagn [160] 
FbSzl [161]
FbFluxEstimatorOL [163]
FbCatchOL [167]
Functional block:
Functional block:
Functional block:
Functional block:
577
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3.8
Operating Modes
160.1
Magnetization time
Ramp on field current during magnetization. Actual magnetization time depends on how
the actual flux rises in the motor.
161.1
Minimum speed threshold OL
Speed reference below which speed estimation is suspended.
161.2
Minimum speed delay OL
Time which must elapse before speed estimation is suspended when speed is below the
threshold Z161.1–.
163.1
Flux estimator gain
Gain of motor model flux estimator. Higher values favor smooth low speed operation. Low
values give better performance at higher speeds.
167.1
Catch enable
The Catch on Fly is active for the next pulse enable, if this parameter is set to 1.
167.2
Catch flux estimator gain
Proportional gain of the motor model flux estimator while catch operation is active.
167.3
Catch demagnetization time
For motors with a high rotor time constant, this parameter can be used to force a delay
between pulse disable and subsequent pulse enable. While the catch operation is active,
there might occur a short term regenerative operation of the motor due not known rotor
position. If the delay between pulse disable and pulse enable is short compared to the
rotor time constant and the rotor speed is high, the maximum DC link voltage might be
578
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3
exceeded if a AMRU is not present. In this case parameter Z167.3– needs to be increased respectively, to allow the flux to decay before a subsequent pulse enable. As a
reference value the double or triple rotor time constant Z19.32– can be used.
579
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3.8
Operating Modes
3.8.12 Operating Mode U-f Characteristic
The b maXX 3000 drive controller allows the operation of motors according to U-f specification. Thereby simple applications can be realized at which the motor must be run at a
set speed. No encoder is needed and several motors can be operated at the same converter. For motor protection the U-f operation mode includes an overcurrent protection.
The operation is intended for simple applications with asynchronous motors.
200
180
160
Umax(P166.13)
140
Voltage [V]
120
100
80
60
40
U0(P166.5)
20
0
Figure 162:
0
20
40
Frequency [Hz]
60
80
fUmax(P166.15)
100
U-f characteristic
The settings take place in functional block 166. With parameter maximum voltage
(Z166.13–) and Frequency Umax (Z166.12–) the slope of the straight line can be parameterized. Additionally the voltage is kept constant from the maximum frequency on. Via
the zero voltage (Z166.5–) a voltage can be set at frequency 0 Hz.
Three different operation modes are possible in general; U/f characteristic with and without overcurrent protection and a operation with the compensating controller for the acceleration (see chapter Z3.8.12.1–).At operation without overcurrent protection the
controller is switched off if the maximum current of the converter has been reached, only;
at operation with overcurrent protection the acceleration ramp of the maximum current is
stopped.
Additionally, at all operation modes a slip compensation is possible or an additional speed
controller if an encoder is connected. In ZFig. 163– the U/f operation with slip compensation is presented. The speed controller is activated via bit 4 of Z166.1– so that not the
additional frequency from the slip is added but the output. It reduces the acceleration insofar.
580
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Figure 163:
3
Control loop of U-f operation
NOTE!
At operation without overcurrent protection a too high current can be impressed in the
motor.
The controller switches off automatically if the maximum current for the controller is
reached.
3.8.12.1 Compensating controller for acceleration
In order to reach a dynamic operation via the U-f control, the compensating controller is
the option for the acceleration (bit 0...1 = 2 of Z166.1–). Thereby, different current limits
dependent of the maximum current can be defined for the motoric as well as the regenerative operation. If the current exceeds the set limit then the compensating controller is
activated for acceleration. It reduces the acceleration insofar that the maximum current is
always applied and the motor is operated with the highest possible acceleration.
Hereby in the regenerative operation additionally an operation with a voltage controller is
possible so that the converter can be operated without braking resistors. If the DC link
exceeds the set threshold the maximum current is reduced and consequently the torque
as well that brakes the motor.
A block diagram for the control is presented in ZFig. 164–.
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3.8
Operating Modes
Figure 164:
Compensating controller for acceleration
If the speed ramp was set too steep at a high load torque, it can happen that the drive
cannot be accelerated furthermore. In this case the frequency can be reduced at a constant frequency (bit 7 of Z166.1–) to enable the drive acceleration.
3.8.12.2 Current control
If a specified torque is required to operate at low frequencies the current control at low
frequencies (bit 3 of Z166.1–) is recommended. An additional voltage (Z166.20–) is applied at the set frequency threshold (Z166.17–) via a PI controller, so that at least the set
current (Z133.22–) or maximum current (settable via bit 8 of parameter Z166.1–) is applied to the motor.
Figure 165:
Current control
Functional block:
FbUfChart [166]
582
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Name
Type
Min
Max
Default Value Unit
Factor
166.1
Mode
UINT
0
0xFFFF
0
1:1
166.2
State
UINT
0
0xFFFF
0
166.3
Current threshold motor
FLOAT
0
1
1
%
1:100
X
166.4
Current threshold generator
FLOAT
0
1
1
%
1:100
X
166.5
Zero voltage
FLOAT
0
100
1
V
1:1
X
166.6
Input reference frequency
DINT
-1073741824
1073741824
0
%
107374
1824:
100
X
166.7
Rising time
FLOAT
0.01
100000
1
s
1:1
X
166.9
Slip compensation
FLOAT
0
1000
0
Hz/A
1:1
X
166.10
Maximum frequency
FLOAT
0
1000000
100
Hz
1:1
X
166.11
Time constant current filter
FLOAT
0
100000
0
ms
1:1
X
166.12
Frequency Umax
FLOAT
1
1e9
50
Hz
1:1
X
166.13
Maximum voltage
FLOAT
0
1000
380
V
1:1
X
166.14
Kp acceleration controller
FLOAT
0
1e9
0.1
Grad/s 1:1
X
166.15
Tn acceleration controller
FLOAT
0
1e9
20
ms
1:1
X
166.17
Frequency Threshold
FLOAT
0
1e9
2
Hz
6.28318
53 : 1
X
166.18
State frequency reduction
UINT
0
0xFFFF
0
166.19
Frequency reduction
FLOAT
-1e9
1e9
0
Hz
6.28318 X
53 : 1
166.20
Additional voltage
FLOAT
-1e9
1e9
0
V
1:1
166.21
Frequency f0
FLOAT
0
0xFFFFFFFF 0
Hz
6.28318 X
53 : 1
166.22
Reference frequency
FLOAT
-1e9
1e9
0
Hz
6.28318 X
53 : 1
166.23
Additional frequency
FLOAT
-1e9
1e9
0
Hz
6.28318 X
53 : 1
166.24
Frequency of ramp generator FLOAT
-1e9
1e9
0
Hz
360:1
166.25
Kp speed correction control- FLOAT
ler
0
1e9
0
166.26
Tn speed correction control- FLOAT
ler
0
1e9
0
166.27
Time constant slip filter
0
100000
100
FLOAT
1:1
1:1
DS Support
Storage
Read only
Number
Cyclic Write
3
X
X
X
X
X
X
1:1
X
ms
1:1
X
ms
1:1
X
583
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3.8
Operating Modes
166.1
Mode
The mode can only be changed if the controller is not enabled. 
Bit no. Meaning
1 ... 0
2
Reserved
3
Current control for low speed
0: Inactive
1: Active
4
0: Increase of frequency via slip compensation
1: Compensating controller for frequency with speed controller
5
0: Ramp-up via S-curve
1: Ramp-up linear
6
0: Set value via Z166.6– (Input reference frequency)
1: Set value via ramp function generator
7
Frequency reduction:
0: Inactive
1: Active
8
Current set value
0: Current threshold motor/generator (Z166.3– / Z166.4–)
1: Current setting (Z133.22–)
15 ... 9
166.2
Mode for U-f characteristic
0: Simple U-f characteristic without overcurrent protection
1: Simple U-f characteristic with overcurrent protection
2: Compensating controller for acceleration
Reserved
State
Bit no. Meaning
0
Acceleration
0: negative direction of revolution
1: positive direction of revolution
1
Braking
2
Set value reached
3
Reserved
4
Positive limit of acceleration
5
Negative limit of acceleration
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6
Acceleration from speed 0
7
Reserved
8
New reference frequency
9
Direction of acceleration inverted
3
15 ... 10 Reserved
166.3
Current threshold motor
Maximum total current for motor operation in percent of the Max. drive current Z19.6–.
166.4
Current threshold generator
Maximum total current for generator operation in percent of the Max. drive current Z19.6–
166.5
Zero voltage
DC voltage at an electrical frequency of 0 Hz
166.6
Input reference frequency
Electrical reference frequency in 32-bit resolution
Standardization:
166.7
100% = maximum frequency (Z166.10–)
Rising time
Ramp up time to 1000 rpm electrical
166.9
Slip compensation
Additional frequency depending on the current.
The slip compensation is only active if the speed control is switched off.
585
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3.8
Operating Modes
166.10
Maximum frequency
Maximum frequency for operation according to U-f characteristic. The reference frequency (Z166.6–) is standardized to this parameter.
166.11
Time constant current filter
Time constant for the current filter in ms.
166.12
Frequency Umax
Frequency at which the motor supplies the maximum voltage (Z166.13–).
This value can also be calculated from the Ke factor Z107.20– and the pole pair number
p Z107.19–:
U max 100
f Umax = p  ------------  --------- Hz
Ke
6
166.13
Maximum voltage
Maximum linked voltage on the motor. The voltage should be less than the available DC
link voltage Uzk / 2 .
166.14
Kp acceleration controller
Proportionality factor for the compensating controller of acceleration in 1/s.
166.15
Tn acceleration controller
Reset time for the compensating controller of acceleration in ms.
166.17
Frequency threshold
The motor runs with current control below this frequency and above this frequency it runs
according to U-f characteristic.
586
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166.18
State frequency reduction
Value
166.19
3
Meaning
0
Inactive
1
Counter
2
Frequency reduction
3
Increase of frequency with compensating controller for acceleration
4
Voltage reduction
5
Increase of frequency with simple overcurrent protection
Frequency reduction
Decrease of the frequency in Hz without reduction of the voltage.
166.20
Additional voltage
Additional voltage due to the current control at low frequencies
166.21
Frequency f0
Threshold frequency from which the slope of the voltage is linear. The threshold frequency is calculated from the Zero voltage (Z166.5–) and the slope of the U-f characteristic.
166.22
Reference frequency
Reference frequency [Hz] = Additional frequency (Z166.23–) 
+ Frequency of ramp generator (Z166.24–) 
- Frequency reduction (Z166.19–)
166.23
Additional frequency
Additional frequency [Hz] from the compensating controller
587
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3.8
Operating Modes
166.24
Frequency of ramp generator
Set frequency [Hz] from the set value or directly from the ramp function generator
166.25
Kp speed correction controller
Reset time for the speed correction controller. Set value equates to the reference frequency (Z166.6–), actual value equates to the velocity of the encoder.
At asynchronous motors a slip occurs between set frequency and actual speed. The set
frequency is increased so that the encoder’s speed equates to the set frequency. The
number of pole pairs is taken into account.
166.26
Tn speed correction controller
Reset time for the speed correction controller.
166.27
Time constant slip filter
Time constant for the slip filter.
588
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3
3.8.13 Operation mode Coupled mode
The coupled mode is activated via the parameter Set operation mode Z109.1– = -12. In
this operation mode and based on the cyclical transferred master axis position the position set value of the drive is generated by using polynomial curves.
The operation mode allows the following setting options:
m The braking from the current speed to speed = 0 after the operating mode switchover
m The synchronization of the current position with the position set value from the
curve.
m The changing the sequence of the single polynomial segments.
m The reloading of curves or sub curves during operation
m The gear factor at the curve output
m The superpositioning of the curve movement by an additional movement
m The execution of curves towards the forward as well as the backward direction
The entire set curve is combined with several curve segments. Thereby each curve segment is defined by a polynomial of the ninth order. ZFig. 166– describes the schematic
diagram. This curve consists of seven curve segments, which are linked up as a linked
list. Therefore, it must be specified which curve segment is to be the following and the
previous one when defining a segment.
Slave
position
0
Start cam segment
1
2
3
4
5
6
Start position
slave
0
Start position
master
Master position
5000_0314_rev02_int.cdr
Figure 166:
Set value curve consisting of several curve segments
The specifications of the predecessor and the successor segment can be changed during
operation. This way branchings of the curve can be realized.
The following information is specified when defining a curve segment:
589
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3.8
Operating Modes
Attribute
Description
Curve segment number
The unique number of this segment in the curve. 65536
segments can be created at the maximum whereby each
segment may exist once, only.
Type of curve
Currently there is one curve type permitted – the polynomial of 9th order. If polynomials of lower order are used the
coefficients that are not required must be set to 0.
Coefficients
These are the coefficients which define the polynomial
function.
Traversing – master axis
The distance of the master axis for which the curve segment is defined, e.g. 135°.
Traversing - drive
The distance of the drive for which the curve segment is
defined, e.g. 1 revolution and 32°.
Predecessor segment
Here is the segment number of the curve segment which
precedes from this curve segment.
Following segment
Here is the segment number of the curve segment which
follows this curve segment.
At this point it is important that a single segment isn't bound to a fixed position of the master axis or of the drive due to its definition. A certain distance of the master axis and the
drive is defined by a segment. The starting point of a segment is the terminal point of the
prior segment and the terminal point of this segment is the starting point of the following
segment.
To establish a reference to the absolute position of the drive a starting segment must be
defined. This is segment 2 in ZFig. 166–. Additionally the position of the master axis and
of the drive must be specified at the starting point of segment 2. This is done by the parameters Z122.7– to Z122.11–.
The entire curve is created by ProCam and is transferred as a file to the controller.
The structure of the operation mode Coupled mode is described in ZFig. 167–. Basically
the position of the master axis is transferred cyclical to the drive. The positioning set value
is calculated by the drive from the master axis position and the existing segments of the
polynomial curves. Thereby the available options of this operation mode are considered.
A gear factor is evaluated if required and overlaid by an additional movement before the
position set value is transferred to the position controller.
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3
Options
Additional motion
Polynominal curve
Master
