POSIDYN® SDS 5000

Operation manual Settings

Interfaces
Communication

from V 5.6-D

11/2011 en
 Table of contents
Titel des Dokuments

Table of contents
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1.1 Purpose of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1.2 Readers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1.3 Other manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1.4 Further support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2 Notes on Safety. . . . . . . . . . . . . . . . . . . . . . . . . . 11

2.1 Component part of the product . . . . . . . . . . . . . . . . . . . . . . . . 11

2.2 Risk assessment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2.3 Ambient conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2.4 Qualified personnel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2.5 Transportation and storage . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2.6 Installation and connection . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.7 Commissioning, operation and service . . . . . . . . . . . . . . . . . . 14

2.8 Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.9 Residual dangers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.10 Presentation of notes on safety. . . . . . . . . . . . . . . . . . . . . . . . 16

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3 Commissioning an inverter . . . . . . . . . . . . . . . . 17

3.1 Standard device state machine . . . . . . . . . . . . . . . . . . . . . . . . 17

3.2 Device state machine acc. to DSP 402. . . . . . . . . . . . . . . . . . 22

4 Parameterize . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

4.1 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

4.1.1 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

4.1.2 Data types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

4.1.3 Parameter list structure . . . . . . . . . . . . . . . . . . . . . . 27

4.2 POSITool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

4.3 Operator panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

5 Parameterizing motor data. . . . . . . . . . . . . . . . . 30

5.1 Selection in the configuration assistant. . . . . . . . . . . . . . . . . . 30

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5.2 Electronic type plate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

5.3 Direct entry in the parameters. . . . . . . . . . . . . . . . . . . . . . . . . 32

5.4 Further motor datas. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

5.4.1 Current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

5.4.2 Thermal model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

5.4.3 Absolute Limit values . . . . . . . . . . . . . . . . . . . . . . . . 33

5.5 Parameterize the SLVC-HP control mode. . . . . . . . . . . . . . . . 34

5.6 Parameterize motor temperature sensor evaluation . . . . . . . . 36

6 Parameterizing encoder data . . . . . . . . . . . . . . . 37

6.1 Deactivating the motor encoders . . . . . . . . . . . . . . . . . . . . . . 37

6.2 Interface X4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

6.3 Interface X101 (BE encoder) . . . . . . . . . . . . . . . . . . . . . . . . . 38

6.4 Interface X120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

6.5 Interface X140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

7 Parameterizing brake data . . . . . . . . . . . . . . . . . 41

7.1 B20 = 0:V/f-control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

7.2 B20 = 1:Sensorless vector control . . . . . . . . . . . . . . . . . . . . . 42

7.3 B20 = 3:SLVC-HP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

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7.4 B20 = 2:Vector control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

7.5 B20 = 64:Servo-control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

7.6 Brake management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

7.6.1 Single-axis operation . . . . . . . . . . . . . . . . . . . . . . . . 48

7.6.2 Multi-axis operation . . . . . . . . . . . . . . . . . . . . . . . . . 50

7.6.3 POSISwitch® multi-axis operation . . . . . . . . . . . . . . 50

7.7 Brake test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

7.7.1 Single-axis operation . . . . . . . . . . . . . . . . . . . . . . . . 52

7.7.2 Multi-axis operation . . . . . . . . . . . . . . . . . . . . . . . . . 53

7.7.3 POSISwitch® multi-axis operation . . . . . . . . . . . . . . 53

7.8 Brake grinding function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

7.8.1 Single-axis operation . . . . . . . . . . . . . . . . . . . . . . . . 55

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7.8.2 Multi-axis operation . . . . . . . . . . . . . . . . . . . . . . . . . 56

7.8.3 POSISwitch® multi-axis operation . . . . . . . . . . . . . . 56

8 Parameterizing axis management . . . . . . . . . . . 57

9 Parameterizing brake resistor . . . . . . . . . . . . . . 59

10 Parameterizing in-/outputs. . . . . . . . . . . . . . . . . 60

11 Integrated Bus. . . . . . . . . . . . . . . . . . . . . . . . . . . 62

11.1 Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

11.1.1 Basics of IGB communication . . . . . . . . . . . . . . . . . 63

11.1.2 General diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . 65

11.2 Direct connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

11.2.1 Requirements for a direct connection. . . . . . . . . . . . 66

11.2.2 IP adress and subnet mask . . . . . . . . . . . . . . . . . . . 67

11.2.3 Determining the IP address and subnet mask of the

PC 68

11.2.4 Adjusting the IP address of the inverter . . . . . . . . . . 69

11.2.5 Establishing a direct connection. . . . . . . . . . . . . . . . 70

11.2.6 Reading data from the SDS 5000 . . . . . . . . . . . . . . 71

11.2.7 Writing data to the inverter . . . . . . . . . . . . . . . . . . . . 72

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11.3 IGB-Motionbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

11.3.1 Activation of the IGB-Motionbus. . . . . . . . . . . . . . . . 76

11.3.2 Parameterization of the IGB-Motionbus . . . . . . . . . . 76

11.3.3 Non-regular IGB operation . . . . . . . . . . . . . . . . . . . . 81

11.3.4 Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

11.3.5 Exchanging the master position . . . . . . . . . . . . . . . . 82

11.4 Remote maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

11.4.1 System administration . . . . . . . . . . . . . . . . . . . . . . . 85

11.4.2 The network and remote service assistant. . . . . . . . 86

11.4.3 Administration of remote maintenance settings . . . . 92

11.4.4 Using the remote maintenance settings of the gate-

way inverter 92

11.4.5 Settings for a LAN connection . . . . . . . . . . . . . . . . . 93

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11.4.6 Settings for an internet connection. . . . . . . . . . . . . . 95

11.4.7 Security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

11.4.8 Activation of remote maintenance . . . . . . . . . . . . . . 98

11.4.9 Establishment of a connection . . . . . . . . . . . . . . . . . 99

11.4.10 Deactivation of remote maintenance . . . . . . . . . . . . 102

11.4.11 Monitoring remote maintenance. . . . . . . . . . . . . . . . 102

11.4.12 Diagnosis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

11.4.13 General Terms and Conditions of STÖBER ANTRIE-

BSTECHNIK for Maintenance of the Servo Inverter
of the 5th Generation of STÖBER Inverters 112

12 Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

12.1 Replacing inverters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

12.2 Replacing an application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

12.3 Copying Paramodule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

12.4 Live firmware update. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

12.5 Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

12.5.1 Actions without enable . . . . . . . . . . . . . . . . . . . . . . . 126

12.5.2 Actions with enable . . . . . . . . . . . . . . . . . . . . . . . . . 127

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13 Diagnosis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

13.1 LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

13.2 Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

13.2.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

13.2.2 Event Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

13.3 Events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

13.3.1 31:Short/ground. . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

13.3.2 32:Short/gr.int . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

13.3.3 33:Overcurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

13.3.4 34:Hardw.fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

13.3.5 35:Watchdog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

13.3.6 36:High voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

13.3.7 37:Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

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13.3.8 38:TempDev.sens. . . . . . . . . . . . . . . . . . . . . . . . . . . 147

13.3.9 39:TempDev i2t . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

13.3.10 40:Invalid data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

13.3.11 41:Temp.MotorTMS . . . . . . . . . . . . . . . . . . . . . . . . . 151

13.3.12 42:TempBrakeRes . . . . . . . . . . . . . . . . . . . . . . . . . . 152

13.3.13 44:External fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

13.3.14 45:oTempMot. i2t . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

13.3.15 46:Low voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

13.3.16 47:TorqueLimit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

13.3.17 52:Communication . . . . . . . . . . . . . . . . . . . . . . . . . . 156

13.3.18 55:OptionBoard . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

13.3.19 56:Overspeed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

13.3.20 57:Runtime usage . . . . . . . . . . . . . . . . . . . . . . . . . . 163

13.3.21 58:Grounded . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

13.3.22 59:TempDev. i2t . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

13.3.23 60-67:Application events 0-7 . . . . . . . . . . . . . . . . . . 165

13.3.24 68: External fault . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

13.3.25 69:Motor connect. . . . . . . . . . . . . . . . . . . . . . . . . . . 166

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13.3.26 70:Param.consist . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

13.3.27 71:Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

13.3.28 72:Brake test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

13.3.29 73:Ax2braketest . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

13.3.30 74:Ax3braketest . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

13.3.31 75:Ax4braketest . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

13.3.32 #004:illeg.Instr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174

13.3.33 #006:illSlotInst . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174

13.3.34 #009:CPU AddrErr . . . . . . . . . . . . . . . . . . . . . . . . . . 175

13.3.35 #00c:StackOverfl . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

13.3.36 *ParaModul ERROR:update firmware!. . . . . . . . . . . 176

13.3.37 *ParaModul ERROR: file not found . . . . . . . . . . . . . 176

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13.3.38 *ParaModul ERROR: Checksum error . . . . . . . . . . . 177

13.3.39 *ParaModul ERROR: ksb write error . . . . . . . . . . . . 177

13.3.40 *ConfigStartERROR parameters lost . . . . . . . . . . . . 178

13.3.41 *ConfigStartERROR remanents lost. . . . . . . . . . . . . 178

13.3.42 *ConfigStartERROR unknown block . . . . . . . . . . . . 179

13.3.43 *ConfigStartERROR unknown string . . . . . . . . . . . . 179

13.3.44 *ConfigStartERROR unknown scale . . . . . . . . . . . . 180

13.3.45 *ConfigStartERROR unknown limit . . . . . . . . . . . . . 180

13.3.46 *ConfigStartERROR unknown post-wr . . . . . . . . . . . 181

13.3.47 *ConfigStartERROR unknown pre-rd . . . . . . . . . . . . 181

13.3.48 *ConfigStartERROR unknown hiding . . . . . . . . . . . . 182

13.3.49 no configuration paramodul error . . . . . . . . . . . . . . . 182

13.3.50 no configuration start error . . . . . . . . . . . . . . . . . . . . 182

13.3.51 configuration stopped . . . . . . . . . . . . . . . . . . . . . . . . 182

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 1
Introduction
Operation manual

1 Introduction
Axis management is integrated on the inverters. This offers the following operat-
ing modes:
• Single-axis operation:
An axis configured with POSITool is used on a connected motor.
• Multiple-axis operation:
Two, three and four axes configured with POSITool are used on a connected
motor. The axes can be used sequentially like parameter records on the mo-
tor.
• POSISwitch® multiple-axis operation:
Up to 4 motors connected to POSISwitch® are operated sequentially with up
to 4 axes.
This option requires the following system structure.
The system of the 5th generation of STÖBER inverters is divided into two areas –
the global area and the axis area. The global area contains the programming and
parameterization related to the inverter. This includes device control, the setting
of I/O components such as brake resistors and so on. In addition, it is responsible
for managing the axis area.
The axis area is divided into up to four axes. Each axis contains the programming
and parameterization for one motor and is addressed by the global area. The axis
area contains the motor setting and the application of the motor. The uses are de-
fined by STÖBER ANTRIEBSTECHNIK in so-called applications or, optionally,
can be programmed as desired by the user.

Global area Axis areas

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ESC #
Axis 1
I/O

X3

Axis 2

Axis 3

Axis 4

Fig. 1-1: Setup of global and axis area

1.1 Purpose of the manual

This manual provides you with information on the basic operation of the inverter.
Here functions in the inverter independent of the standard applications defined by
STÖBER ANTRIEBSTECHNIK are explained.

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 1
Introduction
Operation manual

1.2 Readers
Users who are familiar with the control of drive systems and have a knowledge of
commissioning inverter systems are the target group of this manual.

1.3 Other manuals

The documentation of the SDS 5000 includes the following manuals:

Manual Contents ID Latest versiona)

Commissioning Instructions Reinstallation, replacement, function test 442301 V 5.6-D
Projecting manual Installation and connection 442277 V 5.6-D
Operating manual Set up the inverter 442289 V 5.6-D
a) At the time of publication. You can find all versions at www.stoeber.de > Products > Doc Center.

You can find information on the POSITool software in the following manuals:

Manual Contents ID Latest versiona)

POSITool operating manual Information on the ba- 442233 V 5.6-D
sic functions of POSI-
Tool
Programming manual Information on pro- 441693 V 5.6-D
gramming with POSI-
Tool
a) At the time of publication. You can find all versions at www.stoeber.de > Products > Doc Center.

Note that the programming functionality of POSITool can only be used after train-

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ing by STÖBER ANTRIEBSTECHNIK. You can find information on training at
www. stoeber.de
The devices of the 5th generation of STÖBER inverters can be optionally connect-
ed with different fieldbus systems. The connection is described in the following
manuals:

Manuals ID Latest versiona)

PROFIBUS DP operating manual 441685 V 5.6-D
CANopen® operating manual 441684 V 5.6-D
EtherCAT operating manual 441895 V 5.6-D
PROFINET operating manual 442339 V 5.6-D
USS operating manual 441706 V 5.6-D
a) At the time of publication. You can find all versions at www.stoeber.de > Products > Doc Center.

ID 442289.01 9
 1
Introduction
Operation manual

The accessories of the inverter are documented in the following manuals:

Manual Product description ID Latest versiona)

ASP 5001 operating Safe technical integration of the inverter 442180 V 5.6-D
manual in a machine
Sequential switchover between up to four 441669 V 5.6-D
POSISwitch® Ax 5000 axes
operating manual
Control box operating Operating device for parameterization 441445 V 5.6-D
manual and configuration of the inverter.
Operating manual For buffering the power supply when us- 442342 V 5.6-D
Absolute Encoder Sup- ing the inductive Multiturn EnDat ® 2.2
port AES absolute encoder EBI1135 when the
power supply is switched off at the invert-
er.
a) At the time of publication. You can find all versions at www.stoeber.de > Products > Doc Center.

1.4 Further support

If you have questions about the technology which have not been answered in this
document, please contact:
• Telephone: +49 (0) 7231 582-1187
• E-Mail: applications@stoeber.de

If you have questions about the documentation or training programs, please con-
tact:

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• E-Mail: electronics@stoeber.de

ID 442289.01 10
 2
Notes on Safety
Operation manual

2 Notes on Safety
The devices may cause risks. For these reasons, comply with the following:
• The safety notes listed in the following sections and points
• The technical rules and regulations.

In addition, always read the appropriate documentation. STÖBER ANTRIEB-

STECHNIK GmbH + Co. KG accepts no liability for damages caused by non-ad-
herence to the instructions or applicable regulations. Subject to technical changes
to improve the devices without prior notice. This documentation is purely a prod-
uct description. It does not represent promised properties in the sense of warranty
law.

2.1 Component part of the product

The technical documentation is a component part of a product.

• Since the technical documentation contains important information, always

keep it handy in the vicinity of the device until the machine is disposed of.
• If the product is sold, disposed of, or rented out, always include the technical
documentation with the product.

2.2 Risk assessment

Before the manufacturer is allowed to put a machine on the market, he must have
a danger analysis prepared as per machine guideline 06/42/EG. This analysis es-

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tablishes the dangers connected with the use of the machine. The danger analy-
sis is a multi-stage, iterative process. Since this documentation cannot begin to
provide sufficient insight into the machine guidelines, please carefully study the
latest standards and legal situation yourself. After the drive controller has been
installed in machines, it cannot be commissioned until it has been determined that
the machine complies with the regulations of EG guideline 06/42/EG.

2.3 Ambient conditions

Inverters are products of the restricted sales class as described in IEC 61800-3.
This product may cause high-frequency interference in residential zones and the
user may be asked to take suitable measures.
The inverters are not designed for use in public low-voltage networks which power
residential areas. High-frequency interference must be expected when the invert-
ers are used in such a network. The inverters are only intended for use in TN net-

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 2
Notes on Safety
Operation manual

works. The inverters are only designed for use on supply current networks which
can delivery at the most a maximum of symmetrical rated short circuit current at
480 Volts as per the following table:

Size Max. symmetrical rated short circuit current

BG 0 and BG 1 5000 A
BG 2 5000 A
BG 3 10000 A

Install the inverter in a switching cabinet in which the permissible ambient temper-
ature is not exceeded (see mounting instructions)..

The following applications are prohibited:

• Use in potentially explosive areas
• Use in environments with harmful substances as per EN 60721 (e.g., oils, ac-
ids, gases, fumes, powders, irradiation)
• Use with mechanical vibration and impact stresses which exceed the informa-
tion in the technical data of the projecting manuals.

Implementation of the following applications is only permitted when STÖBER

ANTRIEBSTECHNIK GmbH + Co. KG has been contacted first for permission:
• Use in non-stationary applications

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ID 442289.01 12
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Notes on Safety
Operation manual

2.4 Qualified personnel

Since the devices may harbor residual risks, all configuration, transportation, in-
stallation and commissioning tasks including operation and disposal may only be
performed by trained personnel who are aware of the possible risks.
Personnel must have the qualifications required for the job. The following table
lists examples of occupational qualifications for the jobs:

Activity Possible occupational qualifications

Transportation and storage Worker skilled in storage logistics or comparable
training
Configuration - Graduate engineer (electro-technology or electri-
cal power technology)
- Technician (m/f) (electro-technology)
Installation and connection Electronics technician (m/f)
Commissioning - Technician (m/f) (electro-technology)
(of a standard application) - Master electro technician (m/f)
Programming Graduate engineer (electro-technology or electri-
cal power technology)
Operation - Technician (m/f) (electro-technology)
- Master electro technician (m/f)
Disposal Electronics technician (m/f)
Tab. 2-1: examples of occupational qualifications

In addition, the valid regulations, the legal requirements, the reference books, this
technical documentation and, in particular, the safety information contained there-

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in must be carefully
• read
• understood and
• complied with

2.5 Transportation and storage

Immediately upon receipt, examine the delivery for any transportation damages.
Immediately inform the transportation company of any damages. If damages are
found, do not commission the product. If the device is not to be installed immedi-
ately, store it in a dry, dust-free room. Please see the documentation for how to
commission an inverter after it has been in storage for a year or longer.

ID 442289.01 13
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Notes on Safety
Operation manual

2.6 Installation and connection

Installation and connection work are only permitted after the device has been iso-
lated from the power!
The accessory installation instructions allow the following actions during the in-
stallation of accessories:
• The housing in the upper slot can be opened
• The housing in the bottom slot can be opened.
Opening the housing in another place or for other purposes is not permitted.
Use only copper lines. For the line cross sections to be used, refer to DIN VDE
0298-4 or DIN EN 60204-1 Appendix D and Appendix G.
Protect the device from falling parts (pieces of wire, leads, metal parts, and so on)
during installation or other tasks in the switching cabinet. Parts with conductive
properties inside the inverter can cause short circuits or device failure.
The motor must have an integrated temperature monitor with basic isolation in
acc. with EN 61800-5-1 or external motor overload protection must be used.
The permissible protection class is protective ground. Operation is not permitted
unless the protective conductor is connected in accordance with the regulations.
Comply with the applicable instructions for installation and commissioning of mo-
tor and brakes.

2.7 Commissioning, operation and service

Remove additional coverings before commissioning so that the device cannot
overheat. During installation, provide the free spaces specified in the projecting
manuals to prevent the inverter from overheating.

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The housing of the drive controller must be closed before you turn on the supply
voltage. When the supply voltage is on, dangerous voltages can be present on
the connection terminals and the cables and motor terminals connected to them.
Remember that the device is not necessarily de-energized after all indicators
have gone off.

When network voltage is applied, the following are prohibited:

• Opening the housing
• Connecting or disconnecting the connection terminals
• Installing accessories

Before carrying out any work on the machine, observe all the following five safety
regulations in the above-mentioned sequence:
1. Enable. Ensure that you also activate the auxiliary circuits.
2. Secure against switching on.
3. Ensure that the parts are de-energized.
4. Earth and short-circuit.
5. Cover or isolate any live neighboring parts.

ID 442289.01 14
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Notes on Safety
Operation manual

Information
Please note that the discharge time for the intermediate circuit capaci-
tors is 5 min. You can only ensure that the parts are de-energized after
this time.

You can then start your work on the drive controller. Repairs may only be per-
formed by STÖBER ANTRIEBSTECHNIK GmbH + Co. KG.
Send defective devices together with a fault description to:
STÖBER ANTRIEBSTECHNIK GmbH + Co. KG
Department VS-EL
Kieselbronner Str.12
75177 Pforzheim
GERMANY

2.8 Disposal
Please comply with the latest national and regional regulations! Dispose of the in-
dividual parts separately depending on their nature and currently valid regulations
such as, for example:
• Electronic scrap (PCBs)
• Plastic
• Sheet metal
• Copper
• Aluminum

2.9 Residual dangers

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The connected motor can be damaged with certain settings of inverters:
• Longer operation against an applied motor halting brake
• Longer operation of self-cooled motors at slow speeds
Drives can reach dangerous excess speeds (e.g., setting of high output frequen-
cies for motors and motor settings which are unsuitable for this). Secure the drive
accordingly.

ID 442289.01 15
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Notes on Safety
Operation manual

2.10 Presentation of notes on safety

NOTICE
Notice
means that property damage may occur
X if the stated precautionary measures are not taken.

CAUTION!
Caution
with warning triangle means that minor injury may occur
X if the stated precautionary measures are not taken.

WARNING!
Warning
means that there may be a serious danger of death
X if the stated precautionary measures are not taken.

DANGER!
Danger

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means that serious danger of death exists
X if the stated precautionary measures are not taken.

Information
indicates important information about the product or a highlighted por-
tion of the documentation which requires special attention.

ID 442289.01 16
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Commissioning an inverter
Operation manual

3 Commissioning an inverter
For the solution of a technical drive task, the programming of the inverter system
must conform to the sequence of certain device states. They define the state of
the power portion and implement functions such as the restart of the drive. The
device state can be changed with control commands and internal events.
The 5th generation of STÖBER inverters offers you a choice between a standard
state machine and a state machine as per DSP 402.You can select the state ma-
chines in the Configuration Assistant of the POSITool software.

Information
Please note the special features involved in commissioning an inverter
with the safe torque off safety function (ASP 5001 accessory), and read
the operating instructions ASP 5001, ID 442181.

3.1 Standard device state machine

Information
The 24-V power for the accessories must be switched on before or at
the same time as the voltage supply of the control unit.
To be able to place an inverter in operation with the standard device state of the
machine, the following requirements apply:
• You have connected all power supplies.
• You have connected the motor and, if necessary, the encoder, brake, motor
temperature sensor and POSISwitch® Ax 5000 in accordance with your ma-
chine documentation.

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• You use the standard device state of the machine with the default settings in
your project.
• You have completed all parameter settings, transferred them to the inverter
and saved them.
Proceed as follows:

Placing inverter in operation

1 If available, switch on the 24V supply of the accessory (e.g. XEA 5001
X101.18, X101.10).
2 Switch on the 24V supply (X11).
Ö The device starts. If relay 1 is closed (X1.1, X1.2), the inverter changes
to the 1:switchONinh device state.
3 Switch on the power supply of the power stage (X10).
Ö The DC link capacitors are charged (E14 = 1:active).

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4 If you use safety technology, switch on the controller of the ASP 5001.
Ö The acknowledgement on the ASP 5001 displays that the safety function
is not active (E67 = 0:inactive). Afterwards the inverter is in the 2:Ready
for switch on device state.
5 Switch on the enable.
Ö The inverter is in the 4:Enabled device state.
Ö You have placed the inverter in operation.

Device state Startup 1:Switchon 2:Ready to 4:Enabled

of the inverter disable switch on

1
24 V power
1. accessory
0
t
>0
1
24 V power
2. control unit (X11)
0
t

1
relay 1
(X1.1, X1.2)
0
t

1
Power
3. power unit (X10)
0
t

1
DC link charging
relay (E14)
0
t

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1
Activation ASP 5001
4. (X12.3, X12.4)
0
t
1
Response message
ASP 5001 (E67)
0
t
1
Enable
5. (X1.4, X1.3)
0
t

Response message 1
enable (A900)
0
t

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Commissioning an inverter
Operation manual

The following eight states exist in the standard device state machine in accor-
dance with the DRIVECOM profile for drive technology.

Display Designation Behavior

XDS 5000 Not ready to switch • The electronics are powered.
V5.X
on • Self-test is running.
Or • Initialization is running.
±0Rpm 0.0A • Drive functiona) is disabled.
0: Self test
• Ready-for-operation relay is open.
Switchon disable • Software/hardware initialization is finished.
• The application was reparameterizedn.
±0Rpm 0.0A
1: ONdisable • The drive function1 is disabled.
• The ready-for operation relay is closed.
• The ASP 5001 option (safe torque off) is active.
Ready to switch on • The application can be reparameterized.
±0Rpm 0.0A
2: ReadyforON • The drive function1 is disabled.
• The ready-for-operation relay is closed.
Switched on • The application can be reparameterized.
±0Rpm 0.0A
3: Switched on • The drive function1 is disabled.
• The ready-for-operation relay is closed.
Operation • The application can be partially parameterized.
±0Rpm 0.0A
4: Enabled enabled • The drive function1 is enabled.
• The ready-for-operation relay is closed.
Fault • The application can be partially parameterized.
Fault
No.X: type of fault • The drive function1 is disabled.
• The ready-for-operation relay is closed.

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Fault reaction • The application can be reparameterized.
active • An error-dependent action is being executed (dis-
Fault
No.X: type of fault able drive function or quick stop).
• The drive function1 can be enabled.
• The ready-for-operation relay is open.
Quick stop active • The application can be reparameterized.
±0Rpm 0.0A • The quick stop function is being executed.
7: Quick stop
• The drive function1 is enabled.
• The ready-for-operation relay is closed.
a) A disabled drive function means the same as a power part which is switched off and a reset application (e.g., reset ramp
generator). This means that the drive is not following the reference value.
The following Figure 3 1 shows which state changes are possible. The table be-
low shows which conditions apply.

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Commissioning an inverter
Operation manual

14
Fault reaction active
Störungsreaktion aktiv

0 15

NotNicht Einschaltbereit
ready for switchon Fault
Störung

1
12 16
13 Switchon disable
Einschaltsperre 10

2 6

11 9
Ready for switchon
Einschaltbereit

3 5

Switched on
Eingeschaltet

4
7
Operation enabled
Betrieb freigegeben
8
Schnellhalt
Quick stop aktiv
active

Fig. 3-1: Standard-Gerätezustandsmaschine

Zustandswechsel Bedingungen
0 Device startup Æ Not ready for switchon Control power section switched on.
1 Not ready for switchon Æ Switchon dis- Self-test without errors and initialization concluded.
able
2 Switchon disable Æ Ready for switchon • Enable on low level (E19 Bit 0 = 0 or A300 = 0) or auto-
start active (A34) during first startup

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• DC link charged (E03)
• The ASP 5001 option (safe torque off) is not active
(E67).
• Axis activated (E84)
• No IGB Motionbus is configured (configuration assis-
tant, step 6, checkbox) or
• An IGB Motionbus is configured and the IGB is either lo-
cated in the state 3:IGB Motionbus (A155) or IGB excep-
tional motion is activated (A124).
3 Ready for switchon Æ Switched on Enable on high level (E19 Bit 0 = 1 and A300 = 1).
4 Switched on Æ Operation enabled Enable on high level (E19 Bit 0 = 1 and A300 = 1).
5 Switched on Æ Ready for switchon Enable on low level (E19 Bit 0 = 0 or A300 = 0).

