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LENZE I950 MANUAL

Table of Contents
Table of Contents
Document description
Further documents
Notations and conventions
Basic safety instructions
Application as directed
Residual hazards
Identification of the products
Product codes
 Nameplates
Features
Important notes
Operating interfaces
Engineering tool »EASY Starter
Generate a connection between inverter and »EASY Starter
General information on parameter setting
Addressing of the parameters
Structure of the parameter descriptions
Parameter overview lists
Favourites
Configuring the "Favourites

Commissioning
Saving the parameter settings
Save parameter settings with »EASY Starter
Device name
Mains voltage
Function assignment of the inputs and outputs (default setting)
Motor data
Select motor from motor catalogue
Manual setting of the motor data
Motor control mode
Kinematic settings
Mass inertia (load/motor)
Torque feedforward control
Motor/encoder mounting direction
Motor/encoder gearbox ratio
Motor/encoder feed constant
 Motor/encoder travel ranges and cycle length
Virtual mode
Motion settings
Quick stop
Halt
Following error monitoring
Target position detection
Motor/encoder standstill detection
Conditioning of the encoder signal
Behaviour in the event of inverter disable
Control modes
Manual jog (inching mode)
Homing
Homing modes
Digital input for reference switch
Motor/encoder behaviour after mains switching
Limitations
Torque limits
Maximum values for travel profiles
Hardware limit switches
Software limit switches
Safety limits
Status signals
Defining control sources
Source of quick stop
Source of error reset
Source of digital output 1
Source of monitoring signal
System bus communication
Inputs
 Outputs
Master value output
Source of touch probe time stamp
Distribution of the master values by the master
Example: System bus master is master value master
Example: System bus slave is master value master
Example: Using time stamp of another axis

Control settings
Interface
Control signals
Status signals
Simulation of the interface
Assignment of control signals and status signals
Master value sources
System bus
Feedback system for the technology application
Virtual master
Simulation of the virtual master
Speed via analog input 1
External master values

Position trimming and position offset

Position offset from master
Position synchronism
Position clutch
Path-controlled clutch
Time-controlled clutch
Travel profile-based clutch
Asynchronous clutch
Master value correction (register control)
Mark window and mark register
 Mark failure detection
Position correction
Gearbox factor correction
Tool correction
Mark window and mark register
Mark failure detection
Position correction
Signal flow
Master value selection and master value correction
Position synchronism
Tool correction
Control selection
Basic setting
Following error detection and in-position detection
Interpolation
Operating mode "CiA 402 Cyclic sync position mode (csp)
Default mapping
Signal flow
Control commands and status information
Process input data (CiA 402 objects)
Process output data (CiA 402 objects)
Monitoring the position error
Position detection with touch probe (TP)
Default mapping
General mode of operation
Filtering of the touch probe signal
Compensation of runtime delays
Touch probe control word
 Touch probe status word
Extension for the digital inputs DI3 and DI4
Detected time stamp and positions
Setpoint diagnostics
Basic setting
Operating mode "CiA 402 Velocity mode (vl)
Default mapping
Signal flow (servo control)
Signal flow (V/f characteristic control)
Operating mode "CiA 402 Cyclic sync velocity mode (csv)
Default mapping
Signal flow (servo control)
Signal flow (V/f characteristic control)
Control commands and status information
Process input data (CiA 402 objects)
Process output data (CiA 402 objects)
Monitoring the speed deviation
Basic setting
Torque limits
Speed limitation
Operating mode "CiA 402 Cyclic sync torque mode (cst)
Default mapping
Signal flow
Control commands and status information
Process input data (CiA 402 objects)
Process output data (CiA 402 objects)
Setpoint diagnostics
Configure feedback system for motor control
 General settings
Resolver settings
Resolver error compensation
Encoder settings
SinCos encoder
SinCos absolute value encoder with HIPERFACE® protocol
SSI encoder
Evaluation of the signal quality
Detection of changed settings of the feedback system
Diagnostics
Second feedback system for the techology application
General settings
Resolver settings
Resolver error compensation
Encoder settings
SinCos encoder
SinCos absolute value encoder with HIPERFACE® protocol
SSI encoder
Evaluation of the signal quality
Detection of changed settings of the feedback system
Diagnostics
Encoder: Evaluation of safely speed and position
Synchronous motor: Pole position identification (PPI)
Monitoring the pole position identification
Pole position identification (PPI) 360
Pole position identification (PPI) with minimum movement
Pole position identification (PPI) without movement
Servo control for synchronous motor (SC-PSM)
Required commissioning steps
Servo control for asynchronous motor (SC-ASM)
 Required commissioning steps
Sensorless control for synchronous motor (SL-PSM)
V/f characteristic control for asynchronous motor (VFC open loop)
Required commissioning steps
Basic setting
Define V/f characteristic shape
Linear V/f characteristic
Square-law V/f characteristic
User-definable V/f characteristic
Activate voltage vector control (Imin controller)
Set voltage boost
Set load adjustment
Set slip compensation
Set oscillation damping
Optimising the stalling behaviour
Flying restart circuit
Parameterisable motor functions
DC braking
Short-circuit braking
Holding brake control
Basic setting
Brake holding load
Torque feedforward control
Manual brake control
Options for optimising the control loops
Automatic motor identification (energized)
Tuning of the motor and the speed controller
Inverter characteristic
Compensating for inverter influence
Extended settings for identification
 Load standard inverter characteristic
Motor equivalent circuit diagram data
Motor control settings
Speed controller
Current controller
ASM field controller
ASM field weakening controller
ASM field weakening controller (extended)
PSM field weakening controller
Imax controller
Flying restart controller
Position controller
Fine adjustment of the motor model
Correction of the stator leakage inductance (Lss)
Synchronous motor (SM): Compensate temperature and current
influences
Asynchronous motor (ASM): Identify Lh saturation characteristic
Estimate optimum magnetising current
Parameterise filter elements in the setpoint path
Jerk limitation
Notch filter (band-stop filter)
Motor protection
Motor overload monitoring (i²*t)
Parameters for the thermal model
Speed-dependent evaluation of the motor current
UL 508-compliant motor overload monitoring
Motor temperature monitoring
Individual characteristic for motor temperature sensor
Overcurrent monitoring
Motor phase failure detection
Motor speed monitoring
Frequency and speed limitations
Testing the motor control
General settings for test modes
Manual "tension/frequency" test mode
Manual "current/frequency" test mode
Manual "current pulse" test mode
Configure digital inputs
Configure analog inputs
Analog input 1
Configure digital outputs
Digital output 1
Basic setting
NTP server addresses
Diagnostics
Device profile CiA
Supported operating modes
Basic setting
Process input data
Process output data
Commands for device state control
Switch on
Enable operation
Activate quick stop
Pulse inhibit
Reset fault
Device states
Not ready to switch on
Switch-on inhibited
Ready to switch on
Switched on
 Operation enabled
Quick stop active
Fault reaction active
Trouble
EtherCAT
Commissioning
Basic setting and options
Synchronisation with "distributed clocks" (DC)
Parameterising additional functions
Process data transfer
Standard mapping
Dynamic (free) configuration
Further communication objects
Expert settings
Parameter data transfer
Monitoring
Diagnostics
LED status display
Information on the network
EtherCAT master diagnostics
Error history buffer
Device identification
PROFINET
Commissioning
Settings in the »EASY Starter
Restarting or stopping the communication
Settings in the Siemens »TIA Portal
Device description file
Establishing a connection to the »EASY Starter« via PROFINET
Basic setting and options
Station name and IP configuration
Suppress diagnostic messages to the IO controller
 Process data transfer
Parameter data transfer
Monitoring
Diagnostics
LED status display
Information on the network
PROFIsafe
PROFIenergy
Supported commands
Supported measured values
EtherCAT system bus
Commissioning
Basic setting and options
Process data transfer
Standard mapping
Process output data
Process input data
Monitoring
Diagnostics
LED status displays
Information on the network
Device identification

Optical device identification

Reset parameters to default
Saving/loading the parameter settings
Enabling the device
Restart device
Restarting Extended Safety
Export logbook
Delete logbook files
Activate loaded application
Uploading the application
Inverter control word
Access protection
Brand protection
Switching frequency changeover
Device overload monitoring (i*t)
Heatsink temperature monitoring
Update device firmware
Manual firmware download with »EASY Starter (firmware loader)
17.16.1.1 Download via Ethernet connection

Brake energy management

Use of a brake resistor
Manual jog parameters
Mains failure control
Oscilloscope function
Safe Torque Off (STO)
Safe Emergency Stop (SSE)
Ramp monitoring
Safe Stop 1 (SS1)
Safe Stop 2 (SS2)
Safe Operating Stop (SOS)
Safe Maximum Speed (SMS)
Safely-Limited Speed (SLS)
Safe Speed Monitor (SSM)
Safely Limited Increment (SLI)
Safe Direction (SDI)
Safely-Limited Position (SLP)
Position-dependent Safe Speed (PDSS)
Mini-homing
Safe homing (SHOM)
Safe Cam (SCA)
Operation mode selector (OMS)
Enable Switch (ES)
Repair mode select (RMS)
Cascading (CAS)
Safe network interfaces
FSoE connection
Connection to the applications
Inputs
Outputs
Internal communication
Control signals
Status signals
Safe parameter setting
Safety address
Parameter set information
Response times
Diagnostics
LED status display
19.25.1.1 LED status during parameter set transfer
Error history buffer
Diagnostic parameters
Standards and operating conditions
Conformities/approvals
 Protection of persons and device protection
EMC data
Motor connection
Environmental conditions
Electrical supply conditions
3-phase mains connection
Rated data
3-phase mains connection 480 V
Rated data
Parameter attribute list
Glossary
Commissioning EN

Inverters
i950 servo inverters
 Contents

Contents
1 About this document 15
1.1 Document description 15
1.1.1 Further documents 15
1.2 Notations and conventions 16
2 Safety instructions 17
2.1 Basic safety instructions 17
2.2 Application as directed 17
2.3 Residual hazards 18
3 Product information 19
3.1 Identification of the products 19
3.1.1 Product codes 19
3.1.2 Nameplates 20
3.2 Features 21
4 Commissioning 27
4.1 Important notes 27
4.2 Operating interfaces 28
4.2.1 Engineering tool »EASY Starter« 29
4.2.1.1 Generate a connection between inverter and »EASY Starter« 30
4.3 General information on parameter setting 31
4.3.1 Addressing of the parameters 31
4.3.2 Structure of the parameter descriptions 31
4.3.3 Parameter overview lists 31
4.3.4 Favourites 32
4.3.4.1 Configuring the "Favourites" 32
4.4 Commissioning 35
4.5 Saving the parameter settings 36
4.5.1 Save parameter settings with »EASY Starter« 36
5 Basic setting 37
5.1 Device name 37
5.2 Mains voltage 37
5.3 Function assignment of the inputs and outputs (default setting) 37
5.4 Motor data 38
5.4.1 Select motor from motor catalogue 39
5.4.2 Manual setting of the motor data 41
5.5 Motor control mode 44

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6 Technology application (TA) basic settings 45

6.1 Kinematic settings 46
6.1.1 Mass inertia (load/motor) 46
6.1.2 Torque feedforward control 46
6.1.3 Motor/encoder mounting direction 46
6.1.4 Motor/encoder gearbox ratio 47
6.1.5 Motor/encoder feed constant 49
6.1.6 Motor/encoder travel ranges and cycle length 50
6.1.7 Virtual mode 52
6.2 Motion settings 53
6.2.1 Quick stop 53
6.2.2 Halt 54
6.2.3 Following error monitoring 54
6.2.4 Target position detection 55
6.2.5 Motor/encoder standstill detection 55
6.2.6 Conditioning of the encoder signal 55
6.2.7 Behaviour in the event of inverter disable 56
6.2.8 Control modes 57
6.2.9 Manual jog (inching mode) 58
6.2.10 Homing 59
6.2.10.1 Homing modes 61
6.2.10.2 Digital input for reference switch 70
6.2.10.3 Motor/encoder behaviour after mains switching 70
6.2.11 Limitations 71
6.2.11.1 Torque limits 71
6.2.11.2 Maximum values for travel profiles 72
6.2.11.3 Hardware limit switches 73
6.2.11.4 Software limit switches 75
6.2.11.5 Safety limits 76
6.2.12 Status signals 78
6.3 Defining control sources 80
6.3.1 Source of quick stop 80
6.3.2 Source of error reset 80
6.3.3 Source of digital output 1 81
6.3.4 Source of monitoring signal 81
6.4 System bus communication 82
6.4.1 Inputs 82
6.4.2 Outputs 82
6.4.2.1 Master value output 83
6.4.2.2 Source of touch probe time stamp 84
6.4.3 Distribution of the master values by the master 85
6.4.3.1 Example: System bus master is master value master 86
6.4.3.2 Example: System bus slave is master value master 87
6.4.3.3 Example: Using time stamp of another axis 88

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7 Configuring the "Sync and Correction" TA 89

7.1 Control settings 90
7.2 Interface 91
7.2.1 Control signals 92
7.2.2 Status signals 93
7.2.3 Simulation of the interface 95
7.2.4 Assignment of control signals and status signals 97
7.3 Master value sources 100
7.3.1 System bus 101
7.3.2 Feedback system for the technology application 102
7.3.3 Virtual master 104
7.3.3.1 Simulation of the virtual master 111
7.3.3.2 Speed via analog input 1 112
7.3.3.3 External master values 113
7.4 Position trimming and position offset 116
7.5 Position offset from master 120
7.6 Position synchronism 121
7.7 Position clutch 123
7.7.1 Path-controlled clutch 124
7.7.2 Time-controlled clutch 126
7.7.3 Travel profile-based clutch 128
7.7.4 Asynchronous clutch 133
7.8 Master value correction (register control) 134
7.8.1 Mark window and mark register 137
7.8.2 Mark failure detection 139
7.8.3 Position correction 140
7.8.4 Gearbox factor correction 142
7.9 Tool correction 143
7.9.1 Mark window and mark register 144
7.9.2 Mark failure detection 145
7.9.3 Position correction 146
7.10 Signal flow 147
7.10.1 Master value selection and master value correction 147
7.10.2 Position synchronism 151
7.10.3 Tool correction 151
8 Start, stop and rotating direction commands 153
8.1 Control selection 153

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9 Configure position control 154

9.1 Basic setting 155
9.1.1 Following error detection and in-position detection 156
9.1.2 Interpolation 157
9.2 Operating mode "CiA 402 Cyclic sync position mode (csp)" 158
9.2.1 Default mapping 158
9.2.2 Signal flow 159
9.2.3 Control commands and status information 161
9.3 Process input data (CiA 402 objects) 162
9.4 Process output data (CiA 402 objects) 163
9.5 Monitoring the position error 164
9.6 Position detection with touch probe (TP) 165
9.6.1 Default mapping 165
9.6.2 General mode of operation 166
9.6.3 Filtering of the touch probe signal 166
9.6.4 Compensation of runtime delays 167
9.6.5 Touch probe control word 168
9.6.6 Touch probe status word 168
9.6.7 Extension for the digital inputs DI3 and DI4 169
9.6.8 Detected time stamp and positions 169
9.7 Setpoint diagnostics 170
10 Configure speed control 171
10.1 Basic setting 171
10.2 Operating mode "CiA 402 Velocity mode (vl)" 172
10.2.1 Default mapping 172
10.2.2 Signal flow (servo control) 173
10.2.3 Signal flow (V/f characteristic control) 175
10.3 Operating mode "CiA 402 Cyclic sync velocity mode (csv)" 177
10.3.1 Default mapping 177
10.3.2 Signal flow (servo control) 178
10.3.3 Signal flow (V/f characteristic control) 180
10.3.4 Control commands and status information 182
10.4 Process input data (CiA 402 objects) 183
10.5 Process output data (CiA 402 objects) 185
10.6 Monitoring the speed deviation 186
11 Configuring the torque control 187
11.1 Basic setting 188
11.1.1 Torque limits 189
11.1.2 Speed limitation 190
11.2 Operating mode "CiA 402 Cyclic sync torque mode (cst)" 191
11.2.1 Default mapping 191
11.2.2 Signal flow 192
11.2.3 Control commands and status information 194
11.3 Process input data (CiA 402 objects) 195
11.4 Process output data (CiA 402 objects) 197
11.5 Setpoint diagnostics 198

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12 Configuring the feedback system 199

12.1 Configure feedback system for motor control 200
12.1.1 General settings 201
12.1.2 Resolver settings 202
12.1.2.1 Resolver error compensation 204
12.1.3 Encoder settings 206
12.1.3.1 SinCos encoder 207
12.1.3.2 SinCos absolute value encoder with HIPERFACE® protocol 207
12.1.3.3 SSI encoder 209
12.1.3.4 Evaluation of the signal quality 211
12.1.4 Detection of changed settings of the feedback system 212
12.1.5 Diagnostics 212
12.2 Second feedback system for the techology application 213
12.2.1 General settings 213
12.2.2 Resolver settings 214
12.2.2.1 Resolver error compensation 215
12.2.3 Encoder settings 217
12.2.3.1 SinCos encoder 218
12.2.3.2 SinCos absolute value encoder with HIPERFACE® protocol 218
12.2.3.3 SSI encoder 220
12.2.3.4 Evaluation of the signal quality 222
12.2.4 Detection of changed settings of the feedback system 223
12.2.5 Diagnostics 223
12.3 Encoder: Evaluation of safely speed and position 224
12.4 Synchronous motor: Pole position identification (PPI) 225
12.4.1 Monitoring the pole position identification 226
12.4.2 Pole position identification (PPI) 360° 227
12.4.3 Pole position identification (PPI) with minimum movement 231
12.4.4 Pole position identification (PPI) without movement 234

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13 Configuring the motor control 236

13.1 Servo control for synchronous motor (SC-PSM) 237
13.1.1 Required commissioning steps 237
13.2 Servo control for asynchronous motor (SC-ASM) 238
13.2.1 Required commissioning steps 238
13.3 Sensorless control for synchronous motor (SL-PSM) 238
13.3.1 Required commissioning steps 238
13.4 V/f characteristic control for asynchronous motor (VFC open loop) 239
13.4.1 Required commissioning steps 239
13.4.2 Basic setting 240
13.4.3 Define V/f characteristic shape 241
13.4.3.1 Linear V/f characteristic 241
13.4.3.2 Square-law V/f characteristic 241
13.4.3.3 User-definable V/f characteristic 242
13.4.4 Activate voltage vector control (Imin controller) 243
13.4.5 Set voltage boost 245
13.4.6 Set load adjustment 246
13.4.7 Set slip compensation 246
13.4.8 Set oscillation damping 247
13.4.9 Optimising the stalling behaviour 248
13.4.10 Flying restart circuit 249
13.5 Parameterisable motor functions 251
13.5.1 DC braking 251
13.5.2 Short-circuit braking 252
13.5.3 Holding brake control 253
13.5.3.1 Basic setting 254
13.5.3.2 Brake holding load 255
13.5.3.3 Torque feedforward control 256
13.5.3.4 Manual brake control 256
13.6 Options for optimising the control loops 257
13.6.1 Automatic motor identification (energized) 257
13.6.2 Tuning of the motor and the speed controller 258
13.6.3 Inverter characteristic 260
13.6.3.1 Compensating for inverter influence 261
13.6.3.2 Extended settings for identification 262
13.6.3.3 Load standard inverter characteristic 262
13.6.4 Motor equivalent circuit diagram data 263
13.6.5 Motor control settings 264
13.6.5.1 Speed controller 264
13.6.5.2 Current controller 267
13.6.5.3 ASM field controller 269
13.6.5.4 ASM field weakening controller 270
13.6.5.5 ASM field weakening controller (extended) 270
13.6.5.6 PSM field weakening controller 271
13.6.5.7 Imax controller 272
13.6.5.8 Flying restart controller 272
13.6.5.9 Position controller 273

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13.7 Fine adjustment of the motor model 274

13.7.1 Correction of the stator leakage inductance (Lss)... 275
13.7.2 Synchronous motor (SM): Compensate temperature and current influences 280
13.7.3 Asynchronous motor (ASM): Identify Lh saturation characteristic 281
13.7.4 Estimate optimum magnetising current 283
13.8 Parameterise filter elements in the setpoint path 284
13.8.1 Jerk limitation 284
13.8.2 Notch filter (band-stop filter) 285
13.9 Motor protection 288
13.9.1 Motor overload monitoring (i²*t) 288
13.9.1.1 Parameters for the thermal model 290
13.9.1.2 Speed-dependent evaluation of the motor current 292
13.9.1.3 UL 508-compliant motor overload monitoring 295
13.9.2 Motor temperature monitoring 296
13.9.2.1 Individual characteristic for motor temperature sensor 297
13.9.3 Overcurrent monitoring 298
13.9.4 Motor phase failure detection 298
13.9.5 Motor speed monitoring 299
13.10 Frequency and speed limitations 300
13.11 Testing the motor control 301
13.11.1 General settings for test modes 301
13.11.2 Manual "tension/frequency" test mode 303
13.11.3 Manual "current/frequency" test mode 304
13.11.4 Manual "current pulse" test mode 305
14 I/O extensions and control connections 307
14.1 Configure digital inputs 307
14.2 Configure analog inputs 309
14.2.1 Analog input 1 309
14.3 Configure digital outputs 311
14.3.1 Digital output 1 311
15 Configure engineering port 312
15.1 Basic setting 313
15.2 NTP server addresses 314
15.3 Diagnostics 314

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16 Configuring the network 315

16.1 Device profile CiA 402 316
16.1.1 Supported operating modes 316
16.1.2 Basic setting 317
16.1.3 Process input data 317
16.1.4 Process output data 317
16.1.5 Commands for device state control 318
16.1.5.1 Switch on 319
16.1.5.2 Enable operation 320
16.1.5.3 Activate quick stop 321
16.1.5.4 Pulse inhibit 322
16.1.5.5 Reset fault 323
16.1.6 Device states 324
16.1.6.1 Not ready to switch on 326
16.1.6.2 Switch-on inhibited 327
16.1.6.3 Ready to switch on 328
16.1.6.4 Switched on 329
16.1.6.5 Operation enabled 330
16.1.6.6 Quick stop active 331
16.1.6.7 Fault reaction active 332
16.1.6.8 Trouble 333
16.2 EtherCAT 334
16.2.1 Commissioning 335
16.2.2 Basic setting and options 338
16.2.2.1 Synchronisation with "distributed clocks" (DC) 338
16.2.2.2 Parameterising additional functions 338
16.2.3 Process data transfer 341
16.2.3.1 Standard mapping 341
16.2.3.2 Dynamic (free) configuration 341
16.2.3.3 Further communication objects 341
16.2.3.4 Expert settings 341
16.2.4 Parameter data transfer 342
16.2.5 Monitoring 342
16.2.6 Diagnostics 343
16.2.6.1 LED status display 343
16.2.6.2 Information on the network 343
16.2.6.3 EtherCAT master diagnostics 343
16.2.6.4 Error history buffer 353
16.2.6.5 Device identification 353

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16.3 PROFINET 354

16.3.1 Commissioning 355
16.3.1.1 Settings in the »EASY Starter« 355
16.3.1.2 Restarting or stopping the communication 356
16.3.1.3 Settings in the Siemens »TIA Portal« 356
16.3.1.4 Device description file 357
16.3.1.5 Establishing a connection to the »EASY Starter« via PROFINET 357
16.3.2 Basic setting and options 358
16.3.2.1 Station name and IP configuration 358
16.3.2.2 Suppress diagnostic messages to the IO controller 359
16.3.3 Process data transfer 359
16.3.4 Parameter data transfer 360
16.3.5 Monitoring 361
16.3.6 Diagnostics 363
16.3.6.1 LED status display 363
16.3.6.2 Information on the network 363
16.3.7 PROFIsafe 365
16.3.8 PROFIenergy 365
16.3.8.1 Supported commands 365
16.3.8.2 Supported measured values 365
16.4 EtherCAT system bus 366
16.4.1 Commissioning 368
16.4.2 Basic setting and options 369
16.4.3 Process data transfer 370
16.4.3.1 Standard mapping 371
16.4.3.2 Process output data 371
16.4.3.3 Process input data 371
16.4.4 Monitoring 372
16.4.5 Diagnostics 373
16.4.5.1 LED status displays 373
16.4.5.2 Information on the network 373
16.4.5.3 Device identification 375

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17 Device functions 377

17.1 Optical device identification 377
17.2 Reset parameters to default 378
17.3 Saving/loading the parameter settings 379
17.4 Enabling the device 380
17.5 Restart device 380
17.6 Restarting Extended Safety 380
17.7 Export logbook 380
17.8 Delete logbook files 381
17.9 Activate loaded application 381
17.10 Uploading the application 381
17.11 Inverter control word 382
17.12 Access protection 382
17.12.1 Brand protection 382
17.13 Switching frequency changeover 382
17.14 Device overload monitoring (i*t) 383
17.15 Heatsink temperature monitoring 384
17.16 Update device firmware 384
17.16.1 Manual firmware download with »EASY Starter (firmware loader)« 384
17.16.1.1 Download via Ethernet connection 384
18 Additional functions 385
18.1 Brake energy management 385
18.1.1 Use of a brake resistor 385
18.2 Manual jog parameters 386
18.3 Mains failure control 387
18.4 Oscilloscope function 388

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19 Safety functions 397

19.1 Safe Torque Off (STO) 398
19.2 Safe Emergency Stop (SSE) 400
19.3 Ramp monitoring 401
19.4 Safe Stop 1 (SS1) 403
19.5 Safe Stop 2 (SS2) 406
19.6 Safe Operating Stop (SOS) 409
19.7 Safe Maximum Speed (SMS) 411
19.8 Safely-Limited Speed (SLS) 412
19.9 Safe Speed Monitor (SSM) 417
19.10 Safely Limited Increment (SLI) 418
19.11 Safe Direction (SDI) 420
19.12 Safely-Limited Position (SLP) 422
19.13 Position-dependent Safe Speed (PDSS) 425
19.14 Mini-homing 427
19.15 Safe homing (SHOM) 428
19.16 Safe Cam (SCA) 432
19.17 Operation mode selector (OMS) 434
19.18 Enable Switch (ES) 437
19.19 Repair mode select (RMS) 438
19.20 Cascading (CAS) 440
19.21 Safe network interfaces 441
19.21.1 FSoE connection 441
19.22 Connection to the applications 442
19.22.1 Inputs 442
19.22.2 Outputs 443
19.22.3 Internal communication 443
19.22.4 Control signals 443
19.22.5 Status signals 445
19.23 Safe parameter setting 449
19.23.1 Safety address 449
19.23.2 Parameter set information 449
19.24 Response times 450
19.25 Diagnostics 453
19.25.1 LED status display 453
19.25.1.1 LED status during parameter set transfer 453
19.25.2 Error history buffer 453
19.25.3 Diagnostic parameters 455

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20 Technical data 456

20.1 Standards and operating conditions 456
20.1.1 Conformities/approvals 456
20.1.2 Protection of persons and device protection 456
20.1.3 EMC data 456
20.1.4 Motor connection 457
20.1.5 Environmental conditions 457
20.1.6 Electrical supply conditions 457
20.2 3-phase mains connection 400 V 458
20.2.1 Rated data 458
20.3 3-phase mains connection 480 V 460
20.3.1 Rated data 460
21 Appendix 462
21.1 Parameter attribute list 462
21.2 Glossary 496

14
 About this document
Document description
Further documents

1 About this document

WARNING!
Read this documentation carefully before starting any work.
▶ Please observe the safety instructions!

The information in this document represents the following version:

Product Hardware data version Date
i950 V0009 2018-10-04

Firmware version Software data version Date

V_1_1_3 V_1_1_3_007 2018-09-24

1.1 Document description

1.1.1 Further documents

For certain tasks, information is available in further documents.
Document Contents/topics
Configuration document Basic information on project planning and ordering the product
Commissioning document Fundamental information for the installation and commissioning of the product

For certain tasks, information is available in other forms.

Form Contents/topics
Engineering Tools For commissioning
AKB articles Application Knowledge Base with additional technical information for users
CAD data Exports in different formats
EPLAN macros Project planning, documentation and management of projects for P8.
• Data reference via Lenze or EPLAN data portal

Information and tools with regard to the Lenze products can be found on the
Internet:
http://www.lenze.com à Download

15
About this document
Notations and conventions

1.2 Notations and conventions

This document uses the following conventions to distinguish different types of information:
Numeric notation
Decimal separator Point The decimal point is always used.
Example: 1 234.56
Warning
UL warning UL Are used in English and French.
UR warning UR
Text
Engineering tools »« Software
Example: »Engineer«, »EASY Starter«
Icons
Page reference ¶ Reference to another page with additional information
Example: ¶ 16 = see page 16
Documentation reference , Reference to another documentation with additional information
Example: , EDKxxx = see documentation EDKxxx

Layout of the safety instructions

DANGER!
Indicates an extremely hazardous situation. Failure to comply with this instruction will result
in severe irreparable injury and even death.

WARNING!
Indicates an extremely hazardous situation. Failure to comply with this instruction may result
in severe irreparable injury and even death.

CAUTION!
Indicates a hazardous situation. Failure to comply with this instruction may result in slight to
medium injury.

NOTICE
Indicates a material hazard. Failure to comply with this instruction may result in material dam-
age.

16
 Safety instructions
Application as directed

2 Safety instructions
Disregarding the following basic safety measures and safety information may lead to severe
personal injury and damage to property!
Observe all specifications of the corresponding documentation supplied. This is the precondi-
tion for safe and trouble-free operation and for obtaining the product features specified.
Please observe the specific safety information in the other sections!

2.1 Basic safety instructions

Personnel
The product must only be used by qualified personnel. IEC 60364 or CENELEC HD 384 define
the skills of these persons:
• They are familiar with installing, mounting, commissioning, and operating the product.
• They have the corresponding qualifications for their work.
• They know and can apply all regulations for the prevention of accidents, directives, and
laws applicable at the place of use.
Process engineering
The procedural notes and circuit details described are only proposals. It is up to the user to
check whether they can be adapted to the particular applications. Lenze does not take any
responsibility for the suitability of the procedures and circuit proposals described.

2.2 Application as directed

• The product must only be operated under the operating conditions prescribed in this doc-
umentation.
• The product meets the protection requirements of 2014/35/EU: Low-Voltage Directive.
• Commissioning or starting the operation as directed of a machine with the product is not
permitted until it has been ensured that the machine meets the regulations of the EC
Directive 2006/42/EU: Machinery Directive; observe EN 60204−1.
• Commissioning or starting operation as directed is only permissible if the EMC Directive
2014/30/EU is complied with.
• The harmonised standards EN 61800−5−1 and EN 61800−3 are applied to the inverters.
• The product is not a household appliance, but is only designed as a component for com-
mercial or professional use in terms of EN 61000−3−2.
• Drive systems comply with categories according to EN 61800−3, if the product is used in
accordance with the technical data.
• In residential areas, the product may cause EMC interferences. The operator is responsible
for taking interference suppression measures.
• The product must only be actuated with motors that are suitable for the operation with
inverters.
- Lenze L-force motors meet the requirements
- Exception: m240 motors are designed for mains operation only.

17
Safety instructions
Residual hazards

2.3 Residual hazards

Product
Observe the warning labels on the product!
Icon Description
Electrostatic sensitive devices:
Before working on the product, the staff must ensure to be free of electrostatic charge!

Dangerous electrical voltage

Before working on the product, check if no voltage is applied to the power terminals!
After mains disconnection, the power terminals carry the hazardous electrical voltage for the time given next to the symbol!
High leakage current:
Carry out fixed installation and PE connection in compliance with EN 61800−5−1 or EN 60204−1!

Hot surface:
Use personal protective equipment or wait until the device has cooled down!

Motor protection
With some settings of the inverter, the connected motor can be overheated.
• E. g. by longer operation of self-ventilated motors at low speed.
• E. g. by longer operation of the DC-injection brake.
Protection of the machine/system
Drives can reach dangerous overspeeds.
• E. g. by setting high output frequencies in connection with motors and machines not suita-
ble for this purpose.
• The inverters do not provide protection against such operating conditions. For this pur-
pose, use additional components.

Switch contactors in the motor cable only if the controller is inhibited.

• Switching while the inverter is enabled is only permissible if no monitoring functions are
activated.
Motor
If there is a short circuit of two power transistors, a residual movement of up to 180°/number
of pole pairs can occur at the motor! (e. g. 4-pole motor: residual movement max. 180°/2 =
90°).
Degree of protection - protection of persons and device protection
• Information applies to the mounted and ready-for-use state.
• Information does not apply to the wire range of the terminals.
- Terminals that are not assigned only have a low protection against contact.
- Terminals for large cable cross-sections have lower classes of protection, e. g. from
15 kW IP10 only.

18
 Product information
Product codes

3 Product information
3.1 Identification of the products

3.1.1 Product codes

I 9 5 A E □□□ F 1 □ □ □ 0 □□□□
Product type Inverter I
Product family i900 9
Product i950 5
Product generation Generation 1 A
Mounting type Control cabinet mounting E
Rated power [W] 0.55 kW 155
0.75 kW 175
2.2 KW 222
4.0 kW 240
7,5 kW 275
11 kW 311
15 kW 315
22 kW 322
30 kW 330
45 kW 345
55 kW 355
75 kW 375
90 kW 390
110 kW 411
Mains voltage and connection 3/PE AC 400 V
F
type 3/PE 480 V AC
Motor connections Single axis 1
Integrated functional safety Basic Safety STO A
Extended Safety C
Enclosure IP20 0
IP20, coated V
Interference suppression Without 0
Integrated RFI filter 1
Design types Control code 0
□□□□

19
Product information
Identification of the products
Nameplates

3.1.2 Nameplates
Position and meaning of the nameplates
Complete inverter Component (options)

① Nameplate at front top: Technical data, type and serial ① Type and serial number of the component
number of the inverter
② Nameplate at the side: Technical data of the inverter - -

20
 Product information
Features

3.2 Features
Power range 0.55 kW ... 4 kW
PE connection
X101 DC bus X100 Mains connection
Option IT screw
Shielding of control connections
Option X5 24 V supply
Control electronics
X2x6 Network
Option Network status LEDs
X2x7 Network
Option X236 System bus EtherCAT IN
Inverter status LEDs
X237 System bus EtherCAT OUT

X1 Basic Safety - STO

X82/ X3 Control terminal

X83 Extended Safety
Option X16 Engineering port
Commissioning, diagnostics
SD card
IT screw
Option
A Motor encoder Shielding of motor
Option connection
B Load encoder or master encoder Option
Option

X106 Motor holding brake

X107 24 V supply
Motor holding brake

X109 PTC input

PE connection X105 Motor connection

Brake resistor

21
Product information
Features

Power range 7.5 kW ... 15 kW

X100 Mains connection X101 DC bus
PE connection Option

Shielding of control connections X5 24 V supply

Option Control electronics
Network status LEDs
X2x6 Network
Option
X2x7 Network
Option X236 System bus EtherCAT IN
Inverter status LEDs X237 System bus EtherCAT OUT
X1 Basic Safety - STO

X82/ Extended Safety X3 Control terminal

X83 Option
X16 Engineering port
Commissioning, diagnostics
SD card IT screw
Option
A Motor encoder
Option
B Load encoder or master encoder
Option
Shielding of motor
connection
Option

X105 Motor connection

Brake resistor
X106 Motor holding brake

X107 24 V supply
Motor holding brake

PE connection X109 PTC input

22
 Product information
Features

Power range22 kW
X100 Mains connection/DC bus PE connection

Shielding of
control connections X5 24 V supply
Option
Control electronics
Network status LEDs
X2x6 Network
Option
System bus EtherCAT
X2x7 Network
X236 IN
Option
X237 OUT
Inverter status LEDs
X1 Basic Safety - STO
X3 Control terminal

SD card
Option

A Motor encoder
Option

X82/
X83 Extended Safety
Option
B Load encoder or master encoder
Option X16 Engineering port
Commissioning,
diagnostics

X105 Motor connection

Brake resistor

PE connection

IT screw

X106 Motor holding brake

Shielding of X107 24 V supply

motor connection Motor holding brake

X109 PTC input

23
Product information
Features

Power range 30 kW ... 45 kW

Shielding of control
X100 Mains connection connections

PE connection X5 24 V supply
Control electronics
X2x6 Network
Option Network status LEDs
X2x7 Network
System bus EtherCAT
Option X236 IN
Inverter status LEDs
X237 OUT
X1 Basic Safety - STO

SD card
Option
A Motor encoder
Option

B Load encoder or master encoder X82/

Option X83 Extended Safety
Option

X3 Control terminal

X16 Engineering port

Commissioning,
diagnostics

X105 Motor connection

Brake resistor
IT screw X106 Motor holding brake
PE connection
X107 24 V supply
Motor holding brake

X109 PTC input

Shielding of motor connection

24
 Product information
Features

Power range 55 kW ... 75 kW

Shielding of
X100 Mains connection/DC bus control connections
Option
PE connection

IT screw X5 24 V supply
X2x6 Network Control electronics
Option
X2x7 Network Network status LEDs
Option
Inverter status LEDs X236 System bus EtherCAT IN

X1 Basic Safety - STO X237 System bus EtherCAT OUT

SD card
Option
A Motor encoder
Option

Load encoder or
B master encoder X82/
Option X83 Extended Safety
Option
X3 Control terminal

X16 Engineering port

Commissioning, diagnostics

X105 Motor connection

Brake resistor
X106 Motor holding brake
IT screw
X107 24 V supply
PE connection Motor holding brake

X109 PTC input

Shielding of
motor connection

25
Product information
Features

Power range 90 kW ... 110 kW

X100 Mains connection/DC bus

Shielding of
control connections
PE connection Option
IT screw
X5 24 V supply
X2x6 Network Control electronics
Option Network status LEDs
X2x7 Network
Option
Inverter status LEDs X236 System bus EtherCAT IN

X1 Basic Safety - STO X237 System bus EtherCAT OUT

SD card
Option
A Motor encoder
Option

X82/
X83 Extended Safety
Load encoder or Option
B master encoder
X3 Control terminal
Option
X16 Engineering port
Commissioning, diagnostics

X105 Motor connection X106 Motor holding brake

Brake resistor
X107 24 V supply
Motor holding brake
IT screw
X109 PTC input

PE connection
Shielding of
motor connection

26
 Commissioning
Important notes

4 Commissioning
The purpose of commissioning is to adapt the inverter as part of a machine with a variable-
speed drive system to its drive task.

4.1 Important notes

DANGER!
Incorrect wiring can cause unexpected states during the commissioning phase.
Possible consequences: death, severe injuries or damage to property
Ensure the following before switching on the mains voltage:
▶ Wiring must be complete and correct.
▶ Wiring must be free of short circuits and earth faults.
▶ The motor circuit configuration (star/delta) must be adapted to the inverter output voltage.
▶ The motor must be connected in-phase (direction of rotation).
▶ The "emergency off" function of the overall system must operate correctly.

DANGER!
Incorrect settings during commissioning may cause unexpected and dangerous motor and sys-
tem movements.
Possible consequences: death, severe injuries or damage to property
▶ Clear hazardous area.
▶ Observe safety instructions and safety clearances.

27
Commissioning
Operating interfaces

4.2 Operating interfaces

Depending on the inverter, there are one or several options for accessing the device parame-
ters that are available for customising the drive task.
Simple access to the device parameters is provided by the Lenze Engineering
Tool »EASY Starter«. Connection X16 is used as an interface for an engineering PC in this case.
If the inverter is equipped with the "PROFINET" network option, the terminals X2x6 or X2x7
can also be used.

28
 Commissioning
Operating interfaces
Engineering tool »EASY Starter«

4.2.1 Engineering tool »EASY Starter«

The »EASY Starter« is a PC software that is especially designed for the commissioning and
diagnostics of the inverter.
• »EASY Starter« Download
Sample screenshot:

The upper part of the Settings tab displays the sequence of five essential commissioning
steps. By clicking a link, the corresponding interface appears with the most important parame-
ters to be set.
Commissioning step Description of the settings
Basic setting Settings to adapt the inverter to a simple application based on the default setting.
Communication Settings for communication via the system bus (EtherCAT), another fieldbus and the engineering port X16 (PC inter-
face).
Kinematics Basic settings of the technology application serve to adapt the motor and load side (gearbox ratio, mounting direc-
tion, moment of inertia etc.)
Motion Basic settings of the technology application for adapting the motion control.
Technology application Settings to adapt the technology application to the application.

Parameter fields
• The parameters are sorted by topic.
• The parameter values currently set are displayed.
• Fields highlighted in yellow indicate the online connection to the device.
• Pressing the key [F1] opens the program help.

29
Commissioning
Operating interfaces
Engineering tool »EASY Starter«

4.2.1.1 Generate a connection between inverter and »EASY Starter«

For commissioning the inverter with the »EASY Starter«, a communication link with the inver-
ter is required. This can be established in a wired manner only.
Additional information on network configuration: 4Configure engineering port ^ 312
Further information on how to create a communication link via "PROFINET": 4PROFI-
NET ^ 354

How to establish a communication to the inverter via the engineering port X16:
Preconditions
• The functional test described in the mounting and switch-on instructions has been com-
pleted successfully (without any errors or faults).
• The inverter is ready for operation (mains voltage is switched on).
Required accessories
• Engineering PC with installed »EASY Starter«
• Standard network cable
1. Plug the network cable into the engineering port X16 of the inverter.
2. Use the network cable to connect the inverter to the PC on which the »EASY Starter« is
installed.
3. Start the »EASY Starter«.
The "Add devices" dialog is shown.
4. Select the "Ethernet" connection.
5. Click the Insert button.
The »EASY Starter« searched for connected devices via the communication path selected.
When the connection has been established successfully, the inverter is displayed in the device
list. The inverter parameters can now be accessed via the tabs of the »EASY Starter«.

30
 Commissioning
General information on parameter setting
Parameter overview lists

4.3 General information on parameter setting

Being part of a machine with a variable-speed drive system, the inverter must be adapted to
its drive task. The inverter is adapted by changing parameters These parameters can be
accessed by the »EASY Starter«.

Certain device commands or settings which might cause a critical state of the
drive behaviour can only be carried our when the inverter is inhibited.

4.3.1 Addressing of the parameters

Each parameter features a 16-bit index as address. Under this address, the parameter is
stored in the object directory of the inverter.
• Parameters that belong together functionally are combined in a data set. These parame-
ters are additionally provided with an 8-bit subindex.
• The colon is used as a separator between the index and subindex Example: "0x2540:001"
• There are parameters the setting of which can be changed, and (diagnostic) parameters
which can only be read.

4.3.2 Structure of the parameter descriptions

• The parameter descriptions in this documentation are structured in table form.
• The representation distinguishes parameters with a setting range, text, selection list, and
bit-coded display.
• The default setting of parameters with a write access feature is shown in bold.
Example: parameters with a setting range
Address Name / setting range / [default setting] Info
Index:Subindex Parameter designation Explanations & notes with regard to the parameter.
Minimum value ... [default setting] ... maximum value
• Optional information with regard to the parameter.

Example: parameters with a selection list

Address Name / setting range / [default setting] Info
Index:Subindex Parameter designation Explanations & notes with regard to the parameter.
• Optional information with regard to the parameter. Note: The corresponding selection number (here 0, 1, or 2) must be set.
Other values are not permissible.
0 Designation of selection 0 Optionally: Explanations & notes with regard to the corresponding selec-
1 Designation of selection 1 tion.
The default selection is shown in bold.
2 Designation of selection 2

Example with bit coded display

Address Name / setting range / [default setting] Info
Index:Subindex Parameter designation Explanations & notes with regard to the parameter.
• Optional information with regard to the parameter.
Bit 0 Designation of bit 0 Optionally: Explanations & notes with regard to the corresponding bit.
Bit 1 Designation of bit 1
Bit 2 Designation of bit 2
... ...
Bit 15 Designation of bit 15

4.3.3 Parameter overview lists

Parameter attribute list: contains a list of all inverter parameters. This list in particular includes
some information that is relevant for the reading and writing of parameters via the network.
^ 462

31
Commissioning
General information on parameter setting
Favourites

4.3.4 Favourites
In order to gain quick access using the »EASY Starter«, frequently used parameters of the
inverter can be defined as "Favorites".
• »EASY Starter« provides quick access to the "Favorites" via the Favorites tab.
4.3.4.1 Configuring the "Favourites"
The "Favorites" can be configured by the user.
Details
A maximum number of 50 parameters can be defined as "Favorites".
The easiest way to process the selection of the favorites is via the parameterisation dialog in
the »EASY Starter«:
1. Change to the "Parameter list" tab.
2. Select group 0 - Favorites.
3. Click the button.
4. Process favorites:

Default favorites can be changed via network using the following parameters:
Parameter
Address Name / setting range / [default setting] Info
0x261C:001 Favorites settings: Parameter 1 Definition of the "Favorites" parameters.
0 ... [] ... 4294967295 • Format: 0xiiiiss00 (iiii = hexadecimal index, ss = hexadecimal subindex)
0x261C:002 Favorites settings: Parameter 2 • The lowest byte is always 0x00.
0 ... [] ... 4294967295 • The keypad can be used to select the desired parameter from a list.
0x261C:003 Favorites settings: Parameter 3
0 ... [] ... 4294967295
0x261C:004 Favorites settings: Parameter 4
0 ... [] ... 4294967295
0x261C:005 Favorites settings: Parameter 5
0 ... [] ... 4294967295
0x261C:006 Favorites settings: Parameter 6
0 ... [] ... 4294967295
0x261C:007 Favorites settings: Parameter 7
0 ... [] ... 4294967295
0x261C:008 Favorites settings: Parameter 8
0 ... [] ... 4294967295
0x261C:009 Favorites settings: Parameter 9
0 ... [] ... 4294967295

32
 Commissioning
General information on parameter setting
Favourites

Address Name / setting range / [default setting] Info

0x261C:010 Favorites settings: Parameter 10
0 ... [] ... 4294967295
0x261C:011 Favorites settings: Parameter 11
0 ... [] ... 4294967295
0x261C:012 Favorites settings: Parameter 12
0 ... [] ... 4294967295
0x261C:013 Favorites settings: Parameter 13
0 ... [] ... 4294967295
0x261C:014 Favorites settings: Parameter 14
0 ... [] ... 4294967295
0x261C:015 Favorites settings: Parameter 15
0 ... [] ... 4294967295
0x261C:016 Favorites settings: Parameter 16
0 ... [] ... 4294967295
0x261C:017 Favorites settings: Parameter 17
0 ... [] ... 4294967295
0x261C:018 Favorites settings: Parameter 18
0 ... [] ... 4294967295
0x261C:019 Favorites settings: Parameter 19
0 ... [] ... 4294967295
0x261C:020 Favorites settings: Parameter 20
0 ... [] ... 4294967295
0x261C:021 Favorites settings: Parameter 21
0 ... [] ... 4294967295
0x261C:022 Favorites settings: Parameter 22
0 ... [] ... 4294967295
0x261C:023 Favorites settings: Parameter 23
0 ... [] ... 4294967295
0x261C:024 Favorites settings: Parameter 24
0 ... [] ... 4294967295
0x261C:025 Favorites settings: Parameter 25
0 ... [] ... 4294967295
0x261C:026 Favorites settings: Parameter 26
0 ... [] ... 4294967295
0x261C:027 Favorites settings: Parameter 27
0 ... [] ... 4294967295
0x261C:028 Favorites settings: Parameter 28
0 ... [] ... 4294967295
0x261C:029 Favorites settings: Parameter 29
0 ... [] ... 4294967295
0x261C:030 Favorites settings: Parameter 30
0 ... [] ... 4294967295
0x261C:031 Favorites settings: Parameter 31
0 ... [] ... 4294967295
0x261C:032 Favorites settings: Parameter 32
0 ... [] ... 4294967295
0x261C:033 Favorites settings: Parameter 33
0 ... [] ... 4294967295
0x261C:034 Favorites settings: Parameter 34
0 ... [] ... 4294967295
0x261C:035 Favorites settings: Parameter 35
0 ... [] ... 4294967295
0x261C:036 Favorites settings: Parameter 36
0 ... [] ... 4294967295
0x261C:037 Favorites settings: Parameter 37
0 ... [] ... 4294967295
0x261C:038 Favorites settings: Parameter 38
0 ... [] ... 4294967295
0x261C:039 Favorites settings: Parameter 39
0 ... [] ... 4294967295

33
Commissioning
General information on parameter setting
Favourites

Address Name / setting range / [default setting] Info

0x261C:040 Favorites settings: Parameter 40
0 ... [] ... 4294967295
0x261C:041 Favorites settings: Parameter 41
0 ... [] ... 4294967295
0x261C:042 Favorites settings: Parameter 42
0 ... [] ... 4294967295
0x261C:043 Favorites settings: Parameter 43
0 ... [] ... 4294967295
0x261C:044 Favorites settings: Parameter 44
0 ... [] ... 4294967295
0x261C:045 Favorites settings: Parameter 45
0 ... [] ... 4294967295
0x261C:046 Favorites settings: Parameter 46
0 ... [] ... 4294967295
0x261C:047 Favorites settings: Parameter 47
0 ... [] ... 4294967295
0x261C:048 Favorites settings: Parameter 48
0 ... [] ... 4294967295
0x261C:049 Favorites settings: Parameter 49
0 ... [] ... 4294967295
0x261C:050 Favorites settings: Parameter 50
0 ... [] ... 4294967295

34
 Commissioning
Commissioning

4.4 Commissioning
Prerequisites
• The mechanical and electrical installation of the inverter is complete.
• If necessary, the motor is mechanically decoupled from the system.
• Check whether the system can be mechanically damaged if the non-decoupled drive
makes uncontrolled movements.
• The connection between the inverter and the engineering PC with instal-
led »EASY Starter« has been established.
• The »EASY Starter« is open and connected to the inverter.
• The inverter is supplied with voltage.
• For parameterisation purposes, it makes sense to supply the device with 24 V if the
mains voltage and the motor data deviate from the default setting. 4Function assign-
ment of the inputs and outputs (default setting) ^ 37
• If it has been ensured that the mains voltage and motor data settings correspond to
the real conditions , the mains voltage can be connected.
• The device list of the »EASY Starter« contains the inverter with the correct device descrip-
tion.
• Additional information on the device description can be found in the chapter dealing
with configuration of the respective fieldbus network. 4Configuring the network ^ 315
• For an explanation of where the device list can be found, please consult the online help
of the »EASY Starter«. Press the F1 key to call up the online help.
• No fault is indicated by the inverter diagnostics.
• Check the LED status displays.
• Check the error messages.
• Check available application credit on the storage medium.
Commissioning
The five main commissioning steps are shown in order towards the top of the Settings tab.
Clicking on a link displays a corresponding interface containing the most important parameters
that need to be set.
4General information on parameter setting ^ 31
Commissioning step Description of the settings
Basic settings The basic settings are sufficient for drive rotation .
• Check every preset parameter value to determine whether it can be retained for the application.
• If a value has to be changed, click the cross-reference highlighted in blue to which the parameter is assigned. A new
interface opens. Here, the relevant value can now be changed.
• Once all parameters have been correctly set in the basic settings, you can allow the drive to rotate .
Communication These commissioning steps are for adjusting the drive and only have to be adapted where necessary.
Kinematics • Basic settings of the technology application for adjusting the motor end and load side (gearbox ratio, mounting
direction, moments of inertia, etc.)
Motion
• Basic settings of the technology application for adjusting the motion control.
Technology application • Settings for adjusting the technology application for the application.

After adjusting the parameters: 4Saving the parameter settings ^ 36

Setting and transferring safety parameters

Safety-relevant parameters only have to be set for devices that feature integra-
ted safety engineering or safety modules.
Observe the online help information on the safety parameter list.

In »EASY Starter« and »PLC Designer«, safety parameters can only be set and transferred using
the safety parameter list. When a device featuring integrated safety engineering or a safety
module is selected in the device list, the safety parameter list becomes available in the form
of an additional tab.

35
Commissioning
Saving the parameter settings
Save parameter settings with »EASY Starter«

4.5 Saving the parameter settings

During operation with the CiA 402 device profile, no settings are saved. The settings are trans-
mitted when the master control is started. If applications are used, the SD card with the
licence data also serves as storage medium.
The active application is displayed in the parameter. C2013:001
The application can be modified via the parameter. 40x4000

4.5.1 Save parameter settings with »EASY Starter«

If a parameter setting has been changed with the »EASY Starter« but not yet saved in the
memory medium with mains failure protection, the status line of the »EASY Starter« displays
the note "The parameter set was changed".
There are 3 options to save the parameter settings in the user memory of the storage
medium:
• Click the button in the toolbar of the »EASY Starter« .
• Press the function key F6.
• Execute the device command "Save user data": 0x2022:003 = "On / start [1]".

36
 Basic setting
Function assignment of the inputs and outputs (default setting)

5 Basic setting
This chapter contains the most frequently used functions and settings to adapt the inverter to
a simple application based on the default setting.

5.1 Device name

Parameter
Address Name / setting range / [default setting] Info
0x2001 Device name Any device name (e.g. "Wheel drive") can be set in this object for the
["Device"] purpose of device identification.

5.2 Mains voltage

The rated mains voltage set for the inverter has an impact on the operating range of the inver-
ter.
Parameter
Address Name / setting range / [default setting] Info
0x2540:001 Mains settings: Rated mains voltage Selection of the mains voltage for actuating the inverter.
0 230 Veff
1 400 Veff
2 480 Veff
4 60 V (setting-up operation)
10 230 Veff/reduced LU level
11 400 Veff/reduced LU level
12 480 Veff/reduced LU level
0x2540:002 Mains settings: Undervoltage warning threshold Setting of the warning threshold for monitoring DC bus undervoltage.
0 ... [430] ... 800 V • If the DC bus voltage falls below the threshold set, the inverter out-
puts a warning.
• The warning is reset with a hysteresis of 10 V.
0x2540:003 Mains settings: Undervoltage error threshold Display of the fixed error threshold for monitoring DC bus undervoltage.
• Read only: x V • If the DC-bus voltage falls below the threshold displayed, the "Error"
response is triggered.
0x2540:004 Mains settings: Undervoltage reset threshold Display of the fixed reset threshold for monitoring DC bus undervoltage.
• Read only: x V
0x2540:005 Mains settings: Overvoltage warning threshold Setting of the warning threshold for monitoring DC bus overvoltage.
0 ... [795] ... 800 V • If the DC bus voltage exceeds the threshold set, the inverter outputs a
warning.
• The warning is reset with a hysteresis of 10 V.
0x2540:006 Mains settings: Overvoltage error threshold Display of the fixed error threshold for monitoring the DC bus overvolt-
• Read only: x V age.
• If the DC-bus voltage exceeds the threshold displayed, the "Fault"
response is triggered.
0x2540:007 Mains settings: Overvoltage reset threshold Display of the fixed reset threshold for monitoring DC bus overvoltage.
• Read only: x V
0x2540:008 Mains settings: DC link voltage critical Display of value "1": the DC-bus voltage has reached a critical value.
• Read only

5.3 Function assignment of the inputs and outputs (default setting)

"I/O extensions and control connections" describes the assignment of functions to inputs and
outputs. ^ 307

37
Basic setting
Motor data

5.4 Motor data

The term "motor data" comprises all parameters only depending on the motor and only char-
acterising the electrical behaviour of the motor. Motor data are independent of the applica-
tion in which the inverter and the motor are used.
Preconditions
The equivalent circuit data ("Settings" tab, path: "Basic setting\motor", parameterisation dia-
log "Derived motor properties and equivalent circuit") apply to a motor in star connection. In
case of a motor in delta connection, the delta values must be converted into equivalent star
values.
Possible settings
If a Lenze motor is connected to the inverter, you can select the motor in the engineering tool
from the "motor catalogue".
• For details see chapter "Select motor from motor catalogue". ^ 39
Otherwise the motor data must be set manually (for details see chapter "Manual setting of
the motor data“). ^ 41
Parameter
Address Name / setting range / [default setting] Info
0x2C08 Method for setting motor parameters Representation of the method selected for setting the motor parame-
1 Select from catalogue (Lenze motors) ters. (Is used by the engineering tools.)
2 Enter motor nameplate data (other motors)
3 Manual input (other motors)
4 Identification run (all motors)

38
 Basic setting
Motor data
Select motor from motor catalogue

5.4.1 Select motor from motor catalogue

The following describes how to parameterise your drive system by selecting a Lenze motor
from the motor catalogue. Several processes are started invisibly in the background to load/
calculate the settings for the relevant parameters.
Preconditions
• Access to a Lenze engineering tool (e. g. »EASY Starter«).
• Parameters can be set online or offline (with or without connected motor).
Required steps
1. Open the Lenze engineering tool that provides for the functionality of a “Motor catalogue".
2. Click the Select motor... button. In case of the »EASY Starter«, you find the Select motor...
button on the "settings". tab.
3. Select the used motor in the "Select motor" dialog:

By entering filter criteria, you can restrict the selection.