position
calculation
Gear
factor
Polynominal curve
segment
5000_0315_rev01_int.cdr
Figure 167:
Structure of operation mode
3.8.13.1 Transmission of master axis position
The current position of the master axis is specified by the parameters Z122.3– and
Z122.4–. Thereby the parameter Z122.3– indicates the revolutions of the master axis
and the parameter Z122.4– the angle. Both parameters can be written cyclical by a PLC.
The revolution information oft he master axis is ignored by setting bit 4 in the parameter
Z122.2–. Now, only the angular specification of the master axis is important. If the synchronization to the polynomial curve was selected after starting (Z122.2– bit 0), always
the position in the curve is synchronized, which is within the first master axis revolution.
3.8.13.2 Transmission of the curve data
The polynomial curve segments are transmitted as a file in the *.bmcam format. Such a
file can be created with ProCam.
The curve data file is always filed in the RAM of the controller at transmission. After restarting the device the curve data is not available anymore and therefore must be loaded
again.
There are two different modes for the downloading of curve data. Overwriting the present
file or reloading a second file.
Overwriting the curve data
When overwriting the curve data the present curve file is replaced by the new file, which
was loaded. The overwriting of the file is possible only if there is no polynomial curve
which is processed at the present time. The controller denies overwriting of the present
curve file during an active processing. Overwriting at file transmission is selected by the
file option = 0.
591
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3.8
Operating Modes
Reloading curve data
When reloading the curve data the file which already is on the drive is combined with the
downloaded file and then is activated. To reload curves at the data transmission the file
option is set to 1. There are two options to activate these reloaded files. The user either
activates the combined file via the control word or via the angular overflow of the master
axis. The selection is made by setting or resetting bit 5 in Z122.2–. Generally the drive
sets bit 8 in Z122.1– and Z108.3– as soon as there is a combined curve. As soon as a
switchover is made to the combined curve the drive resets this bit again.
An intentional activation of reloaded files via the control word or the angular master axis
is required at an actively process curve, only. If the coupled mode isn't processed actively
then the existing file is immediately combined with the reloaded file and if the operation
mode is started the next time the combined curve file already will be processed.
If a curve is reloaded but not activated in the active operation the drive combines both of
the curves when inhibiting the drive so that the combined curve is available at the next
enable.
The sequence of the curves is the following:
– One curve is assumed, which exists of two segments with the segment numbers 1
and 2. The user reloads a curve having the segments 1 and 3.
– Segment 1 exists in both curves. The segment from the reloaded curve is taken into
the combined curve.
– Segment 2 exists in the original curve only - therefore it remains in the combined
curve.
– Segment 3 was defined in the reloaded curve only - therefore the combined curve is
extended with segment 3.
The following diagram shows this process:
Original curve
Reloaded curve
Combined curve
1
1
1
2
2
3
3
Deleting curve data
If bit 6 is set in Z122.2– the curve data is deleted. Since parameter Z122.2– can only be
written if the drive is disabled, the polynomial curve can only be deleted in this state.
3.8.13.3 Changing the chaining sequence
The sequence of the single segments can be changed during operation. Two parameters
(Z122.6– and Z122.41–) are available for this. Based on an example this procedure is
to be explained.
It is assumed that there are five curve segments on the drive controller. Segment 1 is to
be defined as the starting segment. The specified chaining is only processing three segments currently - these segments are shown in the following table.
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Segment number
Predecessor / successor
1
3
2
2
1
3
3
2
4
1
1
3
5
5
4
3
The segments 4 and 5 are not active at the current chaining. These shall be connected
as an alternative path to segment 2.
The parameters Z122.6– and Z122.41– are written to as follows:
P122.6 = 0x00010004 and P122.41 = 0x00050003 (see description of Z122.6– and
Z122.41–)
After initiating the chaining change by bit 5 in the control word Z108.1– the sequence is
as follows:
Segment number
Predecessor / successor
1
3
4
4
1
5
5
4
3
3
5
2
1
1
3
The active curve now consists of four segments. Segment 2 was removed from processing and the segments 4 and 5 are now actively processed.
NOTE!
It is necessary that the parameters Z122.6– and Z122.41– always are valid as the
controller always performs both operations (decoupling and coupling) - both parameters must have the same value.
If for example only one decoupling has to be performed, than the value of both parameters must be identical. Then this operation is executed twice but as they are
identical this is not relevant for the application.
Sequence of chaining change
In the following the sequence of chaining change is described. Thereby, the handshake
between the control and the controller has priority.
m The parameters Z122.6– and Z122.41– describe the chaining information.
m The control sets bit 5 in the control word Z108.1– to activate the chaining change.
m The drive sets bit 12 in the status word Z108.3– to signal that chaining was
changed.
m The PLC resets bit 5 in the control word Z108.1–.
m The drive cancels bit 12 in the status word Z108.3–.
593
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3.8
Operating Modes
3.8.13.4 Definition of the starting segment
The following parameters of the parameter structure determine the starting point:
Starting segment number
UINT16
Starting position Master revolution
UINT32
Starting position Master angle
UINT32
Starting position Slave revolution
UINT32
Starting position Slave angle
UINT32
The correct positioning within the chained polynomial curves can be found by specifying
the starting point, as described in chapter Z3.8.13–.
3.8.13.5 Synchronization
Synchronization to consisting motion
If switching online into the coupled mode while the drive is in motion then the current
speed and acceleration is applied and the drive is decelerated to speed = 0 by an S-curve
profile. For this the parameters to synchronize motion Z122.12– to Z122.15– are used.
This procedure can be switched on and off using bit 9 of parameter mode Z122.2–.
NOTE!
If synchronization is switched off velocity and acceleration jumps can occur!
Synchronization to the polynomial curve
Via the parameter mode (Z122.2–) a synchronization of the curve can be selected with
the current position of the master axis. The controller detects the current position set value from the polynomial curve by the start curve segment, master axis positioning and
drive positioning. If the momentary angle actual value of the drive doesn't correspond to
the set value from the polynomial curve then the controller is able to independently position to the required angular position from the polynomial curve. This positioning operation
limits the maximum speed (Z122.12–), the maximum acceleration (Z122.13– and
Z122.14–) and the maximum jerk (Z122.15–).
The servo controller can be positioned either to the required angle or to the absolute position including the revolutions which result from the polynomial curve. When positioning
to the total positioning the servo controller catches up on all revolutions that are required
to reach the absolute set position in the curve. The direction of rotation of both positioning
modes can be specified.
If the rotational information for the master axis is ignored then the servo controller finds
its valid master position always within one revolution from the starting point of the starting
polynomial. The synchronization movement doesn't require parts of the polynomial curve,
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3
it's a positioning operation using the settable profile data via the parameters Z122.12– to
Z122.15–.
Activate / deactivate synchronization
If synchronization was selected (Z122.2– bit 0 = 1) the drive checks after the enable of
operation mode Coupled mode if the current position of the drive agrees with the set position from the curve. If this is not the case the drive generates a compensating movement
with jerk limitation from the current position up to the set position from the curve. The
curve movement thereby is overlaid by the synchronization movement.
If synchronization is off (Z122.2– bit 0 = 0) the synchronization movement isn't performed. In this case movement is started from the current position of the drive.
Synchronization modes
m Master axis stops during synchronization
By the setting of bit 1 in Z122.2– standstill monitoring is activated. This monitoring
checks if the master axis changes its position during synchronization to the polynomial curve. This is the case if the master axis speed is above the speed threshold
which is determined in Z122.16– "Standstill limit master axis". During an active
monitoring the error 2744 “Master axis moves during synchronization“ is activated.
The user can freely select the error reaction. 
m Positioning to the angle
The synchronization movement is executed on the angle if bit 2 in Z122.2– is selected, only. Thereby, the position of the drive is evaluated in the polynomial curve
and for synchronization movement the revolution part of this information is ignored.
Thus, the drive positions to the angle only and doesn’t catch up on the revolutions. 
m Specify rotational direction
If bit 3 in Z122.2– is set then a synchronization is executed towards the rotational
direction which was set in Z122.2– bit 7 (1: negative rotational direction; 0: positive
rotational direction). When synchronizing to the angle this isn’t decisive as one revolution at most is executed as a synchronization movement. This option turns into
an issue if it is to be synchronized to the absolute position of the drive. The synchronization can take very long if the rotational direction was selected unfavorably because the position is specified in 32 bit revolutions and 32 bit angle.
3.8.13.6 Use of the output-sided gear
At the output of the polynomial curve generator a scaling of the mean output values is
possible by means of a gear factor. This factor is specified by two parameters.
P122.42
Gear factor = ------------------P122.43
The gear factor is either taken over when starting the operation mode or it can be changed
during the active operation.
595
of 724
3.8
Operating Modes
When starting the parameter values of Z122.42– and Z122.43– are accepted as gear
factors. During the active operation the acceptance must be specifically initiated. This is
made via bit 8 in the control word Z108.1–. The sequence is the following:
1 The user sets the gear factor via Z122.42– and Z122.43–.
2 The user sets bit 8 in Z108.1– with a rising edge.
3 The drive changes the gear factor and accepts this by setting bit 13 in Z108.3– Status
word.
4 As soon as the user resets bit 8 in Z108.1–, the drive resets bit 13 in Z108.3–.
It must be considered that the gear factor causes an extension or reduction of the curve,
only. The synchronization always is performed on the original curve. If the extended or
reduced curve shall be the same reference point as the original curve, then it is important
that the master axis is in the starting point (this is defined in Z122.8– and Z122.9–) at
switchover of the gear factor.
3.8.13.7 Overlaying using an additional movement
The curve can be shifted in the Y-direction by overlaying the polynomial curve with an additional movement.
The distance of this overlaid movement can be specified in the parameter Target position
offset (Z122.17–). This parameter is signed including the following information:
1 sign bit
15 bit revolutions
16 bit angle
Therewith, the overlaid movement of 32767 revolutions at maximum and 359.99° in the
positive and negative direction can be defined.
This movement can be initiated only, if the Coupled mode is active and the drive signals
that it is processing the curve by setting bit 10 in Z122.2–. The activation works the following way:
1 The additional movement is defined by the parameters Z122.17– to Z122.21–.
2 The additional movement is activated via bit 6 in Z108.1– "Control word".
3 As soon as the additional movement is running the drive sets bit 2 and resets bit 10 in
Z122.1– Status.
4 After the additional movement was completed the drive resets bit 2 and sets bit 10 in
Z122.1– Status again.
During an ongoing additional movement changes of the profile data (Z122.18– to
Z122.21–) and the target position compensation are not taken into account. The rising
edges in the control word bit 6 are ignored till the additional motion is reported as completed by the status.
During the processing of the additional movement it is checked if the additional movement
and the polynomial curves exceed the limited positioning difference in the drive per field
bus cycle. If this is the case the drive will stop operation due to the error 910. The user
must be aware that the speed and acceleration of polynomial curves add up. This has to
be possible in the application.
596
of 724
3
3.8.13.8 Intermediate buffering of curve segments
To process the curve segments efficiently in the firmware of the drive, from a great
amount of curve segments that belong to an entire curve, three segments are loaded into
an intermediate buffer which can be accessed fast by the firmware.
Due to the buffer handling delay times can occur when changing the segment sequence
and activating reloaded curves.
Slave
position
0
1
2
3
4
5
6
Point of
changeover
Point of
changeover
7
(1)
8
(2)
9
(3)
10
(4)
11
(5)
Master position
0
Content of temporary memory
Content of temporary memory
5000_0316_rev01_int.cdr
Figure 168:
Switchover of segments
Effects at sequence change
In ZFig. 168– two cases are described. The original curve is shown in black and exists
of the segments 0-6. The user tries to replace the segments 1-5 by means of a sequence
change of the segments 7-11 (red partial curve). In ZFig. 168– two different switching
times are shown for this switching procedure. The content of the intermediate buffer is
indicated by the colored bars below the coordinate system.
Specifically this means that if segment 0 is active when switching over then the intermediate buffer includes the segments 6, 0 and 1. This is understandable, because the active,
the prior and the following segments always are provided. However, the segments in the
intermediate buffer still must be processed. That means that segment 1 follows segment
0 as this is situated in the intermediate buffer already. After segment 1 segment 2 is processed and so on. After switching over into segment 0 the black curve is processed once
more. Not until the next run after segment 0 the junction to segment 7 takes place and the
red curve is processed.
In the second case shown the switchover is triggered in segment 6. In this case the segments 5, 6 and 0 are in the intermediate buffer in this case. Here, the segment 0 is activated after the segment 6, because it is in the intermediate buffer already. After segment
0 the segment 7 is loaded already and follows segment 0. In this case the switchover immediately takes place.
So that switchover to other curve ranges (e.g. branching) is activated during this run, the
switchover must be made two segments prior to the branching point.
