ILS2T Modbus TCP

0198441113664 08/2020

ILS2T Modbus TCP

Integrated Drive
User Guide
Original instructions

08/2020
0198441113664.00

www.schneider-electric.com
 The information provided in this documentation contains general descriptions and/or technical character-
istics of the performance of the products contained herein. This documentation is not intended as a
substitute for and is not to be used for determining suitability or reliability of these products for specific user
applications. It is the duty of any such user or integrator to perform the appropriate and complete risk
analysis, evaluation and testing of the products with respect to the relevant specific application or use
thereof. Neither Schneider Electric nor any of its affiliates or subsidiaries shall be responsible or liable for
misuse of the information contained herein. If you have any suggestions for improvements or amendments
or have found errors in this publication, please notify us.
You agree not to reproduce, other than for your own personal, noncommercial use, all or part of this
document on any medium whatsoever without permission of Schneider Electric, given in writing. You also
agree not to establish any hypertext links to this document or its content. Schneider Electric does not grant
any right or license for the personal and noncommercial use of the document or its content, except for a
non-exclusive license to consult it on an "as is" basis, at your own risk. All other rights are reserved.
All pertinent state, regional, and local safety regulations must be observed when installing and using this
product. For reasons of safety and to help ensure compliance with documented system data, only the
manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant instructions must
be followed.
Failure to use Schneider Electric software or approved software with our hardware products may result in
injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2020 Schneider Electric. All rights reserved.

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 Table of Contents

Safety Information. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Overview of Integrated Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Components and Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Nameplate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Type Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Chapter 2 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Mechanical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Electromagnetic Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Shaft-Specific Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Data for Safety-Related Function STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Conditions for UL 508C and CSA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Chapter 3 Engineering. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.1 Electromagnetic Compatibility (EMC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Electromagnetic Compatibility (EMC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.2 Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
External Power Supply Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Wiring Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
3.3 Functional Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Requirements for Using the Safety-Related Function STO. . . . . . . . . . . . . . . . . . . . . . . . . . 40
Application Examples STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.4 Modbus TCP Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Modbus TCP Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Modbus TCP Protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3.5 Modbus TCP Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Connection management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Modbus Response to a Modbus Request . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Reading and Writing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
I/O Scanning to "Drive Profile Lexium" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
I/O Scanning - Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
I/O Scanning - Input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.6 Modbus Services - "Function Code" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
"Function Code" 3 (Read Multiple Registers) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
"Function Code" 8 (Diagnostics) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
"Function Code" 16 (Write Multiple Registers) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
"Function Code" 23 (ReadWrite Multiple Registers) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
"Function Code" 43 (Encapsulated Interface Transport) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Example of "Function Code" 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Example of "Function Code" 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Chapter 4 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.1 Mechanical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Before Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Mounting the Integrated Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

0198441113664 08/2020 3
 4.2 Electrical Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Overview of Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Connection Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Connection Via Cable Entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Connection Via Industrial Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Connection of CN1 - Vdc Supply Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Connection of CN2 - Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Connection of CN3 - RS485. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Connection of CN4 - 24 V Signal Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Connection of CN5 - Safety-Related Function STO. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Connection of Accessories for 24 V Signals and Safety-Related Function STO . . . . . . . . . . 90
4.3 Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Verifying Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Chapter 5 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Preparation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
5.2 Fieldbus Integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Setting the IP Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Settings for Communication with I/O Scanning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Settings for Communication without I/O Scanning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Web Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Fast Device Replacement (FDR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
5.3 Commissioning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Setting Limit Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Digital Inputs and Digital Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Verifying the Signals of the Limit Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Verifying the Safety-Related Function STO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Holding Brake (Option). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Direction of Movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
5.4 Parameter Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Resetting the User Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Restoring Factory Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Chapter 6 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Access Channels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Movement Range. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Parameterization of the Signal Input Functions and the Signal Output Functions . . . . . . . . . 124
Chapter 7 Operating States and Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
7.1 Operating States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
State Diagram and State Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Indicating the Operating State via Signal Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Indication of the Operating State via Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
Changing the Operating State via Signal Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Changing the Operating State via Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
7.2 Indicating, Starting and Changing an Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Starting and Changing an Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
7.3 Operating Mode Jog. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
7.4 Operating Mode Profile Velocity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

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Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
7.6 Operating Mode Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Reference Movement to a Limit Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Reference Movement to the Reference Switch in Positive Direction . . . . . . . . . . . . . . . . . . 160
Reference Movement to the Reference Switch in Negative Direction . . . . . . . . . . . . . . . . . . 161
Reference Movement to the Index Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Position Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
Additional Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Chapter 8 Functions for Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
8.1 Functions for Target Value Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Motion Profile for the Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
Stopping a Movement with Halt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Stopping a Movement with Quick Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Setting a Signal Output via Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Position Capture Via Signal Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
8.2 Functions for Monitoring Movements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
Hardware Limit Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
Reference Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Software Limit Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
8.3 Functions for Monitoring Internal Device Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Temperature Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Stall Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Chapter 9 Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Wiring Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Chapter 10 Diagnostics and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
10.1 Diagnostics via LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Operating State LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Fieldbus Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
10.2 Diagnostics via the Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Fieldbus Communication Error Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Most Recent Detected Error - Status Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
Most Recent Detected Error - Error Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Error Memory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
10.3 Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Description of Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Table of Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Chapter 11 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Representation of the Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Chapter 12 Accessories and Spare Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Accessories and Spare Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Chapter 13 Service, Maintenance, and Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Service Addresses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
Replacing the Product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Shipping, Storage, Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Glossary ..................................................... 239
Index ..................................................... 241

0198441113664 08/2020 5
6 0198441113664 08/2020
 Safety Information

Important Information

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

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

QUALIFICATION OF PERSONNEL
Only appropriately trained persons who are familiar with and understand the contents of this manual and
all other pertinent product documentation are authorized to work on and with this product. These persons
must have sufficient technical training, knowledge and experience and be able to foresee and detect
potential hazards that may be caused by using the product, by modifying the settings and by the
mechanical, electrical and electronic equipment of the entire system in which the product is used.
The qualified person must be able to detect possible hazards that may arise from parameterization,
modifying parameter values and generally from mechanical, electrical, or electronic equipment.
The qualified person must be familiar with the standards, provisions, and regulations for the prevention of
industrial accidents, which they must observe when designing and implementing the system.

0198441113664 08/2020 7
INTENDED USE
The products described in or affected by the present document are, along with software, accessories and
options, motors with an integrated drive. The products are intended for industrial use according to the
instructions, directions, examples, and safety information contained in the present user guide and other
supporting documentation.
The product may only be used in compliance with all applicable safety regulations and directives, the
specified requirements and the technical data.
Prior to using the products, you must perform a risk assessment in view of the planned application. Based
on the results, the appropriate safety-related measures must be implemented.
Since the products are used as components in an overall machine or process, you must ensure the safety
of persons by means of the design of this overall machine or process.
Operate the products only with the specified cables and accessories. Use only genuine accessories and
spare parts.
Any use other than the use explicitly permitted as described herein is prohibited and may result in
unanticipated hazards.

8 0198441113664 08/2020
 About the Book

At a Glance

Document Scope
This manual describes technical characteristics, installation, commissioning, operation, and maintenance
of the integrated drive ILS2T.

Validity Note
This manual is valid for the standard products listed in the type code, see chapter Type Code
(see page 18).
For product compliance and environmental information (RoHS, REACH, PEP, EOLI, etc.), go to
www.schneider-electric.com/green-premium.
The technical characteristics of the devices described in the present document also appear online. To
access the information online, go to the Schneider Electric home page
https://www.se.com/ww/en/download/.
The characteristics that are described in the present document should be the same as those character-
istics that appear online. In line with our policy of constant improvement, we may revise content over time
to improve clarity and accuracy. If you see a difference between the document and online information, use
the online information as your reference.

Product Related Information

The use and application of the information contained herein require expertise in the design and
programming of automated control systems.
Only you, the user, machine builder or integrator, can be aware of all the conditions and factors present
during installation and setup, operation, repair and maintenance of the machine or process.
You must also consider any applicable standards and/or regulations with respect to grounding of all
equipment. Verify compliance with any safety information, different electrical requirements, and normative
standards that apply to your machine or process in the use of this equipment.
The motor itself generates voltage when the motor shaft is rotated.

DANGER
ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
 Disconnect all power from all equipment including connected devices prior to removing any covers or
doors, or installing or removing any accessories, hardware, cables, or wires.
 Place a "Do Not Turn On" or equivalent hazard label on all power switches and lock them in the non-
energized position.
 Block the motor shaft to prevent rotation prior to performing any type of work on the drive system.
 Replace and secure all covers, accessories, hardware, cables, and wires and confirm that a proper
ground connection exists before applying power to the unit.
 Use only the specified voltage when operating this equipment and any associated products.
Failure to follow these instructions will result in death or serious injury.

If the power stage is disabled unintentionally, for example as a result of power outage, errors or functions,
the motor is no longer decelerated in a controlled way. Overload, errors or incorrect use may cause the
holding brake to no longer operate properly and may result in premature wear.

0198441113664 08/2020 9
 WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that movements without braking effect cannot cause injuries or equipment damage.
 Verify the function of the holding brake at regular intervals.
 Do not use the holding brake as a service brake.
 Do not use the holding brake for safety-related purposes.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Drive systems may perform unanticipated movements because of incorrect wiring, incorrect settings,
incorrect data or other errors.

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

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

1
For additional information, refer to NEMA ICS 1.1 (latest edition), “Safety Guidelines for the Application,
Installation, and Maintenance of Solid State Control” and to NEMA ICS 7.1 (latest edition), “Safety
Standards for Construction and Guide for Selection, Installation and Operation of Adjustable-Speed Drive
Systems” or their equivalent governing your particular location.
Machines, controllers, and related equipment are usually integrated into networks. Unauthorized persons
and malware may gain access to the machine as well as to other devices on the network/fieldbus of the
machine and connected networks via insufficiently secure access to software and networks.

10 0198441113664 08/2020
 WARNING
UNAUTHORIZED ACCESS TO THE MACHINE VIA SOFTWARE AND NETWORKS
 In your risk assessment, take into account all hazards that result from access to and operation on the
network/fieldbus and develop an appropriate cyber security conceptual framework.
 Verify that the hardware infrastructure and the software infrastructure into which the machine is
integrated, as well as all organizational measures and rules covering access to this infrastructure, take
into account the results of the hazard and risk analysis.
 Implement your cyber security framework according to the best practices and standards of IT security
and cyber security, such as ISO/IEC 27000 series, Common Criteria for Information Technology
Security Evaluation, ISO/IEC 15408, IEC 62351, ISA/IEC 62443, NIST Cybersecurity Framework,
Information Security Forum - Standard of Good Practice for Information Security.
 Verify the effectiveness of your IT security and cyber security systems using appropriate, proven
methods.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Schneider Electric adheres to industry best practices in the development and implementation of control
systems. This includes a "Defense-in-Depth" approach to secure an Industrial Control System. This
approach places the controllers behind one or more firewalls to restrict access to authorized personnel and
protocols only.

WARNING
UNAUTHENTICATED ACCESS AND SUBSEQUENT UNAUTHORIZED MACHINE OPERATION
 Evaluate whether your environment or your machines are connected to your critical infrastructure and,
if so, take appropriate steps in terms of prevention, based on Defense-in-Depth, before connecting the
automation system to any network.
 Limit the number of devices connected to a network to the minimum necessary.
 Isolate your industrial network from other networks inside your company.
 Protect any network against unintended access by using firewalls, VPN, or other, proven security
measures.
 Monitor activities within your systems.
 Prevent subject devices from direct access or direct link by unauthorized parties or unauthenticated
actions.
 Prepare a recovery plan including backup of your system and process information.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

For more information on organizational measures and rules covering access to infrastructures, refer to
ISO/IEC 27000 series, Common Criteria for Information Technology Security Evaluation, ISO/IEC 15408,
IEC 62351, ISA/IEC 62443, NIST Cybersecurity Framework, Information Security Forum - Standard of
Good Practice for Information Security.
For reasons of Internet security, TCP/IP forwarding is disabled by default. Therefore, you must manually
enable TCP/IP forwarding. However, doing so may expose your network to possible cyberattacks if you do
not take additional measures to protect your enterprise. In addition, you may be subject to laws and
regulations concerning cybersecurity.

WARNING
UNAUTHENTICATED ACCESS AND SUBSEQUENT NETWORK INTRUSION
 Observe and respect any and all pertinent national, regional and local cybersecurity and/or personal
data laws and regulations when enabling TCP/IP forwarding on an industrial network.
 Isolate your industrial network from other networks inside your company.
 Protect any network against unintended access by using firewalls, VPN, or other, proven security
measures.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Consult the Schneider Electric Cybersecurity Best Practices for additional information.
Use the latest firmware version. Visit https://www.se.com or contact your Schneider Electric representative
for information on firmware updates that may involve Ethernet connections.

0198441113664 08/2020 11
Terminology Derived from Standards
The technical terms, terminology, symbols and the corresponding descriptions in this manual, or that
appear in or on the products themselves, are generally derived from the terms or definitions of international
standards.
In the area of functional safety systems, drives and general automation, this may include, but is not limited
to, terms such as safety, safety function, safe state, fault, fault reset, malfunction, failure, error, error
message, dangerous, etc.
Among others, these standards include:

Standard Description
IEC 61131-2:2007 Programmable controllers, part 2: Equipment requirements and tests.
ISO 13849-1:2015 Safety of machinery: Safety related parts of control systems.
General principles for design.
EN 61496-1:2013 Safety of machinery: Electro-sensitive protective equipment.
Part 1: General requirements and tests.
ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment and risk
reduction
EN 60204-1:2006 Safety of machinery - Electrical equipment of machines - Part 1: General
requirements
ISO 14119:2013 Safety of machinery - Interlocking devices associated with guards - Principles
for design and selection
ISO 13850:2015 Safety of machinery - Emergency stop - Principles for design
IEC 62061:2015 Safety of machinery - Functional safety of safety-related electrical, electronic,
and electronic programmable control systems
IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: General requirements.
IEC 61508-2:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Requirements for electrical/electronic/programmable
electronic safety-related systems.
IEC 61508-3:2010 Functional safety of electrical/electronic/programmable electronic safety-
related systems: Software requirements.
IEC 61784-3:2016 Industrial communication networks - Profiles - Part 3: Functional safety
fieldbuses - General rules and profile definitions.
2006/42/EC Machinery Directive
2014/30/EU Electromagnetic Compatibility Directive
2014/35/EU Low Voltage Directive

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

Standard Description
IEC 60034 series Rotating electrical machines
IEC 61800 series Adjustable speed electrical power drive systems
IEC 61158 series Digital data communications for measurement and control – Fieldbus for use in
industrial control systems

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

12 0198441113664 08/2020
 ILS2T Modbus TCP
Introduction
0198441113664 08/2020

Chapter 1
Introduction

Introduction

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Overview of Integrated Drive 14
Components and Interfaces 15
Nameplate 17
Type Code 18

0198441113664 08/2020 13
Introduction

Overview of Integrated Drive

Lexium Integrated Drive

The Lexium integrated drive consists of a stepper motor and an integrated drive. The product integrates
interfaces, control electronics, a holding brake (optional) and the power stage.
Minimum wiring as well as a comprehensive portfolio of options and accessories allows you to implement
compact, high-performance drive solutions for a wide range of power requirements.

Features
Overview of some of the features:
 Fieldbus interface for Modbus TCP.
 The drive is commissioned via a PC with the commissioning software “Lexium CT” or the fieldbus.
 Four digital 24 V signals. Each of these signals can be used as an input or output.
 The integrated safety-related function Safe Torque Off (STO) as per IEC 61800-5-2 allows for a stop
with stop category 0 as per IEC 60204-1 without external power contactors.

14 0198441113664 08/2020
 Introduction

Components and Interfaces

Overview

1 3-phase stepper motor

2 Electronics housing
3 Insert for sealing (accessory)
4 Insert with cable entry (accessory)
5 I/O insert with industrial connectors (accessory)
6 Switches for settings
7 Cover with connector for functional ground, to be removed for installation
8 Cover with industrial connector for Vdc supply voltage and IN/OUT fieldbus connection and with
connector for functional ground (optional)
9 Electrical interfaces

Motor
The motor is a brushless three-phase stepper motor.

Electronics
The electronic system comprises control electronics and power stage.
The drive can be parameterized and controlled via the fieldbus interface.
Four digital 24 V signals are also available. Each of these signals can be used as an input or output.

Holding Brake
The integrated drive is available with an optional integrated holding brake. The holding brake is controlled
automatically.

Vdc Supply Voltage

The Vdc supply voltage supplies the control electronics and the power stage.

Fieldbus Interface
The integrated drive features a Modbus TCP fieldbus interface.
The fieldbus interface is used for parameterizing and controlling the drive. The fieldbus interface allows the
integrated drive to be operated on a fieldbus via a master controller, for example, a logic controller.

0198441113664 08/2020 15
Introduction

Communication Interface RS-485

The RS-485 interface is used for commissioning the drive by means of the commissioning software.
The firmware can be updated via the RS-485 interface. Contact your Schneider Electric service represen-
tative for any firmware update.

24 Vdc Signal Interface

Four digital 24 Vdc signals are available. Each of these signals can be used as an input or output.
The 24 Vdc signals are available to the master controller.

16 0198441113664 08/2020
 Introduction

Nameplate

Overview
The nameplate contains the following data:

1 Type code
2 Type code (previous)
3 Nominal voltage
4 Nominal torque
5 Maximum input current
6 Nominal speed of rotation
7 Date of manufacture
8 Thermal class
9 Maximum surrounding air temperature
10 Firmware version
11 Hardware version
12 Firmware number
13 Commercial reference
14 Serial number

0198441113664 08/2020 17
Introduction

Type Code

Overview

Item 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Type code (example) I L S 2 T 5 7 1 P B 1 A 0 • •

Item Meaning
1 ... 3 Product family
ILS = Stepper motor
4 Supply voltage
2 = 24 ... 48 Vdc
5 Fieldbus interface
T = Modbus TCP
6 ... 7 Size
57 = 57 mm
85 = 85 mm
8 Length
1 = 1 stack
2 = 2 stacks
3 = 3 stacks
9 Winding
P = Medium speed of rotation/medium torque
T = High speed of rotation/medium torque
10 Connection version
B = Printed circuit board connector
C = Industrial connector
11 Index pulse
1 = With index pulse
12 Holding brake
A = Without holding brake
F = With holding brake
13 Gearbox
0 = Without gearbox
14 ... 15 Reserved

If you have questions concerning the type code, contact your Schneider Electric representative.

Designation Customized Version

In the case of a customized version, position 9 of the type code is an "S". The subsequent number defines
the customized version. Example: IL••••••S1234--
Contact your local Schneider Electric service representative if you have questions concerning customized
versions.

18 0198441113664 08/2020
 ILS2T Modbus TCP
Technical Data
0198441113664 08/2020

Chapter 2
Technical Data

Technical Data

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Environmental Conditions 20
Mechanical Data 22
Electrical Data 24
Electromagnetic Compatibility 26
Shaft-Specific Data 27
Data for Safety-Related Function STO 28
Conditions for UL 508C and CSA 29

0198441113664 08/2020 19
Technical Data

Environmental Conditions

Environmental Conditions for Operation

Characteristic Unit Value

Chemically active substances as per IEC 60721- 3C1
3-3, operation
Ambient temperature (no icing, non- °C 0 ... 40
condensing)(1) (°F) (32 ... 104)

Ambient temperature with current derating of 2 % °C 40 ... 55

per one degree Celsius (per 1.8 degrees (°F) (104 ... 131)
Fahrenheit)(1)
Relative humidity % 15 ... 85

Installation altitude (2) m < 1000

(ft) (< 3281)

Installation altitude(2) if all of the following m 1000 ... 2000

conditions are met: (ft) (3281 ... 6562)
 45 °C (113 °F) maximum ambient
temperature
 Reduction of the continuous power by 1% per
100 m (328 ft) above 1000 m (3281 ft)

Installation altitude(2) above mean sea level if all m 2000 ... 3000
of the following conditions are met: (ft) (6562 ... 9843)
 40 °C (104 °F) maximum ambient
temperature
 Reduction of the continuous power by 1% per
100 m (328 ft) above 1000 m (3281 ft)
(1) Limit values with flanged motor (for example, steel plate 300 x 300x10 mm).
(2) The installation altitude is defined in terms of altitude above mean sea level.

Environmental Conditions for Transportation and Storage

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

Characteristic Unit Value

Chemically active substances as per IEC 60721- 3C1
3-2, transportation
Chemically active substances as per IEC 60721- 3C1
3-1, storage
Ambient temperature (no icing, non-condensing) °C -25 ... 70
(°F) (-13 ... 158)
Relative humidity (non-condensing) % 5 ... 80

Vibration and Shock

Characteristic Value
Vibration, sinusoidal Type test with 10 runs as per IEC 60068-2-6
0.15 mm (10 Hz ... 60 Hz)
20 m/s2 (60 Hz 500 Hz)
Shock, semi-sinusoidal Type test with 3 shocks in each direction as per IEC 60068-
2-27
150 m/s2 (11 ms)

20 0198441113664 08/2020
 Technical Data

IP Degree of Protection
The integrated drive has the following IP degree of protection as per IEC 60529:

Item Component Degree of protection

1 Shaft bushing IP41(1)
Shaft bushing with GBX gearbox (accessory) IP54
2 Housing, except shaft bushing IP54
(1) In the case of mounting position IM V3 (shaft vertical, shaft end upward), the degree of protection is IP
40. The degree of protection does not relate to mounted components such as, for example, a gearbox.

The total degree of protection is determined by the component with the lowest degree of protection.

Pollution Degree

Characteristic Value
Pollution degree 2

0198441113664 08/2020 21
Technical Data

Mechanical Data

Dimensions of Integrated Drives with Size 57

1 Insert with cable entry (accessory)

2 Insert kit (accessory)
3 Industrial connector (option)

Dimension Unit ILS••57...

1P•1A0 2P•1A0 3P•1A0
Total length L mm 101.9 115.9 138.9
(in) (4.01) (4.56) (5.47)
Shaft diameter D mm 6.35 6.35 8
(in) (0.25) (0.25) (0.31)

22 0198441113664 08/2020
 Technical Data

Dimensions for Integrated Drives with Size 85

1 Insert with cable entry (accessory)

2 Insert kit (accessory)
3 Industrial connector (option)

Dimension Unit ILS••85...

1••1A0 1••1F0 2••1A0 2••1F0 3••1A0 3••1F0
Total length L mm 140.6 187.3 170.6 217.3 200.6 247.3
(in) (5.53) (7.37) (6.72) (8.56) (7.90) (9.74)
Shaft diameter D mm 12 12 12 12 14 14
(in) (0.47) (0.47) (0.47) (0.47) (0.55) (0.55)

0198441113664 08/2020 23
Technical Data

Electrical Data

Overview of Connectors

Connection Assignment
CN1 Connectors for Vdc supply voltage
CN2 Fieldbus interface for Modbus TCP
CN3 Commissioning interface
CN4 24 V signal interface
CN5 Connector for the safety-related function STO
CN6 Jumper for activating and deactivating the safety-related function STO

CN1: Vdc Supply Voltage

Characteristic Unit ILS••57• ILS••851, ILS••852 ILS••853

Nominal voltage Vdc 24 / 48 24 / 48 24 / 48
Minimum voltage 18 18 18
Maximum voltage 55.2 55.2 55.2
Ripple at nominal voltage Vpp ≤3.6 ≤3.6 ≤3.6
Maximum input current A
Winding type P 3.5 5 5
Winding type T - - 6
Overvoltage category - III at input of power supply unit, II at output of power supply unit (as
per IEC 61800-5-1)
Capacitance at VDC to 0VDC (for inrush µF 1500 1500 1500
current)
Fuse rating of fuse to be connected A ≤15 ≤15 ≤15
upstream
Type of fuse or circuit breaker to be -  Circuit-breaker (type Multi 9 - C60BP, M9F42115 by Schneider
connected upstream Electric, 15 A, tripping characteristic C), or
 Blade fuse (FKS, 15 A maximum), or
 Fuse (5 x 20 mm, 10 A, slow-blow)

PELV - Required
Galvanic isolation - No

CN2: Fieldbus Interface

The Modbus TCP signals comply with the IEEE 802.3 standard.

Characteristic Unit Value

Transmission rate MBit 10 / 100
Transmission protocol - Modbus TCP

24 0198441113664 08/2020
 Technical Data

Characteristic Unit Value

Galvanic isolation - Yes

CN3: Commissioning Interface

The RS485 signals comply with the RS485 standard.

Characteristic Unit Value

Transmission rate kBaud 9.6 / 19.2 / 38.4
Transmission protocol - Modbus RTU
Galvanic isolation - No

CN4: 24 V Signals
The signal inputs are not protected against reverse polarity.

Characteristic Unit Value

Logic 0 (Ulow) V -3 ... 4.5
Logic 1 (Uhigh) V 15 ... 30
Input current at 24 Vdc mA 2
Debounce time LIO1 ... LIO4 ms 1.25 ... 1.5

Debounce time LIO1 and LIO2 (1) ms 0.01

Jitter LIO1 and LIO2 ms <2

Galvanic isolation - No
(1) When the function "Fast Position Capture" is used

The internal 24 V power supply and the signal outputs are short-circuit protected.

Characteristic Unit Value

Nominal voltage V 24
Voltage range V 23 ... 25
Maximum current +24VDC_OUT mA 200
Maximum current per output mA 100
Maximum total current mA 200
Suitable for inductive loads mH 1000
Voltage drop at 50 mA load V ≤1
Galvanic isolation - No

CN5 and CN6: Safety-Related Function STO

Jumper CN6 to deactivate the safety-related function STO.

Characteristic Unit Value

Voltage for logic level 0 V -3 ...4.5
Voltage for logic level 1 V 15 ... 30
Input current STO_A at 24 Vdc mA ≤10
Input current STO_B at 24 Vdc mA ≤3
Debounce time ms 1
Detection of difference between level of STO_A s >1
and level of STO_B
Response time of safety-related function STO ms <50
Permissible duration of test pulses from ms <1
upstream devices
PELV - Required
Galvanic isolation - No

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Technical Data

Electromagnetic Compatibility

Electromagnetic Compatibility (EMC)

Characteristic Value
Emission Category C2 as per IEC 61800-3
Compliant with IEC 61000-6-4
Immunity Use permissible in second environment as per EN 61800-
3

NOTE: The emission category is independent of immunity. For example, if a power drive system has
emission category 2, this does not imply that it is only suitable for the first environment.
The equipment described in the present document is not intended for use in domestic, residential
environments and may not provide adequate protection to radio reception in such environments.

WARNING
INSUFFICIENT ELECTROMAGNETIC COMPATIBILITY
 Verify compliance with all EMC regulations and requirements applicable in the country in which the
device is to be operated and with all EMC regulations and requirements applicable at the installation
site.
 Do not install and operate the devices described in the present document in residential environments.
 Implement all required radio interference suppression measures and verify their effectiveness.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

NOTE: Compliance of the product described in the present manual with Directive 2014/30/EU of the
European Parliament and the Council (EMC Directive) is declared with reference to the harmonized
standard EN 61800-3 “Adjustable speed power drive systems - Part 3: EMC requirements and specific test
methods”. With regard to equipment of category 2, this harmonized standard and the Directive itself oblige
manufacturers to include the following statement in their product documentation: “In a domestic
environment this product may cause radio interference in which case supplementary mitigation measures
may be required.”

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 Technical Data

Shaft-Specific Data

Overview
If the maximum permissible forces at the motor shaft are exceeded, this will result in premature wear of the
bearing or shaft breakage.

WARNING
UNINTENDED EQUIPMENT OPERATION DUE TO MECHANICAL DAMAGE TO THE MOTOR
 Do not exceed the maximum permissible axial and radial forces at the motor shaft.
 Protect the motor shaft from impact.
 Do press output components onto the shaft unless the shaft has a thread that can be used for pressing
on.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Mounting Output Components

If the shaft has a thread, use it to press on the component to be mounted. This way there is no axial force
acting on the rolling bearing.
It is also possible to shrink-fit, clamp, or glue the component to be mounted.

Shaft Load
The following conditions apply:
 The permissible force applied during pressing on must not be exceeded.
 The maximum permissible radial force and the maximum permissible axial force must not be applied
simultaneously.
 Nominal bearing service life in operating hours at a probability of failure of 10% (L10h = 20000 hours)
 Mean speed of rotation n = 60 RPM
 Ambient temperature = 40 °C (104 °F)
 Nominal torque = Duty type S1, 100% duty cycle

The following figure shows the points of application of forces:

The following table shows the maximum radial and axial forces:

Characteristic Unit Value

ILS2•571 ILS2•572 ILS2•573 ILS2•851 ILS2•852 ILS2•853
Maximum radial force FR at 100% duty N 24 24 50 100 100 110
cycle and X = 10.5 mm (0.41 in) (lbf) (5.40) (5.40) (11.24) (22.48) (22.48) (24.73)
Maximum axial force FA at 100% duty N 100 100 100 170 170 170
cycle, tension (lbf) (22.48) (22.48) (22.48) (38.22) (38.22) (38.22)
Maximum axial force FA at 100% duty N 8.4 8.4 8.4 30 30 30
cycle, compression (lbf) (1.89) 1.89) (1.89) (6.74) (6.74) (6.74)

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Technical Data

Data for Safety-Related Function STO

Data for Safety-Related Calculations and Maintenance Plan

The safety-related function must be triggered at regular intervals. The interval depends on, among other
things, the risk assessment for the overall system. The minimum interval is one year (high demand mode
as per IEC 61508).
Use the following data of the safety-related function STO for the maintenance plan of your machine and
for the calculations for functional safety:

Lifetime of the safety-related function STO Years 20

(IEC 61508)(1)
SFF (IEC 61508) % 47
Safe Failure Fraction
HFT (IEC 61508) - 1
Hardware Fault Tolerance
Type A subsystem
Safety Integrity Level (IEC 61508) - SIL2
Safety Integrity Level Claim Limit (IEC 62061) SILCL2
PFH (IEC 61508) 1/h 5.223*10-9
Probability of Dangerous Hardware Failure per
Hour
PL (ISO 13849-1) - d (category 3)
Performance Level
MTTFd (ISO 13849-1) Years 1995
Mean Time to Dangerous Failure
DC (ISO 13849-1) % 90
Diagnostic Coverage
Demand Mode (IEC 61508) - High Demand Mode (safety-related function
must be triggered at least once per year)
(1) Refer to the chapter Lifetime Safety-Related Function STO (see page 236).

Contact your local Schneider Electric representative for additional data, if required.

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Conditions for UL 508C and CSA

Description
If the product is used to comply with UL 508C, the following conditions must also be met:

PELV Power Supply

Use only power supply units that are approved for overvoltage category III.

Motor Overload Protection

This equipment provides Solid State Motor Overload Protection at 200 % of maximum FLA (Full Load
Ampacity).

Fuses
The product was tested with a UL-listed 15 A circuit breaker. The product must be fused either with a UL-
listed circuit breaker or a fuse for "Branch Circuit Protection" as per UL 248 with a maximum current of 15 A
and DC rating.

Wiring
Use at least 60/75 °C copper conductors.

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 ILS2T Modbus TCP
Engineering
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Chapter 3
Engineering

Engineering

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
3.1 Electromagnetic Compatibility (EMC) 32
3.2 Power Supply 34
3.3 Functional Safety 37
3.4 Modbus TCP Fieldbus 44
3.5 Modbus TCP Communication 47
3.6 Modbus Services - "Function Code" 58

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Engineering

Section 3.1
Electromagnetic Compatibility (EMC)

Electromagnetic Compatibility (EMC)

Electromagnetic Compatibility (EMC)

EMC-Compliant Wiring
This product meets the EMC requirements according to the standard EN 61800-3 if the measures
described in this manual are implemented during installation.
Signal interference can cause unexpected responses of the drive system and of other equipment in the
vicinity of the drive system.

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

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

Refer to the chapter Electromagnetic Compatibility (see page 26) for technical data on EMC.
NOTE: The emission category is independent of immunity. For example, if a power drive system has
emission category 2, this does not imply that it is only suitable for the first environment.
The equipment described in the present document is not intended for use in domestic, residential
environments and may not provide adequate protection to radio reception in such environments.

WARNING
INSUFFICIENT ELECTROMAGNETIC COMPATIBILITY
 Verify compliance with all EMC regulations and requirements applicable in the country in which the
device is to be operated and with all EMC regulations and requirements applicable at the installation
site.
 Do not install and operate the devices described in the present document in residential environments.
 Implement all required radio interference suppression measures and verify their effectiveness.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Shielded Cables

EMC measures Objective

Connect large surface areas of cable shields, use cable clamps and Reduces emissions.
ground straps.
Ground shields of digital signal wires at both ends by connecting them to Reduces interference affecting the
a large surface area or via conductive connector housings. signal wires, reduces emissions

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Cable Installation

EMC measures Objective

Do not route fieldbus cables and signal wires in a single cable duct Reduces mutual interference
together with lines with DC and AC voltages of more than 60 V. (Fieldbus
cables, signal lines and analog lines may be in the same cable duct)
Use separate cable ducts at least 20 cm (7.87 in) apart.
Keep cables as short as possible. Do not install unnecessary cable Reduces capacitive and inductive
loops, use short cables from the central grounding point in the control interference.
cabinet to the external ground connection.
Use equipotential bonding conductors in the following cases: wide-area Reduces current in the cable
installations, different voltage supplies and installation across several shield, reduces emissions.
buildings.
Use fine stranded equipotential bonding conductors. Diverts high-frequency
interference currents.
If motor and machine are not conductively connected, for example by an Reduces emissions, increases
insulated flange or a connection without surface contact, you must immunity.
ground the motor with a ground strap or a ground wire. The conductor
cross section must be at least 10 mm2 (AWG 6).

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Section 3.2
Power Supply

Power Supply

What Is in This Section?

This section contains the following topics:
Topic Page
External Power Supply Units 35
Wiring Information 36

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External Power Supply Units

General Information

WARNING
UNINTENDED EQUIPMENT OPERATION
 Use power supply units that meet the PELV (Protective Extra Low Voltage) requirements.
 Connect the 0 Vdc outputs of all power supply units to FE (functional earth/functional ground), for
example, for the VDC supply voltage and for the 24 Vdc voltage for the safety-related function STO.
 Interconnect all 0 Vdc outputs (reference potentials) of all power supply units used for the drive.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

The motor regenerates energy during deceleration and when external driving forces act on the motor shaft.
This can increase the VDC voltage up to 60 Vdc. The DC bus can absorb a limited amount of energy via
the capacitors. If the capacity of the capacitors is exceeded, this results in overvoltage on the DC bus.
Overvoltage on the DC bus causes the power stage to be disabled. The motor is no longer actively
decelerated.