Name (e. g. "MCS..."), rated power and C86 value can be found on the motor
nameplate.
4. Press the Please select button to select the thermal sensor.
This is not required for all motors. For older motors, such as MDSKA056-22 (C86=10), a ther-
mal sensor CANNOT be selected.

Observe the notes on the ? button.

5. Click the OK button to start the optimisation.

39
Basic setting
Motor data
Select motor from motor catalogue

Parameterisation sequence
As soon as the parameterisation has been started, the following steps are initiated by the
engineering tool:
1. The motor rating data and the motor equivalent circuit diagram data are loaded from the
motor catalogue.
2. The motor controller settings and the speed controller settings are automatically calculated
based on the previously loaded data.

Notes:
• The data involved in this parameterisation are provided be the motor catalogue alone. Fur-
ther user data is not required.
• The inverter characteristic is not changed by this optimisation.
Parameter
Address Name / setting range / [default setting] Info
0x2C01:010 Motor parameters: Motor name The name (e.g. " 1") can be freely selected by the user.
["MCS06C41"] If the motor in the engineering tool has been selected from the "motor
catalog", the respective motor name is automatically entered here
(example: "MDSKA080-22, 70").

40
 Basic setting
Motor data
Manual setting of the motor data

5.4.2 Manual setting of the motor data

There are two options to parameterise a motor.
1. Enter nameplate data
Enter the following motor data:
40x2C01:001 Number of pole pairs
40x2C01:002 Stator resistance
40x2C01:003 Stator leakage inductance
40x2C01:004 Rated speed
40x2C01:005 Rated frequency
40x2C01:006 Rated power
40x2C01:007 Rated voltage
40x2C01:008 Cosine phi
40x2C01:009 Insulation class
40x6075 Rated motor current
When you touch the "Estimate" button in the engineering tool, more parameters depending
on the motor are shown.

2. Enter data of the motor data sheet

The motor data and the parameters depending on the motor are entered. The parameters
mentioned under 1. are the following:
40x2D4C:001 Thermal time constant of the winding
40x2D4C:002 Thermal time constant - laminated core
40x2D4C:003 Influence of winding
40x2D4C:004 Starting value
40x6067 Rated motor torque
Additionally for ASM:
40x2C02:001 Rotor resistance
40x2C02:002 Mutual inductance
40x2C02:003 Magnetising current
Additionally for PSM:
40x2C03:001 EMF constant
40x2C03:002 Resolver pole position
40x2C03:003 Temperature coefficient magnets (kTN)
40x2C03:004 Encoder pole position

After the motor data has been parameterised via one of the two options, the following moni-
toring and limit values are initialised with motor-dependent preset values by touching the
"Initialise" button:
40x2D44:001 Overspeed monitoring threshold
40x2D46:001 Overcurrent monitoring threshold
40x2D49:003 Motor temperature monitoring warning threshold
40x2D49:004 Motor temperature monitoring error threshold
40x6073 Maximum current
40x6075 Rated motor current

41
Basic setting
Motor data
Manual setting of the motor data

Parameter
Address Name / setting range / [default setting] Info
0x2C01:001 Motor parameters: Number of pole pairs Display of the number of pole pairs calculated from the rated speed and
• Read only rated frequency.
0x2C01:002 Motor parameters: Stator resistance General motor data.
0.0000 ... [13.5000] ... 125.0000 Ω Carry out settings as specified by manufacturer data/motor data sheet.
0x2C01:003 Motor parameters: Stator leakage inductance
0.000 ... [51.000] ... 500.000 mH Note!
When you enter the motor nameplate data, take into account the phase
connection implemented for the motor (star or delta connection). Only
enter the data applying to the connection type selected.
0x2C01:004 Motor parameters: Rated speed General motor data.
0 ... [4050] ... 50000 rpm Carry out settings as specified by motor nameplate data.
0x2C01:005 Motor parameters: Rated frequency
0.0 ... [270.0] ... 1000.0 Hz Note!
When you enter the motor nameplate data, take into account the phase
0x2C01:006 Motor parameters: Rated power
connection implemented for the motor (star or delta connection). Only
0.00 ... [0.25] ... 655.35 kW
enter the data applying to the connection type selected.
0x2C01:007 Motor parameters: Rated voltage
0 ... [225] ... 65535 V
0x2C01:008 Motor parameters: Cosine phi
0.00 ... [0.80] ... 1.00
0x2C01:009 Motor parameters: Insulation class Insulation class of the motor (see motor nameplate).
0 Y (cut-off temperature = 90 °C)
1 A (cut-off temperature = 105 °C)
2 E (cut-off temperature = 120 °C)
3 B (cut-off temperature = 130 °C)
4 F (cut-off temperature = 155 °C)
5 H (cut-off temperature = 180 °C)
6 G (cut-off temperature > 180 °C)
0x2C02:001 Motor parameter (ASM): Rotor resistance Equivalent circuit data required for the motor model of the asynchro-
0.0000 ... [0.0000] ... 214748.3647 Ω nous machine.
0x2C02:002 Motor parameter (ASM): Mutual inductance
0.0 ... [0.0] ... 214748364.7 mH
0x2C02:003 Motor parameter (ASM): Magnetising current
0.00 ... [0.00] ... 500.00 A
0x2C03:001 Motor parameter (PSM): Back EMF constant Voltage induced by the motor (rotor voltage / 1000 rpm).
0.0 ... [41.8] ... 100000.0 V/1000rpm For permanently excited synchronous motors, the e.m.f. constant
describes the r.m.s. value of the line-to-line voltage (phase voltage)
induced in idle state by the motor (reference: 1000 rpm, 20 °C).
0x2C03:002 Motor parameter (PSM): Resolver pole position Equivalent circuit data required for the motor model of the synchronous
-179.9 ... [-90.0] ... 179.9 ° machine.
0x2C03:003 Motor parameter (PSM): Magnets temperature coeffi-
cient (kTN)
-1.000 ... [-0.110] ... 0.000 %/°C
0x2C03:004 Motor parameter (PSM): Encoder pole position
-179.9 ... [0.0] ... 179.9 °
0x2D4C:001 Thermisches Modell Motorauslastung (i²xt): Motor Setting of the time constant for the winding.
utilisation (i²xt)
1 ... [60] ... 36000 s
0x2D4C:002 Thermisches Modell Motorauslastung (i²xt): Thermal Setting of the time constant for the laminated core.
time constant - laminations
1 ... [852] ... 36000 s
0x2D4C:003 Thermisches Modell Motorauslastung (i²xt): Winding Part of the thermal motor model: distribution factor of the copper wind-
influence ing influence.
0 ... [27] ... 100 %

42
 Basic setting
Motor data
Manual setting of the motor data

Address Name / setting range / [default setting] Info

0x6073 Max current Maximum overload current of the inverter.
0.0 ... [150.0] ... 3276.7 % • 100 % ≡ Motor rated current (0x6075)
• If the current consumption of the motor exceeds this current limit,
the inverter changes its dynamic behaviour in order to counteract this
exceedance.
• If the modified dynamic behaviour fails to eliminate the excess cur-
rent consumption, the inverter outputs an error.
When (current actual value in %) exceeds 0x6073 (max. current actual
value in %) the message 0x238A is displayed. This status is also displayed
in the following network status word bits:
• 0x400C:001 bit 14
• 0x400C:002 bit 2
0x6075 Motor rated current The rated motor current that needs to be set here serves as a reference
0.001 ... [1.300] ... 500.000 A value for different parameters that involve a setting for/display of a cur-
• Setting can only be changed if the inverter is inhibi- rent value in percent.
ted. Example:
• Motor rated current = 1.7 A
• Max current 0x6073 = 200 % Motor rated current = 3.4 A
0x6076 Motor rated torque The rated motor torque to be set here serves as a reference value for
0.001 ... [0.600] ... 1000.000 Nm different parameters with a setting/display of a torque value in percent.
• Setting can only be changed if the inverter is inhibi- Example:
ted.
• Motor rated torque = 1.65 Nm
• Max torque 0x6072 = 250 % Motor rated torque = 4.125 Nm
0x6080 Max motor speed Limitation of the maximum motor speed.
0 ... [6075] ... 480000 rpm

43
Basic setting
Motor control mode

5.5 Motor control mode

The inverter supports different modes for closed-loop/open-loop motor control.
Parameter
Address Name / setting range / [default setting] Info
0x2C00 Motor control mode Selection of the motor control type.
• Setting can only be changed if the inverter is inhibi-
ted.
1 Servoregelung (SC-PSM) This control mode is used for servo control of a synchronous motor.
4Servo control for synchronous motor (SC-PSM) ^ 237
A motor encoder must be connected to the inverter. This motor encoder
serves as a feedback system for engine control.
2 Servo control (SC ASM) This control mode is used for servo control of an asynchronous motor.
4Servo control for asynchronous motor (SC-ASM)^ 238
A motor encoder must be connected to the inverter. This motor encoder
is used as a feedback system for the motor control.
3 Sensorless control (SL PSM) This control type is used for the sensorless control of a synchronous
motor.
• Control mode is possible up to a rated power of 22 kW.
4Sensorless control for synchronous motor (SL-PSM)^ 238
4 Sensorless vector control (SLVC) This control type is used for sensorless vector control of an asynchro-
nous motor.
5 Reserved
6 V/f characteristic control (VFC open loop) This control mode is used for the speed control of an asynchronous
motor via a V/f characteristic and is the simplest control mode.
4V/f characteristic control for asynchronous motor (VFC open loop)
^ 239

Supplementary chapters:
• Chapter "Configure feedback system for motor control" describes how to set resolvers or
sine/cosine encoders as motor feedback. ^ 200
• Chapter "Second feedback system for the techology application" describes how a higher-
level control loop can be used as an actual value feedback application for higher accuracy.
^ 213

The detailed description of each motor control type can be found in the chapter "Configuring
the motor control“. ^ 236

44
 Technology application (TA) basic settings

6 Technology application (TA) basic settings

This chapter describes the basic functions of the technology application.
Here you will find information on the following topics:
4Kinematic settings ^ 46
4Motion settings ^ 53
4Defining control sources ^ 80
4System bus communication ^ 82

45
Technology application (TA) basic settings
Kinematic settings
Motor/encoder mounting direction

6.1 Kinematic settings

The kinematic parameters describe, among other things, the motor end with regard to the
mechanics used:
4Mass inertia (load/motor) ^ 46
4Torque feedforward control ^ 46
4Motor/encoder mounting direction ^ 46
4Motor/encoder gearbox ratio ^ 47
4Motor/encoder feed constant ^ 49
4Motor/encoder travel ranges and cycle length ^ 50
4Virtual mode ^ 52
Settings in the »EASY Starter«:
• Tab Settings - Parameter dialog Kinematics

6.1.1 Mass inertia (load/motor)

The resulting moment of inertia consists of the moment of inertia of the motor and the
moment of inertia of the load.
Parameter
Address Name / setting range / [default setting] Info
0x2910:001 Inertia settings: Motor moment of inertia Setting of the moment of inertia of the motor, relating to the motor.
0.00 ... [0.14] ... 20000000.00 kg cm²
0x500A:037 Load moment of inertia Setting of the mass inertia of the load with regard to the gearbox output.
0.00 ... [0.00] ... 21474836.47 kg cm²

6.1.2 Torque feedforward control

For an optimal motion control, the motion axis has an automatic function for the torque feed-
forward control.
The torque feedforward control is calculated from the current setpoint acceleration and the
resulting moment of inertia.

6.1.3 Motor/encoder mounting direction

Depending on the mounting direction, the direction of motor rotation or the encoder direc-
tion of rotation can be inverted.
Parameter
Address Name / setting range / [default setting] Info
0x500A:035 Motor mounting direction If the parameter is set to CCW, a positive motion of the machine is inver-
• Setting can only be changed if the inverter is inhibi- ted so that the direction of rotation of the motor becomes negative.
ted.
false CW CW : Clockwise rotating motor = positive machine direction
true CCW CCW : Counter-clockwise rotating motor = negative machine direction
0x500B:035 Load encoder mounting direction The mounting direction of the additional load encoder is set in this
• Setting can only be changed if the inverter is inhibi- parameter.
ted.
false CW CW : Clockwise rotating motor = positive machine direction
true CCW CCW : Counter-clockwise rotating motor = negative machine direction

46
 Technology application (TA) basic settings
Kinematic settings
Motor/encoder gearbox ratio

6.1.4 Motor/encoder gearbox ratio

The necessary data for configuring the gearbox ratio is listed in the gearbox cat-
alog.

For a precise specification of the gearbox ratio, the specified number of teeth
z1 ... z4 from the gearbox catalog must be used.

The gearbox ratio indicates how many motor axis revolutions equal one revolution of the load
axis.
The gearbox ratio is configured using a quotient (numerator/denominator).
The gearbox ratio for the motor is influenced by 4 parameters:
• Gearbox factor numerator 40x500A:033
• Gearbox factor denominator 40x500A:034
• Additional gearbox factor numerator 40x500A:025
• Additional gearbox factor denominator 40x500A:026
The gearbox ratio for the second encoder is influenced by 2 parameters:
• Gearbox factor numerator 40x500B:033
• Gearbox factor denominator 40x500B:034
Example:
After 58,667 rotations (i) of the motor axis, the spindle turns once.

i = 58.667

Fig. 1: Schematic diagram of the gearbox ratio

47
Technology application (TA) basic settings
Kinematic settings
Motor/encoder gearbox ratio

Parameter
Address Name / setting range / [default setting] Info
0x500A:025 Additional gearbox factor - numerator
1 ... [1] ... 4294967295
• Setting can only be changed if the inverter is inhibi-
ted.
0x500A:026 Additional gearbox factor - denominator
1 ... [1] ... 4294967295
• Setting can only be changed if the inverter is inhibi-
ted.
0x500A:033 Gearbox factor - nominator
1 ... [1] ... 4294967295
• Setting can only be changed if the inverter is inhibi-
ted.
0x500A:034 Gearbox factor - denominator
1 ... [1] ... 4294967295
• Setting can only be changed if the inverter is inhibi-
ted.
0x500B:033 Gearbox factor - nominator
1 ... [1] ... 4294967295
• Setting can only be changed if the inverter is inhibi-
ted.
0x500B:034 Gearbox factor - denominator
1 ... [1] ... 4294967295
• Setting can only be changed if the inverter is inhibi-
ted.

Example of how to calculate the ratio

Example calculation
0x500A : 033 z2* z4 88 * 72 6336
i= = = = = 58.667
0x500A : 034 z1* z3 12* 9 108

Gearbox factor numerator 0x500A:033

Gearbox factor denominator 0x500A:034
Tab. 1: Example of how to calculate the gearbox ratio

48
 Technology application (TA) basic settings
Kinematic settings
Motor/encoder feed constant

6.1.5 Motor/encoder feed constant

The feed constant corresponds to the machine motion for one revolution of the gearbox out-
put shaft.

When a turntable is used, the feed constant is = 360°/revolution when defined as an angle.
The feed constant of a conveyor drive results from the circumference of the drive roll.

d=200 mm

Calculation of the feed constant

p*d
VK =
n
Symbol Description
FC Feed constant
d Diameter
n Revolution

Example:
The feed constant of a spindle drive (linear axis) results from the leadscrew pitch. The feed
constant indicates the distance travelled by the slide in one revolution (in the following exam-
ple 5,023 mm).

h = 5.023 mm

Fig. 2: Feed constant of a spindle drive

h Leadscrew pitch from the technical data of the linear axis

The kinematic parameters for the second encoder can be used to define how an imported
encoder position or encoder speed should be converted into machine units.
Parameter
Address Name / setting range / [default setting] Info
0x500A:032 Feed constant
0.0001 ... [360.0000] ... 214748.3647
• Setting can only be changed if the inverter is inhibi-
ted.
0x500B:032 Feed constant
0.0001 ... [360.0000] ... 214748.3647
• Setting can only be changed if the inverter is inhibi-
ted.

49
Technology application (TA) basic settings
Kinematic settings
Motor/encoder travel ranges and cycle length

6.1.6 Motor/encoder travel ranges and cycle length

Linearly limited travel range
• The travel range in the positive and negative direction is limited mechanically and on the
software side by limit switches.
• After travelling a defined distance, the drive returns in the opposite direction.

Fig. 3: Spindle drive (linear axis)

ϕ
❶
❷

t
❸

Fig. 4: Position representation

1 Setting of the home position 3 Position in the motor measuring sys-
2 Position in the machine measuring tem
system

Unlimited travel range (Modulo)

• The measuring system is repeated.
• When the set cycle length is exceeded, a defined overflow takes place.
• The cycle length corresponds to one revolution or tool distance of a turntable (end posi-
tion = starting position).
• Software limit switches are not active.
• Absolute targets can be approached by exceeding the measuring system limit.

M
❶

Fig. 5: Turntable
1 Cycle length (illustration = 60°)

50
 Technology application (TA) basic settings
Kinematic settings
Motor/encoder travel ranges and cycle length

❶ ❶

t
❸

Fig. 6: Position representation

1 Cycle length 40x500A:031 3 Position in the motor measuring sys-
2 Position in the machine measuring tem
system
The kinematic parameters for the second encoder serve to define the conversion of an impor-
ted encoder position or encoder speed in machine units.
Parameter
Address Name / setting range / [default setting] Info
0x500A:030 Travel range Selection of the traversing range for the motor
• Setting can only be changed if the inverter is inhibi-
ted.
0 Modulo Unlimited traversing range (turntable). The cycle length must also be
specified here.
1 Limited Linearly limited traversing range (spindle drive).
0x500A:031 Cycle length The cycle length for an unlimited traversing range defines the position
0.0001 ... [360.0000] ... 214748.3647 where the measuring system is repeated (position return to 0).
• Setting can only be changed if the inverter is inhibi-
ted.
0x500B:030 Travel range Selection of the traversing range with regard to the encoder position.
• Setting can only be changed if the inverter is inhibi-
ted.
0 Modulo Unlimited traversing range (turntable). The cycle length must also be
specified here.
1 Limited Linearly limited traversing range (spindle drive).
0x500B:031 Cycle length The cycle length for an unlimited traversing range defines the position
0.0001 ... [360.0000] ... 214748.3647 where the measuring system is repeated (position return to 0).
• Setting can only be changed if the inverter is inhibi-
ted.

51
Technology application (TA) basic settings
Kinematic settings
Virtual mode

6.1.7 Virtual mode

The application can be tested without a connected motor. For this purpose, the setpoint selec-
tion for the drive can be interrupted.
When the virtual mode is active, the setpoints generated in the application are not transmit-
ted to the drive. The actual values (e. g. position and velocity) are generated from the set-
points.
The kinematic parameters do not have any influence in the virtual mode. Only the parameters
travel range and cycle length are used for the machine measuring system.
Machine measuring system parameters
• Travel range 40x500A:030
• Cycle length 40x500B:031
For diagnostic purposes, an active virtual mode is displayed in the Status word parameter.
40x500A:005 Bit 0
Parameter
Address Name / setting range / [default setting] Info
0x500A:029 Virtual mode
• Setting can only be changed if the inverter is inhibi-
ted.
false Inactive
true Active

52
 Technology application (TA) basic settings
Motion settings
Quick stop

6.2 Motion settings

Motion settings can be made for the following functions:
4Quick stop ^ 53
4Halt ^ 54
4Following error monitoring ^ 54
4Target position detection ^ 55
4Motor/encoder standstill detection ^ 55
4Conditioning of the encoder signal ^ 55
4Behaviour in the event of inverter disable ^ 56
4Control modes ^ 57
4Manual jog (inching mode) ^ 58
4Homing ^ 59
4Limitations ^ 71
Settings in the »EASY Starter«:
• Tab Settings - Parameter dialog Motion

6.2.1 Quick stop

The quick stop function is used for stopping the axis and in the event of an error.
The ramp used can be set via the following parameters:
• Quick stop deceleration 40x500A:048
• Quick stop jerk 40x500A:049
If the quick stop function is active, it is displayed in the Status word parameter. 40x500A:005
Bit 13.
Special features of quick stop:
• Setpoint generation for the quick stop function starts at the current actual speed.
• The quick stop function starts with the acceleration 0.
Exception: If the axis is already in the deceleration phase, the start is performed with the
active setpoint acceleration to avoid prolonging the existing braking process.
• During the deceleration, a change to speed-controlled operation takes place.
• A transition to position control takes place when a standstill has been reached.
• There is no reduction in torque while the stop is being performed.
Parameter
Address Name / setting range / [default setting] Info
0x500A:048 Application quick stop - deceleration
0.01 ... [3600.00] ... 21474836.47
0x500A:049 Application quick stop - jerk
0.00 ... [0.00] ... 21474836.47
0x5020:007 Application quick stop source Selection of the signal source for activating the quick stop.
0 FALSE
1 TRUE
2 Digital input 1
3 Digital input 2
4 Digital input 3
5 Digital input 4

53
Technology application (TA) basic settings
Motion settings
Following error monitoring

6.2.2 Halt
By triggering this function, the technology application enables the axis to be braked to stand-
still with the values parameterised for deceleration and jerk based on the current setpoints.
Parameter
Address Name / setting range / [default setting] Info
0x500A:186 Deceleration of Halt
0.00 ... [1800.00] ... 21474836.47
0x500A:187 Jerk of Halt
0.00 ... [0.00] ... 21474836.47

6.2.3 Following error monitoring

The difference between the setpoint position and the actual position is the following error.
The following error should be "0". If the position control is set optimally, only a minimal fol-
lowing error will occur. The following error is compensated dynamically and does not grow
continuously.
However, certain processes impose a certain maximum limit in terms of the difference
between the setpoint position and the actual position. If the limit is exceeded, it might be (for
example) because of a failure to perform a movement within the machine, meaning that the
system component does not reach the defined position at the relevant point in time. In such
cases, it is appropriate to trigger an error response. The error response is adjustable.
40x500A:059
For diagnostic purposes, the current and maximum following error are displayed in the diag-
nostic parameter. 40x500A:058

Behaviour when the following error monitoring is active (0x500A:054 = activated)

Two following error limits can be parameterised.

Exceedance of following error limit 1 (0x500A:055):
• A warning is displayed.
• The current movement of the axis is not interrupted.
Exceedance of following error limit 2 (0x500A:056):
• The set error response is executed. 0x500A:059
Parameter
Address Name / setting range / [default setting] Info
0x500A:054 Following error monitoring
false Inactive
true Active
0x500A:055 Following error: Warning threshold
0.0000 ... [180.0000] ... 214748.3647
0x500A:056 Following error: Error threshold
0.0000 ... [360.0000] ... 214748.3647
0x500A:057 Actual following error
• Read only
0x500A:058 Max. following error
• Read only
0x500A:059 Response to following error
20 Fault > Application quick stop > Quick stop
21 Fault> Application quick stop > Inverter disa-
bled

54
 Technology application (TA) basic settings
Motion settings
Conditioning of the encoder signal

6.2.4 Target position detection

The target position detection identifies whether the axis is in the symmetrical target position
window after the dwell time has elapsed.
The information is provided in the Status word parameter of the technology application.
• Status word — Axis:40x500A:005 Bit 23
• Status word — Virtual master axis:40x500C:005 Bit 23
Under these conditions, the "Axis in target" status (bit 23 = TRUE) is reset to FALSE:
• The actual position has left the target position window.
• A new motion task is started.
• The home position is reset.
Parameter
Address Name / setting range / [default setting] Info
0x500A:130 Position window size
0.0000 ... [0.0000] ... 214748.3647
0x500A:131 Position window dwell time
0.000 ... [0.000] ... 2147483.647 s
0x500A:135 Modulo positioning tolerance window
0.0000 ... [0.0000] ... 214748.3647

6.2.5 Motor/encoder standstill detection

The standstill detection identifies whether the axis is at standstill.
The information is provided in the status word parameter of the technology application.
• Axis status word:40x500A:005, bit 22
Parameter
Address Name / setting range / [default setting] Info
0x500A:132 Standstill window size (motor encoder)
0.0000 ... [0.0000] ... 214748.3647
0x500B:132 Standstill window size (load encoder)
0.0000 ... [0.0000] ... 214748.3647

6.2.6 Conditioning of the encoder signal

For further processing of encoder values in the technology application, it might be necessary
to condition the value so that interference within the signal does not detrimentally affect the
coupling.
The following separately adjustable filters are available for conditioning the actual value:
Parameter
Address Name / setting range / [default setting] Info
0x500B:065 Filter cycles of actual velocity
1 ... [1] ... 100
0x500B:066 Filter cycles of actual position
1 ... [1] ... 100

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Motion settings
Behaviour in the event of inverter disable

6.2.7 Behaviour in the event of inverter disable

In standard cases, the setpoint position is compared against the actual position when the
inverter is disabled. A position window can be used to control the automatic comparison
between the setpoint position and actual position in the case of a disabled inverter. In the
position window, positive and negative deviations can be set separately. If the distance
between the last setpoint position before inverter disable and the current actual position is
smaller than the parametrised value, the setpoint position keeps its last value. The setpoint
position and the actual position will be compared upon exiting this window.
If the value is set to 0 units, the setpoint position is equated with the actual position in the
case of an inverter disable. The limit value set for the upper and lower limits of the window in
the parameters must not exceed the drift of the actual position at drive standstill plus an addi-
tional safety margin.
If higher values are set, the position controller makes a jerky compensation after the inverter
is enabled. This is due to the existing system deviation.
Limit values:
40x500A:136
40x500A:137
Behaviour in case of an inverter disable during a movement
If the drive is disabled during a movement, for instance by the control word in the application
or via the STO safety function, an error is triggered.
The Resp. to inverter disable during motion parameter can be used to set a different
response. 40x500A:107
Parameter
Address Name / setting range / [default setting] Info
0x500A:107 Response to inverter disable during operation
0 No response
19 Fault > Application quick stop > Quick stop
0x500A:136 Tolerance window actual position=set position upper
limit
0.0000 ... [0.0000] ... 214748.3647
0x500A:137 Tolerance window actual position=set position lower
limit
0.0000 ... [0.0000] ... 214748.3647

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Control modes

6.2.8 Control modes

With the default setting, the axis will always be operated with activated speed control unless
the function used in the application requires a different control type. 40x500A:090
The speed control is used when no motor encoder is available.
The speed control is used in the first phase of the reference run, during the search for the
reference signal.
The speed control is used during deceleration with the quick stop function.
The active control type is shown in the Active control mode parameter. 40x500A:091
Parameter
Address Name / setting range / [default setting] Info
0x500A:090 Default control mode
• Setting can only be changed if the inverter is inhibi-
ted.
0 Position control via motor encoder
1 Position control via load encoder
10 Speed control via motor encoder
0x500A:091 Actual control mode
• Read only
0 Position control via motor encoder
1 Position control via load encoder
10 Speed control via motor encoder
20 Torque control
0x500A:092 Load encoder selection
• Setting can only be changed if the inverter is inhibi-
ted.
-
Encoder_Axis
0x500A:093 Position controller gain
0.0000 ... [20.0000] ... 214748.3647 1/s
0x500A:094 Load encoder output limit
0.0000 ... [100000.0000] ... 214748.3647
0x500A:095 Position controller output
• Read only

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Manual jog (inching mode)

6.2.9 Manual jog (inching mode)

The "manual jog" function enables manual traversing of the drive ("inching mode").
"Manual jog" can be activated via 2 control signals in the technology application. "Manual jog"
is possible in the positive and negative directions.
• As long as the control bit is set, the drive moves.
• If both requests are set simultaneously, the drive stops.
• If the reference is known and the software limit switches are activated, positioning to the
corresponding software limit switch is carried out.
Exception: If the manual jog has been stopped manually before this by resetting the con-
trol inputs, a positioning to the corresponding software limit switch is aborted.
The drive brakes with the set deceleration to the position of the corresponding hardware
limit switch.
• If the reference is not known or the software limit switches are not activated, the axis only
stops at the hardware limit switch.
Parameter
Address Name / setting range / [default setting] Info
0x500A:181 Manual jog velocity
0.0000 ... [360.0000] ... 214748.3647
0x500A:182 Manual jog acceleration
0.00 ... [720.00] ... 21474836.47
0x500A:183 Manual jog deceleration
0.00 ... [1440.00] ... 21474836.47
0x500A:184 Manual jog jerk
0.00 ... [0.00] ... 21474836.47

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Homing

6.2.10 Homing
Homing serves to define the zero point in the traversing range.
The activation takes place by the control word of the technology application.
The information that a home position has been recognised is provided in the Status word
parameter of the technology application. 40x500A:005, bit 5
Safety function: 4Safe homing (SHOM) ^ 428
Profile data - Referencing
For the reference search, 2 profile data sets can be parameterised with different speeds and
accelerations. The time for referencing is reduced and the accuracy is increased.
• Profile data set 1: Quick approach of the limit switch (depending on the selected mode).
• Profile data set 2: Slow and exact approach of the limit switch and positioning to the target
position.
• If speed 2 is set = "0" (initial value), there is no changeover to the profile data set 2. The
reference search is carried out with the profile parameters of profile data set 1.
Parameter
Address Name / setting range / [default setting] Info
0x500A:070 Homing mode
-2 CwTorqueLimit
-1 CcwTorqueLimit
0 SetPositionDirect
1 CcwLimitSwitchCwTP
2 CwLimitSwitchCcwTP
3 CwRpCcwRnTP
5 CcwRpCwRnTP
17 CcwLimitSwitch
18 CwLimitSwitch
19 CwRpCcwRn
21 CcwRpCwRn
33 CcwTP
34 CwTP
99 Reset home position
0x500A:071 Action after "Home position detected"
0 Stop positioning
1 Relative positioning
2 Absolute positioning
0x500A:078 Homing : Torque limit
0.00 ... [0.10] ... 21474836.47 Nm
0x500A:079 Homing : Blocking time
0.000 ... [1.000] ... 2147483.647 s

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Homing

Address Name / setting range / [default setting] Info

0x500A:080 Homing : Touch probe configuration
0 External source
1 TP1 - positive edge
2 TP1 - negative edge
3 TP1 - any edge
4 TP1 - zero pulse
11 TP2 - positive edge
12 TP2 - negative edge
13 TP2 - any edge
14 TP2 - zero pulse
21 TP3 - positive edge
22 TP3 - negative edge
23 TP3 - any edge
24 TP3 - zero pulse
31 TP4 - positive edge
32 TP4 - negative edge
33 TP4 - any edge
34 TP4 - zero pulse
0x500A:084 Home position
-214748.3648 ... [0.0000] ... 214748.3647

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Homing

6.2.10.1 Homing modes

Designation Initial value Evaluated signals/sensors
TP sensor: encoder Travel range limit switch Reference switch
zero pulse negative positive HomeAbsSwitch
Set position directly 0 Set reference directly
CcwLimitSwitchCwTP 1 X X
CwLimitSwitchCcwTP 2 X X
CwRpCcwRnTP 3 X X
CcwRpCwRnTP 5 X X
CcwLimitSwitch 17 X
CwLimitSwitch 18 X
CwRpCcwRn 19 X X
CcwRpCwRn 21 X X
CcwTP 33 X
CwTP 34 X
ResetHomeInfo 99 If the reference is known, the status is reset.
CwTorqueLimit -2 Positive direction to torque limit
CcwTorqueLimit -1 Negative direction to torque limit

Homing mode 1: CcwLimitSwitchCwTP

0
1
Fig. 7: Negative direction with reversing limit switch to touch probe
A Touch probe/zero pulse B Negative travel range limit switch
Sequence of case ①:
1. The machine part moves in negative direction with profile data set 1.
2. The machine part reverses to the negative travel range limit switch (B) and changes to
profile data set 2.
3. The negative edge of the travel range limit switch (B) activates the touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor (A) sets the ref-
erence.
5. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.

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Homing

Homing mode 2: CwLimitSwitchCcwTP

0
1
Fig. 8: Positive direction with reversing limit switch to touch probe
A Touch probe/zero pulse B Positive travel range limit switch
Sequence of case ①:
1. The machine part moves in positive direction with profile data set 1.
2. Machine part reverses to positive travel range switch (B) and changes to profile data set 2.
3. The negative edge of the travel range limit switch (B) activates the touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor (A) sets the ref-
erence.
5. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.

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Homing

Reference run 3: CwRpCcwRnTP

①
②

0
1
Fig. 9: Positive direction with reversing limit switch and negative edge of the reference switch to touch probe
A Touch probe/zero pulse B Reference switch
Sequence of case ①:
The axis has not yet activated the reference switch:
1. The machine part moves in positive direction with profile data set 1.
2. The machine part reverses with positive edge of the reference switch (B) and changes to
profile data set 2.
3. The negative edge of the reference switch (B) activates the touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor (A) sets the ref-
erence.
5. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning around a set target position.
• Absolute positioning to a set target position.
Sequence for case ②:
The axis has already activated the reference switch:
1. The machine part moves in negative direction with profile data set 2.
2. The negative edge of the reference switch (B) activates the touch probe detection.
3. The following positive edge of the encoder zero pulse/touch probe sensor (A) sets the ref-
erence.
4. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning around a set target position.
• Absolute positioning to a set target position.

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Homing

Homing mode 5: CcwRpCwRnTP

①
②

0
1
Fig. 10: Negative direction with reversing reference switch and negative edge of the reference switch to touch probe
A Touch probe/zero pulse B Reference switch
Sequence of case ①:
The axis has not yet activated the reference switch:
1. The machine part moves in negative direction with profile data set 1.
2. The machine part reverses with positive edge of the reference switch (B) and changes to
profile data set 2.
3. The negative edge of the reference switch (B) activates the touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor (A) sets the ref-
erence.
5. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.
Sequence of case ②:
The axis has already activated the reference switch:
1. The machine part moves in positive direction with profile data set 2.
2. The negative edge of the reference switch (B) activates the touch probe detection.
3. The following positive edge of the encoder zero pulse/touch probe sensor (A) sets the ref-
erence.
4. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.

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Homing

Homing mode 17: CcwLimitSwitch

①
0
Fig. 11: Negative direction to limit switch
A Negative travel range limit switch
Sequence of case ①:
1. The machine part moves in negative direction with profile data set 1.
2. The machine part reverses to negative travel range limit switch (A) and changes to profile
data set 2.
3. The following negative edge of the travel range limit switch (A) sets the reference.
4. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.
Homing mode 18: CwLimitSwitch

0
Fig. 12: Positive direction to limit switch
A Positive travel range limit switch
Sequence of case ①:
1. The machine part moves in positive direction with profile data set 1.
2. The machine part reverses to positive travel range limit switch (A) and changes to profile
data set 2.
3. The following negative edge of the travel range limit switch (A) sets the reference.
4. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.

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Motion settings
Homing

Homing mode 19: CwRpCcwRn

①
②

0
Fig. 13: Sequence representation of case 1 and case 2
A Reference switch
Sequence of case ①:
The axis has not yet activated the reference switch:
1. The machine part moves in positive direction with profile data set 1.
2. Machine part reverses with positive edge of the reference switch (A) and changes to pro-
file data set 2.
3. The negative edge of the reference switch (A) sets the reference.
4. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.
Sequence of case ②:
The axis has already activated the reference switch:
1. The machine part moves in negative direction with profile data set 2.
2. The negative edge of the reference switch (A) sets the reference.
3. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.

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Homing

Homing mode 21: CcwRpCwRn

①
②

0
Fig. 14: Sequence representation of case 1 and case 2
A Reference switch
Sequence of case ①:
The axis has not yet activated the reference switch:
1. The machine part moves in negative direction with profile data set 1.
2. The machine part reverses with positive edge of the reference switch (A) and changes to
profile data set 2.
3. The negative edge of the reference switch (A) sets the reference.
4. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.
Sequence of case ②:
The axis has already activated the reference switch:
1. The machine part moves in positive direction with profile data set 2.
2. The negative edge of the reference switch (A) sets the reference.
3. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.
Homing mode 33: CcwTP

0
Fig. 15: Negative direction to touch probe
A Touch probe/zero pulse
Sequence of case ①:
1. The machine part moves to negative direction with profile data set 1 and activates the
touch probe detection.
2. The following set edge of the encoder zero pulse/touch probe sensor (A) sets the refer-
ence.
3. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.

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Motion settings
Homing

Homing mode 34: CwTP

0
Fig. 16: Positive direction to touch probe
A Touch probe/zero pulse
Sequence of case ①:
1. The machine part moves to positive direction with profile data set 1 and activates the
touch probe detection.
2. The following set edge of the encoder zero pulse/touch probe sensor (A) sets the refer-
ence.
3. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.
Homing mode -1: CcwTorqueLimit

Fig. 17: Negative direction to torque limit

Sequence of case ①:
1. The machine part moves in negative direction with reduced torque and profile data set 1.
2. The reference is set if the following two conditions for the set blocking time are fulfilled at
the same time:
• The current speed is lower than the threshold set for standstill detection.
• The current torque is higher than the set torque limit (homing to end stop).
3. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.

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Homing

Homing mode -2: CwTorqueLimit

Fig. 18: Positive direction to torque limit

Sequence of case ①:
1. The machine part moves in positive direction with reduced torque and profile data set 1.
2. The reference is set if the following two conditions for the set blocking time are fulfilled at
the same time:
• The current speed is lower than the threshold set for standstill detection.
• The current torque is higher than the set torque limit (homing to end stop).
3. Further actions can be selected:
• Drive stops (default setting).
• Relative positioning by a set target position.
• Absolute positioning to a set target position.
Parameter
Address Name / setting range / [default setting] Info
0x500A:070 Homing mode
-2 CwTorqueLimit
-1 CcwTorqueLimit
0 SetPositionDirect
1 CcwLimitSwitchCwTP
2 CwLimitSwitchCcwTP
3 CwRpCcwRnTP
5 CcwRpCwRnTP
17 CcwLimitSwitch
18 CwLimitSwitch
19 CwRpCcwRn
21 CcwRpCwRn
33 CcwTP
34 CwTP
99 Reset home position
0x500A:072 Homing: Set position
-214748.3648 ... [0.0000] ... 214748.3647
0x500A:073 Homing: Set position
0.0000 ... [360.0000] ... 214748.3647
0x500A:074 Homing : Velocity 2
0.0000 ... [0.0000] ... 214748.3647
0x500A:075 Homing : Acceleration 1
0.00 ... [720.00] ... 21474836.47
0x500A:076 Homing : Acceleration 2
0.00 ... [360.00] ... 21474836.47
0x500A:077 Homing : Jerk
0.00 ... [7200.00] ... 21474836.47

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Technology application (TA) basic settings
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Homing

6.2.10.2 Digital input for reference switch

Parameter
Address Name / setting range / [default setting] Info
0x5020:006 Source of homing switch for touch probe Selection of the signal source for activating the reference switch for
0 FALSE touch probe evaluation.
1 TRUE
2 Digital input 1
3 Digital input 2
4 Digital input 3
5 Digital input 4

6.2.10.3 Motor/encoder behaviour after mains switching

With multipole resolvers, a renewed referencing is required.

The home position is deleted when:

• The home position is not within the parameterised angle after switching on.
• The encoder shaft is rotated by ≥ 50% when using resolvers.
• The encoder shaft is rotated by ≥ 50% when using single turn absolute value encoders.
Conditions for obtaining the home position after mains switching:
• Set parameter to 1:Active.40x500A:081
• Observe maximum configurable angle of rotation. Parameterise ≤ 50% of maximum pre-
sentable range of encoder shaft. 40x500A:082
No check takes place when:
• The angle is parameterised for 0°.
Parameter
Address Name / setting range / [default setting] Info
0x500A:081 Keep home position after mains switching
false Inactive
true Active
0x500A:082 Max. angle of rotation after mains switching Setting of the maximum angle of rotation for the motor.
-2147483648.0000000000 ... [0.0000000000] ... • The angle of rotation must be parameterised smaller than half of the
2147483647.0000000000 ° maximum display area des Gebers.
• If the angle is parameterised to 0°, no check will be performed.
0x500B:081 Keep home position after mains switching
false Inactive
true Active
0x500B:082 Max. angle of rotation after mains switching Setting of the maximum angle of rotation for the encoder.
-2147483648.0000000000 ... [0.0000000000] ... • The angle of rotation must be parameterised smaller than 50% of the
2147483647.0000000000 ° maximum display area of the encoder.
• If the angle is parameterised to 0°, there will be no check.

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Limitations

6.2.11 Limitations

6.2.11.1 Torque limits

For the axis, static torque limits can be defined which are active in normal operation. They are
defined via the parameters:
• Positive torque limit 40x500A:128
• Negative torque limit 40x500A:129
The torque limits can be deactivated in the technology application and can be replaced by
alternative torque limits.
The alternative torque limits are configured in the technology application via a control word in
the inverter and in the controller-based automation via the function block L_MC1P_SetTor-
queLimit.
If the set torque limits were changed in the technology application, this will be displayed in
the Status word parameter in bit 20. 40x500A:005 Bit 20
The torque limits currently effective in the drive are displayed in the parameters Positive tor-
que limit and Negative torque limit. 40x60E0 40x60E1

Torque limit from application

active
0x005 (Bit 20)

Positive torque limit 0x60E0

0x500A:128
from application

Negatives torque limit 0x60E1

0x500A:129
from application

Parameter
Address Name / setting range / [default setting] Info
0x500A:013 Actual torque
• Read only: x.xx Nm
0x500A:128 Positive torque limit
-3276.8 ... [200.0] ... 3276.7 %
0x500A:129 Negative torque limit Negative torque limit
-3276.8 ... [200.0] ... 3276.7 %
0x6076 Motor rated torque The rated motor torque to be set here serves as a reference value for
0.001 ... [0.600] ... 1000.000 Nm different parameters with a setting/display of a torque value in percent.
• Setting can only be changed if the inverter is inhibi- Example:
ted.
• Motor rated torque = 1.65 Nm
• Max torque 0x6072 = 250 % Motor rated torque = 4.125 Nm
0x6077 Torque actual value Display of the current torque.
• Read only: x.x % • 100 % ≡ Rated Motor Torque. 40x6076
0x60E0 Positive torque limit Positive torque limit source for speed control with torque limitation.
0.0 ... [100.0] ... 3276.7 % • 100 % ≡ Rated Motor Torque. 40x6076
0x60E1 Negative torque limit Code previously C3687.
0.0 ... [100.0] ... 3276.7 % Negative torque limit source for speed control with torque limitation.
• 100 % ≡ Rated Motor Torque 40x6076

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Limitations

6.2.11.2 Maximum values for travel profiles

The following parameters can be used to set maximum values for velocity, acceleration and
jerk.
These parameters depend on the mechanics (e.g. the tool used).
The respective limitation is only effective if a non-zero maximum value is set.
If a generated setpoint exceeds the set maximum value (e.g. the maximum velocity), the
motion axis triggers a configured error response.
If the axis is not in a synchronised movement, the profile parameters are automatically limited
to the set maximum values.
A non-synchronised movement is e.g. a positioning or the manual jog function.
A warning indicates that the profile data have been limited.
Parameter
Address Name / setting range / [default setting] Info
0x500A:045 Max. velocity
0.0000 ... [0.0000] ... 214748.3647
0x500A:046 Max. acceleration
0.00 ... [0.00] ... 21474836.47
0x500A:047 Max. jerk
0.00 ... [0.00] ... 21474836.47
0x500A:106 Response to error "max. values exceeded"
0 No response
2 Warning
19 Fault > Application quick stop > Quick stop
21 Fault> Application quick stop > Inverter disa-
bled

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Limitations

6.2.11.3 Hardware limit switches

The resulting setpoint velocity Virtual Master: Set velocity is used for the continuous opera-
tion or cyclic operation of the virtual master. 40x5047:001

X3
DO1 24O
GO GI
DI1 DI1
DI3 DI3
AI1- AI1+

Fig. 19: Front view of the plug connector X3 with analog input 1

Master Value Source

Source Master Values Source Master Values (0x5020:014) = Virtual Master OR AnalogIn 1
(0x5020:014) OR Status Signals Virtual Master (0x5045:110), Bit 31 (External Master Values Inactive)
OR Error code (0x603F:000) = 0x7304 (Feedback fault slot B)
Source Master Values
(0x5020:014) =
Systembus Virtual Master
Selected Master Velocity
System bus in Velocity (0x5021:152) (0x5042:017)

Master Values
Application feedback (B) (0x500B:011) Selected Set Velocity VM
(0x5047:001)
Source Master Values
(0x5020:014) =
Systembus Virtual Master
Profile Generator
Set Velocity Virtual Master (0x5045:011) v
vmax
VM Sync Velocity (0x5046:020)
Set Velocity ∆p VM Sync Slave Direction (0x5046:030)
Analoginput 1 (0x2DA4:005) t
VM Acc (0x5046:003)
VM Startposition (0x5046:001) VM Dec (0x5046:004)
VM Zielposition (0x5046:002) VM Jerk (0x5046:005)
Reference Velocity Analoginput 1 (0x5020:009)

Fig. 20: Analog input 1 as speed source

Connection of the hardware limit switches
The hardware limit switches are assigned to the digital inputs via the Source for positive hard-
ware limit switch and Source for negative hardware limit switch parameters.
Limit switch source
• Source for positive hardware limit switch 40x5020:004
• Source for negative hardware limit switch 40x5020:005
The limit switch evaluation responds to a positive edge.

If the limit switch connections for the digital inputs used are to be fail-safe,
change the terminal polarity of the corresponding digital inputs.

Triggering of the hardware limit switches

If either of the hardware limit switches is triggered and the signal at the input = TRUE, the
parametrised error response is executed. 40x500A:104
The error message "HWLimitPos" or "HWLimitNeg" is generated, irrespective of whether the
axis is currently moving and in which direction the axis is currently moving.
Acknowledge the error in order to move the axis.
Behaviour when retracting the limit switches:
If a limit switch is triggered and the error message is acknowledged, only travel requests in the
opposite direction (retracting direction) are possible. Travel requests in the direction of the
limit switch are aborted in the event of an error.

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Limitations

Diagnostics
Status word parameter bit 9 40x500A:005 Bit 9
Status word parameter bit 10 40x500A:005 Bit 10
Parameter
Address Name / setting range / [default setting] Info
0x500A:104 Response to hardware limit switch error
19 Fault > Application quick stop > Quick stop
21 Fault> Application quick stop > Inverter disa-
bled
0x5020:004 Source of positive hardware limit switch Selection of the digital inputs for the positive hardware limit switch.
0 FALSE Specification of the digital inputs for the positive hardware limit switch.
1 TRUE
2 Digital input 1
3 Digital input 2
4 Digital input 3
5 Digital input 4
0x5020:005 Source of negative hardware limit switch Selection of the digital inputs for the negative hardware limit switch.
0 FALSE Specification of the digital inputs for the negative hardware limit switch.
1 TRUE
2 Digital input 1
3 Digital input 2
4 Digital input 3
5 Digital input 4

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Limitations

6.2.11.4 Software limit switches

The parameterisable software end switches limit the traversing range set via the software.

The software end switches are not active for the "Modulo" traversing range and
when a reference run is active.

In the following situations, the software end switches are evaluated, monitored, and shown in
the status word when triggered: 40x500A:005 Bit 6
• The home position is known to the drive. 40x500A:005 Bit 5
• The software limit switches are effectively switched. 40x500A:050
• The monitoring was not deactivated from within the application. 40x500A:005 Bit 24
In the device states "Deactivated" or "Error stop", traversing the software limit switch does
not result in an error.
If the software limit switches are exceeded, the set error response is triggered. 40x500A:105
The software limit switches can be retracted in the direction of the permitted traversing
range.
Parameter
Address Name / setting range / [default setting] Info
0x500A:050 Enable software limit switches
false Inactive
true Active
0x500A:051 Software limit switch positive
-214748.3648 ... [0.0000] ... 214748.3647
0x500A:052 Software limit switch negative
-214748.3648 ... [0.0000] ... 214748.3647
0x500A:053 Action after "software limit switch reached"
0 Stop after software limit switch
1 Stop at software limit switch
0x500A:105 Response to software limit switch error
19 Fault > Application quick stop > Quick stop
21 Fault> Application quick stop > Inverter disa-
bled

75
Technology application (TA) basic settings
Motion settings
Limitations

6.2.11.5 Safety limits

The inverter has functions for supporting the safety technology. Depending on the required
safety function, automatic intervention in the setpoint value generation of the axis takes
place.
When safety technology is used in coupled axes, it might be required that a requested safety
function does not respond within the single axes but that the responses are recognised cen-
trally. This recognition can be realised via a virtual master.
The following safety functions can be limited or deactivated:
4Safe Torque Off (STO) ^ 398
4Safe Stop 1 (SS1) ^ 403
4Safe Stop 2 (SS2) ^ 406
4Safely-Limited Speed (SLS) 1 ... 4 ^ 412
4Safe Direction (SDI) positive/negative ^ 420
The requested safety function is displayed in the Status limiter parameter. 40x500A:163
The safety function can be deactivated in the Deactivate safety functions parameter.
40x500A:162
In the case of deactivated functions, the axis does not influence the setpoint value.
Safe stop (SSE) / Safe stop 2 (SS2)
Limited Stop 1 Limited Stop 2
Status display 0x500A:163 bit 1 Status display 0x500A:163 bit 2
Quick stop application - deceleration 0x500A:048 Quick stop application - deceleration 0x500A:048
Quick stop application - jerk 0x500A:049 Quick stop application - jerk 0x500A:049
After the standstill is reached, the drive is disabled. The drive is braked to standstill with the parameters Quick stop applica-
tion - deceleration und Quick stop application - jerk.
After standstill has been reached, the position control of the drive
remains active.

Safely limited speed (SLS) 1 ... 4

The following parameters limit the speeds and set delay times of the axis:
Speed Deceleration time
Limited speed 1 0x500A:150 0x500A:151
Limited speed 2 0x500A:152 0x500A:153
Limited speed 3 0x500A:154 0x500A:155
Limited speed 4 0x500A:156 0x500A:157

• If the current setpoint speed exceeds the value set for the requested limited speed, the
setpoint speed is reduced to the requested limited speed within the parametrised delay
time.
• If several limited speeds are requested at the same time, the lowest speed is reduced with
the highest deceleration.
Status display in Status limiter parameter bit 4 ... bit 7. 40x500A:163

76
 Technology application (TA) basic settings
Motion settings
Limitations

Master-slave coupling
In the event of an active master/slave coupling (e. g. synchronism or cam profiler application),
the speed is not reduced automatically in the default setting. The automatic speed reduction
is generally realised via the master axis.
Automatic speed reduction is activated via the Follower - Response to SLS parameter.
40x500A:160
If automatic speed reduction is activated, the cyclically specified setpoint values are reduced
to the limited speed. The synchronism of the master axis is no longer guaranteed.
An offset occurring between master and slave is automatically resolved by deactivating the
parameter.40x500A:159
An excessive rotational speed due to following error compensation is avoided by limiting the
setpoint values at the speed regulator input. 40x500A:161
Parameter
Address Name / setting range / [default setting] Info
0x500A:150 SLS1
0.0000 ... [0.0000] ... 214748.3647
0x500A:151 SLS1 - deceleration time
0.000 ... [0.000] ... 2147483.647 s
0x500A:152 SLS2
0.0000 ... [0.0000] ... 214748.3647
0x500A:153 SLS2 - deceleration time
0.000 ... [0.000] ... 2147483.647 s
0x500A:154 SLS3
0.0000 ... [0.0000] ... 214748.3647
0x500A:155 SLS3 - deceleration time
0.000 ... [0.000] ... 2147483.647 s
0x500A:156 SLS4
0.0000 ... [0.0000] ... 214748.3647
0x500A:157 SLS4 - deceleration time
0.000 ... [0.000] ... 2147483.647 s
0x500A:159 Compensation velocity of SLS
0.0000 ... [0.0000] ... 214748.3647
0x500A:160 Follower - Response to SLS
false Inactive
true Active
0x500A:161 Speed controller limitation (SLS)
false Inactive
true Active
0x500A:162 Deactivate safety functions
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Bit 1 Ignore SS1 request
Bit 2 Ignore SS2 request
Bit 3 Ignore SLS1-4 request
Bit 4 Ignore SDI request
0x500A:163 Limiter status
• Read only
Bit 0 STO active
Bit 1 SS1 active
Bit 2 SS2 active
Bit 4 SLS1 active
Bit 5 SLS2 active
Bit 6 SLS3 active
Bit 7 SLS4 active
Bit 8 SDIpos active
Bit 9 SDIneg active

77
Technology application (TA) basic settings
Motion settings
Status signals

6.2.12 Status signals

Parameter
Address Name / setting range / [default setting] Info
0x500A:004 PLCopen status
• Read only
1 ErrorStop
2 Disabled
3 Standstill
4 Stopping
5 DiscMotion
6 SyncMotion
7 ContMotion
8 Homing
10 Service
0x500A:005 Status word
• Read only
Bit 0 Virtual mode active
Bit 1 Axis ready
Bit 2 Axis enabled
Bit 3 Warning active
Bit 4 Error active
Bit 5 Home position detected
Bit 6 Software limit switches enabled
Bit 7 Software limit switch positive
Bit 8 Software limit switch negative
Bit 9 Hardware limit switch positive
Bit 10 Hardware limit switch negative
Bit 11 STO active
Bit 12 Brake opened
Bit 13 Application quick stop active
Bit 14 Limitation active
Bit 16 "Following error" warning active
Bit 17 "Following error" error active
Bit 18 Homing active
Bit 19 Homing switch for touch probe active
Bit 20 Application torque limits
Bit 21 Manual jog active
Bit 22 Standstill active
Bit 23 Position setpoint reached
Bit 24 Switch off software limit switches
0x500A:010 Actual position
• Read only
0x500A:011 Actual velocity
• Read only
0x500A:012 Actual acceleration
• Read only
0x500A:014 Position setpoint
• Read only
0x500A:015 Velocity setpoint
• Read only
0x500A:016 Acceleration setpoint
• Read only
0x500A:017 Torque setpoint
• Read only: x.xx Nm

78
 Technology application (TA) basic settings
Motion settings
Status signals

Address Name / setting range / [default setting] Info

0x500B:005 Status word
• Read only
Bit 1 Encoder ready
Bit 3 Warning active
Bit 4 Error active
Bit 5 Home position detected
Bit 22 Standstill active
0x500B:010 Actual position The current position value is resolved with 4 decimal positions.
• Read only
0x500B:011 Actual velocity The current speed value is resolved with 4 decimal positions.
• Read only
0x500B:012 Actual acceleration
• Read only

79
Technology application (TA) basic settings
Defining control sources
Source of error reset

6.3 Defining control sources

This chapter describes the selection of the control source for various control signals.
4Source of quick stop ^ 80
4Source of error reset ^ 80
4Source of digital output 1 ^ 81
4Source of monitoring signal ^ 81
Settings in the »EASY Starter«:
• Tab Settings - Parameter dialog Technology application

6.3.1 Source of quick stop

A quick stop can be requested via the control word or via a digital input. Use the Source for
quick stop parameter to select which input is used. 40x5020:007
Parameter
Address Name / setting range / [default setting] Info
0x5020:007 Application quick stop source Selection of the signal source for activating the quick stop.
0 FALSE
1 TRUE
2 Digital input 1
3 Digital input 2
4 Digital input 3
5 Digital input 4

6.3.2 Source of error reset

An error can be reset via the fieldbus, the system bus or via a digital input. Use the Source for
error reset parameter to select which input is used. 40x5020:008

0x5020:008
(Source reset error)

FALSE
TRUE
DigIn1 Application
DigIn2
DigIn3
DigIn4

Fig. 21: "Reset error" selection

Parameter
Address Name / setting range / [default setting] Info
0x5020:008 Source of fault reset Selection of digital inputs for resetting errors.
0 FALSE
1 TRUE
2 Digital input 1
3 Digital input 2
4 Digital input 3
5 Digital input 4

80
 Technology application (TA) basic settings
Defining control sources
Source of monitoring signal

6.3.3 Source of digital output 1

The signal for digital output 1 is selected via the Source for digital output 1 parameter.
40x5020:030
0x5020:030
(Source digital output 1)

Ready to switch on
Drive fault
Homing done Dig out 1
Positioning profile done
Brake release out
Signal from fieldbus

Fig. 22: Selection of "Digital output 1"

Parameter
Address Name / setting range / [default setting] Info
0x5020:030 Source of digital output 1 Signal selection for the digital output 1.
0 Ready to switch on
1 Fault
2 Homing done
3 Profile done
4 Brake opened
5 Network signal

6.3.4 Source of monitoring signal

A monitoring signal can be selected for control word 6 and another one for control word 7.
The source for the monitoring signal to be output is selected via the Source for monitoring
signal parameter. The number of decimal positions transmitted depends on the value selec-
ted.
• Selection for control word 6:
• Selection for control word 7:
The source for the monitoring signal to be output is selected via the Source for monitoring
signal parameter. The number of decimal positions transferred depends on the value selected.
0x5030:006

81
Technology application (TA) basic settings
System bus communication
Inputs

6.4 System bus communication

The system bus serves to transfer cyclic-synchronous master values. For the transfer, 8 input
words and 8 output words are available, with a data width of 32 bits each. The assignment of
the double words is shown in the figure "Assignment of system bus input/output".