597
of 724
3.8
Operating Modes
Effects when reloading curves
Supposed the original curve corresponds to the black curve in ZFig. 168–. The user reloads a curve during the process, which is in accordance with the course of the red curve.
After reloading and combining segment 7 of the red curve complies with the segment 1
of the newly combined curve. The newly combined curve consists of 7 segments whereas
the segments 1-5 were changed due to the reload.
When activating the curve the activation time is decisive. If the curve in segment 0 is activated then the segment 1 of the original cure is already loaded in the intermediate buffer.
This segment must be processed before segment 2 of the combined curve can be loaded
and activated in the intermediate buffer. As the segments smoothly connect to one another segment 2 of the combined curve is connected to the segment 1 of the original curve.
An offset occurs and the required curve position isn't reached.
If the switching to the combined curve occurs in segment 6, the segments 5, 6 and 0 are
loaded in the intermediate buffer. Segment 0 follows segment 6. After segment 0 the segment 1 of the combined curve is loaded in the intermediate buffer and is processed. In
this case the required processing of the curve is achieved.
While reloading the curves the curve segment in which the combined curve is switched
and the following segment in both curves shall be identical in the original as well as in the
combined curve.
Name
Type
122.1
Status
DWORD 0x0
0xFFFFFFFF 0x0
1:1
122.2
Mode
DWORD 0x0
0xFFFFFFFF 0x0
1:1
122.3
UDINT
0x0
0xFFFFFFFF 0x0
Inc
1:1
X
122.4
UDINT
0x0
0xFFFFFFFF 0x0
Inc
1:1
X
122.5
Active cam segment
UINT
0x0
0xFFFF
0x0
1:1
122.6
Sequence change start
UDINT
0x0
0xFFFFFFFF 0x0
1:1
122.7
Start cam segment
UINT
0
0xFFFF
0
1:1
X
122.8
Start position master revolu- UDINT
tion
0
0xFFFFFFFF 0
1:1
X
122.9
Start position master angle
UDINT
0x0
0xFFFFFFFF 0x0
1:1
X
122.10
Start position slave revolution UDINT
0x0
0xFFFFFFFF 0x0
1:1
X
122.11
Start position slave angle
UDINT
0
0xFFFFFFFF 0
Inc
1:1
X
122.12
Maximum speed synchronization
UDINT
1
65535
100
Inc/ms 1:1
X
122.13
Maximum acceleration synchronization
UDINT
7
65535
200
Inc/
ms2
100:1
X
122.14
Maximum deceleration synchronization
UDINT
7
65535
200
Inc/
ms2
100:1
X
of 724
Default Value Unit
Inc
Factor
Cyclic Write
Number
598
Max
DS Support
Min
Storage
FbCoupledMode [122]
Read only
Functional block:
X
X
X
X
3
122.15
Maximum jerk synchronization
UDINT
7
65535
25
Inc/
ms3
100:1
X
122.16
Master standstill threshold
FLOAT
0
1.000000e+06 10.0
122.17
Target position offset
DINT
-2147483648
2147483647
0
Inc
1:1
X
1:1
X
122.18
Maximum speed offset
UDINT
1
65535
122.19
Maximum acceleration offset UDINT
7
65535
100
Inc/ms 1:1
X
200
Inc/
ms2
100:1
X
122.20
Maximum deceleration offset UDINT
7
65535
200
Inc/
ms2
100:1
X
122.21
Maximum jerk offset
UDINT
7
65535
25
Inc/
ms3
100:1
X
122.22
Curve segments
RECORD
1:1
X
122.23
Curve name
STRING
1:1
X
122.24
Segment count
UDINT
0
0xFFFFFFFF 0
1:1
X
122.41
Sequence change target
UDINT
0x0
0xFFFFFFFF 0x0
1:1
122.42
Numerator gear factor
INT
-32768
32767
1
1:1
X
122.43
Denominator gear factor
UINT
1
0x7FFF
1
1:1
X
X
X
3.8.13.10Description of the Parameter
122.1
Status
Status of operation mode "Coupled operation" (synchronization, normal operation) 
Bit
Function
0
Initialization (reducing the speed or searching the active curve segment
from the entire linked curve)
1
Synchronize on the curve
2
Additional movement is in process
3
Reserved
4
Curve data are available
5
Reserved
6
Maximum set speed was exceeded and was limited to maximum
7
Reserved
8
Switchover to reloaded curve possible (0->1); switchover was made (1->0),
see also bit 8 in Z108.3– Status word 1
9
Reserved
10
The curve is synchronous (set value reached), see also bit 10 in Z108.3–
Status word 1
11
Reserved
599
of 724
3.8
Operating Modes
Bit
Function
12
The curve sequence was changed, see also bit 12 in Z108.3– Status
word 1
15 … 13 Reserved
16
Direction of master
0: positive
1: negative
31 … 17 Reserved
122.2
Mode
Bit
Function
0
Automatical synchronization when starting
0: No, the positioning to the starting point is ensured by the PLC
1: Yes, the drive automatically positions to the starting point
1
1: Standstill monitoring of the master axis during synchronization is active
2
Type of synchronization after starting
0: Absolutely to the position
1: Absolutely to the angle
3
Consider the rotational direction during synchronization
0: Ignore rotational direction; positioning is made accordant to the shortest
distance
1: Consider rotational direction
4
Ignore rotational information of the master axis
5
Activation of reloaded curve files
0: Via the control word
1: Via the master axis angle at 0° (=rotational angle)
6
Delete curve data
7
Rotational rotation at synchronization
0: positive
1: negative
8
Reserved
9
Braking after activation for the operating mode switchover
0: No brake
1: Brakes activated
31 ... 10 Reserved
122.3
Indication of the current revolution of the master axis in a 32 bit resolution.
600
of 724
122.4
3
Indication of the current angle of the master axis in a 32 bit resolution per revolution.
122.5
Active cam segment
This parameter can be read cyclically. It defines the curve segment which is currently processed.
122.6
Sequence change at first
With this cyclically writable parameter the coupling/decoupling point of the sequence
change is specified. This parameter is used together with Z122.41–.
The parameter is split:
Sequence change >122.6<
16 bit segment responded to
16 bit segment following
The sequence change is indicated here. The change is carried out by a rising edge of bit 5
of Z108.1– "Control word 1".
122.7
Start cam segment
Number of the polynomial which represents the start position of the master axis and the
drive.
122.8
Start position master revolution
Revolution of the master axis at the beginning of the starting segment.
122.9
Start position master angle
Angle oft he master axis at the beginning of the start segment.
601
of 724
3.8
Operating Modes
122.10
Start position slave revolution
Revolutions of the drive at the beginning of the start segment.
122.11
Start position slave angle
Angle of the drive at the beginning of the start segment.
122.12
Maximum speed synchronization
The parameter value specifies the maximum speed of the overlaid synchronization movement after starting the operation mode by which the drive is synchronized to the set position from the curve.
The resolution is 16 bit increments/revolution per ms.
122.13
Maximum acceleration synchronization
This parameter specifies the maximum acceleration of the synchronization movement in
Inc/ms2 described in Z122.12–.
The resolution is 16 bit increments/revolution per ms2.
122.14
Maximum deceleration synchronization
This parameter specifies the maximum delay of the synchronization movement in
Inc/ms2 described in Z122.12–
122.15
Maximum jerk synchronization
This parameter specifies the maximum jerk of the synchronization movement of
Z122.12– in Inc /ms3.
122.16
Master standstill threshold
The standstill threshold is specified to monitor if the master axis stands still during the
synchronization phase.
602
of 724
122.17
3
Target position offset
The parameter specifies the target position for the overlaid compensating movement
during operation. The parameter has the following format:
122.18
1 bit
15 bit
16 bit
Sign
Revolutions
Angle
Maximum speed offset
The value of this parameter in Inc/ms specifies the maximum speed of the overlaid compensating movement during the active operation, by which the drive overlays the polynomial curve.
The resolution is 16 bit increments/revolution per ms.
122.19
Maximum acceleration offset
The value of this parameter in Inc./ms2 specifies the maximum acceleration of the overlaid compensating movement during the active operation by which the drive overlays the
polynomial curve.
122.20
Maximum deceleration offset
The value of this parameter in Inc/ms2 specifies the maximum deceleration of the overlaid
compensating movement during the active operation by which the drive overlays the polynomial curve.
122.21
Maximum jerk offset
The parameter value in Inc/ms3 specifies the maximum jerk of the overlaid compensating
movement during the active operation by which the drive overlays the polynomial curve.
603
of 724
3.8
Operating Modes
122.23
Curve name
The polynomial curve name that was specified in the polynomial curve file is shown here.
122.24
Number of segments
The curve segment count of the curve which is being processed currently.
122.41
Sequence change at the end
With this parameter which is cyclical writable a coupling / decoupling point of the sequence change is specified. This parameter must be considered in combination with
Z122.6–.
The parameter is two-parted:
Sequence change >122.6<
16 bit accessed segment
16 bit following segment
The sequence change is specified here. The change is processed by a rising edge of bit 5
of Z108.1– "Control word".
122.42
Numerator gear factor
Numerator of the gear factor at the output of the polynomial curve generator.
122.43
Denominator gear factor
Denominator of the gear factor at the output of the polynomial curve generator.
604
of 724
3
3.9
Diagnosis
3.9.1
Diagnosis
Diagnosis [6] 
FbPuTempModell [175]
Functional block:
Type
Min
Max
Factor
6.1
Standstill threshold
FLOAT
0.0
1.000000e+06 10.0
6.2
Standstill status
INT
0
1
0
1:1
X
6.3
Actual torque direction
UINT
0
1
0
1:1
X
6.4
Torque relating to nominal
torque
INT
-1000
1000
0
1:1
X
6.5
Positive overspeed limit
FLOAT
0.0
1.000000e+06 0
6.6
Negative overspeed limit
FLOAT
-1.000000e+06 0.0
6.7
Max. pos. speed deviation
FLOAT
0.0
6.8
Max. neg. speed deviation
FLOAT
-1.000000e+06 0.0
0
6.11
Speed error response time
FLOAT
0.0
100
2.0
6.12
Speed actual value > Speed FLOAT
ON threshold
0
1.000000e+06 18000
6.13
Speed actual value > Speed FLOAT
OFF threshold
0
1.000000e+06 17000
6.14
Velocity window percentage
UINT
0
65535
6.20
Blockade speed limit
FLOAT
0
6.21
Blockade time limit 1
FLOAT
0
6.22
FLOAT
6.25
Power unit peak current
FLOAT
6.26
Power unit nominal current
6.27
Power unit Ixt actual value
6.28
6.29
Grad/s 1:1
%
Cyclic Write
Name
DS Support
Number
Storage
Default Value Unit
Read only
For Parameters 175.3 to 175.8 see ZPower unit– from page 60
X
Grad/s 1:1
X
0
Grad/s 1:1
X
1.000000e+06 0
Grad/s 1:1
X
Grad/s 1:1
X
ms
1:1
X
Grad/s 1:1
X
X
Grad/s 1:1
X
X
0
%
X
X
1000000
10
Grad/s 1:1
X
1000000
0.5
s
1:1
X
0
1000000
5
s
1:1
0.0
1000
9.0
A
1:1
X
FLOAT
0.0
1000
4,5
A
1:1
X
FLOAT
0.0
1000
0.0
%
1:1
X
Motor I2t actual value
FLOAT
0
1000
0.00
%
1:1
X
Motor I2t threshold
FLOAT
0
1000
100
%
1:1
6.30
Motor apparent current
smoothed
FLOAT
0
10000
0
A
1:1
6.32
Motor real power smoothed
FLOAT
-1000000
1000000
0
kW
1:0.001 X
175.1
Mode PU temperature model UINT
0x0
0xFFFF
0x0
1:1
175.2
Status PU temperature
model
UINT
0
0xFFFF
1000
1:1
X
175.15
Power unit thermal load
FLOAT
0
1000
0
1:1
X
%
100:1
X
X
X
X
605
of 724
3.9
Diagnosis
6.1
Standstill threshold
The standstill window describes the amount of the speed deviation of n=0. If the speed
actual value is in the standstill window, the drive will set Parameter "N=0 Message" (Parameter Z6.2–) to 1.
6.2
Standstill status
Value
Meaning
0
The measured actual speed is NOT within the speed window set in the
Parameter "Standstill Threshold".
1
The measured actual speed is within the speed window set in the Parameter "Standstill Threshold".
The message is updated every 1 ms.
6.3
Actual torque direction
The torque direction of the axis is shown in this parameter.
Value
Meaning
0
Torque direction positive
1
Torque direction negative
The display is refreshed every 2 ms
6.4
Torque relating to nominal torque
Torque in percent of rated torque.
The value corresponds with the ratio of torque current to nominal torque current and is a
16 bit value (with leading signs, no decimal places).
The parameter value corresponds to the following equational format:
606
of 724
3
Iq
P47.5
P6.4 = ----------------  100% = ----------------------------------------  100%
P19.10
2
2
I nom – I d_nom
The display is refreshed every 2 ms
6.5
Positive overspeed limit
When the drive exceeds this positive maximum speed limit, the drive is immediately deenergized by error message 203 "Positive overspeed limit exceeded".
The clock of the overspeed monitoring is 1 ms.
6.6
Negative overspeed limit
When the drive exceeds this negative maximum speed limit, the drive is immediately deenergized by error message 204 "Negative overspeed limit exceeded".
6.7
Max. pos. speed deviation
Speed control deviation limit.
The maximum permitted positive difference between set value and actual speed (positive
speed error limit) is set here for each axis.
Exceeding this limit through the response time set in Parameter Z6.11– will lead to error
message 201 "Exceeded limit pos. speed control deviation".
The clock of the monitoring of the speed control deviation is 1 ms.
The parameters Z6.7– Max. pos. speed difference, Z6.8– Max. neg. speed difference
and Z6.14– Velocity window percentage are used to generate the "Nact = Nset" message.
For details see the description of Z18.20– Speed controller status.
6.8
Max. neg. speed deviation
The maximum permitted negative difference between set value and actual speed (negative speed error limit) is set here for each axis. Exceeding this limit through the response
time set in Parameter Z6.11– will lead to error message 202 "Exceeded limit neg. speed
control deviation".
The parameters Z6.8– Max. neg. speed difference, Z6.7– Max. pos. speed difference
and Z6.14– Velocity window percentage are used to generate the "Nact = Nset" message.
For details see the description of Z18.20– Speed controller status.
607
of 724
3.9
6.11
Diagnosis
Speed error response time
The maximum time is specified here in ms for each axis in which the set limit values of
the speed difference (Parameter Z6.5–, Z6.6–) may be exceeded before a drive error
will be triggered.
6.12
Speed actual value > Speed ON threshold
The ON threshold of the free adaptable speed threshold with hysteresis is set here. If the
absolute value of the Z18.22– Speed actual value exceeds this threshold (Z6.12–), bit 8
in Z18.20– Speed controller status is set. The bit will be canceled again if the value falls
below the OFF threshold (Z6.13–).
6.13
Speed actual value > Speed OFF threshold
The OFF threshold of the free adaptable speed threshold with hysteresis is set here. If
the absolute value of the Z18.22– Speed actual value is fallen below this threshold
(Z6.12–), bit 8 in Z18.20– Speed controller status is canceled. The bit will be set again
if the value exceeds the ON threshold (Z6.13–).
6.14
Velocity window percentage
The percentage parameter relates to the current speed set value (Z18.21–). It is used for
generation of the "Nact = Nset" message in Speed controller status (Z18.20– bit 12).
Condition for "Nact = Nset" :
Z18.23– e2 Speed error Z18.21– w2 speed set value * 
Z6.14– Velocity window percentage
In addition to Z6.14– both absolute limits (Z6.7– and Z6.8–) are used for generation of
"Nact = Nset"! For details see the description of Z18.20– Speed controller status.
At 0% the parameter Z6.14– Velocity window percentage is not used for generation of
"Nact = Nset" message.
6.20
Blockade speed limit
Standstill threshold for blockage monitoring.
The blockage monitoring detects a block when the speed control is at the current limit and
the drive at the same time at standstill (|Nist| < Blockade Speed Limit).
The threshold for the actual speed under which the drive is assumed to be blocked can
be set under this parameter.
608
of 724
3
This speed threshold must be adapted depending on the motor or encoder system (especially at resolver). The threshold must be higher than the variation of the speed actual