WARNING
LOSS OF CONTROL DUE TO REGENERATION CONDITION
 Verify that the integrated drive can absorb the entire energy generated during deceleration by
performing test runs under maximum load conditions.
 Install an external Braking Resistor Controller (UBC60) if the integrated drive cannot absorb the entire
energy generated under maximum load conditions.
 Verify that all equipment is properly isolated from high Vdc voltage for which it is not rated, or use
properly rated equipment.
 Only use power supply units that can withstand the voltage that may be present during regeneration
conditions.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Refer to the chapter Accessories (see page 231) for a braking resistor controller. Refer to the user guide
of the braking resistor controller for additional details.
Reverse polarity of the Vdc supply voltage leads to a short-circuit.

NOTICE
INCORRECT POLARITY
Verify correct polarity of the Vdc supply voltage before applying power.
Failure to follow these instructions can result in equipment damage.

The external power supply unit must be rated for the power requirements of the drive. Refer to the chapter
Electrical Data (see page 24) for the input current.

Fusing
Install the fusing specified in the chapter Electrical Data (see page 24).

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Wiring Information

Description
The reference potential of interfaces without galvanic isolation is internally connected via 0VDC. If the
negative connection (0VDC) between the power supply and the drive is interrupted, the current of the
power stage flows via the negative connection of the interfaces without galvanic isolation.

WARNING
LOSS OF CONTROL
 Do not interrupt the negative connection between the power supply unit and the drive, for example, by
means of a switch or a fuse.
 Connect the reference potential of interfaces with galvanic isolation to 0VDC.
 Do not connect the reference potential of interfaces without galvanic isolation to 0VDC.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Wiring the product:

 Keep the voltage drop on the supply cables for the Vdc supply voltage to less than 1 V. The reference
potential of some interfaces are connected to 0VDC. At higher potential differences, the communication
and control signals can be disturbed.
Decentralized power supply units for VDC close to the drives are advisable if the drives are installed at
greater distances from each other. Connect 0VDC of the individual power supply units with the largest
possible conductor cross section.
 Do not connect any other power supply in parallel with the internal 24 V power supply (+24VDC_OUT).
This may cause overloads of the internal 24 V power supply.

Equipotential Bonding Conductors

Potential differences can result in excessive currents on the cable shields. Use equipotential bonding
conductors to reduce currents on the cable shields. The equipotential bonding conductor must be rated for
the maximum current.

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Section 3.3
Functional Safety

Functional Safety

What Is in This Section?

This section contains the following topics:
Topic Page
Definitions 38
Function 39
Requirements for Using the Safety-Related Function STO 40
Application Examples STO 42

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Definitions

Integrated Safety-Related Function "Safe Torque Off" STO

The integrated safety-related function STO (IEC 61800-5-2) allows for a category 0 stop as per IEC 60204-
1 without external power contactors. It is not necessary to interrupt the supply voltage for a category 0 stop.
This reduces the system costs and the response times.

Category 0 Stop (IEC 60204-1)

In stop category 0 (Safe Torque Off, STO), the drive coasts to a stop (provided there are no external forces
operating to the contrary). The safety-related function STO is intended to help prevent an unintended start-
up, not stop a motor, and therefore corresponds to an unassisted stop in accordance with IEC 60204-1.
In circumstances where external influences are present, the coast down time depends on physical
properties of the components used (such as weight, torque, friction, etc.), and additional measures such
as external safety-related brakes may be necessary to help prevent any hazard from materializing. That is
to say, if this means a hazard to your personnel or equipment, you must take appropriate measures.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Make certain that no hazards can arise for persons or material during the coast down period of the
axis/machine.
 Do not enter the zone of operation during the coast down period.
 Ensure that no other persons can access the zone of operation during the coast down period.
 Use appropriate safety interlocks where personnel and/or equipment hazards exist.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Category 1 Stop (IEC 60204-1)

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

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Function

General
The safety-related function STO integrated into the product can be used to implement an "EMERGENCY
STOP" (IEC 60204-1) for category 0 stops. With an additional, approved EMERGENCY STOP safety relay
module, it is also possible to implement category 1 stops.

Function Principle
The safety-related function STO is triggered via two redundant signal inputs. The wiring of the two signal
inputs must be separate.
The safety-related function STO is triggered if the level at one of the two signal inputs is 0. The power stage
is disabled. The motor can no longer generate torque and coasts down without braking. An error of error
class 3 is detected.
If, within one second, the level of the other output also becomes 0, the error class remains 3. If, within one
second, the level of the other output does not become 0, the error class changes to 4.

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Requirements for Using the Safety-Related Function STO

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

DANGER
ELECTRIC SHOCK
 Do not use the safety-related function STO for any other purposes than its intended function.
 Use an appropriate switch, that is not part of the circuit of the safety-related function STO, to
disconnect the drive from the mains power.
Failure to follow these instructions will result in death or serious injury.

After the safety-related function STO is triggered, the motor can no longer generate torque and coasts
down without braking.

WARNING
UNINTENDED EQUIPMENT OPERATION
Install a dedicated, external safety-related brake if coasting does not meet the deceleration requirements
of your application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Logic Type
The inputs for the safety-related function STO (inputs STO_A and STO_B) can only be wired for positive
logic.

Holding Brake and Safety-Related Function STO

When the safety-related function STO is triggered, the power stage is immediately disabled. Applying the
holding brake requires a certain amount of time. In the case of vertical axes or external forces acting on
the load, you may have to take additional measures to bring the load to a standstill and to keep it at a
standstill when the safety-related function STO is used, for example, by using a service brake.

WARNING
FALLING LOAD
Ensure that all loads come to a secure standstill when the safety-related function STO is used.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

If the suspension of hanging / pulling loads is a safety objective for the machine, then you can only achieve
this objective by using an appropriate external brake as a safety-related measure.

WARNING
UNINTENDED AXIS MOVEMENT
 Do not use the internal holding brake as a safety-related measure.
 Only use certified external brakes as safety-related measures.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

NOTE: The drive does not provide its own safety-related output to connect an external brake to use as a
safety-related measure.

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 Engineering

Unintended Restart

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that your risk assessment covers all potential effects of automatic or unintended enabling of the
power stage, for example, after power outage.
 Implement all measures such as control functions, guards, or other safety-related functions, required
to reliably protect against all hazards that may result from automatic or unintended enabling of the
power stage.
 Verify that a master controller cannot enable the power stage in an unintended way.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

WARNING
UNINTENDED EQUIPMENT OPERATION
Set the parameter IO_AutoEnable to "off" if the automatic enabling of the power stage presents
hazards in your application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Degree of Protection when the Safety-Related Function STO is Used

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

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

Protected Cable Installation

If short circuits and other wiring errors such as a cross circuit between the signals of the safety-related
function STO can be expected in connection with safety-related signals, and if these short circuits and
cross circuits are not detected by upstream devices, protected cable installation as per ISO 13849-2 is
required.
In the case of an unprotected cable installation, the two signals (both channels) of a safety-related function
may be connected to external voltage if a cable is damaged. If the two channels are connected to external
voltage, the safety-related function is no longer operative.
ISO 13849-2 describes protected cable installation for cables for safety-related signals. The cables for the
safety-related function STO must be protected against external voltage. A shield with ground connection
helps to keep external voltage away from the cables for the signals of the safety-related function STO.
Ground loops can cause problems in machines. A shield connected at one end only is sufficient for
grounding and does not create a ground loop.
 Use shielded cables for the signals of the safety-related function STO.
 Do not use the cable for the signals of the safety-related function STO for other signals.
 Connect one end of the shield.

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Engineering

Application Examples STO

Example of Category 0 stop

Use without EMERGENCY STOP safety relay module, category 0 stop.
Example of category 0 stop:

In this example, when an EMERGENCY STOP is activated, it leads to a category 0 stop.

The safety-related function STO is triggered via a simultaneous 0-level at both inputs (time offset of less
than 1 s). The power stage is disabled and an error of error class 3 is detected. The motor can no longer
generate torque.
If the motor is not already at a standstill when the safety-related function STO is triggered, it decelerates
under the salient physical forces (gravity, friction, etc.) active at the time until presumably coasting to a
standstill.
If coasting of the motor and its potential load is unsatisfactory as determined by your risk assessment, an
external safety-related brake may also be required.

WARNING
UNINTENDED EQUIPMENT OPERATION
Install a dedicated, external safety-related brake if coasting does not meet the deceleration requirements
of your application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Refer to the chapter Holding Brake and Safety-Related Function STO (see page 40).

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 Engineering

Example of Category 1 stop

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

In this example, when an EMERGENCY STOP is activated, it leads to a category 1 stop.

The EMERGENCY STOP safety relay module requests an immediate stop (undelayed) of the drive. After
the time delay set in the EMERGENCY STOP safety relay module has elapsed, the EMERGENCY STOP
safety relay triggers the safety-related function STO.
The safety-related function STO is triggered via a simultaneous 0-level at both inputs (time offset of less
than 1 s). The power stage is disabled and an error of error class 3 is detected. The motor can no longer
generate torque.
If coasting of the motor and its potential load is unsatisfactory as determined by your risk assessment, an
external safety-related brake may also be required.

WARNING
UNINTENDED EQUIPMENT OPERATION
Install a dedicated, external safety-related brake if coasting does not meet the deceleration requirements
of your application.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Refer to the chapter Holding Brake and Safety-Related Function STO (see page 40).

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Engineering

Section 3.4
Modbus TCP Fieldbus

Modbus TCP Fieldbus

What Is in This Section?

This section contains the following topics:
Topic Page
Modbus TCP Technology 45
Modbus TCP Protocol 46

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 Engineering

Modbus TCP Technology

Function Principle
Modbus TCP is an Ethernet fieldbus. Modbus TCP describes the transmission of the Modbus protocol via
the Ethernet interface and the TCP/IP transport and network layers.
The Modbus TCP client (master) connects to the Modbus TCP server (slave). Once the connection is
established, the client sends Modbus requests to the server. These requests are processed by the server.
The result is returned to the client as a Modbus response.
The Modbus TCP services are identical to the Modbus RTU services.

Bus Topology
Modbus TCP allows for the use of hubs or switches. Use switches in the case of high bus loads with many
devices.
The maximum length of a segment is 100 m (328 ft). A segment consists of devices and hubs. A network
can be subdivided into several segments by means of gateways or switches. For a fast bus cycle, keep the
cables short and use a star topology.
The transmission rate is 10 or 100 MBit/s in half-duplex mode. If switches are used, transmission is also
possible in full duplex mode.

Client-Server Model

The Modbus messaging service implements client-server communication between devices connected by
means of a TCP/IP network. Modbus TCP does not use an object dictionary.
The client-server model is based on four types of messages:
 Request: Message sent by the client to initiate a transaction.
 Indication: Request as received by the server.
 Response: Response message to the request sent by the server.
 Confirmation: Response as received by the client.
A communication cycle consists of the request from the client (request from the fieldbus master) and a
response from the server (response from the fieldbus slave). Modbus request and Modbus response have
the same structure. If an error is detected on receipt of the Modbus request or if the slave cannot execute
the action, the slave sends an error message in the Modbus response.
The drive analyzes the Modus requests received. Depending on the Modbus request, the drive triggers
actions or provides requested data.

Network Service SNMP

The Network Management System can exchange data with SNMP devices. The tasks of the network
management system comprise monitoring, control, and configuration of network components as well as
error detection and error messaging.
The product supports SNMP version 1.0. An SNMP agent must be used to monitor a network with SNMP.

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Engineering

Modbus TCP Protocol

Overview
The Modbus protocol defines a Modbus PDU (Protocol Data Unit) which is independent of the underlying
communication layers. This Modbus PDU consists of the fields “Function Code” and “Data”. Depending on
the mapping to the different network protocols, the Modbus PDU is extended by additional fields in the
Modbus ADU (Application Data Unit). The Modbus PDU and the Modbus ADU constitute the Modbus
message, also referred to as “Frame”.
Structure of a Modbus message

The “Function Code” of a message specifies the Modbus service to be triggered. The “Data” field can
contain additional information, depending on the “Function Code”.
Due to the encapsulation of “Function Code” and “Data” in the Modbus PDU, different Modbus versions
can use same Modbus services and object model.
The maximum size of a Modbus ADU is 260 bytes. The size of an embedded Modbus PDU is 253 bytes.

MBAP Header
The MBAP header contains the information allowing the recipient to uniquely identify a message.
The MBAP header has a length of seven bytes and contains the following fields:

Field Length Description

Transaction Identifier 2 bytes Identification of a Modbus request or Modbus response.
Protocol Identifier 2 bytes Value 0 means Modbus protocol.
Length 2 bytes Byte counter for the subsequent fields (“Unit Identifier”,
“Function Code” and "Data").
Unit Identifier 1 byte Identification of a slave connected to another bus via a serial
line.

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Section 3.5
Modbus TCP Communication

Modbus TCP Communication

What Is in This Section?

This section contains the following topics:
Topic Page
Connection management 48
Modbus Response to a Modbus Request 49
Reading and Writing Parameters 50
I/O Scanning to "Drive Profile Lexium" 51
I/O Scanning - Output 52
I/O Scanning - Input 55

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Engineering

Connection management

Establishing of a Connection
The Modbus TCP server allows for TCP connections via the default port 502. A client can establish a new
connection via this port. If the client is to exchange data with a remote server, a new client connection via
remote port 502 must be established.

Closing a Connection
After the Modbus communication between the client and a server is finished, the client causes the
connection used to be closed.
The server does not close the connection under normal circumstances.
However, when errors are detected, the server closes the connection, for example:
 Communication error detected
 Communication inactivity
 Maximum number of connections reached
The product can manage up to 8 TCP connections. If an attempt is made to establish a further connection
beyond this maximum, the oldest unused connection is closed. If it is impossible to close the oldest unused
connection, a new connection cannot be established.

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Modbus Response to a Modbus Request

Overview
The Modus server generates a Modbus response after having processed a Modbus request.
Two types of Modbus responses are possible:
 Positive Modbus response
 The "Function Code" in the Modbus response corresponds to the "Function Code" in the Modbus
request.
 Negative Modbus response
 The client receives pertinent information on error detection during processing;
 The "Function Code" in the Modbus response corresponds to the "Function Code" in the Modbus
request + 80h.
 The "Exception Code" indicates the cause of the error.

If a syntactically incorrect Modbus PDU (Protocol Data Unit) is transmitted, the connection is terminated.
In the case of other errors, a negative Modbus response is sent.

Exception Modbus name (as per Modbus Description

Code specifications)
01 Illegal Function The "Function Code" cannot be processed by the server.
02 Illegal Data Address Depends on the Modbus request
03 Illegal Data Value Depends on the Modbus request
04 Server Failure The server was unable to properly process the request.
You can use Function Code 8 to read the vendor-specific
error code.
05 Acknowledge The server has accepted the Modbus request. However,
the execution takes a relatively long time. The server
therefore only returns an acknowledgement confirming
receipt of the service request.
06 Server Busy The server was unable to accept the Modbus request. It is
the responsibility of the application on the client to
determine whether and when to re-send the request.
0A Gateway Problem The gateway path is unavailable.
0B Gateway Problem The targeted device does not respond. This condition is
detected by the gateway.

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Reading and Writing Parameters

Overview
Parameters are processed as 32 bit values. 16 bit values must also be processed as 32 bit values. Two
consecutive 16 bit parameters must be read or written to process a 16 bit parameter. The Modbus address
of the first 16-bit parameter must be used.
If several consecutive parameters are to be processed, a single Modbus command with the corresponding
Modbus address and the length indication is sufficient.
NOTE: This does not apply to reading and writing parameters with addresses in the range from 6656
(1A00 hex) to 6911 (1AFF hex).
In this range, only a single parameter can be addressed with one Modbus command.

Example
Reading the parameter RAMPn_max.
Modbus address: 1554
When the parameter RAMPn_max with the address 1554 and length 2 is read, the two parameter addresses
1554 and 1555 are read. Result:

Address Value
1554 3390 hex
1555 0000 hex

The sequence of the words can be changed via the parameter 6410 (190A hex) for the corresponding
Modbus TCP connection.

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I/O Scanning to "Drive Profile Lexium"

Overview
I/O scanning is used for cyclic interchange of data between master and slave.
I/O scanning must be configured on the master. The master can use 2 different approaches for I/O
scanning:
 "Function Code" 23 (17 hex), Read-Write Multiple Registers
 "Function Code" 3 (03 hex), Read Multiple Registers and "Function Code" 16 (10 hex), Write Multiple
Registers
The read value is 0 until the first write command is executed.

Settings
The following setting must be made on the master before you can use I/O scanning:
 The "Unit Identifier" is 255.
 The data length is 8 bytes.
The Modbus addresses for I/O scanning do not differ from the addresses for normal Modbus access.

Output - Input
Output and input refer to the direction of data transmission from the perspective of the master.
 Output: Commands from the master to the slave
 Input: Status messages from the slave to the master

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I/O Scanning - Output

Overview
The table below shows the structure of the cyclic data for the commands from the master to the product.

Address Byte Name

6922 0 driveControl
1 modeControl
2 ... 3 Ref_16
6924 0 ... 3 Ref_32

Byte “driveControl”
The byte "driveControl" is used to set the operating state.

Bit Name Meaning Operating state

0 DS Disable the power stage 6 Operation Enabled -> 4 Ready To Switch On
1 EN Enable the power stage 4 Ready To Switch On -> 6 Operation Enabled
2 QS Perform “Quick Stop” 6 Operation Enabled -> 7 Quick Stop Active
3 FR Perform “Fault Reset” 7 Quick Stop Active -> 6 Operation Enabled
9 Fault -> 4 Ready To Switch On
4 - Reserved -
5 SH Perform “Halt” 6 Operation Enabled
6 CH Clear “Halt” 6 Operation Enabled
7 CU Resume operating mode interrupted by 6 Operation Enabled
“Halt”

In the case of a write access, the bits respond to a transition from 0 to 1 to trigger the corresponding
function.
If a request for changing the operating state is not successful, this request is ignored. There is no error
response.
If the bits 0 ... 7 are set to 0, the power stage is disabled.
Ambivalent bit combinations are treated in accordance with the following priority list (highest priority bit 0,
lowest priority bit 6 and bit 7):
 Bit 0 (disable power stage) takes precedence over bit 1 (enable power stage)
 Bit 2 (perform “Quick Stop”) takes precedence over bit 3 (perform “Fault Reset”)
 Bit 5 (perform “Halt”) takes precedence over bit 6 (clear “Halt”) and bit 7 (resume operating mode
interrupted by “Halt”)
If an error of error class 2 or error class 3 is detected, a “Fault Reset” can only be performed if the value of
bit 1 (enable power stage) is 0.

Byte “modeControl”, Word “Ref_16” and Double Word “Ref_32”

The byte "modeControl" is used to set the operating mode.

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Bit Name Description

0 ... 3 MODE Operating Mode
Value 1: Jog
Value 2: Homing
Value 3: Profile Position
Value 4: Profile Velocity
4 ... 6 ACTION Operating mode-dependent
7 MT Bit “MT” (Mode Toggle)

The operating mode can be activated or target values can be modified by supplying or setting the following
values:
 Target values, depending on required operating mode
 Operating mode in “modeControl”, bits 0 ... 3 (MODE).
 Action for this operating mode, bits 4 ... 6 (ACTION)
 Toggle bit 7 (MT)

MODE ACTION Description Byte Word “Ref_16” Double Word “Ref_32”

“modeControl”
1 0 Jog 01 hex Corresponds to -
parameter
JOGactivate
2 0 Homing: 02 hex - Position for position
Position Setting setting
Corresponds to
parameter
HMp_homeusr
1 Homing: 12 hex Homing method -
Reference movement Corresponds to
parameter HMmethod
3 0 Profile Position 03 hex Target velocity Target position
Absolute movement Corresponds to Corresponds to
parameter PPn_target parameter PPp_absusr
1 Profile Position 13 hex Target velocity Target position
Relative movement Corresponds to Corresponds to
with reference to the parameter PPn_target parameter
target position PPp_relprefusr
2 Profile Position 23 hex Target velocity Target position
Relative movement Corresponds to Corresponds to
with reference to the parameter PPn_target parameter
actual position PPp_relprefusr
4 0 Profile Velocity 04 hex Target velocity -
Corresponds to
parameter PVn_target

If the values of bit 0 to bit 7 in “modeControl” are zero during transmission, the transmitted additional data
is not processed and no error message is detected.
Operating mode data (operating mode, reference position and reference velocity) that is transmitted
simultaneously with a single access is only processed if bit 7 (MT) was toggled.
Toggling means that a change of edge of this bit from 0 to 1 or from 1 to 0 has been detected since the last
transmission.
Procedure for activating an operating mode or for modifying reference values:
1. Reference values in the fields “Ref_16” and “Ref_32” (0 must be entered in unused fields)

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2. Operating mode with “modeControl” bits 0 ... 3 (MODE)

3. Action for this operating mode with “modeControl” bits 4 ... 6 (ACTION)
4. Toggle “modeControl”, bit 7 (MT)

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I/O Scanning - Input

Overview
The table below shows the structure of the cyclic data for the status messages from the product to the
master.

Address Byte Name

6926 0 ... 1 driveStat
2 modeStat
3 Digital IO
6928 0 ... 1 ActionWord
2 ... 3 Special Functions

Word “driveStat”
The operating state is indicated with the "driveStat" word.

Bit Name Meaning

0 ... 3 STATE Operating state (binary coded)
1 Start
2 Not Ready To Switch On
3 Switch On Disabled
4 Ready To Switch On
5 Switched On
6 Operation Enabled
7 Quick Stop Active
8 Fault Reaction Active
9 Fault
4 ... 5 - Reserved
6 ERROR Error detected (error classes 1 ... 3)
7 WARN Error detected (error class 0)
8 HALT “Halt” is active
9 ... 12 - Reserved
13 X_INFO Operating mode-specific information
14 X_END 0: Operating mode started
1: Operating mode terminated
15 X_ERR 0: No error detected
1: Error detected

Byte “modeStat”
The byte "modeStat" is used to indicate the set operating mode.

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Bit Name Description

0 ... 3 MODE Indicates the set operating mode
Value 1: Jog
Value 2: Homing
Value 3: Profile Position
Value 4: Profile Velocity
4 - Reserved
5 ref_ok Zero point is valid.
6 ME The bit “ME” (Mode Error) relates to parameters that depend on the bit “MT” (Mode
Toggle). The bit “ME” (Mode Error) is set to 1 if a request (for example, starting an
operating mode) was rejected.
7 MT Bit “MT” (Mode Toggle)

Byte “Digital IO”

The byte "Digital IO" is used to indicate the state of the digital signal inputs.

Bit Signal Factory setting

0 LIO1 Signal input function Positive Limit Switch (LIMP)
1 LIO2 Signal input function Negative Limit Switch (LIMN)
2 LIO3 Signal input function Freely Available
3 LIO4 Signal input function Reference Switch (REF)
4 STO_A Signal STO_A of safety-related function STO
5 STO_B Signal STO_B of safety-related function STO
6 ... 7 - Reserved

Word “ActionWord”
The word "ActionWord" is used to provide information on the motor and profile generator.

Bit Meaning
0 ... 5 Reserved
6 MOTZ: Motor at a standstill
7 MOTP: Motor movement in positive direction
8 MOTN: Motor movement in negative direction
9 PWIN: Inside position deviation window
10 Reserved
11 TAR0: Profile generator at standstill
12 DEC: Profile generator decelerates
13 ACC: Profile generator accelerates
14 CNST: Profile generator moves at constant velocity
15 Reserved

Word “Special Functions”

The word "Special Functions" is used to indicate the state of the counter of the capture inputs.

Bit Meaning
0 Bit 0 of the counter of the capture input 1.

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Bit Meaning
1 Bit 1 of the counter of the capture input 1.
2 Bit 0 of the counter of the capture input 2.
3 Bit 1 of the counter of the capture input 2.
4 ... 15 Reserved

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Section 3.6
Modbus Services - "Function Code"

Modbus Services - "Function Code"

What Is in This Section?

This section contains the following topics:
Topic Page
"Function Code" 3 (Read Multiple Registers) 59
"Function Code" 8 (Diagnostics) 60
"Function Code" 16 (Write Multiple Registers) 61
"Function Code" 23 (ReadWrite Multiple Registers) 62
"Function Code" 43 (Encapsulated Interface Transport) 63
Example of "Function Code" 3 64
Example of "Function Code" 16 65

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"Function Code" 3 (Read Multiple Registers)

Description
The "Function Code" 3 (Read Multiple Registers) allows you to read several consecutive parameters,
starting at any address.

Modbus Request
Structure of the Modbus request:

Field Bytes Value Meaning

Function Code 1 3 = 03 hex Read Multiple Registers
Starting Address 2 (various) Address of the first parameter to be read
Quantity Of 2 2*n Number of 16 bit values to be read
Registers (1 parameter has the value 2 since a parameter
consists of a 32 bit value)

Modbus Response
Structure of the positive Modbus response:

Field Bytes Value Meaning

Function Code 1 3 = 03 hex Read Multiple Registers
Byte Count 1 4*n Number of data bytes
Registers Value 4*n (various) Parameter values

Structure of the negative Modbus response

Field Bytes Value Meaning

Function Code 1 03 hex + 80 hex = 83 hex Read Multiple Registers
Exception Code 1 01 hex ... 04 hex See chapter Modbus Response to a Modbus
Request (see page 49)

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"Function Code" 8 (Diagnostics)

Description
The "Function Code" 8 (Diagnostics) allows you to read diagnostics data of the slave.

Modbus Request
Structure of the Modbus request:

Field Bytes Value Meaning

Function Code 1 8 = 08 hex Diagnostics
Sub-function Code 2 (various) Diagnostics function
Data 2 (various) Data (depending on diagnostics function)

Modbus Response
Structure of the positive Modbus response:

Field Bytes Value Meaning

Function Code 1 8 = 08 hex Diagnostics
Sub-function Code 2 (various) Diagnostics function
Data 2 (various) Diagnostics data

Structure of the negative Modbus response

Field Bytes Value Meaning

Function Code 1 08 hex + 80 hex = 88 hex Diagnostics
Exception Code 1 01 hex ... 04 hex See chapter Modbus Response to a Modbus
Request (see page 49)

Sub-Function Code
The following diagnostics functions are available:

Sub-function Code Diagnostics function

00 Return Query Data Return request as a response
01 Restart Communication Re-initialize the communication port
Option
02 Return Diagnostic Register Return the error code (see page 198) in the case of synchronous errors
03 (reserved) –
04 Force Listen Only Mode Force "Listen Only" mode of slave
05 ... 09 (reserved) –
10 Clear Counters and Clear the statistical counters
Diagnostic Register
11 Return Bus Message Count Return number of detected "Bus Message"s
12 Return Bus Communication Return number of detected "Bus Communication Error"s
Error Count
13 Return Bus Exception Error Return number of detected "Bus Exception Error"s
Count
14 ... 15 (reserved) –
16 Return Slave NAK Count Return number of detected "Slave Not-Acknowledged"s
17 Return Slave Busy Count Return number of detected "Slave Busy"s
18 Return Bus Char Overrun Return number of detected "Bus Char Overrun"s
Count
>18 (reserved) –

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"Function Code" 16 (Write Multiple Registers)

Description
The "Function Code" 16 (Write Multiple Registers) allows you to write several consecutive parameters,
starting at any address.

Modbus Request
Structure of the Modbus request:

Field Bytes Value Meaning

Function Code 1 16 = 10 hex Write Multiple Registers
Starting Address 2 (various) Address of the first parameter to be written
Quantity Of 2 2*m Number of 16 bit values to be written
Registers (1 parameter has the value 2 since a parameter
consists of a 32 bit value)
Byte Count 1 4*m Number of data bytes
Registers Value 2*m (various) Parameter values

Modbus Response
Structure of the positive Modbus response:

Field Bytes Value Meaning

Function Code 1 16 = 10 hex Write Multiple Registers
Starting Address 2 (various) Corresponds to the Modbus request
Quantity Of 2 2*m Corresponds to the Modbus request
Registers

Structure of the negative Modbus response

Field Bytes Value Meaning

Function Code 1 10 hex + 80 hex = 90 hex Write Multiple Registers
Exception Code 1 01 hex ... 04 hex See chapter Modbus Response to a Modbus
Request (see page 49)

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"Function Code" 23 (ReadWrite Multiple Registers)

Description
The "Function Code" 23 (ReadWrite Multiple Registers) allows you to read and write several consecutive
parameters, starting at any address.

Modbus Request
Structure of the Modbus request:

Field Bytes Value Meaning

Function Code 1 23 = 17 hex Read/Write Multiple Registers
Read Starting 2 (various) Address of the first parameter to be read
Address
Quantity To Read 2 2*n Number of 16 bit values to be read
(1 parameter has the value 2 since a parameter
consists of a 32 bit value)
Write Starting 2 (various) Address of the first parameter to be written
Address
Quantity To Write 2 2*m Number of 16 bit values to be written
(1 parameter has the value 2 since a parameter
consists of a 32 bit value)
Write Byte Count 1 4*m Number of data bytes
Write Registers 4*m (various) Parameter values
Value

Modbus Response
Structure of the positive Modbus response:

Field Bytes Value Meaning

Function Code 1 23 = 17 hex Read/Write Multiple Registers
Byte Count 1 2*n Number of data bytes
Read Registers 2*n (various) Parameter values
Value

Structure of the negative Modbus response

Field Bytes Value Meaning

Function Code 1 17 hex + 80 hex = 97 hex Read/Write Multiple Registers
Exception Code 1 01 hex ... 04 hex See chapter Modbus Response to a Modbus
Request (see page 49)

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"Function Code" 43 (Encapsulated Interface Transport)

Description
The "Function Code" 43 / 14 (Read Device Identification) allows you to read device-specific data.

Modbus Request
Structure of the Modbus request:

Field Bytes Value Meaning

Function Code 1 43 = 2B hex Encapsulated Interface Transport
Modbus 1 14 = 0E hex Fixed value 14 (Read Device Identification)
Encapsulated
Interface Type
Read Device ID 1 01 Read the objects
Code
Object ID 1 0 x 00 Object ID

Modbus Response
Structure of the positive Modbus response:

Field Bytes Value Meaning

Function Code 1 43 = 2B hex Encapsulated Interface Transport
Modbus 1 14 = 0E hex Fixed value 14 (Read Device Identification)
Encapsulated
Interface Type
Read Device ID 1 01 Corresponds to the Modbus request
Code
Conformity Level 1 02 Fixed value
More Follows 1 00 Fixed value
Next Object ID 1 00 Fixed value
Number Of Objects 1 03 Number of objects
Object ID 1 Object ID (see page 63)
Object Length 1 Object length
Object Value (various) Object data (various)

Structure of the negative Modbus response

Field Bytes Value Meaning

Function Code 1 2B hex + 80 hex = AB hex Encapsulated Interface Transport
Exception Code 1 01 hex ... 04 hex See chapter Modbus Response to a Modbus
Request (see page 49)

Object ID
The following object IDs are available:

Object ID Object name Value

00 hex vendor name Manufacturer name
01 hex product code „xxxxxxxxxxxx“ (see type code of the drive)
03 hex revision "Vxx.yyy" (for example "V02.001")

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Example of "Function Code" 3

Description
Reading an error memory entry. Since the Modbus addresses of the parameters of an error memory entry
are contiguous (ascending order), a single Modbus request is sufficient.
Parameters _FLT_number (15362), _FLT_class (15364), _FLT_time (15366) and _FLT_qual
(15368).

Modbus Request
Structure of the Modbus request:

Field Bytes Value Meaning

Function Code 1 3 Read Multiple Registers
Starting Address 2 15362 (3C02 hex) Address of the first parameter to be read
Quantity Of 2 8 Number of the 16 bit values to be read = 8
Registers

Modbus Response
Structure of the positive Modbus response:

Field Bytes Value Meaning

Function Code 1 3 Read Multiple Registers
Byte Count 1 16 Number of bytes: 8 bytes of data
Registers Value 16 32 bit value _FLT_number, 15362 (error number)
32 bit value _FLT_class, 15364 (error class)
32 bit value _FLT_time, 15366 (error time)
32 bit value _FLT_qual, 15368 (error qualifier)

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Example of "Function Code" 16

Description
Writing of the software limit switches. Since these parameters have consecutive addresses, a single
Modbus request is sufficient:
Parameters SPVswLimPusr (1544) and SPVswLimNusr (1546).

Modbus Request
Structure of the Modbus request:

Field Bytes Value Meaning

Function Code 1 16 Write Multiple Registers
Starting Address 2 1544 (608 hex) Address of the first parameter to be written
Quantity Of 2 4 Number of parameters = 4 (8 bytes of data)
Registers
Byte Count 1 8 Number of bytes: 8 bytes of data
Registers Value 8 32 bit value SPVswLimPusr, 1544
32 bit value SPVswLimNusr, 1546

Modbus Response
Structure of the positive Modbus response:

Field Bytes Value Meaning

Function Code 1 16 Write Multiple Registers
Starting Address 2 1544 (608 hex) Address of the parameter
Quantity Of 2 4 Number of parameters = 4 (8 bytes of data)
Registers

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Installation
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Chapter 4
Installation

Installation

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
4.1 Mechanical Installation 68
4.2 Electrical Installation 72
4.3 Verifying Installation 92

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Section 4.1
Mechanical Installation

Mechanical Installation

What Is in This Section?

This section contains the following topics:
Topic Page
Before Mounting 69
Mounting the Integrated Drive 70

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Before Mounting

General
An engineering phase is mandatory prior to mechanical and electrical installation. See chapter Engineering
(see page 31) for basic information.

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

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

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

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

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

Inspecting the Product

 Verify the product version by means of the Type Code (see page 18) on the Nameplate (see page 17).
 Prior to mounting, inspect the product for visible damage.
Damaged products may cause electric shock or unintended equipment operation.

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

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

Mounting Surface for Flange

The integrated drive features four holes for mounting it to a flange.
The mounting surface must be plane, stable, clean, deburred, low-vibration, and grounded. Functional
grounding must be established either via the mounting flange or via the functional ground connection.
Verify that the mounting surface meets all requirements in terms of dimensions and tolerances. See
chapter Mechanical Data (see page 22).
Painted surfaces have an insulating effect. Verify that the motor flange is mounted in such a way as to allow
for good electrical and thermal conductivity.

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Mounting the Integrated Drive

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

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

Electrostatic discharge to the shaft may cause incorrect operation of the encoder system and result in
unanticipated motor movements and damage to the bearing.

WARNING
UNINTENDED MOVEMENT CAUSED BY ELECTROSTATIC DISCHARGE
Use conductive components such as antistatic belts or other suitable measures to avoid static charge by
motion.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

If the permissible environmental conditions are not respected, external substances from the environment
may penetrate the product and cause unintended movement or equipment damage.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that the environmental conditions are respected.
 Keep liquids from getting to the shaft bushing.
 Do not clean the product with a pressure washer.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

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

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

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

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Clearances and Ventilation

When selecting the position of the device, take into account the following:
 No minimum clearances are required for installation. However, free convection must be possible.
 Avoid heat accumulations.
 Do not mount the device close to heat sources.
 Do not mount the device on flammable materials.
 The heated airflow from other devices and components must not heat up the air used for cooling the
device.
 If the thermal limits are exceeded during operation, the power stage of the drive is disabled
(overtemperature).