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Zustandswechsel Bedingungen
6 Ready for switchon Æ Switchon disable • DC link not charged (E03) or
• The ASP 5001 option (safe torque off) is active (E67).
• Axis deactivated (E84)
• An IGB Motionbus is configured (configuration assistant,
step 6, checkbox) and the IGB has exited the state
3:IGB-Motionbus (A155) and IGB exceptional motion is
not activated (A124).
7 Operation enabled Æ Quick stop active • Quick stop signal on high level (A302) or
• Enable on low level (E19 Bit 0 = 0 or A300 = 0) and quick
stop with enable off signal active (A44)
8 Quick stop active Æ Operation enabled Enable for high level (E19 Bit 0 = 1 and A300 = 1) and quick
stop signal on low level (A302) and quick stop end reached
(A45) in accordance with parameterization.
9 Quick stop active Æ Ready for switchon Enable for low level (E19 Bit 0 = 0 or A300 = 0) and quick
stop end reached in accordance with parameterization
(A45).
10 Quick stop active Æ Switchon disable The ASP 5001 option (safe torque off) is active (E67).
11 Operation enabled Æ Rea Enable for low level (E19 Bit 0 = 0 or A300 = 0) and quick
stopwith enable off inactive (A44).
12 Operation enabled Æ Einschaltsperre The ASP 5001 option (safe torque off) is active (E67).
13 Switched on Æ Switchon disable • DC link not charged or
• The ASP 5001 option (safe torque off) is active (E67).
• An IGB Motionbus is configured (Projektierungsassis-
tent, Schritt 6, Kontrollkästchen) and the IGB has exited

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the state 3:IGB-Motionbus (A155) and IGB exceptional
motion is not activated (A124).
14 All states Æ Störungsreaktion Aktiv Fault detected (E81).
15 Fault reaction active Æ Fault Fault reaction concluded (E81).
16 Fault Æ Switchon disable No fault is queued (E81) and rising edge of the acknowledg-
ment signal (A301).

Please see the chapter 11 Integrated Bus for information on IGB states and IGB
exceptional motion.

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3.2 Device state machine acc. to DSP 402

The device state machine as per DSP 402 has the same states as the standard
device state machine. The following table shows the designation of the states as
per DSP 402.

Displaya) Designation acc. to DSP 402

XDS 5000
V5.X

Or Not Ready to Switch On

±0Rpm 0.0A
0: Self test

±0Rpm 0.0A
1: ONdisable Switch On Disabled

±0Rpm 0.0A
2: ReadyforON Ready to Switch On

±0Rpm 0.0A
3: Switched on Switched On

±0Rpm 0.0A
4: Enabled Operation Enable

Fault Fault
No.X: type of fault
Fault Reaction Active
(2nd line flashing)
±0Rpm 0.0A
7: Quick stop Quick Stop Active

a) Depending on the applications, indication of the device states may differ from what

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is shown.
The device state machine must receive certain commands for a change in state.
The commands are bit combinations in the DSP 402 control word (parameter
A576 Controlword). The table shows the states of the bits in parameter A576 and
their combination for the commands (the bits marked with X are irrelevant).

Bit of the control word (A576 control word)

Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Command
Fault Enable Op- Quick Enable Switch
Reset eration Stop Voltage On
Shutdown 0 X 1 1 0
Switch On 0 0 1 1 1
Disable Voltage 0 X X 0 X
QuickStop 0 X 0 1 X
Disable Operation 0 0 1 1 1
Enable Operation 0 1 1 1 1

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Bit of the control word (A576 control word)

Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Command
Fault Enable Op- Quick Enable Switch
Reset eration Stop Voltage On
Fault Reset pos. edge X X X X
The difference between the standard device state machine is the possible state
changes and the conditions for the changes. Figure 3 2 shows the possible
changes in state.

13
Fault reaction active
Störungsreaktion aktiv

0 14

NotNicht
readyEinschaltbereit
for switchon Fault
Störung

1
9 15
10 Switchon disable
Einschaltsperre 12

2 7

8
Ready for switchon
Einschaltbereit

3 6

Switched on
Eingeschaltet

4 5

11
Operation enabled
Betrieb freigegeben Schnellhalt
Quick aktiv
stop active

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Fig. 3-2: State machine as per DSP 402

The following table lists the conditions for changes in the state machine.

Change in State Conditions

0 Device startup Æ Not ready for switchon Control power section switched on.
1 Not ready for switchon Æ Switchon dis- Self-test without errors and initialization concluded.
able
2 Switchon disable Æ Ready for switchon • Enable on high level (E19 Bit 0 = 1) and command Shut-
down (A577) and the ASP 5001 option (safe torque off)
is not active (E67)
• No IGB Motionbus is configured (configuration assis-
tant, step 6, checkbox) or
• An IGB Motionbus is configured and the IGB is either lo-
cated in the state 3:IGB Motionbus (A155) or IGB "non-
regular" operation is activated (A124).

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Change in State Conditions

3 Ready for switchon Æ Switched on Enable on high level (E19 Bit 0 = 1) and command Switch
On (A577)
4 Switched on Æ Operation enabled Enable on high level (E19 Bit 0 = 1) and command Enable
Operation (A577)
5 Operation enabled Æ Switched on Enable on high level (E19 Bit 0 = 1) and command Disable
Operation (A577)
6 Switched on Æ Ready for switchon Enable on high level (E19 Bit 0 = 1) and command Shut-
down (A577)
7 Ready for switchon Æ Switchon disable • Enable on low level (E19 Bit 0 = 0) or
• Command Quickstop (A577) or
• Command Disable Voltage (A577) or
• The ASP 5001 option (safe torque off) is active (E67).
• An IGB Motionbus is configured (configuration assistant,
step 6, checkbox) and the IGB has exited the state
3:IGB-Motionbus (A155) and IGB "non-regular" opera-
tion is not activated (A124).
8 Operation enabled Æ Ready for switchon Command Shutdown
9 Operation enabled Æ Switchon disable • Enable on low level (E19 Bit 0 = 0) or
• Command Disable Voltage (A577) or
• The ASP 5001 option (safe torque off) is active (E67).
10 Switched on Æ Switchon disable • Enable on low level (E19 Bit 0 = 0) or
• Command Quickstop (A577) or
• Command Disable Voltage (A577) or
• The ASP 5001 option (safe torque off) is active (E67).

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• An IGB Motionbus is configured (configuration assistant,
step 6, checkbox) and the IGB has exited the state
3:IGB-Motionbus (A155) and IGB "non-regular" opera-
tion is not activated (A124).
11 Operation enabled Æ Quick stop Command Quickstop (A577)
12 Quick stop Æ Switchon disable • Quick stop finished or
• Command Disable Voltage (A577)
13 All states Æ Fault reaction active Fault detected
14 Fault reaction active Æ Fault Fault reaction concluded
15 Fault Æ Switchon disable Command Fault Reset (positive edge) (A577).
Please see the chapter 11 for information on IGB states and IGB exceptional mo-
tion.

ID 442289.01 24
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Operation manual

4 Parameterize
The user interfaces of the 5th generation of STÖBER inverters consist of several
elements with different functionalities (see figure).
To program a device system of the 5th generation of STÖBER inverters, the user
needs the POSITool software. With the POSITool software, either an application
defined by STÖBER ANTRIEBSTECHNIK or the option of a freely programmed
application can be used. POSITool provides a parameter list with which the appli-
cation can be adjusted. The software also has comprehensive diagnostic func-
tions.
Parameters can also be changed via the operator panel on the front of the invert-
er. It consists of a keyboard for calling the menu functions and the display for in-
dication. When appropriately programmed, the keyboard can be used to
implement functions such as manual operation or tipping. Response messages
on the device status are shown by the LEDs on the front.The display provides de-
tailed information.

Oper. indication
Device states

Program
Display Events
1
P S Parameterize X3 A Oper.

,
Parameterize
T o Diagnostic
X3 B panel

LED Device states

1

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Fig. 4-1: User interface

4.1 Parameters
Parameters perform various tasks in the inverter system:
• Adjust the application to external conditions (e.g., the motor type)
• Indicate the values (e.g. current speed or the torque).
• Trigger actions (e.g., "save values" or "phase test"
Parameters are allocated to the global area or the axis area.

4.1.1 Structure

The parameter structure is set up as shown in the adjacent example::

The axis code identifies an axis parameter when it is shown mixed with global pa-
rameters.
The group divides the parameters into functional characteristics.
The line distinguishes the individual parameters in a group.

ID 442289.01 25
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Parameterize
Operation manual

The element subdivides a parameter (subfunctions).

1.E250.2
Axis
(only for axis parameters)

Group Line Element

Fig. 4-2: Parameterstruktur

The individual subject areas of the parameter groups are listed in the table below:

Parameter group Subject area / dependency

A.. Inverter Inverter, bus, cycle time
B.. Motor Motor
C.. Machine Speed, torque
D.. Reference value Speed ref. values, reference value generator
E.. Display value Indication for device and application
F.. Control interface Analog inputs / outputs,
binary inputs / outputs, brake
G.. Technology Depends on the application
(e.g., synchronous running)
H.. Encoder Encoder
I.. Positioning Only with positioning applications
J.. Process blocks Only with positioning application
motion block positioning
L.. PLCopen reference Only with positioning application PLCopen

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values
N.. Posi.switches Only with positioning applications
P.. Customer-specific Only with "free, graphic programming" option
parameters
Q.. Customer-specific Only with "free, graphic programming" option
parameters, dependent
on instance
R.. Production dataa) Production data of inverter
T.. Scope Scope parameters
U.. Protection functions Parameterizing the results
Z.. Fault counter Fault counter of events; In POSITool only visible during
online operation.
a) Only visible in POSITool during online operation.

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4.1.2 Data types

Name Abbrev. Description Value Range

Name
Boolean B 1 bit (internal: LSB in 1 byte) 0 ... 1
Unsigned 8 U8 1 byte, without sign 0 ... 255
Integer 8 I8 1 byte, with sign -128 ... 127
Unsigned 16 U16 2 bytes - 1 word, without sign 0 ... 65535
Integer 16 I16 2 bytes - 1 word, with sign -32768 ... 32767
4 bytes - 1 douple word,
Unsigned 32 U32 0 ... 4294967295
without sign
I32 4 bytes - 1 douple word, -2147483648 ...
Integer 32
with sign 2147483647
Floating decimal, simple
Float R32
accuracy in acc. with ANSI /
Floating decimal, double IEEE 754
Double R64
accuracy
String 8 STR8 Text, 8 characters
String 16 STR16 Text, 16 characters
-2147483648 ...
32 bits, increments
Posi 64 P64 2147483647
32 bits, rest 0 ... 2147483647

4.1.3 Parameter list structure

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To address parameters via the fieldbus, the following information is important:
• Value range
• Scaling via fieldbus if this differs form the scaling via POSITool.
• Rounding errors via fieldbus, if present.
• Data type
They are specified in the parameter table in the application description.
The fieldbus addresses are specified as hexadecimal numbers. For CANopen®
and EtherCAT®, the index and subindex can be transferred directly. For PROFI-
BUS DP-V1 and PROFINET®, index = PNU and subindex = index. Further details
are in the documentation for the fieldbus interface connection (see section1.3
Other manuals).

ID 442289.01 27
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4.2 POSITool
The POSITool software represents the many-sided interface between user and in-
verter. If offers a wide variety of ways to configure an inverter.
POSITool offers a user interface for the representation of the programming. In the
option "free, graphic programming," blocks are linked here to implement a control
sequence.
In addition to this STÖBER ANTRIEBSTECHNIK provides pre-defined applica-
tions for programming. This includes applications such as fast reference value
and command positioning which can be selected via an assistant.
For parameterization, POSITool offers the user parameter lists. The lists are used
to adjust the control sequence to external conditions such as motor type, shaft en-
coder or bus systems. In addition, limit values such as maximum speed are spec-
ified or indicator values such as the current speed are presented.
Using a serial interface (RS 232), program and parameters are transferred to the
inverter. The inverter then begins with processing. The user can monitor the pa-
rameters via the serial connection. A scope function is available for expanded di-
agnostics to record the time progression of various values.
For more details on the use of POSITool, see the applicable chapter in the Bedi-
enhandbuch POSITool and programming manual respectively (ID 442233 and ID
441693).

4.3 Operator panel

The operator panel is used for monitoring and changing parameter values. The
operator panel consists of a two-line display with 16 characters each and a key-

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board. The keyboard has six keys for menu prompting and two keys for local op-
eration.

Jumps back to operator level.

ESC
Resets parameter value.
# Enter key: Opens the menu level, menu groups and the param-
eters. Accepts a changed parameter value.
Selects a parameter in the menu group. During entry, increases/
decreases the parameter value (positive/negative).
Selects the menu group. During entry, changes the decade
(ones, tens, hundreds, etc.).
Activates/deactivates local mode (if programmed). In local
mode, deactivation also deletes the enable.
Enable for local mode I/O
I/O (if programmed).
Tab. 4-3: Operator panel

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The parameter menu of the inverter is divided into menu groups. The menu
groups are arranged in alphabetical order, beginning with the group A.. Inverter,
B.. Motor, C.. Machine, and so on. Each menu group contains a list of parameters
which are identified by the letter of the group and a consecutive number such as
A00, A01, A02, etc. To change a parameter, proceed as shown below. Use the
Enter key # to go from the operation indicators to the menu level.
Betriebs- 3000 rpm 1.3A
anzeige 4: Enabled

A.. B.. C..

Inverter Motor Machine

Parameter
groups

....

Parameter Value
B20 Control mode
0: V/f control
entry flashing

Parameter B26 Motor encoder B26 Motor encoder

selection 3: X140 3: X140

Accept change
Reject change

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Fig. 4-4: Menu structure

The menu groups are selected with the arrow keys and activated with # .
Use the keys to select the desired parameter within the menu group. You
can switch back and forth between the elements in an array parameter with the
keys. A parameter is then activated for change with # . The value flashes
to indicate that it can be changed with . The keys can be used to
select which decade (ones, tens, hundreds, and so on) is to be adjusted. The val-
ue is then accepted with the # key or reset with the ESC key. Use the ESC key to
access a higher menu level. To save safe from power failure, all changes must be
stored with the A00 save values = 1:active!

ID 442289.01 29
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Operation manual

5 Parameterizing motor data

Specifications and control mode must be given so that the motors can be con-
trolled correctly. There are several ways to enter the motor data:
• Selection of a STÖBER standard motor in the configuration assistant.
• Use of an electronic nameplate for ED and EK servo motors with EnDat® en-
coder.
• Direct entry in the parameter lists for motors from other manufacturers or spe-
cial motors.

Information
Refer to the inverter's configuration manual for information on connec-
tion.
Information
The number of parameters displayed on the inverter and in the POSI-
Tool depends on the access level set in the parameters. The access
level in the drive controller can be set in the parameter A10 and in the
POSITool in Extra/Change access level.

5.1 Selection in the configuration assistant

Information
In control type 0:V/f-control, no current or torque limitation occurs. Also
connection to a rotating motor is not possible (capture).
Proceed as shown below to select a STÖBER standard motor in the configuration
assistant:

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Selecting the motor in the configuration assistant

1 Open the configuration assistant in POSITool.

2 Proceed up to step 5 motor selection.
3 Select your required motor from the list of motors (e.g. asynchronous motor
112 M Y 4 kW).
4 Close the assistant.
5 In POSITool select the parameter list and in parameter B20 enter the neces-
sary control mode (e.g. 1:Sensorless vector control).
6 Go online and transfer the settings to the inverter.
7 Save the settings with A00 Save values.
Ö The motor data and the control mode are correctly entered.

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Fig. 5-1: Motor selection in Step 5 of the configuration assistant

5.2 Electronic type plate

ED / EK STÖBER motors are available with EnDat® encoders. These encoders
offer a special parameter memory. STÖBER always places all motor data includ-
ing the data of any existing halting brake in this memory to provide an electronic
nameplate. These data are automatically read into the drive controller each time
the device is started.

Information
After a change of the parameters B06 and B04, correct evaluation of

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the electronic nameplate is only ensured after a device new start.
Information
Electronic nameplates of other motor manufacturers cannot be evalu-
ated.

Read all motor data from the electronic nameplate

1 Check to determine whether you have an encoder with an electronic name-

plate.
2 In POSITool select the parameter list.
3 Enter the control mode 64:Servo-control in B20.
4 Parameterize the encoder interface X4 in B26 and activate the interface in
H00 with 64:EnDat.
5 Set the parameter B06 to 0:El. motor-type.
6 In the parameter B04, select the setting 1:All data
7 Go online and transfer the settings to the inverter.
8 Save the settings with A00 Save values.
Ö The motor data and the type of control are entered in the parameters.

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Manual changes to the motor data are only valid until the next time the device is
started even when the changes were stored non-volatilely in Paramodule.
In addition, the commutation offset from the electronic nameplate can be used ex-
clusively. For this purpose chose in parameter B04 the setting 0:Commutation-off-
set.

5.3 Direct entry in the parameters

The specifications of motors which do not have an electronic nameplate and can-
not be selected in the configuration assistant must be entered in the parameter
list (e.g. motors of other manufacturers and special motors). Depending on the
motor type and the type of control, different parameters must sometimes be used.

Information
In control type 0:V/f-control, no current or torque limitation occurs. Also
connection to a rotating motor is not possible (capture).

Direct entry of the motor data

1 Open the configuration assistant in POSITool.

2 Go to step 5 motor selection:
3 Select a motor similar to your motor from the list of motors.
4 Close the assistant.
5 In POSITool select the parameter list.
6 In B20 control mode, select the necessary control mode.
7 In B06 motor-data, enter 1:User defined
8 Then edit the following parameters:

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- B02 Back EMF (only for servo motors)
- B05 Commutation-offset (only for servo motors)
- B10 Motor-poles
- B11 Nominal motor power
- B12 Nominal motor current
- B13 Nominal motor speed
- B14 Nominal motor voltage (only for asynchronous motors)
- B15 Nominal motor frequency (only for asynchronous motors)
- B16 cos(phi) (only for asynchronous motors)
- B17 T0 (only for servo motors)
- B52 Stator inductance
- B53 Stator winding resistance
- B54 Leakage factor (only for asynchronous motors)
- B55 Magnetic saturation coefficient (only for asynchronous motors)
- B62 Motor inertia
- B73 stat. friction torque and
- B74 dyn. friction torque for an optimized i2t model

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9 You can also enter the type designation in parameter B00 Motor type (max.
of 16 characters).
10 Go online and transfer the settings to the inverter
11 Save the settings with A00 Save values
Ö The motor data and the type of control are entered in the parameters.

The following actions will make it easier for you to enter parameters
• You can calibrate the parameter B05 Commutation-offset with the aid of the
action B40 Phase test.
• The parameters B52 to B55 can be determined using action B41 Autotune
motor.
• The current controller can be adapted using the action B42 Optimize current
controller.
The actions are described in chapter 12.5.

5.4 Further motor datas

Information
Since parameters in the parameter lists and assistant are indicated or
hidden based on how B20 is set, all parameters are not always visible
for each setting.

5.4.1 Current controller

Parameters B64 to B68 pertain to the setting of the current controller. If an initial

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test with the default settings of the parameters does not provide the desired re-
sults, we recommend using the current controller optimization. It is performed with
the action B42 Optimize current controller. Afterwards, save the measured values
with A00 Save values.

5.4.2 Thermal model

The parameters B70, B71 and B72 describe a motor model for the protection of
the motor. The default values are usually sufficient.

5.4.3 Absolute Limit values

The parameters B82 I-max and B83 n-max motor are limit values which may nev-
er be exceeded.

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5.5 Parameterize the SLVC-HP control mode

With firmware V 5.6-D, the third encoderless SVLC-HP control mode is intro-
duced for AC motors. Activate this control mode with B20 = 3:SLVC-HP.
Areas of application for the SLVC-HP are drives with
• high accelerations,
• changing loads and
• large loads when the motor starts up.

The parameters B46, B47 and B48 are optimized during commissioning of the
SLVC-HP control mode. You can perform this automatically with the action Opti-
mize B45 SLVC-HP (s. section Optimize B45 SLVC-HP).
If action B45 can not be performed, note the following description for a manual
setting.
The quality of control of the SLVC-HP control mode also depends on how exact
the values B52 stator inductance, B53 stator resistance and B54 leakage factor
are. For external motors, you can use the action B41 to optimize these parame-
ters (s. section B41 Autotuning).

Set B48 I-Gain of speed approximation ASM observer

This parameter affects the dynamic properties of the motor. The larger B48 is, the
faster the motor model can follow the actual speed.
The correct setting can be checked by means of the speed curve. If an encoder
is present during commissioning, E15 n-motor encoder should be considered,
otherwise E91.
If the motor can not follow the set speed ramp despite sufficiently large torque lim-
its, B48 must be increased. Values that are too large lead to the fault 56:Over-

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speed.

E07 n-post-ramp
E91 n-motor or E15 n-motor-encoder (B48 too small)
E91 n-motor or E15 n-motor-encoder (B48 too large)

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Set B47 P-Gain of speed approximation ASM observer

This parameter affects the dynamic properties of the motor (especially the stability
and overshoot behavior of the speed).
The correct setting can be checked by means of the speed curve. If an encoder
is present during commissioning, E15 should be considered as the actual speed,
otherwise E91. B47 should not be smaller than 1 % of B48. The drive can become
unstable for values that are too small. The resulting vibration oscillates at the me-
chanical frequency. By increasing B47, overshoots in the speed can be damp-
ened. Values that are too large lead to vibrations in the current and speed.

E07 n-post-ramp
E91 n-motor or E15 n-motor-encoder (B48 too small)
E91 n-motor or E15 n-motor-encoder (B47 too large)

mech. frequency

Set B46 Feedback ASM Observer

This parameter affects the accuracy of the SLVC-HP. For values that are too large

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or too high, the stationary difference between the reference and actual speed in-
creases. The amount of feedback is an option to be reported to the ASM observer
how exact the machine constants B54 leakage factor, B52 stator inductance and
B53 stator resistance were determined The smaller the feedback selected, the
more the ASM observer depends on these constants.

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5.6 Parameterize motor temperature sensor evaluation

Information
Please note that the temperature sensor evaluation in the inverter is al-
ways active. If operation without temperature sensor is permissible, the
connections on X2 will have to be bridged. A fault is triggered if the con-
nection is not bridged when the inverter is switched on.

Information
Note that the evaluation of a KTY84-130 on the SDS 5000 is possible
with a hardware version of 200 or higher. Before using a KTY, note that
motor protection is not ensured to the same extent as when monitoring
with PTC drilling.

You can connect a maximum of two PTC triplets or one KTY. If the nominal trig-
gering temperature has been reached, the PTCs increase their ohmic resistance
by a considerable factor. The KTY 84 has a linear characteristic curve, which al-
lows analogue measurement of the motor temperature. The measurement is re-
stricted to one motor coil, which is why the motor protection is restricted in
comparison with a PTC triplet.
In the B38 Motor temperature sensor parameter, set whether you will evaluate B38 = 0:PTC,
PTC drilling or a KTY 84-1xx. B38 = 1:KTY 84-1xx

In B39 Maximum motor temperature, set the maximum permitted temperature of

the motor. If this is reached, the 41:TempMotorTMP malfunction is triggered.
The motor temperature measured by the KTY is displayed in E12 Motor temper-
ature.

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Parameterizing encoder data
Operation manual

6 Parameterizing encoder data

The following paragraphs explain the settings for commissioning encoder sys-
tems with POSITool. We assume that an encoder system and the appropriate in-
terface have already been chosen for your drive. The settings for the simulation
of encoder signals is not described in this chapter.
Various encoder interfaces are provided on the MDS 5000 or SDS 5000. The in-
terfaces must be selected in the parameter B26 Motor encoder. Interface X4
which is the interface integrated in the basic system is entered as the default set-
ting. The motor encoder can also be deactivated or set to another interface.

Information
Refer to the inverter's configuration manual for information on connec-
tion.
Information
Not all encoder systems are suitable for servo control. In the selections
of the H.. parameters H00, H40, H120 and H140, the functions with ser-
vo capability are the ones with numbers greater than or equal to 64. Ex-
ample: H00 = 64:EnDat.

6.1 Deactivating the motor encoders

Select B26=0:inactive when an asynchronous motor without speed feedback is to
be used (B20=0:V/f-control or 1:Sensorless vector control). This setting is not per-
mitted when servo motors or vector control are used.

6.2 Interface X4

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You can evaluate the following encoders on X4:
• EnDat® encoder
• HTL encoder
• TTL encoder
• SSI encoder

Parameterize interface X4

1 From the parameter list, select the parameter B26.

2 In B26, set 2:X4-encoder.
3 Open group H.. in the parameter list.
4 In H00, set the encoder system which you want to run on X4.
5 Set H01, H02, H05, H10 und H11 in accordance with the connected encoder.
Note that depending on the encoder system set in H00, not every parameter
will be displayed.
6 Transfer the settings to the inverter and save them.
7 Switch the inverter off and back on again.
Ö You have parameterized the X4 interface.

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If it is determined during device startup that an SSI encoder is parameterized on

an interface, the device waits in device status self test until an SSI encoder is de-
tected on the interface. While waiting for the SSI encoder, one of the following in-
dications which varies depending on the SSI interface appears on the display:

Indication on display Meaning

This indication appears when an SSI encoder is ex-
pected on X120 and the inverter is the SSI master
waiting for
X120-SSI-encoder (setting H120 = 67:SSI-Master). The SSI master
sends the encoder the request to transmit the posi-
tions.
The indication specifies that an SSI encoder is ex-
pected on X120 and the inverter is an SSI slave
waiting for
X120-SSI-slave (setting H120 = 68:SSI-Slave). An SSI slave re-
ceives the same signal as the master but does not
send requests to the encoder.
This indication appears when an SSI encoder is ex-
waiting for
X4-SSI-encoder pected on X4 and the inverter is the SSI master
(setting H00 = 65:SSI-Master).

When no encoder is detected within a waiting time of several seconds, the invert-
er changes to the next device state. If the encoder is needed for position control,
fault 37 is triggered with the cause 17:X120-wirebreak.

6.3 Interface X101 (BE encoder)

You can connect the following encoders to X101:

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• HTL encoder
• TTL encoder (only with REA 5001)
• Stepper motor signals

NOTICE
When a BE encoder is used, the binary inputs BE3, BE4 and BE5 should not
be used for any other function in the application.

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You will require one of the following options before you can use the BE encoder:
• SEA 5001
• REA 5001
• XEA 5001

BE encoder

1 Open the configuration assistant and select step 6.

2 In option 2, enter one of the above-named options and make sure that this is
actually installed on the inverter and correctly connected.
3 If you connect a TTL encoder to REA 5001, make sure that the sliding switch-
es are set correctly (s. project manual, chap. 5).
4 Exit the configuration assistant.
5 In B26, enter 1:BE-encoder.
6 In H40, set the encoder system which you want to run on X101.
7 Set H41 and H42 in accordance with the connected encoder.
8 Transfer the settings to the inverter and save them.
9 Switch the inverter off and back on again.
10 You have parameterized the BE encoder.

6.4 Interface X120

You can connect the following encoders to X120:
• SSI encoder
• TTL encoder
You will need one of the following options when you use interface X120:

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• REA 5001
• XEA 5001
Remember that X120 is designed as a double interface on the XEA 5001.

Parameterize interface X120

1 Open the configuration assistant and select step 6.

2 In option 2, enter one of the above-named options and make sure that this is
actually installed on the inverter and correctly connected.
3 Exit the configuration assistant.
4 In B26, enter 4:X120-encoder.
5 In H120, set the encoder system which you want to run on X120.
6 Set H121, H122, H125 and H126 in accordance with the connected encoder.
7 Transfer the settings to the inverter and save them.
8 Switch the inverter off and back on again.
Ö You have connected interface X120.

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If it is determined during device startup that an SSI encoder is parameterized on

an interface, the device waits in device status self test until an SSI encoder is de-
tected on the interface. While waiting for the SSI encoder, one of the following in-
dications which varies depending on the SSI interface appears on the display:

Indication on display Meaning

This indication appears when an SSI encoder is ex-
pected on X120 and the inverter is the SSI master
waiting for
X120-SSI-encoder (setting H120 = 67:SSI-Master). The SSI master
sends the encoder the request to transmit the posi-
tions.
The indication specifies that an SSI encoder is ex-
pected on X120 and the inverter is an SSI slave
waiting for
X120-SSI-slave (setting H120 = 68:SSI-Slave). An SSI slave re-
ceives the same signal as the master but does not
send requests to the encoder.
This indication appears when an SSI encoder is ex-
waiting for
X4-SSI-encoder pected on X4 and the inverter is the SSI master
(setting H00 = 65:SSI-Master).

When no encoder is detected within a waiting time of several seconds, the invert-
er changes to the next device state. If the encoder is needed for position control,
fault 37 is triggered with the cause 17:X120-wirebreak.