value in standstill.
An adjustable hysteresis (Z138.28–) is used for the condition speed controller at current
limit. In particular at motors with resolver and at little speed set value it can be necessary
to adapt this hysteresis because the speed controller is possibly not permanently at the
current limit.
The clock of the blockage monitoring is 2 ms.
6.21
Warning threshold for the time of blockage monitoring.
If the conditions for blocking have been met, a warning (Code No. 209) will be triggered
upon expiration of the set blockade time limit 1. If the conditions for blocking are no longer
met, the warning 209 will be canceled by the controller.
6.22
Error threshold for the time of blockage monitoring.
If the conditions for blocking have been met, the error (Code No. 210) will be triggered
upon expiration of the set blockade time limit 2.
Blockage monitoring will be deactivated when this parameter is set to 0.
6.25
Power unit peak current
This parameter serves as a display of the peak current (Z129.16– to Z129.19–), if the Ixt
model for the PU overload monitoring is used or Z129.85– to Z129.88–, if the temperature model is used instead. See PU temperature model state (Z175.2– Bit 0) depending
on the PWM frequency Z130.15–.
6.26
Power unit nominal current
This parameter is used to display the nominal current of the power unit (Z129.12–,
Z129.13–, Z129.14– or Z129.15–) depending on the PWM frequency Z130.15–.
6.27
Power unit Ixt actual value
This parameter displays the current Ixt value of PU overload monitoring. The current will
be limited to the power unit nominal current with a value of 100%.
609
of 724
3.9
Diagnosis
At nominal load devices (peak current = nominal current) the current is limited to nominal
current. Additional monitoring and limitation is not required.
The Ixt-actual value is not calculated at nominal load devices and there is no current reduction.
This parameter is important if the PU overload monitoring is not executed via the temperature model (see "Status PU temperature model' Z175.2–, only.
6.28
Motor I2t actual value
The output of the I2t model (PT1 element) is displayed.
Standardization: 100% corresponds with the rating (Z107.9–).
Exceeding of Z6.29– will trigger Error 205 "I2t Overload".
See also ZOverload monitoring of the power unit– from page 638
Output of the PT1 element to overload monitoring.
Standardization:
100%  155°C
(6.28)
155 °C = 100 %
DT = 115 K
40 °C = 0 %
Figure 169:
6.29
Tt
(107.28)
t
5000_0087_rev02_int.cdr
63,2 %
Motor I2t monitoring
Motor I2t threshold
See also ZOverload monitoring of the power unit– from page 638
I2t warning limit at motor overload
Standardization:
100%  155°C
610
of 724
6.30
3
Motor apparent current smoothed
Total current actual value in 2 ms cycle calculated from filtered d and q current.
(Filter time constant 1.25 ms)
6.32
Motor real power smoothed
(from controller firmware V1.09)
From the motor-voltages and currents calculated instantaneous value of the electrical effective power pe real, in kW. The calculation is based on a symmetrical three-phase system.
3
 e real = 1000   ---   u s  i s + u s  i s 
 2
in kW
whereat the following internal sizes are determined in the controller:
is, is
Motor currents in -coordinates (in A, instantaneous values).
us, us
Motor voltages in -coordinates (in V, instantaneous values); 
(the dead time voltages are compensated, independent of the 
value of the dead time compensation factor Z47.50–, i.e. it 
doesn't matter if the dead time compensation in the motor is 
active or not)
The parameter >6.32< accords to the smoothed value of pe real. 
Filter time constant 1,25 ms.
The uncertainty in the power indication is determined by current and voltage measuring
uncertainties (at the voltage it is the efficiency uncertainty).
Therefore it is recommended to carry out the dead time measuring (see chapter
ZAutotuning of Current controller– from page 155). Typically the uncertainty of the power
indication is at +/- 2% of the nominal power of the device.
NOTE!
The BM33XX isn't a measuring device and may not replace a power measuring device. The value shown in the parameter >6.32< is just a benchmark
NOTE!
If the power indication >6.32< is evaluated and PWM frequency changes are made
during operation, the adaption of the dead time compensation must be activated after
the PWM frequency (see Z123.1– bit 3) independent of the dead time compensation
being active in the motor control or not (see Z47.50–).
611
of 724
3.9
175.1
Diagnosis
Mode PU temperature model
The parameter can be changed in the inhibited state, only.
Bit-no.
Meaning
0
PWM reduction mode
0: not enabled
1: enabled
1
From firmware version 01.10:
Selection of the PU overload monitoring model at availability of the temperature model and the Ixt model:
0: Ixt model is activated
1: Temperature model is activated
15 ... 2
Reserved
Bit 0:
From controller version V01.09 onwards and important only for devices, which support
the overload monitoring model PU temperature model (see Status PU temperature model
Z175.2–).
If the PWM reduction is released the PWM frequency is halved, if the temperature monitoring of the power semiconductors exceed a certain threshold.
Bit 1:
Only of importance if both models of the overload monitoring are existent (availability temperature model: Z175.2– bit 1 = 1, availability lxt model Z175.2– bit 2 = 1).
Selection:
0: The temperature model is activated
1: The lxt model is activated
If the device supports both models the lxt model will be active in general (>175.1<
bit 1 = 0).
A change of the overload monitoring model (setting in the parameter list) is valid after the
device was switched on and off again.
NOTE!
Before the PWM reduction can be released the user must assure the following:
m The drive must operate correctly with the reduced switching frequency (e.g. measuring data of the motor, control quality at reduced current controller band width
a.s.o. must be checked).
m The drive components must tolerate the reduced switching frequency (e.g. check
motor filter, if it is existing). This is very important, if the PWM frequency is reduced
to 2 kHz.
612
of 724
175.2
3
Status PU temperature model
In this parameter the user can read out information regarding the status of the overload
monitoring of the device
Bit
Meaning
0
Display of the active PU overload monitoring model
0: Ixt model active
1: Temperature model active
1
From controller version V1.10:
Availability of the temperature model
(complete data set of the temperature model)
0: not available
1: available
2
From controller version V1.10:
Availability of the lxt model:
0: Ixt model may not be activated. The device may be operated with the
temperature model only.
1: Ixt model may be activated.
(only of importance if the data sets of the temperature model are available
>175.2< bit 1 = 1)
3
Reserved
4
Current limit because of PU-I2t sub-model
0: not responded
1: responded
5
Current limit because of power electronic sub-model
0: not responded
1: responded
15 ... 6
Reserved
Bits 4 and 5: Important, if the PU temperature model is activated >175.2< Bit 0 = 1, only.
175.15
Power unit thermal load
This parameter displays the instantaneous thermal load of the device (ThL actual value),
which is evaluated from the PU overload monitoring via the temperature model.
The current is limited at 105% to the PU max. actual value of continuous current Z175.7–.
If PU overload monitoring via the temperature model is not active, this parameter isn't important (see status PU temperature model Z175.2–).
613
of 724
3.9
Diagnosis
3.9.2
Oscilloscope function
The b maXX® controllers offers an integrated oscilloscope function for quick and easy
commissioning.
Range of oscilloscope function:
Number of channels:
8
Sampling time:
62.5 µs to 100 s
Recording:
triggered or not triggered
Triggering:
m through internal status changes,
m Size change or
m external digital or analog inputs
Number of Triggers:
1
Trigger time in relation to 
memory depth:
Recording after-running period parameterizable 
(which means recording with or without prior
history related to the trigger event)
Trigger sources:
m Digital signals (selection of relevant bits
through bit masks is possible) e. g.:
n Status change
n Error or warning events
n external digital inputs
m analog signals
n Target or actual values
n Analog inputs
Name
Type
Min
Max
Default Value Unit
Factor
101.1
Status
INT
0
5
0
1:1
101.2
Command
INT
0
7
0
1:1
X
101.3
Channel 0 source parameter UDINT
id
0
4294967295
0
ID
1:1
X
101.4
id
0
4294967295
0
ID
1:1
X
101.5
id
0
4294967295
0
ID
1:1
X
101.6
id
0
4294967295
0
ID
1:1
X
101.7
id
0
4294967295
0
ID
1:1
X
101.8
id
0
4294967295
0
ID
1:1
X
614
of 724
Cyclic Write
Number
DS Support
Storage
FbRsp [101]
Read only
Functional block:
X
101.9
id
0
4294967295
0
ID
1:1
X
101.10.
id
0
4294967295
0
ID
1:1
X
101.11
Trigger source parameter id
UDINT
0
4294967295
0
ID
1:1
X
101.12
Trigger mode
UDINT
0
0x00000077
0
1:1
X
101.13
Trigger axis mask
UINT
0x1
0x3
0x1
1:1
X
101.14
Trigger condition
UDINT
0
0x0000003F
0
1:1
X
101.15
Trigger compare value
FLOAT
-5.000000e+9 5.000000e+9 0.000000e+00
1:1
X
101.16
Trigger compare mask
UDINT
0
0xFFFFFFFF 0
1:1
X
101.17
Trigger cause
UINT
0
1999
0
101.18
Sample time
FLOAT
0.0000625
100
0.001
s
1:1
101.19
After-run time
FLOAT
3.000000e-01 3.000000e+06 1.000000e+00 s
1:1
101.20
Recording time
FLOAT
1.000000e+01 3.000000e+06 1.000000e+01 s
1:1
X
101.21
Buffer size
UDINT
10000
504000
10000
DW
1:1
X
101.22
Measure time
FLOAT
0
10000
0
µs
1:1
X
101.23
Scope buffer
FLOAT
-1.000000e+37 1.000000e+37 0.000000e+00
1:1
X
101.24
Task number
UINT
1
1:1
X
2
2
1:1
3
X
X
X
Description of the Parameters
101.1
Status
Value
101.2
Meaning
0
Recording stopped
1
Recording in progress
current status:
Waiting for trigger event
2
No significance
3
Trigger has occurred
Recording still in progress
Ring buffer in after-running period
4
Ring buffer can be read out
Command
Value
Meaning
0
Recording Stop
1
Recording Start
2
Activate trigger
3
Reset, deletes error, redistributes memory
615
of 724
3.9
Diagnosis
If it is not possible to start the recording, the available memory is insufficient.
If the ring buffer is in Status 4 (Waiting for Read Out), the recording can also be restarted
without read-out.
NOTE!
Before a trigger event bit is accepted, the trigger ID and trigger axis mask must be
entered!
101.3
Channel 0 source parameter Id
Specification of the parameter ID of the signal to be recorded.
Only parameters with scalar data types can be recorded (no array elements, no structure
elements).
Only real-time capable parameters can be recorded for which the access function does
not exceed a specific minimum time. The controller checks the ID and reports a corresponding error message to the operating system if the parameters are not real-time capable.
101.4
See Z101.3–
101.5
See Z101.3–
101.6
See Z101.3–
101.7
See Z101.3–
616
of 724
101.8
3
See Z101.3–
101.9
See Z101.3–
101.10
See Z101.3–
101.11
Trigger source parameter Id
Parameter ID for trigger events that are freely programmable:
The value of RSP Trigger Source Pxxx is compared with the trigger comparison value
(Z101.15–) and a trigger is activated when the trigger condition (Z101.14–) is met.
101.12
Trigger mode
Setting the corresponding bit will trigger the ring buffer for the associated event.
NOTE!
Trigger data changes must always be made in Status 0 (Recording Stop) only.
Bit-no.
Value
Trigger event
0
0x0001
Reserved
1
0x0002
Reserved
2
0x0004
Freely programmable trigger event
3
0x0008
Reserved
4
0x0010
Trigger on positive edge
5
0x0020
Trigger on negative edge
15 ... 6
Reserved
617
of 724
3.9
Diagnosis
101.14
Trigger condition
Trigger condition
Value
101.15
Trigger condition
0
No condition
1
Value greater than comparison value
2
Value equal to comparison value
3
Reserved
4
Value less than comparison value
Trigger compare value
The value of RSP Trigger Source Pxxx (axis indicated through trigger axis mask is compared with the trigger compare value (>101.15<) and a trigger is activated when the trigger condition (Z101.14–) is met.
101.16
Trigger compare mask
The value of RSP Trigger Source Pxxx is "rounded" with the compare mask and a trigger
is activated when the condition is met.
101.17
Trigger cause
Indicates the cause of the current trigger.
The 1000th place shows the axis index on which the trigger was activated.
Value
Trigger Cause
0
Reserved
1
Reserved
2
Trigger activated through command in Parameter Z101.2–
3
Trigger activated through drive error
4
Reserved
5
Trigger activated through programmable trigger value greater than comparison value
6
Trigger activated through programmable trigger value equal to comparison
value
618
of 724
Value
101.18
3
Trigger Cause
7
Trigger activated through programmable trigger value less than comparison
value
8
Trigger activated because programmable trigger value and comparison
mask different than 0
9
mask equal to comparison mask
10
mask equal to 0
Sample time
The sampling time can be entered for all channels. Internal rounding occurs to a whole
number multiple of the control cycle.
101.19
After-run time
The after-running period can be entered for all channels. This is the time during which recording continues after the trigger pulse. This is internally rounded to a whole number
multiple of the sampling time.
It will be ensured that the after-running period is never longer than the recording time.
NOTE!
The after-running period must be at least 300 milliseconds.
101.20
Recording time
Total recording time including after-running period. It is calculated from the sampling time,
available memory and number of active channels.
101.21
Buffer size
Display of memory size that is utilized by the ring buffer.
619
of 724
3.9
Diagnosis
101.22
Measure time
Display of the time used by the Scope Buffer module in real time (Interrupt). This time depends on the number of channels and axes.
101.23
Scope buffer
Two-dimensional array for Type FLOAT32 scope buffer data.
The 1st dimension corresponds with the channels, 
Channel 0 is reserved, 
Channel 1 ….Channel 8 correspond with the recording channels, 
Channel 9 corresponds with the trigger channel
The 2nd dimension corresponds with the discrete distance intervals. The array is indicated with 200 elements; however, this limit is dynamic depending on the number of active
recorded channels.
The data type of the array is FLOAT32. Depending on the data type of the recorded channel, the raw data is stored in the memory in the format of the source data type (always
stored in 4 bytes).
The corresponding axis can be addressed through the SubDevice Index. The internal
controller ring buffer is organized 3-dimensional accordingly.
If no data is present in the ring buffer, the Read command response with error code:
RC_ERR_RSP_NODATA (1305)
If an attempt is made to read data from the buffer during recording, the Read command
responds with error code: RC_ERR_RSP_NOREAD (1304)
Index 0 of the 2nd dimension points to the most current value.
101.24
Task number
Display in which the ring buffer recording is carried out:
1:
62.5 µs time dials
2:
1 ms RT1
620
of 724
3.9.3
3
Software function FFT analyzer
The FFT Analyzer module is used to enable the display of the signal in the frequency
range through FFT (Fast Fourier Transformation). Two channels may be operated simultaneously. Furthermore, the transmission function between signals can be determined.
The results of the analysis are provided as parameters for further processing. Window
functions (Windowing), Average (average determination) are also provided in this module. A signal generator is also integrated for system analysis, which can be fed into the
system by broadband signals, such as white noise, or sine signal generated and through
the parameter interface.