Mounting Positions
The following mounting positions defined by IEC 60034-7 are permissible:

 IM B5: Motor shaft horizontal

 IM V1: Motor shaft vertical, shaft end to the bottom
 IM V3: Motor shaft vertical, shaft end to the top

Mounting
When the integrated drive is mounted to the mounting surface, it must be accurately aligned axially and
radially and make even contact with the mounting surface. No uneven mechanical forces must be applied
when the mounting screws are tightened.
See chapter Technical Data (see page 19) for data, dimensions and degrees of protection (IP).

Mounting Output Components

If the maximum permissible forces at the motor shaft are exceeded, this will result in premature wear of the
bearing or shaft breakage.

WARNING
UNINTENDED EQUIPMENT OPERATION DUE TO MECHANICAL DAMAGE TO THE MOTOR
 Do not exceed the maximum permissible axial and radial forces at the motor shaft.
 Protect the motor shaft from impact.
 Do not exceed the maximum permissible axial force when pressing components onto the motor shaft.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Output components such as pulleys and couplings must be mounted with suitable equipment and tools.
Motor and output component must be accurately aligned both axially and radially. If the motor and the
output component are not accurately aligned, this causes runout and premature wear.
The maximum axial and radial forces acting on the shaft must not exceed the maximum shaft load values
specified (see page 27).

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Section 4.2
Electrical Installation

Electrical Installation

What Is in This Section?

This section contains the following topics:
Topic Page
Overview of Procedure 73
Connection Overview 75
Connection Via Cable Entry 76
Connection Via Industrial Connectors 79
Connection of CN1 - Vdc Supply Voltage 80
Connection of CN2 - Fieldbus 82
Connection of CN3 - RS485 84
Connection of CN4 - 24 V Signal Interface 86
Connection of CN5 - Safety-Related Function STO 88
Connection of Accessories for 24 V Signals and Safety-Related Function STO 90

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Overview of Procedure

General Information

DANGER
ELECTRIC SHOCK OR UNINTENDED EQUIPMENT OPERATION
Keep foreign objects (such as chips, screws or wire clippings) from getting into the product.
Failure to follow these instructions will result in death or serious injury.

DANGER
ELECTRIC SHOCK CAUSED BY INSUFFICIENT GROUNDING
 Verify compliance with all local and national electrical code requirements as well as all other applicable
regulations with respect to grounding of the entire drive system.
 Ground the drive system before applying voltage.
 Do not use conduits as functional ground conductors; use a functional ground conductor inside the
conduit.
 The cross section of the functional ground conductor must comply with the applicable standards.
 Do not consider cable shields to be functional ground conductors.
Failure to follow these instructions will result in death or serious injury.

DANGER
ELECTRIC SHOCK CAUSED BY INCORRECT POWER SUPPLY UNIT
 Use power supply units that meet the PELV (Protective Extra Low Voltage) requirements.
 Connect the negative outputs of all power supply units to PE (protective earth/protective ground), for
example, for the VDC supply voltage and for the 24 Vdc voltage for the safety-related function STO.
 Interconnect all negative outputs (reference potentials) of all power supply units used for the integrated
drive.
Failure to follow these instructions will result in death or serious injury.

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

The VDC connection of the product does not have an inrush current limitation. If the voltage is applied by
means of switching of contacts, damage to the contacts or contact welding may result.

NOTICE
PERMANENT DAMAGE TO CONTACTS
 Switch the power input (primary side) of the power supply unit.
 Do not switch the output voltage (secondary side) of the power supply unit.
Failure to follow these instructions can result in equipment damage.

The installation procedure must be performed without voltage present.

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Overview of the Procedure for Electrical Installation

Depending on the space conditions in your machine and other factors, you can first perform the mechanical
installation (see page 68) of the integrated drive and then the electrical installation. However, it is also
possible to first perform the electrical installation, then commission the integrated drive and finally mount
the integrated drive in the machine.

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Connection Overview

Overview of Printed Circuit Board Connectors

Connection Assignment
CN1 Connector for Vdc supply voltage
CN2 Connector for fieldbus Modbus TCP
CN3 Connector for commissioning interface (RS-485)
CN4 Connector for 24 Vdc signals
CN5 Connector for the safety-related function STO
CN6 Jumper for activating and deactivating the safety-related function STO

The integrated drive can be connected via cable entries or industrial connectors.
Refer to the chapter Connection Via Cable Entry (see page 76) or to the chapter Connection Via Industrial
Connectors (see page 79) for details.

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Connection Via Cable Entry

Mounting Cables to Cable Entries

Mounting cables to the cable entry:

1 Unshielded cables
2 Shielded cables

Step Action
1 Trim the cable bushings so that the diameter of the opening matches the diameter of the cable.
The specified degree of protection IP54 can only be achieved with properly trimmed cable
bushings.
2 (A) Strip the jacket of the cables by a length of 70 mm (2.76 in).
3 (B) Shorten the shield to a length of 10 mm (0.4 in).
4 (C) Slide the shielding braid back over the cable jacket.
5 (D) Loosen the strain relief.
6 Push the cables though the strain relief.
7 Glue EMC shielding film around the shield.
8 Pull the cable back to the strain relief.
9 Fasten the strain relief.

Mounting Connectors
The following table lists the parts and data required for mounting connectors. Connector housings and
crimp contacts are included in the accessories kits. Refer to the chapter Accessories and Spare Parts
(see page 231).

Connection Conductor cross section Stripping Manufacturer's Crimping Connector Connector

[mm²] length [mm] crimp contact tool manufacturer type
no.
CN1 0.75 ... 1.5 (AWG 5 ... 6 160773-6 654174-1 Tyco Positive
18 ... 16) 341001-6 Electronics Lock
2.5 ... 4.0 (AWG 12) 1-926522-1
CN2 0.2 ... 0.6 (AWG 24 ... 20) 2.5 ... 3.0 43030-0007 63819-0000 Molex Micro-Fit
3.0
43025-1200
CN3 0.2 ... 1.0 (AWG 24 ... 18) 3.0 ... 3.5 39-00-0060 63819-0901 Molex Mini-Fit Jr.
39-01-2065
CN4 0.2 ... 0.6 (AWG 24 ... 20) 2.5 ... 3.0 43030-0007 63819-0000 Molex Micro-Fit
3.0
43025-0600
CN5 0.34 ... 0.6 (AWG 20) 2.5 ... 3.0 43030-0007 63819-0000 Molex Micro-Fit
3.0
43645-0200

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Assembling the Cables

Procedure:

Step Action
1 Strip the ends of the wires.
2 Attach cable lugs and crimp contacts. Verify that you use the correct crimp contacts and the
matching crimping tool.
3 Slide the cable lugs and crimp contacts straight into the connector until they snap in place.

1 CN1 Supply voltage Vdc

2 CN2 Fieldbus
3 CN3 Commissioning
4 CN4 24 V signal interface
5 Shield wire with EMC shield film

Mounting the Cable Entry

Step Action
1 Unscrew the cover of the connector housing.
2 Remove the shipping locks made of cardboard.

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Step Action
3 Set the parameter switches as they are difficult to access once the cables have been connected.
For a description of the parameter switches, see chapter Fieldbus Integration (see page 98).
4 Connect the connectors of the assembled cables to the matching sockets. The connectors must
snap in. Only pull the connector housing (not the cable).
5 Plug the cable entry into one of the two cutouts provided. The side to be used for the cable entry
depends on the space available in your system.
The pointed corners of the cable entry must point in the direction of the cover of the connector
housing. Degree of protection IP54 is not reached if the cable entry is mounted the other way
around.

6 Close the cutout that is not used with a sealing insert for cutouts.
7 Finally, screw the cover of connector housing cover back into place with a tightening torque of
1.1 Nm (9.74 lbin).
If screws are lost, use M3 x 12 as a replacement.

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Connection Via Industrial Connectors

Overview

Interface Connector used

Supply voltage VDC Hirschmann STASEI 200
Connector for fieldbus Modbus TCP Circular connector M12, 4 poles, D-coded
24 V signal inputs and outputs Circular connector M8, 3-pin
Safety-related function STO Circular connector M8, 4-pin

Refer to the chapter Accessories and Spare Parts (see page 231) for information on pre-assembled cables
and connector kits.

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Connection of CN1 - Vdc Supply Voltage

Description
The Vdc supply voltage is connected by means of printed circuit board connectors or industrial connectors.
Use pre-assembled cables to reduce the risk of wiring errors.
Verify that wiring, cables, and connected interfaces meet the PELV circuit requirements.

Cable Specifications CN1 (Vdc Supply Voltage)

Characteristic Unit Value

Shield - Not required
Twisted pair - Not required
PELV - Required
Minimum conductor cross section mm 2 0.75 (18)
(AWG)
Maximum connection cross section mm2 4.0 (12)
(AWG)

Connector Specifications CN1 (Vdc Supply Voltage)

Two different crimp terminals are available for different conductor cross sections. It is possible to connect
two wires via a single crimp terminal to daisy-chain multiple drives.

Characteristic Value/Description
Connector housing Tyco Electronics, Positive Lock 1-926522-1
Crimp terminal for conductor cross section 0.75 ... 1.5 Tyco Electronics, Positive Lock 160773-6
(AWG 18 ... 16)
Crimp terminal for conductor cross section 2.5 ... 4.0 Tyco Electronics, Positive Lock 341001-6
(AWG 12)
Stripping length 5 ... 6 mm (0.20 ... 0.24 in)
Crimping tool Tyco Electronics, 654174-1

Pin Assignments Printed Circuit Board Connector CN1 (Vdc Supply Voltage)

Designation Description Number(1)

VDC Supply Voltage 1
OVDC Reference potential VDC 2
(1) Number relates to pre-assembled cables

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Pin Assignments Industrial Connector CN1 (Vdc Supply Voltage)

Pin Signal Description Number(1)

1 VDC Supply Voltage 1
2 OVDC Reference potential Vdc 2
(1) Number relates to pre-assembled cables

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Connection of CN2 - Fieldbus

Description
The fieldbus interface allows you to network the drive as a slave in a Modbus TCP network.
The fieldbus is connected by means of printed circuit board connectors or industrial connectors.
Use pre-assembled cables to reduce the risk of wiring errors.
Verify that wiring, cables, and connected interfaces meet the PELV requirements.

Cable Specifications CN2 (Fieldbus)

Characteristic Unit Value

Shield - Required
Shield grounded at both ends - Required
Twisted pair - Required
PELV - Required
Maximum cable length m (ft) 100 (328)
Minimum conductor cross section 2
mm (AWG) 0.25 (22)

Maximum connection cross section mm2 (AWG) 0.6 (20)

Connector Specifications CN2 (Fieldbus)

Characteristic Value/Description
Connector housing Molex, Micro-Fit 3.0, 43025-1200
Crimp terminal Molex, Micro-Fit 3.0, 43030-0007
Stripping length 2.5 ... 3.0 mm (0.10 ... 0.12 in)
Crimping tool Molex, 63819-0000
Extraction tool Molex, 11-03-0043

Pin Assignments Printed Circuit Board Connector CN2 (Fieldbus)

Pin assignment port IN:

Pin Signal Description (drive end)

9 Tx+ Fieldbus Tx+
10 Tx- Fieldbus Tx-
11 Rx+ Fieldbus Rx+
12 Rx- Fieldbus Rx-

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Pin Assignments Industrial Connector CN2 (Fieldbus)

Pin assignment port IN:

Pin Signal Description (drive end)

1 Tx+ Fieldbus Tx+ (internally connected to pin CN2.9)
2 Tx- Fieldbus Tx- (internally connected to pin CN2.10)
3 Rx+ Fieldbus Rx+ (internally connected to pin CN2.11)
4 Rx- Fieldbus Rx- (internally connected to pin CN2.12)

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Connection of CN3 - RS485

Function
An RS485 interface is provided in addition to the fieldbus interface. The RS485 interface is also used to
commission the drive.
You can also use the RS485 interface and the commissioning software to monitor the drive during
operation. It is possible to establish simultaneous connections via the commissioning interface and the
fieldbus.
Use pre-assembled cables to reduce the risk of wiring errors.
Verify that wiring, cables, and connected interfaces meet the PELV requirements.

Cable Specifications CN3 (RS485)

Characteristic Unit Value

Shield - Required
Shield grounded at both ends - Required
Twisted pair - Required
PELV - Required
Maximum cable length m (ft) 400 (1312)
Minimum conductor cross section 2
mm (AWG) 0.25 (22)

Maximum connection cross section mm2 (AWG) 1.0 (18)

Connector Specifications CN3 (RS485)

Characteristic Value/Description
Connector housing Molex, Mini-Fit Jr, 39-01-2065
Crimp terminal Molex, Mini-Fit, 39-00-0060
Stripping length 3.0 ... 3.5 mm (0.12 ... 0.14 in)
Crimping tool Molex, 63819-0901
Extraction tool Molex, 11-03-0044

Address and Baud Rate Setting

Each device on the network is identified by a unique, adjustable node address.
Factory setting:
 Address: 1
 Baud rate: 19200
 Data format: 8 bits
Even Parity
1 stop bit
The address and the baud rate of the RS485 interface can be set via the commissioning software.

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Pin Assignments CN3 (RS485)

Pin Signal Description SUB-D(1)

2 +RS485 RS485 interface 7
5 –RS485 RS485 interface 2
4 RS485_0V Internally connected to CN1.0VDC 3
(1) Information relates to pre-assembled cables

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Connection of CN4 - 24 V Signal Interface

Description
The drive has four configurable inputs and outputs.
An internal 24 V power supply for the sensor system is integrated. Do not connect the internal 24 V power
supply to another power supply.
Use pre-assembled cables to reduce the risk of wiring errors.
Verify that wiring, cables, and connected interfaces meet the PELV requirements.

Factory Settings
Factory settings of the digital inputs and digital outputs:

Signal Signal input function

LIO1 Input Positive Limit Switch (LIMP)
LIO2 Input Negative Limit Switch (LIMN)
LIO3 Input Free Available
LIO4 Input Reference Switch (REF)

The assignments can be parameterized. Refer to the chapter Parameterization of the Signal Input
Functions and the Signal Output Functions (see page 124) for details.

Cable Specifications CN4 (24 V Signal Interface)

Characteristic Unit Value

Shield - Not required
Twisted pair - Not required
PELV - Required
Minimum conductor cross section mm2 (AWG) 0.2 (24)

Maximum connection cross section mm2 (AWG) 0.6 (20)

Connector Specifications CN4 (24 V Signal Interface)

Characteristic Value/Description
Connector housing Molex, Micro-Fit 3.0, 43025-0600
Crimp terminal Molex, Micro-Fit 3.0, 43030-0007
Stripping length 2.5 ... 3.0 mm (0.10 ... 0.12 in)
Crimping tool Molex, 63819-0000
Extraction tool Molex, 11-03-0043

Pin Assignments CN4 (24 V Signal Interface)

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Pin Signal Description

1 +24VDC_OUT The 24 V power supply can be used to supply the sensor system (for example
the limit switches)
2 LIO3 Input or output for use as required
3 LIO1 Input or output for use as required
4 0VDC Internally connected to CN1.0VDC
5 LIO4 Input or output for use as required
6 LIO2 Input or output for use as required

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Connection of CN5 - Safety-Related Function STO

Requirements
Incorrect usage may cause a hazard due to the loss of the safety-related function.

WARNING
LOSS OF SAFETY-RELATED FUNCTION
Observe the requirements for using the safety-related function.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Refer to chapter Functional Safety (see page 37) for information and requirements relating to the safety-
related function STO.
The wiring of the safety-related function STO must meet all applicable requirements as per ISO 13849-1
and ISO 13849-2.
Verify that wiring, cables, and connected interfaces meet the PELV requirements.
Use pre-assembled cables to reduce the risk of wiring errors.

Cable Specifications CN5 (STO)

Characteristic Unit Value

Shield - Required
Shield connected at one end - Required
Protected cable installation (see page 41) as - Required
per ISO 13849-2
Minimum conductor cross section mm2 (AWG) 0.34 (20)

Maximum connection cross section 2

mm (AWG) 0.6 (20)

The cable available as an accessory is a special cable that is only available with a connector. The shield
of the cable is connected to the grounded housing of the drive via the metal connector. It is sufficient to
connect one end of the cable to the grounded housing.

Connector Specifications CN5 (STO)

Characteristic Value/Description
Connector housing Molex, Micro-Fit 3.0, 43645-0200
Crimp terminal Molex, Micro-Fit 3.0, 43030-0007
Stripping length 2.5 ... 3.0 mm (0.10 ... 0.12 in)
Crimping tool Molex, 63819-0000
Extraction tool Molex, 11-03-0043

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Pin Assignments CN5 (STO)

Pin Signal Description

CN5.1 STO_A Safety-related function STO
CN5.2 STO_B Safety-related function STO
CN6 - Jumper connected: STO disabled (default)
Jumper removed: STO enabled

Remove jumper CN6 before connecting in the connector for CN5 (mechanical lock).

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Connection of Accessories for 24 V Signals and Safety-Related Function STO

Accessory “Insert kit, 3 x I/O”

The accessory makes the signals LIO1, LIO2 and LIO4 available outside of the drive via industrial
connectors.

Pin 1 is internally connected to CN4.1 (+24VDC_OUT).

Pin 3 is internally connected to CN4.4 (0VDC).

Accessory “Insert kit, 2 x I/O, 1x STO in”

The accessory makes the signals LIO1, LIO2 and the signals of the safety-related function STO available
outside of the drive via industrial connectors.

Pin 1 is internally connected to CN4.1 (+24VDC_OUT).

Pin 3 is internally connected to CN4.4 (0VDC).

Accessory “Insert kit, 1 x STO in, 1 x STO out”

The accessory makes the signals of the safety-related function STO available outside of the drive via
industrial connectors.

Accessory “Insert kit, 4 x I/O, 1x STO in, 1 x STO out”

The accessory makes the signals LIO1, LIO2, LIO3, LIO4 and the signals of the safety-related function
STO available outside of the drive via industrial connectors.

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Pin 1 is internally connected to CN4.1 (+24VDC_OUT).

Pin 3 is internally connected to CN4.4 (0VDC).

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Section 4.3
Verifying Installation

Verifying Installation

Verifying Installation

Overview
After you have completed the mechanical and electrical installation, verify correct installation of the overall
drive system. The following table is not exhaustive. The points you need to consider in addition depend on,
among other things, your application, your process definitions, and the standards and regulatory
requirements applicable in the country of manufacture and at the installation site.

Verification of Correct Installation

Mechanical installation:
 Correct tightening torque of screw connections
 Correct mounting of output components
 Correct installation of the covers and seals to achieve the required degree of protection.

Electrical installation:
 Protective ground of power supply unit
 Functional ground of integrated drive
 Correct type and fuse rating of fuses
 Correct assembly of cables and connectors
 Correct routing and fastening of cables
 Correct installation and connection of cables
 Correct insulation of unused wires
 Effectiveness of mechanical locks of connectors
 Compliance of the overall installation with all local, regional, and national electrical safety codes and
requirements at the eventual installation site of the equipment
Electromagnetic compatibility:
 Correct connection of shields
 Correct equipotential bonding
 Compliance of the overall installation with all local, regional, and national regulations and requirements
concerning EMC at the eventual installation site of the equipment
Overall installation:
 Compliance with all specifications in the present document
 All items identified in risk assessment covered

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Commissioning
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Chapter 5
Commissioning

Commissioning

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
5.1 Overview 94
5.2 Fieldbus Integration 98
5.3 Commissioning Procedure 107
5.4 Parameter Management 116

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Section 5.1
Overview

Overview

What Is in This Section?

This section contains the following topics:
Topic Page
General 95
Preparation 97

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General

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

DANGER
ELECTRIC SHOCK
 Do not use the safety-related function STO for any other purposes than its intended function.
 Use an appropriate switch, that is not part of the circuit of the safety-related function STO, to
disconnect the drive from the mains power.
Failure to follow these instructions will result in death or serious injury.

WARNING
INEFFECTIVE SAFETY-RELATED FUNCTION AND/OR UNINTENDED EQUIPMENT OPERATION
 Commission the integrated drive before it is used for the first time and after each modification to
parameter values, settings, and wiring.
 Commission or recommission the machine/process pursuant to all regulations, standards, and
process definitions applicable to your machine/process.
 Verify that the commissioning procedure covers all items identified in your risk assessment.
 Verify correct operation and effectiveness of all functions by performing comprehensive tests for all
operating states, the defined safe state, and all potential error situations.
 Document all modifications and the results of the commissioning procedure in compliance with all
regulations, standards, and process definitions applicable to your machine/process.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Unsuitable parameter values or unsuitable data may trigger unintended movements, trigger signals,
damage parts and disable monitoring functions. Some parameter values or data do not become active until
after a restart.

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

If the power stage is disabled unintentionally, for example as a result of power outage, errors or functions,
the motor is no longer decelerated in a controlled way.

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

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

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

The product can be accessed via different types of access channels. Simultaneous access via multiple
access channels or the use of exclusive access may cause unintended equipment operation.

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

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

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

WARNING
FALLING PARTS
Verify correct mounting of the drive with the specified tightening torque before taking up commissioning.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

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

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

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Preparation

Required Components
The following is required for commissioning:
 Commissioning software “Lexium CT”
https://www.se.com/ww/en/download/document/LexiumCTInstall/
 Fieldbus converter for the commissioning software for connection via the commissioning interface

Interfaces
The following interfaces can be used for commissioning, parameterization and diagnostics:

1 PC with commissioning software “Lexium CT”

2 Fieldbus

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

Commissioning Software
The commissioning software “Lexium CT” has a graphic user interface and is used for commissioning,
diagnostics and testing settings.
 Comprehensive set of diagnostics tools for optimization and maintenance
 Long-term trace for evaluation of the performance
 Testing the input and output signals
 Tracking signals on the screen
 Archiving of device settings and recordings with export function for further processing in other
applications

Connecting a PC
A PC with commissioning software can be connected for commissioning. The PC is connected to a
bidirectional USB/RS485 converter, see chapter Accessories and Spare Parts (see page 231).

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Section 5.2
Fieldbus Integration

Fieldbus Integration

What Is in This Section?

This section contains the following topics:
Topic Page
Setting the IP Address 99
Settings for Communication with I/O Scanning 102
Settings for Communication without I/O Scanning 103
Web Server 104
Fast Device Replacement (FDR) 106

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Setting the IP Address

Overview
Carefully manage the IP addresses because each device on the network requires a unique address.
Having multiple devices with the same IP address can cause unintended operation of your network and
associated equipment. Although some equipment, such as the present device, may detect duplicate IP
addresses, other equipment may not.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Ensure that there is only one "master" on the network controlling this equipment when using IO
Scanning.
 Verify that all devices have unique addresses.
 Obtain your IP address from your system administrator.
 Confirm that the IP address of the drive is unique before placing the system into service.
 Do not assign the same IP address to any other equipment on the network.
 Update the IP address after resetting the drive to factory settings.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

NOTE: Verify that your system administrator maintains a record of all assigned IP addresses on the
network and subnetwork, and inform the system administrator of all configuration changes performed.
The IP address of the drive can be set in the following ways:

1 Using the IP address stored in the nonvolatile memory (factory setting) (see page 99)
2 IP address assignment via a DHCP/BOOTP server based on the MAC address (see page 100)
3 IP address assignment via a DHCP server based on a “DeviceName” (see page 100)
4 Deriving the IP address from the MAC address (see page 100)

Using the IP Address Stored in the Nonvolatile Memory (Factory Setting)

The IP address stored in the nonvolatile memory is used.
The IP address can be adjusted via the commissioning software or via the web server.
The default IP address of the drive is 192.168.100.10.
The last byte of the IP address can be adjusted via the rotary switches.
Procedure for adjusting the last byte of the IP address via the rotary switches:

Step Action
1 Power off the drive.
2 Set the rotary switch S1 to the position E (Clear IP).
The setting of the rotary switch S2 is not relevant in this case.
3 Power on the drive.
4 Wait until the status LED indicates “No valid IP parameters after a Clear IP” (two flashes).
5 The IP address is set in the following way xxx.xxx.xxx.yyy.
xxx.xxx.xxx is used from the IP address stored in the nonvolatile memory.
yyy is the result of ten times the value of S2 plus the value of S1 (yyy = 10 * S2 + S1).
Set the rotary switch S2 to a position from 0 to F.
Set the rotary switch S1 to a position from 0 to 9.
Valid values are from 1 to 159.

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Step Action
6 After having set the desired IP address, wait until the status LED indicates “Ready without error”
(Steady ON).
If, after that, you modify the settings of the rotary switches to select a different IP address, the
status LED indicates “No valid IP parameters after a Clear IP” (two flashes) again.
7 Power off the product when the status LED indicates “Ready without error” (Steady ON).
8 Set the rotary switch S1 to the position D (Stored).
The setting of the rotary switch S2 is not relevant in this case.
9 Power on the drive.

IP Address Assignment via a DHCP/BOOTP Server Based on the MAC Address

The IP address is obtained from a DHCP server or a BOOTP server based on the MAC address of the
drive.
The MAC address is shown in the drive housing next to the connectors.
Procedure:

Step Action
1 Power off the drive.
2 Set the rotary switch S1 to the position A or B.
The setting of the rotary switch S2 is not relevant in this case.
3 Power on the drive.

The DHCP/BOOTP server must manage a list that associates each MAC address with an IP address so
each device has unique IP address.

IP Address Assignment via a DHCP Server Based on a “DeviceName”

The IP address is obtained from a DHCP server based on the “DeviceName” of the drive.
The DHCP server must support the “DeviceName” configuration.
The “DeviceName” of the drive can only be adjusted via the rotary switches.
Procedure:

Step Action
1 Power off the drive.
2 The Device Name is the string “Lexium-ILx-” and a three-digit number.
This number results from the setting of the two rotary switches: Ten times the value of S2 plus
the value of S1.
Device Name = “Lexium-ILx-” + (10 * S2 + S1)
Set the rotary switch S2 to a position from 0 to F.
Set the rotary switch S1 to a position from 0 to 9.
Valid values are from 1 to 159.
For values from 1 to 9 two leading zeros “00” will be added.
For values from 10 to 99 one leading zero “0” will be added.
3 Power on the drive.

Deriving the IP Address from the MAC Address

The IP address is set in the following way xxx.xxx.xxx.yyy.
xxx.xxx.xxx is used from the IP address stored in the nonvolatile memory.
yyy is set depending on the last byte of the MAC address.
The MAC address is shown in the drive housing next to the connectors.
Procedure:

Step Action
1 Power off the drive.
2 Set the rotary switch S1 to the position F.
The setting of the rotary switch S2 is not relevant in this case.
3 Power on the drive.

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Step Action
4 Example 1: MAC address xx:xx:xx:xx:xx:06, the resulting IP address is xxx.xxx.xxx.6.
Example 2: MAC address xx:xx:xx:xx:xx:A7, the resulting IP address is xxx.xxx.xxx.167.
Exception 1: MAC address xx:xx:xx:xx:xx:00, the resulting IP address is xxx.xxx.xxx.1
Exception 2: MAC address xx:xx:xx:xx:xx:FF, the resulting IP address is xxx.xxx.xxx.254
The subnet mask is set to the default value 255.255.255.0.
The gateway is set to the default value 192.168.100.254.

NOTE: With this setting, the same IP address may be assigned to different devices. For important safety
information, see the Overview (see page 99) of this section.

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Settings for Communication with I/O Scanning

Overview
I/O scanning is used for cyclic interchange of data between master and slave.
The following settings must be made to establish communication with I/O scanning:
 Usage of the Unit ID 255 on the master (refer to I/O Scanning to "Drive Profile Lexium" (see page 51))
 Activation of communication monitoring

Setting Communication Monitoring for I/O Scanning

WARNING
LOSS OF CONTROL
 Ensure that connection monitoring is enabled.
 Set the shortest, practical monitoring time cycles to detect communication interruptions as quickly as
possible.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Set communication monitoring for I/O scanning with the parameter MBscan_guard.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
MBscan_guard Modbus TCP Node Guarding for I/O scanning. ms UINT16 Modbus 6414
Value 0: Node Guarding inactive 0 R/W
Value >0: Monitoring time in ms 0 -
10000 -
The drive starts monitoring when it receives the first
I/O scanning message.
After a Node Guarding error the drive starts
monitoring again when it receives the next I/O
scanning message.
Modified settings become active immediately.

NOTE: Additionally, the drive monitors the Ethernet connection link for interruption. The drive can detect
an interruption of the Ethernet connection link only if there is no Ethernet switch between the master and
the drive.

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Settings for Communication without I/O Scanning

Overview
It is also possible to establish communication without I/O scanning.
The following settings must be made to establish communication without I/O scanning:
 Usage of a Unit ID from 1 to 255 on the master
 Activation of communication monitoring
 Exclusive use of access channel (for changing operating states and starting operating modes)

Setting Communication Monitoring

WARNING
LOSS OF CONTROL
 Ensure that connection monitoring is enabled.
 Set the shortest, practical monitoring time cycles to detect communication interruptions as quickly as
possible.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

In order to monitor an individual Modbus TCP channel, the parameter MBnode_guard must be set via this
channel. The device then monitors whether communication is active via this channel.
If the device no longer receives Modbus messages via this channel, the drive responds with an error of
error class 2.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
MBnode_guard Modbus Node Guarding. ms UINT16 Modbus 5644
Value 0: Node Guarding inactive 0 R/W
Value >0: Monitoring time 0 -
Modified settings become active immediately. 10000 -

NOTE: Additionally, the drive monitors the Ethernet connection link for interruption. The drive can detect
an interruption of the Ethernet connection link only if there is no Ethernet switch between the master and
the drive.

Exclusive Use of Access Channel

In addition, the access channel must be used exclusively. Only after this it is possible to change operating
states and start operating modes.
Once the access channel is used exclusively, it is no longer possible to change operating states and start
operating modes via another access channel.
Writing the parameter AccessExcl sets the access channel to exclusive access.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
AccessExcl Get exclusive access to access channel. - UINT16 Modbus 282
Write parameter: 0 R/W
Value 0: Release access channel - -
Value 1: Use exclusive access for access channel 1 -

Read parameter:
Value 0: Access channel is not used exclusively
Value 1: Access channel is used exclusively
(access channel used for reading)
Modified settings become active immediately.

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Web Server

Overview
The drive features an integrated web server. The web server allows for configuration of the drive without
the commissioning software.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Define a secure password for the Web server, and do not allow unauthorized or otherwise unqualified
personnel to use this feature.
 Ensure that there is a local, competent, and qualified observer present when operating on the
controller from a remote location.
 You must have a complete understanding of the application and the machine/process it is controlling
before attempting to adjust data, stopping an application that is operating, or starting the controller
remotely.
 Take the precautions necessary to assure that you are operating on the intended controller by having
clear, identifying documentation within the controller application and its remote connection.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

NOTE: The web server must only be used by authorized and qualified personnel. A qualified person is one
who has the skills and knowledge related to the construction and operation of the machine and the process
controlled by the application and its installation, and has received safety training to recognize and avoid
the hazards involved. No responsibility is assumed by Schneider Electric for any consequences arising out
of the use of this feature.

Connecting
The drive must have a valid IP address.
To connect, enter the IP address of the drive in the address bar of the browser.
When connecting to the web server for the first time, you need to specify a new password for the web
server. To do so, enter the default password and your new password.
 Default password of the web server: USER
After you have set your new password, the web server displays the main page.

WARNING
UNAUTHORIZED DATA ACCESS
 Do not expose the device or device network to public networks and the Internet as much as possible.
 Immediately change the default password to a new secure password.
 Do not distribute passwords to unauthorized or otherwise unqualified personnel.
 Restrict access to unauthorized personnel.
 Use additional security layers like VPN for remote access and install firewall mechanisms.
 Validate the effectiveness of these measurements regularly and frequently.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

NOTE: Choose a password that complies with all password requirements of your company and that follows
best practices with regard to password strength.
This includes, but is not limited to:
 The password does not contain any personal or otherwise obvious information.
 The password consists of a mix of uppercase and lowercase letters, numbers, and special characters.
 The password length is at least ten characters.
 Follow all rules for keeping the password confidential.
 Do not disclose the password to any unauthorized persons.

Parameter Values
Before you can read and write parameters, you have to sign in.

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Use the following user name and your new password:

 User name: USER

Parameter values are entered in a way similar to the commissioning software.

 Click the Write button to send the settings to the drive.
 After that, click the Save button to save the settings to the nonvolatile memory of the drive.

Web Server Functions

Menu Function
Home Start page.
Maintenance Edit motor and communication parameters.
Diagnostics View drive status and communication statistics.
Setup Modify the password of the web server. The password of the web server can only be
reset to the default value via the parameter ResetWebPass.
Modify the setting for Fast Device Replacement.
Documentation Link to the Schneider Electric website.

Resetting the Password Via Parameter

The password of the web server can be reset via the parameter ResetWebPass.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
ResetWebPass Reset password of web server. - UINT16 Modbus 6704
Value 1: The password of the web server is reset to 0 R/W
the default value. A new password must be set when - -
a new connection is established. 1 -
The parameter can only be written via Modbus RTU.
Modified settings become active immediately.
Available with firmware version ≥V1.102.

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Fast Device Replacement (FDR)

Description
The FDR service uses standard DHCP and TFTP (Trivial File Transfer Protocol) technologies to simplify
maintenance of Ethernet devices.
For example, the FDR service is used to replace a device by a new device. The service allows for
detection, configuration, and automatic start of the new device without complex manual user interaction.
The main steps comprise:
 A device configured for the FDR service is removed.
 The new device that is pre-configured with the “DeviceName” of the device to be installed is installed in
the network.
 The FDR server detects the new device, configures it with its IP address and transmits the configuration
parameters to the new device.
 The new device verifies compatibility of the parameters and parameter values and then activates the
original operating mode.

Obtaining the IP Address

The IP address can only be obtained via the “DeviceName”. Refer to the chapter Setting the IP Address
(see page 99).

Configuration File
Information on the configuration file can be found in the manual of the FDR server used.

Settings

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
EthFdrAutosave Fast Device Replacement (FDR) Autosave. - UINT16 Modbus 6698
0 / Disabled: Disabled 0 R/W
1 / 1 minute: 1 minute 0 per.
2 / 5 minutes: 5 minutes 5 -
3 / 15 minutes: 15 minutes
4 / 30 minutes: 30 minutes
5 / 60 minutes: 60 minutes
If FDR is enabled, the drive cyclically saves the
configuration to the server in Autosave mode.
EthFdrEnable Fast Device Replacement (FDR) Enable. - UINT16 Modbus 6696
0 / Disabled: Disabled 0 R/W
1 / Enabled: Enabled 0 per.
Global setting to enable the FDR. If the device name 1 -
is configured and this parameter is enabled, the
drive gets the configuration from the FDR server.