System bus inputs System bus outputs

Cycle length (0x5021:150) Cycle length (0x5021:160)

Position (0x5021:151) Position (0x5021:161)
Velocity (0x5021:152) Velocity (0x5021:162)
Acceleration (0x5021:153) Control module Acceleration (0x5021:163)
System bus in parameter TM System bus out parameter
Torque (0x5021:154 FB Torque (0x5021:164
FB
Time stamp TP (0x5021:155) Time stamp TP (0x5021:165)
TA specific (0x5021:XXX) TA specific (0x5021:XXX)
TA specific (0x5021:XXX) TA specific (0x5021:XXX)

Fig. 23: Assignment of system bus inputs/outputs

Information on network configuration4EtherCAT system bus ^ 366

6.4.1 Inputs
The following parameters are available for the diagnostics of the system bus input values:
Parameter
Address Name / setting range / [default setting] Info
0x5021:150 System bus diagnostics: Cycle length (input value) Cycle length of the master axis
• Read only
0x5021:151 System bus diagnostics: Position (input value) Master position value
• Read only
0x5021:152 System bus diagnostics: Velocity (input value) Speed conductivity
• Read only
0x5021:153 System bus diagnostics: Acceleration (input value) Acceleration conductivity
• Read only
0x5021:154 System bus diagnostics: Torque (input value) Torque of the master axis
• Read only: x.xx Nm
0x5021:155 System bus diagnostics: Time stamp (input value) Time stamp of the master axis
• Read only: x ns
0x5021:156 System bus diagnostics: Input data word 6 This system bus input word is currently not used, but can be connected
• Read only in the technology application by the user.
0x5021:157 System bus diagnostics: Input data word 7
• Read only

6.4.2 Outputs
The following parameters are available for the diagnostics of the system bus output values:
Parameter
Address Name / setting range / [default setting] Info
0x5021:160 System bus diagnostics: Cycle length (output value) Cycle length of the source set via Master value output of system bus
• Read only 0x5020:001.
0x5021:161 System bus diagnostics: Position (output value) Master position value of the source set via Master value output of sys-
• Read only tem bus 0x5020:001.
0x5021:162 System bus diagnostics: Velocity (output value) Master speed value of the source set via Master value output of system
• Read only bus 0x5020:001.
0x5021:163 System bus diagnostics: Acceleration (output value) Master acceleration value of the source set via Master value output of
• Read only system bus 0x5020:001.
0x5021:164 System bus diagnostics: Torque (output value) Torque of the master axis of the source set via Master value output of
• Read only: x.xx Nm system bus 0x5020:001.
0x5021:165 System bus diagnostics: Time stamp (output value) Time stamp of the touchprobe source in ns selected via source TP1
• Read only: x ns 0x5020:011.

82
 Technology application (TA) basic settings
System bus communication
Outputs

Address Name / setting range / [default setting] Info

0x5021:166 System bus diagnostics: Output data word 6 This system bus input word is currently not used, but can be connected
• Read only in the technology application by the user.
0x5021:167 System bus diagnostics: Output data word 7
• Read only

6.4.2.1 Master value output

The system bus is used to distribute process data in a connection.
A technology application can provide its own setpoint values and actual values or the setpoint
values and actual values of an optional encoder connected via the slot (B) for other technol-
ogy applications. The values are transferred independently of the role of the node in the sys-
tem bus (master or slave). The values are configured via the Master value output of system
bus parameter. Every bus node sends the values.
Master values output system bus
(0x5020:001)
System bus outputs
Cycle length (0x5021:160)
None: 0
Position (0x5021:161)
Own axis det values: 1
Own axis act values: 2 Velocity (0x5021:162)
Application feedback (B): 3 Acceleration (0x5021:163)
Virtual master: 4 Torque (0x5021:164)

Fig. 24: Selection of the source for the master value output
"Virtual Master: 4" can be selected in the following technology applications:
• Electronic Gearbox
• Sync and correction
• Cross cutter

83
Technology application (TA) basic settings
System bus communication
Outputs

6.4.2.2 Source of touch probe time stamp

The Touch probe system bus source parameter serves to set the source of the touch probe
time stamp. 40x5020:011

Source TP 1
(0x5020:011)
Time stamp TP: System bus in
(0x5021:155)
DigIn1 - Positive edge System bus outputs
•
• Time stamp TP (0x5021:165)
•
•
•
DigIn4 - Negative edge
DigIn4 - Any edge

Fig. 25: Selection of the source of the touch probe time stamp
Parameter
Address Name / setting range / [default setting] Info
0x5020:011 TP1 source The sensor source and the edge to be evaluated are selected via the
parameter (rising, falling, any)
0 External source Source: System bus
1 Digital input 1, positive edge
2 Digital input 1, negative edge
3 Digital input 1, any edge
11 Digital input 2, positive edge
12 Digital input 2, negative edge
13 Digital input 2, any edge
21 Digital input 3, positive edge
22 Digital input 3, negative edge
23 Digital input 3, any edge
31 Digital input 4, positive edge
32 Digital input 4, negative edge
33 Digital input 4, any edge
0x5020:012 TP2 source
0 External source
1 Digital input 1, positive edge
2 Digital input 1, negative edge
3 Digital input 1, any edge
11 Digital input 2, positive edge
12 Digital input 2, negative edge
13 Digital input 2, any edge
21 Digital input 3, positive edge
22 Digital input 3, negative edge
23 Digital input 3, any edge
31 Digital input 4, positive edge
32 Digital input 4, negative edge
33 Digital input 4, any edge
0x5021:155 System bus diagnostics: Time stamp (input value) Time stamp of the master axis
• Read only: x ns
0x5021:165 System bus diagnostics: Time stamp (output value) Time stamp of the touchprobe source in ns selected via source TP1
• Read only: x ns 0x5020:011.

84
 Technology application (TA) basic settings
System bus communication
Distribution of the master values by the master

6.4.3 Distribution of the master values by the master

The parameter settings for distributing the master values must be configured in the system
bus master.
In standard cases, no additional configuration needs to be performed for the slaves.

M (VM) S1 S2 Sn S15

●●●

Fig. 26: Distribution of master values via the master

Application examples:
4Example: System bus master is master value master ^ 86
4Example: System bus slave is master value master ^ 87
4Example: Using time stamp of another axis ^ 88

85
Technology application (TA) basic settings
System bus communication
Distribution of the master values by the master

6.4.3.1 Example: System bus master is master value master

Generally, the system bus master is the master value master. All other system bus nodes
(slaves) receive an identical master value from the master.

M (VM) S1 S2 Sn S15

●●●

Fig. 27: Example 1 - System bus master is master value master

M System bus master S Slave
VM Virtual master
In the system bus master, the existing virtual master is used to generate master values. These
generated master values constitute the master values for all system nodes so all parameters of
the system bus matrix are set to "Master" (default setting).
System bus Master Slave 1 Slave 2 ... Slave 15
Input words
00 Taktlänge der Lei-
tachse
(0x5021:150)
01 Positionsleitwert
(0x5021:151)
0x5021:010 0x5021:010
02 Geschwindigkeitsleit- 01: Master 01: Master
wert
(0x5021:152)
03 Beschleunigungsleit-
wert
(0x5021:153) ...
04 Drehmoment der Lei- 0x5021:020 0x5021:021 0x5021:022 0x5021:035
tachse 01: Master 01: Master 01: Master 01: Master
(0x5021:154)
05 Zeitstempel der Lei- 0x5021:040 0x5021:041 0x5021:042 0x5021:055
tachse 01: Master 01: Master 01: Master 01: Master
(0x5021:155)
06 Free input word 0x5021:060 0x5021:061 0x5021:062 0x5021:075
(0x5021:156) 01: Master 01: Master 01: Master 01: Master
07 Free input word 0x5021:080 0x5021:081 0x5021:082 0x5021:095
(0x5021:157) 01: Master 01: Master 01: Master 01: Master
Tab. 2: System bus matrix
Example for interpreting the table
The "Torque of master axis (0x5021:154)" for "Slave 2" is contained in parameter 0x5021:022.

86
 Technology application (TA) basic settings
System bus communication
Distribution of the master values by the master

6.4.3.2 Example: System bus slave is master value master

If the system bus master is not simultaneously the master value master, the Parameter source
for words 0 ...3 parameter must be set to the corresponding source. 0x5021:010

M S1 S2 (VM) Sn S15

●●●

Fig. 28: Example 2 - System bus slave is master value master

M = System bus master
VM = Virtual master
S = Slave
If the virtual master for master value generation is not used in the system bus master
(4Example: System bus master is master value master), but instead in Slave 2 (S2) the Param-
eter source for words 0 … 3 parameter must be set to Slave 2 [3]. 0x5021:010
System bus Master Slave 1 Slave 2 ... Slave 15
Input words
00 Taktlänge der Lei-
tachse
(0x5021:150)
01 Positionsleitwert
(0x5021:151)
0x5021: 010 0x5021:010
02 Geschwindigkeitsleit- 03: Slave 2 03: Slave 2
wert
(0x5021:152)
03 Beschleunigungsleit-
wert
(0x5021:153) ...
04 Drehmoment der Lei- 0x5021:020 0x5021:021 0x5021:022 0x5021:035
tachse 01: Master 01: Master 01: Master 01: Master
(0x5021:154)
05 Zeitstempel der Lei- 0x5021:040 0x5021:041 0x5021:042 0x5021:055
tachse 01: Master 01: Master 01: Master 01: Master
(0x5021:155)
06 Free input word 0x5021:060 0x5021:061 0x5021:062 0x5021:075
(0x5021:156) 01: Master 01: Master 01: Master 01: Master
07 Free input word 0x5021:080 0x5021:081 0x5021:082 0x5021:095
(0x5021:157) 01: Master 01: Master 01: Master 01: Master

87
Technology application (TA) basic settings
System bus communication
Distribution of the master values by the master

6.4.3.3 Example: Using time stamp of another axis

The touch probe timestamp of the technology application Sync and correction (S1) is to be
used by the technology application Table Positioning (S2). The master value master is the vir-
tual master in the system bus master.

M (VM) S1 S2

TP

Fig. 29: Example 3 - Using the timestamp of another axis

M = System bus master
VM = Virtual master
S = Slave
TP = Touch probe
In order to allow the timestamp of Slave 1 to be used by Slave 2 as well, the Parameter source
for word 5 (Slave 2) parameter must be set to Slave 1 [2] (see following table). 0x5021:042
System bus Master Slave 1 Slave 2 ... Slave 15
Input words
00 Taktlänge der Lei-
tachse
(0x5021:150)
01 Positionsleitwert
(0x5021:151)
0x5021: 010 0x5021:010
02 Geschwindigkeitsleit- 01: Master 01: Master
wert
(0x5021:152)
03 Beschleunigungsleit-
wert
(0x5021:153) ...
04 Drehmoment der Lei- 0x5021:020 0x5021:021 0x5021:022 0x5021:035
tachse 01: Master 01: Master 01: Master 01: Master
(0x5021:154)
05 Zeitstempel der Lei- 0x5021:040 0x5021:041 0x5021:042 0x5021:055
tachse 01: Master 01: Master 02: Slave 1 01: Master
(0x5021:155)
06 Free input word 0x5021:060 0x5021:061 0x5021:062 0x5021:075
(0x5021:156) 01: Master 01: Master 01: Master 01: Master
07 Free input word 0x5021:080 0x5021:081 0x5021:082 0x5021:095
(0x5021:157) 01: Master 01: Master 01: Master 01: Master

As shown in the table, the parameters 0x5021:020 ... 095 can also be used for the distribution
of the torque values and for specific data from the technology application.

88
 Configuring the "Sync and Correction" TA

7 Configuring the "Sync and Correction" TA

The technology application "Sync and Correction" is used in the following application areas:
• Printing elements
• Perforating machines
• Inset machines
• Vibration drives
• Line drives
• Labelling machines
The "Sync and Correction" technology application allows a precise angular synchronism to be
realised between the drives.
• The conversion ratio is freely adjustable.
• Various interfaces can be used for master value selection:
• Virtual master
• System bus
• Encoder
The technology application is set up using the following functions:
4Virtual master ^ 104
4Position trimming and position offset ^ 116
4Position offset from master ^ 120
4Position synchronism ^ 121
4Position clutch ^ 123
4Master value correction (register control) ^ 134
4Tool correction ^ 143
The technology application can also be used for status display and error messages, or to reset
an error.
The technology application "Sync and Correction" only supports "modulo" axes. This means:
• The master axis must be a "modulo" axis.
• The slave axis must be a "modulo" axis.
Setting of the control mode
The control mode of the slave axis is configured by setting the parameter Default control
mode to "Position control motor encoder [0]”; otherwise, the axis will drift at standstill.
40x500A:090

89
Configuring the "Sync and Correction" TA
Control settings

Systembus

+ + +
Manual jog
ç è
Dj Offset n

TP
Dj n
Halt
HALT M
Trimming
TP Slave
Dj t

QSP Application
n STOP

Fig. 30: Signal flow in the technology application

In the "Technology application" dialogue of the »EASY Starter« software, the parameter Appli-
cation selection shows which technology application is active. The technology application can
be modified in this dialogue. 40x4000
Parameter
Address Name / setting range / [default setting] Info
0x4000 Application selection
• Setting can only be changed if the inverter is inhibi-
ted.
0 "CiA 402" technology application
10 "Speed Control" technology application
20 "Table Positioning" technology application
40 "Electronic Gearbox" technology application
41 "Sync and Correction" technology applica-
tion
50 "Winder Dancer" technology application
51 "Winder Tension" technology application
10000 "User" technology application

7.1 Control settings

General variables such as starting values, reference variables, and signal sources must be
defined before the control system of the technology application is configured.
Settings in "EASY Starter":
• Settings tab
• Technology application parameter dialogue for
• Application selection 40x4000
Relevant parameters of other functions
Address Designation Default setting Setting range
0x4001 Interface selection Fieldbus network [0] Selection list
0x5020:007 Application quick stop source FALSE [0] Selection list
0x5020:008 Source of fault reset FALSE [0] Selection list
0x5020:014 Master value source System bus [0] Selection list
0x5020:030 Source of digital output 1 Ready to switch on [0] Selection list
0x5040:006 Display value 1 [8] Selection list

90
 Configuring the "Sync and Correction" TA
Interface

7.2 Interface
The following interfaces are available for controlling a technology application:
• Fieldbus interface [0]
• System bus interface [1]
The selection of the interface is performed in »EASY Starter«:
• Select the Settings tab, then the Technology application parameter dialog.

When changing the parameter, the inverter must be inhibited.

During a switch-over, both the control words and the status words are switched over. Depend-
ing on the technology application chosen, the bits of the respective control words and status
words are already pre-assigned.
Assignment of control words and status words:
4Control signals ^ 92
4Status signals ^ 93
The following illustration shows the basic signal flow within the technology application and
the change-over mechanism of the Interface selection parameter.

Fieldbus Interface switch Fieldbus

Control word 00 0x4001:000 Status word 00
Control word 01 Status word 01
Control word 02 Status word 02
Control word 03 Control signals Status signals Status word 03
Control word 04 Status word 04
Control word 05 Control signals Technology application Status signals Status word 05
Control word 06 Free control word 01 Status limiter Status word 06
Control word 07 Set velocity Virtual Master Actual velocity Status word 07
Free control word 03 Virtual Actual position
Offset Master Error code
System bus Free control word 05 System bus
Actual torque
Control word 00 External base velocity Sync and Monitoring signal 1 Status word 00
Control word 01 Free control word 7 Correction Monitoring signal 2 Status word 01
Control word 02 Status word 02
Control word 03 Status word 03
Control word 04 Status word 04
Control word 05 Status word 05
Control word 06 Status word 06
Control word 07 Status word 07

Fig. 31: Signal flow of the technology application

Parameter
Address Name / setting range / [default setting] Info
0x4001 Interface selection
Selecting the interface determines the interface that receives the signals.
0 Fieldbus network Control of the application via the fieldbus.
1 Systembus network Activation of the application via the system bus.

91
Configuring the "Sync and Correction" TA
Interface
Control signals

7.2.1 Control signals

Parameter
Address Name / setting range / [default setting] Info
0x5040:010 Control signals
Bit 0 Control signal bit 0 This bit can be assigned to optional functions.
Bit 1 Control signal bit 1
Bit 2 Activate application quick stop The rotating drive is stopped via the QSP ramp. The drive
remains at standstill in closed loop control.
Bit 3 Operation enable Drive enabled. At LOW level, a rotating drive is stopped via
the FAST stop ramp and disabled at standstill.
Bit 4 Control signal bit 4 This bit can be assigned to optional functions.
Bit 5 Manual jog positive The drive travels in the positive direction in manual opera-
tion. The positive software limit switch is taken into account.
Bit 6 Manual jog negative The drive travels in the negative direction in manual opera-
tion. The negative software limit switch is taken into account.
Bit 7 Reset error Error is reset if the cause has been eliminated.
Bit 8 Stop A stop is triggered in the application.
Bit 9 Start homing Homing is started.
Bit 10 Reset home position Home position is reset.
Bit 11 Control signal bit 11 This bit can be assigned to optional functions.
Bit 12 Control signal bit 12
Bit 13 Activate speed override
Bit 14 Release brake manually Holding brake is released.
Bit 15 Control signal bit 15 This bit is not used in the TA.
Bit 16 Engage clutch Absolute clutching: Positional synchronisation of the drive
axis with the master value axis.
Relative clutching: Velocity synchronisation of the drive axis
with the master value axis.
• Master axis at standstill: the slave axis engages to the cur-
rent position.
• Master axis in motion: the slave axis engages over the
clutching distance.
Bit 17 Disengage clutch immediately Disengage clutch with relative position clutch:velocity sta-
ble and accurate
• Master axis at standstill: the slave axis engages to the cur-
rent position.
• Master axis in motion: the slave axis engages over the
clutching distance.
Bit 18 Reset clutching offset A FALSE TRUE edge compensates the position offset.
Bit 19 Activate mark correction The master value correction is executed if this bit is TRUE.
Bit 20 Positive trim Trim the position in positive direction.
Bit 21 Negative trim Trim the position in negative direction.
Bit 22 Teach mark window Configure mark window
• If setting 5041:015=0, the master value correction mark
window is taught.
• If setting 5041:015=1, the tool correction mark window is
taught.
Bit 23 Activate external position offset Switch position offset of internal parameters over to fieldbus
interface.
Bit 24 Activate external basic velocity When activated, the value in 0x5040:016 is used as the basic
clutching velocity.
Bit 25 Control signal bit 25 This bit is not used in the TA.
Bit 26 Control signal bit 26
Bit 27 Control signal bit 27
Bit 28 Control signal bit 28
Bit 29 Control signal bit 29
Bit 30 Control signal bit 30
Bit 31 Control signal bit 31

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 Configuring the "Sync and Correction" TA
Interface
Control signals

Parameter
Address Name / setting range / [default setting] Info
0x5040:011 Control word 1 This word is not used in the application.
0 ... [0] ... 4294967295
0x5040:012 Control word 2
0 ... [0] ... 4294967295
0x5040:023 External position offset
-214748.3648 ... [0.0000] ... 214748.3647
0x5040:014 Control word 4 This word is not used in the application.
0 ... [0] ... 2147483647
0x5040:015 Control word 5
0 ... [0] ... 4294967295
0x5040:016 External base velocity
-214748.3648 ... [0.0000] ... 214748.3647
0x5040:027 Control word 7
0 ... [0] ... 4294967295

7.2.2 Status signals

Parameter
Address Name / setting range / [default setting] Info
0x5040:110 Status signals
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Bit 0 Ready for operation Axis ready to be switched on.
Bit 1 Homing active Homing active
Bit 2 Operation enabled Axis enabled.
Bit 3 Fault Drive error active.
Bit 4 Homing done Homing known.
Bit 5 Application quick stop active Quick stop was triggered.
Bit 6 Manual jog active Manual operation active.
Bit 7 Warning Drive warning active.
Bit 8 Halt active Halt active.
Bit 9 Status signal bit 9 A function status can be assigned to this bit.
Bit 10 Set position reached Target velocity reached.
Bit 11 Status signal bit 11 A function status can be assigned to this bit.
Bit 12 Standstill Drive is standing.
Bit 13 Direction of rotation inverted Direction of rotation inverted.
Bit 14 Brake opened Holding brake released.
Bit 15 STO active Safe Torque Off active.
Bit 16 Clutch closed Position clutch closed.
Bit 17 Clutching in or declutching active Clutch function active.
Bit 18 Mark detected Marks detected.
Bit 19 Mark correction active Corrective movement active.
Bit 20 Mark error is limited Position error limited to maximum value.
Bit 21 Mark not detected No marks within the mark window.
Bit 22 Mark window was teached Referencing of mark window complete.
Bit 23 Tool correction active Corrective movement of the tool active.
Bit 24 Tool mark window was teached Referencing of tool mark window complete.
Bit 25 Status signal bit 25 A function status can be assigned to this bit.
Bit 26 Status signal bit 26
Bit 27 Status signal bit 27
Bit 28 Status signal bit 28
Bit 29 Status signal bit 29
Bit 30 Status signal bit 30
Bit 31 Status signal bit 31

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Configuring the "Sync and Correction" TA
Interface
Status signals

Address Name / setting range / [default setting] Info

0x5040:111 Status signals limiter
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Bit 1 SS1 active Quick stop with subsequent inverter disable is requested.
Bit 2 SS2 active Quick stop is requested.
Bit 3 SOS active The "Safe operational stop (SOS)" function is monitored. The "Safe
operational stop (SOS)" function is activated after the "Safe stop (SS2)"
function has been executed.
Bit 4 SLS1 active Request limited velocity 1. The travel profile changes in accordance with
the parameters set for Limited velocity 1.
Bit 5 SLS2 active Request limited velocity 2. The travel profile changes in accordance with
the parameters set for Limited velocity 1.
Bit 6 SLS3 active Request limited velocity 3. The travel profile changes in accordance with
the parameters set for Limited velocity 1.
Bit 7 SLS4 active Request limited velocity 4. The travel profile changes in accordance with
the parameters set for Limited velocity 1.
Bit 8 SDpos active Only a positive direction of rotation is permitted.
Bit 9 SDneg active Only a negative direction of rotation is permitted.
Bit 10 SLI active The "Safe limited increment (SLI)" function is active.
NOTE: This function is not supported in the technology application!
Bit 11 SSE active The "Safe stop emergency (SSE)" function is active.
Bit 12 Button S82 active The "Enable switch (ES)" function for the motion function in special
operation is active.
Note: This function is not supported in the technology application!
Bit 13 Operation modes selector (OMS) active The "Operation mode selector (OMS)" function was requested for spe-
cial operation.
Note: This function is not supported in the technology application!
Bit 16
Bit 23
0x5040:112 Actual velocity The current velocity is specified in [units/s]. The velocity is resolved with
-214748.3648 ... [0.0000] ... 214748.3647 4 decimal places.
0x5040:114 Error code The current error number is displayed.
0 ... [0] ... 4294967295
0x5040:115 Actual torque The drive-end actual torque is specified in the [Nm]. The torque is speci-
-21474836.48 ... [0.00] ... 21474836.47 Nm fied with 2 decimal positions.
0x5040:116 Display value 1 The assigned monitor signal is transmitted. Selection takes place via the
0 ... [0] ... 4294967295 Source monitoring 1 parameter.
0x5040:117 Display value 2 The assigned monitor signal is transmitted. Selection takes place via the
0 ... [0] ... 4294967295 Source monitoring 2 parameter.

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 Configuring the "Sync and Correction" TA
Interface
Simulation of the interface

7.2.3 Simulation of the interface

The technology interface is operated via the following parameters:
• Simulation of control signals 40x5040:001 bit 0 ... 7
• Simulation of status signals 40x5040:101 bit 0
Control signal simulation
Bit Function
0 Activates the simulation of the control signals.
The first double word of the control words switches over to manual
operation.
1 ... 7 Activates the simulation of the control signals. Selecting the bits triggers
switchover to manual operation.

Status signal simulation

Bit Function
0 Activates the simulation of the status signals.
All status words are switched over to manual operation.

Internal control Internal control

0x5040:001:Bit 0 0x5040:101:Bit 0
Fieldbus/System bus
Fieldbus/System bus Status signals Status word 00
Status signals limiter Status word 01
Control word 00 Control signals Actual velocity Status word 02
Synchronism
0x5040:010 and Actual position Status word 03
Correction Error code Status word 04
Actual torque Status word 05
Internal control Monitoring signal 1 Status word 06
0x5040:001:Bit 1 Monitoring signal 2 Status word 07

Free control word 01

Control word 01
0x5040:011
Free control word 02
0x5040:012
Offset
Control word 03
0x5040:023
Free control word 04
Control word 04
0x5040:014
Free control word 05
Control word 05
0x5040:015
Internal control External Base Velocity
Control word 06 0x5040:001:Bit 7
0x5040:016
Free control word 07
Control word 07
0x5040:027

Fig. 32: Signal flow in the simulation of the technology interface

95
Configuring the "Sync and Correction" TA
Interface
Simulation of the interface

Parameter
Address Name / setting range / [default setting] Info
0x5040:001 Simulation of control signals
0x00 ... [0x00] ... 0xFF
Bit 0 Enable control signal simulation TRUE: Simulation of the control signals is activated.
FALSE: The control signals are transmitted via the active network inter-
face.
Bit 1 Activate simulation of control word 1 TRUE: Simulation of control word 1 is activated.
FALSE: The control word is transmitted via the active network interface.
Bit 2 Activate simulation of control word 2 TRUE: Simulation of control word 2 is activated.
FALSE: The control word is transmitted via the active network interface.
Bit 3 Activate simulation of control word 3 TRUE: Simulation of control word 3 is activated.
FALSE: The control word is transmitted via the active network interface.
Bit 4 Activate simulation of control word 4 TRUE: Simulation of control word 4 is activated.
FALSE: The control word is transmitted via the active network interface.
Bit 5 Activate simulation of control word 5 TRUE: Simulation of control word 5 is activated.
FALSE: The control word is transmitted via the active network interface.
Bit 6 Activate simulation of control word 6 TRUE: Simulation of control word 6 is activated.
Bit 7 Activate simulation of control word 7 FALSE: The control word is transmitted via the active network interface.
0x5040:101 Simulation of status signals
0x00 ... [0x00] ... 0xFF
Bit 0

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 Configuring the "Sync and Correction" TA
Interface
Assignment of control signals and status signals

7.2.4 Assignment of control signals and status signals

The fieldbus or system bus control words are distributed across the control signals of the listed
functions.
• Virtual master
• Sync and Correction

Field bus/System bus Sync and Correction

Bits 0-24
Controlword 00 0x5040:010
Controlword 01 0x5040:011
Controlword 02 0x5040:012
Controlword 03 0x5040:023
Controlword 04 0x5040:014
Controlword 05 0x5040:015
Controlword 06 0x5040:016
Controlword 07 0x5040:027

Virtual Master
Bit 7, Bits 25-31
0x5045:010

0x5045:011

Fig. 33: Distribution of the control signals

Sync and Correction Field bus/System bus

Bits 0-24
0x5040:010 Statusword 00
0x5040:111 Statusword 01
0x5040:112 Statusword 02
0x5040:113 Statusword 03
0x5040:114 Statusword 04
0x5040:115 Statusword 05
0x5040:116 Statusword 06
0x5040:117 Statusword 07

Virtual Master
Bits 3, 6, 7, 8, 25-31
0x5045:110

0x5045:111
0x5045:112
0x5045:113
0x5045:114
0x5045:115

Fig. 34: Distribution of the status signals

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Configuring the "Sync and Correction" TA
Interface
Assignment of control signals and status signals

Parameter
Address Name / setting range / [default setting] Info
0x5040:010 Control signals
Bit 0 Control signal bit 0 This bit can be assigned to optional functions.
Bit 1 Control signal bit 1
Bit 2 Activate application quick stop The rotating drive is stopped via the QSP ramp. The drive
remains at standstill in closed loop control.
Bit 3 Operation enable Drive enabled. At LOW level, a rotating drive is stopped via
the FAST stop ramp and disabled at standstill.
Bit 4 Control signal bit 4 This bit can be assigned to optional functions.
Bit 5 Manual jog positive The drive travels in the positive direction in manual opera-
tion. The positive software limit switch is taken into account.
Bit 6 Manual jog negative The drive travels in the negative direction in manual opera-
tion. The negative software limit switch is taken into account.
Bit 7 Reset error Error is reset if the cause has been eliminated.
Bit 8 Stop A stop is triggered in the application.
Bit 9 Start homing Homing is started.
Bit 10 Reset home position Home position is reset.
Bit 11 Control signal bit 11 This bit can be assigned to optional functions.
Bit 12 Control signal bit 12
Bit 13 Activate speed override
Bit 14 Release brake manually Holding brake is released.
Bit 15 Control signal bit 15 This bit is not used in the TA.
Bit 16 Engage clutch Absolute clutching: Positional synchronisation of the drive
axis with the master value axis.
Relative clutching: Velocity synchronisation of the drive axis
with the master value axis.
• Master axis at standstill: the slave axis engages to the cur-
rent position.
• Master axis in motion: the slave axis engages over the
clutching distance.
Bit 17 Disengage clutch immediately Disengage clutch with relative position clutch:velocity sta-
ble and accurate
• Master axis at standstill: the slave axis engages to the cur-
rent position.
• Master axis in motion: the slave axis engages over the
clutching distance.
Bit 18 Reset clutching offset A FALSE TRUE edge compensates the position offset.
Bit 19 Activate mark correction The master value correction is executed if this bit is TRUE.
Bit 20 Positive trim Trim the position in positive direction.
Bit 21 Negative trim Trim the position in negative direction.
Bit 22 Teach mark window Configure mark window
• If setting 5041:015=0, the master value correction mark
window is taught.
• If setting 5041:015=1, the tool correction mark window is
taught.
Bit 23 Activate external position offset Switch position offset of internal parameters over to fieldbus
interface.
Bit 24 Activate external basic velocity When activated, the value in 0x5040:016 is used as the basic
clutching velocity.
Bit 25 Control signal bit 25 This bit is not used in the TA.
Bit 26 Control signal bit 26
Bit 27 Control signal bit 27
Bit 28 Control signal bit 28
Bit 29 Control signal bit 29
Bit 30 Control signal bit 30
Bit 31 Control signal bit 31

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 Configuring the "Sync and Correction" TA
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Assignment of control signals and status signals

Relevant parameters of other functions

Address Designation Default setting Setting range
0x5040:011 Control word 1 0 0 ... 4294967295
0x5040:012 Control word 2 0 0 ... 4294967295
0x5040:014 Control word 4 0 0 ... 2147483647
0x5040:015 Control word 5 0 0 ... 4294967295
0x5040:016 External base velocity 0.0000 -214748.3648 ... 214748.3647
0x5040:023 External position offset 0.0000 -214748.3648 ... 214748.3647
0x5040:027 Control word 7 0 0 ... 4294967295
0x5040:111 Status signals limiter 0x00000000 0x00000000 ... 0xFFFFFFFF
0x5040:112 Actual velocity 0.0000 -214748.3648 ... 214748.3647
0x5040:114 Error code 0 0 ... 4294967295
0x5040:115 Actual torque 0.00 Nm -21474836.48 ... 21474836.47 Nm
0x5040:116 Display value 1 0 0 ... 4294967295
0x5040:117 Display value 2 0 0 ... 4294967295
0x5045:010 Virtual master control signals 0x00000000 0x00000000 ... 0xFFFFFFFF
0x5045:011 Set velocity 0.0000 -214748.3648 ... 214748.3647
0x5045:110 Virtual master status signals 0x00000000 0x00000000 ... 0xFFFFFFFF
0x5045:111 Actual position 0.0000 -214748.3648 ... 214748.3647
0x5045:112 Actual velocity 0.0000 -214748.3648 ... 214748.3647
0x5045:113 Actual acceleration 0.00 -21474836.48 ... 21474836.47
0x5045:114 Error code 0 0 ... 4294967295
0x5045:115 Cycle length 0.0000 -214748.3648 ... 214748.3647

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Configuring the "Sync and Correction" TA
Master value sources

7.3 Master value sources

The source of the master value can only be switched over when the inverter is
disabled.

The master values for the technology application come from a variety of sources. The source
is selected via the Master value source parameter. 40x5020:014
The following sources can be selected:
• System bus
• Application feedback (B)
• Virtual master
• Analog input 1

Master Value Source

Source Master Values Source Master Values (0x5020:014) = Virtual Master OR AnalogIn 1
(0x5020:014) OR Status Signals Virtual Master (0x5045:110), Bit 31 (External Master Values Inactive)
OR Error code (0x603F:000) = 0x7304 (Feedback fault slot B)
Source Master Values
(0x5020:014) =
Systembus Virtual Master
Selected Master Velocity
System bus in Velocity (0x5021:152) (0x5042:017)

Master Values
Application feedback (B) (0x500B:011) Selected Set Velocity VM
(0x5047:001)
Source Master Values
(0x5020:014) =
Systembus Virtual Master
Profile Generator
Set Velocity Virtual Master (0x5045:011) v
vmax
VM Sync Velocity (0x5046:020)
Set Velocity ∆p VM Sync Slave Direction (0x5046:030)
Analoginput 1 (0x2DA4:005) t
VM Acc (0x5046:003)
VM Startposition (0x5046:001) VM Dec (0x5046:004)
VM Zielposition (0x5046:002) VM Jerk (0x5046:005)
Reference Velocity Analoginput 1 (0x5020:009)

Fig. 35: Selection of the master value source

Parameter
Address Name / setting range / [default setting] Info
0x5020:014 Master value source
• Setting can only be changed if the inverter is inhibi-
ted.
0 System bus The system bus provides the external master velocity value.
1 Load encoder The signal from the load encoder interface is taken as the master veloc-
ity value.
2 Virtual master The virtual master, whose setpoint velocity comes from the Set virtual
master velocity PDO, serves as master value master. 40x5045:011
3 Analog input 1

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 Configuring the "Sync and Correction" TA
Master value sources
System bus

7.3.1 System bus

If the "System bus" setting is selected as the master value source, the master value will be
provided by a system bus master. The system bus node can be configured via the system bus
master.

Master Value Source

Source Master Values Source Master Values (0x5020:014) = Virtual Master OR AnalogIn 1
(0x5020:014) OR Status Signals Virtual Master (0x5045:110), Bit 31 (External Master Values Inactive)
OR Error code (0x603F:000) = 0x7304 (Feedback fault slot B)
Source Master Values
(0x5020:014) =
Systembus Virtual Master
Selected Master Velocity
System bus in Velocity (0x5021:152) (0x5042:017)

Master Values
Application feedback (B) (0x500B:011) Selected Set Velocity VM
(0x5047:001)
Source Master Values
(0x5020:014) =
Systembus Virtual Master
Profile Generator
Set Velocity Virtual Master (0x5045:011) v
vmax
VM Sync Velocity (0x5046:020)
Set Velocity ∆p VM Sync Slave Direction (0x5046:030)
Analoginput 1 (0x2DA4:005) t
VM Acc (0x5046:003)
VM Startposition (0x5046:001) VM Dec (0x5046:004)
VM Zielposition (0x5046:002) VM Jerk (0x5046:005)
Reference Velocity Analoginput 1 (0x5020:009)

Fig. 36: System bus as master value source

Parameter
Address Name / setting range / [default setting] Info
0x5021:151 System bus diagnostics: Position (input value) Master position value
• Read only
0x5042:016 Set position of selected master value
• Read only

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Configuring the "Sync and Correction" TA
Master value sources
Feedback system for the technology application

7.3.2 Feedback system for the technology application

If the "Application feedback (B)" setting is selected as the master value source, the master
value will be provided by the optional slot (B) of the device.40x500B:010

Fig. 37: Slot (B)

Master Value Source

Source Master Values Source Master Values (0x5020:014) = Virtual Master OR AnalogIn 1
(0x5020:014) OR Status Signals Virtual Master (0x5045:110), Bit 31 (External Master Values Inactive)
OR Error code (0x603F:000) = 0x7304 (Feedback fault slot B)
Source Master Values
(0x5020:014) =
Application feedback (B) Virtual Master
Selected Master Velocity
System bus in Velocity (0x5021:152) (0x5042:017)

Master Values
Application feedback (B) (0x500B:011) Selected Set Velocity VM
(0x5047:001)
Source Master Values
(0x5020:014) =
Application feedback (B) Virtual Master
Profile Generator
Set Velocity Virtual Master (0x5045:011) v
vmax
VM Sync Velocity (0x5046:020)
Set Velocity ∆p VM Sync Slave Direction (0x5046:030)
Analoginput 1 (0x2DA4:005) t
VM Acc (0x5046:003)
VM Startposition (0x5046:001) VM Dec (0x5046:004)
VM Zielposition (0x5046:002) VM Jerk (0x5046:005)
Reference Velocity Analoginput 1 (0x5020:009)

Fig. 38: Application feedback (B) as master value source

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 Configuring the "Sync and Correction" TA
Master value sources
Feedback system for the technology application

The technology application responds to encoder errors of the application feedback (B). The
error response is configured in the Load encoder/master encoder error response parameter.
40x2C55

Master Value Source

Source Master Values Source Master Values (0x5020:014) = Virtual Master OR AnalogIn 1
(0x5020:014) OR Status Signals Virtual Master (0x5045:110), Bit 31 (External Master Values Inactive)
OR Error code (0x603F:000) = 0x7304 (Feedback fault slot B)
Source Master Values
(0x5020:014) =
Application feedback (B) Virtual Master
Selected Master Velocity
System bus in Velocity (0x5021:152) (0x5042:017)

Master Values
Application feedback (B) (0x500B:011) Selected Set Velocity VM
(0x5047:001)
Source Master Values
(0x5020:014) =
Application feedback (B) Virtual Master
Profile Generator
Set Velocity Virtual Master (0x5045:011) v
vmax
VM Sync Velocity (0x5046:020)
Set Velocity ∆p VM Sync Slave Direction (0x5046:030)
Analoginput 1 (0x2DA4:005) t VM Acc (0x5046:003)
VM Startposition (0x5046:001) VM Dec (0x5046:004)
VM Zielposition (0x5046:002) VM Jerk (0x5046:005)
Reference Velocity Analoginput 1 (0x5020:009)

Fig. 39: Basic signal flow for error response to the virtual master
The Load encoder/master encoder error response parameter displays the following errors.
40x2C55
Setting Response Parameter index
Load encoder/master encoder error response No response -
= [0] no response
Load encoder/master encoder error response The drive changes to the error status ErrorStop. 0x5020:001
= [1] fault Note:
If the technology application serves as the mas-
ter value for an integrated network, Set-
Value = [1] must be configured in the Master
values output systembus parameter.
If Application feedback (B) = [3] is configured in 0x5020:001
the Master values output systembus parame-
ter, a setpoint step-change will occur in the
event of an encoder error.
Load encoder/master encoder error response Clutch is switched to the virtual master. -
= [2] warning

Parameter
Address Name / setting range / [default setting] Info
0x2C55 Load encoder/master encoder error response Via this parameter, the error response to an encoder error of application
feedback B (slot B) is set.
Selection of the response to the triggering of the encoder signal loss
monitoring.
Only active when used as:
• Feedback system for motor control if set,
• Signal source for the "position counter" function.
Associated error code:
• 29444 | 0x7304 - RANLI_CIMES_1000_20910
0 No response
1 Fault > CiA402
2 Warning
0x500B:010 Actual position The current position value is resolved with 4 decimal positions.
• Read only
0x5042:016 Set position of selected master value
• Read only

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Configuring the "Sync and Correction" TA
Master value sources
Virtual master

7.3.3 Virtual master

The technology application allows operation with a virtual master. In this case, a drive in the
network takes on the role of the virtual master while at the same time serving as the first
slave drive. The generated master value is transmitted to the slave drives via the system bus.
Modes of operation
The virtual master offers the following operating modes:
Operating mode/function Bit names of the "Virtual master Parameter index Bit
control signals" parameter
Continuous operation VM continuous 0x5045:010 Bit 25
Clocked operation VM cycle 0x5045:010 Bit 26
Loading of starting position Load VM position 0x5045:010 Bit 27
Manual operation in positive direc- Manual jog positive VM 0x5045:010 Bit 28
tion of rotation
Manual operation in negative Manual jog negative VM 0x5045:010 Bit 29
direction of rotation

Additional functions for all modes of operation

Function Parameter name Parameter index
Adjustment of the setpoint velocity Set velocity 0x5045:011
Bring to standstill position Virtual master set position 0x5046:002
Acceleration to setpoint velocity Virtual master acceleration 0x5046:003
Decelerate master value Virtual master deceleration 0x5046:004

Additional functions for manual operation operating mode

Function Parameter name Parameter index
Accelerate Manual jog acceleration 0x500C:182
Manual jog velocity Manual jog velocity 0x500C:181
Decelerate Manual jog deceleration 0x500C:183
Configure jerk Manual jog jerk 0x500C:184

Master Value Source

Source Master Values Source Master Values (0x5020:014) = Virtual Master OR AnalogIn 1
(0x5020:014) OR Status Signals Virtual Master (0x5045:110), Bit 31 (External Master Values Inactive)
OR Error code (0x603F:000) = 0x7304 (Feedback fault slot B)
Source Master Values
(0x5020:014) =
Systembus Virtual Master
Selected Master Velocity
System bus in Velocity (0x5021:152) (0x5042:017)

Master Values
Application feedback (B) (0x500B:011) Selected Set Velocity VM
(0x5047:001)
Source Master Values
(0x5020:014) =
Systembus Virtual Master
Profile Generator
Set Velocity Virtual Master (0x5045:011) v
vmax
VM Sync Velocity (0x5046:020)
Set Velocity ∆p VM Sync Slave Direction (0x5046:030)
Analoginput 1 (0x2DA4:005) t
VM Acc (0x5046:003)
VM Startposition (0x5046:001) VM Dec (0x5046:004)
VM Zielposition (0x5046:002) VM Jerk (0x5046:005)
Reference Velocity Analoginput 1 (0x5020:009)

Fig. 40: Virtual master as master value source

Parameter
Address Name / setting range / [default setting] Info
0x2DA4:005 Diagnostics of analog input 1: Scaled percent value Current value of the analog input is resolved with 2 decimal places.
• Read only: x.xx % Display of the actual value at the analog input, scaled with the following
parameters:
• Minimum value for scaling. 40x2636:013
• Maximum value for scaling. 40x2636:014

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 Configuring the "Sync and Correction" TA
Master value sources
Virtual master

Address Name / setting range / [default setting] Info

0x4001 Interface selection
Selecting the interface determines the interface that receives the signals.
0 Fieldbus network Control of the application via the fieldbus.
1 Systembus network Activation of the application via the system bus.
0x500B:011 Actual velocity The current speed value is resolved with 4 decimal positions.
• Read only
0x5020:009 Reference velocity for analog input 1 The reference speed for the percentage value of the analog input.
0.0000 ... [500.0000] ... 214748.3647
0x5020:014 Master value source
• Setting can only be changed if the inverter is inhibi-
ted.
0 System bus The system bus provides the external master velocity value.
1 Load encoder The signal from the load encoder interface is taken as the master veloc-
ity value.
2 Virtual master The virtual master, whose setpoint velocity comes from the Set virtual
master velocity PDO, serves as master value master. 40x5045:011
3 Analog input 1
0x5021:152 System bus diagnostics: Velocity (input value) Speed conductivity
• Read only

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Configuring the "Sync and Correction" TA
Master value sources
Virtual master

Address Name / setting range / [default setting] Info

0x5042:017 Set velocity of selected master value
• Read only
0x5045:010 Virtual master control signals
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7 Fault reset Only after the cause has been eliminated are the errors reset.
Bit 8
Bit 9
Bit 10
Bit 11
Bit 12
Bit 13
Bit 14
Bit 15
Bit 16
Bit 17
Bit 18
Bit 19
Bit 20
Bit 21
Bit 22
Bit 23
Bit 24
Bit 25 Continuous operation Triggers the continuous driving operation of the virtual master.
Bit 26 Cyclic operation
Bit 27 Load position Starting position of the virtual master axis loaded.
• This function can also be executed when the axis is disabled or the vir-
tual master, stop = TRUE.
• This function cannot be executed during the position synchronisation.
Bit 28 Manual jog positive Virtual master moves in the positive direction (manual jog).
Bit 29 Manual jog negative Virtual master moves in the negative direction (manual jog).
Bit 30 Halt The active movement of the virtual master is aborted and the axis is
brought to a standstill with the deceleration defined via the Stop param-
eter.
Bit 31 Deactivate external master values • The external master values are deactivated.
• The virtual master is used as the actual value source.
• The clutch is switched without a jump.
0x5045:011 Set velocity The value of the setpoint velocity of the virtual master is given in
-214748.3648 ... [0.0000] ... 214748.3647 [units/s]. The value of the setpoint velocity is resolved with 4 decimal
places.

106
 Configuring the "Sync and Correction" TA
Master value sources
Virtual master

Address Name / setting range / [default setting] Info

0x5045:110 Virtual master status signals
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Bit 0
Bit 1
Bit 2
Bit 3 Fault
Bit 4
Bit 5
Bit 6 Manual jog active Manual operation is activated.
Bit 7 Warning The warning is activated.
Bit 8 Halt active
Bit 9
Bit 10
Bit 11
Bit 12
Bit 13
Bit 14
Bit 15
Bit 16
Bit 17
Bit 18
Bit 19
Bit 20
Bit 21
Bit 22
Bit 23
Bit 24
Bit 25 Busy The virtual master is activated.
Bit 26 Taget reached The axis has reached the target position and is at standstill.
40x5046:002
Bit 27 Synchronized
Bit 28 Synchronization active
Bit 29
Bit 30
Bit 31 External master values deactivated The external master value is deactivated in the system bus in the appli-
cation feedback (B).
0x5045:111 Actual position The setpoint position is specified in [unit]. The setpoint position is
-214748.3648 ... [0.0000] ... 214748.3647 resolved with 4 decimal places.

0x5045:112 Actual velocity The setpoint velocity is specified in [units/s]. The setpoint velocity is
-214748.3648 ... [0.0000] ... 214748.3647 resolved with 4 decimal places.

0x5045:113 Actual acceleration The current position is specified in [unit]. The current position is resolved
-21474836.48 ... [0.00] ... 21474836.47 with 4 decimal places.

0x5045:114 Error code The current error number is displayed in the word.
0 ... [0] ... 4294967295
0x5045:115 Cycle length The current position is specified in [unit]. The current position is resolved
-214748.3648 ... [0.0000] ... 214748.3647 with 4 decimal places.
0x5046:001 Virtual master start position
0.0000 ... [0.0000] ... 214748.3647
0x5046:002 Virtual master set position
0.0000 ... [0.0000] ... 214748.3647
0x5046:003 Virtual master acceleration
0.00 ... [100000.00] ... 21474836.47
0x5046:004 Virtual master deceleration
0.00 ... [100000.00] ... 21474836.47

107
Configuring the "Sync and Correction" TA
Master value sources
Virtual master

Address Name / setting range / [default setting] Info

0x5046:005 Virtual master jerk
0.00 ... [1000000.00] ... 21474836.47
0x5046:020 Virtual master clutch velocity
0.0000 ... [100.0000] ... 214748.3647
0x5047:001 Virtual Master: Set velocity
• Read only
0x500C:004 PLCopen status
• Read only
1 Error Stop
2 Disabled
3 Standstill
4 Stopping
5 DiscMotion
6 SyncMotion
7 ContMotion
8 Homing
10 Service
0x500C:005 Status word
• Read only
Bit 0 Virtual mode active
Bit 1 Axis ready
Bit 2 Axis enabled
Bit 3 Warning active
Bit 4 Error active
Bit 5 Home position reached
Bit 6 Software limit switches enabled
Bit 7 Positive software limit switch reached
Bit 8 Negative software limit switch reached
Bit 9
Bit 10
Bit 11
Bit 12
Bit 13 Quick stop active
Bit 14 Limitation active
Bit 16
Bit 17
Bit 18 Homing active
Bit 19 Homing switch for touch probe reached
Bit 20
Bit 21 Manual jog active
Bit 22 Standstill active
Bit 23 Target position reached
Bit 24 Software limit switches switched off
0x500C:010 Actual position
• Read only
0x500C:011 Actual velocity
• Read only
0x500C:012 Actual acceleration
• Read only
0x500C:014 Position setpoint
• Read only
0x500C:015 Velocity setpoint
• Read only
0x500C:016 Set acceleration
• Read only

108
 Configuring the "Sync and Correction" TA
Master value sources
Virtual master

Address Name / setting range / [default setting] Info

0x500C:030 Traversing range Specification of the traversing range for the virtual master axis.
• Setting can only be changed if the inverter is inhibi- • 0: Linearly limited traversing range (spindle drive).
ted. • 1: Unlimited traversing range (turntable). The cycle length must also
be specified here.
0 Modulo
1 Limited
0x500C:031 Cycle length The cycle length for an unlimited traversing range defines at which posi-
0.0001 ... [360.0000] ... 214748.3647 tion the measuring system is repeated (position return to 0).
• Setting can only be changed if the inverter is inhibi-
ted.
0x500C:045 Max. velocity
0.0000 ... [0.0000] ... 214748.3647
0x500C:046 Max. acceleration
0.00 ... [0.00] ... 21474836.47
0x500C:047 Max. jerk
0.00 ... [0.00] ... 21474836.47
0x500C:048 Application quick stop - deceleration
0.01 ... [3600.00] ... 21474836.47
0x500C:049 Application quick stop - jerk
0.00 ... [0.00] ... 21474836.47
0x500C:050 Enable software limit switches
false Inactive
true Active
0x500C:051 Software limit switch positive
-214748.3648 ... [0.0000] ... 214748.3647
0x500C:052 Software limit switch negative
-214748.3648 ... [0.0000] ... 214748.3647
0x500C:053 Action after "software limit switch reached"
0 Stop after software limit switch
1 Stop at software limit switch
0x500C:105 Action after "software limit switch reached"
19 Fault > Application quick stop > Quick stop
21
0x500C:106 Response to "profile limit reached"
0 No Response
2 Warning
19 Fault > Application quick stop > Quick stop
21
0x500C:150 SLS1
0.0000 ... [0.0000] ... 214748.3647
0x500C:151 SLS1 - deceleration time
0.000 ... [0.000] ... 2147483.647 s
0x500C:152 SLS2
0.0000 ... [0.0000] ... 214748.3647
0x500C:153 SLS2 - deceleration time
0.000 ... [0.000] ... 2147483.647 s
0x500C:154 SLS3
0.0000 ... [0.0000] ... 214748.3647
0x500C:155 SLS3 - deceleration time
0.000 ... [0.000] ... 2147483.647 s
0x500C:156 SLS4
0.0000 ... [0.0000] ... 214748.3647
0x500C:157 SLS4 - deceleration time
0.000 ... [0.000] ... 2147483.647 s

109
Configuring the "Sync and Correction" TA
Master value sources
Virtual master

Address Name / setting range / [default setting] Info

0x500C:162 Deactivate safety interface
0x00000000 ... [0x00000000] ... 0xFFFFFFFF
Bit 1 Ignore SS1 request
Bit 2 Ignore SS2 request
Bit 3 Ignore SLS1 - SLS4 request
Bit 4 Ignore SDI request
0x500C:163 Limiter call
• Read only
Bit 0 STO active
Bit 1 SS1 active
Bit 2 SS2 active
Bit 4 SLS1 active
Bit 5 SLS2 active
Bit 6 SLS3 active
Bit 7 SLS4 active
Bit 8 SDIpos active
Bit 9 SDIneg active
0x500C:181 Manual jog velocity
0.0000 ... [360.0000] ... 214748.3647
0x500C:182 Manual jog acceleration
0.00 ... [720.00] ... 21474836.47
0x500C:183 Manual jog deceleration
0.00 ... [1440.00] ... 21474836.47
0x500C:184 Manual jog jerk
0.00 ... [0.00] ... 21474836.47
0x500C:186 Deceleration of Halt
0.00 ... [1800.00] ... 21474836.47
0x500C:187 Jerk of Halt
0.00 ... [0.00] ... 21474836.47

110
 Configuring the "Sync and Correction" TA
Master value sources
Virtual master

7.3.3.1 Simulation of the virtual master

The technology interface is operated manually via the following parameters:
• Simulation of control signals virtual master 40x5045:001
• Simulation of status signals 40x5045:101

Bit 0 of the Simulation of control signals virtual master parameter activates manual opera-
tion of the technology function. All control words are set to manual operation. 40x5045:001
Bit 0
The setpoint velocity can be switched over to system bus/fieldbus operation via bit 1 of the
Simulation of control signals virtual master. 40x5045:001
Bit 0 of the Simulation of status signals parameter activates the interface simulation. All sta-
tus words are switched over to manual operation. 40x5045:101 Bit 0

Technology application/Main Technology

0x5045:001:Bit 0 0x5045:101:Bit 0

Fieldbus/System bus Fieldbus/System bus

0x5045:110 Status word 00:
Control word 00
0x5045:010 Virtual 0x5045:111 -Bit 3 (VM Fault)
Master 0x5045:112 -Bit 6 (VM Jogging Busy)
0x5045:113 -Bit 7 (VM Warning)
0x5045:114 -Bit 8 (VM Halt Busy)
0x5045:115 -Bits 25-31
0x5045:001:Bit 1

Control word 02 0x5045:011

Fig. 41: Basic signal flow

Parameter
Address Name / setting range / [default setting] Info
0x5045:001 Simulation of control signals virtual master
0x00 ... [0x00] ... 0xFF
Bit 0 Enable control signal simulation TRUE: Simulation of control word is activated.
FALSE: The control word is transmitted via the active network interface.
Bit 1 Activate simulation of control word 1 TRUE: Simulation of control word 1 is activated.
FALSE: The control word is transmitted via the active network interface.
Bit 2 Activate simulation of control word 2 TRUE: Simulation of control word 2 is activated.
FALSE: The control word is transmitted via the active network interface.
Bit 3 Activate simulation of control word 3 TRUE: Simulation of control word 3 is activated.
FALSE: The control word is transmitted via the active network interface.
Bit 4 Activate simulation of control word 4 TRUE: Simulation of control word 4 is activated.
FALSE: The control word is transmitted via the active network interface.
Bit 5 Activate simulation of control word 5 TRUE: Simulation of control word 5 is activated.
FALSE: The control word is transmitted via the active network interface.
Bit 6 Activate simulation of control word 6 TRUE: Simulation of control word 6 is activated.
FALSE: The control word is transmitted via the active network interface.
Bit 7 Activate simulation of control word 7 TRUE: Simulation of control word 7 is activated.
FALSE: The control word is transmitted via the active network interface.
0x5045:101 Simulation of status signals
0x00 ... [0x00] ... 0xFF
Bit 0

111
Configuring the "Sync and Correction" TA
Master value sources
Virtual master

7.3.3.2 Speed via analog input 1

The speed source takes the form of a percentage value from analog input 1. The Diagnostics
of analog input 1: Scaled percent value parameter refers to the Reference velocity for analog
input 1 parameter.
• Diagnostics of analog input 1: Scaled percent value 40x2DA4:005
• Reference velocity for analog input 1 40x5020:009
The Reference velocity for analog input 1 parameter is configured and scaled in the basic
settings.
The resulting setpoint velocity Virtual Master: Set velocity is used for the continuous opera-
tion or cyclic operation of the virtual master. 40x5047:001

X3
DO1 24O
GO GI
DI1 DI1
DI3 DI3
AI1- AI1+

Fig. 42: Front view of the plug connector X3 with analog input 1

Master Value Source

Source Master Values Source Master Values (0x5020:014) = Virtual Master OR AnalogIn 1
(0x5020:014) OR Status Signals Virtual Master (0x5045:110), Bit 31 (External Master Values Inactive)
OR Error code (0x603F:000) = 0x7304 (Feedback fault slot B)
Source Master Values
(0x5020:014) =
Systembus Virtual Master
Selected Master Velocity
System bus in Velocity (0x5021:152) (0x5042:017)

Master Values
Application feedback (B) (0x500B:011) Selected Set Velocity VM
(0x5047:001)
Source Master Values
(0x5020:014) =
Systembus Virtual Master
Profile Generator
Set Velocity Virtual Master (0x5045:011) v
vmax
VM Sync Velocity (0x5046:020)
Set Velocity ∆p VM Sync Slave Direction (0x5046:030)
Analoginput 1 (0x2DA4:005) t
VM Acc (0x5046:003)
VM Startposition (0x5046:001) VM Dec (0x5046:004)
VM Zielposition (0x5046:002) VM Jerk (0x5046:005)
Reference Velocity Analoginput 1 (0x5020:009)

Fig. 43: Analog input 1 as speed source

Relevant parameters of other functions
Address Designation Default setting Setting range
0x2DA4:005 Diagnostics of analog input 1: Scaled percent value x.xx % (Read only)
0x5020:009 Reference velocity for analog input 1 500.0000 0.0000 ... 214748.3647
0x5047:001 Virtual Master: Set velocity - (Read only)

112
 Configuring the "Sync and Correction" TA
Master value sources
Virtual master

7.3.3.3 External master values

The Virtual master control signals parameter can be used to switch over the master value
source when the controller is enabled. 40x5045:010 Bit 31
If bit 31 of the Virtual master control signals parameter is set to TRUE, the external master
value sources are deselected. The virtual master takes over the motion control and synchroni-
ses itself via the selected master value source.
Profile calculation parameters:
• Virtual master acceleration 40x5046:003
• Virtual master deceleration 40x5046:004
• Virtual master jerk 40x5046:005
• Clutch-in direction virtual master 0x5046:030

113
Configuring the "Sync and Correction" TA
Master value sources
Virtual master

If bit 31 of the Virtual master control signals parameter is set to FALSE, the master value syn-
chronises itself with the master value source selected in the Master value source parameter.
• Virtual master control signals 40x5045:010
• Master value source 40x5020:014
The compensation velocity is specified via the Virtual master clutch velocity parameter.
40x5046:020
The synchronisation processes can be executed for the following starting conditions and tar-
get conditions:
• From standstill to motion
• From motion to standstill
• From motion to motion
• From standstill to standstill
Synchronisation with the master position also occurs when the real master is at a standstill.