Block diagram of the module
DSP Firmware
Parameter interfaces
ID104.4
ID104.5
In_1
In_2
ID104.7
Signal Out
Results: spectrum In_1, In_2,
Amplitude phase response In_2/In_1,
Coherence
5000_1000_rev01_int.cdr
Module FFT analyser
ID104.1
Output as array
Parameter
Figure 170:
Block diagram FFT module
Functional block:
FbFft [104]
621
of 724
Name
Type
Min
Max
Default Value Unit
Factor
104.1
Command
UDINT
0
4
0
1:1
104.2
Status
UDINT
0
41
0
1:1
104.3
Signal input 1 source Pxxx
UDINT
0
0xFFFFFFFF 0
1:1
X
104.4
Signal input 2 source Pxxx
UDINT
0
0xFFFFFFFF 0
1:1
X
104.5
Signal input 1 / 2 axis
UINT
0
0x11
1:1
X
104.6
Signal out target-Pxxx
UDINT
0
0xFFFFFFFF 0
1:1
X
104.7
FFT mode
UDINT
0
0xFFFF
0
1:1
X
104.8
FFT info
DINT
0
12
0
1:1
104.9
FFT length
DINT
64
4096
4096
1:1
X
104.10
FFT windowing
UINT
0
5
1
1:1
X
104.11
Average number setup
DINT
0
20000
16
1:1
X
104.12
Signal out amplitude
FLOAT
-1e+9
1e+9
0
1:1
X
104.13
Signal output offset
FLOAT
-1e+9
1e+9
0.000000e+00
1:1
X
104.14
Frequency for sinus genera- FLOAT
tor
0
8000
0
1:1
X
104.15
Signal out
FLOAT
-1e+9
1e+9
0
1:1
X
104.16
Input signal 1
FLOAT
-1e+9
1e+9
0.000000e+00
1:1
X
104.17
Input signal 2
FLOAT
-1e+9
1e+9
0.000000e+00
1:1
X
104.18
Actual average
DINT
0
20000
0
1:1
X
104.19
Max. frequency
FLOAT
0.000000e+00 8000
2000
Hz
1:1
X
104.20
Frequency resolution
FLOAT
0.000000e+00 62.5
9.765625e-01
Hz
1:1
X
104.21
FFT data
FLOAT
0
0
0
1:1
X
104.22
Prbs register length
UINT
0
19
19
1:1
104.23
Prbs register clock
UINT
1
0xFFFF
1
1:1
0
ID
Hz
Cyclic Write
Number
DS Support
Storage
Diagnosis
Read only
3.9
X
X
X
104.1
Command
This parameter can be used to switch the FFT function on or off.
FFT Command Meaning
0
Stop
1
Run
622
of 724
104.2
3
Status
This parameter shows the current status of the module.
Status
Meaning
0
Idle
1
Initialization Memory
3
Initialization Window Function
5
Start Average
8
Get Signal Initialization
9
Get Signal
11,12
Windowing Signal Ch1, Ch2
13,15
FFT Ch1, Ch2
17
Standardization
20,22
Auto, Cross Spectrum
24, 25, 26 ÜTF, PHI, Coherence Calculation
104.3
28
Check Average
40
FFT result is available for readout
41
Finish
Signal In 1 source Pxxx
The parameter number for the signal source of Channel 1 can be entered here. Entries
are only possible with the FFT command Stop.
104.4
Signal In 2 source Pxxx
The parameter number for the signal source of Channel 2 can be entered here. Entries
are only possible with the FFT command Stop.
104.6
Signal Out target Pxxx
The parameter for a target parameter can be entered here. The output signal from the
signal generator is thereby routed through the system as an excitation signal. Entries are
only possible with the FFT command Stop.
623
of 724
3.9
104.7
Diagnosis
FFT mode
This parameter is used to set the FFT mode. The mode is used to configure the internal
signal generator and other options, such as activation of an internal transmission function
for test purposes.
FFT Mode
Meaning
Value 0
Signal generator not active, default setting
Bit 1 set (0x02)
Hissing noise signal generator (15 Bit) active
Bit 2 set (0x04)
Simulation transmission function active
Bit 4 set (0x10)
Sine generator active
Bit 5 set (0x20)
PRBS signal generator active
Bit 6 set (0x40)
Hissing noise signal generator (31 Bit) active
Bit 7 set (0x80)
2. Test track for simulation active
The parameter 104.7 FFT mode is independent from Parameter Z104.1– Command.
Sample parameterization for frequency process analysis: 104.7 = 2. 
For simulation 104.7 = 0x6 or 0x86.
104.8
FFT info
This parameter shows the current information/error of the module.
Value
Meaning
0
No error
1
Internal memory for Vector 1 could not be allocated, e.g. due to configured
ring buffer
2
ring buffer
3
ring buffer
4
Error wrong command or FFT was interrupted
5
The input parameter configured in Parameter Z104.3– "Signal in 1 source
Pxxx" cannot be read.
6
The input parameter configured in Parameter Z104.4– "Input 2 source Pxxx"
cannot be read.
10
Error while reading out the determined curve through Parameter Z104.21–
12
The number of measured values Z104.9– was indicated outside of the permitted range.
624
of 724
104.9
3
FFT length
This parameter can be used to enter the length of the time window for FFT evaluation.
Entries are only possible with the FFT command Stop. The length applies to the two channels and may only be as Radix 2 (power of 2).
The length is decisive for the frequency resolution.
Example:
Sampling frequency 4 kHz (0.35 ms cycle), which means the maximum frequency is
2000 Hz. With an FFT length of 4096, the FFT has results in 2048 discrete value pairs
(real, imaginary) plus DC share. The frequency resolution is 2000 Hz /2048 = 0.9765 Hz.
104.10
FFT windowing
This parameter can be used to switch FFT Windowing on.
FFT windowing Meaning
0
Without Window
1
Window Hann (used most often)
2
Window Hamming
3
Window Blackman-Harris
4
Window Flat Top
Since the FFT always works with a time frame (finite time record), the use of a window
function usually makes sense. The Window function serves to reduce the "Bin Leakage"
or "Side Lobe". The price for that is a certain reduction of frequency resolution. The
change of the Window type does not take effect until the FFT Command is (re) started.
104.11
Average number setup
This parameter is used to enter the number of mean values. Average determination can
improve the quality of the analysis.
104.12
Signal Out amplitude
The amplitude for the signal output (e.g. hissing noise) can be entered here.
104.13
Signal Output offset
The offset for the signal output (e.g. hissing noise) can be entered here.
625
of 724
3.9
Diagnosis
104.14
Frequency for sinus generator
The frequency for the sine signal generator (e.g. hissing noise) can be entered here. The
sine signal generator can be activated through Z104.7– FFT Mode (Bit 4 = 1).
104.15
Signal Out
The value of the output signal (e.g. the hissing noise signal) is displayed here. This parameter can also be used as the signal source of another module.
104.16
Input signal 1
This parameter shows the actual value of the input signal for Channel 1.
104.17
Input signal 2
This parameter shows the actual value of the input signal for Channel 2.
104.18
Actual average
This parameter shows the current number of average determinations that have been carried out.
104.19
Max. frequency
Display of the maximum frequency of the FFT analyzer. The maximum frequency is always one half of the sampling frequency.
104.20
Frequency resolution
Display of the current frequency resolution of the FFT analyzer. The frequency resolution
is dependent upon the sampling frequency and "FFT Length".
626
of 724
104.21
3
FFT data
The result of the analysis is shown here as an Array parameter. The data is assigned as
follows:
FFT Data[0]: Amplitude process in the dB
FFT Data[1]: Phase process in the degree
FFT Data[2]: Coherence
FFT Data[3]: Spectrum Signal_1, in the dB
FFT Data[4]: Spectrum Signal_2, in the dB
FFT Data[5]: Cross spectrum, real
FFT Data[6]: Cross spectrum, imaginary
104.22
Prbs register length
Length of the Prbs register.
104.23
Prbs register clock
Clock frequency of the Prbs register. Value corresponds to a whole multiple of the RT0
cycle.
627
of 724
3.10
Optimization
3.10 Optimization
3.10.1 Automatic controller and filter setting
An automatic system identification can be processed with the controller. After its determination an automatic controller and filter setting can be processed. In ProDrive the system
identification is processed in the window Optimization  Control Loop Analysis (see
ZFig. 171–). For this purpose the motor must be operated at a speed controller in speed
control, which was set low. The other possibility is to operate in current control with a low
current presetting. Noise is added to the additional current setpoint by "Start analysis".
The evaluation of the measuring values is processed via the FFT module. This evaluation
determines the response of the amplitude and the phase response. After that is checked,
if the controlled system is a two-mass vibrational system. At a controlled system without
resilience, the motor moment of inertia Jm, Ks, Kp and Tn of the speed controller is calculated, additionally. With a two-mass vibrational system, the load moment of inertia JL,
the rigidity c, the attenuation d and filter settings are proposed additionally. The controller
can be set set higher or weaker via the requirements for the phase margin and for the
amplitude margin.
Figure 171:
Optimization
The gain Kv of the position controller is proposed additionally, because of the bandwidth
of the speed controller.
628
of 724
3
3.10.2 Torque ripple compensation
Synchronous motors normally have ripple torques. This can cause speed variations in the
speed control, because the torques cannot be adjusted quickly enough. The controller
can compensate these ripple torques. A feedforward of an additional current torque is
generated, in which an additional current torque is generated in dependence of an electric
or mechanic angle.
Figure 172:
Torque ripple compensation
Before operation of the controller, an identification of the torque ripples can be made. The
required currents are measured here and then are preprocessed. Then the additional current set values are saved in the table.
Type
Min
Max
Default Value Unit
Factor
157.1
Mode optimization
UINT
0
0xFFFF
0
1:1
157.2
State Identification torque rip- UINT
ple compensation
0
0xFFFF
0
1:1
157.3
Table torque ripple current
FLOAT
-1000
1000
0
A
1:1
157.6
Actual torque ripple current
FLOAT
-1000
1000
0
A
1:1
Cyclic Write
Name
DS Support
Number
Storage
FbOptimization [157]
Read only
Functional block:
X
X
X
X
629
of 724
3.10
Optimization
157.1
Mode optimization
Bit no.
157.2
0
Initialization measuring of torque ripple compensation
1
Reset of the torque ripple curve
2
Reserved
3
Activation of the torque ripple compensation
4
Torque ripple compensation after
0: electric angle
1: mechanic angle
State Identification torque ripple compensation
Value
Meaning
0
Inactive
1
Initialization
2
Measurement
3 ... 8
9
157.3
Meaning
Preprocess measured values
End
Table torque ripple current
Table of the Torque ripple currents in dependence of the electric/mechanic angle.
157.6
Actual torque ripple current
The actual additional current set value for the torque ripple compensation.
630
of 724
3
3.11 Monitoring
3.11.1 Field angle monitoring
Field Angle Monitoring on Synchronous Machines
The controller determines the pole wheel direction of the rotor with the aid of the motor
model. This is then compared with the pole wheel direction which is calculated from the
encoder used for motor control. When the monitoring is enabled (i.e. the monitoring
threshold Z143.8– is not equal to 0), if there is an angle error greater than 45° (electrical),
Bit 8 of Parameter Z143.1– is set and the error message
211 Error While Monitoring the Field Angle
is initiated. The pulse enable is blocked as a result.
The cycle time of the monitoring part for error triggering is 1 ms.
Additionally, the field angle monitoring can be switched on and off by setting the field angle speed threshold (143.8) as a function of the speed set value. If the speed is less than
the field angle speed threshold (143.8), the monitoring remains disabled.
Field angle monitoring only functions for the encoder which is set for motor control.
Functional block:
FbMonitoring [143]
Min
Max
Default Value Unit
Factor
143.9
Field angle speed threshhold UINT
0
0xFFFF
10
1:1
Field angle counter
0
0xFFFF
0
UINT
%
Cyclic Write
143.8
Type
DS Support
Name
Storage
Number
Read only
For Parameter 47.55, see ZCurrent Controller– from page 417
X
1:1
143.8
Field angle speed threshold
Speed threshold from which field angle monitoring becomes active. Field angle monitoring is not carried out below the threshold.
Value 0 will completely switch off field angle monitoring.
631
of 724
3.11
143.9
Monitoring
Field angle counter
Shows the current status of the field angle error counter.
The field angle error is determined in the current controller cycle.
The message "Error While Monitoring the Field Angle" must recognize a field angle error
not less than in every other current controller cycle between two monitoring (1 ms) cycles.
632
of 724
3
3.11.2 Position Error monitoring
The position error is the difference between the position set value and the actual position.
It can be monitored statically or dynamically.
The dynamic position error limit will become effective as soon as a new position set value
is available for each sampling time of the position controller.
The static position error limit becomes effective when the position controller either does
not receive a new position set value or it continues to receive the same position set value
repeatedly.
Two separate limits (thresholds) are available for position error monitoring. The following
property settings may be entered for each limit:
m Size of the window (position error limit)
m Response time (position error time)
m Type of monitoring - static, dynamic or both (see Mode 1 Z143.2– and Mode 2
Z143.5–)
Two bits are assigned to each threshold in the Parameter Z143.1– Status. If the actual
position error exceeds one of the two thresholds, the bit "Position Error Limit Exceeded"
will be set in the Z143.1– Status. If the position error remains longer than the position
error time that was entered, another bit is set in the Status and the error
207 Position error limit 1 exceeded or 
208 Position error limit 2 exceeded
will be reported.
If the position error falls below the threshold setting, the status bit "Position error limit exceeded" will be deleted again.
The cycle of the position error monitoring is 1 ms.
Functional block:
FbMonitoring [143]
Name
Type
Min
Max
Default Value Unit
Factor
143.1
Status
WORD
0
0xFFFF
0
1:1
143.2
Mode 1
UINT
0
2
0
1:1
X
143.3
Position error limit 1
UDINT
0
1:1
X
143.4
Position error monitoring
Time 1
UINT
0
0xFFFF
0xFFFF
1:1
X
143.5
Mode 2
UINT
0
2
0
1:1
X
143.6
UDINT
0
1:1
X
143.7
Position error monitoring
time 2
UINT
0
0xFFFF
1:1
X
0xFFFF
ms
ms
Cyclic Write
Number
DS Support
Storage
Read only
For Parameter 47.55, see ZCurrent Controller– from page 417
X
633
of 724
3.11
Monitoring
143.1
Status
Status of position error monitoring.
Bit no.
Meaning
0
1: Position error limit 1 exceeded
1
1: Timeout while monitoring position error limit 1
2 ... 3
Reserved
4
1: Position error limit 2 exceeded
5
1: Timeout while monitoring position error limit 2
6…7
8
Reserved
Field angle error occurred
9 … 11 Reserved
12
1: Position error monitoring in progress
13
1: Field angle monitoring in progress
14 … 15 Reserved
Remarks:
m Bit12: Position error monitoring in progress.
If Bit 12 is set, position error monitoring is in progress. Position error monitoring only
works with activated position controller and only when it is permitted by the operating
mode. For example, The controller can optionally and temporarily deactivate position
error monitoring for reference runs to the mechanical stop.
m Bit 13 Field angle monitoring in progress:
Field angle monitoring only works with synchronous machines and when this is permitted by the operating mode. For example, it is activated in the speed control operating
mode and deactivated during notch position search.
143.2
Mode 1
Mode for position error monitoring regarding position error limit 1.
Position error monitoring is only active when a position controlled operating mode is active. If the controller is blocked, position error monitoring is deactivated.
634
of 724
Value
3
Meaning
0
Static and dynamic monitoring
1
Static monitoring
2
Dynamic monitoring
Static monitoring:
The static position error monitoring becomes effective when the position controller either
does not receive a new position set value or it continues to receive the same position set
value repeatedly.