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Section 5.3
Commissioning Procedure

Commissioning Procedure

What Is in This Section?

This section contains the following topics:
Topic Page
Setting Limit Values 108
Digital Inputs and Digital Outputs 110
Verifying the Signals of the Limit Switches 111
Verifying the Safety-Related Function STO 112
Holding Brake (Option) 113
Direction of Movement 115

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Setting Limit Values

Current Limitation
The factory setting for the current at standstill amounts to 70 % of the maximum motor current to allow for
energy-efficient operation. In most applications, this current generates sufficient torque to hold the load
when the motor is at a standstill. However, your application may require a higher motor current at standstill
which you have to determine by performing test runs.

WARNING
UNINTENDED EQUIPMENT OPERATION
Verify that the current set for motor standstill generates sufficient torque to reliably hold the load at
standstill by performing test runs under maximum load conditions.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

The nominal motor current, the current for standstill, the current for constant movement, and the current
for acceleration and deceleration can be parameterized.
 Use the parameter SM_I_Nom to set the maximum nominal motor current.
 Use the parameter CTRLS_I_Stand% to set the maximum motor current for standstill.
 Use the parameter CTRLS_I_Ramp% to set the maximum motor current for acceleration and
deceleration.
 Use the parameter CTRLS_I_Const% to set the maximum motor current for constant movement.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
CTRLS_I_Stand% Percentage of phase current at standstill. % UINT16 Modbus 5140
100 % correspond to the value in SM_I_nom. 1 R/W
Modified settings become active immediately. 70 per.
100 -
CTRLS_I_Ramp% Percentage of phase current during % UINT16 Modbus 5142
acceleration/deceleration. 1 R/W
100 % correspond to the value in SM_I_nom. 100 per.
Modified settings become active immediately. 100 -
CTRLS_I_Const% Percentage of phase current during constant % UINT16 Modbus 5144
movement. 1 R/W
100 % correspond to the value in SM_I_nom. 100 per.
Modified settings become active immediately. 100 -

Limitation of the Reference Speed of Rotation

The reference speed of rotation can be limited.
 Use the parameter RAMPn_max to set the limitation of the reference speed of rotation.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
RAMPn_max Maximum velocity of the motion profile for velocity. RPM UINT16 Modbus 1554
The parameter is active in the following operating 60 R/W
modes: 13200 per.
- Profile Position 13200 -
- Profile Velocity
- Homing
- Jog

If a greater reference velocity is set in one of these

operating modes, it is automatically limited to
RAMPn_max.
This way, commissioning at limited velocity is easier
to perform.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
motor moves.

The parameter is part of the motion profile for the velocity. Refer to chapter Motion Profile for the Velocity
(see page 167) for further details.

Setting the Deceleration Ramp for Quick Stop

The deceleration ramp for Quick Stop can be parameterized.
 Use the parameter RAMPquickstop to set the deceleration ramp for Quick Stop.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
RAMPquickstop Deceleration ramp for Quick Stop. RPM/s UINT32 Modbus 1572
Deceleration ramp for a software stop or an error 200 R/W
with error class 1 or 2. 6000 per.
Modified settings become active the next time the 3000000 -
motor moves.

Refer to chapter Stopping Movement with Quick Stop (see page 171) for further details

Setting the Deceleration Ramp for Halt

The deceleration ramp for Halt can be parameterized.
 Use the parameter RAMPdecel to set the deceleration ramp for Halt.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
RAMPdecel Deceleration of the motion profile for velocity. RPM/s UINT32 Modbus 1558
Modified settings become active the next time the 200 R/W
motor moves. 750 per.
3000000 -

The parameter is part of the motion profile for the velocity. Refer to the chapter Stopping Movement with
Halt (see page 170) and the chapter Motion Profile for the Velocity (see page 167) for further details.

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Digital Inputs and Digital Outputs

Overview
The drive provides configurable digital inputs and digital outputs.
Signal input functions and signal output functions can be assigned to the digital inputs and digital outputs.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that the wiring is appropriate for the factory settings and any subsequent parameterizations.
 Only start the system if there are no persons or obstructions in the zone of operation.
 Carefully run tests for all operating states and potential error situations when commissioning,
upgrading or otherwise modifying the operation of the drive.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

The signal states of the digital inputs and digital outputs can be indicated via the fieldbus and the
commissioning software.

Factory Settings
Factory settings of the digital signal inputs/outputs:

Signal Signal input function

LIO1 Input Positive Limit Switch (LIMP)
LIO2 Input Negative Limit Switch (LIMN)
LIO3 Input Free Available
LIO4 Input Reference Switch (REF)

Refer to the chapter Parameterization of the Signal Input Functions and the Signal Output Functions
(see page 124) for information on assigning the digital input functions and the digital output functions you
have wired during installation of the drive.

Reading Signal States via the Fieldbus

The signal states are contained in the parameter _IO_act in a bit-coded way. The values “1” and “0”
correspond to the signal state of the input or output.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_IO_LIO_act Status of digital inputs/outputs. - UINT16 Modbus 2090
Coding of the individual signals: - R/-
Bit 0: LIO1 - -
Bit 1: LIO2 - -
...

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Verifying the Signals of the Limit Switches

Description
The use of limit switches can help protect against some hazards (for example, collision with mechanical
stop caused by incorrect reference values).

WARNING
LOSS OF CONTROL
 Ensure that limit switches are installed as determined by your risk assessment.
 Verify correct connection of the limit switches.
 Verify that the limit switches are sufficiently distant from the mechanical end to allow an adequate
stopping distance.
 Verify correct parameterization and function of the limit switches.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

 Set up the limit switches in such a way as to keep the motor from overtraveling the limit switches.
 Trigger the limit switches manually.
If an error message is indicated, the limit switches were triggered.
Parameters can be used to release the limit switches and to set them up as normally closed contacts or
normally open contacts. Refer to the chapter Limit Switches (see page 176) for details.

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Verifying the Safety-Related Function STO

Operation with Safety-Related Function STO

If you want to use the safety-related function STO, carry out the following steps:

Step Action
1 To help avoid unanticipated restart after restoration of power, the parameter IO_AutoEnable
must be set to “off”. Verify that the parameter IO_AutoEnable is set to “off”.
2 Power off the power supply:
3 Verify that the signal wires connected to the inputs (STO_A) and (STO_B) are electrically isolated
from each other.
4 Apply power to the drive.
5 Enable the power stage without starting a motor movement.
6 Trigger the safety-related function STO.
If the power stage is disabled and the error message 1300 is indicated, the safety-related
function STO was triggered.
If a different error message is indicated, the safety-related function STO was not triggered.
7 Document the tests of and settings for the safety-related function STO in compliance with all
applicable standards, regulations, and process definitions.

Operation with Safety-Related Function STO

Operation without the safety-related function STO:

Step Action
1 Verify that the jumper CN6 is connected.

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Holding Brake (Option)

Holding Brake
The holding brake in the motor has the task of holding the motor position when the power stage is disabled.
The holding brake is not a safety-related function. The holding brake is not a service brake.

WARNING
UNINTENDED AXIS MOVEMENT
 Do not use the internal holding brake as a safety-related measure.
 Only use certified external brakes as safety-related measures.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Releasing the Holding Brake

When the power stage is enabled, current is applied to the motor. When current is applied to the motor,
the holding brake is automatically released.
Releasing the holding brake requires a certain amount of time. This time value is contained in the electronic
nameplate of the motor. Transition to the operating state 6 Operation Enabled is only possible after this
time has elapsed.

Applying the Holding Brake

When the power stage is disabled, the holding brake is automatically applied.
However, applying the holding brake requires a certain amount of time. This time value is contained in the
electronic nameplate of the motor. Current remains to be applied to the motor during this time.
Refer to the chapter Functional Safety (see page 37) for additional information on the behavior of the
holding brake when the safety-related function STO is triggered.

Releasing the Holding Brake Manually

Mechanical adjustments may require you to manually rotate the motor shaft.
Manual release of the holding brake is only possible in the operating states 3 Switch On Disabled,
4 Ready To Switch On or 9 Fault.
When the product is operated for the first time, there is a risk of unanticipated movements caused by, for
example, incorrect wiring or unsuitable parameter settings. Releasing the holding brake can cause an
unintended movement, for example, a falling load in the case of vertical axes.

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

The parameter BRK_release can be used to release the holding brake via the fieldbus.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
BRK_release Manual operation of the holding brake. - UINT16 Modbus 2068
0 / Close: Automatic processing 0 R/W
1 / Open: Manual release of holding brake 0 -
The holding brake can only be manually released in 1 -
the operating states Switch On Disabled or Ready
To Switch On.

If the power stage is enabled, the value is

automatically set to 0.
Modified settings become active immediately.

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Direction of Movement

Definition of Direction of Movement

In the case of a rotary motor, direction of movement is defined as follows: Positive direction is when the
motor shaft rotates clockwise as you look at the end of the protruding motor shaft.

Verifying the Direction of Movement Via the Commissioning Software

The direction of movement can be verified by starting a movement in the commissioning software.
Procedure:

Step Action
1 Apply power to the drive.
2 Enable the power stage.
3 Start the operating mode Jog.
4 Use the “>” button to trigger a movement in positive direction.
Observe the movement.
5 Use the “<" button to trigger a movement in negative direction.
Observe the movement.

Inverting the Direction of Movement

If your application requires an inversion of the direction of movement, you can parameterize the direction
of movement.
 If inversion of direction of movement is not activated (parameter value “Clockwise”):
Positive target values result in movements in positive direction.
 If inversion of direction of movement is activated (parameter value “Counter Clockwise”):
Positive target values result in movements in negative direction.
The parameter POSdirOfRotat allows you to invert the direction of movement.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
POSdirOfRotat Definition of direction of rotation. - UINT16 Modbus 1560
0 / Clockwise: Clockwise 0 R/W
1 / Counter Clockwise: Counter-clockwise 0 per.
With positive reference values, the motor rotates 1 -
clockwise (as you look at the end of the motor shaft
at the flange).

The limit switch which is reached with a movement

in positive direction must be connected to the
positive limit switch input and vice versa.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.

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Section 5.4
Parameter Management

Parameter Management

What Is in This Section?

This section contains the following topics:
Topic Page
Resetting the User Parameters 117
Restoring Factory Settings 118

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Resetting the User Parameters

Description
The user parameters are reset by means of the parameter PARuserReset.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
PARuserReset Reset user parameters. - UINT16 Modbus 1040
Bit 0: Reset persistent user parameters to default 0 R/W
values. - -
The parameters are reset with the exception of: 7 -
- Communication parameters
- Definition of the direction of rotation
- Signal selection position interface
- I/O functions
Bits 1 and 2: Reserved

The new settings are not saved to the nonvolatile

memory.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.

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Restoring Factory Settings

Description
The parameter values, both active and those saved in nonvolatile memory, are lost in this process.

NOTICE
LOSS OF DATA
Perform a backup of the drive parameters prior to restoring factory settings (factory established
parameter values).
Failure to follow these instructions can result in equipment damage.

The commissioning software allows you to save the parameter values set for a drive as a configuration file.
The factory settings can be restored via the commissioning software.
Disconnect the drive from the fieldbus before you restore the factory settings.
Carefully manage the IP addresses because each device on the network requires a unique address.
Having multiple devices with the same IP address can cause unintended operation of your network and
associated equipment. Although some equipment, such as the present device, may detect duplicate IP
addresses, other equipment may not.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Ensure that there is only one "master" on the network controlling this equipment when using IO
Scanning.
 Verify that all devices have unique addresses.
 Obtain your IP address from your system administrator.
 Confirm that the IP address of the drive is unique before placing the system into service.
 Do not assign the same IP address to any other equipment on the network.
 Update the IP address after resetting the drive to factory settings.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

NOTE: Verify that your system administrator maintains a record of all assigned IP addresses on the
network and subnetwork, and inform the system administrator of all configuration changes performed.

Factory Settings via Commissioning Software

Use the menu items Configuration → Factory Settings in the commissioning software to restore the factory
settings.
The new settings become active after a power cycle of the drive.

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Operation
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Chapter 6
Operation

Operation

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Access Channels 120
Movement Range 121
Scaling 122
Parameterization of the Signal Input Functions and the Signal Output Functions 124

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Access Channels

Description
The product can be accessed via different types of access channels. Simultaneous access via multiple
access channels or the use of exclusive access may cause unintended equipment operation.

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

The product can be addressed via different access channels. Access channels are:
 Fieldbus
 Commissioning software
 Digital signal inputs
 Web server
Only one access channel can have exclusive access to the product. An exclusive access can be provided
via different access channels:
 Via a fieldbus:
Exclusive access is provided to a fieldbus by blocking the other access channels with the parameter
AccessLock.
 Via the commissioning software:
The commissioning software receives exclusive access via the switch “Exclusive access” in position
“On”.
When the drive is powered on, there is no exclusive access via an access channel.
The signal input functions “Halt”, “Fault Reset”, “Enable”, “Positive Limit Switch (LIMP)”, “Negative Limit
Switch (LIMN)” and “Reference Switch (REF)” as well as the signals of the safety-related function STO
(STO_A and STO_B) are available during exclusive access.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
AccessLock Locking other access channels. - UINT16 Modbus 316
Value 0: Allow control via other access channels 0 R/W
Value 1: Lock control via other access channels - -
1 -
With this parameter, the fieldbus can lock active
access to the device via the following access
channels:
- Input signals
- Commissioning software

Processing of the input signal HALT cannot be

locked.
Modified settings become active immediately.

A separate access channel is assigned for each connection via Modbus TCP. The drive can be controlled
via a single access channel only.
Special case I/O scanning:
The Modbus Unit ID 255 is used for I/O scanning. The connections of a Modbus client that address the
Modbus Unit ID 255 are combined to a single channel in the drive.
Only one Modbus client can use this access channel. If messages from other Modbus clients are received
with the Modbus Unit ID 255, the response to these requests is a detected error.
This access channel has access control by default. As long as a movement is ongoing, access control
cannot be revoked.

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Movement Range

Size of the Movement Range

The movement range is the maximum possible range within which a movement can be made to a position.
Movement range in user-defined units with the factory scaling:

A -1073741824 user-defined units (usr)

B 1073741823 user-defined units (usr)

Availability
The movement range is relevant in the following operating modes:
 Jog
 Profile Position
 Homing

Zero Point of the Movement Range

The zero point is the point of reference for absolute movements in the operating mode Profile Position.

Valid Zero Point

The zero point of the movement range is set by means of a reference movement or by position setting.
A reference movement and position setting can be performed in the operating mode Homing.
In the case of a movement beyond the movement range (for example, a relative movement), the zero point
becomes invalid.

Movement Beyond the Movement Range

The response to a movement beyond the movement range depends on the operating mode and the type
of movement.
The following responses are possible:
 In the case of a movement beyond the movement range, the movement range restarts.
 In the case of a movement with a target position outside of the movement range, position setting to 0 is
performed before the movement is started.
Responses in operating mode Jog:
 Continuous movement: The movement range restarts.
 Step movement: Internal position setting to 0.
Responses in operating mode Profile Position:
 Relative movement: Internal position setting to 0.
 Absolute movement: An absolute movement beyond the movement range is not possible.

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Scaling

Overview
Scaling converts user-defined units into internal units of the drive, and vice versa.

User-Defined Units
Values for positions are specified in user-defined unit usr.
Modifying the scaling modifies the ratio between user-defined units and internal units. After a modification
to the scaling, one and the same value of a parameter specified in a user-defined unit causes a different
movement than before the modification. A modification of the scaling affects all parameters whose values
are specified in user-defined units.

WARNING
UNINTENDED MOVEMENT
 Verify all parameters with user-defined units before modifying the scaling factor.
 Verify that a modification of the scaling factor cannot cause unintended movements.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Scaling Factor
The scaling factor is the relationship between the number of motor revolutions and the required user-
defined units (usr).
Calculation of the scaling factor:

A new scaling factor is activated when you specify the numerator value.
With a scaling factor of < 1 / 32768, a movement outside of the movement range cannot be performed.
The internal resolution used by the drive is 32768 increments per revolution.
The following parameter values must be adapted in addition to the user-defined values to obtain the same
movement of the motor after modifying the scaling factor: HMoutdisusr, HMdisusr, HMp_homeusr,
HMsrchdisusr, JOGstepusr, SPVswLimPusr and SPVswLimNusr.
The following factory settings are used:
 One motor revolution corresponds to 16384 user-defined units

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
POSscaleNum Position scaling: Numerator. revolution INT32 Modbus 1552
Scaling factor is defined as: 1 R/W
1 per.
Motor revolutions 2147483647 -
-------------------------------------------
User-defined units [usr]

A new scaling is activated when the numerator value

is set.

User-defined limit values may be reduced due to the

calculation of an internal factor.
Setting can only be modified if power stage is
disabled.
Modified settings become active immediately.
POSscaleDenom Position scaling: Denominator. usr INT32 Modbus 1550
Refer to numerator (POSscaleNum) for a 1 R/W
description. 16384 per.
2147483647 -
A new scaling is activated when the numerator value
is set.
Setting can only be modified if power stage is
disabled.

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Parameterization of the Signal Input Functions and the Signal Output Functions

Description
Signal input functions and signal output functions can be assigned to the digital inputs and digital outputs.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that the wiring is appropriate for the factory settings and any subsequent parameterizations.
 Only start the system if there are no persons or obstructions in the zone of operation.
 Carefully run tests for all operating states and potential error situations when commissioning,
upgrading or otherwise modifying the operation of the drive.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Factory Settings
Factory settings of the digital inputs and digital outputs:

Signal Signal input function

LIO1 Input Positive Limit Switch (LIMP)
LIO2 Input Negative Limit Switch (LIMN)
LIO3 Input Free Available
LIO4 Input Reference Switch (REF)

Parameterization
Available signal input functions:

Signal input function Description in chapter

Input Free Available Available as required. Via parameter _IO_LIO_act, the
signal input can be read.
Input Fault Reset Changing the Operating State via Signal Inputs
(see page 135)
Input Enable Changing the Operating State via Signal Inputs
(see page 135)
Input Halt Stopping Movement with Halt (see page 170)
Input Jog Positive Operating Mode Jog (see page 138)
Input Jog Negative Operating Mode Jog (see page 138)
Input Jog Fast/Slow Operating Mode Jog (see page 138)
Input Reference Switch (REF) Reference Switch (see page 178)

Input Positive Limit Switch (LIMP)(1) Limit Switches (see page 176)

Input Negative Limit Switch (LIMN)(2) Limit Switches (see page 176)

(1) Only available with LIO1

(2) Only available with LIO2

Available signal output functions:

Signal output function Description in chapter

Output Free Available Setting a Signal Output via Parameter (see page 172)
Output No Fault Indicating the Operating State via Signal Inputs
(see page 132)
Output Active Indicating the Operating State via Signal Inputs
(see page 132)

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The following parameters can be used to parameterize the digital inputs and digital outputs:

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
IOfunct_LIO1 Function Input/Output LIO1. - UINT16 Modbus 1826
1 / Input Free available: Available as required - R/W
2 / Input Fault reset: Reset fault (local control mode - per.
only) - -
3 / Input Enable: Enable (local control mode only)
4 / Input Halt: Halt
9 / Input Jog positive: Jog positive
10 / Input Jog negative: Jog negative
11 / Input Jog fast/slow: Jog fast/slow
20 / Input Reference switch (REF): Reference
switch (REF)
21 / Input Positive limit switch (LIMP): Positive limit
switch (LIMP)
101 / Output Free available: Available as required
102 / Output No fault: No fault
103 / Output Active: Ready
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.
IOfunct_LIO2 Function Input/Output LIO2. - UINT16 Modbus 1828
1 / Input Free available: Available as required - R/W
2 / Input Fault reset: Reset fault (local control mode - per.
only) - -
3 / Input Enable: Enable (local control mode only)
4 / Input Halt: Halt
9 / Input Jog positive: Jog positive
10 / Input Jog negative: Jog negative
11 / Input Jog fast/slow: Jog fast/slow
20 / Input Reference switch (REF): Reference
switch (REF)
22 / Input Negative limit switch (LIMN): Negative
limit switch (LIMN)
101 / Output Free available: Available as required
102 / Output No fault: No fault
103 / Output Active: Ready
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.
IOfunct_LIO3 Function Input/Output LIO3. - UINT16 Modbus 1830
1 / Input Free available: Available as required - R/W
2 / Input Fault reset: Reset fault (local control mode - per.
only) - -
3 / Input Enable: Enable (local control mode only)
4 / Input Halt: Halt
9 / Input Jog positive: Jog positive
10 / Input Jog negative: Jog negative
11 / Input Jog fast/slow: Jog fast/slow
20 / Input Reference switch (REF): Reference
switch (REF)
101 / Output Free available: Available as required
102 / Output No fault: No fault
103 / Output Active: Ready
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
IOfunct_LIO4 Function Input/Output LIO4. - UINT16 Modbus 1832
1 / Input Free available: Available as required - R/W
2 / Input Fault reset: Reset fault (local control mode - per.
only) - -
3 / Input Enable: Enable (local control mode only)
4 / Input Halt: Halt
9 / Input Jog positive: Jog positive
10 / Input Jog negative: Jog negative
11 / Input Jog fast/slow: Jog fast/slow
20 / Input Reference switch (REF): Reference
switch (REF)
101 / Output Free available: Available as required
102 / Output No fault: No fault
103 / Output Active: Ready
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.

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Operating States and Operating Modes
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Chapter 7
Operating States and Operating Modes

Operating States and Operating Modes

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
7.1 Operating States 128
7.2 Indicating, Starting and Changing an Operating Mode 137
7.3 Operating Mode Jog 138
7.4 Operating Mode Profile Velocity 144
7.5 Operating Mode Profile Position 148
7.6 Operating Mode Homing 153

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Section 7.1
Operating States

Operating States

What Is in This Section?

This section contains the following topics:
Topic Page
State Diagram and State Transitions 129
Indicating the Operating State via Signal Outputs 132
Indication of the Operating State via Fieldbus 133
Changing the Operating State via Signal Inputs 135
Changing the Operating State via Fieldbus 136

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State Diagram and State Transitions

State Diagram
When the product is powered on and when an operating mode is started, the product goes through a
number of operating states.
The state diagram (state machine) shows the relationships between the operating states and the state
transitions.
The operating states are internally monitored and influenced by monitoring functions.

Operating States

Operating state Description

1 Start Electronics are initialized
2 Not Ready To Switch On The power stage is not ready to switch on
3 Switch On Disabled Not possible to enable the power stage
4 Ready To Switch On The power stage is ready to switch on.
5 Switched On Power stage is switched on
6 Operation Enabled Power stage is enabled
Selected operating mode is active
7 Quick Stop Active “Quick Stop” is being executed
8 Fault Reaction Active Error response is active
9 Fault Error response terminated
Power stage is disabled

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Error Class
The errors are classified according to the following error classes:

Error class State transition Error response Resetting the error message
0 - No interruption of the movement Function “Fault Reset”
1 T11 Stop the movement with “Quick Stop” Function “Fault Reset”
2 T13, T14 Stop the movement with “Quick Stop” and Function “Fault Reset”
disable the power stage when the motor has
come to a standstill
3 T13, T14 Disable the power stage immediately without Function “Fault Reset”
stopping the movement first
4 T13, T14 Disable the power stage immediately without Power cycle
stopping the movement first

Error Response
The state transition T13 (error class 2, 3 or 4) initiates an error response as soon as an error is detected
to which the device must respond.

Error class Response

2 Movement is stopped with “Quick Stop”. After
standstill the holding brake is applied (if
available). After the holding brake is applied the
power stage is disabled.
3, 4 or safety-related Power stage is immediately disabled
function STO

An error can be detected by a temperature sensor, for example. The drive stops the movement and triggers
an error response. Subsequently, the drive transitions to the operating state 9 Fault.

Resetting an Error
The function “Fault Reset” resets an error.
In the event of a “Quick Stop” triggered by a detected error of class 1 (operating state 7 Quick Stop Active),
a “Fault Reset” causes a direct transition to operating state 6 Operation Enabled.

State Transitions
State transitions are triggered by an input signal, a fieldbus command or as a response to a monitoring
function.

State Operating Condition / event(1) Response

transition state
T0 1-> 2  Device electronics successfully initialized

T1 2-> 3  Parameter successfully initialized

T2 3 -> 4  No undervoltage
and Encoder successfully tested
and Actual velocity: <1000 RPM
and STO_A and STO_B = +24 V
and fieldbus command: Shutdown(2)
T3 4 -> 5  Request for enabling the power stage
 Fieldbus command: Switch On or Enable
Operation
T4 5 -> 6  Automatic transition Power stage is enabled.
 Fieldbus command: Enable Operation User parameters are verified.
Holding brake is released (if available).
(1) In order to trigger a state transition it is sufficient if one condition is met
(2) Only required with parameter DS402compatib = 1
(3) Possible only if operating state was triggered via the fieldbus

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State Operating Condition / event(1) Response

transition state
T5 6 -> 5  Fieldbus command: Disable Operation Movement is stopped with “Halt”. After
standstill the holding brake is applied (if
available). After the holding brake is
applied the power stage is disabled.
T6 5 -> 4  Fieldbus command: Shutdown

T7 4 -> 3  Undervoltage -
 STO signals = 0 V
 Actual velocity: >1000 RPM (for example by
external driving force)
 Fieldbus command: Disable Voltage

T8 6 -> 4  Fieldbus command: Shutdown Power stage is immediately disabled.

T9 6 -> 3  Request for disabling the power stage Power stage is immediately disabled.
 Fieldbus command: Disable Voltage

T10 5 -> 3  Request for disabling the power stage

 Fieldbus command: Disable Voltage

T11 6 -> 7  Error of error class 1 Movement is stopped with “Quick Stop”.
 Fieldbus command: Quick Stop

T12 7 -> 3  Request for disabling the power stage Power stage is immediately disabled,
 Fieldbus command: Disable Voltage even if “Quick Stop” is still active.
T13 x -> 8  Error of error classes 2, 3 or 4 Error response is carried out
(see page 130).
T14 8 -> 9  Error response terminated (error class 2)
 Error of error classes 3 or 4

T15 9 -> 3  Function: “Fault Reset” Error is reset (cause of error must have
been corrected).
T16 7 -> 6  Function: “Fault Reset” In the event of a “Quick Stop” triggered
 Fieldbus command: Enable Operation(3) by a detected error of class 1, a “Fault
Reset” causes a direct transition to the
operating state 6 Operation Enabled.
(1) In order to trigger a state transition it is sufficient if one condition is met
(2) Only required with parameter DS402compatib = 1
(3) Possible only if operating state was triggered via the fieldbus

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Indicating the Operating State via Signal Outputs

Overview
Information on the operating state is available via the signal outputs.
The table below provides an overview.

Signal output function

Operating state “Output No Fault” “Output Active”
1 Start 0 0
2 Not Ready To Switch On 0 0
3 Switch On Disabled 0 0
4 Ready To Switch On 1 0
5 Switched On 1 0
6 Operation Enabled 1 1
7 Quick Stop Active 0 0
8 Fault Reaction Active 0 0
9 Fault 0 0

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Indication of the Operating State via Fieldbus

Status Word
The parameter DCOMstatus provides information on the operating state of the device and the processing
status of the operating mode.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
DCOMstatus DriveCom status word. - UINT16 Modbus 6916
Bit assignments: - R/-
Bits 0...3,5,6: Status bits - -
Bit 4: Voltage enabled - -
Bit 7: Error class 0
Bit 8: HALT request active
Bit 9: Remote
Bit 10: Operating mode-specific
Bit 11: Reserved
Bit 12: Operating mode-specific
Bit 13: x_err
Bit 14: x_end
Bit 15: ref_ok

Bits 0, 1, 2, 3, 5, and 6
Bits 0, 1, 2, 3, 5, and 6 of the parameter DCOMstatus provide information on the operating state.

Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0

Switch On Quick Stop Fault Operation Switch On Ready To
Operating state Disabled Enabled Switch On
2 Not Ready To Switch On 0 X 0 0 0 0
3 Switch On Disabled 1 X 0 0 0 0
4 Ready To Switch On 0 1 0 0 0 1
5 Switched On 0 1 0 0 1 1
6 Operation Enabled 0 1 0 1 1 1
7 Quick Stop Active 0 0 0 1 1 1
8 Fault Reaction Active 0 X 1 1 1 1
9 Fault 0 X 1 0 0 0

Bit 4
Bit 4=1 indicates whether the DC bus voltage is correct. If the voltage is insufficient, the drive does not
transition from operating state 3 to operating state 4.

Bit 7
Bit 7 is 1 if parameter _WarnActive contains an error message of error class 0. The movement is not
interrupted. The bit remains set to 1 as long as the message is contained in parameter _WarnActive. The
bit remains set to 1 for at least 100 ms, even if an error message of error class 0 is active for a shorter time.
The bit is immediately reset to 0 in the case of a “Fault Reset”.

Bit 8
Bit 8=1 indicates that a “Halt” is active.

Bit 9
If bit 9 is set to 1, the drive executes commands via the fieldbus. If Bit 9 is reset to 0, the drive is controlled
via a different access channel. In such a case, it is still possible to read or write parameters via the fieldbus.

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Bit 10
Bit 10 is used for monitoring the operating mode. Details can be found in the chapters on the individual
operating modes.

Bit 11
Reserved.

Bit 12
Bit 12 is used for monitoring the operating mode. Details can be found in the chapters on the individual
operating modes.

Bit 13
Bit 13 is only set to 1 if an error is detected whose cause required to be removed prior to further processing.
The device responds corresponding to the error class.

Bit 14
Bit 14 changes to “0” if an operating mode is started. When processing is terminated or interrupted, for
example by a “Halt”, bit 14 toggles back to “1” once the motor has come to a standstill. Bit 14 does not
change to “1” if a new operating mode is started immediately after completion of a different operating mode.

Bit 15
Bit 15 is set to 1 if the motor has a valid zero point, for example, as a result of a reference movement.

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Changing the Operating State via Signal Inputs

Overview
It is possible to switch between operating states via the signal inputs.
 Signal input function “Input Enable”
 Signal input function “Input Fault Reset”

Signal Input Function “Input Enable”

The power stage is enabled by means of the signal input function “Input Enable”.

"Input Enable" State transition

Rising edge Enable power stage (T3)
Falling edge Disabling the power stage (T9 and T12)

If you want to enable the power stage via the signal input, you must first parameterize the signal input
function “Enable”, refer to chapter Parameterization of the Signal Input Functions and the Signal Output
Functions (see page 124).

Signal Input Function “Input Fault Reset”

The signal input function “Input Fault Reset” is used to reset an error.

"Input Fault Reset" State transition

Rising edge Resetting an error (T15 and T16)

If you want to reset an error via the signal input, you must first parameterize the signal input function “Input
Fault Reset”, refer to chapter Parameterization of the Signal Input Functions and the Signal Output
Functions (see page 124).

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Changing the Operating State via Fieldbus

Control Word
It is possible to switch between operating states via the parameter DCOMcontrol.

Parameter name Description Unit Data type Parameter

Minimum value R/W address via
Factory setting Persistent fieldbus
Maximum value Expert
DCOMcontrol DriveCom control word. - UINT16 Modbus 6914
Refer to chapter Operation, Operating - R/W
States, for bit coding information. - -
Bit 0: Switch on - -
Bit 1: Enable Voltage
Bit 2: Quick Stop
Bit 3: Enable Operation
Bit 4..6: Operating mode specific
Bit 7: Fault Reset
Bit 8: Halt
Bit 9..15: Reserved (must be 0)
Modified settings become active
immediately.

Bits 0, 1, 2, 3 and 7
Bits 0, 1, 2, 3 and 7 of the parameter DCOMcontrol allow you to switch between the operating states.

Bit 7 Bit 3 Bit 2 Bit 1 Bit 0

Fieldbus command State Fault Enable Quick Enable Switch
transitions State transition to Reset Operatio Stop Voltage On
n
Shutdown T2, T6, T8 4 Ready To Switch On 0 X 1 1 0
Switch On T3 5 Switched On 0 0 1 1 1
Disable Voltage T7, T9, 3 Switch On Disabled 0 X X 0 X
T10, T12
Quick Stop T7, T10 3 Switch On Disabled 0 X 0 1 X
T11 7 Quick Stop Active
Disable Operation T5 5 Switched On 0 0 1 1 1
Enable Operation T4, T16 6 Operation Enabled 0 1 1 1 1
Fault Reset T15 3 Switch On Disabled 0->1 X X X X

Bits 4 ... 6
Bits 4 to 6 are used for the operating mode-specific settings. Details can be found in the descriptions of the
individual operating modes in this chapter.

Bit 8
Bit 8 is used to trigger a "Halt". Set bit 8 to 1 to stop a movement with "Halt".

Bits 9 ... 15
Reserved.

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Section 7.2
Indicating, Starting and Changing an Operating Mode

Indicating, Starting and Changing an Operating Mode

Starting and Changing an Operating Mode

Starting the Operating Mode

The set operating mode is automatically started by enabling the power stage.
The parameter DCOMopmode is used to set the operating mode.
The parameter _DCOMopmode_act can be used to read the operating mode.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
DCOMopmode Operating mode. - INT16 Modbus 6918
0 / Reserved: Reserved -1 R/W
-1 / Jog: Jog - -
1 / Profile Position: Profile Position 6 -
3 / Profile Velocity: Profile Velocity
6 / Homing: Homing
Modified settings become active immediately.
_DCOMopmd_act Active operating mode. - INT16 Modbus 6920
0 / Reserved: Reserved -1 R/-
-1 / Jog: Jog - -
1 / Profile Position: Profile Position 6 -
3 / Profile Velocity: Profile Velocity
6 / Homing: Homing

Changing the Operating Mode

The operating mode can be changed after the active operating mode has been terminated.
The drive must be at a standstill.

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Section 7.3
Operating Mode Jog

Operating Mode Jog

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 139
Parameterization 142
Additional Settings 143

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Overview

Description
In the operating mode Jog, a movement is made from the actual motor in the specified direction.
A movement can be made using one of two methods:
 Continuous movement
 Step movement
In addition, the drive provides two parameterizable velocities.

