Specification

Standard-CANopen

Software-Version: 20014_Standard_CANopen_V101

Customer: Standard

Project: CANopen

Date: 01.02.2017

Revision history

Date Page Description Author Remarks

05.03.2015 all Base document Ralf Müller V100
01.02.2017 - - Ralf Müller V101

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 Specification

General Information
Hardware: MI01-S, MI02-S, MI03-S, MI04-S, MI08-S, MI20-S
Motor Control: FOC (Field Oriented Control)
Motor Parameters: EE (Electrically EPROM)

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 Specification
Function description
One of the various typical applications for battery powered vehicles is a driverless transportation system also
known as Automated Guided Vehicles (AGV). For this specific functionality Schwarzmüller-Inverter offers a
dedicated application software. This AGV software configures PLUS+1 inverters with functions that are
typically used for speed controlled operation of drive, steer and pump actuation with three phase-asynchronous
motors.

The speed set point can optionally be set via analog and digital signals (analog mode) or via CAN bus and
CANopen protocol (CAN mode).

Four programmable digital outputs (on/off) and two current controlled outputs are available.
Two digital outputs (PWM) for brake and main contactor are automatically set in analog mode, in CAN mode
via corresponding bus signals. Extensive control functions protect inverter and drive.

A battery discharge indicator (BDI) is integrated as well as an operating hour counter, an error memory and
further useful functions.

All operating conditions, error reports and parameters are displayed or processed with help of the PLUS+1
GUIDE service tool.

Inputs
 Battery voltage
Parameters for undervoltage threshold and nominal voltage (for compensation of PWM outputs).
 C1p33
Digital input to choose between analog mode (input high) and CAN mode (input low).
A change during operation disables the power stage. The intention is to decide between analog mode
and CAN mode after power-on of the system.
 C1p31
Digital input “CW / CAN enable”
Analog mode: Enable CW rotation
o C1p31 = high:
Power stage and brake output are switched on.
Acceleration according to the set speed value.
Direction of rotation is clockwise.
o C1p31 = low:
Power stage and brake output are switched off immediately.
If both inputs (C1p31 and C1p32) are high: decelerate to zero speed or stay at zero speed.
CAN mode: CAN enable
o C1p31 = high and CAN signal “drive enable” = high:
Power stage is switched on.
Acceleration according to the CAN set speed value.
Direction of rotation is defined by the sign of the CAN set speed value.

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 Specification
o C1p31 = low or CAN signal “drive enable” = low:
Power stage is switched off immediately.
 C1p32
Digital input “CCW”
Analog mode: Enable CCW rotation
o C1p32 = high:
Power stage and brake output are switched on.
Acceleration according to the set speed value.
Direction of rotation is counter-clockwise.
o C1p32 = low:
Power stage and brake output are switched off immediately.
If both inputs (C1p31 and C1p32) are high: decelerate to zero speed or stay at zero speed.
CAN mode: no function
 C1p30
Digital input “#SafeStop”
Input = high: normal operation, safe stop not active.
Negative transition (1→0): activation of safe stop function.
 C1p19 (Bit2), C1p20 (Bit1), C1p21 (Bit0)
The three digital inputs define a CAN Node-ID offset (1 to 7) in a binary mode. The intention is to
define node-IDs by wiring in a CAN bus system with several inverters that have the same software
and the same set of parameters.
 C1p11 (positive analog input for set speed value)
C1p22 (negative analog input for set speed value)
Differential analog inputs ±0...10V
Use positive input as the signal input and the negative one as the reference input.
The difference between both input voltages is used for the calculation of the set speed value in the
analog mode. The allowed voltage range of the reference input is limited by a parameter.
 C1p05, C1p17, C1p28, C1p29
Speed encoder
Measurement of the actual motor speed with a speed encoder. Supervision of the encoder supply
current. Supervision of the counted pulses (comparison of channels A and B) if the set speed is above
a certain value. The number of pulses per revolution is configurable via motor parameters.
 C1p34, C1p35
Motor temperature sensor
Sensor is configurable via motor parameters.

Outputs
 C1p24
Main contactor output (PWM)
The PWM output is configurable via parameters to reduce losses.
Analog mode: Main contactor switches on as soon as the DC link voltage is charged high enough
(above a threshold value). As long as the inverter is powered on, the main contactor will not be
switched off anymore.