The synchronisation processes are independent of the motion of the external

master value source. Synchronisation also occurs when the real master is at a
standstill.

Master Value Source

Source Master Values Source Master Values (0x5020:014) = Virtual Master OR AnalogIn 1
(0x5020:014) OR Status Signals Virtual Master (0x5045:110), Bit 31 (External Master Values Inactive)
OR Error code (0x603F:000) = 0x7304 (Feedback fault slot B)
Source Master Values
(0x5020:014) =
Systembus Virtual Master
Selected Master Velocity
System bus in Velocity (0x5021:152) (0x5042:017)

Master Values
Application feedback (B) (0x500B:011) Selected Set Velocity VM
(0x5047:001)
Source Master Values
(0x5020:014) =
Systembus Virtual Master
Profile Generator
Set Velocity Virtual Master (0x5045:011) v
vmax
VM Sync Velocity (0x5046:020)
Set Velocity ∆p VM Sync Slave Direction (0x5046:030)
Analoginput 1 (0x2DA4:005) t VM Acc (0x5046:003)
VM Startposition (0x5046:001) VM Dec (0x5046:004)
VM Zielposition (0x5046:002) VM Jerk (0x5046:005)
Reference Velocity Analoginput 1 (0x5020:009)

Fig. 44: Clutch is switched from master value source to the virtual master

Control signals virtual master Status signals virtual master

0x5045:010 Technology application 0x5045:110

Bit 31: Deactivate external Bit 31: External master

master values values inactive

Fig. 45: Control bits and status bits

Relevant parameters of other functions
Address Designation Default setting Setting range
0x5046:003 Virtual master acceleration 100000.00 0.00 ... 21474836.47

114
 Configuring the "Sync and Correction" TA
Master value sources
Virtual master

Address Designation Default setting Setting range

0x5046:004 Virtual master deceleration 100000.00 0.00 ... 21474836.47
0x5046:005 Virtual master jerk 1000000.00 0.00 ... 21474836.47
0x5046:020 Virtual master clutch velocity 100.0000 0.0000 ... 214748.3647
0x5047:001 Virtual Master: Set velocity - (Read only)

115
Configuring the "Sync and Correction" TA
Position trimming and position offset

7.4 Position trimming and position offset

The position offset is transferred to the drive axis via a profile generator. The offset is specified
via the following parameters:
• Internal position offset 40x5041:053
• Control word 4 of the fieldbus data interface. 40x5040:023
Bit 23 of the Control signals parameter is used for switch-over between the sources.
0x5040:010 Bit 23

Control word Status word

0x5040:010 Technology application 0x5040:110
Bit 3: Enable operation Bit 2: Operation enabled

Bit 20: Trimming positive

Bit 21: Trimming negative Bit 21: Synchronism
and correction busy

Fig. 46: Trimming

Trimming
Position offset trim
Trim position 0x5042:027
V Velocity offset trim
v max. 0x5042:028

t
Trimming position difference 0x5041:024
Trimming velocity 0x5041:025
Trimming acceleration 0x5041:026
Trimming deceleration 0x5041:027
Trimming jerk 0x5041:028

Fig. 47: Trim partial signal flow

Position trimming is only possible when the clutch is engaged.
• Control word bit 20 = TRUE activates a positive direction of rotation. 0x5040:010
• Control word bit 21 = TRUE activates a negative direction of rotation. 0x5040:010
The following parameters set the acceleration, maximum velocity and deceleration for posi-
tioning:
Trimming - position difference 40x5041:024
Trimming - velocity 40x5041:025
Trimming - acceleration 40x5041:026
Trimming - deceleration 40x5041:027
Trimming - velocity offset 40x5042:028
The Trimming position offset parameter identifies the trimming as a proportion of the total
offset. 40x5042:027

116
 Configuring the "Sync and Correction" TA
Position trimming and position offset

The master axis values overlay the trimming acceleration and velocity. This results in the fol-
lowing values for the axis to be trimmed:
Resulting velocity and resulting acceleration

VARes = VL + 0x5041: 025

aARes = aL + 0x5041: 026
VARes Resulting axis velocity
aARes Resulting axis acceleration
VL Master axis velocity
aL Master axis acceleration
Trimming - velocity 0x5041:025
Trimming - acceleration 0x5041:026

The Compensation permissible direction parameter defines the direction of rotation of the
drive:
Parameter name Parameter index Bit Function
Offset direction allowed 0x5041:022 0 Both directions of rotation possible
Offset direction allowed 0x5041:022 1 Direction of rotation in master
value direction of rotation

117
Configuring the "Sync and Correction" TA
Position trimming and position offset

300
Position [u]

200

100

30s 40s

80
IrSetOffsetSlave [u]

60

40

30s 40s Time [s]

Fig. 48: Direction of rotation only in master direction of rotation (eOffsetDirection = 1)

The illustration shows the response when the axis is permitted to rotate in the positive and
negative directions and the parameter Offset direction allowed = 0 (both). 40x5041:022

118
 Configuring the "Sync and Correction" TA
Position trimming and position offset

300
Position [u]

200

100

0
10s 20s

80
IrSetOffsetSlave [u]

60

40
10s 20s
Time [s]

Fig. 49: Direction of rotation in positive and negative direction (eOffsetDirection = 0)

Every 3 seconds, the position compensation in the Offset direction allowed parameter
switches between 40 and 80 units. 40x5041:022

119
Configuring the "Sync and Correction" TA
Position offset from master

Parameter
Address Name / setting range / [default setting] Info
0x5040:023 External position offset
-214748.3648 ... [0.0000] ... 214748.3647
0x5041:022 Offset direction allowed
0 Both directions
1 Master value direction
0x5041:024 Trimming - position difference
0.0000 ... [1.0000] ... 214748.3647
0x5041:025 Trimming - velocity
-214748.3648 ... [50.0000] ... 214748.3647
0x5041:026 Trimming - acceleration
-21474836.48 ... [100.00] ... 21474836.47
0x5041:027 Trimming - deceleration
-21474836.48 ... [100.00] ... 21474836.47
0x5041:028 Jerk offset
-21474836.48 ... [10000.00] ... 21474836.47
0x5041:053 Internal position offset
-214748.3648 ... [0.0000] ... 214748.3647
0x5041:058 Load offset
false
true
0x5042:021 Set velocity after measuring system alignment
• Read only
0x5042:025 Active position offset
• Read only
0x5042:026 Velocity offset
• Read only
0x5042:027 Trimming position offset
• Read only
0x5042:028 Trimming - velocity offset
• Read only
0x5042:029 Total position offset
• Read only
0x5042:030 Total velocity offset
• Read only

7.5 Position offset from master

Relevant parameters of other functions
Address Designation Default setting Setting range
0x5040:023 External position offset 0.0000 -214748.3648 ... 214748.3647
0x5041:022 Offset direction allowed Master value direction [1] Selection list
0x5041:025 Trimming - velocity 50.0000 -214748.3648 ... 214748.3647
0x5041:026 Trimming - acceleration 100.00 -21474836.48 ... 21474836.47
0x5041:027 Trimming - deceleration 100.00 -21474836.48 ... 21474836.47
0x5041:028 Jerk offset 10000.00 -21474836.48 ... 21474836.47
0x5041:053 Internal position offset 0.0000 -214748.3648 ... 214748.3647
0x5041:058 Load offset 0

120
 Configuring the "Sync and Correction" TA
Position synchronism

7.6 Position synchronism

In order to reach the angular synchronism of master axis and drive axis, the clutch engages
over their cycle lengths based on the master axis. The setpoint position is calculated from this
engagement.
Synchronism with equal cycle lengths (360/360) Synchronism with unequal cycle lengths (360/450)

400 400

300 300
Position [u]

Position [u]
200 200

100 100

0 0

400

300
Position [u]

200

100

121
Configuring the "Sync and Correction" TA
Position synchronism

The conversion ratio is freely adjustable via a virtual gearbox factor. The conversion ratio is
specified via the Stretch factor - numerator and Stretch factor - denominator parameters.
• Stretch factor - numerator 40x5041:020
• Stretch factor - denominator 40x5041:021
If the gearbox factor is set to the ratio 2:1 for instance (Stretch factor - numerator = 2 and
Stretch factor - denominator = 1), the synchronism response will look like this:

400

300
Position [u]

200

100

Fig. 50: Various synchronism representations

Parameter
Address Name / setting range / [default setting] Info
0x500A:031 Cycle length The cycle length for an unlimited traversing range defines the position
0.0001 ... [360.0000] ... 214748.3647 where the measuring system is repeated (position return to 0).
• Setting can only be changed if the inverter is inhibi-
ted.
0x500B:031 Cycle length
0.0001 ... [360.0000] ... 214748.3647
• Setting can only be changed if the inverter is inhibi-
ted.
0x500C:031 Cycle length The cycle length for an unlimited traversing range defines at which posi-
0.0001 ... [360.0000] ... 214748.3647 tion the measuring system is repeated (position return to 0).
• Setting can only be changed if the inverter is inhibi-
ted.
0x5041:020 Stretch factor - numerator
-2147483648 ... [1] ... 2147483647
0x5041:021 Stretch factor - denominator
-2147483648 ... [1] ... 2147483647

122
 Configuring the "Sync and Correction" TA
Position clutch

7.7 Position clutch

A path-based clutch is used for the position clutch.
The Clutch engagement mode parameter specifies whether the clutch operates synchro-
nously or asynchronously. 40x5041:029
• Parameter = 0 to activate synchronous clutch. 40x5041:029
The clutch synchronises the position of the drive axis to the master position.
The duration of the clutch engagement process depends on the relation between the ini-
tial situation of the positions and the master and drive axis velocities.
• Parameter = 1 to activate asynchronous clutch. 40x5041:029
The clutch synchronises the velocity of the drive axis to the master velocity.
The clutch engagement process starts after activation. After the clutch process, the offset
between the position of the drive axis and the position of the master axis is constant. The
offset can be eliminated by setting the parameter Control signals bit 18 = TRUE The posi-
tion offset parameters make it possible to reduce the offset to 0. 0x5040:010
Parameter
Address Name / setting range / [default setting] Info
0x5041:020 Stretch factor - numerator
-2147483648 ... [1] ... 2147483647
0x5041:021 Stretch factor - denominator
-2147483648 ... [1] ... 2147483647
0x5041:029 Clutch-in mode
false Synchronous
true Asynchronous
0x5041:031 Clutch mode
5 Path-based
0x5041:033 Declutch position
0.0000 ... [0.0000] ... 214748.3647
0x5041:034 Deceleration of "direct declutching"
0.0000 ... [10000.0000] ... 214748.3647
0x5041:035 Clutch-in distance
0.0000 ... [90.0000] ... 214748.3647
0x5041:036 Declutch distance
0.0000 ... [90.0000] ... 214748.3647
0x5041:042 Clutch jerk
0.0000 ... [10000.0000] ... 214748.3647
0x5041:043 Clutch base velocity
• Read only
0x5042:018 Set position with offset
• Read only
0x5042:019 Set velocity with offset
• Read only
0x5042:020 Set position after measuring system alignment
• Read only
0x5042:021 Set velocity after measuring system alignment
• Read only
0x5042:031 Clutch position offset
• Read only
0x5042:035 Set base velocity
• Read only
0x5042:039 Slave set position
• Read only
0x5042:040 Slave set velocity
• Read only

123
Configuring the "Sync and Correction" TA
Position clutch
Path-controlled clutch

7.7.1 Path-controlled clutch

The paths for the path-controlled clutch can be set as follows:
The clutch engagement path is configured via the Clutch-in distance parameter. 40x5041:035
The clutch disengagement path is configured via the Declutch distance parameter.
40x5041:036
The initial parameter values are such that the clutch process is complete after 90 path units of
the drive axis. After the clutch is disengaged, the drive is in the Declutch position.
40x5041:033

xSyncPos
eSyncMode = Ramp_Dist

xAccDecSync

xSynchronised

Master-Position [u]

IrMasterSyncInDist
= 2 IrSlaveSyncInDist

Slave-Position [u]

IrSlaveSyncInDist

Fig. 51: Engage clutch with clutching mode = 5

124
 Configuring the "Sync and Correction" TA
Position clutch
Path-controlled clutch

xSyncPos
eSyncMode = Ramp_Dist

xAccDecSync

xSynchronised

Master-Position [u]

IrMasterSyncOutDist
= 2 IrSlaveSyncOutDist

Slave-Position [u]

IrSlaveSyncOutPos
IrSlaveSyncOutDist

Fig. 52: Disengage clutch with clutching mode = 5

Relevant parameters of other functions
Address Designation Default setting Setting range
0x5041:033 Declutch position 0.0000 0.0000 ... 214748.3647
0x5041:034 Deceleration of "direct declutching" 10000.0000 0.0000 ... 214748.3647
0x5041:035 Clutch-in distance 90.0000 0.0000 ... 214748.3647
0x5041:036 Declutch distance 90.0000 0.0000 ... 214748.3647

125
Configuring the "Sync and Correction" TA
Position clutch
Time-controlled clutch

7.7.2 Time-controlled clutch

The time-controlled clutching is independent of the movement of the master position. The
drive axis is also synchronised if the master position is standing.
Engage clutch
The drive axis engages from its current position to the master position within a time defined
via the Clutch time parameter. 0x5041:037

xSyncPos
eSyncMode = Ramp_Time

xAccDecSync

xSynchronised

Master-Position [u]

IrSyncInTime
Slave-Position [u]

IrSyncInTime

Fig. 53: Clutch engages with eSyncMode = 3 Ramp_Time

126
 Configuring the "Sync and Correction" TA
Position clutch
Time-controlled clutch

Disengage clutch
The Declutch time parameter defines the stopping position and the time in which the drive
axis begins to disengage from its current position. 0x5041:038

xSyncPos
eSyncMode = Ramp_Time

xAccDecSync

xSynchronised

Master-Position [u]

IrSyncInTime
Slave-Position [u]

IrSlaveSyncOutPos

IrSyncInTime

Fig. 54: Coupling disengages with eSyncMode = 3 Ramp_Time

Relevant parameters of other functions
Address Designation Default setting Setting range
0x5041:033 Declutch position 0.0000 0.0000 ... 214748.3647

127
Configuring the "Sync and Correction" TA
Position clutch
Travel profile-based clutch

7.7.3 Travel profile-based clutch

The engage and disengage clutch variant is independent from a master value
movement. This means that the drive axis is also synchronised if the master
value is standing.

128
 Configuring the "Sync and Correction" TA
Position clutch
Travel profile-based clutch

Engage clutch
The drive axis engages to the master position from its current position via the profile genera-
tor with the following listed parameters.
• Clutch velocity 0x5041:039
• Clutch acceleration 0x5041:040
• Clutch deceleration 0x5041:041
• Clutch jerk 40x5041:042
In the clutch engagement phase, the velocity of the drive axis results from the sum of the
velocity of the master axis and the Clutch velocity. 0x5041:039
In the clutch engagement phase, the velocity of the slave axis results from the sum of the
velocity of the master value and the acceleration or deceleration of the clutch.
• Clutch acceleration 0x5041:040
• Clutch deceleration 0x5041:041

129
Configuring the "Sync and Correction" TA
Position clutch
Travel profile-based clutch

xSyncPos
eSyncMode = Ramp_VelAcc

xAccDecSync

xSynchronised

Master-Position [u]

Slave-Position [u]

profile parameters
IrSyncVel, IrSynAcc, IrSyncDec, IrSyncJerk
Fig. 55: Clutch engages with eSyncMode = 4 Ramp_Time

130
 Configuring the "Sync and Correction" TA
Position clutch
Travel profile-based clutch

Disengage clutch
The Declutch time parameter defines the stopping position and the time in which the drive
axis begins to disengage from its current position. 0x5041:038
The profile-controlled disengagement of the clutch leads the drive axis from its current posi-
tion to standstill with the following parameters:
• Clutch velocity 0x5041:039
• Clutch acceleration 0x5041:040
• Clutch deceleration 0x5041:041
• Clutch jerk 40x5041:042
The Declutch position parameter defines the stopping position of the drive axis.
40x5041:033

131
Configuring the "Sync and Correction" TA
Position clutch
Travel profile-based clutch

xSyncPos
eSyncMode = Ramp_VelAcc

xAccDecSync

xSynchronised

Master-Position [u]

Slave-Position [u]

IrSlaveSyncOutPos

profile parameters
IrSyncVel, IrSynAcc, IrSyncDec, IrSyncJerk
Fig. 56: Coupling disengages with eSyncMode = 4 Ramp_Time
Relevant parameters of other functions
Address Designation Default setting Setting range
0x5041:033 Declutch position 0.0000 0.0000 ... 214748.3647
0x5041:042 Clutch jerk 10000.0000 0.0000 ... 214748.3647

132
 Configuring the "Sync and Correction" TA
Position clutch
Asynchronous clutch

7.7.4 Asynchronous clutch

Control signals Status signals
0x5040:010 Technology application 0x5040:110
Bit 3: Enable operation Bit 2: Operation enabled

Bit 16: SyncIn Bit 16 Synchronised

Bit 17: AccDecSyn

Fig. 57: Clutch immediately

Engage clutch
The asynchronous clutch engagement takes place via the Clutch-in mode parameter.
40x5041:029
The end of the clutch engagement depends on the status of the master axis:
• If the master value axis is at standstill, the drive axis disengages directly (abruptly) from its
current position.
• If the master value axis is moving, the drive axis clutch process begins immediately.
Disengage clutch
Set Control signals = FALSE. 0x5040:010 Bit 16
The asynchronous clutch disengagement takes place via the Declutch distance parameter.
40x5041:036
The end of the clutch disengagement depends on the status of the master axis:
• If the master value axis is at standstill, the drive axis disengages directly (abruptly) from its
current position.
• If the master value axis is moving, the drive axis clutch process begins immediately (analo-
gously to a velocity clutch).
The Clutch position offset parameter indicates if a position offset has resulted from asynchro-
nous clutch engagement. 40x5042:031
Relevant parameters of other functions
Address Designation Default setting Setting range
0x5041:029 Clutch-in mode 0
0x5041:036 Declutch distance 90.0000 0.0000 ... 214748.3647
0x5042:031 Clutch position offset - (Read only)

133
Configuring the "Sync and Correction" TA
Master value correction (register control)

7.8 Master value correction (register control)

General function
The master value correction is a superimposed control loop. A master position value is calcula-
ted based on the master velocity and with the aid of marks. This closed loop control makes it
possible to compensate for mark offsets on the material, with reference to the master posi-
tion. The cycle length of this corrected master position value, which corresponds to the dis-
tance between the marks (register cycle), is specified in the Mark distance parameter.
40x5041:002
The Sensor distance parameter specifies the distance between the mark sensor and the posi-
tion where the tool starts on the material. 40x5041:001
The Sensor distance parameter defines the position of the sensor in the Set sensor position
parameter within the register cycle.
• Sensor distance 40x5041:001
• Sensor set position 40x5042:001

134
 Configuring the "Sync and Correction" TA
Master value correction (register control)

If a mark occurs in the process, the detected register position will be compared with the sen-
sor position. The positions generate a difference:
Difference positions
• Sensor set position 40x5042:001
• Actual mark position 40x5042:002
The difference between Set sensor position and Mark current position is the position error
Actual mark error. 40x5042:003

Master Value Correction Max positive correction master

(0x5041:003)
Activate mark window master Sensor Setposition Max negative correction master
Source TP 1 (0x5041:004)
(0x5041:014) (0x5042:001)
(0x5020:011)

DI 1
∆φ
DI 2
DI 3 TP Mark window
-
DI 4 Mark Actposition
v (0x5042:002)
vmax Actual mark error
(0x5042:003)

t Activate Master value correction

(0x5040:010 Bit 19)
Correction window
Mark window size
(0x5041:008) 0 P
Mark window offset
(0x5041:009)
Max window marks
(0x5041:010)

Correction Window reference

Actual limited mark error (0x5041:005)
(0x5042:004)
Upper correction position
(0x5041:006)
Lower correction position
Gain gearfactor correction Max gearfactor correction (0x5041:007)
(0x5041:011) (0x5041:012) Hold gearfactor correction
(0x5041:017)
Enable gearfactor correction
(0x5041:016)

1
-
Mark distance master
(0x5041:002)
Actual gearfactor
(0x5042:005)

1
x
Mark distance
(0x5041:002)
Selected Master
Velocity Corrected set
(0x5042:017)
position
Selected Master
position
(0x5042:016)
+ (0x5042:006)
Corrected set
velocity
(0x5042:00/)

Fig. 58: Master value correction partial signal flow

Relevant parameters of other functions
Address Designation Default setting Setting range
0x5020:011 TP1 source Digital input 1, positive edge [1] Selection list
0x5041:001 Sensor distance 360.0000 0.0000 ... 214748.3647
0x5041:002 Mark distance 360.0000 0.0000 ... 214748.3647
0x5041:003 Max. positive correction 45.0000 0.0000 ... 214748.3647
0x5041:004 Max. negative correction 45.0000 0.0000 ... 214748.3647
0x5041:005 Reference measuring system of correction window Corrected master position [1] Selection list
0x5041:006 Upper correction position 350.0000 0.0000 ... 214748.3647
0x5041:007 Lower correction position 200.0000 0.0000 ... 214748.3647
0x5041:008 Mark window size 40.0000 0.0000 ... 214748.3647
0x5041:009 Mark window offset 0.0000 0.0000 ... 214748.3647
0x5041:010 Max. number of missed marks 20 0 ... 4294967295

135
Configuring the "Sync and Correction" TA
Master value correction (register control)

Address Designation Default setting Setting range

0x5041:011 Gearbox factor correction gain 0.1000 0.0000 ... 214748.3647
0x5041:012 Max. gearbox factor correction 10.0000 0.0000 ... 214748.3647
0x5041:013 Activate master value correction 0
0x5042:001 Sensor set position - (Read only)
0x5042:002 Actual mark position - (Read only)
0x5042:003 Actual mark error - (Read only)
0x5042:004 Actual limited mark error - (Read only)
0x5042:005 Actual gearbox factor - (Read only)
0x5042:006 Corrected set position - (Read only)
0x5042:007 Corrected set velocity - (Read only)
0x5042:016 Set position of selected master value - (Read only)
0x5042:017 Set velocity of selected master value - (Read only)

136
 Configuring the "Sync and Correction" TA
Master value correction (register control)
Mark window and mark register

7.8.1 Mark window and mark register

1
2

4
3
6
5
+

Sensor distance master Mark window size Lower correction position

1 0x5041:001 3 0x5041:008 5 0x5041:007
Mark distance master Offset mark window Upper correction position
2 0x5041:002 4 0x5041:009 6 0x5041:006

Fig. 59: Schematic pass of the print marks

A mark window can be activated so the mark sensor is not triggered unintendedly. If the
parameter Activate mark window = TRUE, the window function is active. 0x5041:014
Parameter
Address Name / setting range / [default setting] Info
0x5041:014 Activate mark window for master value
Bit 0 FALSE Mark window deactivated
Bit 1 TRUE Mark window activated

For the master value correction to work, the mark window must be learned. This can happen
in the engaged and disengaged state:
State
Engaged Master value and drive axis move
Disengaged Master value moves and drive axis is immobile

Learn mark window in disengaged status

If the mark window is learned in the disengaged state, the corrected master value position is
written to the Sensor set position parameter when the first mark is detected. 40x5042:001
At the same time, the mark window from the Mark window size parameter is placed symmet-
rically around the detected mark. 40x5041:008
Learn mark window in engaged status
If the mark window is learned in the engaged state, the mark window is activated when the
first mark is detected. The register position is not set.
The mark window can be shifted to the Mark window offset parameter. 40x5041:009

137
Configuring the "Sync and Correction" TA
Master value correction (register control)
Mark window and mark register

If, due to the design, the mark sensor is positioned farther away from the tool than a mark
distance, detected marks are automatically stored in a mark stack. The length of the stack is
such that the mark leaves the stack one cycle (mark distance) in front of the tool and triggers a
"virtual" touch probe. Afterwards the mark error is calculated. This ensures that the master
value is always corrected at the right time.
Master distances
• Sensor distance 40x5041:001
• Marking distance40x5041:002
If the detected mark is in cycle with the tool, it is evaluated. This means the mark sensor is
virtually set to the position exactly one cycle in front of the tool.

Mount the mark sensor a maximum of 64 cycles in front of the tool.

∆l

Fig. 60: Systematic representation of the mark register

Mount the mark sensor as close as possible to the tool. The further from the axis the mark
sensor is mounted, the more imprecise the cuts will be.
Parameter
Address Name / setting range / [default setting] Info
0x5041:001 Sensor distance
0.0000 ... [360.0000] ... 214748.3647
0x5041:002 Mark distance
0.0000 ... [360.0000] ... 214748.3647
0x5041:008 Mark window size
0.0000 ... [40.0000] ... 214748.3647
0x5041:009 Mark window offset
0.0000 ... [0.0000] ... 214748.3647
0x5041:013 Activate master value correction
false Off
true On
0x5042:001 Sensor set position
• Read only

138
 Configuring the "Sync and Correction" TA
Master value correction (register control)
Mark failure detection

7.8.2 Mark failure detection

If no mark is detected within a mark window, bit 21 of the Status signal parameter will display
"Mark failed". 40x5040:110
After the maximum number of failed marks set in the Maximum number of failed marks
parameter, a corresponding error is displayed in the status of the technology application.
40x5041:010
Parameter
Address Name / setting range / [default setting] Info
0x5041:010 Max. number of missed marks
0 ... [20] ... 4294967295

139
Configuring the "Sync and Correction" TA
Master value correction (register control)
Position correction

7.8.3 Position correction

The position correction takes place within a correction window.
The position of this window is specified via the parameters Upper correction position and
Lower correction position.
• Upper correction position 40x5041:006
• Lower correction position 40x5041:007
The position is set in the unit of the measuring system used.
The Reference measuring system of correction window parameter specifies whether the
position of the correction window relates to the corrected master position or the position of
the drive axis. 40x5041:005
Parameter index Selection in the Information Figure
parameter
40x5041:005 Correction master Correction window Sensor

position (1) relates to the position IrSensorToolDistance

Correction movement
of the drive axis.

Slave

Master Master

Master Master
Correction window

Slave

0x5041:005 Current tool position Correction window Sensor

(2) relates to the position IrSensorToolDistance

Correction movement
of the corrected mas-
ter axis.

Slave

Master Master

Master Correction window Master

Slave

The determined position error can be limited to a maximum value. This keeps accelerations
low during the corrective movement, for instance. In order to limit the maximum value, there
is one parameter available for both the positive limit value and the negative limit value.
Parameters for limit values
• Max. positive correction 40x5041:003
• Max. negative correction 40x5041:004
The limited position error is displayed in the Actual limited mark error parameter.
40x5042:004
The resulting position and velocity of the corrected master value can be found in the parame-
ters Corrected setpoint position and Corrected setpoint velocity.
• Corrected set position 40x5042:006
• Corrected set velocity 40x5042:007

140
 Configuring the "Sync and Correction" TA
Master value correction (register control)
Position correction

Parameter
Address Name / setting range / [default setting] Info
0x5041:003 Max. positive correction
0.0000 ... [45.0000] ... 214748.3647
0x5041:004 Max. negative correction
0.0000 ... [45.0000] ... 214748.3647
0x5041:005 Reference measuring system of correction window
1 Corrected master position
2 Actual tool position
0x5041:006 Upper correction position
0.0000 ... [350.0000] ... 214748.3647
0x5041:007 Lower correction position
0.0000 ... [200.0000] ... 214748.3647
0x5042:002 Actual mark position
• Read only
0x5042:003 Actual mark error
• Read only
0x5042:004 Actual limited mark error
• Read only
0x5042:006 Corrected set position
• Read only
0x5042:007 Corrected set velocity
• Read only

141
Configuring the "Sync and Correction" TA
Master value correction (register control)
Gearbox factor correction

7.8.4 Gearbox factor correction

Modified register properties lead to a changed, real register length. The difference to the par-
ameterised register length Sensor distance leads to corrections in always the same direction
(positive or negative). 40x5041:001
This correction is inefficient and leads to increased energy consumption and increased
mechanical stress. The gearbox factor correction calculates the optimum setpoint velocity of
the master value in this case.
The correction value is determined from the mean value of the position errors. The correction
value affects the setpoint velocity of the master value axis. When the gearbox factor is adjus-
ted, the constant part of the position errors is eliminated and the correction is made in the
positive and negative directions.

If the selected gain is too high, this can lead to an excessive setpoint velocity.

Parameter name Parameter index Status Function

Activation of gearbox factor correction 0x5041:016 TRUE Activates gearbox factor correction
Gearbox factor correction gain 0x5041:011 - Affects the velocity at which the gearbox
factor correction adjusts the static error
Actual gearbox factor 0x5042:005 - Outputs the value of the gearbox factor
Max. gearbox factor correction 0x5041:012 - Specifies the maximum value of the gearbox
factor correction

When the corrected gearbox factor has been detected, corrective movements occur in the
positive and negative directions. The detected gearbox factor is permanently accepted with
bit 25 = TRUE of the Activation of gearbox factor correction parameter. 0x5041:016
If the parameter Activation of gearbox factor correction = FALSE, the value of the gearbox
factor can be modified. 0x5041:016
Parameter
Address Name / setting range / [default setting] Info
0x5041:016 Activate gearbox factor correction
Bit 0 FALSE Gearbox factor correction deactivated
Bit 1 TRUE Gearbox factor correction activated

Parameter
Address Name / setting range / [default setting] Info
0x5042:005 Actual gearbox factor
• Read only
0x5041:011 Gearbox factor correction gain
0.0000 ... [0.1000] ... 214748.3647
0x5041:012 Max. gearbox factor correction
0.0000 ... [10.0000] ... 214748.3647

142
 Configuring the "Sync and Correction" TA
Tool correction

7.9 Tool correction

This function makes "Referencing on the fly" possible for position followers. This is necessary
if:
• The tool drifts because the feed constant is not exactly known.
• Referencing is not possible when the machine starts due to process reasons.
When the Activate tool correction parameter = 1 is activated, the expected setpoint position
is compared with the actual position when the tool-side sensor is triggered. 40x5041:120
A corrective movement is generated to compensate for the determined position error. The
position error is compensated for within the configured correction window.
Set the parameter Activate tool correction = FALSE to calculate the error but not execute a
correction. 40x5041:130
Relevant parameters of other functions
Address Designation Default setting Setting range
0x5020:012 TP2 source Digital input 2, positive edge [11] Selection list
0x5041:015 Mark window teaching Master value correction [0] Selection list
0x5041:120 Activate tool correction 0
0x5041:121 Tool sensor distance 360.0000 0.0000 ... 214748.3647
0x5041:122 Max. positive tool correction 45.0000 0.0000 ... 214748.3647
0x5041:123 Max. negative tool correction 45.0000 0.0000 ... 214748.3647
0x5041:124 Tool upper correction position 350.0000 0.0000 ... 214748.3647
0x5041:125 Tool lower correction position 180.0000 0.0000 ... 214748.3647
0x5041:126 Tool mark window size 40.0000 0.0000 ... 214748.3647
0x5041:127 Tool mark window offset 0.0000 0.0000 ... 214748.3647
0x5041:128 Max. number of missed marks (tool) 20 0 ... 4294967295
0x5041:129 Activate tool mark window 0
0x5041:130 Activate tool correction 1
0x5042:140 Tool sensor set position - (Read only)
0x5042:141 Actual position tool correction mark - (Read only)
0x5042:142 Actual tool error - (Read only)

143
Configuring the "Sync and Correction" TA
Tool correction
Mark window and mark register

7.9.1 Mark window and mark register

Set Activate tool mark window parameter = TRUE to activate the functionality of the mark
window. 40x5041:129
Set Activate tool mark window parameter = FALSE to edit each mark. 40x5041:129
Set Mark window teaching parameter = 1 to set the mark window with the teach-in function.
40x5041:015
In the Control signals parameter, set bit 22 to activate the mark window in the Tool mark win-
dow size parameter learned via the teach-in function for the following marks.
• Tool mark window size 40x5041:126
• Control signals 0x5040:010 bit 22
The following table provides information on the status of the mark window:
Parameter name Parameter index Bit status Status
Activate tool mark window 0x5041:129 TRUE Mark window active
FALSE Mark window deactivated
Mark window teaching 0x5041:015 1 Mark window of the tool correction is
learned
0 Mark window of the master value correc-
tion is learned

The figure shows the use of a mark stack. The distance from the mark sensor to the tool is
greater than the set mark distance.

Sensor Virtual
sensor
Mark stack

UpperCorrPos

LowerCorrPos

SensorToolDistance

Fig. 61: Systematic representation of the mark stack with a pocket-type conveyor
Mount the mark sensor as close as possible to the axis. The further from the axis the mark
sensor is mounted, the more imprecise the cuts will be.
Up to 64 mark signals are managed in the mark stack. These marks are available to the system
at the right time to delay the mark register length. This allows the tool to be corrected to the
correct mark signal.

144
 Configuring the "Sync and Correction" TA
Tool correction
Mark failure detection

The distance between the touch probe sensor and the position where the tool starts is
assigned via the Tool sensor distance parameter. 40x5041:121
The "mark stack" function is automatically activated when the Tool sensor distance parameter
is greater than der Cycle length parameter.
Parameter
• Tool sensor distance 40x5041:121
• Cycle length 40x500A:031
After a mark has been detected, the value of the mark deviation is released for correction only
if the position in the register cycle has covered the distance of the mark register.
Parameter
Address Name / setting range / [default setting] Info
0x500A:031 Cycle length The cycle length for an unlimited traversing range defines the position
0.0001 ... [360.0000] ... 214748.3647 where the measuring system is repeated (position return to 0).
• Setting can only be changed if the inverter is inhibi-
ted.
0x5041:015 Mark window teaching
0 Master value correction
1 Tool correction
0x5041:120 Activate tool correction
false FALSE
true TRUE
0x5041:121 Tool sensor distance
0.0000 ... [360.0000] ... 214748.3647
0x5041:126 Tool mark window size
0.0000 ... [40.0000] ... 214748.3647
0x5041:127 Tool mark window offset
0.0000 ... [0.0000] ... 214748.3647
0x5041:129 Activate tool mark window
false Deactivated
true Activated
0x5042:140 Tool sensor set position
• Read only

7.9.2 Mark failure detection

If the output is set via bit 23 in the Status signals parameter, no mark was detected within the
configured mark window. 40x5040:110 Bit 23
In this case, an ideal virtual mark for the system is created. Subsequent functions can continue
to be executed.
The maximum number of mark failures is set via the Max. number of missed marks (tool)
parameter. If no mark is detected within the mark window, an internal counter is incremented.
If the number of failed marks reaches the limit set in the Max. number of missed marks (tool)
parameter, a corresponding error is output at the error output of the technology application.
40x5041:128
Parameter
Address Name / setting range / [default setting] Info
0x5041:128 Max. number of missed marks (tool)
0 ... [20] ... 4294967295

145
Configuring the "Sync and Correction" TA
Tool correction
Position correction

7.9.3 Position correction

The correction window specifies the position range. The tool position is corrected within the
position range. The position of the correction window is specified via the parameters Tool
lower correction position and Tool upper correction position.
• Tool lower correction position 40x5041:125
• Tool upper correction position 40x5041:124
The parameters are set in the unit of the tool axis.
The Tool sensor distance parameter specifies the distance between the touch probe sensor
and the zero position of the tool on the material. 40x5041:121

Correction range
UpperCorrPos LowerCorrPos

sor
Sen
Slave Reference position

Fig. 62: Homing on the fly without mark stack

Parameter
Address Name / setting range / [default setting] Info
0x5041:121 Tool sensor distance
0.0000 ... [360.0000] ... 214748.3647
0x5041:122 Max. positive tool correction
0.0000 ... [45.0000] ... 214748.3647
0x5041:123 Max. negative tool correction
0.0000 ... [45.0000] ... 214748.3647
0x5041:124 Tool upper correction position
0.0000 ... [350.0000] ... 214748.3647
0x5041:125 Tool lower correction position
0.0000 ... [180.0000] ... 214748.3647
0x5041:130 Activate tool correction
false Deactivated
true Activated
0x5042:141 Actual position tool correction mark
• Read only
0x5042:142 Actual tool error
• Read only

146
 Configuring the "Sync and Correction" TA
Signal flow
Master value selection and master value correction

7.10 Signal flow

7.10.1 Master value selection and master value correction

The main signal flow of the converted function is shown below.

147
Configuring the "Sync and Correction" TA
Signal flow
Master value selection and master value correction

Master Value Correction Max positive correction master

(0x5041:003)
Activate mark window master Sensor Setposition Max negative correction master
Source TP 1 (0x5041:004)
(0x5041:014) (0x5042:001)
(0x5020:011)

DI 1
∆φ
DI 2
DI 3 TP Mark window
-
DI 4 Mark Actposition
v (0x5042:002)
vmax Actual mark error
(0x5042:003)

t Activate Master value correction

(0x5040:010 Bit 19)
Correction window
Mark window size
(0x5041:008) 0 P
Mark window offset
(0x5041:009)
Max window marks
(0x5041:010)

Correction Window reference

Actual limited mark error (0x5041:005)
(0x5042:004)
Upper correction position
(0x5041:006)
Lower correction position
Gain gearfactor correction Max gearfactor correction (0x5041:007)
(0x5041:011) (0x5041:012) Hold gearfactor correction
(0x5041:017)
Enable gearfactor correction
(0x5041:016)

1
-
Mark distance master
(0x5041:002)
Actual gearfactor
(0x5042:005)
Selected Master 1
position
(0x5042:016) x
Mark distance
(0x5041:002)
Selected Master
Velocity Corrected set
(0x5042:017)
position

+ (0x5042:006)
Corrected set
velocity
(0x5042:00/)

Master Value Source

Source Master Values
(0x5020:014) Virtual Master
Control Signals (0x5040:010), Bit 31
Systembus In Position OR: Error code (0x603F:000) = 0x7304
(0x5021:151)
Actual velocity
(0x500B:011)

Act Position Virtual Master

(0x5045:111)
Set Velocity Virtual Master Act Velocity Virtual Master
(0x5045:011) (0x5045:112)

AI1: percent value scaled

(0x2DA4:005)

Ref. Velocity Analog Input 1

(0x5020:009)

Fig. 63: Master value selection und master value correction

148
 Configuring the "Sync and Correction" TA
Signal flow
Master value selection and master value correction

Offset and Trimming

Offset allowed direction (0x5041:022)
Trim position difference (0x5041:024)
Offset Trim velocity (0x5041:025)
Offset Trim acceleration (0x5041:026)
Offset Trim deceleration (0x5041:027)
Offset Trim jerk (0x5041:028)
Position offset trim
v (0x5042:027)
Control Signals (0x5040:010), Bit 20
(Trimming positive)
t
Control Signals (0x5040:010), Bit 21
(Trimming negative) + v

Control Signals (0x5040:010), Bit 23 + t

(Activate External Offset)

Position offset
Internal position offset (0x5042:025)
(0x5041:053)

Offset
(0x5040:023)

Master Value Source

Master value correction Master Value Processing & Clutch
(0x5041:013)
Set position plus offset (0x5042:018) Set position gearbox out (0x5042:020))
Set velocity plus offset (0x5042:019) Set velocity gearbox out (0x5042:021)
Selected master position
(0x5042:016))

Corrected set position

(0x5042:006) X
NOT Control Signals (0x5040:010),
Y Bit 16 (Clutch In)

Stretch factor numerator (0x5041:020)

Base Velocity Stretch factor denominator (0x5041:021)

Control Signals (0x5040:010), Bit 24

(Activate External Base Velocity)
Basic clutch parameter
Set base velocity Relative mode (0x5041:029)
Base Velocity (0x5042:035) Allowed direction (0x5041:032)
(0x5041:043) Clutch declutch position (0x5041:033)
Declutch instant deceleration (0x5041:033)
External Base Velocity Position offset clutch (0x5041:031)
(0x5040:016)
Mode: Distance
Clutch in distance (0x5041:035)
Declutch distance (0x5041:036)

Set slave position (0x5042:39)

Set slave velocity (0x5042:040)

ManualJog

n HALT
Set position (0x500A:014)
Set velocity (0x500A:015)
t

n STOP

Fig. 64: Synchronise partial signal flow

149
Configuring the "Sync and Correction" TA
Signal flow
Master value selection and master value correction

Tool correction Tool Correction Actual tool error

(0x5041:120) (0x5042:142)

Sensor set position +

(0x5042:140)
-
Source TP 2 Max positive correction tool (0x5041:122)
(0x5020:012) Max negative correction tool (0x5041:123)
TP calculation Mark window Mark stack
DI 1 v v
Actual tool error limited
DI 2 vmax vmax (0x5042:143)
DI 3
DI 4 t t
Mark window size tool (0x5041:126) Sensor distance Tool Sensor act position
Mark window offset tool (0x5041:127) (0x5041:120) (0x5042:141)
Max missed marks tool (0x5041:128)

v
Upper correction position tool (0x5041:124)
Lower correction position tool (0x5041:125)

SetPosition
relative

Fig. 65: Tool correction partial signal flow

Relevant parameters of other functions
Address Designation Default setting Setting range
0x500B:031 Cycle length 360.0000 0.0001 ... 214748.3647
0x500C:186 Deceleration of Halt 1800.00 0.00 ... 21474836.47
0x5020:011 TP1 source Digital input 1, positive edge [1] Selection list
0x5020:014 Master value source System bus [0] Selection list
0x5021:151 System bus diagnostics: Position (input value) - (Read only)
0x5041:002 Mark distance 360.0000 0.0000 ... 214748.3647
0x5041:003 Max. positive correction 45.0000 0.0000 ... 214748.3647
0x5041:004 Max. negative correction 45.0000 0.0000 ... 214748.3647
0x5041:005 Reference measuring system of correction window Corrected master position [1] Selection list
0x5041:006 Upper correction position 350.0000 0.0000 ... 214748.3647
0x5041:007 Lower correction position 200.0000 0.0000 ... 214748.3647
0x5041:008 Mark window size 40.0000 0.0000 ... 214748.3647
0x5041:009 Mark window offset 0.0000 0.0000 ... 214748.3647
0x5041:010 Max. number of missed marks 20 0 ... 4294967295
0x5041:011 Gearbox factor correction gain 0.1000 0.0000 ... 214748.3647
0x5041:012 Max. gearbox factor correction 10.0000 0.0000 ... 214748.3647
0x5042:001 Sensor set position - (Read only)
0x5042:002 Actual mark position - (Read only)
0x5042:003 Actual mark error - (Read only)
0x5042:004 Actual limited mark error - (Read only)
0x5042:005 Actual gearbox factor - (Read only)
0x5042:006 Corrected set position - (Read only)
0x5042:007 Corrected set velocity - (Read only)
0x5042:016 Set position of selected master value - (Read only)
0x5042:017 Set velocity of selected master value - (Read only)
0x5046:001 Virtual master start position 0.0000 0.0000 ... 214748.3647
0x5046:002 Virtual master set position 0.0000 0.0000 ... 214748.3647
0x5046:003 Virtual master acceleration 100000.00 0.00 ... 21474836.47

150
 Configuring the "Sync and Correction" TA
Signal flow
Position synchronism

Address Designation Default setting Setting range

0x5046:004 Virtual master deceleration 100000.00 0.00 ... 21474836.47
0x5046:005 Virtual master jerk 1000000.00 0.00 ... 21474836.47
0x5046:020 Virtual master clutch velocity 100.0000 0.0000 ... 214748.3647

7.10.2 Position synchronism

Relevant parameters of other functions
Address Designation Default setting Setting range
0x500A:014 Position setpoint - (Read only)
0x500A:015 Velocity setpoint - (Read only)
0x5040:016 External base velocity 0.0000 -214748.3648 ... 214748.3647
0x5040:023 External position offset 0.0000 -214748.3648 ... 214748.3647
0x5041:013 Activate master value correction 0
0x5041:020 Stretch factor - numerator 1 -2147483648 ... 2147483647
0x5041:021 Stretch factor - denominator 1 -2147483648 ... 2147483647
0x5041:022 Offset direction allowed Master value direction [1] Selection list
0x5041:024 Trimming - position difference 1.0000 0.0000 ... 214748.3647
0x5041:025 Trimming - velocity 50.0000 -214748.3648 ... 214748.3647
0x5041:026 Trimming - acceleration 100.00 -21474836.48 ... 21474836.47
0x5041:027 Trimming - deceleration 100.00 -21474836.48 ... 21474836.47
0x5041:028 Jerk offset 10000.00 -21474836.48 ... 21474836.47
0x5041:029 Clutch-in mode 0
0x5041:031 Clutch mode Path-based [5] Selection list
0x5041:033 Declutch position 0.0000 0.0000 ... 214748.3647
0x5041:034 Deceleration of "direct declutching" 10000.0000 0.0000 ... 214748.3647
0x5041:035 Clutch-in distance 90.0000 0.0000 ... 214748.3647
0x5041:036 Declutch distance 90.0000 0.0000 ... 214748.3647
0x5041:043 Clutch base velocity - (Read only)
0x5041:053 Internal position offset 0.0000 -214748.3648 ... 214748.3647
0x5042:006 Corrected set position - (Read only)
0x5042:016 Set position of selected master value - (Read only)
0x5042:018 Set position with offset - (Read only)
0x5042:019 Set velocity with offset - (Read only)
0x5042:020 Set position after measuring system alignment - (Read only)
0x5042:021 Set velocity after measuring system alignment - (Read only)
0x5042:025 Active position offset - (Read only)
0x5042:027 Trimming position offset - (Read only)
0x5042:029 Total position offset - (Read only)
0x5042:030 Total velocity offset - (Read only)
0x5042:035 Set base velocity - (Read only)
0x5042:039 Slave set position - (Read only)
0x5042:040 Slave set velocity - (Read only)

7.10.3 Tool correction

Relevant parameters of other functions
Address Designation Default setting Setting range
0x5020:012 TP2 source Digital input 2, positive edge [11] Selection list
0x5041:120 Activate tool correction 0
0x5041:121 Tool sensor distance 360.0000 0.0000 ... 214748.3647
0x5041:122 Max. positive tool correction 45.0000 0.0000 ... 214748.3647
0x5041:123 Max. negative tool correction 45.0000 0.0000 ... 214748.3647
0x5041:124 Tool upper correction position 350.0000 0.0000 ... 214748.3647
0x5041:125 Tool lower correction position 180.0000 0.0000 ... 214748.3647
0x5041:126 Tool mark window size 40.0000 0.0000 ... 214748.3647
0x5041:127 Tool mark window offset 0.0000 0.0000 ... 214748.3647

151
Configuring the "Sync and Correction" TA
Signal flow
Tool correction

Address Designation Default setting Setting range

0x5041:128 Max. number of missed marks (tool) 20 0 ... 4294967295
0x5042:140 Tool sensor set position - (Read only)
0x5042:141 Actual position tool correction mark - (Read only)
0x5042:142 Actual tool error - (Read only)

152
 Start, stop and rotating direction commands
Control selection

8 Start, stop and rotating direction commands

8.1 Control selection
Parameter
Address Name / setting range / [default setting] Info
0x2824 Control selection Selection of the type of inverter control.
• Setting can only be changed if the inverter is inhibi-
ted.
0 Flexible I/O configuration This selection enables a flexible assignment of the start, stop, and rotat-
ing direction commands with digital signal sources.
• Digital signal sources can be digital inputs, network and keypad.
• The I/O configuration is made via the parameters 0x2631:xx (P400.xx).
1 Keypad This selection enables the motor to be started exclusively via the start
key of the keypad. Other signal sources for starting the motor are
ignored.
Start motor Stop motor

Note!
• The functions "Enable inverter" and "Run" must be set to TRUE to
start the motor.
• If jog operation is active, the motor cannot be stopped via the
keypad key.

153
Configure position control

9 Configure position control

This operating mode provides a fast position follower with speed, torque and feed force feed-
forward control.
Typical applications for positioning are, for instance, transport facilities, feed drives and dos-
ing systems.
Preconditions
A positioning control is parameterised in the servo control types to be set. 40x2C00
Configure one of these motor control types:
• 0x2C00 = 1: Servo control for synchronous motor (SC-PSM) ^ 237
• 0x2C00 = 2: Servo control for asynchronous motor (SC-ASM) ^ 238
Further conditions are:
• The correct entry of the 4Motor data ^ 38
• The parameter setting of the motor control in chapter Configuring the motor control ^ 236

154
 Configure position control
Basic setting

9.1 Basic setting

In the following, the steps required for configuring the position control are described.
1. Set the manufacturer spanning operating mode according to CiA 402.
• 0x6060: " Cyclic sync position mode [8]"
• Detailed description in 4Operating mode "CiA 402 Cyclic sync position mode (csp)"
^ 158
2. Set the maximum motor speed: 0x6080
3. Set the rated motor torque: 0x6076
4. Set the positive torque limit: 0x60E0
5. Set the negative torque limit: 0x60E1

The position control is now active and the inverter responds to the defined position setpoint.

155
Configure position control
Basic setting
Following error detection and in-position detection

9.1.1 Following error detection and in-position detection

The "following error recognition" and "in-position recognition" are functions of the position
control. All parameters correspond to the CiA 402 specification.

Interpolation
Unit Set position (internal)
Set position _p Position controller: Output signal
0x607A 0x60FC Position
0x60FA
Actual position (internal) control
0x6063
Interpolation: time interval
0x60C2

Following error: Window

0x6065 Following error: Actual error
0x60F4
Following error: Time monitoring
0x6066 CiA402 status word / bit 13
0x6041
Position: Window
0x6067 CiA402 status word / bit 10
0x6041
Position: Time monitoring "set position reached"
0x6068

Input data
Parameter Designation Data type
0x607A Target position INTEGER_32
0x60FC Position demand internal value INTEGER_32
0x6062 Position demand value INTEGER_32
0x6065 Following error window UNSDIGNED_32
0x6066 Following error time out UNSIGNED_16
0x6067 Position window UNSIGNED_32
0x6068 Position window time UNSIGNED_16

Output data
Parameter Designation Data type
0x6063 Position actual internal value INTEGER_32
0x6064 Position actual value INTEGER_32
0x60F4 Following error actual value INTEGER_32
0x60FA Control effort INTEGER_32
0x6041 CiA: Statusword UNSIGNED_16

Parameter
Address Name / setting range / [default setting] Info
0x6065 Following error window Setting of the symmetrical tolerance window around the setpoint posi-
0 ... [1000] ... 4294967295 pos. unit tion for following error detection.
• 0 ≡ following error detection deactivated.
• > 0 ≡ following error detection activated.
• A following error is detected if the actual position is outside this toler-
ance window.
• If the following error is detected longer than the time defined in
0x6066 in [ms], bit 13 ("following error") is set in the CiA402 status
word (0x6041).
• 0x60F4 displays the current deviation of the actual position from the
setpoint position.
0x6066 Following error time out Setting of time monitoring for the following error detection.
0 ... [0] ... 0 ms 0 ≡ the following error is evaluated without a time delay.

156
 Configure position control
Basic setting
Interpolation

Address Name / setting range / [default setting] Info

0x6067 Position window Setting of the symmetrical tolerance window around the target position
0 ... [1000] ... 4294967295 pos. unit (0x607A) for the target position detection.
If the actual position is within this tolerance window longer than the
time defined in 0x6068 in [ms], the target position is deemed to be
reached and bit 10 ("target position reached") is set in the CiA402 status
word (0x6041).
0x6068 Position window time Setting of time monitoring for the target position detection.
0 ... [0] ... 0 ms 0 ≡ the position in the target window is evaluated without a time delay.