Continuous Movement
As long as the signal for the direction is available, a continuous movement is made in the required direction.
The illustration below provides an example of continuous movement via the signal inputs:

1 Slow movement in positive direction

2 Slow movement in negative direction
3 Fast movement in positive direction

The illustration below provides an example of continuous movement via the fieldbus:

1 Slow movement in positive direction

2 Slow movement in negative direction
3 Fast movement in positive direction

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Step Movement
If the signal for the direction is available for a short period of time, a movement with a parameterizable
number of user-defined units is made in the required direction.
If the signal for the direction is available continuously, a movement with a parameterizable number of user-
defined units is made in the required direction. After this movement, the motor stops for a defined period
of time. Then a continuous movement is made in the required direction.
The illustration below provides an example of step movement via the signal inputs:

1 Slow movement in positive direction with a parameterizable number of user-defined units JOGstepusr
2 Waiting time JOGtime
3 Slow continuous movement in positive direction
4 Fast continuous movement in positive direction

The illustration below provides an example of step movement via the fieldbus:

1 Slow movement in positive direction with a parameterizable number of user-defined units JOGstepusr
2 Waiting time JOGtime
3 Slow continuous movement in positive direction
4 Fast continuous movement in positive direction

Starting the Operating Mode

The operating mode can be started via the signal inputs or via the fieldbus.
If you want to start the operating mode via the signal inputs, you must first parameterize the signal input
functions “Input Enable”, “Input Fault Reset”, “Input Jog Negative” and “Input Jog Positive”, refer to chapter
Parameterization of the Signal Input Functions and the Signal Output Functions (see page 124).

Signal input Signal input function

DI0 “Input Enable”
Enable and disable the power stage
DI1 “Input Fault Reset”
Resetting an error message

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Signal input Signal input function

DI2 “Input Jog Negative”
Operating mode Jog: Movement in negative direction
DI3 "Input Jog Positive"
Operating mode Jog: Movement in positive direction

If you want to start the operating mode via the fieldbus, you must first set the operating mode in the
parameter DCOMopmode. Writing the parameter value activates the operating mode. The parameter
JOGactivate starts the movement.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
JOGactivate Activation of operating mode Jog. - UINT16 Modbus 6930
Bit 0 = 1: Positive direction of rotation 0 R/W
Bit 1 = 1: Negative direction of rotation 0 -
Bit 2 = 0: Slow velocity 7 -
Bit 2 = 1: Fast velocity

If both bits for the direction of rotation are activated

at the same time, no movement is started. If a jog
movement is running, the simultaneous activation of
the bits for the direction of rotation has no effect.
Modified settings become active immediately.

Control Word
The operating mode-specific bits 4, 5, and 6 are reserved in this operating mode and must be set to 0.
Refer to the chapter Changing the Operating State (see page 136) for the common bits of the Control
Word.

Status Word
The operating mode-specific bits 10 and 12 are reserved in this operating mode.
Refer to the chapter Indication of the Operating State (see page 133) for the common bits of the Control
Word.

Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:
 Signal inputs “Input Jog Positive” and “Input Jog Negative” are set to 0
 Value 0 in parameter JOGactivate
 Stop caused by “Halt” or “Quick Stop”
 Stop caused by a detected error

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Parameterization

Switching Between Velocities Via a Signal Input

The drive provides the signal input function "Input Jog Fast/Slow". This signal input function allows you to
switch between two velocities via a signal input.
If you want to switch between the two velocities, you must first parameterize the signal input function "Input
Jog Fast/Slow", refer to chapter Parameterization of the Signal Input Functions and the Signal Output
Functions (see page 124).

Setting the Velocities

Two parameterizable velocities are available.
 Set the values with the parameters JOGn_slow and JOGn_fast.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
JOGn_slow Velocity for slow movement. RPM UINT16 Modbus 10504
The adjustable value is internally limited to the 1 R/W
parameter setting in RAMPn_max. 60 per.
Modified settings become active immediately. 3000 -
JOGn_fast Velocity for fast movement. RPM UINT16 Modbus 10506
The adjustable value is internally limited to the 1 R/W
parameter setting in RAMPn_max. 180 per.
Modified settings become active immediately. 3000 -

Setting the Step Movement

The parameters JOGstepusr and JOGtime are used to set the number of user-defined units and the time
for which the motor is stopped.
 Set the values with the parameters JOGstepusr and JOGtime.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
JOGstepusr Distance for step movement. usr INT32 Modbus 10510
Modified settings become active the next time the 0 R/W
motor moves. 20 per.
2147483647 -
JOGtime Wait time for step movement. ms UINT16 Modbus 10512
Modified settings become active the next time the 1 R/W
motor moves. 500 per.
32767 -

Changing the Motion Profile for the Velocity

It is possible to modify the parameterization of the Motion Profile for the Velocity (see page 167).

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Additional Settings

Overview
The following functions can be used for target value processing:
 Chapter Stopping Movement with Halt (see page 170)
 Chapter Stopping Movement with Quick Stop (see page 171)
 Chapter Setting a Signal Output via Parameter (see page 172)
 Chapter Position Capture via Signal Input (see page 173)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 176)
 Chapter Software Limit Switches (see page 179)

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Section 7.4
Operating Mode Profile Velocity

Operating Mode Profile Velocity

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 145
Parameterization 146
Additional Settings 147

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Overview

Description
In the operating mode Profile Velocity, a movement is made with a specified target velocity.
The motion profile for velocity is active in this operating mode.

Starting the Operating Mode

The operating mode can be started via the fieldbus.
The operating mode must be set in the parameter DCOMopmode. Writing the parameter value activates the
operating mode. The parameter PVn_target starts the movement.

Control Word
The operating mode-specific bits 4, 5, and 6 are reserved in this operating mode and must be set to 0.
Refer to the chapter Changing the Operating State (see page 136) for the common bits of the Control
Word.

Status Word

Parameter DCOMstatus Meaning

Bit 10 0: Target velocity not reached
1: Target velocity reached
Bit 12 0: Velocity = >0
1: Velocity = 0

Refer to the chapter Indication of the Operating State (see page 133) for the common bits of the Control
Word.

Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:
 Stop caused by “Halt” or “Quick Stop”
 Stop caused by a detected error

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Parameterization

Target Velocity
The parameter PVn_target allows you to set the target velocity.
 Set the target velocity with the parameter PVn_target.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
PVn_target Target velocity for operating mode Profile Velocity. RPM INT32 Modbus 6938
The adjusted value is internally limited to the - R/W
parameter value in RAMPn_max. 0 -
Modified settings become active immediately. - -

Modifying the Motion Profile for the Velocity

It is possible to modify the parameterization of the Motion Profile for the Velocity (see page 167).

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Additional Settings

Overview
The following functions can be used for target value processing:
 Chapter Stopping Movement with Halt (see page 170)
 Chapter Stopping Movement with Quick Stop (see page 171)
 Chapter Setting a Signal Output via Parameter (see page 172)
 Chapter Position Capture via Signal Input (see page 173)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 176)
 Chapter Software Limit Switches (see page 179)

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Section 7.5
Operating Mode Profile Position

Operating Mode Profile Position

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 149
Parameterization 151
Additional Settings 152

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Overview

Description
In the operating mode Profile Position, a movement to a target position is performed.
Twp types of movements are available:
 Relative movement
 Absolute movement

Relative Movement
In the case of a relative movement, the movement is relative with reference to the previous target position
or the actual position of the motor.

Absolute Movement
In the case of an absolute movement, the movement is absolute with reference to the zero point.

A zero point must be defined with the operating mode Homing prior to the first absolute movement.

Starting the Operating Mode

The operating mode can be started via the fieldbus.
The operating mode must be set in the parameter DCOMopmode. Writing the parameter value activates the
operating mode. The movement is started via the control word.

Control Word

Parameter value Meaning

Bit 4: New setpoint 0->1: Starts a movement to a target position.
Bit 5: Change setpoint immediately 0: Target values transmitted during a movement become
immediately effective and are executed at the target. The
movement is stopped at the target position.
1: Target values transmitted during a movement become
immediately effective and are immediately executed.
Bit 6: Absolute / relative 0: Absolute movement
1: Relative movement

Target values include target position, target velocity, acceleration and deceleration.
Refer to the chapter Changing the Operating State (see page 136) for the common bits of the Control
Word.

Status Word

Parameter DCOMstatus Meaning

Bit 10 0: Target position not reached
1: Target position reached
If “Halt” is active:
0: Motor decelerates
1: Motor standstill

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Parameter DCOMstatus Meaning

Bit 12 0: New position possible
1: New target position accepted

Refer to the chapter Indication of the Operating State (see page 133) for the common bits of the Control
Word.

Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:
 Target position reached
 Stop caused by “Halt” or “Quick Stop”
 Stop caused by a detected error

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Parameterization

Target Velocity
The parameter PPn_target allows you to set the target velocity.
 Set the target velocity with the parameter PPn_target.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
PPn_target Target velocity for operating mode Profile Position. RPM UINT32 Modbus 6942
The adjusted value is internally limited to the 1 R/W
parameter value in RAMPn_max. 60 -
Modified settings become active the next time the - -
motor moves.

Target Position
The parameter PPp_targetusr allows you to enter the target position.
The parameter PPoption allows you to set the method for a relative movement.
 Set the required target position with the parameter PPp_targetusr.
 Set the required method for a relative movement with the parameter PPoption.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
PPp_targetusr Target position for operating mode Profile Position. usr INT32 Modbus 6940
Minimum and maximum values depend on: - R/W
- Scaling factor - -
- Software limit switches (if they are activated) - -
Modified settings become active immediately.
PPoption Options for operating mode profile position. - UINT16 Modbus 6960
Determines the reference position for relative 0 R/W
positioning: 0 -
Value 0: Relative with reference to the previous 2 -
target position of the motion profile generator
Value 1: Reserved
Value 2: Relative with reference to the actual
position of the motor
Modified settings become active the next time the
motor moves.

Modifying the Motion Profile for the Velocity

It is possible to modify the parameterization of the Motion Profile for the Velocity (see page 167).

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Additional Settings

Overview
The following functions can be used for target value processing:
 Chapter Stopping Movement with Halt (see page 170)
 Chapter Stopping Movement with Quick Stop (see page 171)
 Chapter Setting a Signal Output via Parameter (see page 172)
 Chapter Position Capture via Signal Input (see page 173)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 176)
 Chapter Software Limit Switches (see page 179)

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Section 7.6
Operating Mode Homing

Operating Mode Homing

What Is in This Section?

This section contains the following topics:
Topic Page
Overview 154
Parameterization 156
Reference Movement to a Limit Switch 159
Reference Movement to the Reference Switch in Positive Direction 160
Reference Movement to the Reference Switch in Negative Direction 161
Reference Movement to the Index Pulse 162
Position Setting 163
Additional Settings 164

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Overview

Description
In the operating mode Homing, a reference is generated between a mechanical position and the position
of the motor as determined by the encoder.
A reference between a mechanical position and the encoder position of the motor is generated by means
of a reference movement or by means of position setting.
A successful reference movement or position setting homes the motor and the zero point becomes valid.
The zero point is the point of reference for absolute movements in the operating mode Profile Position.

Methods
A movement can be made using different methods:
 Reference movement to a limit switch
In the case of a reference movement to a limit switch, a movement to the negative limit switch or the
positive limit switch is performed.
When the limit switch is reached, the motor is stopped and a movement is made back to the switching
point of the limit switch.
From the switching point of the limit switch, a movement is made to the next index pulse of the motor or
to a parameterizable distance from the switching point.
The position of the index pulse or the position of the parameterizable distance from the switching point
is the reference point.
 Reference movement to the reference switch
In the case of a reference movement to the reference switch, a movement to the reference switch is
performed.
When the reference switch is reached, the motor is stopped and a movement is made back to the
switching point of the reference switch.
From the switching point of the reference switch, a movement is made to the next index pulse of the
motor or to a parameterizable distance from the switching point.
The position of the index pulse or the position of the parameterizable distance from the switching point
is the reference point.
 Reference movement to the index pulse
In the case of a reference movement to the index pulse, a movement is made from the actual position
to the next index pulse. The position of the index pulse is the reference point.
 Position setting
In the case of position setting, the actual position of the motor is set to a specific position value.
A reference movement must be terminated without interruption for the new zero point to be valid. If the
reference movement is interrupted, it must be started again.

Starting the Operating Mode

The operating mode can be started via the fieldbus.
The operating mode must be set in the parameter DCOMopmode. Writing the parameter value activates the
operating mode. The movement is started via the control word.

Control Word

Parameter DCOMcontrol Meaning

Bit 4 Start Homing
Bits 5 and 6 Reserved (must be set to 0)

Refer to the chapter Changing the Operating State (see page 136) for the common bits of the Control
Word.

Status Word

Parameter DCOMstatus Meaning

Bit 10 0: Homing not completed
1: Homing completed
Bit 12 1: Homing successfully completed

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Refer to the chapter Indication of the Operating State (see page 133) for the common bits of the Control
Word.

Terminating the Operating Mode

The operating mode is terminated when the motor is at a standstill and one of the following conditions is
met:
 Homing successful
 Stop caused by “Halt” or “Quick Stop”
 Stop caused by a detected error

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Parameterization

Setting Limit Switches and Reference Switches

The limit switches and reference switches must be set to meet the application requirements. Refer to the
chapter Limit Switches (see page 176) and to the chapter Reference Switch (see page 178) for details.

Selection of the Method

The operating mode Homing establishes an absolute position reference between the motor position and a
defined axis position. There are various Homing methods which can be selected via the parameter
HMmethod.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMmethod Homing method. - INT16 Modbus 6936
1: LIMN with index pulse 1 R/W
2: LIMP with index pulse 18 -
7: REF+ with index pulse, inv., outside 35 -
8: REF+ with index pulse, inv., inside
9: REF+ with index pulse, not inv., inside
10: REF+ with index pulse, not inv., outside
11: REF- with index pulse, inv., outside
12: REF- with index pulse, inv., inside
13: REF- with index pulse, not inv., inside
14: REF- with index pulse, not inv., outside
17: LIMN
18: LIMP
23: REF+, inv., outside
24: REF+, inv., inside
25: REF+, not inv., inside
26: REF+, not inv., outside
27: REF-, inv., outside
28: REF-, inv., inside
29: REF-, not inv., inside
30: REF-, not inv., outside
33: Index pulse neg. direction
34: Index pulse pos. direction
35: Position setting

Abbreviations:
REF+: Search movement in positive direction
REF-: Search movement in negative direction
inv.: Invert direction in switch
not inv.: Direction not inverted in switch
outside: Index pulse / distance outside switch
inside: Index pulse / distance inside switch
Modified settings become active immediately.

Setting the Distance from the Switching Point

A distance to the switching point of the limit switch or the reference switch must be parameterized for a
reference movement without index pulse. The parameter HMdisusr lets you set the distance to the
switching point of the limit switch or of the reference switch.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMdisusr Distance from switching point. usr INT32 Modbus 10254
The distance from the switching point is defined as 1 R/W
the reference point. 200 per.
2147483647 -
The parameter is only effective during a reference
movement without index pulse.
Modified settings become active the next time the
motor moves.

Defining the Zero Point

The parameter HMp_homeusr is used to specify a position value which is set at the reference point after
a successful reference movement. The position value at the reference point defines the zero point.
If the value 0 is used, the zero point corresponds to the reference point.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMp_homeusr Position at reference point. usr INT32 Modbus 10262
After a successful reference movement, this -2147483648 R/W
position is automatically set at the reference point. 0 per.
Modified settings become active the next time the 2147483647 -
motor moves.

Setting Monitoring
The parameters HMoutdisusr and HMsrchdisusr allow you to activate monitoring of the limit switches
and the reference switch.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMoutdisusr Maximum distance for search for switching point. usr INT32 Modbus 10252
Value 0: Monitoring of distance inactive 0 R/W
Value >0: Maximum distance 0 per.
2147483647 -
After detection of the switch, the drive starts to
search for the defined switching point. If the defined
switching point is not found within the distance
defined here, the reference movement is canceled
and an error is detected.
Modified settings become active the next time the
motor moves.
HMsrchdisusr Maximum search distance after overtravel of switch. usr INT32 Modbus 10266
Value 0: Search distance monitoring disabled 0 R/W
Value >0: Search distance 0 per.
2147483647 -
The switch must be activated again within this
search distance, otherwise the reference movement
is canceled.
Modified settings become active the next time the
motor moves.

Reading the Position Distance

The position distance between the switching point and index pulse can be read with the parameter
HMdisREFtoIDX.
The distance between the switching point and the index pulse must be greater than 0.05 revolutions for
reproducible reference movements with index pulse.

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If the index pulse is too close to the switching point, the limit switch or reference switch can be moved
mechanically.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMdisREFtoIDX Distance from switching point to index pulse. revolution INT32 Modbus 10264
Allows you to verify the distance between the index - R/-
pulse and the switching point and serves as a - -
criterion for determining whether the reference - -
movement with index pulse can be reproduced.
In increments of 0.0001 revolution.

Setting Velocities
The parameters HMn and HMn_out are used to set the velocities for searching the switch and for moving
away from the switch.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMn Target velocity for searching the switch. RPM UINT16 Modbus 10248
The adjustable value is internally limited to the 1 R/W
setting in RAMPn_max. 60 per.
Modified settings become active the next time the 3000 -
motor moves.
HMn_out Target velocity for moving away from switch. RPM UINT16 Modbus 10250
The adjustable value is internally limited to the 1 R/W
setting in RAMPn_max. 6 per.
Modified settings become active the next time the 3000 -
motor moves.

Modifying the Motion Profile for the Velocity

It is possible to modify the parameterization of the Motion Profile for the Velocity (see page 167).

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Reference Movement to a Limit Switch

Overview
The following figure illustrates a reference movement to a limit switch
Reference movement to a limit switch:

1 Movement to limit switch at velocity HMn

2 Movement to the switching point of the limit switch at velocity HMn_out
3 Movement to index pulse or movement to a distance from the switching point at velocity HMn_out

Type A
Method 1: Movement to the index pulse.
Method 17: Movement to distance from switching point.

Type B
Method 2: Movement to the index pulse.
Method 18: Movement to distance from switching point.

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Reference Movement to the Reference Switch in Positive Direction

Overview
The following figure illustrates a reference movement to the reference switch in positive direction
Reference movement to the reference switch in positive direction:

1 Movement to reference switch at velocity HMn

2 Movement to the switching point of the reference switch at velocity HMn_out
3 Movement to index pulse or movement to a distance from the switching point at velocity HMn_out

Type A
Method 7: Movement to the index pulse.
Method 23: Movement to distance from switching point.

Type B
Method 8: Movement to the index pulse.
Method 24: Movement to distance from switching point.

Type C
Method 9: Movement to the index pulse.
Method 25: Movement to distance from switching point.

Type D
Method 10: Movement to the index pulse.
Method 26: Movement to distance from switching point.

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Reference Movement to the Reference Switch in Negative Direction

Overview
The following figure illustrates a reference movement to the reference switch in negative direction
Reference movement to the reference switch in negative direction:

1 Movement to reference switch at velocity HMn

2 Movement to the switching point of the reference switch at velocity HMn_out
3 Movement to index pulse or movement to a distance from the switching point at velocity HMn_out

Type A
Method 11: Movement to the index pulse.
Method 27: Movement to distance from switching point.

Type B
Method 12: Movement to the index pulse.
Method 28: Movement to distance from switching point.

Type C
Method 13: Movement to the index pulse.
Method 29: Movement to distance from switching point.

Type D
Method 14: Movement to the index pulse.
Method 30: Movement to distance from switching point.

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Reference Movement to the Index Pulse

Overview
The following figure illustrates a reference movement to the index pulse
Reference movement to the index pulse:

1 Width of the index pulse

2 Movement to falling edge of the index pulse at velocity HMn_out

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Position Setting

Description
By means of position setting, the actual position is set to the position value in parameter HMp_setpusr.
This also defines the zero point.
Position setting is only possible when the motor is at a standstill. Any active position deviation remains
active and can be compensated for by the position controller after position setting.

Setting the Position for Position Setting

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMp_setpusr Position for Position Setting. usr INT32 Modbus 6956
Position for operating mode Homing, method 35 - R/W
(Position Setting). 0 -
Modified settings become active immediately. - -

Example
Movement by 4000 user-defined units with position setting:

1 The motor is positioned by 2000 user-defined units.

2 By means of position setting to 0, the actual position is set to position value 0 which, at the same time, defines a
new zero point.
3 When a new movement by 2000 user-defined units is triggered, the new target position is 2000 user-defined units.

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Additional Settings

Overview
The following functions can be used for target value processing:
 Chapter Stopping Movement with Halt (see page 170)
 Chapter Stopping Movement with Quick Stop (see page 171)
 Chapter Setting a Signal Output via Parameter (see page 172)
 Chapter Position Capture via Signal Input (see page 173)
The following functions can be used for monitoring the movement:
 Chapter Limit Switches (see page 176)
 Chapter Software Limit Switches (see page 179)

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Functions for Operation
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Chapter 8
Functions for Operation

Functions for Operation

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
8.1 Functions for Target Value Processing 166
8.2 Functions for Monitoring Movements 175
8.3 Functions for Monitoring Internal Device Signals 181

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Section 8.1
Functions for Target Value Processing

Functions for Target Value Processing

What Is in This Section?

This section contains the following topics:
Topic Page
Motion Profile for the Velocity 167
Stopping a Movement with Halt 170
Stopping a Movement with Quick Stop 171
Setting a Signal Output via Parameter 172
Position Capture Via Signal Input 173

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Motion Profile for the Velocity

Description
Target position and target velocity are input values you specify. A motion profile for the velocity is
calculated on the basis of these values.
The motion profile for the velocity consists of an acceleration, a deceleration, and a maximum velocity.
The settings for the motion profile for the velocity are valid for both directions of movement.

Type of Acceleration Ramp and Deceleration Ramp

The integrated drive provides a linear ramp and a motor-optimized ramp for acceleration and deceleration.
The motor-optimized ramp is used to compensate for the typical torque drop of a stepper motor at
increasing velocities by reducing the acceleration.
A linear ramp is used for Quick Stop, regardless of the set ramp.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
RAMP_TypeSel Selection of ramp type. - INT16 Modbus 1574
0 / Linear: Linear ramp - R/W
-1 / Motoroptimized: Motor-optimized ramp - per.
Modified settings become active the next time the - -
power stage is enabled.

Start-Stop Velocity
Stepper motors offer fast acceleration from standstill, adjustable as the start-stop velocity.
Depending on the external load, the start-stop velocity can be set to up to 60 RPM.
If the value for the start-stop velocity is too low, the stepper motor may develop mechanical resonances
with low external damping. If the value for the start-stop velocity is too high, the values you can set for
acceleration and deceleration are reduced.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
RAMPnstart0 Start/stop velocity. RPM UINT16 Modbus 1570
Start/stop velocity of motion profile for velocity - R/W
Modified settings become active the next time the - per.
power stage is enabled. - -

Availability
The availability of the motion profile for the velocity depends on the operating mode.
The motion profile for the velocity is available in the following operating modes:
 Jog
 Profile Position
 Profile Velocity
 Homing

Ramp Slope
The ramp slope determines the velocity changes of the motor per time unit. The ramp slope can be set for
acceleration and deceleration.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
RAMPn_max Maximum velocity of the motion profile for velocity. RPM UINT16 Modbus 1554
The parameter is active in the following operating 60 R/W
modes: 13200 per.
- Profile Position 13200 -
- Profile Velocity
- Homing
- Jog

If a greater reference velocity is set in one of these

operating modes, it is automatically limited to
RAMPn_max.
This way, commissioning at limited velocity is easier
to perform.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
motor moves.
RAMPacc Acceleration of the motion profile for velocity. RPM/s UINT32 Modbus 1556
Modified settings become active the next time the 1 R/W
motor moves. 600 per.
3000000 -
RAMPdecel Deceleration of the motion profile for velocity. RPM/s UINT32 Modbus 1558
Modified settings become active the next time the 200 R/W
motor moves. 750 per.
3000000 -

Jerk Limitation
Jerk limitation smoothes sudden acceleration changes to allow for smooth transitions.
The following figure illustrates the profile without jerk limitation (dashed line) and with jerk limitation (solid
line):

Jerk limitation is activated and set via the parameter RAMP_TAUjerk.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
RAMP_TAUjerk Jerk limitation of the motion profile for velocity. ms UINT16 Modbus 1562
0 / Off: Off 0 R/W
1 / 1: 1 ms 0 per.
2 / 2: 2 ms 128 -
4 / 4: 4 ms
8 / 8: 8 ms
16 / 16: 16 ms
32 / 32: 32 ms
64 / 64: 64 ms
128 / 128: 128 ms
Adjustments can only be made if the operating
mode is inactive (x_end=1).
Modified settings become active the next time the
motor moves.

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Stopping a Movement with Halt

Description
You can stop a movement with a Halt. The movement is resumed when the Halt is cleared.
A Halt can be triggered via a digital signal input or a fieldbus command.
In order to interrupt a movement with a Halt via a signal input, you must first parameterize the signal input
function “Input Halt”, see chapter Parameterization of the Signal Input Functions and the Signal Output
Functions (see page 124).
If the Halt request is cleared while the deceleration is still being performed, the deceleration is continued
until the motor has reached a standstill. After that, the motor accelerates to the original velocity.

Setting the Deceleration Ramp

The deceleration ramp set with the parameter RAMPdecel for the Motion Profile for the Velocity
(see page 167) is used for a Halt.

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Stopping a Movement with Quick Stop

Description
You can stop a movement with a Quick Stop.
A Quick Stop can be triggered via a fieldbus command or in response to a detected error of error classes
1 or 2.
You can set the operating state to transition to after standstill has been reached:
 Remain in operating state 7 Quick Stop Active
 Transition to operating state 9 Fault

Setting the Type of Operating State Transition

The parameter LIM_QStopReact lets you set the type of operating state transition.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
LIM_QStopReact Quick Stop option code. - INT16 Modbus 1584
-1 / Deceleration Ramp (Fault): Use deceleration -1 R/W
ramp and transition to operating state 9 Fault 6 per.
6 / Deceleration ramp (Quick Stop): Use 6 -
deceleration ramp and remain in operating state 7
Quick Stop Active
Setting of deceleration ramp with parameter
RAMPquickstop.
Setting of torque ramp with parameter
LIM_I_maxQSTP.

The deceleration ramp is only available for

operating modes with motion profile for velocity.
The torque ramp is used in the operating modes
without motion profile for velocity.
Modified settings become active immediately.

Setting the Deceleration Ramp

The parameter RAMPquickstop lets you set the deceleration ramp.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
RAMPquickstop Deceleration ramp for Quick Stop. RPM/s UINT32 Modbus 1572
Deceleration ramp for a software stop or an error 200 R/W
with error class 1 or 2. 6000 per.
Modified settings become active the next time the 3000000 -
motor moves.

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Setting a Signal Output via Parameter

Description
The digital signal outputs can be set via the fieldbus.
In order to set the digital signal outputs via the parameter, you must first parameterize the signal output
function “Output Free Available”, see chapter Parameterization of the Signal Input Functions and the
Signal Output Functions (see page 124).
If one or more of the outputs are not set to “Output Free Available”, write access to that or those outputs is
ignored.
The parameter IO_LO_set lets you set the digital signal outputs.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
IO_LO_set Setting the digital outputs directly. - UINT16 Modbus 2082
Bit 0 corresponds to the first output, bit 1 - R/W
corresponds to the second output, and so on. - -
- -

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Position Capture Via Signal Input

Description
The motor position can be captured when a signal is detected at a Capture input.

Number of Capture Inputs

Two Capture inputs are available.
 LIO1 (CAP1)
 LIO2 (CAP2)

Method
The motor position can be captured in two ways:
 One-time position capture
One-time capture means that the position is captured at the first edge.
 Continuous motor position capture
Continuous capture means that the motor position is captured anew at every edge.
The motor position can be captured when the edge at the Capture input rises or falls.

Setting the Edge

The following parameters let you set the edge for position capture.
 Set the required edge with the parameters Cap1Config and Cap2Config.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
Cap1Config Capture input 1 configuration. - UINT16 Modbus 2564
0 / 1->0: Position capture at falling edge 0 R/W
1 / 0->1: Position capture at rising edge 0 -
Modified settings become active immediately. 1 -
Cap2Config Capture input 2 configuration. - UINT16 Modbus 2566
0 / 1->0: Position capture at falling edge 0 R/W
1 / 0->1: Position capture at rising edge 0 -
Modified settings become active immediately. 1 -

Starting Position Capture

The following parameters let you start position capture.
 Set the method with the parameters Cap1Activate and Cap2Activate.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
Cap1Activate Capture input 1 start/stop. - UINT16 Modbus 2568
0 / Capture stop: Cancel capture function 0 R/W
1 / Capture once: Start one-time capture - -
2 / Capture continuous: Start continuous capture 2 -
In the case of one-time capture, the function is
terminated when the first value is captured.
In the case of continuous capture, the function
continues to run.
Modified settings become active immediately.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
Cap2Activate Capture input 2 start/stop. - UINT16 Modbus 2570
0 / Capture stop: Cancel capture function 0 R/W
1 / Capture once: Start one-time capture - -
2 / Capture continuous: Start continuous capture 2 -
In the case of one-time capture, the function is
terminated when the first value is captured.
In the case of continuous capture, the function
continues to run.
Modified settings become active immediately.

Status Messages
The parameter CapStatus indicates the capture status.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
CapStatus Status of the capture inputs. - UINT16 Modbus 2562
Read access: - R/-
Bit 0: Position captured via input CAP1 - -
Bit 1: Position captured via input CAP2 - -

Captured Position
The captured position can be read via the following parameters:

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
Cap1Pos Capture input 1 captured position. usr INT32 Modbus 2572
Captured position at the time of the "capture signal". - R/-
The captured position is re-calculated after "Position - -
Setting" or "Reference Movement". - -
Cap2Pos Capture input 2 captured position. usr INT32 Modbus 2574
Captured position at the time of the "capture signal". - R/-
The captured position is re-calculated after "Position - -
Setting" or "Reference Movement". - -
Cap1Count Capture input 1 event counter. - UINT16 Modbus 2576
Counts the capture events. - R/-
The event counter is reset when capture input 1 is - -
activated. - -
Cap2Count Capture input 2 event counter. - UINT16 Modbus 2578
Counts the capture events. - R/-
The event counter is reset when capture unit 2 is - -
activated. - -

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Section 8.2
Functions for Monitoring Movements

Functions for Monitoring Movements

What Is in This Section?

This section contains the following topics:
Topic Page
Hardware Limit Switches 176
Reference Switch 178
Software Limit Switches 179

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Hardware Limit Switches

Description
The use of limit switches can help protect against some hazards (for example, collision with mechanical
stop caused by incorrect reference values).

WARNING
LOSS OF CONTROL
 Ensure that limit switches are installed as determined by your risk assessment.
 Verify correct connection of the limit switches.
 Verify that the limit switches are sufficiently distant from the mechanical end to allow an adequate
stopping distance.
 Verify correct parameterization and function of the limit switches.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Movements can be monitored with hardware limit switches. A positive hardware limit switch and a negative
hardware limit switch can be used for monitoring.
If the positive or negative hardware limit switch is triggered, the movement is stopped with a Quick Stop.
The drive responds with a detected error of error class 1. The error message can be reset by means of a
“Fault Reset”.
The response of the drive to a Quick Stop can be adjusted via the parameter LIM_QStopReact. Refer to
the chapter Stopping a Movement with Quick Stop (see page 171) for additional information.
The movement can continue, however, only in the opposite direction. For example, if the positive hardware
limit switch was triggered, further movement is only possible in negative direction. In the case of further
movement in positive direction, the drive responds with a new detected error of error class 1.
The parameters IOsigLimP and IOsigLimN are used to set the type of hardware limit switch.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
IOsigLimP Signal evaluation for positive limit switch. - UINT16 Modbus 1568
0 / Inactive: Inactive 0 R/W
1 / Normally Closed: Normally closed NC 1 per.
2 / Normally Open: Normally open NO 2 -
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.
IOsigLimN Signal evaluation for negative limit switch. - UINT16 Modbus 1566
0 / Inactive: Inactive 0 R/W
1 / Normally Closed: Normally closed NC 1 per.
2 / Normally Open: Normally open NO 2 -
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.

If you want to use hardware limit switches, you must first parameterize the signal input functions “Input
Positive Limit Switch (LIMP)” and/or “Input Negative Limit Switch (LIMN)”. Refer to chapter Parameter-
ization of the Signal Input Functions and the Signal Output Functions (see page 124) for details.

Temporary Deactivation of Hardware Limit Switches

The parameter SPV_HW_Deactiv can be used to temporarily deactivate the hardware limit switches, for
example, for commissioning, or machine setup.

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WARNING
UNINTENDED EQUIPMENT OPERATION
Implement all measures identified in your risk assessment to avoid hazardous conditions that could result
from temporary deactivation of limit switches.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
SPV_HW_Deactiv Temporary deactivation of hardware limit switches. - UINT16 Modbus 1610
0 / None: No limit switch deactivated 0 R/W
1 / Deactivate LIMP: Deactivate positive limit switch 0 -
2 / Deactivate LIMN: Deactivate negative limit 3 -
switch
3 / Deact. LIMP+LIMN: Deactivate both limit
switches
With this parameter, a PLC can temporarily
deactivate hardware limit switches. This is useful if
a homing procedure controlled by a PLC is to use a
limit switch as a reference switch without any error
response of the drive.
Modified settings become active immediately.
Available with firmware version ≥V1.010.

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Reference Switch

Description
The reference switch is only active in the operating mode Homing.
The parameter IOsigRef lets you set the type of reference switch.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
IOsigRef Signal evaluation for reference switch. - UINT16 Modbus 1564
1 / Normally Closed: Normally closed NC 1 R/W
2 / Normally Open: Normally open NO 1 per.
The reference switch is only active while a reference 2 -
movement to the reference switch is processed.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.

If you want to use the reference switch, you must first parameterize the signal input function “Input
Reference Switch (REF)”. Refer to chapter Parameterization of the Signal Input Functions and the Signal
Output Functions (see page 124) for details.

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Software Limit Switches

Description
Movements can be monitored with software limit switches. A positive position limit and a negative position
limit can be set for monitoring.
If the positive or negative software limit switch is triggered, the movement is stopped with a Quick Stop.
The integrated drive responds with a detected error of error class 1. The error message can be reset by
means of a “Fault Reset”.
The response of the drive to a Quick Stop can be adjusted via the parameter LIM_QStopReact. Refer to
the chapter Stopping a Movement with Quick Stop (see page 171) for additional information.
The movement can continue, however, only in the opposite direction. For example, if the positive position
limit was reached, further movement is only possible in negative direction. In the case of further movement
in positive direction, the drive responds with a new detected error of error class 1.

Prerequisite
Software limit switch monitoring only works with a valid zero point, refer to chapter Size of the Movement
Range (see page 121).