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 Specification
CAN mode: Main contactor switches on as soon as the DC link voltage is charged high enough and
the “MC switch on” command on the CAN bus is high. If the “MC switch on” command is low, the
main contactor switches off.
 C1p13
Brake output (PWM)
The PWM output is configurable via parameters to reduce losses.
Analog mode: Brake is opened as soon as the power stage is enabled and
closed as soon as the power stage is disabled.
CAN mode: Brake is controlled by a command on the CAN Bus.
 C1p15, C1p16, C1p25, C1p26
Programmable digital outputs (on/off)
The signal source for each prog. output is selectable by a parameter.
 C1p27, C1p16
Proportional valve outputs (current controlled)
Set current values are transmitted via CAN bus.
Dither amplitudes are configurable by parameters.
 U, V, W
Motor connectors
Parameters are available to define the basic direction of rotation and the switching frequency of the
power stage.
 C1p23
Sensor supply output voltage for external sensors (e.g. potentiometers)
Output voltage selectable with a parameter: 5V, 10V or 12V.

Basic Functions
 Propel the motor
Closed loop PI speed control.
Acceleration and deceleration ramps for increasing and decreasing set speed, valid in analog mode as
well as in CAN mode. Separate deceleration ramp for the safe stop function is available.
Roundness and progression behavior is programmable with parameters.

 Safe Stop Function

The safe stop function offers the possibility to stop a drive in a defined manner,
triggered by an external event.
See separate chapter in this document

Additional Functions
 Supervision of the digital outputs
Error and status messages are visible via a red and green LED.
The supervision of unused digital outputs is deactivated by parameters.
 Hour counter
Hour counter is running if the power stage is enabled.
It is settable and resettable with the service tool.

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 Specification
 BDI
Battery discharge indicator without any influence on the function of the inverter.
Charge level is visible for the service tool and is transmitted on the CAN Bus.
BDI function is configurable for various voltages and battery types.
 Errors and Error History
An actual error or status message is visible for the Service Tool. The last 8 errors are stored in the
inverter and are visible for the Service Tool. Actual errors as well as the total error history are
resettable with the Service Tool. The actual error or status message is visible on the CAN Bus. A reset
of an error is possible via CAN bus.
 LED Blink Code
Red LED indicates errors.
Green LED indicates status / warnings.
 CAN Protocol
See separate chapter in this document

Errors and Status

As a result of an error or a status message different reactions follow.

Errors are classified into 7, status into 4 different levels. Reactions can be optical signals at the LEDs, disabling
outputs, disabling brake and power stage or storing into the error history.
 See separate error list

Motor control algorithm

The field oriented control (FOC) is used for the motor control.

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 Specification
Wiring Diagram

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 Specification
Pins supported by application

Pin Name I/0 Function

C1p10 - AI Analog input

Not supported

C1p11 Ain (pos) AI Analog input (positive)

set value speed

C1p13 Brake DO Elec. mech. brake (PWM)

C1p14 DOut2 DO Prog. Digital Output 2

C1p15 DOut4 DO Prog. Digital Output 4

C1p16 POut2 DO Prop. Output 2

C1p18 - DI Not supported

C1p19 Node ID2 DI CAN node ID offset (bit 2)

1 = input active

C1p20 Node ID1 DI CAN node ID offset (bit 1)

1 = input active

C1p21 Node ID0 DI CAN node ID offset (bit 0)

1 = input active

C1p22 Ain (neg) AI Analog input (negative)

set value speed

C1p23 SnsrSupply AO Sensor supply voltage:

VOut = 5V,10V or 12V

C1p24 MC DO Main contactor (PWM)

C1p25 DOut1 DO Prog. Digital Output 1

C1p26 DOut3 DO Prog. Digital Output 3

C1p27 POut1 DO Prop. Output 1

C1p30 #SafeStop DI 0 = safe stop activation

1 = normal operation

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 Specification
C1p31 CW / CAN enable DI Analog mode:
1 = Cw rotation
CAN mode:
1 = CAN enable

C1p32 CCW DI Analog mode:

1 = Ccw rotation
CAN mode:
no function

C1p33 Analog / #CAN DI 0 = CAN mode selected

1= Analog mode selected

Abbreviations:
AI: Analog input
AO: Analog output
CAN: Controller Area Network
Ccw: Counter-clockwise
Cw: Clockwise
DI: Digital input
DO: Digital output
Prog.: Programmable
Prop.: Proportional / current controlled
PWM: Pulse Width Modulation

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 Specification
CAN Communication
As default the unit is CAN controlled. Analog or CAN control can be chosen by
digital input on terminal C1p33. Due to safety reasons the change between
analog and CAN control will only take place after a recycle of the enable
signal.

The CAN communication fulfils the CANopen specification and supports the
CANopen object dictionary. This means that the inverter can be operated on a
mutual CANopen bus together with other CANopen bus components.