9.1.2 Interpolation
When you select an operating mode with cyclic setpoint selection, all setpoints are first led via
interpolators which divides down setpoint step-changes of the bus cycle to the cycle time of
the control loops.All interpolators together are parameterised via 0x60C2:001 ( Interpolation
time period value ).
Parameter
Address Name / setting range / [default setting] Info
0x60C0 Interpolation sub mode select Setting of the interpolation algorithm.
-1 Quadratic Interpolation
0 Linear Interpolation
0x60C2:001 Interpolation time period : Interpolation time period Basic multiplier for the interpolation time interval.
value
0 ... [1] ... 255
0x60C2:002 Interpolation time period : Interpolation time index Exponent for the interpolation time interval.
-6 ... [-3] ... 0

t = 0 x60C 2 : 001*10(0 x 60C 2:002)

t = 1*10( -3) s = 0.001s = 1ms

157
Configure position control
Operating mode "CiA 402 Cyclic sync position mode (csp)"
Default mapping

9.2 Operating mode "CiA 402 Cyclic sync position mode (csp)"
Subfunctions of the operating mode
• Interpolation between communication cycle and control cycle
• Position control
• Speed control
• Torque control
• Update of the actual values for position, speed and torque

9.2.1 Default mapping

The default mapping for the "cyclic sync position mode" is defined in the following parame-
ters:
Parameter Designation Data type
0x1600 RPDO-->axis: cyclic sync position mode (csp) RECORD
0x1606 RPDO-->axis: torque limit RECORD
0x1A00 Axis-->TPDO: cyclic sync position mode (csp) RECORD

Data received from the Controller (RPDO)

Parameter Designation Data type
0x6040 CiA402 control word UNSIGNED_16
0x2830 Lenze control word UNSIGNED_16
0x6060 Operating mode: selection INTEGER_8
0x60B2 Torque: offset INTEGER_16
0x607A Position: setpoint position INTEGER_32
0x60B1 Velocity: offset INTEGER_32
0x2902 Speed controller: load I component INTEGER_16
0x60E0 Torque: positive limit value UNSIGNED_16
0x60E1 Torque: negative limit value UNSIGNED_16

Data sent to the Controller (TPDO)

Parameter Designation Data type
0x6041 CiA402 status word UNSIGNED_16
0x2831 Lenze status word UNSIGNED_16
0x6061 Operating mode: display INTEGER_8
0x603F Error code UNSIGNED_16
0x606C Velocity: actual velocity UNSIGNED_16
0x6077 Torque: actual torque INTEGER_16
0x6064 Position: actual position INTEGER_32
0x60F4 Following error: actual error INTEGER_32

158
 Configure position control
Operating mode "CiA 402 Cyclic sync position mode (csp)"
Signal flow

9.2.2 Signal flow

Positive torque limit value

Negative torque limit value
Speed ctrl.: Load I component

Position Speed Speed

controller limitation controller
Interpolation
Target position
Velocity offset Torque Field-orientated
Torque offset limitation control
Iq
Id M
Position actual value Velocity actual value Torque actual value
Encoder
evaluation

159
Configure position control
Operating mode "CiA 402 Cyclic sync position mode (csp)"
Signal flow

Overview of the most important parameters

Function Parameter Designation
Input data 0x6040 CiA: Controlword
0x2830 Inverter control word
0x6060 Modes of operation
0x607A Target position
0x60B1 Velocity offset
0x60B2 Torque offset
0x60E0 Positive torque limit
0x60E1 Negative torque limit
0x2902 I component load value
Output data 0x6041 CiA: Statusword
0x2831 Inverter-Statuswort
0x6061 Modes of operation display
0x6064 Position actual value
0x606C Velocity actual value
0x6077 Torque actual value
Interpolation 0x60C0 Interpolation sub mode select
0x60C2:001 Interpolation time period
0x60C2:002 Interpolation time period
Position controller 0x2980 Position controller gain
0x2981 Position controller gain adaption
0x2982 Position controller output signal limitation
0x2983 Actual position start value
0x2984 Mode for setting the actual position
0x2986 Resulting gain adaption
Speed limitation 0x6080 Max motor speed

Speed controller 0x2900:001 Gain

0x2900:002 Reset time
0x2900:003 Rate time
0x2901 Speed controller gain adaption
0x2902 I component load value
Torque limitation 0x60E0 Positive torque limit
0x60E1 Negative torque limit
0x6076 Motor rated torque
0x6072 Max torque
Field-oriented control 0x6073 Device: max. current
Iq 0x6075 Motor: rated current
Id
0x2941 Current controller: feedforward control
0x2942:001 Current controller: gain
0x2942:002 Current controller: reset time
0x29E2 DC bus: actual voltage - filter time
0x29E3 Motor: actual voltage - filter time
0x29E0:001 Field weakening controller: gain
0x29E0:002 Field weakening controller: reset time
0x29E1 Limitation of setpoint field
0x29C0:001 Field controller: gain
0x29C0:002 Field controller: reset time
0x2939 Switching frequency

160
 Configure position control
Operating mode "CiA 402 Cyclic sync position mode (csp)"
Control commands and status information

9.2.3 Control commands and status information

The following control commands can be executed via the CiA 402 control word 0x6040:
Control word State Function
Bit 4 0 reserved (bit must be set to "0".)
Bit 5 0 reserved (bit must be set to "0".)
Bit 6 0 reserved (bit must be set to "0".)
Bit 8 0↗1 Stop

The following status information is output via the CiA402 status word 0x6041:
Status word State Meaning
Bit 12 0 Operating mode is inactive.
1 The drive follows the setpoint selection.

161
Configure position control
Process input data (CiA 402 objects)

9.3 Process input data (CiA 402 objects)

Parameter
Address Name / setting range / [default setting] Info
0x2830 Inverter control word The control word serves to influence the control functions.
0x0000 ... [0x0000] ... 0xFFFF
Bit 0 Flying restart completed This bit enables the control to report the acceptance of the recorded
speed to the "flying restart" function. Thus, the flying restart process is
completed.
Bit 1 Block flying restart TRUE: the flying restart process is blocked.
Bit 4 Set load value TRUE: set load value.
Bit 5 Select new actual position TRUE: define new actual position.
• Setting/shifting of Position actual value (0x6064) to Actual position
start value (0x2983) considering the set resolution (0x608F:001,
0x608F:002).
• Mode for setting the actual position: 0x2984)
Bit 6 Activate DC-injection braking or short-circuit DC-injection braking or short-circuit braking is activated via this bit.
braking
Bit 10 Reserved
Bit 11 Reserved
0x2902 I component load value Setting of the load value.
-1000.0 ... [0.0] ... 1000.0 %
0x6040 CiA: Controlword Mappable CiA 402 control word with bit assignment according to device
0x0000 ... [0x0000] ... 0xFFFF profile CiA 402.
Bit 0 Switch on 1 = switch-on
Bit 1 Enable voltage 1 = DC bus: Establish readiness for operation
Bit 2 Quick stop 0 = activate quick stop
Bit 3 Enable operation 1 = enable operation
Bit 4 Operation mode specific
Bit 5 Operation mode specific
Bit 6 Operation mode specific
Bit 7 Fault reset 0-1 edge = reset error
Bit 8 Halt 1 = stop motor (ramping down to frequency setpoint 0 Hz)
Bit 9 Operation mode specific Operating mode dependent
Bit 14 Release holding brake 1 = releasing holding brake manually
CAUTION!
• The manually triggered "Release holding brake" command has a direct
impact on the "Release holding brake [115]" trigger. Thus, the holding
brake can be manually released if the power section is switched off.
• The responsibility for a manual release of the holding brake has the
external trigger source for the "Release holding brake" command.
4Holding brake control ^ 253
0x6060 Modes of operation Selection of the operating mode.
0 No mode change/no mode assigned No operating mode (standstill)
2 CiA: Velocity mode CiA 402 velocity mode
4Operating mode "CiA 402 Velocity mode (vl)" ^ 172
8 Cyclic sync position mode 4Operating mode "CiA 402 Cyclic sync position mode (csp)" ^ 158
9 Cyclic sync velocity mode 4Operating mode "CiA 402 Cyclic sync velocity mode (csv)" ^ 177
10 Cyclic sync torque mode 4Operating mode "CiA 402 Cyclic sync torque mode (cst)" ^ 191
0x607A Target position Setting of the position setpoint.
-2147483648 ... [0] ... 2147483647 pos. unit
0x60B1 Velocity offset Additive value for setpoint velocity or velocity feedforward control.
-480000.00 ... [0.00] ... 480000.00 rpm
0x60B2 Torque offset Additive value for setpoint torque or torque feedforward control
-3276.8 ... [0.0] ... 3276.7 % • 100 % ≡ rated motor power (0x6076)
0x60E0 Positive torque limit Positive torque limit source for speed control with torque limitation.
0.0 ... [100.0] ... 3276.7 % • 100 % ≡ Rated Motor Torque. 40x6076
0x60E1 Negative torque limit Code previously C3687.
0.0 ... [100.0] ... 3276.7 % Negative torque limit source for speed control with torque limitation.
• 100 % ≡ Rated Motor Torque 40x6076

162
 Configure position control
Process output data (CiA 402 objects)

9.4 Process output data (CiA 402 objects)

Parameter
Address Name / setting range / [default setting] Info
0x2831 Inverter-Statuswort Bit coded status word of the internal motor control.
• Read only
Bit 1 Speed setpoint 1 limited 1 ≡ input of speed controller 1 in limitation.
Bit 2 Speed controller in limitation 1 ≡ output of speed controller 1 in limitation.
Bit 3 Torque setpoint limited 1 ≡ setpoint torque in limitation.
Bit 4 Soll-Q-Strom limitiert 1 ≡ setpoint current in limitation.
Bit 5 Speed setpoint 2 limited 1 ≡ input of the speed controller 2 in "torque mode" in limitation.
Bit 6 Obere Drehzahlgrenze aktiv 1 ≡ in "torque mode", the speed is limited to upper speed limit
0x2946:001.
Bit 7 Untere Drehzahlgrenze aktiv 1 ≡ in "torque mode", the speed is limited to lower speed
limit0x2946:002.
Bit 10 Output frequency limited 1 ≡ setpoint frequency with V/f operation in limitation.
Bit 11 Magnetisation completed 1 ≡ during V/f operation, the factor 7 rotor time constant has passed
(calculated from the time at which the inverter was enabled without
restart on the fly and with a total motor current of 20 % rated motor cur-
rent for the first time). Otherwise 0.
Bit 12 Motorphasenfehler 1 ≡ motor phase failure detection active.
Bit 14 Error reset blocking time active 1 ≡ the fault can only be reset when the blocking time has elapsed.
0x603F Error code Error message
• Read only
Bit 0
0x6041 CiA: Statusword Mappable CiA 402 status word with bit assignment according to device
• Read only profile CiA 402.
Bit 0 Ready to switch on 1 ≡ drive ready to start
Bit 1 Switched on 1 ≡ drive switched-on
Bit 2 Operation enabled 1 ≡ operation enabled
Bit 3 Fault 1 ≡ fault or trouble active
Bit 4 Voltage enabled 1 ≡ DC bus ready for operation
Bit 5 Quick stop 0 ≡ quick stop active
Bit 6 Switch on disabled 1 ≡ operation inhibited
Bit 7 Warning 1 ≡ warning active
Bit 8 RPDOs deactivated 1 ≡ cyclic PDOs have been deactivated.
Bit 9 Remote 1 ≡ inverter can receive commands via network.
• Bit is not set in the operating mode 0x6060 = "MS: Velocity mode
[-2]".
Bit 10 Target reached 1 ≡ the actual position is in the window.
Bit 11 Internal limit active 1 ≡ internal limitation of a setpoint active.
Bit 12 Operation mode active 1 ≡ operation enabled and no test mode activated. (no internal setpoint
generation active.)
Bit 13 Following error 1 ≡ following error active
Bit 14 Holding brake released 1 ≡ holding brake released
Bit 15 Integrated safety not active 0 ≡ the inverter has been disabled by the integrated safety system
1 ≡ the integrated safety system is not active
0x6061 Modes of operation display Display of the current operating mode.
• Read only
-11 Identification
-10 Test mode
0 No mode change/no mode assigned No operating mode (standstill)
2 CiA: Velocity mode CiA 402 velocity mode
8 Cyclic sync position mode
9 Cyclic sync velocity mode
10 Cyclic sync torque mode
0x6064 Position actual value Display of the current position.
• Read only: x pos. unit

163
Configure position control
Monitoring the position error

Address Name / setting range / [default setting] Info

0x606C Velocity actual value Display of the actual velocity.
• Read only: rpm
0x6077 Torque actual value Display of the current torque.
• Read only: x.x % • 100 % ≡ Rated Motor Torque. 40x6076
0x60F4 Following error actual value Display of the current following error.
• Read only: x pos. unit

9.5 Monitoring the position error

Position error monitoring can be used for the following control modes:
• Servo control for synchronous motor (SM), 0x2C00 = [1]
• Servo control for asynchronous motor (ASM), 0x2C00 = [2]
Following error monitoring is effective in an operating mode with position controller. The sys-
tem deviation (i. e. the following error) is compared to the following error tolerance set at the
input of the position controller (see red arrow in the figure below).

Positive torque limit value

Negative torque limit value
Speed ctrl.: Load I component

Position Speed Speed

controller limitation controller
Interpolation
Target position
Velocity offset Torque Field-orientated
Torque offset limitation control
Iq
Id M
Position actual value Velocity actual value Torque actual value
Encoder
evaluation

The error response set in 0x2D51:006 is executed if ...

1. the following error tolerance set in 0x2D51:004 is exceeded and ...
2. the exceedance lasts at least as long as set in 0x2D51:005.
Parameter
Address Name / setting range / [default setting] Info
0x2D51:004 Position error/speed error - monitoring: Position error Setting of the error threshold for position error monitoring.
- error threshold
1 ... [360] ... 2147483647 °
0x2D51:005 Position error/speed error - monitoring: Position error Setting of the minimum time a position error must be pending until an
- min. time for error error/warning message is triggered.
0 ... [0] ... 50 ms
0x2D51:006 Position error/speed error - monitoring: Position error Setting of the error response of position error monitoring.
- error response
0 No response
1 Fault > CiA402
2 Warning

164
 Configure position control
Position detection with touch probe (TP)
Default mapping

9.6 Position detection with touch probe (TP)

A "touch probe" (short: "TP") is an event that can be triggered, for instance via a digital input
in an edge-controlled manner to detect and further process an actual value (which is changing
fast) at the triggering time.
• Typical applications for touch probes:
• Homing
• Mark synchronisation
• Length measurements
• Up to 2 touch probe channels can be used in parallel.
• Possible touch probe sources:
• TP1 : Zero pulse position encoder or digital input DI1
• TP2 : Zero pulse position encoder or digital input DI2

The digital inputs DI1 and DI2 can be additionally evaluated any time as "nor-
mal" digital inputs via .

9.6.1 Default mapping

The default mapping for a touch probe detection is defined in the following parameters:
Parameter Designation Data type
0x1604 RPDO-->axis: touch probe (TP) RECORD
0x1A04 Axis-->TPDO: touch probe (TP) RECORD

Data received from the Controller (RPDO)

Parameter Designation Data type
0x60B8 Touch probe control word UNSIGNED_16

Data sent to the Controller (TPDO)

Parameter Designation Data type
0x60B9 Touch probe status word UNSIGNED_16
0x60BA TP1: actual position - rising edge INTEGER_32
0x60BB TP1: actual position - falling edge INTEGER_32
0x60BC TP2: actual position - rising edge INTEGER_32
0x60BD TP2: actual position - falling edge INTEGER_32

165
Configure position control
Position detection with touch probe (TP)
Filtering of the touch probe signal

9.6.2 General mode of operation

If an event occurs at the configured touch probe source, a time stamp is detected in the servo
inverter.
The detected time stamp is related to the system time and can thus be divided into two parts:
One part is the control cycle in which the of the event. The other part is the time difference
starting from the detected control cycle to the real detection of the event
Thanks to a history buffer, the servo inverter knows the last n position values. Thus, the actual
position is known at the start and at the end of the control cycle in which the event has occur-
red. A linear interpolation takes place between these two position grid points. The result is
the exact position at the motor shaft at the time the event is triggered, see the schematic dia-
gram:

Position
Event received

pn-1 pn

t1

250 µs
t

t1: Time difference starting from the detected control cycle to the real detection of the event
Pn-1: Actual position grid point 1
Pn: Actual position grid point 2

The position grid points are detected in the servo inverter in a grid of 250 µs. After a touch
probe has been triggered, the input is deactivated for up to 250 µs to avoid bouncing. Thus,
the maximum frequency for touch probe triggering is 4 kHz.
If in contrast to the uniform movement given in the figure, an accelerated movement is taken
as a basis, the 250 µs grid also allows for a very good linear position reconstruction because
the speed change at the motor shaft only has a marginal impact in 250 µs.

9.6.3 Filtering of the touch probe signal

For the touch probe inputs, a common filter time (debounce time) can be parameterised to
debounce the TP signals so that there is no response to external interfering signals.
• The signal status of the debouncing filter is detected at the TP input and a new value is
added to the filter.
• A separate setting for a touch probe is not possible. Thus, the filter time is set for all touch
probe inputs.
Parameter
Address Name / setting range / [default setting] Info
0x2500 Touch probe filter time The set filter time is automatically taken into account in the touch probe
0 ... [0] ... 1984 us calculation.
The setting "0" deactivates the filter.

Note!
Values can be set directly. When entering a filter time between
0 ... 1984 µs, the value is automatically rounded down internally to the
next value that can be set and is shown in the case of read requests.

166
 Configure position control
Position detection with touch probe (TP)
Compensation of runtime delays

9.6.4 Compensation of runtime delays

In reality, both the input circuit in the servo inverter and the touch probe sensor have runtime
delays (latencies) themselves. These can be taken into account in the calculation of the real
trigger time and thus the real position at the trigger time.
In the following figure, the event is detected in the servo inverter at the time ②. Due to the
input circuit and the sensor used, the signal runtime, however, has been delayed. The real
physical event has already occurred at time ①. For compensating this runtime delay, you can
set a corresponding delay time for each touch probe channel that is included in the determi-
nation of the control cycle and interpolation of the position, see figure in chapter "General
mode of operation". ^ 166

Position
Event received
Event pn
pn-1
pn-2
Delay time

t
1 2

"Delay time":Delay time between the real physical event and the electrical detection.
① Real physical event
② Electrical detection of the event in the servo inverter

Delay times of the digital input and the required minimum signal duration
The following table lists the typical delay times and the required minimum signal durations for
the digital inputs of the servo inverter:
Digital signal Typical delay time Minimum signal duration
Rising edge (HIGH pulse) 4 µs 4 µs
Falling edge (LOW pulse) 4 µs 4 µs

Parameter
Address Name / setting range / [default setting] Info
0x2D00:001 Touch probe (TP) delay time: Touch probe 1 delay Setting of the delay time for touch probe 1.
time
0.000 ... [0.000] ... 7.000 ms
0x2D00:002 Touch probe (TP) delay time: Touch probe 2 delay Setting of the delay time for touch probe 2.
time
0.000 ... [0.000] ... 7.000 ms
0x2D00:003 Touch probe (TP) delay time: Touch probe 3 delay Setting of the delay time for touch probe 3.
time
0.000 ... [0.000] ... 7.000 ms
0x2D00:004 Touch probe (TP) delay time: Touch probe 4 delay Setting of the delay time for touch probe 4.
time
0.000 ... [0.000] ... 7.000 ms

167
Configure position control
Position detection with touch probe (TP)
Touch probe status word

9.6.5 Touch probe control word

Control word for configuring the touch probe functionality.
Parameter
Address Name / setting range / [default setting] Info
0x60B8 Touch probe function Control word for configuring the touch probe functionality.
0x0000 ... [0x0000] ... 0xFFFF
Bit 0 Enable touch probe 1 0: deactivate touch probe channel 1.
1: activate touch probe channel 1.
Bit 1 TP1: 1. or continous Event for touch probe channel 1
0: only detect the first event.
1: detect all events.
Bit 2 TP1: DIx or zero pulse Source for touch probe channel 1
0: digital input 1
1: zero pulse position encoder
Bit 4 TP1: Activate pos. edge 0: deactivate scanning.
Bit 5 TP1: Activate neg. edge 1: activate scanning.
Bit 8 Enable touch probe 2 0: deactivate touch probe channel 2.
1: activate touch probe channel 2.
Bit 9 TP2: 1. or continous Event for touch probe channel 2
0: only detect the first event.
1: detect all events.
Bit 10 TP2: DIx or zero pulse Source for touch probe channel 2
0: digital input 2
1: zero pulse position encoder
Bit 12 TP2: Activate pos. edge 0: deactivate scanning.
Bit 13 TP2: Activate neg. edge 1: activate scanning.

9.6.6 Touch probe status word

Status word of the touch probe functionality.
Parameter
Address Name / setting range / [default setting] Info
0x60B9 Touch probe status Status of the touch probe functionality.
• Read only
Bit 0 Touch-Probe 1 enabled 0: touch probe channel 1 deactivated.
1: touch probe channel 1 activated.
Bit 1 TP1: Pos. edge detected 0: position not detected.
Bit 2 TP1: Neg. edge detected 1: position detected.
Bit 6 TP1: Detected level Level for detection via touch probe channel 1
0: LOW level
1: HIGH level
Bit 8 Touch-Probe 2 enabled 0: touch probe channel 2 deactivated.
1: touch probe channel 2 activated.
Bit 9 TP2: Pos. edge detected 0: position not detected.
Bit 10 TP2: Neg. edge detected 1: position detected.
Bit 14 TP2: Detected level Level for detection via touch probe channel 2
0: LOW level
1: HIGH level

168
 Configure position control
Position detection with touch probe (TP)
Extension for the digital inputs DI3 and DI4

9.6.7 Extension for the digital inputs DI3 and DI4

The content of this section is currently being processed.
Parameter
Address Name / setting range / [default setting] Info
0x2D02:001 Touch probe diagnostics: Touch probe 3/4 function
0x0000 ... [0x0000] ... 0xFFFF
Bit 0 Activate touch probe 3
Bit 1 Touch probe 3 trigger = 1st event/continous
Bit 2 Touch probe 3 source = TP input/zero pulse
Bit 4 Touch probe 3 sampling = rising edge
Bit 5 Touch probe 3 sampling = falling edge
Bit 6 Position feedback source
Bit 8 Activate touch probe 4
Bit 9 Touch probe 4 trigger = 1st event/continous
Bit 10 Touch probe 4 source = TP input/zero pulse
Bit 12 Erfassung Touch-Probe 4 = steigende Flanke
Bit 13 Erfassung Touch-Probe 4 = fallende Flanke
Bit 14 Position feedback source
0x2D02:002 Touch probe diagnostics: Touch-Probe 3/4 status
• Read only
Bit 0 Touch-Probe 3 ist aktiviert
Bit 1 Touch-Probe 3 - Position erfasst fallende
Flanke
Bit 2 Touch-Probe 3 - Position erfasst steigende
Flanke
Bit 6 Touch-Probe 3 - Pegel bei Zeitstempel
Bit 8 Touch-Probe 4 ist aktiviert
Bit 9 Touch-Probe 4 - Position erfasst fallende
Flanke
Bit 10 Touch-Probe 4 - Position erfasst steigende
Flanke
Bit 14 Touch-Probe 4 - Pegel bei Zeitstempel
0x2D03:001 Touch probe position: Touch probe 3 position rising
edge
• Read only: x pos. unit
0x2D03:002 Touch probe position: Touch probe 3 position falling
edge
• Read only: x pos. unit
0x2D03:003 Touch probe position: Touch probe 4 position rising
edge
• Read only: x pos. unit
0x2D03:004 Touch probe position: Touch probe 4 position falling
edge
• Read only: x pos. unit

9.6.8 Detected time stamp and positions

In case of the "continuous touch probe configuration", a newly detected value

overwrites the previously detected value.

Parameter
Address Name / setting range / [default setting] Info
0x2D01:001 Touch probe (TP) time stamp: Touch probe 1-rising Display of the time stamp of the rising edge for touch probe 1.
edge time stamp
• Read only: x ns
0x2D01:002 Touch probe (TP) time stamp: Touch probe 1-falling Display of the time stamp of the falling edge for touch probe 1.
edge time stamp
• Read only: x ns

169
Configure position control
Setpoint diagnostics

Address Name / setting range / [default setting] Info

0x2D01:003 Touch probe (TP) time stamp: Touch probe 2-rising Display of the time stamp of the rising edge for touch probe 2.
edge time stamp
• Read only: x ns
0x2D01:004 Touch probe (TP) time stamp: Touch probe 2-falling Display of the time stamp of the falling edge for touch probe 2.
edge time stamp
• Read only: x ns
0x2D01:005 Touch probe (TP) time stamp: Touch probe 3-rising Display of the time stamp of the rising edge for touch probe 3.
edge time stamp
• Read only: x ns
0x2D01:006 Touch probe (TP) time stamp: Touch probe 3-falling Display of the time stamp of the falling edge for touch probe 3.
edge time stamp
• Read only: x ns
0x2D01:007 Touch probe (TP) time stamp: Touch probe 4-rising Display of the time stamp of the rising edge for touch probe 4.
edge time stamp
• Read only: x ns
0x2D01:008 Touch probe (TP) time stamp: Touch probe 4-falling Display of the time stamp of the falling edge for touch probe 4.
edge time stamp
• Read only: x ns
0x60BA Touch probe pos1 pos value Touch probe position 1 detected with rising edge.
• Read only: x pos. unit
0x60BB Touch probe pos1 neg value Touch probe position 1 detected with falling edge.
• Read only: x pos. unit
0x60BC Touch probe pos2 pos value Touch probe position 2 detected with rising edge.
• Read only: x pos. unit
0x60BD Touch probe pos2 neg value Touch probe position 2 detected with falling edge.
• Read only: x pos. unit

9.7 Setpoint diagnostics

The following parameters provide information on the setpoints set for position control.
Parameter
Address Name / setting range / [default setting] Info
0x6062 Position demand value Display of the interpolated setpoint position for the position control.
• Read only: x pos. unit
0x6063 Position actual internal value Display of the current position in the internal unit.
• Read only: x incr.
0x60FC Position demand internal value Display of the interpolated setpoint position for the position control in
• Read only: x incr. the internal unit.
0x60FA Control effort Display of the actuating signal (setpoint speed) of the position controller.
• Read only: rpm

170
 Configure speed control
Basic setting

10 Configure speed control

Two operating modes are available for configuring the speed control:
• Operating mode "CiA 402 Velocity mode (vl)" ^ 172
Here, a speed-controlled movement of the drive is realised by defining a speed setpoint.
• Operating mode "CiA 402 Cyclic sync velocity mode (csv)" ^ 177
This operating mode provides a fast speed follower with torque/feed force feedforward
control.
The conditions are a correct entry of the motor data (Motor data) and the parameter setting
of the motor control (Configuring the motor control).

10.1 Basic setting

The following describes the steps required for configuring the speed control.
1. 0x6060Set the manufacturer spanning operating mode " CiA: Velocity mode [2]" or " Cyclic
sync velocity mode [9]".
- A detailed description of the " CiA: Velocity mode " operating mode can be found in the
section Operating mode "CiA 402 Velocity mode (vl)" . ^ 172
- A detailed description of the " Cyclic sync velocity mode " operating mode can be
found in the section Operating mode "CiA 402 Cyclic sync velocity mode (csv)" . ^ 177
2. Set the maximum motor speed in Max motor speed . 40x6080
3. Set the rated motor torque in Motor rated torque . 40x6076
4. Set the positive torque limit. 40x60E0
5. Set the negative torque limit. 40x60E1

The speed control is now active and the inverter responds to the speed setpoint.

171
Configure speed control
Operating mode "CiA 402 Velocity mode (vl)"
Default mapping

10.2 Operating mode "CiA 402 Velocity mode (vl)"

Selection of the operating mode
The "speed" operating mode is selected with the setting "2" in 0x6060.

10.2.1 Default mapping

The default mapping for the "Speed" operating mode is defined in the following parameters.
Parameter Designation Data type
0x1603 RPDO-->axis: Velocity mode (vl) RECORD
0x1A03 Axis-->TPDO: Velocity mode (vl) RECORD

Data received from the Controller (RPDO)

Parameter Designation Data type
0x6040 CiA402 control word UNSIGNED_16
0x2830 Lenze control word UNSIGNED_16
0x6060 Operating mode: selection INTEGER_8
0x6042 Velocity: setpoint velocity vl INTEGER_8

Data sent to the Controller (TPDO)

Parameter Designation Data type
0x6041 CiA402 control word UNSIGNED_16
0x2831 Lenze control word UNSIGNED_16
0x6061 Operating mode: display INTEGER_8
0x603F Error code UNSIGNED_16
0x6044 Velocity: actual velocity vl INTEGER_8

172
 Configure speed control
Operating mode "CiA 402 Velocity mode (vl)"
Signal flow (servo control)

10.2.2 Signal flow (servo control)

Positive torque limit value

Negative torque limit value

Ramp Speed Speed

function limitation controller
vl target velocity
Torque Field-orientated
Interpolation vl velocity limitation control
demand Iq
Torque offset
Id M
vl velocity actual value Torque actual value

Encoder
evaluation

173
Configure speed control
Operating mode "CiA 402 Velocity mode (vl)"
Signal flow (servo control)

Short overview of the most important parameters

Function Parameter Designation
Input data 0x6040 CiA402 control word
0x2830 Lenze control word
0x6060 Operating mode: selection
0x6042 Velocity: setpoint velocity vl
0x60B2 Torque: offset
0x60E0 Torque: positive limit value
0x60E1 Torque: negative limit value
Output data 0x6041 CiA402 control word
0x2831 Lenze status word
0x6061 Operating mode: display
0x6043 Velocity: interpolated setpoint velocity vl
0x606C Velocity: actual velocity
0x6077 Torque: actual torque
Interpolation 0x60C2 Interpolation: time interval

Ramp function 0x6048:001 Ramp: speed interval (for acceleration)

0x6048:002 Ramp: time interval (for acceleration)
0x6049:001 Ramp: speed interval (for deceleration)
0x6049:002 Ramp: time interval (for deceleration)
Speed limitation 0x6080 Motor: max. speed

Speed controller 0x2900:001 Speed controller: gain

0x2900:002 Speed controller: reset time
0x2900:003 Speed controller: rate time
0x2901 Speed controller: gain - adjustment
0x2902 Speed controller: load I component
Torque limiter 0x60E0 Torque: positive limit value
0x60E1 Torque: negative limit value
0x6076 Motor: rated torque
0x6072 Torque: max. torque
Field-oriented control 0x6073 Device: max. current
Iq 0x6075 Motor: rated current
Id
0x2941 Current controller: feedforward control
0x2942:001 Current controller: gain
0x2942:002 Current controller: reset time
0x29E2 DC bus: actual voltage - filter time
0x29E3 Motor: actual voltage - filter time
(only if 0x2C00 = 2: Servo control for asynchro-
nous motor (SC-ASM))
0x29E0:001 Field weakening controller: gain
0x29E0:002 Field weakening controller: reset time
0x29E1 Limitation of setpoint field
(only if 0x2C00 = 2: Servo control for asynchro-
nous motor (SC-ASM))
0x29C0:001 Field controller: gain
0x29C0:002 Field controller: reset time
0x2939 Switching frequency

174
 Configure speed control
Operating mode "CiA 402 Velocity mode (vl)"
Signal flow (V/f characteristic control)

10.2.3 Signal flow (V/f characteristic control)

DC-injection braking Flying restart process

Slip compensation

Load V/f
adjustment characteristic
Ramp Speed Current Frequency PWM
function limitation limitation limitation
vl target velocity M
Oscillation Current actual value
vl velocity demand damping Current demand value Voltage actual value
is limited Output frequency
vl velocity actual value actual value

175
Configure speed control
Operating mode "CiA 402 Velocity mode (vl)"
Signal flow (V/f characteristic control)

Short overview of the most important parameters

Function Parameter Designation
Input data 0x6040 CiA402 control word
0x2830 Lenze control word
0x6060 Operating mode: selection
0x6042 Velocity: setpoint velocity vl
Output data 0x6041 CiA402 control word
0x2831 Lenze status word
0x6061 Operating mode: display
0x6043 Velocity: interpolated setpoint velocity vl
0x606C Velocity: actual velocity
Motor: actual current
Motor: actual voltage - Vrms, phase-phase
Device: actual output frequency
Ramp function 0x6048:001 Ramp: speed interval (for acceleration)
0x6048:002 Ramp: time interval (for acceleration)
0x6049:001 Ramp: speed interval (for deceleration)
0x6049:002 Ramp: time interval (for deceleration)
Speed limitation 0x6080 Motor: max. speed

Slip compensation 0x2B09:001 VFC: slip compensation - influence

0x2B09:002 VFC: slip compensation - filter time

Current limitation 0x2B08:001 Gain

0x2B08:002 Reset time
0x6073 Max current

Oscillation damping 0x2B0A:001 VFC: oscillation damping - gain

0x2B0A:002 VFC: oscillation damping - filter time
0x2B0A:003 VFC: oscillation damping - limitation
0x2B0A:004 VFC: oscillation damping - ramp end frequency
Load adjustment 0x2B07:001 VFC: load adjustment - direction of rotation
0x2B07:002 VFC: load adjustment - value

V/f characteristic 0x2B01:001 VFC: V/f characteristic - voltage in the reference

point
0x2B01:002 VFC: V/f characteristic - frequency in the refer-
ence point
0x2B06 VFC: voltage boost
0x2B04 VFC: voltage vector control - setpoint current
0x2B00 VFC: V/f characteristic - form
0x2B02:001 VFC: user-definable V/f characteristic
... • Frequency grid points (x1 ... x11)
0x2B02:011
0x2B03:001 VFC: user-definable V/f characteristic
... • Voltage grid points (y1 ... y11)
0x2B03:011
DC-injection braking 0x2B80 DC-injection braking: current

A more detailed representation of the signal flow with all relevant parameters
can be found in the »PLC Designer« on the signal flow tab for the servo inverter.

176
 Configure speed control
Operating mode "CiA 402 Cyclic sync velocity mode (csv)"
Default mapping

10.3 Operating mode "CiA 402 Cyclic sync velocity mode (csv)"
This operating mode provides a fast velocity follower with torque/feed force feedforward con-
trol.
Subfunctions of the operating mode
• Interpolation between communication cycle and control cycle
• Speed control
• Limitation of the motor speed
• Update of the actual values for position, velocity and torque

10.3.1 Default mapping

The default mapping for the cyclic sync velocity mode (csv)" is defined in the following param-
eters.
Parameter Designation Data type
0x1602 RPDO-->axis: cyclic sync velocity mode (csv) RECORD
0x1606 RPDO-->axis: torque limit RECORD
0x1A02 Axis-->TPDO: cyclic sync velocity mode (csv) RECORD

Data received from the Controller (RPDO)

Parameter Designation Data type
0x6040 CiA402 control word UNSIGNED_16
0x2830 Lenze control word UNSIGNED_16
0x6060 Operating mode: selection INTEGER_8
0x60B2 Torque: offset INTEGER_16
0x60FF Velocity: setpoint velocity INTEGER_32
0x60E0 Torque: positive limit value UNSIGNED_16
0x60E1 Torque: negative limit value UNSIGNED_16

Data sent to the Controller (TPDO)

Parameter Designation Data type
0x6041 CiA402 status word UNSIGNED_16
0x2831 Lenze status word UNSIGNED_16
0x6061 Operating mode: display INTEGER_8
0x603F Error code UNSIGNED_16
0x606C Velocity: actual velocity UNSIGNED_16
0x6077 Torque: actual torque INTEGER_16
0x6064 Position: actual position INTEGER_32

177
Configure speed control
Operating mode "CiA 402 Cyclic sync velocity mode (csv)"
Signal flow (servo control)

10.3.2 Signal flow (servo control)

Limit value:
Positive torque
Negative torque

Speed Speed
limitation controller
Interpolation
Velocity offset
Torque offset Torque Field-orientated
limitation control
Iq
Id M
Position actual value
Velocity actual value Torque actual value
Encoder
evaluation

178
 Configure speed control
Operating mode "CiA 402 Cyclic sync velocity mode (csv)"
Signal flow (servo control)

Short overview of the most important parameters

Function Parameter Designation
Input data 0x6040 CiA402 control word
0x2830 Lenze control word
0x6060 Operating mode: selection
0x60B1 Velocity: offset
0x60B2 Torque: offset
0x60E0 Torque: positive limit value
0x60E1 Torque: negative limit value
Output data 0x6041 CiA402 status word
0x2831 Lenze status word
0x6061 Operating mode: display
0x6064 Position: actual position
0x606C Velocity: actual velocity
0x6077 Torque: actual torque
Interpolation 0x60C2:001 Interpolation: time interval

Speed limitation 0x6080 Motor: max. speed

Speed controller 0x2900:001 Speed controller: gain

0x2900:002 Speed controller: reset time
0x2900:003 Speed controller: rate time
0x2901 Speed controller: gain - adjustment
0x2902 Speed controller: load I component
Torque limitation 0x60E0 Positive limit value
0x60E1 Negative limit value
0x6076 Motor: rated torque
0x6072 Torque: max. torque
Field-oriented control 0x6073 Device: max. current
Iq 0x6075 Motor: rated current
Id
0x2941 Current controller: feedforward control
0x2942:001 Current controller: gain
0x2942:002 Current controller: reset time
0x29E2 DC bus: actual voltage - filter time
0x29E3 Motor: actual voltage - filter time
0x29E0:001 Field weakening controller: gain
0x29E0:002 Field weakening controller: reset time
0x29E1 Limitation of setpoint field
0x29C0:001 Field controller: gain
0x29C0:002 Field controller: reset time
0x2939 Switching frequency

179
Configure speed control
Operating mode "CiA 402 Cyclic sync velocity mode (csv)"
Signal flow (V/f characteristic control)

10.3.3 Signal flow (V/f characteristic control)

DC-injection braking

Slip compensation

Load V/f
adjustment characteristic
Speed Current Frequency PWM
Interpolation limitation limitation limitation
Target velocity M
Oscillation Current actual value
damping Current demand value Voltage actual value
is limited
Output frequency
Velocity actual value actual value

180
 Configure speed control
Operating mode "CiA 402 Cyclic sync velocity mode (csv)"
Signal flow (V/f characteristic control)

Short overview of the most important parameters

Function Parameter Designation
Input data 0x6040 CiA402 control word
0x2830 Lenze control word
0x6060 Operating mode: selection
0x60FF Velocity: Setpoint velocity
Output data 0x6041 CiA402 status word
0x2831 Lenze status word
0x6061 Operating mode: display
0x606C Velocity: actual velocity
Motor: actual current
Motor: actual voltage - Vrms, phase-phase
Device: actual output frequency
Interpolation 0x60C2:001 Interpolation: Time interval and interpolation
0x60C2:002 time: exponent

Speed limitation 0x6080 Motor: max. speed

Slip compensation 0x2B09:001 VFC: Slip compensation - influence

0x2B09:002 VFC: Slip compensation - filter time

Current limitation 0x2B08:001 Gain

0x2B08:002 Reset time

Oscillation damping 0x2B0A:001 VFC: Oscillation damping - gain

0x2B0A:002 VFC: Oscillation damping - filter time
0x2B0A:003 VFC: Oscillation damping - limitation
0x2B0A:004 VFC: Oscillation damping - ramp end frequency
Load adjustment 0x2B07:001 VFC: Load adjustment - direction of rotation
0x2B07:002 VFC: Load adjustment - value

V/f characteristic 0x2B01:001 VFC: V/f characteristic - voltage in the reference

point
0x2B01:002 VFC: V/f characteristic - frequency in the refer-
ence point
0x2B06 VFC: voltage boost
0x2B04 VFC: voltage vector control - setpoint current
0x2B00 VFC: V/f characteristic form
0x2B02:001 VFC: user-definable V/f characteristic
... • Voltage grid points (x1 ... x11)
0x2B02:011
0x2B03:001 VFC: user-definable V/f characteristic
... • Tension grid points (y1 ... y11)
0x2B03:011 Field weakening controller: reset time
DC-injection braking 0x2B80 DC-injection braking: current

A more detailed representation of the signal flow with all relevant parameters
can be found in the »PLC Designer« on the signal flow tab for the servo inverter.

181
Configure speed control
Operating mode "CiA 402 Cyclic sync velocity mode (csv)"
Control commands and status information

10.3.4 Control commands and status information

The following control commands can be executed in the "cyclic sync velocity mode" via the
CiA402 control word (0x6040):
Control word State Function
Bit 4 0 reserved (bit must be set to "0")
Bit 5 0 reserved (bit must be set to "0")
Bit 6 0 reserved (bit must be set to "0")
Bit 8 0↗1 Stop

The following status information are output via the CiA402 status word (0x6041) in the "cyclic
sync velocity mode":
Status word State Meaning
Bit 12 0 "Cyclic sync velocity mode" is inactive
1 "Cyclic sync velocity mode" is active

182
 Configure speed control
Process input data (CiA 402 objects)

10.4 Process input data (CiA 402 objects)

Parameter
Address Name / setting range / [default setting] Info
0x2830 Inverter control word The control word serves to influence the control functions.
0x0000 ... [0x0000] ... 0xFFFF
Bit 0 Flying restart completed This bit enables the control to report the acceptance of the recorded
speed to the "flying restart" function. Thus, the flying restart process is
completed.
Bit 1 Block flying restart TRUE: the flying restart process is blocked.
Bit 4 Set load value TRUE: set load value.
Bit 5 Select new actual position TRUE: define new actual position.
• Setting/shifting of Position actual value (0x6064) to Actual position
start value (0x2983) considering the set resolution (0x608F:001,
0x608F:002).
• Mode for setting the actual position: 0x2984)
Bit 6 Activate DC-injection braking or short-circuit DC-injection braking or short-circuit braking is activated via this bit.
braking
Bit 10 Reserved
Bit 11 Reserved
0x6040 CiA: Controlword Mappable CiA 402 control word with bit assignment according to device
0x0000 ... [0x0000] ... 0xFFFF profile CiA 402.
Bit 0 Switch on 1 = switch-on
Bit 1 Enable voltage 1 = DC bus: Establish readiness for operation
Bit 2 Quick stop 0 = activate quick stop
Bit 3 Enable operation 1 = enable operation
Bit 4 Operation mode specific
Bit 5 Operation mode specific
Bit 6 Operation mode specific
Bit 7 Fault reset 0-1 edge = reset error
Bit 8 Halt 1 = stop motor (ramping down to frequency setpoint 0 Hz)
Bit 9 Operation mode specific Operating mode dependent
Bit 14 Release holding brake 1 = releasing holding brake manually
CAUTION!
• The manually triggered "Release holding brake" command has a direct
impact on the "Release holding brake [115]" trigger. Thus, the holding
brake can be manually released if the power section is switched off.
• The responsibility for a manual release of the holding brake has the
external trigger source for the "Release holding brake" command.
4Holding brake control ^ 253
0x6042 Target velocity Setpoint speed (velocity mode).
-32768 ... [0] ... 32767 rpm
0x6046:001 Velocity min max amount : Velocity min amount Minimum speed (velocity mode).
0 ... [0] ... 0 rpm
0x6046:002 Velocity min max amount : Velocity max amount Maximum speed (velocity mode).
2147483647 ... [2147483647] ... 2147483647 rpm
0x6048:001 Velocity acceleration : Delta speed Acceleration: speed interval
0 ... [0] ... 2147483647 rpm
0x6048:002 Velocity acceleration : Delta time Acceleration: time interval
0 ... [10] ... 65535 s
0x6049:001 Velocity deceleration : Delta speed Deceleration: speed interval
0 ... [0] ... 2147483647 rpm
0x6049:002 Velocity deceleration : Delta time Deceleration: time interval
0 ... [10] ... 65535 s

183
Configure speed control
Process input data (CiA 402 objects)

Address Name / setting range / [default setting] Info

0x6060 Modes of operation Selection of the operating mode.
0 No mode change/no mode assigned No operating mode (standstill)
2 CiA: Velocity mode CiA 402 velocity mode
4Operating mode "CiA 402 Velocity mode (vl)" ^ 172
8 Cyclic sync position mode 4Operating mode "CiA 402 Cyclic sync position mode (csp)" ^ 158
9 Cyclic sync velocity mode 4Operating mode "CiA 402 Cyclic sync velocity mode (csv)" ^ 177
10 Cyclic sync torque mode 4Operating mode "CiA 402 Cyclic sync torque mode (cst)" ^ 191
0x60B1 Velocity offset Additive value for setpoint velocity or velocity feedforward control.
-480000.00 ... [0.00] ... 480000.00 rpm
0x60FF Target velocity Setting of the setpoint velocity.
-480000.00 ... [0.00] ... 480000.00 rpm

184
 Configure speed control
Process output data (CiA 402 objects)

10.5 Process output data (CiA 402 objects)

Parameter
Address Name / setting range / [default setting] Info
0x2831 Inverter-Statuswort Bit coded status word of the internal motor control.
• Read only
Bit 1 Speed setpoint 1 limited 1 ≡ input of speed controller 1 in limitation.
Bit 2 Speed controller in limitation 1 ≡ output of speed controller 1 in limitation.
Bit 3 Torque setpoint limited 1 ≡ setpoint torque in limitation.
Bit 4 Soll-Q-Strom limitiert 1 ≡ setpoint current in limitation.
Bit 5 Speed setpoint 2 limited 1 ≡ input of the speed controller 2 in "torque mode" in limitation.
Bit 6 Obere Drehzahlgrenze aktiv 1 ≡ in "torque mode", the speed is limited to upper speed limit
0x2946:001.
Bit 7 Untere Drehzahlgrenze aktiv 1 ≡ in "torque mode", the speed is limited to lower speed
limit0x2946:002.
Bit 10 Output frequency limited 1 ≡ setpoint frequency with V/f operation in limitation.
Bit 11 Magnetisation completed 1 ≡ during V/f operation, the factor 7 rotor time constant has passed
(calculated from the time at which the inverter was enabled without
restart on the fly and with a total motor current of 20 % rated motor cur-
rent for the first time). Otherwise 0.
Bit 12 Motorphasenfehler 1 ≡ motor phase failure detection active.
Bit 14 Error reset blocking time active 1 ≡ the fault can only be reset when the blocking time has elapsed.
0x603F Error code Error message
• Read only
Bit 0
0x6041 CiA: Statusword Mappable CiA 402 status word with bit assignment according to device
• Read only profile CiA 402.
Bit 0 Ready to switch on 1 ≡ drive ready to start
Bit 1 Switched on 1 ≡ drive switched-on
Bit 2 Operation enabled 1 ≡ operation enabled
Bit 3 Fault 1 ≡ fault or trouble active
Bit 4 Voltage enabled 1 ≡ DC bus ready for operation
Bit 5 Quick stop 0 ≡ quick stop active
Bit 6 Switch on disabled 1 ≡ operation inhibited
Bit 7 Warning 1 ≡ warning active
Bit 8 RPDOs deactivated 1 ≡ cyclic PDOs have been deactivated.
Bit 9 Remote 1 ≡ inverter can receive commands via network.
• Bit is not set in the operating mode 0x6060 = "MS: Velocity mode
[-2]".
Bit 10 Target reached 1 ≡ the actual position is in the window.
Bit 11 Internal limit active 1 ≡ internal limitation of a setpoint active.
Bit 12 Operation mode active 1 ≡ operation enabled and no test mode activated. (no internal setpoint
generation active.)
Bit 13 Following error 1 ≡ following error active
Bit 14 Holding brake released 1 ≡ holding brake released
Bit 15 Integrated safety not active 0 ≡ the inverter has been disabled by the integrated safety system
1 ≡ the integrated safety system is not active
0x6061 Modes of operation display Display of the current operating mode.
• Read only
-11 Identification
-10 Test mode
0 No mode change/no mode assigned No operating mode (standstill)
2 CiA: Velocity mode CiA 402 velocity mode
8 Cyclic sync position mode
9 Cyclic sync velocity mode
10 Cyclic sync torque mode
0x6043 Velocity demand Display of the setpoint velocity (velocity mode).
• Read only: x rpm

185
Configure speed control
Monitoring the speed deviation

Address Name / setting range / [default setting] Info

0x6044 Velocity actual value Display of the actual speed (velocity mode).
• Read only: x rpm
0x606C Velocity actual value Display of the actual velocity.
• Read only: rpm

10.6 Monitoring the speed deviation

Monitoring of the speed deviation shall only be used in the following control modes:
• Servo control for synchronous motor (SM)
• Servo control for asynchronous motor (ASM)
Monitoring of the speed deviation is effective in the operating modes with speed controller. It
monitors the system deviation at the input of the speed controller (see blue arrow):

Torque: positive limit value

Torque: negative limit value

Ramp Speed Speed

function limitation controller
Setpoint velocity
Torque Field-oriented
Interpolation Setpoint velocity limitation control
interpolated Iq
Torque: offset
Id M
Actual position Actual velocity Actual torque

Encoder
evaluation

The error response set in 0x2D51:003 is executed if

1. the set tolerance of the speed deviation is 0x2D51:001 exceeded and
2. the exceedance lasts at least as long as set in 0x2D51:002.
Parameter
Address Name / setting range / [default setting] Info
0x2D51:001 Position error/speed error - monitoring: Speed error - Setting of the error threshold for speed error monitoring.
error threshold
1 ... [50] ... 2147483647 rpm
0x2D51:002 Position error/speed error - monitoring: Speed error - Setting of the minimum time a speed error must be pending until an
min. time for error error/warning message is triggered.
0 ... [0] ... 50 ms
0x2D51:003 Position error/speed error - monitoring: Speed error - Setting of the error response of speed error monitoring.
error response
0 No response
1 Fault > CiA402
2 Warning

186
 Configuring the torque control

11 Configuring the torque control

This operating mode provides a fast torque follower with speed limitation.
Typical applications are, for instance, winders or packaging machines.
Preconditions
The conditions are a correct entry of the motor data (Motor data) and the parameter setting
of the motor control (Configuring the motor control).
A torque control can only be implemented in the motor control types to be set with 0x2C00:
• Servoregelung (SC-PSM) [1]
• Servo control (SC ASM) [2]
Thus, first one of these motor control types must be configured.
For details see the following chapter:
4Servo control for synchronous motor (SC-PSM) ^ 237
4Servo control for asynchronous motor (SC-ASM) ^ 238

187
Configuring the torque control
Basic setting

11.1 Basic setting

1. Set the manufacturer spanning operating mode " Cyclic sync torque mode [10]" according
to CiA402.
• A detailed description of this operating mode can be found in the "Operating mode
"CiA 402 Cyclic sync torque mode (cst)"" section. ^ 191
2. Set the rated motor torque. 40x6076
3. Set the permissible maximum torque. 40x6072
• The maximum torque is preset in 0x6072.
• The change of the positive and negative limit of the maximum torque is described in
the "Torque limits" section. ^ 189
4. Parameterise speed limit. 0x2946
• The maximum speed is preset. 40x6080
• The change of the upper and lower speed limit is described in the "Speed limitation"
section. ^ 190
5. Define a torque setpoint for the torque control instead of a speed setpoint. The value is
given in percent and based on the rated motor torque set in 0x6076.

The torque control with speed limitation is now active and the inverter responds to the
defined torque setpoint.

188
 Configuring the torque control
Basic setting
Torque limits

11.1.1 Torque limits

Details
The positive and negative torque limit can be set independently of each other. The torque
limit is to be configured to the maximum torque. 40x6072

pos torque limit (0x2949/1)

torque

Q2: Gen Q1: Mot

torque pos torque pos
speed neg speed pos

speed
Q3: Mot Q4: Gen
torque neg torque neg
speed neg speed pos

neg torque limit (0x2949/2)

• Display of the current positive torque limit in 0x2949:004.
• Display of the current negative torque limit in 0x2949:003.
The torque limits are also active in the "Velocity Mode" for the SC-ASM control mode.

Regardless of the setting in 0x2949:004 and 0x2949:004, the maximum torque

does not exceed the value configured in 40x6072.

The setting is made in percent with reference to the rated motor torque set in 0x6076.
Parameter
Address Name / setting range / [default setting] Info
0x294A:001 Torque limits offset: Torque offset
-3276.7 ... [0.0] ... 3276.7 %
0x294A:002 Torque limits offset: Resulting positive torque limit
• Read only: x.x %
0x294A:003 Torque limits offset: Resulting negative torque limit
• Read only: x.x %
0x60E0 Positive torque limit Positive torque limit source for speed control with torque limitation.
0.0 ... [100.0] ... 3276.7 % • 100 % ≡ Rated Motor Torque. 40x6076
0x60E1 Negative torque limit Code previously C3687.
0.0 ... [100.0] ... 3276.7 % Negative torque limit source for speed control with torque limitation.
• 100 % ≡ Rated Motor Torque 40x6076

189
Configuring the torque control
Basic setting
Speed limitation

11.1.2 Speed limitation

The torque control controls the assigned torque setpoint within the set speed limits. The
actual speed results from the load conditions of the application. For example, high speeds
may occur in a torque control if no counter torque is available (load-free machine).
When the actual speed reaches the set speed limits, it is kept on the respective limit value.
This function is also called "speed limitation".
Details
The lower and upper speed limit for speed limitation can be set independently of each other.
Parameter
Address Name / setting range / [default setting] Info
0x2946:001 Speed limitation: Upper speed limit Upper limit for the speed limitation.
-479999.999776482 ... [0] ... 479999.999776482 rpm • Setting is only effective with the selection "Upper speed limit [5]" in .
• Entry via keypad and Lenze Tools is in rpm!
• Via RPDO, the unit is vel. unit. and the scaling must be taken into
account.
• ± 480000 rpm = ±2 ^ 31 [n-unit]
0x2946:002 Speed limitation: Lower speed limit Lower limit for speed limitation.
-479999.999776482 ... [0] ... 479999.999776482 rpm • Setting is only effective with the selection "Lower speed limit [5]" in .
• Entry via keypad and Lenze Tools is in rpm!
• Via RPDO, the unit is vel. unit. and the scaling must be taken into
account.
• ± 480000 rpm = ±2 ^ 31 [n-unit]

190
 Configuring the torque control
Operating mode "CiA 402 Cyclic sync torque mode (cst)"
Default mapping

11.2 Operating mode "CiA 402 Cyclic sync torque mode (cst)"

During the quick stop, the current limit 0x6073 and the torque limit 0x6072 are
active. The lower of the two limits determines the motor output torque. The
torque limits from 0x60E0 and 0x60E1 are not effective during quick stop.

