Software Manual

L-force 9400 Servo Drives

9400 HighLine
Parameter setting & configuration

Copyright
2006 Lenze Drive Systems GmbH. All rights reserved.
Imprint
Lenze Drive Systems GmbH
Postfach 10 13 52, 31763 Hameln, Germany
Phone: ++49 (0)5154 / 82-0
Fax: ++49 (0)5154 / 82-2111
E-mail: Lenze@Lenze.de
Copyright information
All texts, photos and graphics contained in this documentation are subject to
copyright protection. No part of this documentation may be copied or made
available to third parties without the explicit written approval of Lenze Drive
Systems GmbH.
Liability
All information given in this documentation has been carefully selected and
tested for compliance with the hardware and software described.
Nevertheless, discrepancies cannot be ruled out. We do not accept any
responsibility or liability for any damage that may occur. Required correction
will be included in updates of this documentation.
Depending on the software version of the controller, the screenshots in this
documentation may differ from the Engineer representation.

DMS-Version 1.6 EN - 09/2006 - TD05/TD14/TD19

9400 HighLine | Parameter setting & configuration

Contents

Contents
1

About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16

1.1

Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16

1.2

Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17

1.3

Definition of notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19

2.1

Parameter setting, configuring or programming? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.1 Technology applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.2 Basic functionalities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19
20
20

2.2

Communicating with the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Going online via diagnostic adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Going online via system bus (CAN on board) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.3 Use of other communication interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

21
21
24
24

2.3

Signal types & scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25

Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

26

3.1

Notes on commissioning using the keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

27

3.2

Test commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

28

3.3

Initial commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

29

3.4

Standard set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

31

3.5

Controller replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

32

3.6

Motor replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

33

Drive interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

34

4.1

LED status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

34

4.2

Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Machine parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1.1
Mains voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1.2
Gearbox ratio. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1.3
Motor mounting direction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1.4
Configuration feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1.5
Unit/application unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1.6
Traversing range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1.7
Feed constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2 Monitoring of the device utilisation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.3 Parameter for status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

35
35
36
37
38
38
39
40
42
43
43

4.3

Monitoring of external events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

44

4.4

Set/remove controller inhibit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

44

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Contents

4.5

Device states. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1 Status "initialisation active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.2 Status "Safe torque off active". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.3 State "Device is ready to switch on" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.4 State "Device is switched on" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.5 State "Operation" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.6 State "Warning active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.7 State "Warning locked active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.8 State "Quick stop by trouble" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.9 Status"Trouble active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.10 State "Fault active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.11 State "System fault active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

45
46
46
47
48
49
49
49
50
50
50
51

4.6

Controller commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.1 Overview of device commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.2 Status display for device command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.3 Start/stop application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.4 Load Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.5 Save parameter set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.6 Load parameter set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.7 Activate application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.8 Save selected application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.9 Activate/archive parameter set. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

52
53
54
56
56
57
57
58
58
59

4.7

System block "LS_DriveInterface" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.1 Status signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

60
63

Motor interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

64

5.1

65
66
66
67
69
70
71
73
75
78
79
81
82
84

Initial commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.1 Read the motor data out of the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.2 Select motor in the Engineer motor catalog . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.3 Display/edit motor data in the Engineer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.4 Accept/adapt route data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.5 Parameterise motor encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.6 Set rotor displacement angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.7 Optimise the switching performance of the inverter . . . . . . . . . . . . . . . . . . . . . . .
5.1.8 Set motor parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.9 Define currents and speed limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.10 Select switching frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.11 Optimise current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.11.1 Correction of the leakage inductance via saturation characteristic
5.1.11.2 Example for determining the saturation characteristic . . . . . . . . . . .

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9400 HighLine | Parameter setting & configuration

Contents

5.2

Extended commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
87
5.2.1 Optimise speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
88
5.2.2 Set current setpoint filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
90
5.2.3 Optimise phase controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
92
5.2.4 Optimise the response to setpoint changes by means of the torque feedforward
control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .93

5.3

Signal flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4

Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
97
5.4.1 Motor monitoring (Ixt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
98
5.4.1.1
Example for entry of the characteristic for asynchronous servo motor
101
5.4.1.2
Example for entry of the characteristic for synchronous servo motor 102
5.4.2 Special characteristic for motor temperature sensor . . . . . . . . . . . . . . . . . . . . . . . 103
5.4.3 Motor temperature monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

5.5

System block "LS_MotorInterface" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

95

104

Encoder evaluation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

6.1

Signal flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

109

6.2

Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1 Controller configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.2 System with motor encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.3 System with motor encoder and position encoder . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.4 Use external position encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

110
111
112
113
114

6.3

System block "LS_Feedback" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

115

I/O terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

7.1

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

116

7.2

Analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.3 Reconfiguring analog input 1 as a current input . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.4 System block "LS_AnalogInput". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

117
117
118
118
119

7.3

Analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.3 System block "LS_AnalogOutput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

120
120
121
122

7.4

Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.3 System block "LS_DigitalInput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

123
123
123
124

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7.5

Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.3 System block "LS_DigitalOutput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

125
125
125
126

7.6

Monitoring function "State bus" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.6.1 Detecting the current status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.6.2 Setting the state bus to the status "Error" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

127
128
128

7.7

Touch probe detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.7.1 Actual value interpolation (principle) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.7.2 Dead time compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.7.3 System block "LS_TouchProbe1...8" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.7.4 System block "LS_TouchProbeMotor" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.7.5 System block "LS_TouchProbeLoad". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

129
130
131
132
133
133

7.8

System bus "CAN on board". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

134

Safety engineering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

8.1

Integration into the application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

136

8.2

Selecting the required safety module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

136

8.3

Control word of the safety module SM3xx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

137

8.4

Status information of the SM3xx safety module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

138

8.5

System block "LS_SafetyModule". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

139

Basic drive functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

9.1

General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.1 Conditions for the use of the basic functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2 Internal state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.1
"Initialisation" status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.2
Status "Controller not ready" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.3
Status "drive in standstill" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.4
Status "Drive is stopped" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.5
Status "Manual jog active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.6
Status "Homing active". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.7
Status "Positioning active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.8
Status "Setpoint follower active". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.9
Status "Quick stop active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.10 Status "Error" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.11 Interrupting/replacing states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.12 Priorities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.3 Requesting control via a basic function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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140
141
142
142
142
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9.2

Standard stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.2 Behaviour of the function (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.3 System block "LS_Stop" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

148
149
150
151

9.3

Quick stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.2 Activating/Deactivating quick stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.3 System block "LS_quick stop" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

152
152
154
155

9.4

Manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.1.1
Smooth start and quick stop of the drive . . . . . . . . . . . . . . . . . . . . . . . .
9.4.1.2
Second manual speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.2 Executing manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.2.1
Manual jog in positive/negative direction . . . . . . . . . . . . . . . . . . . . . . .
9.4.2.2
Manual jog to limit position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.2.3
Retracting of an activated limit switch . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.3 System block "LS_ManualJog" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

156
156
157
157
158
159
160
161
162

9.5

Homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1.1
Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1.2
Home position & target position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1.3
Second homing speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1.4
Homing to end stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1.5
Connection of reference switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1.6
Touch probe interface configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.2 Executing homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.2.1
Setting reference search/setting reference directly . . . . . . . . . . . . . .
9.5.2.2
Loading home position via input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.2.3
Resetting home position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.3 System block "LS_Homing" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

164
165
165
169
170
171
171
171
172
173
173
173
174

9.6

Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.2 Carrying out positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.2.1
Starting positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.2.2
Aborting/interrupting positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.2.3
Continuing an interrupted positioning process . . . . . . . . . . . . . . . . . .
9.6.2.4
Activating override. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.3 System block "LS_Positioner" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

176
176
177
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9.7

Position follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.1 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.2.1
Setpoint interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.2.2
Inversion of the direction of rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.3 Activating setpoint interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.4 System block "LS_PositionFollower" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

183
184
186
187
187
188
189

9.8

Speed follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8.1 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8.2.1
Setpoint interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8.2.2
Inversion of the direction of rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8.3 Activating setpoint interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8.4 System block "LS_SpeedFollower" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

190
191
192
193
193
194
195

9.9

Torque follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9.1 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9.2.1
Setpoint interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9.2.2
Inversion of the direction of rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9.3 Activating setpoint interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9.4 System block "LS_TorqueFollower" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

196
196
197
197
197
198
199

9.10 Limiter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.1.1 Software limit positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.1.2 Hardware limit positions (limit switch). . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.1.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.1.4 Limited speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.2 Control word of the safety module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.3 System block "LS_Limiter" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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9.11 Brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.11.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.1.1 Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.1.2 Signal configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.1.3 Standstill monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.1.4 Brake activation in automatic operation . . . . . . . . . . . . . . . . . . . . . . . .
9.11.1.5 Brake time response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.1.6 Torque feedforward control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.2 Mode 0: Brake control is switched off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.3 Mode 1/11: Direct control of the brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.4 Mode 2/12: Automatic control of the brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.4.1 Behaviour at pulse inhibit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.4.2 Process when brake is released . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.4.3 Process when brake is closed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.5 Grinding the brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.6 Carry out brake test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.11.7 System block "LS_Brake" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10

211
212
213
213
214
215
217
219
222
222
223
224
225
226
227
229
231

Technology applications (TAs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

10.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

233

10.2 Commissioning using the Engineer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.1 Parameterise application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.2 Parameterise signal combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.3 Configure application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.4 Networking via standardised ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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11

10

Standard TAs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

11.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.1 Application examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

242
242

11.2 TA "Actuator speed" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.2.1 Basic signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.2 Assignment of the I/O terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.2.1 Setpoint and control signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.2.2 Actual value and status signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.3 Machine parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.4 Speed setpoint conditioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.4.1 Change-over to fixed setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.4.2 Setpoint inversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.4.3 Speed ramp generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.5 Speed follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.6 Manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.7 Quick stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.8 Limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.9 Brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.10 Signal configuration of drive and motor interface . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.11 Signal configuration of the output ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.12 Application error messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

244
245
246
246
247
249
250
251
252
253
255
256
257
258
259
261
262
264

11.3 TA "Actuator torque" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.3.1 Basic signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.2 Assignment of the I/O terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.2.1 Setpoint and control signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.2.2 Actual value and status signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.3 Machine parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.4 Torque setpoint conditioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.4.1 Setpoint inversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.4.2 Ramp generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.5 Speed limit value conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.5.1 Change-over to fixed setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.5.2 Speed ramp generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.6 Torque follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.7 Manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.8 Quick stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.9 Limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.10 Brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.11 Signal configuration of drive and motor interface . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.12 Signal configuration of the output ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.13 Application error messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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12

TAs for interconnection via electrical shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287

12.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1.1 Synchronisation of the drives via a master angle . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1.2 Virtual master/real master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1.3 Transmission of the master angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1.4 Speed or angular synchronism?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1.5 Rail or cascade structure? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1.6 Master or actual value transfer? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1.7 Absolute or relative master angle processing? . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1.8 Functions with synchronisation via the electrical shaft. . . . . . . . . . . . . . . . . . . . .
12.1.9 Application examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

288
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289
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291
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291
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292
293

12.2 TA "Electronic gearbox" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2.1 Basic signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.2 Assignment of the I/O terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.2.1 Setpoint and control signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.2.2 Actual value and status signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.3 Machine parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.3.1 Master axis (master shaft). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.3.2 Slave axis (machine axis) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.4 Selection of master value source and output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.4.1 Master value source: Virtual master . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.4.2 Master value source: Digital frequency input . . . . . . . . . . . . . . . . . . . .
12.2.4.3 Master value source: Bus system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.5 Operating mode "Electronic gearbox" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.5.1 Master value processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.5.2 Virtual clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.5.3 Master value trimming. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.5.4 Setpoint conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.6 "Homing" mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.7 "Manual jog" mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.8 "Positioning" mode" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.9 Following error monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.10 Quick stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.11 Limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.12 Brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.13 Signal configuration of drive and motor interface . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.14 Signal configuration of the output ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.15 Application error messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.16 Step by step: Electrical shaft via system bus (CAN) . . . . . . . . . . . . . . . . . . . . . . . . .

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12.3 TA "Synchronism with mark synchronisation". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.3.1 Basic signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.2 Assignment of the I/O terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.2.1 Setpoint and control signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.2.2 Actual value and status signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.3 Machine parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.3.1 Master axis (master shaft). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.3.2 Slave axis (machine axis) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.4 Selection of master value source and output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.4.1 Master value source: Virtual master . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.4.2 Master value source: Digital frequency input . . . . . . . . . . . . . . . . . . . .
12.3.4.3 Master value source: Bus system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.5 "Synchronism" mode" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.5.1 Master value processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.5.2 Mark synchronisation (master value) . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.5.3 Virtual clutch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.5.4 Master value trimming. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.5.5 Setpoint conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.5.6 Mark synchronisation (setpoint) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.6 "Homing" mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.7 "Manual jog" mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.8 "Positioning" mode" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.9 Quick stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.10 Limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.11 Brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.12 Signal configuration of drive and motor interface . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.13 Signal configuration of the output ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.14 Application error messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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9400 HighLine | Parameter setting & configuration

Contents

13

TAs for positioning tasks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367

13.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1.1 Application examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

368
369

13.2 TA "Multi-purpose positioning" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.1 Basic signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.2 Assignment of the I/O terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.2.1 Setpoint and control signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.2.2 Actual value and status signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.3 Basic settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.3.1 Machine parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.3.2 Traversing range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.3.3 Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.4 Program flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.4.1 Overview of action types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.4.2 Action type "Homing" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.4.3 Action type "Positioning" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.4.4 Action type "Variable branching" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.4.5 Sequencer inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.4.6 Sequencer outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.4.7 Parameter setting of the program flow in the Engineer . . . . . . . . . .
13.2.4.8 Control of the sequence table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.5 Profile data management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.5.1 Profile parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.5.2 Variable tables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.5.3 Positioning modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.5.4 Touch probe positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.5.5 "Teach" function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.6 Speed/acceleration override. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.7 Following error monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.8 Manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.9 Quick stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.10 Limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.11 Brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.12 Signal configuration of drive and motor interface . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.13 Signal configuration of the output ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.14 Application error messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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13.3 TA "Table positioning" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.3.1 Basic signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3.2 Assignment of the I/O terminals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3.2.1 Setpoint and control signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3.2.2 Actual value and status signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3.3 Control of the program flow via predefined ports. . . . . . . . . . . . . . . . . . . . . . . . . .
14

14

411
412
413
413
414
415

Oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
14.1 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

416

14.2 Function description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

417

14.3 User interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.3.1 Oscilloscope toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3.2 Oscilloscope function bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3.3 Oscillograph. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3.4 Vertical settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3.5 Status bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3.6 Trigger/cursor settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3.7 Horizontal settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3.8 Recording settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

418
418
419
419
419
419
420
420
420

14.4 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4.1 Selecting the variables to be recorded. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4.2 Selecting the recording time/sample rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4.3 Selecting the trigger condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4.4 Starting recording . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4.5 Adjusting the representation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4.6 Reading individual measured values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

421
421
422
422
424
424
426

14.5 Data records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.5.1 Saving/exporting a data record. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.5.2 Loading/importing a data record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.5.3 Deleting data record in the project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.5.4 Overlay function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.5.5 Copying data record to clipboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

427
427
428
429
429
430

14.6 Variables of the motor control (oscilloscope signals) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

431

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9400 HighLine | Parameter setting & configuration

Contents

15

16

17

Diagnostics & error analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433

15.1 Drive diagnostics with the Engineer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

433

15.2 Drive diagnostics via keypad/bus system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

434

15.3 Logbook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.3.1 Function description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.3.2 Filtering logbook entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.3.3 Reading logbook entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

436
437
437
438

15.4 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.4.1 Setting the error response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

439
439

15.5 Maloperation of the drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

442

15.6 Error messages of the operating system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

15.6.1 Format of the error numbers saved in the fault memory . . . . . . . . . . . . . . . . . . .
15.6.1.1 Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.6.1.2 Instance-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.6.1.3 Module ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.6.1.4 Error ID. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.6.1.5 Example for bit coding of the error number . . . . . . . . . . . . . . . . . . . . .
15.6.2 Reset of error message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.6.3 Error list. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

443
443
444
444
445
445
446
447
448

Parameter reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537

16.1 Structure of the parameter descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1.1 Data type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1.2 Parameters with read-only access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1.3 Parameters with write access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1.3.1 Parameters with setting range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1.3.2 Parameters with selection list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1.3.3 Parameters with bit-code setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1.3.4 Parameters with subcodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1.4 Parameter attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

537
537
538
539
539
539
540
541
542

16.2 Abbreviations used in parameter & selection texts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

543

16.3 Parameter list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

543

16.4 Attribute table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

648

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 658
Your opinion is important to us. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Firmware 1.37 - 09/2006

679

15

9400 HighLine | Parameter setting & configuration

About this Manual
Conventions used

About this Manual

This Manual contains information about the parameterisation & configuration of the
9400 HighLine controller by means of the L-force Engineer and the keypad.

Note!
The Manual supplements the Mounting Instructions attached to the controller
and the Manual for the 9400 HighLine controller.
The Mounting Instructions contain safety information which must be observed!

The information in this Manual applies to the following "9400 Servo Drives":

1.1

Type

Type designation

9400 HighLine
(Single Drive & Multi Drive)

E94AxHExxxx

As of hardware
version

As of software
version

PD

1.37.00

Conventions used
This Manual uses the following conventions to distinguish between different types of
information:
Type of information
Variable identifier

Writing
Italics

Window range
Control element

By setting bEnable to TRUE...

The Message window... / The Options dialog box...

Bold

Sequence of
menu commands
Shortcut

Examples/notes

The OK button... / The Copy command... / The Properties index card... /

The Name input field...
If the execution of a function requires several commands, the individual
commands are separated by an arrow: Select FileOpen to...

<Bold>

Use <F1> to open the online help.

If a command requires a combination of keys, a "+" is placed between
the key symbols:
Use <Shift>+<ESC> to...

Program code

Courier

Keyword

Courier
bold

Hyperlink

Underlined

Step-by-step
instruction

16

IF var1 < var2 THEN

a = a + 1
END IF

A hyperlink is an optically highlighted reference which is activated with

a mouse click.
Like safety information, step-by-step instructions are indicated by a
pictograph.

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9400 HighLine | Parameter setting & configuration

About this Manual

Terminology used

1.2

Terminology used
Term

Meaning

Engineer

Lenze software which supports you throughout the whole machine life
cycle - from planning to maintenance.

Code

"Container" for one or several parameters used for controller parameter

setting or monitoring.

Subcode

If a code contains several parameters, the individual parameters are

stored under "subcodes".
This Manual uses a slash "/" as a separator between code and subcode
(e.g. "C00118/3").

Function block editor

Graphical interconnection tool which is provided for controllers in the

MotionControl HighLevel and TopLevel license level in the Engineer on
the FB editor tab and by means of which the technology applications
supplied can also be reconfigured and extended by individual functions.

Function block

A function block (FB) can be compared with an integrated circuit that

contains a certain control logic and delivers one or several values when
being executed.
An entity (reproduction, copy) of the function block is always inserted
in the circuit.
It is also possible to insert several instances of a function block in a
circuit.
Each entity has an unequivocal identifier (the entity name) and a
processing number which defines the position the function block is
calculated during the task cycle.

System block

System blocks provide interfaces for basic functions and hardware of the
controller in the function block editor of the Engineer (e.g. to the
digital inputs).
System blocks cannot be instanced in contrast to function blocks.

DIS code

Parameter that displays the current status or value of an input/output of

a system block.

TA

Abbreviation for "Technology Application".

Technology applications are applications prepared by Lenze which form
the basis of solving typical applications.

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17

9400 HighLine | Parameter setting & configuration

About this Manual
Definition of notes used
1.3

Definition of notes used

The following signal words and symbols are used in this documentation to indicate
dangers and important information:
Safety instructions
Structure of safety instructions:

Pictograph and signal word!

(characterise the type and severity of danger)
Note
(describes the danger and suggests how to avoid the danger)

Pictograph

Signal word

Meaning

Danger!

Danger of personal injury through dangerous electrical voltage

Indicates an impending danger that may lead to death or severe personal injury if
the corresponding measures are not taken.

Danger!

Danger of personal injury through a general source of danger

Indicates an impending danger that may lead to death or severe personal injury if
the corresponding measures are not taken.

Stop!

Danger of material damage

Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.

Application notes
Pictograph

18

Signal word

Meaning

Note!

Important note for trouble-free operation

Tip!

Useful tip for simple handling

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9400 HighLine | Parameter setting & configuration

Introduction
Parameter setting, configuring or programming?

Introduction
The basis of every L-force application is an easy and quick parameter setting of prepared
technology applications and solutions*.
This chapter contains basic information on the runtime software model of L-force and how
you can establish very easily an online connection between PC and controller for parameter
setting with the Engineer.
At the end of this chapter you will find an overview of the different signal types & scalings
which serve to process physical values (e.g. speed or position) within the application.
* In preparation!

2.1

Parameter setting, configuring or programming?

The graded runtime software model of L-force provides a simple and universal solution for
motion and process tasks as well as for complex machine functions.
Runtime software
PLC level

Programming*

Freely programmable open and closed

loop control functions*

Technology level
Motion Control TopLevel
Additional motion and process control
modes for complex drive tasks.
Motion Control HighLevel
Individual expansion of the basic
functions & technology applications by
means of function block editor and
comprehensive function library.

Configuring
The HighLevel and TopLevel licenses enable you to
extend the provided technology applications by
individual functions using the graphic function block
editor of the Engineer. Here, you can access the
comprehensive function libraries of Lenze which
contain, among other things, process controllers,
arithmetic functions, logic blocks, as well as ramp
generators and integrators.
Parameter setting
The StateLevel license includes a range of technology
which can be put into operation easily with a keypad
or via dialogs in the Engineer.

Motion Control StateLevel

Parameterisable basic functions &
technology applications.
* In preparation!

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19

9400 HighLine | Parameter setting & configuration

Introduction
Parameter setting, configuring or programming?
2.1.1

Technology applications
Technology applications (TAs) are applications prepared by Lenze which form the basis of
solving typical applications.
r The technology applications available for the 9400 Servo Drives can be selected in the
Engineer form the application catalog.
Runtime software
Technology level

Each higher license contains additional technology

applications for further application fields.

Motion Control TopLevel

TA "Multi-purpose positioning"
TA "Electronic cam" *
TA "Register control" *
TA "Winding technology" *

Motion Control HighLevel

TA "Electronic gearbox"
TA "Synchronism with mark
synchronisation"
Motion Control StateLevel
TA "Actuator speed"
TA "Actuator torque"
TA "Table positioning"
* In preparation!

2.1.2

Basic functionalities
Important basic drive functions and other basic functionalities are implemented in the
firmware of the controller and are always available irrespective of the prevailing runtime
software license.
Firmware

20

Motion Control basic drive functions

Further basic functionalities

Standard stop
Quick stop
Manual jog
Homing
Positioning
Position follower
Speed follower
Torque follower
Limiter
Brake control

Firmware 1.37 - 09/2006

Drive interface
Motor interface
Encoder evaluation
I/O terminals
Safety engineering
Logbook
Oscilloscope

9400 HighLine | Parameter setting & configuration

Introduction
Communicating with the controller

2.2

Communicating with the controller

The following interfaces/communication modules can be used to build up communication
between PC and controller:
r Diagnostic interface X6/Going online via diagnostic adapter
r CAN on-board interface/Going online via system bus (CAN on board)

(C 24)

r Optional interfaces provided by corresponding communication modules in the module

receptacles MXI1/MXI2 of the controller.

Note!
For communication with the controller, at least the control electronics of the
controller must be supplied with 24 V low voltage via plug X2. For detailed
information, please see the Mounting Instructions for the controller.

O Tip!
Detailed information about the individual interfaces can be found in the
corresponding Communication Manuals.

2.2.1

Going online via diagnostic adapter

For the initial commissioning of the controller, you can use, for instance, the diagnostic
adapter offered by Lenze:

Note!
Please observe the documentation for the diagnostic adapter!

Firmware 1.37 - 09/2006

21

9400 HighLine | Parameter setting & configuration

Introduction
Communicating with the controller
Preconditions:
r The diagnostic adapter is connected to diagnostic interface X6 on the controller and to
a free USB port on the PC.
r The driver required for the diagnostic adapter is installed.
r The control electronics of the controller is supplied with 24 V low voltage via plug X2.

M How to build up an online connection via the diagnostic adapter:

1. Select the 9400 HighLine controller to which you want to build up an online
connection in the Project view of the Engineer:

2. Click the
icon or select the command OnlineGo online.
If no online connection has been configured for the selected controller so far,
the Assignment of offline controllers dialog box will be displayed:

The dialog box also appears if the online connection is built up via the command
OnlineGo online instead of using the toolbar icon.
3. Select the entry "Diagnostic adapter" from the Bus connection list field.

22

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9400 HighLine | Parameter setting & configuration

Introduction
Communicating with the controller

4. Click Find controller path to find the controller in the selected bus system.
The Address assignment dialog box appears:

5. Select the corresponding controller from the Identified field devices list field.
6. Click OK.
The Address assignment dialog box is closed and the selected Controller access
path (e.g. "DDCMP:/") is indicated in the Assignment of offline controllers dialog
box.
7. Click Connect.
The dialog box is closed and the online connection with the controller is built up.
In the Project view, a yellow icon indicates the online connection with the
controller:

Now you can use the icons

and
to easily build up and end a connection with the
controller. The communication settings are only required when communication with a
controller is built up for the first time.
r If you want to change the existing configuration, select the command OnlineGo
online to open the Assignment of offline controllers dialog box and change the settings.
r With an online connection, the Engineer displays the current parameter settings of
the controller with a yellow background colour.

Stop!
If you change parameters in the Engineer while the controller is connected
online, the changes will be directly accepted by the controller!

Firmware 1.37 - 09/2006

23

9400 HighLine | Parameter setting & configuration

Introduction
Communicating with the controller
2.2.2

Going online via system bus (CAN on board)

As an alternative to the diagnostic adapter, you can use the integrated system bus
interface (CAN on-board, terminal X1) of the controller for communication.
r Lenze offers the following communication accessories for connection to the PC:
Communication accessories

PC interface

PC system bus adapter 2173

incl. connection cable and voltage supply adapter
for DIN keyboard connection (EMF2173IB)
for PS/2 keyboard connection (EMF2173IBV002)
for PS/2 keyboard connection with electrical isolation (EMF2173IBV003)

Parallel interface
(LPT port)

PC system bus adapter 2177

incl. connection cable (EMF2177IB)

USB
(Universal Serial Bus)

Note!
For detailed information about the PC system bus adapter, please see the
"CAN Communication Manual".
Please observe the documentation for the PC system bus adapter!
The online connection is built up as described in the previous chapter Going
online via diagnostic adapter, only select the entry "CAN system bus" in the
Assignment of offline controllers dialog box from the Bus connection list field.
(C 22)

2.2.3

Use of other communication interfaces

The controller can be extended by further communication interfaces, if required, e.g.
Ethernet TCP/IP, Ethernet Powerlink or PROFIBUS-DP.
r For this purpose the controller is provided with the module receptacles MXI1 and MXI2
to plug in communication modules.
r Detailed information on this subject can be found in the Hardware Manual and
Communication Manual for the corresponding communication system.

24

Firmware 1.37 - 09/2006

2.3

Signal types & scaling

It is very helpful for the parameter setting & configuration of the controller to know the signal types and their scaling listed in the following table, which serve to
process physical sizes (e.g. a speed or position) in a function block configuration.

Signal type
Position
Speed

Unit

Connection
symbol in
the FB editor

Resolution

Increments

u/w

32 bits

rpm

Speed variation/time
Scaled signal

rpm/s
%

Firmware 1.37 - 09/2006

Time

Range

1 motor revolution 216 increments

-231 ... 231-1 increments

14

Number of
decimal
positions

Identifier
suffix

_p

s/t

16 bits

15000 rpm 2

30000.0 rpm

_v

32 bits

15000 rpm 226 67108864

480000.0 rpm

_s

32 bits

15000000 rpm/s 222 4194304

7.69 * 109 rpm/s

_x

30

16384

32 bits

100 % 2

200.00 %

_n

16 bits

100 % 214 16384

199.99 %

_a

1 bit

0 FALSE; 1 TRUE

0/1

1073741824

28 bits

0 ... 268435.456 s

Status word

32 bits

-2147483648 ... 2147483647

(0000 0000hex ... FFFF FFFFhex)

Not standardised

O Tip!
Only inputs/outputs of the same signal type (with the same
connection symbol) can be connected in the function block editor of
the Engineer.
Non-standardised inputs/outputs can be connected if the input and
output have the same resolution.

Introduction
Signal types & scaling

25

9400 HighLine | Parameter setting & configuration

Control/status signal

Scaling
external internal

9400 HighLine | Parameter setting & configuration

Commissioning

Commissioning
This documentation contains detailed information on parameter setting and
configuration of the controller. Sequential reading is not required.
In order to get the information relevant for an initial commissioning, this chapter describes
different commissioning scenarios which can also be used as a guide through this Manual:
A. Test commissioning (C 28)
Target: Rotating the motor with as few settings as possible in best time.
B. Initial commissioning (C 29)
Target: Adapting the controller to electromechanics and control.
C. Standard set-up (C 31)
Target: Taking over the application and parameter set of an already preconfigured
"Engineer" project in several controllers.
D. Controller replacement (C 32)
Target: Replacing a controller which has failed in a running system by a replacement
device using the "old" memory module.
E. Motor replacement (C 33)
Target: Replacing a motor which has failed in a running system.

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Commissioning
Notes on commissioning using the keypad

3.1

Notes on commissioning using the keypad

For motor with electronic nameplate (ENP)
r A display of the route data offered by ENP via keypad is not provided. The route data
must be edited and optimised individually.
r In order that the motor does not start unintentionally without adjusting the route data,
the maximum current in the Lenze setting is set to "0 A" in C00022.
r After setting the route data these motor data and the ones read out of the ENP must be
stored with mains failure protection on the memory module of the controller
(C00002 = "11").
For motor without electronic nameplate (ENP)
r The motor and route data must be edited and set individually.
r In order that the motor does not start unintentionally without adjusting the route data,
the maximum current is set to "0 A" in C00022 as factory adjustment.
r After the motor and route data are set, they must be stored with mains failure
protection on the memory module of the controller (C00002 = "11").
Commissioning of the application
r The application must already be stored on the memory module of the controller.
Otherwise, commissioning with keypad only is not possible.
r All application parameters which deviated from the factory adjustment, must be
edited individually. For this purpose, the project planner must provide a corresponding
list (including the motor and route data) for the commissioner.
r In case of a standard set-up the rotor position must be adjusted for synchronous
motors of a third-party manufacturer and Lenze synchronous motors with Stegmann
absolute value encoder.
r After the parameters are set, they must be stored with mains failure protection on the
memory module of the controller (C00002 = "11").

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Commissioning
Test commissioning
3.2

Test commissioning
Worksteps
Initial commissioning of motor/controller:
1. Select motor in the Engineer motor catalog. (C 66)
When the motor connected to the motor has an electronic nameplate (ENP), all motor data are
automatically read out of the ENP and a selection from the motor catalog is not required. Read the
motor data out of the controller (C 66)
2. Accept/adapt route data. (C 69)
3. Parameterise motor encoder. (C 70)
Save project and parameter set:
1. Save parameter set. (C 57)
2. Save Engineer project.
Commissioning of the application:

Note:
The following steps require that the technology application "actuator speed" has been selected in the
Engineer application catalog.
See chapter Technology applications (TAs):
Commissioning using the Engineer (C 235)
TA "Actuator speed" (C 244)

1. Enable controller via terminal RFR.

2. Enable setpoint follower via digital input DI2.
3. Define speed setpoint via analog input 1 (terminal AI1+/AI1-).
4. If required, the direction of rotation can be inverted via the digital input DI3.
5. Check further Basic drive functions of the applications:
A quick stop can be activated via the digital input DI1.

Quick stop (C 152)

A manual control is available for the setting-up operation. Manual jog (C 156)
The enable is executed via the digital input DI6.
The digital inputs DI7 and DI8 activate parameterisable setpoints for both directions of rotation.

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9400 HighLine | Parameter setting & configuration

Commissioning
Initial commissioning

3.3

Initial commissioning
Worksteps
Adapt the motor to the controller:
1. Select motor in the Engineer motor catalog. (C 66)
When the motor connected to the motor has an electronic nameplate (ENP), all motor data are
automatically read out of the ENP and a selection from the motor catalog is not required. Read the
motor data out of the controller (C 66)
2. Accept/adapt route data. (C 69)
3. Parameterise motor encoder. (C 70)
an external motor is operated on a controller:
When
Only in case of a synchronous motor: Set rotor displacement angle. (C 71)
Only in case of unknown motor parameters:
Optimise the switching performance of the inverter. (C 73)
Set motor parameters. (C 75)

4. Define currents and speed limits. (C 78)

5. Select switching frequency. (C 79)
6. Optimise current controller. (C 81)
Required since the controller parameters depend on the maximum switching frequency needed. The
default values of the motor catalog only represent theoretically calculated approximate values.
Parameterise/configure application:
1. Load & parameterise technology application.
See chapter Technology applications (TAs):
Commissioning using the Engineer (C 235)
TA "Actuator speed" (C 244)
2. If required, reconfigure the circuit of the technology application with the function block editor.
Optimise speed control loop:
1. Optimise speed controller. (C 88)
Via traversing profile from the application and oscilloscope
2. Set current setpoint filter. (C 90)
In order to suppress or damp (mechanical) resonant frequencies, two current setpoint filters are
integrated in the speed control loop of the controller which are switched off in the default setting
but can be parameterised accordingly, if required.
Save project and parameter set:
1. Save parameter set. (C 57)
2. Save Engineer project.
Establish network:
1. Insert network and machine application into the Engineer project.
2. Interconnect the ports conveniently inside the machine application.
3. Configure the network (set addresses, baud rates and process data channels sensibly).
4. Establish communication with the control.
5. Establish communication with other drive components (e.g. HMIs, I/O extension and other controllers).

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9400 HighLine | Parameter setting & configuration

Commissioning
Initial commissioning

Worksteps
Check & optimise application /DC-bus operation:
1. Traverse axis in manual operation.
See chapter Basic drive functions

Manual jog (C 156)

2. Check area boundaries (travel, speed, torque).

3. Traverse axis in automatic operation with set-up speed, possibly together with coupled axes.
4. Check coupling with other motions (master-/slave axes, tools, ).
5. Optimisation of the process at higher speeds.
6. Recording of signal characteristics using the oscilloscope function for the documentation.
See chapter Oscilloscope (C 416)
Save & archive project and parameter set:
1. Save parameter set. (C 57)
2. Save Engineer project.
3. Deposit a safety copy of the Engineer project e.g. on CD ROM in the control cabinet.

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Commissioning
Standard set-up

3.4

Standard set-up
Worksteps
Transfer application and parameter set to the controller:
1. Transfer the application preconfigured in the Engineer and the corresponding parameter set to the
memory module of the controller.
2. Save parameter set. (C 57)
For a motor with an electronic nameplate (ENP):
1. Restart controller with connected motor to read out the motor data from the electronic nameplate
(ENP).
Restart the controller either by switching off and on again the voltage supply or by the device
command "Restart controller" (C00002 = "11000").
See chapter Motor interface Read the motor data out of the controller (C 66)
2. Save parameter set. (C 57)
For a motor without an electronic nameplate (ENP):

Note:
Here, the motor is operated with the motor and route data detected during the initial commissioning.
In contrast to the operation of a motor with ENP no resolver errors are compensated and a uniform
saturation characteristic is considered only.
See chapter Motor interface Initial commissioning (C 65)

1. If required, detect rotor displacement angle. Set rotor displacement angle (C 71)
Required for synchronous motors of an original equipment manufacturer and Lenze synchronous
motors with Stegmann absolute value encoder.
2. Save parameter set. (C 57)

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Commissioning
Controller replacement
3.5

Controller replacement
Scenario: The controller has failed in a running system.

Note!
For the following procedure described we assume that the memory module and
possibly available extension modules in the controller and the motor are not
affected by the failure.

Worksteps
Replacement of the controller:
1. Replace controller.
See Mounting Instructions for the controller!
2. Insert the memory module of the failed controller into the replacement device.
3. If further extension modules are plugged into the failed controller, these must be inserted into the
replacement device as well.
Further steps are not required since all data needed are on the memory module.

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Commissioning
Motor replacement

3.6

Motor replacement
Scenario: The motor has failed in a running system.

Note!
In the following procedure described we assume that the controller is not
affected by the failure.

Worksteps
Replacement of the motor:
1. Replace the motor.
See Mounting Instructions for the controller!

Note:
The motor connection at the controller can be accessed without pulling the basic device out of the
installation backplane.

For a motor with an electronic nameplate (ENP):

1. Restart controller with connected motor to read out the motor data from the electronic nameplate.
Restart the controller either by switching off and on again the voltage supply or by the device
command "Restart controller" (C00002 = "11000").
See chapter Motor interface Read the motor data out of the controller (C 66)
2. Save parameter set. (C 57)
For a motor without an electronic nameplate (ENP):

Note:
The motor is operated with the motor and route data that are stored on the memory module.
See chapter Motor interface

Initial commissioning (C 65)

1. If required, detect rotor displacement angle. Set rotor displacement angle (C 71)
Required for synchronous motors of an original equipment manufacturer and Lenze synchronous
motors with Stegmann absolute value encoder.
2. Save parameter set. (C 57)

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Drive interface
LED status displays

Drive interface
This chapter describes the drive interface which serves to set the controller to different
states and query different status information of the controller. Moreover, the machine
constants for the motor end can be entered via this drive interface.

4.1

LED status displays

The control of the "DRIVE READY" and "DRIVE ERROR" LED on the front of the controller
depends on the device status. Device states (C 45)
DRIVE READY

DRIVE ERROR

DRIVE READY

DRIVE ERROR

OFF

OFF

Meaning
Status "initialisation active"

OFF

Status "Safe torque off active"

Consider LED on the safety module!

OFF

State "Device is ready to switch on"

OFF

State "Device is switched on"

OFF

State "Operation"
State "Warning active" or State "Warning locked active"
The controller is ready to start, switched on or the operation is
enabled and a warning is indicated.
State "Quick stop by trouble"

OFF

Status"Trouble active"

OFF

State "Fault active"

OFF

State "System fault active"

Legend
Meaning of the symbols used to describe the LED states:
LED flashes once approx. every three seconds (slow flash)
LED flashes once approx. every 1.25 seconds ( flash)
LED flashes twice approx. every 1.25 seconds (double flash)
LED blinks every second
LED is permanently on

O Tip!
The current device state is also displayed in C00183.

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Drive interface
Parameter setting

4.2

Parameter setting

4.2.1

Machine parameters
The global machine constants ("machine parameters") are set in the Engineer on the
Application parameters tab in the Overview  Drive interface  Machine parameters
dialog level:

O Tip!
Detailed information on the different machine parameters can be obtained from
the following subchapters.

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Drive interface
Parameter setting
4.2.1.1

Mains voltage
Via the Mains voltage list field (C00173) the mains voltage for the drive controller is set.
r If you set a mains voltage with adjustable threshold for undervoltage ("LU adjustable"),
this undervoltage threshold can be set in the Undervoltage threshold (LU) input field
(C00174).
r In the Resp. to DC bus overvoltage list field (C00600) the response to the DC-bus
overvoltage can be selected.

Note!
Changing the setting in C00173 also affects the permissible device utilisation!

O Tip!
The chapter "Rated data" in the Hardware Manual informs which device type has
which permissible device utilisation at which mains voltage and switching
frequency.
See also:

36

Monitoring of the device utilisation (C 43)

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9400 HighLine | Parameter setting & configuration

Drive interface
Parameter setting

4.2.1.2

Gearbox ratio
The gearbox ratio specifies the number of revolutions of the motor axis needed for one
rotation of the load axis (e.g. spindle or drive roll).

i = 58.667
[4-1]

Schematic diagram - gearbox ratio

r In the example shown in figure [4-1] 58.667 revolutions of the motor axis result in one
revolution of the spindle.
Selection of the gearbox ratio
r The gearbox ratio must be defined in the form of a quotient (numerator/denominator).
The required data is included in the technical gearbox data.

L EXTERTAL / Germany
GFL05-2M HCR 080-32
295 Nm
24/min (50Hz)
i = 58.667
CLP 460
GT/40000027
[4-2]

004 B

GFL 05
i
58.667

z1
12

z2
88

z3
9

z4
72

1196
00500038

Example: Technical data gearbox data (from the gearbox catalog)

r Example calculation on the basis of the technical gearbox data:

Gearbox
numerator

factor

= z2 z4

= 88 72

= 6336

 C02520

Gearbox
denominator

factor

= z1 z3

= 12 9

= 108

 C02521

O Tip!
The resulting gearbox factor is displayed in C02531/1.

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Drive interface
Parameter setting
4.2.1.3

Motor mounting direction

Via the motor mounting direction list field (C02527) the direction of rotation can be
inverted depending on the motor mounting position, if required:
r C02527 = "0": Clockwise motor positive machine direction.
r C02527 = "1": Counter-clockwise motor positive machine direction.

4.2.1.4

Configuration feedback
In the most cases, the system only has one motor encoder, i.e. no separate position encoder
is installed on the load side. Motor position (angle of rotation) and motor speed are
detected via the motor encoder selected in C00495 and converted with regard to the load
side.

n Motor encoder
[4-3]

Schematic diagram - feedback with position encoder = motor encoder

The actual position and speed values on the machine side result from the conversion via
the Gearbox ratio on the motor side and the Feed constant.

O Tip!
Detailed information on parameter setting of the feedback systems for the motor
control can be found in chapter "Encoder evaluation". (C 108)

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Drive interface
Parameter setting

4.2.1.5

Unit/application unit
Using these machine parameters you define the real unit of the machine in which the feed
constant and the parameters for a travel profile must be specified (e.g. position, speed,
acceleration, and deceleration).
r If you set, for instance, the "mm" unit for a linear axis, the position must be specified in
[mm] and the speed in [mm/s].
r By means of the freely definable "application unit" the significant production units as
e.g. "bottles" can be set.
For this, select the entry "User-defined" as unit in C02525 and enter the desired
application unit in C02526.

Note!
In this documentation, the term "unit" in the parameter unit data only serves as
a wildcard for the real unit of a machine.

Display parameters
Parameters

Information

C02533

Time unit

C02534

User-defined time unit

C02535

User-defined unit

C02537

Unit of speed

C02538

Unit of acceleration

Highlighted in grey = display parameter

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Drive interface
Parameter setting
4.2.1.6

Traversing range
The selection of the traversing range ("Unlimited", "Limited" or "Modulo") in the Traversing
range list field (C02528) serves to define the machine measuring system.

Note!
A change-over of the traversing range results in a loss of the reference
information!

"Unlimited" traversing range"

The drive can rotate continuously in one direction.
r By referencing and activating the software limit positions the traversing range can be
limited.
r For positioning with absolute travel command the home position must be known.

[4-4]

Example: Unlimited traversing range - "feed control tape"

"Limited" traversing range"

The travel range is limited by positive and negative position limits (mechanical limits/
travel range limit switches/software limit positions). Limiter (C 200)
r After a defined distance the drive must travel in the opposite direction.
r For positioning with absolute travel command the home position must be known.
r Basically the software limit positions are monitored with regard to the internally
maximally value range to be displayed (231 increments) even if the monitoring mode
has been deactivated via C02700.
r An overflow of the value range results in a loss of the reference information.

[4-5]

40

Example: Limited traversing range - "spindle drive" (linear axis)

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Drive interface
Parameter setting

"Modulo" traversing range

The measuring system is repeated.
r If the cycle set in C02536 is exceeded, a defined overflow occurs. The cycle typically
corresponds to a rotation or tool distance in a rotative system.
r For positioning with absolute travel command the home position must be known.
r Software limit positions are not effective.
r Absolute targets can be approached by exceeding the measuring system limit, e.g.
from 10 to 350.

n C02536: Cycle (illustration = 60)

[4-6]

Example: Modulo traversing range - "rotary table""

Dependencies - traversing range/basic drive functions

r The following table lists the different dependencies between the traversing range
selected and basic drive functions.
Basic drive function

Traversing range

Position data for Encoder evaluation

continuously

clocked

absolute

absolute

absolute (in time)

Positioning modes for Positioning

1, 2, 5, 6, 7, 8

1, 2, 5, 6, 7, 8

5, 6, 11 ... 16

Restrictions for Homing

None

None

Home position must

be in time

Limit positions (Limiter)

permitted

permitted

not permitted

n Reference setting
o Position in the machine measuring system
p Position in the motor measuring system

Example: Unlimited/limited position display

Modulo

continuously

[4-8]

Limited

Position data for Position follower

[4-7]

Unlimited

n Cycle
o Position in the machine measuring system
p Position in the motor measuring system

Example: Modulo position display

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Drive interface
Parameter setting
4.2.1.7

Feed constant
The feed constant corresponds to the motion of the machine at one revolution of the
gearbox output shaft.
r The input in the Feed constant field (C02524) is made in the unit defined in C02525
regarding one revolution.
r In case of a conveyor drive the feed constant results from the circumference of the drive
roll which is calculated in the following example based on the diameter given:

d = 200 mm

d = diameter

[Unit]
mm
mm
Feed constant = d ---------------------------- = 200 ---------------------------- = 628.3185 ---------------------------Revolution
Revolution
Revolution
[4-9]

Schematic diagram: Feed constant in case of a conveyor drive

r In case of a spindle drive (linear axis) the speed constant results from the leadscrew
pitch. The feed constant indicates which way the slide travels at one revolution of the
spindle (in the following example 5.023 mm).

h = 5.023 mm

h = leadscrew pitch (can be obtained from the technical data of the linear axis)
[4-10] Schematic diagram: Feed constant in case of a spindle drive

r In case of a rotary table and defined as an angle the feed constant is = 360.

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Drive interface
Parameter setting

4.2.2

Monitoring of the device utilisation

In C00064 the device utilisation (i x t) is displayed over the last 180 seconds in [%].
r If the value displayed in C00064 exceeds the warning threshold set in C00123, the fault
message "device utilisation Ixt > C00123" is output and the fault response set in
C00604 occurs (default setting: "Warning").
r If the value displayed in C00064 exceeds 100 %, the fault message "device utilisation
Ixt > 100 %" is output and the fault response "Fault" occurs.
The fault can only be reset if the value displayed in C00064 is < 95 % again.

4.2.3

Parameter for status display

Parameters

Information

C00003

Controller command status

C00007

Active application

C00150

Status word 1

C00155

Status word 2

C00183

Device state

C02530

Active function state

Highlighted in grey = display parameter

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9400 HighLine | Parameter setting & configuration

Drive interface
Monitoring of external events
4.3

Monitoring of external events

Use the input DI_bSetExternError of the system block LS_DriveInterface to monitor
external events by means of corresponding logic operations and activate the error
message "External error" in the controller.
Parameterising a response to an external error
The controller response to the error message "External error" can be selected under
C00581.
Activation of error message "External error".
The error message "External error" is activated by setting the input DI_bSetExternError to
TRUE.
r After this, the error number for the error message "External error" "0x20750000" (when
"Fault" has been selected as response) will be stored in the internal fault memory
(C00168).
Reset of error message
The error message "External error" and other active error messages are reset by setting the
input DI_bResetError to TRUE.
r If the input DI_bSetExternError is still set to TRUE, the reset will not be carried out.
r Error messages can only be reset if the cause of the error has been eliminated.

4.4

Set/remove controller inhibit

Setting the controller inhibit inhibits the power stages in the controller and resets the
speed/current and position controller of the motor control.
r When the controller is inhibited, the status output DI_bCInhActive of the system block
LS_DriveInterface is set to TRUE.
r The controller can be inhibited by different sources, e.g. using the digital input RFR, the
input DI_bSetCInh of the system block LS_DriveInterface or via the device command
"Inhibit controller" (C00002 = "41").
r The bit code under C00158 shows the source that inhibited the controller.

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9400 HighLine | Parameter setting & configuration

Drive interface
Device states

4.5

Device states
The state control of the drive is internally controlled via a state machine which can adopt
the following "device states":

Controller inhibit

Power on

Initialisation
active

System fault
active

0
Safe
torque off
active

Fault
active

1
Warning/
Warning locked
active

Ready to
switch on

Switched
on

Operation

Trouble
active

Quickstop
by trouble
active

,  From all states

 The status "Warning active"/"Warning locked active" can occur parallel to other states.
[4-11] Device states of the state machine for the device control

Note!
The device states of the controller must not be confused with the function states
of the Basic drive functions. (C 140)
The current device status is displayed in C00183.
In the "Operation" device state, the Basic drive functions specify the motion
control of the drive.

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Drive interface
Device states
4.5.1

Status "initialisation active"

LED DRIVE READY

LED DRIVE ERROR

OFF

OFF

Display in C00183
10: Initialisation active

The controller is in this device state directly after switching on the supply voltage.
r In this device status the operating system is initialised.
r The application is not yet processed.
r The monitoring mode is not yet active.
r Communication is not possible yet.
r The controller cannot be parameterised yet and no device commands can be executed.
r When the device initialisation is completed, the device state is automatically changed
to "Safe torque off active".
4.5.2

Status "Safe torque off active"

LED DRIVE READY

LED DRIVE ERROR

OFF

Display in C00183
101: Safe torque off active

This device state becomes active when the controller receives the request "Safe torque off".
r "Drive is torqueless" (0x00750003) is entered in the logbook.
r If there is no request by the safety module, it is changed into the next state "Device is
ready to switch on".

Note!
The "Safe torque off active" state is also passed through after errors have been
acknowledged (see fig. [4-11]).

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9400 HighLine | Parameter setting & configuration

Drive interface
Device states

4.5.3

State "Device is ready to switch on"

LED DRIVE READY

LED DRIVE ERROR

OFF

Display in C00183
141: Device is ready to switch on

The controller is in this device state directly after the initialisation is completed and no DCbus voltage is applied yet.
r The bus systems are running and the terminals and encoders are evaluated.
r The monitoring modes are active.
r The controller can be parameterised and device commands can be executed in a limited
way.
r The application is basically executable.
r The function of the user task can be used.
Condition: The application has started (status display in C02108).
r The basic drive functions cannot be used yet.
r There are two options for a change from the "Device is ready to switch on" state to the
"Device is switched on" state:
Auto restart enabled after mains connection (C00142 = "1").
Auto restart inhibited after mains connection (C00142 = "0") and controller
inhibited.
Auto start option 1: Auto restart enabled after mains connection
r The following figure shows the status change for the automatic start option 1 (Lenze
setting) as a function of the controller inhibit:

RFR
Initialisation

Ready to switch on

Switched on

Operation

RFR

RFR
Initialisation

Ready to switch on

RFR

Switched on

Operation
t

 Controller pulses are inhibited

 Controller pulses are enabled
n With controller inhibit during power-on
o Without controller inhibit during power-on
[4-12] State change when auto restart is enabled (C00142 = "1")

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Drive interface
Device states

Auto-start option 0: Auto restart inhibited after mains connection

r When the automatic start option 0 has been selected, the controller inhibit must be
explicitly reset after the mains is switched on so that the controller status changes
from "Device is ready to switch on" to "Device is switched on":

RFR
Initialisation

Ready to switch on

Switched on

Operation

RFR

RFR
Initialisation

Ready to switch on

Switched on

Operation

RFR

 Controller pulses are inhibited

 Controller pulses are enabled
n With controller inhibit during power-on
o Without controller inhibit during power-on
[4-13] State change when the auto restart is inhibited (C00142 = "0")

4.5.4

State "Device is switched on"

LED DRIVE READY

LED DRIVE ERROR

OFF

Display in C00183
90: Device is ready to switch on.

The drive is in this device state when the DC-bus voltage is applied and the controller is still
inhibited by the user (controller inhibit).
r The bus systems are running and the terminals and encoders are evaluated.
r The monitoring modes are active.
r The controller can be parameterised yet and device commands can be executed in a
limited way.
r The application is basically executable.
r The function of the user task can be used.
Condition: The application has started (status display in C02108).
r The basic drive functions cannot be used yet.
r When the controller is inhibited, the motor creates a torque.

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Drive interface
Device states

4.5.5

State "Operation"
LED DRIVE READY

LED DRIVE ERROR

OFF

Display in C00183
0: Operation

In this device state the motor follows its setpoint according to the selected basic drive
function.
4.5.6

State "Warning active"

LED DRIVE READY

LED DRIVE ERROR

Display in C00183
1: Operation/warning active

This state can occur parallel to the device states "Device is ready to switch on", "Device is
switched on" and "Operation", if a monitoring is activated, the fault response "Warning"
has been parameterised for.
4.5.7

State "Warning locked active"

LED DRIVE READY

LED DRIVE ERROR

Display in C00183
2: Operation/Warning locked active

This state can occur parallel to the device states "Device is ready to switch on", "Device is
switched on" and "Operation", if a monitoring is activated which the fault response
"Warning locked" has been parameterised for.

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9400 HighLine | Parameter setting & configuration

Drive interface
Device states
4.5.8

State "Quick stop by trouble"

LED DRIVE READY

LED DRIVE ERROR

Display in C00183
151: Quick stop by trouble active

This device state becomes active as soon as a monitoring mode responds for which the
error response "Quick stop in case of trouble" has been parameterised.
r The drive is decelerated to standstill with torque within the parameterised
deceleration time independent of the defined setpoint and can be kept there.
r The device state can only be abandoned by acknowledging the error if the error cause
is removed.
r When the controller is inhibited, it can be jumped to the "Operation" state even during
the error status since the controller inhibit has a higher priority. As long as the error is
pending and has not been acknowledged, it is changed back to the "Quick stop by
trouble active" when the controller is enabled afterwards.
4.5.9

Status"Trouble active"
LED DRIVE READY

LED DRIVE ERROR

OFF

Display in C00183
104: Trouble active

This device state becomes active as soon as a monitoring mode responds for which the
error response "Trouble" has been parameterised.
r The motor has no torque (is coasting).
r The device state is automatically abandoned if the error cause is removed:
"Trouble active" state < 500 ms: Return to the original device state.
"Trouble active" > state 500 ms: Return via the device state "Safe torque off active".
4.5.10

State "Fault active"

LED DRIVE READY
OFF

LED DRIVE ERROR

Display in C00183
102: Fault active

This device state becomes active as soon as a monitoring mode responds for which the
error response "Fault" has been parameterised.

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Drive interface
Device states

4.5.11

State "System fault active"

LED DRIVE READY
OFF

LED DRIVE ERROR

Display in C00183
20: System fault active

This device state becomes active if a system error occurs.

r The device state can only be abandoned by mains switching.

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9400 HighLine | Parameter setting & configuration

Drive interface
Controller commands
4.6

Controller commands
Different controller commands are available for project management within the
controller. They can be activated under code C00002.
r The following subsections describe the most important controller commands for
project management and parameter set management in the controller.
r With an online connection, the controller commands can be activated from the
Engineer by selecting the corresponding command in the Parameters tab under
C00002. As an alternative, the controller commands can be activated via the keypad.
r In C00003 the number and the status of the device command executed last is
indicated. Status display for device command (C 54)

Note!
Before the supply voltage is switched off after a device command has been
transmitted via C00002, it must be checked via C00003 if the device command
has been completed successfully!
The "0x00" status in the lower 16 bits of C00003 means that the device
command has been executed successfully.

O Tip!
Many frequently required controller commands (e.g. "Save start parameters") can
be executed via the toolbar icons of the Engineers.

Note!
Controller commands that can be executed via the toolbar of the Engineers
always affect the element currently selected in the Project view including all
subelements.
If no controller, but a system module is selected in the Project view, the
corresponding controller command will be activated in all lower-level
controllers having an online connection with the Engineer.
For the commands described in the following subsections, the controller must
be selected in the Project view.

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Drive interface
Controller commands

4.6.1

Overview of device commands

Controller command

Information

0 Load Lenze setting

Load Lenze setting (C 56)

1 Load start parameter

Load parameter set (C 57)

5 Activate application

Activate application (C 58)

7 Save application selection

Save selected application (C 58)

11 Save start parameter

Save parameter set (C 57)

20 Delete logbook

Logbook (C 436)

21 Archive logbook

31 Start application

Start/stop application (C 56)

32 Stop application

33 Reset program

34 Restart program

35 Delete program

36 Reset runtime measurement

41 Inhibit controller

Set/remove controller inhibit (C 44)

42 Enable controller

43 Reset error

Reset of error message (C 447)

45 Activate quick stop

Quick stop (C 152)

46 Exit quick stop

51 Determine rotor displacement angle

71 Detect inverter characteristic

Set rotor displacement angle (C 71)

Optimise the switching performance of

the inverter (C 73)

72 Determine motor parameter

91 CAN on board: Reset node

Set motor parameters (C 75)

See Communication Manual "System bus
(CANopen)".

92 CAN module: Reset node

z
z
z

93 CAN on board: Pred.Connect.Set

94 CAN module: Pred.Connect.Set

95 CAN on board: Identify node

96 CAN module: Identify node

101 Ethernet module MXI1 unbind/bind

See Communication Manual "Ethernet".

102 Ethernet module MXI2 unbind/bind

z
z

201 Activate parameter set 1

Activate/archive parameter set (C 59)

202 Activate parameter set 2

203 Activate parameter set 3

204 Activate parameter set 4

301 Archive parameter set 1

302 Archive parameter set 2

303 Archive parameter set 3

304 Archive parameter set 4

The device command status is displayed in C00003.

Status*

Status display for device command

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Drive interface
Controller commands

Controller command

Information

Status*

1021 Export parameter to file

Export current parameter set to file.

1030 Format file system

Format file system of the memory module.

1040 Restore file system

10000 Prepare firmware update

11000 Restart controller

The device command status is displayed in C00003.

4.6.2

Status display for device command

Status display for device command

C00003 indicates the number and the status of the last executed controller command. The
number of the controller command is indicated in the upper 16 bits and the execution
status in the lower 16 bits.
C00003
Bit 16 ... 31

Bit 0 ... 15

Device command executed last

Status of the last executed controller command

r The following table lists the most important status messages according to the degree
of probability of their occurrence.
Bit 0 ... 15

54

Status

Concerns device
command

0x0000

Execution ok.

All

0x0001

General fault.

All

0x8404

File could not be opened.

201, 202, 203, 204,

301, 302, 303, 304

0x841D

Fault while reading out of a file.

201, 202, 203, 204,

301, 302, 303, 304

0x841E

Fault while writing into a file.

11,
201, 202, 203, 204,
301, 302, 303, 304

0x841F

Invalid file type.

201, 202, 203, 204,

0x8420

Unexpected file end.

201, 202, 203, 204,

301, 302, 303, 304

0x8422

Checksum error

201, 202, 203, 204

0x842B

Fault while reading the parameter set partition.

0x842C

Fault while writing the parameter set partition.

11

0x842E

No memory module available.

1, 11

0x8502

Processing of the device command is still active.

All

0x9Axx

CAN fault

0, 1, 5,
91, 92,
201, 202, 203, 204

0x9B07

Rotor position adjustment cannot be executed because of the wrong 51

motor type (asynchronous motor).

0x9B08

Rotor position adjustment has been aborted.

51

0x9B09

Rotor position adjustment cannot be executed since another

identification is active already.

51

0x9B0A

Rotor position adjustment cannot be executed since the V/f-test

mode is active.

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Drive interface
Controller commands

Bit 0 ... 15

Status

Concerns device
command

0x9B0B

Rotor position adjustment cannot be executed since the current

controller test mode is active.

51

0x9B12

Motor identification cannot be started since the current controller

test mode is active.

71, 72

0x9B13

Motor identification cannot be started since the V/f test mode is

active.

71, 72

0x9B14

Motor identification cannot be started since the rotor position

adjustment is active.

71, 72

0x9B15

Motor identification has been aborted.

71, 72
71, 72

0x9B16

Motor identification has been aborted by fault.

0xA001

Access to file has been denied since the file is already accessed from 11,
another position
201, 202, 203, 204,
301, 302, 303, 304

0xA005

I/O fault when accessing the file system.

11,
201, 202, 203, 204,
301, 302, 303, 304

0xA00C

RAM memory is full.

11,
201, 202, 203, 204,
301, 302, 303, 304

0xA00D

Access authorisation denied.

11,
201, 202, 203, 204,
301, 302, 303, 304

0xA01C

No free memory on the memory module.

11,
201, 202, 203, 204,
301, 302, 303, 304

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Drive interface
Controller commands
4.6.3

Start/stop application
With an online connection, these controller commands can be executed via the
corresponding toolbar icons of the Engineers.
r Alternatively, the controller commands can also be activated with the parameter
settings listed in the "Controller command" column (e.g. via the keypad).
Symbol

Function

Controller command

Start application in controller

C00002 = "31"

Stop application in controller

C00002 = "32"

Note!
If the drive is stopped during operation, the drive is braked to standstill via the
basic function "Stop".
Standard stop (C 148)

4.6.4

Load Lenze setting

This controller command resets the parameter settings to the Lenze setting. All parameter
changes get lost.
r Only possible when the application has stopped and the controller is inhibited.
r This controller command only affects the settings of the operating system, application
and module parameters, the active application and the configuration selected with the
function block editor remain unchanged.

M How to load the Lenze setting:

1. Click the

icon to stop the current controller program.

2. Click the

icon to set the controller inhibit.

3. Execute the controller command "Load Lenze setting" with C00002 = "0".

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Controller commands

4.6.5

Save parameter set

Controller parameter changes made via the Engineer or keypad will get lost after mains
switching of the controller or loading of another application unless the settings have been
explicitly saved with the corresponding controller command in the memory module of the
controller.

M How to save the starting parameters safe against mains failure in the memory
module:

Execute the controller command "Save starting parameter" with C00002 = "11".

4.6.6

Load parameter set

Activation of this controller command reloads the parameter set of the active application
from the memory module into the controller. All parameter changes made since the
parameter set has been saved last will get lost.
r Only possible when the application program has stopped and the controller is
inhibited.

M How to reload the starting parameters from the memory module:

1. Click the

icon to stop the current controller program.

2. Click the

icon to set the controller inhibit.

3. Execute the controller command "Load starting parameter" with C00002 = "1".

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Drive interface
Controller commands
4.6.7

Activate application
If the memory module contains several applications, you can use this controller command
to activate a different application in the controller.
r After mains switching, the preset application will be loaded into the controller.
r If after mains switching another application than the one preset by Lenze is to be
loaded, it must be activated first and then the application selection must be
saved. Save selected application

M How to activate a different application:

1. Click the

icon to stop the current controller program.

2. Select the number of the application to be activated under C00005.

3. Execute the controller command "Activate application" with C00002 = "5".
The application with the number set in C00005 is activated. If it is started
immediately depends on the automatic start setting selected in C02104.

Note!
When the application is activated, the corresponding parameter set 1 is loaded
automatically and parameter settings executed before will get lost unless the
parameter set was saved before!

4.6.8

Save selected application

After mains switching, the controller always loads the preset application, even if a
different application has been active before.
Use the controller command "Save selected application" to select the active application as
presetting, i.e. the memory module will load this application into the controller after every
mains switching.
r When the controller command is executed, the parameter set is saved automatically.

M Execute the controller command "Save selected application" with C00002 = "7" to
select the active application as presetting.

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Drive interface
Controller commands

4.6.9

Activate/archive parameter set

In addition to the current parameter set, it is possible to store up to four additional
parameter sets (PS 1 ... PS 4) for each project in the memory module.
Using the corresponding controller commands, you can archive the current parameter set
settings in parameter sets PS 1 ... PS 4 and reactivate them, if required.
r This allows you to define different controller settings for an application, which can
easily be loaded by means of the corresponding controller command, if required.
Activate parameter set
The following figure shows the controller commands which activate a parameter set on
the memory module (MM):
MM

RAM
PS

C00002 = 1
C00002 = 201
C00002 = 202
C00002 = 203
C00002 = 204

9400

PS
PS 1
PS 2
PS 3
PS 4

Archive parameter set

The following figure shows the controller commands which archive the current parameter
set:
MM

RAM
PS

C00002 = 11
C00002 = 301
C00002 = 302
C00002 = 303
C00002 = 304

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Firmware 1.37 - 09/2006

PS
PS 1
PS 2
PS 3
PS 4

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9400 HighLine | Parameter setting & configuration

Drive interface
System block "LS_DriveInterface"
4.7

System block "LS_DriveInterface"

The system block LS_DriveInterface displays the drive interface in the function block
editor.
LS_DriveInterface
DI_bSetCInh

DI_dnState

DI_bResetError1

DI_bReady

DI_bResetError2

DI_bFailActive

DI_bResetError3

DI_bImpActive

DI_bSetExternError

DI_bCInhActive
DI_bWarningActive

DI_bSwitchOn

DI_bUVDetected
DI_bOVDetected
DI_bMainSupplyOk
DI_bReadyToSwitchOn
DI_bOperationEnabled
DI_dwErrorCode
DI_AxisData

Inputs
Input

Information/possible settings
DIS code | Data type

DI_bSetCInh

Set/remove controller inhibit (C 44)

C02549/1 | BOOL

DI_bResetError1
C02548/1 | BOOL

DI_bResetError2

C02548/2 | BOOL

DI_bResetError3

C02548/3 | BOOL

DI_bSetExternError
C02548/4 | BOOL

TRUE Set controller inhibit.

Error message reset (acknowledgement)
This function resets an active error message, if the cause of the error message has
been eliminated.
The three inputs are linked via a logic OR gate.
TRUE Reset (acknowledge) error message.
Activation of error message "External error".
Monitoring of external events (C 44)
TRUE Activate fault message with the response selected in C00581.

DI_bSwitchOn
C02549/4 | BOOL

Deactivate switch-on inhibit

If the automatic restart is inhibited (C00142 = "0"), the state machine remains in
the "Device is ready to switch on" state after mains switching.
State "Device is ready to switch on" (C 47)
FALSETRUE The switch-on inhibit is deactivated and the controller changes to
the "Device is switched on" device state.

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System block "LS_DriveInterface"

Outputs
Output

Value/meaning
DIS code | Data type

DI_dnState

Status (bit coded)

C02547 | DINT

Status signals of the momentarily enabled basic function (if available):

Bit 0 Bit 1 Basic function is active (signal bActive).
Bit 2 Basic function is completed (signal bDone).
Bit 3 Acceleration/deceleration phase is active (signal bAccDec).
Bit 4 Bit 5 CCW rotation is active (signal bCcw).
Bit 6 Bit 7 Reference is known
Bit 8 Brake is open.
Bit 9 Waiting for clutch condition.
Bit 10 Zero crossing detected or position = "0".
Bit 11 Bit 12 Bit 13 Bit 14 Bit 15 Fault in active basic function (group signal).
Status signals of the internal state machine for the basic functions:
Bit 16 Torque follower active.
Bit 17 Speed follower active.
Bit 18 Position follower active.
Bit 19 Setpoint follower is active (group signal for bit 16 ...18).
Bit 20 Positioning active.
Bit 21 Homing active.
Bit 22 Manual jog active.
Bit 23 Brake test is active.
Bit 24 Drive at standstill.
Bit 25 Drive is stopped.
Bit 26 Quick stop active.
Bit 27 Bit 28 Controller is not ready.
Bit 29 Initialisation
Bit 30 State "Fault active" (signal DI_bFailActive).
Bit 31 State machine is not ready to receive setpoints.
(Group signal for bit 28 ... 30)

DI_bReady

Status signal "Controller is ready for operation"

C02549/6 | BOOL

DI_bFailActive

Status signal "Error active acknowledgement is required"

C02549/7 | BOOL

TRUE The controller is ready for operation.

TRUE A monitoring function with the "Fault" response or "Quick stop by
trouble" has been activated and the controller is in the device state
"Fault active" or "Quick stop by trouble active".
To quit the controller state the error must be acknowledged, e.g. via
the input DI_bErrorReset1...3.

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Drive interface
System block "LS_DriveInterface"

Output

Value/meaning
DIS code | Data type

DI_bImpActive

Status signal "Pulse inhibit set"

C02549/8 | BOOL

DI_bCInhActive

TRUE Power stages are switched with high resistance.

Status signal "Controller inhibit active"

C02549/9 | BOOL

DI_bWarningActive

TRUE The controller inhibit is active.

Status signal "Warning active"

C02549/10 | BOOL

DI_bUVDetected
C02549/11 | BOOL

TRUE A warning is active in the controller.

Status signal "Undervoltage detected"
The threshold for the monitoring function depends on the setting under C00173.
TRUE DC bus undervoltage detected.

DI_bOVDetected
C02549/12 | BOOL

Status signal "Overvoltage detected"

The threshold for the monitoring function depends on the setting under C00173.
TRUE DC bus overvoltage detected.

DI_bMainSupplyOk

Status signal "mains voltage is applied"

C02549/13 | BOOL

DI_bReadyToSwitchOn
C02549/14 | BOOL

DI_bOperationEnabled
C02549/15 | BOOL

DI_dwErrorCode
DWORD

DI_AxisData

62

TRUE A voltage is applied to the mains voltage inputs L1, L2 and L3.
Status signal "Controller ready to start"
TRUE The controller has completed the initialisation and is in the device
state "Device is ready to switch on".
Status signal "Operation is enabled"
TRUE The controller is in the "operation" device state and the motor
follows its setpoint according to the selected basic drive function or
is at standstill due to stop or quick stop.
Error number of the current error message
Error messages of the operating system (C 443)
Data structure, which contains all required machine constants.

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9400 HighLine | Parameter setting & configuration

Drive interface
System block "LS_DriveInterface"

4.7.1

Status signals
The following representation shows which status signals of the system block
LS_DriveInterface are set to TRUE in different typical cases:
Case 1:
Application has been transmitted to the controller.
No mains voltage available (LU fault).
Controller is inhibited (via RFR terminal).
Case 2:
Mains voltage has been connected.
Case 3:
Controller inhibit has been deactivated.
Case 4:
Fault is active.
Case 5:
Quick stop by trouble is active
Status

Status signal (output)

Ready for operation

DI_bReady

Fault is active

Pulse inhibit is active

DI_bImpActive

Controller inhibit is active

DI_bCinhActive

Warning is active
Undervoltage detected

DI_bWarningActive
DI_bUVDetected

Overvoltage detected
Mains supply is Ok

DI_bOVDetected
z

Ready to switch on
Operation enabled

DI_bFailActive

DI_bMainSupplyOk
DI_bReadyToSwitchOn

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DI_bOperationEnabled

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9400 HighLine | Parameter setting & configuration

Motor interface

Motor interface
This chapter contains information on initial commissioning of the motor and parameter
setting of the internal motor control of the controller.

Note!
To select application-specific setpoints, the motor interface can be extended by
appropriate interfaces using the basic functions "Speed follower", "Torque
follower" and "Position follower".
The application-specific conditioning of the encoder signals is executed with the
basic function "Encoder evaluation".

See also:

64

Speed follower (C 190)

Torque follower (C 196)
Position follower (C 183)
Encoder evaluation (C 108)

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning

5.1

Initial commissioning
An initial commissioning of the motor is required if the motor data in the memory module
of the controller and the Engineer project is not suitable for the application.
r The following stepwise instructions can be used as "check list" to adjust the motor
correctly to the controller.
r Detailed information on the individual steps can be found in the following
subchapters:
Worksteps
1. Read out the motor data of the controller or select them via the Engineer motor catalog.
When the motor connected to the motor has an electronic nameplate (ENP), all motor data are
automatically read out of the ENP and a selection from the motor catalog is not required. Read the
motor data out of the controller (C 66)
If a motor without ENP or an external motor is used, the motor data can be selected via the
Engineer motor catalog. Select motor in the Engineer motor catalog (C 66)
2. Accept/adapt route data. (C 69)
3. Parameterise motor encoder. (C 70)
an external motor is operated on the controller:
When
Only in case of a synchronous motor: Set rotor displacement angle. (C 71)
Only in case of unknown motor parameters:
Optimise the switching performance of the inverter. (C 73)
Set motor parameters. (C 75)

4. Define currents and speed limits. (C 78)

5. Select switching frequency. (C 79)
6. Optimise current controller. (C 81)
Required since the controller parameters depend on the maximum switching frequency needed. The
default values of the motor catalog only represent theoretically calculated approximate values.
7. Save parameter set. (C 57)
8. Save Engineer project.

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning | Read the motor data out of the controller
5.1.1

Read the motor data out of the controller

If the Lenze motor connected to the controller has an electronic nameplate (ENP), the
motor does not need to be selected in the Engineer motor catalog.
r When the controller is switched on initially, all motor data are automatically read out
of the electronic motor nameplate and stored at first temporarily in the controller.
r For a permanent acceptance of the motor data, the parameter set must be saved
(C00002 = "11").
r If there is an online connection between the Engineer and the controller, the motor
data of the controller can be taken over into the Engineer project.

M How to read the motor data out of the controller:

1. Establish an online connection between Engineer and controller.
2. Go to the Application parameter tab and change to the dialog level
OverviewMotor.
3. Press the out of controller button.
Then the motor data are read out of the controller and directly written into the
corresponding codes of the Engineer project.

5.1.2

Select motor in the Engineer motor catalog

If the Lenze motor does not have an electronic nameplate (ENP) or if a motor of a thirdparty manufacturer is used, select the motor in the Engineer via the motor catalog and
transfer the motor data to the controller.
r If you, when inserting the controller into the project in the dialog step "Other
components" put a checkmark in the control field Motor, you can select as a further
dialog step the motor for the controller from the motor catalog.
r As an alternative you can also insert the motor at a later date into the project via the
command Insert component.

O Tip!
If you use a motor of a third-party manufacturer, you can at first select a suitable
motor concerning the rated data for current, voltage and speed and then adapt the
motor data exactly to the existing motor.
Display/edit motor data in the Engineer (C 67)

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Motor interface
Initial commissioning | Display/edit motor data in the Engineer
5.1.3

Display/edit motor data in the Engineer

The "Motor data" only summarises the parameters which depend on the motor. These only
characterise the electrical behaviour of the machine.
r The motor data do not depend on the application in which the controller and motor are
used.
r The motor data are, if available in the Engineer via electronic nameplate or motor
catalog, accepted by the controller without confirmation prompt.
In the Engineer, the motor data are indicated on the Application parameters tab, dialog
level OverviewMotor:

r If you use a motor of a third-party manufacturer, the displayed motor data can be
adapted exactly to the existing motor by selecting the entry "Own motor settings" in
the list field Motor selection.
r Click From Motor catalog to open the motor catalog and select a different motor.
Read the motor data out of the controller (C 66)
r Click From controller to accept the motor data set in the controller while being online
in the Engineer. Read the motor data out of the controller (C 66)

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning | Display/edit motor data in the Engineer
Overview of motor data
Parameters

Information

Lenze setting

C00006

Motor control selection

C00059

Motor - number of pole pairs

C00074

Feedforward control of current controller

C00075

Current controller gain

C00076

Current controller reset time

C00077

Field controller gain

C00078

Field controller reset time

Value Unit

Servo control with synchronous

motor
Deactivated
28.66 V/A
1.50 ms
165.84 A/Vs
15.1 ms

C00079

Motor - mutual inductance

- mH

C00081

Motor - rated power

1 kW

C00082

Motor - rotor resistance

- Ohm

C00083

Motor - rotor time constant

C00084

Motor stator resistance

- MS

C00085

Motor stator leakage induct.

C00087

Rated motor speed

C00088

Rated motor current

C00089

Rated motor frequency

200 Hz

C00090

Rated motor voltage

245 V

C00091

Motor - cosine phi

1.00

19.8000 Ohm
30.500 mH
4000 rpm
0.9 A

C00092

Motor - magnetising current

C00128/1

Therm. time constant coil

1.0 min

- A

C00128/2

Therm. time constant plates

5.0 min

C00186

ENP: Identified motor type

C00187

ENP: Identified serial number

C00188

ENP: Status

C00577

Field weakening controller gain

C00578

Field weakening controller reset time

C01190

Motor thermal sensor

C01191/1

Temperature for spec. characteristic

25 C

C01191/2

Temperature for spec. characteristic

150 C

C01192/1

Resistor for spec. characteristic

1000 Ohm

C01192/2

Resistor for spec. characteristic

2225 Ohm

0.000 Vs/V
2000.0 ms
KTY83-110

Highlighted in grey = display parameter

Note!
If the motor has been selected via the Engineer motor catalog or if the motor
data have been adapted offline in the Engineer, all motor data must be
transferred to the controller with an established online connection and stored
with mains failure protection in the memory module (C00002 = "11").

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning | Accept/adapt route data

5.1.4

Accept/adapt route data

The "route data" summarises all parameters which result from the combination of motor
and load. These characterise the transfer behaviour of the entire controlled system
including the monitoring modes required.
r The route data depend on the application in which the controller and motor are used.
r The route data offered from the Engineer motor catalog or read out of the electronic
nameplate (ENP) are compared with the currently set route data in a dialog box.
The route data in these dialog box can be selected, adapted and accepted
individually.
They are both accepted in the controller and the Engineer project.
Overview of route data
Parameters

Information

Lenze setting
Value Unit

C00011

Motor reference speed

C00022

Maximum current

3000 rpm

C00070

Speed controller gain

C00071

Speed controller reset time

24.0 ms

C00072

Speed controller D component

0.00 ms

C00254

Phase controller gain

20.00 1/s

C00270/1

Freq. current setpoint filter 1

200.0 Hz

C00270/2

Freq. current setpoint filter 2

400.0 Hz

C00271/1

Width current setp. filter 1

20.0 Hz

C00271/2

Width current setp. filter 2

40.0 Hz

C00272/1

Depth current setp. filter 1

0 db

C00272/2

Depth current setp. filter 2

0 db

C00585

Response to motor PTC overtemperature

Off

C00596

Threshold max. speed reached

6500 rpm

0.00 A
0.500 Nm/rpm

Highlighted in grey = display parameter

Note!
If the route data have been adapted offline in the Engineer, all route data
must be transferred to the controller with an established online connection and
stored with mains failure protection in the memory module (C00002 = "11").

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning | Parameterise motor encoder
5.1.5

Parameterise motor encoder

O Tip!
Detailed information on the encoder evaluation and on the use of a separate
position encoder can be found in the following main chapter "Encoder evaluation".
(C 108)

r The motor encoder can also be parameterised in the Engineer on the Application
parameter tab in the dialog level OverviewMotor.
r The following table shows the required settings for different encoder types:
Encoder type:

Resolver

CDD50

ITD21

ITD22

SCS70
SCM70

SRS50
SRM50

ECN1313
EQN1325

EQI1329

MCA

MDFQA
LMR

MDFQA
LMR

MDxKS

MCS
MCA

MCS
MCA

MCS
MCA

Tamagawa

Motor type:

C00495
Motor encoder

MCS
MCA
MDxKS
MDXMA

0
Resolver

1
Encoder

C00080
Resolver - pole pair
number

C00422
Encoder - type

C00420
Encoder - PPR

2048

C00421
Encoder - voltage

5V

0
Incremental encoder
(TTL signal)

1
Sin/cos
encoder

2
Absolute value
encoder (Hiperface)
512

1024
8V

3
Absolute value
encoder (EnDat)
2048

32
5V

Danger!
When using the encoder/resolver as motor encoder:
In case of an error as safe motor operation cannot be ensured anymore. Thus, the
"Fault" response (Lenze setting) should be set permanently for the (open circuit)
monitoring of the encoder/resolver!
C00580: Response to open circuit of encoder
C00586: Response to open circuit of resolver
C00601: Response to communication error of encoder

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning | Set rotor displacement angle

5.1.6

Set rotor displacement angle

Note!
Not required if a Lenze motor is operated on the controller!

For the control of permanent-magnet synchronous machines, the rotor angle the angle
between the motor phase U and the field axis of the rotor must be known.
r For Lenze motors the rotor displacement angle for different feedback systems is
already set correctly in C00058/1...3.
r The device command "Set rotor displacement angle" serves to specify the rotor
displacement angle for the current motor encoder activated in C00495 for an external
motor (see following instructions).

Note!
During the procedure of setting the rotor displacement angle, the machine must
not be braked or blocked.

M How to set the rotor displacement angle for an external motor:

1. If the controller is enabled, inhibit the controller, e.g. with the device command
"Inhibit controller" (C00002 = "41").
2. Execute device command "Set rotor displacement angle" with C00002 = "51".
The procedure starts with controller enable, if
a synchronous machine is selected,
no other identification is active,
no error (TRIP) has occurred, and
no test mode is activated.
If one of the above conditions is not met, the procedure is cancelled and the
corresponding controller command status is indicated under C00003.
Note:
By means of controller inhibit the started procedure can be aborted any time
without making a change in C00058.
For detailed information about the procedure, please see the following section
"Sequence".

O Tip!
For controller enable all sources for controller inhibit must be reset. In C00158 the
sources for controller inhibit are displayed in a bit-coded manner.
The status of the controller command activated under C00002 is indicated under
C00003.

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning | Set rotor displacement angle
Sequence
If all conditions are met, the motor is energised with a direct current corresponding to the
lower of the following two values:
2 Rated device current
or

Rated motor current

2 ---------------------------------------------------2

r The rotor is aligned through the current flow. This is absolutely necessary for the
procedure.
r To ensure that the torque-neutral axis is not accidentally energised and the rotor stops,
a 45 current vector is (electrically) generated for 1 second and then (electrically)
switched back to 0 ( phase U).
After this second, you could measure a direct current corresponding to the abovementioned value in this motor phase.
The next steps of the procedure depend on the feedback system used:
r If an absolute value encoder with Hiperface or EnDat protocol is used, the encoder
position is set to zero and the procedure is cancelled.
r If a resolver or an optical encoder without absolute track is used, the difference
between the preselected current angle and the mechanical rotor angle is determined.
After this, the current vector is (electrically) turned by another 22.5 and the difference
between current angle and rotor angle is determined once again.
The procedure is repeated 16 times. This corresponds to one electrical revolution. The
machine rotates by 360 (mech.)/pole pair number.
Take the average value of the 16 measurements to compensate for asymmetries.
After successful completion...
...the controller is inhibited automatically and the rotor displacement angle determined for
the activated feedback system is set in the corresponding subcode of C00058.
r For a permanent acceptance of the set rotor displacement angle, the parameter set
must be saved (C00002 = "11").
r The device command C00002 = "42" serves to deactivated the controller inhibit
automatically set by the procedure.
If an error occurs
If an error occurs during the procedure or the pulse inhibit gets active (e.g. due to shorttime undervoltage), the procedure is terminated with controller inhibit without making a
change in C00058.
If the machine was braked or blocked during the procedure, this will be recognised at the
end of the measurement and no change is made in C00058.

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning | Optimise the switching performance of the inverter
5.1.7

Optimise the switching performance of the inverter

Note!
Not required if a Lenze motor is operated on the controller!
For an external motor with unknown motor parameters the optimisation of the
inverter switching performance is necessary for the motor parameter setting
described in the following chapter. Set motor parameters (C 75)

An inverter generates a pulse-width-modulated, three-phase voltage system. Due to the

design of the inverter, current-dependent and chopper-frequency-dependent losses inside
of the inverter falsify the output voltage. Since the output voltage is not measured, the
losses must be compensated by a suitable feedforward control. This is compensated via an
inverter error characteristic.
The inverter error characteristic depends, among other things, on the motor cable length
and for a motor with unknown motor parameters it must be detected at least once
individually with the device command "Detect inverter characteristic" so that a sinusoidal
current is ensured for an automatic selection of the motor parameters.

M How to determine the inverter error characteristic:

1. If the controller is enabled, inhibit the controller, e.g. with the device command
"Inhibit controller" (C00002 = "41").
2. Execute the device command "Determine inverter characteristic" with
C00002 = "71".
The procedure starts with controller enable, if
no other identification is active,
no error (TRIP) has occurred, and
no test mode is activated.
If one of the above conditions is not met, the procedure is cancelled and the
corresponding controller command status is indicated under C00003.
Note:
By means of controller inhibit the started procedure can be aborted any time.
Characteristic values already detected are not considered.
For detailed information about the procedure, please see the following section
"Sequence".

O Tip!
For controller enable all sources for controller inhibit must be reset. In C00158 the
sources for controller inhibit are displayed in a bit-coded manner.
The status of the controller command activated under C00002 is indicated under
C00003.

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning | Optimise the switching performance of the inverter
Sequence
If all conditions are met, the motor is energised with a maximum direct current
corresponding to the lower of the following two values:
2 Rated device current
or

2 1.8 Rated motor current

r Ideally, the first value should be reached, the second value is to ensure that the load on
the machine is not too high during the procedure.
During the procedure, the motor current rises up to the specified maximum value and falls
back to "0" to repeat the cycle with a negative current sign.
r The maximum value is reached four times.
r The chopper frequency is set to 8 kHz, sine-wave modulation. After the procedure, it is
reset to the original value.
If the chopper frequency should be changed later during operation, the characteristic
will be adapted to the current chopper frequency.
r Presently, the characteristic is only used for the automatic selection of the motor
parameters. The use for sensorless control methods is in preparation.
After successful completion...
...the controller is inhibited automatically and the detected characteristic is set in the
controller.
r For a permanent acceptance of the characteristic, the parameter set must be saved
(C00002 = "11").
r The device command C00002 = "42" serves to deactivated the controller inhibit
automatically set by the procedure.

O Tip!
The inverter error characteristic must only be detected again if the controller,
motor, or motor cable have changed e.g. due to an exchange.

If an error occurs
If an error occurs during the procedure or the pulse inhibit gets active (e.g. due to shorttime undervoltage), the procedure is terminated with controller inhibit and the detected
characteristic is not considered.

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning | Set motor parameters

5.1.8

Set motor parameters

Note!
Not required if a Lenze motor is operated on the controller!

To control an electrical machine, the motor parameters must be known.

r The motor parameters for Lenze motors are known and are already set accordingly by
selecting them from the Engineer motor catalog or reading out the ENP.
r The device command "Set motor parameters" serves to set the motor parameters listed
in the following table for an external motor automatically unless they are known:
Parameters

Information

C00079

Motor - magnetising inductance

ASM
;

SM

C00082

Motor - rotor resistance

C00084

Motor stator resistance

C00085

Motor stator leakage induct.

C00091

Motor - cosine phi

C00092

Motor - magnetising current

O Tip!
The Engineer displays an equivalent circuit diagram with these motor
parameters when you got to the Application parameter tab in the dialog level
OverviewMotor and press the button Other motor data....
The representation of the equivalent circuit diagram depends on the motor control
selected (C00006).

Requirements
r Before the automatic parameter determination is started, the switching performance
of the inverter must have been optimised to ensure a sinusoidal current flow.
Optimise the switching performance of the inverter (C 73)
r The motor parameters listed in the following table are excluded from the automatic
determination and must be adapted to the motor used (see motor nameplate) before
the determination.

Parameters

Information

C00081

Motor - rated power

C00087

Rated motor speed

C00088

Rated motor current

(The current amount for the procedure is derived from this specification)

C00089

Rated motor frequency

C00090

Rated motor voltage

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning | Set motor parameters

M How to determine the motor parameters:

1. If the controller is enabled, inhibit the controller, e.g. with the device command
"Inhibit controller" (C00002 = "41").
2. Execute the controller command "Determine motor parameters" with
C00002 = "72".
The procedure starts with controller enable, if
no other identification is active,
no error has occurred, and
no test mode is activated.
If one of the above conditions is not met, the procedure is cancelled and the
corresponding controller command status is indicated under C00003.
Note:
By means of controller inhibit the started procedure can be aborted any time
without changing the codes for the motor parameters.
For detailed information about the procedure, please see the following section
"Sequence".

O Tip!
For controller enable all sources for controller inhibit must be reset. In C00158 the
sources for controller inhibit are displayed in a bit-coded manner.
The status of the controller command activated under C00002 is indicated under
C00003.

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning | Set motor parameters

Sequence
If all conditions are met, the impedance of the controlled system is determined for approx.
30 different frequencies. These valued are used to determine the electrical machine
parameters by means of a mathematical procedure.
r Since the procedure starts with very low frequencies and always considers several
complete periods, the whole process takes approx. 3 minutes.
r During the procedure, the motor is energised with a current, the r.m.s. value of which
corresponds to the lower of the following two values:
Rated device current
or

1
--- Rated motor current
2

Note!
During the procedure, the motor should not rotate.
With synchronous machines, this cannot always be ensured. Although the
current flow is produced in the torque-neutral axis, asymmetries in the machine
lead to a rotation of the rotor.
In such a case, the measurement would be useless and would have to be
repeated.
As a remedy, we recommend to use a holding brake.
With asynchronous machines, slight rotations might possibly occur. Their
influence on the measurements is, however, not worth mentioning.
In case of uncertainties, the measurement should be repeated several times
to check if the results for the stator resistance, the leakage inductance of the
stator and the rotor resistance differ widely. This should not be the case.
The magnetising inductance and the cos() values are not that important for
the diagnostics, because they are strongly non-linear.

After successful completion...

...the controller is automatically inhibited and the selected motor data are set in the
corresponding codes.
r For a permanent acceptance of the settings, the parameter set must be saved
(C00002 = "11").
r The device command C00002 = "42" serves to deactivated the controller inhibit
automatically set by the procedure.
If an error occurs
If an error occurs during the procedure or the pulse inhibit gets active (e.g. due to shorttime undervoltage), the procedure is terminated with controller inhibit without changing
the codes for the motor parameters.

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning | Define currents and speed limits
5.1.9

Define currents and speed limits

Maximum current
In C00022 the required maximum current must be set.
r In order that the motor does not start unintentionally without adjusting the route data,
the maximum current in the Lenze setting is set to "0 A" in C00022.
Moreover the motor limit current set in C00620 must be checked and the error response
required for the motor protection must be selected in C00619.
Motor reference speed
In C00011 the reference speed of the motor must be set.

Note!
When MCS motors are used check if the motor used exceeds the voltage limit in
the required operating range up to maximum current/reference speed.
If so, the reference speed must be reduced to a permissible value.
Presently the controller does not support a field weakening control for
synchronous motors so that an operation at the voltage limit causes an
undefined behaviour.
On the part of the application it must be ensured that maximally 100 % of the
reference speed set in C00011 are required as speed setpoint.

Maximum system speed

Adapt the maximum system speed in C00596 and select the error response required when
this speed limit has been reached in C00607.

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning | Select switching frequency

5.1.10

Select switching frequency

The controller uses a pulse-width modulation to generate the controller output voltage.
The chopper frequency is used to change the control factor of the pulse-width modulation.
r Since the control factor is determined by the current controller, the chopper frequency
also limits the response of the current controller: the current controller updates the
output voltage only once per switching period.
r Due to the limited response of the current controller, the current ripple and the torque
ripple increase with decreasing chopper frequency.

Note!
The maximum output frequency of the controller is limited to 1/8 of the
switching frequency selected in C00018! (See the following table.)

Switching frequency (C00018):

1 kHz

2 kHz

4 kHz

8 kHz

16 kHz

Maximum output frequency:

125 Hz

250 Hz

500 Hz

1 kHz

2 kHz

Motor - number of pole pairs:

Maximum synchronous motor speed [rpm]

7500

15000

30000

60000

120000

3750

7500

15000

30000

60000

2500

5000

10000

20000

40000

1875

3750

7500

15000

30000

1500

3000

6000

12000

24000

1250

2500

5000

10000

20000

Reduced switching losses through chopper frequency reduction

The advantage of a chopper frequency reduction are the reduced switching losses in the
controller, which are monitored by means of an I x evaluation.
r A reduced chopper frequency therefore enables a bigger current-time area at the
output than it would be the case with a higher chopper frequency. However, depending
on the process, you always have to make a compromise between the torque ripple and
the output power.

O Tip!
The controller load (I x t) during the last 180 seconds is indicated under C00064.

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning | Select switching frequency

Automatic chopper frequency reduction

Under C00018, it is possible to select "variable" chopper frequencies for the controller.
With this selection, the controller reduces the chopper frequency depending on the
setpoint current.
r Depending on the current, the controller switches down to an assigned chopper
frequency; the modulation mode remains unchanged.
r The switching thresholds are device-dependent (see 9400 Hardware Manual, chapter
"Rated data").
r If instead of a variable switching frequency a fixed switching frequency has been
selected in C00018, no switching frequency changeover takes place. Due to the
rotating field frequency range of 0...5 Hz only a lower continuous current and
maximum currents can be applied (see 9400 Hardware Manual, chapter "Rated data").

O Tip!
With the same load profile, a deactivation due to an excessive controller load (I x t)
is more likely with a fixed chopper frequency setting than with a variable setting.

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning | Optimise current controller

5.1.11

Optimise current controller

In a test mode you can select current setpoint step-changes and optimise the parameter
settings of the current controller (gain and reset time).

M How to optimise the current controller in the test mode:

1. If the controller is enabled, inhibit the controller, e.g. with the device command
"Inhibit controller" (C00002 = "41").
2. Activate the test mode for the current controller with C00398 = "2".
3. Select the effective value of the current setpoint step change under C00022.
The peak value of the measurable motor current will be 1.41 times higher.
4. Enable the controller for a short time and measure the step response of the motor
current in the motor phases using the oscilloscope and clamp-on ammeters or
record the field-oriented direct-axis current using the Oscilloscope function in the
Engineer. (C 416)
Motor control variable to be recorded:
current.dnDirectCurrentAct (field-oriented direct-axis current)
5. Evaluate the step response:
Vp < Vp opt.

Vp = Vp opt.

Vp > Vp opt.

Tn < Tn opt.

t
I

t
I

Tn = Tn opt.

t
I

t
I

Tn > Tn opt.

6. Change the gain Vp under C00075 and the reset time Tn under C00076.
7. Repeat steps 4 ... 6 until the optimum step response of the motor brake is reached.
After optimisation, the current control time is typically 0.5 ... 1 ms.
If the adjustment results are not satisfactory, the decoupling network can be
additionally activated via the setting C00074 = "1". After this, repeat the steps
2 ... 6.
In case of MCS results may only be achieved with a current-dependent
correction of the leakage inductance. For this purpose, it is required to use a
motor with an electronic nameplate (ENP) or to set the saturation characteristic
manually (see the following section).

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Motor interface
Initial commissioning | Optimise current controller

8. After the optimisation has been completed with C00398 = "0", deactivate the test
mode for the current controller again.
9. Save parameter set (C00002 = "11").

5.1.11.1

Correction of the leakage inductance via saturation characteristic

The current controller must be adjusted to the electrical characteristics of the motor
stator resistance and stator leakage inductance:
Leakage inductance of stator
Gain Vp = -------------------------------------------------------------------------240 s
Stator leakage inductance
Reset time Tn = ------------------------------------------------------------------Stator resistance

In case of modern motors, however, the stator leakage inductance changes (C00085) as a
function of the magnitude of current so that each current value requires a new current
controller setting.
When the motor is operated with very low and very high currents (e.g. in Pick and place
applications), it is not always possible to achieve a satisfactory current controller setting
for all operating points. For this purpose, the correction of the leakage inductance and
current controller parameters is possible via a saturation characteristic that can be set in
C02853 (17 base points).

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Motor interface
Initial commissioning | Optimise current controller

The following picture shows a typical saturation characteristic of an MCS motor:

L/Ln
120 %

100 %

80 %

60 %

40 %

20 %

I/Imax

0%
0%
[5-1]

10 %

20 %

30 %

40 %

50 %

60 %

70 %

80 %

90 % 100 %

Saturation characteristic: Inductance referring to the inductance for rated current

r By optimising different current setpoints such a characteristic can be detected per

"trial" and set in C02853.
r The correction by means of this saturation characteristic can be switched off or on via
C02859.

Note!
The saturation characteristic is not only used for the correction of the current
controller but also influences the current controller feedforward control
(C00074).

Distribution of the grid points

r The saturation characteristic is displayed by 17 points which are distributed linearly on
the X axis.
r The point 17 represents 100 % of the maximum motor current in the process (C02855).
1

10

11

12

13

14

15

16

17

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

Vp [V/A]
Tn [ms]

Imax

[5-2]

[%]

Saturation characteristic: Distribution of the grid points

O Tip!
The following chapter provides an example for determining the saturation
characteristic. Example for determining the saturation characteristic (C 84)

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Motor interface
Initial commissioning | Optimise current controller
5.1.11.2

Example for determining the saturation characteristic

Given values:
r Rated motor current: 5 A
r Maximum motor current: 20 A
r Maximum process current: 15 A (must be set later in C00022)
Procedure:
1. Deactivate correction (C02859 = "off").
2. Set the maximum current up to which the motor is to be operated in the process in
C02855 (in this example "15 A").
The value set in C02855 must be higher or the same as C00022.
3. Adjust the current controller with different current setpoints and note the
corresponding settings for Vp and Tn.
The procedure for the adjustment is described in the chapter "Optimise current
controller".
The current setpoints that are to be set for the prevailing adjustment in C00022
result from the scaling of the maximum process current to the X axis of the
saturation characteristic.
Which points are required to display the saturation characteristic with a sufficient
quality, varies from motor to motor and must therefore be detected individually.
For this example currents have been selected which are situated on the grid points
5, 9, 13 and 15 a measurement has been carried out at rated motor current:
1

10

11

12

13

14

15

16

17

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

Vp [V/A]
Tn [ms]

Imax

0A

3.75 A

5A

7.5 A

11.25 A

12.38 A

[%]

15 A

n Rated motor current

o Maximum process current ( 100 %)
[5-3]

Saturation characteristic: Distribution of the grid points

Specifications for adjustment

Grid point

Setting C00022

Vp [V/A]

Tn [ms]

0.25 * 15 A =

3.75 A

13

6.5

0.5 * 15 A =

7.5 A

13

0.75 * 15 A =

11.25 A

2.5

15

0.875 * 15 A =

12.38 A

17

84

Scaling

Measured values

1.0 * 15 A =

15 A

1.7

Rated motor current =

5A

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9400 HighLine | Parameter setting & configuration

Motor interface
Initial commissioning | Optimise current controller

4. Creating a characteristic based on the values calculated for Vp.

Here, the values which have not been adjusted, must be determined by interpolation
between two values.
Note: In this example it is assumed that the inductance does not change
considerably below 3.75 A. For this reason, the same Vp value resulting from the
measurement with a motor current of 3.75 A has been used for all grid points below
3.75 A.
1

10

11

12

13

14

15

16

17

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

Vp [V/A]
13
12
11
10
9
8
7
6
5
4
3
2
1
0

Imax

0A

[5-4]

3.75 A

5A

7.5 A

11.25 A

12.38 A

[%]

15 A

Determined saturation characteristic

5. Set the gain Vp in C00075 and reset time Tn in C00076 which were calculated during
the adjustment with the rated motor current (in this example "5 A"):
Set C00075 = "10 V/A".
Set C00076 = "5 ms".
6. Scale the Vp values on the Y axis of the characteristic to the 100 % Vp setting in C00075:
1

10

11

12

13

14

15

16

17

62.5

68.75

75

81.25

87.5

93.75

100

Vp [%]
130
120
110
100
90
80
70
60
50
40
30
20
10
0

13
12

C00075 = "10 V/A" 100 %

11
10
9
8
7
6
5
4
3
2
1

Imax

0
0

0A

[5-5]

6.25

12.5

18.75

25

3.75 A

31.25

5A

37.5

43.75

50

56.25

7.5 A

11.25 A

12.38 A

[%]

15 A

Scaling of the determined saturation characteristic to the "100 %" setting in C00075

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Motor interface
Initial commissioning | Optimise current controller

7. Enter the percentage Vp values situated on the grid points in C02853/1...17:

1

10

11

12

13

14

15

16

17

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

Vp [%]
130

107
95
87.5
80
72.5
65
57.5
50
45
40
35
30

Imax

[5-6]

[%]

Grid point values of the determined saturation characteristic

Grid point Setting

Grid point Setting

1 C02583/1 = 130 %

10 C02583/10 = 72.5 %

2 C02583/2 = 130 %

11 C02583/11 = 65 %

3 C02583/3 = 130 %

12 C02583/12 = 57.5 %

4 C02583/4 = 130 %

13 C02583/13 = 50 %

5 C02583/5 = 130 %

14 C02583/14 = 45 %

6 C02583/6 = 107 %

15 C02583/15 = 40 %

7 C02583/7 = 95 %

16 C02583/16 = 35 %

8 C02583/8 = 87.5 %

17 C02583/17 = 30 %

9 C02583/9 = 80 %

8. Enter the maximum process current ("15 A") in C00022.

9. Switch on the correction (C02859 = "on").
When the correction of the stator leakage inductance is switched on, the same
current characteristic is to occur irrespective of the current magnitude.
Since the current controller gain is corrected actively, the step responses may differ
slightly compared to the previous measurements. In this case C00075 and C00076
must be optimised one last time.
10. Save parameter set (C00002 = "11").

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Extended commissioning

5.2

Extended commissioning
After the initial commissioning of the motor, the required technology application can be
selected in the Engineer and loaded in the controller.
r Further information on this can be found in chapter Technology applications (TAs).
(C 233)

r During operation (with setpoint selection) further steps can be carried out to optimise
the motor control.
r Detailed information on the individual steps can be found in the following
subchapters:
Worksteps
1. Optimise speed controller. (C 88)
Via running a typical speed profile and recording the ramp response of the speed controller with the
oscilloscope.
2. If the speed controller optimisation did not achieve the intended result:
Set current setpoint filter. (C 90)
In order to suppress or damp (mechanical) resonant frequencies, two current setpoint filters are
integrated in the speed control loop of the controller which are switched off in the default setting
but can be parameterised accordingly, if required.
Then readjust the speed controller: Optimise speed controller. (C 88)
3. Optimise phase controller. (C 92)
Via running a typical speed profile and recording the ramp response of the phase controller with the
oscilloscope.
4. Optimise the response to setpoint changes by means of the torque feedforward control. (C 93)
Via running a typical speed profile and recording the inputs and outputs of the speed controller with
the oscilloscope.
5. Save Engineer project.

O Tip!
To run a typical speed profile for optimising the motor control, you can also use the
basic function "manual jog" with suitably adapted manual jog parameters.
Manual jog (C 156)

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Motor interface
Extended commissioning | Optimise speed controller
5.2.1

Optimise speed controller

The speed controller has been designed as a PID controller.
Gain, reset time & differential gain setting
The proportional gain Vp is selected under C00070:
1. Select the speed setpoint.
2. Increase C00070 until the drive becomes unstable (observe motor noises).
3. Reduce C00070, until the drive becomes stable again.
4. Reduce C00070 to approx. half the value.
Reset time setting
The reset time is selected under C00071:
1. Reduce C00071 until the drive becomes unstable (observe motor noises).
2. Increase C00071 until the drive becomes stable again.
3. Increase C00071 to approx. double the value.
Differential gain setting
The differential gain Td is selected under C00072:
r Increase C00072 during operation until an optimum control behaviour is reached.
Adaptation of the speed controller gain
Via the input MI_dnSpeedCtrlAdapt_n of the system block LS_MotorInterface the
proportional gain Vp can be changed dynamically during operation:
V p = MI_dnSpeedCtrlAdapt_n [%] C00070

r If the input MI_dnSpeedCtrlAdapt_n has not been assigned:

V p = 100 % C00070 = C00070

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Extended commissioning | Optimise speed controller

Using the ramp response for setting the speed controller

When operation of the mechanics at the stability limit is not possible, the ramp response
can be used for setting the speed controller. The proceeding is similar to optimising the
current controller.

Stop!
If the controller parameters are preset unfavourably, the control can tend to
heavy overshoots up to instability!
Following and speed errors can adopt very high values.
If the mechanics is very sensitive, the corresponding monitoring functions
must be activated.

M How to optimise the speed controller setting by means of the ramp response:
1. Run a typical speed profile and record the ramp response of the speed with the
Oscilloscope. (C 416)
Motor control variables to be recorded:
Speed.dnSpeedSetpoint (speed setpoint)
Speed.dnActualMotorSpeed (actual speed value)
2. Evaluate the ramp response:
Vp < Vp opt.

Vp = Vp opt.

Vp > Vp opt.

Tn < Tn opt.

t
n

t
n

Tn = Tn opt.

t
n

t
n

Tn > Tn opt.

Solid line = ramp response (actual speed value)

Dash line = Speed setpoint
3. Change the gain Vp under C00070 and the reset time Tn under C00071.
4. Repeat steps 1 ... 3 until the optimum ramp response is reached.
5. Save parameter set (C00002 = "11").

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Extended commissioning | Set current setpoint filter
5.2.2

Set current setpoint 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 order to suppress or damp these resonant frequencies, two current setpoint filters are
integrated in the speed control loop of the controller which are switched off in the default
setting but can be parameterised accordingly, if required.
Filter 1
C00270/1
C00271/1
C00272/1

Frequency [Hz]
Width [Hz]
Depth [dB]

Filter 2
C00270/2
C00271/2
C00272/2

Frequency [Hz]
Width [Hz]
Depth [dB]

m*

m = Output of the jerk limitation

[5-7]

Optional current setpoint filters (filter cascade) in the speed control loop

Since the frequency response of the speed controlled system is only rarely known to such
an extent that the current setpoint filters can be adjusted to the controlled system in the
run-up, the following example describes how to set current the current setpoint filters.

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Extended commissioning | Set current setpoint filter

M How to set the current setpoint filters:

1. Adjust the current control loop.
2. In C00071 adjust the reset time of the speed controller to the filter time constant
of the speed filter (C00497) and the equivalent time constant of the current control
loop: C00071 = 16 * (C00497 + 200 s)
3. Slowly increase the proportional gain n C00070, until the speed control loop starts
to become unstable (noticed acoustically or by measuring the motor current).
4. Measure the oscillation frequency using an oscilloscope (observe current or speed).
5. Set the measured oscillation frequency in C00270/1 as filter frequency.
6. Set "50%" of the filter frequency in C00271/1 as filter width.
Example: Filter frequency = 200 Hz  filter width = 100 Hz.
7. Set "40 dB" in C00272/1 as filter depth.
If the filter depth is set to "0 dB" (default setting), the filter is not active.
8. Continue to increase the proportional gain in C00070 until the speed control loop
starts to become instable again.
If the oscillation frequency has changed now, readjust the filter frequency by
trimming. The use of a second filter is ineffective here.
If the oscillation frequency remains the same, readjust the filter depth and/or
the filter width by trimming (the first reduces the amplitude, the second lets the
phase rotates faster).
Repeat step 8 until the desired behaviour or the limit of a sensible speed
controller gain has been reached.
9. Save parameter set (C00002 = "11").

Note!
Readjust the speed controller after setting the current setpoint filter.
Optimise speed controller. (C 88)

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Motor interface
Extended commissioning | Optimise phase controller
5.2.3

Optimise phase controller

M How to optimise the phase controller setting by means of the ramp response:
1. Run a typical speed profile and record the ramp response of the phase controller
with the Oscilloscope. (C 416)
Motor control variables to be recorded:
Speed.dnSpeedSetpoint (speed setpoint)
Speed.dnActualMotorSpeed (actual speed value)
Speed.dnOutputPosCtrl (phase controller output)
Position.dnEncounteringError (following error)
2. Adjust the gain Vp of the phase controller under C00254 and repeat oscilloscope
recording until the intended following error behaviour is reached and the motor
runs sufficiently smoothly during the constant travel phase.
3. Save parameter set (C00002 = "11").

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Motor interface
Extended commissioning | Optimise the response to setpoint changes by means of the torque
5.2.4

Optimise the response to setpoint changes by means of the torque feedforward control
Setting the load moment of inertia under C00273/2 does not always provide the optimum
torque feedforward control. Depending on the application, an adaptation of the setting
under C00273/2 may be necessary to optimise the response to position/speed control
setpoint changes.
Without feedforward control:
n, M

C00273/2 set too low:

n, M

C00273/2 set too high:

n, M

Optimum feedforward control:

n, M

n Speed setpoint (Speed.dnSpeedSetpoint signal)

o Actual speed value (Speed.dnActualMotorSpeed signal)
p Speed controller output (Torque.dnOutputSpeedCtrl signal)
q Torque feedforward control (Torque.dnTotalTorqueAdd signal)
[5-8]

Typical signal characteristics for different settings of the load moment of inertia

C00273/2 can be used to compensate for effects in addition to the moment of inertia
which are detected by the speed controller in the closed speed control loop (e.g. friction
torque).
Below you will find a description of a procedure for optimising the feedforward control
behaviour starting from the system's moment of inertia.

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Motor interface
Extended commissioning | Optimise the response to setpoint changes by means of the torque

M How to optimise the torque feedforward control:

1. Run a typical speed profile and record the inputs and outputs of the speed
controller with the Oscilloscope. (C 416)
Motor control variables to be recorded:
Speed.dnSpeedSetpoint (speed setpoint)
Speed.dnActualMotorSpeed (actual speed value)
Torque.dnOutputSpeedCtrl (speed controller output)
Torque.dnTotalTorqueAdd (torque feedforward control)
Application variable to be recorded (if available):
L_LdMonitFollowError1.dnFollowErrorIn_p (following error)
It is essential for optimising the response to setpoint changes to monitor the speed
controller output (Torque.dnOutputSpeedCtrl) and the torque feedforward control
(Torque.dnTotalTorqueAdd). The effect of the feedforward control can also be
observed in the following error.
2. Select the signal source required for the torque setpoint (feedforward control path)
under C00276.
3. Estimate the mass inertia of the load and set it under C00273/2.
4. Repeat the oscilloscope recording (see step 1).
Now the oscillogram should show that part of the required torque is generated by
the feedforward control (Torque.dnTotalTorqueAdd) and the speed controller
output signal (Torque.dnOutputSpeedCtrl) should be correspondingly smaller. The
resulting following error decreases.
5. Change the setting under C00273/2 and repeat the oscilloscope recording until the
intended response to setpoint changes is reached.
The optimisation could aim at the speed controller being completely relieved
(see signal characteristics in Fig. [5-8]).
6. Save parameter set (C00002 = "11").

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Motor interface
Signal flow

5.3

Signal flow

MI_bTorqueSetpointLimited
MI_dnTorqueSetpoint_n
C00776 MCTRL_dnInputJerkCtrl
Max. acceleration change
C00274
Bandwitdh 1
Bandwidth 2
(1)
(2)
(3)

MI_dnTorqueHighLimit_n
Torque setpoint
C00695

C00270/1
C00271/1
C00272/1

MI_dnTorqueLowLimit_n

MI_dnFilteredTorqueSetpoint_n
M

C00270/2
C00271/2
C00272/2

C02559/1...2
Internal torque limit

MI_bCurrentSetpointLimited

(6)
(7)

Pilot control current controller

C00074
Current controller
(10)
Vp C00075
Tn C00076

Actual Q-current
Rotating field frequency
Actual D-current

MCTRL_dnFluxAct
C00778

C00079

Field controller

(8) Current controller

(13)

(9)
Vp C00077
Tn C00078
Filter DC detection

(11)

Field weakening controller

2

a +b

Filter time constant C00280

Coordinate
transformation

Vp C00075
Tn C00076

Voltage limit

usq
usd

C00091
Motor type

(12)

Chopper frequency
C00018

Vp C00577
Tn C00578
(14)

a +b

MI_dnActualMotorCurrent_n
C00054 Motor current
C00780 MCTRL_dnImotAct
MI_dnActualMotorVoltage_n
C00052 Motor voltage
C00783 MCTRL_dwMotorVoltageAct

[5-9]

See also:

Signal flow - motor interface

Signal flow - encoder evaluation (C 109)

Signal flow - speed follower (C 191)
Signal flow - torque follower (C 196)
Signal flow - position follower (C 184)

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Signal flow

DI_bOVDetected
const.
DI_bUVDetected
C00173
C00174

DC-bus voltage filter

(15)

DC-bus voltage

MI_dnActualDCBusVoltage
C00053 DC-bus voltage
C00779 MCTRL_dnDCBusVoltage
Error message
"Failure of motor phase"
C00597
C00599

Phase currents
(16) U C00055/1
(17) V C00055/2
(18) W C00055/3

Error message "Earth fault detected"

Error message "Overcurrent detected"

const.