Behavior in Operating Modes with Target Positions

In operating modes with target positions, the movement is started even if the target position is beyond the
positive position limit or the negative position limit. A Quick Stop is triggered so that the motor comes to a
standstill at the position limit.
In the following operating modes, the target position is verified prior to the start of a movement so that the
position limit is not exceeded regardless of the target position.
 Jog (step movement)
 Profile Position

Behavior in Operating Modes Without Target Positions

In operating modes without target positions, a Quick Stop is triggered at the position limit.
 Jog (continuous movement)
 Profile Velocity

Activation
The software limit switches are activated via the parameter SPV_SW_Limits.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
SPV_SW_Limits Activation of software limit switches. - UINT16 Modbus 1542
0 / None: Deactivated 0 R/W
1 / SWLIMP: Activation of software limit switch 0 per.
positive direction 3 -
2 / SWLIMN: Activation of software limit switch
negative direction
3 / SWLIMP+SWLIMN: Activation of software limit
switches both directions
Software limit switches can only be activated if the
zero point is valid.
Modified settings become active immediately.

Setting Position Limits

The position limits of the software limit switches are set via the parameters SPV_swLimP and
SPV_swLimN.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
SPVswLimPusr Positive position limit for software limit switch. usr INT32 Modbus 1544
If a user-defined value entered is outside of the - R/W
permissible range, the limit switch limits are 2147483647 per.
automatically set to the maximum user-defined - -
value.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.
SPVswLimNusr Negative position limit for software limit switch. usr INT32 Modbus 1546
Refer to description of parameter SPVswLimPusr. - R/W
Setting can only be modified if power stage is -2147483648 per.
disabled. - -
Modified settings become active the next time the
power stage is enabled.

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Section 8.3
Functions for Monitoring Internal Device Signals

Functions for Monitoring Internal Device Signals

What Is in This Section?

This section contains the following topics:
Topic Page
Temperature Monitoring 182
Stall Detection 183

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Temperature Monitoring

Temperature of Power Stage

The parameter _Temp_act_PA contains the temperature value of the power stage.
The parameter PA_T_warn contains the threshold value for an error of error class 0.
The parameter PA_T_max contains the maximum temperature value of the power stage . If the
temperature exceeds the limit value for more than five seconds, an error of error class 3 is detected.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_Temp_act_PA Temperature of power stage. °C INT16 Modbus 7200
- R/-
- -
- -
PA_T_warn Temperature limit of power stage for error class 0. °C INT16 Modbus 4108
- R/-
- per.
- -
PA_T_max Maximum permissible temperature of power stage. °C INT16 Modbus 4110
- R/-
- per.
- -

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Stall Detection

Description
The stall detection function monitors whether a stepper motor stalls. If a stepper motor stalls, the motor
shaft is displaced in relation to the rotating magnetic field by an angle corresponding to one or several pairs
of poles. One pair of poles corresponds to 1/50 of a motor shaft revolution.
Constraints:
 After the power stage is enabled, stall detection start to operate as soon as the index pulse is reached.
Stalling is detected from this point on.
 If the motor stalls during deceleration immediately before reaching a standstill, this is detected when the
index pulse is reached the next time. This means that this condition may only be detected during the
next movement.
 If the movement range of the application is less than one motor revolution, the index pulse may be
outside of the movement. In such a case, stalling of the motor is not detected.
 Stall detection does not detect rotation of the motor shaft by external forces when the motor is at a
standstill.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
CTRLS_stallDet Stall detection via index pulse. - UINT16 Modbus 5146
0 / Inactive: Inactive 0 R/W
1 / Active: Active - per.
The default value for drives with index pulse is 1 -
"Active".
Modified settings become active the next time the
power stage is enabled.

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Examples
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Chapter 9
Examples

Examples

Wiring Example

Overview
In the following wiring example, the limit switches and the reference switch are supplied via the internal
24 V power supply.

The UBC60 braking resistor controller is available as an accessory, refer to the chapter Accessories and
Spare Parts (see page 231).

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Diagnostics and Troubleshooting
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Chapter 10
Diagnostics and Troubleshooting

Diagnostics and Troubleshooting

What Is in This Chapter?

This chapter contains the following sections:
Section Topic Page
10.1 Diagnostics via LEDs 188
10.2 Diagnostics via the Fieldbus 191
10.3 Error Messages 198

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Diagnostics and Troubleshooting

Section 10.1
Diagnostics via LEDs

Diagnostics via LEDs

What Is in This Section?

This section contains the following topics:
Topic Page
Operating State LEDs 189
Fieldbus Status LEDs 190

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Operating State LEDs

Overview
The integrated drive has a green and a red LED on the printed circuit board. The two LEDs indicate the
operating states and detected errors.

A Operating states 1 Start and 2 Not Ready To Switch On

B Operating state 3 Switch On Disabled
C Operating states 4 Ready To Switch On and 5 Switched On
D Operating state 6 Operation Enabled
E Operating states 7 Quick Stop Active and 8 Fault Reaction Active
F Operating state 9 Fault
G Firmware not available
H Internal error

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Fieldbus Status LEDs

Overview
The fieldbus status LED visualizes the status of the fieldbus.

LED Description
1 Communication status of the fieldbus

LED communication status of the drive:

LED code Description

Flashes The drive is booting.
Steady on The drive is ready.
Flashing twice per cycle The drive has no connection.
Flashing 3 times per cycle The drive has no valid IP parameters after Clear IP.
Flashing 4 times per cycle The drive has detected that its IP address is already in use.
Flashing 5 times per cycle The drive is waiting for Bootsstrap Protocol/address from DHCP server.
Flashing 6 times per cycle The drive is in ‘default IP address mode’ for various reasons.

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Section 10.2
Diagnostics via the Fieldbus

Diagnostics via the Fieldbus

What Is in This Section?

This section contains the following topics:
Topic Page
Fieldbus Communication Error Diagnostics 192
Most Recent Detected Error - Status Bits 193
Most Recent Detected Error - Error Code 195
Error Memory 196

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Fieldbus Communication Error Diagnostics

Verifying Connections
A properly operating fieldbus is essential for evaluating status and error messages.
If the product cannot be addressed via the fieldbus, first verify the connections.
Verify the following connections:
 System power supply
 Supply connections
 Fieldbus cables and wiring
 Fieldbus connection

Fieldbus Function Test

If the connections are correct, verify that you can address the product on the fieldbus.

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Most Recent Detected Error - Status Bits

Parameter DCOMstatus
The parameter DCOMstatus is a part of the process data communication. The parameter DCOMstatus is
transmitted asynchronously and in an event-driven way whenever the status information changes.
In the case of an error of error class 0, bit 7 is set in the parameter DCOMstatus.
In the case of an error of error class 1, 2, 3 or 4, bit 13 is set in the parameter DCOMstatus.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
DCOMstatus DriveCom status word. - UINT16 Modbus 6916
Bit assignments: - R/-
Bits 0...3,5,6: Status bits - -
Bit 4: Voltage enabled - -
Bit 7: Error class 0
Bit 8: HALT request active
Bit 9: Remote
Bit 10: Operating mode-specific
Bit 11: Reserved
Bit 12: Operating mode-specific
Bit 13: x_err
Bit 14: x_end
Bit 15: ref_ok

Error Bits
The parameters _WarnLatched and _SigLatched contain information on errors of error class 0 and
errors of error classes 1 ... 4.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_WarnLatched Saved errors of error class 0, bit-coded. - UINT16 Modbus 7192
The bits are set to 0 in the case of a Fault Reset. - R/-
Bits 10, 11, and 13 are set to 0 automatically. - -
- -
Signal state:
0: Not activated
1: Activated

Bit assignments:
Bit 0: General (see _LastWarning)
Bit 1: Temperature of power stage high
Bit 2: Temperature of motor high
Bit 3: Reserved
Bit 4: Power stage overload (I2t)
Bit 5: Motor overload (I2t)
Bit 6: Braking resistor overload (I2t)
Bit 7: CAN
Bit 8: Motor encoder
Bit 9: RS485 protocol
Bit 10: Inputs STO
Bit 11: DC bus undervoltage/mains phase not
present
Bit 12: Profibus
Bit 13: Position not yet valid (position capture still
running)
Bit 14: Ethernet
Bit 15: Reserved

Monitoring functions are product-dependent.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_SigLatched Saved status of monitoring signals. - UINT32 Modbus 7184
Signal state: - R/-
0: Not activated - -
1: Activated - -

Bit assignments:
Bit 0: General error detected
Bit 1: Hardware limit switches (LIMP/LIMN/REF)
Bit 2: Out of range (software limit switches, tuning)
Bit 3: Quick Stop via fieldbus
Bit 4: Inputs STO are 0
Bit 5: Reserved
Bit 6: RS485
Bit 7: CAN
Bit 8: Ethernet
Bit 9: Frequency of reference signal too high
Bit 10: Operating mode
Bit 11: Reserved
Bit 12: Profibus
Bit 13: Reserved
Bit 14: Undervoltage DC bus
Bit 15: Overvoltage DC bus
Bit 16: Mains phase
Bit 17: Motor connection
Bit 18: Motor overcurrent/short circuit
Bit 19: Motor encoder
Bit 20: Undervoltage 24VDC
Bit 21: Overtemperature (power stage, motor)
Bit 22: Position deviation exceeded
Bit 23: Maximum velocity exceeded
Bit 24: Inputs STO different
Bit 25: Reserved
Bit 26: Reserved
Bit 27: Reserved
Bit 28: Reserved
Bit 29: Nonvolatile memory error
Bit 30: System booting (hardware or parameter)
Bit 31: System (for example, Watchdog)

Monitoring functions are product-dependent.

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Most Recent Detected Error - Error Code

Description
If the master controller receives information concerning a detected error via the process data
communication, the following parameters can be used to read the error code.
The list of the error messages sorted by error code can be found in the chapter Error Messages
(see page 198).

Most Recent Detected Error with Error Class 0

The parameter _LastWarning allows you to read the error number of the last detected error with error
class 0.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_LastWarning Code of most recent error of error class 0. - UINT16 Modbus 7186
If the error is no longer active, the code is stored - R/-
until the next Fault Reset. - -
Value 0: No error of error class 0 - -

Most Recent Detected Error with Error Class 1 ... 4

The parameter _StopFault allows you to read the error number of the last detected error with error class
1 ... 4.

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_StopFault Detected error causing a stop (error classes 1 to 4). - UINT16 Modbus 7178
Error code of the most recent detected error. - R/-
0 -
- -

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Error Memory

General
The error memory is an error history of the last 10 error messages. It is not cleared even if the product is
powered off. The error memory allows you to read and evaluate past events.
The following information on the events is stored:
 Error class
 Error code
 Motor current
 Number of power on cycles
 Additional error information (for example, parameter numbers)
 Product temperature
 Power stage temperature
 Time the error was detected (with reference to operating hours counter)
 DC Bus Voltage
 Velocity
 Number of Enable cycles after powering on
 Time from Enable until detection of the error
The stored information relates to the situation at the point in time the error was detected.
The list of the error messages sorted by error code can be found in the chapter Error Messages
(see page 198).

Reading the Error Memory

The error memory can only be read sequentially. The parameter FLT_MemReset must be used to reset
the read pointer. Then the first error entry can be read. The read pointer is automatically set to the next
entry. A new read access delivers the next error entry. If the error code 0 is returned, there is no additional
error entry.

Position of the entry Meaning

1 First error message (oldest message).
2 Second error message (later message).
... ...
10 Tenth error message. In the case of ten error
messages, the most recent error message is
contained here.

An error entry consists of several pieces of information which can be read using different parameters.
When you read an error entry, the error code must be read first with the parameter _FLT_err_num.
The following parameters allow you to manage the error memory:

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
FLT_class Error class. - UINT16 Modbus 15364
Value 0: Error class 0 0 R/-
Value 1: Error class 1 - -
Value 2: Error class 2 4 -
Value 3: Error class 3
Value 4: Error class 4
FLT_err_num Error code. - UINT16 Modbus 15362
Reading this parameter copies the entire entry for 0 R/-
the detected error (error class, time of detection of - -
error, …) to an intermediate memory from which the 65535 -
elements of the detected error can then be read.

In addition, the read pointer of the error memory is

automatically set to the next error entry.

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Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
FLT_Idq Motor current at the time the error was detected. A UINT16 Modbus 15378
In increments of 0.01 A. - R/-
- -
- -
FLT_powerOn Number of power on cycles. - UINT32 Modbus 15108
0 R/-
- -
4294967295 -
FLT_Qual Additional information on detected error. - UINT16 Modbus 15368
This entry contains additional information on the 0 R/-
detected error, depending on the error number. - -
Example: a parameter address 65535 -
FLT_Temp_DEV Temperature of device at the time the error was °C INT16 Modbus 15382
detected. - R/-
- -
- -
FLT_Temp_PA Temperature of power stage at the time the error °C INT16 Modbus 15380
was detected. - R/-
- -
- -
FLT_Time Error time. s UINT32 Modbus 15366
With reference to operating hours counter 0 R/-
- -
536870911 -
FLT_UDC DC bus voltage at the time the error was detected. V UINT16 Modbus 15374
In increments of 0.1 V. - R/-
- -
- -
FLT_n Motor velocity at the time the error was detected. RPM INT16 Modbus 15376
- R/-
- -
- -
FLTAmpOnCyc Number of cycles of enabling the power stage at - UINT16 Modbus 15370
error time. - R/-
Number of cycles of enabling the power stage from - -
the time the power supply (control voltage) was - -
switched on to the time the error occurred.
FLTAmpOnTime Time between enabling of power stage and s UINT16 Modbus 15372
detection of the error. - R/-
- -
- -
FLT_MemReset Reset error memory read pointer. - UINT16 Modbus 15114
Value 1: Set error memory read pointer to oldest 0 R/W
error entry. - -
Modified settings become active immediately. 1 -
FLT_del_err Clear error memory. - UINT16 Modbus 15112
Value 1: Delete entries in the error memory 0 R/W
- -
The clearing process is completed if a 0 is returned 1 -
after a read access.
Modified settings become active immediately.

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Section 10.3
Error Messages

Error Messages

What Is in This Section?

This section contains the following topics:
Topic Page
Description of Error Messages 199
Table of Error Messages 200

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Description of Error Messages

Description
If monitoring functions of the drive detect an error, the drive generates an error message. Each error
message is identified by an error code.
The following information is available for each error message:
 Error code
 Error class
 Description of error
 Possible causes
 Possible remedies

Range of Error Messages

The table below summarizes the error codes classified by range.

Error code Range

E 1xxx General
E 2xxx Overcurrent
E 3xxx Voltage
E 4xxx Temperature
E 5xxx Hardware
E 6xxx Software
E 7xxx Interface, wiring
E 8xxx Fieldbus
E Axxx Motor movement
E Bxxx Communication

Error Class of Error Messages

The error messages are classified according to the following error classes:

Error class State transition1) Error response Resetting the error message

0 - No interruption of the movement Function “Fault Reset”

1 T11 Stop movement with “Quick Stop” Function “Fault Reset”
2 T13, T14 Stop movement with “Quick Stop” and disable Function “Fault Reset”
the power stage when the motor has come to a
standstill
3 T13, T14 Disable the power stage immediately without Function “Fault Reset”
stopping the movement first
4 T13, T14 Disable the power stage immediately without Power cycle
stopping the movement first
(1) See chapter Operating State (see page 128)

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Table of Error Messages

List of the Error Messages Sorted by Error Code

Error Error Description Cause Correctives

code class
(hex)
E 1100 0 Parameter out of permissible range The value entered was outside of the The entered value must be within the
permissible value range for this permissible value range.
parameter.
E 1101 0 Parameter does not exist Error detected by parameter Select a different parameter (index).
management: Parameter (index) does
not exist.
E 1102 0 Parameter does not exist Error detected by parameter Select a different parameter
management: Parameter (subindex) (subindex).
does not exist.
E 1103 0 Parameter write not permissible (read- Write access to read only parameter. Write only to parameters that are not
only) read-only.
E 1104 0 Write access denied (no access Parameter only accessible at expert Write access level expert is required.
authorization) level.
E 1106 0 Command not permissible while power Command not permissible while the Disable the power stage and repeat the
stage is active power stage is enabled (operating command.
state Operation Enabled or Quick Stop
Active).
E 1107 0 Access via other interface blocked Access occupied by another channel Verify the channel that blocks the
(for example: Commissioning software access.
is active and fieldbus access was tried
at the same time).
E 110B 3 Configuration error detected Error detected during parameter check Value in additional error information
(additional info=Modbus register (for example, reference velocity value shows the Modbus register address of
address) for operating mode Profile Position is the parameter where the initialization
Parameter _SigLatched Bit 30 greater than maximum permissible error was detected.
velocity of drive).
E 110E 0 Parameter value modified that requires Only displayed by the commissioning Restart the drive to activate the
a restart of the drive software. parameter functionality.
A parameter modification requires the See the chapter Parameters for the
drive to be powered off and on. parameter that requires a restart of the
drive.
E 110F 0 Function not available for this type of The function or parameter value is not Verify whether you have the correct
device supported. device (type of motor, type of encoder,
holding brake).
E 1110 0 Function not available - -
E 1300 3 Safety-related function STO activated The safety function STO was activated Verify correct wiring of the inputs of the
(STO_A, STO_B) in the operating state Operation safety-related function STO and reset
Parameter _SigLatched Bit 4 Enabled. the error.

E 1301 4 STO_A and STO_B different level The levels of the inputs STO_A and Verify correct wiring of the inputs of the
Parameter _SigLatched Bit 24 STO_B were different for more than 1 safety-related function STO.
second.
E 1312 0 Limit switch or reference switch signal Reference movements require limit Assign the signal input functions
not defined for signal input function switches. These limit switches are not Positive Limit Switch, Negative Limit
assigned to inputs. Switch and Reference Switch.
E 2300 3 Power stage overcurrent Motor short circuit and disabling of the Verify correct motor power connection.
Parameter _SigLatched Bit 18 power stage.
Motor phases are inverted.
E 3200 3 DC bus overvoltage Excessive regeneration during Verify correct deceleration ramp, rating
Parameter _SigLatched Bit 15 braking. of drive and braking resistor.
E 3201 3 DC bus undervoltage (shutdown Power outage, insufficient power Verify mains supply.
threshold) supply.
Parameter _SigLatched Bit 14
E 3202 2 DC bus undervoltage (Quick Stop Power outage, insufficient power Verify mains supply.
threshold) supply.
Parameter _SigLatched Bit 14

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Error Error Description Cause Correctives

code class
(hex)
E 4100 3 Power stage overtemperature Transistors overtemperature: Ambient Verify the fan, improve the heat
Parameter _SigLatched Bit 21 temperature is too high, fan is dissipation in the cabinet.
inoperative, dust.
E 4101 0 Power stage overtemperature (error Transistors overtemperature: Ambient Verify the fan, improve the heat
class 0) temperature is too high, fan is dissipation in the cabinet.
Parameter _WarnLatched Bit 1 inoperative, dust.
E 4302 0 Motor overload (I2t) (error class 0) The current has exceeded the nominal -
Parameter _WarnLatched Bit 5 value for an extended period of time.
E 610D 0 Error detected in selection parameter Incorrect parameter value selected. Verify the value to be written.
E 7328 4 Motor encoder: Position evaluation - Contact your Schneider Electric
error detected representative or replace the motor.
Parameter _SigLatched Bit 19
E 7329 0 Motor encoder error detected (error EMI, encoder signals internal error Contact your Schneider Electric
class 0) detected. representative or replace the motor.
Parameter _WarnLatched Bit 8
E 7500 0 RS485/Modbus: Overflow error EMI; incorrect wiring. Verify cables.
detected
Parameter _WarnLatched Bit 9
E 7501 0 RS485/Modbus: Framing error EMI; incorrect wiring. Verify cables.
detected
Parameter _WarnLatched Bit 9
E 7502 0 RS485/Modbus: Parity error detected EMI; incorrect wiring. Verify cables.
Parameter _WarnLatched Bit 9
E 7503 0 RS485/Modbus: Receive error EMI; incorrect wiring. Verify cables.
detected
Parameter _WarnLatched Bit 9
E A069 3 Configuration error detection: The When any of the Cyclic operating Verify the configuration of the digital
function Halt has been assigned to a modes is used, the function Halt must inputs.
digital input. not be assigned to a digital input.
Parameter _SigLatched Bit 10
E A06A 3 Configuration error detected: Software When any of the Cyclic operating Verify correct setting of the parameter
limit switches are activated modes is used, the software limit SPV_SW_Limits.
Parameter _SigLatched Bit 10 switches must not be activated.
E A300 0 Deceleration after HALT request still HALT was removed too soon. Wait for complete stop before
active New command was sent before motor removing HALT signal.
standstill was reached after a HALT Wait until motor has come to a
request. complete standstill.
E A301 0 Drive in operating state Quick Stop Error with error class 1 was detected. -
Active Drive stopped with Quick Stop
command.
E A302 1 Stop by positive limit switch The positive limit switch was activated Verify application.
Parameter _SigLatched Bit 1 because movement range was Verify correct limit switch function and
exceeded, incorrect of limit switch or connection.
signal disturbance.
E A303 1 Stop by negative limit switch The negative limit switch was activated Verify application.
Parameter _SigLatched Bit 1 because movement range was Verify correct limit switch function and
exceeded, incorrect operation of limit connection.
switch or signal disturbance.
E A305 0 Power stage cannot be enabled in the Fieldbus: An attempt was made to Refer to the state diagram.
operating state Not Ready To Switch enable the power stage in the
On operating state Not Ready To Switch
On.
E A306 1 Stop by user-initiated software stop Drive is in operating state Quick Stop Perform a Fault Reset.
Parameter _SigLatched Bit 3 Active due to a software stop request.
The activation of a new operating
mode is not possible, the error code is
sent as the response to the activation
command.

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Error Error Description Cause Correctives

code class
(hex)
E A307 0 Stop by internal software stop In the operating modes Homing and Perform a Fault Reset.
Jog, the movement is internally
interrupted by an internal software
stop. The activation of a new operating
mode is not possible, the error code is
sent as the response to the activation
command.
E A308 0 Drive is in operating state Fault or Fault Error with error class 2 or higher Read the error code (HMI or
Reaction Active detected. commissioning software), remove
error condition and perform a Fault
Reset.
E A309 0 Drive not in operating state Operation A command was sent that requires the Set drive to operating state Operation
Enabled drive to be in the operating state Enabled and repeat the command.
Operation Enabled (for example, a
command to activate a different
operating mode).
E A310 0 Power stage not enabled Command cannot be used because Set drive to an operating state in which
the power stage is not enabled the power stage is enabled, refer to the
(operating state Operation Enabled or state diagram.
Quick Stop Active).
E A313 0 Movement range limits were The movement range limits were Define a new zero point by means of
exceeded, zero point is no longer valid exceeded and the zero the operating mode Homing.
(ref_ok=0) point is no longer valid. An absolute
movement requires a valid zero point.
E A314 0 No valid zero point Command needs a defined zero point Define a new zero point by means of
(ref_ok=1). the operating mode Homing.
E A315 0 Homing active Command cannot be used while the Wait until reference movement is
operating mode Homing is active. finished.
E A317 0 Motor is not at a standstill Command sent which is not Wait until the motor has come to a
permissible when the motor is not at a standstill (x_end = 1).
standstill. For example:
- Modification to software limit switches
- Modification to handling of monitoring
signals
- Setting of zero point
- Teach in of data set
E A318 0 Operating mode active (x_end=0) Activation of a new operating mode is Wait until the command in the
not possible while the current operating operating mode has finished (x_end=1)
mode is still active. or terminate active operating mode
with HALT command.
E A319 1 Manual tuning/Autotuning: Movement The movement exceeds the Verify permissible movement range
out of permissible range parameterized maximum movement value and time interval.
Parameter _SigLatched Bit 2 range.
E A31A 0 Manual tuning/Autotuning: Amplitude plus offset for tuning exceed Choose lower amplitude and offset
Amplitude/offset too high internal velocity or current limitation. values.
E A31B 0 HALT requested Command not permissible while a Clear HALT request and repeat
HALT is requested. command.
E A31C 0 Invalid position setting with software Value for negative (positive) software Set correct position values.
limit switch limit switch is greater (less) than value
for positive (negative) software limit
switch.
E A31D 0 Velocity range exceeded The velocity was set to a value greater Increase the value of parameter
(CTRL_n_max) than the maximum permissible velocity CTRL_n_max or reduce the velocity
in parameter CTRL_n_max. value.
E A31E 1 Stop by positive software limit switch Not possible to execute command Return to the permissible movement
Parameter _SigLatched Bit 2 because positive software limit switch range.
was triggered.
E A31F 1 Stop by negative software limit switch Not possible to execute command Return to the permissible movement
Parameter _SigLatched Bit 2 because negative software limit switch range.
was triggered.

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Error Error Description Cause Correctives

code class
(hex)
E A320 par. Permissible position deviation External load or acceleration are too Reduce external load or acceleration.
exceeded high. Use a differently rated drive.
Parameter _SigLatched Bit 22 Error response can be adjusted via
parameter Flt_pDiff.
E A324 1 Error detected during homing Homing movement was stopped in Possible sub-error codes: E A325, E
(additional info = detailed error response to a detected error, the A326, E A327, E A328 or E A329.
number) detailed reason is indicated by the
Parameter _SigLatched Bit 10 additional info in the error memory.
E A325 1 Limit switch to be approached not Homing to positive limit switch or Enable limit switch via 'IOsigLimP' or
enabled negative limit switch is disabled. 'IOsigLimN'.
Parameter _SigLatched Bit 10
E A326 1 Reference switch not found between Reference switch inoperative or not Verify correct operation and wiring of
positive limit switch and negative limit correctly connected. the reference switch.
switch
Parameter _SigLatched Bit 10
E A327 1 Reference movement to reference Search for reference switch without Verify correct operation and wiring of
switch without reversal of direction reversal of direction in positive the positive limit switch (negative limit
results in triggering of limit switch (negative) direction with positive limit switch).
Parameter _SigLatched Bit 10 switch (negative limit switch) triggered.
E A328 1 Reference movement to reference Search of reference switch without Reduce velocity for reference
switch without reversal of direction reversal of direction with limit switch or movement (parameter HMn) or
results in triggering of limit switch reference switch triggered. increase deceleration (parameter
Parameter _SigLatched Bit 10 RAMPdecel).
Verify correction operation and wiring
of positive limit switch, negative limit
switch and reference switch.
E A329 1 More than one signal positive limit Reference switch or limit switch not Verify correct wiring and 24 VDC
switch/negative limit switch/reference connected correctly or supply voltage supply voltage.
switch signal active for switches too low.
Parameter _SigLatched Bit 10
E A32A 1 Positive limit switch triggered with Start reference movement with Verify correct connection and
negative direction of movement negative direction (for example, operation of limit switch.
Parameter _SigLatched Bit 10 reference movement to negative limit Activate a jog movement with negative
switch) and activate the positive limit movement (target limit switch must be
switch (switch in opposite direction of connected to the negative limit switch).
movement).
E A32B 1 Negative limit switch triggered with Start reference movement with positive Verify correct connection and
positive direction of movement direction (for example, reference operation of limit switch.
Parameter _SigLatched Bit 10 movement to positive limit switch) and Activate a jog movement with positive
activate the negative limit switch movement (target limit switch must be
(switch in opposite direction of connected to the positive limit switch).
movement).
E A32C 1 Reference switch error detected Switch signal disturbance. Verify correct supply voltage, wiring
(switch signal briefly enabled or switch Motor subjected to vibration or shock and operation of switch.
overtraveled) when stopped after activation of the Verify motor response after stopping
Parameter _SigLatched Bit 10 switch signal. and optimize control loop settings.
E A32D 1 Positive limit switch error detected Switch signal disturbance. Verify correct supply voltage, wiring
(switch signal briefly enabled or switch Motor subjected to vibration or shock and operation of switch.
overtraveled) when stopped after activation of the Verify motor response after stopping
Parameter _SigLatched Bit 10 switch signal. and optimize control loop settings.
E A32E 1 Negative limit switch error detected Switch signal disturbance. Verify correct supply voltage, wiring
(switch signal briefly enabled or switch Motor subjected to vibration or shock and operation of switch.
overtraveled) when stopped after activation of the Verify motor response after stopping
Parameter _SigLatched Bit 10 switch signal. and optimize control loop settings.
E A330 0 Reference movement to index pulse The position difference between the Increase the distance between the
cannot be reproduced. Index pulse is index pulse and the switching point is index pulse and the switching point. If
too close to the switch insufficient. possible, the distance between the
index pulse and the switching point
should be a half motor revolution.

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Error Error Description Cause Correctives

code class
(hex)
E A332 1 Error detected in operating mode Jog Jog movement was stopped in For additional info, see the detailed
(additional info = detailed error response to a detected error. error number in the error memory.
number)
Parameter _SigLatched Bit 10
E A334 2 Timeout Standstill Window monitoring Position deviation after movement Verify load.
greater than standstill window. This Verify settings for standstill window
may have been caused by an external (parameters STANDp_win,
load. STANDpwinTime and
STANDpwinTout).
Optimize control loop settings.
E A337 0 Operating mode cannot be continued Continuation of interrupted movement Restart the operating mode.
Parameter _WarnLatched Bit 10 in operating mode Profile Position is
not possible because another
operating mode had been active in the
meantime.
In the operating mode Motion
Sequence, continuation is not possible
if a motion blend was interrupted.
E A33A 0 No valid zero point (ref_ok=0) No zero point defined by means of Use operating mode Homing to define
operating mode Homing. a valid
Zero point no longer valid due to zero point.
movement beyond permissible Use motor with multiturn encoder
movement range. (does not require homing).
E A33B 3 Motor stalled or external load is too Brushless DC motor: Stall detection Reduce acceleration/deceleration
high. with parameter SPV_t_block. values.
Parameter _SigLatched Bit 22 Stepper motor: Stall detection with Reduce load.
index pulse detected a deviation of Verify correct motor current settings.
magnetic field and rotor angle.
E A346 0 Motor has no index pulse - -
E B100 0 RS485/Modbus: Indeterminable Unsupported Modbus service was Verify application on the Modbus
service received. master.
Parameter _WarnLatched Bit 9
E B101 2 Cyclic communication: No Two cycles have passed without a Verify correct communication.
synchronization signal synchronization signal having been
Parameter _SigLatched Bit 8 received.
E B102 2 Cyclic communication: Incorrect cycle The drive does not support the Change the cycle time in the master
time configured cycle time or the difference controller to a cycle time supported by
Parameter _SigLatched Bit 8 between the measured cycle time and the drive or verify synchronization
the configured cycle time is too great. requirements.
E B103 2 Cyclic communication: One signal was One synchronization signal was not Analyze the communication.
not received, the next signal received received and one of the following
was incorrect. synchronization signals was incorrect.
Parameter _SigLatched Bit 8
E B104 2 Cyclic communication: No 100 ms have passed without a Verify correct communication.
synchronization signal synchronization signal having been
Parameter _SigLatched Bit 8 received.
E B200 0 RS485/Modbus: Protocol error Logical protocol error detected: Verify application on the Modbus
detected Incorrect length or unsupported master.
Parameter _WarnLatched Bit 9 subfunction.
E B201 2 RS485/Modbus: Nodeguard error Connection monitoring (parameter Verify application on the Modbus
detected MBnode_guard) is <> 0 ms and a master or modify value (set to 0 ms or
Parameter _SigLatched Bit 6 nodeguard event was detected. increase the value of the parameter
MBnode_guard monitoring time).
E B202 0 RS485/Modbus: Nodeguard alert Connection monitoring (parameter Verify application on the Modbus
Parameter _WarnLatched Bit 9 MBnode_guard) is <> 0 ms and a master or modify value (set to 0 ms or
nodeguard event was detected. increase the value of the parameter
MBnode_guard monitoring time).
E B600 4 Ethernet: Initialization error detected - -
Parameter _SigLatched Bit 8
E B601 1 Ethernet: Realtime data error detected - -
Parameter _SigLatched Bit 8

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Error Error Description Cause Correctives

code class
(hex)
E B602 0 Ethernet: Realtime data alert - -
Parameter _WarnLatched Bit 14
E B603 2 Ethernet: Protocol error detected Can be caused by a connection Verify wiring, network devices and
Parameter _SigLatched Bit 8 timeout or an interruption of the master controller connection.
Ethernet link.
E B604 0 Ethernet: Protocol-related alert - -
Parameter _WarnLatched Bit 14
E B605 2 Indeterminable Ethernet error detected - -
Parameter _SigLatched Bit 8
E B607 0 Ethernet: Another request is currently - -
being processed
Parameter _WarnLatched Bit 14
E B608 2 Ethernet: Realtime Hot-Reset An NMT Reset was sent while the -
Parameter _SigLatched Bit 8 power stage was enabled.
A Modbus TCP channel was reset
while the power stage was enabled.
E B609 2 Ethernet: Realtime Hot-Stop - -
Parameter _SigLatched Bit 8
E B60A 0 Ethernet: Timeout in internal - -
communication
Parameter _WarnLatched Bit 14
E B60B 0 Ethernet: Error detected in internal - -
communication
Parameter _WarnLatched Bit 14
E B60C 4 Ethernet Module Incompatible The firmware of the drive is not -
Parameter _SigLatched Bit 8 compatible with the communication
firmware of the Ethernet module.

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 ILS2T Modbus TCP
Parameters
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Chapter 11
Parameters

Parameters

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Representation of the Parameters 208
List of Parameters 210

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Parameters

Representation of the Parameters

Description
This chapter provides an overview of the parameters which can be used for operating the product.
Unsuitable parameter values or unsuitable data may trigger unintended movements, trigger signals,
damage parts and disable monitoring functions. Some parameter values or data do not become active until
after a restart.

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

Overview
The way parameters are shown provides information required for unique identification, the default values
and the properties of a parameter.
Structure of the parameter representation:

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
ABCDE Short description A UINT32 Fieldbus 1234
Selection values 0.00 R/W
1 / Abc1: Explanation 1 3.00 per.
2 / Abc2: Explanation 2 300.00 -
Description and details

Field “Parameter Name”

The parameter name uniquely identifies a parameter.

Field “Description”
Short description:
Provides a short description of the parameter.
Selection values:
In the case of parameters which offer a selection of settings, the value to be entered via the fieldbus and
the designation of the value for entry via the commissioning software are specified.
1 = Value for input via fieldbus
Abc1 = Entry in the drop-down menu of the commissioning software
Description and details:
Provides further information on the parameter.

Field “Unit”
The unit of the value.

Field “Minimum Value”

The minimum value which can be entered.

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 Parameters

Field “Factory Settings”

Settings when the product is shipped.

Field “Maximum Value”

The maximum value which can be entered.

Field “Data Type”

If the minimum and the maximum values are not explicitly indicated, the valid range of values is determined
by the data type.

Data type Minimum value Maximum value

INT8 -128 127
UINT8 0 255
INT16 -32768 32767
UINT16 0 65535
INT32 -2147483648 2147483647
UINT32 0 4294967295

Field “R/W”
Indicates read and/or write values.
"R/" values can only be read.
"R/W" values can be read and written.