Subfunctions of the operating mode

• Torque control with speed limitation
• Limitation of the motor speed
• Update of the actual values for position, velocity and torque

11.2.1 Default mapping

The default mapping for the "Cyclic sync torque mode" is defined in the following parameters:
Parameter Designation Data type
0x1601 RPDO-->axis: cyclic sync torque mode (cst) RECORD
0x1A01 Axis-->TPDO: cyclic sync torque mode (cst) RECORD

Data received from the Controller (RPDO)

Parameter Designation Data type
0x6040 CiA402 control word UNSIGNED_16
0x2830 Lenze control word UNSIGNED_16
0x6060 Operating mode: selection INTEGER_8
0x60B2 Torque: offset INTEGER_16
0x6071 Torque: setpoint torque INTEGER_16
0x2946:1 Speed limitation: upper speed limit INTEGER_32
0x2946:2 Speed limitation: lower speed limit INTEGER_32

Data sent to the Controller (TPDO)

Parameter Designation Data type
0x6041 CiA402 status word UNSIGNED_16
0x2831 Lenze status word UNSIGNED_16
0x6061 Operating mode: display INTEGER_8
0x603F Error code UNSIGNED_16
0x606C Velocity: actual velocity UNSIGNED_16
0x6077 Torque: actual torque INTEGER_16

191
Configuring the torque control
Operating mode "CiA 402 Cyclic sync torque mode (cst)"
Signal flow

11.2.2 Signal flow

Positive torque limit value

Negative torque limit value

Speed limitation:
Upper speed limit Speed Torque Field-orientated
Interpolation limitation limitation control
Iq
Target torque
Id M
Torque offset
Velocity actual value
Speed limitation: Torque actual value
Position actual value
Lower speed limit
Encoder
evaluation

192
 Configuring the torque control
Operating mode "CiA 402 Cyclic sync torque mode (cst)"
Signal flow

Short overview of the most important parameters

Function Parameter Designation
Input data 0x6040 CiA402 control word
0x2830 Lenze control word
0x6060 Operating mode: selection
0x2946:001 Speed limitation: upper speed limit
0x60B2 Torque: offset
0x6071 Torque: setpoint torque
0x2946:002 Speed limitation: lower speed limit
0x60E0 Torque: positive limit value
0x60E1 Torque: negative limit value
Output data 0x6041 CiA402 status word
0x2831 Lenze status word
0x6061 Operating mode: display
0x606C Velocity: actual velocity
0x6077 Torque: actual torque
Interpolation 0x60C0 Interpolation algorithm
0x60C2:001 Interpolation: time interval and interpolation
0x60C2:002 time: Exponent
Speed limitation 0x6080 Motor: max. speed
0x2946:001 Speed limitation: upper speed limit
0x2946:002 Speed limitation: lower speed limit
Torque limitation 0x60E0 Torque: positive limit value
0x60E1 Torque: negative limit value
0x6076 Motor: rated torque
0x6072 Torque: max. torque
Field-oriented control 0x6073 Device: max. current
Iq 0x6075 Motor: rated current
Id
0x2941 Current controller: feedforward control
0x2942:001 Current controller: gain
0x2942:002 Current controller: reset time
0x29E2 DC bus: actual voltage - filter time
0x29E3 Motor: actual voltage - filter time
0x29E0:001 Field weakening controller: gain
0x29E0:002 Field weakening controller: reset time
0x29E1 Field: limitation of setpoint field
0x29C0:001 Field controller: gain
0x29C0:002 Field controller: reset time
0x2939 Switching frequency

A more detailed representation of the signal flow with all relevant parameters
can be found in the »PLC Designer« on the signal flow tab for the inverter.

193
Configuring the torque control
Operating mode "CiA 402 Cyclic sync torque mode (cst)"
Control commands and status information

11.2.3 Control commands and status information

The following control commands can be executed in the "cyclically synchronous torque" oper-
ating mode via the CiA402 control word 0x6040:
Control word State Function
Bit 4 0 reserved (bit must be set to "0")
Bit 5 0 reserved (bit must be set to "0")
Bit 6 0 reserved (bit must be set to "0")
Bit 8 0↗1 Stop

The following status information are output via the CiA402 status word 0x6041 in the "cyclic
sync torque mode":
Status word State Meaning
Bit 12 0 "Cyclic sync torque mode" is inactive
1 "Cyclic sync torque mode" is active

194
 Configuring the torque control
Process input data (CiA 402 objects)

11.3 Process input data (CiA 402 objects)

Parameter
Address Name / setting range / [default setting] Info
0x2830 Inverter control word The control word serves to influence the control functions.
0x0000 ... [0x0000] ... 0xFFFF
Bit 0 Flying restart completed This bit enables the control to report the acceptance of the recorded
speed to the "flying restart" function. Thus, the flying restart process is
completed.
Bit 1 Block flying restart TRUE: the flying restart process is blocked.
Bit 4 Set load value TRUE: set load value.
Bit 5 Select new actual position TRUE: define new actual position.
• Setting/shifting of Position actual value (0x6064) to Actual position
start value (0x2983) considering the set resolution (0x608F:001,
0x608F:002).
• Mode for setting the actual position: 0x2984)
Bit 6 Activate DC-injection braking or short-circuit DC-injection braking or short-circuit braking is activated via this bit.
braking
Bit 10 Reserved
Bit 11 Reserved
0x2946:001 Speed limitation: Upper speed limit Upper limit for the speed limitation.
-479999.999776482 ... [0] ... 479999.999776482 rpm • Setting is only effective with the selection "Upper speed limit [5]" in .
• Entry via keypad and Lenze Tools is in rpm!
• Via RPDO, the unit is vel. unit. and the scaling must be taken into
account.
• ± 480000 rpm = ±2 ^ 31 [n-unit]
0x2946:002 Speed limitation: Lower speed limit Lower limit for speed limitation.
-479999.999776482 ... [0] ... 479999.999776482 rpm • Setting is only effective with the selection "Lower speed limit [5]" in .
• Entry via keypad and Lenze Tools is in rpm!
• Via RPDO, the unit is vel. unit. and the scaling must be taken into
account.
• ± 480000 rpm = ±2 ^ 31 [n-unit]
0x6040 CiA: Controlword Mappable CiA 402 control word with bit assignment according to device
0x0000 ... [0x0000] ... 0xFFFF profile CiA 402.
Bit 0 Switch on 1 = switch-on
Bit 1 Enable voltage 1 = DC bus: Establish readiness for operation
Bit 2 Quick stop 0 = activate quick stop
Bit 3 Enable operation 1 = enable operation
Bit 4 Operation mode specific
Bit 5 Operation mode specific
Bit 6 Operation mode specific
Bit 7 Fault reset 0-1 edge = reset error
Bit 8 Halt 1 = stop motor (ramping down to frequency setpoint 0 Hz)
Bit 9 Operation mode specific Operating mode dependent
Bit 14 Release holding brake 1 = releasing holding brake manually
CAUTION!
• The manually triggered "Release holding brake" command has a direct
impact on the "Release holding brake [115]" trigger. Thus, the holding
brake can be manually released if the power section is switched off.
• The responsibility for a manual release of the holding brake has the
external trigger source for the "Release holding brake" command.
4Holding brake control ^ 253
0x6060 Modes of operation Selection of the operating mode.
0 No mode change/no mode assigned No operating mode (standstill)
2 CiA: Velocity mode CiA 402 velocity mode
4Operating mode "CiA 402 Velocity mode (vl)" ^ 172
8 Cyclic sync position mode 4Operating mode "CiA 402 Cyclic sync position mode (csp)" ^ 158
9 Cyclic sync velocity mode 4Operating mode "CiA 402 Cyclic sync velocity mode (csv)" ^ 177
10 Cyclic sync torque mode 4Operating mode "CiA 402 Cyclic sync torque mode (cst)" ^ 191

195
Configuring the torque control
Process input data (CiA 402 objects)

Address Name / setting range / [default setting] Info

0x6071 Target torque Setting of the setpoint torque for the torque operating modes.
-3276.8 ... [0.0] ... 3276.7 % • 100 % ≡ Motor rated torque 0x6076
• The inverter does not support the operating mode "CiA 402 torque
mode".
0x6072 Max torque • 100 % ≡ Motor rated torque 0x6076
0.0 ... [250.0] ... 3276.7 % • The torque limitation is both effective in the static and dynamic oper-
ating points. It is used, for instance, as overload protection of the
mechanical transmission path/elements, starting from the motor
shaft.
• If a value is entered here that is higher than in 0x60E0 ( Positive tor-
que limit ) and 0x60E1 ( Negative torque limit ), the torque is limited
to the lowest value.
0x60B2 Torque offset Additive value for setpoint torque or torque feedforward control
-3276.8 ... [0.0] ... 3276.7 % • 100 % ≡ rated motor power (0x6076)

196
 Configuring the torque control
Process output data (CiA 402 objects)

11.4 Process output data (CiA 402 objects)

Parameter
Address Name / setting range / [default setting] Info
0x2831 Inverter-Statuswort Bit coded status word of the internal motor control.
• Read only
Bit 1 Speed setpoint 1 limited 1 ≡ input of speed controller 1 in limitation.
Bit 2 Speed controller in limitation 1 ≡ output of speed controller 1 in limitation.
Bit 3 Torque setpoint limited 1 ≡ setpoint torque in limitation.
Bit 4 Soll-Q-Strom limitiert 1 ≡ setpoint current in limitation.
Bit 5 Speed setpoint 2 limited 1 ≡ input of the speed controller 2 in "torque mode" in limitation.
Bit 6 Obere Drehzahlgrenze aktiv 1 ≡ in "torque mode", the speed is limited to upper speed limit
0x2946:001.
Bit 7 Untere Drehzahlgrenze aktiv 1 ≡ in "torque mode", the speed is limited to lower speed
limit0x2946:002.
Bit 10 Output frequency limited 1 ≡ setpoint frequency with V/f operation in limitation.
Bit 11 Magnetisation completed 1 ≡ during V/f operation, the factor 7 rotor time constant has passed
(calculated from the time at which the inverter was enabled without
restart on the fly and with a total motor current of 20 % rated motor cur-
rent for the first time). Otherwise 0.
Bit 12 Motorphasenfehler 1 ≡ motor phase failure detection active.
Bit 14 Error reset blocking time active 1 ≡ the fault can only be reset when the blocking time has elapsed.
0x603F Error code Error message
• Read only
Bit 0
0x6041 CiA: Statusword Mappable CiA 402 status word with bit assignment according to device
• Read only profile CiA 402.
Bit 0 Ready to switch on 1 ≡ drive ready to start
Bit 1 Switched on 1 ≡ drive switched-on
Bit 2 Operation enabled 1 ≡ operation enabled
Bit 3 Fault 1 ≡ fault or trouble active
Bit 4 Voltage enabled 1 ≡ DC bus ready for operation
Bit 5 Quick stop 0 ≡ quick stop active
Bit 6 Switch on disabled 1 ≡ operation inhibited
Bit 7 Warning 1 ≡ warning active
Bit 8 RPDOs deactivated 1 ≡ cyclic PDOs have been deactivated.
Bit 9 Remote 1 ≡ inverter can receive commands via network.
• Bit is not set in the operating mode 0x6060 = "MS: Velocity mode
[-2]".
Bit 10 Target reached 1 ≡ the actual position is in the window.
Bit 11 Internal limit active 1 ≡ internal limitation of a setpoint active.
Bit 12 Operation mode active 1 ≡ operation enabled and no test mode activated. (no internal setpoint
generation active.)
Bit 13 Following error 1 ≡ following error active
Bit 14 Holding brake released 1 ≡ holding brake released
Bit 15 Integrated safety not active 0 ≡ the inverter has been disabled by the integrated safety system
1 ≡ the integrated safety system is not active
0x6061 Modes of operation display Display of the current operating mode.
• Read only
-11 Identification
-10 Test mode
0 No mode change/no mode assigned No operating mode (standstill)
2 CiA: Velocity mode CiA 402 velocity mode
8 Cyclic sync position mode
9 Cyclic sync velocity mode
10 Cyclic sync torque mode
0x606C Velocity actual value Display of the actual velocity.
• Read only: rpm

197
Configuring the torque control
Setpoint diagnostics

Address Name / setting range / [default setting] Info

0x6074 Torque demand value Display of the setpoint torque.
• Read only: x.x % • 100 % ≡ Motor rated torque 0x6076
0x6077 Torque actual value Display of the current torque.
• Read only: x.x % • 100 % ≡ Rated Motor Torque. 40x6076

11.5 Setpoint diagnostics

The following parameters provide information on the setpoints set for torque control.
Parameter
Address Name / setting range / [default setting] Info
0x2DD5 Torque setpoint Display of the current torque setpoint.
• Read only: x.xx Nm

198
 Configuring the feedback system

12 Configuring the feedback system

This chapter provides information on how to use feedback systems.
The inverter can be equipped to allow the connection of up to two independent feedback sys-
tems.
Each of the two feedback systems
• Is placed in a designated slot in the lower part of the inverter
• Has an encoder connection on its front side
• Is an optional equipment feature of the inverter

A B

Anschluss Lastgeber
oder Leitgeber
Anschluss Motorgeber

At the time of commissioning, the feedback system is already specified by the hardware of the
respective device version.

Please note that one of two sets of parameters will be effective depending on
which feedback system option has been selected: either the parameters for
resolver evaluation or the parameters for encoder evaluation.

199
Configuring the feedback system
Configure feedback system for motor control

12.1 Configure feedback system for motor control

The parameter settings for the motor feedback system are accessed in »EASY Starter« via the
following path:
• Settings tab
• Basic setting \ Motor feedback (A)
Here, you have the choice of using the following feedback systems:
• Resolver
• Encoder
You can select the feedback system that you wish to use by pressing the correspondingly
named button.

200
 Configuring the feedback system
Configure feedback system for motor control
General settings

12.1.1 General settings

This chapter provides information on general settings of feedback systems for the motor con-
trol.
Pressing the Select resolver or Select encoder button displays a list of resolvers or encoders.
If the displayed list contains the feedback system used, the data is applied automatically.
Otherwise, you must enter the data of the feedback system manually.
Monitoring of the encoder cable for wire breakage
The resolver or encoder cable can be monitored for wire breakage in the default settings of
parameter 0x2C45.

DANGER!
When the encoder / resolver is used as a motor encoder, safe motor operation is not possible
in the event of an error.
Destruction of system parts
▶ Fault should always be used as a response for resolver/encoder wire breakage monitoring.
▶ To prevent interference injections when using an encoder, only use shielded motor and
encoder cables.

Wire breakage monitoring trips in the following cases:

• Resolver
• Wire breakage in the encoder cable
• When the resolver impedance is too great
• In the event of interference injections (EMC interference)
• Encoder
• Wire breakage in the encoder cable
Sensitivity of wire breakage monitoring
The sensitivity of wire breakage monitoring can be set as a percentage using the 0x2C47
parameter.
Reducing the monitoring sensitivity is advantageous in environments that are severely affec-
ted by EMC problems.

If the sensitivity is not reduced (100 %), the software response time of monitor-
ing in case of an encoder is approx. 3.5 ms and in case of a resolver 0.3 ms.
Halving the sensitivity means doubling the response time.

NOTICE
A reduced sensitivity delays the response in case of wire breakage!
Destruction of system parts by reduced sensitivity of the open-circuit monitoring.
▶ Increase the sensitivity to reduce the monitoring response time.

Parameter
Address Name / setting range / [default setting] Info
0x2C45 Encoder-error response Selection of the response to the triggering of the encoder signal loss
monitoring.
Only active when used as:
• Feedback system for motor control, when set
Associated error code:
• 29443 | 0x7303 - RANLI_CIMES_1000_20870
0 No response
1 Fault > CiA402
2 Warning

201
Configuring the feedback system
Configure feedback system for motor control
General settings

Address Name / setting range / [default setting] Info

0x2C46 Number of the absolute ascertainable revolutions of Is set by the firmware according to the available version:
motor encoder • 0: no absolute value encoder (sin/cos encoder) or resolver with num-
• Read only ber of pole pairs > 1
• 1: Single-turn absolute value encoder or resolver with number of pole
pairs = 1
• >1: Multi-turn absolute value encoder
0x2C47 Open circuit detection sensitivity of motor encoder The sensitivity can be reduced by percentage, e. g. in case of EMC inter-
1 ... [100] ... 100 % ferences.
0x608F:001 Position encoder resolution : Encoder increments Setting the number of bits to be used for resolving a mechanical motor
• Setting can only be changed if the inverter is inhibi- revolution.
ted. Resolving the position detection by the motor encoder.
65536 16 bit
262144 18 bit
1048576 20 bit
4194304 22 bit
16777216 24 bit
67108864 26 bit
268435456 28 bit
1073741824 30 bit
0x608F:002 Position encoder resolution : Motor revolutions Setting of the number of motor revolutions.
1 ... [1] ... 1 Only setting "1" is accepted.
• Setting can only be changed if the inverter is inhibi-
ted.
0x6090:001 Velocity encoder resolution : Encoder increments per Setting of the encoder increments per second.
second
0 ... [33554432] ... 2147483647
• Setting can only be changed if the inverter is inhibi-
ted.
0x6090:002 Velocity encoder resolution : Motor revolutions per Setting of the motor revolutions per second.
second
0 ... [125] ... 2147483647
• Setting can only be changed if the inverter is inhibi-
ted.

12.1.2 Resolver settings

Resolvers with a number of pole pairs > 1 are not absolute value encoders.
Bit 4 in (Lenze status word 2) therefore remains set to "0".
The "distinguishable revolutions" specification in 0x2C46 is also set to "0".

The following applies to synchronous motors:

• When the number of motor pole pairs to the number of resolver pole pairs is an integer
ratio (0x2C01:001), the pole position only has to be identified once.
• When the number of motor pole pairs to the number of resolver pole pairs is a non-inte-
ger ratio (0x2C01:001), the pole position must be identified every time the inverter is con-
nected to 24 V.4Synchronous motor: Pole position identification (PPI) ^ 225
Parameter
Address Name / setting range / [default setting] Info
0x2822:025 Axis commands: Get motor encoder characteristic Values determined in order to compensate for resolver faults.
(resolver)
0 Off/Ready Obtain Hiperface information from the encoder for application feedback.
1 On/Start
2 In process
3 Action cancelled
4 No access
5 No access (controller inhibit)

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Resolver settings

Address Name / setting range / [default setting] Info

0x2C43 Motor encoder resolver number of pole pairs Setting of the number of pole pairs.
1 ... [1] ... 10
• Setting can only be changed if the inverter is inhibi-
ted.

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Resolver settings

12.1.2.1 Resolver error compensation

The actual position detected by the resolver is not exactly the same as the real physical posi-
tion. There are always deviations to a lesser or greater extent.
An identification run of the resolver automatically generates the adjustment values required
for compensation of the resolver error.
The values calculated have a counteractive corrective effect on the underlying cause in the
following parameters:
Cause Remedy
Sine and cosine track do not magnetise orthogonally to each other. 0x2C44:001
Correction of the angle by means of which the two resolver tracks are
supplied in a manner relative to one another.
The inductances of the sine and cosine track of the resolver have slightly 0x2C44:002 and 0x2C44:003
different values. Adjusting the gains of the digital-analog converters which feed the
resolver tracks.

Conditions for executing the identification run

1. Mechanical motor / inverter connection
• If possible, execute the identification run before the motor is installed in the machine.
Bigger load changes at the motor may have a negative impact on the identification
result.
• Motor and resolver must be properly connected to the inverter.
• The motor must rotate freely.
2. Voltage supply of the inverter
• The inverter must be supplied with mains voltage. Check: 0x6041, bit 4 = TRUE.
• The control electronics must be supplied with voltage. For this purpose, some designs
require an external voltage source.
3. Correct setting of the following data in the »EASY Starter« engineering tool:
• Number of resolver pole pairs (0x2C43)
• Speed-controlled or position-controlled motor in servo control
4. The inverter must be connected "online" to the engineering tool.
Possible responses during the execution
• The identification method can cause an uneven motor running during the identification.
• The direction of rotation can change.
This does not have a negative impact on the quality of the identification. In this case, the
inverter automatically interrupts the identification run and automatically continues it if a
constant speed is reached again.
• If the motor already installed in the machine does not have sufficient range in one direc-
tion for executing the identification run, you can also reverse the driving direction while
the identification is active. In this case, the identification automatically switches to the
"Identification temporarily interrupted ". The status is deactivated as soon as a constant
speed has been reached again.

In the event of an interruption, the identification run is stopped. An error mes-

sage is displayed.
If 0 % is set, the gain of the respective resolver track is only 95 % of the Lenze
setting.
The detected gain can assume values in the range of 0 ... 100 %.
In case of a successful resolver error compensation, only one of the two gains is
adjusted. The other value remains at 100 %.

How to run an identification

If possible, execute the identification run before the motor is installed in the
machine. If relatively big load changes occur in the kinematics to be moved, this
may have a negative impact on the result of the identification run.

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Resolver settings

1. Initiate an identification run with parameter 0x2822:025.

2. Enable inverter.
The identification run is in standby mode.
3. Approach a constant speed between n = 500 rpm and n = 3000 rpm.
The identification run is started automatically after the drive has reached a constant speed
and maintains it over the time defined in .
This speed is saved for the identification run. In order that the identification run can be
continued again, e.g. after an interruption, the drive must be operated again with this
speed.
End of the identification run
After the resolver error identification has been executed successfully, the parameters
0x2C44:001 ... 0x2C44:003 are written automatically. The resolver now works with these
settings.
Short-time interruption of the identification run
A short-time interruption, e.g. by removing the controller enable, does not stop the meas-
urement. It is continued after the controller is enabled anew. For the duration of the inter-
ruption, the following status message is displayed: "Identification interrupted temporarily")
Abort of the identification run
The measurement is aborted if the controller inhibit persists or after the time-out time has
elapsed. A time-out error is output for the identification run (see error messages in the log-
book).
4. If the measurement was successful, the motor can be stopped
5. At the end of the procedure, save the changed parameters 0x2C44:001 ... 0x2C44:003 in the
inverter.
»EASY Starter« can be used to save the inverter parameter settings, see 4Saving the parame-
ter settings. ^ 36

Deactivating the resolver error compensation

For deactivating the resolver error compensation, the respective parameters must be reset
again to the Lenze setting.
Parameter
Address Name / setting range / [default setting] Info
0x2C44:001 Motor encoder identification (Resolver): Angle Setting of the angle to the resolver error compensation.
-100 ... [0] ... 100
0x2C44:002 Motor encoder identification (Resolver): Cosine track Setting of the gain of the cosine track to the resolver error compensa-
gain tion.
0 ... [100] ... 100 %
0x2C44:003 Motor encoder identification (Resolver): Sine track Setting of the gain of the sine track to the resolver error compensation.
gain
0 ... [100] ... 100 %

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Resolver settings

Address Name / setting range / [default setting] Info

0x2C44:006 Motor encoder identification (Resolver): Identification Display of the resolver identification status.
status
• Read only
Bit 0 Identification activated TRUE if:
• Identification has been started.
• Controller enable is active.
FALSE if:
• Identification has been aborted or completed successfully.
• A timeout error is active.
• The 24V supply has been switched on and default settings are loaded.
Bit 1 Constant speed detected TRUE if:
• A constant motor speed has been detected.
FALSE if:
• Identification has been aborted or completed successfully.
• A timeout error is active.
• The 24V supply has been switched on and default settings are loaded.
Bit 2 Identification is running TRUE if:
• Identification is running.
FALSE if:
• The motor speed has fallen below the minimum speed of 500 rpm.
• The identification process has been aborted temporarily and is on
standby.
Bit 3 Identification successful TRUE if:
• Identification has been completed successfully.
FALSE if:
• The identification is not completed yet after default settings were loa-
ded.
Bit 4 Identification failed TRUE if:
• A timeout error has occurred.
FALSE if:
• Identification has been completed successfully.

12.1.3 Encoder settings

In general, an encoder is a measuring system which serves to detect the velocity/speed and
the position of a kinematics or motor.
Details

If a resolver variant is to be plugged into the respective slot of the inverter as a

feedback system, the parameters in this section have no function.

Parameter
Address Name / setting range / [default setting] Info
0x2C40 Motor encoder type Selection of the encoder type.
• Setting can only be changed if the inverter is inhibi-
ted.
1 SinCos encoder
2 Hiperface absolute value encoder
5 SSI encoder
0x2C42:001 Encoder settings: Increments/revolution Setting of the encoder number of increments per revolution (according
1 ... [1024] ... 131072 to manufacturer data/encoder data sheet).
• Setting can only be changed if the inverter is inhibi-
ted.

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Encoder settings

Address Name / setting range / [default setting] Info

0x2C42:002 Encoder settings: Supply voltage Setting of the supply voltage.
5.0 ... [5.0] ... 12.0 V
• Setting can only be changed if the inverter is inhibi-
ted.

12.1.3.1 SinCos encoder

The following SinCos encoder types without HIPERFACE® protocol are supported by the inver-
ter:
Type Increments/revolution Absolute revolutions
IG1024-5V-V3 (RVS58S) 1024 0
IG2048-5V-S (ITD22) 2048 0
IG2048-5V-S 2048 0

12.1.3.2 SinCos absolute value encoder with HIPERFACE® protocol

The following SinCos encoder types with HIPERFACE® protocol are supported by the inverter:
Type Increments/revolution Absolute revolutions Type code
0x2C41:001
AM1024-8V-H (SRM50) 1024 4096 39
AM1024-8V-H (SFM60) 1024 (Multiturn) 39
AM1024-8V-K2 (SRM50S) 1024 39
AM128-8V-H (SKM36) 128 55
AM16-8V-H (SEL37) 16 71
AM16-8V-H (SEL52) 16 71
AM512-8V-H (SCM70) 512 7
AS1024-8V-H (SRS50) 1024 4096 34
AS1024-8V-K2 (SRS50S) 1024 (Single-turn) 34
AS16-8V-H (SEK37) 16 66
AS16-8V-H (SEK52) 16 66
AS512-8V-H (SCS70) 512 2

Use of non-supported encoder types

If the type code of the encoder used is not listed in the table of supported encoder types, this
encoder can be introduced to the inverter via the 0x2C41:002 and 0x2C41:003 parameters.

In this context, please also observe the information provided in the parameter
description 0x2C41:008.

Parameter
Address Name / setting range / [default setting] Info
0x2822:026 Axis commands: Get motor encoder information Command for reading out data from the connected motor encoder.
(Hiperface)
0 Off/Ready Obtain Hiperface information from the encoder for application feedback.
1 On/Start
2 In process
3 Action cancelled
4 No access
5 No access (controller inhibit)
0x2C41:001 Motor encoder settings (Hiperface): Type code detec- Type code read out of the encoder.
ted This value is "0" if ...
• Read only • a sin/cos encoder is set (0x2C40 = 2);
• a communication error has occurred.
0x2C41:002 Motor encoder settings (Hiperface): Type code man- Manual setting of the encoder type code (display in 0x2C41:001).
ual input
0 ... [0] ... 255
• Setting can only be changed if the inverter is inhibi-
ted.

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Encoder settings

Address Name / setting range / [default setting] Info

0x2C41:003 Motor encoder settings (Hiperface): No. of periods Manual setting of the number of distinguishable revolutions.
manual input
1 ... [1] ... 65535
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C41:004 Motor encoder settings (Hiperface): Error response Selection of the response for communication errors or in the event of an
unknown encoder.
Associated error codes:
• 29568 | 0x7380 - RANLI_CIMES_1000_20894
• 29569 | 0x7381 - RANLI_CIMES_1000_20900
• 65302 | 0xFF16 - RANLI_CIMES_1000_20897
0 No response
1 Fault > CiA402
2 Warning
0x2C41:005 Motor encoder settings (Hiperface): Serial number The displayed serial number can be used for identifying an encoder
• Read only change.
0x2C41:006 Motor encoder settings (Hiperface): Actual position The encoder-internal position value is output without being converted.
(raw data)
• Read only
0x2C41:007 Motor encoder settings (Hiperface): No. of periods Display of the encoder increment according to encoder nameplate or
detected type code.
• Read only
0x2C41:008 Motor encoder settings (Hiperface): Type code verifi- If an encoder is connected that is not supported by the firmware, it will
cation be displayed here.
• Read only In this case, the same response takes place as in case of a communica-
tion error. The error can be removed by manually setting the type code
in 0x2C41:002. This serves to signalise to the firmware that the number
of distinguishable revolutions is as well set correctly in 0x2C41:003 by
the user.
0 Unknown - manual data input If an encoder is connected that is not supported by the firmware, it will
1 Known - parameterisation ok be displayed here.
0x2C41:009 Motor encoder settings (Hiperface): Encoder type Display of the detected encoder type (rotary/linear).
• Read only
0 Rotative encoder
1 Linear encoder
0x2C41:010 Motor encoder settings (Hiperface): No. of periods lin- Display of the period length of the linear encoder.
ear encoder
• Read only: x nm

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Encoder settings

12.1.3.3 SSI encoder

SSI absolute value encoders (Synchronous Serial Interface) generate the angle information via
optical scanning of a code disc (e.g. Gray code). Every (absolute) angle position of the encoder
corresponds to a uniquely identifiable code pattern.
All encoders that use the Stegemann SSI protocol are supported:
• Supported bit rates for SSI communication: 150 ... 1000 kbits
• Supported data word widths: 1 ... 31 bits (effective)
• Supported output code of the SSI encoder: Gray or binary
• Cycle time: 62.5 µs, 125 µs and 250 µs .
• Encoder supply: U < 12 V, I ≤ 0.25 A
How to parameterise the SSI encoder:

1. Set the supply voltage of the SSI encoder used in 0x2C42:002.

2. Set selection "5: SSI encoder" as the encoder type in 0x2C40.
3. Set the transmission rate for SSI communication in 0x2C4A:001.
With the SSI protocol, the permissible transmission rate decreases as the cable lengths
increase. A safe transmission rate must be set according to the length of the encoder cable
used and the electromagnetic interference level.
4. Set the telegram length in 0x2C4A:002.
The telegram length reflects the number of data bits used for transmission of a complete SSI
data packet.
5. Break the received SSI data word down into partwords and, if necessary, activate data con-
version of Gray into binary code.

Parameter
Address Name / setting range / [default setting] Info
0x2C4A:001 Protokoll-Parameter Motorgeber (SSI): Übertragungs- To enable a stable transmission rate, the length of the encoder cable
rate used and any electromagnetic interference levels must be taken into
150 ... [300] ... 1000 kbps account when setting the value.
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C4A:002 Protokoll-Parameter Motorgeber (SSI): Telegramm- The set value specifies the number of data bits which are transmitted as
länge a complete SSI data packet.
1 ... [25] ... 31
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C4A:003 Protokoll-Parameter Motorgeber (SSI): Bits/Umdre- Resolution of the encoder.
hung For example, the resolution for the preset value is "13":
1 ... [13] ... 31 213 = 8196 (bits/revolution).
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C4A:004 Protokoll-Parameter Motorgeber (SSI): Startbit Posi- Indicates the position in the telegram where the position data word
tionsdaten begins.
0 ... [0] ... 30
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C4A:005 Protokoll-Parameter Motorgeber (SSI): Startbit Daten- Indicates the position in the telegram where data packet 1 begins.
paket 1
0 ... [0] ... 30
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C4A:006 Protokoll-Parameter Motorgeber (SSI): Startbit Daten- Indicates the position in the telegram where data packet 2 begins.
paket 2
0 ... [0] ... 30
• Setting can only be changed if the inverter is inhibi-
ted.

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Encoder settings

Address Name / setting range / [default setting] Info

0x2C4A:007 Protokoll-Parameter Motorgeber (SSI): Startbit Daten- Indicates the position in the telegram where data packet 3 begins.
paket 3
0 ... [0] ... 30
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C4A:008 Protokoll-Parameter Motorgeber (SSI): Länge Position- SSI position data length
sdaten
0 ... [0] ... 30
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C4A:009 Protokoll-Parameter Motorgeber (SSI): Länge Daten- Length of data packet 1.
paket 1
0 ... [0] ... 30
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C4A:010 Protokoll-Parameter Motorgeber (SSI): Länge Daten- Length of data packet 2.
paket 2
0 ... [0] ... 30
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C4A:011 Protokoll-Parameter Motorgeber (SSI): Länge Daten- Length of data packet 3.
paket 3
0 ... [0] ... 30
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C4A:012 Protokoll-Parameter Motorgeber (SSI): Codierung Coding of position data word (read only).
Positionsdaten If a value of "0" is set for the position data length in 0x2C4A:008, then
• Setting can only be changed if the inverter is inhibi- the value displayed for this parameter is also "0".
ted.
0 Binär
1 Gray
0x2C4A:013 Protokoll-Parameter Motorgeber (SSI): Codierung Coding of data packet 1
Datenpaket 1
• Setting can only be changed if the inverter is inhibi-
ted.
0 Binär
1 Gray
0x2C4A:014 Protokoll-Parameter Motorgeber (SSI): Codierung Coding of data packet 2
Datenpaket 2
• Setting can only be changed if the inverter is inhibi-
ted.
0 Binär
1 Gray
0x2C4A:015 Protokoll-Parameter Motorgeber (SSI): Codierung Coding of data packet 3
Datenpaket 3
• Setting can only be changed if the inverter is inhibi-
ted.
0 Binär
1 Gray
0x2C4A:016 Protokoll-Parameter Motorgeber (SSI): Rohdaten Posi- Raw value of position data word (read only).
tion If a value of "0" is set for the position data length in 0x2C4A:008 , then
• Read only the value displayed for this parameter is also "0".
0x2C4A:017 Protokoll-Parameter Motorgeber (SSI): Rohdaten Raw value of data packet 1 (read only).
Datenpaket 1 If a value of "0" is set for the data packet length 1 in 0x2C4A:013 , then
• Read only the value displayed for this parameter is also "0".
0x2C4A:018 Protokoll-Parameter Motorgeber (SSI): Rohdaten Raw value of data packet 2 (read only).
Datenpaket 2 If a value of "0" is set for the data packet length 2 in 0x2C4A:014 , then
• Read only the value displayed for this parameter is also "0".
0x2C4A:019 Protokoll-Parameter Motorgeber (SSI): Rohdaten Raw value of data packet 3 (read only).
Datenpaket 3 If a value of "0" is set for the data packet length 3 in 0x2C4A:015 , then
• Read only the value displayed for this parameter is also "0".

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Encoder settings

12.1.3.4 Evaluation of the signal quality

Signal quality
The signal quality is evaluated by the 0x2C42:004 parameter, which is used to monitor the
initial read-out and setting of the position.
If a transmission error should occur:
• The current angular drift is marked as invalid in parameter , bit 7
• The inverter maintains its operating status
Angular drift

Communication with the encoder is no longer monitored during angular drift

determination.

The value displayed in 0x2C42:003 is determined in different ways depending on the type of
encoder:
• Determination of the current angular drift for the SinCos encoder
In the case of an incremental SinCos encoder, the pulses between two zero pulse events of
the Z-track are counted. Assuming that there are no faults, this value corresponds to the
set number of increments. The accuracy of this process corresponds to ± 1 increment grad-
uation of the encoder, with the difference between the set number of increments and the
counted pulses being converted to an angle with an accuracy of ±0.1°. The disadvantage is
that an updated angular drift value only become available at the end of a complete
encoder revolution. In turn, this means that the update rate depends on the speed.
• Determination of the current angular drift for the SinCos Hiperface® absolute value
encoder
In the case of a SinCos absolute value encoder with HIPERFACE® protocol, no Z-track is
available; instead, the position is regularly read out of the encoder. When the first encoder
read-out operation is performed (after power-up or elimination of wire breakage), the
encoder position is used to initialise the internal device counter unit and to set an internal
device position. All other read-out processes from the encoder are used to generate a dif-
ference between the internal device position and the encoder position. Assuming that
there are no faults, the difference is zero. However, the dead time of the communication
with the encoder means that the accuracy of the process is dependent on the speed and
therefore restricted compared to the zero pulse process. However, the advantage is that
the update rate does not depend on the speed, but is instead only determined by the com-
munication rate. The update rate is encoder-specific and is generally in the range between
30 ... 50 ms.
Parameter
Address Name / setting range / [default setting] Info
0x2C42:003 Encoder settings: Angle drift Display of the angular drift of the current angle error.
• Read only: x.x ° This indicates whether too many or two few pulses have been detected
by the internal device counter unit for EMC-related reasons.
0x2C42:004 Encoder settings: Actual amplitude signal quality The signal quality indicates the actual amplitude of the SinCos analog
• Read only: x % signals with regard to 1 Vss = 100 %.
• The signal quality should be between 95 ... 105 %.
• There is no need for optimisation if the signal quality is within the tol-
erance zone for the analog encoder signals given in the data sheet of
the encoder manufacturer.

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Diagnostics

12.1.4 Detection of changed settings of the feedback system

Bit 0 of status word 2 indicates whether the settings of the feedback system have been
changed since leaving the Not ready to start state. If a change has been made, bit 0 is set to
value "1".
During the transition to the Operation enabled state, bit 0 is reset to value "0".
In all device states, changes to the following parameters continue to be monitored.
Relevant parameters of other functions
Address Designation Default setting Setting range
0x2C40 Motor encoder type SinCos encoder [1] Selection list
0x2C41:002 Motor encoder settings (Hiperface): Type code man- 0 0 ... 255
ual input
0x2C41:003 Motor encoder settings (Hiperface): No. of periods 1 1 ... 65535
manual input
0x2C41:005 Motor encoder settings (Hiperface): Serial number - (Read only)
0x2C42:001 Encoder settings: Increments/revolution 1024 1 ... 131072
0x608F:001 Position encoder resolution : Encoder increments 16 bit [65536] Selection list
0x608F:002 Position encoder resolution : Motor revolutions 1 1 ... 1

12.1.5 Diagnostics
Parameter
Address Name / setting range / [default setting] Info
0x2C4F Parameter CRC of motor encoder Display of the cyclic redundancy check (CRC) of selected encoder param-
• Read only eters to detect changes in the feedback settings.
0x2DDF:005 Axis information: Motor encoder Display of supported feedback system for the motor.
• Read only
0 Produktdefiniert
1 Kein Geber
2 Resolver
3 SinCos-Geber oder Hiperface-Absolutwert-
geber

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Second feedback system for the techology application
General settings

12.2 Second feedback system for the techology application

The parameter settings for the feedback system of the application are accessed in »EASY
starter« via the following path:
• Settings tab
• Basic setting \ Feedback application (B)
Here, you have the choice of using the following feedback systems:
• Resolver
• Encoder
You can select the feedback system that you wish to use by pressing the correspondingly
named button.

12.2.1 General settings

This chapter provides information on general feedback system settings for the application.
Parameter
Address Name / setting range / [default setting] Info
0x2C55 Load encoder/master encoder error response Via this parameter, the error response to an encoder error of application
feedback B (slot B) is set.
Selection of the response to the triggering of the encoder signal loss
monitoring.
Only active when used as:
• Feedback system for motor control if set,
• Signal source for the "position counter" function.
Associated error code:
• 29444 | 0x7304 - RANLI_CIMES_1000_20910
0 No response
1 Fault > CiA402
2 Warning
0x2C56 Number of the absolute ascertainable revolutions of Is set by the firmware according to the available version:
load encoder/master encoder • 0: no absolute value encoder (sin/cos encoder) or resolver with num-
• Read only ber of pole pairs > 1
• 1: Hiperface encoder SingleTurn or resolver with number of pole
pairs = 1
• > 1: Hiperface encoder Multi Turn
0x2C57 Open circuit detection sensitivity of load encoder/ The sensitivity can be reduced by percentage, e. g. in case of EMC inter-
master encoder ferences.
1 ... [100] ... 100 %
0x2E00:041 Set position for load encoder
0 Off
1 On
0x60E6:001 Additional position encoder resolution - encoder Setting the number of bits to be used for resolving a mechanical revolu-
increments: Load encoder/master encoder - number tion of the secondary feedback system.
of increments
• Setting can only be changed if the inverter is inhibi-
ted.
65536 16 Bit
262144 18 Bit
1048576 20 Bit
4194304 22 Bit
16777216 24 Bit
67108864 26 Bit
268435456 28 Bit
1073741824 30 Bit
0x60EB:001 Additional position encoder resolution - motor revolu- Setting of the number of revolutions of the secondary feedback system.
tions: Load encoder/master encoder - resolution of Only setting "1" is accepted.
motor revolutions
1 ... [1] ... 1
• Setting can only be changed if the inverter is inhibi-
ted.

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Resolver settings

12.2.2 Resolver settings

Resolvers with a number of pole pairs > 1 are not absolute value encoders.
Bit 10 in (Lenze status word 2) therefore remains set to "0".
The "distinguishable revolutions" specification in 0x2C56 is also set to "0".

Parameter
Address Name / setting range / [default setting] Info
0x2822:029 Axis commands: Get load encoder/master encoder Definition of the resolver characteristic for application feedback.
characteristic (resolver)
0 Off / ready Only status feedback
1 On / start Execute device command
2 In progress Only status feedback
3 Action cancelled
4 No access
5 No access (Inverter disabled)
0x2C53 Load encoder/master encoder resolver number of Setting of the number of pole pairs.
pole pairs
1 ... [1] ... 1
• Setting can only be changed if the inverter is inhibi-
ted.

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Resolver settings

12.2.2.1 Resolver error compensation

The actual position detected by the resolver is not exactly the same as the real physical posi-
tion. There are always deviations to a lesser or greater extent.
An identification run of the resolver automatically generates the adjustment values required
for compensation of the resolver error.
The values calculated have a counteractive corrective effect on the underlying cause in the
following parameters:
Cause Remedy
Sine and cosine track do not magnetise orthogonally to each other. 0x2C44:001
Correction of the angle by means of which the two resolver tracks are
supplied in a manner relative to one another.
The inductances of the sine and cosine track of the resolver have slightly 0x2C44:002 and 0x2C44:003
different values. Adjusting the gains of the digital-analog converters which feed the
resolver tracks.

Conditions for executing the identification run

1. Mechanical motor / inverter connection
• If possible, execute the identification run before the motor is installed in the machine.
Bigger load changes at the motor may have a negative impact on the identification
result.
• Motor and resolver must be properly connected to the inverter.
• The motor must rotate freely.
2. Voltage supply of the inverter
• The inverter must be supplied with mains voltage. Check: 0x6041, bit 4 = TRUE.
• The control electronics must be supplied with voltage. For this purpose, some designs
require an external voltage source.
3. Correct setting of the following data in the »EASY Starter« engineering tool:
• Number of resolver pole pairs (0x2C43)
• Speed-controlled or position-controlled motor in servo control
4. The inverter must be connected "online" to the engineering tool.
Possible responses during the execution
• The identification method can cause an uneven motor running during the identification.
• The direction of rotation can change.
This does not have a negative impact on the quality of the identification. In this case, the
inverter automatically interrupts the identification run and automatically continues it if a
constant speed is reached again.
• If the motor already installed in the machine does not have sufficient range in one direc-
tion for executing the identification run, you can also reverse the driving direction while
the identification is active. In this case, the identification automatically switches to the
"Identification temporarily interrupted ". The status is deactivated as soon as a constant
speed has been reached again.

In the event of an interruption, the identification run is stopped. An error mes-

sage is displayed.
If 0 % is set, the gain of the respective resolver track is only 95 % of the Lenze
setting.
The detected gain can assume values in the range of 0 ... 100 %.
In case of a successful resolver error compensation, only one of the two gains is
adjusted. The other value remains at 100 %.

How to run an identification

If possible, execute the identification run before the motor is installed in the
machine. If relatively big load changes occur in the kinematics to be moved, this
may have a negative impact on the result of the identification run.

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Resolver settings

1. Initiate an identification run with parameter 0x2822:025.

2. Enable inverter.
The identification run is in standby mode.
3. Enter a constant speed between n = 500 rpm and n = 3000 rpm.
The identification run is started automatically after the drive has reached a constant speed
and maintains it over the time defined in .
This speed is saved for the identification run. In order that the identification run can be
continued again, e.g. after an interruption, the drive must be operated again with this
speed.
End of the identification run
After the resolver error identification has been executed successfully, the parameters
0x2C44:001 ... 0x2C44:003 are written automatically. The resolver now works with these
settings.
Short-time interruption of the identification run
A short-time interruption, e.g. by removing the controller enable, does not stop the meas-
urement. It is continued after the controller is enabled anew. For the duration of the inter-
ruption, the following status message is displayed: "Identification interrupted temporarily")
Abort of the identification run
The measurement is aborted if the controller inhibit persists or after the time-out time has
elapsed. A time-out error is output for the identification run (see error messages in the log-
book).
4. If the measurement was successful, the motor can be stopped
5. At the end of the procedure, save the changed parameters 0x2C44:001 ... 0x2C44:003 in the
inverter.
»EASY Starter« can be used to save the inverter parameter settings, see 4Saving the parame-
ter settings. ^ 36

Deactivating the resolver error compensation

For deactivating the resolver error compensation, the respective parameters must be reset
again to the Lenze setting.
Parameter
Address Name / setting range / [default setting] Info
0x2C54:001 Load encoder/master encoder identification Setting of the angle to the resolver error compensation.
(Resolver): Angle
-100 ... [0] ... 100
0x2C54:002 Load encoder/master encoder identification Setting of the gain of the cosine track to the resolver error compensa-
(Resolver): Cosine track gain tion.
0 ... [100] ... 100 %
0x2C54:003 Load encoder/master encoder identification Setting of the gain of the sine track to the resolver error compensation.
(Resolver): Sine track gain
0 ... [100] ... 100 %

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Resolver settings

Address Name / setting range / [default setting] Info

0x2C54:006 Load encoder/master encoder identification Display of the resolver identification status.
(Resolver): Identification status
• Read only
Bit 0 Identification activated TRUE if:
• Identification has been started.
• Controller enable is active.
FALSE if:
• Identification has been aborted or completed successfully.
• A timeout error is active.
• The 24V supply has been switched on and default settings are loaded.
Bit 1 Constant speed detected TRUE if:
• A constant motor speed has been detected.
FALSE if:
• Identification has been aborted or completed successfully.
• A timeout error is active.
• The 24V supply has been switched on and default settings are loaded.
Bit 2 Identification is running TRUE if:
• Identification is running.
FALSE if:
• The motor speed has fallen below the minimum speed of 500 rpm.
• The identification process has been aborted temporarily and is on
standby.
Bit 3 Identification successful TRUE if:
• Identification has been completed successfully.
FALSE if:
• The identification is not completed yet after default settings were loa-
ded.
Bit 4 Identification failed TRUE if:
• A timeout error has occurred.
FALSE if:
• Identification has been completed successfully.

12.2.3 Encoder settings

In general, an encoder is a measuring system which serves to detect the velocity/speed and
possibly the position of a kinematics or motor.
Details

If a resolver variant is to be plugged into the respective slot of the inverter as a

feedback system, the parameters in this section have no function.

Generally, an encoder can be used for a variety of tasks:

• As setpoint encoder for defining a speed / frequency setpoint.
• As setpoint encoder for defining a position setpoint.
• As setpoint encoder for defining a setpoint for the process controller.
• As actual value encoder for feeding back the variable for the process controller.
• As kinematics encoder (feedback system).
Parameter
Address Name / setting range / [default setting] Info
0x2C50 Load encoder/master encoder type Selection of the encoder type.
• Setting can only be changed if the inverter is inhibi-
ted.
1 SinCos encoder
2 Hiperface absolute value encoder
5 SSI encoder
0x2C52:001 Load encoder/master encoder settings (encoder): Setting of the encoder number of increments (according to manufac-
Increments/revolution turer data/encoder data sheet).
1 ... [1024] ... 131072
• Setting can only be changed if the inverter is inhibi-
ted.

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Encoder settings

Address Name / setting range / [default setting] Info

0x2C52:002 Load encoder/master encoder settings (encoder): Setting of the supply voltage.
Supply voltage
5.0 ... [5.0] ... 12.0 V
• Setting can only be changed if the inverter is inhibi-
ted.

12.2.3.1 SinCos encoder

The following SinCos encoder types without HIPERFACE® protocol are supported by the inver-
ter:
Type Increments/revolution Absolute revolutions
IG1024-5V-V3 (RVS58S) 1024 0
IG2048-5V-S (ITD22) 2048 0
IG2048-5V-S 2048 0

12.2.3.2 SinCos absolute value encoder with HIPERFACE® protocol

The following SinCos encoder types with HIPERFACE® protocol are supported by the inverter:
Type Increments/revolution Absolute revolutions Type code
0x2C41:001
AM1024-8V-H (SRM50) 1024 4096 39
AM1024-8V-H (SFM60) 1024 (Multiturn) 39
AM1024-8V-K2 (SRM50S) 1024 39
AM128-8V-H (SKM36) 128 55
AM16-8V-H (SEL37) 16 71
AM16-8V-H (SEL52) 16 71
AM512-8V-H (SCM70) 512 7
AS1024-8V-H (SRS50) 1024 4096 34
AS1024-8V-K2 (SRS50S) 1024 (Single-turn) 34
AS16-8V-H (SEK37) 16 66
AS16-8V-H (SEK52) 16 66
AS512-8V-H (SCS70) 512 2

Use of non-supported encoder types

If the type code of the encoder used is not listed in the table of supported encoder types, this
encoder can be introduced to the inverter via two parameters. 40x2C51:002 40x2C51:003

In this context, please also observe the information provided in the parameter
description 0x2C41:008.

Parameter
Address Name / setting range / [default setting] Info
0x2822:030 Axis commands: Get load encoder/master encoder Obtain Hiperface information from the encoder for application feedback.
information (Hiperface)
0 Off/Ready
1 On/Start
2 In process
3 Action cancelled
4 No access
5 No access (controller inhibit)
0x2C51:001 Hiperface load encoder/master encoder settings: Type Type code read out of the encoder.
code detected This value is "0" if ...
• Read only • a sin/cos encoder is set (0x2C50 = 2);
• a communication error has occurred.
0x2C51:002 Hiperface load encoder/master encoder settings: Type Manual setting of the encoder type code (display in 0x2C51:001).
code manual input
0 ... [0] ... 255
• Setting can only be changed if the inverter is inhibi-
ted.

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Encoder settings

Address Name / setting range / [default setting] Info

0x2C51:003 Hiperface load encoder/master encoder settings: No. Manual setting of the number of distinguishable revolutions.
of periods manual input
1 ... [1] ... 65535
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C51:004 Hiperface load encoder/master encoder settings: Selection of the response for communication errors or in the event of an
Error response unknown encoder.
Associated error codes:
• 29570 | 0x7382 - RANLI_CIMES_1000_20911
• 29571 | 0x7383 - RANLI_CIMES_1000_20912
• 65306 | 0xFF1A - RANLI_CIMES_1000_20913
0 No response
1 Fault > CiA402
2 Warning
0x2C51:005 Hiperface load encoder/master encoder settings: The displayed serial number can be used for identifying an encoder
Serial number change.
• Read only
0x2C51:006 Hiperface load encoder/master encoder settings: The encoder-internal position value is output without being converted.
Actual position (raw data)
• Read only
0x2C51:007 Hiperface load encoder/master encoder settings: No. Display of the encoder increment according to encoder nameplate or
of periods detected type code.
• Read only
0x2C51:008 Hiperface load encoder/master encoder settings: Type If an encoder is connected that is not supported by the firmware, it will
code verification be displayed here.
• Read only In this case, the same response takes place as in case of a communica-
tion error. The error can be removed by manually setting the type code
in 0x2C51:002. This serves to signalise to the firmware that the number
of distinguishable revolutions is as well set correctly in 0x2C51:003 by
the user.
0 Unknown - manual data input In this case, the same response takes place as in case of a communica-
1 Known - parameterisation ok tion error. The error can be removed by manually setting the type code
in 0x2C51:002. This serves to signalise to the firmware that the number
of distinguishable revolutions is as well set correctly in 0x2C51:003 by
the user.
0x2C51:009 Hiperface load encoder/master encoder settings: Display of the detected encoder type (rotary/linear).
Encoder type
• Read only
0 Rotative encoder
1 Linear encoder
0x2C51:010 Hiperface load encoder/master encoder settings: No. Display of the period length of the linear encoder.
of periods linear encoder
• Read only: x nm

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Encoder settings

12.2.3.3 SSI encoder

SSI absolute value encoders (Synchronous Serial Interface) generate the angle information via
optical scanning of a code disc (e.g. Gray code). Every (absolute) angle position of the encoder
corresponds to a uniquely identifiable code pattern.
All encoders that use the Stegemann SSI protocol are supported:
• Supported bit rates for SSI communication: 150 ... 1000 kbits
• Supported data word widths: 1 ... 31 bits (effective)
• Supported output code of the SSI encoder: Gray or binary
• Cycle time: 62.5 µs, 125 µs and 250 µs .
• Encoder supply: U < 12 V, I ≤ 0.25 A
How to parameterise the SSI encoder:

1. Set the supply voltage of the SSI encoder used in 0x2C52:002.

2. Set selection "5: SSI encoder" as the encoder type in 0x2C50.
3. Set the transmission rate for SSI communication in 0x2C5A:001.
With the SSI protocol, the permissible transmission rate decreases as the cable lengths
increase. A safe transmission rate must be set according to the length of the encoder cable
used and the electromagnetic interference level.
4. Set the telegram length in 0x2C5A:002.
The telegram length reflects the number of data bits used for transmission of a complete SSI
data packet.
5. Break the received SSI data word down into partwords and, if necessary, activate data con-
version of Gray into binary code.

Parameter
Address Name / setting range / [default setting] Info
0x2C5A:001 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Über- To enable a stable transmission rate, the length of the encoder cable
tragungsrate used and any electromagnetic interference levels must be taken into
150 ... [300] ... 1000 kbps account when setting the value.
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C5A:002 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Tele- The set value specifies the number of data bits which are transmitted as
grammlänge a complete SSI data packet.
1 ... [25] ... 31
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C5A:003 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Bits/ Resolution of the encoder.
Umdrehung For example, the resolution for the preset value is "13":
1 ... [13] ... 31 213 = 8196 (bits/revolution).
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C5A:004 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Start- Indicates the position in the telegram where the position data word
bit Positionsdaten begins.
0 ... [0] ... 30
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C5A:005 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Start- Indicates the position in the telegram where data packet 1 begins.
bit Datenpaket 1
0 ... [0] ... 30
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C5A:006 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Start- Indicates the position in the telegram where data packet 2 begins.
bit Datenpaket 2
0 ... [0] ... 30
• Setting can only be changed if the inverter is inhibi-
ted.

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Encoder settings

Address Name / setting range / [default setting] Info

0x2C5A:007 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Start- Indicates the position in the telegram where data packet 3 begins.
bit Datenpaket 3
0 ... [0] ... 30
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C5A:008 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Länge SSI position data length
Positionsdaten
0 ... [25] ... 30
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C5A:009 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Länge Length of data packet 1.
Datenpaket 1
0 ... [0] ... 30
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C5A:010 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Länge Length of data packet 2.
Datenpaket 2
0 ... [0] ... 30
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C5A:011 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Länge Length of data packet 3.
Datenpaket 3
0 ... [0] ... 30
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C5A:012 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Codier- Coding of position data word (read only).
ung Positionsdaten If a value of "0" is set for the position data length in 0x2C4A:008, then
• Setting can only be changed if the inverter is inhibi- the value displayed for this parameter is also "0".
ted.
0 Binär
1 Gray
0x2C5A:013 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Codier- Coding of data packet 1
ung Datenpaket 1
• Setting can only be changed if the inverter is inhibi-
ted.
0 Binär
1 Gray
0x2C5A:014 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Codier- Coding of data packet 2
ung Datenpaket 2
• Setting can only be changed if the inverter is inhibi-
ted.
0 Binär
1 Gray
0x2C5A:015 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Codier- Coding of data packet 3
ung Datenpaket 3
• Setting can only be changed if the inverter is inhibi-
ted.
0 Binär
1 Gray
0x2C5A:016 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Roh- Raw value of position data word (read only).
daten Position If a value of "0" is set for the position data length in 0x2C4A:008 , then
• Read only the value displayed for this parameter is also "0".
0x2C5A:017 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Roh- Raw value of data packet 1 (read only).
daten Datenpaket 1 If a value of "0" is set for the data packet length 1 in 0x2C4A:013 , then
• Read only the value displayed for this parameter is also "0".
0x2C5A:018 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Roh- Raw value of data packet 2 (read only).
daten Datenpaket 2 If a value of "0" is set for the data packet length 2 in 0x2C4A:014 , then
• Read only the value displayed for this parameter is also "0".
0x2C5A:019 Protokoll-Parameter Lastgeber/Leitgeber (SSI): Roh- Raw value of data packet 3 (read only).
daten Datenpaket 3 If a value of "0" is set for the data packet length 3 in 0x2C4A:015 , then
• Read only the value displayed for this parameter is also "0".