Supported communication objects:

 Process data objects (PDO)

 Service data objects (SDO)

 Synchronization object (SYNC)

 Emergency object (EMCY)

 Network management object (NMT)

 Boot-up object (BOOT)

 Heartbeat objects (HEART)

All service communication like parameter setting and diagnostics is done

through CAN communication via the PLUS+1 Service Tool or Service data
object communication.

A minimum time of 8 ms (application loop time) must be observed between

the transmitted messages from other bus components.

The available CANopen objects are listed in an object table.

(See “CANopenObjects_xxxxxxxxxxxxxxxxxxxxxxx.xlsm”)

The CANopen communication of the inverter is described in an EDS file. (See

“EDS_xxxxxxxxxxxxxxxxxxxxxxx.eds”)

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 Specification
RPDO1 Specification
Byte Data Scale Range/setting Remarks
Byte 0 (low) Control Word 1 See table below U16
Byte 1 (high)
Byte 2 (low) Set speed 1 rpm -80 00 … +80 00 S16
Byte 3 (high) Positive: CW rotation
Negative: CCW rotation
Byte 4 (low) Feed forward 0.01 Nm -32767 … +32767 S16
Byte 5 (high) torque (-327.67 ... +327.67 Nm) Value is set to zero by MIxx
if safe stop is active.
Byte 6 Set current 10 mA 0 … 200 U8
proportional (0 … 2000 mA) Dither amplitude is defined
valve 1 by parameters
(C1p27) EE_DitherAmp1_mA1,
Byte 7 Set current 10 mA 0 … 200 EE_DitherAmp2_mA1
proportional (0 … 2000 mA)
valve 2
(C1p16)

Control Word
Bit Name Function Remarks
0: Disable drive CAN command and Dig.
1: Enable drive Input can be seen as AND
Bit 0 Drive enable
In addition to the CAN command input linked.
C1p31 must be high as well.
Main contactor 0: Main contactor off Off: No output current
Bit 1
enable (C1p24) 1: Main contactor on
Brake release 0: Brake off On: Output current
Bit 2
(C1p13) 1: Brake on
Dig. Output 1 0: Output off
Bit 3
(C1p25) 1: Output on
Dig. Output 2 0: Output off
Bit 4
(C1p14) 1: Output on
Dig. Output 3 0: Output off
Bit 5
(C1p26) 1: Output on
Dig. Output 4 0: Output off
Bit 6
(C1p15) 1: Output on
0: No function (only in CAN mode)
1: Safe Stop function active Safe Stop function:
Safe Stop
Bit 7 The set speed is set to zero
function
and the deceleration is set
to “EE_DcelSafeStopMax”.
Bit 8 … Bit
Not used
14
A rising edge is necessary to reset an
Bit 15 Reset fault
error.

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 Specification
TPDO1 Specification
Byte Data Scale Range/setting Remarks
Byte 0 Status byte 1 See table below U8
Byte 1 Motor load 1) 1% -100 … +100 S8
Byte 2 (low) Actual speed 1 rpm -10 000 … +10 000 S16
Positive: Cw rotation
Byte 3 (high)
Negative: Ccw rotation
Byte 4 (low) Actual torque 0.01 Nm -32767 … +32767 S16
Byte 5 (high) (-327.67 ... +327.67 Nm)
Byte 6 (low) Motor encoder 1 pulse -32 768 … +32 767 S16
Byte 7 (high) pulse counter 2)

1)This value can be used for indication of the motor torque.

2)The pulse counter is based on the pulses from the motor encoder. The pulse number used for
the counter is four times the pulse number per revolution of the encoder. The counter
underflows and overflows.

Status Byte
Bit Name Function Remarks
Bit 0 Power stage active 0: Power stage disabled
1: Power stage active
Bit 1 Fault 0: No fault
1: Fault
Bit 2 Torque mode 0: Motor mode
1: Generator mode
Bit 3 C1p33 0: CAN control active
(Analog / #CAN) 1: Analog control active
Bit 4 C1p31 0: Not connected Analog mode: Cw
(Cw / CAN enable) 1: Input active CAN mode: CAN enable
Bit 5 C1p32 0: Not connected Analog mode: Ccw
(Ccw) 1: Input active CAN mode: no function
Bit 6 Safe Stop active 0: No Safe Stop
1: Safe Stop active
Bit 7 Togglebit 0: Togglebit reset This bit toggles with
1: Togglebit set every new message sent
Cw: clockwise rotation, Ccw: counterclockwise rotation