6.5 Interface X140

You can connect the following encoders to X140:

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• Resolver
• EnDat® encoder (EnDat® 2.1 with sin/cos tracks)
You will need the this option when you use the X140 interface:
• REA 5001

Parameterize interface X140

1 Open the configuration assistant and select step 6.

2 In option 2, enter the selection REA 5001 and make sure that the option is
actually installed on the inverter and correctly connected.
3 Exit the configuration assistant.
4 In B26, enter 3:X140-encoder.
5 In H140 set the encoder system which you want to run on X140.
6 Set H142 and H148 in accordance with the connected encoder.
7 Transfer the settings to the inverter and save them.
8 Switch the inverter off and back on again.
Ö You have parameterized interface X140.

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Parameterizing brake data
Operation manual

7 Parameterizing brake data

Motors with holding brakes can be connected to the devices oft the 5th generation
of STÖBER inverters. There are two ways to activate the brake. A brake control
is integrated in the following applications:
• Fast reference value with brake activation
• Comfort reference value
• Technology controller
• Command positioning (endless and limited position range)
• Synchronous command positioning (endless and limited position range)
• Motion block positioning (endless and limited position range)
• Electronic cam (endless and limited position range)
You can activate the brake control in parameter F08. Further adjustments are
made depending on the selected control mode.

In addition, a signal source can be parameterized in F100. The signal for releas-
ing the brake can be given direct via the source. F100 is a global parameter and
is available in every application.
If F08 is set to 0:inactive, the brake is activated together with system enable A900.
In this case, the brake release times and brake application times are ignored.
In the F08 = 1:active setting, the current motor torque is saved when the brake is
applied. This torque is applied again when the brake is released. If F08 is set to
2:Do not save torque, only the motor magnetization is established when the brake
is released.

As the brake controller parameterization depends on the selected control mode,

the following sections are subdivided accordingly.

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7.1 B20 = 0:V/f-control
Proceed as follows for parameterization:

Parameterize the brake control for B20 = 0:V/F controller

1 Activate the brake control in parameter F08.

2 Specify which brakes are connected to the brake module in F09.
3 Enter the speed when the brake should be set in F02.
4 Enter the speed when the brake should be released in F01.
5 Enter the time that the brake requires to be set in F07. If you use two brakes
at the brake module, enter the one with the longer set time.
6 Enter the time that the brake requires to be released in F06. If you use two
brakes at the brake module, enter the one with the longer release time.
7 Transfer the parameters to the inverter and save them in it.
8 Switch the inverter off and back on again.
Ö You have now parameterized the brake control.

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You can make these settings with the General settings assistant on the Holding
brake page:

Fig. 7-1: General settings assistant, Holding brake page

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7.2 B20 = 1:Sensorless vector control
Proceed as follows for parameterization:

Parameterize the brake control for B20 = 1:sensorless vector control

1 Activate the brake control in parameter F08.

2 Specify which brakes are connected to the brake module in F09.
3 Enter the speed when the brake should be set in F02.
4 Enter the speed when the brake should be released in F01.
5 Enter the time for which the motor should remain magnetized after triggering
the braking procedure in B27.
6 In B25, enter the percentage of halt flux that should remain after the time in
B27.
7 Enter the time that the brake requires to be set in F07. If you use two brakes
at the brake module, enter the one with the longer set time.

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8 Enter the time that the brake requires to be released in F06. If you use two
brakes at the brake module, enter the one with the longer release time.
9 Transfer the parameters to the inverter and save them in it.
10 Switch the inverter off and back on again.
Ö You have now parameterized the brake control.

You can make these settings with the General settings assistant on the Holding
brake page:

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Fig. 7-2: General settings assistant, Holding brake page

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7.3 B20 = 3:SLVC-HP

Proceed as follows for parameterization:

Parameterize the brake control for B20 = 3:SLVC-HP

1 Activate the brake control in parameter F08.

2 Specify which brakes are connected to the brake module in F09.
3 Enter the speed when the brake should be set in F02.
4 Enter the speed when the brake should be released in F01.
5 Enter the time for which the motor should remain magnetized after triggering
the braking procedure in B27.
6 In B25, enter the percentage of halt flux that should remain after the time in
B27.
7 Enter the time that the brake requires to be set in F07. If you use two brakes
at the brake module, enter the one with the longer set time.
8 Enter the time that the brake requires to be released in F06. If you use two
brakes at the brake module, enter the one with the longer release time.
9 Transfer the parameters to the inverter and save them in it.
10 Switch the inverter off and back on again.
Ö You have now parameterized the brake control.

7.4 B20 = 2:Vector control

Proceed as follows for parameterization:

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Parameterize the brake control for B20 = 2:vector control

1 Activate the brake control in parameter F08.

2 Specify which brakes are connected to the brake module in F09.
3 Enter the time for which the motor should remain magnetized after triggering
the braking procedure in B27.
4 In B25, enter the percentage of halt flux that should remain after the time in
B27.
5 Enter the time that the brake requires to be set in F07. If you use two brakes
at the brake module, enter the one with the longer set time.
6 Enter the time that the brake requires to be released in F06. If you use two
brakes at the brake module, enter the one with the longer release time.
7 Transfer the parameters to the inverter and save them in it.
8 Switch the inverter off and back on again.
Ö You have now parameterized the brake control.

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You can make these settings with the General settings assistant on the Holding
brake page:

Fig. 7-3: General settings assistant, Holding brake page

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7.5 B20 = 64:Servo-control

If you operate a servo motor at the inverter, there are two options for how to set
the brake control:
• Parameterize the brake control with an active (s. 5.2 Electronic type plate) The motor holding brake is the
electronic name plate brake mounted directly on the
motor shaft. Only your data is
• if a STÖBER servo motor with electronic name plate and a brake is oper- saved in the electronic name
ated at the inverter or plate.

• if a STÖBER servo motor with electronic name plate and two brakes is op-
erated whereby the motor holding brake has the longer release and set
time.
• Parameterize the brake control manually
• if you do not use the electronic name plate or
• if a servo motor without electronic name plate is operated at the inverter or
• if a STÖBER servo motor with electronic name plate and two brakes is op-
erated whereby the motor holding brake has the shorter release and set
time.

Parameterize the brake control for an active electronic name plate

Parameterize the brake control for B20 = 64: servo control and an active
electronic name plate

1 Activate the brake control in parameter F08.

2 Specify which brakes are connected to the brake module in F09.
3 Make sure that B07 = 0:el. motor-type is set.

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4 Transfer the parameters to the inverter and save them in it.
5 Switch the inverter off and back on again.
Ö You have now parameterized the brake control.

The values for F06 and F07 are then automatically read from the name plate each
time the inverter starts up. Manual changes to F06 and F07 only apply until the
next power on.

Parameterize the brake control manually

Manual parameterization is necessary in the following cases:
• You do not use the electronic name plate.
• A servo motor without electronic name plate is operated at the inverter.
• A STÖBER servo motor with electronic name plate and two brakes is operat-
ed at the inverter whereby the motor holding brake has the shorter release
and set time.

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Then proceed as follows:

Parameterize the brake control for B20 = 64: Manually parameterize the ser-
vo control

1 Activate the brake control in parameter F08.

2 Specify which brakes are connected to the brake module in F09.
3 If the electronic name plate is active, set B07 = 1: free setting.
4 Enter the time that the brake requires to be set in F07. If you use two brakes
at the brake module, enter the one with the longer set time.
5 Enter the time that the brake requires to be released in F06. If you use two
brakes at the brake module, enter the one with the longer release time.
6 Transfer the parameters to the inverter and save them in it.
7 Switch the inverter off and back on again.
Ö You have now parameterized the brake control.

You can make these settings with the General settings assistant on the Holding
brake page:

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Fig. 7-4: General settings assistant, Holding brake page

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7.6 Brake management

Brake management is used to monitor the regular performance of braking tests to
check the functionality of the brake(s). One or two brakes can be monitored.

The SDS 5000 offers axis management with the following options:
• Single-axis operation: An axis configured in POSITool is used on a connected
motor.
• Multi-axis operation: 2, 3 or 4 axes configured in POSITool are used on a con-
nected motor.
• POSISwitch® multi-axis operation: Up to 4 motors connected to POSISwitch®
are operated sequential with up to 4 axes.

The procedure for single-axis operation will be discussed first. The special fea-
tures of multi-axis operation and POSISwitch® multi-axis operation will then be
described.

Brake management can only be used under the following conditions:

• The brakes are operated using the accessory BRS 5000.
• Self-applying brakes are used (i.e., they brake in the de-energized state)..
• The braking torque MBrake must be at least 1.3 times the maximum load
torque.
• The drive is equipped with an encoder.
Note this information during configuration and during commissioning of the ma-
chine.

7.6.1 Single-axis operation

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Prerequisite for the activation of brake management:
• You have parameterized brake activation.

Activate brake management as shown below:

Activating brake management

1 Set parameter B310 brake management to 1:global.

2 In parameter B311, set the time after which the inverter is to output a mes-
sage indicating that a brake test is necessary. The maximum operating time
that can be set is 1 year = 52 weeks or 8760 hours.
3 Transfer the parameters to the inverter and save them there.
4 Turn the inverter off and on again.
Ö After startup, brake management is activated.

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Brake management works with the following state machine:

No
brake test
necessary

Time in B311 Brake test

expired successful
successful
Brake test

Normal inverter operation possible,

Brake test
message 72 on the display
required
E29=1:brake test necessary

Twice the time in B311

expired or brake fest failed

Inverter operation is inhibited.

Brake test Fault 72 on the display. Only
is brake test and brake grinding
mandatory function are possible.
E29=1:brake test necessary

Fig. 7-5: Brake management state machine

The time B311 of brake management begins running at the time of activation. Af-
ter the time has expired, a transition is made to the brake test required state. This
state is indicated on the inverter display with message 72:brake test. After you
perform a successful brake test in this state, brake management returns to the no
brake test required state. And the B311 cycle begins again.

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If the time B311 expires again in the brake test required state without a brake test
having been performed at all or the brake test was not successful, a transition is
made to the brake test mandatory state takes place. This state is indicated on the
inverter display with fault 72:brake test. In addition the status is displayed in pa-
rameter E29 Warning: perform brake test (1:brake test necessary). To avoid inter-
rupting a production process, the malfunction is only generated if there is no
enable. The fault must be acknowledged before the brake test and the brake
grinding function can be performed. If the brake test has not been performed suc-
cessfully 5 minutes after the acknowledgment, the fault appears again on the in-
verter display. A successful brake test in this state automatically takes you back
to the no brake test required state and the B311 cycle begins again.
If a brake test is not successful in the brake test mandatory state, you have the
option of grinding the brakes and trying to perform a brake test again. If this brake
test also fails, the brake or the motor must be replaced. Brake management re-
mains in the brake test mandatory state until a successful brake test is performed
after replacement of brake or motor. Time since the last brake test is indicated in
parameter E177 Time passed since last brake test. The brake test can be started
directly on the inverter, in POSITool or from the higher level controller.

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7.6.2 Multi-axis operation

In multi-axis operation, several axes (switching parameter records) are used on

one motor connected to the inverter. In such cases, you activate brake manage-
ment with the same settings as for single-axis operation. Please note that the set-
tings are made in the parameters of axis 1.

7.6.3 POSISwitch® multi-axis operation

When a POSISwitch® is used, up to 8 brakes on 4 motors can be monitored. In

such cases, set parameter B310 = 2:axis-specific. Parameters F08, F09 and F311
are set separately for each axis.
A separate state machine exists for each axis that is monitored. All state ma-
chines run parallel to each other, regardless of the activation of the axes. If twice
the time B311 expires on one of the state machines without a brake test having
been performed, the state machine changes to the state brake test mandatory.
The state is indicated on the inverter display with events 72 to 75:

• Event 72: The brake test is mandatory for axis 1.

• Event 73: The brake test is mandatory for axis 2.
• Event 74: The brake test is mandatory for axis 3.
• Event 75: The brake test is mandatory for axis 4.

Please note that these events cause the inverter to change to the device state
fault which inhibits all axes.

7.7 Brake test

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For the brake test, an encoder test is first performed with the brake released. The brake test checks whether
Brake 1 then engages and a test torque that can be parameterized is applied to the brakes can still apply the
required holding torque.
the drive in each permitted direction of rotation. If the drive detects movement, the
brake could not apply the required countertorque and the test has failed. The test
torques that can be parameterized are entered in the B304.x (positive torque) and
B305.x (negative torque) parameters. This is repeated for brake 2 if available. Fi-
nally the encoder is tested again.

WARNING!
Danger of personal injury or property damage due to defective motor halt-
ing brake. Starting the brake test action releases the motor brakes one after
the other. During the encoder test and/or in the case of a faulty brake, the
drive axis may move.
X Please take special precautionary measures - above all for gravity-stressed
axes.

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WARNING!
During the action, the motor rotates at approx. 60 Rpm.
Danger due to movement of the drive.
Ensure the following
X Before the function starts, make sure the drive is in a position in which it is per-
missible for it to move at this speed.
X Restrict the direction of rotation in B306 if the drive is not permitted to rotate
in a particular direction.

Information
A motor encoder is required for the brake test. Only the configured (slip-
free) motor encoder is evaluated.
Information
Please note that the brake test function is defined for the STÖBER sys-
tem (gear motor with brake and, if applicable, ServoStop). It is essential
to clarify the technical demands on a system of another manufacturer
before you use it.
Information
Please note that the motor torque is restricted to the values in C03 and
C05. If greater values are entered in B304.x and B305.x, they will not
be achieved. Check E62 and E66 to see whether other torque limits are
still active.
Information

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Please note, that with thrust axes, the torque to be provided by the mo-
tor for the direction of rotation in which loads are lowered, is calculated
this way:
MParameter = MBrake - MLoad
MParameter: torque to be entered in B304.x or B305.x
MBrake: stopping torque to be provided by the brake
MLoad: load.
Information
During the brake test action, the cycle time is set internally to 32 ms.
The change occurs when the action is activated. After the action is con-
cluded, the previous cycle time is used again.
Information
If you would like to perform the action and brake management consid-
ers a brake test mandatory (fault 72), the fault must be acknowledged
before the action starts. Once you have acknowledged the malfunction,
you can continue with the perform brake test instruction.

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7.7.1 Single-axis operation

Prerequisites for the performance of a brake test:

• You have parameterized a brake activation with the parameter F08 and F09.
• In B304.0 you have entered the torque for brake 1 which the brake must main-
tain in the positive direction of rotation.
• In B305.0 you have entered the torque for brake 1 which the brake must main-
tain in the negative direction of rotation.
• In B304.1 you have entered the torque for brake 2 which the brake must main-
tain in the positive direction of rotation.
• In B305.1 you have entered the torque for brake 2 which the brake must main-
tain in the negative direction of rotation.
• If the drive is only permitted to rotate in one direction, you have restricted the
direction of rotation in parameter B306 in preparation for the test.
• In B307 you have entered the angle of rotation which the drive will evaluate
as standstill.

To perform the brake test, proceed as shown below:

Performing a brake test

1 Change to the device state Ready for switch on.

2 Set parameter B300.0brake test & start to 1:active.
3 Turn on the enable signal.
Ö The inverter starts the brake test and the motor begins rotating
4 Wait until parameter B300.1 indicates the result 100 % and parameter
B300.2 the result 0:error free.

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5 Turn off the enable signal.
Ö You have performed the brake test successfully.

If you did not get the correct results, check the following:
1. B300.2 = 1:aborted: The brake test action was terminated. Reasons for the
termination may include, for example:
– The enable was switched off during the test.
– The enable signal has not been switched on within 30 seconds.
Perform the brake test again.
2. B300.2 = 2:maximal torque not achieved for brake 1:
Brake 1 was unable to maintain the required torque during the test. Perform
the brake grinding function for brake 1 or replace brake 1. Then perform the
brake test again.
3. B300.2 = 3:maximal torque not achieved for brake 2:
Brake 2 was unable to maintain the required torque during the test. Perform
the brake grinding function for brake 2 or replace brake 2. Then perform the
brake test again.

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4. B300.2 = 4:Error. Reasons for the message may include:

– No brake is parameterized. Set F08 to 1:active and F09 to the brakes be-
ing used.
– No encoder is parameterized. Determine whether an encoder exists and
whether the connected motor can be operated in control mode servo-con-
trol or vector control. Set B20 accordingly.
– Brake test has not been activated in the device state "Ready for switch on"
(e.g. in the state "Switch on inhibit").
5. B300.2 = 5: Encoder defective. Reasons for the message may include:
– The brake(s) did not release. Test the brakes.
– The encoder is defective. Call the STÖBER hotline at +49 (0) 180 5
786323.
6. B300.2 = E62/E66 Torque limit. Reasons for the message may include:
– C03/C05 are set to low.
– Other application-relevant torque limits are in effect.
– The device is overloaded.
The inverter maintains an internal brake test memory with the last 20 results from
B300.2 and the actually achieved stopping torques for brakes 1 and 2 in positive
and negative directions. With the result 0:error free, these correspond to the val-
ues parameterized in B304.x and B305.x. If the values in the brake test memory
are less than these, the brake test was not successful.
The maximum positioning path during the brake test is approx. 45° in both direc-
tions. When the direction of rotation is restricted, the positioning path is approx.
2 x 45° in the permitted direction. In both cases there is also a stopping distance
to consider which depends on the torque limit and the inertia. When a mechanism
is coupled, you will also have to include the ratio of the gear unit in your calcula-

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tions. If both directions of rotation are permitted in B306, rotation in the positive
direction is done first. Please note that this calculation only applies when the
brake is intact. If the brake being tested is unable to provide the required stopping
torque, the positioning path cannot be calculated. In such cases, the inverter
shuts off within < 10 ms and applies the second brake (if one exists). The standstill
of the drive is significantly affected by the brake application time and the function-
ality of the second brake. If a second brake does not exist, the motor coasts down.

7.7.2 Multi-axis operation

Please note that axis 1 must be selected for the action when you use multi-axis
operation.

7.7.3 POSISwitch® multi-axis operation

Please note that the respective axis must be selected for the action when you use
POSISwitch® multi-axis operation

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7.8 Brake grinding function

The control unit can activate the brake grinding function separately for each of the
two brakes. Use action B301 for brake 1 and B302 for brake 2. We will now de-
scribe action B301 for brake 1. The description also applies to brake 2.
During the brake grinding function, the brake is repeatedly applied for approx. 0.7
s and then released for approx. 0.7 s while the motor is rotating with approx. 20
rpm. This grinds off any deposits from the friction surface which may affect the
halting function. You can parameterize the following settings:
• How often the brake is applied (B308) during rotation.
• How often the drive is to rotate in each direction (B309).
• Whether one direction of rotation is inhibited (B306).

WARNING!
Danger of personal injury or property damage due to defective motor halt-
ing brake. Starting the brake test action releases the motor brakes one after
the other. During the encoder test and/or in the case of a faulty brake, the
drive axis may move.
X Please take special precautionary measures - above all for gravity-stressed
axes.

WARNING!
Danger due to movement of the drive. During the action, the motor rotates
at approx. 20 Rpm and with the torque entered in C03 or C05.
Ensure the following.

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X Before the function starts, make sure the drive is in a position in which it is per-
missible for it to move at this speed and torque.
X Restrict the direction of rotation in B306 if the drive is not permitted to rotate
in a particular direction.
X Check E62 and E66 to see whether other torque limits are also in effect.

Information
Please note that the brake grinding function is defined for the STÖBER
system (gear motor with brake and, if applicable ServoStop). For exam-
ple, you cannot use the brake grinding function with brakes that are at-
tached to the output power of the gear unit. It is essential to clarify the
technical demands on a system from another manufacturer before you
use this function.

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Information
During the brake grinding action, the cycle time is set internally to 32
ms. The change occurs when the action is activated. After the action is
concluded, the previous cycle time is used again.
Information
If you would like to perform the action and brake management consid-
ers a brake test mandatory (fault 72), the fault must be acknowledged
before the action starts. Once you have acknowledge the malfunction,
you can continue with the brake grinding function instruction.

7.8.1 Single-axis operation

Prerequisites for using the brake grinding function:

• You have parameterized brake activation.
• In B308 you have entered how often the brake is to be applied while rotating
in one direction.
• In B309 you have entered how often the drive is to grind in each direction.
• In B306 you have specified whether one direction of rotation is inhibited.
• The brake should be ground with its maximum holding torque. For normal mo-
tor-controller combinations this is the case with C03/C05 = ±200 %.
• Check E62 and E66 to see whether other torque limits are also in effect.

Proceed as shown below:

Performing the brake grinding function

1 Change to the device state Ready for switch on.

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2 Set parameter B301.0 grind & start brake 1 to 1:active.
3 Turn on the enable signal.
Ö The drive begins to rotate as per the specified parameters.
4 Wait until parameter B301.1 indicates the result 100 % and parameter
B301.2 the result 0:error free.
5 Turn the enable off.
Ö You have successfully performed the brake grinding function.

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If you did not get the correct results, check the following:
1. B300.2 = 1:aborted: The brake grinding action was terminated. Reasons for
the termination may include, for example:
– The enable was switched off during execution.
– The enable signal has not been switched on within 30 seconds.
Perform the brake grinding function again.
2. B301.2 = 4:error. Reasons for the message may include:
– Brake 1 is not parameterized. Set F08 to 1:active and F09 to 1:brake 1 or
3:brake 1 and 2.
– Brake grinding has not been activated in the state "Ready for switch on"
(e.g. in the state "Switch on inhibit").

The inverter maintains an internal memory containing the operating times of the
last 40 successfully executed grinding procedures. All grinding procedures are
counted in parameter E176 regardless of the result. The maximum positioning
path is B308 x 0.5 motor rotations. When mechanics are coupled, you will also
have to consider the ratio of the gear unit in your calculations. If B306 permits both
directions of rotation, the positive direction is done first.
The inverter maintains an internal memory containing the operating times of the
last 40 successfully executed grinding procedures. All grinding procedures are
counted in parameter E176 regardless of the result.
The maximum positioning path is B308 x 0.5 motor rotations. When mechanics
are coupled, you will also have to consider the ratio of the gear unit in your calcu-
lations. If B306 permits both directions of rotation, the positive direction is done
first.

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7.8.2 Multi-axis operation

Please note that axis 1 must be selected for the action when you use multi-axis
operation

7.8.3 POSISwitch® multi-axis operation

Please note that the respective axis must be selected for the action when you use
POSISwitch® multi-axis operation.

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8 Parameterizing axis management

This section describes axis management. Management of the axes takes place
in the global area. Management means the unique control of a maximum of one
axis. All axes can be deactivated. The display of the inverter shows which axis is
active or whether there is an active axis.

Information
The axis can only be switched when the enable has been switched off
and E48 device state is not 5:fault. The option startup disable ASP 5001
may not be active when an axis is switched!
The axes can be combined with motors in different ways. For instance, when only
one motor is connected directly to the inverter, several axes can be allocated with
applications and switched. In this case, the axes function like parameter sets (see
Figure 8 1).
Axis management

Axis 1
(= ”parameter set 1”)
ESC #

I/O
Axis 2
(= “parameter set 2”)
X3

Axis 3
(= “parameter set 3”) Motor 1

Axis 4
(= “parameter set 4”)

no axis active!

Fig. 8-1: Using the axes as parameter records

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An inverter can sequentially control up to four motors. The POSISwitch® AX 5000
option must be used for this. POSISwitch® AX 5000 is activated by the inverter
via encoder interface X4. Servo motors with EnDat® absolute encoders are con-
nected to POSISwitch®.
Axes can be used like parameter sets with POSISwitch® AX 5000 too. The axis-
motor combination is determined with parameter H08. Separate and defined in-
formation exists for each axis as to which encoder is being activated by the axis
on POSISwitch® AX 5000.
In our example, the motor on encoder port 3 ("Enc3") is selected for axis 1.

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Fig. 8-2: Allocating the axis to encoder port

Selection of an axis is binary-coded via the signals axis-selector bit 0 and axis-
selector bit 1. The axis disable signal can be used to disable all axes regardless
of the state of the axis selectors.
For which parameters can be used to access these signals, see the descriptions
of the applications.
You can view the status of axis management in the parameters E84 and E200,
bits 3 to 5.

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9 Parameterizing brake resistor

To remove excess braking energy from the DC link, a brake resistor can be con-
nected to the 5th generation of STÖBER inverters. You will find information on the
types available from STÖBER ANTRIEBSTECHNIK and connection in the con-
figuration manual for the inverter.
Parameters
• A21 Braking resistor R[Ω]
• A22 Braking resistor P [W]
• A23 Braking resistor thermal [s]
are available for the settings. Enter the value 0 in A22 and the activation of the
braking resistor (brake chopper) is deactivated. Note that the brake chopper con-
tinues working when most malfunctions occur. The malfunctions that cause the
brake chopper to be switched off are documented accordingly in chapter Diagno-
sis.
Inverters of size 3 have an internal braking resistor. To activate the internal brake
resistor, enter A21 = 30 Ω and A22 = 1000 W for example.

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10 Parameterizing in-/outputs
This chapter discusses the linking of control and status signals with the applica-
tion.
The system of the control signals will now be explained with the example of quick
stop.

Fig. 10-1: Selection of the signal sources for input signals

The signal can be provided on various binary inputs or via fieldbus. The user
makes the selection with a selector (A62 here). In addition, an indicator parameter
exists which shows the signal status (A302 here). The application descriptions list
selection, fieldbus and indicator parameters for each signal.

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The output signals are allocated by the specific selection of status signals. The
routine is explained with the example of ref.value reached.

Fig. 10-2: Selection of the signal sources for output signals

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To be able to poll application status signals, the signals must be allocated to an All available parameters can
output (BA, AA, parameter). There is a source parameter for each output in which be entered in the source pa-
rameters.
the signals available for the particular application can be selected / inscribed.
Source parameters F61 and F62 are used for the binary outputs BA1 and BA2
shown in the diagram. At the same time, the signal is written in a parameter (D200
bit 1 here). This parameter can be read from a fieldbus system.
The indicator parameter (D181 in the diagram) shows the signal state after han-
dling by the application. It is used to check the signal path. The application de-
scriptions specifies for each signal the possible outputs and the related selection
parameters as well as the fieldbus and indicator parameter.

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11 Integrated Bus
The Integrated Bus (IGB) offers the following functions:
• Direct connection
• IGB-Motionbus
• Remote maintenance

You can use the IGB-Motionbus function either with a direct connection or with the
remote maintenance function. However, it is not possible to establish both a direct
connection and a remote maintenance connection at the same time.
The IGB can only be set up with inverters of the SDS 5000 device family.

11.1 Components
The following figure shows the components used to carry out remote mainte-
nance. You can also use the IGB Motionbus function with this setup. The teleserv-
er that establishes the connection is described in 11.4 .

Internet Remote
maintenance

Company
network IGB network
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Fig. 11-1: Remote maintenance with the components involved

The following figure shows the setup when a direct connection to the PC is estab-
lished as well as the IGB Motionbus. A direct connection and remote maintenance
can not be set up simultaneously!

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Fig. 11-2: Direct connection to the PC and the components involved

You can also set up communication to a controller via the fieldbus in parallel to
the IGB. Observe the fieldbus documentation for this (see section 1.3 Other man-
uals).

Information
Remember that when a fieldbus and the IGB-Motion bus are used at
the same time, the fieldbus communication cannot be synchronized on
the controller.

11.1.1 Basics of IGB communication

Information
Remember that an IGB network can never be accessed by remote
maintenance and direct connection (PC) at the same time.

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The following requirements apply:
• Communication between the computer and SDS 5000 (direct connection and
remote maintenance) uses the HTTP protocol and the TCP/IP port 37915.
• A direct connection must also be possible via UDP/IP port 37915.
You may be asked to enable this port by the personal firewall. Enable this port for
your firewall. To do this, contact your network administrator.