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Encoder settings

12.2.3.4 Evaluation of the signal quality

Signal quality
The signal quality is evaluated by the parameter 0x2C52:004, which serves to monitor the ini-
tial reading and setting of the position.
If a transmission error occurs
• the current angular drift is marked as invalid in the parameter , bit 9.
• the inverter keeps its operating status.
Angular drift

Communication with the encoder is no longer monitored during the angular

drift determination.

The value displayed in 0x2C52:003 is determined in different ways depending on the encoder
type:
• Determination of the current angular drift for the sin/cos encoder
In the case of an incremental SinCos encoder, the pulses between two zero pulse events of
the Z-track are counted. Assuming that there are no faults, this value corresponds to the
set number of increments. The accuracy of this process corresponds to ± 1 increment grad-
uation of the encoder, with the difference between the set number of increments and the
counted pulses being converted to an angle with an accuracy of ±0.1°. The disadvantage is
that an updated angular drift value only becomes available at the end of a complete
encoder revolution. In turn, this means that the update rate depends on the speed.
• Determination of the current angular drift for the SinCos-Hiperface® absolute value
encoder
In the case of a SinCos absolute value encoder with HIPERFACE® protocol, no Z-track is
available; instead, the position is regularly read out of the encoder. When the first encoder
read-out operation is performed (after power-up or elimination of wire breakage), the
encoder position is used to initialise the internal device counter unit and to set an internal
device position. All other read-out processes from the encoder are used to generate a dif-
ference between the internal device position and the encoder position. Assuming that
there are no faults, the difference is zero. However, the dead time of the communication
with the encoder means that the accuracy of the process is dependent on the speed and
therefore restricted compared to the zero pulse process. However, the advantage is that
the update rate does not depend on the speed, but is instead only determined by the com-
munication rate. The update rate is encoder-specific and is generally in the range between
30 ... 50 ms.
Parameter
Address Name / setting range / [default setting] Info
0x2C52:003 Load encoder/master encoder settings (encoder): Display of the angular drift of the current angle error.
Angle drift
• Read only: x.x °
0x2C52:004 Load encoder/master encoder settings (encoder): The signal quality indicates the actual amplitude of the SinCos analog
Actual amplitude signal quality signals with regard to 1 Vss = 100 %.
• Read only: x % • The signal quality should be between 95 ... 105 %.
• There is no need for optimisation if the signal quality is within the tol-
erance zone for the analog encoder signals given in the data sheet of
the encoder manufacturer.

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Diagnostics

12.2.4 Detection of changed settings of the feedback system

Bit 0 of status word 2 indicates whether the settings of the feedback system have been
changed since leaving the Not ready to start state. If a change has been made, bit 0 is set to
value "1".
During the transition to the Operation enabled state, bit 0 is reset to value "0".
In all device states, changes to the following parameters continue to be monitored.
Relevant parameters of other functions
Address Designation Default setting Setting range
0x2C50 Load encoder/master encoder type SinCos encoder [1] Selection list
0x2C51:002 Hiperface load encoder/master encoder settings: Type 0 0 ... 255
code manual input
0x2C51:003 Hiperface load encoder/master encoder settings: No. 1 1 ... 65535
of periods manual input
0x2C51:005 Hiperface load encoder/master encoder settings: - (Read only)
Serial number
0x2C52:001 Load encoder/master encoder settings (encoder): 1024 1 ... 131072
Increments/revolution
0x608F:001 Position encoder resolution : Encoder increments 16 bit [65536] Selection list
0x608F:002 Position encoder resolution : Motor revolutions 1 1 ... 1

12.2.5 Diagnostics
Parameter
Address Name / setting range / [default setting] Info
0x2C56 Number of the absolute ascertainable revolutions of Is set by the firmware according to the available version:
load encoder/master encoder • 0: no absolute value encoder (sin/cos encoder) or resolver with num-
• Read only ber of pole pairs > 1
• 1: Hiperface encoder SingleTurn or resolver with number of pole
pairs = 1
• > 1: Hiperface encoder Multi Turn
0x2C5F Parameter CRC of load encoder/master encoder Display of the cyclic redundancy check (CRC) of selected encoder param-
• Read only eters to detect changes in the feedback settings.
0x2DDF:006 Axis information: Load encoder/master encoder Display of the supported feedback system for the application.
• Read only Cannot be used as motor feedback.
0 Produktdefiniert
1 Kein Geber
2 Resolver
3 SinCos-Geber oder Hiperface-Absolutwert-
geber
0x60E4:001 Additional position actual value: Load encoder/master Display of the actual position of the secondary feedback system.
encoder - actual position
• Read only: x pos. unit
0x60E5:001 Additional velocity actual value: Load encoder/master Display of the actual velocity of the secondary feedback system.
encoder - actual speed
• Read only: rpm

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Configuring the feedback system
Encoder: Evaluation of safely speed and position

12.3 Encoder: Evaluation of safely speed and position

Parameter
Address Name / setting range / [default setting] Info
0x2878:001 Motor encoder: Motor encoder system
• Read only
0 No motor encoder
1 SinCos encoder
2 Resolver
0x2878:002 Motor encoder: SinCos encoder increments
• Read only
0x2878:003 Motor encoder: Number of resolver pole pairs
• Read only
0x2879:001 Mechanical data: Motor mounting direction
• Read only
0 Clockwise rotating motor
1 Counter-clockwise rotating motor
0x287A:001 Load encoder: Load encoder system
• Read only
0 No load encoder
1 Analog encoder
2 Digital encoder
0x287A:003 Load encoder: Load encoder gearbox factor numera-
tor
• Read only
0x287A:004 Load encoder: Load encoder gearbox factor denomi-
nator
• Read only
0x287A:005 Load encoder: Load encoder mounting direction
• Read only
0 Same as motor encoder
1 Inverse to motor encoder
0x287A:006 Load encoder: Load encoder position
-2147483648 ... [0] ... 2147483647
0x287A:007 Load encoder: Status of load encoder position
0 Invalid
1 Valid
0x287B:001 Velocity monitoring: Tolerance window (n=0)
• Read only: x rpm
0x287B:002 Velocity monitoring: Velocity comparison tolerance
• Read only: x rpm
0x287B:003 Velocity monitoring: Actual velocity n_safe
• Read only: x rpm
0x287B:004 Velocity monitoring: Internal actual velocity nSD
• Read only: x rpm
0x287B:005 Velocity monitoring: Internal actual velocity nBD
• Read only: x rpm
0x287B:006 Velocity monitoring: Actual velocity difference nSD-
nBD
• Read only: x rpm
0x287C:001 Position monitoring: Position comparison tolerance
• Read only
0x287C:002 Position monitoring: Actual Position p_safe
• Read only
0x287C:003 Position monitoring: Internal actual position pSD
• Read only
0x287C:004 Position monitoring: Internal actual position pBD
• Read only
0x287C:005 Position monitoring: Current pos. difference pSD-pBD
• Read only

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Synchronous motor: Pole position identification (PPI)

12.4 Synchronous motor: Pole position identification (PPI)

For controlling a permanent-magnet synchronous motor, the pole position - the angle
between the motor phase U and the field axis of the rotor - must be known.
• For Lenze motors with absolute value encoder or resolver, the pole position has already
been set correctly.
• When incremental encoders are used (TTL or sin/cos encoders without absolute position
information), a pole position identification (PPI) is always required. This also applies to
Lenze motors.

NOTICE
The pole position identification (PPI) must only be executed
▶ for servo control with a synchronous motor of an original equipment manufacturer.
▶ for servo control with a synchronous motor and incremental encoders (TTL or sin/cos
encoder).
▶ after changes to the motor feedback system, e.g. feedback replacement.

The parameter settings for pole position identification are accessed in »EASY Starter« via the
following path:
• Settings tab
• Basic setting \ Motor feedback (A)
Three different identification methods are offered here:
• 360° electrical
• With min. movement
• Without movement
The criteria for selecting the most suitable identification method are presented below.
Selection criteria for using the suitable pole position identification
For identifying the pole position for the currently activated feedback, the following functions
are available which all provide almost the same result. Due to e.g. friction, bearing forces and
a trapezoidal field pattern, the results may differ from each other.
4Pole position identification (PPI) 360° ^ 227
• The motor must not be braked, blocked or mechanically driven during the pole position
identification! This function must not be used for hanging loads!
• Especially in case of idling drives or drives with a low load (inertia / friction), this function
delivers the most accurate results.

4Pole position identification (PPI) with minimum movement ^ 231

• The motor must not be braked, blocked or driven during the pole position identification!
Thus, this function must not be used for hanging loads!
• Regarding the accuracy, this function is in the middle range. A percentage increase of the
current amplitude can enhance the accuracy of the results if required.

4Pole position identification (PPI) without movement ^ 234

• In case of stalled motors (e.g. with hanging loads), only this function shall be used!
• This function was developed for a wide range of motor characteristics. In case of some
motor types, however, the identified pole position angle may differ considerably from the
real pole position angle, so that a considerable loss in torque and greater motor losses may
occur. Thus, especially when using third-party motors, we recommend the execution of a
reference identification with an idling motor4Pole position identification (PPI) 360° .
^ 227

If the identified values of both processes differ from each other by more than 20°, please
contact Lenze.

Detailed information on the respective function can be found in the following subchapters.

225
Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Monitoring the pole position identification

12.4.1 Monitoring the pole position identification

If an error occurs during the pole position identification or if the pulse inhibit gets active (e.g.
due to a short-time undervoltage), the process is stopped with disabling the inverter without
the settings being changed.
If the motor was braked or blocked during the process, this will be detected at the end of the
measurement and no change will be made (exception: "pole position identification PLI (with-
out movement)").
The error response can be parameterised:
If an error occurs during the pole position identification,
• the procedure is stopped without the settings being changed.
• the response set in 0x2C60 is effected.
Parameter
Address Name / setting range / [default setting] Info
0x2C60 PPI monitoring: Reaction Selection of the response triggered by the occurrence of an error during
the pole position identification (PLI).
Associated error codes:
• 65284 | 0xFF04 - RANLI_CIMES_1000_20880
• 65299 | 0xFF13 - RANLI_CIMES_1000_15967
0 No response
1 Fault > CiA402
2 Warning

226
 Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) 360°

12.4.2 Pole position identification (PPI) 360°

DANGER!
Mechanical damage of the motor caused by hanging loads!
The motor may be permanently damaged.
▶ The motor must not be braked or blocked during the pole position identification. Thus, this
function must not be used for hanging loads!

NOTICE
Thermal overload of the motor!
The motor may be permanently damaged.
▶ Before executing the pole position identification, check that the following monitoring sys-
tems are parameterised correctly.
▶ Motor overload monitoring (i²*t)
▶ Overcurrent monitoring

NOTICE
▶ Please observe the following: Synchronous motor: Pole position identification (PPI)

Functional description

90°
d β 112.5° q β 67.5°
45° 135° 45°
157.5° 22.5°

0° α 180° 0° α, d
q 202.5° 337.5°

225° 315°
247.5° 270° 292.5°

227
Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) 360°

If the servo control is set for synchronous motor and no error is pending, the current is first
raised in a ramp-shaped manner to 141 % of the rated motor current after the inverter is ena-
bled.

Left image
First, the rotor is moved from any position of rest to the 0° angle.
• For this purpose, the amplitude of the d current vector is created in the stator coordinate
system at a starting angle of 45° and then turned to 0°.
• A sufficiently high amplitude of the d current vector and its rotary motion result in a mag-
netic force that moves the rotor to the angle 0°.

Right image
Afterwards, the d current vector is turned further in 15 steps by 22.5° each starting at the
angle 0°.
• Due to the magnetic forces, the rotor adjusts to the respective angle.
• After 16 steps, the rotor has moved by absolute electrical 360°.
Result
For determining the pole position, a mean value is calculated from all 16 messages. The rotor
displacement angle can be recorded via the 0x2DDE parameter (actual motor rotor angle posi-
tion). The detected pole position is stored in the inverter parameters ,
0x2C03:0020x2C03:004. The detected pole position must then be saved.

Abort of the pole position identification

The pole position identification is aborted if the deviations between the rotary motion of the
current vector and the rotor exceed the fault tolerance set in 0x2C41:004 (check if parameter
is available).
Preconditions for the performance
• The motor must not be braked or blocked during the pole position identification.
• The servo inverter is error-free and in Switched on device state.
Response of the motor during performance
The rotor aligns during the pole position identification. The motor shaft moves by max. one
electrical revolution which causes a corresponding movement of the connected mechanics!

How to execute the pole position identification PLI (360°):

1. If the servo inverter is enabled, disable it.Enable operation
2. Set the object 0x2825 to "5" to change to the "pole position identification PLI (360°)" oper-
ating mode.
3. Before the PLI can be started, the works mentioned below must be completed.
4. Enable the servo inverter to start the pole position identification (360°). Note: Inhibiting the
controller serves to abort the started procedure any time if required without changing the
settings.

After the pole position identification has been completed successfully...

...the controller is inhibited automatically and the pole position determined for the activated
feedback system is set in the 0x2C03:002 object.
• Save the changed settings.
The »EASY Starter« serves to save the parameter settings of the servo inverter as parame-
ter file (*.gdc). Saving the parameter settings
• The inverter disable set automatically by the procedure can be deactivated again via the
CiA402 control word 0x6040. Enable operation

228
 Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) 360°

Adapt pole position identification PLI (360°)

① ② ③

1
0
❷
❸
❹

RFR
IMP
t [s]
Fig. 66: Chronological sequence of the pole position identification

In case of drives with a high static friction, mass inertia or alternating load, an optimisation
may be necessary:
• The amplitude of the current vector must be set so high that the motor with a high mass
inertia can be accelerated.
• The cyclic continued rotation of the current vector by 22.5° has to cause an equivalent
angular rotation of the motor shaft (rotor). A step function has to be achieved. Here,
actual positions with very low overshoots are visible.

NOTICE
Thermal overload of the motor!
The motor may be permanently damaged.
▶ If no temperature monitoring is available in the motor, and/or the I²xt motor monitoring
and the maximum current monitoring are not parameterised correctly, the motor can be
permanently damaged if the current amplitude is set too high!
▶ Motor overload monitoring (i²*t)
▶ Overcurrent monitoring

Overview of more objects available for

• Identification
• Triggering
• Diagnostics
Tip!
An oscilloscope serves to execute the optimisation

229
Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) 360°

Parameter Subindex Value/unit INFO

0x2825 0 CiA402 mode active [0] Operating modes [5] for PLI 360°
0x2824 0 Activate [1]
0x6040 0 0x0000 Simulation of the CiA state machine
0x2823 0 100 Progress bar
0x2C61:001 1 100 % PLI(360°) current amplitude
0x2C61:002 2 40 s PLI(360°) ramp time
0x2C61:003 3 Field: clockwise [0] PLI(360°) direction of rotation
0x2C61:004 4 20° PLI(360°) fault tolerance
0x2C61:005 5 4.81 A Display
0x2C03:002 2 -90.0° Detected pole position values
0x2C03:004 4 0.0°
0x2DDE 0 1850 current rotor angle
2 0.03 A Phase U current
3 0.04 A Phase V current
4 -0.01 A Phase W current
3 0.00 A Setpoint D current
1 0.01 A Current D current
0x6073 0 150.0 % Max current
0x6075 0 3.400 A Motor rated current, reference for
0x2C61:1
0x2D46:001 1 16.5 A Overcurrent monitoring: threshold
1 5.00 A User info regarding rated current
2 10.00 A User info regarding maximum cur-
rent

Parameter
Address Name / setting range / [default setting] Info
0x2C61:001 Pole position identification (360°) settings: Current Percentage adaptation of the current amplitude.
amplitude • For large machines and high mass inertia values or for linear direct
1 ... [100] ... 1000 % drives, the current amplitude usually must be increased.
• Setting can only be changed if the inverter is inhibi- • Default setting 100 % ≡ 141 % of Motor rated current (0x6075)
ted.
Note!
If the current amplitude is set to > 100 %, the device utilisation (Ixt)
monitoring and/or one of the motor monitoring functions may respond
and cause the abort of the pole position identification.
0x2C61:002 Pole position identification (360°) settings: Ramp time Percentage adaptation of the ramp time.
1 ... [40] ... 600 s • For large machines and high mass inertia values, the ramp time must
• Setting can only be changed if the inverter is inhibi- be increased.
ted. • For small machines, however, the pole position identification can be
accelerated by reducing the ramp time.
0x2C61:003 Pole position identification (360°) settings: Direction Selection of travel direction.
of rotation In some situations, it may be helpful to reverse the travel direction for
• Setting can only be changed if the inverter is inhibi- the pole position identification (e. g. for linear motor at the end stop).
ted.
0 CW
1 Drehfeldrichtung
0x2C61:004 Pole position identification (360°) settings: Error toler- Setting of the fault tolerance for the plausibility check.
ance • If the rotor position detected via the encoder system is not within the
15 ... [20] ... 50 ° tolerance zone around the position that is output in a controlled man-
ner, the pole position identification is aborted and the parameterised
error response is tripped.
0x2C61:005 Pole position identification (360°) settings: Absolute Display of the absolute current amplitude.
current amplitude
• Read only: x.xx A

230
 Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) with minimum movement

12.4.3 Pole position identification (PPI) with minimum movement

DANGER!
Mechanical damage of the motor caused by hanging loads!
The motor may be permanently damaged.
▶ The motor must not be braked or blocked during the pole position identification. Thus, this
function must not be used for hanging loads!

NOTICE
Thermal overload of the motor!
The motor may be permanently damaged.
▶ Before executing the pole position identification, check that the following monitoring sys-
tems are parameterised correctly in order to prevent a permanent damage of the motor in
the event of an error:
▶ 4Motor overload monitoring (i²*t) ^ 288
▶ Overcurrent monitoring

Functional description
If servo control for synchronous motor is set and if no error is pending, the current position is
memorised after controller enable, and the current is increased along a ramp for 10 s to 35 %
of the rated motor current. This will cause the rotor to align, which, however, is compensated
by a position control. If the rotor makes an electrical movement of more than 20°, an error
message is output, and the value measured is discarded. This might occur in the case of
motors with considerable detent torques.
If the current has reached its final value, a plausibility check is executed after a short interval:
in order to detect a non-permissible blocking of the motor, a positive and a negative test angle
(± 20°) relative to the current position are defined after the identification. The motor must
align itself to these two test angles within a tolerance of 25 %.
Conditions for the execution
• The motor must not be braked or blocked during the pole position identification.
• The servo inverter is error-free and in Switched on device state.
Response of the motor during performance
The motion of the motor will maximally correspond to the set "Max. permissible motion"
(Lenze setting: 20°). If a greater motion is detected via the encoder system, the pole position
identification is cancelled and the parameterised error response (Lenze setting: Fault) is trig-
gered.
How to execute the pole position identification PLI (min. movement):
1. If the servo inverter is enabled, disable it.Enable operation
2. Set the object 0x2825 to "6" to change to the "pole position identification PLI (min. move-
ment)" operating mode.
3. Enable the servo inverter to start the process.
Note: Inhibiting the controller serves to abort the started procedure any time if required
without changing the settings.

231
Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) with minimum movement

After the pole position identification has been completed successfully...

...the controller is inhibited automatically and the pole position determined for the activated
feedback system is set in the 0x2C03:002 object.
• Save the changed settings.
The »EASY Starter« serves to save the parameter settings of the servo inverter as parame-
ter file (*.gdc). This file can then be imported in the »PLC Designer«. Saving the parameter
settings
• The inverter disable set automatically by the procedure can be deactivated again via the
CiA402 control word 0x6040. Enable operation
Adapt pole position identification PLI (min. movement)
The process of pole position identification described above can be adapted to the respective
machine and the existing moments of inertia by using the parameters described in the follow-
ing.

NOTICE
Thermal overload of the motor!
The motor may be permanently damaged.
▶ If no temperature monitoring is available in the motor, and/or the I²xt motor monitoring
and the maximum current monitoring are not parameterised correctly, the motor can be
permanently damaged if the current amplitude is set too high!
▶ Motor overload monitoring (i²*t)
▶ Overcurrent monitoring

Parameter
Address Name / setting range / [default setting] Info
0x2C62:001 Pole position identification (min. movement) settings: Percentage adaptation of the current amplitude.
Current amplitude • For large machines, high mass inertia values or for linear direct drives,
1 ... [25] ... 1000 % the current amplitude usually must be increased.
• Setting can only be changed if the inverter is inhibi- • Default setting 25 % ≡ 35 % of Motor rated current (0x6075)
ted.
Note!
If the current amplitude is set to > 100 %, the device utilisation (Ixt)
monitoring and/or one of the motor monitoring functions may respond
and cause the abort of the pole position identification.
0x2C62:002 Pole position identification (min. movement) settings: Percentage adaptation of the rate of current rise.
Ramp time
1 ... [10] ... 600 s
• Setting can only be changed if the inverter is inhibi-
ted.
0x2C62:003 Pole position identification (min. movement) settings: Adaptation of the proportional PI controller gain.
Gain With the Lenze setting "0 %",the PI controller works as an I controller.
0 ... [0] ... 1000 %
0x2C62:004 Pole position identification (min. movement) settings: Adaptation of the reset time of the PI controller.
Reset time • In order to be able to compensate a positional variation faster, first
0.1 ... [62.5] ... 6000.0 ms the reset time should be reduced. If this does not result in the desired
behaviour, the proportional gain can be increased.
• Ensure that the position control does not get unstable. We therefore
recommend you to use an I controller.
0x2C62:005 Pole position identification (min. movement) settings: Adaptation of the permitted movement.
Max. move permitted • The pole position identification comprises a monitoring function for
1 ... [20] ... 90 ° the follow-up control. If a movement greater than the permissible
movement set is detected by the encoder system, the pole position
identification is aborted and the error response parameterised is trip-
ped:
• In order to detect a non-permissible blocking of the machine, a posi-
tive and negative test angle relative to the current position are
defined after the identification. The machine must align itself to these
two test angles within a tolerance of 25 %. The size of the test angle
corresponds to the max. move permitted set here.

232
 Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) with minimum movement

Address Name / setting range / [default setting] Info

0x2C62:006 Pole position identification (min. movement) settings: Display of the absolute current amplitude.
Absolute current amplitude
• Read only: x.xx A

233
Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) without movement

12.4.4 Pole position identification (PPI) without movement

The PLI function can also be used if no motor revolution is possible (holding brake active).

NOTICE
With an incorrect parameter setting and dimensioning of the inverter, the maximum permissi-
ble motor current may be exceeded during the pole position identification.
Possible consequence: irreversible damage of the motor.
▶ Set the motor data correctly. 4Motor data ^ 38
▶ Only use an inverter that is performance-matched to the motor.

DANGER!
Uncontrolled acceleration of the motor!
Undefined state of the feedback system, caused by wire breakage!
▶ Each pole position identification causes an update of the pole position set in the device!
Therefore, ensure that the response to open circuit in the feedback system is set to Lenze
setting "1: Fault" in 0x2C45! Otherwise, the status of the feedback system in case of open
circuit is undefined and the pole position can assume any value. There is a danger that the
machine accelerates in an uncontrolled way after pole position identification!

NOTICE
Device state "switched-on"/"operation"
▶ The process of the pole position identification only lasts some milliseconds. During the pole
position identification, the device status does not change. Only after the pole position iden-
tification, the Operation enabled device status changes to the Operation enabled device
status.
▶ If pole position identification is started via parameter 0x2825, the inverter is automatically
disabled at the end of the pole position identification process.

Preconditions
• The wiring of the three motor phases and the motor encoder must be carried out accord-
ing to the specifications from the mounting instructions.
• The inverter is ready for operation (no fault active).
• For pole position identification (PPI) without movement, the motor must be at standstill.

NOTICE
▶ During the pole position identification, the error 0xFF13 ("identification cancelled") may
occur. This may be an indication that the motor features are not suitable for this PLI process.

Functional description
After inverter enable, a defined pulse pattern is output that provides currents up to approx.
maximum motor current. The respective currents are measured. Based on these currents, the
field distribution can be detected so that the pole position can be calculated. Then, the inver-
ter is automatically disabled.
The pole position identification PLI (without movement) does not need any parameterisation.

234
 Configuring the feedback system
Synchronous motor: Pole position identification (PPI)
Pole position identification (PPI) without movement

Preconditions for the performance

• The wiring of the three motor phases and the feedback must be carried out in accordance
with the specifications from the hardware manual.
• The motor may be stalled.
• The servo inverter is error-free and in Switched on device state.
• Please observe the notes in the Synchronous motor: Pole position identification (PPI)sec-
tion.
Response of the motor during performance
The current test pulses cause audible engine noises that may be increased by the machine
mechanics depending on the mechanical coupling!
How to execute the pole position identification PLI (without movement):
1. If the servo inverter is enabled, disable it.Enable operation
2. Set the object 0x2825 to "7" to change to the "pole position identification PLI (without
movement)" operating mode.
3. Enable the servo inverter to start the process.
Note: Inhibiting the controller serves to abort the started procedure any time if required
without changing the settings.
After the pole position identification has been completed successfully...
...the controller is inhibited automatically and the pole position determined for the activated
feedback system is set in the 0x2C03:002 object.
• For permanent storage, the changed settings from the servo inverter must be uploaded in
the Controller.
The »EASY Starter« serves to save the parameter settings of the servo inverter as parame-
ter file (*.gdc). Saving the parameter settings
• The inverter disable set automatically by the procedure can be deactivated again via the
CiA402 control word 0x6040. Enable operation
Optional settings (starting performance)
Optionally, a pole position identification without motion can be activated after switching on
the servo inverter.
Parameter
Address Name / setting range / [default setting] Info
0x2C63:001 PPI without movement: Execution Starting performance (with or without pole position identification before
• Setting can only be changed if the inverter is inhibi- the start).
ted.
0 Deactivated No pole position is identified.
1 Only after 1st enable/encoder error After the first controller enable and after each encoder wire breakage, a
PLI without movement takes place.
CAUTION!
After an encoder wire breakage, the drive may accelerate in an uncon-
trolled manner subsequent to the pole position identification.
• Cause: In case of a wire breakage, the feedback system state is unde-
fined and the pole position assumes any value.
• Remedy: Set the error response "Warning" (0x2C450x2C45 = 2) for an
encoder wire breakage in order that the pole position will be identi-
fied after a wire breakage.
2 After each enable After every inverter release, the pole position is identified without any
movement.

235
Configuring the motor control

13 Configuring the motor control

This chapter contains all functions and settings relevant for the motor control.
Basic procedure of commissioning the motor control
In the first step, the rated data of the motor must be set. The other steps depend on the
respective application case.
There are several options for setting the motor data and optimising the control loops. Basi-
cally, you can select between a manual and an automatic process. Whether a setting can be
applied or not depends on the motor (Lenze motor yes/no) and the application. If possible,
use the possible setting listed first in the following diagram since this one leads to the most
accurate results.

Setting of motor data Possible settings:

a) Using data from motor catalogue
b) Entering data manually (e.g. from the nameplate)

Motor control selection Options:

Servo control (SC-PSM) [1], Servo control(SC-ASM) [2],
V/f-control (open loop) [6]

Optimisation of motor control Parameterisable functions:

Current control, speed control, position control ,V/f voltage boost, skip frequencies, optimisation of the
stalling behaviour,

Possible settings:
Inverter characteristic a) Identifying data automatically (by inverter)
b) Loading preset inverter characteristics

Possible settings:
a) Identifying data automatically (by inverter)
Motor
equivalent circuit data b) Using data from the motor catalogue
c) Entering data manually

Possible settings:
Position controller / - Entering data manually
speed controller

Possible settings:
Current controller - Entering data manually

236
 Configuring the motor control
Servo control for synchronous motor (SC-PSM)
Required commissioning steps

13.1 Servo control for synchronous motor (SC-PSM)

The motor control is based on a feedback, field-oriented and cascaded controller structure
and enables a dynamic and stable operation in all four quadrants.
Preconditions
• The servo control (SC-PSM) is only suitable for synchronous motors.
• The servo control (SC-PSM) requires a feedback of the position.

13.1.1 Required commissioning steps

1. Check wiring by means of manual test modes: Testing the motor control ^ 301
2. Activate motor control type: 0x2C00 = "Servoregelung (SC-PSM) [1]".
3. Set motor data: Motor data ^ 38
4. Set motor monitoring:
• Motor temperature monitoring ^ 296
5. Configuring the feedback system ^ 199
6. Only required for motors of other manufacturers:
• Set and optimise current controller: Current controller ^ 267
• Correction of the stator leakage inductance (Lss)... ^ 275
• Synchronous motor: Pole position identification (PPI) ^ 225
7. Only required for an automatic calculation of the speed controller parameters:
• Define total moment of inertia: Tuning of the motor and the speed controller ^ 258
8. Set speed controller: Speed controller ^ 264.
9. Set position controller: Position controller ^ 273
10. Optional: Synchronous motor (SM): Compensate temperature and current influences ^ 280
11. Optional: Jerk limitation ^ 284
12. Optional: Notch filter (band-stop filter) ^ 285
13. Optional: Short-circuit braking ^ 252

237
Configuring the motor control
Sensorless control for synchronous motor (SL-PSM)
Required commissioning steps

13.2 Servo control for asynchronous motor (SC-ASM)

The motor control is based on a feedback, field-oriented and cascaded controller structure
and enables a dynamic and stable operation in all four quadrants.
Preconditions
• The servo control (SC ASM) is only suitable for asynchronous motors.
• The servo control (SC ASM) requires a feedback of the position.

13.2.1 Required commissioning steps

1. Check wiring by means of manual test modes: Testing the motor control ^ 301
2. Activate motor control type: 0x2C00 = "Servo control (SC ASM) [2]".
3. Set motor data: Motor data ^ 38
4. Configuring the feedback system ^ 199
5. Only required for motors of other manufacturers:
• Set and optimise current controller: Current controller ^ 267
• Correction of the stator leakage inductance (Lss)... ^ 275
6. Only required for an automatic calculation of the speed controller parameters:
• Define total moment of inertia: Tuning of the motor and the speed controller ^ 258
7. Set speed controller: Speed controller ^ 264.
8. Set position controller: Position controller ^ 273
9. Only required for motors of other manufacturers:
• Set field controller: ASM field controller ^ 269
• Set field weakening controller: ASM field weakening controller ^ 270
10. Optional: Correction of the stator leakage inductance (Lss)... ^ 275
11. Optional: Asynchronous motor (ASM): Identify Lh saturation characteristic ^ 281
12. Optional: Estimate optimum magnetising current ^ 283
13. Optional: Jerk limitation ^ 284
14. Optional: Notch filter (band-stop filter) ^ 285
15. Optional: DC braking ^ 251

13.3 Sensorless control for synchronous motor (SL-PSM)

13.3.1 Required commissioning steps

1. Optional: Activate flying restart circuit:
• From firmware version 4 onwards, a flying restart circuit for the synchronous motor up
to speeds lower than half the rated speed is supported.
• If the flying restart circuit shall be used, set the start method "Flying restart circuit [2]"
in . More settings are not required for the flying restart circuit at sensorless control of a
synchronous motor.
2. Optional for a speed control with torque limitation in operating mode 0x6060 = "MS:
Velocity mode [-2]":
• Select the source in for the positive torque limit source and set it accordingly.

The torque limitation (parameter 0x2949:001/002) can only be used for open-
loop controlled operation of the SL-PSM, not for closed-loop controlled opera-
tion.

• Select the source in for the negative torque limit source and set it accordingly.

238
 Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Required commissioning steps

13.4 V/f characteristic control for asynchronous motor (VFC open loop)
The V/f characteristic control is a motor control for conventional frequency inverter applica-
tions. It is based on a simple and robust control mode for the operation of asynchronous
motors with a linear or square-law load torque characteristic (e.g. fan). Because of the mini-
mal parameterisation effort, such applications can be commissioned easily and quickly.
Preconditions
• The V/f characteristic control is only suitable for asynchronous motors.
• If you want to actuate a drive with a square-law V/f characteristic: Please always check
whether the corresponding drive is suitable for operation with a square-law V/f character-
istic!
• Set the motor data according to the information on the nameplate of the motor. 4Motor
data ^ 38

13.4.1 Required commissioning steps

1. Check wiring by means of manual test modes. 4Testing the motor control ^ 301
2. Activate motor control type: 0x2C00 = "V/f characteristic control (VFC open loop) [6]".
3. Set limiting factors for the V/f characteristic:
1. 0x2540:001, Rated mains voltage
2. 0x2B01:001, Base voltage
3. 0x2B01:002, Base frequency
4. Set and optimise current controller 4Current controller. ^ 267
Setting and optimising the current controller is only required if at least one of the following
functions is active:
• Voltage vector control 4Activate voltage vector control (Imin controller) ^ 243
• DC braking 4DC braking ^ 251
• Flying restart function4Flying restart circuit ^ 249
5. Select a characteristic shape suitable for the application 4Define V/f characteristic shape.
^ 241
6. Set voltage boost ^ 245
7. Activate voltage vector control (Imin controller) ^ 243
8. Imax controller ^ 272
9. Optional4Set load adjustment ^ 246
10. Optional4Flying restart circuit ^ 249
11. Optional4Set slip compensation ^ 246
12. Optional4Set oscillation damping ^ 247

239
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Basic setting

13.4.2 Basic setting

The base voltage and the base frequency define the ratio of the two variables and thus the
gradient of the V/f characteristic.
U U
Spannung im Eckpunkt Spannung im Eckpunkt
0x2B01:1 0x2B01:1

0 fsoll 0 fsoll
0 Frequenz im Eckpunkt 0 Frequenz im Eckpunkt
0x2B01:2 0x2B01:2

Parameter
Address Name / setting range / [default setting] Info
0x2B01:001 V/f shape data: Base voltage Base voltage and base frequency define the V/f ratio and thus the gradi-
0 ... [225] ... 5000 V ent of the V/f characteristic.
0x2B01:002 V/f shape data: Base frequency • The V/f base voltage is usually set to the rated motor voltage.
0 ... [270] ... 5000 Hz 0x2C01:007
• The V/f base frequency is usually set to the rated motor frequency.
0x2C01:005

240
 Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Define V/f characteristic shape

13.4.3 Define V/f characteristic shape

For adaptation purposes to different load profiles, you can select the shape of the characteris-
tic:
Parameter
Address Name / setting range / [default setting] Info
0x2B00 V/f characteristic shape Selection of the V/f characteristic shape for the adaptation to different
• Setting can only be changed if the inverter is inhibi- load profiles.
ted.
0 Linear Linear characteristic for drives with constant load torque over the speed.
4Linear V/f characteristic ^ 241
1 Quadratic Square-law characteristic for drives with a square-law load torque over
the speed.
• Square-law V/f characteristics are preferably used for centrifugal
pumps and fan drives.
• Please always check whether the corresponding drive is suitable for
operation with a square-law V/f characteristic!
• If your pump drive or fan drive is not suitable for operation with a
square-law V/f characteristic, use the linear V/f characteristic instead.
4Square-law V/f characteristic ^ 241
2 Multipoint User-definable characteristic for being adapted to special load profiles.
3 Eco Linear characteristic with energy optimisation in the partial load opera-
tional range.

13.4.3.1 Linear V/f characteristic

The linear V/f characteristic leads to a constant torque.
13.4.3.2 Square-law V/f characteristic
The square-law V/f characteristic is typically used in heating, ventilation and climate applica-
tions to control the speed of fans and pumps.

241
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Define V/f characteristic shape

13.4.3.3 User-definable V/f characteristic

The "user-definable V/f characteristic" is provided for the individual adjustment of the motor
magnetisation to the actual application if linear and square-law characteristics are not suita-
ble.
• The characteristic is defined by means of 11 parameterisable grid points (voltage/
frequency values).
• In the Lenze setting the 11 grid points represent a linear characteristic:

U [V]

P1 400 P11

P2 320 P10

P3 240 P9

P4 160 P8

P5 80 P7
P6
-50 -40 -30 -20 -10 0 10 20 30 40 50 f [Hz]

P1 P2 P3 P4 P5 P6 P7 P8 P9 P10 P11
V 400 V 320 V 240 V 160 V 80 V 0V 80 V 160 V 240 V 320 V 400 V
f -50 Hz -40 Hz -30 Hz -20 Hz -10 Hz 0 Hz 10 Hz 20 Hz 30 Hz 40 Hz 50 Hz

Parameter
Address Name / setting range / [default setting] Info
0x2B02:001 Frequency grid points (x) user V/f characteristic: x1 = Freely parameterisable V/f characteristic (values for X axis).
f01
-5000 ... [-50] ... 5000 Hz
0x2B02:002 Frequency grid points (x) user V/f characteristic: x2 =
f02
-5000 ... [-40] ... 5000 Hz
0x2B02:003 Frequency grid points (x) user V/f characteristic: x3 =
f03
-5000 ... [-30] ... 5000 Hz
0x2B02:004 Frequency grid points (x) user V/f characteristic: x4 =
f04
-5000 ... [-20] ... 5000 Hz
0x2B02:005 Frequency grid points (x) user V/f characteristic: x5 =
f05
-5000 ... [-10] ... 5000 Hz
0x2B02:006 Frequency grid points (x) user V/f characteristic: x6 =
f06
-5000 ... [0] ... 5000 Hz
0x2B02:007 Frequency grid points (x) user V/f characteristic: x7 =
f07
-5000 ... [10] ... 5000 Hz
0x2B02:008 Frequency grid points (x) user V/f characteristic: x8 =
f08
-5000 ... [20] ... 5000 Hz
0x2B02:009 Frequency grid points (x) user V/f characteristic: x9 =
f09
-5000 ... [30] ... 5000 Hz
0x2B02:010 Frequency grid points (x) user V/f characteristic: x10 =
f10
-5000 ... [40] ... 5000 Hz
0x2B02:011 Frequency grid points (x) user V/f characteristic: x11 =
f11
-5000 ... [50] ... 5000 Hz

242
 Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Define V/f characteristic shape

Address Name / setting range / [default setting] Info

0x2B03:001 Voltage grid points (y) user V/f characteristic: y1 = U01 Freely parameterisable V/f characteristic (values for Y axis).
(x = f01)
0.00 ... [400.00] ... 1000.00 V
0x2B03:002 Voltage grid points (y) user V/f characteristic: y2 = U02
(x = f02)
0.00 ... [320.00] ... 1000.00 V
0x2B03:003 Voltage grid points (y) user V/f characteristic: y3 = U03
(x = f03)
0.00 ... [240.00] ... 1000.00 V
0x2B03:004 Voltage grid points (y) user V/f characteristic: y4 = U04
(x = f04)
0.00 ... [160.00] ... 1000.00 V
0x2B03:005 Voltage grid points (y) user V/f characteristic: y5 = U05
(x = f05)
0.00 ... [80.00] ... 1000.00 V
0x2B03:006 Voltage grid points (y) user V/f characteristic: y6 = U06
(x = f06)
0.00 ... [0.00] ... 1000.00 V
0x2B03:007 Voltage grid points (y) user V/f characteristic: y7 = U07
(x = f07)
0.00 ... [80.00] ... 1000.00 V
0x2B03:008 Voltage grid points (y) user V/f characteristic: y8 = U08
(x = f08)
0.00 ... [160.00] ... 1000.00 V
0x2B03:009 Voltage grid points (y) user V/f characteristic: y9 = U09
(x = f09)
0.00 ... [240.00] ... 1000.00 V
0x2B03:010 Voltage grid points (y) user V/f characteristic: y10 =
U10 (x = f10)
0.00 ... [320.00] ... 1000.00 V
0x2B03:011 Voltage grid points (y) user V/f characteristic: y11 =
U11 (x = f11)
0.00 ... [400.00] ... 1000.00 V

13.4.4 Activate voltage vector control (Imin controller)

The voltage vector control is used if a comparatively high starting torque must be provided.
This function ensures that the required motor current is maintained in the lower speed range.

NOTICE
The boost function described here adds to the 4Set voltage boost function. ^ 245
Only set one of the two "boost" functions.
▶ Recommendation: torque increase in the lower speed range
▶ Take into consideration that the increased current at low speeds also entails higher heat los-
ses of the motor.

• The voltage vector control is activated by defining a current setpoint.

• For the automatic calculation of the control parameters, the "Calculate Imin controller"
function is provided via parameter .
Parameter
Address Name / setting range / [default setting] Info
0x2B04 V/f boost controller - current setpoint Setting of the current setpoint for the voltage vector control.
0.00 ... [0.00] ... 500.00 A • The setting "0.00 A" deactivates the voltage vector control.
• When defining the current setpoint, we recommend you to provide a
reserve of 20 % in order to largely exclude a "stalling" of the motor
caused by unexpected additional loads.
• Example of starting torque = rated motor torque: set the current set-
point to approx. 120 % of the load current.

243
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Activate voltage vector control (Imin controller)

Address Name / setting range / [default setting] Info

0x2B05:001 V/f boost controller settings: Gain Setting of the gain for the voltage vector control.
0.00 ... [148.21] ... 750.00 V/A
0x2B05:002 V/f boost controller settings: Reset time Setting of the reset time for the voltage vector control.
0.01 ... [3.77] ... 2000.00 ms

244
 Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Set voltage boost

13.4.5 Set voltage boost

As an alternative for the "Activate voltage vector control (Imin controller)" function, a con-
stant, load independent voltage boost can be specified for low speeds (below the V/f rated
frequency) or for a motor standstill in order to optimise the starting performance.

WARNING!
Insufficient cooling of the motor due to longer operation at standstill.
If the motor is operated at standstill for a longer time - especially in case of smaller motors -
the motor can be destroyed by overtemperature!
▶ Connect the PTC thermistor (single sensor according to DIN 44081 or triple sensor according
to DIN 44082) or thermal contact (normally-closed contact) 4Motor temperature monitor-
ing. ^ 296
▶ Parameterise and activate the 4Motor overload monitoring (i²*t). ^ 288

NOTICE
The voltage boost is added to the function 4Activate voltage vector control (Imin control-
ler). ^ 243
Only set one of the two "boost" functions.
Recommendation: voltage vector control

For magnetising the motor, consider a sufficient time from the controller enable
to the start of the speed ramp function generator. The bigger the motor the lon-
ger the time required for magnetisation. A motor with a power of 90 kW
requires up to 2 seconds.

Depending on the required starting torque, the voltage boost must be set so that the required
motor current will be available after controller enable.
• The voltage boost can be calculated by multiplying the stator resistance by the rated mag-
netising current:

Anlaufstrom ~ U = R ´I
Boost s mN
U U
Spannung im Eckpunkt Spannung im Eckpunkt

UBoost UBoost
0 fsoll 0 fsoll
0 Frequenz im Eckpunkt 0 Frequenz im Eckpunkt

• Optionally, the voltage boost can be determined empirically by increasing the setting until
the rated magnetising current flows.
• The voltage boost is added geometrically to the voltage of the characteristic:

U = U2Kennlinie + U2Boost

Parameter
Address Name / setting range / [default setting] Info
0x2B06 Voltage boost Setting of the voltage boost for the voltage vector control.
0.0 ... [0.0] ... 100.0 V

245
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Set slip compensation

13.4.6 Set load adjustment

CAUTION!
If the load adjustment is too high, the motor current may increase in idle state and the motor
may overheat!

Parameter
Address Name / setting range / [default setting] Info
0x2B07:001 Load adaption: Direction of rotation Selection for adapting the characteristic as a function of the load in case
• Setting can only be changed if the inverter is inhibi- of CW and CCW rotation.
ted.
0 Passive load
1 Active load CCW
2 Active load CW
0x2B07:002 Load adaption: Load adaption value Setting of the load adaptation in [%] proportionally to the rated motor
0.00 ... [20.00] ... 200.00 % torque to obtain an appropriately "rigid" drive behaviour even after
start-up.
• For starting torque = rated motor torque, a load adaptation of 50 % is
suitable for most applications.

13.4.7 Set slip compensation

The speed of an asynchronous motor depends on the load. This load-dependent speed drop is
called “slip”. The slip compensation serves to counteract the load-dependent speed loss.

Observe correct parameterisation of the rated motor frequency 0x2C01:005 and

the rated motor speed 0x2C01:004. Both parameters serve to calculate the
rated motor slip.

Parameter
Address Name / setting range / [default setting] Info
0x2B09:001 Slip compensation: Gain Adjustment in percent of the slip calculated.
-200.00 ... [0.00] ... 200.00 % • For instance required for deviations of the real motor data from the
nameplate data.
• A setting of 100 % corresponds to the rated slip of the machine in the
nominal operating point.
0x2B09:002 Slip compensation: Filter time Filter time for the slip compensation.
1 ... [2000] ... 6000 ms

246
 Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Set oscillation damping

13.4.8 Set oscillation damping

The oscillation damping serves to reduce the oscillations during no-load operation which are
caused by energy oscillating between the mechanical system (mass inertia) and the electrical
system (DC bus). Furthermore, the oscillation damping can also be used to compensate for
resonances.

Damping is possible only for constant oscillations at a steady-state operating

point.
Oscillations occurring sporadically cannot be damped.
Oscillation damping is not suitable for oscillations occurring during dynamic pro-
cesses (e.g. accelerations or load changes). Oscillation damping is only active if
the setpoint speed is greater than 10 rpm and the DC-bus voltage exceeds a
value of 100 V.

The determination of the oscillation is based on the active current. In order to obtain the
alternating component of the active current, this current is differentiated. This signal is then
passed through a PT1 filter.
Pendeldämpfung
Zeitkonstante Begrenzung
0x2B0A:002 0x2B0A:002
Istwert Wirkstrom
0x2DD1:002

Sollwert
Drehfrequenz
Verstärkung
0x2B0A:001
Rampen-Endfrequenz
0x2B0A:004

Identification of the oscillation

Before the oscillation damping can be parameterised, the oscillation must be identified. One
option is to look at the motor current when the oscillation damping is switched off (gain = 0
%). The oscilloscope function of the »PLC Designer« enables to record the following currents:
• Q current
• Total current
A passive load and continuous operation with constant speed (steady-state operation) result
in a constant current. If the drive oscillates, the motor current oscillates as well. This makes it
possible to detect the frequency and amplitude of the oscillation by means of the AC compo-
nent in the motor current. Hereinafter this AC component will be referred to as "current oscil-
lation".
Parameter setting
The gain of the oscillation damping is to be set according to the following equation:
Stromamplitude
Verstärkung der Schwingungsdämpfung = × 100%
2 × Gerätemaximalstrom

The time constant must be set so that the oscillation can be dampened, but that higher-fre-
quency components are filtered from the signal. The time constant is determined from the
reciprocal value of the double current oscillation frequency:
1
Zeitkonstante =
2 × Schwingfrequenz

The calculated oscillation frequency can be limited before being added to the rotating field
frequency. The maximum frequency can be derived from the amplitude of the current oscilla-
tion, the rated motor current and the slip frequency of the connected motor:
2 × Amplitude der Stromschwingung
max. Frequenz = × Nennschlupffrequenz
Motor - Bemessungsstrom

247
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Optimising the stalling behaviour

Parameter
Address Name / setting range / [default setting] Info
0x2B0A:001 Oscillation damping: Gain Gain of the oscillation signal.
-100 ... [20] ... 100 % • With the setting 0, oscillation damping is deactivated.
0x2B0A:002 Oscillation damping: Filter time Time constant of the PT1 filter.
1 ... [5] ... 600 ms
0x2B0A:003 Oscillation damping: Limitation Limitation of the calculated oscillation frequency.
0.1 ... [0.2] ... 20.0 Hz
0x2B0A:004 Oscillation damping: Final ramp frequency Ramp end frequency from which the gain factor is expected to have
0 ... [0] ... 100 % reached its rated value.
• By setting a ramp end frequency, a possible negative impact of the
oscillation damping on the concentricity factor in the lower speed
range can be reduced.
• The ramp end frequency refers to the rated motor frequency in per-
centage terms.

13.4.9 Optimising the stalling behaviour

The stalling protection function or the maximum permissible motor current in the field weak-
ening range can be adapted.
• If the motor stalls in the field weakening range, the override point can be shifted by reduc-
ing the set value so that the motor stalling can be prevented.
• If the motor does not provide enough torque in the field weakening range, the set value
must be increased.
Parameter
Address Name / setting range / [default setting] Info
0x2B0C Override field weakening Offset of the override point for field weakening.
-500.0 ... [0.0] ... 500.0 Hz

248
 Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Flying restart circuit

13.4.10 Flying restart circuit

The "flying restart" function serves as a protective function against high compensation cur-
rents. High compensation currents can occur in the V/f characteristic control if the drive is not
at standstill at the time the inverter is enabled. The "flying restart" function detects the motor
speed by means of a test current and uses this information to define the frequency setpoint.

CAUTION!
If the "flying restart" function is deactivated and the inverter is not enabled at standstill, the
output voltage and the output frequency do not match the current motor speed.
High compensation currents may flow! First the drive is braked towards 0 Hz to be then accel-
erated again!
▶ Ensure that the drive is at standstill before the inverter is enabled.

Flying restart process

If this function is active, the flying restart process starts after the inverter is enabled.
1. The inverter reports the started flying restart process to the Controller via bit 8 in the
Lenze status word0x2831.
2. If a speed is found, it is reported to the Controller via bit 9 in the Lenze status word.
3. The Controller reports to the inverter via bit 0 in the Lenze control word 0x2830 that the
detected speed has been accepted. As long as this is not the case, no further flying restart
process is possible.
OperationEnabled

0x2831 Bit 8: Flying restart running

Search...
0x2831 Bit 9: Flying restart ready

0x2BA6 Found velocity

0x2830 Bit 0: Flying restart acknowledge

Parameter setting

The flying restart algorithm needs a motor voltage as exact as possible. Thus, a
previous detection of the inverter error characteristic is absolutely necessary.
Compensate inverter influence to output voltage In addition to the exact motor
voltage, a detailed knowledge of the stator resistance is required. If the flying
restart process does not work as desired, slightly adapt the setting of the stator
resistance in the 0x2C01:002 object. Bit 1 in the Lenze control word 0x2830
serves to block a flying restart process.

The flying restart process involves a control loop, the controller parameter 0x2BA3 of which
must be adapted to the motor. The automatic calculation is made with the parameter
40x2822:022.
The actual flying restart process can be adjusted via the following parameters:

249
Configuring the motor control
V/f characteristic control for asynchronous motor (VFC open loop)
Flying restart circuit

Parameter
Address Name / setting range / [default setting] Info
0x2BA0 Activate flying restart Activation of the additional "flying restart" function.
If the "flying restart" function is activated ("1: on") and the inverter disa-
ble is deactivated, a flying restart process is automatically started for
determining the current motor speed if the following conditions are
met:
• The V/f characteristic control is set as motor control.
• The CiA402 mode is selected as drive mode.
• The "flying restart" function is not blocked via bit 2 in the Inverter
control word (0x2830).
• No DC-injection braking is active.
• No motor phase failure has been identified.
0 Off
1 On
0x2BA1 Flying restart circuit
0 ... [15] ... 100 %
0x2BA2 Start frequency Start frequency of flying restart algorithm
-600.0 ... [20.0] ... 600.0 Hz • If it is foreseeable at which frequency the motor can be restarted on
the fly, set the frequency here.
0x2BA3 Integration time Integration time of the angle controller
1 ... [600] ... 60000 ms • The default setting is adapted for medium-power machines.
• A guide value for the integration time can be calculated as a function
of the motor power with the following equation: Ti = 1.1 µ/W * Rated
power (0x2C01:006) + 9.4 ms
• For accelerating the search process, this guide value can be reduced.
• If the flying restart frequency oscillates too much, increase the inte-
gration time again.
• A longer integration time extends the time for a flying restart of the
drive.
0x2BA4 Minimum deviation Setting of the minimum permissible deviation.
0.00 ... [5.00] ... 90.00 °
0x2BA5 Delay time In order to prevent the start of a flying restart process if the controller
0 ... [0] ... 10000 ms inhibit time is too short, a minimum active time for the inverter disable
can be set here in order that a flying restart process will be started.
As a pulse inhibit > 500 ms causes a controller inhibit, this also applies to
pulse inhibit.
0x2BA6:001 Result: Determined speed [rpm] Display of the determined speed in [rpm].
• Read only: x rpm
0x2BA6:002 Result: Determined speed [n unit] Display of the determined speed in [n unit].
• Read only: rpm

250
 Configuring the motor control
Parameterisable motor functions
DC braking

13.5 Parameterisable motor functions

13.5.1 DC braking
The control modes for asynchronous motors provide the opportunity to use the "DC‑braking"
function (DC-injection braking) for braking. In this case, the motor control injects a DC current
the amplitude of which is adjustable.
Preconditions
Using the "DC braking" function, the motor control injects a DC current, the amplitude of
which is adjustable in the 0x2B80 parameter. To this end, it is necessary that the current con-
trol is adapted to the corresponding motor. For setting and optimising the current controller,
see Current controller. ^ 267
Details
The function can be used as follows:
1. "DC braking" can be parameterised via bit 6 in the Lenze control word 0x2830.
In this case, the motor system itself can be used as an energy converter.
This option is useful if
• the system is not provided with a brake resistor required for absorbing the braking
energy. This method requires that a sufficient braking torque can be achieved with "DC
braking".
• the power of the brake chopper to be transformed is limited and thus must be exclu-
sively used for the main drives of the DC network. The quality of the deceleration ramp
via "DC braking" is sufficient for auxiliary drives and unburdens the brake chopper.
• a fan drive is to be braked in the V/f characteristic operation.
2. "DC braking" can be parameterised as a response to minor faults.
An example of a minor fault is the error of an encoder of an asynchronous machine. Due to
the error, the quick stop function cannot be executed anymore. An alternative is provided
by the guided shutdown with a minor deceleration via the "DC braking" function.
Parameter
Address Name / setting range / [default setting] Info
0x2B80 Current for DC-injection braking Braking current for DC-injection braking
0.00 ... [0.00] ... 500.00 A

251
Configuring the motor control
Parameterisable motor functions
Short-circuit braking

13.5.2 Short-circuit braking

The control modes for synchronous motors provide the opportunity to use "short-circuit brak-
ing" for braking.
The effect of short-circuit braking on the deceleration behaviour depends on the motor prop-
erties, the effective cable length, the load inertia and the initial speed value (starting point).
Primarily, short-circuit braking serves to transform a part of the kinetic energy into heat
energy which unburdens external brake assemblies and limit position dampers.

NOTICE
In some constellations it is not possible to decelerate the motor speed of a synchronous
motor to zero by means of "short-circuit braking"!
Compared to the "quick stop" function, the braking effect is considerably lower.
▶ Prevention: tbd

Preconditions
If short-circuit braking shall be used as the only deceleration means, it is recommended that
the feasibility is previously verified by means of tests. For this purpose, short-circuit braking
can be triggered in the application via bit 6 in the Lenze control word 0x2830. The oscilloscope
function of the engineering tool (e.g. »EASY Starter«) serves to record the following important
parameters:
• Actual velocity 0x606C
• Phase current U, V, W ...
Details

The short-circuit current adjusts itself freely in accordance with the motor volt-
age (kE * speed) and the internal resistance of the system. Thus, it is absolutely
necessary that the ampacity of the servo inverter is based on the maximum
expected short-circuit current. Guide value: Imax_device (3 s) ≥ 1.5 * Imax_motor
(according to data sheet / catalog) In case the assignment differs, a rating based
on the currently possible parameters (max. speed, max. motor current, field
weakening, etc.) is required!

The function can be used as follows:

1. "Short-circuit braking" can be parameterised via bit 6 in the Lenze control word 0x2830 if
• the braking energy cannot be converted into heat in a brake resistor.
• e.g. an error has been detected in the encoder system which does not permit a braking
via quick stop.
2. "Short-circuit braking" can be parameterised as a response to minor faults.
• Due to an encoder error, for instance, a quick stop might not be possible anymore.