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 Specification
TPDO2 Specification
Byte Data Scale Range/setting Remarks
Byte 0 (low) Fault / Warning 1 0 … 9999 U16
Byte 1 (high) Code
Byte 2 BDI Level 1 1 … 10 U8
1 = battery empty
10 = battery full
Byte 3 Inverter 1 °C - 60 … +100 S8
temperature
Byte 4 (low) Motor temperature 1 °C - 50 … +200 S16
Byte 5 (high)
Byte 6 (low) Battery voltage 0.01 V 0 … 65 000 U16
Byte 7 (high) (0 … 650 [V])

CAN-Bus Identifier
With these inputs it is possible to define a hardware specific node ID for the
inverter.
C1p19 C1p20 C1p21 Input value

LOW LOW LOW 0

LOW LOW HIGH 1

LOW HIGH LOW 2

LOW HIGH HIGH 3

HIGH LOW LOW 4

HIGH LOW HIGH 5

HIGH HIGH LOW 6

HIGH HIGH HIGH 7

Node ID: EE_CANBasicNodeID + Input value

This Node ID is used for the communication with the PLUS+1 Service Tool.

Note:

Important for the communication with the PLUS+1 Service Tool:

After a change of the node ID, an additional reset (Power off/on) is required.

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 Specification
The message identifications (CAN-ID) for the communication objects:

SYNC (object 0x1005): 80h

EMCY (object 0x1014): 80h + EE_CANBasicNodeID + Input value

RSDO (object 0x1200): 600h + EE_CANBasicNodeID + Input value

TSDO (object 0x1200): 580h + EE_CANBasicNodeID + Input value

RPDO1 (object 0x1400): 200h + EE_CANBasicNodeID + Input value

TPDO1 (object 0x1800): 180h + EE_CANBasicNodeID + Input value

TPDO2 (object 0x1801): 280h + EE_CANBasicNodeID + Input value

NMT: 0h

BOOT: 700h + EE_CANBasicNodeID + Input value

THEART: 700h + EE_CANBasicNodeID + Input value

RHEART: 700h + EE_CANopen_HEART_ConsTime1

(Bit 16…23; Node-ID)

If the parameter EE_CANBasicNodeID or the input value will be changed, then

the message identifications (CAN-ID) for the communication objects will be
automatically updated in any cases.

The objects can also be changed with the PLUS+1 Service Tool or Service data
object communication, but the change of the EE_CANBasicNodeID or the
input value has the priority.

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 Specification
NMT states
Supported NMT states:

 Pre- operational (127)

 Operational (5)

 Stopped (4)

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 Specification
Parameters

Parameter Description Type Range Scaling Default

EE_AcelMax Max. acceleration S32 1 … 500000 0.1 rpm/s 5000

(#4) slope

EE_AnInMax_mV Max. analog input U16 1000 … 10000 mV 10000

voltage AnIn(pos) –
AnIn(neg)

EE_AnInNegLimit_mV Defines upper and U16 0 … 10000 mV 1000

lower limit of
AnIn(neg) reference
input

EE_BDIBatteryType Battery type for BDI U8 0 … 10 3

function
(battery discharge
indicator)

EE_BDINmbrCells Number of battery U8 6 … 70 2V per cell 12

cells (BDI)

EE_BDIResetVoltage_mV Voltage threshold per U16 1000 … 3000 mV 2090

cell to reset the BDI
after power-on

EE_BDITmax_ms Time between two U32 0 … 1000000 ms 240000

BDI levels

EE_BrkSettlingTime_ms Time while settling U16 0 … 10000 ms 1000

value is present at
the brake output

EE_BrkSettlingValue_pct2 Output value during U32 0 … 10000 0.01 % 10000

settling time of brake

EE_BrkSteadyValue_pct2 Output value when U32 0 … 10000 0.01 % 6000

settling time brake is
over

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 Specification
EE_BrkVltgCompens Voltage BOOL 0…1 0 = no compens. 0
compensation of 1 = compens.
brake output

EE_CANBasicNodeID Basic node ID of U8 1 … 119 30

(#1) CAN bus
50000 Baud
EE_CANBaudrate Baud rate of U32 50000 … 100000 Baud
250000
CAN bus 1000000 125000 Baud
250000 Baud
500000 Baud
1000000 Baud
EE_CANopen_EMCY_COB_ID COB-ID EMCY U32 0… 0x9E
message 4294967295 (158)

EE_CANopen_HEART_ConsTim Consumer heartbeat U32 0… Bit 0…15 = time 0

e1 time 4294967295 (ms) Bit
16…23 = Node-ID

EE_CANopen_HEART_ProdTim Producer heartbeat U16 0 … 65535 ms 0

e time

EE_CANopen_RPDO1_COB_ID COB-ID RPDO1 U32 0… 0x21E

message 4294967295 (542)