The IGB network must fulfill the following requirements:

• A maximum of 32 SDS 5000s may be connected in one network.
• All inverters in the IGB network must be directly connected to each other. No
other components may be connected in between (e.g. Hubs or Switchs).
• The complete setup must result in a linear topology.
• The X3 A interfaces may only be connected with X3 B interfaces of other in-
verters and vice versa.
• Suitable cables must be used. STÖBER ANTRIEBSTECHNIK offers pre-fab-
ricated cables for the Integrated Bus setup. Only when these cables are used
is correct function guaranteed. See also the projecting manual SDS 5000.

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Connector wiring Patch or Crossover

Quality CAT5e (or better)
Shielding SFTP or PIMF (or better)

• The total maximum distance of the IGB network is 100 m.

• The IGB does not need an explicit master and the usual time-consuming con-
figuration required for Ethernet is not necessary.
IGB addr. 5 IGB addr. 31 IGB addr. 0

Free socket X3 A Free socket X3 B

for connection of for connection
PC or Internet of PC or Internet
Fig. 11-3: IGB network

PC or Internet are connected to one of the external, free sockets.

The IGB network is established automatically if you turn on at least one inverter.

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If you want to integrate additional inverters into the IGB network, the following re-
quirements apply:
• You have connected these inverters to the IGB network.
• The involved inverters must be supplied with 24 V.

To start the integration, the 24-V power must be turned on for one of the involved
inverters. When you turn on the 24-V power, the IGB network is established again
and up to 32 connected inverters can be integrated.

Information
Remember that sockets X3 A and X3 B are not electrically connected.
If you turn off an inverter in an IGB network or disconnect an IGB cable,
two partial networks are created to the left and right of this device or the
disconnected cable.

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11.1.2 General diagnosis

Information about the IGB is provided by every inverter via the following parame-
ters:
• A153 IGB actual node number: The parameter specifies the number of sta- Parameters A153 and A155
tions which are currently registered on the IGB. are used in every station to di-
agnose the IGB ...
• A155 IGB-state: The parameter specifies information on the following states
of the IGB:

Indication in A155 Description

0: Booting The IGB is booting.
1: Single The SDS 5000 did not find any other SDS 5000s with
which it could set up an IGB network. The functions re-
mote maintenance or direct connection may be active.
2: IGB-Running Several devices can use the remote maintenance or
direct connection (with POSITool) functions. The IGB-
Motionbus function is not used or cannot be used.
3: IGB-Motionbus Several SDS 5000s can use the IGB-Motionbus func-
tion. The remote maintenance or direct connection
(with POSITool) functions can be active at the same
time.
4: IGB Error An error was determined on the bus.

Information related to the specific device is provided by the following parameters:

• A152 IGB position: The parameter shows the current position of the SDS ... while parameters A152,
5000 on the IGB bus. You are given the following information: A154 and A156 describe the
status of the IGB station.

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Indication in A152 Description
0: Single The inverter is not connected with other devices.
1: IGB-internal Both sockets are connected with other inverters (i.e.,
additional inverters are connected on both sides of the
inverter).
2: Gateway-X3A The inverter is located on the left, outer end of the IGB
(i.e., no inverter is connected to its socket X3 A).
3: Gateway-X3B The inverter is located on the right, outer end of the
IGB (i.e., no inverter is connected to its socket X3 B).

• A154.x IGB Port X3 A/B: The array parameter specifies the status of the in-
terface separately for the X3 A and the X3 B. You are given the following in-
formation:

Indication in A154.x Description

0:_ERROR The status of the socket is unknown.
1:noConnection The socket is not connected with other devices.

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Indication in A154.x Description

2: 10 MBit/s A connection exists to a station with a transmission
rate of 10 Mbit/s.
3: 100 MBit/s A connection exists to a station with a transmission
rate of 100 Mbit/s without full-duplex capability.
4: link OK A connection exists to a station with a transmission
rate of 100 Mbit/s whose communication has full du-
plex capability.

To be able to set up communication within the IGB network A154.x = 4: connec-

tion OK must be displayed. If any other message appears, follow this procedure:
• Check whether the IGB network meets the conditions of the section 11.1.1
Basics of IGB communication.
• Check whether an integrated switch, if any, is full duplex capable and capable
of transfers at 100 Mbit/s.
• Check the wiring.

• A156 IGB number bootups: The parameter shows for each device how often
it determined a startup of the IGB since the last time its power was turned on.

11.2 Direct connection

A direct connection means the direct connection of a PC with POSITool to an SDS
5000 or an IGB network via a cable without any other network components for
commissioning, diagnostic or maintenance purposes.You can establish a direct
connection with an SDS 5000 or an IGB network.

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11.2.1 Requirements for a direct connection

The following conditions apply to the direct connection:

• The PC and the gateway inverter must be connected with a cable. The same
requirements apply to the cable as to the connection between the inverters.
• The socket of the gateway inverter and the network connection of the PC
must have IP addresses from the same subnet.

Information
You can adjust the IP addresses of the gateway inverter and the PC
network connection by changing either the IP address of the PC net-
work connection or the IP address of the gateway inverter. Since you
will usually need administrator rights to change the IP address of the
PC network connection, we recommend changing the IP address of the
gateway inverter.

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Information
Remember that the SDS 5000 has two RJ45 sockets (X3 A and X3 B).
Since one concrete socket must be addressed with a direct connection,
the related parameters are designed as array parameters. The element
0 contains the settings for socket X3 A while element 1 contains the set-
tings for socket X3 B. Make the appropriate settings described in this
chapter for the socket which connects the gateway inverter to the PC.

11.2.2 IP adress and subnet mask

An IP address is divided in the subnet mask into a network portion and a device
portion. The subnet mask is a binary sequence of numbers whose left side only
consists of the number 1 and whose right side only consists of the number 0, e.g.
1111 1111.1111 1000.0000 0000.0000 0000 = 255.248.0.0
The part of the subnet mask with the number 1 shows which part of the IP address
specifies the address of the subnet (network portion). The other part with the num-
ber 0 shows the part of the IP address which indicates the address of the device
in the subnet (device portion).
The following example illustrates the calculation of the IP address for the inverter.
The IP address 128.206.17.177 is entered with the subnet mask 255.240.0.0 for
the network interface of the PC:
Subnet mask:1111 1111.1111 0000.0000 0000.0000 0000

The left-hand 12 digits of the IP address specify the address of the subnet and
must be the same in the IP address of the inverter. The right-hand 20 digits of the
IP address specify the address of the PC in the subnet. This part must be different
from the IP address of the inverter.

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IP address: 1000 0000.1100 1110.0001 0001.1011 0001

Network portion: must be Device portion: must be differ-

identical on the inverter ent on the inverter and PC
and the PC

Thus, a possible IP address for the inverter is:

1000 0000.1100 1111.0001 0001.1011 0001 = 128.207.17.177

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11.2.3 Determining the IP address and subnet mask of the PC

You can determine the IP address and subnet mask of the PC network interface
in the system control of the PC but POSITool offers an easier way of finding this
information:

Determining the IP address and subnet mask of the PC

1 In the Project view of POSITool, open the Network and remote service assis-
tant.
Ö The following dialog screen appears:

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2 Double click an inverter in the list.
Ö The following dialog screen appears:

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3 Click one of the two Determine settingsfrom network adapter buttons.

Ö The following dialog screen appears:

4 In the top part of the dialog screen, select the network interface which is con-
nected with the direct connection to the inverter.
Ö The IP address and the subnet mask of the PC on this interface are indicated
in the IP address field.

11.2.4 Adjusting the IP address of the inverter

Proceed as shown below to adjust the IP address of the inverter to that of the PC
network connection:

Adjusting the IP address of the inverter

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1 Determine the IP address and the subnet mask of the PC network connection
(e.g., in the system control of your PC or in POSITool).
2 Determine an IP address which is located in the same subnet as that of the
PC.
3 Using the operator panel of the gateway inverter, enter this address in pa-
rameter A164.x. Use A164.0 if the direct connection uses X3 A. Use A164.1
if you connect the PC to X3 B.
4 Check whether parameter A166.x has the entry 0:manual or 1:standard. Re-
member that, also here, A166.0 applies to X3 A and A166.1 to X3 B.
5 If A166.x is not set to 0:manual or 1:standard, correct the setting.
6 Save your settings with A00 save values.
Ö You have adjusted the IP address of the inverter.

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11.2.5 Establishing a direct connection

To establish a direct connection, proceed as follows:

Establish a direct connection

1 Click the button in the toolbar of POSITool.

Ö The following dialog screen is displayed:

2 Specify the IP address of the RJ45 connector that you have connected to the
PC.
3 Click the OK button.
Ö You have established a direct connection and the IGB: Display connected de-

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vices dialog screen is displayed. The dialog screen shows all devices that are
connected via the direct connection to the PC:

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11.2.6 Reading data from the SDS 5000

You must have established a direct connection before you can read data from an
SDS 5000. After you have done this, proceed as shown below:

Reading data from the SDS 5000

1 In the IGB: display connected devices dialog screen, click the read from
IGB… button.
Ö The following dialog screen appears:

In the first column of this dialog screen, you can select the inverters which
are connected to the PC. The possible targets in your project are shown
in the second column.
2 Highlight the line of the inverter entry in POSITool to which the data are to be
written. You can select an already existing inverter entry

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(I1: Inverter1) or set up a new inverter entry (new).
3 In this line, double click the first column Source (IGB) (<Please select>).
Ö A selection list appears showing all inverters which are connected to the
PC.
4 Select the inverter whose data you want to read.
5 Repeat steps 2 to 4 for each source to be read from.
6 Click the OK button.
Ö The data are loaded as you specified and shown in POSITool.

The Read configuration / parameters from IGB dialog screen also offers the func-
tion of assigning inverters to the inverter entry based on the resources identifier
(Allocation 1:1 as per resources button). This requires the entry of an unambigu-
ous resource identifier. This button is particularly useful when changes must be
made to an already existing project. The resource identifier is entered in the con-
figuration assistant in step 1. You can also make changes in the Project view by

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clicking the related inverter with the right mouse button. In the context menu which
appears, select the item Rename inverter. In the next dialog screen that appears,
you can make the changes.
When you click the Read all button in the Read configuration / Parameters from
IGB dialog screen, all inverters are read and the data are indicated in POSITool
as new inverter entries.

11.2.7 Writing data to the inverter

To write data to the inverter, proceed as shown below:

Writing data to the inverter

1 Click the Send to IGB... button in the IGB: display connected devices dialog
screen.
Ö The following dialog screen appears:

2
3
Highlight the line of the inverter to which you want to write data.
In this line, double click the first column Source (PC).
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Ö A selection list appears in which all inverter entries are listed which con-
tain your project.
4 Select the inverter entry which you want to write to the selected inverter.
5 In this line, double click the Action column.
Ö A selection list appears in which you can set whether you want an auto-
matic adjustment or whether the previously stored configuration and the
parameters are to be overwritten.
6 Select one of the actions.
7 Repeat steps 2 to 6 for each inverter to which you want to write data.
8 Click the OK button.
Ö The data are written to the inverters as specified by you.

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11.3 IGB-Motionbus
The IGB-Motionbus allows each SDS 5000 integrated in the IGB network to send
its data cyclically to the bus. Every other SDS 5000 in the IGB network can access
these data (producer-consumer model). An SDS 5000 can send a maximum of
32 bytes. If you are going to use the IGB-Motionbus function, each inverter in the
IGB network must be integrated in the IGB-Motionbus.
The IGB-Motionbus uses the following state machine:
(1)
Switch on (1)
Einschalten
(7)
Busreset (7)
Busreset

Nobody
Niemand
found (2)(2)
gefunden
0:
0: Booting
Booting 1:
1: Single
Single
(3)(3)
(7)
Busreset(7)

Partner
Partner
Gefunden
found
Busreset

All partners
Alle Partner
lost (4)
verloren (4)
2:2:IGB-Running
IGB-Running
partners
Partner
lost (4)(4)
Voraussetzung
prerequisite
(5)

verloren
erfüllt (5)
MB-

fulfilled
MB

Alle
All

MB

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MB-
prerequisite
(7)(7)

Voraussetzung
lost (6)(6)
verloren
Busreset
Busreset

3:
3: IGB-
IGB- 4:
4: IGB-
IGB
Motionbus
Motionbus Motionbus Error
Motionbus Error
MB
MB-
Voraussetzung
prerequisite
erfüllt (5)
ulfilled (5)

Fig. 11-4: State machine of the IGB-Motionbus

Parameter A155 indicates the current state of the IGB-Motionbus:

State Description
0: IGB Booting The IGB is booting. The connected inverters register
on the IGB network and synchronize themselves. In
this condition, values for parameters A120 and A121
will be sampled and applied for further operation with-
out change.

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State Description
1: Single No IGB network with other inverters is currently estab-
lished. The functions remote maintenance or direct
connection can be used.
2: IGB running Several inverters have established an IGB network.
The functions remote maintenance or direct connec-
tion (with POSITool) can be used. The IGB-Motionbus
function is not being used or cannot be used for one of
the following reasons,
• The function was not selected during configuration
• The parameter A120 IGB Address was not unam-
biguously set for all stations
• A121 IGB nominal number was not parameterized.
• Because after changing of A120 or A121 the val-
ues were not saved and the device was switched
off and on again, or because no other device has
triggered a bus reset.
3: IGB-Motionbus The inverters in the IGB network are sending and re-
ceiving cyclic data. In this state, the addition of further
inverters has no effect on the existing IGB-Motionbus.
4: Motionbus Error The state A155 = 3:IGB-Motionbus was already
achieved once and was exited due to an error.

The following conditions apply to a change in state:

State Condition

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1: Switch on Power was turned on
2: Nobody found Either this SDS 5000 found no other inverter with
which it could establish an IGB network or an already
existing connection to other inverters via IGB was dis-
connected.
3: Partner found At least one directly connected SDS 5000 was found.
All partners that were found have organized and syn-
chronized themselves on the IGB.
4: All partners lost No connection to a partner on either X3A or X3B. This
can happen when the cable is disconnected, for exam-
ple.

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State Condition
5: IGB-Motionbus pre- This means the following
requisite fulfilled • The IGB-Motionbus function was activated for all
inverters in the IGB network
• No IGB address was assigned more than once
(A120 IGB Address)
• Every inverter found the same number of partners
in the IGB network and this number corresponds to
the expected number in A121 for every inverter
• All inverters in the IGB network are synchronized
and are receiving valid data
• No inverter reported a double error (event 52,
causes 9 and 10).
• The "save values" and switching off and on again
(bus reset) were not forgotten.
6: IGB-Motionbus pre- At least one condition of change-in-state no. 5 was vi-
requisite lost olated. This can happen for the following reasons:
• The 24-V power for at least one inverter in the IGB
network was turned off
• Cable break in the IGB network
• Double error due to great EMC problems
• Loss of synchronization between the inverters
• Loss of synchronization within one inverter be-
cause POSITool stopped the configuration
7: Busreset received At least one partner in the IGB network has achieved
the state 0:Booting. If one of the inverters in the IGB

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network is switched off and on again, this triggers a
bus reset all inverters. All will now evaluate their pa-
rameters A120 and A121 and therefore start the IGB
motion bus..

Before you can use the IGB-Motionbus, you will have to:
• first activate the function on all inverters integrated in the IGB network
• and then parameterize the IGB-Motionbus on each inverter.
Chapter 11.3.5 also gives you information on how to parameterize the exchange
of the master position via the IGB-Motionbus.

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11.3.1 Activation of the IGB-Motionbus

Proceed as shown below to activate the IGB-Motionbus: Select the IGB-Motionbus

function in the configuration
How to activate the IGB-Motionbus assistant in step 6.

1 Open the configuration assistant in POSITool.

2 Configure your application as usual in steps 1 to 5.
3 In step 6, select the inverter family SDS 5000.
4 Activate the checkbox IGB-Motionbus.
5 Exit the configuration assistant with the Weiter button.
6 Parameterize your application as you normally would.
7 Repeat steps 1 to 6 for each inverter which is integrated on the IGB-Motion-
bus.
8 Parameterize the IGB-Motionbus (see chapter 11.3.2 ).
9 Transfer the application to the inverters and save it.
10 Turn the 24 V power of all inverters off and on again.
Ö You have now activated the IGB-Motionbus.

11.3.2 Parameterization of the IGB-Motionbus

The IGB-Motionbus is parameterized in two steps:

• Configure the IGB-Motionbus
• Parameterize the process data

These steps have to be performed for every inverter. You can simplify this job by

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using the assistants IGB-Motionbus configuration and IGB-Motionbus process
data mapping which will lead you through the process of parameterizing the entire
IGB-Motionbus in a project.

Information
Remember that you can only transmit parameters with PDO capability
via the IGB-Motionbus. Parameters with PDO capability are marked in
the parameter list with the PDO attribute.

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Configuration of the IGB-Motionbus

During the configuration of the IGB-Motionbus, unambiguous addresses are set
for the inverters and the expected number of stations on the IGB-Motionbus.
Prerequisites:
• You have entered all inverters which will use the IGB-Motionbus in the project.
• The IGB-Motionbus function has been configured for all inverters.

Proceed as shown below:

How to configure the IGB-Motionbus

1 Open the assistant Configuration IGB-Motionbus.

Ö The assistant indicates all inverters of the project:

Since the settings in A120 und A121 are not correct, the lines are high-
lighted in red.
2 Double click the column A120 IGB Address for one inverter.
3 Enter the IGB address of the inverter.
4 Double click the column A121 IGB nominal number for this inverter.
5 Enter the number stations expected for IGB.
6 Repeat steps 2 to 5 for each inverter which is to use the IGB-Motionbus.

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Ö The lines turn white if you have entered the values correctly:

7 Confirm the dialog screen with the OK button.

Ö You have configured the IGB-Motionbus.

Instead of using steps 2 to 6, you can also configure the IGB-Motionbus with the
button Set automatically. In this case, the inverters are consecutively numbered
for the IGB address and the total number of stations is entered in A121.
If you do not get the right result, check the Problem column in the assistant.

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Parameterization of Process Data

Information
Remember that you can only transmit parameters with PDO capability
via the IGB-Motionbus. Parameters with PDO capability are marked in
the parameter list with the PDO attribute.
Each SDS 5000 on the IGB-Motionbus has its own memory area in which 32
bytes of data can be sent. These data can be read by all the other inverters which
are registered on the IGB network.
The first six bytes are permanently set with the following parameters.
• Byte 0: E48 Device control state
• Byte 1: E80 Operating condition
• Byte 2: E82 Event type
• Byte 3: A163.0 IGB systembits
• Byte 4: A163.1 IGB systembits
• Byte 5: Reserved
Following this area, you can send up to 24 parameters per inverter with up to a
total length of 26 bytes.
You can also read up to 32 parameters with a total length of up to 32 bytes from
the IGB-Motionbus. The 32 parameters can come from different inverters. To pa-
rameterize the process data, proceed as shown below.
To parameterize the process data, proceed as shown below:

How to parameterize process data

1 Open the IGB-Motionbus Process Data Mapping assistant.

Ö The following dialog screen appears:

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2 Make sure that the button producer view is selected in the top part of the
screen.
3 In the screen beneath, select an inverter which is to send the data on the
IGB-Motionbus.

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4 On the right-hand side of the assistant, click the button add parameter ....
Ö The following dialog screen appears:

5 In the selection list on the left-hand side, select whether you want to add a
parameter from an axis area or from the global area of the inverter.
6 Select the parameter from the selection list to the right.
7 Confirm the dialog screen with the OK button.
Ö The parameter appears in the producer view.

8 Repeat steps 2 to 7 for every inverter which is to send data on the IGB-Mo-

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tionbus and for every parameter which is to be sent.
9 Click the button at the top of the assistant to change to the consumer view.
Ö The following window appears:

10 Select an inverter which is to receive the data from the other inverters.

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11 On the right side of the assistant, click the button map parameter.
Ö The following dialog screen appears:

12 In the top part of the dialog screen, set the inverter which is to receive data.
13 Set which parameter value is to be read.
14 In the bottom part of the dialog screen, set whether the parameter value is to
be written to an axis or a global parameter.
15 Set the parameter to which the value is to be written.
16 Confirm the dialog screen with the OK button.
Ö The mapped parameter is indicated as shown below:

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17 Repeat steps 10 to 16 for each inverter which is to receive parameters and
for each parameter value which is to be received.
18 Confirm the dialog screen with the OK button.
19 Transfer the settings to the inverters and save them.
20 Switch the 24-V power supply off and on again for all inverters.
Ö You have parameterized the process data.

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11.3.3 Non-regular IGB operation

WARNING!
When non-regular IGB operation is activated, there is a risk of asynchro-
nous, undefined movements which may endanger personnel and ma-
chines!
X Before using A124, make sure that the movements cannot inflict personal in-
jury or cause property damage.

When an SDS 5000 is a station on the IGB-Motionbus, the device state machine
cannot leave the state 1:Switchon disable (see E48 device state) if the IGB-Mo-
tionbus cannot be established (A155 IGB state does not indicate 3:IGB-Motion-
bus).
Non-regular IGB operation can be activated in A124 so that the axes can be indi-
vidually positioned even during commissioning or when the IGB or a device fails.
When non-regular IGB operation is activated, enabling is still possible regardless
of A155 IGB-state.

Information
This parameter cannot be saved. It is pre-assigned with 0:Inactive dur-
ing every device startup.

11.3.4 Diagnosis

During IGB-Motionbus operation, each connected inverter sends its data to all the

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other inverters once every millisecond. This is monitored by parameter A162.x.
Parameter A162.0 is an error density counter for the IGB-Motionbus. It indicates
a value for the current error density of the expected but not correctly received data
sent once every millisecond. During IGB-Motionbus operation, each SDS sends
its data to all the other inverters once every millisecond. If at least one inverter
fails to send its data cyclically, this is determined and registered in element 0 of
the parameter. This counter is incremented by the number of expected but not re-
ceived data. When all data from all the inverters connected to the IGB have been
received correctly, the error density counter is decremented by 1. As you can see,
this parameter provides information on the quality of the IGB network. If the value
increases quickly, this probably means that a connection cable of the IGB has
been disconnected or an inverter has been turned off.
Parameter A162.1 indicates the sum of all errors of the IGB-Motionbus which
have been registered since the inverter was turned on or during the first startup
of the IGB-Motionbus. During operation of the IGB-Motionbus, each SDS 5000
sends its data to all the other inverters once every millisecond. This value is in-
cremented for the expected but not correctly received data during the millisecond
cycle.

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To prevent any errors which occurred during startup from being counted as real
errors, the value is cleared the first time the state A155 = 3:IGB-Motionbus is
reached.
After this, the value can only be cleared by switching the inverter off.
As you can see, this parameter provides information on the quality of the IGB net-
work. If the value increases quickly, this probably means that a connection cable
of the IGB has been disconnected or an inverter has been turned off. If the value
increases erratically, the cabling and the environment should be checked for
EMC-compatible wiring.
You can use parameter A138 to analyze events in which several inverters on the
IGB-Motionbus are involved. This parameter indicates the global time (in millisec-
onds) on the IGB-Motionbus. The value goes from 0 to 232 -1 = 4 294 967 295 ms
and then begins again at 0. All stations of the IGB-Motionbus work synchronously
with each other and use the inter-device clock. You can use A138 to trigger Scope
pictures in different inverters, for example, and then use POSITool to relate the
pictures to each other timewise.

11.3.5 Exchanging the master position

To exchange the master position via the IGB-Motionbus, you must

• Send the position of the master to the IGB-Motionbus and
• Read in the position on the slaves.

WARNING!
Danger of machine malfunction due to an incorrectly reconstructed master
reference.
X When the master position is distributed over the IGB, the slaves restore the

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referenced master position after each startup. This reconstruction is not reli-
able unless an SSI or EnDat® encoder with 4096 multi-turns is set as the
source encoder in parameter G104 of the master.
X The restored master position may not be used with other encoders. New ref-
erencing is necessary after each switch-on.

Information
Remember that a positioning application with one of the following syn-
chronous functionalities must be used on the slaves.
- Electronic cam
- Motion block positioning
- Synchronous command positioning

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Um die Masterposition auf dem IGB-Motionbus zu senden, gehen Sie so vor:

How to send the master position to the IGB-Motionbus

1 Set parameter G104 on the master to the source of the master position (e.g.,
X120).
Ö The master position and the related time stamp are indicated in parame-
ters E163 or E164.
2 Add the parameters E163 and E164 to the IGB-Motionbus Process Mapping
assistant in the Producer view of the master.
3 In the Consumer view of the slaves, map parameter E163 on E102 and E164
on E103.
4 Set parameter G27 to 6:IGB on the slaves.
5 Save the parameter assignments in the inverters.
6 Turn the 24-V power supply of the inverters off and on again.
Ö The master position is sent to the IGB-Motionbus and received by the slaves.

11.4 Remote maintenance

Information
On the usage of remote maintenance it is imperative you observe our
maintenance conditions in chapter 11.4.13 .

Remote maintenance includes every indirect connection of POSITool via a local

network, Intranet or Internet with an SDS 5000 or an IGB network. Remote main-

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tenance can be used to execute all functions which can use a direct connection.
These are:
• Diagnostic functions
• Changing parameters
• Programming / configuring the inverter
• Live firmware update

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WARNING!
Changing the parameters may change the properties of a machine during
and after remote maintenance.
The person responsible for the machine must
X Keep people away from the hazardous areas of the machine during remote
maintenance.
X After remote maintenance is finished, ensure that the behavior of the machine
is correct.
X The machine may not be released until after this has taken place. Make sure
this sequence is organizationally safeguarded.

Information
Remember that an IGB network can never be accessed by remote
maintenance and direct connection (PC) at the same time.

At least two people are always involved in remote maintenance:

• The service employee who performs the remote maintenance. For example,
this can be a service employee of STÖBER Antriebstechnik or the machine
manufacturer.
• The machine technician initiates and concludes the remote maintenance and
ensures that persons are safe at all times. This can be a qualified employee
of the machine manufacturer or the user
The following figure shows the components involved in remote maintenance via
Internet:

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Internet Remote
maintenance

Teleserver

Company IGB network

network

Fig. 11-5: Components involved in remote maintenance via Internet

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The following figure shows the components involved in remote maintenance via
the local network:

IGB network
Company network

Fig. 11-6: Components involved in remote maintenance via the local network

The Teleserver establishes the connection between the inverter and the PC of the
service technician. The Teleserver for the Internet connection is run by STÖBER
ANTRIEBSTECHNIK GmbH & Co. KG. This ensures that the Teleserver is always
equipped with the latest technology regarding Internet security.

11.4.1 System administration

Information
Networks can be set up very differently. This is the reason that
STÖBER ANTRIEBSTECHNIK GmbH & Co KG cannot give you gen-
eral guidelines covering every single case.

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Talk to your network administrator about the contents of the following
section to see how to achieve an optimal connection. Remember that
this not only applies to the inverter but also to the connection of POSI-
Tool!
Information
The settings described in this chapter are performed on that inverter in
the IGB network to which the connection to the network is connected.
This inverter is the gateway to the network! Remember that the connec-
tion can only be made on one of the RJ45 sockets. This is why some of
the parameters in this chapter are defined as arrays. This is indicated
in the description with the addition of an .x to the parameter coordi-
nates. The element .0 applies to X3 A (e.g., A166.0) while element .1
applies to X3 B (e.g., A166.1). Perform all the settings described in this
chapter only for the socket which is the gateway to the network!

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The SDS 5000 requires the following values for remote maintenance:
• A valid IP address,
• A valid subnet mask
• Possibly the standard gateway
• Possibly the IP address of the DNS server and
• Possibly the information on the proxy server

These values are set in the Network and Remote Maintenance assistant which
will now be described. Since the settings for an Internet connection differ from the
settings for a LAN connection, they will be distinguished between in the next few
sections.

11.4.2 The network and remote service assistant

Call this assistant in POSITool in the Project screen of the IGB by double-clicking
its name:

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Fig. 11-7: The Network and remote service assistant in the Project view of the IGB

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Once opened, the assistant indicates all the inverters that are configured in the
IGB network:

Fig. 11-8: The opened Network and remote service assistant

The assistant is divided into three tabs which can be processed one after the oth-
er.