S
MCTRL_dnIxtLoad

C00786

MI_bMotorOverloadWarning

const.

Actual Q-current
Actual D-current

Machine simulation
MCTRL_dnI2xtLoad

a +b

C00790
C00128
C00129

C00120

[5-10] Signal flow of motor interface (monitoring)

Internal variables of the motor control (oscilloscope signals)

r The red numbers specified in the signal flow represent internal variables of the motor
control, which can be recorded with the Oscilloscope for diagnostic and documentation
purposes. (C 416)

96

No.

Variable or the motor control

Meaning

(1)

Torque.dnInputNotchFilter1

Torque setpoint at the band-stop filter input 1

(2)

Torque.dnInputNotchFilter2

Torque setpoint at the band-stop filter input 2

(3)

Torque.dnFilteredTorqueSetpoint

Filtered torque setpoint

(4)

(5)

(6)

Current.dnQuadratureCurrentSet

Q current setpoint

(7)

Current.dnActualQuadratureCurrent

Actual Q-current

(8)

Current.dnActualDirectCurrent

Actual D current

(9)

Current.dnDirectCurrentSet

D current setpoint

(10)

Voltage.dnQuadratureVoltage

Q voltage

(11)

Voltage.dnDirectVoltage

D voltage

(12)

Common.dnActualFlux

Actual flux value

(13)

Common.dnFluxSet

Flux setpoint

(14)

Voltage.dnActualMotorVoltage

Current motor voltage

(15)

Voltage.dnActualDCBusVoltage

Actual DC-bus voltage

(16)

Current.dnActualCurrentPhaseU

Actual motor current (phase U)

(17)

Current.dnActualCurrentPhaseV

Actual motor current (phase V)

(18)

Current.dnActualCurrentPhaseW

Actual motor current (phase W)

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9400 HighLine | Parameter setting & configuration

Motor interface
Parameter setting

5.4

Parameter setting
Short overview of the other parameters for the motor interface:
Parameters

Information

C00050/1

Speed setpoint 1

C00050/2

Speed setpoint 2

C00051

Actual speed

C00052

Motor voltage

C00054

Motor current

C00055/1

Phase current - phase zero system

C00055/2

Phase current - phase U

C00055/3

Phase current - phase V

C00055/4

Phase current - phase W

C00056

Torque setpoint

C00057/1

Maximum torque

C00057/2

Torque at maximum current

C00059

Motor - number of pole pairs

C00060

Rotor position

C00063

Motor temperature

C00066

Thermal motor load (I2xt)

C00120

Motor overload protection (I2xt)

C00121

Warning threshold - motor temperature

C00127

Warning threshold - motor overload

C00583

Response to motor KTY overtemperature

C00584

Response to motor temperature > C00121

C00585

Response to motor PTC overtemperature

C00606

Resp. to motor overload

C00909/1

Upper speed limit value

C00909/2

Lower speed limit value

C02527

Motor mounting direction

C02550/1

Position setpoint interpolation

C02550/2

Speed setpoint interpolation

C02550/3

Torque setpoint interpolation

C02553

Position controller gain

C02554

Position controller reset time

C02555

Position controller D component

C02556

Pos. contr. limitation

C02557

Motor position controller output

C02558

Position controller output

C02559/1

Upper int. torque limit

C02559/2

Lower int. torque limit

C02560

Messages motor interface

C02567

Control mode

Highlighted in grey = display parameter

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Motor interface
Parameter setting | Motor monitoring (Ixt)

See also:

5.4.1

Display/edit motor data in the Engineer (C 67)

Accept/adapt route data (C 69)

Motor monitoring (Ixt)

The "9400 Servo Drives" are provided with an extended, sensorless thermal I2xt motor
monitoring which is based on a mathematical model that calculates a thermal motor
utilisation from the detected motor currents.
r The calculation considers the speed dependency of the torque (difference between
standstill torque and rated torque).
r C00066 indicates the calculated motor utilisation in [%].
r If the motor exceeds the advance warning threshold set in C00127, the error message
"I2t motor overload OC8" is output and the reaction set in C00606 (default setting:
"Warning") is activated.
r If the switch-off threshold set in C00120 is exceeded, the error message "I2t motor
overload OC6" is output and the reaction "Fault" is activated.

Stop!
The I2xt motor monitoring is no full motor protection!
Since the motor utilisation calculated in the thermal model gets lost after mains
switching, the following operating states cannot be determined correctly:
Restarting (after mains switching) of a motor that is already very heated.
Change of the cooling conditions (e.g. cooling air flow interrupted or too
warm).
A full motor protection requires additional measures as e.g. the evaluation of
temperature sensors that are situated directly in the winding of thermal
contacts.

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Parameter setting | Motor monitoring (Ixt)

Structure of the I2xt monitoring

The introduction of a two-component model with two time constants (one for the winding
and the other for the housing/steel plates) serves to display the thermal behaviour of the
motor up to 500% of the rated current:
Iact Motor

Iperm Motor (n)

k1

1
(1 + pt1)

k2

1
(1 + pt2)

n Thermal utilisation of the motor in [%]

[5-11] Structure of the motor monitoring

Parameters
Iact motor

Setting
Current motor current

Iperm motor (n)

Permissible motor current (speed-dependent)

Therm. time constant coil

C00128/1

k1

Percentage of the winding in the final temperature

C01195

Therm. time constant plates

C00128/2

k2

Percentage of the steel plates in the final temperature

100 % - C01195

Executing the calculation with only one time constant

With the setting C01195 = "0 %" the time constant for the winding is not considered and
the thermal model is only calculated with the time constant set for the housing/steel
plates.
r The setting C01195 = "0 %" is e.g. sensible if not both time constants are known.
r The calculation simplified due to this setting corresponds to the calculation in the
previous Lenze devices (e.g. servo inverter 9300 or ECS).

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Motor interface
Parameter setting | Motor monitoring (Ixt)

Speed-dependent evaluation of the motor current

By selecting a characteristic in C01196/1...8 the permissible motor current is evaluated
depending on speed for calculating the thermal motor utilisation.
Parameters

Characteristic point

C01196/1

n1/nn

C01196/2

I1/In

C01196/3

n2/nn

C01196/4

I2/In

C01196/5

n3/nn

C01196/6

I3/In

C01196/7

n4/nn

C01196/8

I4/In

Speed = "0" (standstill)

Permissible motor current at standstill
Speed from which the torque must be reduced with self-ventilated motors.
Below this speed the cooling air flow of the integral fan is not sufficient
anymore.
Permissible motor current at speed n2 (torque reduction)
Rated speed
Permissible motor current at rated speed
Speed above the rated speed (in the field weakening in case of asynchronous
motors)
Permissible motor current at speed n4 (field weakening)

r The speed-dependent evaluation can be more or less switched off by setting C01196/
1...8 to "100 %" each. The calculation simplified due to this setting corresponds to the
calculation in previous devices (e.g. servo inverter 9300 or ECS).

Note!
Self-ventilated standard motors are protected insufficiently by setting C01196/
1...8 to "100 %" each at low speeds.
Servo motors, however, do not have a point from which the torque must be
reduced due to a too low speed.
When setting the characteristic in C01196/1...8 this point must not be
ignored. Hence, point 2 is to be set ideally to point 1 or point 3.

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Parameter setting | Motor monitoring (Ixt)

5.4.1.1

Example for entry of the characteristic for asynchronous servo motor

Motor type: MDFMARS 090-32
Data from the catalog:
r Rated speed nN: 1410 rpm  Setting in C00087
r Rated current I: 6.1 A  Setting in C00088
r Rated torque MN: 10.2 Nm
r Characteristic of maximum torques (50 Hz, star connection):
M
10.2
6.1
4.5
0
0

600

1410

3000

[5-12] Torque/speed characteristic for motor type MDFMARS 090-32 from catalog

Note!
Currently relative current values are still expected for the specification of the
grid points in subcodes 2, 4, 6, 8 of C01196. This example, however, already uses
relative torque values the entry of which shall be possible at a later date.

Parameters

Setting

Information

C00128/1

1.0 min

Thermal time constant - winding

Is unknown and is therefore deactivated by setting C01195 = "0 %".

C00128/2

5.0 min

Thermal time constant - steel plates/housing

C01195

0%

Percentage of the winding in the final temperature.

C01196/1

0%

Speed = "0" (standstill)

C01196/2

60 %

= 6.1 Nm / 10.2 Nm * 100 %

Forced ventilated:

100 %

= 10.2 Nm / 10.2 Nm * 100 %

C01196/3

Permissible motor torque at standstill

Self-ventilated:

Speed n2, from which the torque must be reduced with self-ventilated motors.

Self-ventilated:

43 %

= 600 rpm / 1410 rpm * 100 %

Forced ventilated:

0%

No torque reduction required.

C01196/4

100 %

Permissible motor torque at speed n2 (torque reduction)

C01196/5

100 %

Rated speed ( 1410 rpm)

C01196/6

100 %

Permissible motor torque at rated speed ( 10.2 Nm)

C01196/7

213 %

Speed above the rated speed (in the field weakening in case of asynchronous
motors)
= 3000 rpm / 1410 rpm * 100 %

C01196/8

44 %

Permissible motor torque at speed n4 (field weakening)

= 4.5 Nm / 10.2 Nm * 100 %

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Parameter setting | Motor monitoring (Ixt)
5.4.1.2

Example for entry of the characteristic for synchronous servo motor

Motor type: MCS 06C60
Data from the catalog:
r Rated speed nN: 6000 rpm  Setting in C00087
r Rated current I: 2.4 A  Setting in C00088
r Rated torque MN: 0.5 Nm (in S1 operation: 0.55 Nm)
r Characteristic - maximum torque:
M
1.5
1.0
0.5
0
0

1000

2000

3000

4000

5000

6000

7000

[5-13] Torque/speed characteristic for motor type MCS 06C60 from the catalog

Note!
Currently relative current values are still expected for the specification of the
grid points in subcodes 2, 4, 6, 8 of C01196. This example, however, already uses
relative torque values the entry of which shall be possible at a later date.

102

Parameters

Setting

Information

C00128/1

1.0 min

Thermal time constant - winding

C00128/2

14.2 min

Thermal time constant - steel plates/housing

C01195

27 %

Percentage of the winding in the final temperature.

(Only the steel plate percentage is known.)

C01196/1

0%

Speed = "0" (standstill)

C01196/2

160 %

C01196/3

0%

C01196/4

160 %

Permissible motor torque at speed n2 (torque reduction)

C01196/5

100 %

Rated speed ( 6000 rpm)

C01196/6

100 %

Permissible motor torque at rated speed ( 0.5 Nm)

C01196/7

100 %

Speed above rated speed

C01196/8

100 %

Permissible motor torque at speed n4 (field weakening)

Permissible motor torque at standstill

= 0.8 Nm / 0.5 Nm * 100 %
Speed n2, from which the torque must be reduced with self-ventilated
motors.

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9400 HighLine | Parameter setting & configuration

Motor interface
Parameter setting | Special characteristic for motor temperature sensor
5.4.2

Special characteristic for motor temperature sensor

If required you can select and activate a special characteristic for the motor temperature
sensor.
r The special characteristic is selected with two grid points which are to be set in C01191
and C01192. Both grid points define a line which is extrapolated to the right and to the
left.
r The special characteristic is activated by setting C01190 = "1".
r In the Lenze setting the special characteristic is defined as follows:
r Grid pointn
C01191/1 = 25C
C01192/1 = 1000

2225

1000

0
0

25

150

r Grid pointo
C01191/2 = 150C
C01192/2 = 2225

[5-14] Lenze setting of the special characteristic

Note!
By selecting a motor from the motor catalog the parameters C01190, C01191
and C01192 are overwritten!

5.4.3

Motor temperature monitoring

If the winding temperature detected by the motor temperature sensor exceeds the limit
value set in C00121, the reaction set in C00584 is activated as advance warning.
r In the Lenze setting the reaction "Warning" occurs if the winding temperature exceeds
120 C.
r As soon as the fixed limit value of 150 C is exceeded, the reaction set in C00583 is
activated (default setting: "Fault").
r If an open circuit is detected in the motor temperature sensor, the reaction set in
C00594 (default setting: "Fault") is activated.

Note!
By setting C00583 = "0" the monitoring response and the temperature
correction is switched off within the motor control (identification and
parameter correction)
This setting is e.g. sensible if no realisable winding temperature signal is
available.

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Motor interface
System block "LS_MotorInterface"
5.5

System block "LS_MotorInterface"

The system block LS_MotorInterface displays the interface to the driving machine in the
function block editor, which consists of phase controller, speed controller and motor
control.
r The interface contains all control functions which are not made available via other
basic drive functions.
r All input and output signals directly refer to the motor.
LS_MotorInterface
MI_dwControlMode

MI_dnPosCtrlAdaptLoad_n

MI_bMotorOrientationInverse

MI_bReserved
MI_dnPosCtrlAdaptMotor_n

MI_dwReferenceSpeed

MI_dnSpeedCtrlAdapt_n

MI_dwReferenceTorque

MI_bResetSpeedCtrlIntegrator

MI_bLimitationActive

MI_dnTorqueHighLimit_n

MI_bPosCtrlLimited

MI_dnTorqueLowLimit_n

MI_bSpeedSetpointLimited
MI_dnSpeedSetpoint_n

MI_dnReserved

MI_dnSpeedSetpoint_s

MI_dnFluxSetpoint_n

MI_bSpeedFollowingError
MI_bSpeedCtrlLimited
MI_bTorqueSetpointLimited

MI_dnTorqueSetpoint_n
MI_dnFilteredTorqueSetpoint_n
MI_bCurrentSetpointLimited
MI_bMotorOverloadWarning
MI_bSpeedBelowThresholdC19
MI_dnActualMotorCurrent_n
MI_dnActualMotorVoltage_n
MI_dnActualMotorTorque_n
MI_dnActualMotorSpeed_n
MI_dnActualMotorSpeed_s
MI_dnActualMotorPos_p
MI_dnActualDCBusVoltage_n
MI_dnThermalLoadDevice_n
MI_dnThermalLoadMotor_n

Inputs
Input

Information/possible settings
DIS code | Data type

MI_dnPosCtrlAdaptLoad_n
C02568/1 | DINT

MI_bReserved

Dynamic change of the proportional gain Vp of the position controller

Signal flow - position follower (C 184)
Reserved input for future extensions

BOOL

MI_dnPosCtrlAdaptMotor_n Dynamic change of the proportional gain Vp of the phase controller

C02568/2 | DINT
Signal flow - position follower (C 184)
MI_dnSpeedCtrlAdapt_n
C02568/3 | DINT

104

Dynamic change of the proportional gain Vp of the speed controller

Signal flow - speed follower (C 191)
Signal flow - torque follower (C 196)

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9400 HighLine | Parameter setting & configuration

Motor interface
System block "LS_MotorInterface"

Input

Information/possible settings
DIS code | Data type

MI_bResetSpeedCtrlIntegrator
C02569/2 | BOOL

MI_dnTorqueHighLimit_n
C02568/4 | DINT

MI_dnTorqueLowLimit_n

C02568/5 | DINT

MI_dnReserved

Reset integral action component in the speed controller

Signal flow - speed follower (C 191)
TRUE Integral action component is reset to "0".
Upper/lower bipolar limit value for correcting variable of the speed controller and
total torque setpoint
Via these both inputs you can select an external torque limitation.
If the motor torque reaches the selected limits, the drive can no longer follow
the speed setpoint!
If the torque limitation is active, the output MI_bTorqueSetpointLimited is set to
TRUE.
100 % C00057/2
When both values overlap, the upper limit value has priority.
The motor mounting position (C02527) defines the assignment to the limitation
inputs of the motor control.
The internally effective torque limit values are displayed in C02559/1...2.
Signal flow - motor interface (C 95)
Reserved input for future extensions

DINT

MI_dnFluxSetpoint_n

Setpoint for the field controller

C02568/7 | DINT

Outputs
Output

Value/meaning
DIS code | Data type

MI_dwControlMode
DWORD

Active control structure of the motor control

Displayed value is bit-coded:
Bit 1 Position control without feedback, external following error
calculation
Bit 2 Position control with encoder on the motor side
Bit 3 Position control with encoder on the load side
Bit 4 Speed control
Bit 5 Torque control

MI_bMotorOrientationInverse
BOOL

Parameterised motor mounting position

FALSE Motor mounting position in the same direction, setpoints are not
defined.
TRUE Motor mounting position in the opposite direction, setpoints are
reversed.

MI_dwReferenceSpeed

Parameterised motor reference speed (C00011) in [rpm]

DWORD

MI_dwReferenceTorque
DWORD

MI_bLimitationActive
C02569/3 | BOOL

Reachable motor torque with Imax_device (C00022) in [mNm]

1000 mNm 1 Nm
Display in C00782 in [Nm]
Status signal "Internal limitation active"
Group signal for all limitation messages.
TRUE One of the internal limitations is active.

MI_bPosCtrlLimited
C02569/4 | BOOL

Status signal "Phase/position controller in the limitation"

Signal flow - position follower (C 184)
TRUE The limitation of the phase and/or position controller is active.

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Motor interface
System block "LS_MotorInterface"

Output

Value/meaning
DIS code | Data type

MI_bSpeedSetPointLimited
C02569/5 | BOOL

Status signal "Resulting speed setpoint in the limitation"

Signal flow - position follower (C 184)
Signal flow - speed follower (C 191)
TRUE The resulting speed setpoint is limited to the limit values
parameterised in C00909/1 and C00909/2.

MI_dnSpeedSetpoint_n
DINT

MI_dnSpeedSetpoint_s
DINT

MI_bSpeedFollowingError
C02569/10 | BOOL

Current speed setpoint from position control and speed feedforward control or
direct setpoint selection in [%]
After limitation by the upper speed limit value (C00909/1) and lower speed limit
value (C00909/2).
100 % Motor reference speed (C00011)
Signal flow - position follower (C 184)
Signal flow - speed follower (C 191)
Current speed setpoint from position control and speed feedforward control or
direct setpoint selection in [rpm]
After limitation by the upper speed limit value (C00909/1) and lower speed limit
value (C00909/2).
Status signal "Impermissible speed control deviation"
Signal flow - speed follower (C 191)
TRUE Speed control deviation is higher than the window set in C00576.

MI_bSpeedCtrlLimited
C02569/6 | BOOL

Status signal "Speed controller in the limitation"

Signal flow - speed follower (C 191)
Signal flow - position follower (C 184)
TRUE The speed controller limitation is active.

MI_bTorqueSetpointLimited
C02569/7 | BOOL

Status signal "Total torque setpoint in the limitation"

Signal flow - motor interface (C 95)
TRUE The total torque setpoint is limited.

MI_dnTorqueSetpoint_n
DINT

MI_dnFilteredTorqueSetpoint_n
DINT

Current torque setpoint from speed control and torque feedforward control or direct
setpoint selection
After limitation by MI_dnTorqueLimit_n.
100 % C00057/2
Signal flow - motor interface (C 95)
Filtered torque setpoint (after jerk limitation and band-stop filter)
100 % C00057/2
Signal flow - motor interface (C 95)

MI_bCurrentSetpointLimited Status signal "Setpoint for current controller in the limitation"

C02569/8 | BOOL
Signal flow - motor interface (C 95)
TRUE The setpoint for the current controller is limited to Imax_device
(C00022).
MI_bMotorOverloadWarning
C02569/11 | BOOL

Status signal "Motor overload"

Group signal for warning signals from temperature monitoring (KTY, PTC,
thermal switch) or I2xt monitoring.
TRUE One of the monitoring modes for motor overload protection is
active.

MI_bSpeedBelowThresholdC19
C02569/9 | BOOL

MI_dnActualMotorCurrent_n
DINT

MI_dnActualMotorVoltage_n
DINT

106

Status signal "Standstill reached"

TRUE The current speed is below the threshold set in C00019.
Current motor current
100 % Imax_device (C00789)
Display in C00780 in [A]
Current motor voltage
100 % 1000 V
Display in C00783 in [V]

Firmware 1.37 - 09/2006

Signal flow - motor interface (C 95)

Signal flow - motor interface (C 95)

9400 HighLine | Parameter setting & configuration

Motor interface
System block "LS_MotorInterface"

Output

Value/meaning
DIS code | Data type

MI_dnActualMotorTorque_n Current motor torque

DINT 100 % C00057/2
Display in C00774 in [Nm]
MI_dnActualMotorSpeed_n
DINT

MI_dnActualMotorSpeed_s
DINT

MI_dnActualMotorPos_p
DINT

MI_dnActualDCBusVoltage_n
DINT

Signal flow - motor interface (C 95)

Current speed of the motor shaft in [%]

100 % Motor reference speed (C00011)
Signal flow - encoder evaluation (C 109)
Current speed of the motor shaft in [rpm]
Display under C00772

Signal flow - encoder evaluation (C 109)

Current position of the motor shaft in [increments]

Display under C00770
Signal flow - encoder evaluation (C 109)
Actual DC-bus voltage
100 % 1000 V

Signal flow - motor interface (C 95)

MI_dnThermalLoadDevice_n Thermal device utilisation in [%]

DINT Current result of the Ixt calculation.
MI_dnThermalLoadMotor_n
DINT

Thermal motor utilisation in [%]

Current result of the I2xt calculation.

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Encoder evaluation

Encoder evaluation
This chapter informs how to use feedback systems for the motor control.

Note!
The encoder position is stored safe against mains failure in the memory module
and is therefore known to the drive control even after the mains has been
switched.
The position resolution of higher-level applications follow the resolution of the
encoder which will be activated for the position control.
Behaviour of the home position after mains switching
If the home position/information is to be available after mains switching as well,
the setting C02652 = "1: Keep" is required.
One further condition for keeping the home position/information after
mains switching is the compliance with the maximally permissible angle of
rotation of the encoder which can be set in C02653.
When resolvers or single-turn absolute value encoders are used and the
mains is switched off (24-V supply off), the drive may only be moved by
motor revolution since otherwise the home position will get lost due to the
ambiguity of the encoder information.

Danger!
When using the encoder/resolver as motor encoder:
In case of an error as safe motor operation cannot be ensured anymore. Thus, the
"Fault" response (Lenze setting) should be set permanently for the (open circuit)
monitoring of the encoder/resolver!
C00580: Response to open circuit of encoder
C00586: Response to open circuit of resolver
C00601: Response to communication error of encoder

See also:

108

Parameterise motor encoder (C 70)

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Encoder evaluation
Signal flow

6.1

Signal flow
FDB_dnPosOffset_p
FDB_dnActPosIn_p

C02527
0

C02570
1
1

FDB_dnActualPos_p

C00490
C02529
C00771

Signals for setpoint follower

10

(1)

Actual position value

(2)

Motor position

(3)

Motor speed

<4
1

C00770
C00051
C00772

C00497
Position evaluation
Position encoder

MI_dnActualMotorPos_p

Position evaluation
Motor encoder

MI_dnActualMotorSpeed_n
MI_dnActualMotorSpeed_s

C02527
0

C02570
1
1

C00490
C02529

FDB_dnActualSpeed_s
2

10

C00596

<4
1

C00490
Position
encoder

10

Encoder interface

C00495
Motor
encoder

Encoder module
in MXI2

Encoder module
in MXI1

Encoder X8

Resolver X7

MI_... = output signals of the motor interface.

[6-1]

C00579

FDB_bResolverError
FDB_bSinCosSignalError
FDB_bEncoderComError

System block "LS_MotorInterface" (C 104)

Signal flow - encoder evaluation

Internal variables of the motor control (oscilloscope signals)

r The red numbers specified in the signal flow represent internal variables of the motor
control, which can be recorded with the Oscilloscope for diagnostic and documentation
purposes. (C 416)
No.

See also:

Variable or the motor control

Meaning

(1)

Position.dnActualLoadPos

Actual position

(2)

Position.dnActualMotorPos

Current motor position

(3)

Speed.dnActualMotorSpeed

Current motor speed

Signal flow - motor interface (C 95)

Signal flow - speed follower (C 191)
Signal flow - torque follower (C 196)
Signal flow - position follower (C 184)

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Encoder evaluation
Parameter setting
6.2

Parameter setting
Short overview of parameters for the encoder evaluation:
Parameter

Information

Lenze setting

C00058/1

Rotor displ. angle of resolver

-90.0

C00058/2

Rotor displ. angle of encoder

0.0

C00058/3

Rotor displ. angle of module

0.0

C00080

Resolver pole pair number

C00420

Encoder PPR

C00421

Encoder voltage

C00422

Encoder type

C00490

Position encoder

C00495

Motor encoder

C00497

Speed act. val. time const.

C00579

Resp. to speed monitoring

C00580

Resp. to encoder open circuit

Fault

C00586

Resp. to resolver open circuit

Fault

C00601

Resp. to encoder error

Fault

C02527

Motor mounting direction

C02529

Mounting direction of position encoder

C02570

Controller configuration

C02572

Speed setpoint

- Unit/s

C02573

Position setpoint

- Unit

C02574

Actual speed

- Unit/s

C02575

Actual position

- Unit

C02576

Following error

- Unit

C02577

External actual position

- Unit

C02578

Offset - actual position value/position setpoint

- Unit

Value Unit

1
512
5.0 V
Incremental encoder (TTL signal)
Motor encoder
Resolver X7
0.4 ms
Off

Motor rotating clockwise

Motor rotating counter-clockwise
Phase control

Highlighted in grey = display parameter

See also:

110

Parameterise motor encoder (C 70)

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9400 HighLine | Parameter setting & configuration

Encoder evaluation
Parameter setting

6.2.1

Controller configuration
The device interfaces for the encoder on the motor side and, if available, on the load side
are directly assigned to the corresponding control according to the controller
configurations selected (C02570):
Phase control (Lenze setting)

Position control

Cycle time: 250 s

Application-dependent

Dead time: Smaller dead time in the actual value channel

Same dead time for position setpoint and actual

position

r If only an encoder on the motor side is available, this "motor encoder" provides the
actual value signals for the phase/position control and the speed control.
The motor encoder on the motor side supports the secondary servo control
irrespective of the use for position and speed control (commutation).
r If an additional encoder is available on the motor side, this "position encoder"
exclusively supports the position control, and the controller configuration (C02570)
must be set to position control so that the load encoder will be evaluated.
The starting position of the position encoder can be set via the basic function
"Homing".

Note!
When the basic function "Quick stop" is activated, the controller configuration is
internally changed over to phase control independent of the setting in C02570.
If the basic function "Quick stop" is to be used, the gain of the phase controller
(C00254) must also be set correctly for the "Position control" controller
configuration.
In case of the technology application for the network via the "Electrical shaft" the
controller configuration is preset to position control.

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Encoder evaluation
Parameter setting
6.2.2

System with motor encoder

No encoder is installed on the load side. The motor position (angle of rotation) and motor
speed are detected via the motor encoder selected inC00495 and converted with regard to
the load side.

n Motor encoder
[6-2]

Schematic diagram - feedback with position encoder = motor encoder

The actual position and speed values on the machine side result from the conversion via
the gearbox factor on the motor side (C02520/C02521) and the feed constant (C02524).
See also:

112

Gearbox ratio (C 37)

Feed constant (C 42)

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Encoder evaluation
Parameter setting

6.2.3

System with motor encoder and position encoder

The optional position encoder is used as feedback for the position control and transmits
the position of slide or drive roll to the controller.

n Motor encoder
oPosition encoder
p Gearbox ratio for position encoder
[6-3]

Schematic diagram - feedback with separate position encoder

In this case, the actual position and speed values on the machine side result from
converting the position encoder position via the resulting gearbox factor (ratio of motor
speed to position encoder speed; display in C02531/3) and the feed constant (C02524).

M How to activate the use of a separate position encoder:

On the Application parameter
tab in the dialog level Overview  Drive interface  Machine parameter:
1. Select the "position control" in the Controller configuration list field (C02570) in
order that the position encoder will be evaluated.
2. Select the position encoder available in the Position encoder list field (C00490).
3. Select the gearbox ratio of the position encoder (ratio of load speed to encoder
speed) as a quotient (numerator/denominator) which results from the resulting
teeth number:
Enter numerator in the input field Gearbox fact. numer. load (C02522).
Enter denominator in the input field Gearbox fact. denom. load (C02523) .
4. If required, adapt the position encoder mounting direction via the list field Position
encoder mounting direction (C02529). The position encoder mounting direction is
preset to "Encoder rotating CW".

O Tip!
The resulting gearbox factor for the position encoder is displayed in C02531/2.
See also:

Feed constant (C 42)

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Encoder evaluation
Parameter setting
6.2.4

Use external position encoder.

The FDB_dnActPosIn_p input of the system block LS_Feedback serves to evaluate an
external encoder (CAN, SSI, Profibus).
r Via this input an actual position of an external encoder in [increments] can be directly
given to the encoder evaluation.

M How to activate the use of the external actual position:

On the Application parameter
tab in the dialog level Overview  Drive interface  Machine parameter:
1. Select the "position control" in the Controller configuration list field (C02570) in
order that the position encoder will be evaluated.
2. Set "From application" in the list field Position encoder (C00490).

Note!
Encoder inversion and offset selection FDB_dnPositionOffset_p also affect the
external actual position.
If the use of the external actual position preset via FDB_dnActPosIn_p is
activated, a, the "Home position known" status
(HM_bHomePosAvailable = TRUE) is automatically set and homing with the
basic function "Homing" cannot be activated anymore.
When the traversing range (C02528) is set to "Modulo", the external actual
position value must also be set to modulo (0 cycle-1).

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Encoder evaluation
System block "LS_Feedback"

6.3

System block "LS_Feedback"

The system block LS_Feedback displays the encoder evaluation in the function block editor
d.
LS_Feedback
FDB_dnActualPos_p

FDB_dnPosOffset_p

FDB_dnActualSpeed_s

FDB_dnActPosIn_p

FDB_dnPosFollowingError_p
FDB_dnSetPos_p
FDB_dnSetSpeed_s

FDB_bResolverError
FDB_bSinCosSignalError
FDB_bEncoderComError

Inputs
Input

Information/possible settings
Data type

FDB_dnPosOffset_p

Offset for position setpoint and actual position value in [increments]

DINT

FDB_dnActPosIn_p
DINT

External actual position value in [increments]

For defining an external actual position value with corresponding position
control.
Use external position encoder. (C 114)

Outputs
Output

Value/meaning
DIS code | Data type

FDB_dnActualPos_p

Current position of the load encoder in [increments]

DINT

FDB_dnActualSpeed_s

Current speed of the position encoder in [rpm]

DINT

FDB_dnPosFollowingError_p Current following error in [increments]

DINT

FDB_dnSetPos_p
DINT

Set position calculated by active basic drive function in [increments]

Considering the motor mounting position.

DINT

Setpoint speed calculated by active basic drive function in [rpm]

Considering the motor mounting position.

FDB_dnSetSpeed_s
FDB_bResolverError
C02579/1 | BOOL

FDB_bSinCosSignalError
C02579/2 | BOOL

FDB_bEncoderComError
C02579/3 | BOOL

Status signal "Resolver error"

TRUE A resolver error (e.g. open circuit) has occurred.
Status signal "sin/cos encoder error"
TRUE A sin/cos encoder error has occurred.
Status signal "Encoder communication error"
TRUE An encoder communication error has occurred.

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I/O terminals
Overview

I/O terminals
This chapter informs about possible parameter settings and configurations of the
controller input and output terminals.

O Tip!
Information on wiring the terminals can be found in the Mounting Instructions of
the controller!

Overview

X3

X4

X5

116

A2- A2+ A1R A1- A1- A1+ AO2 AO1 GA

X2

SB 24E GE

Terminal assignment

DO4 DO3 DO2 DO1 24O GO

Front view

DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI

7.1

Information
Monitoring function "State bus" (C 127)

Analog inputs (C 117)

Analog outputs (C 120)

Digital outputs (C 125)

Digital inputs (C 123)

Touch probe detection (C 129)

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9400 HighLine | Parameter setting & configuration

I/O terminals
Analog inputs

7.2

Analog inputs
The controller has 2 analog inputs that can be used to detect differential voltage signals in
the range of 10 V, e.g. analog speed setpoint selections or the voltage signals of an
external sensor (temperature, pressure, etc.).
r Optionally, analog input 1 can also be used to detect current setpoints.
Terminal assignment/electrical data

X3

Terminal

Use

X3/A1X3/A1+

Differential voltage input 1

(no bridge between A1R and A1)

A2- A2+ A1R A1- A1- A1+

7.2.1

Electrical data
Level: -10 V ... +10 V
Resolution: 11 bits + sign
Normalisation: When C00034 = "0":
10 V 230
Conversion rate: 1 kHz

Current input
(bridge between A1R and A1)

Level: -20 mA ... +20 mA

Resolution: 10 bits + sign
Normalisation: When C00034 = "1":
-20 mA ... -4 mA = -230 ... 0
+4 mA ... +20 mA = 0 ... 230
When C00034 = "2":
20 mA 230
Conversion rate: 1 kHz

X3/A2X3/A2+

Differential voltage input 2

Level: -10 V ... +10 V

Resolution: 11 bits + sign
Normalisation: 10 V 230
Conversion rate: 1 kHz

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I/O terminals
Analog inputs
7.2.2

Parameter setting
Short overview of parameters for the analog inputs:
Parameter

Information

C00034

Config. analog input 1

C00598

Resp. to open circuit AIN1

C02730/1

AIN1: Gain

C02730/2

AIN2: Gain

C02731/1

AIN1: Offset

C02731/2

AIN2: Offset

C02732/1

AIN1: Dead band

C02732/2

AIN2: Dead band

C02800/1

AIN1: Input signal (-16384 -100 %, 16383 100 %)

C02800/2

AIN2: Input signal (-16384 -100 %, 16383 100 %)

Highlighted in grey = display parameter

7.2.3

Reconfiguring analog input 1 as a current input

Proceed as follows to reconfigure analog input 1 as a current input:
1. Bridge terminals A1R and A1 on terminal strip X3 by means of wiring.
2. Select the corresponding current loop under C00034.

O Tip!
In this way, you can implement a 4 ...20 mA current loop, e.g. for speed setpoint
selection.

Open-circuit monitoring
Under
C00598, you can select an error response to an open circuit for the 4 ...20 mA current loop.

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I/O terminals
Analog inputs

7.2.4

System block "LS_AnalogInput"

The system block LS_AnalogInput displays the analog inputs in the function block editor.

C02800/1
C02731/1

C02730/1

C02732/1

AIN1_dnIn_n

250

A2- A2+ A1R A1- A1- A1+

LS_AnalogInput
X3

C02731/2

C02730/2

AIN2_dnIn_n

C02800/2

Output

C02732/2

AIN1_bCurrentError

Value/meaning
Data type

AIN1_dnIn_n
DINT

AIN2_dnIn_n
DINT

AIN1_bCurrentError
BOOL

Analog input 1
Scaling:
230 10 V for use as voltage input
230 20 mA for use as current input
Analog input 2
Scaling: 230 10 V
Status signal "Current input error"
Only when analog input 1 is used as current input.
Application: Cable-breakage monitoring of the 4 ...20 mA circuit.
TRUE |IAIN1| < 2 mA

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I/O terminals
Analog outputs
7.3

Analog outputs
The controller has 2 analog outputs that can be used to output internal analog signals as
voltage signals, e.g. for analog indicator control or as setpoint for slave drives.

Note!
Initialisation behaviour:
After mains switching up to the start of the application the analog outputs
remain set to 0 V.
Exception handling:
In case of a critical exception in the application (e.g. reset) the analog outputs
are set to 0 V.

Terminal assignment/electrical data

X3

Terminal

Use

X3/AO1

Voltage output 1

AO2 AO1 GA

7.3.1

Electrical data
Level: -10 V ... +10 V
(max. 2 mA)
Resolution: 11 bits + sign
Normalisation: 230 10 V
Conversion rate: 1 kHz

X3/AO2

Voltage output 2

Level: -10 V ... +10 V

(max. 2 mA)
Resolution: 11 bits + sign
Normalisation: 230 10 V
Conversion rate: 1 kHz

X3/GA

120

Reference potential (analog ground)

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I/O terminals
Analog outputs

7.3.2

Parameter setting
Short overview of parameters for the analog outputs:
Parameter

Information

C02733/1

AOUT1: Gain

C02733/2

AOUT2: Gain

C02734/1

AOUT1: Offset

C02734/2

AOUT2: Offset

C02801/1

AOUT1: output signal

C02801/2

AOUT2: output signal

Highlighted in grey = display parameter

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I/O terminals
Analog outputs
7.3.3

System block "LS_AnalogOutput"

The system block LS_AnalogOutput displays the interface to the analog outputs in the
function block editor.

C02801/1

C02801/2

AOUT1_dnOut_n
AOUT2_dnOut_n

Input

X3

AO2 AO1 GA

LS_AnalogOutput

Information/possible settings
Data type

AOUT1_dnOut_n
DINT

Analog output 1
Scaling: 230 10 V

DINT

Analog output 2
Scaling: 230 10 V

AOUT2_dnOut_n

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Digital inputs

7.4

Digital inputs
The controller has 8 freely configurable digital inputs.
r All digital inputs can be used for touch probe.

Touch probe detection (C 129)

r Control input RFR of terminal strip X5 for controller enable is connected to the device
control.
Terminal assignment/electrical data

X5

Terminal

Use

X5/DI1

Digital inputs 1 ... 8

DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI

7.4.1

Electrical data
LOW level: 0 ... +5 V
HIGH level: +15 ... +30 V

X5/DI8

Input current: 8 mA per input

(at 24 V)
Electric strength of max. 30 V
external voltage:
Conversion rate: 1 kHz

7.4.2

X5/RFR

Controller enable

See digital inputs

X5/GI

Reference potential (digital ground)

Parameter setting
Short overview of parameters for the digital inputs:
Parameter

Information

C00114

DIx terminal polarity

C00443

DIx status

C02803

Status word dig. inputs

C02830

DIx delay time

Highlighted in grey = display parameter

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I/O terminals
Digital inputs
7.4.3

System block "LS_DigitalInput"

The system block LS_DigitalInput displays the digital inputs and the status of the state bus
in the function block editor.

SB 24E GE

DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI

LS_DigitalInput
X5

DriveInterface
DIGIN_bCInh

DIGIN_bIn1
DIGIN_bIn2
DIGIN_bIn3

C00114/1...8

DIGIN_bIn4

DIGIN_bIn5

DIGIN_bIn6

C00443/1...8

DIGIN_bIn7
DIGIN_bIn8

X2

Output

CONTROL
DIGIN_bStateBusIn

Value/meaning
DIS code | data type

DIGIN_bCInh
C00443/9 | BOOL

Status signal "Controller inhibit"

An inverter is used to connect control input RFR (X5/pin 9) for the setting/reset of
controller inhibit to the device control (DCTRL).
TRUE Controller inhibit active

DIGIN_bIn1
...
DIGIN_bIn8

Digital inputs 1 ... 8

C00443/1 | BOOL

C00443/8 | BOOL

DIGIN_bStateBusIn
C00443/12 | BOOL

State bus status

Monitoring function "State bus" (C 127)
TRUE A device connected to the state bus has set the state bus to LOW
level and the status "Error" has been set.
Status "Error" is also set if a device connected to the state bus is
not supplied with voltage.

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I/O terminals
Digital outputs

7.5

Digital outputs
The controller has 4 freely configurable digital outputs.

Note!
Initialisation behaviour:
After mains switching up to the start of the application the digital outputs
remain set to FALSE.
Exception handling:
In case of a critical exception in the application (e.g. reset) the digital outputs
are set to FALSE considering the terminal polarity parameterised in C00118.

Terminal assignment/electrical data

X4

Terminal

Use

X4/DO1
...
X4/DO4

Digital outputs 1 ... 4

DO4 DO3 DO2 DO1 24O GO

7.5.1

Electrical data
LOW level: 0 ... +5 V
HIGH level: +15 ... +30 V
Output current: max. 50 mA per output (external
resistance > 480 at 24 V)
Conversion rate: 1 kHz

7.5.2

X4/24O

External 24 V voltage supply for the digital outputs

X4/GO

Reference potential (digital ground)

Parameter setting
Short overview of parameters for the digital outputs:
Parameter

Information

C00118

DOx terminal polarity

C00444

DOx status

C02802

Status word dig. outputs

Highlighted in grey = display parameter

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I/O terminals
Digital outputs
7.5.3

System block "LS_DigitalOutput"

DIGOUT_bOut1

C00118/1...4

DIGOUT_bOut2
DIGOUT_bOut3
DIGOUT_bOut4

X4

C00444/1...4

X2
DIGOUT_bStateBusOut

SB 24E GE

LS_DigitalOutput

DO4 DO3 DO2 DO1 24O GO

The system block LS_DigitalOutput displays the interface to the digital outputs, the state
bus and the yellow user LED on the front of the controller in the function block editor.

CONTROL
DIGOUT_bUserLED

User LED

Input

Information/possible settings
DIS code | Data type

DIGOUT_bOut1
...
DIGOUT_bOut4

Digital outputs 1 ... 4

C00444/1 | BOOL

C00444/4 | BOOL

DIGOUT_bStateBusOut
C00444/18 | BOOL

Setting the state bus to the status "Error"

Monitoring function "State bus" (C 127)
TRUE The state bus is set to LOW level, all devices connected to the state
bus start their pre-programmed response.

DIGOUT_bUserLED
C00444/9 | BOOL

126

Control of yellow user LED on the front of the controller

TRUE LED on

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I/O terminals
Monitoring function "State bus"

7.6

Monitoring function "State bus"

X2

X2

SB 24E GE

SB 24E GE

SB 24E GE

The state bus has been exclusively designed for Lenze controllers. The bus system can
interconnect up to 20 controllers and can be used to simulate the function of a "rip cord":

X2

X2/SB = State bus In/Out (reference potential GE)

[7-1]

Schematic diagram: Networking via state bus

r The state bus only knows the states "OK" and "Error".
r The state bus is a bus with multi-master capability, i.e. each device connected to the
state bus can set the state bus to the status "Error" by setting it to LOW level.
r With "Error", all devices start their adjustable response, e.g. synchronised braking of
the drive system.
r Status "Error" is also set if a device connected to the state bus is not supplied with
voltage.

Note!
Exception handling:
In case of a critical exception in the application (e.g. reset) the "release cord"
is not released, the state bus remains in the "OK" state.

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I/O terminals
Monitoring function "State bus"
7.6.1

Detecting the current status

Use the output DIGIN_bStateBusIn of the system block LS_DigitalInput to display the
current state bus status. If an error occurs, the output DIGIN_bStateBusIn is set to TRUE.

SB 24E GE

LS_DigitalInput

7.6.2

X2

CONTROL
DIGIN_bStateBusIn

Setting the state bus to the status "Error"

If the input DIGOUT_bStateBusOut of the system block LS_DigitalOutput is set to TRUE, the
state bus is set to "Error" and all connected devices start their pre-programmed response.

X2

CONTROL
DIGOUT_bStateBusOut

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SB 24E GE

LS_DigitalOutput

9400 HighLine | Parameter setting & configuration

I/O terminals
Touch probe detection

7.7

Touch probe detection

A "touch probe" is a signal-controlled event that can, for instance, be activated via a digital
input to detect an actual value (that rapidly changes) at the latch time and process it in the
program.
Overview of the touch probe channels
12 touch probe signals which can be configured independently of each other are available
for touch probe detection:
Touch probe channel Activating event

System block

Signal change at digital input 1

LS_TouchProbe1...8 (C 132)

Signal change at digital input 2

Signal change at digital input 3

Signal change at digital input 4

Signal change at digital input 5

Signal change at digital input 6

Signal change at digital input 7

Signal change at digital input 8

Motor encoder zero pulse

LS_TouchProbeMotor (C 133)

10

Load encoder zero pulse

LS_TouchProbeLoad (C 133)

11

DFIN zero pulse

LS_TouchProbeDFIN

12

DFOUT zero pulse

LS_TouchProbeDFOUT

r Each touch probe channel is assigned to a system block which provides the application
with a scaled time stamp.
r The time stamp refers to the sampling time of the encoder signals and outputs the
difference compared to the touch probe event.
Touch-probe processing
In order to process the touch probe event the time stamp must be transferred to an entity
of the FB L_SdTouchProbe:
LS_TouchProbex
TPx_dnTouchProbeTimeLag

dnActPos_p

TPx_bTouchProbeReceived

dnTpTimeLag

TPx_bTouchProbeLost

bTpReceived

TPx_bNegativeEdge

[7-2]

L_SdTouchProbe

DI_AxisData

dnTpPos_p

TP

dnTpPosDiff_p

AxisData

Transfer of the FB L_SdTouchProbe

r The FB L_SdTouchProbe takes over the interpolation of the input signal based on the
time stamp and outputs the interpolated value and the difference compared with the
last input signal.

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I/O terminals
Touch probe detection
7.7.1

Actual value interpolation (principle)

If a touch probe is detected, the (residual) time to the following task cycle is determined
and a time stamp is created from it. Based on this time stamp the FB L_SdTouchProbe can
execute a linear interpolation between both actual position points. The result is the exact
actual position at the time of the physical touch probe event.
Task cycle
Data
processing

Application

Task cycle
Data
processing

Task cycle

Application

Data
processing

Application
t

Position

Touch probe received

p2

p1
t1

n Actual position point 1

o Actual position point 2
 Residual time (dnTouchProbeTimeLag)
[7-3]

130

Actual value determination through linear interpolation (principle)

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I/O terminals
Touch probe detection

7.7.2

Dead time compensation

For dead time compensation during the detection of the touch probe event, it is possible to
select a delay time (touch probe delay) in C02810 for each touch probe channel, which will
be considered in the touch probe calculation.
Task cycle
Data
processing

Task cycle
Data
processing

Application

Application

Task cycle
Data
processing

Application
t

Position

Touch probe received

Delay time

 Mechanical event: Switch is closed

 Electrical event: Closed switch contact is registered
Can, e.g. be delayed by flying times of the mechanical contact or filter.
 Value and position determination for the real (mechanical) event, the determined values are transferred to
the application
n Delay time (dead time) between mechanical and electrical event
This dead time can be compensated by a corresponding setting in C02810.
o Time considered by touch probe calculation
If more than one task cycle has passed, the history buffer finds the two actual position values between
which the physical event has occurred.
[7-4]

Dead time compensation (principle)

r Filtering of the digital inputs influences the electrical detection of the touch probe, i.e.
the DIx delay time set in C02830 for the digital inputs must be considered in the delay
time C02810.
r For the optional digital frequency input/output the delay times must be set via special
parameters:
C13021 or C14021: TP delay time - digital frequency input.
C13061 or C14061: TP delay time - digital frequency output.

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I/O terminals
Touch probe detection
7.7.3

System block "LS_TouchProbe1...8"

The system blocks LS_TouchProbe1 ... LS_TouchProbe8 display the touch probe channels
1 ... 8 which are assigned to the digital inputs DI1 ... DI8 in the function block editor.
LS_TouchProbex
TPx_bEnablePosEdge

TPx_dnTouchProbeTimeLag
TPx_bTouchProbeReceived

TPx_bEnableNegEdge

TP

TPx_bTouchProbeLost
TPx_bNegativeEdge

x = 1 ... 8
Input

Value/meaning
Data type

TPx_bEnablePosEdge
BOOL

Enable response to rising edge

Note:
If several positive edges occur within the basic cycle time (HighLine: 1 ms), only
the first positive edge initiates the touch probe event and no status signal "touch
probe(s) lost" are generated.
TRUE A touch probe event is activated by a positive edge at the digital
input DIx.

TPx_bEnableNegEdge
BOOL

Enable response to negative edge

Note:
If several negative edges occur within the basic cycle time (HighLine: 1 ms), only
the first negative edge initiates the touch probe event.
If a positive and negative edge occur within the basic cycle time (1 ms) and if the
response to both edges is enabled, only the positive edge initiates the touch
probe event.
In both cases no status signal "touch probe(s) lost" is generated.
TRUE A touch probe event is activated by a negative edge at the digital
input DIx.

Output

Value/meaning
Data type

TPx_dnTouchProbeTimeLag
DINT

TPx_bTouchProbeReceived
BOOL

Scaled time stamp for processing the touch probe event with the
FB L_SdTouchProbe.
1 ms 20 bits
Status signal "Touch probe detected"
Status is only set for one task cycle.
TRUE Touch probe event has been activated.

TPx_bTouchProbeLost
BOOL

Status signal "Touch probe(s) lost"

Status is only set for one task cycle.
TRUE More than one touch probe event has been released during the task
runtime. The output time stamp only refers to the first touch probe
event.

TPx_bNegativeEdge
BOOL

Status signal "Negative edge detected"

Status is only set for one task cycle.
TRUE A negative edge has been detected at the digital input DIx.

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Touch probe detection

7.7.4

System block "LS_TouchProbeMotor"

The system block LS_TouchProbeMotor displays the touch probe channel, which is
assigned to the motor encoder zero pulse, in the function block editor.
LS_TouchProbeMotor
TPM_dnTouchProbeTimeLag

TP
Output

TPM_bTouchProbeReceived
TPM_bTouchProbeLost

Value/meaning
Data type

TPM_dnTouchProbeTimeLag Scaled time stamp for processing the touch probe event with the
DINT FB L_SdTouchProbe.
TPM_bTouchProbeReceived
BOOL

Status signal "Touch probe detected"

Status is only set for one task cycle.
TRUE Touch probe event has been activated.

TPM_bTouchProbeLost
BOOL

Status signal "Touch probe(s) lost"

Status is only set for one task cycle.
TRUE More than one touch probe event has been activated in the task run
time and could therefore not be detected.

7.7.5

System block "LS_TouchProbeLoad"

The system block LS_TouchProbeLoad displays the touch probe channel, which is assigned
to the load encoder zero pulse, in the function block editor.
LS_TouchProbeLoad
TPL_dnTouchProbeTimeLag

TP
Output

TPL_bTouchProbeReceived
TPL_bTouchProbeLost

Value/meaning
Data type

TPL_dnTouchProbeTimeLag
DINT

Scaled time stamp for processing the touch probe event with the
FB L_SdTouchProbe.

BOOL

Status signal "Touch probe detected"

Status is only set for one task cycle.

BOOL

Status signal "Touch probe(s) lost"

Status is only set for one task cycle.

TPL_bTouchProbeReceived

TRUE Touch probe event has been activated.

TPL_bTouchProbeLost

TRUE More than one touch probe event has been activated in the task run
time and could therefore not be detected.

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I/O terminals
System bus "CAN on board"
7.8

System bus "CAN on board"

The controller has an integrated CANopen system bus interface for process and parameter
data exchange between different devices and the connection of additional modules such
as distributed terminals, keypads and input devices ("HMIs") and external controls.
r In the Engineer parameter list or in the keypad, category CAN, you can find the
parameters relevant for the CANopen system bus interface classified in different
subcategories.

Note!
For detailed information about the CANopen
system bus interface, please see the "System bus
(CANopen) - CAN on-board 9400" Communication
Manual.

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Safety engineering

Safety engineering
The 9400 HighLine controllers can be equipped with a safety module. The individual safety
module types have a different range of functions to optimally meet different
requirements.
"Integrated safety technology" stands for user-related safety functions that are applicable
to the protection of persons working with machines and the machine protection.
The motion functions are executed by the controller. The safety modules monitor the
reliable observation of limit values and provide safe inputs and outputs. When the limit
values are exceeded, the safety modules start control functions for the fault scenario
according to EN 60204-1 standard directly in the controller.
The safety functions are suitable for applications according to IEC 61508, SIL 3 and,
depending on the module, meet the requirements of EN 954, part 1, up to control
category 4.

Note!
For detailed information about the integrated safety technology, please see the
Controller Manual for the "9400 Servo Drives" and the Manual for the safety
module.

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Safety engineering
Integration into the application
8.1

Integration into the application

If a safety function is required, the safety engineering activates a corresponding safe
monitoring function. The standstill function, however, is only executed directly in case of
the function "Safe torque off" (STO). In case of the other safety functions an action of the
controller is required, which is safely monitored. The implementation of the corresponding
action (e.g. braking, braking to standstill, holding of the standstill position) must be carried
out by the application.
"LS_SafetyModule" system block
For the transmission of the control and status information from the safety module to the
application the LS_SafetyModule system block is provided in the function block editor of
the Engineers.
Basic function "Limiter"
Furthermore the LS_Limiter system block which contains the basic function Limiter" is
provided in the function block editor for the connection of safety engineering to the
application. (C 200)
The basic function "Limiter" provides a parameter setting surface in the Engineer for a
comfortable setting of limit positions, limited speeds and limit values and enables the
drive to braked selectively after request through the safety module.
General procedure
1. Activation of the safety function on the safety module (e. g. SS1 - safe stop 1).
 Monitoring starts.
2. The safety module informs the controller via a control word that the safety function
has been activated.
3. The application evaluates the control word and starts the required motion sequence
(e.g. braking).

8.2

Selecting the required safety module

The safety module expected by the application and the controller is selected in C00214.
r In the Engineer this setting is carried out automatically by assigning the device
module to the controller, i.e., the Engineer sets C00214 automatically according to
the safety module selected.
r If the safety module selected in C00214 does not correspond to the safety module type
connected, an error will be activated.

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Safety engineering
Control word of the safety module SM3xx

8.3

Control word of the safety module SM3xx

A safety function is requested via the control word transferred from the SM3xx safety
module to the basic device SM_dwControl.
r The corresponding actions (e.g. braking, braking to standstill, holding of the standstill
position) must be executed by the application, e.g. via the basic function "Limiter".
(C 200)

r The following table shows the bit coding of the control word SM_dwControl.
The bits that are supported depend on the safety module used.
Bit

Abbreviation

Meaning

STO

Safe torque off ("Safe Torque Off")

SS1

Safe stop 1 ("Safe Stop")

SS2

Safe stop 2

SLS1

Safely limited speed 1 ("Safely Limited Speed")

SLS2

Safely limited speed 2

SLS3

Safely limited speed 3

SLS4

Safely limited speed 4

SDIpos

Safe direction positive ("Safe Direction positive")

SDIneg

Safe direction negative ("Safe Direction negative")

ES

Enable switch ("Enable Switch")

10

SLI

Safely limited increment ("Safely Limited Increment")

11

OMS

Operating mode selector switch ("Operation Mode Selector")

12

SLP1

Safely limited position 1 ("Safely Limited Position")

13

SLP2

Safely-limited position 2

14

SLP3

Safely-limited position 3

15

SLP4

Safely-limited position 4

16

SOS

Safe operating stop ("Safe Operating Stop")

17

SLS1 observed

Safely limited speed 1 activated and complied with

18

SLS2 observed

Safely limited speed 2 activated and complied with

19

SLS3 observed

Safely limited speed 3 activated and complied with

20

SLS4 observed

Safely limited speed 4 activated and complied with

21

SDIpos observed

"Safe direction positive" activated and complied with

22

SDIneg observed

"Safe direction negative" activated and complied with

23

SSE

Safe stop emergency ("Safe Stop Emergency")

24

Reserved

Error

SM301 safety module reports and error

...
30
31
[8-1]

Bit coding of the control word sent by the safety module

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Safety engineering
Status information of the SM3xx safety module
8.4

Status information of the SM3xx safety module

In addition to the control word SM_dwControl the SM3xx safety module transfers the two
status words SM_wState and SM_wIoState to the basic device.
Status word SM_wState
r The following table shows the bit coding of the status word SM_dwState.
The bits that are supported depend on the safety module used.
Bit

Abbreviation

Meaning

STO

"safe torque off (STO)" function is active.

The drive is safely switched to torqueless operation.

Reserved

Reserved

EC_S0

Error stop category 0: "Ssafe torque off (STO)" function is active.

EC_S1

Error stop category 1: "Safe stop 1 (SS1)" function is active.

EC_S2

Error stop category 2: "Safe stop 2 (SS2)" function is active.

Internal use

Internal use

Reserved

...
15
[8-2]

Bit coding of the status word sent by the safety module

Status word SM_wIoState

r The following table shows the bit coding of the status word SM_wIoState.
The bits that are supported depend on the safety module used.
Bit

[8-3]

138

Abbreviation

Meaning

SD-In1

Sensor input 1 in ON state.

SD-In2

Sensor input 2 in ON state.

SD-In3

Sensor input 3 in ON state.

SD-In4

Sensor input 4 in ON state.

Reserved

AIS

Restart acknowledgement via terminal effected (negative edge: 10).

AIE

Error acknowledgement via terminal effected (negative edge: 10).

Reserved

PS_AIS

Restart acknowledgement via safety bus effected (positive edge: 01)

PS_AIE

Error acknowledgement via safety bus effected (positive edge: 01)

10

Reserved

11

Reserved

12

SD-Out1

Safe output 1 (feedback output) in the ON state.

13

Reserved

14

Reserved

15

Reserved

Bit coding of the I/O status word sent by the safety module

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Safety engineering
System block "LS_SafetyModule"

8.5

System block "LS_SafetyModule"

The LS_SafetyModule system block is used as interface to the (optional) safety module in
the function block editor.
LS_SafetyModule
SM_dwControl

Safety
module

SM

SM_wState
SM_wIoState
SM_bPowerStageEnable
SM_byModuleId

Outputs
Output

Value/meaning
Data type

SM_dwControl
DWORD

SM_wState

Control word of the safety module

Control word of the safety module SM3xx (C 137)

Word

Status word of the safety module

Status information of the SM3xx safety module (C 138)

Word

I/O status word of the safety module

Status information of the SM3xx safety module (C 138)

SM_wIoState
SM_bPowerStageEnable

Status signal "Inverter enable"

BOOL

SM_byModuleId

TRUE Inverter is enabled by the safety module.

ID of the safety module available in the controller

BYTE

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Basic drive functions
General information

Basic drive functions

This chapter describes the basic functions of the "Servo Drives 9400".

9.1

General information
Before the basic functions are described in detail, the following subchapter provides
general information on how to use the basic functions and the internal state machine
which controls the execution of the basic functions.

9.1.1

Conditions for the use of the basic functions

Parameter setting, configuring or programming?
The basic functions described in the following chapters can be executed depending on the
controller type and the available MotionControl license as follows:
r Parameter setting by means of Engineer or keypad
r Configuration in the function block editor of the Engineers
r Programming according to IEC 61131-3 in the PLC Designer1
Parameter setting
Each basic function can be parameterised and executed in the Engineer via a
corresponding dialog or alternatively via the keypad.
Configuration
The function block editor of the Engineers provides an own system block (SB) for each
basic function which is inserted into the application interconnection and linked with the
corresponding signals to implement the desired functions.

Note!
Ensure that the corresponding system block is called in a cyclic application task.
Basically projects which only contain an unsolicited task and no cyclic task, are
not permissible!

Programming
In the PLC Designer the basic functions are also available as separate system blocks
which can be inserted in the control configuration, if required, and be accessed from the
IEC 61131-3 program via the corresponding system variables.

140

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Basic drive functions

General information | Internal state machine

9.1.2

Internal state machine

The execution of the different basic functions is internally controlled by a state machine
which can adopt the following "function states":
DriveNotReady

Init

Drive has no torque

(no error).

Error

Drive does nothing,

basic functions are being
initialised.

Drive does nothing

due to an error.

ManualJog

Standstill

On operator input request,

the drive travels at
constant speed.

2
PositionFollower

Drive holds position.

Drive continuously follows

a position setpoint.

Homing

Stopping

Drive travels to home

target position.

SpeedFollower

Drive stops as defined.

Drive continuously follows

a speed setpoint.

Positioning

10

Quickstop

Drive executes
a positioning command.

TorqueFollower

Drive stops as defined

and holds the position.

Drive continuously follows

a torque setpoint.

Optional limitation
by basic Limiter function.

11

Optional additional braking

by basic Brake control
function.
x

[9-1]

= Priority

Function states of the state machine "Basic functions"

The state machine ensures that:

r one basic function at a time adopts the control of the drive.
r only the basic function with the highest priority (= smallest number) is executed if
several basic functions are activated at the same time. Priorities (C 145)
r the drive always has a defined state both in case of error and in normal operation.

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Basic drive functions
General information | Internal state machine

Note!
The basic functions "Limiter" and "Brake control" run autonomously, but are able
to control the state machine to a certain function state, if required.
The function states are not to be confused with the device states ("Operation",
"Fault active", "Device is switched on", etc.) of the controller. Device states
(C 45)

O Tip!
In C02530 the currently active function state is displayed.

9.1.2.1

"Initialisation" status
If the controller has completed the device initialisation, the function state "Initialisation" is
passed through.
r In the function state "Initialisation", the process data required for processing the basic
functions are initialised.
r The monitoring mode is not yet active.
r The basic functions are not yet processed (e.g. brake control) and cannot yet be
parameterised or activated either.
r When the basic functions are initialised and no error had occurred, it is automatically
changed to the basic state "Drive in standstill".

9.1.2.2

Status "Controller not ready"

In this function state the pulse inhibit is set in the controller, which means that the power
output stages are tristated and the drive cannot be controlled.

9.1.2.3

Status "drive in standstill"

This "basic state" is assumed if no other state is active.
r The setpoints for speed and acceleration are set to "0".
r The drive stands position-controlled.
r No error has occurred and quick stop is not active.
r Every basic function can be activated out of this state.

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General information | Internal state machine

9.1.2.4

Status "Drive is stopped"

This function state is automatically passed through when a basic function is deactivated.
r If the drive does is not yet in the standstill state, it is decelerated to standstill via a
parameterisable deceleration ramp.
r If a basic function is activated during the "stopping", this basic function takes over the
control of the drive from the current speed on and the function state "Drive is stopped"
is abandoned.
r If the drive is at standstill, it is automatically changed to the basic function "Drive in
standstill".

9.1.2.5

Status "Manual jog active"

In this function state the drive can be manually directed in CW or CCW rotation ("inching
mode"). Manual jog (C 156)
r If the controller knows the home position, the set software limit positions are
monitored and, if available, connected travel range limit switches.
r "Retracting" from an activated travel range limit switch is also possible.

9.1.2.6

Status "Homing active"

In this function state the home position and the machine measuring system for the drive
can be determined. Homing (C 164)
r The home position can be determined by an active homing or reference setting.
r A renewed determination of the home position is only required in case of
recommissioning or in case of service (e.g. when drive components are exchanged) or
after travel command have been executed which reset the reference.

9.1.2.7

Status "Positioning active"

In this function state all positioning types (absolute, relative, modulo, continuous, touch
probe etc.) can be executed. Positioning (C 176)
r In the position-controlled mode, the drive executes a time-controlled point-to-point
setpoint generation based on the defined motion profile.

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General information | Internal state machine
9.1.2.8

Status "Setpoint follower active"

In this function state the drive directly follows the defined setpoint.
r The setpoint can optionally be specified as speed, torque or position via three separate
basic functions:
Speed follower (C 190)
Torque follower (C 196)
Position follower (C 183)

9.1.2.9

Status "Quick stop active"

This function state is active if quick stop has been activated by the user.

Quick stop (C 152)

r The drive is decelerated to standstill irrespective of the defined setpoint within the
parameterised deceleration time.
r If quick stop is deactivated again by the user, it is changed to a setpoint-generating
basic function (e.g. "speed follower"), if requested.

O Tip!
Quick stop can also be set as error response for many monitoring functions ("quick
stop by trouble"). Detailed information can be found in the chapter "Diagnostics &
fault analysis".
The source which activated the quick stop function is shown bit-coded in C00159.

9.1.2.10

Status "Error"
This function state is active if an error has occurred and the controller is in the status "Error
active" or "Quick stop by trouble active.
r The function state can only be abandoned by acknowledging the error if the error is
removed.

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General information | Internal state machine

9.1.2.11

Interrupting/replacing states
An active function state cannot be interrupted or replaced by the activation of another
function state. However, the following exceptions apply:
r The "Initialisation" state replaces all other states.
r The "Error" state can replace all other states except "Initialisation".
r The status "Controller not ready" can replace all other states except "Error" and
"Initialisation".
r The status "Quick stop active" can replace all other states except "Initialisation", "Error"
and "Controller not ready".

9.1.2.12

Priorities
The function states are assigned to priorities so that, if several basic functions are activated
at the same time, it is always changed to the function state with the highest priority:
Priority

Function state

Executable basic function

Initialisation

Error

Controller not ready

Quick stop active

Quick stop (C 152)

Manual jog active

Manual jog (C 156)

Homing active

Homing (C 164)

Positioning active

Positioning (C 176)

Setpoint follower (position) active

Position follower (C 183)

Setpoint follower (speed) active

Speed follower (C 190)

10

Setpoint follower (torque) active

Torque follower (C 196)

10

Brake check

Brake control (C 211)

12

Drive is stopped

Standard stop (C 148)

1 highest priority; 1 2 lowest priority

Note!
The basic state "Drive in standstill" is accepted automatically if no other state is
active.

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General information | Requesting control via a basic function
9.1.3

Requesting control via a basic function

Enable input "bEnable"
The basic functions "Manual jog", "Homing" and "Positioning" and the three setpoint
followers each possess an enable input bEnable, via which the control of the corresponding
basic function can be requested.
r If no other basic function and no error state is active, it is changed to the corresponding
function state and the basic function can be controlled now.
r If several enable inputs are set to TRUE at the same time, the change to the function
state is executed with the highest priority.
Status outputs "bEnabled", "bActive" and "bDone"
If the basic function is enabled, the status output bEnabled of the basic function is set to
TRUE and the corresponding drive motion can be started via the control inputs of the basic
function.
r If the basic function executes a current drive motion, this is indicated through a TRUE
signal at the status output bActive.
r The basic functions "Speed follower", "Torque follower" and "Position follower" only
have the status output bEnabled, since after the enable the drive follows the setpoint
selection.
r The basic functions "Homing" and "Positioning" additionally are provided with a status
output bDone, which display that the drive movement that was started (homing or
positioning) has been completed.
Priority

146

Basic function

Status outputs
bEnabled

bActive

bDone

Manual jog

Homing

Positioning

Speed follower

Torque follower

Position follower

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General information | Requesting control via a basic function

Re-deactivation the enable of a basic function

When the enable input bEnable of the active basic function is reset to FALSE, the control
inputs of the basic function are inhibited and the status outputs bEnabled, bActive and
bDone are reset to FALSE.
r When the drive is not at standstill, it is decelerated to standstill within the deceleration
time for Standard stop unless another basic function takes over the control of the drive.
Here, the active function state is changed to the basic state "Drive in standstill" via the
function state "Drive is stopped".
r When the enable input of another basic function is set to TRUE, this basic function
adopts the control of the drive immediately.

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Basic drive functions
Standard stop
9.2

Standard stop
The standard stop of the drive will be automatically activated by the internal state
machine if a basic function is deactivated and the drive is not yet in standstill.
r The drive is braked to standstill via a parameterisable deceleration ramp.
While the drive is braked to standstill, the state machine is in the function state
"Drive is stopped".
If meanwhile another basic function is activated, this basic function takes over the
control of the drive from the current speed on and the function state "Drive is
stopped" is abandoned.
If the drive is at standstill, it is automatically changed to the basic function "Drive in
standstill".
r An acceleration phase active at the time of activating the stopping process is
considered by the standard stop, i.e. the current acceleration is at first led to "0" with
the parameterised S-ramp time before the real deceleration process starts.
r If the controller is enabled while the shaft is coasting (controller inhibit and pulse
inhibit are deactivated), the drive is braked from the current speed to standstill.

Stop!
The basic functions "Speed follower", "Torque follower" and "Position follower"
take over the control of the drive not from the current speed on but with the
defined setpoint which may lead to a jerk!

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Standard stop | Parameter setting

9.2.1

Parameter setting
r Parameterisation dialog in the Engineer: Tab Application parameter  Dialog level
Overview  All basic functions  Stop
r Short overview of parameters for standard stop :
Parameters

Information

C02610

Deceleration time for stop

C02611

S-ramp time for stop

C02612

Ref. for decel. time of stop

Parameter setting of stop

n
C00011

r The deceleration time set in C02610

for stop refers to a speed variation
from the motor reference speed
(C00011) to standstill, i. e. the
deceleration is constant.

C02610

[9-2]

Deceleration time referred to the motor reference speed

n
C00011

r When C02612 is set = "1", the

deceleration time refers to the current
speed, i. e. the braking time is constant.

C02610

[9-3]

Deceleration time referred to the current speed

n
C00011

r Through the entry of a S-ramp time in

C02611 an S-shaped deceleration
ramp for jerk reduction can be set. This
prolongs the total time to standstill by
the selected S-ramp time.

C02610 + C02611

C02612 = 0

t
n
C00011

r Braking time at motor reference speed

or C02612 = "1":
C02610 [s] + C02611 [s]

C02612 = 1

[9-4]

S-shaped deceleration ramp through selection of a relative S-ramp time

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Basic drive functions
Standard stop | Behaviour of the function (example)
9.2.2

Behaviour of the function (example)

In the following example the enable of manual jog is deactivated during an active manual
jog. Then the drive is braked to standstill within the deceleration time n set for stop:
State

ManualJog

Stopping

Standstill

ManualJog

MAN_bJogPositive
TRUE
FALSE

MAN_bEnable
TRUE
FALSE

STP_bStopActive
TRUE
FALSE

n C02610: Deceleration time for stop function

o C02622: Manual acceleration
p C02623: Manual deceleration
[9-5]

Example: Stop with reaching standstill

If the basic function "Manual Jog" is reactivated within the deceleration time n, this basic
function takes over the control of the drive from the current speed and the function state
"Drive is stopped" is abandoned immediately:
Stopping
State

ManualJog

ManualJog

MAN_bJogPositive
TRUE
FALSE

MAN_bEnable
TRUE
FALSE

STP_bStopActive
TRUE
FALSE

n C02610: Deceleration time for stop function

o C02622: Manual acceleration
p C02623: Manual deceleration
[9-6]

150

Example: Stop without reaching standstill

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Basic drive functions

Standard stop | System block "LS_Stop"

9.2.3

System block "LS_Stop"

The LS_Stop system block in the function block editor maps the basic function "Stop".
LS_Stop
Activate stopping
(internal status machine)

STP_dnState
STP_bStopActive

Outputs
Identifier

Value/meaning
DIS code | Data type

STP_dnState
C02616 | DINT

Status (bit-coded)
When the basic function is not active, all bits are set to "0".
Bits which are not listed are not assigned with a status (always "0").
Bit 1 Drive is braked to standstill.
The internal state machine is in the function state "Drive is
stopped".
Bit 2 Drive is at standstill.
The internal state machine is in the function state "Drive in
standstill".
Bit 3 Deceleration phase is active.
Bit 5 CCW rotation is active.

STP_bStopActive

Status output "stop is active"

C02617 | BOOL

TRUE The drive is braked to standstill or is at standstill.

The internal state machine is in the function state "Drive is
stopped" or in the function state "Drive in standstill".

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Basic drive functions
Quick stop
9.3

Quick stop
Compared to the Standard stop quick stop (QSP) is determined for a stop in the case of an
error. If quick stop is activated, the drive is braked to standstill irrespective of the defined
setpoint within the deceleration time set.

Note!
Through this, superimposed controls (e.g. synchronous or position control) may
produce following errors. If several drives execute a coordinated motion, the
quick stop function should only be used for the motion master (master drive) in
order to maintain the coordination.

O Tip!
Quick stop can also be set as error response for many monitoring functions ("quick
stop by trouble"). Detailed information can be found in the chapter "Diagnostics &
fault analysis".
The source which activated the quick stop function is shown bit-coded in C00159.

9.3.1

Parameter setting
r Parameterisation dialog in the Engineer: Tab Application parameter  dialog level
Overview  All basic functions  Quick stop
r Short overview of the parameters for quick stop:

152

Parameters

Information

C00105

Quick stop deceleration time

C00106

Quick stop S-ramp time

C00107

Reference for "Quick stop" deceleration time

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Basic drive functions

Quick stop

Parameter setting of quick stop

n
C00011

r The deceleration time set in C00105

for the quick stop function refers to a
speed variation from the motor
reference speed (C00011) to standstill.

C00105

t
bActivate1...3
TRUE

FALSE

[9-7]

Deceleration time referred to the motor reference speed

n
C00011

r When C00107 is set = "1", the

deceleration time refers to the current
speed.

C00105

[9-8]

Deceleration time referred to the current speed

C00105 +
n
C00011

r Through the entry of a relative S-ramp

time in C00106 an S-shaped
deceleration ramp for jerk reduction
can be set. This prolongs the total time
to standstill by the selected S-ramp
time.

C00105 C00106
100 %

C00107 = 0

t
n
C00011

r Braking time at motor reference speed

or C00107 = "1":
C00105 C00106 [%]
C00105 + -----------------------------------------------------100 %

C00107 = 1

[9-9]

S-shaped deceleration ramp through selection of a relative S-ramp time

O Tip!
After the drive has come to standstill, you can use the torque to hold the standstill
position.
For this purpose, select the phase controller gain in C00254 > "0".
With C00254 > "0" the phase control is automatically activated after the
standstill is reached.

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Basic drive functions
Quick stop | Activating/Deactivating quick stop
9.3.2

Activating/Deactivating quick stop

Quick stop through the application is activated/deactivated via the three inputs
QSP_bActivate1...3 of the system block LS_Quickstop. (C 155)
r The three control inputs are linked via a logic OR gate, i.e. in order to activate quick stop,
only one of the three inputs must be set to TRUE. To deactivate quick stop, though, all
three inputs must be reset to FALSE.
r The control inputs can be linked with terminals (digital inputs) and/or process data in
the function block editor.

Note!
In the standard technology applications the control input QSP_bActivate1 is
linked with the digital input DI1 in the Lenze setting.

Further options for activating quick stop

r Via controller command "Activate quick stop" (C00002 = "45"), e.g. via a corresponding
SDO of a higher-level control, an HMI or the Engineer.
r Via the o key at the keypad, unless the Lenze setting of C00469 (assignment of the
key) has been changed.
r Through the response "quick stop by trouble" parameterised for monitoring.

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Quick stop | System block "LS_quick stop"

9.3.3

System block "LS_quick stop"

The LS_quick stop system block in the function block editor maps the basic function "Quick
stop".
LS_Quickstop
QSP_bActivate1
QSP_bActivate2

QSP_bActive

QSP_bActivate3
STOP

Inputs
Identifier

Information/possible settings
DIS code | data type

QSP_bActivate1
QSP_bActivate2

C02619/1 | BOOL

C02619/2 | BOOL

QSP_bActivate3

C02619/3 | BOOL

Activate quick stop

The three inputs are linked via a logic OR gate.
TRUE If one of the three inputs is set to TRUE, it is changed to the function
state "Quick stop active" and the drive is braked to standstill within
the deceleration time set for quick stop.
TRUEFALSE When all three inputs are reset to FALSE, it is changed to a setpointgenerating basic function (e.g. "speed follower") via the function
state "Drive is stopped".

Outputs
Identifier

Value/meaning
DIS code | data type

QSP_bActive

Status output "quick stop is active"

C02619/4 | BOOL

TRUE Quick stop is active.

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Basic drive functions
Manual jog
9.4

Manual jog
The basic function "Manual jog" serves to traverse the drive manually, e.g. to clean or
exchange the tool.
r Optionally, you can change over to a second manual speed during the process.
r A "retracting" from operated travel range limit switches is also supported. Then, you
can only traverse in the corresponding retracting direction.

Note!
In the manual mode the travel mode is monitored via limit switches and
software limit positions by the basic function "Limiter". (C 200)

Stop!
When the reference is not known and no software limit positions are set, the
drive can run into a mechanical limit during the manual jog and machine parts
can be destroyed or damaged!

9.4.1

Parameter setting
r Parameterisation dialog in the Engineer: Tab Application parameter  dialog level
Overview  All basic functions  Manual jog
r Short overview of the parameters for manual jog:

156

Parameters

Information

C02620

Manual jog speed 1

C02621

Manual jog speed 2

C02622

Manual acceleration

C02623

Manual deceleration

C02624

Inaccuracy time of manual traversing

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Basic drive functions

Manual jog | Parameter setting

9.4.1.1

Smooth start and quick stop of the drive

r Different values for acceleration
and deceleration can be set in
C02622/C02623 in order to
implement a smooth start and a
quick stop of the drive.

bJogPositive

TRUE

FALSE

r By entering a relative S-ramp time

in C02624 both ramps can be set in
S-shape for jerk reduction.

n C02620: Manual speed 1

o C02622: Manual acceleration
p C02623: Manual deceleration
q C02624: Manual S-ramp time
[9-10] Example: Smooth start and quick stop

O Tip!
A quick deceleration (C02623) reduces the time from the release of the "Jog key" to
the stop of the drive in order to ensure a better positioning of the drive according
to one's sense of proportion and to prevent that the desired stop position is not
overtravelled.

9.4.1.2

Second manual speed

r By setting the input
MAN_bActivateJogSpeed2 to TRUE
you can change over to a second
manual speed (C02621) during the
process.

t
bJogPositive
TRUE

FALSE

bActivateJogSpeed2
TRUE

FALSE

n C02620: Manual speed 1

o C02621: Manual speed 2
[9-11] Example: Changeover to a second manual speed

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Manual jog | Executing manual jog
9.4.2

Executing manual jog

Requirements
r The controller is in the device state "Operation".
r The basic function "manual jog" is part of the active application.
r No other basic function is active.
Activation
To request the control via the basic function, the enable input MAN_bEnable in the
application must be set to TRUE.
r If no other basic function is active, it is changed to the function state "Manual jog
active" and manual jog can be executed via the control inputs.
r A successful change to the function state "Manual jog active" is displayed by a TRUE
signal at the status output MAN_bEnabled.
Deactivation
If the enable input MAN_bEnable is reset to FALSE, an active manual jog is reset, i.e. the
control inputs for manual jog are inhibited and the drive is braked to standstill within the
deceleration time for Standard stop. (C 148)
r The status output MAN_bEnabled is reset to FALSE and a changeover from the active
function state "Manual jog active" via the function state "Drive is stopped" back to th
basic state "Drive in standstill" is effected.

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Manual jog | Executing manual jog

9.4.2.1

Manual jog in positive/negative direction

In the function state "Manual jog active" the drive can be traversed manually via the
control inputs according to the following truth table:
Function

MAN_bJogNegative

MAN_bJogPositive

MAN_bActivateJogSpeed2

FALSE

FALSE

FALSE

TRUE

FALSE

Manual jog
In positive direction
With manual speed 1

TRUE

Manual jog
In positive direction
With manual speed 2

FALSE

Manual jog
In negative direction
With manual speed 1

TRUE

Manual jog
In negative direction
With manual speed 2

TRUE

TRUE

FALSE

TRUE

Stop
The drive is braked to standstill with the
deceleration set.

When both inputs are set to TRUE at the

same time:
The drive is braked to standstill with the
deceleration set.
When both inputs are not set to TRUE at the
same time:
The drive continues to travel to the
direction selected first.

Note!
In the standard technology applications "actuator speed" and "actuator
torque" the control inputs are linked in the Lenze setting with the following
digital inputs:
DI6: Activate manual mode
DI7: Manual jog in positive direction
DI8: Manual jog in negative direction

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Basic drive functions
Manual jog | Executing manual jog
9.4.2.2

Manual jog to limit position

Note!
Detailed information on travel range monitoring via limit switches and software
limit positions can be found in the description of the basic function "Limiter".
(C 200)

Manual jog to software limit position

r When the reference is known and
the software limit positions are set,
a positioning to the corresponding
software limit positions unless the
manual jog has been manually
stopped by resetting
MAN_bJogNegative or
MAN_bJogPositive.

t
bJogPositive
TRUE

FALSE

r The drive brakes with the

deceleration set (C02623) to the
position of the corresponding
software limit position.

nPositive software limit position

[9-12] Example: Manual jog to positive software limit position

Manual jog to hardware limit position (limit switch)

r When a limit switch is approached
during manual jog, the drive is
braked to standstill within the
deceleration time set for the quick
stop function.

t
bJogPositive
TRUE

FALSE

n Positive limit switch

o Deceleration ramp of the quick stop function
[9-13] Example: Manual jog to positive limit switch

See also:

160

Software limit positions (C 202)

Hardware limit positions (limit switch) (C 204)

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Basic drive functions

Manual jog | Executing manual jog

9.4.2.3

Retracting of an activated limit switch

By setting MAN_bReleaseLimitSwitch to TRUE a retraction from an activated limit switch is
possible. Travel in the retracting direction until the limit switch is not active anymore.
r If, while retracting, a direction is selected additionally via the control inputs
MAN_bJogPositive or MAN_bJogNegative towards the retracting direction, the travel is
continued even the limit switch has been abandoned until MAN_bJogPositive or
MAN_bJogNegative are reset to FALSE.
r If the direction is selected against the retracting direction, the drive stops and a
corresponding status is output via the status output MAN_dnState of the system block
LS_ManualJog.

Note!
It can only be retracted from a limit switch if this is still activated, i.e. the
corresponding limit switch input of the limiter is still active. Therefore ensure
that while travelling towards a limit switch that the trigger mechanics will not
be overtravelled by a too high mass or swing so that the limit switch will not be
activated by this.

O Tip!
An activated limit switch can also be abandoned by manual jog in retracting
direction via the control inputs MAN_bJogPositive or MAN_bJogNegative.
See also:

Hardware limit positions (limit switch) (C 204)

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Basic drive functions
Manual jog | System block "LS_ManualJog"
9.4.3

System block "LS_ManualJog"

The LS_ManualJog system block in the function block editor maps the basic function
"Manual jog".
LS_ManualJog
MAN_bEnable

MAN_dnState
n

MAN_bJogPositive

MAN_bEnabled

MAN_bJogNegative

MAN_bActive
t

MAN_bActivateJogSpeed2
MAN_bReleaseLimitSwitch

Inputs
Identifier

Information/possible settings
DIS code | data type

MAN_bEnable

Requesting control via the basic function

C02639/1 | BOOL

TRUE If no other basic function is active, it is changed to the function state

"Manual jog active" and manual jog can be executed via the control
inputs.
TRUEFALSE An active manual jog is stopped, i. e. a changeover from the active
function state "Manual jog active" via the function state "Drive is
stopped" back to the basic state "Drive in standstill" is effected.

MAN_bJogPositive

Manual jog in positive/negative direction (C 159)

C02639/2 | BOOL

MAN_bJogNegative
C02639/3 | BOOL

MAN_bActivateJogSpeed2
C02639/4 | BOOL

Changeover to a second manual speed

FALSE Manual speed 1 (C02620) active.
TRUE Manual speed 2 (C02621) active.

MAN_bReleaseLimitSwitch
C02639/5 | BOOL

162

Retracting of an activated limit switch

TRUE Retracting from each activated limit switch towards the
corresponding retracting direction until the limit switch is enabled
again (not activated anymore) and the drive is located inside the
software limit positions set.
Afterwards the drive is braked to standstill with the deceleration set
unless the control input MAN_bJogPositive or MAN_bJogNegative is
activated for the corresponding retracting direction.

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Basic drive functions

Manual jog | System block "LS_ManualJog"

Outputs
Identifier

Value/meaning
DIS code | data type

MAN_dnState
C02638 | DINT

Status (bit-coded)
When the basic function is not enabled, all bits are set to "0".
Bits which are not listed are not assigned with a status (always "0").
Bit 1 Manual jog active
Bit 2 Manual jog is completed.
Bit 3 Acceleration/deceleration phase is active.
Bit 5 CCW rotation is active.
Bit 15 Error in basic function active (group signal).
Bit 16 Stop by simultaneous selection of negative direction and retraction
from limit switch.
Bit 17 Stop by simultaneous selection of positive and negative direction.
Bit 18 Stop by simultaneous selection of positive direction and retraction
from limit switch.
Bit 20 Manual speed 2 (C02621) active.
Bit 21 Manual speed 1 (C02620) active.
Bit 22 Stop by selecting positive direction and simultaneous activation of
the positive software limit position or the positive limit switch.
Bit 23 Stop by selecting negative direction and simultaneous activation of
the negative software limit position or the negative limit switch.
Bit 24 General abort process (ramp-down of the speed setpoint)
Takes place e.g. when a manual direction initiator is let go or due
to an impermissible status (see bit 16, 17, 18, 22, 23).
Bit 25 Stopping is active.
Bit 30 Profile generation error.

MAN_bEnabled
C02639/6 | BOOL

MAN_bActive

TRUE Manual jog via the control inputs is possible.

The enable input MAN_bEnable is set to TRUE and the controller
is in the function state "Manual jog active".
Status output "Basic function is active"

C02639/7 | BOOL

Status output "Basic function is enabled"

TRUE Manual jog is active (the drive axis is moving).

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Basic drive functions
Homing
9.5

Homing
The basic function "Homing" serves to transfer the measuring system to the physically
possible travel range of the controller.
r The reference (e.g. zero position of the drive axis in the machine measuring system) can
be defined by reference search or reference setting.
r In case of reference search, the drive travels according to the defined homing mode to
detect the reference in the measuring system independently.
r In case of reference setting in the homing mode "100: Set reference directly" or via
control input HM_bLoadHomePos the drive can also be referenced manually when the
motor is at standstill. The measuring system is set according to the home position
parameterised in C02642 or applied to the input HM_dnHomePos_p.

Note!
The encoder position is stored safe against mains failure in the memory module
and is therefore known to the drive control even after the mains has been
switched.
Behaviour of the home position after mains switching
If the home position/information is to be available after mains switching as well,
the setting C02652 = "1: Keep" is required.
One further condition for keeping the home position/information after
mains switching is the compliance with the maximally permissible angle of
rotation of the encoder which can be set in C02653.
When resolvers or single-turn absolute value encoders are used and the
mains is switched off (24-V supply off), the drive may only be moved by
motor revolution since otherwise the home position will get lost due to the
ambiguity of the encoder information.
A renewed reference setting is only required in case of a renewed commissioning
or in case of service (e.g. when drive components are exchanged).

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Homing | Parameter setting

9.5.1

Parameter setting
r Parameterisation dialog in the Engineer: Tab Application parameter  dialog level
Overview  All basic functions  Homing
r Short overview of the parameters for homing:

9.5.1.1

Parameters

Information

C02528

Traversing range

C02640

Ref. mode

C02642

HM position

C02643

HM target position

C02644

Ref. speed 1

C02645

Home acceleration 1

C02646

Ref. speed 2

C02647

Ref. acceleration 2

C02648

Home S-ramp time

C02649

HM torque limit

C02650

Homing inhibit time

C02651

HM touch probe configuration

C02652

Home position after mains switching

C02653

Max. rot. angle after mains sw.

C02656

Current position

Homing mode
The zero position, also called reference, can be defined by a reference search or reference
setting:
r In case of a reference search the drive travels according to a defined mode to detect the
reference independently.
r In case of reference setting the reference is manually set when the drive has stopped.

O Tip!
A reference search is mainly used for continuous systems or if the traversing range
or machine cycle of the drive cannot be displayed in the display space of the
encoder, e.g. when incremental encoders are used on a motor or single-turn
absolute value encoders or resolvers on geared motors.
Reference setting is usually executed only once during commissioning or in case of
service (e.g. when drive components are exchanged) and are normally used in
systems the machine cycle of which can be displayed in the display space of the
encoder, e.g. when multi-turn absolute value encoder or single-turn absolute value
encoders/resolvers are used in a machine cycle on one motor revolution.

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Homing | Parameter setting

r For reference setting, select the homing mode "100" in C02640.

r The homing modes "0"..."15", which are described in detail in the following sections, are
available for a reference search in C02640.
Depending on the mode selected the following switches/sensors are evaluated:
Switch

Input for digital input signal

Reference switch

HM_bHomingMark on SB LS_Homing

Touch probe sensor

DIGIN_bIn1 ... DIGIN_bIn8 (or optional use of the motor encoder or load
encoder zero pulse). Configuration: C02651.

Positive travel range limit switch

LIM_bLimitSwitchPositive on SB LS_Limiter

Negative travel range limit switch

LIM_bLimitSwitchNegative on SB LS_Limiter

Note!
In the homing modes 0...5 as well as 10 and 11, the search for the limit switch/
reference switch is achieved by changing over to a higher speed than for
approaching the encoder zero pulse/touch probe sensor. This serves to reduce
the homing time and increase the accuracy.
After setting the home position the drive travels to the target position set in
C02643.
Operation of mode 0:

bHomingMark

1. Movement in positive direction.

2. Negative edge at HM_bHomingMark enables
home position detection.

Z-Impulse Encoder
Reference position

bHomingMark

3. The following positive edge of the encoder

zero pulse/touch probe sensor set the
reference.
Operation of mode 1:
1. Movement in negative direction.

Z-Impulse Encoder
Reference position

166

2. Negative edge at HM_bHomingMark enables

home position detection.
3. The following positive edge of the encoder
zero pulse/touch probe sensor set the
reference.

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Basic drive functions

Homing | Parameter setting

bLimitSwitchNegative

bHomingMark

bLimitSwitchPositive

Operation of mode 2:
1. Movement in positive direction.
2. Reversing to positive travel range limit
switch.

Z-Impulse Encoder

3. Negative edge at HM_bHomingMark enables

home position detection.

Reference position

4. The following positive edge of the encoder

zero pulse/touch probe sensor set the
reference.
bLimitSwitchNegative

bHomingMark

bLimitSwitchPositive

Operation of mode 3:
1. Movement in negative direction.
2. Reversing to negative travel range limit
switch.

Z-Impulse Encoder
Reference position

3. Negative edge at HM_bHomingMark enables

home position detection.
4. The following positive edge of the encoder
zero pulse/touch probe sensor set the
reference.

bLimitSwitchNegative

bHomingMark

bLimitSwitchPositive

Operation of mode 4:
1. Movement in positive direction.

2. Reversing with positive edge at

HM_bHomingMark.

3. Negative edge at HM_bHomingMark enables

home position detection.

Z-Impulse Encoder
Reference position

4. The following positive edge of the encoder

zero pulse/touch probe sensor set the
reference.
bLimitSwitchNegative

bHomingMark

bLimitSwitchPositive

Operation of mode 5:
1. Movement in negative direction.

2. Reversing with positive edge at

HM_bHomingMark.

Z-Impulse Encoder
Reference position

3. Negative edge at HM_bHomingMark enables

home position detection.
4. The following positive edge of the encoder
zero pulse/touch probe sensor set the
reference.

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Homing | Parameter setting

Operation of mode 8:

Touch probe

TP

1. Movement in positive direction.

2. The following positive edge of the touch
probe sensor set the reference.

Reference position

Operation of mode 9:

Touch probe

TP

1. Movement in negative direction.

2. The following positive edge of the touch
probe sensor set the reference.

Reference position

bLimitSwitchNegative

bLimitSwitchPositive

TP

Operation of mode 10:

1. Movement in positive direction.

Touch probe

2. Reversing with positive edge of the positive

travel range limit switch.

Reference position

3. The following positive edge of the touch

probe sensor set the reference.
bLimitSwitchNegative

bLimitSwitchPositive

TP

Operation of mode 11:

1. Movement in negative direction.

Touch probe

2. Reversing with positive edge of the negative

travel range limit switch.

Reference position

3. The following positive edge of the touch

probe sensor set the reference.
bLimitSwitchNegative

bLimitSwitchPositive

Operation of mode 12:

1. Movement in positive direction.

Reference position

bLimitSwitchNegative

bLimitSwitchPositive

2. Positive edge of the travel range limit switch

sets the reference.
Operation of mode 13:
1. Movement in negative direction

Reference position

2. Positive edge of the travel range limit switch

sets the reference.

Note!
In the homing modes 12 and 13 the load mechanics is able is able to leave the
travel range limit switch. It is then travelled back to the home position which has
been set with the positive edge of the travel range limit switch. The mechanics
may possibly stop on an activated limit switch.
We recommend to set a reference offset to enable the travel range limit switch.

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Homing | Parameter setting

Operation of mode 14:

Reference position

1. Movement in positive direction with reduced

torque.
2. The reference is set if the torque limit has
been exceeded via a defined period of time
("homing to end stop").
If a reference offset is set, it is traversed by
this offset with the correct sign and the
reference is set at the end of this travel
way.
Operation of mode 15:
1. Movement in negative direction with
reduced torque.

Reference position

2. The reference is set if the torque limit has

been exceeded via a defined period of time
("homing to end stop").
If a reference offset is set, it is traversed by
this offset with the correct sign and the
reference is set at the end of this travel
way.
9.5.1.2

Home position & target position

When the home position is set during the reference search, the position detected in the
machine measuring system corresponds to the value set in C02642.
Afterwards the drive travels to the target position set in C02643.

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Basic drive functions
Homing | Parameter setting
9.5.1.3

Second homing speed

For the homing modes 0...5 as well as 10 and 11 two different speeds can be parameterised
to reduce the homing time and increase the accuracy:
r The higher speed set in C02644 causes a quick approach of the limit switch/reference
switch.
r After reversing to the limit switch/reference switch the encoder zero pulse/touch
probe sensor is approached slower but more precisely with the lower speed set in
C02646.
Example: Operation of mode 2:

bActivate

A. Movement in positive direction.

t

C. Negative edge at
HM_bHomingMark enables home
position detection.

TRUE

FALSE

bLimitSwitchPos

TRUE

FALSE

bHomingMark

TRUE

FALSE

TP/MP

B. Reversing to positive travel range

limit switch.

D. The following positive edge of the

encoder zero pulse (MP) sets the
reference.
E. Drive has reached defined target
position.

TRUE

FALSE

bBusy
TRUE

FALSE

bHomePosAvailable
TRUE

FALSE

bDone
TRUE

FALSE

n C02644: Ref. speed 1

o C02646: Ref. speed 2
p C02645: Ref. acceleration 1 (and deceleration 1)
q C02647: Ref. acceleration 2 (and deceleration 2)
r C02648: Ref. S-ramp time
s C02643: Ref. target position

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Basic drive functions

Homing | Parameter setting

9.5.1.4

Homing to end stop

By selecting the homing modes 14 & 15, homing to end stop can be executed as follows:
1. The drive travels with reduced torque in positive direction (mode 14) or negative
direction (mode 15).
2. When the drives hits an end stop so that the torque limit set in C02649 is exceeded for
the period of time defined in C02650, the reference is set.
When a reference offset is set, it is traversed by this offset with correct sign.

9.5.1.5

Connection of reference switch

For the homing modes with reference switch, the control input HM_bHomingMark of the
system block LS_Homing must be connected to the digital input which is connected to the
reference switch.

9.5.1.6

Touch probe interface configuration

The touch probe channel to be used for homing with touch probe detection is selected in
the Engineer on the Application parameter tab in the overview  dialog level. All basic
functions  Homing  TP interface.
r The setting carried out in this parameterisation dialog directly affects the setting of
C02651 ("Ref. touch probe configuration") and vice versa.
r For a direct setting of C02651 (e.g. with keypad) the following table lists the decimal
values for all possible configurations.
Selection
Touch probe channel

Touch probe response

Positive edge

Negative edge

Both edges

DigIn 1

DigIn 2

12

DigIn 3

16

32

48

DigIn 4

64

128

192

DigIn 5

256

512

768

DigIn 6

1024

2048

3072

DigIn 7

4096

8192

12288

DigIn 8

16384

32768

49152

Motor encoder zero pulse

65536

Load encoder zero pulse

262144

r Example: For selecting the touch probe channel "DIGIN 8" and response to only one
positive edge, it is required to set the decimal value "16384" in C02651.

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Basic drive functions
Homing | Executing homing
9.5.2

Executing homing
Requirements
r The controller is in the device state "Operation".
r The basic function "Homing" is part of the active application.
r No other basic function is active.
Activation
To request the control via the basic function, the enable input HM_bEnable in the
application must be set to TRUE.
r If no other basic function is active, a changeover to the function state "Homing active"
is effected and homing can be executed via the control inputs.
r A successful change to the function state "Homing active" is displayed by a TRUE signal
at the status output HM_bEnabled.
Deactivation
When the enable input HM_bEnable is reset to FALSE, an active homing is stopped, i.e. the
control inputs for homing are inhibited and the drive is braked to standstill within the
deceleration time for stop.
r The status output HM_bEnabled is reset to FALSE and a changeover from the active
function state "Homing active" via the function state "Drive is stopped" back to th basic
state "Drive in standstill" is effected.

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Basic drive functions

Homing | Executing homing

9.5.2.1

Setting reference search/setting reference directly

By setting the control input HM_bActivateHoming to TRUE, the reference search in the
selected homing mode is started.
r During reference search, the status output HM_bActive is set to TRUE.
r When the reference search is completed, the status output HM_bActive is reset to
FALSE and the status output HM_bDone is set to TRUE.
r When the home position could be detected, the status output HM_bHomePosAvailable
is set to TRUE.

Note!
In the homing mode "100: Set reference directly" no reference search will be
started but the home position set in C02642 will be directly accepted.

9.5.2.2

Loading home position via input

By setting the control input HM_bLoadHomePos to TRUE the "tool position" applied to
input HM_dnHomePos_p is accepted manually as home position with drive at standstill.

9.5.2.3

Resetting home position

By setting the control input HM_bResetHomePos to TRUE the status "Reference known" is
reset.
r The status outputs HM_bDone and HM_bHomePosAvailable are reset to FALSE.

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Basic drive functions
Homing | System block "LS_Homing"
9.5.3

System block "LS_Homing"

The LS_Homing system block in the function block editor maps the basic function
"Homing".
LS_Homing
HM_dnState

HM_bEnable
HM_bActivateHoming

HM_bEnabled

HM_bHomingMark

HM_bActive
HM_bDone

HM_bLoadHomePos
HM_dnHomePos_p
HM_bResetHomePos

HM_bHomePosAvailable
-100

100 200

Inputs
Identifier

Information/possible settings
DIS code | data type

HM_bEnable

Requesting control via the basic function.

C02659/1 | BOOL

TRUE If no other basic function is active, a changeover to the function state

"Homing active" is effected and homing can be executed via the
control inputs.
TRUEFALSE An active reference search is stopped, i. e. a changeover from the
active function state "Homing active" via the function state "Drive is
stopped" back to the basic state "Drive in standstill" is effected.

HM_bActivateHoming
C02659/2 | BOOL

Starting homing/directly setting reference

TRUE Reference search is started in the homing mode selected (C02640).
In the homing mode "100: Set reference directly" no reference search
will be started but the home position set in C02642 will be directly
accepted.
TRUEFALSE Active reference search is completed.

HM_bHomingMark
C02659/3 | BOOL

HM_bLoadHomePos
C02659/4 | BOOL

HM_dnHomePos_p

Input for reference switch

TRUE Reference switch is activated.
Loading home position
FALSETRUE The position applied to input HM_dnHomePos_p is accepted as
home position.
Home position in [increments] for acceptance with HM_bLoadHomePos

C02658 | DINT

HM_bResetHomePos
C02659/5 | BOOL

174

Resetting the status "Reference known"

FALSETRUE The internal status "Reference known" is reset.
The status outputs HM_bDone and HM_bHomePosAvailable are
reset to FALSE.

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9400 HighLine | Parameter setting & configuration

Basic drive functions

Homing | System block "LS_Homing"

Outputs
Identifier

Value/meaning
DIS code | data type

HM_dnState
C02657 | DINT

Status (bit-coded)
When the basic function is not enabled, all bits are set to "0".
Bits which are not listed are not assigned with a status (always "0").
Bit 1 Reference search is active.
Bit 2 Reference search is completed.
Bit 3 Acceleration/deceleration phase is active.
Bit 5 CCW rotation is active.
Bit 7 Reference is known
Bit 15 Error in basic function active (group signal).
Bit 16 Pre-stop (home switch) has been detected.
Bit 17 Touch probe/zero pulse has been detected.
Bit 21 Profile data are limited by basic function "Limiter".
Bit 22 Traversing direction is inhibited by basic function "Limiter".
Bit 23 Abort by basic function "Limiter".
Bit 25 Stopping is active.
(Homing is enable but not active or speed 0)
Bit 30 Profile generation error.

HM_bEnabled

Status output "Basic function is enabled"

C02659/6 | BOOL

HM_bActive

Status output "Basic function is active"

C02659/7 | BOOL

HM_bDone

TRUE Reference search is active (the drive axis is moving).

Status output "Basic function is completed"

C02659/8 | BOOL

HM_bHomePosAvailable
C02659/9 | BOOL

TRUE Homing via the control inputs is possible.

The enable input HM_bEnable is set to TRUE and the controller is
in the function state "Homing active".

TRUE Reference search is completed.

Output is reset to FALSE when input HM_bActivateHoming is
reset to FALSE.
Status output "Reference is known"
TRUE The drive knows the home position.

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Basic drive functions
Positioning
9.6

Positioning
The basic function "Positioning" provides the functions for executing the (travel) profiles
and supports an "override" of speed and acceleration.
r A profile describes a motion request which can be implemented by the
SB LS_Positioner into a rotary motion.
r A profile is described via the following profile parameters: Mode (type of positioning),
position, speed, acceleration, deceleration, S-ramp time, final speed, standard
sequence profile, TP sequence profile, TP window starting and end position and touch
probe signal source(s).

9.6.1

Parameter setting
A parameter setting is not required for the basic function "Positioning".
r After activating the function, the profile is executed which has been transferred to the
basic function via the input POS_ProfileData.
r For profiles with touch probe positioning mode (residual path positioning) touch probe
is detected implicitly.
Options for selecting the profiles
For specifying as well as storing and managing (travel) profiles, the following function
blocks are available:

176

Function block

Function

L_PosPositionerTable

...serves to file and manage up to 100 (travel) profiles and allows the
"teaching" of positions, speed, acceleration/deceleration and S-ramp times.
Another important task of this FB is the conversion of the table values
according to the scaling selected in the SB LS_DriveInterface.

L_PosProfileTable

...serves to file and manage up to four (travel) profiles and allows the
"teaching" of target positions.
In contrast to the FB L_PosPositionerTable this FB does not use any
variable tables but the data of the profile parameters are entered directly
into the assigned codes.
Another special feature: When selecting the profile no. 1 as target
position, the position applied to input dnExtPos_p.

L_PosProfileInterface

...provides a profile data record for the SB LS_Positioner.

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Basic drive functions

Positioning | Carrying out positioning

9.6.2

Carrying out positioning

Requirements
r The controller is in the device state "Operation".
r The basic function "Positioning" is part of the active application.
r No other basic function is active.
Activation
To request the control via the basic function, the enable input POS_bEnable in the
application must be set to TRUE.
r If no other basic function is active, a changeover to the function state "Positioning
active" is effected and positioning can be executed via the control inputs.
r A successful change to the function state "Positioning active" is displayed by a TRUE
signal at the status output POS_bEnabled.
Deactivation
When the enable input POS_bEnable is reset to FALSE, an active homing is stopped, i.e. the
control inputs for positioning are inhibited and the drive is braked to standstill within the
deceleration time for stop.
r The status output POS_bEnabled is reset to FALSE and a changeover from the active
function state "Positioning active" via the function state "Drive is stopped" back to the
basic state "Drive in standstill" is effected.

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Basic drive functions
Positioning | Carrying out positioning
9.6.2.1

Starting positioning
By setting the control input POS_bStart to TRUE positioning starts.
r The (travel) profile is executed which has been transferred to the basic function via the
input POS_ProfileData.

9.6.2.2

Aborting/interrupting positioning
By setting the control input POS_bAbort to TRUE, the active positioning can be aborted or
interrupted.
r The current profile is not completed but braked to standstill with the deceleration
defined in the profile data.
r When the control input POS_bAbort is remained on TRUE, a restart or the continuation
of an interrupted positioning process is inhibited.
r After resetting the control input POS_bAbort to FALSE, a restart or the continuation of
an interrupted positioning process is possible again.

9.6.2.3

Continuing an interrupted positioning process

By setting the control input POS_bRestart to TRUE an interrupted positioning process can
be continued if the control input POS_bAbort has been reset again to FALSE.
r Distance already covered in a relative positioning process will be considered.

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Positioning | Carrying out positioning

9.6.2.4

Activating override
"Override" is the change of profile parameters and their acceptance during the positioning
process.
r When the input POS_bEnableOverride is set to TRUE, a speed and acceleration override
occurs according to the override values applied to the inputs POS_dnSpeedOverride_n
and POS_dnAccOverride_n.
The override values represent percentage multipliers with regard to the current
profile parameters for speed and acceleration.
For override values 1 % a status bit is set.
Override values 0 % are set internally to 0 %.
Changes of the override values are accepted in each cycle.

Note!
The online change of speed and acceleration is effective from the profile start to
the beginning of the deceleration phase. Thus, the deceleration phase cannot be
changed via an override!
In case of an override value of 0 % for speed, the drive is braked to standstill.
In case of an override value of 0 % for acceleration, no acceleration takes place
anymore.

r When the input POS_bEnableOverride is reset to FALSE again, the speeds and
accelerations defined via the profile parameters are executed again. The drive is
immediately accelerated from the override speed to the speed set in the profile.

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Basic drive functions
Positioning | System block "LS_Positioner"
9.6.3

System block "LS_Positioner"

The LS_Positioner system block in the function block editor maps the basic function
"Positioning".
LS_Positioner
POS_bEnable

POS_dnState
POS_bEnabled

POS_bStart
n

POS_bAbort
POS_bRestart

POS_bActive
POS_bDone

POS_bInTarget

POS_ProfileData

POS_dnSetPos_p

POS_bEnableOverride

POS_dnProfileTarget_p

POS_dnSpeedOverride_n
POS_dnAccOverride_n

POS_dnProfileSpeed_s

POS_bDisableTP

POS_dwActualProfileNumber

Inputs
Identifier

Information/possible settings
DIS code | data type

POS_bEnable

Requesting control via the basic function

C02679/1 | BOOL

TRUE If no other basic function is active, a changeover to the function state

"Posiioning active" is effected and positioning can be executed via
the control inputs.
TRUEFALSE An active positioning is stopped, i. e. a changeover from the active
function state "Positioning active" via the function state "Drive is
stopped" back to the basic state "Drive in standstill" is effected.
Starting positioning

POS_bStart
C02679/2 | BOOL

FALSETRUE The profile POS_ProfileData is executed.

FALSETRUE "Restart"
(once again) During an active positioning, another profile can be specified via
the input POS_ProfileData which is executed after restart.

POS_bAbort

Aborting or interrupting positioning

C02679/3 | BOOL

FALSETRUE The current profile is not completed but braked to standstill with the
deceleration defined in the profile data.
TRUE A restart via POS_bStart or the continuation of an interrupted
positioning via POS_bRestart is inhibited.
FALSE A restart via POS_bStart or the continuation of an interrupted
positioning via POS_bRestart is possible again.
If the restart signal POS_bRestart occurs during the acceleration
phase, the positioning is continued immediately.

POS_bRestart
C02679/4 | BOOL

Continuing an interrupted positioning process

Only possible when POS_bAbort has been reset from TRUE to FALSE again.
TRUE The positioning interrupted before via POS_bAbort is completed.
Distance already covered in a relative positioning process will be
considered.

POS_ProfileData

Pointer to the profile to be executed in internal units (increments)

A profile chaining is caused by the pointer in the profile which points to the
sequence profile.

POS_bEnableOverride

Activating override

C02679/5 | BOOL

180

TRUE Override of speed and acceleration is active.

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Basic drive functions

Positioning | System block "LS_Positioner"

Identifier

Information/possible settings
DIS code | data type

POS_dnSpeedOverride_n
C02677/1 | DINT

POS_dnAccOverride_n
C02677/2 | DINT

POS_bDisableTP

Value of speed override

Percentage multiplier for the current profile parameter "Speed".
Changes are accepted in each cycle.
230 100 % of the speed defined in the profile.
In case of values 1 % the status bit 18 is set.
Values 0 % are set internally to 0 % and let the drive be braked to standstill.
Value for acceleration override
Percentage multiplier for the current profile parameter "Acceleration".
Changes are accepted in each cycle.
230 100 % of the acceleration defined in the profile.
In case of values 1 % the status bit 19 is set.
Values 0 % are set internally to 0 % ("no acceleration").
Deactivating touch probe positioning

C02679/6 | BOOL

TRUE Identified touch probes are ignored. It is not automatically changed

to the TP sequence profile defined in the profile data.

Outputs
Identifier

Value/meaning
DIS code | data type

POS_dnState
C02675 | DINT

Status (bit-coded)
When the basic function is not enabled, all bits are set to "0".
Bits which are not listed are not assigned with a status (always "0").
Bit 1 Positioning is active.
Bit 2 Positioning is completed (all profiles are executed).
Bit 3 Acceleration/deceleration phase is active.
Bit 5 CCW rotation is active.
Bit 6 Set position reached (in case of sequence profiles the drive continues
to travel).
Bit 10 Zero crossing in the positioning mode "modulo".
Bit 15 Error in basic function active (group signal).
Bit 16 Positioning is aborted.
Bit 17 Reversing phase is active.
Bit 18 Speed override 1 %
Bit 19 Acceleration override 1 %
Bit 20 Position is limited by basic function "Limiter".
Bit 21 Profile data are limited by basic function "Limiter".
Bit 22 Direction is inhibited by basic function "Limiter".
Bit 23 Abort by basic function "Limiter".
Bit 24 Home position is not known.
Bit 25 Stopping is active.
Bit 26 Cycle is not known.
Bit 27 Invalid positioning mode.
Bit 28 Invalid change of the positioning mode.
Bit 29 Profile data is not plausible or faulty.
Bit 30 Profile generation error.

Firmware 1.37 - 09/2006

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Basic drive functions
Positioning | System block "LS_Positioner"

Identifier

Value/meaning
DIS code | data type

POS_bEnabled

Status output "Basic function is enabled"

C02679/7 | BOOL

POS_bActive

TRUE Positioning via the control inputs is possible.

The enable input POS_bEnable is set to TRUE and the controller is
in the function state "Positioning active".
Status output "Basic function is active"

C02679/8 | BOOL

POS_bDone

TRUE Positioning is active (the drive axis is moving).

Status output "Basic function is completed"

C02679/9 | BOOL

POS_bInTarget

TRUE Positioning is completed.

The profile is executed and no sequence profile is defined.
Status output "Target position reached"

C02679/10 | BOOL

FALSE Positioning is still active or has been aborted.

TRUE The current position setpoint has reached the target position.

POS_dnSetPos_p
C02678/1 | DINT

POS_dnProfileTarget_p
C02678/2 | DINT

POS_dnProfileSpeed_s
C02676 | DINT

POS_dwActualProfileNumber

Current position setpoint in [increments]

Absolute positioning: point of reference is the home position.
Relative positioning: point of reference is the starting position of the current
profile.
Target position of the current profile in [increments]
Absolute positioning: point of reference is the home position.
Relative positioning: point of reference is the starting position of the current
profile.
Current setpoint speed of the current profile as speed in [rpm]
In consideration of a speed override.
Profile number (1 .... 100) of the current profile

C02674 | DWORD

182

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9400 HighLine | Parameter setting & configuration

Basic drive functions

Position follower

9.7

Position follower
This basic function is used as setpoint interface for position-controlled drives.
r The specified position setpoint can either refer to the encoder on the motor side or to
the (load) encoder used additionally to detect the machine position. The selection of
the encoder configuration serves to adapt the internal control structure accordingly.
r Instead of a position setpoint a speed setpoint can be specified as well by a
corresponding selection in C02680. Then, the set position is calculated by integrating
the speed setpoint based on the current actual position (relative positioning).
r As an option, an internal interpolation of the setpoints can be carried out in order to
specify setpoints with reduced cycle rates without the drive behaviour being unsteady.
The detection of the cycle rate and the synchronisation of the setpoint transfer is
carried out automatically.
r If the direction of rotation of the motor must be inverted due to the mounting position
of the motor or the existing gearbox ratio the use of the control signals can be changed
over accordingly via parameter setting.
r The speed can also be precontrolled with the position setpoint by a corresponding
selection in C02681. Then, the speed is calculated by differentiation of the position
setpoint.