252
 Configuring the motor control
Parameterisable motor functions
Holding brake control

13.5.3 Holding brake control

This device function is used for low-wear control of the motor holding brake connected to the
inverter with a supply voltage of 24 V.
The motor holding brake is connected to X106. It is supplied with 24 V via X107.

253
Configuring the motor control
Parameterisable motor functions
Holding brake control

13.5.3.1 Basic setting

The following parameters must be set for the activation and basic setting of the holding brake
control.
Details
The following settings are possible:
• Brake mode ①
• For the automatic operation: ②
- Brake release time and brake application time
- Torque feedforward control
• Test Brake control ③
• Brake polarity ④

0x2820:002
0x2820:003
0x2820:009
0x2820:010 0x2820:015
0x2820:011 0x6041, Bit 14 0x2820:005 0x2820:004
0x2820:001 0x2820:021
0 X106
0 0
Device status
1
Auto
1 1 M
Start 1
2
0x6040:000, Bit16 Stop 2
3
1
0x2820:020, Bit 1 0

t
0x2820:019

Diagnostic parameters:
• Display status of the automatic brake identification: 0x2820:004
• Display signal of the brake logic before the inversion: 0x6041
• Display status of the holding brake: 0x2820:015
Brake mode
Possible settings: 0x2820:001
• Manual control via the control word. Das control word depends on the technology applica-
tion :
• Technology application CiA 402: 0x6040 Bit 14
• Speed Control technology application: 0x5030:010 Bit 14
• 0: Close holding brake
• 1: Release holding brake
• Control via device state machine (automatic operation):
- The holding brake is controlled as a function of the device state.
- A torque feedforward control is possible.

The torque is precontrolled for one second. During this time, the actual torque
must have reached 90 % of the setpoint torque, otherwise an error is triggered.

- Response times of the holding brake during release and application can be compensa-
ted for.

In the event of an error or when STO ("SafeTorqueOff") is activated, the brake is

applied immediately without considering the set brake application time. The
inverter immediately changes to the switch-on disabled state.

• No brake connected (off):

- holding brake control, automatic brake identification and brake monitoring are deacti-
vated.

254
 Configuring the motor control
Parameterisable motor functions
Holding brake control

Brake polarity
The control logic of the holding brake can be inverted.
Parameter
Address Name / setting range / [default setting] Info
0x2820:001 Holding brake control: Brake mode Selecting how the "Release holding brake" command is to be triggered.
0 Automatically (via device state) Automatic operation: depending on the device state, the "Release hold-
ing brake" command is given automatically if the controller is to be ena-
bled.
1 Manually Depending on the TA, the "Release holding brake" command can also be
initiated by the following external triggers:
TA Cia: 40x6040 bit 14
TA Speed Control: bit 10
2 Off The holding brake is deactivated.
0x2820:002 Holding brake control: Brake closing time Application time (engagement time) of the holding brake.
0 ... [100] ... 10000 ms • Only effective in automatic operation.
0x2820:003 Holding brake control: Brake opening time Release time (disengagement time) of the holding brake.
0 ... [100] ... 10000 ms • Only effective in automatic operation.
0x2820:004 Holding brake control: Brake detection When 0x2825 = 4 (Manual control mode) and the device state changes
• Read only from "switched-on" to "operation enabled", it is detected automatically
0 Detection not started whether a holding brake is connected. The brake identification is repea-
ted after every controller enable.
1 Detection running
2 No brake detected
3 Brake detected
0x2820:005 Holding brake control: Brake polarity The control logic of the holding brake can be inverted.
0 Normal
1 Inverted
0x2820:006 Holding brake control: Brake error response Selection of the response for holding brake monitoring.
In the triggered state, the holding brake is monitored cyclically for the
presence of brake current.
After the brake is connected, the establishment of the brake current is
subject to a time delay in accordance with the inductance. Consequently,
there is a slight delay in detecting wire breakage, a terminal short-circuit
or a missing brake supply.
The response set here occurs when monitoring is triggered.
Note:
The brake is not monitored unless it is triggered.
0 No fault
1 Fault
2 Warning
0x2820:015 Holding brake control: Brake status Display of the holding brake status.
• Read only • The status is also displayed via bit 14 in the CiA: Statusword 0x6041.
0 Active Holding brake is applied.
1 Brake released Holding brake is released.
0x2820:019 Holding brake control: Brake opening time test signal Setting of the brake opening time when the test signal is transmitted
0 ... [500] ... 10000 ms (Brake control word bit 0 = 1).
0x2820:022 Holding brake control: Versorgungsspannung Halte-
bremse
75 Absenkung auf 75%
100 Keine Absenkung
Further setting options:
• Manual brake control ^ 256
13.5.3.2 Brake holding load
Parameter
Address Name / setting range / [default setting] Info
0x2820:013 Holding brake control: Holding load ramptime By setting a ramp time, a vibration stimulation can be reduced that
0 ... [0] ... 1000 ms might be caused by the brake holding load .

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Parameterisable motor functions
Holding brake control

13.5.3.3 Torque feedforward control

Parameter
Address Name / setting range / [default setting] Info
0x2820:009 Holding brake control: Starting torque source Setting of the source for the holding brake starting torque.
0 Last torque saved The stopping value saved automatically during the last closing operation
is used as starting torque.
1 Torque in 0x2820:010 The parameterised starting torque is used (0x2820:010).
0x2820:010 Holding brake control: Starting torque Setting of the feedforward control value for the automatic operation
-3276.8 ... [0.0] ... 3276.7 % (0x2820:009 = 1).
0x2820:021 Holding brake control: Detected actual torque Display of the torque actual value that is used for the feedforward con-
• Read only: x.x % trol. 0x2820:009 = 0

13.5.3.4 Manual brake control

The holding brake can be released and applied manually independently of the operating mode
and operating status of the inverter. This function can be used, for instance, to move the axis
manually in the event of an error.
Details
The following settings are possible:
• Open the holding brake:
- The holding brake remains open until it closed again manually.
• Close the holding brake.
• Release the holding brake for a fixed time by a start signal and then apply it automatically:
- Time for "Brake released": 0x2820:019
- Start signal: 0x2820:020, bit 0 = 1
- After the time has elapsed → bit 0 = 0
Parameter
Address Name / setting range / [default setting] Info
0x2820:011 Holding brake control: Override of the brake control Mode for override or forced opening/closing of the holding brake irre-
spective of the operating mode.
In the event of an error and activated function for forced opening, the
brake is not applied.
0 No override active Mode for override or forced opening/closing of the holding brake irre-
spective of the operating mode.
1 Open brake • In the event of an error and activated function for forced opening, the
2 Close brake brake is not applied.
3 Test pulse
0x2820:020 Holding brake control: Brake control word Control word for the holding brake.
0x00 ... [0x00] ... 0xFF
Bit 0 Transmit test signal

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 Configuring the motor control
Options for optimising the control loops
Automatic motor identification (energized)

13.6 Options for optimising the control loops

The option to be selected depends on the respective application. Depending on the selected
option, different procedures become active and thus different parameter groups are influ-
enced:
• Rated motor data
• Inverter characteristic
• Motor equivalent circuit diagram data
• Motor controller settings
• Speed controller settings
• Position controller settings

13.6.1 Automatic motor identification (energized)

Parameter
Address Name / setting range / [default setting] Info
0x2832 Motor identification status Display of the status for the automatic identification of the motor
• Read only parameters.
Parameters for interaction with engineering tools.
Bit 0 Identification enabled Parameters for interaction with engineering tools.
Bit 1 Identification active
Bit 2 Identification completed
Bit 3 Identification failed

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Tuning of the motor and the speed controller

13.6.2 Tuning of the motor and the speed controller

The following describes in general how to optimise the speed controller. This may be required
if some parameters have on the load side of the drive system have changed or have not been
set yet, such as:
• Motor moment of inertia
• Load moment of inertia
• Type of coupling between motor moment of inertia and load moment of inertia
Preconditions
All rated motor data is known and set in the inverter, either by selecting the motor from the
motor catalogue or manually.
4Select motor from motor catalogue ^ 39
4Manual setting of the motor data ^ 41
Required steps
Adapt the following parameters to your drive system using the engineering tool. Since this
only changes load-dependent data, the other parameter groups do not need to be calculated
again.
In the engineering tool, the speed control settings can be confirmed via the Initialise button.

This function is not available via the keypad.

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Tuning of the motor and the speed controller

Parameter
Address Name / setting range / [default setting] Info
0x2910:001 Inertia settings: Motor moment of inertia Setting of the moment of inertia of the motor, relating to the motor.
0.00 ... [0.14] ... 20000000.00 kg cm²
0x2910:002 Inertia settings: Load moment of inertia Setting of the moment of inertia of the load.
0.00 ... [0.00] ... 20000000.00 kg cm² • Always adjust the setting to the current load, otherwise the optimisa-
tion process for the speed controller cannot be executed successfully.
0x2910:003 Inertia settings: Coupling Selection of the type of coupling between the moment of inertia of the
0 Stiff motor and that of the load.
0x2910:004 Inertia settings: Mechanical natural frequency Setting of the mechanical natural frequency.
0.0 ... [0.0] ... 250.0 Hz
0x2910:005 Inertia settings: Load moment of inertia (elastic cou- Setting of the load moment of inertia with elastic coupling
pled) (0x2910:003 = 1).
0.00 ... [0.00] ... 20000000.00 kg cm²

For further details on the speed controller, see chapter "Speed controller". ^ 264

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Options for optimising the control loops
Inverter characteristic

13.6.3 Inverter characteristic

The settings made can be seen if required, but should not be changed. A wrong
setting may influence the control negatively!

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Options for optimising the control loops
Inverter characteristic

13.6.3.1 Compensating for inverter influence

Conditions for the execution
• The motor may be stalled.
• The i950 servo inverter is error-free and switched on.
Response of the motor during performance
If the motor is not braked, the motor will move slightly

Disabling the inverter serves to abort the started procedure any time if required.
Already determined characteristic values are rejected in this case.

How to detect the inverter characteristic:

1. Disable the servo inverter.
2. Change to the "inverter characteristic: identification" operating mode. 40x2825 = 8
3. Enable the servo inverter.
The procedure starts.

After the successful completion, the inverter is automatically disabled and the points of the
detected inverter characteristic are set in parameter 0x2947t.
1. Save the changed settings.
2. The inverter characteristic must only be detected again if the servo inverter, the motor or
the motor cable have been replaced.
3. The inverter disable set by the procedure can be deactivated via the control word.
40x6040 = 7

Parameter
Address Name / setting range / [default setting] Info
0x2947:001 Inverter characteristic: Value y1 The inverter characteristic (consisting of 17 values) is calculated and set
0.00 ... [0.00] ... 20.00 V in the course of the automatic inverter characteristic identification.
0x2947:002 Inverter characteristic: Value y2
0.00 ... [0.00] ... 20.00 V Note!
Changing these values is not recommended by the manufacturer.
0x2947:003 Inverter characteristic: Value y3
0.00 ... [0.00] ... 20.00 V
0x2947:004 Inverter characteristic: Value y4
0.00 ... [0.00] ... 20.00 V
0x2947:005 Inverter characteristic: Value y5
0.00 ... [0.00] ... 20.00 V
0x2947:006 Inverter characteristic: Value y6
0.00 ... [0.00] ... 20.00 V
0x2947:007 Inverter characteristic: Value y7
0.00 ... [0.00] ... 20.00 V
0x2947:008 Inverter characteristic: Value y8
0.00 ... [0.00] ... 20.00 V
0x2947:009 Inverter characteristic: Value y9
0.00 ... [0.00] ... 20.00 V
0x2947:010 Inverter characteristic: Value y10
0.00 ... [0.00] ... 20.00 V
0x2947:011 Inverter characteristic: Value y11
0.00 ... [0.00] ... 20.00 V
0x2947:012 Inverter characteristic: Value y12
0.00 ... [0.00] ... 20.00 V
0x2947:013 Inverter characteristic: Value y13
0.00 ... [0.00] ... 20.00 V
0x2947:014 Inverter characteristic: Value y14
0.00 ... [0.00] ... 20.00 V
0x2947:015 Inverter characteristic: Value y15
0.00 ... [0.00] ... 20.00 V

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Inverter characteristic

Address Name / setting range / [default setting] Info

0x2947:016 Inverter characteristic: Value y16
0.00 ... [0.00] ... 20.00 V
0x2947:017 Inverter characteristic: Value y17
0.00 ... [0.00] ... 20.00 V

In the event of an error

If an error occurs during the procedure or the pulse inhibit gets active (e.g. due to short-time
undervoltage), the procedure is terminated with inverter disable without the settings being
changed.
13.6.3.2 Extended settings for identification
For determining the characteristic, the current controller is automatically parameterised at
the start of the identification process. In case of motors with a very low stator leakage induc-
tance (< 1 mH), the automatic parameterisation can fail and the actual identification process
is aborted with an error message such as "short circuit".
• For this case, it is possible to set the current controller manually via the 0x2942 parameter.
• The 0x2DE0:001 parameter serves to select whether the current controller should be cal-
culated automatically or the values in 0x2942 are effective.

Parameter
Address Name / setting range / [default setting] Info
0x2DE0:001 Current controller identification settings Whether the current controller shall be adapted automatically for the
0 Automatisch identification or set manually, is selected via:
• 0x2942:001 (Gain)
1 Manuell (0x2942)
• 0x2942:002 (Reset time)
0x2DE0:003 Resolver - position detection dynamics Setting of the dynamics for the resolver evaluation.
20 ... [100] ... 100 % • 100% ≡ max. dynamics
• <100% ≡ reduced dynamics
0x2DE0:004 Resolver - 8 kHz safety signal Usually ,the Der 8-kHz carrier frequency is only activated for the safety
0 Automatisch durch Gerätetyp version. This parameter can also be used to switch it on and off.
1 Ein
2 Aus
0x2DE0:007 Use measured voltage Activation of voltage measurement.
0 Aus Only for devices for which voltage measurement is possible.
1 Ein

13.6.3.3 Load standard inverter characteristic

If none or only one faulty inverter characteristic could be determined, a device-typical stand-
ard inverter characteristic can be loaded.
How to load the standard inverter characteristic:
1. Axis commands: load standard-Lh saturation characteristic 0x2822:022 = start 1.
2. After completing the procedure, save the inverter characteristic set in in the inverter.
The »EASY Starter« serves to save the parameter setting of the inverter as parameter file
(*.gdc). 4Saving the parameter settings
Parameter
Address Name / setting range / [default setting] Info
0x2822:022 Axis commands: Load default inverter characteristic Parameters for interaction with engineering tools.
0 Off/Ready Obtain Hiperface information from the encoder for application feedback.
1 On/Start
2 In process
3 Action cancelled
4 No access
5 No access (controller inhibit)

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Options for optimising the control loops
Motor equivalent circuit diagram data

13.6.4 Motor equivalent circuit diagram data

The motor equivalent circuit diagram data is automatically set when the motor is selected
from the motor catalogue:
4Select motor from motor catalogue ^ 39
If you use a motor of a different manufacturer, you must adapt the data, e. g. from the motor
data sheet according to the sizes and units mentioned if required.
Parameter
Address Name / setting range / [default setting] Info
0x2822:024 Axis commands: Estimate motor parameter based on Parameters for interaction with engineering tools.
rated data
0 Off/Ready Obtain Hiperface information from the encoder for application feedback.
1 On/Start
2 In process
3 Action cancelled
4 No access
5 No access (controller inhibit)
0x2832 Motor identification status Display of the status for the automatic identification of the motor
• Read only parameters.
Parameters for interaction with engineering tools.
Bit 0 Identification enabled Parameters for interaction with engineering tools.
Bit 1 Identification active
Bit 2 Identification completed
Bit 3 Identification failed
0x2C01:002 Motor parameters: Stator resistance General motor data.
0.0000 ... [13.5000] ... 125.0000 Ω Carry out settings as specified by manufacturer data/motor data sheet.
0x2C01:003 Motor parameters: Stator leakage inductance
0.000 ... [51.000] ... 500.000 mH Note!
When you enter the motor nameplate data, take into account the phase
connection implemented for the motor (star or delta connection). Only
enter the data applying to the connection type selected.
0x2C01:009 Motor parameters: Insulation class Insulation class of the motor (see motor nameplate).
0 Y (cut-off temperature = 90 °C)
1 A (cut-off temperature = 105 °C)
2 E (cut-off temperature = 120 °C)
3 B (cut-off temperature = 130 °C)
4 F (cut-off temperature = 155 °C)
5 H (cut-off temperature = 180 °C)
6 G (cut-off temperature > 180 °C)
0x2C02:001 Motor parameter (ASM): Rotor resistance Equivalent circuit data required for the motor model of the asynchro-
0.0000 ... [0.0000] ... 214748.3647 Ω nous machine.
0x2C02:002 Motor parameter (ASM): Mutual inductance
0.0 ... [0.0] ... 214748364.7 mH
0x2C02:003 Motor parameter (ASM): Magnetising current
0.00 ... [0.00] ... 500.00 A
0x2C03:001 Motor parameter (PSM): Back EMF constant Voltage induced by the motor (rotor voltage / 1000 rpm).
0.0 ... [41.8] ... 100000.0 V/1000rpm For permanently excited synchronous motors, the e.m.f. constant
describes the r.m.s. value of the line-to-line voltage (phase voltage)
induced in idle state by the motor (reference: 1000 rpm, 20 °C).
0x2C03:002 Motor parameter (PSM): Resolver pole position Equivalent circuit data required for the motor model of the synchronous
-179.9 ... [-90.0] ... 179.9 ° machine.
0x2C03:003 Motor parameter (PSM): Magnets temperature coeffi-
cient (kTN)
-1.000 ... [-0.110] ... 0.000 %/°C
0x2C03:004 Motor parameter (PSM): Encoder pole position
-179.9 ... [0.0] ... 179.9 °

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Motor control settings

13.6.5 Motor control settings

13.6.5.1 Speed controller

The speed controller is automatically set when the motor has been selected from the motor
catalogue:
4Select motor from motor catalogue ^ 39
The automatically calculated settings for the speed controller enable an optimal control
behaviour for typical load requirements.

Manual post-optimisation of the speed controller

1. Setting of the gain
Set the proportional gain Vp in parameter 0x2900:001.
a) Specify speed setpoint.
b) Increase parameter until the drive gets unstable (observe engine noise). 40x2900:001
c) Reduce parameter until the drive runs stable again. 40x2900:001
d) Reduce the parameter to approx. half the value. 40x2900:001
2. Setting of the reset time
Set the reset time Tn in parameter 0x2900:002.
a) Reduce parameter until the drive gets unstable (observe engine noise). 40x2900:002
b) Increase parameter until the drive runs stable again. 40x2900:002
c) Increase parameter to approx. double the value. 40x2900:002
3. Setting of the rate time
Set the rate time Td in parameter 0x2900:003.
a) Increase parameter during operation until an optimal control mode is achieved.
40x2900:003

Automatically calculated settings for the speed controller

We recommend a manual post-optimisation for the optimal operation.

The function for automatically calculating the gain and reset time is executed via the parame-
ter 0x2822:014.
The following equations apply to a "rigid" system.
• For elastic systems and systems with batches, the determined gain must be reduced.
• The moment of inertia required for the calculation is the sum of the moment of inertia of
the motor and the load mass inertias transformed to the motor side.
Equation for calculating the gain
J 2p
Vp = ×
(
a × TFilter + TStromregler ) 60

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Motor control settings

Equation for calculating the reset time

(
Tn = a2 × TFilter + TStromregler )
Parameter Symbol Description Dimension unit
0x2900:001 Vp Speed controller gain Nm / rpm
- J Moment of inertia = Jmotor + kgm2
sum (Jload)
- a Measure for the phase reserve
(recommendation: a = 4≡ 60° phase
reserve)
0x2904 TFilter Filter time constant - actual speed s
value
- Tcurrent controller Equivalent time constant of the cur- s
rent control loop = 0.0005 s
0x2900:002 Tn Reset time - speed controller s

Special case of the linear motor

In this case, a re-calculation from a linear system to a rotary system must be made. Therefore,
via the feedback system a degree of freedom results for the determination of the number of
pole pairs. For a rotary system, the number of pole pairs specifies the ratio of electrical and
mechanical revolution, the number of encoder increments being defined via one mechanical
revolution. In the case of a linear system, the user is free to decide for which length he or she
wants to specify the number of encoder increments. Usually, the number of increments is
given for a pole distance or for the total length of the linear scale. If the number of increments
= "number of increments for one pole distance" is selected, a motor with the number of pole
pairs zp = 1 is created. The effective moment of inertia for a linear motor can be calculated
according to the following equations. With this J value, the equations shown above can be
used to calculate the speed controller gain and reset time.
Equation for calculating the effective moment of inertia
2
æ zp × 2 × tPolpaar ö
J = m × çç ÷÷
è 2p ø

s
zp = Ganzzahl ×
2 × tPolpaar

Parameter Symbol Description Dimension unit

- s Length on which the specification m
for the number of encoder incre-
ments is based (e.g. per pole dis-
tance or total length).
- 2 τPole pair Pole distance of the permanent m
magnets, pole pair width
- J Moment of inertia = JForcer + JSlide + kgm2
JLoad
- m Moving mass = mForcer + mSlide + kg
mLoad

Parameter
Address Name / setting range / [default setting] Info
0x2900:001 Speed controller settings: Gain Gain factor Vp of the speed controller.
0.00000 ... [0.00033] ... 20000.00000 Nm/rpm
0x2900:002 Speed controller settings: Reset time Reset time Ti of the speed controller.
1.0 ... [17.6] ... 6000.0 ms
0x2900:003 Speed controller settings: Rate time Setting of the rate time for the speed controller.
0.00 ... [0.00] ... 3.00 ms
0x2901 Speed controller gain adaption Mappable parameter for adaptive adjustment of the speed controller
0.00 ... [100.00] ... 200.00 % gain.

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Motor control settings

Address Name / setting range / [default setting] Info

0x2902 I component load value Setting of the load value.
-1000.0 ... [0.0] ... 1000.0 %
0x2903 Speed setpoint filter time Time constant for the speed setpoint filter.
0.0 ... [0.0] ... 50.0 ms
0x2904 Actual speed filter time Time constant for the actual speed value filter.
0.0 ... [0.3] ... 50.0 ms

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13.6.5.2 Current controller

The current controller consists of a direct-axis current controller and a cross current controller
which are both parameterised identically. The direct-axis current controller controls the field-
producing current (D current). The cross current controller controls the torque-producing cur-
rent (Q current).

For a servo control, the current controller should always be optimised if a motor
of another manufacturer with unknown motor data is used! For a V/f character-
istic control, the current controller only has to be optimised if voltage vector
control Activate voltage vector control (Imin controller) is used, or if DC-injec-
tion braking or the flying restart process is activated.

Automatically calculated settings for the current controller

If one of the values calculated exceeds the upper object limit, the value is limi-
ted to the limit value.

There is a coupling between the two control loops (direct-axis current controller, cross current
controller) which makes every actuation of a controller occur as fault in the control loop of the
other controller. This coupling can be compensated by activating the current controller feed-
forward control via object 0x2941.
For the automatic calculation of the two controller parameters (gain and reset time), the
"Calc. current contr. param." function is provided via object 0x2822:013. The calculating func-
tion is based on the stator resistance 0x2C01:002 and the stator leakage inductance
0x2C01:003. Thus, these motor parameters must be parameterised before, e. g. by entering
the data sheet values manually. Subsequently, the calculated controller parameters can be
optimised by means of an experimental adjustment. The procedure is described in the follow-
ing section Manual "current pulse" test mode . ^ 305
Equation for calculating the gain of the synchronous motor
L ss
Vp =
TTotzeit

Equation for calculating the reset time of the synchronous motor

Lss
Tn =
Rs

Parameter Symbol Description Dimension unit

0x2942:001 Vp Current controller gain V/A
0x2C01:003 Lss Stator leakage inductance H
- TDead time Equivalent time constant for the s
analog detection and scanning =
0.00009375 s (93.75 µs)
0x2942:002 Tn Current controller reset time s
0x2C01:002 Rs Stator resistance (value at 20° C) Ω

Equation for calculating the gain of the asynchronous motor

s × Ls 2 × Lss
Vp = »
TTotzeit TTotzeit

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Equation for calculating the reset time of the asynchronous motor

s × Ls 2 × L ss
tn = »
Rs Rs

Parameter Symbol Description Dimension unit

0x2942:001 Vp Current controller gain V/A
- σ Leakage
- Ls Motor stator inductance H
0x2C01:003 Lss Motor stator leakage inductance H
- TDead time Equivalent time constant for the s
analog detection and scanning =
0.00034 s
0x2942:002 Tn Current controller reset time s
0x2C01:002 Rs Motor stator resistance (value at Ω
20° C)

Parameter
Address Name / setting range / [default setting] Info
0x2941 Current controller feedforward control Activate/deactivate feedforward control.
0 Disable Since the actuation of the current controller is known, they can be pre-
controlled to increase the actuations of the current controller.
1 Enable
Note!
For a feedforward control, the Motor equivalent circuit diagram data
must be known. If only estimated values are available, we recommend
you not to activate the feedforward control.
0x2942:001 Current controller parameters: Gain Gain factor Vp of the current controller.
0.00 ... [148.21] ... 750.00 V/A
0x2942:002 Current controller parameters: Reset time Reset time Ti of the current controller.
0.01 ... [3.77] ... 2000.00 ms
0x2943 Current setpoint filter time Setting of the setpoint current filter time.
0.00 ... [0.00] ... 10.00 ms

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13.6.5.3 ASM field controller

For motors with great rotor time constants or small rotor resistances, very high gain factors
are calculated. Since the setting range of the field controller is limited to the double rated
magnetising current, the field control loop in the case of these motors tends to a two-point
response when the values calculated are entered.
The automatic calculation is made via the parameter 0x2822:016 = 1.
Starting from a calculated gain factor of approx. 1000 A/Vs, do not set the full value anymore.
Example
Calculated value: 10000 A/Vs
Setting: 3000 A/Vs
Calculation of the gain
1
Vp »
4 × Rr × TStromregler

Calculation of the reset time

Lr
Tn = Tr =
Rr

Parameter Symbol Description Dimension unit

0x29C0:001 Vp Field controller gain A/Vs
0x29C0:002 Tn Field controller reset time s
0x2C02:002 Lh Mutual motor inductance (ASM) H
0x2C02:001 Rr Motor rotor resistance (ASM) Ω
- Tcurrent controller Equivalent time constant of the cur-
rent control loop = 0.0005 s
- Tr Motor rotor time constant
- KPath Gain of the control path
- Lr Motor rotor resistance (ASM) H

Parameter
Address Name / setting range / [default setting] Info
0x29C0:001 Field controller settings: Gain Gain factor Vp of the field controller.
0.00 ... [165.84] ... 50000.00 A/Vs
0x29C0:002 Field controller settings: Reset time Reset time Tn of the field controller.
1.0 ... [15.1] ... 6000.0 ms

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13.6.5.4 ASM field weakening controller

Since the controlled system gain changes with the speed, the field weakening controller is cor-
rected via the speed.
The automatic calculation is made via the parameter 0x2822:017 = 1.
Calculation of the gain
2p
Vp = 0, VStrecke _ Fs = p × neck ×
60

Calculation of the reset time

VStrecke _ Fs Lr Lh + Lss
Tn = 4 × × ( TEF + TFilter ) , TEF = Tr = »
60 Rr Rr

Parameter Symbol Description Dimension unit

0x29E0:001 Vp Gain of the field weakening control- Vs / A
ler
- VPath_Fs Gain of the control path
- P Number of pole pairs rpm
- ntransition Speed at which the field weakening
is approximately initiated.
0x29E0:002 Tn Reset time of the field weakening s
controller
- TEF Filter time constant of the field
control loop
0x29E3 TFilter Filter time constant for the s
required voltage
- Tr Motor rotor time constant
- Lr Motor rotor resistance (ASM)
0x2C02:002 Lh Mutual motor inductance (ASM) H
0x2C01:003 Lss Motor stator leakage inductance H
(ASM) or motor leakage inductance
(SM)
0x2C02:001 Rr Motor rotor resistance Ω

Parameter
Address Name / setting range / [default setting] Info
0x29E0:001 Field weakening controller settings: Gain (ASM) Gain factor Vp of the field weakening controller.
0.000 ... [0.000] ... 2147483.647 Vs/V
0x29E0:002 Field weakening controller settings: Reset time (ASM) Reset time Tn of the field weakening controller.
1.0 ... [2000.0] ... 240000.0 ms
0x29E1 Field weakening controller Field limitation Field limitation of the field weakening controller.
5.00 ... [100.00] ... 100.00 %

13.6.5.5 ASM field weakening controller (extended)

For a quick commissioning, the calculations and settings are made automatically during the
optimisation.
Parameter
Address Name / setting range / [default setting] Info
0x29E2 DC-bus filter time Filter time for the current DC-bus voltage used for field weakening.
1.0 ... [25.0] ... 1000.0 ms
0x29E3 Motor voltage filter time Filter time for the current motor voltage used for field weakening.
1.0 ... [25.0] ... 1000.0 ms
0x29E4 Voltage reserve range Voltage reserve at the transition point to the field weakening, with refer-
1 ... [5] ... 20 % ence to the current value of the DC-bus voltage.
Only relevant for:
• Servoregelung (SC-PSM) (0x2C00 = 1)
• Servo control (SC ASM) (0x2C00 = 2)

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Motor control settings

13.6.5.6 PSM field weakening controller

The inverter control enables a synchronous motor to be operated outside the voltage range. If
a motor is selected in the »EASY Starter«, the control is parameterised automatically.
Improve the transition from the base speed range to field weakening by activating the current
controller: feedforward control parameter. 40x2941
• The current controller precontrol is defined via the following parameters:
• Motor parameter: stator resistance 40x2C01:002
• Motor parameter: stator leakage inductance 40x2C01:003
• Motor parameter (PSM): back EMF constant 40x2C03:001
• If you want to operate a third-party motor in the field weakening range, you have to deter-
mine the parameters previously mentioned

Operation of synchronous motors outside the voltage range:

If pulse inhibit is set in the inverter, e.g. in case of an inverter disable or an error,
the DC bus is loaded in accordance with the current speed (see equation).
• At high speed and outside the voltage range, the terminal voltage can be
higher than the mains voltage!
• In order to prevent the DC bus from being loaded impermissibly high, connect
a brake chopper to the DC bus!

The terminal voltage corresponds to the following equation

UN
UK = n *
nM
VK Terminal voltage
n Speed
Vrated Rated mains voltage
nm Rated motor voltage

• Mains settings: rated mains voltage 40x2540:001

• Motor parameter: rated speed 40x2C01:004
Delaying the buildup of field weakening
With the default setting (5 %), field weakening is initiated, thus ensuring that a punctual
buildup of the field weakening current shortly before the voltage threshold is reached.
In the case of synchronous motors, setting the Voltage reserve range parameter may bring
about a delayed start of field weakening for synchronous machines, e.g in order to slightly
reduce the thermal load of the motor. 40x29E4

271
Configuring the motor control
Options for optimising the control loops
Motor control settings

13.6.5.7 Imax controller

Defining the behaviour at the current limit (Imax controller)
The maximum output current or the current limit is defined by the 0x6073 "max. current"
parameter. In case of the V/f characteristic control, an Imax controller is implemented for
complying with this limit. If the motor current exceeds the set maximum current, the Imax
controller is activated.
• The Imax controller changes the rotating field frequency so that the motor current does
not exceed the current limit. In motor mode, the frequency is reduced and in generator
mode it is increased.
• The gain and reset time of the Imax controller can be parameterised.
Optimising the Imax controller
The automatic calculation serves to determine starting parameters of the Imax controller
which are sufficient for many applications. Thus, an optimisation is not required for most of
the applications.
The automatic calculation is made via the parameter 0x2822:019 = 1.

The parameters of the Imax controller must be adapted if

• a power control is implemented with great moments of inertia.
Recommendation:
Step 1: increase reset time in 40x2B08:002
Step 2: reduce gain in 40x2B08:001
• vibrations occur with V/f characteristic control during the operation of the Imax controller.
Recommendation:
Step 1: increase reset time in 40x2B08:002
Step 2: reduce gain in 40x2B08:001
• overcurrent errors occur due to load impulses or too high acceleration/deceleration
ramps.
Recommendation:
Step 1: reduce reset time in 40x2B08:001
Step 2: increase gain in 40x2B08:002

Parameter
Address Name / setting range / [default setting] Info
0x2B08:001 V/f Imax controller: Gain Gain factor Vp of the Imax controller.
0.000 ... [0.001] ... 1000.000 Hz/A
0x2B08:002 V/f Imax controller: Reset time Reset time Ti of the Imax controller.
1.0 ... [100.0] ... 2000.0 ms

13.6.5.8 Flying restart controller

Parameter
Address Name / setting range / [default setting] Info
0x2BA1 Flying restart circuit
0 ... [15] ... 100 %

272
 Configuring the motor control
Options for optimising the control loops
Motor control settings

13.6.5.9 Position controller

Equation for calculating the gain
The automatic calculation is made via the parameter 0x2822:015 = 1.
1
Vp = , TSumme = TFilter + TStromregler
32 × TSumme

Parameter Symbol Description Dimension unit

0x2980 Vp Position controller gain Hz
0x2985:001 ... 0x2985:011 Vp(n) Speed-dependent Vp adaptation
0x2904 TFilter Filter time constant - actual speed s
value
- Tcurrent controller Equivalent time constant of the cur- s
rent control loop = 0.0005 s (500
µs)

Instability of the position control loop due to too high dynamic performance of the speed controller
The following countermeasure must be taken if the following error cannot be reduced to
acceptable values while setting the position controller:

1. Reduce speed controller by the factor 2 and slowly increase the position controller until it
gets slightly unstable again.
2. Reduce the position controller slightly and increase the speed controller until the position
control loop gets slightly unstable again.
3. Repeat these steps until the following error is reduced to acceptable values.

Parameter
Address Name / setting range / [default setting] Info
0x2980 Position controller gain Setting of the position controller gain.
0.00 ... [28.40] ... 1000.00 Hz
0x2981 Position controller gain adaption Setting of the percentage adaptation for the position controller gain.
0.00 ... [100.00] ... 200.00 %
0x2982 Position controller output signal limitation Setting of the output signal limitation.
0.00 ... [480000.00] ... 480000.00 rpm
0x2983 Actual position start value Specifying a new actual position.
-2147483647 ... [0] ... 2147483647 pos. unit
0x2984 Mode for setting the actual position Selection of the mode for setting or shifting the actual position.
0 Absolute Actual position = Actual position start value (0x2983)
1 Relative Actual position = actual position + Actual position start value (0x2983)
0x2986 Resulting gain adaption Display of the resulting gain after being adapted.
• Read only: x.xx %

273
Configuring the motor control
Fine adjustment of the motor model

13.7 Fine adjustment of the motor model

The further commissioning steps are only required for servo controls if more stringent require-
ments with regard to the torque linearity have to be met. During the commissioning process
of Lenze motors, typical values for the relevant parameters are provided. For motors of other
manufacturers, these values are to be requested from the motor manufacturer, or they have
to be estimated.

274
 Configuring the motor control
Fine adjustment of the motor model
Correction of the stator leakage inductance (Lss)...

13.7.1 Correction of the stator leakage inductance (Lss)...

...and the current controller parameters by means of the saturation characteristic
For the most part, the electrical characteristics of the motor are the relevant factors for an
optimal current controller setting (Vp, Ti), especially the stator resistance and the stator leak-
age inductance (Lss). However, modern motors have their stator leakage inductance changed
along with the current level so that it is impossible to have an optimal current controller set-
ting for all working points at all times.
For applications with operating phases that involve very different current and torque require-
ments and, at the same time, high requirements on dynamic drive behaviour, the i700 servo
inverter provides the possibility of the correction of the stator leakage inductance and the cur-
rent controller settings by means of the adjustable saturation characteristic.
The saturation characteristic is a typical characteristic of motors of one type/size. It does not
depend on the maximum process current of the motor in the prevailing application. Thus the
defined values should be based on the key data of the motors. These are rated motor current,
peak motor current for a limited time and the ultimate motor current.

NOTICE
Impact of the saturation characteristic on the current controller feedforward control
▶ The saturation characteristic is not only used to correct the current controller, but it also
influences the current controller feedforward control (can be activated via parameter
0x2941).

The following picture shows a typical saturation characteristic of an MCS motor:

L/Ln
120 %

100 %

80 %

60 %

40 %

20 %

0% I/Imax
0% 10 % 20 % 30 % 40 % 50 % 60 % 70 % 80 % 90 % 100 %

The saturation characteristic represents the change in inductance (L/Ln) as a function of the
motor current (I/Imax). The variables of both axes which were scaled to a reference value are
represented as percentages.
• When a Lenze motor is selected, the saturation characteristic is already filled with values
typical of the series.

275
Configuring the motor control
Fine adjustment of the motor model
Correction of the stator leakage inductance (Lss)...

Distribution of the grid points

• The saturation characteristic is represented by 17 grid points.
• The 17 grid points are spaced on the X axis at equal intervals (equidistantly) in a range of
0 ... 100 %. The 100% value of the X axis refers to the current value (max. motor current in
the process) set in parameter 0x2C05.
• The y values for the grid points can be accessed via the subindices of parameter .
x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17
Vp [V/A]
Tn [ms]

Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]

• The 100 % value of a grid point refers to

• the set motor stator leakage inductance 0x2C01:003 and
• the set current controller gain Vp 0x2942:001.
• Preferably select a display area of the grid points which includes at least the ultimate
motor current. The current controller step response is then recorded actively only until the
grid point with peak motor current. In order to prevent the motor winding from being
overloaded, use the manual test mode "current pulse" for recording: 4Manual "current
pulse" test mode. ^ 305
• The grid points with current setpoints above the peak motor current are determined
through interpolation.
• When the saturation characteristics for motor types are determined, it makes sense in
some cases to select a scaled representation of the grid point distribution. This requires to
know the highest value of the quotient from "ultimate motor current / rated motor cur-
rent" of the motor series.
Example of determining the saturation characteristic
Given values:
• Rated motor current: 5 A
• Maximum motor current: 20 A
• Maximum process current: 15 A

276
 Configuring the motor control
Fine adjustment of the motor model
Correction of the stator leakage inductance (Lss)...

Proceeding
1. Deactivate correction: Set all subindices (0x2C04:001 ... 0x2C04:017) to 100 %.
2. Use 0x2C05 to set the maximum current up to which the motor is to be operated in the
process (in this example "15 A").
3. Adjust the current controller with different current setpoints by means of the manual test
mode Manual "current pulse" test mode and take down the corresponding settings for Vp
and Tn.
• The procedure is described in section Manual "current pulse" test mode.
• The current setpoints to be set for the corresponding adjustment in object 0x2835:001
result from the scaling of the maximum process current to the X axis of the saturation
characteristic.
• The grid points which are required to define the saturation characteristic with a suffi-
cient quality varies from motor to motor and thus has to be determined individually.
• For this example, currents that are part of the grid points 5, 9, 13, and 15 have been
selected, and a measurement at rated motor current was carried out additionally:
x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17
Vp [V/A]
Tn [ms]

Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]

0A 3.75 A 5A 7.5 A 11.25 A 12.38 A 15 A

See table "Specifications for adjustment / measured values" after this listing
4. Create a characteristic based on the detected values for Vp (but do not enter any values in
yet).
• Determine the values of the grid points that have not been adjusted by interpolation
between two values.
• Note: This example assumes that the inductance does not change considerably below
3.75 A. For this reason, the same Vp value that resulted from the measurement with a
motor current of 3.75 A was used for all grid points below 3.75 A.
x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17
Vp [V/A]

5.2

3.8

2.6

1.4
1.0
0.7
0 Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]

0A 3.75 A 5A 7.5 A 11.25 A 12.38 A 15 A

5. Set gain Vp and reset time Tn to the values that were determined during the adjustment
with the rated motor current (in this example "5 A"):
• 0x2942:001 is set to "3.8 V/A".
• 0x2942:002 is set to "5 ms".
6. Scale Vp values on the Y axis of the characteristic to the Vp setting "3.8 V/A":

277
Configuring the motor control
Fine adjustment of the motor model
Correction of the stator leakage inductance (Lss)...

x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17

Vp [%]

150

Vp = "3.8 V/A" º 100 %

100

50

0 Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]

0A 3.75 A 5A 7.5 A 11.25 A 12.38 A 15 A

7. Enter the percentage Vp values of the grid points into the subindices
(0x2C04:001 ... 0x2C04:017):
x1 x2 x3 x4 x5 x6 x7 x8 x9 x10 x11 x12 x13 x14 x15 x16 x17
Vp [%]

137
Vp = "3.8 V/A" º 100 %
109
92
80
68

19

0 Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]

See table "Setting of grid point 1 ... 17 in [%]" after this listing
8. Enter the maximum process current ("15 A") in 0x6073 as the maximum current.
• The settings made should now cause the same basic current characteristic irrespective
of the current level.
• Now that the current controller gain is actively corrected, the step responses may
slightly differ from the previous measurements. In this case, the current controller
parameters must be post-optimised for the last time.
9. For permanent storage: save the characteristic determined.
The »EASY Starter« serves to save the parameter settings of the inverter as parameter file
(*.gdc). Saving the parameter settings
Specifications for adjustment Measured values
Grid point Scaling Current setpoint Vp [V/A] Tn [ms]
5 0.25 * 15 A = 3.75 A 5.2 6.5
9 0.5 * 15 A = 7.5 A 2.6 4
13 0.75 * 15 A = 11.25 A 1.4 2.5
15 0.875 * 15 A = 12.38 A 1.0 2
17 1.0 * 15 A = 15 A 0.7 1.7
Rated motor current= 5A 3.8 5

Setting of grid point 1 ... 17 in [%]

y1 y2 y3 y4 y5 y6 y7 y8 y9 y10 y11 y12 y13 y14 y15y y16 y17
137 137 137 137 137 109 92 80 68 61 53 45 37 32 26 22 19

278
 Configuring the motor control
Fine adjustment of the motor model
Correction of the stator leakage inductance (Lss)...

Parameter
Address Name / setting range / [default setting] Info
0x2C04:001 Inductance grid points (y) Lss saturation characteris- Saturation characteristic of the leakage inductance.
tic: y1 = L01 (x = 0.00 %) The linear distribution via the current results from the maximum motor
0 ... [165] ... 400 % current (0x2C05).
0x2C04:002 Inductance grid points (y) Lss saturation characteris-
tic: y2 = L02 (x = 6.25 %)
0 ... [200] ... 400 %
0x2C04:003 Inductance grid points (y) Lss saturation characteris-
tic: y3 = L03 (x = 12.50 %)
0 ... [146] ... 400 %
0x2C04:004 Inductance grid points (y) Lss saturation characteris-
tic: y4 = L04 (x = 18.75 %)
0 ... [117] ... 400 %
0x2C04:005 Inductance grid points (y) Lss saturation characteris-
tic: y5 = L05 (x = 25.00 %)
0 ... [97] ... 400 %
0x2C04:006 Inductance grid points (y) Lss saturation characteris-
tic: y6 = L06 (x = 31.25 %)
0 ... [82] ... 400 %
0x2C04:007 Inductance grid points (y) Lss saturation characteris-
tic: y7 = L07 (x = 37.50 %)
0 ... [71] ... 400 %
0x2C04:008 Inductance grid points (y) Lss saturation characteris-
tic: y8 = L08 (x = 42.75 %)
0 ... [62] ... 400 %
0x2C04:009 Inductance grid points (y) Lss saturation characteris-
tic: y9 = L09 (x = 50.00 %)
0 ... [55] ... 400 %
0x2C04:010 Inductance grid points (y) Lss saturation characteris-
tic: y10 = L10 (x = 56.25 %)
0 ... [50] ... 400 %
0x2C04:011 Inductance grid points (y) Lss saturation characteris-
tic: y11 = L11 (x = 62.50 %)
0 ... [46] ... 400 %
0x2C04:012 Inductance grid points (y) Lss saturation characteris-
tic: y12 = L12 (x = 68.75 %)
0 ... [43] ... 400 %
0x2C04:013 Inductance grid points (y) Lss saturation characteris-
tic: y13 = L13 (x = 75.00 %)
0 ... [42] ... 400 %
0x2C04:014 Inductance grid points (y) Lss saturation characteris-
tic: y14 = L14 (x = 81.25 %)
0 ... [41] ... 400 %
0x2C04:015 Inductance grid points (y) Lss saturation characteris-
tic: y15 = L15 (x = 87.50 %)
0 ... [41] ... 400 %
0x2C04:016 Inductance grid points (y) Lss saturation characteris-
tic: y16 = L16 (x = 93.25 %)
0 ... [41] ... 400 %
0x2C04:017 Inductance grid points (y) Lss saturation characteris-
tic: y17 = L17 (x = 100.00 %)
0 ... [41] ... 400 %
0x2C04:018 Inductance grid points (y) Lss saturation characteris- Switch on/off the correction by means of saturation characteristic.
tic: Activation Lss saturation characteristic
0 Adjustment off
1 Adjustment on
0x2C05 Reference for current grid points (x) Lss saturation Setting of the maximum motor current.
characteristic Serves as reference value for the scaled current data of the X axis of the
0.0 ... [5.4] ... 500.0 A saturation characteristic.

279
Configuring the motor control
Fine adjustment of the motor model
Synchronous motor (SM): Compensate temperature and current influences

13.7.2 Synchronous motor (SM): Compensate temperature and current influences

The properties of the permanent magnets of permanently excited synchronous motors
depend on the temperature and the amperage. The relationship between motor current and
resulting torque changes correspondingly.
The influences of the temperature and the amperage on the magnetisation can be taken into
account by the motor control and hence be compensated for.
• To compensate for the temperature dependence of the magnets, the temperature coeffi-
cient (kT) of the permanent magnet must be entered in object 0x2C03:003 (linear charac-
teristic).
• To compensate for the current dependence of the magnets, multiple grid points of a char-
acteristic must be entered in the following object (non-linear characteristic):
Parameter
Address Name / setting range / [default setting] Info
0x2C06:001 Grid points for magnet characteristic (current): x1 = Characteristic for the dependency of the magnetic flux on the active
i01/iN motor current.
0 ... [0] ... 1000 %
0x2C06:002 Grid points for magnet characteristic (current): y1 =
kT01/kTN
0 ... [100] ... 1000 %
0x2C06:003 Grid points for magnet characteristic (current): x2 =
i02/iN
0 ... [100] ... 1000 %
0x2C06:004 Grid points for magnet characteristic (current): y2 =
kT02/kTN
0 ... [100] ... 1000 %
0x2C06:005 Grid points for magnet characteristic (current): x3 =
i03/iN
0 ... [200] ... 1000 %
0x2C06:006 Grid points for magnet characteristic (current): y3 =
kT03/kTN
0 ... [100] ... 1000 %
0x2C06:007 Grid points for magnet characteristic (current): x4 =
i04/iN
0 ... [415] ... 1000 %
0x2C06:008 Grid points for magnet characteristic (current): y4 =
kT04/kTN
0 ... [72] ... 1000 %

280
 Configuring the motor control
Fine adjustment of the motor model
Asynchronous motor (ASM): Identify Lh saturation characteristic

13.7.3 Asynchronous motor (ASM): Identify Lh saturation characteristic

In case of an asynchronous motor, the relationship between current and torque is basically
determined by the saturation behaviour of the mutual inductance. If the achieved torque
accuracy, especially in the field weakening range should not be sufficient, the accuracy can be
increased by the individual identification of the saturation characteristic. This behaviour can
be measured by the servo inverter.
Conditions for the execution
• Before this commissioning function is executed, the inverter characteristic and the motor
parameters must be identified 4Motor equivalent circuit diagram data. ^ 263
• The motor may be stalled.
• The inverter is error-free and in "Switched on" device state.
Response of the motor during "standstill" performance
How to identify the Lh saturation characteristic:

The identification of the Lh saturation characteristic can take up to 11 minutes.

1. If the servo inverter enabled, disable it .

2. Select the drive mode [10] in parameter 0x2825: Lh saturation characteristic identification
3. Enable the inverter to start the process.
• Check the progress in 0x2823:002.
• Disabling the inverter serves to abort the started procedure any time if required.
Already determined characteristic values are rejected in this case.
After successful completion...
...the inverter will be disabled automatically and the points of the determined Lh saturation
characteristic are set in the parameters 0x2C07:001 ... 0x2C07:017.
• Save the changed settings.
The »EASY Starter« serves to save the parameter settings of the servo inverter as parame-
ter file (*.gdc).4Saving the parameter settings ^ 36
• The inverter disable set automatically by the procedure can be deactivated again via the
CiA402 control word 0x6040 (setting = 7, 15).
In the event of an error
If an error occurs during the procedure or the pulse inhibit gets active (e.g. due to short-time
undervoltage), the procedure is terminated with inverter disable without the settings being
changed.
Load standard Lh saturation characteristic
If an incorrect Lh saturation characteristic has been determined or none at all, it is possible to
load a standard Lh characteristic.
How to load the standard Lh saturation characteristic:
1. The start is made via the parameter 0x2822:021 = 1.
2. For permanent storage: after the process has been completed, save the Lh saturation char-
acteristic set in .
The »EASY Starter« serves to save the parameter settings of the inverter as parameter file
(*.gdc). Saving the parameter settings

281
Configuring the motor control
Fine adjustment of the motor model
Asynchronous motor (ASM): Identify Lh saturation characteristic

Parameter
Address Name / setting range / [default setting] Info
0x2822:021 Axis commands: Load default Lh saturation character- Parameters for interaction with engineering tools.
istic
0 Off/Ready Obtain Hiperface information from the encoder for application feedback.
1 On/Start
2 In process
3 Action cancelled
4 No access
5 No access (controller inhibit)
0x2C07:001 Inductance grid points (y) Lh saturation characteristic: Saturation characteristic of the mutual inductance of an asynchronous
y1 = L01 (x = 0.00 %) machine as a function of the magnetising current.
0 ... [118] ... 400 %
0x2C07:002 Inductance grid points (y) Lh saturation characteristic:
y2 = L02 (x = 6.25 %)
0 ... [118] ... 400 %
0x2C07:003 Inductance grid points (y) Lh saturation characteristic:
y3 = L03 (x = 12.50 %)
0 ... [118] ... 400 %
0x2C07:004 Inductance grid points (y) Lh saturation characteristic:
y4 = L04 (x = 18.75 %)
0 ... [117] ... 400 %
0x2C07:005 Inductance grid points (y) Lh saturation characteristic:
y5 = L05 (x = 25.00 %)
0 ... [116] ... 400 %
0x2C07:006 Inductance grid points (y) Lh saturation characteristic:
y6 = L06 (x = 31.25 %)
0 ... [114] ... 400 %
0x2C07:007 Inductance grid points (y) Lh saturation characteristic:
y7 = L07 (x = 37.50 %)
0 ... [111] ... 400 %
0x2C07:008 Inductance grid points (y) Lh saturation characteristic:
y8 = L08 (x = 43.75 %)
0 ... [107] ... 400 %
0x2C07:009 Inductance grid points (y) Lh saturation characteristic:
y9 = L09 (x = 50.00 %)
0 ... [100] ... 400 %
0x2C07:010 Inductance grid points (y) Lh saturation characteristic:
y10 = L10 (x = 56.25 %)
0 ... [93] ... 400 %
0x2C07:011 Inductance grid points (y) Lh saturation characteristic:
y11 = L11 (x = 62.50 %)
0 ... [86] ... 400 %
0x2C07:012 Inductance grid points (y) Lh saturation characteristic:
y12 = L12 (x = 68.75 %)
0 ... [78] ... 400 %
0x2C07:013 Inductance grid points (y) Lh saturation characteristic:
y13 = L13 (x = 75.00 %)
0 ... [71] ... 400 %
0x2C07:014 Inductance grid points (y) Lh saturation characteristic:
y14 = L14 (x = 81.25 %)
0 ... [64] ... 400 %
0x2C07:015 Inductance grid points (y) Lh saturation characteristic:
y15 = L15 (x = 87.50 %)
0 ... [57] ... 400 %
0x2C07:016 Inductance grid points (y) Lh saturation characteristic:
y16 = L16 (x = 93.75 %)
0 ... [50] ... 400 %
0x2C07:017 Inductance grid points (y) Lh saturation characteristic:
y17 = L17 (x = 100.00 %)
0 ... [42] ... 400 %

282
 Configuring the motor control
Fine adjustment of the motor model
Estimate optimum magnetising current

13.7.4 Estimate optimum magnetising current

In case of the given Lh saturation behaviour, there is (usually) a magnetising current where the
torque efficiency is highest. This magnetising current can be determined by the servo inverter.
• Executing this function also compresses or extends the Lh saturation characteristic (inter-
polation points 0x2C07:001 ... 0x2C07:001).
• After the function has been executed, the determined magnetising current is entered in
0x2C02:003.
Preconditions for the performance
• Before this commissioning function is executed, the motor parameters and the Lh satura-
tion characteristic must be identified 4Motor equivalent circuit diagram data. ^ 263
• The motor must be stalled.
Response of the motor during "standstill" performance
How to estimate the optimal magnetising current:
1. Start Axis commands: estimate optimum magnetising current parameter with = 1.
40x2822:023
2. After the process has been completed, save the changed inverter parameters:
• Lh saturation characteristic (0x2C07:001 ... 0x2C07:017)
• Magnetising current0x2C02:003
The »EASY Starter« serves to save the parameter settings of the inverter as parameter
file (*.gdc). 4Saving the parameter settings
Parameter
Address Name / setting range / [default setting] Info
0x2822:023 Axis commands: Estimate optimum magnetizing cur- Parameters for interaction with engineering tools.
rent
0 Off/Ready Obtain Hiperface information from the encoder for application feedback.
1 On/Start
2 In process
3 Action cancelled
4 No access
5 No access (controller inhibit)

283
Configuring the motor control
Parameterise filter elements in the setpoint path
Jerk limitation

13.8 Parameterise filter elements in the setpoint path

13.8.1 Jerk limitation

Via the max. acceleration change that can be set in parameter 0x2945 C00274, the change of
the setpoint torque can be limited for jerk limitation. Hence, sudden torque step changes can
be avoided. The entire speed characteristic is smoothed.
Parameter
Address Name / setting range / [default setting] Info
0x2945 Torque setpoint jerk limitation Setting of the maximum acceleration change.
0.1 ... [400.0] ... 400.0 %

284
 Configuring the motor control
Parameterise filter elements in the setpoint path
Notch filter (band-stop filter)

13.8.2 Notch filter (band-stop filter)

Due to the high dynamic performance or limit frequency of the closed current control loop,
mechanical natural frequencies can be activated which may lead to an unstable speed control
loop in the case of resonance.

To mask out or at least damp these resonant frequencies, two notch filters are integrated in
the speed control loop of the inverter. In the Lenze setting, these filters are switched off:

0x2944:1 0x2944:4
0x2944:2 0x2944:5
0x2944:3 0x2944:6

m m*

Use of the notch filters depending on the resonant frequency

WARNING!
Improperly set notch filters have a negative impact on the response and disturbance behav-
iour of the speed control: increased overshoot of the motor speed in case of response behav-
iour and / or higher speed deviations (extreme case: complete instability of the drive)
In the case of impairment,
▶ the drive that is still running must either be coasted down by activating the inverter disable
or immediately be brought to a standstill via a brake.
▶ the speed controller must be optimised again afterwards.
▶ the test procedure must be repeated.

Output frequency Use of notch filters

0...1/2 flimit_speed_controller No
1/2 flimit_speed_controller...f_limit_speed-Controller yes, with restriction
<flimit_speed_controller yes, without restriction

• The notch filters are suitable for use with resonant frequencies equal to or higher than the
limit frequency of the speed controller:
• Resonant frequencies ≥ flimit_speed_controller = 70 Hz ... 110 Hz
• For resonant frequencies lower than the limit frequency of the speed controller, the use of
suitable speed profiles with an S-shaped ramp is recommended.

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