Field “Persistent”
“per.” indicates whether the value of the parameter remains in the nonvolatile memory after the drive is
powered off.
When a value of a persistent parameter is modified via the commissioning software or the fieldbus, you
must explicitly store the modified value in the nonvolatile memory.

Field “Expert”
The value of parameters with "expert" can only be modified in Expert mode of the commissioning software.
Expert mode requires access to the commissioning software via a password.

Field “Parameter Address”

Each parameter has a unique parameter address. The parameter address is used to access the parameter
via the fieldbus.

Decimal Numbers Entered via the Fieldbus

Please note that parameter values are entered via the fieldbus without a decimal point. All decimal places
must be entered.
Input examples:

Value Commissioning software Fieldbus

20 20 20
5.0 5.0 50
23.57 23.57 2357
1.000 1.000 1000

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Parameters

List of Parameters

List of the Parameters Sorted by Parameter Name

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_acc_pref Acceleration of reference value for profile generator. RPM/s INT32 Modbus 7954
Sign according to the changed velocity value: - R/-
- -
Increased velocity: Positive sign - -
Reduced velocity: Negative sign
_AccessInfo Access channel information. - UINT16 Modbus 280
Low byte: Exclusive access - R/-
Value 0: No - -
Value 1: Yes - -

High byte: Access channel

Value 0: Reserved
Value 1: I/O
Value 2: HMI
Value 3: Modbus RS485
Value 4: CANopen
Value 5: CANopen via second SDO channel
Value 6: Profibus
Value 7: DeviceNet
Value 8: Reserved
Value 9: Ethernet
Values 10 ... 15: Modbus TCP
_actionStatus Action word. - UINT16 Modbus 7176
Signal state: - R/-
0: Not activated - -
1: Activated - -

Bit 0: Error class 0

Bit 1: Error class 1
Bit 2: Error class 2
Bit 3: Error class 3
Bit 4: Error class 4
Bit 5: Reserved
Bit 6: Motor is at standstill (_n_act < 9 RPM)
Bit 7: Motor movement in positive direction
Bit 8: Motor movement in negative direction
Bit 9: Reserved
Bit 10: Reserved
Bit 11: Profile generator idle (reference velocity is 0)
Bit 12: Profile generator decelerates
Bit 13: Profile generator accelerates
Bit 14: Profile generator moves at constant speed
Bit 15: Reserved
_DCOMopmd_act Active operating mode. - INT16 Modbus 6920
0 / Reserved: Reserved -1 R/-
-1 / Jog: Jog - -
1 / Profile Position: Profile Position 6 -
3 / Profile Velocity: Profile Velocity
6 / Homing: Homing
_ethMacAdr1 Ethernet MAC address part 1. - UINT32 Modbus 6672
Bytes 1 ... 2 of the MAC address ( XX-XX-__-__-__- - R/-
__) 0 -
XX are the bytes used. - -
Example:
MAC address: 11-22-33-44-55-66
The value stored in this case is 00001122h.

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_ethMacAdr2 Ethernet MAC address part 2. - UINT32 Modbus 6674
Bytes 3 ... 6 of the MAC address ( __-__-XX-XX-XX- - R/-
XX) - -
XX are the bytes used. - -
Example:
MAC address: 11-22-33-44-55-66
The value stored in this case is 33445566h.
_IO_LIO_act Status of digital inputs/outputs. - UINT16 Modbus 2090
Coding of the individual signals: - R/-
Bit 0: LIO1 - -
Bit 1: LIO2 - -
...
_IO_STO_con Status of the inputs for the safety-related function - UINT16 Modbus 2088
STO. 0 R/-
0 / Not Available: Inputs not available - -
1 / Not Connected: Inputs available, but not 3 -
connected (jumpered)
3 / Connected: Inputs available and connected
(safety-related function STO active)
_LastWarning Code of most recent error of error class 0. - UINT16 Modbus 7186
If the error is no longer active, the code is stored - R/-
until the next Fault Reset. - -
Value 0: No error of error class 0 - -
_n_act Actual velocity of motor. RPM INT16 Modbus 7696
- R/-
- -
- -
_n_actRAMP Actual velocity of profile generator. RPM INT32 Modbus 7948
- R/-
- -
- -
_n_pref Velocity of reference value for profile generator. RPM INT32 Modbus 7950
- R/-
- -
- -
_n_targetRAMP Target velocity of profile generator. RPM INT32 Modbus 7946
- R/-
- -
- -
_OpHours Operating hours counter. s UINT32 Modbus 7188
- R/-
- -
- -
_p_act Actual position in internal units. Inc INT32 Modbus 7700
- R/-
- -
- -
_p_actRAMPusr Actual position of profile generator. usr INT32 Modbus 7940
- R/-
- -
- -
_p_actusr Actual position in user-defined units. usr INT32 Modbus 7706
- R/-
- -
- -
_p_ref Reference position in internal units. Inc INT32 Modbus 7698
- R/-
- -
- -

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_p_refusr Reference position in user-defined units. usr INT32 Modbus 7704
- R/-
- -
- -
_p_tarRAMPusr Target position of profile generator. usr INT32 Modbus 7938
Absolute position value of the profile generator, - R/-
calculated on the basis of the relative and absolute - -
position values received. - -
_prgNoCOM Program number of communication module. - UINT16 Modbus 6676
Example: PR840.1 - R/-
The value is provided as a decimal value: 8401 - -
- -
_prgNoDEV Firmware number of device. - UINT16 Modbus 258
Example: PR840.1 - R/-
The value is provided as a decimal value: 8401 - -
- -
_prgVerCOM Firmware version of communication module. - UINT16 Modbus 6678
Example: V4.201 - R/-
The value is provided as a decimal value: 4201 - -
- -
_prgVerDEV Firmware version of device. - UINT16 Modbus 260
Example: V4.201 - R/-
The value is provided as a decimal value: 4201 - -
- -
_serialNoDEV Device serial number. - UINT32 Modbus 302
Unique number for identification of the product 0 R/-
Setting can only be modified if power stage is - per.
disabled. 4294967295 -
_SigActive Status of monitoring signals. - UINT32 Modbus 7182
See parameter _SigLatched for more details on the - R/-
bit codes. - -
- -

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_SigLatched Saved status of monitoring signals. - UINT32 Modbus 7184
Signal state: - R/-
0: Not activated - -
1: Activated - -

Bit assignments:
Bit 0: General error detected
Bit 1: Hardware limit switches (LIMP/LIMN/REF)
Bit 2: Out of range (software limit switches, tuning)
Bit 3: Quick Stop via fieldbus
Bit 4: Inputs STO are 0
Bit 5: Reserved
Bit 6: RS485
Bit 7: CAN
Bit 8: Ethernet
Bit 9: Frequency of reference signal too high
Bit 10: Operating mode
Bit 11: Reserved
Bit 12: Profibus
Bit 13: Reserved
Bit 14: Undervoltage DC bus
Bit 15: Overvoltage DC bus
Bit 16: Mains phase
Bit 17: Motor connection
Bit 18: Motor overcurrent/short circuit
Bit 19: Motor encoder
Bit 20: Undervoltage 24VDC
Bit 21: Overtemperature (power stage, motor)
Bit 22: Position deviation exceeded
Bit 23: Maximum velocity exceeded
Bit 24: Inputs STO different
Bit 25: Reserved
Bit 26: Reserved
Bit 27: Reserved
Bit 28: Reserved
Bit 29: Nonvolatile memory error
Bit 30: System booting (hardware or parameter)
Bit 31: System (for example, Watchdog)

Monitoring functions are product-dependent.

_StopFault Detected error causing a stop (error classes 1 to 4). - UINT16 Modbus 7178
Error code of the most recent detected error. - R/-
0 -
- -
_Temp_act_PA Temperature of power stage. °C INT16 Modbus 7200
- R/-
- -
- -
_UDC_act Voltage at DC bus. V UINT16 Modbus 7198
Supply voltage VDC. - R/-
In increments of 0.1 V. - -
- -
_UserAppMem1 User-specific data 1. - UINT32 Modbus 318
This parameter can be used to store user-specific - R/W
data. 0 per.
- -
_UserAppMem2 User-specific data 2. - UINT32 Modbus 320
This parameter can be used to store user-specific - R/W
data. 0 per.
- -
_UserAppMem3 User-specific data 3. - UINT32 Modbus 322
This parameter can be used to store user-specific - R/W
data. 0 per.
- -

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
_UserAppMem4 User-specific data 4. - UINT32 Modbus 324
This parameter can be used to store user-specific - R/W
data. 0 per.
- -
_VoltUtil Degree of utilization of DC bus voltage. % INT16 Modbus 7718
With a value of 100 %, the drive operates at the - R/-
voltage limit. - -
- -
_WarnActive Active errors of error class 0, bit-coded. - UINT16 Modbus 7190
See parameter _WarnLatched for more details on - R/-
the bits. - -
- -
_WarnLatched Saved errors of error class 0, bit-coded. - UINT16 Modbus 7192
The bits are set to 0 in the case of a Fault Reset. - R/-
Bits 10, 11, and 13 are set to 0 automatically. - -
- -
Signal state:
0: Not activated
1: Activated

Bit assignments:
Bit 0: General (see _LastWarning)
Bit 1: Temperature of power stage high
Bit 2: Temperature of motor high
Bit 3: Reserved
Bit 4: Power stage overload (I2t)
Bit 5: Motor overload (I2t)
Bit 6: Braking resistor overload (I2t)
Bit 7: CAN
Bit 8: Motor encoder
Bit 9: RS485 protocol
Bit 10: Inputs STO
Bit 11: DC bus undervoltage/mains phase not
present
Bit 12: Profibus
Bit 13: Position not yet valid (position capture still
running)
Bit 14: Ethernet
Bit 15: Reserved

Monitoring functions are product-dependent.

AbsHomeRequest Absolute positioning only after homing. - UINT16 Modbus 1580
0 / No: No 0 R/W
1 / Yes: Yes 0 per.
Modified settings become active immediately. 1 -
AccessExcl Get exclusive access to access channel. - UINT16 Modbus 282
Write parameter: 0 R/W
Value 0: Release access channel - -
Value 1: Use exclusive access for access channel 1 -

Read parameter:
Value 0: Access channel is not used exclusively
Value 1: Access channel is used exclusively
(access channel used for reading)
Modified settings become active immediately.

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
AccessLock Locking other access channels. - UINT16 Modbus 316
Value 0: Allow control via other access channels 0 R/W
Value 1: Lock control via other access channels - -
1 -
With this parameter, the fieldbus can lock active
access to the device via the following access
channels:
- Input signals
- Commissioning software

Processing of the input signal HALT cannot be

locked.
Modified settings become active immediately.
BRK_release Manual operation of the holding brake. - UINT16 Modbus 2068
0 / Close: Automatic processing 0 R/W
1 / Open: Manual release of holding brake 0 -
The holding brake can only be manually released in 1 -
the operating states Switch On Disabled or Ready
To Switch On.

If the power stage is enabled, the value is

automatically set to 0.
Modified settings become active immediately.
BRK_status Status of holding brake. - UINT16 Modbus 2070
Value 0: Applied 0 R/-
Value 1: Released 0 -
Value 2: Not available 2 -
Modified settings become active immediately.
Cap1Activate Capture input 1 start/stop. - UINT16 Modbus 2568
0 / Capture stop: Cancel capture function 0 R/W
1 / Capture once: Start one-time capture - -
2 / Capture continuous: Start continuous capture 2 -
In the case of one-time capture, the function is
terminated when the first value is captured.
In the case of continuous capture, the function
continues to run.
Modified settings become active immediately.
Cap1Config Capture input 1 configuration. - UINT16 Modbus 2564
0 / 1->0: Position capture at falling edge 0 R/W
1 / 0->1: Position capture at rising edge 0 -
Modified settings become active immediately. 1 -
Cap1Count Capture input 1 event counter. - UINT16 Modbus 2576
Counts the capture events. - R/-
The event counter is reset when capture input 1 is - -
activated. - -
Cap1Pos Capture input 1 captured position. usr INT32 Modbus 2572
Captured position at the time of the "capture signal". - R/-
The captured position is re-calculated after "Position - -
Setting" or "Reference Movement". - -
Cap2Activate Capture input 2 start/stop. - UINT16 Modbus 2570
0 / Capture stop: Cancel capture function 0 R/W
1 / Capture once: Start one-time capture - -
2 / Capture continuous: Start continuous capture 2 -
In the case of one-time capture, the function is
terminated when the first value is captured.
In the case of continuous capture, the function
continues to run.
Modified settings become active immediately.
Cap2Config Capture input 2 configuration. - UINT16 Modbus 2566
0 / 1->0: Position capture at falling edge 0 R/W
1 / 0->1: Position capture at rising edge 0 -
Modified settings become active immediately. 1 -

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
Cap2Count Capture input 2 event counter. - UINT16 Modbus 2578
Counts the capture events. - R/-
The event counter is reset when capture unit 2 is - -
activated. - -
Cap2Pos Capture input 2 captured position. usr INT32 Modbus 2574
Captured position at the time of the "capture signal". - R/-
The captured position is re-calculated after "Position - -
Setting" or "Reference Movement". - -
CapStatus Status of the capture inputs. - UINT16 Modbus 2562
Read access: - R/-
Bit 0: Position captured via input CAP1 - -
Bit 1: Position captured via input CAP2 - -
CTRLS_I_Const% Percentage of phase current during constant % UINT16 Modbus 5144
movement. 1 R/W
100 % correspond to the value in SM_I_nom. 100 per.
Modified settings become active immediately. 100 -
CTRLS_I_Ramp% Percentage of phase current during % UINT16 Modbus 5142
acceleration/deceleration. 1 R/W
100 % correspond to the value in SM_I_nom. 100 per.
Modified settings become active immediately. 100 -
CTRLS_I_Stand% Percentage of phase current at standstill. % UINT16 Modbus 5140
100 % correspond to the value in SM_I_nom. 1 R/W
Modified settings become active immediately. 70 per.
100 -
CTRLS_stallDet Stall detection via index pulse. - UINT16 Modbus 5146
0 / Inactive: Inactive 0 R/W
1 / Active: Active - per.
The default value for drives with index pulse is 1 -
"Active".
Modified settings become active the next time the
power stage is enabled.
CTRLS_toggle Toggle of motor when power stage is enabled. - UINT16 Modbus 5136
0 / Inactive: Inactive - R/W
1 / Active: Active - per.
Modified settings become active immediately. - -
DCOMcompatib DriveCom state machine: state transition from 3 to - UINT16 Modbus 6950
4. 0 R/W
0 / Automatic: Automatic (state transition is 0 per.
performed automatically) 1 -
1 / Drivecom-conform: Standard-compliant (state
transition must be controlled via the fieldbus)
Determines the state transition between the states
Switch On Disabled (3) and Ready To Switch On (4)
for CANopen devices.
Setting can only be modified if power stage is
disabled.
Modified settings become active immediately.
DCOMcontrol DriveCom control word. - UINT16 Modbus 6914
Refer to chapter Operation, Operating States, for bit - R/W
coding information. - -
Bit 0: Switch on - -
Bit 1: Enable Voltage
Bit 2: Quick Stop
Bit 3: Enable Operation
Bit 4..6: Operating mode specific
Bit 7: Fault Reset
Bit 8: Halt
Bit 9..15: Reserved (must be 0)
Modified settings become active immediately.

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
DCOMopmode Operating mode. - INT16 Modbus 6918
0 / Reserved: Reserved -1 R/W
-1 / Jog: Jog - -
1 / Profile Position: Profile Position 6 -
3 / Profile Velocity: Profile Velocity
6 / Homing: Homing
Modified settings become active immediately.
DCOMstatus DriveCom status word. - UINT16 Modbus 6916
Bit assignments: - R/-
Bits 0...3,5,6: Status bits - -
Bit 4: Voltage enabled - -
Bit 7: Error class 0
Bit 8: HALT request active
Bit 9: Remote
Bit 10: Operating mode-specific
Bit 11: Reserved
Bit 12: Operating mode-specific
Bit 13: x_err
Bit 14: x_end
Bit 15: ref_ok
EthErrBehv Error class for incorrect realtime Ethernet data. - UINT16 Modbus 6412
0 / Warning: Error class 0 0 R/W
1 / ErrorClass1: Error class 1 (Quick Stop) 0 per.
Modified settings become active immediately. 1 -
EthFdrAutosave Fast Device Replacement (FDR) Autosave. - UINT16 Modbus 6698
0 / Disabled: Disabled 0 R/W
1 / 1 minute: 1 minute 0 per.
2 / 5 minutes: 5 minutes 5 -
3 / 15 minutes: 15 minutes
4 / 30 minutes: 30 minutes
5 / 60 minutes: 60 minutes
If FDR is enabled, the drive cyclically saves the
configuration to the server in Autosave mode.
EthFdrEnable Fast Device Replacement (FDR) Enable. - UINT16 Modbus 6696
0 / Disabled: Disabled 0 R/W
1 / Enabled: Enabled 0 per.
Global setting to enable the FDR. If the device name 1 -
is configured and this parameter is enabled, the
drive gets the configuration from the FDR server.
EthGateway Stored Ethernet network gateway. - UINT32 Modbus 6662
Default is 192.168.100.254 - R/W
Modified settings become active the next time the - per.
product is powered on. - -
EthGatewayAct Ethernet network gateway used. - UINT32 Modbus 6668
Default is 192.168.100.254 - R/-
- -
- -
EthIpAddr Stored IP address. - UINT32 Modbus 6658
Default is 192.168.100.10 - R/W
Modified settings become active the next time the - per.
product is powered on. - -
EthIpAddrAct IP address used. - UINT32 Modbus 6664
- R/-
- -
- -

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
EthIPConfInfo IP configuration information. - UINT16 Modbus 6694
2000 / Device Name: Device Name 0 R/-
2001 / Bootp: Bootp - -
2002 / Stored: Stored in nonvolatile memory 65535 -
2003 / Build from MAC: Build from MAC
2004 / EtherNet/IP default: EtherNet/IP default
2005 / Powerlink: Powerlink
2006 / EtherCAT: EtherCAT
The IP configuration can be set with the switches in
the connector housing.
EthSubMask Stored subnet mask. - UINT32 Modbus 6660
Default is 255.255.255.0 - R/W
Modified settings become active the next time the - per.
product is powered on. - -
EthSubMaskAct Subnet mask used. - UINT32 Modbus 6666
Default is 255.255.255.0 - R/-
- -
- -
FLT_class Error class. - UINT16 Modbus 15364
Value 0: Error class 0 0 R/-
Value 1: Error class 1 - -
Value 2: Error class 2 4 -
Value 3: Error class 3
Value 4: Error class 4
FLT_del_err Clear error memory. - UINT16 Modbus 15112
Value 1: Delete entries in the error memory 0 R/W
- -
The clearing process is completed if a 0 is returned 1 -
after a read access.
Modified settings become active immediately.
FLT_err_num Error code. - UINT16 Modbus 15362
Reading this parameter copies the entire entry for 0 R/-
the detected error (error class, time of detection of - -
error, …) to an intermediate memory from which the 65535 -
elements of the detected error can then be read.

In addition, the read pointer of the error memory is

automatically set to the next error entry.
FLT_Idq Motor current at the time the error was detected. A UINT16 Modbus 15378
In increments of 0.01 A. - R/-
- -
- -
FLT_MemReset Reset error memory read pointer. - UINT16 Modbus 15114
Value 1: Set error memory read pointer to oldest 0 R/W
error entry. - -
Modified settings become active immediately. 1 -
FLT_n Motor velocity at the time the error was detected. RPM INT16 Modbus 15376
- R/-
- -
- -
FLT_powerOn Number of power on cycles. - UINT32 Modbus 15108
0 R/-
- -
4294967295 -
FLT_Qual Additional information on detected error. - UINT16 Modbus 15368
This entry contains additional information on the 0 R/-
detected error, depending on the error number. - -
Example: a parameter address 65535 -
FLT_Temp_DEV Temperature of device at the time the error was °C INT16 Modbus 15382
detected. - R/-
- -
- -

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
FLT_Temp_PA Temperature of power stage at the time the error °C INT16 Modbus 15380
was detected. - R/-
- -
- -
FLT_Time Error time. s UINT32 Modbus 15366
With reference to operating hours counter 0 R/-
- -
536870911 -
FLT_UDC DC bus voltage at the time the error was detected. V UINT16 Modbus 15374
In increments of 0.1 V. - R/-
- -
- -
FLTAmpOnCyc Number of cycles of enabling the power stage at - UINT16 Modbus 15370
error time. - R/-
Number of cycles of enabling the power stage from - -
the time the power supply (control voltage) was - -
switched on to the time the error occurred.
FLTAmpOnTime Time between enabling of power stage and s UINT16 Modbus 15372
detection of the error. - R/-
- -
- -
HMdisREFtoIDX Distance from switching point to index pulse. revolution INT32 Modbus 10264
Allows you to verify the distance between the index - R/-
pulse and the switching point and serves as a - -
criterion for determining whether the reference - -
movement with index pulse can be reproduced.
In increments of 0.0001 revolution.
HMdisusr Distance from switching point. usr INT32 Modbus 10254
The distance from the switching point is defined as 1 R/W
the reference point. 200 per.
2147483647 -
The parameter is only effective during a reference
movement without index pulse.
Modified settings become active the next time the
motor moves.

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMmethod Homing method. - INT16 Modbus 6936
1: LIMN with index pulse 1 R/W
2: LIMP with index pulse 18 -
7: REF+ with index pulse, inv., outside 35 -
8: REF+ with index pulse, inv., inside
9: REF+ with index pulse, not inv., inside
10: REF+ with index pulse, not inv., outside
11: REF- with index pulse, inv., outside
12: REF- with index pulse, inv., inside
13: REF- with index pulse, not inv., inside
14: REF- with index pulse, not inv., outside
17: LIMN
18: LIMP
23: REF+, inv., outside
24: REF+, inv., inside
25: REF+, not inv., inside
26: REF+, not inv., outside
27: REF-, inv., outside
28: REF-, inv., inside
29: REF-, not inv., inside
30: REF-, not inv., outside
33: Index pulse neg. direction
34: Index pulse pos. direction
35: Position setting

Abbreviations:
REF+: Search movement in positive direction
REF-: Search movement in negative direction
inv.: Invert direction in switch
not inv.: Direction not inverted in switch
outside: Index pulse / distance outside switch
inside: Index pulse / distance inside switch
Modified settings become active immediately.
HMn Target velocity for searching the switch. RPM UINT16 Modbus 10248
The adjustable value is internally limited to the 1 R/W
setting in RAMPn_max. 60 per.
Modified settings become active the next time the 3000 -
motor moves.
HMn_out Target velocity for moving away from switch. RPM UINT16 Modbus 10250
The adjustable value is internally limited to the 1 R/W
setting in RAMPn_max. 6 per.
Modified settings become active the next time the 3000 -
motor moves.
HMoutdisusr Maximum distance for search for switching point. usr INT32 Modbus 10252
Value 0: Monitoring of distance inactive 0 R/W
Value >0: Maximum distance 0 per.
2147483647 -
After detection of the switch, the drive starts to
search for the defined switching point. If the defined
switching point is not found within the distance
defined here, the reference movement is canceled
and an error is detected.
Modified settings become active the next time the
motor moves.
HMp_homeusr Position at reference point. usr INT32 Modbus 10262
After a successful reference movement, this -2147483648 R/W
position is automatically set at the reference point. 0 per.
Modified settings become active the next time the 2147483647 -
motor moves.
HMp_setpusr Position for Position Setting. usr INT32 Modbus 6956
Position for operating mode Homing, method 35 - R/W
(Position Setting). 0 -
Modified settings become active immediately. - -

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
HMsrchdisusr Maximum search distance after overtravel of switch. usr INT32 Modbus 10266
Value 0: Search distance monitoring disabled 0 R/W
Value >0: Search distance 0 per.
2147483647 -
The switch must be activated again within this
search distance, otherwise the reference movement
is canceled.
Modified settings become active the next time the
motor moves.
IO_AutoEnable Enabling the power stage at PowerOn. - UINT16 Modbus 1292
0 / Off: A rising edge with the signal input function 0 R/W
"Enable" enables the power stage 0 per.
1 / On: An active signal input with the signal input 2 -
function "Enable" enables the power stage
2 / AutoOn: The power stage is automatically
enabled
Modified settings become active the next time the
power stage is enabled.
IO_LO_set Setting the digital outputs directly. - UINT16 Modbus 2082
Bit 0 corresponds to the first output, bit 1 - R/W
corresponds to the second output, and so on. - -
- -
IOfunct_LIO1 Function Input/Output LIO1. - UINT16 Modbus 1826
1 / Input Free available: Available as required - R/W
2 / Input Fault reset: Reset fault (local control mode - per.
only) - -
3 / Input Enable: Enable (local control mode only)
4 / Input Halt: Halt
9 / Input Jog positive: Jog positive
10 / Input Jog negative: Jog negative
11 / Input Jog fast/slow: Jog fast/slow
20 / Input Reference switch (REF): Reference
switch (REF)
21 / Input Positive limit switch (LIMP): Positive limit
switch (LIMP)
101 / Output Free available: Available as required
102 / Output No fault: No fault
103 / Output Active: Ready
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.
IOfunct_LIO2 Function Input/Output LIO2. - UINT16 Modbus 1828
1 / Input Free available: Available as required - R/W
2 / Input Fault reset: Reset fault (local control mode - per.
only) - -
3 / Input Enable: Enable (local control mode only)
4 / Input Halt: Halt
9 / Input Jog positive: Jog positive
10 / Input Jog negative: Jog negative
11 / Input Jog fast/slow: Jog fast/slow
20 / Input Reference switch (REF): Reference
switch (REF)
22 / Input Negative limit switch (LIMN): Negative
limit switch (LIMN)
101 / Output Free available: Available as required
102 / Output No fault: No fault
103 / Output Active: Ready
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
IOfunct_LIO3 Function Input/Output LIO3. - UINT16 Modbus 1830
1 / Input Free available: Available as required - R/W
2 / Input Fault reset: Reset fault (local control mode - per.
only) - -
3 / Input Enable: Enable (local control mode only)
4 / Input Halt: Halt
9 / Input Jog positive: Jog positive
10 / Input Jog negative: Jog negative
11 / Input Jog fast/slow: Jog fast/slow
20 / Input Reference switch (REF): Reference
switch (REF)
101 / Output Free available: Available as required
102 / Output No fault: No fault
103 / Output Active: Ready
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.
IOfunct_LIO4 Function Input/Output LIO4. - UINT16 Modbus 1832
1 / Input Free available: Available as required - R/W
2 / Input Fault reset: Reset fault (local control mode - per.
only) - -
3 / Input Enable: Enable (local control mode only)
4 / Input Halt: Halt
9 / Input Jog positive: Jog positive
10 / Input Jog negative: Jog negative
11 / Input Jog fast/slow: Jog fast/slow
20 / Input Reference switch (REF): Reference
switch (REF)
101 / Output Free available: Available as required
102 / Output No fault: No fault
103 / Output Active: Ready
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.
IOsigLimN Signal evaluation for negative limit switch. - UINT16 Modbus 1566
0 / Inactive: Inactive 0 R/W
1 / Normally Closed: Normally closed NC 1 per.
2 / Normally Open: Normally open NO 2 -
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.
IOsigLimP Signal evaluation for positive limit switch. - UINT16 Modbus 1568
0 / Inactive: Inactive 0 R/W
1 / Normally Closed: Normally closed NC 1 per.
2 / Normally Open: Normally open NO 2 -
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.
IOsigRef Signal evaluation for reference switch. - UINT16 Modbus 1564
1 / Normally Closed: Normally closed NC 1 R/W
2 / Normally Open: Normally open NO 1 per.
The reference switch is only active while a reference 2 -
movement to the reference switch is processed.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
JOGactivate Activation of operating mode Jog. - UINT16 Modbus 6930
Bit 0 = 1: Positive direction of rotation 0 R/W
Bit 1 = 1: Negative direction of rotation 0 -
Bit 2 = 0: Slow velocity 7 -
Bit 2 = 1: Fast velocity

If both bits for the direction of rotation are activated

at the same time, no movement is started. If a jog
movement is running, the simultaneous activation of
the bits for the direction of rotation has no effect.
Modified settings become active immediately.
JOGn_fast Velocity for fast movement. RPM UINT16 Modbus 10506
The adjustable value is internally limited to the 1 R/W
parameter setting in RAMPn_max. 180 per.
Modified settings become active immediately. 3000 -
JOGn_slow Velocity for slow movement. RPM UINT16 Modbus 10504
The adjustable value is internally limited to the 1 R/W
parameter setting in RAMPn_max. 60 per.
Modified settings become active immediately. 3000 -
JOGstepusr Distance for step movement. usr INT32 Modbus 10510
Modified settings become active the next time the 0 R/W
motor moves. 20 per.
2147483647 -
JOGtime Wait time for step movement. ms UINT16 Modbus 10512
Modified settings become active the next time the 1 R/W
motor moves. 500 per.
32767 -
LIM_QStopReact Quick Stop option code. - INT16 Modbus 1584
-1 / Deceleration Ramp (Fault): Use deceleration -1 R/W
ramp and transition to operating state 9 Fault 6 per.
6 / Deceleration ramp (Quick Stop): Use 6 -
deceleration ramp and remain in operating state 7
Quick Stop Active
Setting of deceleration ramp with parameter
RAMPquickstop.
Setting of torque ramp with parameter
LIM_I_maxQSTP.

The deceleration ramp is only available for

operating modes with motion profile for velocity.
The torque ramp is used in the operating modes
without motion profile for velocity.
Modified settings become active immediately.
MBadr Modbus address. - UINT16 Modbus 5640
Valid addresses: 1 to 247 1 R/W
Modified settings become active immediately. 1 per.
247 -
MBbaud Modbus Baud rate. - UINT16 Modbus 5638
9600 / 9600: 9600 Baud 9600 R/W
19200 / 19200: 19200 Baud 19200 per.
38400 / 38400: 38400 Baud 38400 -
Modified settings become active the next time the
product is powered on.
MBdword_order Modbus word order for double words (32 bit values). - UINT16 Modbus 5646
0 / HighLow: HighWord-LowWord 0 R/W
1 / LowHigh: LowWord-HighWord 0 per.
High word first or low word first 1 -

High word first -> Modicon Quantum

Low word first -> Premium, HMI (Schneider Electric)
Modified settings become active immediately.

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
MBformat Modbus data format. - UINT16 Modbus 5642
1 / 8Bit NoParity 1Stop: 8 bits, no parity bit, 1 stop bit 1 R/W
2 / 8Bit EvenParity 1Stop: 8 bits, even parity bit, 1 2 per.
stop bit 4 -
3 / 8Bit OddParity 1Stop: 8 bits, odd parity bit, 1 stop
bit
4 / 8Bit NoParity 2Stop: 8 bits, no parity bit, 2 stop
bits
Modified settings become active the next time the
product is powered on.
MBnode_guard Modbus Node Guarding. ms UINT16 Modbus 5644
Value 0: Node Guarding inactive 0 R/W
Value >0: Monitoring time 0 -
Modified settings become active immediately. 10000 -
MBscan_guard Modbus TCP Node Guarding for I/O scanning. ms UINT16 Modbus 6414
Value 0: Node Guarding inactive 0 R/W
Value >0: Monitoring time in ms 0 -
10000 -
The drive starts monitoring when it receives the first
I/O scanning message.
After a Node Guarding error the drive starts
monitoring again when it receives the next I/O
scanning message.
Modified settings become active immediately.
MBTCP_FWupdate Firmware update via Modbus TCP. - UINT16 Modbus 5656
0 / Off: Disable firmware update via Modbus TCP 0 R/W
1 / On: Enable firmware update via Modbus TCP 0 per.
The parameter can only be set via Modbus RTU. 1 expert
After a firmware update the parameter has to be set
to 0.
Modified settings become active immediately.
Available with firmware version ≥V1.102.
MBTCPdword_order Modbus TCP word order for double words (32 bit - UINT16 Modbus 6410
values). 0 R/W
0 / HighLow: HighWord-LowWord 0 per.
1 / LowHigh: LowWord-HighWord 1 -
High word first or low word first

High word first -> Modicon Quantum

Low word first -> Premium, HMI (Schneider Electric)
Modified settings become active the next time the
product is powered on.

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
MinTimeAckBitLow Minimum time for acknowledgement bit movement - UINT16 Modbus 1608
active. 0 R/W
Value 0: Disabled. Acknowledgement is generated 0 per.
by movement time itself. 16383 -
Value >0: Minimum time for acknowledgement bit
movement active.

If the movement time is less than the set time value,

the time for the acknowledgement of active
movement is increased.
If the movement time is greater than the set time
value, the acknowledgment bit for active movement
is processed based on the movement time only.

Example:
Movement time = 5 ms
Value for minimum time = 20 ms
Acknowledgement bit for active movement is set to
LOW for 20 ms.

This setting is also used for reference movements

and position setting (bits 'ref_ok' and
'homing_attained').
Setting can only be modified if power stage is
disabled.
Modified settings become active immediately.
Available with firmware version ≥V1.018.
ModeError Error code for synchronous errors (ME flag). - UINT16 Modbus 6962
Manufacturer-specific error code that caused the - R/-
ModeError flag to be set. - -
Usually, this is an error that was caused by the - -
activation of an operating mode.
PA_T_max Maximum permissible temperature of power stage. °C INT16 Modbus 4110
- R/-
- per.
- -
PA_T_warn Temperature limit of power stage for error class 0. °C INT16 Modbus 4108
- R/-
- per.
- -
PA_U_maxDC Maximum permissible DC bus voltage. V UINT16 Modbus 4102
In increments of 0.1 V. - R/-
- per.
- -
PA_U_minDC Minimum permissible DC bus voltage. V UINT16 Modbus 4104
In increments of 0.1 V. - R/-
- per.
- -
PA_U_minStopDC DC bus voltage low threshold for Quick Stop. V UINT16 Modbus 4116
If the threshold is reached, the drive performs a - R/-
Quick Stop. - per.
In increments of 0.1 V. - -
PAReeprSave Save parameter values to the nonvolatile memory. - UINT16 Modbus 1026
Value 1: Save persistent parameters - R/W
- -
The currently set parameters are saved to the - -
nonvolatile memory.
The saving process is complete when the parameter
is read and 0 is returned.
Modified settings become active immediately.