EE_CANopen_RPDO1_EventTi Event timer RPDO1 U16 0 … 65535 ms 50

mer message

EE_CANopen_RPDO1_TransTyp Transmission Type U8 0 … 254 1

e RPDO1 message

EE_CANopen_RSDO_COB_ID COB-ID client -> U32 0… 0x61E

server (rx); RSDO 4294967295 (1566)
message

EE_CANopen_SYNC_COB_ID COB-ID SYNC U32 0… 0x80

message 4294967295 (128)

EE_CANopen_SYNC_ComCycle Communication cycle U32 0… μs 50000

Per period 4294967295

EE_CANopen_SYNC_SynWinLgh Synchronous window U32 0… μs 50000

t length 4294967295

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 Specification
EE_CANopen_TPDO1_COB_ID COB-ID TPDO1 U32 0… 0x19E
message 4294967295 (414)

EE_CANopen_TPDO1_TransTyp Transmission Type U8 1 … 254 1

e TPDO1 message

EE_CANopen_TPDO2_COB_ID COB-ID TPDO2 U32 0… 0x29E

message 4294967295 (670)

EE_CANopen_TPDO2_TransTyp Transmission Type U8 1 … 254 20

e TPDO2 message

EE_CANopen_TSDO_COB_ID COB-ID server -> U32 0… 0x59E

client (tx); RSDO 4294967295 (1438)
message

EE_DcelMax Max. deceleration S32 1 … 500000 0.1 rpm/s 8000

(#4) slope

EE_DcelSafeStopMax Max. deceleration S32 1 … 500000 0.1 rpm/s 10000

slope if Safe Stop
function is active

EE_DDCGProgression Progression of speed U8 0 … 100 0 = no prog. 0

curve 100 = max prog.

EE_DDCGRoundness Rounding of speed U8 0 … 90 0 = no rounding 0

curve 90 = max. round.

EE_DefineDirection Define direction of BOOL 0…1 0 = cw 0

(#1) rotation 1 = ccw

EE_DitherAmp1_mA1 Dither amplitude of U16 0 … 2500 0.1 mA 0

POut1

EE_DitherAmp2_mA1 Dither amplitude of U16 0 … 2500 0.1 mA 0

POut2

EE_DOutSel1 Select source for dig. U8 0…8 (#2) 1

output 1

EE_DOutSel2 Select source for dig. U8 0…8 (#2) 1

output 2

EE_DOutSel3 Select source for dig. U8 0…8 (#2) 1

output 3

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 Specification
EE_DOutSel4 Select source for dig. U8 0…8 (#2) 1
output 4

EE_DOutSpd_rpm1 Speed threshold for U32 0 … 100000 0.1 rpm 1000

prog. dig. outputs

EE_DOutTorque_Nm3 Torque threshold for U32 0 … 1000000 mNm 1000

prog. dig. outputs

EE_EncErrThd Number of bad U16 2 … 65535 1 pulse 14

(#1) encoder pulses in a
row to detect a
disconnected signal
line

EE_EncSupSpdThd_rpm1 Speed threshold to U16 500 … 5000 0.1 rpm 3000

enable supervision of
a disconnected
encoder line

EE_MagCurrBoost_pct2 Limit of U16 0 … 10000 0.01 % 10000

(#1) magnetization
current boost when
power stage is
switched on

EE_MCSettlingTime_ms Time while settling U16 0 … 10000 ms 1000

value is present at
the MC (main
contactor) output

EE_MCSettlingValue_pct2 Output value during U32 0 … 10000 0.01 % 10000

settling time of MC

EE_MCSteadyValue_pct2 Output value when U32 0 … 10000 0.01 % 6000

settling time MC is
over

EE_MCThreshold_pct2 Percentage of key U16 0 … 10000 0.01 % 8000

switch voltage to
switch on the main
contactor

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 Specification
EE_MCVltgCompens Voltage BOOL 0…1 0 = no compens. 0
compensation of 1 = compens
main contactor