Dynamic monitoring:
The dynamic position error monitoring will become effective as soon as a new position
set value is available for each sampling time of the position controller.

Static and dynamic monitoring:
Position error monitoring combines the two settings above and is thereby always active.
143.3
Limit 1 for position error monitoring.
If the current position error (control deviation) is greater than the position error limit 1 setting, this will be immediately displayed in Z143.1– Status with Bit 0 = 1.
In addition, the position error limits 1 and 2 determine the status message "Set value
reached" in the position controller status (Bit 12 in Z18.10–) and in the drive status (Bit 10
in the Z108.3– Status word 1, only in operating modes position control (Z109.2– = -4)
and synchronous operation (Z109.2– = -5)).
If the position error is within both position error limits (Z143.1– Status Bit both 0), then
the message "Set value reached" will be displayed immediately. If the position error is
even outside one of the position error limits and this position error limit is active at the
same time (static and/or dynamic) (Z143.1– Status Bit 0 or 4 are 1), "Set value reached"
will be deleted immediately.
Standardization: 16 Bit revolutions, 16 Bit angle. One motor revolution also corresponds
with 65536 increments.
143.4
Position error monitoring time 1
Time frame for monitoring the position error limit 1.
This time frame influences the status bit 1 and settling the error (Position error limit 1 exceeded". Contrary, Status Bit 0 reports an exceedance of the position error limit 1 immediately regardless of the position error time.
635
of 724
3.11
143.5
Monitoring
Mode 2
Position error monitoring mode regarding position error limit 2. For the meaning of the
bits, see Parameter Z143.2–.
143.6
Limit 2 for position error monitoring.
If the current position error (control deviation) is greater than the position error limit 2 setting, this will be immediately displayed in Z143.1– Status with Bit 4 = 1.
In addition, the position error limits 1 and 2 determine the status message "Set value
reached" in the position controller status (Bit 12 in Z18.10–) and in the drive status (Bit 10
in the Z108.3– Status word 1, only in operating modes position control (Z109.2– = -4)
and synchronous operation (Z109.2– = -5)).
If the position error is within both position error limits (Z143.1– Status Bit both 0), then
the message "Set value reached" will be displayed immediately. If the position error is
even outside one of the position error limits and this position error limit is active at the
same time (static and/or dynamic) (Z143.1– Status Bit 0 or 4 are 1), "Set value reached"
will be deleted immediately.
Standardization as Parameter Z143.3–.
143.7
Position error monitoring time 2
Time frame for monitoring the position error limit 2.
This time frame influences the status bit 5 and settling the error (Position error limit 2 exceeded". Contrary, Status Bit 4 reports an exceedance of the lag error limit immediately
regardless of the position error time.
636
of 724
3
3.11.3 Overload monitoring of the power unit
NOTE!
At nominal load devices (peak current = nominal current) the current is limited to nominal current. Additional monitoring and limitation is not required.
The thermal load factor (Ixt-actual value Z6.27– or the thermal load Z175.15–) is not
calculated at nominal load devices and there is neither current limit nor PWM reduction.
Overload monitoring protects the power unit against thermal monitoring. Thereby thermal
load is emulated and monitored by a model. There are two methods for this:
m Temperature model (enabled, if complete thermal data set is available in the device's characteristics (Z175.2– bit 3 = 1) and if the temperature model is selected
(Z175.1– bit 1 = 1, from V10.10 onwards)).
m Ixt model (is operated, if the temperature model is not enabled).
Parameter Status PU temperature model Z175.2– bit 0 displays, which method is enabled.
3.11.3.1 Ixt model
The thermal load of the complete device is emulated on the basis of apparent current and
peak current time.
Current controller
Iq actual value filtered
47.5
2
2
x+y
PT1
I actual
Limitation on
Warning 206
LT monitoring
activated
Current controller
Id actual value filtered
47.6
1
Ixt
offset
Power unit
nominal current
(6.26)
6.27
Display
It value [%]
Power actual
temperature actual value
unit
130.1
5000_1004_rev02_int.cdr
Figure 173:
Overload monitoring of the power unit (Ixt model)
Current controller Iq actual value filtered
47.5
Current controller Id actual value filtered
47.6
2
2
47.5 + 47.6
Apparent current actual value
(Iist) [Aeff]
LT nominal current 4 kHz / 8 kHz
(Inenn) [Aeff]
6.26
LT maximum current 4 kHz / 8 kHz
(Imax) [Aeff]
6.25
637
of 724
3.11
Monitoring
Maximum current for the drive
(Igrenz) [Aeff]
19.6
LT Overload time
(tu) [s]
129.22
LT Heat sink temperature actual value
(ist) [°C]
130.1
LT Ixt value
(Ixt) [%]
6.27
LT Overload factor max
(umax) [%]
LT Overload factor current
(u) [%]
LT Thermal time constant
(LT) [s]
LT Activation time
(taus) [s]
LT Ixt Offset
(Ixt Offset) [%]
I max
u max = -----------  100
I nenn
[%]
I ist
u = -----------  100
I nenn
[%]
tu
 LT = – ------------------------------------u max – 100
ln  --------------------------
u max
–
Time to limit to Inenn
[s]
for power unit temperature > 45 °C
o
Ixt Offset
 ist – 45 C
-  100
= -----------------------------o
o
85 C – 45 C
–
otherwise
IxtOffset = 0 %
–
Activation time
[%]
u
t aus =  LT  ln  -------------------------------------------
 u – 100 + Ixt Offset
638
of 724
3
Example:
Inenn = 10 Aeff
Imax = 15 Aeff
tu = 1 [s]
Igrenz = 12 Aeff
ist = 35 °C
u
max
15
= ------  100 = 150
10
12
u = ------  100 = 120
10