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The Network tab
After you open the assistant, the Network tab is selected. Select the gateway in-
verter in the list and double-click this line. The Network settings dialog screen ap-
pears:

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Fig. 11-9: The Network settings dialog screen

You can use this dialog screen to set how the IP address is to be obtained for re-
mote maintenance, for example. Remember that the settings must be made for
the RJ45 socket (X3 A or X3 B) which is the gateway to the network.
If a DHCP server exists in the network, check the checkbox of the socket and then
decide whether to use the DHCP standard setting or the Only DHCP setting.
When you use the DHCP standard setting, the IP address must be entered man-
ually if the DHCP server does not provide an IP address within three minutes. If

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this does happen, enter the IP address and the subnet mask manually in the fields
below.

Fig. 11-10: Automatic provision of the IP address for X3 A with the DHCP stan-
dard setting

When you use the setting Only DHCP, you wait for a reply on the DHCP server
without a timeout.

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If the inverter does not receive an IP address from the DHCP server even though
one is present, the address can be enabled by the network administrator. It is pos-
sible that the configuration of the DHCP server will also have to be expanded.
SDS 5000 inverters can be unambiguously recognized by the DHCP server with
the MAC address 00:11:39:xx:xx:xx.

If the network does not have a DHCP server, remove the checkmark from the
checkbox and manually enter an IP address and a subnet mask in the fields:

Fig. 11-11: Manual setting of the IP address for X3 A

If the inverter is located in the same network as the PC on which you are making
the settings in POSITool, you can use the IP address and the subnet mask from
the Determine settings from network adapter button. When you click the button,
the following dialog screen appears:

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Fig. 11-12: The Select network adapter dialog screen

In the top part of this dialog screen, select the network connection of your PC
which is connected to the same network as the inverter, and the related IP ad-
dress, subnet mask and the IP addresses of the standard gateway and the DNS
server appear in the bottom part of this screen. Confirm the dialog screen with the
OK button, and the IP addresses of the standard gateway and the DNS server are
used. One position of the IP address of the PC is changed so that the IP address-

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es of the inverter and the PC are not the same. Remember that no check is made
to determine whether the thus determined IP address is being used by another
device in the network:

Fig. 11-13: The IP address determined from the network adapter

Note that, although you are only using the above settings for the gateway socket,
the settings for the second socket in the dialog screen remain accessible. This
means that you can enter an IP address for a direct connection for the second
socket.
You can enter the IP address of the standard gateway in the lower part of the Net-
work settings dialog screen. This is necessary for an Internet connection when
there is DNS server in the network but a proxy server is not used.
Manual entry of the IP address of the DNS server is necessary if there is a DNS
server in the network but its IP address is not transmitted by the DHCP server.

The Activation remote service tab

For example, you can specify the signal with which remote maintenance is to be
activated under the Activation remote service tab. Select the gateway inverter
from the list and double-click the line. The Set activation remote service dialog

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screen appears:

Fig. 11-14: The Set activation remote service dialog screen

In parameter A167 remote service source you can specify the signal which you
will use to activate remote maintenance. You can choose between the binary in-
puts or their inversion and two parameters. If you set A167 = 1:A800, you can ac-
tivate remote maintenance with the A800 parameter via the operator panel of the
inverter. If you set A167 = 2:A181-Bit 0, you can start remote maintenance via
fieldbus by writing to parameter A181 Bit 0 via fieldbus.

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In parameter A168 you can specify whether remote maintenance is to be per-

formed with a session ID. After you activate this setting, the service technician can
only establish the remote maintenance connection if he/she knows the session
ID. Please see also the section Externer Link „AbsNum_AbsText“ auf .
In A176teleserver selection you can specify whether remote maintenance is to be
performed via a LAN connection or an Internet connection.
If you set A176 = 1:LAN, you will have to specify in A177 the PC on which the LAN
Teleserver is to be installed. There are two ways to do this:
• Enter the IP address of the computer. This is always possible.
• Enter the complete Fully Qualified Domain Name (FQDN) (e.g., "pc-daddy-
longlegs.daddylonglegscompany.de"), Please note that this is not always
possible (see Figure 11 16).

Internet proxy server tab

Information on the proxy server for an Internet connection is entered under the
Internet proxy server tab. Select the gateway inverter from the list and double-
click the line. The Internet proxy server dialog screen appears:

Fig. 11-15: The Internet proxy server dialog screen

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If there is a proxy server in the network to which the gateway inverter is connected
and this is to be used, activate the Use proxy server checkbox. Then enter the
address of the proxy server. There are two ways to do this:
• Enter the IP address of the proxy server. This is always possible.
• Enter the FQDN (Fully Qualified Domain Name) of the proxy server (e.g.,
www-proxy.business.de). Please note that this is not always possible (see
Figure 11 17)

If the proxy server requires registration, activate the second checkbox and enter
the user name and password.
You can check the settings by clicking the Test connection button. If the connec-
tion cannot be established, please talk to your network administrator about the
settings.

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11.4.3 Administration of remote maintenance settings

Remote maintenance procedures are usually performed for different projects or

in different networks and thus with different settings. When only a simple switcho-
ver is needed, you can save the settings in a *.cfg file and reload them when nec-
essary.
You can save and load all settings that you make with the Network and remote
service assistant. Please note that the save and load procedures are performed
separately for each of the assistant's tabs. After you have processed the Network
settings tab, you can use the Save as ... button to save the settings to a *.cfg file.
When you then save the settings of the Activation remote service tab to the same
*.cfg file, the settings of the tab are supplemented. The same applies to the Inter-
net proxy server tab.
The settings saved in the assistant can be loaded with the Load... button. The
load and save procedures must be performed separately for each tab. If all data
are stored in the same file, you can use the same file for each load procedure.

11.4.4 Using the remote maintenance settings of the gateway inverter

In case of service (i.e., maintenance), it may be useful to break up an IGB network

and access partial networks or each inverter separately via remote maintenance.
To prevent the network and remote maintenance settings from having to be pa-
rameterized again in such cases, you can use the settings of the gateway inverter
for the other inverters in the IGB network.
Prerequisites:
• You have made all the necessary settings for the gateway inverter.

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Proceed as shown below:

Using the remote maintenance settings of the gateway inverter

1 Select the Network tab.

2 Select the gateway inverter from the list.
3 With the right mouse button, click the line of the gateway inverter.
Ö The following context menu appears:

4 In the context menu, select the entry set to all inverter.

5 Repeat steps 2 to 4 for each tab.
Ö The settings have been accepted for all inverters.

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11.4.5 Settings for a LAN connection

To be able to establish a connection via the local network, the LAN Teleserver
must be installed on a computer which is connected with the local network. Pro-
ceed as shown below:

Operating the LAN Teleserver

1 Start the POSITool-Teleserver.exe file on the computer on which the LAN

Teleserver is to be installed.
Ö The following dialog screen appears:

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2 Make a note of the FQDN (Fully Qualified Domain Name).
Ö You are now running the Teleserver on the local network.

The FQDN is the full computer name of a PC (i.e., Fully Qualified Domain Name).
Remember that, when setting up a LAN connection, you must specify on the in-
verter (see Figure 11 16) and in POSITool, the FQDN of the computer on which
the LAN Teleserver is installed.
Also note that the LAN teleserver should be installed on a high performance com-
puter with a high level of availability.

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Fig. 11-16: Parameterization with LAN connection shows which settings must be
made for which network setup. Remember that this is a logical sequence of deci-
sions and not a processing sequence of the tabs in the Network and remote ser-
vice assistant.
Set activation remote service
dialog screen: A176 = 1:LAN

Is there a
Yes DHCP server No
in the
network?

Network settings dialog screen, Network settings dialog screen,

gateway socket: gateway socket:
Place checkmark in the Obtain Remove checkmark from the
IP address automtically box. Obtain IP address
Choose beetween DHCP automatically box.
standard and Only DHCP. On the inverter, manually enter
the valid IP address and the
Subnet mask of the gateway
socket.

Does the
Yes DHCP server No
transmit the DNS-
IP address?

Ist there an
Yes active DNS server No

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in the network?

Network settings dialog screen:

Manually enter the IP address of
the DNS server.

Activate remote servce tab:

Set activation remote service A177 IP address of the PC on
dialog screen: A177 IP address which the LAN Teleserver is
or FQDN of the PC on which installed.
LAN Teleserver is installed.

Fig. 11-16: Parameterization with LAN connection

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11.4.6 Settings for an internet connection

Set activation remote service

dialog screen: A176 = 0:Internet

Is there a
Yes DHCP server in No
the network?

Network settings dialog screen, Network settings dialog screen,

gateway socket: gateway socket:
Place checkmark in the Obtain Remove checkmark from the Obtain
IP address automatically box. IP address automatically box.
Choose between DHCP standard and On the inverter, manually enter the
Only DHCP. valid IP address and the Subnet mask
of the gateway socket.

Is an
Yes active DNS No
server in the
network?

Does the
Yes DHCP server No
transmit the DNS-
IP address?

Network settings dialog screen:

Manually enter the IP address
of the DNS server
Is there a
Yes proxy server on No

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Is there a the network?
Yes proxy server No
in the network?
Remote
maintenance
is not possible!

Internet proxy Internet proxy server Internet proxy server

server dialog dialog screen: dialog screen:
screen: Port = 0 IP address or FQDN
IP address or Network settings dialog screen: of the proxy server
FQDN of the
IP address of the standard
proxy server
gateway

Internet proxy server dialog screen:

Proxy port, user name and
passwort as per network

Fig. 11-17: Parameterization for an Internet connection

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Comply with the following rules on the Internet connection:

• If possible, avoid the proxy server. This will increase the remote maintenance
performance. Ask your network administrator for details.
• If you do use a proxy server, it should be set so that it supports persistent
HTTP connections. This will increase the performance of remote mainte-
nance. Ask your network administrator for details.
• The Internet connection uses the HTTP protocol with TCP/IP port 80. This
port is usually enabled. Ask your network administrator for details.

Internet settings for POSITool

Remember that you may have to also make settings for POSITool for the Internet
connection. It is assumed that the PC on which the remote maintenance will be
performed is integrated in the local network. If a proxy server exists, you must en-
ter it in the Extras menu under menu item Set Internet connection:

Fig. 11-18: The Internet settings menu item under the Extras menu

Proceed as shown below:

Making the Internet settings for POSITool

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1 Place a checkmark in the checkbox at the top right, if a proxy server exists.
2 Enter the address of the proxy server (IP address or FQDN) and the port.
3 If the proxy server requires registration, place a checkmark in the checkbox
underneath and enter your Windows user name and your password.
4 Click the button Accept for POSITool remote service.
Ö You have now made the Internet settings for POSITool. You can check the
connection with the Proxy/Test connection button.

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11.4.7 Security

Here, Security means protection against the unauthorized manipulation of data

Security-relevant parameters of an inverter can also be changed via remote main-
tenance. The following security mechanisms have been installed to prevent this
from being done by unauthorized parties or by accident:
• A remote maintenance procedure can only be started locally on the machine.
• The service technician who performs remote maintenance must know the se-
rial number of the inverter which is to be serviced.
• When the Session-ID option is selected (parameter A168 remote service with
session-ID), the person responsible for the machine must inform the service
technician of the temporarily valid session-ID. This appears on the inverter
display while remote maintenance is being activated or in parameter A151.

These three mechanisms prevent unauthorized access for all practical purposes.
However, a small element of risk of unauthorized access remains here (e.g.,
through a former worker who is intent on sabotage). With a great deal of effort,
this worker might still be able to establish a connection at the time of the request
before the service technician, if this worker knows this point in time.

Such an unauthorized access is indicated as follows,

• The remote maintenance LED is continuously on
• The connection request of the authorized service technician fails.
Use of a session ID is a little more trouble, but it prevents this from happening.

An outgoing connection is always established when there is a local request on the

machine. This always connects to the Teleserver (see Figure 11 19). No other

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connections are possible. In addition, it is impossible to establish an Internet con-
nection to the SDS 5000 if the connection was not requested on the SDS 5000.

Fig. 11-19: Remote maintenance via the Teleserver

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11.4.8 Activation of remote maintenance

Information
As the person responsible for the machine, ensure (e.g., by telephone)
that the inverter is accessed for remote maintenance by an authorized
person.
Do not allow a request to exist for an unnecessarily long period of time.

Before you can activate remote maintenance, the following prerequisites must be
met:
1. The inverter is connected with the local network, Intranet or Internet.
2. The inverter has been given valid information so that it can communicate via
the local network, Intranet or Internet (see chapter 11.4.1).
3. In parameter A167 remote service source you have entered the signal with
which remote maintenance can be started (e.g., a binary signal on binary in-
put BE1).
4. On the inverter that is the gateway to the network, you specify in parameter
A168 remote service with session-ID whether remote maintenance should be
protected with a session ID.
5. The service employee has a PC which is connected to the local network, In-
tranet or Internet and version V 5.4 or later of the POSITool software is in-
stalled on this PC.

Proceed as shown below:

Activation of remote maintenance

1 The machine technician switches on the signal parameterized in A167 for the

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inverter which is to have remote service.
Ö The inverters register. The LEDs on the front of the inverters suddenly
flash once.
Ö After the connection to the Teleserver is established, the blue LEDs on
the front of the inverters begin flashing at regular intervals. The inverters
indicate their serial number on their displays.
Ö If A168 = 1:with SessionID is set on the gateway inverter, the session ID
is indicated in addition to the serial number.
Ö The person responsible for the machine has activated remote maintenance.
He informs the service technician and gives him/her the serial number of a
device in the IGB network and, if applicable, the session ID.

The session ID provides additional security for remote maintenance. If Parameter

A168 is set on the gateway inverter so that the session ID is requested for remote
maintenance, the service technician cannot establish a connection to the inverter
without the session ID.
If the blue LED does not flash even though remote maintenance is activated, pa-
rameter A178 indicates the cause.

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11.4.9 Establishment of a connection

Establishing a connection

1 The service employee starts POSITool.

2 On the start page of POSITool, the service employee presses the reverse
documentation from connected inverter... button.
Ö The following dialog screen appears:

3 The service employee presses the SDS 5000 button.

Ö The following dialog screen appears:

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4 The service employee presses the Internet Access button or the LAN Access
button depending on his/her specific application.
Ö If a LAN connection is requested, a dialog screen appears for entry of the
FQDN of the computer on which the LAN Teleserver is installed. Enter
the FQDN and confirm the dialog screen. The setup of the LAN connec-
tion is now identical to the setup of the Internet connection.
Ö The following dialog screen appears:

5 The service employee enters the serial number and, if applicable, the ses-
sion ID.
6 The service employee presses the OK button.
Ö The connection is established.
Ö A reverse documentation is read and indicated in POSITool.
Ö After the connection has been established, the blue LED on the front of

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the inverter lights up continuously.

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Ö The entire IGB network is shown in POSITool. The inverters which are not
enabled for remote maintenance are marked with a red "stop sign." You can
use the buttons at the bottom for the inverters which are enabled for remote
maintenance to
- read data from the inverters
- trigger the sending of data to the inverters
- execute a live firmware update.

Comply with the following points concerning activated remote maintenance:

• There must be at least one inverter in the IGB network which is enabled for
remote maintenance so that the Internet connection can be maintained.
When an active Internet connection exists, you can enable or disable invert-

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ers in the IGB network at all times.
This is done with the signal specified in A167 remote service source.
• If you are downloading a new configuration via remote maintenance, set the
parameters which are relevant to remote maintenance the same as for the
configuration up to now so that you avoid a premature termination of the con-
nection due to errors in the parameterization. This refers primarily to the pa-
rameter A167 remote service source in which the signal which will start
remote maintenance is specified..
• If you are performing a live firmware update via remote maintenance and then
start the firmware again immediately afterwards, a new start is performed on
the inverters. In this case, the remote maintenance connection is disconnect-
ed.

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11.4.10 Deactivation of remote maintenance

NOTICE
Do not deactivate remote maintenance by turning the device off/on since
this creates long timeout times on the Teleserver.
X Use one of the methods described below instead to deactivate remote main-
tenance.

Information
Deactivate remote maintenance immediately after the job is finished.
Do not let a request exist for an unnecessarily long period of time.

Remote maintenance can be deactivated by the following events:

• The machine technician switches off the signal (low level) specified in A167
for all inverters on the IGB network.
• The service employee exits remote maintenance in POSITool by pressing the
button when an Internet connection exists, or the button for a LAN
connection.
• The Internet connection is interrupted (e.g., by a timeout ). Any specified ses-
sion ID is always invalid. The blue LED goes off. To establish a new connec-
tion, the procedure in chapter Externer Link „AbsNum_AbsText“ auf must be
performed again.

Note the A178 parameter when you deactivate remote maintenance. A number
value is specified here as to why the deactivation occurred and whether it was

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free of errors.
Also remember that after remote maintenance is concluded in POSITool, the sig-
nal specified in A167 must first be switched to low before remote maintenance
can be activated again. Remote maintenance is then activated again the next
time a switch to high is made.

11.4.11 Monitoring remote maintenance

The machine technician has the option of monitoring the remote maintenance
process. This means that the machine technician can view on his/her monitor
screen the settings which the service employee makes in POSITool.
The machine technician must have the free station program from Netviewer. The
following figure shows the components which are involved:

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Internet Remote
maintenance

Company
network

IGB network

Fig. 11-20: Components involved in remote maintenance monitoring with the Net-
viewer software

You can also obtain the free station program of Netviewer from the www.stoe-
ber.de homepage. The service employee has the advisor program with which to
start a session. If you would like to monitor remote maintenance, tell the service
technician at the start of remote maintenance.

11.4.12 Diagnosis

The blue LED on the front of the inverter and the parameter A169 remote service

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advance (i.e., progress) give you information on the status of the Internet connec-
tion:

Indication Blue LED Meaning

in A169
0:off Off Remote maintenance is not desired.
1:flash Flashing very quickly The connection to the teleserver is being
established.
2:blink Flashing at regular in- The device is waiting for the connection to
tervals POSITool.
3:on Continuously on The connection has been fully established
and remote maintenance can begin.
Tab. 11-21: Diagnosis of the remote maintenance status

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Parameter A170 remote service acknowledge (i.e., remote service response

message) changes its value like the blue LED on the front:
• 1: LED on
• 0: LED off
You can output this parameter on a binary output so that you can evaluate the sig-
nal of the blue LED.

Another possibility is the parameter A178 error remote service. The parameter in- The four bytes of parameter
dicates a hexadecimal number (length: 32 bits) showing the state of remote main- A178 contain the exit code,
the status value, the error cat-
tenance. Each of the four bytes stands for a diagnostic value:
egory and the error value.

00 00 00 00 hex

The Exit code The error value

specifies why indicates the error
remote maintenance within the error
was exited. category.

The status value The error category

specifies the stands for a group
status of remote of errors.
maintenance.

The Exit Code indicates the following causes for the conclusion of remote main-
tenance:

Exit Code Description

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00hex No remote maintenance is started. This value is the initial value after
the inverter is turned on.
01hex The active gateway was changed.
02hex Remote maintenance was exited correctly.
03hex Remote maintenance was exited because no remote maintenance
request was found for any inverter in the IGB network.
04hex Remote maintenance was exited because no remote maintenance
request was found for any inverter in the IGB network.
05hex Remote maintenance was exited because no remote maintenance
request was found for any inverter in the IGB network.
06hex Remote maintenance was concluded by POSITool.
07hex Remote maintenance was exited due to an error. The error can be
determined with the error category and the error value.

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Exit Code Description

08hex A direct connection was started before the remote maintenance
connection was established. Remote maintenance was exited since
the direct connection has priority.
09hex Remote maintenance was terminated since it could not be exited
correctly.
0Ahex Remote maintenance was terminated since the serial number of the
active gateway could not be determined.
0Bhex Remote maintenance was terminated since the status of the active
gateway could not be determined.
0Chex Remote maintenance was terminated since the serial number of the
active gateway could not be determined.
0Dhex Remote maintenance was terminated since the serial number of the
active gateway could not be determined.
0Ehex Remote maintenance was terminated since the serial number of the
active gateway could not be determined.
0Fhex Remote maintenance was terminated since the active gateway had
changed.
10hex Remote maintenance was terminated since an error was found
while looking for the active gateway.

The status value specifies the status of remote maintenance:

Status value Description

00hex No remote maintenance is started. This value is the initial value

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after the inverter is turned on.
01hex The DNS resolver was started.
02hex Establishment of the connection to the Teleserver was started.
03hex New establishment of the connection to the Teleserver was start-
ed.
04hex Disconnection of the HTTP connection was started.
05hex An unknown HTTP event was received.
06hex An attempt is being made to contact the Teleserver again.
07hex A timeout occurred during the attempt to contact the Teleserver.
08hex The Teleserver refused the connection.
09hex The host cannot be reached.
0Ahex An error occurred during the HTTP connection.
0Bhex An error occurred during the HTTP connection.
0Chex An error occurred during the HTTP connection.
0Dhex An error occurred during the HTTP connection.

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Status value Description

0Ehex An error occurred during the HTTP connection.
0Fhex An error occurred during the HTTP connection.
10hex An error occurred during the HTTP connection.
11hex An error occurred during the HTTP connection.
12hex Waiting until POSITool has connected with the Teleserver.
13hex The connection to the Teleserver was correctly concluded.
14hex A timeout occurred while the connection of the HTTP connection
was being disconnected.
15hex The connection to the Teleserver was correctly concluded by
POSITool.
16hex The connection to the Teleserver was closed.
17hex POSITool has connected with the Teleserver.
18hex The HTTP connection was started.
19hex The lower-level TCP/IP connection was interrupted. New estab-
lishment is being started.

The error category stands for a group of errors:

Error category Description

00hex No remote maintenance is active or no error occurred.
01hex A socket error was determined (problems with the use of the
TCP/IP connection).
02hex A firmware error was determined (internal firmware error).

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03hex An HTTP error was determined (problems at the HTTP com-
munication level).
04hex A TCP/IP error was determined (problems at the TCP/IP
communication level).
05hex An error of the Teleserver Client application was determined.
06hex A DNS error was determined (problems with the DNS resolv-
er).
07hex A proxy error was determined (problems with the proxy set-
tings).

The Error value specifies the error in an error category. The error values are spec-
ified for each error category in the following.

In error category 00 hex, the error value is always 00 hex.

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The following errors can occur in error category 01 hex:

Error value Description

00hex Reserved
01hex A TCP/IP error occurred during sending or receiving.
02hex A TCP/IP error occurred during sending or receiving.

The cause of these errors can be a faulty TCP/IP connection. Check the connec-
tion and the network settings. The TCP/IP connection may also be blocked by a
firewall. Check (e.g., with POSITool) whether the Teleserver can be reached.

The following errors can occur in error category 02 hex:

Error value Description

00hex Reserved
01hex Internal error 1
02hex Too little free memory space available.
03hex An internal handle is invalid.
04hex An error occurred while the HTTP application was being executed.
05hex An internal parameter is invalid.
06hex An internal parameter is invalid.
07hex An internal parameter is invalid.
08hex Too little free memory space available.
09hex Too little free memory space available.
0Ahex Too little free memory space available.

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0Bhex Internal access was denied.
0Chex Internal access was denied.
0Dhex Internal access was denied.
0Ehex An error occurred while sending data.
0Fhex An error occurred while sending data.
10hex An error occurred while receiving data.
11hex An error occurred while receiving data.
12hex An unknown HTTP status code was determined.
13hex An error occurred while remote maintenance was being exited.

There is a wide variety of causes for these errors. First, start the inverter again
and check the network settings of the inverter and the company network. If this
does not correct the error, contact STÖBER ANTRIEBSTECHNIK GmbH & Co.
KG, see chapter 1.4.

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The following errors can occur in error category 03 hex:

Error value Description

00hex Reserviert
01hex Es kam zu einem Timeout: Der Teleserver antwortete nicht.
02hex Der HTTP-Status-Code meldet einen HTTP-Fehler.

This error may be caused because the HTTP response of the Teleserver is not
reaching the inverter. Check the connection and the network settings. Receipt
may also be blocked by a firewall. Check the firewall's settings, too.

Since general causes cannot be given for error categories 04 hex and 05 hex,
these errors were given a cause number. A description of the causes follows the
description of the errors in category 05 hex.

The following errors can occur in error category 04 hex:

Error value Description Cause no.

00hex Reserved –
01hex An error occurred while connection to the Teleserver
1
was being established.
02hex The Teleserver refused the connection. 2
03hex An error occurred while the TCP/IP connection to the
1
Teleserver was being re-established.
04hex An error occurred while the TCP/IP connection to the
1
Teleserver was being re-established.
05hex A timeout occurred during establishment of the TCP/
1

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IP connection to the Teleserver.
06hex The Teleserver refused the connection. 2
07hex The inverter cannot access the IP address of the
3
Teleserver.
08hex The inverter is connected to the Teleserver. 4
09hex An error occurred while connection to the Teleserver
1
was being established.
0Ahex An error occurred while connection to the Teleserver
1
was being established.
0Bhex An error occurred while connection to the Teleserver
1
was being established.
0Chex The IP address of the Teleserver is invalid. 3
0Dhex The IP address of the Teleserver is invalid. 3
0Ehex The IP address of the Teleserver is invalid. 3
0Fhex An internal error was found. 5
10hex The IP address of the Teleserver is invalid. 3

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The following errors can occur in error category 05 hex:

Error value Description Cause no.

00hex Reserved –
01hex An error occurred during flow monitoring between
6
Teleserver and inverter.
02hex An internal error occurred. 5
03hex An internal error occurred. 5
04hex A CRC error was determined for the HTTP response
7
from the Teleserver.
05hex An invalid HTTP state was determined during receipt. 8
06hex An invalid HTTP state was determined during receipt. 8
07hex The Teleserver concluded remote maintenance. 9
08hex The Teleserver rejected the serial number. 10
09hex The Teleserver rejected the serial number. 10
0Ahex An internal error occurred. 5
0Bhex An internal error occurred. 5
0Chex The inverter is waiting for the connection to POSI-
11
Tool.
0Dhex An internal error occurred. 5
0Ehex An error occurred during flow monitoring between
6
Teleserver and inverter.
0Fhex A CRC error was determined for the HTTP response
7
from the Teleserver.

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10hex An internal error occurred. 5
11hex An error occurred during flow monitoring between
6
Teleserver and inverter.
12hex An error occurred during flow monitoring between
6
Teleserver and inverter.
13hex An internal error occurred. 5
14hex An internal error occurred. 5
15hex An internal error occurred. 5

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Description of the causes

Cause no. Description

1 Establishment of the TCP/IP connection to the Teleserver failed.
Check all network settings and the firewall.
2 The inverter tried to connect with the Teleserver PC, but the
specified PC actively denied the attempted connection.
Check whether the Teleserver (LAN) was installed correctly and
is running. You can check the connection to the Teleserver with
POSITool, for example.
3 The inverter cannot access the IP address of the Teleserver with
the current network settings (IP address and subnet mask).
Check the IP address of the inverter and Teleserver.
4 An attempt was made to establish a TCP/IP connection to a
Teleserver which already exists.
Exit remote maintenance correctly and start remote mainte-
nance again.
5 An internal error was found.
Contact STÖBER ANTRIEBSTECHNIK GmbH & Co. KG, see
chapter 1.4.
6 An error was determined during flow monitoring between
Teleserver and inverter
Check all network connections.
7 A CRC test of the received data failed.
Check all network connections. In particular, check the Ethernet
connection and EMC interference.

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8 The Teleserver reported an invalid HTTP state.
Check all network connections. Check the settings of the proxy
server.
9 The Teleserver exited remote maintenance.
It is possible that remote maintenance was also terminated.
Start remote maintenance again.
10 The Teleserver exited remote maintenance since one or all of
the serial numbers of the inverter stations were invalid.
Wait 10 minutes and start remote maintenance again. If this also
fails, contact STÖBER ANTRIEBSTECHNIK GmbH & Co. KG,
see chapter 1.4.
11 POSITool has not yet been connected with the Teleserver.
Establish the connection.

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The following errors can occur in error category 06 hex:

Error value Description

00hex Reserved
01hex A general DNS error was determined.
02hex A timeout occurred. The DNS server did not respond.
03hex A general DNS error was determined.
04hex A general DNS error was determined.