Firmware 1.37 - 09/2006

183

C02527
0

PF_dnTorqueAdd_n

PF_dnAccAdd_x

C00273

C00276

C02550/3

0
0

PF_dnSpeedAdd2_n
FDB_dnActualPos_p

C00273

PF_dnSpeedAdd1_s

i
C02531/3

(1)
Interpolator

C00273

C02556

Interpolator

Firmware 1.37 - 09/2006

Position controller

i
C02531/3

(3)

C00275
MI_dnSpeedSetpoint_n
C00050/1

C02550/1

MI_dnTorqueLimit_n
C02570
C02570
Interpolator

PF_dnPositionSet_p

i
0

C02531/3

(4)

C02680

(6)

(5)

Phase controller
(7)
C00254

Speed controller
C00070 Vp
C00071 Tn
C00072 Td

C00909

(8)

(9)

0 1

C02550/3

C02559
(2)
MI_dnTorqueSetpoint_n
C00776
MI_bTorqueSetpointLimited
MI_bSpeedCtrlLimited

FDB_dnPosOffset_p

MI_dnPosCtrlAdaptMotor_n

MI_dnPosCtrlAdaptLoad_n

MI_bSpeedSetpointLimited

MI_bPosCtrlLimited

MI_bPosCtrlIntegratorOn

MI_bResetSpeedCtrlIntegrator

Actual position value

Encoder evaluation

n...p Signals from Signal flow - encoder evaluation (C 109)

FDB_... = input/output signals of the Encoder evaluation (C 108)
MI_... = input/output signals of the Motor interface (C 64)
[9-1]

See also:

Signal flow - position follower

Signal flow - motor interface (C 95)

System block "LS_MotorInterface" (C 104)

Motor position
Encoder evaluation
C00770

MI_dnSpeedCtrlAdapt_n

Motor speed
Encoder evaluation
C00772

9400 HighLine | Parameter setting & configuration

Signal flow

Basic drive functions

Position follower | Signal flow

184

9.7.1

9400 HighLine | Parameter setting & configuration

Basic drive functions

Positionsfolger | Signalfluss

Internal variables of the motor control (oscilloscope signals)

r The red numbers specified in the signal flow represent internal variables of the motor
control, which can be recorded with the Oscilloscope for diagnostic and documentation
purposes. (C 416)
No.

Variable or the motor control

Meaning

(1)

Torque.dnTotalTorqueAdd

Additive torque precontrol value

(2)

Torque.dnTorqueSetpoint

Torque setpoint

(3)

Position.dnActualLoadPos

Actual position

(4)

Position.dnPositionSetpoint

Position setpoint

(5)

Position.dnActualMotorPos

Current motor position

(6)

Position.dnContouringError

Following error

(7)

Speed.dnOutputPosCtrl

Output signal - phase controller

(8)

Speed.dnSpeedSetpoint

Speed setpoint

(9)

Speed.dnActualMotorSpeed

Current motor speed

Firmware 1.37 - 09/2006

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9400 HighLine | Parameter setting & configuration

Basic drive functions
Position follower | Parameter setting
9.7.2

Parameter setting
r Parameterisation dialog in the Engineer: Tab Application parameter  dialog level
Overview  All basic functions  Position follower
r Short overview of the parameters for the position follower:
Parameters

Information

C00050/1

Speed setpoint 1

C00070

Speed controller gain

C00071

Speed controller reset time

C00072

D component - speed controller

C00273/1

Motor moment of inertia

C00273/2

Load moment of inertia

C00275

Signal source speed setpoint

C00276

Signal source torque setpoint

C00909/1

Upper speed limit value

C00909/2

Lower speed limit value

C02520

Gearbox fact. numer. motor

C02521

Gearbox fact. denom. motor

C02522

Gearbox fact. numer. load

C02523

Gearbox fact. denom. load

C02527

Motor mounting direction

C02550/1

Position setpoint interpolation

C02550/2

Speed setpoint interpolation

C02550/3

Torque setpoint interpolation

C02553

Position controller gain

C02554

Integral-action time of position controller

C02555

D component of position controller

C02559

Internal torque limit

C02680

Source position setpoint

C02681

Source add. speed

Highlighted in grey = display parameter

186

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9400 HighLine | Parameter setting & configuration

Basic drive functions

Position follower | Parameter setting

9.7.2.1

Setpoint interpolation
When the setpoint interpolation is activated, the motor control creates intermediate
values to "smoothly" follow the setpoints which may be transferred from a slower task.
r C02550/1 = "1": The motor control follows the position setpoint in interpolated steps.
r C02550/2 = "1": The motor control follows the speed setpoint in interpolated steps.
r C02550/3 = "1": The motor control follows the torque setpoint in interpolated steps.

9.7.2.2

Inversion of the direction of rotation

Depending on the motor mounting position the direction of rotation can be reversed, if
required:
r C02527 = "0": Clockwise motor positive machine direction.
r C02527 = "1": Counter-clockwise motor positive machine direction.

Firmware 1.37 - 09/2006

187

9400 HighLine | Parameter setting & configuration

Basic drive functions
Position follower | Activating setpoint interface
9.7.3

Activating setpoint interface

Requirements
r The controller is in the device state "Operation".
r The basic function "Position follower" is part of the active application.
r No other basic function is active.
Activation
To request the control via the basic function, the enable input PF_bEnable in the
application must be set to TRUE.
r If no other basic function is active, it is changed to the function state "Position follower
active". Setpoints can now be specified via the corresponding inputs. Signal flow
r A successful change to the function state "Position follower" is displayed by a TRUE
signal at the status output PF_bEnabled.

Stop!
The basic function takes over the control of the drive not from the current speed
on but directly with the defined setpoint which may lead to a jerk!

Deactivation
When the enable input PF_bEnable is reset to FALSE, the setpoint inputs are inhibited. If the
drive is not at standstill, it is braked to standstill within the deceleration time set for stop
unless another basic function takes over the control of the drive.
r The status output PF_bEnabled is reset to FALSE and a changeover from the active
function state "Position follower active" via the function state "Drive is stopped" back
to th basic state "Drive in standstill" is effected.

188

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9400 HighLine | Parameter setting & configuration

Basic drive functions

Position follower | System block "LS_PositionFollower"

9.7.4

System block "LS_PositionFollower"

The LS_PositionFollower system block in the function block editor maps the basic function
"Position follower".
LS_PositionFollower
PF_bEnable

PF_bEnabled

PF_dnPositionSet_p
Position
setpoint

PF_dnSpeedAdd1_s
PF_dnSpeedAdd2_n
PF_dnAccAdd_x

PF_dnTorqueAdd_n

Inputs
Identifier

Information/possible settings
DIS code | data type

PF_bEnable

Requesting control via the basic function

C02689/1 | BOOL

TRUE If no other basic function is active, it is changed to the function state

"Position follower active" and the defined setpoints are accepted.
TRUEFALSE If no other basic function takes over the control of the drive, the drive
is brought to standstill, i. e. a changeover from the active function
state "Position follower active" via the function state "Drive is
stopped" back to the basic state "drive in standstill" is effected.

PF_dnPositionSet_p

Position setpoint in [increments]

C02688/1 | DINT

PF_dnSpeedAdd1_s

Speed precontrol value in [rpm]

C02686 | DINT

PF_dnSpeedAdd2_n
C02687/1 | DINT

PF_dnAccAdd_x
C02685 | DINT

PF_dnTorqueAdd_n
C02687/2 | DINT

Additional speed setpoint in [%]

100 % Motor reference speed (C00011)
Motor acceleration
For calculating the acceleration torque (in case of setting C00276 = "0").
Specified as speed variation/time in [rpm/s]
Additive torque precontrol value in [%]
100 % torque at maximum current (C00057/2).

Outputs
Identifier

Value/meaning
DIS code | data type

PF_bEnabled

Status output "Basic function is enabled"

C02689/2 | BOOL

TRUE The defined setpoints are accepted.

Firmware 1.37 - 09/2006

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9400 HighLine | Parameter setting & configuration

Basic drive functions
Speed follower
9.8

Speed follower
This basic function is used as setpoint interface for speed-controlled drives.
r The motor control is automatically changed over to speed control with torque
limitation.
r As an option, an internal interpolation of the setpoints can be carried out in order to
specify setpoints with reduced cycle rates without the drive behaviour being unsteady.
The detection of the cycle rate and the synchronisation of the setpoint transfer is
carried out automatically.
r If the direction of rotation of the motor must be inverted due to the mounting position
of the motor or the existing gearbox ratio the use of the control signals can be changed
over accordingly via parameter setting.

190

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Basic drive functions

Speed follower | Signal flow

9.8.1

Signal flow
C02527
0

SF_dnTorqueAdd_n

C00273

C00276

C02550/3

SF_dnAccAdd_x

0
1
1

(1)
Interpolator

MI_dnTorqueLimit_n

C00273
C00692

MI_dnSpeedSetpoint_n
C00050/1

C02550/2

(3)

(4)

(5)

Interpolator

C00070 Vp
C00071 Tn
C00072 Td

C02570
0

SF_dnSpeedAdd_s

1
1
2

C02520
C02521
C02522
C02523

C02559

C00909
Speed Controller

SF_dnSpeedSet_n

0 1

Motor speed
Encoder evaluation
C00772

(2)
MI_dnTorqueSetpoint_n
C00776
MI_bTorqueSetpointLimited
MI_bSpeedCtrlLimited
MI_bSpeedSetpointLimited

C00576
C00579

MI_bSpeedFollowingError
MI_dnSpeedCtrlAdapt_n

MI_bResetSpeedCtrlIntegrator
1

p Signal from Signal flow - encoder evaluation (C 109)

MI_... = Input/output signals of the motor interface
[9-2]

Signal flow - speed follower

Internal variables of the motor control (oscilloscope signals)

r The red numbers specified in the signal flow represent internal variables of the motor
control, which can be recorded with the Oscilloscope for diagnostic and documentation
purposes. (C 416)
No.

See also:

Variable or the motor control

Meaning

(1)

Torque.dnTotalTorqueAdd

Additive torque precontrol value

(2)

Torque.dnTorqueSetpoint

Torque setpoint

(3)

Speed.dnTotalSpeedAdd

Additive speed setpoint

(4)

Speed.dnSpeedSetpoint

Speed setpoint

(5)

Speed.dnActualMotorSpeed

Current motor speed

Signal flow - motor interface (C 95)

System block "LS_MotorInterface" (C 104)

Firmware 1.37 - 09/2006

191

9400 HighLine | Parameter setting & configuration

Basic drive functions
Speed follower | Parameter setting
9.8.2

Parameter setting
r Parameterisation dialog in the Engineer: Tab Application parameter  dialog level
Overview  All basic functions  Speed follower
r Short overview of the parameters for the speed follower:
Parameters

Information

C00050/1

Speed setpoint 1

C00070

Speed controller gain

C00071

Speed controller reset time

C00072

D component - speed controller

C00273/1

Motor moment of inertia

C00273/2

Load moment of inertia

C00276

Signal source torque setpoint

C00576

Window - speed monitoring

C00579

React. speed monitoring

C00909/1

Upper speed limit value

C00909/2

Lower speed limit value

C02520

Gearbox fact. numer. motor

C02521

Gearbox fact. denom. motor

C02522

Gearbox fact. numer. load

C02523

Gearbox fact. denom. load

C02527

Motor mounting direction

C02531/3

Resulting gearbox factor - motor/load

C02550/2

Speed setpoint interpolation

C02550/3

Torque setpoint interpolation

C02570

Controller configuration

C02559

Internal torque limit

Highlighted in grey = display parameter

192

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Basic drive functions

Speed follower | Parameter setting

9.8.2.1

Setpoint interpolation
When the setpoint interpolation is activated, the motor control creates intermediate
values to "smoothly" follow the speed and/or torque setpoints which may be transferred
from a slower task.
r C02550/2 = "1": The motor control follows the speed setpoint in interpolated steps.
r C02550/3 = "1": The motor control follows the torque setpoint in interpolated steps.

9.8.2.2

Inversion of the direction of rotation

Depending on the motor mounting position the direction of rotation can be reversed, if
required:
r C02527 = "0": Clockwise motor positive machine direction.
r C02527 = "1": Counter-clockwise motor positive machine direction.

Firmware 1.37 - 09/2006

193

9400 HighLine | Parameter setting & configuration

Basic drive functions
Speed follower | Activating setpoint interface
9.8.3

Activating setpoint interface

Requirements
r The controller is in the device state "Operation".
r The basic function "Speed follower" is part of the active application.
r No other basic function is active.
Activation
To request the control via the basic function, the enable input SF_bEnable in the
application must be set to TRUE.
r If no other basic function is active, it is changed to the function state "Speed follower
active" and the motor control is automatically switched to speed control with torque
limitation. Setpoints can now be defined via the corresponding inputs. Signal flow
r A successful change to the function state "Speed follower active" is displayed by a TRUE
signal at the status output SF_bEnabled.

Stop!
The basic function takes over the control of the drive not from the current speed
on but directly with the defined setpoint which may lead to a jerk!

Deactivation
When the enable input SF_bEnable is reset to FALSE, the setpoint inputs are inhibited. If the
drive is not at standstill, it is braked to standstill within the deceleration time set for stop
unless another basic function takes over the control of the drive.
r The status output SF_bEnabled is reset to FALSE and a changeover from the active
function state "Speed follower active" via the function state "Drive is stopped" back to
th basic state "Drive in standstill" is effected.

194

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9400 HighLine | Parameter setting & configuration

Basic drive functions

Speed follower | System block "LS_SpeedFollower"

9.8.4

System block "LS_SpeedFollower"

The LS_SpeedFollower system block in the function block editor maps the basic function
"Speed follower".
LS_SpeedFollower
SF_bEnabled

SF_bEnable
SF_dnSpeedSet_n

Speed
setpoint

SF_dnSpeedAdd_s
SF_dnAccAdd_x

SF_dnTorqueAdd_n

Inputs
Identifier

Information/possible settings
DIS code | data type

SF_bEnable

Requesting control via the basic function

C02695/1 | BOOL

TRUE If no other basic function is active, it is changed to the function state

"Speed follower active" and the defined setpoints are accepted.
TRUEFALSE If no other basic function takes over the control of the drive, the drive
is brought to standstill, i. e. a changeover from the active function
state "Speed follower active" via the function state "Drive is stopped"
back to the basic state "drive in standstill" is effected.

SF_dnSpeedSet_n
C02694/1 | DINT

SF_dnSpeedAdd_s
C02693 | DINT

SF_dnAccAdd_x
C02692 | DINT

SF_dnTorqueAdd_n
C02694/2 | DINT

Speed setpoint in [%]

100 % Motor reference speed (C00011)
Additive speed setpoint in [rpm]
Without position control function.
Motor acceleration
For calculating the acceleration torque (in case of setting C00276 = "0").
Specified as speed variation/time in [rpm/s]
Additive torque precontrol value in [%]
100 % torque at maximum current (C00057/2).

Outputs
Identifier

Value/meaning
DIS code | data type

SF_bEnabled

Status output "Basic function is enabled"

C02695/2 | BOOL

TRUE The defined setpoints are accepted.

Firmware 1.37 - 09/2006

195

9400 HighLine | Parameter setting & configuration

Basic drive functions
Torque follower
9.9

Torque follower
This basic function is used as setpoint interface for torque-controlled drives.
r The motor control is automatically changed over to torque control with speed
limitation.
r As an option, an internal interpolation of the torque setpoint can be carried out in order
to specify the setpoint with reduced cycle rates without the drive behaviour being
unsteady. The detection of the cycle rate and the synchronisation of the setpoint
transfer is carried out automatically.
r If the direction of rotation of the motor must be inverted due to the mounting position
of the motor or the existing gearbox ratio the use of the control signals can be changed
over accordingly via parameter setting.

9.9.1

Signal flow
C02550/2

C02527
0

TF_dnSpeedHighLimit_n

C00909

C00070 Vp
C00071 Tn
Speed controller 1

Interpolator
(1)

C02550/3
Interpolator

MI_dnTorqueSetpoint_n
C00776
MI_bTorqueSetpointLimited

TF_dnSpeedLowLimit_n

0 1
C02559
LS_MotorInterface
MI_bSpeedSetpointLimited

TF_dnTorqueSet_n

MI_dnTorqueLimit_n

C02550/2
Interpolator

C00909
(2)

Speed controller 2
C00070 Vp
C00071 Tn

MI_dnSpeedCtrlAdapt_n
Motor speed
Encoder evaluation
C00772

p Signal from Signal flow - encoder evaluation (C 109)

MI_... = Input/output signals of the motor interface
[9-3]

Signal flow - torque follower

Internal variables of the motor control (oscilloscope signals)

r The red numbers specified in the signal flow represent internal variables of the motor
control, which can be recorded with the Oscilloscope for diagnostic and documentation
purposes. (C 416)

See also:

196

No.

Variable or the motor control

Meaning

(1)

Speed.dnSpeedSetpoint

Speed setpoint

(2)

Speed.dnActualMotorSpeed

Current motor speed

Signal flow - motor interface (C 95)

System block "LS_MotorInterface" (C 104)

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Basic drive functions

Torque follower | Parameter setting

9.9.2

Parameter setting
r Parameterisation dialog in the Engineer: Tab Application parameter  dialog level
Overview  All basic functions  Torque follower
r Short overview of the parameters for the torque follower:
Parameters

Information

C00050/1

Speed setpoint 1

C00050/2

Speed setpoint 2

C00070

Speed controller gain

C00071

Speed controller reset time

C00909/1

Upper speed limit value

C00909/2

Lower speed limit value

C02527

Motor mounting direction

C02550/2

Speed setpoint interpolation

C02550/3

Torque setpoint interpolation

C02559

Internal torque limit

Highlighted in grey = display parameter

9.9.2.1

Setpoint interpolation
When the setpoint interpolation is activated, the motor control creates intermediate
values to "smoothly" follow the speed and/or torque setpoints which may be transferred
from a slower task.
r C02550/2 = "1": The motor control follows the speed setpoint in interpolated steps.
r C02550/3 = "1": The motor control follows the torque setpoint in interpolated steps.

9.9.2.2

Inversion of the direction of rotation

Depending on the motor mounting position the direction of rotation can be reversed, if
required:
r C02527 = "0": Clockwise motor positive machine direction.
r C02527 = "1": Counter-clockwise motor positive machine direction.

Firmware 1.37 - 09/2006

197

9400 HighLine | Parameter setting & configuration

Basic drive functions
Torque follower | Activating setpoint interface
9.9.3

Activating setpoint interface

Requirements
r The controller is in the device state "Operation".
r The basic function "Torque follower" is part of the active application.
r No other basic function is active.
Activation
To request the control via the basic function, the enable input T F_bEnable in the
application must be set to TRUE.
r If no other basic function is active, it is changed to the function state "Torque follower
active" and the motor control is automatically switched to torque control with speed
limitation. Setpoints can now be defined via the corresponding inputs. Signal flow
r A successful change to the function state "Torque follower active" is displayed by a
TRUE signal at the status output TF_bEnabled.

Stop!
The basic function takes over the control of the drive not from the current speed
on but directly with the defined setpoint which may lead to a jerk!

Deactivation
When the enable input TF_bEnable is reset to FALSE, the setpoint inputs are inhibited. If the
drive is not at standstill, it is braked to standstill within the deceleration time set for stop
unless another basic function takes over the control of the drive.
r The status output TF_bEnabled is reset to FALSE and a changeover from the active
function state "Torque follower active" via the function state "Drive is stopped" back to
th basic state "Drive in standstill" is effected.

198

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Basic drive functions

Torque follower | System block "LS_TorqueFollower"

9.9.4

System block "LS_TorqueFollower"

The LS_TorqueFollower system block in the function block editor maps the basic function
"Torque follower".
LS_TorqueFollower
TF_bEnable

TF_bEnabled

TF_dnTorqueSet_n
TF_dnSpeedHighLimit_n

Torque
setpoint

TF_dnSpeedLowLimit_n

Inputs
Identifier

Information/possible settings
DIS code | data type

TF_bEnable

Requesting control via the basic function

C02699/1 | BOOL

TRUE If no other basic function is active, it is changed to the function state

"Torque follower active" and the defined setpoints are accepted.
TRUEFALSE If no other basic function takes over the control of the drive, the drive
is brought to standstill, i. e. a changeover from the active function
state "Torque follower active" via the function state "Drive is
stopped" back to the basic state "drive in standstill" is effected.

TF_dnTorqueSet_n
C02698/1 | DINT

TF_dnSpeedHighLimit_n
C02698/2 | DINT

TF_dnSpeedLowLimit_n
C02698/3 | DINT

Torque setpoint in [%]

100 % torque at maximum current (C00057/2).
Upper speed limit value in [%] for speed limitation
For positive direction of motion.
100 % Motor reference speed (C00011).
Negative values are limited internally to the value "0".
Lower speed limit value in [%] for speed limitation
For negative direction of motion.
100 % Motor reference speed (C00011).
Positive values are limited internally to the value "0".

Outputs
Identifier

Value/meaning
DIS code | data type

TF_bEnabled

Status output "Basic function is enabled"

C02699/2 | BOOL

TRUE The defined setpoints are accepted.

Firmware 1.37 - 09/2006

199

9400 HighLine | Parameter setting & configuration

Basic drive functions
Limiter
9.10

Limiter
The basic function "Limiter" monitors the travel range limits via limit switches and
parameterised software limit positions and can lead the drive to defined limit ranges when
being asked accordingly by the safety module.

Note!
In order that the basic function "Limiter", after being asked accordingly by the
safety module, can lead the drive to the defined limit ranges before the limits set
for the safety module are reached which stops the drive, the limit values for the
basic function "Limiter" must be set lower than the limit values for the safety
module!

Danger!
The safety is exclusively ensured by the safety module!
When the request for the safety function is cancelled, the drive restarts
automatically.
Ensure by external measures that the drive only starts after a confirmation
(EN 60204).

See also:

200

Safety engineering (C 135)

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Basic drive functions

Limiter | Parameter setting

9.10.1

Parameter setting
r Parameterisation dialog in the Engineer: Tab Application parameter  dialog level
Overview  All basic functions  Limiter
r Short overview of the parameters for the limiter:
Parameters

Information

C02700

Software limit positions are active

C02701/1

Positive software limit position

C02701/2

Negative software limit position

C02702

Limitations effective

C02703

Max. speed

C02704

Max. speed (display in [rpm])

C02705

Max. acceleration

C02706

Min. S-ramp time

C02707

Permissible direction of rotation

C02708/1...4

Limited speed 1 .... 4

C02709/1...4

Limited speed 1 .... 4 (display in [rpm])

C02710/1...4

Delay lim. speed. 1 .... 4

C02711/1...4

S-ramp time lim. speed. 1 .... 4

C02712/1...4

Dec. time lim. speed. 1 .... 4

C02713

Max. path - manual jog

C02714

Max. path - manual jog (display in [increments])

C02715

Active limitation (status display)

C02716/1

Resp. to rotation limitation

C02716/2

Resp. to SW limit pos. excess

C02716/3

Resp. to max. value excess

Highlighted in grey = display parameter

Note!
The safety module has its own parameters.
Relevant to the basic function "Limiter" are the parameters of the safety
modules for setting "Limited direction of rotation", "speed with time limit" and
"Limited increment (position)".
Several other parameters of the safety module, however, do not have another
meaning for the basic function "Limiter", e.g. the parameters for configuring the
inputs of the safety module.

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Limiter | Parameter setting
9.10.1.1

Software limit positions

The software limit positions serve to limit the travel range by means of software and
prevent that travel commands are executed which would cause an exit of the permissible
travel range.

Note!
The software limit positions are only evaluated and monitored if the drive knows
the home position and the software limit positions are active (C02700 = "1").
When the traversing range is limited (C02528 = "1") the software limit
positions are basically monitored with regard to the internal value range that
can be maximally displayed (231 increments) even if the monitoring mode is
deactivated.
In case of the "Modulo" traversing range (C02528 = "2") the software limit
positions are not effective.
The software limit positions are not effective for the basic functions "Speed
follower", "Torque follower" and "Position follower".
When the software limit positions are exceeded, it is only displayed via the
status output LIM_dnState.
If a response is to take place (e.g. "fault" or "quick stop by trouble"), this must
be set accordingly in C02716/2.

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Limiter | Parameter setting

r The positive software limit positions are set in C02701/1 and the negative software
limit positions are set in C02701/2.

C02701/2

C02701/1

n C02701/2: Negative software limit position

o C02701/1: Positive software limit position
p Travel command possible
q Travel command not possible since the target position is outside the permissible traversing range.
[9-4]

Example: Traversing range limitation by software limit position

Note!
When the drive is outside the permissible travel range and the software limit
positions are switched effectively, only those travel commands can be executed
which cause the drive to traverse back into the permissible travel range.

C02701/2

C02701/1

dnState
Bit 4
1

n C02701/2: Negative software limit position

o C02701/1: Positive software limit position
p Traversing in "retracting direction" is possible
q Traversing against the "retracting direction" is not possible
[9-5]

See also:

Example: Permissible traversing direction with effective software limit positions

Manual jog to limit position (C 160)

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Limiter | Parameter setting
9.10.1.2

Hardware limit positions (limit switch)

The travel range limits are monitored via limit switch inputs LIM_bLimitSwitchPositive and
LIM_bLimitSwitchNegative of the SB LS_Limiter.
Both inputs react to the TRUE status and must be connected to the corresponding digital
inputs which are connected with the limit switches.

X5
DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI

LS_DigitalInput

[9-6]

LS_Limiter

DIGIN_bIn3

LIM_bLimitSwitchPositive

DIGIN_bIn4

LIM_bLimitSwitchNegative

Example: Connection of the travel range limit switches to the digital inputs 3 & 4

r If the limit switch is activated, the drive axis is stopped automatically and a changeover
via the function state "Drive is stopped" to the function state "Error" is effected.
r An error is caused via an internal system interface and entered in to the logbook of the
controller. The drive can only be traversed again when the error is acknowledged.
r An activated limit switch can be retracted using the function "Retracting the limit
switch". Retracting of an activated limit switch (C 161)
r When the limit switches are connected to the distributed terminals, both inputs
LIM_bLimitSwitchPositive and LIM_bLimitSwitchNegative of the SB LS_Limiter can be
connected via a bus system (e.g. system bus) with the distributed terminal.

Note!
If digital inputs for connecting the limit switch are to be fail-safe (activation at
LOW level), simply change the terminal polarity of the corresponding digital
inputs in C00114.

See also:

204

Manual jog to limit position (C 160)

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Basic drive functions

Limiter | Parameter setting

9.10.1.3

Limitations
Limit values for the basic functions "Manual jog", "Homing" and "Positioning" can be set via
the following parameters:
Parameters

Information

C02703

Max. speed
Max. permissible speed that can be driven by the system.
This parameter depends, among other things, by the max. motor speed.

C02705

Max. acceleration
Max. permissible acceleration or deceleration for positioning procedures.
This parameter depends, among other things, on the motor torque and moment of
inertia of the entire mechanics which is driven during the positioning process.

C02706

Min. S-ramp time

C02707

Permissible direction of rotation

C02713

Max. path - manual jog

r The parameters depend on the mechanics (e.g. the tool used).

r Usually the parameters must be changed when a tool is exchanged, e.g. by means of a
recipe management of a superimposed control or via an HMI ("Human Machine
Interface").

Note!
In order that the limit values set are effective, "1" must be selected in C02702.
Irrespective of this setting the speed setpoint is basically limited to the motor
reference speed (C00011)!
The limitations are not effective for the basic functions "Speed follower",
"Torque follower" und "Position follower"!
In case of these basic functions only speed and acceleration are monitored.
When the limit values for speed and acceleration are exceeded, the response
parameterised in C02716/3 takes place (Lenze setting: No response).
Background: The setpoint followers in technology applications which are
synchronised via an electrical shaft may not be limited since this may cause
the synchronism to get lost. A possible consequence would be a collision of
tools.

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Limiter | Parameter setting

Response if limit values are exceeded

When the limit values are switched effectively and a set limit value is exceeded, the
following reactions occur:
r The setpoints of the active basic function ("Manual jog", "Homing" or "Positioning") are
changed (limited).
r Via the output LIM_dnState of the SB LS_Limiter a corresponding status is output.
r The display parameter C02714 is set to "1" ("limitation is active").
r The response parameterised in C02716/3 is activated (Lenze setting: "No response").

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Limiter | Parameter setting

9.10.1.4

Limited speed
"Limited speeds" for the basic functions "Manual jog", "Homing" and "Positioning" can be
set via the following parameters:
Parameters

Information

C02708/1...4

Limited speed 1 .... 4

C02710/1...4

Delay lim. speed. 1 .... 4

C02711/1...4

S-ramp time lim. speed. 1 .... 4

C02712/1...4

Dec. time lim. speed. 1 .... 4

Note!
The limited speeds are not effective for the basic functions "Speed follower",
"Torque follower" and Position follower"!

Request "Limited speed"

"Limited speed 1 ... 4" is requested via the input LIM_dwControl of the SB LS_Limiter and
normally through the control word of the safety module.
r If no safety module is available, the control word for the input LIM_dwControl can also
be generated by means of a converter.
r Via the input LIM_bActivateLimitedSpeed1 of the SB LS_Limiter the "Limited speed 1"
can be requested additionally, e.g. via a digital input connected to this input.
Process example: "Manual jog"
1. Manual jog in positive direction is active and the manual speed is higher than the
"Limited speed 1" set.
2. Via the control word of the safety module the "Limited speed 1" is requested.
3. The drive is decelerated to the "Limited speed 1" with the deceleration and S-ramp time
set for the "Limited speed 1".
4. At the same time a corresponding status is output via the output LIM_dnState des
SB LS_Limiter.

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Basic drive functions
Limiter | Control word of the safety module
9.10.2

Control word of the safety module

To provide an easy connection of the safety module to the application the currently valid
safety requirement is transferred to the following interface using a bit-coded control word:
LS_InterfaceSafetyModule
SM_dwControl

[9-7]

LS_Limiter
LIM_dwControl

Interface to connect the safety module to the basic function "Limiter"

r It is also possible to make several requirements at the same time via the control word,
e.g. manual jog with limited increment and limited speed 2.
r If no safety module is connected, the control word can be generated by means of a
converter module.
r The bit coding of the control word is described in the "safety engineering" chapter.
Control word of the safety module SM3xx (C 137)

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Basic drive functions

Limiter | System block "LS_Limiter"

9.10.3

System block "LS_Limiter"

The LS_Limiter system block in the function block editor maps the basic function "Limiter".
LS_Limiter
LIM_dwControl

LIM_dnState

LIM_bLimitationActive

LIM_bLimitSwitchPositive
LIM_bLimitSwitchNegative
LIM_bActivateLimitedSpeed1

Inputs
Identifier

Information/possible settings
DIS code | data type

LIM_dwControl
C02717 | DWORD

LIM_bLimitSwitchPositive
C02719/1 | BOOL

LIM_bLimitSwitchNegative
C02719/2 | BOOL

LIM_bActivateLimitedSpeed1
C02719/3 | BOOL

Interface to the safety module

Connect this input with the output SM_dwControl of the LS_SafetyModule
system block.
System block "LS_SafetyModule" (C 139)
Input for positive travel range limit switch
TRUE Limit switch is activated.
Input for negative travel range limit switch
TRUE Limit switch is activated.
Request limited speed 1
If a setpoint follower is active, no limitation takes place, but an exceeding of the
limit values is displayed via the output LIM_dnState.
TRUE Request limited speed 1.

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Basic drive functions
Limiter | System block "LS_Limiter"
Outputs
Identifier

Value/meaning
DIS code | data type

LIM_dnState
C02718 | DINT

Status word (bit coded)

Bits which are not listed are not assigned with a status (always "0").
Bit 0 Controller inhibit is initiated.
(Safe torque off is requested.)
Bit 1 Quick stop is initiated.
(Safe stop 1 is requested.)
Bit 2 Quick stop is initiated.
(Safe stop 2 is requested.)
Bit 3 Profile change due to speed limitation.
(Limited speed 1 is requested.)
Bit 4 Profile change due to speed limitation.
(Limited speed 2 is requested.)
Bit 5 Profile change due to speed limitation.
(Limited speed 3 is requested.)
Bit 6 Profile change due to speed limitation.
(Limited speed 4 is requested.)
Bit 7 Only positive direction of rotation is permissible.
When the direction of rotation is negative while requesting "Only
positive direction of rotation", the drive is braked to standstill.
Bit 8 Only negative direction of rotation is permissible.
When the direction of rotation is negative while requesting "Only
negative direction of rotation", the drive is braked to standstill.
Bit 10 Increment in manual jog mode is limited.
Bit 12 Limitation of the set position is active.
Bit 16 Positive limit switch inhibits travel in positive direction.
Bit 17 Negative limit switch inhibits travel in positive direction.
Bit 18 Positive software limit position inhibits travel in positive direction.
Bit 19 Negative software limit position inhibits travel in negative direction.
Bit 20 Limitation of speed is active.
Bit 21 Limitation of acceleration is active.
Bit 22 Limitation of deceleration is active.
Bit 23 Limitation of jerk is active (S-ramp time is increased).

LIM_bLimitationActive
C02715 | BOOL

210

Status signal "Limitation is active" (group signal)

TRUE A limitation is active.

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Basic drive functions

Brake control

9.11

Brake control
This basic function is used for wear free control and monitoring of a holding brake which
is connected to the optionally available brake module. As an alternative, the holding brake
can also be controlled and monitored via the digital inputs/outputs.
Intended use
Motor holding brakes are used to stop axes when controller inhibit or pulse inhibit is set.
This is particularly important for unbalanced vertical axes.

Stop!
Basically, holding brakes at Lenze motors are not designed for braking during
operation. The increased wear resulting from braking during operation may lead
to an early destruction of the motor holding brake!

Danger!
Please note that the holding brake is an important element of the safety concept
of the entire machine.
Therefore act with caution when commissioning this part of the system!

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Brake control | Parameter setting
9.11.1

Parameter setting

Danger!
For a faultless function of the automatic brake system the different delay times
must be set correctly in the following parameters!
If the delay times are set incorrectly, a faulty brake control may be caused!

r Parameterisation dialog in the Engineer: Tab Application parameter  dialog level

Overview  All basic functions  Brake control
r Short overview of parameters for brake control:

212

Parameters

Information

C02580

Operating mode - brake

C02581

Brake activation threshold

C02582

Brake resp. to pulse inhibit

C02583

Status input monitoring

C02585

Brake control polarity

C02586

Starting torque 1

C02587

Starting torque 2

C02588

Source of starting torque

C02589

Brake closing time

C02590

Brake opening time

C02591

Waiting time - status monit.

C02593

Waiting time - brake active.

C02594

Test torque

C02595

Permissible angle of rotation

C02596

Grinding speed

C02597

Accel./decel. time - grinding

C02598

Grinding ON time

C02599

Grinding OFF time

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9400 HighLine | Parameter setting & configuration

Basic drive functions

Brake control | Parameter setting

9.11.1.1

Operating mode
Various operating modes are available in C02580 for different applications and tasks:
r Mode 0: Brake control is switched off (C 222)
r Mode 1/11: Direct control of the brake (C 222)
Without using a special logic or automatic, can be used, for instance, to check in a
simple manner if the brake operates correctly.
r Mode 2/12: Automatic control of the brake (C 223)
The common mode for controlling mechanical holding brakes with or without
holding torque precontrol.

9.11.1.2

Signal configuration
The signal configuration of the control and status signals for the brake logic and
monitoring function is executed via the parameters shown in the following signal flow:

BRK_bReleaseBrake

Brake logic

Monitoring

BRK_bBrakeApplied
1

BRK_bReleaseBrakeOut

Feedback

Control
Control

DO4 DO3 DO2 DO1 24O GO

DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI

Digital I/O

Digital I/O
Feedback

M
n C02583: Status input monitoring
o C02585: Brake control polarity (for brake module)
[9-8]

Signal configuration of the control and status signals

Note!
If an electrically holding (self-releasing) brake is to be controlled instead of an
electrically releasing (self-holding) brake, the corresponding control and
status signals must be inverted!
For detailed information about the assembly and electrical installation of the
motor holding brake, please see the documentation for the brake module and
the brake.

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Brake control | Parameter setting
9.11.1.3

Standstill monitoring
After the brake closing time and the waiting time for status monitoring have elapsed, the
standstill monitoring becomes active, i.e. the stop position is memorised and compared
with the permissible angle of rotation set in C02595 (Lenze setting: 5) when the brake is
applied.
Stopping/Standstill
t
CINH

Controller enabled
t

1
BRK_bError

 Normal behaviour
 Error behaviour
n C02591: Waiting time - status monit.
o C02595: Permissible angle of rotation
CINH = controller inhibit
[9-9]

r When the stop position of the motor

axis has changed by more than the
permissible angle of rotation set in
C02595 despite the applied brake:
The controller is enabled again and
the drive is held at standstill with
speed control to prevent a further
rotation/acceleration of the drive.
The error output BRK_bError is set to
TRUE for one task cycle.
The status "position drift when
brake is applied" is displayed at the
status output BRK_dnState via bit 21
for one task cycle.

Automatic monitoring of the holding position

Note!
The standstill monitoring function can be switched off via the setting
C02595 = "0".

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Brake control | Parameter setting

9.11.1.4

Brake activation in automatic operation

Brake activation through N < Nmin
Stopping
t

Standstill
t

r If the motor speed falls below the

threshold for brake activation set in
C02581, the brake is automatically
triggered to close in the automatic
operation (mode 2/12).
r Here, only the absolute value of the
motor speed is considered, the
direction of rotation is disregarded.

BRK_bReleaseBrakeOut
t

 speed setpoint
 actual speed value
n C02581: Brake activation threshold
[9-10] Process of brake activation through N < Nmin

O Tip!
The value at C02581 is to be set to approx. 5 ... 20 % of the maximum speed to
minimise the wear of the brake and provide for an optimum brake response by a
low grinding of the brake.

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Brake control | Parameter setting

Brake activation through time-out

If the waiting time for the brake activation is set > 0 s in C02593, time monitoring is active,
i.e. the brake will be triggered to close not later than after the waiting time has elapsed
even if the actual speed value is above the threshold for brake activation set in C02581.

Note!
In the Lenze setting the time monitoring function is not active (C02593 = "0 s").

Stopping
t

Standstill
t

1
t

BRK_bReleaseBrakeOut

 speed setpoint
 actual speed value
n C02581: Brake activation threshold
o C02593: Waiting time for brake activation

r The lapse of waiting time starts when

the speed setpoint has reached the
threshold for brake activation.
r If the speed setpoint is still above the
threshold after the waiting time has
elapsed:
The brake is automatically triggered
to close in automatic operation
(mode 2/12).
The "brake activation via waiting
time" status is displayed at the
status output BRK_dnState via bit
23.

[9-11] Process of brake activation through time-out

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Basic drive functions

Brake control | Parameter setting

9.11.1.5

Brake time response

Closing and opening time

Danger!
A wrong setting of the closing and opening time can cause a wrong activation of
the brake!
When the closing time is set too low, the controller is inhibited and the drive
gets torqueless before the brake is closed completely.

Stopping/Standstill
t
BRK_bReleaseBrakeOut
t

CINH
t

n C02589: Brake closing time

o C02590: Brake opening time
CINH = controller inhibit

r Every mechanical brake has a

construction-conditioned closing and
opening time which must be
considered by the brake control and
must be set in C02589 and C02590.
r The closing and opening time of a
Lenze holding brake can be found in
the corresponding Operating
Instructions in chapter "Technical
data".
r If the closing and opening time is set
too high, it is not critical with regard to
safety but results in needlessly long
delays in cyclic braking processes.

[9-12] Definition of the closing and opening time of the brake

Motor magnetising time (only for asynchronous motor)

Stopping/Standstill
t
BRK_bReleaseBrakeOut

r In an asynchronous motor the required

magnetic field is created (is already
available in synchronous motors) after
the controller inhibit is deactivated.
r The brake will only be released if the
actual torque has reached 90 % of the
precontrol torque.

CINH
t

n Motor magnetising time

CINH = controller inhibit
[9-13] Consideration of the motor magnetising time

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Basic drive functions
Brake control | Parameter setting

Waiting time for status monitoring

Every time the brake status changes, the waiting time set in C02591 is awaited after the
brake opening or brake closing time has elapsed, before the monitoring of the brake
module/status input BRK_bBrakeApplied (if activated via C02583) and the standstill
monitoring function are switched active again.
r During the "Closing the brake" process, a mechanical contact must signal the status
"brake closed" after the waiting time has elapsed.
r During the "Releasing the brake" process, a mechanical contact must signal the status
"brake released" after the waiting time has elapsed.

r The waiting time in C02591 must be

set so that bouncing of a feedback
contact and the transient response of
the brake current monitoring will be
suppressed completely.

r If there is no appropriate feedback

after the waiting time has expired, the
error output BRK_bError is set to TRUE
until the next control attempt.

Stopping/Standstill
t
BRK_bReleaseBrakeOut

0
1

 Brake status (with bouncing or transient response)

 Active status monitoring
n C02589: Brake closing time
o C02590: Brake opening time
p C02591: Waiting time - status monit.
[9-14] Definition of the waiting time for status monitoring

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Brake control | Parameter setting

9.11.1.6

Torque feedforward control

The motor control serves to precontrol the required torque of the drive when the brake is
released. Here it must be ensured that the position controller is switched off and the speed
setpoint is loaded with the actual value (no additional torque via the P component of the
speed controller).

Note!
The torque is precontrolled for one second. During this time, the actual torque
must have reached 90 % of the set torque, otherwise a fault is tripped!

Via C02588 it is selected whether a parameterised starting torque or the torque

memorised during the last closing operation shall be used for the feedforward control.
Feedforward control with parameterised starting torque
BRK_bStartingTorque2

C02586

C02587

C02588 = 0

Speed controller

S&H

CTRL
1

n C02586: Starting torque 1

o C02587: Starting torque 2
p C02588: Waiting torque source

r When C02588 = 0, a change-over

between two starting torques is
possible via input
BRK_bStartingTorque2:
BRK_bStartingTorque2 = FALSE:
Starting torque 1 (C02586) is used.
BRK_bStartingTorque2 = TRUE:
Starting torque 2 (C02587) is used.

[9-15] Feedforward control with parameterised starting torque

Application example:
A hoist drive is to be operated with different loads. Unfortunately we do not know when
the load is available, but the starting direction (lifting or lowering) is known.
r In a no-load condition, the hoist drive needs a torque of 10 Nm. For holding the
maximum load it needs a torque of 50 Nm.
r The change-over between lifting and lowering at start-up is done via the input
BRK_bStartingTorque2.

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Basic drive functions
Brake control | Parameter setting

r To ensure the correct direction at start-up, the speed controller is loaded with the
following starting torques:
Starting torque:

Lifting

Lowering

C02586 = 50 Nm

C02587 = 10 Nm

r This results in the following behaviour depending on load and direction:

Lifting

Lowering

Behaviour at max. load:

Optimum behaviour

Start-up a bit fast, but correct direction

(non-critical).

Behaviour without load:

Start-up a bit fast, but correct direction

(non-critical).

Optimum behaviour

Feedforward control with memorised torque

C02588 = 1

Speed controller

0
1

S&H

CTRL
1

r When C02588 = 1, the starting torque

is the setpoint which has been
automatically memorised during the
last closing process (falling below the
speed threshold set in C02581).

p C02588: Waiting torque source

[9-16] Feedforward control with parameterised starting torque

Note!
The higher the threshold for brake activation set in C02581, the higher is the
dynamic part in the marked torque (e.g. the speed-dependent friction torque).
In the special case that the load changes when the brake is closed, a correction
value, which is added to the marked torque, can be defined for the torque
precontrol via the input BRK_dnTorqueAdd_n.

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Basic drive functions

Brake control | Parameter setting

Further torque feedforward control options

Speed controller

r An additional precontrol value can be

set via the input BRK_dnTorqueAdd_n.

CTRL
1

BRK_dnTorqueAdd_n

[9-17] Feedforward control with parameterised starting torque

Application example:
The load for a hoist drive is always known. For an optimum behaviour a torque
proportional to the load and 10 Nm in addition as constant precontrol value are to be
loaded in the speed controller.
r The starting torque 1 is used as constant precontrol value (C02586 ="10 Nm",
C02588 = "0" and BRK_bStartingTorque2 = FALSE).
r Via the input BRK_dnTorqueAdd_n the torque is specified proportional to the load.

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Basic drive functions
Brake control | Mode 0: Brake control is switched off
9.11.2

Mode 0: Brake control is switched off

If the mode 0 is selected in C02580, the brake activation is switched off.
r If a brake module is available, it will not be triggered.
r The brake monitoring function is not active.
r If a fault is reported by the brake control, it will be reset.
r The output signals of the system block LS_Brake are reset:
BRK_dnState = 0
BRK_bReleaseBrakeOut = FALSE
BRK_bBrakeReleased = FALSE
BRK_bError = FALSE

Note!
The mode 0 is preset in the Lenze setting to reach a safe status after mains
connection.

9.11.3

Mode 1/11: Direct control of the brake

If the mode 1 or 11 has been selected in C02580, the brake is directly controlled via the
input BRK_bReleaseBrake.

O Tip!
Mode 1/11 can be used to easily check if the brake switches correctly.
r At the same time, the selection of the mode defines the type of brake control:
Mode 1: Direct brake control via brake module.
Mode 11: Direct brake control via a digital output.
r Setting the pulse inhibit or controller inhibit does not influence the output signal.
r After the brake has been activated and the brake closing time has elapsed, the
controller inhibit is set automatically by the basic function "brake control".
r For the operation with the brake module (mode 1) the required polarity for brake
control can be set in C02585.

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Basic drive functions

Brake control | Mode 2/12: Automatic control of the brake

9.11.4

Mode 2/12: Automatic control of the brake

If the mode 2 or 12 is selected in C02580, the brake is controlled automatically, i.e. if
another basic function is activated which causes the drive to traverse, the brake is opened
automatically and the operation is enabled. If the corresponding basic function is
deactivated again, the drive is stopped via the basic function "Standard stop" and the brake
is automatically closed again, if speed setpoint and actual speed value fall below the speed
threshold set in C02581.

O Tip!
The mode 2/12 is the common mode for brake control.
In this mode, the input BRK_bReleaseBrake is to be set permanently to FALSE. If
BRK_bReleaseBrake = TRUE, the brake is permanently released and the automatic
control cannot close the brake.
r At the same time, the selection of the mode defines the type of brake control:
Mode 2: Automatic brake control via brake module.
Mode 12: Automatic brake control via a digital output.
r The brake is also activated automatically if a quick stop is activated in the drive, e.g. via
the basic function "Quick stop" or as a response to a fault.
r After the brake has been activated automatically and the brake closing time has
elapsed, the controller inhibit is set automatically by the basic function "brake control".
r For the operation with the brake module (mode 1) the required polarity for brake
control can be set in C02585.

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Basic drive functions
Brake control | Mode 2/12: Automatic control of the brake
9.11.4.1

Behaviour at pulse inhibit

In case of pulse inhibit the brake is applied. This occurs according to the parameter setting
in C02582 either immediately (default setting) or delayed when the threshold set for brake
activation is fallen below, which can be selected to protect the brake if high centrifugal
masses occur.

Note!
Pulse inhibit can be set in the enabled controller e.g. due to a DC overvoltage
during brake operation by a wrong dimensioning of the brake resistor.

Activate the brake in any case

When setting C02582 = "0", the brake is triggered to close to prevent the mechanics from
being damaged.
Only activate the brake below the threshold set for brake activation
When C02582 = "1", the brake remains released until the threshold set in C02581 for brake
activation has been reached to protect the brake from excessive wear.
r Braking is exclusively executed by the friction of the load mechanics.
r Only when the motor speed has reached the threshold for brake activation, the brake
will be closed.

Stop!
Do not set the threshold for brake activation in C02581 too high to protect the
brake from wear.

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Basic drive functions

Brake control | Mode 2/12: Automatic control of the brake

9.11.4.2

Process when brake is released

The following process occurs when a basic function is requested which causes the drive to
traverse:
1. The controller inhibit is deactivated.
2. A magnetic field is created in the motor required for the holding torque (is already
available in synchronous machines).
3. The precontrol torque is loaded in the speed controller.
4. When the actual torque has reached 90 % of the precontrol torque:
The output BRK_bReleaseBrakeOut is set to TRUE for releasing the brake.
Monitoring of the brake module is deactivated temporarily.
Monitoring of the status input is deactivated temporarily (if switched active via
C02583).
The lapse of brake opening time starts.
5. After the brake opening time has elapsed:
The output BRK_bBrakeReleased is set to TRUE.
The requested basic function is enabled.
6. After the additional waiting time set for the status monitoring in C02591 has elapsed:
Monitoring of the brake module is active again.
Monitoring of the status input is active again (if switched active via C02583).

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Basic drive functions
Brake control | Mode 2/12: Automatic control of the brake
9.11.4.3

Process when brake is closed

The following process occurs if the enable of the requested basic function for traversing
the drive is deactivated again:
1. The drive is braked to standstill via the basic function "Standard stop", or also via the
basic function "Quick stop".
2. When speed setpoint and actual speed value have fallen below the speed threshold set
in C02581:
The output BRK_bReleaseBrakeOut is set to FALSE for opening the brake.
The current torque is saved to be used for the feedforward control for the next start,
if required.
Monitoring of the brake module is deactivated temporarily.
Monitoring of the status input is deactivated temporarily (if switched active via
C02583).
The lapse of brake closing time starts.
3. After the brake closing time has elapsed and the corresponding status change of the
status signal:
The output BRK_bBrakeReleased is reset to FALSE.
The controller inhibit is activated.
4. After the additional waiting time set for the status monitoring in C02591 has elapsed:
Monitoring of the brake module is active again.
Monitoring of the status input is active again (if switched active via C02583).
Standstill monitoring is activated. Standstill monitoring (C 214)

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Basic drive functions

Brake control | Grinding the brake

9.11.5

Grinding the brake

Function only implemented from bundle 1.1!
This function is required if the brake is exchanged. The holding torque listed in the data
sheet is only reached if the friction partners are ground after installation.

Stop!
If this function is activated, the drive is automatically accelerated to the grinding
speed parameterised in C02596.
The axis must move freely without driving against the travel range
limitations.
The maximally permissible friction energy of the brake must not be exceeded
(observe the specifications of the manufacturer)!

1
2
W total [ J ] M K [ Nm ] ------ N [ min ] t total [ s ]
60
[9-18] Formula for estimating the friction energy during grinding process

Requirements
To activate the grinding of the brake, the following conditions must be fulfilled:
r The grinding speed in C02596 is set higher than 0 rpm.
r The brake is activated, i.e. the "brake closing time" (C02589) and the "waiting time for
status monitoring" (C02591) are elapsed.
r No other source for controller inhibit is active so that the controller inhibit can be
deactivated by the brake control.

Note!
When grinding the brake it must be ensured that the motor shaft can be kept at
speed against the closed brake.
For this purpose, make sure that the maximum torque of the motor control
(C00057/2) is higher than the holding torque of the brake.

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Basic drive functions
Brake control | Grinding the brake
Sequence
When all conditions mentioned are fulfilled, the grinding process can be started by setting
the input BRK_bBrakeGrindIn to TRUE.
BRK_bBrakeGrindIn
t
CINH
t

10 x

r After the grinding speed has been

reached, the friction partners in the
brake are ground by a pulse-type
control.
r After the brake has been closed and
opened ten times, the direction of
rotation changes and grinding in the
opposite direction is carried out.
r By resetting the input
BRK_bBrakeGrindIn to FALSE the
grinding process can be aborted.

10 x
t

n C02596: Grinding speed

o C02597: Acc./dec. time - grinding
p C02598: Grinding ON time
q C02599: Grinding OFF time
CINH = controller inhibit
[9-19] Sequence of the grinding operation

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Basic drive functions

Brake control | Carry out brake test

9.11.6

Carry out brake test

Function only implemented from bundle 1.1!
This function can be used to check the holding torque of the brake.

O Tip!
You can carry out this test regularly to early detect defects or wear of the brake in
good time.

Note!
Due to possible deviations in the torque generation, the test of the holding
torque cannot determine the holding torque exactly!
The generated motor torque can deviate up to 15 % from the default value
depending on temperature.

Requirements
To activate the brake test, the following conditions must be fulfilled:
r The test torque in C02594 is set higher than 0 Nm.
r The permissible angle of rotation in C02595 is set higher than 0 and thus standstill
monitoring is active. Standstill monitoring (C 214)
r The brake is activated, i.e. the "brake closing time" (C02589) and the "waiting time for
status monitoring" (C02591) are elapsed.
r No other source for controller inhibit is active so that the controller inhibit can be
deactivated by the brake control.

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Basic drive functions
Brake control | Carry out brake test
Sequence
When all conditions mentioned are fulfilled, the brake test can be started by setting the
input BRK_bBrakeTest to TRUE.
BRK_bBrakeTest
t
CINH
t

r By resetting the input BRK_bBrakeTest

to FALSE the brake test can be aborted.

1
1s

max. 4 s

r The specified test torque is created via

a ramp generator with an acceleration
time of 1 s and held max. 4 s.
By this it is tried to rotate the motor
shaft while the brake is applied.

BRK_bError
t

 Normal behaviour
 Error behaviour
n C02594: Test torque
o C02595: Permissible angle of rotation
CINH = controller inhibit
[9-20] Sequence of the brake test

Error behaviour
r When the stop position of the motor axis has changed during the brake test by more
than the permissible angle of rotation set in C02595 despite the applied brake:
The brake test is aborted immediately and the controller is inhibited.
The status "position drift when brake is applied" is displayed at the status output
BRK_dnState via bit 21 and the status "brake error" is displayed via bit 15.
The output BRK_bError is set to TRUE.
r By resetting the input BRK_bBrakeTest to FALSE an error can be reset automatically.

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Basic drive functions

Brake control | System block "LS_Brake"

9.11.7

System block "LS_Brake"

The LS_Brake system block in the function block editor maps the basic function "brake
control".
LS_Brake
BRK_bReleaseBrake

BRK_dnState

BRK_bStartingTorque2

BRK_bReleaseBrakeOut

BRK_dnTorqueAdd_n

BRK_bBrakeReleased

BRK_bBrakeApplied

BRK_bError
BRK_bCInhActive

BRK_bBrakeTest
BRK_bBrakeGrindIn

Inputs
Identifier

Information/possible settings
DIS code | data type

BRK_bReleaseBrake
C02609/1 | BOOL

Opening/closing the brake in connection with the selected operating mode

FALSE Close the brake.
In automatic operation the internal brake logic takes over the
brake control.
TRUE Release brake.
In automatic operation the internal brake logic is deactivated and
the brake is opened. If the controller is inhibited by the brake
control, it will be deactivated again.

BRK_bStartingTorque2
C02609/2 | BOOL

Selection of the torque feedforward control value

For the general use of the parameterisable starting torque as precontrol value,
set C02588 = 0.
Torque feedforward control (C 219)
FALSE Starting torque 1 (C02586) is active.
TRUE Starting torque 2 (C02587) is active.

BRK_dnTorqueAdd_n
C02608 | DINT

BRK_bBrakeApplied
C02609/3 | BOOL

Additive torque value in [%] for torque feedforward control during start
100 % C00057/2
Torque feedforward control (C 219)
Input for status detection via switching contact at the brake
Activation of the input by setting C02583 = 1.
Signal configuration (C 213)
FALSE Status "Brake is released".
TRUE Status "Brake is applied".

BRK_bBrakeTest
C02609/4 | BOOL

Start/abort of the brake test

Carry out brake test (C 229)
TRUE Carry out brake check.
TRUEFALSE Abort brake test (deactivate mode).

BRK_bBrakeGrindIn
C02609/5 | BOOL

Start/abort of the brake grinding process

Grinding the brake (C 227)
TRUE Brake grinding.
TRUEFALSE Abort grinding process (deactivate mode).

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Basic drive functions
Brake control | System block "LS_Brake"
Outputs
Identifier

Value/meaning
DIS code | data type

BRK_dnState
C02607 | BOOL

Status (bit-coded)
Bits which are not listed are not assigned with a status (always "0").
Bit 1 Brake control is active.
Bit 4 Brake module is used.
Bit 8 Brake status (internal status signal).
Bit 9 Torque feedforward control is active.
Bit 10 Controller inhibit is active or set by brake.
Bit 15 Error is active (collective message).
Bit 16 Status "Brake grinding-in".
Bit 17 Status "Brake test".
Bit 18 Status "Direct control".
Bit 19 Status "Automatic control".
Bit 20 Error: External feedback.
Bit 21 Error: Position drift when brake is applied/checked.
Bit 22 Error: Brake module monitoring.
Bit 23 Information: Brake activation via waiting time.
Bit 24 Information: Brake grinding-in is completed.
Bit 25 Information: Brake test completed.
Bit 26 Error: precontrol torque could not be created within one second.

BRK_bReleaseBrakeOut
C02609/6 | BOOL

Control signal for triggering an external brake/status signal for control state
FALSE Close the brake.
TRUE Release brake.

BRK_bBrakeReleased
C02609/7 | BOOL

Status signal of the brake control considering the closing and opening time of the
brake
FALSE Brake is applied (after the brake closing time has elapsed).
TRUE Brake is released (after the brake opening time has elapsed).

BRK_bError

Status signal "Brake error"

C02609/8 | BOOL

BRK_bCInhActive
C02609/9 | BOOL

232

TRUE An error has been detected.

Status signal "Controller inhibit"
TRUE Controller inhibit has been set by brake control.

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9400 HighLine | Parameter setting & configuration

Technology applications (TAs)

Overview

10

Technology applications (TAs)

Technology applications are block applications with parameter setting interface prepared
by Lenze which form the basis of solving typical applications.
Delivery
The technology applications available for the 9400 Servo Drives can be selected in the
Engineer from the application catalog.
Commissioning
Commissioning is carried out D with the Engineer by selection from the catalogue,
transmission to the controller, and parameter setting via corresponding dialogs.
Commissioning using the Engineer (C 235)
Licensing
Technology applications require a runtime software license which is determined by the
plugged memory module and is higher or equal to the required license.

MM

License

Controller

Motion Control StateLevel

9400 StateLine

Motion Control HighLevel

9400 HighLine

Motion Control TopLevel

9400 HighLine

PLC

9400 HighLine

[10-1] Indication of the runtime software license in the designation of the memory module

10.1

Overview
Technology application/application ranges

Required license/delivery

TA "Actuator speed" (C 244)

General servo drive for speed control of:
Conveyor drives (connected in one system)
Extruder
Test benches
Vibrators
Travelling drives
Presses
Machine tools
Dosing machines
Actuating drives for master control
Positioning drives with external position control
Multi-axis systems with external path control

Firmware 1.37 - 09/2006

Available in every license stage.

The technology application can be
selected in the Engineer
application catalog.

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Technology applications (TAs)
Overview

Technology application/application ranges

Required license/delivery

TA "Actuator torque" (C 265)

Slave drives for material transport
Chain conveyors
S-shaped frame structure
Bilateral tandem drives
Test facilities
Test benches for tensile stress
Motor test benches
Brake assemblies
Support of higher-level technology solutions for e.g.
traction-controlled winders

Available in every license stage.

The technology application can be
selected in the Engineer
application catalog.

TA "Electronic gearbox" (C 297)

Slitters
Calender drives
Line drives
Conveying belts
Vibrators
Roller mills
Stretching machines
Wire drawing machines

License stage Motion Control

HighLevel or higher required.
The technology application can be
selected in the Engineer
application catalog.

TA "Synchronism with mark synchronisation" (C 332)

Printing units
Asynchronous cross cutters
Perforating machines
Insetters
Vibrating drives
Line drives
Labelling machines

License stage Motion Control

HighLevel or higher required.
The technology application can be
selected in the Engineer
application catalog.

TA "Multi-purpose positioning" (C 371)

Note: In this TA the sequence control is carried out through the controller.

Transport units
Rotary tables
Storage and retrieval units
Feed drives
Dosing machines
Hoists

License stage Motion Control

TopLevel or higher required.
The technology application can be
selected in the Engineer
application catalog.

TA "Table positioning" (C 411)

Note: This TA requires an external sequence control.

234

Transport units
Rotary tables
Storage and retrieval units
Feed drives
Dosing machines
Hoists

Firmware 1.37 - 09/2006

Available in every license stage.

The technology application can be
selected in the Engineer
application catalog.

9400 HighLine | Parameter setting & configuration

Technology applications (TAs)

Commissioning using the Engineer

10.2

Commissioning using the Engineer

Basic procedure
1. Start Engineer.
2. Open available project or create a new project.
3. Assign each controller to a technology application

from the catalogue.

4. For a project with several interconnected devices:

Insert network
and machine application .
Make suitable network settings.
Specialise the predefined ports to concrete interfaces for the devices involved in the
network on the Ports tab.
Interconnect the ports conveniently inside the machine application.
5. Parameterise the application(s).
6.

Update devices.

7.

Go online.

8.

Download application(s) into the controller(s).

Note!
The downloaded application is basically stored in the first application memory
location of the controller.

9. Confirm

Dialog box Start application with Yes, all devices.

10. Confirm

Dialog box Enable controller with Yes, all devices.

11. Control application(s) via terminals or network.

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Technology applications (TAs)
Commissioning using the Engineer
10.2.1

Parameterise application
In the Engineer all required settings for the technology application can be made via the
Application parameter tab which contains several levels of parameter dialogs.
r The top level Overview includes all parameters required to carry out a short setup.
The left half of all technology applications is nearly identical and serves to set mains,
motor and gearboxes and the basic functions supported by the technology
application.
The right half, however, depends on the technology application selected.

n Mains voltage
o Basic functions
p Motor/feedback system
q Gearbox
r Technology application
[10-2] Example: Parameter setting dialog in the Engineer for a technology application

r If you click on one of the pictographs marked with the symbol

deeper in the corresponding parameter dialog.

, you get one level

r This parameter dialog can also have further subordinate parameter dialogs, depending
on the complexity.

O Tip!
The online documentation for the Engineer contains detailed information on
how to work in the Application parameter tab.

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Technology applications (TAs)

Commissioning using the Engineer

10.2.2

Parameterise signal combinations

In order to easily change existing signal combinations between the device interfaces and
the application inputs and outputs, parameterisable "multiplexers" are implemented in all
technology applications.
r From a number of signal sources, each multiplexer combines exactly one with a signal
target of the same data type ("combinatorial circuit").
r The signal source is selected by setting the "multiplexer parameter" that is firmly
assigned to the signal target. Each multiplexer parameter always offers a selection of
sensible signal sources only.
r Thus, signal combinations can also be changed (e.g. the assignment of the digital
inputs and outputs) with the keypad only.

Note!
When you enable the function block editor in the Engineer on the FB editor
tab, all multiplexers are removed from the interconnection and the currently set
signal combinations are replaced by fixed signal combinations!
This process is irreversible!

O Tip!
The multiplexer parameters are marked by a prefixed "X" in the name and listed in
the chapter of the corresponding technology application.
Several options are available for changing the signal combinations which are
described in the following sections.

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Technology applications (TAs)
Commissioning using the Engineer

Changing signal combinations via the parameters setting interface

On the Application parameter tab all parameterisable signal combinations are marked by
white buttons.

r If you press one of such buttons, the I/O configuration for... dialog level is displayed via
which another signal source can be selected.
Changing signal combinations in the function block editor
In the function block editor parameterisable signal combinations are marked by the
background colour Cyan.
r If the command Set multiplexer is selected from the context menu (right mouse
button) for the signal source, all multiplexer parameters available are displayed in a
parameter list and can also be changed here:

Changing signal combinations via the parameter list

If you go to the All parameters tab and select the subcategory Multiplexer as technology
application, all multiplexer parameters available are displayed in the parameter list and
can also be changed here:

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Technology applications (TAs)

Commissioning using the Engineer

10.2.3

Configure application
The interconnection of the technology application defined by Lenze is indicated on the FBEditor tab.
r The current values at the inputs and outputs are indicated in the online mode.
r If you click the Activate editor button, the defined interconnection can be changed.

Note!
The activation of the function block editor causes the parameter dialogs for the
technology application to be replaced by general dialogs. The dialogs for
parameter setting of the system and function blocks available in the
interconnection can continue to be used.
Moreover all multiplexers are removed from the interconnection and the
currently set signal combinations are replaced by configurable signal
combinations.

[10-3] Example: Representation of the interconnection of the technology application in the function block editor

O Tip!
The online documentation for the Engineer contains detailed information on
how to use the function block editor.

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Technology applications (TAs)
Commissioning using the Engineer
10.2.4

Networking via standardised ports

For the implementation of different control concepts each technology application has
predefined ports:
Input ports

Output ports

Use

LPortAxisIn1

LPortAxisOut1

For the connection of several axes ("horizontal communication")

LPortControl1

LPortStatus1

For the connection with a master control ("vertical communication")

LPortControl2

LPortStatus2

LPort32In1

LPort32Out1

LPort32In2

LPort32Out2

LPort32In3

LPort32Out3

LPort16In1

LPort16Out1

LPort16In2

LPort16Out2

LPort16In3

LPort16Out3

For additional 32 bit process signals

For additional 16 bit process signals

Note!
The TA variants for the 9400 HighLine have the ports predefined with the
"automatic" interface.
After the addition of a network and interconnection of the ports inside the
machine applications the "automatic" interface is specified according to the bus
system used during the device update.
For commissioning of the communication the Engineer is required.

O Tip!
The exact assignment of the ports can be found in the description of the
technology application.

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Standard TAs

11

Standard TAs
The technology applications described in this chapter are available for general drive tasks.
Technology application/application ranges

Required license/delivery

TA "Actuator speed" (C 244)

General servo drive for speed control of:
Conveyor drives (connected in one system)
Extruders
Test benches
Vibrators
Travelling drives
Presses
Machine tools
Dosing machines
Actuators for master control
Positioning drives with external position control
Multi-axis systems with external path control

Available in every license stage.

The technology application can be
selected in the Engineer
application catalog.

TA "Actuator torque" (C 265)

Slave drives for material transport
Chain conveyors
S-shaped frame structure
Bilateral tandem drives
Test facilities
Test benches for tensile stress
Motor test benches
Brake assemblies
Support of higher-level technology solutions for e.g.
traction-controlled winders

Firmware 1.37 - 09/2006

Available in every license stage.

The technology application can be
selected in the Engineer
application catalog.

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Standard TAs
Introduction
11.1

Introduction

11.1.1

Application examples
Dosing drives
r Both dosing drives are operated in speed-controlled mode and determine the mix ratio
with their speed:
n Mains
o System bus (CAN)
p Drive 1 with TA "actuator speed"
q Drive 2 with TA "actuator speed"

i = gearbox factor
n = Load reference speed in [rpm]
v = Reference speed in [m/s]
d = roll diameter in [m]

i1
v1

i2

n1

n2

d1

v2
d2

[11-1] Example: Dosing drives with adjustable mix ratio v1/v2

r Technical connections/machine parameters:

Motor reference speed [min-1]
Load reference speed [min-1] = ------------------------------------------------------------------------------Gearbox factor

Parameters

Information

C00011

Motor reference speed

C02520

Gearbox fact. numer. motor

C02521

Gearbox fact. denom. motor

C02542

Load reference speed

Highlighted in grey = display parameter

Roll diameter [m] Load reference speed [min-1]

Reference speed [m/s] = ------------------------------------------------------------------------------------------------------------------------------------60

Parameters

Information

C02524

Feed constant  roll diameter in [m] *

C02525

Selection of the unit  [m]

Highlighted in grey = display parameter

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Standard TAs
Introduction

Conveyor drive with adjustable tension

Slave

Master

i1

d1

i2

d2

n Master
o Slave with technology application "actuator torque"
p System bus (CAN)
v = speed of the material path
F = tensile stress
[11-2] Example: Conveyor drive with adjustable tension

r The master drive is operated speed-controlled and determines the speed of the
material path.
r The slave drive with the standard technology application "actuator torque" ensures
that a certain minimum tensile stress is complied with between master and slave drive.
When torque-controlled, the slave drive is permanently able to follow the speed
specified by the master drive.

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Standard TAs
TA "Actuator speed"
11.2

TA "Actuator speed"
The technology application "actuator speed" enables the drive to create a speed to be
defined. The speed setpoint can be complied with using a speed controller which adopts
the motor torque to the prevailing load situation.
r The speed setpoint of the drive can be specified for both directions. The driven machine
parts accordingly moves forwards or backwards. As an alternative to the inversion of
the setpoint, the change of the direction of movement can be done via the digital input
DI3.
r After the speed-controlled operation is enabled via the digital input DI2 the
acceleration/deceleration of the drive to the setpoint is controlled via a ramp generator
based on the current setpoint/actual speed.
r The maximum torque of the drive can also be controlled, if required.
Basic drive functions
r A quick stop can be activated via the digital input DI1.
Quick stop (C 257)
r A manual control is provided for the setting-up operation. It is enabled via the digital
input DI6. The inputs DI7 and DI8 activate parameterisable setpoints for both
directions of rotation. Manual jog (C 256)
r The basic function "limiter" enables the travel range to be monitored via limit switches.
Limiter (C 258)
r When a brake is available the brake control opens and closes the brake.

Brake control

(C 259)

See also:

244

Basic drive functions (C 140)

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9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Basic signal flow

11.2.1

Basic signal flow

Speed setpoint

Basic drive functions

DI1

Gain

LS_Quickstop
n

LS_Stop
n

STOP

LS_Brake

internal
status machine

AIN1

DI4

DI3

Selection

Invert setpoint

DI2

Ramp generator

OUT

DI6

15

%
%

Status
machine
(basic drive
functions)

M
LS_ManualJog

LS_Limiter

DI7
DI8

LS_Speed...

Fixed setpoints
1
2

Speed
setpoint

IN

n
t

[11-3] Signal flow of the TA "Actuator speed" (schematic diagram)

Speed setpoint conditioning

 Setpoint gain
 Selection of analog input/fixed setpoints
 Setpoint inversion
 Ramp generator
Basic drive functions
 Speed follower
 Manual jog
 Quick stop
 Stop
Brake control (optional)
! Limiter (optional)

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Standard TAs
TA "Actuator speed" | Assignment of the I/O terminals
11.2.2

Assignment of the I/O terminals

11.2.2.1

Setpoint and control signals

The following tables contain the Lenze assignment of the analog and digital inputs for the
technology application "actuator speed".
Analog inputs

A2- A2+ A1R A1- A1- A1+

Terminal X3

Signal (Lenze setting)

AI1AI1+

Speed setpoint
Speed setpoint conditioning (C 250)

AI2AI2+

I/O terminals

Analog inputs (C 117)

Digital inputs

DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI

Terminal X5

Signal (Lenze setting)

DI1

Quick stop
If DI1 is set to LOW level, the drive is decelerated to standstill within the deceleration
time set for the quick stop function independent of the setpoint selection.
If the quick stop function is deactivated, the drive is led to the selected setpoint again via
the set acceleration time.
Quick stop (C 257)

DI2

Enable speed follower

Speed follower (C 255)

DI3

Invert speed setpoint

Setpoint inversion (C 252)

DI4

Activate fixed setpoint 1

Instead of the selection via the analog input 1 the fixed setpoint 1 is used as speed
setpoint.
Change-over to fixed setpoint (C 251)

DI5

Reset error
By means of a LOW-HIGH edge an existing error status can be reset if the cause of the
fault is removed.

DI6

Manual jog
Manual jog (C 256)

I/O terminals

246

DI7

DI8

Function

LOW

LOW

Stop

HIGH

LOW

Manual control in positive direction

LOW

HIGH

Manual control in negative direction

HIGH

HIGH

- (previous state remains active)

Digital inputs (C 123)

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Assignment of the I/O terminals

11.2.2.2

Actual value and status signals

The following tables contain the Lenze assignment of the analog and digital outputs for
the technology application "actuator speed".
r The default signal configuration if required can be easily changed by parameterising
the multiplexer parameters assigned.
Analog outputs

AO2 AO1 GA

Terminal X3

Signal (Lenze setting)

Signal configuration

AO1

Motor speed
Scaling: 10 V motor reference speed (C00011)

C03110/1

AO2

Motor torque (setpoint)

Scaling: 10 V Motor reference torque (C00057/2)

C03110/2

I/O terminals

Analog outputs (C 120)

Digital outputs

DO4 DO3 DO2 DO1 24O GO

Terminal X4

Signal (Lenze setting)

Signal configuration

DO1

Status "Drive ready"

This operating state is active if the controller is enabled by setting
the digital input RFR to HIGH level and no error has occurred.

C03100/1

DO2

Status "Speed follower enabled"

The speed follower has been enabled via the digital input DI2.

C03100/2

DO3

Status "Speed follower in limitation"

The enabled speed follower is in the limitation for more than
100 ms.
The setpoint is limited to the upper or lower speed limit value
(C00909/1 or C00909/2) .

C03100/3

DO4

Status "Error active acknowledgement is required"

Monitoring with the error response "Error" or "Quick stop by
trouble" has been activated, and the controller is in the device
state "Error active" or "Quick stop by trouble active".

C03100/4

I/O terminals

Digital outputs (C 125)

State bus

SB 24E GE

Terminal X2

Signal (Lenze setting)

SB

I/O terminals

Status "Speed follower in limitation"

The enabled speed follower is in the limitation for more than
100 ms.
The setpoint is limited to the upper or lower speed limit value
(C00909/1 or C00909/2) .
The state bus is put in the "error" status.

Signal configuration
C03100/5

Monitoring function "State bus" (C 127)

Firmware 1.37 - 09/2006

247

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Assignment of the I/O terminals
Display elements
User LED

Signal (Lenze setting)

Status "Speed follower enabled"
The speed follower has been enabled via the digital input DI2.

Drive interface

248

Signal configuration
C03100/6

LED status displays (C 34)

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Machine parameters

11.2.3

Machine parameters
The machine parameters describe e.g. the motor end of the mechanics
used.

The setting of the machine parameters in the Engineer is carried out on

the Application parameters tab in the dialog level Overview  Drive
interface .

O Tip!
In the Engineer the most important machine parameters can be adapted to the
machine on the Application parameter tab directly in the topmost Overview dialog
level:
Detailed information for selecting and entering the machine parameters can be
found in the chapter "Drive interface". Machine parameters (C 35)

Short overview of machine parameters

Parameters

Lenze setting
Value Unit

C00173

Mains - voltage

400/415 V

C00174

Threshold undervoltage (LU)

C00600

Resp. to DC bus overvoltage

C02520

Gearbox fact. numer. motor

C02521

Gearbox fact. denom. motor

C02527

Motor mounting direction

C02570

Controller configuration

C02522

Gearbox fact. numer. load

C02523

Gearbox fact. denom. load

285 V
Trouble
1
1
Motor rotating CW
Phase control

Description of the mechanics (load, tool)

C02528

Traversing range

C02524

Feed constant

C02525

Unit

C02526

User-defined unit

C02533

Time unit

C00273/1

Motor moment of inertia

C00273/2

Load moment of inertia

Unlimited
360.0000 Unit

Firmware 1.37 - 09/2006

Motor-dependent kg cm2
0.00 kg cm2

249

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Speed setpoint conditioning
11.2.4

Speed setpoint conditioning

Speed setpoint
DI4

Gain

Selection

DI3

Invert setpoint

Ramp generator DI2

IN

AIN1
OUT

LS_Speed...
Speed
setpoint

Status
machine
(basic drive
functions)

Fixed setpoints
1
2

%
%

15

[11-4] Speed setpoint conditioning (schematic diagram)

The speed setpoint is defined in the Lenze setting via the analog input 1 and take place in
both directions (bipolar) and accordingly the driven machine part moves forward or
backward.
r Parameter setting: Tab Application parameter  Dialog level Overview
Parameters

Lenze setting
Value Unit

C03002

Setpoint gain

100.00 %

Setpoint inputs of the function

Lenze setting

Signal configuration

Setpoint input

(Multiplexer parameters)

AIn 1  Speed setpoint

250

C03000

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Speed setpoint conditioning

11.2.4.1

Change-over to fixed setpoint

Speed setpoint
DI4

Gain

Selection

DI3

Invert setpoint

Ramp generator DI2

IN

AIN1
OUT

LS_Speed...
Speed
setpoint

Status
machine
(basic drive
functions)

Fixed setpoints
1
2

%
%

15

[11-5] Additional offset for the speed limit value (schematic diagram)

Via the digital input DI4 a change-over to a parameterisable fixed setpoint can take place.
r Parameter setting: Tab Application parameter  Dialog level Overview
Parameters

Lenze setting
Value Unit

C03500/1

Fixed setpoint 1

10.00 %

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

DigIn 4  Activate fixed setpoint 1

C03009/4

Use of further fixed setpoints

A total of 15 different fixed setpoints can be parameterised. For the selection of the fixed
setpoints 2 ... 15 the selection inputs are to be assigned with the corresponding signals.
The selection of the fixed setpoints is carried out in a binary coded manner.
r Parameter setting: Tab Application parameter  Dialog level Overview  Ramp
generator  All fixed setpoints
Parameters

Lenze setting
Value Unit

C03500/1

Fixed setpoint 1

10.00 %

C03500/2

Fixed setpoint 2

0.00 %

C03500/...

Fixed setpoint ...

C03500/15

Fixed setpoint 15

... ...
0.00 %

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

DigIn 4  Activate fixed setpoint 1

C03009/4

FALSE  Activate fixed setpoint 2

C03009/5

FALSE  Activate fixed setpoint 4 a

C03009/6

FALSE  Activate fixed setpoint 8 a

C03009/7

Firmware 1.37 - 09/2006

251

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Speed setpoint conditioning
11.2.4.2

Setpoint inversion
Speed setpoint
DI4

Gain

Selection

DI3

Invert setpoint

Ramp generator DI2

IN

AIN1
OUT

LS_Speed...
Speed
setpoint

Status
machine
(basic drive
functions)

Fixed setpoints
1
2

%
%

15

[11-6] Setpoint inversion (schematic diagram)

Via the digital input DI3 the effective direction of the (bipolar) setpoint can be inverted, if
required.
r Parameter setting: Application parameter tab dialog level Overview  Ramp
generator
Control inputs of the function
Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

DigIn 3  Invert direction of rotation

252

Firmware 1.37 - 09/2006

C03009/1

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Speed setpoint conditioning

11.2.4.3

Speed ramp generator

Speed setpoint
DI4

Gain

Selection

DI3

Invert setpoint

Ramp generator DI2

IN

AIN1
OUT

LS_Speed...
Speed
setpoint

Status
machine
(basic drive
functions)

Fixed setpoints
1
2

%
%

15

[11-7] Ramp generator (schematic diagram)

In order to avoid setpoint step-changes the speed setpoint passes a ramp generator with a
parameterisable acceleration/deceleration and S-ramp time before it is transmitted to the
basic drive function "Speed follower".
r Parameter setting: Tab Application parameter  Dialog level Overview
Parameters

Lenze setting
Value Unit

C03502

Basic acceleration time

1.000 s

C03503

Basic deceleration time

1.000 s

C03504

Basic S-ramp time

C03510

Profile mode

0.100 s
Linear ramps

Firmware 1.37 - 09/2006

253

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Speed setpoint conditioning
Use of further ramp parameter sets
If required, 15 further ramp parameter sets can be parameterised. For the selection of the
ramp parameter sets1 ... 15 the selection inputs are to be assigned with the corresponding
signals. The selection of the ramp parameter sets is carried out in a binary coded manner.
r Parameter setting: TabApplication parameter W Dialog level Overview W Ramp
generator W All ramp parameters
Parameters

Lenze setting
Value Unit

C03512/1

Acceleration time 1

0.000 s

C03512/...

Acceleration time ...

... ...

C03512/15

Acceleration time 15

0.000 s

C03513/1

Deceleration time 1

0.000 s

C03513/...

Deceleration time ...

... ...

C03513/15

Deceleration time 15

0.000 s

C03514/1

S-ramp time 1

0.000 s

C03514/...

S-ramp time

C03514/15

S-ramp time 15

... ...
0.000 s

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

FALSE  Activate ramp parameter set 1

254

C03009/8

FALSE  Activate ramp parameter set 2

C03009/9

FALSE  Activate ramp parameter set 4

C03009/10

FALSE  Activate ramp parameter set 8 a

C03009/11

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Speed follower

11.2.5

Speed follower
Speed setpoint

Basic drive functions

DI1

Gain

LS_Quickstop
n

LS_Stop
n

STOP

LS_Brake

internal
status machine

AIN1
t

DI4

DI3

Selection

Invert setpoint

DI2

Ramp generator

LS_Speed...

OUT

DI6

Fixed setpoints

15

%
%

Status
machine
(basic drive
functions)

Speed
setpoint

IN

1
2

LS_ManualJog

DI7
DI8

LS_Limiter
n

n
t

[11-8] Basic function "Speed follower" (schematic diagram)

The speed-controlled operation is requested via the digital input DI2. If no other basic
function and error state are active, the speed-controlled operation is enabled.
r The acceleration/deceleration of the drive to the setpoint is controlled via a ramp
generator based on the current setpoint/actual speed.
r If the enable of the speed-controlled operation is reset via the digital input DI2, the
drive is decelerated to standstill via an independent profile generator of the basic
function "Stop". Standard stop (C 148)

O Tip!
Detailed information on the speed follower can be found in the chapter "basic drive
functions"  subchapter "Speed follower". (C 190)

Firmware 1.37 - 09/2006

255

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Manual jog
11.2.6

Manual jog
Speed setpoint

Basic drive functions

DI1

Gain

LS_Quickstop
n

LS_Stop
n

STOP

LS_Brake

internal
status machine

AIN1
t

DI4

DI3

Selection

Invert setpoint

DI2

Ramp generator

LS_Speed...

OUT

DI6

Fixed setpoints
%
%

15

Status
machine
(basic drive
functions)

Speed
setpoint

IN

1
2

LS_ManualJog

DI7
DI8

LS_Limiter
n

n
t

[11-9] Basic function "Manual jog" (schematic diagram)

For the setting-up operation the basic function "Manual jog" is available. It is requested via
the digital input DI6. If no other basic function and error status are active, enable is carried
out and the manual jog via the inputs DI7 and DI8 is possible.
r Parameter setting: Tab Application parameter  Dialog level Overview  Manual jog
Parameters

Lenze setting
Value Unit

C02620

Manual jog speed 1

360.0000 Unit/s

C02621

Manual jog speed 2

720.0000 Unit/s

C02622

Manual acceleration

360.0000 Unit/s2

C02623

Manual deceleration

1440.0000 Unit/s2

C02624

Inaccuracy time of manual traversing

Control inputs of the function

Lenze setting

0.100 s

Signal configuration

Control input

(Multiplexer parameters)

DigIn 6  Request manual jog

C03155/1

DigIn 7  Activate positive manual jog

C03155/2

DigIn 8  Activate negative manual jog

C03155/3

FALSE  Activate 2. speed

C03155/4

O Tip!
Detailed information on the manual jog function can be found in chapter "Basic
drive functions"  subchapter "Manual jog". (C 156)

256

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Quick stop

11.2.7

Quick stop
Basic drive functions
DI1

LS_Quickstop
n

LS_Stop
n

STOP

internal
status machine

DI2

LS_Speed...
Status
machine
(basic drive
functions)

Speed
setpoint

M
DI6

LS_ManualJog

DI7
DI8

LS_Brake

The basic function "Quick stop" brakes the

drive to standstill within the deceleration
time set for the quick stop function after a
corresponding request independent of the
setpoint selection.
If the quick stop function is deactivated,
the drive is led to the selected setpoint
again via the acceleration time set in the
speed ramp generator.

LS_Limiter
n

n
t

[11-10] Basic function "Quick stop" (schematic diagram)

r The quick stop function can be activated as follows in the Lenze setting:
By setting the digital input DI1 to LOW level.
By a master control via the port LPortControl1:
By setting bit 2 of the bit-coded control word 1.
r Parameter setting: Tab Application parameter  Dialog level Overview  Quick stop
Parameters

Lenze setting
Value Unit

C00105

Quick stop deceleration time

C00106

Quick stop S-ramp time

C00107

Reference for deceleration time "Quick stop"

Control inputs of the function

Lenze setting

0.000 s
0.00 %
Motor reference speed (C00011)

Signal configuration

Control input

(Multiplexer parameters)

DigIn 1  Activate quick stop 1

C03135/1

Control word 1  Activate quick stop 2

bit 02

C03135/2

FALSE  Activate quick stop 3

C03135/3

O Tip!
Detailed information on quick stop can be found in chapter "Basic drive functions"
 subchapter "Quick stop". (C 152)

Firmware 1.37 - 09/2006

257

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Limiter
11.2.8

Limiter
Basic drive functions
DI1

LS_Quickstop
n

LS_Stop
n

STOP

internal
status machine

DI2

LS_Speed...
Status
machine
(basic drive
functions)

Speed
setpoint

M
DI6

LS_ManualJog

DI7
DI8

LS_Brake

The basic function "Limiter", where

applicable, by means of limit switches
monitors travel range limits.
In the case of homing, positioning and
manual jog the basic function "Limiter" if
required provides for the compliance with
kinematic limit values.

LS_Limiter
n

n
t

[11-11] Basic function "Limiter" (schematic diagram)

Note!
The parameterised limit values are not effective for the basic functions "Speed
follower", "Torque follower" and "Position follower"!
For the exceeding of the limit values an error response can be set.

r Parameter setting: Tab Application parameter  Dialog level Overview  Limiter

Parameters

Lenze setting
Value Unit

Only for homing, positioning and manual jog

C02702

Limitations effective

C02703

Max. speed

3600.0000 Unit/s

C02705

Max. acceleration

3600.0000 Unit/s2

C02706

Min. S-ramp time

C02707

Permissible direction of rotation

100 ms

Control inputs of the function

Lenze setting

Deactivated

Positive and negative

Signal configuration

Control input

(Multiplexer parameters)

FALSE  Positive limit switch

C03150/1

FALSE  Negative limit switch

C03150/2

O Tip!
Detailed information on the limiter function can be found in chapter "Basic drive
functions"  subchapter "Limiter". (C 200)

258

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Brake control

11.2.9

Brake control
Basic drive functions
DI1

LS_Quickstop
n

LS_Stop
n

STOP

internal
status machine

DI2

LS_Speed...
Status
machine
(basic drive
functions)

M
LS_ManualJog

DI7
DI8

The basic function "Brake control" serves

to the wear free control and monitoring of
a holding brake.
In the simplest case, an optionally
available brake module is used.

Speed
setpoint

DI6

LS_Brake

Alternatively the holding brake can also be

controlled and monitored via the digital
inputs/outputs.

LS_Limiter
n

n
t

[11-12] Basic function "Brake control" (schematic diagram)

Note!
In the Lenze setting the brake control is switched off to reach a safe status after
mains connection.

O Tip!
Detailed information on brake control can be found in chapter "Basic drive
functions"  subchapter "Brake control". (C 211)

Firmware 1.37 - 09/2006

259

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Brake control

r Parameter setting: Tab Application parameter  Dialog level Overview  Brake control
Parameters

Lenze setting
Value Unit

C02580

Operating mode - brake

C02581

Brake activation threshold

C02582

Brake resp. to pulse inhibit

C02583

Status input monitoring

C02585

Brake control polarity

C02586

Starting torque 1

0.00 Nm

C02587

Starting torque 2

0.00 Nm

C02588

Source of starting torque

C02589

Brake closing time

100 ms

C02590

Brake opening time

100 ms

C02591

Waiting time - status monit.

C02593

Waiting time - brake active.

C02594

Test torque

C02595

Permissible angle of rotation

C02596

Grinding speed

C02597

Accel./decel. time - grinding

C02598

Grinding ON time

0.5 s

C02599

Grinding OFF time

0.5 s

Activate the brake immediately

Not active
Not inverted

Starting torque 1/2

100 ms
0.000 s
5
100 rpm

Control/setpoint input

1.000 s

Signal configuration
(Multiplexer parameters)

FALSE  Open brake (release)

C03165/1

FALSE  Activate starting torque 2

C03165/2

FALSE  Brake status signal

C03165/3

FALSE  Activate brake test

C03165/4

FALSE  Grind brake

C03165/5

0 %  Additional torque

260

50 rpm

0.00 Nm

Control/setpoint inputs of the function

Lenze setting

Brake control off

Firmware 1.37 - 09/2006

C03166

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Signal configuration of drive and motor interface
11.2.10

Signal configuration of drive and motor interface

If required, the preset signal configuration of the control and setpoint inputs of the drive
and motor interface can be easily reconfigured per parameter setting of the assigned
multiplexer parameters.
Drive interface
Signal (Lenze setting)

Control input
FALSE  Set controller inhibit

Signal configuration
C03130/1

DigIn 5  Reset error 1

C03130/2

Control word 1 bit 07  Reset error 2

C03130/3

FALSE  Reset error 3

C03130/4

FALSE  Set error

C03130/5

Control word 1 bit 00  Switch on drive

C03130/6

Motor interface
Signal (Lenze setting)

Setpoint input

Signal configuration

100 %  Upper torque limit value

C03141/1

-100 %  Lower torque limit value

C03141/2

Firmware 1.37 - 09/2006

261

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Signal configuration of the output ports
11.2.11

Signal configuration of the output ports

If required, the preset signal configuration of the output ports can be easily reconfigured
per parameter setting of the assigned multiplexer parameters.
"LPortAxisOut1" output port
The output port LPortAxisOut1 is intended for the connection with a following axis.
Signal (Lenze setting)

Output port

Signal configuration

Axis status word

Application-specific signals can be supplemented.
Drive ready  Axis status word bit 00

C03120/1

FALSE  Axis status word bit 01

C03120/2

Operation enabled  Axis status word bit 02

C03120/3

Error is active.  Axis status word bit 03

C03120/4

FALSE  Axis status word bit 04

C03120/5

Quick stop active  Axis status word bit 05

C03120/6

Drive is ready to start  Axis status word bit 06

C03120/7

Warning active  Axis status word bit 07

C03120/8

FALSE  Axis status word bit 08

C03120/9

FALSE  Axis status word bit 09

C03120/10

FALSE  Axis status word bit 10

C03120/11

Motor control limited  Axis status word bit 11

C03120/12

FALSE  Axis status word bit 12

C03120/13

FALSE  Axis status word bit 13

C03120/14

FALSE  Axis status word bit 14

C03120/15

FALSE  Axis status word bit 15

C03120/16

Setpoints for horizontal communication

262

Filtered torque setpoint  Axis-Port Out 1

C03124/1

Speed setpoint  Axis-Port Out 2

C03124/2

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Signal configuration of the output ports

Output port "LPortStatus1"

The output port LPortStatus1 is intended for the connection with a higher-level control.
Signal (Lenze setting)

Output port

Signal configuration

Status word 1
Drive ready  Status word 1 bit 00

C03121/1

FALSE  Status word 1 bit 01

C03121/2

Operation enabled  Status word 1 bit 02

C03121/3

Error is active.  Status word 1 bit 03

C03121/4

FALSE  Status word 1 bit 04

C03121/5

Quick stop active  Status word 1 bit 05

C03121/6

Drive is ready to start  Status word 1 bit 06

C03121/7

Warning active  Status word 1 bit 07

C03121/8

FALSE  Status word 1 bit 08

C03121/9

FALSE  Status word 1 bit 09

C03121/10

FALSE  Status word 1 bit 10

C03121/11

Motor control limited  Status word 1 bit 11

C03121/12

FALSE  Status word 1 bit 12

C03121/13

FALSE  Status word 1 bit 13

C03121/14

FALSE  Status word 1 bit 14

C03121/15

FALSE  Status word 1 bit 15

C03121/16

Output port "LPortStatus2"

Signal (Lenze setting)

Output port

Signal configuration

Status word 2

FALSE  Status word 2 bit 00

C03122/1

FALSE  Status word 2 bit 01

C03122/2

FALSE  Status word 2 bit 02

C03122/3

FALSE  Status word 2 bit 03

C03122/4

FALSE  Status word 2 bit 04

C03122/5

FALSE  Status word 2 bit 05

C03122/6

FALSE  Status word 2 bit 06

C03122/7

FALSE  Status word 2 bit 07

C03122/8

FALSE  Status word 2 bit 08

C03122/9

FALSE  Status word 2 bit 09

C03122/10

FALSE  Status word 2 bit 10

C03122/11

FALSE  Status word 2 bit 11

C03122/12

FALSE  Status word 2 bit 12

C03122/13

FALSE  Status word 2 bit 13

C03122/14

FALSE  Status word 2 bit 14

C03122/15

FALSE  Status word 2 bit 15

C03122/16

Firmware 1.37 - 09/2006

263

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator speed" | Application error messages
11.2.12

Application error messages

For the output of application-specific error messages an FB instance ApplicationError of the
function block L_DevApplErr is available in the network.
r Via the 8 boolean inputs up to 8 different application error messages with
parameterisable module ID, error ID and error response can be released by the
application.
Error message

Error-ID

Error response

Speed follower in limitation

8001

Warning locked

8000

Error

8000

Error

8000

Error

8000

Error

8000

Error

8000

Error

8000

Error

r Parameter setting: Tab All parameters

Parameters

Lenze setting

C05900

Module-ID

C05901/1...8

Error ID 1 ... 8

See table above

980

C05902/1...8

Error response 1 ... 8

See table above

Reset of error message

In the Lenze setting the digital input DI5 for resetting (acknowledging) an error message is
connected to the input DI_bResetError1 of the drive interface.

264

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque"

11.3

TA "Actuator torque"
When the technology application "actuator torque" is used the drive creates a torque to
be specified independent of the motor speed. A superimposed speed limitation prevents
the drive from accelerating in an uncontrolled mode. The torque setpoint and torque limit
value are the main setpoint values of the application.
r The setpoint of the motor torque can be specified for both directions. The drive
accordingly acts in a driving or braking way. With a unipolar setpoint the effective
direction can be changed via the digital input DI3.
r After the enable of the torque-controlled operation via the digital input DI2 the
creation of the torque is controlled via a ramp generator starting from the current
torque.
r The torque limit value to be specified refers to the freely setting direction of rotation
with positive torque. Based on the current motor speed the internal speed limit value
is also led to the setpoint via a ramp generator after enable.
r If the specified speed limit value directly corresponds to the line speed, the internal
limit value can be increased by entering an offset in C03008.
r The speed limit value in negative direction of rotation equals, according to amount, the
limit value for the positive direction of rotation.
r If the speed of the drive is inside the limitations, the motor generates the specified
torque.
r If the positive or negative speed limit value (for CW or CCW rotation) is reached, the
drive changes to the speed-controlled operation. The set speed limit values are not
exceeded.
Basic drive functions
r A quick stop can be activated via the digital input DI1.
Quick stop (C 279)
r A manual control is provided for the setting-up operation. It is enabled via the digital
input DI6. The inputs DI7 and DI8 activate parameterisable setpoints for both
directions of rotation. Manual jog (C 278)
r The basic function "limiter" enables the travel range to be monitored via limit switches.
Limiter (C 258)
r When a brake is available the brake control opens and closes the brake.

Brake control

(C 281)

See also:

Basic drive functions (C 140)

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9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Basic signal flow
11.3.1

Basic signal flow

Torque setpoint
DI3

Gain

Basic drive functions

Invert setpoint

DI1

Ramp generator

LS_Quickstop
n

IN

LS_Stop
n

STOP

LS_Brake

internal
status machine

AIN1

OUT

Speed limit
DI4

Offset

Selection

DI2

Ramp generator
IN

AIN2

OUT

DI6

15

%
%

Status
machine
(basic drive
functions)

Fixed setpoints
1
2

LS_Torque...
Torque
setpoint

LS_ManualJog

DI8

LS_Limiter

DI7

n
t

[11-13] Signal flow of the TA "Actuator torque" (schematic diagram)

Torque setpoint conditioning

 Setpoint gain
 Setpoint inversion
 Ramp generator
Speed limit value conditioning
 Offset
 Selection of analog input/fixed setpoints
 Speed profile generator
Basic drive functions
 Torque follower
 Manual jog
Quick stop
! Stop
" Brake control (optional)
# Limiter (optional)

266

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9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Assignment of the I/O terminals

11.3.2

Assignment of the I/O terminals

11.3.2.1

Setpoint and control signals

The following tables contain the Lenze assignment of the analog and digital inputs for the
technology application "actuator torque".
Analog inputs

A2- A2+ A1R A1- A1- A1+

Terminal X3

Signal (Lenze setting)

AI1AI1+

Torque setpoint
Torque setpoint conditioning (C 271)

AI2AI2+

Speed limit value

Speed limit value conditioning (C 273)

I/O terminals

Analog inputs (C 117)

Digital inputs

DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI

Terminal X5

Signal (Lenze setting)

DI1

Quick stop
If DI1 is set to LOW level, the drive is decelerated to standstill within the deceleration
time set for the quick stop function independent of the setpoint selection.
If the quick stop function is deactivated, the defined torque is available again, as the case
may be, an acceleration via the set acceleration time of the speed limit value is effected.
Quick stop (C 279)

DI2

Enable torque follower

Torque follower (C 277)

DI3

Invert torque setpoint

DI4

Activate fixed setpoint 1

Instead of the selection via the analog input 2 the fixed setpoint 1 is used as speed limit
value.
Change-over to fixed setpoint (C 274)

DI5

Reset error
By means of a LOW-HIGH edge an existing error status can be reset if the cause of the
fault is removed.

DI6

Manual jog
Manual jog (C 278)

I/O terminals

DI7

DI8

Function

LOW

LOW

Stop

HIGH

LOW

Manual control in positive direction

LOW

HIGH

Manual control in negative direction

HIGH

HIGH

- (previous state remains active)

Digital inputs (C 123)

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9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Assignment of the I/O terminals
11.3.2.2

Actual value and status signals

The following tables contain the Lenze assignment of the analog and digital outputs for
the technology application "actuator torque".
r The default signal configuration if required can be easily changed by parameterising
the multiplexer parameters assigned.
Analog outputs

AO2 AO1 GA

Terminal X3

Signal (Lenze setting)

Signal configuration

AO1

Motor speed
Scaling: 10 V motor reference speed (C00011)

C03110/1

AO2

Motor torque (setpoint)

Scaling: 10 V Motor reference torque (C00057/2)

C03110/2

I/O terminals

Analog outputs (C 120)

Digital outputs

DO4 DO3 DO2 DO1 24O GO

Terminal X4

Signal (Lenze setting)

Signal configuration

DO1

Status "Drive ready"

This operating state is active if the controller is enabled by setting
the digital input RFR to HIGH level and no error has occurred.

C03100/1

DO2

Status "Torque follower enabled"

The torque follower has been enabled via the digital input DI2.

C03100/2

DO3

Status "Torque follower in limitation"

If the torque follower is enabled, the torque setpoint or the
current setpoint are within the limitation.

C03100/3

DO4

Status "Error active acknowledgement is required"

Monitoring with the error response "Error" or "Quick stop by
trouble" has been activated, and the controller is in the device
state "Error active" or "Quick stop by trouble active".

C03100/4

I/O terminals

Digital outputs (C 125)

State bus

SB 24E GE

Terminal X2

Signal (Lenze setting)

SB

I/O terminals

268

Status "Torque follower in limitation"

If the torque follower is enabled, the torque setpoint or the
current setpoint are within the limitation.
The state bus is put in the "error" status.

Signal configuration
C03100/5

Monitoring function "State bus" (C 127)

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Assignment of the I/O terminals

Display elements
User LED

Signal (Lenze setting)

Status "Torque follower enabled"
The torque follower has been enabled via the digital input DI2.

Drive interface

Signal configuration
C03100/6

LED status displays (C 34)

Firmware 1.37 - 09/2006

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9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Machine parameters
11.3.3

Machine parameters
The machine parameters describe e.g. the motor end of the mechanics
used.

The setting of the machine parameters in the Engineer is carried out on

the Application parameters tab in the dialog level Overview  Drive
interface .

O Tip!
In the Engineer the most important machine parameters can be adapted to the
machine on the Application parameter tab directly in the topmost Overview dialog
level:
Detailed information for selecting and entering the machine parameters can be
found in the chapter "Drive interface". Machine parameters (C 35)

Short overview of machine parameters

Parameters

Lenze setting
Value Unit

C00173

Mains - voltage

400/415 V

C00174

Threshold undervoltage (LU)

C00600

Resp. to DC bus overvoltage

C02520

Gearbox fact. numer. motor

C02521

Gearbox fact. denom. motor

C02527

Motor mounting direction

C02570

Controller configuration

C02522

Gearbox fact. numer. load

C02523

Gearbox fact. denom. load

285 V
Trouble
1
1
Motor rotating CW
Phase control

Description of the mechanics (load, tool)

270

C02528

Traversing range

C02524

Feed constant

C02525

Unit

C02526

User-defined unit

C02533

Time unit

C00273/1

Motor moment of inertia

C00273/2

Load moment of inertia

Unlimited
360.0000 Unit

Firmware 1.37 - 09/2006

Motor-dependent kg cm2
0.00 kg cm2

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Torque setpoint conditioning

11.3.4

Torque setpoint conditioning

Torque setpoint
Gain

DI3

Invert setpoint

Ramp generator
IN

AIN1
OUT

DI2

LS_Torque...
Torque
setpoint

Status
machine
(basic drive
functions)

v
F
[11-14] Torque setpoint conditioning (schematic diagram)

The torque setpoint is defined in the Lenze setting via the analog input 1 and take place in
both directions (bipolar) and accordingly the drive acts in a driving or braking manner.
r Parameter setting: Tab Application parameter  Dialog level Overview
Parameters

Lenze setting
Value Unit

C03002

Setpoint gain

100.00 %

Setpoint inputs of the function

Lenze setting

Signal configuration

Setpoint input

(Multiplexer parameters)

AIn 1  Torque setpoint

Firmware 1.37 - 09/2006

C03000

271

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Torque setpoint conditioning
11.3.4.1

Setpoint inversion
Torque setpoint
Gain

DI3

Invert setpoint

Ramp generator

DI2

LS_Torque...
Torque
setpoint

IN
AIN1

OUT

Status
machine
(basic drive
functions)

v
F
[11-15] Setpoint inversion (schematic diagram)

Via the digital input DI3 the effective direction of the (bipolar) setpoint can be inverted, if
required.
r Parameter setting: All parameters tab  Category Actuator - torque  Multiplexer
Control inputs of the function
Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

DigIn 3  Invert setpoint

11.3.4.2

C03003

Ramp generator
Torque setpoint
Gain

DI3

Invert setpoint

Ramp generator
IN

AIN1
OUT

DI2

LS_Torque...
Torque
setpoint

Status
machine
(basic drive
functions)

v
F
[11-16] Ramp generator (schematic diagram)

In order to avoid setpoint step-changes the torque setpoint passes a ramp generator with
a parameterisable acceleration/deceleration and S-ramp time before it is transmitted to
the basic drive function "Torque follower".
r Parameter setting: Tab Application parameter  Dialog level Overview
Parameters

Lenze setting
Value Unit

272

C03550

Acceleration / deceleration time

0.010 s

C03551

S-ramp time

0.001 s

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Speed limit value conditioning

11.3.5

Speed limit value conditioning

Speed limit
DI4

Offset

Selection

Ramp generator
IN

AIN2
OUT

DI2

LS_Torque...
Torque
setpoint

Status
machine
(basic drive
functions)

Fixed setpoints
1
2

%
%

15

[11-17] Speed limit value conditioning (schematic diagram)

The speed limit value is defined in the Lenze setting via the analog input 2.
r The defined speed limit value refers to the direction of rotation which can be set freely
with positive torque.
r The speed limit value in negative direction of rotation equals, according to amount, the
limit value for the positive direction of rotation.
r If the speed of the drive is inside the limitations, the motor generates the specified
torque.
r If the positive or negative speed limit value (for CW or CCW rotation) is reached, the
drive changes to the speed-controlled operation. The set speed limit values are not
exceeded.
r If the specified speed limit value directly corresponds to the line speed, the internal
limit value can be increased by entering an offset in C03008.
r Parameter setting: Tab Application parameter  Dialog level Overview
Parameters

Lenze setting
Value Unit

C03008

Offset for limit speed

Setpoint inputs of the function

Lenze setting

Signal configuration

Setpoint input

(Multiplexer parameters)

AIn 2  Upper limit speed

C03006

Inverted upper  Lower speed limit value

limit speed

0.00 %

Firmware 1.37 - 09/2006

C03171

273

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Speed limit value conditioning
11.3.5.1

Change-over to fixed setpoint

Speed limit
DI4

Offset

Selection

Ramp generator
IN

AIN2
OUT

DI2

LS_Torque...
Torque
setpoint

Status
machine
(basic drive
functions)

Fixed setpoints
1
2

%
%

15

[11-18] Additional offset for the speed limit value (schematic diagram)

Via the digital input DI4 a change-over to a parameterisable fixed setpoint can take place.
r Parameter setting: Tab Application parameter  Dialog level Overview
Parameters

Lenze setting
Value Unit

C03500/1

Fixed setpoint 1

10.00 %

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

DigIn 4  Activate fixed setpoint 1

C03009/4

Use of further fixed setpoints

A total of 15 different fixed setpoints can be parameterised. For the selection of the fixed
setpoints 2 ... 15 the selection inputs are to be assigned with the corresponding signals.
The selection of the fixed setpoints is carried out in a binary coded manner.
r Parameter setting: Tab Application parameter  Dialog level Overview  Ramp
generator  All fixed setpoints
Parameters

Lenze setting
Value Unit

C03500/1

Fixed setpoint 1

10.00 %

C03500/2

Fixed setpoint 2

0.00 %

C03500/...

Fixed setpoint ...

... ...

C03500/15

Fixed setpoint 15

0.00 %

Control inputs of the function

Lenze setting

274

Signal configuration

Control input

(Multiplexer parameters)

DigIn 4  Activate fixed setpoint 1

C03009/4

FALSE  Activate fixed setpoint 2

C03009/5

FALSE  Activate fixed setpoint 4 a

C03009/6

FALSE  Activate fixed setpoint 8 a

C03009/7

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Speed limit value conditioning

11.3.5.2

Speed ramp generator

Speed limit
DI4

Offset

Selection

Ramp generator
IN

AIN2
OUT

DI2

LS_Torque...
Torque
setpoint

Status
machine
(basic drive
functions)

Fixed setpoints
1
2

%
%

15

[11-19] Ramp generator (schematic diagram)

In order to avoid setpoint step-changes the speed limit value passes a ramp generator with
a parameterisable acceleration and deceleration time before it is transmitted to the basic
drive function "Torque follower".
r Parameter setting: Tab Application parameter  Dialog level Overview
Parameters

Lenze setting
Value Unit

C03502

Basic acceleration time

1.000 s

C03503

Basic deceleration time

1.000 s

C03510

Profile mode

Linear ramps

Firmware 1.37 - 09/2006

275

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Speed limit value conditioning
Use of further ramp parameter sets
If required, 15 further ramp parameter sets can be parameterised. For the selection of the
ramp parameter sets1 ... 15 the selection inputs are to be assigned with the corresponding
signals. The selection of the ramp parameter sets is carried out in a binary coded manner.
r Parameter setting: Tab Application parameter Dialog levelOverview  Ramp
generator  All ramp parameters
Parameters

Lenze setting
Value Unit

C03512/1

Acceleration time 1

0.000 s

C03512/...

Acceleration time ...

... ...

C03512/15

Acceleration time 15

0.000 s

C03513/1

Deceleration time 1

0.000 s

C03513/...

Deceleration time ...

... ...

C03513/15

Deceleration time 15

0.000 s

C03514/1

S-ramp time 1

0.000 s

C03514/...

S-ramp time

C03514/15

S-ramp time 15

... ...
0.000 s

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

FALSE  Activate ramp parameter set 1

276

C03009/8

FALSE  Activate ramp parameter set 2

C03009/9

FALSE  Activate ramp parameter set 4

C03009/10

FALSE  Activate ramp parameter set 8 a

C03009/11

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Torque follower

11.3.6

Torque follower
Torque setpoint
DI3

Gain

Basic drive functions

Invert setpoint

DI1

Ramp generator

LS_Quickstop
n

IN

LS_Stop
n

STOP

LS_Brake

internal
status machine

AIN1
OUT
t

Speed limit
DI4

Offset

Selection

DI2

Ramp generator

LS_Torque...

IN
AIN2

OUT

DI6

Fixed setpoints
1
2
15

%
%

Status
machine
(basic drive
functions)

Torque
setpoint

LS_ManualJog

DI7
DI8

LS_Limiter
n

n
t

[11-20] Basic function "Torque follower" (schematic diagram)

The torque-controlled operation is requested via the digital input DI2. If no other basic
function and error state are active, the torque-controlled operation is enabled.
r The build-up of the defined torque is controlled via a ramp generator based on the
current torque.
r Based on the current motor speed the internal speed limit value is also led to the
setpoint via a ramp generator after the operation is enabled.
r If the enable of the torque-controlled operation is reset via the digital input DI2, the
drive is decelerated to standstill via an independent profile generator of the basic
function "Stop". Standard stop (C 148)

O Tip!
Detailed information on the torque follower can be found in the chapter "basic
drive functions"  subchapter "Torque follower". (C 196)

Firmware 1.37 - 09/2006

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9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Manual jog
11.3.7

Manual jog
Torque setpoint
DI3

Gain

Basic drive functions

Invert setpoint

DI1

Ramp generator

LS_Quickstop
n

IN

LS_Stop
n

STOP

LS_Brake

internal
status machine

AIN1
OUT
t

Speed limit
DI4

Offset

Selection

DI2

Ramp generator

LS_Torque...

IN
AIN2

OUT

DI6

Fixed setpoints
1
2

%
%

15

Status
machine
(basic drive
functions)

Torque
setpoint

LS_ManualJog

DI7
DI8

LS_Limiter
n

n
t

[11-21] Basic function "Manual jog" (schematic diagram)

For the setting-up operation the basic function "Manual jog" is available. It is requested via
the digital input DI6. If no other basic function and error status are active, enable is carried
out and the manual jog via the inputs DI7 and DI8 is possible.
r Parameter setting: Tab Application parameter  Dialog level Overview  Manual jog
Parameters

Lenze setting
Value Unit

C02620

Manual jog speed 1

360.0000 Unit/s

C02621

Manual jog speed 2

720.0000 Unit/s

C02622

Manual acceleration

360.0000 Unit/s2

C02623

Manual deceleration

1440.0000 Unit/s2

C02624

Inaccuracy time of manual traversing

Control inputs of the function

Lenze setting

0.100 s

Signal configuration

Control input

(Multiplexer parameters)

DigIn 6  Request manual jog

C03155/1

DigIn 7  Activate positive manual jog

C03155/2

DigIn 8  Activate negative manual jog

C03155/3

FALSE  Activate 2. speed

C03155/4

O Tip!
Detailed information on the manual jog function can be found in chapter "Basic
drive functions"  subchapter "Manual jog". (C 156)

278

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9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Quick stop

11.3.8

Quick stop
Basic drive functions
DI1

LS_Quickstop
n

LS_Stop
n

STOP

internal
status machine

DI2

LS_Torque...
Status
machine
(basic drive
functions)

Torque
setpoint

M
DI6

LS_ManualJog

DI7
DI8

LS_Brake

The basic function "Quick stop" brakes the

drive to standstill within the deceleration
time set for the quick stop function after a
corresponding request independent of the
setpoint selection.
If the quick stop is deactivated, the defined
torque is available again, as the case may
be, an acceleration via the set acceleration
time of the speed limit value is effected.

LS_Limiter
n

n
t

[11-22] Basic function "Quick stop" (schematic diagram)

r The quick stop function can be activated as follows in the Lenze setting:
By setting the digital input DI1 to LOW level.
By a master control via the port LPortAxisIn1:
By setting bit 3 of the bit-coded axis control word.
r Parameter setting: Tab Application parameter  Dialog level Overview  Quick stop
Parameters

Lenze setting
Value Unit

C00105

Quick stop deceleration time

C00106

Quick stop S-ramp time

C00107

Reference for deceleration time "Quick stop"

Control inputs of the function

Lenze setting

0.000 s
0.00 %
Motor reference speed (C00011)

Signal configuration

Control input

(Multiplexer parameters)

DigIn 1  Activate quick stop 1

C03135/1

Axis control word  Activate quick stop 2

bit 03

C03135/2

FALSE  Activate quick stop 3

C03135/3

O Tip!
Detailed information on quick stop can be found in chapter "Basic drive functions"
 subchapter "Quick stop". (C 152)

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9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Limiter
11.3.9

Limiter
Basic drive functions
DI1

LS_Quickstop
n

LS_Stop
n

STOP

internal
status machine

DI2

LS_Torque...
Status
machine
(basic drive
functions)

Torque
setpoint

M
DI6

LS_ManualJog

DI7
DI8

LS_Brake

The basic function "Limiter", where

applicable, by means of limit switches
monitors travel range limits.
In the case of homing, positioning and
manual jog the basic function "Limiter" if
required provides for the compliance with
kinematic limit values.