EE_MD_CC_Gain_pct2 (#5) Adjustment factor for U16 5000…15000 0.01% 0xFFFF

current controller
parameter
EE_MD_CreData (#5) Creation date of the U32 0…0xFFFFFFFF YYYYMMDD 2010121
motor data 0
EE_MD_CurrentMax_mArms Maximum motor U32 0…2900000 mArms 0xFFFFFF
(#5) current FF
EE_MD_DataVers (#5) Version of the motor U16 0…65000 - 100
data structure
EE_MD_EncCurMax_mA1 (#5) Maximum encoder U16 0…1000 0.1 mA 0
current
EE_MD_EncCurMin_mA1 (#5) Minimum encoder U16 0…1000 0.1 mA 65535
current
EE_MD_EncPulses (#5) Number of encoder U16 32…1024 pulses/rev 0xFFFF
pulses per
revolution
EE_MD_FluxRated_mWb2 (#5) Rated rotor flux U32 0…1000000 0.01mWb 0xFFFFFF
FF
EE_MD_Im100_mArms (#5) Main inductance at U32 0… 2900000 mArms 0xFFFFFF
rated rotor flux level FF
EE_MD_Llr_Max_H7 (#5) Maximum leakage U32 0…10000000 0.1 µH 0xFFFFFF
inductance of rotor FF
EE_MD_Llr_Min_H7 (#5) Minimum leakage U32 0…10000000 0.1 µH 0xFFFFFF
inductance of rotor FF
EE_MD_Lls_Max_H7 (#5) Maximum leakage U32 0…10000000 0.1 µH 0xFFFFFF
inductance of stator FF
EE_MD_Lls_Min_H7 (#5) Minimum leakage U32 0…10000000 0.1 µH 0xFFFFFF
inductance of stator FF
EE_MD_Lm100_H7 (#5) Main inductance U32 0…10000000 0.1 µH 0xFFFFFF
FF
EE_MD_LmRated_H7 (#5) Main inductance at U32 0…10000000 0.1 µH 0xFFFFFF
rated rotor flux level FF
EE_MD_LmTable0 (#5) Main inductance U16 0…10000 0.01% 0xFFFF
lookup table (Im
array)
EE_MD_LmTable1 (#5) Main inductance U16 0…10000 0.01% 0xFFFF
lookup table (Im
array)
EE_MD_LmTable10 (#5) Main inductance U16 1000…10000 0.01% 0xFFFF
lookup table (Lm
array)

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 Specification
EE_MD_LmTable11 (#5) Main inductance U16 1000…10000 0.01% 0xFFFF
lookup table (Lm
array)

EE_MD_LmTable12 (#5) Main inductance U16 1000…10000 0.01% 0xFFFF

lookup table (Lm
array)
EE_MD_LmTable13 (#5) Main inductance U16 1000…10000 0.01% 0xFFFF
lookup table (Lm
array)
EE_MD_LmTable14 (#5) Main inductance U16 1000…10000 0.01% 0xFFFF
lookup table (Lm
array)
EE_MD_LmTable15 (#5) Main inductance U16 1000…10000 0.01% 0xFFFF
lookup table (Lm
array)
EE_MD_LmTable16 (#5) Main inductance U16 1000…10000 0.01% 0xFFFF
lookup table (Lm
array)
EE_MD_LmTable17 (#5) Main inductance U16 1000…10000 0.01% 0xFFFF
lookup table (Lm
array)
EE_MD_LmTable18 (#5) Main inductance U16 1000…10000 0.01% 0xFFFF
lookup table (Lm
array)
EE_MD_LmTable19 (#5) Main inductance U16 1000…10000 0.01% 0xFFFF
lookup table (Lm
array)
EE_MD_LmTable2 (#5) Main inductance U16 0…10000 0.01% 0xFFFF
lookup table (Im
array)
EE_MD_LmTable3 (#5) Main inductance U16 0…10000 0.01% 0xFFFF
lookup table (Im
array)
EE_MD_LmTable4 (#5) Main inductance U16 0…10000 0.01% 0xFFFF
lookup table (Im
array)
EE_MD_LmTable5 (#5) Main inductance U16 0…10000 0.01% 0xFFFF
lookup table (Im
array)
EE_MD_LmTable6 (#5) Main inductance U16 0…10000 0.01% 0xFFFF
lookup table (Im
array)
EE_MD_LmTable7 (#5) Main inductance U16 0…10000 0.01% 0xFFFF
lookup table (Im
array)
EE_MD_LmTable8 (#5) Main inductance U16 0…10000 0.01% 0xFFFF
lookup table (Im
array)