A possible cause of one of the errors could be that the name resolution of the host
name of the Teleserver in the applicable IP address failed. Check the settings of
the name server. The name server may have to be enabled for the requests of the
SDS 5000.

The following errors can occur in error category 07 hex:

Error value Description

00hex Reserved
01hex The proxy authorization is invalid.

The cause of this case could be an incorrect proxy parameterization on the invert-
er. Check the proxy settings on the inverter.
Below are some examples of the indication in A178:

Example 1

00 12 00 00 hex

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No Exit code No error
is specified.

12hex: Waiting No error category

until POSITool
connects with
the Teleserver.

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Example 2

07 04 04 02 hex

07hex: Remote 02hex: An error occurred

maintenance while connection to
was exited due the Teleserver was
to an error. being established.

04hex: Disconnection 04hex: A TCP/IP

of the HTTP error was determined.
connection was
started.

11.4.13 General Terms and Conditions of STÖBER ANTRIEBSTECHNIK for

Maintenance of the Servo Inverter of the 5th Generation of STÖBER
Inverters

Date 11/2009

1. Scope
1.1. The present maintenance terms shall apply exclusively to all contractual
relationships under which Stöber Antriebstechnik GmbH & Co. KG (to
as "STÖBER ANTRIEBSTECHNIK") carries out maintenance services
on the 5th inverter generation for other companies, legal entities under
public law or special funds under public law (hereinafter referred to as
"Customer"). Contradictory and supplementary terms of the Customer

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shall not - other than with the prior written consent of STÖBER ANTRIE-
BSTECHNIK - form part of the Contract, even if STÖBER ANTRIEB-
STECHNIK should undertake a contract or carry out services without
expressly contradicting such terms.
1.2. These General Terms and Conditions cover the maintenance services
for the 5th inverter generation offered by STÖBER ANTRIEBSTECH-
NIK, such as the provision of standardised software updates, remote
maintenance of the servo inverters by remote access, telephone sup-
port and maintenance services on site.
1.3. Furthermore, the Terms of Sale and Delivery of STÖBER ANTRIEB-
STECHNIK shall apply accordingly, whereby the maintenance terms
shall take priority in the event of contradictions between the two docu-
ments.

2. Conclusion of Contract, Written Form, Time of Performance

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2.1. Quotations by STÖBER ANTRIEBSTECHNIK are subject to confirma-

tion and not binding unless they have been expressly declared as a
binding quotation. Orders from the Customer may be made informally
by e-mail, telefax or telephone. STÖBER ANTRIEBSTECHNIK can ac-
cept the orders from the Customer within two weeks. In case of doubt,
the content of the order confirmation by STÖBER ANTRIEBSTECHNIK
shall be binding for the Contract unless the Customer has contradicted
the content of the order confirmation without delay.
2.2. All notices of termination, setting of deadlines and reminders by the
Customer shall require the written form for their validity. Contractual
guarantees and undertakings, in particular those going beyond the
scope of these General Terms and Conditions, shall require the express
and written confirmation of STÖBER ANTRIEBSTECHNIK.Deadlines
and dates for fulfillment are not fixed dates unless they have been ex-
pressly declared as fixed dates by STÖBER ANTRIEBSTECHNIK in
writing. If the Customer sets deadlines or periods of grace for fulfillment
or subsequent fulfillment or for remedying a situation, these deadlines
or periods must be reasonable, at least 5 working days. Should the fruit-
less expiry of a deadline or grace period result in the dissolution of the
contractual relationship or a reduction in the price to be paid, this must
be expressly threatened by the Customer at the time of setting the
deadline or grace period. The above declarations shall require the writ-
ten form for their validity.

3. Payment
3.1. The payment shall be dictated by the order confirmation. Should the
Parties agree on payment according to outlay, the outlay shall be shown

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in the invoice or in a separate annex to the invoice. Should the Custom-
er not contradict the evidenced outlay in writing within two weeks, the
Customer shall bear the burden of proof for the incorrectness of the out-
lay. Additional services requested by the Customer shall be invoiced on
the basis of the STÖBER ANTRIEBSTECHNIK price list. In the ab-
sence of any other written agreement, the prices in the latest STÖBER
ANTRIEBSTECHNIK price list shall apply, according to which services
are invoiced according to person-days and hours plus the expenses in-
curred.
3.2. In the event of an unjustified notification of defects, STÖBER ANTRIE-
BSTECHNIK can invoice the Customer for the time taken for the trou-
bleshooting on the basis of the current price list, in particular if the
Customer reports a fault that cannot be demonstrable or reproducible,
or if the fault is not attributable to STÖBER ANTRIEBSTECHNIK.

4. Rights to Software

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4.1. All intellectual property rights to the software supplied to the Customer
and to the work results, including the documentation (e.g. copyrights,
trademark rights, technical property rights), in the relationship with the
Customer shall be due to STÖBER ANTRIEBSTECHNIK, even if and
insofar as the work results are obtained on the basis of the specifica-
tions from or in cooperation with the Customer. STÖBER ANTRIEB-
STECHNIK grants the Customer a simple, non-exclusive right of use to
the software supplied. The Customer shall only be entitled to use the
software for its own purposes in conjunction with the 5th inverter gener-
ation.
4.2. The Customer may make the requisite number of backup copies of the
software, all of which, however, must bear the STÖBER ANTRIEB-
STECHNIK copyright mark and subsequently be kept safely. The Cus-
tomer may decompile the software and parts thereof (such as interface
information) only within the limitation of § 69e German Copyright Act
(UrhG) and only when this intention is notified to STÖBER ANTRIEB-
STECHNIK in writing with a reasonable period of notice for provision of
the necessary information. Information on the source code shall thereby
be subject to the strictest confidentiality, irrespective of whether it was
provided by STÖBER ANTRIEBSTECHNIK or a third party or became
known during the course of decompilation. Furthermore, modifications
to and editing of the software (modification, reverse engineering, decod-
ing, translation, etc.) shall require the prior written authorization of
STÖBER ANTRIEBSTECHNIK.
4.3. If the software was supplied to the Customer electronically, any passing
on of the software by the Customer to third parties - whether or not
against payment - shall not be permitted without the prior written autho-

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rization of STÖBER ANTRIEBSTECHNIK.
4.4. STÖBER ANTRIEBSTECHNIK grants the rights of use to the software
initially only revocably subject to a condition precedent of complete re-
muneration or payment and can, in the event of a delay in payment and
after fruitless expiry of a reasonable grace period, revoke the granting
of the rights of use to the extent to which no remuneration or payment
has been received.

5. Updates
STÖBER ANTRIEBSTECHNIK shall send updates to the Customer electron-
ically or shall offer the update for downloading on the company's website. A
physical data medium, the source code and the installation on the Customer's
premises are not owed. The updates can contain additional functions, where-
by the Customer shall have no claim to the implementation of specific func-
tions within the scope of the updates. STÖBER ANTRIEBSTECHNIK shall

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thus decide alone on the type, scope and frequency of updates for STÖBER
ANTRIEBSTECHNIK software. In all other points, the provisions of § 4 shall
apply analogously.

6. Testing of Supplied Software

Before use in production, the software supplied must be adequately tested by
the Customer. The contractual software and the documentation supplied must
be examined immediately on receipt and any faults discovered reported in de-
tail in writing. § 377 German Commercial Code (HGB) shall apply. If no such
immediate notice is given, the service shall be regarded as having been ap-
proved, except in cases of non-recognizable faults. Should such a fault be dis-
covered later, notice of the fault must be given immediately on discovery of
this fault, otherwise the service shall be regarded as having been approved
also with regard to this fault. If STÖBER ANTRIEBSTECHNIK has fraudulent-
ly concealed the fault, STÖBER ANTRIEBSTECHNIK may not claim a failure
to notify or delayed notification of the fault by the Customer.

7. Customer Hotline
7.1. STÖBER ANTRIEBSTECHNIK shall provide a 24 h customer hotline for
the Customer. STÖBER ANTRIEBSTECHNIK receives fault reports
and orders via this hotline and passes them on to the responsible ser-
vice technicians. The hotline serves furthermore to support the Custom-
er through telephone advice on remedying faults, avoiding faults and
working around faults. A fault elimination guarantee and reaction or re-
covery times are neither assured nor owed.
7.2. Further maintenance and support services (e.g. on site) shall only be

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provided on the basis of a separate order and shall be invoiced accord-
ing to time on the basis of the STÖBER ANTRIEBSTECHNIK price list
valid at the time of the placement of the order.

8. Remote Maintenance
8.1. If the Customer places an order with STÖBER ANTRIEBSTECHNIK for
the remote maintenance of the servo inverter, a date for the mainte-
nance will be agreed with the Customer. The remote access is effected
via an Internet connection set up by the Customer in accordance with
the IGB SDS 5000 manual of the remote access server. For this the
Customer must inform STÖBER ANTRIEBSTECHNIK of the serial
number of the servo inverter or, if the session ID method is selected, the
corresponding temporarily valid session ID number by telephone and
then also validate the number to the remote access server.
8.2. Before the maintenance process, the Customer must ensure the safety
of persons and equipment by clearing and cordoning off the whole turn-
ing and slewing circle or danger zone of the machine axes controlled by
the servo inverter. The maintenance and the safety precautions must be

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carried out and monitored on the Customer's side by a technician famil-

iar with and trained in the operation of the servo inverter, in particular
with the IGB SDS 5000 manual and these maintenance terms.
STÖBER ANTRIEBSTECHNIK assumes no liability for any damage re-
sulting from the failure to observe these safety precautions.
8.3. The maintenance process will be started by STÖBER ANTRIEB-
STECHNIK only when after establishing the remote access, a tele-
phone connection to the Customer exists and adequate safety
precautions are verified by the Customer. After the corresponding noti-
fication, the telephone conversation will be recorded by STÖBER
ANTRIEBSTECHNIK. The technician must state his first name and fam-
ily name, and verify the establishment and maintaining of the personal
and equipment safety.
8.4. The telephone conversation will be stored by STÖBER ANTRIEB-
STECHNIK for documentation purposes. The recording will not be used
by third parties. The Customer must therefore obtain the consent of his
employee for the recording and storage.
8.5. Before the end of the maintenance process, the Customer must first de-
activate the remote maintenance and establish the safety of the ma-
chine by means of a test run. Only after a successful test run is the
maintenance process concluded so that the Customer can then allow
access to the danger zone of the machine again.
8.6. The remote maintenance by remote access is linked to IT security mea-
sures, such as the session ID method, the use of which is decided upon
exclusively by the Customer. STÖBER ANTRIEBSTECHNIK is respon-
sible only for its own observance of the IT security measures offered
and selected by the Customer. The Customer decides also on the se-

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lection of the connection of the inverter to the STÖBER ANTRIEB-
STECHNIK remote access server and bears the sole responsibility for
its establishment, maintenance and security.

9. Other Cooperation Obligations of the Customer

9.1. The Customer shall report malfunctions, errors and damage without de-
lay. The report must furthermore describe the symptoms of the fault so
precisely that STÖBER ANTRIEBSTECHNIK is able to support the
Customer in the purposeful remedying of the fault.
9.2. The Customer shall bear the responsibility for a regular data backup
and the IT security in accordance with the state-of-the-art. STÖBER
ANTRIEBSTECHNIK may assume that all data with which employees
of STÖBER ANTRIEBSTECHNIK come into contact have been previ-
ously backed up elsewhere by the Customer.
9.3. The warranty of quality and liability do not cover faults or damage result-
ing from the use of the software in a hardware and software environ-
ment that does not meet the technical requirements.

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9.4. Further cooperation obligations of the Customer result from the individ-
ual order and from the general obligation to maintain safety and the duty
to take due care. The risk of damage in the event of infringements of the
cooperation obligation must be borne by the Customer. STÖBER
ANTRIEBSTECHNIK shall not be responsible for monitoring whether
the Customer complies with the cooperation obligations.
9.5. The whole cooperation of the Customer shall be at no expense to
STÖBER ANTRIEBSTECHNIK.

10. Defects in Quality and Title of the Software

The Terms of Sale and Delivery of STÖBER ANTRIEBSTECHNIK shall apply
to all defects in quality and title. If, after providing a service, STÖBER
ANTRIEBSTECHNIK supplies the Customer with a new software version to
remedy defects in quality and title, the Customer shall accept this new soft-
ware version in order to maintain the warranty rights, insofar as the accep-
tance is not unreasonable.

11. Acceptance
11.1. For all services suitable for acceptance testing and for all services for
which acceptance testing has been agreed, STÖBER ANTRIEB-
STECHNIK may demand a written declaration of acceptance from the
Customer or the countersigning of an acceptance protocol immediately
after a successfully completed acceptance test. Individual services that
can be used independently of one another shall be accepted separately.
11.2. If no formal acceptance testing is carried out pursuant to 11.1, the Cus-
tomer shall inspect the results of the work within one month and either

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declares the acceptance or notify STÖBER ANTRIEBSTECHNIK in de-
tail and in writing of any faults discovered. The unqualified use of the
work results in production shall be deemed to be an acceptance.

12. Final Provisions

12.1. The whole business relationship between STÖBER ANTRIEBSTECH-
NIK and the Customer shall be subject to the law of the Federal Repub-
lic of Germany, to the exclusion of the UN Sales Convention and the
provisions of private international law. Place of fulfillment and venue for
all disputes arising out of and/or in conjunction with this Contract shall

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the registered offices of STÖBER ANTRIEBSTECHNIK. In the event of

legal disputes, STÖBER ANTRIEBSTECHNIK can also opt to take ac-
tion at the Customer's general venue.
12.2. The Customer warrants to have established all necessary preconditions
in order that STÖBER ANTRIEBSTECHNIK can carry out the agreed
services without infringement of the provision of data protection law.
12.3. Amendments and supplements to the contracts between STÖBER
ANTRIEBSTECHNIK and the Customer must be made in written form
for their validity. A notification in text form (e.g. e-mail) shall also be suf-
ficient to meet the written form requirement unless the receiving party
insists on notification in written form.
12.4. Should any of the above provisions be or become invalid or unenforce-
able, this shall not affect the validity or enforceability of the other provi-
sions. The Contract parties shall make efforts to replace the invalid or
unenforceable provision with a valid and enforceable provision coming
as close as possible to the business intention of the original invalid or
unenforceable provision.

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12 Service
This chapter lists various service jobs and explains their performance.

12.1 Replacing inverters

This chapter provides you with an introduction to the simple replacement of two
inverters without additional aids. Only the Paramodule from the replaced inverter
must be used on the new inverter. In the Paramodule, the action A00 save values
stores the programming and the parameterization of the inverter safe from a pow-
er failure.

Information
If inverters of different types are replaced or the devices to be config-
ured on the inverter are changed, the entire configuration must be
changed with POSITool and checked!

The following conditions apply to the replacement:

• The new inverter takes over the job of the replaced inverter. There are no
changes in the drive task.
• Inverters of the same device type are exchanged.
• The new inverter has the same hardware and software status as the inverter
to be replaced or a higher one.
• None of the devices or components (motor, shaft encoder, option board, and
so on) to be configured on the inverter change.
Proceed as shown below:

Replacing the inverter

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1 Start the action A00 save values. Wait until the action has been concluded
with the result 0:error free.
2 Turn the power supply of the inverter off. Wait until the indication on the dis-
play disappears.
3 Unplug Paramodule from the inverter to be replaced!

Inverter to be replaced

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4 Plug Paramodule into the inverter to be installed!

Inverter to be installed

5 Remove the inverter to be replaced and install the new inverter. Adhere to
the mounting instructions!
6 Schließen Sie die Versorgungsspannung an.
Ö During startup the inverter loads the configuration from Paramodule and
continues using the application of the previously installed inverter.
7 Validate the Safe Torque Off safety function.
See also operating instructions ASP 5001, ID 442181.
Ö The inverter has been replaced.

12.2 Replacing an application

This chapter provides you with a guide to the simple change of an application
without extra aids. Only the Paramodule must be replaced. In the Paramodule,
the action A00 save values stores the programming and the parameterization of

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the inverter safe from a power failure.
The following conditions apply to the replacement:
• The hardware configuration (option boards, motor settings, etc.) stored on the
Paramodule corresponds to the drive which will use the data of the Paramod-
ule in the future.
• The programming and parameterization stored on the Paramodule was test-
ed beforehand.
• After the Paramodule has been exchanged and the drive has been tested, set
up the drive again (referencing, parameter optimization, etc.).
Proceed as shown below:

Replacing the application

1 Start the action A00 save values. Wait until the action has been concluded
with the result 0:error free.
2 Turn the power supply of the inverter off. Wait until the indication on the dis-
play disappears.

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3 Remove the Paramodule from the inverter.

4 Install the new Paramodule (Paramodule with changed application) on the in-
verter!

5 Connect the power supply.

Ö During startup, the inverter loads the configuration and the new application
from the Paramodule and accepts these.

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12.3 Copying Paramodule

The following section describes how to copy a Paramodule so that an application
can be utilized in additional inverters.
Proceed as shown below:

Copying Paramodule

1 Start the action A00 save values. Wait until the action has been concluded
with the result 0:error free.
2 Remove the Paramodule from the inverter.

3 Install the new Paramodule on the inverter!

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with the result 0:error free.
Ö You have copied Paramodule.

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12.4 Live firmware update

During a live firmware update the firmware is loaded to the firmware download
memory without affecting running operation. The firmware does not become ac-
tive until it is accepted. The firmware stored in the firmware download memory is
kept as redundant firmware to increase safety.
Requirements:
• The inverter controller is powered as a minimum (24 V at terminal X11). The
power may only be switched off during download if the software gives an ap-
propriate instruction. You can also carry out the live firmware update during
ongoing operation.
• You have connected a PC to the SDS 5000 or an IGB network.
• You have configured at least one IGB network in POSITool.

You need:
• POSITool version 5.4 or higher

Carrying out a live firmware update

1 In POSITool, open the IGB: display connected devicesmenu entry in the File
menu.
Ö You will see the following dialog screen that displays all devices connect-
ed to the PC:

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2 Click the Live Firmware update button.

Ö The following dialog screen is displayed:

3 Read the safety information.

4 If you accept the safety information, select the Accept safety guidelines
checkbox.
5 Click the OK button.
Ö The following dialog screen is displayed:

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6 Select the firmware that you want to save on the inverter in the list on the
right-hand side (steps 1 to 3).
7 Select the inverter to which the chosen firmware is to be transferred by se-
lecting the checkbox on the left-hand side. Note that the inverter is displayed
with your serial number for unique identification.

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8 Click the Start download to selected devices button.

Ö The firmware download starts. Progress is displayed on the right-hand
side of the firmware download dialog screen:

Ö Once the download has completed, the following dialog screen is dis-
played:

9 Click the OK button to return to the Firmware update dialog screen.

WARNING!

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Danger of personal injury or material damage due to unsecured loads. The
firmware must be activated after the download for a live firmware update.
The control part and power stage of the inverter are switched off during ac-
tivation. Unsecured loads on the drive can therefore slip.
X Secure the drive load before activation.

10 If you want to activate the firmware immediately, click the Start firmware im-
mediately button. Observe the above safety information. Follow the POSI-
Tool instructions to carry out activation. If you do not carry out this step, the
firmware is automatically activated the next time the device is switched off
and on.
11 Close the dialog screen by clicking the Close button.
12 For each inverter, check that the correct firmware is entered in the E51 soft-
ware version parameter.
Ö You have completed the live firmware update.

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12.5 Actions
Actions are functions which are executed by the inverter automatically after their
start.
Actions are controlled and analyzed using special parameters. The parameters
contain three elements.
You can start the action via the element 0 (e.g. A00.0) The element 1 (e.g. A00.1)
shows you the action's progress. Element 2 (e.g. A00.2) shows the result. You
can start an action via every interface (operator panel on the inverter, fieldbus or
POSITool in online mode).
For some actions, power must be applied to the motor and the motor must be free
to turn. For this reason the inverter must be enabled if you want to run these ac-
tions. Other actions can be performed without energizing the motor. Since these
two action groups are executed differently, they will be described separately be-
low.

12.5.1 Actions without enable

Actions which do not need an enable before they can be executed are:
• A00 Save values
• A37 Reset memorized values
Proceed as shown below:

Executing actions without enable

1 Set element 0 of 0 to the value 1 (e.g., A00.0 = 1).

Ö Element 1 indicates the progress of the action (e.g., A00.1 = 33 %).

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2 Wait until element 0 indicates the value 0 again (e.g., A00.0 = 0)
Ö Element 2 indicates the results of the action (e.g., A00.2 = 0:error free).

A00 Save values

When you activate A00.0, the inverter's current configuration and the parameter
values are stored in Paramodule, safe from loss due to a power failure. After pow-
er-off, the inverter starts with the configuration stored in Paramodule.
When it is determined during the saving procedure that the configuration data in
Paramodule and the inverter are identical, only the parameters are stored. This
speeds up the procedure.
You can read the following results from the third element (A00.2):
0: error free
10: write error
11: invalid data
12: write error
14: Warning

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With the results 10 to 12 an error was determined while saving to Paramodule. If

the results occur repeatedly, the Paramodule should be replaced.
Result 14 means that saving was error-free. At the same time it is determined that
the maximum number of approx. 10,000 write cycles has almost been reached.
The Paramodule should be replaced as soon as possible (for the ID no. of the
Paramodule, see the Accessories Chapter in the projecting manuals of the invert-
er).

Information
Do not turn off the power of the control section (devices of the /L ver-
sion: 24 V, devices of the /H version: supply voltage) while the action is
still being executed. Turning off the power while actions are being exe-
cuted will cause data to be lost. The display indicates the fault *Config-
StartERROR parameters lost" or *Paramodul ERROR - Read error. In
such cases, the application must be transferred to the inverter again
(POSITool or Paramodul).

A37 Reset memorized values

The action A37 resets memorized values E33 to E38. The action can be started
in A37.0.
The action offers the following result (A37.2): 0:error free.

12.5.2 Actions with enable

Actions which require that the motors be energized before these actions can be
executed:
• B40 Phase test

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• B41 Autotune motor
• B42 Optimize current controller
• B43 Winding test
• D96 Reference value generator
• B300 Brake test, see chapter 7.7.
• B301 Brake grinding, see chapter 7.8.

Execute

Executing actions with enable

1 Change to the device state Ready for switch on.

2 Set the first element of the action to the value 1 (e.g., B40.0 = 1).
3 Enable the motor.
Ö Element 1 indicates the progress of the action (e.g., B40.1 = 33 %).
4 Wait until element 1 indicates the value 100 % (e.g., B40.1 = 100 %).
5 Turn off the enable.
Ö Element 2 indicates the result of the action (e.g., B40.2 = 0:error free).

ID 442289.01 127
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Service
Operation manual

Please note that since parameter values be determined directly during these ac-
tions, you should perform the action A00 save values afterwards so that the val-
ues are stored safe from loss due to power failure.

B40 Phase test

NOTICE
During this action, the motor shaft will move.
X Make sure that the motor can turn freely during the action!

Activate B40.0 to start the phase test. The phase test can only be used with servo
motors. The test checks to determine whether one phase is mixed up when the
motor was connected or whether the number of motor poles is set correctly. In ad-
dition, the commutation offset is measured.
If a resolver is connected, an amplitude offset of the sine and cosine tracks is per-
formed (improved speed controller performance). This offset is stored directly on
the REA 5001. The action should be performed again when the resolver, the op-
tion board or the cable is replaced.

During activation of the action, the enable must be inactive. If you have started
the action in B40.0, you must activate the enable. After the action was concluded,
you must deactivate the enable again. You can then read the measured commu-
tation offset in B05.

During the action, the cycle time is set internally to 32 msec. When a quick stop
is triggered during the action, the drive is halted immediately.

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You can read the following results from the third element (B40.2):
0: error free: The action was executed without errors and concluded.
1: aborted: The action was aborted by turning off the enable.
2: phase order: It was found that two phases were mixed up.
3: motor poles: The determined number of poles is not the value in B10.
4: commutation offset:The measured commutation offset is not B05.
5: test run: A test run with the measured commutation offset could not be per-
formed.

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Service
Operation manual

B41 Autotuning

NOTICE
During this action, the motor shaft will move.
X Make sure that the motor can turn freely during the action!

Using the action B41 the stator resistance (B53) and stator inductance (B52) are
measured on servo motors. On asynchronous motors Leakage factor (B54) and
Magnetic saturation coefficient (B55) are also determined.

During activation, the enable must be inactive. If you have started the action in
B41.0, you must activate the enable. After the action was concluded, you must
deactivate the enable again. You can then read the measured values (B52 to
B55).

During the action, the cycle time is set internally to 32 msec.

You can read the following results from the third element (B41.2):
0: error free: The action was executed without errors and concluded.
1: abortedn: The action was aborted by turning off the enable.

B42 Optimize current controller

NOTICE
During the action, the motor turns at approx. 2000 Rpm.
X For this reason ensure the motor and the mechanism coupled to it are allowed

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to be operated at this speed and can rotate freely!
X During the action, you hear clicking noises at regular intervals. The action
takes approx. 20 minutes.

NOTICE
Danger due to delayed shut-down.
X If you have enable the action via local operation, the action can only be inter-
rupted with a very long delay by deactivating the enable!

When you start the action, the parameters of the current controller are specified
again (B64 to B68).

ID 442289.01 129
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Service
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During activation, the enable must be inactive. If you have started the action in
B42.0, you must activate the enable. After the action was concluded, you must
deactivate the enable again. You can then read the measured values in B64 to
B68.

If a quick stop request occurs during the action, the drive is halted immediately.
For the duration of the action, the cycle time is set internally to 32 msec.

You can read the following results from the third element (B42.2):
0: error free: The action was executed without errors and concluded.
1: aborted: The action was aborted by turning off the enable.

B43 Winding test

NOTICE
During this action, the motor shaft will move.
X Make sure that the motor can turn freely during the action!

When you start the action, the symmetry of the ohmic resistors of the motor wind-
ings are checked.

During activation, the enable must be inactive. If you have started the action in
B43.0, you must activate the enable. After the action was concluded, you must
deactivate the enable again.

During the action, the cycle time is set internally to 32 msec.

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You can read the following results from the third element (B43.2):
0: error free: The action was executed without errors and concluded.
1: aborted: The action was aborted by turning off the enable.
2: R_SYM_U: The resistance of phase U differs significantly from that of the other
phases.
3: R_SYM_V: Same as 2
4: R_SYM_W: Same as 2
5: POLAR_SYM_U: An asymmetry was determined when the polarity changed.
6: POLAR_SYM_V: Same as 5
7: POLAR_SYM_W: Same as 5
Results 5 to 7 are usually an indication of an inverter error.

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Service
Operation manual

Optimize B45 SLVC-HP

WARNING!
Risk of injury due to high speeds!
The action accelerates the motor up to twice its nominal speed.
X Only perform this action when the motor is adequately fastened. Secure
feather keys, etc.
X Make sure that any mechanical systems (gear units, etc.) that are attached
can reach these speeds.

NOTICE
Unsuitable optimization results!
The results are falsified if the action is performed with a loaded motor.
X If possible, only perform the action when the motor is not connected to a me-
chanical system (gear units, etc.).
X If it is not possible to disconnect the mechanical system, make sure that the
load torque is not more than 10 % of the nominal torque.

The action optimizes the following parameters:

• B46 Feedback SLVC-HP,
• B47 P-gain SLVC-HP and
• B48 I-Gain SLVC-HP.

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The enable must be inactive during activation. If you have started the action in
B45.0, you must activate the enable. If the action has completed, the enable must
be deactivated again. The result of the action can be read after removing the en-
able in B46, B47 & B48.

Note that the result is more accurate if you fit the motor with an encoder for this
action. This is possible for initial commissioning of a machine series, for example.
In this case, mount and connect the encoder, set control mode B20 = 2:vector
control and parameterize the encoder. Now perform the action. After you have the
dismantled the encoder, set control mode B20 = 3:SLVC-HP again.

ID 442289.01 131
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Service
Operation manual

D96 Reference value generator

NOTICE
During this action, the motor shaft will move.
X Make sure that the motor can turn freely during the action!