LT
1
= – ----------------------------------- = 0 91
150 – 100-

----------------------ln
 150 
120
t aus = 0 91  ln  ------------------------ = 1 63
 120 – 100
[%]
[%]
[s]
[s]
639
of 724
3.11
Monitoring
Figure 174:
Curve overload monitoring
This characteristic curve assumes a cold power unit (Ixt Offset = 0; 
ist < 45 °C)
640
of 724
3
3.11.3.2 Temperature model
The PU temperature model separately emulates and monitors the thermal load of the different device components on the basis of motor currents, the peak current time, the
mains- and DC link voltage as well as the thermal data of the semiconductors. The PU
temperature model is divided into two sub-models. The I2t-sub-model, which protects
conductors/capacitors and the power electronics sub-model, which protects the power
electronics.
no PWM reduction
Power electronic submodel
Main voltage, 130.8, 141.12
t >30s
=0
PWM reduction on
=1
Warning 216
Power unit
responded
PWM reduced
dc link voltage, 130.3
Mode
PU temperature model
175.1. bit 0
LimPwmRed
Heat Sink temperature,
Ist
130.1,
therm.
Therm.
model
semiconsemiductors
conductor
el
N
N
D
175.2 bit 5
t >30s
100
105%
D
Lim
Iu, Iv, Iw actual values
47.32, 47.33, 47.34
Current limited to
PU max. continuous current
actual value, 175.7, on
max(.,.)
175.15
OR
Warning 206
Power unit
responded maximal
torque current limited
Initialization
PU-I2t-Act [%]
LT-I2t-Ini
PT1
N
N
D
I2t
ThL-Act [%]
max
100
175.2 bit 4
95% 105%
D
I2t submodel
PU I2t max. continuous current actual value, 175.8
Figure 175:
5000_0298_rev02_int.cdr
Overload monitoring of the power unit (temperature model)
Phase current Iu, Iv, Iw
[A]
47.32, 47.33, 47.34
Voltage Udc
[V]
130.3
Mains voltage
[Veff]
130.8
PU heat sink temperature actual value
(ist) [°C]
130.1
PU power electronic temperature actual value (el) [°C]
PU thermal load
(ThL-Istwert) [%]
Output value of the I2t sub model
(LT-I2t-Istwert)
175.15
Temperature threshold as current limit
(lLim) [°C]
Temperature threshold as PWM reduction
(Lim) [°C]
PU time constant I2t model
(LT-I2t) [s]
PU max. continuous current actual value
[Aeff]
175.7
[Aeff]
175.8
[%]
Correction factors and current derating
The maximum continuous current of the I2t-sub-model Z175.8– and also the maximum
continuous current of the device Z175.7– is emulated for the safety function "Current limit" of the temperature model (as displayed in ZFig. 176–).
641
of 724
3.11
Monitoring
Max. device
control cabine temperature,
175.3
Max. device
altitude,
175.4
1
1
T
Output frequency
filtered,
47.49
1
H
Max. device
mains voltage, 175.5
dc link volrage, 175.6
1
fs
U
PWM
frequency,
130.15
Power unit
nominal current,
6.26
PU max. continuous current actual value, 175.7
Power unit
Nominal current
2 kHz,
129.12
PU I2t max. continuous current actual value, 175.8
5000_0299_rev01_int.cdr
Figure 176:
Current derating at changed operating conditions
For the following operating conditions correction factors are used during the current derating at changed operating conditions:
m Control cabinet temperature of device (ambient temperature or surface temperature): Required temperature can be entered in Z175.3–.
m Installation altitude: Required installation altitude can be entered in Z175.4–.
m Voltage supply (mains voltage/DC link voltage): Required mains voltage or DC link
voltage can be entered in Z175.5– or Z175.6–.
m Current derating dependent of the output frequency Z47.49–.
This is described in the chapter "Correction factors at changed operating conditions" and
"Electrical data" in the operating manual.
Initialization I2t sub-model
The I2t-sub-model is set or initialized to the following value, if the heatsink temperature
exceeds 45 °C during the operating enable.
100°C    act – 45°C 
----------------------------------------------------40°C
Protective function current limit
I2t-sub-model:
This model was implemented for components of the device, whose thermal load isn't dependent of the switching frequency. The input value is standardized using the actual value of the PU-I2t max. continuous current Z175.8–.
642
of 724
3
If the output value of the I2t-sub-model (PU-I2t-actual value) reaches 105% of Z175.8–
the warning 206 is set and the apparent current is limited to the maximum PU continuous
current Z175.7–.
If the PU-I2t actual value reaches 95%, the current limit is canceled on the part of the I2tsub-model.
If a current limit is additionally activated by the power electronics sub-model, the warning
206 remains. The warning and the limit is disabled not before the current limit is canceled
from both sub-models.
Power electronics sub-model:
The temperature of power electronics is emulated and is standardized using the temperature threshold Sem pu (temperature actual value = Sem pu corresponds to 105% load),
which was defined in the characteristics of the device. Thus, the load value is compatible
to the I2t-sub-model.
If the value reaches 105%, warning 206 is set and the apparent current is limited to the
maximum PU continuous current Z175.7–.
The power electronics sub-model cancels the current limit after Sem pu falls below the
value 105% within 30 s. The 30 s time slice is an empirical value, which is great enough
so that all devices can recover thermally.
However, the current limit still can be activated by I2t-sub-model.
NOTE!
m As long as the safety function current limit is active and the output frequency is
Z47.49– < 15 Hz (current derating dependent of output frequency is active), the
apparent current is limited to the lowest existing value of the maximum PU continuous current Z175.7–. This means, that during this time the current limit can be
lower, if the output frequency drops. However, the current limit cannot become
greater, if the output frequency increases.
m At the protective function current limit the "Max. drive current available" Z19.5– is
reduced, whereat the settable limit of the apparent current "Max. drive current"
Z19.6– isn't changed. The reduction of the apparent current takes place via the
current torque, i. e. via the "Max. available torque current" Z19.8–.
Protective function PWM reduction
In order to avoid current limiting, the switching frequency can be automatically reduced
(i.e. PWM frequency Z130.15– is halved). Thereby, the switching losses in the IGBTs are
reduced.
If the temperature of the power electronics exceeds the temperature threshold
Sem LimRed , the PWM frequency is halved and warning 216 is triggered. The temperature threshold Sem LimRed is lower than the threshold Sem pu , which triggers the current limit.
The PWM reduction doesn't change the value of the PWM frequency Z130.15–, which
was set.
643
of 724
3.11
Monitoring
The instantaneous (operating) PWM frequency is displayed in parameter Z130.41–. At
the same time the corresponding instantaneous (operating) cycle time of current controller is displayed in parameter Z47.65–.
In some circumstances the switching frequency reduction isn't enough, to avoid a current
limit.
If PWM reduction was activated, the device returns to the PWM frequency Z130.15–,
which was set.
m not until after 30 s the calculated temperature is below the threshold Sem LimRed
and,
m if there is no current limit existent.
The 30 s time slice is an empirical value, which is great enough so that all devices can
recover thermally.
In general, the PWM reduction is not active. It may be enabled in Bit 0 of the PU temperature model mode Z175.1–. It can be enabled in the inhibited drive status, only.
PWM-reduction is subject to the same limitations as at switchover to the set PWM-frequency during the continuous operation (see Z130.15–). They are available for the operating modes speed control and current control - they aren't available for SM sensorless.
The failures in the controller were minimized during the implementation of the PWM
changes in the continuous operation. However, they cannot be excluded. Therefore, this
option is applicable to simple (not critical) applications, where the drive tolerates possible
failures.
If the PWM frequency Z130.15– is set to 2 kHz or if the precondition "Current cycle <
RT0" wasn't considered during the reduction, PWM reduction cannot be processed.
NOTE!
m The user must assure that the drive with the reduced switching frequency can operate correctly (e. g. check rated motor data, control quality at the reduced current
controller-bandwidth etc.) before the PWM reduction is enabled. (Bit 0 of the PU
temperature model Z175.1– must be set). Furthermore, the drive components
must be checked, if they tolerate the reduced switching frequency (e.g. check motor filter if existing). This is particularly important, if PWM frequency was reduced
to 2 kHz.
m At the PWM reduction must be considered that the adjusting range of the output
frequency is reduced. The adjusting range is reduced from 450 Hz to 225 Hz if a
switchover from 4 kHz to 2 kHz is made (see chapter "Technical Data" in the instruction handbook of the device).
644
of 724
3
645
of 724
3.11
Monitoring
646
of 724
ERROR MESSAGES AND TROUBLE-
4
SHOOTING
4.1
Behavior in case of errors
Basic information
DANGER!
When this electrical unit is operated, certain parts of the unit are of necessity at a hazardous voltage.
Therefore:
m Pay heed to areas on the device that could be dangerous.
WARNING!
Risk of injury due to improper troubleshooting!
Therefore:
m Only qualified personnel may work on this unit!
m Personnel that work with the b maXX device must be trained in the safety regulations and the handling of the device, and be familiar with the correct operation of
it. In particular, reacting to error indications and conditions requires that the operator must have special knowledge.
647
of 724
4.2
X
-
-
IS
Mains failure
X
X
X
-
IS 1)
Overcurrent
Overcurrent motor
-
X
-
-
IS
DC link
DC link overvoltage
-
X
-
-
IS
DC link relative undervoltage
X
-
-
-
-
Overload monitoring
Peak current not possible at this
time
X
-
-
-
-
Temperature > threshold 1
X
-
X
-
-
Temperature > switch-off threshold
-
X
-
-
IS
Temperature of device inte- Temperature > threshold 1
rior
Temperature > switch-off threshold
X
-
X
-
-
-
X
-
-
IS
-
X
-
-
IS
Threshold 1 exceeded 2)
X
-
X
-
-
2)
X
-
X
-
-
Encoder short circuit and/or temperature < -30°C 2)
-
X
-
-
-
Encoder not connected and/or temperature > 250°C 2)
-
X
-
-
-
Maximum temperature exceeded 2)
-
X
X
-
IS
Dynamic position error
-
X
X
-
SH
Static position error
-
X
X
-
SH
Controller not synchronous with
external signal
X
X
X
X
3)
Motor temperature
2
I t threshold exceeded
Threshold 2 exceeded
Position controller
Controller synchronization
1)
Pulse inhibit carried out after a specifiable interval
2)
Only if KTY encoder used
3)
Adjustable
4)
Not provided for power modules
648
of 724
Reaction
X
Phase monitoring 4)
Warning/error
Error
Phase failure
Monitoring function
Warning
Adjustable reaction
Monitoring functions
Adjustable threshold
4.2
IS: pulse inhibit
SH Quick stop
X: Implemented
-: Not possible
-
-
IS
Cable break (SIN + COS )
-
X
-
-
IS
Excessive speed
-
X
X
-
IS
Error during module initialization
-
X
X
-
IS
Cyclical set value transmis- Time-out during transmission
sion
-
X
X
X
5)
Safety technology
Switch off by Safety technology
(Safe Torque Off)
-
X
-
-
IS
Safety technology
Warning switch off by Safety technology (Safe Torque Off)
X
-
-
-
-
Blockage monitoring
Drive blocked
-
X
X
-
IS
Cable break
2
Ramp-up option module
1)
Pulse inhibit carried out after a specifiable interval
2)
Only if KTY encoder used
3)
Adjustable
4)
Not provided for power modules
2
4
Reaction
Adjustable reaction
X
Encoder 1
Warning/error
Error
-
Monitoring function
Warning
Adjustable threshold
Error messages and troubleshooting
IS: pulse inhibit
SH Quick stop
X: Implemented
-: Not possible
649
of 724
4.2
4.2.1
Monitoring function - explanations
Phase monitoring - not for axis units
This monitoring function checks the mains voltage of the three outer conductors. If one
outer conductor is missing, then the warning "Phase failure" is reported after a period of
> 4 s.
If all three outer conductors are missing, then the warning "Mains failure" is reported to
the controller after a period of > 4 s. After the preset time lag has been reached (based
on a mains failure monitoring parameter), the controller generates the error message
"Mains failure".
NOTE!
If no electrical filter is used during operation, mains and phase failures are detected
within 100 ms. If the device is operated with an electrical filter, the mains and phase
failures are detected after a max. of 5 s. Depending on the load condition, the failure
can also be detected much earlier, however.
Overcurrent
This monitoring function checks whether the motor current is larger than the 1.3 times the
peak output current. This aids "disaster prevention" in case of a short circuit on the output
side.
DC link
This monitoring function checks the voltage in the DC link. If the voltage drops below an
internally set value (approx. 50 V under the specified value), the controller reports "DC
link undervoltage" and a warning is signaled. If the voltage rises above an internally set
value (approx. 820 V), the controller reports the error "DC link overvoltage" and a pulse
inhibit takes place immediately.
Overload monitor- This monitoring function checks the present load as to whether the power unit can output
the peak current at this time. If the peak current is not possible, then the message "PU
ing
monitoring approached; max. torque current was limited" (warning 206) is reported.
Temperature of
device interior
This monitoring function checks the temperature in the interior of the device.
m If the temperature is higher than the warning threshold, then the controller signals a
warning.
m If the temperature is too high, then a pulse inhibit takes place immediately.
This monitoring function checks the temperature of the heat sink.
m If the temperature is higher than the warning threshold, then the controller signals a
warning.
m If the temperature is too high, then a pulse inhibit takes place immediately.
Motor temperature This monitoring function checks the temperature of motor. If the I2t-threshold is exceeded,
then the error message "I2t overload" is reported by the controller.
Only for
KTY84 encoder
If the set temperature threshold 1 is exceeded, then the warning "Temperature threshold
1 exceeded" is signaled by the controller.
If the set temperature threshold 2 is exceeded, then the warning "Temperature threshold
2 exceeded" is signaled by the controller.
The KTY84 encoder has a minimum measured value of approx. -30 °C. If this temperature is gone under, or if a short circuit occurs at the encoder, then the error message
"Temperature probe short circuit" is reported.
650
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4
The KTY84 encoder has a minimum measured value of approx. +250 °C. If this temperature is exceeded, or if the encoder is not connected, then the error message "Temperature
probe not connected" is reported by the controller.
For all 
encoders
If the threshold set (type-specific) in the temperature switch or in the MSKL encoder is
exceeded, then the error message "Overheating" is reported by the controller and a pulse
inhibit takes place immediately.
Position controller This monitoring function checks the position error limit statically/dynamically. If the current position error is statically/dynamically larger than the set position error limit, then the
error message "Static position error" or, respectively, "Dynamic position error" is reported.
After the monitoring period (position error period) has ended, an additional error message
is reported and a pulse inhibit takes place immediately.
Safety technology This monitoring function checks whether the safety function Safe Torque Off (STO) is activated. If the drive is enabled at the moment of triggering the safety function, an error
message is generated. If the drive is not enabled, a warning is displayed.
Blockage monitor- This monitoring function checks the motor speed and the motor current. 
ing
If the "Blockage monitoring interval" time frame meets the following two conditions, then
the error message/warning "Drive blocked" is signaled by the controller and a pulse inhibit
takes place immediately.
m Motor speed = 0
m The motor current output by the device is the same as the set motor limiting current
(current limit).
651
of 724
4.3
4.3
Error detection
Error detection
The illumination of the red LEDs H14 (axis 1) and H24 (axis 2) on the front of the housing
signals the occurrence of a error status.
A max. of 3 LEDs
are illuminated.
Essentially, the lowest red LEDs H14 and H24 "Error" are of significance here.
NOTE!
In case of warnings or errors without error reactions, the LEDs H14 or H24 blink "Error". Only error messages with error reaction will be signalized by constant lighting
up.
4.4
Error handling
Error messages, which can also be considered error lists, are the basis of the error handling.
NOTE!
The device is shipped with predefined error reactions. With regard to the error messages identified with "depending on the setting" in the "Reaction" column, the device's error reaction can be adjusted. Errors that, due to safety reasons, have an
immediate pulse inhibit as a consequence, may not be changed.
4.4.1
Error reset
If the red error LED is illuminated, at least one error is present.
Error reset cause all error messages to be reset. Individual resetting of errors is not possible. A reset causes deletion of the errors, if deletion was possible on account of the error
circumstances.
There are two methods of resetting an error:
m By means of write access to the control word
m Via a digital input
For further information on the subject of error reset, see "Instruction Manual b maXX
3000“.
652
of 724
4.5
4
Error descriptions
Error Brief error text
number
Error description
Default setting for
Error
Response
100
No Heap memory available
No Heap memory available
No response
101
Stack monitoring: stack consumption
has reached error threshold.
The stack consumption has reached error threshold. A safe opera- Pulse block
tion is no longer possible. The additional info 1 of the error message
shows the task number in which the stack consumption is too large.
102
Error during indirect function access
Error during indirect function access
Pulse block
114
Error division by zero
Division by zero occurred in a floating point division.
No response
115
Invalid value for floating point operation An invalid floating point value (e.g. NaN: not a number) was
detected in a floating point operation.
116
Timeout of I2C Bus Read/Write
Eeprom
118
Error while reading or writing the hard- An error has occurred while reading or writing the hardware board
data.
ware board data
Pulse block
119
Drive no longer synchronous with field- The error is enabled, if the synchronization signal of the fieldbus is
more than once out of the synchronous window after a successful
bus
synchronization.
Pulse block
121
Measured fieldbus cycle too large
The error is enabled if the measured fieldbus cycle exceeds the set Pulse block
cycle by more than the configured tolerance, which was set.
122
Measured fieldbus cycle too small
The error is enabled if the measured fieldbus cycle falls below the
set cycle by more than the configured tolerance, which was set.
Pulse block
123
Fieldbus jitter larger than the tolerance The error is enabled, if the measured fieldbus cycle falls below the
set cycle by more than the configured tolerance, which was set.
Pulse block
124
Synchronization error between DSP
and PWM
Internal synchronization error between the DSP interrupt system
and the PWM.
Pulse block
126
RT Fieldbus run time error
The error is triggered when a error occurs in the chronological order Pulse block
of data transfer in the participating modules of the fieldbus system. It
is thereby assumed that set values are received in intervals via fieldbus and transmitted to the DSP while the DSP returns DSP actual
values to the fieldbus. When run times develop during the value
transfer that are too high, a error will be indicated. A more detailed
analysis can then be carried out through the diagnostic parameters
that are provided.
127
Timeout Fieldbus interrupt
The error is triggered when more than 3 fieldbus interrupts have
failed. The synchronization will be initiated again.
Pulse block
128
Unknown identification System FPGA
Identification of system FPGA is unknown in the DSP
Pulse block
129
System FPGA version does not fit to
DSP software
System FPGA version does not fit to DSP software
Pulse block
130
The fallback version was booted by
Bootloader 1
The fallback version was booted by Bootloader 1
Pulse block
131
The communication firmware has
booted the fallback version
The communication firmware has booted the fallback version
Pulse block
132
The firmware has booted the fallback
version
The firmware has booted the fallback version
Pulse block
133
The FPGA has booted the fallback ver- The FPGA has booted the fallback version
sion
No response
A timeout error occurred in the I2C Bus. The serial I2C EEPROM is No response
connected to the DSP via the I2C Bus.
m Effect: 
The Board ID and production data are stored in the I2C EEPROM.
The error may lead to an incorrect board configuration.
Pulse block
653
of 724
4.5
Error descriptions
number
Error description
Default setting for
Error
Response
135
Error while programming to flash
Error while programming to flash
No response
137
Time dial computation time overrun
It is being monitored whether the time dials exceed the run time of Pulse block
MAX_ZS_TIME_LIMIT_IN_TICK = 60 µs too frequently.