LS_Limiter
n

n
t

[11-23] Basic function "Limiter" (schematic diagram)

Note!
The parameterised limit values are not effective for the basic functions "Speed
follower", "Torque follower" and "Position follower"!
For the exceeding of the limit values an error response can be set.

r Parameter setting: Tab Application parameter  Dialog level Overview  Limiter

Parameters

Lenze setting
Value Unit

Only for homing, positioning and manual jog

C02702

Limitations effective

C02703

Max. speed

3600.0000 Unit/s

C02705

Max. acceleration

3600.0000 Unit/s2

C02706

Min. S-ramp time

C02707

Permissible direction of rotation

100 ms

Control inputs of the function

Lenze setting

Deactivated

Positive and negative

Signal configuration

Control input

(Multiplexer parameters)

FALSE  Positive limit switch

C03150/1

FALSE  Negative limit switch

C03150/2

O Tip!
Detailed information on the limiter function can be found in chapter "Basic drive
functions"  subchapter "Limiter". (C 200)

280

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Brake control

11.3.10

Brake control
Basic drive functions
DI1

LS_Quickstop
n

LS_Stop
n

STOP

internal
status machine

DI2

LS_Torque...
Status
machine
(basic drive
functions)

M
LS_ManualJog

DI7
DI8

The basic function "Brake control" serves

to the wear free control and monitoring of
a holding brake.
In the simplest case, an optionally
available brake module is used.

Torque
setpoint

DI6

LS_Brake

Alternatively the holding brake can also be

controlled and monitored via the digital
inputs/outputs.

LS_Limiter
n

n
t

[11-24] Basic function "Brake control" (schematic diagram)

Note!
In the Lenze setting the brake control is switched off to reach a safe status after
mains connection.

O Tip!
Detailed information on brake control can be found in chapter "Basic drive
functions"  subchapter "Brake control". (C 211)

Firmware 1.37 - 09/2006

281

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Brake control

r Parameter setting: Tab Application parameter  Dialog level Overview  Brake control
Parameters

Lenze setting
Value Unit

C02580

Operating mode - brake

C02581

Brake activation threshold

C02582

Brake reaction in case of pulse inhibit

C02583

Status input monitoring

C02585

Brake control polarity

C02586

Starting torque 1

0.00 Nm

C02587

Starting torque 2

0.00 Nm

C02588

Source of starting torque

C02589

Brake closing time

100 ms

C02590

Brake opening time

100 ms

C02591

Waiting time - status monit.

C02593

Waiting time - brake active.

C02594

Test torque

C02595

Permissible angle of rotation

C02596

Grinding speed

C02597

Accel./decel. time - grinding

C02598

Grinding ON time

0.5 s

C02599

Grinding OFF time

0.5 s

Activate the brake immediately

Not active
Not inverted

Starting torque 1/2

100 ms
0.000 s
5
100 rpm

Control/setpoint input

1.000 s

Signal configuration
(Multiplexer parameters)

FALSE  Open brake (release)

C03165/1

FALSE  Activate starting torque 2

C03165/2

FALSE  Brake status signal

C03165/3

FALSE  Activate brake test

C03165/4

FALSE  Grind brake

C03165/5

0 %  Additional torque

282

50 rpm

0.00 Nm

Control/setpoint inputs of the function

Lenze setting

Brake control off

Firmware 1.37 - 09/2006

C03166

9400 HighLine | Parameter setting & configuration

Standard TAs
TA "Actuator torque" | Signal configuration of drive and motor interface
11.3.11

Signal configuration of drive and motor interface

If required, the preset signal configuration of the control and setpoint inputs of the drive
and motor interface can be easily reconfigured per parameter setting of the assigned
multiplexer parameters.
Drive interface
Signal (Lenze setting)

Control input

Signal configuration

FALSE  Set controller inhibit

C03130/1

FALSE  Set error

C03130/2

Axis control word bit 00  Switch on drive

C03130/3

DigIn 5  Reset error 1

C03130/4

Axis control word bit 07  Reset error 2

C03130/5

FALSE  Reset error 3

C03130/6

Motor interface
Signal (Lenze setting)

Setpoint input

Signal configuration

100 %  Upper torque limit value

C03141/1

-100 %  Lower torque limit value

C03141/2

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TA "Actuator torque" | Signal configuration of the output ports
11.3.12

Signal configuration of the output ports

If required, the preset signal configuration of the output ports can be easily reconfigured
per parameter setting of the assigned multiplexer parameters.
"LPortAxisOut1" output port
The output port LPortAxisOut1 is intended for the connection with a following axis.
Signal (Lenze setting)

Output port

Signal configuration

Axis status word

Application-specific signals can be supplemented.
Drive ready  Axis status word bit 00

C03120/1

FALSE  Axis status word bit 01

C03120/2

Operation enabled  Axis status word bit 02

C03120/3

Error is active.  Axis status word bit 03

C03120/4

FALSE  Axis status word bit 04

C03120/5

Quick stop active  Axis status word bit 05

C03120/6

Drive is ready to start  Axis status word bit 06

C03120/7

Warning active  Axis status word bit 07

C03120/8

FALSE  Axis status word bit 08

C03120/9

FALSE  Axis status word bit 09

C03120/10

FALSE  Axis status word bit 10

C03120/11

Motor control limited  Axis status word bit 11

C03120/12

FALSE  Axis status word bit 12

C03120/13

FALSE  Axis status word bit 13

C03120/14

FALSE  Axis status word bit 14

C03120/15

FALSE  Axis status word bit 15

C03120/16

Setpoints for horizontal communication

284

Filtered torque limit value  Axis-Port Out 1

C03124/1

Filtered torque setpoint  Axis-Port Out 2

C03124/2

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TA "Actuator torque" | Signal configuration of the output ports

Output port "LPortStatus1"

The output port LPortStatus1 is intended for the connection with a higher-level control.
Signal (Lenze setting)

Output port

Signal configuration

Status word 1
Drive ready  Status word 1 bit 00

C03121/1

FALSE  Status word 1 bit 01

C03121/2

Operation enabled  Status word 1 bit 02

C03121/3

Error is active.  Status word 1 bit 03

C03121/4

FALSE  Status word 1 bit 04

C03121/5

Quick stop active  Status word 1 bit 05

C03121/6

Drive is ready to start  Status word 1 bit 06

C03121/7

Warning active  Status word 1 bit 07

C03121/8

FALSE  Status word 1 bit 08

C03121/9

FALSE  Status word 1 bit 09

C03121/10

FALSE  Status word 1 bit 10

C03121/11

Motor control limited  Status word 1 bit 11

C03121/12

FALSE  Status word 1 bit 12

C03121/13

FALSE  Status word 1 bit 13

C03121/14

FALSE  Status word 1 bit 14

C03121/15

FALSE  Status word 1 bit 15

C03121/16

Output port "LPortStatus2"

Signal (Lenze setting)

Output port

Signal configuration

Status word 2

FALSE  Status word 2 bit 00

C03122/1

FALSE  Status word 2 bit 01

C03122/2

FALSE  Status word 2 bit 02

C03122/3

FALSE  Status word 2 bit 03

C03122/4

FALSE  Status word 2 bit 04

C03122/5

FALSE  Status word 2 bit 05

C03122/6

FALSE  Status word 2 bit 06

C03122/7

FALSE  Status word 2 bit 07

C03122/8

FALSE  Status word 2 bit 08

C03122/9

FALSE  Status word 2 bit 09

C03122/10

FALSE  Status word 2 bit 10

C03122/11

FALSE  Status word 2 bit 11

C03122/12

FALSE  Status word 2 bit 12

C03122/13

FALSE  Status word 2 bit 13

C03122/14

FALSE  Status word 2 bit 14

C03122/15

FALSE  Status word 2 bit 15

C03122/16

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TA "Actuator torque" | Application error messages
11.3.13

Application error messages

For the output of application-specific error messages an FB instance ApplicationError of the
function block L_DevApplErr is available in the network.
r Via the 8 boolean inputs up to 8 different application error messages with
parameterisable module ID, error ID and error response can be released by the
application.
Error message

Error-ID

Error response

Torque follower in limitation

8001

Warning locked

8000

Error

8000

Error

8000

Error

8000

Error

8000

Error

8000

Error

8000

Error

r Parameter setting: Tab All parameters

Parameters

Lenze setting

C05900

Module-ID

C05901/1...8

Error ID 1 ... 8

See table above

980

C05902/1...8

Error response 1 ... 8

See table above

Reset of error message

In the Lenze setting the digital input DI5 for resetting (acknowledging) an error message is
connected to the input DI_bResetError1 of the drive interface.

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12

TAs for interconnection via electrical shaft

The technology applications described in this chapter are available for a DC-bus operation
of several drives via the electrical shaft.
Technology application/application ranges

Required license/delivery

TA "Electronic gearbox" (C 297)

Slitters
Calender drives
Line drives
Conveying belts
Vibrators
Roller mills
Stretching machines
Wire drawing machines

License stage Motion Control

HighLevel or higher required.
The technology application can be
selected in the Engineer
application catalog.

TA "Synchronism with mark synchronisation" (C 332)

Printing units
Asynchronous cross cutters
Perforating machines
Insetters
Vibrating drives
Line drives
Labelling machines

Firmware 1.37 - 09/2006

License stage Motion Control

HighLevel or higher required.
The technology application can be
selected in the Engineer
application catalog.

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Introduction
12.1

Introduction
The following subchapters provide information on the electrical shaft.

12.1.1

Synchronisation of the drives via a master angle

By coupling the drives via a master angle the positions are firmly allocated to each other
like a mechanical shaft.

r A drive with a virtual master or a real master (encoder) is able to create the master
angle and transmit this to the other drives which follow this master angle.
Advantages of this type of synchronisation
r The communication between the drives is very simple. A time-consuming evaluation of
the status signals of each drive and the control signals to be generated from it for each
single drive is not required.
r Due to the flexible electronics trimming functions can be carried out very easily. Thus,
motion sequences in machines can be easily synchronised and optimised.
r A variation of the master angle speed changes the number of cycles of the machine.
The drives keep the position allocation.

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Introduction | Virtual master/real master

12.1.2

Virtual master/real master

Virtual master
Virtual master /
Slave 1

X10: DFout

r In an interconnection, a drive takes

over the task of the (virtual) master
and is the first slave drive at the same
time.
r The master value created in the TA by
the "Virtual master" function is
transmitted via a bus system or the
digital frequency output to the other
slave drives.

vR
v

[12-1] Example "Virtual master" (with master value transmission via digital frequency extension module)

Real master
r The master value for a slave drive can
be also specified by a real master (e.g.
external encoder).

Real master/
Slave 1
X9: DFin
X10: DFout

i1

d1

i2

d2

v R1
v1

v R2

r The master value can be specified e.g.

via the digital frequency input of the
master frequency extension module or
a bus system.
r The master value (possibly conditioned
in the TA) by the "Virtual master"
function is transmitted via a bus
system or the digital frequency output
to the other slave drives.

v2

[12-2] Example "Real master" (with master value transmission via digital frequency extension module)

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Introduction | Transmission of the master angle
12.1.3

Transmission of the master angle

The master value/angle can be transmitted via the following transmission media:
r Digital frequency
r System bus (CAN)
r ETHERNET Powerlink (in preparation)
The suitable bus medium is selected according to the criteria listed in the following
sections:
Digital frequency (simulation of an incremental encoder)
r Rail or cascade structure is possible.
r Only relative master value/master angle possible.
r Max resolution 16 bits/revolution
r Cable length is virtually unlimited but must not exceed 50 m from drive to drive.
r Digital frequency extension module is required.
System bus (CAN)
r No cascade structure possible.
r Optionally absolute or relative master angle transfer possible.
r Resolution up to 28 bits/revolution (in preparation; currently 16 bits/revolution).
r Cable length is limited (dependent on baud rate, number of nodes and cable crosssection).
With a baud rate of 500 Kbit/s the total cable length is limited to e.g. 117 metres.
r Interface of 9400 HighLine is already integrated.
System bus "CAN on board" (C 134)

Note!
For detailed information about the CANopen system bus interface, please see
the "CAN on-board 9400" Communication Manual.

ETHERNET Powerlink (in preparation)

r Rail or cascade structure is possible.
r Optionally absolute or relative master angle transfer possible.
r Resolution up to 28 bits/revolution.
r Cable length is virtually unlimited but must not exceed 100 m from drive to drive.
r Additional hardware (communication module ETHERNET Powerlink) is required.

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Introduction | Speed or angular synchronism?

Note!
For detailed information about the ETHERNET Powerlink, please see the
"Ethernet" Communication Manual.

12.1.4

Speed or angular synchronism?

The decision whether to use a speed or angular synchronism mainly refers to the TA
"Electronic gearbox" (C 297)
Angular synchronism
Use the angular synchronism if the material is not able to absorb any force and no
remaining positional variation may be available. Please note that a position controller
always causes additional trouble in a track since disturbances and reference value
variations must be compensated exactly.
Speed synchronism
Use the speed synchronism if the material is able to absorb force which ensures a better
concentricity.

12.1.5

Rail or cascade structure?

Rail structure
All drives obtain the same master value/master angle.
Cascade structure
Each drive obtains its own master value/master angle which is created or merely prepared
through the upstream drive.

12.1.6

Master or actual value transfer?

Master value transmission
The master value transfer results in a much quieter machine running. The mark
corrections, superimposed control functions and disturbances of the drive, however, do
not affect the system.
Actual value transfer
The actual value transfer results in an uneven machine running. Mark corrections,
superimposed control functions and disturbances of the leading drive affect the system.

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Introduction | Absolute or relative master angle processing?
12.1.7

Absolute or relative master angle processing?

Absolute master angle processing
All drives have a common fix reference to each other via the position of the master angle.
Relative master value/master angle processing
Stands for a high-precision transmission of the master value. However, there is no firm
reference to the other drives (e.g. in case of a material path each printing roll is
synchronised one by one to the print image).

12.1.8

Functions with synchronisation via the electrical shaft

The functions of the electrical shaft are built on each other and thus are scalable:
Electrical shaft
Relative table synchronism (cam with mark synchronisation)
Absolute table synchronism (cam)
Relative synchronism (with mark synchronisation)
Absolute synchronism
Electronic gearbox

Electronic gearbox
The electronic gearbox respresents the simplest function in the DC-bus operation via the
electrical shaft. The function is suited for e.g. material transport or material processing. A
direct synchronism of tools to a material path can be created without direct position
reference or for stretching plants with adjustable stretching ratio.
TA "Electronic gearbox" (C 297)
Absolute synchronism
This function is suited for applications with continuously rotating tools (e.g. groove
cylinder), which are fed with material in a fixed machine cycle and for which several tools
have to be synchronised to each other.
Relative synchronism (with mark synchronisation)
This function is suited for processing continuous material in the form of a material web.
Here the tools (e.g. pressure cylinders) are aligned via marks to e.g. print images which are
located on the web. There must be no risk of collision. We distinguish between "Relative
synchronism with register formation and mark synchronisation" and "Relative
synchronism with register control".
TA "Synchronism with mark synchronisation" (C 332)
Absolute table synchronism (cam)
Like "Absolute synchronism", although the tools can also perform a non-linear movement.

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Introduction | Application examples

Relative table synchronism (with mark synchronisation)

Like "Relative synchronism", although the tools can also perform a non-linear movement.
12.1.9

Application examples
Electronic gearbox with virtual master

System bus
Master/Slave

i1

d1

v R1

Slave

i2

d2

v R2

n Virtual master (and slave 1)

o Slave 2
p Electrical shaft, implemented here via system bus (CAN).
[12-3] Electronic gearbox with virtual master (rail)

Electronic gearbox with real master

System bus

Master/Slave

i1

d1

v R1

Slave

i2

d2

v R2

i3

d3

v R3

n Real master/slave 1 (digital frequency extension module required)

o Slave 2
p Electrical shaft, implemented here via system bus (CAN).
[12-4] Electronic gearbox with real master (rail)

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Introduction | Application examples
Electronic gearbox as cascade
The technology application "Electronic gearbox" is often operated as cascade since
changes of speed/gearbox ratio of an upstream drive also have an effect on the
subsequent drive.
r Typical applications are, for instance, stretching machines, wire drawing machines and
roller mills.
r There is no position reference between tool and material. However, it may be required
to position the tools for maintenance work.
r The master speed is transmitted via the digital frequency or ETHERNET Powerlink (in
preparation).
Master/Slave

Slave

Digital
frequency

i1

d1

i2

d2

v R1

i3

d3

v R2

v1

v R3

v2

v3

n Real master/slave 1
o Slave 2
p Digital frequency cascade (digital frequency extension module required)
[12-5] Electronic gearbox with real master (cascade)

r The following applies to the speed of the web in case of a cascade:

v3 > v2
v3 = v2 K

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Introduction | Application examples

Tighten the web via trimming function with cascade

In case a clearance has developed, the web must be "tightened" again. Only then the
machine can be accelerated again via the master. The subsequent slave (cascade structure)
must run along in the set ratio. Thus, the trimming function acts directly before or after the
stretching factor.
Master/Slave

Slave

Slave
Digital
frequency

i1

d1

i2

d2

v R1

i3

d3

v R2

i4

v R3

v1

d4

v R4

v3

v4

n Real master/slave 1
o Slave 2 with master value trimming
p Slave 3
q Digital frequency cascade (digital frequency extension module required)
[12-6] Trimming function in case of the electronic gearbox as cascade

Relative synchronism with mark synchronisation and virtual master

System bus

Master/Slave

Slave

i1

d1

Slave

i2

v R1

d2
a2

i3

v R2

d3
a3

v R3
v

n Virtual master (and slave 1)

o Slave 2
p Slave 3
q Electrical shaft, implemented here via system bus (CAN).
r Register (cycle of guiding angle/guiding angle)
s Sensor for mark synchronisation
[12-7] Relative synchronism with virtual master (rail)

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Introduction | Application examples

In case of the relative synchronism with mark synchronisation, there is a position reference
between tool and web, which occurs in each register. For this, a slight correction is
superimposed to the synchronous motion with regard to the web. Such applications are,
for instance, printing machines.
For the mark synchronisation in particular the register r (the cycle of the guiding angle)
and the distance of the sensor s from the home position of the tool (distances a2 and a3)
are relevant.
Relative synchronism with mark synchronisation and real master

System bus

Master/Slave

i1

d1

Slave

i2

v R1

d2

i3

v R2

a2

d3
a3

v R3
v

n Real master/slave 1 (digital frequency extension module required)

o Slave 2
p Electrical shaft, implemented here via system bus (CAN).
q Register (cycle of guiding angle/guiding angle)
r Sensor for mark synchronisation
[12-8] Relative synchronism with real master (track)

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TA "Electronic gearbox"

12.2

TA "Electronic gearbox"
The technology application "Electronic gearbox" serves to implement a synchronism with
adjustable stretching ratio between the drives in the system.
r The ratio can be freely adjusted, the values are input in the form of a fraction
(numerator/denominator) with 32 bit resolution.
r The master value can be specified either by a "Virtual master", or via a bus system or the
digital frequency extension module. It is selected from the Application parameter tab
via the Master value source list field (C03052).
r The master value transmission (high speed stability) is preset. The actual values can be
transmitted by the corresponding selection in the list fields Master value output
(C3054/1, C3054/2, C3197).

Note!
The electrical shaft can be implemented with a bus system as e.g. system bus
(CAN) or Ethernet Powerlink or via digital frequency transmission.
With regard to the configuration of the digital frequency extension module in
the controller, two variants of technology applications are available in the
Engineer application catalog.
In the TA variant "Electronic gearbox" the configuration of a digital frequency
extension module is expected. Therefore, the TA can provide the function of
the electrical shaft either via digital frequency transmission and via a bus
system.
In the TA variant "Electronic gearbox MotionBus" the configuration of a digital
frequency extension module is not included and corresponding interfaces are
not available in the TA. Thus the function of the electrical shaft with this TA
can only be provided via a bus system.

Functions
r Virtual master with inching, handwheel and reduced speed.
r Master value conditioning (master shaft) with master value scaling, stretch factor and
reversal of rotation direction.
r Virtual clutch with emergency stop and basic speed
r Trimming function via profile generator.
r Master value conditioning (machine axis/tool) with setpoint scaling.
r Additional operating modes for activating the basic drive functions "Homing", "Manual
jog (inching)" and "Position override function".
r Support of the basic drive functions "Quick stop" and "Limiter".
r Following error monitoring.
r Optional control of a holding brake.

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TA "Electronic gearbox" | Basic signal flow
12.2.1

Basic signal flow

LS_Brake

Real master/
Virtual master

Dv

Slave

LS_Homing

LS_ManualJog

LS_Positioner

LS_Quickstop
n

LS_Limiter
n

STOP

-100 0 100 200

[12-9] Signal flow of the TA "Electronic gearbox" (schematic diagram)

Functions in the operating mode "Electronic gearbox"

 Master value processing with stretch factor
 Virtual clutch
 Master value trimming
 Setpoint conditioning
Basic drive functions
 Homing
 Manual jog (inching)
 Position override function
 Quick stop
Limiter (optional)
! Brake control (optional)

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TA "Electronic gearbox" | Assignment of the I/O terminals

12.2.2

Assignment of the I/O terminals

12.2.2.1

Setpoint and control signals

The following tables contain the Lenze assignment of the analog and digital inputs for the
technology application "Electronic gearbox".
Analog inputs

A2- A2+ A1R A1- A1- A1+

Terminal X3

Signal (Lenze setting)

AI1AI1+

AI2AI2+

I/O terminals

Analog inputs (C 117)

Digital inputs

DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI

Terminal X5

Signal (Lenze setting)

DI1

Quick stop
If DI1 is set to LOW level, the drive is decelerated to standstill within the deceleration
time set for the quick stop function independent of the setpoint selection.
If the quick stop function is deactivated, the drive is led to the selected setpoint again via
the set acceleration time.
Basic drive functions Quick stop (C 152)

DI2

Connection of reference switch

DI3

DI4

Close clutch

DI5

Reset error
By means of a LOW-HIGH edge an existing error status can be reset if the cause of the
fault is removed.

DI6

DI7

DI8

I/O terminals

Digital inputs (C 123)

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TA "Electronic gearbox" | Assignment of the I/O terminals
12.2.2.2

Actual value and status signals

The following tables contain the Lenze assignment of the analog and digital outputs for
the technology application "Electronic gearbox".
r The default signal configuration if required can be easily changed by parameterising
the multiplexer parameters assigned.
Analog outputs

AO2 AO1 GA

Terminal X3

Signal (Lenze setting)

Signal configuration

AO1

Motor speed
Scaling: 10 V motor reference speed (C00011)

C03110/1

AO2

Motor torque (setpoint)

Scaling: 10 V Motor reference torque (C00057/2)

C03110/2

I/O terminals

Analog outputs (C 120)

Digital outputs

DO4 DO3 DO2 DO1 24O GO

Terminal X4

Signal (Lenze setting)

Signal configuration

DO1

Status "Drive ready"

This operating state is active if the controller is enabled by setting
the digital input RFR to HIGH level and no error has occurred.

C03100/1

DO2

Status "Electrical shaft enabled"

C03100/2

DO3

Status "Limitation active"

A setpoint is limited at the moment.

C03100/3

DO4

"Error" status
If the controller is in the error state, the digital output DO4 is set
to HIGH level.

C03100/4

I/O terminals

Digital outputs (C 125)

State bus

SB 24E GE

Terminal X2

Signal (Lenze setting)

SB

I/O terminals

"Application error" status

The state bus is put in the "error" status.

Signal configuration
C03100/5

Monitoring function "State bus" (C 127)

Display elements
User LED

Signal (Lenze setting)

Status "Electrical shaft enabled"

Drive interface

300

Signal configuration
C03100/6

LED status displays (C 34)

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TA "Electronic gearbox" | Machine parameters

12.2.3

Machine parameters
The following schematic diagram shows the relevant global data (machine parameters) for
the interconnection via the electrical shaft:
Master/Slave

Slave

Digital
frequency

i1
l1

d1

i2

v max

i3

d2

d3

n Master axis (here: master value encoder as real master)

o Slave axis 1
p Slave axis 2
q Digital frequency cascade (digital frequency extension module required)
[12-10] Schematic diagram of the most important machine parameters

Symbol

Description

i1

Gearbox ratio of master value encoder

d1

Diameter of the master roll

l1

Master value cycle (if available)

vmax

Maximum speed

i2, i3

Gearbox ratio of the slave axes

d2, d3

Diameter of the slave rolls

Detailed information for setting the machine parameters can be obtained from the
following subchapters.

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TA "Electronic gearbox" | Machine parameters
12.2.3.1

Master axis (master shaft)

For scaling and imaging the master value in the application, the machine parameters of
the higher-level drive (master shaft) must be set.

Note!
When setting (scaling) the electrical shaft, ensure that the ratio and encoder
constants are identical for all drives in the system. The reference to the scaling
of the master drive is sensible.

r Parameter setting: Tab Application parameter  Dialog level Overview  Electronic

gearbox  Master value scaling
Parameters

Lenze setting
Value Unit

C03930

Gearbox ratio - numerator

C03931

Gearbox ratio - denominator

C03932

Feed constant

360.0000 Unit/incr.

C03933

Path units

User-defined

C03934

User-defined path unit

C03938

Cycle

360.0000 Unit

C03941

Reference speed

500.0000 Unit/t

Example of determining the machine parameters for the master axis

1. Set gearbox ratio for the master value in the form
of a quotient (numerator and denominator):
i1 = 3.333 = 10/3
Numerator (C03930) = 10
Denominator (C03931) = 3
2. Set feed constant (C03932).
For the master value: Vk = d1 * = 471,2389 mm
i1 = 3.333

d1 = 150 mm

l 1 = 600 mm

3. Set the selection "mm" as path unit (C03933).

4. As reference speed (C03941) set the max. machine
speed vmax = "1000 mm/s".

v max = 1000 mm/s

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TA "Electronic gearbox" | Machine parameters

O Tip!
Setting the cycle (C03938) ony is required if the selection "Modulo" is set as
traversing range (C02528).
For operation with a virtual master the following setting of the gearbox ratio is
recommended to achieve a good resolution of the guiding angle/master value:
Numerator (C03930) = 100
Denominator (C03931) = 1

12.2.3.2

Slave axis (machine axis)

Among other things, the following machine parameters describe the motor end of the
mechanics used.
r Parameter setting: Tab Application parameter  Dialog level Overview  Electronic
gearbox  Machine parameters
Parameters

Lenze setting
Value Unit

C00173

Mains - voltage

C00174

Threshold undervoltage (LU)

400/415 V

C00600

Resp. to DC bus overvoltage

C02520

Gearbox fact. numer. motor

C02521

Gearbox fact. denom. motor

C02527

Motor mounting direction

C02570

Controller configuration

C02522

Gearbox fact. numer. load

C02523

Gearbox fact. denom. load

C02529

Mounting direction of position encoder

285 V
Trouble

Motor rotating CW
Position control
1
1
Encoder rotating CW

Description of the mechanics (load, tool)

C02528

Traversing range

C02524

Feed constant

C02525

Unit

C02526

User-defined unit

C02533

Time unit

C00273/1

Motor moment of inertia

C00273/2

Load moment of inertia

Modulo
360.0000 Unit

Motor-dependent kg cm2
0.00 kg cm2

O Tip!
Detailed information for selecting and entering the machine parameters for the
machine axis can be found in the chapter "Drive interface
Machine parameters (C 35)

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TA "Electronic gearbox" | Machine parameters

Example of determining the machine parameters for the slave axis

1. Set gearbox ratio for the motor in the form of a quotient
(numerator and denominator): i2 = 12.612 = 12612/
1000
Numerator (C02520) = 12612
Denominator (C02521) = 1000

i2 = 12.612

d2 = 200 mm

2. Set the same gearbox ratio for the encoder on the load
side:
Numerator (C02522) = 12612
Denominator (C02523) = 1000
3. Set feed constant (C02524).
For the conveyor drive: Vk = d2 * = 628,3185 mm
4. Set the selection "mm" as unit (C02525).

O Tip!
The feed constant corresponds to the movement on the machine side when the
gearbox output shaft carries out one revolution (for selection as angle = 360).
When the unit is set, the real unit of the machine for the selection of physical
values (e. g. speeds, accelerations and decelerations) is defined.

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TAs for interconnection via electrical shaft

TA "Electronic gearbox" | Selection of master value source and output
12.2.4

Selection of master value source and output

C03197

C03054/1
LPortAxisIn1

LPortAxisOut1

C03054/2
LPort32Out1

C03052

Dj

4
v

M
Virtual master

v
t

 Master value

 with stretch factor

 with clutch

 with trimming

 Actual value

[12-11] Signal flow for selecting the master value source and the master values to be output

Master value source

The master values can be either selected by a "Virtual master", via a bus system or the
digital frequency extension module. Transmission of the master angle (C 290)
r They can be selected on the Application parameter tab via the Master value source list
field or via C03052.
Master value output
The master value to be output ( ... ) is selected individually for the three possible
communication channels:
r List field Master value output DF module (C03197):
Selection of the master value output for the digital frequency module.
r List field Master value output MotionBus (C03054/1):
Selection of the master value output for horizontal communication.
r List field Master value output LPort32Out1 (C03054/2):
Selection of the master value output for vertical communication.

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TA "Electronic gearbox" | Selection of master value source and output
12.2.4.1

Master value source: Virtual master

If the "Virtual master" is selected as master value source, the master value is created in the
TA and transmitted via a bus system or the digital frequency output to the other slave
drives.
r Parameter setting: Tab Application parameter  Dialog level Overview  Virtual
master
Parameters

Lenze setting
Value Unit

C03565

Operating mode

Continuous operation

C03568/1

Master speed 1

500.0000 Unit/t

C03568/2

Master speed 2

0.1000 Unit/t

C03569/1

Speed inching right

50.0000 Unit/t

C03569/2

Speed inching left

25.0000 Unit/t

C03570/1

Inching ramp

0.010 s

C03570/2

Continuous operation ramp

1.000 s

C03570/3

Stop ramp

1.000 s

Control/setpoint inputs of the function

Lenze setting

Control/setpoint input
FALSE  VMas master shaft STOP1

Signal configuration
(Multiplexer parameters)
C03058/1

C03016  Activate master function

C03058/3

C03017  VMas inching positive

C03058/4

C03018  VMas inching negative

C03058/5

FALSE  VMas start continuous operation

C03058/7

FALSE  VMas 2. master speed

C03058/8

0  VMaster handwheel

C03056

r Configuration: Tab FB editor  FB VirtualMaster

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TAs for interconnection via electrical shaft

TA "Electronic gearbox" | Selection of master value source and output
12.2.4.2

Master value source: Digital frequency input

To use the digital frequency input as master value source, the controller must be provided
with digital frequency extension module (E94AYFLF).
To ensure the integration of the extension module in the application, the TA "Electronic
gearbox" must be used as technology application.

Note!
The technology application "Electronic gearbox" MotionBus" which can also be
selected in the application catalog does not contain any interfaces to the digital
frequency extension module.

O Tip!
Detailed information on the digital frequency extension module can be found in
the User Manual "Digital frequency extension module (E94AYFLF) parameter
setting & configuration".

12.2.4.3

Master value source: Bus system

When the master value is selected via a bus system as e.g. system bus (CAN) it is possible
to first extrapolate the received position information to compensate higher bus
transmission cycles.
r Parameter setting: Tab Application parameter  Dialog level Overview  Electronic
gearbox  Master value extrapolation
Parameters

Lenze setting
Value Unit

C03550

Number of extrapolation cycles

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

TRUE  Activate extrapolation

C03058/9

r Configuration: Tab FB editor  FB MotionBusIn

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TAs for interconnection via electrical shaft
TA "Electronic gearbox" | Operating mode "Electronic gearbox"
12.2.5

Operating mode "Electronic gearbox"

In the "Electronic gearbox" (C03006 = "0") operating mode the drive follows the master
value of the electrical shaft if the clutch is engaged.
0

Real master/
Virtual master

Dv

C03006 = 0

M
Slave

[12-12] "Electronic gearbox" operating mode (schematic diagram)

Functions in the "Electronic gearbox" operating mode

 Master value processing
 Virtual clutch
 Master value trimming
 Setpoint conditioning

O Tip!
A description of the different functions for conditioning the master value can be
found in the following subchapters.

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TAs for interconnection via electrical shaft

TA "Electronic gearbox" | Operating mode "Electronic gearbox"

12.2.5.1

Master value processing

Real master/
Virtual master

Dj

C03006 = 0
v

Slave

n Master value
oMaster value with stretch factor
[12-13] "Master value processing" function in the signal flow (schematic diagram)

r Parameter setting: Tab Application parameter  Dialog level Overview  Electronic

gearbox
Parameters

Lenze setting
Value Unit

C03957

Master value

- Unit/t

C03000

Stretch factor - numerator

1000000000

C03001

Stretch factor - denominator

1000000000

C03673

Master value with stretch factor

- Unit/t

r Parameter setting: Tab Application parameter  Dialog level Overview  Electronic

gearbox  Master value processing
Parameters

Lenze setting
Value Unit

C03025

Master value - direction of rotation

Setpoint inputs of the function

Lenze setting

Not inverted

Signal configuration

Setpoint input

(Multiplexer parameters)

C03000  Stretch factor - numerator

C03050/1

C03001  Stretch factor - denominator

C03050/2

r Configuration: Tab FB editor  FB GearElectricalShaft

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TAs for interconnection via electrical shaft
TA "Electronic gearbox" | Operating mode "Electronic gearbox"
12.2.5.2

Virtual clutch
Real master/
Virtual master

Dv

C03006 = 0
v

M
Slave

nMaster value with stretch factor

o Master value with clutch
[12-14] Function "Virtual clutch" in the signal flow (schematic diagram)

r Parameter setting: Tab Application parameter  Dialog level Overview  Electronic

gearbox  Virtual clutch
Parameters

Lenze setting
Value Unit

C03673

Master value with stretch factor

C03021

Activate clutch

Deactivated

C03665/1

Clutch in ramp

1.000 s

C03665/2

Decoupling ramp

1.000 s

C03665/3

Stop ramp

1.000 s

C03668

Jerk limitation

1.000 s

C03674

Master value with clutch

Control inputs of the function

Lenze setting

- Unit/t

- Unit/t

Signal configuration

Control input

(Multiplexer parameters)

DigIn 4  Close clutch

C03058/12

FALSE  Clutch - positive opening operation

C03058/13

r Configuration: Tab FB editor  FB ClutchElectricalShaft

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TAs for interconnection via electrical shaft

TA "Electronic gearbox" | Operating mode "Electronic gearbox"

12.2.5.3

Master value trimming

Real master/
Virtual master

Dv

C03006 = 0
v

Slave

n Master value with clutch

o Master value with trimming
[12-15] "Master value trimming" function in the signal flow (schematic diagram)

This function serves to adjust the master value.

r Parameter setting: Tab Application parameter  Dialog level Overview  Electronic
gearbox  Master value trimming
Parameters

Lenze setting
Value Unit

C03674

Master value with clutch

C03026

Activate trimming

Deactivated

- Unit/t

C03027

Positive trimming

Inactive

C03028

Negative trimming

C03685

Positive speed

400.0000 Unit/t

C03686

Negative speed

-200.0000 Unit/t

C03687

Acceleration ramp

1.000 s

C03688

Deceleration ramp

1.000 s

C03689

Disable ramp

1.000 s

C03690

Master value with trimming

Control inputs of the function

Lenze setting

Inactive

- Unit/t

Signal configuration

Control input

(Multiplexer parameters)

C03026  Activate trimming

C03058/15

C03027  Positive trimming

C03058/17

C03028  Negative trimming

C03058/18

r Configuration: Tab FB editor  FB Trimming

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TAs for interconnection via electrical shaft
TA "Electronic gearbox" | Operating mode "Electronic gearbox"
12.2.5.4

Setpoint conditioning
Real master/
Virtual master

Dv

C03006 = 0
v

Slave

n Master value with trimming

o Actual value
[12-16] "Setpoint conditioning" function in the signal flow (schematic diagram)

This function is used for speed ratio between the master shaft and the machine axis.
r Parameter setting: Tab All parameters  Category Electronic gearbox 
ConvertElShaftMotor
Parameters

Lenze setting
Value Unit

C03715

Operating mode

C03717/1

Reference variable X

Unit coupling
1.0000

C03717/2

Reference variable Y

1.0000

r Configuration: Tab FB editor  FB ConvertElShaftMotor

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TAs for interconnection via electrical shaft

TA "Electronic gearbox" | "Homing" mode

12.2.6

"Homing" mode
In the "Homing" mode (C03006 = "2") the drive is decoupled from the electrical shaft and
the basic function "Homing" is enabled:
C03006 = 2
v

t t

M
Slave

LS_Homing

LS_ManualJog

LS_Positioner

-100 0 100 200

[12-17] "Homing" mode (schematic diagram)

r Parameter setting: Tab Application parameter  Dialog level Overview  Homing

Parameters

Lenze setting
Value Unit

C02528

Traversing range

C02640

Ref. mode

Modulo

C02642

HM position

C02643

HM target position

C02644

Ref. speed 1

360.0000 Unit/s

C02645

Home acceleration 1

720.0000 Unit/s2

Set home pos. directly

0.0000 Unit
0.0000 Unit

C02646

Ref. speed 2

180.0000 Unit/s

C02647

Ref. acceleration 2

360.0000 Unit/s2

C02648

Home S-ramp time

C02649

HM torque limit

10.00 %

100 ms

C02650

Homing inhibit time

1.000 s

C02652

Home position after mains switching

C02653

Max. rot. angle after mains sw.

C3011

Set home position

C3012

Home position

Delete
180
Inactive
100.0000 Unit

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TAs for interconnection via electrical shaft
TA "Electronic gearbox" | "Homing" mode

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

FALSE  Start homing

C03160/2

DigIn 2  Home mark

C03160/3

C03011  Set home position

C03160/4

C03012  Home position

C03163

FALSE  Reset home position

C03160/5

O Tip!
Detailed information on homing can be found in chapter "Basic drive functions" 
subchapter "Homing". (C 164)

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TAs for interconnection via electrical shaft

TA "Electronic gearbox" | "Manual jog" mode

12.2.7

"Manual jog" mode

In the "Manual jog" mode (C03006 = "4") the drive is decoupled from the electrical shaft
and the basic function "Manual jog" is enabled:
C03006 = 4
v

t t

M
Slave

LS_Homing

LS_ManualJog

LS_Positioner

-100 0 100 200

[12-18] "Manual jog" mode (schematic diagram)

r Parameter setting: Tab Application parameter  Dialog level Overview  Manual jog
Parameters

Lenze setting
Value Unit

C02620

Manual jog speed 1

360.0000 Unit/s

C02621

Manual jog speed 2

720.0000 Unit/s

C02622

Manual acceleration

360.0000 Unit/s2

C02623

Manual deceleration

1440.0000 Unit/s2

C02624

Inaccuracy time of manual traversing

C03007

Positive manual jog

Inactive

C03008

Negative manual jog

Inactive

Control inputs of the function

Lenze setting

0.100 s

Signal configuration

Control input

(Multiplexer parameters)

C03007  Activate positive manual jog

C03155/2

C03008  Activate negative manual jog

C03155/3

FALSE  Activate 2. speed

C03155/4

FALSE  Retract limit switch

C03155/5

O Tip!
Detailed information on the manual jog function can be found in chapter "Basic
drive functions"  subchapter "Manual jog". (C 156)

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TAs for interconnection via electrical shaft
TA "Electronic gearbox" | "Positioning" mode"
12.2.8

"Positioning" mode"
In the "Positioning" mode (C03006 = "8") the drive is decoupled from the electrical shaft
and the basic function "Positioning" is enabled:
C03006 = 8
v

t t

M
Slave

LS_Homing

LS_ManualJog

LS_Positioner

-100 0 100 200

[12-19] "Positioning" mode (schematic diagram)

r Parameter setting: Tab Application parameter  Dialog level Overview  All basic
functions  Positioning
Parameters

Lenze setting
Value Unit

C00070

Speed controller gain

C00071

Speed controller reset time

10.0 ms

C00072

D component - speed controller

0.00 ms

C02570

Controller configuration

C02554

Integral-action time of position controller

C02553

Position controller gain

20.00 1/s

C03040

Positioning - profile no.

C03041

Positioning - teach profile no.

Control/setpoint inputs of the function

Lenze setting

316

Control/setpoint input

0.00700 Nm/rpm

Phase control
60.000 s

Signal configuration
(Multiplexer parameters)

FALSE  Start positioning step

C03185/2

FALSE  Abort positioning step

C03185/3

FALSE  Restart positioning step

C03185/4

FALSE  Activate override

C03185/5

100 %  Speed override

C03186/1

100 %  Acceleration override

C03186/2

FALSE  Inhibit touch probe evaluation

C03185/6

FALSE  Teach position

C03185/7

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9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Electronic gearbox" | "Positioning" mode"

Profile data record management

For the profile data record management the FB L_PosProfileTable is used. This FB serves to
file and manage up to four (travel) profiles and to "teach" target positions.
r A profile describes a motion request which can be implemented by the
SB LS_Positioner into a rotary motion.
r A profile is described via the following profile parameters: Mode (type of positioning),
position, speed, acceleration, deceleration, S-ramp time, standard sequence profile, TP
sequence profile and TP selection.
r The data of the profile parameters is directly input in the assigned codes:
Profile parameters

Unit

Profile no. 1

Profile no. 2

Profile no. 3

Profile no. 4

Positioning mode

C03970/1

C03970/2

C03970/3

C03970/4

Unit

Set position

C03971/2

C03971/3

C03971/4

Position
Speed

Unit/t

C03972/1

C03972/2

C03972/3

C03972/4

Acceleration

Unit/t2

C03973/1

C03973/2

C03973/3

C03973/4

Delay

Unit/t2

C03974/1

C03974/2

C03974/3

C03974/4

S-ramp time

C03975/1

C03975/2

C03975/3

C03975/4

TP sequence profile

C03976/1

C03976/2

C03976/3

C03976/4

TP selection

C03977/1

C03977/2

C03977/3

C03977/4

Note!
For profile no. 1 the set position of the tool which belongs to the master position
is always used as target position.
Application: Returning the tool e.g. from a maintenance position to the
network.

"Teach" position
When the control input "Teach position" is set to TRUE, the current tool position is saved in
the profile the number of which is set in C03041. After the control input is reset to FALSE
the position saved last is maintained in the profile.

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TA "Electronic gearbox" | Following error monitoring
12.2.9

Following error monitoring

In the Lenze setting the following error monitoring is active.
r Parameter setting: Tab Application parameter  Dialog level Overview  Electronic
gearbox  Following error monitoring
j

n Switching threshold
o Hysteresis
Parameters

Lenze setting
Value Unit

C03911

Switching threshold

1.0000 Unit

C03916

Hysteresis

0.5000 Unit

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

TRUE  Activate following error monitoring

C03058/21

r Configuration: Tab FB editor  FB MonitFollowError

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TAs for interconnection via electrical shaft

TA "Electronic gearbox" | Quick stop

12.2.10

Quick stop

t t

Slave

LS_Quickstop
n

If the quick stop function is deactivated,

the drive is led to the selected setpoint
again via the set acceleration time.

LS_Limiter
n

STOP

The basic function "Quick stop" brakes the

drive to standstill within the deceleration
time set for the quick stop function after a
corresponding request independent of the
setpoint selection.

[12-20] Basic function "Quick stop" (schematic diagram)

r The quick stop function can be activated as follows in the Lenze setting:
By setting the digital input DI1 to LOW level.
By a master control via the port LPortControl1:
By setting bit 2 of the bit-coded control word 1.
r Parameter setting: Tab Application parameter  Dialog level Overview  All basic
functions  Quick stop
Parameters

Lenze setting
Value Unit

C00105

Quick stop deceleration time

C00106

Quick stop S-ramp time

C00107

Reference for deceleration time "Quick stop"

Control inputs of the function

Lenze setting

0.000 s
0.00 %
Motor reference speed (C00011)

Signal configuration

Control input

(Multiplexer parameters)

DigIn 1  Activate quick stop 1

C03135/1

Control word 1  Activate quick stop 2

bit 02

C03135/2

FALSE  Activate quick stop 3

C03135/3

O Tip!
Detailed information on quick stop can be found in chapter "Basic drive functions"
 subchapter "Quick stop". (C 152)

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TAs for interconnection via electrical shaft
TA "Electronic gearbox" | Limiter
12.2.11

Limiter

t t

Slave

LS_Quickstop
n

The basic function "Limiter" monitors the

travel range limits via limit switches and
parameterised software limit positions
and can lead the drive to defined limit
ranges when being asked accordingly by
the safety module.

LS_Limiter
n

STOP

[12-21] Basic function "Limiter" (schematic diagram)

r Parameter setting: Tab Application parameter  Dialog level Overview  Limiter

Parameters

Lenze setting
Value Unit

Limit values
C02707

Permissible direction of rotation

C02700

Software limit positions are active

C02701/1

Positive software limit position

0.0000 Unit

C02701/2

Negative software limit position

0.0000 Unit

Positive and negative

Deactivated

Only for homing, positioning and manual jog

C02702

Limitations effective

C02703

Max. speed

3600.0000 Unit/s

C02705

Max. acceleration

3600.0000 Unit/s2

C02706

Min. S-ramp time

Deactivated

100 ms

Limited speed 1 ... 4 (only for homing, positioning, and manual jog)
C02708/1

Limited speed 1

C02710/1

Delay lim. speed 1

C02711/1

S-ramp time lim. speed 1

C02708/2

Limited speed 2

C02710/2

Delay lim. speed 2

C02711/2

S-ramp time lim. speed 2

C02708/3

Limited speed 3

C02710/3

Delay lim. speed 3

C02711/3

S-ramp time lim. speed 3

C02708/4

Limited speed 4

C02710/4

Delay lim. speed 4

C02711/4

S-ramp time lim. speed 4

3600.0000 Unit/s
0.0100 Unit/s2
100 ms
7200.0000 Unit/s
0.0100 Unit/s2
100 ms
14400.0000 Unit/s
0.0100 Unit/s2
100 ms
28800.0000 Unit/s
0.0100 Unit/s2
100 ms

For manual jog only

C02713

320

Max. path - manual jog

Firmware 1.37 - 09/2006

360.0000 Unit

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Electronic gearbox" | Limiter

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

FALSE  Positive limit switch

C03150/1

FALSE  Negative limit switch

C03150/2

O Tip!
Detailed information on the limiter function can be found in chapter "Basic drive
functions"  subchapter "Limiter". (C 200)

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TAs for interconnection via electrical shaft
TA "Electronic gearbox" | Brake control
12.2.12

Brake control
The basic function "Brake control" serves to the wear free
control and monitoring of a holding brake.

LS_Brake

In the simplest case, an optionally available brake module

is used.

Alternatively the holding brake can also be controlled and

monitored via the digital inputs/outputs.

[12-22] Basic function "Brake control" (schematic diagram)

Note!
In the Lenze setting the brake control is switched off to reach a safe status after
mains connection.

O Tip!
Detailed information on brake control can be found in chapter "Basic drive
functions"  subchapter "Brake control". (C 211)

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TAs for interconnection via electrical shaft

TA "Electronic gearbox" | Brake control

r Parameter setting: Tab Application parameter  Dialog level Overview  Brake control
Parameters

Lenze setting
Value Unit

C02580

Operating mode - brake

C02581

Brake activation threshold

C02582

Brake resp. to pulse inhibit

C02583

Status input monitoring

C02585

Brake control polarity

C02586

Starting torque 1

0.00 Nm

C02587

Starting torque 2

0.00 Nm

C02588

Source of starting torque

C02589

Brake closing time

100 ms

C02590

Brake opening time

100 ms

C02591

Waiting time - status monit.

C02593

Waiting time - brake active.

C02594

Test torque

C02595

Permissible angle of rotation

C02596

Grinding speed

C02597

Accel./decel. time - grinding

C02598

Grinding ON time

0.5 s

C02599

Grinding OFF time

0.5 s

Activate the brake immediately

Not active
Not inverted

Starting torque 1/2

100 ms
0.000 s
5
100 rpm

Control/setpoint input

1.000 s

Signal configuration
(Multiplexer parameters)

FALSE  Release brake

C03165/1

FALSE  Activate starting torque 2

C03165/2

FALSE  Brake status signal

C03165/3

FALSE  Activate brake test

C03165/4

FALSE  Grind brake

C03165/5

0 %  Additional torque

50 rpm

0.00 Nm

Control/setpoint inputs of the function

Lenze setting

Brake control off

Firmware 1.37 - 09/2006

C03166

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TAs for interconnection via electrical shaft

TA "Electronic gearbox" | Signal configuration of drive and motor interface
12.2.13

Signal configuration of drive and motor interface

If required, the preset signal configuration of the control and setpoint inputs of the drive
and motor interface can be easily reconfigured per parameter setting of the assigned
multiplexer parameters.
Drive interface
Signal (Lenze setting)

Control input
FALSE  Set controller inhibit

Signal configuration
C03130/1

DigIn 5  Reset error 1

C03130/2

Control word 1 bit 07  Reset error 2

C03130/3

FALSE  Reset error 3

C03130/4

FALSE  Set error

C03130/5

Control word 1 bit 00  Switch on drive

C03130/6

Motor interface
Signal (Lenze setting)

Setpoint input
100 %  Position controller adaption

C03141/1

100 %  Phase controller adaption

C03141/2

100 %  Adaptation of speed controller

C03141/3

100 %  Upper torque limit value

C03141/4

-100 %  Lower torque limit value

C03141/5

100 %  Flux setpoint

324

Signal configuration

Firmware 1.37 - 09/2006

C03141/6

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Electronic gearbox" | Signal configuration of the output ports
12.2.14

Signal configuration of the output ports

If required, the preset signal configuration of the output ports can be easily reconfigured
per parameter setting of the assigned multiplexer parameters.
"LPortAxisOut1" output port
The output port LPortAxisOut1 is intended for the connection with a following axis.
Signal (Lenze setting)

Output port

Signal configuration

Axis status word

Application-specific signals can be supplemented.
FALSE  Axis status word bit 00

C03120/1

FALSE  Axis status word bit 01

C03120/2

FALSE  Axis status word bit 02

C03120/3

FALSE  Axis status word bit 03

C03120/4

FALSE  Axis status word bit 04

C03120/5

FALSE  Axis status word bit 05

C03120/6

FALSE  Axis status word bit 06

C03120/7

FALSE  Axis status word bit 07

C03120/8

FALSE  Axis status word bit 08

C03120/9

FALSE  Axis status word bit 09

C03120/10

FALSE  Axis status word bit 10

C03120/11

FALSE  Axis status word bit 11

C03120/12

FALSE  Axis status word bit 12

C03120/13

FALSE  Axis status word bit 13

C03120/14

FALSE  Axis status word bit 14

C03120/15

FALSE  Axis status word bit 15

C03120/16

Setpoints for horizontal communication

0 %  Axis-Port Out 1

C03124/1

Master value  Axis-Port Out 2

C03054/1

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TA "Electronic gearbox" | Signal configuration of the output ports
Output port "LPortStatus1"
The output port LPortStatus1 is intended for the connection with a higher-level control.
Signal (Lenze setting)

Output port

Signal configuration

Status word 1
Drive ready  Status word 1 bit 00

C03121/1

FALSE  Status word 1 bit 01

C03121/2

Drive is ready to start  Status word 1 bit 02

C03121/3

Error is active.  Status word 1 bit 03

C03121/4

FALSE  Status word 1 bit 04

C03121/5

Quick stop active  Status word 1 bit 05

C03121/6

Switch-on inhibit is active  Status word 1 bit 06

C03121/7

Warning active  Status word 1 bit 07

C03121/8

FALSE  Status word 1 bit 08

C03121/9

FALSE  Status word 1 bit 09

C03121/10

FALSE  Status word 1 bit 10

C03121/11

Drive in the limitation  Status word 1 bit 11

C03121/12

Homing complete  Status word 1 bit 12

C03121/13

Home position available  Status word 1 bit 13

C03121/14

FALSE  Status word 1 bit 14

C03121/15

FALSE  Status word 1 bit 15

C03121/16

Output port "LPortStatus2"

The output port LPortStatus2 is intended for the connection with a higher-level control.
Signal (Lenze setting)

Output port

Signal configuration

Status word 2

326

Virtual master is active  Status word 2 bit 00

C03122/1

Clutch is disengaged  Status word 2 bit 01

C03122/2

Trimming is active  Status word 2 bit 02

C03122/3

FALSE  Status word 2 bit 03

C03122/4

FALSE  Status word 2 bit 04

C03122/5

FALSE  Status word 2 bit 05

C03122/6

FALSE  Status word 2 bit 06

C03122/7

FALSE  Status word 2 bit 07

C03122/8

FALSE  Status word 2 bit 08

C03122/9

FALSE  Status word 2 bit 09

C03122/10

FALSE  Status word 2 bit 10

C03122/11

FALSE  Status word 2 bit 11

C03122/12

FALSE  Status word 2 bit 12

C03122/13

FALSE  Status word 2 bit 13

C03122/14

FALSE  Status word 2 bit 14

C03122/15

FALSE  Status word 2 bit 15

C03122/16

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TAs for interconnection via electrical shaft

TA "Electronic gearbox" | Application error messages

12.2.15

Application error messages

For the output of application-specific error messages an FB instance ApplicationError of the
function block L_DevApplErr is available in the network.
r Via the 8 boolean inputs up to 8 different application error messages with
parameterisable module ID, error ID and error response can be released by the
application.
r The first four inputs can be connected to the multiplexer parameters with the desired
tripping signals. The next four inputs are firmly connected to the tripping signals of the
application.
Error message

Error-ID

Error response

Free (configurable via C03060/1)

8001

No reaction

Free (configurable via C03060/2)

8002

Error

Free (configurable via C03060/3)

8003

Error

Free (configurable via C03060/4)

8004

Error

Following error

8005

Warning

Drive cannot follow

8006

Warning

Drive system interrupted

8007

Quick stop by trouble

External fault in drive system

8008

Quick stop by trouble

r Parameter setting: Tab All parameters

Parameters

Lenze setting

C03990

Module-ID

999

C03991/1...8

Error ID 1 ... 8

See table above

C03992/1...8

Error response 1 ... 8

See table above

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

FALSE  Application fault 1

C03060/1

FALSE  Application fault 2

C03060/2

FALSE  Application fault 3

C03060/3

FALSE  Application fault 4

C03060/4

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TA "Electronic gearbox" | Step by step: Electrical shaft via system bus (CAN)
12.2.16

Step by step: Electrical shaft via system bus (CAN)

The following instructions describe step by step the proceeding for commissioning the
electrical shaft via the system bus (CAN).
Create project view
1. Start Engineer.
2. Go to Start-up wizard and select the option "New project (empty)" and enter a name for
the project in a next step.
3.
4.

Insert system module.

Enter axes for master and slave(s).
Add the corresponding components (controller, motor, extension module) to the
axes.
Select for each controller the application "Electronic gearbox".
Example project view in the Engineer:

Parameterise the virtual master

1. Go to the Project view and select the controller
"Virtual master" in the network.

which is to take over the part of the

2. Go to the Application parameter tab and select the entry "Virtual master in the list field
Master value source (C03052).
3. Click Technology application to change to the dialog level Overview  Electronic
gearbox.
4. Click Master value scaling to change to the dialog level Overview  Electronic gearbox
 Master value scaling.
Parameterise gearbox ratio, feed constant, cycle, path unit, and reference speed for
the master value.
5. Click Back to change to the previous dialog level.
6. Click virtual master to change to the dialog level Overview  Electronic gearbox 
Virtual master.
Parameterise desired operating mode, speed and ramps.

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TA "Electronic gearbox" | Step by step: Electrical shaft via system bus (CAN)
Parameterising slave(s)
1. Go to Project view and select the first slave controller

2. Go to the Application parameter tab and select the entry "Virtual master in the list field
Virtual master (C03052).
3. Make the same settings for all other slave controllers.
Establish network
1. Go to Project view and select the system module
2.

Insert network.
Go to the dialog box Insert network to select the entry "System bus (CAN) from the
list field.
The checkmark in the control field Insert and configure node must be set so that a
machine application is inserted in the Project view together with the network.

3. On the Node tab for the inserted network:

Set node addresses for the controllers according to the DIP switch setting of the CAN
address of the memory module.
Go to Context menu for the master controller (right mouse button) and the select the
command Set as master.
4. On the Synchronisation tab for the inserted network:
Select the master controller as sync source in the list field Node.
Select all slave controllers as sync receivers by setting the checkmark in the first
column Appl..

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TA "Electronic gearbox" | Step by step: Electrical shaft via system bus (CAN)
Connect ports in the machine application
1. Go to Project view and select the machine application
automatically with the insertion of the network.

which has been inserted

2. Go to the Connections tab and connect the output port LPortAxisOut1 of the master
controller with the input port LPortAxisIn1 of all slave controllers.

Compile the project

1. Go to Project view and select the system module
2.

Update devices.
Set the checkmark in the control field Recreate all.
Click Create to start the compiling process.

Optimise bus load

In order that the bus load will not be too high, the transmission time for the master
controller can be set to a value > 1 ms. Then the same time must be set in the slave
controllers for the master value extrapolation.

Note!
This setting is only possible after the compiling process is completed since only
then the process data objects are defined for the data exchange among the
devices.

1. Go to Project view below the network and select the master controller.

2. Go to the Process data objects tab and set a transmission time > 1 ms (e.g. 5 ms) for the
process data object.

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TA "Electronic gearbox" | Step by step: Electrical shaft via system bus (CAN)

3. Go to Project view and select the first slave controller

4. Go to the Application parameter and change to the dialog level Electronic gearbox 
Electronic gearbox  Master value extrapolation.
5. Set the number of extrapolation cycles to the same value than the transmission time
set before.
This means: In case of a transmission time of 5 ms set for the master set the number
of extrapolation cycles for the slave to the value "5".
6. Make the same settings for all other slave controllers.
Transmit applications to the controller
1.

Go online.

2.

Download applications in the controller.

Note!
The downloaded application is basically stored in the first application memory
location of the controller.
The preinstalled technology applications on the following memory locations are
still available.

3. Confirm

Dialog box Save parameter set with Yes, all devices.

4. Confirm

Dialog box Start application with Yes, all devices.

5. Confirm

Dialog box Enable controller with Yes, all devices.

6. Control applications via terminals or network.

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TA "Synchronism with mark synchronisation"
12.3

TA "Synchronism with mark synchronisation"

The technology application "Synchronism with register formation and mark
synchronisation" serves to implement a high-precision angular synchronism between the
drives in the system.
r Thanks to a free adjustable position resolution of up to 24 bits per motor revolution a
very good synchronism result is achieved so that applications with direct drive can be
resolved with high precision.
r The ratio can be freely adjusted, the values are input in the form of a fraction
(numerator/denominator) with 32 bit resolution.
r The master value can be specified either by a "Virtual master", or via a bus system or the
digital frequency extension module. It is selected from the Application parameter tab
via the Master value source list field (C03052).
r The master value transmission (high speed stability) is preset. The actual values can be
transmitted by the corresponding selection in the list fields Master value output
(C3054/1, C3054/2, C3197).

Note!
The electrical shaft can be implemented with a bus system as e.g. system bus
(CAN) or Ethernet Powerlink or via digital frequency transmission.
With regard to the configuration of the digital frequency extension module in
the controller, two variants of technology applications are available in the
Engineer application catalog.
In the TA variant "Synchronism with mark synchronisation" the configuration
of a digital frequency extension module is expected. Therefore, the TA can
provide the function of the electrical shaft either via digital frequency
transmission and via a bus system.
In the TA variant "Synchronism with mark synchronisation MotionBus" the
configuration of a digital frequency extension module is not included and
corresponding interfaces are not available in the TA. Thus the function of the
electrical shaft with this TA can only be provided via a bus system.

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TA "Synchronism with mark synchronisation"

Functions
r Virtual master with inching, handwheel and reduced speed.
r Conditioning of the master value (master shaft) with master value scaling, register
generation, stretch factor, reversal of rotation direction, and mark synchronisation via
profile generator.
r Virtual clutch with emergency stop and basic speed
r Trimming function via profile generator.
r Conditioning of the setpoint (machine axis/tool) with setpoint scaling, register
generation, and mark synchronisation via profile generator.
r Additional operating modes for activating the basic drive functions "Homing", "Manual
jog (inching)" and "Position override function".
r Support of the basic drive functions "Quick stop" and "Limiter".
r Following error monitoring.
r Optional control of a holding brake.

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TA "Synchronism with mark synchronisation" | Basic signal flow
12.3.1

Basic signal flow

LS_Brake

Real master/
Virtual master

Dj

Dj
TP

Slave

Dj
TP

LS_Homing

LS_ManualJog

LS_Positioner

LS_Quickstop
n

LS_Limiter
n

STOP

-100 0 100 200

[12-23] Signal flow of the TA "Synchronism" (schematic diagram)

Functions in the "Synchronism" operating mode

 Master value processing
 Mark synchronisation (master value)
 Virtual clutch
 Master value adjustment
 Setpoint conditioning
 Mark synchronisation (setpoint)
Basic drive functions
 Homing
 Manual jog (inching)
Position override function
! Quick stop
" Limiter (optional)
# Brake control (optional)

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TA "Synchronism with mark synchronisation" | Assignment of the I/O terminals
12.3.2

Assignment of the I/O terminals

12.3.2.1

Setpoint and control signals

The following tables contain the Lenze assignment of the analog and digital inputs for the
technology application "Synchronism".
Analog inputs

A2- A2+ A1R A1- A1- A1+

Terminal X3

Signal (Lenze setting)

AI1AI1+

AI2AI2+

I/O terminals

Analog inputs (C 117)

Digital inputs

DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI

Terminal X5

Signal (Lenze setting)

DI1

Quick stop
If DI1 is set to LOW level, the drive is decelerated to standstill within the deceleration
time set for the quick stop function independent of the setpoint selection.
If the quick stop function is deactivated, the drive is led to the selected setpoint again via
the set acceleration time.
Basic drive functions Quick stop (C 152)

DI2

Connection of reference switch/touch probe sensor for tool synchronisation

DI3

Connection of touch probe sensor for master value synchronisation

DI4

Close clutch

DI5

Reset error
By means of a LOW-HIGH edge an existing error status can be reset if the cause of the
fault is removed.

DI6

Start trimming

DI7

DI8

I/O terminals

Digital inputs (C 123)

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TA "Synchronism with mark synchronisation" | Assignment of the I/O terminals
12.3.2.2

Actual value and status signals

The following tables contain the Lenze assignment of the analog and digital outputs for
the technology application "Synchronism".
r The default signal configuration if required can be easily changed by parameterising
the multiplexer parameters assigned.
Analog outputs

AO2 AO1 GA

Terminal X3

Signal (Lenze setting)

Signal configuration

AO1

Motor speed
Scaling: 10 V motor reference speed (C00011)

C03110/1

AO2

Motor torque (setpoint)

Scaling: 10 V Motor reference torque (C00057/2)

C03110/2

I/O terminals

Analog outputs (C 120)

Digital outputs

DO4 DO3 DO2 DO1 24O GO

Terminal X4

Signal (Lenze setting)

Signal configuration

DO1

Status "Drive ready"

This operating state is active if the controller is enabled by setting
the digital input RFR to HIGH level and no error has occurred.

C03100/1

DO2

Status "Electrical shaft enabled"

C03100/2

DO3

Status "Limitation active"

A setpoint is limited at the moment.

C03100/3

DO4

"Error" status
If the controller is in the error state, the digital output DO4 is set
to HIGH level.

C03100/4

I/O terminals

Digital outputs (C 125)

State bus

SB 24E GE

Terminal X2

Signal (Lenze setting)

SB

I/O terminals

"Application error" status

The state bus is put in the "error" status.

Signal configuration
C03100/5

Monitoring function "State bus" (C 127)

Display elements
User LED

Signal (Lenze setting)

Status "Electrical shaft enabled"

Drive interface

336

Signal configuration
C03100/6

LED status displays (C 34)

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TA "Synchronism with mark synchronisation" | Machine parameters
12.3.3

Machine parameters
The following schematic diagram shows the relevant global data (machine parameters) for
the interconnection via the electrical shaft:
Master/Slave

Slave

Digital
frequency

i1
l1

d1

i2

v max

i3

d2

d3

n Master axis (here: master value encoder as real master)

o Slave axis 1
p Slave axis 2
q Digital frequency cascade (digital frequency extension module required)
[12-24] Schematic diagram of the most important machine parameters

Symbol

Description

i1

Gearbox ratio of master value encoder

d1

Diameter of the master roll

l1

Master value cycle (if available)

vmax

Maximum speed

i2, i3

Gearbox ratio of the slave axes

d2, d3

Diameter of the slave rolls

Detailed information for setting the machine parameters can be obtained from the
following subchapters.

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TA "Synchronism with mark synchronisation" | Machine parameters
12.3.3.1

Master axis (master shaft)

For scaling and imaging the master value in the application, the machine parameters of
the higher-level drive (master shaft) must be set.

Note!
When setting (scaling) the electrical shaft, ensure that the ratio and encoder
constants are identical for all drives in the system. The reference to the scaling
of the master drive is sensible.

r Parameter setting: Tab Application parameter  Dialog level Overview  Synchronism

 Master value scaling
Parameters

Lenze setting
Value Unit

C03930

Gearbox ratio - numerator

C03931

Gearbox ratio - denominator

C03932

Feed constant

360.0000 Unit/incr.

C03933

Path units

User-defined

C03934

User-defined path unit

C03938

Cycle

360.0000 Unit

C03941

Reference speed

500.0000 Unit/t

Example of determining the machine parameters for the master axis

1. Set gearbox ratio for the master value in the form
of a quotient (numerator and denominator):
i1 = 3.333 = 10/3
Numerator (C03930) = 10
Denominator (C03931) = 3
2. Set feed constant (C03932).
For the master value: Vk = d1 * = 471,2389 mm
i1 = 3.333

d1 = 150 mm

l 1 = 600 mm

3. Set the selection "mm" as path unit (C03933).

4. As reference speed (C03941) set the max. machine
speed vmax = "1000 mm/s".

v max = 1000 mm/s

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TA "Synchronism with mark synchronisation" | Machine parameters

O Tip!
Setting the cycle (C03938) only is required if the selection "Modulo" is set as
traversing range (C02528).
For operation with a virtual master the following setting of the gearbox ratio is
recommended to achieve a good resolution of the guiding angle/master value:
Numerator (C03930) = 100
Denominator (C03931) = 1

12.3.3.2

Slave axis (machine axis)

Among other things, the following machine parameters describe the motor end of the
mechanics used.
r Parameter setting: Tab Application parameter  Dialog level Overview  Synchronism
 Machine parameters
Parameters

Lenze setting
Value Unit

C00173

Mains - voltage

C00174

Threshold undervoltage (LU)

400/415 V

C00600

Resp. to DC bus overvoltage

C02520

Gearbox fact. numer. motor

C02521

Gearbox fact. denom. motor

C02527

Motor mounting direction

C02570

Controller configuration

C02522

Gearbox fact. numer. load

C02523

Gearbox fact. denom. load

C02529

Mounting direction of position encoder

285 V
Trouble

Motor rotating CW
Position control
1
1
Encoder rotating CW

Description of the mechanics (load, tool)

C02528

Traversing range

C02524

Feed constant

C02525

Unit

C02526

User-defined unit

C02533

Time unit

C00273/1

Motor moment of inertia

C00273/2

Load moment of inertia

Modulo
360.0000 Unit

Motor-dependent kg cm2
0.00 kg cm2

O Tip!
Detailed information for selecting and entering the machine parameters for the
machine axis can be found in the chapter "Drive interface
Machine parameters (C 35)

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TA "Synchronism with mark synchronisation" | Machine parameters
Example of determining the machine parameters for the slave axis
1. Set gearbox ratio for the motor in the form of a quotient
(numerator and denominator): i2 = 12.612 = 12612/
1000
Numerator (C02520) = 12612
Denominator (C02521) = 1000

i2 = 12.612

d2 = 200 mm

2. Set the same gearbox ratio for the encoder on the load
side:
Numerator (C02522) = 12612
Denominator (C02523) = 1000
3. Set feed constant (C02524).
For the conveyor drive: Vk = d2 * = 628,3185 mm
4. Set the selection "mm" as unit (C02525).

O Tip!
The feed constant corresponds to the movement on the machine side when the
gearbox output shaft carries out one revolution (for selection as angle = 360).
When the unit is set, the real unit of the machine for the selection of physical
values (e. g. speeds, accelerations and decelerations) is defined.

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TA "Synchronism with mark synchronisation" | Selection of master value source and output
12.3.4

Selection of master value source and output

C03197

C03054/1
LPortAxisIn1

LPortAxisOut1

C03054/2
LPort32Out1

C03052

Dv

4
v

M
Virtual master

v
t

 Master value

 with stretch factor

 with clutch

 with trimming

 Actual value

[12-25] Signal flow for selecting the master value source and the master values to be output

Master value source

The master values can be either selected by a "Virtual master", via a bus system or the
digital frequency extension module.
r They can be selected on the Application parameter tab via the Master value source list
field or via C03052.
Master value output
The master value to be output ( ... ) is selected individually for the three possible
communication channels:
r List field Master value output DF module (C03197):
Selection of the master value output for the digital frequency module.
r List field Master value output MotionBus (C03054/1):
Selection of the master value output for horizontal communication.
r List field Master value output LPort32Out1 (C03054/2):
Selection of the master value output for vertical communication.

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TA "Synchronism with mark synchronisation" | Selection of master value source and output
12.3.4.1

Master value source: Virtual master

If the "Virtual master" is selected as master value source, the master value is created in the
TA and transmitted via a bus system or the digital frequency output to the other slave
drives.
r Parameter setting: Tab Application parameter  Dialog level Overview  Virtual
master
Parameters

Lenze setting
Value Unit

C03565

Operating mode

Continuous operation

C03566

STOP position

0.0000 Unit

C03567

START position

0.0000 Unit

C03568/1

1. master speed

360.0000 Unit/t

C03568/2

2. master speed

180.0000 Unit/t

C03569/1

Speed - inching - CW rotation

900.0000 Unit/t

C03569/2

Speed - inching - CCW rotation

900.0000 Unit/t

C03570/1

Inching ramp

5.000 s

C03570/2

Ramp - single cycle/continuous operation

5.000 s

C03570/3

STOP ramp

0.5000 s

Control/setpoint inputs of the function

Lenze setting

Control/setpoint input
FALSE  VMas master shaft STOP1

Signal configuration
(Multiplexer parameters)
C03058/1

C03016  Activate master function

C03058/3

C03017  VMas inching positive

C03058/4

C03018  VMas inching negative

C03058/5

FALSE  VMas start single cycle

C03058/6

FALSE  VMas start continuous operation

C03058/7

FALSE  VMas 2. master speed

C03058/8

0  VMaster handwheel

C03056

r Configuration: Tab FB editor  FB VirtualMaster

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TA "Synchronism with mark synchronisation" | Selection of master value source and output
12.3.4.2

Master value source: Digital frequency input

To use the digital frequency input as master value source, the controller must be provided
with digital frequency extension module (E94AYFLF).
To ensure the integration of the extension module in the application, the TA "Synchronism
with mark synchronisation" must be used as technology application.

Note!
The technology application "Synchronism with mark synchronisation"
MotionBus" which can also be selected in the application catalog does not
contain any interfaces to the digital frequency extension module.

O Tip!
Detailed information on the digital frequency extension module can be found in
the User Manual "Digital frequency extension module (E94AYFLF) parameter
setting & configuration".

12.3.4.3

Master value source: Bus system

When the master value is selected via a bus system as e.g. system bus (CAN) it is possible
to first extrapolate the received position information to compensate higher bus
transmission cycles.
r Parameter setting: Tab Application parameter  Dialog level Overview  Synchronism
 Master value extrapolation
Parameters

Lenze setting
Value Unit

C03550

Number of extrapolation cycles

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

FALSE  Activate extrapolation

C03058/9

r Configuration: Tab FB editor  FB MotionBusIn

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TA "Synchronism with mark synchronisation" | "Synchronism" mode"
12.3.5

"Synchronism" mode"
In the "Synchronism" (C03006 = "0") operating mode the drive follows the master value of
the electrical shaft if the clutch is engaged.
Real master/
Virtual master

Dj

C03006 = 0

Dj
TP

Dj

M
Slave

TP

[12-26] "Synchronism" mode (schematic diagram)

Functions in the "Synchronism" operating mode

 Master value processing
 Mark synchronisation (master value)
 Virtual clutch
 Master value adjustment
 Setpoint conditioning
 Mark synchronisation (setpoint)

O Tip!
A description of the different functions for conditioning the master value can be
found in the following subchapters.

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TA "Synchronism with mark synchronisation" | "Synchronism" mode"
12.3.5.1

Master value processing

Real master/
Virtual master

Dv

C03006 = 0
v

Slave

n Master value
oMaster value with stretch factor
[12-27] "Master value processing" function in the signal flow (schematic diagram)

r Parameter setting: Tab Application parameter  Dialog level Overview  Synchronism

 Master value conditioning
Parameters

Lenze setting
Value Unit

C03587

Master value

C03000

Stretch factor - numerator

1000000000

- Unit

C03001

Stretch factor - denominator

1000000000

C03025

Master value - direction of rotation

C03034

Starting position

C03938

Master value cycle (register)

C03672

Master value with stretch factor

0.0000 Unit

Setpoint inputs of the function

Lenze setting

Not inverted
360.0000 Unit
- Unit

Signal configuration

Setpoint input

(Multiplexer parameters)

DIGIN CINH  Set starting position of master shaft

C03058/11

C03034  Master shaft starting position

C03053/1

C03000  Stretch factor - numerator

C03050/1

C03001  Stretch factor - denominator

C03050/2

r Configuration: Tab FB editor  FB ElectricalShaftVal

Firmware 1.37 - 09/2006

345

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | "Synchronism" mode"
12.3.5.2

Mark synchronisation (master value)

Real master/
Virtual master

Dj

C03006 = 0
v

Dj

Dj

TP

TP

M
Slave

n Master value
oMaster value with stretch factor
[12-28] "Mark synchronisation" function in signal flow (schematic diagram)

This function serves to carry out a mark synchronisation of the master value via touch
probe sensor.

Note!
For this purpose, the touch probe sensor must be connected to the digital input
DI3!

r Parameter setting: Tab Application parameter  Dialog level Overview  Synchronism

 Master value conditioning
Parameters

Lenze setting
Value Unit

C03023

Master value synchronisation (TP)

Deactivated

C03612

TP position (register)

0.0000 Unit

C03651

TP limit

1.0000 Unit

C03656

Hysteresis

0.0000 Unit/t2

r Configuration: Tab FB editor  FB ElectricalShaftVal

346

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | "Synchronism" mode"
TP profile parameters
r Parameter setting: Tab Application parameter  Dialog level Overview  TP profile
parameter
Parameters

Lenze setting
Value Unit

C03620

Positioning mode

C03621

Deactivation mode

C03623/1

Positive speed

3600.0000 Unit/t

C03623/2

Negative speed

3600.0000 Unit/t

C03626/1

Acceleration ramp

1.000 s

C03626/2

Deceleration ramp

1.000 s

C03626/3

Stop ramp

1.000 s

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

FALSE  Activate master value TP correction

C03058/12

r Configuration: Tab FB editor  FB MarkSynchronizationShaft

TP interface
r Parameter setting: Tab Application parameter  Dialog level Overview  TP interface
Parameters

Lenze setting
Value Unit

C02810/3

Signal delay TP3

0 s

C03022

Edge evaluation of positive edge

TRUE

C03024

Edge evaluation of negative edge

FALSE

Firmware 1.37 - 09/2006

347

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | "Synchronism" mode"
12.3.5.3

Virtual clutch
Real master/
Virtual master

Dj

C03006 = 0
v

Dj

Dj

TP

TP

M
Slave

nMaster value with stretch factor

o Master value with clutch
[12-29] Function "Virtual clutch" in the signal flow (schematic diagram)

r Parameter setting: Tab Application parameter  Dialog level Overview  Virtual clutch
Parameters

Lenze setting
Value Unit

C03672

Master value with stretch factor

C03021

Activate clutch

Deactivated

C03665/1

Clutch in ramp

1.000 s

C03665/2

Decoupling ramp

2.000 s

C03665/3

Stop ramp

1.000 s

C03674

Master value with clutch

Control inputs of the function

Lenze setting

- Unit

- Unit

Signal configuration

Control input

(Multiplexer parameters)

DigIn 4  Close clutch

C03058/13

FALSE  Clutch - positive opening operation

C03058/14

r Configuration: Tab FB editor  FB ClutchElectricalShaft

348

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | "Synchronism" mode"
12.3.5.4

Master value trimming

Real master/
Virtual master

Dj

C03006 = 0
v

Dj

Dj

TP

TP

Slave

n Master value with clutch

o Master value with trimming
[12-30] "Master value trimming" function in the signal flow (schematic diagram)

This function serves to adjust the master value.

r Parameter setting: Tab Application parameter  Dialog level Overview  Synchronism
 Master value trimming
Parameters

Lenze setting
Value Unit

C03674

Master value with clutch

C03026

Activate trimming

- Unit
Deactivated

C03676

Adjustable range

C03685

Positioning mode

0.0000 Unit/t
0

C03686

Deactivation mode

C03688/1

Positive speed

1000.0000 Unit/t

C03688/2

Negative speed

1000.0000 Unit/t

C03691/1

Acceleration ramp

0.500 s

C03691/2

Deceleration ramp

0.500 s

C03691/3

Stop ramp

1.000 s

C03723

Master value with trimming

Control inputs of the function

Lenze setting

- Unit

Signal configuration

Control input

(Multiplexer parameters)

FALSE  Start trimming

C03058/15

C03026  Activate trimming

FALSE  Set trimming setpoint to 0

C03058/16
C03058/17

r Configuration: Tab FB editor  FB Trimming

Firmware 1.37 - 09/2006

349

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | "Synchronism" mode"
12.3.5.5

Setpoint conditioning
Real master/
Virtual master

Dj

C03006 = 0
v

Dj

Dj

TP

TP

Slave

n Master value with trimming

o Actual value
[12-31] "Setpoint conditioning" function in the signal flow (schematic diagram)

This function is used for position ratio between the master shaft and the machine axis.
r Parameter setting: Tab Application parameter  Dialog level Overview  Synchronism
 Setpoint conditioning
Parameters

Lenze setting
Value Unit

C02527

Motor mounting direction

C02536

Cycle

360.0000 Unit

Control inputs of the function

Lenze setting

Motor rotating CW

Signal configuration

Control input

(Multiplexer parameters)

Controller inhibit  Delete following error

active

C03058/20

r Configuration: Tab FB editor  FB ToolControl

350

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | "Synchronism" mode"
12.3.5.6

Mark synchronisation (setpoint)

Real master/
Virtual master

Dj

C03006 = 0
v

Dj

Dj

TP

TP

Slave

n Master value with trimming

o Actual value
[12-32] "Mark synchronisation" function in signal flow (schematic diagram)

This function serves to carry out a mark synchronisation of the setpoint via touch probe
sensor.

Note!
For this purpose, the touch probe sensor must be connected to the digital input
DI2!

r Parameter setting: Tab Application parameter  Dialog level Synchronism  Overview

 Setpoint conditioning
Parameters

Lenze setting
Value Unit

C03033

Tool synchronisation (TP)

Deactivated

C03851

Positive TP limit

1.0000 Unit

C03876

TP limit - hysteresis

0.0000 Unit

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

FALSE  Set TP position

C03058/24

r Configuration: Tab FB editor  FB ElectricalShaftVal

Firmware 1.37 - 09/2006

351

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | "Synchronism" mode"
TP profile parameters
r Parameter setting: Tab Application parameter  Dialog level Overview  Synchronism
 TP profile parameter
Parameters

Lenze setting
Value Unit

C03855

Positioning mode

C03856

Deactivation mode

C03858/1

Positive speed

1000.0000 Unit/t

C03858/2

Negative speed

1000.0000 Unit/t

C03861/1

Acceleration ramp

1.000 s

C03861/2

Deceleration ramp

1.000 s

C03861/3

Stop ramp

1.000 s

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

FALSE  Activate tool TP correction

C03058/23

r Configuration: Tab FB editor  FB MarkSynchronizationTool

TP interface
r Parameter setting: Tab Application parameter  Dialog level Overview  Synchronism
 TP interface
Parameters

Lenze setting
Value Unit

352

C02810/2

Signal delay TP2

0 s

C03031

Edge evaluation of positive edge

TRUE

C03032

Edge evaluation of negative edge

FALSE

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | "Homing" mode

12.3.6

"Homing" mode
In the "Homing" mode (C03006 = "2") the drive is decoupled from the electrical shaft and
the basic function "Homing" is enabled:
C03006 = 2
v

t t

M
Slave

LS_Homing

LS_ManualJog

LS_Positioner

-100 0 100 200

[12-33] "Homing" mode (schematic diagram)

r Parameter setting: Tab Application parameter  Dialog level Overview  Homing

Parameters

Lenze setting
Value Unit

C02528

Traversing range

C02640

Ref. mode

Modulo

C02642

HM position

C02643

HM target position

C02644

Ref. speed 1

360.0000 Unit/s

C02645

Home acceleration 1

720.0000 Unit/s2

Set home pos. directly

0.0000 Unit
0.0000 Unit

C02646

Ref. speed 2

180.0000 Unit/s

C02647

Ref. acceleration 2

360.0000 Unit/s2

C02648

Home S-ramp time

C02649

HM torque limit

10.00 %

C02650

Homing inhibit time

1.000 s

C02652

Home position after mains switching

C02653

Max. rot. angle after mains sw.

C3011

Set home position

Inactive

C3012

Home position

0.0000 Unit

Firmware 1.37 - 09/2006

100 ms

Delete
180

353

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft
TA "Synchronism with mark synchronisation" | "Homing" mode

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

FALSE  Start homing

C03160/2

DigIn 2  Home mark

C03160/3

C03011  Set home position

C03160/4

C03012  Home position

C03163

FALSE  Reset home position

C03160/5

O Tip!
Detailed information on homing can be found in chapter "Basic drive functions" 
subchapter "Homing". (C 164)

354

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | "Manual jog" mode
12.3.7

"Manual jog" mode

In the "Manual jog" mode (C03006 = "4") the drive is decoupled from the electrical shaft
and the basic function "Manual jog" is enabled:
C03006 = 4
v

t t

M
Slave

LS_Homing

LS_ManualJog

LS_Positioner

-100 0 100 200

[12-34] "Manual jog" mode (schematic diagram)

r Parameter setting: Tab Application parameter  Dialog level Overview  Manual jog
Parameters

Lenze setting
Value Unit

C02620

Manual jog speed 1

360.0000 Unit/s

C02621

Manual jog speed 2

720.0000 Unit/s

C02622

Manual acceleration

360.0000 Unit/s2

C02623

Manual deceleration

1440.0000 Unit/s2

C02624

Inaccuracy time of manual traversing

C03007

Positive manual jog

Inactive

C03008

Negative manual jog

Inactive

Control inputs of the function

Lenze setting

0.100 s

Signal configuration

Control input

(Multiplexer parameters)

C03007  Activate positive manual jog

C03155/2

C03008  Activate negative manual jog

C03155/3

FALSE  Activate 2. speed

C03155/4

FALSE  Retract limit switch

C03155/5

O Tip!
Detailed information on the manual jog function can be found in chapter "Basic
drive functions"  subchapter "Manual jog". (C 156)

Firmware 1.37 - 09/2006

355

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | "Positioning" mode"
12.3.8

"Positioning" mode"
In the "Positioning" mode (C03006 = "8") the drive is decoupled from the electrical shaft
and the basic function "Positioning" is enabled:
C03006 = 8
v

t t

M
Slave

LS_Homing

LS_ManualJog

LS_Positioner

-100 0 100 200

[12-35] "Positioning" mode (schematic diagram)

r Parameter setting: Tab Application parameter  Dialog level Overview  Positioning

Parameters

Lenze setting
Value Unit

C00070

Speed controller gain

C00071

Speed controller reset time

10.0 ms

C00072

D component - speed controller

0.00 ms

C02570

Controller configuration

C02554

Integral-action time of position controller

C02553

Position controller gain

20.00 1/s

C03040

Positioning - profile no.

C03041

Positioning - teach profile no.

Control/setpoint inputs of the function

Lenze setting

356

Control/setpoint input

0.00700 Nm/rpm

Phase control
60.000 s

Signal configuration
(Multiplexer parameters)

FALSE  Start positioning step

C03185/2

FALSE  Abort positioning step

C03185/3

FALSE  Restart positioning step

C03185/4

FALSE  Activate override

C03185/5

0 %  Speed override

C03186/1

0 %  Acceleration override

C03186/2

FALSE  Inhibit touch probe evaluation

C03185/6

FALSE  Teach position

C03185/7

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | "Positioning" mode"
Profile data record management
For the profile data record management the FB L_PosProfileTable is used. This FB serves to
file and manage up to four (travel) profiles and to "teach" target positions.
r A profile describes a motion request which can be implemented by the
SB LS_Positioner into a rotary motion.
r A profile is described via the following profile parameters: Mode (type of positioning),
position, speed, acceleration, deceleration, S-ramp time, standard sequence profile, TP
sequence profile and TP selection.
r The data of the profile parameters is directly input in the assigned codes:
Profile parameters

Unit

Profile no. 1

Profile no. 2

Profile no. 3

Profile no. 4

Positioning mode

C03970/1

C03970/2

C03970/3

C03970/4

Unit

Set position

C03971/2

C03971/3

C03971/4

Position
Speed

Unit/t

C03972/1

C03972/2

C03972/3

C03972/4

Acceleration

Unit/t2

C03973/1

C03973/2

C03973/3

C03973/4

Delay

Unit/t2

C03974/1

C03974/2

C03974/3

C03974/4

S-ramp time

C03975/1

C03975/2

C03975/3

C03975/4

TP sequence profile

C03976/1

C03976/2

C03976/3

C03976/4

TP selection

C03977/1

C03977/2

C03977/3

C03977/4

Note!
For profile no. 1 the set position of the tool which belongs to the master position
is always used as target position.
Application: Returning the tool e.g. from a maintenance position to the
network.

"Teach" position
When the control input "Teach position" is set to TRUE, the current tool position is saved in
the profile the number of which is set in C03041. After the control input is reset to FALSE
the position saved last is maintained in the profile.

Firmware 1.37 - 09/2006

357

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft
TA "Synchronism with mark synchronisation" | Quick stop
12.3.9

Quick stop

t t

Slave

LS_Quickstop
n

If the quick stop function is deactivated,

the drive is led to the selected setpoint
again via the set acceleration time.

LS_Limiter
n

STOP

The basic function "Quick stop" brakes the

drive to standstill within the deceleration
time set for the quick stop function after a
corresponding request independent of the
setpoint selection.

[12-36] Basic function "Quick stop" (schematic diagram)

r The quick stop function can be activated as follows in the Lenze setting:
By setting the digital input DI1 to LOW level.
By a master control via the port LPortControl1:
By setting bit 2 of the bit-coded control word 1.
r Parameter setting: Tab Application parameter  Dialog level Overview  All basic
functions  Quick stop
Parameters

Lenze setting
Value Unit

C00105

Quick stop deceleration time

C00106

Quick stop S-ramp time

C00107

Reference for deceleration time "Quick stop"

Control inputs of the function

Lenze setting

0.000 s
0.00 %
Motor reference speed (C00011)

Signal configuration

Control input

(Multiplexer parameters)

DigIn 1  Activate quick stop 1

C03135/1

Control word 1  Activate quick stop 2

bit 02

C03135/2

FALSE  Activate quick stop 3

C03135/3

O Tip!
Detailed information on quick stop can be found in chapter "Basic drive functions"
 subchapter "Quick stop". (C 152)

358

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | Limiter

12.3.10

Limiter

t t

Slave

LS_Quickstop
n

The basic function "Limiter" monitors the

travel range limits via limit switches and
parameterised software limit positions
and can lead the drive to defined limit
ranges when being asked accordingly by
the safety module.

LS_Limiter
n

STOP

[12-37] Basic function "Limiter" (schematic diagram)

r Parameter setting: Tab Application parameter  Dialog level Overview  Limiter

Parameters

Lenze setting
Value Unit

Limit values
C02707

Permissible direction of rotation

C02700

Software limit positions are active

C02701/1

Positive software limit position

0.0000 Unit

C02701/2

Negative software limit position

0.0000 Unit

Positive and negative

Deactivated

Only for homing, positioning and manual jog

C02702

Limitations effective

C02703

Max. speed

3600.0000 Unit/s

C02705

Max. acceleration

3600.0000 Unit/s2

C02706

Min. S-ramp time

Deactivated

100 ms

Limited speed 1 ... 4 (only for homing, positioning, and manual jog)
C02708/1

Limited speed 1

C02710/1

Delay lim. speed 1

C02711/1

S-ramp time lim. speed 1

C02708/2

Limited speed 2

C02710/2

Delay lim. speed 2

C02711/2

S-ramp time lim. speed 2

C02708/3

Limited speed 3

C02710/3

Delay lim. speed 3

C02711/3

S-ramp time lim. speed 3

C02708/4

Limited speed 4

C02710/4

Delay lim. speed 4

C02711/4

S-ramp time lim. speed 4

3600.0000 Unit/s
0.0100 Unit/s2
100 ms
7200.0000 Unit/s
0.0100 Unit/s2
100 ms
14400.0000 Unit/s
0.0100 Unit/s2
100 ms
28800.0000 Unit/s
0.0100 Unit/s2
100 ms

For manual jog only

C02713

Max. path - manual jog

Firmware 1.37 - 09/2006

360.0000 Unit

359

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft
TA "Synchronism with mark synchronisation" | Limiter

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

FALSE  Positive limit switch

C03150/1

FALSE  Negative limit switch

C03150/2

O Tip!
Detailed information on the limiter function can be found in chapter "Basic drive
functions"  subchapter "Limiter". (C 200)

360

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | Brake control

12.3.11

Brake control
The basic function "Brake control" serves to the wear free
control and monitoring of a holding brake.

LS_Brake

In the simplest case, an optionally available brake module

is used.

Alternatively the holding brake can also be controlled and

monitored via the digital inputs/outputs.

[12-38] Basic function "Brake control" (schematic diagram)

Note!
In the Lenze setting the brake control is switched off to reach a safe status after
mains connection.

O Tip!
Detailed information on brake control can be found in chapter "Basic drive
functions"  subchapter "Brake control". (C 211)

Firmware 1.37 - 09/2006

361

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft
TA "Synchronism with mark synchronisation" | Brake control

r Parameter setting: Tab Application parameter  Dialog level Overview  Brake control
Parameters

Lenze setting
Value Unit

C02580

Operating mode - brake

C02581

Brake activation threshold

C02582

Brake resp. to pulse inhibit

C02583

Status input monitoring

C02585

Brake control polarity

C02586

Starting torque 1

0.00 Nm

C02587

Starting torque 2

0.00 Nm

C02588

Source of starting torque

C02589

Brake closing time

100 ms

C02590

Brake opening time

100 ms

C02591

Waiting time - status monit.

C02593

Waiting time - brake active.

C02594

Test torque

C02595

Permissible angle of rotation

C02596

Grinding speed

C02597

Accel./decel. time - grinding

C02598

Grinding ON time

0.5 s

C02599

Grinding OFF time

0.5 s

Activate the brake immediately

Not active
Not inverted

Starting torque 1/2

100 ms
0.000 s
5
100 rpm

Control/setpoint input

1.000 s

Signal configuration
(Multiplexer parameters)

FALSE  Release brake

C03165/1

FALSE  Activate starting torque 2

C03165/2

FALSE  Brake status signal

C03165/3

FALSE  Activate brake test

C03165/4

FALSE  Grind brake

C03165/5

0 %  Additional torque

362

50 rpm

0.00 Nm

Control/setpoint inputs of the function

Lenze setting

Brake control off

Firmware 1.37 - 09/2006

C03166

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | Signal configuration of drive and motor interface
12.3.12

Signal configuration of drive and motor interface

If required, the preset signal configuration of the control and setpoint inputs of the drive
and motor interface can be easily reconfigured per parameter setting of the assigned
multiplexer parameters.
Drive interface
Signal (Lenze setting)

Control input
FALSE  Set controller inhibit

Signal configuration
C03130/1

DigIn 5  Reset error 1

C03130/2

Control word 1 bit 07  Reset error 2

C03130/3

FALSE  Reset error 3

C03130/4

FALSE  Set error

C03130/5

Control word 1 bit 00  Switch on drive

C03130/6

Motor interface
Signal (Lenze setting)

Setpoint input
100 %  Position controller adaption

C03141/1

100 %  Phase controller adaption

C03141/2

100 %  Adaptation of speed controller

C03141/3

100 %  Upper torque limit value

C03141/4

-100 %  Lower torque limit value

C03141/5

100 %  Flux setpoint

Signal configuration

Firmware 1.37 - 09/2006

C03141/6

363

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | Signal configuration of the output ports
12.3.13

Signal configuration of the output ports

If required, the preset signal configuration of the output ports can be easily reconfigured
per parameter setting of the assigned multiplexer parameters.
"LPortAxisOut1" output port
The output port LPortAxisOut1 is intended for the connection with a following axis.
Signal (Lenze setting)

Output port

Signal configuration

Axis status word

Application-specific signals can be supplemented.
FALSE  Axis status word bit 00

C03120/1

FALSE  Axis status word bit 01

C03120/2

FALSE  Axis status word bit 02

C03120/3

FALSE  Axis status word bit 03

C03120/4

FALSE  Axis status word bit 04

C03120/5

FALSE  Axis status word bit 05

C03120/6

FALSE  Axis status word bit 06

C03120/7

FALSE  Axis status word bit 07

C03120/8

FALSE  Axis status word bit 08

C03120/9

FALSE  Axis status word bit 09

C03120/10

FALSE  Axis status word bit 10

C03120/11

FALSE  Axis status word bit 11

C03120/12

FALSE  Axis status word bit 12

C03120/13

FALSE  Axis status word bit 13

C03120/14

FALSE  Axis status word bit 14

C03120/15

FALSE  Axis status word bit 15

C03120/16

Setpoints for horizontal communication

364

0 %  Axis-Port Out 1

C03124/1

Master value  Axis-Port Out 2

C03054/1

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | Signal configuration of the output ports
Output port "LPortStatus1"
The output port LPortStatus1 is intended for the connection with a higher-level control.
Signal (Lenze setting)

Output port

Signal configuration

Status word 1
Drive ready  Status word 1 bit 00

C03121/1

FALSE  Status word 1 bit 01

C03121/2

Drive is ready to start  Status word 1 bit 02

C03121/3

Error is active.  Status word 1 bit 03

C03121/4

FALSE  Status word 1 bit 04

C03121/5

Stop active  Status word 1 bit 05

C03121/6

Switch-on inhibit is active  Status word 1 bit 06

C03121/7

Warning active  Status word 1 bit 07

C03121/8

FALSE  Status word 1 bit 08

C03121/9

FALSE  Status word 1 bit 09

C03121/10

FALSE  Status word 1 bit 10

C03121/11

Drive in the limitation  Status word 1 bit 11

C03121/12

Homing complete  Status word 1 bit 12

C03121/13

Home position available  Status word 1 bit 13

C03121/14

FALSE  Status word 1 bit 14

C03121/15

FALSE  Status word 1 bit 15

C03121/16

Output port "LPortStatus2"

The output port LPortStatus2 is intended for the connection with a higher-level control.
Signal (Lenze setting)

Output port

Signal configuration

Status word 2

FALSE  Status word 2 bit 00

C03122/1

FALSE  Status word 2 bit 01

C03122/2

FALSE  Status word 2 bit 02

C03122/3

FALSE  Status word 2 bit 03

C03122/4

FALSE  Status word 2 bit 04

C03122/5

FALSE  Status word 2 bit 05

C03122/6

FALSE  Status word 2 bit 06

C03122/7

FALSE  Status word 2 bit 07

C03122/8

FALSE  Status word 2 bit 08

C03122/9

FALSE  Status word 2 bit 09

C03122/10

FALSE  Status word 2 bit 10

C03122/11

FALSE  Status word 2 bit 11

C03122/12

FALSE  Status word 2 bit 12

C03122/13

FALSE  Status word 2 bit 13

C03122/14

FALSE  Status word 2 bit 14

C03122/15

FALSE  Status word 2 bit 15

C03122/16

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TAs for interconnection via electrical shaft

TA "Synchronism with mark synchronisation" | Application error messages
12.3.14

Application error messages

For the output of application-specific error messages an FB instance ApplicationError of the
function block L_DevApplErr is available in the network.
r Via the 8 boolean inputs up to 8 different application error messages with
parameterisable module ID, error ID and error response can be released by the
application.
r The first four inputs can be connected to the multiplexer parameters with the desired
tripping signals. The next four inputs are firmly connected to the tripping signals of the
application.
Error message

Error-ID

Error response

Free (configurable via C03060/1)

8001

Error

Free (configurable via C03060/2)

8002

Error

Free (configurable via C03060/3)

8003

Error

Activate Modulo mode

8004

Warning

Following error

8005

Warning

Drive cannot follow

8006

No reaction

Drive system interrupted

8007

Quick stop by trouble

Reserved

8008

Warning

r Parameter setting: Tab All parameters

Parameters

Lenze setting

C03990

Module-ID

999

C03991/1...8

Error ID 1 ... 8

See table above

C03992/1...8

Error response 1 ... 8

See table above

Control inputs of the function

Lenze setting

366

Signal configuration

Control input

(Multiplexer parameters)

FALSE  Application fault 1

C03060/1

FALSE  Application fault 2

C03060/2

FALSE  Application fault 3

C03060/3

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TAs for positioning tasks

13

TAs for positioning tasks

The technology applications described in this chapter are available for positioning tasks.
Technology application/application ranges

Required license/delivery

TA "Multi-purpose positioning" (C 371)

Note: In this TA the sequence control is carried out through the controller.

Transport units
Rotary tables
Storage and retrieval units
Feed drives
Dosing machines
Hoists

License stage Motion Control

TopLevel or higher required.
The technology application can be
selected in the Engineer
application catalog.

TA "Table positioning" (C 411)

Note: This TA requires an external sequence control.

Transport units
Rotary tables
Storage and retrieval units
Feed drives
Dosing machines
Hoists

Firmware 1.37 - 09/2006

Available in every license stage.

The technology application can be
selected in the Engineer
application catalog.

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TAs for positioning tasks
Introduction
13.1

Introduction
Positioning means to move a workpiece/tool or a piece of material from a starting
position n to a defined targeto.

For this purpose a travel profile is to be provided in the controller, for which at least the
following profile parameters are required:
v [m/s]
A
B

t [s]

Icon

Profile parameters

Position
Target position or path distance to be traversed.

Speed
Maximum speed with which the target is to be approached.

Acceleration
Selection of the change in speed by which acceleration is to be carried out maximally.

Deceleration
Selection of the change in speed by means of which decleration to standstill is to be maximally effected
again.

r A positioning can consist of several profiles which are executed in a specified mode.
r A detailed explanation of all profile parameters can be found in the description of the
TA in subchapter "Profile parameters". (C 390)

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Introduction | Application examples

13.1.1

Application examples
Multi-purpose positioning

Master control
Sequence control for machine (PLC)

PROFIBUS

Drive 1

Drive 2

Multi-purpose positioning for single drives

Multi-purpose positioning for single drives

Table positioning

Table positioning

Firmware

Firmware

Motion Control Basic drive functions:

Positioning
Homing
Manual jog
etc.

Motion Control Basic drive functions:

Positioning
Homing
Manual jog
etc.

Drive interface
Motor interface
Encoder evaluation
I/O terminals
Safety engineering
Logbook

Drive interface
Motor interface
Encoder evaluation
I/O terminals
Safety engineering
Logbook

[13-1] Example: Multi-purpose positioning with networking via PROFIBUS

r The sequential positioning control utilises the traversing blocks of the table positioning
and like this activates the basic function "Positioning" containing the profile
generation.
r Here, the multi-purpose positioning only control the "own motor".
r The sequence of the motor/tool/material control are defined in the multi-purpose
positioning.

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TAs for positioning tasks
Introduction | Application examples

Table positioning with higher-level positioning control

Master control
Sequence control for machine (PLC)

Positioning control

PROFIBUS

Drive 1

Drive 2

Table positioning

Table positioning

Firmware

Firmware

Motion Control Basic drive functions:

Positioning
Homing
Manual jog
etc.

Motion Control Basic drive functions:

Positioning
Homing
Manual jog
etc.

Drive interface
Motor interface
Encoder evaluation
I/O terminals
Safety engineering
Logbook

Drive interface
Motor interface
Encoder evaluation
I/O terminals
Safety engineering
Logbook

[13-2] Example: Table positioning with higher-level positioning control and networking via PROFIBUS

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TAs for positioning tasks
TA "Multi-purpose positioning"

13.2

TA "Multi-purpose positioning"
The technology application "Multi-purpose positioning" enables the drive to execute
parameterisable travel profiles. The program sequence is defined by a sequence table.
Functions
r Sequence control for several successive positioning steps with a break and stop
functions and different auxiliary functions (e. g. deriving, counting, waiting).
r Positioning in different positioning modes
Point-to-point positioning
Touch probe positioning (residual path positioning)
Profile chaining with velocity changeover (overchange)
r Homing in different homing modes
r Profile data management
Support of S profiles (jerk limitation)
Separate setting for acceleration and deceleration
"Teach" function
r Speed-/acceleration override
r Path-dependent switching of outputs
r Following error monitoring
r Support of absolute value encoders
r Support of the basic drive functions "Manual jog" and "Quick stop"
r Monitoring of travel range limits with the basic drive function "Limiter"
r Optional control of a holding brake with the basic drive function "Brake control"

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TA "Multi-purpose positioning" | Basic signal flow
13.2.1

Basic signal flow

The functional core of the multi-purpose positioning is formed by the sequence table and
the profile data management, which transmit the required control signals and profile data
to the basic drive function "Positioning".
Multi-purpose positioning

Basic drive functions

DI2

Sequencer

LS_Homing

LS_Stop
n

Reset DI5

LS_Brake

internal
status machine

DI6
DI7

PositionerTable
Profiles

-100 0 100 200

Sequencer DI8
input 8
LS_Positioner

Override

Enable

Status
machine
(basic drive
functions)

DI1

Speed override AIN1

LS_ManualJog

Acceleration override AIN2

LS_Quickstop

LS_Limiter
DI4

STOP

DI3
t

[13-3] Signal flow of the TA "Multi-purpose positioning" (schematic diagram)

Multi-purpose positioning
 Sequence table
 Profile data management
 Speed/acceleration override
Basic drive functions
 Homing
 Positioning
 Manual jog
 Stop
 Quick stop
Limiter
! Brake control (optional)

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TA "Multi-purpose positioning" | Assignment of the I/O terminals
13.2.2

Assignment of the I/O terminals

13.2.2.1

Setpoint and control signals

The following tables contain the Lenze assignment of the analog and digital inputs for the
technology application "Multi-purpose positioning".
Analog inputs

A2- A2+ A1R A1- A1- A1+

Terminal X3

Signal (Lenze setting)

AI1AI1+

Selection for speed override

Speed/acceleration override (C 399)

AI2AI2+

Selection for acceleration override

Speed/acceleration override (C 399)

I/O terminals

Analog inputs (C 117)

Digital inputs

DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI

Terminal X5

Signal (Lenze setting)

DI1

Quick stop
If DI1 is set to LOW level, the positioning program is interrupted and drive is decelerated
to standstill within the deceleration time set for the quick stop function independent of
the setpoint selection.
After the quick stop function is deactivated, a new LOW/HIGH edge is required at DI6 in
order that the positioning program is continued with the next step.
Quick stop (C 402)

DI2

Connection of reference switch/touch probe sensor

Action type "Homing" (C 382)

DI3
DI4

Connection of travel range limit switch for basic function "Limiter". (C 403)
DI3 = positive travel range limit switch, DI4 = negative travel range limit switch.
The inputs respond to the FALSE state (fail-safe).

DI5

Reset error and positioning program

By means of a LOW-HIGH edge an existing error status can be reset if the cause of the
fault is removed. At the same time the positioning program is reset.

DI6

Start positioning program

Control of the sequence table (C 389)

DI7

Stop positioning program (break)

Control of the sequence table (C 389)

DI8

Sequencer input 8 for positioning program

The action types "Positioning", Branching", "Waiting" and "Stand-by" have the parameter
"Input for...". If this is non-zero, it describes the number of the sequencer input where the
positioning program awaits the level defined before it executes the action. In the Lenze
assignment the terminal DI8 is available as sequencer input 8.
Program flow (C 378)

I/O terminals

Digital inputs (C 123)

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TA "Multi-purpose positioning" | Assignment of the I/O terminals
13.2.2.2

Actual value and status signals

The following tables contain the Lenze assignment of the analog and digital outputs for
the technology application "Multi-purpose positioning".
r The default signal configuration if required can be easily changed by parameterising
the multiplexer parameters assigned.
Analog outputs

AO2 AO1 GA

Terminal X3

Signal (Lenze setting)

Signal configuration

AO1

Motor speed
Scaling: 10 V motor reference speed (C00011)

C03110/1

AO2

Motor torque (setpoint)

Scaling: 10 V Motor reference torque (C00057/2)

C03110/2

I/O terminals

Analog outputs (C 120)

Digital outputs

DO4 DO3 DO2 DO1 24O GO

Terminal X4

Signal (Lenze setting)

Signal configuration

DO1

Status "Drive ready"

This operating state is active if the controller is enabled by setting
the digital input RFR to HIGH level and no error has occurred.

C03100/1

DO2

Status "Positioner active"

C03100/2

DO3

Status "Limitation active"

At the moment a setpoint is limited or a software or hardware
limit switch has been reached.

C03100/3

DO4

Status "Error active acknowledgement is required"

Monitoring with the error response "Error" or "Quick stop by
trouble" has been activated, and the controller is in the device
state "Error active" or "Quick stop by trouble active".

C03100/4

I/O terminals

Digital outputs (C 125)

State bus

SB 24E GE

Terminal X2

Signal (Lenze setting)

SB

I/O terminals

Status "Error active acknowledgement is required"

Monitoring with the error response "Error" or "Quick stop by
trouble" has been activated, and the controller is in the device
state "Error active" or "Quick stop by trouble active".
The state bus is put in the "error" status.

Signal configuration
C03100/5

Monitoring function "State bus" (C 127)

Display elements
User LED

Signal (Lenze setting)

Status "Sequence control active"

Drive interface

374

Signal configuration
C03100/6

LED status displays (C 34)

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TAs for positioning tasks

TA "Multi-purpose positioning" | Basic settings

13.2.3

Basic settings

13.2.3.1

Machine parameters
The machine parameters describe e.g. the motor end of the mechanics
used.

The setting of the machine parameters in the Engineer is carried out on

the Application parameters tab in the dialog level Overview  Machine
parameters.

O Tip!
In the Engineer the most important machine parameters can be adapted to the
machine on the Application parameter tab directly in the topmost Overview dialog
level:
Detailed information for selecting and entering the machine parameters can be
found in the chapter "Drive interface". Machine parameters (C 35)

Short overview of machine parameters

Parameters

Lenze setting
Value Unit

C00173

Mains - voltage

400/415 V

C00174

Threshold undervoltage (LU)

C00600

Resp. to DC bus overvoltage

C02520

Gearbox fact. numer. motor

C02521

Gearbox fact. denom. motor

C02527

Motor mounting direction

C02570

Controller configuration

C02522

Gearbox fact. numer. load

C02523

Gearbox fact. denom. load

C02529

Mounting direction of position encoder

285 V
Trouble
1
1
Motor rotating CW
Phase control

Encoder rotating CW

Description of the mechanics (load, tool)

C02528

Traversing range

C02524

Feed constant

C02525

Unit

C02526

User-defined unit

C02533

Time unit

C00273/1

Motor moment of inertia

C00273/2

Load moment of inertia

Unlimited
360.0000 Unit

Firmware 1.37 - 09/2006

Motor-dependent kg cm2
0.00 kg cm2

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TAs for positioning tasks
TA "Multi-purpose positioning" | Basic settings
13.2.3.2

Traversing range
By setting the traversing range the machine type/measuring system is set:
Traversing range
Unlimited

The drive can traverse optionally in both directions without

reaching limitations.
Positionings here generally are effected in the positioning
modes "Relative with/without TP" or "Speed with/
without TP".
The positioning measuring system is reset to zero with
every new positioning process.
By homing, the positioning measuring system receives a
fixed reference point (zero point), so that also the
positioning modes "Absolute with/without TP"can be
used. Then also the software limit positions for limiting
the traversing range are provided. Software limit
positions (C 202)

Limited

After reaching the position limits, the drive must travel in the
opposite direction again.
For positioning, the home position has to be known. By
homing, the positioning measuring system receives a
fixed reference point (zero point).
Basically, monitoring to the internally maximum usable
value range (231 increments) takes place (software limit
position monitoring of the internal value range). An
overflow of the value range results in the loss of the home
position.
Additionally parameterisable software limit positions can
be activated on the user side for limiting the travel range.
Software limit positions (C 202)

Modulo

The measuring system is repeated.

If the cycles n set are exceeded a defined overflow occurs.
The cycle typically corresponds to a rotation or tool
distance in a rotative system.
For positioning, the home position has to be known.
Software limit positions are not effective
Absolute targets can be approached by exceeding the
measuring system limit, e.g. from 10 via 0 to 350.

r Parameter setting: Tab Application parameter  Dialog level Overview

Parameters

Lenze setting
Value Unit

376

C02528

Traversing range

C02536

Cycle (only relevant for traversing range "Modulo")

Unlimited

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360.0000 Unit

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TAs for positioning tasks

TA "Multi-purpose positioning" | Basic settings

13.2.3.3

Position control
The dialog level Overview  S_Positioner and the subordinated and dialog levels serve to
adapt the parameters relevant for the position control, if required.
Parameters

Lenze setting
Value Unit

C00254

Phase controller gain

20.00 1/s

C02553

Position controller gain

20.00 1/s

C02556

Pos. contr. limitation

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214748.3647 Unit/s

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TAs for positioning tasks
TA "Multi-purpose positioning" | Program flow
13.2.4

Program flow
The program flow of the multi-purpose positioning is selected according to a sequence
table which can contain up to 100 references to "actions".
Multi-purpose positioning

Basic drive functions

Sequencer

LS_Homing

LS_Stop

Reset DI5

LS_Brake

internal
status machine

DI6
PositionerTable
DI7

-100 0 100 200

Profiles

Sequencer DI8
input 8
LS_Positioner
Status
machine
(basic drive
functions)

Override
Enable

LS_ManualJog

LS_Quickstop

LS_Limiter
n

STOP

n
t

[13-4] Sequence table (schematic diagram)

What is an action?
r An action comprises a clear functionality which is described with a few parameters.
r Different action types are available which serve to implement, for instance, program
branching, switching operations, waiting times and counters.
0

000

Set

12

3
4

Standby

End

r Before every action type a defined number of actions is available which can be
individually parameterised. The parameters of the actions of the same type only differ
in the subcode.
r An action can be used in several steps if always exactly the same task is to be carried
out.
r After an action has been processed, the action in the next step of the sequence table is
automatically processed unless it is jumped to another step in the sequence table due
to a branch.
r One action can be maximally processed per computing cycle.

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TAs for positioning tasks

TA "Multi-purpose positioning" | Program flow

13.2.4.1

Overview of action types

Action type

Function/parameter

Homing
In order to execute a homing process, the action type "Homing" is available which activates the basic
function "Homing".
Note: The "Homing" action does not have its own parameters. The settings for homing are made via
the parameters of the basic function "Homing".
Homing (C 164)
Positioning
To execute a profile, 50 actions of type "Positioning" are available.
The execution of the adjusted profile is only started with activated waiting function if the
sequencer input selected for the waiting function accepts the selected signal state. Sequencer
inputs (C 386)
Parameters

Information

C04513/1...50

Profile number

Specification of the profile to be executed.

Press the "Set up profile" button to open a dialog box to
enter the corresponding profile parameters.
In this dialog a sequence profile can also be set.

C04511/1...50

Input for waiting Sequence input 1 ... 32 to be evaluated.

function
With the default setting "0" the waiting function is
skipped and the profile execution is started immediately.

C04512/1...50

Signal state for

waiting function

Only when the sequencer input to be evaluated has this

state, the profile is executed.

C04514/1...50

Sequence step

Step inside the sequence table which will be processed after

the profile has been executed.