When you start the action, a square-shaped reference value is specified for the
motor. You can parameterize the reference value in D93 to D95.

During activation, the enable must be inactive. If you have started the action in
D96.0, you must activate the enable.
The action can only be concluded by turning off the enable and quick stop! With
a quick stop signal, the drive is halted immediately.
During the action, the cycle time is set internally to 32 msec.

You can read the following result from the third element (D96.2):
1: aborted: The action was aborted by turning off the enable.

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ID 442289.01 132
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Diagnosis
Operation manual

13 Diagnosis
13.1 LED
The LEDs on the front of the inverter give you a quick overview of the state of the
inverter. A green and a red LED which light up in different combinations and fre-
quencies provide information on the device's status based on the following table.
The extra, blue LED provides information on remote maintenance.

IGB ERROR RUN

(blue) (red) (green)
Fig. 13-1: LED auf der Frontseite

LEDs State of the inverter

ERROR (red) OFF No power
RUN (green) OFF
ERROR (red) OFF / ON Device initialization (startup phase)
or data action (A00 is active).
RUN (green) Flashing at 8 Hz Paramodul is not installed correctly.

ERROR (red) OFF Ready for operation

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(not enabled)
RUN (green) Flashing at 1 Hz
ERROR (red) OFF Operation (enabled)

RUN (green) ON
ERROR (red) Flashing at 1 Hz Warning

RUN (green) ON or flashing

ERROR (red) ON Fault

RUN (green) OFF

ERROR (red) Flashing at 8 Hz No configuration active

RUN (green) OFF

ID 442289.01 133
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Diagnosis
Operation manual

LEDs State of the inverter

Remote main- OFF Remote maintenance not desired.
tenance (blue)
Remote main- Repeated, light- Connection to teleserver is being es-
tenance (blue) ning-like light tablished.
Remote main- Regular Inverter is waiting for the connection
tenance (blue) flashing to POSITool.
Remote main- Permanently on Connection is completely estab-
tenance (blue) lished and remote maintenance can
begin.

13.2 Display
The display gives the user a detailed response message on the state of the invert-
er. In addition to the indication of the parameters and events, the device states are
shown.
The display permits an initial diagnosis without additional aids.

13.2.1 General

After the self-test of the inverter, the operation indication appears on the display.
Depending on the configuration and the current device state, the first and second
line of the display may differ from what is shown in the example. Im Picture shows
the configuration fast ref. value in the device state enabled. See chap. 3 for device
states.

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If no axis is active, this is indicated with an asterisk (*). The active axis is then
shown when it differs from axis no. 1. Only for active brake chopper or active
local mode does the appropriate symbol appear on the display.
Speed Current

3000 rpm 1.3A

4: Enabled

Device state Brake chopper

active
Axis no. 2 active
Fig. 13-2: Display indication

ID 442289.01 134
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Diagnosis
Operation manual

13.2.2 Event Indications

Events
Event indications on the display give the user information on the state of the de-
vice. The event list (chapter 4.4.3) gives you a list of the event indications. The
following event groups exist.

Events

Sequence error
active inactive
recognized
configuration configuration
by CPU

Fig. 13-3: Events

Error during active configuration

Events during active configuration are used to monitor the device during opera-
tion. The reaction to one of these events can be set in four levels - inactive, mes-
sage, warning or fault.
1. When an event is parameterized as a message, it is shown flashing at the bot-
tom of the display. An application is not affected by a message (i.e., the top
part of the display does not change). A message is not acknowledged. It is
queued until the cause disappears.
2. A warning is shown in the top part of the display with the appropriate logo. The
bottom line indicates the flashing event. The upper right corner shows the re-
maining time after which the warning becomes a fault. If the cause disappears

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within this parameterized time, the warning is reset. An application is not af-
fected by a warning.
3. When an event with the level "fault" occurs, the device immediately changes
to the device state "fault reaction." The event appears flashing in the bottom
line of the display. A fault must be acknowledged.

The device provides notes on the cause of some of the events. These events are
marked with a number and appear alternately to the event indicators on the dis-
play. Causes which are not documented with a number in the event description
are only an indication of possible faults. They do not appear on the display.
For additional diagnosis, the occurrence of an event of this group is documented
by incrementing a counter. The fault counters are stored in the parameter group
Z.. An acknowledgment can be programmed on the operator panel or via binary
input for some of these events. These events do not affect communication and
device control. The events can be identified by their consecutive numbering.

ID 442289.01 135
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Diagnosis
Operation manual

Sequence faults recognized by the CPU

The 5th generation of STÖBER inverters includes a digital computer with micro-
processor, memory and I/O modules. When an error occurs which affects this ar-
ea, the device reacts with an indication on the display. At the same time, the
inverter assumes a defined state (power section is turned off). The device must
be turned off and on again before it can return to its normal functionality.
At the same time, device control (menu function) and communication with the in-
verter are not possible. Events of this type are marked on the display with the
character "#".

Inactive configuration…
There are two cases when a configuration is inactive:
1. A fault occurs during device start.
2. The configuration was stopped by POSITool.
Events which will lead to an inactive configuration are marked on the display with
an asterisk (*).

...during device startup

During device startup, configuration and parameters, flags and signal values are
loaded from Paramodul. Afterwards the configuration is started. During both steps
detailed error messages can be generated. When a fault occurs during loading
from Paramodul, "*ParaModuleERROR" appears in the top line. When a fault oc-
curs while the configuration is being started, "*ConfigStrtERROR" appears. These
faults are corrected by turning the device off and on or transferring a configura-
tion.

...after stop by POSITool

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If the configuration was stopped by POSITool, the logo of the company STÖBER
ANTRIEBSTECHNIK appears on the display.

ID 442289.01 136
 13.3 Events
ID 442289.01

13.3.1 31:Short/ground.

Resolution Level Response Fault counter

The hardware short-circuit switch-off is ac- Malfunction The motor continues to coast. The brake chopper Z31
tive. The output current is too high. cuts out. Any existing brakes are engaged if they
were not released via F100 independent of the de-
vice controller.

Possible cause Test Measure Acknowledgement

Interwinding fault Check the motor. Replace the motor. Switch the device on/off
Fault in motor cable Check the cable Replace the cable or programmed acknowl-
edgement
Connection fault Check the connection, e.g. whether V Correct the connection.
or W is connected to PE at X20 U.

13.3.2 32:Short/gr.int

Resolution Level Response Fault counter

An internal test is performed when the con- Malfunction The inverter cannot be enabled. Z32
troller part power supply is switched on. An
existing short-circuit causes a malfunction.

Operation manual
Diagnosis
Possible cause Test Measure Acknowledgement
There is an internal de- — Please contact our service depart- Switch the device on/off
vice fault. ment, see section 1.4 Further support or programmed acknowl-
edgement

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13
 13.3.3 33:Overcurrent
ID 442289.01

Resolution Level Response Fault counter

The total motor current exceeds the permit- Malfunction The motor continues to coast. Any existing brakes Z33
ted maximum value. are engaged if they were not released via F100 in-
dependent of the device controller.

Possible cause Test Measure Acknowledgement

Acceleration times too Extend the ramps. Apply this setting for operation. Switch the device on/off
short or programmed acknowl-
Incorrectly set torque Set smaller values in C03 and C05. Apply this setting for operation. edgement
limits in the C03 and C05
parameters.

Operation manual
Diagnosis
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13
 13.3.4 34:Hardw.fault
ID 442289.01

Resolution Level Response Fault counter

There is a hardware fault. Malfunction The inverter can no longer be enabled. Z34

Cause Description Measure Acknowledgement

1:FPGA Fault when loading the FPGA Please contact our service depart- can not be acknowl-
2:NOV-ST Faulty power stage memory (EE- ment, see section 1.4 Further support edged
PROM)
3:NOV-ST Faulty control part memory (EE-
PROM)
4:Brake1 The controller of the brake 1 is faulty Check the wiring and correct it if nec-
or the 24 V supply is missing at the essary.
brake module.
5:Brake2 The controller of the brake 2 is faulty Check the wiring and correct it if nec-
or the 24 V supply is missing at the essary.
brake module.
11:CurrentMeas The current offset measurement for Please contact our service depart-
the device start-up indicates a devia- ment, see section 1.4 Further support
tion that is too large.

Operation manual
Diagnosis
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13
 13.3.5 35:Watchdog
ID 442289.01

Resolution Level Response Fault counter

The watchdog of the microprocessor is acti- Malfunction The motor continues to coast. The brake chopper Z35
vated. is switched off while the inverter restarts. Any exist-
ing brakes are engaged if they were not released
via F100 independent of the device controller.

Possible cause Test Measure Acknowledgement

The microprocessor is • Check the E191 parameter, it • Set a higher cycle time in the Switch the device on/off
used to capacity or should indicate a value less than A150 parameter. or programmed acknowl-
faulty. 80%. • Wire according to EMC regula- edgement
• Check the wiring for EMC-compli- tions.
ant design.

Operation manual
Diagnosis
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13
 13.3.6 36:High voltage
ID 442289.01

Resolution Level Response Fault counter

The voltage in the intermediate circuit ex- Malfunction The motor continues to coast. The brake chopper Z36
ceeds the permitted maximum (DC link volt- is switched off as long as the malfunction is pres-
age display in E03). ent. Any existing brakes are engaged if they were
not released via F100 independent of the device
controller.

Possible cause Test Measure Acknowledgement

Supply voltage too high Check whether the supply voltage ex- Take measures to adjust the supply Switch the device on/off
ceeds the permitted input voltage. voltage. or programmed acknowl-
No braking resistor con- Check the wiring. Connect a braking resistor. edgement
nected
Brake chopper is deacti- Check whether A22 = 0 is set. Enter the values of the braking resis-
vated tor in the A21, A22 and A23 parame-
ters.
Braking resistor too • Check whether A21 does not Connect a suitable braking resistor.
small or too large reach the permitted value.
• Check whether the resistance is
suitable to dissipate the power
losses arising.
Braking ramps to steep Observe the DC link voltage during a • Extend the braking ramps.
braking procedure, e.g. using a Scope • Connect a suitable braking resis-

Operation manual
recording. tor.

Diagnosis
• Check the application of the DC
link connection.
Brake chopper is faulty Observe the DC link voltage in the Please contact our service depart-
Scope. If this increases to the over- ment, see section 1.4 Further support
voltage limit without hindrance, the
brake chopper is faulty.

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13
 13.3.7 37:Encoder
ID 442289.01

Resolution Level Response Fault counter

Error due to Malfunction The motor always coasts except when U30 Emergency stop is activated. Z37
encoder Caution: The reference is deleted for positioning applications due to the event
37:Encoder. Referencing must be repeated after acknowledgement.
If the encoder is not connected when switching on the control part power supply,
the encoder supply is permanently switched off. Acknowledgement is then only
possible by switching the inverter off and on.

Cause Description Measure Acknowledge-

ment
1:Para<>Encoder Parameterization is not suitable for Check the setting of the H00 parameter. programmed ac-
the connected encoder. knowledgement
2:ParaChgOffOn Parameter change; encoder pa- Save and then switch the device off/on so that the change programmed ac-
rameterization can not be changed is effective. knowledgement
during operation
4:X4 chan.A/Clk Wire break track A/Clock • Check the encoder cable and replace if necessary. programmed ac-
• Please contact our service department, see section knowledgement
5:X4-chan. B/Dat Wire break track B/Data 1.4 Further support programmed ac-
knowledgement
6:X4-chan. 0 Wire break track 0 programmed ac-
knowledgement
7:X4-EnDatAlarm Alarm bit of EnDat® encoder pres- Switch device off/

Operation manual
ent. on

Diagnosis
8:X4-EnDatCRC Errors accumulate during data • Check the connection and shielding of the encoder programmed ac-
transfer. cable. knowledgement
• Reduce the electromagnetic interference.
• Please contact our service department, see section
1.4 Further support

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13
ID 442289.01

Cause Description Measure Acknowledge-

ment
10:Resol.carrier The resolver could not be calibrat- • Check the encoder cable programmed ac-
ed or optimized. • Check whether the specification of the resolver knowledgement
11:X140-undervolt. Incorrect transfer factor matches the specifications of STÖBER ANTRIEB- Switch device off/
STECHNIK. on
• Please contact our service department, see section
12:X140-overvolt. programmed ac-
1.4 Further support
knowledgement
14:resol.failure Wire break • Check the encoder cable programmed ac-
• Please contact our service department, see section knowledgement
1.4 Further support
15:X140 double tr. Different positions are frequently Switch device off/
determined at X120 during dual on
transfer.
16:X120-Busy Encoder has not responded for too • Replace the option board that the encoder is connect- programmed ac-
long; for SSI-slave: No telegram ed to. knowledgement
for 5 ms for enabled drive. • Replace the inverter.
• Please contact our service department, see section
1.4 Further support
17:X140-wire break A wire break was detected at • Check the connected cable (encoder or SSI connec- programmed ac-
X120. tion). knowledgement
• Check the power supply of the SSI encoder or the
source that simulates the SSI signals.
• Make sure that the settings of the SSI master are
matched to the SSI encoder or the source that simu-

Operation manual
lates the SSI signals.

Diagnosis
• Check whether a device is correctly parameterized as
the source of the SSL signals in the SSI Motionbus.
• Check whether the devices in the SSI Motionbus boot
up together.

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13
ID 442289.01

Cause Description Measure Acknowledge-

ment
18:X120-Timeout No cycle signal was detected from • Check the connected cable. programmed ac-
the SSI master. • Check the power supply of the SSI master. knowledgement
• Make sure that the settings of all devices in the SSI
Motionbus are matched to each other.
• Check whether a device is correctly parameterized as
the SSL master in the SSI Motionbus.
• Check whether the devices in the SSI Motionbus boot
up together.
19:X4 double tr. Different positions are frequently • Check the connection and shielding of the encoder programmed ac-
determined at X4 during dual cable. knowledgement
transfer. • Reduce the electromagnetic interference.
20:X4-Busy Encoder has not responded for too • Check the encoder cable programmed ac-
long. • Check whether a suitable encoder is connected. knowledgement
• Please contact our service department, see section
1.4 Further support
21:X4-Wire break A wire break from one or more • Check the encoder cable programmed ac-
tracks was detected. • Please contact our service department, see section knowledgement
1.4 Further support
22:AX5000 Acknowledgement for axis swi- Check the wiring between the inverter and POSISwitch programmed ac-
tchover did not occur. AX 5000. knowledgement
23:AX5000required A POSISwitch AX 5000 was pro- • Match the projection of your hardware. programmed ac-
jected but not connected. • Check the connection of the POSISwitch AX 5000. knowledgement
24:X120-speed B297, G297 or I297 exceeded for • Check the connection and shielding of the encoder programmed ac-

Operation manual
the encoder at X120 cable. knowledgement

Diagnosis
25:X4-speed B297, G297 or I297 exceeded for • Reduce the electromagnetic interference. programmed ac-
the encoder at X4 • Check the parameterization of B297, G297 or I297. knowledgement
• Please contact our service department, see section
1.4 Further support

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13
ID 442289.01

Cause Description Measure Acknowledge-

ment
26:X4-noEnc.found No encoder was found at X4 or a • Correct the connection of the encoder. programmed ac-
wire break was detected at the En- • Check the encoder cable knowledgement
Dat®/SSI encoder. • Correct the power supply of the encoder.
• Check the setting of the H00 parameter.
27:X4-AX5000 gef A functional AX 5000 option was • Check the setting of the H00 parameter. programmed ac-
found at X4 although the incre- • Check the connection of the encoder at the PO- knowledgement
mental encoder or EnDat® encod- SISwitch AX 5000.
er was parameterized or no
EnDat® encoder is connected to
option AX 5000.
28:X4-EnDatfound An EnDat® encoder was detected Check the setting of the H00 parameter. programmed ac-
at X4 although a different encoder knowledgement
was parameterized.
29:AX5000/IncEnc A faulty POSISwitch AX 5000 op- • Replace the AX 5000 option. programmed ac-
tion at X4 or a wire break in the A- • Check the encoder cable of the incremental encoder. knowledgement
track for an incremental encoder
was detected.
30:Opt2 incomp Option 2 is not the latest version. Install the latest version of the option board. programmed ac-
knowledgement
31:X140EnDatAlar The EnDat® encoder at X140 re- • Switch the inverter off and back on again. programmed ac-
ports an alarm. • The encoder is faulty. Please contact our service de- knowledgement
partment, see section 1.4 Further support
32:X140EnDatCRC Errors accumulate during data • Make sure that the correct encoder type is connected. programmed ac-

Operation manual
transfer. The encoder is is not • Check the connection and shielding of the encoder knowledgement

Diagnosis
available. cable.
• Reduce the electromagnetic interference.
• Please contact our service department, see section
1.4 Further support

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13
ID 442289.01

Cause Description Measure Acknowledge-

ment
33:IGB-speed G297 exceeded on the IGB • Check the parameterization of G297. programmed ac-
• Check the producer. knowledgement
• Please contact our service department, see section
1.4 Further support
34:battery low When switching on the inverter, it • Replace the AES battery before the next time the in- programmed ac-
was determined that the voltage of verter is switched off. Note also the Absolute Encoder knowledgement
the battery has fallen below the Support AES operating instructions (see section 1.3
warning limit of the encoder. Refer- Other manuals).
encing of the axis remains intact.
However, the remaining service
life of the backup battery is limited.
35:battery empty When switching on the inverter, it • Referencing the axis. programmed ac-
was determined that the voltage of • Replace the AES battery before the next time the in- knowledgement
the battery has fallen below the verter is switched off. Note also the Absolute Encoder
minimal voltage of the encoder. Support AES operating instructions (see section 1.3
Referencing of the axis has been Other manuals).
deleted. The backup battery is no
longer able to retain the position in
the encoder over the time during
which the inverter in switched off.

Operation manual
Diagnosis
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13
 13.3.8 38:TempDev.sens
ID 442289.01

Resolution Level Response Fault counter

The temperature measured by the device Malfunction The parameterized malfunction reaction in the A29 Z38
sensor exceeds the permitted maximum val- parameter.
ue or has fallen below the permitted mini-
mum value. The permitted temperatures are
saved in the power stage of the inverter.

Possible cause Test Measure Acknowledgement

The ambient/control cab- Correct the ambient temperature of Take suitable measures to match the Switch the device on/off
inet temperatures are the inverter. ambient temperature to the operating or programmed acknowl-
too high or too low. conditions of the inverter. edgement
Fan faulty Switch on the control part power sup- Please contact our service depart-
ply and check whether the fan(s) start ment, see section 1.4 Further support
up.

Operation manual
Diagnosis
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13
 13.3.9 39:TempDev i2t
ID 442289.01

Resolution Level Response Fault counter

The i2t model for the invert- Inactive, message, warning When triggering an event, a current limit initially Z39
er exceeds 100 % thermal or malfunction can be pa- takes place in the servo and vector control control
overload. rameterized in U02 types. At the same time, a fast stop is triggered as
a malfunction when parameterizing in U02. Reduc-
ing the current can cause the fast stop to no longer
perform correctly.

Possible cause Test Measure Acknowledgement

Inverter overloaded Check the load situation of your drive. • Correct the design of the drive. Switch the device on/off
• Check the maintenance condition or programmed acknowl-
of the drive (block, lubrication, edgement
etc.)
Cycle frequency too high Check the load situation of your drive • Reduce B24.
(B24) under consideration of the derating. • Use a drive with a suitable power
rating.

Operation manual
Diagnosis
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13
 13.3.10 40:Invalid data
ID 442289.01

Resolution Level Response Fault counter

A data error was detected when initializing Malfunction The inverter cannot be enabled. Z40
the non-volatile memory.

Cause Description Measure Acknowledgement

1:Error Low level write/read error or timeout. The inverter must be sent in for repair. can not be acknowl-
2:blockMiss unknown data block Please contact our service depart- edged
ment, see section 1.4 Further support
3:dataSecurity Block has no data security.
4:CheckSum Block has a check sum error.
5:R/O Block is r/o.
6:readErr Start-up phase: Block read error
7:blockMiss Block not found
17:Error Low level write/read error or timeout.
18:blockMiss unknown data block
19:dataSecurity Block has no data security.
20:CheckSum Block has a check sum error.
21:R/O Block is r/o.
22:readErr Start-up phase: Block read error
23:blockMiss Block not found.

Operation manual
Diagnosis
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13
ID 442289.01

Cause Description Measure Acknowledgement

32:el. mot-type no name plate data available • For STÖBER standard motor: Switch the device on/off
Please contact our service depart- or programmed acknowl-
ment, see section 1.4 Further sup- edgement
port
• For motor from other manufactur-
ers: Set B06 to 1:arbitrary setting
and manually enter the motor da-
ta.
33:el.typeLim Name plate parameter can not be en- • Check the configuration of the in-
tered (limit value or existence). verter and motor.
• Please contact our service depart-
ment, see section 1.4 Further sup-
port
48:optionBoard2 Error in memory of option 2 for REA The option must be sent in for repair. can not be acknowl-
5000 or REA 5001 and XEA 5000 or edged
XEA 5001.

Operation manual
Diagnosis
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13
 13.3.11 41:Temp.MotorTMS
ID 442289.01

Resolution Level Response Fault counter

Motor temperature sensor Warning and malfunction The parameterized malfunction reaction in the A29 Z41
reports overtemperature can be parameterized in parameter.
(connection clamp X2). U15.

Possible cause Test Measure Acknowledgement

The motor temperature Check whether the motor temperature Connect the cable properly. Switch the device on/off
sensor is not connected. sensor is connected to X2 and wheth- or programmed acknowl-
er the wiring is OK. edgement
The motor is overloaded Check whether the operating condi- • Check and, if necessary, correct
tions have caused the motor to over- the drive design.
heat (load state, ambient temperature • Check whether a blockage
of the motor, etc.). caused overheating.
The KTY evaluation is Your device indicates a HW version of • If the motor allows it, set B38 = 0:
activated although an A- 190 or lower and B38 is set to 1: KTY PTC.
device is not involved. 84-1xx. • Replace the inverter with an A-de-
vice (HW version 200 or higher).

Operation manual
Diagnosis
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151

13
 13.3.12 42:TempBrakeRes
ID 442289.01

Resolution Level Response Fault counter

2
The i t model for the braking resistor ex- Malfunction The parameterized malfunction reaction in the A29 Z42
ceeds 100% load. parameter. Note that this event often results in the
triggering of Event 36: Overvoltage. In this case,
the motor coasts.

Possible cause Test Measure Acknowledgement

The braking resistor may Check whether the load state of the Check the drive configuration. Con- Programmed acknowledge-
not be designed accord- braking resistor has caused overheat- sider a DC link connection or the use ment; acknowledgement by
ing to the application. ing. of a braking resistor with a larger pow- switching of/on is not recom-
er rating. mended as in this case the i2t
model is reset to 80 %. As a re-
sult, there is a risk that the brak-
ing resistor will be damaged.

13.3.13 44:External fault

Resolution Level Response Fault counter

Application-specific or by free program- Malfunction The parameterized malfunction reaction in the A29 parameter. Z44
ming option

Operation manual
Possible cause Test Measure Acknowledgement

Diagnosis
Application-specific or — — Switch the device on/off or pro-
due to free programming grammed acknowledgement
option; can be separate-
ly programmed for each
axis

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13
 13.3.14 45:oTempMot. i2t
ID 442289.01

Resolution Level Response Fault counter

The i2t model for the motor Parameterized as inactive, The parameterized malfunction reaction in the A29 Z45
reaches 100% load. message or warning in U10 parameter.
and U11.

Possible cause Test Measure Acknowledgement

The motor is overloaded Check whether the operating condi- • Take measures to meet the re- Switch the device off/on or pro-
tions have caused the motor to over- quirements for the operating con- grammed acknowledgement.
heat (load state, ambient temperature ditions.
of the motor, etc.). • Rectify any existing blockages.
• If necessary, correct the drive de-
sign.

Operation manual
Diagnosis
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153

13
 13.3.15 46:Low voltage
ID 442289.01

Resolution Level Response Fault counter

A problem with the supply • Cause 1: Parameterized The parameterized malfunction reaction in the A29 Z46
voltage or DC link voltage in U00 and U01 parameter for cause 1 and 2. For cause 3, the mo-
was detected. • Cause 2: Warning with tor always coasts except when U30 Emergency
10 s warning time stop is activated.
• Cause 3: Malfunction

Cause Description Measure Acknowledgement

1:low Voltage The value in E03 DC link voltage has Check whether the supply voltage Can be acknowledged for mal-
fallen below the value parameterized corresponds to the specification. function level by switching the
in A35 Undervoltage limit. device off/on or programmed
2:network phase The line monitoring has detected that Check the line fuse and wiring. acknowledgement.
a phase is missing when the power
stage is switched on.
3:drop in network If the line monitoring detects that the Check whether the supply voltage
line is missing, the load relay is imme- corresponds to the specification or
diately switched off. Normal operation whether there is a power failure.
is maintained. If the line return of the
power stage is still switched on, a mal-
function is triggered after 0.5 s.

Operation manual
Diagnosis
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154

13
 13.3.16 47:TorqueLimit
ID 442289.01

Resolution Level Response Fault counter

The maximum torque permitted for static Can be param- The parameterized malfunction reaction in the A29 Z47
operation is exceeded in the control eterized in U20 parameter.
types of servo control, vector control or and U21
sensorless vector control (E62 act. pos.
T-max, E66 act. neg. T-max). Note that in
many cases, operation at the torque limit
is desirable.

Possible cause Test Measure Acknowledgement

Incorrect parameteriza- Check whether the torque moments in Correct the setting of the parameters Can be acknowledged for mal-
tion E62 and E66 correspond with your in C03, C05, C06, C130 and C230. function level by switching the
projection. device off/on or programmed
Drive overloaded Check the load situation of your drive. Rectify any existing blockages. acknowledgement.

Operation manual
Diagnosis
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155

13
 13.3.17 52:Communication
ID 442289.01

Resolution Level Response Fault counter

Communication malfunction Malfunction Z52

Cause Description Measure Acknowledgement

1:CAN LifeGuard The device detects the Life-Guarding Check the CANOpen master. Switch off/on the Esc key of the
event (master no longer sends any device at the front of the invert-
Remote Transmit Request). er or rising flank of the enable
signal or programmed acknowl-
edgement
2:CAN Sync Error Sync message was not received with- • Make sure that the A201 parame- Switch off/on the Esc key of the
in the timeout period that is calculated ter is correctly set. device at the front of the invert-
from the A201 Cycle Period Timeout • Make sure that the master sends er or rising flank of the enable
as follows: the sync message reliably. signal or programmed acknowl-
• A201≤20 ms: edgement
Timeout period = A201 * 4,
• 20 ms < A201≤ 200 ms:
Timeout period = A201 * 3,
• else: Timeout period = A201 * 2
3:CAN Bus Off The CAN controller in the inverter has • Make sure that the CAN baud rate Switch off/on the Esc key of the
switched off due to critical and repeat- was correctly set. device at the front of the invert-
ed CAN bit timing errors. The CAN • Check the wiring er or rising flank of the enable
controller is restarted after a waiting • Check the bit timing of a different signal or programmed acknowl-
time of 2 s and acknowledgement of CAN subscriber. edgement

Operation manual
the malfunction.

Diagnosis
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156

13
ID 442289.01

Cause Description Measure Acknowledgement

4:PZD-Timeout • Failure of the cyclic data connec- • Check the PLC (RUN switch, set Switch off/on the Esc key of the
tion (PROFIBUS master no longer cycle time). device at the front of the invert-
sends) or connection is faulty or • Check the wiring er or rising flank of the enable
• PROFINET IO controller no lon- signal or programmed acknowl-
ger sends or the connection is edgement
faulty)
5:USS Failure of cyclic data connection Check the USS master. Switch off/on the Esc key of the
(USS). device at the front of the invert-
er or rising flank of the enable
signal or programmed acknowl-
edgement
6:EtherCAT PDO-Ti The inverter did not receive process • Make sure that the A252.x, Switch the device off/on or pro-
data in the time period that was pa- A253.x, A256, A257.x, A258, grammed acknowledgement.
rameterized in A258. A259.x, A260, A261.x, A262.x, Note that an action must also
A263.x, A264.x, A265.x, A266 occur in the controller or the
and A267.x parameters are cor- EtherCAT master for complete
rectly set. acknowledgement.
• Make sure that the timeout value
parameterized in A258 matches
the A150 cycle time (of the invert-
er) and the cycle time of the con-
troller or EtherCAT masters that
were selected.
• Check the wiring
• Check the EtherCat state of the in-

Operation manual
verter and the controller or Ether-

Diagnosis
CAT master.
• Check whether CoE emergency
messages are present in the con-
troller or the EtherCAT master.