Monitoring in remaining time, threshold: per second = 1000*16 ZS, 

10% of that: 1600 overruns per second
138
Cycle2 duration too long
Cycle2 duration more than 1% too long in relation to one second.
The CPU is overloaded, computation too great.
139
Drive not synchronous with RT fieldbus This warning message is issued when the synchronization of the
No response
(Warning)
drive with the fieldbus is activated (Parameter Z156.1–), but it has
not yet occurred (Parameter Z156.2–). The message occurs regardless of the fieldbus status (operational / not operational) and will be
deleted when the drive is synchronous.
Pulse block
Required for better error diagnosis because the drive cannot be
released when synchronicity is required but has not been achieved.
140
General firmware error, e.g. switch
General firmware error, e.g. switch
Pulse block
141
Operating system error
Error in context with the operating system
Pulse block
142
Method not implemented
Method not implemented
Pulse block
144
invalid file type
invalid file type
No response
145
File already open
File already open
No response
146
Maximum size of file reached (writing
reading)
Maximum size of file reached (writing reading)
No response
147
File not opened
File not opened
No response
148
File not opened for this access (Read
Write access)
File not opened for this access (Read Write access)
No response
149
Indicated ID wrong
Indicated ID wrong
No response
150
Indicated index does not exist (too
large)
Indicated index does not exist (too large)
No response
151
Parameter element cannot be written
Parameter element cannot be written
No response
152
External access not permitted
External access not permitted
No response
153
Value less minimum value
Value less minimum value
No response
154
Value greater maximum value
Value greater maximum value
No response
155
Value errory
Value errory
No response
156
Value cannot be changed due to the
operating condition
Value cannot be changed due to the operating condition
No response
157
wrong axis index
wrong axis index
No response
158
Format information wrong
Format information wrong
No response
159
Error while reading system data
Error while reading system data from flash
No response
168
No write permission for the actual
access level
Parameter cannot be changed due to the access protection. No
write permission for the actual access level.
No response
169
Application error to test the error
responses
Application error to test the error reactions. The error is enabled by No response
value 5 on parameter 100.1 Info-Manager Error command for one
single time. The error can be used to test the different error reactions
without having to enable a „real“ error, e.g. return.
654
of 724
number
170
Error description
4
Default setting for
Error
Response
Firmware for communication processor Firmware for communication processor could not be downloaded
could not be downloaded
The error is messaged, if the firmware could not be downloaded to
the communication processor at the boot sequence.
Pulse block
Either both firmware files (actual and fallback) of the communication
firmware are faulty or nonexistent (error info1 = 0) or an error has
occurred at the file download to the communication processor (error
info1 = 1).
172
Lead drive error
Error within communication between two drives. The coupled drive No response
reported an error. The receiver drive reports error 172, if a new error
reaction is invoked and the error reaction is none of "no reaction" nor
"no error, no reaction". Then the drive reacts with the received error
reaction. The entry in the error reaction table is not used, since the
received error reaction will be used.
173
PLC Translation error
Error when translating the PLC project
No response
174
PLC runtime error
PLC runtime error
No response
175
Application error 1
Freely definable application error 1
No response
176
Application error 2
No response
177
Application error 3
No response
178
Application error 4
No response
179
Application error 5
No response
201
Exceeded limit pos. speed control devi- Speed deviation > Maximum positive speed difference (parameter
ation
Z6.7–)
No response
202
Exceeded limit neg. speed control devi- Speed deviation < Maximum negative speed difference (parameter
ation
Z6.8–)
No response
203
Positive overspeed limit exceeded
x2 speed actual value > Positive overspeed limit (parameter Z6.5–) Pulse block
204
Negative overspeed limit exceeded
x2 speed actual value < Neg. overspeed limit (parameter Z6.6–)
Pulse block
205
Motor i2t overload
The current i2t value (Z6.28–) has exceeded the limit value for the
i2t model (Z6.29–).
Pulse block
206
LT monitoring approached; max. torque I*t monitoring of power unit is operating; the maximum available
current was limited
torque current is limited.
Details see ZOverload monitoring of the power unit– ab Seite 638.
No response
207
Exceeded position error limit 1
Error occurs when position error limit 1 is exceeded.
Pulse block
208
Exceeded position error limit 2
The error occurs when position error limit 2 is exceeded
Pulse block
209
Blockage monitoring: Blocking time 1
exceeded
The drive is blocked longer than the set Blockade Time Limit 1
No response
(Parameter 6.21).
The warning will be deleted automatically if the condition for blocking
is no longer met.
210
Blockage monitoring: Blocking time 2
exceeded
The drive is blocked longer than the set Blockade Time Limit 2
(Parameter 6.22).
211
Error While Monitoring the Field Angle Error while monitoring the field angle is greater than 45°
Pulse block
Pulse block
655
of 724
4.5
Error descriptions
number
Error description
212
Parameterization allows exceeding of
the maximum speed of the motor
The set value for the Z107.26– max. speed mech. can be exceeded No response
because of the existing parameter settings. If Z107.26– = 0 rpm the
check of the parameter does not proceed.
m Cause:
a) Parameter Z107.26– max. speed mech. is set wrong.
b) The ramp function generator is used in operating modes -3 and
2. There Z110.13– Standardization Output Value is used for standardization. If Z110.13– is greater than Z107.26– the error is set
at drive enabling. If the error is ignored the speed set value
already can exceed the maximum speed mechanical. 
c) The Overspeed Limits in parameter Z6.5– and Z6.6– are set
too large. The check of the actual speed protects the motor insufficiently.
n Remedy:
a) Enter a valid value in Z107.26–.
b) Adjust the standardization for the ramp function generator
(Z110.13–  Z107.26–)
c) Adjust the Overspeed Limits (|Limit| Z107.26–)
213
Dual-use: electrical frequency too high The output frequency is limited to 600 Hz corresponding to the
Pulse block
export restrictions. A dual-use device is necessary if higher frequencies are required.
400
Amplitude of the encoder signal too
small
Encoder monitoring has detected an amplitude that is too small at Pulse block
Sin2+cos2 monitoring. Either the encoder has a problem or the monitoring threshold is set too great.
401
Amplitude of the encoder signal too
great
Encoder monitoring has detected an amplitude that is too great at
Sin2+cos2.
Pulse block
402
Error while initializing the position
through Sin/Cos signals.
Error while initializing the position (the analogous signals do not
agree with the position which was digital read out).
Pulse block
403
Encoder monitoring: Overspeed due to Sector error occurred while the encoder evaluation, which means
sector error
the calculated speed is too great
Pulse block
404
Signal monitoring at square-wave
incremental encoder
The signal monitoring of a square-wave incremental encoder has
recognized an error.
Pulse block
405
CRC error in received data
CRC error in received data from EnDat® 2.1 or SSI
Pulse block
®
Default setting for
Error
Response
®
406
Lighting failure EnDat interface
The error is triggered by module EnDat interface when the absolute Pulse block
encoder reports a lighting failure via the EnDat® interface. Without
lighting, the optical sampling system of the encoder no longer works
and no valid position information can be calculated anymore.
m Cause: 
Cause for a lighting failure in the encoder may be contamination,
aging, or excess temperature.
n Remedy:
Replace encoder.
407
Signal amplitude too small EnDat®
interface
The error is triggered by the module EnDat® interface when the
Pulse block
absolute encoder reports via the EnDat® interface that the amplitude
of the Sine/Cosine signals is too small. Sine/Cosine signals that are
too small can lead to a position loss.
m Cause: 
Cause for sine/cosine signals that are too small may be contamination, aging, or excess temperature.
n Remedy:
Replace encoder.
656
of 724
number
Error description
4
Default setting for
Error
Response
408
Position error EnDat® interface
The error is triggered by the module EnDat® interface when an error Pulse block
occurred during the calculation of the absolute position in the absolute encoder. An incorrect absolute position can lead to miscommutation for synchronous motors.
m Cause: 
Cause for an incorrect position calculation may be contamination,
aging, or excess temperature.
n Remedy:
Replace encoder.
409
Overvoltage EnDat® interface
Pulse block
absolute absolute encoder reports via the EnDat® interface that the
supply voltage applied to the encoder is too high.
m Cause: 
Cause for supply voltage applied to the encoder may be a defective Sense line (Pin12 on X24/X25, Sub-D15). In this case, the
supply voltage may be switched to 8 V (Stegmann encoder).
n Remedy: 
Check encoder cable
m Cause: 
Cause can also be a defect in the encoder hardware.
n Remedy:
Replace encoder.
410
Undervoltage EnDat® interface
absolute encoder reports via the EnDat® interface that the supply
voltage is too low.
m Cause: 
Cause for a encoder supply voltage that is too low may be corroded contacts
n Remedy: 
Check encoder cable
m Cause: 
Cause can also be a defect in the encoder hardware.
n Remedy:
Replace encoder.
411
Overcurrent EnDat® interface
Pulse block
absolute encoder reports via the EnDat® interface that the encoder
supply current is too high.
Pulse block
m Cause: 
Cause for a encoder supply current that is too high may be an
internal short circuit.
n Remedy:
Replace encoder.
412
Battery error EnDat® interface
The error is triggered by the module EnDat® interface when the Mul- Pulse block
titurn absolute encoder reports via the EnDat® interface that the supply battery must be replaced. The battery voltage provides position
information for the Multiturn encoder in the memory when the controller is switched off and no supply voltage is provided for the
encoder.
m Cause: 
Cause for a battery replacement in the Multiturn encoder may be
a modification of the battery.
n Remedy:
Replace encoder.
413
Alarm Bit set
EnDat® interface has set alarm Bit (collective message).
Pulse block
657
of 724
4.5
Error descriptions
number
Error description
Default setting for
Error
Response
414
Error during reception: Address mirror- Error during reception: Address mirroring returns an error
ing returns an error
Pulse block
415
Variance of encoder signals exceeds
adjustable limit
Pulse block
416
Touch probe: trigger zero pulse without The touch probe measurement is configured to trigger by a zero
incremental encoder
pulse, but the used encoder does not provide a zero pulse.
The variance of encoder signals exceeds adjustable limit
No response
m Effect:
Value is not accepted
Response parameterizable
n Acknowledgment:
No particular action
417
Warning Collision of frequency
EnDat® encoder has messaged warning collision of frequency, see No response
Z137.38–; preventative maintenance is recommended.
418
Warning Excess temperature
EnDat® encoder has messaged warning excess temperature; see
Z137.38– and error number 407; preventative maintenance is recommended.
419
Warning Lighting controller reserve
reached
EnDat® encoder has messaged warning „Lighting controller reserve No response
reached“; see Z137.38– and error number 406; preventative maintenance is recommended in order to avoid lighting failure.
420
Warning Battery load to small
EnDat® encoder has messaged warning „Battery load to small“; see No response
Z137.38– and error number 412; preventative battery change is recommended.
421
Warning Reference point
EnDat® encoder has messaged warning Reference point; see
Z137.38–; preventative maintenance is recommended.
No response
422
Parity errors in received data
Parity errors in the received data of SSI
Pulse block
423
Received data invalid
Received data of SSI encoder are invalid.
Pulse block
428
Encoder monitoring: difference
Hiperface encoders: The absolute position is read via the serial hip- Pulse block
between analog and digital position too erface interface and compared to the analog position calulated from
high
the analog SinCos signals by the FPGA. If the position errors absolute value (Z14.22–) is higher than the defined error threshold
(Z14.21–) this error is set.
500
New set value not transferred to the
controller soon enough
No response
The new set value was not transferred to the controller (position or No response
speed controller) through the set value manager for a minimum of
three times soon enough. Extrapolation is carried out up to the come
in of the next set value.
m Cause:
A possible cause could be too much consumed time for computation of activated functions.
n Remedy: 
Check if unused functions were accidentally activated. Example:
Analogous outputs or RT oscilloscope are activated prior to initial
operation.
501
Current Controller Cycle Time > RT0Cycle time
The time slice RT0 includes the speed and position controller, the
Pulse block
encoder evaluation and the motor control. The current controller
cycle time is defined by the setting of the PWM frequency (parameter 130.15).
n Remedy: 
The error can be reset as soon as the PWM frequency (parameter
130.15) of the reporting axis or the RT0-Cycle time (parameter
1.8) will be adjusted to a valid combination
658
of 724
number
Error description
4
Default setting for
Error
Response
503
Torque coupling improper drive operat- Operating mode must be Speed control (-3) or Speed setting 1 (2).
ing mode
In the other operating modes the error will be initiated, if it will be
tried to activate the torque coupling
Pulse block
504
Torque coupling configuration error
Configuration error:
m Device internal cross communication at Mono unit / single axis
unit impossible
Pulse block
505
Fieldbus cycle time < RT0-Cycle time
The cycle time of the fieldbus task (Z1.10–) is set via the fieldbus
cycle time (Z131.18–). The RT0-Cycle time is set in Z1.8–.
Pulse block
n Remedy: 
The error can be reset as soon as the fieldbus cycle time is
greater or equal to the RT0-Cycle time.
600
Terminal position search Inject. Plausib. Step 1
In step 1 the injection procedure runs successively twice or the pole Pulse block
position is determined twice. If both results show a major difference
(or about 30°), this bit is set.
m Cause:
Carrier current Id too low or amplification factor of the tracking
controller is too little
601
Terminal position search Inject. Plausib. Step 2
In step 2 the carrier current is too low, in order to create the required Pulse block
saturation so that the content of the 2nd harmonic I2 (displayed in
parameter Z133.9– 2nd Harmonic Rate) does not reach the level
which is indicated in parameter Z133.10– 2nd Harmonic Min.Rate.
602
Overcurrent with notch position search Overcurrent with notch position search Method 2 (using injection)
Method 2
702
Rotor position at synchronous machine The rotor position of the synchronous drive is unknown. Either the Pulse block
is unknown
rotor position offset or the absolute position could not be read from
the encoder or the synchronous drive is used with a incremental
encoder and a rotor position identification has not been executed
yet. 
The error is also set if the encoder is switched off but the motor configuration needs an encoder. 
Reset of the error is possible. The error is set again if the cause of
the error has not been corrected.
Pulse block
m Cause: 
For some encoders, the absolute position can partially no longer
be read out due to contamination of the code dial.
n Remedy: 
Replace encoder.
m Cause: 
Encoder cable defective
n Remedy: 
Checking of encoder cable, and replacements if applicable
m Cause: 
Encoder defective.
n Remedy: 
Replace encoder and carry out new notch angle run!
703
Error writing rotor position offset to
encoder
An error occurred while writing the rotor position offset into the
encoder (e.g. timeout, datafield not writable, encoder processes
other commands).
Pulse block
704
For synchronous machine: encoder
transmission not permitted
No encoder transmission was supported for synchronous machine. Pulse block
A transmission factor not equal to 1:1 was read from the motor type
plate.
659
of 724
4.5
Error descriptions
number
Error description
705
The motor temperature that is measured via the KTY encoder is
No response
monitored for asynchronous motors due to slip characteristic curves
If the temperature is lower than -50°C or higher than 200°C, the temperature values are assumed to be invalid and the error will be triggered.
Motor temperature for characteristic
curve of ASM slip invalid, lower than 50°C or higher than 200°C
Default setting for
Error
Response
m Cause: 
The KTY motor temperature encoder was incorrectly connected
or not at all connected.
n Remedy through:
n Check connections and cable of KTY motor temperature
encoder.
n Monitoring may be deactivated for intended operation without
temperature encoder.
m Cause: 
KTY motor temperature encoder defective.
n Remedy through:
n A defective KTY motor temperature encoder generally requires
motor replacement.
m Cause: 
Evaluation switch of the KTY motor temperature encoder in the
drive controller is defective.
n Remedy through:
n Drive controller replacement.
709
Motor excess temperature
The measured temperature is higher than permitted
Pulse block
710
Motor Temperature Threshold1
exceeded
Motor Temperature Threshold1 exceeded
No response
711
Motor Temperature Threshold 2
exceeded
Motor Temperature Threshold 2 exceeded
No response
712
Short circuit on temperature encoder
Short circuit on temperature encoder
Pulse block
713
Temperature encoder is not connected Temperature encoder is not connected
Pulse block
714
Motor excess temperature PTC resistor Motor excess temperature PTC resistor encoder addressed
Pulse block
716
Notch position not found
An error occurred while identifying the rotor position of the synchro- Pulse block
nous machine. The rotor position has not been identified.
717
Excess voltage occurred during resistance measurement
Error during identification of motor parameters. The maximum permitted phase voltage (= 80 V) was exceeded during the resistance
measurement.
m Possible cause: 
Incorrect motor nominal current setting in Parameter 107.09.
718
Voltage limit accessed during resistance measurement
Error during identification of motor parameters. The voltage limit was Pulse block
reached during the resistance measurement.
m Possible causes: 
Incorrect motor nominal current setting in Parameter 107.09. 
- Voltage insufficient.
660
of 724
Pulse block
4
number
Error description
Default setting for
Error
Response
719
Error during identification of motor parameters. The maximum permitted phase voltage (= 80 V) was exceeded during the resistance
measurement.
m Possible cause: 
Incorrect motor nominal current setting in Parameter 107.09.
n Effect: 
Output voltage set to ZERO to protect the motor. An additional
drive block occurs with standard error response.
No response
Timeout during resistance measurement
Resetting after error elimination: 
Error reset is possible. Timeout (45 seconds) with R measurement
with motor parameter identification, such as due to error during current / voltage measurement or normalization or limit value.
720
An encoder is not activated
An encoder is required for this operating mode
Pulse block
800
Special function already used for
another digital input
Special function such as hardware limit switch 1 was already used
for another digital input
No response
900
Reference run required and not carried Reference run required and not yet carried out
No response
out

The start of the active operating mode requires a one-time reference
run (homing) after activating the controller.

Currently, only the operating mode Position Target Specification (BA
= 1) requires homing. This requirement can be activated in the mode
for the position target specification.
901
Problem during homing
902
Monitoring the block for positive direc- Monitoring the block for positive direction: 
tion

Monitoring has detected a positioning attempt in positive direction
No response
903
Monitoring the block for negative direc- Monitoring the block for negative direction: 
tion

Block for negative direction has detected a positioning attempt in
negative direction.
No response
904
Positioning time monitoring reports
Timeout
A homing error has occurred. Possible error causes:
No response
m An invalid homing mode was selected.
m Homing isn't possible because of limit switch and reference switch
status.
m A maximum distance was set for the zero pulse search and the
zero pulse was not detected within the specified distance.
Positioning time monitoring reports Timeout
No response

Monitoring will become active as soon as the position set value is
equal to the target position at the end of positioning.

If the actual position is not located in the positioning window (Parameter 121.5) after the time set in Parameter 118.18 has expired, the
error will be triggered.
661
of 724
4.5
Error descriptions
number
Error description
Default setting for
Error
Response
905
Error limit switch monitoring
This error occurs under the following conditions: 
No response

Case a: Both hardware limit switches set simultaneously.

Case b: Positiver software limit switch and negative hardware limit
switch active simultaneously.

Case c: Negative software limit switch and positive hardware limit
switch active simultaneously.


Possible causes: 
- Software limit switch set incorrectly, such as values for positive and
negative limit switches are reversed.
- Hardware limit switches are wired incorrectly.
- Errors on the cable for hardware limit switches.
906
Negative hardware limit switch overrun Negative hardware limit switch overrun
No response
907
Positive hardware limit switch overrun
No response
908
Negative software limit switch overrun Operating mode Position Target Specification:
Target position to be approached is smaller than the negative software limit switch.

Other operating modes: 
Position set value is less than the negative software limit switch.
No response
909
Positive software limit switch overrun
No response
910
Overspeed detected at set value input Overspeed detected at set value input: 
Quick Stop

Set values were set in the operating mode Position Control with
cyclical set value position default (-4). These exceed the set speed
limit (parameter Z121.11–), the permitted mechanical maximum
speed of the motor (parameter Z121.11–) or the maximum interpolated set speed. 
If the error reaction „No Reaction“ occurs, the error is displayed and
the set speed is limited to the limit (Z121.11– or Z107.26–). Therefore, the input- and the output position drift apart.
The operating mode „Synchronism“ (-5) detected a speed (= master
axis speed) at the gear input. This causes an overflow at the set
gea

Parameter manual b maXX BM3000

Transcription

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