Branching
0
1

25 actions of type "Branching" are available for conditional and unconditional branches (jumps).
A branch to the indicated step is executed when the selected sequencer input has the selected
signal state at the time of processing. If not, the sequence step is processed in the sequence
table. Sequencer inputs (C 386)
Parameters

Information

C04530/1...25

Input for
comparison

Sequence input 1 ... 32 to be evaluated.

With the default setting "0" a branch to the adjusted
sequence step is executed.

C04531/1...25

Comparison
value

State in which the sequencer input to be evaluated is

compared.

C04532/1...25

Sequence step in
case of equality

If the sequencer input to be evaluated equals the

comparison value, a branch to the step set here is executed.
In the case of inequality or "0" setting, the next step in the
sequence table is processed instead.

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TA "Multi-purpose positioning" | Program flow

Action type

Function/parameter

Variable branching
1
2
n

For variable branches (jumps) 5 actions of type "Variable branching" are available.
The branch to one of 20 possible steps is executed depending on the value in C03001 ... C03005
at the time or processing.
The parameters C03001 ... C03005 are firmly assigned to the five available actions:
C03001 determines the branch for action 1.
C03002 determines the branch for action 2, etc.
Example:
If C03002 is assigned to the value "15" at the time of processing the action no. 2, it is branched to
the step which is entered in the parameter "Sequence step at branch value 15" for action no. 2
(C04554/2).
Parameters

Information

C04540/1...5

Sequence step at Step which is executed next when C03001 ... C03005 = "1".
branch value 1
With the default setting "0" the branching is deactivated
(sequence step is processed).

C04541/1...5

Sequence step at Step which is executed next when C03001 ... C03005 = "2".
branch value 2
In the default setting "0", branching is deactivated and
the next step in the sequence table is processed.

...

...

C04559/1...5

Sequence step at Step which is executed next when C03001 ... C03005 = "20".
branch value 20
In the default setting "0", branching is deactivated and
the next step in the sequence table is processed.

...

Switching
In order to switch digital output signals 25 actions of type "Switching" are available.
Each action can set two selectable sequencer outputs to FALSE or TRUE independently of each
other. Sequencer outputs (C 386)
Parameters

Information

C04520/1...25

Output A
switching

Sequencer output 1 ... 32 to be switched.

With the setting "0" switching is deactivated.

C04521/1...25

Signal state for A State to which the sequencer output is to be set.

switching

C04522/1...25

Output for B
switching

Sequencer output 1 ... 32 to be switched.

With the setting "0" switching is deactivated.

C04523/1...25

Signal state for B

switching

State to which the sequencer output is to be set.

Set counter
000

Set

10 actions of type "Set counter" are available for setting one of the 10 available counters to a certain
starting value.
The 10 actions of type "Set counter" are not firmly assigned to the 10 actions of the "Counting"
type.
You can use, for instance, an action of type "Set counter" to set a counter to a value and later you
can set the same counter with another action of type "Set counter" to another value.
Parameters

380

Information

C04580/1...10

Counter selection With the setting "0" the setting of the counter is deactivated.

C04581/1...10

New counter
content

-2147483648 ... 2147483648

C04582/1...10

Current counter
content

Read only

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TAs for positioning tasks

TA "Multi-purpose positioning" | Program flow

Action type

Function/parameter

Count
3
12
4

25 actions of type "Count" are available for counting processes.

With each action processing the counter content of the counter selected is increased or reduced
by the specified step value depending on the setting (count upwards or downwards).
When the comparison condition for comparing the counter content with an adjustable
comparison value is fulfilled, a branch to any step is possible.
10 actions of type "Set counter" are available for setting a counter to a starting value.
Parameters

Information

C04590/1...25

Counter selection With the setting "0" the setting of the counter is deactivated.

C04591/1...25

Step value

Value by which the counter is increased or reduced.

Range: -2147483648 ... 2147483648

C04592/1...25

Comparison
value

Value with which the counter is compared.

Range: -2147483648 ... 2147483648

C04593/1...25

Sequence step

When the set comparison condition is met, a branch to the

step set here is executed.
If the condition is not met, the next step in the sequence
table is processed instead.

C04594/1...25

Comparison
condition

Selection of the condition for the comparison of the counter

content with the comparison value.

Wait
25 actions of type "Wait" are available for the insertion into the program flow.
The sequence step is only processed after the waiting time has elapsed or when the selected
sequencer input has the selected signal state at the time of processing. Sequencer inputs
(C 386)
Parameters

Information

C04571/1...25

Waiting time

C04572/1...25

Input for waiting Sequence input 1 ... 32 to be evaluated.

function
The sequence step will be processed when this input has
the set state, but no later than after the set waiting time
has elapsed.

With setting "0", the waiting time is deactivated.

C04573/1...25

Signal state for

waiting function

Required state for completing the waiting function.

Stand-by
Standby

5 actions of type "Stand-by" are available for the temporary activation of a setpoint follower.
For a sensible use of the "Standby" action, appropriate signal combinations are required in the
(enabled) function block editor.
The setpoint follower is enabled until the condition for exiting the stand-by is met.
Parameters

Information

C04601/1...5

Input for "Standby" end

Sequence input 1 ... 32 to be evaluated.

C04602/1...5

Signal state for

"Stand-by" end

Only if the sequencer input to be evaluated has this state,

the standby step is exited, and the next step in the sequence
table is processed.

Program end
End

To define the program end in the sequence table or delete a program step, the action of type
"Program end" is available.

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TA "Multi-purpose positioning" | Program flow
13.2.4.2

Action type "Homing"

In order to execute a homing process, the action type "Homing" is available for the
sequence table which activates the basic function "Homing".
Multi-purpose positioning

Basic drive functions

DI2

Reset DI5

Sequencer

LS_Homing
Enable/activate
homing

DI6
DI7

-100 0 100 200

Sequencer DI8
input 8

Status
machine
(basic drive
functions)

State "homing done"

[13-5] "Homing" (schematic diagram for limited traversing range)

Note!
The "Homing" action for the sequence table does not have its own parameters.
The settings for homing are made via the parameters of the basic function
"Homing".

r Parameter setting: Tab Application parameter  Dialog level Overview  Homing

Parameters

Lenze setting
Value Unit

382

C02528

Traversing range

C02640

Ref. mode

Unlimited

C02642

HM position

C02643

HM target position

C02644

Ref. speed 1

360.0000 Unit/s

C02645

Home acceleration 1

720.0000 Unit/s2

Set home pos. directly

0.0000 Unit
0.0000 Unit

C02646

Ref. speed 2

180.0000 Unit/s

C02647

Home acceleration 2

360.0000 Unit/s2

C02648

Home S-ramp time

C02649

HM torque limit

10.00 %

C02650

Homing inhibit time

1.000 s

C02652

Home position after mains switching

C02653

Max. rot. angle after mains sw.

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100 ms

Delete
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TAs for positioning tasks

TA "Multi-purpose positioning" | Program flow

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

Sequencer  Request homing

Enable Homing
Sequencer  Start homing
Activate Homing

C03160/1
C03160/2

DigIn 2  Home mark

C03160/3

FALSE  Set home position

C03160/4

FALSE  Reset home position

C03160/5

Zero position  Home position

C03163

O Tip!
Detailed information on homing can be found in chapter "Basic drive functions" 
subchapter "Homing". (C 164)

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TAs for positioning tasks
TA "Multi-purpose positioning" | Program flow
13.2.4.3

Action type "Positioning"

In order to execute a positioning process, 50 actions of "Positioning" type are available for
the sequence table which activates the basic function "Positioning":
Multi-purpose positioning
Reset DI5

Basic drive functions

Sequencer

LS_Positioner
Enable/activate
positioning

DI6
DI7

Status
machine
(basic drive
functions)

PositionerTable

Sequencer DI8
input 8

Profiles

Profile
number

Profile
data

State "positioning done"/"drive in target"

[13-6] "Positioning" (schematic diagram for limited traversing range)

r Use the parameter Profile number of the action to select the number or the table
position of the profile to be executed. The final profile data are then given to the basic
function by the Profile data management. (C 390)
r The execution of the adjusted profile is only started with activated waiting function if
the sequencer input selected for the waiting function accepts the selected signal
state. Sequencer inputs (C 386)

O Tip!
Detailed information on positioning can be found in the chapter "Basic drive
functions"  subchapter "Positioning". (C 176)

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TA "Multi-purpose positioning" | Program flow

13.2.4.4

Action type "Variable branching"

For variable branches (jumps) 5 actions of type "Variable branching" are available for the
sequence table.

Branch 1 value

C03001

<1
>20

Following
step
[13.1]

r The branch to one of 20 possible steps

is executed in the Lenze setting
depending on the value in
C03001 ... C03005 at the time or
processing.

20

Next step

Next step

Next step

C04540/1

C04541/1

C04559/1

r The parameters C03001 ... C03005 are

firmly assigned to the five available
actions, i.e. C03001 determines the
branch for action 1, C03002 for
action 2, etc.

Principle of the variable branch (here for action no. 1)

O Tip!
Instead of the parameters C03001 ... C03005 you can also assign other signal
sources of the application to the "branch" inputs via multiplexer parameters.
r Parameter setting: Tab Application parameter  Dialog level Overview  L_Sequencer
Parameters

Lenze setting
Value Unit

C03001

Branch value 1

C03002

Branch value 2

C03003

Branch value 3

C03004

Branch value 4

C03005

Branch value 5

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

C03001  Sequencer branch 1

C03079/1

C03002  Sequencer branch 2

C03079/2

C03003  Sequencer branch 3

C03079/3

C03004  Sequencer branch 4

C03079/4

C03005  Sequencer branch 5

C03079/5

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TA "Multi-purpose positioning" | Program flow
Example
The following example illustrates the function of the variable branch based on a program
flow which contains, among other things, two actions of the "Variable branching" type.

Step 12

Step 13

Step 14

Action number: 2
C03002 = 4 W jump to step number [C04543/2]
C04543/2 = 16

Action number: 3
C03003 = 20 W jump to step number [C04559/3]
C04559/3 = 12

1
n

Step 15

Step 16

Step 17

1
n

[13.2]

13.2.4.5

Example "Variable branch"

Sequencer inputs
In order to control conditional branches and the optional waiting function of some action
types during the program flow, 32 sequencer inputs of "BOOL" type.
r The sequencer inputs 1 ... 16 can be linked with the signal sources of the application or
device interfaces in the dialog level Overview  L_Sequencer  Program inputs via
multiplexer parameters.
r In case of the action types "positioning", "branching", "waiting" and "stand-by" it can be
defined for each action which of the sequencer inputs can be called during the program
sequence for the corresponding function.

Note!
The sequencer input 8 in the Lenze setting is linked with the digital input DI8.

Parameterise signal combinations (C 237)

13.2.4.6

Sequencer outputs
Via a DWORD-to-BIT-converter, 32 sequencer outputs of type "BOOL" are available for
"switching" which can be set to FALSE or TRUE with the action type "switching".
r These sequencer outputs can be connected with the inputs of the application or device
interfaces via multiplexer parameters.

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TA "Multi-purpose positioning" | Program flow

r The following table lists the corresponding module outputs of the FB interconnection
and the corresponding selection numbers for the multiplexer parameters:
Module output
SequencerOutput.bBit0

Signal type

Selection no. Selection text

551 Sequencer output 1

SequencerOutput.bBit1

552 Sequencer output 2

SequencerOutput.bBit2

553 Sequencer output 3

...

... ...

SequencerOutput.bBit31

582 Sequencer output 32

Parameterise signal combinations (C 237)

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TA "Multi-purpose positioning" | Program flow
13.2.4.7

Parameter setting of the program flow in the Engineer

Go to the Engineer to the Application parameter tab and click Program flow in the
topmost dialog level to change to the dialog for the sequence table:

Basic procedure
In the default setting the sequence table contains a small "Positioning program", which
first rotates the axis 360 clockwise and afterwards 360 counter-clockwise.
Proceed as follows to define the desired program flow:
1. Select the program step (1 .... 100) to be edited on the left in the sequence table.
2. Select the action type for the selected program step by clicking it.
3. If the selected action type provides more than one action, select the action to be
parameterised from the list field Selection of action number.
The next free action is suggested automatically.
4. Enter a comment about the action (optional).
5. Set parameters of the action.
If required, call the corresponding subsequent dialogs.
6. Repeat step 1 ... 5 until all actions required for the program flow are parameterised.

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TA "Multi-purpose positioning" | Program flow

13.2.4.8

Control of the sequence table

A LOW/HIGH edge at the digital input DI6 starts the parameterised program flow if the
controller is enabled and no error is pending.
r The first step set in C03000 of the sequence table is executed.
r By setting the digital input DI7 to HIGH level, the program flow can be stopped, if
required (break).

Note!
In the following cases the program flow is interrupted:
The controller inhibit is activated.
Quick stop is activated.
The drive interface changes to an error status.
If the controller is not inhibited, a shutdown of the drive via the basic function
"Quick stop" is effected.
After the interruption is deactivated again (e.g. because an activated quick stop
has been deactivated again), a renewed LOW/HIGH edge is required at the
digital input DI6 in order that the positioning program can be continued with
the sequence step.

r Parameter setting: Tab Application parameter  Dialog level Overview  L_Sequencer

Parameters

Lenze setting
Value Unit

C03000

Starting step

C04504

Jump destination

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

C03000  First step

C03079/6

DigIn 6  Sequencer start

C03070/1

DigIn 7  Sequencer break

C03070/2

Controller inhibit  Sequencer abort

or
Quick stop active
or
Error is active.

C03070/6

FALSE  Sequencer jump

C03070/7

DigIn 5  Reset program/error status

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TAs for positioning tasks
TA "Multi-purpose positioning" | Profile data management
13.2.5

Profile data management

Multi-purpose positioning

Basic drive functions

Sequencer

LS_Homing

LS_Stop
n

PositionerTable

LS_Brake

internal
status machine

-100 0 100 200

Profiles

LS_Positioner
Status
machine
(basic drive
functions)

Override
Enable

LS_ManualJog

LS_Quickstop
n

LS_Limiter
n

STOP

n
t

[13-7] Profile data management (schematic diagram)

The profile data management serves to file and manage up to 100 (travel) profiles.
r A profile describes a motion request which can be converted by the basic drive function
"Positioning" into a rotary motion.
r To execute a profile, 50 actions of type "Positioning" are available for the sequence
table.
r The profile data management also enables the "teaching" of speed, acceleration/
deceleration and S-ramp times. "Teach" function (C 398)
13.2.5.1

Profile parameters
A profile is described by the following profile parameters:
v [m/s]

v [m/s]

TP

B
E

D
C

TP window

E
F
E

t [s]

F
G

t [s]

[13-8] Profile parameters

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TA "Multi-purpose positioning" | Profile data management

Icon

Profile parameters
(Standard) profile
Profile data set (profile no. 1 ... 100) in which the profile data are stored.
Mode
Selection of the positioning mode.

Positioning modes (C 395)

Position
Target position or path distance to be traversed.
The position is either indicated as absolute or relative position.
An absolute position always specifies the distance to the zero position defined:
absolute position = target position
80
30
10

P1
10

P3

P2

20

30

40

50

60

70

80

90

100

A relative position indicates the distance to the starting position (current position):
Relative position = target position - starting position
10

0
B

P1

20

P2

10

20

30

P3

50

40

50

60

70

80

90

100

Speed
Maximum speed with which the target is to be approached.
Depending on the profile parameter position, acceleration and deceleration, it is possible that the
drive may not reach the maximum speed. In this case, the graph would display a triangle instead of
a trapezium.
n Acceleration
o Travelling speed (is not reached here)
pDeceleration
q Target position (or feed distance)

v [m/s]

vpos

t [s]

Acceleration
Selection of the change in speed by which acceleration is to be carried out maximally.
The following two acceleration types are distinguished:
Constant acceleration: the speed increases linearly.
Linearly increasing acceleration: The speed increases in S-shapes.
n Constant acceleration
o Linearly increasing acceleration

v [m/s]
vpos

t [s]
v [m/s]
vpos

t [s]

Deceleration
Selection of the change in speed by means of which decleration to standstill is to be maximally effected
again.

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TA "Multi-purpose positioning" | Profile data management

Icon

Profile parameters
S-ramp time
When the S-ramp time is selected for a profile, it is executed with S-shaped ramps, e.g. acceleration and
deceleration processes are started smoothly to reduce the jerk and thus prevent the drive components
from damage.
The acceleration/deceleration specified in the profile are only reached after the defined S-ramp time
has elapsed.
This type of acceleration/deceleration is required for e.g. sensitive machine parts with clearance.
The slower acceleration increase with the S profile prolongs the positioning time compared to the
time optimal L profile.

v [m/s]

n without jerk limitation (L profile)

o with jerk limitation (S profile)

t [s]

t [s]

Final speed
Selection of the speed by which the drive is to start the next profile after reaching the target position.
"Velocity changeover" or "Overchange" can be implemented with a final speed that is non-zero, i.e.
when the target position is reached, a second positioning process is started immediately without the
drive being decelerated to standstill at the first target position:

n Target position
o Final speed (here non zero)

v [m/s]
vpos

vend

t [s]

Start of TP window / End of TP window

These profile parameters serve to restrict the range for a touch probe positioning (residual path
positioning) in which touch probes are to be detected.
Sequence profile with TP
Profile data set (profile no. 1 ... 100) in which the profile data of the profile are stored which is to be
executed after a touch probe has been detected.
For the setting "0" no further profile connection by touch probe is effected.
Sequence profile without TP
Profile data set (profile no. 1 ... 100) in which the profile data of the profile is stored which is to be
executed after the standard profile has been executed (profile chaining).
With the setting "0" no profile chaining is carried out.
The sequence profile defined in this profile parameter is executed even if no touch probe has been
detected within the defined TP window.

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TA "Multi-purpose positioning" | Profile data management

13.2.5.2

Variable tables
To simplify parameter handling, the four most important physical sizes for profile
parameters are stored in separate "variable tables".

Unit

VTPos
Positions

VTSpeed
Speeds

VTAcc
Acceleration/
deceleration

VTJerk
S-ramp times

Unit

Unit/s

Unit/s2

Data format
Memory locations
Code
For profile
parameters

DINT with four decimal positions

100

50

50

50

C04711/1...100

C04712/1...50

C04713/1...50

C04714/1...50

Target position
TP window starting position
TP window end position

Speed
Final speed

Acceleration
Deceleration

S-ramp time

Note!
A value is assigned to a profile parameter by referring to a table position of the
assigned variable table.
Hence, not the value itself is entered into the profile parameter but the index
of the table position which contains the value to be used.
See the example in the illustration [13-9]. (C 393)

Mode
Position
Speed
Acceleration
Deceleration
Jerk time
End speed
TP window start position
TP window end position

Next TP profile
Next profile

Mode
Position
Speed
Acceleration
Deceleration
Jerk time
End speed
TP window start position
TP window end position

Next TP profile
Next profile

Profile 1
3
3
1
1
2
1
50
6
7
12
2

Profile 2
4
4
2
1
3
1
50
6
8
13
5

VTPOS
VTPOS
VTACC
VTACC
VTJERK
VTPOS
VTPOS

1
2
...
100

VTSPEED
1 200 [unit]/s
2 400 [unit]/s
...
50 50 [unit]/s

VTACC
VTPOS
VTACC
VTACC
VTJERK

1
2
...
50

VTJERK
VTPOS
VTPOS

1
2
...
50

[13-9] Principle: References to variable tables (here: References to VTSPEED)

r In case of several references to the same table position, a change of the value in this
table position affects several profiles at the same time. Thus, recurring profile
parameters only need to be changed on one position.

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TA "Multi-purpose positioning" | Profile data management

r If e.g. in case of a profile chaining, several profiles are to be executed with the same
speed, the corresponding profile parameters "speed" can all refer to the same table
position.
r For an easier assignment and identification of the entered values, each table position
can be optionally provided with a comment in the Engineer.

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TA "Multi-purpose positioning" | Profile data management

13.2.5.3

Positioning modes
According to the traversing range/application, different position modes are available for a
positioning function which are described in the following table.

Note!
For absolute positioning the home position must be known!
If an absolute positioning (positioning modes 1 ... 2 and 11 ... 16) is started
although the home position is not known, an error message is output.
In this case a programming error has occurred and the program flow must be
reset.
If the error only occurs in a sequence profile, the last valid deceleration is used
to decelerate the drive to standstill.

Positioning mode
1 Absolute
The axis travels to an absolute position.
Reference for the absolute position is zero position.
The home position must be known.
The traversing range is limited:
to 214748.3647 [unit]
by the internal display area (231 increments)
Not possible with "modulo" traversing range.
2 Absolute TP
Like mode 1, but with profile change when a touch probe is detected.
Touch probe positioning. (C 397)
5 Relative
The axis is traversed by a distance.
Reference for the distance is the target position of the profile executed before.
The feed per positioning is limited:
to 214748.3647 [unit]
by the internal display area (231 increments)
6 Relative TP
Like mode 5, but with profile change when a touch probe is detected.
Touch probe positioning. (C 397)
7 Speed
Continuous constant travel.
Only possible with "unlimited" and "limited" traversing range
This mode does not approach a defined position, but follows the profile.
Acceleration and deceleration are based on profile values.
The traversing direction is defined by the sign of the traversing speed.
Stopped through break signal.
8 Speed TP
Like mode 7, but with profile change when a touch probe is detected.
Touch probe positioning. (C 397)
11 Absolute CW
The axis travels in CW direction to an absolute position.
Only possible with "modulo" traversing range
Reference for the absolute position is zero position.
In this direction the zero position of the axis can be overtravelled.
12 Absolute CW TP
Like mode 11, but with profile change when a touch probe is detected.
Touch probe positioning. (C 397)

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TAs for positioning tasks
TA "Multi-purpose positioning" | Profile data management

Positioning mode
13 Absolute CCW
The axis travels in CCW direction to an absolute position.
Only possible with "modulo" traversing range
Reference for the absolute position is zero position.
In this direction the zero position of the axis can be overtravelled.
14 Absolute CCW TP
Like mode 13, but with profile change when a touch probe is detected.
Touch probe positioning. (C 397)
15 Absolute ShortestWay
The axis travels in best time to an absolute position.
Only possible with "modulo" traversing range
Reference for the absolute position is zero position.
The rotary table positioning is basically an absolute positioning with target positions between 0 and 360
angular degree []. In this mode the zero point can also be overtravelled if this is the shortest way to the
target position:
360/0
300

60

240

120
180

16 Absolute ShortestWay TP
Like mode 15, but with profile change when a touch probe is detected.
Touch probe positioning. (C 397)

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TAs for positioning tasks

TA "Multi-purpose positioning" | Profile data management

13.2.5.4

Touch probe positioning

In the touch probe positioning mode, the profile is first executed according to the Profile
parameters set. If a touch probe is detected during the process, it is automatically changed
to the profile specified in the profile parameter "Sequence profile with TP".
r Here the current actual position is stored at the time of the touch probe activation (by
a touch probe sensor).
r In the following relative positioning process, the "residual path" to this stored position
is travelled according to the increments.

v [m/s]

Profile 4

Profile 7
t [s]

Touch probe

Mode
Position
Speed
...
Next TP profile
Next profile

Profile 4

v [m/s]

Profile 4

Profile 7
Touch probe

Profile 7

Mode
Position
Speed
...
Next TP profile
Next profile

t [s]

n "Starting profile"
o "Residual path profile" that is defined in the profile parameter "Sequence profile with TP" of the starting profile.
[13-10] Examples for a "residual path positioning" after a touch probe is detected

r The profile parameters "TP window start" and "TP window end" the range in which
touch probes are to be detected can be restricted.
If both profile parameters = "0", touch probe detection will be active for the whole
profile/the whole traversing range.
r If no touch probe is detected and after the profile is executed, the positioning is
continued with the profile defined in the profile parameter "Sequence profile without
TP" (profile chaining).

Note!
If a profile is travelled with high speed and touch probe positioning is started,
the residual path of which is smaller than the result from current speed and set
deceleration ramp, the target position is "overtravelled".
Normally a reversing movement occurs, i.e. the drive returns.
If, for instance, a CCW rotation of the drive is forbidden by the safety module,
the target cannot be approached since in this case the reversing movement is
not permissible.
Further constellations are possible in connection with profile chaining in which
an approach of the target position is impossible.

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TAs for positioning tasks
TA "Multi-purpose positioning" | Profile data management
13.2.5.5

"Teach" function
The "Teach" function of the profile data management enables the teaching of positions,
speeds, accelerations and S-ramp times.
The basic function "Manual jog" serves, for instance to approach the desired position
manually and transmits it via "Teaching" to the variable table for positions.
r Parameter setting: Tab Application parameter  Dialog level Overview 
L_PositionerTable
Control/setpoint inputs of the function
Lenze setting

Control/setpoint input
FALSE  Teach position

(Multiplexer parameters)
C03020/1

C03016  Selection of table position for position

Zero position  Teach position

C03029/1
C03125

FALSE  Teach speed

C03020/2

C03017  Selection of table position for speed

Speed setpoint  Teach speed

C03029/2
C03024

FALSE  Teach acceleration

C03018  Selection of table position for acceleration
0  Teach acceleration
FALSE  Teach S-ramp time
C03019  Selection of table position for S-ramp time
0  Teach S-ramp time

Signal configuration

C03020/3
C03029/3
C03027
C03020/4
C03029/4
C03028

Note!
After the function block editor is enabled the "Teach" function must be
configured directly in the FB interconnection instead of via the parameters
mentioned before!

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TAs for positioning tasks

TA "Multi-purpose positioning" | Speed/acceleration override

13.2.6

Speed/acceleration override
Multi-purpose positioning

Basic drive functions

Sequencer

LS_Homing

LS_Stop
n

PositionerTable

LS_Brake

internal
status machine

-100 0 100 200

Profiles

LS_Positioner
Status
machine
(basic drive
functions)

Override
Enable

Speed override AIN1

LS_ManualJog

Acceleration override AIN2

LS_Quickstop
n

LS_Limiter
n

STOP

n
t

[13-11] Speed/acceleration override (schematic diagram)

"Override" is the change of profile parameters and their acceptance during the positioning
process.
In this case the travel profile is adapted accordingly so that if the speed is changed during
the positioning process ("speed override"), the specified target position is still positioned
exactly.
v [m/s]

n The speed is reduced during the positioning

process.

o To reach the defined position, the missing

surface must be "attached" to the profile.

Dt

t [s]

p When the speed is reduced the positioning

process takes a longer time (t).

[13-12] Override (here: Speed override)

r Parameter setting: Tab Application parameter  Dialog level Overview  LS_Positioner

Control/setpoint inputs of the function
Lenze setting

Control/setpoint input

Signal configuration
(Multiplexer parameters)

C03013  Activate override

C03185/5

AIn 1  Speed override

C03186/1

AIn 2  Acceleration override

C03186/2

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TAs for positioning tasks
TA "Multi-purpose positioning" | Following error monitoring
13.2.7

Following error monitoring

In the Lenze setting a two-stage following error monitoring is
active.

n Switching threshold
o Hysteresis

If the parameterisable switching threshold 1 is exceeded, a

warning appears. If the higher-set switching threshold 2 is
exceeded, a "warning locked" appears.

[13-13] Following error monitoring

r Parameter setting: Tab Application parameter  Dialog level Overview  Following

error
Parameters

Lenze setting
Value Unit

C03911

Switching threshold 1

100.0000 Unit

C03914

Switching threshold 2

200.0000 Unit

C03917

Hysteresis 1

0.0000 Unit

C03920

Hysteresis 2

0.0000 Unit

C05902/1

Error response - following error 1

Warning

C05902/2

Error response - following error 2

Warning locked

Control inputs of the function

Lenze setting

400

Signal configuration

Control input

(Multiplexer parameters)

TRUE  Activate following error limit 1

C03058/1

TRUE  Activate following error limit 2

C03058/2

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TAs for positioning tasks

TA "Multi-purpose positioning" | Manual jog

13.2.8

Manual jog
For the setting-up operation and
"Teaching" of positions the basic function
"Manual jog" is available.

Basic drive functions

LS_Homing

LS_Stop
n

LS_Brake

internal
status machine

Manual jog is controlled via parameters

(e. g. via HMI).

-100 0 100 200

Manual jog can always be carried out if the

sequence control is not active abd no other
basic function and no error status are
active. The request of manual jog then is
effected automatically with the travel
commands.

LS_Positioner
Status
machine
(basic drive
functions)

LS_ManualJog

LS_Quickstop
n

LS_Limiter
n

STOP

n
t

[13-14] Basic function "Manual jog" (schematic diagram)

r Parameter setting: Tab Application parameter  Dialog level Overview  Manual jog
Parameters

Lenze setting
Value Unit

C02620

Manual jog speed 1

360.0000 Unit/s

C02621

Manual jog speed 2

720.0000 Unit/s

C02622

Manual acceleration

360.0000 Unit/s2

C02623

Manual deceleration

1440.0000 Unit/s2

C02624

Inaccuracy time of manual traversing

0.100 s

C03007

Activate positive manual jog

FALSE

C03008

Activate negative manual jog

FALSE

C03009

Activate "Retract limit switch"

FALSE

Control inputs of the function

Lenze setting

Signal configuration

Control input

(Multiplexer parameters)

Automatic  Request manual jog

activation

C03155/1

C03007  Activate positive manual jog

C03155/2

C03008  Activate negative manual jog

C03155/3

FALSE  Activate 2. speed

C03009  Activate "Retract limit switch"

C03155/4
C03155/5

O Tip!
Detailed information on the manual jog function can be found in chapter "Basic
drive functions"  subchapter "Manual jog". (C 156)

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TAs for positioning tasks
TA "Multi-purpose positioning" | Quick stop
13.2.9

Quick stop
The basic function "Quick stop" brakes the
drive to standstill within the deceleration
time set for the quick stop function after a
corresponding request independent of the
setpoint selection. The sequence control is
interrupted.

Basic drive functions

LS_Homing

LS_Stop
n

LS_Brake

internal
status machine

-100 0 100 200

If the quick stop is deactivated, the drive

remains in standstill until the sequence
control is started again and takes over the
drive control.

LS_Positioner
Status
machine
(basic drive
functions)

DI1
LS_ManualJog

LS_Quickstop
n

LS_Limiter
n

STOP

n
t

[13-15] Basic function "Quick stop" (schematic diagram)

r The quick stop function can be activated as follows in the Lenze setting:
By setting the digital input DI1 to LOW level.
By a master control via the port LPortControl:
By setting bit 2 of the bit-coded control word 1.
r Parameter setting: Tab Application parameter  Dialog level Overview  All basic
functions  Quick stop
Parameters

Lenze setting
Value Unit

C00105

Quick stop deceleration time

C00106

Quick stop S-ramp time

C00107

Reference for deceleration time "Quick stop"

Control inputs of the function

Lenze setting

0.000 s
0.00 %
Motor reference speed (C00011)

Signal configuration

Control input

(Multiplexer parameters)

DigIn 1  Activate quick stop 1

C03135/1

Control word 1 bit  Activate quick stop 2

02

C03135/2

FALSE  Activate quick stop 3

C03135/3

O Tip!
Detailed information on quick stop can be found in chapter "Basic drive functions"
 subchapter "Quick stop". (C 152)

402

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TAs for positioning tasks

TA "Multi-purpose positioning" | Limiter

13.2.10

Limiter

Status
machine
(basic drive
functions)

The basic function "Limiter" monitors the

travel range limits via limit switches and
parameterisable software limit positions
and after an according request from the
safety module can lead the drive into
defined limit ranges. Furthermore higherlevel limit values for travel profiles can be
entered and activated.

M
LS_Limiter
DI4
n

DI3
t

[13-16] Basic function "Limiter" (schematic diagram)

r The software limit positions which can be set via parameters serve to limit the travel
range by means of software and prevent that travel commands are executed which
would cause an exit of the permissible travel range.
r Moreover, the travel range limits are monitored via limit switches via the digital inputs
DI3 and DI4.

Note!
The digital inputs DI3 and DI4 are configured fail-safe in C00114/3 and C00114/
4 , i.e. a HIGH level is expected at both inputs in idle state.
If the travel range limits should not be monitored (e.g. in case of a rotary axis),
set the limit switch inputs of the basic function "Limiter" permanently to
FALSE.
The parameterised limit values for travel profiles are not effective for the basic
functions "Speed follower", "Torque follower" and "Position follower"!
For the exceeding of the limit values an error response can be set.

r Parameter setting: Tab Application parameter  Dialog level Overview  Limiter

Parameters

Lenze setting
Value Unit

Limit values
C02707

Permissible direction of rotation

C02700

Software limit positions are active

C02701/1

Positive software limit position

0.0000 Unit

C02701/2

Negative software limit position

0.0000 Unit

Positive and negative

Deactivated

Only for homing, positioning and manual jog

C02702

Limitations effective

C02703

Max. speed

3600.0000 Unit/s

C02705

Max. acceleration

3600.0000 Unit/s2

C02706

Min. S-ramp time

Deactivated

100 ms

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9400 HighLine | Parameter setting & configuration

TAs for positioning tasks
TA "Multi-purpose positioning" | Limiter

Parameters

Lenze setting
Value Unit

For manual jog only

C02713

Max. path -manual jog

360.0000 Unit

Limited speed 1 ... 4 (only for homing, positioning, and manual jog)
C02708/1

Limited speed 1

C02710/1

Delay lim. speed 1

C02711/1

S-ramp time lim. speed 1

C02708/2

Limited speed 2

C02710/2

Delay lim. speed 2

3600.0000 Unit/s
100 ms
7200.0000 Unit/s

C02711/2

S-ramp time lim. speed 2

C02708/3

Limited speed 3

C02710/3

Delay lim. speed 3

0.0100 Unit/s2
100 ms
14400.0000 Unit/s

C02711/3

S-ramp time lim. speed 3

C02708/4

Limited speed 4

C02710/4

Delay lim. speed 4

C02711/4

S-ramp time lim. speed 4

0.0100 Unit/s2
100 ms
28800.0000 Unit/s

Control inputs of the function

Lenze setting

0.0100 Unit/s2

0.0100 Unit/s2
100 ms
Signal configuration

Control input

(Multiplexer parameters)

DigIn 3  Positive limit switch

C03150/1

DigIn 4  Negative limit switch

C03150/2

O Tip!
Detailed information on the limiter function can be found in chapter "Basic drive
functions"  subchapter "Limiter". (C 200)

404

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9400 HighLine | Parameter setting & configuration

TAs for positioning tasks

TA "Multi-purpose positioning" | Brake control

13.2.11

Brake control
The basic function "Brake control" serves
to the wear free control and monitoring of
a holding brake.

LS_Brake

In the simplest case, an optionally

available brake module is used.
Status
machine
(basic drive
functions)

Alternatively the holding brake can also be

controlled and monitored via the digital
inputs/outputs.

[13-17] Basic function "Brake control" (schematic diagram)

Note!
In the Lenze setting the brake control is switched off to reach a safe status after
mains connection.

If the automatic operation (operating mode 2 or 12) is selected in C02580, the brake is
controlled automatically, i.e. if the multi-purpose positioning or another basic function is
activated which causes the drive to traverse, the brake is opened automatically and the
operation is enabled.

O Tip!
Detailed information on brake control can be found in chapter "Basic drive
functions"  subchapter "Brake control". (C 211)

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TAs for positioning tasks
TA "Multi-purpose positioning" | Brake control

r Parameter setting: Tab Application parameter  Dialog level Overview  Brake control
Parameters

Lenze setting
Value Unit

C02580

Operating mode - brake

C02581

Brake activation threshold

C02582

Brake resp. to pulse inhibit

C02583

Status input monitoring

C02585

Brake control polarity

C02586

Starting torque 1

0.00 Nm

C02587

Starting torque 2

0.00 Nm

C02588

Source of starting torque

C02589

Brake closing time

100 ms

C02590

Brake opening time

100 ms

C02591

Waiting time - status monit.

C02593

Waiting time - brake active.

C02594

Test torque

C02595

Permissible angle of rotation

C02596

Grinding speed

C02597

Accel./decel. time - grinding

C02598

Grinding ON time

0.5 s

C02599

Grinding OFF time

0.5 s

Activate the brake immediately

Not active
Not inverted

Starting torque 1/2

100 ms
0.000 s
5
100 rpm

Control/setpoint input

1.000 s

Signal configuration
(Multiplexer parameters)

FALSE  Open brake (release)

C03165/1

FALSE  Activate starting torque 2

C03165/2

FALSE  Brake status signal

C03165/3

FALSE  Activate brake test

C03165/4

FALSE  Grind brake

C03165/5

0 %  Additional torque

406

50 rpm

0.00 Nm

Control/setpoint inputs of the function

Lenze setting

Brake control off

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TAs for positioning tasks

TA "Multi-purpose positioning" | Signal configuration of drive and motor interface
13.2.12

Signal configuration of drive and motor interface

If required, the preset signal configuration of the control and setpoint inputs of the drive
and motor interface can be easily reconfigured per parameter setting of the assigned
multiplexer parameters.
Drive interface
Signal (Lenze setting)

Control input
FALSE  Set controller inhibit

Signal configuration
C03130/1

DigIn 5  Reset error 1

C03130/4

FALSE  Reset error 2

C03130/5

FALSE  Reset error 3

C03130/6

FALSE  Set error

C03130/2

FALSE  Switch on drive

C03130/3

Motor interface
Signal (Lenze setting)

Setpoint input
100 %  Position controller adaption

C03141/1

100 %  Phase controller adaption

C03141/2

100 %  Adaptation of speed controller

C03141/3

100 %  Upper torque limit value

C03141/4

-100 %  Lower torque limit value

C03141/5

100 %  Flux setpoint

Signal configuration

Firmware 1.37 - 09/2006

C03141/6

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9400 HighLine | Parameter setting & configuration

TAs for positioning tasks

TA "Multi-purpose positioning" | Signal configuration of the output ports
13.2.13

Signal configuration of the output ports

If required, the preset signal configuration of the output ports can be easily reconfigured
per parameter setting of the assigned multiplexer parameters.
"LPortAxisOut1" output port
The output port LPortAxisOut1 is intended for the connection with a following axis.
Signal (Lenze setting)

Output port

Signal configuration

Axis status word

The bits are assigned as in case of status word 1/2.
Application-specific signals can be supplemented.
Drive ready  Axis status word bit 00

C03120/1

FALSE  Axis status word bit 01

C03120/2

Operation enabled  Axis status word bit 02

C03120/3

Error is active.  Axis status word bit 03

C03120/4

FALSE  Axis status word bit 04

C03120/5

Quick stop active  Axis status word bit 05

C03120/6

Drive is ready to start  Axis status word bit 06

C03120/7

Warning active  Axis status word bit 07

C03120/8

FALSE  Axis status word bit 08

C03120/9

FALSE  Axis status word bit 09

C03120/10

FALSE  Axis status word bit 10

C03120/11

Motor control limited  Axis status word bit 11

C03120/12

FALSE  Axis status word bit 12

C03120/13

FALSE  Axis status word bit 13

C03120/14

FALSE  Axis status word bit 14

C03120/15

FALSE  Axis status word bit 15

C03120/16

Setpoints for horizontal communication

408

Motor torque  Axis-Port Out 1

C03124/1

Motor speed  Axis-Port Out 2

C03124/2

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9400 HighLine | Parameter setting & configuration

TAs for positioning tasks

TA "Multi-purpose positioning" | Signal configuration of the output ports
Output port "LPortStatus1"
The output port LPortStatus1 is intended for the connection with a higher-level control.
Signal (Lenze setting)

Output port

Signal configuration

Status word 1
Drive ready  Status word 1 bit 00

C03121/1

FALSE  Status word 1 bit 01

C03121/2

Operation enabled  Status word 1 bit 02

C03121/3

Error is active.  Status word 1 bit 03

C03121/4

FALSE  Status word 1 bit 04

C03121/5

Quick stop active  Status word 1 bit 05

C03121/6

Drive is ready to start  Status word 1 bit 06

C03121/7

Warning active  Status word 1 bit 07

C03121/8

FALSE  Status word 1 bit 08

C03121/9

FALSE  Status word 1 bit 09

C03121/10

FALSE  Status word 1 bit 10

C03121/11

Motor control limited  Status word 1 bit 11

C03121/12

FALSE  Status word 1 bit 12

C03121/13

FALSE  Status word 1 bit 13

C03121/14

FALSE  Status word 1 bit 14

C03121/15

FALSE  Status word 1 bit 15

C03121/16

Output port "LPortStatus2"

Signal (Lenze setting)

Output port

Signal configuration

Status word 2

FALSE  Status word 2 bit 00

C03122/1

FALSE  Status word 2 bit 01

C03122/2

FALSE  Status word 2 bit 02

C03122/3

FALSE  Status word 2 bit 03

C03122/4

FALSE  Status word 2 bit 04

C03122/5

FALSE  Status word 2 bit 05

C03122/6

FALSE  Status word 2 bit 06

C03122/7

FALSE  Status word 2 bit 07

C03122/8

FALSE  Status word 2 bit 08

C03122/9

FALSE  Status word 2 bit 09

C03122/10

FALSE  Status word 2 bit 10

C03122/11

FALSE  Status word 2 bit 11

C03122/12

FALSE  Status word 2 bit 12

C03122/13

FALSE  Status word 2 bit 13

C03122/14

FALSE  Status word 2 bit 14

C03122/15

FALSE  Status word 2 bit 15

C03122/16

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TAs for positioning tasks
TA "Multi-purpose positioning" | Application error messages
13.2.14

Application error messages

For the output of application-specific error messages, the FB instances ApplicationError1
and ApplicationError2 of the function block L_DevApplErr are available in the network.
r Via the boolean inputs up to 16 different application error messages with
parameterisable module ID, error ID and error response can be released by the
application.
Error message

Error-ID

Error response

8001

Warning

FB instance "ApplicationError1"
1

Following error limit 1

Following error limit 2

8002

Warning locked

Positioner: Home position is not known

8003

Warning

Positioner: Cycle is not known

8004

Warning

Positioner: Wrong positioning mode

8005

Warning

Positioner: Invalid change of the positioning mode

8006

Warning

Positioner: Profile data is not plausible or faulty

8007

Warning

Positioner: Error in profile generation

8008

Warning

FB instance "ApplicationError2"
1

Free fault message 1

8011

Information

Free fault message 2

8012

Information

PositionerTable: Invalid axis data structure

8013

Warning

PositionerTable: Invalid profile no.

8014

Information

PositionerTable: Invalid table no.

8015

Warning

Watch-Dog

8016

Quick stop by trouble

Sequencer: Error due to variable branch

8017

Warning

Sequencer: Pause

8018

Information

r Parameter setting: Tab All parameters

Parameters

Lenze setting

FB instance "ApplicationError1"
C05900

Function block ID

C05901/1...8

Error ID 1 ... 8

See table above

999

C05902/1...8

Error response 1 ... 8

See table above

FB instance "ApplicationError2"
C05903

Function block ID

998

C05904/1...8

Error ID 1 ... 8

See table above

C05905/1...8

Error response 1 ... 8

See table above

Reset of error message

In the Lenze setting the digital input DI5 for resetting (acknowledging) an error message is
connected to the input DI_bResetError1 of the drive interface.

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TAs for positioning tasks
TA "Table positioning"

13.3

TA "Table positioning"
The technology application "table positioning" enables the drive to execute
parameterisable travel profiles. The sequence is controlled by a superimposed control (e.g.
PLC).
Functions
r Control of the program flow via predefined ports
r Positioning in different positioning modes
Point-to-point positioning
Touch probe positioning (residual path positioning)
Profile chaining with velocity changeover (overchange)
r Homing in different homing modes
r Profile data management
Support of S profiles (jerk limitation)
Separate setting for acceleration and deceleration
"Teach" function
r Speed-/acceleration override
r Following error monitoring
r Support of absolute value encoders
r Support of the basic drive functions "Manual jog" and "Quick stop"
r Monitoring of travel range limits with the basic drive function "Limiter"
r Optional control of a holding brake with the basic drive function "Brake control"

Note!
With the exception of the sequence table, the functionality of the table
positioning is identical to the multi-purpose positioning.
The different functions are described in the previous chapter on TA "Multipurpose positioning". (C 371)

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TAs for positioning tasks
TA "Table positioning" | Basic signal flow
13.3.1

Basic signal flow

The functional core of the table positioning is the profile data management which
transmits the required profile data to the basic drive function "Positioning". The true
sequence control is carried out by a master control (e.g. PLC) which communicates with the
application via predefined ports.
Table positioning

Basic drive functions

DI2

LS_Homing

LS_Stop
n

LPortControl1
LPortAxisIn1

PositionerTable
Profiles

LS_Brake

internal
status machine

LPortStatus1
LPortAxisOut1

-100 0 100 200

LS_Positioner

Override

Enable

Status
machine
(basic drive
functions)

DI1

Speed override AIN1

LS_ManualJog

Acceleration override AIN2

LS_Quickstop

LS_Limiter
DI4

STOP

DI3
t

[13-18] Signal flow of the TA "Table positioning" (schematic diagram)

Table positioning
 Predefined ports for the communication with a master control
 Profile data management
 Speed/acceleration override
Basic drive functions
 Homing
 Positioning
 Manual jog
 Stop
 Quick stop
Brake control (optional)
! Limiter (optional)

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TAs for positioning tasks

TA "Table positioning" | Assignment of the I/O terminals

13.3.2

Assignment of the I/O terminals

13.3.2.1

Setpoint and control signals

The following tables contain the Lenze assignment of the analog and digital inputs for the
technology application "Table positioning".
Analog inputs

A2- A2+ A1R A1- A1- A1+

Terminal X3

Signal (Lenze setting)

AI1AI1+

Selection for speed override

Speed/acceleration override (C 399)

AI2AI2+

Selection for acceleration override

Speed/acceleration override (C 399)

I/O terminals

Analog inputs (C 117)

Digital inputs

DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI

Terminal X5

Signal (Lenze setting)

DI1

Quick stop
If DI1 is set to LOW level, the drive is decelerated to standstill within the deceleration
time set for the quick stop function independent of the setpoint selection.
If the quick stop function is deactivated, the drive is led to the selected setpoint again via
the set acceleration time.
Quick stop (C 402)

DI2

Connection of reference switch/touch probe sensor

Action type "Homing" (C 382)

DI3

Connection of travel range limit switch positive/negative for basic function "Limiter".
(C 403)
The inputs respond to the FALSE state (fail-safe).

DI4
DI5

Reset error
By means of a LOW-HIGH edge an existing error status can be reset if the cause of the
fault is removed.

DI6

DI7

DI8

I/O terminals

Digital inputs (C 123)

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TAs for positioning tasks
TA "Table positioning" | Assignment of the I/O terminals
13.3.2.2

Actual value and status signals

The following tables contain the Lenze assignment of the analog and digital outputs for
the technology application "Table positioning".
r The default signal configuration if required can be easily changed by parameterising
the multiplexer parameters assigned.
Analog outputs

AO2 AO1 GA

Terminal X3

Signal (Lenze setting)

Signal configuration

AO1

Scaled following error

C03110/1

AO2

Motor torque (setpoint)

Scaling: 10 V Motor reference torque (C00057/2)

C03110/2

I/O terminals

Analog outputs (C 120)

Digital outputs

DO4 DO3 DO2 DO1 24O GO

Terminal X4

Signal (Lenze setting)

Signal configuration

DO1

Status "Drive ready"

This operating state is active if the controller is enabled by setting
the digital input RFR to HIGH level and no error has occurred.

C03100/1

DO2

C03100/2

DO3

Status "Limitation active"

At the moment a setpoint is limited or a software or hardware
limit switch has been reached.

C03100/3

DO4

Status "Error active acknowledgement is required"

Monitoring with the error response "Error" or "Quick stop by
trouble" has been activated, and the controller is in the device
state "Error active" or "Quick stop by trouble active".

C03100/4

I/O terminals

Digital outputs (C 125)

State bus

SB 24E GE

Terminal X2

Signal (Lenze setting)

SB

I/O terminals

Status "Error active acknowledgement is required"

Monitoring with the error response "Error" or "Quick stop by
trouble" has been activated, and the controller is in the device
state "Error active" or "Quick stop by trouble active".
The state bus is put in the "error" status.

Signal configuration
C03100/5

Monitoring function "State bus" (C 127)

Display elements
User LED

Signal (Lenze setting)

Status "Positioning enabled"

Drive interface

414

Signal configuration
C03100/6

LED status displays (C 34)

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TAs for positioning tasks

TA "Table positioning" | Control of the program flow via predefined ports
13.3.3

Control of the program flow via predefined ports

For a sequence control by a higher-level control (e.g. PLC) the application is provided with
predefined ports the signals of which are linked with the setpoint and control inputs of the
application via multiplexer parameters.
Input port "LPortAxisIn1" for control and setpoint signals
Element variable/data type
nIn1

Information/possible settings

Profile number (1 .... 100) of the profile of the profile data management to be
INT executed

Input port "LPortControl1" for control signals

The input port LPortControl1 is intended for the connection with a master control.
Element variable/data type
LPortControl1

Information/possible settings

Control word (bit coded)

WORD Bits which are not listed are not assigned with a function.
Bit 3 Activate quick stop
The is decelerated to standstill within the deceleration time set
for the quick stop function independent of the setpoint selection.
If the quick stop function is deactivated, the drive is led to the
selected setpoint again via the set acceleration time.
Bit 7 Reset error
An existing error status is reset if the cause of the fault is
removed.
Bit 11 Requesting control via the basic function "Positioning"
If no other basic function is active, it is changed to the
"Positioning" function state and positioning can be executed via
the control inputs.
If bit 11 is reset, an active positioning is stopped, i.e. it is changed
from the active function state "Positioning" to the basic function
" Standstill" via the function state "Stopping".
Bit 12 Start positioning/restart
The profile with the profile number defined via nIn2 is executed.
During an active positioning process, another profile can be
defined via nIn2 which is executed after restart (renewed state
change of bit 12 from "0" to "1").
Bit 14 Continuing an interrupted positioning process
The positioning process interrupted before is completed.
Distance already covered in a relative positioning process will be
considered.
Bit 15 Request control via the basic function "Homing" and start reference
search in the selected homing mode (C02640).

See also:

Signal configuration of the output ports (C 408)

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Oscilloscope
Technical data

14

Oscilloscope
The integrated oscilloscope function of the 9400 High Line controller can be used as
support for commissioning, maintenance and troubleshooting.
Typical applications
r Graphical representation of any measured values (e.g. speed setpoint, actual speed and
torque)
r Detection of process values without additional measuring instruments (e.g.
oscilloscope, voltmeter and ammeter)
r Convenient documentation for fine tuning of control circuits or parameter changes of
the controller
r Documentation of production quality in the context of product liability and quality
assurance
Special features
r Recording and saving measured values in the controller
r Measuring on eight independent channels at the same time
r Measuring fast and slow signals by adjustable sample rate
r Triggering on channel, variable or error message
r Detecting measured values before and after a trigger event (pre-/post-trigger)
r Graphical representation and evaluation of measured values on a PC
r Cursor and zoom function for the measurement analysis
r Saving & loading of oscilloscope configurations
r Exporting measured values via the clipboard for further processing

14.1

Technical data
9400 HighLine

416

Memory depth

Max. 16384 measured values, depending on the number of channels and the size of
the variables to be recorded.

Memory capacity

32768 bytes

Data width of a channel

1 ... 4 bytes, corresponding to the size of the variables to be recorded

Number of channels

1 ... 8

Trigger level

Corresponding to the value range of the variable to be triggered

Trigger selection

Immediate triggering, rising/falling edge, signal change

Trigger delay

-100 % ... +400 %

Trigger source

Channels 1 ... 8, any variable or error message

Max. time base

8 channels 32 bits each 26 hours

Max. recording time

8 channels 32 bits each 10 days

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9400 HighLine | Parameter setting & configuration

Oscilloscope
Function description

14.2

Function description
With an online connection to the controller, use the oscilloscope user interface of the
Engineer to set the trigger condition and the sample rate and select the variables to be
recorded.
When the measurement is started, the set parameters are transferred to the controller and
checked. If invalid settings are found, the oscilloscope sends an error. Otherwise, the
measurement is started.
With an online connection, the measured controller data are transferred to the Engineer
and graphically represented on the oscilloscope user interface as soon as the measurement
has been completed.
Recording variable values
The operating system scans the oscilloscope in fixed 1 ms-cycles, i.e. the oscilloscope can
record variable values with a sample rate of max. 1 kHz.
Recording system variable values of the internal motor control
Unlike the variables declared in the application, the system variables of the internal motor
control (MCTRL) can also be recorded with a sample rate higher than 1 kHz.

Note!
In the servo operating modes, recordings with a time-based resolution of 31.25
s and 125 s are not possible!

Recording I/O variable values referring to a task

When selecting the variables to be measured, it is possible to indicate a task reference for
the variables. If the behaviour of a certain task is to be examined, you can indicate the task
reference to exactly record the values valid for the task run-time.
r The variable values are recorded during the process output image generation of the
task.

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Oscilloscope
User interface
14.3

User interface

M How to go to the oscilloscope user interface:

1. Go to Project view and select the 9400 HighLine controller.
2. Select the Oscilloscope tab from the Workspace.
The oscilloscope user interface contains the following control and function elements:

Oscilloscope toolbar

Vertical settings

Trigger/cursor settings

Oscilloscope function bar

Status bar

Horizontal settings
Recording settings

Oscillograph

14.3.1

Oscilloscope toolbar
Icon

Function
Loading/importing a data record (C 428)
Saving/exporting a data record (C 427)
Copying data record to clipboard (C 430)
Print oscillogram

418

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Oscilloscope
User interface

14.3.2

Oscilloscope function bar

Icon

Function
Activate zoom function
Adjusting the representation (C 424)
Activate automatic scaling function
Adjusting the representation (C 424)
Delete offline data record

14.3.3

Oscillograph
The oscillograph is used to visualise data records.
r Use the zoom and the automatic scaling function to adjust the representation.
r The measured data represented in the form of interpolated curves can be optionally
shown and hidden, represented in any colour or overlaid with the signal characteristics
of other variables recorded.

14.3.4

Vertical settings
Use the Vertical list field to configure the variables to be recorded.
r Simply click into a field to change the corresponding setting.

14.3.5

Column

Designation

Meaning

Ch

Channel number

On

On/off

Inv

Inversion on/off

Variable

Curve colour for representation in the oscillograph

Selection of variable to be recorded

Unit

Scaling

1/div

Vertical scale factor

Offset

Offset value
The offset value depends on the scale factor and is designated by a dotted
line in curve colour at the left edge of the oscillograph.

Position

Position value
The position value is independent of the scale factor and designated by a
line at the left edge of the oscillograph.

Status bar
The status messages are displayed in the status bar.

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Oscilloscope
User interface
14.3.6

Trigger/cursor settings
Trigger
Use the Trigger tab to configure the trigger condition.
Selecting the trigger condition (C 422)
Cursor
If the Cursor tab is on top, you can use a vertical measuring line to read individual
measured values of a selectable channel in the oscilloscope. Using a second vertical
measuring line, it is possible to indicate the difference between two measured values.
Reading individual measured values (C 426)

14.3.7

Group box

Meaning

Channel

Channel selection

Value

Display of the value measured at the position of the active measuring line

Difference

Display of the difference between the values measured at the two measuring lines

Horizontal settings
Use the Horizontal group box to select the time base and the horizontal position.
Selecting the recording time/sample rate (C 422)

14.3.8

Input field

Meaning

Time base [1/Div]

Selection of time base

The current time base setting multiplied by ten results in the recording time.
Change the time base to stretch or compress measurements that have already been
completed.

Position

Selection of the horizontal display position

The position value can be directly entered into the input field or selected by using the
arrow buttons.
When the arrow buttons are used and the <Ctrl> key is pressed, you can increase the step
width to accelerate the shift.

Recording settings
Use the Recording group box to select the sample rate and start recording.
r Since the measured data memory has a limited capacity, a compromise must be found
between the sample rate and the recording time that results from the time base
setting.
Selecting the recording time/sample rate (C 422)

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Oscilloscope
Operation

14.4

Operation
This chapter describes step-by-step how to record the signal characteristics of controller
variables and represent, analyse, document and process them in the oscilloscope.

Note!
In the oscilloscope, settings can only be selected and recording can only be
started, when the controller is connected online.

14.4.1

Selecting the variables to be recorded

The oscilloscope supports up to eight channels, i.e. max. eight variables can be recorded in
a data record. Use the Vertical group box to select the variables.

M How to select a variable for recording:

1. Go to the Variable column in the Vertical group box and double-click in the yellow
field to open the Select variable dialog box.
The dialog box lists all variables declared in the PLC program of the controller
and the system variables of the internal motor (MCTRL).
2. Select the variable to be recorded from the list field.
3. Click OK.
The dialog box is closed and the selection is accepted.
4. Repeat steps 1 ... 3 to select up to seven more variables to be recorded.
Of course, it is any time possible to change or delete a selection later.

M How to change a selection:

1. Go to the Vertical group box and double-click the variable to be changed in the
Variable column.
2. Select a new variable in the Select variable dialog box.
3. Click OK.
The dialog box is closed and the selection is accepted.

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Oscilloscope
Operation

M How to delete a selection:

1. Go to the Vertical group box and double-click the variable to be removed in the
Variable column.
2. Click Delete channel in the Select variable dialog box.
The dialog box is closed and the selection is deleted.

14.4.2

Selecting the recording time/sample rate

M How to select the recording time and the sample rate:

1. Go to the Horizontal group box and select the desired time base from the Time
base list field.
The current time base setting multiplied by ten results in the recording time.
Since the measured data memory of the controller has a limited capacity,
usually a comprise is made between sample rate and recording time.
2. Enter the desired sample rate [ms] in the Record group box in the Device sample
rate input field.

14.4.3

Selecting the trigger condition

With the trigger condition, you can select when recording is to be started in the controller.
r The oscilloscope provides different trigger conditions that can be used to control
measured value recording.

M Select the corresponding settings in the Trigger tab to define the trigger condition.
Setting
Source

Function
Selection of trigger source:

Variable The oscilloscope triggers on any variable of the PLC program.

Unlike triggering on a channel, triggering on a variable requires no recording channel.
Channel The oscilloscope triggers on a channel configured in the Vertical table.
System event Triggering is started on occurrence of a selectable controller event (e.g. TRIP, message or
warning).
Select a negative trigger delay to record signals prior to occurrence of the event.
Force trigger No trigger condition, recording starts immediately after the start.
Trigger value

422

Value from which on triggering is activated.

The trigger level is not effective for triggering on Boolean variables.

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Oscilloscope
Operation

Setting
Delay

Function
Delay between recording and trigger event.

Pre-trigger Select a negative delay time to detect signals prior to the trigger event.
Trigger event

Trigger level

Trigger
delay
(negative)

In the oscillograph, the trigger time is designated by a dotted line.

With triggering on occurrence of an event, it is thus possible to detect the values that
have caused the event.
Post-trigger Select a positive delay time to detect signals occurring a certain time after the trigger event.
Trigger event

Trigger level

Trigger
delay
(positive)

Edge

If the trigger source is a channel or a variable, you can choose between the following trigger
modes:
Positive edge For triggering on a BOOL variable:
Trigger activation requires a FALSE-TRUE transition.
For triggering on a different variable:
For trigger activation, the selected trigger value must be exceeded.
Negative edge For triggering on a BOOL variable:
Trigger activation requires a TRUE-FALSE transition.
For triggering on a different variable:
For trigger activation, the selected trigger value must be fallen below.
Change For triggering on a BOOL variable:
Trigger activation requires a status change.
For triggering on a different variable:
For trigger activation, the current value must be different than the last value.

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Oscilloscope
Operation
14.4.4

Starting recording

M Click Start to start recording.

For obtaining a maximum sample rate when recording the variable values, the data is first
stored in the measured data memory of the controller and then transferred as a data
record to the PC.
r The current recording status is displayed in the status bar.
14.4.5

Adjusting the representation

After the variable values have been recorded and the online data record has been
transferred to the PC, the data record is visualised in the oscillograph. If required, the
representation can now be adjusted by using the zoom or the automatic scaling function.
Zoom function

M Go to the oscilloscope function bar and click the

function.

Zoom function
Zoom selection

icon to activate the zoom

Procedure
Hold down the left mouse button and draw the oscilloscope section to be
zoomed:

The selection is shown with a frame.

When the left mouse button is released, the selection is zoomed in the
oscilloscope.
Horizontal/vertical
shift of selection

Hold down the left and right mouse button and move the mouse pointer on the
horizontal scale to the left or right or on the vertical scale to the top or bottom
to shift the selection accordingly.
With a three-button mouse, you can use the mouse button in the middle.

Horizontal stretching

Hold down the left mouse button and move the mouse pointer on the horizontal
scale to the left to stretch the shown selection from the right edge.
Moving the mouse pointer in opposite direction continuously reduces the
stretching.
Hold down the right mouse button and move the mouse pointer on the
horizontal scale to the right to stretch the shown selection from the left edge.
Moving the mouse pointer in opposite direction continuously reduces the
stretching.

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Oscilloscope
Operation

Zoom function

Procedure

Vertical stretching

Hold down the left mouse button and move the mouse pointer on the vertical
scale to the bottom to stretch the shown selection from the top.
Moving the mouse pointer in opposite direction continuously reduces the
stretching.
Hold down the right mouse button and move the mouse pointer on the vertical
scale to the top to stretch the shown selection from the bottom.
Moving the mouse pointer in opposite direction continuously reduces the
stretching.

Return to original
representation

Click the right mouse button in the oscillograph to return step-by-step to the
original representation.

Automatic scaling function

Use the automatic scaling function to automatically scale and reposition the
representation of selectable signal characteristics in the oscillograph and reset the offset
to "0".

M How to carry out automatic scaling:

1. Go to the oscilloscope function bar and click the
scaling function.

icon to activate the automatic

2. Select the channels/variables for automatic scaling in the Select variable dialog
box.
3. Click OK.
The dialog box is closed and the selected channels/variables are scaled
automatically.

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Oscilloscope
Operation
14.4.6

Reading individual measured values

In addition to the zoom and the scaling function, the oscilloscope offers a "cursor function"
that can be used to display individual measured values of a selectable channel or the
difference between two measured values.
r If the Cursor tab is on top, the cursor function is active and two movable vertical
measuring lines are shown in the oscillograph.

M How to use the cursor function:

1. Select the Cursor tab.
2. Select the channel for which individual measured values are to be indicated from
the Channel list field.
3. Hold down the left mouse button and drag the red vertical measuring line to the
desired position.
The active measuring line is represented by a continuous line, the inactive
measuring line is indicated by a dotted line.
If you position the mouse pointer over the inactive measuring line, the
measuring line automatically becomes active.
The value measured at the position of the active measuring line is indicated in
the Value group box.
The difference between the values measured at the two measuring lines is
indicated in the Difference group box.

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Oscilloscope
Data records

14.5

Data records
If several data records are loaded in the oscilloscope at the same time, the data record to
be displayed is selected via the list field Data record. There are three types of data records:
Online data record
The online data record is the only data record serving to establish a connection to the
target system. When the online data record has established the connection completely, it
can communicate with the target system.
r In the list field Data record the online data record is marked with a prefixed asterisk (*).
Offline data record
The offline data record is already stored in the project and loaded in the oscilloscope again,
or imported from a file.
Merge data record
The merge data record is automatically available in the list field Data record if two or more
data records are loaded in the oscilloscope at the same time.
r In the merge data record, several characteristics from the currently loaded data records
can be laid on top of each other, e.g. to compare signal characteristics from different
recordings. Overlay function (C 429)

14.5.1

Saving/exporting a data record

After the variables to be recorded have been selected and the required settings have been
entered, you can save the configuration and recording, if already executed, for future use
in the project or export them to a file.

M How to save the data record in the project:

1. Go to Oscilloscope toolbar and click .
The Save data record dialog box appears.
2. Enter a name in the Name of the data record to be stored input field.
3. Click Filing in the project.
The dialog box is closed and the current data record is filed in the project.

Note!
The data record is only saved if the entire project is saved!

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Oscilloscope
Data records

M How to export the data record to a file:

1. Go to Oscilloscope toolbar and click .
The Save data record dialog box appears.
2. Enter a name in the Name of the data record to be stored input field.
3. Click the Export to file button.
4. Specify the data record to be stored and the filing folder in the Save as dialog box.
5. Click Save.
The dialog box is closed and the current data record is saved.

14.5.2

Loading/importing a data record

Configurations/data records already stored can be loaded in the oscilloscope any time
again, e.g. for the superposition function.

M How to load a data record from the project:

1. Go to Oscilloscope toolbar and click .
The Load data record dialog box appears.
2. Select the data record to be loaded from the Data record list field.
3. Click Open.
The dialog box is closed and the selected data record is saved.
If the configuration to be loaded contains variables that are no longer available
in the controller, these variables are automatically removed from the
configuration.

M How to import a data record from a file:

1. Go to Oscilloscope toolbar and click .
The Load data record dialog box appears.
2. Click the Import button.
3. Select the file to be imported within the desktop environment from the Open
dialog box.
4. Click Open.
The dialog box is closed and the selected data record is imported.
If the configuration to be loaded contains variables that are no longer available
in the controller, these variables are automatically removed from the
configuration.

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Oscilloscope
Data records

14.5.3

Deleting data record in the project

M How to delete a data record to be saved in the project:

1. Go to Oscilloscope toolbar and click .
The Load data record dialog box appears.
2. Click the data record to be deleted with the right mouse key in the Data record list
field to open the Context menu for the data record.
3. Select the Delete data record in the Context menu.
4. Click Abort to close the dialog box again.

14.5.4

Overlay function
The overlay function serves to lay several characteristics from the currently loaded data
records on top of each other, e.g. to compare signal characteristics from different
recordings.
r If two or several data records are loaded in the oscilloscope, e.g. an online data record
and a data record saved before in the project, a "merge" data record is available in the
Data record list field.
r When the merge data record is selected, the desired characteristics can be selected
from the loaded data records in the Vertical channel settings group field which are to
be overlaid or compared.
r If an online data record is used in the merge data record, an update is carried out in the
merge data record in case of a renewed recording.
r Removing variables from an offline or online data record causes the characteristics in
the merge data record to be deleted.

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Oscilloscope
Data records
14.5.5

Copying data record to clipboard

For documentation purposes, it is possible to copy the measured data of a data record as a
table or, alternatively, the oscilloscope user interface as a picture, to the clipboard for use
in other programs.

M How to copy measured data or a picture of the user interface to the clipboard:
1. Go to Oscilloscope toolbar and click .
The Clipboard dialog box appears.
2. Select Curve points if the measured data is to be copied to the clipboard as a table,
or select Screen shot if the oscilloscope user interface is to be copied as a picture.
3. Click OK.
The dialog box is closed and the selected option is copied to the clipboard.

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Oscilloscope
Variables of the motor control (oscilloscope signals)

14.6

Variables of the motor control (oscilloscope signals)

The internal variables of the motor control listed in the following table can be recorded
with the oscilloscope for diagnostic and documentation purposes.

O Tip!
The exact position of a variable in the motor control can be obtained from the
corresponding signal flow.

No.

Variable or the motor control

Meaning

Signal flow - motor interface

Common.dnActualFlux

Actual flux value

Common.dnFluxSet

Flux setpoint

Current.dnActualCurrentPhaseU

Actual motor current (phase U)

Current.dnActualCurrentPhaseV

Actual motor current (phase V)

Current.dnActualCurrentPhaseW

Actual motor current (phase W)

Current.dnActualDirectCurrent

Actual D current

Current.dnActualQuadratureCurrent

Actual Q-current

Current.dnDirectCurrentSet

D current setpoint

Current.dnQuadratureCurrentSet

Q current setpoint

Torque.dnActualMotorTorque

Actual torque

Torque.dnFilteredTorqueSetpoint

Filtered torque setpoint

Torque.dnInputNotchFilter1

Torque setpoint at the band-stop filter input 1

Torque.dnInputNotchFilter2

Torque setpoint at the band-stop filter input 2

Voltage.dnActualDCBusVoltage

Actual DC-bus voltage

Voltage.dnActualMotorVoltage

Current motor voltage

Voltage.dnDirectVoltage

D voltage

Voltage.dnQuadratureVoltage

Q voltage

Signal flow - encoder evaluation

Position.dnActualLoadPos

Actual position

Position.dnActualMotorPos

Current motor position

Speed.dnActualMotorSpeed

Current motor speed

Signal flow - position follower

Position.dnActualLoadPos

Actual position

Position.dnActualMotorPos

Current motor position

Position.dnContouringError

Following error

Position.dnPositionSetpoint

Position setpoint

Speed.dnActualMotorSpeed

Current motor speed

Speed.dnOutputPosCtrl

Output signal - phase controller

Speed.dnSpeedSetpoint

Speed setpoint

Torque.dnTorqueSetpoint

Torque setpoint

Torque.dnTotalTorqueAdd

Additive torque precontrol value

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Oscilloscope
Variables of the motor control (oscilloscope signals)

No.

Variable or the motor control

Meaning

Signal flow - speed follower

Speed.dnActualMotorSpeed

Current motor speed

Speed.dnSpeedSetpoint

Speed setpoint

Speed.dnTotalSpeedAdd

Additive speed setpoint

Torque.dnTorqueSetpoint

Torque setpoint

Torque.dnTotalTorqueAdd

Additive torque precontrol value

Signal flow - torque follower

432

Speed.dnActualMotorSpeed

Current motor speed

Speed.dnSpeedSetpoint

Speed setpoint

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Diagnostics & error analysis

Drive diagnostics with the Engineer

15

Diagnostics & error analysis

15.1

Drive diagnostics with the Engineer

With an online connection to the controller, you can use the Engineer to carry out a
diagnostics for the connected controller and get a clear visualisation of important
controller states:

r Use the Reset error button to acknowledge an existing error message if the cause of the
error has been eliminated.
r Use the Logbook button to display the logbook of the controller. For detailed
information about the logbook, please see the chapter "Logbook". (C 436)

M How to carry out a drive diagnostics with the Engineer:

1. Select the 9400 HighLine controller to be diagnosed in the Project view.
2. Click the
icon or select the command OnlineGo online to build up an online
connection with the controller.
3. Select the Diagnostics tab.
With an online connection, the Diagnostics tab displays current status
information about the controller.

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Diagnostics & error analysis
Drive diagnostics via keypad/bus system
15.2

Drive diagnostics via keypad/bus system

Keypad display of the controller state
r When the keypad at the front of the controller is
connected to the diagnostic interface X6, the status of
the controller is displayed via different symbols on the
LDC display in the area n.

Icon

Meaning

Note

Controller is ready for operation.

Controller is enabled.

Application in the controller is stopped.

Quick stop is active

Controller is inhibited.

Controller is ready to start.

Speed controller 1 in the limitation.

Set current limit has been exceeded in motor

or generator mode.

Pulse inhibit is active

System fault is active

Fault is active

Trouble is active

Quick stop by trouble is active

Warning is active

The power outputs are inhibited.

The drive is torque-controlled.

The power outputs are inhibited.

Display parameters
Via the parameters listed in the following tables current states and actual values of the
controller can be queried for diagnostic purposes, e.g. by using the keypad, a bus system or
the Engineer (with an online connection to the controller).
r These parameters are listed in the Engineer parameter list and the keypad in the
Diagnostics category.
r For a detailed parameter description, please see the chapter "Parameter reference".
(C 537)

434

Parameters

Display

C00183

Device state

C00168

Error number

C00051

Actual speed

C00052

Motor voltage

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Diagnostics & error analysis

Drive diagnostics via keypad/bus system

Parameters

Display

C00054

Motor current

C00057/1

Maximum torque

C00057/2

Torque at maximum current

C00059

Motor - number of pole pairs

C00060

Rotor position

C00061

Heatsink temperature

C00062

Temperature inside the controller

C00063

Motor temperature

C00064

Controller load (I x t) during the last 180 seconds

C00065

External. 24-V voltage

C00066

Thermal motor load (I2xt)

C00068

Electrolytic capacitor temperature

C00069

CPU temperature

C00178

Time the controller was enabled (elapsed-hour meter)

C00179

Power-up time (power-on time meter)

C00186

ENP: detected motor type

Identification data
The parameters listed in the following table which are entered in the Engineer
parameter list and in the keypad in the Identification  Controller category, serve to
display the identification data of the controller:

Parameters

Display

C00099

Firmware version

C00200

Firmware product type

C00201

Firmware - compile date

C00203/1...9

HW product types

C00204/1...9

HW serial numbers

C00205/1...6

HW descriptions

C00206/1...6

HW manufacturing data

C00208/1...6

HW manufacturer

C00209/1...6

HW countries of origin

C00210/1...6

HW versions

C02113

Program name

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Diagnostics & error analysis
Logbook
15.3

Logbook
The integrated logbook function of the controller chronologically logs important events
within the system and plays an important role for troubleshooting and controller
diagnostics.
Events that can be logged
The following events can be logged in the logbook:
r Error messages of the operating system (C 443)
r Error messages generated by the application
r Controller enable
r Starting / stopping the application
r Loading/saving of parameter sets, loading of the Lenze setting
r Transmitting an application or firmware to the controller
r Connection/disconnection of the controller
r Formatting of the file system

O Tip!
Use a parameterisable filter to exclude certain events from logbook entry.
Filtering logbook entries (C 437)

Information saved
For each event, the following information are saved in the logbook:
r Type of response (e.g. fault, warning or information) to the event
r Module that activated the event (e.g. MCTRL or TEMPCONTROL).
r Event
r Date/time (for memory module with real-time clock)
r Value of power-on time meter
Memory depth
The number of possible logbook entries depends on the memory module used:
r MM1xx, MM2xx: 7 entries
r MM3xx, MM4xx: 439 entries

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Diagnostics & error analysis

Logbook

15.3.1

Function description
The structure of the logbook corresponds to a ring buffer structure:
r As long as free logbook memory capacity is
available, the entries will be saved at the next
free memory location.

n-1

r If all memory locations are occupied, the oldest

entries will be deleted to save new entries.

n-2

 Current event
[15-1] Ring buffer structure

15.3.2

Filtering logbook entries

Before the logbook logs new entries in the ring buffer, the entries are filtered by a
parameterisable filter.
This filter is used to exclude events with a certain error response (fault, warning,
information, etc.) from entry into the logbook.
r The filter parameters are set under C00169 by means of a bit mask:
Bit 7

Bit 0

0 1 2 3 4 5 6 7

Meaning:
 System error
 Information
 Warning
 Warning locked

 Quick stop by trouble

 Trouble
 Fault
 Not assigned

[15-2] Bit mask for event-type filter

r Example: Bit 6 must be set to "1" to exclude all events with "Information" response
from entry into the logbook:
Bit 7

Bit 0

1 0 0 0 0 0 0

0 1 2 3 4 5 6 7

Meaning:
 System error
 Information
 Warning
 Warning locked

 Quick stop by trouble

 Trouble
 Fault
 Not assigned

[15-3] Example: Bit mask for hiding events with "Information" response

Note!
Events with the set "None" response are not entered into the logbook.

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Diagnostics & error analysis
Logbook
15.3.3

Reading logbook entries

With an online connection, the existing logbook entries can simply be displayed in the
Engineer. Alternatively, the logbook entries can also be read via the corresponding
parameters (e.g. using the keypad).

M How to display logbook entries in the Engineer:

1. Go to the Project view and select the 9400 HighLine controller whose logbook
entries are to be read.
2. Click the
icon or select the command OnlineGo online to build up an online
connection with the controller.
3. Select the Diagnostics tab from the Workspace.
4. Click Logbook.
The Logbook dialog box appears:

Click Delete to delete an entry from the logbook.

Click Export to export the entries from the logbook into a *.log file.
Activating the Hide system messages checkbox, hides all "Information" system
messages in the logbook.
5. Click Previous to close the Logbook dialog box.

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Diagnostics & error analysis

Monitoring

15.4

Monitoring
The controller includes different monitoring functions that protect the drive against
impermissible operating conditions.
r If a monitoring function responds,
an entry will be made into the Logbook of the controller,
the response (quick stop by trouble, warning, fault, etc.) selected for the monitoring
function will be activated,
the status of the internal device control changes according to the selected response,
controller inhibit is set, and the "DRIVE ERROR" LED on the front of the controller goes
on:
Response

Logbook entry

Display under
C00168

Pulse inhibit

Controller inhibit

Acknowledgeme
nt required

None

See also:

15.4.1

LED
"DRIVE ERROR"

OFF

Fault

Trouble

;
(after 0.5 s)

Quick stop by
trouble

Warning locked

Warning

Information

System error

OFF
;

Mains
switching
is required!

LED status displays (C 34)

Device states (C 45)

Setting the error response

When a monitoring function is addressed, the response set for this monitoring function
(quick stop by trouble, warning, fault, etc.) will be activated.
r For many monitoring functions the response can be individually parameterised via
parameters.

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Diagnostics & error analysis
Monitoring

O Tip!
When the response can be set for a monitoring function, the parameter for the
setting and the preset response is listed in the description of the corresponding
error message. Error list (C 448)

Short overview of the parameters for setting error responses:

440

Parameters

Selection of the error response for:

C00573

Brake chopper overload

C00574

Overtemperature of brake resistor

C00579

Speed monitoring

C00580

Encoder - open circuit

C00581

External error

C00582

Heatsink temperature > C00122

C00583

Motor overtemperature - KTY

C00584

Motor temperature > C00121

C00585

Motor overtemperature - PTC

C00586

Resolver - open circuit

C00588

Failure of controller temperature sensor

C00589

CPU temperature > C00126

C00591

CAN RPDOx error

C00594

Failure of motor temperature sensor

C00595

CAN bus-off

C00597

Motor phase failure

C00598

Open circuit AIN1

C00600

DC bus overvoltage

C00601

Encoder communication error

C00604

Device overload

C00606

Motor overload

C00607

Maximum speed reached

C00610

Failure of heatsink fan

C00611

Failure of integral fan

C00612

CAN node-guarding error

C00613

CAN heartbeat error

C00614

CAN life guarding error

C00615

Impermissible device configuration

C00619

Maximum motor current

C00635

new firmware - standard device

C00636

New module in MXI1

C00637

New module in MXI2

C01501

Communication error with MXI1

C01502

Communication error with MXI2

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Diagnostics & error analysis

Monitoring

Warning thresholds
Some of the monitoring functions are activated if a defined warning threshold (e.g.
temperature) have been exceeded.
r The corresponding preset threshold values can be changed via the following
parameters:

Parameters

Information

C00120

Motor overload protection (Ixt)

C00121

Warning threshold - motor temperature

C00122

Warning threshold - heatsink temperature

C00123

Warning threshold - device utilisation

C00126

Warning threshold - CPU temperature

C00127

Warning threshold - motor overload

C00128

Thermal motor time constant

C00132

Max. temperature of brake resistor

C00174

Undervoltage (LU) threshold

C00185

Threshold - mains recovery recognition

C00576

Window - speed monitoring

C00596

Threshold of maximum speed reached

C00599

Threshold - motor phase failure

C00620

Max. motor current threshold

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Diagnostics & error analysis
Maloperation of the drive
15.5

Maloperation of the drive

The motor does not rotate.
Cause

Remedy

DC-bus voltage is too low.

Check mains voltage.

Controller is inhibited.

Deactivate controller inhibit (can be set by several

sources).

Holding brake is not released

Release holding brake.

Quick stop is active

Deactivate quick stop.

Setpoint = 0

Select setpoint.

With a positive speed setpoint selection, the motor rotates clockwise instead of counterclockwise (when looking at the motor shaft).
Cause

Remedy

Feedback system is not connected in correct phase

relation.

Connect feedback system in correct phase relation.

The maximum current (C00022) flows and the motor does not rotate according to the
defined speed setpoint.

442

Cause

Remedy

Two motor phases are interchanged, i.e. an anticlockwise rotating field is applied to the motor.

Proceed the following steps for verification:

1. Ensure that the motor shaft is not blocked and can
rotate freely without damaging the system.
2. Activate "U rotation test mode" for the motor control
(C00398 = "1").
In this test mode a voltmeter is applied to the
machine with the frequency set in C00399/1 and
the amplitude from the linear characteristic of rated
voltage and rated frequency. This corresponds to a
clockwise rotating field.
3. Increase the frequency step by step for the test mode
in C00399/1 until the motor shaft starts to rotate.
If the motor shaft does not rotate, check the
electrical connection.
4. While the motor shaft is rotating check if it rotates
clockwise when looking at the A end shield. If not, two
motor phases are interchanged.
5. Additionally check if the actual speed value displayed
in C00051 is positive and corresponds to the defined
frequency in consideration of the number of pole
pairs of the machine (C00059). If not, the connection
and the parameter setting of the feedback system
must be checked.
6. Deactivate the test mode for the motor control again
(C00398 = "0").

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Diagnostics & error analysis

Error messages of the operating system

15.6

Error messages of the operating system

This chapter describes all error messages of the controller operating system and possible
causes & remedies.

O Tip!
All error messages are saved in chronological order in the logbook. For detailed
information about the logbook, please see the chapter "Diagnostics & error
analysis". Logbook (C 436)

15.6.1

Format of the error numbers saved in the fault memory

If an error occurs in the controller, a 32-bit value will be saved in decimal format in the
internal history buffer (C00168) which contains the following information:

0
Bit 31

29 28

26 25

 Response

3
16 15

 Instance-ID
 Module ID
 Error ID

[15-4] Structure of the error number

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Diagnostics & error analysis
Error messages of the operating system
15.6.1.1

Response
Bit 31

29 28

26 25

16 15

Bit 31

Bit 30

Bit 29

0: No response

Response

1: Fault

2: Trouble

3: Quick stop by trouble

4: Warning locked

5: Warning

6: Information

7: System error

The status of the internal device control changes according to the selected response to an
error, controller inhibit is set and the "DRIVE ERROR" LED at the front of the controller goes
on:
Response

Logbook entry

Display under
C00168

Pulse inhibit

Controller inhibit

Acknowledgeme
nt required

Fault

Trouble

;
(after 0.5 s)

Quick stop by
trouble

Warning locked

Warning

None

15.6.1.2

LED
"DRIVE ERROR"

OFF

Information

System error

OFF
;

Mains
switching
is required!

Instance-ID
Bit 31

29 28

26 25

16 15

The instance-ID is dynamically assigned by the operating system.

444

Bit 28

Bit 27

Bit 26

Meaning

Instance-ID 0

Instance-ID 1

Instance-ID 2

Instance-ID 3

Instance-ID 4

Instance-ID 5

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Diagnostics & error analysis

Error messages of the operating system

15.6.1.3

Bit 28

Bit 27

Bit 26

Meaning

Instance-ID 6

Instance-ID 7

Module ID
Bit 31

29 28

26 25

16 15

Use the module-ID to identify the module in which the error has occurred.
r The following table lists the module-ID in hexadecimal format:
Module-ID

15.6.1.4

Module

0x0065

Logbook module

0x0068

Module identification

0x0069

Error check of the program memory during runtime

0x006a

Run-time environment for IEC 61131-3 programs

0x006e

Supply voltage monitoring

0x0072

SERVICEREGISTER

0x0075

Device control

0x0077

Temperature monitoring

0x0078

Analog signal monitoring

0x0079

Motor data interface

0x007a

Processing of digital inputs/outputs

0x007b

Motor control

0x007d

Processing of analog inputs/outputs

0x007f

Intelligent communication module

0x0083

CAN dispatcher

0x0084

CAN NMT handler

0x0085

CAN emergency handler

0x0086

CAN NMT master

0x0087

CAN PDO handler

0x0088

CAN SDO server

0x0089

CAN SDO client

0x008c

Application Project Manager

0x008e

Communication interface for internal communication

0x0090

Parameter Manager

0x0091

Lenze run-time system

0x0092

Interface for safety module

0x0093

Sync signal generation

Error ID
Bit 31

29 28

26 25

16 15

16-bit value (0 ... 65535dec) for error identification.

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Diagnostics & error analysis
Error messages of the operating system
15.6.1.5

Example for bit coding of the error number

C00168 displays the error number "1148911631".
r This decimal value corresponds to the following bit sequence:
Bit 31

29 28

26 25

16 15

01000100011110110000000000001111
Assignment

010
001
0001111011

0000000000001111

Information

Meaning in the example

Response

2: Trouble

Instance-ID

1: Instance ID 1

Module ID

Module ID 0x007b: MCTRL

Error ID

Error ID 0x000f for MCTRL:

DC-bus undervoltage

r Error number "1148911631" thus means:

The "DC-bus undervoltage" error with the response "Trouble" occurred in the MCTRL
module with the instance ID 1.

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Diagnostics & error analysis

Error messages of the operating system

15.6.2

Reset of error message

An error message with the response "Fault", "Trouble", "Quick stop by trouble" or "Warning
locked" must be explicitly reset (acknowledged) after the cause of the error has been
eliminated.

M To reset (acknowledge) a pending error message execute the device command

C00002 = "43".

O Tip!
With an online connection to the controller, use the Diagnostics tab of the
Engineer and click Error message reset to reset a pending error message.

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Diagnostics & error analysis
Error messages of the operating system
15.6.3

Error list
The following sections describe all error messages of the controller operating system.
r The error messages are described in ascending order of the hexadecimal number
resulting from the Module-ID  and the Error-ID .

2
Bit 31

0x

29 28

26 25

0...3

3
16 15

0...F

0...F

0...F

0...F

0...F

0...F

O Tip!
The index of this online documentation which contains all error numbers (in the
entry "Error numbers") and all error messages allows you to quickly find a
description of an error message.

Note!
Please observe that depending on the Instance-ID and the selected Response the
first two hexadecimal places of the hexadecimal number indicated in the
internal history buffer (C00168) may differ from the following error messages.
Example:
For information about the error message for the value "0x20077002" indicated
under C00168, please see the index entry "error number 0x00077002".

Structure of the system error message descriptions

All error message descriptions have a uniform structure:
1. Error message and associated module ID & error ID in hexadecimal format.
2. Information on the Response to the error message
3. Information on the cause and possible remedies.

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Diagnostics & error analysis

Error messages of the operating system

Logbook: overflow [0x00650000]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Too many events/errors have occurred in a very short

time. It was therefore not possible to list all of them in
the logbook.

Check if application generates too many error messages.

Logbook: reset (read error) [0x00650001]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

The logbook has been reset due to a read error..

- (is irreversible)

Logbook: reset (version error) [0x00650002]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

The logbook has been reset due to a version conflict.

- (is irreversible)

Memory module missing [0x00650003]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Memory module is defective or not available.

Use a different memory module.

Control card is defective [0x00680000]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Operating system could not identify the control card.

Mains switching
Please contact Lenze, if the error occurs again.

Power section is defective [0x00680001]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information

Cause

Remedy

Operating system could not identify the power stage.

Mains switching
Please contact Lenze, if the error occurs again.

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Diagnostics & error analysis
Error messages of the operating system

Memory module is defective or missing [0x00680002]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Operating system could not identify the memory

module.

Mains switching
If the error occurs again: Switch off the controller,
remove memory module and plug in again, switch on
the controller again.
If the error still occurs: Switch off controller and use a
different memory module.

Safety module is defective or missing [0x00680003]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Operating system could not identify the safety module.

Mains switching
If the error occurs again: Switch off the controller,
remove safety module and plug in again, switch on
the controller again.
If the error still occurs: Switch off controller and use a
different safety module.

MXI1: Module changed during operation [0x00680004]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

The extension module you have tried to plug into the

module receptacle MXI1 is not "hot plug" capable.

Plug in valid module and restart controller.

Through mains switching, the system accepts
modules without "hot plug" capability in the
following switch-on phase.

MXI2: Module changed during operation [0x00680005]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

The extension module you have tried to plug into the

module receptacle MXI2 is not "hot plug" capable.

Plug in valid module and restart controller.

Through mains switching, the system accepts
modules without "hot plug" capability in the
following switch-on phase.

Memory module has been removed [0x00680006]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

You have tried to remove or change the memory module Switch off the controller, plug in memory module and
during operation.
switch on the controller again.
If the error occurs again, the memory module is
defective and must be replaced.

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Diagnostics & error analysis

Error messages of the operating system

Safety module has been removed [0x00680007]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

You have tried to remove or change the safety module

during operation.

Switch off the controller, plug in safety module and

switch on the controller again.
If the error occurs again, the safety module is
defective and must be replaced.

Control card is defective [0x00680008]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Operating system could not identify the control card.

Please contact Lenze.

Power section is defective [0x00680009]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Operating system could not identify the power stage.

Please contact Lenze.

MXI1: Module is defective or missing [0x0068000a]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Operating system could not identify extension module in

module receptacle MXI1.

Use a different extension module.

Please contact Lenze.

MXI2: Module is defective or missing [0x0068000b]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Operating system could not identify extension module in

module receptacle MXI2.

Use a different extension module.

Please contact Lenze.

Memory module is defective or missing [0x0068000c]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information

Cause

Remedy

Operating system could not identify the memory

module.

Use a different memory module.

Please contact Lenze.

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Diagnostics & error analysis
Error messages of the operating system

Safety module is defective or missing [0x0068000d]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Operating system could not identify the safety module.

Use a different safety module.

Please contact Lenze.

Control card is not compatible [0x0068000e]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The control card is not supported by the operating

system.

Please contact Lenze.

Power section is not compatible [0x0068000f]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The power section is not supported by the operating

system.

Please contact Lenze.

MXI1: Wrong module [0x00680010]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The extension module in the module receptacle MXI1 is

not supported by the operating system.

Use a different module.

Please contact Lenze.

MXI2: Wrong module [0x00680011]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The extension module in the module receptacle MXI2 is

not supported by the operating system.

Use a different module.

Please contact Lenze.

Wrong memory module [0x00680012]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information

452

Cause

Remedy

The memory module is not supported by the operating

system.

Use a different module.

Please contact Lenze.

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Diagnostics & error analysis

Error messages of the operating system

Wrong safety module [0x00680013]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The safety module is not supported by the operating

system.

Use a different module.

Please contact Lenze.

Power section has been changed [0x00680014]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning : Information
Cause

Remedy

"The power section has changed since the last mains

switching."

- (Only information or warning locked if the hardware

type has changed as well)

MXI1: Module has been changed [0x00680015]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning : Information
Cause

Remedy

"The extension module in the module receptacle MXI1

has changed since the last mains switching."

- (Only information or warning locked if the hardware

type has changed as well)

MXI2: Module has been changed [0x00680016]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning : Information
Cause

Remedy

"The extension module in the module receptacle MXI2

has changed since the last mains switching."

- (Only information or warning locked if the hardware

type has changed as well)

Memory module has been changed [0x00680017]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning : Information
Cause

Remedy

"The memory module has changed since the last mains

switching."

- (Only information or warning locked if the hardware

type has changed as well)

Safety module has been changed [0x00680018]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning : Information

Cause

Remedy

"The safety module has changed since the last mains

switching."

- (Only information or warning locked if the hardware

type has changed as well)

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Diagnostics & error analysis
Error messages of the operating system

Combination MXI1/MXI2 not possible [0x00680019]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The combinations of the extension modules plugged

into the module receptacles MXI1 & MXI2 is not
supported.

Create permitted module combination.

Firmware has been changed [0x0068001a]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

The firmware of the operating system has been updated. - (Information only)
Electronic nameplate: Communication error [0x0068001b]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause

Remedy

Communication with the electronic nameplate is

disrupted, the data could not be read.

Check correct connection of the encoder cable.

Memory module: File system is faulty [0x0068001c]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Memory module is plugged in incorrectly or is defective.

Plug in the memory module correctly.

Exchange defective memory module.

Electronic nameplate: Checksum error [0x0068001d]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause

Remedy

The checksum of the electronic nameplate is defective.

Please contact Lenze.

Firmware is not compatible [0x0068001e]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information

454

Cause

Remedy

Firmware is not compatible with the hardware.

Transfer the compatible firmware.

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9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

Combination memory module/device not possible [0x0068001f]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The memory module used is not supported by the

controller according to the license model.

Plug in supported module and switch the mains.

Only memory module MM220 or MM330 may be
plugged in the 9400 HighLine.

Combination module in MXI1/device not possible [0x00680020]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The extension module in the module receptacle MXI1 is

not supported by the controller.

Remove the extension module and switch the mains.

Plug in supported extension module and switch the
mains.

Combination module in MXI2/device not possible [0x00680021]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The extension module in the module receptacle MXI2 is

not supported by the controller.

Remove the extension module and switch the mains.

Plug in supported extension module and switch the
mains.

Internal error (CRC code - RAM) [0x00690000]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Serious device error or component failure.

Switch off and on controller.

Please contact Lenze, if the problem occurs again.

Internal error (logbook memory area) [0x00690001]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Serious device error or component failure.

Switch off and on controller.

Please contact Lenze, if the problem occurs again.

Internal error (LDS instance data) [0x00690002]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information

Cause

Remedy

Serious device error or component failure.

Switch off and on controller.

Please contact Lenze, if the problem occurs again.

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Diagnostics & error analysis
Error messages of the operating system
Internal error (LDS tasks) [0x00690003]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Serious device error or component failure.

Switch off and on controller.

Please contact Lenze, if the problem occurs again.

Internal error (storage blocks) [0x00690004]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Serious device error or component failure.

Switch off and on controller.

Please contact Lenze, if the problem occurs again.

Internal error (task queue) [0x00690005]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Serious device error or component failure.

Switch off and on controller.

Please contact Lenze, if the problem occurs again.

Internal error (message memory) [0x00690006]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Serious device error or component failure.

Switch off and on controller.

Please contact Lenze, if the problem occurs again.

Internal error (message queue) [0x00690007]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Serious device error or component failure.

Switch off and on controller.

Please contact Lenze, if the problem occurs again.

Internal error (name data base) [0x00690008]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information

456

Cause

Remedy

Serious device error or component failure.

Switch off and on controller.

Please contact Lenze, if the problem occurs again.

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9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

Internal error (event mechanism) [0x00690009]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Serious device error or component failure.

Switch off and on controller.

Please contact Lenze, if the problem occurs again.

Internal error (event mechanism) [0x0069000a]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Serious device error or component failure.

Switch off and on controller.

Please contact Lenze, if the problem occurs again.

Internal error (semaphores) [0x0069000b]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Serious device error or component failure.

Switch off and on controller.

Please contact Lenze, if the problem occurs again.

Internal error (faulty binary semaphores) [0x0069000c]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Serious device error or component failure.

Switch off and on controller.

Please contact Lenze, if the problem occurs again.

Internal error (file system) [0x0069000d]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause

Remedy

In case of the memory module the maximum number of Exchange memory module, otherwise data may get lost.
permissible writing cycles has been reached.
General application error [0x006a0000]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information

Cause

Remedy

General application error.

Mains switching. Transmit the application to the

controller again.
Please contact Lenze, if the problem occurs again.

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Diagnostics & error analysis
Error messages of the operating system
Program download is faulty [0x006a0001]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Transmission of the application to the controller is faulty Repeat transmission.

(checksum error).
Error during input and output update [0x006a0002]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

Mains switching. Transmit the application to the

controller again.
Please contact Lenze, if the problem occurs again.

New application loaded [0x006a0003]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Application has been changed by transmission from the - (Information only)

engineer or loading from the memory module.
User task 1: Overflow [0x006a0004]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Program runtime in user task 1 is too high.

Reduce program runtime by means of:

Omitting functions (e.g. by reducing the number of
active FBs).
Optimising the computing time of specific functions

User task 2: Overflow [0x006a0005]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Program runtime in user task 2 is too high.

See remedy for "Overflow of user task 1".

User task 3: Overflow [0x006a0006]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information

458

Cause

Remedy

Program runtime in user task 3 is too high.

See remedy for "Overflow of user task 1".

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9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

User task 4: Overflow [0x006a0007]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Program runtime in user task 4 is too high.

See remedy for "Overflow of user task 1".

User task 5: Overflow [0x006a0008]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Program runtime in user task 5 is too high.

See remedy for "Overflow of user task 1".

User task 6: Overflow [0x006a0009]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Program runtime in user task 6 is too high.

See remedy for "Overflow of user task 1".

User task 7: Overflow [0x006a000a]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Program runtime in user task 7 is too high.

See remedy for "Overflow of user task 1".

User task 8: Overflow [0x006a000b]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Program runtime in user task 8 is too high.

See remedy for "Overflow of user task 1".

User task 9: Overflow [0x006a000c]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Program runtime in user task 9 is too high.

See remedy for "Overflow of user task 1".

Runtime error [0x006a000d]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information

Cause

Remedy

A run-time error has occurred in the application. The

application processing has been interrupted.

Remove run-time error in the application and retransmit

the application to the controller.

Firmware 1.37 - 09/2006

459

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system
Application has been stopped [0x006a000e]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

The application has been stopped using the device

command C00002="32". All user tasks are stopped.

Restart application with controller command

C00002="31".

Breakpoint has been reached [0x006a000f]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

The application has reached a set breakpoint and the

user task with the breakpoint has stopped.

Delete breakpoint and restart application.

Faulty application parameter [0x006a0010]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

An invalid parameter description has occurred.

Transmit application and parameter set to the controller

again.

Division by zero [0x006a0011]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

A forbidden division by zero occurred in the application. Exchange application.

The division has been intercepted and the divisor has
been replaced by the value "1".
Pointer access in impermissible memory area [0x006a0012]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

An invalid pointer access to a protected area occurred in Exchange application.

the application.
Application has been started [0x006a0013]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information

460

Cause

Remedy

The application in the controller has been started.

- (Information only)

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

Application has been stopped [0x006a0014]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

The application in the controller has been stopped.

- (Information only)

PDO mapping (MXI1): Faulty configuration [0x006a0015]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

CANopen communication module in MXI1: Incorrectly

configured process data mapping.
The corresponding PDO channel is not installed, since,
for instance, no communication module has been
selected for the module receptacle MXI1 in the
Engineer project.
The communication module selected for the module
receptacle MXI1 in the Engineer project does not
support PDO mapping.
The mapping information downloaded to the
controller is faulty.

Integrate suitable communication module into the

Engineer project for the module receptacle MXI1.
Check the configuration of the network. Then
recompile the project and transmit it to the controller.

PDO mapping (MXI2): Faulty configuration [0x006a0016]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

CANopen communication module in MXI2: Incorrectly

configured process data mapping.
The corresponding PDO channel is not installed, since,
for instance, no communication module has been
selected for the module receptacle MXI2 in the
Engineer project.
The communication module selected for the module
receptacle MXI2 in the Engineer project does not
support PDO mapping.
The mapping information downloaded to the
controller is faulty.

Integrate suitable communication module into the

Engineer project for the module receptacle MXI2.
Check the configuration of the network. Then
recompile the project and transmit it to the controller.

Control card: Supply voltage (24 V DC) too low [0x006f0000]

Response (Lenze setting printed in bold)
None System fault Fault : Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

External supply voltage UB24 of the control card is lower Check external supply voltage.
than 18 V.
If the external supply voltage is available and the
error message does not disappear, please contact
Lenze.

Firmware 1.37 - 09/2006

461

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system
Read error - service register [0x00720000]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

An error has occurred while reading or writing the service Mains switching
register.
Please contact Lenze, if the problem occurs again.
External error [0x00750000]
Response (Lenze setting printed in bold)

Setting: C00581

(; Adjustable response)

; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

The drive interface has activated the error message

"External error".
The input DI_bSetExternError of the system block
LS_DriveInterface has been set to TRUE.

Check external device to be monitored.

Check assignment of the input DI_bSetExternError in
the application.

Controller is enabled [0x00750001]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

The controller is enabled and has the "Operation" state.

- (Information only)

Controller has been initialised [0x00750002]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

The controller has left the "Initialisation active" state.

- (Information only)

Controller in STO state [0x00750003]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

The controller has received the "safe torque off" request - (Information only)
and is now in the "Safe Torque Off active" state.
Controller: Pulse inhibit is active [0x00750005]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information

462

Cause

Remedy

The pulse inhibit is active in the controller.

- (Information only)

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

PLC configuration is invalid [0x00750006]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

An invalid control configuration has occurred.

Load other application.

Heatsink: Temperature > C00122 [0x00770000]

Response (Lenze setting printed in bold)

Setting: C00582

(; Adjustable response)

; None System fault ; Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause

Remedy

Heatsink temperature higher than variable limit

temperature (C00122).
Controller ambient temperature too high.
Dirty fan or ventilation slots.
Value set under C00122 is too low.

Check control cabinet temperature.

Clean filter.
Clean controller.
Set a higher value under C00122.

Heatsink: Overtemperature [0x00770001]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Heatsink temperature higher than fixed limit

temperature (90 C).
Controller ambient temperature too high.
Dirty fan or ventilation slots.

Check control cabinet temperature.

Clean filter.
Clean controller.

Motor: Temperature > C00121 [0x00770002]

Response (Lenze setting printed in bold)

Setting: C00584

(; Adjustable response)

; None System fault ; Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause

Remedy

Motor temperature higher than variable limit

temperature (C00121).
Motor too hot due to impermissibly high currents or
frequent and too long acceleration.
No PTC connected.
Value set under C00121 is too low.

Check drive dimensioning.

Connect PTC or switch off monitoring (C00584="3").
Set a higher value under C00121.

Motor: Overtemperature [0x00770003]

Response (Lenze setting printed in bold)

Setting: C00583

(; Adjustable response)

; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information

Cause

Remedy

Motor temperature higher than fixed limit temperature

(150 C).
Motor too hot due to impermissibly high currents or
frequent and too long acceleration.
No PTC connected.

Check drive dimensioning.

Connect PTC or switch off monitoring (C00584="3").

Firmware 1.37 - 09/2006

463

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

DC-bus capacitor: Temperature > CXXXXX [0x00770004]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause

Remedy

Electrolytic capacitor temperature higher than warning

threshold.

Check control cabinet temperature.

Clean filter.
Clean controller.

DC-bus capacitor: overtemperature [0x00770005]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Electrolytic capacitor temperature higher than limit

temperature (120 C).

Check control cabinet temperature.

Clean filter.
Clean controller.

Inside the device: Temperature > CXXXXX [0x00770006]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause

Remedy

Inside temperature higher than warning threshold.

Check control cabinet temperature.

Clean filter.
Clean controller.

Inside the device: Overtemperature [0x00770007]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Inside temperature higher than limit temperature (85

C).

Check control cabinet temperature.

Clean filter.
Clean controller.

CPU: Temperature > C00126 [0x00770008]

Response (Lenze setting printed in bold)

Setting: C00589

(; Adjustable response)

: None System fault ; Fault Trouble Quick stop by trouble Warning locked ; Warning Information

464

Cause

Remedy

CPU temperature higher than variable limit temperature

(C00126).
Controller ambient temperature too high.
Dirty fan or ventilation slots.
Value set under C00126 is too low.

Firmware 1.37 - 09/2006

Check control cabinet temperature.

Clean filter.
Clean controller.
Set a higher value under C00126.

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CPU: Overtemperature [0x00770009]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

CPU temperature higher than fixed limit temperature

(85 C).
Controller ambient temperature too high.
Dirty fan or ventilation slots.

Check control cabinet temperature.

Clean filter.
Clean controller.

Heatsink: Temperature sensor defective [0x0077000a]

Response (Lenze setting printed in bold)

Setting: C00588

(; Adjustable response)

; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause

Remedy

Encoder for heatsink temperature supplies undefined

values.

Check control cabinet temperature, maybe it is too low.

Inside the device: Temperature sensor defective [0x0077000b]

Response (Lenze setting printed in bold)

Setting: C00588

(; Adjustable response)

; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause

Remedy

Encoder for interior temperature supplies undefined

values.

Check control cabinet temperature, maybe it is too low.

Motor: Temperature sensor defective [0x0077000c]

Response (Lenze setting printed in bold)

Setting: C00594

(; Adjustable response)

; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause

Remedy

The signals of the connected encoder of the motor

temperature detection (resolver at X7 or encoder at X8)
are outside the defined operating range of detection.

Check bonding of the encoder cable at the motor and

controller.
Check selection of the motor temperature sensor in
C01190 and make sure that it complies with the
assembly in the motor.
Possibly switch off temperature sensor monitoring
(C00594="0").
If a PTC is in the motor, activate the monitoring of the
PTC temperature in C00585 instead.

DC-bus capacitor: Temperature sensor defective [0x0077000d]

Response (Lenze setting printed in bold)

Setting: C00588

(; Adjustable response)

; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information

Cause

Remedy

Encoder for capacitor temperature supplies undefined

values.

Check control cabinet temperature, maybe it is too low.

Firmware 1.37 - 09/2006

465

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system
CPU: Temperature sensor defective [0x0077000e]
Response (Lenze setting printed in bold)

Setting: C00588

(; Adjustable response)

; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause

Remedy

Encoder for CPU temperature supplies undefined values. Check control cabinet temperature, maybe it is too low.
Motor: PTC has triggered [0x0077000f]
Response (Lenze setting printed in bold)

Setting: C00585

(; Adjustable response)

: None System fault ; Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause

Remedy

The motor temperature detected via the terminals T1/T2

is too high.
Motor is too hot due to an increased effective current
that results from an operation with too high/too
frequent acceleration.
Motor too hot due to increased ambient conditions.
Motor too hot due to lacking cooling in case of selfventilation and continuous operation with speeds
lower than the rated speed.
Terminals T1/T2 are not assigned.
Open circuit of the supply cables for terminals T1/T2

Check drive dimensioning.

Connect PTC or thermal contact to terminals T1/T2.
In case of a motor without integrated temperature
monitoring switch off the monitoring function
(C00585="0").

Heatsink: Fan is defective [0x00770010]

Response (Lenze setting printed in bold)

Setting: C00610

(; Adjustable response)

; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause

Remedy

Speed of heatsink fan too low, e.g. due to dirt.

Check/clean fan.

Inside the device: Fan is defective [0x00770011]

Response (Lenze setting printed in bold)

Setting: C00611

(; Adjustable response)

; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause

Remedy

Speed of internal fan is too low, e.g. due to dirt.

Check/clean fan.

Device utilisation Ixt > C00123 [0x00780000]

Response (Lenze setting printed in bold)

Setting: C00604

(; Adjustable response)

; None System fault ; Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause

Remedy

Frequent and too long acceleration with overcurrent >

C00123.

Check drive dimensioning.

Device utilisation Ixt > 100 % [0x00780001]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information

466

Cause

Remedy

Frequent and too long acceleration with overcurrent.

Check drive dimensioning.

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

Motor load Ixt > C00127 [0x00780002]

Response (Lenze setting printed in bold)

Setting: C00606

(; Adjustable response)

; None System fault ; Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause

Remedy

Motor is thermally overloaded, e.g. due to:

impermissible continuous current
frequent or too long acceleration

Check drive dimensioning.

Check setting under C00127.

Motor load Ixt > C00120 [0x00780003]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Motor is thermally overloaded, e.g. due to:

impermissible continuous current
frequent or too long acceleration

Check drive dimensioning.

Check setting under C00120.

Control card is defective (UB24) [0x00780004]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Device error

Please contact Lenze.

Control card is defective (VCC15) [0x00780005]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Device error

Please contact Lenze.

Control card is defective (UB8) [0x00780006]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Device error

Please contact Lenze.

Control card is defective (VCC15 neg.) [0x00780007]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information

Cause

Remedy

Device error

Please contact Lenze.

Firmware 1.37 - 09/2006

467

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system
Control card is defective (UB18 neg.) [0x00780008]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Device error

Please contact Lenze.

Control card is defective (VCC5) [0x00780009]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Device error

Please contact Lenze.

Electronic nameplate: Data incompatible [0x0078000a]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

The connected motor with feedback is not supported by Check drive dimensioning.
the controller firmware.
Device command transmitted incorrectly [0x00790000]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

If the error occurs frequently, please contact Lenze.

Time error - controller interface [0x00790001]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

If the error occurs frequently, please contact Lenze.

Violation of the time dial [0x00790002]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

If the error occurs frequently, please contact Lenze.

Motor: Calculated motor impedance unrealistic [0x007b0001]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information

468

Cause

Remedy

Faulty motor parameterisation.

Check motor parameters.

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

Motor: Calculated mutual inductance unrealistic [0x007b0002]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Faulty motor parameterisation.

Check motor parameters.

Motor data is inconsistent [0x007b0003]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Faulty motor parameterisation.

Check motor parameters.

Motor: Phase resistance is too high [0x007b0004]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Faulty motor parameterisation.

Check motor parameters.

Motor: Device current is too low for rated magnetisation [0x007b0006]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Controller current is too low for rated magnetisation, i.e. Check drive dimensioning.
the controller cannot energise the motor sufficiently.
Motor: Rated current < rated magnetisation current [0x007b0007]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Faulty motor parameterisation.

Check motor parameters and setting of C00022.

Motor: Calculated rotor resistance unrealistic [0x007b0009]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Faulty motor parameterisation.

Check motor parameters.

Motor: Calculated mutual inductance unrealistic [0x007b000a]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information

Cause

Remedy

Faulty motor parameterisation.

Check motor parameters.

Firmware 1.37 - 09/2006

469

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

Motor: Calculated electromotive force factor unrealistic [0x007b000b]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Faulty motor parameterisation.

Check motor parameters.

Motor: Calculated rotor time constant unrealistic [0x007b000c]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Faulty motor parameterisation.

Check motor parameters.

Motor: Calculated flux factor unrealistic [0x007b000d]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Faulty motor parameterisation.

Check motor parameters.

DC-bus overvoltage [0x007b000e]

Response (Lenze setting printed in bold)
None System fault Fault : Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Since the braking energy is too high, the DC-bus

voltage is higher than the overvoltage threshold
which results from the mains setting in C00173.

Use brake resistor or feedback module.

Check setting under C00173.

DC-bus undervoltage [0x007b000f]

Response (Lenze setting printed in bold)
None System fault Fault : Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

DC bus voltage is lower than the undervoltage threshold

resulting from the mains setting under C00173.

Check mains voltage.

Check setting under C00173.

Overcurrent detected [0x007b0010]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information

470

Cause

Remedy

Short circuit/earth fault in motor cable.

Excessive capacitive charging current in the motor
cable.

Check motor cable.

Use motor cable which is shorter or has a lower
capacitance.

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

Earth fault detected [0x007b0011]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Earth fault in motor cable.

Excessive capacitive charging current in the motor
cable.

Check motor cable.

Use motor cable which is shorter or has a lower
capacitance.

Actual speed value out of monitoring window C00576 [0x007b0012]

Response (Lenze setting printed in bold)

Setting: C00579

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause

Remedy

Difference between actual and setpoint speed is too big. Increase speed tolerance margin under C00576.
Check drive dimensioning.
Motor control: Task overflow [0x007b0013]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error (motor control).

Please contact Lenze.

Internal communication error (host MCTRL) [0x007b0014]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error (motor control).

Please contact Lenze.

Motor data is inconsistent [0x007b0017]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Faulty motor parameterisation.

Check motor parameters.

Resolver: Open circuit [0x007b0018]

Response (Lenze setting printed in bold)
None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information

Cause

Remedy

Resolver cable interrupted.

Resolver defective.

Check resolver cable.

Check resolver.
Switch off monitoring, if necessary (C00586="3").

Firmware 1.37 - 09/2006

471

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

Motor: Calculated leakage inductance unrealistic [0x007b0019]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Faulty motor parameterisation.

Check motor parameters.

Absolute value encoder: Communication error [0x007b001a]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Absolute value encoder does not send any data.

Check supply cable.

Check encoder.
Check voltage supply (C00421).

Encoder: Open circuit [0x007b001b]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Encoder cable interrupted.

Encoder defective.
Faulty parameter setting of the encoder.

Check encoder cable.

Check encoder.
Check parameter setting (C00422).
Switch off monitoring, if necessary (C00580="3").

Brake chopper: Ixt overload [0x007b001c]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Too frequent and too long brake operations.

Check drive dimensioning.

Brake resistor: Ixt overload [0x007b001d]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Too frequent and too long brake operations.

Check drive dimensioning.

Check parameter setting (C00129, C00130, C00131,
C00132).

Motor: Actual current value > C00620 [0x007b001e]

Response (Lenze setting printed in bold)

Setting: C00619

(; Adjustable response)

; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information

472

Cause

Remedy

The instantaneous value of the motor current has

exceeded the value set in C00620.

Set a higher value in C00620.

Reduce maximum current (C00022).
Change response (C00619).

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

Resolver: Calculated acceleration unrealistic [0x007b001f]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Resolver evaluation faulty (implausible acceleration at

the resolver).

Check set-up.