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157

13
ID 442289.01

Cause Description Measure Acknowledgement

7:EtherCAT-DcSYN If the inverter is synchronised to Eth- • Check the controller. Switch the device off/on or pro-
erCAT by means of the Distributed • Make sure that the wiring is in ac- grammed acknowledgement.
Clock, the "SYNC 0" synchronisation cordance with electromagnetic in- Note that an action must also
signal is checked by a watchdog. If terference regulations. occur in the controller or the
this SYNC 0 signal remains for a cer- • Replace the ECS 5000. EtherCAT master for complete
tain time (that can not be parameter- • Please contact our service depart- acknowledgement.
ized), this cause is triggered. This ment, see section 1.4 Further sup-
cause can only be triggered for Ether- port
CAT with synchronization by the Dis-
tributed Clock.
8:IGB µC failure The microcontroller for the IGB com- • Check the wiring for EM-compli- Switch the device on/off or pro-
munication has failed. ant design. grammed acknowledgement
• The inverter must be sent in for re-
pair. Please contact our service
department, see section 1.4 Fur-
ther support
9:IGB Lost Frame IGB-Motionbus: The subscriber has • Make sure that all inverters in the Switch the device on/off or pro-
detected the loss of min. 2 consecu- IGB network are switched on. grammed acknowledgement
tive data frames (double error). This • Make sure that all connection ca-
cause can only occur when the IGB bles are plugged in.
state = 3:Motionbus and the motor is
powered.
10:IGB P. LostFr IGB-Motionbus: A different subscriber Switch the device on/off or pro-
has detected a double error and re- grammed acknowledgement
ported this via A163. As a result, this

Operation manual
inverter is also faulty with this cause.

Diagnosis
This cause can only occur when the
IGB state = 3:Motionbus and the mo-
tor is powered.

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158

13
ID 442289.01

Cause Description Measure Acknowledgement

11:IGB Sync Erro The synchronisation within the invert- • Start the configuration in the in- Switch the device on/off or pro-
er is faulty as the configuration was verter. grammed acknowledgement
stopped by POSITool. This cause can • If the result occurs with this cause
only occur when the IGB state = 3:Mo- for a running configuration, the in-
tionbus and the motor is powered. verter must be sent in for repair.
Please contact our service depart-
ment, see section 1.4 Further sup-
port
12:IGB ConfigTim An IGB Motionbus consumer module Adjust the run-time sequence of the Switch the device off/on or pro-
or producer module in the graphical modules, transfer the changed config- grammed acknowledgement.
programming was called up at the uration to the inverter and save it
wrong time. The module was called there. Restart the inverter.
up too early or closed too late. This
cause can only occur when the IGB
state = 3:Motionbus and the motor is
powered.
13:IGBPartnerSyn There is a synchronisation malfunc- Check the inverter that displays event Switch the device on/off or pro-
tion for another subscriber in the IGB 52 with cause 11. grammed acknowledgement
network (see cause 11). This sub-
scriber reported its malfunction via
A163. As a result, this inverter is also
faulty with cause 13. This cause can
only occur when the IGB state = 3:Mo-
tionbus and the motor is powered.

Operation manual
Diagnosis
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13
 13.3.18 55:OptionBoard
ID 442289.01

Resolution Level Response Fault counter

Error when operating with option board. Malfunction The parameterized malfunction reaction in the A29 Z55
parameter.

Cause Description Measure Acknowledgement

1:CAN5000Failure CAN 5000 was detected, installed and • Uninstall and reinstall the option. Switch the device on/off or pro-
failed. • Replace the option. grammed acknowledgement
2:DP5000Failure DP 5000 was detected, installed and
failed.
3:REA5000Failure REA 5000 was detected, installed and
failed.
4:SEA5000failure SEA 5000 was detected, installed and
failed.
5:XEA5000Failure XEA 5000 or XEA 5001 was detected,
installed and failed.
6:InkSim-Init Incremental encoder simulation on
XEA could not be initialized. The mo-
tor may have rotated during initializa-
tion.
7:wrongOption incorrect or missing option board • Install the projected option. Switch device off/on
(seeE54/E58 with E68/E69) • Adjust the projection.
8:LEA5000failure LEA 5000 was detected, installed and • Uninstall and reinstall the option. Switch the device on/off or pro-

Operation manual
failed. • Replace the option. grammed acknowledgement

Diagnosis
9:ECS5000failure ECS 5000 was detected, installed and • Uninstall and reinstall the option. Switch the device on/off or pro-
failed. • Replace the option. grammed acknowledgement
10:24Vfailure Failure of 24V supply for XEA 5001 or Check and, if necessary, correct the Switch device off/on
LEA 5000. 24V supply of the option.

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160

13
ID 442289.01

Cause Description Measure Acknowledgement

11:SEA5001failure SEA 5001 was detected, installed and • Uninstall and reinstall the option. Switch the device on/off or pro-
failed. • Replace the option. grammed acknowledgement
12:REA5001failure REA 5001 was detected, installed and • Uninstall and reinstall the option. Switch the device on/off or pro-
failed. • Replace the option. grammed acknowledgement
13:PN5000 Failure1 PN 5000 was detected, installed and • Check whether the PN 5000 ac- Switch device off/on
failed. Basic hardware tests have de- cessory was correctly installed.
tected an error. • Check whether suitable EMC
14:PN5000 failure2 PN 5000 was detected, installed and measures were taken. Switch device off/on
failed. Basic software tests have de- • Check whether only PROFINET-
tected an error. certified components were con-
nected to the inverter.
15:PN5000 failure3 PN 5000 was detected, installed and Switch device off/on
• Check whether the cabeling and
failed. The watchdog function of the
connections correspond to the
PN-5000 monitoring system has de-
PROFINET standard.
tected an error.
• Contact the service department,
see section 1.4 Further support.
17:opt.2 too old for SDS 5000: Option board with old • Install the projected option. Switch device off/on
hardware version (XEA 5001: from • Adjust the projection.
HW 10, REA 5000: from HW 19)

Operation manual
Diagnosis
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13
 13.3.19 56:Overspeed
ID 442289.01

Resolution Level Response Fault counter

The measured speed is larger than C01 x Malfunction The motor always coasts (from V5.0D) except Z56
1.1 + 100 rpm. when U30 Emergency stop is activated. Any exist-
ing brakes are engaged if they were not released
via F100 independent of the device controller.

Possible cause Test Measure Acknowledgement

Incorrect parameteriza- Check the parameterization of the en- If necessary, correct the parameters. Switch the device on/off or pro-
tion of the encoder coder, e.g. the line number of the in- grammed acknowledgement
cremental encoders.
Lag error too large Use a Scope recording to check Correct the parameters (ramps,
whether the value in E07 is larger than torque limits, etc.).
C01 at the time of the error.
Motor overshoots Use a Scope recording to check the Optimize the parameterization of the
value in E91 is larger than E07 at the speed controller (C31 ,C32).
time of the error.
Incorrect commutation Perform the B40 phase test action. The B40 phase testaction must be in
offset for the encoder of accordance with specifications.
a servo motor
Encoder faulty Check whether a speed that clearly The motor must be sent in for repair.
differs to zero is displayed in E91 dur- Please contact our service depart-
ing a motor standstill. ment, see section 1.4 Further support

Operation manual
Diagnosis
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162

13
 13.3.20 57:Runtime usage
ID 442289.01

Resolution Level Response Fault counter

The cycle time of a real time cycle was Malfunction The parameterized malfunction reaction in the A29 Z57
exceeded. parameter.

Cause Description Measure Acknowledgement

2:RT2 Cycle time of real time task 2 exceed- The inverter must be sent in for repair. Switch the device on/off or pro-
ed (1 ms). Please contact our service depart- grammed acknowledgement
ment, see section 1.4 Further support
3:RT3 Cycle time of real time task 3 exceed- Set a higher cycle time in A150.
ed (technology task).
4:RT4 Cycle time of real time task 4 exceed-
ed (32 ms).
5:RT5 Cycle time of real time task 5 exceed-
ed (256 ms).

Operation manual
Diagnosis
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163

13
 13.3.21 58:Grounded
ID 442289.01

Resolution Level Response Fault counter

Unbalanced motor currents were detect- Malfunction The motor continues to coast. Any existing brakes Z58
ed. This involves a hardware from the are engaged if they were not released via F100 in-
power stage for MDS 5000 size 3 or SDS dependent of the device controller. The brake
5000 size 3. chopper is switched off as long as the malfunction
is present.

Possible cause Test Measure Acknowledgement

Ground fault in motor Check the motor. Replace the motor. Switch the device on/off or pro-
Fault in motor cable Check the cable. Replace the cable grammed acknowledgement

Connection fault Check the connection, e.g. whether V Correct the connection.
or W is connected to PE at X20 U.

13.3.22 59:TempDev. i2t

Resolution Level Response Fault counter

The i2t
model calculated for the inverter Malfunction The parameterized malfunction reaction in the A29 Z59
exceeds 105% of thermal load. parameter.

Possible cause Test Measure Acknowledgement

Operation manual
Inverter overloaded Check the load situation of your drive. • Reduce any existing loads (lubri- Switch the device on/off or pro-
cations, blockages, etc.). grammed acknowledgement

Diagnosis
• Use a drive with a suitable power
rating.
Cycle frequency too high Check the load situation of your drive • Reduce B24.
under consideration of the derating. • Use a drive with a suitable power
rating.

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164

13
 13.3.23 60-67:Application events 0-7
ID 442289.01

Resolution Level Response Fault counter

Application-specific or due to free pro- Can be param- The parameterized malfunction reaction in the A29 Z60 to Z67
gramming option; can be separately pro- eterized in the parameter.
grammed for each axis U100, U110,
• Message/warning: Evaluation occurs U120, etc. up
in 256 ms cycle. to U170 sys-
• Malfunction: Evaluation occurs in pa- tem parame-
rameterized cycle time (A150) ters.

Possible cause Test Measure Acknowledgement

Application-specific or — — Switch the device on/off or pro-
due to free programming grammed acknowledgement
option; can be separate-
ly programmed for each
axis

13.3.24 68: External fault

Resolution Level Response Fault counter

Application-specific or by free program- Malfunction The parameterized malfunction reaction in the A29 Z68
ming option; should be used for applica- parameter.
tion events that may only be

Operation manual
parameterized on the malfunction level.

Diagnosis
Possible cause Test Measure Acknowledgement
Application-specific or by — — Switch the device on/off or pro-
free programming option grammed acknowledgement

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165

13
 13.3.25 69:Motor connect.
ID 442289.01

Resolution Level Response Fault counter

Motor connection error Can be parameterized as in- The parameterized malfunction reaction in the A29 Z69
active or malfunction in U12 parameter.

Cause Description Measure Acknowledgement

1:motorNotDiscon The protection did not open during the Replace the protection. Switch the device on/off or pro-
axis change. This cause can only be grammed acknowledgement
determined when at least two phases
stick and the intermediate circuit is
loaded (see E03).
2:no motor Possibly no motor connected or the Check the connection of the motor.
line to the motor is interrupted.

Operation manual
Diagnosis
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13
 13.3.26 70:Param.consist
ID 442289.01

Resolution Level Response Fault counter

Conflicting parameterization. Malfunction A malfunction is only triggered when enabled for Z70
faulty parameterization.

Cause Description Measure Acknowledgement

1:Encoder type The B20 control type is set to servo Correct the parameterization. Switch the device on/off or pro-
but no corresponding encoder is se- grammed acknowledgement
lected (B26, H.. parameter).
2:X120-direction X120 is used as the source in a pa- Correct the parameterization.
rameter but is parameterized in H120
as a drain (or vice-versa).
3:B12<->B20 B20 control type is not set to the servo Correct the parameterization. Switch the device on/off or pro-
but the rated motor current (B12) ex- grammed acknowledgement
ceeds the 4 kHz rated current (R24) of
the device by more than 1.5x.
4:B10<->H31 The set motor pole number (B10) and Correct the parameterization. Switch the device on/off or pro-
the resolver pole number (H31) do not grammed acknowledgement
match.
5:neg. slip When using the control types U/f, Correct the parameterization. Switch the device on/off or pro-
SLVC or Vector Control (B20): Control grammed acknowledgement
type set to "ASM": The values for the
rated motor speed (B13), rated motor

Operation manual
frequency (B15) and motor pole num-

Diagnosis
ber (B10) result in a negative slip-
page.
6:Torque limit When using the values entered in C03 Correct the parameterization. Switch the device on/off or pro-
or C05, the maximum current of the grammed acknowledgement
inverter is exceeded. Enter lower
torque limits.

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167

13
ID 442289.01

Cause Description Measure Acknowledgement

7:B26:SSI-Slave SSI slave must not be used as a mo- Correct the parameterization. Switch the device on/off or pro-
tor encoder (synchronisation prob- grammed acknowledgement
lems).
8:C01>B83 C01 must not be larger than B83. Correct the parameterization. Switch the device on/off or pro-
grammed acknowledgement
9:E102/E103 faulty An attempt was made to apply a mas- Correct the parameterization. Switch the device on/off or pro-
ter position via the IGB but the re- grammed acknowledgement
quired E102 and E103 parameters
are not available.
10: G104<->G27 A master position is sent via the IGB Correct the parameterization. Switch the device on/off or pro-
Motionbus (i.e. G104 is not set to 0:in- grammed acknowledgement
active ) but the 0:inactive and 6:IGB
settings valid for this case could not
be detected in G27.

Operation manual
Diagnosis
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13
 13.3.27 71:Firmware
ID 442289.01

Resolution Level Response Fault counter

A firmware error was detected. Malfunction Causes 1 and 2 only occur when the device starts Z71
so that the inverter can not be enabled. Cause 3
can also occur during operation.

Cause Description Measure Acknowledgement

1:FW defective Only for SDS 5000: An active firm- Reload the firmware using the POSI- Switch device off/on
ware error was detected or faulty firm- Tool software. Also note the Service
ware was detected in the firmware section.
download memory.
2:Activate FW! Only for SDS 5000: The firmware was Activate the firmware and perform a
loaded into the inverter but not yet ac- device restart. Also note the Service
tivated. section.
3:CRC error A firmware error was detected. Switch off the 24V supply and switch it
on again. If the error occurs repeated-
ly, contact our service department,
see section 1.4 Further support

Operation manual
Diagnosis
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13
 13.3.28 72:Brake test
ID 442289.01

Resolution Level Response Fault counter

For active brake manage- Message until the time set in This malfunction only occurs with the enable Z72
ment in the SDS 5000, the B311Timeout for brake switched off.
time set in B311 has testB300 has elapsed twice
elapsed without the B300 and afterwards a malfunc-
Brake test action having tion occurs.
been performed.

Cause Description Measure Acknowledgement

1:B311Timeout The time entered in B311 Timeout for Perform the B300 Brake test action. For the Malfunction level, the
brake test B300 has elapsed twice event can be acknowledged for
without the B300 Brake test action a duration of 5 minutes to be
having been performed. able to perform the B300 Brake
2:brakeDefective When performing the brake test ac- • Perform the brake grinding func- test action. If this time elapses
tion, the holding torque entered in tion and then the brake test. without the B300 Brake test ac-
B304 or B305 could not be applied or • The motor must be sent in for re- tion being successfully per-
the encoder test run included in the pair. Please contact our service formed, the inverter changes to
brake test was completed with errors. department, see section 1.4 Fur- the Malfunction state again. If
ther support the B300 Brake test action is
successfully performed, the
event is automatically acknowl-
edged.

Operation manual
Diagnosis
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13
 13.3.29 73:Ax2braketest
ID 442289.01

Resolution Level Response Fault counter

For active brake manage- Message until the time set in This malfunction only occurs with the enable Z73
ment in the SDS 5000, the B311Timeout for brake switched off.
time set in B311 has testB300 has elapsed twice
elapsed without the B300 and afterwards a malfunc-
Brake test action with active tion occurs.
axis 2 having been per-
formed.

Cause Description Measure Acknowledgement

1:B311Timeout The time entered in B311 Timeout for Perform the B300 Brake test action. For the Malfunction level, the
brake test B300 has elapsed twice event can be acknowledged for
without the B300 Brake test action a duration of 5 minutes to be
with active axis 2 having been per- able to perform the B300 Brake
formed. test action. If this time elapses
2:brakeDefective When performing the brake test action • Perform the brake grinding func- without the B300 Brake test
with active axis 2, the holding torque tion and then the brake test. with active axis 2 being suc-
entered in B304 or B305 could not be • The motor must be sent in for re- cessfully performed, the invert-
applied or the encoder test run includ- pair. Please contact our service er changes to the Malfunction
ed in the brake test was completed department, see section 1.4 Fur- state again. If the B300 Brake
with errors. ther support test action is successfully per-
formed, the event is automati-
cally acknowledged.

Operation manual
Diagnosis
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13
 13.3.30 74:Ax3braketest
ID 442289.01

Resolution Level Response Fault counter

For active brake manage- Message until the time set in This malfunction only occurs with the enable Z74
ment in the SDS 5000, the B311Timeout for brake switched off.
time set in B311 has testB300 has elapsed twice
elapsed without the B300 and afterwards a malfunc-
Brake test action with active tion occurs.
axis 3 having been per-
formed.

Cause Description Measure Acknowledgement

1:B311Timeout The time entered in B311 Timeout for Perform the B300 Brake test action. For the Malfunction level, the
brake test B300 has elapsed twice event can be acknowledged for
without the B300 Brake test action a duration of 5 minutes to be
with active axis 3 having been per- able to perform the B300 Brake
formed. test action. If this time elapses
2:brakeDefective When performing the brake test action • Perform the brake grinding func- without the B300 Brake test
with active axis 3, the holding torque tion and then the brake test. with active axis 3 being suc-
entered in B304 or B305 could not be • The motor must be sent in for re- cessfully performed, the invert-
applied or the encoder test run includ- pair. Please contact our service er changes to the Malfunction
ed in the brake test was completed department, see section 1.4 Fur- state again. If the B300 Brake
with errors. ther support test action is successfully per-
formed, the event is automati-
cally acknowledged.

Operation manual
Diagnosis
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13
 13.3.31 75:Ax4braketest
ID 442289.01

Resolution Level Response Fault counter

For active brake manage- Message until the time set in This malfunction only occurs with the enable Z75
ment in the SDS 5000, the B311Timeout for brake switched off.
time set in B311 has testB300 has elapsed twice
elapsed without the B300 and afterwards a malfunc-
Brake test action with active tion occurs.
axis 4 having been per-
formed.

Cause Description Measure Acknowledgement

1:B311Timeout The time entered in B311 Timeout for Perform the B300 Brake test action. For the Malfunction level, the
brake test B300 has elapsed twice event can be acknowledged for
without the B300 Brake test action a duration of 5 minutes to be
with active axis 4 having been per- able to perform the B300 Brake
formed. test action. If this time elapses
2:brakeDefective When performing the brake test action • Perform the brake grinding func- without the B300 Brake test
with active axis 4, the holding torque tion and then the brake test. with active axis 4 being suc-
entered in B304 or B305 could not be • The motor must be sent in for re- cessfully performed, the invert-
applied or the encoder test run includ- pair. Please contact our service er changes to the Malfunction
ed in the brake test was completed department, see section 1.4 Fur- state again. If the B300 Brake
with errors. ther support test action is successfully per-
formed, the event is automati-
cally acknowledged.

Operation manual
Diagnosis
WE KEEP THINGS MOVING
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13
 13.3.32 #004:illeg.Instr
ID 442289.01

Resolution Level Response

An unknown operation code was detected. Malfunction The motor coasts, the microprocessor is stopped and all device
functions are inoperable.

Possible cause Test Measure Acknowledgement

Error in code memory Reestablish the operating conditions • Reload the application in the in- Switch inverter off/on
(bit dumped, perma- at the time of the error and check verter and save it.
nent). whether the error occurs again. • Perform a firmware upgrade.
EMC error: Check the wiring for EMC-compliant Wire according to EMC regulations.
design.

13.3.33 #006:illSlotInst

Resolution Level Response

An invalid operation code was detected after Malfunction The motor coasts, the microprocessor is stopped and all device
a jump command. functions are inoperable.

Possible cause Test Measure Acknowledgement

Error in code memory Reestablish the operating conditions • Reload the application in the in- Switch inverter off/on
(bit dumped, perma- at the time of the error and check verter and save it.
nent). whether the error occurs again. • Perform a firmware upgrade.

Operation manual
EMC error: Check the wiring for EMC-compliant Wire according to EMC regulations.

Diagnosis
design.

WE KEEP THINGS MOVING

174

13
 13.3.34 #009:CPU AddrErr
ID 442289.01

Resolution Level Response

The address for data access is invalid. Malfunction The motor coasts, the microprocessor is stopped and all device
functions are inoperable.

Possible cause Test Measure Acknowledgement

Error in code memory Reestablish the operating conditions • Reload the application in the in- Switch inverter off/on
(bit dumped, perma- at the time of the error and check verter and save it.
nent). whether the error occurs again. • Perform a firmware upgrade.
EMC error: Check the wiring for EMC-compliant Wire according to EMC regulations.
design.

13.3.35 #00c:StackOverfl

Resolution Level Response

A stack that is too small was detected. Malfunction The motor coasts, the microprocessor is stopped and all device
functions are inoperable.

Possible cause Test Measure Acknowledgement

Error in code memory Reestablish the operating conditions • Reload the application in the in- Switch inverter off/on
(bit dumped, perma- at the time of the error and check verter and save it.
nent). whether the error occurs again. • Perform a firmware upgrade.

Operation manual
EMC error: Check the wiring for EMC-compliant Wire according to EMC regulations.

Diagnosis
design.

WE KEEP THINGS MOVING

175

13
 13.3.36 *ParaModul ERROR:update firmware!
ID 442289.01

Resolution Level Response

The versions of configuration and firmware — The configuration does not start.
do not match.

Possible cause Test Measure Acknowledgement

Old firmware version — Apply a suitable configuration or firm- —
ware.

13.3.37 *ParaModul ERROR: file not found

Resolution Level Response

The Paramodule file can not be read. — The configuration does not start.

Possible cause Test Measure Acknowledgement

May have been switched — • Apply a suitable configuration via —
off during the A00 action. POSITool and then save it (A00)
• Attach a suitable Paramodule.
Faulty or unformatted — Replace the Paramodule. —
Paramodule

Operation manual
Diagnosis
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176

13
 13.3.38 *ParaModul ERROR: Checksum error
ID 442289.01

Resolution Level Response

A checksum error was detected when load- — The configuration does not start.
ing from the Paramodule.

Possible cause Test Measure Acknowledgement

Memory bit dumped. — Apply a suitable configuration via —
POSITool and then save it (A00)

13.3.39 *ParaModul ERROR: ksb write error

Resolution Level Response

An error was detected when writing the con- — The configuration does not start.
figuration in the configuration memory.

Possible cause Test Measure Acknowledgement

Faulty flash memory. — Replace the Paramodule. —
The configuration is too • Apply a suitable configuration via
large for the configura- POSITool and then save it (A00)
tion memory. • Replace the Paramodule.

Operation manual
Diagnosis
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13
 13.3.40 *ConfigStartERROR parameters lost
ID 442289.01

Resolution Level Response

No parameter values are saved in the Para- — The configuration does not start.
module.

Possible cause Test Measure Acknowledgement

The control part was — • Apply a suitable configuration via —
switched off while A00 POSITool and then save it (A00)
was active. • Replace the Paramodule.

13.3.41 *ConfigStartERROR remanents lost

Resolution Level Response

No flag values are saved. — The configuration does not start.

Possible cause Test Measure Acknowledgement

The A00 Save values ac- — • Apply a suitable configuration via —
tion was not performed. POSITool and then save it (A00)
• Replace the Paramodule.

Operation manual
Diagnosis
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13
 13.3.42 *ConfigStartERROR unknown block
ID 442289.01

Resolution Level Response

The versions of configuration and firmware — The configuration does not start.
do not match.

Possible cause Test Measure Acknowledgement

The configuration saved in the — Apply a suitable configuration or firm- —
Paramodule originates from a ware via POSITool.
newer inverter firmware that
recognises more system mod-
ules.

13.3.43 *ConfigStartERROR unknown string

Resolution Level Response

The versions of configuration and firmware — The configuration does not start.
do not match.

Possible cause Test Measure Acknowledgement

The configuration saved in the — Apply a suitable configuration or firm- —
Paramodule originates from a ware via POSITool.
newer inverter firmware that

Operation manual
recognises more texts (e.g.

Diagnosis
name of the system standard
module parameters).

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179

13
 13.3.44 *ConfigStartERROR unknown scale
ID 442289.01

Resolution Level Response

The versions of configuration and firmware — The configuration does not start.
do not match.

Possible cause Test Measure Acknowledgement

The configuration saved in the — Apply a suitable configuration or firm- —
Paramodule originates from a ware via POSITool.
newer inverter firmware that
recognises more scaling func-
tions.

13.3.45 *ConfigStartERROR unknown limit

Resolution Level Response

The versions of configuration and firmware — The configuration does not start.
do not match.

Possible cause Test Measure Acknowledgement

The configuration saved in the — Apply a suitable configuration or firm- —
Paramodule originates from a ware via POSITool.
newer inverter firmware that

Operation manual
recognises more limit value

Diagnosis
functions.

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180

13
 13.3.46 *ConfigStartERROR unknown post-wr
ID 442289.01

Resolution Level Response

The versions of configuration and firmware — The configuration does not start.
do not match.

Possible cause Test Measure Acknowledgement

The configuration saved in the — Apply a suitable configuration or firm- —
Paramodule originates from a ware via POSITool.
newer inverter firmware that
recognises more PostWrite
functions.

13.3.47 *ConfigStartERROR unknown pre-rd

Resolution Level Response

The versions of configuration and firmware — The configuration does not start.
do not match.

Possible cause Test Measure Acknowledgement

The configuration saved in the — Apply a suitable configuration or firm- —
Paramodule originates from a ware via POSITool.
newer inverter firmware that

Operation manual
recognises more Pre-read

Diagnosis
functions (mapping of firmware
parameters to configuration pa-
rameters).

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181

13
 13.3.48 *ConfigStartERROR unknown hiding
ID 442289.01

Resolution Level Response

The versions of configuration and firmware — The configuration does not start.
do not match.

Possible cause Test Measure Acknowledgement

The configuration saved in the — Apply a suitable configuration or firm- —
Paramodule originates from a ware via POSITool.
newer inverter firmware that
knows more hide functions
(hide parameters that should
be visible depending on other
parameters).

13.3.49 no configuration paramodul error

When displaying no configuration paramodule error, the device start-up is ended and an error was detected by the Paramodule during start-up.
Note also the events in section 13.3.36 *ParaModul ERROR:update firmware! to 13.3.39 *ParaModul ERROR: ksb write error
Alternating to the event display, STÖBER ANTRIEBSTECHNIK appears.

13.3.50 no configuration start error

When displaying no configuration start error, the device start-up is ended and an error was detected when starting the configuration. Note also

Operation manual
the events in section 13.3.40 *ConfigStartERROR parameters lost to 13.3.48 *ConfigStartERROR unknown hiding

Diagnosis
Alternating to the event display, STÖBER ANTRIEBSTECHNIK appears.

13.3.51 configuration stopped

When displaying configuration stopped, the current configuration was stopped. Apply a configuration or switch the inverter off and on again so
that the previous configuration can be loaded from the Paramodule.

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13
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Technische Änderungen vorbehalten

Errors and changes excepted
ID 442289.01
11/2011

442289.01