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 Specification
EE_MD_LmTable9 (#5) Main inductance U16 0…10000 0.01% 0xFFFF
lookup table (Im
array)
EE_MD_PartNo (#5) Part number of the U32 0…0xFFFFFFFF - 7050000
motor package 0
EE_MD_PolePairs (#5) Pole pairs U8 1…6 - 0xFF
EE_MD_RrBase_Ohm6 (#5) Rotor resistance U32 0…10000000 1µOhm 0xFFFFFF
value measured at FF
Tbase_r transformed
to stator side
EE_MD_RsBase_Ohm6 (#5) Stator resistance U32 0…10000000 1µOhm 0xFFFFFF
value measured at FF
Tbase_s
EE_MD_SpeedMax_rpm1 (#5) Maximum motor U32 0…100000 0.1 rpm 0xFFFFFF
speed FF
EE_MD_TBase_r_C (#5) Temperature at U8 0…150 °C 0xFF
which RrBase was
measured
EE_MD_TBase_s_C (#5) Temperature at U8 0…150 °C 0xFF
which RsBase was
measured
EE_MD_TCoeff_r (#5) Temperature U16 0…10000 10 -6/K 0xFFFF
coefficient of rotor
resistance
EE_MD_TempSnsrMaxTemp_C Maximum motor S16 50...200 °C 120
(#5) temperature
EE_MD_TempSnsrR1_Ohm(#5) Look-up table for the S16 0..12000 Ohm 359
temperature sensor
EE_MD_TempSnsrR2_Ohm(#5) Look-up table for the S16 0..12000 Ohm 495
temperature sensor
EE_MD_TempSnsrR3_Ohm(#5) Look-up table for the S16 0..12000 Ohm 670
temperature sensor
EE_MD_TempSnsrR4_Ohm(#5) Look-up table for the S16 0..12000 Ohm 935
temperature sensor
EE_MD_TempSnsrR5_Ohm(#5) Look-up table for the S16 0..12000 Ohm 1330
temperature sensor
EE_MD_TempSnsrR6_Ohm(#5) Look-up table for the S16 0..12000 Ohm 1722
temperature sensor
EE_MD_TempSnsrT1_C (#5) Look-up table for the S16 -50..200 °C -40
temperature sensor

EE_MD_TempSnsrT2_C (#5) Look-up table for the S16 -50..200 °C 0

temperature sensor
EE_MD_TempSnsrT3_C (#5) Look-up table for the S16 -50..200 °C 40
temperature sensor
EE_MD_TempSnsrT4_C (#5) Look-up table for the S16 -50..200 °C 90
temperature sensor

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 Specification
EE_MD_TempSnsrT5_C (#5) Look-up table for the S16 -50..200 °C 150
temperature sensor

EE_MD_TempSnsrT6_C (#5) Look-up table for the S16 -50..200 °C 200

temperature sensor
EE_MD_TempSnsrType (#5) Type of the U8 0..3 0 = No 3
temperature sensor temperature
sensor
1 = Switch (NC)
2 = Switch (NO)
3 = Analog sensor
(SnsrTab)
EE_MD_TorqueMax_Nm3 Torque at maximum U32 0 … 1000000 0.001Nm 0xFFFFFF
(#5) current FF
(Motor.CurrentMax)
EE_PartLoadReduc_pct2 Lower limit of rated U16 2000 … 10000 0.01 % 10000
(#1) flux to reduce
current at partial
load

EE_PWMFreq Select power stage U8 1…4 4000 Hz 2

(#1) switching frequency

EE_SET_HCVal_h3 Set value for hour U32 0… 0.001 h 0

counter 4294967295

EE_SnsrSupplyVltg Select sensor supply U16 0…2 0 = 5V 0

(#1) (#3) voltage for C1p23 1 = 10V
2 = 12V

EE_SpdMax_rpm1 Max. set speed / U32 1 … 80000 0.1 rpm 15000

speed limit
(CAN and analog)

EE_SpeedCalcMode Defines the speed U16 0…1 0 = standard speed 0

calculation mode observer
1 = alternative
speed calculation

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 Specification
EE_SpeedFOF_ms Time constant of first U16 0 … 1000 ms 5
(#1) order filter used to
smooth the output of
speed calculation
(only valid for
SpeedCalcMode = 1)

EE_SpeedKI Integral gain of speed U32 0… 0.00001 10000

controller 10000000 Nm/(rpm*s)

EE_SpeedKP Proportional gain of U32 0 … 10000000 0.00001 Nm/rpm 1000

speed controller

EE_SupBrk Supervision of brake BOOL 0…1 0 = no superv. 0

1 = supervision

EE_SupDOut1 Supervision of BOOL 0…1 0 = no superv. 0

DOut1 1 = supervision

EE_SupDOut2 Supervision of BOOL 0…1 0 = no superv. 0

DOut2 1 = supervision

EE_SupDOut3 Supervision of BOOL 0…1 0 = no superv. 0

DOut3 1 = supervision

EE_SupDOut4 Supervision of BOOL 0…1 0 = no superv. 0

DOut4 1 = supervision

EE_SupMC Supervision of BOOL 0…1 0 = no superv. 0

main contactor 1 = supervision

EE_SupPOut1 Supervision of BOOL 0…1 0 = no superv. 0

POut1 1 = supervision

EE_SupPOut2 Supervision of BOOL 0…1 0 = no superv. 0

POut2 1 = supervision

EE_UnderVolt_mV Voltage threshold for U32 0 … 140000 mV 16000

undervoltage
detection

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 Specification
EE_UserTorqueLimit_pct2 User torque limit as U16 0 … 10000 0.01 % 10000
percentage of
Motor.TorqueMax