Motor: Actual speed value > C00596 [0x007b0020]

Response (Lenze setting printed in bold)

Setting: C00607

(; Adjustable response)

; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause

Remedy

Threshold for speed monitoring set in C00596 has been

exceeded.

Check drive dimensioning.

Brake chopper: Overcurrent [0x007b0021]

Response (Lenze setting printed in bold)

Setting: C00573

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause

Remedy

Brake chopper short circuit/earth fault detected.

Check brake chopper cable and brake resistor.

Position encoder: Module selected under C00490 not available [0x007b0023]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The position encode selected under C00490 has not been

recognised.

Check position encoder.

Check parameter setting (C00490).

Motor encoder: Module selected under C00495 not available [0x007b0024]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The motor encoder selected under C00495 has not been

recognised.

Check motor encoder.

Check parameter setting (C00495).

Motor temperature: Module selected under C01193 not available [0x007b0025]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information

Cause

Remedy

The module for temperature feedback selected in

C01193 has not been recognised.

Check feedback module.

Check parameter setting (C01193).

Firmware 1.37 - 09/2006

473

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system
EnDat encoder: Lamp error [0x007b0026]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

EnDat encoder defective.

Check EnDat encoder.

EnDat encoder: Signal error [0x007b0027]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

EnDat encoder defective.

Check EnDat encoder.

EnDat encoder: Position error [0x007b0028]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

EnDat encoder defective.

Check EnDat encoder.

EnDat encoder: Overvoltage [0x007b0029]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

EnDat encoder defective.

Check EnDat encoder.

EnDat encoder: Undervoltage [0x007b002a]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

EnDat encoder defective.

Check EnDat encoder.

EnDat encoder: Overcurrent [0x007b002b]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

EnDat encoder defective.

Check EnDat encoder.

EnDat encoder: Flat battery [0x007b002c]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information

474

Cause

Remedy

EnDat encoder defective.

Check EnDat encoder.

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

Failure of motor phase U [0x007b002d]

Response (Lenze setting printed in bold)

Setting: C00597

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause

Remedy

U phase interruption of motor cable.

Check cabling between controller and motor.

Check parameter setting (C00599).

Failure of motor phase V [0x007b002e]

Response (Lenze setting printed in bold)

Setting: C00597

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause

Remedy

V phase interruption of the motor cable.

Check cabling between controller and motor.

Check parameter setting (C00599).

Failure of motor phase W [0x007b002f]

Response (Lenze setting printed in bold)

Setting: C00597

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause

Remedy

W phase interruption of the motor cable.

Check cabling between controller and motor.

Check parameter setting (C00599).

Electronic nameplate: Data loaded [0x007b0030]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

New electronic nameplate (ENP) has been found.

- (Information only)

Electronic nameplate: Not found [0x007b0031]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Electronic nameplate (ENP) is not available.

- (Information only)

Electronic nameplate: Unknown encoder protocol [0x007b0032]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

The connected motor with feedback is not supported by Check drive dimensioning.
the controller firmware.

Firmware 1.37 - 09/2006

475

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

Electronic nameplate: Unknown encoder signal [0x007b0033]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

The connected motor with feedback is not supported by Check drive dimensioning.
the controller firmware.
Internal communication error (DMA) [0x007b0034]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error.

Please contact Lenze.

Internal communication error (MCTRL host) [0x007b0036]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error.

Please contact Lenze.

Invalid PLC configuration [0x007b0037]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

An invalid control configuration has occurred.

Load other application.

Motor parameter identification has been cancelled [0x007b0038]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The motor current during identification was too high.

The motor must not move during identification.

Check motor parameters

Electronic nameplate: Data out of parameter limits [0x007b0039]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information

476

Cause

Remedy

The motor parameters of the electronic nameplate are

out of the limit values of the controller and therefore
cannot be accepted.

Please contact Lenze.

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

Memory module: File system has been formatted [0x007c0000]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

File system of the memory module has been formatted.

- (Information only)

Memory module: File system has been restored [0x007c0001]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

File system of the memory module has been restored.

- (Information only)

Analog input 1: Master current < 4 mA [0x007d0000]

Response (Lenze setting printed in bold)

Setting: C00598

(; Adjustable response)

; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

Master current is in the impermissible range -4 ... +4 mA, Remove open circuit.
e.g. due to a line break or a defective master current
value encoder.
Only for parameterisation as master current input
(see C00034).
Invalid PLC configuration [0x007d0001]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

An invalid control configuration has occurred.

Load other application.

Communication error between device and device module [0x007f0002]

Response (Lenze setting printed in bold)

Setting: C01501

(; Adjustable response)

: None System fault ; Fault Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause

Remedy

Communication between controller and extension

module is interrupted, e.g. due to disturbances in the
ambience (EMC), a defective hardware or loose contact.
This monitoring is designed for safe process data
communication.

Remove EMC fault.

Properly connect module.
Switch the mains or restart controller.
Exchange module/controller.
Please contact Lenze, if the problem occurs again.

CAN on board: Bus-off [0x00830000]

Response (Lenze setting printed in bold)

Setting: C00595

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

Cause

Remedy

CAN on board: "Bus-off" state

Too many faulty telegrams received.
Cable defective (e.g. loose contact).
Two nodes with the same ID.

Remove fault (e.g. EMC).

Remove loose contact, screw down adapter.
Assign different node IDs.

Firmware 1.37 - 09/2006

477

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN on board: Invalid node address 0 [0x00830001]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause

Remedy

CAN on board: Initialisation error

The node address has been selected via DIP switch by
means of hardware and the DIP switches of the node
address are set to zero.
Note: Instead of the impermissible node address 0 the
node address 1 is used.

Use the DIP switches to set a node address unequal 0

and restart the controller.
Activate the node number assignment by means of
software by changing the position of DIP switch 2 and
restart the controller.

CAN on board: Invalid basic configuration [0x00830002]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CAN on board: Configuration error

Faulty download of an Engineer or PLC Designer
project
Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.

Repeat download
Correct CAN settings in the project and regenerate
project.

CAN on board: Heartbeat error index 1 [0x00840000]

Response (Lenze setting printed in bold)

Setting: C00613/1

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: Cyclic node monitoring

Node device has not received a heartbeat telegram
from node 1 within the defined time.

Reactivate CAN node by restarting the controller,

restart of the controller (C00002="11000") or CAN
reset node.
Select a different heartbeat producer monitoring
time or switch off monitoring and reset locked error
status, if necessary.
Tip: Safe the current parameter set before mains
switching and restart (C00002="11").

CAN on board: Heartbeat error index 2 [0x00840001]

Response (Lenze setting printed in bold)

Setting: C00613/2

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 2.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 3 [0x00840002]

Response (Lenze setting printed in bold)

Setting: C00613/3

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

478

Cause

Remedy

CAN on board: No heartbeat telegram received from

node 3.

See remedy for "Heartbeat error index 1".

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN on board: Heartbeat error index 4 [0x00840003]

Response (Lenze setting printed in bold)

Setting: C00613/4

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 4.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 5 [0x00840004]

Response (Lenze setting printed in bold)

Setting: C00613/5

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 5.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 6 [0x00840005]

Response (Lenze setting printed in bold)

Setting: C00613/6

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 6.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 7 [0x00840006]

Response (Lenze setting printed in bold)

Setting: C00613/7

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 7.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 8 [0x00840007]

Response (Lenze setting printed in bold)

Setting: C00613/8

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 8.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 9 [0x00840008]

Response (Lenze setting printed in bold)

Setting: C00613/9

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

Cause

Remedy

CAN on board: No heartbeat telegram received from

node 9.

See remedy for "Heartbeat error index 1".

Firmware 1.37 - 09/2006

479

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN on board: Heartbeat error index 10 [0x00840009]

Response (Lenze setting printed in bold)

Setting: C00613/10

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 10.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 11 [0x0084000a]

Response (Lenze setting printed in bold)

Setting: C00613/11

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 11.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 12 [0x0084000b]

Response (Lenze setting printed in bold)

Setting: C00613/12

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 12.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 13 [0x0084000c]

Response (Lenze setting printed in bold)

Setting: C00613/13

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 13.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 14 [0x0084000d]

Response (Lenze setting printed in bold)

Setting: C00613/14

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 14.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 15 [0x0084000e]

Response (Lenze setting printed in bold)

Setting: C00613/15

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

480

Cause

Remedy

CAN on board: No heartbeat telegram received from

node 15.

See remedy for "Heartbeat error index 1".

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN on board: Heartbeat error index 16 [0x0084000f]

Response (Lenze setting printed in bold)

Setting: C00613/16

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 16.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 17 [0x00840010]

Response (Lenze setting printed in bold)

Setting: C00613/17

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 17.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 18 [0x00840011]

Response (Lenze setting printed in bold)

Setting: C00613/18

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 18.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 19 [0x00840012]

Response (Lenze setting printed in bold)

Setting: C00613/19

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 19.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 20 [0x00840013]

Response (Lenze setting printed in bold)

Setting: C00613/20

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 20.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 21 [0x00840014]

Response (Lenze setting printed in bold)

Setting: C00613/21

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

Cause

Remedy

CAN on board: No heartbeat telegram received from

node 21.

See remedy for "Heartbeat error index 1".

Firmware 1.37 - 09/2006

481

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN on board: Heartbeat error index 22 [0x00840015]

Response (Lenze setting printed in bold)

Setting: C00613/22

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 22.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 23 [0x00840016]

Response (Lenze setting printed in bold)

Setting: C00613/23

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 23.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 24 [0x00840017]

Response (Lenze setting printed in bold)

Setting: C00613/24

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 24.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 25 [0x00840018]

Response (Lenze setting printed in bold)

Setting: C00613/25

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 25.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 26 [0x00840019]

Response (Lenze setting printed in bold)

Setting: C00613/26

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 26.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 27 [0x0084001a]

Response (Lenze setting printed in bold)

Setting: C00613/27

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

482

Cause

Remedy

CAN on board: No heartbeat telegram received from

node 27.

See remedy for "Heartbeat error index 1".

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN on board: Heartbeat error index 28 [0x0084001b]

Response (Lenze setting printed in bold)

Setting: C00613/28

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 28.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 29 [0x0084001c]

Response (Lenze setting printed in bold)

Setting: C00613/29

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 29.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 30 [0x0084001d]

Response (Lenze setting printed in bold)

Setting: C00613/30

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 30.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 31 [0x0084001e]

Response (Lenze setting printed in bold)

Setting: C00613/31

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 31.

See remedy for "Heartbeat error index 1".

CAN on board: Heartbeat error index 32 [0x0084001f]

Response (Lenze setting printed in bold)

Setting: C00613/32

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: No heartbeat telegram received from

node 32.

See remedy for "Heartbeat error index 1".

CAN on board: Life guarding error [0x00840020]

Response (Lenze setting printed in bold)

Setting: C00614

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

Cause

Remedy

CAN on board: Cyclic node monitoring

Slave response: Maximum time between two node
guarding telegrams (remote transmission request
telegram) from the master has been exceeded.

Select a different life guarding monitoring time or switch

off monitoring.

Firmware 1.37 - 09/2006

483

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN on board: Faulty NMT slave configuration [0x00840021]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CAN on board: A configuration error has occurred in the

network management of the CAN slave.
Faulty download of an Engineer or PLC Designer
project
Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.
Incorrect parameterisation of node guarding or
heartbeat.

Repeat download
Correct CAN settings in the project and regenerate
project.

CAN on board: Faulty emergency configuration [0x00850000]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CAN on board: A configuration error has occurred in the

CAN emergency module.
Faulty download of an Engineer or PLC Designer
project
Invalid CAN emergency settings according to
DS301V402 in the Engineer or PLC Designer.

Repeat download
Correct CAN settings in the project and regenerate
project.

CAN on board: Node guarding error 1 [0x00860000]

Response (Lenze setting printed in bold)

Setting: C00612/1

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: Cyclic node monitoring

CAN master has not received a response to a node
guarding telegram (remote transmission request
telegram) from node 1 within the defined time.

Reactivate CAN node by restarting the controller,

restart of the controller (C00002="11000") or CAN
reset node.
Select a different node guarding monitoring time or
switch off monitoring.
Reset error state if latched.
Tip: Safe the current parameter set before mains
switching and restarting the controller (C00002="11").

CAN on board: Node guarding error 2 [0x00860001]

Response (Lenze setting printed in bold)

Setting: C00612/2

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 2.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 3 [0x00860002]

Response (Lenze setting printed in bold)

Setting: C00612/3

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

484

Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 3.

See remedy for "Node guarding error 1".

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN on board: Node guarding error 4 [0x00860003]

Response (Lenze setting printed in bold)

Setting: C00612/4

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 4.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 5 [0x00860004]

Response (Lenze setting printed in bold)

Setting: C00612/5

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 5.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 6 [0x00860005]

Response (Lenze setting printed in bold)

Setting: C00612/6

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 6.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 7 [0x00860006]

Response (Lenze setting printed in bold)

Setting: C00612/7

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 7.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 8 [0x00860007]

Response (Lenze setting printed in bold)

Setting: C00612/8

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 8.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 9 [0x00860008]

Response (Lenze setting printed in bold)

Setting: C00612/9

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 9.

See remedy for "Node guarding error 1".

Firmware 1.37 - 09/2006

485

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN on board: Node guarding error 10 [0x00860009]

Response (Lenze setting printed in bold)

Setting: C00612/10

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 10.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 11 [0x0086000a]

Response (Lenze setting printed in bold)

Setting: C00612/11

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 11.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 12 [0x0086000b]

Response (Lenze setting printed in bold)

Setting: C00612/12

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 12.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 13 [0x0086000c]

Response (Lenze setting printed in bold)

Setting: C00612/13

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 13.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 14 [0x0086000d]

Response (Lenze setting printed in bold)

Setting: C00612/14

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 14.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 15 [0x0086000e]

Response (Lenze setting printed in bold)

Setting: C00612/15

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

486

Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 15.

See remedy for "Node guarding error 1".

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN on board: Node guarding error 16 [0x0086000f]

Response (Lenze setting printed in bold)

Setting: C00612/16

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 16.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 17 [0x00860010]

Response (Lenze setting printed in bold)

Setting: C00612/17

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 17.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 18 [0x00860011]

Response (Lenze setting printed in bold)

Setting: C00612/18

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 18.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 19 [0x00860012]

Response (Lenze setting printed in bold)

Setting: C00612/19

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 19.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 20 [0x00860013]

Response (Lenze setting printed in bold)

Setting: C00612/20

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 20.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 21 [0x00860014]

Response (Lenze setting printed in bold)

Setting: C00612/21

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 21.

See remedy for "Node guarding error 1".

Firmware 1.37 - 09/2006

487

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN on board: Node guarding error 22 [0x00860015]

Response (Lenze setting printed in bold)

Setting: C00612/22

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 22.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 23 [0x00860016]

Response (Lenze setting printed in bold)

Setting: C00612/23

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 23.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 24 [0x00860017]

Response (Lenze setting printed in bold)

Setting: C00612/24

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 24.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 25 [0x00860018]

Response (Lenze setting printed in bold)

Setting: C00612/25

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 25.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 26 [0x00860019]

Response (Lenze setting printed in bold)

Setting: C00612/26

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 26.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 27 [0x0086001a]

Response (Lenze setting printed in bold)

Setting: C00612/27

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

488

Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 27.

See remedy for "Node guarding error 1".

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN on board: Node guarding error 28 [0x0086001b]

Response (Lenze setting printed in bold)

Setting: C00612/28

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 28.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 29 [0x0086001c]

Response (Lenze setting printed in bold)

Setting: C00612/29

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 29.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 30 [0x0086001d]

Response (Lenze setting printed in bold)

Setting: C00612/30

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 30.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 31 [0x0086001e]

Response (Lenze setting printed in bold)

Setting: C00612/31

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 31.

See remedy for "Node guarding error 1".

CAN on board: Node guarding error 32 [0x0086001f]

Response (Lenze setting printed in bold)

Setting: C00612/32

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN master has not received a response to a node

guarding telegram from node 32.

See remedy for "Node guarding error 1".

CAN on board: Faulty NMT master configuration [0x00860020]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information

Cause

Remedy

CAN on board: A configuration error has occurred in the

network management of the CAN master.
Faulty download of an Engineer or PLC Designer
project.
Invalid CAN master settings according to DS301V402
and DS405 in the Engineer or PLC Designer.
Incorrect parameterisation of node guarding or
heartbeat.

Repeat download
Correct CAN settings in the project and regenerate
project.

Firmware 1.37 - 09/2006

489

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN on board RPDO1: Telegram not received or faulty [0x00870000]

Response (Lenze setting printed in bold)

Setting: C00591/1

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: CAN-IN 1 error

Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

CAN on board RPDO2: Telegram not received or faulty [0x00870001]

Response (Lenze setting printed in bold)

Setting: C00591/2

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: CAN-IN 2 error

Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

CAN on board RPDO3: Telegram not received or faulty [0x00870002]

Response (Lenze setting printed in bold)

Setting: C00591/3

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: CAN-IN 3 error

Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

CAN on board RPDO4: Telegram not received or faulty [0x00870003]

Response (Lenze setting printed in bold)

Setting: C00591/4

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CAN on board: CAN-IN 4 error

Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

CAN on board PDO manager: Faulty configuration [0x00870008]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information

490

Cause

Remedy

CAN on board: CAN-PDO configuration error

Faulty project download.
Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.
Mapping variables have incorrect CANopen indices
according to DS405.

Repeat download.
Correct CAN settings in the project and regenerate
project.

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN on board SDO server: Faulty configuration [0x00880000]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CAN on board: A configuration error has occurred in the

CAN SDO server.
Faulty project download.
Invalid SDO server settings according to DS301V402
in the Engineer or PLC Designer.

Repeat download.
Correct CAN settings in the project and regenerate
project.

CAN on board SDO client: Faulty configuration [0x00890000]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CAN on board: A configuration error has occurred in the

CAN SDO client.
Faulty project download.
Invalid SDO client settings according to DS301V402 in
the Engineer or PLC Designer.

Repeat download
Correct CAN settings in the project and regenerate
project.

ProjectSelection.dat file faulty [0x008c0000]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

Reformat memory module (C00002="1030") and repeat

project download.

ProjectList.dat file faulty [0x008c0001]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

Reformat memory module (C00002="1030") and repeat

project download.

DeviceCFG.dat file faulty [0x008c0002]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

Reformat memory module (C00002="1030") and repeat

project download.

ProjectSelection.dat missing [0x008c0003]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information

Cause

Remedy

Internal error

Reformat memory module (C00002="1030") and repeat

project download.

Firmware 1.37 - 09/2006

491

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system
ProjectList.dat file missing [0x008c0004]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

Reformat memory module (C00002="1030") and repeat

project download.

DeviceCFG.dat file missing [0x008c0005]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

Reformat memory module (C00002="1030") and repeat

project download.

ProjectSelection.dat file invalid [0x008c0006]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

Reformat memory module (C00002="1030") and repeat

project download.

ProjectList.dat file invalid [0x008c0007]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

Reformat memory module (C00002="1030") and repeat

project download.

DeviceCFG.dat file invalid [0x008c0008]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

Reformat memory module (C00002="1030") and repeat

project download.

Project is not loaded [0x008c0009]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information

492

Cause

Remedy

Application could not be loaded because of a file error.

Load new or different application.

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

Project is not available [0x008c000a]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Application not available.

Download application with the Engineer

Switch off controller and use a different memory
module with an existing application.

Required license missing [0x008c000b]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Memory module could not be initialised.

Two possibilities:
Use the Engineer to download and activate an
application suitable for the memory module.
Switch off controller and use memory module
suitable for the application.

MXI1: Module missing or incompatible [0x008c000d]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The extension module in module receptacle MXI1 is

incompatible with the application.

Use extension module supported by the application.

MXI2: Module missing or incompatible [0x008c000e]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The extension module in module receptacle MXI2 is

incompatible with the application.

Use extension module supported by the application.

MXI1: PROFIBUS module missing or incompatible [0x008c000f]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The communication module E94AYCPM (PROFIBUS) in

module receptacle MXI1 is incompatible with the
application.

Use communication module supported by the

application.

MXI2: PROFIBUS module missing or incompatible [0x008c0010]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information

Cause

Remedy

The communication module E94AYCPM (PROFIBUS) in

module receptacle MXI2 is incompatible with the
application.

Use communication module supported by the

application.

Firmware 1.37 - 09/2006

493

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

MXI1: Ethernet module missing or incompatible [0x008c0011]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The communication module E94AYCEN (Ethernet) in the Use communication module supported by the
module receptacle MXI1 is incompatible with the
application.
application.
MXI2: Ethernet module missing or incompatible [0x008c0012]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The communication module E94AYCEN (Ethernet) in the Use communication module supported by the
module receptacle MXI2 is incompatible with the
application.
application.
MXI1: Digital frequency module missing or incompatible [0x008c0013]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The digital frequency extension module in module

receptacle MXI1 is incompatible with the application.

Use extension module supported by the application.

MXI2: Digital frequency module missing or incompatible [0x008c0014]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The digital frequency extension module in module

receptacle MXI2 is incompatible with the application.

Use extension module supported by the application.

MXI1: ICM module missing or incompatible [0x008c0015]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The ICM extension module in module receptacle MXI1 is Use extension module supported by the application.
incompatible with the application.
MXI2: ICM module missing or incompatible [0x008c0016]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The ICM extension module in module receptacle MXI2 is Use extension module supported by the application.
incompatible with the application.

494

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

MXI1: CAN module missing or incompatible [0x008c0017]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The CANopen communication module in module

receptacle MXI1 is incompatible with the application.

Use communication module supported by the

application.

MXI2: CAN module missing or incompatible [0x008c0018]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The CANopen communication module in module

receptacle MXI2 is incompatible with the application.

Use communication module supported by the

application.

Connection table in use [0x008c001a]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

This application is provided with a connection table

which means that connections can be changed online
without executing a completely new download.

- (Information only)

Internal error (CRC application) [0x008c001d]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The checksum of the application is faulty.

Retransmit the application to the controller.

Parameter set faulty [0x00900000]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Parameter set is invalid.

Transfer parameter set from Engineer to the controller

and save with C00002="11".

Lenze setting loaded [0x00900001]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information

Cause

Remedy

"Lenze setting has been loaded."

- (Information only)

Firmware 1.37 - 09/2006

495

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system
Parameter set saved [0x00900002]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Parameter set has been saved.

- (Information only)

Parameter set loaded [0x00900003]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Parameter set has been loaded.

- (Information only)

Loading of Lenze setting failed [0x00900004]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Lenze setting of a parameter is not within the valid

limits.

Remove error in the application and retransmit the

application to the controller.

Parameter set restored [0x00900005]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

An error has occurred while loading the selected

parameter set.

Transfer parameter set from Engineer to the controller

and save with C00002="11".

Saving of parameters failed [0x00900006]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

An error has occurred while saving the current

parameter set.

Use a different memory module.

Parameter set: Version conflict [0x00900007]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The parameter set version on the memory module is not Transfer parameter set from Engineer to the controller
compatible with the firmware of the controller.
and save with C00002="11".

496

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

Code number assigned twice [0x00900008]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

Code number of the operating system has been assigned Remove error in the application and retransmit the
to the application.
application to the controller.
Parameter set: Variant conflict [0x00900009]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

The firmware has loaded a parameter set the type code

of which does not comply with the type code of the
controller.

Load a suitable parameter set.

No parameters for module in MXI1 [0x0090000a]

Response (Lenze setting printed in bold)

Setting: C00615/2

(; Adjustable response)

; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

The parameter set contains no parameters for the

module inserted in MXI1.

Integrate the module inserted in MXI1 into the Engineer

project and then retransmit the parameter set to the
controller.

No parameters for module in MXI2 [0x0090000b]

Response (Lenze setting printed in bold)

Setting: C00615/3

(; Adjustable response)

; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

The parameter set contains no parameters for the

module inserted in MXI2.

Integrate the module inserted in MXI2 into the Engineer

project and then retransmit the parameter set to the
controller.

Mains voltage switched on [0x00910000]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

Mains voltage has been switched on.

- (Information only)

Mains voltage switched off [0x00910001]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information

Cause

Remedy

Mains voltage has been switched off.

- (Information only)

Firmware 1.37 - 09/2006

497

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system
No heartbeat signal detected [0x00910002]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

If the error occurs frequently, please contact Lenze.

Heartbeat not periodic [0x00910003]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

If the error occurs frequently, please contact Lenze.

Internal error: See C00180 [0x00910004]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

If the error occurs frequently, please contact Lenze.

Internal error: See C00180 [0x00910005]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

Please contact Lenze.

Internal error: See C00180 [0x00910006]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Divisor of division was "0".

Exchange application.

Internal error: See C00180 [0x00910008]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

If the error occurs frequently, please contact Lenze.

Internal error: See C00180 [0x00910009]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information

498

Cause

Remedy

Internal error

If the error occurs frequently, please contact Lenze.

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

System task 1: Task overflow [0x0091000a]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

System overload.

Please contact Lenze.

System task 2: Task overflow [0x0091000b]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause

Remedy

System overload.

Please contact Lenze.

System task 3: Task overflow [0x0091000c]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

System overload.

Please contact Lenze.

System task: Task overflow [0x0091000d]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

System overload.

Please contact Lenze.

Communication task: Standstill > 3 s [0x0091000e]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

System overload or communication task crash.

Reduce system load.

This is possible in the application or data transfer of
the communication interfaces.

Cyclic task: Standstill > 60 s [0x0091000f]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information

Cause

Remedy

System overload or CRC check task crash.

Reduce system load.

This is possible in the application or data transfer of
the communication interfaces.

Firmware 1.37 - 09/2006

499

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system
Position value faulty [0x00910010]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

If the error occurs frequently, please contact Lenze.

Error during initialisation [0x00910011]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

If the error occurs frequently, please contact Lenze.

Blocking function in MEC task [0x00910012]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Internal error

If the error occurs frequently, please contact Lenze.

Safety module: Incompatible to setting under C00214 [0x00920000]

Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The controller has detected a safety module which does Change setting underC00214 or use a suitable safety
not match the setting under C00214.
module.
Then, restart the controller.
DFIN (MXI1): A-/A track error [0x00990000]
Response (Lenze setting printed in bold)

Setting: C13040

(; Adjustable response)

; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

Digital frequency extension module in MXI1:

Check signal cable for track A.
Interruption (open circuit) of the signal cable for track A. Check encoder.
DFIN (MXI1): B-/B track error [0x00990001]
Response (Lenze setting printed in bold)

Setting: C13040

(; Adjustable response)

; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

500

Cause

Remedy

Digital frequency extension module in MXI1:

Interruption (open circuit) of the signal cable for track B.

Check signal cable for track B.

Check encoder.

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

DFIN (MXI1): Z-/Z track error [0x00990002]

Response (Lenze setting printed in bold)

Setting: C13040

(; Adjustable response)

; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

Digital frequency extension module in MXI1:

Interruption (open circuit) of the signal cable for track Z.

Check signal cable for track Z.

Check encoder.

DFIN (MXI1): Enable/lamp control signal error [0x00990003]

Response (Lenze setting printed in bold)

Setting: C13041

(; Adjustable response)

; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause

Remedy

Digital frequency extension module in MXI1:

Interruption (open circuit) of the signal cable for the
"Enable" signal or no "Enable" signal available.

Check signal cable for "Enable" signal.

Check encoder.

DFIN (MXI1): Supply cannot be corrected anymore [0x00990004]

Response (Lenze setting printed in bold)

Setting: C13042

(; Adjustable response)

; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause

Remedy

Digital frequency extension module in MXI1: The

Check encoder.
encoder voltage controlled by the digital frequency input
has reached the voltage limit.
DFOUT (MXI1): Maximum frequency reached [0x00990005]
Response (Lenze setting printed in bold)

Setting: C13080

(; Adjustable response)

; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause

Remedy

Digital frequency extension module in MXI1: Limit

frequency at the digital frequency output reached.
The digital frequency has reached the limit value set
in C013053.

Check set limit value.

CAN module (MXI1): Bus-off [0x009d0000]

Response (Lenze setting printed in bold)

Setting: C13595

(; Adjustable response)

; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning : Information

Cause

Remedy

CANopen communication module in MXI1: "Bus-off"

state
Too many faulty telegrams received.
Cable defective (e.g. loose contact).
Two nodes with the same ID.

Remove fault (e.g. EMC).

Remove loose contact, screw down adapter.
Assign different node IDs.

Firmware 1.37 - 09/2006

501

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN module (MXI1): Invalid node address 0 [0x009d0001]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause

Remedy

CANopen communication module in MXI1: Initialisation

error
The node address has been selected via DIP switch by
means of hardware and the DIP switches of the node
address are set to zero.
Note: Instead of the impermissible node address 0 the
node address 1 is used.

Use the DIP switches to set a node address unequal 0

and restart the controller.
Activate the node number assignment by means of
software by changing the position of DIP switch 2 and
restart the controller.

CAN module (MXI1): Basic configuration invalid [0x009d0002]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CANopen communication module in MXI1:

Configuration error
Faulty download of an Engineer or PLC Designer
project
Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.

Repeat download
Correct CAN settings in the project and regenerate
project.

CAN module (MXI1): Heartbeat error index 1 [0x009e0000]

Response (Lenze setting printed in bold)

Setting: C13613/1

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: Cyclic node

monitoring
Node device has not received a heartbeat telegram
from node 1 within the defined time.

Reactivate CAN node by restarting the controller,

restart of the controller (C00002="11000") or CAN
reset node.
Select a different heartbeat producer monitoring
time or switch off monitoring and reset locked error
status, if necessary.
Tip: Safe the current parameter set before mains
switching and restarting the controller (C00002="11").

CAN module (MXI1): Heartbeat error index 2 [0x009e0001]

Response (Lenze setting printed in bold)

Setting: C13613/2

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 2.
CAN module (MXI1): Heartbeat error index 3 [0x009e0002]
Response (Lenze setting printed in bold)

Setting: C13613/3

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 3.

502

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN module (MXI1): Heartbeat error index 4 [0x009e0003]

Response (Lenze setting printed in bold)

Setting: C13613/4

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 4.
CAN module (MXI1): Heartbeat error index 5 [0x009e0004]
Response (Lenze setting printed in bold)

Setting: C13613/5

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 5.
CAN module (MXI1): Heartbeat error index 6 [0x009e0005]
Response (Lenze setting printed in bold)

Setting: C13613/6

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 6.
CAN module (MXI1): Heartbeat error index 7 [0x009e0006]
Response (Lenze setting printed in bold)

Setting: C13613/7

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 7.
CAN module (MXI1): Heartbeat error index 8 [0x009e0007]
Response (Lenze setting printed in bold)

Setting: C13613/8

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 8.
CAN module (MXI1): Heartbeat error index 9 [0x009e0008]
Response (Lenze setting printed in bold)

Setting: C13613/9

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 9.

Firmware 1.37 - 09/2006

503

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN module (MXI1): Heartbeat error index 10 [0x009e0009]

Response (Lenze setting printed in bold)

Setting: C13613/10

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 10.
CAN module (MXI1): Heartbeat error index 11 [0x009e000a]
Response (Lenze setting printed in bold)

Setting: C13613/11

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 11.
CAN module (MXI1): Heartbeat error index 12 [0x009e000b]
Response (Lenze setting printed in bold)

Setting: C13613/12

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 12.
CAN module (MXI1): Heartbeat error index 13 [0x009e000c]
Response (Lenze setting printed in bold)

Setting: C13613/13

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 13.
CAN module (MXI1): Heartbeat error index 14 [0x009e000d]
Response (Lenze setting printed in bold)

Setting: C13613/14

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 14.
CAN module (MXI1): Heartbeat error index 15 [0x009e000e]
Response (Lenze setting printed in bold)

Setting: C13613/15

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 15.

504

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN module (MXI1): Heartbeat error index 16 [0x009e000f]

Response (Lenze setting printed in bold)

Setting: C13613/16

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 16.
CAN module (MXI1): Heartbeat error index 17 [0x009e0010]
Response (Lenze setting printed in bold)

Setting: C13613/17

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 17.
CAN module (MXI1): Heartbeat error index 18 [0x009e0011]
Response (Lenze setting printed in bold)

Setting: C13613/18

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 18.
CAN module (MXI1): Heartbeat error index 19 [0x009e0012]
Response (Lenze setting printed in bold)

Setting: C13613/19

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 19.
CAN module (MXI1): Heartbeat error index 20 [0x009e0013]
Response (Lenze setting printed in bold)

Setting: C13613/20

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 20.
CAN module (MXI1): Heartbeat error index 21 [0x009e0014]
Response (Lenze setting printed in bold)

Setting: C13613/21

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 21.

Firmware 1.37 - 09/2006

505

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN module (MXI1): Heartbeat error index 22 [0x009e0015]

Response (Lenze setting printed in bold)

Setting: C13613/22

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 22.
CAN module (MXI1): Heartbeat error index 23 [0x009e0016]
Response (Lenze setting printed in bold)

Setting: C13613/23

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 23.
CAN module (MXI1): Heartbeat error index 24 [0x009e0017]
Response (Lenze setting printed in bold)

Setting: C13613/24

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 24.
CAN module (MXI1): Heartbeat error index 25 [0x009e0018]
Response (Lenze setting printed in bold)

Setting: C13613/25

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 25.
CAN module (MXI1): Heartbeat error index 26 [0x009e0019]
Response (Lenze setting printed in bold)

Setting: C13613/26

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 26.
CAN module (MXI1): Heartbeat error index 27 [0x009e001a]
Response (Lenze setting printed in bold)

Setting: C13613/27

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 27.

506

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN module (MXI1): Heartbeat error index 28 [0x009e001b]

Response (Lenze setting printed in bold)

Setting: C13613/28

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 28.
CAN module (MXI1): Heartbeat error index 29 [0x009e001c]
Response (Lenze setting printed in bold)

Setting: C13613/29

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 29.
CAN module (MXI1): Heartbeat error index 30 [0x009e001d]
Response (Lenze setting printed in bold)

Setting: C13613/30

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 30.
CAN module (MXI1): Heartbeat error index 31 [0x009e001e]
Response (Lenze setting printed in bold)

Setting: C13613/31

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 31.
CAN module (MXI1): Heartbeat error index 32 [0x009e001f]
Response (Lenze setting printed in bold)

Setting: C13613/32

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 32.
CAN module (MXI1): Life guarding error [0x009e0020]
Response (Lenze setting printed in bold)

Setting: C13614

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

Cause

Remedy

CANopen communication module in MXI1: Cyclic node

monitoring
Slave response: Maximum time between two node
guarding telegrams (remote transmission request
telegram) from the master has been exceeded.

Select a different life guarding monitoring time or switch

off monitoring.

Firmware 1.37 - 09/2006

507

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN module (MXI1): Faulty NMT slave configuration [0x009e0021]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CANopen communication module in MXI1: A

configuration error has occurred in the network
management of the CAN slave.
Faulty download of an Engineer or PLC Designer
project
Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.
Incorrect parameterisation of node guarding or
heartbeat.

Repeat download
Correct CAN settings in the project and regenerate
project.

CAN module (MXI1): Faulty emergency configuration [0x009f0000]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CANopen communication module in MXI1: In the CAN

emergency module a configuration error has occurred.
Faulty download of an Engineer or PLC Designer
project
Invalid CAN emergency settings according to
DS301V402 in the Engineer or PLC Designer.

Repeat download
Correct CAN settings in the project and regenerate
project.

CAN module (MXI1): Node guarding error 1 [0x00a00000]

Response (Lenze setting printed in bold)

Setting: C13612/1

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: Cyclic node

monitoring
CAN master has not received a response to a node
guarding telegram (remote transmission request
telegram) from node 1 within the defined time.

Reactivate CAN node by restarting the controller,

restart of the controller (C00002="11000") or CAN
reset node.
Select a different node guarding monitoring time or
switch off monitoring.
Reset error state if latched.
Tip: Safe the current parameter set before mains
switching and restarting the controller (C00002="11").

CAN module (MXI1): Node guarding error 2 [0x00a00001]

Response (Lenze setting printed in bold)

Setting: C13612/2

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 2.

508

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN module (MXI1): Node guarding error 3 [0x00a00002]

Response (Lenze setting printed in bold)

Setting: C13612/3

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 3.
CAN module (MXI1): Node guarding error 4 [0x00a00003]
Response (Lenze setting printed in bold)

Setting: C13612/4

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 4.
CAN module (MXI1): Node guarding error 5 [0x00a00004]
Response (Lenze setting printed in bold)

Setting: C13612/5

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 5.
CAN module (MXI1): Node guarding error 6 [0x00a00005]
Response (Lenze setting printed in bold)

Setting: C13612/6

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 6.
CAN module (MXI1): Node guarding error 7 [0x00a00006]
Response (Lenze setting printed in bold)

Setting: C13612/7

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 7.
CAN module (MXI1): Node guarding error 8 [0x00a00007]
Response (Lenze setting printed in bold)

Setting: C13612/8

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 8.

Firmware 1.37 - 09/2006

509

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN module (MXI1): Node guarding error 9 [0x00a00008]

Response (Lenze setting printed in bold)

Setting: C13612/9

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 9.
CAN module (MXI1): Node guarding error 10 [0x00a00009]
Response (Lenze setting printed in bold)

Setting: C13612/10

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 10.
CAN module (MXI1): Node guarding error 11 [0x00a0000a]
Response (Lenze setting printed in bold)

Setting: C13612/11

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 11.
CAN module (MXI1): Node guarding error 12 [0x00a0000b]
Response (Lenze setting printed in bold)

Setting: C13612/12

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 12.
CAN module (MXI1): Node guarding error 13 [0x00a0000c]
Response (Lenze setting printed in bold)

Setting: C13612/13

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 13.
CAN module (MXI1): Node guarding error 14 [0x00a0000d]
Response (Lenze setting printed in bold)

Setting: C13612/14

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 14.

510

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN module (MXI1): Node guarding error 15 [0x00a0000e]

Response (Lenze setting printed in bold)

Setting: C13612/15

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 15.
CAN module (MXI1): Node guarding error 16 [0x00a0000f]
Response (Lenze setting printed in bold)

Setting: C13612/16

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 16.
CAN module (MXI1): Node guarding error 17 [0x00a00010]
Response (Lenze setting printed in bold)

Setting: C13612/17

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 17.
CAN module (MXI1): Node guarding error 18 [0x00a00011]
Response (Lenze setting printed in bold)

Setting: C13612/18

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 18.
CAN module (MXI1): Node guarding error 19 [0x00a00012]
Response (Lenze setting printed in bold)

Setting: C13612/19

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 19.
CAN module (MXI1): Node guarding error 20 [0x00a00013]
Response (Lenze setting printed in bold)

Setting: C13612/20

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 20.

Firmware 1.37 - 09/2006

511

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN module (MXI1): Node guarding error 21 [0x00a00014]

Response (Lenze setting printed in bold)

Setting: C13612/21

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 21.
CAN module (MXI1): Node guarding error 22 [0x00a00015]
Response (Lenze setting printed in bold)

Setting: C13612/22

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 22.
CAN module (MXI1): Node guarding error 23 [0x00a00016]
Response (Lenze setting printed in bold)

Setting: C13612/23

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 23.
CAN module (MXI1): Node guarding error 24 [0x00a00017]
Response (Lenze setting printed in bold)

Setting: C13612/24

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 24.
CAN module (MXI1): Node guarding error 25 [0x00a00018]
Response (Lenze setting printed in bold)

Setting: C13612/25

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 25.
CAN module (MXI1): Node guarding error 26 [0x00a00019]
Response (Lenze setting printed in bold)

Setting: C13612/26

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 26.

512

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9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN module (MXI1): Node guarding error 27 [0x00a0001a]

Response (Lenze setting printed in bold)

Setting: C13612/27

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 27.
CAN module (MXI1): Node guarding error 28 [0x00a0001b]
Response (Lenze setting printed in bold)

Setting: C13612/28

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 28.
CAN module (MXI1): Node guarding error 29 [0x00a0001c]
Response (Lenze setting printed in bold)

Setting: C13612/29

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 29.
CAN module (MXI1): Node guarding error 30 [0x00a0001d]
Response (Lenze setting printed in bold)

Setting: C13612/30

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 30.
CAN module (MXI1): Node guarding error 31 [0x00a0001e]
Response (Lenze setting printed in bold)

Setting: C13612/31

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 31.
CAN module (MXI1): Node guarding error 32 [0x00a0001f]
Response (Lenze setting printed in bold)

Setting: C13612/32

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 32.

Firmware 1.37 - 09/2006

513

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN module (MXI1): Faulty NMT master configuration [0x00a00020]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CANopen communication module in MXI1: A

configuration error has occurred in the network
management of the CAN master.
Faulty download of an Engineer or PLC Designer
project.
Invalid CAN master settings according to DS301V402
and DS405 in the Engineer or PLC Designer.
Incorrect parameterisation of node guarding or
heartbeat.

Repeat download
Correct CAN settings in the project and regenerate
project.

CAN module (MXI1) RPDO1: Telegram not received or faulty [0x00a10000]

Response (Lenze setting printed in bold)

Setting: C13591/1

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN-IN 1

error
Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

CAN module (MXI1) RPDO2: Telegram not received or faulty [0x00a10001]

Response (Lenze setting printed in bold)

Setting: C13591/2

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN-IN 2

error
Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

CAN module (MXI1) RPDO3: Telegram not received or faulty [0x00a10002]

Response (Lenze setting printed in bold)

Setting: C13591/3

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

514

Cause

Remedy

CANopen communication module in MXI1: CAN-IN 3

error
Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN module (MXI1) RPDO4: Telegram not received of faulty [0x00a10003]

Response (Lenze setting printed in bold)

Setting: C13591/4

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN-IN 4

error
Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

CAN module (MXI1) RPDO5: Telegram not received or faulty [0x00a10004]

Response (Lenze setting printed in bold)

Setting: C13591/5

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN-IN 5

error
Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

CAN module (MXI1) RPDO6: Telegram not received or faulty [0x00a10005]

Response (Lenze setting printed in bold)

Setting: C13591/6

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN-IN 6

error
Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

CAN module (MXI1) RPDO7: Telegram not received or faulty [0x00a10006]

Response (Lenze setting printed in bold)

Setting: C13591/7

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI1: CAN-IN 7

error
Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

CAN module (MXI1) RPDO8: Telegram not received or faulty [0x00a10007]

Response (Lenze setting printed in bold)

Setting: C13591/8

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

Cause

Remedy

CANopen communication module in MXI1: CAN-IN 8

error
Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

Firmware 1.37 - 09/2006

515

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN module (MXI1) PDO manager: Faulty configuration [0x00a10008]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CANopen communication module in MXI1: CAN-PDO

configuration error
Faulty project download.
Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.
Mapping variables have incorrect CANopen indices
according to DS405.

Repeat download.
Correct CAN settings in the project and regenerate
project.

CAN module (MXI1) SDO server: Faulty configuration [0x00a20000]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CANopen communication module in MXI1: In the CAN

SDP server a configuration error has occurred.
Faulty project download.
Invalid SDO server settings according to DS301V402
in the Engineer or PLC Designer.

Repeat download.
Correct CAN settings in the project and regenerate
project.

CAN module (MXI1) SDO client: Faulty configuration [0x00a30000]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CANopen communication module in MXI1: In the CAN

SDP client a configuration error has occurred.
Faulty project download.
Invalid SDO client settings according to DS301V402 in
the Engineer or PLC Designer.

Repeat download
Correct CAN settings in the project and regenerate
project.

DFIN (MXI2): A-/A track error [0x00aa0000]

Response (Lenze setting printed in bold)

Setting: C14040

(; Adjustable response)

; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

Digital frequency extension module in MXI2:

Check signal cable for track A.
Interruption (open circuit) of the signal cable for track A. Check encoder.
DFIN (MXI2): B-/B track error [0x00aa0001]
Response (Lenze setting printed in bold)

Setting: C14040

(; Adjustable response)

; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

516

Cause

Remedy

Digital frequency extension module in MXI2:

Interruption (open circuit) of the signal cable for track B.

Check signal cable for track B.

Check encoder.

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

DFIN (MXI2): Z-/Z track error [0x00aa0002]

Response (Lenze setting printed in bold)

Setting: C14040

(; Adjustable response)

; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

Digital frequency extension module in MXI2:

Interruption (open circuit) of the signal cable for track Z.

Check signal cable for track Z.

Check encoder.

DFIN (MXI2): Enable/lamp control signal error [0x00aa0003]

Response (Lenze setting printed in bold)

Setting: C14041

(; Adjustable response)

; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause

Remedy

Digital frequency extension module in MXI2:

Interruption (open circuit) of the signal cable for the
"Enable" signal or no "Enable" signal available.

Check signal cable for "Enable" signal.

Check encoder.

DFIN (MXI2): Supply cannot be corrected anymore [0x00aa0004]

Response (Lenze setting printed in bold)

Setting: C14042

(; Adjustable response)

; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause

Remedy

Digital frequency extension module in MXI2: The

Check encoder.
encoder voltage controlled by the digital frequency input
has reached the voltage limit.
DFOUT (MXI2): Maximum frequency reached [0x00aa0005]
Response (Lenze setting printed in bold)

Setting: C14080

(; Adjustable response)

; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause

Remedy

Digital frequency extension module in MXI2: Limit

frequency at the digital frequency output reached.
The digital frequency has reached the limit value set
in C014053.

Check set limit value.

CAN module (MXI2): Bus-off [0x00ac0000]

Response (Lenze setting printed in bold)

Setting: C14595

(; Adjustable response)

; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning : Information

Cause

Remedy

CANopen communication module in MXI2: "Bus-off"

state
Too many faulty telegrams received.
Cable defective (e.g. loose contact).
Two nodes with the same ID.

Remove fault (e.g. EMC).

Remove loose contact, screw down adapter.
Assign different node IDs.

Firmware 1.37 - 09/2006

517

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN module (MXI2): Invalid node address 0 [0x00ac0001]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause

Remedy

CANopen communication module in MXI2: Initialisation

error
The node address has been selected via DIP switch by
means of hardware and the DIP switches of the node
address are set to zero.
Note: Instead of the impermissible node address 0 the
node address 1 is used.

Use the DIP switches to set a node address unequal 0

and restart the controller.
Activate the node number assignment by means of
software by changing the position of DIP switch 2 and
restart the controller.

CAN module (MXI2): Basic configuration invalid [0x00ac0002]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CANopen communication module in MXI2:

Configuration error
Faulty download of an Engineer or PLC Designer
project
Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.

Repeat download
Correct CAN settings in the project and regenerate
project.

CAN module (MXI2): Heartbeat error index 1 [0x00ad0000]

Response (Lenze setting printed in bold)

Setting: C14613/1

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: Cyclic node

monitoring
Node device has not received a heartbeat telegram
from node 1 within the defined time.

Reactivate CAN node by restarting the controller,

restart of the controller (C00002="11000") or CAN
reset node.
Select a different heartbeat producer monitoring
time or switch off monitoring and reset locked error
status, if necessary.
Tip: Safe the current parameter set before mains
switching and restarting the controller (C00002="11").

CAN module (MXI2): Heartbeat error index 2 [0x00ad0001]

Response (Lenze setting printed in bold)

Setting: C14613/2

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 2.
CAN module (MXI2): Heartbeat error index 3 [0x00ad0002]
Response (Lenze setting printed in bold)

Setting: C14613/3

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 3.

518

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN module (MXI2): Heartbeat error index 4 [0x00ad0003]

Response (Lenze setting printed in bold)

Setting: C14613/4

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 4.
CAN module (MXI2): Heartbeat error index 5 [0x00ad0004]
Response (Lenze setting printed in bold)

Setting: C14613/5

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 5.
CAN module (MXI2): Heartbeat error index 6 [0x00ad0005]
Response (Lenze setting printed in bold)

Setting: C14613/6

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 6.
CAN module (MXI2): Heartbeat error index 7 [0x00ad0006]
Response (Lenze setting printed in bold)

Setting: C14613/7

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 7.
CAN module (MXI2): Heartbeat error index 8 [0x00ad0007]
Response (Lenze setting printed in bold)

Setting: C14613/8

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 8.
CAN module (MXI2): Heartbeat error index 9 [0x00ad0008]
Response (Lenze setting printed in bold)

Setting: C14613/9

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 9.

Firmware 1.37 - 09/2006

519

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN module (MXI2): Heartbeat error index 10 [0x00ad0009]

Response (Lenze setting printed in bold)

Setting: C14613/10

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 10.
CAN module (MXI2): Heartbeat error index 11 [0x00ad000a]
Response (Lenze setting printed in bold)

Setting: C14613/11

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 11.
CAN module (MXI2): Heartbeat error index 12 [0x00ad000b]
Response (Lenze setting printed in bold)

Setting: C14613/12

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 12.
CAN module (MXI2): Heartbeat error index 13 [0x00ad000c]
Response (Lenze setting printed in bold)

Setting: C14613/13

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 13.
CAN module (MXI2): Heartbeat error index 14 [0x00ad000d]
Response (Lenze setting printed in bold)

Setting: C14613/14

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 14.
CAN module (MXI2): Heartbeat error index 15 [0x00ad000e]
Response (Lenze setting printed in bold)

Setting: C14613/15

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 15.

520

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN module (MXI2): Heartbeat error index 16 [0x00ad000f]

Response (Lenze setting printed in bold)

Setting: C14613/16

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 16.
CAN module (MXI2): Heartbeat error index 17 [0x00ad0010]
Response (Lenze setting printed in bold)

Setting: C14613/17

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 17.
CAN module (MXI2): Heartbeat error index 18 [0x00ad0011]
Response (Lenze setting printed in bold)

Setting: C14613/18

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 18.
CAN module (MXI2): Heartbeat error index 19 [0x00ad0012]
Response (Lenze setting printed in bold)

Setting: C14613/19

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 19.
CAN module (MXI2): Heartbeat error index 20 [0x00ad0013]
Response (Lenze setting printed in bold)

Setting: C14613/20

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 20.
CAN module (MXI2): Heartbeat error index 21 [0x00ad0014]
Response (Lenze setting printed in bold)

Setting: C14613/21

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 21.

Firmware 1.37 - 09/2006

521

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN module (MXI2): Heartbeat error index 22 [0x00ad0015]

Response (Lenze setting printed in bold)

Setting: C14613/22

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 22.
CAN module (MXI2): Heartbeat error index 23 [0x00ad0016]
Response (Lenze setting printed in bold)

Setting: C14613/23

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 23.
CAN module (MXI2): Heartbeat error index 24 [0x00ad0017]
Response (Lenze setting printed in bold)

Setting: C14613/24

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 24.
CAN module (MXI2): Heartbeat error index 25 [0x00ad0018]
Response (Lenze setting printed in bold)

Setting: C14613/25

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 25.
CAN module (MXI2): Heartbeat error index 26 [0x00ad0019]
Response (Lenze setting printed in bold)

Setting: C14613/26

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 26.
CAN module (MXI2): Heartbeat error index 27 [0x00ad001a]
Response (Lenze setting printed in bold)

Setting: C14613/27

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 27.

522

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9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN module (MXI2): Heartbeat error index 28 [0x00ad001b]

Response (Lenze setting printed in bold)

Setting: C14613/28

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 28.
CAN module (MXI2): Heartbeat error index 29 [0x00ad001c]
Response (Lenze setting printed in bold)

Setting: C14613/29

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 29.
CAN module (MXI2): Heartbeat error index 30 [0x00ad001d]
Response (Lenze setting printed in bold)

Setting: C14613/30

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 30.
CAN module (MXI2): Heartbeat error index 31 [0x00ad001e]
Response (Lenze setting printed in bold)

Setting: C14613/31

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 31.
CAN module (MXI2): Heartbeat error index 32 [0x00ad001f]
Response (Lenze setting printed in bold)

Setting: C14613/32

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 32.
CAN module (MXI2): Life guarding error [0x00ad0020]
Response (Lenze setting printed in bold)

Setting: C14614

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

Cause

Remedy

CANopen communication module in MXI2: Cyclic node

monitoring
Slave response: Maximum time between two node
guarding telegrams (remote transmission request
telegram) from the master has been exceeded.

Select a different life guarding monitoring time or switch

off monitoring.

Firmware 1.37 - 09/2006

523

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN module (MXI2): Faulty NMT slave configuration [0x00ad0021]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CANopen communication module in MXI2: A

configuration error has occurred in the network
management of the CAN slave.
Faulty download of an Engineer or PLC Designer
project
Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.
Incorrect parameterisation of node guarding or
heartbeat.

Repeat download
Correct CAN settings in the project and regenerate
project.

CAN module (MXI2): Faulty emergency configuration [0x00ae0000]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CANopen communication module in MXI2: In the CAN

emergency module a configuration error has occurred.
Faulty download of an Engineer or PLC Designer
project
Invalid CAN emergency settings according to
DS301V402 in the Engineer or PLC Designer.

Repeat download
Correct CAN settings in the project and regenerate
project.

CAN module (MXI2): Node guarding error 1 [0x00af0000]

Response (Lenze setting printed in bold)

Setting: C14612/1

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: Cyclic node

monitoring
CAN master has not received a response to a node
guarding telegram (remote transmission request
telegram) from node 1 within the defined time.

Reactivate CAN node by restarting the controller,

restart of the controller (C00002="11000") or CAN
reset node.
Select a different node guarding monitoring time or
switch off monitoring.
Reset error state if latched.
Tip: Safe the current parameter set before mains
switching and restarting the controller (C00002="11").

CAN module (MXI2): Node guarding error 2 [0x00af0001]

Response (Lenze setting printed in bold)

Setting: C14612/2

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 2.

524

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9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN module (MXI2): Node guarding error 3 [0x00af0002]

Response (Lenze setting printed in bold)

Setting: C14612/3

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 3.
CAN module (MXI2): Node guarding error 4 [0x00af0003]
Response (Lenze setting printed in bold)

Setting: C14612/4

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 4.
CAN module (MXI2): Node guarding error 5 [0x00af0004]
Response (Lenze setting printed in bold)

Setting: C14612/5

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 5.
CAN module (MXI2): Node guarding error 6 [0x00af0005]
Response (Lenze setting printed in bold)

Setting: C14612/6

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 6.
CAN module (MXI2): Node guarding error 7 [0x00af0006]
Response (Lenze setting printed in bold)

Setting: C14612/7

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 7.
CAN module (MXI2): Node guarding error 8 [0x00af0007]
Response (Lenze setting printed in bold)

Setting: C14612/8

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 8.

Firmware 1.37 - 09/2006

525

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN module (MXI2): Node guarding error 9 [0x00af0008]

Response (Lenze setting printed in bold)

Setting: C14612/9

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 9.
CAN module (MXI2): Node guarding error 10 [0x00af0009]
Response (Lenze setting printed in bold)

Setting: C14612/10

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 10.
CAN module (MXI2): Node guarding error 11 [0x00af000a]
Response (Lenze setting printed in bold)

Setting: C14612/11

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 11.
CAN module (MXI2): Node guarding error 12 [0x00af000b]
Response (Lenze setting printed in bold)

Setting: C14612/12

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 12.
CAN module (MXI2): Node guarding error 13 [0x00af000c]
Response (Lenze setting printed in bold)

Setting: C14612/13

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 13.
CAN module (MXI2): Node guarding error 14 [0x00af000d]
Response (Lenze setting printed in bold)

Setting: C14612/14

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 14.

526

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9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN module (MXI2): Node guarding error 15 [0x00af000e]

Response (Lenze setting printed in bold)

Setting: C14612/15

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 15.
CAN module (MXI2): Node guarding error 16 [0x00af000f]
Response (Lenze setting printed in bold)

Setting: C14612/16

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 16.
CAN module (MXI2): Node guarding error 17 [0x00af0010]
Response (Lenze setting printed in bold)

Setting: C14612/17

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 17.
CAN module (MXI2): Node guarding error 18 [0x00af0011]
Response (Lenze setting printed in bold)

Setting: C14612/18

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 18.
CAN module (MXI2): Node guarding error 19 [0x00af0012]
Response (Lenze setting printed in bold)

Setting: C14612/19

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 19.
CAN module (MXI2): Node guarding error 20 [0x00af0013]
Response (Lenze setting printed in bold)

Setting: C14612/20

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 20.

Firmware 1.37 - 09/2006

527

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN module (MXI2): Node guarding error 21 [0x00af0014]

Response (Lenze setting printed in bold)

Setting: C14612/21

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 21.
CAN module (MXI2): Node guarding error 22 [0x00af0015]
Response (Lenze setting printed in bold)

Setting: C14612/22

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 22.
CAN module (MXI2): Node guarding error 23 [0x00af0016]
Response (Lenze setting printed in bold)

Setting: C14612/23

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 23.
CAN module (MXI2): Node guarding error 24 [0x00af0017]
Response (Lenze setting printed in bold)

Setting: C14612/24

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 24.
CAN module (MXI2): Node guarding error 25 [0x00af0018]
Response (Lenze setting printed in bold)

Setting: C14612/25

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 25.
CAN module (MXI2): Node guarding error 26 [0x00af0019]
Response (Lenze setting printed in bold)

Setting: C14612/26

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 26.

528

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9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN module (MXI2): Node guarding error 27 [0x00af001a]

Response (Lenze setting printed in bold)

Setting: C14612/27

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 27.
CAN module (MXI2): Node guarding error 28 [0x00af001b]
Response (Lenze setting printed in bold)

Setting: C14612/28

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 28.
CAN module (MXI2): Node guarding error 29 [0x00af001c]
Response (Lenze setting printed in bold)

Setting: C14612/29

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 29.
CAN module (MXI2): Node guarding error 30 [0x00af001d]
Response (Lenze setting printed in bold)

Setting: C14612/30

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 30.
CAN module (MXI2): Node guarding error 31 [0x00af001e]
Response (Lenze setting printed in bold)

Setting: C14612/31

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 31.
CAN module (MXI2): Node guarding error 32 [0x00af001f]
Response (Lenze setting printed in bold)

Setting: C14612/32

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 32.

Firmware 1.37 - 09/2006

529

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

CAN module (MXI2): Faulty NMT master configuration [0x00af0020]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CANopen communication module in MXI2: A

configuration error has occurred in the network
management of the CAN master.
Faulty download of an Engineer or PLC Designer
project.
Invalid CAN master settings according to DS301V402
and DS405 in the Engineer or PLC Designer.
Incorrect parameterisation of node guarding or
heartbeat.

Repeat download
Correct CAN settings in the project and regenerate
project.

CAN module (MXI2) RPDO1: Telegram not received or faulty [0x00b00000]

Response (Lenze setting printed in bold)

Setting: C14591/1

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN-IN 1

error
Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

CAN module (MXI2) RPDO2: Telegram not received or faulty [0x00b00001]

Response (Lenze setting printed in bold)

Setting: C14591/2

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN-IN 2

error
Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

CAN module (MXI2) RPDO3: Telegram not received or faulty [0x00b00002]

Response (Lenze setting printed in bold)

Setting: C14591/3

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

530

Cause

Remedy

CANopen communication module in MXI2: CAN-IN 3

error
Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

CAN module (MXI2) RPDO4: Telegram not received or faulty [0x00b00003]

Response (Lenze setting printed in bold)

Setting: C14591/4

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN-IN 4

error
Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

CAN module (MXI2) RPDO5: Telegram not received or faulty [0x00b00004]

Response (Lenze setting printed in bold)

Setting: C14591/5

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN-IN 5

error
Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

CAN module (MXI2) RPDO6: Telegram not received or faulty [0x00b00005]

Response (Lenze setting printed in bold)

Setting: C14591/6

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN-IN 6

error
Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

CAN module (MXI2) RPDO7: Telegram not received or faulty [0x00b00006]

Response (Lenze setting printed in bold)

Setting: C14591/7

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

CANopen communication module in MXI2: CAN-IN 7

error
Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

CAN module (MXI2) RPDO8: Telegram not received or faulty [0x00b00007]

Response (Lenze setting printed in bold)

Setting: C14591/8

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

Cause

Remedy

CANopen communication module in MXI2: CAN-IN 8

error
Incorrect PDO telegram length.
Transmission error.
PDO time monitoring has released.

Set the correct telegram length for the CAN master

(transmitter).
Remove electromagnetic interference (e.g. EMC).
Select a different time monitoring or switch off time
monitoring.

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Diagnostics & error analysis
Error messages of the operating system

CAN module (MXI2) PDO manager: Faulty configuration [0x00b00008]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CANopen communication module in MXI2: CAN-PDO

configuration error
Faulty project download.
Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.
Mapping variables have incorrect CANopen indices
according to DS405.

Repeat download.
Correct CAN settings in the project and regenerate
project.

CAN module (MXI2) SDO server: Faulty configuration [0x00b10000]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CANopen communication module in MXI2: In the CAN

SDP server a configuration error has occurred.
Faulty project download.
Invalid SDO server settings according to DS301V402
in the Engineer or PLC Designer.

Repeat download.
Correct CAN settings in the project and regenerate
project.

CAN module (MXI2) SDO client: Faulty configuration [0x00b20000]

Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause

Remedy

CANopen communication module in MXI2: In the CAN

SDP client a configuration error has occurred.
Faulty project download.
Invalid SDO client settings according to DS301V402 in
the Engineer or PLC Designer.

Repeat download
Correct CAN settings in the project and regenerate
project.

Invalid PLC configuration [0x00b80000]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

An invalid control configuration has occurred.

Load other application.

Positive limit switch has tripped [0x00b80001]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information

532

Cause

Remedy

The travel range limit switch in positive traversing

direction has tripped.

Reset error message and retract limit switch.

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9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

Negative limit switch has tripped [0x00b80002]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

The travel range limit switch in negative traversing

direction has tripped.

Reset error message and retract limit switch.

Motor brake: Angular drift with closed brake is too large [0x00b80003]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

Despite the applied brake, the stop position of the motor

axis has changed by more than the permissible angle of
rotation set in C02595.

Deactivate standstill monitoring (C02595 = 0).

Increase waiting time for status monitoring (C02591).
The standstill monitoring only starts after this
waiting time has elapsed.
Increase brake closing time (C02589) since during the
brake closing time the standstill monitoring is not
active.
Reduce threshold for brake activation (C02581).

Motor brake: Automatically activated when the waiting time has elapsed [0x00b80004]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause

Remedy

This time monitoring will only be active if the speed

setpoint has reached the threshold for brake activation
(C02581).
If the actual speed value does not reach/fall below the
threshold set in C02581 within the parameterised
waiting time for brake activation (C02593), the brake will
be closed due to time-out.

Increase waiting time for brake activation (C02593).

Reduce threshold for brake activation (C02581).

Motor brake: Status monitoring error [0x00b80005]

Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information

Cause

Remedy

Faulty external feedback of the brake status to the brake

control.

Check brake configuration with regard to the control

selection in C02580.
Check setting for status input monitoring in C02583.
When monitoring is active, the bBrakeApplied input
must be triggered correctly (bBrakeApplied =
bBrakeReleased).
Check voltage supply of the brake module.

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9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system

Positive software limit switch has been overtravelled [0x00b80007]

Response (Lenze setting printed in bold)

Setting: C02716/2

(; Adjustable response)

; None System fault ; Fault ; Trouble : Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

The positive software limit position parameterised in

C02702/2 has been overtravelled.

Position within the software limit positions.

Increase permissible traversing range (change setting
of the software limit positions).
Deactivate monitoring of the software limit positions
by the basic function "Limiter".

Negative software limit switch has been overtravelled [0x00b80008]

Response (Lenze setting printed in bold)

Setting: C02716/2

(; Adjustable response)

; None System fault ; Fault ; Trouble : Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

The negative software limit position parameterised in

C02702/1 has been overtravelled.

Position within the software limit positions.

Increase permissible traversing range (change setting
of the software limit positions).
Deactivate monitoring of the software limit positions
by the basic function "Limiter".

Positive direction of rotation has been limited [0x00b80009]

Response (Lenze setting printed in bold)

Setting: C02716/1

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

Due to the setting of C02707 it was tried to traverse in

the impermissible positive direction of rotation.

Only traverse in permissible (negative) direction of

rotation.
Change setting of the permissible direction of
rotation (C02707).

Negative direction of rotation has been limited [0x00b8000a]

Response (Lenze setting printed in bold)

Setting: C02716/1

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

Due to the setting of C02707 it was tried to traverse in

the impermissible negative direction of rotation.

Only traverse in permissible (positive) direction of

rotation.
Change setting of the permissible direction of
rotation (C02707).

Speed has been limited [0x00b8000b]

Response (Lenze setting printed in bold)

Setting: C02716/3

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

534

Cause

Remedy

The requested profile speed is higher than the maximum

speed set in C02703 and has been limited to this speed.

Reduce speed of the traversing profile of the basic

function (manual jog, referencing or positioning).
Increase maximum speed (C02703).
Deactivate monitoring of the limit values by the basic
function "Limiter".

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9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis

Error messages of the operating system

Acceleration has been limited [0x00b8000c]

Response (Lenze setting printed in bold)

Setting: C02716/3

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

The requested profile acceleration is higher than the

maximum acceleration set in C02705 and has been
limited to this acceleration.

Reduce acceleration of the traversing profile of the

basic function (manual jog, referencing or
positioning).
Increase maximum acceleration (C02705).
Deactivate monitoring of the limit values by the basic
function "Limiter".

Deceleration has been limited [0x00b8000d]

Response (Lenze setting printed in bold)

Setting: C02716/3

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

The requested profile deceleration is higher than the

maximum acceleration set in C02705 and has been
limited to this acceleration.

Reduce acceleration of the traversing profile of the

basic function (manual jog, referencing or
positioning).
Increase maximum acceleration (C02705).
Deactivate monitoring of the limit values by the basic
function "Limiter".

Jerk has been limited [0x00b8000e]

Response (Lenze setting printed in bold)

Setting: C02716/3

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

The requested S-ramp time is lower than the minimum Increase S-ramp time of the traversing profile of the
S-ramp time set in C02706 and has been limited to this Sbasic function (manual jog, referencing or
ramp time.
positioning).
Reduce minimum S-ramp time (C02706).
Deactivate monitoring of the limit values by the basic
function "Limiter".
Position target is outside software limit positions [0x00b8000f]
Response (Lenze setting printed in bold)

Setting: C02716/2

(; Adjustable response)

; None System fault ; Fault ; Trouble : Quick stop by trouble ; Warning locked ; Warning ; Information

Cause

Remedy

It was tried to position to a target outside the software

limit positions.

Select position target inside the software limit

positions.
Increase permissible traversing range (change setting
of the software limit positions).
Deactivate monitoring of the software limit positions
by the basic function "Limiter".

Firmware 1.37 - 09/2006

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9400 HighLine | Parameter setting & configuration

Diagnostics & error analysis
Error messages of the operating system
Maximum speed has been exceeded [0x00b80010]
Response (Lenze setting printed in bold)

Setting: C02716/3

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause

Remedy

The max. speed parameterised in C02703 has been

exceeded.

Reduce speed.
Increase maximum speed (C02703).
Deactivate monitoring of the limit values by the basic
function "Limiter".

Maximum acceleration has been exceeded [0x00b80011]

Response (Lenze setting printed in bold)

Setting: C02716/3

(; Adjustable response)

: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information

536

Cause

Remedy

The max. acceleration parameterised in C02705 has

been exceeded.

Reduce acceleration.
Increase maximum acceleration (C02705).
Deactivate monitoring of the limit values by the basic
function "Limiter".

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9400 HighLine | Parameter setting & configuration

Parameter reference
Structure of the parameter descriptions

16

Parameter reference
All parameters for controller parameter setting or monitoring are stored within so-called
"codes".
r The codes are numbered and designated by a "C" in front of the code, e.g. "C00002".
r For the sake of clarity, some codes contain "subcodes" for saving parameters. This
Manual uses a slash "/" as a separator between code and subcode, e.g. C00118/3".

O Tip!
For quick reference of a parameter with a certain name simply use the index of the
online documentation. The index always contains the corresponding code in
parentheses behind the name.
For general information on how to read and change parameters please see the
online documentation for the Engineer.

16.1

Structure of the parameter descriptions

Each parameter is described in the Parameter list in the form of a table which consists of
the following three areas:
Table header
The table header contains the following general notes:
r Parameter number (Cxxxxx)
r Parameter name (display text in the Engineer and keypad)
r Data type
r Decimal and hexadecimal parameter index for access via bus systems
Table contents
The table contains further general explanations & notes on the parameter and the possible
settings the representation of which depends on the parameter type:
r Parameters with read-only access
r Parameters with write access
Table footer
The table footer contains the Parameter attributes.

16.1.1

Data type
The following data types are available for parameters:

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9400 HighLine | Parameter setting & configuration

Parameter reference
Structure of the parameter descriptions

16.1.2

Data type

Meaning

INTEGER_8

8-bit value with sign

INTEGER_16

16-bit value with sign

INTEGER_32

32-bit value with sign

INTEGER_64

64-bit value with sign

UNSIGNED_8

8-bit value without sign

UNSIGNED_16

16-bit value without sign

UNSIGNED_32

32-bit value without sign

UNSIGNED_64

64-bit value without sign

FLOATING_POINT

32-bit floating point number

VISIBLE_STRING

String of digits from printable digits

OCTET_STRING

String of digits from any digits

BITFIELD_8

8-bit value bit coded

BITFIELD_16

16-bit value bit coded

BITFIELD_32

32-bit value bit coded

Parameters with read-only access

Parameters for which the "write access" attribute has not been set can only be read and not
be changed by the user.
Description structure
Parameter | Name:

Data type: _______

Index: _______

Cxxxxx | _____________
Description
Display range (min. value | unit | max. value)
; Read access Write access CINH PLC STOP No transfer COM MOT

Representation in the Engineer

r The Engineer displays these parameters with a grey background or, with an online
connection, with a pale-yellow background:

538

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Parameter reference
Structure of the parameter descriptions

16.1.3

Parameters with write access

Only parameters with a check mark (;) in front of the "write access" attribute can be
changed by the user. The Lenze setting for these parameters is printed in bold.
r The settings are either selected by means of a selection list or through direct value
entry.
r Values outside the valid setting range are represented in red in the Engineer.

16.1.3.1

Parameters with setting range

Description structure
Parameter | Name:

Data type: _______

Index: _______

Cxxxxx | _____________
Description
Setting range (min. value | unit | max. value)

Lenze setting

; Read access ; Write access CINH PLC STOP No transfer COM MOT

Parameter setting in the Engineer

r In the Engineer, parameters are set by entering the desired value into the input field
or by means of the arrow buttons:

r Alternatively, the indicated value can be step-by-step increased or reduced by means of

the arrow buttons.
16.1.3.2

Parameters with selection list

Description structure
Parameter | Name:

Data type: _______

Index: _______

Cxxxxx | _____________
Description
Selection list (Lenze setting printed in bold)
1
2
3
; Read access ; Write access CINH PLC STOP No transfer COM MOT

Parameter setting in the Engineer

r In the Engineer, a list field is used for parameter setting:

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9400 HighLine | Parameter setting & configuration

Parameter reference
Structure of the parameter descriptions
16.1.3.3

Parameters with bit-code setting

Description structure
Parameter | Name:

Data type: _______

Index: _______

Cxxxxx | _____________
Description
Value is bit-coded:
Bit 0
...
Bit 31
; Read access ; Write access CINH PLC STOP No transfer COM MOT

Parameter setting in the Engineer

r The Engineer uses a dialog box for parameter setting in which the individual bits can
be set or reset or, alternatively, the value can be entered as a decimal or hexadecimal
value:

540

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9400 HighLine | Parameter setting & configuration

Parameter reference
Structure of the parameter descriptions

16.1.3.4

Parameters with subcodes

Description structure
Parameter | Name:

Data type: _______

Index: _______

Cxxxxx | _____________
Description
Setting range (min. value | unit | max. value)
Subcodes

Lenze setting

Cxxxxx/1
Cxxxxx/2
Cxxxxx/3
Cxxxxx/4
; Read access ; Write access CINH PLC STOP No transfer COM MOT

Parameter setting in the Engineer

r The Engineer parameter list lists all subcodes separately:

r The parameters are set as described in the previous chapters.

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Parameter reference
Structure of the parameter descriptions
16.1.4

Parameter attributes
Type of access
r The first four attributes provide information about the parameter access:
Attribute

Meaning

; Read access

Read access to parameter possible.

; Write access

Write access to parameter possible.

Please also observe the following attributes:
; CINH

Parameter value can only be changed when the controller is

inhibited.

; PLC STOP

Change of the parameter value is only possible when the application

is stopped.

Additional features
r The following attributes refer to the parameter set transfer to the controller:
Attribute

Meaning

; No transfer

Parameter is not transferred to controller when the command Download parameter set is
executed.

; COM

"PC communication parameter"

In the Download parameter set or Download application dialog box, you can select that
PC communication parameters are not to be transferred to the controller.

; MOT

"Motor data parameter"

In the Download parameter set or Download application dialog box, you can select that
motor data parameters are not to be transferred to the controller.

Scaling factor
r The "scaling factor" is important for parameter access via bus systems. It is only
indicated for parameters using a data format with decimal positions:
Read value (via bus system) = Scaling factor indicated value (Engineer)

542

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9400 HighLine | Parameter setting & configuration

Parameter reference
Abbreviations used in parameter & selection texts

16.2

Abbreviations used in parameter & selection texts

Since the parameter/selection texts are limited to 31 characters, the following
abbrevations are used:
Abbreviation

Meaning

CAN module

CANopen communication module (type E94AYCCA)

DF module

Digital frequency extension module (type E94AYFLF)

ETS

Electronic nameplate

Ethernet module

Ethernet communication module (type E94AYCEN)

MXI1

eXtension Interface module 1 - module receptacle for extension 1

MXI2

eXtension Interface module 2 - module receptacle for extension 2

Profibus module

PROFIBUS communication module (type E94AYCPM)

Abbreviated units

16.3

Abbreviation

Meaning

Incr.

Increments

Rev.

Revolutions

Parameter list
This chapter describes all parameters of the operating system in numerically ascending
order.

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Parameter reference
Parameter list | C00002

C00002

Parameter | Name:

Data type: UNSIGNED_32

Index: 24573d = 5FFDh

C00002 | Controller commands

Controller commands
C00003 shows the status of the last executed controller command.
Under C00150 you can query the current status of the device control.
Selection list (Lenze setting printed in bold)

Information

0 Load Lenze setting

Resets parameters to Lenze setting.

Only possible when the application has stopped and
the controller is inhibited.

1 Load start parameters

Loads parameters from the memory module.

Only possible when the application has stopped and
the controller is inhibited.

5 Activate application

Activates the application selected under C00005.

If the application is also started, depends on the autostart setting selected.
Only possible when the application has stopped.

7 Save selected application

Selects the active application as start application.

11 Save start parameters

Saves parameters fail-safe in the memory module.

20 Delete logbook

Deletes all logbook entries.

21 Archive log file

Exports logbook entries to file.

31 Start application
32 Stop application
33 Reset program

Executes a reset
All variables except for the RETAIN variables are reset
to their initialisation value.
The situation corresponds to a power failure or
deactivation/activation of the controller (warm start)
while the program is running.

34 Delete program

Executes a reset (original)

All variables including RETAIN and PERSISTENT
variables are reset to their initialisation value.
The application program is deleted and the controller
is reset to its original status.

35 Restart program

Executes a reset (warm start)

All variables except for the PERSISTENT variables are
reset to their initialisation value.
The situation corresponds to the start of a new
program loaded into the control (cold start).

36 Reset runtime measurement

41 Inhibit controller
42 Enable controller
43 Reset error

544

45 Activate quick stop

"Basic functionQuick stop"

46 Quick stop reset

"Basic functionQuick stop"

47 Internal command 47

For Lenze service only

48 Internal command 48

For Lenze service only

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9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00002

Parameter | Name:

Data type: UNSIGNED_32

Index: 24573d = 5FFDh

C00002 | Controller commands

51 Set rotor displacement angle

Executes rotor position adjustment

The function can only be activated when the
controller is inhibited.
After this, the adjustment starts automatically when
the controller is enabled.
During the rotor position adjustment, the motor
makes one electrical revolution. This leads to a
mechanical rotation of the motor shaft.
The determined rotor angle is indicated under code
C00058.
Motor interface

71 Calculate inv. characteristic

Detects inverter error characteristic

The function can only be activated when the
controller is inhibited.
After this, the adjustment starts automatically when
the controller is enabled.
Motor interface

72 Set motor parameters

Automatically detects motor parameter

The function can only be activated when the
controller is inhibited.
After this, the adjustment starts automatically when
the controller is enabled.
Motor interface

91 CAN on board: reset node

Reinitialises the "CAN on-board" interface.

Required when the baud rate, node address or
identifiers are changed.

92 CAN module: reset node

Reinitialises CANopen interface of the CANopen

communication module.
Required when the baud rate, node address or
identifiers are changed.

93 CAN on-board: Pred.Connect.Set

Sets basic identifier for the "CAN on board" interface

according to the "Predefined Connection Set"
(DS301V402).

94 CAN module: Pred.Connect.Set

Sets basic identifier for the CANopen interface of the

CANopen communication module according to the
"Predefined Connection Set" (DS301V402).

95 CAN on-board: Identify node

Detects nodes connected to the "CAN on board"

interface.
The result of the CAN bus scan is displayed in C00393.

96 CAN module: Identify node

Detects the nodes connected to the CANopen interface

of the CANopen communication module.
The result of the CAN bus scan is displayed in C00393.

101 Unbind/bind Ethernet module MXI1

Reinitialises the Ethernet interface of the Ethernet

communication module in the module receptacle MXI1.
Required when a new IP or gateway address is to be
accepted without mains switching.

102 Unbind/bind Ethernet module MXI2

Reinitialises the Ethernet interface of the Ethernet

communication module in the module receptacle MXI2.
Required when a new IP or gateway address is to be
accepted without mains switching.

201 Activate parameter set 1

Loads parameter set 1 from the memory module.

Only possible when the application has stopped and
the controller is inhibited.

202 Activate parameter set 2

Loads parameter set 2 from the memory module.

Only possible when the application has stopped and
the controller is inhibited.

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9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00003

Parameter | Name:

Data type: UNSIGNED_32

Index: 24573d = 5FFDh

C00002 | Controller commands

203 Activate parameter set 3

Loads parameter set 3 from the memory module.

Only possible when the application has stopped and
the controller is inhibited.

204 Activate parameter set 4

Loads parameter set 4 from the memory module.

Only possible when the application has stopped and
the controller is inhibited.

301 Archive parameter set 1

Stores the current parameter set as parameter set 1 in

the memory module.

302 Archive parameter set 2

Stores the current parameter set as parameter set 2 in

the memory module.

303 Archive parameter set 3

Stores the current parameter set as parameter set 3 in

the memory module.

304 Archive parameter set 4

Stores the current parameter set as parameter set 4 in

the memory module.

401 Internal command 401

For Lenze service only

730 Internal command 730

For Lenze service only

731 Internal command 731

For Lenze service only

732 Internal command 732

For Lenze service only

733 Internal command 733

For Lenze service only

800 Internal command 800

For Lenze service only

1001 Internal command 1001

For Lenze service only

1020 Internal command 1020

For Lenze service only

1021 Export parameters to file

Export current parameter set to file.

1030 Format file system

Format file system of the memory module.

1040 Restore file system

10000 Prepare firmware update
11000 Restart controller
; Read access ; Write access CINH PLC STOP ; No transfer COM MOT

C00003

Parameter | Name:

Data type: UNSIGNED_32

Index: 24572d = 5FFCh

C00003 | Controller command status

Display of the number/status of the device command last executed (C00002).

The number of the command stands in the upper 16 bits (for the meaning of the number, see code C00002).
The result of the command stands in the lower 16 bits.
Display range (min. value | unit | max. value)
0

4294967295

; Read access Write access CINH PLC STOP No transfer COM MOT

C00004

Parameter | Name:

Data type: UNSIGNED_32

Index: 24571d = 5FFBh

C00004 | Service password

Service code to unlock protected device commands (C00002).
Setting range (min. value | unit | max. value)
0

Lenze setting
4294967295

; Read access ; Write access CINH PLC STOP ; No transfer COM MOT

546

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9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00005

C00005

Parameter | Name:

Data type: INTEGER_32

Index: 24570d = 5FFAh

C00005 | Application selection

Application selection
Use the controller command C00002="5" to activate the selected application.
Setting range (min. value | unit | max. value)

Lenze setting

-1

16 0

; Read access ; Write access CINH PLC STOP ; No transfer COM MOT

C00006

Parameter | Name:

Data type: UNSIGNED_32

Index: 24569d = 5FF9h

C00006 | Motor control selection

Selection list (Lenze setting printed in bold)

Information

1 Servo control with SM

For synchronous motors with speed sensor

2 Servo controller with ASM

For asynchronous motors with speed sensor

; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C00007

Parameter | Name:

Data type: UNSIGNED_32

Index: 24568d = 5FF8h

C00007 | Active application

Display range (min. value | unit | max. value)
0

4294967295

; Read access Write access CINH PLC STOP No transfer COM MOT

C00011

Parameter | Name:

Data type: UNSIGNED_32

Index: 24564d = 5FF4h

C00011 | Motor reference speed

For parameter setting via interface: In case of bigger changes, only change the setting in one step when the
controller is inhibited!
Lenze setting

Setting range (min. value | unit | max. value)

50

rpm

50000 3000 rpm

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00018

Parameter | Name:

Data type: UNSIGNED_32

Index: 24557d = 5FEDh

C00018 | Chopper frequency

Selection list (Lenze setting printed in bold)

Information

2 1 kHz fixed

Note:
The maximum output frequency of the controller is
limited to 1/8 of the switching frequency selected here!

3 2 kHz fixed
4 4 kHz fixed
5 8 kHz fixed
8 2 kHz variable
9 4 kHz variable
10 8 kHz variable
11 16 kHz variable

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00019

Parameter | Name:

Data type: UNSIGNED_32

Index: 24556d = 5FECh

C00019 | Zero speed detection threshold

Setting range (min. value | unit | max. value)
0

rpm

Lenze setting
450 5 rpm

; Read access ; Write access CINH PLC STOP No transfer COM MOT

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Parameter reference
Parameter list | C00022
C00022

Parameter | Name:

Data type: UNSIGNED_32

Index: 24553d = 5FE9h

C00022 | Maximum current

Note: In order that the motor does not start unintentionally without adjusting the route data, the maximum
current in the Lenze setting is set to "0 A"!
Lenze setting

Setting range (min. value | unit | max. value)

0.00

21474836.47 0.00 A

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00034

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 24541d = 5FDDh

C00034 | Config. analog input 1

Selection list (Lenze setting printed in bold)
0 -10 ... +10 V
1 -20...-4 mA, +4...+20 mA
2 -20 ... +20 mA
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00050

Parameter | Name:

Data type: INTEGER_32

Index: 24525d = 5FCDh

C00050 | Speed setpoint

Display range (min. value | unit | max. value)
-480000

rpm

480000

Subcodes

Information

C00050/1

Speed setpoint 1

C00050/2

Speed setpoint 2

; Read access Write access CINH PLC STOP No transfer COM MOT

C00051

Parameter | Name:

Data type: INTEGER_32

Index: 24524d = 5FCCh

C00051 | Actual speed

Display range (min. value | unit | max. value)
-480000

rpm

480000

; Read access Write access CINH PLC STOP No transfer COM MOT

C00052

Parameter | Name:

Data type: UNSIGNED_32

Index: 24523d = 5FCBh

C00052 | Motor voltage

Display range (min. value | unit | max. value)
0

2147483647

; Read access Write access CINH PLC STOP No transfer COM MOT

C00053

Parameter | Name:

Data type: UNSIGNED_32

Index: 24522d = 5FCAh

C00053 | DC bus voltage

Display range (min. value | unit | max. value)
0

2147483647

; Read access Write access CINH PLC STOP No transfer COM MOT

C00054

Parameter | Name:

Data type: UNSIGNED_32

Index: 24521d = 5FC9h

C00054 | Motor current

Display range (min. value | unit | max. value)
0.00

500.00

; Read access Write access CINH PLC STOP No transfer COM MOT

548

Firmware 1.37 - 09/2006

Scaling factor: 100

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00055

C00055

Parameter | Name:

Data type: INTEGER_32

Index: 24520d = 5FC8h

C00055 | Phase currents

Display range (min. value | unit | max. value)
-500.00

500.00

Subcodes

Information

C00055/1

Zero phase-sequence system

C00055/2

Phase U

C00055/3

Phase V

C00055/4

Phase W

; Read access Write access CINH PLC STOP No transfer COM MOT

C00056

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 24519d = 5FC7h

C00056 | Torque setpoint

Display range (min. value | unit | max. value)
-21474836.47

Nm

21474836.47

; Read access Write access CINH PLC STOP No transfer COM MOT

C00057

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 24518d = 5FC6h

C00057 | Torque
Display range (min. value | unit | max. value)
0.000

Nm

2147483.647

Subcodes

Information

C00057/1

Maximum torque

C00057/2

Torque at maximum current (C00022)

; Read access Write access CINH PLC STOP No transfer COM MOT

C00058

Scaling factor: 1000

Parameter | Name:

Data type: INTEGER_32

Index: 24517d = 5FC5h

C00058 | Rotor displacement angle

Setting range (min. value | unit | max. value)
-179.9

179.9

Subcodes

Lenze setting

Information

C00058/1

-90.0

Rotor displ. angle resolver

C00058/2

0.0

Rotor displ. angle encoder

C00058/3

0.0

Rotor displ. angle module

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00059

Parameter | Name:

Scaling factor: 10

Data type: UNSIGNED_32

Index: 24516d = 5FC4h

C00059 | Motor - pole pair number

Display range (min. value | unit | max. value)
0

200

; Read access Write access CINH PLC STOP No transfer COM MOT

C00060

Parameter | Name:

Data type: INTEGER_32

Index: 24515d = 5FC3h

C00060 | Rotor position

Display range (min. value | unit | max. value)
0

2047

; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

549

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00061
C00061

Parameter | Name:

Data type: INTEGER_32

Index: 24514d = 5FC2h

C00061 | Heatsink temperature

Display range (min. value | unit | max. value)
-200

200

; Read access Write access CINH PLC STOP No transfer COM MOT

C00062

Parameter | Name:

Data type: INTEGER_32

Index: 24513d = 5FC1h

C00062 | Temp. inside the controller

Display range (min. value | unit | max. value)
-200

200

; Read access Write access CINH PLC STOP No transfer COM MOT

C00063

Parameter | Name:

Data type: INTEGER_32

Index: 24512d = 5FC0h

C00063 | Motor temperature

Display range (min. value | unit | max. value)
-200

200

; Read access Write access CINH PLC STOP No transfer COM MOT

C00064

Parameter | Name:

Data type: UNSIGNED_32

Index: 24511d = 5FBFh

C00064 | Device utilisation (Ixt)

Controller load during the last 180 seconds
C00064 > 100 % activates error (OC5).
Error reset only possible if C00064 < 95 %.
Display range (min. value | unit | max. value)
0

250

; Read access Write access CINH PLC STOP No transfer COM MOT

C00065

Parameter | Name:

Data type: INTEGER_32

Index: 24510d = 5FBEh

C00065 | Ext. 24-V voltage

Display range (min. value | unit | max. value)
0.0

1000.0

; Read access Write access CINH PLC STOP No transfer COM MOT

C00066

Scaling factor: 10

Parameter | Name:

Data type: UNSIGNED_32

Index: 24509d = 5FBDh

C00066 | Thermal motor load (Ixt)

A 100 % load corresponds to a permanently flowing rated motor current
Display range (min. value | unit | max. value)
0

250

; Read access Write access CINH PLC STOP No transfer COM MOT

C00068

Parameter | Name:

Data type: INTEGER_32

Index: 24507d = 5FBBh

C00068 | Capacitor temperature

Display range (min. value | unit | max. value)
-200

200

; Read access Write access CINH PLC STOP No transfer COM MOT

550

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00069

C00069

Parameter | Name:

Data type: INTEGER_32

Index: 24506d = 5FBAh

C00069 | CPU temperature

Display range (min. value | unit | max. value)
-200

200

; Read access Write access CINH PLC STOP No transfer COM MOT

C00070

Parameter | Name:

Data type: UNSIGNED_32

Index: 24505d = 5FB9h

C00070 | Speed controller gain

Setting range (min. value | unit | max. value)
0

Lenze setting

Nm/rpm

2000000000 44 Nm/rpm

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00071

Scaling factor: 100000

Parameter | Name:

Data type: UNSIGNED_32

Index: 24504d = 5FB8h

C00071 | Speed contr. reset time

Setting range (min. value | unit | max. value)
1.0

Lenze setting

ms

6000.0 14.4 ms

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00072

Scaling factor: 10

Parameter | Name:

Data type: UNSIGNED_32

Index: 24503d = 5FB7h

C00072 | Speed controller D component

Setting range (min. value | unit | max. value)
0.00

Lenze setting

ms

3.00 0.00 ms

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00074

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_8

Index: 24501d = 5FB5h

C00074 | current controller feedforward control

Selection list (Lenze setting printed in bold)
0 Deactivate feedforward control
1 Activate feedforward control
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00075

Parameter | Name:

Data type: UNSIGNED_32

Index: 24500d = 5FB4h

C00075 | Current controller gain

Setting range (min. value | unit | max. value)
0.00

Lenze setting

V/A

750.00 105.00 V/A

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00076

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 24499d = 5FB3h

C00076 | Current contr. integr.-act. time

Setting range (min. value | unit | max. value)
0.01

ms

Lenze setting
2000.00 2.00 ms

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00077

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 24498d = 5FB2h

C00077 | Field controller gain

Setting range (min. value | unit | max. value)
0.00

A/Vs

Lenze setting
50000.00 165.84 A/Vs

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

Firmware 1.37 - 09/2006

Scaling factor: 100

551

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00078
C00078

Parameter | Name:

Data type: UNSIGNED_32

Index: 24497d = 5FB1h

C00078 | Field contr. reset time

Setting range (min. value | unit | max. value)
1.0

Lenze setting

ms

6000.0 15.1 ms

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00079

Scaling factor: 10

Parameter | Name:

Data type: UNSIGNED_32

Index: 24496d = 5FB0h

C00079 | Motor - mutual inductance

Display range (min. value | unit | max. value)
0.0

mH

214748364.7

; Read access Write access CINH PLC STOP No transfer COM MOT

C00080

Scaling factor: 10

Parameter | Name:

Data type: UNSIGNED_32

Index: 24495d = 5FAFh

C00080 | Resolver - number of pole pairs

Setting range (min. value | unit | max. value)
1

Lenze setting
10 1

; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C00081

Parameter | Name:

Data type: UNSIGNED_32

Index: 24494d = 5FAEh

C00081 | Rated motor power

Setting range (min. value | unit | max. value)
0.01

kW

Lenze setting
500.00 0.25 kW

; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C00082

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 24493d = 5FADh

C00082 | Motor rotor resistance

Display range (min. value | unit | max. value)
0.0000

Ohm

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

C00083

Scaling factor: 10000

Parameter | Name:

Data type: UNSIGNED_32

Index: 24492d = 5FACh

C00083 | Motor - rotor time constant

Display range (min. value | unit | max. value)
0.00

ms

21474836.47

; Read access Write access CINH PLC STOP No transfer COM MOT

C00084

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 24491d = 5FABh

C00084 | Motor stator resistance

Setting range (min. value | unit | max. value)
0.0000

Ohm

Lenze setting
125.0000 18.2200 Ohm

; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C00085

Scaling factor: 10000

Parameter | Name:

Data type: UNSIGNED_32

Index: 24490d = 5FAAh

C00085 | Motor stator leakage induct.

Setting range (min. value | unit | max. value)
0.000

mH

Lenze setting
500.000 51.000 mH

; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

552

Firmware 1.37 - 09/2006

Scaling factor: 1000

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00087

C00087

Parameter | Name:

Data type: UNSIGNED_32

Index: 24488d = 5FA8h

C00087 | Rated motor speed

Setting range (min. value | unit | max. value)
50

rpm

Lenze setting
50000 4050 rpm

; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C00088

Parameter | Name:

Data type: UNSIGNED_32

Index: 24487d = 5FA7h

C00088 | Motor - rated current

Setting range (min. value | unit | max. value)
0.01

Lenze setting
1500.00 1.30 A

; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C00089

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 24486d = 5FA6h

C00089 | Rated motor frequency

Setting range (min. value | unit | max. value)
0.1

Hz

Lenze setting
1000.0 270.0 Hz

; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C00090

Scaling factor: 10

Parameter | Name:

Data type: UNSIGNED_32

Index: 24485d = 5FA5h

C00090 | Rated motor voltage

Setting range (min. value | unit | max. value)
50

Lenze setting
15000 225 V

; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C00091

Parameter | Name:

Data type: UNSIGNED_32

Index: 24484d = 5FA4h

C00091 | Motor - cosine phi

Setting range (min. value | unit | max. value)
0.50

Lenze setting
1.00 0.80

; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C00092

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 24483d = 5FA3h

C00092 | Motor - magnetising current

Display range (min. value | unit | max. value)
0.00

500.00

; Read access Write access CINH PLC STOP No transfer COM MOT

C00099

Scaling factor: 100

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24476d = 5F9Ch

C00099 | Firmware version

Format: "xx.xx.xx.xx" (main version, subversion, release version, build number)
; Read access Write access CINH PLC STOP No transfer COM MOT

C00100

Parameter | Name:

Data type: UNSIGNED_32

Index: 24475d = 5F9Bh

C00100 | Service code

This code is used internally by the controller and must not be overwritten by the user!

Firmware 1.37 - 09/2006

553

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00105
C00105

Parameter | Name:

Data type: UNSIGNED_32

Index: 24470d = 5F96h

C00105 | Quick stop decel. time

Time between quick stop activation and standstill plus relative inaccuracy time (C00106).
"Basic functionQuick stop"
Setting range (min. value | unit | max. value)
0.000

Lenze setting

999.999 0.000 s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00106

Scaling factor: 1000

Parameter | Name:

Data type: UNSIGNED_32

Index: 24469d = 5F95h

C00106 | Quick stop S-ramp time

S-ramp time in [%] referred to the deceleration time set under C00105.
Setting range (min. value | unit | max. value)
0.00

Lenze setting

100.00 0.00 %

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00107

"Basic functionQuick stop"

Parameter | Name:

Scaling factor: 100

Data type: UNSIGNED_8

Index: 24468d = 5F94h

C00107 | Ref. quick stop decel. time

Reference for the deceleration time set in C00105.

"Basic functionQuick stop"

Selection list (Lenze setting printed in bold)

0 Reference = reference speed
(C00011)
1 Ref. = Current speed
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00114

Parameter | Name:

Data type: UNSIGNED_8

Index: 24461d = 5F8Dh

C00114 | DIx terminal polarity

"0" = positive logic (HIGH level = TRUE, LOW level = FALSE)
"1" = negative logic (HIGH level = FALSE, LOW level = TRUE)
Setting range (min. value | unit | max. value)
0

Subcodes

Lenze setting

Information

C00114/1

Terminal polarity of digital inputs 1 ... 8

C00114/...
C00114/8
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00118

Parameter | Name:

Data type: UNSIGNED_8

Index: 24457d = 5F89h

C00118 | DOx terminal polarity

"0" positive logic (TRUE HIGH level, FALSE LOW level)
"1" negative logic (FALSE HIGH level, TRUE LOW level)
Setting range (min. value | unit | max. value)
0

Subcodes

Lenze setting

Information

C00118/1

Terminal polarity of digital outputs 1 ... 4

C00118/...
C00118/4
; Read access ; Write access CINH PLC STOP No transfer COM MOT

554

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00120

C00120

Parameter | Name:

Data type: UNSIGNED_32

Index: 24455d = 5F87h

C00120 | Mot. overload protection (Ixt)

Threshold for I2 x t disconnection

Disconnection is carried out if the thermal motor load (C00066) is higher than the set threshold.
A 100 % thermal motor load corresponds to a permanently flowing rated motor current
Setting range (min. value | unit | max. value)
0

Lenze setting

200 105 %

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00121

Parameter | Name:

Data type: UNSIGNED_32

Index: 24454d = 5F86h

C00121 | Motor temp. warning threshold

Temperature threshold for motor temperature advance warning
The reaction for reaching the threshold can be selected in C00584.
Setting range (min. value | unit | max. value)
0

Lenze setting

150 120 C

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00122

Parameter | Name:

Data type: UNSIGNED_32

Index: 24453d = 5F85h

C00122 | Heatsink temp. warn. threshold

Temperature threshold for heatsink temperature advance warning
The reaction for reaching the threshold can be selected in C00582.
Setting range (min. value | unit | max. value)
0

Lenze setting

85 85 C

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00123

Parameter | Name:

Data type: UNSIGNED_32

Index: 24452d = 5F84h

C00123 | Device util. warning threshold

Adjustable threshold for I x t advance warning
The advance warning is sent if the controller load (C00064) is higher than the set threshold.
The reaction for reaching the threshold can be selected in C00604.
Setting range (min. value | unit | max. value)
0

Lenze setting

100 90 %

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00126

Parameter | Name:

Data type: UNSIGNED_32

Index: 24449d = 5F81h

C00126 | CPU temp. warning threshold

Temperature threshold for advance warning of CPU temperature on the control card
The reaction for reaching the threshold can be selected in C00589.
Setting range (min. value | unit | max. value)
0

Lenze setting

85 70 C

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00127

Parameter | Name:

Data type: UNSIGNED_32

Index: 24448d = 5F80h

C00127 | Mot. overload warning threshold

Adjustable threshold for I2 x t advance warning

The advance warning is sent if the thermal motor load (C00066) is higher than the set threshold.
The reaction for reaching the threshold can be selected in C00606.
Setting range (min. value | unit | max. value)
0

Lenze setting
200 100 %

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

Firmware 1.37 - 09/2006

555

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00128
C00128

Parameter | Name:

Data type: UNSIGNED_32

Index: 24447d = 5F7Fh

C00128 | Therm. motor time constant

Setting range (min. value | unit | max. value)
0.1

min

600.0

Subcodes

Lenze setting

Information

C00128/1

1.0 min

Therm. time constant coil

C00128/2

5.0 min

Therm. time constant plates

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00129

Scaling factor: 10

Parameter | Name:

Data type: INTEGER_32

Index: 24446d = 5F7Eh

C00129 | Brake resistance value

Required for monitoring of the brake resistor temperature.
Setting range (min. value | unit | max. value)
0

Lenze setting

Ohm

500 180 Ohm

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00130

Parameter | Name:

Data type: INTEGER_32

Index: 24445d = 5F7Dh

C00130 | Max. power of brake resistor

Required for monitoring of the brake resistor temperature.
Setting range (min. value | unit | max. value)
0

Lenze setting

800000 5600 W

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00131

Parameter | Name:

Data type: INTEGER_32

Index: 24444d = 5F7Ch

C00131 | Therm. capacity of brake resistor

Required for monitoring of the brake resistor temperature.
Setting range (min. value | unit | max. value)
0

Lenze setting

kWs

1000 485 kWs

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00132

Parameter | Name:

Data type: INTEGER_32

Index: 24443d = 5F7Bh

C00132 | Max. temp. of brake resistor

When this temperature is reached, the brake resistor will be switched off and switched on again if the temperature
is fallen below with a hysteresis of 5 K.
Lenze setting

Setting range (min. value | unit | max. value)

0

1000 200 C

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00142

Parameter | Name:

C00142 | Autom. restart after mains ON

Data type: UNSIGNED_32

Index: 24433d = 5F71h

Starting performance of the controller after mains connection or fault

Selection list (Lenze setting printed in bold)
0 Inhibited
1 Enabled
; Read access ; Write access CINH PLC STOP No transfer COM MOT

556

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00150

C00150

Parameter | Name:

Data type: BITFIELD_16

Index: 24425d = 5F69h

C00150 | Status word 1

Status word 1 of the drive interface
Value is bit-coded:
Bit 0 User-defined status (bit 0)
Bit 1 Pulse inhibit active
Bit 2 User-defined status (bit 2)
Bit 3 User-defined status (bit 3)
Bit 4 User-defined status (bit 4)
Bit 5 User-defined status (bit 5)
Bit 6 Actual speed value = 0
Bit 7 Controller inhibit active
Bit 8 Device state - Bit 1
Bit 9 Device state - Bit 2
Bit 10 Device state - Bit 3
Bit 11 Device state - Bit 4
Bit 12 Warning active
Bit 13 Trouble active
Bit 14 User-defined status (bit 14)
Bit 15 User-defined status (bit 15)
; Read access Write access CINH PLC STOP No transfer COM MOT

C00155

Parameter | Name:

Data type: BITFIELD_16

Index: 24420d = 5F64h

C00155 | Status word 2

Status word 2 of the drive interface
Value is bit-coded:
Bit 0 Error status active
Bit 1 Torque limit reached
Bit 2 Current limit reached
Bit 3 Reserved
Bit 4 Drive switched on/in operation
Bit 5 Drive ready for operation
Bit 6 Error active
Bit 7 Drive initialisation
Bit 8 Motor CCW rotation active
Bit 9 Quick stop by trouble active
Bit 10 Safe torque off active
Bit 11 Application active
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Quick stop active
Bit 15 Reserved
; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

557

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00156
C00156

Parameter | Name:

Data type: UNSIGNED_32

Index: 24419d = 5F63h

C00156 | Status/Control word MCTRL

Status and control word of the motor interface
Display range (min. value | unit | max. value)
0

4294967295

Subcodes

Information

C00156/1

Status word motor control

C00156/2

Control word motor control

; Read access Write access CINH PLC STOP No transfer COM MOT

C00158

Parameter | Name:

Data type: BITFIELD_16

Index: 24417d = 5F61h

C00158 | Controller inhibit by (source)

Value is bit-coded:
Bit 0 Terminal
Bit 1 Reserved
Bit 2 Reserved
Bit 3 Reserved
Bit 4 Application
Bit 5 Controller command
Bit 6 Error response
Bit 7 Internal PLC
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Operating system
Bit 11 Identification program
Bit 12 Brake
Bit 13 Limiter
; Read access Write access CINH PLC STOP No transfer COM MOT

558

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00159

C00159

Parameter | Name:

Data type: BITFIELD_16

Index: 24416d = 5F60h

C00159 | Quick stop by (source)

Value is bit-coded:
Bit 0 Reserved
Bit 1 Reserved
Bit 2 Reserved
Bit 3 Reserved
Bit 4 Application
Bit 5 Controller command
Bit 6 Error response
Bit 7 Internal PLC
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
; Read access Write access CINH PLC STOP No transfer COM MOT

C00166

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24409d = 5F59h

C00166 | Error status

Error message for error number indicated in C00168
; Read access Write access CINH PLC STOP No transfer COM MOT

C00167

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24408d = 5F58h

C00167 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00168

Parameter | Name:

Data type: UNSIGNED_32

Index: 24407d = 5F57h

C00168 | Error number

Display of the error number of the first error with highest priority
Display range (min. value | unit | max. value)
0

4294967295

; Read access Write access CINH PLC STOP No transfer COM MOT

C00169

Parameter | Name:

Data type: UNSIGNED_32

Index: 24406d = 5F56h

C00169 | Logbook event filter

Bit coded word for the filtering of system events (fault, warning, info)
A set filter bit inhibits entry into the log file.
Setting range (min. value | unit | max. value)
0

Lenze setting
4294967295 0

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00171

Parameter | Name:

Data type: UNSIGNED_32

Index: 24404d = 5F54h

C00171 | Service code

This code is used internally by the controller and must not be overwritten by the user!

Firmware 1.37 - 09/2006

559

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00173
C00173

Parameter | Name:

Data type: UNSIGNED_8

Index: 24402d = 5F52h

C00173 | Mains voltage

Adaptation of the DC bus voltage thresholds

Check during commissioning and adapt, if necessary.
All drive components in DC bus connections must have the same thresholds.
LU = Undervoltage threshold, OU = Overvoltage threshold
Note:Altering this setting also has an impact on the permissible device utilisation!
In the chapter "Rated data" of the Hardware Manual the corresponding permissible device utilisation for the
different device types at a certain mains voltage and switching frequency is specified.
Selection list (Lenze setting printed in bold)

Information

0 230 V, LU = 150 V

Operation on 230 V mains

LU = 150 V, OU = 400 V
Brake chopper threshold = 390 V

1 400/415 V, LU = 285 V

Operation on 400 V mains/415 V mains

LU = 285 V, OU = 800 V
Brake chopper threshold = 725 V

2 460/480 V, LU = 328 V

Operation on 460 V mains/480 V mains

LU = 328 V, OU = 800 V
Brake chopper threshold = 765 V

3 500 V, LU = 342 V

Operation on 500 V mains

LU = 342 V, OU = 800 V
Brake chopper threshold = 790 V

4 230 V, LU configurable

Operation on 230 V mains

LU is selected under C00174
OU = 400 V
Brake chopper threshold = 390 V

5 400/415 V, LU configurable

Operation on 400 V mains/415 V mains

LU is selected under C00174
OU = 800 V
Brake chopper threshold = 725 V

6 460/480 V, LU configurable

Operation on 460 V mains/480 V mains

LU is selected under C00174
OU = 800 V
Brake chopper threshold = 765 V

7 500 V, LU configurable

Operation on 500 V mains

LU is selected under C00174
OU = 800 V
Brake chopper threshold = 790 V

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00174

Parameter | Name:

Data type: UNSIGNED_32

Index: 24401d = 5F51h

C00174 | Threshold - undervoltage (LU)

With C00173 = 4 ... 7 the LU threshold can be freely selected
Setting range (min. value | unit | max. value)
15

Lenze setting
342 285 V

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00175

Parameter | Name:

Data type: UNSIGNED_32

Index: 24400d = 5F50h

C00175 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00176

Parameter | Name:

Data type: UNSIGNED_32

Index: 24399d = 5F4Fh

C00176 | Service code

This code is used internally by the controller and must not be overwritten by the user!

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9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00177

C00177

Parameter | Name:

Data type: UNSIGNED_32

Index: 24398d = 5F4Eh

C00177 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00178

Parameter | Name:

Data type: UNSIGNED_32

Index: 24397d = 5F4Dh

C00178 | Elapsed-time meter

Display range (min. value | unit | max. value)
0

4294967295

; Read access Write access CINH PLC STOP No transfer COM MOT

C00179

Parameter | Name:

Data type: UNSIGNED_32

Index: 24396d = 5F4Ch

C00179 | Power-on time meter

Display range (min. value | unit | max. value)
0

4294967295

; Read access Write access CINH PLC STOP No transfer COM MOT

C00180

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24395d = 5F4Bh

C00180 | Service code

For Lenze service only
; Read access ; Write access CINH PLC STOP ; No transfer COM MOT

C00181

Parameter | Name:

Data type: UNSIGNED_32

Index: 24394d = 5F4Ah

C00181 | Red. brake chopper threshold

Setting range (min. value | unit | max. value)
0

Lenze setting

100 0 V

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00183

Parameter | Name:

Data type: UNSIGNED_32

Index: 24392d = 5F48h

C00183 | Device state

Display of the device state for controller diagnostics.
Selection list (display only)
0 Operation
1 Operation/Warning active
2 Operation/warning locked active
3 Operation/Quick stop active
4 Operation/Application stopped
10 Initialisation active
20 System error active
90 Drive switched on
91 Device switched-on/QSP fault
101 Safe torque off active
102 Error active
104 Trouble active
141 Drive ready to start
151 Quick stop by trouble active
; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

561

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00185
C00185

Parameter | Name:

Data type: UNSIGNED_32

Index: 24390d = 5F46h

C00185 | Threshold - mains recov. detect.