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
PARfactorySet Restore factory settings (default values). - UINT16 -
No: No 0 R/W
Yes: Yes - -
The parameters are reset to the factory settings and 3 -
subsequently saved to the nonvolatile memory.
A reset to the factory settings is only possible via the
commissioning software.
The saving process is complete when the parameter
is read and 0 is returned.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.
PARuserReset Reset user parameters. - UINT16 Modbus 1040
Bit 0: Reset persistent user parameters to default 0 R/W
values. - -
The parameters are reset with the exception of: 7 -
- Communication parameters
- Definition of the direction of rotation
- Signal selection position interface
- I/O functions
Bits 1 and 2: Reserved

The new settings are not saved to the nonvolatile

memory.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.
PLCopenRxPro1 PLCopen receive process data part 1. - UINT32 Modbus 6922
- R/W
- -
- -
PLCopenRxPro2 PLCopen receive process data part 2. - UINT32 Modbus 6924
Modified settings become active immediately. - R/W
- -
- -
PLCopenTxPro1 PLCopen transmit process data part 1. - UINT32 Modbus 6926
Modified settings become active immediately. - R/-
- -
- -
PLCopenTxPro2 PLCopen transmit process data part 2. - UINT32 Modbus 6928
Modified settings become active immediately. - R/-
- -
- -
POSdirOfRotat Definition of direction of rotation. - UINT16 Modbus 1560
0 / Clockwise: Clockwise 0 R/W
1 / Counter Clockwise: Counter-clockwise 0 per.
With positive reference values, the motor rotates 1 -
clockwise (as you look at the end of the motor shaft
at the flange).

The limit switch which is reached with a movement

in positive direction must be connected to the
positive limit switch input and vice versa.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
product is powered on.

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
POSscaleDenom Position scaling: Denominator. usr INT32 Modbus 1550
Refer to numerator (POSscaleNum) for a 1 R/W
description. 16384 per.
2147483647 -
A new scaling is activated when the numerator value
is set.
Setting can only be modified if power stage is
disabled.
POSscaleNum Position scaling: Numerator. revolution INT32 Modbus 1552
Scaling factor is defined as: 1 R/W
1 per.
Motor revolutions 2147483647 -
-------------------------------------------
User-defined units [usr]

A new scaling is activated when the numerator value

is set.

User-defined limit values may be reduced due to the

calculation of an internal factor.
Setting can only be modified if power stage is
disabled.
Modified settings become active immediately.
PPn_target Target velocity for operating mode Profile Position. RPM UINT32 Modbus 6942
The adjusted value is internally limited to the 1 R/W
parameter value in RAMPn_max. 60 -
Modified settings become active the next time the - -
motor moves.
PPoption Options for operating mode profile position. - UINT16 Modbus 6960
Determines the reference position for relative 0 R/W
positioning: 0 -
Value 0: Relative with reference to the previous 2 -
target position of the motion profile generator
Value 1: Reserved
Value 2: Relative with reference to the actual
position of the motor
Modified settings become active the next time the
motor moves.
PPp_targetusr Target position for operating mode Profile Position. usr INT32 Modbus 6940
Minimum and maximum values depend on: - R/W
- Scaling factor - -
- Software limit switches (if they are activated) - -
Modified settings become active immediately.
ProfileType Motion profile. - INT16 Modbus 6954
Value 0: Linear 0 R/W
0 -
0 -
PVn_target Target velocity for operating mode Profile Velocity. RPM INT32 Modbus 6938
The adjusted value is internally limited to the - R/W
parameter value in RAMPn_max. 0 -
Modified settings become active immediately. - -

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
RAMP_TAUjerk Jerk limitation of the motion profile for velocity. ms UINT16 Modbus 1562
0 / Off: Off 0 R/W
1 / 1: 1 ms 0 per.
2 / 2: 2 ms 128 -
4 / 4: 4 ms
8 / 8: 8 ms
16 / 16: 16 ms
32 / 32: 32 ms
64 / 64: 64 ms
128 / 128: 128 ms
Adjustments can only be made if the operating
mode is inactive (x_end=1).
Modified settings become active the next time the
motor moves.
RAMP_TypeSel Selection of ramp type. - INT16 Modbus 1574
0 / Linear: Linear ramp - R/W
-1 / Motoroptimized: Motor-optimized ramp - per.
Modified settings become active the next time the - -
power stage is enabled.
RAMPacc Acceleration of the motion profile for velocity. RPM/s UINT32 Modbus 1556
Modified settings become active the next time the 1 R/W
motor moves. 600 per.
3000000 -
RAMPdecel Deceleration of the motion profile for velocity. RPM/s UINT32 Modbus 1558
Modified settings become active the next time the 200 R/W
motor moves. 750 per.
3000000 -
RAMPn_max Maximum velocity of the motion profile for velocity. RPM UINT16 Modbus 1554
The parameter is active in the following operating 60 R/W
modes: 13200 per.
- Profile Position 13200 -
- Profile Velocity
- Homing
- Jog

If a greater reference velocity is set in one of these

operating modes, it is automatically limited to
RAMPn_max.
This way, commissioning at limited velocity is easier
to perform.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
motor moves.
RAMPnstart0 Start/stop velocity. RPM UINT16 Modbus 1570
Start/stop velocity of motion profile for velocity - R/W
Modified settings become active the next time the - per.
power stage is enabled. - -
RAMPquickstop Deceleration ramp for Quick Stop. RPM/s UINT32 Modbus 1572
Deceleration ramp for a software stop or an error 200 R/W
with error class 1 or 2. 6000 per.
Modified settings become active the next time the 3000000 -
motor moves.

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 Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
RAMPsym Acceleration/deceleration of the motion profile for usr UINT16 Modbus 1538
velocity. - R/W
The values are internally multiplied by 10 (example: - -
1 = 10 RPM/s). - -

Write access modifies the values of RAMPacc and

RAMPdecel. The limit values are verified on the
basis of the values indicated for these parameters.
Read access returns the value of RAMPacc or
RAMPdecel, whichever is greater.
If the value cannot be represented as a 16 bit value,
the value is set to 65535 (maximum UINT16 value).
Modified settings become active the next time the
motor moves.
ResetWebPass Reset password of web server. - UINT16 Modbus 6704
Value 1: The password of the web server is reset to 0 R/W
the default value. A new password must be set when - -
a new connection is established. 1 -
The parameter can only be written via Modbus RTU.
Modified settings become active immediately.
Available with firmware version ≥V1.102.
SM_I_nom Nominal current of motor. Arms UINT16 Modbus 3596
In increments of 0.01 Arms. - R/-
Setting can only be modified if power stage is - per.
disabled. - -
SM_n_20% Velocity at which 20 % of standstill torque is still RPM UINT16 Modbus 3608
available. - R/-
This parameter is automatically set if you select a - per.
motor from the list. In this case, the parameter can - -
only be read.
If you select "user-defined motor" from the list, you
can modify the parameter.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.
SM_n_50% Velocity at which 50 % of standstill torque is still RPM UINT16 Modbus 3606
available. - R/-
This parameter is automatically set if you select a - per.
motor from the list. In this case, the parameter can - -
only be read.
If you select "user-defined motor" from the list, you
can modify the parameter.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.
SM_n_90% Velocity at which 90 % of standstill torque is still RPM UINT16 Modbus 3604
available. - R/-
This parameter is automatically set if you select a - per.
motor from the list. In this case, the parameter can - -
only be read.
If you select "user-defined motor" from the list, you
can modify the parameter.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.
SM_n_max Maximum permissible speed of rotation of motor. RPM UINT16 Modbus 3592
Setting can only be modified if power stage is 1 R/-
disabled. 3000 per.
3000 -

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Parameters

Parameter name Description Unit Data type Parameter address via

Minimum value R/W fieldbus
Factory setting Persistent
Maximum value Expert
SPV_HW_Deactiv Temporary deactivation of hardware limit switches. - UINT16 Modbus 1610
0 / None: No limit switch deactivated 0 R/W
1 / Deactivate LIMP: Deactivate positive limit switch 0 -
2 / Deactivate LIMN: Deactivate negative limit 3 -
switch
3 / Deact. LIMP+LIMN: Deactivate both limit
switches
With this parameter, a PLC can temporarily
deactivate hardware limit switches. This is useful if
a homing procedure controlled by a PLC is to use a
limit switch as a reference switch without any error
response of the drive.
Modified settings become active immediately.
Available with firmware version ≥V1.010.
SPV_SW_Limits Activation of software limit switches. - UINT16 Modbus 1542
0 / None: Deactivated 0 R/W
1 / SWLIMP: Activation of software limit switch 0 per.
positive direction 3 -
2 / SWLIMN: Activation of software limit switch
negative direction
3 / SWLIMP+SWLIMN: Activation of software limit
switches both directions
Software limit switches can only be activated if the
zero point is valid.
Modified settings become active immediately.
SPVswLimNusr Negative position limit for software limit switch. usr INT32 Modbus 1546
Refer to description of parameter SPVswLimPusr. - R/W
Setting can only be modified if power stage is -2147483648 per.
disabled. - -
Modified settings become active the next time the
power stage is enabled.
SPVswLimPusr Positive position limit for software limit switch. usr INT32 Modbus 1544
If a user-defined value entered is outside of the - R/W
permissible range, the limit switch limits are 2147483647 per.
automatically set to the maximum user-defined - -
value.
Setting can only be modified if power stage is
disabled.
Modified settings become active the next time the
power stage is enabled.
SuppDriveModes Supported operating modes as per DSP402. - UINT32 Modbus 6952
Coding: - R/-
Bit 0: Profile position - -
Bit 2: Profile velocity - -
Bit 5: Homing

Bit 16: Jog

Bit 17: Electronic gear
Bit 18: Current control
Bit 19: Speed control
Bit 20: Position control
Bit 21: Manual tuning
Bit 22: Oscillator

The availability of the individual bits is product-

dependent.

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 ILS2T Modbus TCP
Accessories and Spare Parts
0198441113664 08/2020

Chapter 12
Accessories and Spare Parts

Accessories and Spare Parts

Accessories and Spare Parts

Accessories

Description Reference
Braking Resistor Controller UBC60 ACC3EA001
Installation kit VW3L10111
Insert with cable entry (2 pieces) VW3L10100N2
Insert with cable entry (10 pieces) VW3L10100N10
Cable entry for commissioning VW3L10222
Insert for sealing (10 pieces) VW3L10000N10
Insert for sealing (20 pieces) VW3L10000N20
Insert for sealing (50 pieces) VW3L10000N50
Cable for commissioning interface, other cable end open 3 m VW3L1R000R30
Cable for commissioning interface, other cable end RJ45 3 m VW3L1T000R30
PC connection kit, serial connection between drive and PC, USB-A to RJ45 TCSMCNAM3M002P
Insert kit for commissioning VW3L1R000
Cable kit, power supply, Modbus TCP, 3m VW3L2T001R30
Cable kit, STO, 3 m VW3L20010R30
Cable kit, STO, 5 m VW3L20010R50
Cable kit, STO, 10 m VW3L20010R100
Cable kit, STO, 15 m VW3L20010R150
Cable kit, STO, 20 m VW3L20010R200
Cable, power supply, 3 m VW3L30001R30
Cable, power supply, 5 m VW3L30001R50
Cable, power supply, 10 m VW3L30001R100
Cable, power supply, 15 m VW3L30001R150
Cable, power supply, 20 m VW3L30001R200
Cable, STO, 3 m VW3L30010R30
Cable, STO, 5 m VW3L30010R50
Cable, STO, 10 m VW3L30010R100
Cable, STO, 15 m VW3L30010R150
Cable, STO, 20 m VW3L30010R200
Connector kit for Modbus TCP, 1 x female industrial connector M12 VW3L5T000
Connector kit for I/O, 2 x industrial connector M8 VW3L50200
Connector kit for I/O, 3 x industrial connector M8 VW3L50300
Connector for STO output, 1 x industrial connector M8 VW3L50010
Insert kit, 3 x I/O VW3L40300
Insert kit, 2 x I/O, 1 x STO input VW3L40210
Insert kit, 1 x STO input, 1 x STO output VW3L40020
Insert kit, 4 x I/O, 1 x STO input, 1 x STO output VW3L40420

Gearbox

Description Reference
Planetary gear for Lexium Integrated Drive ILSxx571, ratio 3:1 GBX060003S571L

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Accessories and Spare Parts

Description Reference
Planetary gear for Lexium Integrated Drive ILSxx571, ratio 5:1 GBX060005S571L
Planetary gear for Lexium Integrated Drive ILSxx571, ratio 8:1 GBX060008S571L
Planetary gear for Lexium Integrated Drive ILSxx572, ratio 3:1 GBX060003S572L
Planetary gear for Lexium Integrated Drive ILSxx572, ratio 5:1 GBX060005S572L
Planetary gear for Lexium Integrated Drive ILSxx572, ratio 8:1 GBX060008S572L
Planetary gear for Lexium Integrated Drive ILSxx573, ratio 3:1 GBX060003S573L
Planetary gear for Lexium Integrated Drive ILSxx573, ratio 5:1 GBX060005S573L
Planetary gear for Lexium Integrated Drive ILSxx573, ratio 8:1 GBX060008S573L
Planetary gear for Lexium Integrated Drive ILSxx851, ratio 3:1 GBX080003S851L
Planetary gear for Lexium Integrated Drive ILSxx851, ratio 5:1 GBX080005S851L
Planetary gear for Lexium Integrated Drive ILSxx851, ratio 8:1 GBX080008S851L
Planetary gear for Lexium Integrated Drive ILSxx852, ratio 3:1 GBX080003S852L
Planetary gear for Lexium Integrated Drive ILSxx852, ratio 5:1 GBX080005S852L
Planetary gear for Lexium Integrated Drive ILSxx852, ratio 8:1 GBX080008S852L
Planetary gear for Lexium Integrated Drive ILSxx853, ratio 3:1 GBX080003S853L
Planetary gear for Lexium Integrated Drive ILSxx853, ratio 5:1 GBX080005S853L
Planetary gear for Lexium Integrated Drive ILSxx853, ratio 8:1 GBX080008S853L

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 ILS2T Modbus TCP
Service, Maintenance, and Disposal
0198441113664 08/2020

Chapter 13
Service, Maintenance, and Disposal

Service, Maintenance, and Disposal

What Is in This Chapter?

This chapter contains the following topics:
Topic Page
Service Addresses 234
Maintenance 235
Replacing the Product 237
Shipping, Storage, Disposal 238

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Service, Maintenance, and Disposal

Service Addresses

Schneider Electric Automation GmbH

Schneiderplatz 1
97828 Marktheidenfeld, Germany
Phone: +49 (0) 9391 / 606 - 0
Fax: +49 (0) 9391 / 606 - 4000
Email: info-marktheidenfeld@se.com

Additional Contact Addresses

See the homepage for additional contact addresses:
https://www.se.com

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 Service, Maintenance, and Disposal

Maintenance

Overview
There are no user-serviceable parts within the product.
Either replace the product, or contact your Schneider Electric service representative.
The product may only be repaired by a Schneider Electric service center.
For all service matters, contact your Schneider Electric service representative.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Only use software and hardware components approved by Schneider Electric for use with this
equipment.
 Do not attempt to service this equipment outside of authorized Schneider Electric service centers.
 Update your application program every time you change the physical hardware configuration.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Use only the accessories and mounting parts specified in the present document and no third-party devices
or components that have not been expressly approved by Schneider Electric. Do not modify the
equipment.
Include the following points in the maintenance plan of your machine.

Connections and Fastening

 Inspect all connection cables and connectors regularly for damage. Replace damaged cables
immediately.
 Verify regularly that all output elements are firmly seated.
 Verify regularly that all mechanical and electrical threaded connections are tightened to the specified
torque.

Cleaning
If the permissible environmental conditions are not respected, external substances from the environment
may penetrate the product and cause unintended movement or equipment damage.

WARNING
UNINTENDED EQUIPMENT OPERATION
 Verify that the environmental conditions are respected.
 Keep liquids from getting to the shaft bushing.
 Do not clean the product with a pressure washer.
Failure to follow these instructions can result in death, serious injury, or equipment damage.

Clean dust and dirt off the product at regular intervals. Insufficient heat dissipation to the ambient air may
excessively increase the temperature.
Motors are not suitable for cleaning with a pressure washer. The high pressure may force water into the
motor.
Care must be taken with cleaning products as some active agents may have deleterious effects on plastics
and welds. When using solvents or cleaning agents, verify that the cables, cable entry seals, O-rings and
motor paint are not damaged.

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Service, Maintenance, and Disposal

NOTICE
CORROSION CAUSED BY CLEANING AGENTS
 Before using a cleaning agent, carry out a compatibility test in relation to the cleaning agent and the
component affected.
 Do not use alkaline cleaning agents.
 Do not use cleaning agents containing chloride.
 Do not use cleaning agents containing sulfuric acid.
Failure to follow these instructions can result in equipment damage.

Lifetime Safety-Related Function STO

The safety-related function STO is designed for a lifetime of 20 years. The expiration date is determined
by adding 20 years to the DOM (date of manufacture) shown on the nameplate of the product.
 This date must be included in the maintenance plan of your application.
Do not use the safety-related function STO after this date.
Example:
The DOM on the nameplate of the product is shown in the format DD.MM.YY, for example 31.12.19. (31
December 2019). This means: Do not use the safety-related function STO after December 31, 2039.

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 Service, Maintenance, and Disposal

Replacing the Product

Overview
Unsuitable parameter values or unsuitable data may trigger unintended movements, trigger signals,
damage parts and disable monitoring functions. Some parameter values or data do not become active until
after a restart.

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

Follow the procedure below for replacing devices.

 Save all parameter settings. To do so, save the data to a PC using the commissioning software.
 Power off all supply voltages. Verify that no voltages are present.
 Label all connections and remove all connection cables (unlock connector locks).
 Uninstall the product.
 Note the identification number and the serial number shown on the product nameplate for later
identification.
 Install the new product as per chapter Installation (see page 67).
 If the product to be installed has previously been used in a different system or application, you must
restore the factory settings before commissioning the product.
 Commission the product as per chapter Commissioning (see page 93).

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Service, Maintenance, and Disposal

Shipping, Storage, Disposal

Shipping
The product must be protected against shocks during transportation. If possible, use the original packaging
for shipping.

Storage
The product may only be stored in spaces where the specified permissible ambient conditions are met.
Protect the product from dust and dirt.

Disposal
The product consists of various materials that can be recycled. Dispose of the product in accordance with
local regulations.
Visit https://www.se.com/green-premium for information and documents on environmental protection as
per ISO 14025 such as:
 EoLi (Product End-of-Life Instructions)
 PEP (Product Environmental Profile)

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 ILS2T Modbus TCP
Glossary
0198441113664 08/2020

Glossary

A
Actual value
In control engineering, the actual value is the value of the controlled variable at a given instant (for
example, actual velocity, actual torque, actual position, actual current, and so on). An actual value can be
a measured value (for example, the actual position can be a value measured by an encoder) or a derived
value (for example, the actual torque can be a value derived from the actual current). The actual value is
an input value used by the control loops of the drive to reach the reference value. Definition as per
IEC 61800-7 series and IEC 60050.

D
DC bus
Circuit that supplies the power stage with energy (direct voltage).
Degree of protection
The degree of protection is a standardized specification for electrical equipment that describes the
protection against the ingress of foreign objects and water (for example: IP 20).
Direction of movement
In the case of a rotary motor, direction of movement is defined as follows: Positive direction is when the
motor shaft rotates clockwise as you look at the end of the protruding motor shaft.
DOM
Date of manufacturing: The nameplate of the product shows the date of manufacture in the format
DD.MM.YY or in the format DD.MM.YYYY. For example:
31.12.19 corresponds to December 31, 2019
31.12.2019 corresponds to December 31, 2019

E
EDS
Electronic Data Sheet
EMC
Electromagnetic compatibility
EMI
Electromagnetic interference
Error
Discrepancy between a detected (computed, measured or signaled) value or condition and the specified
or theoretically correct value or condition. Detected by the drive.
Error class
Classification of errors into groups. The different error classes allow for specific responses to errors, for
example by severity.

F
Factory settings
Settings when the product is shipped.
Fault
Fault is an operating state. If the monitoring functions detect an error, a transition to this operating state is
triggered, depending on the error class. A “Fault Reset” or a power cycle are required to exit this operating
state. Prior to this, the cause of the detected error must be removed. Further information can be found in
the pertinent standards such as IEC 61800-7, ODVA Common Industrial Protocol (CIP).

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Glossary

Fault Reset
Function used to exit the operating state Fault. Before the function is used, the cause of the detected error
must be removed.

I
I2t monitoring
Anticipatory temperature monitoring. The expected temperature rise of components is calculated in
advance on the basis of the motor current. If a limit value is exceeded, the drive reduces the motor current.
Inc
Increments
Index pulse
Signal identifying the position of the rotor. The index pulse is generated once per revolution.
Internal units
Resolution at which the motor can be positioned. Internal units are specified in increments.

P
Parameter
Device data and values that can be read and set (to a certain extent) by the user.
PDU
Protocol Data Unit
PELV
Protective Extra Low Voltage, low voltage with isolation. For more information, refer to IEC 60364-4-41
Persistent
Indicates whether the value of the parameter remains in the memory after a power cycle.
Power stage
The power stage generates current for controlling the motor on the basis of the motion signals from the
controller.

Q
Quick Stop
The function can be used for fast deceleration of a movement as a response to a detected error or via a
command.

R
RS-485
Fieldbus interface as per EIA-485 which enables serial data transmission with multiple devices.

S
Safety-related function
Safety-related functions are defined in the standard IEC 61800-5-2 (for example, Safe Torque Off (STO),
Safe Operating Stop (SOS) or Safe Stop 1 (SS1)).
Scaling factor
This factor is the ratio between an internal unit and a user-defined unit.

U
User-defined unit
Unit whose relationship to movements can be determined by the user via parameters.

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 ILS2T Modbus TCP
Index
0198441113664 08/2020

Index

A CN4, 24 V signal interface

cable specifications, 86
acceleration ramp
connection, 86
motion profile for the velocity, 167
connector specifications, 86
access channels, 120
pin assignments printed board connectors, 86
ambient conditions
CN5, STO
operation, 20
cable specifications, 88
transportation and storage, 20
connection, 88
connector specifications, 88
pin assignments printed board connectors, 89
B commissioning
before you begin current limitation, 108
safety information, 7 deceleration ramp Halt, 109
deceleration ramp Quick Stop, 109
digital inputs, digital outputs, 110
C direction of movement, 115
cable entries Halt ramp, 109
mounting cables, 76 holding brake, 113
mounting to drive, 77 limit switches, 111
cable specifications Quick Stop ramp, 109
CN1, Vdc supply, 80 reference speed of rotation, 108
CN2, fieldbus, 82 safety-related function STO, 112
CN3, RS485, 84 components and interfaces, 15
CN4, 24 V signal interface, 86 connection CN1, 80
CN5, STO, 88 connection CN2, 82
capture connection CN3, 84
captured position, 174 connection CN4, 86
continuous, 173 connection CN5, 88
one-time, 173 connection, accessories, 90
overview, 173 connector specifications
rising edge, falling edge, 173 CN1, Vdc supply, 80
start, stop, 173 CN2, fieldbus, 82
status, 174 CN3, RS485, 84
category 0 stop, 38 CN4, 24 V signal interface, 86
category 1 stop, 38 CN5, STO, 88
clearances, 71 current limitation, 108
CN1, fieldbus
connection, 82
CN1, RS485 D
connection, 84 deceleration ramp
CN1, Vdc supply Halt, 170
cable specifications, 80 motion profile for the velocity, 167
connection, 80 Quick Stop, 171
connector specifications, 80 degree of protection, 21
pin assignments industrial connectors, 81 dimensions
pin assignments printed board connectors, 80 integrated drive size 57, 22
CN2, fieldbus integrated drive size 85, 23
cable specifications, 82 direction of movement, 115
connector specifications, 82 disposal, 238, 238
pin assignments industrial connectors, 83
pin assignments printed board connectors, 82
CN3, RS485 E
address and baud rate, 84
electrical data, 24
cable specifications, 84
electromagnetic compatibility, 26, 26
connector specifications, 84
EMC, 26
pin assignments printed board connectors, 85
environmental conditions
operation, 20
transportation and storage, 20
equipotential bonding conductors, 36
error class, 130

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Index

error class of error messages, 199 IP address

error memory, 196 derived from MAC address, 100
error messages, 198 DHCP based on DeviceName, 100
error response, 130 DHCP/BOOTP based on MAC address, 100
external power supply unit, 35 stored in the nonvolatile memory, 99
IP degree of protection, 21

F
factory settings, restoring, 118 J
FDR, 106 jerk limitation, 168
forces Jog, operating mode
forces for mouing components to shaft, 27 continuous movement, 139
radial and axial forces on shaft, 27 control word, 141
fuses, 24 functions, 143
parameterization, 142
starting, 140
H status word, 141
Halt step movement, 140
deceleration ramp, 170 terminating, 141
overview, 170
hardware limit switches, 176
holding brake, 113 L
Homing, operating mode limit switches, hardware, 176
control word, 154 limit switches, software
methods, 154 activation, 179
parameterization, 156 overview, 179
position setting, 163 position limits, 179
reference movement to index pulse, 162 with target positions, 179
reference movement to limit switch, 159 without target positions, 179
reference movement to reference switch, negative load
direction, 161 shaft load, 27
reference movement to reference switch, positive
direction, 160
starting, 154 M
status word, 154 maintenance, 235
terminating, 155 mechanical data, 22
Modbus TCP
ADU, 46
I client-server model, 45
industrial connectors, 79 function principle, 45
inspection before mounting, 69 MBAP header, 46
installation, electrical PDU, 46
accessories, 90 protocol, 46
assembling cables, 77 SNMP, 45
CN1, Vdc supply, 80 topology, 45
CN2, 24 V signal interface, 86 monitoring
CN2, fieldbus, 82 hardware limit switches, 176
CN3, RS485, 84 reference switch, 178
CN5, STO, 88 software limit switches, 179
mounting cable entries to drive, 77 stall detection, 183
mounting cables to cable entries, 76 temperature power stage, 182
mounting connectors, 76 motion profile for the velocity
via cable entries, 76 availability, 167
via industrial connectors, 79 jerk limitation, 168
installation, mechanical overview, 167
clearances, 71 ramp slope, 167
general information, 70 start-stop velocity, 167
mounting positions, 71 type of acceleration ramp and deceleration ramp,
output components, 71 167
ventilation, 71 mounting
intended use, 8 clearances, 71
output components, 71
mounting positions, 71
mounting surface for flange, 69
movement range, 121

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 Index

N parameter AccessLock, 120, 215

parameter BRK_release, 114, 215
nameplate, 17
parameter BRK_status, 215
parameter Cap1Activate, 173, 215
parameter Cap1Config, 173, 215
O parameter Cap1Count, 174, 215
operating mode parameter Cap1Pos, 174, 215
change, 137 parameter Cap2Activate, 174, 215
Homing, 154 parameter Cap2Config, 173, 215
Jog, 139 parameter Cap2Count, 174, 216
Profile Position, 149 parameter Cap2Pos, 174, 216
Profile Velocity, 145 parameter CapStatus, 174, 216
start, 137 parameter CTRLS_I_Const%, 108, 216
operating state parameter CTRLS_I_Ramp%, 108, 216
change via signal inputs, 135 parameter CTRLS_I_Stand%, 108, 216
changing via fieldbus, 136 parameter CTRLS_stallDet, 183, 216
indication via fieldbus, 133 parameter CTRLS_toggle, 216
indication via signal inputs, 132 parameter DCOMcompatib, 216
state description, 129 parameter DCOMcontrol, 136, 216
state diagram, 129 parameter DCOMopmode, 137, 217
operating states, 128 parameter DCOMstatus, 133, 193, 217
output components, 71 parameter EthErrBehv, 217
overview of integrated drive, 14 parameter EthFdrAutosave, 106, 217
parameter EthFdrEnable, 106, 217
parameter EthGateway, 217
P parameter EthGatewayAct, 217
parameter _acc_pref, 210 parameter EthIpAddr, 217
parameter _AccessInfo, 210 parameter EthIpAddrAct, 217
parameter _actionStatus, 210 parameter EthIPConfInfo, 218
parameter _DCOMopmd_act, 137, 210 parameter EthSubMask, 218
parameter _ethMacAdr1, 210 parameter EthSubMaskAct, 218
parameter _ethMacAdr2, 211 parameter FLT_class, 196, 218
parameter _IO_LIO_act, 110, 211 parameter FLT_del_err, 197, 218
parameter _IO_STO_con, 211 parameter FLT_err_num, 196, 218
parameter _LastWarning, 195, 211 parameter FLT_Idq, 197, 218
parameter _n_act, 211 parameter FLT_MemReset, 197, 218
parameter _n_actRAMP, 211 parameter FLT_n, 197, 218
parameter _n_pref, 211 parameter FLT_powerOn, 197, 218
parameter _n_targetRAMP, 211 parameter FLT_Qual, 197, 218
parameter _OpHours, 211 parameter FLT_Temp_DEV, 197, 218
parameter _p_act, 211 parameter FLT_Temp_PA, 197, 219
parameter _p_actRAMPusr, 211 parameter FLT_Time, 197, 219
parameter _p_actusr, 211 parameter FLT_UDC, 197, 219
parameter _p_ref, 211 parameter FLTAmpOnCyc, 197, 219
parameter _p_refusr, 212 parameter FLTAmpOnTime, 197, 219
parameter _p_tarRAMPusr, 212 parameter HMdisREFtoIDX, 158, 219
parameter _prgNoCOM, 212 parameter HMdisusr, 157, 219
parameter _prgNoDEV, 212 parameter HMmethod, 156, 220
parameter _prgVerCOM, 212 parameter HMn, 158, 220
parameter _prgVerDEV, 212 parameter HMn_out, 158, 220
parameter _serialNoDEV, 212 parameter HMoutdisusr, 157, 220
parameter _SigActive, 212 parameter HMp_homeusr, 157, 220
parameter _SigLatched, 194, 213 parameter HMp_setpusr, 163, 220
parameter _StopFault, 195, 213 parameter HMsrchdisusr, 157, 221
parameter _Temp_act_PA, 182, 213 parameter IO_AutoEnable, 221
parameter _UDC_act, 213 parameter IO_LO_set, 172, 221
parameter _UserAppMem1, 213 parameter IOfunct_LIO1, 125, 221
parameter _UserAppMem2, 213 parameter IOfunct_LIO2, 125, 221
parameter _UserAppMem3, 213 parameter IOfunct_LIO3, 125, 222
parameter _UserAppMem4, 214 parameter IOfunct_LIO4, 126, 222
parameter _VoltUtil, 214 parameter IOsigLimN, 176, 222
parameter _WarnActive, 214 parameter IOsigLimP, 176, 222
parameter _WarnLatched, 193, 214 parameter IOsigRef, 178, 222
parameter AbsHomeRequest, 214 parameter JOGactivate, 141, 223
parameter AccessExcl, 103, 214 parameter JOGn_fast, 142, 223

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Index

parameter JOGn_slow, 142, 223 position capture

parameter JOGstepusr, 142, 223 captured position, 174
parameter JOGtime, 142, 223 continuous, 173
parameter LIM_QStopReact, 171, 223 one-time, 173
parameter MBadr, 223 overview, 173
parameter MBbaud, 223 rising edge, falling edge, 173
parameter MBdword_order, 223 start, stop, 173
parameter MBformat, 224 status, 174
parameter MBnode_guard, 103, 224 Profile Position, operating mode
parameter MBscan_guard, 102, 224 absolute movement, 149
parameter MBTCP_FWupdate, 224 control word, 149
parameter MBTCPdword_order, 224 functions, 152
parameter MinTimeAckBitLow, 225 parameterization, 151
parameter ModeError, 225 relative movement, 149
parameter PA_T_max, 182, 225 starting, 149
parameter PA_T_warn, 182, 225 status word, 149
parameter PA_U_maxDC, 225 terminating, 150
parameter PA_U_minDC, 225 Profile Velocity, operating mode
parameter PA_U_minStopDC, 225 control word, 145
parameter PAReeprSave, 225 functions, 147
parameter PARfactorySet, 226 parameterization, 146
parameter PARuserReset, 117, 226 starting, 145
parameter PLCopenRxPro1, 226 status word, 145
parameter PLCopenRxPro2, 226 terminating, 145
parameter PLCopenTxPro1, 226
parameter PLCopenTxPro2, 226
parameter POSdirOfRotat, 115, 226 Q
parameter POSscaleDenom, 123, 227 qualification of personnel, 7
parameter POSscaleNum, 123, 227 Quick Stop
parameter PPn_target, 151, 227 deceleration ramp, 171
parameter PPoption, 151, 227 operating state transition, 171
parameter PPp_targetusr, 151, 227 overview, 171
parameter ProfileType, 227
parameter PVn_target, 146, 227
parameter RAMP_TAUjerk, 169, 228 R
parameter RAMP_TypeSel, 167, 228 ramp slope, motion profile for the velocity, 167
parameter RAMPacc, 168, 228 reference switch, 178
parameter RAMPdecel, 109, 168, 228 replacing the integrated drive, 237
parameter RAMPn_max, 109, 168, 228 representation of the parameters, 208
parameter RAMPnstart0, 167, 228 resetting the user parameters, 117
parameter RAMPquickstop, 109, 171, 228 restoring factory settings, 118
parameter RAMPsym, 229
parameter ResetWebPass, 105, 229
parameter SM_I_nom, 229 S
parameter SM_n_20%, 229 safety-related data
parameter SM_n_50%, 229 safety-related function STO, 28
parameter SM_n_90%, 229 scaling, 122
parameter SM_n_max, 229 scaling factor, 122
parameter SPV_HW_Deactiv, 177, 230 service addresses, 234
parameter SPV_SW_Limits, 179, 230 shaft
parameter SPVswLimNusr, 180, 230 forces for mounting, 27
parameter SPVswLimPusr, 180, 230 shaft load, 27
parameter SuppDriveModes, 230 shaft-specific data, 27
pin assignments industrial connectors shipping, 238
CN1, Vdc supply, 81 signal input functions
CN2, fieldbus, 83 factory assignments, 86, 124
pin assignments printed board connectors overview, 124
CN1, Vdc supply, 80 parameterization, 124
CN2, fieldbus, 82 signal output functions
CN3, RS485, 85 factory assignments, 86, 124
CN4, 24 V signal interface, 86 overview, 124
CN5, STO, 89 parameterization, 124
pollution degree, 21

244 0198441113664 08/2020

 Index

software limit switches

activation, 179
overview, 179
position limits, 179
with target positions, 179
without target positions, 179
stall detection, 183
start-stop velocity, 167
state diagram, 129
state machine, 129
state transitions, 130
STO
safety-related data, 28
technical data, 25
storage, 238

T
technical data
24 V signals CN4, 25
commissioning interface CN3, 25
electrical data, 24
EMC, 26
environmental conditions operation, 20
environmental conditions storage, 20
environmental conditions transportation, 20
fieldbus interface CN2, 24
fuses, 24
power supply, 24
shaft-specific data, 27
STO CN5, CN6, 25
supply voltage, 24
vibration and shock, 20
temperature monitoring, 182
touch probe, 173
type code, 18

U
user-defined units, 122
usr, 122

V
ventilation, 71
verifying installation, 92
vibration and shock, 20

W
web server, 104
wiring example, 185

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