EE_V_Nominal_mV Nominal voltage for U32 1 … 140000 mV 24000

compensation of
brake and main
contactor outputs

(#1) Parameter becomes valid after software reset (e.g. power-on)

(#2) Selection for digital outputs 1...4:

0 = Off
1 = CAN DOutx
2 = Ready / no error
3 = Power stage active
4 = Red LED
5 = Green LED
6 = |ActSpd| > EE_DOutSpd_rpm1
7 = Safe stop function active
8 = |ActTorque| > EE_DOutTorque_Nm3

(#3) Attention: Output voltage at C1p23 is undefined (Vout = 5V, 10V or 12V) after a software download.
Parameter becomes valid after software reset (e.g. power-on).

(#4) CAN mode: Use high values (e.g. > 50000) if set speed ramp is calculated by the external vehicle
controller.

(#5) Parameter becomes valid after software reset (e.g. power-on) or a recalculation command

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 Specification
SET Pulse

SET Pulse Description Type Range Scaling

SETP_BDIRstLevel Reset BDI level BOOL 0…1 1

(level = 10)

SETP_ClrErr Clear all errors BOOL 0…1 1

SETP_ClrErrHistory Clear error history BOOL 0…1 1

SETP_DefPara Set parameters to BOOL 0…1 1

default values

SETP_SetHC Set hour counter to BOOL 0…1 1

“SET_HCVal_h3”

SETP_ReInit Re-initialisation of BOOL 0…1 1

the MotorData

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 Specification
LED Blink Codes

Only the first two digits of the 4-digit error code are used for blinking.
Red LED indicates errors.
Green LED indicates status / warnings.

Examples:

1.) Blinking value “3”

2.) Blinking value “37”

Please don’t mix up the introduction sequence with the first ten signal.

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 Specification

Safe Stop Function

The safe stop function offers the possibility to stop a drive in a defined manner,
triggered by an external event.

Activation of safe stop function:

Analog mode:
 Drive enable condition (C1p31 = high or C1p32 = high) and
 C1p30: 1-0 transition
CAN mode:
 Drive enable condition (C1p31 = high and CAN signal ”drive enable” = high) and
 C1p30: 1-0 transition or
CAN RPDO1 signal “SafeStopFunction”: 0-1 transition

Safe stop function active:

 Digital output is set
(Select digital output with parameter “EE_DOutSelx”)
 CAN TPDO1 signal “SafeStopActive” = high
 Drive decelerates to 0 rpm
Deceleration ramp = “EE_DcelSafeStopMax”
 Brake:
Brake output is set (brake open) during ramp down phase
Brake output is reset (brake closed) at standstill
 Power stage:
Power stage is disabled t = 100ms after brake was closed
 CAN RPDO1 “Feed forward torque” is set to 0 Nm

The safe stop ramp is interruptible by a drive disable condition.

Deactivation of safe stop function:

 Standstill (Set speed = 0 rpm or |Act. Speed| < 50 rpm) and
 Drive disable condition

Test mode:
 Standstill: set speed = 0 rpm and
 Drive disable condition and
 CAN RPDO1 signal “SafeStopFunction” = high or C1p30 = low
This will result in:
 Digital output is set (select output via parameter “EE_DOutSelx”)
 CAN TPDO1 signal “SafeStopActive” = high
 Brake output is reset (brake closed)
 Power stage is disabled

The feedback signal „Safe stop active“ (CAN TPDO1 signal and dig. output) serves two purposes:
1. As long as this output is high, it is obvious from outside, that the inverter does a safe stop ramp and
does not react on inputs, except the drive disable command.

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 Specification
2. While the drive is standing still (drive disable condition), this output is an image of the safe stop input
signal. By this the supervisory controller is able to test this input and output. This is one of the conditions
to reach certain performance levels.

The digital input „#SafeStop“ allows a durable high signal in case the function is not used.

Safe Stop
enable
input
safe stop
input
safe stop
output
speed
output
brake

Output "safe stop" ends with Output "safe stop" ends with
input enable beeing low speed beeing zero Test pulse at standstill

Power stage is disabled t = 100ms after brake was closed.

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