Setting range (min. value | unit | max. value)
0

Lenze setting
100 90 %

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00186

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24389d = 5F45h

C00186 | ENP: Identified motor type

Motor type read from the electronic nameplate (ENP)
; Read access Write access CINH PLC STOP No transfer COM ; MOT

C00187

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24388d = 5F44h

C00187 | ENP: Identified serial number

Serial number read from the electronic nameplate (ENP)
; Read access Write access CINH PLC STOP No transfer COM ; MOT

C00188

Parameter | Name:

Data type: UNSIGNED_8

Index: 24387d = 5F43h

C00188 | ENP: Status

Selection list (display only)
0 No ENP found
1 ENP data loaded
2 Known ENP found
; Read access Write access CINH PLC STOP No transfer COM ; MOT

C00199

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24376d = 5F38h

C00199 | Device name

Device name to be defined by the user (e.g. "Cross cutter" or "hoist axis 1") with max. 128 characters
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00200

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24375d = 5F37h

C00200 | Firmware product type

; Read access Write access CINH PLC STOP No transfer COM MOT

C00201

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24374d = 5F36h

C00201 | Firmware - compile date

; Read access Write access CINH PLC STOP No transfer COM MOT

562

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00203

C00203

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24372d = 5F34h

C00203 | HW product types

Subcodes

Information

C00203/1

Type: Control card

C00203/2

Type: Power section

C00203/3

Type: Module in MXI1

C00203/4

Type: Module in MXI2

C00203/5

Type: Memory module

C00203/6

Type: Safety module

C00203/7

Type: Standard device

C00203/8

Type: Complete device

C00203/9

Type: ENP

; Read access Write access CINH PLC STOP No transfer COM MOT

C00204

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24371d = 5F33h

C00204 | HW serial numbers

Subcodes

Information

C00204/1

Serial no.: Control card

C00204/2

Serial no.: Power section

C00204/3

Serial no.: Module in MXI1

C00204/4

Serial no.: Module in MXI2

C00204/5

Serial no.: Memory module

C00204/6

Serial no.: Safety module

C00204/7

Serial no.: Standard device

C00204/8

Serial no.: Complete device

C00204/9

Serial No.: ENP

; Read access Write access CINH PLC STOP No transfer COM MOT

C00205

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24370d = 5F32h

C00205 | HW descriptions
Subcodes

Information

C00205/1

Info: Control card

C00205/2

Info: Power section

C00205/3

Info: Module in MXI1

C00205/4

Info: Module in MXI2

C00205/5

Info: Memory module

C00205/6

Info: Safety module

; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

563

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00206
C00206

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24369d = 5F31h

C00206 | HW manufacturing data

Subcodes

Information

C00206/1

Date: Control card

C00206/2

Date: Power section

C00206/3

Date: Module in MXI1

C00206/4

Date: Module in MXI2

C00206/5

Date: Memory module

C00206/6

Date: Safety module

C00206/7

Date: Standard device

C00206/8

Date: Complete device

; Read access Write access CINH PLC STOP No transfer COM MOT

C00208

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24367d = 5F2Fh

C00208 | HW manufacturer
Subcodes

Information

C00208/1

Manufacturer: Control card

C00208/2

Manufacturer: Power section

C00208/3

Manufacturer: Module in MXI1

C00208/4

Manufacturer: Module in MXI2

C00208/5

Manufacturer: Memory module

C00208/6

Manufacturer: Safety module

; Read access Write access CINH PLC STOP No transfer COM MOT

C00209

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24366d = 5F2Eh

C00209 | HW countries of origin

Subcodes

Information

C00209/1

Country: Control card

C00209/2

Country: Power section

C00209/3

Country: Module in MXI1

C00209/4

Country: Module in MXI2

C00209/5

Country: Memory module

C00209/6

Country: Safety module

; Read access Write access CINH PLC STOP No transfer COM MOT

C00210

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24365d = 5F2Dh

C00210 | HW versions
Subcodes

Information

C00210/1

HW version: Control card

C00210/2

HW version: Power section

C00210/3

HW version: Module in MXI1

C00210/4

HW version: Module in MXI2

C00210/5

HW version: Memory module

C00210/6

HW version: Safety module

; Read access Write access CINH PLC STOP No transfer COM MOT

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Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00211

C00211

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24364d = 5F2Ch

C00211 | Application: Version

; Read access Write access CINH PLC STOP No transfer COM MOT

C00212

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24363d = 5F2Bh

C00212 | Application: Type code

; Read access Write access CINH PLC STOP No transfer COM MOT

C00213

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24362d = 5F2Ah

C00213 | Application: Compilation date

; Read access Write access CINH PLC STOP No transfer COM MOT

C00214

Parameter | Name:

Data type: UNSIGNED_8

Index: 24361d = 5F29h

C00214 | Required safety module

Setting of the expected safety module

If a different safety module is detected, an error (trouble) will be activated. The error can only be eliminated by
restarting the controller.
Selection list (Lenze setting printed in bold)
1 SM0
2 SM100
4 SM300
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00217

Parameter | Name:

Data type: UNSIGNED_32

Index: 24358d = 5F26h

C00217 | Parameter error information

This code is used internally by the controller and must not be overwritten by the user!
C00218

Parameter | Name:

Data type: UNSIGNED_32

Index: 24357d = 5F25h

C00218 | Application: ID number

Display range (min. value | unit | max. value)
0

; Read access Write access CINH PLC STOP No transfer COM MOT

C00225

Parameter | Name:

Data type: UNSIGNED_32

Index: 24350d = 5F1Eh

C00225 | Check configuration

This code is used internally by the controller and must not be overwritten by the user!
C00254

Parameter | Name:

Data type: UNSIGNED_32

Index: 24321d = 5F01h

C00254 | Phase controller gain

Setting range (min. value | unit | max. value)
0.00

1/s

Lenze setting
1000.00 20.00 1/s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

Scaling factor: 100

565

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00270
C00270

Parameter | Name:

Data type: UNSIGNED_32

Index: 24305d = 5EF1h

C00270 | Freq. - current setpoint filter

Setting range (min. value | unit | max. value)
1.0

Hz

1000.0

Subcodes

Lenze setting

Information

C00270/1

200.0 Hz

Freq. current setpoint filter 1

C00270/2

400.0 Hz

Freq. current setpoint filter 2

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00271

Scaling factor: 10

Parameter | Name:

Data type: UNSIGNED_32

Index: 24304d = 5EF0h

C00271 | Width - current setpoint filter

Setting range (min. value | unit | max. value)
0.0

Hz

500.0

Subcodes

Lenze setting

Information

C00271/1

20.0 Hz

Width current setp. filter 1

C00271/2

40.0 Hz

Width current setp. filter 2

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00272

Scaling factor: 10

Parameter | Name:

Data type: UNSIGNED_32

Index: 24303d = 5EEFh

C00272 | Depth - current setpoint filter

With the setting "0 dB" the current setpoint filter is deactivated
Setting range (min. value | unit | max. value)
0

db

100

Subcodes

Lenze setting

Information

C00272/1

0 db

Depth current setp. filter 1

C00272/2

0 db

Depth current setp. filter 2

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00273

Parameter | Name:

Data type: UNSIGNED_32

Index: 24302d = 5EEEh

C00273 | Moment of inertia

Setting range (min. value | unit | max. value)
0.00

kg cm

10000.00

Subcodes

Lenze setting

Information

C00273/1

0.14 kg cm

Motor moment of inertia

C00273/2

0.00 kg cm

Load moment of inertia

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00274

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 24301d = 5EEDh

C00274 | Max. acceleration change

Setting range (min. value | unit | max. value)
0.0

%/ms

Lenze setting
400.0 400.0 %/ms

; Read access ; Write access CINH PLC STOP No transfer COM MOT

566

Firmware 1.37 - 09/2006

Scaling factor: 10

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00275

C00275

Parameter | Name:

Data type: UNSIGNED_16

Index: 24300d = 5EECh

C00275 | Signal source - speed setpoint

Selection list (Lenze setting printed in bold)
0 SpeedAdd signal
1 Differentiated PosSet signal
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00276

Parameter | Name:

Data type: UNSIGNED_16

Index: 24299d = 5EEBh

C00276 | Signal source - torque setpoint

Selection list (Lenze setting printed in bold)
0 TorqueAdd/AccAdd signal
1 Differentiated SpeedSet signal
2 2x diff. PosSet signal
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00280

Parameter | Name:

Data type: UNSIGNED_32

Index: 24295d = 5EE7h

C00280 | Filter time const. DC detection

Setting range (min. value | unit | max. value)
1.0

ms

Lenze setting
1000.0 25.0 ms

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00308

Scaling factor: 10

Parameter | Name:

Data type: UNSIGNED_16

Index: 24267d = 5ECBh

C00308 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00309

Parameter | Name:

Data type: UNSIGNED_32

Index: 24266d = 5ECAh

C00309 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00310

Parameter | Name:

Data type: UNSIGNED_8

Index: 24265d = 5EC9h

C00310 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00311

Parameter | Name:

Data type: BITFIELD_8

Index: 24264d = 5EC8h

C00311 | CAN TPDO1 mask byte x

A mask can be parameterised for each byte of the TPDO1 in the assigned subcode.
In case of an event-controlled PDO transmission, only the masked bits will be considered for event control.
Mask "0x0" means that no bit of the corresponding byte activates PDO transmission.
Mask "0xff" means that each bit of the corresponding byte can activate PDO transmission.
Value is bit-coded:
Bit 0 Mask bit 0
... ...
Bit 7 Mask bit 7
Subcodes

Lenze setting

Information

C00311/1

0x00

Mask for byte 1 ... byte 8 of TPDO1

C00311/...
C00311/8
; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

567

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00312
C00312

Parameter | Name:

Data type: BITFIELD_8

Index: 24263d = 5EC7h

C00312 | CAN TPDO2 mask byte x

A mask can be parameterised for each byte of the TPDO2 in the assigned subcode.
In case of an event-controlled PDO transmission, only the masked bits will be considered for event control.
Mask "0x0" means that no bit of the corresponding byte activates PDO transmission.
Mask "0xff" means that each bit of the corresponding byte can activate PDO transmission.
Value is bit-coded:
Bit 0 Mask bit 0
... ...
Bit 7 Mask bit 7
Subcodes

Lenze setting

Information

C00312/1

0x00

Mask for byte 1 ... byte 8 of TPDO2

C00312/...
C00312/8
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00313

Parameter | Name:

Data type: BITFIELD_8

Index: 24262d = 5EC6h

C00313 | CAN TPDO3 mask byte x

A mask can be parameterised for each byte of the TPDO3 in the assigned subcode.
In case of an event-controlled PDO transmission, only the masked bits will be considered for event control.
Mask "0x0" means that no bit of the corresponding byte activates PDO transmission.
Mask "0xff" means that each bit of the corresponding byte can activate PDO transmission.
Value is bit-coded:
Bit 0 Mask bit 0
... ...
Bit 7 Mask bit 7
Subcodes

Lenze setting

Information

C00313/1

0x00

Mask for byte 1 ... byte 8 of TPDO3

C00313/...
C00313/8
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00314

Parameter | Name:

Data type: BITFIELD_8

Index: 24261d = 5EC5h

C00314 | CAN TPDO4 mask byte x

A mask can be parameterised for each byte of the TPDO4 in the assigned subcode.
In case of an event-controlled PDO transmission, only the masked bits will be considered for event control.
Mask "0x0" means that no bit of the corresponding byte activates PDO transmission.
Mask "0xff" means that each bit of the corresponding byte can activate PDO transmission.
Value is bit-coded:
Bit 0 Mask bit 0
... ...
Bit 7 Mask bit 7
Subcodes

Lenze setting

Information

C00314/1

0x00

Mask for byte 1 ... byte 8 of TPDO4

C00314/...
C00314/8
; Read access ; Write access CINH PLC STOP No transfer COM MOT

568

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00320

C00320

Parameter | Name:

Data type: BITFIELD_32

Index: 24255d = 5EBFh

C00320 | CAN TPDOx identifier

Identifier for TPDO1 ... TPDO4
If bit 31 is set (0x8nnnnnnn), the TPDO is deactivated (see DS301V402).
The basic setting is according to the "Predefined Connection Set" of DS301V402.
Value is bit-coded:

Information

Bit 0 COB-ID bit 0

... ...
Bit 31 PDO invalid

Bit 0 ... 10: COB-ID

Bit 11 ... 30: Reserved
Bit 31: SDO invalid

Subcodes

Lenze setting

Information

C00320/1

0x00000181

Identifier TPDO1
After a node address change and CAN reset node, the
value 0x180 + node address will be set by default.

C00320/2

0x00000281

Identifier TPDO2
After a node address change and CAN reset node, the
value 0x280 + node address will be set by default.

C00320/3

0x00000381

Identifier TPDO3
After a node address change and CAN reset node, the
value 0x380 + node address will be set by default.

C00320/4

0x00000481

Identifier TPDO4
After a node address change and CAN reset node, the
value 0x480 + node address will be set by default.

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00321

Parameter | Name:

Data type: BITFIELD_32

Index: 24254d = 5EBEh

C00321 | CAN RPDOx identifier

Identifier for RPDO1 ... RPDO4
If bit 31 is set (0x8nnnnnnn), the RPDO is deactivated (see DS301V402).
The basic setting is according to the "Predefined Connection Sets" of DS301V402.
Value is bit-coded:

Information

Bit 0 COB-ID bit 0

... ...
Bit 31 PDO invalid

Bit 0 ... 10: COB-ID

Bit 11 ... 30: Reserved
Bit 31: SDO invalid

Subcodes

Lenze setting

Information

C00321/1

0x00000201

Identifier RPDO1
After a node address change and CAN reset node, the
value 0x200 + node address will be set by default.

C00321/2

0x00000301

Identifier RPDO2
After a node address change and CAN reset node, the
value 0x300 + node address will be set by default.

C00321/3

0x00000401

Identifier RPDO3
After a node address change and CAN reset node, the
value 0x400 + node address will be set by default.

C00321/4

0x00000501

Identifier RPDO4
After a node address change and CAN reset node, the
value 0x500 + node address will be set by default.

; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

569

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00322
C00322

Parameter | Name:

Data type: UNSIGNED_8

Index: 24253d = 5EBDh

C00322 | CAN TPDOx Tx mode

TPDO transmission mode according to DS301V402

Types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific), 255 (event-controlled
device-profile-specific) are supported.
The basic PDO setting is "254" (event-controlled).
Setting range (min. value | unit | max. value)
0

255

Subcodes

Lenze setting

Information

C00322/1

254

Transmission mode for TPDO1 ... TPDO4

C00322/...
C00322/4
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00323

Parameter | Name:

Data type: UNSIGNED_8

Index: 24252d = 5EBCh

C00323 | CAN RPDOx Rx mode

RPDO transmission mode according to DS301V402

With the RPDO used as monitoring setting for sync-controlled PDOs.
Types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific), 255 (event-controlled
device-profile-specific) are supported.
The basic PDO setting is "254" (event-controlled).
Setting range (min. value | unit | max. value)
0

255

Subcodes

Lenze setting

Information

C00323/1

254

Transmission mode for RPDO1 ... RPDO4

C00323/...
C00323/4
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00324

Parameter | Name:

Data type: UNSIGNED_16

Index: 24251d = 5EBBh

C00324 | CAN TPDOx delay time

Minimum time between the sending of two identical TPDOs (see DS301V402).
The delay time is entered in 1/10 ms and automatically rounded to full milliseconds by the code.
Setting range (min. value | unit | max. value)
0

1/10 ms

65535

Subcodes

Lenze setting

Information

C00324/1

0 1/10 ms

Delay time for TPDO1 ... TPDO4

C00324/...
C00324/4
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00325

Parameter | Name:

Data type: UNSIGNED_8

Index: 24250d = 5EBAh

C00325 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00326

Parameter | Name:

Data type: UNSIGNED_8

Index: 24249d = 5EB9h

C00326 | Service code

This code is used internally by the controller and must not be overwritten by the user!

570

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00327

C00327

Parameter | Name:

Data type: BITFIELD_32

Index: 24248d = 5EB8h

C00327 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00328

Parameter | Name:

Data type: BITFIELD_32

Index: 24247d = 5EB7h

C00328 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00329

Parameter | Name:

Data type: BITFIELD_32

Index: 24246d = 5EB6h

C00329 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00330

Parameter | Name:

Data type: BITFIELD_32

Index: 24245d = 5EB5h

C00330 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00335

Parameter | Name:

Data type: BITFIELD_32

Index: 24240d = 5EB0h

C00335 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00336

Parameter | Name:

Data type: BITFIELD_32

Index: 24239d = 5EAFh

C00336 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00337

Parameter | Name:

Data type: BITFIELD_32

Index: 24238d = 5EAEh

C00337 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00338

Parameter | Name:

Data type: BITFIELD_32

Index: 24237d = 5EADh

C00338 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00345

Parameter | Name:

Data type: UNSIGNED_8

Index: 24230d = 5EA6h

C00345 | CAN error

Selection list (display only)
0 No error
1 Guard Event
2 Warning
3 Bus off
4 Sync telegram error
6 Overrun
; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

571

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00346
C00346

Parameter | Name:

Data type: BITFIELD_32

Index: 24229d = 5EA5h

C00346 | CAN heartbeat activity

Value is bit-coded:
Bit 0 Heartbeat node 1
... ...
Bit 31 Heartbeat node 32
; Read access Write access CINH PLC STOP No transfer COM MOT

C00347

Parameter | Name:

Data type: UNSIGNED_8

Index: 24228d = 5EA4h

C00347 | CAN heartbeat status

Selection list (display only)
0 Unknown
4 Stopped
5 Operational
127 Pre-operational
Subcodes

Information

C00347/1

Status node 1 ... 32

C00347/...
C00347/32
; Read access Write access CINH PLC STOP No transfer COM MOT

C00348

Parameter | Name:

Data type: UNSIGNED_8

Index: 24227d = 5EA3h

C00348 | CAN status DIP switch

The value "1" means that the CAN DIP switch has been identified after mains switching and a valid baud rate and
node address have been set.
"0" means that no CAN DIP switch or no valid setting has been identified or the setting has been overwritten by
writing code C00350 or C00351.
Display range (min. value | unit | max. value)
0

; Read access Write access CINH PLC STOP No transfer COM MOT

C00349

Parameter | Name:

Data type: UNSIGNED_8

Index: 24226d = 5EA2h

C00349 | DIP switch CAN setting

Setting of the CAN DIP switch at the last mains connection
Display range (min. value | unit | max. value)
0

255

Subcodes

Information

C00349/1

Node address

C00349/2

Baud rate:
0: 10 kbit/s
1: 20 kbit/s
2: 50 kbit/s
3: 125 kbit/s
4: 250 kbit/s
5: 500 kbit/s
6: 800 kbit/s
7: 1000 kbit/s

; Read access Write access CINH PLC STOP No transfer COM MOT

572

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00350

C00350

Parameter | Name:

Data type: UNSIGNED_8

Index: 24225d = 5EA1h

C00350 | CAN node address

A change of the node address only gets active after a CAN reset node.
The basic server channel RX/TX is automatically provided by the node address (C00372 and C00373; subcode 1).
Overwriting the value deactivates a possible node address selection entered by means of hardware.
Setting range (min. value | unit | max. value)
1

Lenze setting
127 1

; Read access ; Write access CINH PLC STOP No transfer ; COM MOT

C00351

Parameter | Name:

Data type: UNSIGNED_8

Index: 24224d = 5EA0h

C00351 | CAN baud rate

A change of the baud rate only gets active after a CAN reset node.
Overwriting the value deactivates a possible node address selection entered by means of hardware.
Selection list (Lenze setting printed in bold)
0 500 kbit/s
1 250 kbit/s
2 125 kbit/s
3 50 kbit/s
4 1 mbit/s
5 20 kbit/s
6 10 kbit/s
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 800 kbit/s
15 Reserved
255 Auto baud
; Read access ; Write access CINH PLC STOP No transfer ; COM MOT

C00352

Parameter | Name:

Data type: UNSIGNED_8

Index: 24223d = 5E9Fh

C00352 | CAN slave/master

If "1" is entered and saved, the drive will start as CAN master after mains switching.
Selection list (Lenze setting printed in bold)
0 Slave
1 Master
; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

573

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00356
C00356

Parameter | Name:

Data type: UNSIGNED_16

Index: 24219d = 5E9Bh

C00356 | CAN TPDOx cycle time

TPDO event time from DS301V402.

With a value unequal "0", the TPDO will be sent after the set time without considering the transmission type.
Setting range (min. value | unit | max. value)
0

ms

65535

Subcodes

Lenze setting

Information

C00356/1

0 ms

Cycle time for TPDO1 ... TPDO4

C00356/...
C00356/4
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00357

Parameter | Name:

Data type: UNSIGNED_16

Index: 24218d = 5E9Ah

C00357 | CAN RPDOx monitoring time

RPDO event time from DS301V402.

With a value unequal "0", the RPDO will be expected after the set time.
If the RPDO is not received within this time, a parameterisable error message can be activated.
Setting range (min. value | unit | max. value)
0

ms

65535

Subcodes

Lenze setting

Information

C00357/1

3000 ms

Monitoring time for RPDO1 ... RPDO4

C00357/...
C00357/4
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00359

Parameter | Name:

Data type: UNSIGNED_8

Index: 24216d = 5E98h

C00359 | CAN status

Selection list (display only)
0 Operational
1 Pre-operational
4 Boot up
5 Stopped
7 Reset
8 INITIALISATION
9 Unknown
10 Autom. baud rate detection active
; Read access Write access CINH PLC STOP No transfer COM MOT

574

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00360

C00360

Parameter | Name:

Data type: UNSIGNED_16

Index: 24215d = 5E97h

C00360 | CAN telegram and error counter

After mains connection, counting restarts with "0".
After the maximum value has been reached, counting restarts with "0".
Display range (min. value | unit | max. value)
0

65535

Subcodes

Information

C00360/1

Stuffing bit error counter

More than five identical bits have been detected.

C00360/2

Format error counter

CAN frame has not been observed.

C00360/3

Acknowledge error counter

No device has acknowledged the telegram.

C00360/4

Bit1 error counter

"1" should be sent after bus arbitration, but "0" was
read.

C00360/5

Bit0 error counter

"0" should be sent after bus arbitration, but "1" was
read.

C00360/6

CRC error counter

Check sum check has indicated an error.

C00360/7

Tx telegram counter
Correctly received telegrams.

C00360/8

Rx telegram counters
Correctly transmitted telegrams.

; Read access Write access CINH PLC STOP No transfer COM MOT

C00361

Parameter | Name:

Data type: UNSIGNED_32

Index: 24214d = 5E96h

C00361 | CAN bus load

Restart the controller or use the controller command "Reset node" (C00002) to reset the display of the maximum
node load.
Display range (min. value | unit | max. value)
0

100

Subcodes

Information

C00361/1

Current node load in Tx direction

C00361/2

Current node load in Rx direction

C00361/3

Current node load through faulty telegrams

C00361/4

Maximum node load in Tx direction

C00361/5

Maximum node load in Rx direction

C00361/6

Maximum node load through faulty telegrams

; Read access Write access CINH PLC STOP No transfer COM MOT

C00367

Parameter | Name:

Data type: UNSIGNED_32

Index: 24208d = 5E90h

C00367 | CAN SYNC Rx identifier

Identifier with which the sync slave is to receive sync telegrams.
Connected with CANopen index 0x1005 of DS301V402.
Setting range (min. value | unit | max. value)
0

Lenze setting
2047 128

; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

575

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00368
C00368

Parameter | Name:

Data type: UNSIGNED_32

Index: 24207d = 5E8Fh

C00368 | CAN SYNC Tx identifier

Identifier with which the sync master is to send sync telegrams.
Connected with CANopen index 0x1005 of DS301V402.
Setting range (min. value | unit | max. value)

Lenze setting

2047 128

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00369

Parameter | Name:

Data type: UNSIGNED_16

Index: 24206d = 5E8Eh

C00369 | CAN SYNC transmit cycle time

Cycle in which the CAN sync master is to send its sync telegrams.
Connected with CANopen index 0x1006 of DS301V402.
Setting range (min. value | unit | max. value)
0

ms

Subcodes

Lenze setting

C00369/1

0 ms

C00369/2

0 ms

C00369/3

0 ms

65535
Information

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00372

Parameter | Name:

Data type: BITFIELD_32

Index: 24203d = 5E8Bh

C00372 | CAN SDO server Rx identifier

Identifier which serves to reach the assigned SDO server.
Setting bit 31 (0x8nnnnnnn) deactivates the corresponding SDO server (see DS301V402).
Value is bit-coded:

Information

Bit 0 COB-ID bit 0

... ...
Bit 31 SDO invalid

Bit 0 ... 10: COB-ID

Bit 11 ... 30: Reserved
Bit 31: SDO invalid

Subcodes

Lenze setting

Information

C00372/1

0x00000601

SDO server channel 1 RX

Subcode 1 contains the basic SDO channel which can
neither be changed nor deactivated, according to
DS301V402. Writing to the subcode is ineffective.
The value under subcode 1 results from the node
address (C00350) + 0x600.

C00372/2

0x80000000

SDO server channel 2 RX

C00372/3

0x80000000

SDO server channel 3 RX

C00372/4

0x80000000

SDO server channel 4 RX

C00372/5

0x80000000

SDO server channel 5 RX

C00372/6

0x80000000

SDO server channel 6 RX

C00372/7

0x80000000

SDO server channel 7 RX

C00372/8

0x80000000

SDO server channel 8 RX

C00372/9

0x80000000

SDO server channel 9 RX

C00372/10

0x80000000

SDO server channel 10 RX

; Read access ; Write access CINH PLC STOP No transfer ; COM MOT

576

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00373

C00373

Parameter | Name:

Data type: BITFIELD_32

Index: 24202d = 5E8Ah

C00373 | CAN SDO server Tx identifier

Identifier with which the assigned SDO server is able to transmit.
Setting bit 31 (0x8nnnnnnn) deactivates the corresponding SDO server (see DS301V402).
Value is bit-coded:

Information

Bit 0 COB-ID bit 0

Bit 0 ... 10: COB-ID

Bit 11 ... 30: Reserved
Bit 31: SDO invalid

... ...
Bit 31 SDO invalid
Subcodes

Lenze setting

Information

C00373/1

0x00000581

SDO server channel 1 TX

Subcode 1 contains the basic SDO channel which can
neither be changed nor deactivated, according to
DS301V402. Writing to the subcode is ineffective.
The value under subcode 1 results from the node
address (C00350) + 0x580.

C00373/2

0x80000000

SDO server channel 2 TX

C00373/3

0x80000000

SDO server channel 3 TX

C00373/4

0x80000000

SDO server channel 4 TX

C00373/5

0x80000000

SDO server channel 5 TX

C00373/6

0x80000000

SDO server channel 6 TX

C00373/7

0x80000000

SDO server channel 7 TX

C00373/8

0x80000000

SDO server channel 8 TX

C00373/9

0x80000000

SDO server channel 9 TX

C00373/10

0x80000000

SDO server channel 10 TX

; Read access ; Write access CINH PLC STOP No transfer ; COM MOT

C00374

Parameter | Name:

Data type: UNSIGNED_8

Index: 24201d = 5E89h

C00374 | CAN SDO client node address

Node address of the client which is assigned to this server (see DS301V402).
Setting range (min. value | unit | max. value)
1

127

Subcodes

Lenze setting

Information

C00374/1

SDO server channel 1 remote client node address

Subcode 1 contains the basic SDO channel which does
not include this entry, according to DS301V402.
Writing to the subcode is ineffective.
The value of subindex 1 results in 0.

C00374/2

SDO server channel 2 remote client node address

C00374/3

SDO server channel 3 remote client node address

C00374/4

SDO server channel 4 remote client node address

C00374/5

SDO server channel 5 remote client node address

C00374/6

SDO server channel 6 remote client node address

C00374/7

SDO server channel 7 remote client node address

C00374/8

SDO server channel 8 remote client node address

C00374/9

SDO server channel 9 remote client node address

C00374/10

SDO server channel 10 remote client node address

; Read access ; Write access CINH PLC STOP No transfer ; COM MOT

Firmware 1.37 - 09/2006

577

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00375
C00375

Parameter | Name:

Data type: BITFIELD_32

Index: 24200d = 5E88h

C00375 | CAN SDO client Rx identifier

Identifier which serves to reach the assigned SDO client.

Setting bit 31 (0x8nnnnnnn) deactivates the corresponding SDO client channel (see DS301V402).
The client channels need not be parameterised right now. Their functionality will only be required when using
the Gateway services.
Value is bit-coded:

Information

Bit 0 COB-ID bit 0

Bit 0 ... 10: COB-ID

Bit 11 ... 30: Reserved
Bit 31: SDO invalid

... ...
Bit 31 SDO invalid
Subcodes

Lenze setting

Information

C00375/1

0x80000000

SDO client channel 1 RX ... 10 RX

C00375/...
C00375/10
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00376

Parameter | Name:

Data type: BITFIELD_32

Index: 24199d = 5E87h

C00376 | CAN SDO client Tx identifier

Identifier with which the assigned SDO client is able to transmit.

Setting bit 31 (0x8nnnnnnn) deactivates the corresponding SDO client channel (see DS301V402).
The client channels need not be parameterised right now. Their functionality will only be required when using
the Gateway services.
Value is bit-coded:

Information

Bit 0 COB-ID bit 0

Bit 0 ... 10: COB-ID

Bit 11 ... 30: Reserved
Bit 31: SDO invalid

... ...
Bit 31 SDO invalid
Subcodes

Lenze setting

Information

C00376/1

0x80000000

SDO client channel 1 TX ... 10 TX

C00376/...
C00376/10
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00377

Parameter | Name:

Data type: UNSIGNED_8

Index: 24198d = 5E86h

C00377 | CAN SDO server node address

Node address of the server with which the SDO client communicates via the selected client channel.
The client functionality need not be activated.
Activation of the CAN SDO client channel requires an entry (see DS301V402).
Setting range (min. value | unit | max. value)
1

127

Subcodes

Lenze setting

Information

C00377/1

Remote server node address for SDO client channel 1 ...

10

C00377/...
C00377/10

; Read access ; Write access CINH PLC STOP No transfer COM MOT

578

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00378

C00378

Parameter | Name:

Data type: UNSIGNED_16

Index: 24197d = 5E85h

C00378 | CAN boot-up delay - operational

Time after mains switching after which the CAN NMT master sends the "Start remote node" telegram to the bus.
The delay time is only used when the master bit is activated (C00352) and the controller has been restarted.
Setting range (min. value | unit | max. value)
0

ms

Lenze setting
65535 3000 ms

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00379

Parameter | Name:

Data type: UNSIGNED_8

Index: 24196d = 5E84h

C00379 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00381

Parameter | Name:

Data type: UNSIGNED_16

Index: 24194d = 5E82h

C00381 | CAN heartbeat producer time

Time interval at which the device sends a heartbeat telegram with its device status to the bus.
Selection of the "node guarding" monitoring function deactivates the "heartbeat" monitoring function.
Setting range (min. value | unit | max. value)
0

ms

Lenze setting
65535 0 ms

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00382

Parameter | Name:

Data type: UNSIGNED_16

Index: 24193d = 5E81h

C00382 | CAN guard time

After the set guard time multiplied by the life time factor (C00383), a node guarding telegram must have been
received.
Setting range (min. value | unit | max. value)
0

ms

Lenze setting
65535 0 ms

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00383

Parameter | Name:

Data type: UNSIGNED_8

Index: 24192d = 5E80h

C00383 | CAN life time factor

The life time factor multiplied by the guard time (C00382) results in the time in which a node guarding telegram
must have been received.
Setting range (min. value | unit | max. value)
0

Lenze setting
255 0

; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

579

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00385
C00385

Parameter | Name:

Data type: BITFIELD_32

Index: 24190d = 5E7Eh

C00385 | CAN heartbeat consumer time

The 32 subcodes represent the nodes to be monitored by means of heartbeat.

Each subcode entry contains the expected "heartbeat" time and the node ID (node address) from which the
heartbeat telegram is expected in the form of a bit code.
The response to a non received heartbeat telegram can be parameterised.
Value is bit-coded:

Information

Bit 0 Heartbeat time bit 0

... ...
Bit 31 Reserved

Bit 0 ... 15: Heartbeat time

Bit 16 ... 23: Node address
Bit 24 ... 31: Reserved

Subcodes

Lenze setting

Information

C00385/1

0x00000000

Monitoring entry 1 ... 32

C00385/...
C00385/32
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00386

Parameter | Name:

Data type: BITFIELD_32

Index: 24189d = 5E7Dh

C00386 | CAN node guarding

The 32 subcodes represent the nodes to be monitored by the master by means of node guarding.
Each subcode entry contains the guard time, the lifetime factor and the node ID (node address) from which the
heartbeat telegram is expected in the form of a bit code.
The response to a non received node guarding response can be parameterised.
Value is bit-coded:

Information

Bit 0 Guard time bit 0

Bit 0 ... 15: Guard time

Bit 16 ... 23: Node address
Bit 24 ... 31: Lifetime factor

... ...
Bit 31 Lifetime factor bit 7
Subcodes

Lenze setting

Information

C00386/1

0x00000000

Monitoring entry 1 ... 32

C00386/...
C00386/32
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00387

Parameter | Name:

Data type: BITFIELD_32

Index: 24188d = 5E7Ch

C00387 | CAN node guarding activity

Value is bit-coded:
Bit 0 Node guarding node 1
... ...
Bit 31 Node guarding node 32
; Read access Write access CINH PLC STOP No transfer COM MOT

580

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00388

C00388

Parameter | Name:

Data type: UNSIGNED_8

Index: 24187d = 5E7Bh

C00388 | CAN node guarding status

Selection list (display only)
0 Unknown
4 Stopped
5 Operational
127 Pre-operational
Subcodes

Information

C00388/1

Status node 1 ... 32

C00388/...
C00388/32
; Read access Write access CINH PLC STOP No transfer COM MOT

C00390

Parameter | Name:

Data type: BITFIELD_8

Index: 24185d = 5E79h

C00390 | CAN error register (DS301V402)

CAN error register according to DS301V402
Value is bit-coded:

Information

Bit 0 Generic error

Currently only bit 0 and bit 4 contain the corresponding

information.

Bit 1 Current error (not used)

Bit 2 Voltage error (not used)
Bit 3 Temperature error (not used)
Bit 4 Communication error
Bit 5 Device profile-spec. error (not used)
Bit 6 Reserved
Bit 7 Manufacturer-spec. error (not used)

; Read access Write access CINH PLC STOP No transfer COM MOT

C00391

Parameter | Name:

Data type: BITFIELD_32

Index: 24184d = 5E78h

C00391 | CAN emergency object

Identifier of the emergency telegram

Setting bit 31 of this code (0x8nnnnnnn) deactivates the generation of emergency telegrams.
Value is bit-coded:

Information

Bit 0 COB-ID bit 0

... ...
Bit 31 Emergency inactive/active

Bit 0 ... 10: COB-ID

Bit 11 ... 30: Reserved
Bit 31: Emergency stop

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00392

Parameter | Name:

Data type: UNSIGNED_16

Index: 24183d = 5E77h

C00392 | CAN emergency delay time

Minimum time between two successive emergency telegrams.

Setting "0" deactivates the inhibit time check.
The inhibit time is entered in 1/10 ms. The code automatically rounds the entries down to the preceding full
millisecond.
Setting range (min. value | unit | max. value)
0

Lenze setting
65535 0

; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

581

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00393
C00393

Parameter | Name:

Data type: UNSIGNED_8

Index: 24182d = 5E76h

C00393 | CAN result - bus scan

Result of CAN bus scanning (see controller commands under C00002).
Subcode number 1 ... 128 corresponds to CAN node address 1 ... 128.
Display range (min. value | unit | max. value)
0

Subcodes

Information

C00393/1

Result of CAN bus scanning for CAN node address 1 ...

128
The value "1" means that a device with the
corresponding node address has been found.

C00393/...
C00393/128

; Read access Write access CINH PLC STOP No transfer COM MOT

C00395

Parameter | Name:

Data type: UNSIGNED_32

Index: 24180d = 5E74h

C00395 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00396

Parameter | Name:

Data type: UNSIGNED_32

Index: 24179d = 5E73h

C00396 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00397

Parameter | Name:

Data type: UNSIGNED_32

Index: 24178d = 5E72h

C00397 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00398

Parameter | Name:

Data type: UNSIGNED_32

Index: 24177d = 5E71h

C00398 | Test mode - motor control

Selection list (Lenze setting printed in bold)
0 Test mode deactivated
1 U rotation test mode
2 I rotation test mode
3 Current controller optimisation
mode
; Read access ; Write access ; CINH PLC STOP ; No transfer COM MOT

C00399

Parameter | Name:

Data type: INTEGER_32

Index: 24176d = 5E70h

C00399 | Settings for test mode

Setting range (min. value | unit | max. value)
-1000.0
Subcodes

Hz/1
Lenze setting

1000.0
Information

C00399/1

0.0 Hz/1

Frequency [Hz] for test mode

C00399/2

0.0 Hz/1

Start angle [] for test mode

; Read access ; Write access CINH PLC STOP ; No transfer COM MOT

582

Firmware 1.37 - 09/2006

Scaling factor: 10

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00416

C00416

Parameter | Name:

Data type: UNSIGNED_32

Index: 24159d = 5E5Fh

C00416 | Resolver error correction

Setting range (min. value | unit | max. value)

Lenze setting

99999999 0

; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C00420

Parameter | Name:

Data type: UNSIGNED_16

Index: 24155d = 5E5Bh

C00420 | Number of increments of the encoder

Setting range (min. value | unit | max. value)

Lenze setting

16384 512

; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C00421

Parameter | Name:

Data type: UNSIGNED_16

Index: 24154d = 5E5Ah

C00421 | Encoder voltage

Setting range (min. value | unit | max. value)
5.0

Lenze setting

9.0 5.0 V

; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C00422

Parameter | Name:

Scaling factor: 10

Data type: UNSIGNED_16

Index: 24153d = 5E59h

C00422 | Encoder type

Selection list (Lenze setting printed in bold)
0 Incremental encoder (TTL signal)
1 Sin/cos encoder
2 Absolute value encoder (Hiperface)
3 Absolute value encoder (EnDat)
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C00427

Parameter | Name:

Data type: UNSIGNED_16

Index: 24148d = 5E54h

C00427 | TTL encoder signal evaluation

Selection list (Lenze setting printed in bold)
0 4x evaluation (A, B)
1 A:Increments B:Sign
2 Increments A:pos. B:neg.
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

Firmware 1.37 - 09/2006

583

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00443
C00443

Parameter | Name:

Data type: UNSIGNED_8

Index: 24132d = 5E44h

C00443 | DIx status

Display range (min. value | unit | max. value)
0

Subcodes

Information

C00443/1

Digital input 1

C00443/2

Digital input 2

C00443/3

Digital input 3

C00443/4

Digital input 4

C00443/5

Digital input 5

C00443/6

Digital input 6

C00443/7

Digital input 7

C00443/8

Digital input 8

C00443/9

Controller inhibit (inversion of input X5/RFR)

C00443/10

Internal signal

C00443/11

Feedback input of holding brake

C00443/12

State bus input

; Read access Write access CINH PLC STOP No transfer COM MOT

C00444

Parameter | Name:

Data type: UNSIGNED_8

Index: 24131d = 5E43h

C00444 | DOx status

Display range (min. value | unit | max. value)
0

Subcodes

Information

C00444/1

Digital output 1

C00444/2

Digital output 2

C00444/3

Digital output 3

C00444/4

Digital output 4

C00444/5

Internal signal

C00444/6

Internal signal

C00444/7

Internal signal

C00444/8

Internal signal

C00444/9

User LED

C00444/10

Internal signal

C00444/11

Internal signal

C00444/12

Internal signal

C00444/13

Control output of holding brake

C00444/14

Internal signal

C00444/15

Internal signal

C00444/16

Internal signal

C00444/17

Internal signal

C00444/18

State bus output

; Read access Write access CINH PLC STOP No transfer COM MOT

584

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00465

C00465

Parameter | Name:

Data type: UNSIGNED_8

Index: 24110d = 5E2Eh

C00465 | Keypad: Welcome screen time-out

Selection list (Lenze setting printed in bold)
0 Never show welcome screen
5 5 min
15 15 min
30 30 min
60 60 min
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00466

Parameter | Name:

Data type: UNSIGNED_16

Index: 24109d = 5E2Dh

C00466 | Keypad: Default parameters

Setting range (min. value | unit | max. value)

Lenze setting

65535 0

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00467

Parameter | Name:

C00467 | Keypad: Default welcome screen

Data type: UNSIGNED_8

Index: 24108d = 5E2Ch

Selection list (Lenze setting printed in bold)

0 Main menu
1 Parameter list
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00468

Parameter | Name:

Data type: UNSIGNED_8

Index: 24107d = 5E2Bh

C00468 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00469

Parameter | Name:

Data type: UNSIGNED_8

Index: 24106d = 5E2Ah

C00469 | Keypad: Fct. STOP key

Selection list (Lenze setting printed in bold)
0 No function
1 Inhibit controller
2 Activate quick stop
3 Stop application
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00490

Parameter | Name:

Data type: UNSIGNED_16

Index: 24085d = 5E15h

C00490 | Position encoder

Selection list (Lenze setting printed in bold)
0 Resolver X7
1 Encoder X8
2 Encoder module in MXI1
3 Encoder module in MXI2
4 From application
10 Motor encoder
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

Firmware 1.37 - 09/2006

585

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00494
C00494

Parameter | Name:

Data type: UNSIGNED_32

Index: 24081d = 5E11h

C00494 | Motor standstill time constant

Setting range (min. value | unit | max. value)
0

Lenze setting

ms

100000 0 ms

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00495

Parameter | Name:

Data type: UNSIGNED_16

Index: 24080d = 5E10h

C00495 | Motor encoder

Selection list (Lenze setting printed in bold)
0 Resolver X7
1 Encoder X8
2 Encoder module in MXI1
3 Encoder module in MXI2
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C00497

Parameter | Name:

Data type: UNSIGNED_32

Index: 24078d = 5E0Eh

C00497 | Speed act. val. time const.

Setting range (min. value | unit | max. value)
0.0

ms

Lenze setting
50.0 2.0 ms

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00512

Scaling factor: 10

Parameter | Name:

Data type: UNSIGNED_32

Index: 24063d = 5DFFh

C00512 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00513

Parameter | Name:

Data type: VISIBLE_STRING

Index: 24062d = 5DFEh

C00513 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00514

Parameter | Name:

Data type: UNSIGNED_32

Index: 24061d = 5DFDh

C00514 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00515

Parameter | Name:

Data type: UNSIGNED_32

Index: 24060d = 5DFCh

C00515 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C00516

Parameter | Name:

Data type: UNSIGNED_32

Index: 24059d = 5DFBh

C00516 | Service code

This code is used internally by the controller and must not be overwritten by the user!

586

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00573

C00573

Parameter | Name:

Data type: UNSIGNED_32

Index: 24002d = 5DC2h

C00573 | Resp. to brake chopper overload

Response to release of brake chopper monitoring
Selection list (Lenze setting printed in bold)
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00574

Parameter | Name:

Data type: UNSIGNED_32

Index: 24001d = 5DC1h

C00574 | Resp. to overtemp. brake resist.

Response to release of brake resistor monitoring
Selection list (Lenze setting printed in bold)
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00576

Parameter | Name:

Data type: UNSIGNED_32

Index: 23999d = 5DBFh

C00576 | Window speed monitoring

Monitoring window for speed control error in [%] of nmax
Setting range (min. value | unit | max. value)
0

Lenze setting

100 100 %

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00577

Parameter | Name:

Data type: UNSIGNED_32

Index: 23998d = 5DBEh

C00577 | Field weakening controller gain

With setting "0", the proportional component is deactivated and an integral-action controller is used.
Setting range (min. value | unit | max. value)
0.000

Vs/V

Lenze setting
2147483.647 0.000 Vs/V

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00578

Scaling factor: 1000

Parameter | Name:

Data type: UNSIGNED_32

Index: 23997d = 5DBDh

C00578 | Field weak. contr. reset time

With setting "240000.0 ms", the integral-action component of the field weakening controller is deactivated.
Setting range (min. value | unit | max. value)
1.0

ms

Lenze setting
240000.0 2000.0 ms

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

Firmware 1.37 - 09/2006

Scaling factor: 10

587

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00579
C00579

Parameter | Name:

Data type: UNSIGNED_32

Index: 23996d = 5DBCh

C00579 | Resp. to speed monitoring

Response to release of speed monitoring
Selection list (Lenze setting printed in bold)
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00580

Parameter | Name:

Data type: UNSIGNED_32

Index: 23995d = 5DBBh

C00580 | Resp. to encoder open circuit

Response to open circuit in encoder

For the use of the encoder as motor encoder: If an error occurs, the safe operation of the motor is no longer
ensured, therefore for safety reasons always the "Error" response should be set!
Selection list (Lenze setting printed in bold)
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00581

Parameter | Name:

Data type: UNSIGNED_32

Index: 23994d = 5DBAh

C00581 | Resp. to external fault

Response to an external error

Drive interface

Selection list (Lenze setting printed in bold)

0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
; Read access ; Write access CINH PLC STOP No transfer COM MOT

588

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00582

C00582

Parameter | Name:

C00582 | Resp. to heatsink temp. > C00122

Data type: UNSIGNED_32

Index: 23993d = 5DB9h

Response, if heatsink temperature > variable limit temperature (C00122)

Selection list (Lenze setting printed in bold)
0 No response
1 Error
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00583

Parameter | Name:

C00583 | Resp. to motor overtemp. KTY

Data type: UNSIGNED_32

Index: 23992d = 5DB8h

Response, if motor temperature > fixed limit temperature

Selection list (Lenze setting printed in bold)
0 No response
1 Error
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00584

Parameter | Name:

C00584 | Resp. to motor temp. > C00121

Data type: UNSIGNED_32

Index: 23991d = 5DB7h

Response, if motor temperature > variable limit temperature (C00121)

Selection list (Lenze setting printed in bold)
0 No response
1 Error
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00585

Parameter | Name:

C00585 | Resp. to motor overtemp. PTC

Data type: UNSIGNED_32

Index: 23990d = 5DB6h

Response, if motor temperature above PTC input T1/T2 too high

Selection list (Lenze setting printed in bold)
0 No response
1 Error
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

Firmware 1.37 - 09/2006

589

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00586
C00586

Parameter | Name:

Data type: UNSIGNED_32

Index: 23989d = 5DB5h

C00586 | Resp. to resolver open circuit

Response to open circuit in resolver

For the use of the resolver as motor encoder: If an error occurs, the safe operation of the motor is no longer
ensured, therefore for safety reasons always the "Error" response should be set!
Selection list (Lenze setting printed in bold)
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00587

Parameter | Name:

Data type: BITFIELD_8

Index: 23988d = 5DB4h

C00587 | Status - fan control

Value is bit-coded:
Bit 0 Heatsink fan ON
Bit 1 Integral fan ON
Bit 2 Heatsink fan status 1
Bit 3 Heatsink fan status 2
Bit 4 Integral fan status
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
; Read access Write access CINH PLC STOP No transfer COM MOT

C00588

Parameter | Name:

Data type: UNSIGNED_32

Index: 23987d = 5DB3h

C00588 | Resp. to t. sensor drive failure

Response, to error/failure of temperature sensor for heatsink/temperature inside the controller

Selection list (Lenze setting printed in bold)
0 No response
1 Error
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00589

Parameter | Name:

Data type: UNSIGNED_32

Index: 23986d = 5DB2h

C00589 | Resp. to CPU temp. > C00126

Response, if CPU temperature on the control card > variable limit temperature (C00126).
Selection list (Lenze setting printed in bold)
0 No response
1 Error
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM MOT

590

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00591

C00591

Parameter | Name:

Data type: UNSIGNED_8

Index: 23984d = 5DB0h

C00591 | Resp. to CAN-RPDOx error

Response, if the corresponding CAN RPDO has not been received in the configured time or with the configured sync.
Selection list
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
Subcodes

Lenze setting

Information

C00591/1

0: No response

Response to non received RPDO1 ... RPDO4

C00591/...
C00591/4
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00594

Parameter | Name:

Data type: UNSIGNED_32

Index: 23981d = 5DADh

C00594 | Resp. to t. sensor motor failure

Response to motor temperature sensor error.
Selection list (Lenze setting printed in bold)
0 No response
1 Error
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00595

Parameter | Name:

Data type: UNSIGNED_8

Index: 23980d = 5DACh

C00595 | Resp. to CAN bus off

Response, if CAN node switches to the bus off status.
Selection list (Lenze setting printed in bold)
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00596

Parameter | Name:

Data type: UNSIGNED_32

Index: 23979d = 5DABh

C00596 | Threshold max. speed reached

Threshold for speed monitoring
The reaction for reaching the threshold can be selected in C00607.
Setting range (min. value | unit | max. value)
50

rpm

Lenze setting
50000 6500 rpm

; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

591

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00597
C00597

Parameter | Name:

Data type: UNSIGNED_32

Index: 23978d = 5DAAh

C00597 | Resp. to motor phase failure

Response to release of motor phase failure monitoring
Selection list (Lenze setting printed in bold)
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00598

Parameter | Name:

Data type: UNSIGNED_32

Index: 23977d = 5DA9h

C00598 | Resp. to open circuit AIN1

Response if with master current at AIN1 and mode LifeZero (4...20 mA) the current is in the non permitted range
(-4...+4 mA).
Selection list (Lenze setting printed in bold)
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00599

Parameter | Name:

Data type: INTEGER_32

Index: 23976d = 5DA8h

C00599 | Threshold motor phase failure

Threshold for motor phase failure monitoring
The response when reaching the threshold can be selected in C00597.
Setting range (min. value | unit | max. value)
1.0

Lenze setting
10.0 5.0 %

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00600

Parameter | Name:

Scaling factor: 10

Data type: UNSIGNED_32

Index: 23975d = 5DA7h

C00600 | Resp. to DC bus overvoltage

Response to DC bus overvoltage
Selection list (Lenze setting printed in bold)
1 Error
2 Fault
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

592

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00601

C00601

Parameter | Name:

Data type: UNSIGNED_32

Index: 23974d = 5DA6h

C00601 | Resp. to comm. encoder error

Response to release of encoder monitoring

For the use of the encoder as motor encoder: If an error occurs, the safe operation of the motor is no longer
ensured, therefore for safety reasons always the "Error" response should be set!
Selection list (Lenze setting printed in bold)
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00604

Parameter | Name:

Data type: UNSIGNED_32

Index: 23971d = 5DA3h

C00604 | Resp. to device overload

Response, if adjustable "I x t" warning threshold (C00123) is reached.
Selection list (Lenze setting printed in bold)
0 No response
1 Error
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00606

Parameter | Name:

Data type: UNSIGNED_32

Index: 23969d = 5DA1h

C00606 | Resp. to motor overload

Response, if adjustable "I2 x t" warning threshold (C00127) is reached.
Selection list (Lenze setting printed in bold)
0 No response
1 Error
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00607

Parameter | Name:

Data type: UNSIGNED_32

Index: 23968d = 5DA0h

C00607 | Resp. to max. speed reached

Response if adjustable speed threshold (C00596) is reached.
Selection list (Lenze setting printed in bold)
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

593

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00610
C00610

Parameter | Name:

Data type: UNSIGNED_32

Index: 23965d = 5D9Dh

C00610 | Resp. to heatsink fan failure

Response if fan speed of heatsink fan is too low.
Selection list (Lenze setting printed in bold)
0 No response
1 Error
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00611

Parameter | Name:

Data type: UNSIGNED_32

Index: 23964d = 5D9Ch

C00611 | Resp. to integral fan failure

Response if fan speed of interior fan is too low.
Selection list (Lenze setting printed in bold)
0 No response
1 Error
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00612

Parameter | Name:

Data type: UNSIGNED_8

Index: 23963d = 5D9Bh

C00612 | Resp. to CAN node guarding error

Response of master, if the corresponding node guarding response is not received.
Selection list
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
Subcodes

Lenze setting

Information

C00612/1

0: No response

Response to non received telegram for monitoring entry

1 ... 32

C00612/...
C00612/32

; Read access ; Write access CINH PLC STOP No transfer COM MOT

594

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00613

C00613

Parameter | Name:

Data type: UNSIGNED_8

Index: 23962d = 5D9Ah

C00613 | Resp. to CAN heartbeat error

Response, if the corresponding heartbeat telegram is not received.
Selection list
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
Subcodes

Lenze setting

Information

C00613/1

0: No response

Response to non received telegram for monitoring entry

1 ... 32

C00613/...
C00613/32

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00614

Parameter | Name:

Data type: UNSIGNED_8

Index: 23961d = 5D99h

C00614 | Resp. to CAN life guarding error

Response of slave if node guarding request is not sent.
Selection list (Lenze setting printed in bold)
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00615

Parameter | Name:

Data type: UNSIGNED_32

Index: 23960d = 5D98h

C00615 | Resp. to imp. device config.

Selection list
0 No response
1 Error
3 Quick stop by trouble
4 Warning locked
6 Information
Subcodes

Lenze setting

Information

C00615/1

0: No response

Reserved

C00615/2

1: Error

Resp. to imp. module in MXI1

C00615/3

1: Error

Resp. to imp. module in MXI2

C00615/4

0: No response

Reserved

C00615/5

0: No response

Reserved

; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

595

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00618
C00618

Parameter | Name:

Data type: UNSIGNED_32

Index: 23957d = 5D95h

C00618 | Number of CRC cycles

Display range (min. value | unit | max. value)
0

4294967295

; Read access Write access CINH PLC STOP No transfer COM MOT

C00619

Parameter | Name:

Data type: UNSIGNED_32

Index: 23956d = 5D94h

C00619 | Resp. to max. motor current

Response if the adjustable maximum motor current threshold (C00620) is exceeded.
Selection list (Lenze setting printed in bold)
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00620

Parameter | Name:

Data type: UNSIGNED_32

Index: 23955d = 5D93h

C00620 | Max. motor current threshold

Threshold for maximum motor current monitoring
The response when reaching the threshold can be selected in C00619.
Setting range (min. value | unit | max. value)
0.0

Lenze setting

3000.0 3000.0 A

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C00625

Parameter | Name:

C00625 | CAN behaviour in the case of error

Scaling factor: 10

Data type: UNSIGNED_8

Index: 23950d = 5D8Eh

Selection list (Lenze setting printed in bold)

0 Pre-operational state
1 No state change
2 "Stopped" state
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00635

Parameter | Name:

C00635 | Resp. to new firmware of drive

Data type: UNSIGNED_32

Index: 23940d = 5D84h

Selection list (Lenze setting printed in bold)

0 No response
1 Error
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
; Read access ; Write access CINH PLC STOP No transfer COM MOT

596

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00636

C00636

Parameter | Name:

Data type: UNSIGNED_32

Index: 23939d = 5D83h

C00636 | Resp. to new module in MXI1

Selection list (Lenze setting printed in bold)
0 No response
1 Error
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00637

Parameter | Name:

Data type: UNSIGNED_32

Index: 23938d = 5D82h

C00637 | Resp. to new module in MXI2

Selection list (Lenze setting printed in bold)
0 No response
1 Error
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C00691

Parameter | Name:

Data type: INTEGER_32

Index: 23884d = 5D4Ch

C00691 | Total speed setpoint

Display range (min. value | unit | max. value)
-200.00

200.00

; Read access Write access CINH PLC STOP No transfer COM MOT

C00692

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23883d = 5D4Bh

C00692 | Speed setpoint

Display range (min. value | unit | max. value)
-200.00

200.00

; Read access Write access CINH PLC STOP No transfer COM MOT

C00693

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23882d = 5D4Ah

C00693 | Actual speed

Display range (min. value | unit | max. value)
-200.00

200.00

; Read access Write access CINH PLC STOP No transfer COM MOT

C00694

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23881d = 5D49h

C00694 | Speed controller output

Display range (min. value | unit | max. value)
-200.00

200.00

; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

Scaling factor: 100

597

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00695
C00695

Parameter | Name:

Data type: INTEGER_32

Index: 23880d = 5D48h

C00695 | Total torque setpoint

Display range (min. value | unit | max. value)
-200.00

200.00

; Read access Write access CINH PLC STOP No transfer COM MOT

C00696

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23879d = 5D47h

C00696 | Torque setpoint

Display range (min. value | unit | max. value)
-200.00

200.00

; Read access Write access CINH PLC STOP No transfer COM MOT

C00697

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23878d = 5D46h

C00697 | Filtered torque setpoint

Display range (min. value | unit | max. value)
-200.00

200.00

; Read access Write access CINH PLC STOP No transfer COM MOT

C00698

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23877d = 5D45h

C00698 | Actual torque

Display range (min. value | unit | max. value)
-200.00

200.00

; Read access Write access CINH PLC STOP No transfer COM MOT

C00730

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23845d = 5D25h

C00730 | GDO common parameter

This code is used internally by the controller and must not be overwritten by the user!
C00731

Parameter | Name:

Data type: INTEGER_32

Index: 23844d = 5D24h

C00731 | GDO channel 1/trigger 1

This code is used internally by the controller and must not be overwritten by the user!
C00732

Parameter | Name:

Data type: INTEGER_32

Index: 23843d = 5D23h

C00732 | GDO channel 2/trigger 2

This code is used internally by the controller and must not be overwritten by the user!
C00733

Parameter | Name:

Data type: INTEGER_32

Index: 23842d = 5D22h

C00733 | GDO channel 3

This code is used internally by the controller and must not be overwritten by the user!
C00734

Parameter | Name:

Data type: INTEGER_32

Index: 23841d = 5D21h

C00734 | GDO channel 4

This code is used internally by the controller and must not be overwritten by the user!
C00735

Parameter | Name:

Data type: INTEGER_32

Index: 23840d = 5D20h

C00735 | GDO channel 5

This code is used internally by the controller and must not be overwritten by the user!

598

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00736

C00736

Parameter | Name:

Data type: INTEGER_32

Index: 23839d = 5D1Fh

C00736 | GDO channel 6

This code is used internally by the controller and must not be overwritten by the user!
C00737

Parameter | Name:

Data type: INTEGER_32

Index: 23838d = 5D1Eh

C00737 | GDO channel 7

This code is used internally by the controller and must not be overwritten by the user!
C00738

Parameter | Name:

Data type: INTEGER_32

Index: 23837d = 5D1Dh

C00738 | GDO channel 8

This code is used internally by the controller and must not be overwritten by the user!
C00739

Parameter | Name:

Data type: INTEGER_32

Index: 23836d = 5D1Ch

C00739 | GDO status information

This code is used internally by the controller and must not be overwritten by the user!
C00770

Parameter | Name:

Data type: UNSIGNED_32

Index: 23805d = 5CFDh

C00770 | MCTRL_dnMotorPosAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0

Incr.

4294967295

Subcodes

Information

C00770/1

Low Word

C00770/2

High Word

; Read access Write access CINH PLC STOP No transfer COM MOT

C00771

Parameter | Name:

Data type: UNSIGNED_32

Index: 23804d = 5CFCh

C00771 | MCTRL_dnLoadPosAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0

Incr.

4294967295

Subcodes

Information

C00771/1

Low Word

C00771/2

High Word

; Read access Write access CINH PLC STOP No transfer COM MOT

C00772

Parameter | Name:

Data type: INTEGER_32

Index: 23803d = 5CFBh

C00772 | MCTRL_dnMotorSpeedAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000

rpm

480000

; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

599

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00773
C00773

Parameter | Name:

Data type: INTEGER_32

Index: 23802d = 5CFAh

C00773 | MCTRL_dnLoadSpeedAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000

rpm

480000

; Read access Write access CINH PLC STOP No transfer COM MOT

C00774

Parameter | Name:

Data type: INTEGER_32

Index: 23801d = 5CF9h

C00774 | MCTRL_dnTorqueAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47

Nm

21474836.47

; Read access Write access CINH PLC STOP No transfer COM MOT

C00775

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23800d = 5CF8h

C00775 | MCTRL_dnOutputSpeedCtrl
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47

Nm

21474836.47

; Read access Write access CINH PLC STOP No transfer COM MOT

C00776

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23799d = 5CF7h

C00776 | MCTRL_dnInputJerkCtrl
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47

Nm

21474836.47

; Read access Write access CINH PLC STOP No transfer COM MOT

C00777

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23798d = 5CF6h

C00777 | MCTRL_dnInputTorqueCtrl
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47

Nm

21474836.47

; Read access Write access CINH PLC STOP No transfer COM MOT

C00778

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23797d = 5CF5h

C00778 | MCTRL_dnFluxAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00

200.00

; Read access Write access CINH PLC STOP No transfer COM MOT

600

Firmware 1.37 - 09/2006

Scaling factor: 100

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00779

C00779

Parameter | Name:

Data type: INTEGER_32

Index: 23796d = 5CF4h

C00779 | MCTRL_dnDCBusVoltage
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0

1000

; Read access Write access CINH PLC STOP No transfer COM MOT

C00780

Parameter | Name:

Data type: INTEGER_32

Index: 23795d = 5CF3h

C00780 | MCTRL_dnImotAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-500.00

500.00

; Read access Write access CINH PLC STOP No transfer COM MOT

C00781

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 23794d = 5CF2h

C00781 | MCTRL_dwMaxMotorSpeed
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0

rpm

480000

; Read access Write access CINH PLC STOP No transfer COM MOT

C00782

Parameter | Name:

Data type: UNSIGNED_32

Index: 23793d = 5CF1h

C00782 | MCTRL_dwMaxMotorTorque
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0.000

Nm

2147483.647

; Read access Write access CINH PLC STOP No transfer COM MOT

C00783

Scaling factor: 1000

Parameter | Name:

Data type: UNSIGNED_32

Index: 23792d = 5CF0h

C00783 | MCTRL_dwMotorVoltageAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0

2000

; Read access Write access CINH PLC STOP No transfer COM MOT

C00784

Parameter | Name:

Data type: INTEGER_32

Index: 23791d = 5CEFh

C00784 | MCTRL_dnMotorFreqAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-800.0

Hz

800.0

; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

Scaling factor: 10

601

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00786
C00786

Parameter | Name:

Data type: INTEGER_32

Index: 23789d = 5CEDh

C00786 | MCTRL_dnIxtLoad
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00

200.00

; Read access Write access CINH PLC STOP No transfer COM MOT

C00787

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23788d = 5CECh

C00787 | MCTRL_dnFlyingSpeedAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000

rpm

480000

; Read access Write access CINH PLC STOP No transfer COM MOT

C00788

Parameter | Name:

Data type: INTEGER_32

Index: 23787d = 5CEBh

C00788 | MCTRL_dwMaxEffMotorTorque
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0.000

Nm

2147483.647

; Read access Write access CINH PLC STOP No transfer COM MOT

C00789

Scaling factor: 1000

Parameter | Name:

Data type: INTEGER_32

Index: 23786d = 5CEAh

C00789 | MCTRL_dwMaxDeviceCurrent
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0.00

21474836.47

; Read access Write access CINH PLC STOP No transfer COM MOT

C00790

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23785d = 5CE9h

C00790 | MCTRL_dnI2xtLoad
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00

200.00

; Read access Write access CINH PLC STOP No transfer COM MOT

C00791

Parameter | Name:

Scaling factor: 100

Data type: INTEGER_32

Index: 23784d = 5CE8h

C00791 | MCTRL_dnDeltaMotorPos_p
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-2147483647

Incr.

2147483647

; Read access Write access CINH PLC STOP No transfer COM MOT

602

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00792

C00792

Parameter | Name:

Data type: INTEGER_32

Index: 23783d = 5CE7h

C00792 | MCTRL_dnOutputPosCtrlMotor_s
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200

200

; Read access Write access CINH PLC STOP No transfer COM MOT

C00800

Parameter | Name:

Data type: UNSIGNED_32

Index: 23775d = 5CDFh

C00800 | MCTRL_dnPosSet
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0

Incr.

4294967295

Subcodes

Information

C00800/1

Low Word

C00800/2

High Word

; Read access Write access CINH PLC STOP No transfer COM MOT

C00802

Parameter | Name:

Data type: INTEGER_32

Index: 23773d = 5CDDh

C00802 | MCTRL_dnSpeedAdd
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000

rpm

480000

; Read access Write access CINH PLC STOP No transfer COM MOT

C00803

Parameter | Name:

Data type: INTEGER_32

Index: 23772d = 5CDCh

C00803 | MCTRL_dnTorqueAdd
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-2147483.647

Nm

2147483.647

; Read access Write access CINH PLC STOP No transfer COM MOT

C00804

Scaling factor: 1000

Parameter | Name:

Data type: INTEGER_32

Index: 23771d = 5CDBh

C00804 | MCTRL_dnAccelerationAdd
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-2147483.647

1/s

2147483.647

; Read access Write access CINH PLC STOP No transfer COM MOT

C00805

Parameter | Name:

Scaling factor: 1000

Data type: INTEGER_32

Index: 23770d = 5CDAh

C00805 | MCTRL_dnSpeedLowLimit
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000

rpm

480000

; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

603

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00806
C00806

Parameter | Name:

Data type: INTEGER_32

Index: 23769d = 5CD9h

C00806 | MCTRL_dnTorqueLowLimit
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47

Nm

21474836.47

; Read access Write access CINH PLC STOP No transfer COM MOT

C00807

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23768d = 5CD8h

C00807 | MCTRL_dnTorqueHighLimit
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47

Nm

21474836.47

; Read access Write access CINH PLC STOP No transfer COM MOT

C00808

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23767d = 5CD7h

C00808 | MCTRL_dnPosCtrlOutLimit
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000

rpm

480000

; Read access Write access CINH PLC STOP No transfer COM MOT

C00809

Parameter | Name:

Data type: INTEGER_32

Index: 23766d = 5CD6h

C00809 | MCTRL_dnTorqueCtrlAdapt
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00

200.00

; Read access Write access CINH PLC STOP No transfer COM MOT

C00810

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23765d = 5CD5h

C00810 | MCTRL_dnSpeedCtrlAdapt
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00

200.00

; Read access Write access CINH PLC STOP No transfer COM MOT

C00811

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 23764d = 5CD4h

C00811 | MCTRL_dnPosCtrlAdapt
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00

200.00

; Read access Write access CINH PLC STOP No transfer COM MOT

604

Firmware 1.37 - 09/2006

Scaling factor: 100

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00812

C00812

Parameter | Name:

Data type: UNSIGNED_32

Index: 23763d = 5CD3h

C00812 | MCTRL_dnMotorPosRefValue
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0

Incr.

4294967295

Subcodes

Information

C00812/1

Low Word

C00812/2

High Word

; Read access Write access CINH PLC STOP No transfer COM MOT

C00813

Parameter | Name:

Data type: UNSIGNED_32

Index: 23762d = 5CD2h

C00813 | MCTRL_dnLoadPosRefValue
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0

Incr.

4294967295

Subcodes

Information

C00813/1

Low Word

C00813/2

High Word

; Read access Write access CINH PLC STOP No transfer COM MOT

C00814

Parameter | Name:

Data type: INTEGER_32

Index: 23761d = 5CD1h

C00814 | MCTRL_dnBoost
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-1000

1000

; Read access Write access CINH PLC STOP No transfer COM MOT

C00815

Parameter | Name:

Data type: INTEGER_32

Index: 23760d = 5CD0h

C00815 | MCTRL_dnSpeedCtrlIntegrator
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000

Nm

480000

; Read access Write access CINH PLC STOP No transfer COM MOT

C00816

Parameter | Name:

Data type: INTEGER_32

Index: 23759d = 5CCFh

C00816 | MCTRL_dnFieldWeak
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00

200.00

; Read access Write access CINH PLC STOP No transfer COM MOT

C00817

Parameter | Name:

Scaling factor: 100

Data type: INTEGER_32

Index: 23758d = 5CCEh

C00817 | MCTRL_dnSpeedSet_s
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000

rpm

480000

; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

605

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C00854
C00854

Parameter | Name:

Data type: UNSIGNED_32

Index: 23721d = 5CA9h

C00854 | ID status
Display range (min. value | unit | max. value)
0

100

; Read access Write access CINH PLC STOP No transfer COM MOT

C00878

Parameter | Name:

Data type: UNSIGNED_8

Index: 23697d = 5C91h

C00878 | Status DCTRL control input

Display range (min. value | unit | max. value)
0

Subcodes

Information

C00878/1
C00878/2
C00878/3
C00878/4
C00878/5
; Read access Write access CINH PLC STOP No transfer COM MOT

C00909

Parameter | Name:

Data type: INTEGER_16

Index: 23666d = 5C72h

C00909 | Speed limitation

Speed limitation for speed setpoint
Setting range (min. value | unit | max. value)
-175.0
Subcodes

%
Lenze setting

175.0
Information

C00909/1

175.0 %

Upper speed limit value

C00909/2

-175.0 %

Lower speed limit value

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C01120

Parameter | Name:

Scaling factor: 10

Data type: UNSIGNED_8

Index: 23455d = 5B9Fh

C01120 | Sync source

Selection list (Lenze setting printed in bold)
0 Off
1 CAN on-board
2 CAN module
4 Module in MXI1
5 Module in MXI2
6 Digital input 1
7 Digital input 2
8 Digital input 3
9 Digital input 4
10 Digital input 5
11 Digital input 6
12 Digital input 7
13 Digital input 8
; Read access ; Write access CINH PLC STOP No transfer COM MOT

606

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C01121

C01121

Parameter | Name:

Data type: UNSIGNED_32

Index: 23454d = 5B9Eh

C01121 | Sync cycle time

Setting range (min. value | unit | max. value)
250

Lenze setting
13000 1000 s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C01122

Parameter | Name:

Data type: UNSIGNED_32

Index: 23453d = 5B9Dh

C01122 | Sync phase position

Setting range (min. value | unit | max. value)
0

Lenze setting
64000 0 s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C01123

Parameter | Name:

Data type: UNSIGNED_32

Index: 23452d = 5B9Ch

C01123 | Sync window

Setting range (min. value | unit | max. value)
0

Lenze setting
1000 0 s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

607

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C01124
C01124

Parameter | Name:

Data type: UNSIGNED_8

Index: 23451d = 5B9Bh

C01124 | Sync PLL increment

Selection list (Lenze setting printed in bold)
1 10 ns
2 21 ns
3 31 ns
4 41 ns
5 52 ns
6 63 ns
7 73 ns
8 83 ns
9 94 ns
10 104 ns
11 115 ns
12 125 ns
13 135 ns
14 146 ns
15 156 ns
16 167 ns
17 174 ns
18 182 ns
19 190 ns
20 198 ns
21 206 ns
22 213 ns
23 221 ns
24 229 ns
25 237 ns
26 245 ns
27 252 ns
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C01190

Parameter | Name:

Data type: UNSIGNED_32

Index: 23385d = 5B59h

C01190 | Motor thermal sensor

Selection list (Lenze setting printed in bold)

Information

0 KTY83-110

Lenze standard KTY83-110 (MDSKX, MCS06)

1 Spec. characteristic

Characteristic defined via C01191 and C01192.

2 KTY83-110 + 2 x PTC

Lenze standard KTY83-110 + 2 x PTC 150C (MCS09MCS19)

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

608

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C01191

C01191

Parameter | Name:

Data type: UNSIGNED_32

Index: 23384d = 5B58h

C01191 | Temperature for spec. characteristic

The special thermal sensor characteristic is selected by setting C01190="1"
Setting range (min. value | unit | max. value)
0

255

Subcodes

Lenze setting

Information

C01191/1

25 C

Value 1 for spec. thermal sensor characteristic

C01191/2

150 C

Value 2 for spec. thermal sensor characteristic

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C01192

Parameter | Name:

Data type: UNSIGNED_32

Index: 23383d = 5B57h

C01192 | Resistor for spec. characteristic

The special thermal sensor characteristic is selected by setting C01190="1"
Setting range (min. value | unit | max. value)
0

Ohm

30000

Subcodes

Lenze setting

Information

C01192/1

1000 Ohm

Value 1 for spec. thermal sensor characteristic

C01192/2

2225 Ohm

Value 2 for spec. thermal sensor characteristic

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C01193

Parameter | Name:

Data type: UNSIGNED_16

Index: 23382d = 5B56h

C01193 | Motor temp. feedback system

Selection of feedback system for motor temperature detection.
Selection list (Lenze setting printed in bold)
0 Speed feedback
1 Resolver X7
2 Encoder X8
3 Encoder module in MXI1
4 Encoder module in MXI2
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C01194

Parameter | Name:

Data type: INTEGER_32

Index: 23381d = 5B55h

C01194 | Motor operating temperature

Setting range (min. value | unit | max. value)
1

Lenze setting
200 140 C

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C01195

Parameter | Name:

Data type: UNSIGNED_32

Index: 23380d = 5B54h

C01195 | Influence winding Ixt mon.

I2xt motor monitoring: Influence of the winding temperature

By setting "0 %" the time constant for the winding is not considered and the thermal model is only calculated
with the time constant set for the housing/steel plates.
Setting range (min. value | unit | max. value)
0

Lenze setting
100 0 %

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

Firmware 1.37 - 09/2006

609

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C01196
C01196

Parameter | Name:

Data type: UNSIGNED_32

Index: 23379d = 5B53h

C01196 | S1 torque characteristic Ixt mon.

I2xt motor monitoring: Speed-dependent evaluation of the motor current

By selecting a characteristic the permissible motor current is evaluated depending on speed for calculating the
thermal motor utilisation.
Setting range (min. value | unit | max. value)
0

600

Subcodes

Lenze setting

Information

C01196/1

0%

S1 torque characteristic n1/nn

C01196/2

100 %

S1 torque characteristic I1/In

C01196/3

0%

S1 torque characteristic n2/nn

C01196/4

100 %

S1 torque characteristic I2/In

C01196/5

100 %

S1 torque characteristic n3/nn

C01196/6

100 %

S1 torque characteristic I3/In

C01196/7

100 %

S1 torque characteristic n4/nn

C01196/8

100 %

S1 torque characteristic I4/In

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C01203

Parameter | Name:

Data type: UNSIGNED_16

Index: 23372d = 5B4Ch

C01203 | Counter: Brake chopper overload

Display range (min. value | unit | max. value)
0

65535

; Read access Write access CINH PLC STOP No transfer COM MOT

C01204

Parameter | Name:

Data type: UNSIGNED_16

Index: 23371d = 5B4Bh

C01204 | Counter: Ixt overload

Display range (min. value | unit | max. value)
0

65535

; Read access Write access CINH PLC STOP No transfer COM MOT

C01205

Parameter | Name:

Data type: UNSIGNED_16

Index: 23370d = 5B4Ah

C01205 | Counter: DC bus overvoltage

Display range (min. value | unit | max. value)
0

65535

; Read access Write access CINH PLC STOP No transfer COM MOT

C01206

Parameter | Name:

Data type: UNSIGNED_16

Index: 23369d = 5B49h

C01206 | Counter: Mains switching

Display range (min. value | unit | max. value)
0

65535

; Read access Write access CINH PLC STOP No transfer COM MOT

C01208

Parameter | Name:

Data type: UNSIGNED_16

Index: 23367d = 5B47h

C01208 | Counter: heatsink overtemp.

Display range (min. value | unit | max. value)
0

65535

; Read access Write access CINH PLC STOP No transfer COM MOT

610

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C01209

C01209

Parameter | Name:

Data type: UNSIGNED_16

Index: 23366d = 5B46h

C01209 | Counter: housing overtemp.

Display range (min. value | unit | max. value)
0

65535

; Read access Write access CINH PLC STOP No transfer COM MOT

C01210

Parameter | Name:

Data type: UNSIGNED_8

Index: 23365d = 5B45h

C01210 | Electrolyt. capacitor av. temp.

Display range (min. value | unit | max. value)
0

255

; Read access Write access CINH PLC STOP No transfer COM MOT

C01211

Parameter | Name:

Data type: UNSIGNED_32

Index: 23364d = 5B44h

C01211 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C01212

Parameter | Name:

Data type: UNSIGNED_16

Index: 23363d = 5B43h

C01212 | Counter: power section overload

Display range (min. value | unit | max. value)
0

65535

; Read access Write access CINH PLC STOP No transfer COM MOT

C01213

Parameter | Name:

Data type: UNSIGNED_32

Index: 23362d = 5B42h

C01213 | Service code DataFlash

This code is used internally by the controller and must not be overwritten by the user!
C01214

Parameter | Name:

Data type: VISIBLE_STRING

Index: 23361d = 5B41h

C01214 | Internal clock

System time of the controller in the format "dd/mm/yyyy hh:mm:ss"
; Read access Write access CINH PLC STOP No transfer COM MOT

C01501

Parameter | Name:

C01501 | Resp. to comm. error with MXI1

Data type: UNSIGNED_32

Index: 23074d = 5A22h

Response to communication error between "intelligent" module in module slot 1 and basic device
Selection list (Lenze setting printed in bold)
0 No response
1 Error
3 Quick stop by trouble
4 Warning locked
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

611

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C01502
C01502

Parameter | Name:

Data type: UNSIGNED_32

Index: 23073d = 5A21h

C01502 | Resp. to comm. error with MXI2

Response to communication error between "intelligent" module in module slot 2 and basic device
Selection list (Lenze setting printed in bold)
0 No response
1 Error
3 Quick stop by trouble
4 Warning locked
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C01510

Parameter | Name:

Data type: VISIBLE_STRING

Index: 23065d = 5A19h

C01510 | Ethernet IP address client x

Display of the five possible server channels

If a client is connected via one of these server channels, the IP address and the port of the client will be indicated
in the form of "xxx.xxx.xxx.xxx : yyyy".
If no client is connected via the server channel, "---.---.---.--- : ----" will be indicated.
Subcodes

Information

C01510/1

Server channel 1 ... 5

C01510/...
C01510/5
; Read access Write access CINH PLC STOP No transfer COM MOT

C01511

Parameter | Name:

Data type: UNSIGNED_8

Index: 23064d = 5A18h

C01511 | Ethernet status client x

Status of the five possible server channels
Selection list
0 Not connected
1 Connected
2 Stop
3 Unknown status
Subcodes

Information

C01511/1

Status of server channel 1 ... 5

C01511/...
C01511/5
; Read access Write access CINH PLC STOP No transfer COM MOT

612

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C01902

C01902

Parameter | Name:

Data type: UNSIGNED_32

Index: 22673d = 5891h

C01902 | Diagnostics X6: Max. baud rate

Maximum permissible baud rate of the basic device after determination of the baud rate at the diagnostics
interface X6
Communication starts with the default baud rate 19200 of the basic device.
Selection list (Lenze setting printed in bold)
9600 9600 baud
19200 19.200 baud
38400 38.400 baud
57600 57.600 baud
115200 115.200 baud
230400 230.400 baud
375000 375.000 baud
750000 750.000 baud
1500000 1.500.000 baud
3000000 3.000.000 baud
; Read access ; Write access CINH PLC STOP No transfer ; COM MOT

C01903

Parameter | Name:

Data type: UNSIGNED_32

Index: 22672d = 5890h

C01903 | Diagnostics X6: Change baud rate

New Determination of the baud rate at the diagnostics interface X6
Selection list (Lenze setting printed in bold)
0 Ignore changes
1 Set a higher baud rate
; Read access ; Write access CINH PLC STOP ; No transfer COM MOT

C01905

Parameter | Name:

Data type: UNSIGNED_32

Index: 22670d = 588Eh

C01905 | Diagnostics X6: Curr. baud rate

Current baud rate at diagnostics interface X6
Display range (min. value | unit | max. value)
0

3000000

; Read access Write access CINH PLC STOP No transfer COM MOT

C02104

Parameter | Name:

Data type: UNSIGNED_32

Index: 22471d = 57C7h

C02104 | Program auto-start

Selection list (Lenze setting printed in bold)
0 Off
1 Autom. after mains connection
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02108

Parameter | Name:

Data type: UNSIGNED_8

Index: 22467d = 57C3h

C02108 | Program status

Selection list (display only)
0 Program is running
1 Program stopped
2 Program stopped at breakpoint
; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

613

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02109
C02109

Parameter | Name:

Data type: UNSIGNED_16

Index: 22466d = 57C2h

C02109 | Program runtime

Display range (min. value | unit | max. value)
0

65535

; Read access Write access CINH PLC STOP No transfer COM MOT

C02113

Parameter | Name:

Data type: VISIBLE_STRING

Index: 22462d = 57BEh

C02113 | Program name

; Read access Write access CINH PLC STOP No transfer COM MOT

C02121

Parameter | Name:

Data type: UNSIGNED_32

Index: 22454d = 57B6h

C02121 | Runtime task 1

Display range (min. value | unit | max. value)
0

3600000000

Subcodes

Information

C02121/1

Curr. runtime task 1

C02121/2

max. runtime task 1

; Read access Write access CINH PLC STOP No transfer COM MOT

C02122

Parameter | Name:

Data type: UNSIGNED_32

Index: 22453d = 57B5h

C02122 | Runtime task 2

Display range (min. value | unit | max. value)
0

3600000000

Subcodes

Information

C02122/1

Curr. runtime task 2

C02122/2

max. runtime task 2

; Read access Write access CINH PLC STOP No transfer COM MOT

C02123

Parameter | Name:

Data type: UNSIGNED_32

Index: 22452d = 57B4h

C02123 | Runtime task 3

Display range (min. value | unit | max. value)
0

3600000000

Subcodes

Information

C02123/1

Curr. runtime task 3

C02123/2

max. runtime task 3

; Read access Write access CINH PLC STOP No transfer COM MOT

C02520

Parameter | Name:

Data type: INTEGER_32

Index: 22055d = 5627h

C02520 | Gearbox fact. numer. motor

Drive interface
Setting range (min. value | unit | max. value)
1

Lenze setting
2147483647 1

; Read access ; Write access ; CINH PLC STOP No transfer COM MOT

614

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02521

C02521

Parameter | Name:

Data type: INTEGER_32

Index: 22054d = 5626h

C02521 | Gearbox fact. denom. motor

Drive interface
Setting range (min. value | unit | max. value)
1

Lenze setting
2147483647 1

; Read access ; Write access ; CINH PLC STOP No transfer COM MOT

C02522

Parameter | Name:

Data type: INTEGER_32

Index: 22053d = 5625h

C02522 | Gearbox fact. numer. load

Drive interface
Setting range (min. value | unit | max. value)
1

Lenze setting
2147483647 1

; Read access ; Write access ; CINH PLC STOP No transfer COM MOT

C02523

Parameter | Name:

Data type: INTEGER_32

Index: 22052d = 5624h

C02523 | Gearbox fact. denom. load

Drive interface
Setting range (min. value | unit | max. value)
1

Lenze setting
2147483647 1

; Read access ; Write access ; CINH PLC STOP No transfer COM MOT

C02524

Parameter | Name:

Data type: UNSIGNED_32

Index: 22051d = 5623h

C02524 | Feed constant

Drive interface
Setting range (min. value | unit | max. value)
0.0001

Unit/rev.

Lenze setting
214748.3647 360.0000 Unit/rev.

; Read access ; Write access ; CINH PLC STOP No transfer COM MOT

C02525

Parameter | Name:

Scaling factor: 10000

Data type: UNSIGNED_32

Index: 22050d = 5622h

C02525 | Unit

Drive interface
Selection list (Lenze setting printed in bold)
0 User-defined

Information
The text entered in C02526 is displayed for the unit.

1 Incr.
2 m
3 mm
4 M
5 inch
6 yard
7
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT

C02526

Parameter | Name:

Data type: VISIBLE_STRING

Index: 22049d = 5621h

C02526 | User-defined unit

User-defined unit which is displayed when C02525="0" is selected.

Drive interface

; Read access ; Write access ; CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

615

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02527
C02527

Parameter | Name:

Data type: UNSIGNED_32

Index: 22048d = 5620h

C02527 | Motor mounting direction

Drive interface
Selection list (Lenze setting printed in bold)
0 Motor rotating CW
1 Motor rotating CCW
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT

C02528

Parameter | Name:

Data type: UNSIGNED_32

Index: 22047d = 561Fh

C02528 | Traversing range

Drive interface
Selection list (Lenze setting printed in bold)
0 Unlimited
1 Limited
2 Modulo
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT

C02529

Parameter | Name:

C02529 | Load sensor mounting direction

Data type: UNSIGNED_32

Index: 22046d = 561Eh

Drive interface
Selection list (Lenze setting printed in bold)
0 Sensor rotating CW
1 Encoder rotating CCW
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT

616

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02530

C02530

Parameter | Name:

Data type: INTEGER_32

Index: 22045d = 561Dh

C02530 | Active function state

Displays the basic drive function that currently controls the drive.

Basic drive functions: Internal state machine

Selection list (display only)

0 Program stopped
1 Initial/boot state active
2 Torque follower active
3 Speed follower active
4 Position follower active
5 Setpoint follower active
6 Positioning active
7 Homing active
8 Manual jog active
9 Brake test active
10 Drive at standstill
11 Drive is stopped
12 Quick stop active
13 Reserve 1
14 Controller is not ready
15 Initialisation
16 Error
; Read access Write access CINH PLC STOP No transfer COM MOT

C02531

Parameter | Name:

Data type: UNSIGNED_32

Index: 22044d = 561Ch

C02531 | Resulting gearbox factors

Note: In subcode 3 the resulting gearbox factor between the motor and the load is displayed if a separate position
encoder is configured and the position control is activated (C02570="2"). For a different encoder configuration
(without a separate position encoder) the value "1" is shown in subcode 3.
Drive interface
Display range (min. value | unit | max. value)
0.001

2147483.647

Subcodes

Information

C02531/1

Res. gearbox fact. motor end

C02531/2

Res. gearbox fact. load end

C02531/3

Res. gearbox fact. motor/load

; Read access Write access CINH PLC STOP No transfer COM MOT

C02532

Scaling factor: 1000

Parameter | Name:

Data type: UNSIGNED_32

Index: 22043d = 561Bh

C02532 | Resolution of a unit

Drive interface
Display range (min. value | unit | max. value)
0.0000

Incr./Unit

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

Scaling factor: 10000

617

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02533
C02533

Parameter | Name:

Data type: UNSIGNED_32

Index: 22042d = 561Ah

C02533 | Time unit

Drive interface
Selection list (display only)
2 s
; Read access Write access CINH PLC STOP No transfer COM MOT

C02534

Parameter | Name:

Data type: VISIBLE_STRING

Index: 22041d = 5619h

C02534 | User-defined time unit

Drive interface
; Read access Write access CINH PLC STOP No transfer COM MOT

C02535

Parameter | Name:

Data type: VISIBLE_STRING

Index: 22040d = 5618h

C02535 | User-defined unit

Drive interface
; Read access Write access CINH PLC STOP No transfer COM MOT

C02536

Parameter | Name:

Data type: UNSIGNED_32

Index: 22039d = 5617h

C02536 | Cycle

Drive interface
Setting range (min. value | unit | max. value)
0.0000

Unit

Lenze setting
214748.3647 360.0000 Unit

; Read access ; Write access ; CINH PLC STOP No transfer COM MOT

C02537

Scaling factor: 10000

Parameter | Name:

Data type: VISIBLE_STRING

Index: 22038d = 5616h

C02537 | Speed unit

Drive interface
; Read access Write access CINH PLC STOP No transfer COM MOT

C02538

Parameter | Name:

Data type: VISIBLE_STRING

Index: 22037d = 5615h

C02538 | Acceleration unit

Drive interface
; Read access Write access CINH PLC STOP No transfer COM MOT

C02539

Parameter | Name:

Data type: INTEGER_32

Index: 22036d = 5614h

C02539 | Maximum position to be displayed

Drive interface
Display range (min. value | unit | max. value)
-214748.3647

Unit

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

C02540

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 22035d = 5613h

C02540 | Max. speed to be displayed

Drive interface
Display range (min. value | unit | max. value)
-214748.3647

Unit/s

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

618

Firmware 1.37 - 09/2006

Scaling factor: 10000

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02541

C02541

Parameter | Name:

Data type: INTEGER_32

Index: 22034d = 5612h

C02541 | Max. accel. to be displayed

Drive interface
Display range (min. value | unit | max. value)
-214748.3647

Unit/s

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

C02542

Scaling factor: 10000

Parameter | Name:

Data type: UNSIGNED_32

Index: 22033d = 5611h

C02542 | Load reference speed

Drive interface
Display range (min. value | unit | max. value)
0.000

rpm

4294967.295

; Read access Write access CINH PLC STOP No transfer COM MOT

C02543

Scaling factor: 1000

Parameter | Name:

Data type: UNSIGNED_32

Index: 22032d = 5610h

C02543 | Load reference torque

Drive interface
Display range (min. value | unit | max. value)
0.000

Nm

4294967.295

; Read access Write access CINH PLC STOP No transfer COM MOT

C02547

Scaling factor: 1000

Parameter | Name:

Data type: INTEGER_32

Index: 22028d = 560Ch

C02547 | DI_dnState
Status of the drive interface (LS_DriveInterface).
Display range (min. value | unit | max. value)
-2147483648

2147483647

; Read access Write access CINH PLC STOP No transfer COM MOT

C02548

Parameter | Name:

Data type: UNSIGNED_32

Index: 22027d = 560Bh

C02548 | DI_bErrors
Display of the boolean error signals of the drive interface (LS_DriveInterface).
Selection list
0 FALSE
1 TRUE
Subcodes

Information

C02548/1

DI_bResetError1

C02548/2

DI_bResetError2

C02548/3

DI_bResetError3

C02548/4

DI_bSetExternError

; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

619

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02549
C02549

Parameter | Name:

Data type: UNSIGNED_32

Index: 22026d = 560Ah

C02549 | Drive interface: Signals

Display of the boolean signals of the drive interface (LS_DriveInterface).
Selection list
0 FALSE
1 TRUE
Subcodes

Information

C02549/1

DI_bSetCInh

C02549/2

Reserved

C02549/3

Reserved

C02549/4

DI_bSwitchOn

C02549/5

Reserved

C02549/6

DI_bReady

C02549/7

DI_bFailActive

C02549/8

DI_bImpActive

C02549/9

DI_bCInhActive

C02549/10

DI_bWarningActive

C02549/11

DI_bUVDetected

C02549/12

DI_bOVDetected

C02549/13

DI_bMainSupplyOk

C02549/14

DI_bReadyToSwitchOn

C02549/15

DI_bOperationEnabled

; Read access Write access CINH PLC STOP No transfer COM MOT

C02550

Parameter | Name:

Data type: UNSIGNED_32

Index: 22025d = 5609h

C02550 | Setpoint interpolation

Motor interface
Selection list
0 Off
1 ON
Subcodes

Lenze setting

Information

C02550/1

0: Off

Position setpoint interpolat.

C02550/2

0: Off

Speed setpoint interpolat.

C02550/3

0: Off

Torque setpoint interpolat.

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02552

Parameter | Name:

Data type: INTEGER_32

Index: 22023d = 5607h

C02552 | Position setpoint

Motor interface
Display range (min. value | unit | max. value)
-214748.3647

Unit

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

620

Firmware 1.37 - 09/2006

Scaling factor: 10000

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02553

C02553

Parameter | Name:

Data type: UNSIGNED_32

Index: 22022d = 5606h

C02553 | Position controller gain

Motor interface
Setting range (min. value | unit | max. value)
0.00

Lenze setting

1/s

1000.00 20.00 1/s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02554

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 22021d = 5605h

C02554 | Int.-act. time of position controller

Motor interface
Setting range (min. value | unit | max. value)
0.001

Lenze setting
60.000 60.000 s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02555

Scaling factor: 1000

Parameter | Name:

Data type: UNSIGNED_32

Index: 22020d = 5604h

C02555 | Pos. contr. D comp.

Motor interface
Setting range (min. value | unit | max. value)
0.000

Lenze setting
100.000 0.000

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02556

Scaling factor: 1000

Parameter | Name:

Data type: INTEGER_32

Index: 22019d = 5603h

C02556 | Pos. contr. limitation

Motor interface
Setting range (min. value | unit | max. value)
0.0000

Unit/s

Lenze setting
214748.3647 214748.3647 Unit/s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02557

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 22018d = 5602h

C02557 | Motor pos. contr. output

Motor interface
Display range (min. value | unit | max. value)
-214748.3647

Unit/s

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

C02558

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 22017d = 5601h

C02558 | Pos. contr. output

Motor interface
Display range (min. value | unit | max. value)
-214748.3647

Unit/s

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

Scaling factor: 10000

621

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02559
C02559

Parameter | Name:

Data type: INTEGER_32

Index: 22016d = 5600h

C02559 | Internal torque limits

Motor interface
Display range (min. value | unit | max. value)
-200.00

200.00

Subcodes

Information

C02559/1

Upper int. torque limit

C02559/2

Lower int. torque limit

; Read access Write access CINH PLC STOP No transfer COM MOT

C02560

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 22015d = 55FFh

C02560 | Messages - motor interface

Motor interface
Display range (min. value | unit | max. value)
0

4294967295

; Read access Write access CINH PLC STOP No transfer COM MOT

C02567

Parameter | Name:

Data type: UNSIGNED_32

Index: 22008d = 55F8h

C02567 | Control mode

Motor interface
Selection list (display only)
0 Position control
1 Speed control
2 Torque control
; Read access Write access CINH PLC STOP No transfer COM MOT

C02568

Parameter | Name:

Data type: INTEGER_32

Index: 22007d = 55F7h

C02568 | Motor interface: % signals

Display of the scaled signals of the motor interface (LS_MotorInterface).
Display range (min. value | unit | max. value)
-200.00

200.00

Subcodes

Information

C02568/1

MI_dnPosCtrlAdaptLoad_n

C02568/2

MI_dnPosCtrlAdaptMotor_n

C02568/3

MI_dnSpeedCtrlAdapt_n

C02568/4

MI_dnTorqueHighLimit_n

C02568/5

MI_dnTorqueLowLimit_n

C02568/6

Reserved

C02568/7

MI_dnFluxSetpoint_n

C02568/8

Reserved

; Read access Write access CINH PLC STOP No transfer COM MOT

622

Firmware 1.37 - 09/2006

Scaling factor: 100

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02569

C02569

Parameter | Name:

Data type: UNSIGNED_32

Index: 22006d = 55F6h

C02569 | Motor interface: Dig. signals

Display of the boolean signals of the motor interface (LS_MotorInterface).
Selection list
0 FALSE
1 TRUE
Subcodes

Information

C02569/1

Reserved

C02569/2

MI_bResetSpeedCtrlIntegrator

C02569/3

MI_bLimitationActive

C02569/4

MI_bPosCtrlLimited

C02569/5

MI_bSpeedSetPointLimited

C02569/6

MI_bSpeedCtrlLimited

C02569/7

MI_bTorqueSetpointLimited

C02569/8

MI_bCurrentSetpointLimited

C02569/9

MI_bSpeedBelowC19

C02569/10

MI_bSpeedFollowingError

C02569/11

MI_bMotorOverloadWarning

; Read access Write access CINH PLC STOP No transfer COM MOT

C02570

Parameter | Name:

Data type: UNSIGNED_32

Index: 22005d = 55F5h

C02570 | Controller configuration

Encoder evaluation
Selection list (Lenze setting printed in bold)

Information

1 Phase control

Motor encoder selection is effected in C00495.

2 Position control

Position controller selection is effected in C00490.

; Read access ; Write access ; CINH PLC STOP No transfer COM MOT

C02572

Parameter | Name:

Data type: INTEGER_32

Index: 22003d = 55F3h

C02572 | Speed setpoint

Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647

Unit/s

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

C02573

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 22002d = 55F2h

C02573 | Position setpoint

Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647

Unit

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

Scaling factor: 10000

623

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02574
C02574

Parameter | Name:

Data type: INTEGER_32

Index: 22001d = 55F1h

C02574 | Actual speed

Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647

Unit/s

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

C02575

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 22000d = 55F0h

C02575 | Actual position

Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647

Unit

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

C02576

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 21999d = 55EFh

C02576 | Following error

Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647

Unit

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

C02577

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 21998d = 55EEh

C02577 | External actual position

Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647

Unit

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

C02578

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 21997d = 55EDh

C02578 | Offset actual pos. value/setp.

Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647

Unit

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

C02579

Scaling factor: 10000

Parameter | Name:

Data type: UNSIGNED_32

Index: 21996d = 55ECh

C02579 | Encoder eval.: Dig. signals

Display of the boolean signals of the encoder evaluation (LS_Feedback).
Selection list
0 FALSE
1 TRUE
Subcodes

Information

C02579/1

FDB_bResolverError

C02579/2

FDB_bSinCosSignalError

C02579/3

FDB_bEncoderComError

; Read access Write access CINH PLC STOP No transfer COM MOT

624

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02580

C02580

Parameter | Name:

Data type: UNSIGNED_32

Index: 21995d = 55EBh

C02580 | Brake operating mode

Basic function "Brake control"

Selection list (Lenze setting printed in bold)
0 Brake control off
1 Directly with brake module
2 Autom. with brake module
11 Direct - external switching
12 Autom. - external switching
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT

C02581

Parameter | Name:

Data type: INTEGER_32

Index: 21994d = 55EAh

C02581 | Brake activation threshold

Basic function "Brake control"

Setting range (min. value | unit | max. value)
0

Lenze setting

rpm

50000 50 rpm

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02582

Parameter | Name:

Data type: UNSIGNED_32

Index: 21993d = 55E9h

C02582 | Brake resp. to pulse inhibit

Basic function "Brake control"

Selection list (Lenze setting printed in bold)
0 Activate the brake immediately
1 Acivate brake when n <nmin
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02583

Parameter | Name:

Data type: UNSIGNED_32

Index: 21992d = 55E8h

C02583 | Status input monitoring

Basic function "Brake control"

Selection list (Lenze setting printed in bold)
0 Not active
1 active
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02585

Parameter | Name:

Data type: UNSIGNED_32

Index: 21990d = 55E6h

C02585 | Brake control polarity

Basic function "Brake control"

Selection list (Lenze setting printed in bold)
0 Not inverted
1 Inverted
; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

625

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02586
C02586

Parameter | Name:

Data type: INTEGER_32

Index: 21989d = 55E5h

C02586 | Starting torque 1

Basic function "Brake control"

Setting range (min. value | unit | max. value)
-21474836.47

Lenze setting

Nm

21474836.47 0.00 Nm

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02587

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 21988d = 55E4h

C02587 | Starting torque 2

Basic function "Brake control"

Setting range (min. value | unit | max. value)
-21474836.47

Lenze setting

Nm

21474836.47 0.00 Nm

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02588

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 21987d = 55E3h

C02588 | Starting torque source

Basic function "Brake control"

Selection list (Lenze setting printed in bold)
0 Starting torque 1/2
1 Stopping value
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02589

Parameter | Name:

Data type: UNSIGNED_32

Index: 21986d = 55E2h

C02589 | Brake closing time

Basic function "Brake control"

Setting range (min. value | unit | max. value)
0

Lenze setting

ms

60000 100 ms

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02590

Parameter | Name:

Data type: UNSIGNED_32

Index: 21985d = 55E1h

C02590 | Brake opening time

Basic function "Brake control"

Setting range (min. value | unit | max. value)
0

Lenze setting

ms

60000 100 ms

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02591

Parameter | Name:

Data type: UNSIGNED_32

Index: 21984d = 55E0h

C02591 | Waiting time- status monitoring

Basic function "Brake control"

Setting range (min. value | unit | max. value)
0

ms

Lenze setting
60000 100 ms

; Read access ; Write access CINH PLC STOP No transfer COM MOT

626

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02593

C02593

Parameter | Name:

Data type: UNSIGNED_32

Index: 21982d = 55DEh

C02593 | Waiting time - brake activation

Basic function "Brake control"

Setting range (min. value | unit | max. value)
0.000

Lenze setting
1000.000 0.000 s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02594

Scaling factor: 1000

Parameter | Name:

Data type: INTEGER_32

Index: 21981d = 55DDh

C02594 | Test torque

Basic function "Brake control"

Setting range (min. value | unit | max. value)
-21474836.47

Nm

Lenze setting
21474836.47 0.00 Nm

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02595

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 21980d = 55DCh

C02595 | Permissible angle of rotation

Basic function "Brake control"

Setting range (min. value | unit | max. value)
0

Lenze setting
360 5

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02596

Parameter | Name:

Data type: INTEGER_32

Index: 21979d = 55DBh

C02596 | Grinding speed

Basic function "Brake control"

Setting range (min. value | unit | max. value)
0

rpm

Lenze setting
300 100 rpm

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02597

Parameter | Name:

Data type: UNSIGNED_32

Index: 21978d = 55DAh

C02597 | Acc./dec. time - grinding

Basic function "Brake control"

Setting range (min. value | unit | max. value)
0.000

Lenze setting
60.000 1.000 s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02598

Scaling factor: 1000

Parameter | Name:

Data type: UNSIGNED_32

Index: 21977d = 55D9h

C02598 | Grinding ON time

Basic function "Brake control"

Setting range (min. value | unit | max. value)
0.2

Lenze setting
2.0 0.5 s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

Scaling factor: 10

627

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02599
C02599

Parameter | Name:

Data type: UNSIGNED_32

Index: 21976d = 55D8h

C02599 | Grinding OFF time

Basic function "Brake control"

Setting range (min. value | unit | max. value)
0.2

Lenze setting
2.0 0.5 s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02607

Scaling factor: 10

Parameter | Name:

Data type: INTEGER_32

Index: 21968d = 55D0h

C02607 | BRK_dnState
Status of the "brake control" basic function (LS_Brake).
Display range (min. value | unit | max. value)
-2147483648

2147483647

; Read access Write access CINH PLC STOP No transfer COM MOT

C02608

Parameter | Name:

Data type: INTEGER_32

Index: 21967d = 55CFh

C02608 | BRK_dnTorqueAdd_n
Display of the additive torque value of the "brake control" basic function (LS_Brake).
Display range (min. value | unit | max. value)
-200.00

200.00

; Read access Write access CINH PLC STOP No transfer COM MOT

C02609

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 21966d = 55CEh

C02609 | Brake control: Dig. signals

Display of the boolean signals of the "brake control" basic function (LS_Brake).
Selection list
0 FALSE
1 TRUE
Subcodes

Information

C02609/1

BRK_bReleaseBrake

C02609/2

BRK_bStartingTorque2

C02609/3

BRK_bBrakeApplied

C02609/4

BRK_bBrakeTest

C02609/5

BRK_bBrakeGrindIn

C02609/6

BRK_bReleaseBrakeOut

C02609/7

BRK_bBrakeReleased

C02609/8

BRK_bError

C02609/9

BRK_bCInhActive

; Read access Write access CINH PLC STOP No transfer COM MOT

C02610

Parameter | Name:

Data type: UNSIGNED_32

Index: 21965d = 55CDh

C02610 | Decel. time - stop function

Basic function"Stop"
Setting range (min. value | unit | max. value)
0.000

Lenze setting
1000.000 1.000 s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

628

Firmware 1.37 - 09/2006

Scaling factor: 1000

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02611

C02611

Parameter | Name:

Data type: UNSIGNED_32

Index: 21964d = 55CCh

C02611 | S-ramp time - stop function

Basic function"Stop"
Setting range (min. value | unit | max. value)
0.000

Lenze setting

10.000 0.100 s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02612

Scaling factor: 1000

Parameter | Name:

Data type: UNSIGNED_32

Index: 21963d = 55CBh

C02612 | Ref. for decel. time - stop

Basic function"Stop"
Selection list (Lenze setting printed in bold)
0 Reference speed (C00011)
1 Current speed
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02616

Parameter | Name:

Data type: INTEGER_32

Index: 21959d = 55C7h

C02616 | STP_dnState
Status of the basic function "Stop" (LS_Stop).
Display range (min. value | unit | max. value)
-2147483648

2147483647

; Read access Write access CINH PLC STOP No transfer COM MOT

C02617

Parameter | Name:

Data type: UNSIGNED_32

Index: 21958d = 55C6h

C02617 | STP_bStopActive
Display of the boolean signals of the basic function " Stop" (LS_Stop).
Selection list (display only)
0 Stop not active
1 Stop active
; Read access Write access CINH PLC STOP No transfer COM MOT

C02619

Parameter | Name:

Data type: UNSIGNED_32

Index: 21956d = 55C4h

C02619 | Quick stop: Dig. signals

Display of the boolean signals of the basic function "quick stop" (LS_quick stop).
Selection list
0 FALSE
1 TRUE
Subcodes

Information

C02619/1

QSP_bActivate1

C02619/2

QSP_bActivate2

C02619/3

QSP_bActivate3

C02619/4

QSP_bActive

; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

629

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02620
C02620

Parameter | Name:

Data type: INTEGER_32

Index: 21955d = 55C3h

C02620 | Manual control speed 1

Basic function "Manual jog"

Setting range (min. value | unit | max. value)
0.0000

Unit/s

Lenze setting
214748.3647 360.0000 Unit/s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02621

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 21954d = 55C2h

C02621 | Manual control speed 2

Basic function "Manual jog"

Setting range (min. value | unit | max. value)
0.0000

Unit/s

Lenze setting
214748.3647 720.0000 Unit/s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02622

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 21953d = 55C1h

C02622 | Manual control acceleration

Basic function "Manual jog"

Setting range (min. value | unit | max. value)
0.0000

Unit/s

Lenze setting
214748.3647 360.0000 Unit/s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02623

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 21952d = 55C0h

C02623 | Manual control deceleration

Basic function "Manual jog"

Setting range (min. value | unit | max. value)
0.0000

Unit/s

Lenze setting
214748.3647 1440.0000 Unit/s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02624

Scaling factor: 10000

Parameter | Name:

Data type: UNSIGNED_32

Index: 21951d = 55BFh

C02624 | Manual control S-ramp time

Basic function "Manual jog"

Setting range (min. value | unit | max. value)
0.000

Lenze setting
10.000 0.100 s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02638

Parameter | Name:

Scaling factor: 1000

Data type: INTEGER_32

Index: 21937d = 55B1h

C02638 | Manual control status

Status of the basic function "Manual jog" (LS_ManualJog).
Display range (min. value | unit | max. value)
0

; Read access Write access CINH PLC STOP No transfer COM MOT

630

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02639

C02639

Parameter | Name:

Data type: UNSIGNED_32

Index: 21936d = 55B0h

C02639 | Manual control: Dig. signals

Display of the boolean signals of the basic function "Manual jog" (LS_ManualJog).
Selection list
0 FALSE
1 TRUE
Subcodes

Information

C02639/1

MAN_bEnable

C02639/2

MAN_bJogPositive

C02639/3

MAN_bJogNegative

C02639/4

MAN_bActivateJogSpeed2

C02639/5

MAN_bReleaseLimitSwitch

C02639/6

MAN_bEnabled

C02639/7

MAN_bActive

; Read access Write access CINH PLC STOP No transfer COM MOT

C02640

Parameter | Name:

Data type: UNSIGNED_32

Index: 21935d = 55AFh

C02640 | Ref. mode

Basic function "Homing"

Selection list (Lenze setting printed in bold)
0 cw_Rn_TP
1 ccw_Rn_TP
2 cw_Lp_ccw_Rn_TP
3 ccw_Ln_cw_Rn_TP
4 cw_Rp_ccw_Rn_TP
5 ccw_Rp_cw_Rn_TP
8 cw_TP
9 ccw_TP
10 cw_Lp_ccw_TP
11 ccw_Ln_cw_TP
12 cw_Lp
13 ccw_Ln
14 cw_Trq_Lim
15 ccw_Trq_Lim
100 Set home pos. directly
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02642

Parameter | Name:

Data type: INTEGER_32

Index: 21933d = 55ADh

C02642 | Home position

Basic function "Homing"

Setting range (min. value | unit | max. value)
-214748.3647

Unit

Lenze setting
214748.3647 0.0000 Unit

; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

Scaling factor: 10000

631

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02643
C02643

Parameter | Name:

Data type: INTEGER_32

Index: 21932d = 55ACh

C02643 | Ref. target position

Basic function "Homing"

Setting range (min. value | unit | max. value)
-214748.3647

Unit

Lenze setting
214748.3647 0.0000 Unit

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02644

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 21931d = 55ABh

C02644 | Ref. speed 1

Basic function "Homing"

Setting range (min. value | unit | max. value)
0.0000

Unit/s

Lenze setting
214748.3647 360.0000 Unit/s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02645

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 21930d = 55AAh

C02645 | Ref. acceleration 1

Basic function "Homing"

Setting range (min. value | unit | max. value)
0.0000

Unit/s

Lenze setting
214748.3647 720.0000 Unit/s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02646

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 21929d = 55A9h

C02646 | Ref. speed 2

Basic function "Homing"

Setting range (min. value | unit | max. value)
0.0000

Unit/s

Lenze setting
214748.3647 180.0000 Unit/s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02647

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 21928d = 55A8h

C02647 | Ref. acceleration 2

Basic function "Homing"

Setting range (min. value | unit | max. value)
0.0000

Unit/s

Lenze setting
214748.3647 360.0000 Unit/s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02648

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 21927d = 55A7h

C02648 | Ref. S-ramp time

Basic function "Homing"

Setting range (min. value | unit | max. value)
0

ms

Lenze setting
10000 100 ms

; Read access ; Write access CINH PLC STOP No transfer COM MOT

632

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02649

C02649

Parameter | Name:

Data type: INTEGER_32

Index: 21926d = 55A6h

C02649 | Ref. torque limit

Basic function "Homing"

Setting range (min. value | unit | max. value)
0.00

Lenze setting

200.00 10.00 %

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02650

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 21925d = 55A5h

C02650 | Ref. blocking time

Basic function "Homing"

Setting range (min. value | unit | max. value)
0.000

Lenze setting

120.000 1.000 s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02651

Scaling factor: 1000

Parameter | Name:

Data type: UNSIGNED_32

Index: 21924d = 55A4h

C02651 | Ref. touch probe configuration

Basic function "Homing"

Setting range (min. value | unit | max. value)

Lenze setting

4294967295 16

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02652

Parameter | Name:

Data type: UNSIGNED_32

Index: 21923d = 55A3h

C02652 | Home pos. after mains switching

Basic function "Homing"

Selection list (Lenze setting printed in bold)
0 Delete
1 Received
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02653

Parameter | Name:

Data type: INTEGER_32

Index: 21922d = 55A2h

C02653 | Max. angle of after mains switch.

Basic function "Homing"

Setting range (min. value | unit | max. value)
0

Lenze setting
1000000 180

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02656

Parameter | Name:

Data type: INTEGER_32

Index: 21919d = 559Fh

C02656 | Current position

Basic function "Homing"

Display range (min. value | unit | max. value)
-214748.3647

Unit

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

Scaling factor: 10000

633

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02657
C02657

Parameter | Name:

Data type: INTEGER_32

Index: 21918d = 559Eh

C02657 | HM_dnState
Status of the basic function "Homing" (LS_Homing).
Display range (min. value | unit | max. value)
-2147483648

2147483647

; Read access Write access CINH PLC STOP No transfer COM MOT

C02658

Parameter | Name:

Data type: INTEGER_32

Index: 21917d = 559Dh

C02658 | HM_dnHomePos_p
Display of the position signals of the basic function "Homing" (LS_Homing).
Display range (min. value | unit | max. value)
-214748.3647

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

C02659

Scaling factor: 10000

Parameter | Name:

Data type: UNSIGNED_32

Index: 21916d = 559Ch

C02659 | Homing: Dig. signals

Display of the boolean signals of the basic function "Homing" (LS_Homing).
Selection list
0 FALSE
1 TRUE
Subcodes

Information

C02659/1

HM_bEnable

C02659/2

HM_bActivateHoming

C02659/3

HM_bHomingMark

C02659/4

HM_bLoadHomePos

C02659/5

HM_bResetHomePos

C02659/6

HM_bEnabled

C02659/7

HM_bActive

C02659/8

HM_bDone

C02659/9

HM_bHomePosAvailable

; Read access Write access CINH PLC STOP No transfer COM MOT

C02674

Parameter | Name:

Data type: UNSIGNED_32

Index: 21901d = 558Dh

C02674 | POS_dwActualProfileNumber
Current profile of the basic function "Positioning" (LS_Positioner).
Display range (min. value | unit | max. value)
0

1000

; Read access Write access CINH PLC STOP No transfer COM MOT

C02675

Parameter | Name:

Data type: INTEGER_32

Index: 21900d = 558Ch

C02675 | POS_dnState
Status of the basic function "Positioning" (LS_Positioner).
Display range (min. value | unit | max. value)
-2147483648

2147483647

; Read access Write access CINH PLC STOP No transfer COM MOT

634

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02676

C02676

Parameter | Name:

Data type: INTEGER_32

Index: 21899d = 558Bh

C02676 | POS_dnProfileSpeed_s

Display of the max. speed of the current profile of the basic function "Positioning" (LS_Positioner).
Display range (min. value | unit | max. value)
-214748.3647

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

C02677

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 21898d = 558Ah

C02677 | Positioning: % signals

Display of the scaled signals of the basic function "Positioning" (LS_Positioner).
Display range (min. value | unit | max. value)
-200.00

200.00

Subcodes

Information

C02677/1

POS_dnSpeedOverride_n

C02677/2

POS_dnAccOverride_n

; Read access Write access CINH PLC STOP No transfer COM MOT

C02678

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 21897d = 5589h

C02678 | Positioning: Pos. signals

Display of the position signals of the basic function "Positioning "(LS_Positioner).
Display range (min. value | unit | max. value)
-214748.3647

214748.3647

Subcodes

Information

C02678/1

POS_dnSetPos_p

C02678/2

POS_dnProfileTarget_p

; Read access Write access CINH PLC STOP No transfer COM MOT

C02679

Scaling factor: 10000

Parameter | Name:

Data type: UNSIGNED_32

Index: 21896d = 5588h

C02679 | Positioning: Dig. signals

Display of the boolean signals of the basic function "Positioning" (LS_Positioner).
Selection list
0 FALSE
1 TRUE
Subcodes

Information

C02679/1

POS_bEnable

C02679/2

POS_bStart

C02679/3

POS_bAbort

C02679/4

POS_bRestart

C02679/5

POS_bEnableOverride

C02679/6

POS_bDisableTP

C02679/7

POS_bEnabled

C02679/8

POS_bActive

C02679/9

POS_bDone

C02679/10

POS_bInTarget

; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

635

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02680
C02680

Parameter | Name:

Data type: UNSIGNED_32

Index: 21895d = 5587h

C02680 | Source position setpoint

Basic function "Positioning"

Selection list (Lenze setting printed in bold)
0 Position setpoint input
1 From add. speed
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02681

Parameter | Name:

Data type: UNSIGNED_32

Index: 21894d = 5586h

C02681 | Additional speed source

Basic function "Positioning"

Selection list (Lenze setting printed in bold)
0 Additional speed input
1 From position setpoint
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02685

Parameter | Name:

Data type: INTEGER_32

Index: 21890d = 5582h

C02685 | PF_dnMotorAcc_x
Display of the motor acceleration of the basic function "Position follower" (LS_PositionFollower).
Display range (min. value | unit | max. value)
-7680000.0

7680000.0

; Read access Write access CINH PLC STOP No transfer COM MOT

C02686

Scaling factor: 10

Parameter | Name:

Data type: INTEGER_32

Index: 21889d = 5581h

C02686 | PF_dnSpeedAdd1_s

Display of the speed precontrol value of the basic function "Position follower" (LS_PositionFollower).
Display range (min. value | unit | max. value)
-480000.0

rpm

480000.0

; Read access Write access CINH PLC STOP No transfer COM MOT

C02687

Scaling factor: 10

Parameter | Name:

Data type: INTEGER_32

Index: 21888d = 5580h

C02687 | Position follower: % signals

Display of the scaled signals of the basic function "Position follower" (LS_PositionFollower).
Display range (min. value | unit | max. value)
-200.00

200.00

Subcodes

Information

C02687/1

PF_dnSpeedAdd2_n

C02687/2

PF_dnTorqueAdd_n

; Read access Write access CINH PLC STOP No transfer COM MOT

C02688

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 21887d = 557Fh

C02688 | Position follower: Pos. signal

Display of the position signals of the basic function "Position follower" (LS_PositionFollower).
Display range (min. value | unit | max. value)
-214748.3648

Incr.

214748.3647

; Read access Write access CINH PLC STOP No transfer COM MOT

636

Firmware 1.37 - 09/2006

Scaling factor: 10000

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02689

C02689

Parameter | Name:

Data type: UNSIGNED_32

Index: 21886d = 557Eh

C02689 | Position follower: Dig. signals

Display of the boolean signals of the basic function "Position follower" (LS_PositionFollower).
Selection list
0 FALSE
1 TRUE
Subcodes

Information

C02689/1

PF_bEnable

C02689/2

PF_bEnabled

; Read access Write access CINH PLC STOP No transfer COM MOT

C02692

Parameter | Name:

Data type: INTEGER_32

Index: 21883d = 557Bh

C02692 | SF_dnMotorAcc_x
Display of the motor acceleration of the basic function "Speed follower" (LS_SpeedFollower).
Display range (min. value | unit | max. value)
-7680000.0

7680000.0

; Read access Write access CINH PLC STOP No transfer COM MOT

C02693

Scaling factor: 10

Parameter | Name:

Data type: INTEGER_32

Index: 21882d = 557Ah

C02693 | SF_dnSpeedAdd_s

Display of the additive speed setpoint of the basic function "Speed follower" (LS_SpeedFollower).
Display range (min. value | unit | max. value)
-480000.0

rpm

480000.0

; Read access Write access CINH PLC STOP No transfer COM MOT

C02694

Scaling factor: 10

Parameter | Name:

Data type: INTEGER_32

Index: 21881d = 5579h

C02694 | Speed follower: % signals

Display of the scaled signals of the basic function "Speed follower" (LS_SpeedFollower).
Display range (min. value | unit | max. value)
-200.00

200.00

Subcodes

Information

C02694/1

SF_dnSpeedSet_n

C02694/2

SF_dnTorqueAdd_n

; Read access Write access CINH PLC STOP No transfer COM MOT

C02695

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 21880d = 5578h

C02695 | Speed follower: Dig. signals

Display of the boolean signals of the basic function "Speed follower" (LS_SpeedFollower).
Selection list
0 FALSE
1 TRUE
Subcodes

Information

C02695/1

SF_bEnable

C02695/2

SF_bEnabled

; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

637

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02698
C02698

Parameter | Name:

Data type: INTEGER_32

Index: 21877d = 5575h

C02698 | Torque follower: % signals

Display of the boolean input/output signals of the basic function "Torque follower" (LS_TorqueFollower).
Display range (min. value | unit | max. value)
-200.00

200.00

Subcodes

Information

C02698/1

TF_TorqueSet_n

C02698/2

TF_dnSpeedHighLimit_n

C02698/3

TF_dnSpeedLowLimit_n

; Read access Write access CINH PLC STOP No transfer COM MOT

C02699

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 21876d = 5574h

C02699 | Torque follower: Dig. signals

Display of the boolean input/output signals of the basic function "Torque follower" (LS_TorqueFollower).
Selection list
0 FALSE
1 TRUE
Subcodes

Information

C02699/1

TF_bEnable

C02699/2

TF_bEnabled

; Read access Write access CINH PLC STOP No transfer COM MOT

C02700

Parameter | Name:

Data type: UNSIGNED_32

Index: 21875d = 5573h

C02700 | Software limit pos. effective

Basic function "Limiter"

Selection list (Lenze setting printed in bold)
0 Deactivated
1 Activated
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02701

Parameter | Name:

Data type: INTEGER_32

Index: 21874d = 5572h

C02701 | Software limit positions

Basic function "Limiter"

Setting range (min. value | unit | max. value)
-214748.3647

Unit

214748.3647

Subcodes

Lenze setting

Information

C02701/1

0.0000 Unit

Positive software limit position

C02701/2

0.0000 Unit

Negative software limit position

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02702

Parameter | Name:

Scaling factor: 10000

Data type: UNSIGNED_32

Index: 21873d = 5571h

C02702 | Limitations effective

Basic function "Limiter"

Selection list (Lenze setting printed in bold)
0 Deactivated
1 Activated
; Read access ; Write access CINH PLC STOP No transfer COM MOT

638

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02703

C02703

Parameter | Name:

Data type: INTEGER_32

Index: 21872d = 5570h

C02703 | Max. speed

Basic function "Limiter"

Setting range (min. value | unit | max. value)
0.0000

Lenze setting

Unit/s

214748.3647 3600.0000 Unit/s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02704

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 21871d = 556Fh

C02704 | Max. speed [rpm]

Basic function "Limiter"

Display range (min. value | unit | max. value)
0.0

rpm

214748364.7

; Read access Write access CINH PLC STOP No transfer COM MOT

C02705

Scaling factor: 10

Parameter | Name:

Data type: INTEGER_32

Index: 21870d = 556Eh

C02705 | Max. acceleration

Basic function "Limiter"

Setting range (min. value | unit | max. value)
0.0000

Lenze setting

Unit/s

214748.3647 3600.0000 Unit/s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02706

Scaling factor: 10000

Parameter | Name:

Data type: UNSIGNED_32

Index: 21869d = 556Dh

C02706 | Min. S-ramp time

Basic function "Limiter"

Setting range (min. value | unit | max. value)
0

Lenze setting

ms

10000 100 ms

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02707

Parameter | Name:

Data type: UNSIGNED_32

Index: 21868d = 556Ch

C02707 | Permissible direction of rot.

Basic function "Limiter"

Selection list (Lenze setting printed in bold)
0 Positive and negative
1 Positive only
2 Negative only
; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

639

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02708
C02708

Parameter | Name:

Data type: INTEGER_32

Index: 21867d = 556Bh

C02708 | Limited speed

Basic function "Limiter"

Setting range (min. value | unit | max. value)
0.0000

Unit/s

214748.3647

Subcodes

Lenze setting

Information

C02708/1

3600.0000 Unit/s

Limited speed 1 ... 4

C02708/2

7200.0000 Unit/s

C02708/3

14400.0000 Unit/s

C02708/4

28800.0000 Unit/s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02709

Scaling factor: 10000

Parameter | Name:

Data type: INTEGER_32

Index: 21866d = 556Ah

C02709 | Limited speed

Basic function "Limiter"

Display range (min. value | unit | max. value)
0.0

rpm

214748364.7

Subcodes

Information

C02709/1

Limited speed 1 ... 4

C02709/2
C02709/3
C02709/4
; Read access Write access CINH PLC STOP No transfer COM MOT

C02710

Scaling factor: 10

Parameter | Name:

Data type: UNSIGNED_32

Index: 21865d = 5569h

C02710 | Delay lim. speed

Basic function "Limiter"

Setting range (min. value | unit | max. value)
0.0000

Unit/s

214748.3647

Subcodes

Lenze setting

Information

C02710/1

0.0100 Unit/s

Delays for limited speed 1 ... 4

C02710/2

0.0100 Unit/s

C02710/3

0.0100 Unit/s

C02710/4

0.0100 Unit/s

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02711

Scaling factor: 10000

Parameter | Name:

Data type: UNSIGNED_32

Index: 21864d = 5568h

C02711 | S-ramp time lim. speed

Basic function "Limiter"

Setting range (min. value | unit | max. value)
0

ms

10000

Subcodes

Lenze setting

Information

C02711/1

100 ms

S-ramp times for limited speed 1 ... 4

C02711/2

100 ms

C02711/3

100 ms

C02711/4

100 ms

; Read access ; Write access CINH PLC STOP No transfer COM MOT

640

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02712

C02712

Parameter | Name:

Data type: UNSIGNED_32

Index: 21863d = 5567h

C02712 | Decel. time lim. speed

Basic function "Limiter"

Display range (min. value | unit | max. value)
0

ms

10000

Subcodes

Information

C02712/1

Deceleration times for limited speed 1 ... 4

C02712/2
C02712/3
C02712/4
; Read access Write access CINH PLC STOP No transfer COM MOT

C02713

Parameter | Name:

Data type: UNSIGNED_32

Index: 21862d = 5566h

C02713 | Max. dist. manual control

Basic function "Limiter"

Setting range (min. value | unit | max. value)
0.0000

Unit

Lenze setting
214748.3647 360.0000 Unit

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02714

Parameter | Name:

Scaling factor: 10000

Data type: UNSIGNED_32

Index: 21861d = 5565h

C02714 | Max. dist. manual control

Basic function "Limiter"

Display range (min. value | unit | max. value)
0

Incr.

2147483647

; Read access Write access CINH PLC STOP No transfer COM MOT

C02715

Parameter | Name:

Data type: UNSIGNED_32

Index: 21860d = 5564h

C02715 | Limitation active

Basic function "Limiter"

Selection list (display only)
0 Deactivated
1 Activated
; Read access Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

641

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02716
C02716

Parameter | Name:

Data type: UNSIGNED_32

Index: 21859d = 5563h

C02716 | Resp. to limitation

Basic function "Limiter"

Selection list
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
Subcodes

Lenze setting

Information

C02716/1

0: No response

Resp. to rotation limitation

C02716/2

3: Quick stop by trouble

Resp. to SW limit pos. excess

C02716/3

0: No response

Resp. to max. value excess

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02717

Parameter | Name:

Data type: UNSIGNED_32

Index: 21858d = 5562h

C02717 | LIM_dwControl
Control word of the basic function "Limiter" (LS_Limiter).
Display range (min. value | unit | max. value)
0

4294967295

; Read access Write access CINH PLC STOP No transfer COM MOT

C02718

Parameter | Name:

Data type: INTEGER_32

Index: 21857d = 5561h

C02718 | LIM_dnState
Status of the basic function "Limiter" (LS_Limiter).
Display range (min. value | unit | max. value)
0

; Read access Write access CINH PLC STOP No transfer COM MOT

C02719

Parameter | Name:

Data type: UNSIGNED_32

Index: 21856d = 5560h

C02719 | Limiter: Dig. signals

Display of the boolean input signals of the basic function "Limiter" (LS_Limiter).
Selection list
0 FALSE
1 TRUE
Subcodes

Information

C02719/1

LIM_bLimitSwitchPositive

C02719/2

LIM_bLimitSwitchNegative

C02719/3

LIM_bActivateLimitedSpeed1

; Read access Write access CINH PLC STOP No transfer COM MOT

642

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02730

C02730

Parameter | Name:

Data type: INTEGER_32

Index: 21845d = 5555h

C02730 | AINx: Gain

Setting range (min. value | unit | max. value)
-200.00

200.00

Subcodes

Lenze setting

Information

C02730/1

100.00 %

Gain of analog input 1

C02730/2

100.00 %

Gain of analog input 2

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02731

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 21844d = 5554h

C02731 | AINx: Offset

Setting range (min. value | unit | max. value)
-200.00

200.00

Subcodes

Lenze setting

Information

C02731/1

0.00 %

Offset of analog input 1

C02731/2

0.00 %

Offset of analog input 2

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02732

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 21843d = 5553h

C02732 | AINx: Dead band

Setting range (min. value | unit | max. value)
0.00

100.00

Subcodes

Lenze setting

Information

C02732/1

0.00 %

Dead band of analog input 1

C02732/2

0.00 %

Dead band of analog input 2

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02733

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 21842d = 5552h

C02733 | AOUTx: Gain

Setting range (min. value | unit | max. value)
-200.00

200.00

Subcodes

Lenze setting

Information

C02733/1

100.00 %

Gain of analog output 1

C02733/2

100.00 %

Gain of analog output 2

; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02734

Scaling factor: 100

Parameter | Name:

Data type: INTEGER_32

Index: 21841d = 5551h

C02734 | AOUTx: Offset

Setting range (min. value | unit | max. value)
-200.00

200.00

Subcodes

Lenze setting

Information

C02734/1

0.00 %

Offset of analog output 1

C02734/2

0.00 %

Offset of analog output 2

; Read access ; Write access CINH PLC STOP No transfer COM MOT

Firmware 1.37 - 09/2006

Scaling factor: 100

643

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02800
C02800

Parameter | Name:

Data type: INTEGER_16

Index: 21775d = 550Fh

C02800 | AINx: Input signal

Scaling: -16384 -100 %, +16383 +100 %
Display range (min. value | unit | max. value)
-16384

16383

Subcodes

Information

C02800/1

Input signal of analog input 1

C02800/2

Input signal of analog input 2

; Read access Write access CINH PLC STOP No transfer COM MOT

C02801

Parameter | Name:

Data type: INTEGER_16

Index: 21774d = 550Eh

C02801 | AOUTx: Output signal

Scaling: -16384 -100 %, +16383 +100 %
Display range (min. value | unit | max. value)
-16384

16383

Subcodes

Information

C02801/1

Output signal of analog output 1

C02801/2

Output signal of analog output 2

; Read access Write access CINH PLC STOP No transfer COM MOT

C02802

Parameter | Name:

Data type: BITFIELD_32

Index: 21773d = 550Dh

C02802 | Status word dig. outputs

Display of the hexadecimal value of the digital output port

Important: All digital levels are indicated without considering the level logic. Internal signals are displayed as
well.
Display range (min. value | unit | max. value)
0x00000000

0xFFFFFFFF

; Read access Write access CINH PLC STOP No transfer COM MOT

C02803

Parameter | Name:

Data type: BITFIELD_32

Index: 21772d = 550Ch

C02803 | Status word dig. inputs

Display of the hexadecimal value of the digital input port

Important: All digital levels are indicated without considering the level logic. Internal signals are displayed as
well.
Display range (min. value | unit | max. value)
0x00000000

0xFFFFFFFF

; Read access Write access CINH PLC STOP No transfer COM MOT

644

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02810

C02810

Parameter | Name:

Data type: UNSIGNED_32

Index: 21765d = 5505h

C02810 | Delay time for TPx

The set delay time will be considered when the position is determined at the touch probe time and will be used to
compensate for dead times, if necessary.
Please observe the setting of the input filter for the digital inputs (C02830).
Setting range (min. value | unit | max. value)
0

us

7000

Subcodes

Lenze setting

Information

C02810/1

0 us

Delay for touch probe 1 ... 8

C02810/...
C02810/10
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02830

Parameter | Name:

Data type: UNSIGNED_8

Index: 21745d = 54F1h

C02830 | DIx delay time

Input filter for digital inputs
Can be used to filter "spikes" at the digital inputs, if necessary.
Each digital input is assigned to a subcode.
Since the filter is a "counting" filter, the indicated times are only approximate values.
Selection list

Information
0 2 s

Filter time

1 4 s
2 8 s
3 16 s
4 32 s
5 64 s
6 128 s
7 256 s
8 512 s
9 1024 s
10 2048 s
11 4096 s
12 8192 s
13 16384 s
14 32768 s
Subcodes

Lenze setting

Information

C02830/1

0: 2 s

Setting of digital input 1 ... 8

C02830/...
C02830/8
; Read access ; Write access CINH PLC STOP No transfer COM MOT

C02850

Parameter | Name:

Data type: UNSIGNED_32

Index: 21725d = 54DDh

C02850 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C02851

Parameter | Name:

Data type: UNSIGNED_32

Index: 21724d = 54DCh

C02851 | Service code

This code is used internally by the controller and must not be overwritten by the user!

Firmware 1.37 - 09/2006

645

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02852
C02852

Parameter | Name:

Data type: UNSIGNED_16

Index: 21723d = 54DBh

C02852 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C02853

Parameter | Name:

Data type: UNSIGNED_16

Index: 21722d = 54DAh

C02853 | Vp Lss saturat. characteristic

Setting range (min. value | unit | max. value)
0
Subcodes

400

Lenze setting

Information

C02853/1

100 %

C02853/2

100 %

C02853/3

100 %

C02853/4

100 %

C02853/5

100 %

C02853/6

100 %

C02853/7

100 %

Saturation characteristic to correct the leakage

inductance and the current controller parameters.
The saturation characteristic is displayed by 17 points
which are distributed linearly on the X axis.
The point 17 represents 100 % of the maximum
motor current in the process (C02855).
The values to be entered in the subcodes represent
the y values of the grid points 1 ... 17.
Correction of the leakage inductance via saturation
characteristic

C02853/8

100 %

C02853/9

100 %

C02853/10

100 %

C02853/11

100 %

C02853/12

100 %

C02853/13

100 %

C02853/14

100 %

C02853/15

100 %

C02853/16

100 %

C02853/17

100 %

; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C02854

Parameter | Name:

Data type: UNSIGNED_32

Index: 21721d = 54D9h

C02854 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C02855

Parameter | Name:

Data type: UNSIGNED_32

Index: 21720d = 54D8h

C02855 | Imax Lss saturat. characteristic

Maximum motor current in the process
Defines the grid point 17 of the saturation characteristic set in C02853.
Correction of the leakage inductance via saturation characteristic
Setting range (min. value | unit | max. value)
0.0

Lenze setting
6000.0 5.4 A

; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C02856

Scaling factor: 10

Parameter | Name:

Data type: VISIBLE_STRING

Index: 21719d = 54D7h

C02856 | Service code

This code is used internally by the controller and must not be overwritten by the user!

646

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Parameter list | C02857

C02857

Parameter | Name:

Data type: VISIBLE_STRING

Index: 21718d = 54D6h

C02857 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C02858

Parameter | Name:

Data type: UNSIGNED_8

Index: 21717d = 54D5h

C02858 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C02859

Parameter | Name:

Data type: UNSIGNED_8

Index: 21716d = 54D4h

C02859 | Lss sat. characteristic

Selection list (Lenze setting printed in bold)
0 Deactivated
1 Activated
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT

C02860

Parameter | Name:

Data type: UNSIGNED_32

Index: 21715d = 54D3h

C02860 | Rr adaptation
Setting range (min. value | unit | max. value)
50.00

Lenze setting
200.00 100.00 %

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C02861

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 21714d = 54D2h

C02861 | Lh adaptation
Setting range (min. value | unit | max. value)
50.00

Lenze setting
200.00 100.00 %

; Read access ; Write access CINH PLC STOP No transfer COM ; MOT

C02996

Scaling factor: 100

Parameter | Name:

Data type: UNSIGNED_32

Index: 21579d = 544Bh

C02996 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C02997

Parameter | Name:

Data type: UNSIGNED_32

Index: 21578d = 544Ah

C02997 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C02998

Parameter | Name:

Data type: UNSIGNED_32

Index: 21577d = 5449h

C02998 | Service code

This code is used internally by the controller and must not be overwritten by the user!
C02999

Parameter | Name:

Data type: UNSIGNED_32

Index: 21576d = 5448h

C02999 | Service code

This code is used internally by the controller and must not be overwritten by the user!

Firmware 1.37 - 09/2006

647

9400 HighLine | Parameter setting & configuration

Parameter reference
Attribute table
16.4

Attribute table
The Attribute table contains information required for communicating with the controller
via parameters.
How to read the table of attributes:
Column

Meaning

Entry

Code

Parameter designation

Cxxxxx

Name
Index

Data

Short parameter text (display text)

Text
24575 - Lenze code number

hex

Index under which the parameter is addressed.

The subindex of array variables corresponds to the
Lenze subcode number.

DS

Data structure

Single variable
(only one parameter element)

Array variable
(several parameter elements)

dec

DA

Number of array elements (subcodes)

DT

Data type

Factor

Access

5FFFh - Lenze code number

Only required for access via bus

system.

Number
BITFIELD_8

1 byte bit-coded

BITFIELD_16

2 bytes bit-coded

BITFIELD_32

4 bytes bit-coded

INTEGER_8

1 byte with sign

INTEGER_16

2 bytes with sign

INTEGER_32

4 bytes with sign

UNSIGNED_8

1 byte without sign

UNSIGNED_16

2 bytes without sign

UNSIGNED_32

4 bytes without sign

VISIBLE_STRING

ASCII string

Factor for data transmission via bus system,

depending on the number of decimal positions

Factor

1 no decimal positions
10 1 decimal position
100 2 decimal positions
1000 3 decimal positions

Read access

; Reading allowed

Write access

; Writing allowed

CINH

Controller inhibit required

; Writing only possible when controller is inhibited

Attribute table
Code

648

Name

Index

Data

dec

hex

DS

DA

DT

Access
Factor

W
;

C00002

Controller commands

24573

5FFD

UNSIGNED_32

C00003

Device command status

24572

5FFC

UNSIGNED_32

C00004

Service password

24571

5FFB

UNSIGNED_32

C00005

Application selection

24570

5FFA

INTEGER_32

C00006

Motor control selection

24569

5FF9

UNSIGNED_32

C00007

Active application

24568

5FF8

UNSIGNED_32

C00011

Motor reference speed

24564

5FF4

UNSIGNED_32

C00018

Chopper frequency

24557

5FED

UNSIGNED_32

C00019

Standstill recognitionthreshold

24556

5FEC

UNSIGNED_32

C00022

Maximum current

24553

5FE9

UNSIGNED_32

100

C00034

Config. analog input 1

24541

5FDD

UNSIGNED_32

C00050

Speed setpoint

24525

5FCD

INTEGER_32

C00051

Actual speed value

24524

5FCC

INTEGER_32

C00052

Motor voltage

24523

5FCB

UNSIGNED_32

C00053

DC-bus voltage

24522

5FCA

UNSIGNED_32

Firmware 1.37 - 09/2006

CINH

9400 HighLine | Parameter setting & configuration

Parameter reference
Attribute table

Code

Name

Index

Data

dec

hex

DS

DA

24521

5FC9

DT

C00054

Motor current

UNSIGNED_32

C00055

Phase currents

24520

5FC8

C00056

Torque setpoint

24519

5FC7

C00057

Torque

24518

5FC6

UNSIGNED_32

C00058

Rotor displacement angle

24517

5FC5

INTEGER_32

C00059

Motor - number of pole pairs

24516

5FC4

UNSIGNED_32

C00060

Rotor position

24515

5FC3

C00061

Heatsink temperature

24514

5FC2

C00062

Temperature inside the controller

24513

5FC1

C00063

Motor temperature

24512

5FC0

C00064

Device utilisation (Ixt)

24511

5FBF

C00065

Ext. 24-V voltage

24510

C00066

Thermal motor load (Ixt)

C00068

Electrolytic capacitor temperature

C00069

Access
Factor

CINH

100

INTEGER_32

100

INTEGER_32

100

1000

10

INTEGER_32

INTEGER_32

INTEGER_32

INTEGER_32

UNSIGNED_32

5FBE

INTEGER_32

10

24509

5FBD

UNSIGNED_32

24507

5FBB

INTEGER_32

CPU temperature

24506

5FBA

INTEGER_32

C00070

Speed controller gain

24505

5FB9

UNSIGNED_32

100000

C00071

Speed controller reset time

24504

5FB8

UNSIGNED_32

10

C00072

D component - speed controller

24503

5FB7

UNSIGNED_32

100

C00074

Feedfwd. ctrl. - current contr.

24501

5FB5

UNSIGNED_8

C00075

Current controller gain

24500

5FB4

UNSIGNED_32

100

C00076

Integral-action time current contr.

24499

5FB3

UNSIGNED_32

100

C00077

Field controller gain

24498

5FB2

UNSIGNED_32

100

C00078

Field contr. reset time

24497

5FB1

UNSIGNED_32

10

C00079

Mutual motor inductance

24496

5FB0

UNSIGNED_32

10

C00080

Resolver - pole pair number

24495

5FAF

UNSIGNED_32

C00081

Rated motorpower

24494

5FAE

UNSIGNED_32

100

C00082

Motor - rotor resistance

24493

5FAD

UNSIGNED_32

10000

C00083

Motor - rotor time constant

24492

5FAC

UNSIGNED_32

100

C00084

Motor stator resistance

24491

5FAB

UNSIGNED_32

10000

C00085

Motor stator leakage induct.

24490

5FAA

UNSIGNED_32

1000

C00087

Rated motor speed

24488

5FA8

UNSIGNED_32

C00088

Rated motor current

24487

5FA7

UNSIGNED_32

100

C00089

Rated motor frequency

24486

5FA6

UNSIGNED_32

10

C00090

Rated motor voltage

24485

5FA5

UNSIGNED_32

C00091

Motor - cosine phi

24484

5FA4

UNSIGNED_32

100

C00092

Motor - magnetising current

24483

5FA3

UNSIGNED_32

100

C00099

Firmware version

24476

5F9C

VISIBLE_STRING

C00105

Quick stop deceleration time

24470

5F96

UNSIGNED_32

1000

C00106

Quick stop S-ramp time

24469

5F95

UNSIGNED_32

100

C00107

Ref. deceleration time quick stop

24468

5F94

UNSIGNED_8

C00114

DIx terminal polarity

24461

5F8D

UNSIGNED_8

C00118

DOx terminal polarity

24457

5F89

UNSIGNED_8

C00120

Mot. overload protection (Ixt)

24455

5F87

UNSIGNED_32

C00121

Warning threshold - motor

temperature

24454

5F86

UNSIGNED_32

C00122

Warning threshold heatsink temp.

24453

5F85

UNSIGNED_32

C00123

Warning threshold - device utilisation

24452

5F84

UNSIGNED_32

C00126

Warning threshold - CPU temperature

24449

5F81

UNSIGNED_32

C00127

Warning threshold - motor overload

24448

5F80

UNSIGNED_32

C00128

Therm. motor time constant

24447

5F7F

UNSIGNED_32

10

C00129

Brake resistor value

24446

5F7E

INTEGER_32

Firmware 1.37 - 09/2006

649

9400 HighLine | Parameter setting & configuration

Parameter reference
Attribute table

Code

650

Name

Index

Data

dec

hex

DS

DA

DT

Access
Factor

C00130

Max. power brake resistor

24445

5F7D

INTEGER_32

C00131

Therm. capacity brake resistor

24444

5F7C

INTEGER_32

C00132

Max. temp. of brake resistor

24443

5F7B

INTEGER_32

C00142

Autom. restart after power on

24433

5F71

UNSIGNED_32

C00150

Status word 1

24425

5F69

BITFIELD_16

C00155

Status word 2

24420

5F64

BITFIELD_16

C00156

Status/Control word MCTRL

24419

5F63

UNSIGNED_32

C00158

Controller inhibit by (source)

24417

5F61

BITFIELD_16

C00159

Quick stop by (source)

24416

5F60

BITFIELD_16

C00166

Error status

24409

5F59

VISIBLE_STRING

C00168

Error number

24407

5F57

UNSIGNED_32

C00169

Logbook event filter

24406

5F56

UNSIGNED_32

C00173

Mains - voltage

24402

5F52

UNSIGNED_8

C00174

Threshold undervoltage (LU)

24401

5F51

UNSIGNED_32

C00178

Elapsed hour meter

24397

5F4D

UNSIGNED_32

C00179

Power-on time meter

24396

5F4C

UNSIGNED_32

C00180

Service code

24395

5F4B

VISIBLE_STRING

C00181

Red. brake chopper threshold

24394

5F4A

UNSIGNED_32

C00183

Device state

24392

5F48

UNSIGNED_32

C00185

Threshold mains recovery detect.

24390

5F46

UNSIGNED_32

C00186

ENP: detected motor type

24389

5F45

VISIBLE_STRING

C00187

ETS: Identified serial number

24388

5F44

VISIBLE_STRING

C00188

ETS: Status

24387

5F43

UNSIGNED_8

C00199

Device name

24376

5F38

VISIBLE_STRING

C00200

Firmware product type

24375

5F37

VISIBLE_STRING

C00201

Firmware - compile date

24374

5F36

VISIBLE_STRING

C00203

HW product types

24372

5F34

VISIBLE_STRING

C00204

HW serial number

24371

5F33

VISIBLE_STRING

C00205

HW descriptions

24370

5F32

VISIBLE_STRING

C00206

HW manufacturing data

24369

5F31

VISIBLE_STRING

C00208

HW manufacturer

24367

5F2F

VISIBLE_STRING

C00209

HW countries of origin

24366

5F2E

VISIBLE_STRING

C00210

HW versions

24365

5F2D

VISIBLE_STRING

C00211

Application: Version

24364

5F2C

VISIBLE_STRING

C00212

Application: Type code

24363

5F2B

VISIBLE_STRING

C00213

Application: Compiler date

24362

5F2A

VISIBLE_STRING

C00214

Required safety module

24361

5F29

UNSIGNED_8

C00218

Application: ID number

24357

5F25

UNSIGNED_32

C00254

Phase controller gain

24321

5F01

UNSIGNED_32

100

C00270

Freq. current setpoint filter

24305

5EF1

UNSIGNED_32

10

C00271

Width - current setp. filter

24304

5EF0

UNSIGNED_32

10

C00272

Depth - current setp. filter

24303

5EEF

UNSIGNED_32

C00273

Moment of inertia

24302

5EEE

UNSIGNED_32

100

C00274

Max. change in acceleration

24301

5EED

UNSIGNED_32

10

C00275

Signal source speed setpoint

24300

5EEC

UNSIGNED_16

C00276

Signal source torque setpoint

24299

5EEB

UNSIGNED_16

C00280

Filter time const. DC detection

24295

5EE7

UNSIGNED_32

10

C00311

CAN TPDO1 mask byte x

24264

5EC8

BITFIELD_8

C00312

CAN TPDO2 mask byte x

24263

5EC7

BITFIELD_8

C00313

CAN TPDO3 mask byte x

24262

5EC6

BITFIELD_8

C00314

CAN TPDO4 mask byte x

24261

5EC5

BITFIELD_8

Firmware 1.37 - 09/2006

CINH

9400 HighLine | Parameter setting & configuration

Parameter reference
Attribute table

Code

Name

Index

Data

dec

hex

DS

DA

DT

5EBF

BITFIELD_32

Access
Factor

C00320

CAN TPDOx identifier

24255

C00321

CAN RPDOx identifier

24254

5EBE

BITFIELD_32

C00322

CAN TPDOx Tx mode

24253

5EBD

UNSIGNED_8

C00323

CAN RPDOx Rx mode

24252

5EBC

UNSIGNED_8

C00324

CAN TPDOx delay time

24251

5EBB

UNSIGNED_16

C00345

CAN error

24230

5EA6

UNSIGNED_8

C00346

CAN heartbeat activity

24229

5EA5

BITFIELD_32

C00347

CAN heartbeat status

24228

5EA4

32

UNSIGNED_8

C00348

CAN status DIP switch

24227

5EA3

UNSIGNED_8

C00349

CAN setting of DIP switch

24226

5EA2

UNSIGNED_8

C00350

CAN node address

24225

5EA1

UNSIGNED_8

C00351

CAN baud rate

24224

5EA0

UNSIGNED_8

C00352

CAN slave/master

24223

5E9F

UNSIGNED_8

C00356

CAN TPDOx cycle time

24219

5E9B

UNSIGNED_16

C00357

CAN RPDOx monitoring time

24218

5E9A

UNSIGNED_16

C00359

CAN status

24216

5E98

UNSIGNED_8

C00360

CAN telegram and error counter

24215

5E97

UNSIGNED_16

C00361

CAN bus load

24214

5E96

UNSIGNED_32

C00367

CAN SYNC Rx identifier

24208

5E90

UNSIGNED_32

C00368

CAN SYNC Tx identifier

24207

5E8F

UNSIGNED_32

C00369

CAN SYNC transmit cycle time

24206

5E8E

UNSIGNED_16

C00372

CAN SDO server Rx identifier

24203

5E8B

10

BITFIELD_32

C00373

CAN SDO server Tx identifier

24202

5E8A

10

BITFIELD_32

C00374

CAN SDO client node address

24201

5E89

10

UNSIGNED_8

C00375

CAN SDO client Rx identifier

24200

5E88

10

BITFIELD_32

C00376

CAN SDO client Tx identifier

24199

5E87

10

BITFIELD_32

C00377

CAN SDO server node address

24198

5E86

10

UNSIGNED_8

C00378

CAN delay boot-up - Operational

24197

5E85

UNSIGNED_16

C00381

CAN Heartbeat Producer Time

24194

5E82

UNSIGNED_16

C00382

CAN Guard Time

24193

5E81

UNSIGNED_16

C00383

CAN Life Time Factor

24192

5E80

UNSIGNED_8

C00385

CAN Heartbeat Consumer Time

24190

5E7E

32

BITFIELD_32

C00386

CAN Node Guarding

24189

5E7D

32

BITFIELD_32

C00387

CAN Node Guarding Activity

24188

5E7C

BITFIELD_32

C00388

CAN Node Guarding Status

24187

5E7B

32

UNSIGNED_8

C00390

CAN error register (DS301V402)

24185

5E79

BITFIELD_8

C00391

CAN emergency object

24184

5E78

BITFIELD_32

C00392

CAN emergency delay time

24183

5E77

UNSIGNED_16

C00393

CAN event bus scan

24182

5E76

128

UNSIGNED_8

C00398

Test mode motor control

24177

5E71

UNSIGNED_32

C00399

Settings for test mode

24176

5E70

INTEGER_32

C00416

Resolver error compensation

24159

5E5F

C00420

Encoder - PPR

24155

5E5B

C00421

Encoder voltage

24154

5E5A

C00422

Encoder - type

24153

5E59

C00427

TTL encoder signal evaluation

24148

5E54

C00443

DIx status

24132

5E44

12

C00444

DOx status

24131

5E43

C00465

Keypad: Welcome screen time-out

24110

5E2E

C00466

Keypad: Default parameters

24109

5E2D

C00467

Keypad: Def. welcome screen

24108

5E2C

Firmware 1.37 - 09/2006

CINH

10

UNSIGNED_32

UNSIGNED_16

UNSIGNED_16

10

UNSIGNED_16

UNSIGNED_16

UNSIGNED_8

18

UNSIGNED_8

UNSIGNED_8

UNSIGNED_16

UNSIGNED_8

651

9400 HighLine | Parameter setting & configuration

Parameter reference
Attribute table

Code

652

Name

Index

Data

dec

hex

DS

DA

DT

Access
Factor

C00469

Keypad: Fct. STOP key

24106

5E2A

UNSIGNED_8

C00490

Position encoder

24085

5E15

UNSIGNED_16

C00494

Motor standstill time constant

24081

5E11

UNSIGNED_32

C00495

Motor encoder

24080

5E10

UNSIGNED_16

C00497

Speed act. val. time const.

24078

5E0E

UNSIGNED_32

10

C00573

Resp. to overload brake chopper

24002

5DC2

UNSIGNED_32

C00574

Resp. to overtemp. brake resist.

24001

5DC1

UNSIGNED_32

C00576

Window - speed monitoring

23999

5DBF

UNSIGNED_32

C00577

Gain field weakening controller

23998

5DBE

UNSIGNED_32

1000

C00578

Integr.-act. time field weak. contr.

23997

5DBD

UNSIGNED_32

10

C00579

React. speed monitoring

23996

5DBC

UNSIGNED_32

C00580

Resp. to encoder open circuit

23995

5DBB

UNSIGNED_32

C00581

Resp. to external fault

23994

5DBA

UNSIGNED_32

C00582

Resp. to heatsink temp. > C00122

23993

5DB9

UNSIGNED_32

C00583

Resp. to motor overtemp. KTY

23992

5DB8

UNSIGNED_32

C00584

Resp. to motor temp. > C00121

23991

5DB7

UNSIGNED_32

C00585

Resp. to motor overtemp. PTC

23990

5DB6

UNSIGNED_32

C00586

Resp. to resolver open circuit

23989

5DB5

UNSIGNED_32

C00587

Status fan control

23988

5DB4

BITFIELD_8

C00588

Resp. to t. sensor drive failure

23987

5DB3

UNSIGNED_32

C00589

Resp. to CPU temp. > C00126

23986

5DB2

UNSIGNED_32

C00591

Resp. to CAN-RPDOx error

23984

5DB0

UNSIGNED_8

C00594

Resp. to t. sensor motor failure

23981

5DAD

UNSIGNED_32

C00595

Resp. to CAN bus OFF

23980

5DAC

UNSIGNED_8

C00596

Threshold max. speed reached

23979

5DAB

UNSIGNED_32

C00597

Resp. to motor phase failure

23978

5DAA

UNSIGNED_32

C00598

Resp. to open circuit AIN1

23977

5DA9

UNSIGNED_32

C00599

Threshold - motor phase failure

23976

5DA8

INTEGER_32

10

C00600

Resp. to DC bus overvoltage

23975

5DA7

UNSIGNED_32

C00601

Resp. to comm. encoder error

23974

5DA6

UNSIGNED_32

C00604

Resp. to device overload

23971

5DA3

UNSIGNED_32

C00606

Resp. to motor overload

23969

5DA1

UNSIGNED_32

C00607

Resp. to max. speed reached

23968

5DA0

UNSIGNED_32

C00610

Resp. to heatsink fan failure

23965

5D9D

UNSIGNED_32

C00611

Resp. to integral fan failure

23964

5D9C

UNSIGNED_32

C00612

Resp. to CAN node guarding error

23963

5D9B

32

UNSIGNED_8

C00613

Resp. to CAN heartbeat error

23962

5D9A

32

UNSIGNED_8

C00614

Resp. to CAN life guarding error

23961

5D99

UNSIGNED_8

C00615

Resp. to imp. device config.

23960

5D98

UNSIGNED_32

C00618

No. of CRC cycles

23957

5D95

UNSIGNED_32

C00619

Resp. to max. motor current

23956

5D94

UNSIGNED_32

C00620

Threshold max. motor current

23955

5D93

UNSIGNED_32

10

C00625

CAN behaviour in case of fault

23950

5D8E

UNSIGNED_8

C00635

Resp to new firmw. standard dev.

23940

5D84

UNSIGNED_32

C00636

Resp. to new module in MXI1

23939

5D83

UNSIGNED_32

C00637

Resp. to new module in MXI2

23938

5D82

UNSIGNED_32

C00691

Total speed setpoint

23884

5D4C

INTEGER_32

100

C00692

Speed setpoint

23883

5D4B

INTEGER_32

100

C00693

Actual speed value

23882

5D4A

INTEGER_32

100

C00694

Speed controller output

23881

5D49

INTEGER_32

100

C00695

Total torque setpoint

23880

5D48

INTEGER_32

100

Firmware 1.37 - 09/2006

CINH

9400 HighLine | Parameter setting & configuration

Parameter reference
Attribute table

Code

Name

Index

Data

dec

hex

DS

DA

23879

5D47

DT

C00696

Torque setpoint

C00697

Filtered torque setpoint

23878

5D46

C00698

Actual torque

23877

5D45

C00770

MCTRL_dnMotorPosAct

23805

5CFD

UNSIGNED_32

C00771

MCTRL_dnLoadPosAct

23804

5CFC

C00772

MCTRL_dnMotorSpeedAct

23803

5CFB

C00773

MCTRL_dnLoadSpeedAct

23802

5CFA

C00774

MCTRL_dnTorqueAct

23801

5CF9

C00775

MCTRL_dnOutputSpeedCtrl

23800

C00776

MCTRL_dnInputJerkCtrl

C00777

100

INTEGER_32

100

INTEGER_32

100

UNSIGNED_32

INTEGER_32

INTEGER_32

INTEGER_32

100

5CF8

INTEGER_32

100

23799

5CF7

INTEGER_32

100

MCTRL_dnInputTorqueCtrl

23798

5CF6

INTEGER_32

100

C00778

MCTRL_dnFluxAct

23797

5CF5

INTEGER_32

100

C00779

MCTRL_dnDCBusVoltage

23796

5CF4

INTEGER_32

C00780

MCTRL_dnImotAct

23795

5CF3

INTEGER_32

100

C00781

MCTRL_dwMaxMotorSpeed

23794

5CF2

UNSIGNED_32

C00782

MCTRL_dwMaxMotorTorque

23793

5CF1

UNSIGNED_32

1000

C00783

MCTRL_dwMotorVoltageAct

23792

5CF0

UNSIGNED_32

C00784

MCTRL_dnMotorFreqAct

23791

5CEF

INTEGER_32

10

C00786

MCTRL_dnIxtLoad

23789

5CED

INTEGER_32

100

C00787

MCTRL_dnFlyingSpeedAct

23788

5CEC

INTEGER_32

C00788

MCTRL_ dwMaxEffMotorTorque

23787

5CEB

INTEGER_32

1000

C00789

MCTRL_ dwMaxDeviceCurrent

23786

5CEA

INTEGER_32

100

C00790

MCTRL_dnI2xtLoad

23785

5CE9

INTEGER_32

100

C00791

MCTRL_dnDeltaMotorPos_p

23784

5CE8

INTEGER_32

C00792

MCTRL_dnOutputPosCtrlMotor_s

23783

5CE7

INTEGER_32

C00800

MCTRL_dnPosSet

23775

5CDF

UNSIGNED_32

C00802

MCTRL_dnSpeedAdd

23773

5CDD

INTEGER_32

C00803

MCTRL_dnTorqueAdd

23772

5CDC

INTEGER_32

1000

C00804

MCTRL_dnAccelerationAdd

23771

5CDB

INTEGER_32

1000

C00805

MCTRL_dnSpeedLowLimit

23770

5CDA

INTEGER_32

C00806

MCTRL_dnTorqueLowLimit

23769

5CD9

INTEGER_32

100

C00807

MCTRL_dnTorqueHighLimit

23768

5CD8

INTEGER_32

100

C00808

MCTRL_dnPosCtrlOutLimit

23767

5CD7

INTEGER_32

C00809

MCTRL_dnTorqueCtrlAdapt

23766

5CD6

INTEGER_32

100

C00810

MCTRL_dnSpeedCtrlAdapt

23765

5CD5

INTEGER_32

100

C00811

MCTRL_dnPosCtrlAdapt

23764

5CD4

INTEGER_32

100

C00812

MCTRL_dnMotorPosRefValue

23763

5CD3

UNSIGNED_32

C00813

MCTRL_dnLoadPosRefValue

23762

5CD2

UNSIGNED_32

C00814

MCTRL_dnBoost

23761

5CD1

INTEGER_32

C00815

MCTRL_dnSpeedCtrlIntegrator

23760

5CD0

INTEGER_32

C00816

MCTRL_dnFieldWeak

23759

5CCF

INTEGER_32

100

C00817

MCTRL_dnSpeedSet_s

23758

5CCE

INTEGER_32

C00854

ID status

23721

5CA9

UNSIGNED_32

C00878

Status DCTRL control input

23697

5C91

UNSIGNED_8

C00909

Speed limitation

23666

5C72

INTEGER_16

10

C01120

Sync source

23455

5B9F

UNSIGNED_8

C01121

Sync cycle time

23454

5B9E

UNSIGNED_32

C01122

Sync phase position

23453

5B9D

UNSIGNED_32

C01123

Sync window

23452

5B9C

UNSIGNED_32

C01124

Sync PLL increment

23451

5B9B

UNSIGNED_8

C01190

Motor thermal sensor

23385

5B59

UNSIGNED_32

Firmware 1.37 - 09/2006

INTEGER_32

Access
Factor

CINH

653

9400 HighLine | Parameter setting & configuration

Parameter reference
Attribute table

Code

654

Name

Index

Data

dec

hex

DS

DA

DT

C01191

Temperature for spec. characteristic

23384

5B58

UNSIGNED_32

Access
Factor

CINH

C01192

Resistor for spec. characteristic

23383

5B57

UNSIGNED_32

C01193

Motor temp. feedback system

23382

5B56

UNSIGNED_16

C01194

Motor operating temperature

23381

5B55

INTEGER_32

C01195

Influence winding Ixt mon.

23380

5B54

UNSIGNED_32

C01196

S1 torque characteristic Ixt mon.

23379

5B53

UNSIGNED_32

C01203

Counter: Brake chopper overload

23372

5B4C

UNSIGNED_16

C01204

Counter: Ixt overload

23371

5B4B

UNSIGNED_16

C01205

Counter: DC bus overvoltage

23370

5B4A

UNSIGNED_16

C01206

Counter: Mains switching

23369

5B49

UNSIGNED_16

C01208

Counter: Heatsink overtemp.

23367

5B47

UNSIGNED_16

C01209

Counter: Housing overtemp.

23366

5B46

UNSIGNED_16

C01210

Electrolytic capacitor av. temp.

23365

5B45

UNSIGNED_8

C01212

Counter: Power section overload

23363

5B43

UNSIGNED_16

C01214

Internal clock

23361

5B41

VISIBLE_STRING

C01501

Resp. to comm. error with MXI1

23074

5A22

UNSIGNED_32

C01502

Resp. to comm. error with MXI2

23073

5A21

UNSIGNED_32

C01510

Ethernet IP address client x

23065

5A19

VISIBLE_STRING

C01511

Ethernet status client x

23064

5A18

UNSIGNED_8

C01902

Diagnostics X6: Max. baud rate

22673

5891

UNSIGNED_32

C01903

Diagnostics X6: Change baud rate

22672

5890

UNSIGNED_32

C01905

Diagnostics X6: Curr. baud rate

22670

588E

UNSIGNED_32

C02104

Program auto-start

22471

57C7

UNSIGNED_32

C02108

Program status

22467

57C3

UNSIGNED_8

C02109

Program runtime

22466

57C2

UNSIGNED_16

C02113

Program name

22462

57BE

VISIBLE_STRING

C02121

Runtime task 1

22454

57B6

UNSIGNED_32

C02122

Runtime task 2

22453

57B5

UNSIGNED_32

C02123

Runtime task 3

22452

57B4

UNSIGNED_32

C02520

Gearbox fact. numer. motor

22055

5627

INTEGER_32

C02521

Gearbox fact. denom. motor

22054

5626

INTEGER_32

C02522

Gearbox fact. numer. load

22053

5625

INTEGER_32

C02523

Gearbox fact. denom. load

22052

5624

INTEGER_32

C02524

Feed constant

22051

5623

UNSIGNED_32

10000

C02525

Unit

22050

5622

UNSIGNED_32

C02526

User-defined unit

22049

5621

VISIBLE_STRING

C02527

Motor mounting direction

22048

5620

UNSIGNED_32

C02528

Traversing range

22047

561F

UNSIGNED_32

C02529

Mounting direction of position

encoder

22046

561E

UNSIGNED_32

C02530

Active function state

22045

561D

INTEGER_32

C02531

Resulting gearbox factors

22044

561C

UNSIGNED_32

1000

C02532

Resolution of a unit

22043

561B

UNSIGNED_32

10000

C02533

Time unit

22042

561 A

UNSIGNED_32

C02534

User-defined time unit

22041

5619

VISIBLE_STRING

C02535

User-defined unit

22040

5618

VISIBLE_STRING

C02536

Cycle

22039

5617

UNSIGNED_32

10000

C02537

Speed unit

22038

5616

VISIBLE_STRING

C02538

Acceleration unit

22037

5615

VISIBLE_STRING

C02539

Max. presentable position

22036

5614

INTEGER_32

10000

C02540

Max. speed to be shown

22035

5613

INTEGER_32

10000

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Parameter reference
Attribute table

Code

Name

Index

Data

dec

hex

DS

DA

22034

5612

Access

DT

Factor

INTEGER_32

10000

C02541

Max. acceleration to be shown

C02542

Load reference speed

22033

5611

UNSIGNED_32

1000

C02543

Load reference torque

22032

5610

UNSIGNED_32

1000

C02547

DI_dnState

22028

560C

INTEGER_32

C02548

DI_bErrors

22027

560B

UNSIGNED_32

C02549

Drive interface: Signals

22026

560 A

15

UNSIGNED_32

C02550

Setpoint interpolation

22025

5609

UNSIGNED_32

C02552

Position setpoint

22023

5607

INTEGER_32

10000

C02553

Position controller gain

22022

5606

UNSIGNED_32

100

C02554

Integral-actoin time of position

controller

22021

5605

UNSIGNED_32

1000

C02555

D component of position controller

22020

5604

UNSIGNED_32

1000

C02556

Pos. contr. limitation

22019

5603

INTEGER_32

10000

C02557

Motor pos. contr. output

22018

5602

INTEGER_32

10000

C02558

Pos. contr. output

22017

5601

INTEGER_32

10000

C02559

Internal torque limit

22016

5600

INTEGER_32

100

C02560

Motor interface messages

22015

55FF

UNSIGNED_32

C02567

Control mode

22008

55F8

UNSIGNED_32

C02568

Motor interface: % signals

22007

55F7

INTEGER_32

100

C02569

Motor interface.: Dig. signals

22006

55F6

11

UNSIGNED_32

C02570

Controller configuration

22005

55F5

UNSIGNED_32

C02572

Speed setpoint

22003

55F3

INTEGER_32

10000

C02573

Position setpoint

22002

55F2

INTEGER_32

10000

C02574

Actual speed value

22001

55F1

INTEGER_32

10000

C02575

Actual position

22000

55F0

INTEGER_32

10000

C02576

Following error

21999

55EF

INTEGER_32

10000

C02577

External actual position

21998

55EE

INTEGER_32

10000

C02578

Offset actual pos. value/setp.

21997

55ED

INTEGER_32

10000

C02579

Encoder eval.: Dig. signals

21996

55EC

UNSIGNED_32

C02580

Operating mode - brake

21995

55EB

UNSIGNED_32

C02581

Brake activation threshold

21994

55EA

INTEGER_32

C02582

Brake resp. to pulse inhibit

21993

55E9

UNSIGNED_32

C02583

Status input monitoring

21992

55E8

UNSIGNED_32

C02585

Brake control polarity

21990

55E6

UNSIGNED_32

C02586

Starting torque 1

21989

55E5

C02587

Starting torque 2

21988

55E4

C02588

Source of starting torque

21987

55E3

C02589

Brake closing time

21986

55E2

C02590

Brake opening time

21985

55E1

C02591

Waiting time - status monit.

21984

55E0

C02593

Waiting time - brake active.

21982

55DE

UNSIGNED_32

C02594

Test torque

21981

55DD

C02595

Permissible angle of rotation

21980

55DC

C02596

Grinding speed

21979

55 db

C02597

Accel./decel. time - grinding

21978

C02598

Grinding ON time

21977

C02599

Grinding OFF time

21976

55D8

C02607

BRK_dnState

21968

55D0

C02608

BRK_dnTorqueAdd_n

21967

55CF

C02609

Brake control: Dig. signals

21966

55CE

C02610

Deceleration time for stop

21965

55CD

CINH

INTEGER_32

100

INTEGER_32

100

UNSIGNED_32

UNSIGNED_32

UNSIGNED_32

UNSIGNED_32

1000

INTEGER_32

100

INTEGER_32

INTEGER_32

55DA

UNSIGNED_32

1000

55D9

UNSIGNED_32

10

UNSIGNED_32

10

INTEGER_32

INTEGER_32

100

UNSIGNED_32

UNSIGNED_32

1000

Firmware 1.37 - 09/2006

655

9400 HighLine | Parameter setting & configuration

Parameter reference
Attribute table

Code

656

Name

Index

Data

dec

hex

DS

DA

21964

55CC

DT

1000

;
;

C02611

S-ramp time for stop

C02612

Ref. for decel. time of stop

21963

55CB

UNSIGNED_32

C02616

STP_dnState

21959

55C7

INTEGER_32

C02617

STP_bStopActive

21958

55C6

UNSIGNED_32

C02619

Quick stop: Dig. signals

21956

55C4

UNSIGNED_32

C02620

Manual jog speed 1

21955

55C3

INTEGER_32

10000

C02621

Manual jog speed 2

21954

55C2

INTEGER_32

10000

C02622

Manual acceleration

21953

55C1

INTEGER_32

10000

C02623

Manual deceleration

21952

55C0

INTEGER_32

10000

C02624

Inaccuracy time of manual traversing

21951

55BF

UNSIGNED_32

1000

C02638

Manual jog status

21937

55B1

INTEGER_32

C02639

Manual control: Dig. signals

21936

55B0

UNSIGNED_32

C02640

Ref. mode

21935

55AF

UNSIGNED_32

C02642

HM position

21933

55AD

INTEGER_32

10000

C02643

HM target position

21932

55AC

INTEGER_32

10000

C02644

Ref. speed 1

21931

55AB

INTEGER_32

10000

C02645

Home acceleration 1

21930

55AA

INTEGER_32

10000

C02646

Ref. speed 2

21929

55A9

INTEGER_32

10000

C02647

Ref. acceleration 2

21928

55A8

INTEGER_32

10000

C02648

Home S-ramp time

21927

55A7

INTEGER_32

C02649

HM torque limit

21926

55A6

INTEGER_32

100

C02650

Homing inhibit time

21925

55A5

UNSIGNED_32

1000

C02651

HM touch probe configuration

21924

55A4

UNSIGNED_32

C02652

Home position after mains switching

21923

55A3

UNSIGNED_32

C02653

Max. rot. angle after mains sw.

21922

55A2

INTEGER_32

C02656

Current position

21919

559F

INTEGER_32

10000

C02657

HM_dnState

21918

559E

INTEGER_32

C02658

HM_dnHomePos_p

21917

559D

INTEGER_32

10000

C02659

Homing: Dig. signals

21916

559C

UNSIGNED_32

C02674

POS_ dwActualProfileNumber

21901

558D

UNSIGNED_32

C02675

POS_dnState

21900

558C

INTEGER_32

C02676

POS_dnProfileSpeed_s

21899

558B

INTEGER_32

10000

C02677

Positioning: % signals

21898

558 A

INTEGER_32

100

C02678

Positioning: Pos. signals

21897

5589

INTEGER_32

10000

C02679

Positioning: Dig. signals

21896

5588

10

UNSIGNED_32

C02680

Source position setpoint

21895

5587

UNSIGNED_32

C02681

Source add. speed

21894

5586

UNSIGNED_32

C02685

PF_dnMotorAcc_x

21890

5582

INTEGER_32

C02686

PF_dnSpeedAdd1_s

21889

5581

C02687

Position follower: % signals

21888

5580

C02688

Position follower: Pos. signal

21887

557F

INTEGER_32

C02689

Position follower: Dig. signals

21886

557E

UNSIGNED_32

C02692

SF_dnMotorAcc_x

21883

557B

C02693

SF_dnSpeedAdd_s

21882

557 A

C02694

Speed follower: % signals

21881

5579

C02695

Speed follower: Dig. signals

21880

5578

C02698

Torque follower: % signals

21877

5575

INTEGER_32

C02699

Torque follower: Dig. signals

21876

5574

C02700

Software limit positions are active

21875

5573

C02701

Software limit positions

21874

5572

C02702

Limitations effective

21873

5571

Firmware 1.37 - 09/2006

UNSIGNED_32

Access
Factor

10

INTEGER_32

10

INTEGER_32

100

10000

INTEGER_32

10

INTEGER_32

10

INTEGER_32

100

UNSIGNED_32

100

UNSIGNED_32

UNSIGNED_32

INTEGER_32

10000

UNSIGNED_32

CINH

9400 HighLine | Parameter setting & configuration

Parameter reference
Attribute table

Code

Name

Index

Data

dec

hex

DS

DA

21872

5570

DT

10000

CINH

C02703

Max. speed

C02704

Max. speed [rpm]

21871

556F

INTEGER_32

10

C02705

Max. acceleration

21870

556E

INTEGER_32

10000

C02706

Min. S-ramp time

21869

556D

UNSIGNED_32

C02707

Permissible direction of rotation

21868

556C

UNSIGNED_32

C02708

Limited speed

21867

556B

INTEGER_32

10000

C02709

Limited speed

21866

556 A

INTEGER_32

10

C02710

Delay lim. speed

21865

5569

UNSIGNED_32

10000

C02711

S-ramp time lim. speed

21864

5568

UNSIGNED_32

C02712

Decel. time lim. speed

21863

5567

UNSIGNED_32

C02713

Max. Strecke Handfahren

21862

5566

UNSIGNED_32

10000

C02714

Max. Strecke Handfahren

21861

5565

UNSIGNED_32

C02715

Limitation active

21860

5564

UNSIGNED_32

C02716

Resp. to limitation

21859

5563

UNSIGNED_32

C02717

LIM_dwControl

21858

5562

UNSIGNED_32

C02718

LIM_dnState

21857

5561

INTEGER_32

C02719

Limiter: Dig. signals

21856

5560

UNSIGNED_32

C02730

AINx: Gain

21845

5555

INTEGER_32

100

C02731

AINx: Offset

21844

5554

INTEGER_32

100

C02732

AINx: Dead band

21843

5553

INTEGER_32

100

C02733

AOUTx: Gain

21842

5552

INTEGER_32

100

C02734

AOUTx: Offset

21841

5551

INTEGER_32

100

C02800

AINx: Input signal

21775

550F

INTEGER_16

C02801

AOUTx: Output signal

21774

550E

INTEGER_16

C02802

Status word dig. outputs

21773

550D

BITFIELD_32

C02803

Status word dig. inputs

21772

550C

BITFIELD_32

C02810

Delay time for TPx

21765

5505

10

UNSIGNED_32

C02830

DIx delay time

21745

54F1

UNSIGNED_8

C02853

Vp Lss sat. characteristic

21722

54DA

17

UNSIGNED_16

C02855

Imax Lss saturat. characteristic

21720

54D8

UNSIGNED_32

10

C02859

Lss sat. characteristic

21716

54D4

UNSIGNED_8

C02860

Rr adjustment

21715

54D3

UNSIGNED_32

100

C02861

Lh adaptation

21714

54D2

UNSIGNED_32

100

Firmware 1.37 - 09/2006

INTEGER_32

Access
Factor

657

9400 HighLine | Parameter setting & configuration

Index

17

Index
A
Absolute value encoder
Communication error 472
Acc./dec. time - grinding (C2597) 627
Acceleration has been limited 535
Acceleration unit (C2538) 618
Action types 379
Active application (C7) 547
Active function state (C2530) 617
Actual position (C2575) 624
Actual speed (C2574) 624
Actual speed (C693) 597
Actual speed value (C51) 548
Actual speed value outside the monitoring window
C00576 471
Actual torque (C698) 598
Additional speed source (C2681) 636
AINx
Dead band (C2732) 643
Gain (C2730) 643
Input signal (C2800) 644
Offset (C2731) 643
Analog input 1
Master current 477
Analog inputs 117
Analog outputs 120
AOUTx
Gain (C2733) 643
Offset (C2734) 643
Output signal (C2801) 644
Application
Compile date (C213) 565
ID number (C218) 565
Type code (C212) 565
Version (C211) 565
Application has started 460
Application has stopped 460, 461
Application notes 18
Application selection (C5) 547
Application unit 39
Automatic chopper frequency reduction 80
Automatic restart after mains ON (C142) 556

B
Basic drive functions 140
Basic functions 140
Blocking function in MEC task 500
Brake activation threshold (C2581) 625
Brake chopper
Ixt overload 472
Overcurrent 473
Brake closing time (C2589) 626

658

Brake control
Dig. signals (C2609) 628
Brake control polarity (C2585) 625
Brake opening time (C2590) 626
Brake resistance value (C129) 556
Brake resistor
Ixt overload 472
Brake resistor - thermal capacity (C131) 556
Brake resp. to pulse inhibit (C2582) 625
Breakpoint has been reached 460
BRK_dnState (C2607) 628
BRK_dnTorqueAdd_n (C2608) 628

C
C100 553
C105 554
C106 554
C107 554
C11 547
C1120 606
C1121 607
C1122 607
C1123 607
C1124 608
C114 554
C118 554
C1190 608
C1191 609
C1192 609
C1193 609
C1194 609
C1195 609
C1196 610
C120 555
C1203 610
C1204 610
C1205 610
C1206 610
C1208 610
C1209 611
C121 555
C1210 611
C1211 611
C1212 611
C1213 611
C1214 611
C122 555
C123 555
C126 555
C127 555
C128 556

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Index

C129 556
C130 556
C131 556
C132 556
C142 556
C150 557
C1501 611
C1502 612
C1510 612
C1511 612
C155 557
C156 558
C158 558
C159 559
C166 559
C167 559
C168 559
C169 559
C171 559
C173 560
C174 560
C175 560
C176 560
C177 561
C178 561
C179 561
C18 547
C180 561
C181 561
C183 561
C185 562
C186 562
C187 562
C188 562
C19 547
C1902 613
C1903 613
C1905 613
C199 562
C2 544
C200 562
C201 562
C203 563
C204 563
C205 563
C206 564
C208 564
C209 564
C210 564
C2104 613
C2108 613
C2109 614
C211 565

C2113 614
C212 565
C2121 614
C2122 614
C2123 614
C213 565
C214 565
C217 565
C218 565
C22 548
C225 565
C2520 614
C2521 615
C2522 615
C2523 615
C2524 615
C2525 615
C2526 615
C2527 616
C2528 616
C2529 616
C2530 617
C2531 617
C2532 617
C2533 618
C2534 618
C2535 618
C2536 618
C2537 618
C2538 618
C2539 618
C254 565
C2540 618
C2541 619
C2542 619
C2543 619
C2547 619
C2548 619
C2549 620
C2550 620
C2552 620
C2553 621
C2554 621
C2555 621
C2556 621
C2557 621
C2558 621
C2559 622
C2560 622
C2567 622
C2568 622
C2569 623
C2570 623

Firmware 1.37 - 09/2006

659

9400 HighLine | Parameter setting & configuration

Index

C2572
C2573
C2574
C2575
C2576
C2577
C2578
C2579
C2580
C2581
C2582
C2583
C2585
C2586
C2587
C2588
C2589
C2590
C2591
C2593
C2594
C2595
C2596
C2597
C2598
C2599
C2607
C2608
C2609
C2610
C2611
C2612
C2616
C2617
C2619
C2620
C2621
C2622
C2623
C2624
C2638
C2639
C2640
C2642
C2643
C2644
C2645
C2646
C2647
C2648
C2649
C2650
C2651

660

623
623
624
624
624
624
624
624
625
625
625
625
625
626
626
626
626
626
626
627
627
627
627
627
627
628
628
628
628
628
629
629
629
629
629
630
630
630
630
630
630
631
631
631
632
632
632
632
632
632
633
633
633

C2652 633
C2653 633
C2656 633
C2657 634
C2658 634
C2659 634
C2674 634
C2675 634
C2676 635
C2677 635
C2678 635
C2679 635
C2680 636
C2681 636
C2685 636
C2686 636
C2687 636
C2688 636
C2689 637
C2692 637
C2693 637
C2694 637
C2695 637
C2698 638
C2699 638
C270 566
C2700 638
C2701 638
C2702 638
C2703 639
C2704 639
C2705 639
C2706 639
C2707 639
C2708 640
C2709 640
C271 566
C2710 640
C2711 640
C2712 641
C2713 641
C2714 641
C2715 641
C2716 642
C2717 642
C2718 642
C2719 642
C272 566
C273 566
C2730 643
C2731 643
C2732 643
C2733 643

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Index

C2734 643
C274 566
C275 567
C276 567
C280 567
C2800 644
C2801 644
C2802 644
C2803 644
C2810 645
C2830 645
C2850 645
C2851 645
C2852 646
C2853 646
C2854 646
C2855 646
C2856 646
C2857 647
C2858 647
C2859 647
C2860 647
C2861 647
C2996 647
C2997 647
C2998 647
C2999 647
C3 546
C308 567
C309 567
C310 567
C311 567
C312 568
C313 568
C314 568
C320 569
C321 569
C322 570
C323 570
C324 570
C325 570
C326 570
C327 571
C328 571
C329 571
C330 571
C335 571
C336 571
C337 571
C338 571
C34 548
C345 571
C346 572

C347 572
C348 572
C349 572
C350 573
C351 573
C352 573
C356 574
C357 574
C359 574
C360 575
C361 575
C367 575
C368 576
C369 576
C372 576
C373 577
C374 577
C375 578
C376 578
C377 578
C378 579
C379 579
C381 579
C382 579
C383 579
C385 580
C386 580
C387 580
C388 581
C390 581
C391 581
C392 581
C393 582
C395 582
C396 582
C397 582
C398 582
C399 582
C4 546
C416 583
C420 583
C421 583
C422 583
C427 583
C443 584
C444 584
C465 585
C466 585
C467 585
C468 585
C469 585
C490 585
C494 586

Firmware 1.37 - 09/2006

661

9400 HighLine | Parameter setting & configuration

Index

C495 586
C497 586
C5 547
C50 548
C51 548
C512 586
C513 586
C514 586
C515 586
C516 586
C52 548
C53 548
C54 548
C55 549
C56 549
C57 549
C573 587
C574 587
C576 587
C577 587
C578 587
C579 588
C58 549
C580 588
C581 588
C582 589
C583 589
C584 589
C585 589
C586 590
C587 590
C588 590
C589 590
C59 549
C591 591
C594 591
C595 591
C596 591
C597 592
C598 592
C599 592
C6 547
C60 549
C600 592
C601 593
C604 593
C606 593
C607 593
C61 550
C610 594
C611 594
C612 594
C613 595

662

C614 595
C615 595
C618 596
C619 596
C62 550
C620 596
C625 596
C63 550
C635 596
C636 597
C637 597
C64 550
C65 550
C66 550
C68 550
C69 551
C691 597
C692 597
C693 597
C694 597
C695 598
C696 598
C697 598
C698 598
C7 547
C70 551
C71 551
C72 551
C730 598
C731 598
C732 598
C733 598
C734 598
C735 598
C736 599
C737 599
C738 599
C739 599
C74 551
C75 551
C76 551
C77 551
C770 599
C771 599
C772 599
C773 600
C774 600
C775 600
C776 600
C777 600
C778 600
C779 601
C78 552

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Index

C780 601
C781 601
C782 601
C783 601
C784 601
C786 602
C787 602
C788 602
C789 602
C79 552
C790 602
C791 602
C792 603
C80 552
C800 603
C802 603
C803 603
C804 603
C805 603
C806 604
C807 604
C808 604
C809 604
C81 552
C810 604
C811 604
C812 605
C813 605
C814 605
C815 605
C816 605
C817 605
C82 552
C83 552
C84 552
C85 552
C854 606
C87 553
C878 606
C88 553
C89 553
C90 553
C909 606
C91 553
C92 553
C99 553
CAN - DIP switch setting (C349) 572
CAN baud rate (C351) 573
CAN behaviour in the case of fault (C625) 596
CAN bus load (C361) 575
CAN delay boot-up - operational (C378) 579
CAN emergency delay time (C392) 581
CAN emergency object (C391) 581

CAN error (C345) 571

CAN error register (DS301V402) (C390) 581
CAN guard time (C382) 579
CAN Heartbeat activity (C346) 572
CAN heartbeat consumer time (C385) 580
CAN heartbeat producer time (C381) 579
CAN Heartbeat status (C347) 572
CAN life time factor (C383) 579
CAN module (MXI1)
Bus off 501
Faulty emergency configuration 508
Faulty NMT master configuration 514
Faulty NMT slave configuration 508
Heartbeat error index 1 502
Heartbeat error index 10 504
Heartbeat error index 11 504
Heartbeat error index 12 504
Heartbeat error index 13 504
Heartbeat error index 14 504
Heartbeat error index 15 504
Heartbeat error index 16 505
Heartbeat error index 17 505
Heartbeat error index 18 505
Heartbeat error index 19 505
Heartbeat error index 2 502
Heartbeat error index 20 505
Heartbeat error index 21 505
Heartbeat error index 22 506
Heartbeat error index 23 506
Heartbeat error index 24 506
Heartbeat error index 25 506
Heartbeat error index 26 506
Heartbeat error index 27 506
Heartbeat error index 28 507
Heartbeat error index 29 507
Heartbeat error index 3 502
Heartbeat error index 30 507
Heartbeat error index 31 507
Heartbeat error index 32 507
Heartbeat error index 4 503
Heartbeat error index 5 503
Heartbeat error index 6 503
Heartbeat error index 7 503
Heartbeat error index 8 503
Heartbeat error index 9 503
Invalid basic configuration 502
Invalid node address 0 502
Life guarding error 507
Node guarding error 1 508
Node guarding error 10 510
Node guarding error 11 510
Node guarding error 12 510
Node guarding error 13 510
Node guarding error 14 510
Node guarding error 15 511
Node guarding error 16 511
Node guarding error 17 511

Firmware 1.37 - 09/2006

663

9400 HighLine | Parameter setting & configuration

Index

Node guarding error 18 511

Node guarding error 19 511
Node guarding error 2 508
Node guarding error 20 511
Node guarding error 21 512
Node guarding error 22 512
Node guarding error 23 512
Node guarding error 24 512
Node guarding error 25 512
Node guarding error 26 512
Node guarding error 27 513
Node guarding error 28 513
Node guarding error 29 513
Node guarding error 3 509
Node guarding error 30 513
Node guarding error 31 513
Node guarding error 32 513
Node guarding error 4 509
Node guarding error 5 509
Node guarding error 6 509
Node guarding error 7 509
Node guarding error 8 509
Node guarding error 9 510
CAN module (MXI1) PDO manager
Faulty configuration 516
CAN module (MXI1) RPDO1
Telegram not received or faulty 514
CAN module (MXI1) RPDO2
Telegram not received or faulty 514
CAN module (MXI1) RPDO3
Telegram not received or faulty 514
CAN module (MXI1) RPDO4
Telegram not received or faulty 515
CAN module (MXI1) RPDO5
Telegram not received or faulty 515
CAN module (MXI1) RPDO6
Telegram not received or faulty 515
CAN module (MXI1) RPDO7
Telegram not received or faulty 515
CAN module (MXI1) RPDO8
Telegram not received or faulty 515
CAN module (MXI1) SDO client
Faulty configuration 516
CAN module (MXI1) SDO server
Faulty configuration 516
CAN module (MXI2)
Bus off 517
Faulty emergency configuration 524
Faulty NMT master configuration 530
Faulty NMT slave configuration 524
Heartbeat error index 1 518
Heartbeat error index 10 520
Heartbeat error index 11 520
Heartbeat error index 12 520
Heartbeat error index 13 520
Heartbeat error index 14 520
Heartbeat error index 15 520

664

Firmware 1.37 - 09/2006

Heartbeat error index 16 521

Heartbeat error index 17 521
Heartbeat error index 18 521
Heartbeat error index 19 521
Heartbeat error index 2 518
Heartbeat error index 20 521
Heartbeat error index 21 521
Heartbeat error index 22 522
Heartbeat error index 23 522
Heartbeat error index 24 522
Heartbeat error index 25 522
Heartbeat error index 26 522
Heartbeat error index 27 522
Heartbeat error index 28 523
Heartbeat error index 29 523
Heartbeat error index 3 518
Heartbeat error index 30 523
Heartbeat error index 31 523
Heartbeat error index 32 523
Heartbeat error index 4 519
Heartbeat error index 5 519
Heartbeat error index 6 519
Heartbeat error index 7 519
Heartbeat error index 8 519
Heartbeat error index 9 519
Invalid basic configuration 518
Invalid node address 0 518
Life guarding error 523
Node guarding error 1 524
Node guarding error 10 526
Node guarding error 11 526
Node guarding error 12 526
Node guarding error 13 526
Node guarding error 14 526
Node guarding error 15 527
Node guarding error 16 527
Node guarding error 17 527
Node guarding error 18 527
Node guarding error 19 527
Node guarding error 2 524
Node guarding error 20 527
Node guarding error 21 528
Node guarding error 22 528
Node guarding error 23 528
Node guarding error 24 528
Node guarding error 25 528
Node guarding error 26 528
Node guarding error 27 529
Node guarding error 28 529
Node guarding error 29 529
Node guarding error 3 525
Node guarding error 30 529
Node guarding error 31 529
Node guarding error 32 529
Node guarding error 4 525
Node guarding error 5 525
Node guarding error 6 525
Node guarding error 7 525

9400 HighLine | Parameter setting & configuration

Index

Node guarding error 8 525

Node guarding error 9 526
CAN module (MXI2) PDO manager
Faulty configuration 532
CAN module (MXI2) RPDO1
Telegram not received or faulty 530
CAN module (MXI2) RPDO2
Telegram not received or faulty 530
CAN module (MXI2) RPDO3
Telegram not received or faulty 530
CAN module (MXI2) RPDO4
Telegram not received or faulty 531
CAN module (MXI2) RPDO5
Telegram not received or faulty 531
CAN module (MXI2) RPDO6
Telegram not received or faulty 531
CAN module (MXI2) RPDO7
Telegram not received or faulty 531
CAN module (MXI2) RPDO8
Telegram not received or faulty 531
CAN module (MXI2) SDO client
Faulty configuration 532
CAN module (MXI2) SDO server
Faulty configuration 532
CAN node address (C350) 573
CAN node guarding (C386) 580
CAN node guarding activity (C387) 580
CAN node guarding status (C388) 581
CAN on board
Bus off 477
Faulty emergency configuration 484
Faulty NMT master configuration 489
Faulty NMT slave configuration 484
Heartbeat error index 1 478
Heartbeat error index 10 480
Heartbeat error index 11 480
Heartbeat error index 12 480
Heartbeat error index 13 480
Heartbeat error index 14 480
Heartbeat error index 15 480
Heartbeat error index 16 481
Heartbeat error index 17 481
Heartbeat error index 18 481
Heartbeat error index 19 481
Heartbeat error index 2 478
Heartbeat error index 20 481
Heartbeat error index 21 481
Heartbeat error index 22 482
Heartbeat error index 23 482
Heartbeat error index 24 482
Heartbeat error index 25 482
Heartbeat error index 26 482
Heartbeat error index 27 482
Heartbeat error index 28 483
Heartbeat error index 29 483
Heartbeat error index 3 478
Heartbeat error index 30 483

Heartbeat error index 31 483

Heartbeat error index 32 483
Heartbeat error index 4 479
Heartbeat error index 5 479
Heartbeat error index 6 479
Heartbeat error index 7 479
Heartbeat error index 8 479
Heartbeat error index 9 479
Invalid basic configuration 478
Invalid node address 0 478
Life guarding error 483
Node guarding error 1 484
Node guarding error 10 486
Node guarding error 11 486
Node guarding error 12 486
Node guarding error 13 486
Node guarding error 14 486
Node guarding error 15 486
Node guarding error 16 487
Node guarding error 17 487
Node guarding error 18 487
Node guarding error 19 487
Node guarding error 2 484
Node guarding error 20 487
Node guarding error 21 487
Node guarding error 22 488
Node guarding error 23 488
Node guarding error 24 488
Node guarding error 25 488
Node guarding error 26 488
Node guarding error 27 488
Node guarding error 28 489
Node guarding error 29 489
Node guarding error 3 484
Node guarding error 30 489
Node guarding error 31 489
Node guarding error 32 489
Node guarding error 4 485
Node guarding error 5 485
Node guarding error 6 485
Node guarding error 7 485
Node guarding error 8 485
Node guarding error 9 485
CAN on board PDO manager
Faulty configuration 490
CAN on board RPDO1
Telegram not received or faulty
CAN on board RPDO2
Telegram not received or faulty
CAN on board RPDO3
Telegram not received or faulty
CAN on board RPDO4
Telegram not received or faulty
CAN on board SDO client
Faulty configuration 491
CAN on board SDO server
Faulty configuration 491

Firmware 1.37 - 09/2006

490
490
490
490

665

9400 HighLine | Parameter setting & configuration

Index

CAN on-board 134

CAN result - bus scan (C393) 582
CAN RPDOx identifier (C321) 569
CAN RPDOx monitoring time (C357) 574
CAN RPDOx Rx mode (C323) 570
CAN SDO client node address (C374) 577
CAN SDO client Rx identifier (C375) 578
CAN SDO client Tx identifier (C376) 578
CAN SDO server node address (C377) 578
CAN SDO server Rx identifier (C372) 576
CAN SDO server Tx identifier (C373) 577
CAN slave/master (C352) 573
CAN status (C359) 574
CAN status DIP switch (C348) 572
CAN sync transmission cycle time (C369) 576
CAN sync-Rx identifier (C367) 575
CAN sync-Tx identifier (C368) 576
CAN telegram and error counter (C360) 575
CAN TPDO1 mask byte x (C311) 567
CAN TPDO2 mask byte x (C312) 568
CAN TPDO3 mask byte x (C313) 568
CAN TPDO4 mask byte x (C314) 568
CAN TPDOx cycle time (C356) 574
CAN TPDOx delay time (C324) 570
CAN TPDOx identifier (C320) 569
CAN TPDOx Tx mode (C322) 570
Capacitor temperature (C68) 550
Check configuration (C225) 565
Code number has been assigned twice 497
Combination Memory module/device not possible 455
Combination MXI1/MXI2 not possible 454
Combination of module in MXI1/device not possible 455
Combination of module in MXI2/device not possible 455
Communication error between device and device
module 477
Communication task
Standstill > 3 s 499
Config. analog input 1 (C34) 548
Connection table in use 495
Control card
Supply voltage (24 V DC) too low 461
Control card is defective 449, 451
Control card is defective (UB18 neg.) 468
Control card is defective (UB24) 467
Control card is defective (UB8) 467
Control card is defective (VCC15 neg.) 467
Control card is defective (VCC15) 467
Control card is defective (VCC5) 468
Control card is not compatible 452
Control mode (C2567) 622
Controller
Pulse inhibit is active 462
Controller command status (C3) 546
Controller commands (C2) 544

666

Controller configuration (C2570) 623

Controller in STO state 462
Controller inhibit by (source) (C158) 558
Controller initialised 462
Controller is enabled 462
Controller load (Ixt) (C64) 550
Conventions used 16
Copyright 2
Copyright information 2
Correction of the leakage inductance 82
Counter
Brake chopper overload (C1203) 610
DC bus overvoltage (C1205) 610
Heatsink overtemp. (C1208) 610
Housing overtemp. (C1209) 611
Ixt overload (C1204) 610
Mains switching (C1206) 610
Power section overload (C1212) 611
CPU
Overtemperature 465
Temperature > C00126 464
Temperature sensor defective 466
CPU temperature (C69) 551
Current controller feedforward control (C74) 551
Current controller gain (C75) 551
Current controller reset time (C76) 551
Current position (C2656) 633
Cycle (C2536) 618
Cyclic task
Standstill > 60 s 499

D
Data type 537
DC bus overvoltage 470
DC bus undervoltage 470
DC bus voltage (C53) 548
DC-bus capacitor
Overtemperature 464
Temperature > CXXXXX 464
Temperature sensor defective 465
Decel. time - stop function (C2610) 628
Decel. time lim. speed (C2712) 641
Deceleration has been limited 535
Delay lim. speed (C2710) 640
Delay time for TPx (C2810) 645
Depth - current setpoint filter (C272) 566
Device name (C199) 562
Device state (C183) 561
Device util. warning threshold (C123) 555
Device utilisation Ixt > 100 % 466
Device utilisation Ixt > C00123 466
DeviceCFG.dat file is faulty 491
DeviceCFG.dat file is invalid 492
DeviceCFG.dat file is missing 492
DFIN (MXI1)

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Index

A-/A track error 500

B-/B track error 500
Enable/lamp control signal error 501
Supply cannot be corrected anymore 501
Z-/Z track error 501
DFIN (MXI2)
A-/A track error 516
B-/B track error 516
Enable/lamp control signal error 517
Supply cannot be corrected anymore 517
Z-/Z track error 517
DFOUT (MXI1)
Maximum frequency reached 501
DFOUT (MXI2)
Maximum frequency reached 517
DI_bErrors (C2548) 619
DI_dnState (C2547) 619
Diagnostics X6
Change baud rate (C1903) 613
curr. baud rate (C1905) 613
max. baud rate (C1902) 613
Digital inputs 123
Digital outputs 125
Division by zero 460
DIx delay time (C2830) 645
DIx status (C443) 584
DIx terminal polarity (C114) 554
DOx status (C444) 584
DOx terminal polarity (C118) 554
Drive interface 34
Signals (C2549) 620
DRIVE-ERROR LED 34
DRIVE-READY LED 34

E
Earth fault detected 471
Elapsed-time meter (C178) 561
Electrolytic capacitor av. temp. (C1210) 611
Electronic nameplate
Checksum error 454
Communication error 454
Data incompatible 468
Data loaded 475
Data out of parameter limits 476
Not found 475
Unknown encoder protocol 475
Unknown encoder signal 476
E-mail to Lenze 679
Encoder
Open circuit 472
Encoder - PPR (C420) 583
Encoder - type (C422) 583
Encoder - voltage (C421) 583
Encoder evaluation 108
Dig. signals (C2579) 624

EnDat encoder
Flat battery 474
Lamp error 474
Overcurrent 474
Overvoltage 474
Position error 474
Signal error 474
Undervoltage 474
ENP
detected motor type (C186) 562
detected serial number (C187) 562
Status (C188) 562
Error during initialisation 500
Error during the update of inputs and outputs 458
Error messages 443
Error number 443
0x00650000 449
0x00650001 449
0x00650002 449
0x00650003 449
0x00680000 449
0x00680001 449
0x00680002 450
0x00680003 450
0x00680004 450
0x00680005 450
0x00680006 450
0x00680007 451
0x00680008 451
0x00680009 451
0x0068000a 451
0x0068000b 451
0x0068000c 451
0x0068000d 452
0x0068000e 452
0x0068000f 452
0x00680010 452
0x00680011 452
0x00680012 452
0x00680013 453
0x00680014 453
0x00680015 453
0x00680016 453
0x00680017 453
0x00680018 453
0x00680019 454
0x0068001a 454
0x0068001b 454
0x0068001c 454
0x0068001d 454
0x0068001e 454
0x0068001f 455
0x00680020 455
0x00680021 455
0x00690000 455
0x00690001 455
0x00690002 455

Firmware 1.37 - 09/2006

667

9400 HighLine | Parameter setting & configuration

Index

0x00690003 456
0x00690004 456
0x00690005 456
0x00690006 456
0x00690007 456
0x00690008 456
0x00690009 457
0x0069000a 457
0x0069000b 457
0x0069000c 457
0x0069000d 457
0x006a0000 457
0x006a0001 458
0x006a0002 458
0x006a0003 458
0x006a0004 458
0x006a0005 458
0x006a0006 458
0x006a0007 459
0x006a0008 459
0x006a0009 459
0x006a000a 459
0x006a000b 459
0x006a000c 459
0x006a000d 459
0x006a000e 460
0x006a000f 460
0x006a0010 460
0x006a0011 460
0x006a0012 460
0x006a0013 460
0x006a0014 461
0x006a0015 461
0x006a0016 461
0x006f0000 461
0x00720000 462
0x00750000 462
0x00750001 462
0x00750002 462
0x00750003 462
0x00750005 462
0x00750006 463
0x00770000 463
0x00770001 463
0x00770002 463
0x00770003 463
0x00770004 464
0x00770005 464
0x00770006 464
0x00770007 464
0x00770008 464
0x00770009 465
0x0077000a 465
0x0077000b 465
0x0077000c 465
0x0077000d 465
0x0077000e 466
0x0077000f 466

668

0x00770010 466
0x00770011 466
0x00780000 466
0x00780001 466
0x00780002 467
0x00780003 467
0x00780004 467
0x00780005 467
0x00780006 467
0x00780007 467
0x00780008 468
0x00780009 468
0x0078000a 468
0x00790000 468
0x00790001 468
0x00790002 468
0x007b0001 468
0x007b0002 469
0x007b0003 469
0x007b0004 469
0x007b0006 469
0x007b0007 469
0x007b0009 469
0x007b000a 469
0x007b000b 470
0x007b000c 470
0x007b000d 470
0x007b000e 470
0x007b000f 470
0x007b0010 470
0x007b0011 471
0x007b0012 471
0x007b0013 471
0x007b0014 471
0x007b0017 471
0x007b0018 471
0x007b0019 472
0x007b001a 472
0x007b001b 472
0x007b001c 472
0x007b001d 472
0x007b001e 472
0x007b001f 473
0x007b0020 473
0x007b0021 473
0x007b0023 473
0x007b0024 473
0x007b0025 473
0x007b0026 474
0x007b0027 474
0x007b0028 474
0x007b0029 474
0x007b002a 474
0x007b002b 474
0x007b002c 474
0x007b002d 475
0x007b002e 475
0x007b002f 475

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Index

0x007b0030 475
0x007b0031 475
0x007b0032 475
0x007b0033 476
0x007b0034 476
0x007b0036 476
0x007b0037 476
0x007b0038 476
0x007b0039 476
0x007c0000 477
0x007c0001 477
0x007d0000 477
0x007d0001 477
0x007f0002 477
0x00830000 477
0x00830001 478
0x00830002 478
0x00840000 478
0x00840001 478
0x00840002 478
0x00840003 479
0x00840004 479
0x00840005 479
0x00840006 479
0x00840007 479
0x00840008 479
0x00840009 480
0x0084000a 480
0x0084000b 480
0x0084000c 480
0x0084000d 480
0x0084000e 480
0x0084000f 481
0x00840010 481
0x00840011 481
0x00840012 481
0x00840013 481
0x00840014 481
0x00840015 482
0x00840016 482
0x00840017 482
0x00840018 482
0x00840019 482
0x0084001a 482
0x0084001b 483
0x0084001c 483
0x0084001d 483
0x0084001e 483
0x0084001f 483
0x00840020 483
0x00840021 484
0x00850000 484
0x00860000 484
0x00860001 484
0x00860002 484
0x00860003 485
0x00860004 485
0x00860005 485

0x00860006 485
0x00860007 485
0x00860008 485
0x00860009 486
0x0086000a 486
0x0086000b 486
0x0086000c 486
0x0086000d 486
0x0086000e 486
0x0086000f 487
0x00860010 487
0x00860011 487
0x00860012 487
0x00860013 487
0x00860014 487
0x00860015 488
0x00860016 488
0x00860017 488
0x00860018 488
0x00860019 488
0x0086001a 488
0x0086001b 489
0x0086001c 489
0x0086001d 489
0x0086001e 489
0x0086001f 489
0x00860020 489
0x00870000 490
0x00870001 490
0x00870002 490
0x00870003 490
0x00870008 490
0x00880000 491
0x00890000 491
0x008c0000 491
0x008c0001 491
0x008c0002 491
0x008c0003 491
0x008c0004 492
0x008c0005 492
0x008c0006 492
0x008c0007 492
0x008c0008 492
0x008c0009 492
0x008c000a 493
0x008c000b 493
0x008c000d 493
0x008c000e 493
0x008c000f 493
0x008c0010 493
0x008c0011 494
0x008c0012 494
0x008c0013 494
0x008c0014 494
0x008c0015 494
0x008c0016 494
0x008c0017 495
0x008c0018 495

Firmware 1.37 - 09/2006

669

9400 HighLine | Parameter setting & configuration

Index

0x008c001a 495
0x008c001d 495
0x00900000 495
0x00900001 495
0x00900002 496
0x00900003 496
0x00900004 496
0x00900005 496
0x00900006 496
0x00900007 496
0x00900008 497
0x00900009 497
0x0090000a 497
0x0090000b 497
0x00910000 497
0x00910001 497
0x00910002 498
0x00910003 498
0x00910004 498
0x00910005 498
0x00910006 498
0x00910008 498
0x00910009 498
0x0091000a 499
0x0091000b 499
0x0091000c 499
0x0091000d 499
0x0091000e 499
0x0091000f 499
0x00910010 500
0x00910011 500
0x00910012 500
0x00920000 500
0x00990000 500
0x00990001 500
0x00990002 501
0x00990003 501
0x00990004 501
0x00990005 501
0x009d0000 501
0x009d0001 502
0x009d0002 502
0x009e0000 502
0x009e0001 502
0x009e0002 502
0x009e0003 503
0x009e0004 503
0x009e0005 503
0x009e0006 503
0x009e0007 503
0x009e0008 503
0x009e0009 504
0x009e000a 504
0x009e000b 504
0x009e000c 504
0x009e000d 504
0x009e000e 504
0x009e000f 505

670

0x009e0010 505
0x009e0011 505
0x009e0012 505
0x009e0013 505
0x009e0014 505
0x009e0015 506
0x009e0016 506
0x009e0017 506
0x009e0018 506
0x009e0019 506
0x009e001a 506
0x009e001b 507
0x009e001c 507
0x009e001d 507
0x009e001e 507
0x009e001f 507
0x009e0020 507
0x009e0021 508
0x009f0000 508
0x00a00000 508
0x00a00001 508
0x00a00002 509
0x00a00003 509
0x00a00004 509
0x00a00005 509
0x00a00006 509
0x00a00007 509
0x00a00008 510
0x00a00009 510
0x00a0000a 510
0x00a0000b 510
0x00a0000c 510
0x00a0000d 510
0x00a0000e 511
0x00a0000f 511
0x00a00010 511
0x00a00011 511
0x00a00012 511
0x00a00013 511
0x00a00014 512
0x00a00015 512
0x00a00016 512
0x00a00017 512
0x00a00018 512
0x00a00019 512
0x00a0001a 513
0x00a0001b 513
0x00a0001c 513
0x00a0001d 513
0x00a0001e 513
0x00a0001f 513
0x00a00020 514
0x00a10000 514
0x00a10001 514
0x00a10002 514
0x00a10003 515
0x00a10004 515
0x00a10005 515

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Index

0x00a10006 515
0x00a10007 515
0x00a10008 516
0x00a20000 516
0x00a30000 516
0x00aa0000 516
0x00aa0001 516
0x00aa0002 517
0x00aa0003 517
0x00aa0004 517
0x00aa0005 517
0x00ac0000 517
0x00ac0001 518
0x00ac0002 518
0x00ad0000 518
0x00ad0001 518
0x00ad0002 518
0x00ad0003 519
0x00ad0004 519
0x00ad0005 519
0x00ad0006 519
0x00ad0007 519
0x00ad0008 519
0x00ad0009 520
0x00ad000a 520
0x00ad000b 520
0x00ad000c 520
0x00ad000d 520
0x00ad000e 520
0x00ad000f 521
0x00ad0010 521
0x00ad0011 521
0x00ad0012 521
0x00ad0013 521
0x00ad0014 521
0x00ad0015 522
0x00ad0016 522
0x00ad0017 522
0x00ad0018 522
0x00ad0019 522
0x00ad001a 522
0x00ad001b 523
0x00ad001c 523
0x00ad001d 523
0x00ad001e 523
0x00ad001f 523
0x00ad0020 523
0x00ad0021 524
0x00ae0000 524
0x00af0000 524
0x00af0001 524
0x00af0002 525
0x00af0003 525
0x00af0004 525
0x00af0005 525
0x00af0006 525
0x00af0007 525
0x00af0008 526

0x00af0009 526
0x00af000a 526
0x00af000b 526
0x00af000c 526
0x00af000d 526
0x00af000e 527
0x00af000f 527
0x00af0010 527
0x00af0011 527
0x00af0012 527
0x00af0013 527
0x00af0014 528
0x00af0015 528
0x00af0016 528
0x00af0017 528
0x00af0018 528
0x00af0019 528
0x00af001a 529
0x00af001b 529
0x00af001c 529
0x00af001d 529
0x00af001e 529
0x00af001f 529
0x00af0020 530
0x00b00000 530
0x00b00001 530
0x00b00002 530
0x00b00003 531
0x00b00004 531
0x00b00005 531
0x00b00006 531
0x00b00007 531
0x00b00008 532
0x00b10000 532
0x00b20000 532
0x00b80000 532
0x00b80001 532
0x00b80002 533
0x00b80003 533
0x00b80004 533
0x00b80005 533
0x00b80007 534
0x00b80008 534
0x00b80009 534
0x00b8000a 534
0x00b8000b 534
0x00b8000c 535
0x00b8000d 535
0x00b8000e 535
0x00b8000f 535
0x00b80010 536
0x00b80011 536
Error number (C168) 559
Error status (C166) 559
Ethernet IP address client x (C1510) 612
Ethernet status client x (C1511) 612
Ext. 24-V voltage (C65) 550

Firmware 1.37 - 09/2006

671

9400 HighLine | Parameter setting & configuration

Index

External actual position (C2577) 624

External error 462

F
Failure of motor phase U 475
Failure of motor phase V 475
Failure of motor phase W 475
Faulty application parameter 460
Faulty device command transmission 468
Faulty program download 458
Feed constant (C2524) 615
Feedback 38
Feedback system motor temperature (C1193) 609
Feedback to Lenze 679
Feedforward control of torque 93
Field controller gain (C77) 551
Field controller reset time (C78) 552
Field weak. contr. reset time (C578) 587
Field weakening controller gain (C577) 587
Filter time const. DC detection (C280) 567
Filtered torque setpoint (C697) 598
Firmware - compile date (C201) 562
Firmware - version (C99) 553
Firmware has been changed 454
Firmware is not compatible 454
Firmware product type (C200) 562
Following error (C2576) 624
Frequency - current setpoint filter (C270) 566

G
GDO channel 1/trigger 1 (C731) 598
GDO channel 2/trigger 2 (C732) 598
GDO channel 3 (C733) 598
GDO channel 4 (C734) 598
GDO channel 5 (C735) 598
GDO channel 6 (C736) 599
GDO channel 7 (C737) 599
GDO channel 8 (C738) 599
GDO common parameter (C730) 598
GDO status information (C739) 599
Gearbox fact. denom. load (C2523) 615
Gearbox fact. denom. motor (C2521) 615
Gearbox fact. numer. load (C2522) 615
Gearbox fact. numer. motor (C2520) 614
General error in the application 457
Grinding OFF time (C2599) 628
Grinding ON time (C2598) 627
Grinding speed (C2596) 627

H
Heartbeat not periodic 498
Heatsink
Fan is defective 466
Overtemperature 463

672

Temperature > C00122 463

Temperature sensor defective 465
Heatsink temp. warn. threshold (C122) 555
Heatsink temperature (C61) 550
HM_dnHomePos_p (C2658) 634
HM_dnState (C2657) 634
Home pos. after mains switching (C2652) 633
Home position (C2642) 631
Home target position (C2643) 632
Homing
Dig. signals (C2659) 634
HW countries of origin (C209) 564
HW descriptions (C205) 563
HW manufacturer (C208) 564
HW manufacturing data (C206) 564
HW product types (C203) 563
HW serial numbers (C204) 563
HW versions (C210) 564

I
Identification status (C854) 606
Imax Lss saturat. characteristic (C2855) 646
Imprint 2
Incorrect memory module 452
Influence winding Ixt mon. (C1195) 609
Inside the device
Fan is defective 466
Overtemperature 464
Temperature > CXXXXX 464
Temperature sensor defective 465
Integal-action time of position controller (C2554) 621
Internal clock (C1214) 611
Internal communication error (DMA) 476
Internal communication error (host MCTRL) 471
Internal communication error (MCTRL host) 476
Internal error
see C00180 498
Internal error (CRC application) 495
Internal error (CRC code RAM) 455
Internal error (event mechanism) 457
Internal error (faulty binary semaphores) 457
Internal error (file system) 457
Internal error (LDS instance data) 455
Internal error (LDS tasks) 456
Internal error (memory area - logbook) 455
Internal error (message memory) 456
Internal error (message queue) 456
Internal error (name data base) 456
Internal error (semaphores) 457
Internal error (storage blocks) 456
Internal error (task queue) 456
Internal torque limits (C2559) 622
Invalid PLC configuration 463, 476, 477, 532

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Index

J
Jerk has been limited 535

K
Keypad
Default parameter (C466) 585
Default welcome screen (C467) 585
Fct. STOP key (C469) 585
Welcome screen time-out (C465) 585
Keypad LCD display 434

L
Layout of the safety information 18
LCD display (keypad) 434
LED status displays 34
Lenze setting loaded 495
Lh adaptation (C2861) 647
Liability 2
LIM_dnState (C2718) 642
LIM_dwControl (C2717) 642
Limitation active (C2715) 641
Limitations effective (C2702) 638
Limited speed (C2708) 640
Limited speed (C2709) 640
Limiter
Dig. signals (C2719) 642
Load reference speed (C2542) 619
Load reference torque (C2543) 619
Loading of Lenze setting failed 496
Log file - event filter (C169) 559
LOGFILE
Overflow 449
Reset (read error) 449
Reset (version error) 449
LS_AnalogInput 119
LS_AnalogOutput 122
LS_Brake 231
LS_DigitalInput 124
LS_DigitalOutput 126
LS_DriveInterface 60
LS_Feedback 115
LS_Homing 174
LS_Limiter 209
LS_ManualJog 162
LS_MotorInterface 104
LS_Positioner 180
LS_PositionFollower 189
LS_quick stop 155
LS_SafetyModule 139
LS_SpeedFollower 195
LS_Stop 151
LS_TorqueFollower 199
LS_TouchProbe1 132
LS_TouchProbe2 132

LS_TouchProbe3 132
LS_TouchProbe4 132
LS_TouchProbe5 132
LS_TouchProbe6 132
LS_TouchProbe7 132
LS_TouchProbe8 132
LS_TouchProbeLoad 133
LS_TouchProbeMotor 133
Lss sat. characteristic (C2859) 647

M
Machine parameters 35
Mains - voltage (C173) 560
Mains voltage switched off 497
Mains voltage switched on 497
Manual acceleration (C2622) 630
Manual deceleration (C2623) 630
Manual jog
Dig. signals (C2639) 631
Manual jog to software limit position 160
Manual speed 1 (C2620) 630
Manual speed 2 (C2621) 630
Manual S-ramp time (C2624) 630
Max. accel. to be displayed (C2541) 619
Max. acceleration (C2705) 639
Max. acceleration change (C274) 566
Max. angle of rotation after mains switching (C2653)
633
Max. dist. manual jog (C2713) 641
Max. dist. manual jog (C2714) 641
Max. power of brake resistor (C130) 556
Max. speed (C2703) 639
Max. speed [rpm] (C2704) 639
Max. speed to be displayed (C2540) 618
Max. temperature of brake resistor (C132) 556
Maximum acceleration exceeded 536
Maximum current (C22) 548
Maximum position to be displayed (C2539) 618
Maximum speed exceeded 536
MCTRL_dnAccelerationAdd (C804) 603
MCTRL_dnBoost (C814) 605
MCTRL_dnDCBusVoltage (C779) 601
MCTRL_dnDeltaMotorPos_p (C791) 602
MCTRL_dnFieldWeak (C816) 605
MCTRL_dnFluxAct (C778) 600
MCTRL_dnFlyingSpeedAct (C787) 602
MCTRL_dnI2xtLoad (C790) 602
MCTRL_dnImotAct (C780) 601
MCTRL_dnInputJerkCtrl (C776) 600
MCTRL_dnInputTorqueCtrl (C777) 600
MCTRL_dnIxtLoad (C786) 602
MCTRL_dnLoadPosAct (C771) 599
MCTRL_dnLoadPosRefValue (C813) 605
MCTRL_dnLoadSpeedAct (C773) 600

Firmware 1.37 - 09/2006

673

9400 HighLine | Parameter setting & configuration

Index

MCTRL_dnMotorFreqAct (C784) 601

MCTRL_dnMotorPosAct (C770) 599
MCTRL_dnMotorPosRefValue (C812) 605
MCTRL_dnMotorSpeedAct (C772) 599
MCTRL_dnOutputPosCtrlMotor_s (C792) 603
MCTRL_dnOutputSpeedCtrl (C775) 600
MCTRL_dnPosCtrlAdapt (C811) 604
MCTRL_dnPosCtrlOutLimit (C808) 604
MCTRL_dnPosSet (C800) 603
MCTRL_dnSpeedAdd (C802) 603
MCTRL_dnSpeedCtrlAdapt (C810) 604
MCTRL_dnSpeedCtrlIntegrator (C815) 605
MCTRL_dnSpeedLowLimit (C805) 603
MCTRL_dnSpeedSet_s (C817) 605
MCTRL_dnTorqueAct (C774) 600
MCTRL_dnTorqueAdd (C803) 603
MCTRL_dnTorqueCtrlAdapt (C809) 604
MCTRL_dnTorqueHighLimit (C807) 604
MCTRL_dnTorqueLowLimit (C806) 604
MCTRL_dwMaxDeviceCurrent (C789) 602
MCTRL_dwMaxEffMotorTorque (C788) 602
MCTRL_dwMaxMotorSpeed (C781) 601
MCTRL_dwMaxMotorTorque (C782) 601
MCTRL_dwMotorVoltageAct (C783) 601
Memory module
File system has been formatted 477
File system has been restored 477
File system is faulty 454
Memory module has been changed 453
Memory module has been removed 450
Memory module is defective or missing 450, 451
Memory module is missing 449
Messages motor interface (C2560) 622
Min. S-ramp time (C2706) 639
Modulation modes 80
Moment of inertia (C273) 566
Monitoring 439
Motor
Actual current value > C00620 472
Actual speed value > C00596 473
Calculated electromotive force factor unrealistic 470
Calculated flux factor unrealistic 470
Calculated leakage inductance unrealistic 472
Calculated motor impedance unrealistic 468
Calculated mutual inductance unrealistic 469
Calculated rotor resistance unrealistic 469
Calculated rotor time constant unrealistic 470
Device current is too low for rated magnetisation 469
Overtemperature 463
Phase resistance is too high 469
PTC has triggered 466
Rated current 469
Temperature > C00121 463
Temperature sensor defective 465
Motor - cosine phi (C91) 553

674

Motor - magnetising current (C92) 553

Motor - mutual inductance (C79) 552
Motor - pole pair number (C59) 549
Motor - rated current (C88) 553
Motor - rated frequency (C89) 553
Motor - rated speed (C87) 553
Motor - rated voltage (C90) 553
Motor - rotor resistance (C82) 552
Motor - rotor time constant (C83) 552
Motor brake
Angular drift with closed brake is too large 533
Automatically activated when the waiting time has
elapsed 533
Status monitoring error 533
Motor control
Task overflow 471
Motor control selection (C6) 547
Motor current (C54) 548
Motor data are inconsistent 469, 471
Motor encoder 112
Module selected under C00495 not available 473
Motor encoder (C495) 586
Motor interface 64
% signals (C2568) 622
Dig. signals (C2569) 623
Motor load Ixt > C00120 467
Motor load Ixt > C00127 467
Motor mounting direction (C2527) 616
Motor operating temperature (C1194) 609
Motor overload protection (Ixt) (C120) 555
Motor parameter identification cancelled 476
Motor pos. contr. output (C2557) 621
Motor reference speed (C11) 547
Motor standstill time constant (C494) 586
Motor stator leakage inductance (C85) 552
Motor stator resistance (C84) 552
Motor temp. warning threshold (C121) 555
Motor temperature
Module selected under C01193 not available 473
Motor temperature (C63) 550
Motor thermal sensor (C1190) 608
Motor voltage (C52) 548
MXI1
CAN module is missing or incompatible 495
Digital frequency module is missing or incompatible
494
Ethernet module is missing or incompatible 494
ICM module missing or incompatible 494
Module changed during operation 450
Module has been changed 453
Module is defective or missing 451
Module is missing or incompatible 493
PROFIBUS module is missing or incompatible 493
Wrong module 452
MXI2

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Index

CAN module is missing or incompatible 495

Digital frequency module is missing or incompatible
494
Ethernet module is missing or incompatible 494
ICM module missing or incompatible 494
Module changed during operation 450
Module has been changed 453
Module is defective or missing 451
Module is missing or incompatible 493
PROFIBUS module is missing or incompatible 493
Wrong module 452

N
Negative direction of rotation limited 534
Negative limit switch has triggered 533
Negative software limit switch overtravelled 534
New applications loaded 458
No heartbeat signal detected 498
No parameters for module in MXI1 497
No parameters for module in MXI2 497
Number of CRC cycles (C618) 596

O
Offset actual pos. value/setp. (C2578) 624
Operating mode brake (C2580) 625
Optimise response to setpoint changes 93
Overchange 392
Overcurrent detected 470

P
Parameter error information (C217) 565
Parameter set
Variant conflict 497
Version conflict 496
Parameter set faulty 495
Parameter set loaded 496
Parameter set restored 496
Parameter set saved 496
PDO mapping (MXI1)
Faulty configuration 461
PDO mapping (MXI2)
Faulty configuration 461
Permissible angle of rotation (C2595) 627
Permissible direction of rot. (C2707) 639
PF_dnMotorAcc_x (C2685) 636
PF_dnSpeedAdd1_s (C2686) 636
Phase controller gain (C254) 565
Phase currents (C55) 549
Pointer access in impermissible memory area 460
Pos. contr D comp.(C2555) 621
Pos. contr. limitation (C2556) 621
Pos. contr. output (C2558) 621
POS_dnProfileSpeed_s (C2676) 635
POS_dnState (C2675) 634
POS_dwActualProfileNumber (C2674) 634

Position controller gain (C2553) 621

Position encoder 113
Module selected under C00490 not available 473
Position encoder (C490) 585
Position encoder mounting direction (C2529) 616
Position follower
% signals (C2687) 636
Dig. signals (C2689) 637
Pos. signal (C2688) 636
Position setpoint (C2552) 620
Position setpoint (C2573) 623
Position target outside the software limit positions 535
Position value faulty 500
Positioning
% signals (C2677) 635
Dig. signals (C2679) 635
Pos. signals (C2678) 635
Positioning modes 395
Positive direction of rotation limited 534
Positive limit switch has triggered 532
Positive software limit switch overtravelled 534
Power section is defective 449, 451
Power section is not compatible 452
Power stage has been changed 453
Power-on time meter (C179) 561
Profile chaining with velocity changeover (overchange)
392
Program auto-start (C2104) 613
Program name (C2113) 614
Program runtime (C2109) 614
Program status (C2108) 613
Project not available 493
Project not loaded 492
ProjectList.dat file is faulty 491
ProjectList.dat file is invalid 492
ProjectList.dat file is missing 492
ProjectSelection.dat file is faulty 491
ProjectSelection.dat file is invalid 492
ProjectSelection.dat file is missing 491

Q
Quick stop
Dig. signals (C2619) 629
Quick stop by (source) (C159) 559
Quick stop deceleration time (C105) 554
Quick stop S-ramp time (C106) 554

R
Rated motor power (C81) 552
Read error - service register 462
Red. brake chopper threshold (C181) 561
Ref. acceleration 1 (C2645) 632
Ref. acceleration 2 (C2647) 632
Ref. blocking time (C2650) 633

Firmware 1.37 - 09/2006

675

9400 HighLine | Parameter setting & configuration

Index

Ref. deceleration time quick stop (C107) 554

Ref. for dec. time of stop (C2612) 629
Ref. mode (C2640) 631
Ref. speed 1 (C2644) 632
Ref. speed 2 (C2646) 632
Ref. S-ramp time (C2648) 632
Ref. torque limit (C2649) 633
Ref. touch probe configuration (C2651) 633
Reference search 165
Reference setting 165
Required license missing 493
Required safety module (C214) 565
Reset of error message 44, 447
Resistor for spec. characteristic (C1192) 609
Resolution of a unit (C2532) 617
Resolver
Calculated acceleration unrealistic 473
Open circuit 471
Resolver - pole pair number (C80) 552
Resolver error correction (C416) 583
Resp. CAN life guarding error (C614) 595
Resp. DC bus overvoltage (C600) 592
Resp. to CAN bus off (C595) 591
Resp. to CAN heartbeat error (C613) 595
Resp. to CAN node guarding error (C612) 594
Resp. to CAN-RPDOx error (C591) 591
Resp. to comm. encoder error (C601) 593
Resp. to comm. error with MXI1 (C1501) 611
Resp. to comm. error with MXI2 (C1502) 612
Resp. to CPU temp. > C00126 (C589) 590
Resp. to device overload (C604) 593
Resp. to encoder open circuit (C580) 588
Resp. to external fault (C581) 588
Resp. to failure t. sensor motor (C594) 591
Resp. to heatsink fan failure (C610) 594
Resp. to heatsink temp. > C00122 (C582) 589
Resp. to imp. device config. (C615) 595
Resp. to integral fan failure (C611) 594
Resp. to limitation (C2716) 642
Resp. to max. motor current (C619) 596
Resp. to max. speed reached (C607) 593
Resp. to motor overload (C606) 593
Resp. to motor overtemp. KTY (C583) 589
Resp. to motor overtemp. PTC (C585) 589
Resp. to motor phase failure (C597) 592
Resp. to motor temp. > C00121 (C584) 589
Resp. to new firmware of drive (C635) 596
Resp. to new module in MXI1 (C636) 597
Resp. to new module in MXI2 (C637) 597
Resp. to open circuit AIN1 (C598) 592
Resp. to overload brake chopper (C573) 587
Resp. to resolver open circuit (C586) 590
Resp. to speed monitoring (C579) 588

676

Resp. to t. sensor drive failure (C588) 590

Resp.to overtemp. brake resist. (C574) 587
Resulting gearbox factors (C2531) 617
Rotor angle (C58) 549
Rotor position (C60) 549
Rr adaptation (C2860) 647
Run-time error 459
Runtime task 1 (C2121) 614
Runtime task 2 (C2122) 614
Runtime task 3 (C2123) 614

S
S1 torque characteristic Ixt mon. (C1196) 610
Safety engineering 135
Safety instructions 18
Safety module 135
Incompatible to setting under C00214 500
Safety module has been changed 453
Safety module has been removed 451
Safety module is defective or missing 450, 452
Saturation characteristic 82
Saving of parameters failed 496
Service code (C100) 553
Service code (C1211) 611
Service code (C167) 559
Service code (C171) 559
Service code (C175) 560
Service code (C176) 560
Service code (C177) 561
Service code (C180) 561
Service code (C2850) 645
Service code (C2851) 645
Service code (C2852) 646
Service code (C2854) 646
Service code (C2856) 646
Service code (C2857) 647
Service code (C2858) 647
Service code (C2996) 647
Service code (C2997) 647
Service code (C2998) 647
Service code (C2999) 647
Service code (C308) 567
Service code (C309) 567
Service code (C310) 567
Service code (C325) 570
Service code (C326) 570
Service code (C327) 571
Service code (C328) 571
Service code (C329) 571
Service code (C330) 571
Service code (C335) 571
Service code (C336) 571
Service code (C337) 571

Firmware 1.37 - 09/2006

9400 HighLine | Parameter setting & configuration

Index

Service code (C338) 571

Service code (C379) 579
Service code (C395) 582
Service code (C396) 582
Service code (C397) 582
Service code (C468) 585
Service code (C512) 586
Service code (C513) 586
Service code (C514) 586
Service code (C515) 586
Service code (C516) 586
Service code DataFlash (C1213) 611
Service password (C4) 546
Setpoint interpolation (C2550) 620
Setting for test mode (C399) 582
Setting the error response 439
SF_dnMotorAcc_x (C2692) 637
SF_dnSpeedAdd_s (C2693) 637
Signal source - speed setpoint (C275) 567
Signal source - torque setpoint (C276) 567
Software limit pos. effective (C2700) 638
Software limit positions (C2701) 638
Source position setpoint (C2680) 636
Speed act. val. time const. (C497) 586
Speed controller D component (C72) 551
Speed controller gain (C70) 551
Speed controller output (C694) 597
Speed controller reset time (C71) 551
Speed follower
% signals (C2694) 637
Dig. signals (C2695) 637
Speed has been limited 534
Speed limitation (C909) 606
Speed setpoint (C2572) 623
Speed setpoint (C50) 548
Speed setpoint (C692) 597
Speed unit (C2537) 618
S-ramp time - stop function (C2611) 629
S-ramp time lim. speed (C2711) 640
Starting torque 1 (C2586) 626
Starting torque 2 (C2587) 626
Starting torque source (C2588) 626
State bus 127
Status - fan control (C587) 590
Status DCTRL control input (C878) 606
Status displays 34
Status input monitoring (C2583) 625
Status manual jog (C2638) 630
Status word 1 (C150) 557
Status word 2 (C155) 557
Status word dig. inputs (C2803) 644
Status word dig.outputs (C2802) 644
Status/control word MCTRL (C156) 558

STP_bStopActive (C2617) 629

STP_dnState (C2616) 629
Structure of safety instructions 18
Switching frequency (C18) 547
Switching frequency reduction 79
Sync- cycle time (C1121) 607
Sync phase position (C1122) 607
Sync source (C1120) 606
Sync window (C1123) 607
Sync-PLL increment (C1124) 608
System bus 134
System error messages 443
System task
Task overflow 499
System task 1
Task overflow 499
System task 2
Task overflow 499
System task 3
Task overflow 499

T
Technology applications 233, 241, 287, 367
Temperature for spec. characteristic (C1191) 609
Temperature inside the controller (C62) 550
Test mode - motor control (C398) 582
Test torque (C2594) 627
Therm. motor time constant (C128) 556
Thermal motor load (Ixt) (C66) 550
Threshold - mains recov. detect. (C185) 562
Threshold - undervoltage (LU) (C174) 560
Threshold for max. motor current (C620) 596
Threshold max. speed reached (C596) 591
Threshold motor phase failure (C599) 592
Time error - controller interface 468
Time unit (C2533) 618
Torque (C57) 549
Torque feedforward control 93
Torque follower
% signals (C2698) 638
Dig. signals (C2699) 638
Torque setpoint (C56) 549
Torque setpoint (C696) 598
Total speed setpoint (C691) 597
Total torque setpoint (C695) 598
Touch probe detection 129
Traversing range (C2528) 616
TTL encoder signal evaluation (C427) 583

U
Unit 39
Unit (C2525) 615
User task 1
Overflow 458

Firmware 1.37 - 09/2006

677

9400 HighLine | Parameter setting & configuration

Index

User task 2
Overflow 458
User task 3
Overflow 458
User task 4
Overflow 459
User task 5
Overflow 459
User task 6
Overflow 459
User task 7
Overflow 459
User task 8
Overflow 459
User task 9
Overflow 459
User-defined time unit (C2534) 618
User-defined unit (C2526) 615
User-defined unit (C2535) 618

V
Violation of the time dial 468
Vp Lss saturat. characteristic (C2853) 646

W
Waiting time - brake activation (C2593) 627
Waiting time - status monitoring (C2591) 626
Warning threshold - CPU temperature (C126) 555
Warning threshold - motor overload (C127) 555
Width - current setpoint filter (C271) 566
Window speed monitoring (C576) 587
Wrong safety module 453

Z
Zero speed detection threshold (C19) 547

678

Firmware 1.37 - 09/2006

)(('%$&.
L

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These Instructions were created to the best of our knowledge
and belief to give you the best possible support for handling
our product.
If you have suggestions for improvement, please e-mail us to:
feedback-docu@Lenze.de

Thank you for your support.

Your Lenze documentation team

679